preamble.sty

\ProvidesPackage{preamble}

%table of contents settings
\makeatletter
\renewcommand{\subsubsection}{\ttl@straightclass{subsubsection}}
\makeatother
\titleformat{\subsubsection}[hang]
  {\em}
  {\thesubsubsection}
  {1em}
  {}
  []
\setcounter{secnumdepth}{2}
\setcounter{tocdepth}{1}
\hypersetup{bookmarksdepth=3}

\usepackage{etoolbox}
\RequirePackage{etoolbox}
\makeatletter
\newif\if@tufte@margtab\@tufte@margtabfalse
\newcommand{\classiccaptionstyle}{%
    \long\def\@caption##1[##2]##3{%
        \par
        \addcontentsline{\csname ext@##1\endcsname}{##1}%
        {\protect\numberline{\csname the##1\endcsname}{\ignorespaces ##2}}%
        \begingroup
        \@parboxrestore
        \if@minipage
        \@setminipage
        \fi
        \normalsize
        \@makecaption{\csname fnum@##1\endcsname}{\ignorespaces ##3}\par
        \endgroup}
    
    \long\def\@makecaption##1##2{%
        \vskip\abovecaptionskip
        \sbox\@tempboxa{\@tufte@caption@font##1: ##2}%
        \ifdim \wd\@tempboxa >\hsize
        \@tufte@caption@font\if@tufte@margtab\@tufte@caption@justification\fi##1: ##2\par
        \else
        \global \@minipagefalse
        \hb@xt@\hsize{\hfil\box\@tempboxa\hfil}%
        \fi
        \vskip\belowcaptionskip}
       \setcaptionfont{\normalfont}
    \let\caption\@tufte@orig@caption%
    \let\label\@tufte@orig@label}
\makeatother

\newenvironment{pagefigure}{%
    \begin{figure*}[p]
    \classiccaptionstyle
}{\end{figure*}}

\usepackage{microtype}
\usepackage[utf8]{inputenc}
%%
% For nicely typeset tabular material
\usepackage{booktabs}

%%
% For graphics / images
\usepackage{graphicx}
\setkeys{Gin}{width=\linewidth,totalheight=\textheight,keepaspectratio}
\graphicspath{{figures/}{chapters/introduction/figures/}{chapters/nm_imp_comparison/figures/}}

% The fancyvrb package lets us customize the formatting of verbatim
% environments.  We use a slightly smaller font.
\usepackage{fancyvrb}
\fvset{fontsize=\normalsize}

\usepackage{amsmath} % assumes amsmath package installed
\usepackage{amssymb}  % assumes amsmath package installed
\usepackage{bm} %bold italic vectors
\usepackage{algorithm}
\usepackage{algpseudocode}
\usepackage{units}
\usepackage{nicefrac}
\DeclareMathOperator{\argmin}{argmin}

\usepackage{multirow}
\newcommand{\vsigstarzero}{\multirow{2}{*}{\rotatebox{90}{\footnotesize \hphantom{$\star$}}}}
\newcommand{\vsigstarone}{\multirow{2}{*}{\rotatebox{90}{\footnotesize $\star$}}}
\newcommand{\vsigstartwo}{\multirow{2}{*}{\rotatebox{90}{\footnotesize $\star\negmedspace\star$}}}
\newcommand{\vsigstarthree}{\multirow{2}{*}{\rotatebox{90}{\footnotesize $\star\negthickspace\star\negthickspace\star$}}}


%%
% Prints argument within hanging parentheses (i.e., parentheses that take
% up no horizontal space).  Useful in tabular environments.
\newcommand{\hangp}[1]{\makebox[0pt][r]{(}#1\makebox[0pt][l]{)}}

%%
% Prints an asterisk that takes up no horizontal space.
% Useful in tabular environments.
\newcommand{\hangstar}{\makebox[0pt][l]{*}}

%%
% Prints a trailing space in a smart way.
\usepackage{xspace}

%%
% Some shortcuts for Tufte's book titles.  The lowercase commands will
% produce the initials of the book title in italics.  The all-caps commands
% will print out the full title of the book in italics.

% Prints the month name (e.g., January) and the year (e.g., 2008)
\newcommand{\monthyear}{%
  \ifcase\month\or January\or February\or March\or April\or May\or June\or
  July\or August\or September\or October\or November\or
  December\fi\space\number\year
}

% Prints an epigraph and speaker in sans serif, all-caps type.
\newcommand{\openepigraph}[2]{%
  %\sffamily\fontsize{14}{16}\selectfont
  \begin{fullwidth}
  \sffamily\large
  \begin{doublespace}
  \noindent\allcaps{#1}\\% epigraph
  \noindent\allcaps{#2}% author
  \end{doublespace}
  \end{fullwidth}
}

% Inserts a blank page
\newcommand{\blankpage}{\newpage\hbox{}\thispagestyle{empty}\newpage}

% Macros for typesetting the documentation
\newcommand{\hlred}[1]{\textcolor{Maroon}{#1}}% prints in red
\newcommand{\hangleft}[1]{\makebox[0pt][r]{#1}}
\newcommand{\hairsp}{\hspace{1pt}}% hair space
\newcommand{\hquad}{\hskip0.5em\relax}% half quad space
\newcommand{\TODO}{\textcolor{red}{\bf TODO!}\xspace}
\newcommand{\ie}{\textit{i.\hairsp{}e.}\xspace}
\newcommand{\eg}{\textit{e.\hairsp{}g.}\xspace}
\newcommand{\na}{\quad--}% used in tables for N/A cells

%my commands
\synctex=1
\usepackage{comment}
\usepackage[disable]{todonotes}
\usepackage{cleveref}
\newcommand{\creflastconjunction}{, and\nobreakspace}
\usepackage{caption}
\usepackage{subcaption}
\captionsetup{compatibility=false}
\usepackage{import}

%list types
\usepackage[inline]{enumitem}
\newlist{steps}{enumerate}{10}
\setlist[steps]{label*=\arabic*., ref=\arabic*}
\crefname{stepsi}{step}{steps}
\Crefname{stepsi}{Step}{Steps}

\newlist{challenges}{enumerate}{10}
\setlist[challenges]{label=\emph{Challenge \arabic*:}, ref=\arabic*, align=left, 
    listparindent=\parindent, parsep=0pt}
\crefname{challengesi}{challenge}{challenges}
\Crefname{challengesi}{Challenge}{Challenges}

\newlist{contributions}{enumerate}{10}
\setlist[contributions]{label=\emph{Contribution \arabic*:}, ref=\arabic*, align=left, 
    listparindent=\parindent, parsep=0pt}
\crefname{contributionsi}{contribution}{contributions}
\Crefname{contributionsi}{Contribution}{Contributions}

\newlist{tasks}{enumerate}{10}
\setlist[tasks]{label=\emph{Task \arabic*:}, ref=\arabic*,
    align=left, listparindent=\parindent, parsep=0pt}
\crefname{tasksi}{task}{tasks}
\Crefname{tasksi}{Task}{Tasks}

\newlist{days}{enumerate}{10}
\setlist[days]{label=\emph{Day \arabic*:}, ref=\arabic*,
    align=left, listparindent=\parindent, parsep=0pt}
\crefname{daysi}{day}{days}
\Crefname{daysi}{Day}{Days}

\newcommand{\thesistitle}{Design and Evaluation of Robust Control Methods for
Robotic Transfemoral Prostheses}

\newcommand{\prob}[1]{\operatorname{P} \left( #1 \right)}
\newcommand{\tn}[1]{\mathrm{#1}}

\usepackage{xparse}
\DeclareDocumentCommand{\func}{m o o m}
{%
    \IfValueTF{#2}
        {%
        \IfValueTF{#3}
            {\operatorname{#1}_{#2}^{#3} \left( #4 \right)}
            {\operatorname{#1}_{#2}      \left( #4 \right)}
        }
        {%
        \IfValueTF{#3}
            {\operatorname{#1}^{#3} \left( #3 \right)}
            {\operatorname{#1}      \left( #4 \right)}
        }
}

\DeclareDocumentCommand{\funcil}{m o o m}
{%
    \IfValueTF{#2}
        {%
        \IfValueTF{#3}
            {\operatorname{#1}_{#2}^{#3} (#4)}
            {\operatorname{#1}_{#2}      (#4)}
        }
        {%
        \IfValueTF{#3}
            {\operatorname{#1}^{#3} (#3)}
            {\operatorname{#1}      (#4)}
        }
}

\DeclareDocumentCommand{\funcsb}{m o o m}
{%
    \IfValueTF{#2}
        {%
        \IfValueTF{#3}
            {\operatorname{#1}_{#2}^{#3} \left[ #4 \right]}
            {\operatorname{#1}_{#2}      \left[ #4 \right]}
        }
        {%
        \IfValueTF{#3}
            {\operatorname{#1}^{#3} \left[ #3 \right]}
            {\operatorname{#1}      \left[ #4 \right]}
        }
}

\DeclareDocumentCommand{\vecf}{m o o}
{%
    \IfValueTF{#2}
        {%
        \IfValueTF{#3}
            {\bm{#1}_{#2}^{#3}}
            {\bm{#1}_{#2}     }
        }
        {%
        \IfValueTF{#3}
            {\bm{#1}^{#3}}
            {\bm{#1}     }
        }
}

%%
% Book metadata
\title{\thesistitle}
\author[Nitish Thatte]{Nitish Thatte}
%\publisher{Publisher of This Book}

% Generates the index
\usepackage{makeidx}
\makeindex