From 7c60ab4921bb0c5db3af964bdb6380b09dad9741 Mon Sep 17 00:00:00 2001
From: Lucile Remigy <lucile.remigy@epitech.eu>
Date: Fri, 27 Sep 2019 14:39:49 +0200
Subject: [PATCH] changement nom de variable pour rendre le code plus claire
---
CMakeLists.txt | 1 -
include/hpp/fcl/BV/BV.h | 20 ++--
include/hpp/fcl/BV/RSS.h | 14 +--
src/BV/RSS.cpp | 134 ++++++++++++-------------
src/BVH/BV_fitter.cpp | 28 +++---
src/shape/geometric_shapes_utility.cpp | 8 +-
6 files changed, 102 insertions(+), 103 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 24ff1d0a..27ed8848 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -132,7 +132,6 @@ SET(${PROJECT_NAME}_HEADERS
include/hpp/fcl/BVH/BVH_model.h
include/hpp/fcl/BVH/BVH_front.h
include/hpp/fcl/BVH/BVH_utility.h
- include/hpp/fcl/intersect.h
include/hpp/fcl/collision_object.h
include/hpp/fcl/collision_utility.h
include/hpp/fcl/octree.h
diff --git a/include/hpp/fcl/BV/BV.h b/include/hpp/fcl/BV/BV.h
index bb42f7fb..3f03df66 100644
--- a/include/hpp/fcl/BV/BV.h
+++ b/include/hpp/fcl/BV/BV.h
@@ -125,7 +125,7 @@ class Converter<RSS, OBB>
public:
static void convert(const RSS& bv1, const Transform3f& tf1, OBB& bv2)
{
- bv2.extent.noalias() = Vec3f(bv1.l[0] * 0.5 + bv1.r, bv1.l[1] * 0.5 + bv1.r, bv1.r);
+ bv2.extent.noalias() = Vec3f(bv1.length[0] * 0.5 + bv1.radius, bv1.length[1] * 0.5 + bv1.radius, bv1.radius);
bv2.To.noalias() = tf1.transform(bv1.Tr);
bv2.axes.noalias() = tf1.getRotation() * bv1.axes;
}
@@ -168,9 +168,9 @@ public:
bv2.Tr = tf1.transform(bv1.To);
bv2.axes.noalias() = tf1.getRotation() * bv1.axes;
- bv2.r = bv1.extent[2];
- bv2.l[0] = 2 * (bv1.extent[0] - bv2.r);
- bv2.l[1] = 2 * (bv1.extent[1] - bv2.r);
+ bv2.radius = bv1.extent[2];
+ bv2.length[0] = 2 * (bv1.extent[0] - bv2.radius);
+ bv2.length[1] = 2 * (bv1.extent[1] - bv2.radius);
}
};
@@ -183,9 +183,9 @@ public:
bv2.Tr.noalias() = tf1.transform(bv1.Tr);
bv2.axes.noalias() = tf1.getRotation() * bv1.axes;
- bv2.r = bv1.r;
- bv2.l[0] = bv1.l[0];
- bv2.l[1] = bv1.l[1];
+ bv2.radius = bv1.radius;
+ bv2.length[0] = bv1.length[0];
+ bv2.length[1] = bv1.length[1];
}
};
@@ -232,9 +232,9 @@ public:
}
Vec3f extent = (bv1.max_ - bv1.min_) * 0.5;
- bv2.r = extent[id[2]];
- bv2.l[0] = (extent[id[0]] - bv2.r) * 2;
- bv2.l[1] = (extent[id[1]] - bv2.r) * 2;
+ bv2.radius = extent[id[2]];
+ bv2.length[0] = (extent[id[0]] - bv2.radius) * 2;
+ bv2.length[1] = (extent[id[1]] - bv2.radius) * 2;
const Matrix3f& R = tf1.getRotation();
bool left_hand = (id[0] == (id[1] + 1) % 3);
diff --git a/include/hpp/fcl/BV/RSS.h b/include/hpp/fcl/BV/RSS.h
index 5a00e4b6..bf9dd193 100644
--- a/include/hpp/fcl/BV/RSS.h
+++ b/include/hpp/fcl/BV/RSS.h
@@ -60,10 +60,10 @@ public:
Vec3f Tr;
/// @brief Side lengths of rectangle
- FCL_REAL l[2];
+ FCL_REAL length[2];
/// @brief Radius of sphere summed with rectangle to form RSS
- FCL_REAL r;
+ FCL_REAL radius;
/// @brief Check whether the RSS contains a point
@@ -101,7 +101,7 @@ public:
/// @brief Size of the RSS (used in BV_Splitter to order two RSSs)
inline FCL_REAL size() const
{
- return (std::sqrt(l[0] * l[0] + l[1] * l[1]) + 2 * r);
+ return (std::sqrt(length[0] * length[0] + length[1] * length[1]) + 2 * radius);
}
/// @brief The RSS center
@@ -113,25 +113,25 @@ public:
/// @brief Width of the RSS
inline FCL_REAL width() const
{
- return l[0] + 2 * r;
+ return length[0] + 2 * radius;
}
/// @brief Height of the RSS
inline FCL_REAL height() const
{
- return l[1] + 2 * r;
+ return length[1] + 2 * radius;
}
/// @brief Depth of the RSS
inline FCL_REAL depth() const
{
- return 2 * r;
+ return 2 * radius;
}
/// @brief Volume of the RSS
inline FCL_REAL volume() const
{
- return (l[0] * l[1] * 2 * r + 4 * boost::math::constants::pi<FCL_REAL>() * r * r * r);
+ return (length[0] * length[1] * 2 * radius + 4 * boost::math::constants::pi<FCL_REAL>() * radius * radius * radius);
}
/// @brief Check collision between two RSS and return the overlap part.
diff --git a/src/BV/RSS.cpp b/src/BV/RSS.cpp
index ff3563cc..ccd4ba87 100644
--- a/src/BV/RSS.cpp
+++ b/src/BV/RSS.cpp
@@ -844,8 +844,8 @@ bool RSS::overlap(const RSS& other) const
/// Now compute R1'R2
Matrix3f R (axes.transpose() * other.axes);
- FCL_REAL dist = rectDistance(R, T, l, other.l);
- return (dist <= (r + other.r));
+ FCL_REAL dist = rectDistance(R, T, length, other.length);
+ return (dist <= (radius + other.radius));
}
bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2)
@@ -859,8 +859,8 @@ bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2)
Vec3f T(b1.axes.transpose() * Ttemp);
Matrix3f R(b1.axes.transpose() * R0 * b2.axes);
- FCL_REAL dist = rectDistance(R, T, b1.l, b2.l);
- return (dist <= (b1.r + b2.r));
+ FCL_REAL dist = rectDistance(R, T, b1.length, b2.length);
+ return (dist <= (b1.radius + b2.radius));
}
bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2,
@@ -876,7 +876,7 @@ bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2,
Vec3f T(b1.axes.transpose() * Ttemp);
Matrix3f R(b1.axes.transpose() * R0 * b2.axes);
- FCL_REAL dist = rectDistance(R, T, b1.l, b2.l) - b1.r - b2.r;
+ FCL_REAL dist = rectDistance(R, T, b1.length, b2.length) - b1.radius - b2.radius;
if (dist <= 0) return true;
sqrDistLowerBound = dist * dist;
return false;
@@ -893,28 +893,28 @@ bool RSS::contain(const Vec3f& p) const
Vec3f proj(proj0, proj1, proj2);
/// projection is within the rectangle
- if((proj0 < l[0]) && (proj0 > 0) && (proj1 < l[1]) && (proj1 > 0))
+ if((proj0 < length[0]) && (proj0 > 0) && (proj1 < length[1]) && (proj1 > 0))
{
- return (abs_proj2 < r);
+ return (abs_proj2 < radius);
}
- else if((proj0 < l[0]) && (proj0 > 0) && ((proj1 < 0) || (proj1 > l[1])))
+ else if((proj0 < length[0]) && (proj0 > 0) && ((proj1 < 0) || (proj1 > length[1])))
{
- FCL_REAL y = (proj1 > 0) ? l[1] : 0;
+ FCL_REAL y = (proj1 > 0) ? length[1] : 0;
Vec3f v(proj0, y, 0);
- return ((proj - v).squaredNorm() < r * r);
+ return ((proj - v).squaredNorm() < radius * radius);
}
- else if((proj1 < l[1]) && (proj1 > 0) && ((proj0 < 0) || (proj0 > l[0])))
+ else if((proj1 < length[1]) && (proj1 > 0) && ((proj0 < 0) || (proj0 > length[0])))
{
- FCL_REAL x = (proj0 > 0) ? l[0] : 0;
+ FCL_REAL x = (proj0 > 0) ? length[0] : 0;
Vec3f v(x, proj1, 0);
- return ((proj - v).squaredNorm() < r * r);
+ return ((proj - v).squaredNorm() < radius * radius);
}
else
{
- FCL_REAL x = (proj0 > 0) ? l[0] : 0;
- FCL_REAL y = (proj1 > 0) ? l[1] : 0;
+ FCL_REAL x = (proj0 > 0) ? length[0] : 0;
+ FCL_REAL y = (proj1 > 0) ? length[1] : 0;
Vec3f v(x, y, 0);
- return ((proj - v).squaredNorm() < r * r);
+ return ((proj - v).squaredNorm() < radius * radius);
}
}
@@ -928,99 +928,99 @@ RSS& RSS::operator += (const Vec3f& p)
Vec3f proj(proj0, proj1, proj2);
// projection is within the rectangle
- if((proj0 < l[0]) && (proj0 > 0) && (proj1 < l[1]) && (proj1 > 0))
+ if((proj0 < length[0]) && (proj0 > 0) && (proj1 < length[1]) && (proj1 > 0))
{
- if(abs_proj2 < r)
+ if(abs_proj2 < radius)
; // do nothing
else
{
- r = 0.5 * (r + abs_proj2); // enlarge the r
+ radius = 0.5 * (radius + abs_proj2); // enlarge the r
// change RSS origin position
if(proj2 > 0)
- Tr[2] += 0.5 * (abs_proj2 - r);
+ Tr[2] += 0.5 * (abs_proj2 - radius);
else
- Tr[2] -= 0.5 * (abs_proj2 - r);
+ Tr[2] -= 0.5 * (abs_proj2 - radius);
}
}
- else if((proj0 < l[0]) && (proj0 > 0) && ((proj1 < 0) || (proj1 > l[1])))
+ else if((proj0 < length[0]) && (proj0 > 0) && ((proj1 < 0) || (proj1 > length[1])))
{
- FCL_REAL y = (proj1 > 0) ? l[1] : 0;
+ FCL_REAL y = (proj1 > 0) ? length[1] : 0;
Vec3f v(proj0, y, 0);
FCL_REAL new_r_sqr = (proj - v).squaredNorm();
- if(new_r_sqr < r * r)
+ if(new_r_sqr < radius * radius)
; // do nothing
else
{
- if(abs_proj2 < r)
+ if(abs_proj2 < radius)
{
- FCL_REAL delta_y = - std::sqrt(r * r - proj2 * proj2) + fabs(proj1 - y);
- l[1] += delta_y;
+ FCL_REAL delta_y = - std::sqrt(radius * radius - proj2 * proj2) + fabs(proj1 - y);
+ length[1] += delta_y;
if(proj1 < 0)
Tr[1] -= delta_y;
}
else
{
FCL_REAL delta_y = fabs(proj1 - y);
- l[1] += delta_y;
+ length[1] += delta_y;
if(proj1 < 0)
Tr[1] -= delta_y;
if(proj2 > 0)
- Tr[2] += 0.5 * (abs_proj2 - r);
+ Tr[2] += 0.5 * (abs_proj2 - radius);
else
- Tr[2] -= 0.5 * (abs_proj2 - r);
+ Tr[2] -= 0.5 * (abs_proj2 - radius);
}
}
}
- else if((proj1 < l[1]) && (proj1 > 0) && ((proj0 < 0) || (proj0 > l[0])))
+ else if((proj1 < length[1]) && (proj1 > 0) && ((proj0 < 0) || (proj0 > length[0])))
{
- FCL_REAL x = (proj0 > 0) ? l[0] : 0;
+ FCL_REAL x = (proj0 > 0) ? length[0] : 0;
Vec3f v(x, proj1, 0);
FCL_REAL new_r_sqr = (proj - v).squaredNorm();
- if(new_r_sqr < r * r)
+ if(new_r_sqr < radius * radius)
; // do nothing
else
{
- if(abs_proj2 < r)
+ if(abs_proj2 < radius)
{
- FCL_REAL delta_x = - std::sqrt(r * r - proj2 * proj2) + fabs(proj0 - x);
- l[0] += delta_x;
+ FCL_REAL delta_x = - std::sqrt(radius * radius - proj2 * proj2) + fabs(proj0 - x);
+ length[0] += delta_x;
if(proj0 < 0)
Tr[0] -= delta_x;
}
else
{
FCL_REAL delta_x = fabs(proj0 - x);
- l[0] += delta_x;
+ length[0] += delta_x;
if(proj0 < 0)
Tr[0] -= delta_x;
if(proj2 > 0)
- Tr[2] += 0.5 * (abs_proj2 - r);
+ Tr[2] += 0.5 * (abs_proj2 - radius);
else
- Tr[2] -= 0.5 * (abs_proj2 - r);
+ Tr[2] -= 0.5 * (abs_proj2 - radius);
}
}
}
else
{
- FCL_REAL x = (proj0 > 0) ? l[0] : 0;
- FCL_REAL y = (proj1 > 0) ? l[1] : 0;
+ FCL_REAL x = (proj0 > 0) ? length[0] : 0;
+ FCL_REAL y = (proj1 > 0) ? length[1] : 0;
Vec3f v(x, y, 0);
FCL_REAL new_r_sqr = (proj - v).squaredNorm();
- if(new_r_sqr < r * r)
+ if(new_r_sqr < radius * radius)
; // do nothing
else
{
- if(abs_proj2 < r)
+ if(abs_proj2 < radius)
{
FCL_REAL diag = std::sqrt(new_r_sqr - proj2 * proj2);
- FCL_REAL delta_diag = - std::sqrt(r * r - proj2 * proj2) + diag;
+ FCL_REAL delta_diag = - std::sqrt(radius * radius - proj2 * proj2) + diag;
FCL_REAL delta_x = delta_diag / diag * fabs(proj0 - x);
FCL_REAL delta_y = delta_diag / diag * fabs(proj1 - y);
- l[0] += delta_x;
- l[1] += delta_y;
+ length[0] += delta_x;
+ length[1] += delta_y;
if(proj0 < 0 && proj1 < 0)
{
@@ -1033,8 +1033,8 @@ RSS& RSS::operator += (const Vec3f& p)
FCL_REAL delta_x = fabs(proj0 - x);
FCL_REAL delta_y = fabs(proj1 - y);
- l[0] += delta_x;
- l[1] += delta_y;
+ length[0] += delta_x;
+ length[1] += delta_y;
if(proj0 < 0 && proj1 < 0)
{
@@ -1043,9 +1043,9 @@ RSS& RSS::operator += (const Vec3f& p)
}
if(proj2 > 0)
- Tr[2] += 0.5 * (abs_proj2 - r);
+ Tr[2] += 0.5 * (abs_proj2 - radius);
else
- Tr[2] -= 0.5 * (abs_proj2 - r);
+ Tr[2] -= 0.5 * (abs_proj2 - radius);
}
}
}
@@ -1058,12 +1058,12 @@ RSS RSS::operator + (const RSS& other) const
RSS bv;
Vec3f v[16];
- Vec3f d0_pos (other.axes.col(0) * (other.l[0] + other.r));
- Vec3f d1_pos (other.axes.col(1) * (other.l[1] + other.r));
- Vec3f d0_neg (other.axes.col(0) * (-other.r));
- Vec3f d1_neg (other.axes.col(1) * (-other.r));
- Vec3f d2_pos (other.axes.col(2) * other.r);
- Vec3f d2_neg (other.axes.col(2) * (-other.r));
+ Vec3f d0_pos (other.axes.col(0) * (other.length[0] + other.radius));
+ Vec3f d1_pos (other.axes.col(1) * (other.length[1] + other.radius));
+ Vec3f d0_neg (other.axes.col(0) * (-other.radius));
+ Vec3f d1_neg (other.axes.col(1) * (-other.radius));
+ Vec3f d2_pos (other.axes.col(2) * other.radius);
+ Vec3f d2_neg (other.axes.col(2) * (-other.radius));
v[0].noalias() = other.Tr + d0_pos + d1_pos + d2_pos;
v[1].noalias() = other.Tr + d0_pos + d1_pos + d2_neg;
@@ -1074,12 +1074,12 @@ RSS RSS::operator + (const RSS& other) const
v[6].noalias() = other.Tr + d0_neg + d1_neg + d2_pos;
v[7].noalias() = other.Tr + d0_neg + d1_neg + d2_neg;
- d0_pos.noalias() = axes.col(0) * (l[0] + r);
- d1_pos.noalias() = axes.col(1) * (l[1] + r);
- d0_neg.noalias() = axes.col(0) * (-r);
- d1_neg.noalias() = axes.col(1) * (-r);
- d2_pos.noalias() = axes.col(2) * r;
- d2_neg.noalias() = axes.col(2) * (-r);
+ d0_pos.noalias() = axes.col(0) * (length[0] + radius);
+ d1_pos.noalias() = axes.col(1) * (length[1] + radius);
+ d0_neg.noalias() = axes.col(0) * (-radius);
+ d1_neg.noalias() = axes.col(1) * (-radius);
+ d2_pos.noalias() = axes.col(2) * radius;
+ d2_neg.noalias() = axes.col(2) * (-radius);
v[ 8].noalias() = Tr + d0_pos + d1_pos + d2_pos;
v[ 9].noalias() = Tr + d0_pos + d1_pos + d2_neg;
@@ -1113,7 +1113,7 @@ RSS RSS::operator + (const RSS& other) const
E[0][max]*E[1][mid] - E[0][mid]*E[1][max];
// set rss origin, rectangle size and radius
- getRadiusAndOriginAndRectangleSize(v, NULL, NULL, NULL, 16, bv.axes, bv.Tr, bv.l, bv.r);
+ getRadiusAndOriginAndRectangleSize(v, NULL, NULL, NULL, 16, bv.axes, bv.Tr, bv.length, bv.radius);
return bv;
}
@@ -1126,8 +1126,8 @@ FCL_REAL RSS::distance(const RSS& other, Vec3f* P, Vec3f* Q) const
Matrix3f R (axes.transpose() * other.axes);
Vec3f T (axes.transpose() * (other.Tr - Tr));
- FCL_REAL dist = rectDistance(R, T, l, other.l, P, Q);
- dist -= (r + other.r);
+ FCL_REAL dist = rectDistance(R, T, length, other.length, P, Q);
+ dist -= (radius + other.radius);
return (dist < (FCL_REAL)0.0) ? (FCL_REAL)0.0 : dist;
}
@@ -1138,8 +1138,8 @@ FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS&
Vec3f T(b1.axes.transpose() * Ttemp);
- FCL_REAL dist = rectDistance(R, T, b1.l, b2.l, P, Q);
- dist -= (b1.r + b2.r);
+ FCL_REAL dist = rectDistance(R, T, b1.length, b2.length, P, Q);
+ dist -= (b1.radius + b2.radius);
return (dist < (FCL_REAL)0.0) ? (FCL_REAL)0.0 : dist;
}
diff --git a/src/BVH/BV_fitter.cpp b/src/BVH/BV_fitter.cpp
index df9b26cb..a9179268 100644
--- a/src/BVH/BV_fitter.cpp
+++ b/src/BVH/BV_fitter.cpp
@@ -150,9 +150,9 @@ void fit1(Vec3f* ps, RSS& bv)
{
bv.Tr.noalias() = ps[0];
bv.axes.setIdentity();
- bv.l[0] = 0;
- bv.l[1] = 0;
- bv.r = 0;
+ bv.length[0] = 0;
+ bv.length[1] = 0;
+ bv.radius = 0;
}
void fit2(Vec3f* ps, RSS& bv)
@@ -164,11 +164,11 @@ void fit2(Vec3f* ps, RSS& bv)
bv.axes.col(0) /= len_p1p2;
generateCoordinateSystem(bv.axes.col(0), bv.axes.col(1), bv.axes.col(2));
- bv.l[0] = len_p1p2;
- bv.l[1] = 0;
+ bv.length[0] = len_p1p2;
+ bv.length[1] = 0;
bv.Tr = p2;
- bv.r = 0;
+ bv.radius = 0;
}
void fit3(Vec3f* ps, RSS& bv)
@@ -193,7 +193,7 @@ void fit3(Vec3f* ps, RSS& bv)
bv.axes.col(0).noalias() = e[imax].normalized();
bv.axes.col(1).noalias() = bv.axes.col(2).cross(bv.axes.col(0));
- getRadiusAndOriginAndRectangleSize(ps, NULL, NULL, NULL, 3, bv.axes, bv.Tr, bv.l, bv.r);
+ getRadiusAndOriginAndRectangleSize(ps, NULL, NULL, NULL, 3, bv.axes, bv.Tr, bv.length, bv.radius);
}
void fit6(Vec3f* ps, RSS& bv)
@@ -215,7 +215,7 @@ void fitn(Vec3f* ps, int n, RSS& bv)
axisFromEigen(E, s, bv.axes);
// set rss origin, rectangle size and radius
- getRadiusAndOriginAndRectangleSize(ps, NULL, NULL, NULL, n, bv.axes, bv.Tr, bv.l, bv.r);
+ getRadiusAndOriginAndRectangleSize(ps, NULL, NULL, NULL, n, bv.axes, bv.Tr, bv.length, bv.radius);
}
}
@@ -542,9 +542,9 @@ OBBRSS BVFitter<OBBRSS>::fit(unsigned int* primitive_indices, int num_primitives
getRadiusAndOriginAndRectangleSize(vertices, prev_vertices, tri_indices, primitive_indices, num_primitives, bv.rss.axes, origin, l, r);
bv.rss.Tr = origin;
- bv.rss.l[0] = l[0];
- bv.rss.l[1] = l[1];
- bv.rss.r = r;
+ bv.rss.length[0] = l[0];
+ bv.rss.length[1] = l[1];
+ bv.rss.radius = r;
return bv;
}
@@ -568,9 +568,9 @@ RSS BVFitter<RSS>::fit(unsigned int* primitive_indices, int num_primitives)
getRadiusAndOriginAndRectangleSize(vertices, prev_vertices, tri_indices, primitive_indices, num_primitives, bv.axes, origin, l, r);
bv.Tr = origin;
- bv.l[0] = l[0];
- bv.l[1] = l[1];
- bv.r = r;
+ bv.length[0] = l[0];
+ bv.length[1] = l[1];
+ bv.radius = r;
return bv;
diff --git a/src/shape/geometric_shapes_utility.cpp b/src/shape/geometric_shapes_utility.cpp
index 0a82aeb2..5c776ca0 100644
--- a/src/shape/geometric_shapes_utility.cpp
+++ b/src/shape/geometric_shapes_utility.cpp
@@ -482,7 +482,7 @@ void computeBV<RSS, Halfspace>(const Halfspace&, const Transform3f&, RSS& bv)
/// Half space can only have very rough RSS
bv.axes.setIdentity();
bv.Tr.setZero();
- bv.l[0] = bv.l[1] = bv.r = std::numeric_limits<FCL_REAL>::max();
+ bv.length[0] = bv.length[1] = bv.radius = std::numeric_limits<FCL_REAL>::max();
}
template<>
@@ -716,10 +716,10 @@ void computeBV<RSS, Plane>(const Plane& s, const Transform3f& tf, RSS& bv)
generateCoordinateSystem(n, bv.axes.col(1), bv.axes.col(2));
bv.axes.col(0).noalias() = n;
- bv.l[0] = std::numeric_limits<FCL_REAL>::max();
- bv.l[1] = std::numeric_limits<FCL_REAL>::max();
+ bv.length[0] = std::numeric_limits<FCL_REAL>::max();
+ bv.length[1] = std::numeric_limits<FCL_REAL>::max();
- bv.r = 0;
+ bv.radius = 0;
Vec3f p = s.n * s.d;
bv.Tr = tf.transform(p);
--
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