%% adapted from style file for Stanford's msande 339 2004, provided by Ciamac Moallemi
%%
%%
%%

\def\fileversion{1.0}
\def\filedate{2004/3/31}
\NeedsTeXFormat{LaTeX2e}
\ProvidesPackage{cs294-40}[\filedate{} macros for the cs294-40 class at Berkeley]

\usepackage{latexsym}
\usepackage{bbm}
%\usepackage[small,bf]{caption2}
\usepackage{graphics}
\usepackage{amsmath, amssymb}
\usepackage{epsfig}

%% Page size

\setlength{\oddsidemargin}{0pt}
\setlength{\evensidemargin}{0pt}
\setlength{\textwidth}{6.5in}
\setlength{\topmargin}{0in}
\setlength{\textheight}{8.5in}

%% Misc

% Some hacks to make HTML happier.
\newcommand{\vskipargs}[1]{\vskip #1}
\newcommand{\newproc}{\hrule\vskipargs{1ex plus 0.1ex minus 0.1ex}}

% Tilde for webstuff
\newcommand{\webtilde}{\raisebox{-.8ex}\~}

% Comment out chunks.
\newcommand{\punt}[1]{}
\newcommand{\remove}[1]{}

% Footnote commands.
\newcommand{\footnotenonumber}[1]{{\def\thempfn{}\footnotetext{#1}}}
\newcommand{\footnotetight}[1]{\footnote{\renewcommand\baselinestretch{1}\footnotesize #1}}

% Commands for handout headers
\newcommand{\handout}[5]{
%   \renewcommand{\thepage}{#1-\arabic{page}}
   \noindent
   \begin{center}
   \framebox{ \vbox{ \hbox to 5.78in { {\bf CS294-40 Learning for Robotics and Control} \hfill #5 }
       \vspace{4mm}
       \hbox to 5.78in { {\Large \hfill #2  \hfill} }
       \vspace{2mm}
       \hbox to 5.78in { {\it #3 \hfill #4} }
     }
   }
   \end{center}
   \vspace*{4mm}
   \newcommand{\lecturenum}{#1}
   \addcontentsline{toc}{chapter}{Lecture #1 -- #2}
}

\newcommand{\lecturetitle}[4]{\handout{#1}{#2}{Lecturer: Pieter Abbeel
  }{Scribe: #3}{Lecture #1 - #4}}
\newcommand{\guestlecturetitle}[5]{\handout{#1}{#2}{Lecturer:
    #4}{Scribe: #3}{Lecture #1 - #5}}

% Assorted theorem/proof environments

% \newtheorem{theorem}{Theorem}[chapter]
\newtheorem{theorem}{Theorem}
\newtheorem{corollary}[theorem]{Corollary}
\newtheorem{lemma}[theorem]{Lemma}
\newtheorem{observation}[theorem]{Observation}
\newtheorem{proposition}[theorem]{Proposition}
\newtheorem{definition}[theorem]{Definition}
\newtheorem{claim}[theorem]{Claim}
\newtheorem{fact}[theorem]{Fact}
\newtheorem{assumption}[theorem]{Assumption}

\newcommand{\qedbox}{\vbox{\hrule\hbox{\vrule\squarebox{.667em}\vrule}\hrule}}
\newcommand{\qed}{\nopagebreak\mbox{}\hfill\qedbox\smallskip}
\newcommand{\dis}{\mathop{\mbox{\rm d}}\nolimits}
\newcommand{\per}{\mathop{\mbox{\rm per}}\nolimits}
\newcommand{\area}{\mathop{\mbox{\rm area}}\nolimits}
\newcommand{\cw}{\mathop{\rm cw}\nolimits}
\newcommand{\ccw}{\mathop{\rm ccw}\nolimits}
\newcommand{\DIST}{\mathop{\mbox{\rm DIST}}\nolimits}
\newcommand{\OP}{\mathop{\mbox{\it OP}}\nolimits}
\newcommand{\OPprime}{\mathop{\mbox{\it OP}^{\,\prime}}\nolimits}
\newcommand{\ihat}{\hat{\imath}}
\newcommand{\jhat}{\hat{\jmath}}
\newcommand{\abs}[1]{\mathify{\left| #1 \right|}}

\newenvironment{proof}{\noindent{\bf Proof}\hspace*{1em}}{\qed\bigskip\\}
\newenvironment{proof-sketch}{\noindent{\bf Sketch of Proof}\hspace*{1em}}{\qed\bigskip\\}
\newenvironment{proof-idea}{\noindent{\bf Proof Idea}\hspace*{1em}}{\qed\bigskip\\}
\newenvironment{proof-of-lemma}[1]{\noindent{\bf Proof of Lemma #1}\hspace*{1em}}{\qed\bigskip\\}
\newenvironment{proof-attempt}{\noindent{\bf Proof Attempt}\hspace*{1em}}{\qed\bigskip\\}
\newenvironment{proofof}[1]{\noindent{\bf Proof} of #1:\hspace*{1em}}{\qed\bigskip\\}
\newenvironment{remark}{\noindent{\bf Remark}\hspace*{1em}}{\bigskip}

% Figure/Tables Stuff

\makeatletter
\def\fnum@figure{{\bf Figure \thefigure}}
\def\fnum@table{{\bf Table \thetable}}
\long\def\@mycaption#1[#2]#3{\addcontentsline{\csname
  ext@#1\endcsname}{#1}{\protect\numberline{\csname 
  the#1\endcsname}{\ignorespaces #2}}\par
  \begingroup
    \@parboxrestore
    \small
    \@makecaption{\csname fnum@#1\endcsname}{\ignorespaces #3}\par
  \endgroup}
\def\mycaption{\refstepcounter\@captype \@dblarg{\@mycaption\@captype}}
\makeatother

\newcommand{\figcaption}[1]{\mycaption[]{#1}}
\newcommand{\tabcaption}[1]{\mycaption[]{#1}}
\newcommand{\head}[1]{\chapter[Lecture \##1]{}}
\newcommand{\mathify}[1]{\ifmmode{#1}\else\mbox{$#1$}\fi}
\renewcommand{\Pr}[1]{\mathify{\mbox{Pr}\left[#1\right]}}
\newcommand{\Exp}[1]{\mathify{\mbox{Exp}\left[#1\right]}}
\newcommand{\bigO}O
\newcommand{\set}[1]{\mathify{\left\{ #1 \right\}}}
\def\half{\frac{1}{2}}

\def\implies{\Rightarrow}
\def\sizeof#1{\left| #1\right|}
\def\setof#1{\left\{ #1\right\}  }


%% Math Stuff, Symbols

% Number sets.
\newcommand{\reals}             {\mathbb{R}}
\newcommand{\integers}          {\mathbb{Z}}
\newcommand{\naturals}          {\mathbb{N}}
\newcommand{\rationals}         {\mathbb{Q}}
\newcommand{\complex}           {\mathbb{C}}

% Probability stuff
\renewcommand{\Pr}              {\mathbb{P}}
\newcommand{\prob}[1]           {\Pr\left\{ #1 \right\}}
\newcommand{\E}                 {\mathbb{E}}
\newcommand{\expect}[1]         {\E\left[ #1 \right]}

% Misc. shorthand
\newcommand{\tends}             {\rightarrow}
\newcommand{\norm}[1]           {\left\| #1\right\|}
\newcommand{\card}[1]           {\left| #1\right|}


\newenvironment{lecture}[4]{\begin{document}
    \lecturetitle{#1}{#2}{#3}{#4}}{}

\newcommand{\theend}{\end{document}}