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dellaert
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@ -13,118 +13,119 @@
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#include <gtsam/base/FastVector.h>
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#include <gtsam/base/FastVector.h>
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#include <gtsam/inference/Ordering.h>
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#include <gtsam/inference/Ordering.h>
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namespace gtsam
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namespace gtsam {
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{
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/**
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/**
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* A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman:
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* A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman:
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* each node k represents a subset \f$ C_k \sub X \f$, and the tree is family preserving, in that
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* each node k represents a subset \f$ C_k \sub X \f$, and the tree is family preserving, in that
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* each factor \f$ f_i \f$ is associated with a single cluster and \f$ scope(f_i) \sub C_k \f$.
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* each factor \f$ f_i \f$ is associated with a single cluster and \f$ scope(f_i) \sub C_k \f$.
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* \nosubgrouping
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* \nosubgrouping
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*/
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*/
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template<class BAYESTREE, class GRAPH>
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template<class BAYESTREE, class GRAPH>
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class ClusterTree
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class ClusterTree {
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{
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public:
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public:
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typedef GRAPH FactorGraphType; ///< The factor graph type
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typedef GRAPH FactorGraphType; ///< The factor graph type
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typedef typename GRAPH::FactorType FactorType; ///< The type of factors
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typedef typename GRAPH::FactorType FactorType; ///< The type of factors
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typedef ClusterTree<BAYESTREE, GRAPH> This; ///< This class
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typedef ClusterTree<BAYESTREE, GRAPH> This; ///< This class
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typedef boost::shared_ptr<This> shared_ptr; ///< Shared pointer to this class
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typedef boost::shared_ptr<This> shared_ptr; ///< Shared pointer to this class
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typedef boost::shared_ptr<FactorType> sharedFactor; ///< Shared pointer to a factor
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typedef boost::shared_ptr<FactorType> sharedFactor; ///< Shared pointer to a factor
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typedef BAYESTREE BayesTreeType; ///< The BayesTree type produced by elimination
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typedef BAYESTREE BayesTreeType; ///< The BayesTree type produced by elimination
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typedef typename BayesTreeType::ConditionalType ConditionalType; ///< The type of conditionals
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typedef typename BayesTreeType::ConditionalType ConditionalType; ///< The type of conditionals
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typedef boost::shared_ptr<ConditionalType> sharedConditional; ///< Shared pointer to a conditional
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typedef boost::shared_ptr<ConditionalType> sharedConditional; ///< Shared pointer to a conditional
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typedef typename FactorGraphType::Eliminate Eliminate; ///< Typedef for an eliminate subroutine
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typedef typename FactorGraphType::Eliminate Eliminate; ///< Typedef for an eliminate subroutine
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struct Cluster {
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struct Cluster {
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typedef Ordering Keys;
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typedef Ordering Keys;
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typedef FastVector<sharedFactor> Factors;
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typedef FastVector<sharedFactor> Factors;
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typedef FastVector<boost::shared_ptr<Cluster> > Children;
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typedef FastVector<boost::shared_ptr<Cluster> > Children;
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Cluster() {}
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Cluster() {
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Cluster(Key key, const Factors& factors) : factors(factors) {
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}
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orderedFrontalKeys.push_back(key);
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Cluster(Key key, const Factors& factors) :
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}
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factors(factors) {
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orderedFrontalKeys.push_back(key);
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}
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Keys orderedFrontalKeys; ///< Frontal keys of this node
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Keys orderedFrontalKeys; ///< Frontal keys of this node
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Factors factors; ///< Factors associated with this node
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Factors factors; ///< Factors associated with this node
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Children children; ///< sub-trees
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Children children; ///< sub-trees
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int problemSize_;
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int problemSize_;
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int problemSize() const { return problemSize_; }
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int problemSize() const {
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return problemSize_;
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/** print this node */
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}
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void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
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};
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typedef boost::shared_ptr<Cluster> sharedCluster; ///< Shared pointer to Cluster
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typedef Cluster Node; ///< Define Node=Cluster for compatibility with tree traversal functions
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typedef sharedCluster sharedNode; ///< Define Node=Cluster for compatibility with tree traversal functions
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/** concept check */
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GTSAM_CONCEPT_TESTABLE_TYPE(FactorType);
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protected:
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FastVector<sharedNode> roots_;
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FastVector<sharedFactor> remainingFactors_;
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/// @name Standard Constructors
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/// @{
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/** Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are
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* copied, factors are not cloned. */
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ClusterTree(const This& other) { *this = other; }
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/// @}
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public:
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/// @name Testable
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/// @{
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/** Print the cluster tree */
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void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
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/// @}
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/// @name Standard Interface
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/// @{
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/** Eliminate the factors to a Bayes tree and remaining factor graph
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* @param function The function to use to eliminate, see the namespace functions
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* in GaussianFactorGraph.h
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* @return The Bayes tree and factor graph resulting from elimination
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*/
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std::pair<boost::shared_ptr<BayesTreeType>, boost::shared_ptr<FactorGraphType> >
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eliminate(const Eliminate& function) const;
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/// @}
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/// @name Advanced Interface
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/// @{
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/** Return the set of roots (one for a tree, multiple for a forest) */
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const FastVector<sharedNode>& roots() const { return roots_; }
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/** Return the remaining factors that are not pulled into elimination */
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const FastVector<sharedFactor>& remainingFactors() const { return remainingFactors_; }
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/// @}
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protected:
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/// @name Details
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/// Assignment operator - makes a deep copy of the tree structure, but only pointers to factors
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/// are copied, factors are not cloned.
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This& operator=(const This& other);
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/// Default constructor to be used in derived classes
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ClusterTree() {}
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/// @}
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/** print this node */
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void print(const std::string& s = "", const KeyFormatter& keyFormatter =
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DefaultKeyFormatter) const;
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};
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};
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typedef boost::shared_ptr<Cluster> sharedCluster; ///< Shared pointer to Cluster
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typedef Cluster Node; ///< Define Node=Cluster for compatibility with tree traversal functions
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typedef sharedCluster sharedNode; ///< Define Node=Cluster for compatibility with tree traversal functions
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/** concept check */
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GTSAM_CONCEPT_TESTABLE_TYPE(FactorType);
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protected:
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FastVector<sharedNode> roots_;
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FastVector<sharedFactor> remainingFactors_;
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/// @name Standard Constructors
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/// @{
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/** Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are
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* copied, factors are not cloned. */
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ClusterTree(const This& other) {*this = other;}
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/// @}
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public:
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/// @name Testable
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/// @{
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/** Print the cluster tree */
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void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
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/// @}
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/// @name Standard Interface
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/// @{
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/** Eliminate the factors to a Bayes tree and remaining factor graph
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* @param function The function to use to eliminate, see the namespace functions
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* in GaussianFactorGraph.h
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* @return The Bayes tree and factor graph resulting from elimination
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*/
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std::pair<boost::shared_ptr<BayesTreeType>, boost::shared_ptr<FactorGraphType> >
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eliminate(const Eliminate& function) const;
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/// @}
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/// @name Advanced Interface
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/// @{
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/** Return the set of roots (one for a tree, multiple for a forest) */
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const FastVector<sharedNode>& roots() const {return roots_;}
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/** Return the remaining factors that are not pulled into elimination */
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const FastVector<sharedFactor>& remainingFactors() const {return remainingFactors_;}
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/// @}
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protected:
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/// @name Details
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/// Assignment operator - makes a deep copy of the tree structure, but only pointers to factors
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/// are copied, factors are not cloned.
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This& operator=(const This& other);
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/// Default constructor to be used in derived classes
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ClusterTree() {}
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/// @}
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};
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}
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}
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