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class normalDistribution
{
.....les constrcteurs et destructeurs.........
computeStepLengthMT (const Eigen::Matrix<double, 6, 1> &x, Eigen::Matrix<double, 6, 1> &step_dir, double step_init, double step_max,
                                                                                  double step_min, double &score, Eigen::Matrix<double, 6, 1> &score_gradient, Eigen::Matrix<double, 6, 6> &hessian,
                                                                                  PointCloudSource &trans_cloud)
{
...........
  while (!interval_converged && step_iterations < max_step_iterations && !(psi_t <= 0 /*Sufficient Decrease*/ && d_phi_t <= -nu * d_phi_0 /*Curvature Condition*/))
  {
    // Use auxilary function if interval I is not closed
    if (open_interval)
    {
      a_t = trialValueSelectionMT (a_l, f_l, g_l,
                                   a_u, f_u, g_u,
                                   a_t, psi_t, d_psi_t);
    }
    else
    {
      a_t = trialValueSelectionMT (a_l, f_l, g_l,
                                   a_u, f_u, g_u,
                                   a_t, phi_t, d_phi_t);
    }
...............
    a_t = std::min (a_t, step_max);
    a_t = std::max (a_t, step_min);
    x_t = x + step_dir * a_t;
      step_iterations++;
  }
} | 
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