From 2778f2fe398f25651cb10af48fa9a4be65441b01 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Mon, 23 Dec 2013 01:05:39 -0500
Subject: [PATCH 01/15] clone methods

---
 gtsam/slam/RotateFactor.h | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/gtsam/slam/RotateFactor.h b/gtsam/slam/RotateFactor.h
index f30392d62..0b6dde95d 100644
--- a/gtsam/slam/RotateFactor.h
+++ b/gtsam/slam/RotateFactor.h
@@ -25,6 +25,7 @@ class RotateFactor: public NoiseModelFactor1<Rot3> {
   Point3 p_, z_; ///< Predicted and measured directions, p = iRc * z
 
   typedef NoiseModelFactor1<Rot3> Base;
+  typedef RotateFactor This;
 
 public:
 
@@ -34,6 +35,11 @@ public:
       Base(model, key), p_(Rot3::Logmap(P)), z_(Rot3::Logmap(Z)) {
   }
 
+  /// @return a deep copy of this factor
+  virtual gtsam::NonlinearFactor::shared_ptr clone() const {
+    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
+        gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
+
   /// print
   virtual void print(const std::string& s = "",
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
@@ -63,6 +69,7 @@ class RotateDirectionsFactor: public NoiseModelFactor1<Rot3> {
   Sphere2 p_, z_; ///< Predicted and measured directions, p = iRc * z
 
   typedef NoiseModelFactor1<Rot3> Base;
+  typedef RotateDirectionsFactor This;
 
 public:
 
@@ -72,6 +79,11 @@ public:
       Base(model, key), p_(p), z_(z) {
   }
 
+  /// @return a deep copy of this factor
+  virtual gtsam::NonlinearFactor::shared_ptr clone() const {
+    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
+        gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
+
   /// print
   virtual void print(const std::string& s = "",
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {

From 2601b2ad00f0ec05321c4b213793287227d222eb Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Mon, 23 Dec 2013 01:41:17 -0500
Subject: [PATCH 02/15] Merged changes from the trunk back into examples.
 Mostly just Vector inits and some new examples.

---
 examples/CMakeLists.txt                |  10 +++
 examples/CameraResectioning.cpp        |   2 +-
 examples/CreateSFMExampleData.cpp      |  71 +++++++++++++++
 examples/LocalizationExample.cpp       |  14 +--
 examples/OdometryExample.cpp           |   4 +-
 examples/PlanarSLAMExample.cpp         |   6 +-
 examples/Pose2SLAMExample.cpp          |   4 +-
 examples/Pose2SLAMExample_graph.cpp    |  20 ++---
 examples/Pose2SLAMExample_graphviz.cpp |  71 +++++++++++++++
 examples/Pose2SLAMwSPCG.cpp            |   6 +-
 examples/SFMExample.cpp                | 118 +++++++++++++++++++++++++
 examples/SFMExample_bal.cpp            |  94 ++++++++++++++++++++
 examples/SFMdata.h                     |  68 ++++++++++++++
 examples/SelfCalibrationExample.cpp    |  96 ++++++++++++++++++++
 examples/VisualISAM2Example.cpp        |  33 ++-----
 examples/VisualISAMExample.cpp         |  33 ++-----
 16 files changed, 566 insertions(+), 84 deletions(-)
 create mode 100644 examples/CreateSFMExampleData.cpp
 create mode 100644 examples/Pose2SLAMExample_graphviz.cpp
 create mode 100644 examples/SFMExample.cpp
 create mode 100644 examples/SFMExample_bal.cpp
 create mode 100644 examples/SFMdata.h
 create mode 100644 examples/SelfCalibrationExample.cpp

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 1c38616a4..eae90e298 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -4,6 +4,16 @@ endif()
 
 # Build example executables
 FILE(GLOB example_srcs "*.cpp")
+
+set (excluded_examples #"")
+    "${CMAKE_CURRENT_SOURCE_DIR}/DiscreteBayesNet_FG.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/UGM_chain.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/UGM_small.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/elaboratePoint2KalmanFilter.cpp"
+)
+
+list(REMOVE_ITEM example_srcs ${excluded_examples})
+
 foreach(example_src ${example_srcs} )
     get_filename_component(example_base ${example_src} NAME_WE)
     set( example_bin ${example_base} )
diff --git a/examples/CameraResectioning.cpp b/examples/CameraResectioning.cpp
index 9ba415b7d..37ea57022 100644
--- a/examples/CameraResectioning.cpp
+++ b/examples/CameraResectioning.cpp
@@ -70,7 +70,7 @@ int main(int argc, char* argv[]) {
 
   /* 2. add factors to the graph */
   // add measurement factors
-  SharedDiagonal measurementNoise = Diagonal::Sigmas(Vector_(2, 0.5, 0.5));
+  SharedDiagonal measurementNoise = Diagonal::Sigmas((Vector(2) << 0.5, 0.5));
   boost::shared_ptr<ResectioningFactor> factor;
   graph.push_back(
       boost::make_shared<ResectioningFactor>(measurementNoise, X(1), calib,
diff --git a/examples/CreateSFMExampleData.cpp b/examples/CreateSFMExampleData.cpp
new file mode 100644
index 000000000..b62b1c6fa
--- /dev/null
+++ b/examples/CreateSFMExampleData.cpp
@@ -0,0 +1,71 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    CreateSFMExampleData.cpp
+ * @brief   Create some example data that for inclusion in the data folder
+ * @author  Frank Dellaert
+ */
+
+#include <gtsam/slam/dataset.h>
+#include <gtsam/geometry/CalibratedCamera.h>
+#include <boost/assign/std/vector.hpp>
+
+using namespace boost::assign;
+using namespace std;
+using namespace gtsam;
+
+void create5PointExample1() {
+
+  // Class that will gather all data
+  SfM_data data;
+
+  // Create two cameras and corresponding essential matrix E
+  Rot3 aRb = Rot3::yaw(M_PI_2);
+  Point3 aTb(0.1, 0, 0);
+  Pose3 identity, aPb(aRb, aTb);
+  data.cameras.push_back(SfM_Camera(identity));
+  data.cameras.push_back(SfM_Camera(aPb));
+
+  // Create test data, we need at least 5 points
+  vector<Point3> P;
+  P += Point3(0, 0, 1), Point3(-0.1, 0, 1), Point3(0.1, 0, 1), //
+  Point3(0, 0.5, 0.5), Point3(0, -0.5, 0.5);
+
+  BOOST_FOREACH(const Point3& p, P) {
+
+    // Create the track
+    SfM_Track track;
+    track.p = p;
+    track.r = 1;
+    track.g = 1;
+    track.b = 1;
+
+    // Project points in both cameras
+    for (size_t i = 0; i < 2; i++)
+      track.measurements.push_back(make_pair(i, data.cameras[i].project(p)));
+
+    // Add track to data
+    data.tracks.push_back(track);
+  }
+
+  // Assumes example is run in ${GTSAM_TOP}/build/examples
+  const string filename = "../../examples/data/5pointExample1.txt";
+  writeBAL(filename, data);
+}
+
+int main(int argc, char* argv[]) {
+  create5PointExample1();
+  return 0;
+}
+
+/* ************************************************************************* */
+
diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp
index dfe3d1e99..3ce3e0760 100644
--- a/examples/LocalizationExample.cpp
+++ b/examples/LocalizationExample.cpp
@@ -93,8 +93,8 @@ public:
     // Consequently, the Jacobians are:
     // [ derror_x/dx  derror_x/dy  derror_x/dtheta ] = [1 0 0]
     // [ derror_y/dx  derror_y/dy  derror_y/dtheta ] = [0 1 0]
-    if (H) (*H) = Matrix_(2,3, 1.0,0.0,0.0, 0.0,1.0,0.0);
-    return Vector_(2, q.x() - mx_, q.y() - my_);
+    if (H) (*H) = (Matrix(2,3) << 1.0,0.0,0.0, 0.0,1.0,0.0);
+    return (Vector(2) << q.x() - mx_, q.y() - my_);
   }
 
   // The second is a 'clone' function that allows the factor to be copied. Under most
@@ -118,17 +118,17 @@ int main(int argc, char** argv) {
 
   // 2a. Add odometry factors
   // For simplicity, we will use the same noise model for each odometry factor
-  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
+  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
   // Create odometry (Between) factors between consecutive poses
   graph.add(BetweenFactor<Pose2>(1, 2, Pose2(2.0, 0.0, 0.0), odometryNoise));
   graph.add(BetweenFactor<Pose2>(2, 3, Pose2(2.0, 0.0, 0.0), odometryNoise));
 
   // 2b. Add "GPS-like" measurements
   // We will use our custom UnaryFactor for this.
-  noiseModel::Diagonal::shared_ptr unaryNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.1)); // 10cm std on x,y
-  graph.push_back(boost::make_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise));
-  graph.push_back(boost::make_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise));
-  graph.push_back(boost::make_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise));
+  noiseModel::Diagonal::shared_ptr unaryNoise = noiseModel::Diagonal::Sigmas((Vector(2) << 0.1, 0.1)); // 10cm std on x,y
+  graph.add(boost::make_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise));
+  graph.add(boost::make_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise));
+  graph.add(boost::make_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise));
   graph.print("\nFactor Graph:\n"); // print
 
   // 3. Create the data structure to hold the initialEstimate estimate to the solution
diff --git a/examples/OdometryExample.cpp b/examples/OdometryExample.cpp
index d556798f0..70c6e6fb0 100644
--- a/examples/OdometryExample.cpp
+++ b/examples/OdometryExample.cpp
@@ -64,13 +64,13 @@ int main(int argc, char** argv) {
   // Add a prior on the first pose, setting it to the origin
   // A prior factor consists of a mean and a noise model (covariance matrix)
   Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin
-  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1));
+  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1));
   graph.add(PriorFactor<Pose2>(1, priorMean, priorNoise));
 
   // Add odometry factors
   Pose2 odometry(2.0, 0.0, 0.0);
   // For simplicity, we will use the same noise model for each odometry factor
-  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
+  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
   // Create odometry (Between) factors between consecutive poses
   graph.add(BetweenFactor<Pose2>(1, 2, odometry, odometryNoise));
   graph.add(BetweenFactor<Pose2>(2, 3, odometry, odometryNoise));
diff --git a/examples/PlanarSLAMExample.cpp b/examples/PlanarSLAMExample.cpp
index 88b8da3e0..ac8157be6 100644
--- a/examples/PlanarSLAMExample.cpp
+++ b/examples/PlanarSLAMExample.cpp
@@ -80,18 +80,18 @@ int main(int argc, char** argv) {
 
   // Add a prior on pose x1 at the origin. A prior factor consists of a mean and a noise model (covariance matrix)
   Pose2 prior(0.0, 0.0, 0.0); // prior mean is at origin
-  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta
+  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta
   graph.add(PriorFactor<Pose2>(x1, prior, priorNoise)); // add directly to graph
 
   // Add two odometry factors
   Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case)
-  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta
+  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta
   graph.add(BetweenFactor<Pose2>(x1, x2, odometry, odometryNoise));
   graph.add(BetweenFactor<Pose2>(x2, x3, odometry, odometryNoise));
 
   // Add Range-Bearing measurements to two different landmarks
   // create a noise model for the landmark measurements
-  noiseModel::Diagonal::shared_ptr measurementNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); // 0.1 rad std on bearing, 20cm on range
+  noiseModel::Diagonal::shared_ptr measurementNoise = noiseModel::Diagonal::Sigmas((Vector(2) << 0.1, 0.2)); // 0.1 rad std on bearing, 20cm on range
   // create the measurement values - indices are (pose id, landmark id)
   Rot2 bearing11 = Rot2::fromDegrees(45),
        bearing21 = Rot2::fromDegrees(90),
diff --git a/examples/Pose2SLAMExample.cpp b/examples/Pose2SLAMExample.cpp
index cbe97ae12..df924ff3e 100644
--- a/examples/Pose2SLAMExample.cpp
+++ b/examples/Pose2SLAMExample.cpp
@@ -71,11 +71,11 @@ int main(int argc, char** argv) {
 
   // 2a. Add a prior on the first pose, setting it to the origin
   // A prior factor consists of a mean and a noise model (covariance matrix)
-  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1));
+  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1));
   graph.add(PriorFactor<Pose2>(1, Pose2(0, 0, 0), priorNoise));
 
   // For simplicity, we will use the same noise model for odometry and loop closures
-  noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
+  noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
 
   // 2b. Add odometry factors
   // Create odometry (Between) factors between consecutive poses
diff --git a/examples/Pose2SLAMExample_graph.cpp b/examples/Pose2SLAMExample_graph.cpp
index 000a071da..d5e93a31b 100644
--- a/examples/Pose2SLAMExample_graph.cpp
+++ b/examples/Pose2SLAMExample_graph.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file Pose2SLAMExample_graph->cpp
+ * @file Pose2SLAMExample_graph.cpp
  * @brief Read graph from file and perform GraphSLAM
  * @date June 3, 2012
  * @author Frank Dellaert
@@ -20,28 +20,24 @@
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/nonlinear/Marginals.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/Values.h>
 #include <gtsam/geometry/Pose2.h>
-#include <boost/tuple/tuple.hpp>
-#include <cmath>
 
 using namespace std;
 using namespace gtsam;
 
-int main(int argc, char** argv) {
+int main (int argc, char** argv) {
 
-  // Read File and create graph and initial estimate
+  // Read File, create graph and initial estimate
   // we are in build/examples, data is in examples/Data
-  NonlinearFactorGraph::shared_ptr graph ;
+  NonlinearFactorGraph::shared_ptr graph;
   Values::shared_ptr initial;
-  SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.05, 0.05, 5.0*M_PI/180.0));
-  boost::tie(graph,initial) = load2D("../../examples/Data/w100-odom.graph",model);
+  SharedDiagonal model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.05, 0.05, 5.0 * M_PI / 180.0));
+  boost::tie(graph, initial) = load2D("../../examples/Data/w100.graph", model);
   initial->print("Initial estimate:\n");
 
   // Add a Gaussian prior on first poses
   Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin
-  SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.01, 0.01, 0.01));
+  SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.01, 0.01, 0.01));
   graph->add(PriorFactor<Pose2>(0, priorMean, priorNoise));
 
   // Single Step Optimization using Levenberg-Marquardt
@@ -53,5 +49,5 @@ int main(int argc, char** argv) {
   cout.precision(2);
   cout << "\nP3:\n" << marginals.marginalCovariance(99) << endl;
 
-return 0;
+  return 0;
 }
diff --git a/examples/Pose2SLAMExample_graphviz.cpp b/examples/Pose2SLAMExample_graphviz.cpp
new file mode 100644
index 000000000..0b318e7b3
--- /dev/null
+++ b/examples/Pose2SLAMExample_graphviz.cpp
@@ -0,0 +1,71 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file Pose2SLAMExample_graphviz.cpp
+ * @brief Save factor graph as graphviz dot file
+ * @date Sept 6, 2013
+ * @author Frank Dellaert
+ */
+
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
+#include <gtsam/nonlinear/Marginals.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/geometry/Pose2.h>
+#include <fstream>
+
+using namespace std;
+using namespace gtsam;
+
+int main (int argc, char** argv) {
+
+  // 1. Create a factor graph container and add factors to it
+  NonlinearFactorGraph graph;
+
+  // 2a. Add a prior on the first pose, setting it to the origin
+  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1));
+  graph.add(PriorFactor<Pose2>(1, Pose2(0, 0, 0), priorNoise));
+
+  // For simplicity, we will use the same noise model for odometry and loop closures
+  noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
+
+  // 2b. Add odometry factors
+  graph.add(BetweenFactor<Pose2>(1, 2, Pose2(2, 0, 0     ), model));
+  graph.add(BetweenFactor<Pose2>(2, 3, Pose2(2, 0, M_PI_2), model));
+  graph.add(BetweenFactor<Pose2>(3, 4, Pose2(2, 0, M_PI_2), model));
+  graph.add(BetweenFactor<Pose2>(4, 5, Pose2(2, 0, M_PI_2), model));
+
+  // 2c. Add the loop closure constraint
+  graph.add(BetweenFactor<Pose2>(5, 2, Pose2(2, 0, M_PI_2), model));
+
+  // 3. Create the data structure to hold the initial estimate to the solution
+  // For illustrative purposes, these have been deliberately set to incorrect values
+  Values initial;
+  initial.insert(1, Pose2(0.5, 0.0,  0.2   ));
+  initial.insert(2, Pose2(2.3, 0.1, -0.2   ));
+  initial.insert(3, Pose2(4.1, 0.1,  M_PI_2));
+  initial.insert(4, Pose2(4.0, 2.0,  M_PI  ));
+  initial.insert(5, Pose2(2.1, 2.1, -M_PI_2));
+
+  // Single Step Optimization using Levenberg-Marquardt
+  Values result = LevenbergMarquardtOptimizer(graph, initial).optimize();
+
+  // save factor graph as graphviz dot file
+  // Render to PDF using "fdp Pose2SLAMExample.dot -Tpdf > graph.pdf"
+  ofstream os("Pose2SLAMExample.dot");
+  graph.saveGraph(os, result);
+
+  // Also print out to console
+  graph.saveGraph(cout, result);
+
+  return 0;
+}
diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp
index 36f2552a1..1c2952365 100644
--- a/examples/Pose2SLAMwSPCG.cpp
+++ b/examples/Pose2SLAMwSPCG.cpp
@@ -68,12 +68,12 @@ int main(int argc, char** argv) {
   // 2a. Add a prior on the first pose, setting it to the origin
   // A prior factor consists of a mean and a noise model (covariance matrix)
   Pose2 prior(0.0, 0.0, 0.0); // prior at origin
-  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1));
+  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1));
   graph.add(PriorFactor<Pose2>(1, prior, priorNoise));
 
   // 2b. Add odometry factors
   // For simplicity, we will use the same noise model for each odometry factor
-  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
+  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
   // Create odometry (Between) factors between consecutive poses
   graph.add(BetweenFactor<Pose2>(1, 2, Pose2(2.0, 0.0, M_PI_2),    odometryNoise));
   graph.add(BetweenFactor<Pose2>(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise));
@@ -85,7 +85,7 @@ int main(int argc, char** argv) {
   // these constraints may be identified in many ways, such as appearance-based techniques
   // with camera images.
   // We will use another Between Factor to enforce this constraint, with the distance set to zero,
-  noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
+  noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
   graph.add(BetweenFactor<Pose2>(5, 1, Pose2(0.0, 0.0, 0.0), model));
   graph.print("\nFactor Graph:\n"); // print
 
diff --git a/examples/SFMExample.cpp b/examples/SFMExample.cpp
new file mode 100644
index 000000000..c810cfe49
--- /dev/null
+++ b/examples/SFMExample.cpp
@@ -0,0 +1,118 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    SFMExample.cpp
+ * @brief   A structure-from-motion problem on a simulated dataset
+ * @author  Duy-Nguyen Ta
+ */
+
+/**
+ * A structure-from-motion example with landmarks
+ *  - The landmarks form a 10 meter cube
+ *  - The robot rotates around the landmarks, always facing towards the cube
+ */
+
+// For loading the data
+#include "SFMdata.h"
+
+// Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
+#include <gtsam/geometry/Point2.h>
+
+// Each variable in the system (poses and landmarks) must be identified with a unique key.
+// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1).
+// Here we will use Symbols
+#include <gtsam/nonlinear/Symbol.h>
+
+// In GTSAM, measurement functions are represented as 'factors'. Several common factors
+// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems.
+// Here we will use Projection factors to model the camera's landmark observations.
+// Also, we will initialize the robot at some location using a Prior factor.
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/ProjectionFactor.h>
+
+// When the factors are created, we will add them to a Factor Graph. As the factors we are using
+// are nonlinear factors, we will need a Nonlinear Factor Graph.
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+
+// Finally, once all of the factors have been added to our factor graph, we will want to
+// solve/optimize to graph to find the best (Maximum A Posteriori) set of variable values.
+// GTSAM includes several nonlinear optimizers to perform this step. Here we will use a
+// trust-region method known as Powell's Degleg
+#include <gtsam/nonlinear/DoglegOptimizer.h>
+
+// The nonlinear solvers within GTSAM are iterative solvers, meaning they linearize the
+// nonlinear functions around an initial linearization point, then solve the linear system
+// to update the linearization point. This happens repeatedly until the solver converges
+// to a consistent set of variable values. This requires us to specify an initial guess
+// for each variable, held in a Values container.
+#include <gtsam/nonlinear/Values.h>
+
+#include <vector>
+
+using namespace std;
+using namespace gtsam;
+
+/* ************************************************************************* */
+int main(int argc, char* argv[]) {
+
+  // Define the camera calibration parameters
+  Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0));
+
+  // Define the camera observation noise model
+  noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
+
+  // Create the set of ground-truth landmarks
+  vector<Point3> points = createPoints();
+
+  // Create the set of ground-truth poses
+  vector<Pose3> poses = createPoses();
+
+  // Create a factor graph
+  NonlinearFactorGraph graph;
+
+  // Add a prior on pose x1. This indirectly specifies where the origin is.
+  noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1))); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
+  graph.add(PriorFactor<Pose3>(Symbol('x', 0), poses[0], poseNoise)); // add directly to graph
+
+  // Simulated measurements from each camera pose, adding them to the factor graph
+  for (size_t i = 0; i < poses.size(); ++i) {
+    for (size_t j = 0; j < points.size(); ++j) {
+      SimpleCamera camera(poses[i], *K);
+      Point2 measurement = camera.project(points[j]);
+      graph.add(GenericProjectionFactor<Pose3, Point3, Cal3_S2>(measurement, measurementNoise, Symbol('x', i), Symbol('l', j), K));
+    }
+  }
+
+  // Because the structure-from-motion problem has a scale ambiguity, the problem is still under-constrained
+  // Here we add a prior on the position of the first landmark. This fixes the scale by indicating the distance
+  // between the first camera and the first landmark. All other landmark positions are interpreted using this scale.
+  noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1);
+  graph.add(PriorFactor<Point3>(Symbol('l', 0), points[0], pointNoise)); // add directly to graph
+  graph.print("Factor Graph:\n");
+
+  // Create the data structure to hold the initial estimate to the solution
+  // Intentionally initialize the variables off from the ground truth
+  Values initialEstimate;
+  for (size_t i = 0; i < poses.size(); ++i)
+    initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20))));
+  for (size_t j = 0; j < points.size(); ++j)
+    initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15)));
+  initialEstimate.print("Initial Estimates:\n");
+
+  /* Optimize the graph and print results */
+  Values result = DoglegOptimizer(graph, initialEstimate).optimize();
+  result.print("Final results:\n");
+
+  return 0;
+}
+/* ************************************************************************* */
+
diff --git a/examples/SFMExample_bal.cpp b/examples/SFMExample_bal.cpp
new file mode 100644
index 000000000..672dbc86b
--- /dev/null
+++ b/examples/SFMExample_bal.cpp
@@ -0,0 +1,94 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    SFMExample.cpp
+ * @brief   Solve a structure-from-motion problem from a "Bundle Adjustment in the Large" file
+ * @author  Frank Dellaert
+ */
+
+// For an explanation of headers, see SFMExample.cpp
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/GeneralSFMFactor.h>
+#include <gtsam/slam/dataset.h> // for loading BAL datasets !
+#include <vector>
+
+using namespace std;
+using namespace gtsam;
+using symbol_shorthand::C;
+using symbol_shorthand::P;
+
+// We will be using a projection factor that ties a SFM_Camera to a 3D point.
+// An SFM_Camera is defined in datase.h as a camera with unknown Cal3Bundler calibration
+// and has a total of 9 free parameters
+typedef GeneralSFMFactor<SfM_Camera,Point3> MyFactor;
+
+/* ************************************************************************* */
+int main (int argc, char* argv[]) {
+
+  // Find default file, but if an argument is given, try loading a file
+  string filename = findExampleDataFile("dubrovnik-3-7-pre");
+  if (argc>1) filename = string(argv[1]);
+
+  // Load the SfM data from file
+  SfM_data mydata;
+  const bool success = readBAL(filename, mydata);
+  assert(success);
+  cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras();
+
+  // Create a factor graph
+  NonlinearFactorGraph graph;
+
+  // We share *one* noiseModel between all projection factors
+  noiseModel::Isotropic::shared_ptr noise =
+      noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
+
+  // Add measurements to the factor graph
+  size_t j = 0;
+  BOOST_FOREACH(const SfM_Track& track, mydata.tracks) {
+    BOOST_FOREACH(const SfM_Measurement& m, track.measurements) {
+      size_t i = m.first;
+      Point2 uv = m.second;
+      graph.add(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P
+    }
+    j += 1;
+  }
+
+  // Add a prior on pose x1. This indirectly specifies where the origin is.
+  // and a prior on the position of the first landmark to fix the scale
+  graph.add(PriorFactor<SfM_Camera>(C(0), mydata.cameras[0],  noiseModel::Isotropic::Sigma(9, 0.1)));
+  graph.add(PriorFactor<Point3>    (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)));
+
+  // Create initial estimate
+  Values initial;
+  size_t i = 0; j = 0;
+  BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera);
+  BOOST_FOREACH(const SfM_Track& track, mydata.tracks)    initial.insert(P(j++), track.p);
+
+  /* Optimize the graph and print results */
+  Values result;
+  try {
+    LevenbergMarquardtParams params;
+    params.setVerbosity("ERROR");
+    LevenbergMarquardtOptimizer lm(graph, initial, params);
+    result = lm.optimize();
+  } catch (exception& e) {
+    cout << e.what();
+  }
+  cout << "final error: " << graph.error(result) << endl;
+
+  return 0;
+}
+/* ************************************************************************* */
+
diff --git a/examples/SFMdata.h b/examples/SFMdata.h
new file mode 100644
index 000000000..25442d527
--- /dev/null
+++ b/examples/SFMdata.h
@@ -0,0 +1,68 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    SFMMdata.h
+ * @brief   Simple example for the structure-from-motion problems
+ * @author  Duy-Nguyen Ta
+ */
+
+/**
+ * A structure-from-motion example with landmarks
+ *  - The landmarks form a 10 meter cube
+ *  - The robot rotates around the landmarks, always facing towards the cube
+ */
+
+// As this is a full 3D problem, we will use Pose3 variables to represent the camera
+// positions and Point3 variables (x, y, z) to represent the landmark coordinates.
+// Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
+// We will also need a camera object to hold calibration information and perform projections.
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/geometry/Point3.h>
+
+// We will also need a camera object to hold calibration information and perform projections.
+#include <gtsam/geometry/SimpleCamera.h>
+
+/* ************************************************************************* */
+std::vector<gtsam::Point3> createPoints() {
+
+  // Create the set of ground-truth landmarks
+  std::vector<gtsam::Point3> points;
+  points.push_back(gtsam::Point3(10.0,10.0,10.0));
+  points.push_back(gtsam::Point3(-10.0,10.0,10.0));
+  points.push_back(gtsam::Point3(-10.0,-10.0,10.0));
+  points.push_back(gtsam::Point3(10.0,-10.0,10.0));
+  points.push_back(gtsam::Point3(10.0,10.0,-10.0));
+  points.push_back(gtsam::Point3(-10.0,10.0,-10.0));
+  points.push_back(gtsam::Point3(-10.0,-10.0,-10.0));
+  points.push_back(gtsam::Point3(10.0,-10.0,-10.0));
+
+  return points;
+}
+
+/* ************************************************************************* */
+std::vector<gtsam::Pose3> createPoses() {
+
+  // Create the set of ground-truth poses
+  std::vector<gtsam::Pose3> poses;
+  double radius = 30.0;
+  int i = 0;
+  double theta = 0.0;
+  gtsam::Point3 up(0,0,1);
+  gtsam::Point3 target(0,0,0);
+  for(; i < 8; ++i, theta += 2*M_PI/8) {
+    gtsam::Point3 position = gtsam::Point3(radius*cos(theta), radius*sin(theta), 0.0);
+    gtsam::SimpleCamera camera = gtsam::SimpleCamera::Lookat(position, target, up);
+    poses.push_back(camera.pose());
+  }
+  return poses;
+}
+/* ************************************************************************* */
diff --git a/examples/SelfCalibrationExample.cpp b/examples/SelfCalibrationExample.cpp
new file mode 100644
index 000000000..01a2300e3
--- /dev/null
+++ b/examples/SelfCalibrationExample.cpp
@@ -0,0 +1,96 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    SelfCalibrationExample.cpp
+ * @brief   Based on VisualSLAMExample, but with unknown (yet fixed) calibration.
+ * @author  Frank Dellaert
+ */
+
+/*
+ * See the detailed documentation in Visual SLAM.
+ * The only documentation below with deal with the self-calibration.
+ */
+
+// For loading the data
+#include "SFMdata.h"
+
+// Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
+#include <gtsam/geometry/Point2.h>
+
+// Inference and optimization
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/DoglegOptimizer.h>
+#include <gtsam/nonlinear/Values.h>
+
+// SFM-specific factors
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/GeneralSFMFactor.h> // does calibration !
+
+// Standard headers
+#include <vector>
+
+using namespace std;
+using namespace gtsam;
+
+/* ************************************************************************* */
+int main(int argc, char* argv[]) {
+
+  // Create the set of ground-truth
+  vector<Point3> points = createPoints();
+  vector<Pose3> poses = createPoses();
+
+  // Create the factor graph
+  NonlinearFactorGraph graph;
+
+  // Add a prior on pose x1.
+  noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1))); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
+  graph.add(PriorFactor<Pose3>(Symbol('x', 0), poses[0], poseNoise));
+
+  // Simulated measurements from each camera pose, adding them to the factor graph
+  Cal3_S2 K(50.0, 50.0, 0.0, 50.0, 50.0);
+  noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0);
+  for (size_t i = 0; i < poses.size(); ++i) {
+    for (size_t j = 0; j < points.size(); ++j) {
+      SimpleCamera camera(poses[i], K);
+      Point2 measurement = camera.project(points[j]);
+      // The only real difference with the Visual SLAM example is that here we use a
+      // different factor type, that also calculates the Jacobian with respect to calibration
+      graph.add(GeneralSFMFactor2<Cal3_S2>(measurement, measurementNoise, Symbol('x', i), Symbol('l', j), Symbol('K', 0)));
+    }
+  }
+
+  // Add a prior on the position of the first landmark.
+  noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1);
+  graph.add(PriorFactor<Point3>(Symbol('l', 0), points[0], pointNoise)); // add directly to graph
+
+  // Add a prior on the calibration.
+  noiseModel::Diagonal::shared_ptr calNoise = noiseModel::Diagonal::Sigmas((Vector(5) << 500, 500, 0.1, 100, 100));
+  graph.add(PriorFactor<Cal3_S2>(Symbol('K', 0), K, calNoise));
+
+  // Create the initial estimate to the solution
+  // now including an estimate on the camera calibration parameters
+  Values initialEstimate;
+  initialEstimate.insert(Symbol('K', 0), Cal3_S2(60.0, 60.0, 0.0, 45.0, 45.0));
+  for (size_t i = 0; i < poses.size(); ++i)
+    initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20))));
+  for (size_t j = 0; j < points.size(); ++j)
+    initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15)));
+
+  /* Optimize the graph and print results */
+  Values result = DoglegOptimizer(graph, initialEstimate).optimize();
+  result.print("Final results:\n");
+
+  return 0;
+}
+/* ************************************************************************* */
+
diff --git a/examples/VisualISAM2Example.cpp b/examples/VisualISAM2Example.cpp
index f27664cfe..cb8dab2fb 100644
--- a/examples/VisualISAM2Example.cpp
+++ b/examples/VisualISAM2Example.cpp
@@ -22,14 +22,11 @@
  *  - The robot rotates around the landmarks, always facing towards the cube
  */
 
-// As this is a full 3D problem, we will use Pose3 variables to represent the camera
-// positions and Point3 variables (x, y, z) to represent the landmark coordinates.
+// For loading the data
+#include "SFMdata.h"
+
 // Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
-// We will also need a camera object to hold calibration information and perform projections.
-#include <gtsam/geometry/Pose3.h>
-#include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Point2.h>
-#include <gtsam/geometry/SimpleCamera.h>
 
 // Each variable in the system (poses and landmarks) must be identified with a unique key.
 // We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1).
@@ -67,28 +64,10 @@ int main(int argc, char* argv[]) {
   noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
 
   // Create the set of ground-truth landmarks
-  std::vector<gtsam::Point3> points;
-  points.push_back(gtsam::Point3(10.0,10.0,10.0));
-  points.push_back(gtsam::Point3(-10.0,10.0,10.0));
-  points.push_back(gtsam::Point3(-10.0,-10.0,10.0));
-  points.push_back(gtsam::Point3(10.0,-10.0,10.0));
-  points.push_back(gtsam::Point3(10.0,10.0,-10.0));
-  points.push_back(gtsam::Point3(-10.0,10.0,-10.0));
-  points.push_back(gtsam::Point3(-10.0,-10.0,-10.0));
-  points.push_back(gtsam::Point3(10.0,-10.0,-10.0));
+  vector<Point3> points = createPoints();
 
   // Create the set of ground-truth poses
-  std::vector<gtsam::Pose3> poses;
-  double radius = 30.0;
-  int i = 0;
-  double theta = 0.0;
-  gtsam::Point3 up(0,0,1);
-  gtsam::Point3 target(0,0,0);
-  for(; i < 8; ++i, theta += 2*M_PI/8) {
-    gtsam::Point3 position = Point3(radius*cos(theta), radius*sin(theta), 0.0);
-    gtsam::SimpleCamera camera = SimpleCamera::Lookat(position, target, up);
-    poses.push_back(camera.pose());
-  }
+  vector<Pose3> poses = createPoses();
 
   // Create an iSAM2 object. Unlike iSAM1, which performs periodic batch steps to maintain proper linearization
   // and efficient variable ordering, iSAM2 performs partial relinearization/reordering at each step. A parameter
@@ -124,7 +103,7 @@ int main(int argc, char* argv[]) {
     // adding it to iSAM.
     if( i == 0) {
       // Add a prior on pose x0
-      noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas(Vector_(6, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1)); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
+      noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3),Vector3::Constant(0.1))); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
       graph.add(PriorFactor<Pose3>(Symbol('x', 0), poses[0], poseNoise));
 
       // Add a prior on landmark l0
diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp
index 832a2ab83..6c4fe1d7e 100644
--- a/examples/VisualISAMExample.cpp
+++ b/examples/VisualISAMExample.cpp
@@ -22,14 +22,11 @@
  *  - The robot rotates around the landmarks, always facing towards the cube
  */
 
-// As this is a full 3D problem, we will use Pose3 variables to represent the camera
-// positions and Point3 variables (x, y, z) to represent the landmark coordinates.
+// For loading the data
+#include "SFMdata.h"
+
 // Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
-// We will also need a camera object to hold calibration information and perform projections.
-#include <gtsam/geometry/Pose3.h>
-#include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Point2.h>
-#include <gtsam/geometry/SimpleCamera.h>
 
 // Each variable in the system (poses and landmarks) must be identified with a unique key.
 // We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1).
@@ -67,28 +64,10 @@ int main(int argc, char* argv[]) {
   noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v
 
   // Create the set of ground-truth landmarks
-  std::vector<gtsam::Point3> points;
-  points.push_back(gtsam::Point3(10.0,10.0,10.0));
-  points.push_back(gtsam::Point3(-10.0,10.0,10.0));
-  points.push_back(gtsam::Point3(-10.0,-10.0,10.0));
-  points.push_back(gtsam::Point3(10.0,-10.0,10.0));
-  points.push_back(gtsam::Point3(10.0,10.0,-10.0));
-  points.push_back(gtsam::Point3(-10.0,10.0,-10.0));
-  points.push_back(gtsam::Point3(-10.0,-10.0,-10.0));
-  points.push_back(gtsam::Point3(10.0,-10.0,-10.0));
+  vector<Point3> points = createPoints();
 
   // Create the set of ground-truth poses
-  std::vector<gtsam::Pose3> poses;
-  double radius = 30.0;
-  int i = 0;
-  double theta = 0.0;
-  gtsam::Point3 up(0,0,1);
-  gtsam::Point3 target(0,0,0);
-  for(; i < 8; ++i, theta += 2*M_PI/8) {
-    gtsam::Point3 position = Point3(radius*cos(theta), radius*sin(theta), 0.0);
-    gtsam::SimpleCamera camera = SimpleCamera::Lookat(position, target, up);
-    poses.push_back(camera.pose());
-  }
+  vector<Pose3> poses = createPoses();
 
   // Create a NonlinearISAM object which will relinearize and reorder the variables every "relinearizeInterval" updates
   int relinearizeInterval = 3;
@@ -118,7 +97,7 @@ int main(int argc, char* argv[]) {
     // adding it to iSAM.
     if( i == 0) {
       // Add a prior on pose x0
-      noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas(Vector_(6, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1)); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
+      noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas((Vector(6) << Vector3::Constant(0.3), Vector3::Constant(0.1))); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
       graph.add(PriorFactor<Pose3>(Symbol('x', 0), poses[0], poseNoise));
 
       // Add a prior on landmark l0

From b4344cfe16367cdaf6670a0a9305d2fa5696006d Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Mon, 23 Dec 2013 13:16:17 -0500
Subject: [PATCH 03/15] gitinspector stats

---
 doc/stats.html | 13728 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 13728 insertions(+)
 create mode 100644 doc/stats.html

diff --git a/doc/stats.html b/doc/stats.html
new file mode 100644
index 000000000..46650c1e0
--- /dev/null
+++ b/doc/stats.html
@@ -0,0 +1,13728 @@
+<?xml version="1.0" encoding="utf-8"?>
+<html xmlns="http://www.w3.org/1999/xhtml">
+	<head>
+		<meta http-equiv="content-type" content="application/xhtml+xml; charset=utf-8" />
+		<title>Generated by gitinspector 0.3.1</title>
+		<script type="application/javascript">/*!
+ * jQuery JavaScript Library v1.8.3
+ * http://jquery.com/
+ *
+ * Includes Sizzle.js
+ * http://sizzlejs.com/
+ *
+ * Copyright 2012 jQuery Foundation and other contributors
+ * Released under the MIT license
+ * http://jquery.org/license
+ *
+ * Date: Tue Nov 13 2012 08:20:33 GMT-0500 (Eastern Standard Time)
+ */
+(function( window, undefined ) {
+var
+	// A central reference to the root jQuery(document)
+	rootjQuery,
+
+	// The deferred used on DOM ready
+	readyList,
+
+	// Use the correct document accordingly with window argument (sandbox)
+	document = window.document,
+	location = window.location,
+	navigator = window.navigator,
+
+	// Map over jQuery in case of overwrite
+	_jQuery = window.jQuery,
+
+	// Map over the $ in case of overwrite
+	_$ = window.$,
+
+	// Save a reference to some core methods
+	core_push = Array.prototype.push,
+	core_slice = Array.prototype.slice,
+	core_indexOf = Array.prototype.indexOf,
+	core_toString = Object.prototype.toString,
+	core_hasOwn = Object.prototype.hasOwnProperty,
+	core_trim = String.prototype.trim,
+
+	// Define a local copy of jQuery
+	jQuery = function( selector, context ) {
+		// The jQuery object is actually just the init constructor 'enhanced'
+		return new jQuery.fn.init( selector, context, rootjQuery );
+	},
+
+	// Used for matching numbers
+	core_pnum = /[\-+]?(?:\d*\.|)\d+(?:[eE][\-+]?\d+|)/.source,
+
+	// Used for detecting and trimming whitespace
+	core_rnotwhite = /\S/,
+	core_rspace = /\s+/,
+
+	// Make sure we trim BOM and NBSP (here's looking at you, Safari 5.0 and IE)
+	rtrim = /^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g,
+
+	// A simple way to check for HTML strings
+	// Prioritize #id over <tag> to avoid XSS via location.hash (#9521)
+	rquickExpr = /^(?:[^#<]*(<[\w\W]+>)[^>]*$|#([\w\-]*)$)/,
+
+	// Match a standalone tag
+	rsingleTag = /^<(\w+)\s*\/?>(?:<\/\1>|)$/,
+
+	// JSON RegExp
+	rvalidchars = /^[\],:{}\s]*$/,
+	rvalidbraces = /(?:^|:|,)(?:\s*\[)+/g,
+	rvalidescape = /\\(?:["\\\/bfnrt]|u[\da-fA-F]{4})/g,
+	rvalidtokens = /"[^"\\\r\n]*"|true|false|null|-?(?:\d\d*\.|)\d+(?:[eE][\-+]?\d+|)/g,
+
+	// Matches dashed string for camelizing
+	rmsPrefix = /^-ms-/,
+	rdashAlpha = /-([\da-z])/gi,
+
+	// Used by jQuery.camelCase as callback to replace()
+	fcamelCase = function( all, letter ) {
+		return ( letter + "" ).toUpperCase();
+	},
+
+	// The ready event handler and self cleanup method
+	DOMContentLoaded = function() {
+		if ( document.addEventListener ) {
+			document.removeEventListener( "DOMContentLoaded", DOMContentLoaded, false );
+			jQuery.ready();
+		} else if ( document.readyState === "complete" ) {
+			// we're here because readyState === "complete" in oldIE
+			// which is good enough for us to call the dom ready!
+			document.detachEvent( "onreadystatechange", DOMContentLoaded );
+			jQuery.ready();
+		}
+	},
+
+	// [[Class]] -> type pairs
+	class2type = {};
+
+jQuery.fn = jQuery.prototype = {
+	constructor: jQuery,
+	init: function( selector, context, rootjQuery ) {
+		var match, elem, ret, doc;
+
+		// Handle $(""), $(null), $(undefined), $(false)
+		if ( !selector ) {
+			return this;
+		}
+
+		// Handle $(DOMElement)
+		if ( selector.nodeType ) {
+			this.context = this[0] = selector;
+			this.length = 1;
+			return this;
+		}
+
+		// Handle HTML strings
+		if ( typeof selector === "string" ) {
+			if ( selector.charAt(0) === "<" && selector.charAt( selector.length - 1 ) === ">" && selector.length >= 3 ) {
+				// Assume that strings that start and end with <> are HTML and skip the regex check
+				match = [ null, selector, null ];
+
+			} else {
+				match = rquickExpr.exec( selector );
+			}
+
+			// Match html or make sure no context is specified for #id
+			if ( match && (match[1] || !context) ) {
+
+				// HANDLE: $(html) -> $(array)
+				if ( match[1] ) {
+					context = context instanceof jQuery ? context[0] : context;
+					doc = ( context && context.nodeType ? context.ownerDocument || context : document );
+
+					// scripts is true for back-compat
+					selector = jQuery.parseHTML( match[1], doc, true );
+					if ( rsingleTag.test( match[1] ) && jQuery.isPlainObject( context ) ) {
+						this.attr.call( selector, context, true );
+					}
+
+					return jQuery.merge( this, selector );
+
+				// HANDLE: $(#id)
+				} else {
+					elem = document.getElementById( match[2] );
+
+					// Check parentNode to catch when Blackberry 4.6 returns
+					// nodes that are no longer in the document #6963
+					if ( elem && elem.parentNode ) {
+						// Handle the case where IE and Opera return items
+						// by name instead of ID
+						if ( elem.id !== match[2] ) {
+							return rootjQuery.find( selector );
+						}
+
+						// Otherwise, we inject the element directly into the jQuery object
+						this.length = 1;
+						this[0] = elem;
+					}
+
+					this.context = document;
+					this.selector = selector;
+					return this;
+				}
+
+			// HANDLE: $(expr, $(...))
+			} else if ( !context || context.jquery ) {
+				return ( context || rootjQuery ).find( selector );
+
+			// HANDLE: $(expr, context)
+			// (which is just equivalent to: $(context).find(expr)
+			} else {
+				return this.constructor( context ).find( selector );
+			}
+
+		// HANDLE: $(function)
+		// Shortcut for document ready
+		} else if ( jQuery.isFunction( selector ) ) {
+			return rootjQuery.ready( selector );
+		}
+
+		if ( selector.selector !== undefined ) {
+			this.selector = selector.selector;
+			this.context = selector.context;
+		}
+
+		return jQuery.makeArray( selector, this );
+	},
+
+	// Start with an empty selector
+	selector: "",
+
+	// The current version of jQuery being used
+	jquery: "1.8.3",
+
+	// The default length of a jQuery object is 0
+	length: 0,
+
+	// The number of elements contained in the matched element set
+	size: function() {
+		return this.length;
+	},
+
+	toArray: function() {
+		return core_slice.call( this );
+	},
+
+	// Get the Nth element in the matched element set OR
+	// Get the whole matched element set as a clean array
+	get: function( num ) {
+		return num == null ?
+
+			// Return a 'clean' array
+			this.toArray() :
+
+			// Return just the object
+			( num < 0 ? this[ this.length + num ] : this[ num ] );
+	},
+
+	// Take an array of elements and push it onto the stack
+	// (returning the new matched element set)
+	pushStack: function( elems, name, selector ) {
+
+		// Build a new jQuery matched element set
+		var ret = jQuery.merge( this.constructor(), elems );
+
+		// Add the old object onto the stack (as a reference)
+		ret.prevObject = this;
+
+		ret.context = this.context;
+
+		if ( name === "find" ) {
+			ret.selector = this.selector + ( this.selector ? " " : "" ) + selector;
+		} else if ( name ) {
+			ret.selector = this.selector + "." + name + "(" + selector + ")";
+		}
+
+		// Return the newly-formed element set
+		return ret;
+	},
+
+	// Execute a callback for every element in the matched set.
+	// (You can seed the arguments with an array of args, but this is
+	// only used internally.)
+	each: function( callback, args ) {
+		return jQuery.each( this, callback, args );
+	},
+
+	ready: function( fn ) {
+		// Add the callback
+		jQuery.ready.promise().done( fn );
+
+		return this;
+	},
+
+	eq: function( i ) {
+		i = +i;
+		return i === -1 ?
+			this.slice( i ) :
+			this.slice( i, i + 1 );
+	},
+
+	first: function() {
+		return this.eq( 0 );
+	},
+
+	last: function() {
+		return this.eq( -1 );
+	},
+
+	slice: function() {
+		return this.pushStack( core_slice.apply( this, arguments ),
+			"slice", core_slice.call(arguments).join(",") );
+	},
+
+	map: function( callback ) {
+		return this.pushStack( jQuery.map(this, function( elem, i ) {
+			return callback.call( elem, i, elem );
+		}));
+	},
+
+	end: function() {
+		return this.prevObject || this.constructor(null);
+	},
+
+	// For internal use only.
+	// Behaves like an Array's method, not like a jQuery method.
+	push: core_push,
+	sort: [].sort,
+	splice: [].splice
+};
+
+// Give the init function the jQuery prototype for later instantiation
+jQuery.fn.init.prototype = jQuery.fn;
+
+jQuery.extend = jQuery.fn.extend = function() {
+	var options, name, src, copy, copyIsArray, clone,
+		target = arguments[0] || {},
+		i = 1,
+		length = arguments.length,
+		deep = false;
+
+	// Handle a deep copy situation
+	if ( typeof target === "boolean" ) {
+		deep = target;
+		target = arguments[1] || {};
+		// skip the boolean and the target
+		i = 2;
+	}
+
+	// Handle case when target is a string or something (possible in deep copy)
+	if ( typeof target !== "object" && !jQuery.isFunction(target) ) {
+		target = {};
+	}
+
+	// extend jQuery itself if only one argument is passed
+	if ( length === i ) {
+		target = this;
+		--i;
+	}
+
+	for ( ; i < length; i++ ) {
+		// Only deal with non-null/undefined values
+		if ( (options = arguments[ i ]) != null ) {
+			// Extend the base object
+			for ( name in options ) {
+				src = target[ name ];
+				copy = options[ name ];
+
+				// Prevent never-ending loop
+				if ( target === copy ) {
+					continue;
+				}
+
+				// Recurse if we're merging plain objects or arrays
+				if ( deep && copy && ( jQuery.isPlainObject(copy) || (copyIsArray = jQuery.isArray(copy)) ) ) {
+					if ( copyIsArray ) {
+						copyIsArray = false;
+						clone = src && jQuery.isArray(src) ? src : [];
+
+					} else {
+						clone = src && jQuery.isPlainObject(src) ? src : {};
+					}
+
+					// Never move original objects, clone them
+					target[ name ] = jQuery.extend( deep, clone, copy );
+
+				// Don't bring in undefined values
+				} else if ( copy !== undefined ) {
+					target[ name ] = copy;
+				}
+			}
+		}
+	}
+
+	// Return the modified object
+	return target;
+};
+
+jQuery.extend({
+	noConflict: function( deep ) {
+		if ( window.$ === jQuery ) {
+			window.$ = _$;
+		}
+
+		if ( deep && window.jQuery === jQuery ) {
+			window.jQuery = _jQuery;
+		}
+
+		return jQuery;
+	},
+
+	// Is the DOM ready to be used? Set to true once it occurs.
+	isReady: false,
+
+	// A counter to track how many items to wait for before
+	// the ready event fires. See #6781
+	readyWait: 1,
+
+	// Hold (or release) the ready event
+	holdReady: function( hold ) {
+		if ( hold ) {
+			jQuery.readyWait++;
+		} else {
+			jQuery.ready( true );
+		}
+	},
+
+	// Handle when the DOM is ready
+	ready: function( wait ) {
+
+		// Abort if there are pending holds or we're already ready
+		if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) {
+			return;
+		}
+
+		// Make sure body exists, at least, in case IE gets a little overzealous (ticket #5443).
+		if ( !document.body ) {
+			return setTimeout( jQuery.ready, 1 );
+		}
+
+		// Remember that the DOM is ready
+		jQuery.isReady = true;
+
+		// If a normal DOM Ready event fired, decrement, and wait if need be
+		if ( wait !== true && --jQuery.readyWait > 0 ) {
+			return;
+		}
+
+		// If there are functions bound, to execute
+		readyList.resolveWith( document, [ jQuery ] );
+
+		// Trigger any bound ready events
+		if ( jQuery.fn.trigger ) {
+			jQuery( document ).trigger("ready").off("ready");
+		}
+	},
+
+	// See test/unit/core.js for details concerning isFunction.
+	// Since version 1.3, DOM methods and functions like alert
+	// aren't supported. They return false on IE (#2968).
+	isFunction: function( obj ) {
+		return jQuery.type(obj) === "function";
+	},
+
+	isArray: Array.isArray || function( obj ) {
+		return jQuery.type(obj) === "array";
+	},
+
+	isWindow: function( obj ) {
+		return obj != null && obj == obj.window;
+	},
+
+	isNumeric: function( obj ) {
+		return !isNaN( parseFloat(obj) ) && isFinite( obj );
+	},
+
+	type: function( obj ) {
+		return obj == null ?
+			String( obj ) :
+			class2type[ core_toString.call(obj) ] || "object";
+	},
+
+	isPlainObject: function( obj ) {
+		// Must be an Object.
+		// Because of IE, we also have to check the presence of the constructor property.
+		// Make sure that DOM nodes and window objects don't pass through, as well
+		if ( !obj || jQuery.type(obj) !== "object" || obj.nodeType || jQuery.isWindow( obj ) ) {
+			return false;
+		}
+
+		try {
+			// Not own constructor property must be Object
+			if ( obj.constructor &&
+				!core_hasOwn.call(obj, "constructor") &&
+				!core_hasOwn.call(obj.constructor.prototype, "isPrototypeOf") ) {
+				return false;
+			}
+		} catch ( e ) {
+			// IE8,9 Will throw exceptions on certain host objects #9897
+			return false;
+		}
+
+		// Own properties are enumerated firstly, so to speed up,
+		// if last one is own, then all properties are own.
+
+		var key;
+		for ( key in obj ) {}
+
+		return key === undefined || core_hasOwn.call( obj, key );
+	},
+
+	isEmptyObject: function( obj ) {
+		var name;
+		for ( name in obj ) {
+			return false;
+		}
+		return true;
+	},
+
+	error: function( msg ) {
+		throw new Error( msg );
+	},
+
+	// data: string of html
+	// context (optional): If specified, the fragment will be created in this context, defaults to document
+	// scripts (optional): If true, will include scripts passed in the html string
+	parseHTML: function( data, context, scripts ) {
+		var parsed;
+		if ( !data || typeof data !== "string" ) {
+			return null;
+		}
+		if ( typeof context === "boolean" ) {
+			scripts = context;
+			context = 0;
+		}
+		context = context || document;
+
+		// Single tag
+		if ( (parsed = rsingleTag.exec( data )) ) {
+			return [ context.createElement( parsed[1] ) ];
+		}
+
+		parsed = jQuery.buildFragment( [ data ], context, scripts ? null : [] );
+		return jQuery.merge( [],
+			(parsed.cacheable ? jQuery.clone( parsed.fragment ) : parsed.fragment).childNodes );
+	},
+
+	parseJSON: function( data ) {
+		if ( !data || typeof data !== "string") {
+			return null;
+		}
+
+		// Make sure leading/trailing whitespace is removed (IE can't handle it)
+		data = jQuery.trim( data );
+
+		// Attempt to parse using the native JSON parser first
+		if ( window.JSON && window.JSON.parse ) {
+			return window.JSON.parse( data );
+		}
+
+		// Make sure the incoming data is actual JSON
+		// Logic borrowed from http://json.org/json2.js
+		if ( rvalidchars.test( data.replace( rvalidescape, "@" )
+			.replace( rvalidtokens, "]" )
+			.replace( rvalidbraces, "")) ) {
+
+			return ( new Function( "return " + data ) )();
+
+		}
+		jQuery.error( "Invalid JSON: " + data );
+	},
+
+	// Cross-browser xml parsing
+	parseXML: function( data ) {
+		var xml, tmp;
+		if ( !data || typeof data !== "string" ) {
+			return null;
+		}
+		try {
+			if ( window.DOMParser ) { // Standard
+				tmp = new DOMParser();
+				xml = tmp.parseFromString( data , "text/xml" );
+			} else { // IE
+				xml = new ActiveXObject( "Microsoft.XMLDOM" );
+				xml.async = "false";
+				xml.loadXML( data );
+			}
+		} catch( e ) {
+			xml = undefined;
+		}
+		if ( !xml || !xml.documentElement || xml.getElementsByTagName( "parsererror" ).length ) {
+			jQuery.error( "Invalid XML: " + data );
+		}
+		return xml;
+	},
+
+	noop: function() {},
+
+	// Evaluates a script in a global context
+	// Workarounds based on findings by Jim Driscoll
+	// http://weblogs.java.net/blog/driscoll/archive/2009/09/08/eval-javascript-global-context
+	globalEval: function( data ) {
+		if ( data && core_rnotwhite.test( data ) ) {
+			// We use execScript on Internet Explorer
+			// We use an anonymous function so that context is window
+			// rather than jQuery in Firefox
+			( window.execScript || function( data ) {
+				window[ "eval" ].call( window, data );
+			} )( data );
+		}
+	},
+
+	// Convert dashed to camelCase; used by the css and data modules
+	// Microsoft forgot to hump their vendor prefix (#9572)
+	camelCase: function( string ) {
+		return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase );
+	},
+
+	nodeName: function( elem, name ) {
+		return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase();
+	},
+
+	// args is for internal usage only
+	each: function( obj, callback, args ) {
+		var name,
+			i = 0,
+			length = obj.length,
+			isObj = length === undefined || jQuery.isFunction( obj );
+
+		if ( args ) {
+			if ( isObj ) {
+				for ( name in obj ) {
+					if ( callback.apply( obj[ name ], args ) === false ) {
+						break;
+					}
+				}
+			} else {
+				for ( ; i < length; ) {
+					if ( callback.apply( obj[ i++ ], args ) === false ) {
+						break;
+					}
+				}
+			}
+
+		// A special, fast, case for the most common use of each
+		} else {
+			if ( isObj ) {
+				for ( name in obj ) {
+					if ( callback.call( obj[ name ], name, obj[ name ] ) === false ) {
+						break;
+					}
+				}
+			} else {
+				for ( ; i < length; ) {
+					if ( callback.call( obj[ i ], i, obj[ i++ ] ) === false ) {
+						break;
+					}
+				}
+			}
+		}
+
+		return obj;
+	},
+
+	// Use native String.trim function wherever possible
+	trim: core_trim && !core_trim.call("\uFEFF\xA0") ?
+		function( text ) {
+			return text == null ?
+				"" :
+				core_trim.call( text );
+		} :
+
+		// Otherwise use our own trimming functionality
+		function( text ) {
+			return text == null ?
+				"" :
+				( text + "" ).replace( rtrim, "" );
+		},
+
+	// results is for internal usage only
+	makeArray: function( arr, results ) {
+		var type,
+			ret = results || [];
+
+		if ( arr != null ) {
+			// The window, strings (and functions) also have 'length'
+			// Tweaked logic slightly to handle Blackberry 4.7 RegExp issues #6930
+			type = jQuery.type( arr );
+
+			if ( arr.length == null || type === "string" || type === "function" || type === "regexp" || jQuery.isWindow( arr ) ) {
+				core_push.call( ret, arr );
+			} else {
+				jQuery.merge( ret, arr );
+			}
+		}
+
+		return ret;
+	},
+
+	inArray: function( elem, arr, i ) {
+		var len;
+
+		if ( arr ) {
+			if ( core_indexOf ) {
+				return core_indexOf.call( arr, elem, i );
+			}
+
+			len = arr.length;
+			i = i ? i < 0 ? Math.max( 0, len + i ) : i : 0;
+
+			for ( ; i < len; i++ ) {
+				// Skip accessing in sparse arrays
+				if ( i in arr && arr[ i ] === elem ) {
+					return i;
+				}
+			}
+		}
+
+		return -1;
+	},
+
+	merge: function( first, second ) {
+		var l = second.length,
+			i = first.length,
+			j = 0;
+
+		if ( typeof l === "number" ) {
+			for ( ; j < l; j++ ) {
+				first[ i++ ] = second[ j ];
+			}
+
+		} else {
+			while ( second[j] !== undefined ) {
+				first[ i++ ] = second[ j++ ];
+			}
+		}
+
+		first.length = i;
+
+		return first;
+	},
+
+	grep: function( elems, callback, inv ) {
+		var retVal,
+			ret = [],
+			i = 0,
+			length = elems.length;
+		inv = !!inv;
+
+		// Go through the array, only saving the items
+		// that pass the validator function
+		for ( ; i < length; i++ ) {
+			retVal = !!callback( elems[ i ], i );
+			if ( inv !== retVal ) {
+				ret.push( elems[ i ] );
+			}
+		}
+
+		return ret;
+	},
+
+	// arg is for internal usage only
+	map: function( elems, callback, arg ) {
+		var value, key,
+			ret = [],
+			i = 0,
+			length = elems.length,
+			// jquery objects are treated as arrays
+			isArray = elems instanceof jQuery || length !== undefined && typeof length === "number" && ( ( length > 0 && elems[ 0 ] && elems[ length -1 ] ) || length === 0 || jQuery.isArray( elems ) ) ;
+
+		// Go through the array, translating each of the items to their
+		if ( isArray ) {
+			for ( ; i < length; i++ ) {
+				value = callback( elems[ i ], i, arg );
+
+				if ( value != null ) {
+					ret[ ret.length ] = value;
+				}
+			}
+
+		// Go through every key on the object,
+		} else {
+			for ( key in elems ) {
+				value = callback( elems[ key ], key, arg );
+
+				if ( value != null ) {
+					ret[ ret.length ] = value;
+				}
+			}
+		}
+
+		// Flatten any nested arrays
+		return ret.concat.apply( [], ret );
+	},
+
+	// A global GUID counter for objects
+	guid: 1,
+
+	// Bind a function to a context, optionally partially applying any
+	// arguments.
+	proxy: function( fn, context ) {
+		var tmp, args, proxy;
+
+		if ( typeof context === "string" ) {
+			tmp = fn[ context ];
+			context = fn;
+			fn = tmp;
+		}
+
+		// Quick check to determine if target is callable, in the spec
+		// this throws a TypeError, but we will just return undefined.
+		if ( !jQuery.isFunction( fn ) ) {
+			return undefined;
+		}
+
+		// Simulated bind
+		args = core_slice.call( arguments, 2 );
+		proxy = function() {
+			return fn.apply( context, args.concat( core_slice.call( arguments ) ) );
+		};
+
+		// Set the guid of unique handler to the same of original handler, so it can be removed
+		proxy.guid = fn.guid = fn.guid || jQuery.guid++;
+
+		return proxy;
+	},
+
+	// Multifunctional method to get and set values of a collection
+	// The value/s can optionally be executed if it's a function
+	access: function( elems, fn, key, value, chainable, emptyGet, pass ) {
+		var exec,
+			bulk = key == null,
+			i = 0,
+			length = elems.length;
+
+		// Sets many values
+		if ( key && typeof key === "object" ) {
+			for ( i in key ) {
+				jQuery.access( elems, fn, i, key[i], 1, emptyGet, value );
+			}
+			chainable = 1;
+
+		// Sets one value
+		} else if ( value !== undefined ) {
+			// Optionally, function values get executed if exec is true
+			exec = pass === undefined && jQuery.isFunction( value );
+
+			if ( bulk ) {
+				// Bulk operations only iterate when executing function values
+				if ( exec ) {
+					exec = fn;
+					fn = function( elem, key, value ) {
+						return exec.call( jQuery( elem ), value );
+					};
+
+				// Otherwise they run against the entire set
+				} else {
+					fn.call( elems, value );
+					fn = null;
+				}
+			}
+
+			if ( fn ) {
+				for (; i < length; i++ ) {
+					fn( elems[i], key, exec ? value.call( elems[i], i, fn( elems[i], key ) ) : value, pass );
+				}
+			}
+
+			chainable = 1;
+		}
+
+		return chainable ?
+			elems :
+
+			// Gets
+			bulk ?
+				fn.call( elems ) :
+				length ? fn( elems[0], key ) : emptyGet;
+	},
+
+	now: function() {
+		return ( new Date() ).getTime();
+	}
+});
+
+jQuery.ready.promise = function( obj ) {
+	if ( !readyList ) {
+
+		readyList = jQuery.Deferred();
+
+		// Catch cases where $(document).ready() is called after the browser event has already occurred.
+		// we once tried to use readyState "interactive" here, but it caused issues like the one
+		// discovered by ChrisS here: http://bugs.jquery.com/ticket/12282#comment:15
+		if ( document.readyState === "complete" ) {
+			// Handle it asynchronously to allow scripts the opportunity to delay ready
+			setTimeout( jQuery.ready, 1 );
+
+		// Standards-based browsers support DOMContentLoaded
+		} else if ( document.addEventListener ) {
+			// Use the handy event callback
+			document.addEventListener( "DOMContentLoaded", DOMContentLoaded, false );
+
+			// A fallback to window.onload, that will always work
+			window.addEventListener( "load", jQuery.ready, false );
+
+		// If IE event model is used
+		} else {
+			// Ensure firing before onload, maybe late but safe also for iframes
+			document.attachEvent( "onreadystatechange", DOMContentLoaded );
+
+			// A fallback to window.onload, that will always work
+			window.attachEvent( "onload", jQuery.ready );
+
+			// If IE and not a frame
+			// continually check to see if the document is ready
+			var top = false;
+
+			try {
+				top = window.frameElement == null && document.documentElement;
+			} catch(e) {}
+
+			if ( top && top.doScroll ) {
+				(function doScrollCheck() {
+					if ( !jQuery.isReady ) {
+
+						try {
+							// Use the trick by Diego Perini
+							// http://javascript.nwbox.com/IEContentLoaded/
+							top.doScroll("left");
+						} catch(e) {
+							return setTimeout( doScrollCheck, 50 );
+						}
+
+						// and execute any waiting functions
+						jQuery.ready();
+					}
+				})();
+			}
+		}
+	}
+	return readyList.promise( obj );
+};
+
+// Populate the class2type map
+jQuery.each("Boolean Number String Function Array Date RegExp Object".split(" "), function(i, name) {
+	class2type[ "[object " + name + "]" ] = name.toLowerCase();
+});
+
+// All jQuery objects should point back to these
+rootjQuery = jQuery(document);
+// String to Object options format cache
+var optionsCache = {};
+
+// Convert String-formatted options into Object-formatted ones and store in cache
+function createOptions( options ) {
+	var object = optionsCache[ options ] = {};
+	jQuery.each( options.split( core_rspace ), function( _, flag ) {
+		object[ flag ] = true;
+	});
+	return object;
+}
+
+/*
+ * Create a callback list using the following parameters:
+ *
+ *	options: an optional list of space-separated options that will change how
+ *			the callback list behaves or a more traditional option object
+ *
+ * By default a callback list will act like an event callback list and can be
+ * "fired" multiple times.
+ *
+ * Possible options:
+ *
+ *	once:			will ensure the callback list can only be fired once (like a Deferred)
+ *
+ *	memory:			will keep track of previous values and will call any callback added
+ *					after the list has been fired right away with the latest "memorized"
+ *					values (like a Deferred)
+ *
+ *	unique:			will ensure a callback can only be added once (no duplicate in the list)
+ *
+ *	stopOnFalse:	interrupt callings when a callback returns false
+ *
+ */
+jQuery.Callbacks = function( options ) {
+
+	// Convert options from String-formatted to Object-formatted if needed
+	// (we check in cache first)
+	options = typeof options === "string" ?
+		( optionsCache[ options ] || createOptions( options ) ) :
+		jQuery.extend( {}, options );
+
+	var // Last fire value (for non-forgettable lists)
+		memory,
+		// Flag to know if list was already fired
+		fired,
+		// Flag to know if list is currently firing
+		firing,
+		// First callback to fire (used internally by add and fireWith)
+		firingStart,
+		// End of the loop when firing
+		firingLength,
+		// Index of currently firing callback (modified by remove if needed)
+		firingIndex,
+		// Actual callback list
+		list = [],
+		// Stack of fire calls for repeatable lists
+		stack = !options.once && [],
+		// Fire callbacks
+		fire = function( data ) {
+			memory = options.memory && data;
+			fired = true;
+			firingIndex = firingStart || 0;
+			firingStart = 0;
+			firingLength = list.length;
+			firing = true;
+			for ( ; list && firingIndex < firingLength; firingIndex++ ) {
+				if ( list[ firingIndex ].apply( data[ 0 ], data[ 1 ] ) === false && options.stopOnFalse ) {
+					memory = false; // To prevent further calls using add
+					break;
+				}
+			}
+			firing = false;
+			if ( list ) {
+				if ( stack ) {
+					if ( stack.length ) {
+						fire( stack.shift() );
+					}
+				} else if ( memory ) {
+					list = [];
+				} else {
+					self.disable();
+				}
+			}
+		},
+		// Actual Callbacks object
+		self = {
+			// Add a callback or a collection of callbacks to the list
+			add: function() {
+				if ( list ) {
+					// First, we save the current length
+					var start = list.length;
+					(function add( args ) {
+						jQuery.each( args, function( _, arg ) {
+							var type = jQuery.type( arg );
+							if ( type === "function" ) {
+								if ( !options.unique || !self.has( arg ) ) {
+									list.push( arg );
+								}
+							} else if ( arg && arg.length && type !== "string" ) {
+								// Inspect recursively
+								add( arg );
+							}
+						});
+					})( arguments );
+					// Do we need to add the callbacks to the
+					// current firing batch?
+					if ( firing ) {
+						firingLength = list.length;
+					// With memory, if we're not firing then
+					// we should call right away
+					} else if ( memory ) {
+						firingStart = start;
+						fire( memory );
+					}
+				}
+				return this;
+			},
+			// Remove a callback from the list
+			remove: function() {
+				if ( list ) {
+					jQuery.each( arguments, function( _, arg ) {
+						var index;
+						while( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) {
+							list.splice( index, 1 );
+							// Handle firing indexes
+							if ( firing ) {
+								if ( index <= firingLength ) {
+									firingLength--;
+								}
+								if ( index <= firingIndex ) {
+									firingIndex--;
+								}
+							}
+						}
+					});
+				}
+				return this;
+			},
+			// Control if a given callback is in the list
+			has: function( fn ) {
+				return jQuery.inArray( fn, list ) > -1;
+			},
+			// Remove all callbacks from the list
+			empty: function() {
+				list = [];
+				return this;
+			},
+			// Have the list do nothing anymore
+			disable: function() {
+				list = stack = memory = undefined;
+				return this;
+			},
+			// Is it disabled?
+			disabled: function() {
+				return !list;
+			},
+			// Lock the list in its current state
+			lock: function() {
+				stack = undefined;
+				if ( !memory ) {
+					self.disable();
+				}
+				return this;
+			},
+			// Is it locked?
+			locked: function() {
+				return !stack;
+			},
+			// Call all callbacks with the given context and arguments
+			fireWith: function( context, args ) {
+				args = args || [];
+				args = [ context, args.slice ? args.slice() : args ];
+				if ( list && ( !fired || stack ) ) {
+					if ( firing ) {
+						stack.push( args );
+					} else {
+						fire( args );
+					}
+				}
+				return this;
+			},
+			// Call all the callbacks with the given arguments
+			fire: function() {
+				self.fireWith( this, arguments );
+				return this;
+			},
+			// To know if the callbacks have already been called at least once
+			fired: function() {
+				return !!fired;
+			}
+		};
+
+	return self;
+};
+jQuery.extend({
+
+	Deferred: function( func ) {
+		var tuples = [
+				// action, add listener, listener list, final state
+				[ "resolve", "done", jQuery.Callbacks("once memory"), "resolved" ],
+				[ "reject", "fail", jQuery.Callbacks("once memory"), "rejected" ],
+				[ "notify", "progress", jQuery.Callbacks("memory") ]
+			],
+			state = "pending",
+			promise = {
+				state: function() {
+					return state;
+				},
+				always: function() {
+					deferred.done( arguments ).fail( arguments );
+					return this;
+				},
+				then: function( /* fnDone, fnFail, fnProgress */ ) {
+					var fns = arguments;
+					return jQuery.Deferred(function( newDefer ) {
+						jQuery.each( tuples, function( i, tuple ) {
+							var action = tuple[ 0 ],
+								fn = fns[ i ];
+							// deferred[ done | fail | progress ] for forwarding actions to newDefer
+							deferred[ tuple[1] ]( jQuery.isFunction( fn ) ?
+								function() {
+									var returned = fn.apply( this, arguments );
+									if ( returned && jQuery.isFunction( returned.promise ) ) {
+										returned.promise()
+											.done( newDefer.resolve )
+											.fail( newDefer.reject )
+											.progress( newDefer.notify );
+									} else {
+										newDefer[ action + "With" ]( this === deferred ? newDefer : this, [ returned ] );
+									}
+								} :
+								newDefer[ action ]
+							);
+						});
+						fns = null;
+					}).promise();
+				},
+				// Get a promise for this deferred
+				// If obj is provided, the promise aspect is added to the object
+				promise: function( obj ) {
+					return obj != null ? jQuery.extend( obj, promise ) : promise;
+				}
+			},
+			deferred = {};
+
+		// Keep pipe for back-compat
+		promise.pipe = promise.then;
+
+		// Add list-specific methods
+		jQuery.each( tuples, function( i, tuple ) {
+			var list = tuple[ 2 ],
+				stateString = tuple[ 3 ];
+
+			// promise[ done | fail | progress ] = list.add
+			promise[ tuple[1] ] = list.add;
+
+			// Handle state
+			if ( stateString ) {
+				list.add(function() {
+					// state = [ resolved | rejected ]
+					state = stateString;
+
+				// [ reject_list | resolve_list ].disable; progress_list.lock
+				}, tuples[ i ^ 1 ][ 2 ].disable, tuples[ 2 ][ 2 ].lock );
+			}
+
+			// deferred[ resolve | reject | notify ] = list.fire
+			deferred[ tuple[0] ] = list.fire;
+			deferred[ tuple[0] + "With" ] = list.fireWith;
+		});
+
+		// Make the deferred a promise
+		promise.promise( deferred );
+
+		// Call given func if any
+		if ( func ) {
+			func.call( deferred, deferred );
+		}
+
+		// All done!
+		return deferred;
+	},
+
+	// Deferred helper
+	when: function( subordinate /* , ..., subordinateN */ ) {
+		var i = 0,
+			resolveValues = core_slice.call( arguments ),
+			length = resolveValues.length,
+
+			// the count of uncompleted subordinates
+			remaining = length !== 1 || ( subordinate && jQuery.isFunction( subordinate.promise ) ) ? length : 0,
+
+			// the master Deferred. If resolveValues consist of only a single Deferred, just use that.
+			deferred = remaining === 1 ? subordinate : jQuery.Deferred(),
+
+			// Update function for both resolve and progress values
+			updateFunc = function( i, contexts, values ) {
+				return function( value ) {
+					contexts[ i ] = this;
+					values[ i ] = arguments.length > 1 ? core_slice.call( arguments ) : value;
+					if( values === progressValues ) {
+						deferred.notifyWith( contexts, values );
+					} else if ( !( --remaining ) ) {
+						deferred.resolveWith( contexts, values );
+					}
+				};
+			},
+
+			progressValues, progressContexts, resolveContexts;
+
+		// add listeners to Deferred subordinates; treat others as resolved
+		if ( length > 1 ) {
+			progressValues = new Array( length );
+			progressContexts = new Array( length );
+			resolveContexts = new Array( length );
+			for ( ; i < length; i++ ) {
+				if ( resolveValues[ i ] && jQuery.isFunction( resolveValues[ i ].promise ) ) {
+					resolveValues[ i ].promise()
+						.done( updateFunc( i, resolveContexts, resolveValues ) )
+						.fail( deferred.reject )
+						.progress( updateFunc( i, progressContexts, progressValues ) );
+				} else {
+					--remaining;
+				}
+			}
+		}
+
+		// if we're not waiting on anything, resolve the master
+		if ( !remaining ) {
+			deferred.resolveWith( resolveContexts, resolveValues );
+		}
+
+		return deferred.promise();
+	}
+});
+jQuery.support = (function() {
+
+	var support,
+		all,
+		a,
+		select,
+		opt,
+		input,
+		fragment,
+		eventName,
+		i,
+		isSupported,
+		clickFn,
+		div = document.createElement("div");
+
+	// Setup
+	div.setAttribute( "className", "t" );
+	div.innerHTML = "  <link/><table></table><a href='/a'>a</a><input type='checkbox'/>";
+
+	// Support tests won't run in some limited or non-browser environments
+	all = div.getElementsByTagName("*");
+	a = div.getElementsByTagName("a")[ 0 ];
+	if ( !all || !a || !all.length ) {
+		return {};
+	}
+
+	// First batch of tests
+	select = document.createElement("select");
+	opt = select.appendChild( document.createElement("option") );
+	input = div.getElementsByTagName("input")[ 0 ];
+
+	a.style.cssText = "top:1px;float:left;opacity:.5";
+	support = {
+		// IE strips leading whitespace when .innerHTML is used
+		leadingWhitespace: ( div.firstChild.nodeType === 3 ),
+
+		// Make sure that tbody elements aren't automatically inserted
+		// IE will insert them into empty tables
+		tbody: !div.getElementsByTagName("tbody").length,
+
+		// Make sure that link elements get serialized correctly by innerHTML
+		// This requires a wrapper element in IE
+		htmlSerialize: !!div.getElementsByTagName("link").length,
+
+		// Get the style information from getAttribute
+		// (IE uses .cssText instead)
+		style: /top/.test( a.getAttribute("style") ),
+
+		// Make sure that URLs aren't manipulated
+		// (IE normalizes it by default)
+		hrefNormalized: ( a.getAttribute("href") === "/a" ),
+
+		// Make sure that element opacity exists
+		// (IE uses filter instead)
+		// Use a regex to work around a WebKit issue. See #5145
+		opacity: /^0.5/.test( a.style.opacity ),
+
+		// Verify style float existence
+		// (IE uses styleFloat instead of cssFloat)
+		cssFloat: !!a.style.cssFloat,
+
+		// Make sure that if no value is specified for a checkbox
+		// that it defaults to "on".
+		// (WebKit defaults to "" instead)
+		checkOn: ( input.value === "on" ),
+
+		// Make sure that a selected-by-default option has a working selected property.
+		// (WebKit defaults to false instead of true, IE too, if it's in an optgroup)
+		optSelected: opt.selected,
+
+		// Test setAttribute on camelCase class. If it works, we need attrFixes when doing get/setAttribute (ie6/7)
+		getSetAttribute: div.className !== "t",
+
+		// Tests for enctype support on a form (#6743)
+		enctype: !!document.createElement("form").enctype,
+
+		// Makes sure cloning an html5 element does not cause problems
+		// Where outerHTML is undefined, this still works
+		html5Clone: document.createElement("nav").cloneNode( true ).outerHTML !== "<:nav></:nav>",
+
+		// jQuery.support.boxModel DEPRECATED in 1.8 since we don't support Quirks Mode
+		boxModel: ( document.compatMode === "CSS1Compat" ),
+
+		// Will be defined later
+		submitBubbles: true,
+		changeBubbles: true,
+		focusinBubbles: false,
+		deleteExpando: true,
+		noCloneEvent: true,
+		inlineBlockNeedsLayout: false,
+		shrinkWrapBlocks: false,
+		reliableMarginRight: true,
+		boxSizingReliable: true,
+		pixelPosition: false
+	};
+
+	// Make sure checked status is properly cloned
+	input.checked = true;
+	support.noCloneChecked = input.cloneNode( true ).checked;
+
+	// Make sure that the options inside disabled selects aren't marked as disabled
+	// (WebKit marks them as disabled)
+	select.disabled = true;
+	support.optDisabled = !opt.disabled;
+
+	// Test to see if it's possible to delete an expando from an element
+	// Fails in Internet Explorer
+	try {
+		delete div.test;
+	} catch( e ) {
+		support.deleteExpando = false;
+	}
+
+	if ( !div.addEventListener && div.attachEvent && div.fireEvent ) {
+		div.attachEvent( "onclick", clickFn = function() {
+			// Cloning a node shouldn't copy over any
+			// bound event handlers (IE does this)
+			support.noCloneEvent = false;
+		});
+		div.cloneNode( true ).fireEvent("onclick");
+		div.detachEvent( "onclick", clickFn );
+	}
+
+	// Check if a radio maintains its value
+	// after being appended to the DOM
+	input = document.createElement("input");
+	input.value = "t";
+	input.setAttribute( "type", "radio" );
+	support.radioValue = input.value === "t";
+
+	input.setAttribute( "checked", "checked" );
+
+	// #11217 - WebKit loses check when the name is after the checked attribute
+	input.setAttribute( "name", "t" );
+
+	div.appendChild( input );
+	fragment = document.createDocumentFragment();
+	fragment.appendChild( div.lastChild );
+
+	// WebKit doesn't clone checked state correctly in fragments
+	support.checkClone = fragment.cloneNode( true ).cloneNode( true ).lastChild.checked;
+
+	// Check if a disconnected checkbox will retain its checked
+	// value of true after appended to the DOM (IE6/7)
+	support.appendChecked = input.checked;
+
+	fragment.removeChild( input );
+	fragment.appendChild( div );
+
+	// Technique from Juriy Zaytsev
+	// http://perfectionkills.com/detecting-event-support-without-browser-sniffing/
+	// We only care about the case where non-standard event systems
+	// are used, namely in IE. Short-circuiting here helps us to
+	// avoid an eval call (in setAttribute) which can cause CSP
+	// to go haywire. See: https://developer.mozilla.org/en/Security/CSP
+	if ( div.attachEvent ) {
+		for ( i in {
+			submit: true,
+			change: true,
+			focusin: true
+		}) {
+			eventName = "on" + i;
+			isSupported = ( eventName in div );
+			if ( !isSupported ) {
+				div.setAttribute( eventName, "return;" );
+				isSupported = ( typeof div[ eventName ] === "function" );
+			}
+			support[ i + "Bubbles" ] = isSupported;
+		}
+	}
+
+	// Run tests that need a body at doc ready
+	jQuery(function() {
+		var container, div, tds, marginDiv,
+			divReset = "padding:0;margin:0;border:0;display:block;overflow:hidden;",
+			body = document.getElementsByTagName("body")[0];
+
+		if ( !body ) {
+			// Return for frameset docs that don't have a body
+			return;
+		}
+
+		container = document.createElement("div");
+		container.style.cssText = "visibility:hidden;border:0;width:0;height:0;position:static;top:0;margin-top:1px";
+		body.insertBefore( container, body.firstChild );
+
+		// Construct the test element
+		div = document.createElement("div");
+		container.appendChild( div );
+
+		// Check if table cells still have offsetWidth/Height when they are set
+		// to display:none and there are still other visible table cells in a
+		// table row; if so, offsetWidth/Height are not reliable for use when
+		// determining if an element has been hidden directly using
+		// display:none (it is still safe to use offsets if a parent element is
+		// hidden; don safety goggles and see bug #4512 for more information).
+		// (only IE 8 fails this test)
+		div.innerHTML = "<table><tr><td></td><td>t</td></tr></table>";
+		tds = div.getElementsByTagName("td");
+		tds[ 0 ].style.cssText = "padding:0;margin:0;border:0;display:none";
+		isSupported = ( tds[ 0 ].offsetHeight === 0 );
+
+		tds[ 0 ].style.display = "";
+		tds[ 1 ].style.display = "none";
+
+		// Check if empty table cells still have offsetWidth/Height
+		// (IE <= 8 fail this test)
+		support.reliableHiddenOffsets = isSupported && ( tds[ 0 ].offsetHeight === 0 );
+
+		// Check box-sizing and margin behavior
+		div.innerHTML = "";
+		div.style.cssText = "box-sizing:border-box;-moz-box-sizing:border-box;-webkit-box-sizing:border-box;padding:1px;border:1px;display:block;width:4px;margin-top:1%;position:absolute;top:1%;";
+		support.boxSizing = ( div.offsetWidth === 4 );
+		support.doesNotIncludeMarginInBodyOffset = ( body.offsetTop !== 1 );
+
+		// NOTE: To any future maintainer, we've window.getComputedStyle
+		// because jsdom on node.js will break without it.
+		if ( window.getComputedStyle ) {
+			support.pixelPosition = ( window.getComputedStyle( div, null ) || {} ).top !== "1%";
+			support.boxSizingReliable = ( window.getComputedStyle( div, null ) || { width: "4px" } ).width === "4px";
+
+			// Check if div with explicit width and no margin-right incorrectly
+			// gets computed margin-right based on width of container. For more
+			// info see bug #3333
+			// Fails in WebKit before Feb 2011 nightlies
+			// WebKit Bug 13343 - getComputedStyle returns wrong value for margin-right
+			marginDiv = document.createElement("div");
+			marginDiv.style.cssText = div.style.cssText = divReset;
+			marginDiv.style.marginRight = marginDiv.style.width = "0";
+			div.style.width = "1px";
+			div.appendChild( marginDiv );
+			support.reliableMarginRight =
+				!parseFloat( ( window.getComputedStyle( marginDiv, null ) || {} ).marginRight );
+		}
+
+		if ( typeof div.style.zoom !== "undefined" ) {
+			// Check if natively block-level elements act like inline-block
+			// elements when setting their display to 'inline' and giving
+			// them layout
+			// (IE < 8 does this)
+			div.innerHTML = "";
+			div.style.cssText = divReset + "width:1px;padding:1px;display:inline;zoom:1";
+			support.inlineBlockNeedsLayout = ( div.offsetWidth === 3 );
+
+			// Check if elements with layout shrink-wrap their children
+			// (IE 6 does this)
+			div.style.display = "block";
+			div.style.overflow = "visible";
+			div.innerHTML = "<div></div>";
+			div.firstChild.style.width = "5px";
+			support.shrinkWrapBlocks = ( div.offsetWidth !== 3 );
+
+			container.style.zoom = 1;
+		}
+
+		// Null elements to avoid leaks in IE
+		body.removeChild( container );
+		container = div = tds = marginDiv = null;
+	});
+
+	// Null elements to avoid leaks in IE
+	fragment.removeChild( div );
+	all = a = select = opt = input = fragment = div = null;
+
+	return support;
+})();
+var rbrace = /(?:\{[\s\S]*\}|\[[\s\S]*\])$/,
+	rmultiDash = /([A-Z])/g;
+
+jQuery.extend({
+	cache: {},
+
+	deletedIds: [],
+
+	// Remove at next major release (1.9/2.0)
+	uuid: 0,
+
+	// Unique for each copy of jQuery on the page
+	// Non-digits removed to match rinlinejQuery
+	expando: "jQuery" + ( jQuery.fn.jquery + Math.random() ).replace( /\D/g, "" ),
+
+	// The following elements throw uncatchable exceptions if you
+	// attempt to add expando properties to them.
+	noData: {
+		"embed": true,
+		// Ban all objects except for Flash (which handle expandos)
+		"object": "clsid:D27CDB6E-AE6D-11cf-96B8-444553540000",
+		"applet": true
+	},
+
+	hasData: function( elem ) {
+		elem = elem.nodeType ? jQuery.cache[ elem[jQuery.expando] ] : elem[ jQuery.expando ];
+		return !!elem && !isEmptyDataObject( elem );
+	},
+
+	data: function( elem, name, data, pvt /* Internal Use Only */ ) {
+		if ( !jQuery.acceptData( elem ) ) {
+			return;
+		}
+
+		var thisCache, ret,
+			internalKey = jQuery.expando,
+			getByName = typeof name === "string",
+
+			// We have to handle DOM nodes and JS objects differently because IE6-7
+			// can't GC object references properly across the DOM-JS boundary
+			isNode = elem.nodeType,
+
+			// Only DOM nodes need the global jQuery cache; JS object data is
+			// attached directly to the object so GC can occur automatically
+			cache = isNode ? jQuery.cache : elem,
+
+			// Only defining an ID for JS objects if its cache already exists allows
+			// the code to shortcut on the same path as a DOM node with no cache
+			id = isNode ? elem[ internalKey ] : elem[ internalKey ] && internalKey;
+
+		// Avoid doing any more work than we need to when trying to get data on an
+		// object that has no data at all
+		if ( (!id || !cache[id] || (!pvt && !cache[id].data)) && getByName && data === undefined ) {
+			return;
+		}
+
+		if ( !id ) {
+			// Only DOM nodes need a new unique ID for each element since their data
+			// ends up in the global cache
+			if ( isNode ) {
+				elem[ internalKey ] = id = jQuery.deletedIds.pop() || jQuery.guid++;
+			} else {
+				id = internalKey;
+			}
+		}
+
+		if ( !cache[ id ] ) {
+			cache[ id ] = {};
+
+			// Avoids exposing jQuery metadata on plain JS objects when the object
+			// is serialized using JSON.stringify
+			if ( !isNode ) {
+				cache[ id ].toJSON = jQuery.noop;
+			}
+		}
+
+		// An object can be passed to jQuery.data instead of a key/value pair; this gets
+		// shallow copied over onto the existing cache
+		if ( typeof name === "object" || typeof name === "function" ) {
+			if ( pvt ) {
+				cache[ id ] = jQuery.extend( cache[ id ], name );
+			} else {
+				cache[ id ].data = jQuery.extend( cache[ id ].data, name );
+			}
+		}
+
+		thisCache = cache[ id ];
+
+		// jQuery data() is stored in a separate object inside the object's internal data
+		// cache in order to avoid key collisions between internal data and user-defined
+		// data.
+		if ( !pvt ) {
+			if ( !thisCache.data ) {
+				thisCache.data = {};
+			}
+
+			thisCache = thisCache.data;
+		}
+
+		if ( data !== undefined ) {
+			thisCache[ jQuery.camelCase( name ) ] = data;
+		}
+
+		// Check for both converted-to-camel and non-converted data property names
+		// If a data property was specified
+		if ( getByName ) {
+
+			// First Try to find as-is property data
+			ret = thisCache[ name ];
+
+			// Test for null|undefined property data
+			if ( ret == null ) {
+
+				// Try to find the camelCased property
+				ret = thisCache[ jQuery.camelCase( name ) ];
+			}
+		} else {
+			ret = thisCache;
+		}
+
+		return ret;
+	},
+
+	removeData: function( elem, name, pvt /* Internal Use Only */ ) {
+		if ( !jQuery.acceptData( elem ) ) {
+			return;
+		}
+
+		var thisCache, i, l,
+
+			isNode = elem.nodeType,
+
+			// See jQuery.data for more information
+			cache = isNode ? jQuery.cache : elem,
+			id = isNode ? elem[ jQuery.expando ] : jQuery.expando;
+
+		// If there is already no cache entry for this object, there is no
+		// purpose in continuing
+		if ( !cache[ id ] ) {
+			return;
+		}
+
+		if ( name ) {
+
+			thisCache = pvt ? cache[ id ] : cache[ id ].data;
+
+			if ( thisCache ) {
+
+				// Support array or space separated string names for data keys
+				if ( !jQuery.isArray( name ) ) {
+
+					// try the string as a key before any manipulation
+					if ( name in thisCache ) {
+						name = [ name ];
+					} else {
+
+						// split the camel cased version by spaces unless a key with the spaces exists
+						name = jQuery.camelCase( name );
+						if ( name in thisCache ) {
+							name = [ name ];
+						} else {
+							name = name.split(" ");
+						}
+					}
+				}
+
+				for ( i = 0, l = name.length; i < l; i++ ) {
+					delete thisCache[ name[i] ];
+				}
+
+				// If there is no data left in the cache, we want to continue
+				// and let the cache object itself get destroyed
+				if ( !( pvt ? isEmptyDataObject : jQuery.isEmptyObject )( thisCache ) ) {
+					return;
+				}
+			}
+		}
+
+		// See jQuery.data for more information
+		if ( !pvt ) {
+			delete cache[ id ].data;
+
+			// Don't destroy the parent cache unless the internal data object
+			// had been the only thing left in it
+			if ( !isEmptyDataObject( cache[ id ] ) ) {
+				return;
+			}
+		}
+
+		// Destroy the cache
+		if ( isNode ) {
+			jQuery.cleanData( [ elem ], true );
+
+		// Use delete when supported for expandos or `cache` is not a window per isWindow (#10080)
+		} else if ( jQuery.support.deleteExpando || cache != cache.window ) {
+			delete cache[ id ];
+
+		// When all else fails, null
+		} else {
+			cache[ id ] = null;
+		}
+	},
+
+	// For internal use only.
+	_data: function( elem, name, data ) {
+		return jQuery.data( elem, name, data, true );
+	},
+
+	// A method for determining if a DOM node can handle the data expando
+	acceptData: function( elem ) {
+		var noData = elem.nodeName && jQuery.noData[ elem.nodeName.toLowerCase() ];
+
+		// nodes accept data unless otherwise specified; rejection can be conditional
+		return !noData || noData !== true && elem.getAttribute("classid") === noData;
+	}
+});
+
+jQuery.fn.extend({
+	data: function( key, value ) {
+		var parts, part, attr, name, l,
+			elem = this[0],
+			i = 0,
+			data = null;
+
+		// Gets all values
+		if ( key === undefined ) {
+			if ( this.length ) {
+				data = jQuery.data( elem );
+
+				if ( elem.nodeType === 1 && !jQuery._data( elem, "parsedAttrs" ) ) {
+					attr = elem.attributes;
+					for ( l = attr.length; i < l; i++ ) {
+						name = attr[i].name;
+
+						if ( !name.indexOf( "data-" ) ) {
+							name = jQuery.camelCase( name.substring(5) );
+
+							dataAttr( elem, name, data[ name ] );
+						}
+					}
+					jQuery._data( elem, "parsedAttrs", true );
+				}
+			}
+
+			return data;
+		}
+
+		// Sets multiple values
+		if ( typeof key === "object" ) {
+			return this.each(function() {
+				jQuery.data( this, key );
+			});
+		}
+
+		parts = key.split( ".", 2 );
+		parts[1] = parts[1] ? "." + parts[1] : "";
+		part = parts[1] + "!";
+
+		return jQuery.access( this, function( value ) {
+
+			if ( value === undefined ) {
+				data = this.triggerHandler( "getData" + part, [ parts[0] ] );
+
+				// Try to fetch any internally stored data first
+				if ( data === undefined && elem ) {
+					data = jQuery.data( elem, key );
+					data = dataAttr( elem, key, data );
+				}
+
+				return data === undefined && parts[1] ?
+					this.data( parts[0] ) :
+					data;
+			}
+
+			parts[1] = value;
+			this.each(function() {
+				var self = jQuery( this );
+
+				self.triggerHandler( "setData" + part, parts );
+				jQuery.data( this, key, value );
+				self.triggerHandler( "changeData" + part, parts );
+			});
+		}, null, value, arguments.length > 1, null, false );
+	},
+
+	removeData: function( key ) {
+		return this.each(function() {
+			jQuery.removeData( this, key );
+		});
+	}
+});
+
+function dataAttr( elem, key, data ) {
+	// If nothing was found internally, try to fetch any
+	// data from the HTML5 data-* attribute
+	if ( data === undefined && elem.nodeType === 1 ) {
+
+		var name = "data-" + key.replace( rmultiDash, "-$1" ).toLowerCase();
+
+		data = elem.getAttribute( name );
+
+		if ( typeof data === "string" ) {
+			try {
+				data = data === "true" ? true :
+				data === "false" ? false :
+				data === "null" ? null :
+				// Only convert to a number if it doesn't change the string
+				+data + "" === data ? +data :
+				rbrace.test( data ) ? jQuery.parseJSON( data ) :
+					data;
+			} catch( e ) {}
+
+			// Make sure we set the data so it isn't changed later
+			jQuery.data( elem, key, data );
+
+		} else {
+			data = undefined;
+		}
+	}
+
+	return data;
+}
+
+// checks a cache object for emptiness
+function isEmptyDataObject( obj ) {
+	var name;
+	for ( name in obj ) {
+
+		// if the public data object is empty, the private is still empty
+		if ( name === "data" && jQuery.isEmptyObject( obj[name] ) ) {
+			continue;
+		}
+		if ( name !== "toJSON" ) {
+			return false;
+		}
+	}
+
+	return true;
+}
+jQuery.extend({
+	queue: function( elem, type, data ) {
+		var queue;
+
+		if ( elem ) {
+			type = ( type || "fx" ) + "queue";
+			queue = jQuery._data( elem, type );
+
+			// Speed up dequeue by getting out quickly if this is just a lookup
+			if ( data ) {
+				if ( !queue || jQuery.isArray(data) ) {
+					queue = jQuery._data( elem, type, jQuery.makeArray(data) );
+				} else {
+					queue.push( data );
+				}
+			}
+			return queue || [];
+		}
+	},
+
+	dequeue: function( elem, type ) {
+		type = type || "fx";
+
+		var queue = jQuery.queue( elem, type ),
+			startLength = queue.length,
+			fn = queue.shift(),
+			hooks = jQuery._queueHooks( elem, type ),
+			next = function() {
+				jQuery.dequeue( elem, type );
+			};
+
+		// If the fx queue is dequeued, always remove the progress sentinel
+		if ( fn === "inprogress" ) {
+			fn = queue.shift();
+			startLength--;
+		}
+
+		if ( fn ) {
+
+			// Add a progress sentinel to prevent the fx queue from being
+			// automatically dequeued
+			if ( type === "fx" ) {
+				queue.unshift( "inprogress" );
+			}
+
+			// clear up the last queue stop function
+			delete hooks.stop;
+			fn.call( elem, next, hooks );
+		}
+
+		if ( !startLength && hooks ) {
+			hooks.empty.fire();
+		}
+	},
+
+	// not intended for public consumption - generates a queueHooks object, or returns the current one
+	_queueHooks: function( elem, type ) {
+		var key = type + "queueHooks";
+		return jQuery._data( elem, key ) || jQuery._data( elem, key, {
+			empty: jQuery.Callbacks("once memory").add(function() {
+				jQuery.removeData( elem, type + "queue", true );
+				jQuery.removeData( elem, key, true );
+			})
+		});
+	}
+});
+
+jQuery.fn.extend({
+	queue: function( type, data ) {
+		var setter = 2;
+
+		if ( typeof type !== "string" ) {
+			data = type;
+			type = "fx";
+			setter--;
+		}
+
+		if ( arguments.length < setter ) {
+			return jQuery.queue( this[0], type );
+		}
+
+		return data === undefined ?
+			this :
+			this.each(function() {
+				var queue = jQuery.queue( this, type, data );
+
+				// ensure a hooks for this queue
+				jQuery._queueHooks( this, type );
+
+				if ( type === "fx" && queue[0] !== "inprogress" ) {
+					jQuery.dequeue( this, type );
+				}
+			});
+	},
+	dequeue: function( type ) {
+		return this.each(function() {
+			jQuery.dequeue( this, type );
+		});
+	},
+	// Based off of the plugin by Clint Helfers, with permission.
+	// http://blindsignals.com/index.php/2009/07/jquery-delay/
+	delay: function( time, type ) {
+		time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time;
+		type = type || "fx";
+
+		return this.queue( type, function( next, hooks ) {
+			var timeout = setTimeout( next, time );
+			hooks.stop = function() {
+				clearTimeout( timeout );
+			};
+		});
+	},
+	clearQueue: function( type ) {
+		return this.queue( type || "fx", [] );
+	},
+	// Get a promise resolved when queues of a certain type
+	// are emptied (fx is the type by default)
+	promise: function( type, obj ) {
+		var tmp,
+			count = 1,
+			defer = jQuery.Deferred(),
+			elements = this,
+			i = this.length,
+			resolve = function() {
+				if ( !( --count ) ) {
+					defer.resolveWith( elements, [ elements ] );
+				}
+			};
+
+		if ( typeof type !== "string" ) {
+			obj = type;
+			type = undefined;
+		}
+		type = type || "fx";
+
+		while( i-- ) {
+			tmp = jQuery._data( elements[ i ], type + "queueHooks" );
+			if ( tmp && tmp.empty ) {
+				count++;
+				tmp.empty.add( resolve );
+			}
+		}
+		resolve();
+		return defer.promise( obj );
+	}
+});
+var nodeHook, boolHook, fixSpecified,
+	rclass = /[\t\r\n]/g,
+	rreturn = /\r/g,
+	rtype = /^(?:button|input)$/i,
+	rfocusable = /^(?:button|input|object|select|textarea)$/i,
+	rclickable = /^a(?:rea|)$/i,
+	rboolean = /^(?:autofocus|autoplay|async|checked|controls|defer|disabled|hidden|loop|multiple|open|readonly|required|scoped|selected)$/i,
+	getSetAttribute = jQuery.support.getSetAttribute;
+
+jQuery.fn.extend({
+	attr: function( name, value ) {
+		return jQuery.access( this, jQuery.attr, name, value, arguments.length > 1 );
+	},
+
+	removeAttr: function( name ) {
+		return this.each(function() {
+			jQuery.removeAttr( this, name );
+		});
+	},
+
+	prop: function( name, value ) {
+		return jQuery.access( this, jQuery.prop, name, value, arguments.length > 1 );
+	},
+
+	removeProp: function( name ) {
+		name = jQuery.propFix[ name ] || name;
+		return this.each(function() {
+			// try/catch handles cases where IE balks (such as removing a property on window)
+			try {
+				this[ name ] = undefined;
+				delete this[ name ];
+			} catch( e ) {}
+		});
+	},
+
+	addClass: function( value ) {
+		var classNames, i, l, elem,
+			setClass, c, cl;
+
+		if ( jQuery.isFunction( value ) ) {
+			return this.each(function( j ) {
+				jQuery( this ).addClass( value.call(this, j, this.className) );
+			});
+		}
+
+		if ( value && typeof value === "string" ) {
+			classNames = value.split( core_rspace );
+
+			for ( i = 0, l = this.length; i < l; i++ ) {
+				elem = this[ i ];
+
+				if ( elem.nodeType === 1 ) {
+					if ( !elem.className && classNames.length === 1 ) {
+						elem.className = value;
+
+					} else {
+						setClass = " " + elem.className + " ";
+
+						for ( c = 0, cl = classNames.length; c < cl; c++ ) {
+							if ( setClass.indexOf( " " + classNames[ c ] + " " ) < 0 ) {
+								setClass += classNames[ c ] + " ";
+							}
+						}
+						elem.className = jQuery.trim( setClass );
+					}
+				}
+			}
+		}
+
+		return this;
+	},
+
+	removeClass: function( value ) {
+		var removes, className, elem, c, cl, i, l;
+
+		if ( jQuery.isFunction( value ) ) {
+			return this.each(function( j ) {
+				jQuery( this ).removeClass( value.call(this, j, this.className) );
+			});
+		}
+		if ( (value && typeof value === "string") || value === undefined ) {
+			removes = ( value || "" ).split( core_rspace );
+
+			for ( i = 0, l = this.length; i < l; i++ ) {
+				elem = this[ i ];
+				if ( elem.nodeType === 1 && elem.className ) {
+
+					className = (" " + elem.className + " ").replace( rclass, " " );
+
+					// loop over each item in the removal list
+					for ( c = 0, cl = removes.length; c < cl; c++ ) {
+						// Remove until there is nothing to remove,
+						while ( className.indexOf(" " + removes[ c ] + " ") >= 0 ) {
+							className = className.replace( " " + removes[ c ] + " " , " " );
+						}
+					}
+					elem.className = value ? jQuery.trim( className ) : "";
+				}
+			}
+		}
+
+		return this;
+	},
+
+	toggleClass: function( value, stateVal ) {
+		var type = typeof value,
+			isBool = typeof stateVal === "boolean";
+
+		if ( jQuery.isFunction( value ) ) {
+			return this.each(function( i ) {
+				jQuery( this ).toggleClass( value.call(this, i, this.className, stateVal), stateVal );
+			});
+		}
+
+		return this.each(function() {
+			if ( type === "string" ) {
+				// toggle individual class names
+				var className,
+					i = 0,
+					self = jQuery( this ),
+					state = stateVal,
+					classNames = value.split( core_rspace );
+
+				while ( (className = classNames[ i++ ]) ) {
+					// check each className given, space separated list
+					state = isBool ? state : !self.hasClass( className );
+					self[ state ? "addClass" : "removeClass" ]( className );
+				}
+
+			} else if ( type === "undefined" || type === "boolean" ) {
+				if ( this.className ) {
+					// store className if set
+					jQuery._data( this, "__className__", this.className );
+				}
+
+				// toggle whole className
+				this.className = this.className || value === false ? "" : jQuery._data( this, "__className__" ) || "";
+			}
+		});
+	},
+
+	hasClass: function( selector ) {
+		var className = " " + selector + " ",
+			i = 0,
+			l = this.length;
+		for ( ; i < l; i++ ) {
+			if ( this[i].nodeType === 1 && (" " + this[i].className + " ").replace(rclass, " ").indexOf( className ) >= 0 ) {
+				return true;
+			}
+		}
+
+		return false;
+	},
+
+	val: function( value ) {
+		var hooks, ret, isFunction,
+			elem = this[0];
+
+		if ( !arguments.length ) {
+			if ( elem ) {
+				hooks = jQuery.valHooks[ elem.type ] || jQuery.valHooks[ elem.nodeName.toLowerCase() ];
+
+				if ( hooks && "get" in hooks && (ret = hooks.get( elem, "value" )) !== undefined ) {
+					return ret;
+				}
+
+				ret = elem.value;
+
+				return typeof ret === "string" ?
+					// handle most common string cases
+					ret.replace(rreturn, "") :
+					// handle cases where value is null/undef or number
+					ret == null ? "" : ret;
+			}
+
+			return;
+		}
+
+		isFunction = jQuery.isFunction( value );
+
+		return this.each(function( i ) {
+			var val,
+				self = jQuery(this);
+
+			if ( this.nodeType !== 1 ) {
+				return;
+			}
+
+			if ( isFunction ) {
+				val = value.call( this, i, self.val() );
+			} else {
+				val = value;
+			}
+
+			// Treat null/undefined as ""; convert numbers to string
+			if ( val == null ) {
+				val = "";
+			} else if ( typeof val === "number" ) {
+				val += "";
+			} else if ( jQuery.isArray( val ) ) {
+				val = jQuery.map(val, function ( value ) {
+					return value == null ? "" : value + "";
+				});
+			}
+
+			hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ];
+
+			// If set returns undefined, fall back to normal setting
+			if ( !hooks || !("set" in hooks) || hooks.set( this, val, "value" ) === undefined ) {
+				this.value = val;
+			}
+		});
+	}
+});
+
+jQuery.extend({
+	valHooks: {
+		option: {
+			get: function( elem ) {
+				// attributes.value is undefined in Blackberry 4.7 but
+				// uses .value. See #6932
+				var val = elem.attributes.value;
+				return !val || val.specified ? elem.value : elem.text;
+			}
+		},
+		select: {
+			get: function( elem ) {
+				var value, option,
+					options = elem.options,
+					index = elem.selectedIndex,
+					one = elem.type === "select-one" || index < 0,
+					values = one ? null : [],
+					max = one ? index + 1 : options.length,
+					i = index < 0 ?
+						max :
+						one ? index : 0;
+
+				// Loop through all the selected options
+				for ( ; i < max; i++ ) {
+					option = options[ i ];
+
+					// oldIE doesn't update selected after form reset (#2551)
+					if ( ( option.selected || i === index ) &&
+							// Don't return options that are disabled or in a disabled optgroup
+							( jQuery.support.optDisabled ? !option.disabled : option.getAttribute("disabled") === null ) &&
+							( !option.parentNode.disabled || !jQuery.nodeName( option.parentNode, "optgroup" ) ) ) {
+
+						// Get the specific value for the option
+						value = jQuery( option ).val();
+
+						// We don't need an array for one selects
+						if ( one ) {
+							return value;
+						}
+
+						// Multi-Selects return an array
+						values.push( value );
+					}
+				}
+
+				return values;
+			},
+
+			set: function( elem, value ) {
+				var values = jQuery.makeArray( value );
+
+				jQuery(elem).find("option").each(function() {
+					this.selected = jQuery.inArray( jQuery(this).val(), values ) >= 0;
+				});
+
+				if ( !values.length ) {
+					elem.selectedIndex = -1;
+				}
+				return values;
+			}
+		}
+	},
+
+	// Unused in 1.8, left in so attrFn-stabbers won't die; remove in 1.9
+	attrFn: {},
+
+	attr: function( elem, name, value, pass ) {
+		var ret, hooks, notxml,
+			nType = elem.nodeType;
+
+		// don't get/set attributes on text, comment and attribute nodes
+		if ( !elem || nType === 3 || nType === 8 || nType === 2 ) {
+			return;
+		}
+
+		if ( pass && jQuery.isFunction( jQuery.fn[ name ] ) ) {
+			return jQuery( elem )[ name ]( value );
+		}
+
+		// Fallback to prop when attributes are not supported
+		if ( typeof elem.getAttribute === "undefined" ) {
+			return jQuery.prop( elem, name, value );
+		}
+
+		notxml = nType !== 1 || !jQuery.isXMLDoc( elem );
+
+		// All attributes are lowercase
+		// Grab necessary hook if one is defined
+		if ( notxml ) {
+			name = name.toLowerCase();
+			hooks = jQuery.attrHooks[ name ] || ( rboolean.test( name ) ? boolHook : nodeHook );
+		}
+
+		if ( value !== undefined ) {
+
+			if ( value === null ) {
+				jQuery.removeAttr( elem, name );
+				return;
+
+			} else if ( hooks && "set" in hooks && notxml && (ret = hooks.set( elem, value, name )) !== undefined ) {
+				return ret;
+
+			} else {
+				elem.setAttribute( name, value + "" );
+				return value;
+			}
+
+		} else if ( hooks && "get" in hooks && notxml && (ret = hooks.get( elem, name )) !== null ) {
+			return ret;
+
+		} else {
+
+			ret = elem.getAttribute( name );
+
+			// Non-existent attributes return null, we normalize to undefined
+			return ret === null ?
+				undefined :
+				ret;
+		}
+	},
+
+	removeAttr: function( elem, value ) {
+		var propName, attrNames, name, isBool,
+			i = 0;
+
+		if ( value && elem.nodeType === 1 ) {
+
+			attrNames = value.split( core_rspace );
+
+			for ( ; i < attrNames.length; i++ ) {
+				name = attrNames[ i ];
+
+				if ( name ) {
+					propName = jQuery.propFix[ name ] || name;
+					isBool = rboolean.test( name );
+
+					// See #9699 for explanation of this approach (setting first, then removal)
+					// Do not do this for boolean attributes (see #10870)
+					if ( !isBool ) {
+						jQuery.attr( elem, name, "" );
+					}
+					elem.removeAttribute( getSetAttribute ? name : propName );
+
+					// Set corresponding property to false for boolean attributes
+					if ( isBool && propName in elem ) {
+						elem[ propName ] = false;
+					}
+				}
+			}
+		}
+	},
+
+	attrHooks: {
+		type: {
+			set: function( elem, value ) {
+				// We can't allow the type property to be changed (since it causes problems in IE)
+				if ( rtype.test( elem.nodeName ) && elem.parentNode ) {
+					jQuery.error( "type property can't be changed" );
+				} else if ( !jQuery.support.radioValue && value === "radio" && jQuery.nodeName(elem, "input") ) {
+					// Setting the type on a radio button after the value resets the value in IE6-9
+					// Reset value to it's default in case type is set after value
+					// This is for element creation
+					var val = elem.value;
+					elem.setAttribute( "type", value );
+					if ( val ) {
+						elem.value = val;
+					}
+					return value;
+				}
+			}
+		},
+		// Use the value property for back compat
+		// Use the nodeHook for button elements in IE6/7 (#1954)
+		value: {
+			get: function( elem, name ) {
+				if ( nodeHook && jQuery.nodeName( elem, "button" ) ) {
+					return nodeHook.get( elem, name );
+				}
+				return name in elem ?
+					elem.value :
+					null;
+			},
+			set: function( elem, value, name ) {
+				if ( nodeHook && jQuery.nodeName( elem, "button" ) ) {
+					return nodeHook.set( elem, value, name );
+				}
+				// Does not return so that setAttribute is also used
+				elem.value = value;
+			}
+		}
+	},
+
+	propFix: {
+		tabindex: "tabIndex",
+		readonly: "readOnly",
+		"for": "htmlFor",
+		"class": "className",
+		maxlength: "maxLength",
+		cellspacing: "cellSpacing",
+		cellpadding: "cellPadding",
+		rowspan: "rowSpan",
+		colspan: "colSpan",
+		usemap: "useMap",
+		frameborder: "frameBorder",
+		contenteditable: "contentEditable"
+	},
+
+	prop: function( elem, name, value ) {
+		var ret, hooks, notxml,
+			nType = elem.nodeType;
+
+		// don't get/set properties on text, comment and attribute nodes
+		if ( !elem || nType === 3 || nType === 8 || nType === 2 ) {
+			return;
+		}
+
+		notxml = nType !== 1 || !jQuery.isXMLDoc( elem );
+
+		if ( notxml ) {
+			// Fix name and attach hooks
+			name = jQuery.propFix[ name ] || name;
+			hooks = jQuery.propHooks[ name ];
+		}
+
+		if ( value !== undefined ) {
+			if ( hooks && "set" in hooks && (ret = hooks.set( elem, value, name )) !== undefined ) {
+				return ret;
+
+			} else {
+				return ( elem[ name ] = value );
+			}
+
+		} else {
+			if ( hooks && "get" in hooks && (ret = hooks.get( elem, name )) !== null ) {
+				return ret;
+
+			} else {
+				return elem[ name ];
+			}
+		}
+	},
+
+	propHooks: {
+		tabIndex: {
+			get: function( elem ) {
+				// elem.tabIndex doesn't always return the correct value when it hasn't been explicitly set
+				// http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/
+				var attributeNode = elem.getAttributeNode("tabindex");
+
+				return attributeNode && attributeNode.specified ?
+					parseInt( attributeNode.value, 10 ) :
+					rfocusable.test( elem.nodeName ) || rclickable.test( elem.nodeName ) && elem.href ?
+						0 :
+						undefined;
+			}
+		}
+	}
+});
+
+// Hook for boolean attributes
+boolHook = {
+	get: function( elem, name ) {
+		// Align boolean attributes with corresponding properties
+		// Fall back to attribute presence where some booleans are not supported
+		var attrNode,
+			property = jQuery.prop( elem, name );
+		return property === true || typeof property !== "boolean" && ( attrNode = elem.getAttributeNode(name) ) && attrNode.nodeValue !== false ?
+			name.toLowerCase() :
+			undefined;
+	},
+	set: function( elem, value, name ) {
+		var propName;
+		if ( value === false ) {
+			// Remove boolean attributes when set to false
+			jQuery.removeAttr( elem, name );
+		} else {
+			// value is true since we know at this point it's type boolean and not false
+			// Set boolean attributes to the same name and set the DOM property
+			propName = jQuery.propFix[ name ] || name;
+			if ( propName in elem ) {
+				// Only set the IDL specifically if it already exists on the element
+				elem[ propName ] = true;
+			}
+
+			elem.setAttribute( name, name.toLowerCase() );
+		}
+		return name;
+	}
+};
+
+// IE6/7 do not support getting/setting some attributes with get/setAttribute
+if ( !getSetAttribute ) {
+
+	fixSpecified = {
+		name: true,
+		id: true,
+		coords: true
+	};
+
+	// Use this for any attribute in IE6/7
+	// This fixes almost every IE6/7 issue
+	nodeHook = jQuery.valHooks.button = {
+		get: function( elem, name ) {
+			var ret;
+			ret = elem.getAttributeNode( name );
+			return ret && ( fixSpecified[ name ] ? ret.value !== "" : ret.specified ) ?
+				ret.value :
+				undefined;
+		},
+		set: function( elem, value, name ) {
+			// Set the existing or create a new attribute node
+			var ret = elem.getAttributeNode( name );
+			if ( !ret ) {
+				ret = document.createAttribute( name );
+				elem.setAttributeNode( ret );
+			}
+			return ( ret.value = value + "" );
+		}
+	};
+
+	// Set width and height to auto instead of 0 on empty string( Bug #8150 )
+	// This is for removals
+	jQuery.each([ "width", "height" ], function( i, name ) {
+		jQuery.attrHooks[ name ] = jQuery.extend( jQuery.attrHooks[ name ], {
+			set: function( elem, value ) {
+				if ( value === "" ) {
+					elem.setAttribute( name, "auto" );
+					return value;
+				}
+			}
+		});
+	});
+
+	// Set contenteditable to false on removals(#10429)
+	// Setting to empty string throws an error as an invalid value
+	jQuery.attrHooks.contenteditable = {
+		get: nodeHook.get,
+		set: function( elem, value, name ) {
+			if ( value === "" ) {
+				value = "false";
+			}
+			nodeHook.set( elem, value, name );
+		}
+	};
+}
+
+
+// Some attributes require a special call on IE
+if ( !jQuery.support.hrefNormalized ) {
+	jQuery.each([ "href", "src", "width", "height" ], function( i, name ) {
+		jQuery.attrHooks[ name ] = jQuery.extend( jQuery.attrHooks[ name ], {
+			get: function( elem ) {
+				var ret = elem.getAttribute( name, 2 );
+				return ret === null ? undefined : ret;
+			}
+		});
+	});
+}
+
+if ( !jQuery.support.style ) {
+	jQuery.attrHooks.style = {
+		get: function( elem ) {
+			// Return undefined in the case of empty string
+			// Normalize to lowercase since IE uppercases css property names
+			return elem.style.cssText.toLowerCase() || undefined;
+		},
+		set: function( elem, value ) {
+			return ( elem.style.cssText = value + "" );
+		}
+	};
+}
+
+// Safari mis-reports the default selected property of an option
+// Accessing the parent's selectedIndex property fixes it
+if ( !jQuery.support.optSelected ) {
+	jQuery.propHooks.selected = jQuery.extend( jQuery.propHooks.selected, {
+		get: function( elem ) {
+			var parent = elem.parentNode;
+
+			if ( parent ) {
+				parent.selectedIndex;
+
+				// Make sure that it also works with optgroups, see #5701
+				if ( parent.parentNode ) {
+					parent.parentNode.selectedIndex;
+				}
+			}
+			return null;
+		}
+	});
+}
+
+// IE6/7 call enctype encoding
+if ( !jQuery.support.enctype ) {
+	jQuery.propFix.enctype = "encoding";
+}
+
+// Radios and checkboxes getter/setter
+if ( !jQuery.support.checkOn ) {
+	jQuery.each([ "radio", "checkbox" ], function() {
+		jQuery.valHooks[ this ] = {
+			get: function( elem ) {
+				// Handle the case where in Webkit "" is returned instead of "on" if a value isn't specified
+				return elem.getAttribute("value") === null ? "on" : elem.value;
+			}
+		};
+	});
+}
+jQuery.each([ "radio", "checkbox" ], function() {
+	jQuery.valHooks[ this ] = jQuery.extend( jQuery.valHooks[ this ], {
+		set: function( elem, value ) {
+			if ( jQuery.isArray( value ) ) {
+				return ( elem.checked = jQuery.inArray( jQuery(elem).val(), value ) >= 0 );
+			}
+		}
+	});
+});
+var rformElems = /^(?:textarea|input|select)$/i,
+	rtypenamespace = /^([^\.]*|)(?:\.(.+)|)$/,
+	rhoverHack = /(?:^|\s)hover(\.\S+|)\b/,
+	rkeyEvent = /^key/,
+	rmouseEvent = /^(?:mouse|contextmenu)|click/,
+	rfocusMorph = /^(?:focusinfocus|focusoutblur)$/,
+	hoverHack = function( events ) {
+		return jQuery.event.special.hover ? events : events.replace( rhoverHack, "mouseenter$1 mouseleave$1" );
+	};
+
+/*
+ * Helper functions for managing events -- not part of the public interface.
+ * Props to Dean Edwards' addEvent library for many of the ideas.
+ */
+jQuery.event = {
+
+	add: function( elem, types, handler, data, selector ) {
+
+		var elemData, eventHandle, events,
+			t, tns, type, namespaces, handleObj,
+			handleObjIn, handlers, special;
+
+		// Don't attach events to noData or text/comment nodes (allow plain objects tho)
+		if ( elem.nodeType === 3 || elem.nodeType === 8 || !types || !handler || !(elemData = jQuery._data( elem )) ) {
+			return;
+		}
+
+		// Caller can pass in an object of custom data in lieu of the handler
+		if ( handler.handler ) {
+			handleObjIn = handler;
+			handler = handleObjIn.handler;
+			selector = handleObjIn.selector;
+		}
+
+		// Make sure that the handler has a unique ID, used to find/remove it later
+		if ( !handler.guid ) {
+			handler.guid = jQuery.guid++;
+		}
+
+		// Init the element's event structure and main handler, if this is the first
+		events = elemData.events;
+		if ( !events ) {
+			elemData.events = events = {};
+		}
+		eventHandle = elemData.handle;
+		if ( !eventHandle ) {
+			elemData.handle = eventHandle = function( e ) {
+				// Discard the second event of a jQuery.event.trigger() and
+				// when an event is called after a page has unloaded
+				return typeof jQuery !== "undefined" && (!e || jQuery.event.triggered !== e.type) ?
+					jQuery.event.dispatch.apply( eventHandle.elem, arguments ) :
+					undefined;
+			};
+			// Add elem as a property of the handle fn to prevent a memory leak with IE non-native events
+			eventHandle.elem = elem;
+		}
+
+		// Handle multiple events separated by a space
+		// jQuery(...).bind("mouseover mouseout", fn);
+		types = jQuery.trim( hoverHack(types) ).split( " " );
+		for ( t = 0; t < types.length; t++ ) {
+
+			tns = rtypenamespace.exec( types[t] ) || [];
+			type = tns[1];
+			namespaces = ( tns[2] || "" ).split( "." ).sort();
+
+			// If event changes its type, use the special event handlers for the changed type
+			special = jQuery.event.special[ type ] || {};
+
+			// If selector defined, determine special event api type, otherwise given type
+			type = ( selector ? special.delegateType : special.bindType ) || type;
+
+			// Update special based on newly reset type
+			special = jQuery.event.special[ type ] || {};
+
+			// handleObj is passed to all event handlers
+			handleObj = jQuery.extend({
+				type: type,
+				origType: tns[1],
+				data: data,
+				handler: handler,
+				guid: handler.guid,
+				selector: selector,
+				needsContext: selector && jQuery.expr.match.needsContext.test( selector ),
+				namespace: namespaces.join(".")
+			}, handleObjIn );
+
+			// Init the event handler queue if we're the first
+			handlers = events[ type ];
+			if ( !handlers ) {
+				handlers = events[ type ] = [];
+				handlers.delegateCount = 0;
+
+				// Only use addEventListener/attachEvent if the special events handler returns false
+				if ( !special.setup || special.setup.call( elem, data, namespaces, eventHandle ) === false ) {
+					// Bind the global event handler to the element
+					if ( elem.addEventListener ) {
+						elem.addEventListener( type, eventHandle, false );
+
+					} else if ( elem.attachEvent ) {
+						elem.attachEvent( "on" + type, eventHandle );
+					}
+				}
+			}
+
+			if ( special.add ) {
+				special.add.call( elem, handleObj );
+
+				if ( !handleObj.handler.guid ) {
+					handleObj.handler.guid = handler.guid;
+				}
+			}
+
+			// Add to the element's handler list, delegates in front
+			if ( selector ) {
+				handlers.splice( handlers.delegateCount++, 0, handleObj );
+			} else {
+				handlers.push( handleObj );
+			}
+
+			// Keep track of which events have ever been used, for event optimization
+			jQuery.event.global[ type ] = true;
+		}
+
+		// Nullify elem to prevent memory leaks in IE
+		elem = null;
+	},
+
+	global: {},
+
+	// Detach an event or set of events from an element
+	remove: function( elem, types, handler, selector, mappedTypes ) {
+
+		var t, tns, type, origType, namespaces, origCount,
+			j, events, special, eventType, handleObj,
+			elemData = jQuery.hasData( elem ) && jQuery._data( elem );
+
+		if ( !elemData || !(events = elemData.events) ) {
+			return;
+		}
+
+		// Once for each type.namespace in types; type may be omitted
+		types = jQuery.trim( hoverHack( types || "" ) ).split(" ");
+		for ( t = 0; t < types.length; t++ ) {
+			tns = rtypenamespace.exec( types[t] ) || [];
+			type = origType = tns[1];
+			namespaces = tns[2];
+
+			// Unbind all events (on this namespace, if provided) for the element
+			if ( !type ) {
+				for ( type in events ) {
+					jQuery.event.remove( elem, type + types[ t ], handler, selector, true );
+				}
+				continue;
+			}
+
+			special = jQuery.event.special[ type ] || {};
+			type = ( selector? special.delegateType : special.bindType ) || type;
+			eventType = events[ type ] || [];
+			origCount = eventType.length;
+			namespaces = namespaces ? new RegExp("(^|\\.)" + namespaces.split(".").sort().join("\\.(?:.*\\.|)") + "(\\.|$)") : null;
+
+			// Remove matching events
+			for ( j = 0; j < eventType.length; j++ ) {
+				handleObj = eventType[ j ];
+
+				if ( ( mappedTypes || origType === handleObj.origType ) &&
+					 ( !handler || handler.guid === handleObj.guid ) &&
+					 ( !namespaces || namespaces.test( handleObj.namespace ) ) &&
+					 ( !selector || selector === handleObj.selector || selector === "**" && handleObj.selector ) ) {
+					eventType.splice( j--, 1 );
+
+					if ( handleObj.selector ) {
+						eventType.delegateCount--;
+					}
+					if ( special.remove ) {
+						special.remove.call( elem, handleObj );
+					}
+				}
+			}
+
+			// Remove generic event handler if we removed something and no more handlers exist
+			// (avoids potential for endless recursion during removal of special event handlers)
+			if ( eventType.length === 0 && origCount !== eventType.length ) {
+				if ( !special.teardown || special.teardown.call( elem, namespaces, elemData.handle ) === false ) {
+					jQuery.removeEvent( elem, type, elemData.handle );
+				}
+
+				delete events[ type ];
+			}
+		}
+
+		// Remove the expando if it's no longer used
+		if ( jQuery.isEmptyObject( events ) ) {
+			delete elemData.handle;
+
+			// removeData also checks for emptiness and clears the expando if empty
+			// so use it instead of delete
+			jQuery.removeData( elem, "events", true );
+		}
+	},
+
+	// Events that are safe to short-circuit if no handlers are attached.
+	// Native DOM events should not be added, they may have inline handlers.
+	customEvent: {
+		"getData": true,
+		"setData": true,
+		"changeData": true
+	},
+
+	trigger: function( event, data, elem, onlyHandlers ) {
+		// Don't do events on text and comment nodes
+		if ( elem && (elem.nodeType === 3 || elem.nodeType === 8) ) {
+			return;
+		}
+
+		// Event object or event type
+		var cache, exclusive, i, cur, old, ontype, special, handle, eventPath, bubbleType,
+			type = event.type || event,
+			namespaces = [];
+
+		// focus/blur morphs to focusin/out; ensure we're not firing them right now
+		if ( rfocusMorph.test( type + jQuery.event.triggered ) ) {
+			return;
+		}
+
+		if ( type.indexOf( "!" ) >= 0 ) {
+			// Exclusive events trigger only for the exact event (no namespaces)
+			type = type.slice(0, -1);
+			exclusive = true;
+		}
+
+		if ( type.indexOf( "." ) >= 0 ) {
+			// Namespaced trigger; create a regexp to match event type in handle()
+			namespaces = type.split(".");
+			type = namespaces.shift();
+			namespaces.sort();
+		}
+
+		if ( (!elem || jQuery.event.customEvent[ type ]) && !jQuery.event.global[ type ] ) {
+			// No jQuery handlers for this event type, and it can't have inline handlers
+			return;
+		}
+
+		// Caller can pass in an Event, Object, or just an event type string
+		event = typeof event === "object" ?
+			// jQuery.Event object
+			event[ jQuery.expando ] ? event :
+			// Object literal
+			new jQuery.Event( type, event ) :
+			// Just the event type (string)
+			new jQuery.Event( type );
+
+		event.type = type;
+		event.isTrigger = true;
+		event.exclusive = exclusive;
+		event.namespace = namespaces.join( "." );
+		event.namespace_re = event.namespace? new RegExp("(^|\\.)" + namespaces.join("\\.(?:.*\\.|)") + "(\\.|$)") : null;
+		ontype = type.indexOf( ":" ) < 0 ? "on" + type : "";
+
+		// Handle a global trigger
+		if ( !elem ) {
+
+			// TODO: Stop taunting the data cache; remove global events and always attach to document
+			cache = jQuery.cache;
+			for ( i in cache ) {
+				if ( cache[ i ].events && cache[ i ].events[ type ] ) {
+					jQuery.event.trigger( event, data, cache[ i ].handle.elem, true );
+				}
+			}
+			return;
+		}
+
+		// Clean up the event in case it is being reused
+		event.result = undefined;
+		if ( !event.target ) {
+			event.target = elem;
+		}
+
+		// Clone any incoming data and prepend the event, creating the handler arg list
+		data = data != null ? jQuery.makeArray( data ) : [];
+		data.unshift( event );
+
+		// Allow special events to draw outside the lines
+		special = jQuery.event.special[ type ] || {};
+		if ( special.trigger && special.trigger.apply( elem, data ) === false ) {
+			return;
+		}
+
+		// Determine event propagation path in advance, per W3C events spec (#9951)
+		// Bubble up to document, then to window; watch for a global ownerDocument var (#9724)
+		eventPath = [[ elem, special.bindType || type ]];
+		if ( !onlyHandlers && !special.noBubble && !jQuery.isWindow( elem ) ) {
+
+			bubbleType = special.delegateType || type;
+			cur = rfocusMorph.test( bubbleType + type ) ? elem : elem.parentNode;
+			for ( old = elem; cur; cur = cur.parentNode ) {
+				eventPath.push([ cur, bubbleType ]);
+				old = cur;
+			}
+
+			// Only add window if we got to document (e.g., not plain obj or detached DOM)
+			if ( old === (elem.ownerDocument || document) ) {
+				eventPath.push([ old.defaultView || old.parentWindow || window, bubbleType ]);
+			}
+		}
+
+		// Fire handlers on the event path
+		for ( i = 0; i < eventPath.length && !event.isPropagationStopped(); i++ ) {
+
+			cur = eventPath[i][0];
+			event.type = eventPath[i][1];
+
+			handle = ( jQuery._data( cur, "events" ) || {} )[ event.type ] && jQuery._data( cur, "handle" );
+			if ( handle ) {
+				handle.apply( cur, data );
+			}
+			// Note that this is a bare JS function and not a jQuery handler
+			handle = ontype && cur[ ontype ];
+			if ( handle && jQuery.acceptData( cur ) && handle.apply && handle.apply( cur, data ) === false ) {
+				event.preventDefault();
+			}
+		}
+		event.type = type;
+
+		// If nobody prevented the default action, do it now
+		if ( !onlyHandlers && !event.isDefaultPrevented() ) {
+
+			if ( (!special._default || special._default.apply( elem.ownerDocument, data ) === false) &&
+				!(type === "click" && jQuery.nodeName( elem, "a" )) && jQuery.acceptData( elem ) ) {
+
+				// Call a native DOM method on the target with the same name name as the event.
+				// Can't use an .isFunction() check here because IE6/7 fails that test.
+				// Don't do default actions on window, that's where global variables be (#6170)
+				// IE<9 dies on focus/blur to hidden element (#1486)
+				if ( ontype && elem[ type ] && ((type !== "focus" && type !== "blur") || event.target.offsetWidth !== 0) && !jQuery.isWindow( elem ) ) {
+
+					// Don't re-trigger an onFOO event when we call its FOO() method
+					old = elem[ ontype ];
+
+					if ( old ) {
+						elem[ ontype ] = null;
+					}
+
+					// Prevent re-triggering of the same event, since we already bubbled it above
+					jQuery.event.triggered = type;
+					elem[ type ]();
+					jQuery.event.triggered = undefined;
+
+					if ( old ) {
+						elem[ ontype ] = old;
+					}
+				}
+			}
+		}
+
+		return event.result;
+	},
+
+	dispatch: function( event ) {
+
+		// Make a writable jQuery.Event from the native event object
+		event = jQuery.event.fix( event || window.event );
+
+		var i, j, cur, ret, selMatch, matched, matches, handleObj, sel, related,
+			handlers = ( (jQuery._data( this, "events" ) || {} )[ event.type ] || []),
+			delegateCount = handlers.delegateCount,
+			args = core_slice.call( arguments ),
+			run_all = !event.exclusive && !event.namespace,
+			special = jQuery.event.special[ event.type ] || {},
+			handlerQueue = [];
+
+		// Use the fix-ed jQuery.Event rather than the (read-only) native event
+		args[0] = event;
+		event.delegateTarget = this;
+
+		// Call the preDispatch hook for the mapped type, and let it bail if desired
+		if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) {
+			return;
+		}
+
+		// Determine handlers that should run if there are delegated events
+		// Avoid non-left-click bubbling in Firefox (#3861)
+		if ( delegateCount && !(event.button && event.type === "click") ) {
+
+			for ( cur = event.target; cur != this; cur = cur.parentNode || this ) {
+
+				// Don't process clicks (ONLY) on disabled elements (#6911, #8165, #11382, #11764)
+				if ( cur.disabled !== true || event.type !== "click" ) {
+					selMatch = {};
+					matches = [];
+					for ( i = 0; i < delegateCount; i++ ) {
+						handleObj = handlers[ i ];
+						sel = handleObj.selector;
+
+						if ( selMatch[ sel ] === undefined ) {
+							selMatch[ sel ] = handleObj.needsContext ?
+								jQuery( sel, this ).index( cur ) >= 0 :
+								jQuery.find( sel, this, null, [ cur ] ).length;
+						}
+						if ( selMatch[ sel ] ) {
+							matches.push( handleObj );
+						}
+					}
+					if ( matches.length ) {
+						handlerQueue.push({ elem: cur, matches: matches });
+					}
+				}
+			}
+		}
+
+		// Add the remaining (directly-bound) handlers
+		if ( handlers.length > delegateCount ) {
+			handlerQueue.push({ elem: this, matches: handlers.slice( delegateCount ) });
+		}
+
+		// Run delegates first; they may want to stop propagation beneath us
+		for ( i = 0; i < handlerQueue.length && !event.isPropagationStopped(); i++ ) {
+			matched = handlerQueue[ i ];
+			event.currentTarget = matched.elem;
+
+			for ( j = 0; j < matched.matches.length && !event.isImmediatePropagationStopped(); j++ ) {
+				handleObj = matched.matches[ j ];
+
+				// Triggered event must either 1) be non-exclusive and have no namespace, or
+				// 2) have namespace(s) a subset or equal to those in the bound event (both can have no namespace).
+				if ( run_all || (!event.namespace && !handleObj.namespace) || event.namespace_re && event.namespace_re.test( handleObj.namespace ) ) {
+
+					event.data = handleObj.data;
+					event.handleObj = handleObj;
+
+					ret = ( (jQuery.event.special[ handleObj.origType ] || {}).handle || handleObj.handler )
+							.apply( matched.elem, args );
+
+					if ( ret !== undefined ) {
+						event.result = ret;
+						if ( ret === false ) {
+							event.preventDefault();
+							event.stopPropagation();
+						}
+					}
+				}
+			}
+		}
+
+		// Call the postDispatch hook for the mapped type
+		if ( special.postDispatch ) {
+			special.postDispatch.call( this, event );
+		}
+
+		return event.result;
+	},
+
+	// Includes some event props shared by KeyEvent and MouseEvent
+	// *** attrChange attrName relatedNode srcElement  are not normalized, non-W3C, deprecated, will be removed in 1.8 ***
+	props: "attrChange attrName relatedNode srcElement altKey bubbles cancelable ctrlKey currentTarget eventPhase metaKey relatedTarget shiftKey target timeStamp view which".split(" "),
+
+	fixHooks: {},
+
+	keyHooks: {
+		props: "char charCode key keyCode".split(" "),
+		filter: function( event, original ) {
+
+			// Add which for key events
+			if ( event.which == null ) {
+				event.which = original.charCode != null ? original.charCode : original.keyCode;
+			}
+
+			return event;
+		}
+	},
+
+	mouseHooks: {
+		props: "button buttons clientX clientY fromElement offsetX offsetY pageX pageY screenX screenY toElement".split(" "),
+		filter: function( event, original ) {
+			var eventDoc, doc, body,
+				button = original.button,
+				fromElement = original.fromElement;
+
+			// Calculate pageX/Y if missing and clientX/Y available
+			if ( event.pageX == null && original.clientX != null ) {
+				eventDoc = event.target.ownerDocument || document;
+				doc = eventDoc.documentElement;
+				body = eventDoc.body;
+
+				event.pageX = original.clientX + ( doc && doc.scrollLeft || body && body.scrollLeft || 0 ) - ( doc && doc.clientLeft || body && body.clientLeft || 0 );
+				event.pageY = original.clientY + ( doc && doc.scrollTop  || body && body.scrollTop  || 0 ) - ( doc && doc.clientTop  || body && body.clientTop  || 0 );
+			}
+
+			// Add relatedTarget, if necessary
+			if ( !event.relatedTarget && fromElement ) {
+				event.relatedTarget = fromElement === event.target ? original.toElement : fromElement;
+			}
+
+			// Add which for click: 1 === left; 2 === middle; 3 === right
+			// Note: button is not normalized, so don't use it
+			if ( !event.which && button !== undefined ) {
+				event.which = ( button & 1 ? 1 : ( button & 2 ? 3 : ( button & 4 ? 2 : 0 ) ) );
+			}
+
+			return event;
+		}
+	},
+
+	fix: function( event ) {
+		if ( event[ jQuery.expando ] ) {
+			return event;
+		}
+
+		// Create a writable copy of the event object and normalize some properties
+		var i, prop,
+			originalEvent = event,
+			fixHook = jQuery.event.fixHooks[ event.type ] || {},
+			copy = fixHook.props ? this.props.concat( fixHook.props ) : this.props;
+
+		event = jQuery.Event( originalEvent );
+
+		for ( i = copy.length; i; ) {
+			prop = copy[ --i ];
+			event[ prop ] = originalEvent[ prop ];
+		}
+
+		// Fix target property, if necessary (#1925, IE 6/7/8 & Safari2)
+		if ( !event.target ) {
+			event.target = originalEvent.srcElement || document;
+		}
+
+		// Target should not be a text node (#504, Safari)
+		if ( event.target.nodeType === 3 ) {
+			event.target = event.target.parentNode;
+		}
+
+		// For mouse/key events, metaKey==false if it's undefined (#3368, #11328; IE6/7/8)
+		event.metaKey = !!event.metaKey;
+
+		return fixHook.filter? fixHook.filter( event, originalEvent ) : event;
+	},
+
+	special: {
+		load: {
+			// Prevent triggered image.load events from bubbling to window.load
+			noBubble: true
+		},
+
+		focus: {
+			delegateType: "focusin"
+		},
+		blur: {
+			delegateType: "focusout"
+		},
+
+		beforeunload: {
+			setup: function( data, namespaces, eventHandle ) {
+				// We only want to do this special case on windows
+				if ( jQuery.isWindow( this ) ) {
+					this.onbeforeunload = eventHandle;
+				}
+			},
+
+			teardown: function( namespaces, eventHandle ) {
+				if ( this.onbeforeunload === eventHandle ) {
+					this.onbeforeunload = null;
+				}
+			}
+		}
+	},
+
+	simulate: function( type, elem, event, bubble ) {
+		// Piggyback on a donor event to simulate a different one.
+		// Fake originalEvent to avoid donor's stopPropagation, but if the
+		// simulated event prevents default then we do the same on the donor.
+		var e = jQuery.extend(
+			new jQuery.Event(),
+			event,
+			{ type: type,
+				isSimulated: true,
+				originalEvent: {}
+			}
+		);
+		if ( bubble ) {
+			jQuery.event.trigger( e, null, elem );
+		} else {
+			jQuery.event.dispatch.call( elem, e );
+		}
+		if ( e.isDefaultPrevented() ) {
+			event.preventDefault();
+		}
+	}
+};
+
+// Some plugins are using, but it's undocumented/deprecated and will be removed.
+// The 1.7 special event interface should provide all the hooks needed now.
+jQuery.event.handle = jQuery.event.dispatch;
+
+jQuery.removeEvent = document.removeEventListener ?
+	function( elem, type, handle ) {
+		if ( elem.removeEventListener ) {
+			elem.removeEventListener( type, handle, false );
+		}
+	} :
+	function( elem, type, handle ) {
+		var name = "on" + type;
+
+		if ( elem.detachEvent ) {
+
+			// #8545, #7054, preventing memory leaks for custom events in IE6-8
+			// detachEvent needed property on element, by name of that event, to properly expose it to GC
+			if ( typeof elem[ name ] === "undefined" ) {
+				elem[ name ] = null;
+			}
+
+			elem.detachEvent( name, handle );
+		}
+	};
+
+jQuery.Event = function( src, props ) {
+	// Allow instantiation without the 'new' keyword
+	if ( !(this instanceof jQuery.Event) ) {
+		return new jQuery.Event( src, props );
+	}
+
+	// Event object
+	if ( src && src.type ) {
+		this.originalEvent = src;
+		this.type = src.type;
+
+		// Events bubbling up the document may have been marked as prevented
+		// by a handler lower down the tree; reflect the correct value.
+		this.isDefaultPrevented = ( src.defaultPrevented || src.returnValue === false ||
+			src.getPreventDefault && src.getPreventDefault() ) ? returnTrue : returnFalse;
+
+	// Event type
+	} else {
+		this.type = src;
+	}
+
+	// Put explicitly provided properties onto the event object
+	if ( props ) {
+		jQuery.extend( this, props );
+	}
+
+	// Create a timestamp if incoming event doesn't have one
+	this.timeStamp = src && src.timeStamp || jQuery.now();
+
+	// Mark it as fixed
+	this[ jQuery.expando ] = true;
+};
+
+function returnFalse() {
+	return false;
+}
+function returnTrue() {
+	return true;
+}
+
+// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding
+// http://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html
+jQuery.Event.prototype = {
+	preventDefault: function() {
+		this.isDefaultPrevented = returnTrue;
+
+		var e = this.originalEvent;
+		if ( !e ) {
+			return;
+		}
+
+		// if preventDefault exists run it on the original event
+		if ( e.preventDefault ) {
+			e.preventDefault();
+
+		// otherwise set the returnValue property of the original event to false (IE)
+		} else {
+			e.returnValue = false;
+		}
+	},
+	stopPropagation: function() {
+		this.isPropagationStopped = returnTrue;
+
+		var e = this.originalEvent;
+		if ( !e ) {
+			return;
+		}
+		// if stopPropagation exists run it on the original event
+		if ( e.stopPropagation ) {
+			e.stopPropagation();
+		}
+		// otherwise set the cancelBubble property of the original event to true (IE)
+		e.cancelBubble = true;
+	},
+	stopImmediatePropagation: function() {
+		this.isImmediatePropagationStopped = returnTrue;
+		this.stopPropagation();
+	},
+	isDefaultPrevented: returnFalse,
+	isPropagationStopped: returnFalse,
+	isImmediatePropagationStopped: returnFalse
+};
+
+// Create mouseenter/leave events using mouseover/out and event-time checks
+jQuery.each({
+	mouseenter: "mouseover",
+	mouseleave: "mouseout"
+}, function( orig, fix ) {
+	jQuery.event.special[ orig ] = {
+		delegateType: fix,
+		bindType: fix,
+
+		handle: function( event ) {
+			var ret,
+				target = this,
+				related = event.relatedTarget,
+				handleObj = event.handleObj,
+				selector = handleObj.selector;
+
+			// For mousenter/leave call the handler if related is outside the target.
+			// NB: No relatedTarget if the mouse left/entered the browser window
+			if ( !related || (related !== target && !jQuery.contains( target, related )) ) {
+				event.type = handleObj.origType;
+				ret = handleObj.handler.apply( this, arguments );
+				event.type = fix;
+			}
+			return ret;
+		}
+	};
+});
+
+// IE submit delegation
+if ( !jQuery.support.submitBubbles ) {
+
+	jQuery.event.special.submit = {
+		setup: function() {
+			// Only need this for delegated form submit events
+			if ( jQuery.nodeName( this, "form" ) ) {
+				return false;
+			}
+
+			// Lazy-add a submit handler when a descendant form may potentially be submitted
+			jQuery.event.add( this, "click._submit keypress._submit", function( e ) {
+				// Node name check avoids a VML-related crash in IE (#9807)
+				var elem = e.target,
+					form = jQuery.nodeName( elem, "input" ) || jQuery.nodeName( elem, "button" ) ? elem.form : undefined;
+				if ( form && !jQuery._data( form, "_submit_attached" ) ) {
+					jQuery.event.add( form, "submit._submit", function( event ) {
+						event._submit_bubble = true;
+					});
+					jQuery._data( form, "_submit_attached", true );
+				}
+			});
+			// return undefined since we don't need an event listener
+		},
+
+		postDispatch: function( event ) {
+			// If form was submitted by the user, bubble the event up the tree
+			if ( event._submit_bubble ) {
+				delete event._submit_bubble;
+				if ( this.parentNode && !event.isTrigger ) {
+					jQuery.event.simulate( "submit", this.parentNode, event, true );
+				}
+			}
+		},
+
+		teardown: function() {
+			// Only need this for delegated form submit events
+			if ( jQuery.nodeName( this, "form" ) ) {
+				return false;
+			}
+
+			// Remove delegated handlers; cleanData eventually reaps submit handlers attached above
+			jQuery.event.remove( this, "._submit" );
+		}
+	};
+}
+
+// IE change delegation and checkbox/radio fix
+if ( !jQuery.support.changeBubbles ) {
+
+	jQuery.event.special.change = {
+
+		setup: function() {
+
+			if ( rformElems.test( this.nodeName ) ) {
+				// IE doesn't fire change on a check/radio until blur; trigger it on click
+				// after a propertychange. Eat the blur-change in special.change.handle.
+				// This still fires onchange a second time for check/radio after blur.
+				if ( this.type === "checkbox" || this.type === "radio" ) {
+					jQuery.event.add( this, "propertychange._change", function( event ) {
+						if ( event.originalEvent.propertyName === "checked" ) {
+							this._just_changed = true;
+						}
+					});
+					jQuery.event.add( this, "click._change", function( event ) {
+						if ( this._just_changed && !event.isTrigger ) {
+							this._just_changed = false;
+						}
+						// Allow triggered, simulated change events (#11500)
+						jQuery.event.simulate( "change", this, event, true );
+					});
+				}
+				return false;
+			}
+			// Delegated event; lazy-add a change handler on descendant inputs
+			jQuery.event.add( this, "beforeactivate._change", function( e ) {
+				var elem = e.target;
+
+				if ( rformElems.test( elem.nodeName ) && !jQuery._data( elem, "_change_attached" ) ) {
+					jQuery.event.add( elem, "change._change", function( event ) {
+						if ( this.parentNode && !event.isSimulated && !event.isTrigger ) {
+							jQuery.event.simulate( "change", this.parentNode, event, true );
+						}
+					});
+					jQuery._data( elem, "_change_attached", true );
+				}
+			});
+		},
+
+		handle: function( event ) {
+			var elem = event.target;
+
+			// Swallow native change events from checkbox/radio, we already triggered them above
+			if ( this !== elem || event.isSimulated || event.isTrigger || (elem.type !== "radio" && elem.type !== "checkbox") ) {
+				return event.handleObj.handler.apply( this, arguments );
+			}
+		},
+
+		teardown: function() {
+			jQuery.event.remove( this, "._change" );
+
+			return !rformElems.test( this.nodeName );
+		}
+	};
+}
+
+// Create "bubbling" focus and blur events
+if ( !jQuery.support.focusinBubbles ) {
+	jQuery.each({ focus: "focusin", blur: "focusout" }, function( orig, fix ) {
+
+		// Attach a single capturing handler while someone wants focusin/focusout
+		var attaches = 0,
+			handler = function( event ) {
+				jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ), true );
+			};
+
+		jQuery.event.special[ fix ] = {
+			setup: function() {
+				if ( attaches++ === 0 ) {
+					document.addEventListener( orig, handler, true );
+				}
+			},
+			teardown: function() {
+				if ( --attaches === 0 ) {
+					document.removeEventListener( orig, handler, true );
+				}
+			}
+		};
+	});
+}
+
+jQuery.fn.extend({
+
+	on: function( types, selector, data, fn, /*INTERNAL*/ one ) {
+		var origFn, type;
+
+		// Types can be a map of types/handlers
+		if ( typeof types === "object" ) {
+			// ( types-Object, selector, data )
+			if ( typeof selector !== "string" ) { // && selector != null
+				// ( types-Object, data )
+				data = data || selector;
+				selector = undefined;
+			}
+			for ( type in types ) {
+				this.on( type, selector, data, types[ type ], one );
+			}
+			return this;
+		}
+
+		if ( data == null && fn == null ) {
+			// ( types, fn )
+			fn = selector;
+			data = selector = undefined;
+		} else if ( fn == null ) {
+			if ( typeof selector === "string" ) {
+				// ( types, selector, fn )
+				fn = data;
+				data = undefined;
+			} else {
+				// ( types, data, fn )
+				fn = data;
+				data = selector;
+				selector = undefined;
+			}
+		}
+		if ( fn === false ) {
+			fn = returnFalse;
+		} else if ( !fn ) {
+			return this;
+		}
+
+		if ( one === 1 ) {
+			origFn = fn;
+			fn = function( event ) {
+				// Can use an empty set, since event contains the info
+				jQuery().off( event );
+				return origFn.apply( this, arguments );
+			};
+			// Use same guid so caller can remove using origFn
+			fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ );
+		}
+		return this.each( function() {
+			jQuery.event.add( this, types, fn, data, selector );
+		});
+	},
+	one: function( types, selector, data, fn ) {
+		return this.on( types, selector, data, fn, 1 );
+	},
+	off: function( types, selector, fn ) {
+		var handleObj, type;
+		if ( types && types.preventDefault && types.handleObj ) {
+			// ( event )  dispatched jQuery.Event
+			handleObj = types.handleObj;
+			jQuery( types.delegateTarget ).off(
+				handleObj.namespace ? handleObj.origType + "." + handleObj.namespace : handleObj.origType,
+				handleObj.selector,
+				handleObj.handler
+			);
+			return this;
+		}
+		if ( typeof types === "object" ) {
+			// ( types-object [, selector] )
+			for ( type in types ) {
+				this.off( type, selector, types[ type ] );
+			}
+			return this;
+		}
+		if ( selector === false || typeof selector === "function" ) {
+			// ( types [, fn] )
+			fn = selector;
+			selector = undefined;
+		}
+		if ( fn === false ) {
+			fn = returnFalse;
+		}
+		return this.each(function() {
+			jQuery.event.remove( this, types, fn, selector );
+		});
+	},
+
+	bind: function( types, data, fn ) {
+		return this.on( types, null, data, fn );
+	},
+	unbind: function( types, fn ) {
+		return this.off( types, null, fn );
+	},
+
+	live: function( types, data, fn ) {
+		jQuery( this.context ).on( types, this.selector, data, fn );
+		return this;
+	},
+	die: function( types, fn ) {
+		jQuery( this.context ).off( types, this.selector || "**", fn );
+		return this;
+	},
+
+	delegate: function( selector, types, data, fn ) {
+		return this.on( types, selector, data, fn );
+	},
+	undelegate: function( selector, types, fn ) {
+		// ( namespace ) or ( selector, types [, fn] )
+		return arguments.length === 1 ? this.off( selector, "**" ) : this.off( types, selector || "**", fn );
+	},
+
+	trigger: function( type, data ) {
+		return this.each(function() {
+			jQuery.event.trigger( type, data, this );
+		});
+	},
+	triggerHandler: function( type, data ) {
+		if ( this[0] ) {
+			return jQuery.event.trigger( type, data, this[0], true );
+		}
+	},
+
+	toggle: function( fn ) {
+		// Save reference to arguments for access in closure
+		var args = arguments,
+			guid = fn.guid || jQuery.guid++,
+			i = 0,
+			toggler = function( event ) {
+				// Figure out which function to execute
+				var lastToggle = ( jQuery._data( this, "lastToggle" + fn.guid ) || 0 ) % i;
+				jQuery._data( this, "lastToggle" + fn.guid, lastToggle + 1 );
+
+				// Make sure that clicks stop
+				event.preventDefault();
+
+				// and execute the function
+				return args[ lastToggle ].apply( this, arguments ) || false;
+			};
+
+		// link all the functions, so any of them can unbind this click handler
+		toggler.guid = guid;
+		while ( i < args.length ) {
+			args[ i++ ].guid = guid;
+		}
+
+		return this.click( toggler );
+	},
+
+	hover: function( fnOver, fnOut ) {
+		return this.mouseenter( fnOver ).mouseleave( fnOut || fnOver );
+	}
+});
+
+jQuery.each( ("blur focus focusin focusout load resize scroll unload click dblclick " +
+	"mousedown mouseup mousemove mouseover mouseout mouseenter mouseleave " +
+	"change select submit keydown keypress keyup error contextmenu").split(" "), function( i, name ) {
+
+	// Handle event binding
+	jQuery.fn[ name ] = function( data, fn ) {
+		if ( fn == null ) {
+			fn = data;
+			data = null;
+		}
+
+		return arguments.length > 0 ?
+			this.on( name, null, data, fn ) :
+			this.trigger( name );
+	};
+
+	if ( rkeyEvent.test( name ) ) {
+		jQuery.event.fixHooks[ name ] = jQuery.event.keyHooks;
+	}
+
+	if ( rmouseEvent.test( name ) ) {
+		jQuery.event.fixHooks[ name ] = jQuery.event.mouseHooks;
+	}
+});
+/*!
+ * Sizzle CSS Selector Engine
+ * Copyright 2012 jQuery Foundation and other contributors
+ * Released under the MIT license
+ * http://sizzlejs.com/
+ */
+(function( window, undefined ) {
+
+var cachedruns,
+	assertGetIdNotName,
+	Expr,
+	getText,
+	isXML,
+	contains,
+	compile,
+	sortOrder,
+	hasDuplicate,
+	outermostContext,
+
+	baseHasDuplicate = true,
+	strundefined = "undefined",
+
+	expando = ( "sizcache" + Math.random() ).replace( ".", "" ),
+
+	Token = String,
+	document = window.document,
+	docElem = document.documentElement,
+	dirruns = 0,
+	done = 0,
+	pop = [].pop,
+	push = [].push,
+	slice = [].slice,
+	// Use a stripped-down indexOf if a native one is unavailable
+	indexOf = [].indexOf || function( elem ) {
+		var i = 0,
+			len = this.length;
+		for ( ; i < len; i++ ) {
+			if ( this[i] === elem ) {
+				return i;
+			}
+		}
+		return -1;
+	},
+
+	// Augment a function for special use by Sizzle
+	markFunction = function( fn, value ) {
+		fn[ expando ] = value == null || value;
+		return fn;
+	},
+
+	createCache = function() {
+		var cache = {},
+			keys = [];
+
+		return markFunction(function( key, value ) {
+			// Only keep the most recent entries
+			if ( keys.push( key ) > Expr.cacheLength ) {
+				delete cache[ keys.shift() ];
+			}
+
+			// Retrieve with (key + " ") to avoid collision with native Object.prototype properties (see Issue #157)
+			return (cache[ key + " " ] = value);
+		}, cache );
+	},
+
+	classCache = createCache(),
+	tokenCache = createCache(),
+	compilerCache = createCache(),
+
+	// Regex
+
+	// Whitespace characters http://www.w3.org/TR/css3-selectors/#whitespace
+	whitespace = "[\\x20\\t\\r\\n\\f]",
+	// http://www.w3.org/TR/css3-syntax/#characters
+	characterEncoding = "(?:\\\\.|[-\\w]|[^\\x00-\\xa0])+",
+
+	// Loosely modeled on CSS identifier characters
+	// An unquoted value should be a CSS identifier (http://www.w3.org/TR/css3-selectors/#attribute-selectors)
+	// Proper syntax: http://www.w3.org/TR/CSS21/syndata.html#value-def-identifier
+	identifier = characterEncoding.replace( "w", "w#" ),
+
+	// Acceptable operators http://www.w3.org/TR/selectors/#attribute-selectors
+	operators = "([*^$|!~]?=)",
+	attributes = "\\[" + whitespace + "*(" + characterEncoding + ")" + whitespace +
+		"*(?:" + operators + whitespace + "*(?:(['\"])((?:\\\\.|[^\\\\])*?)\\3|(" + identifier + ")|)|)" + whitespace + "*\\]",
+
+	// Prefer arguments not in parens/brackets,
+	//   then attribute selectors and non-pseudos (denoted by :),
+	//   then anything else
+	// These preferences are here to reduce the number of selectors
+	//   needing tokenize in the PSEUDO preFilter
+	pseudos = ":(" + characterEncoding + ")(?:\\((?:(['\"])((?:\\\\.|[^\\\\])*?)\\2|([^()[\\]]*|(?:(?:" + attributes + ")|[^:]|\\\\.)*|.*))\\)|)",
+
+	// For matchExpr.POS and matchExpr.needsContext
+	pos = ":(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace +
+		"*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)",
+
+	// Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter
+	rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + whitespace + "+$", "g" ),
+
+	rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ),
+	rcombinators = new RegExp( "^" + whitespace + "*([\\x20\\t\\r\\n\\f>+~])" + whitespace + "*" ),
+	rpseudo = new RegExp( pseudos ),
+
+	// Easily-parseable/retrievable ID or TAG or CLASS selectors
+	rquickExpr = /^(?:#([\w\-]+)|(\w+)|\.([\w\-]+))$/,
+
+	rnot = /^:not/,
+	rsibling = /[\x20\t\r\n\f]*[+~]/,
+	rendsWithNot = /:not\($/,
+
+	rheader = /h\d/i,
+	rinputs = /input|select|textarea|button/i,
+
+	rbackslash = /\\(?!\\)/g,
+
+	matchExpr = {
+		"ID": new RegExp( "^#(" + characterEncoding + ")" ),
+		"CLASS": new RegExp( "^\\.(" + characterEncoding + ")" ),
+		"NAME": new RegExp( "^\\[name=['\"]?(" + characterEncoding + ")['\"]?\\]" ),
+		"TAG": new RegExp( "^(" + characterEncoding.replace( "w", "w*" ) + ")" ),
+		"ATTR": new RegExp( "^" + attributes ),
+		"PSEUDO": new RegExp( "^" + pseudos ),
+		"POS": new RegExp( pos, "i" ),
+		"CHILD": new RegExp( "^:(only|nth|first|last)-child(?:\\(" + whitespace +
+			"*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + whitespace +
+			"*(\\d+)|))" + whitespace + "*\\)|)", "i" ),
+		// For use in libraries implementing .is()
+		"needsContext": new RegExp( "^" + whitespace + "*[>+~]|" + pos, "i" )
+	},
+
+	// Support
+
+	// Used for testing something on an element
+	assert = function( fn ) {
+		var div = document.createElement("div");
+
+		try {
+			return fn( div );
+		} catch (e) {
+			return false;
+		} finally {
+			// release memory in IE
+			div = null;
+		}
+	},
+
+	// Check if getElementsByTagName("*") returns only elements
+	assertTagNameNoComments = assert(function( div ) {
+		div.appendChild( document.createComment("") );
+		return !div.getElementsByTagName("*").length;
+	}),
+
+	// Check if getAttribute returns normalized href attributes
+	assertHrefNotNormalized = assert(function( div ) {
+		div.innerHTML = "<a href='#'></a>";
+		return div.firstChild && typeof div.firstChild.getAttribute !== strundefined &&
+			div.firstChild.getAttribute("href") === "#";
+	}),
+
+	// Check if attributes should be retrieved by attribute nodes
+	assertAttributes = assert(function( div ) {
+		div.innerHTML = "<select></select>";
+		var type = typeof div.lastChild.getAttribute("multiple");
+		// IE8 returns a string for some attributes even when not present
+		return type !== "boolean" && type !== "string";
+	}),
+
+	// Check if getElementsByClassName can be trusted
+	assertUsableClassName = assert(function( div ) {
+		// Opera can't find a second classname (in 9.6)
+		div.innerHTML = "<div class='hidden e'></div><div class='hidden'></div>";
+		if ( !div.getElementsByClassName || !div.getElementsByClassName("e").length ) {
+			return false;
+		}
+
+		// Safari 3.2 caches class attributes and doesn't catch changes
+		div.lastChild.className = "e";
+		return div.getElementsByClassName("e").length === 2;
+	}),
+
+	// Check if getElementById returns elements by name
+	// Check if getElementsByName privileges form controls or returns elements by ID
+	assertUsableName = assert(function( div ) {
+		// Inject content
+		div.id = expando + 0;
+		div.innerHTML = "<a name='" + expando + "'></a><div name='" + expando + "'></div>";
+		docElem.insertBefore( div, docElem.firstChild );
+
+		// Test
+		var pass = document.getElementsByName &&
+			// buggy browsers will return fewer than the correct 2
+			document.getElementsByName( expando ).length === 2 +
+			// buggy browsers will return more than the correct 0
+			document.getElementsByName( expando + 0 ).length;
+		assertGetIdNotName = !document.getElementById( expando );
+
+		// Cleanup
+		docElem.removeChild( div );
+
+		return pass;
+	});
+
+// If slice is not available, provide a backup
+try {
+	slice.call( docElem.childNodes, 0 )[0].nodeType;
+} catch ( e ) {
+	slice = function( i ) {
+		var elem,
+			results = [];
+		for ( ; (elem = this[i]); i++ ) {
+			results.push( elem );
+		}
+		return results;
+	};
+}
+
+function Sizzle( selector, context, results, seed ) {
+	results = results || [];
+	context = context || document;
+	var match, elem, xml, m,
+		nodeType = context.nodeType;
+
+	if ( !selector || typeof selector !== "string" ) {
+		return results;
+	}
+
+	if ( nodeType !== 1 && nodeType !== 9 ) {
+		return [];
+	}
+
+	xml = isXML( context );
+
+	if ( !xml && !seed ) {
+		if ( (match = rquickExpr.exec( selector )) ) {
+			// Speed-up: Sizzle("#ID")
+			if ( (m = match[1]) ) {
+				if ( nodeType === 9 ) {
+					elem = context.getElementById( m );
+					// Check parentNode to catch when Blackberry 4.6 returns
+					// nodes that are no longer in the document #6963
+					if ( elem && elem.parentNode ) {
+						// Handle the case where IE, Opera, and Webkit return items
+						// by name instead of ID
+						if ( elem.id === m ) {
+							results.push( elem );
+							return results;
+						}
+					} else {
+						return results;
+					}
+				} else {
+					// Context is not a document
+					if ( context.ownerDocument && (elem = context.ownerDocument.getElementById( m )) &&
+						contains( context, elem ) && elem.id === m ) {
+						results.push( elem );
+						return results;
+					}
+				}
+
+			// Speed-up: Sizzle("TAG")
+			} else if ( match[2] ) {
+				push.apply( results, slice.call(context.getElementsByTagName( selector ), 0) );
+				return results;
+
+			// Speed-up: Sizzle(".CLASS")
+			} else if ( (m = match[3]) && assertUsableClassName && context.getElementsByClassName ) {
+				push.apply( results, slice.call(context.getElementsByClassName( m ), 0) );
+				return results;
+			}
+		}
+	}
+
+	// All others
+	return select( selector.replace( rtrim, "$1" ), context, results, seed, xml );
+}
+
+Sizzle.matches = function( expr, elements ) {
+	return Sizzle( expr, null, null, elements );
+};
+
+Sizzle.matchesSelector = function( elem, expr ) {
+	return Sizzle( expr, null, null, [ elem ] ).length > 0;
+};
+
+// Returns a function to use in pseudos for input types
+function createInputPseudo( type ) {
+	return function( elem ) {
+		var name = elem.nodeName.toLowerCase();
+		return name === "input" && elem.type === type;
+	};
+}
+
+// Returns a function to use in pseudos for buttons
+function createButtonPseudo( type ) {
+	return function( elem ) {
+		var name = elem.nodeName.toLowerCase();
+		return (name === "input" || name === "button") && elem.type === type;
+	};
+}
+
+// Returns a function to use in pseudos for positionals
+function createPositionalPseudo( fn ) {
+	return markFunction(function( argument ) {
+		argument = +argument;
+		return markFunction(function( seed, matches ) {
+			var j,
+				matchIndexes = fn( [], seed.length, argument ),
+				i = matchIndexes.length;
+
+			// Match elements found at the specified indexes
+			while ( i-- ) {
+				if ( seed[ (j = matchIndexes[i]) ] ) {
+					seed[j] = !(matches[j] = seed[j]);
+				}
+			}
+		});
+	});
+}
+
+/**
+ * Utility function for retrieving the text value of an array of DOM nodes
+ * @param {Array|Element} elem
+ */
+getText = Sizzle.getText = function( elem ) {
+	var node,
+		ret = "",
+		i = 0,
+		nodeType = elem.nodeType;
+
+	if ( nodeType ) {
+		if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) {
+			// Use textContent for elements
+			// innerText usage removed for consistency of new lines (see #11153)
+			if ( typeof elem.textContent === "string" ) {
+				return elem.textContent;
+			} else {
+				// Traverse its children
+				for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) {
+					ret += getText( elem );
+				}
+			}
+		} else if ( nodeType === 3 || nodeType === 4 ) {
+			return elem.nodeValue;
+		}
+		// Do not include comment or processing instruction nodes
+	} else {
+
+		// If no nodeType, this is expected to be an array
+		for ( ; (node = elem[i]); i++ ) {
+			// Do not traverse comment nodes
+			ret += getText( node );
+		}
+	}
+	return ret;
+};
+
+isXML = Sizzle.isXML = function( elem ) {
+	// documentElement is verified for cases where it doesn't yet exist
+	// (such as loading iframes in IE - #4833)
+	var documentElement = elem && (elem.ownerDocument || elem).documentElement;
+	return documentElement ? documentElement.nodeName !== "HTML" : false;
+};
+
+// Element contains another
+contains = Sizzle.contains = docElem.contains ?
+	function( a, b ) {
+		var adown = a.nodeType === 9 ? a.documentElement : a,
+			bup = b && b.parentNode;
+		return a === bup || !!( bup && bup.nodeType === 1 && adown.contains && adown.contains(bup) );
+	} :
+	docElem.compareDocumentPosition ?
+	function( a, b ) {
+		return b && !!( a.compareDocumentPosition( b ) & 16 );
+	} :
+	function( a, b ) {
+		while ( (b = b.parentNode) ) {
+			if ( b === a ) {
+				return true;
+			}
+		}
+		return false;
+	};
+
+Sizzle.attr = function( elem, name ) {
+	var val,
+		xml = isXML( elem );
+
+	if ( !xml ) {
+		name = name.toLowerCase();
+	}
+	if ( (val = Expr.attrHandle[ name ]) ) {
+		return val( elem );
+	}
+	if ( xml || assertAttributes ) {
+		return elem.getAttribute( name );
+	}
+	val = elem.getAttributeNode( name );
+	return val ?
+		typeof elem[ name ] === "boolean" ?
+			elem[ name ] ? name : null :
+			val.specified ? val.value : null :
+		null;
+};
+
+Expr = Sizzle.selectors = {
+
+	// Can be adjusted by the user
+	cacheLength: 50,
+
+	createPseudo: markFunction,
+
+	match: matchExpr,
+
+	// IE6/7 return a modified href
+	attrHandle: assertHrefNotNormalized ?
+		{} :
+		{
+			"href": function( elem ) {
+				return elem.getAttribute( "href", 2 );
+			},
+			"type": function( elem ) {
+				return elem.getAttribute("type");
+			}
+		},
+
+	find: {
+		"ID": assertGetIdNotName ?
+			function( id, context, xml ) {
+				if ( typeof context.getElementById !== strundefined && !xml ) {
+					var m = context.getElementById( id );
+					// Check parentNode to catch when Blackberry 4.6 returns
+					// nodes that are no longer in the document #6963
+					return m && m.parentNode ? [m] : [];
+				}
+			} :
+			function( id, context, xml ) {
+				if ( typeof context.getElementById !== strundefined && !xml ) {
+					var m = context.getElementById( id );
+
+					return m ?
+						m.id === id || typeof m.getAttributeNode !== strundefined && m.getAttributeNode("id").value === id ?
+							[m] :
+							undefined :
+						[];
+				}
+			},
+
+		"TAG": assertTagNameNoComments ?
+			function( tag, context ) {
+				if ( typeof context.getElementsByTagName !== strundefined ) {
+					return context.getElementsByTagName( tag );
+				}
+			} :
+			function( tag, context ) {
+				var results = context.getElementsByTagName( tag );
+
+				// Filter out possible comments
+				if ( tag === "*" ) {
+					var elem,
+						tmp = [],
+						i = 0;
+
+					for ( ; (elem = results[i]); i++ ) {
+						if ( elem.nodeType === 1 ) {
+							tmp.push( elem );
+						}
+					}
+
+					return tmp;
+				}
+				return results;
+			},
+
+		"NAME": assertUsableName && function( tag, context ) {
+			if ( typeof context.getElementsByName !== strundefined ) {
+				return context.getElementsByName( name );
+			}
+		},
+
+		"CLASS": assertUsableClassName && function( className, context, xml ) {
+			if ( typeof context.getElementsByClassName !== strundefined && !xml ) {
+				return context.getElementsByClassName( className );
+			}
+		}
+	},
+
+	relative: {
+		">": { dir: "parentNode", first: true },
+		" ": { dir: "parentNode" },
+		"+": { dir: "previousSibling", first: true },
+		"~": { dir: "previousSibling" }
+	},
+
+	preFilter: {
+		"ATTR": function( match ) {
+			match[1] = match[1].replace( rbackslash, "" );
+
+			// Move the given value to match[3] whether quoted or unquoted
+			match[3] = ( match[4] || match[5] || "" ).replace( rbackslash, "" );
+
+			if ( match[2] === "~=" ) {
+				match[3] = " " + match[3] + " ";
+			}
+
+			return match.slice( 0, 4 );
+		},
+
+		"CHILD": function( match ) {
+			/* matches from matchExpr["CHILD"]
+				1 type (only|nth|...)
+				2 argument (even|odd|\d*|\d*n([+-]\d+)?|...)
+				3 xn-component of xn+y argument ([+-]?\d*n|)
+				4 sign of xn-component
+				5 x of xn-component
+				6 sign of y-component
+				7 y of y-component
+			*/
+			match[1] = match[1].toLowerCase();
+
+			if ( match[1] === "nth" ) {
+				// nth-child requires argument
+				if ( !match[2] ) {
+					Sizzle.error( match[0] );
+				}
+
+				// numeric x and y parameters for Expr.filter.CHILD
+				// remember that false/true cast respectively to 0/1
+				match[3] = +( match[3] ? match[4] + (match[5] || 1) : 2 * ( match[2] === "even" || match[2] === "odd" ) );
+				match[4] = +( ( match[6] + match[7] ) || match[2] === "odd" );
+
+			// other types prohibit arguments
+			} else if ( match[2] ) {
+				Sizzle.error( match[0] );
+			}
+
+			return match;
+		},
+
+		"PSEUDO": function( match ) {
+			var unquoted, excess;
+			if ( matchExpr["CHILD"].test( match[0] ) ) {
+				return null;
+			}
+
+			if ( match[3] ) {
+				match[2] = match[3];
+			} else if ( (unquoted = match[4]) ) {
+				// Only check arguments that contain a pseudo
+				if ( rpseudo.test(unquoted) &&
+					// Get excess from tokenize (recursively)
+					(excess = tokenize( unquoted, true )) &&
+					// advance to the next closing parenthesis
+					(excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length) ) {
+
+					// excess is a negative index
+					unquoted = unquoted.slice( 0, excess );
+					match[0] = match[0].slice( 0, excess );
+				}
+				match[2] = unquoted;
+			}
+
+			// Return only captures needed by the pseudo filter method (type and argument)
+			return match.slice( 0, 3 );
+		}
+	},
+
+	filter: {
+		"ID": assertGetIdNotName ?
+			function( id ) {
+				id = id.replace( rbackslash, "" );
+				return function( elem ) {
+					return elem.getAttribute("id") === id;
+				};
+			} :
+			function( id ) {
+				id = id.replace( rbackslash, "" );
+				return function( elem ) {
+					var node = typeof elem.getAttributeNode !== strundefined && elem.getAttributeNode("id");
+					return node && node.value === id;
+				};
+			},
+
+		"TAG": function( nodeName ) {
+			if ( nodeName === "*" ) {
+				return function() { return true; };
+			}
+			nodeName = nodeName.replace( rbackslash, "" ).toLowerCase();
+
+			return function( elem ) {
+				return elem.nodeName && elem.nodeName.toLowerCase() === nodeName;
+			};
+		},
+
+		"CLASS": function( className ) {
+			var pattern = classCache[ expando ][ className + " " ];
+
+			return pattern ||
+				(pattern = new RegExp( "(^|" + whitespace + ")" + className + "(" + whitespace + "|$)" )) &&
+				classCache( className, function( elem ) {
+					return pattern.test( elem.className || (typeof elem.getAttribute !== strundefined && elem.getAttribute("class")) || "" );
+				});
+		},
+
+		"ATTR": function( name, operator, check ) {
+			return function( elem, context ) {
+				var result = Sizzle.attr( elem, name );
+
+				if ( result == null ) {
+					return operator === "!=";
+				}
+				if ( !operator ) {
+					return true;
+				}
+
+				result += "";
+
+				return operator === "=" ? result === check :
+					operator === "!=" ? result !== check :
+					operator === "^=" ? check && result.indexOf( check ) === 0 :
+					operator === "*=" ? check && result.indexOf( check ) > -1 :
+					operator === "$=" ? check && result.substr( result.length - check.length ) === check :
+					operator === "~=" ? ( " " + result + " " ).indexOf( check ) > -1 :
+					operator === "|=" ? result === check || result.substr( 0, check.length + 1 ) === check + "-" :
+					false;
+			};
+		},
+
+		"CHILD": function( type, argument, first, last ) {
+
+			if ( type === "nth" ) {
+				return function( elem ) {
+					var node, diff,
+						parent = elem.parentNode;
+
+					if ( first === 1 && last === 0 ) {
+						return true;
+					}
+
+					if ( parent ) {
+						diff = 0;
+						for ( node = parent.firstChild; node; node = node.nextSibling ) {
+							if ( node.nodeType === 1 ) {
+								diff++;
+								if ( elem === node ) {
+									break;
+								}
+							}
+						}
+					}
+
+					// Incorporate the offset (or cast to NaN), then check against cycle size
+					diff -= last;
+					return diff === first || ( diff % first === 0 && diff / first >= 0 );
+				};
+			}
+
+			return function( elem ) {
+				var node = elem;
+
+				switch ( type ) {
+					case "only":
+					case "first":
+						while ( (node = node.previousSibling) ) {
+							if ( node.nodeType === 1 ) {
+								return false;
+							}
+						}
+
+						if ( type === "first" ) {
+							return true;
+						}
+
+						node = elem;
+
+						/* falls through */
+					case "last":
+						while ( (node = node.nextSibling) ) {
+							if ( node.nodeType === 1 ) {
+								return false;
+							}
+						}
+
+						return true;
+				}
+			};
+		},
+
+		"PSEUDO": function( pseudo, argument ) {
+			// pseudo-class names are case-insensitive
+			// http://www.w3.org/TR/selectors/#pseudo-classes
+			// Prioritize by case sensitivity in case custom pseudos are added with uppercase letters
+			// Remember that setFilters inherits from pseudos
+			var args,
+				fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] ||
+					Sizzle.error( "unsupported pseudo: " + pseudo );
+
+			// The user may use createPseudo to indicate that
+			// arguments are needed to create the filter function
+			// just as Sizzle does
+			if ( fn[ expando ] ) {
+				return fn( argument );
+			}
+
+			// But maintain support for old signatures
+			if ( fn.length > 1 ) {
+				args = [ pseudo, pseudo, "", argument ];
+				return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ?
+					markFunction(function( seed, matches ) {
+						var idx,
+							matched = fn( seed, argument ),
+							i = matched.length;
+						while ( i-- ) {
+							idx = indexOf.call( seed, matched[i] );
+							seed[ idx ] = !( matches[ idx ] = matched[i] );
+						}
+					}) :
+					function( elem ) {
+						return fn( elem, 0, args );
+					};
+			}
+
+			return fn;
+		}
+	},
+
+	pseudos: {
+		"not": markFunction(function( selector ) {
+			// Trim the selector passed to compile
+			// to avoid treating leading and trailing
+			// spaces as combinators
+			var input = [],
+				results = [],
+				matcher = compile( selector.replace( rtrim, "$1" ) );
+
+			return matcher[ expando ] ?
+				markFunction(function( seed, matches, context, xml ) {
+					var elem,
+						unmatched = matcher( seed, null, xml, [] ),
+						i = seed.length;
+
+					// Match elements unmatched by `matcher`
+					while ( i-- ) {
+						if ( (elem = unmatched[i]) ) {
+							seed[i] = !(matches[i] = elem);
+						}
+					}
+				}) :
+				function( elem, context, xml ) {
+					input[0] = elem;
+					matcher( input, null, xml, results );
+					return !results.pop();
+				};
+		}),
+
+		"has": markFunction(function( selector ) {
+			return function( elem ) {
+				return Sizzle( selector, elem ).length > 0;
+			};
+		}),
+
+		"contains": markFunction(function( text ) {
+			return function( elem ) {
+				return ( elem.textContent || elem.innerText || getText( elem ) ).indexOf( text ) > -1;
+			};
+		}),
+
+		"enabled": function( elem ) {
+			return elem.disabled === false;
+		},
+
+		"disabled": function( elem ) {
+			return elem.disabled === true;
+		},
+
+		"checked": function( elem ) {
+			// In CSS3, :checked should return both checked and selected elements
+			// http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked
+			var nodeName = elem.nodeName.toLowerCase();
+			return (nodeName === "input" && !!elem.checked) || (nodeName === "option" && !!elem.selected);
+		},
+
+		"selected": function( elem ) {
+			// Accessing this property makes selected-by-default
+			// options in Safari work properly
+			if ( elem.parentNode ) {
+				elem.parentNode.selectedIndex;
+			}
+
+			return elem.selected === true;
+		},
+
+		"parent": function( elem ) {
+			return !Expr.pseudos["empty"]( elem );
+		},
+
+		"empty": function( elem ) {
+			// http://www.w3.org/TR/selectors/#empty-pseudo
+			// :empty is only affected by element nodes and content nodes(including text(3), cdata(4)),
+			//   not comment, processing instructions, or others
+			// Thanks to Diego Perini for the nodeName shortcut
+			//   Greater than "@" means alpha characters (specifically not starting with "#" or "?")
+			var nodeType;
+			elem = elem.firstChild;
+			while ( elem ) {
+				if ( elem.nodeName > "@" || (nodeType = elem.nodeType) === 3 || nodeType === 4 ) {
+					return false;
+				}
+				elem = elem.nextSibling;
+			}
+			return true;
+		},
+
+		"header": function( elem ) {
+			return rheader.test( elem.nodeName );
+		},
+
+		"text": function( elem ) {
+			var type, attr;
+			// IE6 and 7 will map elem.type to 'text' for new HTML5 types (search, etc)
+			// use getAttribute instead to test this case
+			return elem.nodeName.toLowerCase() === "input" &&
+				(type = elem.type) === "text" &&
+				( (attr = elem.getAttribute("type")) == null || attr.toLowerCase() === type );
+		},
+
+		// Input types
+		"radio": createInputPseudo("radio"),
+		"checkbox": createInputPseudo("checkbox"),
+		"file": createInputPseudo("file"),
+		"password": createInputPseudo("password"),
+		"image": createInputPseudo("image"),
+
+		"submit": createButtonPseudo("submit"),
+		"reset": createButtonPseudo("reset"),
+
+		"button": function( elem ) {
+			var name = elem.nodeName.toLowerCase();
+			return name === "input" && elem.type === "button" || name === "button";
+		},
+
+		"input": function( elem ) {
+			return rinputs.test( elem.nodeName );
+		},
+
+		"focus": function( elem ) {
+			var doc = elem.ownerDocument;
+			return elem === doc.activeElement && (!doc.hasFocus || doc.hasFocus()) && !!(elem.type || elem.href || ~elem.tabIndex);
+		},
+
+		"active": function( elem ) {
+			return elem === elem.ownerDocument.activeElement;
+		},
+
+		// Positional types
+		"first": createPositionalPseudo(function() {
+			return [ 0 ];
+		}),
+
+		"last": createPositionalPseudo(function( matchIndexes, length ) {
+			return [ length - 1 ];
+		}),
+
+		"eq": createPositionalPseudo(function( matchIndexes, length, argument ) {
+			return [ argument < 0 ? argument + length : argument ];
+		}),
+
+		"even": createPositionalPseudo(function( matchIndexes, length ) {
+			for ( var i = 0; i < length; i += 2 ) {
+				matchIndexes.push( i );
+			}
+			return matchIndexes;
+		}),
+
+		"odd": createPositionalPseudo(function( matchIndexes, length ) {
+			for ( var i = 1; i < length; i += 2 ) {
+				matchIndexes.push( i );
+			}
+			return matchIndexes;
+		}),
+
+		"lt": createPositionalPseudo(function( matchIndexes, length, argument ) {
+			for ( var i = argument < 0 ? argument + length : argument; --i >= 0; ) {
+				matchIndexes.push( i );
+			}
+			return matchIndexes;
+		}),
+
+		"gt": createPositionalPseudo(function( matchIndexes, length, argument ) {
+			for ( var i = argument < 0 ? argument + length : argument; ++i < length; ) {
+				matchIndexes.push( i );
+			}
+			return matchIndexes;
+		})
+	}
+};
+
+function siblingCheck( a, b, ret ) {
+	if ( a === b ) {
+		return ret;
+	}
+
+	var cur = a.nextSibling;
+
+	while ( cur ) {
+		if ( cur === b ) {
+			return -1;
+		}
+
+		cur = cur.nextSibling;
+	}
+
+	return 1;
+}
+
+sortOrder = docElem.compareDocumentPosition ?
+	function( a, b ) {
+		if ( a === b ) {
+			hasDuplicate = true;
+			return 0;
+		}
+
+		return ( !a.compareDocumentPosition || !b.compareDocumentPosition ?
+			a.compareDocumentPosition :
+			a.compareDocumentPosition(b) & 4
+		) ? -1 : 1;
+	} :
+	function( a, b ) {
+		// The nodes are identical, we can exit early
+		if ( a === b ) {
+			hasDuplicate = true;
+			return 0;
+
+		// Fallback to using sourceIndex (in IE) if it's available on both nodes
+		} else if ( a.sourceIndex && b.sourceIndex ) {
+			return a.sourceIndex - b.sourceIndex;
+		}
+
+		var al, bl,
+			ap = [],
+			bp = [],
+			aup = a.parentNode,
+			bup = b.parentNode,
+			cur = aup;
+
+		// If the nodes are siblings (or identical) we can do a quick check
+		if ( aup === bup ) {
+			return siblingCheck( a, b );
+
+		// If no parents were found then the nodes are disconnected
+		} else if ( !aup ) {
+			return -1;
+
+		} else if ( !bup ) {
+			return 1;
+		}
+
+		// Otherwise they're somewhere else in the tree so we need
+		// to build up a full list of the parentNodes for comparison
+		while ( cur ) {
+			ap.unshift( cur );
+			cur = cur.parentNode;
+		}
+
+		cur = bup;
+
+		while ( cur ) {
+			bp.unshift( cur );
+			cur = cur.parentNode;
+		}
+
+		al = ap.length;
+		bl = bp.length;
+
+		// Start walking down the tree looking for a discrepancy
+		for ( var i = 0; i < al && i < bl; i++ ) {
+			if ( ap[i] !== bp[i] ) {
+				return siblingCheck( ap[i], bp[i] );
+			}
+		}
+
+		// We ended someplace up the tree so do a sibling check
+		return i === al ?
+			siblingCheck( a, bp[i], -1 ) :
+			siblingCheck( ap[i], b, 1 );
+	};
+
+// Always assume the presence of duplicates if sort doesn't
+// pass them to our comparison function (as in Google Chrome).
+[0, 0].sort( sortOrder );
+baseHasDuplicate = !hasDuplicate;
+
+// Document sorting and removing duplicates
+Sizzle.uniqueSort = function( results ) {
+	var elem,
+		duplicates = [],
+		i = 1,
+		j = 0;
+
+	hasDuplicate = baseHasDuplicate;
+	results.sort( sortOrder );
+
+	if ( hasDuplicate ) {
+		for ( ; (elem = results[i]); i++ ) {
+			if ( elem === results[ i - 1 ] ) {
+				j = duplicates.push( i );
+			}
+		}
+		while ( j-- ) {
+			results.splice( duplicates[ j ], 1 );
+		}
+	}
+
+	return results;
+};
+
+Sizzle.error = function( msg ) {
+	throw new Error( "Syntax error, unrecognized expression: " + msg );
+};
+
+function tokenize( selector, parseOnly ) {
+	var matched, match, tokens, type,
+		soFar, groups, preFilters,
+		cached = tokenCache[ expando ][ selector + " " ];
+
+	if ( cached ) {
+		return parseOnly ? 0 : cached.slice( 0 );
+	}
+
+	soFar = selector;
+	groups = [];
+	preFilters = Expr.preFilter;
+
+	while ( soFar ) {
+
+		// Comma and first run
+		if ( !matched || (match = rcomma.exec( soFar )) ) {
+			if ( match ) {
+				// Don't consume trailing commas as valid
+				soFar = soFar.slice( match[0].length ) || soFar;
+			}
+			groups.push( tokens = [] );
+		}
+
+		matched = false;
+
+		// Combinators
+		if ( (match = rcombinators.exec( soFar )) ) {
+			tokens.push( matched = new Token( match.shift() ) );
+			soFar = soFar.slice( matched.length );
+
+			// Cast descendant combinators to space
+			matched.type = match[0].replace( rtrim, " " );
+		}
+
+		// Filters
+		for ( type in Expr.filter ) {
+			if ( (match = matchExpr[ type ].exec( soFar )) && (!preFilters[ type ] ||
+				(match = preFilters[ type ]( match ))) ) {
+
+				tokens.push( matched = new Token( match.shift() ) );
+				soFar = soFar.slice( matched.length );
+				matched.type = type;
+				matched.matches = match;
+			}
+		}
+
+		if ( !matched ) {
+			break;
+		}
+	}
+
+	// Return the length of the invalid excess
+	// if we're just parsing
+	// Otherwise, throw an error or return tokens
+	return parseOnly ?
+		soFar.length :
+		soFar ?
+			Sizzle.error( selector ) :
+			// Cache the tokens
+			tokenCache( selector, groups ).slice( 0 );
+}
+
+function addCombinator( matcher, combinator, base ) {
+	var dir = combinator.dir,
+		checkNonElements = base && combinator.dir === "parentNode",
+		doneName = done++;
+
+	return combinator.first ?
+		// Check against closest ancestor/preceding element
+		function( elem, context, xml ) {
+			while ( (elem = elem[ dir ]) ) {
+				if ( checkNonElements || elem.nodeType === 1  ) {
+					return matcher( elem, context, xml );
+				}
+			}
+		} :
+
+		// Check against all ancestor/preceding elements
+		function( elem, context, xml ) {
+			// We can't set arbitrary data on XML nodes, so they don't benefit from dir caching
+			if ( !xml ) {
+				var cache,
+					dirkey = dirruns + " " + doneName + " ",
+					cachedkey = dirkey + cachedruns;
+				while ( (elem = elem[ dir ]) ) {
+					if ( checkNonElements || elem.nodeType === 1 ) {
+						if ( (cache = elem[ expando ]) === cachedkey ) {
+							return elem.sizset;
+						} else if ( typeof cache === "string" && cache.indexOf(dirkey) === 0 ) {
+							if ( elem.sizset ) {
+								return elem;
+							}
+						} else {
+							elem[ expando ] = cachedkey;
+							if ( matcher( elem, context, xml ) ) {
+								elem.sizset = true;
+								return elem;
+							}
+							elem.sizset = false;
+						}
+					}
+				}
+			} else {
+				while ( (elem = elem[ dir ]) ) {
+					if ( checkNonElements || elem.nodeType === 1 ) {
+						if ( matcher( elem, context, xml ) ) {
+							return elem;
+						}
+					}
+				}
+			}
+		};
+}
+
+function elementMatcher( matchers ) {
+	return matchers.length > 1 ?
+		function( elem, context, xml ) {
+			var i = matchers.length;
+			while ( i-- ) {
+				if ( !matchers[i]( elem, context, xml ) ) {
+					return false;
+				}
+			}
+			return true;
+		} :
+		matchers[0];
+}
+
+function condense( unmatched, map, filter, context, xml ) {
+	var elem,
+		newUnmatched = [],
+		i = 0,
+		len = unmatched.length,
+		mapped = map != null;
+
+	for ( ; i < len; i++ ) {
+		if ( (elem = unmatched[i]) ) {
+			if ( !filter || filter( elem, context, xml ) ) {
+				newUnmatched.push( elem );
+				if ( mapped ) {
+					map.push( i );
+				}
+			}
+		}
+	}
+
+	return newUnmatched;
+}
+
+function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) {
+	if ( postFilter && !postFilter[ expando ] ) {
+		postFilter = setMatcher( postFilter );
+	}
+	if ( postFinder && !postFinder[ expando ] ) {
+		postFinder = setMatcher( postFinder, postSelector );
+	}
+	return markFunction(function( seed, results, context, xml ) {
+		var temp, i, elem,
+			preMap = [],
+			postMap = [],
+			preexisting = results.length,
+
+			// Get initial elements from seed or context
+			elems = seed || multipleContexts( selector || "*", context.nodeType ? [ context ] : context, [] ),
+
+			// Prefilter to get matcher input, preserving a map for seed-results synchronization
+			matcherIn = preFilter && ( seed || !selector ) ?
+				condense( elems, preMap, preFilter, context, xml ) :
+				elems,
+
+			matcherOut = matcher ?
+				// If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results,
+				postFinder || ( seed ? preFilter : preexisting || postFilter ) ?
+
+					// ...intermediate processing is necessary
+					[] :
+
+					// ...otherwise use results directly
+					results :
+				matcherIn;
+
+		// Find primary matches
+		if ( matcher ) {
+			matcher( matcherIn, matcherOut, context, xml );
+		}
+
+		// Apply postFilter
+		if ( postFilter ) {
+			temp = condense( matcherOut, postMap );
+			postFilter( temp, [], context, xml );
+
+			// Un-match failing elements by moving them back to matcherIn
+			i = temp.length;
+			while ( i-- ) {
+				if ( (elem = temp[i]) ) {
+					matcherOut[ postMap[i] ] = !(matcherIn[ postMap[i] ] = elem);
+				}
+			}
+		}
+
+		if ( seed ) {
+			if ( postFinder || preFilter ) {
+				if ( postFinder ) {
+					// Get the final matcherOut by condensing this intermediate into postFinder contexts
+					temp = [];
+					i = matcherOut.length;
+					while ( i-- ) {
+						if ( (elem = matcherOut[i]) ) {
+							// Restore matcherIn since elem is not yet a final match
+							temp.push( (matcherIn[i] = elem) );
+						}
+					}
+					postFinder( null, (matcherOut = []), temp, xml );
+				}
+
+				// Move matched elements from seed to results to keep them synchronized
+				i = matcherOut.length;
+				while ( i-- ) {
+					if ( (elem = matcherOut[i]) &&
+						(temp = postFinder ? indexOf.call( seed, elem ) : preMap[i]) > -1 ) {
+
+						seed[temp] = !(results[temp] = elem);
+					}
+				}
+			}
+
+		// Add elements to results, through postFinder if defined
+		} else {
+			matcherOut = condense(
+				matcherOut === results ?
+					matcherOut.splice( preexisting, matcherOut.length ) :
+					matcherOut
+			);
+			if ( postFinder ) {
+				postFinder( null, results, matcherOut, xml );
+			} else {
+				push.apply( results, matcherOut );
+			}
+		}
+	});
+}
+
+function matcherFromTokens( tokens ) {
+	var checkContext, matcher, j,
+		len = tokens.length,
+		leadingRelative = Expr.relative[ tokens[0].type ],
+		implicitRelative = leadingRelative || Expr.relative[" "],
+		i = leadingRelative ? 1 : 0,
+
+		// The foundational matcher ensures that elements are reachable from top-level context(s)
+		matchContext = addCombinator( function( elem ) {
+			return elem === checkContext;
+		}, implicitRelative, true ),
+		matchAnyContext = addCombinator( function( elem ) {
+			return indexOf.call( checkContext, elem ) > -1;
+		}, implicitRelative, true ),
+		matchers = [ function( elem, context, xml ) {
+			return ( !leadingRelative && ( xml || context !== outermostContext ) ) || (
+				(checkContext = context).nodeType ?
+					matchContext( elem, context, xml ) :
+					matchAnyContext( elem, context, xml ) );
+		} ];
+
+	for ( ; i < len; i++ ) {
+		if ( (matcher = Expr.relative[ tokens[i].type ]) ) {
+			matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ];
+		} else {
+			matcher = Expr.filter[ tokens[i].type ].apply( null, tokens[i].matches );
+
+			// Return special upon seeing a positional matcher
+			if ( matcher[ expando ] ) {
+				// Find the next relative operator (if any) for proper handling
+				j = ++i;
+				for ( ; j < len; j++ ) {
+					if ( Expr.relative[ tokens[j].type ] ) {
+						break;
+					}
+				}
+				return setMatcher(
+					i > 1 && elementMatcher( matchers ),
+					i > 1 && tokens.slice( 0, i - 1 ).join("").replace( rtrim, "$1" ),
+					matcher,
+					i < j && matcherFromTokens( tokens.slice( i, j ) ),
+					j < len && matcherFromTokens( (tokens = tokens.slice( j )) ),
+					j < len && tokens.join("")
+				);
+			}
+			matchers.push( matcher );
+		}
+	}
+
+	return elementMatcher( matchers );
+}
+
+function matcherFromGroupMatchers( elementMatchers, setMatchers ) {
+	var bySet = setMatchers.length > 0,
+		byElement = elementMatchers.length > 0,
+		superMatcher = function( seed, context, xml, results, expandContext ) {
+			var elem, j, matcher,
+				setMatched = [],
+				matchedCount = 0,
+				i = "0",
+				unmatched = seed && [],
+				outermost = expandContext != null,
+				contextBackup = outermostContext,
+				// We must always have either seed elements or context
+				elems = seed || byElement && Expr.find["TAG"]( "*", expandContext && context.parentNode || context ),
+				// Nested matchers should use non-integer dirruns
+				dirrunsUnique = (dirruns += contextBackup == null ? 1 : Math.E);
+
+			if ( outermost ) {
+				outermostContext = context !== document && context;
+				cachedruns = superMatcher.el;
+			}
+
+			// Add elements passing elementMatchers directly to results
+			for ( ; (elem = elems[i]) != null; i++ ) {
+				if ( byElement && elem ) {
+					for ( j = 0; (matcher = elementMatchers[j]); j++ ) {
+						if ( matcher( elem, context, xml ) ) {
+							results.push( elem );
+							break;
+						}
+					}
+					if ( outermost ) {
+						dirruns = dirrunsUnique;
+						cachedruns = ++superMatcher.el;
+					}
+				}
+
+				// Track unmatched elements for set filters
+				if ( bySet ) {
+					// They will have gone through all possible matchers
+					if ( (elem = !matcher && elem) ) {
+						matchedCount--;
+					}
+
+					// Lengthen the array for every element, matched or not
+					if ( seed ) {
+						unmatched.push( elem );
+					}
+				}
+			}
+
+			// Apply set filters to unmatched elements
+			matchedCount += i;
+			if ( bySet && i !== matchedCount ) {
+				for ( j = 0; (matcher = setMatchers[j]); j++ ) {
+					matcher( unmatched, setMatched, context, xml );
+				}
+
+				if ( seed ) {
+					// Reintegrate element matches to eliminate the need for sorting
+					if ( matchedCount > 0 ) {
+						while ( i-- ) {
+							if ( !(unmatched[i] || setMatched[i]) ) {
+								setMatched[i] = pop.call( results );
+							}
+						}
+					}
+
+					// Discard index placeholder values to get only actual matches
+					setMatched = condense( setMatched );
+				}
+
+				// Add matches to results
+				push.apply( results, setMatched );
+
+				// Seedless set matches succeeding multiple successful matchers stipulate sorting
+				if ( outermost && !seed && setMatched.length > 0 &&
+					( matchedCount + setMatchers.length ) > 1 ) {
+
+					Sizzle.uniqueSort( results );
+				}
+			}
+
+			// Override manipulation of globals by nested matchers
+			if ( outermost ) {
+				dirruns = dirrunsUnique;
+				outermostContext = contextBackup;
+			}
+
+			return unmatched;
+		};
+
+	superMatcher.el = 0;
+	return bySet ?
+		markFunction( superMatcher ) :
+		superMatcher;
+}
+
+compile = Sizzle.compile = function( selector, group /* Internal Use Only */ ) {
+	var i,
+		setMatchers = [],
+		elementMatchers = [],
+		cached = compilerCache[ expando ][ selector + " " ];
+
+	if ( !cached ) {
+		// Generate a function of recursive functions that can be used to check each element
+		if ( !group ) {
+			group = tokenize( selector );
+		}
+		i = group.length;
+		while ( i-- ) {
+			cached = matcherFromTokens( group[i] );
+			if ( cached[ expando ] ) {
+				setMatchers.push( cached );
+			} else {
+				elementMatchers.push( cached );
+			}
+		}
+
+		// Cache the compiled function
+		cached = compilerCache( selector, matcherFromGroupMatchers( elementMatchers, setMatchers ) );
+	}
+	return cached;
+};
+
+function multipleContexts( selector, contexts, results ) {
+	var i = 0,
+		len = contexts.length;
+	for ( ; i < len; i++ ) {
+		Sizzle( selector, contexts[i], results );
+	}
+	return results;
+}
+
+function select( selector, context, results, seed, xml ) {
+	var i, tokens, token, type, find,
+		match = tokenize( selector ),
+		j = match.length;
+
+	if ( !seed ) {
+		// Try to minimize operations if there is only one group
+		if ( match.length === 1 ) {
+
+			// Take a shortcut and set the context if the root selector is an ID
+			tokens = match[0] = match[0].slice( 0 );
+			if ( tokens.length > 2 && (token = tokens[0]).type === "ID" &&
+					context.nodeType === 9 && !xml &&
+					Expr.relative[ tokens[1].type ] ) {
+
+				context = Expr.find["ID"]( token.matches[0].replace( rbackslash, "" ), context, xml )[0];
+				if ( !context ) {
+					return results;
+				}
+
+				selector = selector.slice( tokens.shift().length );
+			}
+
+			// Fetch a seed set for right-to-left matching
+			for ( i = matchExpr["POS"].test( selector ) ? -1 : tokens.length - 1; i >= 0; i-- ) {
+				token = tokens[i];
+
+				// Abort if we hit a combinator
+				if ( Expr.relative[ (type = token.type) ] ) {
+					break;
+				}
+				if ( (find = Expr.find[ type ]) ) {
+					// Search, expanding context for leading sibling combinators
+					if ( (seed = find(
+						token.matches[0].replace( rbackslash, "" ),
+						rsibling.test( tokens[0].type ) && context.parentNode || context,
+						xml
+					)) ) {
+
+						// If seed is empty or no tokens remain, we can return early
+						tokens.splice( i, 1 );
+						selector = seed.length && tokens.join("");
+						if ( !selector ) {
+							push.apply( results, slice.call( seed, 0 ) );
+							return results;
+						}
+
+						break;
+					}
+				}
+			}
+		}
+	}
+
+	// Compile and execute a filtering function
+	// Provide `match` to avoid retokenization if we modified the selector above
+	compile( selector, match )(
+		seed,
+		context,
+		xml,
+		results,
+		rsibling.test( selector )
+	);
+	return results;
+}
+
+if ( document.querySelectorAll ) {
+	(function() {
+		var disconnectedMatch,
+			oldSelect = select,
+			rescape = /'|\\/g,
+			rattributeQuotes = /\=[\x20\t\r\n\f]*([^'"\]]*)[\x20\t\r\n\f]*\]/g,
+
+			// qSa(:focus) reports false when true (Chrome 21), no need to also add to buggyMatches since matches checks buggyQSA
+			// A support test would require too much code (would include document ready)
+			rbuggyQSA = [ ":focus" ],
+
+			// matchesSelector(:active) reports false when true (IE9/Opera 11.5)
+			// A support test would require too much code (would include document ready)
+			// just skip matchesSelector for :active
+			rbuggyMatches = [ ":active" ],
+			matches = docElem.matchesSelector ||
+				docElem.mozMatchesSelector ||
+				docElem.webkitMatchesSelector ||
+				docElem.oMatchesSelector ||
+				docElem.msMatchesSelector;
+
+		// Build QSA regex
+		// Regex strategy adopted from Diego Perini
+		assert(function( div ) {
+			// Select is set to empty string on purpose
+			// This is to test IE's treatment of not explictly
+			// setting a boolean content attribute,
+			// since its presence should be enough
+			// http://bugs.jquery.com/ticket/12359
+			div.innerHTML = "<select><option selected=''></option></select>";
+
+			// IE8 - Some boolean attributes are not treated correctly
+			if ( !div.querySelectorAll("[selected]").length ) {
+				rbuggyQSA.push( "\\[" + whitespace + "*(?:checked|disabled|ismap|multiple|readonly|selected|value)" );
+			}
+
+			// Webkit/Opera - :checked should return selected option elements
+			// http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked
+			// IE8 throws error here (do not put tests after this one)
+			if ( !div.querySelectorAll(":checked").length ) {
+				rbuggyQSA.push(":checked");
+			}
+		});
+
+		assert(function( div ) {
+
+			// Opera 10-12/IE9 - ^= $= *= and empty values
+			// Should not select anything
+			div.innerHTML = "<p test=''></p>";
+			if ( div.querySelectorAll("[test^='']").length ) {
+				rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:\"\"|'')" );
+			}
+
+			// FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled)
+			// IE8 throws error here (do not put tests after this one)
+			div.innerHTML = "<input type='hidden'/>";
+			if ( !div.querySelectorAll(":enabled").length ) {
+				rbuggyQSA.push(":enabled", ":disabled");
+			}
+		});
+
+		// rbuggyQSA always contains :focus, so no need for a length check
+		rbuggyQSA = /* rbuggyQSA.length && */ new RegExp( rbuggyQSA.join("|") );
+
+		select = function( selector, context, results, seed, xml ) {
+			// Only use querySelectorAll when not filtering,
+			// when this is not xml,
+			// and when no QSA bugs apply
+			if ( !seed && !xml && !rbuggyQSA.test( selector ) ) {
+				var groups, i,
+					old = true,
+					nid = expando,
+					newContext = context,
+					newSelector = context.nodeType === 9 && selector;
+
+				// qSA works strangely on Element-rooted queries
+				// We can work around this by specifying an extra ID on the root
+				// and working up from there (Thanks to Andrew Dupont for the technique)
+				// IE 8 doesn't work on object elements
+				if ( context.nodeType === 1 && context.nodeName.toLowerCase() !== "object" ) {
+					groups = tokenize( selector );
+
+					if ( (old = context.getAttribute("id")) ) {
+						nid = old.replace( rescape, "\\$&" );
+					} else {
+						context.setAttribute( "id", nid );
+					}
+					nid = "[id='" + nid + "'] ";
+
+					i = groups.length;
+					while ( i-- ) {
+						groups[i] = nid + groups[i].join("");
+					}
+					newContext = rsibling.test( selector ) && context.parentNode || context;
+					newSelector = groups.join(",");
+				}
+
+				if ( newSelector ) {
+					try {
+						push.apply( results, slice.call( newContext.querySelectorAll(
+							newSelector
+						), 0 ) );
+						return results;
+					} catch(qsaError) {
+					} finally {
+						if ( !old ) {
+							context.removeAttribute("id");
+						}
+					}
+				}
+			}
+
+			return oldSelect( selector, context, results, seed, xml );
+		};
+
+		if ( matches ) {
+			assert(function( div ) {
+				// Check to see if it's possible to do matchesSelector
+				// on a disconnected node (IE 9)
+				disconnectedMatch = matches.call( div, "div" );
+
+				// This should fail with an exception
+				// Gecko does not error, returns false instead
+				try {
+					matches.call( div, "[test!='']:sizzle" );
+					rbuggyMatches.push( "!=", pseudos );
+				} catch ( e ) {}
+			});
+
+			// rbuggyMatches always contains :active and :focus, so no need for a length check
+			rbuggyMatches = /* rbuggyMatches.length && */ new RegExp( rbuggyMatches.join("|") );
+
+			Sizzle.matchesSelector = function( elem, expr ) {
+				// Make sure that attribute selectors are quoted
+				expr = expr.replace( rattributeQuotes, "='$1']" );
+
+				// rbuggyMatches always contains :active, so no need for an existence check
+				if ( !isXML( elem ) && !rbuggyMatches.test( expr ) && !rbuggyQSA.test( expr ) ) {
+					try {
+						var ret = matches.call( elem, expr );
+
+						// IE 9's matchesSelector returns false on disconnected nodes
+						if ( ret || disconnectedMatch ||
+								// As well, disconnected nodes are said to be in a document
+								// fragment in IE 9
+								elem.document && elem.document.nodeType !== 11 ) {
+							return ret;
+						}
+					} catch(e) {}
+				}
+
+				return Sizzle( expr, null, null, [ elem ] ).length > 0;
+			};
+		}
+	})();
+}
+
+// Deprecated
+Expr.pseudos["nth"] = Expr.pseudos["eq"];
+
+// Back-compat
+function setFilters() {}
+Expr.filters = setFilters.prototype = Expr.pseudos;
+Expr.setFilters = new setFilters();
+
+// Override sizzle attribute retrieval
+Sizzle.attr = jQuery.attr;
+jQuery.find = Sizzle;
+jQuery.expr = Sizzle.selectors;
+jQuery.expr[":"] = jQuery.expr.pseudos;
+jQuery.unique = Sizzle.uniqueSort;
+jQuery.text = Sizzle.getText;
+jQuery.isXMLDoc = Sizzle.isXML;
+jQuery.contains = Sizzle.contains;
+
+
+})( window );
+var runtil = /Until$/,
+	rparentsprev = /^(?:parents|prev(?:Until|All))/,
+	isSimple = /^.[^:#\[\.,]*$/,
+	rneedsContext = jQuery.expr.match.needsContext,
+	// methods guaranteed to produce a unique set when starting from a unique set
+	guaranteedUnique = {
+		children: true,
+		contents: true,
+		next: true,
+		prev: true
+	};
+
+jQuery.fn.extend({
+	find: function( selector ) {
+		var i, l, length, n, r, ret,
+			self = this;
+
+		if ( typeof selector !== "string" ) {
+			return jQuery( selector ).filter(function() {
+				for ( i = 0, l = self.length; i < l; i++ ) {
+					if ( jQuery.contains( self[ i ], this ) ) {
+						return true;
+					}
+				}
+			});
+		}
+
+		ret = this.pushStack( "", "find", selector );
+
+		for ( i = 0, l = this.length; i < l; i++ ) {
+			length = ret.length;
+			jQuery.find( selector, this[i], ret );
+
+			if ( i > 0 ) {
+				// Make sure that the results are unique
+				for ( n = length; n < ret.length; n++ ) {
+					for ( r = 0; r < length; r++ ) {
+						if ( ret[r] === ret[n] ) {
+							ret.splice(n--, 1);
+							break;
+						}
+					}
+				}
+			}
+		}
+
+		return ret;
+	},
+
+	has: function( target ) {
+		var i,
+			targets = jQuery( target, this ),
+			len = targets.length;
+
+		return this.filter(function() {
+			for ( i = 0; i < len; i++ ) {
+				if ( jQuery.contains( this, targets[i] ) ) {
+					return true;
+				}
+			}
+		});
+	},
+
+	not: function( selector ) {
+		return this.pushStack( winnow(this, selector, false), "not", selector);
+	},
+
+	filter: function( selector ) {
+		return this.pushStack( winnow(this, selector, true), "filter", selector );
+	},
+
+	is: function( selector ) {
+		return !!selector && (
+			typeof selector === "string" ?
+				// If this is a positional/relative selector, check membership in the returned set
+				// so $("p:first").is("p:last") won't return true for a doc with two "p".
+				rneedsContext.test( selector ) ?
+					jQuery( selector, this.context ).index( this[0] ) >= 0 :
+					jQuery.filter( selector, this ).length > 0 :
+				this.filter( selector ).length > 0 );
+	},
+
+	closest: function( selectors, context ) {
+		var cur,
+			i = 0,
+			l = this.length,
+			ret = [],
+			pos = rneedsContext.test( selectors ) || typeof selectors !== "string" ?
+				jQuery( selectors, context || this.context ) :
+				0;
+
+		for ( ; i < l; i++ ) {
+			cur = this[i];
+
+			while ( cur && cur.ownerDocument && cur !== context && cur.nodeType !== 11 ) {
+				if ( pos ? pos.index(cur) > -1 : jQuery.find.matchesSelector(cur, selectors) ) {
+					ret.push( cur );
+					break;
+				}
+				cur = cur.parentNode;
+			}
+		}
+
+		ret = ret.length > 1 ? jQuery.unique( ret ) : ret;
+
+		return this.pushStack( ret, "closest", selectors );
+	},
+
+	// Determine the position of an element within
+	// the matched set of elements
+	index: function( elem ) {
+
+		// No argument, return index in parent
+		if ( !elem ) {
+			return ( this[0] && this[0].parentNode ) ? this.prevAll().length : -1;
+		}
+
+		// index in selector
+		if ( typeof elem === "string" ) {
+			return jQuery.inArray( this[0], jQuery( elem ) );
+		}
+
+		// Locate the position of the desired element
+		return jQuery.inArray(
+			// If it receives a jQuery object, the first element is used
+			elem.jquery ? elem[0] : elem, this );
+	},
+
+	add: function( selector, context ) {
+		var set = typeof selector === "string" ?
+				jQuery( selector, context ) :
+				jQuery.makeArray( selector && selector.nodeType ? [ selector ] : selector ),
+			all = jQuery.merge( this.get(), set );
+
+		return this.pushStack( isDisconnected( set[0] ) || isDisconnected( all[0] ) ?
+			all :
+			jQuery.unique( all ) );
+	},
+
+	addBack: function( selector ) {
+		return this.add( selector == null ?
+			this.prevObject : this.prevObject.filter(selector)
+		);
+	}
+});
+
+jQuery.fn.andSelf = jQuery.fn.addBack;
+
+// A painfully simple check to see if an element is disconnected
+// from a document (should be improved, where feasible).
+function isDisconnected( node ) {
+	return !node || !node.parentNode || node.parentNode.nodeType === 11;
+}
+
+function sibling( cur, dir ) {
+	do {
+		cur = cur[ dir ];
+	} while ( cur && cur.nodeType !== 1 );
+
+	return cur;
+}
+
+jQuery.each({
+	parent: function( elem ) {
+		var parent = elem.parentNode;
+		return parent && parent.nodeType !== 11 ? parent : null;
+	},
+	parents: function( elem ) {
+		return jQuery.dir( elem, "parentNode" );
+	},
+	parentsUntil: function( elem, i, until ) {
+		return jQuery.dir( elem, "parentNode", until );
+	},
+	next: function( elem ) {
+		return sibling( elem, "nextSibling" );
+	},
+	prev: function( elem ) {
+		return sibling( elem, "previousSibling" );
+	},
+	nextAll: function( elem ) {
+		return jQuery.dir( elem, "nextSibling" );
+	},
+	prevAll: function( elem ) {
+		return jQuery.dir( elem, "previousSibling" );
+	},
+	nextUntil: function( elem, i, until ) {
+		return jQuery.dir( elem, "nextSibling", until );
+	},
+	prevUntil: function( elem, i, until ) {
+		return jQuery.dir( elem, "previousSibling", until );
+	},
+	siblings: function( elem ) {
+		return jQuery.sibling( ( elem.parentNode || {} ).firstChild, elem );
+	},
+	children: function( elem ) {
+		return jQuery.sibling( elem.firstChild );
+	},
+	contents: function( elem ) {
+		return jQuery.nodeName( elem, "iframe" ) ?
+			elem.contentDocument || elem.contentWindow.document :
+			jQuery.merge( [], elem.childNodes );
+	}
+}, function( name, fn ) {
+	jQuery.fn[ name ] = function( until, selector ) {
+		var ret = jQuery.map( this, fn, until );
+
+		if ( !runtil.test( name ) ) {
+			selector = until;
+		}
+
+		if ( selector && typeof selector === "string" ) {
+			ret = jQuery.filter( selector, ret );
+		}
+
+		ret = this.length > 1 && !guaranteedUnique[ name ] ? jQuery.unique( ret ) : ret;
+
+		if ( this.length > 1 && rparentsprev.test( name ) ) {
+			ret = ret.reverse();
+		}
+
+		return this.pushStack( ret, name, core_slice.call( arguments ).join(",") );
+	};
+});
+
+jQuery.extend({
+	filter: function( expr, elems, not ) {
+		if ( not ) {
+			expr = ":not(" + expr + ")";
+		}
+
+		return elems.length === 1 ?
+			jQuery.find.matchesSelector(elems[0], expr) ? [ elems[0] ] : [] :
+			jQuery.find.matches(expr, elems);
+	},
+
+	dir: function( elem, dir, until ) {
+		var matched = [],
+			cur = elem[ dir ];
+
+		while ( cur && cur.nodeType !== 9 && (until === undefined || cur.nodeType !== 1 || !jQuery( cur ).is( until )) ) {
+			if ( cur.nodeType === 1 ) {
+				matched.push( cur );
+			}
+			cur = cur[dir];
+		}
+		return matched;
+	},
+
+	sibling: function( n, elem ) {
+		var r = [];
+
+		for ( ; n; n = n.nextSibling ) {
+			if ( n.nodeType === 1 && n !== elem ) {
+				r.push( n );
+			}
+		}
+
+		return r;
+	}
+});
+
+// Implement the identical functionality for filter and not
+function winnow( elements, qualifier, keep ) {
+
+	// Can't pass null or undefined to indexOf in Firefox 4
+	// Set to 0 to skip string check
+	qualifier = qualifier || 0;
+
+	if ( jQuery.isFunction( qualifier ) ) {
+		return jQuery.grep(elements, function( elem, i ) {
+			var retVal = !!qualifier.call( elem, i, elem );
+			return retVal === keep;
+		});
+
+	} else if ( qualifier.nodeType ) {
+		return jQuery.grep(elements, function( elem, i ) {
+			return ( elem === qualifier ) === keep;
+		});
+
+	} else if ( typeof qualifier === "string" ) {
+		var filtered = jQuery.grep(elements, function( elem ) {
+			return elem.nodeType === 1;
+		});
+
+		if ( isSimple.test( qualifier ) ) {
+			return jQuery.filter(qualifier, filtered, !keep);
+		} else {
+			qualifier = jQuery.filter( qualifier, filtered );
+		}
+	}
+
+	return jQuery.grep(elements, function( elem, i ) {
+		return ( jQuery.inArray( elem, qualifier ) >= 0 ) === keep;
+	});
+}
+function createSafeFragment( document ) {
+	var list = nodeNames.split( "|" ),
+	safeFrag = document.createDocumentFragment();
+
+	if ( safeFrag.createElement ) {
+		while ( list.length ) {
+			safeFrag.createElement(
+				list.pop()
+			);
+		}
+	}
+	return safeFrag;
+}
+
+var nodeNames = "abbr|article|aside|audio|bdi|canvas|data|datalist|details|figcaption|figure|footer|" +
+		"header|hgroup|mark|meter|nav|output|progress|section|summary|time|video",
+	rinlinejQuery = / jQuery\d+="(?:null|\d+)"/g,
+	rleadingWhitespace = /^\s+/,
+	rxhtmlTag = /<(?!area|br|col|embed|hr|img|input|link|meta|param)(([\w:]+)[^>]*)\/>/gi,
+	rtagName = /<([\w:]+)/,
+	rtbody = /<tbody/i,
+	rhtml = /<|&#?\w+;/,
+	rnoInnerhtml = /<(?:script|style|link)/i,
+	rnocache = /<(?:script|object|embed|option|style)/i,
+	rnoshimcache = new RegExp("<(?:" + nodeNames + ")[\\s/>]", "i"),
+	rcheckableType = /^(?:checkbox|radio)$/,
+	// checked="checked" or checked
+	rchecked = /checked\s*(?:[^=]|=\s*.checked.)/i,
+	rscriptType = /\/(java|ecma)script/i,
+	rcleanScript = /^\s*<!(?:\[CDATA\[|\-\-)|[\]\-]{2}>\s*$/g,
+	wrapMap = {
+		option: [ 1, "<select multiple='multiple'>", "</select>" ],
+		legend: [ 1, "<fieldset>", "</fieldset>" ],
+		thead: [ 1, "<table>", "</table>" ],
+		tr: [ 2, "<table><tbody>", "</tbody></table>" ],
+		td: [ 3, "<table><tbody><tr>", "</tr></tbody></table>" ],
+		col: [ 2, "<table><tbody></tbody><colgroup>", "</colgroup></table>" ],
+		area: [ 1, "<map>", "</map>" ],
+		_default: [ 0, "", "" ]
+	},
+	safeFragment = createSafeFragment( document ),
+	fragmentDiv = safeFragment.appendChild( document.createElement("div") );
+
+wrapMap.optgroup = wrapMap.option;
+wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead;
+wrapMap.th = wrapMap.td;
+
+// IE6-8 can't serialize link, script, style, or any html5 (NoScope) tags,
+// unless wrapped in a div with non-breaking characters in front of it.
+if ( !jQuery.support.htmlSerialize ) {
+	wrapMap._default = [ 1, "X<div>", "</div>" ];
+}
+
+jQuery.fn.extend({
+	text: function( value ) {
+		return jQuery.access( this, function( value ) {
+			return value === undefined ?
+				jQuery.text( this ) :
+				this.empty().append( ( this[0] && this[0].ownerDocument || document ).createTextNode( value ) );
+		}, null, value, arguments.length );
+	},
+
+	wrapAll: function( html ) {
+		if ( jQuery.isFunction( html ) ) {
+			return this.each(function(i) {
+				jQuery(this).wrapAll( html.call(this, i) );
+			});
+		}
+
+		if ( this[0] ) {
+			// The elements to wrap the target around
+			var wrap = jQuery( html, this[0].ownerDocument ).eq(0).clone(true);
+
+			if ( this[0].parentNode ) {
+				wrap.insertBefore( this[0] );
+			}
+
+			wrap.map(function() {
+				var elem = this;
+
+				while ( elem.firstChild && elem.firstChild.nodeType === 1 ) {
+					elem = elem.firstChild;
+				}
+
+				return elem;
+			}).append( this );
+		}
+
+		return this;
+	},
+
+	wrapInner: function( html ) {
+		if ( jQuery.isFunction( html ) ) {
+			return this.each(function(i) {
+				jQuery(this).wrapInner( html.call(this, i) );
+			});
+		}
+
+		return this.each(function() {
+			var self = jQuery( this ),
+				contents = self.contents();
+
+			if ( contents.length ) {
+				contents.wrapAll( html );
+
+			} else {
+				self.append( html );
+			}
+		});
+	},
+
+	wrap: function( html ) {
+		var isFunction = jQuery.isFunction( html );
+
+		return this.each(function(i) {
+			jQuery( this ).wrapAll( isFunction ? html.call(this, i) : html );
+		});
+	},
+
+	unwrap: function() {
+		return this.parent().each(function() {
+			if ( !jQuery.nodeName( this, "body" ) ) {
+				jQuery( this ).replaceWith( this.childNodes );
+			}
+		}).end();
+	},
+
+	append: function() {
+		return this.domManip(arguments, true, function( elem ) {
+			if ( this.nodeType === 1 || this.nodeType === 11 ) {
+				this.appendChild( elem );
+			}
+		});
+	},
+
+	prepend: function() {
+		return this.domManip(arguments, true, function( elem ) {
+			if ( this.nodeType === 1 || this.nodeType === 11 ) {
+				this.insertBefore( elem, this.firstChild );
+			}
+		});
+	},
+
+	before: function() {
+		if ( !isDisconnected( this[0] ) ) {
+			return this.domManip(arguments, false, function( elem ) {
+				this.parentNode.insertBefore( elem, this );
+			});
+		}
+
+		if ( arguments.length ) {
+			var set = jQuery.clean( arguments );
+			return this.pushStack( jQuery.merge( set, this ), "before", this.selector );
+		}
+	},
+
+	after: function() {
+		if ( !isDisconnected( this[0] ) ) {
+			return this.domManip(arguments, false, function( elem ) {
+				this.parentNode.insertBefore( elem, this.nextSibling );
+			});
+		}
+
+		if ( arguments.length ) {
+			var set = jQuery.clean( arguments );
+			return this.pushStack( jQuery.merge( this, set ), "after", this.selector );
+		}
+	},
+
+	// keepData is for internal use only--do not document
+	remove: function( selector, keepData ) {
+		var elem,
+			i = 0;
+
+		for ( ; (elem = this[i]) != null; i++ ) {
+			if ( !selector || jQuery.filter( selector, [ elem ] ).length ) {
+				if ( !keepData && elem.nodeType === 1 ) {
+					jQuery.cleanData( elem.getElementsByTagName("*") );
+					jQuery.cleanData( [ elem ] );
+				}
+
+				if ( elem.parentNode ) {
+					elem.parentNode.removeChild( elem );
+				}
+			}
+		}
+
+		return this;
+	},
+
+	empty: function() {
+		var elem,
+			i = 0;
+
+		for ( ; (elem = this[i]) != null; i++ ) {
+			// Remove element nodes and prevent memory leaks
+			if ( elem.nodeType === 1 ) {
+				jQuery.cleanData( elem.getElementsByTagName("*") );
+			}
+
+			// Remove any remaining nodes
+			while ( elem.firstChild ) {
+				elem.removeChild( elem.firstChild );
+			}
+		}
+
+		return this;
+	},
+
+	clone: function( dataAndEvents, deepDataAndEvents ) {
+		dataAndEvents = dataAndEvents == null ? false : dataAndEvents;
+		deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents;
+
+		return this.map( function () {
+			return jQuery.clone( this, dataAndEvents, deepDataAndEvents );
+		});
+	},
+
+	html: function( value ) {
+		return jQuery.access( this, function( value ) {
+			var elem = this[0] || {},
+				i = 0,
+				l = this.length;
+
+			if ( value === undefined ) {
+				return elem.nodeType === 1 ?
+					elem.innerHTML.replace( rinlinejQuery, "" ) :
+					undefined;
+			}
+
+			// See if we can take a shortcut and just use innerHTML
+			if ( typeof value === "string" && !rnoInnerhtml.test( value ) &&
+				( jQuery.support.htmlSerialize || !rnoshimcache.test( value )  ) &&
+				( jQuery.support.leadingWhitespace || !rleadingWhitespace.test( value ) ) &&
+				!wrapMap[ ( rtagName.exec( value ) || ["", ""] )[1].toLowerCase() ] ) {
+
+				value = value.replace( rxhtmlTag, "<$1></$2>" );
+
+				try {
+					for (; i < l; i++ ) {
+						// Remove element nodes and prevent memory leaks
+						elem = this[i] || {};
+						if ( elem.nodeType === 1 ) {
+							jQuery.cleanData( elem.getElementsByTagName( "*" ) );
+							elem.innerHTML = value;
+						}
+					}
+
+					elem = 0;
+
+				// If using innerHTML throws an exception, use the fallback method
+				} catch(e) {}
+			}
+
+			if ( elem ) {
+				this.empty().append( value );
+			}
+		}, null, value, arguments.length );
+	},
+
+	replaceWith: function( value ) {
+		if ( !isDisconnected( this[0] ) ) {
+			// Make sure that the elements are removed from the DOM before they are inserted
+			// this can help fix replacing a parent with child elements
+			if ( jQuery.isFunction( value ) ) {
+				return this.each(function(i) {
+					var self = jQuery(this), old = self.html();
+					self.replaceWith( value.call( this, i, old ) );
+				});
+			}
+
+			if ( typeof value !== "string" ) {
+				value = jQuery( value ).detach();
+			}
+
+			return this.each(function() {
+				var next = this.nextSibling,
+					parent = this.parentNode;
+
+				jQuery( this ).remove();
+
+				if ( next ) {
+					jQuery(next).before( value );
+				} else {
+					jQuery(parent).append( value );
+				}
+			});
+		}
+
+		return this.length ?
+			this.pushStack( jQuery(jQuery.isFunction(value) ? value() : value), "replaceWith", value ) :
+			this;
+	},
+
+	detach: function( selector ) {
+		return this.remove( selector, true );
+	},
+
+	domManip: function( args, table, callback ) {
+
+		// Flatten any nested arrays
+		args = [].concat.apply( [], args );
+
+		var results, first, fragment, iNoClone,
+			i = 0,
+			value = args[0],
+			scripts = [],
+			l = this.length;
+
+		// We can't cloneNode fragments that contain checked, in WebKit
+		if ( !jQuery.support.checkClone && l > 1 && typeof value === "string" && rchecked.test( value ) ) {
+			return this.each(function() {
+				jQuery(this).domManip( args, table, callback );
+			});
+		}
+
+		if ( jQuery.isFunction(value) ) {
+			return this.each(function(i) {
+				var self = jQuery(this);
+				args[0] = value.call( this, i, table ? self.html() : undefined );
+				self.domManip( args, table, callback );
+			});
+		}
+
+		if ( this[0] ) {
+			results = jQuery.buildFragment( args, this, scripts );
+			fragment = results.fragment;
+			first = fragment.firstChild;
+
+			if ( fragment.childNodes.length === 1 ) {
+				fragment = first;
+			}
+
+			if ( first ) {
+				table = table && jQuery.nodeName( first, "tr" );
+
+				// Use the original fragment for the last item instead of the first because it can end up
+				// being emptied incorrectly in certain situations (#8070).
+				// Fragments from the fragment cache must always be cloned and never used in place.
+				for ( iNoClone = results.cacheable || l - 1; i < l; i++ ) {
+					callback.call(
+						table && jQuery.nodeName( this[i], "table" ) ?
+							findOrAppend( this[i], "tbody" ) :
+							this[i],
+						i === iNoClone ?
+							fragment :
+							jQuery.clone( fragment, true, true )
+					);
+				}
+			}
+
+			// Fix #11809: Avoid leaking memory
+			fragment = first = null;
+
+			if ( scripts.length ) {
+				jQuery.each( scripts, function( i, elem ) {
+					if ( elem.src ) {
+						if ( jQuery.ajax ) {
+							jQuery.ajax({
+								url: elem.src,
+								type: "GET",
+								dataType: "script",
+								async: false,
+								global: false,
+								"throws": true
+							});
+						} else {
+							jQuery.error("no ajax");
+						}
+					} else {
+						jQuery.globalEval( ( elem.text || elem.textContent || elem.innerHTML || "" ).replace( rcleanScript, "" ) );
+					}
+
+					if ( elem.parentNode ) {
+						elem.parentNode.removeChild( elem );
+					}
+				});
+			}
+		}
+
+		return this;
+	}
+});
+
+function findOrAppend( elem, tag ) {
+	return elem.getElementsByTagName( tag )[0] || elem.appendChild( elem.ownerDocument.createElement( tag ) );
+}
+
+function cloneCopyEvent( src, dest ) {
+
+	if ( dest.nodeType !== 1 || !jQuery.hasData( src ) ) {
+		return;
+	}
+
+	var type, i, l,
+		oldData = jQuery._data( src ),
+		curData = jQuery._data( dest, oldData ),
+		events = oldData.events;
+
+	if ( events ) {
+		delete curData.handle;
+		curData.events = {};
+
+		for ( type in events ) {
+			for ( i = 0, l = events[ type ].length; i < l; i++ ) {
+				jQuery.event.add( dest, type, events[ type ][ i ] );
+			}
+		}
+	}
+
+	// make the cloned public data object a copy from the original
+	if ( curData.data ) {
+		curData.data = jQuery.extend( {}, curData.data );
+	}
+}
+
+function cloneFixAttributes( src, dest ) {
+	var nodeName;
+
+	// We do not need to do anything for non-Elements
+	if ( dest.nodeType !== 1 ) {
+		return;
+	}
+
+	// clearAttributes removes the attributes, which we don't want,
+	// but also removes the attachEvent events, which we *do* want
+	if ( dest.clearAttributes ) {
+		dest.clearAttributes();
+	}
+
+	// mergeAttributes, in contrast, only merges back on the
+	// original attributes, not the events
+	if ( dest.mergeAttributes ) {
+		dest.mergeAttributes( src );
+	}
+
+	nodeName = dest.nodeName.toLowerCase();
+
+	if ( nodeName === "object" ) {
+		// IE6-10 improperly clones children of object elements using classid.
+		// IE10 throws NoModificationAllowedError if parent is null, #12132.
+		if ( dest.parentNode ) {
+			dest.outerHTML = src.outerHTML;
+		}
+
+		// This path appears unavoidable for IE9. When cloning an object
+		// element in IE9, the outerHTML strategy above is not sufficient.
+		// If the src has innerHTML and the destination does not,
+		// copy the src.innerHTML into the dest.innerHTML. #10324
+		if ( jQuery.support.html5Clone && (src.innerHTML && !jQuery.trim(dest.innerHTML)) ) {
+			dest.innerHTML = src.innerHTML;
+		}
+
+	} else if ( nodeName === "input" && rcheckableType.test( src.type ) ) {
+		// IE6-8 fails to persist the checked state of a cloned checkbox
+		// or radio button. Worse, IE6-7 fail to give the cloned element
+		// a checked appearance if the defaultChecked value isn't also set
+
+		dest.defaultChecked = dest.checked = src.checked;
+
+		// IE6-7 get confused and end up setting the value of a cloned
+		// checkbox/radio button to an empty string instead of "on"
+		if ( dest.value !== src.value ) {
+			dest.value = src.value;
+		}
+
+	// IE6-8 fails to return the selected option to the default selected
+	// state when cloning options
+	} else if ( nodeName === "option" ) {
+		dest.selected = src.defaultSelected;
+
+	// IE6-8 fails to set the defaultValue to the correct value when
+	// cloning other types of input fields
+	} else if ( nodeName === "input" || nodeName === "textarea" ) {
+		dest.defaultValue = src.defaultValue;
+
+	// IE blanks contents when cloning scripts
+	} else if ( nodeName === "script" && dest.text !== src.text ) {
+		dest.text = src.text;
+	}
+
+	// Event data gets referenced instead of copied if the expando
+	// gets copied too
+	dest.removeAttribute( jQuery.expando );
+}
+
+jQuery.buildFragment = function( args, context, scripts ) {
+	var fragment, cacheable, cachehit,
+		first = args[ 0 ];
+
+	// Set context from what may come in as undefined or a jQuery collection or a node
+	// Updated to fix #12266 where accessing context[0] could throw an exception in IE9/10 &
+	// also doubles as fix for #8950 where plain objects caused createDocumentFragment exception
+	context = context || document;
+	context = !context.nodeType && context[0] || context;
+	context = context.ownerDocument || context;
+
+	// Only cache "small" (1/2 KB) HTML strings that are associated with the main document
+	// Cloning options loses the selected state, so don't cache them
+	// IE 6 doesn't like it when you put <object> or <embed> elements in a fragment
+	// Also, WebKit does not clone 'checked' attributes on cloneNode, so don't cache
+	// Lastly, IE6,7,8 will not correctly reuse cached fragments that were created from unknown elems #10501
+	if ( args.length === 1 && typeof first === "string" && first.length < 512 && context === document &&
+		first.charAt(0) === "<" && !rnocache.test( first ) &&
+		(jQuery.support.checkClone || !rchecked.test( first )) &&
+		(jQuery.support.html5Clone || !rnoshimcache.test( first )) ) {
+
+		// Mark cacheable and look for a hit
+		cacheable = true;
+		fragment = jQuery.fragments[ first ];
+		cachehit = fragment !== undefined;
+	}
+
+	if ( !fragment ) {
+		fragment = context.createDocumentFragment();
+		jQuery.clean( args, context, fragment, scripts );
+
+		// Update the cache, but only store false
+		// unless this is a second parsing of the same content
+		if ( cacheable ) {
+			jQuery.fragments[ first ] = cachehit && fragment;
+		}
+	}
+
+	return { fragment: fragment, cacheable: cacheable };
+};
+
+jQuery.fragments = {};
+
+jQuery.each({
+	appendTo: "append",
+	prependTo: "prepend",
+	insertBefore: "before",
+	insertAfter: "after",
+	replaceAll: "replaceWith"
+}, function( name, original ) {
+	jQuery.fn[ name ] = function( selector ) {
+		var elems,
+			i = 0,
+			ret = [],
+			insert = jQuery( selector ),
+			l = insert.length,
+			parent = this.length === 1 && this[0].parentNode;
+
+		if ( (parent == null || parent && parent.nodeType === 11 && parent.childNodes.length === 1) && l === 1 ) {
+			insert[ original ]( this[0] );
+			return this;
+		} else {
+			for ( ; i < l; i++ ) {
+				elems = ( i > 0 ? this.clone(true) : this ).get();
+				jQuery( insert[i] )[ original ]( elems );
+				ret = ret.concat( elems );
+			}
+
+			return this.pushStack( ret, name, insert.selector );
+		}
+	};
+});
+
+function getAll( elem ) {
+	if ( typeof elem.getElementsByTagName !== "undefined" ) {
+		return elem.getElementsByTagName( "*" );
+
+	} else if ( typeof elem.querySelectorAll !== "undefined" ) {
+		return elem.querySelectorAll( "*" );
+
+	} else {
+		return [];
+	}
+}
+
+// Used in clean, fixes the defaultChecked property
+function fixDefaultChecked( elem ) {
+	if ( rcheckableType.test( elem.type ) ) {
+		elem.defaultChecked = elem.checked;
+	}
+}
+
+jQuery.extend({
+	clone: function( elem, dataAndEvents, deepDataAndEvents ) {
+		var srcElements,
+			destElements,
+			i,
+			clone;
+
+		if ( jQuery.support.html5Clone || jQuery.isXMLDoc(elem) || !rnoshimcache.test( "<" + elem.nodeName + ">" ) ) {
+			clone = elem.cloneNode( true );
+
+		// IE<=8 does not properly clone detached, unknown element nodes
+		} else {
+			fragmentDiv.innerHTML = elem.outerHTML;
+			fragmentDiv.removeChild( clone = fragmentDiv.firstChild );
+		}
+
+		if ( (!jQuery.support.noCloneEvent || !jQuery.support.noCloneChecked) &&
+				(elem.nodeType === 1 || elem.nodeType === 11) && !jQuery.isXMLDoc(elem) ) {
+			// IE copies events bound via attachEvent when using cloneNode.
+			// Calling detachEvent on the clone will also remove the events
+			// from the original. In order to get around this, we use some
+			// proprietary methods to clear the events. Thanks to MooTools
+			// guys for this hotness.
+
+			cloneFixAttributes( elem, clone );
+
+			// Using Sizzle here is crazy slow, so we use getElementsByTagName instead
+			srcElements = getAll( elem );
+			destElements = getAll( clone );
+
+			// Weird iteration because IE will replace the length property
+			// with an element if you are cloning the body and one of the
+			// elements on the page has a name or id of "length"
+			for ( i = 0; srcElements[i]; ++i ) {
+				// Ensure that the destination node is not null; Fixes #9587
+				if ( destElements[i] ) {
+					cloneFixAttributes( srcElements[i], destElements[i] );
+				}
+			}
+		}
+
+		// Copy the events from the original to the clone
+		if ( dataAndEvents ) {
+			cloneCopyEvent( elem, clone );
+
+			if ( deepDataAndEvents ) {
+				srcElements = getAll( elem );
+				destElements = getAll( clone );
+
+				for ( i = 0; srcElements[i]; ++i ) {
+					cloneCopyEvent( srcElements[i], destElements[i] );
+				}
+			}
+		}
+
+		srcElements = destElements = null;
+
+		// Return the cloned set
+		return clone;
+	},
+
+	clean: function( elems, context, fragment, scripts ) {
+		var i, j, elem, tag, wrap, depth, div, hasBody, tbody, len, handleScript, jsTags,
+			safe = context === document && safeFragment,
+			ret = [];
+
+		// Ensure that context is a document
+		if ( !context || typeof context.createDocumentFragment === "undefined" ) {
+			context = document;
+		}
+
+		// Use the already-created safe fragment if context permits
+		for ( i = 0; (elem = elems[i]) != null; i++ ) {
+			if ( typeof elem === "number" ) {
+				elem += "";
+			}
+
+			if ( !elem ) {
+				continue;
+			}
+
+			// Convert html string into DOM nodes
+			if ( typeof elem === "string" ) {
+				if ( !rhtml.test( elem ) ) {
+					elem = context.createTextNode( elem );
+				} else {
+					// Ensure a safe container in which to render the html
+					safe = safe || createSafeFragment( context );
+					div = context.createElement("div");
+					safe.appendChild( div );
+
+					// Fix "XHTML"-style tags in all browsers
+					elem = elem.replace(rxhtmlTag, "<$1></$2>");
+
+					// Go to html and back, then peel off extra wrappers
+					tag = ( rtagName.exec( elem ) || ["", ""] )[1].toLowerCase();
+					wrap = wrapMap[ tag ] || wrapMap._default;
+					depth = wrap[0];
+					div.innerHTML = wrap[1] + elem + wrap[2];
+
+					// Move to the right depth
+					while ( depth-- ) {
+						div = div.lastChild;
+					}
+
+					// Remove IE's autoinserted <tbody> from table fragments
+					if ( !jQuery.support.tbody ) {
+
+						// String was a <table>, *may* have spurious <tbody>
+						hasBody = rtbody.test(elem);
+							tbody = tag === "table" && !hasBody ?
+								div.firstChild && div.firstChild.childNodes :
+
+								// String was a bare <thead> or <tfoot>
+								wrap[1] === "<table>" && !hasBody ?
+									div.childNodes :
+									[];
+
+						for ( j = tbody.length - 1; j >= 0 ; --j ) {
+							if ( jQuery.nodeName( tbody[ j ], "tbody" ) && !tbody[ j ].childNodes.length ) {
+								tbody[ j ].parentNode.removeChild( tbody[ j ] );
+							}
+						}
+					}
+
+					// IE completely kills leading whitespace when innerHTML is used
+					if ( !jQuery.support.leadingWhitespace && rleadingWhitespace.test( elem ) ) {
+						div.insertBefore( context.createTextNode( rleadingWhitespace.exec(elem)[0] ), div.firstChild );
+					}
+
+					elem = div.childNodes;
+
+					// Take out of fragment container (we need a fresh div each time)
+					div.parentNode.removeChild( div );
+				}
+			}
+
+			if ( elem.nodeType ) {
+				ret.push( elem );
+			} else {
+				jQuery.merge( ret, elem );
+			}
+		}
+
+		// Fix #11356: Clear elements from safeFragment
+		if ( div ) {
+			elem = div = safe = null;
+		}
+
+		// Reset defaultChecked for any radios and checkboxes
+		// about to be appended to the DOM in IE 6/7 (#8060)
+		if ( !jQuery.support.appendChecked ) {
+			for ( i = 0; (elem = ret[i]) != null; i++ ) {
+				if ( jQuery.nodeName( elem, "input" ) ) {
+					fixDefaultChecked( elem );
+				} else if ( typeof elem.getElementsByTagName !== "undefined" ) {
+					jQuery.grep( elem.getElementsByTagName("input"), fixDefaultChecked );
+				}
+			}
+		}
+
+		// Append elements to a provided document fragment
+		if ( fragment ) {
+			// Special handling of each script element
+			handleScript = function( elem ) {
+				// Check if we consider it executable
+				if ( !elem.type || rscriptType.test( elem.type ) ) {
+					// Detach the script and store it in the scripts array (if provided) or the fragment
+					// Return truthy to indicate that it has been handled
+					return scripts ?
+						scripts.push( elem.parentNode ? elem.parentNode.removeChild( elem ) : elem ) :
+						fragment.appendChild( elem );
+				}
+			};
+
+			for ( i = 0; (elem = ret[i]) != null; i++ ) {
+				// Check if we're done after handling an executable script
+				if ( !( jQuery.nodeName( elem, "script" ) && handleScript( elem ) ) ) {
+					// Append to fragment and handle embedded scripts
+					fragment.appendChild( elem );
+					if ( typeof elem.getElementsByTagName !== "undefined" ) {
+						// handleScript alters the DOM, so use jQuery.merge to ensure snapshot iteration
+						jsTags = jQuery.grep( jQuery.merge( [], elem.getElementsByTagName("script") ), handleScript );
+
+						// Splice the scripts into ret after their former ancestor and advance our index beyond them
+						ret.splice.apply( ret, [i + 1, 0].concat( jsTags ) );
+						i += jsTags.length;
+					}
+				}
+			}
+		}
+
+		return ret;
+	},
+
+	cleanData: function( elems, /* internal */ acceptData ) {
+		var data, id, elem, type,
+			i = 0,
+			internalKey = jQuery.expando,
+			cache = jQuery.cache,
+			deleteExpando = jQuery.support.deleteExpando,
+			special = jQuery.event.special;
+
+		for ( ; (elem = elems[i]) != null; i++ ) {
+
+			if ( acceptData || jQuery.acceptData( elem ) ) {
+
+				id = elem[ internalKey ];
+				data = id && cache[ id ];
+
+				if ( data ) {
+					if ( data.events ) {
+						for ( type in data.events ) {
+							if ( special[ type ] ) {
+								jQuery.event.remove( elem, type );
+
+							// This is a shortcut to avoid jQuery.event.remove's overhead
+							} else {
+								jQuery.removeEvent( elem, type, data.handle );
+							}
+						}
+					}
+
+					// Remove cache only if it was not already removed by jQuery.event.remove
+					if ( cache[ id ] ) {
+
+						delete cache[ id ];
+
+						// IE does not allow us to delete expando properties from nodes,
+						// nor does it have a removeAttribute function on Document nodes;
+						// we must handle all of these cases
+						if ( deleteExpando ) {
+							delete elem[ internalKey ];
+
+						} else if ( elem.removeAttribute ) {
+							elem.removeAttribute( internalKey );
+
+						} else {
+							elem[ internalKey ] = null;
+						}
+
+						jQuery.deletedIds.push( id );
+					}
+				}
+			}
+		}
+	}
+});
+// Limit scope pollution from any deprecated API
+(function() {
+
+var matched, browser;
+
+// Use of jQuery.browser is frowned upon.
+// More details: http://api.jquery.com/jQuery.browser
+// jQuery.uaMatch maintained for back-compat
+jQuery.uaMatch = function( ua ) {
+	ua = ua.toLowerCase();
+
+	var match = /(chrome)[ \/]([\w.]+)/.exec( ua ) ||
+		/(webkit)[ \/]([\w.]+)/.exec( ua ) ||
+		/(opera)(?:.*version|)[ \/]([\w.]+)/.exec( ua ) ||
+		/(msie) ([\w.]+)/.exec( ua ) ||
+		ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec( ua ) ||
+		[];
+
+	return {
+		browser: match[ 1 ] || "",
+		version: match[ 2 ] || "0"
+	};
+};
+
+matched = jQuery.uaMatch( navigator.userAgent );
+browser = {};
+
+if ( matched.browser ) {
+	browser[ matched.browser ] = true;
+	browser.version = matched.version;
+}
+
+// Chrome is Webkit, but Webkit is also Safari.
+if ( browser.chrome ) {
+	browser.webkit = true;
+} else if ( browser.webkit ) {
+	browser.safari = true;
+}
+
+jQuery.browser = browser;
+
+jQuery.sub = function() {
+	function jQuerySub( selector, context ) {
+		return new jQuerySub.fn.init( selector, context );
+	}
+	jQuery.extend( true, jQuerySub, this );
+	jQuerySub.superclass = this;
+	jQuerySub.fn = jQuerySub.prototype = this();
+	jQuerySub.fn.constructor = jQuerySub;
+	jQuerySub.sub = this.sub;
+	jQuerySub.fn.init = function init( selector, context ) {
+		if ( context && context instanceof jQuery && !(context instanceof jQuerySub) ) {
+			context = jQuerySub( context );
+		}
+
+		return jQuery.fn.init.call( this, selector, context, rootjQuerySub );
+	};
+	jQuerySub.fn.init.prototype = jQuerySub.fn;
+	var rootjQuerySub = jQuerySub(document);
+	return jQuerySub;
+};
+
+})();
+var curCSS, iframe, iframeDoc,
+	ralpha = /alpha\([^)]*\)/i,
+	ropacity = /opacity=([^)]*)/,
+	rposition = /^(top|right|bottom|left)$/,
+	// swappable if display is none or starts with table except "table", "table-cell", or "table-caption"
+	// see here for display values: https://developer.mozilla.org/en-US/docs/CSS/display
+	rdisplayswap = /^(none|table(?!-c[ea]).+)/,
+	rmargin = /^margin/,
+	rnumsplit = new RegExp( "^(" + core_pnum + ")(.*)$", "i" ),
+	rnumnonpx = new RegExp( "^(" + core_pnum + ")(?!px)[a-z%]+$", "i" ),
+	rrelNum = new RegExp( "^([-+])=(" + core_pnum + ")", "i" ),
+	elemdisplay = { BODY: "block" },
+
+	cssShow = { position: "absolute", visibility: "hidden", display: "block" },
+	cssNormalTransform = {
+		letterSpacing: 0,
+		fontWeight: 400
+	},
+
+	cssExpand = [ "Top", "Right", "Bottom", "Left" ],
+	cssPrefixes = [ "Webkit", "O", "Moz", "ms" ],
+
+	eventsToggle = jQuery.fn.toggle;
+
+// return a css property mapped to a potentially vendor prefixed property
+function vendorPropName( style, name ) {
+
+	// shortcut for names that are not vendor prefixed
+	if ( name in style ) {
+		return name;
+	}
+
+	// check for vendor prefixed names
+	var capName = name.charAt(0).toUpperCase() + name.slice(1),
+		origName = name,
+		i = cssPrefixes.length;
+
+	while ( i-- ) {
+		name = cssPrefixes[ i ] + capName;
+		if ( name in style ) {
+			return name;
+		}
+	}
+
+	return origName;
+}
+
+function isHidden( elem, el ) {
+	elem = el || elem;
+	return jQuery.css( elem, "display" ) === "none" || !jQuery.contains( elem.ownerDocument, elem );
+}
+
+function showHide( elements, show ) {
+	var elem, display,
+		values = [],
+		index = 0,
+		length = elements.length;
+
+	for ( ; index < length; index++ ) {
+		elem = elements[ index ];
+		if ( !elem.style ) {
+			continue;
+		}
+		values[ index ] = jQuery._data( elem, "olddisplay" );
+		if ( show ) {
+			// Reset the inline display of this element to learn if it is
+			// being hidden by cascaded rules or not
+			if ( !values[ index ] && elem.style.display === "none" ) {
+				elem.style.display = "";
+			}
+
+			// Set elements which have been overridden with display: none
+			// in a stylesheet to whatever the default browser style is
+			// for such an element
+			if ( elem.style.display === "" && isHidden( elem ) ) {
+				values[ index ] = jQuery._data( elem, "olddisplay", css_defaultDisplay(elem.nodeName) );
+			}
+		} else {
+			display = curCSS( elem, "display" );
+
+			if ( !values[ index ] && display !== "none" ) {
+				jQuery._data( elem, "olddisplay", display );
+			}
+		}
+	}
+
+	// Set the display of most of the elements in a second loop
+	// to avoid the constant reflow
+	for ( index = 0; index < length; index++ ) {
+		elem = elements[ index ];
+		if ( !elem.style ) {
+			continue;
+		}
+		if ( !show || elem.style.display === "none" || elem.style.display === "" ) {
+			elem.style.display = show ? values[ index ] || "" : "none";
+		}
+	}
+
+	return elements;
+}
+
+jQuery.fn.extend({
+	css: function( name, value ) {
+		return jQuery.access( this, function( elem, name, value ) {
+			return value !== undefined ?
+				jQuery.style( elem, name, value ) :
+				jQuery.css( elem, name );
+		}, name, value, arguments.length > 1 );
+	},
+	show: function() {
+		return showHide( this, true );
+	},
+	hide: function() {
+		return showHide( this );
+	},
+	toggle: function( state, fn2 ) {
+		var bool = typeof state === "boolean";
+
+		if ( jQuery.isFunction( state ) && jQuery.isFunction( fn2 ) ) {
+			return eventsToggle.apply( this, arguments );
+		}
+
+		return this.each(function() {
+			if ( bool ? state : isHidden( this ) ) {
+				jQuery( this ).show();
+			} else {
+				jQuery( this ).hide();
+			}
+		});
+	}
+});
+
+jQuery.extend({
+	// Add in style property hooks for overriding the default
+	// behavior of getting and setting a style property
+	cssHooks: {
+		opacity: {
+			get: function( elem, computed ) {
+				if ( computed ) {
+					// We should always get a number back from opacity
+					var ret = curCSS( elem, "opacity" );
+					return ret === "" ? "1" : ret;
+
+				}
+			}
+		}
+	},
+
+	// Exclude the following css properties to add px
+	cssNumber: {
+		"fillOpacity": true,
+		"fontWeight": true,
+		"lineHeight": true,
+		"opacity": true,
+		"orphans": true,
+		"widows": true,
+		"zIndex": true,
+		"zoom": true
+	},
+
+	// Add in properties whose names you wish to fix before
+	// setting or getting the value
+	cssProps: {
+		// normalize float css property
+		"float": jQuery.support.cssFloat ? "cssFloat" : "styleFloat"
+	},
+
+	// Get and set the style property on a DOM Node
+	style: function( elem, name, value, extra ) {
+		// Don't set styles on text and comment nodes
+		if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) {
+			return;
+		}
+
+		// Make sure that we're working with the right name
+		var ret, type, hooks,
+			origName = jQuery.camelCase( name ),
+			style = elem.style;
+
+		name = jQuery.cssProps[ origName ] || ( jQuery.cssProps[ origName ] = vendorPropName( style, origName ) );
+
+		// gets hook for the prefixed version
+		// followed by the unprefixed version
+		hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ];
+
+		// Check if we're setting a value
+		if ( value !== undefined ) {
+			type = typeof value;
+
+			// convert relative number strings (+= or -=) to relative numbers. #7345
+			if ( type === "string" && (ret = rrelNum.exec( value )) ) {
+				value = ( ret[1] + 1 ) * ret[2] + parseFloat( jQuery.css( elem, name ) );
+				// Fixes bug #9237
+				type = "number";
+			}
+
+			// Make sure that NaN and null values aren't set. See: #7116
+			if ( value == null || type === "number" && isNaN( value ) ) {
+				return;
+			}
+
+			// If a number was passed in, add 'px' to the (except for certain CSS properties)
+			if ( type === "number" && !jQuery.cssNumber[ origName ] ) {
+				value += "px";
+			}
+
+			// If a hook was provided, use that value, otherwise just set the specified value
+			if ( !hooks || !("set" in hooks) || (value = hooks.set( elem, value, extra )) !== undefined ) {
+				// Wrapped to prevent IE from throwing errors when 'invalid' values are provided
+				// Fixes bug #5509
+				try {
+					style[ name ] = value;
+				} catch(e) {}
+			}
+
+		} else {
+			// If a hook was provided get the non-computed value from there
+			if ( hooks && "get" in hooks && (ret = hooks.get( elem, false, extra )) !== undefined ) {
+				return ret;
+			}
+
+			// Otherwise just get the value from the style object
+			return style[ name ];
+		}
+	},
+
+	css: function( elem, name, numeric, extra ) {
+		var val, num, hooks,
+			origName = jQuery.camelCase( name );
+
+		// Make sure that we're working with the right name
+		name = jQuery.cssProps[ origName ] || ( jQuery.cssProps[ origName ] = vendorPropName( elem.style, origName ) );
+
+		// gets hook for the prefixed version
+		// followed by the unprefixed version
+		hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ];
+
+		// If a hook was provided get the computed value from there
+		if ( hooks && "get" in hooks ) {
+			val = hooks.get( elem, true, extra );
+		}
+
+		// Otherwise, if a way to get the computed value exists, use that
+		if ( val === undefined ) {
+			val = curCSS( elem, name );
+		}
+
+		//convert "normal" to computed value
+		if ( val === "normal" && name in cssNormalTransform ) {
+			val = cssNormalTransform[ name ];
+		}
+
+		// Return, converting to number if forced or a qualifier was provided and val looks numeric
+		if ( numeric || extra !== undefined ) {
+			num = parseFloat( val );
+			return numeric || jQuery.isNumeric( num ) ? num || 0 : val;
+		}
+		return val;
+	},
+
+	// A method for quickly swapping in/out CSS properties to get correct calculations
+	swap: function( elem, options, callback ) {
+		var ret, name,
+			old = {};
+
+		// Remember the old values, and insert the new ones
+		for ( name in options ) {
+			old[ name ] = elem.style[ name ];
+			elem.style[ name ] = options[ name ];
+		}
+
+		ret = callback.call( elem );
+
+		// Revert the old values
+		for ( name in options ) {
+			elem.style[ name ] = old[ name ];
+		}
+
+		return ret;
+	}
+});
+
+// NOTE: To any future maintainer, we've window.getComputedStyle
+// because jsdom on node.js will break without it.
+if ( window.getComputedStyle ) {
+	curCSS = function( elem, name ) {
+		var ret, width, minWidth, maxWidth,
+			computed = window.getComputedStyle( elem, null ),
+			style = elem.style;
+
+		if ( computed ) {
+
+			// getPropertyValue is only needed for .css('filter') in IE9, see #12537
+			ret = computed.getPropertyValue( name ) || computed[ name ];
+
+			if ( ret === "" && !jQuery.contains( elem.ownerDocument, elem ) ) {
+				ret = jQuery.style( elem, name );
+			}
+
+			// A tribute to the "awesome hack by Dean Edwards"
+			// Chrome < 17 and Safari 5.0 uses "computed value" instead of "used value" for margin-right
+			// Safari 5.1.7 (at least) returns percentage for a larger set of values, but width seems to be reliably pixels
+			// this is against the CSSOM draft spec: http://dev.w3.org/csswg/cssom/#resolved-values
+			if ( rnumnonpx.test( ret ) && rmargin.test( name ) ) {
+				width = style.width;
+				minWidth = style.minWidth;
+				maxWidth = style.maxWidth;
+
+				style.minWidth = style.maxWidth = style.width = ret;
+				ret = computed.width;
+
+				style.width = width;
+				style.minWidth = minWidth;
+				style.maxWidth = maxWidth;
+			}
+		}
+
+		return ret;
+	};
+} else if ( document.documentElement.currentStyle ) {
+	curCSS = function( elem, name ) {
+		var left, rsLeft,
+			ret = elem.currentStyle && elem.currentStyle[ name ],
+			style = elem.style;
+
+		// Avoid setting ret to empty string here
+		// so we don't default to auto
+		if ( ret == null && style && style[ name ] ) {
+			ret = style[ name ];
+		}
+
+		// From the awesome hack by Dean Edwards
+		// http://erik.eae.net/archives/2007/07/27/18.54.15/#comment-102291
+
+		// If we're not dealing with a regular pixel number
+		// but a number that has a weird ending, we need to convert it to pixels
+		// but not position css attributes, as those are proportional to the parent element instead
+		// and we can't measure the parent instead because it might trigger a "stacking dolls" problem
+		if ( rnumnonpx.test( ret ) && !rposition.test( name ) ) {
+
+			// Remember the original values
+			left = style.left;
+			rsLeft = elem.runtimeStyle && elem.runtimeStyle.left;
+
+			// Put in the new values to get a computed value out
+			if ( rsLeft ) {
+				elem.runtimeStyle.left = elem.currentStyle.left;
+			}
+			style.left = name === "fontSize" ? "1em" : ret;
+			ret = style.pixelLeft + "px";
+
+			// Revert the changed values
+			style.left = left;
+			if ( rsLeft ) {
+				elem.runtimeStyle.left = rsLeft;
+			}
+		}
+
+		return ret === "" ? "auto" : ret;
+	};
+}
+
+function setPositiveNumber( elem, value, subtract ) {
+	var matches = rnumsplit.exec( value );
+	return matches ?
+			Math.max( 0, matches[ 1 ] - ( subtract || 0 ) ) + ( matches[ 2 ] || "px" ) :
+			value;
+}
+
+function augmentWidthOrHeight( elem, name, extra, isBorderBox ) {
+	var i = extra === ( isBorderBox ? "border" : "content" ) ?
+		// If we already have the right measurement, avoid augmentation
+		4 :
+		// Otherwise initialize for horizontal or vertical properties
+		name === "width" ? 1 : 0,
+
+		val = 0;
+
+	for ( ; i < 4; i += 2 ) {
+		// both box models exclude margin, so add it if we want it
+		if ( extra === "margin" ) {
+			// we use jQuery.css instead of curCSS here
+			// because of the reliableMarginRight CSS hook!
+			val += jQuery.css( elem, extra + cssExpand[ i ], true );
+		}
+
+		// From this point on we use curCSS for maximum performance (relevant in animations)
+		if ( isBorderBox ) {
+			// border-box includes padding, so remove it if we want content
+			if ( extra === "content" ) {
+				val -= parseFloat( curCSS( elem, "padding" + cssExpand[ i ] ) ) || 0;
+			}
+
+			// at this point, extra isn't border nor margin, so remove border
+			if ( extra !== "margin" ) {
+				val -= parseFloat( curCSS( elem, "border" + cssExpand[ i ] + "Width" ) ) || 0;
+			}
+		} else {
+			// at this point, extra isn't content, so add padding
+			val += parseFloat( curCSS( elem, "padding" + cssExpand[ i ] ) ) || 0;
+
+			// at this point, extra isn't content nor padding, so add border
+			if ( extra !== "padding" ) {
+				val += parseFloat( curCSS( elem, "border" + cssExpand[ i ] + "Width" ) ) || 0;
+			}
+		}
+	}
+
+	return val;
+}
+
+function getWidthOrHeight( elem, name, extra ) {
+
+	// Start with offset property, which is equivalent to the border-box value
+	var val = name === "width" ? elem.offsetWidth : elem.offsetHeight,
+		valueIsBorderBox = true,
+		isBorderBox = jQuery.support.boxSizing && jQuery.css( elem, "boxSizing" ) === "border-box";
+
+	// some non-html elements return undefined for offsetWidth, so check for null/undefined
+	// svg - https://bugzilla.mozilla.org/show_bug.cgi?id=649285
+	// MathML - https://bugzilla.mozilla.org/show_bug.cgi?id=491668
+	if ( val <= 0 || val == null ) {
+		// Fall back to computed then uncomputed css if necessary
+		val = curCSS( elem, name );
+		if ( val < 0 || val == null ) {
+			val = elem.style[ name ];
+		}
+
+		// Computed unit is not pixels. Stop here and return.
+		if ( rnumnonpx.test(val) ) {
+			return val;
+		}
+
+		// we need the check for style in case a browser which returns unreliable values
+		// for getComputedStyle silently falls back to the reliable elem.style
+		valueIsBorderBox = isBorderBox && ( jQuery.support.boxSizingReliable || val === elem.style[ name ] );
+
+		// Normalize "", auto, and prepare for extra
+		val = parseFloat( val ) || 0;
+	}
+
+	// use the active box-sizing model to add/subtract irrelevant styles
+	return ( val +
+		augmentWidthOrHeight(
+			elem,
+			name,
+			extra || ( isBorderBox ? "border" : "content" ),
+			valueIsBorderBox
+		)
+	) + "px";
+}
+
+
+// Try to determine the default display value of an element
+function css_defaultDisplay( nodeName ) {
+	if ( elemdisplay[ nodeName ] ) {
+		return elemdisplay[ nodeName ];
+	}
+
+	var elem = jQuery( "<" + nodeName + ">" ).appendTo( document.body ),
+		display = elem.css("display");
+	elem.remove();
+
+	// If the simple way fails,
+	// get element's real default display by attaching it to a temp iframe
+	if ( display === "none" || display === "" ) {
+		// Use the already-created iframe if possible
+		iframe = document.body.appendChild(
+			iframe || jQuery.extend( document.createElement("iframe"), {
+				frameBorder: 0,
+				width: 0,
+				height: 0
+			})
+		);
+
+		// Create a cacheable copy of the iframe document on first call.
+		// IE and Opera will allow us to reuse the iframeDoc without re-writing the fake HTML
+		// document to it; WebKit & Firefox won't allow reusing the iframe document.
+		if ( !iframeDoc || !iframe.createElement ) {
+			iframeDoc = ( iframe.contentWindow || iframe.contentDocument ).document;
+			iframeDoc.write("<!doctype html><html><body>");
+			iframeDoc.close();
+		}
+
+		elem = iframeDoc.body.appendChild( iframeDoc.createElement(nodeName) );
+
+		display = curCSS( elem, "display" );
+		document.body.removeChild( iframe );
+	}
+
+	// Store the correct default display
+	elemdisplay[ nodeName ] = display;
+
+	return display;
+}
+
+jQuery.each([ "height", "width" ], function( i, name ) {
+	jQuery.cssHooks[ name ] = {
+		get: function( elem, computed, extra ) {
+			if ( computed ) {
+				// certain elements can have dimension info if we invisibly show them
+				// however, it must have a current display style that would benefit from this
+				if ( elem.offsetWidth === 0 && rdisplayswap.test( curCSS( elem, "display" ) ) ) {
+					return jQuery.swap( elem, cssShow, function() {
+						return getWidthOrHeight( elem, name, extra );
+					});
+				} else {
+					return getWidthOrHeight( elem, name, extra );
+				}
+			}
+		},
+
+		set: function( elem, value, extra ) {
+			return setPositiveNumber( elem, value, extra ?
+				augmentWidthOrHeight(
+					elem,
+					name,
+					extra,
+					jQuery.support.boxSizing && jQuery.css( elem, "boxSizing" ) === "border-box"
+				) : 0
+			);
+		}
+	};
+});
+
+if ( !jQuery.support.opacity ) {
+	jQuery.cssHooks.opacity = {
+		get: function( elem, computed ) {
+			// IE uses filters for opacity
+			return ropacity.test( (computed && elem.currentStyle ? elem.currentStyle.filter : elem.style.filter) || "" ) ?
+				( 0.01 * parseFloat( RegExp.$1 ) ) + "" :
+				computed ? "1" : "";
+		},
+
+		set: function( elem, value ) {
+			var style = elem.style,
+				currentStyle = elem.currentStyle,
+				opacity = jQuery.isNumeric( value ) ? "alpha(opacity=" + value * 100 + ")" : "",
+				filter = currentStyle && currentStyle.filter || style.filter || "";
+
+			// IE has trouble with opacity if it does not have layout
+			// Force it by setting the zoom level
+			style.zoom = 1;
+
+			// if setting opacity to 1, and no other filters exist - attempt to remove filter attribute #6652
+			if ( value >= 1 && jQuery.trim( filter.replace( ralpha, "" ) ) === "" &&
+				style.removeAttribute ) {
+
+				// Setting style.filter to null, "" & " " still leave "filter:" in the cssText
+				// if "filter:" is present at all, clearType is disabled, we want to avoid this
+				// style.removeAttribute is IE Only, but so apparently is this code path...
+				style.removeAttribute( "filter" );
+
+				// if there there is no filter style applied in a css rule, we are done
+				if ( currentStyle && !currentStyle.filter ) {
+					return;
+				}
+			}
+
+			// otherwise, set new filter values
+			style.filter = ralpha.test( filter ) ?
+				filter.replace( ralpha, opacity ) :
+				filter + " " + opacity;
+		}
+	};
+}
+
+// These hooks cannot be added until DOM ready because the support test
+// for it is not run until after DOM ready
+jQuery(function() {
+	if ( !jQuery.support.reliableMarginRight ) {
+		jQuery.cssHooks.marginRight = {
+			get: function( elem, computed ) {
+				// WebKit Bug 13343 - getComputedStyle returns wrong value for margin-right
+				// Work around by temporarily setting element display to inline-block
+				return jQuery.swap( elem, { "display": "inline-block" }, function() {
+					if ( computed ) {
+						return curCSS( elem, "marginRight" );
+					}
+				});
+			}
+		};
+	}
+
+	// Webkit bug: https://bugs.webkit.org/show_bug.cgi?id=29084
+	// getComputedStyle returns percent when specified for top/left/bottom/right
+	// rather than make the css module depend on the offset module, we just check for it here
+	if ( !jQuery.support.pixelPosition && jQuery.fn.position ) {
+		jQuery.each( [ "top", "left" ], function( i, prop ) {
+			jQuery.cssHooks[ prop ] = {
+				get: function( elem, computed ) {
+					if ( computed ) {
+						var ret = curCSS( elem, prop );
+						// if curCSS returns percentage, fallback to offset
+						return rnumnonpx.test( ret ) ? jQuery( elem ).position()[ prop ] + "px" : ret;
+					}
+				}
+			};
+		});
+	}
+
+});
+
+if ( jQuery.expr && jQuery.expr.filters ) {
+	jQuery.expr.filters.hidden = function( elem ) {
+		return ( elem.offsetWidth === 0 && elem.offsetHeight === 0 ) || (!jQuery.support.reliableHiddenOffsets && ((elem.style && elem.style.display) || curCSS( elem, "display" )) === "none");
+	};
+
+	jQuery.expr.filters.visible = function( elem ) {
+		return !jQuery.expr.filters.hidden( elem );
+	};
+}
+
+// These hooks are used by animate to expand properties
+jQuery.each({
+	margin: "",
+	padding: "",
+	border: "Width"
+}, function( prefix, suffix ) {
+	jQuery.cssHooks[ prefix + suffix ] = {
+		expand: function( value ) {
+			var i,
+
+				// assumes a single number if not a string
+				parts = typeof value === "string" ? value.split(" ") : [ value ],
+				expanded = {};
+
+			for ( i = 0; i < 4; i++ ) {
+				expanded[ prefix + cssExpand[ i ] + suffix ] =
+					parts[ i ] || parts[ i - 2 ] || parts[ 0 ];
+			}
+
+			return expanded;
+		}
+	};
+
+	if ( !rmargin.test( prefix ) ) {
+		jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber;
+	}
+});
+var r20 = /%20/g,
+	rbracket = /\[\]$/,
+	rCRLF = /\r?\n/g,
+	rinput = /^(?:color|date|datetime|datetime-local|email|hidden|month|number|password|range|search|tel|text|time|url|week)$/i,
+	rselectTextarea = /^(?:select|textarea)/i;
+
+jQuery.fn.extend({
+	serialize: function() {
+		return jQuery.param( this.serializeArray() );
+	},
+	serializeArray: function() {
+		return this.map(function(){
+			return this.elements ? jQuery.makeArray( this.elements ) : this;
+		})
+		.filter(function(){
+			return this.name && !this.disabled &&
+				( this.checked || rselectTextarea.test( this.nodeName ) ||
+					rinput.test( this.type ) );
+		})
+		.map(function( i, elem ){
+			var val = jQuery( this ).val();
+
+			return val == null ?
+				null :
+				jQuery.isArray( val ) ?
+					jQuery.map( val, function( val, i ){
+						return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) };
+					}) :
+					{ name: elem.name, value: val.replace( rCRLF, "\r\n" ) };
+		}).get();
+	}
+});
+
+//Serialize an array of form elements or a set of
+//key/values into a query string
+jQuery.param = function( a, traditional ) {
+	var prefix,
+		s = [],
+		add = function( key, value ) {
+			// If value is a function, invoke it and return its value
+			value = jQuery.isFunction( value ) ? value() : ( value == null ? "" : value );
+			s[ s.length ] = encodeURIComponent( key ) + "=" + encodeURIComponent( value );
+		};
+
+	// Set traditional to true for jQuery <= 1.3.2 behavior.
+	if ( traditional === undefined ) {
+		traditional = jQuery.ajaxSettings && jQuery.ajaxSettings.traditional;
+	}
+
+	// If an array was passed in, assume that it is an array of form elements.
+	if ( jQuery.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) {
+		// Serialize the form elements
+		jQuery.each( a, function() {
+			add( this.name, this.value );
+		});
+
+	} else {
+		// If traditional, encode the "old" way (the way 1.3.2 or older
+		// did it), otherwise encode params recursively.
+		for ( prefix in a ) {
+			buildParams( prefix, a[ prefix ], traditional, add );
+		}
+	}
+
+	// Return the resulting serialization
+	return s.join( "&" ).replace( r20, "+" );
+};
+
+function buildParams( prefix, obj, traditional, add ) {
+	var name;
+
+	if ( jQuery.isArray( obj ) ) {
+		// Serialize array item.
+		jQuery.each( obj, function( i, v ) {
+			if ( traditional || rbracket.test( prefix ) ) {
+				// Treat each array item as a scalar.
+				add( prefix, v );
+
+			} else {
+				// If array item is non-scalar (array or object), encode its
+				// numeric index to resolve deserialization ambiguity issues.
+				// Note that rack (as of 1.0.0) can't currently deserialize
+				// nested arrays properly, and attempting to do so may cause
+				// a server error. Possible fixes are to modify rack's
+				// deserialization algorithm or to provide an option or flag
+				// to force array serialization to be shallow.
+				buildParams( prefix + "[" + ( typeof v === "object" ? i : "" ) + "]", v, traditional, add );
+			}
+		});
+
+	} else if ( !traditional && jQuery.type( obj ) === "object" ) {
+		// Serialize object item.
+		for ( name in obj ) {
+			buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add );
+		}
+
+	} else {
+		// Serialize scalar item.
+		add( prefix, obj );
+	}
+}
+var
+	// Document location
+	ajaxLocParts,
+	ajaxLocation,
+
+	rhash = /#.*$/,
+	rheaders = /^(.*?):[ \t]*([^\r\n]*)\r?$/mg, // IE leaves an \r character at EOL
+	// #7653, #8125, #8152: local protocol detection
+	rlocalProtocol = /^(?:about|app|app\-storage|.+\-extension|file|res|widget):$/,
+	rnoContent = /^(?:GET|HEAD)$/,
+	rprotocol = /^\/\//,
+	rquery = /\?/,
+	rscript = /<script\b[^<]*(?:(?!<\/script>)<[^<]*)*<\/script>/gi,
+	rts = /([?&])_=[^&]*/,
+	rurl = /^([\w\+\.\-]+:)(?:\/\/([^\/?#:]*)(?::(\d+)|)|)/,
+
+	// Keep a copy of the old load method
+	_load = jQuery.fn.load,
+
+	/* Prefilters
+	 * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example)
+	 * 2) These are called:
+	 *    - BEFORE asking for a transport
+	 *    - AFTER param serialization (s.data is a string if s.processData is true)
+	 * 3) key is the dataType
+	 * 4) the catchall symbol "*" can be used
+	 * 5) execution will start with transport dataType and THEN continue down to "*" if needed
+	 */
+	prefilters = {},
+
+	/* Transports bindings
+	 * 1) key is the dataType
+	 * 2) the catchall symbol "*" can be used
+	 * 3) selection will start with transport dataType and THEN go to "*" if needed
+	 */
+	transports = {},
+
+	// Avoid comment-prolog char sequence (#10098); must appease lint and evade compression
+	allTypes = ["*/"] + ["*"];
+
+// #8138, IE may throw an exception when accessing
+// a field from window.location if document.domain has been set
+try {
+	ajaxLocation = location.href;
+} catch( e ) {
+	// Use the href attribute of an A element
+	// since IE will modify it given document.location
+	ajaxLocation = document.createElement( "a" );
+	ajaxLocation.href = "";
+	ajaxLocation = ajaxLocation.href;
+}
+
+// Segment location into parts
+ajaxLocParts = rurl.exec( ajaxLocation.toLowerCase() ) || [];
+
+// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport
+function addToPrefiltersOrTransports( structure ) {
+
+	// dataTypeExpression is optional and defaults to "*"
+	return function( dataTypeExpression, func ) {
+
+		if ( typeof dataTypeExpression !== "string" ) {
+			func = dataTypeExpression;
+			dataTypeExpression = "*";
+		}
+
+		var dataType, list, placeBefore,
+			dataTypes = dataTypeExpression.toLowerCase().split( core_rspace ),
+			i = 0,
+			length = dataTypes.length;
+
+		if ( jQuery.isFunction( func ) ) {
+			// For each dataType in the dataTypeExpression
+			for ( ; i < length; i++ ) {
+				dataType = dataTypes[ i ];
+				// We control if we're asked to add before
+				// any existing element
+				placeBefore = /^\+/.test( dataType );
+				if ( placeBefore ) {
+					dataType = dataType.substr( 1 ) || "*";
+				}
+				list = structure[ dataType ] = structure[ dataType ] || [];
+				// then we add to the structure accordingly
+				list[ placeBefore ? "unshift" : "push" ]( func );
+			}
+		}
+	};
+}
+
+// Base inspection function for prefilters and transports
+function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR,
+		dataType /* internal */, inspected /* internal */ ) {
+
+	dataType = dataType || options.dataTypes[ 0 ];
+	inspected = inspected || {};
+
+	inspected[ dataType ] = true;
+
+	var selection,
+		list = structure[ dataType ],
+		i = 0,
+		length = list ? list.length : 0,
+		executeOnly = ( structure === prefilters );
+
+	for ( ; i < length && ( executeOnly || !selection ); i++ ) {
+		selection = list[ i ]( options, originalOptions, jqXHR );
+		// If we got redirected to another dataType
+		// we try there if executing only and not done already
+		if ( typeof selection === "string" ) {
+			if ( !executeOnly || inspected[ selection ] ) {
+				selection = undefined;
+			} else {
+				options.dataTypes.unshift( selection );
+				selection = inspectPrefiltersOrTransports(
+						structure, options, originalOptions, jqXHR, selection, inspected );
+			}
+		}
+	}
+	// If we're only executing or nothing was selected
+	// we try the catchall dataType if not done already
+	if ( ( executeOnly || !selection ) && !inspected[ "*" ] ) {
+		selection = inspectPrefiltersOrTransports(
+				structure, options, originalOptions, jqXHR, "*", inspected );
+	}
+	// unnecessary when only executing (prefilters)
+	// but it'll be ignored by the caller in that case
+	return selection;
+}
+
+// A special extend for ajax options
+// that takes "flat" options (not to be deep extended)
+// Fixes #9887
+function ajaxExtend( target, src ) {
+	var key, deep,
+		flatOptions = jQuery.ajaxSettings.flatOptions || {};
+	for ( key in src ) {
+		if ( src[ key ] !== undefined ) {
+			( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ];
+		}
+	}
+	if ( deep ) {
+		jQuery.extend( true, target, deep );
+	}
+}
+
+jQuery.fn.load = function( url, params, callback ) {
+	if ( typeof url !== "string" && _load ) {
+		return _load.apply( this, arguments );
+	}
+
+	// Don't do a request if no elements are being requested
+	if ( !this.length ) {
+		return this;
+	}
+
+	var selector, type, response,
+		self = this,
+		off = url.indexOf(" ");
+
+	if ( off >= 0 ) {
+		selector = url.slice( off, url.length );
+		url = url.slice( 0, off );
+	}
+
+	// If it's a function
+	if ( jQuery.isFunction( params ) ) {
+
+		// We assume that it's the callback
+		callback = params;
+		params = undefined;
+
+	// Otherwise, build a param string
+	} else if ( params && typeof params === "object" ) {
+		type = "POST";
+	}
+
+	// Request the remote document
+	jQuery.ajax({
+		url: url,
+
+		// if "type" variable is undefined, then "GET" method will be used
+		type: type,
+		dataType: "html",
+		data: params,
+		complete: function( jqXHR, status ) {
+			if ( callback ) {
+				self.each( callback, response || [ jqXHR.responseText, status, jqXHR ] );
+			}
+		}
+	}).done(function( responseText ) {
+
+		// Save response for use in complete callback
+		response = arguments;
+
+		// See if a selector was specified
+		self.html( selector ?
+
+			// Create a dummy div to hold the results
+			jQuery("<div>")
+
+				// inject the contents of the document in, removing the scripts
+				// to avoid any 'Permission Denied' errors in IE
+				.append( responseText.replace( rscript, "" ) )
+
+				// Locate the specified elements
+				.find( selector ) :
+
+			// If not, just inject the full result
+			responseText );
+
+	});
+
+	return this;
+};
+
+// Attach a bunch of functions for handling common AJAX events
+jQuery.each( "ajaxStart ajaxStop ajaxComplete ajaxError ajaxSuccess ajaxSend".split( " " ), function( i, o ){
+	jQuery.fn[ o ] = function( f ){
+		return this.on( o, f );
+	};
+});
+
+jQuery.each( [ "get", "post" ], function( i, method ) {
+	jQuery[ method ] = function( url, data, callback, type ) {
+		// shift arguments if data argument was omitted
+		if ( jQuery.isFunction( data ) ) {
+			type = type || callback;
+			callback = data;
+			data = undefined;
+		}
+
+		return jQuery.ajax({
+			type: method,
+			url: url,
+			data: data,
+			success: callback,
+			dataType: type
+		});
+	};
+});
+
+jQuery.extend({
+
+	getScript: function( url, callback ) {
+		return jQuery.get( url, undefined, callback, "script" );
+	},
+
+	getJSON: function( url, data, callback ) {
+		return jQuery.get( url, data, callback, "json" );
+	},
+
+	// Creates a full fledged settings object into target
+	// with both ajaxSettings and settings fields.
+	// If target is omitted, writes into ajaxSettings.
+	ajaxSetup: function( target, settings ) {
+		if ( settings ) {
+			// Building a settings object
+			ajaxExtend( target, jQuery.ajaxSettings );
+		} else {
+			// Extending ajaxSettings
+			settings = target;
+			target = jQuery.ajaxSettings;
+		}
+		ajaxExtend( target, settings );
+		return target;
+	},
+
+	ajaxSettings: {
+		url: ajaxLocation,
+		isLocal: rlocalProtocol.test( ajaxLocParts[ 1 ] ),
+		global: true,
+		type: "GET",
+		contentType: "application/x-www-form-urlencoded; charset=UTF-8",
+		processData: true,
+		async: true,
+		/*
+		timeout: 0,
+		data: null,
+		dataType: null,
+		username: null,
+		password: null,
+		cache: null,
+		throws: false,
+		traditional: false,
+		headers: {},
+		*/
+
+		accepts: {
+			xml: "application/xml, text/xml",
+			html: "text/html",
+			text: "text/plain",
+			json: "application/json, text/javascript",
+			"*": allTypes
+		},
+
+		contents: {
+			xml: /xml/,
+			html: /html/,
+			json: /json/
+		},
+
+		responseFields: {
+			xml: "responseXML",
+			text: "responseText"
+		},
+
+		// List of data converters
+		// 1) key format is "source_type destination_type" (a single space in-between)
+		// 2) the catchall symbol "*" can be used for source_type
+		converters: {
+
+			// Convert anything to text
+			"* text": window.String,
+
+			// Text to html (true = no transformation)
+			"text html": true,
+
+			// Evaluate text as a json expression
+			"text json": jQuery.parseJSON,
+
+			// Parse text as xml
+			"text xml": jQuery.parseXML
+		},
+
+		// For options that shouldn't be deep extended:
+		// you can add your own custom options here if
+		// and when you create one that shouldn't be
+		// deep extended (see ajaxExtend)
+		flatOptions: {
+			context: true,
+			url: true
+		}
+	},
+
+	ajaxPrefilter: addToPrefiltersOrTransports( prefilters ),
+	ajaxTransport: addToPrefiltersOrTransports( transports ),
+
+	// Main method
+	ajax: function( url, options ) {
+
+		// If url is an object, simulate pre-1.5 signature
+		if ( typeof url === "object" ) {
+			options = url;
+			url = undefined;
+		}
+
+		// Force options to be an object
+		options = options || {};
+
+		var // ifModified key
+			ifModifiedKey,
+			// Response headers
+			responseHeadersString,
+			responseHeaders,
+			// transport
+			transport,
+			// timeout handle
+			timeoutTimer,
+			// Cross-domain detection vars
+			parts,
+			// To know if global events are to be dispatched
+			fireGlobals,
+			// Loop variable
+			i,
+			// Create the final options object
+			s = jQuery.ajaxSetup( {}, options ),
+			// Callbacks context
+			callbackContext = s.context || s,
+			// Context for global events
+			// It's the callbackContext if one was provided in the options
+			// and if it's a DOM node or a jQuery collection
+			globalEventContext = callbackContext !== s &&
+				( callbackContext.nodeType || callbackContext instanceof jQuery ) ?
+						jQuery( callbackContext ) : jQuery.event,
+			// Deferreds
+			deferred = jQuery.Deferred(),
+			completeDeferred = jQuery.Callbacks( "once memory" ),
+			// Status-dependent callbacks
+			statusCode = s.statusCode || {},
+			// Headers (they are sent all at once)
+			requestHeaders = {},
+			requestHeadersNames = {},
+			// The jqXHR state
+			state = 0,
+			// Default abort message
+			strAbort = "canceled",
+			// Fake xhr
+			jqXHR = {
+
+				readyState: 0,
+
+				// Caches the header
+				setRequestHeader: function( name, value ) {
+					if ( !state ) {
+						var lname = name.toLowerCase();
+						name = requestHeadersNames[ lname ] = requestHeadersNames[ lname ] || name;
+						requestHeaders[ name ] = value;
+					}
+					return this;
+				},
+
+				// Raw string
+				getAllResponseHeaders: function() {
+					return state === 2 ? responseHeadersString : null;
+				},
+
+				// Builds headers hashtable if needed
+				getResponseHeader: function( key ) {
+					var match;
+					if ( state === 2 ) {
+						if ( !responseHeaders ) {
+							responseHeaders = {};
+							while( ( match = rheaders.exec( responseHeadersString ) ) ) {
+								responseHeaders[ match[1].toLowerCase() ] = match[ 2 ];
+							}
+						}
+						match = responseHeaders[ key.toLowerCase() ];
+					}
+					return match === undefined ? null : match;
+				},
+
+				// Overrides response content-type header
+				overrideMimeType: function( type ) {
+					if ( !state ) {
+						s.mimeType = type;
+					}
+					return this;
+				},
+
+				// Cancel the request
+				abort: function( statusText ) {
+					statusText = statusText || strAbort;
+					if ( transport ) {
+						transport.abort( statusText );
+					}
+					done( 0, statusText );
+					return this;
+				}
+			};
+
+		// Callback for when everything is done
+		// It is defined here because jslint complains if it is declared
+		// at the end of the function (which would be more logical and readable)
+		function done( status, nativeStatusText, responses, headers ) {
+			var isSuccess, success, error, response, modified,
+				statusText = nativeStatusText;
+
+			// Called once
+			if ( state === 2 ) {
+				return;
+			}
+
+			// State is "done" now
+			state = 2;
+
+			// Clear timeout if it exists
+			if ( timeoutTimer ) {
+				clearTimeout( timeoutTimer );
+			}
+
+			// Dereference transport for early garbage collection
+			// (no matter how long the jqXHR object will be used)
+			transport = undefined;
+
+			// Cache response headers
+			responseHeadersString = headers || "";
+
+			// Set readyState
+			jqXHR.readyState = status > 0 ? 4 : 0;
+
+			// Get response data
+			if ( responses ) {
+				response = ajaxHandleResponses( s, jqXHR, responses );
+			}
+
+			// If successful, handle type chaining
+			if ( status >= 200 && status < 300 || status === 304 ) {
+
+				// Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode.
+				if ( s.ifModified ) {
+
+					modified = jqXHR.getResponseHeader("Last-Modified");
+					if ( modified ) {
+						jQuery.lastModified[ ifModifiedKey ] = modified;
+					}
+					modified = jqXHR.getResponseHeader("Etag");
+					if ( modified ) {
+						jQuery.etag[ ifModifiedKey ] = modified;
+					}
+				}
+
+				// If not modified
+				if ( status === 304 ) {
+
+					statusText = "notmodified";
+					isSuccess = true;
+
+				// If we have data
+				} else {
+
+					isSuccess = ajaxConvert( s, response );
+					statusText = isSuccess.state;
+					success = isSuccess.data;
+					error = isSuccess.error;
+					isSuccess = !error;
+				}
+			} else {
+				// We extract error from statusText
+				// then normalize statusText and status for non-aborts
+				error = statusText;
+				if ( !statusText || status ) {
+					statusText = "error";
+					if ( status < 0 ) {
+						status = 0;
+					}
+				}
+			}
+
+			// Set data for the fake xhr object
+			jqXHR.status = status;
+			jqXHR.statusText = ( nativeStatusText || statusText ) + "";
+
+			// Success/Error
+			if ( isSuccess ) {
+				deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] );
+			} else {
+				deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] );
+			}
+
+			// Status-dependent callbacks
+			jqXHR.statusCode( statusCode );
+			statusCode = undefined;
+
+			if ( fireGlobals ) {
+				globalEventContext.trigger( "ajax" + ( isSuccess ? "Success" : "Error" ),
+						[ jqXHR, s, isSuccess ? success : error ] );
+			}
+
+			// Complete
+			completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] );
+
+			if ( fireGlobals ) {
+				globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] );
+				// Handle the global AJAX counter
+				if ( !( --jQuery.active ) ) {
+					jQuery.event.trigger( "ajaxStop" );
+				}
+			}
+		}
+
+		// Attach deferreds
+		deferred.promise( jqXHR );
+		jqXHR.success = jqXHR.done;
+		jqXHR.error = jqXHR.fail;
+		jqXHR.complete = completeDeferred.add;
+
+		// Status-dependent callbacks
+		jqXHR.statusCode = function( map ) {
+			if ( map ) {
+				var tmp;
+				if ( state < 2 ) {
+					for ( tmp in map ) {
+						statusCode[ tmp ] = [ statusCode[tmp], map[tmp] ];
+					}
+				} else {
+					tmp = map[ jqXHR.status ];
+					jqXHR.always( tmp );
+				}
+			}
+			return this;
+		};
+
+		// Remove hash character (#7531: and string promotion)
+		// Add protocol if not provided (#5866: IE7 issue with protocol-less urls)
+		// We also use the url parameter if available
+		s.url = ( ( url || s.url ) + "" ).replace( rhash, "" ).replace( rprotocol, ajaxLocParts[ 1 ] + "//" );
+
+		// Extract dataTypes list
+		s.dataTypes = jQuery.trim( s.dataType || "*" ).toLowerCase().split( core_rspace );
+
+		// A cross-domain request is in order when we have a protocol:host:port mismatch
+		if ( s.crossDomain == null ) {
+			parts = rurl.exec( s.url.toLowerCase() );
+			s.crossDomain = !!( parts &&
+				( parts[ 1 ] !== ajaxLocParts[ 1 ] || parts[ 2 ] !== ajaxLocParts[ 2 ] ||
+					( parts[ 3 ] || ( parts[ 1 ] === "http:" ? 80 : 443 ) ) !=
+						( ajaxLocParts[ 3 ] || ( ajaxLocParts[ 1 ] === "http:" ? 80 : 443 ) ) )
+			);
+		}
+
+		// Convert data if not already a string
+		if ( s.data && s.processData && typeof s.data !== "string" ) {
+			s.data = jQuery.param( s.data, s.traditional );
+		}
+
+		// Apply prefilters
+		inspectPrefiltersOrTransports( prefilters, s, options, jqXHR );
+
+		// If request was aborted inside a prefilter, stop there
+		if ( state === 2 ) {
+			return jqXHR;
+		}
+
+		// We can fire global events as of now if asked to
+		fireGlobals = s.global;
+
+		// Uppercase the type
+		s.type = s.type.toUpperCase();
+
+		// Determine if request has content
+		s.hasContent = !rnoContent.test( s.type );
+
+		// Watch for a new set of requests
+		if ( fireGlobals && jQuery.active++ === 0 ) {
+			jQuery.event.trigger( "ajaxStart" );
+		}
+
+		// More options handling for requests with no content
+		if ( !s.hasContent ) {
+
+			// If data is available, append data to url
+			if ( s.data ) {
+				s.url += ( rquery.test( s.url ) ? "&" : "?" ) + s.data;
+				// #9682: remove data so that it's not used in an eventual retry
+				delete s.data;
+			}
+
+			// Get ifModifiedKey before adding the anti-cache parameter
+			ifModifiedKey = s.url;
+
+			// Add anti-cache in url if needed
+			if ( s.cache === false ) {
+
+				var ts = jQuery.now(),
+					// try replacing _= if it is there
+					ret = s.url.replace( rts, "$1_=" + ts );
+
+				// if nothing was replaced, add timestamp to the end
+				s.url = ret + ( ( ret === s.url ) ? ( rquery.test( s.url ) ? "&" : "?" ) + "_=" + ts : "" );
+			}
+		}
+
+		// Set the correct header, if data is being sent
+		if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) {
+			jqXHR.setRequestHeader( "Content-Type", s.contentType );
+		}
+
+		// Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode.
+		if ( s.ifModified ) {
+			ifModifiedKey = ifModifiedKey || s.url;
+			if ( jQuery.lastModified[ ifModifiedKey ] ) {
+				jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ ifModifiedKey ] );
+			}
+			if ( jQuery.etag[ ifModifiedKey ] ) {
+				jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ ifModifiedKey ] );
+			}
+		}
+
+		// Set the Accepts header for the server, depending on the dataType
+		jqXHR.setRequestHeader(
+			"Accept",
+			s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[0] ] ?
+				s.accepts[ s.dataTypes[0] ] + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) :
+				s.accepts[ "*" ]
+		);
+
+		// Check for headers option
+		for ( i in s.headers ) {
+			jqXHR.setRequestHeader( i, s.headers[ i ] );
+		}
+
+		// Allow custom headers/mimetypes and early abort
+		if ( s.beforeSend && ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || state === 2 ) ) {
+				// Abort if not done already and return
+				return jqXHR.abort();
+
+		}
+
+		// aborting is no longer a cancellation
+		strAbort = "abort";
+
+		// Install callbacks on deferreds
+		for ( i in { success: 1, error: 1, complete: 1 } ) {
+			jqXHR[ i ]( s[ i ] );
+		}
+
+		// Get transport
+		transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR );
+
+		// If no transport, we auto-abort
+		if ( !transport ) {
+			done( -1, "No Transport" );
+		} else {
+			jqXHR.readyState = 1;
+			// Send global event
+			if ( fireGlobals ) {
+				globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] );
+			}
+			// Timeout
+			if ( s.async && s.timeout > 0 ) {
+				timeoutTimer = setTimeout( function(){
+					jqXHR.abort( "timeout" );
+				}, s.timeout );
+			}
+
+			try {
+				state = 1;
+				transport.send( requestHeaders, done );
+			} catch (e) {
+				// Propagate exception as error if not done
+				if ( state < 2 ) {
+					done( -1, e );
+				// Simply rethrow otherwise
+				} else {
+					throw e;
+				}
+			}
+		}
+
+		return jqXHR;
+	},
+
+	// Counter for holding the number of active queries
+	active: 0,
+
+	// Last-Modified header cache for next request
+	lastModified: {},
+	etag: {}
+
+});
+
+/* Handles responses to an ajax request:
+ * - sets all responseXXX fields accordingly
+ * - finds the right dataType (mediates between content-type and expected dataType)
+ * - returns the corresponding response
+ */
+function ajaxHandleResponses( s, jqXHR, responses ) {
+
+	var ct, type, finalDataType, firstDataType,
+		contents = s.contents,
+		dataTypes = s.dataTypes,
+		responseFields = s.responseFields;
+
+	// Fill responseXXX fields
+	for ( type in responseFields ) {
+		if ( type in responses ) {
+			jqXHR[ responseFields[type] ] = responses[ type ];
+		}
+	}
+
+	// Remove auto dataType and get content-type in the process
+	while( dataTypes[ 0 ] === "*" ) {
+		dataTypes.shift();
+		if ( ct === undefined ) {
+			ct = s.mimeType || jqXHR.getResponseHeader( "content-type" );
+		}
+	}
+
+	// Check if we're dealing with a known content-type
+	if ( ct ) {
+		for ( type in contents ) {
+			if ( contents[ type ] && contents[ type ].test( ct ) ) {
+				dataTypes.unshift( type );
+				break;
+			}
+		}
+	}
+
+	// Check to see if we have a response for the expected dataType
+	if ( dataTypes[ 0 ] in responses ) {
+		finalDataType = dataTypes[ 0 ];
+	} else {
+		// Try convertible dataTypes
+		for ( type in responses ) {
+			if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[0] ] ) {
+				finalDataType = type;
+				break;
+			}
+			if ( !firstDataType ) {
+				firstDataType = type;
+			}
+		}
+		// Or just use first one
+		finalDataType = finalDataType || firstDataType;
+	}
+
+	// If we found a dataType
+	// We add the dataType to the list if needed
+	// and return the corresponding response
+	if ( finalDataType ) {
+		if ( finalDataType !== dataTypes[ 0 ] ) {
+			dataTypes.unshift( finalDataType );
+		}
+		return responses[ finalDataType ];
+	}
+}
+
+// Chain conversions given the request and the original response
+function ajaxConvert( s, response ) {
+
+	var conv, conv2, current, tmp,
+		// Work with a copy of dataTypes in case we need to modify it for conversion
+		dataTypes = s.dataTypes.slice(),
+		prev = dataTypes[ 0 ],
+		converters = {},
+		i = 0;
+
+	// Apply the dataFilter if provided
+	if ( s.dataFilter ) {
+		response = s.dataFilter( response, s.dataType );
+	}
+
+	// Create converters map with lowercased keys
+	if ( dataTypes[ 1 ] ) {
+		for ( conv in s.converters ) {
+			converters[ conv.toLowerCase() ] = s.converters[ conv ];
+		}
+	}
+
+	// Convert to each sequential dataType, tolerating list modification
+	for ( ; (current = dataTypes[++i]); ) {
+
+		// There's only work to do if current dataType is non-auto
+		if ( current !== "*" ) {
+
+			// Convert response if prev dataType is non-auto and differs from current
+			if ( prev !== "*" && prev !== current ) {
+
+				// Seek a direct converter
+				conv = converters[ prev + " " + current ] || converters[ "* " + current ];
+
+				// If none found, seek a pair
+				if ( !conv ) {
+					for ( conv2 in converters ) {
+
+						// If conv2 outputs current
+						tmp = conv2.split(" ");
+						if ( tmp[ 1 ] === current ) {
+
+							// If prev can be converted to accepted input
+							conv = converters[ prev + " " + tmp[ 0 ] ] ||
+								converters[ "* " + tmp[ 0 ] ];
+							if ( conv ) {
+								// Condense equivalence converters
+								if ( conv === true ) {
+									conv = converters[ conv2 ];
+
+								// Otherwise, insert the intermediate dataType
+								} else if ( converters[ conv2 ] !== true ) {
+									current = tmp[ 0 ];
+									dataTypes.splice( i--, 0, current );
+								}
+
+								break;
+							}
+						}
+					}
+				}
+
+				// Apply converter (if not an equivalence)
+				if ( conv !== true ) {
+
+					// Unless errors are allowed to bubble, catch and return them
+					if ( conv && s["throws"] ) {
+						response = conv( response );
+					} else {
+						try {
+							response = conv( response );
+						} catch ( e ) {
+							return { state: "parsererror", error: conv ? e : "No conversion from " + prev + " to " + current };
+						}
+					}
+				}
+			}
+
+			// Update prev for next iteration
+			prev = current;
+		}
+	}
+
+	return { state: "success", data: response };
+}
+var oldCallbacks = [],
+	rquestion = /\?/,
+	rjsonp = /(=)\?(?=&|$)|\?\?/,
+	nonce = jQuery.now();
+
+// Default jsonp settings
+jQuery.ajaxSetup({
+	jsonp: "callback",
+	jsonpCallback: function() {
+		var callback = oldCallbacks.pop() || ( jQuery.expando + "_" + ( nonce++ ) );
+		this[ callback ] = true;
+		return callback;
+	}
+});
+
+// Detect, normalize options and install callbacks for jsonp requests
+jQuery.ajaxPrefilter( "json jsonp", function( s, originalSettings, jqXHR ) {
+
+	var callbackName, overwritten, responseContainer,
+		data = s.data,
+		url = s.url,
+		hasCallback = s.jsonp !== false,
+		replaceInUrl = hasCallback && rjsonp.test( url ),
+		replaceInData = hasCallback && !replaceInUrl && typeof data === "string" &&
+			!( s.contentType || "" ).indexOf("application/x-www-form-urlencoded") &&
+			rjsonp.test( data );
+
+	// Handle iff the expected data type is "jsonp" or we have a parameter to set
+	if ( s.dataTypes[ 0 ] === "jsonp" || replaceInUrl || replaceInData ) {
+
+		// Get callback name, remembering preexisting value associated with it
+		callbackName = s.jsonpCallback = jQuery.isFunction( s.jsonpCallback ) ?
+			s.jsonpCallback() :
+			s.jsonpCallback;
+		overwritten = window[ callbackName ];
+
+		// Insert callback into url or form data
+		if ( replaceInUrl ) {
+			s.url = url.replace( rjsonp, "$1" + callbackName );
+		} else if ( replaceInData ) {
+			s.data = data.replace( rjsonp, "$1" + callbackName );
+		} else if ( hasCallback ) {
+			s.url += ( rquestion.test( url ) ? "&" : "?" ) + s.jsonp + "=" + callbackName;
+		}
+
+		// Use data converter to retrieve json after script execution
+		s.converters["script json"] = function() {
+			if ( !responseContainer ) {
+				jQuery.error( callbackName + " was not called" );
+			}
+			return responseContainer[ 0 ];
+		};
+
+		// force json dataType
+		s.dataTypes[ 0 ] = "json";
+
+		// Install callback
+		window[ callbackName ] = function() {
+			responseContainer = arguments;
+		};
+
+		// Clean-up function (fires after converters)
+		jqXHR.always(function() {
+			// Restore preexisting value
+			window[ callbackName ] = overwritten;
+
+			// Save back as free
+			if ( s[ callbackName ] ) {
+				// make sure that re-using the options doesn't screw things around
+				s.jsonpCallback = originalSettings.jsonpCallback;
+
+				// save the callback name for future use
+				oldCallbacks.push( callbackName );
+			}
+
+			// Call if it was a function and we have a response
+			if ( responseContainer && jQuery.isFunction( overwritten ) ) {
+				overwritten( responseContainer[ 0 ] );
+			}
+
+			responseContainer = overwritten = undefined;
+		});
+
+		// Delegate to script
+		return "script";
+	}
+});
+// Install script dataType
+jQuery.ajaxSetup({
+	accepts: {
+		script: "text/javascript, application/javascript, application/ecmascript, application/x-ecmascript"
+	},
+	contents: {
+		script: /javascript|ecmascript/
+	},
+	converters: {
+		"text script": function( text ) {
+			jQuery.globalEval( text );
+			return text;
+		}
+	}
+});
+
+// Handle cache's special case and global
+jQuery.ajaxPrefilter( "script", function( s ) {
+	if ( s.cache === undefined ) {
+		s.cache = false;
+	}
+	if ( s.crossDomain ) {
+		s.type = "GET";
+		s.global = false;
+	}
+});
+
+// Bind script tag hack transport
+jQuery.ajaxTransport( "script", function(s) {
+
+	// This transport only deals with cross domain requests
+	if ( s.crossDomain ) {
+
+		var script,
+			head = document.head || document.getElementsByTagName( "head" )[0] || document.documentElement;
+
+		return {
+
+			send: function( _, callback ) {
+
+				script = document.createElement( "script" );
+
+				script.async = "async";
+
+				if ( s.scriptCharset ) {
+					script.charset = s.scriptCharset;
+				}
+
+				script.src = s.url;
+
+				// Attach handlers for all browsers
+				script.onload = script.onreadystatechange = function( _, isAbort ) {
+
+					if ( isAbort || !script.readyState || /loaded|complete/.test( script.readyState ) ) {
+
+						// Handle memory leak in IE
+						script.onload = script.onreadystatechange = null;
+
+						// Remove the script
+						if ( head && script.parentNode ) {
+							head.removeChild( script );
+						}
+
+						// Dereference the script
+						script = undefined;
+
+						// Callback if not abort
+						if ( !isAbort ) {
+							callback( 200, "success" );
+						}
+					}
+				};
+				// Use insertBefore instead of appendChild  to circumvent an IE6 bug.
+				// This arises when a base node is used (#2709 and #4378).
+				head.insertBefore( script, head.firstChild );
+			},
+
+			abort: function() {
+				if ( script ) {
+					script.onload( 0, 1 );
+				}
+			}
+		};
+	}
+});
+var xhrCallbacks,
+	// #5280: Internet Explorer will keep connections alive if we don't abort on unload
+	xhrOnUnloadAbort = window.ActiveXObject ? function() {
+		// Abort all pending requests
+		for ( var key in xhrCallbacks ) {
+			xhrCallbacks[ key ]( 0, 1 );
+		}
+	} : false,
+	xhrId = 0;
+
+// Functions to create xhrs
+function createStandardXHR() {
+	try {
+		return new window.XMLHttpRequest();
+	} catch( e ) {}
+}
+
+function createActiveXHR() {
+	try {
+		return new window.ActiveXObject( "Microsoft.XMLHTTP" );
+	} catch( e ) {}
+}
+
+// Create the request object
+// (This is still attached to ajaxSettings for backward compatibility)
+jQuery.ajaxSettings.xhr = window.ActiveXObject ?
+	/* Microsoft failed to properly
+	 * implement the XMLHttpRequest in IE7 (can't request local files),
+	 * so we use the ActiveXObject when it is available
+	 * Additionally XMLHttpRequest can be disabled in IE7/IE8 so
+	 * we need a fallback.
+	 */
+	function() {
+		return !this.isLocal && createStandardXHR() || createActiveXHR();
+	} :
+	// For all other browsers, use the standard XMLHttpRequest object
+	createStandardXHR;
+
+// Determine support properties
+(function( xhr ) {
+	jQuery.extend( jQuery.support, {
+		ajax: !!xhr,
+		cors: !!xhr && ( "withCredentials" in xhr )
+	});
+})( jQuery.ajaxSettings.xhr() );
+
+// Create transport if the browser can provide an xhr
+if ( jQuery.support.ajax ) {
+
+	jQuery.ajaxTransport(function( s ) {
+		// Cross domain only allowed if supported through XMLHttpRequest
+		if ( !s.crossDomain || jQuery.support.cors ) {
+
+			var callback;
+
+			return {
+				send: function( headers, complete ) {
+
+					// Get a new xhr
+					var handle, i,
+						xhr = s.xhr();
+
+					// Open the socket
+					// Passing null username, generates a login popup on Opera (#2865)
+					if ( s.username ) {
+						xhr.open( s.type, s.url, s.async, s.username, s.password );
+					} else {
+						xhr.open( s.type, s.url, s.async );
+					}
+
+					// Apply custom fields if provided
+					if ( s.xhrFields ) {
+						for ( i in s.xhrFields ) {
+							xhr[ i ] = s.xhrFields[ i ];
+						}
+					}
+
+					// Override mime type if needed
+					if ( s.mimeType && xhr.overrideMimeType ) {
+						xhr.overrideMimeType( s.mimeType );
+					}
+
+					// X-Requested-With header
+					// For cross-domain requests, seeing as conditions for a preflight are
+					// akin to a jigsaw puzzle, we simply never set it to be sure.
+					// (it can always be set on a per-request basis or even using ajaxSetup)
+					// For same-domain requests, won't change header if already provided.
+					if ( !s.crossDomain && !headers["X-Requested-With"] ) {
+						headers[ "X-Requested-With" ] = "XMLHttpRequest";
+					}
+
+					// Need an extra try/catch for cross domain requests in Firefox 3
+					try {
+						for ( i in headers ) {
+							xhr.setRequestHeader( i, headers[ i ] );
+						}
+					} catch( _ ) {}
+
+					// Do send the request
+					// This may raise an exception which is actually
+					// handled in jQuery.ajax (so no try/catch here)
+					xhr.send( ( s.hasContent && s.data ) || null );
+
+					// Listener
+					callback = function( _, isAbort ) {
+
+						var status,
+							statusText,
+							responseHeaders,
+							responses,
+							xml;
+
+						// Firefox throws exceptions when accessing properties
+						// of an xhr when a network error occurred
+						// http://helpful.knobs-dials.com/index.php/Component_returned_failure_code:_0x80040111_(NS_ERROR_NOT_AVAILABLE)
+						try {
+
+							// Was never called and is aborted or complete
+							if ( callback && ( isAbort || xhr.readyState === 4 ) ) {
+
+								// Only called once
+								callback = undefined;
+
+								// Do not keep as active anymore
+								if ( handle ) {
+									xhr.onreadystatechange = jQuery.noop;
+									if ( xhrOnUnloadAbort ) {
+										delete xhrCallbacks[ handle ];
+									}
+								}
+
+								// If it's an abort
+								if ( isAbort ) {
+									// Abort it manually if needed
+									if ( xhr.readyState !== 4 ) {
+										xhr.abort();
+									}
+								} else {
+									status = xhr.status;
+									responseHeaders = xhr.getAllResponseHeaders();
+									responses = {};
+									xml = xhr.responseXML;
+
+									// Construct response list
+									if ( xml && xml.documentElement /* #4958 */ ) {
+										responses.xml = xml;
+									}
+
+									// When requesting binary data, IE6-9 will throw an exception
+									// on any attempt to access responseText (#11426)
+									try {
+										responses.text = xhr.responseText;
+									} catch( e ) {
+									}
+
+									// Firefox throws an exception when accessing
+									// statusText for faulty cross-domain requests
+									try {
+										statusText = xhr.statusText;
+									} catch( e ) {
+										// We normalize with Webkit giving an empty statusText
+										statusText = "";
+									}
+
+									// Filter status for non standard behaviors
+
+									// If the request is local and we have data: assume a success
+									// (success with no data won't get notified, that's the best we
+									// can do given current implementations)
+									if ( !status && s.isLocal && !s.crossDomain ) {
+										status = responses.text ? 200 : 404;
+									// IE - #1450: sometimes returns 1223 when it should be 204
+									} else if ( status === 1223 ) {
+										status = 204;
+									}
+								}
+							}
+						} catch( firefoxAccessException ) {
+							if ( !isAbort ) {
+								complete( -1, firefoxAccessException );
+							}
+						}
+
+						// Call complete if needed
+						if ( responses ) {
+							complete( status, statusText, responses, responseHeaders );
+						}
+					};
+
+					if ( !s.async ) {
+						// if we're in sync mode we fire the callback
+						callback();
+					} else if ( xhr.readyState === 4 ) {
+						// (IE6 & IE7) if it's in cache and has been
+						// retrieved directly we need to fire the callback
+						setTimeout( callback, 0 );
+					} else {
+						handle = ++xhrId;
+						if ( xhrOnUnloadAbort ) {
+							// Create the active xhrs callbacks list if needed
+							// and attach the unload handler
+							if ( !xhrCallbacks ) {
+								xhrCallbacks = {};
+								jQuery( window ).unload( xhrOnUnloadAbort );
+							}
+							// Add to list of active xhrs callbacks
+							xhrCallbacks[ handle ] = callback;
+						}
+						xhr.onreadystatechange = callback;
+					}
+				},
+
+				abort: function() {
+					if ( callback ) {
+						callback(0,1);
+					}
+				}
+			};
+		}
+	});
+}
+var fxNow, timerId,
+	rfxtypes = /^(?:toggle|show|hide)$/,
+	rfxnum = new RegExp( "^(?:([-+])=|)(" + core_pnum + ")([a-z%]*)$", "i" ),
+	rrun = /queueHooks$/,
+	animationPrefilters = [ defaultPrefilter ],
+	tweeners = {
+		"*": [function( prop, value ) {
+			var end, unit,
+				tween = this.createTween( prop, value ),
+				parts = rfxnum.exec( value ),
+				target = tween.cur(),
+				start = +target || 0,
+				scale = 1,
+				maxIterations = 20;
+
+			if ( parts ) {
+				end = +parts[2];
+				unit = parts[3] || ( jQuery.cssNumber[ prop ] ? "" : "px" );
+
+				// We need to compute starting value
+				if ( unit !== "px" && start ) {
+					// Iteratively approximate from a nonzero starting point
+					// Prefer the current property, because this process will be trivial if it uses the same units
+					// Fallback to end or a simple constant
+					start = jQuery.css( tween.elem, prop, true ) || end || 1;
+
+					do {
+						// If previous iteration zeroed out, double until we get *something*
+						// Use a string for doubling factor so we don't accidentally see scale as unchanged below
+						scale = scale || ".5";
+
+						// Adjust and apply
+						start = start / scale;
+						jQuery.style( tween.elem, prop, start + unit );
+
+					// Update scale, tolerating zero or NaN from tween.cur()
+					// And breaking the loop if scale is unchanged or perfect, or if we've just had enough
+					} while ( scale !== (scale = tween.cur() / target) && scale !== 1 && --maxIterations );
+				}
+
+				tween.unit = unit;
+				tween.start = start;
+				// If a +=/-= token was provided, we're doing a relative animation
+				tween.end = parts[1] ? start + ( parts[1] + 1 ) * end : end;
+			}
+			return tween;
+		}]
+	};
+
+// Animations created synchronously will run synchronously
+function createFxNow() {
+	setTimeout(function() {
+		fxNow = undefined;
+	}, 0 );
+	return ( fxNow = jQuery.now() );
+}
+
+function createTweens( animation, props ) {
+	jQuery.each( props, function( prop, value ) {
+		var collection = ( tweeners[ prop ] || [] ).concat( tweeners[ "*" ] ),
+			index = 0,
+			length = collection.length;
+		for ( ; index < length; index++ ) {
+			if ( collection[ index ].call( animation, prop, value ) ) {
+
+				// we're done with this property
+				return;
+			}
+		}
+	});
+}
+
+function Animation( elem, properties, options ) {
+	var result,
+		index = 0,
+		tweenerIndex = 0,
+		length = animationPrefilters.length,
+		deferred = jQuery.Deferred().always( function() {
+			// don't match elem in the :animated selector
+			delete tick.elem;
+		}),
+		tick = function() {
+			var currentTime = fxNow || createFxNow(),
+				remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ),
+				// archaic crash bug won't allow us to use 1 - ( 0.5 || 0 ) (#12497)
+				temp = remaining / animation.duration || 0,
+				percent = 1 - temp,
+				index = 0,
+				length = animation.tweens.length;
+
+			for ( ; index < length ; index++ ) {
+				animation.tweens[ index ].run( percent );
+			}
+
+			deferred.notifyWith( elem, [ animation, percent, remaining ]);
+
+			if ( percent < 1 && length ) {
+				return remaining;
+			} else {
+				deferred.resolveWith( elem, [ animation ] );
+				return false;
+			}
+		},
+		animation = deferred.promise({
+			elem: elem,
+			props: jQuery.extend( {}, properties ),
+			opts: jQuery.extend( true, { specialEasing: {} }, options ),
+			originalProperties: properties,
+			originalOptions: options,
+			startTime: fxNow || createFxNow(),
+			duration: options.duration,
+			tweens: [],
+			createTween: function( prop, end, easing ) {
+				var tween = jQuery.Tween( elem, animation.opts, prop, end,
+						animation.opts.specialEasing[ prop ] || animation.opts.easing );
+				animation.tweens.push( tween );
+				return tween;
+			},
+			stop: function( gotoEnd ) {
+				var index = 0,
+					// if we are going to the end, we want to run all the tweens
+					// otherwise we skip this part
+					length = gotoEnd ? animation.tweens.length : 0;
+
+				for ( ; index < length ; index++ ) {
+					animation.tweens[ index ].run( 1 );
+				}
+
+				// resolve when we played the last frame
+				// otherwise, reject
+				if ( gotoEnd ) {
+					deferred.resolveWith( elem, [ animation, gotoEnd ] );
+				} else {
+					deferred.rejectWith( elem, [ animation, gotoEnd ] );
+				}
+				return this;
+			}
+		}),
+		props = animation.props;
+
+	propFilter( props, animation.opts.specialEasing );
+
+	for ( ; index < length ; index++ ) {
+		result = animationPrefilters[ index ].call( animation, elem, props, animation.opts );
+		if ( result ) {
+			return result;
+		}
+	}
+
+	createTweens( animation, props );
+
+	if ( jQuery.isFunction( animation.opts.start ) ) {
+		animation.opts.start.call( elem, animation );
+	}
+
+	jQuery.fx.timer(
+		jQuery.extend( tick, {
+			anim: animation,
+			queue: animation.opts.queue,
+			elem: elem
+		})
+	);
+
+	// attach callbacks from options
+	return animation.progress( animation.opts.progress )
+		.done( animation.opts.done, animation.opts.complete )
+		.fail( animation.opts.fail )
+		.always( animation.opts.always );
+}
+
+function propFilter( props, specialEasing ) {
+	var index, name, easing, value, hooks;
+
+	// camelCase, specialEasing and expand cssHook pass
+	for ( index in props ) {
+		name = jQuery.camelCase( index );
+		easing = specialEasing[ name ];
+		value = props[ index ];
+		if ( jQuery.isArray( value ) ) {
+			easing = value[ 1 ];
+			value = props[ index ] = value[ 0 ];
+		}
+
+		if ( index !== name ) {
+			props[ name ] = value;
+			delete props[ index ];
+		}
+
+		hooks = jQuery.cssHooks[ name ];
+		if ( hooks && "expand" in hooks ) {
+			value = hooks.expand( value );
+			delete props[ name ];
+
+			// not quite $.extend, this wont overwrite keys already present.
+			// also - reusing 'index' from above because we have the correct "name"
+			for ( index in value ) {
+				if ( !( index in props ) ) {
+					props[ index ] = value[ index ];
+					specialEasing[ index ] = easing;
+				}
+			}
+		} else {
+			specialEasing[ name ] = easing;
+		}
+	}
+}
+
+jQuery.Animation = jQuery.extend( Animation, {
+
+	tweener: function( props, callback ) {
+		if ( jQuery.isFunction( props ) ) {
+			callback = props;
+			props = [ "*" ];
+		} else {
+			props = props.split(" ");
+		}
+
+		var prop,
+			index = 0,
+			length = props.length;
+
+		for ( ; index < length ; index++ ) {
+			prop = props[ index ];
+			tweeners[ prop ] = tweeners[ prop ] || [];
+			tweeners[ prop ].unshift( callback );
+		}
+	},
+
+	prefilter: function( callback, prepend ) {
+		if ( prepend ) {
+			animationPrefilters.unshift( callback );
+		} else {
+			animationPrefilters.push( callback );
+		}
+	}
+});
+
+function defaultPrefilter( elem, props, opts ) {
+	var index, prop, value, length, dataShow, toggle, tween, hooks, oldfire,
+		anim = this,
+		style = elem.style,
+		orig = {},
+		handled = [],
+		hidden = elem.nodeType && isHidden( elem );
+
+	// handle queue: false promises
+	if ( !opts.queue ) {
+		hooks = jQuery._queueHooks( elem, "fx" );
+		if ( hooks.unqueued == null ) {
+			hooks.unqueued = 0;
+			oldfire = hooks.empty.fire;
+			hooks.empty.fire = function() {
+				if ( !hooks.unqueued ) {
+					oldfire();
+				}
+			};
+		}
+		hooks.unqueued++;
+
+		anim.always(function() {
+			// doing this makes sure that the complete handler will be called
+			// before this completes
+			anim.always(function() {
+				hooks.unqueued--;
+				if ( !jQuery.queue( elem, "fx" ).length ) {
+					hooks.empty.fire();
+				}
+			});
+		});
+	}
+
+	// height/width overflow pass
+	if ( elem.nodeType === 1 && ( "height" in props || "width" in props ) ) {
+		// Make sure that nothing sneaks out
+		// Record all 3 overflow attributes because IE does not
+		// change the overflow attribute when overflowX and
+		// overflowY are set to the same value
+		opts.overflow = [ style.overflow, style.overflowX, style.overflowY ];
+
+		// Set display property to inline-block for height/width
+		// animations on inline elements that are having width/height animated
+		if ( jQuery.css( elem, "display" ) === "inline" &&
+				jQuery.css( elem, "float" ) === "none" ) {
+
+			// inline-level elements accept inline-block;
+			// block-level elements need to be inline with layout
+			if ( !jQuery.support.inlineBlockNeedsLayout || css_defaultDisplay( elem.nodeName ) === "inline" ) {
+				style.display = "inline-block";
+
+			} else {
+				style.zoom = 1;
+			}
+		}
+	}
+
+	if ( opts.overflow ) {
+		style.overflow = "hidden";
+		if ( !jQuery.support.shrinkWrapBlocks ) {
+			anim.done(function() {
+				style.overflow = opts.overflow[ 0 ];
+				style.overflowX = opts.overflow[ 1 ];
+				style.overflowY = opts.overflow[ 2 ];
+			});
+		}
+	}
+
+
+	// show/hide pass
+	for ( index in props ) {
+		value = props[ index ];
+		if ( rfxtypes.exec( value ) ) {
+			delete props[ index ];
+			toggle = toggle || value === "toggle";
+			if ( value === ( hidden ? "hide" : "show" ) ) {
+				continue;
+			}
+			handled.push( index );
+		}
+	}
+
+	length = handled.length;
+	if ( length ) {
+		dataShow = jQuery._data( elem, "fxshow" ) || jQuery._data( elem, "fxshow", {} );
+		if ( "hidden" in dataShow ) {
+			hidden = dataShow.hidden;
+		}
+
+		// store state if its toggle - enables .stop().toggle() to "reverse"
+		if ( toggle ) {
+			dataShow.hidden = !hidden;
+		}
+		if ( hidden ) {
+			jQuery( elem ).show();
+		} else {
+			anim.done(function() {
+				jQuery( elem ).hide();
+			});
+		}
+		anim.done(function() {
+			var prop;
+			jQuery.removeData( elem, "fxshow", true );
+			for ( prop in orig ) {
+				jQuery.style( elem, prop, orig[ prop ] );
+			}
+		});
+		for ( index = 0 ; index < length ; index++ ) {
+			prop = handled[ index ];
+			tween = anim.createTween( prop, hidden ? dataShow[ prop ] : 0 );
+			orig[ prop ] = dataShow[ prop ] || jQuery.style( elem, prop );
+
+			if ( !( prop in dataShow ) ) {
+				dataShow[ prop ] = tween.start;
+				if ( hidden ) {
+					tween.end = tween.start;
+					tween.start = prop === "width" || prop === "height" ? 1 : 0;
+				}
+			}
+		}
+	}
+}
+
+function Tween( elem, options, prop, end, easing ) {
+	return new Tween.prototype.init( elem, options, prop, end, easing );
+}
+jQuery.Tween = Tween;
+
+Tween.prototype = {
+	constructor: Tween,
+	init: function( elem, options, prop, end, easing, unit ) {
+		this.elem = elem;
+		this.prop = prop;
+		this.easing = easing || "swing";
+		this.options = options;
+		this.start = this.now = this.cur();
+		this.end = end;
+		this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" );
+	},
+	cur: function() {
+		var hooks = Tween.propHooks[ this.prop ];
+
+		return hooks && hooks.get ?
+			hooks.get( this ) :
+			Tween.propHooks._default.get( this );
+	},
+	run: function( percent ) {
+		var eased,
+			hooks = Tween.propHooks[ this.prop ];
+
+		if ( this.options.duration ) {
+			this.pos = eased = jQuery.easing[ this.easing ](
+				percent, this.options.duration * percent, 0, 1, this.options.duration
+			);
+		} else {
+			this.pos = eased = percent;
+		}
+		this.now = ( this.end - this.start ) * eased + this.start;
+
+		if ( this.options.step ) {
+			this.options.step.call( this.elem, this.now, this );
+		}
+
+		if ( hooks && hooks.set ) {
+			hooks.set( this );
+		} else {
+			Tween.propHooks._default.set( this );
+		}
+		return this;
+	}
+};
+
+Tween.prototype.init.prototype = Tween.prototype;
+
+Tween.propHooks = {
+	_default: {
+		get: function( tween ) {
+			var result;
+
+			if ( tween.elem[ tween.prop ] != null &&
+				(!tween.elem.style || tween.elem.style[ tween.prop ] == null) ) {
+				return tween.elem[ tween.prop ];
+			}
+
+			// passing any value as a 4th parameter to .css will automatically
+			// attempt a parseFloat and fallback to a string if the parse fails
+			// so, simple values such as "10px" are parsed to Float.
+			// complex values such as "rotate(1rad)" are returned as is.
+			result = jQuery.css( tween.elem, tween.prop, false, "" );
+			// Empty strings, null, undefined and "auto" are converted to 0.
+			return !result || result === "auto" ? 0 : result;
+		},
+		set: function( tween ) {
+			// use step hook for back compat - use cssHook if its there - use .style if its
+			// available and use plain properties where available
+			if ( jQuery.fx.step[ tween.prop ] ) {
+				jQuery.fx.step[ tween.prop ]( tween );
+			} else if ( tween.elem.style && ( tween.elem.style[ jQuery.cssProps[ tween.prop ] ] != null || jQuery.cssHooks[ tween.prop ] ) ) {
+				jQuery.style( tween.elem, tween.prop, tween.now + tween.unit );
+			} else {
+				tween.elem[ tween.prop ] = tween.now;
+			}
+		}
+	}
+};
+
+// Remove in 2.0 - this supports IE8's panic based approach
+// to setting things on disconnected nodes
+
+Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = {
+	set: function( tween ) {
+		if ( tween.elem.nodeType && tween.elem.parentNode ) {
+			tween.elem[ tween.prop ] = tween.now;
+		}
+	}
+};
+
+jQuery.each([ "toggle", "show", "hide" ], function( i, name ) {
+	var cssFn = jQuery.fn[ name ];
+	jQuery.fn[ name ] = function( speed, easing, callback ) {
+		return speed == null || typeof speed === "boolean" ||
+			// special check for .toggle( handler, handler, ... )
+			( !i && jQuery.isFunction( speed ) && jQuery.isFunction( easing ) ) ?
+			cssFn.apply( this, arguments ) :
+			this.animate( genFx( name, true ), speed, easing, callback );
+	};
+});
+
+jQuery.fn.extend({
+	fadeTo: function( speed, to, easing, callback ) {
+
+		// show any hidden elements after setting opacity to 0
+		return this.filter( isHidden ).css( "opacity", 0 ).show()
+
+			// animate to the value specified
+			.end().animate({ opacity: to }, speed, easing, callback );
+	},
+	animate: function( prop, speed, easing, callback ) {
+		var empty = jQuery.isEmptyObject( prop ),
+			optall = jQuery.speed( speed, easing, callback ),
+			doAnimation = function() {
+				// Operate on a copy of prop so per-property easing won't be lost
+				var anim = Animation( this, jQuery.extend( {}, prop ), optall );
+
+				// Empty animations resolve immediately
+				if ( empty ) {
+					anim.stop( true );
+				}
+			};
+
+		return empty || optall.queue === false ?
+			this.each( doAnimation ) :
+			this.queue( optall.queue, doAnimation );
+	},
+	stop: function( type, clearQueue, gotoEnd ) {
+		var stopQueue = function( hooks ) {
+			var stop = hooks.stop;
+			delete hooks.stop;
+			stop( gotoEnd );
+		};
+
+		if ( typeof type !== "string" ) {
+			gotoEnd = clearQueue;
+			clearQueue = type;
+			type = undefined;
+		}
+		if ( clearQueue && type !== false ) {
+			this.queue( type || "fx", [] );
+		}
+
+		return this.each(function() {
+			var dequeue = true,
+				index = type != null && type + "queueHooks",
+				timers = jQuery.timers,
+				data = jQuery._data( this );
+
+			if ( index ) {
+				if ( data[ index ] && data[ index ].stop ) {
+					stopQueue( data[ index ] );
+				}
+			} else {
+				for ( index in data ) {
+					if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) {
+						stopQueue( data[ index ] );
+					}
+				}
+			}
+
+			for ( index = timers.length; index--; ) {
+				if ( timers[ index ].elem === this && (type == null || timers[ index ].queue === type) ) {
+					timers[ index ].anim.stop( gotoEnd );
+					dequeue = false;
+					timers.splice( index, 1 );
+				}
+			}
+
+			// start the next in the queue if the last step wasn't forced
+			// timers currently will call their complete callbacks, which will dequeue
+			// but only if they were gotoEnd
+			if ( dequeue || !gotoEnd ) {
+				jQuery.dequeue( this, type );
+			}
+		});
+	}
+});
+
+// Generate parameters to create a standard animation
+function genFx( type, includeWidth ) {
+	var which,
+		attrs = { height: type },
+		i = 0;
+
+	// if we include width, step value is 1 to do all cssExpand values,
+	// if we don't include width, step value is 2 to skip over Left and Right
+	includeWidth = includeWidth? 1 : 0;
+	for( ; i < 4 ; i += 2 - includeWidth ) {
+		which = cssExpand[ i ];
+		attrs[ "margin" + which ] = attrs[ "padding" + which ] = type;
+	}
+
+	if ( includeWidth ) {
+		attrs.opacity = attrs.width = type;
+	}
+
+	return attrs;
+}
+
+// Generate shortcuts for custom animations
+jQuery.each({
+	slideDown: genFx("show"),
+	slideUp: genFx("hide"),
+	slideToggle: genFx("toggle"),
+	fadeIn: { opacity: "show" },
+	fadeOut: { opacity: "hide" },
+	fadeToggle: { opacity: "toggle" }
+}, function( name, props ) {
+	jQuery.fn[ name ] = function( speed, easing, callback ) {
+		return this.animate( props, speed, easing, callback );
+	};
+});
+
+jQuery.speed = function( speed, easing, fn ) {
+	var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : {
+		complete: fn || !fn && easing ||
+			jQuery.isFunction( speed ) && speed,
+		duration: speed,
+		easing: fn && easing || easing && !jQuery.isFunction( easing ) && easing
+	};
+
+	opt.duration = jQuery.fx.off ? 0 : typeof opt.duration === "number" ? opt.duration :
+		opt.duration in jQuery.fx.speeds ? jQuery.fx.speeds[ opt.duration ] : jQuery.fx.speeds._default;
+
+	// normalize opt.queue - true/undefined/null -> "fx"
+	if ( opt.queue == null || opt.queue === true ) {
+		opt.queue = "fx";
+	}
+
+	// Queueing
+	opt.old = opt.complete;
+
+	opt.complete = function() {
+		if ( jQuery.isFunction( opt.old ) ) {
+			opt.old.call( this );
+		}
+
+		if ( opt.queue ) {
+			jQuery.dequeue( this, opt.queue );
+		}
+	};
+
+	return opt;
+};
+
+jQuery.easing = {
+	linear: function( p ) {
+		return p;
+	},
+	swing: function( p ) {
+		return 0.5 - Math.cos( p*Math.PI ) / 2;
+	}
+};
+
+jQuery.timers = [];
+jQuery.fx = Tween.prototype.init;
+jQuery.fx.tick = function() {
+	var timer,
+		timers = jQuery.timers,
+		i = 0;
+
+	fxNow = jQuery.now();
+
+	for ( ; i < timers.length; i++ ) {
+		timer = timers[ i ];
+		// Checks the timer has not already been removed
+		if ( !timer() && timers[ i ] === timer ) {
+			timers.splice( i--, 1 );
+		}
+	}
+
+	if ( !timers.length ) {
+		jQuery.fx.stop();
+	}
+	fxNow = undefined;
+};
+
+jQuery.fx.timer = function( timer ) {
+	if ( timer() && jQuery.timers.push( timer ) && !timerId ) {
+		timerId = setInterval( jQuery.fx.tick, jQuery.fx.interval );
+	}
+};
+
+jQuery.fx.interval = 13;
+
+jQuery.fx.stop = function() {
+	clearInterval( timerId );
+	timerId = null;
+};
+
+jQuery.fx.speeds = {
+	slow: 600,
+	fast: 200,
+	// Default speed
+	_default: 400
+};
+
+// Back Compat <1.8 extension point
+jQuery.fx.step = {};
+
+if ( jQuery.expr && jQuery.expr.filters ) {
+	jQuery.expr.filters.animated = function( elem ) {
+		return jQuery.grep(jQuery.timers, function( fn ) {
+			return elem === fn.elem;
+		}).length;
+	};
+}
+var rroot = /^(?:body|html)$/i;
+
+jQuery.fn.offset = function( options ) {
+	if ( arguments.length ) {
+		return options === undefined ?
+			this :
+			this.each(function( i ) {
+				jQuery.offset.setOffset( this, options, i );
+			});
+	}
+
+	var docElem, body, win, clientTop, clientLeft, scrollTop, scrollLeft,
+		box = { top: 0, left: 0 },
+		elem = this[ 0 ],
+		doc = elem && elem.ownerDocument;
+
+	if ( !doc ) {
+		return;
+	}
+
+	if ( (body = doc.body) === elem ) {
+		return jQuery.offset.bodyOffset( elem );
+	}
+
+	docElem = doc.documentElement;
+
+	// Make sure it's not a disconnected DOM node
+	if ( !jQuery.contains( docElem, elem ) ) {
+		return box;
+	}
+
+	// If we don't have gBCR, just use 0,0 rather than error
+	// BlackBerry 5, iOS 3 (original iPhone)
+	if ( typeof elem.getBoundingClientRect !== "undefined" ) {
+		box = elem.getBoundingClientRect();
+	}
+	win = getWindow( doc );
+	clientTop  = docElem.clientTop  || body.clientTop  || 0;
+	clientLeft = docElem.clientLeft || body.clientLeft || 0;
+	scrollTop  = win.pageYOffset || docElem.scrollTop;
+	scrollLeft = win.pageXOffset || docElem.scrollLeft;
+	return {
+		top: box.top  + scrollTop  - clientTop,
+		left: box.left + scrollLeft - clientLeft
+	};
+};
+
+jQuery.offset = {
+
+	bodyOffset: function( body ) {
+		var top = body.offsetTop,
+			left = body.offsetLeft;
+
+		if ( jQuery.support.doesNotIncludeMarginInBodyOffset ) {
+			top  += parseFloat( jQuery.css(body, "marginTop") ) || 0;
+			left += parseFloat( jQuery.css(body, "marginLeft") ) || 0;
+		}
+
+		return { top: top, left: left };
+	},
+
+	setOffset: function( elem, options, i ) {
+		var position = jQuery.css( elem, "position" );
+
+		// set position first, in-case top/left are set even on static elem
+		if ( position === "static" ) {
+			elem.style.position = "relative";
+		}
+
+		var curElem = jQuery( elem ),
+			curOffset = curElem.offset(),
+			curCSSTop = jQuery.css( elem, "top" ),
+			curCSSLeft = jQuery.css( elem, "left" ),
+			calculatePosition = ( position === "absolute" || position === "fixed" ) && jQuery.inArray("auto", [curCSSTop, curCSSLeft]) > -1,
+			props = {}, curPosition = {}, curTop, curLeft;
+
+		// need to be able to calculate position if either top or left is auto and position is either absolute or fixed
+		if ( calculatePosition ) {
+			curPosition = curElem.position();
+			curTop = curPosition.top;
+			curLeft = curPosition.left;
+		} else {
+			curTop = parseFloat( curCSSTop ) || 0;
+			curLeft = parseFloat( curCSSLeft ) || 0;
+		}
+
+		if ( jQuery.isFunction( options ) ) {
+			options = options.call( elem, i, curOffset );
+		}
+
+		if ( options.top != null ) {
+			props.top = ( options.top - curOffset.top ) + curTop;
+		}
+		if ( options.left != null ) {
+			props.left = ( options.left - curOffset.left ) + curLeft;
+		}
+
+		if ( "using" in options ) {
+			options.using.call( elem, props );
+		} else {
+			curElem.css( props );
+		}
+	}
+};
+
+
+jQuery.fn.extend({
+
+	position: function() {
+		if ( !this[0] ) {
+			return;
+		}
+
+		var elem = this[0],
+
+		// Get *real* offsetParent
+		offsetParent = this.offsetParent(),
+
+		// Get correct offsets
+		offset       = this.offset(),
+		parentOffset = rroot.test(offsetParent[0].nodeName) ? { top: 0, left: 0 } : offsetParent.offset();
+
+		// Subtract element margins
+		// note: when an element has margin: auto the offsetLeft and marginLeft
+		// are the same in Safari causing offset.left to incorrectly be 0
+		offset.top  -= parseFloat( jQuery.css(elem, "marginTop") ) || 0;
+		offset.left -= parseFloat( jQuery.css(elem, "marginLeft") ) || 0;
+
+		// Add offsetParent borders
+		parentOffset.top  += parseFloat( jQuery.css(offsetParent[0], "borderTopWidth") ) || 0;
+		parentOffset.left += parseFloat( jQuery.css(offsetParent[0], "borderLeftWidth") ) || 0;
+
+		// Subtract the two offsets
+		return {
+			top:  offset.top  - parentOffset.top,
+			left: offset.left - parentOffset.left
+		};
+	},
+
+	offsetParent: function() {
+		return this.map(function() {
+			var offsetParent = this.offsetParent || document.body;
+			while ( offsetParent && (!rroot.test(offsetParent.nodeName) && jQuery.css(offsetParent, "position") === "static") ) {
+				offsetParent = offsetParent.offsetParent;
+			}
+			return offsetParent || document.body;
+		});
+	}
+});
+
+
+// Create scrollLeft and scrollTop methods
+jQuery.each( {scrollLeft: "pageXOffset", scrollTop: "pageYOffset"}, function( method, prop ) {
+	var top = /Y/.test( prop );
+
+	jQuery.fn[ method ] = function( val ) {
+		return jQuery.access( this, function( elem, method, val ) {
+			var win = getWindow( elem );
+
+			if ( val === undefined ) {
+				return win ? (prop in win) ? win[ prop ] :
+					win.document.documentElement[ method ] :
+					elem[ method ];
+			}
+
+			if ( win ) {
+				win.scrollTo(
+					!top ? val : jQuery( win ).scrollLeft(),
+					 top ? val : jQuery( win ).scrollTop()
+				);
+
+			} else {
+				elem[ method ] = val;
+			}
+		}, method, val, arguments.length, null );
+	};
+});
+
+function getWindow( elem ) {
+	return jQuery.isWindow( elem ) ?
+		elem :
+		elem.nodeType === 9 ?
+			elem.defaultView || elem.parentWindow :
+			false;
+}
+// Create innerHeight, innerWidth, height, width, outerHeight and outerWidth methods
+jQuery.each( { Height: "height", Width: "width" }, function( name, type ) {
+	jQuery.each( { padding: "inner" + name, content: type, "": "outer" + name }, function( defaultExtra, funcName ) {
+		// margin is only for outerHeight, outerWidth
+		jQuery.fn[ funcName ] = function( margin, value ) {
+			var chainable = arguments.length && ( defaultExtra || typeof margin !== "boolean" ),
+				extra = defaultExtra || ( margin === true || value === true ? "margin" : "border" );
+
+			return jQuery.access( this, function( elem, type, value ) {
+				var doc;
+
+				if ( jQuery.isWindow( elem ) ) {
+					// As of 5/8/2012 this will yield incorrect results for Mobile Safari, but there
+					// isn't a whole lot we can do. See pull request at this URL for discussion:
+					// https://github.com/jquery/jquery/pull/764
+					return elem.document.documentElement[ "client" + name ];
+				}
+
+				// Get document width or height
+				if ( elem.nodeType === 9 ) {
+					doc = elem.documentElement;
+
+					// Either scroll[Width/Height] or offset[Width/Height] or client[Width/Height], whichever is greatest
+					// unfortunately, this causes bug #3838 in IE6/8 only, but there is currently no good, small way to fix it.
+					return Math.max(
+						elem.body[ "scroll" + name ], doc[ "scroll" + name ],
+						elem.body[ "offset" + name ], doc[ "offset" + name ],
+						doc[ "client" + name ]
+					);
+				}
+
+				return value === undefined ?
+					// Get width or height on the element, requesting but not forcing parseFloat
+					jQuery.css( elem, type, value, extra ) :
+
+					// Set width or height on the element
+					jQuery.style( elem, type, value, extra );
+			}, type, chainable ? margin : undefined, chainable, null );
+		};
+	});
+});
+// Expose jQuery to the global object
+window.jQuery = window.$ = jQuery;
+
+// Expose jQuery as an AMD module, but only for AMD loaders that
+// understand the issues with loading multiple versions of jQuery
+// in a page that all might call define(). The loader will indicate
+// they have special allowances for multiple jQuery versions by
+// specifying define.amd.jQuery = true. Register as a named module,
+// since jQuery can be concatenated with other files that may use define,
+// but not use a proper concatenation script that understands anonymous
+// AMD modules. A named AMD is safest and most robust way to register.
+// Lowercase jquery is used because AMD module names are derived from
+// file names, and jQuery is normally delivered in a lowercase file name.
+// Do this after creating the global so that if an AMD module wants to call
+// noConflict to hide this version of jQuery, it will work.
+if ( typeof define === "function" && define.amd && define.amd.jQuery ) {
+	define( "jquery", [], function () { return jQuery; } );
+}
+
+})( window );
+</script>
+		<script type="application/javascript">
+(function($){$.extend({tablesorter:new
+function(){var parsers=[],widgets=[];this.defaults={cssHeader:"header",cssAsc:"headerSortUp",cssDesc:"headerSortDown",cssChildRow:"expand-child",sortInitialOrder:"asc",sortMultiSortKey:"shiftKey",sortForce:null,sortAppend:null,sortLocaleCompare:true,textExtraction:"simple",parsers:{},widgets:[],widgetZebra:{css:["even","odd"]},headers:{},widthFixed:false,cancelSelection:true,sortList:[],headerList:[],dateFormat:"us",decimal:'/\.|\,/g',onRenderHeader:null,selectorHeaders:'thead th',debug:false};function benchmark(s,d){log(s+","+(new Date().getTime()-d.getTime())+"ms");}this.benchmark=benchmark;function log(s){if(typeof console!="undefined"&&typeof console.debug!="undefined"){console.log(s);}else{alert(s);}}function buildParserCache(table,$headers){if(table.config.debug){var parsersDebug="";}if(table.tBodies.length==0)return;var rows=table.tBodies[0].rows;if(rows[0]){var list=[],cells=rows[0].cells,l=cells.length;for(var i=0;i<l;i++){var p=false;if($.metadata&&($($headers[i]).metadata()&&$($headers[i]).metadata().sorter)){p=getParserById($($headers[i]).metadata().sorter);}else if((table.config.headers[i]&&table.config.headers[i].sorter)){p=getParserById(table.config.headers[i].sorter);}if(!p){p=detectParserForColumn(table,rows,-1,i);}if(table.config.debug){parsersDebug+="column:"+i+" parser:"+p.id+"\n";}list.push(p);}}if(table.config.debug){log(parsersDebug);}return list;};function detectParserForColumn(table,rows,rowIndex,cellIndex){var l=parsers.length,node=false,nodeValue=false,keepLooking=true;while(nodeValue==''&&keepLooking){rowIndex++;if(rows[rowIndex]){node=getNodeFromRowAndCellIndex(rows,rowIndex,cellIndex);nodeValue=trimAndGetNodeText(table.config,node);if(table.config.debug){log('Checking if value was empty on row:'+rowIndex);}}else{keepLooking=false;}}for(var i=1;i<l;i++){if(parsers[i].is(nodeValue,table,node)){return parsers[i];}}return parsers[0];}function getNodeFromRowAndCellIndex(rows,rowIndex,cellIndex){return rows[rowIndex].cells[cellIndex];}function trimAndGetNodeText(config,node){return $.trim(getElementText(config,node));}function getParserById(name){var l=parsers.length;for(var i=0;i<l;i++){if(parsers[i].id.toLowerCase()==name.toLowerCase()){return parsers[i];}}return false;}function buildCache(table){if(table.config.debug){var cacheTime=new Date();}var totalRows=(table.tBodies[0]&&table.tBodies[0].rows.length)||0,totalCells=(table.tBodies[0].rows[0]&&table.tBodies[0].rows[0].cells.length)||0,parsers=table.config.parsers,cache={row:[],normalized:[]};for(var i=0;i<totalRows;++i){var c=$(table.tBodies[0].rows[i]),cols=[];if(c.hasClass(table.config.cssChildRow)){cache.row[cache.row.length-1]=cache.row[cache.row.length-1].add(c);continue;}cache.row.push(c);for(var j=0;j<totalCells;++j){cols.push(parsers[j].format(getElementText(table.config,c[0].cells[j]),table,c[0].cells[j]));}cols.push(cache.normalized.length);cache.normalized.push(cols);cols=null;};if(table.config.debug){benchmark("Building cache for "+totalRows+" rows:",cacheTime);}return cache;};function getElementText(config,node){var text="";if(!node)return"";if(!config.supportsTextContent)config.supportsTextContent=node.textContent||false;if(config.textExtraction=="simple"){if(config.supportsTextContent){text=node.textContent;}else{if(node.childNodes[0]&&node.childNodes[0].hasChildNodes()){text=node.childNodes[0].innerHTML;}else{text=node.innerHTML;}}}else{if(typeof(config.textExtraction)=="function"){text=config.textExtraction(node);}else{text=$(node).text();}}return text;}function appendToTable(table,cache){if(table.config.debug){var appendTime=new Date()}var c=cache,r=c.row,n=c.normalized,totalRows=n.length,checkCell=(n[0].length-1),tableBody=$(table.tBodies[0]),rows=[];for(var i=0;i<totalRows;i++){var pos=n[i][checkCell];rows.push(r[pos]);if(!table.config.appender){var l=r[pos].length;for(var j=0;j<l;j++){tableBody[0].appendChild(r[pos][j]);}}}if(table.config.appender){table.config.appender(table,rows);}rows=null;if(table.config.debug){benchmark("Rebuilt table:",appendTime);}applyWidget(table);setTimeout(function(){$(table).trigger("sortEnd");},0);};function buildHeaders(table){if(table.config.debug){var time=new Date();}var meta=($.metadata)?true:false;var header_index=computeTableHeaderCellIndexes(table);$tableHeaders=$(table.config.selectorHeaders,table).each(function(index){this.column=header_index[this.parentNode.rowIndex+"-"+this.cellIndex];this.order=formatSortingOrder(table.config.sortInitialOrder);this.count=this.order;if(checkHeaderMetadata(this)||checkHeaderOptions(table,index))this.sortDisabled=true;if(checkHeaderOptionsSortingLocked(table,index))this.order=this.lockedOrder=checkHeaderOptionsSortingLocked(table,index);if(!this.sortDisabled){var $th=$(this).addClass(table.config.cssHeader);if(table.config.onRenderHeader)table.config.onRenderHeader.apply($th);}table.config.headerList[index]=this;});if(table.config.debug){benchmark("Built headers:",time);log($tableHeaders);}return $tableHeaders;};function computeTableHeaderCellIndexes(t){var matrix=[];var lookup={};var thead=t.getElementsByTagName('THEAD')[0];var trs=thead.getElementsByTagName('TR');for(var i=0;i<trs.length;i++){var cells=trs[i].cells;for(var j=0;j<cells.length;j++){var c=cells[j];var rowIndex=c.parentNode.rowIndex;var cellId=rowIndex+"-"+c.cellIndex;var rowSpan=c.rowSpan||1;var colSpan=c.colSpan||1
+var firstAvailCol;if(typeof(matrix[rowIndex])=="undefined"){matrix[rowIndex]=[];}for(var k=0;k<matrix[rowIndex].length+1;k++){if(typeof(matrix[rowIndex][k])=="undefined"){firstAvailCol=k;break;}}lookup[cellId]=firstAvailCol;for(var k=rowIndex;k<rowIndex+rowSpan;k++){if(typeof(matrix[k])=="undefined"){matrix[k]=[];}var matrixrow=matrix[k];for(var l=firstAvailCol;l<firstAvailCol+colSpan;l++){matrixrow[l]="x";}}}}return lookup;}function checkCellColSpan(table,rows,row){var arr=[],r=table.tHead.rows,c=r[row].cells;for(var i=0;i<c.length;i++){var cell=c[i];if(cell.colSpan>1){arr=arr.concat(checkCellColSpan(table,headerArr,row++));}else{if(table.tHead.length==1||(cell.rowSpan>1||!r[row+1])){arr.push(cell);}}}return arr;};function checkHeaderMetadata(cell){if(($.metadata)&&($(cell).metadata().sorter===false)){return true;};return false;}function checkHeaderOptions(table,i){if((table.config.headers[i])&&(table.config.headers[i].sorter===false)){return true;};return false;}function checkHeaderOptionsSortingLocked(table,i){if((table.config.headers[i])&&(table.config.headers[i].lockedOrder))return table.config.headers[i].lockedOrder;return false;}function applyWidget(table){var c=table.config.widgets;var l=c.length;for(var i=0;i<l;i++){getWidgetById(c[i]).format(table);}}function getWidgetById(name){var l=widgets.length;for(var i=0;i<l;i++){if(widgets[i].id.toLowerCase()==name.toLowerCase()){return widgets[i];}}};function formatSortingOrder(v){if(typeof(v)!="Number"){return(v.toLowerCase()=="desc")?1:0;}else{return(v==1)?1:0;}}function isValueInArray(v,a){var l=a.length;for(var i=0;i<l;i++){if(a[i][0]==v){return true;}}return false;}function setHeadersCss(table,$headers,list,css){$headers.removeClass(css[0]).removeClass(css[1]);var h=[];$headers.each(function(offset){if(!this.sortDisabled){h[this.column]=$(this);}});var l=list.length;for(var i=0;i<l;i++){h[list[i][0]].addClass(css[list[i][1]]);}}function fixColumnWidth(table,$headers){var c=table.config;if(c.widthFixed){var colgroup=$('<colgroup>');$("tr:first td",table.tBodies[0]).each(function(){colgroup.append($('<col>').css('width',$(this).width()));});$(table).prepend(colgroup);};}function updateHeaderSortCount(table,sortList){var c=table.config,l=sortList.length;for(var i=0;i<l;i++){var s=sortList[i],o=c.headerList[s[0]];o.count=s[1];o.count++;}}function multisort(table,sortList,cache){if(table.config.debug){var sortTime=new Date();}var dynamicExp="var sortWrapper = function(a,b) {",l=sortList.length;for(var i=0;i<l;i++){var c=sortList[i][0];var order=sortList[i][1];var s=(table.config.parsers[c].type=="text")?((order==0)?makeSortFunction("text","asc",c):makeSortFunction("text","desc",c)):((order==0)?makeSortFunction("numeric","asc",c):makeSortFunction("numeric","desc",c));var e="e"+i;dynamicExp+="var "+e+" = "+s;dynamicExp+="if("+e+") { return "+e+"; } ";dynamicExp+="else { ";}var orgOrderCol=cache.normalized[0].length-1;dynamicExp+="return a["+orgOrderCol+"]-b["+orgOrderCol+"];";for(var i=0;i<l;i++){dynamicExp+="}; ";}dynamicExp+="return 0; ";dynamicExp+="}; ";if(table.config.debug){benchmark("Evaling expression:"+dynamicExp,new Date());}eval(dynamicExp);cache.normalized.sort(sortWrapper);if(table.config.debug){benchmark("Sorting on "+sortList.toString()+" and dir "+order+" time:",sortTime);}return cache;};function makeSortFunction(type,direction,index){var a="a["+index+"]",b="b["+index+"]";if(type=='text'&&direction=='asc'){return"("+a+" == "+b+" ? 0 : ("+a+" === null ? Number.POSITIVE_INFINITY : ("+b+" === null ? Number.NEGATIVE_INFINITY : ("+a+" < "+b+") ? -1 : 1 )));";}else if(type=='text'&&direction=='desc'){return"("+a+" == "+b+" ? 0 : ("+a+" === null ? Number.POSITIVE_INFINITY : ("+b+" === null ? Number.NEGATIVE_INFINITY : ("+b+" < "+a+") ? -1 : 1 )));";}else if(type=='numeric'&&direction=='asc'){return"("+a+" === null && "+b+" === null) ? 0 :("+a+" === null ? Number.POSITIVE_INFINITY : ("+b+" === null ? Number.NEGATIVE_INFINITY : "+a+" - "+b+"));";}else if(type=='numeric'&&direction=='desc'){return"("+a+" === null && "+b+" === null) ? 0 :("+a+" === null ? Number.POSITIVE_INFINITY : ("+b+" === null ? Number.NEGATIVE_INFINITY : "+b+" - "+a+"));";}};function makeSortText(i){return"((a["+i+"] < b["+i+"]) ? -1 : ((a["+i+"] > b["+i+"]) ? 1 : 0));";};function makeSortTextDesc(i){return"((b["+i+"] < a["+i+"]) ? -1 : ((b["+i+"] > a["+i+"]) ? 1 : 0));";};function makeSortNumeric(i){return"a["+i+"]-b["+i+"];";};function makeSortNumericDesc(i){return"b["+i+"]-a["+i+"];";};function sortText(a,b){if(table.config.sortLocaleCompare)return a.localeCompare(b);return((a<b)?-1:((a>b)?1:0));};function sortTextDesc(a,b){if(table.config.sortLocaleCompare)return b.localeCompare(a);return((b<a)?-1:((b>a)?1:0));};function sortNumeric(a,b){return a-b;};function sortNumericDesc(a,b){return b-a;};function getCachedSortType(parsers,i){return parsers[i].type;};this.construct=function(settings){return this.each(function(){if(!this.tHead||!this.tBodies)return;var $this,$document,$headers,cache,config,shiftDown=0,sortOrder;this.config={};config=$.extend(this.config,$.tablesorter.defaults,settings);$this=$(this);$.data(this,"tablesorter",config);$headers=buildHeaders(this);this.config.parsers=buildParserCache(this,$headers);cache=buildCache(this);var sortCSS=[config.cssDesc,config.cssAsc];fixColumnWidth(this);$headers.click(function(e){var totalRows=($this[0].tBodies[0]&&$this[0].tBodies[0].rows.length)||0;if(!this.sortDisabled&&totalRows>0){$this.trigger("sortStart");var $cell=$(this);var i=this.column;this.order=this.count++%2;if(this.lockedOrder)this.order=this.lockedOrder;if(!e[config.sortMultiSortKey]){config.sortList=[];if(config.sortForce!=null){var a=config.sortForce;for(var j=0;j<a.length;j++){if(a[j][0]!=i){config.sortList.push(a[j]);}}}config.sortList.push([i,this.order]);}else{if(isValueInArray(i,config.sortList)){for(var j=0;j<config.sortList.length;j++){var s=config.sortList[j],o=config.headerList[s[0]];if(s[0]==i){o.count=s[1];o.count++;s[1]=o.count%2;}}}else{config.sortList.push([i,this.order]);}};setTimeout(function(){setHeadersCss($this[0],$headers,config.sortList,sortCSS);appendToTable($this[0],multisort($this[0],config.sortList,cache));},1);return false;}}).mousedown(function(){if(config.cancelSelection){this.onselectstart=function(){return false};return false;}});$this.bind("update",function(){var me=this;setTimeout(function(){me.config.parsers=buildParserCache(me,$headers);cache=buildCache(me);},1);}).bind("updateCell",function(e,cell){var config=this.config;var pos=[(cell.parentNode.rowIndex-1),cell.cellIndex];cache.normalized[pos[0]][pos[1]]=config.parsers[pos[1]].format(getElementText(config,cell),cell);}).bind("sorton",function(e,list){$(this).trigger("sortStart");config.sortList=list;var sortList=config.sortList;updateHeaderSortCount(this,sortList);setHeadersCss(this,$headers,sortList,sortCSS);appendToTable(this,multisort(this,sortList,cache));}).bind("appendCache",function(){appendToTable(this,cache);}).bind("applyWidgetId",function(e,id){getWidgetById(id).format(this);}).bind("applyWidgets",function(){applyWidget(this);});if($.metadata&&($(this).metadata()&&$(this).metadata().sortlist)){config.sortList=$(this).metadata().sortlist;}if(config.sortList.length>0){$this.trigger("sorton",[config.sortList]);}applyWidget(this);});};this.addParser=function(parser){var l=parsers.length,a=true;for(var i=0;i<l;i++){if(parsers[i].id.toLowerCase()==parser.id.toLowerCase()){a=false;}}if(a){parsers.push(parser);};};this.addWidget=function(widget){widgets.push(widget);};this.formatFloat=function(s){var i=parseFloat(s);return(isNaN(i))?0:i;};this.formatInt=function(s){var i=parseInt(s);return(isNaN(i))?0:i;};this.isDigit=function(s,config){return/^[-+]?\d*$/.test($.trim(s.replace(/[,.']/g,'')));};this.clearTableBody=function(table){if($.browser.msie){function empty(){while(this.firstChild)this.removeChild(this.firstChild);}empty.apply(table.tBodies[0]);}else{table.tBodies[0].innerHTML="";}};}});$.fn.extend({tablesorter:$.tablesorter.construct});var ts=$.tablesorter;ts.addParser({id:"text",is:function(s){return true;},format:function(s){return $.trim(s.toLocaleLowerCase());},type:"text"});ts.addParser({id:"digit",is:function(s,table){var c=table.config;return $.tablesorter.isDigit(s,c);},format:function(s){return $.tablesorter.formatFloat(s);},type:"numeric"});ts.addParser({id:"currency",is:function(s){return/^[£$?.]/.test(s);},format:function(s){return $.tablesorter.formatFloat(s.replace(new 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+</script>
+		<script type="application/javascript">/* Javascript plotting library for jQuery, version 0.8.1.
+
+Copyright (c) 2007-2013 IOLA and Ole Laursen.
+Licensed under the MIT license.
+
+*/
+
+// first an inline dependency, jquery.colorhelpers.js, we inline it here
+// for convenience
+
+/* Plugin for jQuery for working with colors.
+ *
+ * Version 1.1.
+ *
+ * Inspiration from jQuery color animation plugin by John Resig.
+ *
+ * Released under the MIT license by Ole Laursen, October 2009.
+ *
+ * Examples:
+ *
+ *   $.color.parse("#fff").scale('rgb', 0.25).add('a', -0.5).toString()
+ *   var c = $.color.extract($("#mydiv"), 'background-color');
+ *   console.log(c.r, c.g, c.b, c.a);
+ *   $.color.make(100, 50, 25, 0.4).toString() // returns "rgba(100,50,25,0.4)"
+ *
+ * Note that .scale() and .add() return the same modified object
+ * instead of making a new one.
+ *
+ * V. 1.1: Fix error handling so e.g. parsing an empty string does
+ * produce a color rather than just crashing.
+ */
+(function(B){B.color={};B.color.make=function(F,E,C,D){var G={};G.r=F||0;G.g=E||0;G.b=C||0;G.a=D!=null?D:1;G.add=function(J,I){for(var H=0;H<J.length;++H){G[J.charAt(H)]+=I}return G.normalize()};G.scale=function(J,I){for(var H=0;H<J.length;++H){G[J.charAt(H)]*=I}return G.normalize()};G.toString=function(){if(G.a>=1){return"rgb("+[G.r,G.g,G.b].join(",")+")"}else{return"rgba("+[G.r,G.g,G.b,G.a].join(",")+")"}};G.normalize=function(){function H(J,K,I){return K<J?J:(K>I?I:K)}G.r=H(0,parseInt(G.r),255);G.g=H(0,parseInt(G.g),255);G.b=H(0,parseInt(G.b),255);G.a=H(0,G.a,1);return G};G.clone=function(){return B.color.make(G.r,G.b,G.g,G.a)};return G.normalize()};B.color.extract=function(D,C){var E;do{E=D.css(C).toLowerCase();if(E!=""&&E!="transparent"){break}D=D.parent()}while(!B.nodeName(D.get(0),"body"));if(E=="rgba(0, 0, 0, 0)"){E="transparent"}return B.color.parse(E)};B.color.parse=function(F){var E,C=B.color.make;if(E=/rgb\(\s*([0-9]{1,3})\s*,\s*([0-9]{1,3})\s*,\s*([0-9]{1,3})\s*\)/.exec(F)){return C(parseInt(E[1],10),parseInt(E[2],10),parseInt(E[3],10))}if(E=/rgba\(\s*([0-9]{1,3})\s*,\s*([0-9]{1,3})\s*,\s*([0-9]{1,3})\s*,\s*([0-9]+(?:\.[0-9]+)?)\s*\)/.exec(F)){return C(parseInt(E[1],10),parseInt(E[2],10),parseInt(E[3],10),parseFloat(E[4]))}if(E=/rgb\(\s*([0-9]+(?:\.[0-9]+)?)\%\s*,\s*([0-9]+(?:\.[0-9]+)?)\%\s*,\s*([0-9]+(?:\.[0-9]+)?)\%\s*\)/.exec(F)){return C(parseFloat(E[1])*2.55,parseFloat(E[2])*2.55,parseFloat(E[3])*2.55)}if(E=/rgba\(\s*([0-9]+(?:\.[0-9]+)?)\%\s*,\s*([0-9]+(?:\.[0-9]+)?)\%\s*,\s*([0-9]+(?:\.[0-9]+)?)\%\s*,\s*([0-9]+(?:\.[0-9]+)?)\s*\)/.exec(F)){return C(parseFloat(E[1])*2.55,parseFloat(E[2])*2.55,parseFloat(E[3])*2.55,parseFloat(E[4]))}if(E=/#([a-fA-F0-9]{2})([a-fA-F0-9]{2})([a-fA-F0-9]{2})/.exec(F)){return C(parseInt(E[1],16),parseInt(E[2],16),parseInt(E[3],16))}if(E=/#([a-fA-F0-9])([a-fA-F0-9])([a-fA-F0-9])/.exec(F)){return C(parseInt(E[1]+E[1],16),parseInt(E[2]+E[2],16),parseInt(E[3]+E[3],16))}var D=B.trim(F).toLowerCase();if(D=="transparent"){return C(255,255,255,0)}else{E=A[D]||[0,0,0];return C(E[0],E[1],E[2])}};var A={aqua:[0,255,255],azure:[240,255,255],beige:[245,245,220],black:[0,0,0],blue:[0,0,255],brown:[165,42,42],cyan:[0,255,255],darkblue:[0,0,139],darkcyan:[0,139,139],darkgrey:[169,169,169],darkgreen:[0,100,0],darkkhaki:[189,183,107],darkmagenta:[139,0,139],darkolivegreen:[85,107,47],darkorange:[255,140,0],darkorchid:[153,50,204],darkred:[139,0,0],darksalmon:[233,150,122],darkviolet:[148,0,211],fuchsia:[255,0,255],gold:[255,215,0],green:[0,128,0],indigo:[75,0,130],khaki:[240,230,140],lightblue:[173,216,230],lightcyan:[224,255,255],lightgreen:[144,238,144],lightgrey:[211,211,211],lightpink:[255,182,193],lightyellow:[255,255,224],lime:[0,255,0],magenta:[255,0,255],maroon:[128,0,0],navy:[0,0,128],olive:[128,128,0],orange:[255,165,0],pink:[255,192,203],purple:[128,0,128],violet:[128,0,128],red:[255,0,0],silver:[192,192,192],white:[255,255,255],yellow:[255,255,0]}})(jQuery);
+
+// the actual Flot code
+(function($) {
+
+	// Cache the prototype hasOwnProperty for faster access
+
+	var hasOwnProperty = Object.prototype.hasOwnProperty;
+
+	///////////////////////////////////////////////////////////////////////////
+	// The Canvas object is a wrapper around an HTML5 <canvas> tag.
+	//
+	// @constructor
+	// @param {string} cls List of classes to apply to the canvas.
+	// @param {element} container Element onto which to append the canvas.
+	//
+	// Requiring a container is a little iffy, but unfortunately canvas
+	// operations don't work unless the canvas is attached to the DOM.
+
+	function Canvas(cls, container) {
+
+		var element = container.children("." + cls)[0];
+
+		if (element == null) {
+
+			element = document.createElement("canvas");
+			element.className = cls;
+
+			$(element).css({ direction: "ltr", position: "absolute", left: 0, top: 0 })
+				.appendTo(container);
+
+			// If HTML5 Canvas isn't available, fall back to [Ex|Flash]canvas
+
+			if (!element.getContext) {
+				if (window.G_vmlCanvasManager) {
+					element = window.G_vmlCanvasManager.initElement(element);
+				} else {
+					throw new Error("Canvas is not available. If you're using IE with a fall-back such as Excanvas, then there's either a mistake in your conditional include, or the page has no DOCTYPE and is rendering in Quirks Mode.");
+				}
+			}
+		}
+
+		this.element = element;
+
+		var context = this.context = element.getContext("2d");
+
+		// Determine the screen's ratio of physical to device-independent
+		// pixels.  This is the ratio between the canvas width that the browser
+		// advertises and the number of pixels actually present in that space.
+
+		// The iPhone 4, for example, has a device-independent width of 320px,
+		// but its screen is actually 640px wide.  It therefore has a pixel
+		// ratio of 2, while most normal devices have a ratio of 1.
+
+		var devicePixelRatio = window.devicePixelRatio || 1,
+			backingStoreRatio =
+				context.webkitBackingStorePixelRatio ||
+				context.mozBackingStorePixelRatio ||
+				context.msBackingStorePixelRatio ||
+				context.oBackingStorePixelRatio ||
+				context.backingStorePixelRatio || 1;
+
+		this.pixelRatio = devicePixelRatio / backingStoreRatio;
+
+		// Size the canvas to match the internal dimensions of its container
+
+		this.resize(container.width(), container.height());
+
+		// Collection of HTML div layers for text overlaid onto the canvas
+
+		this.textContainer = null;
+		this.text = {};
+
+		// Cache of text fragments and metrics, so we can avoid expensively
+		// re-calculating them when the plot is re-rendered in a loop.
+
+		this._textCache = {};
+	}
+
+	// Resizes the canvas to the given dimensions.
+	//
+	// @param {number} width New width of the canvas, in pixels.
+	// @param {number} width New height of the canvas, in pixels.
+
+	Canvas.prototype.resize = function(width, height) {
+
+		if (width <= 0 || height <= 0) {
+			throw new Error("Invalid dimensions for plot, width = " + width + ", height = " + height);
+		}
+
+		var element = this.element,
+			context = this.context,
+			pixelRatio = this.pixelRatio;
+
+		// Resize the canvas, increasing its density based on the display's
+		// pixel ratio; basically giving it more pixels without increasing the
+		// size of its element, to take advantage of the fact that retina
+		// displays have that many more pixels in the same advertised space.
+
+		// Resizing should reset the state (excanvas seems to be buggy though)
+
+		if (this.width != width) {
+			element.width = width * pixelRatio;
+			element.style.width = width + "px";
+			this.width = width;
+		}
+
+		if (this.height != height) {
+			element.height = height * pixelRatio;
+			element.style.height = height + "px";
+			this.height = height;
+		}
+
+		// Save the context, so we can reset in case we get replotted.  The
+		// restore ensure that we're really back at the initial state, and
+		// should be safe even if we haven't saved the initial state yet.
+
+		context.restore();
+		context.save();
+
+		// Scale the coordinate space to match the display density; so even though we
+		// may have twice as many pixels, we still want lines and other drawing to
+		// appear at the same size; the extra pixels will just make them crisper.
+
+		context.scale(pixelRatio, pixelRatio);
+	};
+
+	// Clears the entire canvas area, not including any overlaid HTML text
+
+	Canvas.prototype.clear = function() {
+		this.context.clearRect(0, 0, this.width, this.height);
+	};
+
+	// Finishes rendering the canvas, including managing the text overlay.
+
+	Canvas.prototype.render = function() {
+
+		var cache = this._textCache;
+
+		// For each text layer, add elements marked as active that haven't
+		// already been rendered, and remove those that are no longer active.
+
+		for (var layerKey in cache) {
+			if (hasOwnProperty.call(cache, layerKey)) {
+
+				var layer = this.getTextLayer(layerKey),
+					layerCache = cache[layerKey];
+
+				layer.hide();
+
+				for (var styleKey in layerCache) {
+					if (hasOwnProperty.call(layerCache, styleKey)) {
+						var styleCache = layerCache[styleKey];
+						for (var key in styleCache) {
+							if (hasOwnProperty.call(styleCache, key)) {
+
+								var positions = styleCache[key].positions;
+
+								for (var i = 0, position; position = positions[i]; i++) {
+									if (position.active) {
+										if (!position.rendered) {
+											layer.append(position.element);
+											position.rendered = true;
+										}
+									} else {
+										positions.splice(i--, 1);
+										if (position.rendered) {
+											position.element.detach();
+										}
+									}
+								}
+
+								if (positions.length == 0) {
+									delete styleCache[key];
+								}
+							}
+						}
+					}
+				}
+
+				layer.show();
+			}
+		}
+	};
+
+	// Creates (if necessary) and returns the text overlay container.
+	//
+	// @param {string} classes String of space-separated CSS classes used to
+	//     uniquely identify the text layer.
+	// @return {object} The jQuery-wrapped text-layer div.
+
+	Canvas.prototype.getTextLayer = function(classes) {
+
+		var layer = this.text[classes];
+
+		// Create the text layer if it doesn't exist
+
+		if (layer == null) {
+
+			// Create the text layer container, if it doesn't exist
+
+			if (this.textContainer == null) {
+				this.textContainer = $("<div class='flot-text'></div>")
+					.css({
+						position: "absolute",
+						top: 0,
+						left: 0,
+						bottom: 0,
+						right: 0,
+						'font-size': "smaller",
+						color: "#545454"
+					})
+					.insertAfter(this.element);
+			}
+
+			layer = this.text[classes] = $("<div></div>")
+				.addClass(classes)
+				.css({
+					position: "absolute",
+					top: 0,
+					left: 0,
+					bottom: 0,
+					right: 0
+				})
+				.appendTo(this.textContainer);
+		}
+
+		return layer;
+	};
+
+	// Creates (if necessary) and returns a text info object.
+	//
+	// The object looks like this:
+	//
+	// {
+	//     width: Width of the text's wrapper div.
+	//     height: Height of the text's wrapper div.
+	//     element: The jQuery-wrapped HTML div containing the text.
+	//     positions: Array of positions at which this text is drawn.
+	// }
+	//
+	// The positions array contains objects that look like this:
+	//
+	// {
+	//     active: Flag indicating whether the text should be visible.
+	//     rendered: Flag indicating whether the text is currently visible.
+	//     element: The jQuery-wrapped HTML div containing the text.
+	//     x: X coordinate at which to draw the text.
+	//     y: Y coordinate at which to draw the text.
+	// }
+	//
+	// Each position after the first receives a clone of the original element.
+	//
+	// The idea is that that the width, height, and general 'identity' of the
+	// text is constant no matter where it is placed; the placements are a
+	// secondary property.
+	//
+	// Canvas maintains a cache of recently-used text info objects; getTextInfo
+	// either returns the cached element or creates a new entry.
+	//
+	// @param {string} layer A string of space-separated CSS classes uniquely
+	//     identifying the layer containing this text.
+	// @param {string} text Text string to retrieve info for.
+	// @param {(string|object)=} font Either a string of space-separated CSS
+	//     classes or a font-spec object, defining the text's font and style.
+	// @param {number=} angle Angle at which to rotate the text, in degrees.
+	//     Angle is currently unused, it will be implemented in the future.
+	// @param {number=} width Maximum width of the text before it wraps.
+	// @return {object} a text info object.
+
+	Canvas.prototype.getTextInfo = function(layer, text, font, angle, width) {
+
+		var textStyle, layerCache, styleCache, info;
+
+		// Cast the value to a string, in case we were given a number or such
+
+		text = "" + text;
+
+		// If the font is a font-spec object, generate a CSS font definition
+
+		if (typeof font === "object") {
+			textStyle = font.style + " " + font.variant + " " + font.weight + " " + font.size + "px/" + font.lineHeight + "px " + font.family;
+		} else {
+			textStyle = font;
+		}
+
+		// Retrieve (or create) the cache for the text's layer and styles
+
+		layerCache = this._textCache[layer];
+
+		if (layerCache == null) {
+			layerCache = this._textCache[layer] = {};
+		}
+
+		styleCache = layerCache[textStyle];
+
+		if (styleCache == null) {
+			styleCache = layerCache[textStyle] = {};
+		}
+
+		info = styleCache[text];
+
+		// If we can't find a matching element in our cache, create a new one
+
+		if (info == null) {
+
+			var element = $("<div></div>").html(text)
+				.css({
+					position: "absolute",
+					'max-width': width,
+					top: -9999
+				})
+				.appendTo(this.getTextLayer(layer));
+
+			if (typeof font === "object") {
+				element.css({
+					font: textStyle,
+					color: font.color
+				});
+			} else if (typeof font === "string") {
+				element.addClass(font);
+			}
+
+			info = styleCache[text] = {
+				width: element.outerWidth(true),
+				height: element.outerHeight(true),
+				element: element,
+				positions: []
+			};
+
+			element.detach();
+		}
+
+		return info;
+	};
+
+	// Adds a text string to the canvas text overlay.
+	//
+	// The text isn't drawn immediately; it is marked as rendering, which will
+	// result in its addition to the canvas on the next render pass.
+	//
+	// @param {string} layer A string of space-separated CSS classes uniquely
+	//     identifying the layer containing this text.
+	// @param {number} x X coordinate at which to draw the text.
+	// @param {number} y Y coordinate at which to draw the text.
+	// @param {string} text Text string to draw.
+	// @param {(string|object)=} font Either a string of space-separated CSS
+	//     classes or a font-spec object, defining the text's font and style.
+	// @param {number=} angle Angle at which to rotate the text, in degrees.
+	//     Angle is currently unused, it will be implemented in the future.
+	// @param {number=} width Maximum width of the text before it wraps.
+	// @param {string=} halign Horizontal alignment of the text; either "left",
+	//     "center" or "right".
+	// @param {string=} valign Vertical alignment of the text; either "top",
+	//     "middle" or "bottom".
+
+	Canvas.prototype.addText = function(layer, x, y, text, font, angle, width, halign, valign) {
+
+		var info = this.getTextInfo(layer, text, font, angle, width),
+			positions = info.positions;
+
+		// Tweak the div's position to match the text's alignment
+
+		if (halign == "center") {
+			x -= info.width / 2;
+		} else if (halign == "right") {
+			x -= info.width;
+		}
+
+		if (valign == "middle") {
+			y -= info.height / 2;
+		} else if (valign == "bottom") {
+			y -= info.height;
+		}
+
+		// Determine whether this text already exists at this position.
+		// If so, mark it for inclusion in the next render pass.
+
+		for (var i = 0, position; position = positions[i]; i++) {
+			if (position.x == x && position.y == y) {
+				position.active = true;
+				return;
+			}
+		}
+
+		// If the text doesn't exist at this position, create a new entry
+
+		// For the very first position we'll re-use the original element,
+		// while for subsequent ones we'll clone it.
+
+		position = {
+			active: true,
+			rendered: false,
+			element: positions.length ? info.element.clone() : info.element,
+			x: x,
+			y: y
+		}
+
+		positions.push(position);
+
+		// Move the element to its final position within the container
+
+		position.element.css({
+			top: Math.round(y),
+			left: Math.round(x),
+			'text-align': halign	// In case the text wraps
+		});
+	};
+
+	// Removes one or more text strings from the canvas text overlay.
+	//
+	// If no parameters are given, all text within the layer is removed.
+	//
+	// Note that the text is not immediately removed; it is simply marked as
+	// inactive, which will result in its removal on the next render pass.
+	// This avoids the performance penalty for 'clear and redraw' behavior,
+	// where we potentially get rid of all text on a layer, but will likely
+	// add back most or all of it later, as when redrawing axes, for example.
+	//
+	// @param {string} layer A string of space-separated CSS classes uniquely
+	//     identifying the layer containing this text.
+	// @param {number=} x X coordinate of the text.
+	// @param {number=} y Y coordinate of the text.
+	// @param {string=} text Text string to remove.
+	// @param {(string|object)=} font Either a string of space-separated CSS
+	//     classes or a font-spec object, defining the text's font and style.
+	// @param {number=} angle Angle at which the text is rotated, in degrees.
+	//     Angle is currently unused, it will be implemented in the future.
+
+	Canvas.prototype.removeText = function(layer, x, y, text, font, angle) {
+		if (text == null) {
+			var layerCache = this._textCache[layer];
+			if (layerCache != null) {
+				for (var styleKey in layerCache) {
+					if (hasOwnProperty.call(layerCache, styleKey)) {
+						var styleCache = layerCache[styleKey];
+						for (var key in styleCache) {
+							if (hasOwnProperty.call(styleCache, key)) {
+								var positions = styleCache[key].positions;
+								for (var i = 0, position; position = positions[i]; i++) {
+									position.active = false;
+								}
+							}
+						}
+					}
+				}
+			}
+		} else {
+			var positions = this.getTextInfo(layer, text, font, angle).positions;
+			for (var i = 0, position; position = positions[i]; i++) {
+				if (position.x == x && position.y == y) {
+					position.active = false;
+				}
+			}
+		}
+	};
+
+	///////////////////////////////////////////////////////////////////////////
+	// The top-level container for the entire plot.
+
+    function Plot(placeholder, data_, options_, plugins) {
+        // data is on the form:
+        //   [ series1, series2 ... ]
+        // where series is either just the data as [ [x1, y1], [x2, y2], ... ]
+        // or { data: [ [x1, y1], [x2, y2], ... ], label: "some label", ... }
+
+        var series = [],
+            options = {
+                // the color theme used for graphs
+                colors: ["#edc240", "#afd8f8", "#cb4b4b", "#4da74d", "#9440ed"],
+                legend: {
+                    show: true,
+                    noColumns: 1, // number of colums in legend table
+                    labelFormatter: null, // fn: string -> string
+                    labelBoxBorderColor: "#ccc", // border color for the little label boxes
+                    container: null, // container (as jQuery object) to put legend in, null means default on top of graph
+                    position: "ne", // position of default legend container within plot
+                    margin: 5, // distance from grid edge to default legend container within plot
+                    backgroundColor: null, // null means auto-detect
+                    backgroundOpacity: 0.85, // set to 0 to avoid background
+                    sorted: null    // default to no legend sorting
+                },
+                xaxis: {
+                    show: null, // null = auto-detect, true = always, false = never
+                    position: "bottom", // or "top"
+                    mode: null, // null or "time"
+                    font: null, // null (derived from CSS in placeholder) or object like { size: 11, lineHeight: 13, style: "italic", weight: "bold", family: "sans-serif", variant: "small-caps" }
+                    color: null, // base color, labels, ticks
+                    tickColor: null, // possibly different color of ticks, e.g. "rgba(0,0,0,0.15)"
+                    transform: null, // null or f: number -> number to transform axis
+                    inverseTransform: null, // if transform is set, this should be the inverse function
+                    min: null, // min. value to show, null means set automatically
+                    max: null, // max. value to show, null means set automatically
+                    autoscaleMargin: null, // margin in % to add if auto-setting min/max
+                    ticks: null, // either [1, 3] or [[1, "a"], 3] or (fn: axis info -> ticks) or app. number of ticks for auto-ticks
+                    tickFormatter: null, // fn: number -> string
+                    labelWidth: null, // size of tick labels in pixels
+                    labelHeight: null,
+                    reserveSpace: null, // whether to reserve space even if axis isn't shown
+                    tickLength: null, // size in pixels of ticks, or "full" for whole line
+                    alignTicksWithAxis: null, // axis number or null for no sync
+                    tickDecimals: null, // no. of decimals, null means auto
+                    tickSize: null, // number or [number, "unit"]
+                    minTickSize: null // number or [number, "unit"]
+                },
+                yaxis: {
+                    autoscaleMargin: 0.02,
+                    position: "left" // or "right"
+                },
+                xaxes: [],
+                yaxes: [],
+                series: {
+                    points: {
+                        show: false,
+                        radius: 3,
+                        lineWidth: 2, // in pixels
+                        fill: true,
+                        fillColor: "#ffffff",
+                        symbol: "circle" // or callback
+                    },
+                    lines: {
+                        // we don't put in show: false so we can see
+                        // whether lines were actively disabled
+                        lineWidth: 2, // in pixels
+                        fill: false,
+                        fillColor: null,
+                        steps: false
+                        // Omit 'zero', so we can later default its value to
+                        // match that of the 'fill' option.
+                    },
+                    bars: {
+                        show: false,
+                        lineWidth: 2, // in pixels
+                        barWidth: 1, // in units of the x axis
+                        fill: true,
+                        fillColor: null,
+                        align: "left", // "left", "right", or "center"
+                        horizontal: false,
+                        zero: true
+                    },
+                    shadowSize: 3,
+                    highlightColor: null
+                },
+                grid: {
+                    show: true,
+                    aboveData: false,
+                    color: "#545454", // primary color used for outline and labels
+                    backgroundColor: null, // null for transparent, else color
+                    borderColor: null, // set if different from the grid color
+                    tickColor: null, // color for the ticks, e.g. "rgba(0,0,0,0.15)"
+                    margin: 0, // distance from the canvas edge to the grid
+                    labelMargin: 5, // in pixels
+                    axisMargin: 8, // in pixels
+                    borderWidth: 2, // in pixels
+                    minBorderMargin: null, // in pixels, null means taken from points radius
+                    markings: null, // array of ranges or fn: axes -> array of ranges
+                    markingsColor: "#f4f4f4",
+                    markingsLineWidth: 2,
+                    // interactive stuff
+                    clickable: false,
+                    hoverable: false,
+                    autoHighlight: true, // highlight in case mouse is near
+                    mouseActiveRadius: 10 // how far the mouse can be away to activate an item
+                },
+                interaction: {
+                    redrawOverlayInterval: 1000/60 // time between updates, -1 means in same flow
+                },
+                hooks: {}
+            },
+        surface = null,     // the canvas for the plot itself
+        overlay = null,     // canvas for interactive stuff on top of plot
+        eventHolder = null, // jQuery object that events should be bound to
+        ctx = null, octx = null,
+        xaxes = [], yaxes = [],
+        plotOffset = { left: 0, right: 0, top: 0, bottom: 0},
+        plotWidth = 0, plotHeight = 0,
+        hooks = {
+            processOptions: [],
+            processRawData: [],
+            processDatapoints: [],
+            processOffset: [],
+            drawBackground: [],
+            drawSeries: [],
+            draw: [],
+            bindEvents: [],
+            drawOverlay: [],
+            shutdown: []
+        },
+        plot = this;
+
+        // public functions
+        plot.setData = setData;
+        plot.setupGrid = setupGrid;
+        plot.draw = draw;
+        plot.getPlaceholder = function() { return placeholder; };
+        plot.getCanvas = function() { return surface.element; };
+        plot.getPlotOffset = function() { return plotOffset; };
+        plot.width = function () { return plotWidth; };
+        plot.height = function () { return plotHeight; };
+        plot.offset = function () {
+            var o = eventHolder.offset();
+            o.left += plotOffset.left;
+            o.top += plotOffset.top;
+            return o;
+        };
+        plot.getData = function () { return series; };
+        plot.getAxes = function () {
+            var res = {}, i;
+            $.each(xaxes.concat(yaxes), function (_, axis) {
+                if (axis)
+                    res[axis.direction + (axis.n != 1 ? axis.n : "") + "axis"] = axis;
+            });
+            return res;
+        };
+        plot.getXAxes = function () { return xaxes; };
+        plot.getYAxes = function () { return yaxes; };
+        plot.c2p = canvasToAxisCoords;
+        plot.p2c = axisToCanvasCoords;
+        plot.getOptions = function () { return options; };
+        plot.highlight = highlight;
+        plot.unhighlight = unhighlight;
+        plot.triggerRedrawOverlay = triggerRedrawOverlay;
+        plot.pointOffset = function(point) {
+            return {
+                left: parseInt(xaxes[axisNumber(point, "x") - 1].p2c(+point.x) + plotOffset.left, 10),
+                top: parseInt(yaxes[axisNumber(point, "y") - 1].p2c(+point.y) + plotOffset.top, 10)
+            };
+        };
+        plot.shutdown = shutdown;
+        plot.resize = function () {
+        	var width = placeholder.width(),
+        		height = placeholder.height();
+            surface.resize(width, height);
+            overlay.resize(width, height);
+        };
+
+        // public attributes
+        plot.hooks = hooks;
+
+        // initialize
+        initPlugins(plot);
+        parseOptions(options_);
+        setupCanvases();
+        setData(data_);
+        setupGrid();
+        draw();
+        bindEvents();
+
+
+        function executeHooks(hook, args) {
+            args = [plot].concat(args);
+            for (var i = 0; i < hook.length; ++i)
+                hook[i].apply(this, args);
+        }
+
+        function initPlugins() {
+
+            // References to key classes, allowing plugins to modify them
+
+            var classes = {
+                Canvas: Canvas
+            };
+
+            for (var i = 0; i < plugins.length; ++i) {
+                var p = plugins[i];
+                p.init(plot, classes);
+                if (p.options)
+                    $.extend(true, options, p.options);
+            }
+        }
+
+        function parseOptions(opts) {
+
+            $.extend(true, options, opts);
+
+            // $.extend merges arrays, rather than replacing them.  When less
+            // colors are provided than the size of the default palette, we
+            // end up with those colors plus the remaining defaults, which is
+            // not expected behavior; avoid it by replacing them here.
+
+            if (opts && opts.colors) {
+            	options.colors = opts.colors;
+            }
+
+            if (options.xaxis.color == null)
+                options.xaxis.color = $.color.parse(options.grid.color).scale('a', 0.22).toString();
+            if (options.yaxis.color == null)
+                options.yaxis.color = $.color.parse(options.grid.color).scale('a', 0.22).toString();
+
+            if (options.xaxis.tickColor == null) // grid.tickColor for back-compatibility
+                options.xaxis.tickColor = options.grid.tickColor || options.xaxis.color;
+            if (options.yaxis.tickColor == null) // grid.tickColor for back-compatibility
+                options.yaxis.tickColor = options.grid.tickColor || options.yaxis.color;
+
+            if (options.grid.borderColor == null)
+                options.grid.borderColor = options.grid.color;
+            if (options.grid.tickColor == null)
+                options.grid.tickColor = $.color.parse(options.grid.color).scale('a', 0.22).toString();
+
+            // Fill in defaults for axis options, including any unspecified
+            // font-spec fields, if a font-spec was provided.
+
+            // If no x/y axis options were provided, create one of each anyway,
+            // since the rest of the code assumes that they exist.
+
+            var i, axisOptions, axisCount,
+                fontDefaults = {
+                    style: placeholder.css("font-style"),
+                    size: Math.round(0.8 * (+placeholder.css("font-size").replace("px", "") || 13)),
+                    variant: placeholder.css("font-variant"),
+                    weight: placeholder.css("font-weight"),
+                    family: placeholder.css("font-family")
+                };
+
+            fontDefaults.lineHeight = fontDefaults.size * 1.15;
+
+            axisCount = options.xaxes.length || 1;
+            for (i = 0; i < axisCount; ++i) {
+
+                axisOptions = options.xaxes[i];
+                if (axisOptions && !axisOptions.tickColor) {
+                    axisOptions.tickColor = axisOptions.color;
+                }
+
+                axisOptions = $.extend(true, {}, options.xaxis, axisOptions);
+                options.xaxes[i] = axisOptions;
+
+                if (axisOptions.font) {
+                    axisOptions.font = $.extend({}, fontDefaults, axisOptions.font);
+                    if (!axisOptions.font.color) {
+                        axisOptions.font.color = axisOptions.color;
+                    }
+                }
+            }
+
+            axisCount = options.yaxes.length || 1;
+            for (i = 0; i < axisCount; ++i) {
+
+                axisOptions = options.yaxes[i];
+                if (axisOptions && !axisOptions.tickColor) {
+                    axisOptions.tickColor = axisOptions.color;
+                }
+
+                axisOptions = $.extend(true, {}, options.yaxis, axisOptions);
+                options.yaxes[i] = axisOptions;
+
+                if (axisOptions.font) {
+                    axisOptions.font = $.extend({}, fontDefaults, axisOptions.font);
+                    if (!axisOptions.font.color) {
+                        axisOptions.font.color = axisOptions.color;
+                    }
+                }
+            }
+
+            // backwards compatibility, to be removed in future
+            if (options.xaxis.noTicks && options.xaxis.ticks == null)
+                options.xaxis.ticks = options.xaxis.noTicks;
+            if (options.yaxis.noTicks && options.yaxis.ticks == null)
+                options.yaxis.ticks = options.yaxis.noTicks;
+            if (options.x2axis) {
+                options.xaxes[1] = $.extend(true, {}, options.xaxis, options.x2axis);
+                options.xaxes[1].position = "top";
+            }
+            if (options.y2axis) {
+                options.yaxes[1] = $.extend(true, {}, options.yaxis, options.y2axis);
+                options.yaxes[1].position = "right";
+            }
+            if (options.grid.coloredAreas)
+                options.grid.markings = options.grid.coloredAreas;
+            if (options.grid.coloredAreasColor)
+                options.grid.markingsColor = options.grid.coloredAreasColor;
+            if (options.lines)
+                $.extend(true, options.series.lines, options.lines);
+            if (options.points)
+                $.extend(true, options.series.points, options.points);
+            if (options.bars)
+                $.extend(true, options.series.bars, options.bars);
+            if (options.shadowSize != null)
+                options.series.shadowSize = options.shadowSize;
+            if (options.highlightColor != null)
+                options.series.highlightColor = options.highlightColor;
+
+            // save options on axes for future reference
+            for (i = 0; i < options.xaxes.length; ++i)
+                getOrCreateAxis(xaxes, i + 1).options = options.xaxes[i];
+            for (i = 0; i < options.yaxes.length; ++i)
+                getOrCreateAxis(yaxes, i + 1).options = options.yaxes[i];
+
+            // add hooks from options
+            for (var n in hooks)
+                if (options.hooks[n] && options.hooks[n].length)
+                    hooks[n] = hooks[n].concat(options.hooks[n]);
+
+            executeHooks(hooks.processOptions, [options]);
+        }
+
+        function setData(d) {
+            series = parseData(d);
+            fillInSeriesOptions();
+            processData();
+        }
+
+        function parseData(d) {
+            var res = [];
+            for (var i = 0; i < d.length; ++i) {
+                var s = $.extend(true, {}, options.series);
+
+                if (d[i].data != null) {
+                    s.data = d[i].data; // move the data instead of deep-copy
+                    delete d[i].data;
+
+                    $.extend(true, s, d[i]);
+
+                    d[i].data = s.data;
+                }
+                else
+                    s.data = d[i];
+                res.push(s);
+            }
+
+            return res;
+        }
+
+        function axisNumber(obj, coord) {
+            var a = obj[coord + "axis"];
+            if (typeof a == "object") // if we got a real axis, extract number
+                a = a.n;
+            if (typeof a != "number")
+                a = 1; // default to first axis
+            return a;
+        }
+
+        function allAxes() {
+            // return flat array without annoying null entries
+            return $.grep(xaxes.concat(yaxes), function (a) { return a; });
+        }
+
+        function canvasToAxisCoords(pos) {
+            // return an object with x/y corresponding to all used axes
+            var res = {}, i, axis;
+            for (i = 0; i < xaxes.length; ++i) {
+                axis = xaxes[i];
+                if (axis && axis.used)
+                    res["x" + axis.n] = axis.c2p(pos.left);
+            }
+
+            for (i = 0; i < yaxes.length; ++i) {
+                axis = yaxes[i];
+                if (axis && axis.used)
+                    res["y" + axis.n] = axis.c2p(pos.top);
+            }
+
+            if (res.x1 !== undefined)
+                res.x = res.x1;
+            if (res.y1 !== undefined)
+                res.y = res.y1;
+
+            return res;
+        }
+
+        function axisToCanvasCoords(pos) {
+            // get canvas coords from the first pair of x/y found in pos
+            var res = {}, i, axis, key;
+
+            for (i = 0; i < xaxes.length; ++i) {
+                axis = xaxes[i];
+                if (axis && axis.used) {
+                    key = "x" + axis.n;
+                    if (pos[key] == null && axis.n == 1)
+                        key = "x";
+
+                    if (pos[key] != null) {
+                        res.left = axis.p2c(pos[key]);
+                        break;
+                    }
+                }
+            }
+
+            for (i = 0; i < yaxes.length; ++i) {
+                axis = yaxes[i];
+                if (axis && axis.used) {
+                    key = "y" + axis.n;
+                    if (pos[key] == null && axis.n == 1)
+                        key = "y";
+
+                    if (pos[key] != null) {
+                        res.top = axis.p2c(pos[key]);
+                        break;
+                    }
+                }
+            }
+
+            return res;
+        }
+
+        function getOrCreateAxis(axes, number) {
+            if (!axes[number - 1])
+                axes[number - 1] = {
+                    n: number, // save the number for future reference
+                    direction: axes == xaxes ? "x" : "y",
+                    options: $.extend(true, {}, axes == xaxes ? options.xaxis : options.yaxis)
+                };
+
+            return axes[number - 1];
+        }
+
+        function fillInSeriesOptions() {
+
+            var neededColors = series.length, maxIndex = -1, i;
+
+            // Subtract the number of series that already have fixed colors or
+            // color indexes from the number that we still need to generate.
+
+            for (i = 0; i < series.length; ++i) {
+                var sc = series[i].color;
+                if (sc != null) {
+                    neededColors--;
+                    if (typeof sc == "number" && sc > maxIndex) {
+                        maxIndex = sc;
+                    }
+                }
+            }
+
+            // If any of the series have fixed color indexes, then we need to
+            // generate at least as many colors as the highest index.
+
+            if (neededColors <= maxIndex) {
+                neededColors = maxIndex + 1;
+            }
+
+            // Generate all the colors, using first the option colors and then
+            // variations on those colors once they're exhausted.
+
+            var c, colors = [], colorPool = options.colors,
+                colorPoolSize = colorPool.length, variation = 0;
+
+            for (i = 0; i < neededColors; i++) {
+
+                c = $.color.parse(colorPool[i % colorPoolSize] || "#666");
+
+                // Each time we exhaust the colors in the pool we adjust
+                // a scaling factor used to produce more variations on
+                // those colors. The factor alternates negative/positive
+                // to produce lighter/darker colors.
+
+                // Reset the variation after every few cycles, or else
+                // it will end up producing only white or black colors.
+
+                if (i % colorPoolSize == 0 && i) {
+                    if (variation >= 0) {
+                        if (variation < 0.5) {
+                            variation = -variation - 0.2;
+                        } else variation = 0;
+                    } else variation = -variation;
+                }
+
+                colors[i] = c.scale('rgb', 1 + variation);
+            }
+
+            // Finalize the series options, filling in their colors
+
+            var colori = 0, s;
+            for (i = 0; i < series.length; ++i) {
+                s = series[i];
+
+                // assign colors
+                if (s.color == null) {
+                    s.color = colors[colori].toString();
+                    ++colori;
+                }
+                else if (typeof s.color == "number")
+                    s.color = colors[s.color].toString();
+
+                // turn on lines automatically in case nothing is set
+                if (s.lines.show == null) {
+                    var v, show = true;
+                    for (v in s)
+                        if (s[v] && s[v].show) {
+                            show = false;
+                            break;
+                        }
+                    if (show)
+                        s.lines.show = true;
+                }
+
+                // If nothing was provided for lines.zero, default it to match
+                // lines.fill, since areas by default should extend to zero.
+
+                if (s.lines.zero == null) {
+                    s.lines.zero = !!s.lines.fill;
+                }
+
+                // setup axes
+                s.xaxis = getOrCreateAxis(xaxes, axisNumber(s, "x"));
+                s.yaxis = getOrCreateAxis(yaxes, axisNumber(s, "y"));
+            }
+        }
+
+        function processData() {
+            var topSentry = Number.POSITIVE_INFINITY,
+                bottomSentry = Number.NEGATIVE_INFINITY,
+                fakeInfinity = Number.MAX_VALUE,
+                i, j, k, m, length,
+                s, points, ps, x, y, axis, val, f, p,
+                data, format;
+
+            function updateAxis(axis, min, max) {
+                if (min < axis.datamin && min != -fakeInfinity)
+                    axis.datamin = min;
+                if (max > axis.datamax && max != fakeInfinity)
+                    axis.datamax = max;
+            }
+
+            $.each(allAxes(), function (_, axis) {
+                // init axis
+                axis.datamin = topSentry;
+                axis.datamax = bottomSentry;
+                axis.used = false;
+            });
+
+            for (i = 0; i < series.length; ++i) {
+                s = series[i];
+                s.datapoints = { points: [] };
+
+                executeHooks(hooks.processRawData, [ s, s.data, s.datapoints ]);
+            }
+
+            // first pass: clean and copy data
+            for (i = 0; i < series.length; ++i) {
+                s = series[i];
+
+                data = s.data;
+                format = s.datapoints.format;
+
+                if (!format) {
+                    format = [];
+                    // find out how to copy
+                    format.push({ x: true, number: true, required: true });
+                    format.push({ y: true, number: true, required: true });
+
+                    if (s.bars.show || (s.lines.show && s.lines.fill)) {
+                        var autoscale = !!((s.bars.show && s.bars.zero) || (s.lines.show && s.lines.zero));
+                        format.push({ y: true, number: true, required: false, defaultValue: 0, autoscale: autoscale });
+                        if (s.bars.horizontal) {
+                            delete format[format.length - 1].y;
+                            format[format.length - 1].x = true;
+                        }
+                    }
+
+                    s.datapoints.format = format;
+                }
+
+                if (s.datapoints.pointsize != null)
+                    continue; // already filled in
+
+                s.datapoints.pointsize = format.length;
+
+                ps = s.datapoints.pointsize;
+                points = s.datapoints.points;
+
+                var insertSteps = s.lines.show && s.lines.steps;
+                s.xaxis.used = s.yaxis.used = true;
+
+                for (j = k = 0; j < data.length; ++j, k += ps) {
+                    p = data[j];
+
+                    var nullify = p == null;
+                    if (!nullify) {
+                        for (m = 0; m < ps; ++m) {
+                            val = p[m];
+                            f = format[m];
+
+                            if (f) {
+                                if (f.number && val != null) {
+                                    val = +val; // convert to number
+                                    if (isNaN(val))
+                                        val = null;
+                                    else if (val == Infinity)
+                                        val = fakeInfinity;
+                                    else if (val == -Infinity)
+                                        val = -fakeInfinity;
+                                }
+
+                                if (val == null) {
+                                    if (f.required)
+                                        nullify = true;
+
+                                    if (f.defaultValue != null)
+                                        val = f.defaultValue;
+                                }
+                            }
+
+                            points[k + m] = val;
+                        }
+                    }
+
+                    if (nullify) {
+                        for (m = 0; m < ps; ++m) {
+                            val = points[k + m];
+                            if (val != null) {
+                                f = format[m];
+                                // extract min/max info
+                                if (f.autoscale) {
+                                    if (f.x) {
+                                        updateAxis(s.xaxis, val, val);
+                                    }
+                                    if (f.y) {
+                                        updateAxis(s.yaxis, val, val);
+                                    }
+                                }
+                            }
+                            points[k + m] = null;
+                        }
+                    }
+                    else {
+                        // a little bit of line specific stuff that
+                        // perhaps shouldn't be here, but lacking
+                        // better means...
+                        if (insertSteps && k > 0
+                            && points[k - ps] != null
+                            && points[k - ps] != points[k]
+                            && points[k - ps + 1] != points[k + 1]) {
+                            // copy the point to make room for a middle point
+                            for (m = 0; m < ps; ++m)
+                                points[k + ps + m] = points[k + m];
+
+                            // middle point has same y
+                            points[k + 1] = points[k - ps + 1];
+
+                            // we've added a point, better reflect that
+                            k += ps;
+                        }
+                    }
+                }
+            }
+
+            // give the hooks a chance to run
+            for (i = 0; i < series.length; ++i) {
+                s = series[i];
+
+                executeHooks(hooks.processDatapoints, [ s, s.datapoints]);
+            }
+
+            // second pass: find datamax/datamin for auto-scaling
+            for (i = 0; i < series.length; ++i) {
+                s = series[i];
+                points = s.datapoints.points;
+                ps = s.datapoints.pointsize;
+                format = s.datapoints.format;
+
+                var xmin = topSentry, ymin = topSentry,
+                    xmax = bottomSentry, ymax = bottomSentry;
+
+                for (j = 0; j < points.length; j += ps) {
+                    if (points[j] == null)
+                        continue;
+
+                    for (m = 0; m < ps; ++m) {
+                        val = points[j + m];
+                        f = format[m];
+                        if (!f || f.autoscale === false || val == fakeInfinity || val == -fakeInfinity)
+                            continue;
+
+                        if (f.x) {
+                            if (val < xmin)
+                                xmin = val;
+                            if (val > xmax)
+                                xmax = val;
+                        }
+                        if (f.y) {
+                            if (val < ymin)
+                                ymin = val;
+                            if (val > ymax)
+                                ymax = val;
+                        }
+                    }
+                }
+
+                if (s.bars.show) {
+                    // make sure we got room for the bar on the dancing floor
+                    var delta;
+
+                    switch (s.bars.align) {
+                        case "left":
+                            delta = 0;
+                            break;
+                        case "right":
+                            delta = -s.bars.barWidth;
+                            break;
+                        case "center":
+                            delta = -s.bars.barWidth / 2;
+                            break;
+                        default:
+                            throw new Error("Invalid bar alignment: " + s.bars.align);
+                    }
+
+                    if (s.bars.horizontal) {
+                        ymin += delta;
+                        ymax += delta + s.bars.barWidth;
+                    }
+                    else {
+                        xmin += delta;
+                        xmax += delta + s.bars.barWidth;
+                    }
+                }
+
+                updateAxis(s.xaxis, xmin, xmax);
+                updateAxis(s.yaxis, ymin, ymax);
+            }
+
+            $.each(allAxes(), function (_, axis) {
+                if (axis.datamin == topSentry)
+                    axis.datamin = null;
+                if (axis.datamax == bottomSentry)
+                    axis.datamax = null;
+            });
+        }
+
+        function setupCanvases() {
+
+            // Make sure the placeholder is clear of everything except canvases
+            // from a previous plot in this container that we'll try to re-use.
+
+            placeholder.css("padding", 0) // padding messes up the positioning
+                .children(":not(.flot-base,.flot-overlay)").remove();
+
+            if (placeholder.css("position") == 'static')
+                placeholder.css("position", "relative"); // for positioning labels and overlay
+
+            surface = new Canvas("flot-base", placeholder);
+            overlay = new Canvas("flot-overlay", placeholder); // overlay canvas for interactive features
+
+            ctx = surface.context;
+            octx = overlay.context;
+
+            // define which element we're listening for events on
+            eventHolder = $(overlay.element).unbind();
+
+            // If we're re-using a plot object, shut down the old one
+
+            var existing = placeholder.data("plot");
+
+            if (existing) {
+                existing.shutdown();
+                overlay.clear();
+            }
+
+            // save in case we get replotted
+            placeholder.data("plot", plot);
+        }
+
+        function bindEvents() {
+            // bind events
+            if (options.grid.hoverable) {
+                eventHolder.mousemove(onMouseMove);
+
+                // Use bind, rather than .mouseleave, because we officially
+                // still support jQuery 1.2.6, which doesn't define a shortcut
+                // for mouseenter or mouseleave.  This was a bug/oversight that
+                // was fixed somewhere around 1.3.x.  We can return to using
+                // .mouseleave when we drop support for 1.2.6.
+
+                eventHolder.bind("mouseleave", onMouseLeave);
+            }
+
+            if (options.grid.clickable)
+                eventHolder.click(onClick);
+
+            executeHooks(hooks.bindEvents, [eventHolder]);
+        }
+
+        function shutdown() {
+            if (redrawTimeout)
+                clearTimeout(redrawTimeout);
+
+            eventHolder.unbind("mousemove", onMouseMove);
+            eventHolder.unbind("mouseleave", onMouseLeave);
+            eventHolder.unbind("click", onClick);
+
+            executeHooks(hooks.shutdown, [eventHolder]);
+        }
+
+        function setTransformationHelpers(axis) {
+            // set helper functions on the axis, assumes plot area
+            // has been computed already
+
+            function identity(x) { return x; }
+
+            var s, m, t = axis.options.transform || identity,
+                it = axis.options.inverseTransform;
+
+            // precompute how much the axis is scaling a point
+            // in canvas space
+            if (axis.direction == "x") {
+                s = axis.scale = plotWidth / Math.abs(t(axis.max) - t(axis.min));
+                m = Math.min(t(axis.max), t(axis.min));
+            }
+            else {
+                s = axis.scale = plotHeight / Math.abs(t(axis.max) - t(axis.min));
+                s = -s;
+                m = Math.max(t(axis.max), t(axis.min));
+            }
+
+            // data point to canvas coordinate
+            if (t == identity) // slight optimization
+                axis.p2c = function (p) { return (p - m) * s; };
+            else
+                axis.p2c = function (p) { return (t(p) - m) * s; };
+            // canvas coordinate to data point
+            if (!it)
+                axis.c2p = function (c) { return m + c / s; };
+            else
+                axis.c2p = function (c) { return it(m + c / s); };
+        }
+
+        function measureTickLabels(axis) {
+
+            var opts = axis.options,
+                ticks = axis.ticks || [],
+                labelWidth = opts.labelWidth || 0,
+                labelHeight = opts.labelHeight || 0,
+                maxWidth = labelWidth || axis.direction == "x" ? Math.floor(surface.width / (ticks.length || 1)) : null;
+                legacyStyles = axis.direction + "Axis " + axis.direction + axis.n + "Axis",
+                layer = "flot-" + axis.direction + "-axis flot-" + axis.direction + axis.n + "-axis " + legacyStyles,
+                font = opts.font || "flot-tick-label tickLabel";
+
+            for (var i = 0; i < ticks.length; ++i) {
+
+                var t = ticks[i];
+
+                if (!t.label)
+                    continue;
+
+                var info = surface.getTextInfo(layer, t.label, font, null, maxWidth);
+
+                labelWidth = Math.max(labelWidth, info.width);
+                labelHeight = Math.max(labelHeight, info.height);
+            }
+
+            axis.labelWidth = opts.labelWidth || labelWidth;
+            axis.labelHeight = opts.labelHeight || labelHeight;
+        }
+
+        function allocateAxisBoxFirstPhase(axis) {
+            // find the bounding box of the axis by looking at label
+            // widths/heights and ticks, make room by diminishing the
+            // plotOffset; this first phase only looks at one
+            // dimension per axis, the other dimension depends on the
+            // other axes so will have to wait
+
+            var lw = axis.labelWidth,
+                lh = axis.labelHeight,
+                pos = axis.options.position,
+                tickLength = axis.options.tickLength,
+                axisMargin = options.grid.axisMargin,
+                padding = options.grid.labelMargin,
+                all = axis.direction == "x" ? xaxes : yaxes,
+                index, innermost;
+
+            // determine axis margin
+            var samePosition = $.grep(all, function (a) {
+                return a && a.options.position == pos && a.reserveSpace;
+            });
+            if ($.inArray(axis, samePosition) == samePosition.length - 1)
+                axisMargin = 0; // outermost
+
+            // determine tick length - if we're innermost, we can use "full"
+            if (tickLength == null) {
+                var sameDirection = $.grep(all, function (a) {
+                    return a && a.reserveSpace;
+                });
+
+                innermost = $.inArray(axis, sameDirection) == 0;
+                if (innermost)
+                    tickLength = "full";
+                else
+                    tickLength = 5;
+            }
+
+            if (!isNaN(+tickLength))
+                padding += +tickLength;
+
+            // compute box
+            if (axis.direction == "x") {
+                lh += padding;
+
+                if (pos == "bottom") {
+                    plotOffset.bottom += lh + axisMargin;
+                    axis.box = { top: surface.height - plotOffset.bottom, height: lh };
+                }
+                else {
+                    axis.box = { top: plotOffset.top + axisMargin, height: lh };
+                    plotOffset.top += lh + axisMargin;
+                }
+            }
+            else {
+                lw += padding;
+
+                if (pos == "left") {
+                    axis.box = { left: plotOffset.left + axisMargin, width: lw };
+                    plotOffset.left += lw + axisMargin;
+                }
+                else {
+                    plotOffset.right += lw + axisMargin;
+                    axis.box = { left: surface.width - plotOffset.right, width: lw };
+                }
+            }
+
+             // save for future reference
+            axis.position = pos;
+            axis.tickLength = tickLength;
+            axis.box.padding = padding;
+            axis.innermost = innermost;
+        }
+
+        function allocateAxisBoxSecondPhase(axis) {
+            // now that all axis boxes have been placed in one
+            // dimension, we can set the remaining dimension coordinates
+            if (axis.direction == "x") {
+                axis.box.left = plotOffset.left - axis.labelWidth / 2;
+                axis.box.width = surface.width - plotOffset.left - plotOffset.right + axis.labelWidth;
+            }
+            else {
+                axis.box.top = plotOffset.top - axis.labelHeight / 2;
+                axis.box.height = surface.height - plotOffset.bottom - plotOffset.top + axis.labelHeight;
+            }
+        }
+
+        function adjustLayoutForThingsStickingOut() {
+            // possibly adjust plot offset to ensure everything stays
+            // inside the canvas and isn't clipped off
+
+            var minMargin = options.grid.minBorderMargin,
+                margins = { x: 0, y: 0 }, i, axis;
+
+            // check stuff from the plot (FIXME: this should just read
+            // a value from the series, otherwise it's impossible to
+            // customize)
+            if (minMargin == null) {
+                minMargin = 0;
+                for (i = 0; i < series.length; ++i)
+                    minMargin = Math.max(minMargin, 2 * (series[i].points.radius + series[i].points.lineWidth/2));
+            }
+
+            margins.x = margins.y = Math.ceil(minMargin);
+
+            // check axis labels, note we don't check the actual
+            // labels but instead use the overall width/height to not
+            // jump as much around with replots
+            $.each(allAxes(), function (_, axis) {
+                var dir = axis.direction;
+                if (axis.reserveSpace)
+                    margins[dir] = Math.ceil(Math.max(margins[dir], (dir == "x" ? axis.labelWidth : axis.labelHeight) / 2));
+            });
+
+            plotOffset.left = Math.max(margins.x, plotOffset.left);
+            plotOffset.right = Math.max(margins.x, plotOffset.right);
+            plotOffset.top = Math.max(margins.y, plotOffset.top);
+            plotOffset.bottom = Math.max(margins.y, plotOffset.bottom);
+        }
+
+        function setupGrid() {
+            var i, axes = allAxes(), showGrid = options.grid.show;
+
+            // Initialize the plot's offset from the edge of the canvas
+
+            for (var a in plotOffset) {
+                var margin = options.grid.margin || 0;
+                plotOffset[a] = typeof margin == "number" ? margin : margin[a] || 0;
+            }
+
+            executeHooks(hooks.processOffset, [plotOffset]);
+
+            // If the grid is visible, add its border width to the offset
+
+            for (var a in plotOffset) {
+                if(typeof(options.grid.borderWidth) == "object") {
+                    plotOffset[a] += showGrid ? options.grid.borderWidth[a] : 0;
+                }
+                else {
+                    plotOffset[a] += showGrid ? options.grid.borderWidth : 0;
+                }
+            }
+
+            // init axes
+            $.each(axes, function (_, axis) {
+                axis.show = axis.options.show;
+                if (axis.show == null)
+                    axis.show = axis.used; // by default an axis is visible if it's got data
+
+                axis.reserveSpace = axis.show || axis.options.reserveSpace;
+
+                setRange(axis);
+            });
+
+            if (showGrid) {
+
+                var allocatedAxes = $.grep(axes, function (axis) { return axis.reserveSpace; });
+
+                $.each(allocatedAxes, function (_, axis) {
+                    // make the ticks
+                    setupTickGeneration(axis);
+                    setTicks(axis);
+                    snapRangeToTicks(axis, axis.ticks);
+                    // find labelWidth/Height for axis
+                    measureTickLabels(axis);
+                });
+
+                // with all dimensions calculated, we can compute the
+                // axis bounding boxes, start from the outside
+                // (reverse order)
+                for (i = allocatedAxes.length - 1; i >= 0; --i)
+                    allocateAxisBoxFirstPhase(allocatedAxes[i]);
+
+                // make sure we've got enough space for things that
+                // might stick out
+                adjustLayoutForThingsStickingOut();
+
+                $.each(allocatedAxes, function (_, axis) {
+                    allocateAxisBoxSecondPhase(axis);
+                });
+            }
+
+            plotWidth = surface.width - plotOffset.left - plotOffset.right;
+            plotHeight = surface.height - plotOffset.bottom - plotOffset.top;
+
+            // now we got the proper plot dimensions, we can compute the scaling
+            $.each(axes, function (_, axis) {
+                setTransformationHelpers(axis);
+            });
+
+            if (showGrid) {
+                drawAxisLabels();
+            }
+
+            insertLegend();
+        }
+
+        function setRange(axis) {
+            var opts = axis.options,
+                min = +(opts.min != null ? opts.min : axis.datamin),
+                max = +(opts.max != null ? opts.max : axis.datamax),
+                delta = max - min;
+
+            if (delta == 0.0) {
+                // degenerate case
+                var widen = max == 0 ? 1 : 0.01;
+
+                if (opts.min == null)
+                    min -= widen;
+                // always widen max if we couldn't widen min to ensure we
+                // don't fall into min == max which doesn't work
+                if (opts.max == null || opts.min != null)
+                    max += widen;
+            }
+            else {
+                // consider autoscaling
+                var margin = opts.autoscaleMargin;
+                if (margin != null) {
+                    if (opts.min == null) {
+                        min -= delta * margin;
+                        // make sure we don't go below zero if all values
+                        // are positive
+                        if (min < 0 && axis.datamin != null && axis.datamin >= 0)
+                            min = 0;
+                    }
+                    if (opts.max == null) {
+                        max += delta * margin;
+                        if (max > 0 && axis.datamax != null && axis.datamax <= 0)
+                            max = 0;
+                    }
+                }
+            }
+            axis.min = min;
+            axis.max = max;
+        }
+
+        function setupTickGeneration(axis) {
+            var opts = axis.options;
+
+            // estimate number of ticks
+            var noTicks;
+            if (typeof opts.ticks == "number" && opts.ticks > 0)
+                noTicks = opts.ticks;
+            else
+                // heuristic based on the model a*sqrt(x) fitted to
+                // some data points that seemed reasonable
+                noTicks = 0.3 * Math.sqrt(axis.direction == "x" ? surface.width : surface.height);
+
+            var delta = (axis.max - axis.min) / noTicks,
+                dec = -Math.floor(Math.log(delta) / Math.LN10),
+                maxDec = opts.tickDecimals;
+
+            if (maxDec != null && dec > maxDec) {
+                dec = maxDec;
+            }
+
+            var magn = Math.pow(10, -dec),
+                norm = delta / magn, // norm is between 1.0 and 10.0
+                size;
+
+            if (norm < 1.5) {
+                size = 1;
+            } else if (norm < 3) {
+                size = 2;
+                // special case for 2.5, requires an extra decimal
+                if (norm > 2.25 && (maxDec == null || dec + 1 <= maxDec)) {
+                    size = 2.5;
+                    ++dec;
+                }
+            } else if (norm < 7.5) {
+                size = 5;
+            } else {
+                size = 10;
+            }
+
+            size *= magn;
+
+            if (opts.minTickSize != null && size < opts.minTickSize) {
+                size = opts.minTickSize;
+            }
+
+            axis.delta = delta;
+            axis.tickDecimals = Math.max(0, maxDec != null ? maxDec : dec);
+            axis.tickSize = opts.tickSize || size;
+
+            // Time mode was moved to a plug-in in 0.8, but since so many people use this
+            // we'll add an especially friendly make sure they remembered to include it.
+
+            if (opts.mode == "time" && !axis.tickGenerator) {
+                throw new Error("Time mode requires the flot.time plugin.");
+            }
+
+            // Flot supports base-10 axes; any other mode else is handled by a plug-in,
+            // like flot.time.js.
+
+            if (!axis.tickGenerator) {
+
+                axis.tickGenerator = function (axis) {
+
+                    var ticks = [],
+                        start = floorInBase(axis.min, axis.tickSize),
+                        i = 0,
+                        v = Number.NaN,
+                        prev;
+
+                    do {
+                        prev = v;
+                        v = start + i * axis.tickSize;
+                        ticks.push(v);
+                        ++i;
+                    } while (v < axis.max && v != prev);
+                    return ticks;
+                };
+
+				axis.tickFormatter = function (value, axis) {
+
+					var factor = axis.tickDecimals ? Math.pow(10, axis.tickDecimals) : 1;
+					var formatted = "" + Math.round(value * factor) / factor;
+
+					// If tickDecimals was specified, ensure that we have exactly that
+					// much precision; otherwise default to the value's own precision.
+
+					if (axis.tickDecimals != null) {
+						var decimal = formatted.indexOf(".");
+						var precision = decimal == -1 ? 0 : formatted.length - decimal - 1;
+						if (precision < axis.tickDecimals) {
+							return (precision ? formatted : formatted + ".") + ("" + factor).substr(1, axis.tickDecimals - precision);
+						}
+					}
+
+                    return formatted;
+                };
+            }
+
+            if ($.isFunction(opts.tickFormatter))
+                axis.tickFormatter = function (v, axis) { return "" + opts.tickFormatter(v, axis); };
+
+            if (opts.alignTicksWithAxis != null) {
+                var otherAxis = (axis.direction == "x" ? xaxes : yaxes)[opts.alignTicksWithAxis - 1];
+                if (otherAxis && otherAxis.used && otherAxis != axis) {
+                    // consider snapping min/max to outermost nice ticks
+                    var niceTicks = axis.tickGenerator(axis);
+                    if (niceTicks.length > 0) {
+                        if (opts.min == null)
+                            axis.min = Math.min(axis.min, niceTicks[0]);
+                        if (opts.max == null && niceTicks.length > 1)
+                            axis.max = Math.max(axis.max, niceTicks[niceTicks.length - 1]);
+                    }
+
+                    axis.tickGenerator = function (axis) {
+                        // copy ticks, scaled to this axis
+                        var ticks = [], v, i;
+                        for (i = 0; i < otherAxis.ticks.length; ++i) {
+                            v = (otherAxis.ticks[i].v - otherAxis.min) / (otherAxis.max - otherAxis.min);
+                            v = axis.min + v * (axis.max - axis.min);
+                            ticks.push(v);
+                        }
+                        return ticks;
+                    };
+
+                    // we might need an extra decimal since forced
+                    // ticks don't necessarily fit naturally
+                    if (!axis.mode && opts.tickDecimals == null) {
+                        var extraDec = Math.max(0, -Math.floor(Math.log(axis.delta) / Math.LN10) + 1),
+                            ts = axis.tickGenerator(axis);
+
+                        // only proceed if the tick interval rounded
+                        // with an extra decimal doesn't give us a
+                        // zero at end
+                        if (!(ts.length > 1 && /\..*0$/.test((ts[1] - ts[0]).toFixed(extraDec))))
+                            axis.tickDecimals = extraDec;
+                    }
+                }
+            }
+        }
+
+        function setTicks(axis) {
+            var oticks = axis.options.ticks, ticks = [];
+            if (oticks == null || (typeof oticks == "number" && oticks > 0))
+                ticks = axis.tickGenerator(axis);
+            else if (oticks) {
+                if ($.isFunction(oticks))
+                    // generate the ticks
+                    ticks = oticks(axis);
+                else
+                    ticks = oticks;
+            }
+
+            // clean up/labelify the supplied ticks, copy them over
+            var i, v;
+            axis.ticks = [];
+            for (i = 0; i < ticks.length; ++i) {
+                var label = null;
+                var t = ticks[i];
+                if (typeof t == "object") {
+                    v = +t[0];
+                    if (t.length > 1)
+                        label = t[1];
+                }
+                else
+                    v = +t;
+                if (label == null)
+                    label = axis.tickFormatter(v, axis);
+                if (!isNaN(v))
+                    axis.ticks.push({ v: v, label: label });
+            }
+        }
+
+        function snapRangeToTicks(axis, ticks) {
+            if (axis.options.autoscaleMargin && ticks.length > 0) {
+                // snap to ticks
+                if (axis.options.min == null)
+                    axis.min = Math.min(axis.min, ticks[0].v);
+                if (axis.options.max == null && ticks.length > 1)
+                    axis.max = Math.max(axis.max, ticks[ticks.length - 1].v);
+            }
+        }
+
+        function draw() {
+
+            surface.clear();
+
+            executeHooks(hooks.drawBackground, [ctx]);
+
+            var grid = options.grid;
+
+            // draw background, if any
+            if (grid.show && grid.backgroundColor)
+                drawBackground();
+
+            if (grid.show && !grid.aboveData) {
+                drawGrid();
+            }
+
+            for (var i = 0; i < series.length; ++i) {
+                executeHooks(hooks.drawSeries, [ctx, series[i]]);
+                drawSeries(series[i]);
+            }
+
+            executeHooks(hooks.draw, [ctx]);
+
+            if (grid.show && grid.aboveData) {
+                drawGrid();
+            }
+
+            surface.render();
+
+            // A draw implies that either the axes or data have changed, so we
+            // should probably update the overlay highlights as well.
+
+            triggerRedrawOverlay();
+        }
+
+        function extractRange(ranges, coord) {
+            var axis, from, to, key, axes = allAxes();
+
+            for (var i = 0; i < axes.length; ++i) {
+                axis = axes[i];
+                if (axis.direction == coord) {
+                    key = coord + axis.n + "axis";
+                    if (!ranges[key] && axis.n == 1)
+                        key = coord + "axis"; // support x1axis as xaxis
+                    if (ranges[key]) {
+                        from = ranges[key].from;
+                        to = ranges[key].to;
+                        break;
+                    }
+                }
+            }
+
+            // backwards-compat stuff - to be removed in future
+            if (!ranges[key]) {
+                axis = coord == "x" ? xaxes[0] : yaxes[0];
+                from = ranges[coord + "1"];
+                to = ranges[coord + "2"];
+            }
+
+            // auto-reverse as an added bonus
+            if (from != null && to != null && from > to) {
+                var tmp = from;
+                from = to;
+                to = tmp;
+            }
+
+            return { from: from, to: to, axis: axis };
+        }
+
+        function drawBackground() {
+            ctx.save();
+            ctx.translate(plotOffset.left, plotOffset.top);
+
+            ctx.fillStyle = getColorOrGradient(options.grid.backgroundColor, plotHeight, 0, "rgba(255, 255, 255, 0)");
+            ctx.fillRect(0, 0, plotWidth, plotHeight);
+            ctx.restore();
+        }
+
+        function drawGrid() {
+            var i, axes, bw, bc;
+
+            ctx.save();
+            ctx.translate(plotOffset.left, plotOffset.top);
+
+            // draw markings
+            var markings = options.grid.markings;
+            if (markings) {
+                if ($.isFunction(markings)) {
+                    axes = plot.getAxes();
+                    // xmin etc. is backwards compatibility, to be
+                    // removed in the future
+                    axes.xmin = axes.xaxis.min;
+                    axes.xmax = axes.xaxis.max;
+                    axes.ymin = axes.yaxis.min;
+                    axes.ymax = axes.yaxis.max;
+
+                    markings = markings(axes);
+                }
+
+                for (i = 0; i < markings.length; ++i) {
+                    var m = markings[i],
+                        xrange = extractRange(m, "x"),
+                        yrange = extractRange(m, "y");
+
+                    // fill in missing
+                    if (xrange.from == null)
+                        xrange.from = xrange.axis.min;
+                    if (xrange.to == null)
+                        xrange.to = xrange.axis.max;
+                    if (yrange.from == null)
+                        yrange.from = yrange.axis.min;
+                    if (yrange.to == null)
+                        yrange.to = yrange.axis.max;
+
+                    // clip
+                    if (xrange.to < xrange.axis.min || xrange.from > xrange.axis.max ||
+                        yrange.to < yrange.axis.min || yrange.from > yrange.axis.max)
+                        continue;
+
+                    xrange.from = Math.max(xrange.from, xrange.axis.min);
+                    xrange.to = Math.min(xrange.to, xrange.axis.max);
+                    yrange.from = Math.max(yrange.from, yrange.axis.min);
+                    yrange.to = Math.min(yrange.to, yrange.axis.max);
+
+                    if (xrange.from == xrange.to && yrange.from == yrange.to)
+                        continue;
+
+                    // then draw
+                    xrange.from = xrange.axis.p2c(xrange.from);
+                    xrange.to = xrange.axis.p2c(xrange.to);
+                    yrange.from = yrange.axis.p2c(yrange.from);
+                    yrange.to = yrange.axis.p2c(yrange.to);
+
+                    if (xrange.from == xrange.to || yrange.from == yrange.to) {
+                        // draw line
+                        ctx.beginPath();
+                        ctx.strokeStyle = m.color || options.grid.markingsColor;
+                        ctx.lineWidth = m.lineWidth || options.grid.markingsLineWidth;
+                        ctx.moveTo(xrange.from, yrange.from);
+                        ctx.lineTo(xrange.to, yrange.to);
+                        ctx.stroke();
+                    }
+                    else {
+                        // fill area
+                        ctx.fillStyle = m.color || options.grid.markingsColor;
+                        ctx.fillRect(xrange.from, yrange.to,
+                                     xrange.to - xrange.from,
+                                     yrange.from - yrange.to);
+                    }
+                }
+            }
+
+            // draw the ticks
+            axes = allAxes();
+            bw = options.grid.borderWidth;
+
+            for (var j = 0; j < axes.length; ++j) {
+                var axis = axes[j], box = axis.box,
+                    t = axis.tickLength, x, y, xoff, yoff;
+                if (!axis.show || axis.ticks.length == 0)
+                    continue;
+
+                ctx.lineWidth = 1;
+
+                // find the edges
+                if (axis.direction == "x") {
+                    x = 0;
+                    if (t == "full")
+                        y = (axis.position == "top" ? 0 : plotHeight);
+                    else
+                        y = box.top - plotOffset.top + (axis.position == "top" ? box.height : 0);
+                }
+                else {
+                    y = 0;
+                    if (t == "full")
+                        x = (axis.position == "left" ? 0 : plotWidth);
+                    else
+                        x = box.left - plotOffset.left + (axis.position == "left" ? box.width : 0);
+                }
+
+                // draw tick bar
+                if (!axis.innermost) {
+                    ctx.strokeStyle = axis.options.color;
+                    ctx.beginPath();
+                    xoff = yoff = 0;
+                    if (axis.direction == "x")
+                        xoff = plotWidth + 1;
+                    else
+                        yoff = plotHeight + 1;
+
+                    if (ctx.lineWidth == 1) {
+                        if (axis.direction == "x") {
+                            y = Math.floor(y) + 0.5;
+                        } else {
+                            x = Math.floor(x) + 0.5;
+                        }
+                    }
+
+                    ctx.moveTo(x, y);
+                    ctx.lineTo(x + xoff, y + yoff);
+                    ctx.stroke();
+                }
+
+                // draw ticks
+
+                ctx.strokeStyle = axis.options.tickColor;
+
+                ctx.beginPath();
+                for (i = 0; i < axis.ticks.length; ++i) {
+                    var v = axis.ticks[i].v;
+
+                    xoff = yoff = 0;
+
+                    if (isNaN(v) || v < axis.min || v > axis.max
+                        // skip those lying on the axes if we got a border
+                        || (t == "full"
+                            && ((typeof bw == "object" && bw[axis.position] > 0) || bw > 0)
+                            && (v == axis.min || v == axis.max)))
+                        continue;
+
+                    if (axis.direction == "x") {
+                        x = axis.p2c(v);
+                        yoff = t == "full" ? -plotHeight : t;
+
+                        if (axis.position == "top")
+                            yoff = -yoff;
+                    }
+                    else {
+                        y = axis.p2c(v);
+                        xoff = t == "full" ? -plotWidth : t;
+
+                        if (axis.position == "left")
+                            xoff = -xoff;
+                    }
+
+                    if (ctx.lineWidth == 1) {
+                        if (axis.direction == "x")
+                            x = Math.floor(x) + 0.5;
+                        else
+                            y = Math.floor(y) + 0.5;
+                    }
+
+                    ctx.moveTo(x, y);
+                    ctx.lineTo(x + xoff, y + yoff);
+                }
+
+                ctx.stroke();
+            }
+
+
+            // draw border
+            if (bw) {
+                // If either borderWidth or borderColor is an object, then draw the border
+                // line by line instead of as one rectangle
+                bc = options.grid.borderColor;
+                if(typeof bw == "object" || typeof bc == "object") {
+                    if (typeof bw !== "object") {
+                        bw = {top: bw, right: bw, bottom: bw, left: bw};
+                    }
+                    if (typeof bc !== "object") {
+                        bc = {top: bc, right: bc, bottom: bc, left: bc};
+                    }
+
+                    if (bw.top > 0) {
+                        ctx.strokeStyle = bc.top;
+                        ctx.lineWidth = bw.top;
+                        ctx.beginPath();
+                        ctx.moveTo(0 - bw.left, 0 - bw.top/2);
+                        ctx.lineTo(plotWidth, 0 - bw.top/2);
+                        ctx.stroke();
+                    }
+
+                    if (bw.right > 0) {
+                        ctx.strokeStyle = bc.right;
+                        ctx.lineWidth = bw.right;
+                        ctx.beginPath();
+                        ctx.moveTo(plotWidth + bw.right / 2, 0 - bw.top);
+                        ctx.lineTo(plotWidth + bw.right / 2, plotHeight);
+                        ctx.stroke();
+                    }
+
+                    if (bw.bottom > 0) {
+                        ctx.strokeStyle = bc.bottom;
+                        ctx.lineWidth = bw.bottom;
+                        ctx.beginPath();
+                        ctx.moveTo(plotWidth + bw.right, plotHeight + bw.bottom / 2);
+                        ctx.lineTo(0, plotHeight + bw.bottom / 2);
+                        ctx.stroke();
+                    }
+
+                    if (bw.left > 0) {
+                        ctx.strokeStyle = bc.left;
+                        ctx.lineWidth = bw.left;
+                        ctx.beginPath();
+                        ctx.moveTo(0 - bw.left/2, plotHeight + bw.bottom);
+                        ctx.lineTo(0- bw.left/2, 0);
+                        ctx.stroke();
+                    }
+                }
+                else {
+                    ctx.lineWidth = bw;
+                    ctx.strokeStyle = options.grid.borderColor;
+                    ctx.strokeRect(-bw/2, -bw/2, plotWidth + bw, plotHeight + bw);
+                }
+            }
+
+            ctx.restore();
+        }
+
+        function drawAxisLabels() {
+
+            $.each(allAxes(), function (_, axis) {
+                if (!axis.show || axis.ticks.length == 0)
+                    return;
+
+                var box = axis.box,
+                    legacyStyles = axis.direction + "Axis " + axis.direction + axis.n + "Axis",
+                    layer = "flot-" + axis.direction + "-axis flot-" + axis.direction + axis.n + "-axis " + legacyStyles,
+                    font = axis.options.font || "flot-tick-label tickLabel",
+                    tick, x, y, halign, valign;
+
+                surface.removeText(layer);
+
+                for (var i = 0; i < axis.ticks.length; ++i) {
+
+                    tick = axis.ticks[i];
+                    if (!tick.label || tick.v < axis.min || tick.v > axis.max)
+                        continue;
+
+                    if (axis.direction == "x") {
+                        halign = "center";
+                        x = plotOffset.left + axis.p2c(tick.v);
+                        if (axis.position == "bottom") {
+                            y = box.top + box.padding;
+                        } else {
+                            y = box.top + box.height - box.padding;
+                            valign = "bottom";
+                        }
+                    } else {
+                        valign = "middle";
+                        y = plotOffset.top + axis.p2c(tick.v);
+                        if (axis.position == "left") {
+                            x = box.left + box.width - box.padding;
+                            halign = "right";
+                        } else {
+                            x = box.left + box.padding;
+                        }
+                    }
+
+                    surface.addText(layer, x, y, tick.label, font, null, null, halign, valign);
+                }
+            });
+        }
+
+        function drawSeries(series) {
+            if (series.lines.show)
+                drawSeriesLines(series);
+            if (series.bars.show)
+                drawSeriesBars(series);
+            if (series.points.show)
+                drawSeriesPoints(series);
+        }
+
+        function drawSeriesLines(series) {
+            function plotLine(datapoints, xoffset, yoffset, axisx, axisy) {
+                var points = datapoints.points,
+                    ps = datapoints.pointsize,
+                    prevx = null, prevy = null;
+
+                ctx.beginPath();
+                for (var i = ps; i < points.length; i += ps) {
+                    var x1 = points[i - ps], y1 = points[i - ps + 1],
+                        x2 = points[i], y2 = points[i + 1];
+
+                    if (x1 == null || x2 == null)
+                        continue;
+
+                    // clip with ymin
+                    if (y1 <= y2 && y1 < axisy.min) {
+                        if (y2 < axisy.min)
+                            continue;   // line segment is outside
+                        // compute new intersection point
+                        x1 = (axisy.min - y1) / (y2 - y1) * (x2 - x1) + x1;
+                        y1 = axisy.min;
+                    }
+                    else if (y2 <= y1 && y2 < axisy.min) {
+                        if (y1 < axisy.min)
+                            continue;
+                        x2 = (axisy.min - y1) / (y2 - y1) * (x2 - x1) + x1;
+                        y2 = axisy.min;
+                    }
+
+                    // clip with ymax
+                    if (y1 >= y2 && y1 > axisy.max) {
+                        if (y2 > axisy.max)
+                            continue;
+                        x1 = (axisy.max - y1) / (y2 - y1) * (x2 - x1) + x1;
+                        y1 = axisy.max;
+                    }
+                    else if (y2 >= y1 && y2 > axisy.max) {
+                        if (y1 > axisy.max)
+                            continue;
+                        x2 = (axisy.max - y1) / (y2 - y1) * (x2 - x1) + x1;
+                        y2 = axisy.max;
+                    }
+
+                    // clip with xmin
+                    if (x1 <= x2 && x1 < axisx.min) {
+                        if (x2 < axisx.min)
+                            continue;
+                        y1 = (axisx.min - x1) / (x2 - x1) * (y2 - y1) + y1;
+                        x1 = axisx.min;
+                    }
+                    else if (x2 <= x1 && x2 < axisx.min) {
+                        if (x1 < axisx.min)
+                            continue;
+                        y2 = (axisx.min - x1) / (x2 - x1) * (y2 - y1) + y1;
+                        x2 = axisx.min;
+                    }
+
+                    // clip with xmax
+                    if (x1 >= x2 && x1 > axisx.max) {
+                        if (x2 > axisx.max)
+                            continue;
+                        y1 = (axisx.max - x1) / (x2 - x1) * (y2 - y1) + y1;
+                        x1 = axisx.max;
+                    }
+                    else if (x2 >= x1 && x2 > axisx.max) {
+                        if (x1 > axisx.max)
+                            continue;
+                        y2 = (axisx.max - x1) / (x2 - x1) * (y2 - y1) + y1;
+                        x2 = axisx.max;
+                    }
+
+                    if (x1 != prevx || y1 != prevy)
+                        ctx.moveTo(axisx.p2c(x1) + xoffset, axisy.p2c(y1) + yoffset);
+
+                    prevx = x2;
+                    prevy = y2;
+                    ctx.lineTo(axisx.p2c(x2) + xoffset, axisy.p2c(y2) + yoffset);
+                }
+                ctx.stroke();
+            }
+
+            function plotLineArea(datapoints, axisx, axisy) {
+                var points = datapoints.points,
+                    ps = datapoints.pointsize,
+                    bottom = Math.min(Math.max(0, axisy.min), axisy.max),
+                    i = 0, top, areaOpen = false,
+                    ypos = 1, segmentStart = 0, segmentEnd = 0;
+
+                // we process each segment in two turns, first forward
+                // direction to sketch out top, then once we hit the
+                // end we go backwards to sketch the bottom
+                while (true) {
+                    if (ps > 0 && i > points.length + ps)
+                        break;
+
+                    i += ps; // ps is negative if going backwards
+
+                    var x1 = points[i - ps],
+                        y1 = points[i - ps + ypos],
+                        x2 = points[i], y2 = points[i + ypos];
+
+                    if (areaOpen) {
+                        if (ps > 0 && x1 != null && x2 == null) {
+                            // at turning point
+                            segmentEnd = i;
+                            ps = -ps;
+                            ypos = 2;
+                            continue;
+                        }
+
+                        if (ps < 0 && i == segmentStart + ps) {
+                            // done with the reverse sweep
+                            ctx.fill();
+                            areaOpen = false;
+                            ps = -ps;
+                            ypos = 1;
+                            i = segmentStart = segmentEnd + ps;
+                            continue;
+                        }
+                    }
+
+                    if (x1 == null || x2 == null)
+                        continue;
+
+                    // clip x values
+
+                    // clip with xmin
+                    if (x1 <= x2 && x1 < axisx.min) {
+                        if (x2 < axisx.min)
+                            continue;
+                        y1 = (axisx.min - x1) / (x2 - x1) * (y2 - y1) + y1;
+                        x1 = axisx.min;
+                    }
+                    else if (x2 <= x1 && x2 < axisx.min) {
+                        if (x1 < axisx.min)
+                            continue;
+                        y2 = (axisx.min - x1) / (x2 - x1) * (y2 - y1) + y1;
+                        x2 = axisx.min;
+                    }
+
+                    // clip with xmax
+                    if (x1 >= x2 && x1 > axisx.max) {
+                        if (x2 > axisx.max)
+                            continue;
+                        y1 = (axisx.max - x1) / (x2 - x1) * (y2 - y1) + y1;
+                        x1 = axisx.max;
+                    }
+                    else if (x2 >= x1 && x2 > axisx.max) {
+                        if (x1 > axisx.max)
+                            continue;
+                        y2 = (axisx.max - x1) / (x2 - x1) * (y2 - y1) + y1;
+                        x2 = axisx.max;
+                    }
+
+                    if (!areaOpen) {
+                        // open area
+                        ctx.beginPath();
+                        ctx.moveTo(axisx.p2c(x1), axisy.p2c(bottom));
+                        areaOpen = true;
+                    }
+
+                    // now first check the case where both is outside
+                    if (y1 >= axisy.max && y2 >= axisy.max) {
+                        ctx.lineTo(axisx.p2c(x1), axisy.p2c(axisy.max));
+                        ctx.lineTo(axisx.p2c(x2), axisy.p2c(axisy.max));
+                        continue;
+                    }
+                    else if (y1 <= axisy.min && y2 <= axisy.min) {
+                        ctx.lineTo(axisx.p2c(x1), axisy.p2c(axisy.min));
+                        ctx.lineTo(axisx.p2c(x2), axisy.p2c(axisy.min));
+                        continue;
+                    }
+
+                    // else it's a bit more complicated, there might
+                    // be a flat maxed out rectangle first, then a
+                    // triangular cutout or reverse; to find these
+                    // keep track of the current x values
+                    var x1old = x1, x2old = x2;
+
+                    // clip the y values, without shortcutting, we
+                    // go through all cases in turn
+
+                    // clip with ymin
+                    if (y1 <= y2 && y1 < axisy.min && y2 >= axisy.min) {
+                        x1 = (axisy.min - y1) / (y2 - y1) * (x2 - x1) + x1;
+                        y1 = axisy.min;
+                    }
+                    else if (y2 <= y1 && y2 < axisy.min && y1 >= axisy.min) {
+                        x2 = (axisy.min - y1) / (y2 - y1) * (x2 - x1) + x1;
+                        y2 = axisy.min;
+                    }
+
+                    // clip with ymax
+                    if (y1 >= y2 && y1 > axisy.max && y2 <= axisy.max) {
+                        x1 = (axisy.max - y1) / (y2 - y1) * (x2 - x1) + x1;
+                        y1 = axisy.max;
+                    }
+                    else if (y2 >= y1 && y2 > axisy.max && y1 <= axisy.max) {
+                        x2 = (axisy.max - y1) / (y2 - y1) * (x2 - x1) + x1;
+                        y2 = axisy.max;
+                    }
+
+                    // if the x value was changed we got a rectangle
+                    // to fill
+                    if (x1 != x1old) {
+                        ctx.lineTo(axisx.p2c(x1old), axisy.p2c(y1));
+                        // it goes to (x1, y1), but we fill that below
+                    }
+
+                    // fill triangular section, this sometimes result
+                    // in redundant points if (x1, y1) hasn't changed
+                    // from previous line to, but we just ignore that
+                    ctx.lineTo(axisx.p2c(x1), axisy.p2c(y1));
+                    ctx.lineTo(axisx.p2c(x2), axisy.p2c(y2));
+
+                    // fill the other rectangle if it's there
+                    if (x2 != x2old) {
+                        ctx.lineTo(axisx.p2c(x2), axisy.p2c(y2));
+                        ctx.lineTo(axisx.p2c(x2old), axisy.p2c(y2));
+                    }
+                }
+            }
+
+            ctx.save();
+            ctx.translate(plotOffset.left, plotOffset.top);
+            ctx.lineJoin = "round";
+
+            var lw = series.lines.lineWidth,
+                sw = series.shadowSize;
+            // FIXME: consider another form of shadow when filling is turned on
+            if (lw > 0 && sw > 0) {
+                // draw shadow as a thick and thin line with transparency
+                ctx.lineWidth = sw;
+                ctx.strokeStyle = "rgba(0,0,0,0.1)";
+                // position shadow at angle from the mid of line
+                var angle = Math.PI/18;
+                plotLine(series.datapoints, Math.sin(angle) * (lw/2 + sw/2), Math.cos(angle) * (lw/2 + sw/2), series.xaxis, series.yaxis);
+                ctx.lineWidth = sw/2;
+                plotLine(series.datapoints, Math.sin(angle) * (lw/2 + sw/4), Math.cos(angle) * (lw/2 + sw/4), series.xaxis, series.yaxis);
+            }
+
+            ctx.lineWidth = lw;
+            ctx.strokeStyle = series.color;
+            var fillStyle = getFillStyle(series.lines, series.color, 0, plotHeight);
+            if (fillStyle) {
+                ctx.fillStyle = fillStyle;
+                plotLineArea(series.datapoints, series.xaxis, series.yaxis);
+            }
+
+            if (lw > 0)
+                plotLine(series.datapoints, 0, 0, series.xaxis, series.yaxis);
+            ctx.restore();
+        }
+
+        function drawSeriesPoints(series) {
+            function plotPoints(datapoints, radius, fillStyle, offset, shadow, axisx, axisy, symbol) {
+                var points = datapoints.points, ps = datapoints.pointsize;
+
+                for (var i = 0; i < points.length; i += ps) {
+                    var x = points[i], y = points[i + 1];
+                    if (x == null || x < axisx.min || x > axisx.max || y < axisy.min || y > axisy.max)
+                        continue;
+
+                    ctx.beginPath();
+                    x = axisx.p2c(x);
+                    y = axisy.p2c(y) + offset;
+                    if (symbol == "circle")
+                        ctx.arc(x, y, radius, 0, shadow ? Math.PI : Math.PI * 2, false);
+                    else
+                        symbol(ctx, x, y, radius, shadow);
+                    ctx.closePath();
+
+                    if (fillStyle) {
+                        ctx.fillStyle = fillStyle;
+                        ctx.fill();
+                    }
+                    ctx.stroke();
+                }
+            }
+
+            ctx.save();
+            ctx.translate(plotOffset.left, plotOffset.top);
+
+            var lw = series.points.lineWidth,
+                sw = series.shadowSize,
+                radius = series.points.radius,
+                symbol = series.points.symbol;
+
+            // If the user sets the line width to 0, we change it to a very 
+            // small value. A line width of 0 seems to force the default of 1.
+            // Doing the conditional here allows the shadow setting to still be 
+            // optional even with a lineWidth of 0.
+
+            if( lw == 0 )
+                lw = 0.0001;
+
+            if (lw > 0 && sw > 0) {
+                // draw shadow in two steps
+                var w = sw / 2;
+                ctx.lineWidth = w;
+                ctx.strokeStyle = "rgba(0,0,0,0.1)";
+                plotPoints(series.datapoints, radius, null, w + w/2, true,
+                           series.xaxis, series.yaxis, symbol);
+
+                ctx.strokeStyle = "rgba(0,0,0,0.2)";
+                plotPoints(series.datapoints, radius, null, w/2, true,
+                           series.xaxis, series.yaxis, symbol);
+            }
+
+            ctx.lineWidth = lw;
+            ctx.strokeStyle = series.color;
+            plotPoints(series.datapoints, radius,
+                       getFillStyle(series.points, series.color), 0, false,
+                       series.xaxis, series.yaxis, symbol);
+            ctx.restore();
+        }
+
+        function drawBar(x, y, b, barLeft, barRight, offset, fillStyleCallback, axisx, axisy, c, horizontal, lineWidth) {
+            var left, right, bottom, top,
+                drawLeft, drawRight, drawTop, drawBottom,
+                tmp;
+
+            // in horizontal mode, we start the bar from the left
+            // instead of from the bottom so it appears to be
+            // horizontal rather than vertical
+            if (horizontal) {
+                drawBottom = drawRight = drawTop = true;
+                drawLeft = false;
+                left = b;
+                right = x;
+                top = y + barLeft;
+                bottom = y + barRight;
+
+                // account for negative bars
+                if (right < left) {
+                    tmp = right;
+                    right = left;
+                    left = tmp;
+                    drawLeft = true;
+                    drawRight = false;
+                }
+            }
+            else {
+                drawLeft = drawRight = drawTop = true;
+                drawBottom = false;
+                left = x + barLeft;
+                right = x + barRight;
+                bottom = b;
+                top = y;
+
+                // account for negative bars
+                if (top < bottom) {
+                    tmp = top;
+                    top = bottom;
+                    bottom = tmp;
+                    drawBottom = true;
+                    drawTop = false;
+                }
+            }
+
+            // clip
+            if (right < axisx.min || left > axisx.max ||
+                top < axisy.min || bottom > axisy.max)
+                return;
+
+            if (left < axisx.min) {
+                left = axisx.min;
+                drawLeft = false;
+            }
+
+            if (right > axisx.max) {
+                right = axisx.max;
+                drawRight = false;
+            }
+
+            if (bottom < axisy.min) {
+                bottom = axisy.min;
+                drawBottom = false;
+            }
+
+            if (top > axisy.max) {
+                top = axisy.max;
+                drawTop = false;
+            }
+
+            left = axisx.p2c(left);
+            bottom = axisy.p2c(bottom);
+            right = axisx.p2c(right);
+            top = axisy.p2c(top);
+
+            // fill the bar
+            if (fillStyleCallback) {
+                c.beginPath();
+                c.moveTo(left, bottom);
+                c.lineTo(left, top);
+                c.lineTo(right, top);
+                c.lineTo(right, bottom);
+                c.fillStyle = fillStyleCallback(bottom, top);
+                c.fill();
+            }
+
+            // draw outline
+            if (lineWidth > 0 && (drawLeft || drawRight || drawTop || drawBottom)) {
+                c.beginPath();
+
+                // FIXME: inline moveTo is buggy with excanvas
+                c.moveTo(left, bottom + offset);
+                if (drawLeft)
+                    c.lineTo(left, top + offset);
+                else
+                    c.moveTo(left, top + offset);
+                if (drawTop)
+                    c.lineTo(right, top + offset);
+                else
+                    c.moveTo(right, top + offset);
+                if (drawRight)
+                    c.lineTo(right, bottom + offset);
+                else
+                    c.moveTo(right, bottom + offset);
+                if (drawBottom)
+                    c.lineTo(left, bottom + offset);
+                else
+                    c.moveTo(left, bottom + offset);
+                c.stroke();
+            }
+        }
+
+        function drawSeriesBars(series) {
+            function plotBars(datapoints, barLeft, barRight, offset, fillStyleCallback, axisx, axisy) {
+                var points = datapoints.points, ps = datapoints.pointsize;
+
+                for (var i = 0; i < points.length; i += ps) {
+                    if (points[i] == null)
+                        continue;
+                    drawBar(points[i], points[i + 1], points[i + 2], barLeft, barRight, offset, fillStyleCallback, axisx, axisy, ctx, series.bars.horizontal, series.bars.lineWidth);
+                }
+            }
+
+            ctx.save();
+            ctx.translate(plotOffset.left, plotOffset.top);
+
+            // FIXME: figure out a way to add shadows (for instance along the right edge)
+            ctx.lineWidth = series.bars.lineWidth;
+            ctx.strokeStyle = series.color;
+
+            var barLeft;
+
+            switch (series.bars.align) {
+                case "left":
+                    barLeft = 0;
+                    break;
+                case "right":
+                    barLeft = -series.bars.barWidth;
+                    break;
+                case "center":
+                    barLeft = -series.bars.barWidth / 2;
+                    break;
+                default:
+                    throw new Error("Invalid bar alignment: " + series.bars.align);
+            }
+
+            var fillStyleCallback = series.bars.fill ? function (bottom, top) { return getFillStyle(series.bars, series.color, bottom, top); } : null;
+            plotBars(series.datapoints, barLeft, barLeft + series.bars.barWidth, 0, fillStyleCallback, series.xaxis, series.yaxis);
+            ctx.restore();
+        }
+
+        function getFillStyle(filloptions, seriesColor, bottom, top) {
+            var fill = filloptions.fill;
+            if (!fill)
+                return null;
+
+            if (filloptions.fillColor)
+                return getColorOrGradient(filloptions.fillColor, bottom, top, seriesColor);
+
+            var c = $.color.parse(seriesColor);
+            c.a = typeof fill == "number" ? fill : 0.4;
+            c.normalize();
+            return c.toString();
+        }
+
+        function insertLegend() {
+
+            placeholder.find(".legend").remove();
+
+            if (!options.legend.show)
+                return;
+
+            var fragments = [], entries = [], rowStarted = false,
+                lf = options.legend.labelFormatter, s, label;
+
+            // Build a list of legend entries, with each having a label and a color
+
+            for (var i = 0; i < series.length; ++i) {
+                s = series[i];
+                if (s.label) {
+                    label = lf ? lf(s.label, s) : s.label;
+                    if (label) {
+                        entries.push({
+                            label: label,
+                            color: s.color
+                        });
+                    }
+                }
+            }
+
+            // Sort the legend using either the default or a custom comparator
+
+            if (options.legend.sorted) {
+                if ($.isFunction(options.legend.sorted)) {
+                    entries.sort(options.legend.sorted);
+                } else if (options.legend.sorted == "reverse") {
+                	entries.reverse();
+                } else {
+                    var ascending = options.legend.sorted != "descending";
+                    entries.sort(function(a, b) {
+                        return a.label == b.label ? 0 : (
+                            (a.label < b.label) != ascending ? 1 : -1   // Logical XOR
+                        );
+                    });
+                }
+            }
+
+            // Generate markup for the list of entries, in their final order
+
+            for (var i = 0; i < entries.length; ++i) {
+
+                var entry = entries[i];
+
+                if (i % options.legend.noColumns == 0) {
+                    if (rowStarted)
+                        fragments.push('</tr>');
+                    fragments.push('<tr>');
+                    rowStarted = true;
+                }
+
+                fragments.push(
+                    '<td class="legendColorBox"><div style="border:1px solid ' + options.legend.labelBoxBorderColor + ';padding:1px"><div style="width:4px;height:0;border:5px solid ' + entry.color + ';overflow:hidden"></div></div></td>' +
+                    '<td class="legendLabel">' + entry.label + '</td>'
+                );
+            }
+
+            if (rowStarted)
+                fragments.push('</tr>');
+
+            if (fragments.length == 0)
+                return;
+
+            var table = '<table style="font-size:smaller;color:' + options.grid.color + '">' + fragments.join("") + '</table>';
+            if (options.legend.container != null)
+                $(options.legend.container).html(table);
+            else {
+                var pos = "",
+                    p = options.legend.position,
+                    m = options.legend.margin;
+                if (m[0] == null)
+                    m = [m, m];
+                if (p.charAt(0) == "n")
+                    pos += 'top:' + (m[1] + plotOffset.top) + 'px;';
+                else if (p.charAt(0) == "s")
+                    pos += 'bottom:' + (m[1] + plotOffset.bottom) + 'px;';
+                if (p.charAt(1) == "e")
+                    pos += 'right:' + (m[0] + plotOffset.right) + 'px;';
+                else if (p.charAt(1) == "w")
+                    pos += 'left:' + (m[0] + plotOffset.left) + 'px;';
+                var legend = $('<div class="legend">' + table.replace('style="', 'style="position:absolute;' + pos +';') + '</div>').appendTo(placeholder);
+                if (options.legend.backgroundOpacity != 0.0) {
+                    // put in the transparent background
+                    // separately to avoid blended labels and
+                    // label boxes
+                    var c = options.legend.backgroundColor;
+                    if (c == null) {
+                        c = options.grid.backgroundColor;
+                        if (c && typeof c == "string")
+                            c = $.color.parse(c);
+                        else
+                            c = $.color.extract(legend, 'background-color');
+                        c.a = 1;
+                        c = c.toString();
+                    }
+                    var div = legend.children();
+                    $('<div style="position:absolute;width:' + div.width() + 'px;height:' + div.height() + 'px;' + pos +'background-color:' + c + ';"> </div>').prependTo(legend).css('opacity', options.legend.backgroundOpacity);
+                }
+            }
+        }
+
+
+        // interactive features
+
+        var highlights = [],
+            redrawTimeout = null;
+
+        // returns the data item the mouse is over, or null if none is found
+        function findNearbyItem(mouseX, mouseY, seriesFilter) {
+            var maxDistance = options.grid.mouseActiveRadius,
+                smallestDistance = maxDistance * maxDistance + 1,
+                item = null, foundPoint = false, i, j, ps;
+
+            for (i = series.length - 1; i >= 0; --i) {
+                if (!seriesFilter(series[i]))
+                    continue;
+
+                var s = series[i],
+                    axisx = s.xaxis,
+                    axisy = s.yaxis,
+                    points = s.datapoints.points,
+                    mx = axisx.c2p(mouseX), // precompute some stuff to make the loop faster
+                    my = axisy.c2p(mouseY),
+                    maxx = maxDistance / axisx.scale,
+                    maxy = maxDistance / axisy.scale;
+
+                ps = s.datapoints.pointsize;
+                // with inverse transforms, we can't use the maxx/maxy
+                // optimization, sadly
+                if (axisx.options.inverseTransform)
+                    maxx = Number.MAX_VALUE;
+                if (axisy.options.inverseTransform)
+                    maxy = Number.MAX_VALUE;
+
+                if (s.lines.show || s.points.show) {
+                    for (j = 0; j < points.length; j += ps) {
+                        var x = points[j], y = points[j + 1];
+                        if (x == null)
+                            continue;
+
+                        // For points and lines, the cursor must be within a
+                        // certain distance to the data point
+                        if (x - mx > maxx || x - mx < -maxx ||
+                            y - my > maxy || y - my < -maxy)
+                            continue;
+
+                        // We have to calculate distances in pixels, not in
+                        // data units, because the scales of the axes may be different
+                        var dx = Math.abs(axisx.p2c(x) - mouseX),
+                            dy = Math.abs(axisy.p2c(y) - mouseY),
+                            dist = dx * dx + dy * dy; // we save the sqrt
+
+                        // use <= to ensure last point takes precedence
+                        // (last generally means on top of)
+                        if (dist < smallestDistance) {
+                            smallestDistance = dist;
+                            item = [i, j / ps];
+                        }
+                    }
+                }
+
+                if (s.bars.show && !item) { // no other point can be nearby
+                    var barLeft = s.bars.align == "left" ? 0 : -s.bars.barWidth/2,
+                        barRight = barLeft + s.bars.barWidth;
+
+                    for (j = 0; j < points.length; j += ps) {
+                        var x = points[j], y = points[j + 1], b = points[j + 2];
+                        if (x == null)
+                            continue;
+
+                        // for a bar graph, the cursor must be inside the bar
+                        if (series[i].bars.horizontal ?
+                            (mx <= Math.max(b, x) && mx >= Math.min(b, x) &&
+                             my >= y + barLeft && my <= y + barRight) :
+                            (mx >= x + barLeft && mx <= x + barRight &&
+                             my >= Math.min(b, y) && my <= Math.max(b, y)))
+                                item = [i, j / ps];
+                    }
+                }
+            }
+
+            if (item) {
+                i = item[0];
+                j = item[1];
+                ps = series[i].datapoints.pointsize;
+
+                return { datapoint: series[i].datapoints.points.slice(j * ps, (j + 1) * ps),
+                         dataIndex: j,
+                         series: series[i],
+                         seriesIndex: i };
+            }
+
+            return null;
+        }
+
+        function onMouseMove(e) {
+            if (options.grid.hoverable)
+                triggerClickHoverEvent("plothover", e,
+                                       function (s) { return s["hoverable"] != false; });
+        }
+
+        function onMouseLeave(e) {
+            if (options.grid.hoverable)
+                triggerClickHoverEvent("plothover", e,
+                                       function (s) { return false; });
+        }
+
+        function onClick(e) {
+            triggerClickHoverEvent("plotclick", e,
+                                   function (s) { return s["clickable"] != false; });
+        }
+
+        // trigger click or hover event (they send the same parameters
+        // so we share their code)
+        function triggerClickHoverEvent(eventname, event, seriesFilter) {
+            var offset = eventHolder.offset(),
+                canvasX = event.pageX - offset.left - plotOffset.left,
+                canvasY = event.pageY - offset.top - plotOffset.top,
+            pos = canvasToAxisCoords({ left: canvasX, top: canvasY });
+
+            pos.pageX = event.pageX;
+            pos.pageY = event.pageY;
+
+            var item = findNearbyItem(canvasX, canvasY, seriesFilter);
+
+            if (item) {
+                // fill in mouse pos for any listeners out there
+                item.pageX = parseInt(item.series.xaxis.p2c(item.datapoint[0]) + offset.left + plotOffset.left, 10);
+                item.pageY = parseInt(item.series.yaxis.p2c(item.datapoint[1]) + offset.top + plotOffset.top, 10);
+            }
+
+            if (options.grid.autoHighlight) {
+                // clear auto-highlights
+                for (var i = 0; i < highlights.length; ++i) {
+                    var h = highlights[i];
+                    if (h.auto == eventname &&
+                        !(item && h.series == item.series &&
+                          h.point[0] == item.datapoint[0] &&
+                          h.point[1] == item.datapoint[1]))
+                        unhighlight(h.series, h.point);
+                }
+
+                if (item)
+                    highlight(item.series, item.datapoint, eventname);
+            }
+
+            placeholder.trigger(eventname, [ pos, item ]);
+        }
+
+        function triggerRedrawOverlay() {
+            var t = options.interaction.redrawOverlayInterval;
+            if (t == -1) {      // skip event queue
+                drawOverlay();
+                return;
+            }
+
+            if (!redrawTimeout)
+                redrawTimeout = setTimeout(drawOverlay, t);
+        }
+
+        function drawOverlay() {
+            redrawTimeout = null;
+
+            // draw highlights
+            octx.save();
+            overlay.clear();
+            octx.translate(plotOffset.left, plotOffset.top);
+
+            var i, hi;
+            for (i = 0; i < highlights.length; ++i) {
+                hi = highlights[i];
+
+                if (hi.series.bars.show)
+                    drawBarHighlight(hi.series, hi.point);
+                else
+                    drawPointHighlight(hi.series, hi.point);
+            }
+            octx.restore();
+
+            executeHooks(hooks.drawOverlay, [octx]);
+        }
+
+        function highlight(s, point, auto) {
+            if (typeof s == "number")
+                s = series[s];
+
+            if (typeof point == "number") {
+                var ps = s.datapoints.pointsize;
+                point = s.datapoints.points.slice(ps * point, ps * (point + 1));
+            }
+
+            var i = indexOfHighlight(s, point);
+            if (i == -1) {
+                highlights.push({ series: s, point: point, auto: auto });
+
+                triggerRedrawOverlay();
+            }
+            else if (!auto)
+                highlights[i].auto = false;
+        }
+
+        function unhighlight(s, point) {
+            if (s == null && point == null) {
+                highlights = [];
+                triggerRedrawOverlay();
+                return;
+            }
+
+            if (typeof s == "number")
+                s = series[s];
+
+            if (typeof point == "number") {
+                var ps = s.datapoints.pointsize;
+                point = s.datapoints.points.slice(ps * point, ps * (point + 1));
+            }
+
+            var i = indexOfHighlight(s, point);
+            if (i != -1) {
+                highlights.splice(i, 1);
+
+                triggerRedrawOverlay();
+            }
+        }
+
+        function indexOfHighlight(s, p) {
+            for (var i = 0; i < highlights.length; ++i) {
+                var h = highlights[i];
+                if (h.series == s && h.point[0] == p[0]
+                    && h.point[1] == p[1])
+                    return i;
+            }
+            return -1;
+        }
+
+        function drawPointHighlight(series, point) {
+            var x = point[0], y = point[1],
+                axisx = series.xaxis, axisy = series.yaxis,
+                highlightColor = (typeof series.highlightColor === "string") ? series.highlightColor : $.color.parse(series.color).scale('a', 0.5).toString();
+
+            if (x < axisx.min || x > axisx.max || y < axisy.min || y > axisy.max)
+                return;
+
+            var pointRadius = series.points.radius + series.points.lineWidth / 2;
+            octx.lineWidth = pointRadius;
+            octx.strokeStyle = highlightColor;
+            var radius = 1.5 * pointRadius;
+            x = axisx.p2c(x);
+            y = axisy.p2c(y);
+
+            octx.beginPath();
+            if (series.points.symbol == "circle")
+                octx.arc(x, y, radius, 0, 2 * Math.PI, false);
+            else
+                series.points.symbol(octx, x, y, radius, false);
+            octx.closePath();
+            octx.stroke();
+        }
+
+        function drawBarHighlight(series, point) {
+            var highlightColor = (typeof series.highlightColor === "string") ? series.highlightColor : $.color.parse(series.color).scale('a', 0.5).toString(),
+                fillStyle = highlightColor,
+                barLeft = series.bars.align == "left" ? 0 : -series.bars.barWidth/2;
+
+            octx.lineWidth = series.bars.lineWidth;
+            octx.strokeStyle = highlightColor;
+
+            drawBar(point[0], point[1], point[2] || 0, barLeft, barLeft + series.bars.barWidth,
+                    0, function () { return fillStyle; }, series.xaxis, series.yaxis, octx, series.bars.horizontal, series.bars.lineWidth);
+        }
+
+        function getColorOrGradient(spec, bottom, top, defaultColor) {
+            if (typeof spec == "string")
+                return spec;
+            else {
+                // assume this is a gradient spec; IE currently only
+                // supports a simple vertical gradient properly, so that's
+                // what we support too
+                var gradient = ctx.createLinearGradient(0, top, 0, bottom);
+
+                for (var i = 0, l = spec.colors.length; i < l; ++i) {
+                    var c = spec.colors[i];
+                    if (typeof c != "string") {
+                        var co = $.color.parse(defaultColor);
+                        if (c.brightness != null)
+                            co = co.scale('rgb', c.brightness);
+                        if (c.opacity != null)
+                            co.a *= c.opacity;
+                        c = co.toString();
+                    }
+                    gradient.addColorStop(i / (l - 1), c);
+                }
+
+                return gradient;
+            }
+        }
+    }
+
+    // Add the plot function to the top level of the jQuery object
+
+    $.plot = function(placeholder, data, options) {
+        //var t0 = new Date();
+        var plot = new Plot($(placeholder), data, options, $.plot.plugins);
+        //(window.console ? console.log : alert)("time used (msecs): " + ((new Date()).getTime() - t0.getTime()));
+        return plot;
+    };
+
+    $.plot.version = "0.8.1";
+
+    $.plot.plugins = [];
+
+    // Also add the plot function as a chainable property
+
+    $.fn.plot = function(data, options) {
+        return this.each(function() {
+            $.plot(this, data, options);
+        });
+    };
+
+    // round to nearby lower multiple of base
+    function floorInBase(n, base) {
+        return base * Math.floor(n / base);
+    }
+
+})(jQuery);
+</script>
+		<script type="application/javascript">/* Flot plugin for rendering pie charts.
+
+Copyright (c) 2007-2013 IOLA and Ole Laursen.
+Licensed under the MIT license.
+
+The plugin assumes that each series has a single data value, and that each
+value is a positive integer or zero.  Negative numbers don't make sense for a
+pie chart, and have unpredictable results.  The values do NOT need to be
+passed in as percentages; the plugin will calculate the total and per-slice
+percentages internally.
+
+* Created by Brian Medendorp
+
+* Updated with contributions from btburnett3, Anthony Aragues and Xavi Ivars
+
+The plugin supports these options:
+
+	series: {
+		pie: {
+			show: true/false
+			radius: 0-1 for percentage of fullsize, or a specified pixel length, or 'auto'
+			innerRadius: 0-1 for percentage of fullsize or a specified pixel length, for creating a donut effect
+			startAngle: 0-2 factor of PI used for starting angle (in radians) i.e 3/2 starts at the top, 0 and 2 have the same result
+			tilt: 0-1 for percentage to tilt the pie, where 1 is no tilt, and 0 is completely flat (nothing will show)
+			offset: {
+				top: integer value to move the pie up or down
+				left: integer value to move the pie left or right, or 'auto'
+			},
+			stroke: {
+				color: any hexidecimal color value (other formats may or may not work, so best to stick with something like '#FFF')
+				width: integer pixel width of the stroke
+			},
+			label: {
+				show: true/false, or 'auto'
+				formatter:  a user-defined function that modifies the text/style of the label text
+				radius: 0-1 for percentage of fullsize, or a specified pixel length
+				background: {
+					color: any hexidecimal color value (other formats may or may not work, so best to stick with something like '#000')
+					opacity: 0-1
+				},
+				threshold: 0-1 for the percentage value at which to hide labels (if they're too small)
+			},
+			combine: {
+				threshold: 0-1 for the percentage value at which to combine slices (if they're too small)
+				color: any hexidecimal color value (other formats may or may not work, so best to stick with something like '#CCC'), if null, the plugin will automatically use the color of the first slice to be combined
+				label: any text value of what the combined slice should be labeled
+			}
+			highlight: {
+				opacity: 0-1
+			}
+		}
+	}
+
+More detail and specific examples can be found in the included HTML file.
+
+*/
+
+(function($) {
+
+	// Maximum redraw attempts when fitting labels within the plot
+
+	var REDRAW_ATTEMPTS = 10;
+
+	// Factor by which to shrink the pie when fitting labels within the plot
+
+	var REDRAW_SHRINK = 0.95;
+
+	function init(plot) {
+
+		var canvas = null,
+			target = null,
+			maxRadius = null,
+			centerLeft = null,
+			centerTop = null,
+			processed = false,
+			ctx = null;
+
+		// interactive variables
+
+		var highlights = [];
+
+		// add hook to determine if pie plugin in enabled, and then perform necessary operations
+
+		plot.hooks.processOptions.push(function(plot, options) {
+			if (options.series.pie.show) {
+
+				options.grid.show = false;
+
+				// set labels.show
+
+				if (options.series.pie.label.show == "auto") {
+					if (options.legend.show) {
+						options.series.pie.label.show = false;
+					} else {
+						options.series.pie.label.show = true;
+					}
+				}
+
+				// set radius
+
+				if (options.series.pie.radius == "auto") {
+					if (options.series.pie.label.show) {
+						options.series.pie.radius = 3/4;
+					} else {
+						options.series.pie.radius = 1;
+					}
+				}
+
+				// ensure sane tilt
+
+				if (options.series.pie.tilt > 1) {
+					options.series.pie.tilt = 1;
+				} else if (options.series.pie.tilt < 0) {
+					options.series.pie.tilt = 0;
+				}
+			}
+		});
+
+		plot.hooks.bindEvents.push(function(plot, eventHolder) {
+			var options = plot.getOptions();
+			if (options.series.pie.show) {
+				if (options.grid.hoverable) {
+					eventHolder.unbind("mousemove").mousemove(onMouseMove);
+				}
+				if (options.grid.clickable) {
+					eventHolder.unbind("click").click(onClick);
+				}
+			}
+		});
+
+		plot.hooks.processDatapoints.push(function(plot, series, data, datapoints) {
+			var options = plot.getOptions();
+			if (options.series.pie.show) {
+				processDatapoints(plot, series, data, datapoints);
+			}
+		});
+
+		plot.hooks.drawOverlay.push(function(plot, octx) {
+			var options = plot.getOptions();
+			if (options.series.pie.show) {
+				drawOverlay(plot, octx);
+			}
+		});
+
+		plot.hooks.draw.push(function(plot, newCtx) {
+			var options = plot.getOptions();
+			if (options.series.pie.show) {
+				draw(plot, newCtx);
+			}
+		});
+
+		function processDatapoints(plot, series, datapoints) {
+			if (!processed)	{
+				processed = true;
+				canvas = plot.getCanvas();
+				target = $(canvas).parent();
+				options = plot.getOptions();
+				plot.setData(combine(plot.getData()));
+			}
+		}
+
+		function combine(data) {
+
+			var total = 0,
+				combined = 0,
+				numCombined = 0,
+				color = options.series.pie.combine.color,
+				newdata = [];
+
+			// Fix up the raw data from Flot, ensuring the data is numeric
+
+			for (var i = 0; i < data.length; ++i) {
+
+				var value = data[i].data;
+
+				// If the data is an array, we'll assume that it's a standard
+				// Flot x-y pair, and are concerned only with the second value.
+
+				// Note how we use the original array, rather than creating a
+				// new one; this is more efficient and preserves any extra data
+				// that the user may have stored in higher indexes.
+
+				if ($.isArray(value) && value.length == 1) {
+    				value = value[0];
+				}
+
+				if ($.isArray(value)) {
+					// Equivalent to $.isNumeric() but compatible with jQuery < 1.7
+					if (!isNaN(parseFloat(value[1])) && isFinite(value[1])) {
+						value[1] = +value[1];
+					} else {
+						value[1] = 0;
+					}
+				} else if (!isNaN(parseFloat(value)) && isFinite(value)) {
+					value = [1, +value];
+				} else {
+					value = [1, 0];
+				}
+
+				data[i].data = [value];
+			}
+
+			// Sum up all the slices, so we can calculate percentages for each
+
+			for (var i = 0; i < data.length; ++i) {
+				total += data[i].data[0][1];
+			}
+
+			// Count the number of slices with percentages below the combine
+			// threshold; if it turns out to be just one, we won't combine.
+
+			for (var i = 0; i < data.length; ++i) {
+				var value = data[i].data[0][1];
+				if (value / total <= options.series.pie.combine.threshold) {
+					combined += value;
+					numCombined++;
+					if (!color) {
+						color = data[i].color;
+					}
+				}
+			}
+
+			for (var i = 0; i < data.length; ++i) {
+				var value = data[i].data[0][1];
+				if (numCombined < 2 || value / total > options.series.pie.combine.threshold) {
+					newdata.push({
+						data: [[1, value]],
+						color: data[i].color,
+						label: data[i].label,
+						angle: value * Math.PI * 2 / total,
+						percent: value / (total / 100)
+					});
+				}
+			}
+
+			if (numCombined > 1) {
+				newdata.push({
+					data: [[1, combined]],
+					color: color,
+					label: options.series.pie.combine.label,
+					angle: combined * Math.PI * 2 / total,
+					percent: combined / (total / 100)
+				});
+			}
+
+			return newdata;
+		}
+
+		function draw(plot, newCtx) {
+
+			if (!target) {
+				return; // if no series were passed
+			}
+
+			var canvasWidth = plot.getPlaceholder().width(),
+				canvasHeight = plot.getPlaceholder().height(),
+				legendWidth = target.children().filter(".legend").children().width() || 0;
+
+			ctx = newCtx;
+
+			// WARNING: HACK! REWRITE THIS CODE AS SOON AS POSSIBLE!
+
+			// When combining smaller slices into an 'other' slice, we need to
+			// add a new series.  Since Flot gives plugins no way to modify the
+			// list of series, the pie plugin uses a hack where the first call
+			// to processDatapoints results in a call to setData with the new
+			// list of series, then subsequent processDatapoints do nothing.
+
+			// The plugin-global 'processed' flag is used to control this hack;
+			// it starts out false, and is set to true after the first call to
+			// processDatapoints.
+
+			// Unfortunately this turns future setData calls into no-ops; they
+			// call processDatapoints, the flag is true, and nothing happens.
+
+			// To fix this we'll set the flag back to false here in draw, when
+			// all series have been processed, so the next sequence of calls to
+			// processDatapoints once again starts out with a slice-combine.
+			// This is really a hack; in 0.9 we need to give plugins a proper
+			// way to modify series before any processing begins.
+
+			processed = false;
+
+			// calculate maximum radius and center point
+
+			maxRadius =  Math.min(canvasWidth, canvasHeight / options.series.pie.tilt) / 2;
+			centerTop = canvasHeight / 2 + options.series.pie.offset.top;
+			centerLeft = canvasWidth / 2;
+
+			if (options.series.pie.offset.left == "auto") {
+				if (options.legend.position.match("w")) {
+					centerLeft += legendWidth / 2;
+				} else {
+					centerLeft -= legendWidth / 2;
+				}
+			} else {
+				centerLeft += options.series.pie.offset.left;
+			}
+
+			if (centerLeft < maxRadius) {
+				centerLeft = maxRadius;
+			} else if (centerLeft > canvasWidth - maxRadius) {
+				centerLeft = canvasWidth - maxRadius;
+			}
+
+			var slices = plot.getData(),
+				attempts = 0;
+
+			// Keep shrinking the pie's radius until drawPie returns true,
+			// indicating that all the labels fit, or we try too many times.
+
+			do {
+				if (attempts > 0) {
+					maxRadius *= REDRAW_SHRINK;
+				}
+				attempts += 1;
+				clear();
+				if (options.series.pie.tilt <= 0.8) {
+					drawShadow();
+				}
+			} while (!drawPie() && attempts < REDRAW_ATTEMPTS)
+
+			if (attempts >= REDRAW_ATTEMPTS) {
+				clear();
+				target.prepend("<div class='error'>Could not draw pie with labels contained inside canvas</div>");
+			}
+
+			if (plot.setSeries && plot.insertLegend) {
+				plot.setSeries(slices);
+				plot.insertLegend();
+			}
+
+			// we're actually done at this point, just defining internal functions at this point
+
+			function clear() {
+				ctx.clearRect(0, 0, canvasWidth, canvasHeight);
+				target.children().filter(".pieLabel, .pieLabelBackground").remove();
+			}
+
+			function drawShadow() {
+
+				var shadowLeft = options.series.pie.shadow.left;
+				var shadowTop = options.series.pie.shadow.top;
+				var edge = 10;
+				var alpha = options.series.pie.shadow.alpha;
+				var radius = options.series.pie.radius > 1 ? options.series.pie.radius : maxRadius * options.series.pie.radius;
+
+				if (radius >= canvasWidth / 2 - shadowLeft || radius * options.series.pie.tilt >= canvasHeight / 2 - shadowTop || radius <= edge) {
+					return;	// shadow would be outside canvas, so don't draw it
+				}
+
+				ctx.save();
+				ctx.translate(shadowLeft,shadowTop);
+				ctx.globalAlpha = alpha;
+				ctx.fillStyle = "#000";
+
+				// center and rotate to starting position
+
+				ctx.translate(centerLeft,centerTop);
+				ctx.scale(1, options.series.pie.tilt);
+
+				//radius -= edge;
+
+				for (var i = 1; i <= edge; i++) {
+					ctx.beginPath();
+					ctx.arc(0, 0, radius, 0, Math.PI * 2, false);
+					ctx.fill();
+					radius -= i;
+				}
+
+				ctx.restore();
+			}
+
+			function drawPie() {
+
+				var startAngle = Math.PI * options.series.pie.startAngle;
+				var radius = options.series.pie.radius > 1 ? options.series.pie.radius : maxRadius * options.series.pie.radius;
+
+				// center and rotate to starting position
+
+				ctx.save();
+				ctx.translate(centerLeft,centerTop);
+				ctx.scale(1, options.series.pie.tilt);
+				//ctx.rotate(startAngle); // start at top; -- This doesn't work properly in Opera
+
+				// draw slices
+
+				ctx.save();
+				var currentAngle = startAngle;
+				for (var i = 0; i < slices.length; ++i) {
+					slices[i].startAngle = currentAngle;
+					drawSlice(slices[i].angle, slices[i].color, true);
+				}
+				ctx.restore();
+
+				// draw slice outlines
+
+				if (options.series.pie.stroke.width > 0) {
+					ctx.save();
+					ctx.lineWidth = options.series.pie.stroke.width;
+					currentAngle = startAngle;
+					for (var i = 0; i < slices.length; ++i) {
+						drawSlice(slices[i].angle, options.series.pie.stroke.color, false);
+					}
+					ctx.restore();
+				}
+
+				// draw donut hole
+
+				drawDonutHole(ctx);
+
+				ctx.restore();
+
+				// Draw the labels, returning true if they fit within the plot
+
+				if (options.series.pie.label.show) {
+					return drawLabels();
+				} else return true;
+
+				function drawSlice(angle, color, fill) {
+
+					if (angle <= 0 || isNaN(angle)) {
+						return;
+					}
+
+					if (fill) {
+						ctx.fillStyle = color;
+					} else {
+						ctx.strokeStyle = color;
+						ctx.lineJoin = "round";
+					}
+
+					ctx.beginPath();
+					if (Math.abs(angle - Math.PI * 2) > 0.000000001) {
+						ctx.moveTo(0, 0); // Center of the pie
+					}
+
+					//ctx.arc(0, 0, radius, 0, angle, false); // This doesn't work properly in Opera
+					ctx.arc(0, 0, radius,currentAngle, currentAngle + angle / 2, false);
+					ctx.arc(0, 0, radius,currentAngle + angle / 2, currentAngle + angle, false);
+					ctx.closePath();
+					//ctx.rotate(angle); // This doesn't work properly in Opera
+					currentAngle += angle;
+
+					if (fill) {
+						ctx.fill();
+					} else {
+						ctx.stroke();
+					}
+				}
+
+				function drawLabels() {
+
+					var currentAngle = startAngle;
+					var radius = options.series.pie.label.radius > 1 ? options.series.pie.label.radius : maxRadius * options.series.pie.label.radius;
+
+					for (var i = 0; i < slices.length; ++i) {
+						if (slices[i].percent >= options.series.pie.label.threshold * 100) {
+							if (!drawLabel(slices[i], currentAngle, i)) {
+								return false;
+							}
+						}
+						currentAngle += slices[i].angle;
+					}
+
+					return true;
+
+					function drawLabel(slice, startAngle, index) {
+
+						if (slice.data[0][1] == 0) {
+							return true;
+						}
+
+						// format label text
+
+						var lf = options.legend.labelFormatter, text, plf = options.series.pie.label.formatter;
+
+						if (lf) {
+							text = lf(slice.label, slice);
+						} else {
+							text = slice.label;
+						}
+
+						if (plf) {
+							text = plf(text, slice);
+						}
+
+						var halfAngle = ((startAngle + slice.angle) + startAngle) / 2;
+						var x = centerLeft + Math.round(Math.cos(halfAngle) * radius);
+						var y = centerTop + Math.round(Math.sin(halfAngle) * radius) * options.series.pie.tilt;
+
+						var html = "<span class='pieLabel' id='pieLabel" + index + "' style='position:absolute;top:" + y + "px;left:" + x + "px;'>" + text + "</span>";
+						target.append(html);
+
+						var label = target.children("#pieLabel" + index);
+						var labelTop = (y - label.height() / 2);
+						var labelLeft = (x - label.width() / 2);
+
+						label.css("top", labelTop);
+						label.css("left", labelLeft);
+
+						// check to make sure that the label is not outside the canvas
+
+						if (0 - labelTop > 0 || 0 - labelLeft > 0 || canvasHeight - (labelTop + label.height()) < 0 || canvasWidth - (labelLeft + label.width()) < 0) {
+							return false;
+						}
+
+						if (options.series.pie.label.background.opacity != 0) {
+
+							// put in the transparent background separately to avoid blended labels and label boxes
+
+							var c = options.series.pie.label.background.color;
+
+							if (c == null) {
+								c = slice.color;
+							}
+
+							var pos = "top:" + labelTop + "px;left:" + labelLeft + "px;";
+							$("<div class='pieLabelBackground' style='position:absolute;width:" + label.width() + "px;height:" + label.height() + "px;" + pos + "background-color:" + c + ";'></div>")
+								.css("opacity", options.series.pie.label.background.opacity)
+								.insertBefore(label);
+						}
+
+						return true;
+					} // end individual label function
+				} // end drawLabels function
+			} // end drawPie function
+		} // end draw function
+
+		// Placed here because it needs to be accessed from multiple locations
+
+		function drawDonutHole(layer) {
+			if (options.series.pie.innerRadius > 0) {
+
+				// subtract the center
+
+				layer.save();
+				var innerRadius = options.series.pie.innerRadius > 1 ? options.series.pie.innerRadius : maxRadius * options.series.pie.innerRadius;
+				layer.globalCompositeOperation = "destination-out"; // this does not work with excanvas, but it will fall back to using the stroke color
+				layer.beginPath();
+				layer.fillStyle = options.series.pie.stroke.color;
+				layer.arc(0, 0, innerRadius, 0, Math.PI * 2, false);
+				layer.fill();
+				layer.closePath();
+				layer.restore();
+
+				// add inner stroke
+
+				layer.save();
+				layer.beginPath();
+				layer.strokeStyle = options.series.pie.stroke.color;
+				layer.arc(0, 0, innerRadius, 0, Math.PI * 2, false);
+				layer.stroke();
+				layer.closePath();
+				layer.restore();
+
+				// TODO: add extra shadow inside hole (with a mask) if the pie is tilted.
+			}
+		}
+
+		//-- Additional Interactive related functions --
+
+		function isPointInPoly(poly, pt) {
+			for(var c = false, i = -1, l = poly.length, j = l - 1; ++i < l; j = i)
+				((poly[i][1] <= pt[1] && pt[1] < poly[j][1]) || (poly[j][1] <= pt[1] && pt[1]< poly[i][1]))
+				&& (pt[0] < (poly[j][0] - poly[i][0]) * (pt[1] - poly[i][1]) / (poly[j][1] - poly[i][1]) + poly[i][0])
+				&& (c = !c);
+			return c;
+		}
+
+		function findNearbySlice(mouseX, mouseY) {
+
+			var slices = plot.getData(),
+				options = plot.getOptions(),
+				radius = options.series.pie.radius > 1 ? options.series.pie.radius : maxRadius * options.series.pie.radius,
+				x, y;
+
+			for (var i = 0; i < slices.length; ++i) {
+
+				var s = slices[i];
+
+				if (s.pie.show) {
+
+					ctx.save();
+					ctx.beginPath();
+					ctx.moveTo(0, 0); // Center of the pie
+					//ctx.scale(1, options.series.pie.tilt);	// this actually seems to break everything when here.
+					ctx.arc(0, 0, radius, s.startAngle, s.startAngle + s.angle / 2, false);
+					ctx.arc(0, 0, radius, s.startAngle + s.angle / 2, s.startAngle + s.angle, false);
+					ctx.closePath();
+					x = mouseX - centerLeft;
+					y = mouseY - centerTop;
+
+					if (ctx.isPointInPath) {
+						if (ctx.isPointInPath(mouseX - centerLeft, mouseY - centerTop)) {
+							ctx.restore();
+							return {
+								datapoint: [s.percent, s.data],
+								dataIndex: 0,
+								series: s,
+								seriesIndex: i
+							};
+						}
+					} else {
+
+						// excanvas for IE doesn;t support isPointInPath, this is a workaround.
+
+						var p1X = radius * Math.cos(s.startAngle),
+							p1Y = radius * Math.sin(s.startAngle),
+							p2X = radius * Math.cos(s.startAngle + s.angle / 4),
+							p2Y = radius * Math.sin(s.startAngle + s.angle / 4),
+							p3X = radius * Math.cos(s.startAngle + s.angle / 2),
+							p3Y = radius * Math.sin(s.startAngle + s.angle / 2),
+							p4X = radius * Math.cos(s.startAngle + s.angle / 1.5),
+							p4Y = radius * Math.sin(s.startAngle + s.angle / 1.5),
+							p5X = radius * Math.cos(s.startAngle + s.angle),
+							p5Y = radius * Math.sin(s.startAngle + s.angle),
+							arrPoly = [[0, 0], [p1X, p1Y], [p2X, p2Y], [p3X, p3Y], [p4X, p4Y], [p5X, p5Y]],
+							arrPoint = [x, y];
+
+						// TODO: perhaps do some mathmatical trickery here with the Y-coordinate to compensate for pie tilt?
+
+						if (isPointInPoly(arrPoly, arrPoint)) {
+							ctx.restore();
+							return {
+								datapoint: [s.percent, s.data],
+								dataIndex: 0,
+								series: s,
+								seriesIndex: i
+							};
+						}
+					}
+
+					ctx.restore();
+				}
+			}
+
+			return null;
+		}
+
+		function onMouseMove(e) {
+			triggerClickHoverEvent("plothover", e);
+		}
+
+		function onClick(e) {
+			triggerClickHoverEvent("plotclick", e);
+		}
+
+		// trigger click or hover event (they send the same parameters so we share their code)
+
+		function triggerClickHoverEvent(eventname, e) {
+
+			var offset = plot.offset();
+			var canvasX = parseInt(e.pageX - offset.left);
+			var canvasY =  parseInt(e.pageY - offset.top);
+			var item = findNearbySlice(canvasX, canvasY);
+
+			if (options.grid.autoHighlight) {
+
+				// clear auto-highlights
+
+				for (var i = 0; i < highlights.length; ++i) {
+					var h = highlights[i];
+					if (h.auto == eventname && !(item && h.series == item.series)) {
+						unhighlight(h.series);
+					}
+				}
+			}
+
+			// highlight the slice
+
+			if (item) {
+				highlight(item.series, eventname);
+			}
+
+			// trigger any hover bind events
+
+			var pos = { pageX: e.pageX, pageY: e.pageY };
+			target.trigger(eventname, [pos, item]);
+		}
+
+		function highlight(s, auto) {
+			//if (typeof s == "number") {
+			//	s = series[s];
+			//}
+
+			var i = indexOfHighlight(s);
+
+			if (i == -1) {
+				highlights.push({ series: s, auto: auto });
+				plot.triggerRedrawOverlay();
+			} else if (!auto) {
+				highlights[i].auto = false;
+			}
+		}
+
+		function unhighlight(s) {
+			if (s == null) {
+				highlights = [];
+				plot.triggerRedrawOverlay();
+			}
+
+			//if (typeof s == "number") {
+			//	s = series[s];
+			//}
+
+			var i = indexOfHighlight(s);
+
+			if (i != -1) {
+				highlights.splice(i, 1);
+				plot.triggerRedrawOverlay();
+			}
+		}
+
+		function indexOfHighlight(s) {
+			for (var i = 0; i < highlights.length; ++i) {
+				var h = highlights[i];
+				if (h.series == s)
+					return i;
+			}
+			return -1;
+		}
+
+		function drawOverlay(plot, octx) {
+
+			var options = plot.getOptions();
+
+			var radius = options.series.pie.radius > 1 ? options.series.pie.radius : maxRadius * options.series.pie.radius;
+
+			octx.save();
+			octx.translate(centerLeft, centerTop);
+			octx.scale(1, options.series.pie.tilt);
+
+			for (var i = 0; i < highlights.length; ++i) {
+				drawHighlight(highlights[i].series);
+			}
+
+			drawDonutHole(octx);
+
+			octx.restore();
+
+			function drawHighlight(series) {
+
+				if (series.angle <= 0 || isNaN(series.angle)) {
+					return;
+				}
+
+				//octx.fillStyle = parseColor(options.series.pie.highlight.color).scale(null, null, null, options.series.pie.highlight.opacity).toString();
+				octx.fillStyle = "rgba(255, 255, 255, " + options.series.pie.highlight.opacity + ")"; // this is temporary until we have access to parseColor
+				octx.beginPath();
+				if (Math.abs(series.angle - Math.PI * 2) > 0.000000001) {
+					octx.moveTo(0, 0); // Center of the pie
+				}
+				octx.arc(0, 0, radius, series.startAngle, series.startAngle + series.angle / 2, false);
+				octx.arc(0, 0, radius, series.startAngle + series.angle / 2, series.startAngle + series.angle, false);
+				octx.closePath();
+				octx.fill();
+			}
+		}
+	} // end init (plugin body)
+
+	// define pie specific options and their default values
+
+	var options = {
+		series: {
+			pie: {
+				show: false,
+				radius: "auto",	// actual radius of the visible pie (based on full calculated radius if <=1, or hard pixel value)
+				innerRadius: 0, /* for donut */
+				startAngle: 3/2,
+				tilt: 1,
+				shadow: {
+					left: 5,	// shadow left offset
+					top: 15,	// shadow top offset
+					alpha: 0.02	// shadow alpha
+				},
+				offset: {
+					top: 0,
+					left: "auto"
+				},
+				stroke: {
+					color: "#fff",
+					width: 1
+				},
+				label: {
+					show: "auto",
+					formatter: function(label, slice) {
+						return "<div style='font-size:x-small;text-align:center;padding:2px;color:" + slice.color + ";'>" + label + "<br/>" + Math.round(slice.percent) + "%</div>";
+					},	// formatter function
+					radius: 1,	// radius at which to place the labels (based on full calculated radius if <=1, or hard pixel value)
+					background: {
+						color: null,
+						opacity: 0
+					},
+					threshold: 0	// percentage at which to hide the label (i.e. the slice is too narrow)
+				},
+				combine: {
+					threshold: -1,	// percentage at which to combine little slices into one larger slice
+					color: null,	// color to give the new slice (auto-generated if null)
+					label: "Other"	// label to give the new slice
+				},
+				highlight: {
+					//color: "#fff",		// will add this functionality once parseColor is available
+					opacity: 0.5
+				}
+			}
+		}
+	};
+
+	$.plot.plugins.push({
+		init: init,
+		options: options,
+		name: "pie",
+		version: "1.1"
+	});
+
+})(jQuery);
+</script>
+		<script type="application/javascript">/* Flot plugin for automatically redrawing plots as the placeholder resizes.
+
+Copyright (c) 2007-2013 IOLA and Ole Laursen.
+Licensed under the MIT license.
+
+It works by listening for changes on the placeholder div (through the jQuery
+resize event plugin) - if the size changes, it will redraw the plot.
+
+There are no options. If you need to disable the plugin for some plots, you
+can just fix the size of their placeholders.
+
+*/
+
+/* Inline dependency:
+ * jQuery resize event - v1.1 - 3/14/2010
+ * http://benalman.com/projects/jquery-resize-plugin/
+ *
+ * Copyright (c) 2010 "Cowboy" Ben Alman
+ * Dual licensed under the MIT and GPL licenses.
+ * http://benalman.com/about/license/
+ */
+
+(function($,h,c){var a=$([]),e=$.resize=$.extend($.resize,{}),i,k="setTimeout",j="resize",d=j+"-special-event",b="delay",f="throttleWindow";e[b]=250;e[f]=true;$.event.special[j]={setup:function(){if(!e[f]&&this[k]){return false}var l=$(this);a=a.add(l);$.data(this,d,{w:l.width(),h:l.height()});if(a.length===1){g()}},teardown:function(){if(!e[f]&&this[k]){return false}var l=$(this);a=a.not(l);l.removeData(d);if(!a.length){clearTimeout(i)}},add:function(l){if(!e[f]&&this[k]){return false}var n;function m(s,o,p){var q=$(this),r=$.data(this,d);r.w=o!==c?o:q.width();r.h=p!==c?p:q.height();n.apply(this,arguments)}if($.isFunction(l)){n=l;return m}else{n=l.handler;l.handler=m}}};function g(){i=h[k](function(){a.each(function(){var n=$(this),m=n.width(),l=n.height(),o=$.data(this,d);if(m!==o.w||l!==o.h){n.trigger(j,[o.w=m,o.h=l])}});g()},e[b])}})(jQuery,this);
+
+(function ($) {
+    var options = { }; // no options
+
+    function init(plot) {
+        function onResize() {
+            var placeholder = plot.getPlaceholder();
+
+            // somebody might have hidden us and we can't plot
+            // when we don't have the dimensions
+            if (placeholder.width() == 0 || placeholder.height() == 0)
+                return;
+
+            plot.resize();
+            plot.setupGrid();
+            plot.draw();
+        }
+        
+        function bindEvents(plot, eventHolder) {
+            plot.getPlaceholder().resize(onResize);
+        }
+
+        function shutdown(plot, eventHolder) {
+            plot.getPlaceholder().unbind("resize", onResize);
+        }
+        
+        plot.hooks.bindEvents.push(bindEvents);
+        plot.hooks.shutdown.push(shutdown);
+    }
+    
+    $.plot.plugins.push({
+        init: init,
+        options: options,
+        name: 'resize',
+        version: '1.0'
+    });
+})(jQuery);
+</script>
+		<script type="application/javascript">
+			$(document).ready(function() {
+				var row = 0;
+				var MINOR_AUTHOR_PERCENTAGE = 1.00;
+				var isReversed = false;
+
+				var colorRows = function() {
+					$(this).removeClass("odd");
+
+					if (row++ % 2 == 1) {
+						$(this).addClass("odd");
+					}
+
+					if(this == $(this).parent().find("tr:visible").get(-1)) {
+						row = 0;
+					}
+				}
+
+				var filterResponsibilities = function() {
+					$("table#blame tbody tr td:last-child").filter(function() {
+						return parseFloat(this.innerHTML) < MINOR_AUTHOR_PERCENTAGE;
+					}).parent().find("td:first-child").each(function() {
+						$("div#responsibilities div h3:contains(\"" + $(this).text() + "\")").parent().hide();
+					});
+				}
+
+				var filterTimeLine = function() {
+					$("div#timeline table.git tbody tr").filter(function() {
+						return $(this).find("td:has(div)").length == 0;
+					}).hide();
+				}
+
+				$("table#changes tbody tr td:last-child").filter(function() {
+					return parseFloat(this.innerHTML) < MINOR_AUTHOR_PERCENTAGE;
+				}).parent().hide();
+
+				$("table#blame tbody tr td:last-child").filter(function() {
+					return parseFloat(this.innerHTML) < MINOR_AUTHOR_PERCENTAGE;
+				}).parent().hide();
+
+				$("table.git tbody tr:visible").each(colorRows);
+
+				$("table#changes, table#blame").tablesorter({
+					sortList: [[0,0]],
+					headers: {
+						0: { sorter: "text" }
+					}
+				}).bind("sortEnd", function() {
+					$(this).find("tbody tr:visible").each(colorRows);
+				});
+
+				$("table#changes thead tr th, table#blame thead tr th").click(function() {
+					$(this).parent().find("th strong").remove();
+					var parentIndex = $(this).index();
+
+					if (this.isReversed) {
+						$(this).append("<strong> &and;</strong>");
+					} else {
+						$(this).append("<strong> &or;</strong>");
+					}
+					this.isReversed = !this.isReversed;
+				});
+
+				$("table#changes thead tr th:first-child, table#blame thead tr th:first-child").each(function() {
+					this.isReversed = true;
+					$(this).append("<strong> &or;</strong>");
+				});
+
+				$("table.git tfoot tr td:first-child").filter(function() {
+					this.hiddenCount = $(this).parent().parent().parent().find("tbody tr:hidden").length;
+					return this.hiddenCount > 0;
+				}).each(function() {
+					$(this).addClass("hoverable");
+					this.innerHTML = "Show minor authors (" + this.hiddenCount + ") &or;";
+				}).toggle(function() {
+					this.innerHTML = "Hide minor authors (" + this.hiddenCount + ") &and;";
+					$(this).parent().parent().parent().find("tbody tr").show().each(colorRows);
+				}, function() {
+					this.innerHTML = "Show minor authors (" + this.hiddenCount + ") &or;";
+					$(this).parent().parent().parent().find("tbody tr td:last-child").filter(function() {
+						return parseFloat(this.innerHTML) < MINOR_AUTHOR_PERCENTAGE;
+					}).parent().hide();
+					$("table.git tbody tr:visible").each(colorRows);
+				});
+
+				filterResponsibilities();
+				var hiddenResponsibilitiesCount = $("div#responsibilities div h3:hidden").length;
+				if (hiddenResponsibilitiesCount > 0) {
+					$("div#responsibilities div h3:visible").each(colorRows);
+					$("div#responsibilities").prepend("<div class=\"button\">Show minor authors (" + hiddenResponsibilitiesCount + ") &or;</div>");
+
+					$("div#responsibilities div.button").toggle(function() {
+						this.innerHTML = "Hide minor authors (" + hiddenResponsibilitiesCount + ") &and;";
+						$("div#responsibilities div").show();
+					}, function() {
+						this.innerHTML = "Show minor authors (" + hiddenResponsibilitiesCount + ") &or;";
+						filterResponsibilities();
+					});
+				}
+
+
+				filterTimeLine();
+				var hiddenTimelineCount = $("div#timeline table.git tbody tr:hidden").length;
+				if (hiddenTimelineCount > 0) {
+					$("div#timeline table.git tbody tr:visible").each(colorRows);
+					$("div#timeline").prepend("<div class=\"button\">Show rows with minor work (" + hiddenTimelineCount + ") &or;</div>");
+
+					$("div#timeline div.button").toggle(function() {
+						this.innerHTML = "Hide rows with minor work (" + hiddenTimelineCount + ") &and;";
+						$("div#timeline table.git tbody tr").show().each(colorRows);
+					}, function() {
+						this.innerHTML = "Show rows with minor work (" + hiddenTimelineCount + ") &or;";
+						filterTimeLine();
+						$("div#timeline table.git tbody tr:visible").each(colorRows);
+					});
+				}
+
+				$("#blame_chart, #changes_chart").bind("plothover", function(event, pos, obj) {
+					if (obj) {
+						var selection = "table tbody tr td:contains(\"" + obj.series.label + "\")";
+						var element = $(this).parent().find(selection);
+
+						if (element) {
+							if (this.hoveredElement && this.hoveredElement.html() != element.parent().html()) {
+								this.hoveredElement.removeClass("piehover");
+							}
+
+							element.parent().addClass("piehover");
+							this.hoveredElement = element.parent();
+						}
+					} else if (this.hoveredElement) {
+						this.hoveredElement.removeClass("piehover");
+					}
+				});
+			});
+		</script>
+		<style type="text/css">
+			body {
+				background: -webkit-linear-gradient(left, #8f8a9a, #dad2d7, #8f8a9a);
+				background: -moz-linear-gradient(left, #8f8a9a, #dad2d7, #8f8a9a);
+			}
+			html, body {
+				margin: 0;
+				height: 100%;
+				font-family: "Arial";
+			}
+			body > div {
+				margin: 0 auto;
+				width: 58em;
+			}
+			div.box {
+				border: 4px solid #ddd;
+				background-color: #eee;
+				margin: 0.75em;
+				padding: 5px;
+				font-size: small;
+				border-radius: 15px;
+				-moz-border-radius: 15px;
+				box-shadow: 1px 1px 3px #666;
+				-moz-box-shadow: 1px 1px 3px #666;
+			}
+			div.logo p {
+				margin-top: 18px;
+			}
+			div.logo img {
+				float: left;
+				padding: 2px 10px 2px 2px;
+			}
+			body > div {
+				display: block-inline;
+			}
+			body > div > div > div {
+				position: relative;
+				width: 100%;
+				min-height: 140px;
+			}
+			table.git {
+				font-size: small;
+				width: 65%;
+				padding-right: 5px;
+			}
+			table.full {
+				width: 100%;
+			}
+			table.git th, table.git tfoot tr td {
+				padding: 0.3em;
+				background-color: #ddcece;
+				border-radius: 8px 8px 0px 0px;
+				-moz-border-radius: 8px 8px 0px 0px;
+			}
+			table#changes thead tr th, table#blame thead tr th, table.git tfoot tr td {
+				border: 1px solid #eee;
+				text-align: center;
+			}
+			table.git tfoot tr td {
+				border-radius: 0px 0px 8px 8px;
+				-moz-border-radius: 0px 0px 8px 8px;
+				text-align: center;
+			}
+			table.git td, table.git th, table#timeline td, table#timeline th {
+				padding: 0.35em;
+				height: 2em;
+			}
+			table.git td div.insert {
+				background-color: #7a7;
+			}
+			table.git td div.remove {
+				background-color: #c66;
+			}
+			table.git td div.insert, table.git td div.remove {
+				height: 100%;
+				float: left;
+			}
+			table.git tr.odd {
+				background-color: #dbdbdb;
+			}
+			table.git tr.piehover {
+				background-color: #dddece;
+			}
+			div.chart {
+				position: absolute;
+				top: 5px;
+				bottom: 5px;
+				right: 0px;
+				width: 35%;
+				min-height: 100px;
+				max-height: 210px;
+				font-size: x-small;
+			}
+			p.error {
+				color: #700;
+			}
+			table#changes thead tr th:hover, table#blame thead tr th:hover,
+			table#changes tfoot tr td.hoverable:hover, table#blame tfoot tr td.hoverable:hover,
+			div.button:hover, div#responsibilities div.button:hover {
+				background-color: #eddede;
+				border: 1px solid #bbb;
+				cursor: hand;
+			}
+			div#responsibilities div, div#responsibilities div div {
+				min-height: 0px;
+				padding: 0.5em 0.2em;
+				width: auto;
+			}
+			div#responsibilities div.odd {
+				background-color: #dbdbdb;
+			}
+			div#responsibilities p {
+				margin-bottom: 0px;
+			}
+			td img, h3 img {
+				border-radius: 3px 3px 3px 3px;
+				-moz-border-radius: 3px 3px 3px 3px;
+				vertical-align: middle;
+				margin-right: 0.4em;
+				opacity: 0.85;
+			}
+			td img {
+				width: 20px;
+				height: 20px;
+			}
+			h3 img {
+				width: 32px;
+				height: 32px;
+			}
+			h3 {
+				border-radius: 8px 8px 8px 8px;
+				-moz-border-radius: 8px 8px 8px 8px;
+				background-color: #ddcece;
+				margin-bottom: 0.2em;
+				margin-top: 0.6em;
+			}
+			div.button, div#responsibilities div.button {
+				border-radius: 8px 8px 8px 8px;
+				-moz-border-radius: 8px 8px 8px 8px;
+				border: 1px solid #eee;
+				float: right;
+				width: auto;
+				padding: 0.5em;
+				background-color: #ddcece;
+				min-height: 0;
+			}
+		</style>
+	</head>
+	<body>
+		<div><div class="box logo">
+			<img 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IAf25H7bQdbyppmsl2rZRzH4dGpKcRRlIz8ehWxvzomaJDviLzcN0ZmT97XqWYno850JGRXMEskyNb1HLf+ybnHn93n1watj99yzg00AMdxcPKVV7h65Uo2Vuo0gPMAqr9qNuoD8NmY2WalYtLZLEanpqDC8MY9gNVYz9SaBG+LOrlnx/YcP9ReKU+G3k4lZJg2OteWbu1zM4/+/Z7uanGtBe1fiPTRPSiTzudx8pVXePnChVTgeasAfg5g8Wb0vJEAxuIjP46imfrionJcV4xs3444iqiXHdbdldaMHwuht0Ze7uub547d06llhuJwU8XJLvzJ9OFvbgu8vEiSyy2f7dEMkJCShOPg5A9+gMXz511/dbUL4DXLfPibrJiydlb6ULpQUDs/8AHeeeBAknOVWh/49pX5niZdY8TlzEDHAKxJ8FTYzvc/cwtNBGMMUpkMuu02Tr36KlevXUv5q6s+gP+2zLd/0w1NbItFS0fRjubysmzXaro0Nkb5UilZ5vUanx7zNqMYIbgYR+5wHKTKOkr1mvP+Z9A3tJKOAzeTwfLFizj12mtcu3o1G7TbTQCvvhvzv86OLLIj7YqO45HWykq5euWKMlojPzSEbKGwtkKlvnUTUQKiDdazys0rKQLguC6cdBrtahVnX38dl48dE/X5+ZxW6gyAn1nmO+/HmlUAGLfbyrul61JpdDQc37mTJmZnKVcu37gT7rPODXsEKQEpQczQcYzVxUUsvvOOqc3Pi1a1mtJR5Nvt5PUe2ny/F90Fu8GZAzAlXRfZgYF4aHJSl8fGuDg6StmBAWQLhRv2wcwMrRS6rRY6jQba1Soay8vUXFoSURCkVBB0AZwBcNmmyV97Y/9//arBoP2KwU5rmZKQUqbz+dhJpYybTmsnnYbjuklTpBTiKIIKQxlHkQx9X5o4VhZVXreMN/sXF7+NL3v0VlKb7HBs1L5zdvDafzbb9NyxKbq3ZWnbGOvevLz7bQnQv5Z17c+MfbsbfN0msLlc9/3tPb3+FxuOVUhZatL/AAAAAElFTkSuQmCC" />
+			<p>The output has been generated by <a href="http://gitinspector.googlecode.com">gitinspector</a>; the statistical analysis tool for git repositories.<p>
+		</div></div>
+
+<div><div class="box"><p>The following historical commit information, by author, was found in the repository.</p><div><table id="changes" class="git"><thead><tr> <th>Author</th> <th>Commits</th> <th>Insertions</th> <th>Deletions</th> <th>% of changes</th></tr></thead><tbody><tr ><td>Abhijit Kundu</td><td>13</td><td>688</td><td>113</td><td>0.10</td></tr><tr class="odd"><td>Alex Cunningham</td><td>757</td><td>107755</td><td>89429</td><td>23.82</td></tr><tr ><td>Alireza Fathi</td><td>5</td><td>14</td><td>16</td><td>0.00</td></tr><tr class="odd"><td>Andrew Melim</td><td>33</td><td>1803</td><td>1221</td><td>0.37</td></tr><tr ><td>Brian Law</td><td>1</td><td>97</td><td>174</td><td>0.03</td></tr><tr class="odd"><td>Can Erdogan</td><td>3</td><td>87</td><td>24</td><td>0.01</td></tr><tr ><td>Chris Beall</td><td>141</td><td>5569</td><td>5829</td><td>1.38</td></tr><tr class="odd"><td>Duy-Nguyen Ta</td><td>101</td><td>7078</td><td>4247</td><td>1.37</td></tr><tr ><td>Eohan George</td><td>2</td><td>3</td><td>1</td><td>0.00</td></tr><tr class="odd"><td>Frank Dellaert</td><td>876</td><td>105578</td><td>83503</td><td>22.84</td></tr><tr ><td>John Rogers</td><td>7</td><td>28</td><td>14</td><td>0.01</td></tr><tr class="odd"><td>Julian Straub</td><td>1</td><td>2</td><td>0</td><td>0.00</td></tr><tr ><td>Kai Ni</td><td>177</td><td>20780</td><td>19820</td><td>4.90</td></tr><tr class="odd"><td>Kyel Ok</td><td>2</td><td>50</td><td>18</td><td>0.01</td></tr><tr ><td>Luca Carlone</td><td>11</td><td>1489</td><td>155</td><td>0.20</td></tr><tr class="odd"><td>Manohar Paluri</td><td>61</td><td>3087</td><td>638</td><td>0.45</td></tr><tr ><td>Michael Kaess</td><td>69</td><td>9075</td><td>2558</td><td>1.41</td></tr><tr class="odd"><td>Natesh Srinivasan</td><td>4</td><td>67</td><td>100</td><td>0.02</td></tr><tr ><td>Nick Barrash</td><td>8</td><td>2178</td><td>925</td><td>0.37</td></tr><tr class="odd"><td>Paul Kippes</td><td>1</td><td>8</td><td>8</td><td>0.00</td></tr><tr ><td>Rahul Sawhney</td><td>8</td><td>834</td><td>1309</td><td>0.26</td></tr><tr class="odd"><td>Richard Roberts</td><td>939</td><td>163507</td><td>117598</td><td>33.96</td></tr><tr ><td>Stephen Williams</td><td>171</td><td>28367</td><td>13181</td><td>5.02</td></tr><tr class="odd"><td>Summit Patel</td><td>5</td><td>79</td><td>84</td><td>0.02</td></tr><tr ><td>Vadim Indelman</td><td>16</td><td>2861</td><td>91</td><td>0.36</td></tr><tr class="odd"><td>Viorela Ila</td><td>27</td><td>1549</td><td>323</td><td>0.23</td></tr><tr ><td>Yong-Dian Jian</td><td>155</td><td>12704</td><td>8509</td><td>2.56</td></tr><tr class="odd"><td>Zsolt Kira</td><td>7</td><td>667</td><td>176</td><td>0.10</td></tr><tr ><td>bpeasle</td><td>5</td><td>575</td><td>244</td><td>0.10</td></tr><tr class="odd"><td>jdurand7</td><td>4</td><td>141</td><td>88</td><td>0.03</td></tr><tr ><td>justinca</td><td>7</td><td>459</td><td>160</td><td>0.07</td></tr><tfoot><tr> <td colspan="5">&nbsp;</td> </tr></tfoot></tbody></table><div class="chart" id="changes_chart"></div></div><script type="text/javascript">    $.plot($("#changes_chart"), [{label: "Abhijit Kundu", data: 0.10}, {label: "Alex Cunningham", data: 23.82}, {label: "Alireza Fathi", data: 0.00}, {label: "Andrew Melim", data: 0.37}, {label: "Brian Law", data: 0.03}, {label: "Can Erdogan", data: 0.01}, {label: "Chris Beall", data: 1.38}, {label: "Duy-Nguyen Ta", data: 1.37}, {label: "Eohan George", data: 0.00}, {label: "Frank Dellaert", data: 22.84}, {label: "John Rogers", data: 0.01}, {label: "Julian Straub", data: 0.00}, {label: "Kai Ni", data: 4.90}, {label: "Kyel Ok", data: 0.01}, {label: "Luca Carlone", data: 0.20}, {label: "Manohar Paluri", data: 0.45}, {label: "Michael Kaess", data: 1.41}, {label: "Natesh Srinivasan", data: 0.02}, {label: "Nick Barrash", data: 0.37}, {label: "Paul Kippes", data: 0.00}, {label: "Rahul Sawhney", data: 0.26}, {label: "Richard Roberts", data: 33.96}, {label: "Stephen Williams", data: 5.02}, {label: "Summit Patel", data: 0.02}, {label: "Vadim Indelman", data: 0.36}, {label: "Viorela Ila", data: 0.23}, {label: "Yong-Dian Jian", data: 2.56}, {label: "Zsolt Kira", data: 0.10}, {label: "bpeasle", data: 0.10}, {label: "jdurand7", data: 0.03}, {label: "justinca", data: 0.07}], {        series: {            pie: {                innerRadius: 0.4,                show: true,                combine: {                    threshold: 0.01,                    label: "Minor Authors"                }            }        }, grid: {            hoverable: true        }    });</script></div></div>
+<div><div class="box"><p>Below are the number of rows from each author that have survived and are still intact in the current revision.</p><div><table id="blame" class="git"><thead><tr> <th>Author</th> <th>Rows</th> <th>% in comments</th> </tr></thead><tbody><tr ><td>Abhijit Kundu</td><td>554</td><td>31.23</td><td style="display: none">0.45</td></tr><tr class="odd"><td>Alex Cunningham</td><td>25771</td><td>25.41</td><td style="display: none">20.89</td></tr><tr ><td>Alireza Fathi</td><td>6</td><td>33.33</td><td style="display: none">0.00</td></tr><tr class="odd"><td>Andrew Melim</td><td>649</td><td>50.85</td><td style="display: none">0.53</td></tr><tr ><td>Brian Law</td><td>28</td><td>21.43</td><td style="display: none">0.02</td></tr><tr class="odd"><td>Can Erdogan</td><td>3</td><td>0.00</td><td style="display: none">0.00</td></tr><tr ><td>Chris Beall</td><td>1493</td><td>35.50</td><td style="display: none">1.21</td></tr><tr class="odd"><td>Duy-Nguyen Ta</td><td>2368</td><td>23.10</td><td style="display: none">1.92</td></tr><tr ><td>Eohan George</td><td>1</td><td>0.00</td><td style="display: none">0.00</td></tr><tr class="odd"><td>Frank Dellaert</td><td>19560</td><td>31.85</td><td style="display: none">15.86</td></tr><tr ><td>John Rogers</td><td>9</td><td>11.11</td><td style="display: none">0.01</td></tr><tr class="odd"><td>Julian Straub</td><td>2</td><td>0.00</td><td style="display: none">0.00</td></tr><tr ><td>Kai Ni</td><td>3484</td><td>58.98</td><td style="display: none">2.82</td></tr><tr class="odd"><td>Kyel Ok</td><td>50</td><td>32.00</td><td style="display: none">0.04</td></tr><tr ><td>Luca Carlone</td><td>1045</td><td>37.80</td><td style="display: none">0.85</td></tr><tr class="odd"><td>Manohar Paluri</td><td>355</td><td>5.07</td><td style="display: none">0.29</td></tr><tr ><td>Michael Kaess</td><td>267</td><td>31.84</td><td style="display: none">0.22</td></tr><tr class="odd"><td>Natesh Srinivasan</td><td>16</td><td>56.25</td><td style="display: none">0.01</td></tr><tr ><td>Nick Barrash</td><td>1269</td><td>59.34</td><td style="display: none">1.03</td></tr><tr class="odd"><td>Rahul Sawhney</td><td>139</td><td>4.32</td><td style="display: none">0.11</td></tr><tr ><td>Richard Roberts</td><td>41299</td><td>27.29</td><td style="display: none">33.48</td></tr><tr class="odd"><td>Stephen Williams</td><td>18319</td><td>28.47</td><td style="display: none">14.85</td></tr><tr ><td>Summit Patel</td><td>74</td><td>100.00</td><td style="display: none">0.06</td></tr><tr class="odd"><td>Vadim Indelman</td><td>2542</td><td>26.95</td><td style="display: none">2.06</td></tr><tr ><td>Viorela Ila</td><td>11</td><td>45.45</td><td style="display: none">0.01</td></tr><tr class="odd"><td>Yong-Dian Jian</td><td>2910</td><td>19.90</td><td style="display: none">2.36</td></tr><tr ><td>Zsolt Kira</td><td>599</td><td>15.53</td><td style="display: none">0.49</td></tr><tr class="odd"><td>bpeasle</td><td>323</td><td>26.32</td><td style="display: none">0.26</td></tr><tr ><td>jdurand7</td><td>134</td><td>76.87</td><td style="display: none">0.11</td></tr><tr class="odd"><td>justinca</td><td>71</td><td>43.66</td><td style="display: none">0.06</td></tr><tfoot><tr> <td colspan="3">&nbsp;</td> </tr></tfoot></tbody></table><div class="chart" id="blame_chart"></div></div><script type="text/javascript">    $.plot($("#blame_chart"), [{label: "Abhijit Kundu", data: 0.45}, {label: "Alex Cunningham", data: 20.89}, {label: "Alireza Fathi", data: 0.00}, {label: "Andrew Melim", data: 0.53}, {label: "Brian Law", data: 0.02}, {label: "Can Erdogan", data: 0.00}, {label: "Chris Beall", data: 1.21}, {label: "Duy-Nguyen Ta", data: 1.92}, {label: "Eohan George", data: 0.00}, {label: "Frank Dellaert", data: 15.86}, {label: "John Rogers", data: 0.01}, {label: "Julian Straub", data: 0.00}, {label: "Kai Ni", data: 2.82}, {label: "Kyel Ok", data: 0.04}, {label: "Luca Carlone", data: 0.85}, {label: "Manohar Paluri", data: 0.29}, {label: "Michael Kaess", data: 0.22}, {label: "Natesh Srinivasan", data: 0.01}, {label: "Nick Barrash", data: 1.03}, {label: "Rahul Sawhney", data: 0.11}, {label: "Richard Roberts", data: 33.48}, {label: "Stephen Williams", data: 14.85}, {label: "Summit Patel", data: 0.06}, {label: "Vadim Indelman", data: 2.06}, {label: "Viorela Ila", data: 0.01}, {label: "Yong-Dian Jian", data: 2.36}, {label: "Zsolt Kira", data: 0.49}, {label: "bpeasle", data: 0.26}, {label: "jdurand7", data: 0.11}, {label: "justinca", data: 0.06}], {        series: {            pie: {                innerRadius: 0.4,                show: true,                combine: {                    threshold: 0.01,                    label: "Minor Authors"                }            }        }, grid: {            hoverable: true        }    });</script></div></div>
+<div><div id="timeline" class="box"><p>The following history timeline has been gathered from the repository.</p>
+<table class="git full"><thead><tr><th>Author</th><th>2009-08</th><th>2009-09</th><th>2009-10</th><th>2009-11</th><th>2009-12</th><th>2010-01</th><th>2010-02</th><th>2010-03</th></tr></thead><tbody><tr><td>Alex Cunningham</td><td>.</td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr class="odd"><td>Alireza Fathi</td><td></td><td>.</td><td></td><td></td><td></td><td></td><td></td><td></td></tr><tr><td>Brian Law</td><td></td><td></td><td>.</td><td></td><td></td><td></td><td></td><td></td></tr><tr class="odd"><td>Chris Beall</td><td></td><td></td><td>.</td><td><div class="insert">&nbsp;</div></td><td>.</td><td><div class="insert">&nbsp;</div></td><td>.</td><td></td></tr><tr><td>Eohan George</td><td></td><td></td><td></td><td>.</td><td>.</td><td></td><td></td><td></td></tr><tr class="odd"><td>Frank Dellaert</td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr><td>John Rogers</td><td></td><td></td><td></td><td></td><td></td><td>.</td><td>.</td><td></td></tr><tr class="odd"><td>Kai Ni</td><td></td><td>.</td><td></td><td></td><td>.</td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr><td>Manohar Paluri</td><td>.</td><td>.</td><td></td><td>.</td><td>.</td><td>.</td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td></tr><tr class="odd"><td>Michael Kaess</td><td></td><td></td><td></td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="insert">&nbsp;</div></td><td></td><td></td></tr><tr><td>Richard Roberts</td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td>.</td><td>.</td><td><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td>.</td></tr><tr class="odd"><td>Viorela Ila</td><td></td><td></td><td>.</td><td>.</td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td>.</td><td>.</td></tr><tr><td>Yong-Dian Jian</td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td>.</td></tr><tr class="odd"><td>justinca</td><td></td><td></td><td></td><td></td><td>.</td><td>.</td><td>.</td><td></td></tr><tfoot><tr><td><strong>Modified Rows:</strong></td><td>17798</td><td>2257</td><td>11451</td><td>24865</td><td>14512</td><td>31259</td><td>18233</td><td>4290</td></tr></tfoot></tbody></table>
+<table class="git full"><thead><tr><th>Author</th><th>2010-04</th><th>2010-05</th><th>2010-06</th><th>2010-07</th><th>2010-08</th><th>2010-09</th><th>2010-10</th><th>2010-11</th></tr></thead><tbody><tr><td>Alex Cunningham</td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr class="odd"><td>Chris Beall</td><td></td><td></td><td></td><td></td><td></td><td>.</td><td>.</td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr><td>Duy-Nguyen Ta</td><td></td><td></td><td></td><td></td><td>.</td><td></td><td>.</td><td></td></tr><tr class="odd"><td>Frank Dellaert</td><td></td><td></td><td></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td>.</td></tr><tr><td>John Rogers</td><td></td><td></td><td></td><td></td><td></td><td>.</td><td></td><td></td></tr><tr class="odd"><td>Kai Ni</td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="insert">&nbsp;</div></td><td></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr><td>Manohar Paluri</td><td>.</td><td></td><td></td><td></td><td></td><td></td><td>.</td><td></td></tr><tr class="odd"><td>Michael Kaess</td><td></td><td></td><td></td><td><div class="insert">&nbsp;</div></td><td></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td></td></tr><tr><td>Rahul Sawhney</td><td></td><td></td><td></td><td></td><td></td><td></td><td>.</td><td></td></tr><tr class="odd"><td>Richard Roberts</td><td></td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td>.</td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr><td>Viorela Ila</td><td></td><td></td><td></td><td>.</td><td></td><td></td><td></td><td></td></tr><tr class="odd"><td>Yong-Dian Jian</td><td></td><td></td><td></td><td></td><td></td><td>.</td><td>.</td><td><div class="insert">&nbsp;</div></td></tr><tfoot><tr><td><strong>Modified Rows:</strong></td><td>2477</td><td>1036</td><td>880</td><td>139257</td><td>16831</td><td>2522</td><td>164005</td><td>4490</td></tr></tfoot></tbody></table>
+<table class="git full"><thead><tr><th>Author</th><th>2010-12</th><th>2011-01</th><th>2011-02</th><th>2011-03</th><th>2011-04</th><th>2011-05</th><th>2011-06</th><th>2011-07</th></tr></thead><tbody><tr><td>Alex Cunningham</td><td>.</td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td></tr><tr class="odd"><td>Chris Beall</td><td>.</td><td></td><td>.</td><td><div class="insert">&nbsp;</div></td><td></td><td>.</td><td></td><td></td></tr><tr><td>Duy-Nguyen Ta</td><td></td><td></td><td></td><td></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td></td><td>.</td></tr><tr class="odd"><td>Frank Dellaert</td><td></td><td>.</td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td></td><td></td><td></td></tr><tr><td>John Rogers</td><td></td><td></td><td>.</td><td></td><td></td><td></td><td></td><td></td></tr><tr class="odd"><td>Julian Straub</td><td></td><td></td><td>.</td><td></td><td></td><td></td><td></td><td></td></tr><tr><td>Kai Ni</td><td>.</td><td>.</td><td></td><td>.</td><td></td><td></td><td></td><td></td></tr><tr class="odd"><td>Richard Roberts</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr><td>Yong-Dian Jian</td><td><div class="insert">&nbsp;</div></td><td></td><td></td><td>.</td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td></td><td></td></tr><tfoot><tr><td><strong>Modified Rows:</strong></td><td>12190</td><td>5300</td><td>3635</td><td>6498</td><td>920</td><td>5536</td><td>12599</td><td>81</td></tr></tfoot></tbody></table>
+<table class="git full"><thead><tr><th>Author</th><th>2011-08</th><th>2011-09</th><th>2011-10</th><th>2011-11</th><th>2011-12</th><th>2012-01</th><th>2012-02</th><th>2012-03</th></tr></thead><tbody><tr><td>Alex Cunningham</td><td>.</td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td>.</td></tr><tr class="odd"><td>Andrew Melim</td><td></td><td></td><td></td><td></td><td>.</td><td>.</td><td>.</td><td>.</td></tr><tr><td>Can Erdogan</td><td></td><td>.</td><td></td><td></td><td></td><td></td><td>.</td><td>.</td></tr><tr class="odd"><td>Chris Beall</td><td></td><td>.</td><td>.</td><td>.</td><td>.</td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td></td></tr><tr><td>Duy-Nguyen Ta</td><td>.</td><td>.</td><td>.</td><td></td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td></td></tr><tr class="odd"><td>Frank Dellaert</td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td></td></tr><tr><td>Manohar Paluri</td><td></td><td></td><td>.</td><td></td><td></td><td></td><td></td><td></td></tr><tr class="odd"><td>Michael Kaess</td><td></td><td>.</td><td></td><td></td><td></td><td></td><td></td><td></td></tr><tr><td>Natesh Srinivasan</td><td></td><td>.</td><td>.</td><td></td><td></td><td></td><td></td><td></td></tr><tr class="odd"><td>Nick Barrash</td><td></td><td></td><td></td><td>.</td><td></td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td></td></tr><tr><td>Paul Kippes</td><td></td><td></td><td></td><td>.</td><td></td><td></td><td></td><td></td></tr><tr class="odd"><td>Richard Roberts</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr><td>Stephen Williams</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td></td><td>.</td><td>.</td><td><div class="insert">&nbsp;</div></td><td>.</td><td>.</td></tr><tr class="odd"><td>Vadim Indelman</td><td></td><td></td><td></td><td></td><td></td><td>.</td><td>.</td><td></td></tr><tr><td>Yong-Dian Jian</td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td></td><td>.</td><td></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td><div class="remove">&nbsp;</div></td></tr><tfoot><tr><td><strong>Modified Rows:</strong></td><td>7262</td><td>7313</td><td>9784</td><td>16036</td><td>12173</td><td>19666</td><td>17514</td><td>12637</td></tr></tfoot></tbody></table>
+<table class="git full"><thead><tr><th>Author</th><th>2012-04</th><th>2012-05</th><th>2012-06</th><th>2012-07</th><th>2012-08</th><th>2012-09</th><th>2012-10</th><th>2012-11</th></tr></thead><tbody><tr><td>Abhijit Kundu</td><td></td><td></td><td><div class="insert">&nbsp;</div></td><td></td><td></td><td></td><td></td><td></td></tr><tr class="odd"><td>Alex Cunningham</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr><td>Andrew Melim</td><td></td><td>.</td><td>.</td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="insert">&nbsp;</div></td><td><div class="insert">&nbsp;</div></td><td></td><td></td></tr><tr class="odd"><td>Chris Beall</td><td>.</td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div></td><td></td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td></td><td>.</td></tr><tr><td>Duy-Nguyen Ta</td><td></td><td></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td></td><td>.</td><td>.</td><td></td></tr><tr class="odd"><td>Frank Dellaert</td><td></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td>.</td></tr><tr><td>Kyel Ok</td><td></td><td></td><td></td><td>.</td><td></td><td></td><td></td><td></td></tr><tr class="odd"><td>Richard Roberts</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr><td>Stephen Williams</td><td>.</td><td>.</td><td><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td></td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="insert">&nbsp;</div></td></tr><tr class="odd"><td>Summit Patel</td><td></td><td></td><td>.</td><td></td><td></td><td></td><td></td><td></td></tr><tr><td>Vadim Indelman</td><td></td><td>.</td><td>.</td><td>.</td><td></td><td></td><td></td><td></td></tr><tr class="odd"><td>Yong-Dian Jian</td><td>.</td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td>.</td></tr><tr><td>bpeasle</td><td></td><td>.</td><td></td><td></td><td></td><td></td><td></td><td></td></tr><tr class="odd"><td>jdurand7</td><td></td><td></td><td></td><td></td><td></td><td>.</td><td></td><td></td></tr><tfoot><tr><td><strong>Modified Rows:</strong></td><td>15990</td><td>39427</td><td>36781</td><td>19683</td><td>5415</td><td>9374</td><td>5345</td><td>4705</td></tr></tfoot></tbody></table>
+<table class="git full"><thead><tr><th>Author</th><th>2012-12</th><th>2013-01</th><th>2013-02</th><th>2013-03</th><th>2013-04</th><th>2013-05</th><th>2013-06</th><th>2013-07</th></tr></thead><tbody><tr><td>Alex Cunningham</td><td>.</td><td>.</td><td>.</td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td></tr><tr class="odd"><td>Andrew Melim</td><td>.</td><td></td><td></td><td></td><td></td><td></td><td></td><td></td></tr><tr><td>Chris Beall</td><td></td><td></td><td>.</td><td></td><td></td><td>.</td><td>.</td><td>.</td></tr><tr class="odd"><td>Duy-Nguyen Ta</td><td></td><td></td><td>.</td><td>.</td><td><div class="insert">&nbsp;</div></td><td>.</td><td></td><td></td></tr><tr><td>Frank Dellaert</td><td></td><td>.</td><td></td><td><div class="insert">&nbsp;</div></td><td>.</td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td></tr><tr class="odd"><td>Kyel Ok</td><td></td><td></td><td></td><td></td><td></td><td></td><td>.</td><td></td></tr><tr><td>Luca Carlone</td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><div class="insert">&nbsp;</div></td></tr><tr class="odd"><td>Richard Roberts</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr><td>Stephen Williams</td><td>.</td><td></td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td></td></tr><tr class="odd"><td>Vadim Indelman</td><td></td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td></td><td>.</td><td><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td>.</td><td></td></tr><tr><td>Yong-Dian Jian</td><td>.</td><td>.</td><td></td><td></td><td></td><td></td><td></td><td></td></tr><tfoot><tr><td><strong>Modified Rows:</strong></td><td>1099</td><td>1815</td><td>8550</td><td>5297</td><td>20015</td><td>6251</td><td>6977</td><td>7476</td></tr></tfoot></tbody></table>
+<table class="git full"><thead><tr><th>Author</th><th>2013-08</th><th>2013-09</th><th>2013-12</th></tr></thead><tbody><tr><td>Alex Cunningham</td><td>.</td><td></td><td></td></tr><tr class="odd"><td>Chris Beall</td><td>.</td><td></td><td></td></tr><tr><td>Duy-Nguyen Ta</td><td>.</td><td></td><td></td></tr><tr class="odd"><td>Frank Dellaert</td><td></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td></tr><tr><td>Luca Carlone</td><td><div class="insert">&nbsp;</div></td><td></td><td></td></tr><tr class="odd"><td>Natesh Srinivasan</td><td>.</td><td></td><td></td></tr><tr><td>Richard Roberts</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td></td></tr><tr class="odd"><td>Stephen Williams</td><td><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="remove">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div><div class="insert">&nbsp;</div></td><td></td><td></td></tr><tr><td>Vadim Indelman</td><td><div class="insert">&nbsp;</div></td><td></td><td></td></tr><tr class="odd"><td>Zsolt Kira</td><td><div class="insert">&nbsp;</div></td><td></td><td></td></tr><tfoot><tr><td><strong>Modified Rows:</strong></td><td>23470</td><td>2</td><td>4756</td></tr></tfoot></tbody></table>
+</div></div>
+<div><div class="box"><p>The following files are suspiciously big (in order of severity).</p><p>gtsam/base/tests/testMatrix.cpp (1062 eloc)</p><p>gtsam/nonlinear/ISAM2.cpp (983 eloc)</p><p>gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp (969 eloc)</p><p>gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp (861 eloc)</p><p>tests/testGaussianISAM2.cpp (859 eloc)</p><p>gtsam/inference/BayesTree-inl.h (666 eloc)</p><p>wrap/tests/expected/geometry_wrapper.cpp (652 eloc)</p><p>gtsam/geometry/tests/testPose3.cpp (650 eloc)</p><p>tests/testSerializationSLAM.cpp (639 eloc)</p><p>gtsam/geometry/tests/testPose2.cpp (639 eloc)</p><p>wrap/Module.cpp (628 eloc)</p><p>gtsam/slam/dataset.cpp (624 eloc)</p><p>gtsam/base/Matrix.cpp (599 eloc)</p><p>gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp (598 eloc)</p><p>gtsam/linear/tests/testHessianFactor.cpp (576 eloc)</p><p>gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp (571 eloc)</p><p>gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp (569 eloc)</p><p>gtsam/nonlinear/NonlinearFactor.h (565 eloc)</p><p>gtsam/linear/NoiseModel.cpp (549 eloc)</p><p>gtsam/linear/NoiseModel.h (543 eloc)</p><p>gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h (523 eloc)</p><p>gtsam/discrete/DecisionTree-inl.h (520 eloc)</p><p>gtsam/navigation/CombinedImuFactor.h (517 eloc)</p><p>gtsam/linear/GaussianFactorGraph.cpp (506 eloc)</p><p>gtsam/base/numericalDerivative.h (486 eloc)</p><p>tests/smallExample.h (480 eloc)</p><p>gtsam/base/blockMatrices.h (477 eloc)</p><p>gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h (461 eloc)</p><p>gtsam/navigation/ImuFactor.h (454 eloc)</p><p>gtsam_unstable/gtsam_unstable.h (425 eloc)</p><p>gtsam/nonlinear/ISAM2.h (418 eloc)</p><p>gtsam/geometry/PinholeCamera.h (382 eloc)</p><p>gtsam_unstable/slam/SmartProjectionFactor.h (374 eloc)</p><p>gtsam.h (336 eloc)</p><p>gtsam_unstable/base/BTree.h (317 eloc)</p></div></div>
+<div><div class="box" id="responsibilities"><p>The following repsonsibilties, by author, were found in the current revision of the repository (comments are exluded from the line count, if possible).</p><div><h3>Abhijit Kundu is mostly responsible for</h3><div>examples/UGM_chain.cpp (74 eloc)</div><div class="odd">examples/DiscreteBayesNet_FG.cpp (72 eloc)</div><div>gtsam/inference/tests/testBayesTree.cpp (45 eloc)</div><div class="odd">gtsam/discrete/tests/testDiscreteMarginals.cpp (36 eloc)</div><div>gtsam/discrete/DiscreteConditional.cpp (30 eloc)</div><div class="odd">gtsam/discrete/Assignment.h (28 eloc)</div><div>examples/UGM_small.cpp (21 eloc)</div><div class="odd">gtsam/discrete/DiscreteMarginals.h (18 eloc)</div><div>gtsam/discrete/Potentials.cpp (15 eloc)</div><div class="odd">gtsam/discrete/DiscreteSequentialSolver.cpp (15 eloc)</div></div><div><h3>Alex Cunningham is mostly responsible for</h3><div>wrap/tests/expected/geometry_wrapper.cpp (607 eloc)</div><div class="odd">tests/smallExample.h (441 eloc)</div><div>gtsam/base/tests/testMatrix.cpp (418 eloc)</div><div class="odd">wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp (392 eloc)</div><div>wrap/tests/testWrap.cpp (356 eloc)</div><div class="odd">gtsam_unstable/linear/tests/testBayesTreeOperations.cpp (344 eloc)</div><div>tests/testNonlinearEquality.cpp (331 eloc)</div><div class="odd">gtsam_unstable/base/BTree.h (317 eloc)</div><div>gtsam/geometry/tests/testPose3.cpp (295 eloc)</div><div class="odd">gtsam_unstable/geometry/SimPolygon2D.cpp (286 eloc)</div></div><div><h3>Alireza Fathi is mostly responsible for</h3><div>gtsam/geometry/tests/testRot3Q.cpp (2 eloc)</div><div class="odd">gtsam/geometry/tests/testRot3M.cpp (2 eloc)</div></div><div><h3>Andrew Melim is mostly responsible for</h3><div>wrap/Method.cpp (51 eloc)</div><div class="odd">wrap/Class.cpp (47 eloc)</div><div>wrap/StaticMethod.cpp (42 eloc)</div><div class="odd">wrap/Module.cpp (33 eloc)</div><div>wrap/Deconstructor.cpp (31 eloc)</div><div class="odd">wrap/Deconstructor.h (29 eloc)</div><div>wrap/matlab.h (17 eloc)</div><div class="odd">wrap/Argument.cpp (13 eloc)</div><div>wrap/Constructor.cpp (9 eloc)</div><div class="odd">wrap/utilities.h (8 eloc)</div></div><div><h3>Brian Law is mostly responsible for</h3><div>gtsam/geometry/Pose3.cpp (6 eloc)</div><div class="odd">gtsam/geometry/Pose2.h (4 eloc)</div><div>gtsam/geometry/Point3.cpp (4 eloc)</div><div class="odd">gtsam/geometry/Point3.h (3 eloc)</div><div>gtsam/geometry/Cal3_S2.h (3 eloc)</div><div class="odd">gtsam/geometry/Rot3M.cpp (2 eloc)</div></div><div><h3>Can Erdogan is mostly responsible for</h3><div>gtsam/nonlinear/Values-inl.h (2 eloc)</div><div class="odd">gtsam/base/LieScalar.h (1 eloc)</div></div><div><h3>Chris Beall is mostly responsible for</h3><div>gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp (115 eloc)</div><div class="odd">gtsam_unstable/slam/InvDepthFactor3.h (80 eloc)</div><div>gtsam_unstable/geometry/tests/testTriangulation.cpp (73 eloc)</div><div class="odd">gtsam/slam/StereoFactor.h (70 eloc)</div><div>gtsam_unstable/slam/tests/testInvDepthFactor3.cpp (67 eloc)</div><div class="odd">gtsam_unstable/geometry/triangulation.cpp (59 eloc)</div><div>gtsam/geometry/Rot3M.cpp (46 eloc)</div><div class="odd">gtsam/geometry/Cal3_S2Stereo.h (39 eloc)</div><div>gtsam/geometry/StereoCamera.h (37 eloc)</div><div class="odd">gtsam/geometry/Pose3.cpp (35 eloc)</div></div><div><h3>Duy-Nguyen Ta is mostly responsible for</h3><div>gtsam_unstable/dynamics/Pendulum.h (169 eloc)</div><div class="odd">gtsam_unstable/dynamics/SimpleHelicopter.h (163 eloc)</div><div>gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp (138 eloc)</div><div class="odd">gtsam/base/numericalDerivative.h (135 eloc)</div><div>gtsam/base/tests/testNumericalDerivative.cpp (86 eloc)</div><div class="odd">gtsam/nonlinear/ISAM2-inl.h (84 eloc)</div><div>gtsam/geometry/tests/testPose3.cpp (81 eloc)</div><div class="odd">gtsam_unstable/gtsam_unstable.h (52 eloc)</div><div>gtsam_unstable/dynamics/VelocityConstraint3.h (52 eloc)</div><div class="odd">gtsam_unstable/dynamics/tests/testPendulumFactors.cpp (46 eloc)</div></div><div><h3>Eohan George is mostly responsible for</h3><div>gtsam/base/Testable.h (1 eloc)</div></div><div><h3>Frank Dellaert is mostly responsible for</h3><div>gtsam/slam/dataset.cpp (334 eloc)</div><div class="odd">gtsam/inference/tests/testSymbolicBayesTree.cpp (268 eloc)</div><div>gtsam/geometry/tests/testPose2.cpp (266 eloc)</div><div class="odd">gtsam/linear/tests/testGaussianFactorGraph.cpp (242 eloc)</div><div>gtsam_unstable/discrete/examples/schedulingQuals13.cpp (236 eloc)</div><div class="odd">gtsam/geometry/PinholeCamera.h (223 eloc)</div><div>gtsam/linear/tests/testKalmanFilter.cpp (219 eloc)</div><div class="odd">gtsam/geometry/tests/testRot3M.cpp (215 eloc)</div><div>gtsam/discrete/tests/testDiscreteBayesTree.cpp (210 eloc)</div><div class="odd">gtsam_unstable/examples/SmartRangeExample_plaza1.cpp (208 eloc)</div></div><div><h3>John Rogers is mostly responsible for</h3><div>gtsam/base/FastMap.h (5 eloc)</div><div class="odd">gtsam/base/numericalDerivative.h (2 eloc)</div><div>gtsam/inference/graph-inl.h (1 eloc)</div></div><div><h3>Julian Straub is mostly responsible for</h3><div>gtsam/nonlinear/NonlinearISAM.cpp (2 eloc)</div></div><div><h3>Kai Ni is mostly responsible for</h3><div>gtsam/linear/tests/testNoiseModel.cpp (113 eloc)</div><div class="odd">gtsam/slam/dataset.cpp (96 eloc)</div><div>gtsam/inference/graph-inl.h (74 eloc)</div><div class="odd">gtsam/slam/tests/testGeneralSFMFactor.cpp (62 eloc)</div><div>gtsam/geometry/Cal3DS2.cpp (56 eloc)</div><div class="odd">gtsam/geometry/Cal3DS2.h (49 eloc)</div><div>gtsam/base/tests/testMatrix.cpp (44 eloc)</div><div class="odd">gtsam/linear/tests/testGaussianJunctionTree.cpp (39 eloc)</div><div>gtsam/geometry/Cal3Bundler.cpp (39 eloc)</div><div class="odd">tests/simulated2DOriented.h (35 eloc)</div></div><div><h3>Kyel Ok is mostly responsible for</h3><div>gtsam_unstable/slam/Mechanization_bRn2.cpp (15 eloc)</div><div class="odd">gtsam_unstable/slam/AHRS.cpp (13 eloc)</div><div>gtsam_unstable/slam/AHRS.h (4 eloc)</div><div class="odd">gtsam_unstable/slam/Mechanization_bRn2.h (2 eloc)</div></div><div><h3>Luca Carlone is mostly responsible for</h3><div>gtsam_unstable/slam/SmartProjectionFactor.h (273 eloc)</div><div class="odd">gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp (166 eloc)</div><div>gtsam_unstable/slam/MultiProjectionFactor.h (137 eloc)</div><div class="odd">gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp (66 eloc)</div><div>gtsam/geometry/Rot3Q.cpp (4 eloc)</div><div class="odd">gtsam_unstable/slam/tests/testBetweenFactorEM.cpp (2 eloc)</div><div>gtsam/slam/tests/testBetweenFactor.cpp (2 eloc)</div></div><div><h3>Manohar Paluri is mostly responsible for</h3><div>gtsam/base/tests/testMatrix.cpp (247 eloc)</div><div class="odd">gtsam/inference/BayesTree-inl.h (25 eloc)</div><div>tests/testGaussianBayesNet.cpp (23 eloc)</div><div class="odd">gtsam/linear/GaussianBayesNet.cpp (9 eloc)</div><div>gtsam/geometry/tests/testCal3_S2.cpp (7 eloc)</div><div class="odd">tests/testNonlinearFactorGraph.cpp (6 eloc)</div><div>gtsam/linear/NoiseModel.cpp (4 eloc)</div><div class="odd">gtsam/geometry/tests/testPoint3.cpp (4 eloc)</div><div>gtsam/nonlinear/Values.h (2 eloc)</div><div class="odd">gtsam/linear/GaussianConditional.h (2 eloc)</div></div><div><h3>Michael Kaess is mostly responsible for</h3><div>gtsam/inference/tests/testBayesTree.cpp (45 eloc)</div><div class="odd">gtsam/inference/BayesTree-inl.h (22 eloc)</div><div>tests/testGaussianISAM.cpp (20 eloc)</div><div class="odd">gtsam/slam/PriorFactor.h (19 eloc)</div><div>gtsam/inference/ISAM-inl.h (19 eloc)</div><div class="odd">gtsam/inference/tests/testISAM.cpp (15 eloc)</div><div>gtsam/inference/ISAM.h (14 eloc)</div><div class="odd">gtsam/linear/GaussianISAM.cpp (10 eloc)</div><div>gtsam/linear/GaussianISAM.h (8 eloc)</div><div class="odd">gtsam/inference/BayesTree.h (4 eloc)</div></div><div><h3>Natesh Srinivasan is mostly responsible for</h3><div>gtsam/linear/GaussianBayesTree.cpp (5 eloc)</div><div class="odd">gtsam/linear/GaussianBayesTree.h (2 eloc)</div></div><div><h3>Nick Barrash is mostly responsible for</h3><div>gtsam/geometry/Rot2.h (51 eloc)</div><div class="odd">gtsam/geometry/Point3.h (47 eloc)</div><div>gtsam/inference/BayesNet.h (30 eloc)</div><div class="odd">gtsam/geometry/Pose3.h (30 eloc)</div><div>gtsam/geometry/Point2.h (29 eloc)</div><div class="odd">gtsam/geometry/StereoPoint2.h (23 eloc)</div><div>gtsam/geometry/Pose2.h (20 eloc)</div><div class="odd">gtsam/inference/Factor.h (19 eloc)</div><div>gtsam/geometry/Cal3DS2.h (19 eloc)</div><div class="odd">gtsam/inference/BayesTreeCliqueBase.h (16 eloc)</div></div><div><h3>Rahul Sawhney is mostly responsible for</h3><div>gtsam/inference/graph-inl.h (38 eloc)</div><div class="odd">gtsam/inference/graph.h (19 eloc)</div><div>gtsam/base/blockMatrices.h (14 eloc)</div><div class="odd">gtsam/inference/FactorGraph.h (9 eloc)</div><div>gtsam/nonlinear/NonlinearFactor.h (8 eloc)</div><div class="odd">gtsam/inference/ISAM-inl.h (5 eloc)</div><div>gtsam/linear/GaussianConditional.h (4 eloc)</div><div class="odd">gtsam/inference/ClusterTree.h (4 eloc)</div><div>gtsam/inference/ClusterTree-inl.h (4 eloc)</div><div class="odd">gtsam/linear/GaussianISAM.h (3 eloc)</div></div><div><h3>Richard Roberts is mostly responsible for</h3><div>gtsam/nonlinear/ISAM2.cpp (886 eloc)</div><div class="odd">tests/testGaussianISAM2.cpp (689 eloc)</div><div>gtsam/discrete/DecisionTree-inl.h (519 eloc)</div><div class="odd">gtsam/navigation/CombinedImuFactor.h (517 eloc)</div><div>gtsam/navigation/ImuFactor.h (454 eloc)</div><div class="odd">examples/SolverComparer.cpp (440 eloc)</div><div>gtsam/navigation/tests/testImuFactor.cpp (424 eloc)</div><div class="odd">gtsam/inference/BayesTree-inl.h (424 eloc)</div><div>gtsam/discrete/tests/testAlgebraicDecisionTree.cpp (419 eloc)</div><div class="odd">gtsam/linear/tests/testHessianFactor.cpp (366 eloc)</div></div><div><h3>Stephen Williams is mostly responsible for</h3><div>gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp (969 eloc)</div><div class="odd">gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp (856 eloc)</div><div>gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp (571 eloc)</div><div class="odd">gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp (569 eloc)</div><div>tests/testSerializationSLAM.cpp (546 eloc)</div><div class="odd">gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h (522 eloc)</div><div>gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp (453 eloc)</div><div class="odd">gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp (453 eloc)</div><div>gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp (450 eloc)</div><div class="odd">gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp (348 eloc)</div></div><div><h3>Vadim Indelman is mostly responsible for</h3><div>gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp (576 eloc)</div><div class="odd">gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h (461 eloc)</div><div>gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h (292 eloc)</div><div class="odd">gtsam_unstable/slam/BetweenFactorEM.h (213 eloc)</div><div>gtsam_unstable/slam/tests/testBetweenFactorEM.cpp (204 eloc)</div><div class="odd">gtsam/slam/dataset.cpp (87 eloc)</div><div>gtsam_unstable/gtsam_unstable.h (14 eloc)</div><div class="odd">gtsam/base/LieVector.h (5 eloc)</div><div>gtsam/slam/dataset.h (4 eloc)</div><div class="odd">gtsam/slam/ProjectionFactor.h (1 eloc)</div></div><div><h3>Viorela Ila is mostly responsible for</h3><div>gtsam/geometry/Pose3.cpp (2 eloc)</div><div class="odd">tests/testNonlinearFactor.cpp (1 eloc)</div><div>gtsam/slam/dataset.cpp (1 eloc)</div><div class="odd">gtsam/nonlinear/NonlinearFactorGraph.h (1 eloc)</div><div>gtsam/inference/tests/testBayesTree.cpp (1 eloc)</div></div><div><h3>Yong-Dian Jian is mostly responsible for</h3><div>gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h (160 eloc)</div><div class="odd">gtsam/linear/NoiseModel.cpp (158 eloc)</div><div>gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp (152 eloc)</div><div class="odd">gtsam/slam/tests/testGeneralSFMFactor.cpp (109 eloc)</div><div>gtsam/geometry/PinholeCamera.h (102 eloc)</div><div class="odd">gtsam/linear/NoiseModel.h (100 eloc)</div><div>gtsam/linear/SubgraphSolver.cpp (95 eloc)</div><div class="odd">gtsam/linear/SubgraphPreconditioner.cpp (86 eloc)</div><div>gtsam/slam/GeneralSFMFactor.h (83 eloc)</div><div class="odd">tests/testSubgraphSolver.cpp (69 eloc)</div></div><div><h3>Zsolt Kira is mostly responsible for</h3><div>gtsam_unstable/examples/SmartProjectionFactorExample_kitti.cpp (232 eloc)</div><div class="odd">gtsam_unstable/slam/tests/testSmartProjectionFactor.cpp (181 eloc)</div><div>gtsam_unstable/slam/SmartProjectionFactor.h (93 eloc)</div></div><div><h3>bpeasle is mostly responsible for</h3><div>tests/testOccupancyGrid.cpp (238 eloc)</div></div><div><h3>jdurand7 is mostly responsible for</h3><div>gtsam/inference/BayesNet-inl.h (24 eloc)</div><div class="odd">gtsam/inference/tests/testSymbolicBayesNet.cpp (13 eloc)</div><div>gtsam/inference/BayesNet.h (7 eloc)</div></div><div><h3>justinca is mostly responsible for</h3><div>gtsam/base/Matrix.cpp (19 eloc)</div><div class="odd">gtsam/base/tests/testMatrix.cpp (17 eloc)</div><div>gtsam/base/Matrix.h (4 eloc)</div></div></div></div>
+<div><div class="box"><p>The following files were excluded from the statistics due to the specified exclusion patterns.</p><p>gtsam/3rdparty/Eigen/src/Core/Replicate.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Sparse/SparseDot.h</p><p>gtsam/3rdparty/Eigen/bench/btl/cmake/FindBlitz.cmake</p><p>gtsam/3rdparty/Eigen/bench/btl/generic_bench/timers/portable_perf_analyzer.hh</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/BooleanRedux.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/misc/SparseSolve.h</p><p>gtsam/3rdparty/Eigen/test/sparselu.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur_MKL.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Geometry/Hyperplane.h</p><p>gtsam/3rdparty/Eigen/doc/snippets/MatrixBase_template_int_rightCols.cpp</p><p>gtsam/3rdparty/Eigen/src/Core/IO.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/misc/Solve.h</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h</p><p>gtsam/3rdparty/Eigen/doc/snippets/MatrixBase_cwiseProduct.cpp</p><p>gtsam/3rdparty/Eigen/doc/examples/tut_arithmetic_redux_basic.cpp</p><p>gtsam/3rdparty/Eigen/src/Core/DenseStorage.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/util/Constants.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Ordering.h</p><p>gtsam/3rdparty/Eigen/doc/snippets/Tutorial_AdvancedInitialization_Join.cpp</p><p>gtsam/3rdparty/Eigen/lapack/dlapy3.f</p><p>gtsam/3rdparty/Eigen/blas/testing/sblat2.f</p><p>gtsam/3rdparty/Eigen/src/Eigen2Support/Block.h</p><p>gtsam/3rdparty/Eigen/bench/btl/libs/eigen3/main_vecmat.cpp</p><p>gtsam/3rdparty/Eigen/bench/btl/libs/hand_vec/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/bench/btl/libs/f77/daat.f</p><p>gtsam/3rdparty/Eigen/doc/snippets/JacobiSVD_basic.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/SparseCore/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/doc/InsideEigenExample.dox</p><p>gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h</p><p>gtsam/3rdparty/Eigen/doc/examples/Tutorial_BlockOperations_vector.cpp</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/Fuzzy.h</p><p>gtsam/3rdparty/Eigen/test/schur_real.cpp</p><p>gtsam/3rdparty/Eigen/doc/snippets/HessenbergDecomposition_compute.cpp</p><p>gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_product.cpp</p><p>gtsam/3rdparty/Eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp</p><p>gtsam/3rdparty/Eigen/src/Core/CommaInitializer.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Sparse/AmbiVector.h</p><p>gtsam/3rdparty/Eigen/doc/snippets/MatrixBase_inverse.cpp</p><p>gtsam/3rdparty/Eigen/src/Sparse/DynamicSparseMatrix.h</p><p>gtsam/3rdparty/Eigen/bench/btl/libs/STL/main.cpp</p><p>gtsam/3rdparty/Eigen/src/Sparse/SparseBlock.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/util/BlasUtil.h</p><p>gtsam/3rdparty/Eigen/bench/BenchTimer.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Sparse/SparseDenseProduct.h</p><p>gtsam/3rdparty/Eigen/blas/level2_impl.h</p><p>gtsam/3rdparty/Eigen/doc/examples/Tutorial_PartialLU_solve.cpp</p><p>gtsam/3rdparty/Eigen/doc/C01_TutorialMatrixClass.dox</p><p>gtsam/3rdparty/Eigen/src/Core/util/Memory.h</p><p>gtsam/3rdparty/Eigen/bench/btl/libs/mtl4/.kdbgrc.main</p><p>gtsam/3rdparty/Eigen/doc/snippets/Cwise_plus_equal.cpp</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/src/SVD/TODOBdcsvd.txt</p><p>gtsam/3rdparty/Eigen/unsupported/test/NonLinearOptimization.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/Map.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/ForceAlignedAccess.h</p><p>gtsam/3rdparty/Eigen/bench/product_threshold.cpp</p><p>gtsam/3rdparty/Eigen/doc/examples/TutorialLinAlgSVDSolve.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD_MKL.h</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/OpenGLSupport</p><p>gtsam/3rdparty/Eigen/lapack/zlarfb.f</p><p>gtsam/3rdparty/Eigen/bench/btl/libs/BLAS/blas.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/QR/FullPivHouseholderQR.h</p><p>gtsam/3rdparty/Eigen/doc/snippets/Tutorial_solve_triangular.cpp</p><p>gtsam/3rdparty/Eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_1nn.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/Product.h</p><p>gtsam/3rdparty/Eigen/bench/btl/actions/action_aat_product.hh</p><p>gtsam/3rdparty/Eigen/bench/btl/libs/gmm/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/doc/snippets/Matrix_resize_int_int.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/RotationBase.h</p><p>gtsam/3rdparty/Eigen/doc/snippets/FullPivLU_solve.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/Cholesky</p><p>gtsam/3rdparty/Eigen/doc/examples/function_taking_eigenbase.cpp</p><p>gtsam/3rdparty/Eigen/bench/BenchUtil.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseProduct.h</p><p>gtsam/3rdparty/Eigen/test/eigen2/product.h</p><p>gtsam/3rdparty/Eigen/doc/snippets/MatrixBase_bottomRightCorner_int_int.cpp</p><p>gtsam/3rdparty/Eigen/doc/snippets/MatrixBase_cwiseEqual.cpp</p><p>gtsam/3rdparty/Eigen/unsupported/doc/snippets/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h</p><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dArrayAssert.dox</p><p>gtsam/3rdparty/Eigen/bench/sparse_randomsetter.cpp</p><p>gtsam/3rdparty/Eigen/doc/C05_TutorialAdvancedInitialization.dox</p><p>gtsam/3rdparty/Eigen/doc/FunctionsTakingEigenTypes.dox</p><p>gtsam/3rdparty/Eigen/doc/snippets/Cwise_minus.cpp</p><p>gtsam/3rdparty/Eigen/lapack/dlarf.f</p><p>gtsam/3rdparty/Eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp</p><p>gtsam/3rdparty/Eigen/doc/snippets/Cwise_cube.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur_MKL.h</p><p>gtsam/3rdparty/Eigen/src/Cholesky/LLT.h</p><p>gtsam/3rdparty/Eigen/doc/snippets/TopicAliasing_cwise.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/PermutationMatrix.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Sparse/SparseView.h</p><p>gtsam/3rdparty/Eigen/src/Core/util/StaticAssert.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/LU/arch/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Block.h</p><p>gtsam/3rdparty/Eigen/test/qr.cpp</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Macros.h</p><p>gtsam/3rdparty/Eigen/Eigen/Householder</p><p>gtsam/3rdparty/Eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/CwiseOperators.h</p><p>gtsam/3rdparty/Eigen/test/schur_complex.cpp</p><p>gtsam/3rdparty/Eigen/src/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/doc/WrongStackAlignment.dox</p><p>gtsam/3rdparty/Eigen/bench/btl/data/action_settings.txt</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/BVH</p><p>gtsam/3rdparty/Eigen/test/eigen2/eigen2_packetmath.cpp</p><p>gtsam/3rdparty/Eigen/bench/spbench/spbenchstyle.h</p><p>gtsam/3rdparty/Eigen/bench/benchCholesky.cpp</p><p>gtsam/3rdparty/Eigen/blas/level1_impl.h</p><p>gtsam/3rdparty/Eigen/doc/snippets/tut_arithmetic_transpose_aliasing.cpp</p><p>gtsam/3rdparty/Eigen/doc/tutorial.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/Geometry/arch/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner_int_int.cpp</p><p>gtsam/3rdparty/Eigen/doc/C00_QuickStartGuide.dox</p><p>gtsam/3rdparty/Eigen/doc/snippets/SelfAdjointEigenSolver_eigenvalues.cpp</p><p>gtsam/3rdparty/Eigen/src/Sparse/TriangularSolver.h</p><p>gtsam/3rdparty/ccolamd/README.txt</p><p>gtsam/3rdparty/Eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_rowwise.cpp</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h</p><p>gtsam/3rdparty/Eigen/Sparse</p><p>gtsam/3rdparty/Eigen/Eigen/src/LU/Inverse.h</p><p>gtsam/3rdparty/Eigen/doc/examples/TutorialLinAlgSetThreshold.cpp</p><p>gtsam/3rdparty/Eigen/test/bicgstab.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/PacketMath.h</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/src/SVD/BDCSVD.h</p><p>gtsam/3rdparty/Eigen/bench/btl/data/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/blas/stpmv.f</p><p>gtsam/3rdparty/Eigen/blas/testing/dblat3.f</p><p>gtsam/3rdparty/Eigen/test/real_qz.cpp</p><p>gtsam/3rdparty/Eigen/src/Sparse/SparseSelfAdjointView.h</p><p>gtsam/3rdparty/Eigen/doc/examples/TemplateKeyword_flexible.cpp</p><p>gtsam/3rdparty/Eigen/src/Core/Assign.h</p><p>gtsam/3rdparty/Eigen/test/product.h</p><p>gtsam/3rdparty/Eigen/StdDeque</p><p>gtsam/3rdparty/Eigen/src/Eigen2Support/Cwise.h</p><p>gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_solvers.cpp</p><p>gtsam/3rdparty/Eigen/doc/snippets/MatrixBase_noalias.cpp</p><p>gtsam/3rdparty/Eigen/src/Eigen2Support/Geometry/Transform.h</p><p>gtsam/3rdparty/Eigen/doc/snippets/compile_snippet.cpp.in</p><p>gtsam/3rdparty/Eigen/bench/benchmarkSlice.cpp</p><p>gtsam/3rdparty/Eigen/src/Core/CwiseUnaryOp.h</p><p>gtsam/3rdparty/Eigen/src/Sparse/CompressedStorage.h</p><p>gtsam/3rdparty/Eigen/bench/btl/libs/ublas/main.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixMatrix_MKL.h</p><p>gtsam/3rdparty/Eigen/Eigen/SparseLU</p><p>gtsam/3rdparty/Eigen/test/mixingtypes.cpp</p><p>gtsam/3rdparty/Eigen/blas/stbmv.f</p><p>gtsam/3rdparty/Eigen/Eigen/src/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/bench/btl/data/smooth_all.sh</p><p>gtsam/3rdparty/Eigen/doc/snippets/MatrixBase_asDiagonal.cpp</p><p>gtsam/3rdparty/Eigen/doc/Doxyfile.in</p><p>gtsam/3rdparty/Eigen/src/SVD/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDot.h</p><p>gtsam/3rdparty/Eigen/doc/examples/class_CwiseBinaryOp.cpp</p><p>gtsam/3rdparty/Eigen/scripts/cdashtesting.cmake.in</p><p>gtsam/3rdparty/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h</p><p>gtsam/3rdparty/Eigen/test/eigen2/runtest.sh</p><p>gtsam/3rdparty/Eigen/test/ref.cpp</p><p>gtsam/3rdparty/Eigen/doc/I00_CustomizingEigen.dox</p><p>gtsam/3rdparty/Eigen/COPYING.GPL</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/Visitor.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/util/StaticAssert.h</p><p>gtsam/3rdparty/Eigen/doc/examples/TutorialLinAlgExSolveColPivHouseholderQR.cpp</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/Splines</p><p>gtsam/3rdparty/Eigen/Eigen/StdList</p><p>gtsam/3rdparty/Eigen/lapack/dlarfg.f</p><p>gtsam/3rdparty/Eigen/Eigen/UmfPackSupport</p><p>gtsam/3rdparty/CCOLAMD/MATLAB/ccolamd.m</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/Flagged.h</p><p>gtsam/3rdparty/Eigen/doc/special_examples/Tutorial_sparse_example_details.cpp</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/Skyline</p><p>gtsam/3rdparty/Eigen/Eigen/src/Sparse/CompressedStorage.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrix.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/Core/GenericPacketMath.h</p><p>gtsam/3rdparty/Eigen/src/StlSupport/Makefile.am</p><p>gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseFuzzy.h</p><p>gtsam/3rdparty/Eigen/bench/btl/generic_bench/init/init_matrix.hh</p><p>gtsam/3rdparty/Eigen/COPYING.MINPACK</p><p>gtsam/3rdparty/Eigen/test/eigen2/eigen2_submatrices.cpp</p><p>gtsam/3rdparty/Eigen/doc/C10_TutorialMapClass.dox</p><p>gtsam/3rdparty/Eigen/doc/snippets/Cwise_square.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/SparseCholesky</p><p>gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h</p><p>gtsam/3rdparty/Eigen/blas/testing/zblat1.f</p><p>gtsam/3rdparty/Eigen/.hgtags</p><p>gtsam/3rdparty/Eigen/test/eigen2/eigen2_triangular.cpp</p><p>gtsam/3rdparty/Eigen/doc/snippets/PartialRedux_maxCoeff.cpp</p><p>gtsam/3rdparty/Eigen/doc/StructHavingEigenMembers.dox</p><p>gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/doc/I03_InsideEigenExample.dox</p><p>gtsam/3rdparty/Eigen/bench/btl/libs/STL_algo/main.cpp</p><p>gtsam/3rdparty/Eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h</p><p>gtsam/3rdparty/Eigen/bench/btl/cmake/FindTvmet.cmake</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h</p><p>gtsam/3rdparty/Eigen/bench/btl/generic_bench/btl.hh</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/bench/btl/libs/C/main.cpp</p><p>gtsam/3rdparty/Eigen/cmake/FindLAPACK.cmake</p><p>gtsam/3rdparty/Eigen/Eigen/src/Cholesky/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/unsupported/Eigen/src/SVD/SVDBase.h</p><p>gtsam/3rdparty/Eigen/src/Eigen2Support/LeastSquares.h</p><p>gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdList.h</p><p>gtsam/3rdparty/Eigen/unsupported/test/polynomialutils.cpp</p><p>gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/example.c</p><p>gtsam/3rdparty/Eigen/doc/I11_Aliasing.dox</p><p>gtsam/3rdparty/Eigen/bench/quat_slerp.cpp</p><p>gtsam/3rdparty/Eigen/test/eigen2/eigen2_newstdvector.cpp</p><p>gtsam/3rdparty/Eigen/blas/sspmv.f</p><p>gtsam/3rdparty/Eigen/lapack/zlarft.f</p><p>gtsam/3rdparty/Eigen/bench/btl/data/gnuplot_common_settings.hh</p><p>gtsam/3rdparty/Eigen/bench/btl/libs/f77/main.cpp</p><p>gtsam/3rdparty/Eigen/bench/sparse_trisolver.cpp</p><p>gtsam/3rdparty/Eigen/src/Core/arch/CMakeLists.txt</p><p>gtsam/3rdparty/Eigen/blas/level2_real_impl.h</p><p>gtsam/3rdparty/Eigen/doc/snippets/Cwise_less.cpp</p><p>gtsam/3rdparty/Eigen/QtAlignedMalloc</p><p>gtsam/3rdparty/Eigen/doc/I14_PreprocessorDirectives.dox</p><p>gtsam/3rdparty/Eigen/blas/testing/zblat3.dat</p><p>gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h</p><p>gtsam/3rdparty/Eigen/doc/snippets/MatrixBase_cwiseMin.cpp</p></div></div>

From 3b4fd765ecef46b938050d2bbf1216d1bbd592ba Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Mon, 23 Dec 2013 14:41:49 -0500
Subject: [PATCH 04/15] Merged wrap improvements back from develop branch

---
 wrap/CMakeLists.txt     | 14 +++++++++-----
 wrap/Module.cpp         | 11 ++++++++++-
 wrap/matlab.h           |  1 +
 wrap/tests/testWrap.cpp |  2 +-
 4 files changed, 21 insertions(+), 7 deletions(-)

diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt
index 399600b7e..28f8bea48 100644
--- a/wrap/CMakeLists.txt
+++ b/wrap/CMakeLists.txt
@@ -2,6 +2,12 @@
 
 set(WRAP_BOOST_LIBRARIES ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY} ${Boost_REGEX_LIBRARY})
 
+# Allow for disabling serialization to handle errors related to Clang's linker
+option(GTSAM_WRAP_SERIALIZATION "If enabled, allows for wrapped objects to be saved via boost.serialization" ON)
+if (NOT GTSAM_WRAP_SERIALIZATION)
+    add_definitions(-DWRAP_DISABLE_SERIALIZE)
+endif()  
+
 # Build the executable itself
 file(GLOB wrap_srcs "*.cpp")
 file(GLOB wrap_headers "*.h")
@@ -17,11 +23,9 @@ file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE
 set_target_properties(wrap_lib wrap PROPERTIES FOLDER "${relative_path}")
 
 # Install wrap binary and export target
-if (GTSAM_INSTALL_WRAP)
-    install(TARGETS wrap EXPORT GTSAM-exports DESTINATION bin)
-    list(APPEND GTSAM_EXPORTED_TARGETS wrap)
-    set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
-endif(GTSAM_INSTALL_WRAP)
+install(TARGETS wrap EXPORT GTSAM-exports DESTINATION bin)
+list(APPEND GTSAM_EXPORTED_TARGETS wrap)
+set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
 
 # Install matlab header
 install(FILES matlab.h DESTINATION include/wrap)
diff --git a/wrap/Module.cpp b/wrap/Module.cpp
index a31f57e79..3cfdf2903 100644
--- a/wrap/Module.cpp
+++ b/wrap/Module.cpp
@@ -20,7 +20,7 @@
 #include "Module.h" 
 #include "FileWriter.h" 
 #include "TypeAttributesTable.h" 
-#include "utilities.h" 
+#include "utilities.h"
 
 //#define BOOST_SPIRIT_DEBUG
 #include "spirit_actors.h" 
@@ -382,14 +382,22 @@ void Module::parseMarkup(const std::string& data) {
   BOOST_FOREACH(Class& cls, classes) {
     Class::Methods::iterator serializable_it = cls.methods.find("serializable");
     if (serializable_it != cls.methods.end()) {
+#ifndef WRAP_DISABLE_SERIALIZE
       cls.isSerializable = true;
+#else
+      cout << "Ignoring serializable() flag in class " << cls.name << endl;
+#endif
       cls.methods.erase(serializable_it);
     }
 
     Class::Methods::iterator serialize_it = cls.methods.find("serialize");
     if (serialize_it != cls.methods.end()) {
+#ifndef WRAP_DISABLE_SERIALIZE
       cls.isSerializable = true;
       cls.hasSerialization= true;
+#else
+      cout << "Ignoring serialize() flag in class " << cls.name << endl;
+#endif
       cls.methods.erase(serialize_it);
     }
   }
@@ -449,6 +457,7 @@ void Module::generateIncludes(FileWriter& file) const {
     file.oss << "#include <" << *it << ">" << endl; 
   file.oss << "\n"; 
 } 
+
  
 /* ************************************************************************* */ 
 void Module::matlab_code(const string& toolboxPath, const string& headerPath) const { 
diff --git a/wrap/matlab.h b/wrap/matlab.h
index 30e759c83..c84d6fdec 100644
--- a/wrap/matlab.h
+++ b/wrap/matlab.h
@@ -225,6 +225,7 @@ mxArray* wrap<gtsam::Matrix >(const gtsam::Matrix& A) {
 template <typename T>
 T unwrap(const mxArray* array) {
   error("wrap internal error: attempted unwrap of invalid type");
+  return T();
 }
 
 // specialization to string
diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp
index 461f00405..8bf2c1412 100644
--- a/wrap/tests/testWrap.cpp
+++ b/wrap/tests/testWrap.cpp
@@ -58,7 +58,7 @@ TEST( wrap, ArgumentList ) {
 }
 
 /* ************************************************************************* */
-TEST_UNSAFE( wrap, check_exception ) {
+TEST( wrap, check_exception ) {
   THROWS_EXCEPTION(Module("/notarealpath", "geometry",enable_verbose));
   CHECK_EXCEPTION(Module("/alsonotarealpath", "geometry",enable_verbose), CantOpenFile);
 

From ce7cf524ea7f0ad5be990d4ed8710756363c8acf Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Mon, 23 Dec 2013 19:36:24 -0500
Subject: [PATCH 05/15] Initial unit test

---
 .cproject                                     | 356 +++++++++---------
 gtsam/slam/EssentialMatrixFactor.h            |   6 +
 .../slam/tests/testEssentialMatrixFactor.cpp  |  89 ++++-
 3 files changed, 266 insertions(+), 185 deletions(-)

diff --git a/.cproject b/.cproject
index 790f70daa..21ab6965c 100644
--- a/.cproject
+++ b/.cproject
@@ -365,6 +365,38 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="all" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>all</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testNonlinearConstraint.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testNonlinearConstraint.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testLieConfig.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testLieConfig.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testConstraintOptimizer.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testConstraintOptimizer.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testStereoCamera.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -445,38 +477,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="all" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>all</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testNonlinearConstraint.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testNonlinearConstraint.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testLieConfig.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testLieConfig.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testConstraintOptimizer.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testConstraintOptimizer.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="vSFMexample.run" path="build/examples/vSLAMexample" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -551,7 +551,6 @@
 			</target>
 			<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testBayesTree.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -559,7 +558,6 @@
 			</target>
 			<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testBinaryBayesNet.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -607,7 +605,6 @@
 			</target>
 			<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSymbolicBayesNet.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -615,7 +612,6 @@
 			</target>
 			<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testSymbolicFactor.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -623,7 +619,6 @@
 			</target>
 			<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -639,12 +634,19 @@
 			</target>
 			<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testBayesTree</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testVSLAMGraph" path="build/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testVSLAMGraph</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -727,6 +729,7 @@
 			</target>
 			<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSimulated2DOriented.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -766,6 +769,7 @@
 			</target>
 			<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSimulated2D.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -773,6 +777,7 @@
 			</target>
 			<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSimulated3D.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -786,14 +791,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testVSLAMGraph" path="build/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testVSLAMGraph</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -833,21 +830,6 @@
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="check" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>check</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>tests/testGaussianISAM2</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="check.tests" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -986,7 +968,6 @@
 			</target>
 			<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testGraph.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -994,7 +975,6 @@
 			</target>
 			<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testJunctionTree.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1002,7 +982,6 @@
 			</target>
 			<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSymbolicBayesNetB.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1064,6 +1043,22 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="check" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>check</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments/>
+				<buildTarget>tests/testGaussianISAM2</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -1424,6 +1419,22 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testEssentialMatrixFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testEssentialMatrixFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testGaussianFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -1504,10 +1515,66 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
-				<buildTarget>testGaussianFactor.run</buildTarget>
+				<buildTarget>check</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testClusterTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testClusterTree.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testJunctionTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testJunctionTree.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testEliminationTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testEliminationTree.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testSymbolicFactor.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testSymbolicFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testVariableSlots.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testVariableSlots.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testConditional.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testConditional.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testSymbolicFactorGraph.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testSymbolicFactorGraph.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -1608,86 +1675,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>check</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testClusterTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testClusterTree.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testJunctionTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testJunctionTree.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testEliminationTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testEliminationTree.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testSymbolicFactor.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testSymbolicFactor.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testVariableSlots.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testVariableSlots.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testConditional.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testConditional.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testSymbolicFactorGraph.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testSymbolicFactorGraph.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="all" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>all</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="clean" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>clean</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="testInvDepthFactor3.run" path="build/gtsam_unstable/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -1752,6 +1739,22 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="all" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>all</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="clean" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>clean</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="all" path="colamd" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -2185,7 +2188,6 @@
 			</target>
 			<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>-G DEB</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2193,7 +2195,6 @@
 			</target>
 			<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>-G RPM</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2201,7 +2202,6 @@
 			</target>
 			<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>-G TGZ</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2209,7 +2209,6 @@
 			</target>
 			<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2383,30 +2382,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="check" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>check</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testSPQRUtil.run" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testSPQRUtil.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="clean" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>clean</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="testDiscreteFactor.run" path="build/gtsam/discrete" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -2447,18 +2422,26 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="check" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testPose2.run</buildTarget>
+				<buildTarget>check</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="tests/testSPQRUtil.run" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testPose3.run</buildTarget>
+				<buildTarget>tests/testSPQRUtil.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="clean" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>clean</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -2553,12 +2536,27 @@
 			</target>
 			<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testErrors.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testPose2.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testPose3.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 		</buildTargets>
 	</storageModule>
 </cproject>
diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h
index d3f560b32..7ac992d79 100644
--- a/gtsam/slam/EssentialMatrixFactor.h
+++ b/gtsam/slam/EssentialMatrixFactor.h
@@ -22,6 +22,7 @@ class EssentialMatrixFactor: public NoiseModelFactor1<EssentialMatrix> {
   Vector vA_, vB_; ///< Homogeneous versions
 
   typedef NoiseModelFactor1<EssentialMatrix> Base;
+  typedef EssentialMatrixFactor This;
 
 public:
 
@@ -33,6 +34,11 @@ public:
       vB_(EssentialMatrix::Homogeneous(pB)) {
   }
 
+  /// @return a deep copy of this factor
+  virtual gtsam::NonlinearFactor::shared_ptr clone() const {
+    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
+        gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
+
   /// print
   virtual void print(const std::string& s = "",
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
index 34a26adbe..e7cbb0ada 100644
--- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
@@ -6,6 +6,53 @@
  */
 
 #include <gtsam/slam/EssentialMatrixFactor.h>
+#include <gtsam/base/LieScalar.h>
+
+namespace gtsam {
+
+/**
+ * Binary factor that optimizes for E and inverse depth: assumes measurement
+ * in image 1 is perfect, and returns re-projection error in image 2
+ */
+class EssentialMatrixFactor2: public NoiseModelFactor2<EssentialMatrix,
+    LieScalar> {
+
+  Point2 pA_, pB_; ///< Measurements in image A and B
+
+  typedef NoiseModelFactor2<EssentialMatrix, LieScalar> Base;
+
+public:
+
+  /// Constructor
+  EssentialMatrixFactor2(Key key1, Key key2, const Point2& pA, const Point2& pB,
+      const SharedNoiseModel& model) :
+      Base(model, key1, key2), pA_(pA), pB_(pB) {
+  }
+
+  /// print
+  virtual void print(const std::string& s = "",
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
+    Base::print(s);
+    std::cout << "  EssentialMatrixFactor2 with measurements\n  ("
+        << pA_.vector().transpose() << ")' and (" << pB_.vector().transpose()
+        << ")'" << std::endl;
+  }
+
+  /// vector of errors returns 1D vector
+  Vector evaluateError(const EssentialMatrix& E, const LieScalar& d,
+      boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 =
+          boost::none) const {
+    if (H1)
+      *H1 = zeros(2, 5);
+    if (H2)
+      *H2 = zeros(2, 1);
+    return (Vector(2) << 0,0);
+  }
+
+};
+
+} // gtsam
+
 #include <gtsam/slam/dataset.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
@@ -22,7 +69,7 @@ const string filename = findExampleDataFile("5pointExample1.txt");
 SfM_data data;
 bool readOK = readBAL(filename, data);
 Rot3 aRb = data.cameras[1].pose().rotation();
-Point3 aTb  = data.cameras[1].pose().translation();
+Point3 aTb = data.cameras[1].pose().translation();
 
 Point2 pA(size_t i) {
   return data.tracks[i].measurements[0].second;
@@ -77,18 +124,18 @@ TEST (EssentialMatrixFactor, factor) {
     // Check evaluation
     Vector expected(1);
     expected << 0;
-    Matrix HActual;
-    Vector actual = factor.evaluateError(trueE, HActual);
+    Matrix Hactual;
+    Vector actual = factor.evaluateError(trueE, Hactual);
     EXPECT(assert_equal(expected, actual, 1e-7));
 
     // Use numerical derivatives to calculate the expected Jacobian
-    Matrix HExpected;
-    HExpected = numericalDerivative11<EssentialMatrix>(
+    Matrix Hexpected;
+    Hexpected = numericalDerivative11<EssentialMatrix>(
         boost::bind(&EssentialMatrixFactor::evaluateError, &factor, _1,
             boost::none), trueE);
 
     // Verify the Jacobian is correct
-    EXPECT(assert_equal(HExpected, HActual, 1e-8));
+    EXPECT(assert_equal(Hexpected, Hactual, 1e-8));
   }
 }
 
@@ -138,6 +185,36 @@ TEST (EssentialMatrixFactor, fromConstraints) {
 
 }
 
+//*************************************************************************
+TEST (EssentialMatrixFactor2, factor) {
+  EssentialMatrix trueE(aRb, aTb);
+  LieScalar d(5);
+  noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(1);
+
+  for (size_t i = 0; i < 5; i++) {
+    EssentialMatrixFactor2 factor(100, i, pA(i), pB(i), model);
+
+    // Check evaluation
+    Vector expected(1);
+    expected << 0;
+    Matrix Hactual1, Hactual2;
+    Vector actual = factor.evaluateError(trueE, d, Hactual1, Hactual2);
+    EXPECT(assert_equal(expected, actual, 1e-7));
+
+    // Use numerical derivatives to calculate the expected Jacobian
+    Matrix Hexpected1, Hexpected2;
+    boost::function<Vector(const EssentialMatrix&, const LieScalar&)> f =
+        boost::bind(&EssentialMatrixFactor2::evaluateError, &factor, _1, _2,
+            boost::none, boost::none);
+    Hexpected1 = numericalDerivative21<EssentialMatrix>(f, trueE, d);
+    Hexpected2 = numericalDerivative22<EssentialMatrix>(f, trueE, d);
+
+    // Verify the Jacobian is correct
+    EXPECT(assert_equal(Hexpected1, Hactual1, 1e-8));
+    EXPECT(assert_equal(Hexpected2, Hactual2, 1e-8));
+  }
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From 92c1398cd2e5c33dfd026a51e884c669e70e0d8c Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Mon, 23 Dec 2013 22:29:09 -0500
Subject: [PATCH 06/15] Checked evaluation and calculation

---
 .../slam/tests/testEssentialMatrixFactor.cpp  | 79 +++++++++++++------
 1 file changed, 57 insertions(+), 22 deletions(-)

diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
index e7cbb0ada..be96af06c 100644
--- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
@@ -6,27 +6,30 @@
  */
 
 #include <gtsam/slam/EssentialMatrixFactor.h>
+#include <gtsam/geometry/SimpleCamera.h>
 #include <gtsam/base/LieScalar.h>
 
 namespace gtsam {
 
 /**
  * Binary factor that optimizes for E and inverse depth: assumes measurement
- * in image 1 is perfect, and returns re-projection error in image 2
+ * in image 2 is perfect, and returns re-projection error in image 1
  */
 class EssentialMatrixFactor2: public NoiseModelFactor2<EssentialMatrix,
     LieScalar> {
 
   Point2 pA_, pB_; ///< Measurements in image A and B
+  Cal3_S2 K_; ///< Calibration
 
   typedef NoiseModelFactor2<EssentialMatrix, LieScalar> Base;
+  typedef EssentialMatrixFactor2 This;
 
 public:
 
   /// Constructor
   EssentialMatrixFactor2(Key key1, Key key2, const Point2& pA, const Point2& pB,
-      const SharedNoiseModel& model) :
-      Base(model, key1, key2), pA_(pA), pB_(pB) {
+      const Cal3_S2& K, const SharedNoiseModel& model) :
+      Base(model, key1, key2), pA_(pA), pB_(pB), K_(K) {
   }
 
   /// print
@@ -42,16 +45,32 @@ public:
   Vector evaluateError(const EssentialMatrix& E, const LieScalar& d,
       boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 =
           boost::none) const {
+    // We have point x,y in image 1
+    // Given a depth Z, the corresponding 3D point P1 = Z*(x,y,1) = (x,y,1)/d
+    // We then convert to first camera by 2P = 1R2Õ*(P1-1T2)
+    // The homogeneous coordinates of can be written as
+    //   2R1*(P1-1T2) ==  2R1*d*(P1-1T2) == 2R1*((x,y,1)-d*1T2)
+    // Note that this is just a homography for d==0
+    Point3 dP1(pA_.x(), pA_.y(), 1);
+    Point3 P2 = E.rotation().unrotate(dP1 - d * E.direction().point3());
+
+    // Project to normalized image coordinates, then uncalibrate
+    const Point2 pn = SimpleCamera::project_to_camera(P2);
+    const Point2 pi = K_.uncalibrate(pn);
+    Point2 reprojectionError(pi - pB_);
+
     if (H1)
       *H1 = zeros(2, 5);
     if (H2)
       *H2 = zeros(2, 1);
-    return (Vector(2) << 0,0);
+
+    return reprojectionError.vector();
   }
 
 };
 
-} // gtsam
+}
+// gtsam
 
 #include <gtsam/slam/dataset.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
@@ -187,31 +206,47 @@ TEST (EssentialMatrixFactor, fromConstraints) {
 
 //*************************************************************************
 TEST (EssentialMatrixFactor2, factor) {
-  EssentialMatrix trueE(aRb, aTb);
-  LieScalar d(5);
+  EssentialMatrix E(aRb, aTb);
   noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(1);
 
   for (size_t i = 0; i < 5; i++) {
-    EssentialMatrixFactor2 factor(100, i, pA(i), pB(i), model);
+    Cal3_S2 K;
+    EssentialMatrixFactor2 factor(100, i, pA(i), pB(i), K, model);
 
     // Check evaluation
-    Vector expected(1);
-    expected << 0;
+    Point3 P1 = data.tracks[i].p, P2 = E.transform_to(P1);
+    LieScalar d(1.0 / P1.z());
+    const Point2 pn = SimpleCamera::project_to_camera(P2);
+    const Point2 pi = K.uncalibrate(pn);
+    Point2 reprojectionError(pi - pB(i));
+    Vector expected = reprojectionError.vector();
+
+    {
+      // Check calculations
+      Point3 dP1(pA(i).x(), pA(i).y(), 1);
+      EXPECT_DOUBLES_EQUAL(pA(i).x(), P1.x()/P1.z(), 1e-8);
+      EXPECT_DOUBLES_EQUAL(pA(i).y(), P1.y()/P1.z(), 1e-8);
+      EXPECT(assert_equal(P1,dP1/d));
+      Point3 otherP2 = E.rotation().unrotate(
+          d * P1 - d * E.direction().point3());
+      EXPECT(assert_equal(P2,otherP2/d));
+    }
+
     Matrix Hactual1, Hactual2;
-    Vector actual = factor.evaluateError(trueE, d, Hactual1, Hactual2);
+    Vector actual = factor.evaluateError(E, d, Hactual1, Hactual2);
     EXPECT(assert_equal(expected, actual, 1e-7));
 
-    // Use numerical derivatives to calculate the expected Jacobian
-    Matrix Hexpected1, Hexpected2;
-    boost::function<Vector(const EssentialMatrix&, const LieScalar&)> f =
-        boost::bind(&EssentialMatrixFactor2::evaluateError, &factor, _1, _2,
-            boost::none, boost::none);
-    Hexpected1 = numericalDerivative21<EssentialMatrix>(f, trueE, d);
-    Hexpected2 = numericalDerivative22<EssentialMatrix>(f, trueE, d);
-
-    // Verify the Jacobian is correct
-    EXPECT(assert_equal(Hexpected1, Hactual1, 1e-8));
-    EXPECT(assert_equal(Hexpected2, Hactual2, 1e-8));
+//    // Use numerical derivatives to calculate the expected Jacobian
+//    Matrix Hexpected1, Hexpected2;
+//    boost::function<Vector(const EssentialMatrix&, const LieScalar&)> f =
+//        boost::bind(&EssentialMatrixFactor2::evaluateError, &factor, _1, _2,
+//            boost::none, boost::none);
+//    Hexpected1 = numericalDerivative21<EssentialMatrix>(f, E, d);
+//    Hexpected2 = numericalDerivative22<EssentialMatrix>(f, E, d);
+//
+//    // Verify the Jacobian is correct
+//    EXPECT(assert_equal(Hexpected1, Hactual1, 1e-8));
+//    EXPECT(assert_equal(Hexpected2, Hactual2, 1e-8));
   }
 }
 

From 44d03e638ecfca12f6575500800df75e9f1d1fe4 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Tue, 24 Dec 2013 00:19:08 -0500
Subject: [PATCH 07/15] Tedious derivatives, but right from the start!

---
 .../slam/tests/testEssentialMatrixFactor.cpp  | 69 +++++++++++++------
 1 file changed, 49 insertions(+), 20 deletions(-)

diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
index be96af06c..86284de50 100644
--- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
@@ -43,8 +43,9 @@ public:
 
   /// vector of errors returns 1D vector
   Vector evaluateError(const EssentialMatrix& E, const LieScalar& d,
-      boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 =
+      boost::optional<Matrix&> DE = boost::none, boost::optional<Matrix&> Dd =
           boost::none) const {
+
     // We have point x,y in image 1
     // Given a depth Z, the corresponding 3D point P1 = Z*(x,y,1) = (x,y,1)/d
     // We then convert to first camera by 2P = 1R2Õ*(P1-1T2)
@@ -52,18 +53,46 @@ public:
     //   2R1*(P1-1T2) ==  2R1*d*(P1-1T2) == 2R1*((x,y,1)-d*1T2)
     // Note that this is just a homography for d==0
     Point3 dP1(pA_.x(), pA_.y(), 1);
-    Point3 P2 = E.rotation().unrotate(dP1 - d * E.direction().point3());
 
     // Project to normalized image coordinates, then uncalibrate
-    const Point2 pn = SimpleCamera::project_to_camera(P2);
-    const Point2 pi = K_.uncalibrate(pn);
-    Point2 reprojectionError(pi - pB_);
+    Point2 pi;
+    if (!DE && !Dd) {
+      Point3 d1T2 = d * E.direction().point3();
+      Point3 dP2 = E.rotation().unrotate(dP1 - d1T2);
+      Point2 pn = SimpleCamera::project_to_camera(dP2);
+      pi = K_.uncalibrate(pn);
+    } else {
+      // TODO, clean up this expensive mess w Mathematica
+      Matrix D_1T2_dir; // 3*2
+      Point3 _1T2 = E.direction().point3(D_1T2_dir);
 
-    if (H1)
-      *H1 = zeros(2, 5);
-    if (H2)
-      *H2 = zeros(2, 1);
+      Matrix Dd1T2_dir = d * D_1T2_dir; // 3*2
+      Matrix Dd1T2_d = _1T2.vector(); // 3*1
+      Point3 d1T2 = d * _1T2;
 
+      Matrix Dpoint_dir = -Dd1T2_dir; // 3*2
+      Matrix Dpoint_d = -Dd1T2_d; // 3*1
+      Point3 point = dP1 - d1T2;
+
+      Matrix DdP2_rot, DP2_point;
+      Point3 dP2 = E.rotation().unrotate(point, DdP2_rot, DP2_point);
+      Matrix DdP2_E(3, 5);
+      DdP2_E << DdP2_rot, DP2_point * Dpoint_dir; // (3*3), (3*3) * (3*2)
+      Matrix DdP2_d = DP2_point * Dpoint_d; // (3*3) * (3*1)
+
+      Matrix Dpn_dP2; // 2*3
+      Point2 pn = SimpleCamera::project_to_camera(dP2, Dpn_dP2);
+      Matrix Dpn_E = Dpn_dP2 * DdP2_E; // (2*3) * (3*5)
+      Matrix Dpn_d = Dpn_dP2 * DdP2_d; // (2*3) * (3*1)
+      
+      Matrix Dpi_pn; // 2*2
+      pi = K_.uncalibrate(pn, boost::none, Dpi_pn);
+      if (DE)
+        *DE = Dpi_pn * Dpn_E; // (2*2) * (2*5)
+      if (Dd)
+        *Dd = Dpi_pn * Dpn_d; // (2*2) * (2*1)
+    }
+    Point2 reprojectionError = pi - pB_;
     return reprojectionError.vector();
   }
 
@@ -236,17 +265,17 @@ TEST (EssentialMatrixFactor2, factor) {
     Vector actual = factor.evaluateError(E, d, Hactual1, Hactual2);
     EXPECT(assert_equal(expected, actual, 1e-7));
 
-//    // Use numerical derivatives to calculate the expected Jacobian
-//    Matrix Hexpected1, Hexpected2;
-//    boost::function<Vector(const EssentialMatrix&, const LieScalar&)> f =
-//        boost::bind(&EssentialMatrixFactor2::evaluateError, &factor, _1, _2,
-//            boost::none, boost::none);
-//    Hexpected1 = numericalDerivative21<EssentialMatrix>(f, E, d);
-//    Hexpected2 = numericalDerivative22<EssentialMatrix>(f, E, d);
-//
-//    // Verify the Jacobian is correct
-//    EXPECT(assert_equal(Hexpected1, Hactual1, 1e-8));
-//    EXPECT(assert_equal(Hexpected2, Hactual2, 1e-8));
+    // Use numerical derivatives to calculate the expected Jacobian
+    Matrix Hexpected1, Hexpected2;
+    boost::function<Vector(const EssentialMatrix&, const LieScalar&)> f =
+        boost::bind(&EssentialMatrixFactor2::evaluateError, &factor, _1, _2,
+            boost::none, boost::none);
+    Hexpected1 = numericalDerivative21<EssentialMatrix>(f, E, d);
+    Hexpected2 = numericalDerivative22<EssentialMatrix>(f, E, d);
+
+    // Verify the Jacobian is correct
+    EXPECT(assert_equal(Hexpected1, Hactual1, 1e-8));
+    EXPECT(assert_equal(Hexpected2, Hactual2, 1e-8));
   }
 }
 

From d6edd1db07febfc9341424e617c7b0f149706153 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Tue, 24 Dec 2013 00:36:54 -0500
Subject: [PATCH 08/15] Sanitized/collapsed derivatives

---
 .../slam/tests/testEssentialMatrixFactor.cpp  | 35 ++++++++++---------
 1 file changed, 18 insertions(+), 17 deletions(-)

diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
index 86284de50..001fb15fe 100644
--- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
@@ -57,40 +57,41 @@ public:
     // Project to normalized image coordinates, then uncalibrate
     Point2 pi;
     if (!DE && !Dd) {
-      Point3 d1T2 = d * E.direction().point3();
+
+      Point3 _1T2 = E.direction().point3();
+      Point3 d1T2 = d * _1T2;
       Point3 dP2 = E.rotation().unrotate(dP1 - d1T2);
       Point2 pn = SimpleCamera::project_to_camera(dP2);
       pi = K_.uncalibrate(pn);
+
     } else {
+
       // TODO, clean up this expensive mess w Mathematica
+
       Matrix D_1T2_dir; // 3*2
       Point3 _1T2 = E.direction().point3(D_1T2_dir);
 
-      Matrix Dd1T2_dir = d * D_1T2_dir; // 3*2
-      Matrix Dd1T2_d = _1T2.vector(); // 3*1
       Point3 d1T2 = d * _1T2;
 
-      Matrix Dpoint_dir = -Dd1T2_dir; // 3*2
-      Matrix Dpoint_d = -Dd1T2_d; // 3*1
-      Point3 point = dP1 - d1T2;
-
       Matrix DdP2_rot, DP2_point;
-      Point3 dP2 = E.rotation().unrotate(point, DdP2_rot, DP2_point);
-      Matrix DdP2_E(3, 5);
-      DdP2_E << DdP2_rot, DP2_point * Dpoint_dir; // (3*3), (3*3) * (3*2)
-      Matrix DdP2_d = DP2_point * Dpoint_d; // (3*3) * (3*1)
+      Point3 dP2 = E.rotation().unrotate(dP1 - d1T2, DdP2_rot, DP2_point);
 
       Matrix Dpn_dP2; // 2*3
       Point2 pn = SimpleCamera::project_to_camera(dP2, Dpn_dP2);
-      Matrix Dpn_E = Dpn_dP2 * DdP2_E; // (2*3) * (3*5)
-      Matrix Dpn_d = Dpn_dP2 * DdP2_d; // (2*3) * (3*1)
-      
+
       Matrix Dpi_pn; // 2*2
       pi = K_.uncalibrate(pn, boost::none, Dpi_pn);
-      if (DE)
-        *DE = Dpi_pn * Dpn_E; // (2*2) * (2*5)
+
+      if (DE) {
+        Matrix DdP2_E(3, 5);
+        DdP2_E << DdP2_rot, - DP2_point * d * D_1T2_dir; // (3*3), (3*3) * (3*2)
+        *DE = Dpi_pn * (Dpn_dP2 * DdP2_E); // (2*2) * (2*3) * (3*5)
+      }
+
       if (Dd)
-        *Dd = Dpi_pn * Dpn_d; // (2*2) * (2*1)
+        // (2*2) * (2*3) * (3*3) * (3*1)
+        *Dd = - (Dpi_pn * (Dpn_dP2 * (DP2_point * _1T2.vector())));
+
     }
     Point2 reprojectionError = pi - pB_;
     return reprojectionError.vector();

From bba8368218024c794b205e62069d2b6fdf63d923 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Tue, 24 Dec 2013 00:48:33 -0500
Subject: [PATCH 09/15] Added clone, minimization test; converges, but not to
 grund truth (which has high error)

---
 .../slam/tests/testEssentialMatrixFactor.cpp  | 55 +++++++++++++++++--
 1 file changed, 50 insertions(+), 5 deletions(-)

diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
index 001fb15fe..fca3015b6 100644
--- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
@@ -32,6 +32,12 @@ public:
       Base(model, key1, key2), pA_(pA), pB_(pB), K_(K) {
   }
 
+  /// @return a deep copy of this factor
+  virtual gtsam::NonlinearFactor::shared_ptr clone() const {
+    return boost::static_pointer_cast < gtsam::NonlinearFactor
+        > (gtsam::NonlinearFactor::shared_ptr(new This(*this)));
+  }
+
   /// print
   virtual void print(const std::string& s = "",
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
@@ -84,13 +90,13 @@ public:
 
       if (DE) {
         Matrix DdP2_E(3, 5);
-        DdP2_E << DdP2_rot, - DP2_point * d * D_1T2_dir; // (3*3), (3*3) * (3*2)
+        DdP2_E << DdP2_rot, -DP2_point * d * D_1T2_dir; // (3*3), (3*3) * (3*2)
         *DE = Dpi_pn * (Dpn_dP2 * DdP2_E); // (2*2) * (2*3) * (3*5)
       }
 
       if (Dd)
         // (2*2) * (2*3) * (3*3) * (3*1)
-        *Dd = - (Dpi_pn * (Dpn_dP2 * (DP2_point * _1T2.vector())));
+        *Dd = -(Dpi_pn * (Dpn_dP2 * (DP2_point * _1T2.vector())));
 
     }
     Point2 reprojectionError = pi - pB_;
@@ -114,6 +120,8 @@ public:
 using namespace std;
 using namespace gtsam;
 
+typedef noiseModel::Isotropic::shared_ptr Model;
+
 const string filename = findExampleDataFile("5pointExample1.txt");
 SfM_data data;
 bool readOK = readBAL(filename, data);
@@ -133,6 +141,8 @@ Vector vB(size_t i) {
   return EssentialMatrix::Homogeneous(pB(i));
 }
 
+Cal3_S2 K;
+
 //*************************************************************************
 TEST (EssentialMatrixFactor, testData) {
   CHECK(readOK);
@@ -198,8 +208,7 @@ TEST (EssentialMatrixFactor, fromConstraints) {
   // We start with a factor graph and add constraints to it
   // Noise sigma is 1cm, assuming metric measurements
   NonlinearFactorGraph graph;
-  noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(1,
-      0.01);
+  Model model = noiseModel::Isotropic::Sigma(1, 0.01);
   for (size_t i = 0; i < 5; i++)
     graph.add(EssentialMatrixFactor(1, pA(i), pB(i), model));
 
@@ -240,7 +249,6 @@ TEST (EssentialMatrixFactor2, factor) {
   noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(1);
 
   for (size_t i = 0; i < 5; i++) {
-    Cal3_S2 K;
     EssentialMatrixFactor2 factor(100, i, pA(i), pB(i), K, model);
 
     // Check evaluation
@@ -280,6 +288,43 @@ TEST (EssentialMatrixFactor2, factor) {
   }
 }
 
+//*************************************************************************
+TEST (EssentialMatrixFactor2, minimization) {
+  // Here we want to optimize for E and inverse depths at the same time
+
+  // We start with a factor graph and add constraints to it
+  // Noise sigma is 1cm, assuming metric measurements
+  NonlinearFactorGraph graph;
+  Model model = noiseModel::Isotropic::Sigma(2, 0.01);
+  for (size_t i = 0; i < 5; i++)
+    graph.add(EssentialMatrixFactor2(100, i, pA(i), pB(i), K, model));
+
+  // Check error at ground truth
+  Values truth;
+  EssentialMatrix trueE(aRb, aTb);
+  truth.insert(100, trueE);
+  for (size_t i = 0; i < 5; i++) {
+    Point3 P1 = data.tracks[i].p;
+    truth.insert(i, LieScalar(1.0 / P1.z()));
+  }
+  EXPECT_DOUBLES_EQUAL(0, graph.error(truth), 1e-8);
+
+  // Optimize
+  LevenbergMarquardtParams parameters;
+  // parameters.setVerbosity("ERROR");
+  LevenbergMarquardtOptimizer optimizer(graph, truth, parameters);
+  Values result = optimizer.optimize();
+
+  // Check result
+  EssentialMatrix actual = result.at<EssentialMatrix>(100);
+  EXPECT(assert_equal(trueE, actual,1e-1));
+  for (size_t i = 0; i < 5; i++)
+    EXPECT(assert_equal(result.at<LieScalar>(i), truth.at<LieScalar>(i),1e-1));
+
+  // Check error at result
+  EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4);
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From 708665ca04aff61c10a68903132607b2afad7493 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Tue, 24 Dec 2013 00:52:24 -0500
Subject: [PATCH 10/15] Moved new factor to header; Still fails!

---
 gtsam/slam/EssentialMatrixFactor.h            | 104 +++++++++++++++++-
 .../slam/tests/testEssentialMatrixFactor.cpp  | 102 -----------------
 2 files changed, 101 insertions(+), 105 deletions(-)

diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h
index 7ac992d79..e78c16c85 100644
--- a/gtsam/slam/EssentialMatrixFactor.h
+++ b/gtsam/slam/EssentialMatrixFactor.h
@@ -9,6 +9,8 @@
 
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/geometry/EssentialMatrix.h>
+#include <gtsam/geometry/SimpleCamera.h>
+#include <gtsam/base/LieScalar.h>
 #include <iostream>
 
 namespace gtsam {
@@ -36,8 +38,9 @@ public:
 
   /// @return a deep copy of this factor
   virtual gtsam::NonlinearFactor::shared_ptr clone() const {
-    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
-        gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
+    return boost::static_pointer_cast < gtsam::NonlinearFactor
+        > (gtsam::NonlinearFactor::shared_ptr(new This(*this)));
+  }
 
   /// print
   virtual void print(const std::string& s = "",
@@ -56,5 +59,100 @@ public:
 
 };
 
-} // gtsam
+/**
+ * Binary factor that optimizes for E and inverse depth: assumes measurement
+ * in image 2 is perfect, and returns re-projection error in image 1
+ */
+class EssentialMatrixFactor2: public NoiseModelFactor2<EssentialMatrix,
+    LieScalar> {
+
+  Point2 pA_, pB_; ///< Measurements in image A and B
+  Cal3_S2 K_; ///< Calibration
+
+  typedef NoiseModelFactor2<EssentialMatrix, LieScalar> Base;
+  typedef EssentialMatrixFactor2 This;
+
+public:
+
+  /// Constructor
+  EssentialMatrixFactor2(Key key1, Key key2, const Point2& pA, const Point2& pB,
+      const Cal3_S2& K, const SharedNoiseModel& model) :
+      Base(model, key1, key2), pA_(pA), pB_(pB), K_(K) {
+  }
+
+  /// @return a deep copy of this factor
+  virtual gtsam::NonlinearFactor::shared_ptr clone() const {
+    return boost::static_pointer_cast < gtsam::NonlinearFactor
+        > (gtsam::NonlinearFactor::shared_ptr(new This(*this)));
+  }
+
+  /// print
+  virtual void print(const std::string& s = "",
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
+    Base::print(s);
+    std::cout << "  EssentialMatrixFactor2 with measurements\n  ("
+        << pA_.vector().transpose() << ")' and (" << pB_.vector().transpose()
+        << ")'" << std::endl;
+  }
+
+  /// vector of errors returns 1D vector
+  Vector evaluateError(const EssentialMatrix& E, const LieScalar& d,
+      boost::optional<Matrix&> DE = boost::none, boost::optional<Matrix&> Dd =
+          boost::none) const {
+
+    // We have point x,y in image 1
+    // Given a depth Z, the corresponding 3D point P1 = Z*(x,y,1) = (x,y,1)/d
+    // We then convert to first camera by 2P = 1R2Õ*(P1-1T2)
+    // The homogeneous coordinates of can be written as
+    //   2R1*(P1-1T2) ==  2R1*d*(P1-1T2) == 2R1*((x,y,1)-d*1T2)
+    // Note that this is just a homography for d==0
+    Point3 dP1(pA_.x(), pA_.y(), 1);
+
+    // Project to normalized image coordinates, then uncalibrate
+    Point2 pi;
+    if (!DE && !Dd) {
+
+      Point3 _1T2 = E.direction().point3();
+      Point3 d1T2 = d * _1T2;
+      Point3 dP2 = E.rotation().unrotate(dP1 - d1T2);
+      Point2 pn = SimpleCamera::project_to_camera(dP2);
+      pi = K_.uncalibrate(pn);
+
+    } else {
+
+      // TODO, clean up this expensive mess w Mathematica
+
+      Matrix D_1T2_dir; // 3*2
+      Point3 _1T2 = E.direction().point3(D_1T2_dir);
+
+      Point3 d1T2 = d * _1T2;
+
+      Matrix DdP2_rot, DP2_point;
+      Point3 dP2 = E.rotation().unrotate(dP1 - d1T2, DdP2_rot, DP2_point);
+
+      Matrix Dpn_dP2; // 2*3
+      Point2 pn = SimpleCamera::project_to_camera(dP2, Dpn_dP2);
+
+      Matrix Dpi_pn; // 2*2
+      pi = K_.uncalibrate(pn, boost::none, Dpi_pn);
+
+      if (DE) {
+        Matrix DdP2_E(3, 5);
+        DdP2_E << DdP2_rot, -DP2_point * d * D_1T2_dir; // (3*3), (3*3) * (3*2)
+        *DE = Dpi_pn * (Dpn_dP2 * DdP2_E); // (2*2) * (2*3) * (3*5)
+      }
+
+      if (Dd)
+        // (2*2) * (2*3) * (3*3) * (3*1)
+        *Dd = -(Dpi_pn * (Dpn_dP2 * (DP2_point * _1T2.vector())));
+
+    }
+    Point2 reprojectionError = pi - pB_;
+    return reprojectionError.vector();
+  }
+
+};
+// EssentialMatrixFactor2
+
+}// gtsam
 
diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
index fca3015b6..4fb24b240 100644
--- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
@@ -6,108 +6,6 @@
  */
 
 #include <gtsam/slam/EssentialMatrixFactor.h>
-#include <gtsam/geometry/SimpleCamera.h>
-#include <gtsam/base/LieScalar.h>
-
-namespace gtsam {
-
-/**
- * Binary factor that optimizes for E and inverse depth: assumes measurement
- * in image 2 is perfect, and returns re-projection error in image 1
- */
-class EssentialMatrixFactor2: public NoiseModelFactor2<EssentialMatrix,
-    LieScalar> {
-
-  Point2 pA_, pB_; ///< Measurements in image A and B
-  Cal3_S2 K_; ///< Calibration
-
-  typedef NoiseModelFactor2<EssentialMatrix, LieScalar> Base;
-  typedef EssentialMatrixFactor2 This;
-
-public:
-
-  /// Constructor
-  EssentialMatrixFactor2(Key key1, Key key2, const Point2& pA, const Point2& pB,
-      const Cal3_S2& K, const SharedNoiseModel& model) :
-      Base(model, key1, key2), pA_(pA), pB_(pB), K_(K) {
-  }
-
-  /// @return a deep copy of this factor
-  virtual gtsam::NonlinearFactor::shared_ptr clone() const {
-    return boost::static_pointer_cast < gtsam::NonlinearFactor
-        > (gtsam::NonlinearFactor::shared_ptr(new This(*this)));
-  }
-
-  /// print
-  virtual void print(const std::string& s = "",
-      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
-    Base::print(s);
-    std::cout << "  EssentialMatrixFactor2 with measurements\n  ("
-        << pA_.vector().transpose() << ")' and (" << pB_.vector().transpose()
-        << ")'" << std::endl;
-  }
-
-  /// vector of errors returns 1D vector
-  Vector evaluateError(const EssentialMatrix& E, const LieScalar& d,
-      boost::optional<Matrix&> DE = boost::none, boost::optional<Matrix&> Dd =
-          boost::none) const {
-
-    // We have point x,y in image 1
-    // Given a depth Z, the corresponding 3D point P1 = Z*(x,y,1) = (x,y,1)/d
-    // We then convert to first camera by 2P = 1R2Õ*(P1-1T2)
-    // The homogeneous coordinates of can be written as
-    //   2R1*(P1-1T2) ==  2R1*d*(P1-1T2) == 2R1*((x,y,1)-d*1T2)
-    // Note that this is just a homography for d==0
-    Point3 dP1(pA_.x(), pA_.y(), 1);
-
-    // Project to normalized image coordinates, then uncalibrate
-    Point2 pi;
-    if (!DE && !Dd) {
-
-      Point3 _1T2 = E.direction().point3();
-      Point3 d1T2 = d * _1T2;
-      Point3 dP2 = E.rotation().unrotate(dP1 - d1T2);
-      Point2 pn = SimpleCamera::project_to_camera(dP2);
-      pi = K_.uncalibrate(pn);
-
-    } else {
-
-      // TODO, clean up this expensive mess w Mathematica
-
-      Matrix D_1T2_dir; // 3*2
-      Point3 _1T2 = E.direction().point3(D_1T2_dir);
-
-      Point3 d1T2 = d * _1T2;
-
-      Matrix DdP2_rot, DP2_point;
-      Point3 dP2 = E.rotation().unrotate(dP1 - d1T2, DdP2_rot, DP2_point);
-
-      Matrix Dpn_dP2; // 2*3
-      Point2 pn = SimpleCamera::project_to_camera(dP2, Dpn_dP2);
-
-      Matrix Dpi_pn; // 2*2
-      pi = K_.uncalibrate(pn, boost::none, Dpi_pn);
-
-      if (DE) {
-        Matrix DdP2_E(3, 5);
-        DdP2_E << DdP2_rot, -DP2_point * d * D_1T2_dir; // (3*3), (3*3) * (3*2)
-        *DE = Dpi_pn * (Dpn_dP2 * DdP2_E); // (2*2) * (2*3) * (3*5)
-      }
-
-      if (Dd)
-        // (2*2) * (2*3) * (3*3) * (3*1)
-        *Dd = -(Dpi_pn * (Dpn_dP2 * (DP2_point * _1T2.vector())));
-
-    }
-    Point2 reprojectionError = pi - pB_;
-    return reprojectionError.vector();
-  }
-
-};
-
-}
-// gtsam
-
 #include <gtsam/slam/dataset.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>

From adac9d209f8615df9d487b13908f7e0835bb6fcb Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Tue, 24 Dec 2013 01:25:13 -0500
Subject: [PATCH 11/15] Fixed unit test (baseline of test-case was not 1,
 corrected for it)

---
 gtsam/slam/tests/testEssentialMatrixFactor.cpp | 18 ++++--------------
 1 file changed, 4 insertions(+), 14 deletions(-)

diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
index 4fb24b240..57fb47715 100644
--- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
@@ -25,6 +25,7 @@ SfM_data data;
 bool readOK = readBAL(filename, data);
 Rot3 aRb = data.cameras[1].pose().rotation();
 Point3 aTb = data.cameras[1].pose().translation();
+double baseline = 0.1; // actual baseline of the camera
 
 Point2 pA(size_t i) {
   return data.tracks[i].measurements[0].second;
@@ -150,25 +151,14 @@ TEST (EssentialMatrixFactor2, factor) {
     EssentialMatrixFactor2 factor(100, i, pA(i), pB(i), K, model);
 
     // Check evaluation
-    Point3 P1 = data.tracks[i].p, P2 = E.transform_to(P1);
-    LieScalar d(1.0 / P1.z());
+    Point3 P1 = data.tracks[i].p, P2 = data.cameras[1].pose().transform_to(P1);
     const Point2 pn = SimpleCamera::project_to_camera(P2);
     const Point2 pi = K.uncalibrate(pn);
     Point2 reprojectionError(pi - pB(i));
     Vector expected = reprojectionError.vector();
 
-    {
-      // Check calculations
-      Point3 dP1(pA(i).x(), pA(i).y(), 1);
-      EXPECT_DOUBLES_EQUAL(pA(i).x(), P1.x()/P1.z(), 1e-8);
-      EXPECT_DOUBLES_EQUAL(pA(i).y(), P1.y()/P1.z(), 1e-8);
-      EXPECT(assert_equal(P1,dP1/d));
-      Point3 otherP2 = E.rotation().unrotate(
-          d * P1 - d * E.direction().point3());
-      EXPECT(assert_equal(P2,otherP2/d));
-    }
-
     Matrix Hactual1, Hactual2;
+    LieScalar d(baseline / P1.z());
     Vector actual = factor.evaluateError(E, d, Hactual1, Hactual2);
     EXPECT(assert_equal(expected, actual, 1e-7));
 
@@ -203,7 +193,7 @@ TEST (EssentialMatrixFactor2, minimization) {
   truth.insert(100, trueE);
   for (size_t i = 0; i < 5; i++) {
     Point3 P1 = data.tracks[i].p;
-    truth.insert(i, LieScalar(1.0 / P1.z()));
+    truth.insert(i, LieScalar(baseline / P1.z()));
   }
   EXPECT_DOUBLES_EQUAL(0, graph.error(truth), 1e-8);
 

From e6a64ec5b25507a8780d55e03c22607082e74816 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Tue, 24 Dec 2013 01:25:52 -0500
Subject: [PATCH 12/15] Cleaned up derivatives somewhat more

---
 gtsam/slam/EssentialMatrixFactor.h | 16 +++++-----------
 1 file changed, 5 insertions(+), 11 deletions(-)

diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h
index e78c16c85..090a816ec 100644
--- a/gtsam/slam/EssentialMatrixFactor.h
+++ b/gtsam/slam/EssentialMatrixFactor.h
@@ -120,20 +120,14 @@ public:
 
     } else {
 
-      // TODO, clean up this expensive mess w Mathematica
+      // Calculate derivatives. TODO if slow: optimize with Mathematica
+      //     3*2        3*3       3*3        2*3      2*2
+      Matrix D_1T2_dir, DdP2_rot, DP2_point, Dpn_dP2, Dpi_pn;
 
-      Matrix D_1T2_dir; // 3*2
       Point3 _1T2 = E.direction().point3(D_1T2_dir);
-
       Point3 d1T2 = d * _1T2;
-
-      Matrix DdP2_rot, DP2_point;
       Point3 dP2 = E.rotation().unrotate(dP1 - d1T2, DdP2_rot, DP2_point);
-
-      Matrix Dpn_dP2; // 2*3
       Point2 pn = SimpleCamera::project_to_camera(dP2, Dpn_dP2);
-
-      Matrix Dpi_pn; // 2*2
       pi = K_.uncalibrate(pn, boost::none, Dpi_pn);
 
       if (DE) {
@@ -142,8 +136,8 @@ public:
         *DE = Dpi_pn * (Dpn_dP2 * DdP2_E); // (2*2) * (2*3) * (3*5)
       }
 
-      if (Dd)
-        // (2*2) * (2*3) * (3*3) * (3*1)
+      if (Dd) // efficient backwards computation:
+        //     (2*2)   * (2*3)    * (3*3)      * (3*1)
         *Dd = -(Dpi_pn * (Dpn_dP2 * (DP2_point * _1T2.vector())));
 
     }

From 707c745aad93f2fbf0ff566cbac37b906dd9009d Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Tue, 24 Dec 2013 16:47:30 -0500
Subject: [PATCH 13/15] Created second example

---
 .cproject                         | 356 ++++++++++++++++--------------
 examples/CreateSFMExampleData.cpp |  65 +++++-
 examples/Data/5pointExample2.txt  |  65 ++++++
 3 files changed, 305 insertions(+), 181 deletions(-)
 create mode 100644 examples/Data/5pointExample2.txt

diff --git a/.cproject b/.cproject
index 21ab6965c..19be6b629 100644
--- a/.cproject
+++ b/.cproject
@@ -365,38 +365,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="all" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>all</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testNonlinearConstraint.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testNonlinearConstraint.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testLieConfig.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testLieConfig.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testConstraintOptimizer.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testConstraintOptimizer.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="testStereoCamera.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -477,6 +445,38 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="all" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>all</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testNonlinearConstraint.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testNonlinearConstraint.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testLieConfig.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testLieConfig.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testConstraintOptimizer.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testConstraintOptimizer.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="vSFMexample.run" path="build/examples/vSLAMexample" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -551,6 +551,7 @@
 			</target>
 			<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>tests/testBayesTree.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -558,6 +559,7 @@
 			</target>
 			<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testBinaryBayesNet.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -605,6 +607,7 @@
 			</target>
 			<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSymbolicBayesNet.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -612,6 +615,7 @@
 			</target>
 			<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>tests/testSymbolicFactor.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -619,6 +623,7 @@
 			</target>
 			<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -634,19 +639,12 @@
 			</target>
 			<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>tests/testBayesTree</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testVSLAMGraph" path="build/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testVSLAMGraph</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -729,7 +727,6 @@
 			</target>
 			<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSimulated2DOriented.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -769,7 +766,6 @@
 			</target>
 			<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSimulated2D.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -777,7 +773,6 @@
 			</target>
 			<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSimulated3D.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -791,6 +786,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testVSLAMGraph" path="build/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testVSLAMGraph</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -830,6 +833,21 @@
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="check" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>check</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildTarget>tests/testGaussianISAM2</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="check.tests" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -968,6 +986,7 @@
 			</target>
 			<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testGraph.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -975,6 +994,7 @@
 			</target>
 			<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testJunctionTree.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -982,6 +1002,7 @@
 			</target>
 			<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSymbolicBayesNetB.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1043,22 +1064,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="check" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>check</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>tests/testGaussianISAM2</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -1427,14 +1432,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testGaussianFactor.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -1515,66 +1512,10 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
-				<buildTarget>check</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testClusterTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testClusterTree.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testJunctionTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testJunctionTree.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testEliminationTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testEliminationTree.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testSymbolicFactor.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testSymbolicFactor.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testVariableSlots.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testVariableSlots.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testConditional.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testConditional.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testSymbolicFactorGraph.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testSymbolicFactorGraph.run</buildTarget>
+				<buildTarget>testGaussianFactor.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -1675,6 +1616,86 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>check</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testClusterTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testClusterTree.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testJunctionTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testJunctionTree.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testEliminationTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testEliminationTree.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testSymbolicFactor.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testSymbolicFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testVariableSlots.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testVariableSlots.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testConditional.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testConditional.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testSymbolicFactorGraph.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testSymbolicFactorGraph.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="all" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>all</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="clean" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>clean</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testInvDepthFactor3.run" path="build/gtsam_unstable/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -1739,22 +1760,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="all" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>all</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="clean" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>clean</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="all" path="colamd" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -1867,6 +1872,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="CreateSFMExampleData.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>CreateSFMExampleData.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="check" path="build/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -2188,6 +2201,7 @@
 			</target>
 			<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
+				<buildArguments/>
 				<buildTarget>-G DEB</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2195,6 +2209,7 @@
 			</target>
 			<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
+				<buildArguments/>
 				<buildTarget>-G RPM</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2202,6 +2217,7 @@
 			</target>
 			<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
+				<buildArguments/>
 				<buildTarget>-G TGZ</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2209,6 +2225,7 @@
 			</target>
 			<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
+				<buildArguments/>
 				<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2382,6 +2399,30 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="check" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>check</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testSPQRUtil.run" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testSPQRUtil.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="clean" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>clean</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testDiscreteFactor.run" path="build/gtsam/discrete" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -2422,26 +2463,18 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="check" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
-				<buildTarget>check</buildTarget>
+				<buildTarget>tests/testPose2.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="tests/testSPQRUtil.run" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testSPQRUtil.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="clean" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>clean</buildTarget>
+				<buildTarget>tests/testPose3.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -2536,27 +2569,12 @@
 			</target>
 			<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testErrors.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testPose2.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testPose3.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 		</buildTargets>
 	</storageModule>
 </cproject>
diff --git a/examples/CreateSFMExampleData.cpp b/examples/CreateSFMExampleData.cpp
index b62b1c6fa..bcc0b6320 100644
--- a/examples/CreateSFMExampleData.cpp
+++ b/examples/CreateSFMExampleData.cpp
@@ -17,28 +17,29 @@
 
 #include <gtsam/slam/dataset.h>
 #include <gtsam/geometry/CalibratedCamera.h>
+
+#include <boost/foreach.hpp>
 #include <boost/assign/std/vector.hpp>
 
 using namespace boost::assign;
 using namespace std;
 using namespace gtsam;
 
-void create5PointExample1() {
+/* ************************************************************************* */
+
+void createExampleBALFile(const string& filename, const vector<Point3>& P,
+    const Pose3& pose1, const Pose3& pose2, const Cal3Bundler& K =
+        Cal3Bundler()) {
 
   // Class that will gather all data
   SfM_data data;
 
-  // Create two cameras and corresponding essential matrix E
+  // Create two cameras
   Rot3 aRb = Rot3::yaw(M_PI_2);
   Point3 aTb(0.1, 0, 0);
   Pose3 identity, aPb(aRb, aTb);
-  data.cameras.push_back(SfM_Camera(identity));
-  data.cameras.push_back(SfM_Camera(aPb));
-
-  // Create test data, we need at least 5 points
-  vector<Point3> P;
-  P += Point3(0, 0, 1), Point3(-0.1, 0, 1), Point3(0.1, 0, 1), //
-  Point3(0, 0.5, 0.5), Point3(0, -0.5, 0.5);
+  data.cameras.push_back(SfM_Camera(pose1, K));
+  data.cameras.push_back(SfM_Camera(pose2, K));
 
   BOOST_FOREACH(const Point3& p, P) {
 
@@ -51,19 +52,59 @@ void create5PointExample1() {
 
     // Project points in both cameras
     for (size_t i = 0; i < 2; i++)
-      track.measurements.push_back(make_pair(i, data.cameras[i].project(p)));
+    track.measurements.push_back(make_pair(i, data.cameras[i].project(p)));
 
     // Add track to data
     data.tracks.push_back(track);
   }
 
-  // Assumes example is run in ${GTSAM_TOP}/build/examples
-  const string filename = "../../examples/data/5pointExample1.txt";
   writeBAL(filename, data);
 }
 
+/* ************************************************************************* */
+
+void create5PointExample1() {
+
+  // Create two cameras poses
+  Rot3 aRb = Rot3::yaw(M_PI_2);
+  Point3 aTb(0.1, 0, 0);
+  Pose3 pose1, pose2(aRb, aTb);
+
+  // Create test data, we need at least 5 points
+  vector<Point3> P;
+  P += Point3(0, 0, 1), Point3(-0.1, 0, 1), Point3(0.1, 0, 1), //
+  Point3(0, 0.5, 0.5), Point3(0, -0.5, 0.5);
+
+  // Assumes example is run in ${GTSAM_TOP}/build/examples
+  const string filename = "../../examples/data/5pointExample1.txt";
+  createExampleBALFile(filename, P, pose1, pose2);
+}
+
+/* ************************************************************************* */
+
+void create5PointExample2() {
+
+  // Create two cameras poses
+  Rot3 aRb = Rot3::yaw(M_PI_2);
+  Point3 aTb(10, 0, 0);
+  Pose3 pose1, pose2(aRb, aTb);
+
+  // Create test data, we need at least 5 points
+  vector<Point3> P;
+  P += Point3(0, 0, 100), Point3(-10, 0, 100), Point3(10, 0, 100), //
+  Point3(0, 50, 50), Point3(0, -50, 50), Point3(-20, 0, 80), Point3(20, -50, 80);
+
+  // Assumes example is run in ${GTSAM_TOP}/build/examples
+  const string filename = "../../examples/data/5pointExample2.txt";
+  Cal3Bundler K(500, 0, 0);
+  createExampleBALFile(filename, P, pose1, pose2,K);
+}
+
+/* ************************************************************************* */
+
 int main(int argc, char* argv[]) {
   create5PointExample1();
+  create5PointExample2();
   return 0;
 }
 
diff --git a/examples/Data/5pointExample2.txt b/examples/Data/5pointExample2.txt
new file mode 100644
index 000000000..1aa57d59d
--- /dev/null
+++ b/examples/Data/5pointExample2.txt
@@ -0,0 +1,65 @@
+2 7 14
+
+0 0 0 -0
+1 0 -3.0616169978683830426e-15 -50
+0 1 -50 -0
+1 1 -6.1232339957367660852e-15 -100
+0 2 50 -0
+1 2 0 -0
+0 3 0 -500
+1 3 500 -100.00000000000002842
+0 4 0 500
+1 4 -500 -99.999999999999957367
+0 5 -125 -0
+1 5 -1.1481063742006437494e-14 -187.5
+0 6 125 312.5
+1 6 -312.5 62.500000000000028422
+
+3.141592653589793116
+0
+0
+-0
+0
+0
+500
+0
+0
+
+2.2214414690791830509
+2.2214414690791826068
+0
+-6.1232339957367662824e-16
+-10
+0
+500
+0
+0
+
+0
+0
+100
+
+-10
+0
+100
+
+10
+0
+100
+
+0
+50
+50
+
+0
+-50
+50
+
+-20
+0
+80
+
+20
+-50
+80
+

From 606b9dce5ce132c00bacb9d780a4003c268bdd1b Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Tue, 24 Dec 2013 17:14:28 -0500
Subject: [PATCH 14/15] Fixed bug: first point (pA) had to be calibrated and it
 was not.

---
 gtsam/slam/EssentialMatrixFactor.h            |  3 +-
 .../slam/tests/testEssentialMatrixFactor.cpp  | 66 ++++++++++++++++++-
 2 files changed, 67 insertions(+), 2 deletions(-)

diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h
index 090a816ec..e756cd43b 100644
--- a/gtsam/slam/EssentialMatrixFactor.h
+++ b/gtsam/slam/EssentialMatrixFactor.h
@@ -106,7 +106,8 @@ public:
     // The homogeneous coordinates of can be written as
     //   2R1*(P1-1T2) ==  2R1*d*(P1-1T2) == 2R1*((x,y,1)-d*1T2)
     // Note that this is just a homography for d==0
-    Point3 dP1(pA_.x(), pA_.y(), 1);
+    Point2 xy = K_.calibrate(pA_);
+    Point3 dP1(xy.x(), xy.y(), 1);
 
     // Project to normalized image coordinates, then uncalibrate
     Point2 pi;
diff --git a/gtsam/slam/tests/testEssentialMatrixFactor.cpp b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
index 57fb47715..5f9233bb3 100644
--- a/gtsam/slam/tests/testEssentialMatrixFactor.cpp
+++ b/gtsam/slam/tests/testEssentialMatrixFactor.cpp
@@ -20,6 +20,8 @@ using namespace gtsam;
 
 typedef noiseModel::Isotropic::shared_ptr Model;
 
+namespace example1 {
+
 const string filename = findExampleDataFile("5pointExample1.txt");
 SfM_data data;
 bool readOK = readBAL(filename, data);
@@ -207,12 +209,74 @@ TEST (EssentialMatrixFactor2, minimization) {
   EssentialMatrix actual = result.at<EssentialMatrix>(100);
   EXPECT(assert_equal(trueE, actual,1e-1));
   for (size_t i = 0; i < 5; i++)
-    EXPECT(assert_equal(result.at<LieScalar>(i), truth.at<LieScalar>(i),1e-1));
+    EXPECT(assert_equal(truth.at<LieScalar>(i),result.at<LieScalar>(i),1e-1));
 
   // Check error at result
   EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4);
 }
 
+} // namespace example1
+
+//*************************************************************************
+
+namespace example2 {
+
+const string filename = findExampleDataFile("5pointExample2.txt");
+SfM_data data;
+bool readOK = readBAL(filename, data);
+Rot3 aRb = data.cameras[1].pose().rotation();
+Point3 aTb = data.cameras[1].pose().translation();
+double baseline = 10; // actual baseline of the camera
+
+Point2 pA(size_t i) {
+  return data.tracks[i].measurements[0].second;
+}
+Point2 pB(size_t i) {
+  return data.tracks[i].measurements[1].second;
+}
+
+// Matches Cal3Bundler K(500, 0, 0);
+Cal3_S2 K(500, 500, 0, 0, 0);
+
+//*************************************************************************
+TEST (EssentialMatrixFactor2, extraTest) {
+  // Additional test with camera moving in positive X direction
+
+  // We start with a factor graph and add constraints to it
+  // Noise sigma is 1, assuming pixel measurements
+  NonlinearFactorGraph graph;
+  Model model = noiseModel::Isotropic::Sigma(2, 1);
+  for (size_t i = 0; i < data.number_tracks(); i++)
+    graph.add(EssentialMatrixFactor2(100, i, pA(i), pB(i), K, model));
+
+  // Check error at ground truth
+  Values truth;
+  EssentialMatrix trueE(aRb, aTb);
+  truth.insert(100, trueE);
+  for (size_t i = 0; i < data.number_tracks(); i++) {
+    Point3 P1 = data.tracks[i].p;
+    truth.insert(i, LieScalar(baseline / P1.z()));
+  }
+  EXPECT_DOUBLES_EQUAL(0, graph.error(truth), 1e-8);
+
+  // Optimize
+  LevenbergMarquardtParams parameters;
+  // parameters.setVerbosity("ERROR");
+  LevenbergMarquardtOptimizer optimizer(graph, truth, parameters);
+  Values result = optimizer.optimize();
+
+  // Check result
+  EssentialMatrix actual = result.at<EssentialMatrix>(100);
+  EXPECT(assert_equal(trueE, actual,1e-1));
+  for (size_t i = 0; i < data.number_tracks(); i++)
+    EXPECT(assert_equal(truth.at<LieScalar>(i),result.at<LieScalar>(i),1e-1));
+
+  // Check error at result
+  EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-4);
+}
+
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From e038fa4e6a7b422df280f98d0e3876f7a25074ff Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Tue, 24 Dec 2013 17:26:13 -0500
Subject: [PATCH 15/15] Do calibrate of pA in constructor (needs to happen only
 once)

---
 gtsam/slam/EssentialMatrixFactor.h | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h
index e756cd43b..142005d3c 100644
--- a/gtsam/slam/EssentialMatrixFactor.h
+++ b/gtsam/slam/EssentialMatrixFactor.h
@@ -66,7 +66,8 @@ public:
 class EssentialMatrixFactor2: public NoiseModelFactor2<EssentialMatrix,
     LieScalar> {
 
-  Point2 pA_, pB_; ///< Measurements in image A and B
+  Point3 dP1_; ///< 3D point corresponding to measurement in image 1
+  Point2 p1_, p2_; ///< Measurements in image 1 and image 2
   Cal3_S2 K_; ///< Calibration
 
   typedef NoiseModelFactor2<EssentialMatrix, LieScalar> Base;
@@ -77,7 +78,9 @@ public:
   /// Constructor
   EssentialMatrixFactor2(Key key1, Key key2, const Point2& pA, const Point2& pB,
       const Cal3_S2& K, const SharedNoiseModel& model) :
-      Base(model, key1, key2), pA_(pA), pB_(pB), K_(K) {
+      Base(model, key1, key2), p1_(pA), p2_(pB), K_(K) {
+    Point2 xy = K_.calibrate(p1_);
+    dP1_ = Point3(xy.x(), xy.y(), 1);
   }
 
   /// @return a deep copy of this factor
@@ -91,7 +94,7 @@ public:
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
     Base::print(s);
     std::cout << "  EssentialMatrixFactor2 with measurements\n  ("
-        << pA_.vector().transpose() << ")' and (" << pB_.vector().transpose()
+        << p1_.vector().transpose() << ")' and (" << p2_.vector().transpose()
         << ")'" << std::endl;
   }
 
@@ -106,8 +109,7 @@ public:
     // The homogeneous coordinates of can be written as
     //   2R1*(P1-1T2) ==  2R1*d*(P1-1T2) == 2R1*((x,y,1)-d*1T2)
     // Note that this is just a homography for d==0
-    Point2 xy = K_.calibrate(pA_);
-    Point3 dP1(xy.x(), xy.y(), 1);
+    // The point d*P1 = (x,y,1) is computed in constructor as dP1_
 
     // Project to normalized image coordinates, then uncalibrate
     Point2 pi;
@@ -115,7 +117,7 @@ public:
 
       Point3 _1T2 = E.direction().point3();
       Point3 d1T2 = d * _1T2;
-      Point3 dP2 = E.rotation().unrotate(dP1 - d1T2);
+      Point3 dP2 = E.rotation().unrotate(dP1_ - d1T2);
       Point2 pn = SimpleCamera::project_to_camera(dP2);
       pi = K_.uncalibrate(pn);
 
@@ -127,7 +129,7 @@ public:
 
       Point3 _1T2 = E.direction().point3(D_1T2_dir);
       Point3 d1T2 = d * _1T2;
-      Point3 dP2 = E.rotation().unrotate(dP1 - d1T2, DdP2_rot, DP2_point);
+      Point3 dP2 = E.rotation().unrotate(dP1_ - d1T2, DdP2_rot, DP2_point);
       Point2 pn = SimpleCamera::project_to_camera(dP2, Dpn_dP2);
       pi = K_.uncalibrate(pn, boost::none, Dpi_pn);
 
@@ -142,7 +144,7 @@ public:
         *Dd = -(Dpi_pn * (Dpn_dP2 * (DP2_point * _1T2.vector())));
 
     }
-    Point2 reprojectionError = pi - pB_;
+    Point2 reprojectionError = pi - p2_;
     return reprojectionError.vector();
   }