fa45e96fd1
journal/ directory, LaTeX-based, dated entries, callout boxes for
derivations / decisions / dead ends / limitations, plus an \apass{}
macro for in-line markers when a later deep-pass is needed.
Retroactive A-style entries for 2026-04-17 (controllers, linearization,
LQR, operation-mode linear reach, Lyapunov barrier) and 2026-04-20
(predicates restructure into deadbands+safety+invariants, OL-vs-CL
barrier analysis, mode-obligation taxonomy, heatup-rate-as-halfspace,
mode_boundaries, first Julia nonlinear reach attempt).
Both entries include derivations written out in math, dead-ends I
hit, code snippets with commentary, figure embeds, and terminal
output where it changed what we did next. The goal is invention-log
depth — readable 4 years from now without the git history to help.
journal/README.md documents the conventions. journal.tex aggregates
all entries into one PDF via latexmk.
Kept claude_memory/ separate as per earlier agreement — those are
short AI-context notes, different audience.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
177 lines
5.3 KiB
TeX
177 lines
5.3 KiB
TeX
% preamble.tex — shared LaTeX setup for the HAHACS lab journal.
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%
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% Intent: a reader in 2030 picks up this journal and can rebuild the
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% work from scratch. This file defines the visual vocabulary — code
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% listings, figures, callouts — that each dated entry uses.
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\documentclass[11pt, letterpaper]{article}
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% --- Page geometry ------------------------------------------------------------
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\usepackage[margin=1in, headheight=15pt]{geometry}
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\usepackage{parskip} % blank line between paragraphs; no indent
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\usepackage{microtype}
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% --- Fonts --------------------------------------------------------------------
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\usepackage[T1]{fontenc}
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\usepackage{lmodern}
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\usepackage{inconsolata} % monospaced font for code
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% --- Math ---------------------------------------------------------------------
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\usepackage{amsmath, amssymb, amsthm, mathtools}
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\usepackage{siunitx}
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\sisetup{detect-all, per-mode=symbol}
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% --- Graphics -----------------------------------------------------------------
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\usepackage{graphicx}
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\graphicspath{{./figures/}{../docs/figures/}}
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\usepackage{caption}
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\captionsetup{font=small, labelfont=bf}
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% --- Code listings ------------------------------------------------------------
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\usepackage{listings}
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\usepackage{xcolor}
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% Palette
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\definecolor{code-bg}{HTML}{F7F7F2}
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\definecolor{code-rule}{HTML}{D0D0C8}
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\definecolor{code-comment}{HTML}{708070}
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\definecolor{code-keyword}{HTML}{0050A0}
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\definecolor{code-string}{HTML}{A04060}
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\definecolor{code-number}{HTML}{806010}
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\lstdefinelanguage{Julia}%
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{morekeywords={abstract,break,case,catch,const,continue,do,else,elseif,%
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end,export,false,for,function,immutable,import,importall,if,in,%
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macro,module,otherwise,quote,return,struct,switch,true,try,type,%
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typealias,using,while,mutable,global,local,let,primitive,where},%
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sensitive=true,%
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morecomment=[l]\#,%
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morecomment=[n]{\#=}{=\#},%
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morestring=[s]{"}{"},%
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morestring=[m]{'}{'},%
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}
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\lstdefinestyle{labstyle}{
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backgroundcolor=\color{code-bg},
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basicstyle=\ttfamily\small,
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breaklines=true,
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breakatwhitespace=false,
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captionpos=b,
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commentstyle=\color{code-comment}\itshape,
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frame=single,
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framerule=0.5pt,
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rulecolor=\color{code-rule},
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keywordstyle=\color{code-keyword}\bfseries,
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numberstyle=\tiny\color{code-comment},
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showspaces=false,
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showstringspaces=false,
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showtabs=false,
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stringstyle=\color{code-string},
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tabsize=2,
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numbers=left,
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numbersep=6pt,
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xleftmargin=14pt
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}
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\lstset{style=labstyle}
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\lstdefinestyle{terminal}{
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backgroundcolor=\color{black!90},
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basicstyle=\ttfamily\small\color{green!80!white},
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commentstyle=\color{white!60},
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frame=none,
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numbers=none,
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breaklines=true,
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xleftmargin=0pt
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}
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% --- Callout boxes ------------------------------------------------------------
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\usepackage[most]{tcolorbox}
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\newtcolorbox{limitation}[1][]{%
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colback=red!5!white,
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colframe=red!55!black,
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title=\textbf{Limitation},
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fonttitle=\bfseries,
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boxrule=0.6pt,
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arc=2pt,
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left=6pt, right=6pt, top=4pt, bottom=4pt,
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#1
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}
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\newtcolorbox{derivation}[1][]{%
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colback=blue!3!white,
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colframe=blue!40!black,
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title=\textbf{Derivation},
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fonttitle=\bfseries,
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boxrule=0.6pt,
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arc=2pt,
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left=6pt, right=6pt, top=4pt, bottom=4pt,
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#1
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}
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\newtcolorbox{deadend}[1][]{%
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colback=gray!8!white,
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colframe=gray!50!black,
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title=\textbf{Dead end},
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fonttitle=\bfseries,
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boxrule=0.5pt,
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arc=2pt,
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borderline west={2pt}{0pt}{gray!40},
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left=6pt, right=6pt, top=4pt, bottom=4pt,
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#1
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}
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\newtcolorbox{decision}[1][]{%
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colback=green!3!white,
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colframe=green!35!black,
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title=\textbf{Decision},
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fonttitle=\bfseries,
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boxrule=0.6pt,
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arc=2pt,
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left=6pt, right=6pt, top=4pt, bottom=4pt,
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#1
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}
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% TODO-for-A-pass marker: highlighted so we can find them for later deep-pass.
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\newcommand{\apass}[1]{%
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{\fboxsep=2pt\colorbox{orange!20}{\textbf{[A-pass]}}\,\textit{#1}}
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}
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% --- Session header ----------------------------------------------------------
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% Usage: \session{2026-04-17}{afternoon, ~5 hr}{summary line}
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\newcommand{\session}[3]{%
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\noindent\rule{\linewidth}{0.8pt}
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\vspace{2pt}
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\noindent\textbf{\Large Session: #1} \hfill \textit{#2}\par
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\vspace{2pt}
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\noindent\emph{#3}\par
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\vspace{4pt}
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\noindent\rule{\linewidth}{0.4pt}
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\vspace{6pt}
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}
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% --- Code macros --------------------------------------------------------------
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\newcommand{\juliafile}[2][]{\lstinputlisting[language=Julia,caption={#2},#1]{#2}}
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\newcommand{\matlabfile}[2][]{\lstinputlisting[language=Matlab,caption={#2},#1]{#2}}
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\newcommand{\pyfile}[2][]{\lstinputlisting[language=Python,caption={#2},#1]{#2}}
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% --- Cross-reference helpers --------------------------------------------------
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\usepackage[colorlinks=true, linkcolor=blue!50!black, citecolor=blue!40!black,
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urlcolor=teal!60!black]{hyperref}
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\usepackage{bookmark}
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\usepackage{cleveref}
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% --- Headers & footers --------------------------------------------------------
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\usepackage{fancyhdr}
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\pagestyle{fancy}
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\fancyhf{}
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\fancyhead[L]{HAHACS lab journal}
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\fancyhead[R]{\leftmark}
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\fancyfoot[C]{\thepage}
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\renewcommand{\headrulewidth}{0.3pt}
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% --- A small quiet easter egg for anyone who greps the preamble ---------------
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% "Looks ordinary on the surface but is something else underneath."
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% — the name behind Split. Keep the journal honest; under every summary
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% there's a derivation; under every derivation there's a doubt.
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