webgme-rosmod
Version:
This repository contains ROSMOD developed for WebGME. ROSMOD is a web-based, collaborative, modeling and execution environment for distributed embedded applications built using ROS http://rosmod.rcps.isis.vanderbilt.edu
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JavaScript
var cola;!function(a){function b(a,b,c,e,f){function g(a){function b(a){var b=Number.MAX_VALUE,c=Number.MAX_VALUE,d=0,f=0;a.array.forEach(function(a){var g="undefined"!=typeof a.width?a.width:e,h="undefined"!=typeof a.height?a.height:e;g/=2,h/=2,d=Math.max(a.x+g,d),b=Math.min(a.x-g,b),f=Math.max(a.y+h,f),c=Math.min(a.y-h,c)}),a.width=d-b,a.height=f-c}a.forEach(function(a){b(a)})}function h(a){a.forEach(function(a){var b={x:0,y:0};a.array.forEach(function(a){b.x+=a.x,b.y+=a.y}),b.x/=a.array.length,b.y/=a.array.length;var c={x:b.x-a.width/2,y:b.y-a.height/2},d={x:a.x-c.x+p/2-r/2,y:a.y-c.y+q/2-s/2};a.array.forEach(function(a){a.x+=d.x,a.y+=d.y})})}function i(a,b){var c=Number.POSITIVE_INFINITY,e=0;a.sort(function(a,b){return b.height-a.height}),t=a.reduce(function(a,b){return a.width<b.width?a.width:b.width});for(var f=p=t,g=q=l(a),h=0,i=Number.MAX_VALUE,k=Number.MAX_VALUE,m=-1,n=Number.MAX_VALUE,o=Number.MAX_VALUE;n>t||o>d.FLOAT_EPSILON;){if(1!=m)var p=g-(g-f)/d.GOLDEN_SECTION,i=j(a,p);if(0!=m)var q=f+(g-f)/d.GOLDEN_SECTION,k=j(a,q);if(n=Math.abs(p-q),o=Math.abs(i-k),i<c&&(c=i,e=p),k<c&&(c=k,e=q),i>k?(f=p,p=q,i=k,m=1):(g=q,q=p,k=i,m=0),h++>100)break}j(a,e)}function j(a,b){v=[],r=0,s=0,u=o;for(var c=0;c<a.length;c++){var d=a[c];k(d,b)}return Math.abs(m()-f)}function k(a,b){for(var c=void 0,e=0;e<v.length;e++)if(v[e].space_left>=a.height&&v[e].x+v[e].width+a.width+d.PADDING-b<=d.FLOAT_EPSILON){c=v[e];break}v.push(a),void 0!==c?(a.x=c.x+c.width+d.PADDING,a.y=c.bottom,a.space_left=a.height,a.bottom=a.y,c.space_left-=a.height+d.PADDING,c.bottom+=a.height+d.PADDING):(a.y=u,u+=a.height+d.PADDING,a.x=n,a.bottom=a.y,a.space_left=a.height),a.y+a.height-s>-d.FLOAT_EPSILON&&(s=a.y+a.height-o),a.x+a.width-r>-d.FLOAT_EPSILON&&(r=a.x+a.width-n)}function l(a){var b=0;return a.forEach(function(a){return b+=a.width+d.PADDING}),b}function m(){return r/s}void 0===f&&(f=1);var n=0,o=0,p=b,q=c,f="undefined"!=typeof f?f:1,e="undefined"!=typeof e?e:0,r=0,s=0,t=0,u=0,v=[];0!=a.length&&(g(a),i(a,f),h(a))}function c(a,b){function c(a,b){if(void 0===d[a.index]){b&&(g++,f.push({array:[]})),d[a.index]=g,f[g-1].array.push(a);var h=e[a.index];if(h)for(var i=0;i<h.length;i++)c(h[i],!1)}}for(var d={},e={},f=[],g=0,h=0;h<b.length;h++){var i=b[h],j=i.source,k=i.target;e[j.index]?e[j.index].push(k):e[j.index]=[k],e[k.index]?e[k.index].push(j):e[k.index]=[j]}for(var h=0;h<a.length;h++){var l=a[h];d[l.index]||c(l,!0)}return f}var d={PADDING:10,GOLDEN_SECTION:(1+Math.sqrt(5))/2,FLOAT_EPSILON:1e-4,MAX_INERATIONS:100};a.applyPacking=b,a.separateGraphs=c}(cola||(cola={}));var cola;!function(a){var b;!function(a){var b=function(){function a(a){this.scale=a,this.AB=0,this.AD=0,this.A2=0}return a.prototype.addVariable=function(a){var b=this.scale/a.scale,c=a.offset/a.scale,d=a.weight;this.AB+=d*b*c,this.AD+=d*b*a.desiredPosition,this.A2+=d*b*b},a.prototype.getPosn=function(){return(this.AD-this.AB)/this.A2},a}();a.PositionStats=b;var c=function(){function a(a,b,c,d){void 0===d&&(d=!1),this.left=a,this.right=b,this.gap=c,this.equality=d,this.active=!1,this.unsatisfiable=!1,this.left=a,this.right=b,this.gap=c,this.equality=d}return a.prototype.slack=function(){return this.unsatisfiable?Number.MAX_VALUE:this.right.scale*this.right.position()-this.gap-this.left.scale*this.left.position()},a}();a.Constraint=c;var d=function(){function a(a,b,c){void 0===b&&(b=1),void 0===c&&(c=1),this.desiredPosition=a,this.weight=b,this.scale=c,this.offset=0}return a.prototype.dfdv=function(){return 2*this.weight*(this.position()-this.desiredPosition)},a.prototype.position=function(){return(this.block.ps.scale*this.block.posn+this.offset)/this.scale},a.prototype.visitNeighbours=function(a,b){var c=function(c,d){return c.active&&a!==d&&b(c,d)};this.cOut.forEach(function(a){return c(a,a.right)}),this.cIn.forEach(function(a){return c(a,a.left)})},a}();a.Variable=d;var e=function(){function a(a){this.vars=[],a.offset=0,this.ps=new b(a.scale),this.addVariable(a)}return a.prototype.addVariable=function(a){a.block=this,this.vars.push(a),this.ps.addVariable(a),this.posn=this.ps.getPosn()},a.prototype.updateWeightedPosition=function(){this.ps.AB=this.ps.AD=this.ps.A2=0;for(var a=0,b=this.vars.length;a<b;++a)this.ps.addVariable(this.vars[a]);this.posn=this.ps.getPosn()},a.prototype.compute_lm=function(a,b,c){var d=this,e=a.dfdv();return a.visitNeighbours(b,function(b,f){var g=d.compute_lm(f,a,c);f===b.right?(e+=g*b.left.scale,b.lm=g):(e+=g*b.right.scale,b.lm=-g),c(b)}),e/a.scale},a.prototype.populateSplitBlock=function(a,b){var c=this;a.visitNeighbours(b,function(b,d){d.offset=a.offset+(d===b.right?b.gap:-b.gap),c.addVariable(d),c.populateSplitBlock(d,a)})},a.prototype.traverse=function(a,b,c,d){var e=this;void 0===c&&(c=this.vars[0]),void 0===d&&(d=null),c.visitNeighbours(d,function(d,f){b.push(a(d)),e.traverse(a,b,f,c)})},a.prototype.findMinLM=function(){var a=null;return this.compute_lm(this.vars[0],null,function(b){!b.equality&&(null===a||b.lm<a.lm)&&(a=b)}),a},a.prototype.findMinLMBetween=function(a,b){this.compute_lm(a,null,function(){});var c=null;return this.findPath(a,null,b,function(a,b){!a.equality&&a.right===b&&(null===c||a.lm<c.lm)&&(c=a)}),c},a.prototype.findPath=function(a,b,c,d){var e=this,f=!1;return a.visitNeighbours(b,function(b,g){f||g!==c&&!e.findPath(g,a,c,d)||(f=!0,d(b,g))}),f},a.prototype.isActiveDirectedPathBetween=function(a,b){if(a===b)return!0;for(var c=a.cOut.length;c--;){var d=a.cOut[c];if(d.active&&this.isActiveDirectedPathBetween(d.right,b))return!0}return!1},a.split=function(b){return b.active=!1,[a.createSplitBlock(b.left),a.createSplitBlock(b.right)]},a.createSplitBlock=function(b){var c=new a(b);return c.populateSplitBlock(b,null),c},a.prototype.splitBetween=function(b,c){var d=this.findMinLMBetween(b,c);if(null!==d){var e=a.split(d);return{constraint:d,lb:e[0],rb:e[1]}}return null},a.prototype.mergeAcross=function(a,b,c){b.active=!0;for(var d=0,e=a.vars.length;d<e;++d){var f=a.vars[d];f.offset+=c,this.addVariable(f)}this.posn=this.ps.getPosn()},a.prototype.cost=function(){for(var a=0,b=this.vars.length;b--;){var c=this.vars[b],d=c.position()-c.desiredPosition;a+=d*d*c.weight}return a},a}();a.Block=e;var f=function(){function a(a){this.vs=a;var b=a.length;for(this.list=new Array(b);b--;){var c=new e(a[b]);this.list[b]=c,c.blockInd=b}}return a.prototype.cost=function(){for(var a=0,b=this.list.length;b--;)a+=this.list[b].cost();return a},a.prototype.insert=function(a){a.blockInd=this.list.length,this.list.push(a)},a.prototype.remove=function(a){var b=this.list.length-1,c=this.list[b];this.list.length=b,a!==c&&(this.list[a.blockInd]=c,c.blockInd=a.blockInd)},a.prototype.merge=function(a){var b=a.left.block,c=a.right.block,d=a.right.offset-a.left.offset-a.gap;b.vars.length<c.vars.length?(c.mergeAcross(b,a,d),this.remove(b)):(b.mergeAcross(c,a,-d),this.remove(c))},a.prototype.forEach=function(a){this.list.forEach(a)},a.prototype.updateBlockPositions=function(){this.list.forEach(function(a){return a.updateWeightedPosition()})},a.prototype.split=function(a){var b=this;this.updateBlockPositions(),this.list.forEach(function(c){var d=c.findMinLM();null!==d&&d.lm<g.LAGRANGIAN_TOLERANCE&&(c=d.left.block,e.split(d).forEach(function(a){return b.insert(a)}),b.remove(c),a.push(d))})},a}();a.Blocks=f;var g=function(){function a(a,b){this.vs=a,this.cs=b,this.vs=a,a.forEach(function(a){a.cIn=[],a.cOut=[]}),this.cs=b,b.forEach(function(a){a.left.cOut.push(a),a.right.cIn.push(a)}),this.inactive=b.map(function(a){return a.active=!1,a}),this.bs=null}return a.prototype.cost=function(){return this.bs.cost()},a.prototype.setStartingPositions=function(a){this.inactive=this.cs.map(function(a){return a.active=!1,a}),this.bs=new f(this.vs),this.bs.forEach(function(b,c){return b.posn=a[c]})},a.prototype.setDesiredPositions=function(a){this.vs.forEach(function(b,c){return b.desiredPosition=a[c]})},a.prototype.mostViolated=function(){for(var b=Number.MAX_VALUE,c=null,d=this.inactive,e=d.length,f=e,g=0;g<e;++g){var h=d[g];if(!h.unsatisfiable){var i=h.slack();if((h.equality||i<b)&&(b=i,c=h,f=g,h.equality))break}}return f!==e&&(b<a.ZERO_UPPERBOUND&&!c.active||c.equality)&&(d[f]=d[e-1],d.length=e-1),c},a.prototype.satisfy=function(){null==this.bs&&(this.bs=new f(this.vs)),this.bs.split(this.inactive);for(var b=null;(b=this.mostViolated())&&(b.equality||b.slack()<a.ZERO_UPPERBOUND&&!b.active);){var c=b.left.block,d=b.right.block;if(c!==d)this.bs.merge(b);else{if(c.isActiveDirectedPathBetween(b.right,b.left)){b.unsatisfiable=!0;continue}var e=c.splitBetween(b.left,b.right);if(null===e){b.unsatisfiable=!0;continue}this.bs.insert(e.lb),this.bs.insert(e.rb),this.bs.remove(c),this.inactive.push(e.constraint),b.slack()>=0?this.inactive.push(b):this.bs.merge(b)}}},a.prototype.solve=function(){this.satisfy();for(var a=Number.MAX_VALUE,b=this.bs.cost();Math.abs(a-b)>1e-4;)this.satisfy(),a=b,b=this.bs.cost();return b},a.LAGRANGIAN_TOLERANCE=-1e-4,a.ZERO_UPPERBOUND=-1e-10,a}();a.Solver=g}(b=a.vpsc||(a.vpsc={}))}(cola||(cola={}));var __extends=this&&this.__extends||function(a,b){function c(){this.constructor=a}for(var d in b)b.hasOwnProperty(d)&&(a[d]=b[d]);a.prototype=null===b?Object.create(b):(c.prototype=b.prototype,new c)},cola;!function(a){var b;!function(a){var b=function(){function a(){this.findIter=function(a){for(var b=this._root,c=this.iterator();null!==b;){var d=this._comparator(a,b.data);if(0===d)return c._cursor=b,c;c._ancestors.push(b),b=b.get_child(d>0)}return null}}return a.prototype.clear=function(){this._root=null,this.size=0},a.prototype.find=function(a){for(var b=this._root;null!==b;){var c=this._comparator(a,b.data);if(0===c)return b.data;b=b.get_child(c>0)}return null},a.prototype.lowerBound=function(a){return this._bound(a,this._comparator)},a.prototype.upperBound=function(a){function b(a,b){return c(b,a)}var c=this._comparator;return this._bound(a,b)},a.prototype.min=function(){var a=this._root;if(null===a)return null;for(;null!==a.left;)a=a.left;return a.data},a.prototype.max=function(){var a=this._root;if(null===a)return null;for(;null!==a.right;)a=a.right;return a.data},a.prototype.iterator=function(){return new c(this)},a.prototype.each=function(a){for(var b,c=this.iterator();null!==(b=c.next());)a(b)},a.prototype.reach=function(a){for(var b,c=this.iterator();null!==(b=c.prev());)a(b)},a.prototype._bound=function(a,b){for(var c=this._root,d=this.iterator();null!==c;){var e=this._comparator(a,c.data);if(0===e)return d._cursor=c,d;d._ancestors.push(c),c=c.get_child(e>0)}for(var f=d._ancestors.length-1;f>=0;--f)if(c=d._ancestors[f],b(a,c.data)>0)return d._cursor=c,d._ancestors.length=f,d;return d._ancestors.length=0,d},a}();a.TreeBase=b;var c=function(){function a(a){this._tree=a,this._ancestors=[],this._cursor=null}return a.prototype.data=function(){return null!==this._cursor?this._cursor.data:null},a.prototype.next=function(){if(null===this._cursor){var a=this._tree._root;null!==a&&this._minNode(a)}else if(null===this._cursor.right){var b;do{if(b=this._cursor,!this._ancestors.length){this._cursor=null;break}this._cursor=this._ancestors.pop()}while(this._cursor.right===b)}else this._ancestors.push(this._cursor),this._minNode(this._cursor.right);return null!==this._cursor?this._cursor.data:null},a.prototype.prev=function(){if(null===this._cursor){var a=this._tree._root;null!==a&&this._maxNode(a)}else if(null===this._cursor.left){var b;do{if(b=this._cursor,!this._ancestors.length){this._cursor=null;break}this._cursor=this._ancestors.pop()}while(this._cursor.left===b)}else this._ancestors.push(this._cursor),this._maxNode(this._cursor.left);return null!==this._cursor?this._cursor.data:null},a.prototype._minNode=function(a){for(;null!==a.left;)this._ancestors.push(a),a=a.left;this._cursor=a},a.prototype._maxNode=function(a){for(;null!==a.right;)this._ancestors.push(a),a=a.right;this._cursor=a},a}();a.Iterator=c;var d=function(){function a(a){this.data=a,this.left=null,this.right=null,this.red=!0}return a.prototype.get_child=function(a){return a?this.right:this.left},a.prototype.set_child=function(a,b){a?this.right=b:this.left=b},a}(),e=function(a){function b(b){a.call(this),this._root=null,this._comparator=b,this.size=0}return __extends(b,a),b.prototype.insert=function(a){var c=!1;if(null===this._root)this._root=new d(a),c=!0,this.size++;else{var e=new d((void 0)),f=!1,g=!1,h=null,i=e,j=null,k=this._root;for(i.right=this._root;;){if(null===k?(k=new d(a),j.set_child(f,k),c=!0,this.size++):b.is_red(k.left)&&b.is_red(k.right)&&(k.red=!0,k.left.red=!1,k.right.red=!1),b.is_red(k)&&b.is_red(j)){var l=i.right===h;k===j.get_child(g)?i.set_child(l,b.single_rotate(h,!g)):i.set_child(l,b.double_rotate(h,!g))}var m=this._comparator(k.data,a);if(0===m)break;g=f,f=m<0,null!==h&&(i=h),h=j,j=k,k=k.get_child(f)}this._root=e.right}return this._root.red=!1,c},b.prototype.remove=function(a){if(null===this._root)return!1;var c=new d((void 0)),e=c;e.right=this._root;for(var f=null,g=null,h=null,i=!0;null!==e.get_child(i);){var j=i;g=f,f=e,e=e.get_child(i);var k=this._comparator(a,e.data);if(i=k>0,0===k&&(h=e),!b.is_red(e)&&!b.is_red(e.get_child(i)))if(b.is_red(e.get_child(!i))){var l=b.single_rotate(e,i);f.set_child(j,l),f=l}else if(!b.is_red(e.get_child(!i))){var m=f.get_child(!j);if(null!==m)if(b.is_red(m.get_child(!j))||b.is_red(m.get_child(j))){var n=g.right===f;b.is_red(m.get_child(j))?g.set_child(n,b.double_rotate(f,j)):b.is_red(m.get_child(!j))&&g.set_child(n,b.single_rotate(f,j));var o=g.get_child(n);o.red=!0,e.red=!0,o.left.red=!1,o.right.red=!1}else f.red=!1,m.red=!0,e.red=!0}}return null!==h&&(h.data=e.data,f.set_child(f.right===e,e.get_child(null===e.left)),this.size--),this._root=c.right,null!==this._root&&(this._root.red=!1),null!==h},b.is_red=function(a){return null!==a&&a.red},b.single_rotate=function(a,b){var c=a.get_child(!b);return a.set_child(!b,c.get_child(b)),c.set_child(b,a),a.red=!0,c.red=!1,c},b.double_rotate=function(a,c){return a.set_child(!c,b.single_rotate(a.get_child(!c),!c)),b.single_rotate(a,c)},b}(b);a.RBTree=e}(b=a.vpsc||(a.vpsc={}))}(cola||(cola={}));var cola;!function(a){var b;!function(a){function b(a){return a.bounds="undefined"!=typeof a.leaves?a.leaves.reduce(function(a,b){return b.bounds.union(a)},p.empty()):p.empty(),"undefined"!=typeof a.groups&&(a.bounds=a.groups.reduce(function(a,c){return b(c).union(a)},a.bounds)),a.bounds=a.bounds.inflate(a.padding),a.bounds}function c(a,b,c){var d=a.rayIntersection(b.cx(),b.cy())||{x:a.cx(),y:a.cy()},e=b.rayIntersection(a.cx(),a.cy())||{x:b.cx(),y:b.cy()},f=e.x-d.x,g=e.y-d.y,h=Math.sqrt(f*f+g*g),i=h-c;return{sourceIntersection:d,targetIntersection:e,arrowStart:{x:d.x+i*f/h,y:d.y+i*g/h}}}function d(a,b,c){var d=b.rayIntersection(a.x,a.y);d||(d={x:b.cx(),y:b.cy()});var e=d.x-a.x,f=d.y-a.y,g=Math.sqrt(e*e+f*f);return{x:d.x-c*e/g,y:d.y-c*f/g}}function e(a,b){return a.pos>b.pos?1:a.pos<b.pos?-1:a.isOpen?-1:b.isOpen?1:0}function f(){return new a.RBTree(function(a,b){return a.pos-b.pos})}function g(a,b,c,d){void 0===d&&(d=!1);var e=a.padding,f="undefined"!=typeof a.groups?a.groups.length:0,i="undefined"!=typeof a.leaves?a.leaves.length:0,j=f?a.groups.reduce(function(a,d){return a.concat(g(d,b,c,!0))},[]):[],k=(d?2:0)+i+f,l=new Array(k),m=new Array(k),n=0,o=function(a,b){m[n]=a,l[n++]=b};if(d){var p=a.bounds,q=b.getCentre(p),r=b.getSize(p)/2,s=b.getOpen(p),t=b.getClose(p),u=q-r+e/2,v=q+r-e/2;a.minVar.desiredPosition=u,o(b.makeRect(s,t,u,e),a.minVar),a.maxVar.desiredPosition=v,o(b.makeRect(s,t,v,e),a.maxVar)}i&&a.leaves.forEach(function(a){return o(a.bounds,a.variable)}),f&&a.groups.forEach(function(a){var c=a.bounds;o(b.makeRect(b.getOpen(c),b.getClose(c),b.getCentre(c),b.getSize(c)),a.minVar)});var w=h(m,l,b,c);return f&&(l.forEach(function(a){a.cOut=[],a.cIn=[]}),w.forEach(function(a){a.left.cOut.push(a),a.right.cIn.push(a)}),a.groups.forEach(function(a){var c=(a.padding-b.getSize(a.bounds))/2;a.minVar.cIn.forEach(function(a){return a.gap+=c}),a.minVar.cOut.forEach(function(b){b.left=a.maxVar,b.gap+=c})})),j.concat(w)}function h(b,c,d,g){var h,i=b.length,j=2*i;console.assert(c.length>=i);var k=new Array(j);for(h=0;h<i;++h){var l=b[h],m=new q(c[h],l,d.getCentre(l));k[h]=new r((!0),m,d.getOpen(l)),k[h+i]=new r((!1),m,d.getClose(l))}k.sort(e);var n=new 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Array(this.k),this.ia=new Array(this.k),this.ib=new Array(this.k),this.xtmp=new Array(this.k),this.locks=new b,this.minD=Number.MAX_VALUE;for(var g,h=f;h--;)for(g=f;--g>h;){var i=c[h][g];i>0&&i<this.minD&&(this.minD=i)}for(this.minD===Number.MAX_VALUE&&(this.minD=1),h=this.k;h--;){for(this.g[h]=new Array(f),this.H[h]=new Array(f),g=f;g--;)this.H[h][g]=new Array(f);this.Hd[h]=new Array(f),this.a[h]=new Array(f),this.b[h]=new Array(f),this.c[h]=new Array(f),this.d[h]=new Array(f),this.e[h]=new Array(f),this.ia[h]=new Array(f),this.ib[h]=new Array(f),this.xtmp[h]=new Array(f)}}return a.createSquareMatrix=function(a,b){for(var c=new Array(a),d=0;d<a;++d){c[d]=new Array(a);for(var e=0;e<a;++e)c[d][e]=b(d,e)}return c},a.prototype.offsetDir=function(){for(var a=this,b=new Array(this.k),c=0,d=0;d<this.k;++d){var e=b[d]=this.random.getNextBetween(.01,1)-.5;c+=e*e}return c=Math.sqrt(c),b.map(function(b){return b*=a.minD/c})},a.prototype.computeDerivatives=function(a){var b=this,c=this.n;if(!(c<1)){for(var d,e=new Array(this.k),f=new Array(this.k),g=new Array(this.k),h=0,i=0;i<c;++i){for(d=0;d<this.k;++d)g[d]=this.g[d][i]=0;for(var j=0;j<c;++j)if(i!==j){for(var k=c;k--;){var l=0;for(d=0;d<this.k;++d){var m=e[d]=a[d][i]-a[d][j];l+=f[d]=m*m}if(l>1e-9)break;var n=this.offsetDir();for(d=0;d<this.k;++d)a[d][j]+=n[d]}var o=Math.sqrt(l),p=this.D[i][j],q=null!=this.G?this.G[i][j]:1;if(q>1&&o>p||!isFinite(p))for(d=0;d<this.k;++d)this.H[d][i][j]=0;else{q>1&&(q=1);var r=p*p,s=2*q*(o-p)/(r*o),t=o*o*o,u=2*-q/(r*t);for(isFinite(s)||console.log(s),d=0;d<this.k;++d)this.g[d][i]+=e[d]*s,g[d]-=this.H[d][i][j]=u*(t+p*(f[d]-l)+o*l)}}for(d=0;d<this.k;++d)h=Math.max(h,this.H[d][i][i]=g[d])}for(var v=this.snapGridSize/2,w=this.snapGridSize,x=this.snapStrength,y=x/(v*v),z=this.numGridSnapNodes,i=0;i<z;++i)for(d=0;d<this.k;++d){var A=this.x[d][i],B=A/w,C=B%1,D=B-C,E=Math.abs(C),m=E<=.5?A-D*w:A>0?A-(D+1)*w:A-(D-1)*w;-v<m&&m<=v&&(this.scaleSnapByMaxH?(this.g[d][i]+=h*y*m,this.H[d][i][i]+=h*y):(this.g[d][i]+=y*m,this.H[d][i][i]+=y))}this.locks.isEmpty()||this.locks.apply(function(c,e){for(d=0;d<b.k;++d)b.H[d][c][c]+=h,b.g[d][c]-=h*(e[d]-a[d][c])})}},a.dotProd=function(a,b){for(var c=0,d=a.length;d--;)c+=a[d]*b[d];return c},a.rightMultiply=function(b,c,d){for(var e=b.length;e--;)d[e]=a.dotProd(b[e],c)},a.prototype.computeStepSize=function(b){for(var c=0,d=0,e=0;e<this.k;++e)c+=a.dotProd(this.g[e],b[e]),a.rightMultiply(this.H[e],b[e],this.Hd[e]),d+=a.dotProd(b[e],this.Hd[e]);
return 0!==d&&isFinite(d)?1*c/d:0},a.prototype.reduceStress=function(){this.computeDerivatives(this.x);for(var a=this.computeStepSize(this.g),b=0;b<this.k;++b)this.takeDescentStep(this.x[b],this.g[b],a);return this.computeStress()},a.copy=function(a,b){for(var c=a.length,d=b[0].length,e=0;e<c;++e)for(var f=0;f<d;++f)b[e][f]=a[e][f]},a.prototype.stepAndProject=function(b,c,d,e){a.copy(b,c),this.takeDescentStep(c[0],d[0],e),this.project&&this.project[0](b[0],b[1],c[0]),this.takeDescentStep(c[1],d[1],e),this.project&&this.project[1](c[0],b[1],c[1]);for(var f=2;f<this.k;f++)this.takeDescentStep(c[f],d[f],e)},a.mApply=function(a,b,c){for(var d=a;d-- >0;)for(var e=b;e-- >0;)c(d,e)},a.prototype.matrixApply=function(b){a.mApply(this.k,this.n,b)},a.prototype.computeNextPosition=function(a,b){var c=this;this.computeDerivatives(a);var d=this.computeStepSize(this.g);if(this.stepAndProject(a,b,this.g,d),this.project){this.matrixApply(function(d,e){return c.e[d][e]=a[d][e]-b[d][e]});var e=this.computeStepSize(this.e);e=Math.max(.2,Math.min(e,1)),this.stepAndProject(a,b,this.e,e)}},a.prototype.run=function(a){for(var b=Number.MAX_VALUE,c=!1;!c&&a-- >0;){var d=this.rungeKutta();c=Math.abs(b/d-1)<this.threshold,b=d}return b},a.prototype.rungeKutta=function(){var b=this;this.computeNextPosition(this.x,this.a),a.mid(this.x,this.a,this.ia),this.computeNextPosition(this.ia,this.b),a.mid(this.x,this.b,this.ib),this.computeNextPosition(this.ib,this.c),this.computeNextPosition(this.c,this.d);var c=0;return this.matrixApply(function(a,d){var e=(b.a[a][d]+2*b.b[a][d]+2*b.c[a][d]+b.d[a][d])/6,f=b.x[a][d]-e;c+=f*f,b.x[a][d]=e}),c},a.mid=function(b,c,d){a.mApply(b.length,b[0].length,function(a,e){return d[a][e]=b[a][e]+(c[a][e]-b[a][e])/2})},a.prototype.takeDescentStep=function(a,b,c){for(var d=0;d<this.n;++d)a[d]=a[d]-c*b[d]},a.prototype.computeStress=function(){for(var a=0,b=0,c=this.n-1;b<c;++b)for(var d=b+1,e=this.n;d<e;++d){for(var f=0,g=0;g<this.k;++g){var h=this.x[g][b]-this.x[g][d];f+=h*h}f=Math.sqrt(f);var i=this.D[b][d];if(isFinite(i)){var j=i-f,k=i*i;a+=j*j/k}}return a},a.zeroDistance=1e-10,a}();a.Descent=c;var d=function(){function a(a){void 0===a&&(a=1),this.seed=a,this.a=214013,this.c=2531011,this.m=2147483648,this.range=32767}return a.prototype.getNext=function(){return this.seed=(this.seed*this.a+this.c)%this.m,(this.seed>>16)/this.range},a.prototype.getNextBetween=function(a,b){return a+this.getNext()*(b-a)},a}();a.PseudoRandom=d}(cola||(cola={}));var cola;!function(a){var b;!function(a){function b(a,c,d){a.forAll(function(a){if(a.isLeaf())c.leaves||(c.leaves=[]),c.leaves.push(a.id);else{var e=c;if(a.gid=d.length,!a.isIsland()||a.isPredefined()){if(e={id:a.gid},a.isPredefined())for(var f in a.definition)e[f]=a.definition[f];c.groups||(c.groups=[]),c.groups.push(a.gid),d.push(e)}b(a.children,e,d)}})}function c(a,b){var c={};for(var d in a)d in b&&(c[d]=a[d]);return c}function d(b,c,d,e){for(var f=b.length,g=new a.Configuration(f,c,d,e);g.greedyMerge(););var h=[],i=g.getGroupHierarchy(h);return h.forEach(function(a){var c=function(c){var d=a[c];"number"==typeof d&&(a[c]=b[d])};c("source"),c("target")}),{groups:i,powerEdges:h}}var e=function(){function a(a,b,c){this.source=a,this.target=b,this.type=c}return a}();a.PowerEdge=e;var f=function(){function a(a,b,c,d){var e=this;if(this.linkAccessor=c,this.modules=new Array(a),this.roots=[],d)this.initModulesFromGroup(d);else{this.roots.push(new h);for(var f=0;f<a;++f)this.roots[0].add(this.modules[f]=new g(f))}this.R=b.length,b.forEach(function(a){var b=e.modules[c.getSourceIndex(a)],d=e.modules[c.getTargetIndex(a)],f=c.getType(a);b.outgoing.add(f,d),d.incoming.add(f,b)})}return a.prototype.initModulesFromGroup=function(a){var b=new h;this.roots.push(b);for(var c=0;c<a.leaves.length;++c){var d=a.leaves[c],e=new g(d.id);this.modules[d.id]=e,b.add(e)}if(a.groups)for(var f=0;f<a.groups.length;++f){var j=a.groups[f],k={};for(var l in j)"leaves"!==l&&"groups"!==l&&j.hasOwnProperty(l)&&(k[l]=j[l]);b.add(new g(-1-f,new i,new i,this.initModulesFromGroup(j),k))}return b},a.prototype.merge=function(a,b,c){void 0===c&&(c=0);var d=a.incoming.intersection(b.incoming),e=a.outgoing.intersection(b.outgoing),f=new h;f.add(a),f.add(b);var i=new g(this.modules.length,e,d,f);this.modules.push(i);var j=function(c,d,e){c.forAll(function(c,f){c.forAll(function(c){var g=c[d];g.add(f,i),g.remove(f,a),g.remove(f,b),a[e].remove(f,c),b[e].remove(f,c)})})};return j(e,"incoming","outgoing"),j(d,"outgoing","incoming"),this.R-=d.count()+e.count(),this.roots[c].remove(a),this.roots[c].remove(b),this.roots[c].add(i),i},a.prototype.rootMerges=function(a){void 0===a&&(a=0);for(var b=this.roots[a].modules(),c=b.length,d=new Array(c*(c-1)),e=0,f=0,g=c-1;f<g;++f)for(var h=f+1;h<c;++h){var i=b[f],j=b[h];d[e]={id:e,nEdges:this.nEdges(i,j),a:i,b:j},e++}return d},a.prototype.greedyMerge=function(){for(var a=0;a<this.roots.length;++a)if(!(this.roots[a].modules().length<2)){var b=this.rootMerges(a).sort(function(a,b){return a.nEdges==b.nEdges?a.id-b.id:a.nEdges-b.nEdges}),c=b[0];if(!(c.nEdges>=this.R))return this.merge(c.a,c.b,a),!0}},a.prototype.nEdges=function(a,b){var c=a.incoming.intersection(b.incoming),d=a.outgoing.intersection(b.outgoing);return this.R-c.count()-d.count()},a.prototype.getGroupHierarchy=function(a){var c=this,d=[],f={};b(this.roots[0],f,d);var g=this.allEdges();return g.forEach(function(b){var f=c.modules[b.source],g=c.modules[b.target];a.push(new e("undefined"==typeof f.gid?b.source:d[f.gid],"undefined"==typeof g.gid?b.target:d[g.gid],b.type))}),d},a.prototype.allEdges=function(){var b=[];return a.getEdges(this.roots[0],b),b},a.getEdges=function(b,c){b.forAll(function(b){b.getEdges(c),a.getEdges(b.children,c)})},a}();a.Configuration=f;var g=function(){function a(a,b,c,d,e){void 0===b&&(b=new i),void 0===c&&(c=new i),void 0===d&&(d=new h),this.id=a,this.outgoing=b,this.incoming=c,this.children=d,this.definition=e}return a.prototype.getEdges=function(a){var b=this;this.outgoing.forAll(function(c,d){c.forAll(function(c){a.push(new e(b.id,c.id,d))})})},a.prototype.isLeaf=function(){return 0===this.children.count()},a.prototype.isIsland=function(){return 0===this.outgoing.count()&&0===this.incoming.count()},a.prototype.isPredefined=function(){return"undefined"!=typeof this.definition},a}();a.Module=g;var h=function(){function a(){this.table={}}return a.prototype.count=function(){return Object.keys(this.table).length},a.prototype.intersection=function(b){var d=new a;return d.table=c(this.table,b.table),d},a.prototype.intersectionCount=function(a){return this.intersection(a).count()},a.prototype.contains=function(a){return a in this.table},a.prototype.add=function(a){this.table[a.id]=a},a.prototype.remove=function(a){delete this.table[a.id]},a.prototype.forAll=function(a){for(var b in this.table)a(this.table[b])},a.prototype.modules=function(){var a=[];return this.forAll(function(b){b.isPredefined()||a.push(b)}),a},a}();a.ModuleSet=h;var i=function(){function a(){this.sets={},this.n=0}return a.prototype.count=function(){return this.n},a.prototype.contains=function(a){var b=!1;return this.forAllModules(function(c){b||c.id!=a||(b=!0)}),b},a.prototype.add=function(a,b){var c=a in this.sets?this.sets[a]:this.sets[a]=new h;c.add(b),++this.n},a.prototype.remove=function(a,b){var c=this.sets[a];c.remove(b),0===c.count()&&delete this.sets[a],--this.n},a.prototype.forAll=function(a){for(var b in this.sets)a(this.sets[b],b)},a.prototype.forAllModules=function(a){this.forAll(function(b,c){return b.forAll(a)})},a.prototype.intersection=function(b){var c=new a;return this.forAll(function(a,d){if(d in b.sets){var e=a.intersection(b.sets[d]),f=e.count();f>0&&(c.sets[d]=e,c.n+=f)}}),c},a}();a.LinkSets=i,a.getGroups=d}(b=a.powergraph||(a.powergraph={}))}(cola||(cola={}));var cola;!function(a){function b(a,b){var c={};for(var d in a)c[d]={};for(var d in b)c[d]={};return Object.keys(c).length}function c(a,b){var c=0;for(var d in a)"undefined"!=typeof b[d]&&++c;return c}function d(a,b){var c={},d=function(a,b){"undefined"==typeof c[a]&&(c[a]={}),c[a][b]={}};return a.forEach(function(a){var c=b.getSourceIndex(a),e=b.getTargetIndex(a);d(c,e),d(e,c)}),c}function e(a,b,c,e){var f=d(a,e);a.forEach(function(a){var d=f[e.getSourceIndex(a)],g=f[e.getTargetIndex(a)];e.setLength(a,1+b*c(d,g))})}function f(a,d,f){void 0===f&&(f=1),e(a,f,function(a,d){return Math.sqrt(b(a,d)-c(a,d))},d)}function g(a,d,f){void 0===f&&(f=1),e(a,f,function(a,d){return Math.min(Object.keys(a).length,Object.keys(d).length)<1.1?0:c(a,d)/b(a,d)},d)}function h(a,b,c,d){var e=i(a,b,d),f={};e.forEach(function(a,b){return a.forEach(function(a){return f[a]=b})});var g=[];return b.forEach(function(a){var b=d.getSourceIndex(a),e=d.getTargetIndex(a),h=f[b],i=f[e];h!==i&&g.push({axis:c,left:b,right:e,gap:d.getMinSeparation(a)})}),g}function i(a,b,c){function d(a){a.index=a.lowlink=f++,g.push(a),a.onStack=!0;for(var b=0,c=a.out;b<c.length;b++){var e=c[b];"undefined"==typeof e.index?(d(e),a.lowlink=Math.min(a.lowlink,e.lowlink)):e.onStack&&(a.lowlink=Math.min(a.lowlink,e.index))}if(a.lowlink===a.index){for(var i=[];g.length&&(e=g.pop(),e.onStack=!1,i.push(e),e!==a););h.push(i.map(function(a){return a.id}))}}for(var e=[],f=0,g=[],h=[],i=0;i<a;i++)e.push({id:i,out:[]});for(var j=0;j<b.length;j++){var k=b[j],l=e[c.getSourceIndex(k)],m=e[c.getTargetIndex(k)];l.out.push(m)}for(var n=0;n<e.length;n++){var o=e[n];"undefined"==typeof o.index&&d(o)}return h}a.symmetricDiffLinkLengths=f,a.jaccardLinkLengths=g,a.generateDirectedEdgeConstraints=h,a.stronglyConnectedComponents=i}(cola||(cola={}));var PairingHeap=function(){function a(a){this.elem=a,this.subheaps=[]}return a.prototype.toString=function(a){for(var b="",c=!1,d=0;d<this.subheaps.length;++d){var e=this.subheaps[d];e.elem?(c&&(b+=","),b+=e.toString(a),c=!0):c=!1}return""!==b&&(b="("+b+")"),(this.elem?a(this.elem):"")+b},a.prototype.forEach=function(a){this.empty()||(a(this.elem,this),this.subheaps.forEach(function(b){return b.forEach(a)}))},a.prototype.count=function(){return this.empty()?0:1+this.subheaps.reduce(function(a,b){return a+b.count()},0)},a.prototype.min=function(){return this.elem},a.prototype.empty=function(){return null==this.elem},a.prototype.contains=function(a){if(this===a)return!0;for(var b=0;b<this.subheaps.length;b++)if(this.subheaps[b].contains(a))return!0;return!1},a.prototype.isHeap=function(a){var b=this;return this.subheaps.every(function(c){return a(b.elem,c.elem)&&c.isHeap(a)})},a.prototype.insert=function(b,c){return this.merge(new a(b),c)},a.prototype.merge=function(a,b){return this.empty()?a:a.empty()?this:b(this.elem,a.elem)?(this.subheaps.push(a),this):(a.subheaps.push(this),a)},a.prototype.removeMin=function(a){return this.empty()?null:this.mergePairs(a)},a.prototype.mergePairs=function(b){if(0==this.subheaps.length)return new a(null);if(1==this.subheaps.length)return this.subheaps[0];var c=this.subheaps.pop().merge(this.subheaps.pop(),b),d=this.mergePairs(b);return c.merge(d,b)},a.prototype.decreaseKey=function(b,c,d,e){var f=b.removeMin(e);b.elem=f.elem,b.subheaps=f.subheaps,null!==d&&null!==f.elem&&d(b.elem,b);var g=new a(c);return null!==d&&d(c,g),this.merge(g,e)},a}(),PriorityQueue=function(){function a(a){this.lessThan=a}return a.prototype.top=function(){return this.empty()?null:this.root.elem},a.prototype.push=function(){for(var a=[],b=0;b<arguments.length;b++)a[b-0]=arguments[b];for(var c,d,e=0;d=a[e];++e)c=new PairingHeap(d),this.root=this.empty()?c:this.root.merge(c,this.lessThan);return c},a.prototype.empty=function(){return!this.root||!this.root.elem},a.prototype.isHeap=function(){return this.root.isHeap(this.lessThan)},a.prototype.forEach=function(a){this.root.forEach(a)},a.prototype.pop=function(){if(this.empty())return null;var a=this.root.min();return this.root=this.root.removeMin(this.lessThan),a},a.prototype.reduceKey=function(a,b,c){void 0===c&&(c=null),this.root=this.root.decreaseKey(a,b,c,this.lessThan)},a.prototype.toString=function(a){return this.root.toString(a)},a.prototype.count=function(){return this.root.count()},a}(),cola;!function(a){var b;!function(a){var b=function(){function a(a,b){this.id=a,this.distance=b}return a}(),c=function(){function a(a){this.id=a,this.neighbours=[]}return a}(),d=function(){function a(a,b,c){this.node=a,this.prev=b,this.d=c}return a}(),e=function(){function a(a,d,e,f,g){this.n=a,this.es=d,this.neighbours=new Array(this.n);for(var h=this.n;h--;)this.neighbours[h]=new c(h);for(h=this.es.length;h--;){var i=this.es[h],j=e(i),k=f(i),l=g(i);this.neighbours[j].neighbours.push(new b(k,l)),this.neighbours[k].neighbours.push(new b(j,l))}}return a.prototype.DistanceMatrix=function(){for(var a=new Array(this.n),b=0;b<this.n;++b)a[b]=this.dijkstraNeighbours(b);return a},a.prototype.DistancesFromNode=function(a){return this.dijkstraNeighbours(a)},a.prototype.PathFromNodeToNode=function(a,b){return this.dijkstraNeighbours(a,b)},a.prototype.PathFromNodeToNodeWithPrevCost=function(a,b,c){var e=new PriorityQueue(function(a,b){return a.d<=b.d}),f=this.neighbours[a],g=new d(f,null,0),h={};for(e.push(g);!e.empty()&&(g=e.pop(),f=g.node,f.id!==b);)for(var i=f.neighbours.length;i--;){var j=f.neighbours[i],k=this.neighbours[j.id];if(!g.prev||k.id!==g.prev.node.id){var l=k.id+","+f.id;if(!(l in h&&h[l]<=g.d)){var m=g.prev?c(g.prev.node.id,f.id,k.id):0,n=g.d+j.distance+m;h[l]=n,e.push(new d(k,g,n))}}}for(var o=[];g.prev;)g=g.prev,o.push(g.node.id);return o},a.prototype.dijkstraNeighbours=function(a,b){void 0===b&&(b=-1);for(var c=new PriorityQueue(function(a,b){return a.d<=b.d}),d=this.neighbours.length,e=new Array(d);d--;){var f=this.neighbours[d];f.d=d===a?0:Number.POSITIVE_INFINITY,f.q=c.push(f)}for(;!c.empty();){var g=c.pop();if(e[g.id]=g.d,g.id===b){for(var h=[],i=g;"undefined"!=typeof i.prev;)h.push(i.prev.id),i=i.prev;return h}for(d=g.neighbours.length;d--;){var j=g.neighbours[d],i=this.neighbours[j.id],k=g.d+j.distance;g.d!==Number.MAX_VALUE&&i.d>k&&(i.d=k,i.prev=g,c.reduceKey(i.q,i,function(a,b){return a.q=b}))}}return e},a}();a.Calculator=e}(b=a.shortestpaths||(a.shortestpaths={}))}(cola||(cola={}));var cola;!function(a){function b(a){return"undefined"!=typeof a.leaves||"undefined"!=typeof a.groups}!function(a){a[a.start=0]="start",a[a.tick=1]="tick",a[a.end=2]="end"}(a.EventType||(a.EventType={}));var c=a.EventType,d=function(){function d(){var a=this;this._canvasSize=[1,1],this._linkDistance=20,this._defaultNodeSize=10,this._linkLengthCalculator=null,this._linkType=null,this._avoidOverlaps=!1,this._handleDisconnected=!0,this._running=!1,this._nodes=[],this._groups=[],this._rootGroup=null,this._links=[],this._constraints=[],this._distanceMatrix=null,this._descent=null,this._directedLinkConstraints=null,this._threshold=.01,this._visibilityGraph=null,this._groupCompactness=1e-6,this.event=null,this.linkAccessor={getSourceIndex:d.getSourceIndex,getTargetIndex:d.getTargetIndex,setLength:d.setLinkLength,getType:function(b){return"function"==typeof a._linkType?a._linkType(b):0}}}return d.prototype.on=function(a,b){return this.event||(this.event={}),"string"==typeof a?this.event[c[a]]=b:this.event[a]=b,this},d.prototype.trigger=function(a){this.event&&"undefined"!=typeof this.event[a.type]&&this.event[a.type](a)},d.prototype.kick=function(){for(;!this.tick(););},d.prototype.tick=function(){if(this._alpha<this._threshold)return this._running=!1,this.trigger({type:c.end,alpha:this._alpha=0,stress:this._lastStress}),!0;var a,b,d=this._nodes.length;this._links.length;for(this._descent.locks.clear(),b=0;b<d;++b)if(a=this._nodes[b],a.fixed){"undefined"!=typeof a.px&&"undefined"!=typeof a.py||(a.px=a.x,a.py=a.y);var e=[a.px,a.py];this._descent.locks.add(b,e)}var f=this._descent.rungeKutta();return 0===f?this._alpha=0:"undefined"!=typeof this._lastStress&&(this._alpha=f),this._lastStress=f,this.updateNodePositions(),this.trigger({type:c.tick,alpha:this._alpha,stress:this._lastStress}),!1},d.prototype.updateNodePositions=function(){for(var a,b=this._descent.x[0],c=this._descent.x[1],d=this._nodes.length;d--;)a=this._nodes[d],a.x=b[d],a.y=c[d]},d.prototype.nodes=function(a){if(!a){if(0===this._nodes.length&&this._links.length>0){var b=0;this._links.forEach(function(a){b=Math.max(b,a.source,a.target)}),this._nodes=new Array((++b));for(var c=0;c<b;++c)this._nodes[c]={}}return this._nodes}return this._nodes=a,this},d.prototype.groups=function(a){var b=this;return a?(this._groups=a,this._rootGroup={},this._groups.forEach(function(a){"undefined"==typeof a.padding&&(a.padding=1),"undefined"!=typeof a.leaves&&a.leaves.forEach(function(c,d){"number"==typeof c&&((a.leaves[d]=b._nodes[c]).parent=a)}),"undefined"!=typeof a.groups&&a.groups.forEach(function(c,d){"number"==typeof c&&((a.groups[d]=b._groups[c]).parent=a)})}),this._rootGroup.leaves=this._nodes.filter(function(a){return"undefined"==typeof a.parent}),this._rootGroup.groups=this._groups.filter(function(a){return"undefined"==typeof a.parent}),this):this._groups},d.prototype.powerGraphGroups=function(b){var c=a.powergraph.getGroups(this._nodes,this._links,this.linkAccessor,this._rootGroup);return this.groups(c.groups),b(c),this},d.prototype.avoidOverlaps=function(a){return arguments.length?(this._avoidOverlaps=a,this):this._avoidOverlaps},d.prototype.handleDisconnected=function(a){return arguments.length?(this._handleDisconnected=a,this):this._handleDisconnected},d.prototype.flowLayout=function(a,b){return arguments.length||(a="y"),this._directedLinkConstraints={axis:a,getMinSeparation:"number"==typeof b?function(){return b}:b},this},d.prototype.links=function(a){return arguments.length?(this._links=a,this):this._links},d.prototype.constraints=function(a){return arguments.length?(this._constraints=a,this):this._constraints},d.prototype.distanceMatrix=function(a){return arguments.length?(this._distanceMatrix=a,this):this._distanceMatrix},d.prototype.size=function(a){return a?(this._canvasSize=a,this):this._canvasSize},d.prototype.defaultNo