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/*
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    Inertial Measurement Unit Maths Library
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    Copyright (C) 2013-2014  Samuel Cowen
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    www.camelsoftware.com
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    Bug fixes and cleanups by Gé Vissers (gvissers@gmail.com)
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    This program is free software: you can redistribute it and/or modify
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    it under the terms of the GNU General Public License as published by
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    the Free Software Foundation, either version 3 of the License, or
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    (at your option) any later version.
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    This program is distributed in the hope that it will be useful,
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    but WITHOUT ANY WARRANTY; without even the implied warranty of
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    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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    GNU General Public License for more details.
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    You should have received a copy of the GNU General Public License
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    along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef IMUMATH_MATRIX_HPP
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#define IMUMATH_MATRIX_HPP
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#include <string.h>
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#include <stdint.h>
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#include "vector.h"
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namespace imu
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{
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template <uint8_t N> class Matrix
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{
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public:
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    Matrix()
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    {
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        memset(_cell_data, 0, N*N*sizeof(double));
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    }
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    Matrix(const Matrix &m)
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    {
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        for (int ij = 0; ij < N*N; ++ij)
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        {
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            _cell_data[ij] = m._cell_data[ij];
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        }
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    }
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    ~Matrix()
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    {
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    }
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    Matrix& operator=(const Matrix& m)
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    {
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        for (int ij = 0; ij < N*N; ++ij)
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        {
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            _cell_data[ij] = m._cell_data[ij];
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        }
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        return *this;
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    }
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    Vector<N> row_to_vector(int i) const
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    {
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        Vector<N> ret;
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        for (int j = 0; j < N; j++)
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        {
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            ret[j] = cell(i, j);
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        }
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        return ret;
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    }
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    Vector<N> col_to_vector(int j) const
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    {
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        Vector<N> ret;
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        for (int i = 0; i < N; i++)
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        {
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            ret[i] = cell(i, j);
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        }
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        return ret;
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    }
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    void vector_to_row(const Vector<N>& v, int i)
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    {
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        for (int j = 0; j < N; j++)
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        {
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            cell(i, j) = v[j];
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        }
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    }
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    void vector_to_col(const Vector<N>& v, int j)
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    {
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        for (int i = 0; i < N; i++)
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        {
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            cell(i, j) = v[i];
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        }
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    }
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    double operator()(int i, int j) const
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    {
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        return cell(i, j);
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    }
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    double& operator()(int i, int j)
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    {
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        return cell(i, j);
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    }
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    double cell(int i, int j) const
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    {
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        return _cell_data[i*N+j];
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    }
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    double& cell(int i, int j)
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    {
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        return _cell_data[i*N+j];
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    }
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    Matrix operator+(const Matrix& m) const
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    {
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        Matrix ret;
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        for (int ij = 0; ij < N*N; ++ij)
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        {
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            ret._cell_data[ij] = _cell_data[ij] + m._cell_data[ij];
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        }
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        return ret;
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    }
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    Matrix operator-(const Matrix& m) const
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    {
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        Matrix ret;
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        for (int ij = 0; ij < N*N; ++ij)
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        {
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            ret._cell_data[ij] = _cell_data[ij] - m._cell_data[ij];
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        }
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        return ret;
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    }
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    Matrix operator*(double scalar) const
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    {
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        Matrix ret;
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        for (int ij = 0; ij < N*N; ++ij)
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        {
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            ret._cell_data[ij] = _cell_data[ij] * scalar;
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        }
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        return ret;
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    }
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    Matrix operator*(const Matrix& m) const
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    {
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        Matrix ret;
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        for (int i = 0; i < N; i++)
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        {
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            Vector<N> row = row_to_vector(i);
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            for (int j = 0; j < N; j++)
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            {
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                ret(i, j) = row.dot(m.col_to_vector(j));
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            }
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        }
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        return ret;
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    }
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    Matrix transpose() const
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    {
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        Matrix ret;
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        for (int i = 0; i < N; i++)
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        {
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            for (int j = 0; j < N; j++)
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            {
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                ret(j, i) = cell(i, j);
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            }
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        }
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        return ret;
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    }
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    Matrix<N-1> minor_matrix(int row, int col) const
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    {
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        Matrix<N-1> ret;
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        for (int i = 0, im = 0; i < N; i++)
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        {
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            if (i == row)
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                continue;
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            for (int j = 0, jm = 0; j < N; j++)
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            {
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                if (j != col)
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                {
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                    ret(im, jm++) = cell(i, j);
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                }
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            }
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            im++;
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        }
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        return ret;
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    }
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    double determinant() const
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    {
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        // specialization for N == 1 given below this class
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        double det = 0.0, sign = 1.0;
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        for (int i = 0; i < N; ++i, sign = -sign)
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            det += sign * cell(0, i) * minor_matrix(0, i).determinant();
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        return det;
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    }
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    Matrix invert() const
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    {
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        Matrix ret;
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        double det = determinant();
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        for (int i = 0; i < N; i++)
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        {
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            for (int j = 0; j < N; j++)
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            {
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                ret(i, j) = minor_matrix(j, i).determinant() / det;
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                if ((i+j)%2 == 1)
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                    ret(i, j) = -ret(i, j);
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            }
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        }
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        return ret;
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    }
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    double trace() const
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    {
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        double tr = 0.0;
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        for (int i = 0; i < N; ++i)
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            tr += cell(i, i);
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        return tr;
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    }
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private:
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    double _cell_data[N*N];
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};
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template<>
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inline double Matrix<1>::determinant() const
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{
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    return cell(0, 0);
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}
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};
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#endif