14-truck_backer-upper.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from matplotlib.pylab import *\n",
    "from matplotlib.patches import Rectangle\n",
    "from matplotlib.collections import PatchCollection\n",
    "from matplotlib.lines import Line2D\n",
    "π = pi"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "style.use(['dark_background', 'bmh'])\n",
    "%matplotlib notebook"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Car-trailer diagram (inverted image `res/car-trainer-k.png` available as well):\n",
    "![car-trailer](res/car-trailer-w.png)\n",
    "\n",
    "Car-trailer equation:\n",
    "\\begin{align}\n",
    "\\dot x &= s \\cos \\theta_0 \\\\\n",
    "\\dot y &= s \\sin \\theta_0 \\\\\n",
    "\\dot \\theta_0 &= \\frac{s}{L} \\tan \\phi \\\\\n",
    "\\dot \\theta_1 &= \\frac{s}{d_1} \\sin(\\theta_1 - \\theta_0)\n",
    "\\end{align}\n",
    "where $s$: signed speed, $\\phi$: negative steering angle,"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "class Truck:\n",
    "    def __init__(self, display=False):\n",
    "\n",
    "        self.W = 1  # car and trailer width, for drawing only\n",
    "        self.L = 1 * self.W  # car length\n",
    "        self.d = 4 * self.L  # d_1\n",
    "        self.s = -0.1  # speed\n",
    "        self.display = display\n",
    "        \n",
    "        self.box = [0, 40, -10, 10]\n",
    "        if self.display:\n",
    "            self.f = figure(figsize=(10, 5), num='The truck backer-upper', facecolor='none')\n",
    "            self.ax = self.f.add_axes([0.01, 0.01, 0.98, 0.98], facecolor='black')\n",
    "            self.patches = list()\n",
    "            \n",
    "            self.ax.axis('equal')\n",
    "            b = self.box\n",
    "            self.ax.axis([b[0] - 1, b[1], b[2], b[3]])\n",
    "            self.ax.set_xticks([]); self.ax.set_yticks([])\n",
    "            self.ax.axhline(); self.ax.axvline()\n",
    "\n",
    "        self.reset()\n",
    "    \n",
    "    def reset(self, ϕ=0):\n",
    "        self.ϕ = ϕ  # car initial steering angle\n",
    "        \n",
    "        # self.θ0 = deg2rad(30)  # car initial direction\n",
    "        # self.θ1 = deg2rad(-30)  # trailer initial direction\n",
    "        # self.x, self.y = 20, -5  # initial car coordinates\n",
    "        \n",
    "        self.θ0 = random() * 2 * π  # 0 <= ϑ₀ < 2π\n",
    "        self.θ1 = (random() - 0.5) * π / 2 + self.θ0  # -π/4 <= ϑ₁ - ϑ₀ < π/4\n",
    "        self.x = (random() * .75 + 0.25) * self.box[1]\n",
    "        self.y = (random() - 0.5) * (self.box[3] - self.box[2])\n",
    "        \n",
    "        # If poorly initialise, then re-initialise\n",
    "        if not self.valid():\n",
    "            self.reset(ϕ)\n",
    "        \n",
    "        # Draw, if display is True\n",
    "        if self.display: self.draw()\n",
    "    \n",
    "    def step(self, ϕ=0, dt=1):\n",
    "        \n",
    "        # Check for illegal conditions\n",
    "        if self.is_jackknifed():\n",
    "            print('The truck is jackknifed!')\n",
    "            return\n",
    "        \n",
    "        if self.is_offscreen():\n",
    "            print('The car or trailer is off screen')\n",
    "            return\n",
    "        \n",
    "        self.ϕ = ϕ\n",
    "        x, y, W, L, d, s, θ0, θ1, ϕ = self._get_atributes()\n",
    "        \n",
    "        # Perform state update\n",
    "        self.x += s * cos(θ0) * dt\n",
    "        self.y += s * sin(θ0) * dt\n",
    "        self.θ0 += s / L * tan(ϕ) * dt\n",
    "        self.θ1 += s / d * sin(θ0 - θ1) * dt\n",
    "        \n",
    "        return (self.x, self.y, self.θ0, *self._traler_xy(), self.θ1)\n",
    "    \n",
    "    def state(self):\n",
    "        return (self.x, self.y, self.θ0, *self._traler_xy(), self.θ1)\n",
    "    \n",
    "    def _get_atributes(self):\n",
    "        return (\n",
    "            self.x, self.y, self.W, self.L, self.d, self.s,\n",
    "            self.θ0, self.θ1, self.ϕ\n",
    "        )\n",
    "    \n",
    "    def _traler_xy(self):\n",
    "        x, y, W, L, d, s, θ0, θ1, ϕ = self._get_atributes()\n",
    "        return x - d * cos(θ1), y - d * sin(θ1)\n",
    "        \n",
    "    def is_jackknifed(self):\n",
    "        x, y, W, L, d, s, θ0, θ1, ϕ = self._get_atributes()\n",
    "        return abs(θ0 - θ1) * 180 / π > 90\n",
    "    \n",
    "    def is_offscreen(self):\n",
    "        x, y, W, L, d, s, θ0, θ1, ϕ = self._get_atributes()\n",
    "        \n",
    "        x1, y1 = x + 1.5 * L * cos(θ0), y + 1.5 * L * sin(θ0)\n",
    "        x2, y2 = self._traler_xy()\n",
    "        \n",
    "        b = self.box\n",
    "        return not (\n",
    "            b[0] <= x1 <= b[1] and b[2] <= y1 <= b[3] and\n",
    "            b[0] <= x2 <= b[1] and b[2] <= y2 <= b[3]\n",
    "        )\n",
    "        \n",
    "    def valid(self):\n",
    "        return not self.is_jackknifed() and not self.is_offscreen()\n",
    "        \n",
    "    def draw(self):\n",
    "        if not self.display: return\n",
    "        if self.patches: self.clear()\n",
    "        self._draw_car()\n",
    "        self._draw_trailer()\n",
    "        self.f.canvas.draw()\n",
    "            \n",
    "    def clear(self):\n",
    "        for p in self.patches:\n",
    "            p.remove()\n",
    "        self.patches = list()\n",
    "        \n",
    "    def _draw_car(self):\n",
    "        x, y, W, L, d, s, θ0, θ1, ϕ = self._get_atributes()\n",
    "        ax = self.ax\n",
    "        \n",
    "        x1, y1 = x + L / 2 * cos(θ0), y + L / 2 * sin(θ0)\n",
    "        bar = Line2D((x, x1), (y, y1), lw=5, color='C2', alpha=0.8)\n",
    "        ax.add_line(bar)\n",
    "\n",
    "        car = Rectangle(\n",
    "            (x1, y1 - W / 2), L, W, 0, color='C2', alpha=0.8, transform=\n",
    "            matplotlib.transforms.Affine2D().rotate_deg_around(x1, y1, θ0 * 180 / π) +\n",
    "            ax.transData\n",
    "        )\n",
    "        ax.add_patch(car)\n",
    "\n",
    "        x2, y2 = x1 + L / 2 ** 0.5 * cos(θ0 + π / 4), y1 + L / 2 ** 0.5 * sin(θ0 + π / 4)\n",
    "        left_wheel = Line2D(\n",
    "            (x2 - L / 4 * cos(θ0 + ϕ), x2 + L / 4 * cos(θ0 + ϕ)),\n",
    "            (y2 - L / 4 * sin(θ0 + ϕ), y2 + L / 4 * sin(θ0 + ϕ)),\n",
    "            lw=3, color='C5', alpha=1)\n",
    "        ax.add_line(left_wheel)\n",
    "\n",
    "        x3, y3 = x1 + L / 2 ** 0.5 * cos(π / 4 - θ0), y1 - L / 2 ** 0.5 * sin(π / 4 - θ0)\n",
    "        right_wheel = Line2D(\n",
    "            (x3 - L / 4 * cos(θ0 + ϕ), x3 + L / 4 * cos(θ0 + ϕ)),\n",
    "            (y3 - L / 4 * sin(θ0 + ϕ), y3 + L / 4 * sin(θ0 + ϕ)),\n",
    "            lw=3, color='C5', alpha=1)\n",
    "        ax.add_line(right_wheel)\n",
    "        \n",
    "        self.patches += [car, bar, left_wheel, right_wheel]\n",
    "        \n",
    "    def _draw_trailer(self):\n",
    "        x, y, W, L, d, s, θ0, θ1, ϕ = self._get_atributes()\n",
    "        ax = self.ax\n",
    "            \n",
    "        x, y = x - d * cos(θ1), y - d * sin(θ1) - W / 2\n",
    "        trailer = Rectangle(\n",
    "            (x, y), d, W, 0, color='C0', alpha=0.8, transform=\n",
    "            matplotlib.transforms.Affine2D().rotate_deg_around(x, y + W/2, θ1 * 180 / π) +\n",
    "            ax.transData\n",
    "        )\n",
    "        ax.add_patch(trailer)\n",
    "        \n",
    "        self.patches += [trailer]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
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       "                toolbar.appendChild(buttonGroup);\n",
       "            }\n",
       "            buttonGroup = document.createElement('div');\n",
       "            buttonGroup.classList = 'mpl-button-group';\n",
       "            continue;\n",
       "        }\n",
       "\n",
       "        var button = (fig.buttons[name] = document.createElement('button'));\n",
       "        button.classList = 'mpl-widget';\n",
       "        button.setAttribute('role', 'button');\n",
       "        button.setAttribute('aria-disabled', 'false');\n",
       "        button.addEventListener('click', on_click_closure(method_name));\n",
       "        button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n",
       "\n",
       "        var icon_img = document.createElement('img');\n",
       "        icon_img.src = '_images/' + image + '.png';\n",
       "        icon_img.srcset = '_images/' + image + '_large.png 2x';\n",
       "        icon_img.alt = tooltip;\n",
       "        button.appendChild(icon_img);\n",
       "\n",
       "        buttonGroup.appendChild(button);\n",
       "    }\n",
       "\n",
       "    if (buttonGroup.hasChildNodes()) {\n",
       "        toolbar.appendChild(buttonGroup);\n",
       "    }\n",
       "\n",
       "    var fmt_picker = document.createElement('select');\n",
       "    fmt_picker.classList = 'mpl-widget';\n",
       "    toolbar.appendChild(fmt_picker);\n",
       "    this.format_dropdown = fmt_picker;\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = document.createElement('option');\n",
       "        option.selected = fmt === mpl.default_extension;\n",
       "        option.innerHTML = fmt;\n",
       "        fmt_picker.appendChild(option);\n",
       "    }\n",
       "\n",
       "    var status_bar = document.createElement('span');\n",
       "    status_bar.classList = 'mpl-message';\n",
       "    toolbar.appendChild(status_bar);\n",
       "    this.message = status_bar;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.request_resize = function (x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', { width: x_pixels, height: y_pixels });\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.send_message = function (type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function () {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({ type: 'draw', figure_id: this.id }));\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_save = function (fig, _msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function (fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] !== fig.canvas.width || size[1] !== fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1], msg['forward']);\n",
       "        fig.send_message('refresh', {});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function (fig, msg) {\n",
       "    var x0 = msg['x0'] / fig.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n",
       "    var x1 = msg['x1'] / fig.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0,\n",
       "        0,\n",
       "        fig.canvas.width / fig.ratio,\n",
       "        fig.canvas.height / fig.ratio\n",
       "    );\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function (fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function (fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch (cursor) {\n",
       "        case 0:\n",
       "            cursor = 'pointer';\n",
       "            break;\n",
       "        case 1:\n",
       "            cursor = 'default';\n",
       "            break;\n",
       "        case 2:\n",
       "            cursor = 'crosshair';\n",
       "            break;\n",
       "        case 3:\n",
       "            cursor = 'move';\n",
       "            break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_message = function (fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function (fig, _msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function (fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_history_buttons = function (fig, msg) {\n",
       "    for (var key in msg) {\n",
       "        if (!(key in fig.buttons)) {\n",
       "            continue;\n",
       "        }\n",
       "        fig.buttons[key].disabled = !msg[key];\n",
       "        fig.buttons[key].setAttribute('aria-disabled', !msg[key]);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_navigate_mode = function (fig, msg) {\n",
       "    if (msg['mode'] === 'PAN') {\n",
       "        fig.buttons['Pan'].classList.add('active');\n",
       "        fig.buttons['Zoom'].classList.remove('active');\n",
       "    } else if (msg['mode'] === 'ZOOM') {\n",
       "        fig.buttons['Pan'].classList.remove('active');\n",
       "        fig.buttons['Zoom'].classList.add('active');\n",
       "    } else {\n",
       "        fig.buttons['Pan'].classList.remove('active');\n",
       "        fig.buttons['Zoom'].classList.remove('active');\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function () {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message('ack', {});\n",
       "};\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function (fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = 'image/png';\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src\n",
       "                );\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data\n",
       "            );\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        } else if (\n",
       "            typeof evt.data === 'string' &&\n",
       "            evt.data.slice(0, 21) === 'data:image/png;base64'\n",
       "        ) {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig['handle_' + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\n",
       "                \"No handler for the '\" + msg_type + \"' message type: \",\n",
       "                msg\n",
       "            );\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\n",
       "                    \"Exception inside the 'handler_\" + msg_type + \"' callback:\",\n",
       "                    e,\n",
       "                    e.stack,\n",
       "                    msg\n",
       "                );\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "};\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function (e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e) {\n",
       "        e = window.event;\n",
       "    }\n",
       "    if (e.target) {\n",
       "        targ = e.target;\n",
       "    } else if (e.srcElement) {\n",
       "        targ = e.srcElement;\n",
       "    }\n",
       "    if (targ.nodeType === 3) {\n",
       "        // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "    }\n",
       "\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    var boundingRect = targ.getBoundingClientRect();\n",
       "    var x = e.pageX - (boundingRect.left + document.body.scrollLeft);\n",
       "    var y = e.pageY - (boundingRect.top + document.body.scrollTop);\n",
       "\n",
       "    return { x: x, y: y };\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys(original) {\n",
       "    return Object.keys(original).reduce(function (obj, key) {\n",
       "        if (typeof original[key] !== 'object') {\n",
       "            obj[key] = original[key];\n",
       "        }\n",
       "        return obj;\n",
       "    }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function (event, name) {\n",
       "    var canvas_pos = mpl.findpos(event);\n",
       "\n",
       "    if (name === 'button_press') {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * this.ratio;\n",
       "    var y = canvas_pos.y * this.ratio;\n",
       "\n",
       "    this.send_message(name, {\n",
       "        x: x,\n",
       "        y: y,\n",
       "        button: event.button,\n",
       "        step: event.step,\n",
       "        guiEvent: simpleKeys(event),\n",
       "    });\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function (_event, _name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.key_event = function (event, name) {\n",
       "    // Prevent repeat events\n",
       "    if (name === 'key_press') {\n",
       "        if (event.which === this._key) {\n",
       "            return;\n",
       "        } else {\n",
       "            this._key = event.which;\n",
       "        }\n",
       "    }\n",
       "    if (name === 'key_release') {\n",
       "        this._key = null;\n",
       "    }\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which !== 17) {\n",
       "        value += 'ctrl+';\n",
       "    }\n",
       "    if (event.altKey && event.which !== 18) {\n",
       "        value += 'alt+';\n",
       "    }\n",
       "    if (event.shiftKey && event.which !== 16) {\n",
       "        value += 'shift+';\n",
       "    }\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, { key: value, guiEvent: simpleKeys(event) });\n",
       "    return false;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function (name) {\n",
       "    if (name === 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message('toolbar_button', { name: name });\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "\n",
       "///////////////// REMAINING CONTENT GENERATED BY embed_js.py /////////////////\n",
       "// prettier-ignore\n",
       "var _JSXTOOLS_RESIZE_OBSERVER=function(A){var t,i=new WeakMap,n=new WeakMap,a=new WeakMap,r=new WeakMap,o=new Set;function s(e){if(!(this instanceof s))throw new TypeError(\"Constructor requires 'new' operator\");i.set(this,e)}function h(){throw new TypeError(\"Function is not a constructor\")}function c(e,t,i,n){e=0 in arguments?Number(arguments[0]):0,t=1 in arguments?Number(arguments[1]):0,i=2 in arguments?Number(arguments[2]):0,n=3 in arguments?Number(arguments[3]):0,this.right=(this.x=this.left=e)+(this.width=i),this.bottom=(this.y=this.top=t)+(this.height=n),Object.freeze(this)}function d(){t=requestAnimationFrame(d);var s=new WeakMap,p=new Set;o.forEach((function(t){r.get(t).forEach((function(i){var r=t instanceof window.SVGElement,o=a.get(t),d=r?0:parseFloat(o.paddingTop),f=r?0:parseFloat(o.paddingRight),l=r?0:parseFloat(o.paddingBottom),u=r?0:parseFloat(o.paddingLeft),g=r?0:parseFloat(o.borderTopWidth),m=r?0:parseFloat(o.borderRightWidth),w=r?0:parseFloat(o.borderBottomWidth),b=u+f,F=d+l,v=(r?0:parseFloat(o.borderLeftWidth))+m,W=g+w,y=r?0:t.offsetHeight-W-t.clientHeight,E=r?0:t.offsetWidth-v-t.clientWidth,R=b+v,z=F+W,M=r?t.width:parseFloat(o.width)-R-E,O=r?t.height:parseFloat(o.height)-z-y;if(n.has(t)){var k=n.get(t);if(k[0]===M&&k[1]===O)return}n.set(t,[M,O]);var S=Object.create(h.prototype);S.target=t,S.contentRect=new c(u,d,M,O),s.has(i)||(s.set(i,[]),p.add(i)),s.get(i).push(S)}))})),p.forEach((function(e){i.get(e).call(e,s.get(e),e)}))}return s.prototype.observe=function(i){if(i instanceof window.Element){r.has(i)||(r.set(i,new Set),o.add(i),a.set(i,window.getComputedStyle(i)));var n=r.get(i);n.has(this)||n.add(this),cancelAnimationFrame(t),t=requestAnimationFrame(d)}},s.prototype.unobserve=function(i){if(i instanceof window.Element&&r.has(i)){var n=r.get(i);n.has(this)&&(n.delete(this),n.size||(r.delete(i),o.delete(i))),n.size||r.delete(i),o.size||cancelAnimationFrame(t)}},A.DOMRectReadOnly=c,A.ResizeObserver=s,A.ResizeObserverEntry=h,A}; // eslint-disable-line\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";/* global mpl */\n",
       "\n",
       "var comm_websocket_adapter = function (comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function () {\n",
       "        comm.close();\n",
       "    };\n",
       "    ws.send = function (m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function (msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data']);\n",
       "    });\n",
       "    return ws;\n",
       "};\n",
       "\n",
       "mpl.mpl_figure_comm = function (comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = document.getElementById(id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm);\n",
       "\n",
       "    function ondownload(figure, _format) {\n",
       "        window.open(figure.canvas.toDataURL());\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy, ondownload, element);\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element;\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error('Failed to find cell for figure', id, fig);\n",
       "        return;\n",
       "    }\n",
       "    fig.cell_info[0].output_area.element.on(\n",
       "        'cleared',\n",
       "        { fig: fig },\n",
       "        fig._remove_fig_handler\n",
       "    );\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function (fig, msg) {\n",
       "    var width = fig.canvas.width / fig.ratio;\n",
       "    fig.cell_info[0].output_area.element.off(\n",
       "        'cleared',\n",
       "        fig._remove_fig_handler\n",
       "    );\n",
       "    fig.resizeObserverInstance.unobserve(fig.canvas_div);\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable();\n",
       "    fig.parent_element.innerHTML =\n",
       "        '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "    fig.close_ws(fig, msg);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.close_ws = function (fig, msg) {\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function (_remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width / this.ratio;\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] =\n",
       "        '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function () {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message('ack', {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () {\n",
       "        fig.push_to_output();\n",
       "    }, 1000);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function () {\n",
       "    var fig = this;\n",
       "\n",
       "    var toolbar = document.createElement('div');\n",
       "    toolbar.classList = 'btn-toolbar';\n",
       "    this.root.appendChild(toolbar);\n",
       "\n",
       "    function on_click_closure(name) {\n",
       "        return function (_event) {\n",
       "            return fig.toolbar_button_onclick(name);\n",
       "        };\n",
       "    }\n",
       "\n",
       "    function on_mouseover_closure(tooltip) {\n",
       "        return function (event) {\n",
       "            if (!event.currentTarget.disabled) {\n",
       "                return fig.toolbar_button_onmouseover(tooltip);\n",
       "            }\n",
       "        };\n",
       "    }\n",
       "\n",
       "    fig.buttons = {};\n",
       "    var buttonGroup = document.createElement('div');\n",
       "    buttonGroup.classList = 'btn-group';\n",
       "    var button;\n",
       "    for (var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            /* Instead of a spacer, we start a new button group. */\n",
       "            if (buttonGroup.hasChildNodes()) {\n",
       "                toolbar.appendChild(buttonGroup);\n",
       "            }\n",
       "            buttonGroup = document.createElement('div');\n",
       "            buttonGroup.classList = 'btn-group';\n",
       "            continue;\n",
       "        }\n",
       "\n",
       "        button = fig.buttons[name] = document.createElement('button');\n",
       "        button.classList = 'btn btn-default';\n",
       "        button.href = '#';\n",
       "        button.title = name;\n",
       "        button.innerHTML = '<i class=\"fa ' + image + ' fa-lg\"></i>';\n",
       "        button.addEventListener('click', on_click_closure(method_name));\n",
       "        button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n",
       "        buttonGroup.appendChild(button);\n",
       "    }\n",
       "\n",
       "    if (buttonGroup.hasChildNodes()) {\n",
       "        toolbar.appendChild(buttonGroup);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = document.createElement('span');\n",
       "    status_bar.classList = 'mpl-message pull-right';\n",
       "    toolbar.appendChild(status_bar);\n",
       "    this.message = status_bar;\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = document.createElement('div');\n",
       "    buttongrp.classList = 'btn-group inline pull-right';\n",
       "    button = document.createElement('button');\n",
       "    button.classList = 'btn btn-mini btn-primary';\n",
       "    button.href = '#';\n",
       "    button.title = 'Stop Interaction';\n",
       "    button.innerHTML = '<i class=\"fa fa-power-off icon-remove icon-large\"></i>';\n",
       "    button.addEventListener('click', function (_evt) {\n",
       "        fig.handle_close(fig, {});\n",
       "    });\n",
       "    button.addEventListener(\n",
       "        'mouseover',\n",
       "        on_mouseover_closure('Stop Interaction')\n",
       "    );\n",
       "    buttongrp.appendChild(button);\n",
       "    var titlebar = this.root.querySelector('.ui-dialog-titlebar');\n",
       "    titlebar.insertBefore(buttongrp, titlebar.firstChild);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._remove_fig_handler = function (event) {\n",
       "    var fig = event.data.fig;\n",
       "    if (event.target !== this) {\n",
       "        // Ignore bubbled events from children.\n",
       "        return;\n",
       "    }\n",
       "    fig.close_ws(fig, {});\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function (el) {\n",
       "    el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function (el) {\n",
       "    // this is important to make the div 'focusable\n",
       "    el.setAttribute('tabindex', 0);\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    } else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function (event, _name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager) {\n",
       "        manager = IPython.keyboard_manager;\n",
       "    }\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which === 13) {\n",
       "        this.canvas_div.blur();\n",
       "        // select the cell after this one\n",
       "        var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
       "        IPython.notebook.select(index + 1);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_save = function (fig, _msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "};\n",
       "\n",
       "mpl.find_output_cell = function (html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i = 0; i < ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code') {\n",
       "            for (var j = 0; j < cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] === html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "};\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel !== null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target(\n",
       "        'matplotlib',\n",
       "        mpl.mpl_figure_comm\n",
       "    );\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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gAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAnLepeUAAEAASURBVAQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrAgF5JyiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBaQED+vT5lCdAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBSsCAXknKIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFpAQP69PmUJ0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIFKwIBeScohQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgWkBA/r0+ZQnQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgUrgbhX0ec6zZ88OJyftNn92dvb5t/j08fHZ1dXVF889IECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIEfV+Dm5ubw9u3b/A1+lQH9/Pz8cHp6mpf9aeC9e/cOFxcXP33scwIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBD4gQWO4/mLFy/yd9j+mHheTyABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIEPg2Agb0b+PsuxAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIDAdy5gQP/OD6QeAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECHwbga/yN9Cvr68PJyftNn92dnY4/s3zz/+9efPm8PLly88f+ZgAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIEfnCBm5ubr/IOv8qAfnl5eXj16lVa+Orq6nBxcXEr8zieP3z48NYznxAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIDAjy3w4MGDw9OnT/M32f6YeF5PIAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQ+DYCBvRv4+y7ECBAgAABAgQIECBA4D/s3VtwXVl6H/bvnIMDECQBEOC9793Tl5F6pls9I1kZTTT2yNY4siO7UrEcyWVbNS6XE7liV+y4oqq8uJSXVEmRU3lJVSplazySbw8ux1aUpKRR7EhqSSP3XHo0sjQ90+z7jSR4AwgCOLesfdhks0kChySAhbVxfrsHw4Nz9t7rW78PL+Qfa20CBAgQIECAAAECBAgQIECAAAEChQsI0AtvkPIIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAII+AAD2Ps1EIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAoHABAXrhDVIeAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECOQREKDncTYKAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBQuIEAvvEHKI0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIE8AgL0PM5GIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIHCBQTohTdIeQQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECCQR0CAnsfZKAQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBQuIAAvfAGKY8AAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIE8ggI0PM4G4UAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIEChcQoBfeIOURIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAQB4BAXoeZ6MQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAQOECAvTCG6Q8AgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIEMgjIEDP42wUAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIEChcQIBeeIOUR4AAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQJ5BAToeZyNQoAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQKFCwjQC2+Q8ggQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIEAgj4AAPY+zUQgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECgcAEBeuENUh4BAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQI5BEQoOdxNgoBAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIFC4gQC+8QcojQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgTwCAvQ8zkYhQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgcIFBOiFN0h5BAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIJBHQICex9koBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIFC4gAC98AYpjwABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgTyCAjQ8zgbhQABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQKFxCgF94g5REgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIBAHgEBeh5noxAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIBA4QIC9MIbpDwCBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQyCMgQM/jbBQCBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQKFxAgF54g5RHgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAnkEBOh5nI1CgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAoULCNALb5DyCBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQCCPgAA9j7NRCBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQKBwAQF64Q1SHgECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAjkERCg53E2CgECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgULiBAL7xByiNAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBPAIC9DzORiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBwgUE6IU3SHkECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgkEdAgJ7H2SgECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgULiAAL3wBimPAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBPIICNDzOBuFAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAoXEKAX3iDlESBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgEAeAQF6HmejECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgEDhAgL0whukPAIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBDIIyBAz+NsFAIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAoXECAXniDlEeAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECeQQE6HmcjUKAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAEChQsI0AtvkPIIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAII+AAD2Ps1EIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAoHABAXrhDVIeAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECOQREKDncTYKAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBQuIEAvvEHKI0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIE8AgL0PM5GIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIHCBQTohTdIeQQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECCQR0CAnsfZKAQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBQuIAAvfAGKY8AAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIE8ggI0PM4G4UAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIEChcQoBfeIOURIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAQB4BAXoeZ6MQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAQOECAvTCG6Q8AgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIEMgjIEDP42wUAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIEChcQIBeeIOUR4AAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQJ5BAToeZyNQoAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQKFCwjQC2+Q8ggQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIEAgj4AAPY+zUQgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECgcAEBeuENUh4BAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQI5BEQoOdxNgoBAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIFC4gQC+8QcojQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgTwCAvQ8zkYhQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgcIFBOiFN0h5BAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIJBHQICex9koBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIFC4gAC98AYpjwABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgTyCAjQ8zgbhQABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQKFxCgF94g5REgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIBAHgEBeh5noxAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIBA4QIC9MIbpDwCBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQyCMgQM/jbBQCBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQKFxAgF54g5RHgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAnkEBOh5nI1CgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAoULCNALb5DyCBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQCCPgAA9j7NRCBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQKBwAQF64Q1SHgECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAjkERCg53E2CgECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgULiBAL7xByiNAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBPAIC9DzORiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBwgUE6IU3SHkECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgkEdAgJ7H2SgECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgULiAAL3wBimPAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBPIICNDzOBuFAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAoXEKAX3iDlESBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgEAeAQF6HmejECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgEDhAgL0whukPAIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBDIIyBAz+NsFAIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAoXECAXniDlEeAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECeQQE6HmcjUKAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAEChQsI0AtvkPIIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAII+AAD2Ps1EIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAoHABAXrhDVIeAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECOQREKDncTYKAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBQuIEAvvEHKI0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIE8AgL0PM5GIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIHCBQTohTdIeQQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECCQR0CAnsfZKAQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBQuIAAvfAGKY8AAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIE8ggI0PM4G4UAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIEChcQoBfeIOURIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAQB4BAXoeZ6MQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAQOECAvTCG6Q8AgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIEMgjIEDP42wUAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIEChcQIBeeIOUR4AAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQJ5BAToeZyNQoAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQKFCwjQC2+Q8ggQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIEAgj4AAPY+zUQgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECgcAEBeuENUh4BAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQI5BEQoOdxNgoBAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIFC4gQC+8QcojQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgTwCAvQ8zkYhQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgcIFBOiFN0h5BAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIJBHQICex9koBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIFC4gAC98AYpjwABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgTyCAjQ8zgbhQABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQKFxCgF94g5REgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIBAHgEBeh5noxAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIBA4QIC9MIbpDwCBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQyCMgQM/jbBQCBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQKFxAgF54g5RHgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAnkEBOh5nI1CgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAoULCNALb5DyCBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQCCPgAA9j7NRCBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQKBwAQF64Q1SHgECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAjkERCg53E2CgECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgULiBAL7xByiNAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBPAIC9DzORiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBwgUE6IU3SHkECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgkEdAgJ7H2SgECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgULiAAL3wBimPAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBPIICNDzOBuFAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAoXEKAX3iDlESBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgEAeAQF6HmejECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgEDhAgL0whukPAIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBDIIyBAz+NsFAIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAoXECAXniDlEeAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECeQQE6HmcjUKAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAEChQsI0AtvkPIIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAII+AAD2Ps1EIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAoHABAXrhDVIeAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECOQREKDncTYKAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBQuIEAvvEHKI0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIE8AgL0PM5GIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIHCBQTohTdIeQQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECCQR0CAnsfZKAQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBQuIAAvfAGKY8AAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIE8ggI0PM4G4UAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIEChcQoBfeIOURIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAQB4BAXoeZ6MQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAQOECAvTCG6Q8AgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIEMgjIEDP42wUAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIEChcQIBeeIOUR4AAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQJ5BAToeZyNQoAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQKFCwjQC2+Q8ggQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIEAgj4AAPY+zUQgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECgcAEBeuENUh4BAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQI5BEQoOdxNgoBAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIFC4gQC+8QcojQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgTwCAvQ8zkYhQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgcIFBOiFN0h5BAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIJBHQICex9koBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIFC4gAC98AYpjwABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgTyCAjQ8zgbhQABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQKFxCgF94g5REgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIBAHgEBeh5noxAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIBA4QIC9MIbpDwCBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQyCMgQM/jbBQCBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQKFxAgF54g5RHgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAnkEBOh5nI1CgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAoULCNALb5DyCBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQCCPgAA9j7NRCBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQKBwAQF64Q1SHgECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAjkERCg53E2CgECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgULiBAL7xByiNAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBPAIC9DzORiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBwgUE6IU3SHkECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgkEdAgJ7H2SgECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgULiAAL3wBimPAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBPIICNDzOBuFAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAoXEKAX3iDlESBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgEAeAQF6HmejECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgEDhAgL0whukPAIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBDIIyBAz+NsFAIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAoXECAXniDlEeAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECeQQE6HmcjUKAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAEChQsI0AtvkPIIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAII+AAD2Ps1EIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAoHABAXrhDVIeAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECOQREKDncTYKAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBQuIEAvvEHKI0CAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIE8AgL0PM5GIUCAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAIHCBQTohTdIeQQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECCQR0CAnsfZKAQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBQuIAAvfAGKY8AAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIE8ggI0PM4G4UAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIEChcQoBfeIOURIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAQB4BAXoeZ6MQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAQOECAvTCG6Q8AgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIEMgjIEDP42wUAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIEChcQIBeeIOUR4AAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQJ5BAToeZyNQoAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQKFCwjQC2+Q8ggQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIEAgj4AAPY+zUQgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECgcAEBeuENUh4BAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQI5BEQoOdxNgoBAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIFC4gQC+8QcojQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgTwCAvQ8zkYhQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAgcIFBOiFN0h5BAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIJBHQICex9koBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIFC4gAC98AYpjwABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgTyCAjQ8zgbhQABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQKFxCgF94g5REgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIBAHgEBeh5noxAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIBA4QIC9MIbpDwCBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQyCMgQM/jbBQCBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQKFxAgF54g5RHgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAnkEBOh5nI1CgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAoULCNALb5DyCBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQCCPgAA9j7NRCBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQKBwAQF64Q1SHgECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAjkERCg53E2CgECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgULiBAL7xByiNAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBPAIC9DzORiFAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgACBwgUE6IU3SHkECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgkEdAgJ7H2SgECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgULiAAL3wBimPAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBPIICNDzOBuFAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAoXEKAX3iDlESBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgEAeAQF6HmejECBAgAABAgQIECBAgAABAgS2TeDA1PS23cuNCBAgQIAAAQIECBAgQOADAQH6BxZeESBAgAABAgQIECBAgAABAgSKF1jYPxf/+qf+l/h7P/yTcXBqf/H1KpAAAQIECBAgQIAAAQJ1EhCg16lbaiVAgAABAgQIECBAgAABAgTGXuBvffYn4tD0TPz49/4n8S//y38Qf/ZjPzj2JgAIECBAgAABAgQIECCwXQIC9O2SdB8CBAgQIECAAAECBAgQIECAwA4LPHv/k/Gjz/zx66McPjAXP/OjfzP+97/89+OJYw9df98LAgQIECBAgAABAgQIELg3AQH6vbm5igABAgQIECBAgAABAgQIECCQVaDVaMZ/96c/f9sxn3vwo/FLn/8f47/9U3/Vtu63FfImAQIECBAgQIAAAQIE7kxAgH5nTs4iQIAAAQIECBAgQIAAAQIECOyqwF/4xA/HU8cf2bCGVrMZP/F9PxLPPvDUhuf4gAABAgQIECBAgAABAgQ2FxCgb+7jUwIECBAgQIAAAQIECBAgQIDArgss7J+Ln/rMXxxZx298+yvx/MtfG3meEwgQIECAAAECBAgQIEDg9gIC9Nu7eJcAAQIECBAgQIAAAQIECBAgUIzA3/6hvxQH9+3ftJ617nr8/Je+uOk5PiRAgAABAgQIECBAgACBzQUE6Jv7+JQAAQIECBAgQIAAAQIECBAgsKsC1Zbs/+nHPzOyhi/8zr+Jty6cHnledUJ7Yioef+i5+NRzfy4O7j90R9c4iQABAgQIECBAgAABAuMgMDEOkzRHAgQIECBAgAABAgQIECBAgEAdBVqNZvz05z4/svQ3z78XX/zdf7Ppea3mRDx48ql47MFnh1/T+w5Gq9mKRvrvt7/2rze91ocECBAgQIAAAQIECBAYFwEB+rh02jwJECBAgAABAgQIECBAgACB2gn8hU/+cDx5/OGRdf/cr/3jWOt2bjmvkQL4+48/Ho898Ew8/vBzcWB6Lqr3umm795WVi7EvhehPPPKJ+J2v/3IMBv1brvcGAQIECBAgQIAAAQIExk1AgD5uHTdfAgQIECBAgAABAgQIECBAoBYChw/MxU/94F8cWev/99IL8fzLX7vhvEYcP/JwfCStNK/C8ZkDC9FMK827KWBfWV2Kfr93/dy19SvDz6uQ/c13X7r+vhcECBAgQIAAAQIECBAYVwEB+rh23rwJECBAgAABAgQIECBAgACBogX+9mf/Uhzct3/TGlc76/HzX/ri8Jwj8/fHow8+E08+/Mk4NHs0bc8+Eb0Ulq+urUSvd+vq9Oqi6v0qXK9WqAvQN6X2IQECBAgQIECAAAECYyIgQB+TRpsmAQIECBAgQIAAAQIECBAgUB+B73ngqfizH//MyIL/+Ve/FCfufzZ+8NOfiMOH7ouJVjv6aSv2tbUr0e0tjby+OqFamV5t7/58eg76RkH7Hd3ISQQIECBAgAABAgQIENgDAgL0PdBEUyBAgAABAgQIECBAgAABAgT2jkArPaP8p//0Xxs5ofNrqxEnPhH/8QNTaVv2fqyn7divrC6PvO7mE9bWV4bPRn/wxFPx6lvfvPlj3xMgQIAAAQIECBAgQGCsBJpjNVuTJUCAAAECBAgQIECAAAECBAgULvBjn/xcPHHsoZFVfmWpE51eL5aWz8XllQvR6a6NvOZ2J1TPRG80m/HYQ8/e7mPvESBAgAABAgQIECBAYKwEBOhj1W6TJUCAAAECBAgQIECAAAECBEoWOHzgUPxXP/hjI0s8tXQ5vrV4OtY7aRX6Nhyd9Cz16jno7YmpbbibWxAgQIAAAQIECBAgQKC+AgL0+vZO5QQIECBAgAABAgQIECBAgMAeE/hv/uRfjoP79m86q27arv23Tp/d9Jy7/XA9beM+ve9gPHz/03d7qfMJECBAgAABAgQIECCwpwQE6HuqnSZDgAABAgQIECBAgAABAgQI1E2g2WzFgyc/Gp//3E/Fjzz96ZHlv7B4Ppa63ZHn3c0J/UE/GumCj9jG/W7YnEuAAAECBAgQIECAwB4UmNiDczIlAgQIECBAgAABAgQIECBAgEDhAo04efTReOzBZ+KJhz8RMwfm48+dmB9Z88X1Tnz9/MWR593LCZ3uejxy39Oxb+pArK5dvpdbuIYAAQIECBAgQIAAAQK1FxCg176FJkCAAAECBAgQIECAAAECBAjUReDowoNXQ/NHPhlzB49EK60+7/V78fi+Zsy3WyOn8Rtp6/beYDDyvHs5YW39ShzcPxePPvCx+MOXv3wvt3ANAQIECBAgQIAAAQIEai8gQK99C02AAAECBAgQIECAAAECBAgQKFlgfvb49dB8Ye5kTLTa0U+h+Vp67ni314n9rVZ83/0PjZzCqaXleP3yysjz7vWEQdrGvYrmP/LQcwL0e0V0HQECBAgQIECAAAECtRcQoNe+hSZAgAABAgQIECBAgAABAgQIlCYwc2AhreT+eDyZVpofPfxQtFuTUQXUVWh+ZXXpQ+X+wLHDMdlqfui9m7/p9PvxW6cXb35727/vdFbjgRNPxoHpubh8ZWe2it/2ot2QAAECBAgQIECAAAEC2yggQN9GTLciQIAAAQIECBAgQIAAAQIExldg/76ZeCSF5k88/FycPPaRmJyYGq7orrZGX11dvi3MfdP74qnZmdt+duObX1k8H0vd7o1v7cjrtfXVmDk4H4+mZ7N/86Xf3JEx3JQAAQIECBAgQIAAAQIlCwjQS+6O2ggQIECAAAECBAgQIECAAIHiBZrpOeaf+/RPxsP3Px1T7X3D0Hw9reReunwh1b7x88qrNeefOX5k5PwurK/H185X98pxDNJK+UH6JYBPCNBzcBuDAAECBAgQIECAAIHiBAToxbVEQQQIECBAgAABAgQIECBAgECdBKrt2h9LK7abjVYsr1wYBtB3Uv/H5+fi8NTUyFN/872z0d84hx95/d2esJ5WzJ84+kjMHjwSl5bP3u3lzidAgAABAgQIECBAgECtBTZ/wFatp6Z4AgQIECBAgAABAgQIECBAgMDOC1xcOhNnz78ZjWbjjsPz/a1W/LHDCyOLe3lpOV5fuTLyvO08oVo9325NDX8pYDvv614ECBAgQIAAAQIECBCog4AAvQ5dUiMBAgQIECBAgAABAgQIECBQtMBLr341Go07/2eWTx87HJOtzc/v9Pvx/OnFXZn3IPrx5COf3JWxDUqAAAECBAgQIECAAIHdFNj8b2q7WZmxCRAgQIAAAQIECBAgQIAAAQI1ETj1xovR6azFZHoG+qjj5PS+eHJ2ZtRp8ZXF87HU7Y48bydOWFu7Ekfm74/Dh+7bidu7JwECBAgQIECAAAECBIoVEKAX2xqFESBAgAABAgQIECBAgAABAnURuLS8GO+ceSUmJ6dHlnxmdS1eSOF4b7Dxg80vrK/H185fGHmvnTqh012LiYlJ27jvFLD7EiBAgAABAgQIECBQrIAAvdjWKIwAAQIECBAgQIAAAQIECBCok8B3XkvbuKeCG8P/37jybgrOv3z2XPyzV96I1y+v3PbE33jvbPQ3ztdve812v9nv9+KJ4Tbu1awcBAgQIECAAAECBAgQGA8BAfp49NksCRAgQIAAAQIECBAgQIAAgR0WeOXNb8R6Wrk9OTl6G/eqlIudTvzym+/E//3Wu7HU+WCr9u8sLccbK1d2uNrRt19bvxLzs8fi+OGHRp/sDAIECBAgQIAAAQIECOwRAQH6HmmkaRAgQIAAAQIECBAgQIAAAQK7K3D5yqV4451vRfsOnoN+Y6Wnli/HP33l9eEzz1d7vXj+9OKNH+/a6253PVqttm3cd60DBiZAgAABAgQIECBAYDcEBOi7oW5MAgQIECBAgAABAgQIECBAYE8KvPz6169u4964u39yqbZ1/920rfsXT70Wy90PVqPvNlKv1x1u495o2MZ9t3thfAIECBAgQIAAAQIE8gjc3d/m8tRkFAIECBAgQIAAAQIECBAgQIBALQVeffObUW19PjU5fU/1d3b7wec3VV3NZfbgQtx37PGbPvEtAQIECBAgQIAAAQIE9qaAAH1v9tWsCBAgQIAAAQIECBAgQIAAgV0QWF2/HK++9c1oT0zuwujbP2Sv14lmc8I27ttP644ECBAgQIAAAQIECBQqIEAvtDHKIkCAAAECBAgQIECAAAECBOop8PLrL8Ygld68y23cS51tt9uJxx9+LgXprVJLVBcBAgQIECBAgAABAgS2TUCAvm2UbkSAAAECBAgQIECAAAECBAgQiHjt7f8QV1aX0jbu+/cEx3raxv3A9Fw8eOKpPTEfkyBAgAABAgQIECBAgMBmAgL0zXR8RoAAAQIECBAgQIAAAQIECBC4S4FOdy1OvfGNmNgr27j3u8PV54899OxdSjidAAECBAgQIECAAAEC9RMQoNevZyomQIAAAQIECBAgQIAAAQIEChc49caL0R/0b7vteRWsT+87WPgMPlxet7seH3nw2fRs96kPf+A7AgQIECBAgAABAgQI7DEBAfoea6jpECBAgAABAgQIECBAgAABArsv8MY734qVKxevb+M+0WoPt0GfnzsRczNHY3/aEr3ZqM8zxdfSNu7T+2biofu+a/dxVUCAAAECBAgQIECAAIEdFBCg7yCuWxMgQIAAAQIECBAgQIAAAQLjKdBL255XIfq+fQdifu54zM0eS68PfmhF+tTUdG2euetLAAA8NUlEQVRw+v1eNNJ/H3noe2pTs0IJECBAgAABAgQIECBwLwIT93KRawgQIECAAAECBAgQIECAAAECBG4VOLj/UDz64DPx2APPxPEjj0Q7rTzvDwYxSF83H1OT03Fldfnmt4v9vnq2+yP3Pz1cVb+2vlJsnQojQIAAAQIECBAgQIDAVgQE6FvRcy0BAgQIECBAgAABAgQIECAw9gL7pg7Eow98PB5LwfmxhYeue3S6q9FLK7ebzdZtA/RWa3L4WbW6uw5HtY37wf1zwxD9W6/8+zqUrEYCBAgQIECAAAECBAjctYAA/a7JXECAAAECBAgQIECAAAECBAiMu8Bkezoevv+7h6H5yaOPDbc3v8UkLTpfW1tJzzufveWja29MTe5Pq9CXrn1b9J+DQT/V14jHH34uBOhFt0pxBAgQIECAAAECBAhsQUCAvgU8lxIgQIAAAQIECBAgQIAAAQLjIzCRtmN/8ORHU2j+bNx//IlopZXlo47VtNX59PRMNBqN265Cr1OAXs11vbMaD554Kvbvm42V1Uujpu9zAgQIECBAgAABAgQI1E5AgF67limYAAECBAgQIECAAAECBAgQyCVQbb9eheXV9uwPpfB8Im27fjdHt7sevV43XdeO3uDWrdpbrYloVZ/1Ondz2107d72TtnE/MJ+e8/7x+INvP79rdRiYAAECBAgQIECAAAECOyUgQN8pWfclQIAAAQIECBAgQIAAAQIEairQiJNHHx2G5g/f/3RMpe3at3KspVXoE9NzG95ianI6Vq7kDdA/d/J4vLy0HC8vX96wrtt9MBgMhivpq23cBei3E/IeAQIECBAgQIAAAQJ1FxCg172D6idAgAABAgQIECBAgAABAgS2ReDo/ANpZfUz8egDH09blM9syz2rm1QBevUc9M22cV+5km879I/OzsQTsweHX69fXonffO9sXOjceYC/vr4a9x39SMwePByXlhe3zcmNCBAgQIAAAQIECBAgUIKAAL2ELqiBAAECBAgQIECAAAECBAgQ2BWB+dnjw5XmVXA+s39+R2rodjtRfbUnJm+7jXu1TfxE+qza7n2nj6lmMz519PD1YR46sD9+/NEH4+vnLsQLi+ejm1aYjzqq56DPVNu4p180ePGP/t2o031OgAABAgQIECBAgACBWgkI0GvVLsUSIECAAAECBAgQIECAAAECWxWonuH92APPxEceejYOzRzb6u3u6Pq19cvDAH2jk6tt3HME6H/syELsn2h9qIxWoxGfPDwfT6ZV6b91ejFOjdzWPW3jHv144pFPCtA/JOkbAgQIECBAgAABAgT2goAAfS900RwIECBAgAABAgQIECBAgACBTQWmpw4Ot2d/LK00r7Zqz32srV+JA/sPRTOF1f3brPKuAvTLKxd3tKwjU5PxsUOzG44x027Hj9x/Iv7du2fiDy5uvqV8NZ9jCw/GwtyJOHfx3Q3v6QMCBAgQIECAAAECBAjUTUCAXreOqZcAAQIECBAgQIAAAQIECIyhwMTB+Tj4yNPRWToXnUvpa2kxBmlb9Ds97jv+eHz/M3/mTk/f9vN6vW500hbtkxNTEYPeTfcfDLd4bzSaMRj0b/ps+779zPGjwwB/szsud7rx0qWlzU4ZftbprMW+yQPD7e8F6CO5nECAAAECBAgQIECAQI0EBOg1apZSCRAgQIAAAQIECBAgQIDAuAo88Gf+Rsw99X0x6HdT/lx99aKbVmyvnz8da+ffGwbqnUuLVwP2KmS/uBj99Kzua8frb/9h9NK1rebu/VPI2trlqwH6+0V1u2tRreSuvnYyOK+G++jsTJyc3neNY8M/nz+TDG+zQv52F/RT2F9t4/7CN3/1dh97jwABAgQIECBAgAABArUU2L2/NdaSS9EECBAgQIAAAQIECBAgQIDAbghMLZyIflrB3buyFI3WxPCrPXM4Jg8dj5nHnkkB9CCuruDuDcP1KmTvrS7H+oUzKWB/N61aX4yz/dU4uf/Y+wF8N6K/c6u9b2dUBeXT+zpRrd6+fOViGv7mlei3u2rr7001m/EDRw+PvNGbl6/Ed5aWR5537YRO+gWF+bSF+9G0lfuZc29ce9ufBAgQIECAAAECBAgQqLWAAL3W7VM8AQIECBAgQIAAAQIECBDY+wJVYN6emU/BdyetQE8BeRU8pxD6tkezNQzXm+nPiQNz0Z49HAce/u60bfogrqQd36cuV6H14Or/0grq4Wr2tBX88M/3V7f331/hHtsUcF9aPhun3vhGnHrzG/GZ7/2xeOSBj2ULzyuj7z+yENMTrdtyXXuzl3x+4/SZa99u8mcjpib3Rbt9dTX7alpV3019cRAgQIAAAQIECBAgQGCvCAjQ90onzYMAAQIECBAgQIAAAQIECOxRger554209Xq1An3k8X7Afru13adTbv5E/2C0Go0Y/pdWZjea6ZnkKRCuAvb05tUjvay+r7ZVv7pd/PsB+/vB+vVt5KuAvTr3Nsfl1UvxShWap6/FC29fP+M7r38tHk0BeiPVUK2a3+njyNRkfOzQ7MhhvnH+Ypxf3zgIn0yB+eTk9JBoPW09/8qbvx/fee1r8epb34wqRHcQIECAAAECBAgQIEBgrwgI0PdKJ82DAAECBAgQIECAAAECBAjsUYHJ2YW0qrwVg/W07foWjn4KyM80unFiMJFy7xReb5Rf3xKwp5D9xmN4XXX9IC1ST89jf38F+2pnJd4488pwpfnbb/6H6Cyfu2Wb+Cp4Xutcicn2dHr2+cqNd92R13/8+NFhWL/ZzZc73fj3Z1OtNx3tiamYmkqheaM53Hb+zXdfim+/9tXhLwZUW9A7CBAgQIAAAQIECBAgsBcFBOh7savmRIAAAQIECBAgQIAAAQIE9pBA9azzahv3ajX4Vo/TzU6c6I3455Bq9flmAXu1fj2F7On/YtCejMX9U3FmshEXJhYiHnso5r730zHzfrDeXb4wfAb7+oXTsXb2rVj86q/Fa2//YTz58Cd2PED/rtmZODF9dav1zdyeP3M2Ou+vhp+YmExbtE9Hs9FKW7Ovx3tnX42XXv3qcCV9tRW9gwABAgQIECBAgAABAntdYMTfGPf69M2PAAECBAgQIECAAAECBAgQKF2gnVagD/r9bSnzfKMXaUP2aF/fr/3ub5s2do/FdJf30mr2c+lr+Kj0K9fuk8L1tFq+Cvyrr8mFEzF19P7hKu5+em77ytsvx8tp6/MnUoDeTCu7+2mb+J04ptL29J86enjkrd+8vBKvrKzH/unZaKV6e+l55ucuvhsvvfLCMDQ/d/GdkfdwAgECBAgQIECAAAECBPaSgAB9L3XTXAgQIECAAAECBAgQIECAwB4UaM8eGa723o6pDapt3JvduK/fvqvbVbu2V+H7e2kF+9kUmveuPS/9lruktevDZ6V/eLV8Mz1DvDnRju6VS/Ha4tvpueHLw2eK79Tzw7//yEJMT7Ruqe7GN/pp1flXljvDFedLl8+lleZfGYbmpxdfT6dttL/9jXfwmgABAgQIECBAgAABAntPQIC+93pqRgQIECBAgAABAgQIECBAYE8JTM4d3db5VCvH70tr0O/kuJBC89MpcK+end5p3HuoXK1Gr56X3l06n1bT91JQ/fvx9OOfSkH65Tsp467OOTo1GR87NDvymq+fvxD/9sUvDUPzd868nB7pfu/zGzmYEwgQIECAAAECBAgQIFATAQF6TRqlTAIECBAgQIAAAQIECBAgMK4Ck/PHt+X559f8LqZQfC2tsJ7aYBv3pUY/TjfSFu0pOF/fQmh+bbzqz2pb986ls8PwvPr+1Bsvxnc//h9Fs9mK/nAP+Ord7Tk+c/zo1We0b3K7xcuX4u984e/F5bWVTc7yEQECBAgQIECAAAECBMZPQIA+fj03YwIECBAgQIAAAQIECBAgUB+B9Jzw9kx6Bnpavb1tR9p+vVpV/uAN27ivRH8YmJ9OW7Rf2abQ/MZ6qxXoa+ffu/7WG+/8Uayk7dynJg/EldWl6+9v9cV3zc3Eiel9I2/zc7/6C8LzkUpOIECAAAECBAgQIEBgHAWa4zhpcyZAgAABAgQIECBAgAABAgTqIdA+eCga6dnhg/42Buhp6lVQvppWob/eXI8XJlbi99LXa631HQnPr0o3Yv3C6evo3V4nvvP612MiBevbczRiZmp//MDR9Lz4EceXX/n9+NIf/e6Is3xMgAABAgQIECBAgACB8RQQoI9n382aAAECBAgQIECAAAECBAjUQqA9ezhtfz6xvSvQ08yX0orz3524HKdSaL6ctmzfYDf37TNKzxfvXFr80P1OvfGN6A/60dpCiN5uT8XBA4diJn1938Jc7Gtt/k89nbSS/2d/9QsfqsM3BAgQIECAAAECBAgQIPCBwOZ/q/rgPK8IECBAgAABAgQIECBAgAABAtkFqu3bG80qQO9t79hpG/cdD81vqLjRbEZn6dwN70S89d63Y/ny+bSN+/4PvT/qm/bEZBzYX4XmCyl8b8c7p0/Fq9/+t/HUzOit2//J7/1KvHbu7VFD+JwAAQIECBAgQIAAAQJjK7Bd+4SNLaCJEyBAgAABAgQIECBAgAABAjsnUK1Aj7RaPNJ263U9Gs3W8BcAOpc+HKD3+7349mtfjU8+/cMjpzaRgvIqaG+2WtHtduLs+bfi269+JU69+Y24cPG9+IWf/B+imZ4Xv9nxbloB/w+f/1ebneIzAgQIECBAgAABAgQIjL2AAH3sfwQAECBAgAABAgQIECBAgACBcgWGAfqgWi5e32O4BX16hnvn0tlbJlFt4/493/VD6Vno7aiei37j0Uor76fSc82rLd57aev1i8tn46UqNH/jxThz7o3rp/75Zz8bH7vv8evfb/Tif/71X4wrnbWNPvY+AQIECBAgQIAAAQIECCQBAbofAwIECBAgQIAAAQIECBAgQKBYgcm5I1m3Wt8JiGvPcO8snb/l9u+ceSUuLp2JQzPHonvlYjTTavWpyemYSNu0VyvUl1cupJXmXx2uNK+2ar95Jf7c9MH4W3/iJ265781vfPmV349f/6Mv3/y27wkQIECAAAECBAgQIEDgJgEB+k0gviVAgAABAgQIECBAgAABAgTKEZicPxGDtHq7zkcVoHcunk3buH94hfnVOQ2Gq8o/9T0/mp5pPp82qh/EypWl+IPv/M5wpXn1nPQqSN/o+Juf+S/i0P6ZjT4evt9Jq9d/9le/sOk5PiRAgAABAgQIECBAgACBqwICdD8JBAgQIECAAAECBAgQIECAQJkCjUZMpmegD3obB8hlFv7hqhppK/a1C6c//OYN37306gvx6AMfi8UL78TLr78Yb7zzh7ds537D6ddffvfJx+I/e+6Hrn+/0Ytf+vKvxGvn3t7oY+8TIECAAAECBAgQIECAwA0CAvQbMLwkQIAAAQIECBAgQIAAAQIEyhGY2D8XjYmpFKDXewV6pF8EWD//3oawFy6djn/xf/3shp/f7oNGNOKnP/f5aDaat/v4+nvvppXv//C3/9X1770gQIAAAQIECBAgQIAAgc0FNv9b1ubX+pQAAQIECBAgQIAAAQIECBAgsGMC7ZmFaLRa9Q/QB4PoXFrcVqc//+xn4+n7Hh95z3/w678Yq521kec5gQABAgQIECBAgAABAgSuCgjQ/SQQIECAAAECBAgQIECAAAECRQq00/bt1fPD6/4M9Gg2o7N0btuM56YPxn/92R8feb/fOfVi/L/f+r2R5zmBAAECBAgQIECAAAECBD4QEKB/YOEVAQIECBAgQIAAAQIECBAgUJBAe3bhajVpBXdtj2Yrot/b1hXoB6f2x6tn39qUpJO2vf+5X/vCpuf4kAABAgQIECBAgAABAgRuFRCg32riHQIECBAgQIAAAQIECBAgQKAAgfbM4Yg6h+fJcLiCvre9AfpbF07HX/+ln4m//8v/ayxevnjbTv3il//PeP3cu7f9zJsECBAgQIAAAQIECBAgsLGAAH1jG58QIECAAAECBAgQIECAAAECuygwOZe2cG80drGCrQ/dTCvQB2k1+HZu4X6tql/55m/Gf/6//d345y/8P9Hr96+9He9ePBv/6Lf/j+vfe0GAAAECBAgQIECAAAECdy4gQL9zK2cSIECAAAECBAgQIECAAAECGQUm509GP21/XuejWoHevbIc/c7ajkxjeW0l/qdf+8fxV37hv48X3/zWcIyf/9IXY3WHxtuRSbgpAQIECBAgQIAAAQIEChKYKKgWpRAgQIAAAQIECBAgQIAAAQIErgtMzh0Zrt6+/kYNX1QB+nracn2nj5dOvxZ//Rd/Jj712DPx26de3Onh3J8AAQIECBAgQIAAAQJ7VsAK9D3bWhMjQIAAAQIECBAgQIAAAQL1FWhNz0Rzcl8M+t36TqKqvNGK9fPvZJnDIAbC8yzSBiFAgAABAgQIECBAYC8LCND3cnfNjQABAgQIECBAgAABAgQI1FSgPbOQsueJ2q9AT78BEJ1L52raBWUTIECAAAECBAgQIEBg/AQE6OPXczMmQIAAAQIECBAgQIAAAQLFC7RnD78foNf7GejRaERnSYBe/A+cAgkQIECAAAECBAgQIPC+gADdjwIBAgQIECBAgAABAgQIECBQnEB7duFqTWkFd22PRvpnl8EgrUBfrO0UFE6AAAECBAgQIECAAIFxExCgj1vHzZcAAQIECBAgQIAAAQIECNRAYHLm8DB8rkGpG5Z4bQv69SUB+oZIPiBAgAABAgQIECBAgEBhAgL0whqiHAIECBAgQIAAAQIECBAgQCBiuIV7tYK7xscwQO93PQO9xj1UOgECBAgQIECAAAEC4ydQ77+Jjl+/zJgAAQIECBAgQIAAAQIECIyFwNTCyRj06/3882ZrInprV6K/tjIWPTNJAgQIECBAgAABAgQI7AUBAfpe6KI5ECBAgAABAgQIECBAgACBPSbQPnQ0BejdWs+q0ZyI9Qunaz0HxRMgQIAAAQIECBAgQGDcBATo49Zx8yVAgAABAgQIECBAgAABAoULNKf2R2tqOvq9ugforVg/927h2sojQIAAAQIECBAgQIAAgRsFBOg3anhNgAABAgQIECBAgAABAgQI7LpAe3YhqtXbg5oH6INBPz3/fHHXPRVAgAABAgQIECBAgAABAncuIEC/cytnEiBAgAABAgQIECBAgAABAhkEJmcORyM9P7zuAXo0GrG+JEDP8CNjCAIECBAgQIAAAQIECGybgAB92yjdiAABAgQIECBAgAABAgQIENgOgfbs4ajC5/QQ9O243e7co3H1n1w6l87tzvhGJUCAAAECBAgQIECAAIF7EhCg3xObiwgQIECAAAECBAgQIECAAIGdEmjPLKTwfLBTt89y30arNVxBbwv3LNwGIUCAAAECBAgQIECAwLYJCNC3jdKNCBAgQIAAAQIECBAgQIAAge0QqJ6Bnh6Cvh232rV7XNuCvrNkBfquNcHABAgQIECAAAECBAgQuAeBev9t9B4m7BICBAgQIECAAAECBAgQIECgbIHJ+ZNpBXqv7CJHVNdoTkR/fTV6V5ZGnOljAgQIECBAgAABAgQIEChJQIBeUjfUQoAAAQIECBAgQIAAAQIECMTkoWPD7c/rTFGtQF+/eLbOU1A7AQIECBAgQIAAAQIExlJAgD6WbTdpAgQIECBAgAABAgQIECBQpkCzPRUT0wfrH6A3W7F+/p0ykVVFgAABAgQIECBAgAABAhsKCNA3pPEBAQIECBAgQIAAAQIECBAgkFugPbMQ1ertfr/eW7jHYJBWoC/m5jMeAQIECBAgQIAAAQIECGxRQIC+RUCXEyBAgAABAgQIECBAgAABAtsn0J49kgL0Vu1XoEejEZ0lAfr2/WS4EwECBAgQIECAAAECBPIICNDzOBuFAAECBAgQIECAAAECBAgQuAOB9uxCRNr+POq8Aj2F59XRuXTuDmbsFAIECBAgQIAAAQIECBAoSUCAXlI31EKAAAECBAgQIECAAAECBMZcoNrCPe3fXmuFRnNiuIK+c8kK9Fo3UvEECBAgQIAAAQIECIylgAB9LNtu0gQIECBAgAABAgQIECBAoEyB9uzhqLY/r/NRPcN90OumLdytQK9zH9VOgAABAgQIECBAgMB4CgjQx7PvZk2AAAECBAgQIECAAAECBIoUmJw/HjEYFFnbnRY1DNC769FduXinlziPAAECBAgQIECAAAECBAoREKAX0ghlECBAgAABAgQIECBAgAABAhFTh47FoN+tNUWj1Yr1avv2mv8iQK2boHgCBAgQIECAAAECBAjco4AA/R7hXEaAAAECBAgQIECAAAECBAhsr0Cj1Y6JA3PD7c+3985571Y9A33t3Dt5BzUaAQIECBAgQIAAAQIECGyLgAB9WxjdhAABAgQIECBAgAABAgQIENiqQHtmPq49P3yr99rV69MO9J1qBbqDAAECBAgQIECAAAECBGonIECvXcsUTIAAAQIECBAgQIAAAQIE9qZAe/ZIVKu3B716b+EejYEAfW/+iJoVAQIECBAgQIAAAQJjICBAH4MmmyIBAgQIECBAgAABAgQIEKiDQHt2Ia1Ab6VnoPfqUO4GNTbS+00B+gY63iZAgAABAgQIECBAgEDpAgL00jukPgIECBAgQIAAAQIECBAgMCYC7ZnDKTzv13q2V38BoBudpXO1nofiCRAgQIAAAQIECBAgMK4CAvRx7bx5EyBAgAABAgQIECBAgACBwgSqFejRqFZw1/e49gx3z0Cvbw9VToAAAQIECBAgQIDAeAsI0Me7/2ZPgAABAgQIECBAgAABAgSKEZg8dCzVMiimnnspZPgM924nOssX7uVy1xAgQIAAAQIECBAgQIDALgsI0He5AYYnQIAAAQIECBAgQIAAAQIErgpMzR+PQa/Ozz9PC+hbE1e3bx/Ueyt6P5MECBAgQIAAAQIECBAYVwEB+rh23rwJECBAgAABAgQIECBAgEBBAo1mKyYOzqcAvVtQVXdfShWgr59/7+4vdAUBAgQIECBAgAABAgQIFCEgQC+iDYogQIAAAQIECBAgQIAAAQLjLTAxMx/NFD7XPUCvurh+8cx4N9PsCRAgQIAAAQIECBAgUGMBAXqNm6d0AgQIECBAgAABAgQIECCwVwTaM4eH258P+vVegR6DQXQund0rbTEPAgQIECBAgAABAgQIjJ2AAH3sWm7CBAgQIECAAAECBAgQIECgPIH27MLVAL3uW7g3mylAP1cesIoIECBAgAABAgQIECBA4I4EBOh3xOQkAgQIECBAgAABAgQIECBAYCcFqhXog0F/J4fY8XtXzz+vtqDvLC3u+FgGIECAAAECBAgQIECAAIGdERCg74yruxIgQIAAAQIECBAgQIAAAQJ3ITCZVqBHNO7iivJObTSrAL0X61agl9ccFREgQIAAAQIECBAgQOAOBQTodwjlNAIECBAgQIAAAQIECBAgQGDnBCYPHdu5m2e6c6PViuoZ7t3l85lGNAwBAgQIECBAgAABAgQIbLeAAH27Rd2PAAECBAgQIECAAAECBAgQuGuByUPHh9uf3/WFBV1QbeHeWTpf+3kURKoUAgQIECBAgAABAgQIZBcQoGcnNyABAgQIECBAgAABAgQIECDwIYFGM9qz6RnoafV2nY8qQF+/cLrOU1A7AQIECBAgQIAAAQIExl5AgD72PwIACBAgQIAAAQIECBAgQIDA7gpMHJiLxkR7D6zcbgjQd/dHyegECBAgQIAAAQIECBDYsoAAfcuEbkCAAAECBAgQIECAAAECBAhsRaBafV6t3h70elu5ze5fOxjE+qWzu1+HCggQIECAAAECBAgQIEDgngUE6PdM50ICBAgQIECAAAECBAgQIEBgOwQmZxei0WzVfgV6o9mMzqVz20HiHgQIECBAgAABAgQIECCwSwIC9F2CNywBAgQIECBAgAABAgQIECBwVaA9c/h9ikFtSYa/ANDvRWdpsbZzUDgBAgQIECBAgAABAgQIRAjQ/RQQIECAAAECBAgQIECAAAECuypQbeEeUd/wvMK7ugV91wr0Xf1JMjgBAgQIECBAgAABAgS2LiBA37qhOxAgQIAAAQIECBAgQIAAAQJbEGjPHUkJdGMLd9j9S689w90K9N3vhQoIECBAgAABAgQIECCwFQEB+lb0XEuAAAECBAgQIECAAAECBAhsWWBq/nh6/nlvy/fZzRs0mhPRXbkYg25nN8swNgECBAgQIECAAAECBAhsUUCAvkVAlxMgQIAAAQIECBAgQIAAAQJbEEgrz9tzR1OA3t3CTXb/0moF+vr507tfiAoIECBAgAABAgQIECBAYEsCAvQt8bmYAAECBAgQIECAAAECBAgQ2IrAxPRMNCcm6x+gN5qxdv69rVC4lgABAgQIECBAgAABAgQKEBCgF9AEJRAgQIAAAQIECBAgQIAAgXEVaM8eieHzw/v1XoE+GPTD88/H9afYvAkQIECAAAECBAgQ2EsCAvS91E1zIUCAAAECBAgQIECAAAECNRNoz8xfDdDrvoV7WoHeubRYM33lEiBAgAABAgQIECBAgMDNAgL0m0V8T4AAAQIECBAgQIAAAQIECGQTqFagD4/BINuY2z5QsxWDQS+tQD+37bd2QwIECBAgQIAAAQIECBDIKyBAz+ttNAIECBAgQIAAAQIECBAgQOAGgfbsQqT0+YZ36vdyuAV9T4Bev86pmAABAgQIECBAgAABArcKCNBvNfEOAQIECBAgQIAAAQIECBAgkEmgPXs4Gmn78zofzWoFetqC3hbude6i2gkQIECAAAECBAgQIHBVoN5/Q9VFAgQIECBAgAABAgQIECBAoNYCU/Mno9/v1noO1Qr03upy9NdXaz0PxRMgQIAAAQIECBAgQIBAhADdTwEBAgQIECBAgAABAgQIECCwawKTh44MV2/vWgHbMHAVoK9fOLMNd3ILAgQIECBAgAABAgQIENhtAQH6bnfA+AQIECBAgAABAgQIECBAYEwFWtMHozk5HYN+r94CaQv6tfPv1nsOqidAgAABAgQIECBAgACBoYAA3Q8CAQIECBAgQIAAAQIECBAgsCsC7Zn0/PO0ert6fnitj8HA889r3UDFEyBAgAABAgQIECBA4AMBAfoHFl4RIECAAAECBAgQIECAAAECGQXaM/MpQG/VP0BPK9A7lxYzyhmKAAECBAgQIECAAAECBHZKQIC+U7LuS4AAAQIECBAgQIAAAQIECGwq0J49Eo30X9rDfdPziv4whedV/Z2lc0WXqTgCBAgQIECAAAECBAgQuDMBAfqdOTmLAAECBAgQIECAAAECBAgQ2GaB9uxCDNL253U+hlvQ97tWoNe5iWonQIAAAQIECBAgQIDADQIC9BswvCRAgAABAgQIECBAgAABAgTyCbRnD0c06/1PE1ef4d6zAj3fj42RCBAgQIAAAQIECBAgsKMC/397d7vetLGuAXgkWw6lJCEOFNZ57HUKPeiewt7/9kGs8pEPnLYQy5b2yMBezSIEJ7Fsv/atXr0gkjzzzj35E57MTOyfUnul0TgBAgQIECBAgAABAgQIECDQp8DByeuUmnmfXfTedhegN9d/pfmnP3vvSwcECBAgQIAAAQIECBAg0L+AAL1/Yz0QIECAAAECBAgQIECAAAECtwiMnr9M7Xx2y5M4t8pykKYf3scpWKUECBAgQIAAAQIECBAgcKeAAP1OHg8JECBAgAABAgQIECBAgACBPgTKg5/S4MnP4QP0ohym6/Pf+yDSJgECBAgQIECAAAECBAhsQECAvgF0XRIgQIAAAQIECBAgQIAAgX0XqA5PUxc+N8FXoLdtk+qJFej7/v1s/AQIECBAgAABAgQI7I6AAH135tJICBAgQIAAAQIECBAgQIBAGIHqaJy688PbJvYW7qkocoB+FsZdoQQIECBAgAABAgQIECBwt4AA/W4fTwkQIECAAAECBAgQIECAAIEeBBYr0Iv8zxJN00Pra2oyh+fdVV+dr6lD3RAgQIAAAQIECBAgQIBA3wIC9L6FtU+AAAECBAgQIECAAAECBAh8IzA6Ok3d9ueRr8UK+rwF/dQK9MjTqHYCBAgQIECAAAECBAjcEBCg3+DwBQECBAgQIECAAAECBAgQILAOgepwnLrtzyNf3RnubQ7QrUCPPItqJ0CAAAECBAgQIECAwE0BAfpND18RIECAAAECBAgQIECAAAECaxAYnbxK+QD0NfTUXxfdCvSmvk7zvyb9daJlAgQIECBAgAABAgQIEFirgAB9rdw6I0CAAAECBAgQIECAAAECBDqBLkDvVm9HvroAvZ68jzwEtRMgQIAAAQIECBAgQIDAfwgI0P8DxJcECBAgQIAAAQIECBAgQIBAvwJldZCGPx3mBejzfjvqufWiHKTr89977kXzBAgQIECAAAECBAgQILBOAQH6OrX1RYAAAQIECBAgQIAAAQIECKRhPv+8GAzCr0BPbZvqD+/MKAECBAgQIECAAAECBAjskIAAfYcm01AIECBAgAABAgQIECBAgEAEgdEiQM/nhwffwj0VRZpOziOQq5EAAQIECBAgQIAAAQIElhQQoC8J5TUCBAgQIECAAAECBAgQIEBgNQLV0Wnqtj/PCfpqGtxEKzk87676SoC+CX59EiBAgAABAgQIECBAoC8BAXpfstolQIAAAQIECBAgQIAAAQIEbhXoAvS2bW59FuVmUQ4XW9DXk7MoJauTAAECBAgQIECAAAECBJYQEKAvgeQVAgQIECBAgAABAgQIECBAYHUCVd7CPaXPK7hX1+p6WyoGOUDPK+gF6Ot11xsBAgQIECBAgAABAgT6FhCg9y2sfQIECBAgQIAAAQIECBAgQOCGwOjkVcpL0G/ci/ZFMRikdjZNs78+RCtdvQQIECBAgAABAgQIECBwh4AA/Q4cjwgQIECAAAECBAgQIECAAIHVC4yev8qrt2erb3iNLXYr0OtJPv88+C8CrJFMVwQIECBAgAABAgQIEAghIEAPMU2KJECAAAECBAgQIECAAAECuyHQBc/Vs+PF+eGRR9SdgX59/q/IQ1A7AQIECBAgQIAAAQIECNwiIEC/BcUtAgQIECBAgAABAgQIECBAoB+B7vzzLnxu57FXoOel52n64V0/SFolQIAAAQIECBAgQIAAgY0JCNA3Rq9jAgQIECBAgAABAgQIECCwfwKLAD2vQg8foOcj3OurvIW7iwABAgQIECBAgAABAgR2SkCAvlPTaTAECBAgQIAAAQIECBAgQGC7Baqj05TKQT4Dfb7dhf6guqIsP5+B/oP3PCZAgAABAgQIECBAgACBWAIC9FjzpVoCBAgQIECAAAECBAgQIBBaYBGgt03oMXTnuHcr6Ours9DjUDwBAgQIECBAgAABAgQIfCsgQP/WxB0CBAgQIECAAAECBAgQIECgJ4FuC/dUFD21vp5muwC96QL0iQB9PeJ6IUCAAAECBAgQIECAwPoEBOjrs9YTAQIECBAgQIAAAQIECBDYe4HR81+yQT5APPBVlHkF+qxO9R8XgUehdAIECBAgQIAAAQIECBC4TUCAfpuKewQIECBAgAABAgQIECBAgEAvAqOTV3n78+Dnn+cV6IvwvIm9FX0vE6xRAgQIECBAgAABAgQIBBcQoAefQOUTIECAAAECBAgQIECAAIEwAmWZqmcni/PDw9R8S6HFYJCmF29ueeIWAQIECBAgQIAAAQIECEQXEKBHn0H1EyBAgAABAgQIECBAgACBIAJdeF4Mq9Q2syAVf6/MIk0v337vofsECBAgQIAAAQIECBAgEFhAgB548pROgAABAgQIECBAgAABAgQiCVRHp6nM25+38+ABetum+uo8Er1aCRAgQIAAAQIECBAgQGBJAQH6klBeI0CAAAECBAgQIECAAAECBB4nUB2epmIXAvSiTPXk7HEYPk2AAAECBAgQIECAAAECWykgQN/KaVEUAQIECBAgQIAAAQIECBDYPYHqaJy3b29CD6woByk1cwF66FlUPAECBAgQIECAAAECBL4vIED/vo0nBAgQIECAAAECBAgQIECAwAoFqsNxSkWxwhbX39TXFfS2cF+/vR4JECBAgAABAgQIECCwDgEB+jqU9UGAAAECBAgQIECAAAECBAik0fHL8AqLAL2ZOQM9/EwaAAECBAgQIECAAAECBG4XEKDf7uIuAQIECBAgQIAAAQIECBAgsGKBg/E/8hbusxW3ut7mugC9/uNDauexx7FeNb0RIECAAAECBAgQIEAgjoAAPc5cqZQAAQIECBAgQIAAAQIECMQVyFu3L85ADx48F+UwTS/fxJ0HlRMgQIAAAQIECBAgQIDAnQIC9Dt5PCRAgAABAgQIECBAgAABAgRWITB8epyK4Siv3J6vornNtZF/EWB6IUDf3ATomQABAgQIECBAgAABAv0KCND79dU6AQIECBAgQIAAAQIECBAgkAWqo9O0OD88+Ar01LbOP/cdTYAAAQIECBAgQIAAgR0WEKDv8OQaGgECBAgQIECAAAECBAgQ2BaBRYBeDsKfHV6UZaonZ9vCqg4CBAgQIECAAAECBAgQWLGAAH3FoJojQIAAAQIECBAgQIAAAQIEvhWoDsdfbrbfPoxyp/sFgGYuQI8yX+okQIAAAQIECBAgQIDAAwQE6A9A8xECBAgQIECAAAECBAgQIEDgfgKjoxyg5+3PI1/lYLhYQT+9Oo88DLUTIECAAAECBAgQIECAwB0CAvQ7cDwiQIAAAQIECBAgQIAAAQIEViNQHb9MqShW09iGWvl8hvs8zQToG5oB3RIgQIAAAQIECBAgQKB/AQF6/8Z6IECAAAECBAgQIECAAAECey9wMH692P48MkSRt3CffbxKTX0deRhqJ0CAAAECBAgQIECAAIE7BATod+B4RIAAAQIECBAgQIAAAQIECKxGoDp6sdj+fDWtbaaVbgX69OLNZjrXKwECBAgQIECAAAECBAisRUCAvhZmnRAgQIAAAQIECBAgQIAAgf0VGDw9SmV1ED5AT8VAgL6/38ZGToAAAQIECBAgQIDAnggI0Pdkog2TAAECBAgQIECAAAECBAhsSqA6HOfseZi3cJ9tqoTV9Ns2qb46W01bWiFAgAABAgQIECBAgACBrRQQoG/ltCiKAAECBAgQIECAAAECBAjsjsDo6PRzgD6PHaAXRZmmk/PdmRgjIUCAAAECBAgQIECAAIFvBATo35C4QYAAAQIECBAgQIAAAQIECKxSoFuBvrjadpXNrretskytFejrNdcbAQIECBAgQIAAAQIENiAgQN8Aui4JECBAgAABAgQIECBAgMA+CVR5BXpOn0MPuSjzFvR5BX1tBXroeVQ8AQIECBAgQIAAAQIEfiQgQP+RkOcECBAgQIAAAQIECBAgQIDAowSq4xep2/488lV+OcPdGeiRZ1HtBAgQIECAAAECBAgQ+LFA7J9efzw+bxAgQIAAAQIECBAgQIAAAQIbFjg4eZ3aJvj55zlAn3/6MzXXHzesqXsCBAgQIECAAAECBAgQ6FNAgN6nrrYJECBAgAABAgQIECBAgACBNMor0JtmHlqiyAH69PJd6DEongABAgQIECBAgAABAgR+LCBA/7GRNwgQIECAAAECBAgQIECAAIEHCgye/JzKg6eL88Mf2MR2fKwcpOuL37ejFlUQIECAAAECBAgQIECAQG8CAvTeaDVMgAABAgQIECBAgAABAgQIVIfjVAwG8QP0pkn15MyEEiBAgAABAgQIECBAgMCOCwjQd3yCDY8AAQIECBAgQIAAAQIECGxSoDo6TUU5DB+gF0WRA/TzTVLqmwABAgQIECBAgAABAgTWICBAXwOyLggQIECAAAECBAgQIECAwL4KdCvQc4KeUtvEJcj1t/m/evI+7hhUToAAAQIECBAgQIAAAQJLCQjQl2LyEgECBAgQIECAAAECBAgQIPAQgW4FeujwPA+6GHQr6Oepvrp4CIHPECBAgAABAgQIECBAgEAgAQF6oMlSKgECBAgQIECAAAECBAgQiCawCNDz9ueRr88B+iwH6M5AjzyPaidAgAABAgQIECBAgMAyAgL0ZZS8Q4AAAQIECBAgQIAAAQIECDxI4ODkdfwV6OUgNdOPaf7xjwcZ+BABAgQIECBAgAABAgQIxBEQoMeZK5USIECAAAECBAgQIECAAIFwAqPnv+Ttz2fh6v57wd0K9Oml88//buLvBAgQIECAAAECBAgQ2FUBAfquzqxxESBAgAABAgQIECBAgACBDQuUoydp8OTn8AF6WQ7T9cW/NqypewIECBAgQIAAAQIECBBYh4AAfR3K+iBAgAABAgQIECBAgAABAnso0J1/3q3ebpp56NG3bZPqifPPQ0+i4gkQIECAAAECBAgQILCkgAB9SSivESBAgAABAgQIECBAgAABAvcTqA7HOUAfhF+BnooiB+jn9xu8twkQIECAAAECBAgQIEAgpIAAPeS0KZoAAQIECBAgQIAAAQIECGy/wGIFejFIKfIK9Byed1c9cQb69n/HqZAAAQIECBAgQIAAAQKPFxCgP95QCwQIECBAgAABAgQIECBAgMAtAt0K9G7788hXtwV9O5+l+uoi8jDUToAAAQIECBAgQIAAAQJLCgjQl4TyGgECBAgQIECAAAECBAgQIHA/geown4FexP6nh6L8EqBbgX6/yfc2AQIECBAgQIAAAQIEggrE/ik2KLqyCRAgQIAAAQIECBAgQIDAPggcjF/lFejz0EPtVqA3s2mafbwKPQ7FEyBAgAABAgQIECBAgMByAgL05Zy8RYAAAQIECBAgQIAAAQIECNxTYPT8l7z9efwAvf7wLuXfBLjn6L1OgAABAgQIECBAgAABAhEFBOgRZ03NBAgQIECAAAECBAgQIEBgywWK4SgNnx6ntplteaV3l1cMBun64s3dL3lKgAABAgQIECBAgAABAjsjIEDfmak0EAIECBAgQIAAAQIECBAgsD0C1eE4deFzO48doHcrz+sP77cHViUECBAgQIAAAQIECBAg0KuAAL1XXo0TIECAAAECBAgQIECAAIH9FKiOugB9GD9AT0WqJ2f7OYlGTYAAAQIECBAgQIAAgT0UEKDv4aQbMgECBAgQIECAAAECBAgQ6FugOjxNRZlXoDeRz0AvFkz1lQC97+8X7RMgQIAAAQIECBAgQGBbBATo2zIT6iBAgAABAgQIECBAgAABAjsk0K1Ab5sm9IgWK+jzLwBMJ+ehx6F4AgQIECBAgAABAgQIEFheQIC+vJU3CRAgQIAAAQIECBAgQIAAgSUFRkcvUio+r+Be8iNb99rXM9xt4b51U6MgAgQIECBAgAABAgQI9CYgQO+NVsMECBAgQIAAAQIECBAgQGB/BUbPf8mDb0MDLFagz+o0+/ND6HEongABAgQIECBAgAABAgSWFxCgL2/lTQIECBAgQIAAAQIECBAgQGBJgdHJq9TOZ0u+vZ2vFeUwLVaft7G3ot9OXVURIECAAAECBAgQIEBgOwUE6Ns5L6oiQIAAAQIECBAgQIAAAQJhBbqV29Wz5/ED9DyO6eWbsPOgcAIECBAgQIAAAQIECBC4v4AA/f5mPkGAAAECBAgQIECAAAECBAjcITB8dpK61dvtfH7HWzEeTS/fxihUlQQIECBAgAABAgQIECCwEgEB+koYNUKAAAECBAgQIECAAAECBAh8FRgdjVMxGKS2ib2Fe2rbNJ2cfx2WPwkQIECAAAECBAgQIEBgDwQE6HswyYZIgAABAgQIECBAgAABAgTWKVAdnuYAvVuBHjtAL8oy1Vdn66TTFwECBAgQIECAAAECBAhsWECAvuEJ0D0BAgQIECBAgAABAgQIENg1geroNK8+b0IP6+svANRWoIeeR8UTIECAAAECBAgQIEDgvgIC9PuKeZ8AAQIECBAgQIAAAQIECBC4U6AL0FNR3PnOtj/8fIb7zAr0bZ8o9REgQIAAAQIECBAgQGDFAgL0FYNqjgABAgQIECBAgAABAgQI7LvA6PhleIJuBXqTt6CfXV2EH4sBECBAgAABAgQIECBAgMDyAgL05a28SYAAAQIECBAgQIAAAQIECCwhMBq/jn/+eQ7Qu/C8beZLjNgrBAgQIECAAAECBAgQILArAgL0XZlJ4yBAgAABAgQIECBAgAABAtsgUJSpenayAwH6IF1fvt0GUTUQIECAAAECBAgQIECAwBoFBOhrxNYVAQIECBAgQIAAAQIECBDYdYHq8CQVwyqv3J4FH2qRppdvgo9B+QQIECBAgAABAgQIECBwXwEB+n3FvE+AAAECBAgQIECAAAECBAh8V6A6HKfu/PA2nx8e+mrbVE/OQw9B8QQIECBAgAABAgQIECBwfwEB+v3NfIIAAQIECBAgQIAAAQIECBD4jsAiQC+7AD322eFFWab66uw7o3SbAAECBAgQIECAAAECBHZVQIC+qzNrXAQIECBAgAABAgQIECBAYAMC1dFp7rXJ/7cb6H01XRblYPELAFagr8ZTKwQIECBAgAABAgQIEIgkIECPNFtqJUCAAAECBAgQIECAAAECWy6wCNDbYsurvLu8xRb0+Qz3evL+7hc9JUCAAAECBAgQIECAAIGdExCg79yUGhABAgQIECBAgAABAgQIENicwOj4RUqx8/P/P8O9vrrYHKSeCRAgQIAAAQIECBAgQGAjAgL0jbDrlAABAgQIECBAgAABAgQI7KbA6OR1avPq7chXtwJ99ueHvI17HXkYaidAgAABAgQIECBAgACBBwgI0B+A5iMECBAgQIAAAQIECBAgQIDALQJFkUb5DPR2Pr/lYZxbRTlM15dv4xSsUgIECBAgQIAAAQIECBBYmYAAfWWUGiJAgAABAgQIECBAgAABAvstMHx6nIrhQQ7QY69AT/kXAaYXb/Z7Mo2eAAECBAgQIECAAAECeyogQN/TiTdsAgQIECBAgAABAgQIECCwaoHqcJzPDx/ED9DbNtWTs1XzaI8AAQIECBAgQIAAAQIEAggI0ANMkhIJECBAgAABAgQIECBAgEAEgSpv396dHx79DPRUlKm+Oo9ArkYCBAgQIECAAAECBAgQWLGAAH3FoJojQIAAAQIECBAgQIAAAQL7KlAdjT8PPa/gDnuVg5SX0OcV6AL0sHOocAIECBAgQIAAAQIECDxCQID+CDwfJUCAAAECBAgQIECAAAECBP4tUB2e5vA5cHieh7JYQT/vAvT3/x6YvxEgQIAAAQIECBAgQIDA3ggI0Pdmqg2UAAECBAgQIECAAAECBAj0KzA6zgF6UfTbSc+tl3kFejuf2cK9Z2fNEyBAgAABAgQIECBAYFsFBOjbOjPqIkCAAAECBAgQIECAAAECwQRGJ//I55/Pg1V9s9xuBfrs4x+pqa9vPvAVAQIECBAgQIAAAQIECOyFgAB9L6bZIAkQIECAAAECBAgQIECAQP8Co+MXi9Xb/ffUXw9dgD69fNtfB1omQIAAAQIECBAgQIAAga0WEKBv9fQojgABAgQIECBAgAABAgQIxBAY/HSYytGTvAJ9FqPg71VZDNL04vfvPXWfAAECBAgQIECAAAECBHZcQIC+4xNseAQIECBAgAABAgQIECBAYB0C1dE4dau3u/PDQ19tk+rJWeghKJ4AAQIECBAgQIAAAQIEHi4gQH+4nU8SIECAAAECBAgQIECAAAECXwSqw9MvAXrsM9BTUaT66ty8EiBAgAABAgQIECBAgMCeCgjQ93TiDZsAAQIECBAgQIAAAQIECKxSoFuBvrjyCu6wV5H/maRtrUAPO4EKJ0CAAAECBAgQIECAwOMFho9v4nMLTdMMvrY1Hn/5ofnrjRX8mdtPnz59utFSd+/Fixc37vmCAAECBAgQIECAAAECBAgQWL/Ai1ev0/ODMrUvXy46b+fzxXbubZNXpOdz0buvt/0qhlUqh006rJp04N8btn261EeAAAECBAgQIECAwJ4L/D2T/ntW/ViW4rENfP38b7/99l9lWf7316/9SYAAAQIECBAgQIAAAQIECBAgQIAAAQIECBAgQIAAAQIE+hbIAfo/f/311/9ZRT+2cF+FojYIECBAgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAILzAyrZwn81m/zscDv/ZiQwGg3d5Nfr2780WfvoMgAABAgQIECBAgAABAgQIECBAgAABAgQIECBAgAABAvsn0G3bPp/PF+eIdVn1/gkYMQECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQIECAAAECBAgQILBugf8D5tk8CTsNV58AAAAASUVORK5CYII=\" width=\"1000\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "truck = Truck(display=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "ϕ = deg2rad(-35)  # positive left, negative right\n",
    "truck.step(ϕ)\n",
    "truck.draw()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "truck.reset()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "import torch\n",
    "import torch.nn as nn\n",
    "from torch.optim import SGD\n",
    "from tqdm import tqdm"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "100%|██████████| 10/10 [00:21<00:00,  2.13s/it]\n"
     ]
    }
   ],
   "source": [
    "# Build expert data set\n",
    "\n",
    "episodes = 10\n",
    "inputs = list()\n",
    "outputs = list()\n",
    "# truck = Truck(); episodes = 10_000  # uncooment for creating the data set\n",
    "\n",
    "for episode in tqdm(range(episodes)):\n",
    "    \n",
    "    truck.reset()\n",
    "    \n",
    "    while truck.valid():\n",
    "        initial_state = truck.state()\n",
    "        ϕ = (random() - 0.5) * π / 2\n",
    "        inputs.append((ϕ, *initial_state))\n",
    "        outputs.append(truck.step(ϕ))\n",
    "        truck.draw()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(566, 566)"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(inputs), len(outputs)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [],
   "source": [
    "state_size = 6\n",
    "steering_size = 1\n",
    "hidden_units_e = 45\n",
    "\n",
    "emulator = nn.Sequential(\n",
    "    nn.Linear(steering_size + state_size, hidden_units_e),\n",
    "    nn.ReLU(),\n",
    "    nn.Linear(hidden_units_e, state_size)\n",
    ")\n",
    "\n",
    "optimiser_e = SGD(emulator.parameters(), lr=0.005)\n",
    "criterion = nn.MSELoss()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [],
   "source": [
    "tensor_inputs = torch.Tensor(inputs)\n",
    "tensor_outputs = torch.Tensor(outputs)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [],
   "source": [
    "mean = tensor_inputs.mean(0)\n",
    "std = tensor_inputs.std(0)\n",
    "tensor_inputs = (tensor_inputs - mean) / std\n",
    "tensor_outputs = (tensor_outputs - mean[1:]) / std[1:]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "566 452\n"
     ]
    }
   ],
   "source": [
    "# Split the data into 80:20 for test:train.\n",
    "test_size = int(len(tensor_inputs) * 0.8)\n",
    "print(len(tensor_inputs), test_size)\n",
    "\n",
    "train_inputs = tensor_inputs[:test_size]\n",
    "train_outputs = tensor_outputs[:test_size]\n",
    "test_inputs = tensor_inputs[test_size:]\n",
    "test_outputs = tensor_outputs[test_size:]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "452"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(train_inputs)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "   1 / 452, 1.3630608320\n"
     ]
    }
   ],
   "source": [
    "# Emulator training\n",
    "cnt = 0\n",
    "for i in torch.randperm(len(train_inputs)):\n",
    "    ϕ_state = train_inputs[i]\n",
    "    next_state_prediction = emulator(ϕ_state)\n",
    "    \n",
    "    next_state = train_outputs[i]\n",
    "    loss = criterion(next_state_prediction, next_state)\n",
    "    \n",
    "    optimiser_e.zero_grad()\n",
    "    loss.backward()\n",
    "    optimiser_e.step()\n",
    "    \n",
    "    if cnt == 0 or (cnt + 1) % 1000 == 0:\n",
    "        print(f'{cnt + 1:4d} / {len(train_inputs)}, {loss.item():.10f}')\n",
    "    cnt += 1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Test loss: 0.2616213023\n"
     ]
    }
   ],
   "source": [
    "# Test\n",
    "total_loss = 0\n",
    "with torch.no_grad():\n",
    "    for idx, ϕ_state in enumerate(test_inputs):\n",
    "        next_state_prediction = emulator(ϕ_state)\n",
    "\n",
    "        next_state = test_outputs[idx]\n",
    "        total_loss += criterion(next_state_prediction, next_state).item()\n",
    "\n",
    "ave_test_loss = total_loss/test_size\n",
    "print(f'Test loss: {ave_test_loss:.10f}')"
   ]
  }
 ],
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