User_interface_jupyter.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "5a5df21d",
   "metadata": {},
   "source": [
    "# The User Interface of our robot "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "c576102c",
   "metadata": {
    "ExecuteTime": {
     "end_time": "2022-05-13T14:36:19.246066Z",
     "start_time": "2022-05-13T14:36:18.351320Z"
    }
   },
   "outputs": [],
   "source": [
    "from ipywidgets import VBox,HBox\n",
    "import ipywidgets as widgets\n",
    "import jupyros as jr\n",
    "import rospy\n",
    "from IPython.display import display, clear_output\n",
    "import time\n",
    "import numpy as np\n",
    "\n",
    "from assignement_3.msg import User\n",
    "from geometry_msgs.msg import Twist\n",
    "from sensor_msgs.msg import LaserScan "
   ]
  },
  {
   "cell_type": "markdown",
   "id": "8b72da62",
   "metadata": {},
   "source": [
    "## Declaration of publishers"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "62d9079a",
   "metadata": {
    "ExecuteTime": {
     "end_time": "2022-05-13T14:36:19.488902Z",
     "start_time": "2022-05-13T14:36:19.251934Z"
    }
   },
   "outputs": [],
   "source": [
    "mode_publisher = rospy.Publisher('user_topic', User, queue_size=10)\n",
    "velocity_publisher = rospy.Publisher('cmd_vel',Twist, queue_size=10) \n",
    "rospy.init_node('user_interface', anonymous=True)\n",
    "\n",
    "inputt=User()\n",
    "velocity=Twist()\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "93208713",
   "metadata": {},
   "source": [
    "## Callback function of LaserScan to get the distance of the obstacles"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "30152bb7",
   "metadata": {
    "ExecuteTime": {
     "end_time": "2022-03-24T11:59:22.902411Z",
     "start_time": "2022-03-24T11:59:22.784721Z"
    }
   },
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "08f90f61",
   "metadata": {
    "ExecuteTime": {
     "end_time": "2022-05-13T14:36:19.573117Z",
     "start_time": "2022-05-13T14:36:19.501239Z"
    }
   },
   "outputs": [],
   "source": [
    "#min1=[]\n",
    "#min2=[]\n",
    "#min3=[]\n",
    "\n",
    "def odom_callback(msg):\n",
    "  global min1,min2,min3\n",
    "  min1=msg.ranges[300]\n",
    "  min2=msg.ranges[660] #left\n",
    "  min3=msg.ranges[0]\n",
    "\n",
    "jr.subscribe('/scan', LaserScan, odom_callback)\n",
    "dist_button = widgets.Button(description=\"Nearset obstacle!\", button_style='' 'success' '')\n",
    "dist_output = widgets.Output(layout={'border': '1px solid black'})\n",
    "\n",
    "def on_button_distance(b):\n",
    "    distFront=min1\n",
    "    distLeft =min2\n",
    "    distRight=min3\n",
    "    with dist_output:\n",
    "            clear_output()\n",
    "            if distFront>distLeft and distFront>distRight:\n",
    "                print('The nearest obstacle is on the  FRONT with \\n        ')\n",
    "                print('a distance =  ',distFront)\n",
    "            if distLeft>distFront and distLeft>distRight:\n",
    "                print('The nearest obstacle is on the LEFT with  \\n        ')\n",
    "                print('a distance = ',distLeft)\n",
    "            if distRight>distFront and distRight>distLeft:    \n",
    "                print('The nearest obstacle is on the RIGHT with  \\n    ')\n",
    "                print('a distance = ',distRight)\n",
    "\n",
    "dist_button.on_click(on_button_distance)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "b0500ccf",
   "metadata": {},
   "source": [
    "## Widgets "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "72585e5e",
   "metadata": {
    "ExecuteTime": {
     "end_time": "2022-05-13T14:36:19.743002Z",
     "start_time": "2022-05-13T14:36:19.580664Z"
    }
   },
   "outputs": [],
   "source": [
    "x_axis=widgets.BoundedFloatText(value=1.0,min=-20.0,max=20.0, step=0.1,description='x_axix:',disabled=False)\n",
    "y_axis=widgets.BoundedFloatText(value=1.0,min=-20.0,max=20.0, step=0.1,description='y_axix:',disabled=False)\n",
    "\n",
    "forward = widgets.Button(description=\"Forward\", button_style='' 'info' '')\n",
    "backward = widgets.Button(description=\"Backward\", button_style='' 'info' '')\n",
    "left = widgets.Button(description=\"Left\", button_style='' 'info' '')\n",
    "right = widgets.Button(description=\"Right\", button_style='' 'info' '')\n",
    "\n",
    "button1 = widgets.Button(description=\"Mode 1\", button_style='' 'danger' '')\n",
    "button2 = widgets.Button(description=\"Mode 2\", button_style='' 'danger' '')\n",
    "button3 = widgets.Button(description=\"Mode 3\", button_style='' 'danger' '')\n",
    "button4 = widgets.Button(description=\"Cancel the goal\", button_style='' 'danger' '')\n",
    "output = widgets.Output(layout={'border': '1px solid black'})\n",
    "\n",
    "empty_space= widgets.Output()\n",
    "with empty_space:\n",
    "    print(\"                 \")"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "68b6e38a",
   "metadata": {},
   "source": [
    "## Moving the robot by buttons "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "5315f875",
   "metadata": {
    "ExecuteTime": {
     "end_time": "2022-05-13T14:36:19.773847Z",
     "start_time": "2022-05-13T14:36:19.756395Z"
    }
   },
   "outputs": [],
   "source": [
    "def on_button_clickedF(b):\n",
    "    if inputt.user==2 or inputt.user==3:\n",
    "        velocity.linear.x=0.5\n",
    "        velocity_publisher.publish(velocity)\n",
    "        time.sleep(1)\n",
    "        velocity.linear.x=0.0\n",
    "        velocity_publisher.publish(velocity)\n",
    "        with output:\n",
    "            print('Moving Forward')\n",
    "            \n",
    "def on_button_clickedB(b):\n",
    "    if inputt.user==2 or inputt.user==3:\n",
    "        velocity.linear.x=-0.5\n",
    "        velocity_publisher.publish(velocity)\n",
    "        time.sleep(1)\n",
    "        velocity.linear.x=0.0\n",
    "        velocity_publisher.publish(velocity)\n",
    "        with output:\n",
    "            print('Moving Backword')\n",
    "            \n",
    "def on_button_clickedL(b):\n",
    "    if inputt.user==2 or inputt.user==3:\n",
    "        velocity.angular.z=1.0\n",
    "        velocity_publisher.publish(velocity)\n",
    "        time.sleep(1)\n",
    "        velocity.angular.z=0.0\n",
    "        velocity_publisher.publish(velocity)\n",
    "        with output:\n",
    "            print('Moving Left')\n",
    "            \n",
    "def on_button_clickedR(b):\n",
    "    if inputt.user==2 or inputt.user==3:\n",
    "        velocity.angular.z=-1.0\n",
    "        velocity_publisher.publish(velocity)\n",
    "        time.sleep(1)\n",
    "        velocity.angular.z=0.0\n",
    "        velocity_publisher.publish(velocity)\n",
    "        with output:\n",
    "            print('Moving Right')"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "f5dc0f3f",
   "metadata": {},
   "source": [
    "## Choose the mode of the robot"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "id": "4c884152",
   "metadata": {
    "ExecuteTime": {
     "end_time": "2022-05-13T14:36:19.800780Z",
     "start_time": "2022-05-13T14:36:19.781206Z"
    }
   },
   "outputs": [],
   "source": [
    "def on_button_clicked1(b):\n",
    "        inputt.user=1\n",
    "        inputt.x=x_axis.value\n",
    "        inputt.y=y_axis.value\n",
    "        mode_publisher.publish(inputt)\n",
    "        with output:\n",
    "            clear_output()\n",
    "            print('Mode1, Your goal is x= (',x_axis.value,',',y_axis.value,')')\n",
    "            \n",
    "def on_button_clicked2(b):\n",
    "        \n",
    "        inputt.user=2\n",
    "        mode_publisher.publish(inputt)\n",
    "        with output:\n",
    "            clear_output()\n",
    "            print('Mode2,Not assistive drive ')\n",
    "            \n",
    "def on_button_clicked3(b):\n",
    "        inputt.user=3\n",
    "        mode_publisher.publish(inputt)\n",
    "        with output:\n",
    "            clear_output()\n",
    "            print('Mode3,Assistive drive')\n",
    "\n",
    "def on_button_clicked4(b):\n",
    "        inputt.user=4\n",
    "        mode_publisher.publish(inputt)\n",
    "        with output:\n",
    "            clear_output()\n",
    "            print('Mode4,The goal in canceled')"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "a085ab0f",
   "metadata": {},
   "source": [
    "## Button's events "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "e4718b24",
   "metadata": {
    "ExecuteTime": {
     "end_time": "2022-05-13T14:36:19.811832Z",
     "start_time": "2022-05-13T14:36:19.805041Z"
    }
   },
   "outputs": [],
   "source": [
    "button1.on_click(on_button_clicked1)\n",
    "button2.on_click(on_button_clicked2)\n",
    "button3.on_click(on_button_clicked3)\n",
    "button4.on_click(on_button_clicked4)\n",
    "\n",
    "forward.on_click(on_button_clickedF)\n",
    "backward.on_click(on_button_clickedB)\n",
    "left.on_click(on_button_clickedL)\n",
    "right.on_click(on_button_clickedR)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "843f66d3",
   "metadata": {},
   "source": [
    "## Displaying of the widgets"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "616e31b8",
   "metadata": {
    "ExecuteTime": {
     "end_time": "2022-05-13T14:36:19.932814Z",
     "start_time": "2022-05-13T14:36:19.820157Z"
    }
   },
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "93f8c417ffbe4c9e8cddf57ddfce46a7",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "VBox(children=(HBox(children=(Button(button_style='danger', description='Mode 1', style=ButtonStyle()), Output…"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "row1=HBox([button1,empty_space,empty_space,empty_space,dist_button])\n",
    "row2=HBox([x_axis,empty_space,empty_space,dist_output])\n",
    "row3=HBox([y_axis])\n",
    "row4=HBox([button2,button3])\n",
    "row5=HBox([empty_space,empty_space,forward])\n",
    "row6=HBox([empty_space,left,empty_space,right])\n",
    "row7=HBox([empty_space,empty_space,backward])\n",
    "row8=HBox([button4])\n",
    "row10=HBox([output])\n",
    "row9=HBox([empty_space])\n",
    "display(VBox([row1,row2,row3,row9,row4,row9,row5,row6,row7,row9,row8,row9,row10]))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "24521afe",
   "metadata": {
    "ExecuteTime": {
     "end_time": "2022-05-13T14:36:20.787086Z",
     "start_time": "2022-05-13T14:36:19.943638Z"
    }
   },
   "outputs": [
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support. ' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\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",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option);\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\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",
       "\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",
       "\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]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.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, 0, fig.canvas.width / mpl.ratio, fig.canvas.height / mpl.ratio);\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",
       "    {\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.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",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\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(\"No handler for the '\" + msg_type + \"' message type: \", msg);\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(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\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",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\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",
       "    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",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\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",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\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,\n",
       "                             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",
       "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\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\"];\n",
       "\n",
       "mpl.default_extension = \"png\";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 = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\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.get(0);\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",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\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).html('<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/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<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 () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\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) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('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",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\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",
       "    // 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",
       "\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('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/html": [
       "<img src=\"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAswAAASMCAYAAACcWdtMAAAgAElEQVR4nOzde1wVBf7/8QEU5SoI3hLw1k0tM82t1hS7Q7ltbVcrb2Wal8xH2draFuhm2U9sK2ttSwPLb21pWrlRWymtlZdKbDUTvOFWiqGJFxBFOe/fH7MePcKMoDBn4Lyej8c8vp5z5pwZ5vt5tC/HYY4hAAAAAJYMf+8AAAAA4GYEMwAAAGCDYAYAAABsEMwAAACADYIZAAAAsEEwAwAAADYIZgAAAMAGwQwAAADYIJgBAAAAGwQzAAAAYINgBgAAAGwQzAAAAIANghkAAACwQTADAAAANghmAAAAwAbBDAAAANggmAEAAAAbBDMAAABgg2AGAAAAbBDMAAAAgA2CGQAAALBBMAMAAAA2CGYAAADABsEMAAAA2CCYAQAAABsEMwAAAGCDYAYAAABsEMwAAACADYIZAAAAsEEwAwAAADYIZgAAAMAGwQwAAADYIJgBAAAAGwQzAAAAYINgBgAAAGwQzAAAAIANghkAAACwQTADAAAANghmAAAAwAbBDAAAANggmAEAAAAbBDMAAABgg2AGAAAAbBDMAAAAgA2CGQAAALBBMAMAAAA2CGYAAADABsEMAAAA2CCYAQAAABsEMwAAAGCDYAYAAABsEMwAAACADYIZAAAAsEEwAwAAADYIZgAAAMAGwQwAAADYIJgBAAAAGwQzAAAAYINgBgAAAGwQzAAAAIANghkAAACwQTADAAAANghmAAAAwAbBDAAAANggmAEAAAAbBDMAAABgg2AGAAAAbBDMAAAAgA2CGQAAALBBMAMAAAA2CGYAAADABsEMAAAA2CCYAQAAABsEMwAAAGCDYAYAAABsEMwAAACADYIZAAAAsEEwAwAAADYIZgAAAMAGwQwAAADYIJgBAAAAGwQzAAAAYINgBgAAAGwQzAAAAIANghkAAACwQTADAAAANghmAAAAwAbBDAAAANggmAEAAAAbBDMAAABgg2AGAAAAbBDMAAAAgA2CGQAAALBBMAMAAAA2CGYAAADABsEMAAAA2CCYAQAAABsEMwAAAGCDYAYAAABsEMwAAACADYIZAAAAsEEwAwAAADYIZgAAAMAGwQwAAADYIJgBAAAAGwQzAAAAYINgBgAAAGwQzAAAAIANghkAAACwQTADAAAANghmAAAAwAbBDAAAANggmAEAAAAbBDMAAABgg2AGAAAAbBDMAAAAgA2CGQAAALBBMAMAAAA2CGYAAADABsEMAAAA2CCYAaCeGDx4sC6++OJaWw8AUD0EMwDUgrS0NBmG4V1atGiha665RsuXL6+1bezZs0e//vqr9/GECRPUrl27k64HADg9BDMA1IK0tDS1aNFChYWFKiws1Ndff62rrrpKUVFR2rp1a51s0yqYAQC1i2AGgFqQlpamVq1a+Tz3008/yTAM/f3vf5ck/e1vf9PZZ5+txo0bq02bNnrwwQd14MAB7/o///yzbrnlFsXHxys0NFQJCQkaPXq09/XjL7U48Yy2YRgaPHhwpfWOmjdvni644AKFhoYqPj5eQ4YM0a5du7yv5+TkyDAMZWdn69prr1VYWJiSkpKUkZFRq8cJAOojghkAakFVwbxr1y4ZhqEXX3xRs2fPVqNGjTR9+nTl5+fr3XffVcuWLTVo0CDv+jfccIP69eunb775Rlu3btWXX36pv/3tb97Xjw/h/fv3a8yYMUpISPCe1d6zZ0+l9SRp8eLFMgxDEydO1Pr16/XJJ5/ozDPPVN++fb3rHA3ms88+W/Pnz9emTZs0adIkGYahJUuW1MkxA4D6gmAGgFpwYjAXFxdr8ODBaty4sdatW6d27drp/vvv93nP3LlzFRQUpC1btkiSunXrprS0NMttnBjCVpdknLhecnKyUlJSfNb58ssvZRiGcnJyJB0L5szMTO86Ho9HZ5xxhv70pz+d7McHgAaNYAaAWpCWlqagoCBFREQoIiJChmGoY8eOmjdvnvbt2yfDMPTWW2/5vGf79u0yDEOLFi2SJM2ZM0dNmjRRr169NH78eH388ceqqKjwrn+qwdy8eXM9/fTTPut4PB41bdpUM2bMkHQsmNesWeOz3m9+8xsNHTr01A4KADQQBDMA1IK0tDTFx8dr48aN2rRpk/bu3et97Wgw/+Mf//B5z4nBLEk7duzQG2+8ofvuu0/NmzdX7969dejQIUmnF8xTp071WccqmNevX++z3sUXX+y9NhoAAhXBDAC1oKprmI/Xrl07jRw50ue5N998U0FBQSooKKjyPcuXL5dhGFq2bJmkyiH8+OOPKyEhodL7qrokIzU11WedZcuWyTAMff7555IIZgCwQzADQC04WTDPnj1bjRs31nPPPacNGzZo4cKFatWqlc8v/Y0cOVKLFi3Sxo0blZeXp1GjRqlp06basWOHpMohnJWVpUaNGumrr77Szp07tX///irXW7x4sYKCgvTnP/9ZeXl5+uyzz3T22WdX+Ut/BDMAVEYwA0AtOFkwS9JLL73kva1c69atK91WbvTo0TrnnHMUFhamZs2aqU+fPj53qDgxhA8ePKg77rhDcXFxJ72t3DvvvOO9rVxcXJzlbeUIZgCojGAGAAAAbBDMAAAAgA2CGQAAALBBMAMAAAA2GnQwz5gxQz179lRoaKhuvvlmn9f27t2rAQMGKCoqSi1bttTkyZNtP2vbtm1KTU1VeHi4EhMT9corr9TlrgMAAMAlGnQwv/vuu1q4cKFGjx5dKZgHDRqk1NRUFRcXKz8/X4mJiZozZ47lZ/Xt21fDhg1TSUmJVqxYoWbNmnnvXwoAAICGq0EH81FpaWk+wVxaWqrQ0FCtXr3a+1xGRobPPUmPt2nTJoWEhGjnzp3e58aMGeNz/1QAAAA0TAEZzLm5uQoODlZFRYX3uSVLligmJqbK9y9YsKDS18++9tpr6t69e53sLwAAANwjIIN56dKlatasmc86ubm5CgkJqfL9r7/+ui644AKf5xYsWKBOnTpZbjM9PV1BQUHexTAMn8csLCwsLCwsLG5aDCMgsvCUBMSRqY0zzO3bt/d5rqZnmIOCgmq41wAAAM6hVawFZDAfvYb5u+++8z43ffp09enTp8r3H72G+fivkX3ggQc0cODAau8DQwgAANyMVrHWoIP58OHDKisr02OPPaabbrpJZWVlOnTokCRp4MCBuv7667Vnzx5t2LBBSUlJtnfJ6NOnj4YPH67S0lKtXLlSMTExNbpLBkMIAADcjFax1qCDOS0tTYZh+CzJycmSzPsw33HHHYqMjFSLFi00adIkn/d26dJFc+fO9T7++eeflZKSovDwcCUkJNT4PswMIQAAcDNaxVqDDmY3YQgBAICb0SrWCGaHMIQAAMDNaBVrBLNDGEIAAOBmtIo1gtkhDCEAAHAzWsUawewQhhAAALgZrWKNYHYIQwgAANyMVrFGMDuEIQQAAG5Gq1gjmB3CEAIAADejVawRzA5hCAEAgJvRKtYIZocwhAAAwM1oFWsEs0MYQgAA4Ga0ijWC2SEMIQAAcDNaxRrB7BCGEAAAuBmtYo1gdghDCAAA3IxWsUYwO4QhBAAAbkarWCOYHcIQAgAAN6NVrBHMDmEIAQCAm9Eq1ghmhzCEAADAzWgVawSzQxhCAADgZrSKNYLZIQwhAABwM1rFWsAGc0REhM/SqFEjnX/++ZbrJycnKzQ01Oc9Bw8erPb2GEIAAOBmtIq1gA3mE51//vmaMmWK5evJycmaMWPGKX8+QwgAANyMVrFGMEtauXKlQkJCtG3bNst1CGYAANCQ0SrWCGZJw4cPV//+/W3XSU5OVlxcnJo3b64ePXpo3rx5NdoGQwgAANyMVrEW8MFcWlqq6Ohovffee7brLV++XHv37lV5ebk++OADhYeHKycnx3L99PR0BQUFeRfDCPhDDQAAXIxgthbwFZeZmanWrVvr8OHDNXrf8OHDNXr06GqvzxACAAA3o1WsBXww9+7dWxMmTKjx++6//36NGjWq2uszhAAAwM1oFWsBHcx5eXkKCgpSfn6+7XrFxcXKzs7WgQMHdOTIEWVnZysiIkKffvpptbfFEAIAADejVawFdDA/8sgj6tu3b5WvpaSkeG8zV1RUpF69eikqKkrR0dHq3r273nrrrRptiyEEAABuRqtYC+hgdhJDCAAA3IxWsUYwO4QhBAAAbkarWCOYHcIQAgAAN6NVrBHMDmEIAQCAm9Eq1ghmhzCEAADAzWgVawSzQxhCAADgZrSKNYLZIQwhAABwM1rFGsHsEIYQAAC4Ga1ijWB2CEMIAADcjFaxRjA7hCEEAABuRqtYI5gdwhACAAA3o1WsEcwOYQgBAICb0SrWCGaHMIQAAMDNaBVrBLNDGEIAAOBmtIo1gtkhDCEAAHAzWsUawewQhhAAALgZrWKNYHYIQwgAANyMVrFGMDuEIQQAAG5Gq1gjmB3CEAIAADejVawRzA5hCAEAgJvRKtYCNpgHDx6sxo0bKyIiwrvk5+dbrr93714NGDBAUVFRatmypSZPnlyj7TGEAADAzWgVawEdzA8//HC11x80aJBSU1NVXFys/Px8JSYmas6cOdV+P0MIAADcjFaxRjBXQ2lpqUJDQ7V69WrvcxkZGerbt2+1t8cQAgAAN6NVrAV0MMfGxio2NlZdu3bVSy+9ZLlubm6ugoODVVFR4X1uyZIliomJqfb2GEIAAOBmtIq1gA3mVatWqaioSEeOHNHSpUvVqlUrZWVlVbnu0qVL1axZM5/ncnNzFRISYvn56enpCgoK8i6GEbCHGgAA1AMEszUq7n+eeuopXX/99VW+xhlmAADQ0NEq1gjm/5k6daquu+66Kl87eg3zd999531u+vTp6tOnT7U/nyEEAABuRqtYC9hgfvvtt7Vv3z55PB4tW7ZMrVu31qxZsyzXHzhwoK6//nrt2bNHGzZsUFJSEnfJAAAADQatYi1gg7lPnz5q1qyZIiMj1blzZ73wwgs+r6ekpGjKlCnex3v37tUdd9yhyMhItWjRQpMmTarR9hhCAADgZrSKtYANZqcxhAAAwM1oFWsEs0MYQgAA4Ga0ijWC2SEMIQAAcDNaxRrB7BCGEAAAuBmtYo1gdghDCAAA3IxWsUYwO4QhBAAAbkarWCOYHcIQAgAAN6NVrBHMDmEIAQCAm9Eq1ghmhzCEAADAzWgVawSzQxhCAADgZrSKNYLZIQwhAABwM1rFGsHsEIYQAAC4Ga1ijWB2CEMIAADcjFaxRjA7hCEEAABuRqtYI5gdwhACAAA3o1WsEcwOYQgBAICb0SrWCGaHMIQAAMDNaBVrBLNDGEIAAOBmtIo1gtkhDCEAAHAzWsUawewQhhAAALgZrWKNYHYIQwgAANyMVrEWsMF88OBBDRs2TO3bt1dkZKTOOecczZ4923L95ORkhYaGKiIiwrscPHiw2ttjCAEAgJvRKtYCNphLSkr0+OOPa9OmTfJ4PFq+fLliYmL06aefVrl+cnKyZsyYccrbYwgBAICb0SrWAjaYq3LTTTcpPT29ytcIZgAA0JDRKtYI5v8pKytT27ZtNX/+/CpfT05OVlxcnJo3b64ePXpo3rx5Nfp8hhAAALgZrWKNYJbk8Xh01113qV+/fqqoqKhyneXLl2vv3r0qLy/XBx98oPDwcOXk5Fh+Znp6uoKCgryLYXCoAQCAexHM1hytuH379mnSpEm64YYbdPnll/ss/uLxeDRixAhddNFF2rNnT7XfN3z4cI0ePbra6zOEANCAHTwoff+9tHCh9Nxz0l/+Ik2YII0eLd1/v/Tww9LTT0uzZ0uLFkn5+ZLFCRrAX2gVa44G8+9//3tddNFFeuaZZ/Tiiy/6LP7g8Xg0cuRIXXjhhdq9e3eN3nv//fdr1KhR1V6fIQSABmbtWunxx6XLLpOaNJEMo2ZLRIT029+aYf3ll9KRI/7+iRDgaBVrjgZzs2bNtG/fPic3aWvUqFHq1q2bdu3aZbtecXGxsrOzdeDAAR05ckTZ2dmKiIiwvKNGVRhCAGgAPB4pO1vq2dM3fuPjpWuukcaMkaZPN88kv/229OGH0kcfSfPmSTNnSpMmSSNHSn37StHRvp8RFyeNGiX99JO/f0oEKFrFmqPBfN5552nnzp1ObtLS1q1bZRiGmjRp4nNv5REjRkiSUlJSNGXKFElSUVGRevXqpaioKEVHR6t79+566623arQ9hhAA6rniYql//2OB262bNG2a9MMPZkjXVEWFtHGj9OKLUkqKFBpqfm6TJlJGBpdswHG0ijVHg/nVV1/VFVdcocWLF2vdunU+S0PHEAJAPbZjh3T22WbQnn229P77pxbJdnbvNi/xaNrU3M7NN0uHDtXuNgAbtIo1R4P5+LtGHL8EBwc7uRt+wRACQD32hz+YEfu730n799ftttaulc46y9zerbfWfpgDFmgVa9zrzCEMIQDUU9u3m/GalCSVlDizzR07pE6dzO2+/roz20TAo1Ws+SWYCwsL9c0332jHjh3+2LxfMIQAUE99/fWxSySc9MUX5nZ79XJ2uwhYtIo1R4N5586duuaaaxQUFKTIyEgFBwfr2muvVVFRkZO74RcMIQDUUx98YIbrmDHObtfjMe+kERPj7HYRsGgVa44G8x133KG77rrLG8hFRUUaOHCgbrvtNid3wy8YQgCop/7+dzOYn3zS2e0WF0shIVJCgrPbRcCiVaw5GswtW7ZUaWmpz3MlJSVq0aKFk7vhFwwhANRTkyaZwTx7trPbTU83t/u/250CdY1WseZoMCclJWnbtm0+z/38889KCIC/PTOEAFBP3X+/Ga4ffujcNrduNW8v17Sp+WfAAbSKNUeD+dFHH1X37t21cOFC5ebmasGCBerRo4cmTJjg5G74BUMIAPXUjTeawbxqlTPbO3JEuvpqc5vp6c5sExCtYsfRYD58+LAmTZqks846S2FhYTrrrLM0adIklZeXO7kbfsEQAkA9dcklZrxu3+7M9o5eAnL++dKBA85sExCtYof7MDuEIQSAeqp9eykoSDp8uO639emn5rYiI6X8/LrfHnAcWsVanQdzXl6e988nfh02X40NAHC1igqpSROpZcu639YHH0gREebZ5bffrvvtASegVazVeTBHRkZ6/3z0a7D5amwAQL1QUGAGbO/edbeNQ4ek8ePN7RiGNG1a3W0LsEGrWOOSDIcwhABQD334oRmxw4bVzecXFEgXX2xuIzbWPMsM+AmtYs3RYH7ggQeqfP7BBx90cjf8giEEgHooLc2M2RkzavdzDx0yP7NZM/Pzf/tb6b//rd1tADVEq1hzNJijoqKqfL558+ZO7oZfMIQAUA8dvUPGf/5TO593+LD0+uvSmWeanxsUJD36qBQAd4uC+9Eq1hwJ5g8//FAffvihwsPDlZ2d7X384Ycf6rnnnlOHDh2c2A2/YggBoJ7ZsMGM2rPOkjye0/usI0d8Q9kwpOuuk9asqZ19BWoBrWLNkWBu37692rdvr+DgYO+f27dvr44dO+rSSy/VokWLnNgNv2IIAaCeGT3aDNsnnzy9z/nXv6QLLjgWytdeK331Ve3sI1CLaBVrjl6SMWDAACc35yoMIQDUI+vXS6GhUnS0tHv3qX3GihXSFVccC+XLLpOWLavd/QRqEa1ijbtkOIQhBIB64tAh85fwTvUWb2vXSr///bFQ7txZev/907+sA6hjtIq1Og/m5ORk758vuugi9erVq8rFH8rLyzV69GjFxsYqNjZWY8aM0WGLb3Lau3evBgwYoKioKLVs2VKTJ0+u0bYYQgCoBzwe6Z57zNDt1atm3+63ebN0993mL/IZhtSunZSVZV6/DNQDtIq1Og/m//u///P+OSsry3LxhyeeeEI9evRQYWGhtm/frgsuuECTJk2qct1BgwYpNTVVxcXFys/PV2JioubMmVPtbTGEAOByFRXS2LFm7CYkSNu2Ve9927dLo0ZJjRub723Vyrxl3MGDdbu/QC2jVawF9CUZCQkJWrhwoffx/PnzlZSUVGm90tJShYaGavXq1d7nMjIy1Ldv32pviyEEABfbtUu68UYzeFu2rN7dK3bvliZMkMLCzPc1ayZNmSKVlNT9/gJ1gFax5mgwz549W2vXrpUkrVmzRj169FCvXr28zzlp9+7dMgxDBQUF3ue2bNkiwzC0Z88en3Vzc3MVHBysiooK73NLlixRTExMtbfHEAKokfJy7s3rhMOHpdmzpTZtzOg980zzdnJ2SkrMMD76pSNhYea9lE/1lwMBl6BVrDkazB06dFBRUZEkKSUlRY888ogmTZqkfv36ObkbkqQff/xRhmGouLjY+9zRiP7pp5981l26dKmaNWvm81xubq5CQkIsPz89PV1BQUHexTAC+mQ+gJrIyZEiIqSQEKlTJ/M2ZKNHS3/9q7RokXkHB/65//Rs3Woez3PPPfbLeffeK+3fb/2ekhLzlwBbtjTXb9TIvBRj+3bn9huoQwSzNb98019ZWZmio6N18OBBHTlyRLGxsU7uhqRjcbx161bvc5xhBuAKu3dLsbFS27bHYu7EJSjI/KWyK680f9GsXz/prbek1aulE/4bBkn79kmffmp+1XXPnr7H8qqrpK+/tn5vSYn0//6f1KKFuX5wsDRwoPlLfkADQqtYczSYk5KStGHDBi1YsMB7VrmsrKzS2VunJCQk6L333vM+fvfdd5WYmFhpvaPXMH/33Xfe56ZPn64+ffpUe1sMIYAaOXp3hgMHpHXrzNuSTZ8ujRwpXX211KGDGW5WQR0bK3Xvbp6dHjRIeuQRKSPD/La5Dz6QPv9cys2VNm2Sdu40b6VW3+3bJ+Xnmz/bW2+Zl03cfbfUrVvlY3XOOdLEidK331p/3v790jPPSPHxvqGcn+/czwQ4iFax5mgwT5s2TeHh4QoPD9e8efMkSZ9++qkuueQSJ3fD6/HHH1fPnj1VWFiowsJCXXjhhZZ3yRg4cKCuv/567dmzRxs2bFBSUhJ3yQDgX4cOmfH2/vtS//7mJQW/+5103nnmJR1WMW21NGlinkXt1Mn8jJ49zfsRX365lJJi3lv4ttvMaBw2zLxM5KGHzBifMEH605+kP/9ZeuIJKT1d+stfzGidOtU8Q5uRYV4G8dxz5v999lnzLwEZGeYybZq53jPPmO95+mlzeeop83OefFKaPNnc3n33SbfcYn4ZSKdOJ/9527WTBgww716xbp39cd2/39z+0VAOCZEGDz75tc1APUerWHP8wtr8/HxtPu6fsfLz8/3yS3+SeR/mUaNGKSYmRjExMRo9erT3PswpKSmaMmWKd929e/fqjjvuUGRkpFq0aGEZ1lYYQgCO8nikX3+VfvjBvCb6H/+Qnn/eDNqxY6UhQ6Q//MG8pKNXL/OMa5s2Unh4zUPbDUtcnBn5V11lBv0f/yi99JK0ZIlUWFi9Y7ZvnxnocXHHQnnIEGnjxjr9fxXgFrSKNceDuaKiQsuXL9e8efO0fPlyn+uCGzKGEEC9cfiweZZ11y7zXsQFBVJenvSf/5jX+n7xhfTZZ9KHH0oLFkjz50tvv21eBjF3rnnZR1aWefeJV1+VXn5Z+tvfzLO7zz9/7Czz889LL7xgPv/ii2bg/u1v0syZ5vLyy9Lf/y698or5ObNmSa+9Js2bJ33yibkvP/54+peT7N1rnsFu3vxYKA8dal6uAgQQWsWao8G8ZcsWdenSRTExMTrvvPMUGxurLl26+JxxbqgYQgBwme3bzV8CPD6U77mHUEbAolWsORrMqampmjBhgsr/d2/Rw4cP69FHH1VKSoqTu+EXDCEAuIDHI/373+a12I0aHbs93L33ctcLBDxaxZqjwRwXF+eN5aMOHjyo5s2bO7kbfsEQAoAf/fij+cuEXbseu+45Pt78wpHjbi8KBDJaxZqjwdypUyetX7/e57kffvhBHTt2dHI3/IIhBACHFReb1z3362fet/poKP/mN9KcOVJZmb/3EHAVWsWao8GckZGhpKQkPfvss1qwYIGeffZZtW/fXtOmTXNyN/yCIQQAB5SUmL98eMMNUmio723l/vQn6fvv/b2HgGvRKtYcv0vGnDlzdPXVV6tz5866+uqra3Qv4/qMIQSAOnLwoHkv6gEDfG+LFxcnjRghLV0qBcgdmYDTQatYczyYAxVDCAC1qKLCvLXdvfdKMTHHIjky0rwPc3a2dMLvzACwR6tYczyYX3/9dV199dXq0qULZ5gBADVz8KB5XfI55/h+Q+HNN5v3gz5wwN97CNRbtIo1R4M5LS1NiYmJysjI0Pz58zVt2jS1a9dOaWlpTu6GXzCEAHAajhwxv8CkTZtjodyvn/nLe3v3+nvvgAaBVrHmaDC3adNGeXl5Ps/l5eWpdevWTu6GXzCEAHCKVq2SLrzQjOSgIOmWW8xv+QNQq2gVa44H88GDB32eKysrU5s2bZzcDb9gCAHgFDz/vNS4sRnLvXub8QygTtAq1hwN5hdeeEHDhg1TcXGxJKm4uFjDhw/XjBkznNwNv2AIAaAGPB7pz38+do3ySy+ZzwGoM7SKNUeDOT4+Xo0aNVJwcLCio6MVHBysRo0aqUWLFj5LQ8QQAkA1eTzShAlmLMfESCtX+nuPgIBAq1hzNJg///zzai0NEUMIANU0daoZy82bS7m5/t4bIGDQKtZcdx/mP/zhD/7ehTrBEAJANXzzjdSokfkFJN995++9AQIKrWLNdcEcFRXl712oEwwhAJzEgQPH7q/897/7e2+AgEOrWHNdMEdGRvp7F+oEQwgAJ3H0Uozrr+cX/AA/oFWsuS6YOcMMAAFo/34pNta8HGPjRn/vDRCQaBVrBLNDGEIAsPHqq+bZ5YED/b0nQMCiVay5Lpi5JAMAAlDv3mYwf/WVv/cECFi0ijVHg/k3v/mNZs6c6f3ikqqkpqbW+X5kZWWpV69eio6OVuvWrXXPPffY7lNmZqaCg4MVERHhXWbNmlWjbTKEAGBh1y4pOFhKSODaZcCPaBVrjhO7rMkAACAASURBVAbzq6++qj59+ig8PFy33367Pv74Y3n88B/Hl156STk5OSorK9Ovv/6q1NRU3X333ZbrZ2ZmqmfPnqe1TYYQACy88455dvm++/y9J0BAo1Ws+eWSjE2bNunxxx9Xhw4d1LZtW02cOFH5+fn+2BVJ0vvvv6/27dtbvk4wA0AdGjfODOa5c/29J0BAo1Ws+fUa5mXLlql79+7eyx2uuOIKrVmzxvH9eOihh9S/f3/L1zMzMxUWFqb4+Hh17NhR48aN0/79+2u0DYYQACxceqkZzJs2+XtPgIBGq1hzPJh//PFHTZkyReecc46SkpL02GOPafPmzSopKdGTTz6pTp06ndbnl5eXq6yszHI58RKQ7OxsRUdH24b65s2btWnTJlVUVGjjxo3q3bu3hgwZYrsf6enpCgoK8i6G4brfrwQA//N4pJgYKSKC65cBPyOYrTlacVdccYXCw8N122236aOPPqoUrx6P57TvknH77bfLMAzLpaCgwLvu4sWL1bx5c3322Wc12sayZcsUGRlZo+uvGUIAqEJRkXl2+cIL/b0nQMCjVaw5GszPP/+8fv31V9t1KioqHNmXJUuWKDY2Vh9//HGN37tixQqCGQBqw4oVZjDfcou/9wQIeLSKtYC8TiAnJ0cxMTH65z//Wa31s7OztX37dklSQUGB+vTpY3tXjaowhABQhX/+0wzmUaP8vSdAwKNVrAVkMPfr16/SfZUjIiK8r8+dO1ddunTxPh4/frxatWqlsLAwJSYmauzYsdq3b1+NtskQAkAV5swxg/nxx/29J0DAo1WsBWQw+wNDCABVePZZM5ife87fewIEPFrFGsHsEIYQAKowebIZzLNn+3tPgIBHq1gjmB3CEAJAFR57jC8tAVyCVrFGMDuEIQSAKowfbwbzvHn+3hMg4NEq1ghmhzCEAFCFBx4wg/mDD/y9J0DAo1WsEcwOYQgBoArDh5vB/K9/+XtPgIBHq1gjmB3CEAJAFYYNM4P5k0/8vSdAwKNVrBHMDmEIAaAKY8eawfzee/7eEyDg0SrWCGaHMIQAUIWnnzaD+amn/L0nQMCjVawRzA5hCAGgCj/8YAZzhw7S4cP+3hsgoNEq1ghmhzCEAGAhJcWM5jff9PeeAAGNVrFGMDuEIQQAC59/bgZzq1bSzp3+3hsgYNEq1ghmhzCEAGDj6O3lbr5Z8nj8vTdAQKJVrBHMDmEIAcDG/v1Sx45mND/4INEM+AGtYo1gdghDCAAnsW6d1KKFGc0PPyxVVPh7j4CAQqtYI5gdwhACQDWsXSvFx5vR3K+ftGmTv/cICBi0ijWC2SEMIQBU07p1UvfuZjSHhUkTJ0q7dvl7r07N4cPSL7+Yt8/74gvzC1pmz5aee06aMkV67DFp3DjzGu677pJuuklKTZWuvFLq21e65BKpRw/pvPOks8+W2reXzjjD/EtFdLTUtKnUpIm5NG1qLmFh5hIeLrVsab7/97+XHnhAysyU8vO55AVVolWsEcwOYQgBoAbKy6UnnzRD8Gg4Dx0qLV/urtg7fNgM0Pffl/7f/5NGj5ZuuEG68MJjZ8prewkNlSIjpebNzTuLtGkjtW5tLq1amUvLluZy9PiduMTHm8fz00+lI0f8fRThErSKNYLZIQwhAJyCn382z4xGRh6LvcRE87lPPjF/WdApv/4qLVsmzZxpnhHu1cs8o2sVtk2bml/I0quXea/pu+4yvwp80iTpr3+VXnlF+r//kxYuNH+Wr76SVq+W1q+XNm+WfvrJPDtdXCyVlJh/iajpXxY8HqmoSFq1Spo3T3rkEal3bzO6j+5n27ZSVhbXjINWsUEwO4QhBIDTsH+/GZiXXSYFBR2LvZAQM0jvu0+aNs0807t+vXToUM23ceiQVFAgffml9I9/mF/XPXiwdOmlUlxc1VHcvLl5rfXIkeZlFu+/L+XmmveTdtOZ8BPt2ye9/vqxL40xDOl3vzPDHAGLVrEWkMGck5MjwzAUERHhXZ544gnb97z88stKTExUeHi4rrvuOm3fvr1G22QIAaCW/PKL9Oqr0u23m9fzVhWywcFSp07S1VdLt90mDRtmXi5x331mBA8YIF1/vXTxxdKZZ0qxsfaXQYSFSd26SbfcIqWlmdci//e/7o7i6lqxQjr3XPPnvOmmhvEz4ZTQKtYCNpjj4uKqvf7ixYsVExOjFStWqKSkREOHDtXll19eo20yhABQBzweacsW6cMPzcscRo6UrrpKSkqq2XXB0dFmYPftK915p/THP0ovvmhe4/vjjw3/coXdu6WzzjKPRU6Ov/cGfkKrWCOYq+Huu+/Wgw8+6H38yy+/KCQkRJs3b672ZzCEAOCw0lIpL0/6+mszfP/5T/P//vvf5i8Pfv+9VFh4apdvNEQzZ5rB/Nhj/t4T+AmtYi1ggzkkJEStW7dWYmKihgwZoqKiIsv1u3XrpszMTJ/nkpKS9N5771V7mwwhAMDVnnrKDOapU/29J/ATWsVagwvm8vJylZWVWS4ej0eFhYVau3atKioqtG3bNt14443q16+f5Wd27NhRCxcu9HmuW7dueuONNyzfk56erqCgIO9iGA3uUAMAGor//tf8lsWgIPPMOwISwWytwVXc7bffLsMwLJeCgoJK79m+fbsMw9DOnTur/Mxu3bopKyvL5znOMAMAGoT8fKlzZ/Ps8gMP+Htv4Ee0irUGF8ynYseOHTIMw/KyjLvvvlvjxo3zPi4qKuIaZgBA/XbokPTCC1JExLHbyh0+7O+9gh/RKtYCMpiXLFmigoICeTwe/fLLL7r55pt12WWXWa6/ePFixcbG6uuvv1Zpaanuvfde7pIBAKifSkvNM8nH38v6L3/hG/9Aq9gIyGCePn26EhISFB4erjPOOEODBw9WYWGh9/W5c+eqS5cuPu+ZOXOm2rZtq/DwcKWmpnIfZgBA/bF/v3T55VXfX/o///H33sElaBVrARnM/sAQAgD8ZujQyrH8+9+bXz0O/A+tYo1gdghDCADwm2XLzG/zGzXK/KZEoAq0ijWC2SEMIQAAcDNaxRrB7BCGEAAAuBmtYo1gdghDCAAA3IxWsUYwO4QhBAAAbkarWCOYHcIQAgAAN6NVrBHMDmEIAQCAm9Eq1ghmhzCEAADAzWgVawSzQxhCAADgZrSKNYLZIQwhAABwM1rFGsHsEIYQAAC4Ga1ijWB2CEMIAADcjFaxRjA7hCEEAABuRqtYI5gdwhACAAA3o1WsEcwOYQgBAICb0SrWCGaHMIQAAMDNaBVrBLNDGEIAAOBmtIo1gtkhDCEAAHAzWsUawewQhhAAALgZrWKNYHYIQwgAANyMVrEWkME8YsQIRUREeJewsDAZhqFVq1ZVuX5mZqaCg4N93jNr1qwabZMhBAAAbkarWAvIYD5RRkaGzjrrLMvXMzMz1bNnz9PaBkMIAADcjFaxRjBL6tKli6ZOnWr5OsEMAAAaOlrFWsAH87Jly9SoUSMVFhZarpOZmamwsDDFx8erY8eOGjdunPbv31+j7TCEAADAzWgVaw0umMvLy1VWVma5eDwen/Xvuece3XjjjbafuXnzZm3atEkVFRXauHGjevfurSFDhti+Jz09XUFBQd7FMBrcoQYAAA0IwWytwVXc7bffLsMwLJeCggLvuvv371dkZKQWLVpUo20sW7ZMkZGRleLbDkMIAADcjFax1uCCuSZeffVVnXHGGTpy5EiN3rdixQqCGQAANCi0irWADuZLLrlEEydOPOl62dnZ2r59uySpoKBAffr00d13312jbTGEAADAzWgVawEbzOvWrVNQUJA2b95c6bW5c+eqS5cu3sfjx49Xq1atFBYWpsTERI0dO1b79u2r0fYYQgAA4Ga0irWADWanMYQAAMDNaBVrBLNDGEIAAOBmtIo1gtkhDCEAAHAzWsUawewQhhAAALgZrWKNYHYIQwgAANyMVrFGMDuEIQQAAG5Gq1gjmB3CEAIAADejVawRzA5hCAEAgJvRKtYIZocwhAAAwM1oFWsEs0MYQgAA4Ga0ijWC2SEMIQAAcDNaxRrB7BCGEAAAuBmtYo1gdghDCAAA3IxWsUYwO4QhBAAAbkarWCOYHcIQAgAAN6NVrBHMDmEIAQCAm9Eq1ghmhzCEAADAzWgVawSzQxhCAADgZrSKNYLZIQwhAABwM1rFGsHsEIYQAAC4Ga1irUEG89q1a3XNNdcoLi5OhmFo//79ldZ5+eWXlZiYqPDwcF133XXavn277Wemp6erZcuWioqK0p133lnlZ9phCAEAgJvRKtYaZDDn5eVp1qxZWrRoUZXBvHjxYsXExGjFihUqKSnR0KFDdfnll1t+3muvvaZ27dppw4YNKi4u1rXXXquhQ4fWaJ8YQgAA4Ga0irUGGcxHFRQUVBnMd999tx588EHv419++UUhISHavHlzlZ9z2WWX6a9//av38bfffqsmTZrowIED1d4XhhAAALgZrWItIIO5W7duyszM9HkuKSlJ7733XpWfEx0drZycHO/jI0eOKDg4WN99912194UhBAAAbkarWKt3wVxeXq6ysjLLxePxeNe1CuaOHTtq4cKFPs9169ZNb7zxRpXbDA4O1urVq32ei46O1hdffGG5n+np6QoKCvIuhmH4PGbhmHBMOC4cE44Lx4Rj4qbFMOpdFjqm3h2Z22+/XYZhWC4FBQXede3OMGdlZfk8d7IzzJ9//rn3cUVFBWeYawHHpDKOSdU4LpVxTKrGcamMY1IZx6RqHBdr9S6Ya8LuGuZx48Z5HxcVFZ30GubnnnvO+3jVqlVcw1wLOCaVcUyqxnGpjGNSNY5LZRyTyjgmVeO4WGuQwezxeFRWVqa8vDwZhqFdu3b5XK6xePFixcbG6uuvv1Zpaanuvfde27tkzJ49W+3bt9fGjRu1Z88epaamcpeMWsAxqYxjUjWOS2Uck6pxXCrjmFTGMakax8Vagwzmo2eW7S7XmDlzptq2bavw8HClpqb63Id5ypQpSklJ8fnM9PR0tWjRQpGRkRowYID27dtXo31KT08/rZ+pIeKYVMYxqRrHpTKOSdU4LpVxTCrjmFSN42KtQQYzAAAAUFsIZgAAAMAGwQwAAADYIJgBAAAAGwQzAAAAYINgrgVr167VNddco7i4uCrv+yxJL7/8shITExUeHq7rrrvO564cVUlPT1fLli0VFRWlO++8s8rPrE9GjBihiIgI7xIWFibDMLRq1aoq18/MzFRwcLDPe2bNmuXwXte9nJwcGYbh83M+8cQTtu+p6SzVN1lZWerVq5eio6PVunVr3XPPPSouLrZcv6HOSnl5uUaPHq3Y2FjFxsZqzJgxOnz4cJXr7t27VwMGDFBUVJRatmypyZMnO7y3zjh48KCGDRum9u3bKzIyUuecc45mz55tuX5ycrJCQ0N9ZuPgwYMO7nHdGzx4sBo3buzzM+bn51uuHwizcvyxiIiIUKNGjXT++edbrt9Q52TGjBnq2bOnQkNDdfPNN/u8VtM52LZtm1JTUxUeHq7ExES98sordbnrrkQw14K8vDzNmjVLixYtqjKYFy9erJiYGK1YsUIlJSUaOnSo7X2fX3vtNbVr104bNmxQcXGxrr322hrf99ntMjIydNZZZ1m+npmZqZ49ezq4R/6Rk5OjuLi4aq9f01mqj1566SXl5OSorKxMv/76q1JTU3X33Xdbrt9QZ+WJJ55Qjx49VFhYqO3bt+uCCy7QpEmTqlx30KBBSk1NVXFxsfLz85WYmKg5c+Y4vMd1r6SkRI8//rg2bdokj8ej5cuXKyYmRp9++mmV6ycnJ2vGjBkO76WzBg8erIcffrja6wfKrBzv/PPP15QpUyxfb6hz8u6772rhwoUaPXp0pWCu6Rz07dtXw4YNU0lJiVasWKFmzZr5fANyICCYa5HdNws++OCD3se//PLLSb9Z8K9//av38bffflvjbxZ0uy5dumjq1KmWrzfUCDpRTYO5prPUELz//vtq37695esNdVYSEhK0cOFC7+P58+crKSmp0nqlpaUKDQ3V6tWrvc9lZGSob9++juynv910002W945tqCF0vJoEcyDOysqVKxUSEqJt27ZZrtPQ5yQtLc0nmGs6B5s2bVJISIh27tzpfW7MmDEaNGhQ3e20CxHMtcgqmLt166bMzEyf55KSkvTee+9V+TnR0dHKycnxPj5y5IiCg4P13Xff1fYu+8WyZcvUqFEjFRYWWq6TmZmpsLAwxcfHq2PHjho3bly9vyylKjk5OQoJCVHr1q2VmJioIUOGqKioyHL9ms5SQ/DQQw+pf//+lq83xFnZvXt3pS9b2rJliwzD0J49e3zWzc3NVXBwsCoqKrzPLVmyRDExMU7trt+UlZWpbdu2mj9/fpWvJycnKy4uTs2bN1ePHj00b948h/ew7g0ePNh72U7Xrl310ksvWa4biLMyfPhw2/9+SA1/Tk4M5prOwYIFC9SuXTuf51577TV17969TvbXrQjmkygvL1dZWZnlcvTrtiXrYO7YsaPPmSLJDJ833nijym0GBwf7/M1PMiP6iy++qKWfqnbV5BhJ0j333KMbb7zR9jM3b96sTZs2qaKiQhs3blTv3r01ZMiQuvwxal11jkthYaHWrl2riooKbdu2TTfeeKP69etn+Zk1nSW3qemsZGdnKzo6WmvWrLH8zIYwKyf68ccfZRiGz7XbRyP6p59+8ll36dKlatasmc9zubm5CgkJcWRf/cXj8eiuu+5Sv379fP6H/3jLly/X3r17VV5erg8++EDh4eE+JyMaglWrVqmoqEhHjhzR0qVL1apVK2VlZVW5bqDNSmlpqaKjo096QqGhz8mJwVzTOXj99dd1wQUX+Dy3YMECderUqfZ31sUI5pO4/fbbq/ya7aq+btvuDPOJ/wE72Rnm468NqqiocPUZ5poco/379ysyMlKLFi2q0TaWLVumyMjISkHlZjU5Lkdt375dhmH4/NPX8Wo6S25Tk2OyePFiNW/eXJ999lmNtlEfZ+VER+N469at3uc4w3yMx+PRiBEjdNFFF1U6HnaGDx+u0aNH1+Ge+d9TTz2l66+/vsrXAm1WMjMz1bp1a8tflrXS0OakNs4wn3hZHGeYcVrsrmEeN26c93FRUdFJr2F+7rnnvI9XrVrVYK5hfvXVV3XGGWfoyJEjNXrfihUr6n0EVceOHTtkGIblZRk1naX6asmSJYqNjdXHH39c4/c2lFlJSEjw+YvQu+++q8TExErrHb0e8fi/UE+fPl19+vRxZD+d5vF4NHLkSF144YXavXt3jd57//33a9SoUXW0Z+4wdepUXXfddVW+Fmiz0rt3b02YMKHG72toc2J1DXN15+DoNcy7du3yPvfAAw9o4MCBdbfTLkQw1wKPx6OysjLl5eXJMAzt2rXL55+XFy9erNjYWH399dcqLS3Vvffea3tng9mzZ6t9+/bauHGj9uzZo9TU1AZzl4xLLrlEEydOPOl62dnZ3tulFRQUqE+fPrZ3SqivlixZooKCAnk8Hv3yyy+6+eabddlll1muX9NZqo9ycnIUExOjf/7zn9Vav6HOyuOPP66ePXuqsLBQhYWFuvDCCy3vkjFw4EBdf/312rNnjzZs2KCkpKQGe+eDUaNGqVu3bj7/412V4uJiZWdn68CBAzpy5Iiys7MVERFheUeN+urtt9/Wvn375PF4tGzZMrVu3dr2toqBMit5eXkKCgqyvcWe1LDn5PDhwyorK9Njjz2mm266SWVlZTp06JCkms9Bnz59NHz4cJWWlmrlypWKiYnhLhmouaNnlu3+eXnmzJlq27atwsPDlZqa6nPv3ClTpiglJcXnM9PT09WiRQtFRkZqwIAB2rdvn1M/Tp1Zt26dgoKCqjwbOnfuXHXp0sX7ePz48WrVqpXCwsKUmJiosWPHNohjcKLp06crISFB4eHhOuOMMzR48GCfX4Y88bhI9rPUEPTr16/SfZUjIiK8rwfKrJSXl2vUqFGKiYlRTEyMRo8e7f2n5ZSUFJ/bZO3du1d33HGHIiMj1aJFC8uwru+2bt0qwzDUpEkTn9kYMWKEJN/jUlRUpF69eikqKkrR0dHq3r273nrrLX/ufp3o06ePmjVrpsjISHXu3FkvvPCCz+uBOiuPPPKI5V0fAmVO0tLSKnVJcnKypJPPQZcuXTR37lzv459//lkpKSkKDw9XQkIC92EGAAAA4ItgBgAAAGwQzAAAAIANghkAAACwQTADAAAANghmAAAAwAbBDAAAANggmAEAAAAbBDMANABz58496VccR0RE6IcffnBojwCg4SCYAaABateunRYtWuTv3QCABoFgBoAGiGAGgNpDMAPAKdq6datiY2P16aefSpLKysp03nnn6ZlnnrF8T05OjuLi4vT888+rdevWatWqlZ544gl5PB5JksfjUUZGhjp27KjY2Fhde+212rx5s/f906ZNU2JioiIjI9WuXTu9+uqrkqTMzEz17NlTknTHHXcoKChITZs2VUREhEaPHi1JMgxDa9eulSSVl5fr0UcfVWJiouLj43XbbbepqKjIux3DMPTKK6+oa9euioqK0u9+9zvt2bOnFo8eANQfBDMAnIa3335bbdq00c6dOzVq1ChdddVV3vitSk5OjkJCQnTPPfeotLRU69evV0JCgrKysiRJc+bMUUJCgr7//nsdPHhQf/zjH9W5c2cdPnxYeXl5CgsL0/r16yVJO3bs0H/+8x9JvsEsVX2G+fhgnjRpkrp166Yff/xR+/fv15133qmrr77aZ91+/fppx44d2rNnj3r27Km0tLRaOWYAUN8QzABwmu655x6df/75atGihbZv3267bk5OjgzD0K5du7zPTZs2TVdeeaUk6aqrrlJGRob3tUOHDqlZs2b66quvtGnTJjVt2lTz58/XgQMHfD63psF85plnav78+d7XfvnlFxmGoW3btnnX/eSTT7yvT506Vf3796/W8QCAhoZgBoDTtGrVKhmGofHjx5903ZycHEVGRvo8N2/ePJ177rmSpHPPPdcnZCWpa9euevvttyWZZ7STk5MVFRWla6655pTPMDdt2lTffvutz+sRERFauXJlpXUlacaMGUpOTj7pzwcADRHBDACn4dChQ+revbuGDh2q6OhorVmzxnb9o2eYf/31V+9zdmeYy8vLFRMTo6+++srncw4cOKDx48ere/fukioHc4cOHWp0hrmoqKjSGWaCGQBMBDMAnIZx48bp8ssvV0VFhZ599ll16dKl0uUSxzt6DfOwYcN04MAB5eXlKSkpSa+99pokKSsrS0lJSVq3bp0OHjyoRx99VOeee673GuZPPvlEBw4c0JEjR5Senu6N5BOD+ZJLLtGzzz7rs+3jIzg9PV3du3fXTz/9pJKSEg0cOFBXXXVVletKBDOAwEYwA8Ap+uijjxQfH6+ff/5ZknmHi5SUFN1///2W7znxLhktW7bUn//8Z1VUVHg/45lnnlGHDh0UExOja665Rhs3bpQkrVmzRhdffLGioqLUrFkz9e3b1/KSjA8++EDt27dXTEyMHnjgAUm+EXzo0CE98sgjatu2reLi4nTLLbdox44d3vcTzABwDMEMAA46GswAgPqDYAYABxHMAFD/EMwAUMtSUlIUERFRabnxxhsJZgCohwhmAAAAwAbBDAAAANggmAEAAAAbBDMAAABgg2AGAAAAbBDMAAAAgA2CGQAAALBBMAMAAAA2CGYAAADABsEMAAAA2CCYAQAAABsEMwAAAGCDYAYAAABsEMwAAACADYIZAAAAsEEwAwAAADYIZgAAAMAGwQwAAADYIJgBAAAAGwQzAAAAYINgBgAAAGwQzAAAAIANghkAAACwQTADAAAANghmAAAAwAbBDAAAANggmAEAAAAbBDMAAABgg2AGAAAAbBDMAAAAgA2CGQAAALBBMAMAAAA2CGYAAADABsEMAAAA2CCYAQAAABsEMwAAAGCDYAYAAABsEMwAAl5aWppatWrl792w9OOPP2r48OFq166dQkNDFRcXp4svvlgvvPCCv3cNAAICwQwg4Lk1mMvKynTo0CF16NBBl156qRYvXqytW7cqNzdXs2bNUnp6ur93sUbKysr8vQsAcEoIZgABzy6Yt27dqltvvVUJCQlq2rSpOnXqpIkTJ/rE3759+3TvvfeqdevWCg0NVevWrfWHP/zB53O++OILXXnllYqMjFTz5s2VkpKitWvXel8vKCiQYRjKysrSrbfeqqioKKWkpGjlypUyDEPLly8/6c+xZs0a3XDDDYqJiVHTpk3VtWtXvf32297XR4wYobPPPlthYWE644wzdOedd2rbtm0+n2EYhqZPn64RI0YoNjZW8fHxuvfee1VSUlIrPw8A1EcEM4CAZxfM33//vZ599lnl5uZqy5YteueddxQXF6dHH33Uu87YsWPVtWtXffnll/rvf/+rr7/+WhkZGd7Xv/jiCzVt2lRTpkzRDz/8oB9++EH333+/YmJiVFhYKOlYYLZs2VIzZ87Upk2blJeXp+3btyskJEQPPfSQSktLLX+G9evXKzIyUv3799eyZcu0ZcsWZWdna8GCBd51JkyYoK+++koFBQX6/PPP1bNnT/32t7+Vx+PxrmMYhpo3b66MjAxt2LBB7777rpo2baonnniiVn4eAKiPCGYAAa+ml2RMnTpViYmJ3sc33HCDBg8ebLn+FVdcoZEjR/o85/F41LFjR02ZMkXSscB8+OGHK71/9uzZiomJUePGjdWjRw+NHDlSH330kc86gwYNUqdOnVReXl7tn2PFihUyDEObN2/2PmcYRqWfZcCAAbr00ktr7ecBgPqGYAYQ8OyC+eDBg0pPT9cFF1yg+Ph4RUREqEmTJgoKCtLhw4clSZ988omioqLUtWtXjRkzRgsXLtShQ4e8n3H0PRERET5LcHCwBg0aJOlYYM6fP7/K/SgrK9Nnn32mp59+WikpKQoKPduZIwAAIABJREFUCtKtt97qPTvcpUsX3XfffbY/5xtvvKHevXurTZs2ioyMVHh4uAzD0OLFi73rGIZR6ZcJ//jHP6pDhw61+vMAQH1CMAMIeHbBPHbsWMXHxysrK0u5ubnauHGjJk+eLMMwfK5jLi4u1rx58zR27Fi1bdtW55xzjnbv3i1JCgsL08MPP6yNGzdWWnbs2CHpWGCeeObYSlZWlgzD0L///W9JUufOnW2DecGCBQoODtbkyZO1YsUK5efn61//+lelbRqGoZkzZ/q8d8KECWrXrp33cV38PADgZgQzgIBnF8znnXdepcsPBg0aVCmYj1dYWCjDMPTmm29KkpKTk3XllVfa7kNNA/Obb76RYRh65513vPt05plnWl6SMWbMGHXu3Nnnuddee+2Ugrkufh4AcDOCGUDAS0tLU1xcnFavXl1pueWWW9SuXTstXbpUGzZs0FNPPaXY2FifYP7Tn/6kefPmaf369dq8ebMmT56s4OBg5ebmSpK+/PJLhYaGasiQIVq5cqUKCgq0dOlSTZw4UTk5OZKsAzM3N1epqamaO3euVq9era1bt+pf//qXevbsqebNm2vnzp2SpB9++EERERG64YYbtHz58kq/9PfSSy+pcePGevPNN7Vlyxa99dZb6tSp0ykF8+n8PABQHxHMAAJeWlqaDMOocvn3v/+t/v37KzIyUrGxsRo6dKief/55n2CePHmyzj//fEVGRioyMlL/n717j46yvvM4PkO4hFwnREANyaRSi0DlYsTqakhse5SItktpt1huuy4FJFjdst2qHJrIrtZWtD1mtWddFbUWJHJRu0svbNWNPQW0RrsVC5QqFhEVSgImhFxmPvtHmpGB/IaZMPnNb2ber3N+Z83c8vDw3c47D0+eufjii/X000+HfY+XX35Z06dPl8/n05AhQ+T3+/W1r31Nu3fvlmQOzIMHD+qb3/ymJk+eHPbcf/iHfzjlqhOvvfaarrnmGuXm5mro0KH69Kc/HToC3dnZqZtuuklnnXWWhg4dqs997nP6+c9/3qdgPpM/DwAkI4IZAAAAiIBgBgAAACIgmAEAAIAICGYAAAAggpQN5uPHj2vBggUqLS1VTk6OxowZo0ceeSR0/5EjR3T99dcrNzdXI0aM0MqVKyO+3v79+1VVVaWsrCwVFxfroYce6u8/AgAAAByQssHc0tKiFStWaM+ePQoGg9q6dat8Pp+2bNkiqfuapVVVVWpqatKuXbtUXFysxx9/3Ph6U6dO1YIFC9TS0qJt27YpPz9fL774oq0/DgAAABIkZYO5NzNmzFBtba1aW1s1ePBgvfbaa6H7Vq1apalTp/b6vD179igjIyN0vVOp+0MAej4CFgAAAKkrbYK5ra1NRUVFWr9+vRobGzVgwAAFAoHQ/c8//7x8Pl+vz924ceMp1yB99NFHNWnSpP7cZAAAADggLYI5GAxq9uzZqqysVCAQUENDg/Lz88Me09jYqIyMjF6f/8QTT2jixIlht23cuFGjR482fs/a2lp5vd7Q8ng8YV+zWCwWi8ViubQ8nrTIwj5J+T0TDAa1aNEiXXzxxWpubpakPh1hLi0tDbst1iPMXq+3D1sPAABgB61iltLBHAwGdeONN2ry5Mk6fPhw6Paec5hff/310G333nuvysvLe32dnnOYDx06FLrtpptu0ty5c6PeFoYQAAC4jFYxS+lgXrJkiSZMmBAWuj3mzp2r6dOnq7m5Wbt371ZJSUnEq2SUl5dr4cKFam1t1fbt2+Xz+WK6SgZDCAAAXEarmKVsMO/du1cej0dDhgxRdnZ2aC1atEhS93WYZ82apZycHA0fPlx33HFH2PPHjRunJ598MvT1u+++q2nTpikrK0ujRo2K+TrMDCEAAHAZrWKWssHsGoYQAAC4jFYxI5gtYQgBAIDLaBUzgtkShhAAALiMVjEjmC1hCAEAgMtoFTOC2RKGEAAAuIxWMSOYLWEIAQCAy2gVM4LZEoYQAAC4jFYxI5gtYQgBAIDLaBUzgtkShhAAALiMVjEjmC1hCAEAgMtoFTOC2RKGEAAAuIxWMSOYLWEIAQCAy2gVM4LZEoYQAAC4jFYxI5gtYQgBAIDLaBUzgtkShhAAALiMVjEjmC1hCAEAgMtoFTOC2RKGEAAAuIxWMSOYLWEIAQCAy2gVM4LZEoYQAAC4jFYxI5gtYQgBAIDLaBWzlA7muro6lZWVafDgwZo5c2bo9nfeeUfZ2dlhKyMjQ9ddd53xtfx+vzIzM0OPP++882LaFoYQAAC4jFYxS+lg3rBhgzZt2qTq6uqwYD5Ze3u7zjrrLP3kJz8xPsbv9+unP/1pn7eFIQQAAC6jVcxSOph71NTURAzmdevWqaCgQG1tbcbHEMwAACCV0SpmBLOkq666SkuXLo34Gn6/XyNGjFBhYaEuv/xyPf/88zFtA0MIAABcRquYpX0w7927VwMGDNDrr78e8TUaGhrU2tqqtrY2Pfzww8rKytLOnTuNj6+trZXX6w0tjyctdjUAAEhSBLNZWlRcpGCuqalRWVlZzK951VVX6Z577on68QwhAABwGa1iltbBHAgEVFJSoh/96Ecxv+a0adP0/e9/P+rHM4QAAMBltIpZSgdzZ2en2tratHz5cs2YMUNtbW1qb28P3f/zn/9cWVlZam5ujvg677zzjhoaGtTe3q6Ojg499thjGjp0qHbs2BH1tjCEAADAZbSKWUoHc01NjTweT9iqqKgI3f+Vr3xF8+bN6/W548aN05NPPilJ2rFjhyZOnKjs7Gz5fD5ddtll+uUvfxnTtjCEAADAZbSKWUoHs0sYQgAA4DJaxYxgtoQhBAAALqNVzAhmSxhCAADgMlrFjGC2hCEEAAAuo1XMCGZLGEIAAOAyWsWMYLaEIQQAAC6jVcwIZksYQgAA4DJaxYxgtoQhBAAALqNVzAhmSxhCAADgMlrFjGC2hCEEAAAuo1XMCGZLGEIAAOAyWsWMYLaEIQQAAC6jVcwIZksYQgAA4DJaxYxgtoQhBAAALqNVzAhmSxhCAADgMlrFjGC2hCEEAAAuo1XMCGZLGEIAAOAyWsWMYLaEIQQAAC6jVcwIZksYQgAA4DJaxYxgtoQhBAAALqNVzAhmSxhCAADgMlrFLKWDua6uTmVlZRo8eLBmzpwZdl9FRYUGDx6s7Ozs0Dp+/Ljxtfbv36+qqiplZWWpuLhYDz30UEzbwhACAACX0SpmKR3MGzZs0KZNm1RdXd1rMNfV1UX9WlOnTtWCBQvU0tKibdu2KT8/Xy+++GLUz2cIAQCAy2gVs5QO5h41NTVnFMx79uxRRkaGDh48GLpt6dKlmjdvXtTbwBACAACX0SpmaR3MhYWFGjZsmC666CI9/fTTxudv3LhRfr8/7LZHH31UkyZNinobGEIAAOAyWsUsbYN569atOnLkiDo6OvTcc88pKytLL7zwQq/Pf+KJJzRx4sSw2zZu3KjRo0cbv2dtba28Xm9oeTxpsasBAECSIpjN0qLiegvmky1cuFDV1dW93rdx40aVlpaG3cYRZgAAkEpoFTOC+a8WL16sJUuW9HpfzznMhw4dCt120003ae7cuVFvA0MIAABcRquYpXQwd3Z2qq2tTcuXL9eMGTPU1tam9vZ2NTU1afPmzTp27Ji6urq0efNmZWdna8uWLcbXKi8v18KFC9Xa2qrt27fL5/NxlQwAAJAyaBWzlA7mmpoaeTyesFVRUaEPP/xQU6ZMUW5urvLy8jRp0iStXbs27Lnjxo3Tk08+Gfr63Xff1bRp05SVlaVRo0ZxHWYAAJBSaBWzlA5mlzCEAADAZbSKGcFsCUMIAABcRquYEcyWMIQAAMBltIoZwWwJQwgAAFxGq5gRzJYwhAAAwGW0ihnBbAlDCAAAXEarmBHMljCEAADAZbSKGcFsCUMIAABcRquYEcyWMIQAAMBltIoZwWwJQwgAAFxGq5gRzJYwhAAAwGW0ihnBbAlDCAAAXEarmBHMljCEAADAZbSKGcFsCUMIAABcRquYEcyWMIQAAMBltIoZwWwJQwgAAFxGq5gRzJYwhAAAwGW0ihnBbAlDCAAAXEarmBHMljCE8RMISE89JY0bJw0Z0r3Gjeu+LRBI9NYBAJCcaBUzgtkShjA+OjulK66QPJ7el9crjR1LPAMAECtaxSylg7murk5lZWUaPHiwZs6cGbr9gw8+0Ne+9jUVFRUpNzdXkyZN0rPPPhvxtfx+vzIzM5Wdna3s7Gydd955MW0LQ3jmOjulCy4wx/LJa+hQac0awhkAgGjQKmYpHcwbNmzQpk2bVF1dHRbMf/rTn3TPPfdo3759CgQCeu6555SVlaU//OEPxtfy+/366U9/2udtYQjPTCAglZdHH8snr6ws6ZZbuqMbAACcilYxS+lg7lFTUxMWzL2ZPHmyHnvsMeP9BHNi1df3PZaJZwAATo9WMSOY1X2KRmZmpl555RXjY/x+v0aMGKHCwkJdfvnlev7552PaBobwzFRUxC+YT1yc7wwAQDdaxSztg/n48eO68sorNW/evIiv0dDQoNbWVrW1tenhhx9WVlaWdu7caXx8bW2tvF5vaHk8abGr+0VnpzRwYP8E84m/LMiVNgAA6YxgNkuLijMFc3t7u6677jpNnz5d7e3tMb3mVVddpXvuuSfqxzOEfRPrL/rFK5458gwASDe0ilnaBnN7e7u+8IUv6Oqrr9bx48djfs1p06bp+9//ftSPZwhjd6a/6BevNWgQR58BAKmPVjFL6WDu7OxUW1ubli9frhkzZqitrU3t7e3q6OjQF7/4RX3uc59TW1vbaV/nnXfeUUNDQ+i5jz32mIYOHaodO3ZEvS0MYezWrk18LBPQAIB0QauYpXQw19TUyOPxhK2Kigq9+OKL8ng8YddVzs7O1p133hl67rhx4/Tkk09Kknbs2KGJEycqOztbPp9Pl112mX75y1/GtC0MYWwCASk/P/qIXbNGuvlmacAA+wHt9UqjRnUHPgENAEhWtIpZSgezSxjC6AUC3Zd9izZYy8s/DtWej80eMyZxR6AJaABAMqJVzJwN5kAgoB/+8Ie65JJL9IlPfEKS9Ktf/UqPP/54gresbxjC6AQC0uzZ0cfpBReYr6fsQjyfGNGcygEAcBmtYuZsMN9+++36zGc+o6efflr5+fmSpLfeekuTJk1K8Jb1DUMYnfr66E+ryMqK/sNHAoHu0zZycxMfzycvQhoA4AJaxczZYC4uLtaHH34oSSooKJAkBYNB+Xy+RG5WnzGE0YnlA0rWrIn99XuOOo8dm5jznWNdGRndPxicdVb3vqmvJ6oBAP2DVjFzNphHjhwZujZyTzC3tLSoqKgokZvVZwzh6cXyASVXXBGfcOzs7D5fesiQxMcxR6wBAIlEq5g5G8yzZs3SbbfdJunjYK6pqTntJ/K5iiGMLJYPKMnPj/5UjFi34ZZbpKFDEx+9iV6ccw0A6YdWMXM2mN9//31dcsklGjlypAYOHKji4mJdcskl+uCDDxK9aX3CEJrF+ml+Tz1lb7tuuUXKzEx8wCY6nufMIZoBINXRKmbOBrPUfc7yyy+/rPr6em3btk2BJH7HZgh7F2ssjxyZmHA78dznjIzER6ztNWBA9/nTAIDURauYORvMu3fv1vvvvx922/vvv68//vGPCdqiM8MQnirWWPZ47B1djkZPRF9wQfdR2ERHbX+vyspE73EAQH+iVcycDebJkyfrzTffDLttx44dKisrS9AWnRmGMFxfYvnEDyhxUc+l64qKEh+3/bFKSxO9hwEA/YlWMXM2mHNzc3u9PS8vz/KWxAdD+LFAoDt+Y4m1SB9Q4rJUOpWDI8wAkNpoFTNng/m8887T3r17w257++235ff7E7NBZ4gh/NjatekRy5GcGNLRXkovkYtzmAEg9dEqZs4G8+23367LLrtML7/8sv7yl79o+/btuuKKK0KXmks2DGG3zs7YLtsWy6f5pYqemB43rvv60BkZiT06zVUyACA90CpmzgZze3u7br75ZmVlZWnAgAHKycnRLbfcEvowk2TDEPbtvOW+fJpfuorndaS5DjMApB9axczZYD5Rz0dkJ7N0H8K+nLc8ezahBgCALeneKpE4HcwtLS1qbGzU//7v/4atZJTuQ1hfH9v5smvXEssAANiU7q0SibPBvG7dOuXm5iorK0tnnXVWaA0fPjzRm9Yn6T6ElZWchgEAgMvSvVUicTaY/X6/fvKTnyR6M+Im3YfQ748ulq+4giPLAAAkQrq3SiTOBrPP51MwGEz0ZsRNug9hNEeYU/HycQAAJIt0b5VInA3m6upqrVu3LtGbETfpPoT19d3nJhPLAAC4Kd1bJRJng3nGjBkaMmSIrrjiCn3lK18JW8ko3YcwEJDmzu09mqdOJZZdEQh0/3BTWdl9Gk1lZffXnCYDAKkv3VslEmeDuba21riiVVdXp7KyMg0ePFgzZ84Mu+/IkSO6/vrrlZubqxEjRmjlypURX2v//v2qqqpSVlaWiouL9dBDD8X052EIw2OstJQYc00g0P0BJRkZ3ddh7rkec0ZG9w87/D0BQGqjVcycDeZ42LBhgzZt2qTq6upTgnnevHmqqqpSU1OTdu3apeLiYj3++OPG15o6daoWLFiglpYWbdu2Tfn5+XrxxRej3haGEK6rrzd/omBGBh+NDQCpjlYxczqYOzs79eabb6qhoeGMrsNcU1MTFsytra0aPHiwXnvttdBtq1at0tSpU3t9/p49e5SRkaGDBw+Gblu6dKnmzZsX9TYwhHBdZeXHR5Z7++S/yspEbyEAoD/RKmbOBvO2bds0atQoZWZmKiMjQ5mZmRo4cGCfrsN8cjA3NjZqwIABCpzwb8zPP/+8fD5fr8/fuHGj/H5/2G2PPvqoJk2aFPU2MIRw3eku/VdamugtBAD0J1rFzNlgvvTSS7Vy5Up1dXXJ5/MpEAjo29/+th588MGYX+vkYG5oaFB+fn7YYxobG5WRkdHr85944glNnDgx7LaNGzdq9OjRxu9ZW1srr9cbWh6Ps7sakMQRZgBIdwSzmbMVl5eXp66uLkkKxW1bW5tKSkpifq14HGEuPenwGkeYkWo4hxkA0hutYuZsMJ977rn66KOPJEmf/OQn9dZbb6mpqUk5OTkxv5bpHObXX389dNu9996r8vLyXp/fcw7zoUOHQrfddNNNmjt3btTbwBDCdT2X/uMqGQCQnmgVM2eDec6cOaGrVtx66606//zzNX78eM2YMSPq1+js7FRbW5uWL1+uGTNmqK2tTe3t7ZKkuXPnavr06Wpubtbu3btVUlIS8SoZ5eXlWrhwoVpbW7V9+3b5fD6ukoGUw6X/ACB90SpmzgbziQKBgH784x/rwQcf1LFjx6J+Xk1NjTweT9iqqKiQ1H0d5lmzZiknJ0fDhw/XHXfcEfbccePG6cknnwx9/e6772ratGnKysrSqFGjuA4zAABIKbSKmbPBfM899/R6+7333mt5S+KDIQQAAC6jVcycDebc3Nxeby8oKLC8JfHBEAIAAJfRKmbOBfOOHTu0Y8cOZWdn68033wx9vWPHDj3zzDM699xzE72JfcIQAgAAl9EqZs4Fs9fr1YABA8KuYdxz27nnnquHH3440ZvYJwwhAABwGa1i5lww9/ibv/mbRG9CXDGEAADAZbSKmbPBfLLf/e53evPNNxO9GX3GEAIAAJfRKmbOBvMXvvAFvfTSS5KkBx98UJmZmcrOztaPfvSjBG9Z3zCEAADAZbSKmbPBPHz4cHV0dEiSxo4dq1//+td644039MlPfjLBW9Y3DCEAAHAZrWLmbDDn5eVJ6v7AkJEjR4ZuN11uznUMIZLFiZ/25/fzaX8AkC5oFTNng/kzn/mM7rrrLi1atEhz586VJH3wwQdh8ZxMGEIkg0BAmjNHysiQvF7J4+n+vxkZ0ty5RDMApDJaxczZYP7tb3+ryy67TBUVFXrrrbckSU888YTmzZuX4C3rG4YQyaC+vjuOPZ5TV0ZG9/0AgNREq5g5G8yphiFEMqis/PjI8snL6+2+HwCQmmgVM6eCeefOnaH/PvET/k5eyYghRDLw+3uP5Z5VWproLQQA9BdaxcypYM7JyQn998mf9HfiJ/4lI4YQyYAjzACQvmgVM6eCOZUxhEgGnMMMAOmLVjFzKpivvPLKqFYyYgiRDAKB7qthcJUMAEg/tIqZU8H87//+76F16623qrCwUEuXLtWqVau0dOlSFRYW6rbbbkv0ZvYJQ4hkceJ1mEtLuQ4zAKQLWsXMqWA+0ZVXXqmtW7eG3bZt2zZVJulJlAwhAABwGa1i5mww5+XlqbOzM+y2jo4OPukPAACgH9AqZs4G82WXXaba2loF/vrvwIFAQHfccYcuvfTSBG9Z3zCEAADAZbSKmbPBvGPHDo0ePVqFhYWaMGGCCgsLNXr0aL3xxhtxef3s7OywNXDgQF144YXGx1dUVGjw4MFhzzl+/HjU348hRDI58Txmv5/zmAEgHdAqZs4GsyR1dXXppZde0rp16/TSSy+dcopGPF144YW68847jfdXVFSorq6uz6/PECJZBALSnDlcKQMA0g2tYuZ0MNuyfft2ZWRkaP/+/cbHEMxIF1yLGQDSE61iRjBLWrhwoa699tqIj6moqFBhYaGGDRumiy66SE8//XRM34MhRLLg0/4AID3RKmZpH8ytra3Ky8vTM888E/FxW7du1ZEjR9TR0aHnnntOWVlZeuGFF4yPr62tDftIb48n7Xc1koTf33ss96zS0kRvIQCgPxDMZmlfcatXr9bZZ58d8/nRCxcuVHV1ddSPZwiRLDjCDADpiVYxS/tgvvzyy/Xtb3875uctXrxYS5YsifrxDCGSBecwA0B6olXM0jqYd+7cKa/Xq127dkV8XFNTkzZv3qxjx46pq6tLmzdvVnZ2trZs2RL192IIkSwCge6rYXCVDABIL7SKWVoH87e+9S1NnTq11/umTZsWuszchx9+qClTpig3N1d5eXmaNGmS1q5dG9P3YgiRTE68DnNpKddhBoB0QKuYpXUw28QQAgAAl9EqZgSzJQwhkg2f9gcA6YVWMSOYLWEIkUz4tD8ASD+0ihnBbAlDiGTClTIAIP3QKmYEsyUMIZIJ12IGgPRDq5gRzJYwhEgmfNofAKQfWsWMYLaEIUQy4QgzAKQfWsWMYLaEIUQy4RxmAEg/tIoZwWwJQ4hkwqf9AUD6oVXMCGZLGEIkm85O6Z/+SfL5ukPZ5+v+urMz0VsGAOgPtIoZwWwJQ4hkwnWYASD90CpmBLMlDCGSCecwA0D6oVXMCGZLGEIkE66SAQDph1YxI5gtYQiRTLgOMwCkH1rFjGC2hCFEMol0hNnj6f4FwPp6zmUGgFRCq5gRzJYwhEgmkc5h7lkDBnT/YiDRDACpgVYxI5gtYQiRTHqukhEpmHvWU08lemsBAPFAq5gRzJYwhEg2Tz0V+bSMnjVuXKK3FAAQD7SKGcFsCUOIZFNZGd0R5szMRG8pACAeaBUzgtkShhDJ5nRXyiCYASC10CpmBLMlDCGSTbRHmMePT/SWAgDigVYxS9tgnj9/vgYNGqTs7OzQ2rVrl/HxR44c0fXXX6/c3FyNGDFCK1eujOn7MYRINvX13VfC4Jf+ACA90CpmaR3My5Yti/rx8+bNU1VVlZqamrRr1y4VFxfr8ccfj/r5DCGSTTRXypg9m8vKAUCqoFXMCOYotLa2avDgwXrttddCt61atUpTp06N+vsxhEhGgUD3EeSxY6VBg7qvmjFoUPeVMZ56ilgGgFRCq5ildTAXFBSooKBA48eP1wMPPGB8bGNjowYMGKDACXXw/PPPy+fzRf39GEIAAOAyWsUsbYP51Vdf1Ycffqiuri41NDRo5MiReuyxx3p9bENDg/Lz88Nua2xsVEZGhvH1a2tr5fV6Q8vjSdtdDQAAkgDBbEbF/dVdd92l6dOn93ofR5gBAECqo1XMCOa/uvvuu3XNNdf0el/POcyvv/566LZ7771X5eXlUb8+QwgAAFxGq5ilbTCvW7dOR48eVTAY1G9+8xudffbZevjhh42Pnzt3rqZPn67m5mbt3r1bJSUlXCUDAACkDFrFLG2Duby8XPn5+crJydHYsWN1//33h90/bdo03XnnnaGvjxw5olmzZiknJ0fDhw/XHXfcEdP3YwgBAIDLaBWztA1m2xhCAADgMlrFjGC2hCEEAAAuo1XMCGZLPB6vvF5p1Chp7Vo+8AEAALiFYDYjmC3xeLynfKxwURHxDAAA3EAwmxHMlvQWzCeurCzpllukzs5EbykAAEhHBLMZwWzJ6YL5xMWpGwAAwDaC2YxgtiSWYObUDQAAYBvBbEYwW3ImwczRZwAA0N8IZjOC2ZJ4BfPJKyNDGjdOeuopAhoAAPQdwWxGMFvSX8F88tHnsWOJZwAAEDuC2YxgtsRGMHP0GQAA9BXBbEYwW+L1enXuuXaDubcj0IMGEdEAAOBUBLMZwWxJzxAGAt2xOmZMYuOZI9EAAOBEBLMZwWxJb0PYE88XXNB99DfR4dzbEWmuyIEegYBUXy9VVkp+f/f/ra9nNgAgVRDMZgSzJdEMYSAgrVmjhJ+6wWkdOFkgIM2Z0/2vET0/3Hm93V/PncscAEAqIJjNCGZLYh1C148+m07tyMqSzjpLqqjo3v6nnur+78JCaejQj4OL6E4u9fXdf3emv/f6+kRvIQDgTBHMZgSzJWc6hD1Hn4uKEh/G8T5iPWcO0ey6ysrIP7hVVCR6CwEAZ4pgNiOYLYn3EHZ2SrfcImVmJj56z3QNGMARStf5/ZH/DrOz+aEHAJIdwWxGMFvSn0OYCkefKyv7bfcgDiorT/93+NRTid5KAMCZIJjNCGZLbA5hz9HnoUMTH8LRrtJSa7sHfVBff/q/w/z87tkDACQngtksbYP5+PHjWrBggUpLS5WTk6MxY8bokUceMT7iDrdjAAAgAElEQVS+oqJCgwcPVnZ2dmgdP3486u+XyCHs+QXCsWPNv7iV6MURZrcFAt2nXZzu77G8nFMzACBZEcxmaRvMLS0tWrFihfbs2aNgMKitW7fK5/Npy5YtvT6+oqJCdXV1ff5+Lg6hK0eiOYc5OVRURPf3yd8lACQnF1vFFWkbzL2ZMWOGamtre70vFYPZxOY50VwlI3lEc1qGx8MVMwAgWSVTq9hGMP9VW1ubioqKtH79+l7vr6ioUGFhoYYNG6aLLrpITz/9dEyvn+xDGO/TOrxersOcbAIBaeTI0//dnnVWorcUANAXyd4q/YlglhQMBjV79mxVVlYqYKi3rVu36siRI+ro6NBzzz2nrKwsvfDCC8bXrK2tldfrDS2PJzV3dU9IjxsnDRnSHdO9BTUfVpIannrq9MGckcEv/wFAMiKYzVKz4mIQDAa1aNEiXXzxxWpubo76eQsXLlR1dXXUj2cIkQoCge4fjE4XzRdcQDQDQLKhVczSOpiDwaBuvPFGTZ48WYcPH47puYsXL9aSJUuifjxDiFQR7S//XXEF/5IAAMmEVjFL62BesmSJJkyYoEOHDkV8XFNTkzZv3qxjx46pq6tLmzdvVnZ2tvGKGr1hCJEqov3lP4+n+5dHAQDJgVYxS9tg3rt3rzwej4YMGRJ2beVFixZJkqZNm6Y777xTkvThhx9qypQpys3NVV5eniZNmqS1a9fG9P0YQqSKaH/5z+ORsrI4NQMAkgWtYpa2wWwbQ4hUEs0v//WsoUOltWs5PQMAXEermBHMljCESCWBgDR1amyXEpw9m2gGAJfRKmYEsyUMIVJNZ2fsnxLJOc0A4C5axYxgtoQhRCpauza2YB4wgNMzAMBVtIoZwWwJQ4hUFAhI5eWxf9LjFVfwy4AA4BpaxYxgtoQhRKrq7Oz+oJJYo5lfBgQAt9AqZgSzJQwhUllfo9njkfLyCGcAcAGtYkYwW8IQItWdSTR7PFJGhnTzzZyqAQCJQquYEcyWMIRIB2cazSd+4MkttxDPAGATrWJGMFvCECJdxCuae9bYsd0flMIpGwDQv2gVM4LZEoYQ6STe0dyzBg2Sxo0joAGgP9AqZgSzJQwh0k1nZ/fl4+IdzScur1caNYpfGgSAeKBVzAhmSxhCpKNAoPvT/WL9RECORAOAfbSKGcFsCUOIdGbjaDO/VAgAZ4ZWMSOYLWEIke4Cge4jvv1xbnN/rIyM7rA+6yypokKqr+doNYDURquYEcyWMITAxwIB6ckn7Z+qYXMNGEBwA0gutIoZwWwJQwicqueo85gxiQ/cZFicmw2gP9EqZgSzJQwhEBnxnJxr0KDua2Xfcos0dao0bJg0ePDH9w8YIOXmdt/3T//UfbS9pKQ7/MeNk/x+qbKy++/+qae6/7vnNo7KA3bRKmYEsyUMIRC9zs7uAMvMTHwQslis/lteb/cPVT3/nZGR+G1K70WrmHgSvQHpgmAG+qbnyPPYsbyZslgsVv8uWsXEk+gNSBcEMxA/J15xo+foFIvFYrHOdNEqJp5Eb0AidXR0qLq6WgUFBSooKNDSpUvVabgw65EjR3T99dcrNzdXI0aM0MqVK2P6XgQz0L84Es1isVhnumgVE0+iNyCRvvOd7+iiiy7SgQMH9N5772nixIm64447en3svHnzVFVVpaamJu3atUvFxcV6/PHHo/5eBDOQWByVZrFYrNMtWsXEk+gNSKRRo0Zp06ZNoa/Xr1+vkpKSUx7X2tqqwYMH67XXXgvdtmrVKk2dOjXq70UwA+7riepx47qv9EBYs1is9Fq0iokn0RuQKIcPH5bH49Hbb78duu2tt96Sx+NRc3Nz2GMbGxs1YMAABU64vtHzzz8vn88X9fcjmIH00NnZffm0/PxEv/GxWCxWrItWMfEkegMS5c9//rM8Ho+amppCt/VE9L59+8Ie29DQoPz8/LDbGhsblZGRYXz92tpaeb3e0PJ4PGFfs06/2GfsM/bZidvJYrFY/b3SNgtPK233TE8c7927N3QbR5jdwj6LHfssduyz2LHPYsc+ix37LHbss/6TtsEsdZ/D/Mwzz4S+3rBhg4qLi095XM85zK+//nrotnvvvVfl5eVRfy+GOHbss9ixz2LHPosd+yx27LPYsc9ixz7rP2kdzCtWrFBZWZkOHDigAwcOaPLkycarZMydO1fTp09Xc3Ozdu/erZKSEq6S0c/YZ7Fjn8WOfRY79lns2GexY5/Fjn3Wf9I6mDs6OrRkyRL5fD75fD5VV1eHrsM8bdo03XnnnaHHHjlyRLNmzVJOTo6GDx9uDGuT2trauG57OmCfxY59Fjv2WezYZ7Fjn8WOfRY79ln/SetgBgAAAE6HYAYAAAAiIJgBAACACAhmAAAAIAKCuR91dHSourpaBQUFKigo0NKlS0O/VJiu6urqVFZWpsGDB2vmzJlh9x05ckTXX3+9cnNzNWLECK1cuTLs/v3796uqqkpZWVkqLi7WQw89ZHPTE+b48eNasGCBSktLlZOTozFjxuiRRx4J3c9+O9Vtt92mkpIS5ebm6pxzztHNN9+s9vb20P3ss8gOHjyowsJClZWVhW5jn51q/vz5GjRokLKzs0Nr165dofvZZ2bPPvusJk6cqKysLJ1zzjn60Y9+JIl9ZnLijGVnZ2vgwIG68MILQ/ez3/ofwdyPvvOd7+iiiy7SgQMH9N5772nixIkxX10j1WzYsEGbNm1SdXX1KcE8b948VVVVqampSbt27VJxcXHYpfumTp2qBQsWqKWlRdu2bVN+fr5efPFF238E61paWrRixQrt2bNHwWBQW7dulc/n05YtWySx33qzc+dOHT16VFJ3/FVWVoZd9YZ9Ftns2bN15ZVXhgUz++xU8+fP17Jly4z3s89697Of/UxFRUV64YUX1NXVpcOHD+sPf/iDJPZZtC688EL+N80ygrkfjRo1Sps2bQp9vX79epWUlCRwi9xRU1MTFsw9Hw7z2muvhW5btWqVpk6dKknas2ePMjIydPDgwdD9S5cu1bx58+xttENmzJih2tpa9lsUDh48qM9+9rO64YYbJDFrp/OLX/xCFRUVWr16dSiY2We9ixTM7DOziy++WP/xH/9xyu3ss+hs375dGRkZ2r9/vyT2my0Ecz/p+ejtt99+O3Sb6aO309HJwXy6jx/fuHGj/H5/2Gs8+uijmjRpkpXtdUlbW5uKioq0fv169lsEDz74oHJycuTxeFRYWKhXX31VErMWSWtrq8aMGaM333wzLJjZZ72bP39+6JS78ePH64EHHgjdxz7rXUtLi7xer+655x6NGTNGI0eO1N/93d/pwIED7LMoLVy4UNdee23oa/abHQRzP/nzn/8sj8ejpqam0G09Eb1v374EbpkbTg7mhoYG5efnhz2msbFRGRkZkqQnnnhCEydODLt/48aNGj16dP9vrEOCwaBmz56tyspKBQIB9lsUdu7cqRUrVoSOxrDPzJYtW6bbb79dksKCmX3Wu1dffVUffvihurq61NDQoJEjR+qxxx6TxD4z2bdvnzwejyZMmKC9e/fqo48+0pw5c/T5z3+efRaF1tZW5eXl6Zlnngndxn6zg2DuJz1xvHfv3tBtHGH+WF+OMJeWloa9Rrr9hBwMBrVo0SJdfPHFoRliv0Wnvr5eV199tST2mUljY6POP/98HTt2TJJiPsKcjvvsZHfddZemT58uiX1m0tTUJI/Ho4cffjh029tvvy2v16tf//rX7LPTWL16tc4+++ywCwgwa3YQzP1o1KhRYT8FbtiwQcXFxQncIneYzmF+/fXXQ7fde++9Ki8vl/TxOViHDh0K3X/TTTdp7ty59jY6gYLBoG688UZNnjxZhw8fDt3OfovOmjVrdN5550lin5n84Ac/UGZmpgoLC1VYWKicnBwNHDhQhYWFeuedd9hnUbj77rt1zTXXSGLOIikpKQm70k9PMB85coR9dhqXX365vv3tb4fdxqzZQTD3oxUrVqisrEwHDhzQgQMHNHny5LS/SkZnZ6fa2tq0fPlyzZgxQ21tbaHLfc2dO1fTp09Xc3Ozdu/erZKSkrDf8i0vL9fChQvV2tqq7du3y+fzpc1v+S5ZskQTJkwI+x+8Huy3Uz3wwAP6y1/+omAwqDfeeEPjx4/X4sWLQ/ezz0710Ucfad++faF13333acKECdq3b58CgQD7rBfr1q3T0aNHFQwG9Zvf/EZnn3122JFT9lnv/u3f/k0TJ07Uu+++q2PHjmn+/Pn6/Oc/L4l9FsnOnTvl9XrDLl3Yg/3W/wjmftTR0aElS5bI5/PJ5/Opuro67a/DXFNTI4/HE7YqKiokdV9HctasWcrJydHw4cNP+eHi3Xff1bRp05SVlaVRo0alzXUk9+7dK4/HoyFDhoRdh3PRokWS2G+9qaqqUmFhobKyslRaWqply5aptbU1dD/77PROPCVDYp/1pry8XPn5+crJydHYsWN1//33h93PPutdV1eXvvnNb4b+NePLX/6yDhw4IIl9Fsm3vvWt0JUvTsZ+638EMwAAABABwQwAAABEQDADAAAAERDMAAAAQAQEMwAAABABwQwAAABEQDADAAAAERDMAAAAQAQEMwAAABABwQwAAABEQDADQAIFg0F1dXUlejMAABEQzABgmd/v13e/+11NmTJFmZmZ+td//VeNGzdOOTk5Kikp0V133RV67Ntvvy2Px6Of/OQnGj16tPLz8zV//nx1dHSEHlNXV6fi4mINGzZMt956q8rKyrR69erQ/T/+8Y81fvx45efn67LLLlNjY6PNPy4AJD2CGQAs8/v9uuCCC7R79251dnbqueee065duxQMBvXyyy/L5/Ppv/7rvyR9HMxf/epXdeTIEe3fv18lJSWhIP6f//kf+Xw+bd++Xe3t7aqtrdXAgQND9z/33HMqLi7Wa6+9pq6uLj322GM655xz1NLSkqA/PQAkH4IZACzz+/2qq6sz3v+P//iP+ud//mdJHwfz7t27Q/cvXrxYS5culSTdcMMN+sY3vhG6r6urS8OGDQsFc1VVle6///6w1x83bpz++7//O15/HABIeQQzAFjm9/v17LPPhr7evHmzLr30Ug0bNkx5eXkaMmSI/v7v/17Sx8H80UcfhR6/bNkyzZ8/X5I0bdo0rVq1Kuz1P/3pT4eCeezYscrOzlZ+fn5oDR06VA899FD//iEBIIUQzABgmd/v109/+lNJ0vHjxzV06FD9+Mc/Vnt7u6TuI8w9QXy6YD7dEearr75a//mf/9n/fygASGEEMwBYdmIwHz16VAMGDNDPfvYzBYNBNTQ0yOfzRR3MW7ZsUUFBgV555RV1dHRo5cqVYecwP/PMMzr//PPV2NioYDColpYWbd68WYcOHbL5RwaApEYwA4BlJwazJD344IM6++yzlZeXp5kzZ+rrX/961MEsST/84Q9VVFQUukrGhAkTtGbNmtD9a9as0cSJE5WXl6ezzz5bX/rSlwhmAIgBwQwAKaSjo0P5+fn69a9/nehNAYCUQTADQJLbsGGDjh07ppaWFn3zm9+U3+8PnQ8NADhzBDMAJLm//du/VV5envLy8jR16lT97ne/S/QmAUBKIZgBAACACAhmAAAAIAKCGQAAAIiAYAYAAAAiIJgBAACACAhmAAAAIAKCGQAAAIiAYAYAAAAiIJgBAACACAhmAAAAIAKCGQAAAIiAYAYAAAAiIJgBAACACAhmAAAAIAKCGQAAAIiAYAYAAAAiIJgBAACACAhmAAAAIAKCGQAAAIiAYAYAAAAiIJgBAACACAhmAAAAIAKCGQAAAIiAYAYAAAAiIJgBAACACAhmAAAAIAKCGQAAAIiAYAYAAAAiIJgBAACACAhmAAAAIAKCGQAAAIiAYAYAAAAiIJgBAACACAhmAAAAIAKCGQAAAIiAYAYAAAAiIJgBAACACAhmAAAAIAKCGQAAAIiAYAYAAAAiIJgBAACACAhmAAAAIAKCGQAAAIiAYAYAAAAiIJgBAACACAhmAAAAIAKCGQAAAIiAYAYAAAAiIJgBAACACAhmAAAAIAKCGQAAAIiAYI7S/PnzNWjQIGVnZ4fWrl27Er1ZAAAA6GcEc5Tmz5+vZcuWJXozAAAAYBnBHCWCGQAAID0RzFGaP3++CgoKVFBQoPHjx+uBBx5I9CYBAADAAoI5Sq+++qo+/PBDdXV1qaGhQSNHjtRjjz1mfHxtba28Xm9oeTyesK9ZLBaLxWKxXFoeD1lowp7po7vuukvTp0+P+vFer7cftwYAAODM0CpmBHMf3X333brmmmuifjxDCAAAXEarmBHMUVq3bp2OHj2qYDCo3/zmNzr77LP18MMPR/18hhAAALiMVjEjmKNUXl6u/Px85eTkaOzYsbr//vtjej5DCAAAXEarmBHMljCEAADAZbSKGcFsCUMIAABcRquYEcyWMIQAAMBltIoZwWwJQwgAAFxGq5gRzJYwhAAAwGW0ihnBbAlDCAAAXEarmBHMljCEAADAZbSKGcFsCUMIAABcRquYEcyWMIQAAMBltIoZwWwJQwgAAFxGq5gRzJYwhAAAwGW0ihnBbAlDCAAAXEarmBHMljCEAADAZbSKGcFsCUMIAABcRquYEcyWMIQAAMBltIoZwWwJQwgAAFxGq5gRzJYwhAAAwGW0ihnBbAlDCAAAXEarmBHMljCEAADAZbSKGcFsCUMIAABcRquYEcyWMIQAAMBltIoZwWwJQwgAAFxGq5gRzJYwhAAAwGW0ihnBbAlDCAAAXEarmBHMljCEAADAZbSKGcFsCUMIAABcRquYEcyWMIQAAMBltIoZwWwJQwgAAFxGq5gRzJYwhAAAwGW0ihnBbAlDCAAAXEarmBHMljCEAADAZbSKGcFsCUMIAABcRquYEcyWMIQAAMBltIoZwWwJQwgAAFxGq5gRzJYwhAAAwGW0ihnBbAlDCAAAXEarmBHMljCEAADAZbSKGcFsCUMIAABcRquYEcx9cPDgQRUWFqqsrCzq5zCEAADAZbSKGcHcB7Nnz9aVV15JMAMAgJRBq5gRzDH6xS9+oYqKCq1evZpgBgAAKYNWMSOYY9Da2qoxY8bozTffJJgBAEBKoVXMCOYYLFu2TLfffrsknTaYa2tr5fV6Q8vjYVcDAAB3EcxmVFyUGhsbdf755+vYsWOSTh/MJ2MIAQCAy2gVM4I5Sj/4wQ+UmZmpwsJCFRYWKicnRwMHDlRhYaE++OCD0z6fIQQAAC6jVcwI5ih99NFH2rdvX2jdd999mjBhgvbt26dAIHDa5zOEAADAZbSKGcHcR5ySAQAAUgmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBbwhACAACX0SpmBLMlDCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBbwhACAACX0SpmBLMlDCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBbwhACAACX0SpmBLMlDCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBbwhACAACX0SpmBLMlDCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBbwhACAACX0SpmBLMlDCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBbwhACAACX0SpmBLMlDCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBH6bbbblNJSYlyc3N1zjnn6Oabb1Z7e3vUz2cIAQCAy2gVM4I5Sjt37tTRo0clSQcPHlRlZaXuvPPOqJ/PEAIAAJfRKmYEcx8cPHhQn/3sZ3XDDTdE/RyGEAAAuIxWMSOYY/Dggw8qJydHHo9HhYWFevXVV6N+LkMIAABcRquYEcx9sHPnTq1YsUL79+83Pqa2tlZerze0PB52NQAAcBfBbEbF9VF9fb2uvvrqqB/PEAIAAJfRKmYEcx+tWbNG5513XtSPZwgBAIDLaBUzgjlKDzzwgP7yl78oGAzqjTfe0Pjx47V48eKon88QAgAAl9EqZgRzlKqqqlRYWKisrCyVlpZq2bJlam1tjfr5DCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBbwhACAACX0SpmBLMlDCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBbwhACAACX0SpmBLMlDCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBbwhACAACX0SpmBLMlDCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBbwhACAACX0SpmBLMlDCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBbwhACAACX0SpmBLMlDCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgSzJQwhAABwGa1iRjBbwhACAACX0SpmBLMlDCEAAHAZrWJGMFvCEAIAAJfRKmYEsyUMIQAAcBmtYkYwW8IQAgAAl9EqZgRzlI4fP64FCxaotLRUOTk5GjNmjB555JGon88QAgAAl9EqZgRzlFpaWrRixQrt2bNHwWBQW7dulc/n05YtW6J6PkMIAABcRquYEcxnYMaMGaqtrY3qsQwhAABwGa1iRjD3UVtbm4qKirR+/fqoHs8QAgAAl9EqZgRzHwSDQc2ePVuVlZUKBAK9Pqa2tlZerze0PB52NQAAcBfBbEbFxSgYDGrRokW6+OKL1dzcHPXzGEIAAOAyWsWMYI5BMBjUjTfeqMmTJ+vw4cMxPZchBAAALqNVzAjmGCxZskQTJkzQoUOHYn4uQwgAAFxGq5gRzFHau3evPB6PhgwZouzs7NBatGhRVM9nCAEAgMtoFTOC2RKGEAAAuIxWMSOYLWEIAQCAy2gVM4LZEoYQAAC4jFYxI5gtYQgBAIDLaBUzgtkShhAAALiMVjEjmC1hCAEAgMtoFTOC2RKGEAAAuIxWMSOYLWEIAQCAy2gVM4LZEoYQAAC4jFYxI5gtYQgBAIDLaBUzgtkShhAAALiMVjEjmC1hCAEAgMtoFTOC2RKGEAAAuIxWMSOYLWEIAQCAy2gVM4LZEoYQAAC4jFYxI5gtYQgBAIDLaBUzgtkShhAAALiMVjEjmC1hCAEAgMtoFTOC2RKGEAAAuIxWMSOYLWEIAQCAy2gVM4LZEoYQAAC4jFYxI5gtYQgBAIDLaBUzgtkShhAAALiMVjEjmC1hCAEAgMtoFTOC2RKGEAAAuIxWMSOYLWEIAQCAy2gVM4LZEoYQAAC4jFYxI5gtYQgBAIDLaBUzgtkShhAAALiMVjEjmC1hCAEAgMtoFTOC2RKGEAAAuIxWMSOYLWEIAQCAy2gVM4LZEoYQAAC4jFYxI5gtYQgBAIDLaBUzgtkShhAAALiMVjEjmC1hCAEAgMtoFTOC2RKGEAAAuIxWMSOYLWEIAQCAy2gVM4I5SnV1dSorK9PgwYM1c+bMmJ/PEAIAAJfRKmYEc5Q2bNigTZs2qbq6mmAGAAAph1YxI5hjVFNTQzADAICUQ6uYEcwxIpgBAEAqolXMCOYYRRvMtbW18nq9oeXxsKvjxVPrYSXpAgC4i2A24x0sRhxhTrxERx+LYAaAVESrmPEOFiOCOfESHX0sghkAUhGtYsY7WJQ6OzvV1tam5cuXa8aMGWpra1N7e3vUz2cI4yfR0ccimAEgFdEqZryDRammpkYejydsVVRURP18hjB+Eh19LIIZAFIRrWLGO5glDGH8JDr6WAQzAKQiWsWMdzBLGML4SXT0sQhmAEhFtIoZ72CWMITxk+joYxHMAJCKaBUz3sEsYQjjJ9HRxyKYASAV0SpmvINZwhDGT6Kjj0UwA0AqolXMeAezhCGMn0RHH4tgBoBURKuY8Q5mCUMYP4mOPhbBDACpiFYx4x3MEoYwfhIdfSyCGQBSEa1ixjuYJQxh/CQ6+lgEMwCkIlrFjHcwSxjC+El09LEIZgBIRbSKGe9gljCE8ZPo6GMRzACQimgVM97BLGEI4yfR0ccimAEgFdEqZryDWcIQxk+io49FMANAKqJVzHgHs4QhjJ9ERx+LYAaAVESrmPEOZglDGD+Jjj4WwQwAqYhWMeMdzBKGMH4SHX0sghkAUhGtYsY7mCUMYfwkOvpYBDMApCJaxYx3MEsYwvhJdPSxCGYASEW0ihnvYJYwhPGT6OhjEcwAkIpoFTPewSxhCOMn0dHHIpgBIBXRKma8g1nCEMZPoqOPRTADQCqiVcx4B7OEIYyfREcfi2AGgFREq5jxDmYJQxg/iY4+FsEMAKmIVjHjHcwShjB+Eh19LIIZAFIRrWLGO5glDGH8JDr6WAQzAKQiWsWMdzBLGML4SXT0sQhmAEhFtIoZ72CWMITxk+joYxHMAJCKaBUz3sEsYQjjJ9HRxyKYASAV0SpmvINZwhDGT6Kjj0UwA0AqolXMeAezhCGMn0RHH4tgBoBURKuY8Q5mCUMYP4mOPhbBDACpiFYx4x3MEoYwfhIdfSyCGQBSEa1ixjuYJQxh/CQ6+lgEMwCkIlrFjHcwSxjC+El09LEIZgBIRbSKGe9gljCE8ZPo6GMRzACQimgVM97BLGEI4yWCWhcAAAsuSURBVCfR0ccimAEgFdEqZryDWcIQxk+io49FMANAKqJVzHgHs4QhjJ9ERx+LYAaAVESrmPEOFoOOjg5VV1eroKBABQUFWrp0qTo7O6N6LkMYP4mOPhbBDACpiFYx4x0sBt/5znd00UUX6cCBA3rvvfc0ceJE3XHHHVE9lyGMn0RHH4tgBoBURKuY8Q4Wg1GjRmnTpk2hr9evX6+SkpKonssQxk+io49FMANAKqJVzHgHi9Lhw4fl8Xj09ttvh25766235PF41NzcfNrnM4Txk+joYxHMAJCKaBUz3sGi9Oc//1kej0dNTU2h23oiet++fac8vra2Vl6vN7Q8Hk/Y1yxWb4s5YUW7mBUWixXv5fGQhSbsmSj1xPHevXtDt3GEGfHGnCBazAoA2EMwx2DUqFF65plnQl9v2LBBxcXFUT2XNzdEgzlBtJgVALCHYI7BihUrVFZWpgMHDujAgQOaPHkyV8lAXDEniBazAgD2EMwx6Ojo0JIlS+Tz+eTz+VRdXR31dZhra2v7eeuQCpgTRItZAQB7CGYAAAAgAoIZAAAAiIBgBgAAACIgmAEAAIAICGbAQRUVFaqrq4vb65WVlWn16tVxez0kF4/Ho9///vdxea2PPvrolE89BYBURzADDiKYEU8EMwCcGYIZ6KNgMKiurq5+eW2COb10dHT06+sTzABwZghmIAZ+v1/f/e53NWXKFGVmZup3v/udFi1apKKiIo0cOVJf//rX1dLSEnr87Nmzdc455yg3N1eXXHKJtm7dGrovEAjovvvu06c+9Snl5ORozJgxamhokNQdzMuXL9dVV12l7OxsTZ48Wf/3f/8Xeu6BAwf01a9+VSNGjFBRUZFuu+22sGuC19XVqbi4WMOGDdOtt95KMPeDkyO0rq5OFRUVYfc/9NBDGj9+vHJzc3XdddepublZkvT222/L4/Fo9erVOu+881RUVCRJ2r17t6qqqlRYWKhPfOITuu+++0Kv98477+hzn/ucCgsLVVBQoC9+8Yt67733Qvc3Nzdr8eLFKi4uVl5eni699FIdOnTotNsiSa+88orKy8vl8/n0qU99SmvWrAndd/z4cS1evFjDhg2T3+/XI488QjADSDsEMxADv9+vCy64QLt371ZnZ6e+9KUvac6cOWpubtaRI0d07bXX6hvf+Ebo8atXr1Zzc7M6OjpUW1uroqIitbe3S5J+8IMf6Pzzz9frr7+uYDCoP/3pT/rjH/8oqTuYzz33XDU2Nqqzs1OLFy8OxVggENCUKVP0L//yLzp27Jjef/99TZkyJRRXv/rVr5Sfn6+tW7eqvb1dt99+uwYOHEgwx1k0wVxZWan3339fzc3NKisrU01NjaSPg3nmzJlqbm5Wa2urWltbVVxcrPvvv18dHR364x//qE984hPauHFj6Dk/+9nPdPz4cR0+fFjTp0/Xl7/85dD3++IXv6jrrrtO77//vrq6urR9+3YdPXr0tNvy3nvvqaCgQOvXr1dXV5d++9vfatiwYfrtb38rqfsTTidPnqz9+/erqalJVVVVBDOAtEMwAzHw+/2hUyU++OADDRgwQE1NTaH7X375ZQ0fPrzX53Z1dWnIkCF64403JEljxozR2rVre31sRUWFbr/99tDX27ZtU05OjiRp+/btGj58uAKBQOj++vp6TZkyRZJ0ww036Kabbgrd19HRIZ/PRzDHWTTB/Mtf/jL09d13361rr71W0sfBfOLz161bp4suuijse3z/+9/XV77ylV6//0svvaSzzjpLUve/OHg8nrAjzidvq2lbvve97+lLX/pS2OOXLFmib33rW5Kk8847Txs2bAjd98orrxDMANIOwQzEwO/369lnn5XUHa5er1f5+fmhlZeXp8zMTLW1tamrq0u33nqrRo8erdzcXOXn58vr9erFF1+UJA0dOlSvvPJKr9/n5HOYf//738vj6f5/13Xr1ikjIyPs++bm5qqkpESSNG3aNK1atSrs9caPH08wx1k0wWy6vyeYjxw5Err/e9/7ngYNGhT295qTk6Py8nJJ3T+gzZo1S0VFRcrNzVVubm5oJrZv367s7Ow+beuNN96oIUOGhH3f7OxszZkzR5KUmZkZOtosSQcPHiSYgf9v5+5Bm1zDOA6LCILB0ioKSmiHDq0OIlgcFHESBIcWwUm6CBUXZ8Giq4iDCBacXRwddFNwEPweqohL0UVRi/hFhGBq/J+hnHAq9j6IOHldW0jC+wzP8Mud53356whm+AVDQ0O5du1aksWp3qpVq9Jut3/62cuXL2d4eDhzc3O9GwRXr16dW7duJUlGR0fLCfNywXz37t3emdef+XHCvLCwYML8BzQajdy7d6/3+uTJk78czK1Wq/f+lStXsnv37mWvd+TIkRw8eDDv3r1Lsjhh/ndPvH37NitWrMibN29++t1qLWfOnMnhw4eXva4JM4Bghl/y32BOkomJiUxNTfVurnr16lWuX7+eJJmZmcmWLVvy4cOHtNvtnDhxIitXruwF8/nz5zMyMpInT57k+/fvefHixZIzzMsF87dv3zI2NpbTp0+n1Wql2+3m+fPnuXnzZpLkxo0b6e/vz/379/P169ecOnXKGeY/YM+ePTl27FgWFhYyOzubZrP5W8HcarUyNDSUS5cu9f6hePr0ae7cuZMkOXToUCYnJ9PpdDI/P5/9+/f39kSyeIZ5fHw88/Pz6Xa7efDgwZIzzMut5eXLl9mwYUOuXr2aTqeTTqeThw8f5vHjx0mS6enp7NixI69fv87Hjx9z4MABwQz8dQQz/IIfg/nz5885fvx4BgcHs3bt2oyMjOTs2bNJki9fvmRiYiKNRiPNZjMXL17M+vXre8Hc7XZz7ty5DA8Pp9FoZHR0NLdv305SB3OyON2enJzM5s2b09fXl23bti0J4gsXLqTZbGZgYMBTMv6Q2dnZbN++PY1GI/v27cv09PRvBXOSzM3NZXx8PBs3bkx/f3927tzZ+wH27NmzjI2NZc2aNdm6dWtmZmaW7IlPnz5lamoqmzZtSl9fX3bt2pX379//71qS5NGjR70ncKxbty579+7tTc/b7XaOHj2agYGBDA4OekoG8FcSzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUBDMAABQEMwAAFAQzAAAUPgHRW1k36GmqVsAAAAASUVORK5CYII=\" width=\"799.5333333333333\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "%matplotlib notebook\n",
    "import matplotlib.pyplot as plt\n",
    "import tf\n",
    "from nav_msgs.msg import Odometry\n",
    "from tf.transformations import quaternion_matrix\n",
    "from matplotlib.animation import FuncAnimation\n",
    "from actionlib_msgs.msg import GoalStatusArray\n",
    "\n",
    "class Visualiser:\n",
    "    def __init__(self):\n",
    "        self.fig, self.ax = plt.subplots(3, 1,figsize=(8,13))\n",
    "\n",
    "        self.ln, = self.ax[0].plot([], [], 'r')\n",
    "        self.x_dist = []\n",
    "        self.y_dist = [] \n",
    "   \n",
    "  ##\n",
    "        self.ln2, = self.ax[1].plot([], [], 'bo')\n",
    "        self.x_data=np.linspace(0, 720, 720)\n",
    "        self.y_data=[]\n",
    "  ##\n",
    "        self.x=[]\n",
    "        self.y=[]\n",
    "        self.ln3 = self.ax[2].bar(self.x,self.y)\n",
    "        self.i=0\n",
    "        self.j=0\n",
    "        self.k1=0\n",
    "        self.k2=0\n",
    " \n",
    "    def plot_init(self):\n",
    "        self.ax[0].set_xlim(-10, 10)\n",
    "        self.ax[0].set_ylim(-10, 10)\n",
    "        self.ax[0].set_title('Position')\n",
    "        self.ax[0].set_xlabel('x_position')\n",
    "        self.ax[0].set_ylabel('y_position')\n",
    "    ##\n",
    "        self.ax[1].set_xlim(0, 720)\n",
    "        self.ax[1].set_ylim(0, 20)  \n",
    "        self.ax[1].set_title('LaserScaner')\n",
    "        self.ax[1].set_xlabel('range')\n",
    "        self.ax[1].set_ylabel('distance')\n",
    "  ##\n",
    "        self.ax[2].set_xlim(0, 4)\n",
    "        self.ax[2].set_ylim(0, 5)\n",
    "\n",
    "\n",
    "        return self.ln,self.ln2,self.ln3\n",
    "\n",
    "\n",
    "    def odom_callback(self, msg):\n",
    "        self.y_dist.append(msg.pose.pose.position.y)\n",
    "        self.x_dist.append(msg.pose.pose.position.x)\n",
    "\n",
    "    def scan_callback(self, msg):\n",
    "        self.y_data=msg.ranges  # don't use append:: append adds elements to the list;; so u add 720 each time (nooo)\n",
    "\n",
    "    def goal_status_callback(self, msg):\n",
    "         if len(msg.status_list) !=0 :\n",
    "            if msg.status_list[0].status == 3 and self.k1 == 0:\n",
    "                self.i = self.i +1\n",
    "                self.k1 = 1\n",
    "                self.k2 = 0\n",
    "    \n",
    "            elif msg.status_list[0].status == 4 and self.k2 ==0:\n",
    "                self.j = self.j +1\n",
    "                self.k2=1\n",
    "                self.k1 =0\n",
    "            elif msg.status_list[0].status == 1:\n",
    "                self.k1 = 0\n",
    "                self.k2 = 0\n",
    "\n",
    "                self.y=[self.i,self.j]\n",
    "                self.x=[\" \",\"reached\",\"unreached\"]\n",
    "                self.y=[0,self.i,self.j]\n",
    "                self.ln3 = self.ax[2].bar(self.x,self.y,color='green')\n",
    "\n",
    "    def update_plot(self, frame):\n",
    "        self.ln.set_data(self.x_dist, self.y_dist)\n",
    "        self.ln2.set_data(self.x_data, self.y_data)\n",
    "        #self.ln3.set_data(self.x,self.y)\n",
    "    \n",
    "    \n",
    "        return self.ln,self.ln2,self.ln3\n",
    "\n",
    "#rospy.init_node('odom_visualizer_node')\n",
    "vis = Visualiser()\n",
    "sub2 = rospy.Subscriber('/scan', LaserScan, vis.scan_callback)\n",
    "sub3 = rospy.Subscriber('/move_base/status', GoalStatusArray, vis.goal_status_callback)\n",
    "\n",
    "sub = rospy.Subscriber('/odom', Odometry, vis.odom_callback)\n",
    "ani = FuncAnimation(vis.fig, vis.update_plot, init_func=vis.plot_init)\n",
    "plt.subplots_adjust(hspace=0.4)\n",
    "plt.show(block=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "540d6c6c",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "17cccb46",
   "metadata": {
    "ExecuteTime": {
     "end_time": "2022-05-13T09:36:38.817020Z",
     "start_time": "2022-05-13T09:36:38.816982Z"
    }
   },
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "86df21f9",
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.5"
  },
  "toc": {
   "base_numbering": 1,
   "nav_menu": {},
   "number_sections": true,
   "sideBar": true,
   "skip_h1_title": false,
   "title_cell": "Table of Contents",
   "title_sidebar": "Contents",
   "toc_cell": false,
   "toc_position": {},
   "toc_section_display": true,
   "toc_window_display": false
  },
  "varInspector": {
   "cols": {
    "lenName": 16,
    "lenType": 16,
    "lenVar": 40
   },
   "kernels_config": {
    "python": {
     "delete_cmd_postfix": "",
     "delete_cmd_prefix": "del ",
     "library": "var_list.py",
     "varRefreshCmd": "print(var_dic_list())"
    },
    "r": {
     "delete_cmd_postfix": ") ",
     "delete_cmd_prefix": "rm(",
     "library": "var_list.r",
     "varRefreshCmd": "cat(var_dic_list()) "
    }
   },
   "types_to_exclude": [
    "module",
    "function",
    "builtin_function_or_method",
    "instance",
    "_Feature"
   ],
   "window_display": false
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}