From 3ad00711695dd593b5248e307a7c64ff7330f4bd Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Tue, 15 Feb 2022 14:09:43 +0100 Subject: [PATCH] Fix weird spelling introduced in commit 5b8c098 --- 3rdparty/apriltag/common/matd.cpp | 2 +- 3rdparty/atidaq/xmlparse.h | 10 +++---- 3rdparty/atidaq/xmltok.h | 6 ++-- 3rdparty/catch2/catch.hpp | 28 +++++++++---------- 3rdparty/clapack/include/f2c.h | 4 +-- 3rdparty/pugixml-1.9/pugixml.cpp | 12 ++++---- 3rdparty/pugixml-1.9/pugixml.hpp | 2 +- 3rdparty/simdlib/Simd/SimdPerformance.h | 2 +- modules/core/include/visp3/core/vpEndian.h | 2 +- modules/detection/src/dnn/vpDetectorDNN.cpp | 2 +- modules/java/generator/gen_java.py | 2 +- .../src/real-robot/afma4/vpRobotAfma4.cpp | 2 +- .../src/real-robot/afma6/vpRobotAfma6.cpp | 2 +- .../src/real-robot/viper/vpRobotViper650.cpp | 2 +- .../src/real-robot/viper/vpRobotViper850.cpp | 2 +- .../vpWireFrameSimulator.cpp | 6 ++-- .../directshow/vpDirectShowGrabberImpl.cpp | 4 +-- .../directshow/vpDirectShowSampleGrabberI.cpp | 4 +-- .../mbt/src/depth/vpMbtFaceDepthNormal.cpp | 4 +-- 19 files changed, 49 insertions(+), 49 deletions(-) diff --git a/3rdparty/apriltag/common/matd.cpp b/3rdparty/apriltag/common/matd.cpp index ac57039dd4..c5e85c0594 100644 --- a/3rdparty/apriltag/common/matd.cpp +++ b/3rdparty/apriltag/common/matd.cpp @@ -786,7 +786,7 @@ static matd_t *matd_op_recurse(const char *expr, int *pos, matd_t *acc, matd_t * } default: { - fprintf(stderr, "matd_op(): Unknownn character: '%c'\n", expr[*pos]); + fprintf(stderr, "matd_op(): Unknown character: '%c'\n", expr[*pos]); assert(expr[*pos] != expr[*pos]); } } diff --git a/3rdparty/atidaq/xmlparse.h b/3rdparty/atidaq/xmlparse.h index 3b9b6953c9..d9e61cf945 100644 --- a/3rdparty/atidaq/xmlparse.h +++ b/3rdparty/atidaq/xmlparse.h @@ -224,7 +224,7 @@ typedef int (*XML_ExternalEntityRefHandler)(XML_Parser parser, const XML_Char *systemId, const XML_Char *publicId); -/* This structure is filled in by the XML_UnknownnEncodingHandler +/* This structure is filled in by the XML_UnknownEncodingHandler to provide information to the parser about encodings that are unknown to the parser. The map[b] member gives information about byte sequences @@ -274,7 +274,7 @@ typedef struct { /* This is called for an encoding that is unknown to the parser. The encodingHandlerData argument is that which was passed as the -second argument to XML_SetUnknownnEncodingHandler. +second argument to XML_SetUnknownEncodingHandler. The name argument gives the name of the encoding as specified in the encoding declaration. If the callback can provide information about the encoding, @@ -283,7 +283,7 @@ Otherwise it must return 0. If info does not describe a suitable encoding, then the parser will return an XML_UNKNOWN_ENCODING error. */ -typedef int (*XML_UnknownnEncodingHandler)(void *encodingHandlerData, +typedef int (*XML_UnknownEncodingHandler)(void *encodingHandlerData, const XML_Char *name, XML_Encoding *info); @@ -363,8 +363,8 @@ void XMLPARSEAPI XML_SetExternalEntityRefHandlerArg(XML_Parser, void *arg); void XMLPARSEAPI -XML_SetUnknownnEncodingHandler(XML_Parser parser, - XML_UnknownnEncodingHandler handler, +XML_SetUnknownEncodingHandler(XML_Parser parser, + XML_UnknownEncodingHandler handler, void *encodingHandlerData); /* This can be called within a handler for a start element, end element, diff --git a/3rdparty/atidaq/xmltok.h b/3rdparty/atidaq/xmltok.h index 80d6dbf3ea..4a83a1aac1 100644 --- a/3rdparty/atidaq/xmltok.h +++ b/3rdparty/atidaq/xmltok.h @@ -289,9 +289,9 @@ const ENCODING XMLTOKAPI *XmlGetUtf16InternalEncoding(void); int XMLTOKAPI XmlUtf8Encode(int charNumber, char *buf); int XMLTOKAPI XmlUtf16Encode(int charNumber, unsigned short *buf); -int XMLTOKAPI XmlSizeOfUnknownnEncoding(void); +int XMLTOKAPI XmlSizeOfUnknownEncoding(void); ENCODING XMLTOKAPI * -XmlInitUnknownnEncoding(void *mem, +XmlInitUnknownEncoding(void *mem, int *table, int (*conv)(void *userData, const char *p), void *userData); @@ -309,7 +309,7 @@ int XMLTOKAPI XmlInitEncodingNS(INIT_ENCODING *, const ENCODING **, const char * const ENCODING XMLTOKAPI *XmlGetUtf8InternalEncodingNS(void); const ENCODING XMLTOKAPI *XmlGetUtf16InternalEncodingNS(void); ENCODING XMLTOKAPI * -XmlInitUnknownnEncodingNS(void *mem, +XmlInitUnknownEncodingNS(void *mem, int *table, int (*conv)(void *userData, const char *p), void *userData); diff --git a/3rdparty/catch2/catch.hpp b/3rdparty/catch2/catch.hpp index 0c5421b311..86a02c2781 100644 --- a/3rdparty/catch2/catch.hpp +++ b/3rdparty/catch2/catch.hpp @@ -1349,7 +1349,7 @@ namespace Catch { // ResultWas::OfType enum struct ResultWas { enum OfType { - Unknownn = -1, + Unknown = -1, Ok = 0, Info = 1, Warning = 2, @@ -1572,7 +1572,7 @@ namespace Catch { }; template - std::string convertUnknownnEnumToString( E e ); + std::string convertUnknownEnumToString( E e ); template typename std::enable_if< @@ -1591,7 +1591,7 @@ namespace Catch { typename std::enable_if< std::is_enum::value , std::string>::type convertUnstreamable( T const& value ) { - return convertUnknownnEnumToString( value ); + return convertUnknownEnumToString( value ); } #if defined(_MANAGED) @@ -1644,7 +1644,7 @@ namespace Catch { } template - std::string convertUnknownnEnumToString( E e ) { + std::string convertUnknownEnumToString( E e ) { return ::Catch::Detail::stringify(static_cast::type>(e)); } @@ -10134,7 +10134,7 @@ namespace { case Colour::Bright: CATCH_INTERNAL_ERROR( "not a colour" ); default: - CATCH_ERROR( "Unknownn colour requested" ); + CATCH_ERROR( "Unknown colour requested" ); } } @@ -10195,7 +10195,7 @@ namespace { case Colour::BrightYellow: return setColour( "[1;33m" ); case Colour::Bright: CATCH_INTERNAL_ERROR( "not a colour" ); - default: CATCH_INTERNAL_ERROR( "Unknownn colour requested" ); + default: CATCH_INTERNAL_ERROR( "Unknown colour requested" ); } } static IColourImpl* instance() { @@ -10721,7 +10721,7 @@ namespace Catch { return msg; } catch(...) { - return "Unknownn exception"; + return "Unknown exception"; } } @@ -11596,7 +11596,7 @@ namespace Floating { case FloatingPointKind::Double: return almostEqualUlps(matchee, m_target, m_ulps); default: - CATCH_INTERNAL_ERROR( "Unknownn FloatingPointKind value" ); + CATCH_INTERNAL_ERROR( "Unknown FloatingPointKind value" ); } } @@ -12809,7 +12809,7 @@ namespace Catch { } void RunContext::resetAssertionInfo() { m_lastAssertionInfo.macroName = StringRef(); - m_lastAssertionInfo.capturedExpression = "{Unknownn expression after the reported line}"_sr; + m_lastAssertionInfo.capturedExpression = "{Unknown expression after the reported line}"_sr; } bool RunContext::sectionStarted(SectionInfo const & sectionInfo, Counts & assertions) { @@ -14471,7 +14471,7 @@ namespace TestCaseTracking { CATCH_INTERNAL_ERROR( "Illogical state: " << m_runState ); default: - CATCH_INTERNAL_ERROR( "Unknownn state: " << m_runState ); + CATCH_INTERNAL_ERROR( "Unknown state: " << m_runState ); } moveToParent(); m_ctx.completeCycle(); @@ -15416,7 +15416,7 @@ namespace Catch { case WildcardAtBothEnds: return contains( normaliseString( str ), m_pattern ); default: - CATCH_INTERNAL_ERROR( "Unknownn enum" ); + CATCH_INTERNAL_ERROR( "Unknown enum" ); } } @@ -15957,7 +15957,7 @@ class AssertionPrinter { printRemainingMessages(Colour::None); break; // These cases are here to prevent compiler warnings - case ResultWas::Unknownn: + case ResultWas::Unknown: case ResultWas::FailureBit: case ResultWas::Exception: printResultType(Colour::Error, "** internal error **"); @@ -16194,7 +16194,7 @@ class ConsoleAssertionPrinter { messageLabel = "explicitly with messages"; break; // These cases are here to prevent compiler warnings - case ResultWas::Unknownn: + case ResultWas::Unknown: case ResultWas::FailureBit: case ResultWas::Exception: passOrFail = "** internal error **"; @@ -17030,7 +17030,7 @@ namespace Catch { case ResultWas::Info: case ResultWas::Warning: case ResultWas::Ok: - case ResultWas::Unknownn: + case ResultWas::Unknown: case ResultWas::FailureBit: case ResultWas::Exception: elementName = "internalError"; diff --git a/3rdparty/clapack/include/f2c.h b/3rdparty/clapack/include/f2c.h index b7e1b4590d..b94ee7c8e1 100644 --- a/3rdparty/clapack/include/f2c.h +++ b/3rdparty/clapack/include/f2c.h @@ -168,7 +168,7 @@ typedef struct Namelist Namelist; #define F2C_proc_par_types 1 #ifdef __cplusplus -typedef int /* Unknownn procedure type */ (*U_fp)(...); +typedef int /* Unknown procedure type */ (*U_fp)(...); typedef shortint (*J_fp)(...); typedef integer (*I_fp)(...); typedef real (*R_fp)(...); @@ -180,7 +180,7 @@ typedef shortlogical (*K_fp)(...); typedef /* Character */ VOID (*H_fp)(...); typedef /* Subroutine */ int (*S_fp)(...); #else -typedef int /* Unknownn procedure type */ (*U_fp)(); +typedef int /* Unknown procedure type */ (*U_fp)(); typedef shortint (*J_fp)(); typedef integer (*I_fp)(); typedef real (*R_fp)(); diff --git a/3rdparty/pugixml-1.9/pugixml.cpp b/3rdparty/pugixml-1.9/pugixml.cpp index a0d262855e..c46335b4b2 100644 --- a/3rdparty/pugixml-1.9/pugixml.cpp +++ b/3rdparty/pugixml-1.9/pugixml.cpp @@ -6830,7 +6830,7 @@ namespace pugi case status_no_document_element: return "No document element found"; - default: return "Unknownn error"; + default: return "Unknown error"; } } @@ -9783,7 +9783,7 @@ PUGI__NS_BEGIN break; default: - assert(false && "Unknownn axis"); // unreachable + assert(false && "Unknown axis"); // unreachable } return false; @@ -10809,7 +10809,7 @@ PUGI__NS_BEGIN return step_do(c, stack, eval, axis_to_type()); default: - assert(false && "Unknownn axis"); // unreachable + assert(false && "Unknown axis"); // unreachable return xpath_node_set_raw(); } } @@ -11296,14 +11296,14 @@ PUGI__NS_BEGIN xpath_lexer_string name = _lexer.contents(); if (!_variables) - return error("Unknownn variable: variable set is not provided"); + return error("Unknown variable: variable set is not provided"); xpath_variable* var = 0; if (!get_variable_scratch(_scratch, _variables, name.begin, name.end, &var)) return error_oom(); if (!var) - return error("Unknownn variable: variable set does not contain the given name"); + return error("Unknown variable: variable set does not contain the given name"); _lexer.next(); @@ -11478,7 +11478,7 @@ PUGI__NS_BEGIN axis = parse_axis_name(nt_name, axis_specified); if (!axis_specified) - return error("Unknownn axis"); + return error("Unknown axis"); // read actual node test _lexer.next(); diff --git a/3rdparty/pugixml-1.9/pugixml.hpp b/3rdparty/pugixml-1.9/pugixml.hpp index 6563db9d19..ea252d9361 100644 --- a/3rdparty/pugixml-1.9/pugixml.hpp +++ b/3rdparty/pugixml-1.9/pugixml.hpp @@ -1072,7 +1072,7 @@ namespace pugi // XPath query return type enum xpath_value_type { - xpath_type_none, // Unknownn type (query failed to compile) + xpath_type_none, // Unknown type (query failed to compile) xpath_type_node_set, // Node set (xpath_node_set) xpath_type_number, // Number xpath_type_string, // String diff --git a/3rdparty/simdlib/Simd/SimdPerformance.h b/3rdparty/simdlib/Simd/SimdPerformance.h index 3c93b3a82d..e695326a69 100644 --- a/3rdparty/simdlib/Simd/SimdPerformance.h +++ b/3rdparty/simdlib/Simd/SimdPerformance.h @@ -66,7 +66,7 @@ namespace Simd bool _entered, _paused; public: - PerformanceMeasurer(const String& name = "Unknownn", int64_t flop = 0); + PerformanceMeasurer(const String& name = "Unknown", int64_t flop = 0); PerformanceMeasurer(const PerformanceMeasurer& pm); diff --git a/modules/core/include/visp3/core/vpEndian.h b/modules/core/include/visp3/core/vpEndian.h index c27219254d..c432e53bd0 100644 --- a/modules/core/include/visp3/core/vpEndian.h +++ b/modules/core/include/visp3/core/vpEndian.h @@ -66,7 +66,7 @@ typedef unsigned short uint16_t; #define VISP_PDP_ENDIAN //#error PDP endian is not supported. //Uncomment if needed/happens #else -#error Unknownn machine endianness detected. +#error Unknown machine endianness detected. #endif #elif defined(_BIG_ENDIAN) && !defined(_LITTLE_ENDIAN) || defined(__BIG_ENDIAN__) && !defined(__LITTLE_ENDIAN__) #define VISP_BIG_ENDIAN diff --git a/modules/detection/src/dnn/vpDetectorDNN.cpp b/modules/detection/src/dnn/vpDetectorDNN.cpp index 3dd4f0db64..4e92f9a1cc 100644 --- a/modules/detection/src/dnn/vpDetectorDNN.cpp +++ b/modules/detection/src/dnn/vpDetectorDNN.cpp @@ -322,7 +322,7 @@ void vpDetectorDNN::postProcess() { } } else - CV_Error(cv::Error::StsNotImplemented, "Unknownn output layer type: " + outLayerType); + CV_Error(cv::Error::StsNotImplemented, "Unknown output layer type: " + outLayerType); cv::dnn::NMSBoxes(m_boxes, m_confidences, m_confidenceThreshold, m_nmsThreshold, m_indices); m_boxesNMS.resize(m_indices.size()); diff --git a/modules/java/generator/gen_java.py b/modules/java/generator/gen_java.py index 91783fd343..dcb4380c26 100755 --- a/modules/java/generator/gen_java.py +++ b/modules/java/generator/gen_java.py @@ -668,7 +668,7 @@ def gen_func(self, ci, fi, prop_name=''): if a.defval: a.ctype = '' continue - msg = "// Unknownn type '%s' (%s), skipping the function\n\n" % (a.ctype, a.out or "I") + msg = "// Unknown type '%s' (%s), skipping the function\n\n" % (a.ctype, a.out or "I") self.skipped_func_list.append(c_decl + "\n" + msg) j_code.write(" " * 4 + msg) logging.warning("SKIP:" + c_decl.strip() + "\t due to ARG type" + a.ctype + "/" + (a.out or "I")) diff --git a/modules/robot/src/real-robot/afma4/vpRobotAfma4.cpp b/modules/robot/src/real-robot/afma4/vpRobotAfma4.cpp index df23c3f6e3..2bffb48537 100644 --- a/modules/robot/src/real-robot/afma4/vpRobotAfma4.cpp +++ b/modules/robot/src/real-robot/afma4/vpRobotAfma4.cpp @@ -797,7 +797,7 @@ void vpRobotAfma4::setPosition(const vpRobot::vpControlFrameType frame, const vp if (TryStt == InvalidPosition || TryStt == -1023) std::cout << " : Position out of range.\n"; else if (TryStt < 0) - std::cout << " : Unknownn error (see Fabien).\n"; + std::cout << " : Unknown error (see Fabien).\n"; else if (error == -1) std::cout << "Position out of range.\n"; diff --git a/modules/robot/src/real-robot/afma6/vpRobotAfma6.cpp b/modules/robot/src/real-robot/afma6/vpRobotAfma6.cpp index 2ae1aa614a..a8f0d4ae59 100644 --- a/modules/robot/src/real-robot/afma6/vpRobotAfma6.cpp +++ b/modules/robot/src/real-robot/afma6/vpRobotAfma6.cpp @@ -1210,7 +1210,7 @@ void vpRobotAfma6::setPosition(const vpRobot::vpControlFrameType frame, const vp if (TryStt == InvalidPosition || TryStt == -1023) std::cout << " : Position out of range.\n"; else if (TryStt < 0) - std::cout << " : Unknownn error (see Fabien).\n"; + std::cout << " : Unknown error (see Fabien).\n"; else if (error == -1) std::cout << "Position out of range.\n"; diff --git a/modules/robot/src/real-robot/viper/vpRobotViper650.cpp b/modules/robot/src/real-robot/viper/vpRobotViper650.cpp index 01fe8c4690..f1647fac34 100644 --- a/modules/robot/src/real-robot/viper/vpRobotViper650.cpp +++ b/modules/robot/src/real-robot/viper/vpRobotViper650.cpp @@ -1214,7 +1214,7 @@ void vpRobotViper650::setPosition(const vpRobot::vpControlFrameType frame, const std::cout << " : Cartesian position leads to a joint position out of " "range.\n"; } else if (TryStt < 0) - std::cout << " : Unknownn error (see Fabien).\n"; + std::cout << " : Unknown error (see Fabien).\n"; else if (error == -1) std::cout << "Position out of range.\n"; diff --git a/modules/robot/src/real-robot/viper/vpRobotViper850.cpp b/modules/robot/src/real-robot/viper/vpRobotViper850.cpp index 6cf6fb4b13..a181a87eb8 100644 --- a/modules/robot/src/real-robot/viper/vpRobotViper850.cpp +++ b/modules/robot/src/real-robot/viper/vpRobotViper850.cpp @@ -1233,7 +1233,7 @@ void vpRobotViper850::setPosition(const vpRobot::vpControlFrameType frame, const std::cout << " : Cartesian position leads to a joint position out of " "range.\n"; } else if (TryStt < 0) - std::cout << " : Unknownn error (see Fabien).\n"; + std::cout << " : Unknown error (see Fabien).\n"; else if (error == -1) std::cout << "Position out of range.\n"; diff --git a/modules/robot/src/wireframe-simulator/vpWireFrameSimulator.cpp b/modules/robot/src/wireframe-simulator/vpWireFrameSimulator.cpp index a43270be22..613dadaf5a 100644 --- a/modules/robot/src/wireframe-simulator/vpWireFrameSimulator.cpp +++ b/modules/robot/src/wireframe-simulator/vpWireFrameSimulator.cpp @@ -458,7 +458,7 @@ void vpWireFrameSimulator::initScene(const char *obj, const char *desired_object else if (model == WRL_MODEL) set_scene_wrl(name, &(this->scene), 1.0); else if (model == UNKNOWN_MODEL) { - vpERROR_TRACE("Unknownn file extension for the 3D model"); + vpERROR_TRACE("Unknown file extension for the 3D model"); } if (strlen(desired_object) >= FILENAME_MAX) { @@ -472,7 +472,7 @@ void vpWireFrameSimulator::initScene(const char *obj, const char *desired_object else if (model == WRL_MODEL) set_scene_wrl(name, &(this->desiredScene), 1.0); else if (model == UNKNOWN_MODEL) { - vpERROR_TRACE("Unknownn file extension for the 3D model"); + vpERROR_TRACE("Unknown file extension for the 3D model"); } add_rfstack(IS_BACK); @@ -690,7 +690,7 @@ void vpWireFrameSimulator::initScene(const char *obj) else if (model == WRL_MODEL) set_scene_wrl(name, &(this->scene), 1.0); else if (model == UNKNOWN_MODEL) { - vpERROR_TRACE("Unknownn file extension for the 3D model"); + vpERROR_TRACE("Unknown file extension for the 3D model"); } add_rfstack(IS_BACK); diff --git a/modules/sensor/src/framegrabber/directshow/vpDirectShowGrabberImpl.cpp b/modules/sensor/src/framegrabber/directshow/vpDirectShowGrabberImpl.cpp index 2aa031d19a..ca86f5f5ed 100644 --- a/modules/sensor/src/framegrabber/directshow/vpDirectShowGrabberImpl.cpp +++ b/modules/sensor/src/framegrabber/directshow/vpDirectShowGrabberImpl.cpp @@ -56,7 +56,7 @@ void vpDirectShowGrabberImpl::HRtoStr(std::string str) DWORD res = AMGetErrorText(hr, szErr, MAX_ERROR_TEXT_LEN); if (res == 0) - str = "Unknownn Error: 0x%2x"; + str = "Unknown Error: 0x%2x"; char msg[MAX_ERROR_TEXT_LEN]; sprintf(msg, "%s", szErr); @@ -464,7 +464,7 @@ bool vpDirectShowGrabberImpl::checkSourceType(CComPtr &pCapSourcePin) // see fourcc.org to know which format is bottom-up oriented and thus // needs invertedSource sets to true else { - std::cout << "Unknownn FourCC compression type, assuming top-down " + std::cout << "Unknown FourCC compression type, assuming top-down " "orientation. Image may be inverted." << std::endl; sgCB.invertedSource = false; // consider that the image is topdown oriented by default diff --git a/modules/sensor/src/framegrabber/directshow/vpDirectShowSampleGrabberI.cpp b/modules/sensor/src/framegrabber/directshow/vpDirectShowSampleGrabberI.cpp index 011ccc40a1..9801afd158 100644 --- a/modules/sensor/src/framegrabber/directshow/vpDirectShowSampleGrabberI.cpp +++ b/modules/sensor/src/framegrabber/directshow/vpDirectShowSampleGrabberI.cpp @@ -67,8 +67,8 @@ STDMETHODIMP vpDirectShowSampleGrabberI::QueryInterface(REFIID riid, void **ppvO { if (NULL == ppvObject) return E_POINTER; - if (riid == __uuidof(IUnknownn)) { - *ppvObject = static_cast(this); + if (riid == __uuidof(IUnknown)) { + *ppvObject = static_cast(this); return S_OK; } if (riid == __uuidof(ISampleGrabberCB)) { diff --git a/modules/tracker/mbt/src/depth/vpMbtFaceDepthNormal.cpp b/modules/tracker/mbt/src/depth/vpMbtFaceDepthNormal.cpp index 3c155881b5..9b382f43a9 100644 --- a/modules/tracker/mbt/src/depth/vpMbtFaceDepthNormal.cpp +++ b/modules/tracker/mbt/src/depth/vpMbtFaceDepthNormal.cpp @@ -297,7 +297,7 @@ bool vpMbtFaceDepthNormal::computeDesiredFeatures(const vpHomogeneousMatrix &cMo computeDesiredFeaturesRobustFeatures(point_cloud_face_custom, point_cloud_face_vec, cMo, desired_features, desired_normal, centroid_point); } else { - throw vpException(vpException::badValue, "Unknownn feature estimation method!"); + throw vpException(vpException::badValue, "Unknown feature estimation method!"); } computeDesiredNormalAndCentroid(cMo, desired_normal, centroid_point); @@ -456,7 +456,7 @@ bool vpMbtFaceDepthNormal::computeDesiredFeatures(const vpHomogeneousMatrix &cMo computeDesiredFeaturesRobustFeatures(point_cloud_face_custom, point_cloud_face, cMo, desired_features, desired_normal, centroid_point); } else { - throw vpException(vpException::badValue, "Unknownn feature estimation method!"); + throw vpException(vpException::badValue, "Unknown feature estimation method!"); } computeDesiredNormalAndCentroid(cMo, desired_normal, centroid_point);