{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ " # Trapazoidal motion profile generation\n", " \n", " Generate a motion profile (sequence of positions and velocities from point A to point B) with a few constraints:\n", " - speed may not exceed a specified maximum\n", " - acceleration may not exceed a specified maximum\n", " - the path must a continuous function\n", " - integrating velocity must yield position " ] }, { "cell_type": "code", "execution_count": 1, "metadata": { "collapsed": false }, "outputs": [], "source": [ "from collections import namedtuple\n", "\n", "ProfileParams = namedtuple(\"ProfileParams\",\n", " [\"distance\", \"angle\", \"max_velocity\", \"max_acceleration\"])\n", "\n", "Waypoint = namedtuple(\"Waypoint\",\n", " [\"time\", \"linear_velocity\", \"linear_dist\",\n", " \"angular_velocity\", \"angular_dist\", \"done\"])\n", "\n", "def assert_near(a, b, e=0.01):\n", " assert abs(a - b) < abs(e), (a, b)" ] }, { "cell_type": "code", "execution_count": 2, "metadata": { "collapsed": false }, "outputs": [], "source": [ "import math\n", "\n", "def signum(x):\n", " return -1 if x < 0 else 1\n", "\n", "def gen_profile(params):\n", " dist, angle, v_max, a_max = params\n", " \"\"\"\n", " Generate a motion profile that should approach (dist, angle)\n", " without exceeding a maximum velocity or acceleration\n", " \"\"\"\n", " t_0 = 0.0\n", " dist_ramp = 0.5 * v_max * (v_max / a_max) * signum(dist) # upper bound on distance we could travel while accelerating\n", " if abs(2 * dist_ramp) < abs(dist):\n", " # the move is long enough to get up to speed\n", " t_1 = v_max / a_max\n", " dist_during_const_vel = dist - (2 * dist_ramp)\n", " t_2 = abs(dist_during_const_vel) / v_max + t_1\n", " t_3 = t_2 + t_1\n", " else:\n", " # the move is not long enough so speed up then slow down (triangular profile)\n", " t_1 = math.sqrt(abs(dist / a_max))\n", " t_2 = t_1\n", " t_3 = 2.0 * t_1\n", " \n", " def ret(t):\n", " \"\"\"\n", " Given an input time |t|:\n", " if t < t_0:\n", " we are pre move (somehow?). Return a zero goal\n", " if t_0 < t < t_1\n", " we are in the constant acceleration portion. Return an accelerating goal\n", " if t_1 < t < t_2\n", " we are in the constant velocity portion. Return a constant velocity goal\n", " if t_2 < t < t_3\n", " we are in constant decceleration portion. Return deccelerating goal\n", " if t_3 < t\n", " we are post move. Return the end goal\n", " \"\"\"\n", " \n", " if t < t_0:\n", " return Waypoint(t, 0, 0, 0, 0, False)\n", " elif t_0 <= t < t_1:\n", " velocity_now = a_max * t\n", " dist_now = 0.5 * t * velocity_now\n", " \n", " doneness = dist_now / dist * signum(dist) * signum(angle)\n", " angle_now = angle * doneness\n", " angle_vel_now = velocity_now * angle / dist * signum(dist) * signum(angle)\n", " return Waypoint(t,\n", " velocity_now * signum(dist),\n", " dist_now * signum(dist),\n", " angle_vel_now * signum(angle),\n", " angle_now * signum(angle),\n", " False)\n", " elif t_1 <= t < t_2:\n", " velocity_now = v_max\n", " time_in_phase = t - t_1\n", " dist_in_phase = time_in_phase * velocity_now\n", " dist_now = abs(dist_ramp) + dist_in_phase\n", " \n", " doneness = dist_now / dist * signum(dist) * signum(angle)\n", " angle_now = angle * doneness\n", " angle_vel_now = velocity_now * angle / dist * signum(dist) * signum(angle)\n", " return Waypoint(t,\n", " velocity_now * signum(dist),\n", " dist_now * signum(dist),\n", " angle_vel_now * signum(angle),\n", " angle_now * signum(angle),\n", " False)\n", " elif t_2 <= t < t_3:\n", " time_till_end = t_3 - t\n", " velocity_now = a_max * time_till_end\n", " dist_till_end = 0.5 * time_till_end * velocity_now\n", " dist_now = abs(dist) - dist_till_end\n", " \n", " doneness = dist_now / dist * signum(dist) * signum(angle)\n", " angle_now = angle * doneness\n", " angle_vel_now = velocity_now * angle / dist * signum(dist) * signum(angle)\n", " return Waypoint(t,\n", " velocity_now * signum(dist),\n", " dist_now * signum(dist),\n", " angle_vel_now * signum(angle),\n", " angle_now * signum(angle),\n", " False)\n", " elif t_3 <= t:\n", " return Waypoint(t, 0, dist, 0, angle, True)\n", " else:\n", " raise Exception(\"bamboozled again\")\n", " return ret" ] }, { "cell_type": "code", "execution_count": 3, "metadata": { "collapsed": false }, "outputs": [], "source": [ "%matplotlib inline\n", "\n", "import numpy as np\n", "import matplotlib.pyplot as plt\n", "import csv, os\n", "\n", "def graph_profile(points):\n", " times = [x.time for x in points]\n", " lin_vels = [x.linear_velocity for x in points]\n", " lin_dsts = [x.linear_dist for x in points]\n", " ang_vels = [x.angular_velocity for x in points]\n", " ang_dsts = [x.angular_dist for x in points]\n", " \n", " plt.subplot(2, 1, 1)\n", " plt.title('Linear and Angular velocity over time (trapazoidal)')\n", " plt.plot(times, lin_vels, '-', label=\"linear\")\n", " plt.plot(times, ang_vels, '-', label=\"angular\")\n", " plt.ylabel('velocity')\n", " plt.subplot(2, 1, 2)\n", " plt.title('Linear and Angular distance over time')\n", " plt.plot(times, lin_dsts, '-', label=\"linear\")\n", " plt.plot(times, ang_dsts, '-', label=\"angular\")\n", "\n", " plt.show()\n", " \n", "def assert_vel_integral(points):\n", " \"\"\"\n", " Assume constant timestep\n", " Assert that the integral of velocity is about equal to the distance at every step\n", " \"\"\"\n", " timestep = points[1].time - points[0].time\n", " dist_integral = 0.0\n", " angle_integral = 0.0\n", " prev = points[0]\n", " for point in points:\n", " dist_integral += (point.linear_velocity + prev.linear_velocity) / 2.0 * timestep\n", " angle_integral += (point.angular_velocity + prev.angular_velocity) / 2.0 * timestep\n", " assert_near(angle_integral, point.angular_dist)\n", " assert_near(dist_integral, point.linear_dist)\n", " prev = point\n", "\n", "def assert_dist_range(points, params):\n", " \"\"\"\n", " Assert that the beginning and end of the profile are as expected (does it get there ever?)\n", " \"\"\"\n", " assert points[0].linear_dist == 0\n", " assert points[0].angular_dist == 0\n", " assert points[-1].linear_dist == params.distance\n", " assert points[-1].angular_dist == params.angle\n", "\n", "def assert_v_a_constraints(points, params):\n", " \"\"\"\n", " Assert that at no point velocity exceeds maximum velocity\n", " and that at no point acceleration exceeds maximum acceleration\n", " \"\"\"\n", " prev = points[0]\n", " for point in points:\n", " assert(abs(point.linear_velocity) <= abs(params.max_velocity))\n", " assert(abs(point.linear_velocity - prev.linear_velocity) <= abs(params.max_acceleration))\n", " prev = point\n", " \n", "def test_gen_profile(params, timestep=0.05):\n", " \"\"\"\n", " run through a profile with the given arguments\n", " and assert that it's a properly formed profile\n", " \"\"\"\n", " generator = gen_profile(params)\n", " points = []\n", " time = 0\n", " while True:\n", " pt = generator(time)\n", " points.append(pt)\n", " if pt.done:\n", " break\n", " time += timestep\n", " \n", " graph_profile(points)\n", " assert_vel_integral(points)\n", " assert_dist_range(points, params)\n", " assert_v_a_constraints(points, params)" ] }, { "cell_type": "code", "execution_count": 4, "metadata": { "collapsed": false }, "outputs": [ { "data": { "image/png": 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mAw+q6jcJ4rwHvFMcYXHcAHwWGDExPi3B9DOKhQth5kyb1rqrz+1xHMcplPbt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\n2sxiZnZrj+03mFmVmTWZ2Toz0+WVRAZBdTXceiscfTQccQR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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "\"\"\"\n", "Most boring case: positive distance, positive angle,\n", "profile runs long enough to get up to speed for some time\n", "\"\"\"\n", "\n", "test_gen_profile(ProfileParams(91, 30, 10, 5))" ] }, { "cell_type": "code", "execution_count": 5, "metadata": { "collapsed": false }, "outputs": [ { "data": { "image/png": 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dWjVrZUK64ziOk8XUrV2XC9tdyJcXfcl757xHq4at6PN6H5rc34Sr3r6Kecvn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\n4Pak5pFAXZtL65LOSYYZPRo++1n41a9C6vEbb8Dtt8NBB8G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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "\"\"\"\n", "Negative distance, positive angle\n", "profile runs long enough to get up to speed for some time\n", "\"\"\"\n", "\n", "\n", "test_gen_profile(ProfileParams(-91, 30, 10, 5))" ] }, { "cell_type": "code", "execution_count": 6, "metadata": { "collapsed": false }, "outputs": [ { "data": { "image/png": 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N3lassJVIfZO3iieTGY7Pgf8Cv4nIMBHxyalSMGKEfYYMsdAtx3Ecp3zYfnvI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\niUGe69dDTU0oVV20CL761USpal5eulsqIjJyFDhEhtnevam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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "\"\"\"\n", "Positive distance, negative angle\n", "profile runs long enough to get up to speed for some time\n", "\"\"\"\n", "\n", "test_gen_profile(ProfileParams(91, -30, 10, 5))" ] }, { "cell_type": "code", "execution_count": 7, "metadata": { "collapsed": false }, "outputs": [ { "data": { "image/png": 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sc4a8PYS/H/l3Fl69kC7NupSoqybMzJkwebK91O60U6nsskwgqhq1hiIRkbpA\nUZ1by1R1S5C/HvAW8K6qXppC+S2BuW3btqV27doFfuvatStdu3ZNuu369dCoERx/PDz5ZFF7yj7v\nf/M+V798NXP+bw6XHHIJw/8ynD1r7ln6QhzHccoAy9Ys4/pXr+elJS9xYsMTufev95Zaz0gMVTj6\naNi40UZyVioT3QNGXl4eeXl5BdLWrl3LjBkzAFqp6rzilF8mjJJ0CHpI3gQ+AC7UFA4wZpTMnTuX\nli1bpr3PCRMsvuSDD6B167Q3Lzb5W/N56H8P0eeNPuRvzWfwnwdzZesrqVKpSumLcRzHyUF+/e1X\nhs8czrB3hrFnzT0Z9ddRnN709FLrGQnzzDNw5pnw+uvQvn2p7z7rzJs3j1atWoEbJQUJekimA8uB\nS4BtwRaq+l0h2xXLKNmyBQ45BPbYA958M7rZ+H7c8CN93+jLg/Me5I97/ZExHcdw9O+PjkaM4zhO\njvDi4he5/tXr+frnr+l1VC/6Htu3xINYk7F5MzRvbj3sL78ciYSsk02jpAx1GqXECcCBQHtgBfB/\nwLfB3xKjShUbIjxtGkyZUpJ7Kpy6Neoy/tTxvNftPapVrsYxjxzDJc9dwnfrktpjjuM45Zalq5dy\nypOn0OmpTjSu25hPenzCkPZDIjNIAMaPh2XLYMSIyCTkNOXKKFHVf6lq5bhPJVWtXNL77tgR2rWz\nwNctW0p6b4VzWP3DmN1tNg+c8gAvLnmRJvc1YfR7o9myNWJhjuM4pcCvv/1K/7f603xscz5e9TGT\nz57MK+e/QuO6jYveuARZuxYGDIBLL4UWLSKVkrOUK6MkSkRg5EhYuBAeLpGxPulRSSrRvVV3llyz\nhHNbnMv1r15Pqwda8c5X70QtzXEcp0RQVV5Y/ALNxjZj2Mxh3HTUTSy8eiGnHxRN7Eg8w4bZOjcD\nBkStJHdxoySLtGoF558P/fvDunVRqzHq1qjLuFPG8X7396leuTrHPnIsFz93sbt0HMcpVyxdvZRT\n8k6h81OdaVK3CZ9c9QmD/zyYGlVrRC0NsBnAR42Cnj2hfv2o1eQubpRkmSFDYPVquPvuqJUUpHW9\n1szuNpsHT32QKUum0Pi+xtz73r3u0nEcp0yz4bcN3P7W7TQf25xPVn2yzVXTqG6jqKUVoF8/2HVX\nc/E7yXGjJMs0aGCz840cCStXRq2mIJWkEt1admPxNYs5r8V53PDqDe7ScRynTKKqPL/oeZqPbc7w\nmcNzzlUmM+sgAAAgAElEQVQTZv58eOwxmwW8Vq2o1eQ2bpSUAH37QrVq5sbJRerWqMv9p9zP+93f\nZ6cqO7lLx3GcMsXnqz/nlLxTOG3iaTTdvWnOuWri6dULGjeGbt2iVpL7uFFSAtSpY111EybAggVR\nq0lO63qtmXXZLHfpOI5TJoh31Tx7zrO8fN7LOeeqCTN1Krz2mgW5Vq0atZrcx42SEqJHD3Pl9O4d\ntZLCibl0lly7hPMPPn+bS+ftL9+OWprjOA6w3VXTbEwzhs8czs1H3czCqxdyWtPTcs5VEyY/32JI\njjkGOneOWk3ZwI2SEqJ6dRg6FF58EaZPj1pN0fxu598x9uSxfND9A3ausjNtH23LRc9exMp1ORYY\n4zhOheLz1Z9z8pMnc9rE02i2RzM+7fEpg/48KGddNWEefxw++gjuuiu6mb7LGm6UlCBnnw2HHQY3\n3QRbt0atJjVa1WvFu5e9y4RTJ/DK56/Q5L4m3DP7HnfpOI5Tqmz4bQP93uxH87HNWfD9Ap475zmm\nnDeFP/zuD1FLS4kNG+C22+w50KZN1GrKDm6UlCAiZiHPmQMTJ0atJnUqSSUua3kZi69ZzPkHn8+N\nU2+k5fiWzPhyRtTSHMcp56gqzy16jmZjmjHy3ZHccvQtLLh6AZ2bds5pV008o0bBqlVw551RKylb\nuFFSwrRtC5062YicTZuiVpMeYZdOjao1OO7R47jw2Qv59pdvo5bmOE455LMfP6Pjkx05feLpNN+z\nOZ/0+ISB7QaWCVdNmFWrLLC1Rw9o2DBqNWULN0pKgeHDbTa/MWOiVpIZMZfOQ50e4tXPX6XJfU0Y\nNXuUu3Qcx8kKG37bwG1v3kaL+1uw6IdFPH/u87zU9aUy46qJZ9AgqFTJRmE66SGqGrWGyBGRlsDc\nuXPn0rJlyxLZx1VXmQtn6VIbMlxWWf3ravq92Y/759zPfrX3Y48ae0QtyXGcMs7XP3/NTxt/4paj\nb6H3Mb3ZuerOUUvKmCVLoHlzm927oszeOm/ePFq1agXQSlXnFaestI0SEZkOPAQ8raq/FmfnuUJp\nGCUrV8If/gBXXmlxJmWded/O45H/PcJvW3+LWorjOGWcGlVrcPVhV9Pwd2Xf19Gli8URLl4MO+0U\ntZrSIZtGSZUMtvkfcBcwWkQmAQ+p6uziiKgI7L23Wc1DhsDVV8MBB0StqHi03KclLfcpGQPOcRyn\nLDJzJkyebFPKVxSDJNukHVOiqjcA9YBLgT2BGSKyQERuEpG9si2wPNGzJ9StC7feGrUSx3EcJ5uo\n2nTyhx5qq8U7mZFRoKuqblHVyaraGdgXeBIYBKwQkedE5M/ZFFleqFkTBg6EvDzr3nMcx3HKB5Mn\nw6xZthhrJR9CkjHFqjoRORwYAPQEVgFDgR+Al0Qk0sgJEakmIh+KyFYR+WOUWsJccokFQfXqZZa1\n4ziOU7bZvNmWFOnQAdq3j1pN2SZto0RE9hSRniLyCfA2sAfQFdhfVfurajfgRODK7EpNmxHA10BO\nPfqrVLEhwtOmwZQpUatxHMdxisv48bBsGYwYEbWSsk8mPSVfA92AfwH7quqZqvqqFhzG8xHwQTYE\nZoKIdABOAG4Ccm4KwI4doV07C3zd4lN9OI7jlFnWroUBA6wXvEWLqNWUfTIxStqr6kGqOlJVv0+U\nQVV/VtV2xdSWEUGw7QPABUBODlkWMb/jwoXw8MNRq3Ecx3EyZdgwW+dm4MColZQPMjFKBojIbvGJ\nIrKriLyZBU3F5RFgrKr+L2ohhdGqlUVo9+8P69ZFrcZxHMdJlxUrbI2bnj2hfv2o1ZQPMjFKjgOq\nJUjfCTi2eHISIyJDg4DVZJ98EWksItcBuwDDY5uWhJ5sMWQIrF4Nd98dtRLHcRwnXfr1g113rTgz\nt5YGKU+eFhrBIkAzEdk79HNl4K/AN1nUFuYurAekMJYD7YAjgU1xq0nOEZEnVPXSwgq48cYbqV27\ndoG0rl270rVr1/QVp0CDBnDddebKueIKm2DNcRzHyX3mz7dJ0saMgVq1olZTeuTl5ZGXl1cgbe3a\ntVkrP+Vp5kVkK9tHsiTqgfgVuFZVI4uSEJF9gV1DSfWAqUAX4H1V/b8k25X4NPPJWLPGVpE86yyL\n4HYcx3FynxNPhC+/hE8+gapVo1YTLVFNM38AZowsAw4HwkGum4FVqppfHDHFRVW/Dn8XkfUEmpMZ\nJFFTp451Ad50E1x/PTRrFrUix3EcpzCmToXXXoNnn3WDJNukHFOiql+q6heqWklV5wTfY59vozZI\nCiGn5ilJRI8e5srp3TtqJY7jOE5h5OdbDMkxx0DnzlGrKX+k1FMiIp2AV1T1t+D/pKjqC1lRlgVU\n9Uss3iWnqV4dhg6Fc8+F6dPhuOOiVuQ4juMk4vHH4aOPYPZsm97ByS4pxZQE8SR7q+qq4P9kqKrm\nvBEQT5QxJTFUoU0b+/vee752guM4Tq6xYQM0bgxHHw0TJ0atJnfIZkxJSo++wGWzKvR/sk+ZM0hy\nBRG46y5bqM8bu+M4Tu4xahSsWgV33hm1kvKLv4/nEG3bQqdO0LcvbNoUtRrHcRwnxqpVNntrjx42\nYtIpGTJZkO9eEbkmQfo1IjIqO7IqLsOH2yyBY8ZErcRxHMeJMWiQudX79YtaSfkmk56SLsA7CdLf\nBc4snhynaVPo3h0GD7Y5TBzHcZxoWbIExo2zXuy6daNWU77JxCipC/ySIP1nYPfiyXHA1sPZvNmm\noXccx3GipU8fqFfPZuB2SpZMjJLPgQ4J0jtgE6s5xWTvvW0c/OjRsHx51Gocx3EqLjNnwuTJ1nu9\n005Rqyn/ZGKU/AMYISIDROS44DMQGAb8M7vyKi49e1o34a23Rq3EcRynYqIKvXrBoYfaqu5OyZO2\nURKsbdMTuAx4K/hcAFylqg9mV17FpWZNGDgQ8vJsmLDjOI5TukyeDLNm2aKpPndU6ZBRNavq/aq6\nL7AXsKuqHqiqj2VXmnPJJdC8uVnqKa6b6DiO42SBzZtt6Y8OHaB9+6jVVBwytv1EZA+gCXCIiHiA\nawlQpYoNEZ42DaZMiVqN4zhOxWH8eFi2DEaMiFpJxSKTeUpqisjDwLfAjODzrYg8JCI1si2wotOx\nI7RrZ4GvW7ZErcZxHKf8s3YtDBhgvdUtWkStpmKRaaDrccCpwG7Bp3OQdnf2pDlg08+PHAkLF8LD\nD0etxnEcp/wzbJitczNwYNRKKh6ZTp52maq+oqo/B5+Xge745GklQqtWFvndvz+sWxe1GsdxnPLL\nihW2xk3PnlC/ftRqKh6ZGCU1gO8SpK8KfnNKgCFDYPVquNv7ohzHcUqMfv1g113NZe6UPpkYJbOA\nASKybRoZEdkZ6B/85pQADRrYbIIjR8LKlVGrcRzHKX/Mnw+PPQZ33AG1akWtpmKSiVFyPXA08LWI\nvCEibwArgKOC35wSom9fqFbN3DiO4zhOdunVCxo1gm7dolZScclk8rRPgEZAH+DD4NMbaKSqn2ZX\nXmaIyMkiMltENojIahGZHLWmbFCnjnUtTpgACxZErcZxHKf8MHUqvPaaTcNQtWrUaiouVTLZSFU3\nADk5e6uIdAEewAylN4GqQLkZ1NWjh62J07s3vPBC1Gocx3HKPvn5FkNyzDHQuXPUaio2KRklItIp\n1QJVNbJHpYhUBkYBPVX10dBPi6JRlH2qV4ehQ+Hcc2H6dDjuuKgVOY7jlG0efxw++ghmz7ZpGJzo\nSLWn5LkU8ylQOUMt2aAlUA9AROYBe2PupV654lrKBmefbaNwbroJ3nvP12RwHMfJlA0b4Lbb7L7a\npk3UapyUHmeqWinFT5QGCcCBgGAjgQYCJwNrgGkisluUwrKJCNx1ly3UN3Fi1Gocx3HKLqNGwapV\ncOedUStxoBhr3wCEhwWXJCIyVES2FvLJF5HGbD+ewar6nKr+D7gU68E5qzS0lhZt20KnTjYiZ9Om\nqNU4juOUPVatstlbe/SAhg2jVuNABoGuQdxGX+BKYC8Raayqy0RkEPCFqj6UbZHAXcAjReRZRuC6\nARbGElV1s4gsA35f1E5uvPFGateuXSCta9eudO3aNT21pcTw4bYuw5gx8Pe/R63GcRynbDFokLm/\n+/WLWknZIS8vj7y8vAJpa9euzVr5oqrpbSByO3AxcDs2AqdFYJScA9ygqkdmTV2aiEgtbGbZHqr6\nSJBWFZtH5TZVnZBku5bA3Llz59KyZctS05sNrrrKXDhLl9qQYcdxHKdoliyB5s1ttmyfvbV4zJs3\nj1atWgG0UtV5xSkrE/fNRcDlqvoEkB9Knw80LY6Y4qKqvwDjsBlnTwhcOvdj7puno9RWUvTvD5s3\n24XlOI7jpEafPlCvns2U7eQOmRgl9YHPk5SVC1PO3AQ8BTwGvA/sB/xZVbPXv5RD7L23WfmjR8Py\n5VGrcRzHyX1mzoTJk2HwYNipVCIjnVTJxChZABybIP1M4H/Fk1N8VDVfVW9W1X1UdTdVPUlVFxa9\nZdmlZ0+oWxduvTVqJY7jOLmNqk0nf+ihtvq6k1tkMqPrQOBfIlIfM2rOEJEmmFvnlGyKc1KjZk0Y\nOBC6d7eA19ato1bkOI6Tm0yeDLNmweuv+xxPuUgma988D5wK/AVYjxkpBwGnqupr2ZXnpMoll1jQ\nVq9e9ibgOI7jFGTzZluio0MHaN8+ajVOItI2SkRkAlBZVU9Q1T1VtYaqHqOq/y0BfU6KVKliQ4Sn\nTYMpU6JW4ziOk3uMHw/LlsGIEVErcZKRSefVHsCrIrJCREaIyJ+yLcrJjI4doV07C3zdsiVqNY7j\nOLnD2rUwYID1KrcoN0u0lj8ycd90BvYBBgGHA/NE5FMR6Ssi+2dXnpMOIjByJCxcCA8/HLUax3Gc\n3GHYMFvnZuDAqJU4hZFRmI+qrlHVB1T1eKAB8ChwIYmHCjulSKtWFlHevz+sWxe1GsdxnOhZscLW\nuOnZE+rXj1qNUxjFXfumKtAaaAPsD3yXBU1OMRkyBFavtpWEHcdxKjr9+kGtWj5za1kgI6NERNqJ\nyIOYEfIo8DM2HHjf7ElzMqVBA5ulcORIWLkyajWO4zjRMX8+PPYY3HGHGSZObpPJ6JtvgJeB3YHL\ngb1U9W+q+oamu5COU2L07QvVqpkbx3Ecp6LSqxc0amTzODm5TyY9JXcA+6jq6ar6H1XdlGVNThao\nU8e6LCdMgAULolbjOI5T+kydCq+9ZtMlVM2FRVCcIslk9M2DqvpTSYhxskuPHubK6d07aiWO4zil\nS36+xZAccwx07hy1GidVfJLdckz16jB0KLz4IkyfHrUax3Gc0uPxx+Gjj+Cuu2y6BKds4EZJOefs\ns+Gww+Cmm2Dr1qjVOI7jlDwbNsBtt8FZZ0GbNlGrcdLBjZJyjoi9KcyZAxMnRq3GcRyn5Bk1Clat\nsp5ip2zhRkkFoG1b6NTJRuRs8rBkx3HKMatW2eytPXpAw4ZRq3HSxY2SCsLw4Tar4ZgxUStxHMcp\nOQYNgkqVbPShU/Zwo6SC0LSpjdMfPBjWrIlajeM4TvZZsgTGjbNe4bp1o1bjZIIbJRWI/v1h82ab\nht5xHKe80acP7LMPXHtt1EqcTCl3RomINBKR50TkexFZKyJvi8jxUevKBfbe28btjx4Ny5dHrcZx\nHCd7zJwJkyfbS9fOO0etxsmUcmeUAFOAysDxQEtgPvCSiOwZpahcoWdP69a89daolTiO42QHVZtO\n/tBDbZV0p+xSrowSEakL/AEYpqqfqupSoDdQA2gRqbgcoWZNGDgQ8vJsmLDjOE5ZZ/JkmDXLFiGt\nVK6eahWPcnX6VPVHYBFwkYjUEJEqwFXYasZzIxWXQ1xyCTRvbm8WvoSi4zhlmc2bbSmNDh2gffuo\n1TjFpVwZJQEnYG6bX4BfgeuBv6rq2khV5RBVqtgQ4WnTYMqUqNU4juNkzvjxsGyZ3dOcso9oGXhV\nFpGhwC2FZFHgIFVdIiLPYzElg4GNQDegM9BaVb9LUn5LYG7btm2pXbt2gd+6du1K165ds3AUuYWq\nvVWsXGnrQ1SpErUix3Gc9Fi71iZI69wZHnooajUVg7y8PPLy8gqkrV27lhkzZgC0UtV5xSm/rBgl\ndYGiRp0vA44DXgV2U9X1oe2XABNUdUSS8lsCc+fOnUvLli2zpDr3mTsXWre2N43LL49ajeM4Tnr0\n6QP33AOffQb160etpuIyb948WrVqBVkwSsrE+3EQK/JjUflEZGes1yR+6bmtlE9XVbFo1coi1fv3\nh/POg112iVqR4zhOaqxYYWvc3HSTGyTlifL2oJ4F/AQ8JiJ/DOYsGQnsjw0VduIYMgRWr4a7745a\nieM4Tur06we1atncS075oVwZJUGPyl+BXYA3gA+Ao4BOqvpxlNpylQYN4LrrbCjdypVRq3Ecxyma\n+fPhscfgjjvMMHHKD+XKKAFQ1Xmq2kFV91DV3VT1aFX9b9S6cpm+faFaNXPjOI7j5Dq9ekGjRrae\nl1O+KHdGiZM+depYV+iECbBgQdRqHMdxkjN1Krz2mg0Brlo1ajVOtnGjxAGgRw9z5fTuHbUSx3Gc\nxOTnWwzJMcfYMGCn/OFGiQNA9eowdCi8+CJMnx61GsdxnB15/HGbV+muu0AkajVOSeBGibONs8+G\nww6zIXZb4wdVO47jRMiGDXDbbXDWWdCmTdRqnJLCjRJnGyL2BjJnDkycGLUax3Gc7YwaBatWWY+u\nU35xo8QpQNu20KmTjcjZtClqNY7jOGaMDBtmsW8NG0atxilJ3ChxdmD4cJstccyYqJU4juPAoEFQ\nqZKNEnTKN26UODvQtKmN/x88GNasiVqN4zgVmSVLYNw4672tW9QKaE6Zx40SJyH9+8PmzTYNveM4\nTlT06QP77APXXhu1Eqc0cKPEScjee9t8AKNHw/LlUatxHKciMnMmTJ5sL0c77xy1Gqc0cKPESUrP\nntZdeuutUStxHKeioWrTyR96qK1m7lQM3ChxklKzJgwcCHl5NkzYcRyntJg8GWbNssVCK/mTqsLg\np9oplEsugebN7Y1FNWo1juNUBDZvtiUvOnSA9u2jVuOUJm6UOIVSpYoNEZ42DaZMiVqN4zgVgfHj\nYdkyu/c4FQs3Spwi6dgR2rWzwNctW6JW4zhOeWbtWhgwwHppDz44ajVOaeNGiVMkIubXXbgQHn44\najWO45Rnhg2zdW4GDoxaiRMFbpQ4KdGqlUXA9+8P69ZZWl5eXrSiyiheb+njdZYZZa3eVqywNW56\n9oT69aPRUNbqrLxRpowSEekrIjNFZL2IrE6SZz8RmRLkWSkiI0SkTB1nrjJkCKxeDXffbd/94s0M\nr7f08TrLjLJWb/36Qa1a5iqOirJWZ+WNsvawrgpMAu5P9GNgfLwMVAGOAC4GLgG8IzALNGgA111n\nrpyVK6NW4zhOeWL+fHjsMbjjDjNMnIpJmTJKVHWAqt4DfJwky0lAU+B8Vf1YVacC/YCrRaRKaeks\nz/TtC9WqmRvHcRwnW/TqBY0a2bpbTsWlTBklKXAE8LGq/hBKmwrUBppHI6l8UaeOdbFOmAC//BK1\nGsdxygNTp8Jrr9kQ4KpVo1bjREl56z3YG/guLu270G/zk2y3E8DChQtLSFb54sgjbW2cDz9cy7Bh\n86KWU+b4/HOvt3TxOsuMslJvEybAIYfAfvvBvIjlrl27lnlRiyhjhJ6dOxW3LNGIp+kUkaHALYVk\nUeAgVV0S2uZi4J+q+ru4ssYDv1fVDqG0nYH1QIfAnZNIw3nAE5kfheM4juNUeM5X1SeLU0Au9JTc\nBTxSRJ5lKZa1EjgsLm2v0G/JmAqcD3wBbExxX47jOI7jWA/J/tiztFhEbpSo6o/Aj1kqbhbQV0R2\nD8WVnAisBRYUoaFY1p3jOI7jVGDezUYhkRsl6SAi+wG/AxoAlUXkT8FPn6vqeuC/mPHxuIjcAuwD\nDALuU9XfotDsOI7jOE5qRB5Tkg4i8ghwUYKf2qnqjCDPftg8JsdjsSSPAn1UdWspyXQcx3EcJwPK\nlFHiOI7jOE75pbzNU+I4juM4ThmlwhslInK1iCwXkV9FZLaIxI/ecUKISB8ReV9EfhaR70TkWRFp\nHLWusoSI9BaRrSLyj6i15DoiUk9EHheRH0Rkg4jMF5GWUevKVUSkkogMEpFlQX19LiK3Ra0r1xCR\nY0XkBRH5JrgWOyXIM1BE/i+ox9dE5A9RaM0lCqs3EakiIsNF5CMRWRfk+ZeI7JPOPiq0USIi5wB3\nA/2BQ7HJ1aaKyO6RCsttjgVGA22Av2DrEf03mA8GABFpEDTYRPE/FZrA6L2cYCK/oJ5uj1ZV9hCR\n44JjapuFsnYDZgKbsCUkDgJ6AmuK2O4OEdkal/aFiDxcXE1lgN7AFUAPbMmNm4GbReSaSFVliSye\nx5rAh1g97RDDEAyUuAa7Vg/H4hOniki1LOy7LFNYvdUADgEGYM/T04EmwPPp7KBMjb4pAW4Exqvq\nYwAiciVwMvA3YESUwnKYicC/gNaqOk9ELgFWAa2Ad0L5PFgpDhHZBfg30A1bkymTMppiI8w2Anur\n6s/ZU5g1snXuewNfqWq3UNqXKe4/XsPWdHWJSAfgcFUdkM52EXMk8Lyqvhp8/yqYHPLwCDWlhYgc\niU3l8M8E7Tvt85iIoH5eDfYnCbJcDwxS1ZeCPBdhs4Ofhi0KWyEprN6Cc3VSOC0wht8TkX1V9etU\n9lFhe0pEpCr2IH0jlqYW9fs6dmE7yQnfFHYLvq/e9qPql8DOwOOlrCvXGQO8qKpvFqOMC4Bvg//P\nLL6knOZUYI6ITApchfNEpFuRWyWmCfbWmw4dgbLWi/Uu0F5EGgEE0yYcja2eXlY4Cqv33RL8lsl5\nTAsROQBbliT8bPgZeA9/NqRL7PnwU6obVOSekt2ByiReK6dJ6cspewSW8ijgHVUtMDmdqm6ORlVq\niMjOqvprKe7vXKxrs3UxizoPm+jvAGwW4vLskjgQuApzsQ7B3vbvFZFNqpqWwZvhPEWJ3qBznWHA\nrsAiEcnHXjxvVdWnopVVEBGpoaobkv2cbLtSmm9qb+xBmujZsHcp7L9cICLVsfb4pKquS3W7CttT\n4mSFsUAz4NxwYqKYEhF5VER+CQIXnwv+XyUiI+O7AcW4QUQ+CQKQV4rIuCDGIJyvk4i8FARUbYwF\n9YlIpbh804Lgq5YiMkNE1mMPuYSIyMEi8oiILA32/62IPCQi8Wst3REcZ8Pg+NaIyE8i8rCI7BTK\nty9mvM0HvhGRn4EWwC6pVfO2co7BJg58CnOjtRWRegnyfREEox0tIu8Fx7BURC5MkPePIjJdLJhv\nhYjcKiKXBsf1+1C+hLEvqfj4ReSYoLfjy+A8fSUi/wjXUZAv1kYOFJGXsamrN6hqP1Wdr6oPAg8C\nV8aV/UFwjJ+JSMK36HidYkF5/UVkSbDtDyLytoi0D35/BPObx459a/CQj21/k4jMlO0BuHNEpEuC\n/W4VkXtFpLOIfBwc/yciclKCvPWCdhZrz8tEZKyIVAnlqS0io4I63Bgc882ha+gczHA9F/PrXwz0\nip17EekR7H9jsJ/7RKR2qPzRwTnYYWE1EckTC/yUUFqH4JpaJxb8/pKINCvsvAbt/99JzlN/trvO\nv4jVe6wtJjiPFwd5jg7qeVVwHY4LznFtEXlMRFYHn+GJ9gucGtTLr8BLmGG0a5K8ThEEbfZpzLjr\nkc62Fbmn5Acgn+1r48TYi8LXyXGMW4AjgGNV9duiMmONsxK2NsJsLGDxL8Dfgc+B8aG8D2CT5D0M\n3IP1ClwLHCIiR6tq7OFwCfAL9ia9DvgzMBCoRcFFHhXrGXsZe6A/xo5vQWFOCPb5MNYWmmPBg80o\n2H0bc2NNwtZn6g20xGJGvgP6BL+3AvYELmR7vEMtoHshGhJxPrBUVeeKyKfAr0BX7PjDKNAIuyk8\nhE0g+DfgERGZo6oLwR6CwFvYdTAE2BBo30zqfvtU8p2FufPGYktKHI6dz/rYQzRcVhWsjbwd5P0o\nrqyFwBmB/hZB3lVYd39V4I7ge1E6B2Dn6wHgA+wB1Bo7f28A44B6WBs9nx3f3q/DAvj+DVTDjIBJ\nInKKqr4Sl/fYQPNYrL1eB/xHRH6vqmuCY9knpGM8sDionzOxAMKfxYLJZ2AzVY8DVmCujqHYG/zf\nsQf6UFV9Otj3pyKyP9BHRBoG9fTfQEsT7IHROnRdTQzSTgaeiR1AsO9TgIcDNzeBofMoFmNwc6Dz\nKuBtETlUVb8K1X34vPbE2loingEaB/V5PduXIPk+VFYiRmNuzdux+1J3zGVwFBaH1Adzx90kIh+r\natgoEuxeMgG73xwS1MEzwXHE7jd7Af9Lsn8nIGSQ7Af8OZ1eEgBUtcJ+sIfjPaHvgl3ovaLWlqsf\n7M1rK/awPjBJngZBnotCaY9gD7++cXnnAu+Hvh8TbHtOXL4TgvRzQ2nVE+z7fuzGXzWUFnvwdkvx\nGBOVe05QxtGhtP6Bpgfi8j4DrAp9bxPk+zdm2DQD3geWBmXenoKmKtiNeUAo7d/AvAR5lwflHhVK\n2x0zYkaE0u4FtgAHh9J2Y7vB/vtQ+tZEOoN9PRz6flywbdsi6vOWYN/7Jmgjg4PvTwDT47b7J+Yu\nBHgWGxVRP/R7E+A3IL8Inf8DXiiizkfHl5PsmDBX8EfAa3HpW4N63z+UdnCQ3iOU9q9A96GF6LkN\n+Jm46w64EzMk6wfn7vK43/sAn2HB0S/H/dYjqPOLQ2krgElx+c4Kt39sFMZq4P64fHtgo6PGJTuv\nKbT1nvHtr5DzGLsfTYnLNzMo475QWiXgK+DNUNoxmKEzIm77HwndbzBj8VfgrFSOoSJ8gvrpFJdW\nJbgu5wO/y6Tciu6++QfQXUQuEhvVMA6z9h+NVFVucxFmvN0KrBeRvYLPDt29SRgf9/1tLHYgxpnY\nG84bIlI39sEeIuuAdrGMqrop9r+I7BLkewc7h03j9rOJFM9rXLnVg3Lfw447fo4MTXJMdcVG2xBo\nVk9bPTQAACAASURBVMygWKAWf7MeM4pTjVvoiK37lBdKywP+JCIHJci/QFW3LZCltkDlYgrW9UnA\nLFX9OJTvJ8wYyBpx9VkjqM9Z2EPi0ASbjAv+/hM4QmxunIZio0i6AfeJuehOBJ5V1W9C+1pMaiuV\n/gQ0lwznnog7pt2AOth5TzSHymuq+kVo248JjItgewE6Y0ZSYW/iZwb7WBt3bbyBPQzaAi8Ct4lI\nRzE36unYKMNPsJ6kUXFlPogZ8SeH0p4GOopIjVDaOcA3qjoz+H4CUBt4Kk6LYtdKO3ZkXIK0bKDs\nGFv1XvB3W7raUiNzgANFpKZYEPBVwc9rRaStmOu2LmaQAlwsIgdjvatfk+bw1vJGrN5E5JAg6cDg\n+35BD8kz2DVwAVA19Hyomuo+KrL7BlWdJDYnyUCsa+5D4CRV/b7wLSs0sZvNA3Hpl2IXbmFsVFuR\nOcwa7IYeoxH2tp6sC37P2JfAdz0k0LRrXL7aBTflG1XdUoS+WLl1MDfAOeH9JSkX7O0rTGwejTqY\nIRXrOVoaV9ZqUucC7C3xt6AbHsxl9CvmXoifICteU0xXuK4bkHhlz8/T0FUkYutRDcJG04T3n6g+\nt2gwdFBV5wQP1WHYEOrlwPWq+pSI7IW5hBJpXQx0KELW7cBzwBIR+QRzQTweNtCKOKZTMMP8EKB6\n6KdEa2ytSJAWPhd7YO330yJ22wjrZUl0f4pdG9dgdT0m+P5/WO/hRqATsKTARqq/icgyrC3EmAjc\nEOR/SkRqYvV5f5wWwXohE2mJH8q77byWEPHtfW3wN77u12L13hrTHnspGBzKE3YRHY8ZOG8DHTTH\nA/hLgVi9xdzQMdfxvzCX6KlB+odBugTf22GuxyKp0EYJgKqOxfyrTmpcir19HKaq89LcNr/oLFTC\n4jHOI3EvwvdgAX9YI/8JeyAvw268rbCHWHwvYDojbZ7G/NIjsG7IdWyPh0nUu5jsuAobRfBnEakF\nXF2UmCDfKdjD77P4orC6ijdK0taUIZUL+zHo0XgdMzSHYgbDeszV8C92rM9N4S+q+jIlMJxVVd8O\njLvOWI/LZcCNInKFqhYVuHss9sY8DXvT/hZzvfwNi/GJJ1vnohLwGjA8ybZL1FZL/3vwCWu+JUH+\nhKjqeyLyBXA2FoPVCQs6Ds/PUQlrexeQOD4r/gVgU4I82SRZHSdKF1WdDlQSkVcwwzLp/SZVQ7Ui\nEKu3QrIU2/tS4Y0SJ+dYCrQH3g13kSfgeOyNp3OoS5lQL0JGBF3xfwb6qeqQUHpxppj+ErtYG1LQ\nqIh3MSWjC2aQXMn2wL8YTYDBInJU2F2Thq5Ex9UoQdoa4uaNCLpki5pC+uCgvAtVdZtbSET+kp7U\nHfgeMzQTaU2pXgNX1b+AfwWuirexHrKYUZIsqPKMYN8nhXvfROSylJTvyPdYz0KLIvItBXZR1US9\nE0URm3SuCfBFLDE4hwdgxk6YScB1gQvyHOALVX0/TotgD+3izLuTiGJPjpYGqd5vnFKioseUOLnH\nJMxYTjT8tLJsH76Yj90UK4V+r0aaw88SEHuzir82biTzm+UrmNbr4tJvSLHM84Flqvqgqk4Of7Du\n0/VBnnSZChwpIn+MJYgNez4vQd6lWMxCmCsooqeE5PWZ6rEnJIgPmAqcJjbkGoAgvubEoraXuOHd\nanNmfE5BV8z6IG/80NB8to8oiZW3P9brkjZqEYLPYcNSC1vXZxJ2vnY4vmDoa2Hn4nWsNye+DXbD\nXEcvxaVPxOriEiz2aGLc71MxQ6qvhIYsh/QUZ6mO9cHfRJOnZZtU7zdOKeE9JU4mCHCZ2DTc8cQH\n0qWFqs4QkfFA7yCY6r/YzbQxFuh3HTAZi4VYAzwmIvcGm19AMd+yVPUXEZmBrRdSDfgGe8jtT4au\nD1WdLyJ5QI+gJ+Zd7O2sYVFlBsN225GkXlV1s4hMBc4Sket0+/DFVBiB1dnrIjIaexh0w96q61Cw\nLicA40TkP9hb9Z+wekkU3xA+pkWYQXN3YDz8jPX8ZOOB0x/4K/COiIzFAjmvwYI6/1jYhsACEZmG\njf5aDRyGta97Q3nmYscyOqjjfFWdCEzB3CNTReRJLB6tB9YLVtR+k9EXCx6dISIPYEOf6wWajlab\nUXQk5kp5SUQeDfTVDPZ5BtZGE8YpqeoPIjIUuF1EXgVewHqUruL/27vz+Kiq+//jr082yM5OEkhA\nxQVwI3HBtiqKim0RtFo1gFvVatXWUtta21rXurba9qu2j69LUdS49WsriqB1+blviVKruAJhCUQW\nGQgBEpLz++NMkkmYBEKWO5O8n4/HfUzmzpnhzCXJvHPu557jrwR7qEX7983sS3zNVgotplYP/5z8\nCF9HVmZmj+C/FwrwRbOvsX0A2lkNx/2G8OvW4ouAWzsFu8unJNvx+0a6S9CXFWmLrw1/CV5dG1se\nvmiuju0vCQ5Feb2r8EVwLfefi/9lWYWvG/kAf+nj0Ig24/GX/lXhC9puwM8r0fKS1JeABe14j7nA\nE/hTJevwV7kMDb/ulS36XkeLS98ijlHkJbUp+KtJvsJ/MD8ZPlbNXjNKX2aG20xoo82Z4TaTw/cX\n49c/adnuJeCFFvv2x9dGVOOLBa/AzyFSBwyOaGfh41uJv1rjGfyw/yLg3oh20S4J3hv/l3Uo/Py/\n4k9V7NT3yA7+r74V/j7ZjA8F5zf8v7Ro17KfV+CvAFob/v75CH+ZcmJEmwR8GFyFr5Goi3jsbHzg\nqg4/98xW/t06IqYdaK0/4X3Dw8dgVfh1P8fPm5EU0SYNX5T5afg9V+JPO/00su9tHK8fhfu7BV8E\n+z9AVittrwv3/5M2Xu8IfM3POnyo/Qw/N864iDa78v/66/D3Yy0RP0tR/h8bftYKo/xeifaz2drv\noR3+vtHWPZuF/0NERAAwsz/hP9wznH5BiEg36rE1JWZ2sZktNj+F9Fvml4wXkQi2/VTvA/GndF5V\nIBGR7tYja0rM7DR8AeAP8UNyM/Hnf/dyfhIpEfHeDNdWLMRPVf4D/BT41wXZKRHpnXrk6Rszewt4\n2zl3afh+w/Txf3HO3dLmk0V6ETO7Hl/QNxxf2FqKn3l2Vy47FRHpkB4XSsLX3VcDJzvnnorYPwvI\nds6dFFTfREREpHU9saZkEH7uhJazDFbih6dFREQkBvXImpL2Chf3TcLPdLgl2N6IiIjElb74eXLm\nu+3XN2uXnhhKGpZdH9pi/1D89f/RTKKTV0YVERHpZaYDD3fkBXpcKHF+1ctS/IyZT0FjoetEms/W\nGGkJwIMPPsjo0dFWgd859fUQCsHatbBuXdNtZSVUVDRtGzc2PadvXxiWX0vBHpsZNqKaocM3MzC3\nirT+G9m8rYoNNRvYuHUjG2s2Nt5W1VQ1fh3aEiK0NUTL2iAzI7tPNv1S+9G/b//GbUDqAAanD2ZQ\n2iAGpQ1icNpgBqQNICmh/d8KM2fO5Pbbb9/l49Vb6bi1n47ZrtFxaz8ds/ZbuHAhM2bMgIh1lXZV\njwslYbcBs8LhpOGS4DRgVivttwCMHj2awsK2lp7oHOvXw5Ilflu8GD79FD7+GOY+7kMMQFIS7LUX\njBkD48bB5CIoKoJBUVaUqHf1fL35a1ZXr2b1ptWsqV7T+PXq6qb7izYt4s1Nb1JZWUldxGzkhjE4\nfTB5mXnkZuSSm5Hrv87MJT8rn4LsAgqyC+jXtx8+33nZ2dndcrx6Gh239tMx2zU6bu2nY9YhHS5/\n6JGhxDn3WHhBqGvxp20+wK/oGW2djm7Xrx8ceKDfIjkHq1f7gNKwffQR3HKLH4EBKCjw4eSgg/yt\nDyoJDEwbyMC0gewzaMcLpNbV17G6ejUrN65kZdVKKjZWNPv6v6v/y/OLnmdl1Uq21TetQJ6RktEs\npHy29jPu/+D+xvvDs4bTJ6lPG/+yiIhI63pkKAFwzt0F3BV0P9rDDIYM8duECU376+th0SIoLYX3\n3vO3kUFl773h8MPhW9/yt7vt5l+rNYkJieRk5JCTkcM4xrXart7VU1lVydLQUpaGlrJsw7LGr8tW\nlrH468Wc/a+zmz1naPpQCrILGNFvBAVZ/nZE9ojGff379m822iIiItKgx4aSniQhAUaN8ttpp/l9\nDUHlnXfgtdfg1Vfhnnv8Y7m5TSHlyCNhv/3aDimt/ruWQG5mLrmZuRw6/NDtHp/y9BQe/fWjLN+w\nvDGsNGzloXIWrFrA0tBSttZtbXxORkqGDygNQSUisIzIHkFuZu4u1beIiEj802//OBUZVKZN8/u+\n/hpef70ppFx2GdTWQk4OHHMMHHccHHusv98ZiouLSU1OZc+Be7LnwD2jtql39azetJryULkPK+vL\nG79+e8XbPP7x46zb3LTaeqIlMjxreLOgEhleCrILSE9J75w3EJDi4uKguxB3dMx2jY5b++mYBavH\nzei6K8ysECgtLS3tUQVOmzfDG2/Ac8/B88/D++/7/fvv7wPKccf5EZW+fdt+na62cevGZiMsDbfl\n6/3XKzauoN7VN7YflDZou9GWEf2avh6UNkiniEREuklZWRlFRUUARc65so68lkIJPTeUtPTVV/Dv\nfzeFlIoKSE+HSZPgxBPhu9+FAQOC7uX2autqqdhY0SyotAwvm7dtbmyfmpS6XV1LZHgZljmM5MTk\nAN+RiEjPoVDSyXpLKInknL+yZ84c+Ne/4O23ITHRj5xMneq33XYLupc7xznH2s1rWw0sS0NLWV3d\ndOFVgiWQl5nXFFQi6loa9mX2yQzwHYmIxA+Fkk7WG0NJSxUVTQHlhRegpsYXyJ56Kpx+uq9diWfV\ntdUsCy1rdbRl+YblzS5/7te3X9NpoSijLUPSh5BgPXHpKBGR9lEo6WQKJc1t3Ajz58OTT/qQsmmT\nnxfl9NP91T/Dhwfdw85XV1/HyqqVzQJL+fpylm5oKs6tqqlqbN8nsQ/52fmtjrbkZ+VrzhYR6RUU\nSjqZQknrqqvhmWfgkUf87dat/hRPcTGccgoMHhx0D7uHc471W9Y3u4qo5WjLqqrmSyvlZuS2OWdL\ndp9sFeSKSNxTKOlkCiU7JxTyIyePPOKLZcEXyZ55JkyZAqmpwfYvaFu2bWH5huXNR1siQsyyDcuo\nqatpbJ+Zkhn1sueGfTkZOSQmJAb4jkREdkyhpJMplLTfmjXw+OMweza8+SZkZfmRkxkz/IRtCSq3\n2E7DDLnRRlsa9q3fsr6xfVJCUuO0/tFGWwqyC0hN7uVJUEQCp1DSyRRKOuaLL+DBB31AWbTIr88z\nfTqccQZ0YNHlXmnD1g3bTTIXGWIqNlbgaPqZHZw2uM3RlgGpA3SKSES6lEJJJ1Mo6RzO+VGT2bPh\n0Uf9DLNFRT6cFBf7NX2kY2rqalixYUXUGXIbbrdsa1qoMz05vXFUpeUkcwXZBQzLGqZp/UWkQxRK\nOplCSefbuhXmzvUB5emn/Vo9kyb5gDJlCqSlBd3Dnsk5x+rq1VELcRtCzNrNaxvbJ1oiw7KGtbke\nUbxP6y8iXaszQ4n+RJIu0acPnHSS39atg8ce8wGluBgyM339yRlnqP6ks5kZQ9KHMCR9CAcPOzhq\nm6qaqsY5W1qOtry69FVWbFhBnatrbD8gdUCrU/oXZBcwJH2IThGJSKfQSAkaKelOX37ZVH/y5ZeQ\nn99UfzJmTNC9E4Bt9dv8tP5tjLZsqt3U2L5vUt9mp4hahpfhWcNJSUwJ8B2JSFfS6ZtOplDS/ZyD\nt96CBx5oqj8pLGyqPxk6NOgeSmucc6zbvG67oBIZXr7a9FVje8PIzcxtc4bcrD5ZAb4jEekIhZJO\nplASrGj1J8cd5wPK1KmqP4lHm2s3s2zDslbXI1q2YVmzaf2z+2Q3DyotZsjNycjRtP4iMapX1pSY\n2QjgSuBoIAdYATwE/N45VxvRLh/4GzAB2Ag8APzKOVff3X2WndNa/cm0ab7+5OSTfUCZMEH1J/Ei\nNTmVvQbuxV4D94r6eF19HauqVm23cGJ5qJxXyl+hPFTOhq0bGtunJKa0OWdLfnY+fZP6dtfbE5Eu\nEjehBNgHMOB84EtgX+AeIA34JYCZJQBzgQpgPJAHzAZqgN92f5elvQYMgAsv9Ftk/cmsWX7NnYb6\nk7Fjg+6pdERigr/qZ1jWMA7LPyxqm/Vb1ked0v+TNZ8w/4v5rKxa2az90PShbY629O/bXwW5IjEu\nrk/fmNnPgQudc6PC978NPAXkOufWhPddANwEDHbObWvldXT6JoY11J80zH+ybh2MG9dUf5KTE3QP\nJQhbt21l+YblUUdbloaWsjS0lK11WxvbZ6RktHrZc0F2AXmZeZrWX2QXqKYkzMyuB45zzh0Svn8N\ncIJzrjCizUhgETDOObeglddRKIkTNTXN60+2bWuqPznxRNWfSJN6V89Xm75qdUr/8vXlfL3l68b2\niZbI8Kzhrc6QW5BdQFqyvsFEWuqVNSUtmdko4BLgZxG7c4DKFk0rIx6LGkokfqSk+PBx4on+ip2G\n+pPp0yEjo3n9SaL+6O3VEiyBnIwccjJyOGTYIVHbbNy6cburiJZuWMqirxfx0pKXqNhYQX1EOdqg\ntEFtztkyKG2QThGJdEDgocTMbgQub6OJA0Y75z6LeM4w4FngUefcfV3cRYlR/fvDBRf4bdGipvqT\n+++HYcOa6k/23TfonkqsyuyTydghYxk7JHqRUm1dLSs2rog62jLvy3mUry9n87bNje3TktPanLNl\nWOYwkhOTu+vticSdwE/fmNlAYOAOmi1qqAcxszzgJeAN59w5LV6rQ6dvjjjiCLKzs5s9VlxcTHFx\ncbvekwTHOXj7bR9OHnnE158ceKAPJ9Omqf5EOpdzjrWb1zafpyU82tKwb031msb2CZZAXmZeq3O2\nFGQXkNknM8B3JNK2kpISSkpKmu0LhUK88sor0NtqSsIjJC8C7wJnuBadN7PjgTk0L3T9IXAzMCTy\n0uEWz1NNSQ9UUwPPPusDypw5vv7k2GOb6k/StaSLdIPq2urGwttoCygu37C82Zwt/fv23y6oRI62\nDE0fqlNEElN6ZU1JeITkZWAx/hLgIQ0/mM65hrqR54CPgdlmdjmQC1wH3NFaIJGeKyXFT742daqv\nP3n8cR9QZszw9Sff+54PKEcdpfoT6TppyWnsM2gf9hm0T9TH6+rrWFm1Mupoy4uLX6Q8VE5VTVVj\n+z6JfcjPzo962fOI7BHkZ+drWn+JW3EzUmJmZwEt60cMcM65xIh2+cBf8ZOnbQJmAVe0NXmaRkp6\nl8WLm+pPPv/c159Mm+YDyn77Bd07keacc6zfsr7VKf2Xhpa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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "\"\"\"\n", "Negative distance, negative angle\n", "profile runs long enough to get up to speed for some time\n", "\"\"\"\n", "\n", "test_gen_profile(ProfileParams(-91, -30, 10, 5))" ] }, { "cell_type": "code", "execution_count": 8, "metadata": { "collapsed": false }, "outputs": [ { "data": { "image/png": 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6tQH3dJx6cY8OJxfcU8RprmRkUxFWuHxaVbfGV7uMU9e0RR3XvEzdCs4Xs03T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\ncaI/xfHwwz5gnHuuAoWIdB99vIj0Ih9/7AdfTpjgx0089BC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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "\"\"\"\n", "Positive distance, positive angle\n", "profile does not run long enough to get up to speed (triangular profile)\n", "\"\"\"\n", "\n", "test_gen_profile(ProfileParams(91, 30, 100, 5))" ] }, { "cell_type": "code", "execution_count": 9, "metadata": { "collapsed": false }, "outputs": [ { "data": { "image/png": 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KPLgSSDci60HdDvKIrI7jOBEhIrRt2pa2Tduye6fdi+1PFvk45n6cSuTj2ChK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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "\"\"\"\n", "Negative distance, positive angle\n", "profile does not run long enough to get up to speed (triangular profile)\n", "\"\"\"\n", "\n", "test_gen_profile(ProfileParams(-91, 30, 100, 5))" ] }, { "cell_type": "code", "execution_count": 10, "metadata": { "collapsed": false }, "outputs": [ { "data": { "image/png": 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n7tGuHfzlL+ZBk5dnM1xjxli4+P32szw+q1dHLaXjRINoBltOiUgRcHigbJRV\nbxFwpaqOTbI9B8gbMGAAWVlZJbYNGzaMYcPcrtWpOGvWmF3H+PGWr6VVK/OsGDnSZj98bq7+snKl\nGR2PH28GrO3amcvv6afXj4SCTuaSm5tLbm5uibKCggImT54M0E9V8ytyvDqvhIhID2A2cJiqvpSk\nTg6Ql5eXR05OTvUI69Qbpk2zh8tjj8Hvv1sEzpEjLdhVy5ZRS+fUNr7/HiZMsCitixaZZ9TIkZZk\nsE2bqKVznPLJz8+nX79+kIYSknETwCLSUkR2EJG+QdEmwfeewbbRIrKriPQSkUHAC8APwGvRSe3U\ndf780zwidtsNttvOllhOOw2mTzeD0xEjXAFxErPllvCvfxXn+unUyQLQde1qfejDD93V16m7ZJwS\nAuwEfAHkYXFCbgXygeuAQmB7YBLwPTAW+AwYoKqefsqpUlTh449tCr1rV4vnsdFGxVlZR4+GrbaK\nWkonU2jc2HLUxLIeX365xYbZc0/Yemu49VabKXGcukRGL8dUFb4c41SExYttqWX8ePj2W/N2OP10\nOOUUSybnOFVFUZG5+o4bZ5FZVS1n0MiRsP/+0LBh1BI6TuWWYzIuWJnjREFRkRmXjhtnxqYiFvfh\njjtg0CD3bHGqhwYNrH8NGmT2RU88AWPHwuDBpvCedhqceqopwo6TiVR46BSR90RkuIh48GinzjNn\nDlx3HWRnw4EH2szH6NEwbx489ZS9jboC4tQE7dvDeefB11/DlClw0EG2RBPrm888Yx5ZjpNJpDN8\nfgH8G/hVRMaKyG5VLJPjRMrateY+OXiwxfW45RY44AD45BOYOhUuuAA6dIhaSqe+IgK77AIPPmhh\n4sePh+XL4dhjLQDe3/4G33wTtZSOkxoVVkJU9QKgG3Aq0AmYLCLfisjFItK5qgV0nJpi+nS4+GIb\nyI85xpLJjR1rA/3YsRaC22N7OLWJVq1sOebDD22WbsQIs1fadlvYfXdz/V2+PGopHSc5aU0kq+p6\nVX1OVQ8DegBPAjcAv4jICyIysCqFdJzqYsUKeOgh2GMP80B4+GHLVDttGnz0kRmctm4dtZSOUz59\n+sC//21Lhc88YzFGRo40z60zzrAlHPdDcGoblVrNFpFdMNfYi4BFwM3Ab8BLIvLvyovnOFWPKnz6\nqbnUdu1qikarVpbBdt48C6e+zTZRS+k46dGkiQXGe/VVSxdw8cXw+usWw2b77c2Y+rffopbScYx0\nDFM7ichFDZOQAAAgAElEQVRFIjINeB/oCAwDeqvqNao6EjgAOLtqRXWcyvHHH3DXXbDDDra08r//\nwYUXWiKx116zJZimTaOW0nGqjo03hmuusT7+6qs2W3LJJZYk8fjjzeOrqChqKZ36TDouunOBGcAE\n4GFVXZygztdYkDDHiZRwnIXnn7fvQ4eah4vHWXDqCw0bmgfNgQeWjHOz//5mfH3aaR7nxomGdJZj\nBqlqH1W9JYkCgqouU9V9Kymb46TNvHlw442w2WaWqfTLL+373Lnm+XLQQa6AOPWTjh3NgyZm9zRw\noIWNj2V4fu458xBznJogHSXkOhFpG18oIm1E5O0qkKlMRGQvEXlRROaJSJGIDE1Q53oRmS8iK0Xk\nDRHZrLrlcqJn3ToLJHbIITYNfdNNsM8+xZ4DF11keTkcxzFPr/79bUZkwQJ44AFbsjzqKJsR+fvf\n4bvvopbSqeuko4TsDTRJUN4M2Kty4qRES+BLYBSWO6YEInIpcC5wJrALsAJ4TUQSyezUAX74AS69\n1AbOI46w6eb77rOBdcIEc1V011rHSU7r1uZJE4uFc8IJdu/06QN77QWPPGKeZI5T1aSshIjI9iKy\nPSDA1rHvwWdH4HRgXnUJGkNVX1XVq1V1UiBLPOcDN6jqS6o6DRiOxTU5vLplc2qOlSttXXvvvS0L\n6dixcNxx8NVX5op45pmeBt1x0mHbbeH222H+fIsK3KyZ2Yt07Qpnnw2ff+6uvk7VURHD1C+xmQcF\nEi27rAL+WhVCpYuIZANdgLdiZaq6TESmAP2BiVHJ5lQN+flmZPrEE7BsmeXUyM217KPNmkUtnePU\nHZo2NcX+uONg5kyLpzNhgi3b7LCDubafeKJljnacdKnIckw2sCk2+7BL8D326Q60UdUJVS5hxeiC\nKUkL48oXBtucDGTJErjnHsjJgX79YNIk+OtfYcYMczE8/nhXQBynOsnOhuuvh9mz4eWXYdNNzbi1\nWzdTRN55x119nfRIeSZEVWcH/3q6LqfaUYX33jOjuWefNaPTQw+FG24wN8NGnv/ZcWqchg3Ng2bI\nEFi4EB591GYmn3wSNtnEZkdOOcWUE8dJBdEUFvcCD5T/qeq6RN4oYVT1xaoSrjxEpAg4PHbOYDlm\nBtBXVb8O1XsX+EJVL0xynBwgb8CAAWRlZZXYNmzYMIYNG1ZNLXDiWbDAjODGj4effoLNNzeDueHD\noYvPZTlOrUPVPNDGjbOow2vWwMEHm0IyZAg0bhy1hE5VkpubS25ubomygoICJk+eDNBPVfMrcrxU\nlZAioIuqLgr+T4aqao1FX4hXQoKy+cAtqnp78L0NthwzXFWfSXKcHCAvLy+PnJycGpDcCbN+vUUv\nHTfOpnobN7bopSNHmmW+e7Y4TmZQUGA2WuPHmwFrly42M3LaafZC4dRN8vPz6devH6ShhKS0tKKq\nDVR1Uej/ZJ9qV0BEpKWI7CAifYOiTYLvsVh/dwBXicihIrId8CgW5XVSdcvmVIwZM+DKKy2mx9Ch\nFkhszBibDXn0URgwwBUQx8kksrLMg+azz+CLLyyHzf33wxZbWMyexx+HVauiltKpTWSifcdOwBdA\nHmaEeiuQjyXSQ1VHA2OAB4ApQHNgsKp6DMBawOrVtn48cKBFM73nHjjySPN6ycuDc86BtqVC4TmO\nk2n07WsvFfPnmzdbgwZw8snm6nvuuaakOE46CezuEpFzE5SfKyJ3VI1YyVHV92KzLnGf00J1rlXV\nbqraQlUPVNWfqlsup2y++so8WmLW9EVFFudjwQK4+27YcceoJXQcpzpo3tyCn739Nvz4I4waZaHh\nY95u990HS5dGLaUTFenMhBwFfJCg/CPg6MqJ49QlCgospsDOO9tb0bPPwllnWYTTd9+Fk06yAcpx\nnPrBZptZOoU5c+DFF6FHj+KXk+HDYfJkD4RW30hHCWkP/JmgfBnQoXLiOJmOKnzwQXGExVGj7O8L\nL9jAc/PNbqDmOPWdRo3M5X7SJPjlF7j6akumt/fesNVWluX611+jltKpCdJRQn4CBicoHwz8XDlx\nnExl4UK45ZbiXBPvvw9XXVX8xnPYYe6q5zhOabp2hcsusxnSd96xmdNrrrFZkiOOMI+59eujltKp\nLtIJ+XQbcLeIdKQ4fPsg4CLggqoSzKn9FBbC66+ba+2LL1ogo6OOsjXevfc2QzTHcZxUaNDAPGj2\n2ccMWp980saWQw6B7t2LXX032SRiQZ0qpcKPiSA0+0VYwrp3gs9JwDmqOrZqxXNqI7Nm2fRp794W\njOinn4oTXj3xBOy7rysgjuOkT7t28Je/mAdNXp658I8ZY+Hi99vPYpGsXh21lE5VkNajQlXvU9Ue\nQGcsZ8wmqvpo1Yrm1CbWrIGnn4YDDrA3kTvusKiIn30GX35pLneeyMpxnKomJwfuvbc4mvK6deZt\n060bnH8+fP11+cdwai9pv68GyzFbAn1FxA1S6yjTpsGFF9p06PHHW6Chhx6yAeH++2GnnTygmOM4\n1U+LFuZB89578N13cMYZ8NRTltF3l13gwQcts7aTWaQTJ6SliEwAFgCTg88CERkvIi2qWkCn5vnz\nT1uL3W032G47W2I57TSYPt0MTkeMgJYto5bScZz6ypZbwr/+ZVGWn38eOnWyQIddu9pY9eGH7uqb\nKaQzE3IbsDdwKNA2+BwWlN1adaI5NYkqfPyx5Wvp2tXieWy0EfznP3ajjx5trnOO4zi1hcaN4fDD\n4aWXYPZsuPxyi0G0556w9dZw662waFHUUjplkW6wstNV9X+quiz4vAKcQS0JViYi14hIUdzn26jl\nqo389psZlW67Ley+O7z5Jlx6qRmfvvKKhVRv0iRqKR3HccqmRw8LC/DTTzaO9e0LV1xh5UcfDa++\nah59Tu0iHRfdFlhW2ngWBdtqC9Mw1+GYxYJ7mgcUFdlNOm6cBRETMX/8O+6AQYPcs8VxnMylQQMb\nxwYNgt9/t+XksWNh8GDo2dOWa049FXr1ilpSB9KbCfkYuE5EmsUKRKQ5cE2wrbawXlUXq+qi4PNH\n1AJFzZw5cN115t1y4IHw7be2zDJvnhl47b+/KyCO49Qd2reH884zD5opU+Cgg2yJJjvbxsBnnjHP\nPyc60nnknA/sAcwVkbdE5C3gF2D3YFttYXMRmSciM0TkcRHpGbVAUbB2reVsGTzY4nrccospG598\nAlOnwgUXQAf3bXIcpw4jUuxBs2ABjB8Py5fDscfacs3f/gbffBO1lPWTdIKVTQM2By4Hvgw+lwGb\nq2pt+Rk/AU4BDgTOBrKBySJSb3w6pk+Hiy+2G+yYYyyZ3NixdgOOHQu77uqutY7j1D9atbLlmA8/\ntNngESMso3fMLm7CBFNQnJpBtB74MYlIFjAbuFBVH0qwPQfIy8vLIycnp8blqypWrICJE83W46OP\nbCpy+HA4/XTYZpuopXMcx6mdrF1rqSfGjbNUFC1bWlykkSNtBsVf2MomPz+ffv36AfRT1fyK7JuS\nEiIiQ1M9oKq+WBEBagoR+RR4Q1WvTLAtB8gbMGAAWVlZJbYNGzaMYcOG1ZCUFUfVopaOH2+hjJcv\nt+WWkSMt1HHTplFL6DiOkznMmWMBGSdMsP+33dZe5E46yZeuAXJzc8nNzS1RVlBQwOTJk6EalZCi\nFI+nqtqwIgLUBCLSCpgDXK2qdyfYnnEzIX/8AY8/bpr71Klu9e04jlOVFBaaF+H48SW9CEeOhIED\n3Yg/TGVmQlJy0VXVjLrcInIL8F9sCaY7cB2wDsgta7/aTlGRpboeN86iBBYVwWGHmYfL/vtbFlvH\ncRyn8jRsaB40Bx4Iixeb3ci4cTbW9u5d/NLXo0fUkmY2lVIuwm66tYwewJPAd8BTwGJgN1X9PVKp\n0mTePLjxRthsM8sg+eWX9n3uXHMxO+ggV0Acx3Gqi44diz1oPvrIZkL+7/9s1vngg+G55yyxnlNx\n0skd01BE/iEi84DlIrJJUH6DiJxe5RKmgaoOU9UeqtpcVTdW1RNUdWbUclWEdetsCvCQQ2DjjeGm\nm2CffYotui+6yPIlOI7jODWDCPTvb0s0v/4KDzxgAdGOOspmRC65BL7/PmopM4t0ZkKuxNxfLwHW\nhsqnASOrQKZ6zQ8/WNj0nj1t/XHxYrjvPnOtnTDBXMjcUttxHCdaWrc2+5BYzKUTTjDlZKutYK+9\n4JFHzGPRKZt0lJDhwJmq+gQQjsT/FeApztJg5Upbb9x7b8sOOXYsHHccfPWVRfk780xo0yZqKR3H\ncZxEbLut5eCaP9+iTzdrBqecAt26wdlnw+efe1bfZKSjhHQHfkpyrMaVE6d+kZ8Po0ZZ1trhwy0j\nZG6udeQ774Ttt49aQsdxHCdVmja1F8g33oCff4bzz7cMvzvvDDvuCGPGmGejU0w6Ssi3wF4Jyo8G\nvqicOHWfJUvgnnsgJwf69YNJk+Cvf4UZM8wd7PjjTYt2HMdxMpfsbLj+epg9G15+GTbd1Ixbu3WD\nE080T8eiVINf1GHSyaJ7PfCIiHTHlJgjRWRLbJnmkKoUrq6gCpMnm3vXs8+a0emhh8INN5j7V6N0\nfgXHcRyn1tOwIQwZYp+FC+HRR+1Z8OSTlkz09NOLl27qI+nkjpkEHArsB6zAlJI+wKGq+kbVipfZ\nLFhgblxbbGGeLVOmWBbbuXMtzsfBB7sC4jiOU1/o3Bn+/nf47jt4/30zYP3nP80RYehQmxmvb66+\n6bjojgMaqur+qtpJVVuo6p6q+no1yJdxrF8P//0vHH64dazrrjOXrvfeM9etSy6BLl2iltJxHMeJ\nChHYc094+GF7Wb3nHvt7+OEWkuHyy+HHH6OWsmZIxyakI/CqiPwiIqNFZIeqFioTmTEDrrzSOtDQ\nofDLL2aEtGCBTb8NGOCutY7jOE5JsrLMg+azz+CLL+Doo+H++4tn0B9/HFatilrK6iOd5ZjDgK7A\nDcAuQL6IfCMiV4hI76oVr3azerWt6w0caNFM77kHjjzSvF7y8uCcc6Bt26ildBzHcTKBvn3t5XX+\nfHjiCctPc/LJ5kF57rmmpNQ10grbrqpLVPVBVd0H6AU8DJxMYtfdOsdXX5lHS8zKWdXifCxYAHff\nba5YjuM4jpMOzZtb8LO337ZlmVGjLDR8zKvyvvtg6dKopawaKps7pjGwE7Ar0BtYWAUyVQki8hcR\nmSkiq0TkExHZuTLHKyiwEL0772za6rPPwllnWYTTd96xNM/Nm1eV9I7jOI5js+w33QRz5sCLL1p4\n+NhL8PDh5nmZyYHQ0lJCRGRfERmLKR0PA8sw99xakU9QRI4DbgWuAXbEorm+JiIdKnIcVfjgA3Of\n6tq1OLDYpEnWIW6+GTbfvOrldxzHcZwwjRpZaIdJk8zm8OqrLZne3ntbqPjRoy2fTaaRjnfMPOAV\noANwJtBZVU9T1bdUa40+diHwgKo+qqrfAWcDK4HTUtl54UK45Rbo08dcqN5/H666qlgTHTrUops6\njuM4Tk3TtStcdlnxTPzOO8M119gsyRFHWHC09eujljI10pkJuRboqqpHqOqzqrqmimWqFMESUT/g\nrVhZoBy9CfQva98PPyzOhviPf9jaW2xN7ooroHv36pXdcRzHcVKlQYNiD5pYuo+ZMy37eu/e9vL8\n7be1e7lGas/kRdUgIl2BeUB/VZ0SKv8XMEBVSykiIpID5NHnCrK7781Jh2Qz6oRedOnYpOYEdxzH\ncZxKUlSkvDtlCfflzuTlj2axqtE8WnZcTOdNF3HD0HM4YWDfKj9nfn4+/fr1A+inqvkV2dfjdYZZ\neRMz59zEDffCDfdCs8bN6LVHL3YdvCvZbbPJbptN77a9yW6XTffW3WnYoGHUEjuO4zj1jBVrVzBz\n6UxmLpnJrKWz7P/g+8ylM1m2Zhm0Bw6FxtKUhkWdWLisI7+tqHz2vNzcXHJzc0uUFRQUpH28ujgT\n0hiz/zhKVV8MlT8MZKnqEQn2yQHypnw6hY6bdSzxY4b//3V5sdVP4waN2ThrY7LbZW9QULLbBUpK\n22w6teyEeHQyx3Ecp4KsLVzL7KWzmbk0UDLinkeLVy7eULdJwyYbnjuxvxueS+2yad+8fbU/i3wm\nJISqrhORPGAQ8CKA2C8wCLirrH0bNWxkP167bMguvX3VulXMLphd3CGCv3kL8nj222dZsnrJhrot\nGrco7hChThGbSWnbzKOYOY7j1EcKiwqZ9+e8hArGzKUzmbdsHopNEDSQBvRs05Psdtls3XFrDt78\n4BLPlK6tu9JAKhVtI1LqnBIScBvwcKCMfIp5y7TA3InTpnnj5mzVYSu26rBVwu0FqwuKp8ZCHeud\nWe8w4csJrFy3ckPdts3altRYQzMpvdv2pkXjFpUR1XEcx4kIVWXRikUJnwczl8xkTsEc1hUVZ6rr\n0qrLhpfWvTbeq8RMRs82PWncsO66Y9ZJJURVJwYxQa4HOgNfAgeq6uKy96wcWc2y2KHLDuzQpXQ6\nHVVl8crFJTXf4O+k7ycxe+nsEp2yc8vOpRSU+tIpHcdxajsFqwtKKhghRWPW0lklXjrbNWu34SXz\n8K0OLzGm92rbq16/dNZJJQRAVe8F7o1ajhgiQqeWnejUshO7dN+l1PbCokLm/zk/4RrgB3M+YO6y\nuSWm53q06ZFwJqUuTM85juNEzap1q5LOZMxcOpOlq4vjpoeX3wf2HljipTG7bTZZzbIibEntps4q\nIZlGwwYN6ZnVk55ZPRnQa0Cp7WsL1zKnYM6GGyB2c0xfPJ1XfnyFRSsWbajbpGETemX1SjqTUhOG\nSo7jOLWZdYXr+GXZLwlnMmYumcnCFcVZSMKOCDt124ljtj6mxJjasUVHH1PTxJWQDKFJwyZsttFm\nbLbRZgm3r1i7ooTWHvt/yrwpPDXtKQrWFLtQtWrSKqHRbOxv66ata6pZjuM41UKRFrHgzwUJFYxZ\nS2fxy7JfKNIiAAShe5vuZLfNZov2W3DgpgeWGBO7te7mIRmqCVdC6ggtm7Rkm07bsE2nbRJuX7Jq\nSan1y1kFs3jj5zeYuXQmq9ev3lC3ffP2G7x44hWVXm170axRs5pqluM4TkJUld9X/V5qJiP2AjZ7\n6WzWFBYH9O7YouOGcax/j/6l7OyaNmoaYWvqL66E1BPaNW9Hu+btyOmaU2qbqrJwxcKE05L5C/KZ\nUzCH9UXFiQi6te6W1Ce9R5seNGrg3cpxnMrz55o/E748xb4vX7t8Q902TdtsGIfi3Vh7t+1NyyYt\nI2yJkwx/WjiICF1adaFLqy7071k6vc76ovXMWzYv4bTmu7PeZf6f8zcYzTaUhhvWTntn9S611NOl\nVRdfO3UcB4DV61dvCMqVKPrn76t+31C3WaNmJdxYh+8wvERog3bN2vnYkoG4EuKUS6MGjejVthe9\n2vZin977lNq+Zv2ahEHcvl70NZO+n5R0IEk0k+IDiePUHdYXrWfusrmllkpi3+f/OX9D3fALzA6d\nd+DwLQ8vMZPhLzB1E1dCnErTtFFTtmi/BVu03yLh9j/X/JnQ1e2DOR/w2NePJZ1STaSo+JSq49Qe\nVJVfl/+aNLz4L8t+SbiUm90um4HZA0vMZPhSbv3Ef3Gn2mndtDXbdd6O7TpvV2qbqvLHqj8SBv15\n+ceXmbV0FmsL126oHzYuC4fBjxnNNmnomY8dp6pQVZasXlJyqSQuKFe8UXvsftyp604lXibcqN1J\nhCshTqSICO1btKd9i/bs1G2nUttjbnaJBsBP5n6S1M0ukaLimY8dpzTx7v0JM7IGtGrSasP9FXNj\nDb8IuHu/U1HqnBIiIrOAjUNFClyuqqOjkcipDA2kAd3bdKd7m+7ssfEepbaHAw6Fjdp+/P1HXp/x\numc+duo98YEOU83I2r9Hf07Y7oQSS6Ie6NCpauqcEoIpHVcBY4HY3fJndOI41Unjho3ZpN0mbNJu\nk4Tb40Mvx/6vSObjmKLimY+d2kg45UNFMrJu03EbDtn8kBIzGZ7ywalp6qISArC8upPVOZlB88bN\n6dOxD3069km4PVESqlkFsyqU+diTUDnVSSz5ZbKZjEQZWWN9s75lZHUyj7qqhFwmIlcDc4AngdtV\ntTBimZxaSFazLPp26UvfLn1LbUs2+M9aOsszHztVSjoZWbPbZnPEVkeUmMno3bY3zRs3j7AljlMx\n6qIScieQD/wB7A78H9AFuDhKoZzMI5z5eNceu5baXtY0uGc+dsKUlZF11tJZpZYFN7ixekZWp44j\nqhq1DOUiIjcDl5ZRRYE+qvpDgn1PAR4AWqnquvjtQZ0cIG/AgAFkZZW8wYcNG8awYcPSFd2px5Rl\nEDhr6SzPfFyHSJaRNaZ4xBtI92rbK2nAPs/I6tRmcnNzyc3NLVFWUFDA5MmTAfqpan5FjpcpSkh7\noH051X5W1fXxhSKyNTAV2EpVf0xy/BwgLy8vj5yc0rlVHKc6qKhrpGc+jo5kGVljAbriXcV7tOmR\nNAmkZ2R16hr5+fn069cP0lBCMmI5RlV/B34vt2JidgSKgEXlVXScmqSszMeqytLVSxPaCbz+8+sJ\ng0R55uP0SZSRNezyHZ+RtVPLThtmMnbrvlsJpXDjrI09aJ7jpEhGKCGpIiK7AbsC72BuubsDtwGP\nqWpBlLI5TkUQkbQzH+fNz2NOwRwKQ7bYnvm4dEbW+Fkoz8jqODVPXRt51gDHA9cATYGZwK3A7VEK\n5ThVTSqZj2OJw+Izk74z652kicMSKSqZkjgsnJE1UR6TVDOyZrfNpl3zdhG2xHHqD3VKCVHVL4DS\nI7Lj1DMaNWhE77a96d22d8LtyR7YXy38ihe+eyHpAzs+THdNZj4uS7GqSEbW7HbZdG7ZOSMUK8ep\n69QpJcRxnNRo1qgZW3bYki07bJlwe7Kli/fnvM+jXz9aLZmPYxlZkxnrppqRNbttNt3bdK8XS0yO\nk+n4Xeo4TilaN23N9p23Z/vO25falsiIM6aopJL5uHub7qwtXMvytctZuHxhhTOyxow/3djWcTIf\nV0Icx6kQIkKHFh3o0KIDO3ffudT2stxZP5n7CfP/nE+zRs1o1aQVHVp0KJGRNTyb4m7HjlP3cSXE\ncZwqJZz5eM+N94xaHMdxajEeJ9pxHMdxnEhwJcRxHMdxnEhwJcRxHMdxnEhwJcRxHMdxnEhwJaSO\nEp/lMJOpS20Bb09tpi61Bbw9tZm61JbKkFFKiIhcISIfisgKEfkjSZ2eIvJyUOdXERktIhnVzqqg\nLnXwutQW8PbUZupSW8DbU5upS22pDJn2cG4MTATuS7QxUDZewVyPdwNGAKcA19eQfI7jOI7jpEhG\nKSGqep2q3glMTVLlQGAr4ERVnaqqrwH/AP4iIh4TxXEcx3FqERmlhKTAbsBUVf0tVPYakAVsE41I\njuM4juMkoq7NDnQBFsaVLQxt+yrJfs0Apk+fXk1i1TwFBQXk5+dHLUaVUJfaAt6e2kxdagt4e2oz\ndaktoWdnhRM6iapWrTQVFUDkZuDSMqoo0EdVfwjtMwK4XVU3ijvWA8DGqjo4VNYcWAEMDpZnEslw\nAvBE+q1wHMdxnHrPiar6ZEV2qA0zIf8GHiqnzs8pHutXID6jVufQtmS8BpwIzAJWl1HPcRzHcZyS\nNAN6Y8/SChG5EqKqvwO/V9HhPgauEJEOIbuQA4AC4NtyZKiQ9uY4juM4zgY+SmenyJWQiiAiPYGN\ngF5AQxHZIdj0k6quAF7HlI3HRORSoCtwA3C3qq6LQmbHcRzHcRITuU1IRRCRh4DhCTbtq6qTgzo9\nsTgi+2C2IA8Dl6tqUQ2J6TiO4zhOCmSUEuI4juM4Tt2hrsUJcRzHcRwnQ6j3SoiI/EVEZorIKhH5\nRETivWsyBhHZS0ReFJF5IlIkIkOjlildRORyEflURJaJyEIReV5EtoharnQRkbNF5CsRKQg+H4nI\nQVHLVRWIyGVBf7stalnSQUSuCeQPf5Iastd2RKSbiDwmIr+JyMqg3+VELVc6BGNz/G9TJCJjopYt\nHUSkgYjcICI/B7/NTyJyVdRypYuItBKRO0RkVtCeD0Rkp4oco14rISJyHHArcA2wIxbM7DUR6RCp\nYOnTEvgSGIXFV4kEEekVDBSJ7HdSZS9gDLArsB+WN+j1IO5LJvILFg8nB+gHvA1MCq7T1ZFKVgkC\npf1MgkCAIrJ30KYBEcp0rYgUxZXNEpEJZew2DXPn7xJ89qxGEasNEWkLfAiswdJY9AEuApZEKVcl\n2Ini36QLsCgonxiZRJXjMuAsbIzeCrgEuEREzo1UqvQZDwzCQlxsC7wBvCkiXVM9QEZ5x1QDFwIP\nqOqjYG+rwMHAacDoKAVLB1V9FXgVQESkOs4RBIp7CNhJVcsK91cpJUhVh8Sd9xRsAOoHfFCZY0eB\nqr4cV3SViJwDtKvIcURkK8wDbDXQRVWXVZGIFUZEWgGPAyOxHE0xojY00wQyFCUoC7NeVReHC0Rk\nMLCLql5XxfJVJ5cBc1R1ZKhsdlTCpIOI9MdCK9wehE8Ib2sO/Kmq70ciXOXpD0wKxmqAOUGwzF0i\nlCktRKQZcCRwqKp+GBRfJyKHAucAKb1c1duZEBFpjD3Q3oqVqVnpvol1FCc5ZT5kVHU20Bx4rArP\n2TY47x9VeMxICKZkjwdapLH7ScCC4P+jq06qtLgH+K+qvh2xHKmwJTZjk4zNg2XMGSLyeOBlN4QU\nB9JaxKHA5yIyMVjGzBeRkeXuVbvYHbvubcOFwZi9Frg5CqGqiI+AQSKyOUAQZmIPLPt7ptEIaIjN\nuoVZRQVmEuutEgJ0wC5golwzXWpenLqFqq7VKnK9CmZ17gA+UNUqWauPYllHRLYVkT+xm/Ze4Ig0\nDnMCFljvFWwKNBICJaovcHk1nycdRa0UqrpOVQuTbP4EOAVbvjgbyAYmY0uAmcYm2Fvo99hswn3A\nXSJycqRSxVHO75psFvcILBnpw1UuUM3xf8DTwHcishbIA+5Q1aeiFaviqOpyLEDoP0Ska/BydRL2\nEpUGHDoAACAASURBVJ/yckx9VkKcaiKRTYiIPCwifwZGcy8E/y8SkVvil47EuEBEponIKizeywDi\n3mRFZKiIvBS8wa6OGXmJSIO4eu+KyNcikiMik0VkBXBjGfJvJyIPBW/Fq0RkgYiMF5H4XEXXBu3c\nNGjfEhFZKiITgqnKcN0m2LLFmuCzGFvKSBkR2RML1PcUNpANEJFuCerNEjNQ3kNEpgRtmJHoQSQi\n24vIe4FR2S8icqWInBq0a+NQvQ22KyLSA1MKTwR+LMfWAhHZM3gznx38TnNE5LYE1yjWRzYRkVdE\nZFl51yg49mdBG38UkYSzHRJnEyIijcQMUn8AXgAewB7YRdgMSDeC/ibFxpCFof0vFpEPpdj483MR\nOSrBeYtE5C4ROUxEpgbtnyYiByao2y3oZ7H+/LOI3CsijUJ1ssQMAecEdX4UkUtC91ADIE9V/6Gq\nX6nqWGAsplwhIqOC868OznO3iGSFjj8m+A1KJSITkVwRmR++X0VkcHBPLRczIn9JRLaO2y/l31VE\nrqF4KXxW7LoHffE0YD1wU6j+iKDOHsF1XhTch/cHv3GWiDwqIn8En38lOKdIaLwRkV+D/dvG160C\njsNeJI7H7BBHAH9PdG9mCCdhSuM8bIn4XOwlKeW4XPXZJuQ3oJDi3DIxOlN2nhknPRQbIF/D3jwv\nwgxO/wb8hD0EYjyIBaWbQLEdSEPgERHZI/RGewrwJ2ZcvBwYCFwPtKZkUkTFZr5ewR7gj1J6BizM\n/tjb8ASsL2yDGZNtTcmluthMz0Qsv9FlmOHpyOD44VmC8djg8wT29jAQqKh3zInADFXNE5FvsGnP\nYVj7wyiwOfBMcN6HsQH8IRH5XFWngz30gHew++BGYGUg+1rKXnLrB3QE8rHZglOC8gHAXxPUPwZb\nnrsXS9GwS1CvOzYoh+VuhPWR97E+sjKZECKybVB3ETZ93xi4lmLjxTDx7bkO+70eBD4D2mBGkDmq\n+paI/ERxPowTKf12fh4wCXuYNsEeKhNF5BBV/V9c3b2wtfN7sf56HvCsiGysqkuCtnQNyfEANpPR\nHVtyawEsE5u9m4y9Zd6PGTvvji1PdMHupQVAfDrw6cCRInJtcJ1eD2TZEjOQ3Cl0Xz0dlB0M/Cd2\ngODchwATYjOcwYPzYcwO7ZJAznOA90VkR1WdE7r2qf6u/wG2CK7n+RSn9GiKjRe/JdlvTND2q4Hd\ngDOApcH1mY3di0OAi0VkqqqGlaDweHMndu//FegbN95UBaOBm1X1meD7NyLSO5CvKpevawRVnQns\nG/SPNqq6UESeIvV8b6Cq9faDPQzvDH0X7Mb+e9SyVUHbioCh1XDcEdhDK6eMOr2C8w8PlT0U7HdF\nXN084NPQ9z2DfY8D7g5+j00wxaAIOD5Ut2mCc9+HDfSNQ2WxB+3IFNuY6LjHBcfYI1R2TSDTg3F1\n/wMsCn3fPqh3V1y9BUH51SnI1AibPbkuVPY4kJ+g7sxA1t1DZR0wpWV0qOwu7M1yu1BZW4oV9I3j\n+tPVwf8tMYVsa2Au8BzwKfAIcHKw74Byruelwbl7JOgj/0zxd3oemyXrHirbElgHFCa4JhNC378A\nXkxy3FaY7dG78cdJ1iZMSf4aeCPBfbgK6B0q2y4oHxUqeySQe8cy2nsVsAzYJK78Jkxx7I4pue/F\nbb8dG+tWA6/EbRsVXPMRobJfgIlx9Y4J9/+gD/wB3BdXryPmiXN/JX7XixL0v2uxt+3433FEcC1f\njjvGh8Ex7g6VNQDmAG+HyjaMN3H7lxpvquKD3VtnxpVdDnxXleeJ6oMZ2i8BTk91n/q+HHMbcIaI\nDBfzOrgf0+YfjlSqNBGRliKyg4j0DYo2Cb73jFSwkjwQ9/19TMmIcTT2BnMgNtV3NvamORd74OwX\nq6iqGwyixPzV22OeMy0w97cwa0jxd407btPguFMwJTU+3oImaVN7Me8RsDcwgI/Flqq2FZGbsQE7\nVYZgeZNyQ2W5wA4i0idB/W9VdUNCKbWEjt9T8lofCHysqlND9ZZiD7KkqOoKVf1WzT5nHfZ7rcDe\nWuckqB++ni2C6/kx9lDYMcEp7i/r/MFxGmA2D8+r6rzQub4ntUyeS4FtRGQzsSXBAcFvszum3KwD\nfky2c1yb2mKD7/uU7h9gisms0L5TCZSJYH8BDsOUoi/KkPno4BwFItI+9sGM6xthM1G3A7uJxdnZ\nVMzzYiTWfxtjy2hhxmJK+8GhsmeAIVLSbuM4YJ4We0Hsj9lnPBUniwbn2jeB/OX+rokIrs8pJL9/\nFZvFCDMl+LuhXC11x+ckHm/eimvHF9jsaqJ2VIb/Yp5xQ4L+dgTmpflcFZ+nRhCRA0TkQBHpLSL7\nY6EHvqUCz9D6vByDqk4UiwlyPbYM8yVwoMa56mUQO2Fv/TEXxdg0/SPYdHzUrNY4lztMaw67qW6O\nvY2fGnx/Ka5+TMEiWHu+ERso2oTqKDZAhpmnqutTEVJE2mFvXscBnco5LpR+8MZiMrTDBrJewfcb\nsan0Auyt+TBsUEqFk7C3wHUismlQ9jP2ln0i9pZclkwxucLXuheJM1/+lKJMYZIu3wRK8A2Y50b4\n/Imu53pVnZvC+TpiSzyJZP0eGFzO/ldjtiA/YArB2dhDehGmyO6GLW8kROT/27vz+Ljqev/jr0+S\nZm2WrulOWyhQWhYboKwiFgUU2fSKES5XQFSUi7d6HxdQ/ImAiPhTEBXFnwsIGkDQS0GgCqIsZU1L\nwbZQSvc2Tdu02Zv98/vjcyaZTCdpkqaZOZPP8/E4jzlz5sz0eybp5D3fVc4Bvon9PmZFPRSvLXxT\nnGPRP4tx2O/vin2UeRZWixLv80mB8apaFvxhuw0bNr0Oa9aIBN7V3Z6k2ioia+n6HQVrkvkv4Fws\nZORh7+fPY8oi2OdNvLLEDh3v6881njOAqViNymd7OCf2970muI1972uI/3nTUxPe+DjH98fV2P+F\nnwWvvRV7X28e5H9nqBRizYGTsZqxR4AbtB9NWMM6hACo6t1Y+2joqeo/Se7Oxn35xUzD+lN8lvi9\n5HeAddDD2sersT/Aa7Hq5hLsAzj2fdjTj3L+EfsjdDs2CVc9Xf1Z4r2/PV2XxJxziEYtpCgi+X0p\nTHDeOdgfu9hv54q9V7EhpC9lGgzpAKr6YbDJyrr9Y1Zj8Qz2Qf89LCA0YB9a97H3+xk73O+AUNUX\ngjB3HlajchbWB+RGVf1NUPa4zxWRU7H+IP/A+kBUYDUnl2N9dGIN1s8iDZsM6vs9PHc1gKo+ScyQ\nT7FVxftEVV8VkfXAp7E+VOdi7030BGFp2O/eJcTvXxUb+Af8c1XVvxH8nvX0M6Hn9zje8egX6dPn\nzWBRW+39a/QScMNErW/LH/d5Yi+GfQhxSed9bAa+JdFV3nF8CPtGc15UFTFRtQQDElStfxj4lqp+\nN+r4IfvxshuwD7uD6R4iYpuMevJJLIB8ia6OehGHAbeIyEnRzS/9KFe865oV59hu4s/bsK+heEcG\nr/fvqtrZzCMiZ/T8lD7ZgQXLeGXt0/saND3dh3V4zsWaOm6kqwq/p9qdC4N/+8zo2jURuaJPJd/b\nDqzmYO4+znsfGKmq8Wof9iUyYdlhwPrIweBnOAMLN9EeBq4JmhQvAtar6msxZRFghw7+PDFDOdld\nXz9v3AGSzN+a3fD0MBaO95okSkTSpWs4YTv2IZgW9Xgm1tFuf0S+OcX+31jIwD8cn8LKek3M8f/q\n42teDKxV1f+nqn+K3rAmtwYGNmfIYuBEETkqckBsGHK8Ku/3sT4H0b5I8A21Fz29n3299riCGqXF\nwPliQ4YBCPrHfHRfz5eY4daq2og17UQ3rTQE50Y39YFdU2TER+T1pmO1Kv2m1qPvf4FPSO9rvDyM\n/bz2uj6xoai9/SyewWprYn8HP481BcU2ez6EvRefw/oOPRTz+GIsOH1DooYQR5Vnf5a+aAhuD8QQ\n2Vh9/bxxB4jXhLiBEOAKsWmtY8V2fOsXVX1eRO4Brgs62P4V+/A8FOtEdg3WiWsJ9u38dyJyV/D0\nS9j/6eLrROR5bD2HTKxH/kexoZoDaspQ1eUiUgZ8OahpWYJ9+zp4X68ZDKM9nR7eV1VtEZHFwL+J\nyDX9aYvFmpsuwdZ6+An24f957FvzKLq/l78CfiEij2Dfmo/G3pd41dXR1/QOFmB+GISFWqxmZzD+\nwHwba0Z5UUTuxvp0XI2tA3NUb08EVorIP7DRWbuA47Dfr7uizinHruUnwXvcrqoPAX/BqtMXi8gf\nsP5kX8Zqufb17/bkG1hnz+dF5JfYsNpJQZlOVpue/wdY08gTInJvUL684N+8EPsdjTujsKruDDpD\n/x8ReRpYhNUYXYWNbPp9zPnLROR9rB9TJjFrtQT/T67ChrsvDYZl7gCmYZ1cX2TvwNNXkff91uB1\nW7FOuz01qQ64ibEfnzfuQEn0kB7fwrXRNUS3p20S1smtnb2H6NbEeb1vY53WYo9fgX041mP9Pt7E\nhiIWR51zAjYUrx7rgHYr1oktdojoc8DyflzjRKyDVRX2oV6G/aFpx5pposveDozu4T2KHmKYiY1c\n2I79If5z8F51e804ZVkYnPOhXs65NDjnnOD+Omx9itjzngOejTl2FNa3oRHr3Hc9NkdCOzAu6jwJ\n3t9KbDTFX7Bq/LXAr6POOy3O+38Y9s25Jnj+z7Gmhz79juzjZ3VK8HuyBwsBV0Z+LjHnxZbzemyE\nTlXw+7MCGzacHnVOGhb+tmF9HNqjHvscFrAag+de2sO/207UNAA9lSc4NiV4D7YFr/seNm9FRtQ5\nucAtWN+aPcH7+QJWs5Teh/frqqC8TVinyJ9g8zvEO/fmoPw9Dh/FaseexP6fNGD9Un5N1FDjAf5c\nvxH8PrYS9X8pzs8x8n9tXszze/q/2dPn0D4/b3w7MJsEPwDnnANARO7E/piPVP+AcM4dQEnVJ0RE\nThWbbnqL2FS858Y55yaxqYMbReRvsR0Gg3kdfiY2nXKdiDwiIoM9zMq5lCB7T50+BmuiecEDiHPu\nQEuqEIK1b76Jta/u9QEYDDO7GlvT4Xis+m9x0HYfcSfWJvlJrKpwElHTDzvnunlZRO4QkS+IrQ1T\njk17H9Z5C5xzIZK0zTEi0gGcr6qLoo5tBX6gqncE9wuwNtH/UJt4rADrHPUZVf1zcM5hWCevE7T7\nEDPnhj0RuQXrgDcFC/7l2NTwAxkG6pxz/ZJsNSE9EpEZ2CJNz0aOqfUYf5WuRcWOxUb8RJ/zLtbB\nKXrhMeccoKo3qOrhqjpSVfNV9UMeQJxzQyU0IQQLIMres/NVBo+BjWBoCcJJT+c455xzLgn4PCF0\ndsY7E5tJsCmxpXHOOedCJRubp2ax7r0+WK/CFEK2YXMVFNO9NqQYW/Ewck6miBTE1IYUB4/15Ez2\nsXKoc84553p1MfCH/jwhNCFEVdeJyDZspsm3oLNj6nxsRUKwTnVtwTnRHVOnYRMT9WQ9wAMPPMDs\n2fFWRQ+fhQsXcscddyS6GIMila4F/HqSWSpdC/j1JLNUupZVq1ZxySWXQNS6RH2VVCEkWDL6ELqm\n4Z0pIkcDu1R1Ezb89gYRWYNd7M3AZmxFS1S1VkR+DfxIRHZjMzveBby0j5ExTQCzZ89m3rzelm4I\nj8LCQr+WJOXXk7xS6VrAryeZpdK1ROl3d4akCiHY6JbnsA6oii3OBbbS5eWqenuw2uU92NoTLwBn\nq2pL1GtEprl+BFuA6WngK0NTfOecc871VVKFEFX9J/sYsaOqN2LLbff0eDO29sV/DmbZnHPOOTe4\nwjRE1znnnHMpxENIiiotLU10EQZNKl0L+PUks1S6FvDrSWapdC37I2mnbR9KIjIPKC8vL0/FjkLO\nOedSlCq0t0Nbm93G7nd0dJ07ahTk5Ax+GZYuXUpJSQlAiaou7c9zk6pPiHPOOZcqVKG2Fqqr7bau\nrmuLd7++HpqaYM8eu41s0fcj+62tFjL6U4/w6KNw4YUH7noHwkOIc845tw+qsHs3bNsGlZW2VVXB\nrl1dt5Etcn/3bgsKPcnJgYICyM+3beRIO5aTA2PHQna2bTk5XfuRbcQISE+HjAy7jd6PPpYW1eki\nGSv6PYQ455wbttrbLVhs2gSbN8OWLd2DRmR/+3arfYg2YgSMGQOjR9s2Zgwcfnj3+6NHQ2FhV9iI\n3I4caWFhuPO3wDnnXEpStfCwbh1s3GghY/PmrsCxeTNUVHSvrcjJgQkToLjYtmOP7X6/uLjr/siR\nINLzv+/2zUOIc8650KqttZDR09bY2HVuXh5MnQpTpliNxRlndN2fMsX2i4o8WAwlDyHOOeeSWlMT\nrFkDq1fDu+/abWTbubPrvOxsmDHDttNPh8sv77p/0EEeMJJR6EKIiKQB38FW65sAbAXuVdVbYs67\nCfg8Nr37S8BVqrpmiIvrnHOuD1St78WKFbByZfegsWFD1yiQwkI47DA49FA480w4+GALGTNnWhOJ\nh4xwCV0IAa4DvghcCqzE1pu5V0SqVfWnACJyLXB1cM564BZgsYjMjllnxjnn3BDbscPCRuxWVWWP\nZ2bCIYdY0LjoIruNbOPGedBIJWEMIScCj6nq08H9jSLyWeD4qHO+Ctysqk8AiMilQCVwPvDwUBbW\nOeeGq5YWq9V4803b3nrLwsb27fb4iBFWqzFnjvXPmDMH5s61Wg0fOTI8hPHHvAS4UkRmqep7InI0\ncDK2ei4iMgNrpnk28gRVrRWRV7EA4yHEOecGWXV1V9iIbCtX2rBWEZg1C448Eq66ysLGnDl2bMSI\nRJfcJVIYQ8htQAHwjoi0Y+vffFNVHwwenwAoVvMRrTJ4zDnn3H7YvRveeANef91uly2D9evtsexs\nCxvHHw9f+AIcc4zdz89PaJFdkgpjCLkI+CzwGaxPyDHAj0Vkq6ren9CSOedcimlstJDx+uu2vfaa\njVQBm3jr2GPhU5+ysHHMMda84k0prq/C+KtyO/A9Vf1jcH+FiEwHrgfuB7YBAhTTvTakGFjW2wsv\nXLiQwsLCbsdKS0t9tUPn3LCgakNglyyBl1+2wLFihU3mlZUFH/gAnH02HHec1XTMmtV9WnCX+srK\nyigrK+t2rKamZsCvF8YQkgvEzsbfgTXLoKrrRGQbsAB4C0BECoD5wM96e+E77rjDV9F1zg0bjY1W\nu/HSS13BY9cu68Mxd64FjS9/2W7nzvX+Gy7+F/OoVXT7LYwh5HHgBhHZDKwA5mGdUn8Vdc6dwTlr\nsCG6NwObgceGtqjOOZc8tmyBF1+0wLFkiXUebWuz/honngjXXAMnnQTz51tTi3MHWhhDyNVYqPgZ\nMB6brOznwTEAVPV2EckF7sEmK3sBONvnCHHODScbNsA//9m1vf++HT/4YAsbV1xht3Pm2Iqrzg21\n0IUQVW0AvhZsvZ13I3DjEBTJOecSTtXWSokOHZERK3PnWl+O006DU06xBdicSwahCyHOOefM5s3w\n7LPwzDPwj3/YfRE4+mg47zwLHaeeCmPHJrqkzsXnIcQ550KipsbCxjPP2PbOOxY6jjkGPv1p+NCH\nrKZj1KhEl9S5vvEQ4pxzSaqlBV55pSt0vPaaDZedPh0+8hH4znfgwx/2mg4XXh5CnHMuiaxfD089\nZdvf/w4NDTB6NCxYAJ/7nK2xMnNmokvp3ODwEOKccwnU3AzPP98VPN55x2YcPflkuOEG+OhHrbnF\nJwVzqchDiHPODbF167rXdjQ2wuTJNoLlu9+1Wo+YyZudS0keQpxz7gBrb4dXX4VFi2xbtcpqO045\nBb79bQsfc+daJ1PnhhMPIc45dwA0NFhn0kWL4IknYPt2GDcOzjkHbrnF+nb4rKRuuPMQ4pxzg6Si\nwgLHokUWQJqa4PDDrUPpuefCCSf4zKTORQtlCBGRScD3gbOxBe3eAy5T1aVR59wEfB6btv0l4CpV\nXZOA4jrnUtj778Ojj8Kf/mRNLmlp1qn0llvgE5+AQw9NdAmdS16hCyEiEgkVzwJnAjuBWcDuqHOu\nxdaYuRRbwO4WYLGIzPb1Y5xz+2vlSgsejz4Ky5dDdjacdRbcdx987GM+b4dzfRW6EAJcB2xU1c9H\nHdsQc85XgZtV9QkAEbkUqATOBx4eklI651KGqoWNSPBYtQpGjoSPfxy++U3rWDpyZKJL6Vz4hDGE\nfAJ4WkQeBk4DtgB3q+qvAERkBjABqykBQFVrReRV4EQ8hDjn+kAVli6Fhx+GRx6BtWuhqMj6dtx2\nm83fkZ2d6FI6F25hDCEzgauAHwLfBY4H7hKRZlW9HwsgitV8RKsMHnPOuR6tWAEPPmjbmjU2ouX8\n8+Huu+H00yEzM9EldC51hDGEpAGvqeq3gvvLRWQu8CXg/sQVyzkXVmvWwEMPWfD417+sxuPCC7uC\nR0YYPymdC4Ew/teqAFbFHFsFXBjsbwMEKKZ7bUgxsKy3F164cCGFMdMUlpaWUlpauj/ldc4loU2b\nrKnlwQfhjTcgLw/OOw9uvdWaWrKyEl1C55JPWVkZZWVl3Y7V1NQM+PVEVfe3TENKRH4PTFHV06KO\n3QEcp6qnBPe3Aj9Q1TuC+wVYILlUVf8Y5zXnAeXl5eXMmzdvKC7DOZcA1dXWv+P++229lqws61z6\nmc/YbW5uokvoXPgsXbqUkpISgJLoqTL6Iow1IXcAL4nI9Vgn0/nYfCBXRp1zJ3CDiKzBhujeDGwG\nHhvaojrnEq21FZ5+2oLHokV2f8ECG057/vk+a6lziRS6EKKqb4jIBcBtwLeAdcBXVfXBqHNuF5Fc\n4B5ssrIXgLN9jhDnhgdVeP11Cx4PPgg7d8JRR9kEYp/9LEyalOgSOucghCEEQFWfBJ7cxzk3AjcO\nRXmcc8lhwwZ44AELH+++CxMn2pTp//7vFkKcc8kllCHEOeci9uyBP/8ZfvMbePZZ69dx4YVw113W\n7OJrtTiXvDyEOOdCRxXKyy14/OEPUFMDH/wg/Pa38KlP+eylzoWFhxDnXGjs2AG//72Fj7fftr4d\nX/mKNbnMmpXo0jnn+stDiHMuqbW3w+LFFjwWLbJj550H3/++zefhzS3OhZeHEOdcUqqogF//Gn75\nS5tY7Mgj4Qc/gIsv9lVqnUsVHkKcc0mjo8M6l/7iF/DYYzaZWGkpfPGLcOyxIJLoEjrnBpOHEOdc\nwu3YAffeC/fcA++/D3PmwI9/DJdcAjErKTjnUoiHEOdcQqjCiy9arccjj1gtx7/9m81ketJJXuvh\n3HDgIcQ5N6Sqq20ysV/8AlautFEtt94K//Ef3tfDueEmLdEF2B8icp2IdIjIj2KO3yQiW0WkUUT+\nJiKHJKqMzrmuadSvuMKG1X7ta3DEEfDMM/DOO/D1r3sAcW44Cm1NiIgcB3wBWB5z/FrgauBSbPG6\nW4DFIjLb145xbmjV1kJZmfX1WLYMDjoIbrgBLr8cJkxIdOmcc4kWypoQERkJPICtnlsd8/BXgZtV\n9QlV/RcWRiYB5w9tKZ0bniK1HldeabUeX/4yTJ0KTzxhnU6/8Q0PIM45E8oQAvwMeFxV/x59UERm\nABOAZyPHVLUWeBU4cUhL6NwwU1tr/TzmzYPjj7cJxq691haVe+wx+PjHfWIx51x3oWuOEZHPAMcA\nx8Z5eAKgQGXM8crgMefcIIrUevzyl9bs0twM55wD3/0unHmmhw7nXO9CFUJEZApwJ3CGqrYmujzO\nDVdVVbZw3G9+A2++CdOmwXXXWV+PyZMTXTrnXFiEKoQAJcA4YKlI5ywC6cAHReRq4HBAgGK614YU\nA8v29eILFy6kMGZmpNLSUkpLSweh6M6FW3s7/PWvXWu4dHRYrcett/oaLs4NF2VlZZSVlXU7VlNT\nM+DXE1Xd3zINGRHJAw6KOXwvsAq4TVVXichW4AeqekfwnAIskFyqqn/s4XXnAeXl5eXMmzfvgJXf\nuTBavRp++1v43e9g61Zbw+Wyy2wNl/HjE10651yiLV26lJKSEoASVV3an+eGqiZEVRuAldHHRKQB\nqFLVVcGhO4EbRGQNNkT3ZmAz8NgQFtW5UKurg4cftvDx0ktQVGSh47LLrOOpz2bqnBsMoQohPehW\nlaOqt4tILnAPUAS8AJztc4Q417u2Nvj73+GBB+DRR2HPHmtmefBBOO88yM5OdAmdc6km9CFEVT8c\n59iNwI1DXhjnQkbVJhF74AEb3bJtGxx2mM3lcemlNr+Hc84dKKEPIc65/tuwwUa3PPCArd8yfjyU\nltqqtSUl3tzinBsaHkKcGyaqq+GPf7Tg8fzzkJMDF1wAP/whnHEGZPingXNuiPnHjnMprK7OhtM+\n9JDNYNrWBgsW2EiX88+H/PxEl9A5N5x5CHEuxTQ2wl/+YsHjL3+BpiY44QT4/vfh05+29Vyccy4Z\neAhxLgU0N8PTT1vwWLQIGhpsKO1NN1nwOCh2dh3nnEsCHkKcC6mmJvjb3+CRR+B//9cWkJs7F66/\n3oLHrFmJLqFzzvXOQ4hzIVJXB089ZfN4PPkk1NfbkNr/+i+46CI44ohEl9A55/rOQ4hzSW7XLmti\n+dOfbO2W5mb4wAfg2mvhk5+E2bMTXULnnBsYDyHOJaGtW+Gxxyx4PPecLR530km2WNwFF8CMGYku\noXPO7T8PIc4lAVV4802r8Xj8cSgvt1VpTz8dfvITG047cWKiS+mcc4MrdCFERK4HLgAOB/YAS4Br\nVXV1zHk3AZ/H1o95CbhKVdcMcXGd61FTk9VyLFoETzwBmzdDQQGcdZb18fjYx2D06ESX0jnnDpzQ\nhRDgVOAnwBtY+b8H/FVEZqvqHgARuRa4GrgUW0n3FmBxcI4vZOcSprLSOpQuWmQjWxoarGnlwgvh\n3HPh1FMhMzPRpXTOuaERuhCiqh+Lvi8inwO2AyXAi8HhrwI3q+oTwTmXApXA+cDDQ1ZYN+y1tcEr\nr9gcHk8/bc0sIjZ52De/acHjiCN8rRbn3PAUuhASRxGgwC4AEZkBTACejZygqrUi8ipwIh5CGQ7i\nzQAAGQhJREFU3AG2ZUtX6Pjb36CmxppVzjwTrrnGbouLE11K55xLvFCHEBER4E7gRVVdGRyegIWS\nypjTK4PHnBtUzc2wZImFjqeegrfftpqN+fNh4ULr43HssdbR1DnnXJdQhxDgbuAI4OTBeLGFCxdS\nWFjY7VhpaSmlpaWD8fIuRbS3w7Jl8Oyztr34IuzZY7UbZ50F3/gGfOQjMGZMokvqnHODq6ysjLKy\nsm7HampqBvx6oqr7W6aEEJGfAp8ATlXVjVHHZwDvA8eo6ltRx/8BLFPVhXFeax5QXl5ezrx58w54\n2V24qMJ778Ezz1joeO452L0bcnPhtNNsVdoFC+CooyAtLdGldc65obV06VJKSkoASlR1aX+eG8qa\nkCCAnAecFh1AAFR1nYhsAxYAbwXnFwDzgZ8NdVld+KjC+vXw/PMWOJ591obPZmRYh9JrrrHQMX++\nj2Rxzrn9EboQIiJ3A6XAuUCDiES6+NWoalOwfydwg4iswYbo3gxsBh4b4uK6EFCF1avhn/+04PH8\n87Bpk/XrOPJIWwxuwQIbPpufn+jSOudc6ghdCAG+hHU8/UfM8cuA3wGo6u0ikgvcg42eeQE42+cI\ncQAdHfCvf3UFjueft/k70tNh3jwLHR/8IJxyik8W5pxzB1LoQoiq9qnVXVVvBG48oIVxoVBbC6+9\nZiNYXn7Z5u2oroYRI+D44+GKKyx0nHSS13Q459xQCl0Ica43kU6kL79s25IlVuuhCqNGWZ+Or38d\nTj7Z9nNyEl1i55wbvjyEuFDbvh3eeMO211+3Wo6dO60/xxFHwIkn2lwdJ54Ihx7qo1eccy6ZeAhx\nobF7t017Hgkcb7wBG4OxUaNH24RgX/mKBY7586GoKLHldc451zsPIS4pVVbC8uW2vP2yZRY41gRr\nIBcUQEkJXHSRBY/jjoPp0339FeecCxsPIS6h2tpseGwkcERuK4NJ9/Py4Oij4eMft7Bx7LEwa5Y3\nqzjnXCrwEOKGhKrNvbFyJaxYYbdvvWWdRpuC2V2mTbPAceWVcMwxtj9zpgcO55xLVR5C3KDq6LCw\nEQka0aGjvt7Oyc2F2bNtIrBLLrGwcdRRPieHc84NNx5CXL+pQlWVDYVdvbr77XvvQUODnZeXZyNU\njjgCPvWprv2DDvLaDeeccx5CXA86OqCiAtats3VU1q7tHjiqq7vOnTLF+mkcfzxcfLEFjTlzYOpU\nDxvOOed6lrIhRES+Avw3MAFYDvynqr6e2FIlj/Z26/y5YYOFjPXruwLH+vV2vCVqkvvx4y1oHHEE\nnH++7R96KBx8sNV4OOecc/2VkiFERC4Cfgh8AXgNWAgsFpFDVXVnQgs3BJqaYMsW2zZvjn9bUWFB\nJGL0aBvmOmMGnHtu1/706dZ8MnJkgi7GOedcykrJEIKFjntU9XcAIvIl4OPA5cDtiSzYQLS3W/NH\nVZXVXmzf3vttbW335xcUwOTJ1mwyezZ85CN2f/JkCxjTp9s5zjnn3FBKuRAiIiOAEuDWyDFVVRF5\nBjhxqMvT3m6jQurqer6tqYFdu2xG0Njb3bvt8VgZGdZEUlxstwcfbDOFRo5FQsbkyb4om3POueSU\nciEEGAukA5UxxyuBw3p74uV3/4K84smggnakdd6qCqpp0CF0dAhtrWm0twltbWm0tQrtbWm0ttrx\ntpZ02loyaGvJoKlxBK1NGdCRAR0jgttgaw/uawb5uSMozM+gMD+DUQUjKCrO4MjDRjC6MIvxo7IZ\nOyqLsWPSGD26K3SMGuUzhDrnnAu3VAwhA7Z88X1IVhqKIgKKknZEFjInE0RBOgCN2bdblQ6gA6Uj\n2O+7umDbHO/BRtsyKjLISs8iKyOL7Izszv3ejmWlZ5GTkUPuiNwet7zMvB4fy0rPQjzpOOecC5SV\nlVFWVtbtWE286vo+ElXd3zIllaA5phH4pKouijp+L1CoqhfEec48oLy8vJx58+btdxk6tIO2jrbO\nrbW9tWu/o7VPj7W0t9Dc1kxTWxPN7c00tzV33sY91t7U7X5zu53X1NZEY2tjt62pralv7yXSLayM\nzBxJfmY++Vn53W/jHYu6jX5eRprnXuecSyVLly6lpKQEoERVl/bnuSn3F0FVW0WkHFgALAIQ+zq/\nALhrKMqQJmlkpmeSmZ45FP9cv3VoB3ta9+wVTqK3htaG7vdbGqhrqbOt2W631m3tdr+uuY7WjtZe\n/+2cjByKsos6t8LsQtvPinMs+rwsO5adke21M845lyJSLoQEfgTcG4SRyBDdXODeRBYqWaRJGnmZ\neeRlDv4EH81tzZ2BpL6lfq+QUttcS01zDdVN1Z1bZX0lq6tWdzvWofGbtDLTMzuDyeic0YzJGcOY\n3DGMyRkT/36wnzsi18OLc84lmZQMIar6sIiMBW4CioE3gTNVdUdiS5b6sjKsP8rY3LEDfg1Vpb6l\nnuqm6r0CS3VTNTVNNezas4tdTbvYtWcX7+96n9f2vEZVYxW79uyiXdv3es2s9KxuoSQ6sIzPG8+4\n3HF2mzeu835WRtb+vBXOOef2ISVDCICq3g3cnehyuP4TEetTkpXPVKb267mqSm1zLVV7LJBUNVbt\ntR+5v7xyOVV7qtjRsIO6lrq9Xqsgq6AznPQUVCL3x+WOY0T6iMF6C5xzblhI2RDihicRoTC7kMLs\nQmaOmtnn5+1p3cOOxh3saNjB9obt7GgMbht2sL1xO9sbtrO8cjnbG2x/T9uevV5jTM4YJuZPZMLI\nCUwcGXMbdbwgq8CbhpxzDg8hzgGQMyKHaYXTmFY4rU/nN7Q0dAaVyLatfhvb6rdRUV/Buup1LNm0\nhIr6ChpbG7s9Nzsju3s4yesKKRNGTmBy/mQmF0xmbO5Y0sRXAHTOpS4PIc4NQKRj7/Si6fs8t76l\nnoq6is6Asq1+m91vsNuXdr1ERX0FOxp2oHQNmc9Mz2RS/iQm509mSsGUznASvT8pf1LSjsJyzrl9\n8RDi3AE2MnMks8bMYtaYWb2e19bRxvaG7Wyp3cKWui1sqd3C5trNtl+3hWXblrGldgsNrQ3dnjc+\nb3xXQMmf0hlUphZMZVrhNKYWTiU7I/tAXqJzzg2IhxDnkkRGWgaT8icxKX8Sx3Fc3HMiHW87w0lM\nUHllyytsWbWFHY3dB4IV5xV3NjdNK5zGQYUHdbs/Nnes91Nxzg05DyHOhUh0x9s54+f0eF5zWzOb\nazezsWYjG2s2sqFmQ+f+k+89ycaajd061+Zk5PQYUqYXTWdq4VSf7dY5N+j8U8W5FJSVkcXBow/m\n4NEHx31cVdnZuLMzmESHlbcq3+KJ1U9Q2dC1BmS6pDO1cCozimbYNqr77YSRE7wmxTnXbx5CnBuG\nRMTmN8kbR8mkkrjnNLU1salmE+ur17Oueh1rd69lXfU63t7+NotWL2Jn487Oc7MzspleNL0zpMwc\nNbNbUCnKLhqqS3POhYiHEOdcXNkZ2b12qK1rrusMKOt2d4WU5zc+z33L7+vWgbYou6gznMwcNbPb\n/kFFB/kIH+eGqdCEEBE5CPgW8GFgArAF+D3wXVVtjTpvKvAL4ENAHfA74DrVHhYjcc4NSH5WPkcW\nH8mRxUfu9VikuSc2oKyrXsejqx5lQ/WGzun1BWFKwZS4AWXGqBkU5xV7U49zKSo0IQQ4HBDgSuB9\nYC7wK2xhuv8BEJE04ElgK3ACMAm4H2gBbhj6Ijs3PEU39xw/+fi9Hm/raGNTzabOZp5ISFmxYwWP\nr368W1NP7ojczmadmUVd4SQSWA7EQozOuaEhqrrvs5KUiPw38CVVPSS4fzawCJioqjuDY18EbgPG\nqWpbD68zDygvLy9n3rx5Q1N451yP6prruvqhBDUpa6ttf131OpramjrPHZ83nhlFMzio6CCmFUyz\n26gRPkXZRV6T4twBtHTpUkpKSgBKVHVpf54bppqQeIqAXVH3TwDejgSQwGLg58AcYPkQls05N0D5\nWfkcVXwURxUftddjHdrBtvptXeFk91rW16xnY81GyreWs6l2Ey3tLV2vlZlvoSQIKZ37QVCZmD/R\nhx87lyCh/Z8nIocAVwNfizo8AaiMObUy6jEPIc6FXJqkdU7qdvK0k/d6vEM7qKyv7DY/yobqDWys\n3cgrW17hoRUPsbtpd+f56ZLOlIIpnfOiRKbFn1IwxfYLJlOcV0x6WvpQXqZzw0LCQ4iIfA+4tpdT\nFJitqqujnjMZeAp4SFV/M1hlWbhwIYWFhd2OlZaWUlpaOlj/hHPuAEuTNCbmT2Ri/kTmT5kf95y6\n5rq9JnLbULOBDTUbWLJpCVvqtnSrTUmXdCbmT+wKJtEhJdiflD+JrIysobpM5xKirKyMsrKybsdq\namoG/HoJ7xMiImOAMfs4bW2kP4eITAKeA5ao6mUxr/Ud4BOqOi/q2HRgLfABVY1bE+J9Qpxz0SKj\ne7bUBdPiB9Pjb67b3G2q/Nrm2m7PG5c7jskFk5mcP5mJIy0IRa+YHNn3sOJSSaj7hKhqFVDVl3OD\nGpC/A68Dl8c55WXgGyIyNqpfyEeBGmDlIBTXOTcMRI/uOWbCMT2eV9tc27ngYHRY2VK3hTcr3+Tp\n959mW/022jq694kflT2qM5RMzJ/IhLwJ3e+PnMDEkRMpyCrwTrUupSU8hPRVUAPyD2AdNiR3fOQ/\np6pG+n38FQsb94vItcBE4Gbgp9FziTjn3GAoyCqgYFwBs8fN7vGcDu2gqrGKivoKttVvo6Kugor6\nCirqKtjWsI0N1Rt4ZfMrVNRV7LVCck5GDuPzxjMubxzj88bbljt+72N54xmXO85rWFzohCaEAB8B\nZgbbpuCYYH1G0gFUtUNEzsFGwywBGoB7gW8PdWGdcw6sj0qkViXeaJ9odc11FlQiIaV+G9sbtrOj\ncQfbG7bz7s53eaHhBbY3bKeupW6v5xdkFXQLJuNzu8LKmJwxjMkd0+3Wa1pcooUmhKjqfcB9fThv\nE3DOgS+Rc84NrvysfPKz8nucKj9aU1sTOxosnMRukdBSXlHeeay5vXmv18hIy2B0zujuASVnjB2L\nCSyR21E5o8jOyD4Ql++GodCEEOecc12yM7KZWjiVqYVT93muqtLY2kjVniqqGqv2ut21Z5ft76li\nxY4VncejhzJHy0rPoii7iKLsIkbljOrcL8oq6tqP2aLP87WCXISHEOecS3EiQl5mHnmZeUwrnNbn\n57V3tLO7aXe3wFLdVL331lzN9obtrK5aTXVTNbv37KamuYaOHpbsysnIsVqfzHwKsgo697sdi70f\n75ysfLLSs7xJKcQ8hDjnnIsrPS2dsbljGZs7tt/P7dAO6lvq44aW3Xt2U9dSR11zHXUtddQ211LX\nUkdlfSVrWtZQ19x1rL6lvtd/J03SyBuRR+6IXHJH5JKXGbU/oof9OOdkZ2STnZFNVkaW3aZn7XU/\nKyOLNEkb6Nvp4vAQ4pxzbtClSZqNHsoq6FftS6wO7aChpaEzlESCSySoNLY20tDaQGNro+23BPtt\ntl/dVM3Wuq1xz4nXT2ZfRqSN6Awn8YJKZnomI9JHkJGWwYi04Db2fk/H00d07qenpZMmaaRJGoJ0\n7qdJGiLS58dEBMFqiuZPmc+k/EkD/lkcCB5CnHPOJa00SevssDvY2jvaO0NMc1szTW1NNLcHt1H3\ne3ss9n5LewttHW20drTS1tFGU1sTdS11dqy9tfOx6P3IY9H77dqOqtKhHXRoB0rX/kA9+ulHuXD2\nhYP4Du4/DyHOOeeGpfS09AMWcA4kVe0WSqLDSmxgiZ4VfWTmyASWOj4PIc4551yIRJpYUqF/Sviv\nwDnnnHOh5CEkRcWuchhmqXQt4NeTzFLpWsCvJ5ml0rXsj1CGEBHJFJE3RaRDRI6KeWyqiPxFRBpE\nZJuI3C6SAnVW/ZRKv+CpdC3g15PMUulawK8nmaXSteyPsPYJuR3YDBwZfTAIG08CW4ETgEnA/UAL\ncMMQl9E555xzvQhdDYGInI0tZvffQOw0eWcChwMXq+rbqroY+BbwFREJa+ByzjnnUlKoQoiIFAO/\nBC4B9sQ55QTgbVXdGXVsMVAIzDnwJXTOOedcX4WtduC3wN2qukxEDorz+ASgMuZ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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "\"\"\"\n", "Positive distance, negative angle\n", "profile does not run long enough to get up to speed (triangular profile)\n", "\"\"\"\n", "\n", "test_gen_profile(ProfileParams(91, -30, 100, 5))" ] }, { "cell_type": "code", "execution_count": 11, "metadata": { "collapsed": false }, "outputs": [ { "data": { "image/png": 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KPLgSSDci60HdDvKIrI7jOBEhIrRt2pa2Tduye6fdi+1PFvk45n6cSuTj2ChK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