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@@ -0,0 +1,51 @@
+### LaTeX ###
+## Core latex/pdflatex auxiliary files:
+*.aux
+*.lof
+*.log
+*.lot
+*.fls
+*.toc
+*.fmt
+*.fot
+*.cb
+*.cb2
+.*.lb
+*.out
+
+## Intermediate documents:
+*.dvi
+*.xdv
+*-converted-to.*
+# these rules might exclude image files for figures etc.
+*.ps
+*.eps
+*.pdf
+
+## Generated if empty string is given at "Please type another file name for output:"
+.pdf
+
+## Bibliography auxiliary files (bibtex/biblatex/biber):
+*.bbl
+*.bcf
+*.blg
+*-blx.aux
+*-blx.bib
+*.run.xml
+
+## Build tool auxiliary files:
+*.fdb_latexmk
+*.synctex
+*.synctex(busy)
+*.synctex.gz
+*.synctex.gz(busy)
+*.pdfsync
+
+## Build tool directories for auxiliary files
+# latexrun
+latex.out/
+
+## Auxiliary and intermediate files from other packages:
+# algorithms
+*.alg
+*.loa
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diff --git a/intro/intro_prez/LICENSE b/intro/intro_prez/LICENSE
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index 0000000000000000000000000000000000000000..f288702d2fa16d3cdf0035b15a9fcbc552cd88e7
--- /dev/null
+++ b/intro/intro_prez/LICENSE
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
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+
+ 9. Acceptance Not Required for Having Copies.
+
+ You are not required to accept this License in order to receive or
+run a copy of the Program. Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance. However,
+nothing other than this License grants you permission to propagate or
+modify any covered work. These actions infringe copyright if you do
+not accept this License. Therefore, by modifying or propagating a
+covered work, you indicate your acceptance of this License to do so.
+
+ 10. Automatic Licensing of Downstream Recipients.
+
+ Each time you convey a covered work, the recipient automatically
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+propagate that work, subject to this License. You are not responsible
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+ An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations. If propagation of a covered
+work results from an entity transaction, each party to that
+transaction who receives a copy of the work also receives whatever
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+the predecessor has it or can get it with reasonable efforts.
+
+ You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License. For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+ 11. Patents.
+
+ A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based. The
+work thus licensed is called the contributor's "contributor version".
+
+ A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version. For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+ Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
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+ In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+ If you convey a covered work, knowingly relying on a patent license,
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+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License. You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
diff --git a/intro/intro_prez/beamercolorthemefocus.sty b/intro/intro_prez/beamercolorthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..ff80737d101ccbe09d45a0b7f3cf0241f2f68885
--- /dev/null
+++ b/intro/intro_prez/beamercolorthemefocus.sty
@@ -0,0 +1,71 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% DEFINE COLORS. ---------------------------------------------------------------
+\definecolor{main}{RGB}{64, 64, 64}
+\definecolor{background}{RGB}{239, 239, 239}
+
+\definecolor{alert}{RGB}{180, 0, 0}
+\definecolor{example}{RGB}{0, 110, 0}
+
+
+% SET COLORS. ------------------------------------------------------------------
+\setbeamercolor{normal text}{fg=main, bg=background}
+\setbeamercolor{alerted text}{fg=alert}
+\setbeamercolor{example text}{fg=example}
+
+\setbeamercolor{titlelike}{fg=background, bg=main}
+\setbeamercolor{frametitle}{parent={titlelike}}
+
+\setbeamercolor{footline}{fg=background, bg=main}
+
+\setbeamercolor{block title}{bg=main!80!background, fg=background}
+\setbeamercolor{block body}{bg=main!10!background, fg=main}
+
+\setbeamercolor{block title alerted}{bg=alert, fg=background}
+\setbeamercolor{block body alerted}{bg=alert!10!background, fg=main}
+
+\setbeamercolor{block title example}{bg=example, fg=background}
+\setbeamercolor{block body example}{bg=example!10!background, fg=main}
+
+\setbeamercolor{itemize item}{fg=main}
+\setbeamercolor{itemize subitem}{fg=main}
+
+\setbeamercolor{enumerate item}{fg=main!70!black}
+\setbeamercolor{enumerate subitem}{fg=main!70!black}
+
+\setbeamercolor{description item}{fg=main!70!black}
+\setbeamercolor{description subitem}{fg=main!70!black}
+
+\setbeamercolor{caption name}{fg=main}
+
+\setbeamercolor{section in toc}{fg=main}
+\setbeamercolor{subsection in toc}{fg=main}
+\setbeamercolor{section number projected}{bg=main}
+\setbeamercolor{subsection number projected}{bg=main}
+
+\setbeamercolor{bibliography item}{fg=main}
+\setbeamercolor{bibliography entry author}{fg=main!70!black}
+\setbeamercolor{bibliography entry title}{fg=main}
+\setbeamercolor{bibliography entry location}{fg=main}
+\setbeamercolor{bibliography entry note}{fg=main}
+
+\mode<all>
diff --git a/intro/intro_prez/beamerfontthemefocus.sty b/intro/intro_prez/beamerfontthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..faa8ba9ff0e08f774a9c93c4cc1e3e773fcd676b
--- /dev/null
+++ b/intro/intro_prez/beamerfontthemefocus.sty
@@ -0,0 +1,47 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% SET FONTS. -------------------------------------------------------------------
+\setbeamerfont{title}{size=\LARGE, shape=\scshape\bfseries}
+\setbeamerfont{subtitle}{size=\normalsize, shape=\scshape, parent=structure}
+\setbeamerfont{author}{size=\large, shape=\scshape}
+
+\setbeamerfont{institute}{size=\small, shape=\scshape}
+\setbeamerfont{date}{size=\small, shape=\scshape}
+
+\setbeamerfont{sectiontitle}{size=\huge, series=\scshape\bfseries}
+\setbeamerfont{frametitle}{size=\Large, shape=\scshape}
+
+\setbeamerfont{footline}{size=\scriptsize}
+
+\setbeamerfont{focusframe}{size=\huge, shape=\scshape}
+
+\setbeamerfont{description item}{shape=\bfseries}
+
+\setbeamerfont{caption name}{shape=\bfseries}
+
+\setbeamerfont{bibliography item}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry author}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry title}{size=\small, series=\scshape\bfseries}
+\setbeamerfont{bibliography entry location}{size=\small, shape=\scshape\normalfont}
+\setbeamerfont{bibliography entry note}{size=\small, shape=\scshape\normalfont}
+
+\mode<all>
diff --git a/intro/intro_prez/beamerinnerthemefocus.sty b/intro/intro_prez/beamerinnerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..c990d22f4de77b22cc76e22a19f3ea5ccfb0c852
--- /dev/null
+++ b/intro/intro_prez/beamerinnerthemefocus.sty
@@ -0,0 +1,110 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{tikz}
+
+
+% CUSTOMIZE STRUCTURE ELEMENTS. ------------------------------------------------
+\setbeamertemplate{blocks}[default]
+
+\setbeamertemplate{section in toc}[square]
+\setbeamertemplate{subsection in toc}[square]
+
+\setbeamertemplate{itemize items}[square]
+\setbeamertemplate{itemize subitem}[triangle]
+
+
+% STRUCTURE FRAME TEMPLATE DEFINITIONS. ----------------------------------------
+% Title page.
+\defbeamertemplate*{title page}{focus}{%
+ {\usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}}
+
+ \vspace{-1.65\baselineskip}
+ \begin{minipage}[b][0.35\paperheight]{\textwidth}
+ \vspace{\baselineskip}
+ \usebeamerfont{title}
+ \usebeamercolor[fg]{frametitle}
+ \inserttitle
+ \end{minipage}
+
+ \begin{minipage}[t][0.1\paperheight]{\textwidth}
+ \usebeamerfont{subtitle}
+ \usebeamercolor[fg]{frametitle}
+ \insertsubtitle
+ \end{minipage}
+
+ % Set the title graphic in a zero-height box, so that
+ % the position of other elements is not affected.
+ {\vfuzz=9999pt\vbox to 0pt {
+ \raggedleft
+ \inserttitlegraphic
+ }}
+
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{author}
+ \insertauthor
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{institute}
+ \insertinstitute
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{date}{\insertdate}
+ \end{minipage}
+
+ \vspace*{5\baselineskip}
+
+ \addtocounter{framenumber}{-1}
+}
+
+% Section page.
+\defbeamertemplate*{section page}{focus}{%
+ {%
+ \usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}%
+ }
+
+ \vspace{-2\baselineskip}
+ \begin{minipage}[b][0.45\paperheight]{\textwidth}
+ \usebeamerfont{sectiontitle}
+ \usebeamercolor[fg]{frametitle}
+ \let\hyperlink\@secondoftwo\insertsection
+ \end{minipage}
+
+ \begin{minipage}[t][0.55\paperheight]{\textwidth}
+ \end{minipage}
+}
+
+\AtBeginSection{%
+ \begin{frame}[plain, noframenumbering]{}
+ \sectionpage
+ \end{frame}%
+}
+
+\mode<all>
diff --git a/intro/intro_prez/beamerouterthemefocus.sty b/intro/intro_prez/beamerouterthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..3f05f338e0ee80d8918e7bcba9c4983b746b36bd
--- /dev/null
+++ b/intro/intro_prez/beamerouterthemefocus.sty
@@ -0,0 +1,255 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{appendixnumberbeamer}% Don't number appendix frames.
+\RequirePackage{etoolbox}% \BeforeBeginEnvironment
+\RequirePackage{tikz}
+
+
+% FRAMETITLE TEMPLATES. --------------------------------------------------------
+\defbeamertemplate*{frametitle}{focus}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm]{frametitle}%
+ \strut\insertframetitle\strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+% Plain header.
+\defbeamertemplate{frametitle}{plain}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm,ignorebg]{frametitle}%
+ \strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+
+% FOOTLINE TEMPLATES. ----------------------------------------------------------
+% Lenghts for the progress bar footline.
+\newlength{\focus@pbar@height}% Progress bar height.
+\newlength{\focus@pbar@leftoffset}
+\newlength{\focus@pbar@rightoffset}
+
+\defbeamertemplate*{footline}{progressbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \ifnum\c@framenumber<\inserttotalframenumber%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]\usebeamerfont{footline}
+ \pgfmathsetmacro{\focus@pbar@progress}%
+ {(\paperwidth-\focus@pbar@leftoffset-\focus@pbar@rightoffset)*(\insertframenumber/\inserttotalframenumber)}
+
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\the\focus@pbar@leftoffset,\the\focus@pbar@height);
+
+ \fill[footline.bg] (\the\focus@pbar@leftoffset,0) rectangle ++(\focus@pbar@progress pt,\the\focus@pbar@height)
+ ++(0,{-0.5*\the\focus@pbar@height}) node[anchor=east, text=footline.fg] {\strut\insertframenumber};
+
+ \fill[footline.bg] (\paperwidth,0) rectangle ++(-\the\focus@pbar@rightoffset,\the\focus@pbar@height)
+ ++(0,{-0.5*\the\focus@pbar@height}) node[anchor=west, text=footline.fg] {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \else%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+
+ \node[anchor=east, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\insertframenumber};
+ \node[footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut/};
+ \node[anchor=west, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \fi%
+ \fi%
+ \fi%
+}
+
+% Full bar footline.
+\defbeamertemplate{footline}{fullbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]
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diff --git a/intro/intro_prez/beamerthemefocus.sty b/intro/intro_prez/beamerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..cee91999d1156c3f0d8f60b5f9003d247d273a6d
--- /dev/null
+++ b/intro/intro_prez/beamerthemefocus.sty
@@ -0,0 +1,60 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\NeedsTeXFormat{LaTeX2e}
+\ProvidesPackage{beamerthemefocus}[2018/07/15 v2.0 Focus Beamer theme]
+
+\mode<presentation>
+
+
+% THEME OPTIONS. ---------------------------------------------------------------
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+ \PassOptionsToPackage{numbering=#1}{beamerouterthemefocus}
+}
+
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+\@focus@loadfirafontstrue
+
+\DeclareOptionBeamer{nofirafonts}{\@focus@loadfirafontsfalse}
+\ProcessOptionsBeamer
+
+
+% LOAD EXTERNAL PACKAGES. ------------------------------------------------------
+\if@focus@loadfirafonts
+ \RequirePackage[T1]{fontenc}
+
+ \PassOptionsToPackage{type1}{FiraSans}
+ \PassOptionsToPackage{type1}{FiraMono}
+
+ \RequirePackage{FiraSans}
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+\usecolortheme{focus}
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+\useinnertheme{focus}
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+
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diff --git a/intro/intro_prez/example.bib b/intro/intro_prez/example.bib
new file mode 100755
index 0000000000000000000000000000000000000000..819fe0e886591fa8a9f954e46da886d02d22a37a
--- /dev/null
+++ b/intro/intro_prez/example.bib
@@ -0,0 +1,26 @@
+@article{knuth74,
+ author = {Knuth, Donald E.},
+ title = {Computer Programming As an Art},
+ journal = {Commun. ACM},
+ year = {1974},
+ pages = {667--673},
+ numpages = {7},
+ publisher = {ACM},
+ address = {New York, NY, USA}
+}
+
+@article{knuth92,
+ author = {Knuth, Donald E.},
+ title = {Two notes on notation},
+ journal = {Amer. Math. Monthly},
+ volume = {99},
+ year = {1992},
+ pages = {403--422}
+}
+
+@book{lamport94,
+ title = {LaTeX: A Document Preparation System},
+ author = {Lamport, Leslie},
+ year = {1994},
+ publisher = {Pearson Education India}
+}
diff --git a/intro/intro_prez/presentation.nav b/intro/intro_prez/presentation.nav
new file mode 100644
index 0000000000000000000000000000000000000000..31a5ac2845339c8093c5d128658b5dba09d94d25
--- /dev/null
+++ b/intro/intro_prez/presentation.nav
@@ -0,0 +1,32 @@
+\headcommand {\slideentry {0}{0}{1}{1/1}{}{0}}
+\headcommand {\beamer@framepages {1}{1}}
+\headcommand {\slideentry {0}{0}{2}{2/2}{}{0}}
+\headcommand {\beamer@framepages {2}{2}}
+\headcommand {\beamer@sectionpages {1}{2}}
+\headcommand {\beamer@subsectionpages {1}{2}}
+\headcommand {\sectionentry {1}{Linux}{3}{Linux}{0}}
+\headcommand {\slideentry {1}{0}{1}{3/3}{}{0}}
+\headcommand {\beamer@framepages {3}{3}}
+\headcommand {\beamer@sectionpages {3}{3}}
+\headcommand {\beamer@subsectionpages {3}{3}}
+\headcommand {\sectionentry {2}{Python}{4}{Python}{0}}
+\headcommand {\slideentry {2}{0}{1}{4/4}{}{0}}
+\headcommand {\beamer@framepages {4}{4}}
+\headcommand {\beamer@sectionpages {4}{4}}
+\headcommand {\beamer@subsectionpages {4}{4}}
+\headcommand {\sectionentry {3}{Robot control library}{5}{Robot control library}{0}}
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+\headcommand {\beamer@framepages {5}{5}}
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+\headcommand {\beamer@partpages {1}{22}}
+\headcommand {\beamer@subsectionpages {5}{22}}
+\headcommand {\beamer@sectionpages {5}{22}}
+\headcommand {\beamer@documentpages {22}}
+\headcommand {\gdef \inserttotalframenumber {4}}
diff --git a/intro/intro_prez/presentation.snm b/intro/intro_prez/presentation.snm
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/intro/intro_prez/presentation.tex b/intro/intro_prez/presentation.tex
new file mode 100755
index 0000000000000000000000000000000000000000..c2e660b0e39cdc87fd99069d1c6e6b594860bbb0
--- /dev/null
+++ b/intro/intro_prez/presentation.tex
@@ -0,0 +1,362 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Focus Beamer Presentation
+% LaTeX Template
+% Version 1.0 (8/8/18)
+%
+% This template has been downloaded from:
+% http://www.LaTeXTemplates.com
+%
+% Original author:
+% Pasquale Africa (https://github.com/elauksap/focus-beamertheme) with modifications by
+% Vel (vel@LaTeXTemplates.com)
+%
+% Template license:
+% GNU GPL v3.0 License
+%
+% Important note:
+% The bibliography/references need to be compiled with bibtex.
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%----------------------------------------------------------------------------------------
+% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
+%----------------------------------------------------------------------------------------
+
+\documentclass{beamer}
+
+\usetheme{focus} % Use the Focus theme supplied with the template
+% Add option [numbering=none] to disable the footer progress bar
+% Add option [numbering=fullbar] to show the footer progress bar as always full with a slide count
+
+% Uncomment to enable the ice-blue theme
+%\definecolor{main}{RGB}{92, 138, 168}
+%\definecolor{background}{RGB}{240, 247, 255}
+
+%------------------------------------------------
+
+\usepackage{booktabs} % Required for better table rules
+%\usepackage{amsmath}
+%\usepackage{bm}
+%\usepackage{array}
+%\usepackage{amssymb}
+
+%\usepackage{moreverb} % List settings
+%\usepackage{textcomp} % Fonts, symbols etc.
+%\usepackage{lmodern} % Latin modern font
+%\usepackage{helvet} % Enables font switching
+%\usepackage[T1]{fontenc} % Output settings
+%\usepackage[english]{babel} % Language settings
+%\usepackage[utf8]{inputenc} % Input settings
+\usepackage{amsmath} % Mathematical expressions (American mathematical society)
+\usepackage{bm}
+\usepackage{array}
+\usepackage{amssymb} % Mathematical symbols (American mathematical society)
+\usepackage{graphicx} % Figures
+\usepackage{subfig} % Enables subfigures
+%\numberwithin{equation}{chapter} % Numbering order for equations
+%\numberwithin{figure}{chapter} % Numbering order for figures
+%\numberwithin{table}{chapter} % Numbering order for tables
+%\usepackage{minted} % Enables source code listings
+%\usepackage{chemfig} % Chemical structures
+%\usepackage[top=3cm, bottom=3cm,
+% inner=3cm, outer=3cm]{geometry} % Page margin lengths
+%\usepackage{eso-pic} % Create cover page background
+\newcommand{\backgroundpic}[3]{
+ \put(#1,#2){
+ \parbox[b][\paperheight]{\paperwidth}{
+ \centering
+ \includegraphics[width=\paperwidth,height=\paperheight,keepaspectratio]{#3}}}}
+\usepackage{float} % Enables object position enforcement using [H]
+\usepackage{parskip} % Enables vertical spaces correctly
+\usepackage{datetime} %date formatting tools
+
+% cleaner math
+\newcommand{\argmin}{\arg\!\min}
+\newcommand{\argmax}{\arg\!\max}
+\usepackage[makeroom]{cancel}
+
+% nicer item bullets
+\usepackage{enumitem}
+\usepackage{pifont}
+\usepackage{xcolor}
+
+\usepackage{tikz}
+\usepackage{pgfplots}
+\usetikzlibrary {fit}
+\usetikzlibrary{arrows.meta}
+\usetikzlibrary{shapes.geometric, arrows}
+%\usepackage{tikz-graph}
+%\usetikzlibrary{bayesnet}
+%\usetikzlibrary{shapes.geometric}
+%\usetikzlibrary{trees}
+\usetikzlibrary{positioning}
+\tikzstyle{rec} = [rectangle, minimum width=2cm, minimum height=1cm, text centered, draw=black]
+\tikzstyle{arrow} = [thick,->,>=stealth]
+\tikzstyle{arrow_red} = [thick,->,>=stealth, color=red]
+\tikzstyle{mcs} = [circle, draw=black]
+\tikzstyle{mcsb} = [circle, draw=black, fill=black!20]
+
+
+% bibtex
+\usepackage[
+backend=biber,
+style=alphabetic,
+sorting=ynt
+]{biblatex}
+
+\addbibresource{../thesis_text/bibliography.bib}
+
+%----------------------------------------------------------------------------------------
+% TITLE SLIDE
+%----------------------------------------------------------------------------------------
+
+\title{Introduction to software in robotics}
+
+%\subtitle{Subtitle}
+
+\author{Marko Guberina}
+
+\titlegraphic{\includegraphics[scale=0.25]{Images/LU-logotype-print-digital/EPS_for_print/English/LundUniversity_C2line_BLACK.eps}} % Optional title page image, comment this line to remove it
+
+\institute{Department of Automatic control \\ Lund University }
+
+\date{Lund, Sweden 2024}
+
+%------------------------------------------------
+
+\begin{document}
+
+%------------------------------------------------
+
+\begin{frame}
+ \maketitle % Automatically created using the information in the commands above
+\end{frame}
+
+%\begin{frame}[noframenumbering]{Presentation structure}
+\begin{frame}{Presentation structure}
+ \tableofcontents
+\end{frame}
+
+\section{Linux}
+\section{Python}
+\section{Robot control library}
+
+
+\begin{frame}{Linux, Linux CLI basics}
+\begin{itemize}[label=\ding{95}]
+\item why Linux
+ \pause
+\item Linux as a daily driver
+ \pause
+\item GNU/Linux system outline, terminology
+ \pause
+\item CLI most basic commands
+ \pause
+\item BONUS: advanced basics
+\begin{itemize}[label=\ding{96}]
+\item piping
+\item forming a script
+\item using git (cloning, add, commit, push, pull (example in docker)) - 1 bonus video
+\item networking - needed for robot control
+\item vim the text editor
+\end{itemize}
+\end{itemize}
+\end{frame}
+
+
+
+
+\begin{frame}{Python}
+\begin{itemize}[label=\ding{95}]
+\item basic syntax and usage
+ \pause
+\item numpy
+ \pause
+\item matplotlib
+ \pause
+\item scipy
+ \pause
+\item BONUS: other noteworthy packages
+\end{itemize}
+\end{frame}
+
+
+\begin{frame}{ur\_simple\_control}
+\begin{itemize}[label=\ding{95}]
+\item basic info
+ \pause
+\item Docker
+ \pause
+\item ur\_simple\_control
+ \pause
+\item pinocchio
+ \pause
+\item inverse kinematics theory and implementation
+ \pause
+\item practical use
+\end{itemize}
+\end{frame}
+
+\begin{frame}[focus]
+Thank you for your attention!
+\newline
+\ding{96}\ding{96}\ding{96}
+\end{frame}
+
+
+
+
+
+
+
+%\begin{frame}[plain]{Plain Slide}
+% This is a slide with the plain style and it is numbered.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[t]
+% This slide has an empty title and is aligned to top.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[noframenumbering]{No Slide Numbering}
+% This slide is not numbered and is citing reference \cite{knuth74}.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Typesetting and Math}
+% The packages \texttt{inputenc} and \texttt{FiraSans}\footnote{\url{https://fonts.google.com/specimen/Fira+Sans}}\textsuperscript{,}\footnote{\url{http://mozilla.github.io/Fira/}} are used to properly set the main fonts.
+% \vfill
+% This theme provides styling commands to typeset \emph{emphasized}, \alert{alerted}, \textbf{bold}, \textcolor{example}{example text}, \dots
+% \vfill
+% \texttt{FiraSans} also provides support for mathematical symbols:
+% \begin{equation*}
+% e^{i\pi} + 1 = 0.
+% \end{equation*}
+%\end{frame}
+%
+%
+%\section{Section 2}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Blocks}
+% These blocks are part of 1 slide, to be displayed consecutively.
+% \begin{block}{Block}
+% Text.
+% \end{block}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{alertblock}{Alert block}
+% Alert \alert{text}.
+% \end{alertblock}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{exampleblock}{Example block}
+% Example \textcolor{example}{text}.
+% \end{exampleblock}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Columns}
+% \begin{columns}
+% \column{0.5\textwidth}
+% This text appears in the left column and wraps neatly with a margin between columns.
+%
+% \column{0.5\textwidth}
+% \includegraphics[width=\linewidth]{Images/placeholder.jpg}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Lists}
+% \begin{columns}[T, onlytextwidth] % T for top align, onlytextwidth to suppress the margin between columns
+% \column{0.33\textwidth}
+% Items:
+% \begin{itemize}
+% \item Item 1
+% \begin{itemize}
+% \item Subitem 1.1
+% \item Subitem 1.2
+% \end{itemize}
+% \item Item 2
+% \item Item 3
+% \end{itemize}
+%
+% \column{0.33\textwidth}
+% Enumerations:
+% \begin{enumerate}
+% \item First
+% \item Second
+% \begin{enumerate}
+% \item Sub-first
+% \item Sub-second
+% \end{enumerate}
+% \item Third
+% \end{enumerate}
+%
+% \column{0.33\textwidth}
+% Descriptions:
+% \begin{description}
+% \item[First] Yes.
+% \item[Second] No.
+% \end{description}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Table}
+% \begin{table}
+% \centering % Centre the table on the slide
+% \begin{tabular}{l c}
+% \toprule
+% Discipline & Avg. Salary \\
+% \toprule
+% \textbf{Engineering} & \textbf{\$66,521} \\
+% Computer Sciences & \$60,005\\
+% Mathematics and Sciences & \$61,867\\
+% Business & \$56,720\\
+% Humanities \& Social Sciences & \$56,669\\
+% Agriculture and Natural Resources & \$53,565\\
+% Communications & \$51,448\\
+% \midrule
+% \textbf{Average for All Disciplines} & \textbf{\$58,114}\\
+% \bottomrule
+% \end{tabular}
+% \caption{Table caption}
+% \end{table}
+%\end{frame}
+%
+%%------------------------------------------------
+
+
+%----------------------------------------------------------------------------------------
+% CLOSING/SUPPLEMENTARY SLIDES
+%----------------------------------------------------------------------------------------
+
+%\appendix
+
+%\begin{frame}{References}
+%% \bibliography{../thesis_text/bibliography.bib}
+%% \bibliographystyle{plain}
+%
+%%\addcontentsline{toc}
+%\addcontentsline{toc}{chapter}{Bibliography}
+%\printbibliography
+%\end{frame}
+
+%------------------------------------------------
+
+%\begin{frame}{Backup Slide}
+% This is a backup slide, useful to include additional materials to answer questions from the audience.
+% \vfill
+% The package \texttt{appendixnumberbeamer} is used to refrain from numbering appendix slides.
+%\end{frame}
+
+%----------------------------------------------------------------------------------------
+
+\end{document}
diff --git a/intro/intro_to_intro.md b/intro/intro_to_intro.md
index 9175887c647c5a3e59f4365e3a7b6968da2b4af9..4f3e27876508404c4ea357d4e55024b52179f7d9 100644
--- a/intro/intro_to_intro.md
+++ b/intro/intro_to_intro.md
@@ -32,29 +32,31 @@ In particular we will cover:
1. Linux, Linux CLI basics
------------------------------
-1.1. why Linux - 1 video
-1.2. Linux as a daily driver - bonus video
-1.2. GNU/Linux system outline, terminology - 1 video
-1.3. CLI most basic commands
-1.4. advanced basics: - 1 bonus video
- - piping
- - forming a script
- - using git (cloning, add, commit, push, pull (example in docker)) - 1 bonus video
- - networking - needed for robot control
- - vim the text editor
+1. why Linux
+2. Linux as a daily driver
+3. GNU/Linux system outline, terminology
+4. CLI most basic commands
+5. BONUS: advanced basics
+ - piping
+ - forming a script
+ - using git (cloning, add, commit, push, pull (example in docker)) - 1 bonus video
+ - networking - needed for robot control
+ - vim the text editor
2. Python
-----------
-2.1. basic syntax and usage
-2.2. common packages
-2.10. numpy
-2.11. matplotlib
-2.12. scipy
+1. basic syntax and usage
+2. numpy
+3. matplotlib
+4. scipy
+5. BONUS: other noteworthy packages
+
3. ur_simple_control
----------------------
- 3.0. basic info - 1 video
- 3.1. Docker - 1 video
- 3.2. ur_simple_control - 1 video
- 3.3. pinocchio - 1 video
- 3.4. inverse kinematics theory and implementation - 1 video
+0. basic info
+1. Docker
+2. ur_simple_control
+3. pinocchio
+4. inverse kinematics theory and implementation
+5. practical use
diff --git a/linux/01_why_linux.md b/linux/01_why_linux.md
index 17b8a7fe396765a7563af1beb55405b17c6b6bab..38acdfd43c04a0f1bfa40e283be82fd5c13c412f 100644
--- a/linux/01_why_linux.md
+++ b/linux/01_why_linux.md
@@ -9,6 +9,7 @@
- cloud
- literally every supercomputer runs Linux
- raspberry pi on robot - example: chalmers car
+ - note you probably want a controller/PLC for hard real time guarantees tho
--> it's your host computer that's the exception,
this simplifies life drastically
--> it's the same system, learn it once know it for all cases
diff --git a/linux/02_linux_as_daily_driver.md b/linux/02_linux_as_daily_driver.md
index 8fc2c3d6c84786f2e9d8addfe4ff7f05fb2245aa..7107669ff2814cb011d8d16976082b8670196775 100644
--- a/linux/02_linux_as_daily_driver.md
+++ b/linux/02_linux_as_daily_driver.md
@@ -5,8 +5,10 @@
- it's not preinstalled when you buy a computer
- you can dual-boot and have the other os too
1. it just works
- - you decide when to update
+ - you decide when to update, and updating is trivial with package managers
+ (you can have distributions with more or less frequent updates)
- works better and faster than competition - fast even on old hardware
+ --> for light-weight distributions specifically (ex. mx-linux)
- even if you blow it up, you can reinstall everything in an hour
- every problem is fixable
2. you control it
@@ -17,9 +19,15 @@
- it can look like anything
- your workflow can be whatever you want,
you don't even know what's possible yet
-4. everything is a text file
+4. everything is a text file -> configuration files!
5. any sequence of commands can be put into a script,
and that can be put on a keybinding or a cron command
+6. if you want to edit this text, use vim.
+ install it, run vimtutor for 90% of your needs.
+ otherwise look at "editing at the speed of thought" book,
+ install youcompleteme for code completion and
+ try to keep up with the vim-benchmark setting [blog-post](https://castel.dev/post/lecture-notes-1/)
+ (my power-level is about 50% of this blog-post)
### **beauty examples**
- ubuntu gnome
diff --git a/linux/03_CLI_basics.md b/linux/03_CLI_basics.md
index 9ac664f6b8c4d6f105ad6b0bdcd9e4b24529fa09..d73d622321b8ab24cec21a1c6f11993b7e43bf27 100644
--- a/linux/03_CLI_basics.md
+++ b/linux/03_CLI_basics.md
@@ -1,15 +1,26 @@
## CLI most basic commands
--------------------------
+Terminalogy:
+- terminal emulator
+- shell
+- absolute and relative path
+- distribution
+- package manager
+- users
+- permissions
+Terminology introduced along with the examples
**examples**: all listed commands in use
Content:
-- sudo
-- apt - example update and install htop
- ls
-- --help - example: use ls -l
+- sudo
- cd
- pwd
+- apt - example update and install htop
+- --help - example: use ls -l
- grep
- empowerment points:
- example reading error messing (bad install)
- man
+- ssh
+- SIGINT via ctrl-c
diff --git a/linux/04_docker.md b/linux/04_docker.md
index c79409f3a8305957da940a2ddcd174dce1381967..d51c978235e4cecd99a5aeba0ff4abb6ce4b4d09 100644
--- a/linux/04_docker.md
+++ b/linux/04_docker.md
@@ -12,9 +12,21 @@
### Installing docker on Windows
-------------------------------
-1. install wsl with "wsl --install" in powershell administrator, more at [microsoft website](https://learn.microsoft.com/en-us/windows/wsl/install)
-2. install docker on windows (with wsl option, should be default), more at [docker website](https://docs.docker.com/desktop/install/windows-install/)
-3. create the docker account, some options require it
+1. install wsl with "wsl --install" in powershell administrator, more at [docs](https://learn.microsoft.com/en-us/windows/wsl/install)
+2. install docker on windows (with wsl option, should be default)
+3. create the docker account
+4. open docker desktop, navigate to Settings (by user/account button) -> Resources -> Network -> click on enable host networking
+5. open wsl (type wsl in powershell) and navigate to git folder (now in wsl) with "cd /mnt/Users/YOURUSERNAME/PATH\_TO\_GIT\_FOLDER"
+
+### building ur_simple_control image
+---------------------------------------
+6. build the image with "docker build -t ur_simple_control ."
+7. to run the image FIRST RUN "xhost +" EVERY TIME, THEN RUN "docker run --rm -it --net=host -e DISPLAY=$DISPLAY -v /tmp:/tmp ur_simple_control /bin/zsh"
+8. verify installation by running an example with --visualize-manipulator and --real-time-plotting arguments
+9. if you want to make persistent changes to the code from the docker, you need to use the -v argument in docker run to share the folder
+ with the code between your native OS (host) and the docker container.
+ in particular, use -v [path_to_folder_on_host]:[path_to_that_folder_in_docker_container]:rw .
+ notice the :rw at the end. this allows for both the host and the container to modify the files (otherwise they will be read-only).
### slightly more detailed info
--------------------------------
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diff --git a/linux/docker_prez/LICENSE b/linux/docker_prez/LICENSE
new file mode 100755
index 0000000000000000000000000000000000000000..f288702d2fa16d3cdf0035b15a9fcbc552cd88e7
--- /dev/null
+++ b/linux/docker_prez/LICENSE
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
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+under those permissions, but the entire Program remains governed by
+this License without regard to the additional permissions.
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+ When you convey a copy of a covered work, you may at your option
+remove any additional permissions from that copy, or from any part of
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+ All other non-permissive additional terms are considered "further
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+received it, or any part of it, contains a notice stating that it is
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+ Additional terms, permissive or non-permissive, may be stated in the
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+ 8. Termination.
+
+ You may not propagate or modify a covered work except as expressly
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+ However, if you cease all violation of this License, then your
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+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
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+ Moreover, your license from a particular copyright holder is
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+your receipt of the notice.
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+ Termination of your rights under this section does not terminate the
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+material under section 10.
+
+ 9. Acceptance Not Required for Having Copies.
+
+ You are not required to accept this License in order to receive or
+run a copy of the Program. Ancillary propagation of a covered work
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+ You may not impose any further restrictions on the exercise of the
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+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+ 11. Patents.
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+ A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based. The
+work thus licensed is called the contributor's "contributor version".
+
+ A contributor's "essential patent claims" are all patent claims
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+ In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
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+
+ If you convey a covered work, knowingly relying on a patent license,
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+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
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+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
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+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
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+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
diff --git a/linux/docker_prez/beamercolorthemefocus.sty b/linux/docker_prez/beamercolorthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..ff80737d101ccbe09d45a0b7f3cf0241f2f68885
--- /dev/null
+++ b/linux/docker_prez/beamercolorthemefocus.sty
@@ -0,0 +1,71 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% DEFINE COLORS. ---------------------------------------------------------------
+\definecolor{main}{RGB}{64, 64, 64}
+\definecolor{background}{RGB}{239, 239, 239}
+
+\definecolor{alert}{RGB}{180, 0, 0}
+\definecolor{example}{RGB}{0, 110, 0}
+
+
+% SET COLORS. ------------------------------------------------------------------
+\setbeamercolor{normal text}{fg=main, bg=background}
+\setbeamercolor{alerted text}{fg=alert}
+\setbeamercolor{example text}{fg=example}
+
+\setbeamercolor{titlelike}{fg=background, bg=main}
+\setbeamercolor{frametitle}{parent={titlelike}}
+
+\setbeamercolor{footline}{fg=background, bg=main}
+
+\setbeamercolor{block title}{bg=main!80!background, fg=background}
+\setbeamercolor{block body}{bg=main!10!background, fg=main}
+
+\setbeamercolor{block title alerted}{bg=alert, fg=background}
+\setbeamercolor{block body alerted}{bg=alert!10!background, fg=main}
+
+\setbeamercolor{block title example}{bg=example, fg=background}
+\setbeamercolor{block body example}{bg=example!10!background, fg=main}
+
+\setbeamercolor{itemize item}{fg=main}
+\setbeamercolor{itemize subitem}{fg=main}
+
+\setbeamercolor{enumerate item}{fg=main!70!black}
+\setbeamercolor{enumerate subitem}{fg=main!70!black}
+
+\setbeamercolor{description item}{fg=main!70!black}
+\setbeamercolor{description subitem}{fg=main!70!black}
+
+\setbeamercolor{caption name}{fg=main}
+
+\setbeamercolor{section in toc}{fg=main}
+\setbeamercolor{subsection in toc}{fg=main}
+\setbeamercolor{section number projected}{bg=main}
+\setbeamercolor{subsection number projected}{bg=main}
+
+\setbeamercolor{bibliography item}{fg=main}
+\setbeamercolor{bibliography entry author}{fg=main!70!black}
+\setbeamercolor{bibliography entry title}{fg=main}
+\setbeamercolor{bibliography entry location}{fg=main}
+\setbeamercolor{bibliography entry note}{fg=main}
+
+\mode<all>
diff --git a/linux/docker_prez/beamerfontthemefocus.sty b/linux/docker_prez/beamerfontthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..faa8ba9ff0e08f774a9c93c4cc1e3e773fcd676b
--- /dev/null
+++ b/linux/docker_prez/beamerfontthemefocus.sty
@@ -0,0 +1,47 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% SET FONTS. -------------------------------------------------------------------
+\setbeamerfont{title}{size=\LARGE, shape=\scshape\bfseries}
+\setbeamerfont{subtitle}{size=\normalsize, shape=\scshape, parent=structure}
+\setbeamerfont{author}{size=\large, shape=\scshape}
+
+\setbeamerfont{institute}{size=\small, shape=\scshape}
+\setbeamerfont{date}{size=\small, shape=\scshape}
+
+\setbeamerfont{sectiontitle}{size=\huge, series=\scshape\bfseries}
+\setbeamerfont{frametitle}{size=\Large, shape=\scshape}
+
+\setbeamerfont{footline}{size=\scriptsize}
+
+\setbeamerfont{focusframe}{size=\huge, shape=\scshape}
+
+\setbeamerfont{description item}{shape=\bfseries}
+
+\setbeamerfont{caption name}{shape=\bfseries}
+
+\setbeamerfont{bibliography item}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry author}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry title}{size=\small, series=\scshape\bfseries}
+\setbeamerfont{bibliography entry location}{size=\small, shape=\scshape\normalfont}
+\setbeamerfont{bibliography entry note}{size=\small, shape=\scshape\normalfont}
+
+\mode<all>
diff --git a/linux/docker_prez/beamerinnerthemefocus.sty b/linux/docker_prez/beamerinnerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..c990d22f4de77b22cc76e22a19f3ea5ccfb0c852
--- /dev/null
+++ b/linux/docker_prez/beamerinnerthemefocus.sty
@@ -0,0 +1,110 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{tikz}
+
+
+% CUSTOMIZE STRUCTURE ELEMENTS. ------------------------------------------------
+\setbeamertemplate{blocks}[default]
+
+\setbeamertemplate{section in toc}[square]
+\setbeamertemplate{subsection in toc}[square]
+
+\setbeamertemplate{itemize items}[square]
+\setbeamertemplate{itemize subitem}[triangle]
+
+
+% STRUCTURE FRAME TEMPLATE DEFINITIONS. ----------------------------------------
+% Title page.
+\defbeamertemplate*{title page}{focus}{%
+ {\usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}}
+
+ \vspace{-1.65\baselineskip}
+ \begin{minipage}[b][0.35\paperheight]{\textwidth}
+ \vspace{\baselineskip}
+ \usebeamerfont{title}
+ \usebeamercolor[fg]{frametitle}
+ \inserttitle
+ \end{minipage}
+
+ \begin{minipage}[t][0.1\paperheight]{\textwidth}
+ \usebeamerfont{subtitle}
+ \usebeamercolor[fg]{frametitle}
+ \insertsubtitle
+ \end{minipage}
+
+ % Set the title graphic in a zero-height box, so that
+ % the position of other elements is not affected.
+ {\vfuzz=9999pt\vbox to 0pt {
+ \raggedleft
+ \inserttitlegraphic
+ }}
+
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{author}
+ \insertauthor
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{institute}
+ \insertinstitute
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{date}{\insertdate}
+ \end{minipage}
+
+ \vspace*{5\baselineskip}
+
+ \addtocounter{framenumber}{-1}
+}
+
+% Section page.
+\defbeamertemplate*{section page}{focus}{%
+ {%
+ \usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}%
+ }
+
+ \vspace{-2\baselineskip}
+ \begin{minipage}[b][0.45\paperheight]{\textwidth}
+ \usebeamerfont{sectiontitle}
+ \usebeamercolor[fg]{frametitle}
+ \let\hyperlink\@secondoftwo\insertsection
+ \end{minipage}
+
+ \begin{minipage}[t][0.55\paperheight]{\textwidth}
+ \end{minipage}
+}
+
+\AtBeginSection{%
+ \begin{frame}[plain, noframenumbering]{}
+ \sectionpage
+ \end{frame}%
+}
+
+\mode<all>
diff --git a/linux/docker_prez/beamerouterthemefocus.sty b/linux/docker_prez/beamerouterthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..3f05f338e0ee80d8918e7bcba9c4983b746b36bd
--- /dev/null
+++ b/linux/docker_prez/beamerouterthemefocus.sty
@@ -0,0 +1,255 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{appendixnumberbeamer}% Don't number appendix frames.
+\RequirePackage{etoolbox}% \BeforeBeginEnvironment
+\RequirePackage{tikz}
+
+
+% FRAMETITLE TEMPLATES. --------------------------------------------------------
+\defbeamertemplate*{frametitle}{focus}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm]{frametitle}%
+ \strut\insertframetitle\strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+% Plain header.
+\defbeamertemplate{frametitle}{plain}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm,ignorebg]{frametitle}%
+ \strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+
+% FOOTLINE TEMPLATES. ----------------------------------------------------------
+% Lenghts for the progress bar footline.
+\newlength{\focus@pbar@height}% Progress bar height.
+\newlength{\focus@pbar@leftoffset}
+\newlength{\focus@pbar@rightoffset}
+
+\defbeamertemplate*{footline}{progressbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \ifnum\c@framenumber<\inserttotalframenumber%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]\usebeamerfont{footline}
+ \pgfmathsetmacro{\focus@pbar@progress}%
+ {(\paperwidth-\focus@pbar@leftoffset-\focus@pbar@rightoffset)*(\insertframenumber/\inserttotalframenumber)}
+
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\the\focus@pbar@leftoffset,\the\focus@pbar@height);
+
+ \fill[footline.bg] (\the\focus@pbar@leftoffset,0) rectangle ++(\focus@pbar@progress pt,\the\focus@pbar@height)
+ ++(0,{-0.5*\the\focus@pbar@height}) node[anchor=east, text=footline.fg] {\strut\insertframenumber};
+
+ \fill[footline.bg] (\paperwidth,0) rectangle ++(-\the\focus@pbar@rightoffset,\the\focus@pbar@height)
+ ++(0,{-0.5*\the\focus@pbar@height}) node[anchor=west, text=footline.fg] {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \else%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+
+ \node[anchor=east, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\insertframenumber};
+ \node[footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut/};
+ \node[anchor=west, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \fi%
+ \fi%
+ \fi%
+}
+
+% Full bar footline.
+\defbeamertemplate{footline}{fullbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+
+ \node[anchor=east, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\insertframenumber};
+ \node[footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut/};
+ \node[anchor=west, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \fi%
+ \fi%
+}
+
+% Empty footline.
+\defbeamertemplate{footline}{none}{}
+
+\DeclareOptionBeamer{numbering}{\def\beamer@focus@numbering{#1}}
+\ExecuteOptionsBeamer{numbering=progressbar}
+\ProcessOptionsBeamer
+
+\def\beamer@focus@numberingprogressbar{progressbar}
+\def\beamer@focus@numberingfullbar{fullbar}
+\def\beamer@focus@numberingnone{none}
+
+
+% BACKGROUND CANVAS TEMPLATES. -------------------------------------------------
+\defbeamertemplate*{background canvas}{focus}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[normal text.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+\defbeamertemplate{background canvas}{focusplain}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[normal text.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+\defbeamertemplate{background canvas}{focusframe}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[frametitle.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+
+% HOOKS FOR CREATING FRAMES. ---------------------------------------------------
+\BeforeBeginEnvironment{frame}{%
+ \setbeamertemplate{background canvas}[focus]%
+ \setbeamertemplate{frametitle}[focus]%
+ %
+ % Reset footline height and determine it for the current slide.
+ \setlength{\focus@pbar@height}{0cm}%
+ \focus@calculatefootheight%
+ %
+ % If not appendix.
+ \ifnum\mainend<0 % From package appendixnumberbeamer.
+ \settoheight{\focus@pbar@height}{\usebeamerfont{footline}1234567890/}%
+ \addtolength{\focus@pbar@height}{6pt}%
+ %
+ \ifx\beamer@focus@numbering\beamer@focus@numberingprogressbar%
+ \setbeamertemplate{footline}[progressbar]%
+ \else%
+ \ifx\beamer@focus@numbering\beamer@focus@numberingfullbar%
+ \setbeamertemplate{footline}[fullbar]%
+ \fi%
+ \fi%
+ %
+ \focus@calculatefootheight%
+ \fi%
+}
+
+% Enable noframenumbering option.
+\define@key{beamerframe}{noframenumbering}[true]{%
+ \setbeamertemplate{footline}[none]%
+ \setlength{\focus@pbar@height}{0cm}%
+ \focus@calculatefootheight%
+ %
+ \addtocounter{framenumber}{-1}%
+}
+
+
+% Enable plain option.
+\define@key{beamerframe}{plain}[true]{%
+ \setbeamertemplate{background canvas}[focusplain]%
+ \setbeamertemplate{frametitle}[plain]%
+ %
+ \setbeamertemplate{footline}[none]%
+}
+
+
+% Full vertical centering
+% (from https://tex.stackexchange.com/questions/247826/beamer-full-vertical-centering).
+\define@key{beamerframe}{c}[true]{%
+ \beamer@frametopskip=0pt plus 1fill\relax%
+ \beamer@framebottomskip=0pt plus 1fill\relax%
+ \beamer@frametopskipautobreak=0pt plus 0.4\paperheight\relax%
+ \beamer@framebottomskipautobreak=0pt plus 0.6\paperheight\relax%
+ \def\beamer@initfirstlineunskip{}%
+}
+
+
+% Enable focus option.
+\providebool{focus@standout}
+\define@key{beamerframe}{focus}[true]{%
+ \booltrue{focus@standout}%
+ \begingroup%
+ \setkeys{beamerframe}{noframenumbering}%
+ \setbeamertemplate{background canvas}[focusframe]%
+ \setbeamertemplate{frametitle}[plain]%
+ %
+ \setkeys{beamerframe}{c}%
+ \centering%
+ \usebeamerfont{focusframe}%
+ \usebeamercolor[fg]{frametitle}%
+}
+
+\apptocmd{\beamer@reseteecodes}
+{%
+ \ifbool{focus@standout}%
+ {%
+ \endgroup%
+ \boolfalse{focus@standout}%
+ }{}%
+}{}{}
+
+
+% Recalculate the footline's size and refresh other parameters.
+% Partially copied from the definition of \beamer@calculateheadfoot.
+\def\focus@calculatefootheight{%
+ \footheight=\focus@pbar@height%
+ \advance\footheight by 4pt%
+ \sidebarheight=\paperheight%
+ \advance\sidebarheight by-\headheight%
+ \advance\sidebarheight by\headdp%
+ \advance\sidebarheight by-\footheight%
+ \advance\sidebarheight by 4pt%
+ \footskip=\footheight%
+ \textheight=\paperheight%
+ \advance\textheight by-\footheight%
+ \advance\textheight by-\headheight%
+ \@colht\textheight%
+ \@colroom\textheight%
+ \vsize\textheight%
+}
+
+\mode<all>
diff --git a/linux/docker_prez/beamerthemefocus.sty b/linux/docker_prez/beamerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..cee91999d1156c3f0d8f60b5f9003d247d273a6d
--- /dev/null
+++ b/linux/docker_prez/beamerthemefocus.sty
@@ -0,0 +1,60 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\NeedsTeXFormat{LaTeX2e}
+\ProvidesPackage{beamerthemefocus}[2018/07/15 v2.0 Focus Beamer theme]
+
+\mode<presentation>
+
+
+% THEME OPTIONS. ---------------------------------------------------------------
+\DeclareOptionBeamer{numbering}{%
+ \PassOptionsToPackage{numbering=#1}{beamerouterthemefocus}
+}
+
+\newif\if@focus@loadfirafonts
+\@focus@loadfirafontstrue
+
+\DeclareOptionBeamer{nofirafonts}{\@focus@loadfirafontsfalse}
+\ProcessOptionsBeamer
+
+
+% LOAD EXTERNAL PACKAGES. ------------------------------------------------------
+\if@focus@loadfirafonts
+ \RequirePackage[T1]{fontenc}
+
+ \PassOptionsToPackage{type1}{FiraSans}
+ \PassOptionsToPackage{type1}{FiraMono}
+
+ \RequirePackage{FiraSans}
+ \RequirePackage{FiraMono}
+\fi
+
+\usecolortheme{focus}
+\usefonttheme{focus}
+\useinnertheme{focus}
+\useoutertheme{focus}
+
+\setbeamertemplate{navigation symbols}{}
+
+
+% SET MARGINS. -----------------------------------------------------------------
+\setbeamersize{text margin left=0.75cm, text margin right=0.75cm}
+\setlength{\leftmargini}{0.75cm}
+
+\mode<all>
diff --git a/linux/docker_prez/example.bib b/linux/docker_prez/example.bib
new file mode 100755
index 0000000000000000000000000000000000000000..819fe0e886591fa8a9f954e46da886d02d22a37a
--- /dev/null
+++ b/linux/docker_prez/example.bib
@@ -0,0 +1,26 @@
+@article{knuth74,
+ author = {Knuth, Donald E.},
+ title = {Computer Programming As an Art},
+ journal = {Commun. ACM},
+ year = {1974},
+ pages = {667--673},
+ numpages = {7},
+ publisher = {ACM},
+ address = {New York, NY, USA}
+}
+
+@article{knuth92,
+ author = {Knuth, Donald E.},
+ title = {Two notes on notation},
+ journal = {Amer. Math. Monthly},
+ volume = {99},
+ year = {1992},
+ pages = {403--422}
+}
+
+@book{lamport94,
+ title = {LaTeX: A Document Preparation System},
+ author = {Lamport, Leslie},
+ year = {1994},
+ publisher = {Pearson Education India}
+}
diff --git a/linux/docker_prez/presentation.nav b/linux/docker_prez/presentation.nav
new file mode 100644
index 0000000000000000000000000000000000000000..583f081f771c3e51c29b3e3ba14ca57cd0a09462
--- /dev/null
+++ b/linux/docker_prez/presentation.nav
@@ -0,0 +1,27 @@
+\headcommand {\slideentry {0}{0}{1}{1/1}{}{0}}
+\headcommand {\beamer@framepages {1}{1}}
+\headcommand {\slideentry {0}{0}{2}{2/2}{}{0}}
+\headcommand {\beamer@framepages {2}{2}}
+\headcommand {\beamer@sectionpages {1}{2}}
+\headcommand {\beamer@subsectionpages {1}{2}}
+\headcommand {\sectionentry {1}{Docker basic info}{3}{Docker basic info}{0}}
+\headcommand {\slideentry {1}{0}{1}{3/3}{}{0}}
+\headcommand {\beamer@framepages {3}{3}}
+\headcommand {\slideentry {1}{0}{2}{4/9}{}{0}}
+\headcommand {\beamer@framepages {4}{9}}
+\headcommand {\beamer@sectionpages {3}{9}}
+\headcommand {\beamer@subsectionpages {3}{9}}
+\headcommand {\sectionentry {2}{Installation and building}{10}{Installation and building}{0}}
+\headcommand {\slideentry {2}{0}{1}{10/10}{}{0}}
+\headcommand {\beamer@framepages {10}{10}}
+\headcommand {\slideentry {2}{0}{2}{11/15}{}{0}}
+\headcommand {\beamer@framepages {11}{15}}
+\headcommand {\slideentry {2}{0}{3}{16/16}{}{0}}
+\headcommand {\beamer@framepages {16}{16}}
+\headcommand {\slideentry {2}{0}{4}{17/17}{}{0}}
+\headcommand {\beamer@framepages {17}{17}}
+\headcommand {\beamer@partpages {1}{17}}
+\headcommand {\beamer@subsectionpages {10}{17}}
+\headcommand {\beamer@sectionpages {10}{17}}
+\headcommand {\beamer@documentpages {17}}
+\headcommand {\gdef \inserttotalframenumber {4}}
diff --git a/linux/docker_prez/presentation.snm b/linux/docker_prez/presentation.snm
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/linux/docker_prez/presentation.tex b/linux/docker_prez/presentation.tex
new file mode 100755
index 0000000000000000000000000000000000000000..3e70248303cdeb669175e91d8c8abc7eb316fb4f
--- /dev/null
+++ b/linux/docker_prez/presentation.tex
@@ -0,0 +1,344 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Focus Beamer Presentation
+% LaTeX Template
+% Version 1.0 (8/8/18)
+%
+% This template has been downloaded from:
+% http://www.LaTeXTemplates.com
+%
+% Original author:
+% Pasquale Africa (https://github.com/elauksap/focus-beamertheme) with modifications by
+% Vel (vel@LaTeXTemplates.com)
+%
+% Template license:
+% GNU GPL v3.0 License
+%
+% Important note:
+% The bibliography/references need to be compiled with bibtex.
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%----------------------------------------------------------------------------------------
+% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
+%----------------------------------------------------------------------------------------
+
+\documentclass{beamer}
+
+\usetheme{focus} % Use the Focus theme supplied with the template
+% Add option [numbering=none] to disable the footer progress bar
+% Add option [numbering=fullbar] to show the footer progress bar as always full with a slide count
+
+% Uncomment to enable the ice-blue theme
+%\definecolor{main}{RGB}{92, 138, 168}
+%\definecolor{background}{RGB}{240, 247, 255}
+
+%------------------------------------------------
+
+\usepackage{booktabs} % Required for better table rules
+%\usepackage{amsmath}
+%\usepackage{bm}
+%\usepackage{array}
+%\usepackage{amssymb}
+
+%\usepackage{moreverb} % List settings
+%\usepackage{textcomp} % Fonts, symbols etc.
+%\usepackage{lmodern} % Latin modern font
+%\usepackage{helvet} % Enables font switching
+%\usepackage[T1]{fontenc} % Output settings
+%\usepackage[english]{babel} % Language settings
+%\usepackage[utf8]{inputenc} % Input settings
+\usepackage{amsmath} % Mathematical expressions (American mathematical society)
+\usepackage{bm}
+\usepackage{array}
+\usepackage{amssymb} % Mathematical symbols (American mathematical society)
+\usepackage{graphicx} % Figures
+\usepackage{subfig} % Enables subfigures
+%\numberwithin{equation}{chapter} % Numbering order for equations
+%\numberwithin{figure}{chapter} % Numbering order for figures
+%\numberwithin{table}{chapter} % Numbering order for tables
+%\usepackage{minted} % Enables source code listings
+%\usepackage{chemfig} % Chemical structures
+%\usepackage[top=3cm, bottom=3cm,
+% inner=3cm, outer=3cm]{geometry} % Page margin lengths
+%\usepackage{eso-pic} % Create cover page background
+\newcommand{\backgroundpic}[3]{
+ \put(#1,#2){
+ \parbox[b][\paperheight]{\paperwidth}{
+ \centering
+ \includegraphics[width=\paperwidth,height=\paperheight,keepaspectratio]{#3}}}}
+\usepackage{float} % Enables object position enforcement using [H]
+\usepackage{parskip} % Enables vertical spaces correctly
+\usepackage{datetime} %date formatting tools
+
+% cleaner math
+\newcommand{\argmin}{\arg\!\min}
+\newcommand{\argmax}{\arg\!\max}
+\usepackage[makeroom]{cancel}
+
+% nicer item bullets
+\usepackage{enumitem}
+\usepackage{pifont}
+\usepackage{xcolor}
+
+\usepackage{tikz}
+\usepackage{pgfplots}
+\usetikzlibrary {fit}
+\usetikzlibrary{arrows.meta}
+\usetikzlibrary{shapes.geometric, arrows}
+%\usepackage{tikz-graph}
+%\usetikzlibrary{bayesnet}
+%\usetikzlibrary{shapes.geometric}
+%\usetikzlibrary{trees}
+\usetikzlibrary{positioning}
+\tikzstyle{rec} = [rectangle, minimum width=2cm, minimum height=1cm, text centered, draw=black]
+\tikzstyle{arrow} = [thick,->,>=stealth]
+\tikzstyle{arrow_red} = [thick,->,>=stealth, color=red]
+\tikzstyle{mcs} = [circle, draw=black]
+\tikzstyle{mcsb} = [circle, draw=black, fill=black!20]
+
+
+% bibtex
+\usepackage[
+backend=biber,
+style=alphabetic,
+sorting=ynt
+]{biblatex}
+
+\addbibresource{../thesis_text/bibliography.bib}
+
+%----------------------------------------------------------------------------------------
+% TITLE SLIDE
+%----------------------------------------------------------------------------------------
+
+\title{Docker tutorial}
+
+%\subtitle{Subtitle}
+
+\author{Marko Guberina}
+
+\titlegraphic{\includegraphics[scale=0.25]{Images/LU-logotype-print-digital/EPS_for_print/English/LundUniversity_C2line_BLACK.eps}} % Optional title page image, comment this line to remove it
+
+\institute{Department of Automatic control \\ Lund University }
+
+\date{Lund, Sweden 2024}
+
+%------------------------------------------------
+
+\begin{document}
+
+%------------------------------------------------
+
+\begin{frame}
+ \maketitle % Automatically created using the information in the commands above
+\end{frame}
+
+%\begin{frame}[noframenumbering]{Presentation structure}
+\begin{frame}{Presentation structure}
+ \tableofcontents
+\end{frame}
+
+\section{Docker basic info}
+
+\begin{frame}{What is docker}
+\begin{itemize}[label=\ding{95}]
+\item basically Linux virtual machines
+ \pause
+\item a virtual machine functions as if you had a different computer sitting on your desk,
+ but it's emulated
+ \pause
+\item can be combine with the host (internet access, memory,...) -> VERY fast
+ \pause
+\item but run just fine on windows via wsl
+ \pause
+\item images vs containers
+**example**: ur\_simple\_control dockerfile
+\pause
+\item go over all the flags used there
+\end{itemize}
+\end{frame}
+
+\section{Installation and building}
+
+\begin{frame}{Installing docker on Windows}
+\begin{itemize}[label=\ding{95}]
+\item install wsl with "wsl --install" in powershell administrator, more at [docs](https://learn.microsoft.com/en-us/windows/wsl/install)
+ \pause
+\item install docker on windows (with wsl option, should be default)
+ \pause
+\item create the docker account
+ \pause
+\item open docker desktop, navigate to Settings (by user/account button) -> Resources -> Network -> click on enable host networking
+ \pause
+\item open wsl (type wsl in powershell) and navigate to git folder (now in wsl) with "cd /mnt/Users/YOURUSERNAME/PATH\_TO\_GIT\_FOLDER"
+\end{itemize}
+\end{frame}
+
+\begin{frame}{Building image}
+\center [show code]
+\end{frame}
+
+
+
+\begin{frame}[focus]
+Thank you for your attention!
+\newline
+\ding{96}\ding{96}\ding{96}
+\end{frame}
+
+
+
+
+
+
+
+%\begin{frame}[plain]{Plain Slide}
+% This is a slide with the plain style and it is numbered.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[t]
+% This slide has an empty title and is aligned to top.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[noframenumbering]{No Slide Numbering}
+% This slide is not numbered and is citing reference \cite{knuth74}.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Typesetting and Math}
+% The packages \texttt{inputenc} and \texttt{FiraSans}\footnote{\url{https://fonts.google.com/specimen/Fira+Sans}}\textsuperscript{,}\footnote{\url{http://mozilla.github.io/Fira/}} are used to properly set the main fonts.
+% \vfill
+% This theme provides styling commands to typeset \emph{emphasized}, \alert{alerted}, \textbf{bold}, \textcolor{example}{example text}, \dots
+% \vfill
+% \texttt{FiraSans} also provides support for mathematical symbols:
+% \begin{equation*}
+% e^{i\pi} + 1 = 0.
+% \end{equation*}
+%\end{frame}
+%
+%
+%\section{Section 2}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Blocks}
+% These blocks are part of 1 slide, to be displayed consecutively.
+% \begin{block}{Block}
+% Text.
+% \end{block}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{alertblock}{Alert block}
+% Alert \alert{text}.
+% \end{alertblock}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{exampleblock}{Example block}
+% Example \textcolor{example}{text}.
+% \end{exampleblock}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Columns}
+% \begin{columns}
+% \column{0.5\textwidth}
+% This text appears in the left column and wraps neatly with a margin between columns.
+%
+% \column{0.5\textwidth}
+% \includegraphics[width=\linewidth]{Images/placeholder.jpg}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Lists}
+% \begin{columns}[T, onlytextwidth] % T for top align, onlytextwidth to suppress the margin between columns
+% \column{0.33\textwidth}
+% Items:
+% \begin{itemize}
+% \item Item 1
+% \begin{itemize}
+% \item Subitem 1.1
+% \item Subitem 1.2
+% \end{itemize}
+% \item Item 2
+% \item Item 3
+% \end{itemize}
+%
+% \column{0.33\textwidth}
+% Enumerations:
+% \begin{enumerate}
+% \item First
+% \item Second
+% \begin{enumerate}
+% \item Sub-first
+% \item Sub-second
+% \end{enumerate}
+% \item Third
+% \end{enumerate}
+%
+% \column{0.33\textwidth}
+% Descriptions:
+% \begin{description}
+% \item[First] Yes.
+% \item[Second] No.
+% \end{description}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Table}
+% \begin{table}
+% \centering % Centre the table on the slide
+% \begin{tabular}{l c}
+% \toprule
+% Discipline & Avg. Salary \\
+% \toprule
+% \textbf{Engineering} & \textbf{\$66,521} \\
+% Computer Sciences & \$60,005\\
+% Mathematics and Sciences & \$61,867\\
+% Business & \$56,720\\
+% Humanities \& Social Sciences & \$56,669\\
+% Agriculture and Natural Resources & \$53,565\\
+% Communications & \$51,448\\
+% \midrule
+% \textbf{Average for All Disciplines} & \textbf{\$58,114}\\
+% \bottomrule
+% \end{tabular}
+% \caption{Table caption}
+% \end{table}
+%\end{frame}
+%
+%%------------------------------------------------
+
+
+%----------------------------------------------------------------------------------------
+% CLOSING/SUPPLEMENTARY SLIDES
+%----------------------------------------------------------------------------------------
+
+%\appendix
+
+%\begin{frame}{References}
+%% \bibliography{../thesis_text/bibliography.bib}
+%% \bibliographystyle{plain}
+%
+%%\addcontentsline{toc}
+%\addcontentsline{toc}{chapter}{Bibliography}
+%\printbibliography
+%\end{frame}
+
+%------------------------------------------------
+
+%\begin{frame}{Backup Slide}
+% This is a backup slide, useful to include additional materials to answer questions from the audience.
+% \vfill
+% The package \texttt{appendixnumberbeamer} is used to refrain from numbering appendix slides.
+%\end{frame}
+
+%----------------------------------------------------------------------------------------
+
+\end{document}
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@@ -0,0 +1,674 @@
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+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+ You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License. For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+ 11. Patents.
+
+ A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based. The
+work thus licensed is called the contributor's "contributor version".
+
+ A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version. For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+ Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+ In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+ If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License. You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
diff --git a/linux/networking_prez/beamercolorthemefocus.sty b/linux/networking_prez/beamercolorthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..ff80737d101ccbe09d45a0b7f3cf0241f2f68885
--- /dev/null
+++ b/linux/networking_prez/beamercolorthemefocus.sty
@@ -0,0 +1,71 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% DEFINE COLORS. ---------------------------------------------------------------
+\definecolor{main}{RGB}{64, 64, 64}
+\definecolor{background}{RGB}{239, 239, 239}
+
+\definecolor{alert}{RGB}{180, 0, 0}
+\definecolor{example}{RGB}{0, 110, 0}
+
+
+% SET COLORS. ------------------------------------------------------------------
+\setbeamercolor{normal text}{fg=main, bg=background}
+\setbeamercolor{alerted text}{fg=alert}
+\setbeamercolor{example text}{fg=example}
+
+\setbeamercolor{titlelike}{fg=background, bg=main}
+\setbeamercolor{frametitle}{parent={titlelike}}
+
+\setbeamercolor{footline}{fg=background, bg=main}
+
+\setbeamercolor{block title}{bg=main!80!background, fg=background}
+\setbeamercolor{block body}{bg=main!10!background, fg=main}
+
+\setbeamercolor{block title alerted}{bg=alert, fg=background}
+\setbeamercolor{block body alerted}{bg=alert!10!background, fg=main}
+
+\setbeamercolor{block title example}{bg=example, fg=background}
+\setbeamercolor{block body example}{bg=example!10!background, fg=main}
+
+\setbeamercolor{itemize item}{fg=main}
+\setbeamercolor{itemize subitem}{fg=main}
+
+\setbeamercolor{enumerate item}{fg=main!70!black}
+\setbeamercolor{enumerate subitem}{fg=main!70!black}
+
+\setbeamercolor{description item}{fg=main!70!black}
+\setbeamercolor{description subitem}{fg=main!70!black}
+
+\setbeamercolor{caption name}{fg=main}
+
+\setbeamercolor{section in toc}{fg=main}
+\setbeamercolor{subsection in toc}{fg=main}
+\setbeamercolor{section number projected}{bg=main}
+\setbeamercolor{subsection number projected}{bg=main}
+
+\setbeamercolor{bibliography item}{fg=main}
+\setbeamercolor{bibliography entry author}{fg=main!70!black}
+\setbeamercolor{bibliography entry title}{fg=main}
+\setbeamercolor{bibliography entry location}{fg=main}
+\setbeamercolor{bibliography entry note}{fg=main}
+
+\mode<all>
diff --git a/linux/networking_prez/beamerfontthemefocus.sty b/linux/networking_prez/beamerfontthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..faa8ba9ff0e08f774a9c93c4cc1e3e773fcd676b
--- /dev/null
+++ b/linux/networking_prez/beamerfontthemefocus.sty
@@ -0,0 +1,47 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% SET FONTS. -------------------------------------------------------------------
+\setbeamerfont{title}{size=\LARGE, shape=\scshape\bfseries}
+\setbeamerfont{subtitle}{size=\normalsize, shape=\scshape, parent=structure}
+\setbeamerfont{author}{size=\large, shape=\scshape}
+
+\setbeamerfont{institute}{size=\small, shape=\scshape}
+\setbeamerfont{date}{size=\small, shape=\scshape}
+
+\setbeamerfont{sectiontitle}{size=\huge, series=\scshape\bfseries}
+\setbeamerfont{frametitle}{size=\Large, shape=\scshape}
+
+\setbeamerfont{footline}{size=\scriptsize}
+
+\setbeamerfont{focusframe}{size=\huge, shape=\scshape}
+
+\setbeamerfont{description item}{shape=\bfseries}
+
+\setbeamerfont{caption name}{shape=\bfseries}
+
+\setbeamerfont{bibliography item}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry author}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry title}{size=\small, series=\scshape\bfseries}
+\setbeamerfont{bibliography entry location}{size=\small, shape=\scshape\normalfont}
+\setbeamerfont{bibliography entry note}{size=\small, shape=\scshape\normalfont}
+
+\mode<all>
diff --git a/linux/networking_prez/beamerinnerthemefocus.sty b/linux/networking_prez/beamerinnerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..c990d22f4de77b22cc76e22a19f3ea5ccfb0c852
--- /dev/null
+++ b/linux/networking_prez/beamerinnerthemefocus.sty
@@ -0,0 +1,110 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{tikz}
+
+
+% CUSTOMIZE STRUCTURE ELEMENTS. ------------------------------------------------
+\setbeamertemplate{blocks}[default]
+
+\setbeamertemplate{section in toc}[square]
+\setbeamertemplate{subsection in toc}[square]
+
+\setbeamertemplate{itemize items}[square]
+\setbeamertemplate{itemize subitem}[triangle]
+
+
+% STRUCTURE FRAME TEMPLATE DEFINITIONS. ----------------------------------------
+% Title page.
+\defbeamertemplate*{title page}{focus}{%
+ {\usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}}
+
+ \vspace{-1.65\baselineskip}
+ \begin{minipage}[b][0.35\paperheight]{\textwidth}
+ \vspace{\baselineskip}
+ \usebeamerfont{title}
+ \usebeamercolor[fg]{frametitle}
+ \inserttitle
+ \end{minipage}
+
+ \begin{minipage}[t][0.1\paperheight]{\textwidth}
+ \usebeamerfont{subtitle}
+ \usebeamercolor[fg]{frametitle}
+ \insertsubtitle
+ \end{minipage}
+
+ % Set the title graphic in a zero-height box, so that
+ % the position of other elements is not affected.
+ {\vfuzz=9999pt\vbox to 0pt {
+ \raggedleft
+ \inserttitlegraphic
+ }}
+
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{author}
+ \insertauthor
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{institute}
+ \insertinstitute
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{date}{\insertdate}
+ \end{minipage}
+
+ \vspace*{5\baselineskip}
+
+ \addtocounter{framenumber}{-1}
+}
+
+% Section page.
+\defbeamertemplate*{section page}{focus}{%
+ {%
+ \usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}%
+ }
+
+ \vspace{-2\baselineskip}
+ \begin{minipage}[b][0.45\paperheight]{\textwidth}
+ \usebeamerfont{sectiontitle}
+ \usebeamercolor[fg]{frametitle}
+ \let\hyperlink\@secondoftwo\insertsection
+ \end{minipage}
+
+ \begin{minipage}[t][0.55\paperheight]{\textwidth}
+ \end{minipage}
+}
+
+\AtBeginSection{%
+ \begin{frame}[plain, noframenumbering]{}
+ \sectionpage
+ \end{frame}%
+}
+
+\mode<all>
diff --git a/linux/networking_prez/beamerouterthemefocus.sty b/linux/networking_prez/beamerouterthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..3f05f338e0ee80d8918e7bcba9c4983b746b36bd
--- /dev/null
+++ b/linux/networking_prez/beamerouterthemefocus.sty
@@ -0,0 +1,255 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{appendixnumberbeamer}% Don't number appendix frames.
+\RequirePackage{etoolbox}% \BeforeBeginEnvironment
+\RequirePackage{tikz}
+
+
+% FRAMETITLE TEMPLATES. --------------------------------------------------------
+\defbeamertemplate*{frametitle}{focus}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm]{frametitle}%
+ \strut\insertframetitle\strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+% Plain header.
+\defbeamertemplate{frametitle}{plain}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm,ignorebg]{frametitle}%
+ \strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+
+% FOOTLINE TEMPLATES. ----------------------------------------------------------
+% Lenghts for the progress bar footline.
+\newlength{\focus@pbar@height}% Progress bar height.
+\newlength{\focus@pbar@leftoffset}
+\newlength{\focus@pbar@rightoffset}
+
+\defbeamertemplate*{footline}{progressbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \ifnum\c@framenumber<\inserttotalframenumber%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]\usebeamerfont{footline}
+ \pgfmathsetmacro{\focus@pbar@progress}%
+ {(\paperwidth-\focus@pbar@leftoffset-\focus@pbar@rightoffset)*(\insertframenumber/\inserttotalframenumber)}
+
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\the\focus@pbar@leftoffset,\the\focus@pbar@height);
+
+ \fill[footline.bg] (\the\focus@pbar@leftoffset,0) rectangle ++(\focus@pbar@progress pt,\the\focus@pbar@height)
+ ++(0,{-0.5*\the\focus@pbar@height}) node[anchor=east, text=footline.fg] {\strut\insertframenumber};
+
+ \fill[footline.bg] (\paperwidth,0) rectangle ++(-\the\focus@pbar@rightoffset,\the\focus@pbar@height)
+ ++(0,{-0.5*\the\focus@pbar@height}) node[anchor=west, text=footline.fg] {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \else%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+
+ \node[anchor=east, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\insertframenumber};
+ \node[footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut/};
+ \node[anchor=west, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \fi%
+ \fi%
+ \fi%
+}
+
+% Full bar footline.
+\defbeamertemplate{footline}{fullbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+
+ \node[anchor=east, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\insertframenumber};
+ \node[footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut/};
+ \node[anchor=west, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \fi%
+ \fi%
+}
+
+% Empty footline.
+\defbeamertemplate{footline}{none}{}
+
+\DeclareOptionBeamer{numbering}{\def\beamer@focus@numbering{#1}}
+\ExecuteOptionsBeamer{numbering=progressbar}
+\ProcessOptionsBeamer
+
+\def\beamer@focus@numberingprogressbar{progressbar}
+\def\beamer@focus@numberingfullbar{fullbar}
+\def\beamer@focus@numberingnone{none}
+
+
+% BACKGROUND CANVAS TEMPLATES. -------------------------------------------------
+\defbeamertemplate*{background canvas}{focus}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[normal text.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+\defbeamertemplate{background canvas}{focusplain}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[normal text.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+\defbeamertemplate{background canvas}{focusframe}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[frametitle.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+
+% HOOKS FOR CREATING FRAMES. ---------------------------------------------------
+\BeforeBeginEnvironment{frame}{%
+ \setbeamertemplate{background canvas}[focus]%
+ \setbeamertemplate{frametitle}[focus]%
+ %
+ % Reset footline height and determine it for the current slide.
+ \setlength{\focus@pbar@height}{0cm}%
+ \focus@calculatefootheight%
+ %
+ % If not appendix.
+ \ifnum\mainend<0 % From package appendixnumberbeamer.
+ \settoheight{\focus@pbar@height}{\usebeamerfont{footline}1234567890/}%
+ \addtolength{\focus@pbar@height}{6pt}%
+ %
+ \ifx\beamer@focus@numbering\beamer@focus@numberingprogressbar%
+ \setbeamertemplate{footline}[progressbar]%
+ \else%
+ \ifx\beamer@focus@numbering\beamer@focus@numberingfullbar%
+ \setbeamertemplate{footline}[fullbar]%
+ \fi%
+ \fi%
+ %
+ \focus@calculatefootheight%
+ \fi%
+}
+
+% Enable noframenumbering option.
+\define@key{beamerframe}{noframenumbering}[true]{%
+ \setbeamertemplate{footline}[none]%
+ \setlength{\focus@pbar@height}{0cm}%
+ \focus@calculatefootheight%
+ %
+ \addtocounter{framenumber}{-1}%
+}
+
+
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+ \setbeamertemplate{background canvas}[focusplain]%
+ \setbeamertemplate{frametitle}[plain]%
+ %
+ \setbeamertemplate{footline}[none]%
+}
+
+
+% Full vertical centering
+% (from https://tex.stackexchange.com/questions/247826/beamer-full-vertical-centering).
+\define@key{beamerframe}{c}[true]{%
+ \beamer@frametopskip=0pt plus 1fill\relax%
+ \beamer@framebottomskip=0pt plus 1fill\relax%
+ \beamer@frametopskipautobreak=0pt plus 0.4\paperheight\relax%
+ \beamer@framebottomskipautobreak=0pt plus 0.6\paperheight\relax%
+ \def\beamer@initfirstlineunskip{}%
+}
+
+
+% Enable focus option.
+\providebool{focus@standout}
+\define@key{beamerframe}{focus}[true]{%
+ \booltrue{focus@standout}%
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+ \setkeys{beamerframe}{noframenumbering}%
+ \setbeamertemplate{background canvas}[focusframe]%
+ \setbeamertemplate{frametitle}[plain]%
+ %
+ \setkeys{beamerframe}{c}%
+ \centering%
+ \usebeamerfont{focusframe}%
+ \usebeamercolor[fg]{frametitle}%
+}
+
+\apptocmd{\beamer@reseteecodes}
+{%
+ \ifbool{focus@standout}%
+ {%
+ \endgroup%
+ \boolfalse{focus@standout}%
+ }{}%
+}{}{}
+
+
+% Recalculate the footline's size and refresh other parameters.
+% Partially copied from the definition of \beamer@calculateheadfoot.
+\def\focus@calculatefootheight{%
+ \footheight=\focus@pbar@height%
+ \advance\footheight by 4pt%
+ \sidebarheight=\paperheight%
+ \advance\sidebarheight by-\headheight%
+ \advance\sidebarheight by\headdp%
+ \advance\sidebarheight by-\footheight%
+ \advance\sidebarheight by 4pt%
+ \footskip=\footheight%
+ \textheight=\paperheight%
+ \advance\textheight by-\footheight%
+ \advance\textheight by-\headheight%
+ \@colht\textheight%
+ \@colroom\textheight%
+ \vsize\textheight%
+}
+
+\mode<all>
diff --git a/linux/networking_prez/beamerthemefocus.sty b/linux/networking_prez/beamerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..cee91999d1156c3f0d8f60b5f9003d247d273a6d
--- /dev/null
+++ b/linux/networking_prez/beamerthemefocus.sty
@@ -0,0 +1,60 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\NeedsTeXFormat{LaTeX2e}
+\ProvidesPackage{beamerthemefocus}[2018/07/15 v2.0 Focus Beamer theme]
+
+\mode<presentation>
+
+
+% THEME OPTIONS. ---------------------------------------------------------------
+\DeclareOptionBeamer{numbering}{%
+ \PassOptionsToPackage{numbering=#1}{beamerouterthemefocus}
+}
+
+\newif\if@focus@loadfirafonts
+\@focus@loadfirafontstrue
+
+\DeclareOptionBeamer{nofirafonts}{\@focus@loadfirafontsfalse}
+\ProcessOptionsBeamer
+
+
+% LOAD EXTERNAL PACKAGES. ------------------------------------------------------
+\if@focus@loadfirafonts
+ \RequirePackage[T1]{fontenc}
+
+ \PassOptionsToPackage{type1}{FiraSans}
+ \PassOptionsToPackage{type1}{FiraMono}
+
+ \RequirePackage{FiraSans}
+ \RequirePackage{FiraMono}
+\fi
+
+\usecolortheme{focus}
+\usefonttheme{focus}
+\useinnertheme{focus}
+\useoutertheme{focus}
+
+\setbeamertemplate{navigation symbols}{}
+
+
+% SET MARGINS. -----------------------------------------------------------------
+\setbeamersize{text margin left=0.75cm, text margin right=0.75cm}
+\setlength{\leftmargini}{0.75cm}
+
+\mode<all>
diff --git a/linux/networking_prez/example.bib b/linux/networking_prez/example.bib
new file mode 100755
index 0000000000000000000000000000000000000000..819fe0e886591fa8a9f954e46da886d02d22a37a
--- /dev/null
+++ b/linux/networking_prez/example.bib
@@ -0,0 +1,26 @@
+@article{knuth74,
+ author = {Knuth, Donald E.},
+ title = {Computer Programming As an Art},
+ journal = {Commun. ACM},
+ year = {1974},
+ pages = {667--673},
+ numpages = {7},
+ publisher = {ACM},
+ address = {New York, NY, USA}
+}
+
+@article{knuth92,
+ author = {Knuth, Donald E.},
+ title = {Two notes on notation},
+ journal = {Amer. Math. Monthly},
+ volume = {99},
+ year = {1992},
+ pages = {403--422}
+}
+
+@book{lamport94,
+ title = {LaTeX: A Document Preparation System},
+ author = {Lamport, Leslie},
+ year = {1994},
+ publisher = {Pearson Education India}
+}
diff --git a/linux/networking_prez/presentation.nav b/linux/networking_prez/presentation.nav
new file mode 100644
index 0000000000000000000000000000000000000000..ec24a5af015e6600a12f74ec630c9c85d6193d4d
--- /dev/null
+++ b/linux/networking_prez/presentation.nav
@@ -0,0 +1,32 @@
+\headcommand {\slideentry {0}{0}{1}{1/1}{}{0}}
+\headcommand {\beamer@framepages {1}{1}}
+\headcommand {\slideentry {0}{0}{2}{2/2}{}{0}}
+\headcommand {\beamer@framepages {2}{2}}
+\headcommand {\beamer@sectionpages {1}{2}}
+\headcommand {\beamer@subsectionpages {1}{2}}
+\headcommand {\sectionentry {1}{Topic scope}{3}{Topic scope}{0}}
+\headcommand {\slideentry {1}{0}{1}{3/3}{}{0}}
+\headcommand {\beamer@framepages {3}{3}}
+\headcommand {\slideentry {1}{0}{2}{4/8}{}{0}}
+\headcommand {\beamer@framepages {4}{8}}
+\headcommand {\beamer@sectionpages {3}{8}}
+\headcommand {\beamer@subsectionpages {3}{8}}
+\headcommand {\sectionentry {2}{Basic networking concepts}{9}{Basic networking concepts}{0}}
+\headcommand {\slideentry {2}{0}{1}{9/9}{}{0}}
+\headcommand {\beamer@framepages {9}{9}}
+\headcommand {\slideentry {2}{0}{2}{10/10}{}{0}}
+\headcommand {\beamer@framepages {10}{10}}
+\headcommand {\beamer@sectionpages {9}{10}}
+\headcommand {\beamer@subsectionpages {9}{10}}
+\headcommand {\sectionentry {3}{Connecting to a different computer}{11}{Connecting to a different computer}{0}}
+\headcommand {\slideentry {3}{0}{1}{11/11}{}{0}}
+\headcommand {\beamer@framepages {11}{11}}
+\headcommand {\slideentry {3}{0}{2}{12/12}{}{0}}
+\headcommand {\beamer@framepages {12}{12}}
+\headcommand {\slideentry {3}{0}{3}{13/13}{}{0}}
+\headcommand {\beamer@framepages {13}{13}}
+\headcommand {\beamer@partpages {1}{13}}
+\headcommand {\beamer@subsectionpages {11}{13}}
+\headcommand {\beamer@sectionpages {11}{13}}
+\headcommand {\beamer@documentpages {13}}
+\headcommand {\gdef \inserttotalframenumber {4}}
diff --git a/linux/networking_prez/presentation.snm b/linux/networking_prez/presentation.snm
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/linux/networking_prez/presentation.tex b/linux/networking_prez/presentation.tex
new file mode 100755
index 0000000000000000000000000000000000000000..c6cea96bcb94ccb4c664b0ed0d2cd773d2860374
--- /dev/null
+++ b/linux/networking_prez/presentation.tex
@@ -0,0 +1,346 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Focus Beamer Presentation
+% LaTeX Template
+% Version 1.0 (8/8/18)
+%
+% This template has been downloaded from:
+% http://www.LaTeXTemplates.com
+%
+% Original author:
+% Pasquale Africa (https://github.com/elauksap/focus-beamertheme) with modifications by
+% Vel (vel@LaTeXTemplates.com)
+%
+% Template license:
+% GNU GPL v3.0 License
+%
+% Important note:
+% The bibliography/references need to be compiled with bibtex.
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%----------------------------------------------------------------------------------------
+% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
+%----------------------------------------------------------------------------------------
+
+\documentclass{beamer}
+
+\usetheme{focus} % Use the Focus theme supplied with the template
+% Add option [numbering=none] to disable the footer progress bar
+% Add option [numbering=fullbar] to show the footer progress bar as always full with a slide count
+
+% Uncomment to enable the ice-blue theme
+%\definecolor{main}{RGB}{92, 138, 168}
+%\definecolor{background}{RGB}{240, 247, 255}
+
+%------------------------------------------------
+
+\usepackage{booktabs} % Required for better table rules
+%\usepackage{amsmath}
+%\usepackage{bm}
+%\usepackage{array}
+%\usepackage{amssymb}
+
+%\usepackage{moreverb} % List settings
+%\usepackage{textcomp} % Fonts, symbols etc.
+%\usepackage{lmodern} % Latin modern font
+%\usepackage{helvet} % Enables font switching
+%\usepackage[T1]{fontenc} % Output settings
+%\usepackage[english]{babel} % Language settings
+%\usepackage[utf8]{inputenc} % Input settings
+\usepackage{amsmath} % Mathematical expressions (American mathematical society)
+\usepackage{bm}
+\usepackage{array}
+\usepackage{amssymb} % Mathematical symbols (American mathematical society)
+\usepackage{graphicx} % Figures
+\usepackage{subfig} % Enables subfigures
+%\numberwithin{equation}{chapter} % Numbering order for equations
+%\numberwithin{figure}{chapter} % Numbering order for figures
+%\numberwithin{table}{chapter} % Numbering order for tables
+%\usepackage{minted} % Enables source code listings
+%\usepackage{chemfig} % Chemical structures
+%\usepackage[top=3cm, bottom=3cm,
+% inner=3cm, outer=3cm]{geometry} % Page margin lengths
+%\usepackage{eso-pic} % Create cover page background
+\newcommand{\backgroundpic}[3]{
+ \put(#1,#2){
+ \parbox[b][\paperheight]{\paperwidth}{
+ \centering
+ \includegraphics[width=\paperwidth,height=\paperheight,keepaspectratio]{#3}}}}
+\usepackage{float} % Enables object position enforcement using [H]
+\usepackage{parskip} % Enables vertical spaces correctly
+\usepackage{datetime} %date formatting tools
+
+% cleaner math
+\newcommand{\argmin}{\arg\!\min}
+\newcommand{\argmax}{\arg\!\max}
+\usepackage[makeroom]{cancel}
+
+% nicer item bullets
+\usepackage{enumitem}
+\usepackage{pifont}
+\usepackage{xcolor}
+
+\usepackage{tikz}
+\usepackage{pgfplots}
+\usetikzlibrary {fit}
+\usetikzlibrary{arrows.meta}
+\usetikzlibrary{shapes.geometric, arrows}
+%\usepackage{tikz-graph}
+%\usetikzlibrary{bayesnet}
+%\usetikzlibrary{shapes.geometric}
+%\usetikzlibrary{trees}
+\usetikzlibrary{positioning}
+\tikzstyle{rec} = [rectangle, minimum width=2cm, minimum height=1cm, text centered, draw=black]
+\tikzstyle{arrow} = [thick,->,>=stealth]
+\tikzstyle{arrow_red} = [thick,->,>=stealth, color=red]
+\tikzstyle{mcs} = [circle, draw=black]
+\tikzstyle{mcsb} = [circle, draw=black, fill=black!20]
+
+
+% bibtex
+\usepackage[
+backend=biber,
+style=alphabetic,
+sorting=ynt
+]{biblatex}
+
+\addbibresource{../thesis_text/bibliography.bib}
+
+%----------------------------------------------------------------------------------------
+% TITLE SLIDE
+%----------------------------------------------------------------------------------------
+
+\title{Basic practical networking}
+
+%\subtitle{Subtitle}
+
+\author{Marko Guberina}
+
+\titlegraphic{\includegraphics[scale=0.25]{Images/LU-logotype-print-digital/EPS_for_print/English/LundUniversity_C2line_BLACK.eps}} % Optional title page image, comment this line to remove it
+
+\institute{Department of Automatic control \\ Lund University }
+
+\date{Lund, Sweden 2024}
+
+%------------------------------------------------
+
+\begin{document}
+
+%------------------------------------------------
+
+\begin{frame}
+ \maketitle % Automatically created using the information in the commands above
+\end{frame}
+
+%\begin{frame}[noframenumbering]{Presentation structure}
+\begin{frame}{Presentation structure}
+ \tableofcontents
+\end{frame}
+
+\section{Topic scope}
+
+\begin{frame}{Networking in the broad sense}
+\begin{itemize}[label=\ding{95}]
+ \item serious topic which requires background in:
+\begin{itemize}[label=\ding{95}]
+ \pause
+ \item operating systems (OS)
+ \pause
+ \item parallelism
+ \pause
+ \item inter-process communication (IPC)
+ \pause
+ \item full internet stack (from electrons to protocols)
+\end{itemize}
+\item we just want to connect to a robot
+\end{itemize}
+\end{frame}
+
+\section{Basic networking concepts}
+
+\begin{frame}{Basic networking concepts}
+\begin{itemize}[label=\ding{95}]
+\item LAN is not WAN, but it's still very cool
+\item IP addresses
+\item ports
+\item TCP/UDP
+\item sockets
+\end{itemize}
+\end{frame}
+
+\section{Connecting to a different computer}
+\begin{frame}{Connecting to a different computer (ex. on a robot)}
+\begin{itemize}[label=\ding{95}]
+ \item nmcli
+ \item ip addr
+ \item arp-scan
+ \item ping
+ \item netcat ONLY for checking connection ability
+\end{itemize}
+\end{frame}
+
+
+
+\begin{frame}[focus]
+Thank you for your attention!
+\newline
+\ding{96}\ding{96}\ding{96}
+\end{frame}
+
+
+
+
+
+
+
+%\begin{frame}[plain]{Plain Slide}
+% This is a slide with the plain style and it is numbered.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[t]
+% This slide has an empty title and is aligned to top.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[noframenumbering]{No Slide Numbering}
+% This slide is not numbered and is citing reference \cite{knuth74}.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Typesetting and Math}
+% The packages \texttt{inputenc} and \texttt{FiraSans}\footnote{\url{https://fonts.google.com/specimen/Fira+Sans}}\textsuperscript{,}\footnote{\url{http://mozilla.github.io/Fira/}} are used to properly set the main fonts.
+% \vfill
+% This theme provides styling commands to typeset \emph{emphasized}, \alert{alerted}, \textbf{bold}, \textcolor{example}{example text}, \dots
+% \vfill
+% \texttt{FiraSans} also provides support for mathematical symbols:
+% \begin{equation*}
+% e^{i\pi} + 1 = 0.
+% \end{equation*}
+%\end{frame}
+%
+%
+%\section{Section 2}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Blocks}
+% These blocks are part of 1 slide, to be displayed consecutively.
+% \begin{block}{Block}
+% Text.
+% \end{block}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{alertblock}{Alert block}
+% Alert \alert{text}.
+% \end{alertblock}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{exampleblock}{Example block}
+% Example \textcolor{example}{text}.
+% \end{exampleblock}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Columns}
+% \begin{columns}
+% \column{0.5\textwidth}
+% This text appears in the left column and wraps neatly with a margin between columns.
+%
+% \column{0.5\textwidth}
+% \includegraphics[width=\linewidth]{Images/placeholder.jpg}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Lists}
+% \begin{columns}[T, onlytextwidth] % T for top align, onlytextwidth to suppress the margin between columns
+% \column{0.33\textwidth}
+% Items:
+% \begin{itemize}
+% \item Item 1
+% \begin{itemize}
+% \item Subitem 1.1
+% \item Subitem 1.2
+% \end{itemize}
+% \item Item 2
+% \item Item 3
+% \end{itemize}
+%
+% \column{0.33\textwidth}
+% Enumerations:
+% \begin{enumerate}
+% \item First
+% \item Second
+% \begin{enumerate}
+% \item Sub-first
+% \item Sub-second
+% \end{enumerate}
+% \item Third
+% \end{enumerate}
+%
+% \column{0.33\textwidth}
+% Descriptions:
+% \begin{description}
+% \item[First] Yes.
+% \item[Second] No.
+% \end{description}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Table}
+% \begin{table}
+% \centering % Centre the table on the slide
+% \begin{tabular}{l c}
+% \toprule
+% Discipline & Avg. Salary \\
+% \toprule
+% \textbf{Engineering} & \textbf{\$66,521} \\
+% Computer Sciences & \$60,005\\
+% Mathematics and Sciences & \$61,867\\
+% Business & \$56,720\\
+% Humanities \& Social Sciences & \$56,669\\
+% Agriculture and Natural Resources & \$53,565\\
+% Communications & \$51,448\\
+% \midrule
+% \textbf{Average for All Disciplines} & \textbf{\$58,114}\\
+% \bottomrule
+% \end{tabular}
+% \caption{Table caption}
+% \end{table}
+%\end{frame}
+%
+%%------------------------------------------------
+
+
+%----------------------------------------------------------------------------------------
+% CLOSING/SUPPLEMENTARY SLIDES
+%----------------------------------------------------------------------------------------
+
+%\appendix
+
+%\begin{frame}{References}
+%% \bibliography{../thesis_text/bibliography.bib}
+%% \bibliographystyle{plain}
+%
+%%\addcontentsline{toc}
+%\addcontentsline{toc}{chapter}{Bibliography}
+%\printbibliography
+%\end{frame}
+
+%------------------------------------------------
+
+%\begin{frame}{Backup Slide}
+% This is a backup slide, useful to include additional materials to answer questions from the audience.
+% \vfill
+% The package \texttt{appendixnumberbeamer} is used to refrain from numbering appendix slides.
+%\end{frame}
+
+%----------------------------------------------------------------------------------------
+
+\end{document}
diff --git a/python/01_python_standard_library.md b/python/01_python_standard_library.md
index 70a292d83496f85133558b380e2e21ca7dcc83f0..a0348a9ea463c1df6c1cac3cad5654031ac7aa44 100644
--- a/python/01_python_standard_library.md
+++ b/python/01_python_standard_library.md
@@ -1,4 +1,5 @@
## python general
+-----------------------
Easiest possible language to use. Trades off
execution speed for ease of use.
Indentation has programatic meaning.
@@ -7,6 +8,7 @@ more readable code.
### basic facts:
+------------------
- made for quickly writing short code and prototyping (fast for user)
- very slow (for the computer)
- strong dynamic typing
@@ -16,35 +18,41 @@ more readable code.
### script vs shell + jupyter-notebooks
+------------------------------------------
- ipython is great quickly verifying things like types or math
- a script is just a full program
- notebooks are in-between the two and some people really like them
--> show a jrnh tutorial
### variables
+-----------------
Any variable in Python can store any type.
The comperhensive list of types can be found at [link_to_structs_in_standard_lib]
Here is a very short list of basic facts:
- all variables are variable/dynamic
-- **NOTE: a variable ONLY POINTS TO A LIST, and assigning it to a different variable
- DOES NOT COPY THE LIST by default **
### data structures
+-----------------
There are a number of built-in data structures in Python.
The comperhensive list of built-in data structures can be found at [link_to_structs_in_standard_lib]
#### lists
+-----------------
- look like [item_1, item_2,...]
- all lists are mutable (changeable)
- you can put anything in a list, i.e. item_n can be of any type
in any list (including other lists)
+- **NOTE: a variable ONLY POINTS TO A LIST, and assigning it to a different variable
+ DOES NOT COPY THE LIST by default **
#### dictionaries
+-----------------
- look like {key_1 : value_1, key_2: value_2, ...}
- all dictionaries are mutable (changeable)
- you can put anything in a dictionary
### loops
+-----------------
Repeat a block of code. They can be prematurely
stopped with break .
A chunk of code can be skipped with continue .
@@ -68,6 +76,7 @@ while test_true:
**example**: optimization until convergence (just minus something iteratively for show)
### functions
+-----------------
A function is a chunk of code to be easily accessed in multiple different places.
To be used somewhere else, its inputs and the outputs need to be matched
by the calling code.
@@ -84,6 +93,7 @@ def something(arguments):
example: write a theta to SO2 function
### classes
+-----------------
Classes are collections of variables and functions
that help us organize our code.
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+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+ Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+ In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+ If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License. You may not convey a covered
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+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
diff --git a/python/01_std_lib_prez/beamercolorthemefocus.sty b/python/01_std_lib_prez/beamercolorthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..ff80737d101ccbe09d45a0b7f3cf0241f2f68885
--- /dev/null
+++ b/python/01_std_lib_prez/beamercolorthemefocus.sty
@@ -0,0 +1,71 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% DEFINE COLORS. ---------------------------------------------------------------
+\definecolor{main}{RGB}{64, 64, 64}
+\definecolor{background}{RGB}{239, 239, 239}
+
+\definecolor{alert}{RGB}{180, 0, 0}
+\definecolor{example}{RGB}{0, 110, 0}
+
+
+% SET COLORS. ------------------------------------------------------------------
+\setbeamercolor{normal text}{fg=main, bg=background}
+\setbeamercolor{alerted text}{fg=alert}
+\setbeamercolor{example text}{fg=example}
+
+\setbeamercolor{titlelike}{fg=background, bg=main}
+\setbeamercolor{frametitle}{parent={titlelike}}
+
+\setbeamercolor{footline}{fg=background, bg=main}
+
+\setbeamercolor{block title}{bg=main!80!background, fg=background}
+\setbeamercolor{block body}{bg=main!10!background, fg=main}
+
+\setbeamercolor{block title alerted}{bg=alert, fg=background}
+\setbeamercolor{block body alerted}{bg=alert!10!background, fg=main}
+
+\setbeamercolor{block title example}{bg=example, fg=background}
+\setbeamercolor{block body example}{bg=example!10!background, fg=main}
+
+\setbeamercolor{itemize item}{fg=main}
+\setbeamercolor{itemize subitem}{fg=main}
+
+\setbeamercolor{enumerate item}{fg=main!70!black}
+\setbeamercolor{enumerate subitem}{fg=main!70!black}
+
+\setbeamercolor{description item}{fg=main!70!black}
+\setbeamercolor{description subitem}{fg=main!70!black}
+
+\setbeamercolor{caption name}{fg=main}
+
+\setbeamercolor{section in toc}{fg=main}
+\setbeamercolor{subsection in toc}{fg=main}
+\setbeamercolor{section number projected}{bg=main}
+\setbeamercolor{subsection number projected}{bg=main}
+
+\setbeamercolor{bibliography item}{fg=main}
+\setbeamercolor{bibliography entry author}{fg=main!70!black}
+\setbeamercolor{bibliography entry title}{fg=main}
+\setbeamercolor{bibliography entry location}{fg=main}
+\setbeamercolor{bibliography entry note}{fg=main}
+
+\mode<all>
diff --git a/python/01_std_lib_prez/beamerfontthemefocus.sty b/python/01_std_lib_prez/beamerfontthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..faa8ba9ff0e08f774a9c93c4cc1e3e773fcd676b
--- /dev/null
+++ b/python/01_std_lib_prez/beamerfontthemefocus.sty
@@ -0,0 +1,47 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% SET FONTS. -------------------------------------------------------------------
+\setbeamerfont{title}{size=\LARGE, shape=\scshape\bfseries}
+\setbeamerfont{subtitle}{size=\normalsize, shape=\scshape, parent=structure}
+\setbeamerfont{author}{size=\large, shape=\scshape}
+
+\setbeamerfont{institute}{size=\small, shape=\scshape}
+\setbeamerfont{date}{size=\small, shape=\scshape}
+
+\setbeamerfont{sectiontitle}{size=\huge, series=\scshape\bfseries}
+\setbeamerfont{frametitle}{size=\Large, shape=\scshape}
+
+\setbeamerfont{footline}{size=\scriptsize}
+
+\setbeamerfont{focusframe}{size=\huge, shape=\scshape}
+
+\setbeamerfont{description item}{shape=\bfseries}
+
+\setbeamerfont{caption name}{shape=\bfseries}
+
+\setbeamerfont{bibliography item}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry author}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry title}{size=\small, series=\scshape\bfseries}
+\setbeamerfont{bibliography entry location}{size=\small, shape=\scshape\normalfont}
+\setbeamerfont{bibliography entry note}{size=\small, shape=\scshape\normalfont}
+
+\mode<all>
diff --git a/python/01_std_lib_prez/beamerinnerthemefocus.sty b/python/01_std_lib_prez/beamerinnerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..c990d22f4de77b22cc76e22a19f3ea5ccfb0c852
--- /dev/null
+++ b/python/01_std_lib_prez/beamerinnerthemefocus.sty
@@ -0,0 +1,110 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{tikz}
+
+
+% CUSTOMIZE STRUCTURE ELEMENTS. ------------------------------------------------
+\setbeamertemplate{blocks}[default]
+
+\setbeamertemplate{section in toc}[square]
+\setbeamertemplate{subsection in toc}[square]
+
+\setbeamertemplate{itemize items}[square]
+\setbeamertemplate{itemize subitem}[triangle]
+
+
+% STRUCTURE FRAME TEMPLATE DEFINITIONS. ----------------------------------------
+% Title page.
+\defbeamertemplate*{title page}{focus}{%
+ {\usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}}
+
+ \vspace{-1.65\baselineskip}
+ \begin{minipage}[b][0.35\paperheight]{\textwidth}
+ \vspace{\baselineskip}
+ \usebeamerfont{title}
+ \usebeamercolor[fg]{frametitle}
+ \inserttitle
+ \end{minipage}
+
+ \begin{minipage}[t][0.1\paperheight]{\textwidth}
+ \usebeamerfont{subtitle}
+ \usebeamercolor[fg]{frametitle}
+ \insertsubtitle
+ \end{minipage}
+
+ % Set the title graphic in a zero-height box, so that
+ % the position of other elements is not affected.
+ {\vfuzz=9999pt\vbox to 0pt {
+ \raggedleft
+ \inserttitlegraphic
+ }}
+
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{author}
+ \insertauthor
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{institute}
+ \insertinstitute
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{date}{\insertdate}
+ \end{minipage}
+
+ \vspace*{5\baselineskip}
+
+ \addtocounter{framenumber}{-1}
+}
+
+% Section page.
+\defbeamertemplate*{section page}{focus}{%
+ {%
+ \usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}%
+ }
+
+ \vspace{-2\baselineskip}
+ \begin{minipage}[b][0.45\paperheight]{\textwidth}
+ \usebeamerfont{sectiontitle}
+ \usebeamercolor[fg]{frametitle}
+ \let\hyperlink\@secondoftwo\insertsection
+ \end{minipage}
+
+ \begin{minipage}[t][0.55\paperheight]{\textwidth}
+ \end{minipage}
+}
+
+\AtBeginSection{%
+ \begin{frame}[plain, noframenumbering]{}
+ \sectionpage
+ \end{frame}%
+}
+
+\mode<all>
diff --git a/python/01_std_lib_prez/beamerouterthemefocus.sty b/python/01_std_lib_prez/beamerouterthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..3f05f338e0ee80d8918e7bcba9c4983b746b36bd
--- /dev/null
+++ b/python/01_std_lib_prez/beamerouterthemefocus.sty
@@ -0,0 +1,255 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{appendixnumberbeamer}% Don't number appendix frames.
+\RequirePackage{etoolbox}% \BeforeBeginEnvironment
+\RequirePackage{tikz}
+
+
+% FRAMETITLE TEMPLATES. --------------------------------------------------------
+\defbeamertemplate*{frametitle}{focus}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm]{frametitle}%
+ \strut\insertframetitle\strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+% Plain header.
+\defbeamertemplate{frametitle}{plain}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm,ignorebg]{frametitle}%
+ \strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+
+% FOOTLINE TEMPLATES. ----------------------------------------------------------
+% Lenghts for the progress bar footline.
+\newlength{\focus@pbar@height}% Progress bar height.
+\newlength{\focus@pbar@leftoffset}
+\newlength{\focus@pbar@rightoffset}
+
+\defbeamertemplate*{footline}{progressbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \ifnum\c@framenumber<\inserttotalframenumber%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]\usebeamerfont{footline}
+ \pgfmathsetmacro{\focus@pbar@progress}%
+ {(\paperwidth-\focus@pbar@leftoffset-\focus@pbar@rightoffset)*(\insertframenumber/\inserttotalframenumber)}
+
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\the\focus@pbar@leftoffset,\the\focus@pbar@height);
+
+ \fill[footline.bg] (\the\focus@pbar@leftoffset,0) rectangle ++(\focus@pbar@progress pt,\the\focus@pbar@height)
+ ++(0,{-0.5*\the\focus@pbar@height}) node[anchor=east, text=footline.fg] {\strut\insertframenumber};
+
+ \fill[footline.bg] (\paperwidth,0) rectangle ++(-\the\focus@pbar@rightoffset,\the\focus@pbar@height)
+ ++(0,{-0.5*\the\focus@pbar@height}) node[anchor=west, text=footline.fg] {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \else%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+
+ \node[anchor=east, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\insertframenumber};
+ \node[footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut/};
+ \node[anchor=west, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \fi%
+ \fi%
+ \fi%
+}
+
+% Full bar footline.
+\defbeamertemplate{footline}{fullbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+
+ \node[anchor=east, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\insertframenumber};
+ \node[footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut/};
+ \node[anchor=west, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \fi%
+ \fi%
+}
+
+% Empty footline.
+\defbeamertemplate{footline}{none}{}
+
+\DeclareOptionBeamer{numbering}{\def\beamer@focus@numbering{#1}}
+\ExecuteOptionsBeamer{numbering=progressbar}
+\ProcessOptionsBeamer
+
+\def\beamer@focus@numberingprogressbar{progressbar}
+\def\beamer@focus@numberingfullbar{fullbar}
+\def\beamer@focus@numberingnone{none}
+
+
+% BACKGROUND CANVAS TEMPLATES. -------------------------------------------------
+\defbeamertemplate*{background canvas}{focus}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[normal text.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+\defbeamertemplate{background canvas}{focusplain}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[normal text.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+\defbeamertemplate{background canvas}{focusframe}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[frametitle.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
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+}
+
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+\BeforeBeginEnvironment{frame}{%
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+ %
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+ \focus@calculatefootheight%
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+ % If not appendix.
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+ \settoheight{\focus@pbar@height}{\usebeamerfont{footline}1234567890/}%
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+ \setbeamertemplate{footline}[fullbar]%
+ \fi%
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+ %
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+ \fi%
+}
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+ \setbeamertemplate{footline}[none]%
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+ \focus@calculatefootheight%
+ %
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+}
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+ \setbeamertemplate{frametitle}[plain]%
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+}
+
+
+% Full vertical centering
+% (from https://tex.stackexchange.com/questions/247826/beamer-full-vertical-centering).
+\define@key{beamerframe}{c}[true]{%
+ \beamer@frametopskip=0pt plus 1fill\relax%
+ \beamer@framebottomskip=0pt plus 1fill\relax%
+ \beamer@frametopskipautobreak=0pt plus 0.4\paperheight\relax%
+ \beamer@framebottomskipautobreak=0pt plus 0.6\paperheight\relax%
+ \def\beamer@initfirstlineunskip{}%
+}
+
+
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+\providebool{focus@standout}
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+ \booltrue{focus@standout}%
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+ \setbeamertemplate{frametitle}[plain]%
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+ \usebeamercolor[fg]{frametitle}%
+}
+
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+{%
+ \ifbool{focus@standout}%
+ {%
+ \endgroup%
+ \boolfalse{focus@standout}%
+ }{}%
+}{}{}
+
+
+% Recalculate the footline's size and refresh other parameters.
+% Partially copied from the definition of \beamer@calculateheadfoot.
+\def\focus@calculatefootheight{%
+ \footheight=\focus@pbar@height%
+ \advance\footheight by 4pt%
+ \sidebarheight=\paperheight%
+ \advance\sidebarheight by-\headheight%
+ \advance\sidebarheight by\headdp%
+ \advance\sidebarheight by-\footheight%
+ \advance\sidebarheight by 4pt%
+ \footskip=\footheight%
+ \textheight=\paperheight%
+ \advance\textheight by-\footheight%
+ \advance\textheight by-\headheight%
+ \@colht\textheight%
+ \@colroom\textheight%
+ \vsize\textheight%
+}
+
+\mode<all>
diff --git a/python/01_std_lib_prez/beamerthemefocus.sty b/python/01_std_lib_prez/beamerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..cee91999d1156c3f0d8f60b5f9003d247d273a6d
--- /dev/null
+++ b/python/01_std_lib_prez/beamerthemefocus.sty
@@ -0,0 +1,60 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\NeedsTeXFormat{LaTeX2e}
+\ProvidesPackage{beamerthemefocus}[2018/07/15 v2.0 Focus Beamer theme]
+
+\mode<presentation>
+
+
+% THEME OPTIONS. ---------------------------------------------------------------
+\DeclareOptionBeamer{numbering}{%
+ \PassOptionsToPackage{numbering=#1}{beamerouterthemefocus}
+}
+
+\newif\if@focus@loadfirafonts
+\@focus@loadfirafontstrue
+
+\DeclareOptionBeamer{nofirafonts}{\@focus@loadfirafontsfalse}
+\ProcessOptionsBeamer
+
+
+% LOAD EXTERNAL PACKAGES. ------------------------------------------------------
+\if@focus@loadfirafonts
+ \RequirePackage[T1]{fontenc}
+
+ \PassOptionsToPackage{type1}{FiraSans}
+ \PassOptionsToPackage{type1}{FiraMono}
+
+ \RequirePackage{FiraSans}
+ \RequirePackage{FiraMono}
+\fi
+
+\usecolortheme{focus}
+\usefonttheme{focus}
+\useinnertheme{focus}
+\useoutertheme{focus}
+
+\setbeamertemplate{navigation symbols}{}
+
+
+% SET MARGINS. -----------------------------------------------------------------
+\setbeamersize{text margin left=0.75cm, text margin right=0.75cm}
+\setlength{\leftmargini}{0.75cm}
+
+\mode<all>
diff --git a/python/01_std_lib_prez/example.bib b/python/01_std_lib_prez/example.bib
new file mode 100755
index 0000000000000000000000000000000000000000..819fe0e886591fa8a9f954e46da886d02d22a37a
--- /dev/null
+++ b/python/01_std_lib_prez/example.bib
@@ -0,0 +1,26 @@
+@article{knuth74,
+ author = {Knuth, Donald E.},
+ title = {Computer Programming As an Art},
+ journal = {Commun. ACM},
+ year = {1974},
+ pages = {667--673},
+ numpages = {7},
+ publisher = {ACM},
+ address = {New York, NY, USA}
+}
+
+@article{knuth92,
+ author = {Knuth, Donald E.},
+ title = {Two notes on notation},
+ journal = {Amer. Math. Monthly},
+ volume = {99},
+ year = {1992},
+ pages = {403--422}
+}
+
+@book{lamport94,
+ title = {LaTeX: A Document Preparation System},
+ author = {Lamport, Leslie},
+ year = {1994},
+ publisher = {Pearson Education India}
+}
diff --git a/python/01_std_lib_prez/presentation.nav b/python/01_std_lib_prez/presentation.nav
new file mode 100644
index 0000000000000000000000000000000000000000..1ed247526172c7e015f3b62638c359f81651fa07
--- /dev/null
+++ b/python/01_std_lib_prez/presentation.nav
@@ -0,0 +1,29 @@
+\headcommand {\slideentry {0}{0}{1}{1/1}{}{0}}
+\headcommand {\beamer@framepages {1}{1}}
+\headcommand {\slideentry {0}{0}{2}{2/2}{}{0}}
+\headcommand {\beamer@framepages {2}{2}}
+\headcommand {\beamer@sectionpages {1}{2}}
+\headcommand {\beamer@subsectionpages {1}{2}}
+\headcommand {\sectionentry {1}{Language overview}{3}{Language overview}{0}}
+\headcommand {\slideentry {1}{0}{1}{3/3}{}{0}}
+\headcommand {\beamer@framepages {3}{3}}
+\headcommand {\slideentry {1}{0}{2}{4/8}{}{0}}
+\headcommand {\beamer@framepages {4}{8}}
+\headcommand {\slideentry {1}{0}{3}{9/13}{}{0}}
+\headcommand {\beamer@framepages {9}{13}}
+\headcommand {\slideentry {1}{0}{4}{14/16}{}{0}}
+\headcommand {\beamer@framepages {14}{16}}
+\headcommand {\beamer@sectionpages {3}{16}}
+\headcommand {\beamer@subsectionpages {3}{16}}
+\headcommand {\sectionentry {2}{Syntax and standard library overview}{17}{Syntax and standard library overview}{0}}
+\headcommand {\slideentry {2}{0}{1}{17/17}{}{0}}
+\headcommand {\beamer@framepages {17}{17}}
+\headcommand {\slideentry {2}{0}{2}{18/18}{}{0}}
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+\headcommand {\beamer@partpages {1}{19}}
+\headcommand {\beamer@subsectionpages {17}{19}}
+\headcommand {\beamer@sectionpages {17}{19}}
+\headcommand {\beamer@documentpages {19}}
+\headcommand {\gdef \inserttotalframenumber {5}}
diff --git a/python/01_std_lib_prez/presentation.snm b/python/01_std_lib_prez/presentation.snm
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/python/01_std_lib_prez/presentation.tex b/python/01_std_lib_prez/presentation.tex
new file mode 100755
index 0000000000000000000000000000000000000000..4197048227b115f10c8040551b7cb587f745978b
--- /dev/null
+++ b/python/01_std_lib_prez/presentation.tex
@@ -0,0 +1,356 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Focus Beamer Presentation
+% LaTeX Template
+% Version 1.0 (8/8/18)
+%
+% This template has been downloaded from:
+% http://www.LaTeXTemplates.com
+%
+% Original author:
+% Pasquale Africa (https://github.com/elauksap/focus-beamertheme) with modifications by
+% Vel (vel@LaTeXTemplates.com)
+%
+% Template license:
+% GNU GPL v3.0 License
+%
+% Important note:
+% The bibliography/references need to be compiled with bibtex.
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%----------------------------------------------------------------------------------------
+% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
+%----------------------------------------------------------------------------------------
+
+\documentclass{beamer}
+
+\usetheme{focus} % Use the Focus theme supplied with the template
+% Add option [numbering=none] to disable the footer progress bar
+% Add option [numbering=fullbar] to show the footer progress bar as always full with a slide count
+
+% Uncomment to enable the ice-blue theme
+%\definecolor{main}{RGB}{92, 138, 168}
+%\definecolor{background}{RGB}{240, 247, 255}
+
+%------------------------------------------------
+
+\usepackage{booktabs} % Required for better table rules
+%\usepackage{amsmath}
+%\usepackage{bm}
+%\usepackage{array}
+%\usepackage{amssymb}
+
+%\usepackage{moreverb} % List settings
+%\usepackage{textcomp} % Fonts, symbols etc.
+%\usepackage{lmodern} % Latin modern font
+%\usepackage{helvet} % Enables font switching
+%\usepackage[T1]{fontenc} % Output settings
+%\usepackage[english]{babel} % Language settings
+%\usepackage[utf8]{inputenc} % Input settings
+\usepackage{amsmath} % Mathematical expressions (American mathematical society)
+\usepackage{bm}
+\usepackage{array}
+\usepackage{amssymb} % Mathematical symbols (American mathematical society)
+\usepackage{graphicx} % Figures
+\usepackage{subfig} % Enables subfigures
+%\numberwithin{equation}{chapter} % Numbering order for equations
+%\numberwithin{figure}{chapter} % Numbering order for figures
+%\numberwithin{table}{chapter} % Numbering order for tables
+%\usepackage{minted} % Enables source code listings
+%\usepackage{chemfig} % Chemical structures
+%\usepackage[top=3cm, bottom=3cm,
+% inner=3cm, outer=3cm]{geometry} % Page margin lengths
+%\usepackage{eso-pic} % Create cover page background
+\newcommand{\backgroundpic}[3]{
+ \put(#1,#2){
+ \parbox[b][\paperheight]{\paperwidth}{
+ \centering
+ \includegraphics[width=\paperwidth,height=\paperheight,keepaspectratio]{#3}}}}
+\usepackage{float} % Enables object position enforcement using [H]
+\usepackage{parskip} % Enables vertical spaces correctly
+\usepackage{datetime} %date formatting tools
+
+% cleaner math
+\newcommand{\argmin}{\arg\!\min}
+\newcommand{\argmax}{\arg\!\max}
+\usepackage[makeroom]{cancel}
+
+% nicer item bullets
+\usepackage{enumitem}
+\usepackage{pifont}
+\usepackage{xcolor}
+
+\usepackage{tikz}
+\usepackage{pgfplots}
+\usetikzlibrary {fit}
+\usetikzlibrary{arrows.meta}
+\usetikzlibrary{shapes.geometric, arrows}
+%\usepackage{tikz-graph}
+%\usetikzlibrary{bayesnet}
+%\usetikzlibrary{shapes.geometric}
+%\usetikzlibrary{trees}
+\usetikzlibrary{positioning}
+\tikzstyle{rec} = [rectangle, minimum width=2cm, minimum height=1cm, text centered, draw=black]
+\tikzstyle{arrow} = [thick,->,>=stealth]
+\tikzstyle{arrow_red} = [thick,->,>=stealth, color=red]
+\tikzstyle{mcs} = [circle, draw=black]
+\tikzstyle{mcsb} = [circle, draw=black, fill=black!20]
+
+
+% bibtex
+\usepackage[
+backend=biber,
+style=alphabetic,
+sorting=ynt
+]{biblatex}
+
+\addbibresource{../thesis_text/bibliography.bib}
+
+%----------------------------------------------------------------------------------------
+% TITLE SLIDE
+%----------------------------------------------------------------------------------------
+
+\title{Introduction to Python (standard library)}
+
+%\subtitle{Subtitle}
+
+\author{Marko Guberina}
+
+\titlegraphic{\includegraphics[scale=0.25]{Images/LU-logotype-print-digital/EPS_for_print/English/LundUniversity_C2line_BLACK.eps}} % Optional title page image, comment this line to remove it
+
+\institute{Department of Automatic control \\ Lund University }
+
+\date{Lund, Sweden 2024}
+
+%------------------------------------------------
+
+\begin{document}
+
+%------------------------------------------------
+
+\begin{frame}
+ \maketitle % Automatically created using the information in the commands above
+\end{frame}
+
+%\begin{frame}[noframenumbering]{Presentation structure}
+\begin{frame}{Presentation structure}
+ \tableofcontents
+\end{frame}
+
+\section{Language overview}
+
+\begin{frame}{Context}
+\begin{itemize}[label=\ding{95}]
+\item made for quickly writing short code and prototyping (fast for user)
+\begin{itemize}[label=\ding{96}]
+ \pause
+\item trades speed of execution for speed of development
+\end{itemize}
+\pause
+\item very simple to get into, but there are levels to it
+ \pause
+\item worthwhile to learn syntactic sugar
+ \pause
+\item huge number of available packages
+\end{itemize}
+\end{frame}
+
+\begin{frame}{Basic facts}
+\begin{itemize}[label=\ding{95}]
+ \item made for quickly writing short code and prototyping (fast for user)
+ \pause
+ \item very slow (for the computer)
+ \pause
+ \item strong dynamic typing
+ \pause
+ \item no compilation
+ \pause
+ \item executes one command at a time
+\end{itemize}
+\end{frame}
+
+
+\begin{frame}{Interfaces}
+\begin{itemize}[label=\ding{95}]
+ \item script
+ \pause
+ \item shell
+ \pause
+ \item notebook
+\end{itemize}
+\end{frame}
+
+
+\section{Syntax and standard library overview}
+\begin{frame}{Syntax and standard library overview}
+\center
+[show code]
+\end{frame}
+
+
+
+
+
+\begin{frame}[focus]
+Thank you for your attention!
+\newline
+\ding{96}\ding{96}\ding{96}
+\end{frame}
+
+
+
+
+
+
+
+%\begin{frame}[plain]{Plain Slide}
+% This is a slide with the plain style and it is numbered.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[t]
+% This slide has an empty title and is aligned to top.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[noframenumbering]{No Slide Numbering}
+% This slide is not numbered and is citing reference \cite{knuth74}.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Typesetting and Math}
+% The packages \texttt{inputenc} and \texttt{FiraSans}\footnote{\url{https://fonts.google.com/specimen/Fira+Sans}}\textsuperscript{,}\footnote{\url{http://mozilla.github.io/Fira/}} are used to properly set the main fonts.
+% \vfill
+% This theme provides styling commands to typeset \emph{emphasized}, \alert{alerted}, \textbf{bold}, \textcolor{example}{example text}, \dots
+% \vfill
+% \texttt{FiraSans} also provides support for mathematical symbols:
+% \begin{equation*}
+% e^{i\pi} + 1 = 0.
+% \end{equation*}
+%\end{frame}
+%
+%
+%\section{Section 2}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Blocks}
+% These blocks are part of 1 slide, to be displayed consecutively.
+% \begin{block}{Block}
+% Text.
+% \end{block}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{alertblock}{Alert block}
+% Alert \alert{text}.
+% \end{alertblock}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{exampleblock}{Example block}
+% Example \textcolor{example}{text}.
+% \end{exampleblock}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Columns}
+% \begin{columns}
+% \column{0.5\textwidth}
+% This text appears in the left column and wraps neatly with a margin between columns.
+%
+% \column{0.5\textwidth}
+% \includegraphics[width=\linewidth]{Images/placeholder.jpg}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Lists}
+% \begin{columns}[T, onlytextwidth] % T for top align, onlytextwidth to suppress the margin between columns
+% \column{0.33\textwidth}
+% Items:
+% \begin{itemize}
+% \item Item 1
+% \begin{itemize}
+% \item Subitem 1.1
+% \item Subitem 1.2
+% \end{itemize}
+% \item Item 2
+% \item Item 3
+% \end{itemize}
+%
+% \column{0.33\textwidth}
+% Enumerations:
+% \begin{enumerate}
+% \item First
+% \item Second
+% \begin{enumerate}
+% \item Sub-first
+% \item Sub-second
+% \end{enumerate}
+% \item Third
+% \end{enumerate}
+%
+% \column{0.33\textwidth}
+% Descriptions:
+% \begin{description}
+% \item[First] Yes.
+% \item[Second] No.
+% \end{description}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Table}
+% \begin{table}
+% \centering % Centre the table on the slide
+% \begin{tabular}{l c}
+% \toprule
+% Discipline & Avg. Salary \\
+% \toprule
+% \textbf{Engineering} & \textbf{\$66,521} \\
+% Computer Sciences & \$60,005\\
+% Mathematics and Sciences & \$61,867\\
+% Business & \$56,720\\
+% Humanities \& Social Sciences & \$56,669\\
+% Agriculture and Natural Resources & \$53,565\\
+% Communications & \$51,448\\
+% \midrule
+% \textbf{Average for All Disciplines} & \textbf{\$58,114}\\
+% \bottomrule
+% \end{tabular}
+% \caption{Table caption}
+% \end{table}
+%\end{frame}
+%
+%%------------------------------------------------
+
+
+%----------------------------------------------------------------------------------------
+% CLOSING/SUPPLEMENTARY SLIDES
+%----------------------------------------------------------------------------------------
+
+%\appendix
+
+%\begin{frame}{References}
+%% \bibliography{../thesis_text/bibliography.bib}
+%% \bibliographystyle{plain}
+%
+%%\addcontentsline{toc}
+%\addcontentsline{toc}{chapter}{Bibliography}
+%\printbibliography
+%\end{frame}
+
+%------------------------------------------------
+
+%\begin{frame}{Backup Slide}
+% This is a backup slide, useful to include additional materials to answer questions from the audience.
+% \vfill
+% The package \texttt{appendixnumberbeamer} is used to refrain from numbering appendix slides.
+%\end{frame}
+
+%----------------------------------------------------------------------------------------
+
+\end{document}
diff --git a/python/03_math_and_vizualization.md b/python/03_math_and_vizualization.md
index 818351907baf328a95ac975e30901e290b4a5976..11c71a6f36e9824c48697b3e1b6fb9e925c9ff85 100644
--- a/python/03_math_and_vizualization.md
+++ b/python/03_math_and_vizualization.md
@@ -10,17 +10,20 @@ Content:
- matrix multiplication
- matrix inversion
- so much more in [numpy documentation](https://numpy.org/)
+**examples**
+- https://numpy.org/doc/stable/user/basics.indexing.html
+- specifically indexing on arrays
+
### scipy
Ready to use advanced math.
Content:
-- linear algebra
+- linear algebra, ex. matrix logarithm scipy.linalg.logm, scipy.linalg.fractional_matrix_power
+- integration
- optimization
-- regression
- so much more in [scipy documentation](https://scipy.org/)
**examples**
-- show chalmers nonlin lab optimization example (just code and plot is ok)
-- Bonus: a more detailed IK example (math first, then code, but very quickly)
+- [scipy documentation](https://scipy.org/)
### matplotlib
**examples**:
diff --git a/python/04_opencv.md b/python/04_opencv.md
index 13d2a3baed6395499eb9ed62829527e1cbcc6d77..794c345415574414d24fdc8c591e41816de42ee9 100644
--- a/python/04_opencv.md
+++ b/python/04_opencv.md
@@ -1,7 +1,18 @@
### openCV
-- open up the laptop camera: ~/programs/camera_no_lag.py
+#### hello world equivalent
+- open up the laptop camera: ~/programs/camera_no_lag.py , show /dev/video0
+- much more at [opencv documentation](https://docs.opencv.org/4.x/index.html)
- show some basic transformations like grascale, ~/programs/camera_no_lag.py
- open up ip_webcam, and open then open it in opencv
+#### classic cv example
- show classic object detection example in action ~/chalmers/HUMRO/HUMROgroup5/classic_cv_test
-- show yolov4 in action HUMRO project, mention [yolo-v8](https://docs.ultralytics.com/)
+- it's black magic
+- but it also landed challanger on Mars
- much more at [opencv documentation](https://docs.opencv.org/4.x/index.html)
+#### deep learning
+- objectively the best
+- there's many out of the box solutions out there
+- if you want to train on your data, start with a pre-trained model
+- show yolo-v4 in action HUMRO project
+- mention [yolo-v11](https://docs.ultralytics.com/)
+
diff --git a/python/05_other_noteworthy_packages.md b/python/05_other_noteworthy_packages.md
index 5a2e899971a0d3b3e98abe009cb23e1ea1a4da1c..151fc2048df1323807d2ffe96552e11e5dfae05c 100644
--- a/python/05_other_noteworthy_packages.md
+++ b/python/05_other_noteworthy_packages.md
@@ -1,8 +1,9 @@
### other noteworthy packages
+------------------------------
- GUI - [tkinter]( https://tkdocs.com/), ex. previously shown in matplotlib manipulator_visualizer
-- simbolic math - sympy, ex. calculate hessian: ~/chalmers/NONLIN/lab/simpy_lab1.py
+- simbolic math - sympy, ex. calculate hessian: ~/chalmers/NONLIN/lab/simpy_lab1.py,
+ more at [sympy docs](https://docs.sympy.org/latest/index.html)
- classic ML - [scikit-learn](https://scikit-learn.org/stable/index.html)
- deep learning - [pytorch](https://pytorch.org/)
- tables - [pandas](https://pandas.pydata.org/)
-- deep learning object detection and more - [yolo-v8](https://github.com/ultralytics/ultralytics)
- classic control - [control](https://python-control.readthedocs.io/en/0.10.1/)
diff --git a/ur_simple_control/02_ur_simple_control.md b/ur_simple_control/02_ur_simple_control.md
index 8ada6a91e2bb28974dde34dcc88529629cb96f82..a1695289df5af1ac2136a0ee393f389fd73973d3 100644
--- a/ur_simple_control/02_ur_simple_control.md
+++ b/ur_simple_control/02_ur_simple_control.md
@@ -1,4 +1,5 @@
-## ur_simple_control
+## manipulator simple control
+--------------------------------
Content:
- basic use
@@ -8,31 +9,47 @@ Content:
- logging
### basic use
+-----------------
- every parameter is an argument
- predefined functions like CompliantMoveL
### RobotManager
+-----------------
- handles I/O with the robot for you
- manages pinocchio in step()
- just call step and use getters
### ControlLoopManager
+------------------------
- first show the math, explain partial, then go into ControlLoopManager
- does book-keeping around your control loop math
- ensures timing is right
- manages real time visualization and plotting
- handles killing of the program
+### basic control loops
+-----------------------
+- joint movement in basics
+- clik in clik
+
+### convenience tool box
+------------------------
+- freedrive
+- measuring stick
+
### visualization
+-----------------
- meshcat server, handled by separate process
- if you want to add more things, look into meshcat
- define your own function
### real-time plotting
+-----------------------
- matplotlib base, handled in separate process
- can plot whatever vectors you give it, just send an example in a dictionary
### logging
+-------------
- select what you want to track by providing an example dictionary
- saves the entire run (dictionary of vectors) as a pickle,
along with the pickle of the arguments used
diff --git a/ur_simple_control/03_pinocchio.md b/ur_simple_control/03_pinocchio.md
index 8f25044252cf2f9b0526662f7a3bce1e9da18d8c..e881299bf52684e5ba66f4cc40fc2811a8a61d58 100644
--- a/ur_simple_control/03_pinocchio.md
+++ b/ur_simple_control/03_pinocchio.md
@@ -6,20 +6,24 @@ kinematics and calculating jacobian functions, and do ther rest of the math
with eigen or numpy.
Content:
-- look at their documentation, do their tutorials if you want more
-- data and model
-- load robot as urdf
-- lie algebra
-- body vs space frames
-- cheatsheet overview
+- data and model (in code)
+- load robot as urdf (in code)
- forwardKinematics
-- just mention dynamics calls
+- calculateJacobian
+- body vs space frames
+- getSE3error - lie algebra - take it for granted or watch the whole video
+- cheatsheet overview - just mention dynamics calls
+- look at their documentation, do their tutorials if you want more
+
-## general documentation
+
+### general documentation
-------------------------------
-[pinocchio documentation](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/index.html)
+- [pinocchio documentation](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/index.html)
+- if you want to actually understand what's going on here,
+ you have to read [Featherstone's book on algorithms for robot dynamics](https://royfeatherstone.org/)
-## native installation procedure
+### native installation procedure
-------------------------------
just follow the steps (copy-paste commands into terminal) listed
[here](https://stack-of-tasks.github.io/pinocchio/download.html) .
@@ -28,10 +32,93 @@ and whatever else is needed to run algorithms in parallel.
you won't be able to run in 500Hz on a single core. also note that
the compilation required 13GB of RAM on my system.
-## tutorials
+### tutorials
-------------------------------
- [probably the best introduction to pinocchio](https://github.com/ymontmarin/_tps_robotique)
- [pinocchio with casadi](https://github.com/nmansard/jnrh2023) - use the provided Docker, very difficult to install the exact software version used in the tutorial
- [exercises offered on documentation webstite](https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/md_doc_d-practical-exercises_intro.html)
+## some notes on mathematical formalisms in robotics generally and pinocchio specifically
+-------------------------------------------
+- homogenious transformations are all you need to transfer between frames
+- if someone gives you a URDF you don't need to do denavit-hartenberg or whatever yourself
+- problem: rotations do NOT form a vector space
+- solutions out there: a myriad of different orientation representations
+- your life will be overall easier if you just learn some more math
+- let's build our understanding starting from scratch again
+
+### groups
+--------------
+A group is a non-empty set
+G together with a binary operation on G
+ here denoted with \cdot that combines any two elements
+a and b of G to form an element of G, denoted
+a \cdot b ,
+such that the following three requirements, known as group axioms, are satisfied:
+1. associativity
+2. identity element
+3. inverse element
+
+
+## differential geometry
+-------------------------
+- studying geometry in curved spaces
+- the earth is a sphere, we are bound to be on the sphere,
+ it's easier to have geometry that respects this by definition
+- we will be working with special manifolds so i won't
+ get into them in the abstract
+
+## lie group
+-------------
+A smooth manifold G with a group structure \cdot
+such that the map \rho : (p,q) \mapsto p \cdot q^-1 is smooth
+Examples: invertible matrices equipped with matrix multiplication
+- general linear group GL(m)
+- orthogonal group O(m)
+- special orthogonal group SO(m)
+IMPORTANT NOTE:
+difference between group itself in the abstract and the group representation.
+these groups have a smaller dimension than their representations.
+we can work with the groups in the abstract to show generalizable
+properties for all such groups.
+when working with a particular group we work with its representation.
+
+## lie algebra
+---------------
+- have a curve travelling on a sphere
+- what is its velocity? they are called tangent vectors.
+ they are differential operators, not an arrows,
+ but don't worry about that.
+- in the case of lie groups, the space of these derivatives is
+ called a lie algebra, and it has some nice special properties
+properties:
+1. it is a vector space
+2. has an operation called lie bracket
+- in our case, they will be skew-symmetric matrices
+
+## exponential map
+-------------------
+- have a tangent vector
+- turn it into the group operation via the exponential map,
+ which is in our case the matrix exponential
+- you can very cleanly prove that a matrix exponential
+ of skew-symmetric matrix v \in so(n) is a SO(n) matrix
+
+## SE(3) group and robotics terminology
+--------------------------------------
+- pose (position + orientation)
+- representation is the homogeneous transformation matrix
+- tangent vector (velocity) is called twist
+- linear force + torque is called a wrench
+- there is more to it, but you need to read
+ the book for this to make sense
+
+
+## lie groups (math approach)
+-----------------------------
+- nice [lecture series](https://www.youtube.com/playlist?list=PLN_4R2IuNuuRgJb00X2J53Iq9qe7k1nyr)
+
+## lie group informed robotics
+------------------------------
+- convincingly the best [book and videos by park and lynch](https://modernrobotics.northwestern.edu/nu-gm-book-resource/chapter-2-playlist/#department)
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new file mode 100755
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--- /dev/null
+++ b/ur_simple_control/intro_prez/LICENSE
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
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+ If you add terms to a covered work in accord with this section, you
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+ You may not propagate or modify a covered work except as expressly
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+holder fails to notify you of the violation by some reasonable means
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+ Moreover, your license from a particular copyright holder is
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+ Termination of your rights under this section does not terminate the
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+
+ 9. Acceptance Not Required for Having Copies.
+
+ You are not required to accept this License in order to receive or
+run a copy of the Program. Ancillary propagation of a covered work
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+ Each time you convey a covered work, the recipient automatically
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+ You may not impose any further restrictions on the exercise of the
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+any patent claim is infringed by making, using, selling, offering for
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+ 11. Patents.
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+ A "contributor" is a copyright holder who authorizes use under this
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+work thus licensed is called the contributor's "contributor version".
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+ A contributor's "essential patent claims" are all patent claims
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+patent license under the contributor's essential patent claims, to
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+(such as an express permission to practice a patent or covenant not to
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+party means to make such an agreement or commitment not to enforce a
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+
+ If you convey a covered work, knowingly relying on a patent license,
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+available, or (2) arrange to deprive yourself of the benefit of the
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+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
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+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
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+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
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+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
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+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
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+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
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+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
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+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
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+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
diff --git a/ur_simple_control/intro_prez/beamercolorthemefocus.sty b/ur_simple_control/intro_prez/beamercolorthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..ff80737d101ccbe09d45a0b7f3cf0241f2f68885
--- /dev/null
+++ b/ur_simple_control/intro_prez/beamercolorthemefocus.sty
@@ -0,0 +1,71 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% DEFINE COLORS. ---------------------------------------------------------------
+\definecolor{main}{RGB}{64, 64, 64}
+\definecolor{background}{RGB}{239, 239, 239}
+
+\definecolor{alert}{RGB}{180, 0, 0}
+\definecolor{example}{RGB}{0, 110, 0}
+
+
+% SET COLORS. ------------------------------------------------------------------
+\setbeamercolor{normal text}{fg=main, bg=background}
+\setbeamercolor{alerted text}{fg=alert}
+\setbeamercolor{example text}{fg=example}
+
+\setbeamercolor{titlelike}{fg=background, bg=main}
+\setbeamercolor{frametitle}{parent={titlelike}}
+
+\setbeamercolor{footline}{fg=background, bg=main}
+
+\setbeamercolor{block title}{bg=main!80!background, fg=background}
+\setbeamercolor{block body}{bg=main!10!background, fg=main}
+
+\setbeamercolor{block title alerted}{bg=alert, fg=background}
+\setbeamercolor{block body alerted}{bg=alert!10!background, fg=main}
+
+\setbeamercolor{block title example}{bg=example, fg=background}
+\setbeamercolor{block body example}{bg=example!10!background, fg=main}
+
+\setbeamercolor{itemize item}{fg=main}
+\setbeamercolor{itemize subitem}{fg=main}
+
+\setbeamercolor{enumerate item}{fg=main!70!black}
+\setbeamercolor{enumerate subitem}{fg=main!70!black}
+
+\setbeamercolor{description item}{fg=main!70!black}
+\setbeamercolor{description subitem}{fg=main!70!black}
+
+\setbeamercolor{caption name}{fg=main}
+
+\setbeamercolor{section in toc}{fg=main}
+\setbeamercolor{subsection in toc}{fg=main}
+\setbeamercolor{section number projected}{bg=main}
+\setbeamercolor{subsection number projected}{bg=main}
+
+\setbeamercolor{bibliography item}{fg=main}
+\setbeamercolor{bibliography entry author}{fg=main!70!black}
+\setbeamercolor{bibliography entry title}{fg=main}
+\setbeamercolor{bibliography entry location}{fg=main}
+\setbeamercolor{bibliography entry note}{fg=main}
+
+\mode<all>
diff --git a/ur_simple_control/intro_prez/beamerfontthemefocus.sty b/ur_simple_control/intro_prez/beamerfontthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..faa8ba9ff0e08f774a9c93c4cc1e3e773fcd676b
--- /dev/null
+++ b/ur_simple_control/intro_prez/beamerfontthemefocus.sty
@@ -0,0 +1,47 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% SET FONTS. -------------------------------------------------------------------
+\setbeamerfont{title}{size=\LARGE, shape=\scshape\bfseries}
+\setbeamerfont{subtitle}{size=\normalsize, shape=\scshape, parent=structure}
+\setbeamerfont{author}{size=\large, shape=\scshape}
+
+\setbeamerfont{institute}{size=\small, shape=\scshape}
+\setbeamerfont{date}{size=\small, shape=\scshape}
+
+\setbeamerfont{sectiontitle}{size=\huge, series=\scshape\bfseries}
+\setbeamerfont{frametitle}{size=\Large, shape=\scshape}
+
+\setbeamerfont{footline}{size=\scriptsize}
+
+\setbeamerfont{focusframe}{size=\huge, shape=\scshape}
+
+\setbeamerfont{description item}{shape=\bfseries}
+
+\setbeamerfont{caption name}{shape=\bfseries}
+
+\setbeamerfont{bibliography item}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry author}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry title}{size=\small, series=\scshape\bfseries}
+\setbeamerfont{bibliography entry location}{size=\small, shape=\scshape\normalfont}
+\setbeamerfont{bibliography entry note}{size=\small, shape=\scshape\normalfont}
+
+\mode<all>
diff --git a/ur_simple_control/intro_prez/beamerinnerthemefocus.sty b/ur_simple_control/intro_prez/beamerinnerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..c990d22f4de77b22cc76e22a19f3ea5ccfb0c852
--- /dev/null
+++ b/ur_simple_control/intro_prez/beamerinnerthemefocus.sty
@@ -0,0 +1,110 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{tikz}
+
+
+% CUSTOMIZE STRUCTURE ELEMENTS. ------------------------------------------------
+\setbeamertemplate{blocks}[default]
+
+\setbeamertemplate{section in toc}[square]
+\setbeamertemplate{subsection in toc}[square]
+
+\setbeamertemplate{itemize items}[square]
+\setbeamertemplate{itemize subitem}[triangle]
+
+
+% STRUCTURE FRAME TEMPLATE DEFINITIONS. ----------------------------------------
+% Title page.
+\defbeamertemplate*{title page}{focus}{%
+ {\usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}}
+
+ \vspace{-1.65\baselineskip}
+ \begin{minipage}[b][0.35\paperheight]{\textwidth}
+ \vspace{\baselineskip}
+ \usebeamerfont{title}
+ \usebeamercolor[fg]{frametitle}
+ \inserttitle
+ \end{minipage}
+
+ \begin{minipage}[t][0.1\paperheight]{\textwidth}
+ \usebeamerfont{subtitle}
+ \usebeamercolor[fg]{frametitle}
+ \insertsubtitle
+ \end{minipage}
+
+ % Set the title graphic in a zero-height box, so that
+ % the position of other elements is not affected.
+ {\vfuzz=9999pt\vbox to 0pt {
+ \raggedleft
+ \inserttitlegraphic
+ }}
+
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{author}
+ \insertauthor
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{institute}
+ \insertinstitute
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{date}{\insertdate}
+ \end{minipage}
+
+ \vspace*{5\baselineskip}
+
+ \addtocounter{framenumber}{-1}
+}
+
+% Section page.
+\defbeamertemplate*{section page}{focus}{%
+ {%
+ \usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}%
+ }
+
+ \vspace{-2\baselineskip}
+ \begin{minipage}[b][0.45\paperheight]{\textwidth}
+ \usebeamerfont{sectiontitle}
+ \usebeamercolor[fg]{frametitle}
+ \let\hyperlink\@secondoftwo\insertsection
+ \end{minipage}
+
+ \begin{minipage}[t][0.55\paperheight]{\textwidth}
+ \end{minipage}
+}
+
+\AtBeginSection{%
+ \begin{frame}[plain, noframenumbering]{}
+ \sectionpage
+ \end{frame}%
+}
+
+\mode<all>
diff --git a/ur_simple_control/intro_prez/beamerouterthemefocus.sty b/ur_simple_control/intro_prez/beamerouterthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..3f05f338e0ee80d8918e7bcba9c4983b746b36bd
--- /dev/null
+++ b/ur_simple_control/intro_prez/beamerouterthemefocus.sty
@@ -0,0 +1,255 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{appendixnumberbeamer}% Don't number appendix frames.
+\RequirePackage{etoolbox}% \BeforeBeginEnvironment
+\RequirePackage{tikz}
+
+
+% FRAMETITLE TEMPLATES. --------------------------------------------------------
+\defbeamertemplate*{frametitle}{focus}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm]{frametitle}%
+ \strut\insertframetitle\strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+% Plain header.
+\defbeamertemplate{frametitle}{plain}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm,ignorebg]{frametitle}%
+ \strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+
+% FOOTLINE TEMPLATES. ----------------------------------------------------------
+% Lenghts for the progress bar footline.
+\newlength{\focus@pbar@height}% Progress bar height.
+\newlength{\focus@pbar@leftoffset}
+\newlength{\focus@pbar@rightoffset}
+
+\defbeamertemplate*{footline}{progressbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \ifnum\c@framenumber<\inserttotalframenumber%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]\usebeamerfont{footline}
+ \pgfmathsetmacro{\focus@pbar@progress}%
+ {(\paperwidth-\focus@pbar@leftoffset-\focus@pbar@rightoffset)*(\insertframenumber/\inserttotalframenumber)}
+
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\the\focus@pbar@leftoffset,\the\focus@pbar@height);
+
+ \fill[footline.bg] (\the\focus@pbar@leftoffset,0) rectangle ++(\focus@pbar@progress pt,\the\focus@pbar@height)
+ ++(0,{-0.5*\the\focus@pbar@height}) node[anchor=east, text=footline.fg] {\strut\insertframenumber};
+
+ \fill[footline.bg] (\paperwidth,0) rectangle ++(-\the\focus@pbar@rightoffset,\the\focus@pbar@height)
+ ++(0,{-0.5*\the\focus@pbar@height}) node[anchor=west, text=footline.fg] {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \else%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+
+ \node[anchor=east, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\insertframenumber};
+ \node[footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut/};
+ \node[anchor=west, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \fi%
+ \fi%
+ \fi%
+}
+
+% Full bar footline.
+\defbeamertemplate{footline}{fullbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+
+ \node[anchor=east, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\insertframenumber};
+ \node[footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut/};
+ \node[anchor=west, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \fi%
+ \fi%
+}
+
+% Empty footline.
+\defbeamertemplate{footline}{none}{}
+
+\DeclareOptionBeamer{numbering}{\def\beamer@focus@numbering{#1}}
+\ExecuteOptionsBeamer{numbering=progressbar}
+\ProcessOptionsBeamer
+
+\def\beamer@focus@numberingprogressbar{progressbar}
+\def\beamer@focus@numberingfullbar{fullbar}
+\def\beamer@focus@numberingnone{none}
+
+
+% BACKGROUND CANVAS TEMPLATES. -------------------------------------------------
+\defbeamertemplate*{background canvas}{focus}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[normal text.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+\defbeamertemplate{background canvas}{focusplain}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[normal text.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+\defbeamertemplate{background canvas}{focusframe}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[frametitle.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+
+% HOOKS FOR CREATING FRAMES. ---------------------------------------------------
+\BeforeBeginEnvironment{frame}{%
+ \setbeamertemplate{background canvas}[focus]%
+ \setbeamertemplate{frametitle}[focus]%
+ %
+ % Reset footline height and determine it for the current slide.
+ \setlength{\focus@pbar@height}{0cm}%
+ \focus@calculatefootheight%
+ %
+ % If not appendix.
+ \ifnum\mainend<0 % From package appendixnumberbeamer.
+ \settoheight{\focus@pbar@height}{\usebeamerfont{footline}1234567890/}%
+ \addtolength{\focus@pbar@height}{6pt}%
+ %
+ \ifx\beamer@focus@numbering\beamer@focus@numberingprogressbar%
+ \setbeamertemplate{footline}[progressbar]%
+ \else%
+ \ifx\beamer@focus@numbering\beamer@focus@numberingfullbar%
+ \setbeamertemplate{footline}[fullbar]%
+ \fi%
+ \fi%
+ %
+ \focus@calculatefootheight%
+ \fi%
+}
+
+% Enable noframenumbering option.
+\define@key{beamerframe}{noframenumbering}[true]{%
+ \setbeamertemplate{footline}[none]%
+ \setlength{\focus@pbar@height}{0cm}%
+ \focus@calculatefootheight%
+ %
+ \addtocounter{framenumber}{-1}%
+}
+
+
+% Enable plain option.
+\define@key{beamerframe}{plain}[true]{%
+ \setbeamertemplate{background canvas}[focusplain]%
+ \setbeamertemplate{frametitle}[plain]%
+ %
+ \setbeamertemplate{footline}[none]%
+}
+
+
+% Full vertical centering
+% (from https://tex.stackexchange.com/questions/247826/beamer-full-vertical-centering).
+\define@key{beamerframe}{c}[true]{%
+ \beamer@frametopskip=0pt plus 1fill\relax%
+ \beamer@framebottomskip=0pt plus 1fill\relax%
+ \beamer@frametopskipautobreak=0pt plus 0.4\paperheight\relax%
+ \beamer@framebottomskipautobreak=0pt plus 0.6\paperheight\relax%
+ \def\beamer@initfirstlineunskip{}%
+}
+
+
+% Enable focus option.
+\providebool{focus@standout}
+\define@key{beamerframe}{focus}[true]{%
+ \booltrue{focus@standout}%
+ \begingroup%
+ \setkeys{beamerframe}{noframenumbering}%
+ \setbeamertemplate{background canvas}[focusframe]%
+ \setbeamertemplate{frametitle}[plain]%
+ %
+ \setkeys{beamerframe}{c}%
+ \centering%
+ \usebeamerfont{focusframe}%
+ \usebeamercolor[fg]{frametitle}%
+}
+
+\apptocmd{\beamer@reseteecodes}
+{%
+ \ifbool{focus@standout}%
+ {%
+ \endgroup%
+ \boolfalse{focus@standout}%
+ }{}%
+}{}{}
+
+
+% Recalculate the footline's size and refresh other parameters.
+% Partially copied from the definition of \beamer@calculateheadfoot.
+\def\focus@calculatefootheight{%
+ \footheight=\focus@pbar@height%
+ \advance\footheight by 4pt%
+ \sidebarheight=\paperheight%
+ \advance\sidebarheight by-\headheight%
+ \advance\sidebarheight by\headdp%
+ \advance\sidebarheight by-\footheight%
+ \advance\sidebarheight by 4pt%
+ \footskip=\footheight%
+ \textheight=\paperheight%
+ \advance\textheight by-\footheight%
+ \advance\textheight by-\headheight%
+ \@colht\textheight%
+ \@colroom\textheight%
+ \vsize\textheight%
+}
+
+\mode<all>
diff --git a/ur_simple_control/intro_prez/beamerthemefocus.sty b/ur_simple_control/intro_prez/beamerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..cee91999d1156c3f0d8f60b5f9003d247d273a6d
--- /dev/null
+++ b/ur_simple_control/intro_prez/beamerthemefocus.sty
@@ -0,0 +1,60 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\NeedsTeXFormat{LaTeX2e}
+\ProvidesPackage{beamerthemefocus}[2018/07/15 v2.0 Focus Beamer theme]
+
+\mode<presentation>
+
+
+% THEME OPTIONS. ---------------------------------------------------------------
+\DeclareOptionBeamer{numbering}{%
+ \PassOptionsToPackage{numbering=#1}{beamerouterthemefocus}
+}
+
+\newif\if@focus@loadfirafonts
+\@focus@loadfirafontstrue
+
+\DeclareOptionBeamer{nofirafonts}{\@focus@loadfirafontsfalse}
+\ProcessOptionsBeamer
+
+
+% LOAD EXTERNAL PACKAGES. ------------------------------------------------------
+\if@focus@loadfirafonts
+ \RequirePackage[T1]{fontenc}
+
+ \PassOptionsToPackage{type1}{FiraSans}
+ \PassOptionsToPackage{type1}{FiraMono}
+
+ \RequirePackage{FiraSans}
+ \RequirePackage{FiraMono}
+\fi
+
+\usecolortheme{focus}
+\usefonttheme{focus}
+\useinnertheme{focus}
+\useoutertheme{focus}
+
+\setbeamertemplate{navigation symbols}{}
+
+
+% SET MARGINS. -----------------------------------------------------------------
+\setbeamersize{text margin left=0.75cm, text margin right=0.75cm}
+\setlength{\leftmargini}{0.75cm}
+
+\mode<all>
diff --git a/ur_simple_control/intro_prez/example.bib b/ur_simple_control/intro_prez/example.bib
new file mode 100755
index 0000000000000000000000000000000000000000..819fe0e886591fa8a9f954e46da886d02d22a37a
--- /dev/null
+++ b/ur_simple_control/intro_prez/example.bib
@@ -0,0 +1,26 @@
+@article{knuth74,
+ author = {Knuth, Donald E.},
+ title = {Computer Programming As an Art},
+ journal = {Commun. ACM},
+ year = {1974},
+ pages = {667--673},
+ numpages = {7},
+ publisher = {ACM},
+ address = {New York, NY, USA}
+}
+
+@article{knuth92,
+ author = {Knuth, Donald E.},
+ title = {Two notes on notation},
+ journal = {Amer. Math. Monthly},
+ volume = {99},
+ year = {1992},
+ pages = {403--422}
+}
+
+@book{lamport94,
+ title = {LaTeX: A Document Preparation System},
+ author = {Lamport, Leslie},
+ year = {1994},
+ publisher = {Pearson Education India}
+}
diff --git a/ur_simple_control/intro_prez/presentation.nav b/ur_simple_control/intro_prez/presentation.nav
new file mode 100644
index 0000000000000000000000000000000000000000..ebc4eada96a164d5e4d65914f170310b7057a39e
--- /dev/null
+++ b/ur_simple_control/intro_prez/presentation.nav
@@ -0,0 +1,29 @@
+\headcommand {\slideentry {0}{0}{1}{1/1}{}{0}}
+\headcommand {\beamer@framepages {1}{1}}
+\headcommand {\slideentry {0}{0}{2}{2/2}{}{0}}
+\headcommand {\beamer@framepages {2}{2}}
+\headcommand {\beamer@sectionpages {1}{2}}
+\headcommand {\beamer@subsectionpages {1}{2}}
+\headcommand {\sectionentry {1}{High level overview}{3}{High level overview}{0}}
+\headcommand {\slideentry {1}{0}{1}{3/3}{}{0}}
+\headcommand {\beamer@framepages {3}{3}}
+\headcommand {\slideentry {1}{0}{2}{4/13}{}{0}}
+\headcommand {\beamer@framepages {4}{13}}
+\headcommand {\slideentry {1}{0}{3}{14/20}{}{0}}
+\headcommand {\beamer@framepages {14}{20}}
+\headcommand {\slideentry {1}{0}{4}{21/25}{}{0}}
+\headcommand {\beamer@framepages {21}{25}}
+\headcommand {\beamer@sectionpages {3}{25}}
+\headcommand {\beamer@subsectionpages {3}{25}}
+\headcommand {\sectionentry {2}{Future development roadmap}{26}{Future development roadmap}{0}}
+\headcommand {\slideentry {2}{0}{1}{26/26}{}{0}}
+\headcommand {\beamer@framepages {26}{26}}
+\headcommand {\slideentry {2}{0}{2}{27/34}{}{0}}
+\headcommand {\beamer@framepages {27}{34}}
+\headcommand {\slideentry {2}{0}{3}{35/35}{}{0}}
+\headcommand {\beamer@framepages {35}{35}}
+\headcommand {\beamer@partpages {1}{35}}
+\headcommand {\beamer@subsectionpages {26}{35}}
+\headcommand {\beamer@sectionpages {26}{35}}
+\headcommand {\beamer@documentpages {35}}
+\headcommand {\gdef \inserttotalframenumber {5}}
diff --git a/ur_simple_control/intro_prez/presentation.snm b/ur_simple_control/intro_prez/presentation.snm
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/ur_simple_control/intro_prez/presentation.tex b/ur_simple_control/intro_prez/presentation.tex
new file mode 100755
index 0000000000000000000000000000000000000000..56c720b0b7c63b9d40f1dd0b65c43741a18d6e0f
--- /dev/null
+++ b/ur_simple_control/intro_prez/presentation.tex
@@ -0,0 +1,383 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Focus Beamer Presentation
+% LaTeX Template
+% Version 1.0 (8/8/18)
+%
+% This template has been downloaded from:
+% http://www.LaTeXTemplates.com
+%
+% Original author:
+% Pasquale Africa (https://github.com/elauksap/focus-beamertheme) with modifications by
+% Vel (vel@LaTeXTemplates.com)
+%
+% Template license:
+% GNU GPL v3.0 License
+%
+% Important note:
+% The bibliography/references need to be compiled with bibtex.
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%----------------------------------------------------------------------------------------
+% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
+%----------------------------------------------------------------------------------------
+
+\documentclass{beamer}
+
+\usetheme{focus} % Use the Focus theme supplied with the template
+% Add option [numbering=none] to disable the footer progress bar
+% Add option [numbering=fullbar] to show the footer progress bar as always full with a slide count
+
+% Uncomment to enable the ice-blue theme
+%\definecolor{main}{RGB}{92, 138, 168}
+%\definecolor{background}{RGB}{240, 247, 255}
+
+%------------------------------------------------
+
+\usepackage{booktabs} % Required for better table rules
+%\usepackage{amsmath}
+%\usepackage{bm}
+%\usepackage{array}
+%\usepackage{amssymb}
+
+%\usepackage{moreverb} % List settings
+%\usepackage{textcomp} % Fonts, symbols etc.
+%\usepackage{lmodern} % Latin modern font
+%\usepackage{helvet} % Enables font switching
+%\usepackage[T1]{fontenc} % Output settings
+%\usepackage[english]{babel} % Language settings
+%\usepackage[utf8]{inputenc} % Input settings
+\usepackage{amsmath} % Mathematical expressions (American mathematical society)
+\usepackage{bm}
+\usepackage{array}
+\usepackage{amssymb} % Mathematical symbols (American mathematical society)
+\usepackage{graphicx} % Figures
+\usepackage{subfig} % Enables subfigures
+%\numberwithin{equation}{chapter} % Numbering order for equations
+%\numberwithin{figure}{chapter} % Numbering order for figures
+%\numberwithin{table}{chapter} % Numbering order for tables
+%\usepackage{minted} % Enables source code listings
+%\usepackage{chemfig} % Chemical structures
+%\usepackage[top=3cm, bottom=3cm,
+% inner=3cm, outer=3cm]{geometry} % Page margin lengths
+%\usepackage{eso-pic} % Create cover page background
+\newcommand{\backgroundpic}[3]{
+ \put(#1,#2){
+ \parbox[b][\paperheight]{\paperwidth}{
+ \centering
+ \includegraphics[width=\paperwidth,height=\paperheight,keepaspectratio]{#3}}}}
+\usepackage{float} % Enables object position enforcement using [H]
+\usepackage{parskip} % Enables vertical spaces correctly
+\usepackage{datetime} %date formatting tools
+
+% cleaner math
+\newcommand{\argmin}{\arg\!\min}
+\newcommand{\argmax}{\arg\!\max}
+\usepackage[makeroom]{cancel}
+
+% nicer item bullets
+\usepackage{enumitem}
+\usepackage{pifont}
+\usepackage{xcolor}
+
+\usepackage{tikz}
+\usepackage{pgfplots}
+\usetikzlibrary {fit}
+\usetikzlibrary{arrows.meta}
+\usetikzlibrary{shapes.geometric, arrows}
+%\usepackage{tikz-graph}
+%\usetikzlibrary{bayesnet}
+%\usetikzlibrary{shapes.geometric}
+%\usetikzlibrary{trees}
+\usetikzlibrary{positioning}
+\tikzstyle{rec} = [rectangle, minimum width=2cm, minimum height=1cm, text centered, draw=black]
+\tikzstyle{arrow} = [thick,->,>=stealth]
+\tikzstyle{arrow_red} = [thick,->,>=stealth, color=red]
+\tikzstyle{mcs} = [circle, draw=black]
+\tikzstyle{mcsb} = [circle, draw=black, fill=black!20]
+
+
+% bibtex
+\usepackage[
+backend=biber,
+style=alphabetic,
+sorting=ynt
+]{biblatex}
+
+\addbibresource{../thesis_text/bibliography.bib}
+
+%----------------------------------------------------------------------------------------
+% TITLE SLIDE
+%----------------------------------------------------------------------------------------
+
+\title{Simple manipulator control}
+
+%\subtitle{Subtitle}
+
+\author{Marko Guberina}
+
+\titlegraphic{\includegraphics[scale=0.25]{Images/LU-logotype-print-digital/EPS_for_print/English/LundUniversity_C2line_BLACK.eps}} % Optional title page image, comment this line to remove it
+
+\institute{Department of Automatic control \\ Lund University }
+
+\date{Lund, Sweden 2024}
+
+%------------------------------------------------
+
+\begin{document}
+
+%------------------------------------------------
+
+\begin{frame}
+ \maketitle % Automatically created using the information in the commands above
+\end{frame}
+
+%\begin{frame}[noframenumbering]{Presentation structure}
+\begin{frame}{Presentation structure}
+ \tableofcontents
+\end{frame}
+
+\section{High level overview}
+\begin{frame}{Basic information}
+\begin{itemize}[label=\ding{95}]
+ \pause
+\item pure Python on Linux
+ \pause
+\item alternative to ROS
+ \pause
+\item designed for simple systems
+ \pause
+\item intended users are mechanics engineering students,
+ \pause
+\item i.e. people strong in engineering math, but no necessarily software engineering
+ \pause
+\item currently only has support for UR5e and velocity control, but expensions are comming soon
+ \pause
+\item easy installation with Docker
+ \pause
+\item native installation documented
+ \pause
+\item NO REAL TIME GUARANTEES
+\end{itemize}
+\end{frame}
+
+\begin{frame}{Technical trade-offs}
+\begin{itemize}[label=\ding{95}]
+ \pause
+ \item \textbf{for mechanical and control engineers}:
+\begin{itemize}[label=\ding{96}]
+ \pause
+\item less code (least amount possible)
+ \pause
+\item directly exposed math
+\end{itemize}
+ \pause
+\item \textbf{speed of control development vs generalizability:}
+\begin{itemize}[label=\ding{96}]
+ \pause
+\item requires only reading states and sending commands
+ to be ported onto a new robot
+ \pause
+\item you need ROS for a humanoid, autonomous tractor
+ or other real big systems
+\end{itemize}
+\end{itemize}
+\end{frame}
+
+\begin{frame}{Current status}
+\begin{itemize}[label=\ding{95}]
+ \pause
+\item only has support for UR5e
+ \pause
+\item only works for velocity controlled robots
+ \pause
+\item basic controllers, ex. moveL
+ \pause
+\item impedance control, ex. compliantMoveL
+\end{itemize}
+\end{frame}
+
+
+\section{Future development roadmap}
+\begin{frame}{Planned work}
+\begin{itemize}[label=\ding{95}]
+ \pause
+\item optimal control via Crocoddyl
+ \pause
+\item testing
+ \pause
+\item ports to ABB YuMi + dual arm support
+ \pause
+\item ports to Franka Emika Panda + torque control inputs and dynamics
+ \pause
+\item will get rewritten to C++ and have python bindings via pybind-11 for the official release
+ \pause
+\item usage with a "real-time" linux kernel, possible SCHED\_DEADLINE
+ \pause
+\item code developed here is portable to ROS, but I need a volunteer to do that
+\end{itemize}
+\end{frame}
+
+\begin{frame}[focus]
+Thank you for your attention!
+\newline
+\ding{96}\ding{96}\ding{96}
+\end{frame}
+
+
+
+
+
+
+
+%\begin{frame}[plain]{Plain Slide}
+% This is a slide with the plain style and it is numbered.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[t]
+% This slide has an empty title and is aligned to top.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[noframenumbering]{No Slide Numbering}
+% This slide is not numbered and is citing reference \cite{knuth74}.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Typesetting and Math}
+% The packages \texttt{inputenc} and \texttt{FiraSans}\footnote{\url{https://fonts.google.com/specimen/Fira+Sans}}\textsuperscript{,}\footnote{\url{http://mozilla.github.io/Fira/}} are used to properly set the main fonts.
+% \vfill
+% This theme provides styling commands to typeset \emph{emphasized}, \alert{alerted}, \textbf{bold}, \textcolor{example}{example text}, \dots
+% \vfill
+% \texttt{FiraSans} also provides support for mathematical symbols:
+% \begin{equation*}
+% e^{i\pi} + 1 = 0.
+% \end{equation*}
+%\end{frame}
+%
+%
+%\section{Section 2}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Blocks}
+% These blocks are part of 1 slide, to be displayed consecutively.
+% \begin{block}{Block}
+% Text.
+% \end{block}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{alertblock}{Alert block}
+% Alert \alert{text}.
+% \end{alertblock}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{exampleblock}{Example block}
+% Example \textcolor{example}{text}.
+% \end{exampleblock}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Columns}
+% \begin{columns}
+% \column{0.5\textwidth}
+% This text appears in the left column and wraps neatly with a margin between columns.
+%
+% \column{0.5\textwidth}
+% \includegraphics[width=\linewidth]{Images/placeholder.jpg}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Lists}
+% \begin{columns}[T, onlytextwidth] % T for top align, onlytextwidth to suppress the margin between columns
+% \column{0.33\textwidth}
+% Items:
+% \begin{itemize}
+% \item Item 1
+% \begin{itemize}
+% \item Subitem 1.1
+% \item Subitem 1.2
+% \end{itemize}
+% \item Item 2
+% \item Item 3
+% \end{itemize}
+%
+% \column{0.33\textwidth}
+% Enumerations:
+% \begin{enumerate}
+% \item First
+% \item Second
+% \begin{enumerate}
+% \item Sub-first
+% \item Sub-second
+% \end{enumerate}
+% \item Third
+% \end{enumerate}
+%
+% \column{0.33\textwidth}
+% Descriptions:
+% \begin{description}
+% \item[First] Yes.
+% \item[Second] No.
+% \end{description}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Table}
+% \begin{table}
+% \centering % Centre the table on the slide
+% \begin{tabular}{l c}
+% \toprule
+% Discipline & Avg. Salary \\
+% \toprule
+% \textbf{Engineering} & \textbf{\$66,521} \\
+% Computer Sciences & \$60,005\\
+% Mathematics and Sciences & \$61,867\\
+% Business & \$56,720\\
+% Humanities \& Social Sciences & \$56,669\\
+% Agriculture and Natural Resources & \$53,565\\
+% Communications & \$51,448\\
+% \midrule
+% \textbf{Average for All Disciplines} & \textbf{\$58,114}\\
+% \bottomrule
+% \end{tabular}
+% \caption{Table caption}
+% \end{table}
+%\end{frame}
+%
+%%------------------------------------------------
+
+
+%----------------------------------------------------------------------------------------
+% CLOSING/SUPPLEMENTARY SLIDES
+%----------------------------------------------------------------------------------------
+
+%\appendix
+
+%\begin{frame}{References}
+%% \bibliography{../thesis_text/bibliography.bib}
+%% \bibliographystyle{plain}
+%
+%%\addcontentsline{toc}
+%\addcontentsline{toc}{chapter}{Bibliography}
+%\printbibliography
+%\end{frame}
+
+%------------------------------------------------
+
+%\begin{frame}{Backup Slide}
+% This is a backup slide, useful to include additional materials to answer questions from the audience.
+% \vfill
+% The package \texttt{appendixnumberbeamer} is used to refrain from numbering appendix slides.
+%\end{frame}
+
+%----------------------------------------------------------------------------------------
+
+\end{document}
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--- /dev/null
+++ b/ur_simple_control/own_code_lib_prez/LICENSE
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
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+remove any additional permissions from that copy, or from any part of
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+ All other non-permissive additional terms are considered "further
+restrictions" within the meaning of section 10. If the Program as you
+received it, or any part of it, contains a notice stating that it is
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+restriction, you may remove that term. If a license document contains
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+ If you add terms to a covered work in accord with this section, you
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+ 8. Termination.
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+ You may not propagate or modify a covered work except as expressly
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+license from a particular copyright holder is reinstated (a)
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+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
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+
+ Moreover, your license from a particular copyright holder is
+reinstated permanently if the copyright holder notifies you of the
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+your receipt of the notice.
+
+ Termination of your rights under this section does not terminate the
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+material under section 10.
+
+ 9. Acceptance Not Required for Having Copies.
+
+ You are not required to accept this License in order to receive or
+run a copy of the Program. Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance. However,
+nothing other than this License grants you permission to propagate or
+modify any covered work. These actions infringe copyright if you do
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+ Each time you convey a covered work, the recipient automatically
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+ You may not impose any further restrictions on the exercise of the
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+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+ 11. Patents.
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+ A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based. The
+work thus licensed is called the contributor's "contributor version".
+
+ A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version. For
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+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+ Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
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+ In the following three paragraphs, a "patent license" is any express
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+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+ If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License. You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
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+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
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+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
diff --git a/ur_simple_control/own_code_lib_prez/beamercolorthemefocus.sty b/ur_simple_control/own_code_lib_prez/beamercolorthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..ff80737d101ccbe09d45a0b7f3cf0241f2f68885
--- /dev/null
+++ b/ur_simple_control/own_code_lib_prez/beamercolorthemefocus.sty
@@ -0,0 +1,71 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% DEFINE COLORS. ---------------------------------------------------------------
+\definecolor{main}{RGB}{64, 64, 64}
+\definecolor{background}{RGB}{239, 239, 239}
+
+\definecolor{alert}{RGB}{180, 0, 0}
+\definecolor{example}{RGB}{0, 110, 0}
+
+
+% SET COLORS. ------------------------------------------------------------------
+\setbeamercolor{normal text}{fg=main, bg=background}
+\setbeamercolor{alerted text}{fg=alert}
+\setbeamercolor{example text}{fg=example}
+
+\setbeamercolor{titlelike}{fg=background, bg=main}
+\setbeamercolor{frametitle}{parent={titlelike}}
+
+\setbeamercolor{footline}{fg=background, bg=main}
+
+\setbeamercolor{block title}{bg=main!80!background, fg=background}
+\setbeamercolor{block body}{bg=main!10!background, fg=main}
+
+\setbeamercolor{block title alerted}{bg=alert, fg=background}
+\setbeamercolor{block body alerted}{bg=alert!10!background, fg=main}
+
+\setbeamercolor{block title example}{bg=example, fg=background}
+\setbeamercolor{block body example}{bg=example!10!background, fg=main}
+
+\setbeamercolor{itemize item}{fg=main}
+\setbeamercolor{itemize subitem}{fg=main}
+
+\setbeamercolor{enumerate item}{fg=main!70!black}
+\setbeamercolor{enumerate subitem}{fg=main!70!black}
+
+\setbeamercolor{description item}{fg=main!70!black}
+\setbeamercolor{description subitem}{fg=main!70!black}
+
+\setbeamercolor{caption name}{fg=main}
+
+\setbeamercolor{section in toc}{fg=main}
+\setbeamercolor{subsection in toc}{fg=main}
+\setbeamercolor{section number projected}{bg=main}
+\setbeamercolor{subsection number projected}{bg=main}
+
+\setbeamercolor{bibliography item}{fg=main}
+\setbeamercolor{bibliography entry author}{fg=main!70!black}
+\setbeamercolor{bibliography entry title}{fg=main}
+\setbeamercolor{bibliography entry location}{fg=main}
+\setbeamercolor{bibliography entry note}{fg=main}
+
+\mode<all>
diff --git a/ur_simple_control/own_code_lib_prez/beamerfontthemefocus.sty b/ur_simple_control/own_code_lib_prez/beamerfontthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..faa8ba9ff0e08f774a9c93c4cc1e3e773fcd676b
--- /dev/null
+++ b/ur_simple_control/own_code_lib_prez/beamerfontthemefocus.sty
@@ -0,0 +1,47 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% SET FONTS. -------------------------------------------------------------------
+\setbeamerfont{title}{size=\LARGE, shape=\scshape\bfseries}
+\setbeamerfont{subtitle}{size=\normalsize, shape=\scshape, parent=structure}
+\setbeamerfont{author}{size=\large, shape=\scshape}
+
+\setbeamerfont{institute}{size=\small, shape=\scshape}
+\setbeamerfont{date}{size=\small, shape=\scshape}
+
+\setbeamerfont{sectiontitle}{size=\huge, series=\scshape\bfseries}
+\setbeamerfont{frametitle}{size=\Large, shape=\scshape}
+
+\setbeamerfont{footline}{size=\scriptsize}
+
+\setbeamerfont{focusframe}{size=\huge, shape=\scshape}
+
+\setbeamerfont{description item}{shape=\bfseries}
+
+\setbeamerfont{caption name}{shape=\bfseries}
+
+\setbeamerfont{bibliography item}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry author}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry title}{size=\small, series=\scshape\bfseries}
+\setbeamerfont{bibliography entry location}{size=\small, shape=\scshape\normalfont}
+\setbeamerfont{bibliography entry note}{size=\small, shape=\scshape\normalfont}
+
+\mode<all>
diff --git a/ur_simple_control/own_code_lib_prez/beamerinnerthemefocus.sty b/ur_simple_control/own_code_lib_prez/beamerinnerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..c990d22f4de77b22cc76e22a19f3ea5ccfb0c852
--- /dev/null
+++ b/ur_simple_control/own_code_lib_prez/beamerinnerthemefocus.sty
@@ -0,0 +1,110 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{tikz}
+
+
+% CUSTOMIZE STRUCTURE ELEMENTS. ------------------------------------------------
+\setbeamertemplate{blocks}[default]
+
+\setbeamertemplate{section in toc}[square]
+\setbeamertemplate{subsection in toc}[square]
+
+\setbeamertemplate{itemize items}[square]
+\setbeamertemplate{itemize subitem}[triangle]
+
+
+% STRUCTURE FRAME TEMPLATE DEFINITIONS. ----------------------------------------
+% Title page.
+\defbeamertemplate*{title page}{focus}{%
+ {\usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}}
+
+ \vspace{-1.65\baselineskip}
+ \begin{minipage}[b][0.35\paperheight]{\textwidth}
+ \vspace{\baselineskip}
+ \usebeamerfont{title}
+ \usebeamercolor[fg]{frametitle}
+ \inserttitle
+ \end{minipage}
+
+ \begin{minipage}[t][0.1\paperheight]{\textwidth}
+ \usebeamerfont{subtitle}
+ \usebeamercolor[fg]{frametitle}
+ \insertsubtitle
+ \end{minipage}
+
+ % Set the title graphic in a zero-height box, so that
+ % the position of other elements is not affected.
+ {\vfuzz=9999pt\vbox to 0pt {
+ \raggedleft
+ \inserttitlegraphic
+ }}
+
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{author}
+ \insertauthor
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{institute}
+ \insertinstitute
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{date}{\insertdate}
+ \end{minipage}
+
+ \vspace*{5\baselineskip}
+
+ \addtocounter{framenumber}{-1}
+}
+
+% Section page.
+\defbeamertemplate*{section page}{focus}{%
+ {%
+ \usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}%
+ }
+
+ \vspace{-2\baselineskip}
+ \begin{minipage}[b][0.45\paperheight]{\textwidth}
+ \usebeamerfont{sectiontitle}
+ \usebeamercolor[fg]{frametitle}
+ \let\hyperlink\@secondoftwo\insertsection
+ \end{minipage}
+
+ \begin{minipage}[t][0.55\paperheight]{\textwidth}
+ \end{minipage}
+}
+
+\AtBeginSection{%
+ \begin{frame}[plain, noframenumbering]{}
+ \sectionpage
+ \end{frame}%
+}
+
+\mode<all>
diff --git a/ur_simple_control/own_code_lib_prez/beamerouterthemefocus.sty b/ur_simple_control/own_code_lib_prez/beamerouterthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..3f05f338e0ee80d8918e7bcba9c4983b746b36bd
--- /dev/null
+++ b/ur_simple_control/own_code_lib_prez/beamerouterthemefocus.sty
@@ -0,0 +1,255 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{appendixnumberbeamer}% Don't number appendix frames.
+\RequirePackage{etoolbox}% \BeforeBeginEnvironment
+\RequirePackage{tikz}
+
+
+% FRAMETITLE TEMPLATES. --------------------------------------------------------
+\defbeamertemplate*{frametitle}{focus}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm]{frametitle}%
+ \strut\insertframetitle\strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+% Plain header.
+\defbeamertemplate{frametitle}{plain}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm,ignorebg]{frametitle}%
+ \strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+
+% FOOTLINE TEMPLATES. ----------------------------------------------------------
+% Lenghts for the progress bar footline.
+\newlength{\focus@pbar@height}% Progress bar height.
+\newlength{\focus@pbar@leftoffset}
+\newlength{\focus@pbar@rightoffset}
+
+\defbeamertemplate*{footline}{progressbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \ifnum\c@framenumber<\inserttotalframenumber%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]\usebeamerfont{footline}
+ \pgfmathsetmacro{\focus@pbar@progress}%
+ {(\paperwidth-\focus@pbar@leftoffset-\focus@pbar@rightoffset)*(\insertframenumber/\inserttotalframenumber)}
+
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+ \fill[footline.bg] (0,0) rectangle ++(\the\focus@pbar@leftoffset,\the\focus@pbar@height);
+
+ \fill[footline.bg] (\the\focus@pbar@leftoffset,0) rectangle ++(\focus@pbar@progress pt,\the\focus@pbar@height)
+ ++(0,{-0.5*\the\focus@pbar@height}) node[anchor=east, text=footline.fg] {\strut\insertframenumber};
+
+ \fill[footline.bg] (\paperwidth,0) rectangle ++(-\the\focus@pbar@rightoffset,\the\focus@pbar@height)
+ ++(0,{-0.5*\the\focus@pbar@height}) node[anchor=west, text=footline.fg] {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \else%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]
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+ \fill[footline.bg] (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+
+ \node[anchor=east, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\insertframenumber};
+ \node[footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut/};
+ \node[anchor=west, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \fi%
+ \fi%
+ \fi%
+}
+
+% Full bar footline.
+\defbeamertemplate{footline}{fullbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+
+ \node[anchor=east, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\insertframenumber};
+ \node[footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut/};
+ \node[anchor=west, footline.fg] at ({\paperwidth-\the\focus@pbar@rightoffset},{0.5*\focus@pbar@height}) {\strut\inserttotalframenumber};
+ \end{tikzpicture}%
+ \fi%
+ \fi%
+}
+
+% Empty footline.
+\defbeamertemplate{footline}{none}{}
+
+\DeclareOptionBeamer{numbering}{\def\beamer@focus@numbering{#1}}
+\ExecuteOptionsBeamer{numbering=progressbar}
+\ProcessOptionsBeamer
+
+\def\beamer@focus@numberingprogressbar{progressbar}
+\def\beamer@focus@numberingfullbar{fullbar}
+\def\beamer@focus@numberingnone{none}
+
+
+% BACKGROUND CANVAS TEMPLATES. -------------------------------------------------
+\defbeamertemplate*{background canvas}{focus}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[normal text.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+\defbeamertemplate{background canvas}{focusplain}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[normal text.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+\defbeamertemplate{background canvas}{focusframe}{%
+ \begin{tikzpicture}
+ \clip (0,0) rectangle ++(\paperwidth,\paperheight);
+ \fill[frametitle.bg] (0,0) rectangle ++(\paperwidth,\paperheight);
+ \end{tikzpicture}%
+}
+
+
+% HOOKS FOR CREATING FRAMES. ---------------------------------------------------
+\BeforeBeginEnvironment{frame}{%
+ \setbeamertemplate{background canvas}[focus]%
+ \setbeamertemplate{frametitle}[focus]%
+ %
+ % Reset footline height and determine it for the current slide.
+ \setlength{\focus@pbar@height}{0cm}%
+ \focus@calculatefootheight%
+ %
+ % If not appendix.
+ \ifnum\mainend<0 % From package appendixnumberbeamer.
+ \settoheight{\focus@pbar@height}{\usebeamerfont{footline}1234567890/}%
+ \addtolength{\focus@pbar@height}{6pt}%
+ %
+ \ifx\beamer@focus@numbering\beamer@focus@numberingprogressbar%
+ \setbeamertemplate{footline}[progressbar]%
+ \else%
+ \ifx\beamer@focus@numbering\beamer@focus@numberingfullbar%
+ \setbeamertemplate{footline}[fullbar]%
+ \fi%
+ \fi%
+ %
+ \focus@calculatefootheight%
+ \fi%
+}
+
+% Enable noframenumbering option.
+\define@key{beamerframe}{noframenumbering}[true]{%
+ \setbeamertemplate{footline}[none]%
+ \setlength{\focus@pbar@height}{0cm}%
+ \focus@calculatefootheight%
+ %
+ \addtocounter{framenumber}{-1}%
+}
+
+
+% Enable plain option.
+\define@key{beamerframe}{plain}[true]{%
+ \setbeamertemplate{background canvas}[focusplain]%
+ \setbeamertemplate{frametitle}[plain]%
+ %
+ \setbeamertemplate{footline}[none]%
+}
+
+
+% Full vertical centering
+% (from https://tex.stackexchange.com/questions/247826/beamer-full-vertical-centering).
+\define@key{beamerframe}{c}[true]{%
+ \beamer@frametopskip=0pt plus 1fill\relax%
+ \beamer@framebottomskip=0pt plus 1fill\relax%
+ \beamer@frametopskipautobreak=0pt plus 0.4\paperheight\relax%
+ \beamer@framebottomskipautobreak=0pt plus 0.6\paperheight\relax%
+ \def\beamer@initfirstlineunskip{}%
+}
+
+
+% Enable focus option.
+\providebool{focus@standout}
+\define@key{beamerframe}{focus}[true]{%
+ \booltrue{focus@standout}%
+ \begingroup%
+ \setkeys{beamerframe}{noframenumbering}%
+ \setbeamertemplate{background canvas}[focusframe]%
+ \setbeamertemplate{frametitle}[plain]%
+ %
+ \setkeys{beamerframe}{c}%
+ \centering%
+ \usebeamerfont{focusframe}%
+ \usebeamercolor[fg]{frametitle}%
+}
+
+\apptocmd{\beamer@reseteecodes}
+{%
+ \ifbool{focus@standout}%
+ {%
+ \endgroup%
+ \boolfalse{focus@standout}%
+ }{}%
+}{}{}
+
+
+% Recalculate the footline's size and refresh other parameters.
+% Partially copied from the definition of \beamer@calculateheadfoot.
+\def\focus@calculatefootheight{%
+ \footheight=\focus@pbar@height%
+ \advance\footheight by 4pt%
+ \sidebarheight=\paperheight%
+ \advance\sidebarheight by-\headheight%
+ \advance\sidebarheight by\headdp%
+ \advance\sidebarheight by-\footheight%
+ \advance\sidebarheight by 4pt%
+ \footskip=\footheight%
+ \textheight=\paperheight%
+ \advance\textheight by-\footheight%
+ \advance\textheight by-\headheight%
+ \@colht\textheight%
+ \@colroom\textheight%
+ \vsize\textheight%
+}
+
+\mode<all>
diff --git a/ur_simple_control/own_code_lib_prez/beamerthemefocus.sty b/ur_simple_control/own_code_lib_prez/beamerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..cee91999d1156c3f0d8f60b5f9003d247d273a6d
--- /dev/null
+++ b/ur_simple_control/own_code_lib_prez/beamerthemefocus.sty
@@ -0,0 +1,60 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\NeedsTeXFormat{LaTeX2e}
+\ProvidesPackage{beamerthemefocus}[2018/07/15 v2.0 Focus Beamer theme]
+
+\mode<presentation>
+
+
+% THEME OPTIONS. ---------------------------------------------------------------
+\DeclareOptionBeamer{numbering}{%
+ \PassOptionsToPackage{numbering=#1}{beamerouterthemefocus}
+}
+
+\newif\if@focus@loadfirafonts
+\@focus@loadfirafontstrue
+
+\DeclareOptionBeamer{nofirafonts}{\@focus@loadfirafontsfalse}
+\ProcessOptionsBeamer
+
+
+% LOAD EXTERNAL PACKAGES. ------------------------------------------------------
+\if@focus@loadfirafonts
+ \RequirePackage[T1]{fontenc}
+
+ \PassOptionsToPackage{type1}{FiraSans}
+ \PassOptionsToPackage{type1}{FiraMono}
+
+ \RequirePackage{FiraSans}
+ \RequirePackage{FiraMono}
+\fi
+
+\usecolortheme{focus}
+\usefonttheme{focus}
+\useinnertheme{focus}
+\useoutertheme{focus}
+
+\setbeamertemplate{navigation symbols}{}
+
+
+% SET MARGINS. -----------------------------------------------------------------
+\setbeamersize{text margin left=0.75cm, text margin right=0.75cm}
+\setlength{\leftmargini}{0.75cm}
+
+\mode<all>
diff --git a/ur_simple_control/own_code_lib_prez/example.bib b/ur_simple_control/own_code_lib_prez/example.bib
new file mode 100755
index 0000000000000000000000000000000000000000..819fe0e886591fa8a9f954e46da886d02d22a37a
--- /dev/null
+++ b/ur_simple_control/own_code_lib_prez/example.bib
@@ -0,0 +1,26 @@
+@article{knuth74,
+ author = {Knuth, Donald E.},
+ title = {Computer Programming As an Art},
+ journal = {Commun. ACM},
+ year = {1974},
+ pages = {667--673},
+ numpages = {7},
+ publisher = {ACM},
+ address = {New York, NY, USA}
+}
+
+@article{knuth92,
+ author = {Knuth, Donald E.},
+ title = {Two notes on notation},
+ journal = {Amer. Math. Monthly},
+ volume = {99},
+ year = {1992},
+ pages = {403--422}
+}
+
+@book{lamport94,
+ title = {LaTeX: A Document Preparation System},
+ author = {Lamport, Leslie},
+ year = {1994},
+ publisher = {Pearson Education India}
+}
diff --git a/ur_simple_control/own_code_lib_prez/presentation.nav b/ur_simple_control/own_code_lib_prez/presentation.nav
new file mode 100644
index 0000000000000000000000000000000000000000..b0ec0fab378a1af7583ffbecb4ab0f34f51836ce
--- /dev/null
+++ b/ur_simple_control/own_code_lib_prez/presentation.nav
@@ -0,0 +1,36 @@
+\headcommand {\slideentry {0}{0}{1}{1/1}{}{0}}
+\headcommand {\beamer@framepages {1}{1}}
+\headcommand {\slideentry {0}{0}{2}{2/2}{}{0}}
+\headcommand {\beamer@framepages {2}{2}}
+\headcommand {\beamer@sectionpages {1}{2}}
+\headcommand {\beamer@subsectionpages {1}{2}}
+\headcommand {\sectionentry {1}{Basic use}{3}{Basic use}{0}}
+\headcommand {\slideentry {1}{0}{1}{3/3}{}{0}}
+\headcommand {\beamer@framepages {3}{3}}
+\headcommand {\slideentry {1}{0}{2}{4/4}{}{0}}
+\headcommand {\beamer@framepages {4}{4}}
+\headcommand {\beamer@sectionpages {3}{4}}
+\headcommand {\beamer@subsectionpages {3}{4}}
+\headcommand {\sectionentry {2}{Core functionality}{5}{Core functionality}{0}}
+\headcommand {\slideentry {2}{0}{1}{5/5}{}{0}}
+\headcommand {\beamer@framepages {5}{5}}
+\headcommand {\slideentry {2}{0}{2}{6/9}{}{0}}
+\headcommand {\beamer@framepages {6}{9}}
+\headcommand {\slideentry {2}{0}{3}{10/15}{}{0}}
+\headcommand {\beamer@framepages {10}{15}}
+\headcommand {\beamer@sectionpages {5}{15}}
+\headcommand {\beamer@subsectionpages {5}{15}}
+\headcommand {\sectionentry {3}{Quality of life functionality}{16}{Quality of life functionality}{0}}
+\headcommand {\slideentry {3}{0}{1}{16/16}{}{0}}
+\headcommand {\beamer@framepages {16}{16}}
+\headcommand {\slideentry {3}{0}{2}{17/20}{}{0}}
+\headcommand {\beamer@framepages {17}{20}}
+\headcommand {\slideentry {3}{0}{3}{21/25}{}{0}}
+\headcommand {\beamer@framepages {21}{25}}
+\headcommand {\slideentry {3}{0}{4}{26/26}{}{0}}
+\headcommand {\beamer@framepages {26}{26}}
+\headcommand {\beamer@partpages {1}{26}}
+\headcommand {\beamer@subsectionpages {16}{26}}
+\headcommand {\beamer@sectionpages {16}{26}}
+\headcommand {\beamer@documentpages {26}}
+\headcommand {\gdef \inserttotalframenumber {6}}
diff --git a/ur_simple_control/own_code_lib_prez/presentation.snm b/ur_simple_control/own_code_lib_prez/presentation.snm
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/ur_simple_control/own_code_lib_prez/presentation.tex b/ur_simple_control/own_code_lib_prez/presentation.tex
new file mode 100755
index 0000000000000000000000000000000000000000..6cd9e95b131b9c644ccdb73fc7e8ec990363fcbc
--- /dev/null
+++ b/ur_simple_control/own_code_lib_prez/presentation.tex
@@ -0,0 +1,362 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Focus Beamer Presentation
+% LaTeX Template
+% Version 1.0 (8/8/18)
+%
+% This template has been downloaded from:
+% http://www.LaTeXTemplates.com
+%
+% Original author:
+% Pasquale Africa (https://github.com/elauksap/focus-beamertheme) with modifications by
+% Vel (vel@LaTeXTemplates.com)
+%
+% Template license:
+% GNU GPL v3.0 License
+%
+% Important note:
+% The bibliography/references need to be compiled with bibtex.
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%----------------------------------------------------------------------------------------
+% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
+%----------------------------------------------------------------------------------------
+
+\documentclass{beamer}
+
+\usetheme{focus} % Use the Focus theme supplied with the template
+% Add option [numbering=none] to disable the footer progress bar
+% Add option [numbering=fullbar] to show the footer progress bar as always full with a slide count
+
+% Uncomment to enable the ice-blue theme
+%\definecolor{main}{RGB}{92, 138, 168}
+%\definecolor{background}{RGB}{240, 247, 255}
+
+%------------------------------------------------
+
+\usepackage{booktabs} % Required for better table rules
+%\usepackage{amsmath}
+%\usepackage{bm}
+%\usepackage{array}
+%\usepackage{amssymb}
+
+%\usepackage{moreverb} % List settings
+%\usepackage{textcomp} % Fonts, symbols etc.
+%\usepackage{lmodern} % Latin modern font
+%\usepackage{helvet} % Enables font switching
+%\usepackage[T1]{fontenc} % Output settings
+%\usepackage[english]{babel} % Language settings
+%\usepackage[utf8]{inputenc} % Input settings
+\usepackage{amsmath} % Mathematical expressions (American mathematical society)
+\usepackage{bm}
+\usepackage{array}
+\usepackage{amssymb} % Mathematical symbols (American mathematical society)
+\usepackage{graphicx} % Figures
+\usepackage{subfig} % Enables subfigures
+%\numberwithin{equation}{chapter} % Numbering order for equations
+%\numberwithin{figure}{chapter} % Numbering order for figures
+%\numberwithin{table}{chapter} % Numbering order for tables
+%\usepackage{minted} % Enables source code listings
+%\usepackage{chemfig} % Chemical structures
+%\usepackage[top=3cm, bottom=3cm,
+% inner=3cm, outer=3cm]{geometry} % Page margin lengths
+%\usepackage{eso-pic} % Create cover page background
+\newcommand{\backgroundpic}[3]{
+ \put(#1,#2){
+ \parbox[b][\paperheight]{\paperwidth}{
+ \centering
+ \includegraphics[width=\paperwidth,height=\paperheight,keepaspectratio]{#3}}}}
+\usepackage{float} % Enables object position enforcement using [H]
+\usepackage{parskip} % Enables vertical spaces correctly
+\usepackage{datetime} %date formatting tools
+
+% cleaner math
+\newcommand{\argmin}{\arg\!\min}
+\newcommand{\argmax}{\arg\!\max}
+\usepackage[makeroom]{cancel}
+
+% nicer item bullets
+\usepackage{enumitem}
+\usepackage{pifont}
+\usepackage{xcolor}
+
+\usepackage{tikz}
+\usepackage{pgfplots}
+\usetikzlibrary {fit}
+\usetikzlibrary{arrows.meta}
+\usetikzlibrary{shapes.geometric, arrows}
+%\usepackage{tikz-graph}
+%\usetikzlibrary{bayesnet}
+%\usetikzlibrary{shapes.geometric}
+%\usetikzlibrary{trees}
+\usetikzlibrary{positioning}
+\tikzstyle{rec} = [rectangle, minimum width=2cm, minimum height=1cm, text centered, draw=black]
+\tikzstyle{arrow} = [thick,->,>=stealth]
+\tikzstyle{arrow_red} = [thick,->,>=stealth, color=red]
+\tikzstyle{mcs} = [circle, draw=black]
+\tikzstyle{mcsb} = [circle, draw=black, fill=black!20]
+
+
+% bibtex
+\usepackage[
+backend=biber,
+style=alphabetic,
+sorting=ynt
+]{biblatex}
+
+\addbibresource{../thesis_text/bibliography.bib}
+
+%----------------------------------------------------------------------------------------
+% TITLE SLIDE
+%----------------------------------------------------------------------------------------
+
+\title{Simple manipulator control - code overview}
+
+%\subtitle{Subtitle}
+
+\author{Marko Guberina}
+
+\titlegraphic{\includegraphics[scale=0.25]{Images/LU-logotype-print-digital/EPS_for_print/English/LundUniversity_C2line_BLACK.eps}} % Optional title page image, comment this line to remove it
+
+\institute{Department of Automatic control \\ Lund University }
+
+\date{Lund, Sweden 2024}
+
+%------------------------------------------------
+
+\begin{document}
+
+%------------------------------------------------
+
+\begin{frame}
+ \maketitle % Automatically created using the information in the commands above
+\end{frame}
+
+%\begin{frame}[noframenumbering]{Presentation structure}
+\begin{frame}{Presentation structure}
+ \tableofcontents
+\end{frame}
+
+\section{Basic use}
+\begin{frame}{Basic use example}
+\center [clik.py --help, running it]
+\end{frame}
+
+\section{Core functionality}
+\begin{frame}{RobotManager}
+\begin{itemize}[label=\ding{95}]
+ \pause
+ \item handles I/O with the robot for you
+ \pause
+ \item manages I/O and kinematics/dynamics computation in step()
+ \pause
+ \item just call step and use getters
+\end{itemize}
+\end{frame}
+
+\begin{frame}{ControlLoopManager}
+\begin{itemize}[label=\ding{95}]
+ \pause
+\item first show the math, explain partial, then go into ControlLoopManager
+ \pause
+\item does book-keeping around your control loop math
+ \pause
+\item ensures timing is right
+ \pause
+\item manages real time visualization and plotting
+ \pause
+\item handles killing of the program
+\end{itemize}
+\end{frame}
+
+
+\section{Quality of life functionality}
+\begin{frame}{Basic premade control loops}
+\begin{itemize}[label=\ding{95}]
+ \pause
+ \item basics
+ \pause
+ \item clik
+ \pause
+ \item convenience tool box
+\end{itemize}
+\end{frame}
+
+
+\begin{frame}{Visualization}
+\begin{itemize}[label=\ding{95}]
+ \pause
+\item meshcat manipulator visualizer
+ \pause
+\item matplotlib real-time state plotter
+ \pause
+\item logging via pickling
+ \pause
+\item interactive manipulator visualizer
+\end{itemize}
+\end{frame}
+
+
+\begin{frame}[focus]
+Thank you for your attention!
+\newline
+\ding{96}\ding{96}\ding{96}
+\end{frame}
+
+
+
+
+
+
+
+%\begin{frame}[plain]{Plain Slide}
+% This is a slide with the plain style and it is numbered.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[t]
+% This slide has an empty title and is aligned to top.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[noframenumbering]{No Slide Numbering}
+% This slide is not numbered and is citing reference \cite{knuth74}.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Typesetting and Math}
+% The packages \texttt{inputenc} and \texttt{FiraSans}\footnote{\url{https://fonts.google.com/specimen/Fira+Sans}}\textsuperscript{,}\footnote{\url{http://mozilla.github.io/Fira/}} are used to properly set the main fonts.
+% \vfill
+% This theme provides styling commands to typeset \emph{emphasized}, \alert{alerted}, \textbf{bold}, \textcolor{example}{example text}, \dots
+% \vfill
+% \texttt{FiraSans} also provides support for mathematical symbols:
+% \begin{equation*}
+% e^{i\pi} + 1 = 0.
+% \end{equation*}
+%\end{frame}
+%
+%
+%\section{Section 2}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Blocks}
+% These blocks are part of 1 slide, to be displayed consecutively.
+% \begin{block}{Block}
+% Text.
+% \end{block}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{alertblock}{Alert block}
+% Alert \alert{text}.
+% \end{alertblock}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{exampleblock}{Example block}
+% Example \textcolor{example}{text}.
+% \end{exampleblock}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Columns}
+% \begin{columns}
+% \column{0.5\textwidth}
+% This text appears in the left column and wraps neatly with a margin between columns.
+%
+% \column{0.5\textwidth}
+% \includegraphics[width=\linewidth]{Images/placeholder.jpg}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Lists}
+% \begin{columns}[T, onlytextwidth] % T for top align, onlytextwidth to suppress the margin between columns
+% \column{0.33\textwidth}
+% Items:
+% \begin{itemize}
+% \item Item 1
+% \begin{itemize}
+% \item Subitem 1.1
+% \item Subitem 1.2
+% \end{itemize}
+% \item Item 2
+% \item Item 3
+% \end{itemize}
+%
+% \column{0.33\textwidth}
+% Enumerations:
+% \begin{enumerate}
+% \item First
+% \item Second
+% \begin{enumerate}
+% \item Sub-first
+% \item Sub-second
+% \end{enumerate}
+% \item Third
+% \end{enumerate}
+%
+% \column{0.33\textwidth}
+% Descriptions:
+% \begin{description}
+% \item[First] Yes.
+% \item[Second] No.
+% \end{description}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Table}
+% \begin{table}
+% \centering % Centre the table on the slide
+% \begin{tabular}{l c}
+% \toprule
+% Discipline & Avg. Salary \\
+% \toprule
+% \textbf{Engineering} & \textbf{\$66,521} \\
+% Computer Sciences & \$60,005\\
+% Mathematics and Sciences & \$61,867\\
+% Business & \$56,720\\
+% Humanities \& Social Sciences & \$56,669\\
+% Agriculture and Natural Resources & \$53,565\\
+% Communications & \$51,448\\
+% \midrule
+% \textbf{Average for All Disciplines} & \textbf{\$58,114}\\
+% \bottomrule
+% \end{tabular}
+% \caption{Table caption}
+% \end{table}
+%\end{frame}
+%
+%%------------------------------------------------
+
+
+%----------------------------------------------------------------------------------------
+% CLOSING/SUPPLEMENTARY SLIDES
+%----------------------------------------------------------------------------------------
+
+%\appendix
+
+%\begin{frame}{References}
+%% \bibliography{../thesis_text/bibliography.bib}
+%% \bibliographystyle{plain}
+%
+%%\addcontentsline{toc}
+%\addcontentsline{toc}{chapter}{Bibliography}
+%\printbibliography
+%\end{frame}
+
+%------------------------------------------------
+
+%\begin{frame}{Backup Slide}
+% This is a backup slide, useful to include additional materials to answer questions from the audience.
+% \vfill
+% The package \texttt{appendixnumberbeamer} is used to refrain from numbering appendix slides.
+%\end{frame}
+
+%----------------------------------------------------------------------------------------
+
+\end{document}
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--- /dev/null
+++ b/ur_simple_control/pinocchio_prez/LICENSE
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
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+ If you add terms to a covered work in accord with this section, you
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+ Additional terms, permissive or non-permissive, may be stated in the
+form of a separately written license, or stated as exceptions;
+the above requirements apply either way.
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+ 8. Termination.
+
+ You may not propagate or modify a covered work except as expressly
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+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
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+ Moreover, your license from a particular copyright holder is
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+
+ Termination of your rights under this section does not terminate the
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+
+ 9. Acceptance Not Required for Having Copies.
+
+ You are not required to accept this License in order to receive or
+run a copy of the Program. Ancillary propagation of a covered work
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+
+ You may not impose any further restrictions on the exercise of the
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+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+ 11. Patents.
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+ A "contributor" is a copyright holder who authorizes use under this
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+work thus licensed is called the contributor's "contributor version".
+
+ A contributor's "essential patent claims" are all patent claims
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+hereafter acquired, that would be infringed by some manner, permitted
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+patent license under the contributor's essential patent claims, to
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+ In the following three paragraphs, a "patent license" is any express
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+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+ If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
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+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License. You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
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+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
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+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
diff --git a/ur_simple_control/pinocchio_prez/beamercolorthemefocus.sty b/ur_simple_control/pinocchio_prez/beamercolorthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..ff80737d101ccbe09d45a0b7f3cf0241f2f68885
--- /dev/null
+++ b/ur_simple_control/pinocchio_prez/beamercolorthemefocus.sty
@@ -0,0 +1,71 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% DEFINE COLORS. ---------------------------------------------------------------
+\definecolor{main}{RGB}{64, 64, 64}
+\definecolor{background}{RGB}{239, 239, 239}
+
+\definecolor{alert}{RGB}{180, 0, 0}
+\definecolor{example}{RGB}{0, 110, 0}
+
+
+% SET COLORS. ------------------------------------------------------------------
+\setbeamercolor{normal text}{fg=main, bg=background}
+\setbeamercolor{alerted text}{fg=alert}
+\setbeamercolor{example text}{fg=example}
+
+\setbeamercolor{titlelike}{fg=background, bg=main}
+\setbeamercolor{frametitle}{parent={titlelike}}
+
+\setbeamercolor{footline}{fg=background, bg=main}
+
+\setbeamercolor{block title}{bg=main!80!background, fg=background}
+\setbeamercolor{block body}{bg=main!10!background, fg=main}
+
+\setbeamercolor{block title alerted}{bg=alert, fg=background}
+\setbeamercolor{block body alerted}{bg=alert!10!background, fg=main}
+
+\setbeamercolor{block title example}{bg=example, fg=background}
+\setbeamercolor{block body example}{bg=example!10!background, fg=main}
+
+\setbeamercolor{itemize item}{fg=main}
+\setbeamercolor{itemize subitem}{fg=main}
+
+\setbeamercolor{enumerate item}{fg=main!70!black}
+\setbeamercolor{enumerate subitem}{fg=main!70!black}
+
+\setbeamercolor{description item}{fg=main!70!black}
+\setbeamercolor{description subitem}{fg=main!70!black}
+
+\setbeamercolor{caption name}{fg=main}
+
+\setbeamercolor{section in toc}{fg=main}
+\setbeamercolor{subsection in toc}{fg=main}
+\setbeamercolor{section number projected}{bg=main}
+\setbeamercolor{subsection number projected}{bg=main}
+
+\setbeamercolor{bibliography item}{fg=main}
+\setbeamercolor{bibliography entry author}{fg=main!70!black}
+\setbeamercolor{bibliography entry title}{fg=main}
+\setbeamercolor{bibliography entry location}{fg=main}
+\setbeamercolor{bibliography entry note}{fg=main}
+
+\mode<all>
diff --git a/ur_simple_control/pinocchio_prez/beamerfontthemefocus.sty b/ur_simple_control/pinocchio_prez/beamerfontthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..faa8ba9ff0e08f774a9c93c4cc1e3e773fcd676b
--- /dev/null
+++ b/ur_simple_control/pinocchio_prez/beamerfontthemefocus.sty
@@ -0,0 +1,47 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+
+% SET FONTS. -------------------------------------------------------------------
+\setbeamerfont{title}{size=\LARGE, shape=\scshape\bfseries}
+\setbeamerfont{subtitle}{size=\normalsize, shape=\scshape, parent=structure}
+\setbeamerfont{author}{size=\large, shape=\scshape}
+
+\setbeamerfont{institute}{size=\small, shape=\scshape}
+\setbeamerfont{date}{size=\small, shape=\scshape}
+
+\setbeamerfont{sectiontitle}{size=\huge, series=\scshape\bfseries}
+\setbeamerfont{frametitle}{size=\Large, shape=\scshape}
+
+\setbeamerfont{footline}{size=\scriptsize}
+
+\setbeamerfont{focusframe}{size=\huge, shape=\scshape}
+
+\setbeamerfont{description item}{shape=\bfseries}
+
+\setbeamerfont{caption name}{shape=\bfseries}
+
+\setbeamerfont{bibliography item}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry author}{size=\small, shape=\scshape}
+\setbeamerfont{bibliography entry title}{size=\small, series=\scshape\bfseries}
+\setbeamerfont{bibliography entry location}{size=\small, shape=\scshape\normalfont}
+\setbeamerfont{bibliography entry note}{size=\small, shape=\scshape\normalfont}
+
+\mode<all>
diff --git a/ur_simple_control/pinocchio_prez/beamerinnerthemefocus.sty b/ur_simple_control/pinocchio_prez/beamerinnerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..c990d22f4de77b22cc76e22a19f3ea5ccfb0c852
--- /dev/null
+++ b/ur_simple_control/pinocchio_prez/beamerinnerthemefocus.sty
@@ -0,0 +1,110 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{tikz}
+
+
+% CUSTOMIZE STRUCTURE ELEMENTS. ------------------------------------------------
+\setbeamertemplate{blocks}[default]
+
+\setbeamertemplate{section in toc}[square]
+\setbeamertemplate{subsection in toc}[square]
+
+\setbeamertemplate{itemize items}[square]
+\setbeamertemplate{itemize subitem}[triangle]
+
+
+% STRUCTURE FRAME TEMPLATE DEFINITIONS. ----------------------------------------
+% Title page.
+\defbeamertemplate*{title page}{focus}{%
+ {\usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}}
+
+ \vspace{-1.65\baselineskip}
+ \begin{minipage}[b][0.35\paperheight]{\textwidth}
+ \vspace{\baselineskip}
+ \usebeamerfont{title}
+ \usebeamercolor[fg]{frametitle}
+ \inserttitle
+ \end{minipage}
+
+ \begin{minipage}[t][0.1\paperheight]{\textwidth}
+ \usebeamerfont{subtitle}
+ \usebeamercolor[fg]{frametitle}
+ \insertsubtitle
+ \end{minipage}
+
+ % Set the title graphic in a zero-height box, so that
+ % the position of other elements is not affected.
+ {\vfuzz=9999pt\vbox to 0pt {
+ \raggedleft
+ \inserttitlegraphic
+ }}
+
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{author}
+ \insertauthor
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{institute}
+ \insertinstitute
+ \end{minipage}
+
+ \vspace*{\baselineskip}
+ \begin{minipage}[t]{\textwidth}
+ \usebeamerfont{date}{\insertdate}
+ \end{minipage}
+
+ \vspace*{5\baselineskip}
+
+ \addtocounter{framenumber}{-1}
+}
+
+% Section page.
+\defbeamertemplate*{section page}{focus}{%
+ {%
+ \usebeamercolor{frametitle}\colorlet{focus@@temp}{bg}%
+ \begin{tikzpicture}[overlay, remember picture]
+ \fill[color=focus@@temp] (current page.north west) rectangle ([shift = {(0, -0.45\paperheight)}] current page.north east);
+ \end{tikzpicture}%
+ }
+
+ \vspace{-2\baselineskip}
+ \begin{minipage}[b][0.45\paperheight]{\textwidth}
+ \usebeamerfont{sectiontitle}
+ \usebeamercolor[fg]{frametitle}
+ \let\hyperlink\@secondoftwo\insertsection
+ \end{minipage}
+
+ \begin{minipage}[t][0.55\paperheight]{\textwidth}
+ \end{minipage}
+}
+
+\AtBeginSection{%
+ \begin{frame}[plain, noframenumbering]{}
+ \sectionpage
+ \end{frame}%
+}
+
+\mode<all>
diff --git a/ur_simple_control/pinocchio_prez/beamerouterthemefocus.sty b/ur_simple_control/pinocchio_prez/beamerouterthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..3f05f338e0ee80d8918e7bcba9c4983b746b36bd
--- /dev/null
+++ b/ur_simple_control/pinocchio_prez/beamerouterthemefocus.sty
@@ -0,0 +1,255 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\mode<presentation>
+
+\RequirePackage{appendixnumberbeamer}% Don't number appendix frames.
+\RequirePackage{etoolbox}% \BeforeBeginEnvironment
+\RequirePackage{tikz}
+
+
+% FRAMETITLE TEMPLATES. --------------------------------------------------------
+\defbeamertemplate*{frametitle}{focus}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm]{frametitle}%
+ \strut\insertframetitle\strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+% Plain header.
+\defbeamertemplate{frametitle}{plain}{%
+ % If not title page.
+ \ifnum\value{framenumber}>0%
+ \vspace{-1pt}%
+ \begin{beamercolorbox}[wd=\paperwidth,leftskip=0.55cm,rightskip=0.55cm,sep=0.2cm,ignorebg]{frametitle}%
+ \strut%
+ \end{beamercolorbox}%
+ \fi%
+}
+
+
+% FOOTLINE TEMPLATES. ----------------------------------------------------------
+% Lenghts for the progress bar footline.
+\newlength{\focus@pbar@height}% Progress bar height.
+\newlength{\focus@pbar@leftoffset}
+\newlength{\focus@pbar@rightoffset}
+
+\defbeamertemplate*{footline}{progressbar}{%
+ % If not appendix.
+ \ifnum\mainend<0% From package appendixnumberbeamer.
+ %
+ \settowidth{\focus@pbar@leftoffset}{1}%
+ \addtolength{\focus@pbar@leftoffset}{1.5em}%
+ %
+ \settowidth{\focus@pbar@rightoffset}{\inserttotalframenumber}%
+ \addtolength{\focus@pbar@rightoffset}{1.5em}%
+ %
+ % If not title page.
+ \ifnum\c@framenumber>0%
+ \ifnum\c@framenumber<\inserttotalframenumber%
+ \begin{tikzpicture}[inner xsep=0.5em, inner ysep=0.5ex]\usebeamerfont{footline}
+ \pgfmathsetmacro{\focus@pbar@progress}%
+ {(\paperwidth-\focus@pbar@leftoffset-\focus@pbar@rightoffset)*(\insertframenumber/\inserttotalframenumber)}
+
+ \clip (0,0) rectangle ++(\paperwidth,\the\focus@pbar@height);
+ \fill[footline.bg] (0,0) rectangle ++(\the\focus@pbar@leftoffset,\the\focus@pbar@height);
+
+ \fill[footline.bg] (\the\focus@pbar@leftoffset,0) rectangle ++(\focus@pbar@progress pt,\the\focus@pbar@height)
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+
+% HOOKS FOR CREATING FRAMES. ---------------------------------------------------
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diff --git a/ur_simple_control/pinocchio_prez/beamerthemefocus.sty b/ur_simple_control/pinocchio_prez/beamerthemefocus.sty
new file mode 100755
index 0000000000000000000000000000000000000000..cee91999d1156c3f0d8f60b5f9003d247d273a6d
--- /dev/null
+++ b/ur_simple_control/pinocchio_prez/beamerthemefocus.sty
@@ -0,0 +1,60 @@
+% Copyright (C) 2018 Pasquale Claudio Africa.
+% 2018 Sebastian Friedl.
+%
+% This file is part of beamerthemefocus.
+%
+% beamerthemefocus is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% beamerthemefocus is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with beamerthemefocus. If not, see <http://www.gnu.org/licenses/>.
+
+\NeedsTeXFormat{LaTeX2e}
+\ProvidesPackage{beamerthemefocus}[2018/07/15 v2.0 Focus Beamer theme]
+
+\mode<presentation>
+
+
+% THEME OPTIONS. ---------------------------------------------------------------
+\DeclareOptionBeamer{numbering}{%
+ \PassOptionsToPackage{numbering=#1}{beamerouterthemefocus}
+}
+
+\newif\if@focus@loadfirafonts
+\@focus@loadfirafontstrue
+
+\DeclareOptionBeamer{nofirafonts}{\@focus@loadfirafontsfalse}
+\ProcessOptionsBeamer
+
+
+% LOAD EXTERNAL PACKAGES. ------------------------------------------------------
+\if@focus@loadfirafonts
+ \RequirePackage[T1]{fontenc}
+
+ \PassOptionsToPackage{type1}{FiraSans}
+ \PassOptionsToPackage{type1}{FiraMono}
+
+ \RequirePackage{FiraSans}
+ \RequirePackage{FiraMono}
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+\useoutertheme{focus}
+
+\setbeamertemplate{navigation symbols}{}
+
+
+% SET MARGINS. -----------------------------------------------------------------
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+\setlength{\leftmargini}{0.75cm}
+
+\mode<all>
diff --git a/ur_simple_control/pinocchio_prez/example.bib b/ur_simple_control/pinocchio_prez/example.bib
new file mode 100755
index 0000000000000000000000000000000000000000..819fe0e886591fa8a9f954e46da886d02d22a37a
--- /dev/null
+++ b/ur_simple_control/pinocchio_prez/example.bib
@@ -0,0 +1,26 @@
+@article{knuth74,
+ author = {Knuth, Donald E.},
+ title = {Computer Programming As an Art},
+ journal = {Commun. ACM},
+ year = {1974},
+ pages = {667--673},
+ numpages = {7},
+ publisher = {ACM},
+ address = {New York, NY, USA}
+}
+
+@article{knuth92,
+ author = {Knuth, Donald E.},
+ title = {Two notes on notation},
+ journal = {Amer. Math. Monthly},
+ volume = {99},
+ year = {1992},
+ pages = {403--422}
+}
+
+@book{lamport94,
+ title = {LaTeX: A Document Preparation System},
+ author = {Lamport, Leslie},
+ year = {1994},
+ publisher = {Pearson Education India}
+}
diff --git a/ur_simple_control/pinocchio_prez/presentation.nav b/ur_simple_control/pinocchio_prez/presentation.nav
new file mode 100644
index 0000000000000000000000000000000000000000..4e6b22489bfd18d35d335f0e8a51958bd05a6d45
--- /dev/null
+++ b/ur_simple_control/pinocchio_prez/presentation.nav
@@ -0,0 +1,35 @@
+\headcommand {\slideentry {0}{0}{1}{1/1}{}{0}}
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+\headcommand {\beamer@framepages {2}{2}}
+\headcommand {\beamer@sectionpages {1}{2}}
+\headcommand {\beamer@subsectionpages {1}{2}}
+\headcommand {\sectionentry {1}{Pinocchio}{3}{Pinocchio}{0}}
+\headcommand {\slideentry {1}{0}{1}{3/3}{}{0}}
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+\headcommand {\sectionentry {2}{Lie groups}{13}{Lie groups}{0}}
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diff --git a/ur_simple_control/pinocchio_prez/presentation.snm b/ur_simple_control/pinocchio_prez/presentation.snm
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/ur_simple_control/pinocchio_prez/presentation.tex b/ur_simple_control/pinocchio_prez/presentation.tex
new file mode 100755
index 0000000000000000000000000000000000000000..8a309424cd4ee8ff2413e7ad807015795dd4c352
--- /dev/null
+++ b/ur_simple_control/pinocchio_prez/presentation.tex
@@ -0,0 +1,456 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Focus Beamer Presentation
+% LaTeX Template
+% Version 1.0 (8/8/18)
+%
+% This template has been downloaded from:
+% http://www.LaTeXTemplates.com
+%
+% Original author:
+% Pasquale Africa (https://github.com/elauksap/focus-beamertheme) with modifications by
+% Vel (vel@LaTeXTemplates.com)
+%
+% Template license:
+% GNU GPL v3.0 License
+%
+% Important note:
+% The bibliography/references need to be compiled with bibtex.
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%----------------------------------------------------------------------------------------
+% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
+%----------------------------------------------------------------------------------------
+
+\documentclass{beamer}
+
+\usetheme{focus} % Use the Focus theme supplied with the template
+% Add option [numbering=none] to disable the footer progress bar
+% Add option [numbering=fullbar] to show the footer progress bar as always full with a slide count
+
+% Uncomment to enable the ice-blue theme
+%\definecolor{main}{RGB}{92, 138, 168}
+%\definecolor{background}{RGB}{240, 247, 255}
+
+%------------------------------------------------
+
+\usepackage{booktabs} % Required for better table rules
+%\usepackage{amsmath}
+%\usepackage{bm}
+%\usepackage{array}
+%\usepackage{amssymb}
+
+%\usepackage{moreverb} % List settings
+%\usepackage{textcomp} % Fonts, symbols etc.
+%\usepackage{lmodern} % Latin modern font
+%\usepackage{helvet} % Enables font switching
+%\usepackage[T1]{fontenc} % Output settings
+%\usepackage[english]{babel} % Language settings
+%\usepackage[utf8]{inputenc} % Input settings
+\usepackage{amsmath} % Mathematical expressions (American mathematical society)
+\usepackage{bm}
+\usepackage{array}
+\usepackage{amssymb} % Mathematical symbols (American mathematical society)
+\usepackage{graphicx} % Figures
+\usepackage{subfig} % Enables subfigures
+%\numberwithin{equation}{chapter} % Numbering order for equations
+%\numberwithin{figure}{chapter} % Numbering order for figures
+%\numberwithin{table}{chapter} % Numbering order for tables
+%\usepackage{minted} % Enables source code listings
+%\usepackage{chemfig} % Chemical structures
+%\usepackage[top=3cm, bottom=3cm,
+% inner=3cm, outer=3cm]{geometry} % Page margin lengths
+%\usepackage{eso-pic} % Create cover page background
+\newcommand{\backgroundpic}[3]{
+ \put(#1,#2){
+ \parbox[b][\paperheight]{\paperwidth}{
+ \centering
+ \includegraphics[width=\paperwidth,height=\paperheight,keepaspectratio]{#3}}}}
+\usepackage{float} % Enables object position enforcement using [H]
+\usepackage{parskip} % Enables vertical spaces correctly
+\usepackage{datetime} %date formatting tools
+
+% cleaner math
+\newcommand{\argmin}{\arg\!\min}
+\newcommand{\argmax}{\arg\!\max}
+\usepackage[makeroom]{cancel}
+
+% nicer item bullets
+\usepackage{enumitem}
+\usepackage{pifont}
+\usepackage{xcolor}
+
+\usepackage{tikz}
+\usepackage{pgfplots}
+\usetikzlibrary {fit}
+\usetikzlibrary{arrows.meta}
+\usetikzlibrary{shapes.geometric, arrows}
+%\usepackage{tikz-graph}
+%\usetikzlibrary{bayesnet}
+%\usetikzlibrary{shapes.geometric}
+%\usetikzlibrary{trees}
+\usetikzlibrary{positioning}
+\tikzstyle{rec} = [rectangle, minimum width=2cm, minimum height=1cm, text centered, draw=black]
+\tikzstyle{arrow} = [thick,->,>=stealth]
+\tikzstyle{arrow_red} = [thick,->,>=stealth, color=red]
+\tikzstyle{mcs} = [circle, draw=black]
+\tikzstyle{mcsb} = [circle, draw=black, fill=black!20]
+
+
+% bibtex
+\usepackage[
+backend=biber,
+style=alphabetic,
+sorting=ynt
+]{biblatex}
+
+\addbibresource{../thesis_text/bibliography.bib}
+
+%----------------------------------------------------------------------------------------
+% TITLE SLIDE
+%----------------------------------------------------------------------------------------
+
+\title{Pinocchio library overview and basic usage}
+
+\subtitle{Sneaky intro to Lie groups in robotics}
+
+\author{Marko Guberina}
+
+\titlegraphic{\includegraphics[scale=0.25]{Images/LU-logotype-print-digital/EPS_for_print/English/LundUniversity_C2line_BLACK.eps}} % Optional title page image, comment this line to remove it
+
+\institute{Department of Automatic control \\ Lund University }
+
+\date{Lund, Sweden 2024}
+
+%------------------------------------------------
+
+\begin{document}
+
+%------------------------------------------------
+
+\begin{frame}
+ \maketitle % Automatically created using the information in the commands above
+\end{frame}
+
+%\begin{frame}[noframenumbering]{Presentation structure}
+\begin{frame}{Presentation structure}
+ \tableofcontents
+\end{frame}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% pinocchio %
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+\section{Pinocchio}
+\begin{frame}{Pinocchio usage}
+\begin{itemize}[label=\ding{95}]
+ \pause
+\item data and model (in code)
+ \pause
+\item load robot as urdf (in code)
+ \pause
+\item forwardKinematics (in code)
+ \pause
+\item calculateJacobian (in code)
+ \pause
+\item body vs space frames
+ \pause
+\item getSE3error (in code) - lie algebra - take it for granted or watch the whole video
+ \pause
+\item cheatsheet overview - just mention dynamics calls
+ \pause
+\item look at documentation and tutorials
+\end{itemize}
+\end{frame}
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% lie groups %
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+\section{Lie groups}
+\begin{frame}{Who, what, why?}
+\begin{itemize}[label=\ding{95}]
+ \pause
+\item homogenious transformations are all you need to use the library
+ \pause
+\item if someone gives you a URDF you even don't need to do denavit-hartenberg or whatever yourself
+ \pause
+\item \textbf{problem}: rotations do NOT form a vector space
+ \pause
+\item solutions out there: a myriad of different orientation representations
+ \pause
+\item your life will be overall easier in the long run
+ if you just learn some more math now
+ \pause
+\item let's build our understanding starting from scratch again
+\end{itemize}
+\end{frame}
+
+\begin{frame}{Mathematical groups}
+A group is a non-empty set
+$ G$ together with a binary operation on $ G$,
+ here denoted with $ \cdot$, that combines any two elements
+$ a$ and $ b$ of $ G$ to form an element of $ G$, denoted
+$ a \cdot b$ ,
+such that the following three requirements, known as group axioms, are satisfied:
+\begin{enumerate}[label = (\roman*)]
+ \pause
+\item associativity:
+$ \forall a,b,c \in G : (a\cdot b)\cdot c = a \cdot (b \cdot c) $
+ \pause
+\item identity element:
+$ \exists e \in G $ s.t. $ \forall a\in G $ we have
+$ e \cdot a =a = a\cdot e $
+ \pause
+\item inverse element:
+$ \forall a \in G, \exists b \in G $ s.t.
+$ a \cdot b =e, b \cdot a = e $
+\end{enumerate}
+Notice no commutativity.
+\end{frame}
+
+\begin{frame}{Differential geometry}
+\begin{columns}
+\column{0.5\textwidth}
+\begin{itemize}[label=\ding{95}]
+\item studying geometry in curved spaces
+ \pause
+\item the earth is a sphere, we are bound to be on the sphere,
+ it's easier to have geometry that respects this by definition
+ \pause
+\item we will be working with special manifolds so i won't
+ get into them in the abstract
+\end{itemize}
+\column{0.5\textwidth}
+\includegraphics[width=\linewidth]{Images/dT9rn7gkc.jpg}
+\end{columns}
+\end{frame}
+
+
+\begin{frame}{Lie group}
+A smooth manifold G with a group structure $ \cdot$
+such that the map $ \rho : (p,q) \mapsto p \cdot q^-1 $ is smooth.
+
+Examples:
+\begin{itemize}[label=\ding{96}]
+ \pause
+ \item invertible matrices equipped with matrix multiplication
+ \pause
+ \item general linear group GL(m)
+ \pause
+ \item orthogonal group O(m)
+ \pause
+ \item special orthogonal group SO(m)
+\end{itemize}
+ \pause
+\begin{alertblock}{Important note}
+ Abstract groups are not their representations.
+\end{alertblock}
+
+%difference between group itself in the abstract and the group representation.
+%these groups have a smaller dimension than their representations.
+%we can work with the groups in the abstract to show generalizable
+%properties for all such groups.
+%when working with a particular group we work with its representation.
+
+\end{frame}
+
+\begin{frame}{Lie algebra}
+\begin{columns}
+\column{0.5\textwidth}
+\includegraphics[width=\linewidth]{Images/tangen-space.png}
+\column{0.5\textwidth}
+\begin{itemize}[label=\ding{95}]
+\item what is velocity? a tangent vector
+\item tangent vectors form a vector space
+ \pause
+\item for Lie groups, tangent vectors live in a Lie algebra,
+ which has nice additional properties
+ \pause
+\item \textbf{exponential map} turns an element of a Lie algebra
+ into a Lie group element
+\item \textbf{logarithmic map} does the opposite
+\end{itemize}
+\end{columns}
+\end{frame}
+
+\begin{frame}{$SE(3)$ and Lie groups in robotics }
+\begin{itemize}[label=\ding{95}]
+\item pose (position + orientation) - 6D - $ SE(3) $ element
+\item representation is the homogeneous transformation matrix $ T =
+ \begin{bmatrix} R & p \\ 0 & 1 \end{bmatrix} $,
+ also $ SE(3) $ element
+\item tangent vector (velocity) is called \textbf{twist},
+ $ se(3) $ element
+\item linear force + torque is called a wrench \textbf{wrench},
+ also $ se(3) $ element
+\item there is more to it, but you need to read
+the book for this to make sense (show Ch3 summary)
+\end{itemize}
+\end{frame}
+
+
+
+
+\begin{frame}[focus]
+Thank you for your attention!
+\newline
+\ding{96}\ding{96}\ding{96}
+\end{frame}
+
+
+
+
+
+
+
+%\begin{frame}[plain]{Plain Slide}
+% This is a slide with the plain style and it is numbered.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[t]
+% This slide has an empty title and is aligned to top.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}[noframenumbering]{No Slide Numbering}
+% This slide is not numbered and is citing reference \cite{knuth74}.
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Typesetting and Math}
+% The packages \texttt{inputenc} and \texttt{FiraSans}\footnote{\url{https://fonts.google.com/specimen/Fira+Sans}}\textsuperscript{,}\footnote{\url{http://mozilla.github.io/Fira/}} are used to properly set the main fonts.
+% \vfill
+% This theme provides styling commands to typeset \emph{emphasized}, \alert{alerted}, \textbf{bold}, \textcolor{example}{example text}, \dots
+% \vfill
+% \texttt{FiraSans} also provides support for mathematical symbols:
+% \begin{equation*}
+% e^{i\pi} + 1 = 0.
+% \end{equation*}
+%\end{frame}
+%
+%
+%\section{Section 2}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Blocks}
+% These blocks are part of 1 slide, to be displayed consecutively.
+% \begin{block}{Block}
+% Text.
+% \end{block}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{alertblock}{Alert block}
+% Alert \alert{text}.
+% \end{alertblock}
+% \pause % Automatically creates a new "page" split between the above and above + below
+% \begin{exampleblock}{Example block}
+% Example \textcolor{example}{text}.
+% \end{exampleblock}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Columns}
+% \begin{columns}
+% \column{0.5\textwidth}
+% This text appears in the left column and wraps neatly with a margin between columns.
+%
+% \column{0.5\textwidth}
+% \includegraphics[width=\linewidth]{Images/placeholder.jpg}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Lists}
+% \begin{columns}[T, onlytextwidth] % T for top align, onlytextwidth to suppress the margin between columns
+% \column{0.33\textwidth}
+% Items:
+% \begin{itemize}
+% \item Item 1
+% \begin{itemize}
+% \item Subitem 1.1
+% \item Subitem 1.2
+% \end{itemize}
+% \item Item 2
+% \item Item 3
+% \end{itemize}
+%
+% \column{0.33\textwidth}
+% Enumerations:
+% \begin{enumerate}
+% \item First
+% \item Second
+% \begin{enumerate}
+% \item Sub-first
+% \item Sub-second
+% \end{enumerate}
+% \item Third
+% \end{enumerate}
+%
+% \column{0.33\textwidth}
+% Descriptions:
+% \begin{description}
+% \item[First] Yes.
+% \item[Second] No.
+% \end{description}
+% \end{columns}
+%\end{frame}
+%
+%%------------------------------------------------
+%
+%\begin{frame}{Table}
+% \begin{table}
+% \centering % Centre the table on the slide
+% \begin{tabular}{l c}
+% \toprule
+% Discipline & Avg. Salary \\
+% \toprule
+% \textbf{Engineering} & \textbf{\$66,521} \\
+% Computer Sciences & \$60,005\\
+% Mathematics and Sciences & \$61,867\\
+% Business & \$56,720\\
+% Humanities \& Social Sciences & \$56,669\\
+% Agriculture and Natural Resources & \$53,565\\
+% Communications & \$51,448\\
+% \midrule
+% \textbf{Average for All Disciplines} & \textbf{\$58,114}\\
+% \bottomrule
+% \end{tabular}
+% \caption{Table caption}
+% \end{table}
+%\end{frame}
+%
+%%------------------------------------------------
+
+
+%----------------------------------------------------------------------------------------
+% CLOSING/SUPPLEMENTARY SLIDES
+%----------------------------------------------------------------------------------------
+
+%\appendix
+
+%\begin{frame}{References}
+%% \bibliography{../thesis_text/bibliography.bib}
+%% \bibliographystyle{plain}
+%
+%%\addcontentsline{toc}
+%\addcontentsline{toc}{chapter}{Bibliography}
+%\printbibliography
+%\end{frame}
+
+%------------------------------------------------
+
+%\begin{frame}{Backup Slide}
+% This is a backup slide, useful to include additional materials to answer questions from the audience.
+% \vfill
+% The package \texttt{appendixnumberbeamer} is used to refrain from numbering appendix slides.
+%\end{frame}
+
+%----------------------------------------------------------------------------------------
+
+\end{document}