[831] | 1 | // |
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| 2 | // ******************************************************************** |
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| 3 | // * License and Disclaimer * |
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| 4 | // * * |
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| 5 | // * The Geant4 software is copyright of the Copyright Holders of * |
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| 6 | // * the Geant4 Collaboration. It is provided under the terms and * |
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| 7 | // * conditions of the Geant4 Software License, included in the file * |
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| 8 | // * LICENSE and available at http://cern.ch/geant4/license . These * |
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| 9 | // * include a list of copyright holders. * |
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| 10 | // * * |
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| 11 | // * Neither the authors of this software system, nor their employing * |
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| 12 | // * institutes,nor the agencies providing financial support for this * |
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| 13 | // * work make any representation or warranty, express or implied, * |
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| 14 | // * regarding this software system or assume any liability for its * |
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| 15 | // * use. Please see the license in the file LICENSE and URL above * |
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| 16 | // * for the full disclaimer and the limitation of liability. * |
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| 17 | // * * |
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| 18 | // * This code implementation is the result of the scientific and * |
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| 19 | // * technical work of the GEANT4 collaboration. * |
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| 20 | // * By using, copying, modifying or distributing the software (or * |
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| 21 | // * any work based on the software) you agree to acknowledge its * |
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| 22 | // * use in resulting scientific publications, and indicate your * |
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| 23 | // * acceptance of all terms of the Geant4 Software license. * |
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| 24 | // ******************************************************************** |
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| 25 | // |
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| 26 | // |
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| 27 | // $Id: G4AffineTransform.hh,v 1.6 2006/06/29 18:30:37 gunter Exp $ |
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[1337] | 28 | // GEANT4 tag $Name: geant4-09-04-beta-01 $ |
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[831] | 29 | // |
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| 30 | // |
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| 31 | // class G4AffineTransform |
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| 32 | // |
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| 33 | // Class description: |
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| 34 | // |
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| 35 | // A class for geometric affine transformations [see, eg. Foley & Van Dam] |
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| 36 | // Supports efficient arbitrary rotation & transformation of vectors and the |
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| 37 | // computation of compound & inverse transformations. A `rotation flag' is |
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| 38 | // maintained internally for greater computational efficiency for transforms |
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| 39 | // that do not involve rotation. |
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| 40 | // |
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| 41 | // Interfaces to the CLHEP classes G4ThreeVector & G4RotationMatrix |
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| 42 | // |
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| 43 | // For member function descriptions, see comments by declarations. For |
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| 44 | // additional clarification, also check the `const' declarations for |
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| 45 | // functions & their parameters. |
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| 46 | // |
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| 47 | // Member data: |
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| 48 | // |
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| 49 | // G4double rxx,rxy,rxz; |
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| 50 | // G4double ryx,ryy,ryz; A 3x3 rotation matrix - net rotation |
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| 51 | // G4double rzx,rzy,rzz; |
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| 52 | // G4double tx,ty,tz; Net translation |
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| 53 | |
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| 54 | // History: |
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| 55 | // Paul R C Kent 6 Aug 1996 - initial version |
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| 56 | // |
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| 57 | // 19.09.96 E.Chernyaev: |
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| 58 | // - direct access to the protected members of the G4RotationMatrix class |
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| 59 | // replaced by access via public access functions |
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| 60 | // - conversion of the rotation matrix to angle & axis used to get |
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| 61 | // a possibility to remove "friend" from the G4RotationMatrix class |
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| 62 | // -------------------------------------------------------------------- |
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| 63 | #ifndef G4AFFINETRANSFORM_HH |
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| 64 | #define G4AFFINETRANSFORM_HH |
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| 65 | |
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| 66 | #include "G4Types.hh" |
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| 67 | #include "G4ThreeVector.hh" |
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| 68 | #include "G4RotationMatrix.hh" |
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| 69 | |
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| 70 | class G4AffineTransform |
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| 71 | { |
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| 72 | |
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| 73 | public: |
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| 74 | |
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| 75 | G4AffineTransform(); |
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| 76 | |
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| 77 | public: // with description |
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| 78 | |
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| 79 | G4AffineTransform(const G4ThreeVector &tlate); |
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| 80 | // Translation only: under t'form translate point at origin by tlate |
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| 81 | |
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| 82 | G4AffineTransform(const G4RotationMatrix &rot); |
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| 83 | // Rotation only: under t'form rotate by rot |
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| 84 | |
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| 85 | G4AffineTransform(const G4RotationMatrix &rot, |
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| 86 | const G4ThreeVector &tlate); |
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| 87 | // Under t'form: rotate by rot then translate by tlate |
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| 88 | |
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| 89 | G4AffineTransform(const G4RotationMatrix *rot, |
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| 90 | const G4ThreeVector &tlate); |
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| 91 | // Optionally rotate by *rot then translate by tlate - rot may be null |
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| 92 | |
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| 93 | G4AffineTransform operator * (const G4AffineTransform &tf) const; |
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| 94 | // Compound Transforms: |
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| 95 | // tf2=tf2*tf1 equivalent to tf2*=tf1 |
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| 96 | // Returns compound transformation of self*tf |
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| 97 | |
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| 98 | G4AffineTransform& operator *= (const G4AffineTransform &tf); |
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| 99 | // (Modifying) Multiplies self by tf; Returns self reference |
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| 100 | // ie. A=AB for a*=b |
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| 101 | |
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| 102 | |
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| 103 | G4AffineTransform& Product(const G4AffineTransform &tf1, |
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| 104 | const G4AffineTransform &tf2); |
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| 105 | // 'Products' for avoiding (potential) temporaries: |
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| 106 | // c.Product(a,b) equivalent to c=a*b |
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| 107 | // c.InverseProduct(a*b,b ) equivalent to c=a |
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| 108 | // (Modifying) Sets self=tf1*tf2; Returns self reference |
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| 109 | |
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| 110 | G4AffineTransform& InverseProduct(const G4AffineTransform &tf1, |
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| 111 | const G4AffineTransform &tf2); |
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| 112 | // (Modifying) Sets self=tf1*(tf2^-1); Returns self reference |
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| 113 | |
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| 114 | G4ThreeVector TransformPoint(const G4ThreeVector &vec) const; |
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| 115 | // Transform the specified point: returns vec*rot+tlate |
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| 116 | |
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| 117 | G4ThreeVector TransformAxis(const G4ThreeVector &axis) const; |
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| 118 | // Transform the specified axis: returns |
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| 119 | |
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| 120 | void ApplyPointTransform(G4ThreeVector &vec) const; |
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| 121 | // Transform the specified point (in place): sets vec=vec*rot+tlate |
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| 122 | |
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| 123 | void ApplyAxisTransform(G4ThreeVector &axis) const; |
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| 124 | // Transform the specified axis (in place): sets axis=axis*rot; |
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| 125 | |
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| 126 | G4AffineTransform Inverse() const; |
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| 127 | // Return inverse of current transform |
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| 128 | |
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| 129 | G4AffineTransform& Invert(); |
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| 130 | // (Modifying) Sets self=inverse of self; Returns self reference |
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| 131 | |
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| 132 | G4AffineTransform& operator +=(const G4ThreeVector &tlate); |
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| 133 | G4AffineTransform& operator -=(const G4ThreeVector &tlate); |
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| 134 | // (Modifying) Adjust net translation by given vector; |
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| 135 | // Returns self reference |
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| 136 | |
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| 137 | G4bool operator == (const G4AffineTransform &tf) const; |
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| 138 | G4bool operator != (const G4AffineTransform &tf) const; |
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| 139 | |
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| 140 | G4double operator [] (const G4int n) const; |
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| 141 | |
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| 142 | G4bool IsRotated() const; |
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| 143 | // True if transform includes rotation |
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| 144 | |
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| 145 | G4bool IsTranslated() const; |
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| 146 | // True if transform includes translation |
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| 147 | |
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| 148 | G4RotationMatrix NetRotation() const; |
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| 149 | |
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| 150 | G4ThreeVector NetTranslation() const; |
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| 151 | |
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| 152 | void SetNetRotation(const G4RotationMatrix &rot); |
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| 153 | |
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| 154 | void SetNetTranslation(const G4ThreeVector &tlate); |
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| 155 | |
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| 156 | private: |
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| 157 | |
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| 158 | G4AffineTransform(const G4double prxx,const G4double prxy,const G4double prxz, |
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| 159 | const G4double pryx,const G4double pryy,const G4double pryz, |
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| 160 | const G4double przx,const G4double przy,const G4double przz, |
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| 161 | const G4double ptx, const G4double pty, const G4double ptz ); |
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| 162 | |
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| 163 | G4double rxx,rxy,rxz; |
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| 164 | G4double ryx,ryy,ryz; |
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| 165 | G4double rzx,rzy,rzz; |
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| 166 | G4double tx,ty,tz; |
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| 167 | }; |
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| 168 | |
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| 169 | #include "G4AffineTransform.icc" |
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| 170 | |
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| 171 | #endif |
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