%%%%%%% aima2e-slides.sty - macros for AIMA slides (second edition).         

%%%%%%% Colors
\usepackage[dvips]{color}
\definecolor{red}{rgb}{0.5,0.0,0.0}
\definecolor{darkgreen}{rgb}{0,0.4,0}
\definecolor{navyblue}{rgb}{0,0,.5}
\definecolor{violet}{rgb}{0.4,0.0,0.4}
\definecolor{mymagenta}{cmyk}{0,0.6,0,0.4}
\definecolor{litegreen}{cmyk}{.25,0,0.75,0.1}
\definecolor{orange}{cmyk}{.25,0.4,0.4,0}
\definecolor{cyan}{cmyk}{0.7,0,0,0.2}
\definecolor{myred}{rgb}{0.7,0.0,0.0}
\definecolor{myblue}{rgb}{0.0,0.0,0.5}
\definecolor{mygreen}{rgb}{0.0,0.3,0.0}

\newcommand{\txr}[1]{\textcolor{myred}{#1}}
\newcommand{\txR}[1]{\textcolor{red}{#1}}
\newcommand{\txb}[1]{\textcolor{myblue}{#1}}
\newcommand{\txg}[1]{\textcolor{mygreen}{#1}}
\newcommand{\txm}[1]{\textcolor{magenta}{#1}}

\newcommand{\mat}[1]{\textcolor{mymagenta}{#1}}
\newcommand{\defn}[1]{\textcolor{myblue}{#1}}
\newcommand{\note}[1]{\textcolor{mygreen}{#1}}
\renewcommand{\emph}[1]{\textcolor{red}{\em\bf #1}}
\newcommand{\black}[1]{\textcolor{black}{#1}}
\newcommand{\bbox}[1]{\black{\mbox{#1}}}

%%%%%%% Basic elements of a talk

\def\titleslide#1#2{%
\global\def\footmark{#2}%
\noindent\rule{0pt}{1.1\baselineskip}%
\begin{center}
\par\vspace*{0.15\textheight}\par
{\Huge\sc #1\par}
\vspace{0.15\textheight}\par
{\huge\sc #2\par}
\vfill\par
\end{center}
\newpage
}

\def\noheading{%
\newpage\noindent\rule{0pt}{1.1\baselineskip}}

\def\heading#1{\newpage\noindent\fbox{\fbox{\makebox[\headingwidth]{\rule[-1.5\fboxsep]{0em}{1em}\headingfont #1}}}\par\medskip}

\def\phantomheading#1{\newpage\noindent\phantom{\fbox{\fbox{\makebox[\headingwidth]{\rule[-1.5\fboxsep]{0em}{1em}\headingfont #1}}}}\par\medskip}

%%%%%%% Useful formatting commands for lines of text etc.

\def\tab{\hbox{\kern0.4in}}    %% Insert space (even at start of line)
\def\al{\\\tab}                %% Next line is indented
\def\nl{\\\tab\tab}            %% Next line is double-indented
\def\nnl{\\\tab\tab\tab}       %% Next line is triple-indented
\def\blob{$\diamondsuit\ \ $}  %% Itemization without all the spacing
\def\bull{\vskip -8pt\item{$\bullet$\ }} %% Itemization with less spacing
\def\u#1{$\underline{\mbox{#1}}$}
\def\q#1{\txm{\u{#1}??}}

\newenvironment{point}{\hbox{}\em\hand\ignorespaces}{}

\newcommand{\hand}{\hspace*{0pt}\marginpar{\epsfxsize=0.5\marginparwidth%
\noindent\raisebox{-11pt}[0pt][0pt]{\epsffile{figures/hand.ps}}}}

%%%%%%% Citations

\def\cite#1{[#1]}

%%%%%%% Handling problems in math fonts and helvetica bold

\font\cmmi=cmmi10 scaled 2500  %% chapter number in heading
\font\mathbold=cmbx10 scaled 2500
\font\smathbold=cmbx10 scaled 1700
\let\headingfont=\mathbold

\def\mysum{\begin{Huge}\mbox{$\Sigma$}\end{Huge}}
\def\myint{\begin{LARGE}\mbox{$\int$}\end{LARGE}}
\def\myprod{\begin{Huge}\mbox{$\Pi$}\end{Huge}}
%\newcommand{\mbf}[1]{\mbox{{\mathbold #1}}} %%%[[gives HUGE fonts!]]
\newcommand{\smbf}[1]{\mbox{{\smathbold #1}}}
\newcommand{\mbf}[1]{\mbox{{\bf #1}}}

\def\X{\mbf{X}}
\def\x{\mbf{x}}
\def\sx{\smbf{x}}
\def\Y{\mbf{Y}}
\def\y{\mbf{y}}
\def\sy{\smbf{y}}
\def\E{\mbf{E}}
\def\e{\mbf{e}}
\def\D{\mbf{D}}
\def\d{\mbf{d}}
\def\sbe{\smbf{e}}
\def\sE{\smbf{E}}
\def\T{\mbf{T}}
\def\O{\mbf{O}}
\def\se{\smbf{e}}
\def\Z{\mbf{Z}}
\def\z{\mbf{z}}
\def\sz{\smbf{z}}
\def\F{\mbf{F}}
\def\f{\mbf{f}}
\def\A{\mbf{A}}
\def\B{\mbf{B}}
\def\C{\mbf{C}}
\def\b{\mbf{b}}
\def\m{\mbf{m}}
\def\I{\mbf{I}}
\def\H{\mbf{H}}
\def\zeroes{\mbf{0}}
\def\ones{\mbf{1}}
\def\ev{\mbf{ev}}
\def\fv{\mbf{ev}}
\def\sv{\mbf{sv}}

\def\J#1{{\it #1}}

\newcommand{\bell}{\mbox{\mathversion{bold}$\ell$\mathversion{normal}}}
\newcommand{\bomega}{\mbox{\mathversion{bold}$\omega$\mathversion{normal}}}
\newcommand{\bSigma}{\mbox{\mathversion{bold}$\Sigma$\mathversion{normal}}}
\newcommand{\blambda}{\mbox{\mathversion{bold}$\lambda$\mathversion{normal}}}
\newcommand{\sblambda}{\mbox{\mathversion{bold}\scriptsize$\lambda$\mathversion{normal}}}
\newcommand{\bmu}{\mbox{\mathversion{bold}$\mu$\mathversion{normal}}}
\newcommand{\mean}{\bmu}
\newcommand{\covariance}{\bSigma}

\def\ceiling#1{\lceil #1 \rceil}
\def\floor#1{\lfloor #1 \rfloor}
\def\alldiff{{\mbox {\itshape alldiff}}}



%%%%%%% Formatting tables - AIMA uses full-width tables with spacing

\newenvironment{mytabular}%
{\noindent\begin{tabular*}{\textwidth}}%
{\end{tabular*}}

\newcommand{\tabtop}{\rule{0pt}{2ex}}%%Use after hline in body of table
\newcommand{\tabbot}{\rule[-1ex]{0pt}{1.8ex}}%%Use before hline " " " "
\newcommand{\tabhead}{\rule[-0.85ex]{0pt}{2.8ex}}%%Use in lines between hlines
\newcommand{\squad}{\hspace*{0.5em}}%%Use occasionally at left edge
\newcommand{\sq}[1]{\hspace*{#1\textwidth}}
\def\tf{\rm} %% table font

%%%%%%% Figures, graphs etc.

%%% All file inclusions (\input, \fig, \epsffile etc) except figure 
%%% sequences should use \file{dir}{name} to allow for simple portability 
%%% to Mac, Windows etc. >>>>> MODIFY THIS MACRO FOR NON-UNIX PLATFORMS
\def\file#1#2{#1/#2}

%%% For figure sequences, use \sfile instead of \file
%%% This will modify the file name by adding a suffix:
%%%    ``o'' for overlays, appropriate for use with transparencies
%%%    ``c'' for cumulative figures, appropriate for computer projection
%%% The suffix is determined by \sfilechar, which is set by 
%%% the \overlay command or the \cumulative command.
\def\overlay{\def\sfilechar{o}\def\ptext{.\phantom}\def\pheading{\phantomheading}}
\def\cumulative{\def\sfilechar{c}\def\ptext{}\def\pheading{\heading}}
\def\sfile#1#2{#1/\sfilename#2}
\def\sfilename#1.#2{#1\sfilechar.#2}

%%% The default is for cumulative. >>>>>> Change this for transparencies.
%\overlay
\cumulative

\def\epsfflex#1#2{\epsfxsize=#1\textwidth\epsffile{#2}}

\def\graphbox#1{%
\framebox[\textwidth]{\hbox{\hfill\epsffile{#1}\hspace*{0.4in}\hbox{}\hfill}}}

\def\figbox#1{%
\framebox[\textwidth]{\hbox{\hfill\epsffile{#1}\hfill}}}

\def\fig#1{\centerline{\epsffile{#1}}}

\def\twofig#1#2{%
\centerline{%
\epsfxsize=0.48\textwidth
\noindent\epsffile{#1}%
\hspace*{0.04\textwidth}%
\epsfxsize=0.48\textwidth
\epsffile{#2}}}

\def\twograph#1#2{%
\centerline{%
\vspace*{-10pt}%
\hspace*{-0.07\maxfigwidth}%
\epsfxsize=0.57\maxfigwidth
\noindent\epsffile{#1}%
\hspace*{-0.07\maxfigwidth}%
\epsfxsize=0.57\maxfigwidth
\epsffile{#2}}}


\def\threefig#1#2#3{%
\centerline{%
\epsfxsize=0.32\textwidth
\epsffile{#1}\hspace*{0.02\textwidth}
\epsfxsize=0.32\textwidth
\epsffile{#2}\hspace*{0.02\textwidth}
\epsfxsize=0.32\textwidth
\epsffile{#3}}}

\def\threegraph#1#2#3{%
\centerline{%
\vspace*{-10pt}%
\hspace*{-0.04\maxfigwidth}%
\epsfxsize=0.37\maxfigwidth
\noindent\epsffile{#1}%
\hspace*{-0.04\maxfigwidth}%
\epsfxsize=0.37\textwidth
\epsffile{#2}%
\hspace*{-0.04\maxfigwidth}%
\epsfxsize=0.37\textwidth
\epsffile{#3}}}

\newcommand{\FigBox}[1]{%%% The alternative to figbox - pnorvig
\noindent\framebox[\textwidth]{%
\begin{minipage}{\codewidth}%
#1%
\end{minipage}}%
}



%%%%%%% Useful symbols and dingbats

\newcommand{\tick}{$\sqrt{}$}
\newcommand{\cross}{$\times$}
\newcommand{\smiley}{\epsfxsize=1.25em%
\noindent\raisebox{-5pt}[0pt][0pt]{\epsffile{figures/smiley.ps}}}
\newcommand{\frowny}{\epsfxsize=1.25em%
\noindent\raisebox{-5pt}[0pt][0pt]{\epsffile{figures/frowny.ps}}}

%%%%%%% Sizes for slides. 

\setlength{\fboxsep}{0.2em}
\setlength{\fboxrule}{0.1em}

\newlength{\headingwidth}
\newlength{\backdrop}
\newlength{\backheight}
\newlength{\backwidth}
\newlength{\xborder}
\newlength{\yborder}
\setlength{\xborder}{1.5in}
\setlength{\yborder}{1in}


\def\portrait{%
\textwidth=6.5in
\textheight=8.5in
\oddsidemargin=0.25in
\evensidemargin=0.25in
\topmargin=-0.5in}
\def\landscape{%
\textheight=6.5in
\textwidth=8.5in
\oddsidemargin=0.25in
\evensidemargin=0.25in
\topmargin=-0.5in}

\landscape

\def\setvariabledimens{%
\parskip=0.025\textwidth
\setlength{\headingwidth}{\textwidth}%
\addtolength{\headingwidth}{-4\fboxsep}%
\addtolength{\headingwidth}{-4\fboxrule}%
\setlength{\backwidth}{\textwidth}%
\addtolength{\backwidth}{2\xborder}%
\setlength{\backheight}{\textheight}%
\addtolength{\backheight}{2\yborder}%
\setlength{\backdrop}{\backheight}%
\addtolength{\backdrop}{-2.1\baselineskip}%%% approximate - need hdheight
\addtolength{\backdrop}{-\yborder}%
}

\setvariabledimens

\headheight=0in
%\footheight=20pt
\parindent=0in

\topsep=0pt
\parsep=0pt
\itemsep=0pt
\partopsep=0pt

%%%%%% page headings

\def\copyrightnotice{}
\def\ps@myheadings{\let\@mkboth\@gobbletwo
\def\@oddfoot{\begin{footnotesize}\copyrightnotice\hfill\footmark\qquad\thepage\end{footnotesize}}%
\def\@evenfoot{\begin{footnotesize}\copyrightnotice\hfill\footmark\qquad\thepage\end{footnotesize}}%
\def\@evenhead{}\def\@oddhead{}}

\pagestyle{myheadings}


%%%%%%%%%%%% elements of programs %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


\newcommand{\defprog}[1]{\txr{\mbox{{\sc #1}}}}
\newcommand{\prog}[1]{\mbox{{\sc #1}}}   %%% same as defprog
\newcommand{\noprog}[1]{\mbox{{\sc #1}}} %%% same as defprog
\newcommand{\system}[1]{\mbox{{\sc #1}}} %%% same as defprog
\newcommand{\nosystem}[1]{\mbox{{\sc #1}}} %%% same as defprog
\newcommand{\act}[1]{{\it #1}}
\newcommand{\key}[1]{\txb{{\bf #1}}}
\def\k{\key}
\newcommand{\var}[1]{\txg{{\it #1}}}
\def\v{\var}
\def\p{\prg}
\newcommand{\setq}[2]{#1\hbox{$\,\leftarrow\,$}#2}
\newcommand{\setqmath}[2]{#1 \leftarrow #2}

%%pnorvig Mar 14 1994:
\newcommand{\labl}[1]{\prog{#1}}	% Statement Label in code
\newcommand{\cmt}[1]{{\tt /*} {\it #1} {\tt */}}	% Comment in code
\newcommand{\rcmt}[1]{\hfill {\tt /*} {\it #1} {\tt */}}
\newcommand{\Endfn}[1]{}		% End of a function in code
\newcommand{\fnsep}{\hspace*{0in}\raisebox{3pt}{\rule{\codewidth}{0.2pt}}\hfill}	% Between functions in code

\def\code{\noindent\nobreak\begin{LARGE}
        \begingroup\obeylines\obeyspaces\docode}
\def\docode#1{\noindent\framebox[\columnwidth][l]%
{~~\begin{minipage}{\codewidth}~
#1
~\end{minipage}}\endgroup%
\nobreak\end{LARGE}\noindent\ignorespaces}
\def\asis{\obeylines\obeyspaces}
\def\ttp{.\skip -0.5em\ }
{\obeyspaces\global\def {\ }}


%% Fine tuning for perfect formatting

\newcommand{\ac}{,\hspace{0.15em}}
\newcommand{\ts}{\,}
\newcommand{\bodysep}{\vspace{0.1in}}
\newcommand{\subfnsep}{\vspace{0.06in}}
\newcommand{\prebnfsep}{\vspace{-0.25in}}
\newcommand{\postbnfsep}{\vspace{0.1in}}
\newcommand{\fnvar}[1]{\prog{#1}}
\newcommand{\func}[3]{\key{function} \defprog{#1}(\txg{#2}) \key{returns} #3}
\newcommand{\nofunc}[3]{\key{function} \noprog{#1}(#2) \key{returns} #3}
\newcommand{\proc}[2]{\key{procedure} \defprog{#1}(\txg{#2})}
\newcommand{\noproc}[2]{\key{procedure} \noprog{#1}(#2)}
\newcommand{\firstinputs}[2]{\key{inputs}: \var{#1}, #2}
\newcommand{\inputs}[2]{\phantom{\key{inputs}: }\var{#1}, #2}
\newcommand{\firstlocal}[2]{\key{local variables}: \var{#1}, #2}
\newcommand{\local}[2]{\phantom{\key{local variables}: }\var{#1}, #2}
\newcommand{\firststatic}[2]{\key{static}: \var{#1}, #2}
\newcommand{\static}[2]{\phantom{\key{static}: }\var{#1}, #2}

%%%%%%% Mathematics, logic, probability, etc.

\def\DollarSign{\$}

\newenvironment{formula}{\[\begin{array}{lll}}{\end{array}\]}

\def\<{\langle}
\def\>{\rangle}

%%%%%% logical symbols
\newcommand{\entails}{\models}
\newcommand{\implies}{\:\;{\Rightarrow}\:\;}
\newcommand{\textimplies}{\;{\Rightarrow}\;}
\newcommand{\impliessymbol}{\Rightarrow}
\newcommand{\lequiv}{\;\;{\Leftrightarrow}\;\;}
\newcommand{\textlequiv}{\;{\Leftrightarrow}\;}
\newcommand{\lequivsymbol}{\Leftrightarrow}
\newcommand{\xor}{\not\lequiv}
\newcommand{\All}[1]{\forall\,#1\;\;}
\newcommand{\Exi}[1]{\exists\,#1\;\;}
\newcommand{\Exii}[1]{\exists!\,#1\;\;}% -pnorvig
\newcommand{\Iot}[2]{\iota\,#1\,#2}
\newcommand{\Lam}[2]{\lambda #1\;#2}
\newcommand{\Qua}[3]{[#1\,#2\;#3]}

\newcommand{\union}{{\,{\cup}\,}}
\newcommand{\intersection}{{\,{\cap}\,}}
\renewcommand{\emptyset}{\{\,\}}
\newcommand{\emptylist}{[\,]}
\newcommand{\adjoin}[2]{\{#1|#2\}}
\newcommand{\elt}{{\,{\in}\,}}  %%%cuts down on spacing
\newcommand{\eq}{{\,{=}\,}}  %%%cuts down on spacing
\def\stimes{{\,\times\,}}       %%%cuts down on spacing

\newcommand{\sr}[1]{\mathrel{\raisebox{-0.6ex}{$\stackrel{#1}{\longrightarrow}$}}}
\newcommand{\srbox}[1]{\sr{\fboxsep=1pt\fbox{$\,{\scriptstyle #1}\,$}}}
\newcommand{\srboxbox}[1]{\sr{\fboxsep=1pt\fbox{\fbox{$\,{\scriptstyle #1}\,$}}}}

\def\Diff{\mbox{{\it Diff}}}

%%%%%% probability and decision theory
\newcommand{\pv}{\mbf{P}}
\newcommand{\qv}{\mbf{Q}}
\newcommand{\given}{\mid}
\def\transition#1#2{q(#1\rightarrow #2)}
\newcommand{\otherthan}{\overline}
\newcommand{\Parents}{Parents}
\newcommand{\parents}{parents}
\newcommand{\Children}{Children}
\newcommand{\children}{children}
\newcommand{\MarkovBlanket}{MB}
\newcommand{\markovBlanket}{mb}


\def\transpose{^\top}

\def\kftm{\mbf{F}}        %% Kalman filter transition (linear system) matrix
\def\kftv{\covariance_x}  %% Kalman filter transition noise covariance
\def\kfsm{\mbf{H}}        %% Kalman filter sensor (linear system) matrix
\def\kfsv{\covariance_z}  %% Kalman filter sensor noise covariance
\def\kfgm{\mbf{K}}        %% Kalman filter gain matrix


\def\indiff{\mathrel{\sim}}
\def\pref{\mathrel{\succ}}
\def\prefeq{\mathrel{\raisebox{-1.5pt}%
{$\stackrel{{\raisebox{-0.65pt}{$\textstyle\succ$}}}{\sim}$}}}
\def\ubest{u_\top}
\def\uworst{u_\bot}

\newcommand{\qplus}{\mathrel{\raisebox{-0.3ex}{$\stackrel{+}{\longrightarrow}$}}}


%%%%%%%%%%% From NLP: %pnorvig Apr  2 1994:
\newcommand{\gap}{{\mbox{$_\sqcup$}}}
%\newcommand{\E}[1]{\mbox{${\cal E}_{#1}$}}
\newcommand{\blank}{\framebox{~~}}
\newcommand{\qt}[1]{\mbox{``\(#1\)''}}%QUOTE
\newcommand{\uq}[1]{\underline{#1}}%UNQUOTE - better choice?
\newcommand{\vertex}[1]{\(~_{#1}\)}
\newcommand{\stackii}[2]{$\left\{\begin{array}{c} \mbox{#1} \\ \mbox{#2} \end{array}\right\}$}

\newcommand{\nbar}{\bnf{Noun}}
\newcommand{\nbars}{{\mbox{$_{\nbar}$}}}
\newcommand{\chdot}{\begin{footnotesize}\bullet\end{footnotesize}}


%% BNF grammars %pnorvig Mar 14 1994:
\newcommand{\bl}{\;}			%A blank between BNF constituents
\newcommand{\bnf}[1]{{\it #1}}		%A BNF constituent
\newcommand{\bnfeq}{\rightarrow}	% BNF arrow (separates LHS from RHS)
\newcommand{\bnfreveq}{\leftarrow}	% Reverse BNF arrow
\newcommand{\bnft}[1]{\mbox{\boldmath \( #1 \)}} % A BNF terminal 
\newcommand{\bnfv}[1]{\bnf{#1}} 	% A BNF terminal variable constituent
\newcommand{\bnfnull}{\bnft{\epsilon}} 	% An empty BNF right-hand-side
\newcommand{\bnfor}{\mid\bl} 		% A BNF disjunction
\newcommand{\dcg}{\Leftarrow_{dcg}}	% Obsolete!

\newcommand{\fhs}[3]{\frac{#1}{#2} #3}	% Filler, Hole, Semantics

%% Planning %pnorvig Mar 14 1994:	
\newcommand{\cl}[3]{#1 \mathrel{\raisebox{-0.4ex}{$\stackrel{#2}{\longrightarrow}$}} #3}
\newcommand{\before}{{\,\prec\,}}
\newcommand{\Act}[1]{\noprog{Action:} #1}
\newcommand{\Pre}[1]{\noprog{Precond:} #1}
\newcommand{\Eff}[1]{\noprog{Effect:} #1}
\newcommand{\strips}[3]{\begin{array}{l} Op(\Act{#1},\Pre{#2},\Eff{#3}
			\end{array}}

%%%%%% learning
%\newcommand{\leadsto}{\rightarrow}  %%nlatex does not have \leadsto!!

%\newcommand{\w}[2]{W_{#1 \rightarrow #2}}  %% Winston does this
\newcommand{\w}[2]{W_{#1,#2}}

\newcommand{\error}{\mbox{error}}
\newcommand{\hs}{\mbox{{\bf H}}}
\newcommand{\hbad}{\hs_{\mbox{\scriptsize bad}}}
\newcommand{\kdl}{k\mbox{\scriptsize -DL}}
\newcommand{\kdt}{k\mbox{\scriptsize -DT}}
\def\Hmap{H_{\mbox{\scriptsize MAP}}}
\def\Hml{H_{\mbox{\scriptsize ML}}}
\def\Ncount{N}
\newcommand{\Data}{\mbf{D}}
\newcommand{\data}{\mbf{d}}
\newcommand{\Datum}{D}
\newcommand{\datum}{d}

%%robotics
\newcommand{\reals}{\hbox{{\cal R}}}
\newcommand{\cspace}{\hbox{${\cal C}$}}
\newcommand{\espace}{\hbox{${\cal E}$}}
\newcommand{\wspace}{\hbox{${\cal W}$}}
\newcommand{\co}{\hbox{${\cal O}$}}
\newcommand{\fp}{\hbox{${\cal F}$}}

%%%%%% special-purpose sizes

\newlength{\headtotal}
\setlength{\headtotal}{\headsep}
\addtolength{\headtotal}{\headheight}

\newlength{\codewidth}
\setlength{\codewidth}{\textwidth}
\addtolength{\codewidth}{-0.5in}

\newlength{\boxwidth}
\newlength{\boxheight}
\newlength{\skipwidth}
\newlength{\roomheight}
\newlength{\charheight}
\setlength{\charheight}{10pt}

\newlength{\marginlineskip}
\newlength{\marginwidth}
\setlength{\marginlineskip}{3.5pt}
\setlength{\marginwidth}{\marginparwidth}
\addtolength{\marginwidth}{\marginparsep}

\newlength{\textplusmarginwidth}
\setlength{\textplusmarginwidth}{\marginwidth}
\addtolength{\textplusmarginwidth}{\textwidth}

\newlength{\maxfigwidth}
\setlength{\maxfigwidth}{\textwidth}
\addtolength{\maxfigwidth}{-2\fboxsep}
\addtolength{\maxfigwidth}{-2\fboxrule}

\newlength{\tablewidth}
\setlength{\tablewidth}{\textwidth}

\newlength{\captionskip}
\setlength{\captionskip}{-1mm}

\newlength{\tcaptionskip}
\setlength{\tcaptionskip}{0pt}