diff --git a/config/simulations/Solo GP/formation.yaml b/config/simulations/Solo GP/formation.yaml
index 2ff4c77..6c5513a 100644
--- a/config/simulations/Solo GP/formation.yaml
+++ b/config/simulations/Solo GP/formation.yaml
@@ -10,7 +10,7 @@ formations:
secs: 0
nanos: 0
robots: 1
- planning-strategy: rrt-star
+ planning-strategy: only-local
initial-position:
shape: !line-segment
- x: 0.15
diff --git a/scripts/analyse-circle-scenario.ipynb b/scripts/analyse-circle-scenario.ipynb
index 9b1658e..42052c3 100644
--- a/scripts/analyse-circle-scenario.ipynb
+++ b/scripts/analyse-circle-scenario.ipynb
@@ -377,7 +377,7 @@
},
{
"cell_type": "code",
- "execution_count": 6,
+ "execution_count": 8,
"metadata": {},
"outputs": [
{
@@ -392,7 +392,7 @@
},
{
"data": {
- "image/png": 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",
+ "image/png": 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",
"text/plain": [
"\u001b[1m<\u001b[0m\u001b[1;95mFigure\u001b[0m\u001b[39m size 50\u001b[0m\u001b[1;36m0x300\u001b[0m\u001b[39m with \u001b[0m\u001b[1;36m1\u001b[0m\u001b[39m Axes\u001b[0m\u001b[1m>\u001b[0m"
]
@@ -413,7 +413,7 @@
" labels = sorted(aggregated_data_makespan.keys())\n",
" makespan_data = [np.mean(makespan) for makespan in makespan_data]\n",
"\n",
- " ax.plot(labels, makespan_data, marker=marker, color=c, label='Circle Scenario', dashes=ls)\n",
+ " ax.plot(labels, makespan_data, marker=marker, color=c, label='Circle Scenario', dashes=ls, alpha=a)\n",
"\n",
"# ax.set_aspect(1 / 1.414) # A4 paper\n",
"# ax.boxplot(data, labels=labels, flierprops=dict(marker='D', color='r', markersize=8))\n",
diff --git a/scripts/analyse-comms-failure.ipynb b/scripts/analyse-comms-failure.ipynb
index 162adff..69a6493 100644
--- a/scripts/analyse-comms-failure.ipynb
+++ b/scripts/analyse-comms-failure.ipynb
@@ -2,7 +2,7 @@
"cells": [
{
"cell_type": "code",
- "execution_count": 16,
+ "execution_count": 1,
"metadata": {},
"outputs": [
{
@@ -17,6 +17,58 @@
},
"metadata": {},
"output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ "sys.executable = '/etc/profiles/per-user/jens/bin/python'\n",
+ "
\n"
+ ],
+ "text/plain": [
+ "sys.executable = \u001b[32m'/etc/profiles/per-user/jens/bin/python'\u001b[0m\n"
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ "sys.version = '3.11.9 (main, Apr 2 2024, 08:25:04) [GCC 13.2.0]'\n",
+ "
\n"
+ ],
+ "text/plain": [
+ "sys.version = \u001b[32m'3.11.9 \u001b[0m\u001b[32m(\u001b[0m\u001b[32mmain, Apr 2 2024, 08:25:04\u001b[0m\u001b[32m)\u001b[0m\u001b[32m \u001b[0m\u001b[32m[\u001b[0m\u001b[32mGCC 13.2.0\u001b[0m\u001b[32m]\u001b[0m\u001b[32m'\u001b[0m\n"
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ "sys.executable = '/etc/profiles/per-user/jens/bin/python'\n",
+ "
\n"
+ ],
+ "text/plain": [
+ "sys.executable = \u001b[32m'/etc/profiles/per-user/jens/bin/python'\u001b[0m\n"
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "data": {
+ "text/html": [
+ "sys.version = '3.11.9 (main, Apr 2 2024, 08:25:04) [GCC 13.2.0]'\n",
+ "
\n"
+ ],
+ "text/plain": [
+ "sys.version = \u001b[32m'3.11.9 \u001b[0m\u001b[32m(\u001b[0m\u001b[32mmain, Apr 2 2024, 08:25:04\u001b[0m\u001b[32m)\u001b[0m\u001b[32m \u001b[0m\u001b[32m[\u001b[0m\u001b[32mGCC 13.2.0\u001b[0m\u001b[32m]\u001b[0m\u001b[32m'\u001b[0m\n"
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
}
],
"source": [
@@ -57,8 +109,10 @@
"pretty.install()\n",
"\n",
"RESULTS_DIRS = [\n",
- " Path('./experiments/communications-failure-gbpplanner-final'),\n",
- " Path('./experiments/communications-failure-lm-3-tk-5'),\n",
+ " Path('./experiments/communications-failure-lm-3-tk-13.33-gbpplanner'),\n",
+ " Path('./experiments/communications-failure-lm-3-tk-13.33-ours'),\n",
+ " # Path('./experiments/communications-failure-lm-3-tk-5'),\n",
+ " # Path('./experiments/communications-failure-lm-3-tk-'),\n",
"]\n",
"\n",
"for RESULTS_DIR in RESULTS_DIRS:\n",
@@ -71,18 +125,20 @@
"# num-robots-10-seed-0.json\n",
"RES = [\n",
" re.compile(r\"target-speed-(\\d+)-probability-(\\d+.\\d+)-seed-(\\d+).json\"),\n",
- " re.compile(r\"v0-(\\d+)-failure-(\\d+.\\d+)-lm-3-tk-5-seed-(\\d+).json\"),\n",
+ " re.compile(r\"v0-(\\d+)-failure-(\\d+.\\d+)-lm-3-tk-13.33-seed-(\\d+).json\"),\n",
+ " # re.compile(r\"v0-(\\d+)-failure-(\\d+.\\d+)-lm-3-tk-5-seed-(\\d+).json\"),\n",
"]\n",
"\n",
"TAG = [\n",
" \"Theirs\",\n",
" \"Ours\",\n",
+ " # \"Ours\",\n",
"]\n"
]
},
{
"cell_type": "code",
- "execution_count": 8,
+ "execution_count": 2,
"metadata": {},
"outputs": [
{
@@ -132,7 +188,7 @@
},
{
"cell_type": "code",
- "execution_count": 55,
+ "execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
@@ -170,17 +226,17 @@
},
{
"cell_type": "code",
- "execution_count": 56,
+ "execution_count": 4,
"metadata": {},
"outputs": [
{
"data": {
"text/html": [
- "Processing RESULTS_DIR=PosixPath('experiments/communications-failure-gbpplanner-final')\n",
+ "Processing RESULTS_DIR=PosixPath('experiments/communications-failure-lm-3-tk-13.33-gbpplanner')\n",
"\n"
],
"text/plain": [
- "Processing \u001b[33mRESULTS_DIR\u001b[0m=\u001b[1;35mPosixPath\u001b[0m\u001b[1m(\u001b[0m\u001b[32m'experiments/communications-failure-gbpplanner-final'\u001b[0m\u001b[1m)\u001b[0m\n"
+ "Processing \u001b[33mRESULTS_DIR\u001b[0m=\u001b[1;35mPosixPath\u001b[0m\u001b[1m(\u001b[0m\u001b[32m'experiments/communications-failure-lm-3-tk-13.33-gbpplanner'\u001b[0m\u001b[1m)\u001b[0m\n"
]
},
"metadata": {},
@@ -189,11 +245,11 @@
{
"data": {
"text/html": [
- "Processing RESULTS_DIR=PosixPath('experiments/communications-failure-lm-3-tk-5')\n",
+ "Processing RESULTS_DIR=PosixPath('experiments/communications-failure-lm-3-tk-13.33-ours')\n",
"\n"
],
"text/plain": [
- "Processing \u001b[33mRESULTS_DIR\u001b[0m=\u001b[1;35mPosixPath\u001b[0m\u001b[1m(\u001b[0m\u001b[32m'experiments/communications-failure-lm-3-tk-5'\u001b[0m\u001b[1m)\u001b[0m\n"
+ "Processing \u001b[33mRESULTS_DIR\u001b[0m=\u001b[1;35mPosixPath\u001b[0m\u001b[1m(\u001b[0m\u001b[32m'experiments/communications-failure-lm-3-tk-13.33-ours'\u001b[0m\u001b[1m)\u001b[0m\n"
]
},
"metadata": {},
@@ -255,13 +311,13 @@
},
{
"cell_type": "code",
- "execution_count": 58,
+ "execution_count": 5,
"metadata": {},
"outputs": [
{
"data": {
"text/html": [
- "shape: (10, 5)\n",
+ "shape: (8, 5)\n",
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"│ --- ┆ --- ┆ --- ┆ --- ┆ --- │\n",
@@ -275,13 +331,11 @@
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"│ Theirs ┆ 10.0 ┆ 0.6 ┆ 257.200012 ┆ 0 │\n",
"│ Theirs ┆ 10.0 ┆ 0.7 ┆ 260.899994 ┆ 0 │\n",
- "│ Theirs ┆ 10.0 ┆ 0.8 ┆ 362.100006 ┆ 0 │\n",
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+ "shape: \u001b[1m(\u001b[0m\u001b[1;36m8\u001b[0m, \u001b[1;36m5\u001b[0m\u001b[1m)\u001b[0m\n",
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- "│ Theirs ┆ \u001b[1;36m10.0\u001b[0m ┆ \u001b[1;36m0.8\u001b[0m ┆ \u001b[1;36m362.100006\u001b[0m ┆ \u001b[1;36m0\u001b[0m │\n",
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@@ -306,43 +358,39 @@
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+ "shape: (8, 5)\n",
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+ "└────────┴──────────────┴──────────────┴─────────────┴────────────┘\n"
]
},
"metadata": {},
@@ -357,7 +405,7 @@
},
{
"cell_type": "code",
- "execution_count": 61,
+ "execution_count": 6,
"metadata": {},
"outputs": [
{
@@ -369,14 +417,14 @@
"│ --- ┆ --- │\n",
"│ f64 ┆ f64 │\n",
"╞══════════════╪══════════╡\n",
- "│ 0.0 ┆ 21.125 │\n",
- "│ 0.1 ┆ 24.24 │\n",
- "│ 0.2 ┆ 27.1 │\n",
- "│ 0.3 ┆ 29.06 │\n",
- "│ 0.4 ┆ 33.16 │\n",
- "│ 0.5 ┆ 39.84 │\n",
- "│ 0.6 ┆ 48.4 │\n",
- "│ 0.7 ┆ 60.82 │\n",
+ "│ 0.0 ┆ 139.06 │\n",
+ "│ 0.1 ┆ 160.36 │\n",
+ "│ 0.2 ┆ 179.12 │\n",
+ "│ 0.3 ┆ 194.74 │\n",
+ "│ 0.4 ┆ 211.86 │\n",
+ "│ 0.5 ┆ 211.58 │\n",
+ "│ 0.6 ┆ 222.12 │\n",
+ "│ 0.7 ┆ 276.76 │\n",
"└──────────────┴──────────┘\n",
"
\n"
],
@@ -387,14 +435,14 @@
"│ --- ┆ --- │\n",
"│ f64 ┆ f64 │\n",
"╞══════════════╪══════════╡\n",
- "│ \u001b[1;36m0.0\u001b[0m ┆ \u001b[1;36m21.125\u001b[0m │\n",
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+ "│ \u001b[1;36m0.0\u001b[0m ┆ \u001b[1;36m139.06\u001b[0m │\n",
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},
@@ -410,14 +458,14 @@
"│ --- ┆ --- │\n",
"│ f64 ┆ f64 │\n",
"╞══════════════╪════════════╡\n",
- "│ 0.0 ┆ 0.5 │\n",
- "│ 0.1 ┆ 1.8 │\n",
- "│ 0.2 ┆ 6.8 │\n",
- "│ 0.3 ┆ 11.0 │\n",
- "│ 0.4 ┆ 18.4 │\n",
- "│ 0.5 ┆ 33.0 │\n",
- "│ 0.6 ┆ 39.6 │\n",
- "│ 0.7 ┆ 51.8 │\n",
+ "│ 0.0 ┆ 6.0 │\n",
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+ "│ 0.5 ┆ 89.0 │\n",
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+ "│ 0.7 ┆ 121.4 │\n",
"└──────────────┴────────────┘\n",
"
\n"
],
@@ -428,14 +476,14 @@
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+ "│ \u001b[1;36m0.0\u001b[0m ┆ \u001b[1;36m6.0\u001b[0m │\n",
+ "│ \u001b[1;36m0.1\u001b[0m ┆ \u001b[1;36m11.6\u001b[0m │\n",
+ "│ \u001b[1;36m0.2\u001b[0m ┆ \u001b[1;36m27.6\u001b[0m │\n",
+ "│ \u001b[1;36m0.3\u001b[0m ┆ \u001b[1;36m50.2\u001b[0m │\n",
+ "│ \u001b[1;36m0.4\u001b[0m ┆ \u001b[1;36m84.6\u001b[0m │\n",
+ "│ \u001b[1;36m0.5\u001b[0m ┆ \u001b[1;36m89.0\u001b[0m │\n",
+ "│ \u001b[1;36m0.6\u001b[0m ┆ \u001b[1;36m111.4\u001b[0m │\n",
+ "│ \u001b[1;36m0.7\u001b[0m ┆ \u001b[1;36m121.4\u001b[0m │\n",
"└──────────────┴────────────┘\n"
]
},
@@ -451,14 +499,14 @@
"│ --- ┆ --- │\n",
"│ f64 ┆ f64 │\n",
"╞══════════════╪══════════╡\n",
- "│ 0.0 ┆ 20.3 │\n",
- "│ 0.1 ┆ 23.8 │\n",
- "│ 0.2 ┆ 26.9 │\n",
- "│ 0.3 ┆ 29.6 │\n",
- "│ 0.4 ┆ 33.5 │\n",
- "│ 0.5 ┆ 40.2 │\n",
- "│ 0.6 ┆ 48.78 │\n",
- "│ 0.7 ┆ 68.2 │\n",
+ "│ 0.0 ┆ 165.26 │\n",
+ "│ 0.1 ┆ 190.64 │\n",
+ "│ 0.2 ┆ 207.22 │\n",
+ "│ 0.3 ┆ 189.68 │\n",
+ "│ 0.4 ┆ 215.98 │\n",
+ "│ 0.5 ┆ 235.92 │\n",
+ "│ 0.6 ┆ 251.62 │\n",
+ "│ 0.7 ┆ 363.22 │\n",
"└──────────────┴──────────┘\n",
"\n"
],
@@ -469,14 +517,14 @@
"│ --- ┆ --- │\n",
"│ f64 ┆ f64 │\n",
"╞══════════════╪══════════╡\n",
- "│ \u001b[1;36m0.0\u001b[0m ┆ \u001b[1;36m20.3\u001b[0m │\n",
- "│ \u001b[1;36m0.1\u001b[0m ┆ \u001b[1;36m23.8\u001b[0m │\n",
- "│ \u001b[1;36m0.2\u001b[0m ┆ \u001b[1;36m26.9\u001b[0m │\n",
- "│ \u001b[1;36m0.3\u001b[0m ┆ \u001b[1;36m29.6\u001b[0m │\n",
- "│ \u001b[1;36m0.4\u001b[0m ┆ \u001b[1;36m33.5\u001b[0m │\n",
- "│ \u001b[1;36m0.5\u001b[0m ┆ \u001b[1;36m40.2\u001b[0m │\n",
- "│ \u001b[1;36m0.6\u001b[0m ┆ \u001b[1;36m48.78\u001b[0m │\n",
- "│ \u001b[1;36m0.7\u001b[0m ┆ \u001b[1;36m68.2\u001b[0m │\n",
+ "│ \u001b[1;36m0.0\u001b[0m ┆ \u001b[1;36m165.26\u001b[0m │\n",
+ "│ \u001b[1;36m0.1\u001b[0m ┆ \u001b[1;36m190.64\u001b[0m │\n",
+ "│ \u001b[1;36m0.2\u001b[0m ┆ \u001b[1;36m207.22\u001b[0m │\n",
+ "│ \u001b[1;36m0.3\u001b[0m ┆ \u001b[1;36m189.68\u001b[0m │\n",
+ "│ \u001b[1;36m0.4\u001b[0m ┆ \u001b[1;36m215.98\u001b[0m │\n",
+ "│ \u001b[1;36m0.5\u001b[0m ┆ \u001b[1;36m235.92\u001b[0m │\n",
+ "│ \u001b[1;36m0.6\u001b[0m ┆ \u001b[1;36m251.62\u001b[0m │\n",
+ "│ \u001b[1;36m0.7\u001b[0m ┆ \u001b[1;36m363.22\u001b[0m │\n",
"└──────────────┴──────────┘\n"
]
},
@@ -492,14 +540,14 @@
"│ --- ┆ --- │\n",
"│ f64 ┆ f64 │\n",
"╞══════════════╪════════════╡\n",
- "│ 0.0 ┆ 1.2 │\n",
- "│ 0.1 ┆ 1.8 │\n",
- "│ 0.2 ┆ 6.2 │\n",
- "│ 0.3 ┆ 11.2 │\n",
- "│ 0.4 ┆ 18.2 │\n",
- "│ 0.5 ┆ 36.0 │\n",
- "│ 0.6 ┆ 41.6 │\n",
- "│ 0.7 ┆ 55.6 │\n",
+ "│ 0.0 ┆ 7.4 │\n",
+ "│ 0.1 ┆ 12.0 │\n",
+ "│ 0.2 ┆ 33.6 │\n",
+ "│ 0.3 ┆ 47.8 │\n",
+ "│ 0.4 ┆ 68.0 │\n",
+ "│ 0.5 ┆ 107.2 │\n",
+ "│ 0.6 ┆ 118.8 │\n",
+ "│ 0.7 ┆ 136.8 │\n",
"└──────────────┴────────────┘\n",
"\n"
],
@@ -510,14 +558,14 @@
"│ --- ┆ --- │\n",
"│ f64 ┆ f64 │\n",
"╞══════════════╪════════════╡\n",
- "│ \u001b[1;36m0.0\u001b[0m ┆ \u001b[1;36m1.2\u001b[0m │\n",
- "│ \u001b[1;36m0.1\u001b[0m ┆ \u001b[1;36m1.8\u001b[0m │\n",
- "│ \u001b[1;36m0.2\u001b[0m ┆ \u001b[1;36m6.2\u001b[0m │\n",
- "│ \u001b[1;36m0.3\u001b[0m ┆ \u001b[1;36m11.2\u001b[0m │\n",
- "│ \u001b[1;36m0.4\u001b[0m ┆ \u001b[1;36m18.2\u001b[0m │\n",
- "│ \u001b[1;36m0.5\u001b[0m ┆ \u001b[1;36m36.0\u001b[0m │\n",
- "│ \u001b[1;36m0.6\u001b[0m ┆ \u001b[1;36m41.6\u001b[0m │\n",
- "│ \u001b[1;36m0.7\u001b[0m ┆ \u001b[1;36m55.6\u001b[0m │\n",
+ "│ \u001b[1;36m0.0\u001b[0m ┆ \u001b[1;36m7.4\u001b[0m │\n",
+ "│ \u001b[1;36m0.1\u001b[0m ┆ \u001b[1;36m12.0\u001b[0m │\n",
+ "│ \u001b[1;36m0.2\u001b[0m ┆ \u001b[1;36m33.6\u001b[0m │\n",
+ "│ \u001b[1;36m0.3\u001b[0m ┆ \u001b[1;36m47.8\u001b[0m │\n",
+ "│ \u001b[1;36m0.4\u001b[0m ┆ \u001b[1;36m68.0\u001b[0m │\n",
+ "│ \u001b[1;36m0.5\u001b[0m ┆ \u001b[1;36m107.2\u001b[0m │\n",
+ "│ \u001b[1;36m0.6\u001b[0m ┆ \u001b[1;36m118.8\u001b[0m │\n",
+ "│ \u001b[1;36m0.7\u001b[0m ┆ \u001b[1;36m136.8\u001b[0m │\n",
"└──────────────┴────────────┘\n"
]
},
@@ -540,7 +588,7 @@
},
{
"cell_type": "code",
- "execution_count": null,
+ "execution_count": 7,
"metadata": {},
"outputs": [],
"source": [
diff --git a/scripts/analyse-junction-scenario.ipynb b/scripts/analyse-junction-scenario.ipynb
index 029bffb..f65cd2e 100644
--- a/scripts/analyse-junction-scenario.ipynb
+++ b/scripts/analyse-junction-scenario.ipynb
@@ -2,7 +2,7 @@
"cells": [
{
"cell_type": "code",
- "execution_count": 2,
+ "execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
@@ -43,7 +43,7 @@
},
{
"cell_type": "code",
- "execution_count": 3,
+ "execution_count": 2,
"metadata": {},
"outputs": [
{
@@ -93,7 +93,7 @@
},
{
"cell_type": "code",
- "execution_count": 4,
+ "execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
@@ -171,7 +171,7 @@
},
{
"cell_type": "code",
- "execution_count": 7,
+ "execution_count": 5,
"metadata": {},
"outputs": [
{
@@ -195,7 +195,7 @@
"name": "stderr",
"output_type": "stream",
"text": [
- "/tmp/ipykernel_3802/3770620961.py:72: UserWarning: FigureCanvasAgg is non-interactive, and thus cannot be shown\n",
+ "/tmp/ipykernel_66642/1183339029.py:72: UserWarning: FigureCanvasAgg is non-interactive, and thus cannot be shown\n",
" fig.show()\n"
]
},
@@ -211,7 +211,7 @@
},
{
"data": {
- "image/png": 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xhGsWR86ukx39Xpwv1UD9I9syf57RmgghhBhUjuMCak3uo8dOEuzy8ddHejnaWEtvqAQAv8/FceH8a9QALlUVMGHM+b1pMXhSCtTxQVrTjTcBX0DdlgWwBfgP2zIl/7MQQmSBY8dOsvHZrUyfPokJE6fRW7CKxlApkeNqlvao4Q6rFofBhT8/VIhaETo2WKuL069ZGcKfiXROImGZWPDkVuB/ULdhmajVySYCv9F04722Zaacj1oIIUR6wuEIBQUB2tqDnD7jcPTZCtqeLMZxVBCuH+Ww6sow0yY6Z2dl+3whHtxQSHvwXDlVFSpIz5wivelLLROzvj8JrLUtc13sRk03GoBfARKohRDiEgsGu3h201aCwU6Wr1jDrlenc7p3Jq7XS544NsLViyM01J8L0FEzpzhcMamHw8f9dHRCRZka7pae9NDIRKDuiQ/SALZlHtR0I+2PXppuzAE2Astty9yRxHH1wJ3AGiAE3AvcYVtmS7p1EkKIbBXtQft8sO9gFy09s9lyVzHRYewpEyKsujLMhDHuBcvx+6GhXnrP2SATgTqg6UapbZldsRs13agBRmWg/P8EvpBMkPbchbqF7GZUjuwfopY5fU8G6iSEEEPKcWDvIZe2IPh9fsaPjrB9xy527NjDkuU38OLuKk50ve7s/ldMUgF67MgLB2iRfTIRqB8AHtF045uo+6bLgFnA7cCD6RSs6cbrgQgqwCZz3DBgFbDUtszN3rYvAj9Jpz5CCJEN1FrchbQHo0G3iMpyl6riSk63X82BB2sA8PlcZk11WLUozMjhEqBzVSYC9VeABuAvRKcFKr8FPp9qoZpuFALfBvxAUNON54AP2pa5K4HDa7zH0zHbTqPu/xZCiJw10Frc7UFoD04FwO93mTs9wspFEYZXS4DOdT7XzcyLqOnGZGAh0AW8bFvmwTTLez/wj8DbgDPAD4AlwAzbMnsvcmwDqnc/CTV0fgCwgcdty0wsszlUAa0pVV4IIQaB47j8249cWtvjb506p6gQ7rgNRtTKzK8hMAxoy3Shmbg9axTQa1vmfmB/+lU663bgM9EetKYbHwIaUUPajyVRzm2oyWQXWsBWCCGy3kuv9NDaXsRAQRqgNwQt7T5G1F66eonBlYmh7+dRy4muyUBZwNlrzLOJCfy2ZbZounEGGJlMWbZltnplplyflrbOlI/NBtEl+nK5HfnQBsiPdkgbLr1QKExhYQGHjjlA0UX3P9HYw4ia3JixnWuvRX+ibRgsmRgb2Yi6X/o8mm58NcUyI4ADzI8pqx6oI67XrunGuH6Oj6bdrIvZVgcE+9lXCCGykuu6vLhlJ7+56yHsxyKs31ya0HEVgxs3xCWW9jVq73rw7cCfUYk4ooYDf7MtM6VbtDTd+COwDDBQ16i/ARSj7qd2vX0+B3wN+LxtmV+PO/5J1O1ZdwClqFXTttqW+fYEq3D2GnUuf9KD/PrEmsttgPxoh7Rh8DmOg+O4+HwBfveXwxw8NREXlUsyEHCJROBCa3F//N09ObM4Sba/FomI6VFn5zVq4EVU5T4et11lGU/d+1Czvn+JCtAPAR+JBmnPGaDTe4x3C2rBk/tQAfte4GNp1EcIIQbdsWMnefqZLZQNm8OBk5Noap0OQF2Nw9qVYUIhvFnfshb35SITPeq7UcG0Je6pSuBnqfaos4D0qLNIPrQB8qMd0obBEb0O/dyW0zz6TBG9rnrrLC91uW5pmAUzI2cD8Ln7qM8F6qoKNyfX4s7G1yJZWdWj1nSj2LbMnrjNX7Ytc9sA+99+kWOFEOKy1tnZxTMbt3D6TJji6tXs2DMegIKAy/IFEVYsDFMcN38suhZ3U2uptzJZj6zFnceSHfp+gLjZ3QMFae+5313oWCGEuFz1hkIUFRYScQp46cBoWnumw+kAAHOnR1i9LMSwyoGP9/th6kTVo25py61etEhOJq5RCyGESJDrumzZupNt2/YwcfpreX5nFZ09MwGV0eqGlWHG1MlqYuKcZAP1eE03Ul3UJJzicUIIkfPUTG6HQKCA/UeKOBZ8LYdfGAZAbbXD2qvCTG84P+WkEMkG6h+Q+nrZLSkeJ4QQOcVx6JPLuYDjbNy4heoRUzjeMpODR+cAUFricu2SMItmRQgEhrjSImslFahty7xzsCoihBD5oL8Z2aXF9URCxfSeHAX4CPhdls6PsGpRmJLioauryA1yjVoIITJkoMxWXT0BYDQAs6dGWLM8THWVXIcWiZFALYQQGeA48OCG6Ftq/IVmtf5TeSnoa2VBEpEc+XURQogMePTJV2kP+hk4s5WPYJePw8flbVckR35jhBAiRY7jEAqpG1pONp4/5N2fjtxdgEsMkUEJ1JpuTB+McoUQIlscO3aKP9/9EE8+vYe/PFzIgZMNCR0nma1EsjJ6jVrTjZmoTFrdmm583bbM45pu1AGObZn9Jc4QQoic0tPTS3FxET29fl49M51dp65A5f2BwgIX1cEeOLPVhDGyiphITkYDtW2ZOzXd+CvwUeD3mm5UAutQ917flslzCSHEpdTV1c2Gp57ndGMbE6ffxNMv1tMdGQdAQ32EtSvCtLT5JLOVyLiM/8rYlnk/8A+2ZV4DXAM8DuzK9HmEEOJS6O5WuYQKCgo5cKySg8038NjGYrp7fNTVOrzj5l7e/YYQY+pcZk5xeMuNISrL+5ZRVQFvuTH3MluJ7DBYt2fN03Sj2bbMdk03ngUeHaTzCCHEoHlxy062bdvF7Pmr2fLKSE52LAWgslylnpx3ReS8HnI0s1XsymSS2UqkY7AC9buAuzTdeB54CJgAfHyQziWEEBnjOA7hcISiokIam/2c7Lyaw0+pxUqKCl1WLAyzfH6EwgtM8vb7oaFees8iMwYlUNuW+V5NN4YD70ctx5P0DQmabqwDro3b/JRtmauSKKMeuBOVXjME3AvcYVtmS7L1EULkv2PHT/HUUy9QO7yeLhayZdc8XNeH3++yaFaEaxaHKZdZ2+ISy3ig1nSjGFgLPGFb5jc03ViCCpKp+D7wvZjvu5I8/i7UdMybgTLgh16Z70mxPkKIHOc4sPeQS1sQ/D4/E8Y49PT0UFpaTCQS4MiZyew+NQvXe3ucMVkt+Tm8Wpb8FEMj44HatsweTTf+CfiyphshYD0wGXh7CsU12Za5N5V6aLoxDFgFLLUtc7O37YvAT1IpTwiR+84lzIgG3SKKCrqpKXqJ+QsX8dQLYwlG6gEYN8ph7YoQ48dIgBZDa7CuUb/JtsxWTTdqgdXA4RTL+WdNNz6HSpH5OPAJ2zJPJXhsjfd4OmbbaVJP0ymEyGEDJczoDRdzMnwVDz2lbqeqHeawZnmYGZMlN7TIDoMVqMs03bgF2Glb5p9TLOPvUcPVACOB7wI/B16fbEGabtwNHADsVCpSXZUfF6XyoR350AbIj3bkUhscx+XhpwfqGfvO/v/GtbBiYYBAILfyFeXSazGQfGjDYBms38ZvAm3AuzTdOAS837bMnmQKsC0zthe+S9ON24HHNd0oTrYs1GIrIWBpkscJIfLA3kMOre0X7h67wJg6H4GAdKNFdhmsQP0r2zIfBvAmk30E1SNOmKYbU4BjtmVGJ5AdRi3QMookh9Jty2z1ykzmsLNa2nJ7Ff3oJ9Vcbkc+tAHyox251objx09x3yMngSUX3fdEYw8janLntqpcey36k09tGCyDdQv+Mu/2LLyJXC+kUMYG4C0x348HHOC8a9Sabozr5/hm77EuZlsdEEyhLkKIHNPZ2Q1AV28JZ4JjEzpGEmaIbDRYPeqfAw9puvEY8DywAngiyTLuBr6k6cYx1G1Z3wbusy2zO3Ynb7LZ1zTd+LxtmV+Pbvcms20A7tR04w6gFPgqcF+qjRJCZL/u7h6eeHIzx050Mbz+Rra9UofjRIez49fg5ux2SZghstWg9KhtyzyGWmSkCTX5K5VJXJ9FLT36W+AeYB/wD/3sdwa1oEp/2bluAY6hgvNfUB8aPpxCXYQQWa6zswvXdekNF7Ln6CRebb+JLbuKcBwfk8dFWL0supxD/KQySZghspvPdVO/R1DTjZHAh1D3SZ8A7rEt85m4fQK2ZUbSquXQqAJaIbevnUB+XQPK5TZAfrQjG9vw4padvLBlHzWjr+eVw9WEwqrXPGGMw3VLQ0ysV+9z5+6jPterrqpwec3K3EyYkY2vRbLyqQ3AMNRE6oxKeejbuy78HOrWqajPaLrxN+A9tmU2edtmaLqxwLbM36RRTyGE6CMSidDbG8bnL2b3oVEc75zNsf1FAIwd6bB6WZhJ4/reCx1NmNHUWuqtTNYjCTNE1kvn1/MbwLeAacBc4H3AA8CNwHpNN8YA2Jb5ElCq6cbaNOsqhBAAHD9+mj/+6VH+YJ/h+78uZs/RsbgUMWqEw9tv6uV9b+5l8vj+Fyzx+2HqRB+LZvloqJcgLbJfOpPJWmzL/E7M9y8Bv9B0YwZqTe3folYlA3gQ+BXwSBrnE0Jc5oLBToqKy9h5sJp9Z16DQwkAI2ocrl0aZqasJibyUDqBut9xeNsyd3m9559puvFO2zJ/C1SQyE2MQojLnuNwXi7nUKiXxx7fxP6j1fT4FxHsUgG6pkoF6NlTpWcs8lc6gbpuoCdsy3Q13fgw8CNUz/pqIBcnlAkhLqH+JntVljtMmxhg+6EVhCJq0s6wCpdrloSZd0VEArTIe+n8ih/TdGPAdJG2ZfYC+71vrwF2pnEuIUSeiybNaI9bkqg96OOFlwsJRcooL43wumtCGO/qYcFMCdLi8pDOr/n3gG9puvHRC+xTpunG9cAckl/wRAhxmXAceHBDNLNV/EVmH+BSXOTy0XeFWDwnQkHgEldQiCGUcqC2LbMRuBX4T003ntV04y2abpREn/fW6l4OvAmYjrqVSwghznP4uN8b7h5oJpiPnl4fx09LF1pcftJaQtS2zL9puvFm4BfA74FuTTd2o5b6mQ18HPgf1L3WxelVVQiRj9rbgxw9WZXQvh25uyaGEClL++OpbZn3ooa2vwMcBWag8kj/k22ZP7Ut00Xllh6d7rmEEPmjtzfEX+/bxE9/18pjGxPrM0jSDHE5SmsJ0TwnS4hmkXxoA+RHO9JtQ0dHJ/5ACc9sKeSZLX5cV11wLgi4hCNwoaQZH393T0YmkOXD6wD50Y58agPZtoSoEEIk6/kXdvHU8w5d7jx6w+rtp35kiBuvdmjr8PGnBws5P8OVJM0QlzcJ1EKIQRUOR+ju7uXAsXLWbZlFZ0itxz2ixuH6q8JMm6hWE6sf5fKWG0PefdTnjq+qIGeTZgiRCRKohRCD5sSJRu5/+ABNPfPp6lUBuqwkzOrlDgtmnL+aWDRpRvzKZNKTFpczCdRCiIxra+ugs7eShzaO5Gj7OACKCl1WLgqzbF6EwsKBj/X7oaFees9CRGU0UGu6McK2zEZNN4qBiG2Z4UyWL4TIbr2hEPc/+CL7jo2jMzwc8OH3uSyaHeaaJRHKS4e6hkLknrQDtaYbZcB/AO8HTgJTgFLA1HTjU7ZlHsvAOX4MrAIW2pYZSuK4euBOYA0QAu4F7rAtsyXdOglxOXIc2HvI9XI5+88OS7e3B/EFSnnmxRJ2vLry7EzuWVMjrF4WpnaY3F0iRKoy0aP+MbAU+BrwRgDbMls03fg98APUymQp03RjGepDwHXJBGnPXUAAuBl1b/cPge8DA65RLoTo37mEGdGgW0Rlucu0+kPsO9BEpzuPkDeTe9yoEDeuchg7SgK0EOnKRKBeCsy3LbPHW9c76iDn8lGnRNONAOqDwK9sy9yQ5LHDUL3wpbZlbva2fRH4STp1EuJyFE2YEa89CC+8MhFoAKCuVs3knjpB8kILkSmZCNQnbMvs8b6O/dNcC/T0s38yPgFMAG5I4dga7/F0zLbTQHWadRLisnLxhBngw+Wm60L9zuQWQqQnE4F6h6YbXwNMoEDTjdHAO4GvkkbvVdONccBXgE96E9RuBb5sW2ZDCmXdDRwA7FTqErPqTE7Lh3bkQxsgt9qx95AbM9zdPxcfE8YUU1udW93oXHodLiQf2pEPbRgsmQjUnwX+ABzyvj+K+phtAZ9Lo9zvA9uAn6VTOc9tqMlkSzNQlhCXlebWCImkBWgLXnQXIUQK0g7UtmUGgZs13ZiBypgFKsAeTGHyVywduNlL6pEW2zJbATTdSOn4XF6DFvJrLd1cbgPkVjva24N09pSycUtiie/8vh5a2nLj/udceh0uJB/akU9tGCyZuD3rTtsyP2Fb5i5gV8z2mZpuXGtb5o/TKN7WdCMaqH3AqwPUYZxtmUfiNjd7j3WoiW3Rr+VzvxAX8cymfTz9YjFdkVrcs9el49fg5uz2qgq1gpgQIvMyMe1j7gDbdwHvSrPc+cAC79+X+ttJ043PAa96j2d5vegNwJ2ablyl6cYa1HXz+9KokxB5KxyOcPxEkAeeKOCx52fRGZmKi49pEyOsXREdHIsf4JKEGUIMtpR61JpurAa+jZpZPVrTjf397FYLnEq1YrZl7og75+IBdj0DdHqP8W5BLXhyH+p+6nuBj6VaJyHy1aFXm7nn4XZau6fgohYrGVvXzY1X+xg3WgXj6kpXEmYIMQRSzket6UYlasLXtcAv4p52UbmcLdsyD5GbJB91FsmHNkB2tcN1XU6cbGf34Vqe3RqgN6SGtcfUhVi7wu13vW3HgabWUm9lsp6cTZiRTa9DOvKhHfnUBrItH7Vtme3ArZpurLYt8/EM1kkIMcg6uyLcZR3lWPNEXO9tYER1L6uXO1wxiQEXK/H7YepE9WSuTBwTItdlYtZ3v0Fa040i4O22Zf5fuucQQmRGU3MHuw5WsHFLGcGu6QBUlfdwwyofMyfLamJCZKOMZM/SdGMhcAVQFLM5AHwakEAtxCXgOAyYxzkSgfsfPc32fbVE3BIAhlVEWD6/i8VzC/D7ZU1uIbJVJm7P+hpq0RM4//6Ne9ItXwhxcecSZpz786ssd7l+eTedXSGee6mCptbxABQVdHP9Cj8LZzoEApKSXohsl4lpILcA1wMlwKeAcbZl+oHJwKMZKF8IcQHRhBntcSsEtAfBerSEh56uoqnVT1mJy1XzWrjjfbB4jkMgMDT1FUIkJxOB+qBtmY/bltkLPAy8A8C2zIPA1RkoXwgxgIsnzPABLsvnB/n4e3pYu6qEAulEC5FTMvEn267pxu3AY7ZlbtN0w9R0YwfqQ8C1GShfCDGAw8f9fYa7++djWkMhRYUyS1uIXJSJQP1F4C+o1cNuBf4dtbCIH3ggA+ULIQbQkeCtp4nuJ4TIPpkY+j4BLLYt81YA2zIfBK4E3uL9E0IMgmAnPPN8V0L7VkgGQSFyViZ61M8Du1ETygCwLXMbKoOWECLDgp1hnnoeXtxVTm+oxNsqCTOEyFeZ6FE/ywD3Smu68dUMlC+EQE0ce+LZbu78ZYBnt1fQG/Ixps5h8azoioWSMEOIfJSJHvUdwO2ablwNxK7rPRz4IOoathAiRY7j8ty2Tp57uYYzLaoHXegPcv1VERbPK8LnK6JhfEgSZgiRpzIRqF9ELUT+8bjt6r4QIUTKDh+DPz3QTbBnOAClJS5XzmxnxZUBiovOLQQ4c4rDFZN6BlyZTAiRuzIRqB8Hfgm0xG2vBH6WgfKFuOwcfLWTjdsq2XOoECjBR5grGlrQrq+gpLio32P8fvrNeCWEyG2ZCNRf9iaPnce7v1oIkaCOTrAe7ODA8VrAj8/nMntqL1fN72T0yIqhrp4QYghkIlB/xPt3Htsyf5dqoZpurOP8BVMO2ZbZkEQZ9cCdwBoghLq/+w7bMltSrZcQqXIc2HvI9XI5+/sMTQc7wzy52WXL7gpCYXUdurq8kbfdXMGoEQClQ1ZvIcTQykSg/pCmGyXAd23L3JqB8qLexbl3pxHAn4HfJ1nGXagsXjcDZcAPge8D78lQHYVIyLmkGdFpG0VUlrvcsCJEY1MXT71QfDar1diRDktmNzNvpvSghRCZCdRHUVmybtd0YxzwW+Au2zITW4lhALZlHgXQdGM48CfgD7ZlfvbCR52j6cYwYBWw1LbMzd62LwI/SadeQiQrmjQjXnsQ7n64kGh22EJ/hzeTuxifr/wS11IIka0yEaivsy1zH/AXTTfKgDcBv9B04xjwM9syd6RasKYbBahEH72opUmTUeM9no7ZdhqoTrU+QiTr4kkzwIfLqkUdrFgUoKhIMmYIIfpK+13BC9LRrzs13TiOCqwfAP4BqEqj+ALgFOqe7IOabrzHtsy/JFuIpht3AwcAO5VKVFflx/qL+dCOXGvD3kNuzHB3/1x8zLmiipEjLpZcI7vk2mvRn3xoA+RHO/KhDYMl7UCt6cZG4H3A24D3AhOBJ4GPAX9Mp2zbMruB13rn+QTwU003LNsyk70/+zbUZLKl6dRHiGS1BS++TzL7CSEuP5kYZ1sKbEeN420HptqWuT8D5ca7D/guMAY4lsyBtmW2Ami6kdKJW9pyO/VQ9JNqLrcjF9vQHgyxeWsANY/xwvy+HlracuMe6Fx8LeLlQxsgP9qRT20YLJlYt6gXld5yNGqBk+9ouvGPmm6kM+SNphsvarpxU8ymaHnnvZreJLZ4zd5jXcy2OkD6LmJQRSKw/tlevv+rQl45FP0DHmgQyKWqwpWkGUKIAWWiR/1p2zKjSTm+B3xP0423Ay9punG/bZkfSrHcncDXNd3oBLqAbwAb4++B1nTjc8DXNN34vG2ZX49uty2zVdONDcCdmm7cgbrV66uonrkQGec4Ls8838GWV4bT1OqtyR3oYPY0H1t2lXF+hitJmiGEuLhMBOpN0S803Xgd8GHUfctt9NP7TcLHgP9CXecuANYD/9jPfme885zp57lbUAue3Ie6n/per1whMurQUR9//ls3wR41gFNW6rJkdgdXLQxQWOhn6kRJmiGESI3PddPLm6HpxgnUvcnvBhpQ+al/BPwu3Xuph1gV0Aq5fe0E8usaULa1Yf+hIBu3VbLvVXUvtI8wMxuaef3aSuKX5HYcaGot9VYm68nZpBnZ+lokIx/aAPnRjnxqAypBVdsFdk1JJnrUI4FPA78DfhRdXESIfNYeBOuhTg4eryG6Jvf8K0Ism9fJyBGV/R7j98PUiWroO1cmjgkhhl4mAnUTcKVtmYcuuqcQOa69I8T6TS7b91YS9tbkrqk4zdturmDkcB9QMrQVFELknUwE6puAKzXd+DMw09u2BfgP2zJl4pbIC5EIPPlciKdeKMJxiwGoH+WwfF4rs6b134MWQohMyESgngX8D/AIYAJh1KInv9F04722Zf41A+cQYlA5Dhw+7qejEyrKOHv92HFcntrcztY9I2huU73lokA7a5aHWTyvFJ9PsloJIQZXJgL1J4G1tmWui92o6UYD8CtAArXIaucyW527daqy3GXRrDCbtwXp7BkJQHmpy9K5QZbND1BYeH6SDSGEGAyZmHPaEx+kAWzLPAjIjBmR1aKZrdrjlsFpD8L6zYV09lTjI8TMhlN89F09rFpcQGFhDk7VFkLkrEy84wQ03Thv/E/TjRpgVAbKF2JQXDyzlUthgcsH3tLJW26qOu92KyGEuBQyMfT9APCIphvfRGWoKkNdt74deDAD5QsxKA4f9/cZ7j6fj1AYukKlyOCQEGKoZCJQfwW10Mlf6Lug8W+Bz2egfCEGRVtHYvt15O46DEKIPJCJfNQh4N2abnwJWIhal/tl7xq1EFnHcVye3NTG87vqLr4zaha4EEIMlUz0qAHwUlv2SW+p6cZi2zKfy9Q5hEjXgSM+7n6wh84eNX3C53NRq+j2NwTuUlWBZLYSQgypjAXqeJpuVKCGv6cP1jmESNSeA0E2bq3g4LFioNibyd3M9KnVWI8UcrlltnKcCOFwOKVju7vVD6S3tyeTVbqk8qENkB/tyOY2FBQU4PcHhroaqQVqTTc6UGkjhchqbR3w14e7OHi8FvDh97ssmBFi2bwuRtRWAQ4Fgcsns5XrujQ3NdLR3kaq+XhO+tUHGsdJL6HPUMqHNkB+tCOb2+DzQUVlFTW1I/D5LjTxdHCl2qN+ArCAC30EqgD+LcXyhUhLa1sv6551eXl/FeGIWlFseOUp3npzBXW1fqD47L4zpzhcMamn35XJ8k1zUyNtba34/MX4AgH6H/K/ML/3xupm4RtrovKhDZAf7cjeNri4ToS2tlYAaocnNqdlMKQaqL9rW+ZDF9tJ04386o6IrBeOwFPPhdnwQvHZNbknjHFYsaCdaZOqBjzO74eG+vz+dXUiETra2/D5iwkUFF/8gAH4A+oTjJvDt6zlQxsgP9qR1W3wFxAJQ0d7G9U1tUM2DJ5qoH6tphuvBf5qW+b6gXayLfNHKZYvRFIcx2X9M21s319Ha3vMmtxXhVg8twyfL/XAlC/CkTCui9eTFkIkwucP4IYhHA5TVJRbgfoTwOtsy1yv6caE2CdsyzycfrVA040i4F+Bd6GScT8L3G5b5ksJHl8P3AmsAULAvcAdtmW2ZKJ+4tJxHNh7yKUtCH6f/7xh6QNH/Nz9t246e9VM7ooyl6sWdLJ4ToCCAlmT+3xDd61NiNwz9H8vqQbqrTFD3x8GrgZWAL8D3p2JiqEWS3kP8CHgKPD/gHs13bjCtszeBI6/CwgAN6NWS/sh8H2vTJEjziXMiF6/KqKy3OXGVSECvjae2VrJ4eNFQBE+Qsya1MTr1w6jqFB6jUKI/JBqoD4T/cK2zC9oulEIvGJbZqaCNMC1wDdsy7wXQNONDwGNqJzXWy90oKYbw4BVwFLbMjd7274I/CSD9RODLJowI157EG/7cKIzuRfNCrN0bifDa4Zd8noKIcRgSnVea5/ped7qZAfjd9J0430plo9tmWtsy/xezKYK7zGRhR9rvMfTMdtOA9Wp1kdcWhdPmKH+1Vac4gNv7eJ110QYXiPXoYUQ+SeTC570Cd6abviBLwA/z1D5XwEetS1zXzIHabpxNypZiJ3qiaur8mMNyVxqx95Dbsxw98Dero1i6sShv4aUrKF4Lbq7/Zz0+/D7fWdn2qYjkIEyhlo+tAHyox3Z2gYfDo7fR1VFKSUlJUNSh1QD9VJNN56O2zYrbttoYGKK5feh6caXgdcCy1I4/DbUZLKlmaiLuDTaghffJ5n9RH4JhUK8/PI+XNelqKiA1tZ26utHM2HC2Lw+t7g8pRqoq7xjY98mX4zbJyPrwWm68Tng48Aa2zIPJXu8bZmtXjkp16GlLbfTJ0V7b7nSDseBg0cCwMVnbPt9PbS0ZeH9lwMYyteit7cHx3FxHTete1ajPZ9IZGh+7h0dQdavf5b582cybtwYAEKhMPfe+yhFRUXU1dVetIxU25CJc2fSUL8WmZDtbYj+zbR1dNHd238dB3uELNVA/RvbMi84e9ob+n45xfKjZXwS+AxwvW2Z/U4g03RjnG2ZR+I2N3uPdZy7dl5H3w8WIsu4Ljy3rYtN2ytoaosG6fg1uM/uLQkzMiwcjgDqjdPn8xGJRHDd2O8dXNfF5wO/34/jODiOq4bS/X4cx8VxHHw+CAQCuK579s23oCDQ7zmSFQqFWLduI+PHjz0bKAEKCwuorCzn0KGjgxYsh/Lc4vKWaqD+5sV2sC3T0XTjYymWH53l/XXg74F2TTemek+dtC2z3dvnc8DXNN34vG2ZX485d6umGxuAOzXduAO1LvlXgftSrY8YPK6r7oV+YH2EpjY1D7CkyGXKhDAv7S3gckuYMVQeffQpAFavXk5RURHPPPMiwWAnS5bMo7a2mu3bd3HyZCOzZk2joaGe/fsPs2/fYcaPH8OsWdM4daqRrVt3UlMzjKVL5xMMdvLUU89TWFjImjVX9XuOZO3Y8Qo9Pb3MnDn1vOe6u3uTSjSyf/9hNm7cMuDzdXW1rFmzYlDOLUQyUgrUtmVuT3C/R1Ip3/MOoAh1P3Ss24BfeF+fATqJuV0sxi2oBU/uQ91PfS+Q8gcHMTj2H47wyNN+TjapN20fYepHHOUtNw2nsqKAmVPcyyZhhrgwx3E5cOAIY8eOoqio72WRzs4ugsFOpkxR6y+dOnWGtrYOpk4deJrM5MkTmDhxXMbPnQw1QpF7kyHFpeVzU02hk/+qgFbInWu7A8nGa9QnGn08+rSP/UdUgA74Xa6cHeHK2UFG1Pa9zcpxoKm11FuZrCenE2YM9TXq40eP4Cso63fN4kSHvgsLA/j9fkKh8CUd+g4GO7n33sdYvHguU6b0DcA7d+7lpZde4eab11BaWoLrqjzj0YQP8ZK9LprMufvjOA7+uF/a/fsPU1VVwYgRqQ+XZ/v13URkexscJ4Ib7mRM/TiKivq/BTTmGvUwoC3TdRi0fNRC9KexGe5/vJdDJ6IJMlyqSw9z85oSJk8cRmxWqyi/n7O3YOXSxLFcEw2mUYFA/PfqDTUacPx+f58PTCpgnzvG5/OdV2b898mI1id+yLy3N8Tu3fuZM+cKSktL6O3t5bHHnmHZsgU899x2Fi6cxe7d+5k5cyq1tdVnj0tm6DvRcwMcPHiEwsJCWlpaGTGilurqKtat28iNN17D3r2HCAT8jBo1gj17DrJw4ayUfx7i8jFogVrTjQLbMuWijQCgtR2efK6AF3f6AfWGNmtqhKvmdzK6buSAPR8hokpKihk+vIamphbGj1eTuSKRCM8+u4WGhnHMmDEFAJ/PT2lpCUVFhQQCfsrLywgEApSVlfYpL5mh70TPffToCdraOpg3bwbhcJjGxiaqqiqorq7CcRz27DnIddctIxAIUFlZzsiRIzL14xF5LO0BRE037hzgqWmabnw43fJFdnMcOHjUz449fg4e9ePEdXiDnfDXR8L84DfFvLizAPBTWnCM66/cy5tfE2LsqEIJ0iJhK1deSUdHkG3bdrFnz0G2bt3JtGkNLFhwrmd66lQjo0aN4OjRE0yYMJbi4mJCofB515YH49wHDx5h4sR6AE6cOM2ECfWcPKnq09jYRHFxIUVFRZw8eZpRo+pw4v9ghOhHJnrUcwfYvgu1tvaPM3AOkYXOJcw4F2ijCTMmjXN4ZksBG7f4CUdUD3rC2Airl4YZWVtOSYncxiKSV1pawsyZUzly5DjTpjX0eU5dM3fo6OjEcRwaG1tYtmwBnZ1d+P0+Oju7qKgoH9Rz19UNp6mphfb2IJMmjfdu2zpCIBCgqqqSwsICurq6aWpqpaKijGzIzCSyX0qTyTTdWA18G7Wm9mjgRD+71QKnbMucnlYNh45MJruAvgkzzr91qsDvEHa863r+JqaPO8JNr5lEcYq9mmycEJeKbJ5MlqihnPzT3t7BY489Q3l5KXV1tYwdO4oRI2rp7Q1x6NBRpk1rSGiSWiptyNS5MynbJ2IlItvbkLOTyWzLfFzTjetQaSOvBX4Zt4uLCnJWOpUT2eniCTMg7ASoqQyzdqXDxDEBSktz9fOayBbhcISDB48wY8YU2tuDnDjRyJ49BykqKmLChLHMnXvFoAXKoTy3ECkPfXuLjtyq6cZq2zIfz2CdRJY7fNzfZ7h7ICsXtjBjcgX9zeQWIlkFBQHmzp1x2Z1biLQnk0mQvvx0JDhqW1hcdfGdhBBCXNCgLhuh6cYHB7N8MUQSnNZQkTtZNYUQImulPetb041H6D/gFwNjUTO/RR7o6YUNzxfwzJboyy0JM4QQYrBl4vasGcAGoCtu+wrU+toixzkObN7usH5zET296lem0N9CyBmGJMwQQojBlYlAfZdtmZ+K36jpxjRAz0D5YggdOOLnwScDnG5Wt/MMqwhz49UOE8f4OXA0JAkzhBBikKUdqPsL0t72PZpuLE63fDE0TjfBPY+GOHa6EoCAP0RdxStoN9QwelQtUMTMKQ5XTOrh8HE/HZ3qmnQuJ8wQQohsNJhrfc8Grh6s8sXg6OpWa3Jv2ubHpQQfLovnRrhqfjdVlZPPu1fU74eGeuk9CyHEYMnEZLLdQPxyU6XASODX6ZYvLo1IBNY/28NzL1XQE1LD3KUFx1i1MMjyJeM5/yUWQghxKWSiRx0B/kLfyWQdwMvA3zJQvhhErgt7D/m5fz20BYcBUFfjsHZliAmjKykqkjW5hRBiKGUiUH8V+CNqmHsC0AJssC3zTLoFa7pxLfAboB5YbVvmuiSOrQfuBNYAIdQM9Dtsy2xJt165xHFg7yGXtiD4ff4+15APHwvxtyd8nGyqACDg62bymFd5442jKC0tQnrRQggx9DIRqLcDu4EGzt2nE9J04z9ty/x8qoVqunEH8K/A51EBN1l3AQHgZqAM+CFqbfL3pFqnXHMuu1V0hZIiKstdrlsa4vBx2LqrHPDj97ssmxdh2bwQlRXjh7LKQgiRss6uAGWlkaGuRsZlIlD/HJXS0gAOoRY6mQX8k6YbTbZlfivFcqcDK23L3HKBnNf90nRjGLAKWGpb5mZv2xe5jBZf6Zvd6pz2INiPFxL9TFVVcpybr/MxdXI10oMWyXBcOHmmmK7uAKUlEUYN70FSiyfOdeGFncPo7A5wsqmY3pCfmZPaWTgj48mX8pbrwt2PjqEtqN67Ro/o5nUrT9EeDLB9bxXDh/Vy8kwJi2a2UFGWuwE8E4G6BlhuW2bs1N+tmm7YwGNAqoH6w7ZlJp+D81ydAE7HbDsNVKdYXk5JJLuV3+/yttd1MXVCtWT9EUk7cLSEZ7ZW09l97i2krCTMsrnNNIyNX/tocDy9tYbqyhCzJndckvNl2qsnSmkLFrB6yRlePVHC7oOVZEN+6saWQprbipg2IXjxnYfYkVMlzJzczsiaXgAqysO4LjzybB3L5jYztq6HirII654bweuvOTnEtU1dJgL1urggDYBtmR2abvT5rdN049OJ9rDTCNJ9aLpxN3AAsFMtIybXaE7Ye8iNGe7un+P4qKkqp2bY0L8xJCPXXouBDEU7urv9nPT78Pt9+AOp3+x+4GgJjz47/Lztnd0BHt88guuXnWFSfXc6Vb2onl4fR0+Vcvx0KXOmdpLqZ81AGj+HdLV0FFFYoOrQUN/LoeMOPp8vpTplqh2RCGzeUcv0huAl/9mkcr5dByqZMKab8jL3bI/51RNltAcLqR8Zwu/3M250L49tKqSptZi62lDS5/Dh4Ph9VFWUUlJSkvTxmZCJQP0rTTc02zL7BEJNN94LnNJ0IzrOOgH4NKn3sFN1G2oy2dJLfN4h05bgB+FE9xP5z3UhHLl4tHNceGZrtfddf6M1Ls9srWbsyJMXHQYvCLgpB9jdB8u5elEzDz8znEPHSmio76arx8+6zbUcPVXCqoXNzJgU5ERjEY9tGk5DfScr5rdy7HQxrxwqw4f6YLFyYTNV5RGOnSpm045hTKrvor0zwOHjJbztNSfZtqeCwgKXlvYCfMCqRS1n6/DKoTKOniwhEHA5dLyE0mKHK2e1UVzk9HuOWPuOlPL8y+oui0DAZeak8/8YTzcVsmV3FeVlYdqDBUyfGGRkbS/rn6vl2OkSrlnUxJi6HtY/X8upM0XccNUZxo/uZsfeCl7YWcV1i5soCLhJtet4YzFtwQL2HCrjTEshV13gZ5ZIfUeP6E3pNekIFvRb74KCcx2Q3pAPx/Hx/MtVPLOlmpmTg1w1v4VTTUVUlofPTpr1+6CyPMKxxtQCdTbIRKC+F6jQdCN+e/RPcHA/Wl+EbZmtAP3UL2EtbQnmdcwCpxp7eGSDH6i86L5+Xw8tbbmxWEm0B5pLr0V/hrIdvb09OI6L67i4nHvdXRfu3zCKU02ZyBvuo7O7gP+z6y+658jabm5adSrpYO24cKqpiNlT2phU38n2PRWMH91JUYHDNYsa+cND9Qyr6CEScRhR3U1NVS/L5jTTHvSz4YVq3rj6OMVFfl7cWcmGF6q5ccVpRg3voqqijIPHSlg6p5nS4jDN7X627q7i3a9/FYDf3j+OWZPbGFYZ5kxrIRteqOGdNx2hsMAl2FXHsIoQI6q7eGDDKN64+jgFAdiyu+rsOWI1jAmy4IoCOjoDXDWvCQDXLcd1XSIRh+4eP397egSvW3mKmqoQwa4Adz86hpuvPsk1Vzbyx4fqqSzvpbI8wtWLmvjjQ2OoruwmEnEYWdPFjAYf9SPV71gy7Rozoouq8hBTxgeZNiHY52d2ofZcsL4Xe01erOZN15/Eh9On/Ph6Q4RIzOeDgB9uXHEKx4FdByvYtKOGirIQwS4fhQUOkci53/HCgggdnQEiEYfW9gJe2FVN/cguXtw1jLfecOyCqylG/2baOrro7u3//XKwR8gyEagfAu4HLvaOPxw1izujNN0YZ1vmkbjNzd5jHXAw5uu87UN2dcMTz/nZvK0c9+zLKtmtRKIycqXpkjh8vJT6keo6+PSJHdz35GhONxdRV9NLSbHD+NFd7DtSzsjaXk6cKaZ+pOorHDlZSndvgC27huHz++jp9ff5kOD3uYwZ0c3I2l5G1vbiuvDG1cfx+yAU8lEQcOjqCTCsMkxHsICCApdCr4c3rCJEa0dhn3MA9IQCKY0aHD5RSlGhQ02V6gGWl0YYWdvDgaNlXDmrlfGjO9n7ajlj6loJhVSUOXC0nNlT2jl4rIyp48+91SXTrniJtufi9b3Aa9IT4IWdVbiO26f8+HoPxO+HWZM76OoJsP9IGSNqevH7+/4+u67v7K/4sdMlRByYPjFIYUFuLHmciUD9NdsyX0hkR003AokWqunGJKA8ZtMkTTcagVO2ZZ7y9vkc8DVNNz5vW+bXozvaltmq6cYG4E7vNq9S1P3e9yV6/lzR0+PwwLp2Xnm1jp5e9RtXXnSGWdML2LyjCsluJS7G54ObVp1KaOj7xJliHtk48qL7rV1+itHDey64T6pD3y/uGsbI2l6a287dpfDSvkquW6yWbpg6voMnXxzOsjnNHDxaxsIZrQB09QQYW9fF4tmtZ6+Hxva6gD5/Ez4f9Ib8bNxWQ1VFCPCd/ThTV9uD60JTWyG1VSFa2gupH9nd5xzp6O4JnP0QEFVS7NDZrd5Cp04I8sTzI7hqfiv7j5ayZHYz+4+UMXtKO8GugvOCbqLtipdoey5a3wu8JvUju1k6p+281yK+3hczYXQXh46VUVYc4VSo7+hQKOyjrER1xyeM6eL5ndXsP1LG5HG5MUKXiaQc/QZpTTcKbMsMx+2bzPXp/wWujfn+597jV4Ave1+fATq9x3i3oO6/vg91P/W9wMeSOH9WcxzYsivAwxt89IZHATCy1uHapb1MbyjD7/cxsV6yW4nE+Hyc90bbn/qR3ZSXhgl2BRhotKa8NEL9yO5BuVWrqbWQMSN6WD6v+ey2YZVhNm6roaOrhYrSCPWj1LkPnyjFcX2UFKvf9dLiCKebK3AcCHhdhp5eP0WFTr8fGBqbi3h88wj+bvVxCgtdXtpbdfa5shKH6RM72Lm/gqJCl3Gjupk9pZ1XDpWfPUc0yFzoHAMpLw3T1d03SoXCPmq8AFw/spuCgMOBo2U4jo9pE4I8/3I1B46WMrL2wh+QLtSueLE/swu156L1vcBr8kpTEU7M21G0/GS5LlRVhBg9opvte6twXfV77TjQ0VnAmBHdOI7q7S+b28wzW2sZP7orod/7oZaJtb7vtC3zE/08NU3TjWtty/xxKuXalnldAvv8FPjpAM8dBd6SyrmzmevCs1uCPLut8uy9gwW+IAuuaObG60Z4f0zqLyia3aqptdRbmaxHsluJtPh9sHxeizfru//RmqVzmgftfurte6uYO63vfcZTxwXZvKOaHXurWD5XnXvyuCCbd9SwYkHT2f0mjO5i044antpSy6KZ7XT1BNh7uPRs0HddH07Me/aJM8X4gECBS3ePn86eAK6jJjE1thRx9FQJq5c0UlTonH2zjz3H/Cva6O7xs/9IeZ8PFlGuC4577gfletsAxo3qYuP2Gk42FTGqtpdwRAXYRTNVT1S1sZPNO4axeukZioscxo7s5rmXanjDdcfjzpN4u4oKXQIBl55eP53d/oTbk1h9B35NnnyhhnnTW/uUH1/veCfOFBPsDDB5nJr1/8qhCuZObWdkbS9lJRFOnilm9IgeTpwppqIszIiaXl7aV8nsKe1nP9h0dvU/5J9tMjH0PXeA7btQC4ykFKjF+Q4e9fPAeofGFnVrTGmJy9VXhpk/w6WkeES/x/j9MHWiejPIlYljIrtNqu/m+mVnzruPurw0wtI5g3cf9eaXqtl/pJzKsjC1VeeGYvcfLcN1few6UEFxocPCGa1MmxDk0PEyxtadm8taUuywdtlpNm6v4c+PjmJkbS9XL1SDcUdOlnDiTDGB5iKGlYeZOiHIhDFd7D5Ygb1uNA1jO5kyLsizO2q4dvEZykoitHYU8pfHxp4tf1hFiNeuPHn2HNbjo6mr6eWaRecP+B0+Xsr+o2X09PrZ9koVw6t7OdFYQlGhw5i6bsaM6OGG5afZ+sowKsvC9PT6WT6vmdqqc7OWp03o4PDxUsaM6CUSgcn1QQ4HyiguOhfdkm1XbWGIhrGdPP9yNa0dBayY35xQe4qL3ATq2/9r8pqrGnlmW3Wf8vurd7xgV4Bnd9Sw/2g5dTU9TBkfZJR3ueX6ZafZunsYzW2FnGouZs3SRnw+dX062BVgRHUvU8YHcyJIA/hcN/luv6Ybq4FvoxYWGQ2c6Ge3WtT15Olp1XDoVAGtMPQzjQ8dCfHgky4nm9UQlc8XZkLdMfQbq6mqLLro8fkwYzof2gBDP+v7+NEj+ArK8PsTni5ynuj13VDYydmVyQa6Rp2o081FnGgsZu60dkAN827dXcXw6hCT6i/da5tuO7JBtrfBcSK44U7G1I+jqKj/OyNiZn0PAzK+tFxKPWrbMh/XdOM61NrZ1wK/jNvFRQU5K53KXe6a23w8vtHPS3vVTfY+n8uVsyOsWNDDsKqLT+gRYjD5fTBmxIWvh+arbXuqKC2OnL0OGvC7uPgYUX15/jzE4Ep56Nu2zHbgVk03VtuW+XgG63TZcBw4fNxPRydUlHH2+nF70OHeR7vYf6wWx1FdlGGlR3ndtQGmTa5GzY0TQgyVGQ0dPLO1hrserGdYRYjKsjAzJ7dT2c9CIEKkKxOzvgcM0ppufNC2zMsmEUYyzmW2OjdWWFnuMn60w+4DLhFHDaVMHh/huiW9jB1VK2tyC5El6kd285Ybjl98RyEyIBOzvh8B+ptHXAyM5TLKWJWoC2W2enmf6i0XB5pYOreN61aMJhsW6hdCCDE0MjHrewawAYif6rkCde+yiHHxzFYupcXw8XcXU1w8+hLXTgghRLbJRKC+y7bMT8Vv1HRjGqBnoPy8cvi4v89w9/l8dPXA8cZCGuqzcxakEEKISyftpS/6C9Le9j3A4nTLzzfHTyU2jN2R23chCSGEyJBM9Kj7penGbODqwSo/17QHHe55uJv9x2oS2r8iP9IuCyGESFMmJpPtBuJnRpUCI4Ffp1t+rguF4NltAZ7YXHB2JndBwCUcAclsJYZG9q9tLET2GPq/l0z0qCPAX+g7mawDeBn4WwbKz0mOAxs2B9m0o4quHvU5pjjQxPJ5rdSNHMufHixCMluJS6kgUIDPB64TAf+gDaYJkVdcJ4LPBwUFQ/c3k4kzf9W2zN9loJy8sf9VPw88AU2tak3uqgqH668KM2NSCQUFZYDLW26UzFbi0vIHAlRUVtHW1kokDD7/QBmwLsznpZ53LpQxIcvlQxsgP9qRvW1wcZ0IrtNDZdWwtJbdTVcmAvVuTTc+CFQDp4AnbMvcn4Fyc86hoz08sB5Ot6gk635fiMmjj6LdUENFRTGxc/eima36W5lMiMFSU6uSt3S0t+GmmI/A8Rb0drPujTVx+dAGyI92ZHMbfD6orBp29u9myOqRSlIOAE03pgL/Byzl/PHb+4EP2paZy0v3JJyUoz0I654tYMsu1UPx+VyWzI2wclEvFWVDH3nzIaFFPrQBsqcdjhMhHE4tUldVlALQ1jE4WbIuhXxoA+RHO7K5DQUFBQn1pLMyKYemGyOAx1FdxG8Bm1BBrRKYA7wdeFzTjaW2ZWa80tmiq9vhvsfa2XukjlBYBeRhpcd53bU+b03uoQ/SQvTH7w9QVJTaUF5JiUoS092bu5do8qENkB/tyIc2DLZUh74/hZos9mbbMjvinrM03fh3wPT2+1IqJ9B0oxj4N+AdqA8AzwKfsC1zZ4LH1wN3AmuAEGqVtDtsy2xJph5bdrng+vsMSzsObN0V4KENfnrDowCoH+Ww9qpexo+pljW5hRBCZEyqXb4bgXf3E6QBsC3TBW4H1qZYPsA/A+8BDFSw7Qbu1XTj/EWy+3cXaq3xm4F3AitRaTmT8of7Xf7vr0V87/+K2bnPz6YX2/nBr+HedYX0hoso8HewfM6r3Pp3PUwYiwRpIYQQGZVqj7rdtszTF9rBtsweTTfSuRD3euA7tmXeA6Dpxj+gJqvNArZe6EBNN4YBq4CltmVu9rZ9kTQShLQH8RJp1AFQUuRwzZIIC2f5KSqsS7VYIYQQ4oJS7VEnOgslnVnlNcDZDwMxHwwSWdoruk/sh4nTqJnpKfIRTZoxfsRRPvDWdpbNj1BUKNehhRBCDJ5UA6mr6cYC2zK3DLSDphvzUiw7vpxPArfYlrksxePvBg4AdibqAz5ef8M4Gsbn3hB3zMzEnJUPbYD8aIe0IXvkQzvyoQ2DJdXu4P+grhfr8U9ouuHTdOONqMD48zTqFvVD4KY0jr8N+GKqBxcXnf8vC+8iEEIIkadS6lHblvk7TTdeA9yt6carwG7U0PIoVH7qMcAfbcv8VboVtC2zFziTxvGtAJpuJHtoJcC/fEyGtoUQQiSkkmy5jxrAtszbNN14AvgYfWd3b0MtK/rfadatmejMLUDTjejXfWaaa7oxzrbMI/0ci3f8wZivgyTuGDAOaE/iGCGEEJenSlTcyLiUVyaLpelGEVALnLEtM5R2garMrwIfAD4IHAX+BVgITI6eQ9ONzwFfAz5vW+bX445/EggAd6CyeZnAVtsy356J+gkhhBCXQkbSgXjD0ycyUVaMf0MF2B+hPgRsAm6K+yBwBuik/6HxW1ALntyHCtj3onr/QgghRM7ISI9aCCGEEINDZkoJIYQQWUwCtRBCCJHFJFALIYQQWUwCtRBCCJHFMjLrO9dkSwrNdGm6cS3wG6AeWG1b5rokjs2WNhQB/wq8C5V0/VngdtsyX0rw+CFvh6Yb64Br4zYfsi2zIYkyhrwdMXX5MSqpzcJkbrfMhjYM8Fo8ZVvmqiTKGPJ2xNRlDrARWG5b5o4kjhvyNmi6cRCY2M9Td9qWeXsCxw95G7x6VAHfBXSgBHgK+MdLGS8u1x51VqTQTIemG3cA9wPfTLGIIW+D5/Oo1+IjqDfYVtRrUZTg8dnQjncB07x/V6EWPfh9kmVkQzvQdGMZ8H7gwymsiZAVbfDOOS3mX7JrJ2RLOwD+E/hCMkHaky1t+CznXoeZqMWo9iZ4bLa04fveud8GXI2KF/dpupFo/Ey7HZdlj5osS6GZounAStsyt2i6cWcyB2ZRG0AF52/YlnmvV48PAY2oP+qceC1syzzqnXs48CfgD7ZlfjbR47OlHZpuBIAfA7+yLXNDksdmRRs8TbZlJhoM+simdmi68XogQpJv6lnUho3AtuhroenGm4Bi4NcXOzCL2gCwBPiBbZmPePX4AmoFzuH0zdB4nky143IN1Oel0PTWAh+iFJop+bBtmaneBJ8tbcC2zDVxmyq8x474ffuRNe3QdKMAeBjoBf49ycOzpR2fACYAN6RwbLa0AeCfvVULW4DHUZe1TiV4bFa0wxvd+zZq1DOo6cZzwAdty9yVwOFZ0QbbMm+J2/Rh4PcJDvlmRRs8fwPerOnG71HreN8GbI5JvXwhGWnH5RqogWxMoZm4NIJ0H0PZhgF8BXjUtsx9yRyUBe0oQI3KDAcOarrxHtsy/5JsIUPVDk03xqF+9p+0LbNR041bgS8nc509pqyhfC3+HojmSxyJurb4c9QoWlKGuB3vRX3oextq5cUfAPdrujHDWwkyIVnwdxGtx1RUTojlKRw71G34DPAH4CTgAi8Br022kHTacVkHalQKzXQyfN2GmhywNDPVGRJZ0wZNN76M+gNI5YPTkLbDtsxuvD9eTTc+AfxU0w0rhQ9UQ9WO76OG836WgbKG7LWwLfNwzLe7NN24HXhc041i2zJ7kixuKH+nbgc+E+1Bx1wSWgU8lkQ52fL3/SFgi22Zm1I4dqjb8F1gKurvuxUVuP+q6cZy2zLDSZSTcjsu60A9hCk0s0a2tMEbqvw4sMa2zEPJHp8t7fDch/rjHkOS2XSGsB06cHMmRmqG8rXQdGMKcMy2zGjW+MOo4eNR3tcJG6p2eNc1ZwP7Y+rSounGGdQoQcKy4e/Cu8vmVtQk3qQN8e9TOd5E1+i8DU033gE0oUYI/pZoWem043Kd9Z1wCs0BjiX2eJJPoXnJ5EIbvEsQnwHW2pbZ7wSybG6HphsvarpxU8ymKu+xs599s7YdgK3pRljTjTAX6FlneRs2AG+J+X484KAuS/SRxe2IoOo8P7rBu8Wnjpjg7W3P1jbEeitqEtlv+nsyy9tQhIqTTsw21/tXGrvjYLbjskzKkQ8pNDXdmASUe99uB94HbAZORSfOZHsbvHp8CPge6tri8zFPnbQts93bJ6vboenGb4E5wD8CXcA3gGLbMq+K2y9r2+HdrxvrjcAH4q9RZ3MbvDr8EHgNauJSF/BfqN+lN8Ttl+3t+CPqEpCBGvX7BirYLY+OemR7G2LqsgHYblvmR/p5LuvboOnGg6jgegdqMtmngeuBKbZltnn7DGo7Lteh73xIofm/9F3Y4efe41eAL3tfZ3sbQC06U4S61zDWbcAvvK+zvR0fQwWEP6L+ptajgna8rG1H/H26mm4sHmDXrG2D57PeuX/rPT6Ems0eL9vb8T7UrO9fogL0Q8BH4i5NZHsboh8AVwIfHWCXrG8D6j3qv4A/oxY8eRY1+tcWs8+gtuOy7FELIYQQueJyvUYthBBC5AQJ1EIIIUQWk0AthBBCZDEJ1EIIIUQWk0AthBBCZDEJ1EIIIUQWk0AthBBCZDEJ1EIIIUQWk0AthBBCZDEJ1EIIIUQWu1zX+hZC5AEv3/THgCPeptfFpLjMW15Snv/1vm0APmVb5p+GrkZiMEmgFkLksmqgwLbM64a4HpeUbZkHgOsANN1wgYohrZAYVBKoRVbTdOONqCxCU71N+4DP2JZ59xDUZY1tmY9d4Pl5qLza70Klw9vsPeVDZWmbD+wGDgLX2JZZ3k8xWeNi7c1Hmm78A/ARoNW2zOvTLCuln5+mG8uAL9qW+fp0zi/yhwRqkdVsy/yrphv3AHtRv6/T4lL9XRKablShPjAsGmgf2zK3Ae/WdOMKIGJb5tq4Ml4LvBbY6T1mrUTam0RZdai0n/XAaaAS1RP+rG2Zr6ZbfibZlvkzTTeuB8amU06aP7+3oVKmCgHIZDKRA7zAfAQ4MURB2gd8D9UrTkRwgO0PAn8FejJRr8GSQnsvVNZrgR3APtsy32db5mdtyzSAF4DnNN0Yne45BkFvOgen8/Pzjn0D6vdECEB61CJ3uN4/NN2YBfwrqld6Iyqx+2JgFPBR2zLv9/a7Evg88BpAA96Duq7XDLzPtsztmm68E/gi6jrnNO+476CSve+2LXMNsNo7brSmG+uA7bZlfjyZymu68TXgv23LfFzTjVv7eb4I+BJwExBBJaj/T9sy/9cbCr0f9cZ/GngjsAT4FlAEbLYtc6mmG1OBdaie6zqgxav7QlTvbjmw2LbM45puzAf+DdW7bQDusi3zc151+m2vphsVwDeAOcBoYBPwEdsyOwZo8+uBu1ETnX4R97Tl1f9DwFcu8uNLite2L9NP24EzDPBzjivGp+nGh4A1wErgOeBW2zJbvHMM+Hox8M/vX1FBuBU4CRyyLfPTceddjvq9i54nkWNEnpMetcg5tmW+DPwYKEcF1E/Ylrkc1Qv5acx+z6MCXCVQbVvm+4EZqGB3j6YbRbZl/ha4ByiMOe4OYAPe34d3nfEXqB79dSkE6ULg6ovs9nPgetS16yWooeL/0XTjLbZlPosKMj3AT2zLfMa2zO8BH/CO/Qevnnu9435lW+Zq4JfAMOCTwH3AHs71Fi1gnTcJ633AZ70PNhdq7x+AoG2Z1wILgKXAfwzQ5jHe+bcB3+9nlxLvcfJFfi5Jsy1zKwO3fcCfc1wxM4ANtmW+HTW3YBHwo5jnL/R6nffz84bT3w5c6f38HgDq+qn+21A/Z5I4RuQ5CdQiV4W9x+/Ylhnxvn4IGOtdE41yQF3r9h7DqGHJBs4Fz/5u50n3Fp9Zmm6s83pUe1C9sn5pujEFNQHtW9HeqW2ZjwOPAF/wvj8A/A51DTz6d/ug9/jWmOLeAHzX+7rFe7zbtsyfe0HjjLftSeBR7+sN3uMVF6jjTOB1wA+9+nQB/we83xuujfdJ1AjAtwa4XLHEezwx0DnT1OI9nm076rr4BX/OMXbalvmSt88ZVPB8s6YbZYm8Xv1wUNe9l3rf/wJ4OXYH7+eocW7Y+6LHiMuDDH2LfNLpPZajes0DOeQ9ThjEurwce8uQphu/vcC+C73H/XHbtwMf1XTD5wW7HwG3ogLmfajRhB3AezXd+DJQCoy3LfPFuHIOxp/Qtsy/9+o1F7jB21x0gTrO9h5/q+lGyPu6AjiF6uWditv/74BuwB6gvDd7j/d49fChJtnNjvnglQkHY75O9OfcnwOoUZdRiZTTz/Hrgd8DT2m68QfgS7ZlfjNun6tQHxBakzhGXAakRy0uR8XeY8ulOqFtme+0LfPgAE9He+9lcdvD3rGu97gJeB74sPf8alRAnIAahn0TcKEPBGdpunGjphtPoq7z/z6xVgDwNq9nfp1tmYtty2ywLTM+SAOMQ11r7Yx/QtONGagPGw/alvlUTBvXZDhIx0vo5zyAUu+xOZVybMt0vEsv16GC/XZNNz4Yt1uf2d4JHiMuA9KjFpejmag31eiQbwfn3ogHMpizzV/2yp8FPB2zfSKwJW7fHwE/0XTjFtQ15r1ewH0v6gPIrRc7mTfZ6j7gDTET7+J3i2/vNu/xHajJWdGyaoDuflYDO9RPGXjD9j9E3U/+bm9bBXAbKgj+2lt166fAf6OGz+8AltmW2Xyxtl1EMj/neDOAbbZltmi6kUg5fdqu6cZbgS22ZT4BrNZ04+vADzTduMu2zLaYYe9/SfSYJNotcpz0qEWuGAOM0nQj+uGyKu4x9uvq+IM13bjNe6xAvfH/l22Z0eHxl4GRmm7M8faZDqzgXM8b1KzbWk03/JpuzPJm/Z7HC0SjUDN+AwO0pdzbtxLOXn/+LXC7phu13nMNwM3A1+KO/R1qMZXvoK5ZglpK8u+AY7Zlxt4aFl2tanhcGVOAAGohlui5AAKabkTb3Ke9qCFkC/g3TTc+penGAk03dNQHh/56wd8HZmu6MS26wSv7Z6gOwg22ZTZ67e9AXbNuivl51Hr1/x/v8H5nll/AeW1P8udcr+nGMG+fqaih+s8lUU78z68G+GLM/IIdqGvQ0Z/dStTlkuiwN6jfkwsdIy4TEqhFVtN04w2abuwGpqMmgO3UdOPNnJvd/YCmG3+n6cb7UUEA4D5NN26IK+ptmm48h7pt6U/AZ2Oe+xvwa+ARTTf+iAp6D6MmpkWHmS3UddgngetsyzzvXlvvnDtRva+JwB6vXrH7GMC/e9++qOlGdKLQh4DHgGc03XjCq8+ttmXeE3u8N5T8K+CB6C08qOFSFzUTOXqed8Z8/zdNN/49ppgHvH+/0HTjT6jbvWzg06jr3gO1913AT1Crr61H9d4/1d/PwrbMHwIfB/5b042vabrxz6iZ+o965R2NqWsANbHvUe/7iajbv+5DTXDbZVtmiARdpO2J/Jx/DRwFtmm68Rjqw8gttmU+kEQ5FjE/P9SM/QCwSdONp4FPAO+I+WB1drZ3DPcix4jLhM91L/n6EUJcMt49y/8LlNqW2T3E1bmseD3BHwB/sS3z4X6enwPsQs1q/ifgw7ZlNnofjsbblvn/NN24AzVJ0LIt83g/ZXwZFSAbBq8lg8v7Oe0FFsb1qBM93gVu6+dedZEn5Bq1ECLjNN0oQ/X8Xw+s1HRjB/AEqofZgVqoptu2zB2aboxFzTgfATSiJrh92StqLKo3ms+9yJXAjlSCtLg8SI9a5DVNN/4JdT13um2Ze4a6PpcLTTc+g1pJqwe1WMs1qEl8AVSykn+3LfOhDJzndiTNZQOS5jKvSaAWecsLFl9Gzeg+g1qg4htDWikhhEiSBGohhBAii8msbyGEECKLSaAWQgghspgEaiGEECKLSaAWQgghspgEaiGEECKLSaAWQgghspgEaiGEECKLSaAWQgghspgEaiGEECKLSaAWQgghspgEaiGEECKL/X9Dy1Rhvn4fZQAAAABJRU5ErkJggg==",
+ "image/png": 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",
"text/plain": [
"\u001b[1m<\u001b[0m\u001b[1;95mFigure\u001b[0m\u001b[39m size 50\u001b[0m\u001b[1;36m0x300\u001b[0m\u001b[39m with \u001b[0m\u001b[1;36m1\u001b[0m\u001b[39m Axes\u001b[0m\u001b[1m>\u001b[0m"
]
@@ -276,12 +276,12 @@
"# plt.aspect(1 / 1.414) # A4 paper\n",
"# plt.gca().set_aspect(1 / 1.414) # A4 paper\n",
"\n",
- "legend = fig.legend(borderpad=0.5, framealpha=0.8, frameon=True, bbox_to_anchor=(0.94, 0.45))\n",
+ "# legend = fig.legend(borderpad=0.5, framealpha=0.8, frameon=True, bbox_to_anchor=(0.94, 0.45))\n",
"# set text color of legend\n",
"# plt.setp(legend.get_texts(), color=flavor.text.hex)\n",
"cs = [flavor.overlay2.hex, flavor.lavender.hex]\n",
- "for text, c in zip(legend.get_texts(), cs):\n",
- " text.set_color(c)\n",
+ "# for text, c in zip(legend.get_texts(), cs):\n",
+ "# text.set_color(c)\n",
"\n",
"# remove white background of figure\n",
"fig.patch.set_facecolor((0, 0, 0, 0))\n",
@@ -291,7 +291,7 @@
"# legend = plt.legend(loc='upper left', bbox_to_anchor=(1.05, 1), borderaxespad=0.)\n",
"# legend.get_frame().set_facecolor('lightgrey') # Change background color\n",
"fig.tight_layout()\n",
- "legend.get_frame().set_facecolor(flavor.surface0.hex) # Change background color\n",
+ "# legend.get_frame().set_facecolor(flavor.surface0.hex) # Change background color\n",
"# plt.legend()\n",
"fig.savefig('./scripts/out/qin-vs-qout.svg')\n",
"fig.show()\n"
diff --git a/scripts/analyse-network-scenario.ipynb b/scripts/analyse-network-scenario.ipynb
index 28a4f15..d3cf1c8 100644
--- a/scripts/analyse-network-scenario.ipynb
+++ b/scripts/analyse-network-scenario.ipynb
@@ -2,7 +2,7 @@
"cells": [
{
"cell_type": "code",
- "execution_count": 17,
+ "execution_count": 2,
"metadata": {},
"outputs": [
{
@@ -56,7 +56,8 @@
"pretty.install()\n",
"\n",
"RESULTS_DIRS = [\n",
- " Path('./experiments/varying-network-connectivity-lm-3-th-13-sd-2.5'),\n",
+ " Path('./experiments/varying-network-connectivity-lm-3-tk-13.33-sd-2.2'),\n",
+ " # Path('./experiments/varying-network-connectivity-lm-3-th-13-sd-2.5'),\n",
" Path('./experiments/varying-network-connectivity-gbpplanner'),\n",
"]\n",
"\n",
@@ -73,7 +74,7 @@
},
{
"cell_type": "code",
- "execution_count": 18,
+ "execution_count": 3,
"metadata": {},
"outputs": [
{
@@ -123,7 +124,7 @@
},
{
"cell_type": "code",
- "execution_count": 44,
+ "execution_count": 4,
"metadata": {},
"outputs": [],
"source": [
@@ -174,7 +175,7 @@
},
{
"cell_type": "code",
- "execution_count": 45,
+ "execution_count": 5,
"metadata": {},
"outputs": [
{
@@ -193,7 +194,7 @@
"\u001b[1m[\u001b[0m\u001b[1;36m0.0\u001b[0m, \u001b[1;36m0.1\u001b[0m, \u001b[1;36m0.2\u001b[0m, \u001b[1;36m0.30000000000000004\u001b[0m, \u001b[1;36m0.4\u001b[0m, \u001b[1;36m0.5\u001b[0m, \u001b[1;36m0.6000000000000001\u001b[0m, \u001b[1;36m0.7000000000000001\u001b[0m, \u001b[1;36m0.8\u001b[0m, \u001b[1;36m0.9\u001b[0m\u001b[1m]\u001b[0m"
]
},
- "execution_count": 45,
+ "execution_count": 5,
"metadata": {},
"output_type": "execute_result"
}
@@ -204,17 +205,17 @@
},
{
"cell_type": "code",
- "execution_count": 46,
+ "execution_count": 6,
"metadata": {},
"outputs": [
{
"data": {
"text/html": [
- "Processing RESULTS_DIR=PosixPath('experiments/varying-network-connectivity-lm-3-th-13-sd-2.5')\n",
+ "Processing RESULTS_DIR=PosixPath('experiments/varying-network-connectivity-lm-3-tk-13.33-sd-2.2')\n",
"\n"
],
"text/plain": [
- "Processing \u001b[33mRESULTS_DIR\u001b[0m=\u001b[1;35mPosixPath\u001b[0m\u001b[1m(\u001b[0m\u001b[32m'experiments/varying-network-connectivity-lm-3-th-13-sd-2.5'\u001b[0m\u001b[1m)\u001b[0m\n"
+ "Processing \u001b[33mRESULTS_DIR\u001b[0m=\u001b[1;35mPosixPath\u001b[0m\u001b[1m(\u001b[0m\u001b[32m'experiments/varying-network-connectivity-lm-3-tk-13.33-sd-2.2'\u001b[0m\u001b[1m)\u001b[0m\n"
]
},
"metadata": {},
@@ -273,7 +274,7 @@
},
{
"cell_type": "code",
- "execution_count": 47,
+ "execution_count": 7,
"metadata": {},
"outputs": [
{
@@ -294,1228 +295,1228 @@
" \u001b[1m{\u001b[0m\n",
" \u001b[32m'distance'\u001b[0m: \u001b[1m{\u001b[0m\n",
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- "\u001b[39m \u001b[0m\u001b[1;36m80\u001b[0m\u001b[39m: \u001b[0m\u001b[1;39m[\u001b[0m\u001b[1;36m88.8\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m53.6\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m66.5\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m67.6\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m41.5\u001b[0m\u001b[1;39m]\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m20\u001b[0m\u001b[39m: \u001b[0m\u001b[1;39m[\u001b[0m\u001b[1;36m45.7\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m37.9\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m43.4\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m41.6\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m55.8\u001b[0m\u001b[1;39m]\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m60\u001b[0m\u001b[39m: \u001b[0m\u001b[1;39m[\u001b[0m\u001b[1;36m67.1\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m55.5\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m77.8\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m66.6\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m54.1\u001b[0m\u001b[1;39m]\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m40\u001b[0m\u001b[39m: \u001b[0m\u001b[1;39m[\u001b[0m\u001b[1;36m90.6\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m51.7\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m57.3\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m70.0\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m47.8\u001b[0m\u001b[1;39m]\u001b[0m\n",
+ "\u001b[39m \u001b[0m\u001b[1;36m80\u001b[0m\u001b[39m: \u001b[0m\u001b[1;39m[\u001b[0m\u001b[1;36m216.2\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m192.9\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m139.2\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m192.5\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m140.4\u001b[0m\u001b[1;39m]\u001b[0m\u001b[39m,\u001b[0m\n",
+ "\u001b[39m \u001b[0m\u001b[1;36m20\u001b[0m\u001b[39m: \u001b[0m\u001b[1;39m[\u001b[0m\u001b[1;36m101.2\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m99.8\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m121.6\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m122.7\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m108.9\u001b[0m\u001b[1;39m]\u001b[0m\u001b[39m,\u001b[0m\n",
+ "\u001b[39m \u001b[0m\u001b[1;36m60\u001b[0m\u001b[39m: \u001b[0m\u001b[1;39m[\u001b[0m\u001b[1;36m170.7\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m195.0\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m213.8\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m119.0\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m194.5\u001b[0m\u001b[1;39m]\u001b[0m\u001b[39m,\u001b[0m\n",
+ "\u001b[39m \u001b[0m\u001b[1;36m40\u001b[0m\u001b[39m: \u001b[0m\u001b[1;39m[\u001b[0m\u001b[1;36m168.3\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m221.0\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m147.2\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m129.9\u001b[0m\u001b[39m, \u001b[0m\u001b[1;36m182.5\u001b[0m\u001b[1;39m]\u001b[0m\n",
"\u001b[39m \u001b[0m\u001b[1;39m}\u001b[0m\u001b[1;39m)\u001b[0m\u001b[39m,\u001b[0m\n",
"\u001b[39m \u001b[0m\u001b[32m'ldj'\u001b[0m\u001b[39m: \u001b[0m\u001b[1;35mdefaultdict\u001b[0m\u001b[1;39m(\u001b[0m\u001b[39m, \u001b[0m\u001b[1;39m{\u001b[0m\n",
"\u001b[39m \u001b[0m\u001b[1;36m80\u001b[0m\u001b[39m: \u001b[0m\u001b[1;39m[\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-18.954323967790813\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-14.494426191180239\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-18.48444577916506\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-16.280337287235724\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-18.88530938564282\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-15.030864760535215\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-19.10459713293126\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-14.250264273061365\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-16.769406415330515\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-18.833437105985453\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-17.609838072451044\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-17.501607553714734\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-19.17865322758884\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-19.787633302157058\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-19.669635349432397\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-18.72596330486785\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-19.085081650914336\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-18.995969116801895\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-17.378677998806122\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-14.792635033059527\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-18.235234480413265\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-18.63580454905033\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-18.641867089600858\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-14.505065941549091\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-17.752681288805455\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-19.60326319827217\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-15.304360324784025\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-19.270611964293227\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-17.014444303229606\u001b[0m\u001b[39m,\u001b[0m\n",
- "\u001b[39m \u001b[0m\u001b[1;36m-14.180116826780317\u001b[0m\u001b[39m,\u001b[0m\n",
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- "\u001b[39m \u001b[0m\u001b[1;36m-15.790127470804867\u001b[0m\u001b[39m,\u001b[0m\n",
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- "\u001b[39m \u001b[0m\u001b[1;36m-14.452712686256188\u001b[0m\u001b[39m,\u001b[0m\n",
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- "\u001b[39m \u001b[0m\u001b[1;36m-16.736011446981383\u001b[0m\u001b[39m,\u001b[0m\n",
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- "\u001b[39m \u001b[0m\u001b[1;36m-14.415360481699977\u001b[0m\u001b[39m,\u001b[0m\n",
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{
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+ "execution_count": 8,
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{
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