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222 lines
7.0 KiB
222 lines
7.0 KiB
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#include "main.h"
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#include <Eigen/StdVector>
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#include <Eigen/Geometry>
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#include <unsupported/Eigen/BVH>
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namespace Eigen {
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template<typename Scalar, int Dim> AlignedBox<Scalar, Dim> bounding_box(const Matrix<Scalar, Dim, 1> &v) { return AlignedBox<Scalar, Dim>(v); }
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}
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template<int Dim>
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struct Ball
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{
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(double, Dim)
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typedef Matrix<double, Dim, 1> VectorType;
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Ball() {}
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Ball(const VectorType &c, double r) : center(c), radius(r) {}
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VectorType center;
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double radius;
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};
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template<int Dim> AlignedBox<double, Dim> bounding_box(const Ball<Dim> &b)
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{ return AlignedBox<double, Dim>(b.center.array() - b.radius, b.center.array() + b.radius); }
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inline double SQR(double x) { return x * x; }
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template<int Dim>
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struct BallPointStuff //this class provides functions to be both an intersector and a minimizer, both for a ball and a point and for two trees
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{
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typedef double Scalar;
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typedef Matrix<double, Dim, 1> VectorType;
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typedef Ball<Dim> BallType;
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typedef AlignedBox<double, Dim> BoxType;
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BallPointStuff() : calls(0), count(0) {}
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BallPointStuff(const VectorType &inP) : p(inP), calls(0), count(0) {}
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bool intersectVolume(const BoxType &r) { ++calls; return r.contains(p); }
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bool intersectObject(const BallType &b) {
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++calls;
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if((b.center - p).squaredNorm() < SQR(b.radius))
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++count;
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return false; //continue
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}
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bool intersectVolumeVolume(const BoxType &r1, const BoxType &r2) { ++calls; return !(r1.intersection(r2)).isNull(); }
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bool intersectVolumeObject(const BoxType &r, const BallType &b) { ++calls; return r.squaredExteriorDistance(b.center) < SQR(b.radius); }
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bool intersectObjectVolume(const BallType &b, const BoxType &r) { ++calls; return r.squaredExteriorDistance(b.center) < SQR(b.radius); }
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bool intersectObjectObject(const BallType &b1, const BallType &b2){
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++calls;
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if((b1.center - b2.center).norm() < b1.radius + b2.radius)
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++count;
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return false;
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}
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bool intersectVolumeObject(const BoxType &r, const VectorType &v) { ++calls; return r.contains(v); }
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bool intersectObjectObject(const BallType &b, const VectorType &v){
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++calls;
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if((b.center - v).squaredNorm() < SQR(b.radius))
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++count;
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return false;
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}
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double minimumOnVolume(const BoxType &r) { ++calls; return r.squaredExteriorDistance(p); }
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double minimumOnObject(const BallType &b) { ++calls; return (std::max)(0., (b.center - p).squaredNorm() - SQR(b.radius)); }
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double minimumOnVolumeVolume(const BoxType &r1, const BoxType &r2) { ++calls; return r1.squaredExteriorDistance(r2); }
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double minimumOnVolumeObject(const BoxType &r, const BallType &b) { ++calls; return SQR((std::max)(0., r.exteriorDistance(b.center) - b.radius)); }
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double minimumOnObjectVolume(const BallType &b, const BoxType &r) { ++calls; return SQR((std::max)(0., r.exteriorDistance(b.center) - b.radius)); }
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double minimumOnObjectObject(const BallType &b1, const BallType &b2){ ++calls; return SQR((std::max)(0., (b1.center - b2.center).norm() - b1.radius - b2.radius)); }
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double minimumOnVolumeObject(const BoxType &r, const VectorType &v) { ++calls; return r.squaredExteriorDistance(v); }
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double minimumOnObjectObject(const BallType &b, const VectorType &v){ ++calls; return SQR((std::max)(0., (b.center - v).norm() - b.radius)); }
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VectorType p;
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int calls;
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int count;
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};
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template<int Dim>
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struct TreeTest
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{
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typedef Matrix<double, Dim, 1> VectorType;
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typedef std::vector<VectorType, aligned_allocator<VectorType> > VectorTypeList;
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typedef Ball<Dim> BallType;
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typedef std::vector<BallType, aligned_allocator<BallType> > BallTypeList;
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typedef AlignedBox<double, Dim> BoxType;
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void testIntersect1()
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{
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BallTypeList b;
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for(int i = 0; i < 500; ++i) {
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b.push_back(BallType(VectorType::Random(), 0.5 * internal::random(0., 1.)));
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}
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KdBVH<double, Dim, BallType> tree(b.begin(), b.end());
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VectorType pt = VectorType::Random();
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BallPointStuff<Dim> i1(pt), i2(pt);
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for(int i = 0; i < (int)b.size(); ++i)
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i1.intersectObject(b[i]);
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BVIntersect(tree, i2);
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VERIFY(i1.count == i2.count);
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}
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void testMinimize1()
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{
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BallTypeList b;
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for(int i = 0; i < 500; ++i) {
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b.push_back(BallType(VectorType::Random(), 0.01 * internal::random(0., 1.)));
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}
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KdBVH<double, Dim, BallType> tree(b.begin(), b.end());
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VectorType pt = VectorType::Random();
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BallPointStuff<Dim> i1(pt), i2(pt);
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double m1 = (std::numeric_limits<double>::max)(), m2 = m1;
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for(int i = 0; i < (int)b.size(); ++i)
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m1 = (std::min)(m1, i1.minimumOnObject(b[i]));
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m2 = BVMinimize(tree, i2);
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VERIFY_IS_APPROX(m1, m2);
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}
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void testIntersect2()
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{
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BallTypeList b;
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VectorTypeList v;
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for(int i = 0; i < 50; ++i) {
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b.push_back(BallType(VectorType::Random(), 0.5 * internal::random(0., 1.)));
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for(int j = 0; j < 3; ++j)
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v.push_back(VectorType::Random());
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}
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KdBVH<double, Dim, BallType> tree(b.begin(), b.end());
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KdBVH<double, Dim, VectorType> vTree(v.begin(), v.end());
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BallPointStuff<Dim> i1, i2;
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for(int i = 0; i < (int)b.size(); ++i)
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for(int j = 0; j < (int)v.size(); ++j)
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i1.intersectObjectObject(b[i], v[j]);
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BVIntersect(tree, vTree, i2);
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VERIFY(i1.count == i2.count);
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}
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void testMinimize2()
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{
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BallTypeList b;
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VectorTypeList v;
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for(int i = 0; i < 50; ++i) {
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b.push_back(BallType(VectorType::Random(), 1e-7 + 1e-6 * internal::random(0., 1.)));
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for(int j = 0; j < 3; ++j)
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v.push_back(VectorType::Random());
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}
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KdBVH<double, Dim, BallType> tree(b.begin(), b.end());
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KdBVH<double, Dim, VectorType> vTree(v.begin(), v.end());
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BallPointStuff<Dim> i1, i2;
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double m1 = (std::numeric_limits<double>::max)(), m2 = m1;
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for(int i = 0; i < (int)b.size(); ++i)
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for(int j = 0; j < (int)v.size(); ++j)
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m1 = (std::min)(m1, i1.minimumOnObjectObject(b[i], v[j]));
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m2 = BVMinimize(tree, vTree, i2);
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VERIFY_IS_APPROX(m1, m2);
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}
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};
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void test_BVH()
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{
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for(int i = 0; i < g_repeat; i++) {
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#ifdef EIGEN_TEST_PART_1
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TreeTest<2> test2;
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CALL_SUBTEST(test2.testIntersect1());
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CALL_SUBTEST(test2.testMinimize1());
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CALL_SUBTEST(test2.testIntersect2());
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CALL_SUBTEST(test2.testMinimize2());
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#endif
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#ifdef EIGEN_TEST_PART_2
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TreeTest<3> test3;
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CALL_SUBTEST(test3.testIntersect1());
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CALL_SUBTEST(test3.testMinimize1());
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CALL_SUBTEST(test3.testIntersect2());
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CALL_SUBTEST(test3.testMinimize2());
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#endif
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#ifdef EIGEN_TEST_PART_3
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TreeTest<4> test4;
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CALL_SUBTEST(test4.testIntersect1());
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CALL_SUBTEST(test4.testMinimize1());
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CALL_SUBTEST(test4.testIntersect2());
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CALL_SUBTEST(test4.testMinimize2());
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#endif
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}
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}
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