1.1 --- a/org/touch.org	Wed Feb 15 01:36:16 2012 -0700
     1.2 +++ b/org/touch.org	Wed Feb 15 06:56:47 2012 -0700
     1.3 @@ -85,19 +85,19 @@
     1.4  physics collision detection to gather tactile data.
     1.5  
     1.6  Extracting the meta-data has already been described. The third step,
     1.7 -physics collision detection, is handled in =(touch-kernel)=. 
     1.8 +physics collision detection, is handled in =touch-kernel=. 
     1.9  Translating the positions and orientations of the feelers from the
    1.10  UV-map to world-space is itself a three-step process.
    1.11  
    1.12    - Find the triangles which make up the mesh in pixel-space and in
    1.13 -    world-space. =(triangles)= =(pixel-triangles)=.
    1.14 +    world-space. =triangles= =pixel-triangles=.
    1.15  
    1.16    - Find the coordinates of each feeler in world-space. These are the
    1.17 -    origins of the feelers. =(feeler-origins)=.
    1.18 +    origins of the feelers. =feeler-origins=.
    1.19      
    1.20    - Calculate the normals of the triangles in world space, and add
    1.21      them to each of the origins of the feelers. These are the
    1.22 -    normalized coordinates of the tips of the feelers. =(feeler-tips)=.
    1.23 +    normalized coordinates of the tips of the feelers. =feeler-tips=.
    1.24  
    1.25  * Triangle Math
    1.26  ** Schrapnel Conversion Functions
    1.27 @@ -123,8 +123,8 @@
    1.28  
    1.29  It is convienent to treat a =Triangle= as a vector of vectors, and a
    1.30  =Vector2f= or =Vector3f= as vectors of floats. (->vector3f) and
    1.31 -(->triangle) undo the operations of =(vector3f-seq)= and
    1.32 -=(triangle-seq)=. If these classes implemented =Iterable= then =(seq)=
    1.33 +(->triangle) undo the operations of =vector3f-seq= and
    1.34 +=triangle-seq=. If these classes implemented =Iterable= then =seq=
    1.35  would work on them automitacally.
    1.36  
    1.37  ** Decomposing a 3D shape into Triangles
    1.38 @@ -136,8 +136,8 @@
    1.39  A =Mesh= is composed of =Triangles=, and each =Triangle= has three
    1.40  verticies which have coordinates in world space and UV space.
    1.41   
    1.42 -Here, =(triangles)= gets all the world-space triangles which compose a
    1.43 -mesh, while =(pixel-triangles)= gets those same triangles expressed in
    1.44 +Here, =triangles= gets all the world-space triangles which compose a
    1.45 +mesh, while =pixel-triangles= gets those same triangles expressed in
    1.46  pixel coordinates (which are UV coordinates scaled to fit the height
    1.47  and width of the UV image).
    1.48  
    1.49 @@ -195,8 +195,8 @@
    1.50  #+end_src
    1.51  ** The Affine Transform from one Triangle to Another
    1.52  
    1.53 -=(pixel-triangles)= gives us the mesh triangles expressed in pixel
    1.54 -coordinates and =(triangles)= gives us the mesh triangles expressed in
    1.55 +=pixel-triangles= gives us the mesh triangles expressed in pixel
    1.56 +coordinates and =triangles= gives us the mesh triangles expressed in
    1.57  world coordinates. The tactile-sensor-profile gives the position of
    1.58  each feeler in pixel-space. In order to convert pixel-space
    1.59  coordinates into world-space coordinates we need something that takes
    1.60 @@ -263,11 +263,11 @@
    1.61  For efficiency's sake I will divide the tactile-profile image into
    1.62  small squares which inscribe each pixel-triangle, then extract the
    1.63  points which lie inside the triangle and map them to 3D-space using
    1.64 -=(triangle-transform)= above. To do this I need a function,
    1.65 -=(convex-bounds)= which finds the smallest box which inscribes a 2D
    1.66 +=triangle-transform= above. To do this I need a function,
    1.67 +=convex-bounds= which finds the smallest box which inscribes a 2D
    1.68  triangle.
    1.69  
    1.70 -=(inside-triangle?)= determines whether a point is inside a triangle
    1.71 +=inside-triangle?= determines whether a point is inside a triangle
    1.72  in 2D pixel-space.
    1.73  
    1.74  #+name: triangles-4
    1.75 @@ -369,9 +369,9 @@
    1.76  #+end_src
    1.77  * Simulated Touch
    1.78  
    1.79 -=(touch-kernel)= generates functions to be called from within a
    1.80 +=touch-kernel= generates functions to be called from within a
    1.81  simulation that perform the necessary physics collisions to collect
    1.82 -tactile data, and =(touch!)= recursively applies it to every node in
    1.83 +tactile data, and =touch!= recursively applies it to every node in
    1.84  the creature. 
    1.85  
    1.86  #+name: kernel