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// |
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// Copyright (c) 2015-2020 CNRS INRIA |
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// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
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// |
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#ifndef __pinocchio_spatial_motion_base_hpp__ |
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#define __pinocchio_spatial_motion_base_hpp__ |
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namespace pinocchio |
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{ |
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template<class Derived> |
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class MotionBase : NumericalBase<Derived> |
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{ |
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public: |
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MOTION_TYPEDEF_TPL(Derived); |
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Derived & derived() |
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{ |
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return *static_cast<Derived *>(this); |
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} |
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const Derived & derived() const |
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{ |
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return *static_cast<const Derived *>(this); |
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} |
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Derived & const_cast_derived() const |
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{ |
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return *const_cast<Derived *>(&derived()); |
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} |
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ConstAngularType angular() const |
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{ |
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return derived().angular_impl(); |
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} |
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ConstLinearType linear() const |
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{ |
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return derived().linear_impl(); |
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} |
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AngularType angular() |
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{ |
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return derived().angular_impl(); |
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} |
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LinearType linear() |
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{ |
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return derived().linear_impl(); |
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} |
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template<typename V3Like> |
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void angular(const Eigen::MatrixBase<V3Like> & w) |
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{ |
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derived().angular_impl(w.derived()); |
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} |
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template<typename V3Like> |
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void linear(const Eigen::MatrixBase<V3Like> & v) |
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{ |
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derived().linear_impl(v.derived()); |
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} |
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operator PlainReturnType() const |
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{ |
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return derived().plain(); |
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} |
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PlainReturnType plain() const |
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{ |
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return derived().plain(); |
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} |
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ToVectorConstReturnType toVector() const |
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{ |
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return derived().toVector_impl(); |
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} |
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ToVectorReturnType toVector() |
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{ |
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return derived().toVector_impl(); |
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} |
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operator Vector6() const |
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{ |
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return toVector(); |
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} |
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ActionMatrixType toActionMatrix() const |
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{ |
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return derived().toActionMatrix_impl(); |
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} |
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ActionMatrixType toDualActionMatrix() const |
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{ |
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return derived().toDualActionMatrix_impl(); |
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} |
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operator Matrix6() const |
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{ |
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return toActionMatrix(); |
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} |
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/** |
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* @brief The homogeneous representation of the motion vector \f$ \xi \f$. |
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* |
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* With \f$ \hat{\xi} = \left( \begin{array}{cc} \omega & v \\ 0 & 0 \\ \end{array} \right) \f$, |
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* \f[ |
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* {}^a\dot{M}_b = \hat{\xi} {}^aM_b |
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* \f] |
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* |
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* @note This function is provided for completeness, but it is not the best |
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* way to use Motion quantities in terms of sparsity exploitation and |
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* general efficiency. For integration, the recommended way is to use |
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* Motion vectors along with the \ref integrate function. |
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*/ |
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HomogeneousMatrixType toHomogeneousMatrix() const |
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{ |
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return derived().toHomogeneousMatrix_impl(); |
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} |
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void setZero() |
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{ |
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derived().setZero(); |
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} |
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template<typename M2> |
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bool operator==(const MotionBase<M2> & other) const |
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{ |
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return derived().isEqual_impl(other.derived()); |
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} |
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template<typename M2> |
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bool operator!=(const MotionBase<M2> & other) const |
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{ |
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return !(derived() == other.derived()); |
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} |
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Derived operator-() const |
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{ |
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return derived().__opposite__(); |
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} |
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Derived operator+(const MotionBase<Derived> & v) const |
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{ |
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return derived().__plus__(v.derived()); |
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} |
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Derived operator-(const MotionBase<Derived> & v) const |
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{ |
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return derived().__minus__(v.derived()); |
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} |
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Derived & operator+=(const MotionBase<Derived> & v) |
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{ |
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return derived().__pequ__(v.derived()); |
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} |
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Derived & operator-=(const MotionBase<Derived> & v) |
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{ |
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return derived().__mequ__(v.derived()); |
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} |
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template<typename OtherScalar> |
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typename internal::RHSScalarMultiplication<Derived, OtherScalar>::ReturnType |
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operator*(const OtherScalar & alpha) const |
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{ |
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return derived().__mult__(alpha); |
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} |
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template<typename OtherScalar> |
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Derived operator/(const OtherScalar & alpha) const |
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{ |
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return derived().__div__(alpha); |
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} |
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template<typename OtherSpatialType> |
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typename MotionAlgebraAction<OtherSpatialType, Derived>::ReturnType |
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cross(const OtherSpatialType & d) const |
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{ |
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return derived().cross_impl(d); |
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} |
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bool isApprox( |
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const Derived & other, |
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const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const |
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{ |
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return derived().isApprox_impl(other, prec); |
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} |
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bool isZero(const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const |
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{ |
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return derived().isZero_impl(prec); |
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} |
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template<typename S2, int O2> |
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typename SE3GroupAction<Derived>::ReturnType se3Action(const SE3Tpl<S2, O2> & m) const |
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{ |
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return derived().se3Action_impl(m); |
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} |
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template<typename S2, int O2> |
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typename SE3GroupAction<Derived>::ReturnType se3ActionInverse(const SE3Tpl<S2, O2> & m) const |
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{ |
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return derived().se3ActionInverse_impl(m); |
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} |
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template<typename ForceDerived> |
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Scalar dot(const ForceDense<ForceDerived> & f) const |
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{ |
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return derived().dot(f.derived()); |
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} |
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void disp(std::ostream & os) const |
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{ |
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derived().disp_impl(os); |
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} |
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friend std::ostream & operator<<(std::ostream & os, const MotionBase<Derived> & v) |
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{ |
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v.disp(os); |
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return os; |
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} |
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}; // class MotionBase |
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template<typename MotionDerived> |
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typename internal::RHSScalarMultiplication< |
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MotionDerived, |
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typename MotionDerived::Scalar>::ReturnType |
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operator*(const typename MotionDerived::Scalar & alpha, const MotionBase<MotionDerived> & motion) |
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{ |
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return motion * alpha; |
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} |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_spatial_motion_base_hpp__ |
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