﻿ファイル名  : SMSL_BasicToolkit.pck
作成者    : 鈴鹿経営科学研究所(Suzuka Management Science Laboratory, SMSL) 伊田 祥吾

本ソフトウェアは、以下のオープンソースソフトウェア（OSS）を含んでいます。これらのOSSは、それぞれのライセンス条件に従い、利用者に提供されます。
This software includes the following open source software (OSS). Each OSS is provided under its own license terms.

1. GeographicLib v2.7 by Charles Karney  (MIT License)
https://github.com/geographiclib/geographiclib-cpp
   GeographicLib に含まれるもの / included in GeographicLib: KISS FFT
2. YDLidar-SDK v1.2.17 by EAI (YDLIDAR)  (MIT License)
https://github.com/YDLIDAR/YDLidar-SDK
   YDLidar-SDK に含まれるもの / included in YDLidar-SDK: serial, angles.h (ROS), network library (CarrierLabs), cJSON

---------------------------------------------------------------------------------------------------------------
GeographicLib v2.7

The MIT License (MIT).

Copyright (c) 2008-2025, Charles Karney

Permission is hereby granted, free of charge, to any person
obtaining a copy of this software and associated documentation
files (the "Software"), to deal in the Software without
restriction, including without limitation the rights to use, copy,
modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be
included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT.  IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.

 Copyright (c) 2003-2010, Mark Borgerding. All rights reserved.
 This file is part of KISS FFT - https://github.com/mborgerding/kissfft

 SPDX-License-Identifier: BSD-3-Clause
 See COPYING file, below, for more information.

 ================ COPYING ================
 Copyright (c) 2003-2010 Mark Borgerding . All rights reserved.

 KISS FFT is provided under:

   SPDX-License-Identifier: BSD-3-Clause

 Being under the terms of the BSD 3-clause "New" or "Revised" License,
 according with:

   LICENSES/BSD-3-Clause

 ================ LICENSES/BSD-3-Clause ================
 Valid-License-Identifier: BSD-3-Clause
 SPDX-URL: https://spdx.org/licenses/BSD-3-Clause.html
 Usage-Guide:

   To use the BSD 3-clause "New" or "Revised" License put the following SPDX
   tag/value pair into a comment according to the placement guidelines in
   the licensing rules documentation:
     SPDX-License-Identifier: BSD-3-Clause
 License-Text:

 Copyright (c) <year> <owner> . All rights reserved.

 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:

 1. Redistributions of source code must retain the above copyright notice,
 this list of conditions and the following disclaimer.

 2. Redistributions in binary form must reproduce the above copyright
 notice, this list of conditions and the following disclaimer in the
 documentation and/or other materials provided with the distribution.

 3. Neither the name of the copyright holder nor the names of its
 contributors may be used to endorse or promote products derived from this
 software without specific prior written permission.

 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 POSSIBILITY OF SUCH DAMAGE.

---------------------------------------------------------------------------------------------------------------
YDLidar-SDK v1.2.17

The following portions of the YDLIDAR’s YDlidar SDK (“Software” referred to in the terms below) are made available to you under the terms of the MIT License provided below.

YDLidar-SDK
├── cmake
│   ├── cmake_uninstall.cmake.in
│   ├── common
│   │   ├── ydlidar_base.cmake
│   │   └── ydlidar_parse.cmake
│   ├── FindPackage.cmake.in
│   ├── install_package.cmake
│   ├── PackageConfig.cmake.in
│   ├── PackageConfigVersion.cmake.in
│   └── PkgConfig.pc.in
├── CMakeLists.txt
├── core
│   ├── base
│   │   ├── CMakeLists.txt
│   │   ├── datatype.h
│   │   ├── locker.h
│   │   ├── thread.h
│   │   ├── timer.cpp
│   │   ├── timer.h
│   │   ├── typedef.h
│   │   ├── utils.h
│   │   ├── v8stdint.h
│   │   └── ydlidar.h
│   ├── CMakeLists.txt
│   ├── common
│   │   ├── ChannelDevice.h
│   │   ├── CMakeLists.txt
│   │   ├── DriverInterface.h
│   │   ├── ydlidar_datatype.h
│   │   ├── ydlidar_def.cpp
│   │   ├── ydlidar_def.h
│   │   ├── ydlidar_help.h
│   │   └── ydlidar_protocol.h
│   ├── math
│   │   ├── angles.h
│   │   └── CMakeLists.txt
│   ├── network
│   │   ├── ActiveSocket.cpp
│   │   ├── ActiveSocket.h
│   │   ├── CMakeLists.txt
│   │   ├── PassiveSocket.cpp
│   │   ├── PassiveSocket.h
│   │   ├── SimpleSocket.cpp
│   │   ├── SimpleSocket.h
│   │   └── StatTimer.h
│   └── serial
│       ├── CMakeLists.txt
│       ├── common.h
│       ├── impl
│       │   ├── CMakeLists.txt
│       │   ├── unix
│       │   │   ├── CMakeLists.txt
│       │   │   ├── list_ports_linux.cpp
│       │   │   ├── lock.c
│       │   │   ├── lock.h
│       │   │   ├── unix.h
│       │   │   ├── unix_serial.cpp
│       │   │   └── unix_serial.h
│       │   └── windows
│       │       ├── CMakeLists.txt
│       │       ├── list_ports_win.cpp
│       │       ├── win.h
│       │       ├── win_serial.cpp
│       │       └── win_serial.h
│       ├── serial.cpp
│       └── serial.h
├── csharp
│   ├── CMakeLists.txt
│   ├── examples
│   │   └── CMakeLists.txt
│   └── ydlidar_sdk.i
├── LICENSE.txt
├── python
│   ├── CMakeLists.txt
│   ├── examples
│   │   ├── CMakeLists.txt
│   │   ├── etlidar_test.py
│   │   ├── plot_tof_test.py
│   │   ├── plot_ydlidar_test.py
│   │   ├── test.py
│   │   ├── tof_test.py
│   │   └── ydlidar_test.py
│   ├── numpy.i
│   ├── test
│   │   └── pytest.py
│   ├── ydlidar_numpy.i
│   └── ydlidar_sdk.i
├── README.md
├── samples
│   ├── CMakeLists.txt
│   ├── etlidar_test.cpp
│   ├── lidar_c_api_test.c
│   ├── tof_test.cpp
│   └── ydlidar_test.cpp
├── setup.py
├── src
│   ├── CMakeLists.txt
│   ├── CYdLidar.cpp
│   ├── CYdLidar.h
│   ├── ETLidarDriver.cpp
│   ├── ETLidarDriver.h
│   ├── ydlidar_driver.cpp
│   ├── ydlidar_driver.h
│   ├── ydlidar_sdk.cpp
│   └── ydlidar_sdk.h
├── startup
│   └── initenv.sh
└── ydlidar_config.h.in




-------------------------------------------------------------
The MIT License (MIT)

Copyright (c) 2019-2020 EAIBOT. All rights reserved.

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
===============================================================

serial
├── CMakeLists.txt
├── common.h
├── impl
│   ├── CMakeLists.txt
│   ├── unix
│   │   ├── CMakeLists.txt
│   │   ├── list_ports_linux.cpp
│   │   ├── lock.c
│   │   ├── lock.h
│   │   ├── unix.h
│   │   ├── unix_serial.cpp
│   │   └── unix_serial.h
│   └── windows
│       ├── CMakeLists.txt
│       ├── list_ports_win.cpp
│       ├── win.h
│       ├── win_serial.cpp
│       └── win_serial.h
├── serial.cpp
└── serial.h

YDLIDAR’s YDLidar-SDK uses modified libraries of serial (https://github.com/wjwwood/serial), which is licensed under MIT license. A copy of the MIT license is provided below and is also available at https://raw.githubusercontent.com/wjwwood/serial/master/README.md.

The MIT License

Copyright (c) 2012 William Woodall, John Harrison

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
===============================================================

For the math\angles.h component:

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

===============================================================
For the network library:

/* Copyright (c) 2006 CarrierLabs, LLC.  All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 *
 * 3. The name of the author may not be used to endorse or promote products
 *    derived from this software without specific prior written permission.
 *
 * 4. The name "CarrierLabs" must not be used to
 *    endorse or promote products derived from this software without
 *    prior written permission. For written permission, please contact
 *    mark@carrierlabs.com.
 *
 * THIS SOFTWARE IS PROVIDED BY MARK CARRIER ``AS IS'' AND ANY
 * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL MARK CARRIER OR
 * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
 * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
 * OF THE POSSIBILITY OF SUCH DAMAGE.
 *----------------------------------------------------------------------------*/

  Copyright (c) 2009-2017 Dave Gamble and cJSON contributors

  Permission is hereby granted, free of charge, to any person obtaining a copy
  of this software and associated documentation files (the "Software"), to deal
  in the Software without restriction, including without limitation the rights
  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  copies of the Software, and to permit persons to whom the Software is
  furnished to do so, subject to the following conditions:

  The above copyright notice and this permission notice shall be included in
  all copies or substantial portions of the Software.

  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  THE SOFTWARE.
