From 288d6e925e68b6a6bee2a5a0026173086e53b626 Mon Sep 17 00:00:00 2001
From: Francesco Romano <francesco.romano.1987@gmail.com>
Date: Mon, 25 Sep 2017 12:10:57 +0200
Subject: [PATCH 01/89] Migrated old DH conversion code from embedded to
 iDynTree

---
 toolbox/CMakeLists.txt            |   3 +-
 toolbox/src/InverseKinematics.cpp | 149 ++++++------------------------
 2 files changed, 27 insertions(+), 125 deletions(-)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index e648f87f6..52c60000f 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -40,8 +40,7 @@ add_install_rpath_support(BIN_DIRS ${CMAKE_INSTALL_PREFIX}/bin
 find_package(Eigen3 REQUIRED)
 find_package(wholeBodyInterface 0.2.5 REQUIRED)
 find_package(yarpWholeBodyInterface 0.3.2 REQUIRED)
-# Workaround section, aka, this stuff should be defined by imported libraries
-find_package(iDynTree REQUIRED)
+find_package(iDynTree 0.7.2 REQUIRED)
 
 #On new versions of Clang, MATLAB requires C++11.
 #I enable it on all Clangs
diff --git a/toolbox/src/InverseKinematics.cpp b/toolbox/src/InverseKinematics.cpp
index 1ad048a52..43c45a7e0 100644
--- a/toolbox/src/InverseKinematics.cpp
+++ b/toolbox/src/InverseKinematics.cpp
@@ -14,20 +14,12 @@
 #include <yarp/os/ResourceFinder.h>
 #include <typeinfo>
 
-//These includes are to convert from URDF to DH
-#include <kdl/tree.hpp>
-#include <kdl/jntarray.hpp>
-#include <kdl/joint.hpp>
-#include <kdl_codyco/undirectedtree.hpp>
-#include <kdl/chainfksolverpos_recursive.hpp>
-#include <iDynTree/ModelIO/impl/urdf_import.hpp>
-#include <iDynTree/ModelIO/iKin_export.hpp>
-//End of temporary include section
+#include <iDynTree/iKinConversions.h>
+#include <iDynTree/Model/DenavitHartenberg.h>
+#include <iDynTree/ModelIO/ModelLoader.h>
 
 namespace wbt {
 
-    static bool iKinLimbFromUrdfFile(const std::string &urdf_file_name, const std::string &base_link_name, const std::string& end_effector_link_name, iCub::iKin::iKinLimb &convertedChain, std::vector<std::string>& jointNames);
-
     struct InverseKinematics::InverseKinematicsPimpl {
         bool m_firstTime;
         //input buffers
@@ -204,11 +196,32 @@ namespace wbt {
         if (!m_piml->m_leg) return false;
 
         std::vector<std::string> jointNames;
-        if (!iKinLimbFromUrdfFile(urdfFile, baseLink, endEffectorLink, *((iCub::iKin::iKinLimb*)m_piml->m_leg), jointNames)) {
-            if (error) error->message = "Cannot convert urdf to iKin chain";
+        iDynTree::ModelLoader loader;
+        loader.loadModelFromFile(urdfFile);
+        if (!loader.isValid()) {
+            if (error) error->message = "Cannot load urdf file";
+            return false;
+        }
+
+        iDynTree::DHChain dhChain;
+        if (!iDynTree::ExtractDHChainFromModel(loader.model(),
+                                               baseLink,
+                                               endEffectorLink,
+                                               dhChain)) {
+            if (error) error->message = "Cannot extract DH parameters from model";
+            return false;
+        }
+        if (!iDynTree::iKinLimbFromDHChain(dhChain, *((iCub::iKin::iKinLimb*)m_piml->m_leg))) {
+            if (error) error->message = "Cannot convert DH parameters to iKin chain";
             return false;
         }
 
+        // Retrieve joint names
+        jointNames.reserve(dhChain.getNrOfDOFs());
+        for (size_t i = 0; i < dhChain.getNrOfDOFs(); ++i) {
+            jointNames.push_back(dhChain.getDOFName(i));
+        }
+
         m_piml->m_solver = new iCub::iKin::iKinIpOptMin(*m_piml->m_leg, IKINCTRL_POSE_XYZ, 1e-3, 1e-6, 100);
         if (!m_piml->m_solver) return false;
 
@@ -329,114 +342,4 @@ namespace wbt {
         return false;
     }
 
-
-    bool iKinLimbFromUrdfFile(const std::string &urdf_file_name, const std::string &base_link_name, const std::string& end_effector_link_name, iCub::iKin::iKinLimb &convertedChain, std::vector<std::string>& jointNames) {
-
-        KDL::Tree kdl_tree;
-        KDL::Chain kdl_chain;
-        std::vector<std::string> joint_names;
-        KDL::JntArray min,max;
-
-        //
-        // URDF --> KDL::Tree
-        //
-        bool root_inertia_workaround = true;
-        if (!iDynTree::treeFromUrdfFile(urdf_file_name,kdl_tree,root_inertia_workaround))
-        {
-            std::cerr << "Could not parse urdf robot model" << std::endl;
-            std::cerr << "Please open an issue at https://github.com/robotology-playground/idyntree/issues " << std::endl;
-
-            return false;
-        }
-
-        //
-        // URDF --> position ranges
-        //
-        if (!iDynTree::jointPosLimitsFromUrdfFile(urdf_file_name,joint_names,min,max))
-        {
-            std::cerr << "Could not parse urdf robot model limits" << std::endl;
-            return false;
-        }
-
-        if (joint_names.size() != min.rows() ||
-           joint_names.size() != max.rows() ||
-           joint_names.size() == 0)
-        {
-            std::cerr << "Inconsistent joint limits got from urdf (nr of joints extracted: " << joint_names.size() << " ) " << std::endl;
-            return false;
-        }
-
-        //
-        // KDL::Tree --> KDL::CoDyCo::UndirectedTree
-        // (for extracting arbitrary chains,
-        //    using KDL::Tree you can just get chains where the base of the chain
-        //    is proximal to the tree base with respect to the end effector.
-        //
-        KDL::CoDyCo::UndirectedTree undirected_tree(kdl_tree);
-
-        KDL::Tree kdl_rotated_tree = undirected_tree.getTree(base_link_name);
-
-        bool result = kdl_rotated_tree.getChain(base_link_name,end_effector_link_name,kdl_chain);
-        if (!result)
-        {
-            std::cerr << "Impossible to find " << base_link_name << " or "
-            << end_effector_link_name << " in the URDF."  << std::endl;
-            return false;
-        }
-
-        //
-        // Copy the limits extracted from the URDF to the chain
-        //
-        int nj = kdl_chain.getNrOfJoints();
-        KDL::JntArray chain_min(nj), chain_max(nj);
-
-        jointNames.clear();
-        jointNames.reserve(nj);
-
-        size_t seg_i, jnt_i;
-        for (seg_i = 0,jnt_i = 0; seg_i < kdl_chain.getNrOfSegments(); seg_i++)
-        {
-            const KDL::Segment & seg = kdl_chain.getSegment(seg_i);
-            if( seg.getJoint().getType() != KDL::Joint::None )
-            {
-                std::string jnt_name = seg.getJoint().getName();
-                // std::cerr << "searching for joint " << jnt_name << std::endl;
-                int tree_jnt = 0;
-                for(tree_jnt = 0; tree_jnt < joint_names.size(); tree_jnt++ )
-                {
-                    //std::cerr << "joint_names[ " << tree_jnt << "] is " << joint_names[tree_jnt] << std::endl;
-                    if( joint_names[tree_jnt] == jnt_name )
-                    {
-                        chain_min(jnt_i) = min(tree_jnt);
-                        chain_max(jnt_i) = max(tree_jnt);
-                        jnt_i++;
-                        jointNames.push_back(jnt_name);
-                        break;
-                    }
-                }
-                if( tree_jnt == joint_names.size() )
-                {
-                    std::cerr << "Failure in converting limits from tree to chain, unable to find joint " << jnt_name << std::endl;
-                    return false;
-                }
-            }
-        }
-        
-        if (jnt_i != nj)
-        {
-            std::cerr << "Failure in converting limits from tree to chain" << std::endl;
-            return false;
-        }
-        
-        //
-        // Convert the chain and the limits to an iKin chain (i.e. DH parameters)
-        //
-        result = iDynTree::iKinLimbFromKDLChain(kdl_chain,convertedChain,chain_min,chain_max);
-        if (!result)
-        {
-            std::cerr << "Could not export KDL::Tree to iKinChain" << std::endl;
-            return false;
-        }
-        return true;
-    }
 }

From aa70f727dc7cd15db3f52f4d1eae4e16324edfbc Mon Sep 17 00:00:00 2001
From: Francesco Romano <francesco.romano.1987@gmail.com>
Date: Mon, 25 Sep 2017 17:38:09 +0200
Subject: [PATCH 02/89] Fixed bug introduced with toolbox refactoring

SetReferences subList parameter was erroneously converted to a boolean, while it is actually the index of the selected item in the Simulink mask dropdown.
Being the index >=1 the boolean conversion resulted always in a true value.

Fix https://github.com/robotology/WB-Toolbox/issues/57
---
 toolbox/src/SetReferences.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 8a8f4464e..4f3e4c97d 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -33,7 +33,10 @@ namespace wbt {
 
         unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
 
-        m_fullControl = blockInfo->getScalarParameterAtIndex(WBIBlock::numberOfParameters() + 2).booleanData();
+        // In Toolbox mask the options are the following:
+        // - 1 => full control
+        // - 2 => sublist control
+        m_fullControl = blockInfo->getScalarParameterAtIndex(WBIBlock::numberOfParameters() + 2).int32Data() == 1;
 
         if (!m_fullControl) {
             //sublist

From 6716aaac2de5dea93ac48e3dc3bfed4f07e9287f Mon Sep 17 00:00:00 2001
From: Francesco Romano <francesco.romano.1987@gmail.com>
Date: Tue, 24 Oct 2017 17:12:26 +0200
Subject: [PATCH 03/89] Temporary fix: included iostream

Note: actually the std::cerr are warnings for the user, this is why they are not returned as an error.
We have to find a smarter way to return the warning to the user.
---
 toolbox/src/InverseKinematics.cpp | 2 ++
 toolbox/src/SetReferences.cpp     | 2 ++
 toolbox/src/YarpRead.cpp          | 1 +
 3 files changed, 5 insertions(+)

diff --git a/toolbox/src/InverseKinematics.cpp b/toolbox/src/InverseKinematics.cpp
index 43c45a7e0..f8f6e61ff 100644
--- a/toolbox/src/InverseKinematics.cpp
+++ b/toolbox/src/InverseKinematics.cpp
@@ -18,6 +18,8 @@
 #include <iDynTree/Model/DenavitHartenberg.h>
 #include <iDynTree/ModelIO/ModelLoader.h>
 
+#include <iostream>
+
 namespace wbt {
 
     struct InverseKinematics::InverseKinematicsPimpl {
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 4f3e4c97d..397bd6020 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -7,6 +7,8 @@
 #include <yarpWholeBodyInterface/yarpWbiUtil.h>
 #include <wbi/wholeBodyInterface.h>
 
+#include <iostream>
+
 namespace wbt {
 
     std::string SetReferences::ClassName = "SetReferences";
diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 9fd15c3ca..82fa279f4 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -10,6 +10,7 @@
 #include <yarp/sig/Vector.h>
 
 #include <algorithm>
+#include <iostream>
 
 #define PARAM_IDX_1 1                           // port name
 #define PARAM_IDX_2 2                           // Size of the port you're reading

From 22954931291da1a88e6951361b7ea74405b6ea1e Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 30 Oct 2017 10:17:22 +0000
Subject: [PATCH 04/89] New Matlab WBToolboxConfig class

This class contains and validates the configuration passed to every wbt::WBBlock object.

ValidConfiguration is a Dependent property and it is set to 1 only if the basic checks currently implemented in other properties don't fail. From this state, it is possible to call getSimulinkParameters() in order to obtain the struct which is passed to the S-Functions and then parsed in C++.

This class also contains utilities functions for obtainng a simple string representation of 1D vectors and 1D chars, required to serialize the data in the Config Block's mask. The deserialization is performed using eval().
---
 +WBToolbox/WBToolboxConfig.m | 143 +++++++++++++++++++++++++++++++++++
 1 file changed, 143 insertions(+)
 create mode 100644 +WBToolbox/WBToolboxConfig.m

diff --git a/+WBToolbox/WBToolboxConfig.m b/+WBToolbox/WBToolboxConfig.m
new file mode 100644
index 000000000..20374e498
--- /dev/null
+++ b/+WBToolbox/WBToolboxConfig.m
@@ -0,0 +1,143 @@
+classdef WBToolboxConfig < matlab.mixin.Copyable
+    %WBTOOLBOXCONFIG Summary of this class goes here
+    %   Detailed explanation goes here
+
+    % PROPERTIES
+    % ==========
+
+    properties
+        % Robot state
+        RobotName          (1,:) char
+        UrdfFile           (1,:) char
+        ControlledJoints   (1,:) cell
+        ControlBoardsNames (1,:) cell
+        LocalName          (1,:) char
+        % Other Variables
+        GravityVector      (1,3) double = [0, 0, -9.81]
+    end
+
+    properties (Dependent)
+        ValidConfiguration (1,1) logical
+    end
+
+    properties (Hidden, Dependent)
+        SimulinkParameters (1,1) struct
+    end
+
+    % METHODS
+    % =======
+
+    methods
+
+        % SET METHODS
+        % -----------
+
+        % Dependent properties
+        % --------------------
+
+        function set.ValidConfiguration(~,~)
+            error(['ValidConfiguration is set to 1 automatically ', ...
+                'when the configuration is valid.']);
+        end
+
+        function set.SimulinkParameters(~,~)
+            error(['SimulinkParameters is created automatically ', ...
+                'when the configuration is valid.']);
+        end
+
+        % Other properties
+        % ----------------
+
+        function set.ControlledJoints(obj, value)
+            if (~iscellstr(value))
+                error(['ControlledJoints must be a cell array of ', ...
+                    'charachter vectors']);
+            end
+            obj.ControlledJoints = value;
+        end
+
+        function set.ControlBoardsNames(obj, value)
+            if (~iscellstr(value))
+                error(['ControlBoardsNames must be a cell array of ', ...
+                    'charachter vectors']);
+            end
+            obj.ControlBoardsNames = value;
+        end
+
+        % GET METHODS
+        % -----------
+
+        % Dependent properties
+        % --------------------
+
+        function value = get.ValidConfiguration(obj)
+            % Check if all the properties have been set
+            value = ...
+                ~isempty(obj.RobotName) && ...
+                ~isempty(obj.UrdfFile)  && ...
+                ~isempty(obj.ControlledJoints)   && ...
+                ~isempty(obj.ControlBoardsNames) && ...
+                ~isempty(obj.LocalName) && ...
+                ~isequal(obj.GravityVector,[0, 0, 0]);
+        end
+
+        function value = get.SimulinkParameters(obj)
+            % Create and populate the struct
+            value = struct();
+            value.RobotName = obj.RobotName;
+            value.UrdfFile  = obj.UrdfFile;
+            value.LocalName = obj.LocalName;
+            value.ControlledJoints   = obj.ControlledJoints;
+            value.ControlBoardsNames = obj.ControlBoardsNames;
+            value.GravityVector = obj.GravityVector;
+        end
+
+        % Other properties
+        % ----------------
+
+        % OTHER METHODS
+        % =============
+
+        function value = getSimulinkParameters(obj)
+            if (obj.ValidConfiguration)
+                value = obj.SimulinkParameters;
+            else
+                error('The configuration is not complete');
+            end
+        end
+    end
+
+    methods(Static)
+
+        function cellArraySerialized = serializeCellArray1D(cellArray)
+            [m,n] = size(cellArray);
+            if (m>1 && n>1)
+                error('The input cell must be 1D');
+            end
+            cellArraySerialized = '{';
+            for i=1:length(cellArray)
+                cellArraySerialized = strcat(cellArraySerialized,"'",cellArray{i},"'");
+                if i ~= length(cellArray)
+                    cellArraySerialized = strcat(cellArraySerialized,',');
+                end
+            end
+            cellArraySerialized = strcat(cellArraySerialized,'}');
+        end
+
+        function vectorSerialized = serializeVector1D(vector)
+            [m,n] = size(vector);
+            if (m>1 && n>1)
+                error('The input vector must be 1D');
+            end
+            vectorSerialized = '[';
+            for i=1:length(vector)
+                vectorSerialized = strcat(vectorSerialized,num2str(vector(i)));
+                if i ~= length(vector)
+                    vectorSerialized = strcat(vectorSerialized,',');
+                end
+            end
+            vectorSerialized = strcat(vectorSerialized,']');
+        end
+
+    end
+end

From be52d5bdd48d0818540583600c50be9a19e895f3 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 30 Oct 2017 10:21:52 +0000
Subject: [PATCH 05/89] New Anytype interface and MxAnyType implementation

Initial version of the library, which will become independent in the future.

MxAnyType handles the C / C++ mxArray pointer that represents any generic data type in Matlab. It wraps most of the C APIs, and it has optional support of strict type checking.
---
 CMakeLists.txt                |   1 +
 MxAnyType/CMakeLists.txt      |  56 +++++++++
 MxAnyType/include/AnyType.h   |  67 +++++++++++
 MxAnyType/include/MxAnyType.h |  99 ++++++++++++++++
 MxAnyType/src/MxAnyType.cpp   | 213 ++++++++++++++++++++++++++++++++++
 5 files changed, 436 insertions(+)
 create mode 100644 MxAnyType/CMakeLists.txt
 create mode 100644 MxAnyType/include/AnyType.h
 create mode 100644 MxAnyType/include/MxAnyType.h
 create mode 100644 MxAnyType/src/MxAnyType.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index acd0156d3..034310442 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,6 +12,7 @@ include(YCMDefaultDirs)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 set(WB-TOOLBOX_SHARE_DIR "${CMAKE_INSTALL_PREFIX}/share/WB-Toolbox")
 
+add_subdirectory(MxAnyType)
 add_subdirectory(toolbox)
 
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/images DESTINATION ${WB-TOOLBOX_SHARE_DIR})
diff --git a/MxAnyType/CMakeLists.txt b/MxAnyType/CMakeLists.txt
new file mode 100644
index 000000000..8d3250642
--- /dev/null
+++ b/MxAnyType/CMakeLists.txt
@@ -0,0 +1,56 @@
+cmake_policy(SET CMP0048 NEW)
+project(MxAnyType LANGUAGES CXX VERSION 0.1)
+cmake_minimum_required(VERSION 3.0.2)
+
+# Configure the project
+# =====================
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+include(GNUInstallDirs)
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+# Use a general prefix for the project
+set(VARS_PREFIX ${PROJECT_NAME})
+# set(VARS_PREFIX "MxAnyType")
+
+# Build the library
+# =================
+
+# Export the includes needed to who inherits this library
+# Set this up properly for handling either BUILD and INSTALL trees
+set(${VARS_PREFIX}_INCLUDE_BUILD ${CMAKE_CURRENT_SOURCE_DIR}/include)
+set(${VARS_PREFIX}_INCLUDE_INSTALL ${CMAKE_INSTALL_INCLUDEDIR}/${VARS_PREFIX})
+
+# Add the target
+add_library(${VARS_PREFIX} STATIC ${CMAKE_CURRENT_SOURCE_DIR}/include/AnyType.h
+                                  ${CMAKE_CURRENT_SOURCE_DIR}/include/MxAnyType.h
+                                  ${CMAKE_CURRENT_SOURCE_DIR}/src/MxAnyType.cpp)
+
+
+# TODO: temporary, waiting the library becomes a shared
+if (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+    set_target_properties(${VARS_PREFIX} PROPERTIES COMPILE_FLAGS "-fPIC")
+endif()
+
+# Find Eigen
+find_package(Eigen3 REQUIRED)
+target_include_directories(${VARS_PREFIX} PUBLIC "${EIGEN3_INCLUDE_DIR}")
+
+# Find Matlab resources
+find_package(Matlab REQUIRED MX_LIBRARY)
+# target_include_directories(${VARS_PREFIX} SYSTEM PUBLIC "${Matlab_INCLUDE_DIRS}") // TODO: when committing
+target_include_directories(${VARS_PREFIX} PUBLIC "${Matlab_INCLUDE_DIRS}")
+
+# Setup the include directories
+# TODO why in the how to was INTERFACE?
+target_include_directories(${VARS_PREFIX} PUBLIC
+                           $<BUILD_INTERFACE:${${VARS_PREFIX}_INCLUDE_BUILD}>
+                           $<INSTALL_INTERFACE:${${VARS_PREFIX}_INCLUDE_INSTALL}>)
+
+# Assign some useful properties
+# set_target_properties(${VARS_PREFIX} PROPERTIES VERSION ${PROJECT_VERSION}
+#                                      PUBLIC_HEADER MxAnyType.h)
+
+# Build tests
+# ===========
+# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/tests)
diff --git a/MxAnyType/include/AnyType.h b/MxAnyType/include/AnyType.h
new file mode 100644
index 000000000..1637b38b8
--- /dev/null
+++ b/MxAnyType/include/AnyType.h
@@ -0,0 +1,67 @@
+#ifndef ANYTYPE_H
+#define ANYTYPE_H
+
+#include <Eigen/Core>
+#include <vector>
+#include <unordered_map>
+#include <memory>
+
+class AnyType;
+
+typedef std::shared_ptr<AnyType> AnyTypeSPtr;
+typedef std::vector<AnyTypeSPtr> AnyCell;
+typedef std::unordered_map<std::string, AnyTypeSPtr> AnyStruct;
+
+class AnyType
+{
+protected:
+    // void* m_AnyData;
+
+public:
+    // AnyType() : m_AnyData(nullptr) {};
+    AnyType() = default;
+    // virtual void* getAnyDataPtr() const = 0;
+
+    virtual ~AnyType() = default;
+
+    // Integers
+    virtual bool asInt(int& i)       = 0;
+    // virtual bool asInt8(int8_t& i)   = 0;
+    // virtual bool asInt16(int16_t& i) = 0;
+    virtual bool asInt32(int32_t& i) = 0;
+    // virtual bool asInt64(int64_t& i) = 0;
+
+    // Unsigned Integers
+    virtual bool asUInt(unsigned& i) = 0;
+    // virtual bool asUInt8(uint8_t& i)     = 0;
+    // virtual bool asUInt16(uint16_t& i)   = 0;
+    // virtual bool asUInt32(uint32_t& i)   = 0;
+    // virtual bool asUInt64(uint64_t& i)   = 0;
+
+    // Boolean
+    virtual bool asBool(bool& b) = 0;
+
+    // Floating-point
+    // virtual bool asFloat(float& f)   = 0;
+    virtual bool asDouble(double& d) = 0;
+
+    // Characters
+    virtual bool asString(std::string& s) = 0;
+
+    // Struct
+    virtual bool asAnyStruct(AnyStruct& map) = 0;
+
+    // Cell array
+    virtual bool asAnyCell(AnyCell& map) = 0;
+
+    // Matrix
+    // TODO: constraint max 2-dimension
+    // virtual bool asMatrixFloat(Eigen::MatrixXf mat)  = 0;
+    // virtual bool asMatrixDouble(Eigen::MatrixXd mat) = 0;
+
+    // Vector
+    virtual bool asVectorDouble(Eigen::VectorXd& vec)     = 0;
+    virtual bool asVectorDouble(std::vector<double>& vec) = 0;
+};
+
+#endif /* ANYTYPE_H */
diff --git a/MxAnyType/include/MxAnyType.h b/MxAnyType/include/MxAnyType.h
new file mode 100644
index 000000000..21fc7090f
--- /dev/null
+++ b/MxAnyType/include/MxAnyType.h
@@ -0,0 +1,99 @@
+#ifndef MXANYTYPE_H
+#define MXANYTYPE_H
+
+#include <vector>
+#include <string>
+#include <unordered_map>
+#include <cassert>
+#include "AnyType.h"
+#include "matrix.h"
+
+class MxAnyType;
+
+// If needed in the future
+// class MxAnyCell : public AnyCell {};
+// class MxAnyStruct : public AnyStruct {};
+
+struct MxArrayMetadata {
+    mxClassID id;
+    bool isScalar;
+    size_t rows;
+    size_t cols;
+    size_t nElem;
+    size_t nDims;
+    std::vector<size_t> dims;
+};
+
+class MxAnyType : public AnyType
+{
+private:
+    const mxArray* mx;
+    MxArrayMetadata md;
+    bool validate;
+
+    // TODO: https://it.mathworks.com/help/matlab/apiref/mxgetscalar.html returns a double always
+    bool asScalar(double& d);
+    bool validateClassId(mxClassID id1, mxClassID id2);
+
+    // mxArray* getMxArrayPtr() const { return static_cast<mxArray*>(getAnyDataPtr()); }
+
+public:
+    // void* getAnyDataPtr() const override {
+    //     return (void*) mx;
+    // }
+
+    MxAnyType();
+    MxAnyType(const mxArray* m, bool validateId = false);
+    ~MxAnyType() = default;
+    MxAnyType(const MxAnyType& mxAnyType);
+
+    void enableClassIDValidation();
+
+    // STRING / CHARS
+    // ==============
+
+    bool asString(std::string& s) override;
+
+    // SCALAR TYPES
+    // ============
+
+    // Generic casting
+    // ---------------
+
+    bool asInt(int& i) override;
+    bool asUInt(unsigned& i) override;
+
+    // Specific casting
+    // ----------------
+
+    bool asInt32(int32_t& i) override;
+
+    // TODO: complete with all the other scalar types
+    // bool asInt64(int64_t& i) override
+    // {
+    //     double buffer;
+    //     if (!asScalar(buffer)) return false;
+    //     i = static_cast<int64_t>(buffer);
+    //     return validateClassId(md.id, mxINT64_CLASS);
+    // }
+
+    bool asDouble(double& d) override;
+    bool asBool(bool& b) override;
+
+    // COMPOSITE DATA TYPES
+    // ====================
+
+    bool asAnyStruct(AnyStruct& s) override;
+    bool asAnyCell(AnyCell& cell) override;
+
+    // MATRIX
+    // ======
+
+    // VECTOR
+    // ======
+
+    bool asVectorDouble(Eigen::VectorXd& vec) override;
+    bool asVectorDouble(std::vector<double>& vec) override;
+};
+
+#endif /* MXANYTYPE_H */
diff --git a/MxAnyType/src/MxAnyType.cpp b/MxAnyType/src/MxAnyType.cpp
new file mode 100644
index 000000000..77a2f10f4
--- /dev/null
+++ b/MxAnyType/src/MxAnyType.cpp
@@ -0,0 +1,213 @@
+#include "MxAnyType.h"
+#include <memory>
+
+// PRIVATE METHODS
+// ===============
+
+bool MxAnyType::asScalar(double& d)
+{
+    if (!mx) return false;
+    if (!mxIsScalar(mx)) return false;  // 1x1
+    if (!mxIsNumeric(mx)) return false; // Types: https://it.mathworks.com/help/matlab/apiref/mxisnumeric.html
+
+    // Cast to double since even a mxINT8_CLASS is returned as double:
+    // https://it.mathworks.com/help/matlab/apiref/mxgetscalar.html
+    d = static_cast<double>(mxGetScalar(mx));
+    return true;
+}
+
+bool MxAnyType::validateClassId(mxClassID id1, mxClassID id2)
+{
+    if (validate)
+        return id1 == id2;
+    else
+        return true;
+}
+
+// PUBLIC METHODS
+// ==============
+
+// Constructors
+// ============
+
+MxAnyType::MxAnyType() : mx(nullptr), validate(false)
+{
+    md.id = mxUNKNOWN_CLASS;
+}
+
+MxAnyType::MxAnyType(const mxArray* m, bool validateId) : mx(m), validate(validateId)
+{
+    assert(mx);
+
+    // Get the ID
+    md.id = mxGetClassID(mx);
+    assert(md.id != mxVOID_CLASS);
+    assert(md.id != mxUNKNOWN_CLASS);
+
+    // Get the other metadata
+    md.isScalar = mxIsScalar(mx);
+    md.rows  = static_cast<unsigned>(mxGetN(mx));
+    md.cols  = static_cast<unsigned>(mxGetM(mx));
+    md.nElem = static_cast<unsigned>(mxGetNumberOfElements(mx));
+    md.nDims = static_cast<unsigned>(mxGetNumberOfDimensions(mx));
+
+    if (md.isScalar)
+        assert(md.rows == md.cols == md.nElem == 1);
+
+    // TODO: only 2 dims currently supported
+    assert(md.nDims == 2);
+    assert(md.rows * md.cols == md.nElem);
+
+    const size_t* size = mxGetDimensions(mx);
+    for (unsigned dim = 0; dim < md.nDims; ++dim) {
+        md.dims.push_back(static_cast<unsigned>(size[dim]));
+    }
+    assert(md.dims.size() == 2);
+}
+
+MxAnyType::MxAnyType(const MxAnyType& mxAnyType)
+: mx(mxAnyType.mx)
+, md(mxAnyType.md)
+, validate(mxAnyType.validate)
+{}
+
+void MxAnyType::enableClassIDValidation()
+{
+    validate = true;
+}
+
+// STRING / CHARS
+// ==============
+
+bool MxAnyType::asString(std::string& s)
+{
+    if (!mx) return false;
+    if (md.id != mxCHAR_CLASS) return false;
+    char* buffer = mxArrayToString(mx);
+    s = std::string(buffer);
+    mxFree(buffer);
+    return true;
+}
+
+// SCALAR TYPES
+// ============
+
+// Generic casting
+// ---------------
+
+bool MxAnyType::asInt(int& i)
+{
+    double buffer;
+    if (!asScalar(buffer)) return false;
+    i = static_cast<int>(buffer);
+    return true;
+}
+
+bool MxAnyType::asUInt(unsigned& i)
+{
+    double buffer;
+    if (!asScalar(buffer)) return false;
+    i = static_cast<unsigned>(buffer);
+    return true;
+}
+
+// Specific casting
+// ----------------
+
+bool MxAnyType::asInt32(int32_t& i)
+{
+    double buffer;
+    if (!asScalar(buffer)) return false;
+    i = static_cast<int32_t>(buffer);
+    return validateClassId(md.id, mxINT32_CLASS);
+}
+
+// TODO: complete with all the other scalar types
+// bool asInt64(int64_t& i)
+// {
+//     double buffer;
+//     if (!asScalar(buffer)) return false;
+//     i = static_cast<int64_t>(buffer);
+//     return validateClassId(md.id, mxINT64_CLASS);
+// }
+
+bool MxAnyType::asDouble(double& d)
+{
+    bool ok = asScalar(d);
+    return ok && validateClassId(md.id, mxDOUBLE_CLASS);
+}
+
+bool MxAnyType::asBool(bool& b)
+ {
+    if (!mx) return false;
+    if (!mxIsLogicalScalar(mx)) return false;
+    b = mxIsLogicalScalarTrue(mx);
+    return true;
+}
+
+// COMPOSITE DATA TYPES
+// ====================
+
+bool MxAnyType::asAnyStruct(AnyStruct& s)
+{
+    if (!mx) return false;
+    if (md.id != mxSTRUCT_CLASS) return false;
+
+    for (unsigned i = 0; i < mxGetNumberOfFields(mx); ++i) {
+        const char* fieldName = mxGetFieldNameByNumber(mx,i);
+        // TODO multidimensional struct
+        mxArray* fieldContent = mxGetFieldByNumber(mx,0,i);
+        if (fieldName == nullptr) return false;
+        if (fieldContent == nullptr) return false;
+        s[std::string(fieldName)] = std::make_shared<MxAnyType>(fieldContent);
+    }
+    return true;
+}
+
+bool MxAnyType::asAnyCell(AnyCell& cell)
+{
+    if (!mx) return false;
+    if (md.id != mxCELL_CLASS) return false;
+
+    // TODO: AnyCell then will have a operator()(3,4) method;
+    for (unsigned i=0; i < mxGetNumberOfElements(mx); ++i) {
+        mxArray* cellContent = mxGetCell(mx, i);
+        if (!cellContent) return false;
+        cell.push_back(std::make_shared<MxAnyType>(cellContent));
+    }
+    return true;
+}
+
+// MATRIX
+// ======
+
+// VECTOR
+// ======
+
+// TODO tests with other types (uint8) https://it.mathworks.com/help/matlab/apiref/mxgetdata.html (Descriptio)
+bool MxAnyType::asVectorDouble(Eigen::VectorXd& vec)
+{
+    if (!mx) return false;
+    if (!mxIsDouble(mx)) return false;
+
+    if (md.rows > 1 && md.cols > 1) {
+        return false;
+    }
+
+    // TODO add method for complex vectors (and move the check into md)
+    if (mxIsComplex(mx)) return false;
+
+    double* buffer = mxGetPr(mx);
+    if (!buffer) return false;
+
+    vec = Eigen::Map<Eigen::VectorXd>(buffer, md.nElem);
+    return true;
+}
+
+bool MxAnyType::asVectorDouble(std::vector<double>& vec)
+{
+    Eigen::VectorXd vecEigen;
+    if (!asVectorDouble(vecEigen)) return false;
+    vec.assign(vecEigen.data(), vecEigen.data() + vecEigen.rows() * vecEigen.cols());
+    return true;
+}

From 705766370b9eac6ea2160fff06fdc045f1318390 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 30 Oct 2017 10:30:52 +0000
Subject: [PATCH 06/89] Error class has been enhanced and renamed to Log

wbt::Log is the new class that provides log support to the WBToolbox.
It now supports both Errors and Warnings.

For being more flexible, wbt::Log is a singleton. This approach simplifies dramatically the handling of warnings, and can be called from every method without the need of passing it though arguments. Since singletons cannot be deleted, wbt::Log state is reset in the early stage of the processing.

[Squash] toolbox.cpp
---
 toolbox/CMakeLists.txt         |   4 +-
 toolbox/include/base/Error.h   |  19 ----
 toolbox/include/base/Log.h     |  42 ++++++++
 toolbox/include/base/toolbox.h |   2 +-
 toolbox/src/base/Error.cpp     |   0
 toolbox/src/base/Log.cpp       |  71 ++++++++++++++
 toolbox/src/base/toolbox.cpp   | 174 +++++++++++++++++++++------------
 7 files changed, 230 insertions(+), 82 deletions(-)
 delete mode 100644 toolbox/include/base/Error.h
 create mode 100644 toolbox/include/base/Log.h
 delete mode 100644 toolbox/src/base/Error.cpp
 create mode 100644 toolbox/src/base/Log.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 52c60000f..9838ee86f 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -62,7 +62,7 @@ configure_block(BLOCK_NAME "Base"
             src/base/Block.cpp
             src/base/BlockInformation.cpp
             src/base/WBIBlock.cpp
-            src/base/Error.cpp
+            src/base/Log.cpp
             src/base/WBInterface.cpp
             src/base/factory.cpp
             src/base/WBIModelBlock.cpp
@@ -72,7 +72,7 @@ configure_block(BLOCK_NAME "Base"
             include/base/Block.h
             include/base/BlockInformation.h
             include/base/WBIBlock.h
-            include/base/Error.h
+            include/base/Log.h
             include/base/WBInterface.h
             include/base/WBIModelBlock.h
             include/base/SimulinkBlockInformation.h #this is temp
diff --git a/toolbox/include/base/Error.h b/toolbox/include/base/Error.h
deleted file mode 100644
index f11dc413c..000000000
--- a/toolbox/include/base/Error.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#ifndef WBT_ERROR_H
-#define WBT_ERROR_H
-
-#include <string>
-
-namespace wbt {
-    class Error;
-}
-
-/**
- * Basic Error class
- */
-class wbt::Error {
-public:
-    std::string message; /**< a string representing the error message */
-};
-
-
-#endif /* end of include guard: WBT_ERROR_H */
diff --git a/toolbox/include/base/Log.h b/toolbox/include/base/Log.h
new file mode 100644
index 000000000..699c431b6
--- /dev/null
+++ b/toolbox/include/base/Log.h
@@ -0,0 +1,42 @@
+#ifndef WBT_LOG_H
+#define WBT_LOG_H
+
+#include <string>
+#include <vector>
+
+namespace wbt {
+    class Log;
+}
+
+/**
+ * Basic Log class
+ */
+class wbt::Log
+{
+private:
+    std::vector<std::string> errors;
+    std::vector<std::string> warnings;
+    std::string prefix;
+
+    static std::string serializeVectorString(std::vector<std::string> v, std::string prefix="");
+public:
+
+    static wbt::Log& getSingleton();
+
+    void error(std::string errorMessage);
+    void warning(std::string warningMessage);
+
+    void resetPrefix();
+    void setPrefix(std::string prefixMessage);
+
+    std::string getErrors() const;
+    std::string getWarnings() const;
+
+    void clearErrors();
+    void clearWarnings();
+
+    void clear();
+};
+
+
+#endif /* end of include guard: WBT_LOG_H */
diff --git a/toolbox/include/base/toolbox.h b/toolbox/include/base/toolbox.h
index a61e5e74e..a1ff7505f 100644
--- a/toolbox/include/base/toolbox.h
+++ b/toolbox/include/base/toolbox.h
@@ -1,4 +1,4 @@
-#include "Error.h"
+#include "Log.h"
 //General Yarp utilities
 #include "YarpRead.h"
 #include "YarpWrite.h"
diff --git a/toolbox/src/base/Error.cpp b/toolbox/src/base/Error.cpp
deleted file mode 100644
index e69de29bb..000000000
diff --git a/toolbox/src/base/Log.cpp b/toolbox/src/base/Log.cpp
new file mode 100644
index 000000000..9ee6abdaa
--- /dev/null
+++ b/toolbox/src/base/Log.cpp
@@ -0,0 +1,71 @@
+#include "Log.h"
+#include <sstream>
+#include <iterator>
+
+using namespace wbt;
+
+Log& Log::getSingleton()
+{
+    static Log logInstance;
+    return logInstance;
+}
+
+void Log::error(std::string errorMessage)
+{
+    errors.push_back(errorMessage);
+}
+
+void Log::warning(std::string warningMessage)
+{
+    warnings.push_back(warningMessage);
+}
+
+void Log::setPrefix(std::string prefixMessage)
+{
+    prefix = prefixMessage;
+}
+
+void Log::resetPrefix()
+{
+    prefix.clear();
+}
+
+std::string Log::serializeVectorString(std::vector<std::string> v, std::string prefix)
+{
+    std::stringstream output;
+    std::ostream_iterator<std::string> output_iterator(output, "\n");
+    std::copy(v.begin(), v.end(), output_iterator);
+
+    if (prefix.empty()) {
+        return output.str();
+    }
+    else {
+        return prefix + "\n" + output.str();
+    }
+}
+
+std::string Log::getErrors() const
+{
+    return serializeVectorString(errors, prefix);
+}
+
+std::string Log::getWarnings() const
+{
+    return serializeVectorString(warnings, prefix);
+}
+
+void Log::clearWarnings()
+{
+    warnings.clear();
+}
+
+void Log::clearErrors()
+{
+    errors.clear();
+}
+
+void Log::clear()
+{
+    clearErrors();
+    clearWarnings();
+}
diff --git a/toolbox/src/base/toolbox.cpp b/toolbox/src/base/toolbox.cpp
index 5162f3505..2e2d9037f 100644
--- a/toolbox/src/base/toolbox.cpp
+++ b/toolbox/src/base/toolbox.cpp
@@ -26,11 +26,74 @@
 
 #include "toolbox.h"
 #include "Block.h"
+#include "Log.h"
 #include "SimulinkBlockInformation.h"
 
 #include <string>
 #include <yarp/os/LogStream.h>
 
+static void catchLogMessages(bool status, SimStruct *S, std::string prefix)
+{
+    // Initialize static buffers
+    const unsigned bufferLen = 1024;
+    static char errorBuffer[bufferLen];
+    static char warningBuffer[bufferLen];
+
+    // Notify warnings
+    if (!wbt::Log::getSingleton().getWarnings().empty()) {
+        // Get the singleton
+        wbt::Log& log = wbt::Log::getSingleton();
+
+        // Handle the prefix
+        std::string warningMsg;
+        if (!prefix.empty()) {
+            log.setPrefix(prefix);
+            warningMsg = log.getWarnings();
+            log.resetPrefix();
+        }
+        else {
+            warningMsg = log.getWarnings();
+        }
+
+        // Trim the message if needed
+        if (warningMsg.length() >= bufferLen) {
+            warningMsg = warningMsg.substr(0, bufferLen-1);
+        }
+
+        // Forward to Simulink
+        sprintf(warningBuffer, "%s", warningMsg.c_str());
+        ssWarning(S, warningBuffer);
+        log.clearWarnings();
+    }
+
+    // Notify errors
+    if (!status) {
+        // Get the singleton
+        wbt::Log& log = wbt::Log::getSingleton();
+
+        // Handle the prefix
+        std::string errorMsg;
+        if (!prefix.empty()) {
+            log.setPrefix(prefix);
+            errorMsg = log.getErrors();
+            log.resetPrefix();
+        }
+        else {
+            errorMsg = log.getErrors();
+        }
+
+        // Trim the message if needed
+        if (errorMsg.length() >= bufferLen) {
+            errorMsg = errorMsg.substr(0, bufferLen-1);
+        }
+
+        // Forward to Simulink
+        sprintf(errorBuffer, "%s", errorMsg.c_str());
+        ssSetErrorStatus(S, errorBuffer);
+        return;
+    }
+}
+
 // Function: MDL_CHECK_PARAMETERS
 #define MDL_CHECK_PARAMETERS
 #if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)
@@ -65,10 +128,12 @@ static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port,
 //    block's characteristics (number of inputs, s, states, etc.).
 static void mdlInitializeSizes(SimStruct *S)
 {
-    static char errorBuffer[512];
+    // Initialize the Log singleton
+    wbt::Log::getSingleton().clear();
+
     if (ssGetSFcnParamsCount(S) < 1) {
-        sprintf(errorBuffer, "%s", "The block type parameter must be specified");
-        ssSetErrorStatus(S, errorBuffer);
+        wbt::Log::getSingleton().error("The block type parameter must be specified");
+        catchLogMessages(false, S, "\n[" + std::string(__func__) + "]");
         return;
     }
     char *classNameStr = mxArrayToString(ssGetSFcnParam(S, 0));
@@ -78,43 +143,39 @@ static void mdlInitializeSizes(SimStruct *S)
 
     //We cannot save data in PWork during the initializeSizes phase
     ssSetNumPWork(S, 1);
-    
+
+    // Notify errors
     if (!block) {
-        sprintf(errorBuffer, "Could not create an object of type %s", className.c_str());
-        ssSetErrorStatus(S, errorBuffer);
+        wbt::Log::getSingleton().error("Could not create an object of type " + className);
+        catchLogMessages(false, S, "\n[" + std::string(__func__) + "]");
         return;
     }
-    
+
     ssSetNumSFcnParams(S, 1 + block->numberOfParameters());
     ssSetSFcnParamTunable(S, 0, false);
     for (unsigned i = 1; i < ssGetNumSFcnParams(S); ++i) {
         bool tunable = false;
         block->parameterAtIndexIsTunable(i - 1, tunable);
         ssSetSFcnParamTunable(S, i, tunable);
-
     }
-    
-    
+
+
 #if defined(MATLAB_MEX_FILE)
-    if(ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)){
+    if(ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
         mdlCheckParameters(S);
-        if(ssGetErrorStatus(S)){
+        if(ssGetErrorStatus(S)) {
             return;
         }
-    } else{
-        sprintf(errorBuffer, "%s", "Number of parameters different from those defined");
-        ssSetErrorStatus(S, errorBuffer);
+    } else {
+        wbt::Log::getSingleton().error("Number of parameters different from those defined");
+        catchLogMessages(false, S, "\n[" + std::string(__func__) + "]");
         return;
     }
 #endif
 
-    wbt::Error error;
     wbt::SimulinkBlockInformation blockInfo(S);
-    if (!block->configureSizeAndPorts(&blockInfo, &error)) {
-        sprintf(errorBuffer, "%s", error.message.substr(0, 511).c_str());
-        ssSetErrorStatus(S, errorBuffer);
-        return;
-    }
+    bool ok = block->configureSizeAndPorts(&blockInfo);
+    catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
 
     ssSetNumSampleTimes(S, 1);
 
@@ -134,17 +195,15 @@ static void mdlInitializeSizes(SimStruct *S)
 
     std::vector<std::string> additionalOptions = block->additionalBlockOptions();
 
-    for (std::vector<std::string>::const_iterator it = additionalOptions.begin();
-         it < additionalOptions.end(); ++it) {
-        wbt::Data option;
-        if (blockInfo.optionFromKey(*it, option)) {
-            options |= option.uint32Data();
+    for (auto additionalOption: additionalOptions) {
+        double option;
+        if (blockInfo.optionFromKey(additionalOption, option)) {
+            options |= static_cast<uint32_t>(option);
         }
     }
     ssSetOptions(S, options);
 
     delete block;
-
 }
 
 // Function: mdlInitializeSampleTimes =========================================
@@ -173,15 +232,12 @@ static void mdlStart(SimStruct *S)
     wbt::Block *block = wbt::Block::instantiateBlockWithClassName(className);
     ssSetPWorkValue(S, 0, block);
 
-    wbt::Error error;
     wbt::SimulinkBlockInformation blockInfo(S);
-    if (!block || !block->initialize(&blockInfo, &error)) {
-        yError() << "[mdlStart]" << error.message;
-        static char errorBuffer[1024];
-        sprintf(errorBuffer, "[mdlStart]%s", error.message.substr(0, 1023 - strlen("[mdlStart]")).c_str());
-        ssSetErrorStatus(S, errorBuffer);
+    bool ok = false;
+    if (block) {
+        ok = block->initialize(&blockInfo);
     }
-
+    catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
 }
 
 
@@ -192,13 +248,13 @@ static void mdlUpdate(SimStruct *S, int_T tid)
     UNUSED_ARG(tid);
     if (ssGetNumPWork(S) > 0) {
         wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
-        wbt::Error error;
+
         wbt::SimulinkBlockInformation blockInfo(S);
-        if (!block || !block->updateDiscreteState(&blockInfo, &error)) {
-            static char errorBuffer[1024];
-            sprintf(errorBuffer, "[mdlOutputs]%s", error.message.substr(0, 1023 - strlen("[mdlOutputs]")).c_str());
-            ssSetErrorStatus(S, errorBuffer);
+        bool ok = false;
+        if (block) {
+            ok = block->updateDiscreteState(&blockInfo);
         }
+        catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
     }
 }
 #endif
@@ -210,13 +266,13 @@ static void mdlInitializeConditions(SimStruct *S)
 {
     if (ssGetNumPWork(S) > 0) {
         wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
-        wbt::Error error;
+
         wbt::SimulinkBlockInformation blockInfo(S);
-        if (!block || !block->initializeInitialConditions(&blockInfo, &error)) {
-            static char errorBuffer[1024];
-            sprintf(errorBuffer, "[mdlInitializeConditions]%s", error.message.substr(0, 1023 - strlen("[mdlInitializeConditions]")).c_str());
-            ssSetErrorStatus(S, errorBuffer);
+        bool ok = false;
+        if (block) {
+            ok = block->initializeInitialConditions(&blockInfo);
         }
+        catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
     }
 }
 #endif
@@ -240,35 +296,33 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     UNUSED_ARG(tid);
     if (ssGetNumPWork(S) > 0) {
         wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
-        wbt::Error error;
+
         wbt::SimulinkBlockInformation blockInfo(S);
-        if (!block || !block->output(&blockInfo, &error)) {
-            static char errorBuffer[1024];
-            sprintf(errorBuffer, "[mdlOutputs]%s", error.message.substr(0, 1023 - strlen("[mdlOutputs]")).c_str());
-            ssSetErrorStatus(S, errorBuffer);
+        bool ok = false;
+        if (block) {
+            ok = block->output(&blockInfo);
         }
+        catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
     }
-
 }
 
 static void mdlTerminate(SimStruct *S)
 {
     if (ssGetNumPWork(S) > 0 && ssGetPWork(S)) {
         wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
-        wbt::Error error;
+
         wbt::SimulinkBlockInformation blockInfo(S);
+        bool ok = false;
         if (block) {
-            if (block->terminate(&blockInfo, &error)) {
-                delete block;
-                ssSetPWorkValue(S, 0, NULL);
-            } else {
-                static char errorBuffer[1024];
-                sprintf(errorBuffer, "[mdlTerminate]%s", error.message.substr(0, 1023 - strlen("[mdlTerminate]")).c_str());
-                ssSetErrorStatus(S, errorBuffer);
-            }
+            ok = block->terminate(&blockInfo);
         }
-    }
+        catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
 
+        if (ok) {
+            delete block;
+            ssSetPWorkValue(S, 0, NULL);
+        }
+    }
 }
 
 // Required S-function trailer

From b4beb26830179ee9299ca4cabc1d3a7374463caa Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 30 Oct 2017 10:37:45 +0000
Subject: [PATCH 07/89] Removed WBIModelBlock

Its functionality are implemented by the new generic WBBlock, which is a refactored version of WBIBlock that access robot resources
in a lazy way. This approach allows avoiding the previous separation between WBIBlock and WBIModelBlock.
---
 toolbox/CMakeLists.txt               |  2 --
 toolbox/include/base/WBIModelBlock.h | 36 ----------------------------
 toolbox/src/base/WBIModelBlock.cpp   | 27 ---------------------
 3 files changed, 65 deletions(-)
 delete mode 100644 toolbox/include/base/WBIModelBlock.h
 delete mode 100644 toolbox/src/base/WBIModelBlock.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 9838ee86f..7ae729c4a 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -65,7 +65,6 @@ configure_block(BLOCK_NAME "Base"
             src/base/Log.cpp
             src/base/WBInterface.cpp
             src/base/factory.cpp
-            src/base/WBIModelBlock.cpp
             src/base/SimulinkBlockInformation.cpp #this is temp
             src/base/Signal.cpp
     HEADERS include/base/toolbox.h
@@ -74,7 +73,6 @@ configure_block(BLOCK_NAME "Base"
             include/base/WBIBlock.h
             include/base/Log.h
             include/base/WBInterface.h
-            include/base/WBIModelBlock.h
             include/base/SimulinkBlockInformation.h #this is temp
             include/base/Signal.h
             )
diff --git a/toolbox/include/base/WBIModelBlock.h b/toolbox/include/base/WBIModelBlock.h
deleted file mode 100644
index ff054e655..000000000
--- a/toolbox/include/base/WBIModelBlock.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#ifndef WBT_WBIMODELBLOCK_H
-#define WBT_WBIMODELBLOCK_H
-
-#include "WBIBlock.h"
-
-namespace wbt {
-    class WBIModelBlock;
-    class BlockInformation;
-}
-
-/**
- * Basic class for WBI related blocks.
- * This class (the whole toolbox in reality) assumes the block represent
- * an instantaneous system (i.e. not a dynamic system).
- *
- * You can create a new block by deriving this class and implementing at least
- * the output method.
- *
- * This block implements the following default behaviours:
- * - it ask for 4 parameters (robot name, local (module) name, wbi config file and wbi list)
- * - It initializes the yarp network and the whole body interface object
- * - During terminate it closes and release the interface object and terminate the yarp network
- *
- * @Note: Usually you want to call this class implementations at some point in your
- * method overridings, unless you want to completely change the code (but at that point
- * you probabily want to derive from Block instead)
- */
-class wbt::WBIModelBlock : public wbt::WBIBlock {
-
-public:
-    virtual ~WBIModelBlock();
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-};
-
-#endif /* WBT_WBIMODELBLOCK_H */
diff --git a/toolbox/src/base/WBIModelBlock.cpp b/toolbox/src/base/WBIModelBlock.cpp
deleted file mode 100644
index 3921b3cf2..000000000
--- a/toolbox/src/base/WBIModelBlock.cpp
+++ /dev/null
@@ -1,27 +0,0 @@
-#include "WBIModelBlock.h"
-
-#include "WBInterface.h"
-#include "Error.h"
-
-wbt::WBIModelBlock::~WBIModelBlock() {}
-
-bool wbt::WBIModelBlock::initialize(wbt::BlockInformation *blockInfo, wbt::Error *error)
-{
-    if (!configureWBIParameters(blockInfo, error))
-        return false;
-
-    if (!WBInterface::sharedInstance().initializeModel()) {
-        if (error) error->message = "Failed to initialize WBI";
-        return false;
-    }
-    return true;
-}
-
-bool wbt::WBIModelBlock::terminate(wbt::BlockInformation *blockInfo, wbt::Error *error)
-{
-    if (!WBInterface::sharedInstance().terminateModel()) {
-        if (error) error->message = "Failed to terminate WBI";
-        return false;
-    }
-    return true;
-}

From aee4eed5b118ee4b2e9ca556bf9ae3d75d528386 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 30 Oct 2017 10:43:49 +0000
Subject: [PATCH 08/89] New Configuration class

This class contains the data passed from Simulink.

It matches the data structure of Matlab's WBToolboxConfig.getSimulinkParameters() struct.
---
 toolbox/CMakeLists.txt               |   2 +
 toolbox/include/base/Configuration.h | 162 +++++++++++++++++++++++++++
 toolbox/src/base/Configuration.cpp   | 123 ++++++++++++++++++++
 3 files changed, 287 insertions(+)
 create mode 100644 toolbox/include/base/Configuration.h
 create mode 100644 toolbox/src/base/Configuration.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 7ae729c4a..25a304fa7 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -67,6 +67,7 @@ configure_block(BLOCK_NAME "Base"
             src/base/factory.cpp
             src/base/SimulinkBlockInformation.cpp #this is temp
             src/base/Signal.cpp
+            src/base/Configuration.cpp
     HEADERS include/base/toolbox.h
             include/base/Block.h
             include/base/BlockInformation.h
@@ -75,6 +76,7 @@ configure_block(BLOCK_NAME "Base"
             include/base/WBInterface.h
             include/base/SimulinkBlockInformation.h #this is temp
             include/base/Signal.h
+            include/base/Configuration.h
             )
 
 configure_block(BLOCK_NAME "Inverse Kinematics"
diff --git a/toolbox/include/base/Configuration.h b/toolbox/include/base/Configuration.h
new file mode 100644
index 000000000..192656cdf
--- /dev/null
+++ b/toolbox/include/base/Configuration.h
@@ -0,0 +1,162 @@
+#ifndef WBT_TOOLBOXCONFIG_H
+#define WBT_TOOLBOXCONFIG_H
+
+#include <vector>
+#include <string>
+
+namespace wbt {
+    class Configuration;
+}
+
+/**
+ * \class Configuration Configuration.h
+ *
+ * This class stores in a C++ object the content of the WBToolboxConfig Matlab class.
+ *
+ * @see WBToolboxConfig Matlab Class
+ * @see RobotInterface
+ */
+class wbt::Configuration
+{
+// TODO: check how localName is used
+private:
+    std::string m_robotName; ///< Name of the robot
+    std::string m_urdfFile;  ///< Name of the file containing the urdf model
+    std::string m_localName; ///< Prefix appended to the opened ports
+    std::vector<std::string> m_controlledJoints;   ///< Subset of controlled joints
+    std::vector<std::string> m_controlBoardsNames; ///< Names of the used ControlBoard names
+    std::vector<double> m_gravityVector; ///< The gravity vector
+    size_t m_dofs; //< DoFs extracted my m_controlBoardsNames vector
+
+public:
+    Configuration();
+    ~Configuration() = default;
+
+    // SET METHODS
+    // ===========
+
+    /**
+     * Initialize the Configuration object
+     *
+     * @param robotName          Name of the robot
+     * @param urdfFile           Name of the file containing the urdf model
+     * @param controlledJoints   Subset of controlled joints
+     * @param controlBoardsNames Names of the used ControlBoard names
+     * @param localName          Prefix appended to the opened ports
+     * @param gravityVector      The gravity vector
+     */
+    void setParameters(std::string robotName,
+                       std::string urdfFile,
+                       std::vector<std::string> controlledJoints,
+                       std::vector<std::string> controlBoardsNames,
+                       std::string localName,
+                       std::vector<double> gravityVector);
+
+    /**
+     * Set the name of the robot
+     *
+     * @param robotName Name of the robot
+     */
+    void setRobotName(const std::string& robotName);
+
+    /**
+     * Set the name of the file containing the urdf model
+     *
+     * @param urdfFile Name of the file containing the urdf model
+     */
+    void setUrdfFile(const std::string& urdfFile);
+
+    /**
+     * Set the subset of controlled joints
+     * @param controlledJoints Subset of controlled joints
+     */
+    void setControlledJoints(const std::vector<std::string>& controlledJoints);
+
+    /**
+     * Set the names of the used ControlBoard names
+     * @param controlBoardsNames Names of the used ControlBoard names
+     */
+    void setControlBoardsNames(const std::vector<std::string>& controlBoardsNames);
+
+    /**
+     * Set the prefix appended to the opened ports
+     * @param localName Prefix appended to the opened ports
+     */
+    void setLocalName(const std::string& localName);
+
+    /**
+     * Set the gravity vector
+     * @param gravityVector The gravity vector
+     */
+    void setGravityVector(const std::vector<double>& gravityVector);
+
+    // GET METHODS
+    // ===========
+
+    /**
+     * Set the name of the robot
+     *
+     * @return Name of the robot
+     */
+    const std::string& getRobotName() const;
+
+    /**
+     * Set the name of the file containing the urdf model
+     *
+     * @return Name of the file containing the urdf model
+     */
+    const std::string& getUrdfFile() const;
+
+    /**
+     * Set the subset of controlled joints
+     *
+     * @return Subset of controlled joints
+     */
+    const std::vector<std::string>& getControlledJoints() const;
+
+    /**
+     * Set the names of the used ControlBoard names
+     *
+     * @return Names of the used ControlBoard names
+     */
+    const std::vector<std::string>& getControlBoardsNames() const;
+
+    /**
+     * Set the prefix appended to the opened ports
+     *
+     * @return Prefix appended to the opened ports
+     */
+    const std::string& getLocalName() const;
+
+    /**
+     * Set the gravity vector
+     *
+     * @return The gravity vector
+     */
+    const std::vector<double>& getGravityVector() const;
+
+    /**
+     * Get the configured number of DoFs
+     *
+     * @return The configured number of DoFs
+     */
+    const size_t& getNumberOfDoFs() const;
+
+    // OTHER METHODS
+    // =============
+
+    /**
+     * Checks if the stored configuration is valid, i.e. all the required fields have
+     * been saved successfully
+     *
+     * @return True if the configuration is valid
+     */
+    bool isValid() const;
+
+    // OPERATORS OVERLOADING
+    // =====================
+
+    bool operator==(const Configuration &config) const;
+};
+
+#endif // WBT_TOOLBOXCONFIG_H
diff --git a/toolbox/src/base/Configuration.cpp b/toolbox/src/base/Configuration.cpp
new file mode 100644
index 000000000..d28857016
--- /dev/null
+++ b/toolbox/src/base/Configuration.cpp
@@ -0,0 +1,123 @@
+#include "Configuration.h"
+
+using namespace wbt;
+
+Configuration::Configuration()
+: m_dofs(0)
+{}
+
+// SET METHODS
+// ===========
+
+void Configuration::setParameters(std::string robotName,
+                                  std::string urdfFile,
+                                  std::vector<std::string> controlledJoints,
+                                  std::vector<std::string> controlBoardsNames,
+                                  std::string localName,
+                                  std::vector<double> gravityVector)
+{
+    setRobotName(robotName);
+    setUrdfFile(urdfFile);
+    setControlledJoints(controlledJoints);
+    setControlBoardsNames(controlBoardsNames);
+    setLocalName(localName);
+    setGravityVector(gravityVector);
+}
+
+void Configuration::setRobotName(const std::string& robotName)
+{
+    m_robotName = robotName;
+}
+
+void Configuration::setUrdfFile(const std::string& urdfFile)
+{
+    m_urdfFile = urdfFile;
+}
+
+void Configuration::setControlledJoints(const std::vector<std::string>& controlledJoints)
+{
+    m_controlledJoints = controlledJoints;
+    m_dofs = controlledJoints.size();
+}
+
+void Configuration::setControlBoardsNames(const std::vector<std::string>& controlBoardsNames)
+{
+    m_controlBoardsNames = controlBoardsNames;
+}
+
+void Configuration::setLocalName(const std::string& localName)
+{
+    m_localName = localName;
+}
+
+void Configuration::setGravityVector(const std::vector<double>& gravityVector)
+{
+    m_gravityVector = gravityVector;
+}
+
+// GET METHODS
+// ===========
+
+const std::string& Configuration::getRobotName() const
+{
+    return m_robotName;
+}
+
+const std::string& Configuration::getUrdfFile() const
+{
+    return m_urdfFile;
+}
+
+const std::vector<std::string>& Configuration::getControlledJoints() const
+{
+    return m_controlledJoints;
+}
+
+const std::vector<std::string>& Configuration::getControlBoardsNames() const
+{
+    return m_controlBoardsNames;
+}
+
+const std::string& Configuration::getLocalName() const
+{
+    return m_localName;
+}
+
+const std::vector<double>& Configuration::getGravityVector() const
+{
+    return m_gravityVector;
+}
+
+const size_t& Configuration::getNumberOfDoFs() const
+{
+    return m_dofs;
+}
+
+// OTHER METHODS
+// =============
+
+bool Configuration::isValid() const
+{
+    bool status =  !m_robotName.empty() &&
+                   !m_urdfFile.empty() &&
+                   !m_localName.empty() &&
+                   !m_controlledJoints.empty() &&
+                   !m_controlBoardsNames.empty() &&
+                   !m_gravityVector.empty() &&
+                   m_dofs > 0;
+    return status;
+}
+
+// OPERATORS OVERLOADING
+// =====================
+
+bool Configuration::operator==(const Configuration &config) const
+{
+    return this->m_robotName == config.m_robotName &&
+           this->m_urdfFile  == config.m_urdfFile &&
+           this->m_localName == config.m_localName &&
+           this->m_controlledJoints   == config.m_controlledJoints &&
+           this->m_controlBoardsNames == config.m_controlBoardsNames &&
+           this->m_gravityVector == config.m_gravityVector &&
+           this->m_dofs == config.m_dofs;
+}

From 8a68ac718e9a75d4d9e8952ea02be3f3842ddfe3 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 30 Oct 2017 10:47:50 +0000
Subject: [PATCH 09/89] New RobotInterface class

This class contains all the required data structures to operate on a robot, either through the model or the interfaces to the hardware / gazebo.

From the Simulink point of view, there is one instance of RobotInterface for every Configuration block added in the model. In fact, RobotInterface extends by composition the Configuration object.

It handles the pointers to its members in a lazy way, initializing on the fly the asked resource.
---
 toolbox/CMakeLists.txt                |   2 +
 toolbox/include/base/RobotInterface.h | 228 +++++++++++++
 toolbox/src/base/RobotInterface.cpp   | 447 ++++++++++++++++++++++++++
 3 files changed, 677 insertions(+)
 create mode 100644 toolbox/include/base/RobotInterface.h
 create mode 100644 toolbox/src/base/RobotInterface.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 25a304fa7..f084744c7 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -68,6 +68,7 @@ configure_block(BLOCK_NAME "Base"
             src/base/SimulinkBlockInformation.cpp #this is temp
             src/base/Signal.cpp
             src/base/Configuration.cpp
+            src/base/RobotInterface.cpp
     HEADERS include/base/toolbox.h
             include/base/Block.h
             include/base/BlockInformation.h
@@ -77,6 +78,7 @@ configure_block(BLOCK_NAME "Base"
             include/base/SimulinkBlockInformation.h #this is temp
             include/base/Signal.h
             include/base/Configuration.h
+            include/base/RobotInterface.h
             )
 
 configure_block(BLOCK_NAME "Inverse Kinematics"
diff --git a/toolbox/include/base/RobotInterface.h b/toolbox/include/base/RobotInterface.h
new file mode 100644
index 000000000..83da54cde
--- /dev/null
+++ b/toolbox/include/base/RobotInterface.h
@@ -0,0 +1,228 @@
+#ifndef WBT_ROBOTINTERFACE_H
+#define WBT_ROBOTINTERFACE_H
+
+#include "Configuration.h"
+#include <memory>
+#include <string>
+#include <vector>
+#include <utility>
+#include <cassert>
+#include <unordered_map>
+
+namespace yarp {
+    namespace dev {
+        class PolyDriver;
+        class IPositionControl;
+        class IPositionDirect;
+        class IVelocityControl;
+        class ITorqueControl;
+        class IPWMControl;
+        class IControlMode2;
+        class ICurrentControl;
+        class IEncoders;
+        class IControlLimits2;
+        class IPidControl;
+    }
+}
+
+namespace iDynTree {
+    class KinDynComputations;
+}
+
+namespace wbt {
+    class RobotInterface;
+    struct YarpDevices;
+
+    typedef int jointIdx_yarp;
+    typedef int jointIdx_iDynTree;
+    typedef unsigned cb_idx;
+    typedef std::unordered_map<jointIdx_iDynTree, std::pair<cb_idx, jointIdx_yarp>> JointsMapIndex;
+    typedef std::unordered_map<std::string, std::pair<cb_idx, jointIdx_yarp>> JointsMapString;
+}
+
+/**
+ * \struct wbt::YarpDevices RobotInterface.h
+ *
+ * This struct contains shared_ptrs to the devices which are (lazy) asked from the blocks.
+ *
+ * @note The shared_ptr is owned only by wbt::RobotInterface. All the blocks will receive a
+ *       weak_ptr.
+ * @remark Right now only asking / setting the whole joint set of the current Configuration is
+ *         supported. If in the future the support of operating on a subset will be implemented,
+ *         IPositionControl2 and IVelocityControl2 should be implemented. For the time being,
+ *         a possible workaround for this situation is creating a new configuration block
+ *         containing only the reduced set in a deeper-hierarchy Simulink's subsystem.
+ * @see RobotInterface::getDevice
+ */
+struct wbt::YarpDevices
+{
+    std::shared_ptr<yarp::dev::IControlMode2> iControlMode2;
+    std::shared_ptr<yarp::dev::IPositionControl> iPositionControl;
+    std::shared_ptr<yarp::dev::IPositionDirect> iPositionDirect;
+    std::shared_ptr<yarp::dev::IVelocityControl> iVelocityControl;
+    std::shared_ptr<yarp::dev::ITorqueControl> iTorqueControl;
+    std::shared_ptr<yarp::dev::IPWMControl> iPWMControl;
+    std::shared_ptr<yarp::dev::ICurrentControl> iCurrentControl;
+    std::shared_ptr<yarp::dev::IEncoders> iEncoders;
+    std::shared_ptr<yarp::dev::IControlLimits2> iControlLimits2;
+    std::shared_ptr<yarp::dev::IPidControl> iPidControl;
+};
+
+// TODO o pensare come evitare di avere due conf con es position e torque nei setref con lo stesso robot.
+// e' un casino -> aggiungere max un warning o solo documentazione.
+// Solo un setReference attivo per configuration.Se ci sono due setReference con lo stesso
+// set di giunti attivi contemporaneamente. Oppure due stessi blocchi setReference con lo stesso blocco config.
+
+/**
+ * \class wbt::RobotInterface RobotInterface.h
+ *
+ * This class holds the configuration used by one or more blocks, and all the objects to operate
+ * with the specified robot (real or model).
+ *
+ * @see wbt::Configuration
+ * @see wbt::YarpDevices
+ * @see iDynTree::KinDynComputations
+ */
+class wbt::RobotInterface
+{
+private:
+    std::shared_ptr<yarp::dev::PolyDriver> m_robotDevice;
+    std::shared_ptr<iDynTree::KinDynComputations> m_kinDynComp;
+    wbt::YarpDevices m_yarpDevices;
+
+    // Maps used to store infos about yarp's and idyntree's internal joint indexing
+    std::shared_ptr<JointsMapIndex> m_jointsMapIndex;
+    std::shared_ptr<JointsMapString> m_jointsMapString;
+    // std::unordered_map<std::pair<cb_idx, yarp_idx>, joint_name> m_yarp2joint;
+
+    // Configuration from Simulink Block's parameters
+    const wbt::Configuration m_config;
+
+    // Counters for resource allocation / deallocation
+    unsigned m_robotDeviceCounter;
+
+    // INITIALIZATION HELPERS
+    // ======================
+
+    /**
+     * Initialize the iDynTree::KinDynComputations with the information contained
+     * in wbt::Configuration. It finds the urdf file and stores the object to operate on it.
+     * If the joint list contained in RobotInterface::m_config is not complete, it loads a
+     * reduced model of the robot
+     *
+     * @return True if success
+     */
+    bool initializeModel();
+
+    /**
+     * Configure a RemoteControlBoardRemapper device in order to allow
+     * interfacing the toolbox with the robot (real or in Gazebo).
+     *
+     * @return True if success
+     */
+    bool initializeRemoteControlBoardRemapper();
+
+    // OTHER PRIVATE METHODS
+    // =====================
+
+    /**
+     * Gather a device from the RemoteControlBoardRemapper as a \c weak_ptr
+     *
+     * @param  device The RemoteControlBoardRemapper device
+     * @return        The dynamic(ally)_cast device
+     * @tparam T      The type of the retured device
+     */
+    template <typename T> std::weak_ptr<T> getDevice(std::shared_ptr<T> device);
+
+    /**
+     * Creates the map between joints (specified as either names or idyntree indices) and
+     * their YARP representation, which consist in a pair: Control Board index and joint index inside
+     * the its Control Board.
+     *
+     * @see getJointsMapString
+     * @see getJointsMapIndex
+     *
+     * @return True if the map has been created successfully
+     */
+    bool mapDoFs();
+public:
+
+    // CONSTRUCTOR / DESTRUCTOR
+    // ========================
+
+    RobotInterface() = delete;
+    RobotInterface(const wbt::Configuration& c);
+    ~RobotInterface();
+
+    // GET METHODS
+    // ===========
+
+    /**
+     * Get the current configuration
+     *
+     * @return A reference of the Configuration object containing the current configuraton
+     */
+    const wbt::Configuration& getConfiguration() const;
+
+    /**
+     * Get the map between model joint namesand the YARP representation (Control Board and
+     * joint index)
+     *
+     * @return The joint map
+     */
+    const std::shared_ptr<JointsMapString> getJointsMapString();
+
+    /**
+     * Get the map between model joint indices and the YARP representation (Control Board and
+     * joint index)
+     *
+     * @return The joint map
+     */
+    const std::shared_ptr<JointsMapIndex> getJointsMapIndex();
+
+    /**
+     * Get the object to operate on the configured model
+     *
+     * @return A \c shared_ptr to the KinDynComputations object
+     */
+    const std::shared_ptr<iDynTree::KinDynComputations> getKinDynComputations();
+
+    /**
+     * Get a \c weak_ptr to an interface from the RemoteControlBoardRemapper
+     *
+     * param interface [out] A \c weak_ptr to the interface
+     * @return               True if the \c weak_ptr is valid
+     * @tparam T             The type of interface
+     */
+    template <typename T>
+    bool getInterface(std::weak_ptr<T>& interface);
+
+    // LAZY EVALUATION
+    // ===============
+
+    /**
+     * Handles the internal counter for using the RemoteControlBoardRemapper
+     *
+     * @attention All the blocks which need to use any of the interfaces provided by
+     *            wbt::YarpDevices must call this function in their initialize() method.
+     * @see releaseRemoteControlBoardRemapper
+     *
+     * @return True if success
+     */
+    bool retainRemoteControlBoardRemapper();
+
+    /**
+     * Handles the internal counter for using the RemoteControlBoardRemapper. After the call
+     * from the last instance which retained the object, the RemoteControlBoardRemapper and all
+     * the allocated drivers get destroyed.
+     *
+     * @note On the contrary of retainRemoteControlBoardRemapper, this method is already
+     *       called in wbt::~WBBlock
+     * @see retainRemoteControlBoardRemapper
+     *
+     * @return True if success
+     */
+    bool releaseRemoteControlBoardRemapper();
+};
+
+#endif /* end of include guard: WBT_ROBOTINTERFACE_H */
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
new file mode 100644
index 000000000..59633f63b
--- /dev/null
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -0,0 +1,447 @@
+#include "RobotInterface.h"
+#include "Log.h"
+#include <sstream>
+#include <iterator>
+#include <iDynTree/KinDynComputations.h>
+#include <iDynTree/ModelIO/ModelLoader.h>
+#include <yarp/dev/PolyDriver.h>
+#include <yarp/os/ResourceFinder.h>
+#include <yarp/dev/ControlBoardInterfaces.h>
+#include <yarp/dev/IControlLimits2.h>
+#include <yarp/os/Property.h>
+
+namespace wbt {
+    static std::string vectorToString(std::vector<std::string> v, std::string prefix="");
+
+    // The declaration of the following template specializations are required only by GCC
+    using namespace yarp::dev;
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IControlMode2>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IPositionControl>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IPositionDirect>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IVelocityControl>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<ITorqueControl>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IPWMControl>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<ICurrentControl>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IEncoders>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IControlLimits2>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IPidControl>& interface);
+}
+
+using namespace wbt;
+
+// CONSTRUCTOR / DESTRUCTOR
+// ========================
+
+
+RobotInterface::RobotInterface(const wbt::Configuration& c)
+: m_config(c)
+, m_robotDeviceCounter(0)
+{}
+
+RobotInterface::~RobotInterface()
+{
+    // Asserts for debugging purpose.
+
+    // - 1 if at least one block asked the model. At this point only the shared_ptr
+    //     of m_kinDynComp should be still alive (--> 1)
+    // - 0 if no block asked for the model. m_kinDynComp was never allocated.
+    assert(m_kinDynComp.use_count() <= 1);
+
+    // m_robotDevice should be destroyed by the last releaseCB()
+    assert(!m_robotDevice);
+    assert(m_robotDeviceCounter == 0);
+}
+
+bool RobotInterface::mapDoFs()
+{
+    std::unique_ptr<yarp::dev::PolyDriver> controlBoard;
+    std::vector<std::unique_ptr<yarp::dev::IAxisInfo>> iAxisInfos;
+    yarp::os::Property options;
+
+    for (unsigned cbNum = 0; cbNum < m_config.getControlBoardsNames().size(); ++cbNum) {
+        // Configure the single control board
+        options.clear();
+        options.put("device","remotecontrolboard");
+        const std::string prefix = "/" + m_config.getRobotName() + "/";
+        const std::string remoteName = prefix + m_config.getControlBoardsNames().at(cbNum);
+        options.put("remote", remoteName);
+        options.put("localPortPrefix", "WBTtmp");
+
+        // Try to open the control board
+        if (!controlBoard->open(options) || !controlBoard->isValid()) {
+            Log::getSingleton().error("Unable to open RemoteControlBoard " + remoteName);
+            return false;
+        }
+
+        // Get an IAxisInfo object from the device
+        std::unique_ptr<yarp::dev::IAxisInfo> iAxisInfo;
+        yarp::dev::IAxisInfo* iAxisInfoPtr = iAxisInfo.get();
+        controlBoard->view(iAxisInfoPtr);
+        if (!iAxisInfoPtr) {
+            Log::getSingleton().error("Unable to open IAxisInfo from " + remoteName);
+            return false;
+        }
+
+        // Get an IEncoders object from the device
+        // This is used to get how many joints the control board contains
+        std::unique_ptr<yarp::dev::IEncoders> iEnc;
+        yarp::dev::IEncoders* iEncPtr = iEnc.get();
+        controlBoard->view(iEncPtr);
+        int numAxes;
+        if (!iEncPtr || !iEncPtr->getAxes(&numAxes)) {
+            Log::getSingleton().error("Unable to open IEncoders from " + remoteName);
+            return false;
+        }
+
+        // Iterate all the joints in the selected Control Board
+        for (unsigned axis = 0; axis < numAxes; ++axis) {
+            std::string axisName;
+            if (!iAxisInfoPtr->getAxisName(axis, axisName)) {
+                Log::getSingleton().error("Unable to get AxisName from " + remoteName);
+                return false;
+            }
+            // Look if axisName is a controlledJoint
+            bool found = false;
+            for (const auto& controlledJoint : m_config.getControlledJoints()) {
+                if (controlledJoint == axisName) {
+                    // Get the iDynTree index
+                    const auto& model = getKinDynComputations()->model();
+                    iDynTree::LinkIndex iDynLinkIdx = model.getLinkIndex(axisName);
+                    if (iDynLinkIdx == iDynTree::LINK_INVALID_INDEX) {
+                        Log::getSingleton().error("Joint " + axisName + " exists in the " +
+                                                  remoteName + "control board but not in the model.");
+                        return false;
+                    }
+                    // If this is the first entry to add, allocate the objects
+                    if (!m_jointsMapIndex) {
+                        m_jointsMapIndex = std::make_shared<JointsMapIndex>();
+                    }
+                    if (!m_jointsMapString) {
+                        m_jointsMapString = std::make_shared<JointsMapString>();
+                    }
+                    // Create a new entry in the map objects
+                    m_jointsMapString->at(controlledJoint) = {cbNum, axis};
+                    m_jointsMapIndex->at(static_cast<int>(iDynLinkIdx)) = {cbNum, axis};
+                    found = true;
+                    break;
+                }
+            }
+            // Notify that the control board just checked is not used by any joint
+            // of the controlledJoints list
+            if (!found) {
+                Log::getSingleton().warning("No controlled joints found in " +
+                                            m_config.getControlBoardsNames().at(cbNum) +
+                                            " control board. It might be unsed.");
+            }
+        }
+    }
+
+    if (!controlBoard->close()) {
+        Log::getSingleton().error("Unable to close the device of the Control Board.");
+        return false;
+    }
+    return true;
+}
+
+// GET METHODS
+// ===========
+
+const wbt::Configuration& RobotInterface::getConfiguration() const
+{
+    return m_config;
+}
+
+const std::shared_ptr<JointsMapString> RobotInterface::getJointsMapString()
+{
+    if (m_jointsMapString->empty()) {
+        if (!mapDoFs()) {
+            Log::getSingleton().error("Failed to create the Yarp - iDynTree joint map.");
+            return nullptr;
+        }
+    }
+
+    assert (m_jointsMapString);
+    return m_jointsMapString;
+}
+
+const std::shared_ptr<JointsMapIndex> RobotInterface::getJointsMapIndex()
+{
+    if (m_jointsMapIndex->empty()) {
+        if (!mapDoFs()) {
+            Log::getSingleton().error("Failed to create the Yarp - iDynTree joint map.");
+            return nullptr;
+        }
+    }
+
+    assert (m_jointsMapIndex);
+    return m_jointsMapIndex;
+}
+
+const std::shared_ptr<iDynTree::KinDynComputations> RobotInterface::getKinDynComputations()
+{
+    if (m_kinDynComp) {
+        return m_kinDynComp;
+    }
+
+    // Otherwise, initialize a new object
+    if (initializeModel()) {
+        return m_kinDynComp;
+    }
+
+    // Return an empty shared_ptr (implicitly initialized)
+    return nullptr;
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IControlMode2>& interface)
+{
+    interface = getDevice(m_yarpDevices.iControlMode2);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPositionControl>& interface)
+{
+    interface = getDevice(m_yarpDevices.iPositionControl);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPositionDirect>& interface)
+{
+    interface = getDevice(m_yarpDevices.iPositionDirect);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IVelocityControl>& interface)
+{
+    interface = getDevice(m_yarpDevices.iVelocityControl);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::ITorqueControl>& interface)
+{
+    interface = getDevice(m_yarpDevices.iTorqueControl);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPWMControl>& interface)
+{
+    interface = getDevice(m_yarpDevices.iPWMControl);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::ICurrentControl>& interface)
+{
+    interface = getDevice(m_yarpDevices.iCurrentControl);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IEncoders>& interface)
+{
+    interface = getDevice(m_yarpDevices.iEncoders);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IControlLimits2>& interface)
+{
+    interface = getDevice(m_yarpDevices.iControlLimits2);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPidControl>& interface)
+{
+    interface = getDevice(m_yarpDevices.iPidControl);
+    return !interface.expired();
+}
+
+// LAZY EVALUATION
+// ===============
+
+bool RobotInterface::retainRemoteControlBoardRemapper()
+{
+    if (m_robotDeviceCounter > 0) {
+        m_robotDeviceCounter++;
+        return true;
+    }
+
+    assert(!m_robotDevice);
+    if (m_robotDevice) {
+        m_robotDevice.reset();
+    }
+
+    if (!initializeRemoteControlBoardRemapper()) {
+        return false;
+    }
+
+    m_robotDeviceCounter++;
+    return true;
+}
+
+bool RobotInterface::releaseRemoteControlBoardRemapper()
+{
+    // The RemoteControlBoardRemapper has not been used
+    if (m_robotDeviceCounter == 0) {
+        return true;
+    }
+
+    // If there are at most 2 blocks with th CB still used
+    if (m_robotDeviceCounter > 1) {
+        m_robotDeviceCounter--;
+        return true;
+    }
+
+    // This should be executed by the last block which uses CB (m_robotDeviceCounter=1)
+    assert(m_robotDevice);
+    if (m_robotDevice) {
+        // Free all the drivers
+        m_yarpDevices.iControlMode2.reset();
+        m_yarpDevices.iPositionControl.reset();
+        m_yarpDevices.iPositionDirect.reset();
+        m_yarpDevices.iVelocityControl.reset();
+        m_yarpDevices.iTorqueControl.reset();
+        m_yarpDevices.iPWMControl.reset();
+        m_yarpDevices.iCurrentControl.reset();
+        m_yarpDevices.iEncoders.reset();
+        m_yarpDevices.iControlLimits2.reset();
+        m_yarpDevices.iPidControl.reset();
+        //  Close the device
+        m_robotDevice->close();
+        // Free the object
+        m_robotDevice.reset();
+    }
+
+    m_robotDeviceCounter = 0;
+    return true;
+}
+
+// INITIALIZATION HELPERS
+// ======================
+
+bool RobotInterface::initializeModel()
+{
+    assert (!m_kinDynComp);
+
+    // Allocate the object
+    m_kinDynComp = std::make_shared<iDynTree::KinDynComputations>();
+    if (!m_kinDynComp) return false;
+
+    // Use RF to load the urdf file
+    // ----------------------------
+
+    // Initialize RF
+    // Workaround for the fact that ResourceFinder initializes the network by itself. See YARP#1014
+    using namespace yarp::os;
+    Network network;
+    ResourceFinder& rf = ResourceFinder::getResourceFinderSingleton();
+    rf.configure(0, 0);
+
+    // Get the absolute path of the urdf file
+    std::string urdf_file = getConfiguration().getUrdfFile();
+    std::string urdf_file_path = rf.findFile(urdf_file.c_str());
+
+    // Load the reduced model into KinDynComputations
+    // ----------------------------------------------
+
+    // Load the joint list
+    std::vector<std::string> controlledJoints = getConfiguration().getControlledJoints();
+
+    // Use ModelLoader to load the reduced model
+    iDynTree::ModelLoader mdlLoader;
+    if (!mdlLoader.loadReducedModelFromFile(urdf_file_path, controlledJoints)) {
+        Log::getSingleton().error("ToolboxSingleton: impossible to load " + urdf_file + ".");
+        Log::getSingleton().error("Probably the joint list contains an entry not present in the urdf model.");
+        return false;
+    }
+
+    // Add the loaded model to the KinDynComputations object
+    return m_kinDynComp->loadRobotModel(mdlLoader.model());
+}
+
+bool RobotInterface::initializeRemoteControlBoardRemapper()
+{
+    // Setup the RemoteControlBoardRemapper
+    yarp::os::Property options;
+    options.put("device", "remotecontrolboardremapper");
+    options.put("axesNames", vectorToString(m_config.getControlledJoints()));
+    std::string prefix = "/" + m_config.getRobotName() + "/";
+    options.put("remoteControlBoards", vectorToString(m_config.getControlBoardsNames(), prefix));
+    options.put("localPortPrefix", m_config.getLocalName());
+    yarp::os::Property& remoteCBOpts = options.addGroup("REMOTE_CONTROLBOARD_OPTIONS");
+    remoteCBOpts.put("writeStrict","on");
+
+    // Allocate the device driver
+    m_robotDevice = std::make_shared<yarp::dev::PolyDriver>();
+
+    if (!m_robotDevice) {
+        return false;
+    }
+
+    // Open the device driver
+    if (m_robotDevice->open(options) && m_robotDevice->isValid()) {
+        return true;
+    }
+
+    // Remove garbage if the opening fails
+    m_robotDevice.reset();
+    return false;
+}
+
+// OTHER METHODS
+// =============
+
+template <typename T>
+std::weak_ptr<T> RobotInterface::getDevice(std::shared_ptr<T> device)
+{
+    if (!device) {
+        // Blocks which require the RemoteControlBoardRemapper need to retain / release it
+        // in their initialization / terminate phase;
+        assert(m_robotDevice);
+        if (!m_robotDevice) {
+            // Return an empty weak pointer
+            return std::weak_ptr<T>();
+        }
+
+        T* ptr = nullptr;
+        if (!m_robotDevice->view(ptr)) {
+            // Return an empty weak_ptr
+            return std::weak_ptr<T>();
+        }
+        // Store ptr into the smart pointer
+        device.reset(ptr);
+    }
+    // Implicit conversion from shared_ptr to weak_ptr
+    return device;
+}
+
+/**
+ * Converts a vector of strings into a string format \code (element1 element2 element3) \endcode.
+ * It optioanlly support appending a prefix to the elements. e.g.
+ * \code ({prefix}element1 {prefix}element2 {prefix}element3)
+ *
+ * @param  v      The vector of strings
+ * @param  prefix The optional element prefix
+ * @return        The serialized string
+ */
+std::string wbt::vectorToString(std::vector<std::string> v, std::string prefix)
+{
+    // Add the prefix if specified
+    if (!prefix.empty()) {
+        for (auto& str : v) {
+            str = prefix + str;
+        }
+    }
+
+    // Create a string in a format which YARP likes: (item1 item2 item3)
+    std::stringstream output;
+    std::ostream_iterator<std::string> output_iterator(output, " ");
+    std::copy(v.begin(), v.end(), output_iterator);
+    return "(" + output.str() + ")";
+}

From af1fa4106a4597254b28b4f3eaecb41261600124 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 11:14:43 +0000
Subject: [PATCH 10/89] ClockServer thrift messages are now a static library

This is a temporary fix. The cpp file should be generated by its thrift source, which should be found already installed in the system. A new CMake option e.g. USE_GAZEBO should be added.
---
 toolbox/CMakeLists.txt                        | 10 +++--
 toolbox/autogenerated/CMakeLists.txt          | 38 +++++++++++++++++++
 .../autogenerated/src/thrift/ClockServer.cpp  |  4 +-
 3 files changed, 45 insertions(+), 7 deletions(-)
 create mode 100644 toolbox/autogenerated/CMakeLists.txt

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index f084744c7..8da7e2e47 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -143,13 +143,11 @@ configure_block(BLOCK_NAME "Yarp Clock"
     SOURCES src/YarpClock.cpp
     HEADERS include/YarpClock.h)
 
-# TODO: this should be removed with a proper inclusion of the library
-include_directories(SYSTEM "autogenerated/include/")
 configure_block(BLOCK_NAME "Simulator Synchronizer"
     GROUP "Utilities"
     LIST_PREFIX WBT
-    SOURCES src/SimulatorSynchronizer.cpp autogenerated/src/thrift/ClockServer.cpp
-    HEADERS include/SimulatorSynchronizer.h autogenerated/include/thrift/ClockServer.h)
+    SOURCES src/SimulatorSynchronizer.cpp
+    HEADERS include/SimulatorSynchronizer.h)
 
 configure_block(BLOCK_NAME "Mass Matrix"
     GROUP "Model"
@@ -275,6 +273,10 @@ else()
     target_link_libraries(WBToolbox ${LINKED_LIBRARIES} ${Matlab_LIBRARIES})
 endif()
 
+# Link with ClockServer library
+add_subdirectory(autogenerated/)
+target_link_libraries(WBToolbox PUBLIC ClockServer)
+
 # Remote Inverse Kinematics requires C++11
 if (CMAKE_VERSION VERSION_LESS "3.1")
     if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR 
diff --git a/toolbox/autogenerated/CMakeLists.txt b/toolbox/autogenerated/CMakeLists.txt
new file mode 100644
index 000000000..3ce96c1c5
--- /dev/null
+++ b/toolbox/autogenerated/CMakeLists.txt
@@ -0,0 +1,38 @@
+cmake_policy(SET CMP0048 NEW)
+project(ClockServer LANGUAGES CXX VERSION 0.1)
+cmake_minimum_required(VERSION 3.0.2)
+
+# Configure the project
+# =====================
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+include(GNUInstallDirs)
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+# Use a general prefix for the project
+set(VARS_PREFIX ${PROJECT_NAME})
+
+# Build the library
+# =================
+
+# Export the includes needed to who inherits this library
+# Set this up properly for handling either BUILD and INSTALL trees
+set(${VARS_PREFIX}_INCLUDE_BUILD ${CMAKE_CURRENT_SOURCE_DIR}/include)
+set(${VARS_PREFIX}_INCLUDE_INSTALL ${CMAKE_INSTALL_INCLUDEDIR}/${VARS_PREFIX})
+
+# Add the target
+add_library(${VARS_PREFIX} STATIC ${CMAKE_CURRENT_SOURCE_DIR}/include/thrift/ClockServer.h
+                                  ${CMAKE_CURRENT_SOURCE_DIR}/src/thrift/ClockServer.cpp)
+
+if (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+    set_target_properties(${VARS_PREFIX} PROPERTIES COMPILE_FLAGS "-fPIC")
+endif()
+
+# Setup the include directories
+target_include_directories(${VARS_PREFIX} PUBLIC
+                           $<BUILD_INTERFACE:${${VARS_PREFIX}_INCLUDE_BUILD}>
+                           $<INSTALL_INTERFACE:${${VARS_PREFIX}_INCLUDE_INSTALL}>)
+
+# YARP
+find_package(YARP REQUIRED)
+target_include_directories(${VARS_PREFIX} PUBLIC ${YARP_INCLUDE_DIRS})
diff --git a/toolbox/autogenerated/src/thrift/ClockServer.cpp b/toolbox/autogenerated/src/thrift/ClockServer.cpp
index 30ced2c9d..64d4cf3e8 100644
--- a/toolbox/autogenerated/src/thrift/ClockServer.cpp
+++ b/toolbox/autogenerated/src/thrift/ClockServer.cpp
@@ -1,7 +1,7 @@
 // This is an automatically-generated file.
 // It could get re-generated if the ALLOW_IDL_GENERATION flag is on.
 
-#include <thrift/ClockServer.h>
+#include "thrift/ClockServer.h"
 #include <yarp/os/idl/WireTypes.h>
 
 namespace gazebo {
@@ -382,5 +382,3 @@ std::vector<std::string> ClockServer::help(const std::string& functionName) {
   return helpString;
 }
 } // namespace
-
-

From 1d71a8628a3721213555da85780ce7f6aecd7c6a Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 12:18:16 +0000
Subject: [PATCH 11/89] Substituted C-style cast with static_cast in Signal.cpp

This commit fixes also some error in computing the address used in memcpy calls
---
 toolbox/src/base/Signal.cpp | 92 +++++++++++++++++++++++++++++--------
 1 file changed, 73 insertions(+), 19 deletions(-)

diff --git a/toolbox/src/base/Signal.cpp b/toolbox/src/base/Signal.cpp
index de33aaf15..86c40a89d 100644
--- a/toolbox/src/base/Signal.cpp
+++ b/toolbox/src/base/Signal.cpp
@@ -42,38 +42,92 @@ namespace wbt {
         Data data;
         switch (portType) {
             case PortDataTypeDouble:
-                data.doubleData(isContiguous ? ((double*)contiguousData)[index] : *((double **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.doubleData((static_cast<double*>(contiguousData))[index]);
+                }
+                else {
+                    const double* buffer = static_cast<const double*>(*nonContiguousData);
+                    data.doubleData(static_cast<const double>(buffer[index]));
+                }
                 break;
             case PortDataTypeSingle:
-                data.floatData(isContiguous ? ((float*)contiguousData)[index] : *((float **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.floatData((static_cast<float*>(contiguousData))[index]);
+                }
+                else {
+                    const float* buffer = static_cast<const float*>(*nonContiguousData);
+                    data.floatData(static_cast<const float>(buffer[index]));
+                }
                 break;
             case PortDataTypeInt8:
-                data.int8Data(isContiguous ? ((int8_t*)contiguousData)[index] : *((int8_t **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.int8Data((static_cast<int8_t*>(contiguousData))[index]);
+                }
+                else {
+                    const int8_t* buffer = static_cast<const int8_t*>(*nonContiguousData);
+                    data.int8Data(static_cast<const int8_t>(buffer[index]));
+                }
                 break;
             case PortDataTypeUInt8:
-                data.uint8Data(isContiguous ? ((uint8_t*)contiguousData)[index] : *((uint8_t **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.uint8Data((static_cast<uint8_t*>(contiguousData))[index]);
+                }
+                else {
+                    const uint8_t* buffer = static_cast<const uint8_t*>(*nonContiguousData);
+                    data.uint8Data(static_cast<const uint8_t>(buffer[index]));
+                }
                 break;
             case PortDataTypeInt16:
-                data.int8Data(isContiguous ? ((int16_t*)contiguousData)[index] : *((int16_t **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.int16Data((static_cast<int16_t*>(contiguousData))[index]);
+                }
+                else {
+                    const int16_t* buffer = static_cast<const int16_t*>(*nonContiguousData);
+                    data.int16Data(static_cast<const int16_t>(buffer[index]));
+                }
                 break;
             case PortDataTypeUInt16:
-                data.uint8Data(isContiguous ? ((uint16_t*)contiguousData)[index] : *((uint16_t **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.uint16Data((static_cast<uint16_t*>(contiguousData))[index]);
+                }
+                else {
+                    const uint16_t* buffer = static_cast<const uint16_t*>(*nonContiguousData);
+                    data.uint16Data(static_cast<const uint16_t>(buffer[index]));
+                }
                 break;
             case PortDataTypeInt32:
-                data.int8Data(isContiguous ? ((int32_t*)contiguousData)[index] : *((int32_t **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.int32Data((static_cast<int32_t*>(contiguousData))[index]);
+                }
+                else {
+                    const int32_t* buffer = static_cast<const int32_t*>(*nonContiguousData);
+                    data.int32Data(static_cast<const int32_t>(buffer[index]));
+                }
                 break;
             case PortDataTypeUInt32:
-                data.uint8Data(isContiguous ? ((uint32_t*)contiguousData)[index] : *((uint32_t **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.uint32Data((static_cast<uint32_t*>(contiguousData))[index]);
+                }
+                else {
+                    const uint32_t* buffer = static_cast<const uint32_t*>(*nonContiguousData);
+                    data.uint32Data(static_cast<const uint32_t>(buffer[index]));
+                }
                 break;
             case PortDataTypeBoolean:
-                data.booleanData(isContiguous ? ((bool*)contiguousData)[index] : *((bool **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.booleanData((static_cast<bool*>(contiguousData))[index]);
+                }
+                else {
+                    const bool* buffer = static_cast<const bool*>(*nonContiguousData);
+                    data.booleanData(static_cast<const bool>(buffer[index]));
+                }
         }
         return data;
     }
 
     void* Signal::getContiguousBuffer()
     {
-        if (!isContiguous) return 0;
+        if (!isContiguous) return nullptr;
         return this->contiguousData;
     }
 
@@ -110,13 +164,13 @@ namespace wbt {
             case PortDataTypeDouble:
             {
                 dataSize = sizeof(double);
-                address = data + startIndex;
+                address = static_cast<const double*>(address) + startIndex;
                 break;
             }
             case PortDataTypeSingle:
             {
                 dataSize = sizeof(float);
-                address = ((float*)data) + startIndex;
+                address = static_cast<const float*>(address) + startIndex;
                 break;
             }
             default:
@@ -164,19 +218,19 @@ namespace wbt {
             case PortDataTypeInt32:
             {
                 dataSize = sizeof(int32_t);
-                address = ((int32_t*)data) + startIndex;
+                address = static_cast<const int32_t*>(address) + startIndex;
                 break;
             }
             case PortDataTypeInt16:
             {
                 dataSize = sizeof(int16_t);
-                address = ((int16_t*)data) + startIndex;
+                address = static_cast<const int16_t*>(address) + startIndex;
                 break;
             }
             case PortDataTypeInt8:
             {
                 dataSize = sizeof(int8_t);
-                address = ((int8_t*)data) + startIndex;
+                address = static_cast<const int8_t*>(address) + startIndex;
                 break;
             }
             default:
@@ -223,19 +277,19 @@ namespace wbt {
             case PortDataTypeUInt32:
             {
                 dataSize = sizeof(uint32_t);
-                address = ((uint32_t*)data) + startIndex;
+                address = data + startIndex;
                 break;
             }
             case PortDataTypeUInt16:
             {
                 dataSize = sizeof(uint16_t);
-                address = ((uint16_t*)data) + startIndex;
+                address = data + startIndex;
                 break;
             }
             case PortDataTypeUInt8:
             {
                 dataSize = sizeof(uint8_t);
-                address = ((uint8_t*)data) + startIndex;
+                address = data + startIndex;
                 break;
             }
             default:
@@ -255,7 +309,7 @@ namespace wbt {
     {
         if (isConstPort) return;
         unsigned dataSize = sizeof(bool);
-        const void * address = ((bool*)data) + startIndex;
+        const void* address = static_cast<const bool*>(data) + startIndex;
 
         memcpy(contiguousData, address, dataSize * length);
     }

From 19cf4d6fe51b7e4a8df2df5a6413bb538d53c691 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 13:49:23 +0000
Subject: [PATCH 12/89] Switch to AnyType interface to handle data read by
 BlockInformation

Furthermore:

- All methods that read parameters return a bool value
- optionFromKey doesn't use anymore wbt::Data
- setNumberOfOuputPorts() became setNumberOfOutputPorts()
---
 toolbox/include/base/BlockInformation.h       | 31 ++++++----
 .../include/base/SimulinkBlockInformation.h   | 13 +++--
 toolbox/src/base/BlockInformation.cpp         |  2 +-
 toolbox/src/base/SimulinkBlockInformation.cpp | 57 +++++++++++--------
 4 files changed, 63 insertions(+), 40 deletions(-)

diff --git a/toolbox/include/base/BlockInformation.h b/toolbox/include/base/BlockInformation.h
index b16461d89..f49ba843c 100644
--- a/toolbox/include/base/BlockInformation.h
+++ b/toolbox/include/base/BlockInformation.h
@@ -1,6 +1,7 @@
 #ifndef WBT_BLOCKINFORMATION_H
 #define WBT_BLOCKINFORMATION_H
 
+#include "AnyType.h"
 #include <string>
 #include <cstdint>
 
@@ -20,8 +21,8 @@ namespace wbt {
         PortDataTypeBoolean,
     } PortDataType;
 
-
-    struct Data {
+    class Data
+    {
     private:
         double buffer;
     public:
@@ -59,7 +60,8 @@ class wbt::BlockInformation {
 public:
     virtual ~BlockInformation();
 
-    //Block Options methods
+    // Block Options methods
+    // =====================
 
     /**
      * Convert a block option from its Toolbox identifier to a specific implementation
@@ -68,10 +70,12 @@ class wbt::BlockInformation {
      * @param [out] option implementation-specific block option
      * @return true if the option has been converted. False otherwise
      */
-    virtual bool optionFromKey(const std::string& key, Data &option) const;
+    virtual bool optionFromKey(const std::string& key, double& option) const;
+
 
+    // Parameters methods
+    // ==================
 
-    //Parameters methods
     /**
      * Reads the parameter at the specified index and interpret it as a string
      *
@@ -81,12 +85,16 @@ class wbt::BlockInformation {
      * @return true if success, false otherwise
      */
     virtual bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) = 0;
-    virtual Data getScalarParameterAtIndex(unsigned parameterIndex) = 0;
+    virtual bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) = 0;
+    virtual bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) = 0;
+    virtual bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) = 0;
+    virtual bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) = 0;
+
+    // Port information methods
+    // ========================
 
-    //Port information methods
     virtual bool setNumberOfInputPorts(unsigned numberOfPorts) = 0;
-    virtual bool setNumberOfOuputPorts(unsigned numberOfPorts) = 0;
-    //If portSize == -1, then it is dynamic
+    virtual bool setNumberOfOutputPorts(unsigned numberOfPorts) = 0;
     virtual bool setInputPortVectorSize(unsigned portNumber, int portSize) = 0;
     virtual bool setInputPortMatrixSize(unsigned portNumber, int rows, int columns) = 0;
     virtual bool setOutputPortVectorSize(unsigned portNumber, int portSize) = 0;
@@ -103,12 +111,13 @@ class wbt::BlockInformation {
     virtual bool setInputPortType(unsigned portNumber, PortDataType portType) = 0;
     virtual bool setOutputPortType(unsigned portNumber, PortDataType portType) = 0;
 
-    //Port data
+    // Port data
+    // =========
+
     virtual unsigned getInputPortWidth(unsigned portNumber) = 0;
     virtual unsigned getOutputPortWidth(unsigned portNumber) = 0;
     virtual wbt::Signal getInputPortSignal(unsigned portNumber) = 0;
     virtual wbt::Signal getOutputPortSignal(unsigned portNumber) = 0;
-
 };
 
 #endif /* end of include guard: WBT_BLOCKINFORMATION_H */
diff --git a/toolbox/include/base/SimulinkBlockInformation.h b/toolbox/include/base/SimulinkBlockInformation.h
index 40b3c36c6..9c26b23b1 100644
--- a/toolbox/include/base/SimulinkBlockInformation.h
+++ b/toolbox/include/base/SimulinkBlockInformation.h
@@ -2,8 +2,8 @@
 #define WBT_SIMULINKBLOCKINFORMATION_H
 
 #include "BlockInformation.h"
-
 #include "simstruc.h"
+#include "AnyType.h"
 
 namespace wbt {
     class SimulinkBlockInformation;
@@ -18,21 +18,24 @@ class wbt::SimulinkBlockInformation : public wbt::BlockInformation {
 
     virtual ~SimulinkBlockInformation();
 
-    virtual bool optionFromKey(const std::string& key, Data &option) const;
+    bool optionFromKey(const std::string& key, double& option) const override;
 
     //Parameters methods
-    virtual bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter);
-    virtual Data getScalarParameterAtIndex(unsigned parameterIndex);
+    bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) override;
+    bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) override;
+    bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) override;
+    bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) override;
+    bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) override;
 
     //Port information methods
     virtual bool setNumberOfInputPorts(unsigned numberOfPorts);
-    virtual bool setNumberOfOuputPorts(unsigned numberOfPorts);
     virtual bool setInputPortVectorSize(unsigned portNumber, int portSize);
     virtual bool setInputPortMatrixSize(unsigned portNumber, int rows, int columns);
     virtual bool setOutputPortVectorSize(unsigned portNumber, int portSize);
     virtual bool setOutputPortMatrixSize(unsigned portNumber, int rows, int columns);
     virtual bool setInputPortType(unsigned portNumber, PortDataType portType);
     virtual bool setOutputPortType(unsigned portNumber, PortDataType portType);
+    bool setNumberOfOutputPorts(unsigned numberOfPorts) override;
 
     //Port data
     virtual unsigned getInputPortWidth(unsigned portNumber);
diff --git a/toolbox/src/base/BlockInformation.cpp b/toolbox/src/base/BlockInformation.cpp
index c2fc14f0d..5fa160eef 100644
--- a/toolbox/src/base/BlockInformation.cpp
+++ b/toolbox/src/base/BlockInformation.cpp
@@ -3,4 +3,4 @@
 const std::string wbt::BlockOptionPrioritizeOrder = "wbt.BlockOptionPrioritizeOrder";
 
 wbt::BlockInformation::~BlockInformation() {}
-bool wbt::BlockInformation::optionFromKey(const std::string& key, wbt::Data &option) const { return false; }
+bool wbt::BlockInformation::optionFromKey(const std::string& key, double& option) const { return false; }
diff --git a/toolbox/src/base/SimulinkBlockInformation.cpp b/toolbox/src/base/SimulinkBlockInformation.cpp
index 85dc6593d..9f1f69f71 100644
--- a/toolbox/src/base/SimulinkBlockInformation.cpp
+++ b/toolbox/src/base/SimulinkBlockInformation.cpp
@@ -1,8 +1,10 @@
 #include "SimulinkBlockInformation.h"
 
 #include "Signal.h"
-
+#include "MxAnyType.h"
 #include "simstruc.h"
+#include <string>
+#include <vector>
 
 namespace wbt {
 
@@ -11,10 +13,10 @@ namespace wbt {
 
     SimulinkBlockInformation::~SimulinkBlockInformation() {}
 
-    bool SimulinkBlockInformation::optionFromKey(const std::string& key, Data &option) const
+    bool SimulinkBlockInformation::optionFromKey(const std::string& key, double& option) const
     {
         if (key == wbt::BlockOptionPrioritizeOrder) {
-            option.uint32Data(SS_OPTION_PLACE_ASAP);
+            option = SS_OPTION_PLACE_ASAP;
             return true;
         }
 
@@ -24,26 +26,33 @@ namespace wbt {
     //Parameters methods
     bool SimulinkBlockInformation::getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter)
     {
-        int_T buflen, status;
-        char *buffer = NULL;
+        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+        return MxAnyType(blockParam).asString(stringParameter);
+    }
 
-        //robot name
-        buflen = (1 + mxGetN(ssGetSFcnParam(simstruct, parameterIndex))) * sizeof(mxChar);
-        buffer = static_cast<char*>(mxMalloc(buflen));
-        status = mxGetString((ssGetSFcnParam(simstruct, parameterIndex)), buffer, buflen);
-        if (status) {
-            return false;
-        }
-        stringParameter = buffer;
-        mxFree(buffer); buffer = NULL;
-        return true;
+    bool SimulinkBlockInformation::getStructAtIndex(unsigned parameterIndex, AnyStruct& map)
+    {
+        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+        return MxAnyType(blockParam).asAnyStruct(map);
+    }
+
+
+    bool SimulinkBlockInformation::getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec)
+    {
+        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+        return MxAnyType(blockParam).asVectorDouble(vec);
+    }
+
+    bool SimulinkBlockInformation::getScalarParameterAtIndex(unsigned parameterIndex, double& value)
+    {
+        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+        return MxAnyType(blockParam).asDouble(value);
     }
 
-    Data SimulinkBlockInformation::getScalarParameterAtIndex(unsigned parameterIndex)
+    bool SimulinkBlockInformation::getBooleanParameterAtIndex(unsigned parameterIndex, bool& value)
     {
-        Data data;
-        data.doubleData(mxGetScalar(ssGetSFcnParam(simstruct, parameterIndex)));
-        return data;
+        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+        return MxAnyType(blockParam).asBool(value);
     }
 
     //Port information methods
@@ -52,7 +61,7 @@ namespace wbt {
         return ssSetNumInputPorts(simstruct, numberOfPorts);
     }
 
-    bool SimulinkBlockInformation::setNumberOfOuputPorts(unsigned numberOfPorts)
+    bool SimulinkBlockInformation::setNumberOfOutputPorts(unsigned numberOfPorts)
     {
         return ssSetNumOutputPorts(simstruct, numberOfPorts);
     }
@@ -170,7 +179,8 @@ namespace wbt {
     {
         Signal signal;
         InputPtrsType port = ssGetInputPortSignalPtrs(simstruct, portNumber);
-        signal.initSignalType(PortDataTypeDouble, true);
+        bool isConstPort = true;
+        signal.initSignalType(PortDataTypeDouble, isConstPort);
         signal.setNonContiguousBuffer(port);
         return signal;
     }
@@ -178,9 +188,10 @@ namespace wbt {
     wbt::Signal SimulinkBlockInformation::getOutputPortSignal(unsigned portNumber)
     {
         Signal signal;
-        signal.initSignalType(PortDataTypeDouble, false);
+        bool isConstPort = false;
+        signal.initSignalType(PortDataTypeDouble, isConstPort);
         signal.setContiguousBuffer(ssGetOutputPortSignal(simstruct, portNumber));
         return signal;
     }
-    
+
 }

From f0973693c675e28491c50091288126b730985464 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 14:26:05 +0000
Subject: [PATCH 13/89] WBIBlock refactored and renamed to WBBlock

This new WBBlock implements the same functionalities of the former WBIBlock and WBIModelBlock blocks.
Resources are lazy-handled, and it is not anymore necessary having two different setups.

Furthermore:

- The parameters from Simulink are stored in the ToolboxSingleton in the configureSizeAndPorts() instead
  of initialize(). This is possible because singletons are not deleted by Simulink between these two steps
  (Blocks instead are deleted).
---
 toolbox/CMakeLists.txt          |   4 +-
 toolbox/include/base/WBBlock.h  |  82 +++++++++++
 toolbox/include/base/WBIBlock.h |  48 -------
 toolbox/src/base/WBBlock.cpp    | 241 ++++++++++++++++++++++++++++++++
 toolbox/src/base/WBIBlock.cpp   | 140 -------------------
 5 files changed, 325 insertions(+), 190 deletions(-)
 create mode 100644 toolbox/include/base/WBBlock.h
 delete mode 100644 toolbox/include/base/WBIBlock.h
 create mode 100644 toolbox/src/base/WBBlock.cpp
 delete mode 100644 toolbox/src/base/WBIBlock.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 8da7e2e47..855625d45 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -61,7 +61,7 @@ configure_block(BLOCK_NAME "Base"
     SOURCES src/base/toolbox.cpp
             src/base/Block.cpp
             src/base/BlockInformation.cpp
-            src/base/WBIBlock.cpp
+            src/base/WBBlock.cpp
             src/base/Log.cpp
             src/base/WBInterface.cpp
             src/base/factory.cpp
@@ -72,7 +72,7 @@ configure_block(BLOCK_NAME "Base"
     HEADERS include/base/toolbox.h
             include/base/Block.h
             include/base/BlockInformation.h
-            include/base/WBIBlock.h
+            include/base/WBBlock.h
             include/base/Log.h
             include/base/WBInterface.h
             include/base/SimulinkBlockInformation.h #this is temp
diff --git a/toolbox/include/base/WBBlock.h b/toolbox/include/base/WBBlock.h
new file mode 100644
index 000000000..cee7d7d11
--- /dev/null
+++ b/toolbox/include/base/WBBlock.h
@@ -0,0 +1,82 @@
+#ifndef WBT_WBIBLOCK_H
+#define WBT_WBIBLOCK_H
+
+#include "Block.h"
+#include <string>
+#include <memory>
+#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/Core/VectorDynSize.h>
+#include <iDynTree/Core/Twist.h>
+#include <iDynTree/Core/Transform.h>
+
+namespace wbt {
+    class WBBlock;
+    class Configuration;
+    class BlockInformation;
+    class RobotInterface;
+}
+
+namespace iDynTree {
+    class MatrixDynSize;
+}
+
+/**
+ * \struct iDynTreeRobotState WBBlock.h
+ *
+ * This struct contains the iDynTree objects used to configure the
+ * state of iDynTree::KinDynComputations objects.
+ */
+struct iDynTreeRobotState {
+    iDynTree::Twist         m_baseVelocity;
+    iDynTree::Vector3       m_gravity;
+    iDynTree::Transform     m_world_T_base;
+    iDynTree::VectorDynSize m_jointsVelocity;
+    iDynTree::VectorDynSize m_jointsPosition;
+
+    iDynTreeRobotState() = default;
+    ~iDynTreeRobotState() = default;
+
+    iDynTreeRobotState(const unsigned& dofs, const std::vector<double>& gravity);
+};
+
+/**
+ * Basic class for Whole-Body related blocks.
+ * This class (the whole toolbox in reality) assumes the block represent
+ * an instantaneous system (i.e. not a dynamic system).
+ *
+ * You can create a new block by deriving this class and implementing at least
+ * the output method.
+ *
+ * This block implements the following default behaviours:
+ * - it ask for 4 parameters (robot name, local (module) name, names of the remote control boards,
+ *   and the list of joints which should all belong to one of the remote control boards)
+ * - It initializes the yarp network and the whole body interface object
+ * - During terminate it closes and release the interface object and terminate the yarp network
+ *
+ * @note Usually you want to call this class implementations at some point in your
+ * method overridings, unless you want to completely change the code (but at that point
+ * you probabily want to derive from Block instead)
+ */
+class wbt::WBBlock : public wbt::Block
+{
+private:
+    static const unsigned ConfigurationParameterIndex;
+    static const unsigned ConfBlockNameParameterIndex;
+
+protected:
+    std::string confKey;
+    iDynTreeRobotState robotState;
+    bool getWBToolboxParameters(Configuration& config, BlockInformation* blockInfo);
+    const std::shared_ptr<wbt::RobotInterface> getRobotInterface();
+    const Configuration& getConfiguration();
+
+public:
+    WBBlock() = default;
+    ~WBBlock() override = default;
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+};
+
+#endif /* end of include guard: WBT_WBIBLOCK_H */
diff --git a/toolbox/include/base/WBIBlock.h b/toolbox/include/base/WBIBlock.h
deleted file mode 100644
index 33ffe9c36..000000000
--- a/toolbox/include/base/WBIBlock.h
+++ /dev/null
@@ -1,48 +0,0 @@
-#ifndef WBT_WBIBLOCK_H
-#define WBT_WBIBLOCK_H
-
-#include "Block.h"
-#include <string>
-
-namespace wbt {
-    class WBIBlock;
-    class BlockInformation;
-}
-
-/**
- * Basic class for WBI related blocks.
- * This class (the whole toolbox in reality) assumes the block represent
- * an instantaneous system (i.e. not a dynamic system).
- *
- * You can create a new block by deriving this class and implementing at least
- * the output method.
- *
- * This block implements the following default behaviours:
- * - it ask for 4 parameters (robot name, local (module) name, wbi config file and wbi list)
- * - It initializes the yarp network and the whole body interface object
- * - During terminate it closes and release the interface object and terminate the yarp network
- *
- * @note Usually you want to call this class implementations at some point in your
- * method overridings, unless you want to completely change the code (but at that point 
- * you probabily want to derive from Block instead)
- */
-class wbt::WBIBlock : public wbt::Block {
-
-protected:
-
-    std::string m_wbiConfigurationFileName;
-    std::string m_wbiListName;
-
-    bool configureWBIParameters(BlockInformation *blockInfo, wbt::Error *error);
-
-public:
-    WBIBlock();
-    virtual ~WBIBlock();
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-};
-
-
-#endif /* end of include guard: WBT_WBIBLOCK_H */
diff --git a/toolbox/src/base/WBBlock.cpp b/toolbox/src/base/WBBlock.cpp
new file mode 100644
index 000000000..27f9913f2
--- /dev/null
+++ b/toolbox/src/base/WBBlock.cpp
@@ -0,0 +1,241 @@
+#include "WBBlock.h"
+
+#include "BlockInformation.h"
+#include "Log.h"
+#include "ToolboxSingleton.h"
+#include "Configuration.h"
+#include "RobotInterface.h"
+#include "AnyType.h"
+#include <string>
+#include <memory>
+#include <iDynTree/Core/MatrixFixSize.h>
+#include <iDynTree/Core/VectorDynSize.h>
+#include <iDynTree/Core/Twist.h>
+#include <iDynTree/Core/Transform.h>
+
+using namespace wbt;
+
+const unsigned WBBlock::ConfigurationParameterIndex = 1; // Struct from Simulink
+const unsigned WBBlock::ConfBlockNameParameterIndex = 2; // Absolute name of the block containing the
+                                                         // configuration
+
+iDynTreeRobotState::iDynTreeRobotState(const unsigned& dofs, const std::vector<double>& gravity)
+: m_gravity(gravity.data(), 3)
+, m_jointsVelocity(dofs)
+, m_jointsPosition(dofs)
+{
+    m_jointsPosition.zero();
+    m_jointsVelocity.zero();
+}
+
+unsigned WBBlock::numberOfParameters() { return 2; }
+
+bool WBBlock::getWBToolboxParameters(Configuration& config, BlockInformation* blockInfo)
+{
+    // Infos
+    // =====
+    //
+    // For what concern initialization, the callback order is:
+    //
+    // -> configureSizeAndPorts()
+    //    -> initialize()
+    //       -> initializeInitialConditions()
+    //
+    // Despite class objects after the configureSizeAndPorts() are destroyed and
+    // reallocated before the initialize(), the ToolboxSingleton remains alive and
+    // can store from this stage the configuration created by reading the parameters.
+    //
+
+    // Gather the parameters from the Mask of the Simulink Block
+    // =========================================================
+
+    // Get the struct containing the parameters
+    AnyStruct s;
+    if (!blockInfo->getStructAtIndex(ConfigurationParameterIndex, s)) {
+        Log::getSingleton().error("Failed to retrieve the struct with parameters.");
+        return false;
+    }
+
+    // Check the existence of all the fields
+    try {
+        s.at("RobotName");
+        s.at("UrdfFile");
+        s.at("ControlledJoints");
+        s.at("ControlBoardsNames");
+        s.at("LocalName");
+        s.at("GravityVector");
+    }
+    catch (const std::out_of_range& e) {
+        Log::getSingleton().error("Cannot retrieve one or more parameter from config struct.");
+        return false;
+    }
+
+    // RobotName
+    std::string robotName;
+    if (!s["RobotName"]->asString(robotName)) {
+        Log::getSingleton().error("Cannot retrieve string from RobotName parameter.");
+        return false;
+    }
+
+    // UrdfFile
+    std::string urdfFile;
+    if (!s["UrdfFile"]->asString(urdfFile)) {
+        Log::getSingleton().error("Cannot retrieve string from UrdfFile parameter.");
+        return false;
+    }
+
+    // ControlledJoints
+    AnyCell cellCJ;
+    if (!s["ControlledJoints"]->asAnyCell(cellCJ)) {
+        Log::getSingleton().error("Cannot retrieve ControlledJoints parameter.");
+        return false;
+    }
+
+    std::vector<std::string> controlledJoints;
+    for (auto cell: cellCJ) {
+        std::string joint;
+        if (!cell->asString(joint)) {
+            Log::getSingleton().error("Failed to convert ControlledJoints from cell to strings.");
+            return false;
+        }
+        controlledJoints.push_back(joint);
+    }
+
+    // ControlBoardsNames
+    AnyCell cellCBN;
+    if (!s["ControlBoardsNames"]->asAnyCell(cellCBN)) {
+        Log::getSingleton().error("Cannot retrieve ControlBoardsNames parameter.");
+        return false;
+    }
+
+    std::vector<std::string> controlBoardsNames;
+    for (auto cell: cellCBN) {
+        std::string joint;
+        if (!cell->asString(joint)) {
+            Log::getSingleton().error("Failed to convert ControlBoardsNames from cell to string.");
+            return false;
+        }
+        controlBoardsNames.push_back(joint);
+    }
+
+    // LocalName
+    std::string localName;
+    if (!s["LocalName"]->asString(localName)) {
+        Log::getSingleton().error("Cannot retrieve string from LocalName parameter.");
+        return false;
+    }
+
+    std::vector<double> gravityVector;
+    if (!s["GravityVector"]->asVectorDouble(gravityVector)) {
+        Log::getSingleton().error("Cannot retrieve vector from GravityVector parameter.");
+        return false;
+    }
+
+    // Create the ToolboxConfig object
+    // ===============================
+
+    // Populate a Property object that stores the input parameters
+    config.setRobotName(robotName);
+    config.setUrdfFile(urdfFile);
+    config.setControlledJoints(controlledJoints);
+    config.setControlBoardsNames(controlBoardsNames);
+    config.setLocalName(localName);
+    config.setGravityVector(gravityVector);
+
+    return true;
+}
+
+const Configuration& WBBlock::getConfiguration()
+{
+    ToolboxSingleton& interface = ToolboxSingleton::sharedInstance();
+    return interface.getConfiguration(confKey);
+}
+
+const std::shared_ptr<RobotInterface> WBBlock::getRobotInterface()
+{
+    ToolboxSingleton& interface = ToolboxSingleton::sharedInstance();
+    return interface.getRobotInterface(confKey);
+}
+
+bool WBBlock::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Remember not allocate / save any data in this function, it won't be persistent.
+
+    // Setup the ToolboxSingleton
+    // ==========================
+
+    // Setup the DOFs (required by childs for configuring port sizes)
+    // --------------------------------------------------------------
+
+    // Initialize the ToolboxSingleton
+    ToolboxSingleton& interface = ToolboxSingleton::sharedInstance();
+
+    // Get the absolute name of the block from which the configuration has been retrieved.
+    // This will be the key of the map containing all the configurations of the ToolboxSingleton.
+    if (!blockInfo->getStringParameterAtIndex(ConfBlockNameParameterIndex, confKey)) {
+        Log::getSingleton().error("Failed to retrieve the struct with parameters.");
+        return false;
+    }
+
+    // Get the configuration struct from the block
+    Configuration config;
+    if (!getWBToolboxParameters(config, blockInfo)) {
+        return false;
+    }
+
+    // Check if the configuration is valid
+    if (!config.isValid()) {
+        Log::getSingleton().error("The provided configuration is not valid.");
+        return false;
+    }
+
+    // Store the configuration inside the ToolboxSingleton
+    if (!interface.storeConfiguration(confKey, config)) {
+        Log::getSingleton().error("Failed to configure ToolboxSingleton.");
+        return false;
+    }
+
+    // Check if the DoFs are positive (and if the config has been stored successfully)
+    const Configuration& configFromSingleton = getConfiguration();
+
+    if (configFromSingleton.getNumberOfDoFs() < 1) {
+        Log::getSingleton().error("Failed to configure WBBlock. Read 0 DoFs.");
+        return false;
+    }
+
+    return true;
+}
+
+bool WBBlock::initialize(BlockInformation* blockInfo)
+{
+    // CONFIGURE the ToolboxSingleton
+    // ==============================
+
+    ToolboxSingleton& interface = ToolboxSingleton::sharedInstance();
+
+    // Gather again confKey
+    // Note: despite data for blocks is not persistent between configureSizeAndPorts()
+    //       and initialize() (e.g. confKey), the singleton is not destroyed.
+    //       This means that the stored configurations are still there.
+    if (!blockInfo->getStringParameterAtIndex(ConfBlockNameParameterIndex, confKey)) {
+        Log::getSingleton().error("Failed to retrieve the struct with parameters.");
+        return false;
+    }
+
+    // Check if the key is valid
+    if (!interface.isKeyValid(confKey)) {
+        Log::getSingleton().error("Failed to retrieve the configuration object from the singleton.");
+        return false;
+    }
+
+    // Initialize the iDynTreeRobotState struct
+    const unsigned& dofs = interface.numberOfDoFs(confKey);
+    robotState = iDynTreeRobotState(dofs, getConfiguration().getGravityVector());
+
+    return true;
+}
+
+bool WBBlock::terminate(BlockInformation* /*blockInfo*/)
+{
+    return true;
+}
diff --git a/toolbox/src/base/WBIBlock.cpp b/toolbox/src/base/WBIBlock.cpp
deleted file mode 100644
index 475ffee97..000000000
--- a/toolbox/src/base/WBIBlock.cpp
+++ /dev/null
@@ -1,140 +0,0 @@
-#include "WBIBlock.h"
-
-#include "BlockInformation.h"
-#include "Error.h"
-#include "WBInterface.h"
-#include <yarp/os/Network.h>
-
-#define PARAM_IDX_1 1                           // robot name
-#define PARAM_IDX_2 2                           // local (module) name
-#define PARAM_IDX_3 3                           // wbi config file
-#define PARAM_IDX_4 4                           // wbi list
-
-wbt::WBIBlock::WBIBlock()
-: m_wbiConfigurationFileName("")
-, m_wbiListName("") {}
-
-wbt::WBIBlock::~WBIBlock() { }
-
-unsigned wbt::WBIBlock::numberOfParameters() { return 4; }
-
-bool wbt::WBIBlock::configureWBIParameters(BlockInformation *blockInfo, wbt::Error *error)
-{
-    //parameters needed by this block:
-    // - YARP_ROBOT_NAME: needed by resource finder for resource lookup (for now it is taken by the environment)
-    // - robot: robot port. If defined overrides the one specified by wbi file
-    // - moduleName: local (opened) ports.
-    // - wbi config file name (default: yarpWholeBodyInterface.ini): specifies the wbi config file
-    // - wbi list (default ROBOT_TORQUE_CONTROL_JOINTS): specifies the WBI list .
-    //            It it is a normal string, it is interpreted as a named list of joints that is loaded from the
-    //            yarpWholeBodyInterface.ini file. If instead it s
-
-
-    //robot name
-    std::string robotName;
-    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_1, robotName)) {
-        if (error) error->message = "Cannot retrieve string from robot parameter";
-        return false;
-    }
-
-    //local name
-    std::string localName;
-    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_2, localName)) {
-        if (error) error->message = "Cannot retrieve string from localName parameter";
-        return false;
-    }
-    //default local name
-    if (localName.empty()) localName = "WBIT";
-
-    //wbi config file
-    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_3, m_wbiConfigurationFileName)) {
-        if (error) error->message = "Cannot retrieve string from WBI config file parameter";
-        return false;
-    }
-
-    //default config file:
-    if (m_wbiConfigurationFileName.empty()) m_wbiConfigurationFileName = "yarpWholeBodyInterface.ini";
-
-    //wbi list name
-    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_4, m_wbiListName)) {
-        if (error) error->message = "Cannot retrieve string from WBI list parameter";
-        return false;
-    }
-
-    //default list:
-    if (m_wbiListName.empty()) m_wbiListName = "ROBOT_TORQUE_CONTROL_JOINTS";
-
-    WBInterface &interface = WBInterface::sharedInstance();
-
-    Error interfaceError;
-    if (!interface.configure(robotName, localName, m_wbiConfigurationFileName, m_wbiListName, &interfaceError)) {
-        if (error) error->message = "Failed to configure WholeBodyInterface with error " + interfaceError.message;
-        return false;
-    }
-    return true;
-}
-
-bool wbt::WBIBlock::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
-{
-    //wbi config file
-    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_3, m_wbiConfigurationFileName)) {
-        if (error) error->message = "Could not read WBI configuration file parameter";
-        return false;
-    }
-
-    //default config file:
-    if (m_wbiConfigurationFileName.empty()) m_wbiConfigurationFileName = "yarpWholeBodyInterface.ini";
-
-    //wbi list name
-    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_4, m_wbiListName)) {
-        if (error) error->message = "Could not read WBI list parameter";
-        return false;
-    }
-
-    //default list:
-    if (m_wbiListName.empty()) m_wbiListName = "ROBOT_TORQUE_CONTROL_JOINTS";
-
-    WBInterface &interface = WBInterface::sharedInstance();
-
-    int dofs = interface.dofsForConfigurationFileAndList(m_wbiConfigurationFileName, m_wbiListName);
-    if (dofs == -1) {
-        if (error) error->message = "Failed to configure WholeBodyInterface. Could not load WBI properties from file";
-        return false;
-    } else if (dofs == -2) {
-        if (error) error->message = "Failed to configure WholeBodyInterface. WBI joint list not found or failed to configure. Check if joint list exists.";
-        return false;
-    }
-
-    return true;
-}
-
-bool wbt::WBIBlock::initialize(BlockInformation *blockInfo, wbt::Error *error)
-{
-    using namespace yarp::os;
-    Network::init();
-    if (!Network::initialized() || !Network::checkNetwork(5.0)) {
-        if (error) error->message = "YARP server wasn't found active";
-        return false;
-    }
-
-    if (!configureWBIParameters(blockInfo, error)) {
-        return false;
-    }
-
-    WBInterface &interface = WBInterface::sharedInstance();
-    if (!interface.initialize()) {
-        if (error) error->message = "Failed to initialize WBI";
-        return false;
-    }
-    return true;
-}
-
-bool wbt::WBIBlock::terminate(BlockInformation */*S*/, wbt::Error *error)
-{
-    if (!WBInterface::sharedInstance().terminate()) {
-        if (error) error->message = "Failed to terminate WBI";
-        return false;
-    }
-    yarp::os::Network::fini();
-    return true;
-}

From 04531f146dd55050a5c11e9b270558c540c8a552 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 10 Nov 2017 14:47:40 +0000
Subject: [PATCH 14/89] Minor edits of base/ classes

- Removed old Error parameter from methods
- Small documentation changes
- Small style edits
---
 toolbox/include/base/Block.h                  | 31 ++++++-------
 toolbox/include/base/BlockInformation.h       |  4 +-
 toolbox/include/base/Signal.h                 | 19 ++++----
 .../include/base/SimulinkBlockInformation.h   | 33 +++++++-------
 toolbox/src/base/Block.cpp                    |  8 ++--
 toolbox/src/base/Signal.cpp                   | 43 +++++++++---------
 toolbox/src/base/SimulinkBlockInformation.cpp |  8 ++--
 toolbox/src/base/factory.cpp                  |  2 +-
 toolbox/src/base/toolbox.cpp                  | 44 +++++++++----------
 9 files changed, 92 insertions(+), 100 deletions(-)

diff --git a/toolbox/include/base/Block.h b/toolbox/include/base/Block.h
index b65f52a7b..a233859e6 100644
--- a/toolbox/include/base/Block.h
+++ b/toolbox/include/base/Block.h
@@ -6,7 +6,6 @@
 
 namespace wbt {
     class Block;
-    class Error;
     class BlockInformation;
 
 }
@@ -15,14 +14,15 @@ namespace wbt {
  * Basic abstract class for all the blocks.
  * This class (the whole toolbox in reality) assumes the block represent
  * an instantaneous system (i.e. not a dynamic system).
- * 
+ *
  * You can create a new block by deriving this class and implementing at least
  * all the pure virtual methods.
  *
  * @Note: if you need to implement a block which uses the WBI, you should derive
  * from WBIBlock as it already provides some facilities.
  */
-class wbt::Block {
+class wbt::Block
+{
 public:
     /**
      * Create and returns a new Block object of the specified class.
@@ -39,7 +39,7 @@ class wbt::Block {
      *
      */
     virtual ~Block();
-    
+
     /**
      * Returns the number of configuration parameters needed by this block
      *
@@ -59,7 +59,7 @@ class wbt::Block {
      * Returns the number of discrete states of the block.
      *
      * The base implementation returns 0, i.e. no discrete states
-     * @note if you return a number > 0, you should implement the 
+     * @note if you return a number > 0, you should implement the
      * updateDiscreteState function
      * @return the number of discrete states
      */
@@ -82,7 +82,7 @@ class wbt::Block {
      * @param S the SimStruct structure
      * @return true for success, false otherwise
      */
-    virtual bool updateDiscreteState(BlockInformation *blockInfo, wbt::Error *error);
+    virtual bool updateDiscreteState(BlockInformation* blockInfo);
 
     /**
      * Not called for now
@@ -90,7 +90,7 @@ class wbt::Block {
      * @param S the SimStruct structure
      * @return true for success, false otherwise
      */
-    virtual bool stateDerivative(BlockInformation *blockInfo, wbt::Error *error);
+    virtual bool stateDerivative(BlockInformation* blockInfo);
 
 
     /**
@@ -111,21 +111,19 @@ class wbt::Block {
      * their size and configuration.
      * @Note: you should not save any object in this method because it will not persist
      * @param S     simulink structure
-     * @param [out]error output error object that can be filled in case of error. Check if the pointer exists before dereference it.
      *
      * @return true for success, false otherwise
      */
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error) = 0;
+    virtual bool configureSizeAndPorts(BlockInformation* blockInfo) = 0;
 
     /**
      * Never called.
      *
      * @param S     simulink structure
-     * @param [out]error output error object that can be filled in case of error. Check if the pointer exists before dereference it.
      *
      * @return true for success, false otherwise
      */
-    virtual bool checkParameters(BlockInformation *blockInfo, wbt::Error *error);
+    virtual bool checkParameters(BlockInformation* blockInfo);
 
     /**
      * Initialize the object for the simulation
@@ -133,11 +131,10 @@ class wbt::Block {
      * This method is called at model startup (i.e. during mdlStart)
      * @Note: you can save and initialize your object in this method
      * @param S     simulink structure
-     * @param [out]error output error object that can be filled in case of error.
      *
      * @return true for success, false otherwise
      */
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error) = 0;
+    virtual bool initialize(BlockInformation* blockInfo) = 0;
 
     /**
      * Called to initialize the initial conditions
@@ -146,11 +143,10 @@ class wbt::Block {
      * @note this function is also called on a reset event
      * @note if you need to perform initialization only once, than implement initialize
      * @param S     simulink structure
-     * @param [out]error output error object that can be filled in case of error.
      *
      * @return true for success, false otherwise
      */
-    virtual bool initializeInitialConditions(BlockInformation *blockInfo, wbt::Error *error);
+    virtual bool initializeInitialConditions(BlockInformation* blockInfo);
 
     /**
      * Perform model cleanup.
@@ -158,11 +154,10 @@ class wbt::Block {
      * This method is called at model termination (i.e. during mdlTerminate).
      * You should release all the resources you requested during the initialize method
      * @param S     simulink structure
-     * @param [out]error output error object that can be filled in case of error.
      *
      * @return true for success, false otherwise
      */
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error) = 0;
+    virtual bool terminate(BlockInformation* blockInfo) = 0;
 
 
 
@@ -175,7 +170,7 @@ class wbt::Block {
      *
      * @return true for success, false otherwise
      */
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error) = 0;
+    virtual bool output(BlockInformation* blockInfo) = 0;
 
 public:
 
diff --git a/toolbox/include/base/BlockInformation.h b/toolbox/include/base/BlockInformation.h
index f49ba843c..a4ea9da0a 100644
--- a/toolbox/include/base/BlockInformation.h
+++ b/toolbox/include/base/BlockInformation.h
@@ -66,9 +66,9 @@ class wbt::BlockInformation {
     /**
      * Convert a block option from its Toolbox identifier to a specific implementation
      *
-     * @param [in] key identifier of the block option
+     * @param [in]  key    identifier of the block option
      * @param [out] option implementation-specific block option
-     * @return true if the option has been converted. False otherwise
+     * @return             true if the option has been converted. False otherwise
      */
     virtual bool optionFromKey(const std::string& key, double& option) const;
 
diff --git a/toolbox/include/base/Signal.h b/toolbox/include/base/Signal.h
index 97f567669..b46d70ecd 100644
--- a/toolbox/include/base/Signal.h
+++ b/toolbox/include/base/Signal.h
@@ -7,7 +7,9 @@ namespace wbt {
     class Signal;
 }
 
-class wbt::Signal {
+class wbt::Signal
+{
+private:
     PortDataType portType;
     bool isContiguous;
     bool isConstPort;
@@ -16,31 +18,30 @@ class wbt::Signal {
     void* contiguousData;
 
 public:
-    Signal();
+    Signal() = default;
 
     void initSignalType(wbt::PortDataType type, bool constPort);
 
-
     void setContiguousBuffer(void* buffer);
     void setContiguousBuffer(const void* buffer);
     void setNonContiguousBuffer(void** buffer);
-    void setNonContiguousBuffer(const void* const * buffer);
+    void setNonContiguousBuffer(const void* const* buffer);
 
     const Data get(unsigned index) const;
     void* getContiguousBuffer();
-    
+
     //the missing are cast
     void set(unsigned index, double data);
-    void setBuffer(const double *data, const unsigned length, unsigned startIndex = 0);
+    void setBuffer(const double* data, const unsigned length, unsigned startIndex = 0);
 
     void set(unsigned index, int32_t data);
-    void setBuffer(const int32_t *data, const unsigned length, unsigned startIndex = 0);
+    void setBuffer(const int32_t* data, const unsigned length, unsigned startIndex = 0);
 
     void set(unsigned index, uint32_t data);
-    void setBuffer(const uint32_t *data, const unsigned length, unsigned startIndex = 0);
+    void setBuffer(const uint32_t* data, const unsigned length, unsigned startIndex = 0);
 
     void set(unsigned index, bool data);
-    void setBuffer(const bool *data, const unsigned length, unsigned startIndex = 0);
+    void setBuffer(const bool* data, const unsigned length, unsigned startIndex = 0);
 
 };
 
diff --git a/toolbox/include/base/SimulinkBlockInformation.h b/toolbox/include/base/SimulinkBlockInformation.h
index 9c26b23b1..2334d32a4 100644
--- a/toolbox/include/base/SimulinkBlockInformation.h
+++ b/toolbox/include/base/SimulinkBlockInformation.h
@@ -10,13 +10,14 @@ namespace wbt {
     class Signal;
 }
 
-class wbt::SimulinkBlockInformation : public wbt::BlockInformation {
-    SimStruct *simstruct;
+class wbt::SimulinkBlockInformation : public wbt::BlockInformation
+{
+private:
+    SimStruct* simstruct;
 
 public:
-    SimulinkBlockInformation(SimStruct *simstruct);
-
-    virtual ~SimulinkBlockInformation();
+    SimulinkBlockInformation(SimStruct* simstruct);
+    ~SimulinkBlockInformation() override = default;
 
     bool optionFromKey(const std::string& key, double& option) const override;
 
@@ -28,20 +29,20 @@ class wbt::SimulinkBlockInformation : public wbt::BlockInformation {
     bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) override;
 
     //Port information methods
-    virtual bool setNumberOfInputPorts(unsigned numberOfPorts);
-    virtual bool setInputPortVectorSize(unsigned portNumber, int portSize);
-    virtual bool setInputPortMatrixSize(unsigned portNumber, int rows, int columns);
-    virtual bool setOutputPortVectorSize(unsigned portNumber, int portSize);
-    virtual bool setOutputPortMatrixSize(unsigned portNumber, int rows, int columns);
-    virtual bool setInputPortType(unsigned portNumber, PortDataType portType);
-    virtual bool setOutputPortType(unsigned portNumber, PortDataType portType);
+    bool setNumberOfInputPorts(unsigned numberOfPorts) override;
     bool setNumberOfOutputPorts(unsigned numberOfPorts) override;
+    bool setInputPortVectorSize(unsigned portNumber, int portSize) override;
+    bool setInputPortMatrixSize(unsigned portNumber, int rows, int columns) override;
+    bool setOutputPortVectorSize(unsigned portNumber, int portSize) override;
+    bool setOutputPortMatrixSize(unsigned portNumber, int rows, int columns) override;
+    bool setInputPortType(unsigned portNumber, PortDataType portType) override;
+    bool setOutputPortType(unsigned portNumber, PortDataType portType) override;
 
     //Port data
-    virtual unsigned getInputPortWidth(unsigned portNumber);
-    virtual unsigned getOutputPortWidth(unsigned portNumber);
-    virtual wbt::Signal getInputPortSignal(unsigned portNumber);
-    virtual wbt::Signal getOutputPortSignal(unsigned portNumber);
+    unsigned getInputPortWidth(unsigned portNumber) override;
+    unsigned getOutputPortWidth(unsigned portNumber) override;
+    wbt::Signal getInputPortSignal(unsigned portNumber) override;
+    wbt::Signal getOutputPortSignal(unsigned portNumber) override;
 };
 
 #endif /* end of include guard: WBT_SIMULINKBLOCKINFORMATION_H */
diff --git a/toolbox/src/base/Block.cpp b/toolbox/src/base/Block.cpp
index 396e1084d..b7d36396a 100644
--- a/toolbox/src/base/Block.cpp
+++ b/toolbox/src/base/Block.cpp
@@ -4,12 +4,12 @@
 wbt::Block::~Block() {}
 std::vector<std::string> wbt::Block::additionalBlockOptions() { return std::vector<std::string>(); }
 void wbt::Block::parameterAtIndexIsTunable(unsigned /*index*/, bool &tunable) { tunable = false; }
-bool wbt::Block::checkParameters(wbt::BlockInformation */*blockInfo*/, wbt::Error */*error*/) { return true; }
+bool wbt::Block::checkParameters(wbt::BlockInformation* /*blockInfo*/) { return true; }
 
 unsigned wbt::Block::numberOfDiscreteStates() { return 0; }
 unsigned wbt::Block::numberOfContinuousStates() { return 0; }
 
-bool wbt::Block::updateDiscreteState(wbt::BlockInformation */*blockInfo*/, wbt::Error */*error*/) { return true; }
-bool wbt::Block::stateDerivative(wbt::BlockInformation */*blockInfo*/, wbt::Error */*error*/) { return true; }
+bool wbt::Block::updateDiscreteState(wbt::BlockInformation* /*blockInfo*/) { return true; }
+bool wbt::Block::stateDerivative(wbt::BlockInformation* /*blockInfo*/) { return true; }
 
-bool wbt::Block::initializeInitialConditions(wbt::BlockInformation */*blockInfo*/, wbt::Error */*error*/) { return true; }
+bool wbt::Block::initializeInitialConditions(wbt::BlockInformation* /*blockInfo*/) { return true; }
diff --git a/toolbox/src/base/Signal.cpp b/toolbox/src/base/Signal.cpp
index 86c40a89d..5d57938fc 100644
--- a/toolbox/src/base/Signal.cpp
+++ b/toolbox/src/base/Signal.cpp
@@ -4,9 +4,6 @@
 
 namespace wbt {
 
-
-    Signal::Signal() {}
-
     void Signal::initSignalType(wbt::PortDataType type, bool constPort)
     {
         this->portType = type;
@@ -30,7 +27,7 @@ namespace wbt {
         this->isContiguous = false;
     }
 
-    void Signal::setNonContiguousBuffer(const void* const * buffer)
+    void Signal::setNonContiguousBuffer(const void* const* buffer)
     {
         nonContiguousData = const_cast<void**>(buffer);
         this->isContiguous = false;
@@ -139,13 +136,13 @@ namespace wbt {
         switch (portType) {
             case PortDataTypeDouble:
             {
-                double *buffer = static_cast<double*>(contiguousData);
+                double* buffer = static_cast<double*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
             case PortDataTypeSingle:
             {
-                float *buffer = static_cast<float*>(contiguousData);
+                float* buffer = static_cast<float*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
@@ -154,11 +151,11 @@ namespace wbt {
         }
     }
 
-    void Signal::setBuffer(const double *data, const unsigned length, unsigned startIndex)
+    void Signal::setBuffer(const double* data, const unsigned length, unsigned startIndex)
     {
         if (isConstPort) return;
         unsigned dataSize = 0;
-        const void * address = data;
+        const void* address = data;
 
         switch (portType) {
             case PortDataTypeDouble:
@@ -187,19 +184,19 @@ namespace wbt {
         switch (portType) {
             case PortDataTypeInt32:
             {
-                int32_t *buffer = static_cast<int32_t*>(contiguousData);
+                int32_t* buffer = static_cast<int32_t*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
             case PortDataTypeInt16:
             {
-                int16_t *buffer = static_cast<int16_t*>(contiguousData);
+                int16_t* buffer = static_cast<int16_t*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
             case PortDataTypeInt8:
             {
-                int8_t *buffer = static_cast<int8_t*>(contiguousData);
+                int8_t* buffer = static_cast<int8_t*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
@@ -208,11 +205,11 @@ namespace wbt {
         }
     }
 
-    void Signal::setBuffer(const int32_t *data, const unsigned length, unsigned startIndex)
+    void Signal::setBuffer(const int32_t* data, const unsigned length, unsigned startIndex)
     {
         if (isConstPort) return;
         unsigned dataSize = 0;
-        const void * address = data;
+        const void* address = data;
 
         switch (portType) {
             case PortDataTypeInt32:
@@ -237,7 +234,7 @@ namespace wbt {
                 break;
         }
 
-        memcpy(contiguousData, address, dataSize * length);
+        memcpy(contiguousData, address, dataSize* length);
     }
 
     void Signal::set(unsigned index, uint32_t data)
@@ -246,19 +243,19 @@ namespace wbt {
         switch (portType) {
             case PortDataTypeUInt32:
             {
-                uint32_t *buffer = static_cast<uint32_t*>(contiguousData);
+                uint32_t* buffer = static_cast<uint32_t*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
             case PortDataTypeUInt16:
             {
-                uint16_t *buffer = static_cast<uint16_t*>(contiguousData);
+                uint16_t* buffer = static_cast<uint16_t*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
             case PortDataTypeUInt8:
             {
-                uint8_t *buffer = static_cast<uint8_t*>(contiguousData);
+                uint8_t* buffer = static_cast<uint8_t*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
@@ -267,11 +264,11 @@ namespace wbt {
         }
     }
 
-    void Signal::setBuffer(const uint32_t *data, const unsigned length, unsigned startIndex)
+    void Signal::setBuffer(const uint32_t* data, const unsigned length, unsigned startIndex)
     {
         if (isConstPort) return;
         unsigned dataSize = 0;
-        const void * address = data;
+        const void* address = data;
 
         switch (portType) {
             case PortDataTypeUInt32:
@@ -296,22 +293,22 @@ namespace wbt {
                 break;
         }
 
-        memcpy(contiguousData, address, dataSize * length);
+        memcpy(contiguousData, address, dataSize* length);
     }
 
     void Signal::set(unsigned index, bool data)
     {
-        bool *buffer = static_cast<bool*>(contiguousData);
+        bool* buffer = static_cast<bool*>(contiguousData);
         buffer[index] = data;
     }
 
-    void Signal::setBuffer(const bool *data, const unsigned length, unsigned startIndex)
+    void Signal::setBuffer(const bool* data, const unsigned length, unsigned startIndex)
     {
         if (isConstPort) return;
         unsigned dataSize = sizeof(bool);
         const void* address = static_cast<const bool*>(data) + startIndex;
 
-        memcpy(contiguousData, address, dataSize * length);
+        memcpy(contiguousData, address, dataSize* length);
     }
 
 
diff --git a/toolbox/src/base/SimulinkBlockInformation.cpp b/toolbox/src/base/SimulinkBlockInformation.cpp
index 9f1f69f71..48ccdde51 100644
--- a/toolbox/src/base/SimulinkBlockInformation.cpp
+++ b/toolbox/src/base/SimulinkBlockInformation.cpp
@@ -1,5 +1,4 @@
 #include "SimulinkBlockInformation.h"
-
 #include "Signal.h"
 #include "MxAnyType.h"
 #include "simstruc.h"
@@ -8,10 +7,9 @@
 
 namespace wbt {
 
-    SimulinkBlockInformation::SimulinkBlockInformation(SimStruct *S)
-    : simstruct(S) {}
-
-    SimulinkBlockInformation::~SimulinkBlockInformation() {}
+    SimulinkBlockInformation::SimulinkBlockInformation(SimStruct* S)
+    : simstruct(S)
+    {}
 
     bool SimulinkBlockInformation::optionFromKey(const std::string& key, double& option) const
     {
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index 9ff5aac03..69a962e08 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -3,7 +3,7 @@
 wbt::Block* wbt::Block::instantiateBlockWithClassName(std::string blockClassName)
 {
     wbt::Block *block = NULL;
-    
+
     if (blockClassName == wbt::YarpRead::ClassName) {
         block = new wbt::YarpRead();
     } else if (blockClassName == wbt::YarpWrite::ClassName) {
diff --git a/toolbox/src/base/toolbox.cpp b/toolbox/src/base/toolbox.cpp
index 2e2d9037f..ba9c86cb5 100644
--- a/toolbox/src/base/toolbox.cpp
+++ b/toolbox/src/base/toolbox.cpp
@@ -32,7 +32,7 @@
 #include <string>
 #include <yarp/os/LogStream.h>
 
-static void catchLogMessages(bool status, SimStruct *S, std::string prefix)
+static void catchLogMessages(bool status, SimStruct* S, std::string prefix)
 {
     // Initialize static buffers
     const unsigned bufferLen = 1024;
@@ -97,7 +97,7 @@ static void catchLogMessages(bool status, SimStruct *S, std::string prefix)
 // Function: MDL_CHECK_PARAMETERS
 #define MDL_CHECK_PARAMETERS
 #if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)
-static void mdlCheckParameters(SimStruct *S)
+static void mdlCheckParameters(SimStruct* S)
 {
     UNUSED_ARG(S);
     //TODO: still to find a way to call Block implementation
@@ -105,8 +105,8 @@ static void mdlCheckParameters(SimStruct *S)
 #endif  /*MDL_CHECK_PARAMETERS*/
 
 #define MDL_SET_INPUT_PORT_DIMENSION_INFO
-static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port,
-                                         const DimsInfo_T *dimsInfo)
+static void mdlSetInputPortDimensionInfo(SimStruct* S, int_T port,
+                                         const DimsInfo_T* dimsInfo)
 {
     //TODO: for now accept the proposed size.
     //If we want to change the behaviour we have to implement some callbacks
@@ -114,8 +114,8 @@ static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port,
 }
 
 #define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
-static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port,
-                                         const DimsInfo_T *dimsInfo)
+static void mdlSetOutputPortDimensionInfo(SimStruct* S, int_T port,
+                                         const DimsInfo_T* dimsInfo)
 {
     //TODO: for now accept the proposed size.
     //If we want to change the behaviour we have to implement some callbacks
@@ -126,7 +126,7 @@ static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port,
 // Abstract:
 //    The sizes information is used by Simulink to determine the S-function
 //    block's characteristics (number of inputs, s, states, etc.).
-static void mdlInitializeSizes(SimStruct *S)
+static void mdlInitializeSizes(SimStruct* S)
 {
     // Initialize the Log singleton
     wbt::Log::getSingleton().clear();
@@ -136,10 +136,10 @@ static void mdlInitializeSizes(SimStruct *S)
         catchLogMessages(false, S, "\n[" + std::string(__func__) + "]");
         return;
     }
-    char *classNameStr = mxArrayToString(ssGetSFcnParam(S, 0));
+    char* classNameStr = mxArrayToString(ssGetSFcnParam(S, 0));
     std::string className(classNameStr);
     mxFree(classNameStr);
-    wbt::Block *block = wbt::Block::instantiateBlockWithClassName(className);
+    wbt::Block* block = wbt::Block::instantiateBlockWithClassName(className);
 
     //We cannot save data in PWork during the initializeSizes phase
     ssSetNumPWork(S, 1);
@@ -211,7 +211,7 @@ static void mdlInitializeSizes(SimStruct *S)
 //   This function is used to specify the sample time(s) for your
 //   S-function. You must register the same number of sample times as
 //   specified in ssSetNumSampleTimes.
-static void mdlInitializeSampleTimes(SimStruct *S)
+static void mdlInitializeSampleTimes(SimStruct* S)
 {
     ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);
     ssSetOffsetTime(S, 0, 0.0);
@@ -224,12 +224,12 @@ static void mdlInitializeSampleTimes(SimStruct *S)
 //   have states that should be initialized once, this is the place
 //   to do it.
 #define MDL_START
-static void mdlStart(SimStruct *S)
+static void mdlStart(SimStruct* S)
 {
-    char *classNameStr = mxArrayToString(ssGetSFcnParam(S, 0));
+    char* classNameStr = mxArrayToString(ssGetSFcnParam(S, 0));
     std::string className(classNameStr);
     mxFree(classNameStr);
-    wbt::Block *block = wbt::Block::instantiateBlockWithClassName(className);
+    wbt::Block* block = wbt::Block::instantiateBlockWithClassName(className);
     ssSetPWorkValue(S, 0, block);
 
     wbt::SimulinkBlockInformation blockInfo(S);
@@ -243,11 +243,11 @@ static void mdlStart(SimStruct *S)
 
 #define MDL_UPDATE
 #if defined(MDL_UPDATE) && defined(MATLAB_MEX_FILE)
-static void mdlUpdate(SimStruct *S, int_T tid)
+static void mdlUpdate(SimStruct* S, int_T tid)
 {
     UNUSED_ARG(tid);
     if (ssGetNumPWork(S) > 0) {
-        wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
+        wbt::Block* block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
 
         wbt::SimulinkBlockInformation blockInfo(S);
         bool ok = false;
@@ -262,10 +262,10 @@ static void mdlUpdate(SimStruct *S, int_T tid)
 //Initialize the state vectors of this C MEX S-function
 #define MDL_INITIALIZE_CONDITIONS
 #if defined(MDL_INITIALIZE_CONDITIONS) && defined(MATLAB_MEX_FILE)
-static void mdlInitializeConditions(SimStruct *S)
+static void mdlInitializeConditions(SimStruct* S)
 {
     if (ssGetNumPWork(S) > 0) {
-        wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
+        wbt::Block* block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
 
         wbt::SimulinkBlockInformation blockInfo(S);
         bool ok = false;
@@ -280,7 +280,7 @@ static void mdlInitializeConditions(SimStruct *S)
 
 #define MDL_DERIVATIVES
 #if defined(MDL_DERIVATIVES) && defined(MATLAB_MEX_FILE)
-static void mdlDerivatives(SimStruct *S)
+static void mdlDerivatives(SimStruct* S)
 {
     /* Add mdlDerivatives code here */
 }
@@ -291,11 +291,11 @@ static void mdlDerivatives(SimStruct *S)
 // Abstract:
 //   In this function, you compute the outputs of your S-function
 //   block.
-static void mdlOutputs(SimStruct *S, int_T tid)
+static void mdlOutputs(SimStruct* S, int_T tid)
 {
     UNUSED_ARG(tid);
     if (ssGetNumPWork(S) > 0) {
-        wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
+        wbt::Block* block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
 
         wbt::SimulinkBlockInformation blockInfo(S);
         bool ok = false;
@@ -306,10 +306,10 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     }
 }
 
-static void mdlTerminate(SimStruct *S)
+static void mdlTerminate(SimStruct* S)
 {
     if (ssGetNumPWork(S) > 0 && ssGetPWork(S)) {
-        wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
+        wbt::Block* block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
 
         wbt::SimulinkBlockInformation blockInfo(S);
         bool ok = false;

From 639fb718b461f1bbf0d02f8d922026111dd30b33 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 14:37:43 +0000
Subject: [PATCH 15/89] WBInterface refactored and renamed to ToolboxSingleton

The new ToolboxSingleton class contains in a persistent wat Configuration and RobotInterface objects. Most of the logic previously contained in WBInterface has been moved in these two new classes.
---
 toolbox/CMakeLists.txt                  |   4 +-
 toolbox/include/base/ToolboxSingleton.h | 143 +++++++++++
 toolbox/include/base/WBInterface.h      | 189 --------------
 toolbox/src/base/ToolboxSingleton.cpp   | 122 +++++++++
 toolbox/src/base/WBInterface.cpp        | 318 ------------------------
 5 files changed, 267 insertions(+), 509 deletions(-)
 create mode 100644 toolbox/include/base/ToolboxSingleton.h
 delete mode 100644 toolbox/include/base/WBInterface.h
 create mode 100644 toolbox/src/base/ToolboxSingleton.cpp
 delete mode 100644 toolbox/src/base/WBInterface.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 855625d45..d9fcf56eb 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -63,7 +63,7 @@ configure_block(BLOCK_NAME "Base"
             src/base/BlockInformation.cpp
             src/base/WBBlock.cpp
             src/base/Log.cpp
-            src/base/WBInterface.cpp
+            src/base/ToolboxSingleton.cpp
             src/base/factory.cpp
             src/base/SimulinkBlockInformation.cpp #this is temp
             src/base/Signal.cpp
@@ -74,7 +74,7 @@ configure_block(BLOCK_NAME "Base"
             include/base/BlockInformation.h
             include/base/WBBlock.h
             include/base/Log.h
-            include/base/WBInterface.h
+            include/base/ToolboxSingleton.h
             include/base/SimulinkBlockInformation.h #this is temp
             include/base/Signal.h
             include/base/Configuration.h
diff --git a/toolbox/include/base/ToolboxSingleton.h b/toolbox/include/base/ToolboxSingleton.h
new file mode 100644
index 000000000..1140a2d76
--- /dev/null
+++ b/toolbox/include/base/ToolboxSingleton.h
@@ -0,0 +1,143 @@
+#ifndef WBT_ToolboxSingleton_H
+#define WBT_ToolboxSingleton_H
+
+#include <string>
+#include <vector>
+#include <memory>
+#include <unordered_map>
+#include "Configuration.h"
+
+namespace wbt {
+    class ToolboxSingleton;
+    class RobotInterface;
+}
+
+namespace iDynTree {
+    class KinDynComputations;
+}
+
+// TODO: check class doxygen macro
+/**
+ * \class ToolboxSingleton ToolboxSingleton.h
+ *
+ * This class handles and contains configuration and devices used by all the blocks
+ * allocated by a running model. It is possible obtaining a singleton of this class
+ * by calling WBToolbox::sharedInstance.
+ *
+ * @see wbt::RobotInterface
+ * @see wbt::Configuration
+ * @see wbt::yarpDevices
+ *
+ */
+class wbt::ToolboxSingleton { // TODO: wbt::ToolboxSingleton
+private:
+    /// Object that stores all the configurations labelled by the name of the Simulink Block's
+    /// name.
+    /// @see wbt::RobotInterface
+    std::unordered_map<std::string, std::shared_ptr<wbt::RobotInterface>> m_interfaces;
+
+public:
+
+    // CONSTRUCTOR / DESTRUCTOR
+    // ========================
+
+    ToolboxSingleton();
+    ~ToolboxSingleton();
+
+    ToolboxSingleton(const ToolboxSingleton&) = delete;
+    ToolboxSingleton& operator=(const ToolboxSingleton&) = delete;
+
+    // UTILITIES
+    // =========
+
+    /**
+     * Check if a Configuration labelled by confKey exists and is a
+     * valid object.
+     *
+     * @param  confKey The key describing the configuration (name of the Simulink block)
+     * @return         True if the configuration is valid
+     */
+    bool isKeyValid(const std::string& confKey);
+
+    /**
+     * Returns the DoFs associated with the configuration labelled by confKey
+     *
+     * @param  confKey The key describing the configuration (name of the Simulink block)
+     * @return         The number of degrees of freedom. It returns -1 when failing.
+     */
+    int numberOfDoFs(const std::string& confKey);
+
+    // GET METHODS
+    // ===========
+
+    /**
+     * Returns the singleton instance to this object.
+     *
+     * @note The singleton stays in memory until the entire matlab is closed. The WBToolbox
+     *       is designed in such a way that assures to reach a clean state when all blocks
+     *       have been terminated.
+     *
+     * @return the singleton instance
+     */
+    static wbt::ToolboxSingleton& sharedInstance();
+
+    // TODO: check if doxygen ref work
+
+    /**
+     * Returns the Configuration object labelled by confKey.
+     * This object is contained into the wbt::RobotInterface object.
+     *
+     * @see ToolboxSingleton::getRobotInterface
+     * @param  confKey The key describing the configuration (name of the Simulink block)
+     * @return         A constant reference to the Configuration object
+     */
+    const Configuration& getConfiguration(const std::string& confKey);
+
+    /**
+    * Returns a \c shared_ptr to the RobotInterface object containing the configuration
+    * labelled by confKey and all the objects used to gather and set robot data
+    *
+    * @param confKey The key describing the configuration (name of the Simulink block)
+    * @return        A \c shared_ptr to the RobotInterface of the requested configuration
+    */
+    const std::shared_ptr<RobotInterface> getRobotInterface(const std::string& confKey);
+
+    /**
+     * Returns a \c shared_ptr to the KinDynComputations object used to perform calculation
+     * on the provided model
+     *
+     * @param confKey The key describing the configuration (name of the Simulink block)
+     * @return        A \c shared_ptr to the iDynTree::KinDynComputations of the requested
+     *                configuration
+     */
+    const std::shared_ptr<iDynTree::KinDynComputations> getModel(const std::string& confKey);
+
+    // TOOLBOXSINGLETON CONFIGURATION
+    // ==============================
+
+    /*! Saves in the singleton a new configuration \c config.
+     *
+     * If the config is valid and hasn't been already stored, it creates a new entry
+     * in ToolboxSingleton::m_interfaces. If a configuration with matching confKey is found,
+     * if the Configuration object is the same it does nothing, otherwise it overrides it.
+     *
+     * @note Since confKey is the name of the block, the overriding can happen only after
+     *       subsequent compilation in Simulink, when the block's parameters have been
+     *       changed.
+     *
+     * @param  confKey The key describing the configuration (name of the Simulink block)
+     * @param  config  The wbt::Configuration object parsed from Simulink's parameters
+     * @return         Returns \c true if configure is successful, \c false otherwise
+     * @see            ToolboxSingleton::isKeyValid
+     */
+    bool storeConfiguration(const std::string& confKey, const Configuration& config);
+
+    /**
+     * Delete the wbt::RobotInterface referred by confKey. No-op if it doesn't exist.
+     *
+     * @param confKey The key describing the configuration (name of the Simulink block)
+     */
+    void eraseConfiguration(const std::string& confKey);
+};
+
+#endif /* end of include guard: WBT_ToolboxSingleton_H */
diff --git a/toolbox/include/base/WBInterface.h b/toolbox/include/base/WBInterface.h
deleted file mode 100644
index bfae00cc9..000000000
--- a/toolbox/include/base/WBInterface.h
+++ /dev/null
@@ -1,189 +0,0 @@
-#ifndef WBT_WBINTERFACE_H
-#define WBT_WBINTERFACE_H
-
-#include <string>
-
-namespace wbt {
-    class WBInterface;
-    class Error;
-}
-
-namespace wbi {
-    class wholeBodyInterface;
-    class iWholeBodyModel;
-    class IDList;
-}
-namespace yarp {
-    namespace os {
-        class Property;
-    }
-}
-
-/**
- * This class holds a reference counted handle to the whole body interface object.
- * You can obtain the singleton reference to this object by calling the sharedInstance method.
- * @note at the current state, and because of how the wbi is structured, the model and the interface are
- * two different objects, even if this should not lead to any problem
- */
-class wbt::WBInterface {
-
-    // Private constructor, destructor, copy constructor and assignemnt operator
-    WBInterface();
-    WBInterface(const WBInterface&);
-    WBInterface& operator=(const WBInterface&);
-    ~WBInterface();
-
-
-    wbi::wholeBodyInterface* m_interface; /**< Reference to the interface object */
-    wbi::iWholeBodyModel* m_model; /**< Reference to the model object */
-
-    wbi::IDList *m_robotList; /**< Reference to the joint list object */
-    yarp::os::Property *m_configuration; /**< Reference to the configuration used to configure the interface */
-
-    bool m_initialized; /**< true if the interface has been initialized */
-    bool m_modelInitialized; /**< true if the model has been initialized */
-    bool m_configured; /**< true if the interface has been configured */
-    int m_dofs; /**< dofs modelled by the interface */
-
-    std::string m_wbiFilePath;
-    std::string m_wbiListName;
-
-    static unsigned s_referenceCount; /**< number of blocks currently initialized */
-    static unsigned s_modelReferenceCount; /**< number of model blocks currently initialized */
-
-public:
-    /**
-     * Returns the singleton instance to this object.
-     *
-     * This is the only way to obtain a reference to an instance of this class
-     * @return the singleton instance
-     */
-    static wbt::WBInterface& sharedInstance();
-
-    /**
-     * Returns the constant pointer to the whole body interface object
-     *
-     * @return the whole body interface object
-     */
-    wbi::wholeBodyInterface * const interface();
-
-    /**
-     * @return a weak pointer to the model;
-     */
-    wbi::iWholeBodyModel * const model();
-
-    /**
-     * @return the current configuration used for the interface and/or model
-     */
-    const yarp::os::Property * const currentConfiguration() const;
-
-    /**
-     * Returns the degrees of freedom associated with the interface object
-     *
-     * @return degrees of freedom of the WBI object
-     */
-    int numberOfDoFs() const;
-
-    /**
-     * Load the used wbi::IDList from the WBI configuration and the list parameter
-     *
-     * @param wbiConfigFile wbi configuration file
-     * @param list          either the name of joint list to be found in the wbi configuration file,
-     *                      or directly a list in the format (value1 value2 value3)
-     * @return true if loading the list was successful, false otherwise.
-     */
-     static bool wbdIDListFromConfigPropAndList(const yarp::os::Property & wbiConfigProp,
-                                                const std::string & list,
-                                                wbi::IDList & idList);
-
-    /**
-     * Returns the degrees of freedom for the specified configuration file and the list parameter
-     *
-     * @note this method also save the dofs in the internal state. It is thus possible to retrieve it
-     * by calling numberOfDofs.
-     * @todo: maybe we should transform this method into const?
-     * @param wbiConfigFile wbi configuration file
-     * @param list          either the name of joint list to be found in the wbi configuration file,
-     *                      or directly a list in the format (Value1 value2 value3)
-     *
-     * @return the degrees of freedom of the specified list
-     */
-    int dofsForConfigurationFileAndList(const std::string & wbiConfigFile, const std::string & list);
-
-    /**
-     * Configure the interface with the specified paramters.
-     *
-     * @Note: the interface is configured only once. Subsequent calls are ignored.
-     * Call clearConfiguration() to clear the configuration.
-     * @param robotName     name of the robot (The model will connect to port with this name as prefix).
-     *                      empty the one specified in the configuration file is taken
-     * @param localName     name of the model (ports will be open with this name)
-     * @param wbiConfigFile name of the wbi configuration file. The file will be looked for by using
-     *                      yarp::os::ResourceFinder policies
-     * @param list          either the name of joint list to be found in the wbi configuration file,
-     *                      or directly a list in the format (Value1 value2 value3)
-     * @param [out]error    Pointer to the error object to be filled in case of error.
-     *                      Check for NULL before using it
-     *
-     * @return true if configure is successful, false otherwise.
-     */
-    bool configure(const std::string &robotName,
-                   const std::string & localName,
-                   const std::string & wbiConfigFile,
-                   const std::string & list,
-                   wbt::Error *error);
-
-    /**
-     * Clear the current configuration, so that configure can be called again.
-     */
-    void clearConfiguration();
-
-    /**
-     * Initialize the whole body interface.
-     *
-     * This call has effect only the first time. Subsequent calls only increase the reference count
-     * @Note: Each initialize call should be matched by a subsequent call to terminate.
-     * @return: true if configure is successful, false otherwise.
-     */
-    bool initialize();
-
-    /**
-     * Initialize the model.
-     *
-     * This call has effect only the first time. Subsequent calls only increase the reference count
-     * @Note: Each initialize call should be matched by a subsequent call to terminateModel.
-     * @return: true if configure is successful, false otherwise.
-     */
-    bool initializeModel();
-
-    /**
-     * Release the resources associated with the whole body interface
-     *
-     * @Note: resources are released only if the call is made by the last object using the interface
-     * otherwise the reference count is decreased and no resources are relased.
-     * @return true if configure is successful, false otherwise.
-     */
-    bool terminate();
-
-    /**
-     * Release the resources associated with the model
-     *
-     * @Note: resources are released only if the call is made by the last object using the interface
-     * otherwise the reference count is decreased and no resources are relased.
-     * @return true if configure is successful, false otherwise.
-     */
-    bool terminateModel();
-
-    /**
-     * Returns true if the interface is initialized. False otherwise
-     *
-     * @return true if the interface is initialized, false otherwise
-     */
-    bool isInterfaceInitialized() const;
-
-    const wbi::IDList* wbiList() const;
-    const std::string& wbiFilePath() const;
-    const std::string& wbiListName() const;
-};
-
-#endif /* end of include guard: WBT_WBINTERFACE_H */
diff --git a/toolbox/src/base/ToolboxSingleton.cpp b/toolbox/src/base/ToolboxSingleton.cpp
new file mode 100644
index 000000000..a3d7981b5
--- /dev/null
+++ b/toolbox/src/base/ToolboxSingleton.cpp
@@ -0,0 +1,122 @@
+#include "ToolboxSingleton.h"
+
+#include "Log.h"
+#include "RobotInterface.h"
+#include <string>
+#include <iDynTree/KinDynComputations.h>
+#include <iDynTree/ModelIO/ModelLoader.h>
+#include <yarp/os/ResourceFinder.h>
+#include <yarp/os/Network.h>
+
+// TODO: remove nesting
+namespace wbt {
+
+    // CONSTRUCTOR / DESTRUCTOR
+    // ========================
+
+    ToolboxSingleton::ToolboxSingleton() {}
+    ToolboxSingleton::~ToolboxSingleton() {}
+
+    // UTILITIES
+    // =========
+
+    int ToolboxSingleton::numberOfDoFs(const std::string& confKey)
+    {
+        if (!isKeyValid(confKey))
+            return -1;
+        else
+            return m_interfaces[confKey]->getConfiguration().getNumberOfDoFs();
+    }
+
+    bool ToolboxSingleton::isKeyValid(const std::string& confKey)
+    {
+        if (m_interfaces.find(confKey) != m_interfaces.end()) {
+            if (m_interfaces[confKey])
+                return true;
+            else
+                return false;
+        }
+        else {
+            return false;
+        }
+    }
+
+    // GET METHODS
+    // ===========
+
+    ToolboxSingleton& ToolboxSingleton::sharedInstance()
+    {
+        static ToolboxSingleton instance;
+        return instance;
+    }
+
+    const Configuration& ToolboxSingleton::getConfiguration(const std::string& confKey)
+    {
+        return getRobotInterface(confKey)->getConfiguration();
+    }
+
+    const std::shared_ptr<RobotInterface> ToolboxSingleton::getRobotInterface(const std::string& confKey)
+    {
+        if (!isKeyValid(confKey)) {
+            return nullptr;
+        }
+
+        return m_interfaces[confKey];
+    }
+
+    const std::shared_ptr<iDynTree::KinDynComputations> ToolboxSingleton::getModel(const std::string& confKey)
+    {
+        if (!isKeyValid(confKey)) {
+            return nullptr;
+        }
+
+        return m_interfaces[confKey]->getKinDynComputations();
+    }
+
+    // TOOLBOXSINGLETON CONFIGURATION
+    // ==============================
+
+    bool ToolboxSingleton::storeConfiguration(const std::string& confKey, const Configuration& config)
+    {
+        if (!config.isValid()) {
+            return false;
+        }
+
+        // Add the new Configuration object and override an existing key if it already exist.
+        // Note: Simulink doesn't flush memory unless Matlab is closed, and static objects stay in memory.
+        //       This may cause problems if the config block's mask is changed after the first compilation.
+        if (m_interfaces.find(confKey) == m_interfaces.end()) {
+            m_interfaces[confKey] = std::make_shared<RobotInterface>(config);
+            return static_cast<bool>(m_interfaces[confKey]);
+        }
+
+        if (!(m_interfaces[confKey]->getConfiguration() == config)) {
+            assert(m_interfaces[confKey]);
+
+            // Check that at top there are 2 instances of the model:
+            // the private member of RobotInterface and the one returned
+            // by the model() called by the assert itself
+            assert(getModel(confKey).use_count() <= 2);
+            // TODO: and also m_robotDeviceCounter should be max 1
+            //
+            // TODO: domani: quando finisce la simulazione (terminate) dovrei avere
+            //       dentro tutti i Configuration al massimo 1 sia di model che di
+            //       device (e le interfacce tutte chiuse?)
+
+            // Delete the old configuration (calling the destructor for cleaning garbage)
+            m_interfaces[confKey].reset();
+            m_interfaces.erase(confKey);
+
+            // Allocate a new configuration
+            m_interfaces[confKey] = std::make_shared<RobotInterface>(config);
+            return static_cast<bool>(m_interfaces[confKey]);
+        }
+
+        return true;
+    }
+
+    void ToolboxSingleton::eraseConfiguration(const std::string& confKey)
+    {
+        m_interfaces.erase(confKey);
+    }
+}
diff --git a/toolbox/src/base/WBInterface.cpp b/toolbox/src/base/WBInterface.cpp
deleted file mode 100644
index befd4051d..000000000
--- a/toolbox/src/base/WBInterface.cpp
+++ /dev/null
@@ -1,318 +0,0 @@
-#include "WBInterface.h"
-
-#include "Error.h"
-#include <yarp/os/ResourceFinder.h>
-#include <yarpWholeBodyInterface/yarpWholeBodyInterface.h>
-
-namespace wbt {
-
-    unsigned WBInterface::s_referenceCount = 0;
-    unsigned WBInterface::s_modelReferenceCount = 0;
-
-    WBInterface::WBInterface()
-    : m_interface(0)
-    , m_model(0)
-    , m_robotList(0)
-    , m_configuration(0)
-    , m_initialized(false)
-    , m_modelInitialized(false)
-    , m_configured(false)
-    , m_dofs(-1) {}
-
-    WBInterface::WBInterface(const WBInterface&) {}
-    WBInterface::~WBInterface() {}
-    WBInterface& WBInterface::operator=(const wbt::WBInterface &) { return *this; }
-
-    WBInterface& WBInterface::sharedInstance()
-    {
-        static WBInterface instance;
-        return instance;
-        //TODO: check if the destructor get called at simulink exit
-    }
-
-    wbi::wholeBodyInterface * const WBInterface::interface() { return m_interface; }
-
-    wbi::iWholeBodyModel * const WBInterface::model()
-    {
-        if (!m_model)
-            return ((yarpWbi::yarpWholeBodyInterface*)m_interface)->wholeBodyModel();
-        return m_model;
-    }
-
-    const yarp::os::Property * const WBInterface::currentConfiguration() const
-    {
-        return m_configuration;
-    }
-
-
-    int WBInterface::numberOfDoFs() const { return m_dofs; }
-
-    bool WBInterface::wbdIDListFromConfigPropAndList(const yarp::os::Property& wbiConfigProp,
-                                                     const std::string& list, wbi::IDList& idList) {
-        // There are two ways of specifying the list throuth the mask parameter:
-        // either the specified parameter is a list (in the sense of YARP configuration file list,
-        // so something like (joint1,joint2,joint3) ) and it that case it is
-        // considered to by directly the list of joints to load, or otherwise
-        // the wbi list is just a string, and it is considered the name of the list
-        // in the yarpWholeBodyInterface.ini file
-
-        // Reset the idList
-        idList.removeAllIDs();
-
-        // Check if the list string is actually a list
-        yarp::os::Value listAsValue;
-        listAsValue.fromString(list.c_str());
-
-        if (listAsValue.isList()) {
-            // If the list param is a (YARP) list, load the IDList from it
-            for (int jnt = 0; jnt < listAsValue.asList()->size(); jnt++)
-            {
-                yarp::os::ConstString jntName = listAsValue.asList()->get(jnt).asString();
-                idList.addID(wbi::ID(jntName.c_str()));
-            }
-        } else {
-            // Otherwise consider the list to be a
-            if (!yarpWbi::loadIdListFromConfig(list, wbiConfigProp, idList)) {
-                return false;
-            }
-        }
-        return true;
-    }
-
-    int WBInterface::dofsForConfigurationFileAndList(const std::string & wbiConfigFile, const std::string & list)
-    {
-        using namespace yarp::os;
-
-        //Workaround for the fact that ResourceFinder initializes the network by itself. See YARP#1014
-        Network network;
-
-        ResourceFinder &resourceFinder = ResourceFinder::getResourceFinderSingleton();
-        resourceFinder.configure(0, 0);
-
-        Property configurations;
-        //loading defaults from configuration file
-        if (!configurations.fromConfigFile(resourceFinder.findFile(wbiConfigFile))) {
-            return -1;
-        }
-
-        wbi::IDList jointList;
-        //parse the file to get the joint list
-        if (!WBInterface::wbdIDListFromConfigPropAndList(configurations,list,jointList)) {
-            return -2;
-        }
-
-        m_dofs = jointList.size();
-
-        return m_dofs;
-    }
-
-    bool WBInterface::configure(const std::string &robotName,
-                   const std::string & localName,
-                   const std::string & wbiConfigFile,
-                   const std::string & list,
-                   wbt::Error *error)
-    {
-        if (m_configured) return true;
-
-        using namespace yarp::os;
-
-        //Workaround for the fact that ResourceFinder initializes the network by itself. See YARP#1014
-        Network network;
-        ResourceFinder &resourceFinder = ResourceFinder::getResourceFinderSingleton();
-        resourceFinder.configure(0, 0);
-
-        //parameters needed by this block:
-        // - YARP_ROBOT_NAME: needed by resource finder for resource lookup (for now it is taken by the environment)
-        // - robot: robot port. If defined overrides the one specified by wbi file
-        // - moduleName: local (opened) ports.
-        // - wbi config file name (default: yarpWholeBodyInterface.ini): specifies the wbi config file
-        // - wbi list (default ROBOT_TORQUE_CONTROL_JOINTS): specifies the WBI list.
-        //            If it is a list [of style: (value1 value2 value3)] it specifies directly the list of joints to control,
-        //            otherwise its value specifies the name of list present the wbi config file.
-
-        if (m_configuration) {
-            delete m_configuration;
-            m_configuration = 0;
-        }
-        m_configuration = new Property();
-        //loading defaults
-        m_wbiFilePath = resourceFinder.findFile(wbiConfigFile);
-        if (!m_configuration->fromConfigFile(m_wbiFilePath)) {
-            if (error) error->message = "Could not load the WBI configuration file";
-            return false;
-        }
-
-        //overwriting values
-        if (!robotName.empty())
-            m_configuration->put("robot", robotName);
-
-        m_configuration->put("localName", localName);
-
-        //loading joint list
-        if (m_robotList) {
-            delete m_robotList;
-            m_robotList = 0;
-        }
-
-        m_robotList = new wbi::IDList();
-
-        if (!WBInterface::wbdIDListFromConfigPropAndList(*m_configuration,list,*m_robotList)) {
-            if(error) error->message = "Could not load the specified WBI list (list param: " + list + " )";
-            Network::fini();
-            return false;
-        }
-        m_wbiListName = list;
-
-        m_dofs = m_robotList->size();
-
-        m_configured = true;
-
-        return true;
-    }
-
-    void WBInterface::clearConfiguration()
-    {
-        m_configured = false;
-        if (m_robotList) {
-            delete m_robotList;
-            m_robotList = 0;
-        }
-        if (m_configuration) {
-            delete m_configuration;
-            m_configuration = 0;
-        }
-    }
-
-    bool WBInterface::initialize()
-    {
-        if (m_initialized) {
-            s_referenceCount++;
-            return true;
-        }
-
-        if (!m_configuration || !m_robotList) return false;
-
-        if (m_interface) {
-            m_interface->close();
-            delete m_interface;
-            m_interface = 0;
-        }
-
-        m_interface = new yarpWbi::yarpWholeBodyInterface(m_configuration->find("localName").toString().c_str(), *m_configuration);
-        if (!m_interface) return false;
-
-        s_referenceCount = 1;
-
-        if (!m_interface->addJoints(*m_robotList)) {
-            terminate();
-            return false;
-        }
-
-        if (!m_interface->init()) {
-            terminate();
-            return false;
-        }
-
-        m_initialized = true;
-        return true;
-    }
-
-    bool WBInterface::initializeModel()
-    {
-        if (m_modelInitialized) {
-            s_modelReferenceCount++;
-            return true;
-        }
-
-        if (!m_configuration || !m_robotList) return false;
-
-        if (m_model) {
-            m_model->close();
-            delete m_model;
-            m_model = 0;
-        }
-
-        m_model = new yarpWbi::yarpWholeBodyModel(m_configuration->find("localName").toString().c_str(), *m_configuration);
-        if (!m_model) return false;
-
-        s_modelReferenceCount = 1;
-
-        if (!m_model->addJoints(*m_robotList)) {
-            terminateModel();
-            return false;
-        }
-
-        if (!m_model->init()) {
-            terminateModel();
-            return false;
-        }
-
-        m_modelInitialized = true;
-        return true;
-    }
-
-    bool WBInterface::terminate()
-    {
-        if (s_referenceCount > 1) {
-            s_referenceCount--;
-            return true;
-        }
-
-        bool result = true;
-        if (m_interface) {
-            result = m_interface->close();
-            if (result) {
-                delete m_interface;
-                m_interface = 0;
-            }
-        }
-
-        //clean also configuration if also model has been removed
-        if (!m_modelInitialized) clearConfiguration();
-        m_initialized = false;
-        s_referenceCount = 0;
-        return result;
-    }
-
-    bool WBInterface::terminateModel()
-    {
-        if (s_modelReferenceCount > 1) {
-            s_modelReferenceCount--;
-            return true;
-        }
-
-        bool result = true;
-        if (m_model) {
-            result = m_model->close();
-            if (result) {
-                delete m_model;
-                m_model = 0;
-            }
-        }
-
-        //clean also configuration if also interface has been removed
-        if (!m_initialized) clearConfiguration();
-        m_modelInitialized = false;
-        s_modelReferenceCount = 0;
-        return result;
-    }
-
-    bool WBInterface::isInterfaceInitialized() const { return m_initialized; }
-
-    const wbi::IDList* WBInterface::wbiList() const
-    {
-        if (m_robotList)
-            return m_robotList;
-        return NULL;
-    }
-
-    const std::string& WBInterface::wbiFilePath() const
-    {
-        return m_wbiFilePath;
-    }
-
-    const std::string& WBInterface::wbiListName() const
-    {
-        return m_wbiListName;
-    }
-}

From 42a06f4546a9411de615eb96f5cdc71dfadcf7cc Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:14:11 +0000
Subject: [PATCH 16/89] CentroidalMomentum refactored

---
 toolbox/include/CentroidalMomentum.h |  37 +++--
 toolbox/src/CentroidalMomentum.cpp   | 237 ++++++++++++++-------------
 2 files changed, 142 insertions(+), 132 deletions(-)

diff --git a/toolbox/include/CentroidalMomentum.h b/toolbox/include/CentroidalMomentum.h
index c4c5c121d..d3abb34bb 100644
--- a/toolbox/include/CentroidalMomentum.h
+++ b/toolbox/include/CentroidalMomentum.h
@@ -1,35 +1,36 @@
 #ifndef WBT_CENTROIDALMOMENTUM_H
 #define WBT_CENTROIDALMOMENTUM_H
 
-#include "WBIModelBlock.h"
+#include "WBBlock.h"
 
 namespace wbt {
     class CentroidalMomentum;
 }
 
-class wbt::CentroidalMomentum : public wbt::WBIModelBlock {
+namespace iDynTree {
+    class SpatialMomentum;
+}
 
-    double *m_basePose;
-    double *m_centroidalMomentum;
+class wbt::CentroidalMomentum : public wbt::WBBlock
+{
+private:
+    iDynTree::SpatialMomentum* m_centroidalMomentum;
 
-    //input buffers
-    double *m_basePoseRaw;
-    double *m_configuration;
-    double *m_baseVelocity;
-    double *m_jointsVelocity;
+    static const unsigned INPUT_IDX_BASE_POSE;
+    static const unsigned INPUT_IDX_JOINTCONF;
+    static const unsigned INPUT_IDX_BASE_VEL;
+    static const unsigned INPUT_IDX_JOINT_VEL;
+    static const unsigned OUTPUT_IDX_CENTRMOM;
 
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
     CentroidalMomentum();
 
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
-    
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-#endif /* end of include guard: WBT_CENTROIDALMOMENTUM_H */
+#endif /* WBT_CENTROIDALMOMENTUM_H */
diff --git a/toolbox/src/CentroidalMomentum.cpp b/toolbox/src/CentroidalMomentum.cpp
index 35a707f68..ca93b9308 100644
--- a/toolbox/src/CentroidalMomentum.cpp
+++ b/toolbox/src/CentroidalMomentum.cpp
@@ -2,158 +2,167 @@
 
 #include "BlockInformation.h"
 #include "Signal.h"
-#include "Error.h"
-#include "WBInterface.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "Log.h"
+#include "RobotInterface.h"
+#include <memory>
+#include <iDynTree/Core/SpatialMomentum.h>
+#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
 namespace wbt {
 
-    std::string CentroidalMomentum::ClassName = "CentroidalMomentum";
+    const std::string CentroidalMomentum::ClassName = "CentroidalMomentum";
+
+    const unsigned CentroidalMomentum::INPUT_IDX_BASE_POSE = 0;
+    const unsigned CentroidalMomentum::INPUT_IDX_JOINTCONF = 1;
+    const unsigned CentroidalMomentum::INPUT_IDX_BASE_VEL  = 2;
+    const unsigned CentroidalMomentum::INPUT_IDX_JOINT_VEL = 3;
+    const unsigned CentroidalMomentum::OUTPUT_IDX_CENTRMOM = 0;
 
     CentroidalMomentum::CentroidalMomentum()
-    : m_basePose(0)
-    , m_centroidalMomentum(0)
-    , m_basePoseRaw(0)
-    , m_configuration(0)
-    , m_baseVelocity(0)
-    , m_jointsVelocity(0) {}
-
-    bool CentroidalMomentum::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    : m_centroidalMomentum(nullptr)
+    {}
+
+    bool CentroidalMomentum::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        // Memory allocation / Saving data not allowed here
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // Specify I/O
-        // Input ports:
-        // - 4x4 matrix (homogenous transformation for the base pose w.r.t. world)
-        // - DoFs vector for the robot (joints) configurations
+        // INPUTS
+        // ======
+        //
+        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+        // 2) Joints position (1xDoFs vector)
+        // 3) Base frame velocity (1x6 vector)
+        // 4) Joints velocity (1xDoFs vector)
+        //
 
+        // Number of inputs
         if (!blockInfo->setNumberOfInputPorts(4)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
-        bool success = true;
 
-        success = success && blockInfo->setInputPortMatrixSize(0, 4, 4); //base pose
-        success = success && blockInfo->setInputPortVectorSize(1, dofs); //joint configuration
-        success = success && blockInfo->setInputPortVectorSize(2, 6); //base velocity
-        success = success && blockInfo->setInputPortVectorSize(3, dofs); //joints velocitity
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-        blockInfo->setInputPortType(1, PortDataTypeDouble);
-        blockInfo->setInputPortType(2, PortDataTypeDouble);
-        blockInfo->setInputPortType(3, PortDataTypeDouble);
+        // Size and type
+        bool success = true;
+        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL, 6);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
+
+        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        // - 6 vector representing the centroidal momentum
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) Vector representing the centroidal momentum (1x6)
+        //
+
+        // Number of outputs
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        success = blockInfo->setOutputPortVectorSize(0, 6);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        // Size and type
+        success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_CENTRMOM, 6);
+        blockInfo->setOutputPortType(OUTPUT_IDX_CENTRMOM, PortDataTypeDouble);
 
         return success;
     }
 
-    bool CentroidalMomentum::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool CentroidalMomentum::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
-
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_basePose = new double[16];
-        m_centroidalMomentum = new double[6];
-        m_basePoseRaw = new double[16];
-        m_configuration = new double[dofs];
-        m_baseVelocity = new double[6];
-        m_jointsVelocity = new double[dofs];
-
-        return m_basePose && m_centroidalMomentum && m_basePoseRaw && m_configuration && m_baseVelocity && m_jointsVelocity;
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        // OUTPUT
+        // ======
+
+        m_centroidalMomentum = new iDynTree::SpatialMomentum();
+        return m_centroidalMomentum;
     }
 
-    bool CentroidalMomentum::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool CentroidalMomentum::terminate(BlockInformation* blockInfo)
     {
-        if (m_basePose) {
-            delete [] m_basePose;
-            m_basePose = 0;
-        }
         if (m_centroidalMomentum) {
-            delete [] m_centroidalMomentum;
+            delete m_centroidalMomentum;
             m_centroidalMomentum = 0;
         }
-        if (m_basePoseRaw) {
-            delete [] m_basePoseRaw;
-            m_basePoseRaw = 0;
-        }
-        if (m_configuration) {
-            delete [] m_configuration;
-            m_configuration = 0;
-        }
-        if (m_baseVelocity) {
-            delete [] m_baseVelocity;
-            m_baseVelocity = 0;
-        }
-        if (m_jointsVelocity) {
-            delete [] m_jointsVelocity;
-            m_jointsVelocity = 0;
-        }
 
-        return WBIModelBlock::terminate(blockInfo, error);
+        return WBBlock::terminate(blockInfo);
     }
 
-    bool CentroidalMomentum::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool CentroidalMomentum::output(BlockInformation* blockInfo)
     {
-        //get input
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (interface) {
-            Signal basePoseRaw = blockInfo->getInputPortSignal(0);
-            Signal configuration = blockInfo->getInputPortSignal(1);
-            Signal baseVelocity = blockInfo->getInputPortSignal(2);
-            Signal jointsVelocity = blockInfo->getInputPortSignal(3);
-
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-                m_basePoseRaw[i] = basePoseRaw.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(1); ++i) {
-                m_configuration[i] = configuration.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(2); ++i) {
-                m_baseVelocity[i] = baseVelocity.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(3); ++i) {
-                m_jointsVelocity[i] = jointsVelocity.get(i).doubleData();
-            }
-
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > basePoseColMajor(m_basePoseRaw);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > basePose(m_basePose);
-            basePose = basePoseColMajor;
-
-            wbi::Frame frame;
-            wbi::frameFromSerialization(basePose.data(), frame);
-
-            interface->computeCentroidalMomentum(m_configuration,
-                                                 frame,
-                                                 m_jointsVelocity,
-                                                 m_baseVelocity,
-                                                 m_centroidalMomentum);
-
-            Signal output = blockInfo->getOutputPortSignal(0);
-            output.setBuffer(m_centroidalMomentum, blockInfo->getOutputPortWidth(0));
-
-            return true;
+        using namespace iDynTree;
+        using namespace Eigen;
+        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+
+        if (!model) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
         }
-        return false;
+
+        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+        // ====================================================
+
+        unsigned signalWidth;
+
+        // Base pose
+        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+        fromEigen(robotState.m_world_T_base,
+                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+        // Joints position
+        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+        // Base velocity
+        Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
+        double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
+        robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
+                                     AngVelocity(m_baseVelocityBuffer+3, 3));
+
+        // Joints velocity
+        Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
+        robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+        // UPDATE THE ROBOT STATUS
+        // =======================
+        model->setRobotState(robotState.m_world_T_base,
+                             robotState.m_jointsPosition,
+                             robotState.m_baseVelocity,
+                             robotState.m_jointsVelocity,
+                             robotState.m_gravity);
+
+        // OUTPUT
+        // ======
+
+        // Calculate the centroidal momentum
+        *m_centroidalMomentum = model->getCentroidalTotalMomentum();
+
+        // Forward the output to Simulink
+        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_CENTRMOM);
+        output.setBuffer(toEigen(*m_centroidalMomentum).data(),
+                         blockInfo->getOutputPortWidth(OUTPUT_IDX_CENTRMOM));
+        return true;
     }
 }

From aab17af561e3022a1ea6c0ada7bfd5305425af10 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:15:08 +0000
Subject: [PATCH 17/89] DotJNu refactored

---
 toolbox/include/DotJNu.h |  44 ++++---
 toolbox/src/DotJNu.cpp   | 278 ++++++++++++++++++++++-----------------
 2 files changed, 177 insertions(+), 145 deletions(-)

diff --git a/toolbox/include/DotJNu.h b/toolbox/include/DotJNu.h
index 343b8b15c..d844bb510 100644
--- a/toolbox/include/DotJNu.h
+++ b/toolbox/include/DotJNu.h
@@ -1,38 +1,40 @@
 #ifndef WBT_DOTJDOTQ_H
 #define WBT_DOTJDOTQ_H
 
-#include "WBIModelBlock.h"
+#include "WBBlock.h"
+#include <iDynTree/Model/Indices.h>
+#include <iDynTree/Core/VectorFixSize.h>
 
 namespace wbt {
     class DotJNu;
 }
 
-class wbt::DotJNu : public wbt::WBIModelBlock {
+class wbt::DotJNu : public wbt::WBBlock
+{
+private:
+    // Output
+    iDynTree::Vector6* m_dotJNu;
 
-    double *m_basePose;
-    double *m_dotJNu;
+    // Other variables
+    bool m_frameIsCoM;
+    iDynTree::FrameIndex m_frameIndex;
 
-    //input buffers
-    double *m_basePoseRaw;
-    double *m_configuration;
-    double *m_baseVelocity;
-    double *m_jointsVelocity;
-
-    int m_frameIndex;
+    static const unsigned INPUT_IDX_BASE_POSE;
+    static const unsigned INPUT_IDX_JOINTCONF;
+    static const unsigned INPUT_IDX_BASE_VEL;
+    static const unsigned INPUT_IDX_JOINT_VEL;
+    static const unsigned OUTPUT_IDX_DOTJ_NU;
 
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
     DotJNu();
 
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
-    
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-#endif /* end of include guard: WBT_DOTJDOTQ_H */
+#endif /* WBT_DOTJDOTQ_H */
diff --git a/toolbox/src/DotJNu.cpp b/toolbox/src/DotJNu.cpp
index 1dfaef8e8..db9264ab2 100644
--- a/toolbox/src/DotJNu.cpp
+++ b/toolbox/src/DotJNu.cpp
@@ -1,186 +1,216 @@
 #include "DotJNu.h"
 
-#include "Error.h"
-#include "WBInterface.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "RobotInterface.h"
+#include <memory>
+#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
 namespace wbt {
 
-    std::string DotJNu::ClassName = "DotJNu";
+    const std::string DotJNu::ClassName = "DotJNu";
+
+    const unsigned DotJNu::INPUT_IDX_BASE_POSE = 0;
+    const unsigned DotJNu::INPUT_IDX_JOINTCONF = 1;
+    const unsigned DotJNu::INPUT_IDX_BASE_VEL  = 2;
+    const unsigned DotJNu::INPUT_IDX_JOINT_VEL = 3;
+    const unsigned DotJNu::OUTPUT_IDX_DOTJ_NU  = 0;
 
     DotJNu::DotJNu()
-    : m_basePose(0)
-    , m_dotJNu(0)
-    , m_basePoseRaw(0)
-    , m_configuration(0)
-    , m_baseVelocity(0)
-    , m_jointsVelocity(0)
-    , m_frameIndex(-1) {}
+    : m_dotJNu(nullptr)
+    , m_frameIsCoM(false)
+    , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
+    {}
 
     unsigned DotJNu::numberOfParameters()
     {
-        return WBIBlock::numberOfParameters() + 1;
+        return WBBlock::numberOfParameters() + 1;
     }
 
-    bool DotJNu::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool DotJNu::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        // Memory allocation / Saving data not allowed here
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // Specify I/O
-        // Input ports:
-        // - 4x4 matrix (homogenous transformation for the base pose w.r.t. world)
-        // - DoFs vector for the robot (joints) configurations
+        // INPUTS
+        // ======
+        //
+        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+        // 2) Joints position (1xDoFs vector)
+        // 3) Base frame velocity (1x6 vector)
+        // 4) Joints velocity (1xDoFs vector)
+        //
 
+        // Number of inputs
         if (!blockInfo->setNumberOfInputPorts(4)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
-        bool success = true;
 
-        success = success && blockInfo->setInputPortMatrixSize(0, 4, 4); //base pose
-        success = success && blockInfo->setInputPortVectorSize(1, dofs); //joint configuration
-        success = success && blockInfo->setInputPortVectorSize(2, 6); //base velocity
-        success = success && blockInfo->setInputPortVectorSize(3, dofs); //joints velocitity
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-        blockInfo->setInputPortType(1, PortDataTypeDouble);
-        blockInfo->setInputPortType(2, PortDataTypeDouble);
-        blockInfo->setInputPortType(3, PortDataTypeDouble);
+        // Size and type
+        bool success = true;
+        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL,  6);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
+
+        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        // - 6-d vector representing the \dot{J} \dot{q} vector
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) Vector representing the \dot{J} \nu vector (1x6)
+        //
+
+        // Number of outputs
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        success = blockInfo->setOutputPortVectorSize(0, 6);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        // Size and type
+        success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_DOTJ_NU, 6);
+        blockInfo->setOutputPortType(OUTPUT_IDX_DOTJ_NU, PortDataTypeDouble);
 
         return success;
     }
 
-    bool DotJNu::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool DotJNu::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        // INPUT PARAMETERS
+        // ================
 
-        int parentParameters = WBIBlock::numberOfParameters() + 1;
         std::string frame;
-        if (!blockInfo->getStringParameterAtIndex(parentParameters, frame)) {
-            if (error) error->message = "Cannot retrieve string from frame parameter";
+        int parentParameters = WBBlock::numberOfParameters();
+
+        if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
+            Log::getSingleton().error("Cannot retrieve string from frame parameter.");
             return false;
         }
-        //here obtain joint list and get the frame
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (!interface) {
-            if (error) error->message = "Cannot retrieve handle to WBI interface";
+
+        // Check if the frame is valid
+        // ---------------------------
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+        if (!model) {
+            Log::getSingleton().error("Cannot retrieve handle to KinDynComputations.");
             return false;
         }
-        wbi::IDList frames =  interface->getFrameList();
+
         if (frame != "com") {
-            if (!frames.idToIndex(wbi::ID(frame), m_frameIndex)) {
-                if (error) error->message = "Cannot find " + frame + " in the frame list";
+            m_frameIndex = model->getFrameIndex(frame);
+            if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
+                Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
                 return false;
             }
-        } else {
-            m_frameIndex = wbi::wholeBodyInterface::COM_LINK_ID;
         }
-        
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_basePose = new double[16];
-        m_dotJNu = new double[6];
-        m_basePoseRaw = new double[16];
-        m_configuration = new double[dofs];
-        m_baseVelocity = new double[6];
-        m_jointsVelocity = new double[dofs];
-
-        return m_basePose && m_dotJNu && m_basePoseRaw && m_configuration && m_baseVelocity && m_jointsVelocity;
+        else {
+            m_frameIsCoM = true;
+            m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
+        }
+
+        // OUTPUT
+        // ======
+        m_dotJNu = new iDynTree::Vector6();
+        m_dotJNu->zero();
+
+        return m_dotJNu;
     }
 
-    bool DotJNu::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool DotJNu::terminate(BlockInformation* blockInfo)
     {
-        if (m_basePose) {
-            delete [] m_basePose;
-            m_basePose = 0;
-        }
+        // Output
         if (m_dotJNu) {
-            delete [] m_dotJNu;
+            delete m_dotJNu;
             m_dotJNu = 0;
         }
-        if (m_basePoseRaw) {
-            delete [] m_basePoseRaw;
-            m_basePoseRaw = 0;
-        }
-        if (m_configuration) {
-            delete [] m_configuration;
-            m_configuration = 0;
-        }
-        if (m_baseVelocity) {
-            delete [] m_baseVelocity;
-            m_baseVelocity = 0;
-        }
-        if (m_jointsVelocity) {
-            delete [] m_jointsVelocity;
-            m_jointsVelocity = 0;
-        }
-        return WBIModelBlock::terminate(blockInfo, error);
+
+        return WBBlock::terminate(blockInfo);
     }
 
-    bool DotJNu::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool DotJNu::output(BlockInformation* blockInfo)
     {
-        //get input
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (interface) {
-            Signal basePoseRaw = blockInfo->getInputPortSignal(0);
-            Signal configuration = blockInfo->getInputPortSignal(1);
-            Signal baseVelocity = blockInfo->getInputPortSignal(2);
-            Signal jointsVelocity = blockInfo->getInputPortSignal(3);
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-                m_basePoseRaw[i] = basePoseRaw.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(1); ++i) {
-                m_configuration[i] = configuration.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(2); ++i) {
-                m_baseVelocity[i] = baseVelocity.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(3); ++i) {
-                m_jointsVelocity[i] = jointsVelocity.get(i).doubleData();
-            }
-
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > basePoseColMajor(m_basePoseRaw);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > basePose(m_basePose);
-            basePose = basePoseColMajor;
+        using namespace iDynTree;
+        using namespace Eigen;
+        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
 
-            wbi::Frame frame;
-            wbi::frameFromSerialization(basePose.data(), frame);
+        const auto& model = getRobotInterface()->getKinDynComputations();
 
-            interface->computeDJdq(m_configuration,
-                                   frame,
-                                   m_jointsVelocity,
-                                   m_baseVelocity,
-                                   m_frameIndex,
-                                   m_dotJNu);
-
-            Signal output = blockInfo->getOutputPortSignal(0);
-            output.setBuffer(m_dotJNu, blockInfo->getOutputPortWidth(0));
+        if (!model) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
+        }
 
-            return true;
+        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+        // ====================================================
+
+        unsigned signalWidth;
+
+        // Base pose
+        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+        fromEigen(robotState.m_world_T_base,
+                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+        // Joints position
+        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+        // Base velocity
+        Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
+        double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
+        robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
+                                      AngVelocity(m_baseVelocityBuffer+3, 3));
+
+        // Joints velocity
+        Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
+        robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+        // UPDATE THE ROBOT STATUS
+        // =======================
+        model->setRobotState(robotState.m_world_T_base,
+                             robotState.m_jointsPosition,
+                             robotState.m_baseVelocity,
+                             robotState.m_jointsVelocity,
+                             robotState.m_gravity);
+
+        // OUTPUT
+        // ======
+
+        // Compute the dot{J}*\nu
+        Vector6 biasAcc;
+        if (!m_frameIsCoM) {
+            biasAcc = model->getFrameBiasAcc(m_frameIndex);
+        }
+        else {
+            Vector3 comBiasAcc = model->getCenterOfMassBiasAcc();
+            toEigen(biasAcc).segment<3>(0) = iDynTree::toEigen(comBiasAcc);
+            toEigen(biasAcc).segment<3>(3).setZero();
         }
-        return false;
+
+        // Forward the output to Simulink
+        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_DOTJ_NU);
+        output.setBuffer(m_dotJNu->data(),
+                         blockInfo->getOutputPortWidth(OUTPUT_IDX_DOTJ_NU));
+        return true;
     }
 }

From 2881b1b08176df3e8cae95773bfeeefafdf78a3a Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:16:12 +0000
Subject: [PATCH 18/89] ForwardKinematics refactored

---
 toolbox/include/ForwardKinematics.h |  37 +++--
 toolbox/src/ForwardKinematics.cpp   | 228 ++++++++++++++++------------
 2 files changed, 147 insertions(+), 118 deletions(-)

diff --git a/toolbox/include/ForwardKinematics.h b/toolbox/include/ForwardKinematics.h
index 6ed0e5bf9..147f2c7b4 100644
--- a/toolbox/include/ForwardKinematics.h
+++ b/toolbox/include/ForwardKinematics.h
@@ -1,36 +1,33 @@
 #ifndef WBT_FORWARDKINEMATICS_H
 #define WBT_FORWARDKINEMATICS_H
 
-#include "WBIModelBlock.h"
+#include "WBBlock.h"
+#include <iDynTree/Model/Indices.h>
 
 namespace wbt {
     class ForwardKinematics;
 }
 
-class wbt::ForwardKinematics : public wbt::WBIModelBlock {
+class wbt::ForwardKinematics : public wbt::WBBlock
+{
+private:
+    bool m_frameIsCoM;
+    iDynTree::FrameIndex m_frameIndex;
 
-    double *m_basePose;
-    double *m_frameForwardKinematics;
-
-    //input buffers
-    double *m_basePoseRaw;
-    double *m_configuration;
-
-    int m_frameIndex;
+    static const unsigned INPUT_IDX_BASE_POSE;
+    static const unsigned INPUT_IDX_JOINTCONF;
+    static const unsigned OUTPUT_IDX_FW_FRAME;
 
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
     ForwardKinematics();
 
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-#endif /* end of include guard: WBT_FORWARDKINEMATICS_H */
+#endif /* WBT_FORWARDKINEMATICS_H */
diff --git a/toolbox/src/ForwardKinematics.cpp b/toolbox/src/ForwardKinematics.cpp
index 81f7dee14..052713745 100644
--- a/toolbox/src/ForwardKinematics.cpp
+++ b/toolbox/src/ForwardKinematics.cpp
@@ -2,160 +2,192 @@
 
 #include "BlockInformation.h"
 #include "Signal.h"
-#include "Error.h"
-#include "WBInterface.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "Log.h"
+#include "RobotInterface.h"
+#include <memory>
+#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
 namespace wbt {
 
-    std::string ForwardKinematics::ClassName = "ForwardKinematics";
+    const std::string ForwardKinematics::ClassName = "ForwardKinematics";
+
+    const unsigned ForwardKinematics::INPUT_IDX_BASE_POSE = 0;
+    const unsigned ForwardKinematics::INPUT_IDX_JOINTCONF = 1;
+    const unsigned ForwardKinematics::OUTPUT_IDX_FW_FRAME = 0;
 
     ForwardKinematics::ForwardKinematics()
-    : m_basePose(0)
-    , m_frameForwardKinematics(0)
-    , m_basePoseRaw(0)
-    , m_configuration(0)
-    , m_frameIndex(-1) {}
+    : m_frameIsCoM(false)
+    , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
+    {}
 
     unsigned ForwardKinematics::numberOfParameters()
     {
-        return WBIBlock::numberOfParameters() + 1;
+        return WBBlock::numberOfParameters() + 1;
     }
 
-    bool ForwardKinematics::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool ForwardKinematics::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        // Memory allocation / Saving data not allowed here
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // Specify I/O
-        // Input ports:
-        // - 4x4 matrix (homogenous transformation for the base pose w.r.t. world)
-        // - DoFs vector for the robot (joints) configurations
+        // INPUTS
+        // ======
+        //
+        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+        // 2) Joints position (1xDoFs vector)
+        //
 
+        // Number of inputs
         if (!blockInfo->setNumberOfInputPorts(2)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
+
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        // Size and type
         bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(0, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(1, dofs);
+        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
 
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-        blockInfo->setInputPortType(1, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        // - (4)x(4) matrix representing the homogenous transformation between the specified frame and the world frame
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) Homogeneous transformation between the world and the specified frame (4x4 matrix)
+        //
+
+        // Number of outputs
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        success = blockInfo->setOutputPortMatrixSize(0, 4, 4);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        // Size and type
+        success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_FW_FRAME, 4, 4);
+        blockInfo->setOutputPortType(OUTPUT_IDX_FW_FRAME, PortDataTypeDouble);
 
         return success;
     }
 
-    bool ForwardKinematics::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool ForwardKinematics::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        // INPUT PARAMETERS
+        // ================
 
-        int parentParameters = WBIBlock::numberOfParameters() + 1;
         std::string frame;
-        if (!blockInfo->getStringParameterAtIndex(parentParameters, frame)) {
-            if (error) error->message = "Cannot retrieve string from frame parameter";
+        int parentParameters = WBBlock::numberOfParameters();
+
+        if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
+            Log::getSingleton().error("Cannot retrieve string from frame parameter.");
             return false;
         }
 
-        //here obtain joint list and get the frame
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (!interface) {
-            if (error) error->message = "Cannot retrieve handle to WBI interface";
+        // Check if the frame is valid
+        // ---------------------------
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+        if (!model) {
+            Log::getSingleton().error("Cannot retrieve handle to WBI model.");
             return false;
         }
-        wbi::IDList frames =  interface->getFrameList();
+
         if (frame != "com") {
-            if (!frames.idToIndex(wbi::ID(frame), m_frameIndex)) {
-                if (error) error->message = "Cannot find " + frame + " in the frame list";
+            m_frameIndex = model->getFrameIndex(frame);
+            if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
+                Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
                 return false;
             }
-        } else {
-            m_frameIndex = wbi::wholeBodyInterface::COM_LINK_ID;
+        }
+        else {
+            m_frameIsCoM = true;
+            m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
         }
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_basePose = new double[16];
-        m_frameForwardKinematics = new double[4 * 4];
-        m_basePoseRaw = new double[16];
-        m_configuration = new double[dofs];
-
-        return m_basePose && m_frameForwardKinematics && m_basePoseRaw && m_configuration;
+        return true;
     }
 
-    bool ForwardKinematics::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool ForwardKinematics::terminate(BlockInformation* blockInfo)
     {
-        if (m_basePose) {
-            delete [] m_basePose;
-            m_basePose = 0;
-        }
-        if (m_frameForwardKinematics) {
-            delete [] m_frameForwardKinematics;
-            m_frameForwardKinematics = 0;
-        }
-        if (m_basePoseRaw) {
-            delete [] m_basePoseRaw;
-            m_basePoseRaw = 0;
-        }
-        if (m_configuration) {
-            delete [] m_configuration;
-            m_configuration = 0;
-        }
-        return WBIModelBlock::terminate(blockInfo, error);
+        return WBBlock::terminate(blockInfo);
     }
 
-    bool ForwardKinematics::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool ForwardKinematics::output(BlockInformation* blockInfo)
     {
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (interface) {
-            Signal basePoseRaw = blockInfo->getInputPortSignal(0);
-            Signal configuration = blockInfo->getInputPortSignal(1)
-            ;
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-                m_basePoseRaw[i] = basePoseRaw.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(1); ++i) {
-                m_configuration[i] = configuration.get(i).doubleData();
-            }
+        using namespace iDynTree;
+        using namespace Eigen;
+        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+        typedef Matrix<double, 4, 4, Eigen::RowMajor> Matrix4diDynTree;
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+
+        if (!model) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
+        }
+
+        // Get the signals and convert them to iDynTree objects
+        // ====================================================
 
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > basePoseColMajor(m_basePoseRaw);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > basePose(m_basePose);
-            basePose = basePoseColMajor;
+        unsigned signalWidth;
 
-            wbi::Frame frame;
-            wbi::frameFromSerialization(basePose.data(), frame);
+        // Base pose
+        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+        fromEigen(robotState.m_world_T_base,
+                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
 
-            wbi::Frame outputFrame;
-            interface->computeH(m_configuration, frame, m_frameIndex, outputFrame);
-            outputFrame.get4x4Matrix(m_frameForwardKinematics);
+        // Joints position
+        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
 
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > frameRowMajor(m_frameForwardKinematics);
+        // TODO: the other 3 inputs are taken from the previous block's setRobotState().
+        //       How to handle it? What happens if a nullptr is passed?
 
-            Signal output = blockInfo->getOutputPortSignal(0);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > frameColMajor((double*)output.getContiguousBuffer(), 4, 4);
-            frameColMajor = frameRowMajor;
-            return true;
+        // Update the robot status
+        // =======================
+        model->setRobotState(robotState.m_world_T_base,
+                             robotState.m_jointsPosition,
+                             robotState.m_baseVelocity,
+                             robotState.m_jointsVelocity,
+                             robotState.m_gravity);
+
+        // Output
+        // ======
+
+        iDynTree::Transform world_H_frame;
+
+        // Compute the transform to the selected frame
+        if (!m_frameIsCoM) {
+            world_H_frame = model->getWorldTransform(m_frameIndex);
+        }
+        else {
+            world_H_frame.setPosition(model->getCenterOfMassPosition());
         }
-        return false;
+
+        // Get the output signal memory location
+        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_FW_FRAME);
+
+        // Allocate objects for row-major -> col-major conversion
+        Map<const Matrix4diDynTree> world_H_frame_RowMajor = toEigen(world_H_frame.asHomogeneousTransform());
+        Map<Matrix4dSimulink> world_H_frame_ColMajor((double*)output.getContiguousBuffer(),
+                               4, 4);
+
+        // Forward the buffer to Simulink transforming it to ColMajor
+        world_H_frame_ColMajor = world_H_frame_RowMajor;
+        return true;
     }
 }

From 881f382909b74732c819d136d2105446ee6940e2 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:17:50 +0000
Subject: [PATCH 19/89] GetLimits refactored

---
 toolbox/include/GetLimits.h |  41 ++++---
 toolbox/src/GetLimits.cpp   | 209 +++++++++++++++++++++++-------------
 2 files changed, 163 insertions(+), 87 deletions(-)

diff --git a/toolbox/include/GetLimits.h b/toolbox/include/GetLimits.h
index 539386a67..81570ee24 100644
--- a/toolbox/include/GetLimits.h
+++ b/toolbox/include/GetLimits.h
@@ -1,30 +1,41 @@
 #ifndef WBT_GETLIMITS_H
 #define WBT_GETLIMITS_H
 
-#include "WBIBlock.h"
+#include "WBBlock.h"
+#include <memory>
 
 namespace wbt {
     class GetLimits;
+    struct Limit;
 }
 
-class wbt::GetLimits : public wbt::WBIBlock {
+struct wbt::Limit
+{
+   std::vector<double> min;
+   std::vector<double> max;
 
-    struct Limit;
-    struct Limit *m_limits;
-    
-public:
-    static std::string ClassName;
-    GetLimits();
+   Limit(unsigned size = 0)
+   : min(size)
+   , max(size)
+   {}
+};
 
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+class wbt::GetLimits : public wbt::WBBlock
+{
+private:
+    std::unique_ptr<Limit> m_limits;
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
+public:
+    static const std::string ClassName;
+    GetLimits() = default;
+    ~GetLimits() override = default;
 
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-#endif /* end of include guard: WBT_GETLIMITS_H */
+#endif /* WBT_GETLIMITS_H */
diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index 8ad4a6093..bc2f55b10 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -1,131 +1,196 @@
 #include "GetLimits.h"
 
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
-#include "WBInterface.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "RobotInterface.h"
+#include "iDynTree/KinDynComputations.h"
+#include "iDynTree/Model/Model.h"
+#include <yarp/dev/IControlLimits2.h>
+#include <vector>
+#include <limits>
 
 namespace wbt {
 
-    std::string GetLimits::ClassName = "GetLimits";
-
-    struct GetLimits::Limit {
-        double *min;
-        double *max;
-
-        Limit(unsigned size) : min(0), max(0)
-        {
-            min = new double[size]();
-            max = new double[size]();
-        }
-
-        ~Limit()
-        {
-            if (min) {
-                delete [] min;
-                min = 0;
-            }
-            if (max) {
-                delete [] max;
-                max = 0;
-            }
-        }
-    };
-
-    GetLimits::GetLimits()
-    : m_limits(0) {}
+    const std::string GetLimits::ClassName = "GetLimits";
 
     unsigned GetLimits::numberOfParameters()
     {
-        return WBIBlock::numberOfParameters() + 1;
+        return WBBlock::numberOfParameters() + 1;
     }
 
-    bool GetLimits::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool GetLimits::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        // INPUTS
+        // ======
+        //
+        // No inputs
+        //
 
         if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
 
-        // Output port:
-        // - DoFs vector with the information asked
-        if (!blockInfo->setNumberOfOuputPorts(2)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) vector with the information asked (1xDoFs)
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(2)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        bool success = blockInfo->setOutputPortVectorSize(0, dofs); //Min limit
-        success = success && blockInfo->setOutputPortVectorSize(1, dofs); //Max limit
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        bool success = true;
+        success = success && blockInfo->setOutputPortVectorSize(0, dofs); // Min limit
+        success = success && blockInfo->setOutputPortVectorSize(1, dofs); // Max limit
 
         blockInfo->setOutputPortType(0, PortDataTypeDouble);
         blockInfo->setOutputPortType(1, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure output ports";
+            Log::getSingleton().error("Failed to configure output ports.");
             return false;
         }
 
-
         return true;
     }
 
-    bool GetLimits::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool GetLimits::initialize(BlockInformation* blockInfo)
     {
         using namespace yarp::os;
-        if (!WBIBlock::initialize(blockInfo, error)) return false;
-
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        wbi::wholeBodyInterface * const interface = WBInterface::sharedInstance().interface();
+        if (!WBBlock::initialize(blockInfo)) return false;
 
-        // Reading the control type
+        // Read the control type
         std::string limitType;
-        if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 1, limitType)) {
-            if (error) error->message = "Could not read estimate type parameter";
+        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, limitType)) {
+            Log::getSingleton().error("Could not read estimate type parameter.");
             return false;
         }
 
-        bool success = true;
-        if (limitType == "Position") {
-            m_limits = new Limit(dofs);
-            if (m_limits) {
-                success = interface->getJointLimits(m_limits->min, m_limits->max);
+        // Initialize the structure that stores the limits
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+        m_limits.reset(new Limit(dofs));
+
+        // Initializes some buffers
+        double min = 0;
+        double max = 0;
+
+        // From the RemoteControlBoardRemapper
+        // ===================================
+        //
+        // In the next methods, the values are asked using joint index and not string.
+        // The ControlBoardRemapper internally uses the same joints ordering of its
+        // initialization. In this case, it matches 1:1 the joint vector. It is hence
+        // possible using i to point to the correct joint.
+
+        // Get the RemoteControlBoardRemapper and IControlLimits2 interface if needed
+        std::weak_ptr<yarp::dev::IControlLimits2> iControlLimits2;
+        if (limitType == "ControlBoardPosition" || limitType == "ControlBoardVelocity") {
+            // Retain the control board remapper
+            if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+                Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+                return false;
+            }
+            // Get the interface
+            if (!getRobotInterface()->getInterface(iControlLimits2)) {
+                Log::getSingleton().error("Failed to get IControlLimits2 interface.");
+                return false;
+            }
+        }
+
+        if (limitType == "ControlBoardPosition") {
+            for (auto i = 0; i < dofs; ++i) {
+                if (!iControlLimits2.lock()->getLimits(i, &min, &max)) {
+                    Log::getSingleton().error("Failed to get limits from the interface.");
+                    return false;
+                }
+                m_limits->min[i] = min;
+                m_limits->max[i] = max;
+            }
+        }
+        else if (limitType == "ControlBoardVelocity") {
+            for (auto i = 0; i < dofs; ++i) {
+                if (!iControlLimits2.lock()->getVelLimits(i, &min, &max)) {
+                    Log::getSingleton().error("Failed to get limits from the interface.");
+                    return false;
+                }
+                m_limits->min[i] = min;
+                m_limits->max[i] = max;
             }
-        } else {
-            if (error) error->message = "Limit type not supported";
+        }
+
+        // From the URDF model
+        // ===================
+        //
+        // For the time being, only position limits are supported.
+
+        else if (limitType == "ModelPosition") {
+            iDynTree::IJointConstPtr p_joint;
+            const iDynTree::Model model = getRobotInterface()->getKinDynComputations()->model();
+
+            for (auto i = 0; i < dofs; ++i) {
+                // Get the joint name
+                std::string joint = getConfiguration().getControlledJoints()[i];
+
+                // Get its index
+                iDynTree::LinkIndex jointIndex = model.getLinkIndex(joint);
+
+                // Get the joint from the model
+                p_joint = model.getJoint(jointIndex);
+
+                if (!p_joint->hasPosLimits()) {
+                    Log::getSingleton().warning("Joint " + joint + " has no model limits.");
+                    // TODO: test how these values are interpreted by Simulink
+                    min = -std::numeric_limits<double>::infinity();
+                    max = std::numeric_limits<double>::infinity();
+                }
+                else {
+                    p_joint->getPosLimits(0, min, max);
+                }
+            }
+        }
+        // TODO
+        // else if (limitType == "ModelVelocity") {
+        // }
+        // else if (limitType == "ModelEffort") {
+        // }
+        else {
+            Log::getSingleton().error("Limit type " + limitType + " not recognized.");
             return false;
         }
 
-        return m_limits && success;
+        return true;
     }
 
-    bool GetLimits::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool GetLimits::terminate(BlockInformation* blockInfo)
     {
-        if (m_limits) {
-            delete m_limits;
-            m_limits = 0;
+        // Release the RemoteControlBoardRemapper
+        bool ok = true;
+        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+        if (!ok) {
+            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
         }
-        return WBIBlock::terminate(blockInfo, error);
+
+        return ok && WBBlock::terminate(blockInfo);
     }
 
-    bool GetLimits::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool GetLimits::output(BlockInformation* blockInfo)
     {
         if (!m_limits) return false;
 
         Signal minPort = blockInfo->getOutputPortSignal(0);
         Signal maxPort = blockInfo->getOutputPortSignal(1);
 
-        for (int i = 0; i < blockInfo->getOutputPortWidth(0); ++i) {
-            minPort.set(i, m_limits->min[i]);
-            maxPort.set(i, m_limits->max[i]);
-        }
+        minPort.setBuffer(m_limits->min.data(), getConfiguration().getNumberOfDoFs());
+        maxPort.setBuffer(m_limits->max.data(), getConfiguration().getNumberOfDoFs());
+
         return true;
     }
 }

From fade9bb24c14769233ee31ed8da81f62bfaccd9e Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:19:28 +0000
Subject: [PATCH 20/89] InverseDynamics refactored

---
 toolbox/include/InverseDynamics.h |  51 +++--
 toolbox/src/InverseDynamics.cpp   | 340 +++++++++++++++---------------
 2 files changed, 195 insertions(+), 196 deletions(-)

diff --git a/toolbox/include/InverseDynamics.h b/toolbox/include/InverseDynamics.h
index 58e796131..2b035663c 100644
--- a/toolbox/include/InverseDynamics.h
+++ b/toolbox/include/InverseDynamics.h
@@ -1,41 +1,46 @@
 #ifndef WBT_INVERSEDYNAMICS_H
 #define WBT_INVERSEDYNAMICS_H
 
-#include "WBIModelBlock.h"
+#include "WBBlock.h"
+#include <iDynTree/Core/VectorFixSize.h>
 
 namespace wbt {
     class InverseDynamics;
 }
 
-class wbt::InverseDynamics : public wbt::WBIModelBlock {
+namespace iDynTree {
+    class VectorDynSize;
+    class FreeFloatingGeneralizedTorques;
+}
 
-    double *m_basePose;
-    double *m_torques;
+class wbt::InverseDynamics : public wbt::WBBlock
+{
+private:
+    iDynTree::Vector6*       m_baseAcceleration;
+    iDynTree::VectorDynSize* m_jointsAcceleration;
 
-    bool m_explicitGravity;
+    // Output
+    iDynTree::FreeFloatingGeneralizedTorques* m_torques;
 
-    //input buffers
-    double *m_basePoseRaw;
-    double *m_configuration;
-    double *m_baseVelocity;
-    double *m_jointsVelocity;
-    double *m_baseAcceleration;
-    double *m_jointsAcceleration;
-    double m_gravity[3];
+    static const unsigned INPUT_IDX_BASE_POSE;
+    static const unsigned INPUT_IDX_JOINTCONF;
+    static const unsigned INPUT_IDX_BASE_VEL;
+    static const unsigned INPUT_IDX_JOINT_VEL;
+    static const unsigned INPUT_IDX_BASE_ACC;
+    static const unsigned INPUT_IDX_JOINT_ACC;
+    static const unsigned OUTPUT_IDX_TORQUES;
 
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
     InverseDynamics();
 
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
-    
-};
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 
+};
 
-#endif /* end of include guard: WBT_INVERSEDYNAMICS_H */
+#endif /* WBT_INVERSEDYNAMICS_H */
diff --git a/toolbox/src/InverseDynamics.cpp b/toolbox/src/InverseDynamics.cpp
index 45999d7cc..28b8a70c7 100644
--- a/toolbox/src/InverseDynamics.cpp
+++ b/toolbox/src/InverseDynamics.cpp
@@ -1,221 +1,215 @@
 #include "InverseDynamics.h"
 
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
-#include "WBInterface.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "RobotInterface.h"
+#include <memory>
+#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/Model/FreeFloatingState.h>
+#include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
-#define PARAM_IDX_1 5
-
+// TODO: Substitute with using
 namespace wbt {
 
-    std::string InverseDynamics::ClassName = "InverseDynamics";
+    const std::string InverseDynamics::ClassName = "InverseDynamics";
+
+    const unsigned InverseDynamics::INPUT_IDX_BASE_POSE = 0;
+    const unsigned InverseDynamics::INPUT_IDX_JOINTCONF = 1;
+    const unsigned InverseDynamics::INPUT_IDX_BASE_VEL  = 2;
+    const unsigned InverseDynamics::INPUT_IDX_JOINT_VEL = 3;
+    const unsigned InverseDynamics::INPUT_IDX_BASE_ACC  = 4;
+    const unsigned InverseDynamics::INPUT_IDX_JOINT_ACC = 5;
+    const unsigned InverseDynamics::OUTPUT_IDX_TORQUES  = 0;
 
     InverseDynamics::InverseDynamics()
-    : m_basePose(0)
-    , m_torques(0)
-    , m_explicitGravity(false)
-    , m_basePoseRaw(0)
-    , m_configuration(0)
-    , m_baseVelocity(0)
-    , m_jointsVelocity(0)
-    , m_baseAcceleration(0)
-    , m_jointsAcceleration(0)
-    {
-        m_gravity[0] = 0;
-        m_gravity[1] = 0;
-        m_gravity[2] = -9.81;
-    }
+    : m_baseAcceleration(nullptr)
+    , m_jointsAcceleration(nullptr)
+    , m_torques(nullptr)
+    {}
 
     unsigned InverseDynamics::numberOfParameters()
     {
-        return WBIBlock::numberOfParameters() + 1;
+        return WBBlock::numberOfParameters();
     }
 
-    bool InverseDynamics::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool InverseDynamics::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
+        // Memory allocation / Saving data not allowed here
+
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+        // INPUTS
+        // ======
+        //
+        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+        // 2) Joints position (1xDoFs vector)
+        // 3) Base frame velocity (1x6 vector)
+        // 4) Joints velocity (1xDoFs vector)
+        // 5) Base frame acceleration (1x6 vector)
+        // 6) Joints acceleration (1xDoFs vector)
+        //
+
+        // Number of inputs
+        if (!blockInfo->setNumberOfInputPorts(6)) {
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        // Get the DoFs
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        // Specify I/O
-        // Input ports:
-        // - 4x4 matrix (homogenous transformation for the base pose w.r.t. world)
-        // - DoFs vector for the robot (joints) configurations
-
-        m_explicitGravity = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1).booleanData();
-
-        int portNumber = 6;
-        if (m_explicitGravity) portNumber++;
-
-        if (!blockInfo->setNumberOfInputPorts(portNumber)) {
-            if (error) error->message = "Failed to configure the number of input ports";
-            return false;
-        }
+        // Size and type
         bool success = true;
-
-        success = success && blockInfo->setInputPortMatrixSize(0, 4, 4); //base pose
-        success = success && blockInfo->setInputPortVectorSize(1, dofs); //joint configuration
-        success = success && blockInfo->setInputPortVectorSize(2, 6); //base velocity
-        success = success && blockInfo->setInputPortVectorSize(3, dofs); //joints velocitity
-        success = success && blockInfo->setInputPortVectorSize(4, 6); //base acceleration
-        success = success && blockInfo->setInputPortVectorSize(5, dofs); //joints acceleration
-        if (m_explicitGravity)
-            success = success && blockInfo->setInputPortVectorSize(6, 3); //gravity acceleration
-
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-        blockInfo->setInputPortType(1, PortDataTypeDouble);
-        blockInfo->setInputPortType(2, PortDataTypeDouble);
-        blockInfo->setInputPortType(3, PortDataTypeDouble);
-        blockInfo->setInputPortType(4, PortDataTypeDouble);
-        blockInfo->setInputPortType(5, PortDataTypeDouble);
-
-        if (m_explicitGravity)
-            blockInfo->setInputPortType(6, PortDataTypeDouble);
+        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL,  6);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_ACC,  6);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_ACC, dofs);
+
+        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_BASE_ACC,  PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINT_ACC, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        // - DoFs + 6) vector representing the torques
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) Vector representing the torques (1x(DoFs+6))
+        //
+
+        // Number of outputs
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        success = blockInfo->setOutputPortVectorSize(0, dofs + 6);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        // Size and type
+        success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_TORQUES, dofs + 6);
+        blockInfo->setOutputPortType(OUTPUT_IDX_TORQUES, PortDataTypeDouble);
 
         return success;
     }
 
-    bool InverseDynamics::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool InverseDynamics::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
-
-        m_explicitGravity = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1).booleanData();
-
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_basePose = new double[16];
-        m_torques = new double[6 + dofs];
-        m_basePoseRaw = new double[16];
-        m_configuration = new double[dofs];
-        m_baseVelocity = new double[6];
-        m_jointsVelocity = new double[dofs];
-        m_baseAcceleration = new double[6];
-        m_jointsAcceleration = new double[dofs];
-
-        return m_basePose && m_torques && m_basePoseRaw && m_configuration && m_baseVelocity && m_jointsVelocity && m_baseAcceleration && m_jointsAcceleration;
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        // OUTPUT / VARIABLES
+        // ==================
+
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        m_baseAcceleration = new iDynTree::Vector6();
+        m_baseAcceleration->zero();
+        m_jointsAcceleration = new iDynTree::VectorDynSize(dofs);
+        m_jointsAcceleration->zero();
+
+        const auto& model = getRobotInterface()->getKinDynComputations()->model();
+        m_torques = new iDynTree::FreeFloatingGeneralizedTorques(model);
+
+        return m_baseAcceleration && m_jointsAcceleration && m_torques;
     }
 
-    bool InverseDynamics::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool InverseDynamics::terminate(BlockInformation* blockInfo)
     {
-        if (m_basePose) {
-            delete [] m_basePose;
-            m_basePose = 0;
-        }
-        if (m_torques) {
-            delete [] m_torques;
-            m_torques = 0;
-        }
-        if (m_basePoseRaw) {
-            delete [] m_basePoseRaw;
-            m_basePoseRaw = 0;
-        }
-        if (m_configuration) {
-            delete [] m_configuration;
-            m_configuration = 0;
-        }
-        if (m_baseVelocity) {
-            delete [] m_baseVelocity;
-            m_baseVelocity = 0;
-        }
-        if (m_jointsVelocity) {
-            delete [] m_jointsVelocity;
-            m_jointsVelocity = 0;
-        }
-
         if (m_baseAcceleration) {
-            delete [] m_baseAcceleration;
-            m_baseAcceleration = 0;
+            delete m_baseAcceleration;
+            m_baseAcceleration = nullptr;
         }
-
         if (m_jointsAcceleration) {
-            delete [] m_jointsAcceleration;
-            m_jointsAcceleration = 0;
+            delete m_jointsAcceleration;
+            m_jointsAcceleration = nullptr;
+        }
+        if (m_torques) {
+            delete m_torques;
+            m_torques = nullptr;
         }
 
-        return WBIModelBlock::terminate(blockInfo, error);
+        return WBBlock::terminate(blockInfo);
     }
 
-    bool InverseDynamics::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool InverseDynamics::output(BlockInformation* blockInfo)
     {
-        //get input
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (interface) {
-
-            Signal basePoseRaw = blockInfo->getInputPortSignal(0);
-            Signal configuration = blockInfo->getInputPortSignal(1);
-            Signal baseVelocity = blockInfo->getInputPortSignal(2);
-            Signal jointsVelocity = blockInfo->getInputPortSignal(3);
-            Signal baseAcceleration = blockInfo->getInputPortSignal(4);
-            Signal jointsAcceleration = blockInfo->getInputPortSignal(5);
-
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-                m_basePoseRaw[i] = basePoseRaw.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(1); ++i) {
-                m_configuration[i] = configuration.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(2); ++i) {
-                m_baseVelocity[i] = baseVelocity.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(3); ++i) {
-                m_jointsVelocity[i] = jointsVelocity.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(4); ++i) {
-                m_baseAcceleration[i] = baseAcceleration.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(5); ++i) {
-                m_jointsAcceleration[i] = jointsAcceleration.get(i).doubleData();
-            }
-
-            if (m_explicitGravity) {
-                Signal gravity = blockInfo->getInputPortSignal(6);
-                for (unsigned i = 0; i < blockInfo->getInputPortWidth(6); ++i) {
-                    m_gravity[i] = gravity.get(i).doubleData();
-                }
-            }
-
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > basePoseColMajor(m_basePoseRaw);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > basePose(m_basePose);
-            basePose = basePoseColMajor;
-
-            wbi::Frame frame;
-            wbi::frameFromSerialization(basePose.data(), frame);
-
-            interface->inverseDynamics(m_configuration,
-                                       frame,
-                                       m_jointsVelocity,
-                                       m_baseVelocity,
-                                       m_jointsAcceleration,
-                                       m_baseAcceleration,
-                                       m_gravity,
-                                       m_torques);
-
-            Signal output = blockInfo->getOutputPortSignal(0);
-            output.setBuffer(m_torques, blockInfo->getOutputPortWidth(0));
-
-            return true;
+        using namespace iDynTree;
+        using namespace Eigen;
+        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+
+        if (!model) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
         }
-        return false;
+
+        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+        // ====================================================
+
+        unsigned signalWidth;
+
+        // Base pose
+        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+        fromEigen(robotState.m_world_T_base,
+                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+        // Joints position
+        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+        // Base velocity
+        Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
+        double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
+        robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
+                                     AngVelocity(m_baseVelocityBuffer+3, 3));
+
+        // Joints velocity
+        Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
+        robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+        // Base acceleration
+        Signal baseAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_ACC);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_ACC);
+        m_baseAcceleration->fillBuffer(baseAccelerationSignal.getStdVector(signalWidth).data());
+
+        // Joints acceleration
+        Signal jointsAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_ACC);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_ACC);
+        m_jointsAcceleration->fillBuffer(jointsAccelerationSignal.getStdVector(signalWidth).data());
+
+        // UPDATE THE ROBOT STATUS
+        // =======================
+        model->setRobotState(robotState.m_world_T_base,
+                             robotState.m_jointsPosition,
+                             robotState.m_baseVelocity,
+                             robotState.m_jointsVelocity,
+                             robotState.m_gravity);
+
+        // OUTPUT
+        // ======
+
+        // Calculate the inverse dynamics (assuming zero external forces)
+        model->inverseDynamics(*m_baseAcceleration,
+                               *m_jointsAcceleration,
+                               LinkNetExternalWrenches(model->getNrOfLinks()), // TODO
+                               *m_torques);
+
+        // Forward the output to Simulink
+        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_TORQUES);
+        output.setBuffer(m_torques->jointTorques().data(),
+                         blockInfo->getOutputPortWidth(OUTPUT_IDX_TORQUES));
+        return true;
     }
 }

From 58eecea9eb6c207136d589d0afe5eb3314220d2f Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:20:13 +0000
Subject: [PATCH 21/89] Jacobian refactored

---
 toolbox/include/Jacobian.h |  44 ++++---
 toolbox/src/Jacobian.cpp   | 251 +++++++++++++++++++++++--------------
 2 files changed, 183 insertions(+), 112 deletions(-)

diff --git a/toolbox/include/Jacobian.h b/toolbox/include/Jacobian.h
index 0c5307a19..b0726e900 100644
--- a/toolbox/include/Jacobian.h
+++ b/toolbox/include/Jacobian.h
@@ -1,36 +1,44 @@
 #ifndef WBT_JACOBIAN_H
 #define WBT_JACOBIAN_H
 
-#include "WBIModelBlock.h"
+#include "WBBlock.h"
+#include <iDynTree/Model/Indices.h>
 
 namespace wbt {
     class Jacobian;
 }
 
-class wbt::Jacobian : public wbt::WBIModelBlock {
+namespace iDynTree {
+    class MatrixDynSize;
+}
+
+class wbt::Jacobian : public wbt::WBBlock
+{
+private:
+    // Support variables
+    iDynTree::MatrixDynSize* m_jacobianCOM;
 
-    double *m_basePose;
-    double *m_jacobian;
+    // Output
+    iDynTree::MatrixDynSize* m_jacobian;
 
-    //input buffers
-    double *m_basePoseRaw;
-    double *m_configuration;
+    // Other variables
+    bool m_frameIsCoM;
+    iDynTree::FrameIndex m_frameIndex;
 
-    int m_frameIndex;
+    static const unsigned INPUT_IDX_BASE_POSE;
+    static const unsigned INPUT_IDX_JOINTCONF;
+    static const unsigned OUTPUT_IDX_FW_FRAME;
 
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
     Jacobian();
 
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-#endif /* end of include guard: WBT_JACOBIAN_H */
+#endif /* WBT_JACOBIAN_H */
diff --git a/toolbox/src/Jacobian.cpp b/toolbox/src/Jacobian.cpp
index eefcc8d1c..8988cf4bc 100644
--- a/toolbox/src/Jacobian.cpp
+++ b/toolbox/src/Jacobian.cpp
@@ -1,161 +1,224 @@
 #include "Jacobian.h"
 
-#include "Error.h"
-#include "WBInterface.h"
+#include "Log.h"
+#include "RobotInterface.h"
 #include "BlockInformation.h"
 #include "Signal.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include <memory>
+#include <iDynTree/KinDynComputations.h>
+#include <iDynTree/Core/EigenHelpers.h>
 #include <Eigen/Core>
 
 namespace wbt {
 
-    std::string Jacobian::ClassName = "Jacobian";
+    const std::string Jacobian::ClassName = "Jacobian";
+
+    const unsigned Jacobian::INPUT_IDX_BASE_POSE = 0;
+    const unsigned Jacobian::INPUT_IDX_JOINTCONF = 1;
+    const unsigned Jacobian::OUTPUT_IDX_FW_FRAME = 0;
 
     Jacobian::Jacobian()
-    : m_basePose(0)
-    , m_jacobian(0)
-    , m_basePoseRaw(0)
-    , m_configuration(0)
-    , m_frameIndex(-1) {}
+    : m_jacobianCOM(nullptr)
+    , m_jacobian(nullptr)
+    , m_frameIsCoM(false)
+    , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
+    {}
 
     unsigned Jacobian::numberOfParameters()
     {
-        return WBIBlock::numberOfParameters() + 1;
+        return WBBlock::numberOfParameters() + 1;
     }
 
-    bool Jacobian::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool Jacobian::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        // Memory allocation / Saving data not allowed here
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // Specify I/O
-        // Input ports:
-        // - 4x4 matrix (homogenous transformation for the base pose w.r.t. world)
-        // - DoFs vector for the robot (joints) configurations
+        // INPUTS
+        // ======
+        //
+        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+        // 2) Joints position (1xDoFs vector)
+        // 3) Base frame velocity (1x6 vector)
+        //
 
+        // Number of inputs
         if (!blockInfo->setNumberOfInputPorts(2)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
+
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        // Size and type
         bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(0, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(1, dofs);
+        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
 
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-        blockInfo->setInputPortType(1, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        // - (6)x(6+dofs) matrix
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) Matrix representing the Jacobian (6x(DoFs+6))
+        //
+
+        // Number of outputs
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        success = blockInfo->setOutputPortMatrixSize(0, 6, 6 + dofs);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        // Size and type
+        success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_FW_FRAME, 6, 6 + dofs);
+        blockInfo->setOutputPortType(OUTPUT_IDX_FW_FRAME, PortDataTypeDouble);
 
         return success;
     }
 
-    bool Jacobian::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool Jacobian::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        // INPUT PARAMETERS
+        // ================
 
-        int parentParameters = WBIBlock::numberOfParameters() + 1;
-        //robot name
         std::string frame;
-        if (!blockInfo->getStringParameterAtIndex(parentParameters, frame)) {
-            if (error) error->message = "Cannot retrieve string from frame parameter";
+        int parentParameters = WBBlock::numberOfParameters();
+
+        if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
+            Log::getSingleton().error("Cannot retrieve string from frame parameter.");
             return false;
         }
 
-        //here obtain joint list and get the frame
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (!interface) {
-            if (error) error->message = "Cannot retrieve handle to WBI interface";
+        // Check if the frame is valid
+        // ---------------------------
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+        if (!model) {
+            Log::getSingleton().error("Cannot retrieve handle to KinDynComputations.");
             return false;
         }
-        wbi::IDList frames =  interface->getFrameList();
+
         if (frame != "com") {
-            if (!frames.idToIndex(wbi::ID(frame), m_frameIndex)) {
-                if (error) error->message = "Cannot find " + frame + " in the frame list";
+            m_frameIndex = model->getFrameIndex(frame);
+            if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
+                Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
                 return false;
             }
-        } else {
-            m_frameIndex = wbi::wholeBodyInterface::COM_LINK_ID;
         }
+        else {
+            m_frameIsCoM = true;
+            m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
+        }
+
+        // OUTPUT / VARIABLES
+        // ==================
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_basePose = new double[16];
-        m_jacobian = new double[6 * (6 + dofs)];
-        m_basePoseRaw = new double[16];
-        m_configuration = new double[dofs];
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        return m_basePose && m_jacobian && m_basePoseRaw && m_configuration;
+        m_jacobianCOM = new iDynTree::MatrixDynSize(3, 6 + dofs);
+        m_jacobianCOM->zero();
+
+        // Output
+        m_jacobian = new iDynTree::MatrixDynSize(6, 6 + dofs);
+        m_jacobian->zero();
+
+        return m_jacobianCOM && m_jacobian;
     }
 
-    bool Jacobian::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool Jacobian::terminate(BlockInformation* blockInfo)
     {
-        if (m_basePose) {
-            delete [] m_basePose;
-            m_basePose = 0;
+        if (m_jacobianCOM) {
+            delete m_jacobianCOM;
+            m_jacobianCOM = nullptr;
         }
         if (m_jacobian) {
-            delete [] m_jacobian;
-            m_jacobian = 0;
-        }
-        if (m_basePoseRaw) {
-            delete [] m_basePoseRaw;
-            m_basePoseRaw = 0;
-        }
-        if (m_configuration) {
-            delete [] m_configuration;
-            m_configuration = 0;
+            delete m_jacobian;
+            m_jacobian = nullptr;
         }
-        return WBIModelBlock::terminate(blockInfo, error);
+
+        return WBBlock::terminate(blockInfo);
     }
 
-    bool Jacobian::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool Jacobian::output(BlockInformation* blockInfo)
     {
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (interface) {
-            Signal basePoseRaw = blockInfo->getInputPortSignal(0);
-            Signal configuration = blockInfo->getInputPortSignal(1);
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-                m_basePoseRaw[i] = basePoseRaw.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(1); ++i) {
-                m_configuration[i] = configuration.get(i).doubleData();
-            }
+        using namespace iDynTree;
+        using namespace Eigen;
+        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+        typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
+        typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+
+        if (!model) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
+        }
+
+        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+        // ====================================================
 
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > basePoseColMajor(m_basePoseRaw);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > basePose(m_basePose);
-            basePose = basePoseColMajor;
+        unsigned signalWidth;
 
-            wbi::Frame frame;
-            wbi::frameFromSerialization(basePose.data(), frame);
+        // Base pose
+        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+        fromEigen(robotState.m_world_T_base,
+                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
 
-            unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-            interface->computeJacobian(m_configuration, frame, m_frameIndex, m_jacobian);
+        // Joints position
+        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
 
-            Eigen::Map<Eigen::Matrix<double, 6, Eigen::Dynamic, Eigen::RowMajor> > jacobianRowMajor(m_jacobian, 6, 6 + dofs);
+        // TODO: what about the other inputs of setRobotState?
 
-            Signal output = blockInfo->getOutputPortSignal(0);
-            Eigen::Map<Eigen::Matrix<double, 6, Eigen::Dynamic, Eigen::ColMajor> > jacobianColMajor((double*)output.getContiguousBuffer(), 6, 6 + dofs);
+        // UPDATE THE ROBOT STATUS
+        // =======================
+        model->setRobotState(robotState.m_world_T_base,
+                             robotState.m_jointsPosition,
+                             robotState.m_baseVelocity,
+                             robotState.m_jointsVelocity,
+                             robotState.m_gravity);
 
-            jacobianColMajor = jacobianRowMajor;
-            return true;
+        // OUTPUT
+        // ======
+
+        iDynTree::Transform world_H_frame;
+
+        // Compute the jacobian
+        bool ok = false;
+        if (!m_frameIsCoM) {
+            world_H_frame = model->getWorldTransform(m_frameIndex);
+            ok = model->getFrameFreeFloatingJacobian(m_frameIndex, *m_jacobian);
         }
-        return false;
-    }
+        else {
+            world_H_frame.setPosition(model->getCenterOfMassPosition());
+            ok = model->getCenterOfMassJacobian(*m_jacobianCOM);
+            int cols = m_jacobianCOM->cols();
+            toEigen(*m_jacobian).block(0,0,3,cols) = toEigen(*m_jacobianCOM);
+            toEigen(*m_jacobian).block(3,0,3,cols).setZero();
+        }
+
+        // Get the output signal memory location
+        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_FW_FRAME);
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        // Allocate objects for row-major -> col-major conversion
+        Map<MatrixXdiDynTree> jacobianRowMajor = toEigen(*m_jacobian);
+        Map<MatrixXdSimulink> jacobianColMajor((double*)output.getContiguousBuffer(),
+                                               6, 6 + dofs);
+
+        // Forward the buffer to Simulink transforming it to ColMajor
+        jacobianColMajor = jacobianRowMajor;
+        return true;
+     }
 }

From 648aef94d8071bcaf6e95d66d65a2336f0d1e23b Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:21:07 +0000
Subject: [PATCH 22/89] MassMatrix refactored

---
 toolbox/include/MassMatrix.h |  34 +++---
 toolbox/src/MassMatrix.cpp   | 198 ++++++++++++++++++++---------------
 2 files changed, 132 insertions(+), 100 deletions(-)

diff --git a/toolbox/include/MassMatrix.h b/toolbox/include/MassMatrix.h
index ea0d58ce0..6529d4504 100644
--- a/toolbox/include/MassMatrix.h
+++ b/toolbox/include/MassMatrix.h
@@ -1,33 +1,35 @@
 #ifndef WBT_MASSMATRIX_H
 #define WBT_MASSMATRIX_H
 
-#include "WBIModelBlock.h"
+#include "WBBlock.h"
 
 namespace wbt {
     class MassMatrix;
 }
 
-class wbt::MassMatrix : public wbt::WBIModelBlock {
+namespace iDynTree {
+    class MatrixDynSize;
+}
 
-    double *m_basePose;
-    double *m_massMatrix;
+class wbt::MassMatrix : public wbt::WBBlock
+{
+private:
+    iDynTree::MatrixDynSize* m_massMatrix;
 
-    //input buffers
-    double *m_basePoseRaw;
-    double *m_configuration;
+    static const unsigned INPUT_IDX_BASE_POSE;
+    static const unsigned INPUT_IDX_JOINTCONF;
+    static const unsigned OUTPUT_IDX_MASS_MAT;
 
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
     MassMatrix();
+    ~MassMatrix() = default;
 
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-#endif /* end of include guard: WBT_MASSMATRIX_H */
+#endif /* WBT_MASSMATRIX_H */
diff --git a/toolbox/src/MassMatrix.cpp b/toolbox/src/MassMatrix.cpp
index 2644213ee..4fcbf7510 100644
--- a/toolbox/src/MassMatrix.cpp
+++ b/toolbox/src/MassMatrix.cpp
@@ -2,130 +2,160 @@
 
 #include "BlockInformation.h"
 #include "Signal.h"
-#include "Error.h"
-#include "WBInterface.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "Log.h"
+#include "RobotInterface.h"
+#include <memory>
+#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
+// TODO: remove wbt nesting;
 namespace wbt {
 
-    std::string MassMatrix::ClassName = "MassMatrix";
+    const std::string MassMatrix::ClassName = "MassMatrix";
+
+    const unsigned MassMatrix::INPUT_IDX_BASE_POSE = 0;
+    const unsigned MassMatrix::INPUT_IDX_JOINTCONF = 1;
+    const unsigned MassMatrix::OUTPUT_IDX_MASS_MAT = 0;
 
     MassMatrix::MassMatrix()
-    : m_basePose(0)
-    , m_massMatrix(0)
-    , m_basePoseRaw(0)
-    , m_configuration(0) {}
+    : m_massMatrix(nullptr)
+    {}
 
-    bool MassMatrix::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool MassMatrix::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
+        // Memory allocation / Saving data not allowed here
+
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) {
             return false;
         }
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-
-        // Specify I/O
-        // Input ports:
-        // - 4x4 matrix (homogenous transformation for the base pose w.r.t. world)
-        // - DoFs vector for the robot (joints) configurations
+        // INPUTS
+        // ======
+        //
+        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+        // 2) Joints position (1xDoFs vector)
+        //
 
+        // Number of inputs
         if (!blockInfo->setNumberOfInputPorts(2)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
+
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        // Size and type
         bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(0, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(1, dofs);
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-        blockInfo->setInputPortType(1, PortDataTypeDouble);
+        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
 
+        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        // - (DoFs + 6)x(DoFs + 6) matrix representing the mass matrix
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) Matrix epresenting the mass matrix (DoFs+6)x(DoFs+6)
+        //
+
+        // Number of outputs
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        success = blockInfo->setOutputPortMatrixSize(0, dofs + 6, dofs + 6);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        // Size and type
+        success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_MASS_MAT, dofs + 6, dofs + 6);
+        blockInfo->setOutputPortType(OUTPUT_IDX_MASS_MAT, PortDataTypeDouble);
 
         return success;
     }
 
-    bool MassMatrix::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool MassMatrix::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
+        if (!WBBlock::initialize(blockInfo)) return false;
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_basePose = new double[16];
-        m_massMatrix = new double[(6 + dofs)*(6 + dofs)];
-        m_basePoseRaw = new double[16];
-        m_configuration = new double[dofs];
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        return m_basePose && m_massMatrix && m_basePoseRaw && m_configuration;
+        // Output
+        m_massMatrix = new iDynTree::MatrixDynSize(6 + dofs, 6 + dofs);
+        m_massMatrix->zero();
+
+        return m_massMatrix;
     }
 
-    bool MassMatrix::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool MassMatrix::terminate(BlockInformation* blockInfo)
     {
-        if (m_basePose) {
-            delete [] m_basePose;
-            m_basePose = 0;
-        }
         if (m_massMatrix) {
-            delete [] m_massMatrix;
-            m_massMatrix = 0;
-        }
-        if (m_basePoseRaw) {
-            delete [] m_basePoseRaw;
-            m_basePoseRaw = 0;
+            delete m_massMatrix;
+            m_massMatrix = nullptr;
         }
-        if (m_configuration) {
-            delete [] m_configuration;
-            m_configuration = 0;
-        }
-        return WBIModelBlock::terminate(blockInfo, error);
+
+        return WBBlock::terminate(blockInfo);
     }
 
-    bool MassMatrix::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool MassMatrix::output(BlockInformation* blockInfo)
     {
-        //get input
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (interface) {
-            Signal basePoseRaw = blockInfo->getInputPortSignal(0);
-            Signal configuration = blockInfo->getInputPortSignal(1);
-
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-                m_basePoseRaw[i] = basePoseRaw.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(1); ++i) {
-                m_configuration[i] = configuration.get(i).doubleData();
-            }
-
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > basePoseColMajor(m_basePoseRaw);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > basePose(m_basePose);
-            basePose = basePoseColMajor;
-
-            wbi::Frame frame;
-            wbi::frameFromSerialization(basePose.data(), frame);
-
-            interface->computeMassMatrix(m_configuration, frame, m_massMatrix);
-            unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-            Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> > massMatrixRowMajor(m_massMatrix, 6 + dofs, 6 + dofs);
-
-            Signal output = blockInfo->getOutputPortSignal(0);
-            Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor> > massMatrixColMajor((double*)output.getContiguousBuffer(), 6 + dofs, 6 + dofs);
-            massMatrixColMajor = massMatrixRowMajor;
-            return true;
+        using namespace Eigen;
+        using namespace iDynTree;
+        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+        typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
+        typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+
+        if (!model) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
         }
-        return false;
+
+        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+        // ====================================================
+
+        unsigned signalWidth;
+
+        // Base pose
+        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+        fromEigen(robotState.m_world_T_base,
+                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+        // Joints position
+        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+        // UPDATE THE ROBOT STATUS
+        // =======================
+        model->setRobotState(robotState.m_world_T_base,
+                             robotState.m_jointsPosition,
+                             robotState.m_baseVelocity,
+                             robotState.m_jointsVelocity,
+                             robotState.m_gravity);
+
+        // OUTPUT
+        // ======
+
+        // Compute the Mass Matrix
+        model->getFreeFloatingMassMatrix(*m_massMatrix);
+
+        // Get the output signal memory location
+        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_MASS_MAT);
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        // Allocate objects for row-major -> col-major conversion
+        Map<MatrixXdiDynTree> massMatrixRowMajor = toEigen(*m_massMatrix);
+        Map<MatrixXdSimulink> massMatrixColMajor((double*)output.getContiguousBuffer(),
+                                                 6 + dofs, 6 + dofs);
+
+        // Forward the buffer to Simulink transforming it to ColMajor
+        massMatrixColMajor = massMatrixRowMajor;
+        return true;
     }
 }

From 6953aa23b16fdd2aed19d0ddc32729dc39481118 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:22:20 +0000
Subject: [PATCH 23/89] MinimumJerkTrajectoryGenerator refactored

---
 .../include/MinimumJerkTrajectoryGenerator.h  |  35 ++--
 .../src/MinimumJerkTrajectoryGenerator.cpp    | 159 ++++++++++++------
 2 files changed, 128 insertions(+), 66 deletions(-)

diff --git a/toolbox/include/MinimumJerkTrajectoryGenerator.h b/toolbox/include/MinimumJerkTrajectoryGenerator.h
index ba0415e9f..8bf0f29b7 100644
--- a/toolbox/include/MinimumJerkTrajectoryGenerator.h
+++ b/toolbox/include/MinimumJerkTrajectoryGenerator.h
@@ -22,19 +22,19 @@ namespace yarp {
 
 class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
 public:
-    static std::string ClassName;
-    
+    static const std::string ClassName;
+
     MinimumJerkTrajectoryGenerator();
-    
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
+
 private:
 
-    iCub::ctrl::minJerkTrajGen *m_generator;
+    iCub::ctrl::minJerkTrajGen* m_generator;
 
     int m_outputFirstDerivativeIndex;
     int m_outputSecondDerivativeIndex;
@@ -45,9 +45,18 @@ class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
     bool m_explicitInitialValue;
     bool m_externalSettlingTime;
     bool m_resetOnSettlingTimeChange;
-    yarp::sig::Vector *m_initialValues;
-    yarp::sig::Vector *m_reference;
-    
+    yarp::sig::Vector* m_initialValues;
+    yarp::sig::Vector* m_reference;
+
+    static const unsigned PARAM_IDX_SAMPLE_TIME;           // Sample Time (double)
+    static const unsigned PARAM_IDX_SETTLING_TIME;         // Settling Time (double)
+    static const unsigned PARAM_IDX_OUTPUT_1ST_DERIVATIVE; // Output first derivative (boolean)
+    static const unsigned PARAM_IDX_OUTPUT_2ND_DERIVATIVE; // Output second derivative (boolean)
+    static const unsigned PARAM_IDX_INITIAL_VALUE;         // Initial signal value as input (boolean)
+    static const unsigned PARAM_IDX_EXT_SETTLINGTIME;      // Control if the settling time comes from
+                                                           // external port or static parameter
+    static const unsigned PARAM_IDX_RESET_CHANGEST;        // True if the block should reset the traj
+                                                           // generator in case settling time changes
 };
 
 #endif /* end of include guard: WBT_MINJERKTRAJGENERATOR_H */
diff --git a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
index 65832b2bd..2760a7624 100644
--- a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
+++ b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
@@ -1,6 +1,6 @@
 #include "MinimumJerkTrajectoryGenerator.h"
 
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
 
@@ -13,48 +13,76 @@
 
 #include <cmath>
 
-#define PARAM_IDX_1 1 //Sample Time (double)
-#define PARAM_IDX_2 2 //Settling Time (double)
-#define PARAM_IDX_3 3 //Output first derivative (boolean)
-#define PARAM_IDX_4 4 //Output second derivative (boolean)
-#define PARAM_IDX_5 5 //Initial signal value as input (boolean)
-#define PARAM_IDX_6 6 //Control if the settling time comes from external port or static parameter
-#define PARAM_IDX_7 7 //True if the block should reset the traj generator in case settling time changes
-
 namespace wbt {
-    
-    std::string MinimumJerkTrajectoryGenerator::ClassName = "MinimumJerkTrajectoryGenerator";
+
+    const std::string MinimumJerkTrajectoryGenerator::ClassName = "MinimumJerkTrajectoryGenerator";
+
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_SAMPLE_TIME   = 1;
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_SETTLING_TIME = 2;
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_OUTPUT_1ST_DERIVATIVE = 3;
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_OUTPUT_2ND_DERIVATIVE = 4;
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_INITIAL_VALUE    = 5;
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_EXT_SETTLINGTIME = 6;
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_RESET_CHANGEST = 7;
 
     MinimumJerkTrajectoryGenerator::MinimumJerkTrajectoryGenerator()
-    : m_generator(0)
+    : m_generator(nullptr)
     , m_outputFirstDerivativeIndex(-1)
     , m_outputSecondDerivativeIndex(-1)
     , m_firstRun(true)
     , m_explicitInitialValue(false)
     , m_externalSettlingTime(false)
     , m_resetOnSettlingTimeChange(false)
-    , m_initialValues(0)
-    , m_reference(0) {}
-    
+    , m_initialValues(nullptr)
+    , m_reference(nullptr)
+    {}
+
     unsigned MinimumJerkTrajectoryGenerator::numberOfParameters() { return 7; }
 
-    bool MinimumJerkTrajectoryGenerator::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool MinimumJerkTrajectoryGenerator::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        bool outputFirstDerivative = blockInfo->getScalarParameterAtIndex(PARAM_IDX_3).booleanData();
-        bool outputSecondDerivative = blockInfo->getScalarParameterAtIndex(PARAM_IDX_4).booleanData();
-        bool explicitInitialValue = blockInfo->getScalarParameterAtIndex(PARAM_IDX_5).booleanData();
-        bool externalSettlingTime = blockInfo->getScalarParameterAtIndex(PARAM_IDX_6).booleanData();
+        // PARAMETERS
+        // ==========
+        //
+        // 1) Sample time (double)
+        // 2) Settling time (double)
+        // 3) Enable the output of 1st derivative (bool)
+        // 4) Enable the output of 2nd derivative (bool)
+        // 5) Enable the input with the initial conditions (bool)
+        // 6) Enable the input with the external settling time (bool)
+        // 7) Reset the trajectory generator when settling time changes (bool)
+        //
+
+        bool outputFirstDerivative;
+        bool outputSecondDerivative;
+        bool explicitInitialValue;
+        bool externalSettlingTime;
+        bool ok = true;
+
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE, outputFirstDerivative);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE, outputSecondDerivative);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, explicitInitialValue);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, externalSettlingTime);
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to get input parameters.");
+            return false;
+        }
 
         int numberOfInputPorts = 1;
-        if (explicitInitialValue)
-            numberOfInputPorts++;
-        if (externalSettlingTime)
-            numberOfInputPorts++;
+        numberOfInputPorts += static_cast<unsigned>(explicitInitialValue);
+        numberOfInputPorts += static_cast<unsigned>(externalSettlingTime);
 
-        // Specify I/O
         // INPUTS
+        // ======
+        //
+        // 1) The reference signal (1xn)
+        // 2) The optional initial conditions
+        // 3) The optional settling time
+        //
+
         if(!blockInfo->setNumberOfInputPorts(numberOfInputPorts)) {
-            if (error) error->message = "Failed to set input port number";
+            Log::getSingleton().error("Failed to set input port number.");
             return false;
         }
 
@@ -69,20 +97,26 @@ namespace wbt {
             portIndex++;
         }
 
-        if (externalSettlingTime)
-        {
+        if (externalSettlingTime) {
             blockInfo->setInputPortVectorSize(portIndex, 1);
             blockInfo->setInputPortType(portIndex, PortDataTypeDouble);
             portIndex++;
         }
 
         // OUTPUTS
+        // =======
+        //
+        // 1) The calculated trajectory
+        // 2) The optional 1st derivative
+        // 3) The optional 2nd derivative
+        //
+
         int numberOfOutputPorts = 1;
-        if (outputFirstDerivative) numberOfOutputPorts++;
-        if (outputSecondDerivative) numberOfOutputPorts++;
+        numberOfOutputPorts += static_cast<unsigned>(outputFirstDerivative);
+        numberOfOutputPorts += static_cast<unsigned>(outputSecondDerivative);
 
-        if (!blockInfo->setNumberOfOuputPorts(numberOfOutputPorts)) {
-            if (error) error->message = "Failed to set output port number";
+        if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
+            Log::getSingleton().error("Failed to set output port number.");
             return false;
         }
 
@@ -94,32 +128,50 @@ namespace wbt {
         return true;
     }
 
-    bool MinimumJerkTrajectoryGenerator::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool MinimumJerkTrajectoryGenerator::initialize(BlockInformation* blockInfo)
     {
-        //Save parameters
-        bool outputFirstDerivative = blockInfo->getScalarParameterAtIndex(PARAM_IDX_3).booleanData();
-        bool outputSecondDerivative = blockInfo->getScalarParameterAtIndex(PARAM_IDX_4).booleanData();
+        // Get the additional parameters
+        bool outputFirstDerivative;
+        bool outputSecondDerivative;
+        bool ok = true;
+
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE,
+                                                        outputFirstDerivative);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE,
+                                                        outputSecondDerivative);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, m_explicitInitialValue);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, m_externalSettlingTime);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_RESET_CHANGEST,
+                                                        m_resetOnSettlingTimeChange);
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to get input parameters.");
+            return false;
+        }
+
+        if (outputFirstDerivative) {
+            m_outputFirstDerivativeIndex = 1;
+        }
 
-        if (outputFirstDerivative) m_outputFirstDerivativeIndex = 1;
         if (outputSecondDerivative) {
             m_outputSecondDerivativeIndex = outputFirstDerivative ? 2 : 1;
         }
 
-        double sampleTime = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1).doubleData();
-        double settlingTime = blockInfo->getScalarParameterAtIndex(PARAM_IDX_2).doubleData();
+        double sampleTime;
+        double settlingTime;
 
-        m_explicitInitialValue = blockInfo->getScalarParameterAtIndex(PARAM_IDX_5).booleanData();
-        m_externalSettlingTime = blockInfo->getScalarParameterAtIndex(PARAM_IDX_6).booleanData();
-        m_resetOnSettlingTimeChange = blockInfo->getScalarParameterAtIndex(PARAM_IDX_7).booleanData();
+        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SAMPLE_TIME, sampleTime);
+        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SETTLING_TIME, settlingTime);
 
-        unsigned size = blockInfo->getInputPortWidth(0);
+        unsigned signalSize = blockInfo->getInputPortWidth(0);
 
-        m_generator = new iCub::ctrl::minJerkTrajGen(size, sampleTime, settlingTime);
+        m_generator = new iCub::ctrl::minJerkTrajGen(signalSize, sampleTime, settlingTime);
         m_previousSettlingTime = settlingTime;
-        m_initialValues = new yarp::sig::Vector(size);
-        m_reference = new yarp::sig::Vector(size);
+        m_initialValues = new yarp::sig::Vector(signalSize);
+        m_reference = new yarp::sig::Vector(signalSize);
+
         if (!m_generator || !m_initialValues || !m_reference) {
-            if (error) error->message = "Could not allocate memory for trajectory generator";
+            Log::getSingleton().error("Could not allocate memory for trajectory generator.");
             return false;
         }
 
@@ -127,24 +179,24 @@ namespace wbt {
         return true;
     }
 
-    bool MinimumJerkTrajectoryGenerator::terminate(BlockInformation *blockInfo, wbt::Error *error) 
+    bool MinimumJerkTrajectoryGenerator::terminate(BlockInformation* blockInfo)
     {
         if (m_generator) {
             delete m_generator;
-            m_generator = 0;
+            m_generator = nullptr;
         }
         if (m_initialValues) {
             delete m_initialValues;
-            m_initialValues = 0;
+            m_initialValues = nullptr;
         }
         if (m_reference) {
             delete m_reference;
-            m_reference = 0;
+            m_reference = nullptr;
         }
         return true;
     }
-    
-    bool MinimumJerkTrajectoryGenerator::output(BlockInformation *blockInfo, wbt::Error *error) 
+
+    bool MinimumJerkTrajectoryGenerator::output(BlockInformation* blockInfo)
     {
         if (!m_generator) return false;
 
@@ -198,6 +250,7 @@ namespace wbt {
             Signal derivativeOutput = blockInfo->getOutputPortSignal(m_outputFirstDerivativeIndex);
             derivativeOutput.setBuffer(derivative.data(), blockInfo->getOutputPortWidth(m_outputFirstDerivativeIndex));
         }
+
         if (m_outputSecondDerivativeIndex != -1) {
             const yarp::sig::Vector &derivative = m_generator->getAcc();
             Signal derivativeOutput = blockInfo->getOutputPortSignal(m_outputSecondDerivativeIndex);

From c931213cffe5b515603b50151730494488a4a938 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:24:36 +0000
Subject: [PATCH 24/89] RealTimeSyncronizer refactored

---
 toolbox/include/RealTimeSynchronizer.h | 25 ++++++----
 toolbox/src/RealTimeSynchronizer.cpp   | 69 ++++++++++++++++----------
 2 files changed, 58 insertions(+), 36 deletions(-)

diff --git a/toolbox/include/RealTimeSynchronizer.h b/toolbox/include/RealTimeSynchronizer.h
index 3438d727f..5a2bc601d 100644
--- a/toolbox/include/RealTimeSynchronizer.h
+++ b/toolbox/include/RealTimeSynchronizer.h
@@ -7,24 +7,27 @@ namespace wbt {
     class RealTimeSynchronizer;
 }
 
-class wbt::RealTimeSynchronizer : public wbt::Block {
+class wbt::RealTimeSynchronizer : public wbt::Block
+{
 public:
-    static std::string ClassName;
-    
+    static const std::string ClassName;
+
     RealTimeSynchronizer();
-    virtual ~RealTimeSynchronizer();
-    
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
+    ~RealTimeSynchronizer() override = default;
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
+
 private:
     double m_period;
 
     double m_initialTime;
     unsigned long m_counter;
+
+    static const unsigned PARAM_PERIOD; // Period
 };
 
 #endif /* end of include guard: WBT_REALTIMESYNCHRONIZER_H */
diff --git a/toolbox/src/RealTimeSynchronizer.cpp b/toolbox/src/RealTimeSynchronizer.cpp
index 678350493..752674d44 100644
--- a/toolbox/src/RealTimeSynchronizer.cpp
+++ b/toolbox/src/RealTimeSynchronizer.cpp
@@ -1,69 +1,88 @@
 #include "RealTimeSynchronizer.h"
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 
 #include <yarp/os/Time.h>
 
-#define PARAM_IDX_1 1                           // Period
-
 namespace wbt {
-    
-    std::string RealTimeSynchronizer::ClassName = "RealTimeSynchronizer";
+
+    const std::string RealTimeSynchronizer::ClassName = "RealTimeSynchronizer";
+
+    const unsigned RealTimeSynchronizer::PARAM_PERIOD = 1; // Period
 
     RealTimeSynchronizer::RealTimeSynchronizer()
     : m_period(0.01)
     , m_initialTime(0)
-    , m_counter(0) {}
+    , m_counter(0)
+    {}
 
-    RealTimeSynchronizer::~RealTimeSynchronizer() {}
-    
     unsigned RealTimeSynchronizer::numberOfParameters() { return 1; }
 
-    bool RealTimeSynchronizer::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool RealTimeSynchronizer::configureSizeAndPorts(BlockInformation* blockInfo)
     {
+        // INPUTS
+        // ======
+        //
+        // No inputs
+        //
+
         if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to set input port number to 0";
+            Log::getSingleton().error("Failed to set input port number to 0.");
             return false;
         }
-        
-        if (!blockInfo->setNumberOfOuputPorts(0)) {
-            if (error) error->message = "Failed to set output port number";
+
+        // OUTPUTS
+        // =======
+        //
+        // No outputs
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(0)) {
+            Log::getSingleton().error("Failed to set output port number.");
             return false;
         }
 
         return true;
     }
 
-    bool RealTimeSynchronizer::initialize(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool RealTimeSynchronizer::initialize(BlockInformation* blockInfo)
     {
-        m_period = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1).doubleData();
+        if (!blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period)) {
+            Log::getSingleton().error("Failed to get input parametes.");
+            return false;
+        }
+
+        if (m_period < 0) {
+            Log::getSingleton().error("Period must be greater than 0.");
+            return false;
+        }
+
         m_counter = 0;
-        return m_period > 0;
+        return true;
     }
-    
-    bool RealTimeSynchronizer::terminate(BlockInformation *blockInfo, wbt::Error */*error*/)
+
+    bool RealTimeSynchronizer::terminate(BlockInformation* blockInfo)
     {
         return true;
     }
-    
-    bool RealTimeSynchronizer::output(BlockInformation *blockInfo, wbt::Error */*error*/)
-    {
-        using namespace yarp::os;
 
+    bool RealTimeSynchronizer::output(BlockInformation* blockInfo)
+    {
         if (m_counter == 0) {
             m_initialTime = yarp::os::Time::now();
         }
 
         //read current time
         double currentTime = yarp::os::Time::now() - m_initialTime;
-        double desiredTime = m_counter * m_period;
+        double desiredTime = m_counter* m_period;
 
         double sleepPeriod = desiredTime - currentTime;
 
         //sleep for the remaining time
-        if (sleepPeriod > 0)
+        if (sleepPeriod > 0) {
             yarp::os::Time::delay(sleepPeriod);
-        
+        }
+
         m_counter++;
 
         return true;

From 0bc69bd31e400d7ce8801fb4bec39b025041f669 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 10 Nov 2017 14:39:46 +0000
Subject: [PATCH 25/89] SetLowLevelPID refactored

---
 toolbox/include/SetLowLevelPID.h |  70 +++---
 toolbox/include/base/toolbox.h   |   4 +-
 toolbox/src/SetLowLevelPID.cpp   | 373 ++++++++++++++-----------------
 toolbox/src/base/factory.cpp     |   7 +-
 4 files changed, 199 insertions(+), 255 deletions(-)

diff --git a/toolbox/include/SetLowLevelPID.h b/toolbox/include/SetLowLevelPID.h
index e0d154a27..ff781a885 100644
--- a/toolbox/include/SetLowLevelPID.h
+++ b/toolbox/include/SetLowLevelPID.h
@@ -1,65 +1,49 @@
 #ifndef WBT_SETLOWLEVELPID_H_
 #define WBT_SETLOWLEVELPID_H_
 
-#include "WBIBlock.h"
-#include <wbi/wbiConstants.h>
-#include <map>
+#include "WBBlock.h"
+#include <unordered_map>
+#include <yarp/dev/IPidControl.h>
 
 namespace wbt {
     class SetLowLevelPID;
-}
-
-namespace wbi {
-    class wholeBodyInterface;
-    class iWholeBodyActuators;
-}
-
-namespace yarpWbi {
-    class PIDList;
+    enum PidDataIndex {
+        PGAIN = 0,
+        IGAIN = 1,
+        DGAIN = 2
+    };
+    typedef std::tuple<double, double, double> PidData;
 }
 
 namespace yarp {
-    namespace os {
-        class Value;
+    namespace dev {
+        class Pid;
     }
 }
 
-typedef std::map<std::string, yarpWbi::PIDList> PidMap;
-
-class wbt::SetLowLevelPID : public wbt::WBIBlock {
+class wbt::SetLowLevelPID : public wbt::WBBlock
+{
+private:
+    std::vector<yarp::dev::Pid> m_appliedPidValues;
+    std::vector<yarp::dev::Pid> m_defaultPidValues;
+    std::unordered_map<std::string, PidData> m_pidJointsFromParameters;
 
-    bool m_firstRun;
-    PidMap m_pids;
-    int m_lastGainSetIndex;
-    wbi::ControlMode m_controlMode;
+    yarp::dev::PidControlTypeEnum m_controlType;
 
-    bool loadLowLevelGainsFromFile(std::string filename,
-                                   const yarpWbi::PIDList &originalList,
-                                   wbi::wholeBodyInterface& interface,
-                                   yarpWbi::PIDList &loadedPIDs);
-
-    bool loadGainsFromValue(const yarp::os::Value &gains,
-                            PidMap &pidMap,
-                            wbi::wholeBodyInterface& interface);
-
-    bool setCurrentGains(const PidMap &pidMap,
-                         std::string key,
-                         wbi::iWholeBodyActuators& actuators);
+    bool readWBTPidConfigObject(BlockInformation* blockInfo);
 
 public:
-    static std::string ClassName;
-    SetLowLevelPID();
+    static const std::string ClassName;
 
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+    SetLowLevelPID() = default;
+    ~SetLowLevelPID() override = default;
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-
 #endif /* end of include guard: WBT_SETLOWLEVELPID_H_ */
diff --git a/toolbox/include/base/toolbox.h b/toolbox/include/base/toolbox.h
index a1ff7505f..71a034c28 100644
--- a/toolbox/include/base/toolbox.h
+++ b/toolbox/include/base/toolbox.h
@@ -16,13 +16,11 @@
 #include "DotJNu.h"
 #include "GetLimits.h"
 #include "CentroidalMomentum.h"
+#include "SetLowLevelPID.h"
 #ifdef WBT_USES_ICUB
 #include "MinimumJerkTrajectoryGenerator.h"
 #endif
 #ifdef WBT_USES_IPOPT
 #include "InverseKinematics.h"
-#endif
 #include "RemoteInverseKinematics.h"
-#ifdef WBT_USES_CODYCO_COMMONS
-#include "SetLowLevelPID.h"
 #endif
diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index b772cb742..9448b4eb0 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -1,275 +1,240 @@
 #include "SetLowLevelPID.h"
 
-#include "Error.h"
-#include "WBInterface.h"
+#include "Log.h"
+#include "RobotInterface.h"
 #include "BlockInformation.h"
-#include <yarpWholeBodyInterface/yarpWholeBodyInterface.h>
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <yarpWholeBodyInterface/PIDList.h>
-#include <wbi/wholeBodyInterface.h>
-#include <yarp/os/ResourceFinder.h>
-#include <map>
+#include <yarp/dev/ControlBoardPid.h>
+#include <algorithm>
 
 namespace wbt {
 
-    static const std::string TorquePIDInitialKey = "__ORIGINAL_PIDs__";
-    static const std::string TorquePIDDefaultKey = "__DEFAULT_PIDs__";
+    const std::string SetLowLevelPID::ClassName = "SetLowLevelPID";
 
-#pragma mark - SetLowLevelPID class implementation
-
-    std::string SetLowLevelPID::ClassName = "SetLowLevelPID";
+    unsigned SetLowLevelPID::numberOfParameters()
+    {
+        return WBBlock::numberOfParameters()
+        + 1  // WBTPIDConfig object
+        + 1; // Control type
+    }
 
-    SetLowLevelPID::SetLowLevelPID()
-    : m_firstRun(true)
-    , m_lastGainSetIndex(-1)
-    , m_controlMode(wbi::CTRL_MODE_TORQUE) {}
+    bool SetLowLevelPID::configureSizeAndPorts(BlockInformation* blockInfo)
+    {
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
+        // INPUTS
+        // ======
+        //
+        // No inputs
+        //
 
-    bool SetLowLevelPID::loadLowLevelGainsFromFile(std::string filename,
-                                                   const yarpWbi::PIDList &originalList,
-                                                   wbi::wholeBodyInterface& interface,
-                                                   yarpWbi::PIDList &loadedPIDs)
-    {
-        //List of list. Each element has a key: joint name, and a list of pairs: kp, kd, ki and its respective value
-        using namespace yarp::os;
-        yarp::os::ResourceFinder resourceFinder = yarp::os::ResourceFinder::getResourceFinderSingleton();
-        Property file;
-        std::string fileName = resourceFinder.findFileByName(filename);
-        if (fileName.empty()) return false;
-        file.fromConfigFile(fileName);
-
-        Bottle externalList;
-        externalList.fromString(file.toString());
-
-        bool result = true;
-        wbi::IDList jointList = interface.getJointList();
-        for (int i = 0; i < externalList.size(); ++i) {
-            if (!externalList.get(i).isList()) continue;
-            Bottle *jointConfig = externalList.get(i).asList();
-            if (jointConfig->size() < 2 || !jointConfig->get(0).isString()) continue;
-            wbi::ID jointID(jointConfig->get(0).asString());
-            int jointIndex = -1;
-            if (!jointList.idToIndex(jointID, jointIndex)) continue;
-            if (jointIndex < 0 || jointIndex >= jointList.size()) {
-                yWarning("Specified joint %s index is outside joint list size", jointID.toString().c_str());
-                continue;
-            }
+        if (!blockInfo->setNumberOfInputPorts(0)) {
+            Log::getSingleton().error("Failed to configure the number of input ports.");
+            return false;
+        }
 
-            loadedPIDs.pidList()[jointIndex] = originalList.pidList()[jointIndex];
-            loadedPIDs.motorParametersList()[jointIndex] = originalList.motorParametersList()[jointIndex];
+        // OUTPUTS
+        // =======
+        //
+        // No outputs
+        //
 
-            result = result && yarpWbi::pidFromBottleDescription(*jointConfig, loadedPIDs.pidList()[jointIndex]);
-            if (m_controlMode == wbi::CTRL_MODE_TORQUE) {
-                result = result && yarpWbi::motorTorqueParametersFromBottleDescription(*jointConfig, loadedPIDs.motorParametersList()[jointIndex]);
-            }
+        if (!blockInfo->setNumberOfOutputPorts(0)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
+            return false;
         }
-        return result;
+
+        return true;
     }
 
-    bool SetLowLevelPID::loadGainsFromValue(const yarp::os::Value &gains,
-                                            PidMap &pidMap,
-                                            wbi::wholeBodyInterface& interface)
+    bool SetLowLevelPID::readWBTPidConfigObject(BlockInformation* blockInfo)
     {
-        pidMap.clear();
-
-        yarpWbi::yarpWholeBodyInterface *yarpInterface = dynamic_cast<yarpWbi::yarpWholeBodyInterface *>(&interface);
-        if (!yarpInterface) {
+        AnyStruct s;
+        if (!blockInfo->getStructAtIndex(WBBlock::numberOfParameters() + 1, s)) {
+            Log::getSingleton().error("Failed to retrieve the struct with parameters.");
             return false;
         }
 
-        //Load original gains from controlboards and save them to the original key.
-        yarpWbi::PIDList originalGains(interface.getDoFs());
-        yarpWbi::yarpWholeBodyActuators *actuators = yarpInterface->wholeBodyActuator();
-        if (!actuators) {
+        // Check the existence of all the fields
+        try {
+            s.at("P");
+            s.at("I");
+            s.at("D");
+            s.at("jointList");
+        }
+        catch (const std::out_of_range& e) {
+            Log::getSingleton().error("Cannot retrieve one or more parameter from parameter's struct.");
             return false;
         }
-        //TODO: should be made not limited to torque
-        actuators->getPIDGains(originalGains.pidList(), wbi::CTRL_MODE_TORQUE);
-        actuators->getMotorTorqueParameters(originalGains.motorParametersList());
-        pidMap.insert(PidMap::value_type(TorquePIDInitialKey, originalGains));
-
-        //Now load additional gains
-        bool result = true;
-        if (gains.isString()) {
-            yarpWbi::PIDList pids(interface.getDoFs());
-            result = loadLowLevelGainsFromFile(gains.asString(), originalGains, interface, pids);
-            pidMap.insert(PidMap::value_type(TorquePIDDefaultKey, pids));
-        } else if (gains.isList()) {
-            using namespace yarp::os;
-            Bottle *list = gains.asList();
-
-            //list of files. gains will be saved as integer-values
-            for (int i = 0; i < list->size(); ++i) {
-                if (!list->get(i).isString()) continue;
-                std::string filename = list->get(i).asString();
-                yarpWbi::PIDList pids(interface.getDoFs());
-                result = loadLowLevelGainsFromFile(filename, originalGains, interface, pids);
-
-                if (result) {
-                    pidMap.insert(PidMap::value_type(yarpWbi::stringFromInt(i + 1), pids));
-                }
-            }
+
+        // Proportional gains
+        std::vector<double> Pvector;
+        if (!s["P"]->asVectorDouble(Pvector)) {
+            Log::getSingleton().error("Cannot retrieve vector from P parameter.");
+            return false;
         }
-        return result;
-    }
 
-    //TODO: for performance it is probably better to change the map so that the index is an integer
-    //i.e. a non continuous vector
-    bool SetLowLevelPID::setCurrentGains(const PidMap &pidMap,
-                                         std::string key,
-                                         wbi::iWholeBodyActuators& actuators)
-    {
-        yarpWbi::yarpWholeBodyActuators *yarpActuators = static_cast<yarpWbi::yarpWholeBodyActuators *>(&actuators);
-        if (!yarpActuators) return false;
+        // Integral gains
+        std::vector<double> Ivector;
+        if (!s["I"]->asVectorDouble(Ivector)) {
+            Log::getSingleton().error("Cannot retrieve vector from I parameter.");
+            return false;
+        }
 
-        PidMap::const_iterator found = pidMap.find(key);
-        //Treat one exception: pidMap with size == 2, the default can be set to either the string or the num 1
-        if (found == pidMap.end() && key == TorquePIDDefaultKey && pidMap.size() == 2) {
-            found = pidMap.find("1");
+        // Derivative gains
+        std::vector<double> Dvector;
+        if (!s["D"]->asVectorDouble(Dvector)) {
+            Log::getSingleton().error("Cannot retrieve vector from D parameter.");
+            return false;
         }
 
-        if (found == pidMap.end()) return false;
-        bool result = yarpActuators->setPIDGains(found->second.pidList(), m_controlMode); //to be made generic (torque, position, etc)
-        if (m_controlMode == wbi::CTRL_MODE_TORQUE) {
-            result = result && yarpActuators->setMotorTorqueParameters(found->second.motorParametersList());
+        // Considered joint names
+        AnyCell jointPidsCell;
+        if (!s["jointList"]->asAnyCell(jointPidsCell)) {
+            Log::getSingleton().error("Cannot retrieve string from jointList parameter.");
+            return false;
         }
-        return result;
-    }
 
-#pragma mark - overloaded methods
+        // From AnyCell to vector<string>
+        std::vector<std::string> jointNamesFromParameters;
+        for (auto cell: jointPidsCell) {
+            std::string joint;
+            if (!cell->asString(joint)) {
+                Log::getSingleton().error("Failed to convert jointList from cell to strings.");
+                return false;
+            }
+            jointNamesFromParameters.push_back(joint);
+        }
 
-    unsigned SetLowLevelPID::numberOfParameters()
-    {
-        return WBIBlock::numberOfParameters()
-        + 1 // pid parameters file
-        + 1;// control method
-    }
+        assert(Pvector.size() == Ivector.size() == Dvector.size() == jointNamesFromParameters.size());
 
-    bool SetLowLevelPID::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        // Store this data into a private member map
+        for (unsigned i = 0; i < jointNamesFromParameters.size(); ++i) {
+            // Check the processed joint is actually a controlledJoint
+            const auto& controlledJoints = getConfiguration().getControlledJoints();
+            auto findElement = std::find(std::begin(controlledJoints),
+                                         std::end(controlledJoints),
+                                         jointNamesFromParameters[i]);
+            if (findElement != std::end(controlledJoints)) {
+                m_pidJointsFromParameters[jointNamesFromParameters[i]] = {Pvector[i], Ivector[i], Dvector[i]};
+            }
+            else {
+                Log::getSingleton().warning("Attempted to set PID of joint " + jointNamesFromParameters[i] +
+                                            " non currently controlled. Skipping it.");
+            }
 
-        // Specify I/O
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to configure the number of input ports";
-            return false;
         }
 
-        // Output port:
-        if (!blockInfo->setNumberOfOuputPorts(0)) {
-            if (error) error->message = "Failed to configure the number of output ports";
-            return false;
+        if (m_pidJointsFromParameters.size() != jointNamesFromParameters.size()) {
+            Log::getSingleton().warning("PID have been passed only for a subset of the controlled joints.");
         }
 
         return true;
     }
 
-    bool SetLowLevelPID::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool SetLowLevelPID::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIBlock::initialize(blockInfo, error)) return false;
+        if (!WBBlock::initialize(blockInfo)) return false;
 
         // Reading the control type
         std::string controlType;
-        if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 2, controlType)) {
-            if (error) error->message = "Could not read control type parameter";
+        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 2, controlType)) {
+            Log::getSingleton().error("Could not read control type parameter.");
             return false;
         }
 
-        m_controlMode = wbi::CTRL_MODE_UNKNOWN;
         if (controlType == "Position") {
-            m_controlMode = wbi::CTRL_MODE_POS;
-        } else if (controlType == "Torque") {
-            m_controlMode = wbi::CTRL_MODE_TORQUE;
-        } else {
-            if (error) error->message = "Control Mode not supported";
+            m_controlType = yarp::dev::VOCAB_PIDTYPE_POSITION;
+        }
+        else if (controlType == "Torque") {
+            m_controlType = yarp::dev::VOCAB_PIDTYPE_TORQUE;
+        }
+        else {
+            Log::getSingleton().error("Control type not recognized.");
             return false;
         }
 
+        // Reading the WBTPIDConfig matlab class
+        if (!readWBTPidConfigObject(blockInfo)) {
+            Log::getSingleton().error("Failed to parse the WBTPIDConfig object.");
+            return 1;
+        }
 
-        // Reading the PID specification parameter
-        std::string pidParameter;
-        if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 1, pidParameter)) {
-            if (error) error->message = "Could not read PID file specification parameter";
+        // Retain the RemoteControlBoardRemapper
+        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+            Log::getSingleton().error("Failed to retain the control board remapper.");
             return false;
         }
 
-        Value value;
-        value.fromString(pidParameter.c_str());
-        m_pids.clear();
+        const unsigned& dofs = getConfiguration().getNumberOfDoFs();
 
-        yarpWbi::yarpWholeBodyInterface * const interface = dynamic_cast<yarpWbi::yarpWholeBodyInterface * const>(WBInterface::sharedInstance().interface());
-        if (!interface) {
-            if (error) error->message = "This block currently work only with YARP-WBI implementation";
+        // Initialize the vector size to the number of dofs
+        m_defaultPidValues.resize(dofs);
+
+        // Get the interface
+        std::weak_ptr<yarp::dev::IPidControl> iPidControl;
+        if (!getRobotInterface()->getInterface(iPidControl)) {
+            Log::getSingleton().error("Failed to get IPidControl interface.");
             return false;
         }
-        if (!loadGainsFromValue(value, m_pids, *interface)) {
-            m_pids.clear();
-            if (error) error->message = "Error while loading PIDs configuration";
-            yError("Error while loading PIDs configuration");
+
+        // Store the default gains
+        if (!iPidControl.lock()->getPids(m_controlType, m_defaultPidValues.data())) {
+            Log::getSingleton().error("Failed to get default data from IPidControl.");
             return false;
-        } else {
-            yInfo("Loaded PIDs configuration");
         }
-        m_lastGainSetIndex = -1;
 
-        m_firstRun = true;
-        return true;
-    }
+        // Initialize the vector of the applied pid gains with the default gains
+        m_appliedPidValues = m_defaultPidValues;
 
-    bool SetLowLevelPID::terminate(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        //static_cast as the dynamic has been done in the initialize
-        //and the pointer should not change
-        yarpWbi::yarpWholeBodyInterface * const interface = static_cast<yarpWbi::yarpWholeBodyInterface * const>(WBInterface::sharedInstance().interface());
-
-        if (interface) {
-            yarpWbi::yarpWholeBodyActuators *actuators = interface->wholeBodyActuator();
-            if (actuators && m_pids.size() > 1) {
-                setCurrentGains(m_pids, TorquePIDInitialKey, *actuators);
+        // Override the PID with the gains specified as block parameters
+        for (unsigned i = 0; i < dofs; ++i) {
+            const std::string jointName = getConfiguration().getControlledJoints()[i];
+            // If the pid has been passed, set the new gains
+            if (m_pidJointsFromParameters.find(jointName) != m_pidJointsFromParameters.end()) {
+                PidData gains = m_pidJointsFromParameters[jointName];
+                m_appliedPidValues[i].setKp(std::get<PGAIN>(gains));
+                m_appliedPidValues[i].setKi(std::get<IGAIN>(gains));
+                m_appliedPidValues[i].setKd(std::get<DGAIN>(gains));
             }
         }
 
-        m_pids.clear();
-        m_lastGainSetIndex = -1;
+        // Apply the new pid gains
+        if (!iPidControl.lock()->setPids(m_controlType, m_appliedPidValues.data())) {
+            Log::getSingleton().error("Failed to set PID values.");
+            return false;
+        }
 
-        return WBIBlock::terminate(blockInfo, error);
+        return true;
     }
 
-    bool SetLowLevelPID::output(BlockInformation *blockInfo, wbt::Error *error)
+    bool SetLowLevelPID::terminate(BlockInformation* blockInfo)
     {
-        //static_cast as the dynamic has been done in the initialize
-        //and the pointer should not change
-        yarpWbi::yarpWholeBodyInterface * const interface = static_cast<yarpWbi::yarpWholeBodyInterface * const>(WBInterface::sharedInstance().interface());
-        if (interface) {
-            if (m_firstRun) {
-                m_firstRun = false;
-
-                yarpWbi::yarpWholeBodyActuators *actuators = interface->wholeBodyActuator();
-                if (!actuators) {
-                    if (error) error->message = "Failed to retrieve the interface to the actuators";
-                    return false;
-                }
-
-                //First case: only one element
-                if (m_lastGainSetIndex == -1 && m_pids.size() == 2) {
-                    //just switch to the only existing set
-                    setCurrentGains(m_pids, TorquePIDDefaultKey, *actuators);
-                    m_lastGainSetIndex = 0;
-                } else {
-//                    InputPtrsType      u     = ssGetInputPortSignalPtrs(S, 0);
-//                    InputInt8PtrsType  uPtrs = (InputInt8PtrsType)u;
-//                    if (*uPtrs[0] != lastGainIndex) {
-//                        wbitoolbox::setCurrentGains(*pids, *uPtrs[0], *((yarpWbi::yarpWholeBodyInterface*)robot->wbInterface));
-//                        info[0] = *uPtrs[0];
-//                    }
-                }
+        bool ok = true;
 
-            }
-            return true;
+        // Get the IPidControl interface
+        std::weak_ptr<yarp::dev::IPidControl> iPidControl;
+        ok = ok & getRobotInterface()->getInterface(iPidControl);
+        if (!ok) {
+            Log::getSingleton().error("Failed to get IPidControl interface.");
+        }
+
+        // Reset default pid gains
+        ok = ok & iPidControl.lock()->setPids(m_controlType, m_defaultPidValues.data());
+        if (!ok) {
+            Log::getSingleton().error("Failed to set default PID values.");
         }
-        return false;
+
+        // Release the RemoteControlBoardRemapper
+        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+        if (!ok) {
+            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+        }
+
+        return ok && WBBlock::terminate(blockInfo);
+    }
+
+    bool SetLowLevelPID::output(BlockInformation* blockInfo)
+    {
+        return true;
     }
 }
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index 69a962e08..dcbe75d60 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -34,6 +34,8 @@ wbt::Block* wbt::Block::instantiateBlockWithClassName(std::string blockClassName
         block = new wbt::GetLimits();
     } else if (blockClassName == wbt::CentroidalMomentum::ClassName) {
         block = new wbt::CentroidalMomentum();
+    } else if (blockClassName == wbt::SetLowLevelPID::ClassName) {
+        block = new wbt::SetLowLevelPID();
     }
 #ifdef WBT_USES_ICUB
     else if (blockClassName == wbt::MinimumJerkTrajectoryGenerator::ClassName) {
@@ -48,11 +50,6 @@ wbt::Block* wbt::Block::instantiateBlockWithClassName(std::string blockClassName
     else if (blockClassName == wbt::RemoteInverseKinematics::ClassName) {
         block = new wbt::RemoteInverseKinematics();
     }
-#ifdef WBT_USES_CODYCO_COMMONS
-    else if (blockClassName == wbt::SetLowLevelPID::ClassName) {
-        block = new wbt::SetLowLevelPID();
-    }
-#endif
 
     
     return block;

From 0eada49c511af56815b6593eeb3b2cab9254b990 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:37:51 +0000
Subject: [PATCH 26/89] SetReferences refactored

---
 toolbox/include/SetReferences.h |  32 ++--
 toolbox/src/SetReferences.cpp   | 328 +++++++++++++++++++-------------
 2 files changed, 212 insertions(+), 148 deletions(-)

diff --git a/toolbox/include/SetReferences.h b/toolbox/include/SetReferences.h
index ca3e1465f..c7c4c2ed8 100644
--- a/toolbox/include/SetReferences.h
+++ b/toolbox/include/SetReferences.h
@@ -1,36 +1,32 @@
 #ifndef WBT_SETREFERENCES_H
 #define WBT_SETREFERENCES_H
 
-#include "WBIBlock.h"
-#include <wbi/wbiConstants.h>
+#include "WBBlock.h"
 #include <vector>
 
 namespace wbt {
     class SetReferences;
 }
 
-class wbt::SetReferences : public wbt::WBIBlock {
-
-    double *m_references;
-    wbi::ControlMode m_controlMode;
-    bool m_fullControl;
-    std::vector<int> m_controlledJoints;
+class wbt::SetReferences : public wbt::WBBlock
+{
+private:
+    std::vector<int> m_controlModes;
     bool m_resetControlMode;
+    static void rad2deg(std::vector<double>& v);
 
 public:
-    static std::string ClassName;
-    SetReferences();
-
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+    static const std::string ClassName;
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initializeInitialConditions(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
+    SetReferences();
 
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
+    bool initialize(BlockInformation* blockInfo) override;
+    bool initializeInitialConditions(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
 #endif /* end of include guard: WBT_SETREFERENCES_H */
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 397bd6020..3858a55a5 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -1,206 +1,274 @@
 #include "SetReferences.h"
 
-#include "Error.h"
-#include "WBInterface.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "RobotInterface.h"
+#include <yarp/dev/ControlBoardInterfaces.h>
 
-#include <iostream>
+#define _USE_MATH_DEFINES
+#include <cmath>
 
 namespace wbt {
 
-    std::string SetReferences::ClassName = "SetReferences";
+    const std::string SetReferences::ClassName = "SetReferences";
 
     SetReferences::SetReferences()
-    : m_references(0)
-    , m_controlMode(wbi::CTRL_MODE_UNKNOWN)
-    , m_fullControl(true)
-    , m_resetControlMode(true) {}
+    : m_resetControlMode(true)
+    {}
+
+    void rad2deg(std::vector<double>& v)
+    {
+        const double rad2deg = 180.0 / (2 * M_PI);
+        for (auto& element : v) {
+            element *= rad2deg;
+        }
+    }
 
     unsigned SetReferences::numberOfParameters()
     {
-        // 1 - Control Type
-        // 2 - Full/Sublist type
-        // 3 - (only if sublist) controlled joints
-        return WBIBlock::numberOfParameters() + 3;
+        return WBBlock::numberOfParameters() + 1;
     }
 
-    bool SetReferences::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool SetReferences::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        // Memory allocation / Saving data not allowed here
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // In Toolbox mask the options are the following:
-        // - 1 => full control
-        // - 2 => sublist control
-        m_fullControl = blockInfo->getScalarParameterAtIndex(WBIBlock::numberOfParameters() + 2).int32Data() == 1;
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        if (!m_fullControl) {
-            //sublist
-            std::string controlledList;
-            if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 3, controlledList)) {
-                if (error) error->message = "Could not read control type parameter";
-                return false;
-            }
-            const yarp::os::Property * controlledListProperty = WBInterface::sharedInstance().currentConfiguration();
+        // INPUTS
+        // ======
+        //
+        // 1) Joint refereces (1xDoFs vector)
+        //
 
-            wbi::IDList idList;
-            WBInterface::wbdIDListFromConfigPropAndList(*controlledListProperty,
-                                                        controlledList, idList);
-            dofs = idList.size();
-        }
-
-        // Specify I/O
+        // Number of inputs
         if (!blockInfo->setNumberOfInputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
 
+        // Size and type
         bool success = blockInfo->setInputPortVectorSize(0, dofs);
         blockInfo->setInputPortType(0, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        if (!blockInfo->setNumberOfOuputPorts(0)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // No outputs
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(0)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
         return true;
     }
 
-    bool SetReferences::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool SetReferences::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIBlock::initialize(blockInfo, error)) return false;
+        if (!WBBlock::initialize(blockInfo)) return false;
 
         // Reading the control type
         std::string controlType;
-        if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 1, controlType)) {
-            if (error) error->message = "Could not read control type parameter";
+        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1,
+                                                  controlType)) {
+            Log::getSingleton().error("Could not read control type parameter.");
             return false;
         }
 
-        m_controlMode = wbi::CTRL_MODE_UNKNOWN;
+        // Initialize the std::vectors
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+        m_controlModes.assign(dofs, VOCAB_CM_UNKNOWN);
+
+        // IControlMode.h
         if (controlType == "Position") {
-            m_controlMode = wbi::CTRL_MODE_POS;
-        } else if (controlType == "Position Direct") {
-            m_controlMode = wbi::CTRL_MODE_DIRECT_POSITION;
-        } else if (controlType == "Velocity") {
-            m_controlMode = wbi::CTRL_MODE_VEL;
-        } else if (controlType == "Torque") {
-            m_controlMode = wbi::CTRL_MODE_TORQUE;
-        } else if (controlType == "Open Loop") {
-            m_controlMode = wbi::CTRL_MODE_MOTOR_PWM;
-        } else {
-            if (error) error->message = "Control Mode not supported";
+            m_controlModes.assign(dofs, VOCAB_CM_POSITION);
+        }
+        else if (controlType == "Position Direct") {
+            m_controlModes.assign(dofs, VOCAB_CM_POSITION_DIRECT);
+        }
+        else if (controlType == "Velocity") {
+            m_controlModes.assign(dofs, VOCAB_CM_VELOCITY);
+        }
+        else if (controlType == "Torque") {
+            m_controlModes.assign(dofs, VOCAB_CM_TORQUE);
+        }
+        else if (controlType == "PWM") {
+            m_controlModes.assign(dofs, VOCAB_CM_PWM);
+        }
+        else if (controlType == "Current") {
+            m_controlModes.assign(dofs, VOCAB_CM_CURRENT);
+        }
+        else {
+            Log::getSingleton().error("Control Mode not supported.");
             return false;
         }
 
-        //Read if full or sublist control
-        m_fullControl = blockInfo->getScalarParameterAtIndex(WBIBlock::numberOfParameters() + 2).booleanData();
-
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        if (!m_fullControl) {
-            //sublist
-            std::string controlledList;
-            if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 3, controlledList)) {
-                if (error) error->message = "Could not read control type parameter";
-                return false;
-            }
-            const yarp::os::Property * controlledListProperty = WBInterface::sharedInstance().currentConfiguration();
-
-            wbi::IDList idList;
-            bool result = WBInterface::wbdIDListFromConfigPropAndList(*controlledListProperty,
-                                                                      controlledList, idList);
-            wbi::IDList fullList = WBInterface::sharedInstance().interface()->getJointList();
-            m_controlledJoints.clear();
-            m_controlledJoints.reserve(idList.size());
-            if (result) {
-                for (int i = 0; i < idList.size(); i++) {
-                    int index;
-                    if (fullList.idToIndex(idList.at(i), index))
-                        m_controlledJoints.push_back(index);
-                    else
-                        std::cerr << "Joint " << idList.at(i).toString() << " not found\n";
-                }
-            }
-            dofs = idList.size();
+        // Retain the ControlBoardRemapper
+        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+            Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+            return false;
         }
-        m_references = new double[dofs];
 
         m_resetControlMode = true;
-        return m_references;
+        return true;
     }
 
-    bool SetReferences::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool SetReferences::terminate(BlockInformation* blockInfo)
     {
-        wbi::wholeBodyInterface * const interface = WBInterface::sharedInstance().interface();
-        if (interface) {
-            if (m_fullControl) {
-                interface->setControlMode(wbi::CTRL_MODE_POS);
-            } else {
-                for (int i = 0; i < m_controlledJoints.size(); i++) {
-                    interface->setControlMode(wbi::CTRL_MODE_POS, 0, m_controlledJoints[i]);
-                }
-            }
+        using namespace yarp::dev;
+        bool ok = true;
+
+        // Get the interface
+        std::weak_ptr<IControlMode2> icmd2;
+        ok = ok & getRobotInterface()->getInterface(icmd2);
+        if (!ok) {
+            Log::getSingleton().error("Failed to get the IControlMode2 interface.");
         }
-        if (m_references) {
-            delete [] m_references;
-            m_references = 0;
+
+        // Set  all the controlledJoints VOCAB_CM_POSITION
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+        m_controlModes.assign(dofs, VOCAB_CM_POSITION);
+
+        ok = ok & icmd2.lock()->setControlModes(m_controlModes.data());
+        if (!ok) {
+            Log::getSingleton().error("Failed to set control mode.");
+        }
+
+        // Release the RemoteControlBoardRemapper
+        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+        if (!ok) {
+            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
         }
-        return WBIBlock::terminate(blockInfo, error);
+
+        return ok && WBBlock::terminate(blockInfo);
     }
 
-    bool SetReferences::initializeInitialConditions(BlockInformation */*blockInfo*/, wbt::Error */*error*/)
+    bool SetReferences::initializeInitialConditions(BlockInformation* /*blockInfo*/)
     {
-        //Simply reset the variable m_resetControlMode
-        //It will be read at the first cycle of output
+        // Simply reset the variable m_resetControlMode.
+        // It will be read at the first cycle of output.
         m_resetControlMode = true;
         return true;
     }
 
-    bool SetReferences::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool SetReferences::output(BlockInformation* blockInfo)
     {
-        //get input
-        wbi::wholeBodyInterface * const interface = WBInterface::sharedInstance().interface();
-        if (!interface) return false;
-
-        Signal references = blockInfo->getInputPortSignal(0);
-        for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-            m_references[i] = references.get(i).doubleData();
-        }
+        using namespace yarp::dev;
 
+        // Set the control mode at the first run
         if (m_resetControlMode) {
             m_resetControlMode = false;
+            // Get the interface
+            std::weak_ptr<IControlMode2> icmd2;
+            if (!getRobotInterface()->getInterface(icmd2)) {
+                Log::getSingleton().error("Failed to get the IControlMode2 interface.");
+                return false;
+            }
+            // Set the control mode to all the controlledJoints
+            if (!icmd2.lock()->setControlModes(m_controlModes.data())) {
+                Log::getSingleton().error("Failed to set control mode.");
+                return false;
+            }
+        }
+
+        // Get the signal
+        Signal references = blockInfo->getInputPortSignal(0);
+        unsigned signalWidth = blockInfo->getInputPortWidth(0);
+        std::vector<double> referencesVector = references.getStdVector(signalWidth);
 
-            //now switch control mode
-            if (m_fullControl) {
-                interface->setControlMode(m_controlMode, m_references);
-            } else {
-                for (int i = 0; i < m_controlledJoints.size(); i++) {
-                    interface->setControlMode(m_controlMode, &m_references[i], m_controlledJoints[i]);
+        bool ok = false;
+        // TODO: here only the first element is checked
+        switch (m_controlModes.front()) {
+            case VOCAB_CM_UNKNOWN:
+                Log::getSingleton().error("Control mode has not been successfully set.");
+                return false;
+                break;
+            case VOCAB_CM_POSITION: {
+                // Get the interface
+                std::weak_ptr<IPositionControl> interface;
+                if (!getRobotInterface()->getInterface(interface)) {
+                    Log::getSingleton().error("Failed to get IPositionControl interface.");
+                    return false;
+                }
+                // Convert from rad to deg
+                rad2deg(referencesVector);
+                // Set the references
+                ok = interface.lock()->positionMove(referencesVector.data());
+                break;
+            }
+            case VOCAB_CM_POSITION_DIRECT: {
+                // Get the interface
+                std::weak_ptr<IPositionDirect> interface;
+                if (!getRobotInterface()->getInterface(interface)) {
+                    Log::getSingleton().error("Failed to get IPositionDirect interface.");
+                    return false;
+                }
+                // Convert from rad to deg
+                rad2deg(referencesVector);
+                // Set the references
+                ok = interface.lock()->setPositions(referencesVector.data());
+                break;
+            }
+            case VOCAB_CM_VELOCITY: {
+                // Get the interface
+                std::weak_ptr<IVelocityControl> interface;
+                if (!getRobotInterface()->getInterface(interface)) {
+                    Log::getSingleton().error("Failed to get IVelocityControl interface.");
+                    return false;
+                }
+                // Convert from rad to deg
+                rad2deg(referencesVector);
+                // Set the references
+                ok = interface.lock()->velocityMove(referencesVector.data());
+                break;
+            }
+            case VOCAB_CM_TORQUE: {
+                // Get the interface
+                std::weak_ptr<ITorqueControl> interface;
+                if (!getRobotInterface()->getInterface(interface)) {
+                    Log::getSingleton().error("Failed to get ITorqueControl interface.");
+                    return false;
                 }
+                ok = interface.lock()->setRefTorques(referencesVector.data());
+                break;
+            }
+            case VOCAB_CM_PWM: {
+                // Get the interface
+                std::weak_ptr<IPWMControl> interface;
+                if (!getRobotInterface()->getInterface(interface)) {
+                    Log::getSingleton().error("Failed to get IPWMControl interface.");
+                    return false;
+                }
+                ok = interface.lock()->setRefDutyCycles(referencesVector.data());
+                break;
+            }
+            case VOCAB_CM_CURRENT: {
+                // Get the interface
+                std::weak_ptr<ICurrentControl> interface;
+                if (!getRobotInterface()->getInterface(interface)) {
+                    Log::getSingleton().error("Failed to get ICurrentControl interface.");
+                    return false;
+                }
+                ok = interface.lock()->setRefCurrents(referencesVector.data());
+                break;
             }
-            return true;
         }
 
-        if (m_fullControl) {
-            interface->setControlReference(m_references);
-        } else {
-            for (int i = 0; i < m_controlledJoints.size(); i++) {
-                interface->setControlReference(&m_references[i], m_controlledJoints[i]);
-            }
+        if (!ok) {
+            Log::getSingleton().error("Failed to set references.");
+            return false;
         }
+
         return true;
     }
 }

From 520266f1097cdadf4f25ad21c5755a2ed30e23e7 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:39:05 +0000
Subject: [PATCH 27/89] SimulatorSynchronizer refactored

---
 toolbox/include/SimulatorSynchronizer.h | 26 +++++----
 toolbox/src/SimulatorSynchronizer.cpp   | 78 +++++++++++++++----------
 2 files changed, 61 insertions(+), 43 deletions(-)

diff --git a/toolbox/include/SimulatorSynchronizer.h b/toolbox/include/SimulatorSynchronizer.h
index 863fc6067..aa5c3eced 100644
--- a/toolbox/include/SimulatorSynchronizer.h
+++ b/toolbox/include/SimulatorSynchronizer.h
@@ -7,27 +7,31 @@ namespace wbt {
     class SimulatorSynchronizer;
 }
 
-class wbt::SimulatorSynchronizer : public wbt::Block {
+class wbt::SimulatorSynchronizer : public wbt::Block
+{
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
 
     SimulatorSynchronizer();
-    virtual ~SimulatorSynchronizer();
+    ~SimulatorSynchronizer() override = default;
 
-    virtual unsigned numberOfParameters();
-    virtual std::vector<std::string> additionalBlockOptions();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
+    unsigned numberOfParameters() override;
+    std::vector<std::string> additionalBlockOptions() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 
 private:
-
     double m_period;
     bool m_firstRun;
 
     struct RPCData;
-    RPCData *m_rpcData;
+    RPCData* m_rpcData;
+
+    static const unsigned PARAM_PERIOD;     // Period
+    static const unsigned PARAM_GZCLK_PORT; // Gazebo clock port
+    static const unsigned PARAM_RPC_PORT;   // RPC client port name
 };
 
 #endif /* end of include guard: WBT_SIMULATORSYNCHRONIZER_H */
diff --git a/toolbox/src/SimulatorSynchronizer.cpp b/toolbox/src/SimulatorSynchronizer.cpp
index 6ed88c3e4..741a48ad6 100644
--- a/toolbox/src/SimulatorSynchronizer.cpp
+++ b/toolbox/src/SimulatorSynchronizer.cpp
@@ -1,17 +1,12 @@
 #include "SimulatorSynchronizer.h"
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
+#include "thrift/ClockServer.h"
 
 #include <yarp/os/Network.h>
 #include <yarp/os/Port.h>
-#include <thrift/ClockServer.h>
 #include <cmath>
 
-#define PARAM_IDX_1 1                           // Period
-#define PARAM_IDX_2 2                           // Gazebo clock port
-#define PARAM_IDX_3 3                           // RPC client port name
-
-
 namespace wbt {
 
     struct SimulatorSynchronizer::RPCData
@@ -26,16 +21,19 @@ namespace wbt {
         yarp::os::Port clientPort;
         gazebo::ClockServer clockServer;
     };
-    
-    std::string SimulatorSynchronizer::ClassName = "SimulatorSynchronizer";
+
+    const std::string SimulatorSynchronizer::ClassName = "SimulatorSynchronizer";
+
+    const unsigned SimulatorSynchronizer::PARAM_PERIOD     = 1;
+    const unsigned SimulatorSynchronizer::PARAM_GZCLK_PORT = 2;
+    const unsigned SimulatorSynchronizer::PARAM_RPC_PORT   = 3;
 
     SimulatorSynchronizer::SimulatorSynchronizer()
     : m_period(0.01)
     , m_firstRun(true)
-    , m_rpcData(0) {}
+    , m_rpcData(0)
+    {}
 
-    SimulatorSynchronizer::~SimulatorSynchronizer() {}
-    
     unsigned SimulatorSynchronizer::numberOfParameters() { return 3; }
 
     std::vector<std::string> SimulatorSynchronizer::additionalBlockOptions()
@@ -43,43 +41,57 @@ namespace wbt {
         return std::vector<std::string>(1, wbt::BlockOptionPrioritizeOrder);
     }
 
-    bool SimulatorSynchronizer::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool SimulatorSynchronizer::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        // Specify I/O
         // INPUTS
+        // ======
+        //
+        // No inputs
+        //
+
         if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to set input port number to 0";
+            Log::getSingleton().error("Failed to set input port number to 0.");
             return false;
         }
 
-        if (!blockInfo->setNumberOfOuputPorts(0)) {
-            if (error) error->message = "Failed to set output port number";
+        // OUTPUT
+        // ======
+        //
+        // No outputs
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(0)) {
+            Log::getSingleton().error("Failed to set output port number.");
             return false;
         }
 
         return true;
     }
 
-    bool SimulatorSynchronizer::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool SimulatorSynchronizer::initialize(BlockInformation* blockInfo)
     {
-        m_period = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1).doubleData();
         std::string serverPortName;
         std::string clientPortName;
 
-        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_2, serverPortName) || !blockInfo->getStringParameterAtIndex(PARAM_IDX_3, clientPortName)) {
-            if (error) error->message = "Error reading RPC parameters";
+        bool ok = true;
+        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period);
+        ok = ok & blockInfo->getStringParameterAtIndex(PARAM_GZCLK_PORT, serverPortName);
+        ok = ok & blockInfo->getStringParameterAtIndex(PARAM_RPC_PORT, clientPortName);
+
+        if (!ok) {
+            Log::getSingleton().error("Error reading RPC parameters.");
             return false;
         }
 
         yarp::os::Network::init();
         if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork()) {
-            if (error) error->message = "Error initializing Yarp network";
+            Log::getSingleton().error("Error initializing Yarp network.");
             return false;
         }
 
         m_rpcData = new struct RPCData();
         if (!m_rpcData) {
-            if (error) error->message = "Error creating RPC data structure";
+            Log::getSingleton().error("Error creating RPC data structure.");
             return false;
         }
 
@@ -90,32 +102,34 @@ namespace wbt {
 
         return true;
     }
-    
-    bool SimulatorSynchronizer::terminate(BlockInformation */*S*/, wbt::Error *error)
+
+    bool SimulatorSynchronizer::terminate(BlockInformation* /*S*/)
     {
         if (m_rpcData) {
             if (m_rpcData->clientPort.isOpen()) {
                 m_rpcData->clockServer.continueSimulation();
-                if (!yarp::os::Network::disconnect(m_rpcData->configuration.clientPortName, m_rpcData->configuration.serverPortName)) {
-                    if (error) error->message = "Error disconnecting from simulator clock server";
+                if (!yarp::os::Network::disconnect(m_rpcData->configuration.clientPortName,
+                                                   m_rpcData->configuration.serverPortName)) {
+                    Log::getSingleton().error("Error disconnecting from simulator clock server.");
                 }
                 m_rpcData->clientPort.close();
             }
             delete m_rpcData;
-            m_rpcData = 0;
+            m_rpcData = nullptr;
         }
         yarp::os::Network::fini();
         return true;
     }
 
-    bool SimulatorSynchronizer::output(BlockInformation */*S*/, wbt::Error *error)
+    bool SimulatorSynchronizer::output(BlockInformation* /*S*/)
     {
         if (m_firstRun) {
             m_firstRun = false;
 
-            if (!m_rpcData->clientPort.open(m_rpcData->configuration.clientPortName)
-                || !yarp::os::Network::connect(m_rpcData->configuration.clientPortName, m_rpcData->configuration.serverPortName)) {
-                if (error) error->message = "Error connecting to simulator clock server";
+            if (!m_rpcData->clientPort.open(m_rpcData->configuration.clientPortName) ||
+                !yarp::os::Network::connect(m_rpcData->configuration.clientPortName,
+                                            m_rpcData->configuration.serverPortName)) {
+                Log::getSingleton().error("Error connecting to simulator clock server.");
                 return false;
             }
 

From d23242cbfa8c7c63aa357186984d48a3d7c71731 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:39:44 +0000
Subject: [PATCH 28/89] YarpClock refactored

---
 toolbox/include/YarpClock.h | 16 ++++++++--------
 toolbox/src/YarpClock.cpp   | 36 +++++++++++++++++++++++-------------
 2 files changed, 31 insertions(+), 21 deletions(-)

diff --git a/toolbox/include/YarpClock.h b/toolbox/include/YarpClock.h
index 9d0e551e5..000229579 100644
--- a/toolbox/include/YarpClock.h
+++ b/toolbox/include/YarpClock.h
@@ -7,16 +7,16 @@ namespace wbt {
     class YarpClock;
 }
 
-class wbt::YarpClock : public wbt::Block {
+class wbt::YarpClock : public wbt::Block
+{
 public:
-    static std::string ClassName;
-
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
+    static const std::string ClassName;
 
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_YARPCLOCK_H */
diff --git a/toolbox/src/YarpClock.cpp b/toolbox/src/YarpClock.cpp
index f20ba9b5b..b504287df 100644
--- a/toolbox/src/YarpClock.cpp
+++ b/toolbox/src/YarpClock.cpp
@@ -1,6 +1,6 @@
 #include "YarpClock.h"
 
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
 
@@ -9,22 +9,31 @@
 
 namespace wbt {
 
-    std::string YarpClock::ClassName = "YarpClock";
+    const std::string YarpClock::ClassName = "YarpClock";
 
     unsigned YarpClock::numberOfParameters() { return 0; }
 
-    bool YarpClock::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool YarpClock::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        // Specify I/O
         // INPUTS
+        // ======
+        //
+        // No inputs
+        //
+
         if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to set input port number to 0";
+            Log::getSingleton().error("Failed to set input port number to 0.");
             return false;
         }
 
-        // OUTPUTS
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to set output port number";
+        // OUTPUT
+        // ======
+        //
+        // 1) The yarp time. In short, it streams yarp::os::Time::now().
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to set output port number.");
             return false;
         }
 
@@ -34,24 +43,25 @@ namespace wbt {
         return true;
     }
 
-    bool YarpClock::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool YarpClock::initialize(BlockInformation* blockInfo)
     {
         yarp::os::Network::init();
 
-        if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)){
-            if (error) error->message = "YARP server wasn't found active!! \n";
+        if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)) {
+            Log::getSingleton().error("YARP server wasn't found active!!");
             return false;
         }
 
         return true;
     }
-    bool YarpClock::terminate(BlockInformation */*S*/, wbt::Error */*error*/)
+
+    bool YarpClock::terminate(BlockInformation* /*S*/)
     {
         yarp::os::Network::fini();
         return true;
     }
 
-    bool YarpClock::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool YarpClock::output(BlockInformation* blockInfo)
     {
         Signal signal = blockInfo->getOutputPortSignal(0);
         signal.set(0, yarp::os::Time::now());

From 525a62002670342302f73103d234d5e904551e3b Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:41:26 +0000
Subject: [PATCH 29/89] YarpRead refactored

---
 toolbox/include/YarpRead.h |  32 +++++----
 toolbox/src/YarpRead.cpp   | 133 ++++++++++++++++++++++++-------------
 2 files changed, 108 insertions(+), 57 deletions(-)

diff --git a/toolbox/include/YarpRead.h b/toolbox/include/YarpRead.h
index 14edd2564..bc79bcb61 100644
--- a/toolbox/include/YarpRead.h
+++ b/toolbox/include/YarpRead.h
@@ -17,25 +17,33 @@ namespace yarp {
     }
 }
 
-class wbt::YarpRead : public wbt::Block {
+class wbt::YarpRead : public wbt::Block
+{
 public:
-    static std::string ClassName;
-    
+    static const std::string ClassName;
+
     YarpRead();
-    
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
+
 private:
     bool m_autoconnect;
     bool m_blocking;
     bool m_shouldReadTimestamp;
     bool m_errorOnMissingPort;
-    
-    yarp::os::BufferedPort<yarp::sig::Vector> *m_port;
+
+    yarp::os::BufferedPort<yarp::sig::Vector>* m_port;
+
+    static const unsigned PARAM_IDX_PORTNAME; // port name
+    static const unsigned PARAM_IDX_PORTSIZE; // Size of the port you're reading
+    static const unsigned PARAM_IDX_WAITDATA; // boolean for blocking reading
+    static const unsigned PARAM_IDX_READ_TS;  // boolean to stream timestamp
+    static const unsigned PARAM_IDX_AUTOCONNECT; // Autoconnect boolean
+    static const unsigned PARAM_IDX_ERR_NO_PORT; // Error on missing port if autoconnect is on boolean
 };
 
 #endif /* end of include guard: WBT_YARPREAD_H */
diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 82fa279f4..5542b9a42 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -1,6 +1,6 @@
 #include "YarpRead.h"
 
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
 
@@ -12,55 +12,79 @@
 #include <algorithm>
 #include <iostream>
 
-#define PARAM_IDX_1 1                           // port name
-#define PARAM_IDX_2 2                           // Size of the port you're reading
-#define PARAM_IDX_3 3                           // boolean for blocking reading
-#define PARAM_IDX_4 4                           // boolean to stream timestamp
-#define PARAM_IDX_5 5                           // Autoconnect boolean
-#define PARAM_IDX_6 6                           // Error on missing port if autoconnect is on boolean
-
 namespace wbt {
-    
-    std::string YarpRead::ClassName = "YarpRead";
+
+    const std::string YarpRead::ClassName = "YarpRead";
+
+    const unsigned YarpRead::PARAM_IDX_PORTNAME    = 1; // port name
+    const unsigned YarpRead::PARAM_IDX_PORTSIZE    = 2; // Size of the port you're reading
+    const unsigned YarpRead::PARAM_IDX_WAITDATA    = 3; // boolean for blocking reading
+    const unsigned YarpRead::PARAM_IDX_READ_TS     = 4; // boolean to stream timestamp
+    const unsigned YarpRead::PARAM_IDX_AUTOCONNECT = 5; // Autoconnect boolean
+    const unsigned YarpRead::PARAM_IDX_ERR_NO_PORT = 6; // Error on missing port if autoconnect is on boolean
 
     YarpRead::YarpRead()
     : m_autoconnect(false)
     , m_blocking(false)
     , m_shouldReadTimestamp(false)
     , m_errorOnMissingPort(true)
-    , m_port(0) {}
+    , m_port(0)
+    {}
 
     unsigned YarpRead::numberOfParameters() { return 6; }
 
-    bool YarpRead::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool YarpRead::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        // Specify I/O
         // INPUTS
+        // ======
+        //
+        // No inputs
+        //
+
         if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to set input port number to 0";
+            Log::getSingleton().error("Failed to set input port number to 0.");
             return false;
         }
-        
+
         // OUTPUTS
-        bool shouldReadTimestamp = blockInfo->getScalarParameterAtIndex(PARAM_IDX_4).booleanData();
-        int signalSize = blockInfo->getScalarParameterAtIndex(PARAM_IDX_2).int32Data();
-        bool autoconnect = blockInfo->getScalarParameterAtIndex(PARAM_IDX_5).booleanData();
+        // =======
+        //
+        // 1) Vector with the data read from the port (1 x signalSize)
+        // 2) Optional: Timestamp read from the port
+        // 3) Optional: If autoconnect is disabled, this output becomes 1 when data starts arriving
+        //              (and hence it means that the user connected manually the port)
+        //
+
+        bool shouldReadTimestamp;
+        bool autoconnect;
+        double signalSize;
+
+        bool ok = false;
+
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, shouldReadTimestamp);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, autoconnect);
+        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_PORTSIZE, signalSize);
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to read input parameters.");
+            return false;
+        }
 
         if (signalSize < 0) {
-            if (error) error->message = "Signal size must be non negative";
+            Log::getSingleton().error("Signal size must be non negative.");
             return false;
         }
 
         int numberOfOutputPorts = 1;
-        if (shouldReadTimestamp) numberOfOutputPorts++; //timestamp is the second port
-        if (!autoconnect) numberOfOutputPorts++; //!autoconnect => additional port with 1/0 depending on the connection status
+        numberOfOutputPorts += static_cast<unsigned>(shouldReadTimestamp); //timestamp is the second port
+        numberOfOutputPorts += static_cast<unsigned>(!autoconnect); //!autoconnect => additional port with 1/0 depending on the connection status
 
-        if (!blockInfo->setNumberOfOuputPorts(numberOfOutputPorts)) {
-            if (error) error->message = "Failed to set output port number";
+        if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
+            Log::getSingleton().error("Failed to set output port number.");
             return false;
         }
 
-        blockInfo->setOutputPortVectorSize(0, signalSize);
+        blockInfo->setOutputPortVectorSize(0, static_cast<int>(signalSize));
         blockInfo->setOutputPortType(0, PortDataTypeDouble);
 
         int portIndex = 1;
@@ -77,76 +101,92 @@ namespace wbt {
         return true;
     }
 
-    bool YarpRead::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool YarpRead::initialize(BlockInformation* blockInfo)
     {
         using namespace yarp::os;
         using namespace yarp::sig;
 
         Network::init();
 
-        if (!Network::initialized() || !Network::checkNetwork(5.0)){
-            if (error) error->message = "YARP server wasn't found active!! \n";
+        if (!Network::initialized() || !Network::checkNetwork(5.0)) {
+            Log::getSingleton().error("YARP server wasn't found active!!");
             return false;
         }
 
-        m_shouldReadTimestamp = blockInfo->getScalarParameterAtIndex(PARAM_IDX_4).booleanData();
-        m_autoconnect = blockInfo->getScalarParameterAtIndex(PARAM_IDX_5).booleanData();
-        m_blocking = blockInfo->getScalarParameterAtIndex(PARAM_IDX_3).booleanData();
-        m_errorOnMissingPort = blockInfo->getScalarParameterAtIndex(PARAM_IDX_6).booleanData();
+        bool ok = true;
+
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, m_shouldReadTimestamp);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_WAITDATA, m_blocking);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT, m_errorOnMissingPort);
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to read input parameters.");
+            return false;
+        }
 
         std::string portName;
-        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_1, portName)) {
-            if (error) error->message = "Cannot retrieve string from port name parameter";
+        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_PORTNAME, portName)) {
+            Log::getSingleton().error("Cannot retrieve string from port name parameter.");
             return false;
         }
 
         std::string sourcePortName;
         std::string destinationPortName;
 
+        // Autoconnect: the block opens a temporary input port ..., and it connects to an existing
+        //              port portName (which is streaming data).
         if (m_autoconnect) {
             sourcePortName = portName;
             destinationPortName = "...";
-        } else {
+        }
+        // Manual connection: the block opens an input port portName, and waits a manual connection to an
+        //                    output port.
+        else {
             destinationPortName = portName;
         }
 
         m_port = new BufferedPort<Vector>();
 
         if (!m_port || !m_port->open(destinationPortName)) {
-            if (error) error->message = "Error while opening yarp port";
+            Log::getSingleton().error("Error while opening yarp port.");
             return false;
         }
 
         if (m_autoconnect) {
             if (!Network::connect(sourcePortName, m_port->getName())) {
-                std::cerr << "Failed to connect " << sourcePortName << " to " << m_port->getName() << "\n";
+                Log::getSingleton().warning("Failed to connect " +
+                                            sourcePortName +
+                                            " to "
+                                            + m_port->getName());
                 if (m_errorOnMissingPort) {
-                    if (error) error->message = "ERROR connecting ports";
+                    Log::getSingleton().error("Failed connecting ports.");
                     return false;
                 }
             }
         }
         return true;
     }
-    bool YarpRead::terminate(BlockInformation */*S*/, wbt::Error */*error*/)
+
+    bool YarpRead::terminate(BlockInformation* /*blockInfo*/)
     {
         if (m_port) {
             m_port->close();
             delete m_port;
-            m_port = 0;
+            m_port = nullptr;
         }
         yarp::os::Network::fini();
         return true;
     }
-    
-    bool YarpRead::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+
+    bool YarpRead::output(BlockInformation* blockInfo)
     {
         int timeStampPortIndex = 1;
         int connectionStatusPortIndex = 1;
 
-        yarp::sig::Vector *v = m_port->read(m_blocking); // Read from the port.  Waits until data arrives.
-        if (v)
-        {
+        yarp::sig::Vector* v = m_port->read(m_blocking); // Read from the port.  Waits until data arrives.
+
+        if (v) {
             if (m_shouldReadTimestamp) {
                 connectionStatusPortIndex++;
                 yarp::os::Stamp timestamp;
@@ -155,9 +195,11 @@ namespace wbt {
                 Signal pY1 = blockInfo->getOutputPortSignal(timeStampPortIndex);
                 pY1.set(0, timestamp.getCount());
                 pY1.set(1, timestamp.getTime());
-
             }
+
             Signal signal = blockInfo->getOutputPortSignal(0);
+
+            // Crop the buffer if it exceeds the OutputPortWidth.
             signal.setBuffer(v->data(), std::min(blockInfo->getOutputPortWidth(0), (unsigned)v->size()));
 
             if (!m_autoconnect) {
@@ -170,6 +212,7 @@ namespace wbt {
                 //we set the port to zero again
             }
         }
+
         return true;
     }
 }

From 3ff628603e27845fd832bb04af6d1ec379c7b90e Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:43:00 +0000
Subject: [PATCH 30/89] YarpWrite refactored

---
 toolbox/include/YarpWrite.h | 27 ++++++-----
 toolbox/src/YarpWrite.cpp   | 93 +++++++++++++++++++++++++------------
 2 files changed, 79 insertions(+), 41 deletions(-)

diff --git a/toolbox/include/YarpWrite.h b/toolbox/include/YarpWrite.h
index b7ea198ce..807b774cd 100644
--- a/toolbox/include/YarpWrite.h
+++ b/toolbox/include/YarpWrite.h
@@ -17,24 +17,29 @@ namespace yarp {
     }
 }
 
-class wbt::YarpWrite : public wbt::Block {
+class wbt::YarpWrite : public wbt::Block
+{
 public:
-    static std::string ClassName;
-    
+    static const std::string ClassName;
+
     YarpWrite();
-    
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
+
 private:
     bool m_autoconnect;
     bool m_errorOnMissingPort;
 
     std::string m_destinationPortName;
-    yarp::os::BufferedPort<yarp::sig::Vector> *m_port;
+    yarp::os::BufferedPort<yarp::sig::Vector>* m_port;
+
+    static const unsigned PARAM_IDX_PORTNAME;    // Port name
+    static const unsigned PARAM_IDX_AUTOCONNECT; // Autoconnect boolean
+    static const unsigned PARAM_IDX_ERR_NO_PORT; // Error on missing port if autoconnect is true
 };
 
 #endif /* end of include guard: WBT_YARPWRITE_H */
diff --git a/toolbox/src/YarpWrite.cpp b/toolbox/src/YarpWrite.cpp
index a6f920c04..f557eccbb 100644
--- a/toolbox/src/YarpWrite.cpp
+++ b/toolbox/src/YarpWrite.cpp
@@ -1,6 +1,6 @@
 #include "YarpWrite.h"
 
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
 
@@ -9,39 +9,53 @@
 #include <yarp/os/Stamp.h>
 #include <yarp/sig/Vector.h>
 
-#define PARAM_IDX_1 1                           // port name
-#define PARAM_IDX_2 2                           // Autoconnect boolean
-#define PARAM_IDX_3 3                           // Error on missing port if autoconnect is on boolean
-
 namespace wbt {
-    
-    std::string YarpWrite::ClassName = "YarpWrite";
+
+    const std::string YarpWrite::ClassName = "YarpWrite";
+
+    const unsigned YarpWrite::PARAM_IDX_PORTNAME    = 1; // Port name
+    const unsigned YarpWrite::PARAM_IDX_AUTOCONNECT = 2; // Autoconnect boolean
+    const unsigned YarpWrite::PARAM_IDX_ERR_NO_PORT = 3; // Error on missing port if autoconnect is true
 
     YarpWrite::YarpWrite()
     : m_autoconnect(false)
     , m_errorOnMissingPort(true)
     , m_destinationPortName("")
-    , m_port(0) {}
-    
+    , m_port(nullptr)
+    {}
+
     unsigned YarpWrite::numberOfParameters() { return 3; }
 
-    bool YarpWrite::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool YarpWrite::configureSizeAndPorts(BlockInformation* blockInfo)
     {
+        // INPUT
+        // =====
+        //
+        // 1) The signal to stream to the specified yarp port
+        //
+
         if (!blockInfo->setNumberOfInputPorts(1)) {
-            if (error) error->message = "Failed to set input port number to 0";
+            Log::getSingleton().error("Failed to set input port number to 0.");
             return false;
         }
         blockInfo->setInputPortVectorSize(0, -1);
         blockInfo->setInputPortType(0, PortDataTypeDouble);
 
-        if (!blockInfo->setNumberOfOuputPorts(0)) {
-            if (error) error->message = "Failed to set output port number";
+        // OUTPUT
+        // ======
+        //
+        // No outputs
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(0)) {
+            Log::getSingleton().error("Failed to set output port number.");
             return false;
         }
+
         return true;
     }
 
-    bool YarpWrite::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool YarpWrite::initialize(BlockInformation* blockInfo)
     {
         using namespace yarp::os;
         using namespace yarp::sig;
@@ -49,70 +63,89 @@ namespace wbt {
         Network::init();
 
         if (!Network::initialized() || !Network::checkNetwork(5.0)){
-            if (error) error->message = "YARP server wasn't found active!! \n";
+            Log::getSingleton().error("YARP server wasn't found active!!");
             return false;
         }
 
-        m_autoconnect = blockInfo->getScalarParameterAtIndex(PARAM_IDX_2).booleanData();
-        m_errorOnMissingPort = blockInfo->getScalarParameterAtIndex(PARAM_IDX_3).booleanData();
+        bool ok = true;
+
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT,
+                                                        m_errorOnMissingPort);
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to read input parameters.");
+            return false;
+        }
 
         std::string portParameter;
-        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_1, portParameter)) {
-            if (error) error->message = "Error reading port name parameter";
+        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_PORTNAME, portParameter)) {
+            Log::getSingleton().error("Error reading port name parameter.");
             return false;
         }
 
         std::string sourcePortName;
 
+        // Autoconnect: the block opens a temporary output port ..., and it connects to an existing
+        //              port portName (which will receive data).
         if (m_autoconnect) {
             sourcePortName = "...";
             m_destinationPortName = portParameter;
-        } else {
+        }
+        // Manual connection: the block opens an output port portName, and waits a manual connection to an
+        //                    input port.
+        else {
             sourcePortName = portParameter;
         }
 
         m_port = new BufferedPort<Vector>();
 
         if (!m_port || !m_port->open(sourcePortName)) {
-            if (error) error->message = "Error while opening yarp port";
+            Log::getSingleton().error("Error while opening yarp port.");
             return false;
         }
 
         if (m_autoconnect) {
             if (!Network::connect(m_port->getName(), m_destinationPortName)) {
+                Log::getSingleton().warning("Failed to connect " +
+                                            m_port->getName() +
+                                            " to " +
+                                            m_destinationPortName);
                 if (m_errorOnMissingPort) {
-                    if (error) error->message ="Failed to connect " + m_port->getName() + " to " + m_destinationPortName;
+                    Log::getSingleton().error("Failed connecting ports.");
                     return false;
                 }
             }
         }
 
-        //prepare the first object allocation
-        yarp::sig::Vector &outputVector = m_port->prepare();
+        // Initialize the size of the internal buffer handled by m_port
+        yarp::sig::Vector& outputVector = m_port->prepare();
         outputVector.resize(blockInfo->getInputPortWidth(0));
         return true;
     }
 
-    bool YarpWrite::terminate(BlockInformation */*S*/, wbt::Error */*error*/)
+    bool YarpWrite::terminate(BlockInformation* /*S*/)
     {
         if (m_port) {
-            if (m_autoconnect)
+            if (m_autoconnect) {
                 yarp::os::Network::disconnect(m_port->getName(), m_destinationPortName);
+            }
             m_port->close();
             delete m_port;
-            m_port = 0;
+            m_port = nullptr;
         }
         yarp::os::Network::fini();
         return true;
     }
-    
-    bool YarpWrite::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+
+    bool YarpWrite::output(BlockInformation* blockInfo)
     {
         if (!m_port) return false;
-        yarp::sig::Vector &outputVector = m_port->prepare();
+        yarp::sig::Vector& outputVector = m_port->prepare();
         outputVector.resize(blockInfo->getInputPortWidth(0)); //this should be a no-op
 
         Signal signal = blockInfo->getInputPortSignal(0);
+
         for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
             outputVector[i] = signal.get(i).doubleData();
         }

From 0f36c3399635085221f34c6a7dbc0dd64a87aea4 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:47:46 +0000
Subject: [PATCH 31/89] GetEstimate refactored and renamed to GetMeasurement

---
 toolbox/CMakeLists.txt           |   4 +-
 toolbox/include/GetEstimate.h    |  31 ------
 toolbox/include/GetMeasurement.h |  38 +++++++
 toolbox/include/base/toolbox.h   |   2 +-
 toolbox/src/GetEstimate.cpp      | 106 ------------------
 toolbox/src/GetMeasurement.cpp   | 183 +++++++++++++++++++++++++++++++
 toolbox/src/base/factory.cpp     |   4 +-
 7 files changed, 226 insertions(+), 142 deletions(-)
 delete mode 100644 toolbox/include/GetEstimate.h
 create mode 100644 toolbox/include/GetMeasurement.h
 delete mode 100644 toolbox/src/GetEstimate.cpp
 create mode 100644 toolbox/src/GetMeasurement.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index d9fcf56eb..730222497 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -200,8 +200,8 @@ configure_block(BLOCK_NAME "Set Low-Level PIDs"
 configure_block(BLOCK_NAME "Get Estimate"
     GROUP "State"
     LIST_PREFIX WBT
-    SOURCES src/GetEstimate.cpp
-    HEADERS include/GetEstimate.h)
+    SOURCES src/GetMeasurement.cpp
+    HEADERS include/GetMeasurement.h)
 
 configure_block(BLOCK_NAME "Get Limits"
     GROUP "State"
diff --git a/toolbox/include/GetEstimate.h b/toolbox/include/GetEstimate.h
deleted file mode 100644
index a376d1484..000000000
--- a/toolbox/include/GetEstimate.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#ifndef WBT_GETESTIMATE_H
-#define WBT_GETESTIMATE_H
-
-#include "WBIBlock.h"
-#include <wbi/wbiConstants.h>
-
-namespace wbt {
-    class GetEstimate;
-}
-
-class wbt::GetEstimate : public wbt::WBIBlock {
-
-    double *m_estimate;
-    wbi::EstimateType m_estimateType;
-    
-public:
-    static std::string ClassName;
-    GetEstimate();
-
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-
-
-};
-
-
-#endif /* end of include guard: WBT_GETESTIMATE_H */
diff --git a/toolbox/include/GetMeasurement.h b/toolbox/include/GetMeasurement.h
new file mode 100644
index 000000000..8673874f7
--- /dev/null
+++ b/toolbox/include/GetMeasurement.h
@@ -0,0 +1,38 @@
+#ifndef WBT_GETMEASUREMENT_H
+#define WBT_GETMEASUREMENT_H
+
+#include "WBBlock.h"
+
+namespace wbt {
+    class GetMeasurement;
+    enum EstimateType {
+        ESTIMATE_JOINT_POS,
+        ESTIMATE_JOINT_VEL,
+        ESTIMATE_JOINT_ACC,
+        ESTIMATE_JOINT_TORQUE
+    };
+}
+
+
+class wbt::GetMeasurement : public wbt::WBBlock
+{
+private:
+    std::vector<double> m_estimate;
+    wbt::EstimateType m_estimateType;
+    static void deg2rad(std::vector<double>& v);
+
+public:
+    static const std::string ClassName;
+
+    GetMeasurement() = default;
+    ~GetMeasurement() override = default;
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
+};
+
+#endif /* end of include guard: WBT_GETMEASUREMENT_H */
diff --git a/toolbox/include/base/toolbox.h b/toolbox/include/base/toolbox.h
index 71a034c28..fe4ea5680 100644
--- a/toolbox/include/base/toolbox.h
+++ b/toolbox/include/base/toolbox.h
@@ -11,7 +11,7 @@
 #include "RealTimeSynchronizer.h"
 #include "SimulatorSynchronizer.h"
 #include "Jacobian.h"
-#include "GetEstimate.h"
+#include "GetMeasurement.h"
 #include "InverseDynamics.h"
 #include "DotJNu.h"
 #include "GetLimits.h"
diff --git a/toolbox/src/GetEstimate.cpp b/toolbox/src/GetEstimate.cpp
deleted file mode 100644
index ec2ed17c9..000000000
--- a/toolbox/src/GetEstimate.cpp
+++ /dev/null
@@ -1,106 +0,0 @@
-#include "GetEstimate.h"
-
-#include "Error.h"
-#include "WBInterface.h"
-#include "BlockInformation.h"
-#include "Signal.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
-
-namespace wbt {
-
-    std::string GetEstimate::ClassName = "GetEstimate";
-
-    GetEstimate::GetEstimate()
-    : m_estimate(0)
-    , m_estimateType(wbi::ESTIMATE_JOINT_POS) {}
-
-    unsigned GetEstimate::numberOfParameters()
-    {
-        return WBIBlock::numberOfParameters() + 1;
-    }
-
-    bool GetEstimate::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
-
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to configure the number of input ports";
-            return false;
-        }
-
-        // Output port:
-        // - DoFs vector with the information asked
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
-            return false;
-        }
-
-        bool success = blockInfo->setOutputPortVectorSize(0, dofs);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
-        if (!success) {
-            if (error) error->message = "Failed to configure output ports";
-            return false;
-        }
-
-
-        return true;
-    }
-
-    bool GetEstimate::initialize(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        using namespace yarp::os;
-        if (!WBIBlock::initialize(blockInfo, error)) return false;
-
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_estimate = new double[dofs];
-
-        // Reading the control type
-        std::string informationType;
-        if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 1, informationType)) {
-            if (error) error->message = "Could not read estimate type parameter";
-            return false;
-        }
-
-        if (informationType == "Joints Position") {
-            m_estimateType = wbi::ESTIMATE_JOINT_POS;
-        } else if (informationType == "Joints Velocity") {
-            m_estimateType = wbi::ESTIMATE_JOINT_VEL;
-        } else if (informationType == "Joints Acceleration") {
-            m_estimateType = wbi::ESTIMATE_JOINT_ACC;
-        } else if (informationType == "Joints Torque") {
-            m_estimateType = wbi::ESTIMATE_JOINT_TORQUE;
-        } else {
-            if (error) error->message = "Estimate not supported";
-            return false;
-        }
-        return m_estimate;
-    }
-
-    bool GetEstimate::terminate(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        if (m_estimate) {
-            delete [] m_estimate;
-            m_estimate = 0;
-        }
-        return WBIBlock::terminate(blockInfo, error);
-    }
-
-    bool GetEstimate::output(BlockInformation *blockInfo, wbt::Error */*error*/)
-    {
-        //get input
-        wbi::wholeBodyInterface * const interface = WBInterface::sharedInstance().interface();
-        if (interface) {
-            interface->getEstimates(m_estimateType, m_estimate);
-            Signal signal = blockInfo->getOutputPortSignal(0);
-            signal.setBuffer(m_estimate, blockInfo->getOutputPortWidth(0));
-
-            return true;
-        }
-        return false;
-    }
-}
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
new file mode 100644
index 000000000..c0e0f01f6
--- /dev/null
+++ b/toolbox/src/GetMeasurement.cpp
@@ -0,0 +1,183 @@
+#include "GetMeasurement.h"
+
+#include "Log.h"
+#include "BlockInformation.h"
+#include "Signal.h"
+#include "RobotInterface.h"
+#include <yarp/dev/IEncoders.h>
+#include <yarp/dev/ITorqueControl.h>
+
+#define _USE_MATH_DEFINES
+#include <cmath>
+
+namespace wbt {
+
+    const std::string GetMeasurement::ClassName = "GetMeasurement";
+
+    void deg2rad(std::vector<double>& v)
+    {
+        const double deg2rad = (2 * M_PI) / 180.0;
+        for (auto& element : v) {
+            element *= deg2rad;
+        }
+    }
+
+    unsigned GetMeasurement::numberOfParameters()
+    {
+        return WBBlock::numberOfParameters() + 1;
+    }
+
+    bool GetMeasurement::configureSizeAndPorts(BlockInformation* blockInfo)
+    {
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+        // INPUTS
+        // ======
+        //
+        // No inputs
+        //
+
+        if (!blockInfo->setNumberOfInputPorts(0)) {
+            Log::getSingleton().error("Failed to configure the number of input ports.");
+            return false;
+        }
+
+        // OUTPUTS
+        // =======
+        //
+        // 1) Vector with the information asked (1xDoFs)
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
+            return false;
+        }
+
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        bool success = blockInfo->setOutputPortVectorSize(0, dofs);
+        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        if (!success) {
+            Log::getSingleton().error("Failed to configure output ports.");
+            return false;
+        }
+
+        return true;
+    }
+
+    bool GetMeasurement::initialize(BlockInformation* blockInfo)
+    {
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        // Reading the control type
+        std::string informationType;
+        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, informationType)) {
+            Log::getSingleton().error("Could not read estimate type parameter.");
+            return false;
+        }
+
+        if (informationType == "Joints Position") {
+            m_estimateType = wbt::ESTIMATE_JOINT_POS;
+        } else if (informationType == "Joints Velocity") {
+            m_estimateType = wbt::ESTIMATE_JOINT_VEL;
+        } else if (informationType == "Joints Acceleration") {
+            m_estimateType = wbt::ESTIMATE_JOINT_ACC;
+        } else if (informationType == "Joints Torque") {
+            m_estimateType = wbt::ESTIMATE_JOINT_TORQUE;
+        } else {
+            Log::getSingleton().error("Estimate not supported.");
+            return false;
+        }
+
+        // Initialize the size of the output vector
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+        m_estimate.reserve(dofs);
+
+        // Retain the ControlBoardRemapper
+        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+            Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+            return false;
+        }
+
+        return true;
+    }
+
+    bool GetMeasurement::terminate(BlockInformation* blockInfo)
+    {
+        // Release the RemoteControlBoardRemapper
+        bool ok = true;
+        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+        if (!ok) {
+            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+        }
+
+        return ok && WBBlock::terminate(blockInfo);
+    }
+
+    bool GetMeasurement::output(BlockInformation* blockInfo)
+    {
+        bool ok;
+        switch (m_estimateType) {
+            case ESTIMATE_JOINT_POS: {
+                // Get the interface
+                std::weak_ptr<yarp::dev::IEncoders> iEncoders;
+                if (!getRobotInterface()->getInterface(iEncoders)) {
+                    Log::getSingleton().error("Failed to get IPidControl interface.");
+                    return false;
+                }
+                // Get the measurement
+                ok = iEncoders.lock()->getEncoders(m_estimate.data());
+                deg2rad(m_estimate);
+                break;
+            }
+            case ESTIMATE_JOINT_VEL: {
+                // Get the interface
+                std::weak_ptr<yarp::dev::IEncoders> iEncoders;
+                if (!getRobotInterface()->getInterface(iEncoders)) {
+                    Log::getSingleton().error("Failed to get IEncoders interface.");
+                    return false;
+                }
+                // Get the measurement
+                ok = iEncoders.lock()->getEncoderSpeeds(m_estimate.data());
+                deg2rad(m_estimate);
+                break;
+            }
+            case ESTIMATE_JOINT_ACC: {
+                // Get the interface
+                std::weak_ptr<yarp::dev::IEncoders> iEncoders;
+                if (!getRobotInterface()->getInterface(iEncoders)) {
+                    Log::getSingleton().error("Failed to get IEncoders interface.");
+                    return false;
+                }
+                // Get the measurement
+                ok = iEncoders.lock()->getEncoderAccelerations(m_estimate.data());
+                deg2rad(m_estimate);
+                break;
+            }
+            case ESTIMATE_JOINT_TORQUE: {
+                // Get the interface
+                std::weak_ptr<yarp::dev::ITorqueControl> iTorqueControl;
+                if (!getRobotInterface()->getInterface(iTorqueControl)) {
+                    Log::getSingleton().error("Failed to get ITorqueControl interface.");
+                    return false;
+                }
+                // Get the measurement
+                ok = iTorqueControl.lock()->getTorques(m_estimate.data());
+                break;
+            }
+            default:
+                Log::getSingleton().error("Estimate type not recognized.");
+                return false;
+        }
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to get estimate.");
+            return false;
+        }
+
+        Signal signal = blockInfo->getOutputPortSignal(0);
+        signal.setBuffer(m_estimate.data(), blockInfo->getOutputPortWidth(0));
+
+        return true;
+    }
+}
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index dcbe75d60..0320676bc 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -24,8 +24,8 @@ wbt::Block* wbt::Block::instantiateBlockWithClassName(std::string blockClassName
         block = new wbt::SimulatorSynchronizer();
     } else if (blockClassName == wbt::Jacobian::ClassName) {
         block = new wbt::Jacobian();
-    } else if (blockClassName == wbt::GetEstimate::ClassName) {
-        block = new wbt::GetEstimate();
+    } else if (blockClassName == wbt::GetMeasurement::ClassName) {
+        block = new wbt::GetMeasurement();
     } else if (blockClassName == wbt::InverseDynamics::ClassName) {
         block = new wbt::InverseDynamics();
     } else if (blockClassName == wbt::DotJNu::ClassName) {

From 028dbd603947979aded515f44cfa3bed1b41903c Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:55:03 +0000
Subject: [PATCH 32/89] YARPWBIConverter refactored and renamed to
 ModelPartitioner

---
 toolbox/CMakeLists.txt             |   6 +-
 toolbox/include/ModelPartitioner.h |  33 ++++
 toolbox/include/YARPWBIConverter.h |  29 ----
 toolbox/include/base/toolbox.h     |   2 +-
 toolbox/src/ModelPartitioner.cpp   | 197 +++++++++++++++++++++
 toolbox/src/YARPWBIConverter.cpp   | 268 -----------------------------
 toolbox/src/base/factory.cpp       |   4 +-
 7 files changed, 236 insertions(+), 303 deletions(-)
 create mode 100644 toolbox/include/ModelPartitioner.h
 delete mode 100644 toolbox/include/YARPWBIConverter.h
 create mode 100644 toolbox/src/ModelPartitioner.cpp
 delete mode 100644 toolbox/src/YARPWBIConverter.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 730222497..99625ae0d 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -131,11 +131,11 @@ configure_block(BLOCK_NAME "Real Time Synchronizer"
     SOURCES src/RealTimeSynchronizer.cpp
     HEADERS include/RealTimeSynchronizer.h)
 
-configure_block(BLOCK_NAME "YARP - WBI Converter"
+configure_block(BLOCK_NAME "Model Partitioner"
     GROUP "Utilities"
     LIST_PREFIX WBT
-    SOURCES src/YARPWBIConverter.cpp
-    HEADERS include/YARPWBIConverter.h)
+    SOURCES src/ModelPartitioner.cpp
+    HEADERS include/ModelPartitioner.h)
 
 configure_block(BLOCK_NAME "Yarp Clock"
     GROUP "Utilities"
diff --git a/toolbox/include/ModelPartitioner.h b/toolbox/include/ModelPartitioner.h
new file mode 100644
index 000000000..929da6c7e
--- /dev/null
+++ b/toolbox/include/ModelPartitioner.h
@@ -0,0 +1,33 @@
+#ifndef WBT_MODELPARTITIONER_H
+#define WBT_MODELPARTITIONER_H
+
+#include "WBBlock.h"
+#include "RobotInterface.h"
+#include <vector>
+#include <memory>
+
+namespace wbt {
+    class ModelPartitioner;
+}
+
+class wbt::ModelPartitioner : public wbt::WBBlock
+{
+private:
+    bool m_yarp2WBI;
+
+    std::shared_ptr<JointsMapString> m_jointsMapString;
+
+public:
+    static const std::string ClassName;
+    ModelPartitioner() = default;
+    ~ModelPartitioner() override = default;
+
+    unsigned numberOfParameters() override;
+
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
+};
+
+#endif /* end of include guard: WBT_MODELPARTITIONER_H */
diff --git a/toolbox/include/YARPWBIConverter.h b/toolbox/include/YARPWBIConverter.h
deleted file mode 100644
index 37f334057..000000000
--- a/toolbox/include/YARPWBIConverter.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#ifndef WBT_YARP2DOFS_H
-#define WBT_YARP2DOFS_H
-
-#include "WBIModelBlock.h"
-
-namespace wbt {
-    class YARPWBIConverter;
-}
-
-class wbt::YARPWBIConverter : public wbt::WBIModelBlock {
-
-    struct YARPWBIConverterPimpl;
-    YARPWBIConverterPimpl *m_pimpl;
-
-public:
-    static std::string ClassName;
-    YARPWBIConverter();
-
-    virtual unsigned numberOfParameters();
-
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-
-};
-
-
-#endif /* end of include guard: WBT_YARP2DOFS_H */
diff --git a/toolbox/include/base/toolbox.h b/toolbox/include/base/toolbox.h
index fe4ea5680..cc0750e51 100644
--- a/toolbox/include/base/toolbox.h
+++ b/toolbox/include/base/toolbox.h
@@ -2,7 +2,7 @@
 //General Yarp utilities
 #include "YarpRead.h"
 #include "YarpWrite.h"
-#include "YARPWBIConverter.h"
+#include "ModelPartitioner.h"
 #include "YarpClock.h"
 //WBI-related stuff
 #include "MassMatrix.h"
diff --git a/toolbox/src/ModelPartitioner.cpp b/toolbox/src/ModelPartitioner.cpp
new file mode 100644
index 000000000..bedee09c9
--- /dev/null
+++ b/toolbox/src/ModelPartitioner.cpp
@@ -0,0 +1,197 @@
+#include "ModelPartitioner.h"
+
+#include "BlockInformation.h"
+#include "Configuration.h"
+#include "RobotInterface.h"
+#include "Signal.h"
+#include "Log.h"
+
+namespace wbt {
+
+    const std::string ModelPartitioner::ClassName = "ModelPartitioner";
+
+    unsigned ModelPartitioner::numberOfParameters()
+    {
+        return 1;
+    }
+
+    bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
+    {
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+        // PARAMETERS
+        // ==========
+        //
+        // 1) Boolean specifying if yarp2WBI (true) or WBI2yarp (false)
+        //
+
+        bool yarp2WBI;
+        if (!blockInfo->getBooleanParameterAtIndex(1, yarp2WBI)) {
+            Log::getSingleton().error("Failed to get input parameters.");
+            return false;
+        }
+
+        // TODO: update to new logic
+        // INPUTS
+        // ======
+        //
+        // yarp2WBI
+        // --------
+        //
+        // 1) Map of joints / control boards (1 x nJoints)
+        // 2) Vector containing the full set of robot's joints (1 x nJoints)
+        //
+        // WBI2yarp
+        // --------
+        //
+        // 1) Map of joints / control boards (1 x nJoints)
+        // 2) Torso     Control Board Signals
+        // 3) Head      Control Board Signals
+        // 4) Left  Arm Control Board Signals
+        // 5) Right Arm Control Board Signals
+        // 6) Left  Leg Control Board Signals
+        // 7) Right Leg Control Board Signals
+        //
+
+        bool ok;
+        unsigned numberOfInputs;
+        unsigned controlBoardsNumber = getConfiguration().getControlBoardsNames().size();
+
+        if (yarp2WBI) {
+            numberOfInputs = 1;
+            ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
+            blockInfo->setInputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
+        }
+        else {
+            numberOfInputs = controlBoardsNumber;
+            ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
+            // Set the size as dynamic
+            for (unsigned i = 0; i < numberOfInputs; ++i) {
+                blockInfo->setInputPortType(i, PortDataTypeDouble);
+            }
+        }
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to set input port number.");
+            return false;
+        }
+
+
+        // TODO: update
+        // OUTPUTS
+        // =======
+        //
+        // yarp2WBI
+        // --------
+        //
+        // 1) Torso     Control Board Signals
+        // 2) Head      Control Board Signals
+        // 3) Left  Arm Control Board Signals
+        // 4) Right Arm Control Board Signals
+        // 5) Left  Leg Control Board Signals
+        // 6) Right Leg Control Board Signals
+        //
+        // WBI2yarp
+        // --------
+        //
+        // 1) Vector containing the full set of robot's joints (1 x nJoints)
+        //
+
+        unsigned numberOfOutputs;
+
+        if (yarp2WBI) {
+            numberOfOutputs = controlBoardsNumber;
+            ok = blockInfo->setNumberOfOutputPorts(numberOfOutputs);
+            // Set the size as dynamic
+            for (unsigned i = 0; i < numberOfOutputs; ++i) {
+                blockInfo->setOutputPortVectorSize(i, -1);
+                blockInfo->setOutputPortType(i, PortDataTypeDouble);
+            }
+        }
+        else {
+            numberOfOutputs = 1;
+            ok = blockInfo->setNumberOfOutputPorts(numberOfOutputs);
+            blockInfo->setOutputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
+            blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        }
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to set output port number.");
+            return false;
+        }
+
+        return true;
+    }
+
+    bool ModelPartitioner::initialize(BlockInformation* blockInfo)
+    {
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        if (!blockInfo->getBooleanParameterAtIndex(1, m_yarp2WBI)) {
+            Log::getSingleton().error("Failed to get input parameters.");
+            return false;
+        }
+
+        m_jointsMapString = getRobotInterface()->getJointsMapString();
+
+        if (!m_jointsMapString) {
+            return false;
+        }
+
+        return true;
+    }
+
+    bool ModelPartitioner::terminate(BlockInformation* blockInfo)
+    {
+        return WBBlock::terminate(blockInfo);
+    }
+
+    bool ModelPartitioner::output(BlockInformation* blockInfo)
+    {
+        if (m_yarp2WBI) {
+            // Input
+            Signal jointListSignal = blockInfo->getInputPortSignal(0);
+
+            // Outputs
+            Signal ithControlBoardSignal;
+
+            for (unsigned ithJoint = 0; ithJoint < blockInfo->getInputPortWidth(0); ++ithJoint) {
+                // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
+                std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
+                const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
+                cb_idx controlBoardOfJoint = mappedJointInfos.first;
+                jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
+
+                // Get the data to forward
+                Data value = jointListSignal.get(ithJoint);
+
+                // Forward the value to the correct output / output index
+                ithControlBoardSignal = blockInfo->getOutputPortSignal(controlBoardOfJoint);
+                ithControlBoardSignal.set(yarpIndexOfJoint, value.doubleData());
+            }
+        }
+        else {
+            // Inputs
+            Signal ithControlBoardSignal;
+
+            // Output
+            Signal jointListSignal = blockInfo->getOutputPortSignal(0);
+
+            for (unsigned ithJoint = 0; ithJoint < blockInfo->getOutputPortWidth(0); ++ithJoint) {
+                // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
+                std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
+                const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
+                cb_idx controlBoardOfJoint = mappedJointInfos.first;
+                jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
+
+                // Get the data to forward
+                ithControlBoardSignal = blockInfo->getInputPortSignal(controlBoardOfJoint);
+                Data value = ithControlBoardSignal.get(ithJoint);
+
+                // Forward the value to the correct output index
+                jointListSignal.set(yarpIndexOfJoint, value.doubleData());
+            }
+        }
+        return true;
+    }
+}
diff --git a/toolbox/src/YARPWBIConverter.cpp b/toolbox/src/YARPWBIConverter.cpp
deleted file mode 100644
index 0cca8ff77..000000000
--- a/toolbox/src/YARPWBIConverter.cpp
+++ /dev/null
@@ -1,268 +0,0 @@
-#include "YARPWBIConverter.h"
-
-#include "BlockInformation.h"
-#include "Signal.h"
-#include "Error.h"
-#include "WBInterface.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
-#include <yarp/os/ResourceFinder.h>
-#include <Eigen/Core>
-
-
-namespace wbt {
-    namespace hidden {
-        struct Joint;
-
-        struct Part {
-            std::string partName;
-            std::vector<Joint> joints;
-        };
-
-        struct Joint {
-            unsigned yarpIndex;
-            unsigned dofIndex;
-            std::string name;
-        };
-
-        /**
-         * Parse the configuration file to extract parts, joints and indices
-         *
-         * @param filepath full path and name to the configuration file
-         * @return the YARP parts representation
-         */
-        static bool parseConfigurationFileForPartsConfiguration(const std::string& filepath, const wbi::IDList& wbiList, std::vector<Part> &parts);
-
-    }
-}
-
-namespace wbt {
-
-    struct YARPWBIConverter::YARPWBIConverterPimpl {
-        std::vector<wbt::hidden::Part> parts;
-        bool yarpToWBI;
-    };
-
-    std::string YARPWBIConverter::ClassName = "YARPWBIConverter";
-
-    YARPWBIConverter::YARPWBIConverter() {}
-
-    unsigned YARPWBIConverter::numberOfParameters() { return wbt::WBIModelBlock::numberOfParameters() + 1; }
-    bool YARPWBIConverter::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        //This is a check that list, dofs and files are ok
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
-
-        //This specify the output port size
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-
-        using namespace wbt::hidden;
-        //Parse the yarpwbi file
-        //Need to retrieve both parameters, i.e. wbiFile and list
-        //The following is to avoid to configure the WBInterface during compilation
-        //(why I don't know :D )
-        std::vector<Part> parts;
-
-        //Workaround for the fact that ResourceFinder initializes the network by itself. See YARP#1014
-        yarp::os::Network network;
-        yarp::os::ResourceFinder resourceFinder = yarp::os::ResourceFinder::getResourceFinderSingleton();
-
-        std::string configFilePath = resourceFinder.findFile(m_wbiConfigurationFileName);
-
-        yarp::os::Property configurations;
-        //loading defaults from configuration file
-        if (!configurations.fromConfigFile(configFilePath)) {
-            if (error) error->message = "Failed to parse WBI configuration file";
-            return false;
-        }
-
-        wbi::IDList jointList;
-        //parse the file to get the joint list
-        if (!WBInterface::wbdIDListFromConfigPropAndList(configurations, m_wbiListName, jointList)) {
-            if (error) error->message = "Failed to parse Joint list";
-            return false;
-        }
-
-        if (!parseConfigurationFileForPartsConfiguration(configFilePath, jointList, parts)) {
-            return false;
-        }
-
-        blockInfo->getScalarParameterAtIndex(wbt::WBIModelBlock::numberOfParameters() + 1).int8Data();
-
-        bool yarpToWBI = blockInfo->getScalarParameterAtIndex(wbt::WBIModelBlock::numberOfParameters() + 1).int8Data() == 1;
-
-        // Specify I/O
-        bool success = true;
-        //Input
-        if (yarpToWBI) {
-            if (!blockInfo->setNumberOfInputPorts(parts.size())) {
-                if (error) error->message = "Failed to configure the number of input ports";
-                return false;
-            }
-
-            for (unsigned i = 0 ; i < parts.size(); ++i) {
-                success = success && blockInfo->setInputPortVectorSize(i, parts[i].joints.size());
-                blockInfo->setInputPortType(i, PortDataTypeDouble);
-            }
-
-        } else {
-            if (!blockInfo->setNumberOfInputPorts(1)) {
-                if (error) error->message = "Failed to configure the number of input ports";
-                return false;
-            }
-
-            success = success && blockInfo->setInputPortVectorSize(0, dofs);
-            blockInfo->setInputPortType(0, PortDataTypeDouble);
-        }
-
-        if (!success) {
-            if (error) error->message = "Failed to configure input ports";
-            return false;
-        }
-
-        if (yarpToWBI) {
-            // Output port:
-            // - one port of size dofs
-            if (!blockInfo->setNumberOfOuputPorts(1)) {
-                if (error) error->message = "Failed to configure the number of output ports";
-                return false;
-            }
-
-            success = blockInfo->setOutputPortVectorSize(0, dofs);
-            blockInfo->setOutputPortType(0, PortDataTypeDouble);
-        } else {
-            if (!blockInfo->setNumberOfOuputPorts(parts.size())) {
-                if (error) error->message = "Failed to configure the number of input ports";
-                return false;
-            }
-
-            for (unsigned i = 0 ; i < parts.size(); ++i) {
-                success = success && blockInfo->setOutputPortVectorSize(i, parts[i].joints.size());
-                blockInfo->setOutputPortType(i, PortDataTypeDouble);
-            }
-        }
-
-        if (!success) {
-            if (error) error->message = "Failed to configure output ports";
-            return false;
-        }
-
-        return success;
-    }
-
-    bool YARPWBIConverter::initialize(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        using namespace wbt::hidden;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
-
-        m_pimpl = new YARPWBIConverterPimpl();
-        if (!m_pimpl) return false;
-
-        m_pimpl->yarpToWBI = blockInfo->getScalarParameterAtIndex(wbt::WBIModelBlock::numberOfParameters() + 1).int8Data() == 1;
-        return parseConfigurationFileForPartsConfiguration(WBInterface::sharedInstance().wbiFilePath(), *WBInterface::sharedInstance().wbiList(), m_pimpl->parts);
-    }
-
-    bool YARPWBIConverter::terminate(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        delete m_pimpl;
-        m_pimpl = 0;
-
-        return WBIModelBlock::terminate(blockInfo, error);
-    }
-
-    bool YARPWBIConverter::output(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        if (!m_pimpl) return false;
-        using namespace wbt::hidden;
-
-        if (m_pimpl->yarpToWBI) {
-            //From YARP to WBI:
-            //Multiple inputs, single output
-
-            Signal output = blockInfo->getOutputPortSignal(0);
-
-            for (unsigned partIdx = 0; partIdx < m_pimpl->parts.size(); ++partIdx) {
-                Signal partPort = blockInfo->getInputPortSignal(partIdx);
-
-                Part part = m_pimpl->parts[partIdx];
-                for (unsigned jointIdx = 0; jointIdx < part.joints.size(); ++jointIdx) {
-                    Joint joint = part.joints[jointIdx];
-                    output.set(joint.dofIndex, partPort.get(joint.yarpIndex).doubleData());
-                }
-            }
-
-        } else {
-            //From WBI to YARP
-            //Single Input port, multiple outputs
-            Signal inputPort = blockInfo->getInputPortSignal(0);
-
-            for (unsigned partIdx = 0; partIdx < m_pimpl->parts.size(); ++partIdx) {
-                Signal output = blockInfo->getOutputPortSignal(partIdx);
-
-                Part part = m_pimpl->parts[partIdx];
-                for (unsigned jointIdx = 0; jointIdx < part.joints.size(); ++jointIdx) {
-                    Joint joint = part.joints[jointIdx];
-                    output.set(joint.yarpIndex, inputPort.get(joint.dofIndex).doubleData());
-                }
-
-            }
-        }
-
-        return true;
-    }
-
-    namespace hidden {
-
-        bool parseConfigurationFileForPartsConfiguration(const std::string& filepath, const wbi::IDList& wbiList, std::vector<Part> &parts)
-        {
-            parts.clear();
-            yarp::os::Property configurationFile;
-            configurationFile.fromConfigFile(filepath);
-            //retrieve joints/yarp mapping
-            yarp::os::Bottle &mapping = configurationFile.findGroup("WBI_YARP_JOINTS");
-            if (mapping.isNull() || mapping.size() <= 0) {
-                return false;
-            }
-
-            //for every joint in the list
-            for (unsigned i = 0; i < wbiList.size(); ++i) {
-                const wbi::ID &id = wbiList.at(i);
-                //look in the configuration file for that key
-                yarp::os::Value &jointList = mapping.find(id.toString());
-
-                if (!jointList.isNull() && jointList.isList() && jointList.asList()->size() == 2) {
-                    yarp::os::Bottle *list = jointList.asList();
-                    Joint joint;
-                    std::string partName = list->get(0).asString();
-                    joint.yarpIndex = list->get(1).asInt();
-                    joint.dofIndex = i;
-                    joint.name = id.toString();
-
-                    std::vector<Part>::iterator found = parts.end();
-                    //look for the part in the vector.. a map would be nicer
-                    for (std::vector<Part>::iterator part = parts.begin();
-                         part != parts.end(); ++part) {
-                        if (part->partName == partName) {
-                            found = part;
-                            break;
-                        }
-                    }
-
-                    if (found != parts.end()) {
-                        found->joints.push_back(joint);
-                    } else {
-                        Part newPart;
-                        newPart.partName = partName;
-                        newPart.joints.push_back(joint);
-                        parts.push_back(newPart);
-                    }
-                }
-            }
-            return true;
-        }
-    }
-}
-
-
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index 0320676bc..e30b81379 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -8,8 +8,8 @@ wbt::Block* wbt::Block::instantiateBlockWithClassName(std::string blockClassName
         block = new wbt::YarpRead();
     } else if (blockClassName == wbt::YarpWrite::ClassName) {
         block = new wbt::YarpWrite();
-    } else if (blockClassName == wbt::YARPWBIConverter::ClassName) {
-        block = new wbt::YARPWBIConverter();
+    } else if (blockClassName == wbt::ModelPartitioner::ClassName) {
+        block = new wbt::ModelPartitioner();
     } else if (blockClassName == wbt::YarpClock::ClassName) {
         block = new wbt::YarpClock();
     } else if (blockClassName == wbt::MassMatrix::ClassName) {

From 1ad29cb87074262914631647fd41d1d42b90ac54 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:58:26 +0000
Subject: [PATCH 33/89] Removed support of CMake < 3.0

---
 toolbox/CMakeLists.txt | 52 +++++-------------------------------------
 1 file changed, 6 insertions(+), 46 deletions(-)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 99625ae0d..3b0487bdb 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -19,7 +19,6 @@ find_package(Matlab	 REQUIRED
              ENG_LIBRARY
              MAIN_PROGRAM)
 
-
 if(NOT Matlab_FOUND)
     message(FATAL_ERROR "Matlab not found")
 endif()
@@ -228,50 +227,11 @@ if (WBT_USES_ICUB)
 endif()
 
 #Adding files used for the generation of the dynamic library
-if (CMAKE_VERSION GREATER 3.0.0)
-    matlab_add_mex(
-        NAME WBToolbox
-        SRC ${ALL_HEADERS} ${ALL_SOURCES}
-        LINK_TO ${LINKED_LIBRARIES}
-    )
-else()
-    #Adding files used for the generation of the dynamic library
-    add_library(WBToolbox SHARED ${ALL_HEADERS} ${ALL_SOURCES})
-
-    set(SFUNCTION_SUFFIX ${Matlab_MEX_EXTENSION})
-    #Removing default dynamic library extensions (.dll for Windows, .so for UNIX) and prefixes (lib) otherwise automatically prepended to the mex file.
-    set_target_properties(WBToolbox PROPERTIES SUFFIX .${SFUNCTION_SUFFIX})
-    set_target_properties(WBToolbox PROPERTIES PREFIX "")
-
-    # This seems to be the most reliable method to date to know installed Matlab arch
-    STRING(REGEX MATCH ..$ MATLAB_ARCH Matlab_MEX_EXTENSION 64)
-
-    #In the following specific flags will be set to ensure compliance with the default settings of Matlab's mex compiler
-    if(WIN32)
-        if(NOT "${MATLAB_ARCH}" STREQUAL "64")
-            message("Flags have been passed to compiler for Matlab 32bits on a Windows computer")
-        elseif()
-            message("Flags have been passed to compiler for Matlab 64bits on a Windows computer")
-        endif()
-        if(MSVC)
-            #Setting Compiler Flags
-            set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Z7 /nologo /W3 /WX- /O2 /Oy- /D_REENTRANT /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0 /DyWrite_EXPORTS /Gm- /EHs /Zp8 /GS /fp:precise /Zc:wchar_t /Zc:forScope /GR /Gd /TP /showIncludes")
-            #Setting Linker Flags
-            set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /INCREMENTAL:NO /NOLOGO /MANIFEST /debug /MAP.mexw64.map /MACHINE:X64 /EXPORT:mexFunction")
-            if(NOT  "${MATLAB_ARCH}" STREQUAL "64")
-                #Changing some flags according to system/MATLAB version (32, 64 bits)
-                set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /MAP.mexw32.map /MACHINE:X32")
-            endif()
-        elseif(MSVC)
-            message("You are not compiling using Microsoft Visual Studio, ERRORS might occur")
-        endif(MSVC)
-    elseif(WIN32)
-        message("No particular flags have been passed to compiler for Matlab 64bits on a UNIX computer")
-    endif(WIN32)
-
-    # Linking Libraries
-    target_link_libraries(WBToolbox ${LINKED_LIBRARIES} ${Matlab_LIBRARIES})
-endif()
+matlab_add_mex(
+    NAME WBToolbox
+    SRC ${ALL_HEADERS} ${ALL_SOURCES}
+    LINK_TO ${LINKED_LIBRARIES}
+)
 
 # Link with ClockServer library
 add_subdirectory(autogenerated/)
@@ -279,7 +239,7 @@ target_link_libraries(WBToolbox PUBLIC ClockServer)
 
 # Remote Inverse Kinematics requires C++11
 if (CMAKE_VERSION VERSION_LESS "3.1")
-    if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR 
+    if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR
         CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
         target_compile_options(WBToolbox PUBLIC "-std=c++11")
     endif()

From 0c2ecfd249f7b00d58ee721eeaf51c6b7f835992 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:59:10 +0000
Subject: [PATCH 34/89] iDynTree is now a global dependency

---
 toolbox/CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 3b0487bdb..1ce390bc9 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -219,10 +219,11 @@ include_directories(SYSTEM ${Matlab_INCLUDE_DIRS} "${Matlab_ROOT_DIR}/simulink/i
 include_directories(SYSTEM ${YARP_INCLUDE_DIRS} ${yarpWholeBodyInterface_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
 
 list(APPEND LINKED_LIBRARIES ${YARP_LIBRARIES} ${yarpWholeBodyInterface_LIBRARIES})
+list(APPEND LINKED_LIBRARIES ${iDynTree_LIBRARIES})
 if (WBT_USES_ICUB)
     list(APPEND LINKED_LIBRARIES ctrlLib)
     if (${ICUB_USE_IPOPT})
-        list(APPEND LINKED_LIBRARIES iKin ${iDynTree_LIBRARIES})
+        list(APPEND LINKED_LIBRARIES iKin)
     endif()
 endif()
 

From d73ea70195f07513a962c3d36003b81acfeb0a5a Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 16:00:21 +0000
Subject: [PATCH 35/89] Link the project against the MxAnyType library

---
 toolbox/CMakeLists.txt | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 1ce390bc9..93f3a71b7 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -234,6 +234,10 @@ matlab_add_mex(
     LINK_TO ${LINKED_LIBRARIES}
 )
 
+# Link with MxAnyType library
+# TODO: this will become an external project sooner or later
+target_link_libraries(WBToolbox PUBLIC MxAnyType)
+
 # Link with ClockServer library
 add_subdirectory(autogenerated/)
 target_link_libraries(WBToolbox PUBLIC ClockServer)

From d1bc77597006ee70acdb04f58be57cd31e500985 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 16:04:49 +0000
Subject: [PATCH 36/89] New PID and WBTPIDConfig matlab classes

These classes are used to store PID gains for the SetLowLevelPID block
---
 +WBToolbox/PID.m          | 50 +++++++++++++++++++++++++++++++
 +WBToolbox/WBTPIDConfig.m | 63 +++++++++++++++++++++++++++++++++++++++
 2 files changed, 113 insertions(+)
 create mode 100644 +WBToolbox/PID.m
 create mode 100644 +WBToolbox/WBTPIDConfig.m

diff --git a/+WBToolbox/PID.m b/+WBToolbox/PID.m
new file mode 100644
index 000000000..33badfea0
--- /dev/null
+++ b/+WBToolbox/PID.m
@@ -0,0 +1,50 @@
+classdef PID < handle
+    %PID Class to store pid parameters for a single joint.
+    %   PID('jointName') creates an object for the joint 'jointName' with
+    %   all pid gains set to 0.
+    %
+    %   PID('jointName', P, I, D) creates an object for the joint 'jointName'
+    %   initializing the gains respectively to P, I, D.
+    %
+    % PID Properties:
+    %   P - Proportional gain
+    %   I - Integral gain
+    %   D - Derivative gain
+    %   joint - Reference joint
+    %
+    % See also: WBTOOLBOX.WBTPIDCONFIG
+    
+    properties
+        P     (1,1) double = 0
+        I     (1,1) double = 0
+        D     (1,1) double = 0
+        joint (1,:) char
+    end
+    
+    methods
+        %         function obj = PID(jointName)
+        %             obj.joint = jointName;
+        %         end
+        
+        function obj = PID(jointName, P, I, D)
+            if (nargin == 4)
+                obj.joint = jointName;
+                obj.P = P;
+                obj.I = I;
+                obj.D = D;
+            elseif (nargin == 1)
+                obj.joint = jointName;
+            else
+                error(...
+                    [...
+                    'Wrong number of arguments: ', ...
+                    'You can either specify 1 argument (joint) ', ...
+                    'or 4 arguments (joint, P, I, D).',...
+                    ]...
+                    );
+            end
+        end
+        
+    end
+end
+    
diff --git a/+WBToolbox/WBTPIDConfig.m b/+WBToolbox/WBTPIDConfig.m
new file mode 100644
index 000000000..9d23b523f
--- /dev/null
+++ b/+WBToolbox/WBTPIDConfig.m
@@ -0,0 +1,63 @@
+classdef WBTPIDConfig < handle
+    % WBTPIDCONFIG Class to store a set of PID config for many joints.
+    %   WBTPIDCONFIG(WBToolbox.PID('jointName', P, I, D)) adds a new PID
+    %   for joint 'jointName'.
+    %
+    % WBTPIDCONFIG Properties:
+    %   P - Proportional gains
+    %   I - Integral gains
+    %   D - Derivative gains
+    %   jointList - List of joints
+    %
+    % WBTPIDCONFIG Methods:
+    %   addPID - Add a new joint PID
+    %   removePID - Remove a stored joint PID
+    %
+    % See also: WBTOOLBOX.PID
+    
+    % Read-Only properties
+    properties (SetAccess = private)
+        P         (1,:) double
+        I         (1,:) double
+        D         (1,:) double
+        jointList (1,:) cell
+    end
+    
+    methods
+        function addPID(obj, pid)
+            % Add
+            if ~isa(pid,'WBToolbox.PID')
+                error('The argument must be a WBToolbox.PID object.')
+            end
+            
+            matches = find(strcmp(obj.jointList, pid.joint), 1);
+            if ~isempty(matches)
+                error('The PID''s joint has been already processed.')
+            end
+            
+            obj.jointList{1, end+1} = pid.joint;
+            obj.P(1, end+1) = pid.P;
+            obj.I(1, end+1) = pid.I;
+            obj.D(1, end+1) = pid.D;
+        end
+        
+        function removePID(obj, jointName)
+            if ~ischar(jointName)
+                error('The argument must be a char containing the joint name.')
+            end
+            
+            idx = find(strcmp(obj.jointList, jointName), 1);
+            
+            if isempty(idx)
+                error('The specified joint has no configuration stored')
+            end
+            
+            obj.jointList(:,idx) = [];
+            obj.P(:,idx) = [];
+            obj.I(:,idx) = [];
+            obj.D(:,idx) = [];
+        end
+    end
+    
+end
+

From 82b760ba3a00fa12de55047d1b25e6ba514a23fb Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 16:20:42 +0000
Subject: [PATCH 37/89] Matlab functions used by Blocks which inherit from
 WBBlock class

- BlockInitialization:
  Find the Config block hierarchically closer to the caller block

- Mask2WBToolboxConfig:
  Read the mask of a config block and generates from it a WBToolboxConfig object, validating also its data

- WBToolboxConfig2Mask:
  Read a WBToolboxConfig object and populates the mask of a Config block
---
 +WBToolbox/BlockInitialization.m  | 61 +++++++++++++++++++++
 +WBToolbox/Mask2WBToolboxConfig.m | 39 ++++++++++++++
 +WBToolbox/WBToolboxConfig2Mask.m | 90 +++++++++++++++++++++++++++++++
 3 files changed, 190 insertions(+)
 create mode 100644 +WBToolbox/BlockInitialization.m
 create mode 100644 +WBToolbox/Mask2WBToolboxConfig.m
 create mode 100644 +WBToolbox/WBToolboxConfig2Mask.m

diff --git a/+WBToolbox/BlockInitialization.m b/+WBToolbox/BlockInitialization.m
new file mode 100644
index 000000000..5783432e0
--- /dev/null
+++ b/+WBToolbox/BlockInitialization.m
@@ -0,0 +1,61 @@
+function [configBlock, WBTConfig] = BlockInitialization(currentBlock, currentSystem)
+%BLOCKINITIALIZATION Initialize blocks that read a Config block
+%   This function is used to initialize the mask of block that need to
+%   gather the WBToolbox configuration from a Config block.
+
+try
+    % Get the name of this block from the model's root
+    %blockAbsoluteName = gcb;
+
+    % Get the top level name
+    %blockNameSplit = strsplit(blockAbsoluteName,'/');
+    blockNameSplit = strsplit(currentBlock,'/');
+    topLevel = blockNameSplit{1};
+
+    % Get all the blocks from the top level of the system
+    blocks_system = find_system(topLevel,'LookUnderMasks','on');
+
+    % Get the name of the block's subsystem
+    %[blockScopeName,~] = fileparts(blockAbsoluteName);
+    %blockScopeName = gcs;
+    blockScopeName = currentSystem;
+catch
+    error('[%s::Initialization] Failed to process model''s tree',char(blockAbsoluteName))
+end
+
+% Look a config block from the block's scope going up in the tree
+analyzedScope = blockScopeName;
+configBlock = char;
+while ~isempty(analyzedScope)
+    rule = strcat(strrep(analyzedScope,'/','\/'),'\/\w+\/ImConfig');
+    idx = cellfun(@(x) ~isequal(regexp(x,rule),[]), blocks_system);
+    if (sum(idx) > 1)
+        error('[%s::Initialization] Found more than one configuration',char(blockAbsoluteName));
+    elseif (sum(idx) == 1)
+        configBlock = blocks_system{idx};
+        configBlock = fileparts(configBlock);
+        break;
+    end
+    analyzedScope = fileparts(analyzedScope);
+end
+
+if isempty(configBlock)
+    error('[%s::Initialization] No configuration found',char(blockAbsoluteName));
+end
+
+configSource = get_param(configBlock,'ConfigSource');
+
+if strcmp(configSource,'Mask')
+    % Read the mask
+    WBTConfig = WBToolbox.Mask2WBToolboxConfig(configBlock);
+elseif strcmp(configSource,'Workspace')
+    % Get the object name and populate the mask
+    configObjectName = get_param(configBlock,'ConfigObject');
+    WBToolbox.WBToolboxConfig2Mask(configBlock, configObjectName);
+    % Read the mask
+    WBTConfig = WBToolbox.Mask2WBToolboxConfig(configBlock);
+else
+    error('[%s::Initialization] Read ConfigSource from Config block not recognized',char(blockAbsoluteName));
+end
+
+end
diff --git a/+WBToolbox/Mask2WBToolboxConfig.m b/+WBToolbox/Mask2WBToolboxConfig.m
new file mode 100644
index 000000000..0396a46a3
--- /dev/null
+++ b/+WBToolbox/Mask2WBToolboxConfig.m
@@ -0,0 +1,39 @@
+function [ WBTConfig ] = Mask2WBToolboxConfig(configBlock)
+%MASK2WBTOOLBOXCONFIG Summary of this function goes here
+%   Detailed explanation goes here
+
+defaultString = '''NonValid''';
+
+if (...
+    strcmp(char(get_param(configBlock,'RobotName')),defaultString) && ...
+    strcmp(char(get_param(configBlock,'UrdfFile')),defaultString) && ...
+    strcmp(char(get_param(configBlock,'LocalName')),defaultString) && ...
+    strcmp(char(get_param(configBlock,'GravityVector')),defaultString) && ...
+    strcmp(char(get_param(configBlock,'ControlledJoints')),defaultString) && ...
+    strcmp(char(get_param(configBlock,'ControlBoardsNames')),defaultString) ...
+    )
+    error('[Mask2WBToolboxConfig] The provided config is NonValid.');
+end
+
+WBTConfig = WBToolbox.WBToolboxConfig;
+
+WBTConfig.RobotName = stripApices(char(get_param(configBlock,'RobotName')));
+WBTConfig.UrdfFile  = stripApices(char(get_param(configBlock,'UrdfFile')));
+WBTConfig.LocalName = stripApices(char(get_param(configBlock,'LocalName')));
+
+ControlledJointsChar = stripApices(char(get_param(configBlock,'ControlledJoints')));
+WBTConfig.ControlledJoints = eval('base',ControlledJointsChar);
+
+ControlBoardsNamesChar = stripApices(char(get_param(configBlock,'ControlBoardsNames')));
+WBTConfig.ControlBoardsNames = eval('base',ControlBoardsNamesChar);
+
+GravityVectorChar = stripApices(char(get_param(configBlock,'GravityVector')));
+WBTConfig.GravityVector = eval('base',GravityVectorChar);
+
+end
+
+function str = stripApices(str)
+    if (strcmp(str(1),'''') && strcmp(str(end),''''))
+        str = str(2:end-1);
+    end
+end
diff --git a/+WBToolbox/WBToolboxConfig2Mask.m b/+WBToolbox/WBToolboxConfig2Mask.m
new file mode 100644
index 000000000..1e7e3b227
--- /dev/null
+++ b/+WBToolbox/WBToolboxConfig2Mask.m
@@ -0,0 +1,90 @@
+function WBToolboxConfig2Mask(configBlock, WBTConfigObjectName)
+%WBTOOLBOXCONFIG2MASK Summary of this function goes here
+%   Detailed explanation goes here
+
+% Assign names to labels
+item_ConfigSource = 1;
+item_ConfigObject = 2;
+item_RobotName = 3;
+item_UrdfFile = 4;
+item_ControlledJoints = 5;
+item_ControlBoardsNames = 6;
+item_LocalName = 7;
+item_GravityVector = 8;
+
+% Get the mask of the Config Block
+try
+    mask = Simulink.Mask.get(configBlock);
+catch
+    error('[WBToolboxConfig2Mask] Impossible to gather Config Block: %s', configBlock);
+end
+
+
+% Remove apices if present
+if (strcmp(WBTConfigObjectName(1),'''') && strcmp(WBTConfigObjectName(end),''''))
+    WBTConfigObjectName = WBTConfigObjectName(2:end-1);
+end
+
+% Try to get the object from the workspace
+try
+    WBTConfigHandle = evalin('base', WBTConfigObjectName); % Get the handle
+    WBTConfigObject = copy(WBTConfigHandle); % Shallow copy the handle
+catch
+    error('[WBToolboxConfig2Mask] Failed to get %s object from the workspace', WBTConfigObjectName);
+end
+
+try
+    if (isa(WBTConfigObject,'WBToolbox.WBToolboxConfig') && WBTConfigObject.ValidConfiguration)
+        SetParamFromReadOnly(...
+            configBlock,'RobotName',...
+            strcat('''',WBTConfigObject.RobotName,''''),...
+            mask.Parameters(item_RobotName));
+        SetParamFromReadOnly(...
+            configBlock,'UrdfFile',...
+            strcat('''',WBTConfigObject.UrdfFile,''''),mask.Parameters(item_UrdfFile));
+        SetParamFromReadOnly(...
+            configBlock,'ControlledJoints',...
+            WBTConfigObject.serializeCellArray1D(WBTConfigObject.ControlledJoints),mask.Parameters(item_ControlledJoints));
+        SetParamFromReadOnly(...
+            configBlock,'ControlBoardsNames',...
+            WBTConfigObject.serializeCellArray1D(WBTConfigObject.ControlBoardsNames),mask.Parameters(item_ControlBoardsNames));
+        SetParamFromReadOnly(...
+            configBlock,'GravityVector',...
+            WBTConfigObject.serializeVector1D(WBTConfigObject.GravityVector),mask.Parameters(item_GravityVector))
+        SetParamFromReadOnly(...
+            configBlock,'LocalName',...
+            strcat('''',WBTConfigObject.LocalName,''''),mask.Parameters(item_LocalName));
+    else
+        error('[WBToolboxConfig2Mask] Failed to get the %s object', WBTConfigObjectName);
+    end
+catch
+    SetParamFromReadOnly(...
+        configBlock,'RobotName',...
+        '''NonValid''',mask.Parameters(item_RobotName));
+    SetParamFromReadOnly(...
+        configBlock,'UrdfFile',...
+        '''NonValid''',mask.Parameters(item_UrdfFile));
+    SetParamFromReadOnly(...
+        configBlock,'ControlledJoints',...
+        '''NonValid''',mask.Parameters(item_ControlledJoints));
+    SetParamFromReadOnly(...
+        configBlock,'ControlBoardsNames',...
+        '''NonValid''',mask.Parameters(item_ControlBoardsNames));
+    SetParamFromReadOnly(...
+        configBlock,'LocalName',...
+        '''NonValid''',mask.Parameters(item_LocalName));
+    SetParamFromReadOnly(...
+        configBlock,'GravityVector',...
+        '''NonValid''',mask.Parameters(item_GravityVector));
+end
+
+end
+
+function SetParamFromReadOnly(block, parameterName, parameterValue, maskParameter)
+if ~strcmp(get_param(block,parameterName),parameterValue)
+    maskParameter.ReadOnly = 'off';
+    maskParameter.Enabled  = 'on';
+    set_param(block,parameterName,parameterValue);
+    maskParameter.ReadOnly = 'on';
+end
+end

From 68dc0100644e8e7a03be0b617ba8762c5b247314 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Thu, 9 Nov 2017 10:59:31 +0000
Subject: [PATCH 38/89] New getStdVector() method in Signal

This method returns a std::vector<double> either if the signal is contiguous or non-contiguous. Considering that all the input signals are const and non-contiguous, this function assures makes the situation clear encapsulating data in a std::vector.
---
 toolbox/include/base/Signal.h | 2 ++
 toolbox/src/base/Signal.cpp   | 9 +++++++++
 2 files changed, 11 insertions(+)

diff --git a/toolbox/include/base/Signal.h b/toolbox/include/base/Signal.h
index b46d70ecd..0fbe27f3c 100644
--- a/toolbox/include/base/Signal.h
+++ b/toolbox/include/base/Signal.h
@@ -2,6 +2,7 @@
 #define WBT_SIGNAL_H
 
 #include "BlockInformation.h"
+#include <vector>
 
 namespace wbt {
     class Signal;
@@ -29,6 +30,7 @@ class wbt::Signal
 
     const Data get(unsigned index) const;
     void* getContiguousBuffer();
+    std::vector<double> getStdVector(unsigned length) const;
 
     //the missing are cast
     void set(unsigned index, double data);
diff --git a/toolbox/src/base/Signal.cpp b/toolbox/src/base/Signal.cpp
index 5d57938fc..9d5f6adbc 100644
--- a/toolbox/src/base/Signal.cpp
+++ b/toolbox/src/base/Signal.cpp
@@ -128,6 +128,15 @@ namespace wbt {
         return this->contiguousData;
     }
 
+    std::vector<double> Signal::getStdVector(unsigned length) const
+    {
+        std::vector<double> v(length);
+        for (unsigned i = 0; i < length; ++i) {
+            v[i] = get(i).doubleData();
+        }
+        return v;
+    }
+
     //the missing are cast
     void Signal::set(unsigned index, double data)
     {

From 3bbad1f782e7dea6ed3b92acea6aa3dd23f8c802 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 10 Nov 2017 17:10:04 +0000
Subject: [PATCH 39/89] BlockInformation is now a const pointer, changed
 indentation in cpp

---
 toolbox/include/CentroidalMomentum.h          |   6 +-
 toolbox/include/DotJNu.h                      |   6 +-
 toolbox/include/ForwardKinematics.h           |   6 +-
 toolbox/include/GetLimits.h                   |   6 +-
 toolbox/include/GetMeasurement.h              |   6 +-
 toolbox/include/InverseDynamics.h             |   6 +-
 toolbox/include/Jacobian.h                    |   6 +-
 toolbox/include/MassMatrix.h                  |   6 +-
 .../include/MinimumJerkTrajectoryGenerator.h  |   6 +-
 toolbox/include/ModelPartitioner.h            |   6 +-
 toolbox/include/RealTimeSynchronizer.h        |   6 +-
 toolbox/include/SetLowLevelPID.h              |   8 +-
 toolbox/include/SetReferences.h               |   8 +-
 toolbox/include/SimulatorSynchronizer.h       |   6 +-
 toolbox/include/YarpClock.h                   |   6 +-
 toolbox/include/YarpRead.h                    |   6 +-
 toolbox/include/YarpWrite.h                   |   6 +-
 toolbox/include/base/Block.h                  |  14 +-
 toolbox/include/base/BlockInformation.h       |  23 +-
 .../include/base/SimulinkBlockInformation.h   |  18 +-
 toolbox/include/base/WBBlock.h                |   6 +-
 toolbox/src/CentroidalMomentum.cpp            | 289 +++++----
 toolbox/src/DotJNu.cpp                        | 341 ++++++-----
 toolbox/src/ForwardKinematics.cpp             | 276 +++++----
 toolbox/src/GetLimits.cpp                     | 297 +++++----
 toolbox/src/GetMeasurement.cpp                | 277 +++++----
 toolbox/src/InverseDynamics.cpp               | 376 ++++++------
 toolbox/src/Jacobian.cpp                      | 329 +++++-----
 toolbox/src/MassMatrix.cpp                    | 274 +++++----
 .../src/MinimumJerkTrajectoryGenerator.cpp    | 418 +++++++------
 toolbox/src/ModelPartitioner.cpp              | 312 +++++-----
 toolbox/src/RealTimeSynchronizer.cpp          | 123 ++--
 toolbox/src/SetLowLevelPID.cpp                | 373 ++++++------
 toolbox/src/SetReferences.cpp                 | 425 +++++++------
 toolbox/src/SimulatorSynchronizer.cpp         | 213 ++++---
 toolbox/src/YarpClock.cpp                     |  93 ++-
 toolbox/src/YarpRead.cpp                      | 329 +++++-----
 toolbox/src/YarpWrite.cpp                     | 241 ++++----
 toolbox/src/base/Block.cpp                    |  20 +-
 toolbox/src/base/BlockInformation.cpp         |   6 +-
 toolbox/src/base/Signal.cpp                   | 562 +++++++++---------
 toolbox/src/base/SimulinkBlockInformation.cpp | 328 +++++-----
 toolbox/src/base/ToolboxSingleton.cpp         | 166 +++---
 toolbox/src/base/WBBlock.cpp                  |   6 +-
 toolbox/src/base/factory.cpp                  |  76 +--
 45 files changed, 3136 insertions(+), 3181 deletions(-)

diff --git a/toolbox/include/CentroidalMomentum.h b/toolbox/include/CentroidalMomentum.h
index d3abb34bb..754e4249b 100644
--- a/toolbox/include/CentroidalMomentum.h
+++ b/toolbox/include/CentroidalMomentum.h
@@ -28,9 +28,9 @@ class wbt::CentroidalMomentum : public wbt::WBBlock
 
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* WBT_CENTROIDALMOMENTUM_H */
diff --git a/toolbox/include/DotJNu.h b/toolbox/include/DotJNu.h
index d844bb510..9c70fe864 100644
--- a/toolbox/include/DotJNu.h
+++ b/toolbox/include/DotJNu.h
@@ -32,9 +32,9 @@ class wbt::DotJNu : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* WBT_DOTJDOTQ_H */
diff --git a/toolbox/include/ForwardKinematics.h b/toolbox/include/ForwardKinematics.h
index 147f2c7b4..4a683e761 100644
--- a/toolbox/include/ForwardKinematics.h
+++ b/toolbox/include/ForwardKinematics.h
@@ -25,9 +25,9 @@ class wbt::ForwardKinematics : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* WBT_FORWARDKINEMATICS_H */
diff --git a/toolbox/include/GetLimits.h b/toolbox/include/GetLimits.h
index 81570ee24..fcabddeb0 100644
--- a/toolbox/include/GetLimits.h
+++ b/toolbox/include/GetLimits.h
@@ -33,9 +33,9 @@ class wbt::GetLimits : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* WBT_GETLIMITS_H */
diff --git a/toolbox/include/GetMeasurement.h b/toolbox/include/GetMeasurement.h
index 8673874f7..101aed7af 100644
--- a/toolbox/include/GetMeasurement.h
+++ b/toolbox/include/GetMeasurement.h
@@ -30,9 +30,9 @@ class wbt::GetMeasurement : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_GETMEASUREMENT_H */
diff --git a/toolbox/include/InverseDynamics.h b/toolbox/include/InverseDynamics.h
index 2b035663c..63c8e8a3e 100644
--- a/toolbox/include/InverseDynamics.h
+++ b/toolbox/include/InverseDynamics.h
@@ -37,9 +37,9 @@ class wbt::InverseDynamics : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 
 };
 
diff --git a/toolbox/include/Jacobian.h b/toolbox/include/Jacobian.h
index b0726e900..5db8f6d95 100644
--- a/toolbox/include/Jacobian.h
+++ b/toolbox/include/Jacobian.h
@@ -36,9 +36,9 @@ class wbt::Jacobian : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* WBT_JACOBIAN_H */
diff --git a/toolbox/include/MassMatrix.h b/toolbox/include/MassMatrix.h
index 6529d4504..4ebea06b8 100644
--- a/toolbox/include/MassMatrix.h
+++ b/toolbox/include/MassMatrix.h
@@ -27,9 +27,9 @@ class wbt::MassMatrix : public wbt::WBBlock
 
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* WBT_MASSMATRIX_H */
diff --git a/toolbox/include/MinimumJerkTrajectoryGenerator.h b/toolbox/include/MinimumJerkTrajectoryGenerator.h
index 8bf0f29b7..5d175e7ab 100644
--- a/toolbox/include/MinimumJerkTrajectoryGenerator.h
+++ b/toolbox/include/MinimumJerkTrajectoryGenerator.h
@@ -28,9 +28,9 @@ class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 
 private:
 
diff --git a/toolbox/include/ModelPartitioner.h b/toolbox/include/ModelPartitioner.h
index 929da6c7e..2a8b5c435 100644
--- a/toolbox/include/ModelPartitioner.h
+++ b/toolbox/include/ModelPartitioner.h
@@ -25,9 +25,9 @@ class wbt::ModelPartitioner : public wbt::WBBlock
     unsigned numberOfParameters() override;
 
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_MODELPARTITIONER_H */
diff --git a/toolbox/include/RealTimeSynchronizer.h b/toolbox/include/RealTimeSynchronizer.h
index 5a2bc601d..26a797589 100644
--- a/toolbox/include/RealTimeSynchronizer.h
+++ b/toolbox/include/RealTimeSynchronizer.h
@@ -17,9 +17,9 @@ class wbt::RealTimeSynchronizer : public wbt::Block
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 
 private:
     double m_period;
diff --git a/toolbox/include/SetLowLevelPID.h b/toolbox/include/SetLowLevelPID.h
index ff781a885..96b8384d6 100644
--- a/toolbox/include/SetLowLevelPID.h
+++ b/toolbox/include/SetLowLevelPID.h
@@ -30,7 +30,7 @@ class wbt::SetLowLevelPID : public wbt::WBBlock
 
     yarp::dev::PidControlTypeEnum m_controlType;
 
-    bool readWBTPidConfigObject(BlockInformation* blockInfo);
+    bool readWBTPidConfigObject(const BlockInformation* blockInfo);
 
 public:
     static const std::string ClassName;
@@ -41,9 +41,9 @@ class wbt::SetLowLevelPID : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_SETLOWLEVELPID_H_ */
diff --git a/toolbox/include/SetReferences.h b/toolbox/include/SetReferences.h
index c7c4c2ed8..d599a1410 100644
--- a/toolbox/include/SetReferences.h
+++ b/toolbox/include/SetReferences.h
@@ -23,10 +23,10 @@ class wbt::SetReferences : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool initializeInitialConditions(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool initializeInitialConditions(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_SETREFERENCES_H */
diff --git a/toolbox/include/SimulatorSynchronizer.h b/toolbox/include/SimulatorSynchronizer.h
index aa5c3eced..f307c8fc7 100644
--- a/toolbox/include/SimulatorSynchronizer.h
+++ b/toolbox/include/SimulatorSynchronizer.h
@@ -18,9 +18,9 @@ class wbt::SimulatorSynchronizer : public wbt::Block
     unsigned numberOfParameters() override;
     std::vector<std::string> additionalBlockOptions() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 
 private:
     double m_period;
diff --git a/toolbox/include/YarpClock.h b/toolbox/include/YarpClock.h
index 000229579..c4857e8e0 100644
--- a/toolbox/include/YarpClock.h
+++ b/toolbox/include/YarpClock.h
@@ -14,9 +14,9 @@ class wbt::YarpClock : public wbt::Block
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_YARPCLOCK_H */
diff --git a/toolbox/include/YarpRead.h b/toolbox/include/YarpRead.h
index bc79bcb61..6fed985ad 100644
--- a/toolbox/include/YarpRead.h
+++ b/toolbox/include/YarpRead.h
@@ -26,9 +26,9 @@ class wbt::YarpRead : public wbt::Block
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 
 private:
     bool m_autoconnect;
diff --git a/toolbox/include/YarpWrite.h b/toolbox/include/YarpWrite.h
index 807b774cd..4d9e8238b 100644
--- a/toolbox/include/YarpWrite.h
+++ b/toolbox/include/YarpWrite.h
@@ -26,9 +26,9 @@ class wbt::YarpWrite : public wbt::Block
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 
 private:
     bool m_autoconnect;
diff --git a/toolbox/include/base/Block.h b/toolbox/include/base/Block.h
index a233859e6..65f8447b6 100644
--- a/toolbox/include/base/Block.h
+++ b/toolbox/include/base/Block.h
@@ -82,7 +82,7 @@ class wbt::Block
      * @param S the SimStruct structure
      * @return true for success, false otherwise
      */
-    virtual bool updateDiscreteState(BlockInformation* blockInfo);
+    virtual bool updateDiscreteState(const BlockInformation* blockInfo);
 
     /**
      * Not called for now
@@ -90,7 +90,7 @@ class wbt::Block
      * @param S the SimStruct structure
      * @return true for success, false otherwise
      */
-    virtual bool stateDerivative(BlockInformation* blockInfo);
+    virtual bool stateDerivative(const BlockInformation* blockInfo);
 
 
     /**
@@ -123,7 +123,7 @@ class wbt::Block
      *
      * @return true for success, false otherwise
      */
-    virtual bool checkParameters(BlockInformation* blockInfo);
+    virtual bool checkParameters(const BlockInformation* blockInfo);
 
     /**
      * Initialize the object for the simulation
@@ -134,7 +134,7 @@ class wbt::Block
      *
      * @return true for success, false otherwise
      */
-    virtual bool initialize(BlockInformation* blockInfo) = 0;
+    virtual bool initialize(const BlockInformation* blockInfo) = 0;
 
     /**
      * Called to initialize the initial conditions
@@ -146,7 +146,7 @@ class wbt::Block
      *
      * @return true for success, false otherwise
      */
-    virtual bool initializeInitialConditions(BlockInformation* blockInfo);
+    virtual bool initializeInitialConditions(const BlockInformation* blockInfo);
 
     /**
      * Perform model cleanup.
@@ -157,7 +157,7 @@ class wbt::Block
      *
      * @return true for success, false otherwise
      */
-    virtual bool terminate(BlockInformation* blockInfo) = 0;
+    virtual bool terminate(const BlockInformation* blockInfo) = 0;
 
 
 
@@ -170,7 +170,7 @@ class wbt::Block
      *
      * @return true for success, false otherwise
      */
-    virtual bool output(BlockInformation* blockInfo) = 0;
+    virtual bool output(const BlockInformation* blockInfo) = 0;
 
 public:
 
diff --git a/toolbox/include/base/BlockInformation.h b/toolbox/include/base/BlockInformation.h
index a4ea9da0a..06e2c37c1 100644
--- a/toolbox/include/base/BlockInformation.h
+++ b/toolbox/include/base/BlockInformation.h
@@ -58,7 +58,8 @@ namespace wbt {
 class wbt::BlockInformation {
 
 public:
-    virtual ~BlockInformation();
+    BlockInformation() = default;
+    virtual ~BlockInformation() = default;
 
     // Block Options methods
     // =====================
@@ -84,11 +85,13 @@ class wbt::BlockInformation {
      *
      * @return true if success, false otherwise
      */
-    virtual bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) = 0;
-    virtual bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) = 0;
-    virtual bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) = 0;
-    virtual bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) = 0;
-    virtual bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) = 0;
+    virtual bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) const = 0;
+    virtual bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) const = 0;
+    virtual bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) const = 0;
+    // virtual bool getAnyTypeAtIndex(unsigned parameterIndex, AnyType* data) = 0;
+    // virtual bool getCellAtIndex(unsigned parameterIndex, AnyCell& map) = 0;
+    virtual bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const = 0;
+    virtual bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const = 0;
 
     // Port information methods
     // ========================
@@ -114,10 +117,10 @@ class wbt::BlockInformation {
     // Port data
     // =========
 
-    virtual unsigned getInputPortWidth(unsigned portNumber) = 0;
-    virtual unsigned getOutputPortWidth(unsigned portNumber) = 0;
-    virtual wbt::Signal getInputPortSignal(unsigned portNumber) = 0;
-    virtual wbt::Signal getOutputPortSignal(unsigned portNumber) = 0;
+    virtual unsigned getInputPortWidth(unsigned portNumber) const = 0;
+    virtual unsigned getOutputPortWidth(unsigned portNumber) const = 0;
+    virtual wbt::Signal getInputPortSignal(unsigned portNumber) const = 0;
+    virtual wbt::Signal getOutputPortSignal(unsigned portNumber)const  = 0;
 };
 
 #endif /* end of include guard: WBT_BLOCKINFORMATION_H */
diff --git a/toolbox/include/base/SimulinkBlockInformation.h b/toolbox/include/base/SimulinkBlockInformation.h
index 2334d32a4..0da7f51c5 100644
--- a/toolbox/include/base/SimulinkBlockInformation.h
+++ b/toolbox/include/base/SimulinkBlockInformation.h
@@ -22,11 +22,11 @@ class wbt::SimulinkBlockInformation : public wbt::BlockInformation
     bool optionFromKey(const std::string& key, double& option) const override;
 
     //Parameters methods
-    bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) override;
-    bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) override;
-    bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) override;
-    bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) override;
-    bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) override;
+    bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) const override;
+    bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) const override;
+    bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) const override;
+    bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const override;
+    bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const override;
 
     //Port information methods
     bool setNumberOfInputPorts(unsigned numberOfPorts) override;
@@ -39,10 +39,10 @@ class wbt::SimulinkBlockInformation : public wbt::BlockInformation
     bool setOutputPortType(unsigned portNumber, PortDataType portType) override;
 
     //Port data
-    unsigned getInputPortWidth(unsigned portNumber) override;
-    unsigned getOutputPortWidth(unsigned portNumber) override;
-    wbt::Signal getInputPortSignal(unsigned portNumber) override;
-    wbt::Signal getOutputPortSignal(unsigned portNumber) override;
+    unsigned getInputPortWidth(unsigned portNumber) const override;
+    unsigned getOutputPortWidth(unsigned portNumber) const override;
+    wbt::Signal getInputPortSignal(unsigned portNumber) const override;
+    wbt::Signal getOutputPortSignal(unsigned portNumber) const override;
 };
 
 #endif /* end of include guard: WBT_SIMULINKBLOCKINFORMATION_H */
diff --git a/toolbox/include/base/WBBlock.h b/toolbox/include/base/WBBlock.h
index cee7d7d11..b3d5cf33c 100644
--- a/toolbox/include/base/WBBlock.h
+++ b/toolbox/include/base/WBBlock.h
@@ -66,7 +66,7 @@ class wbt::WBBlock : public wbt::Block
 protected:
     std::string confKey;
     iDynTreeRobotState robotState;
-    bool getWBToolboxParameters(Configuration& config, BlockInformation* blockInfo);
+    bool getWBToolboxParameters(Configuration& config, const BlockInformation* blockInfo);
     const std::shared_ptr<wbt::RobotInterface> getRobotInterface();
     const Configuration& getConfiguration();
 
@@ -75,8 +75,8 @@ class wbt::WBBlock : public wbt::Block
     ~WBBlock() override = default;
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_WBIBLOCK_H */
diff --git a/toolbox/src/CentroidalMomentum.cpp b/toolbox/src/CentroidalMomentum.cpp
index ca93b9308..1294c7e19 100644
--- a/toolbox/src/CentroidalMomentum.cpp
+++ b/toolbox/src/CentroidalMomentum.cpp
@@ -10,159 +10,158 @@
 #include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
-namespace wbt {
-
-    const std::string CentroidalMomentum::ClassName = "CentroidalMomentum";
-
-    const unsigned CentroidalMomentum::INPUT_IDX_BASE_POSE = 0;
-    const unsigned CentroidalMomentum::INPUT_IDX_JOINTCONF = 1;
-    const unsigned CentroidalMomentum::INPUT_IDX_BASE_VEL  = 2;
-    const unsigned CentroidalMomentum::INPUT_IDX_JOINT_VEL = 3;
-    const unsigned CentroidalMomentum::OUTPUT_IDX_CENTRMOM = 0;
-
-    CentroidalMomentum::CentroidalMomentum()
-    : m_centroidalMomentum(nullptr)
-    {}
-
-    bool CentroidalMomentum::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
-
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
-
-        // INPUTS
-        // ======
-        //
-        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
-        // 2) Joints position (1xDoFs vector)
-        // 3) Base frame velocity (1x6 vector)
-        // 4) Joints velocity (1xDoFs vector)
-        //
-
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(4)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
-
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-
-        // Size and type
-        bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL, 6);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
-
-        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
-
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
-
-        // OUTPUTS
-        // =======
-        //
-        // 1) Vector representing the centroidal momentum (1x6)
-        //
-
-        // Number of outputs
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
-
-        // Size and type
-        success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_CENTRMOM, 6);
-        blockInfo->setOutputPortType(OUTPUT_IDX_CENTRMOM, PortDataTypeDouble);
-
-        return success;
+using namespace wbt;
+
+const std::string CentroidalMomentum::ClassName = "CentroidalMomentum";
+
+const unsigned CentroidalMomentum::INPUT_IDX_BASE_POSE = 0;
+const unsigned CentroidalMomentum::INPUT_IDX_JOINTCONF = 1;
+const unsigned CentroidalMomentum::INPUT_IDX_BASE_VEL  = 2;
+const unsigned CentroidalMomentum::INPUT_IDX_JOINT_VEL = 3;
+const unsigned CentroidalMomentum::OUTPUT_IDX_CENTRMOM = 0;
+
+CentroidalMomentum::CentroidalMomentum()
+: m_centroidalMomentum(nullptr)
+{}
+
+bool CentroidalMomentum::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
+
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+    // INPUTS
+    // ======
+    //
+    // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+    // 2) Joints position (1xDoFs vector)
+    // 3) Base frame velocity (1x6 vector)
+    // 4) Joints velocity (1xDoFs vector)
+    //
+
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(4)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
     }
 
-    bool CentroidalMomentum::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        // OUTPUT
-        // ======
+    // Size and type
+    bool success = true;
+    success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL, 6);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
 
-        m_centroidalMomentum = new iDynTree::SpatialMomentum();
-        return m_centroidalMomentum;
+    blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
+
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
     }
 
-    bool CentroidalMomentum::terminate(BlockInformation* blockInfo)
-    {
-        if (m_centroidalMomentum) {
-            delete m_centroidalMomentum;
-            m_centroidalMomentum = 0;
-        }
+    // OUTPUTS
+    // =======
+    //
+    // 1) Vector representing the centroidal momentum (1x6)
+    //
 
-        return WBBlock::terminate(blockInfo);
+    // Number of outputs
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
     }
 
-    bool CentroidalMomentum::output(BlockInformation* blockInfo)
-    {
-        using namespace iDynTree;
-        using namespace Eigen;
-        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-
-        const auto& model = getRobotInterface()->getKinDynComputations();
-
-        if (!model) {
-            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-            return false;
-        }
-
-        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-        // ====================================================
-
-        unsigned signalWidth;
-
-        // Base pose
-        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-        fromEigen(robotState.m_world_T_base,
-                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-        // Joints position
-        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-        // Base velocity
-        Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
-        double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
-        robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
-                                     AngVelocity(m_baseVelocityBuffer+3, 3));
-
-        // Joints velocity
-        Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
-        robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
-
-        // UPDATE THE ROBOT STATUS
-        // =======================
-        model->setRobotState(robotState.m_world_T_base,
-                             robotState.m_jointsPosition,
-                             robotState.m_baseVelocity,
-                             robotState.m_jointsVelocity,
-                             robotState.m_gravity);
-
-        // OUTPUT
-        // ======
-
-        // Calculate the centroidal momentum
-        *m_centroidalMomentum = model->getCentroidalTotalMomentum();
-
-        // Forward the output to Simulink
-        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_CENTRMOM);
-        output.setBuffer(toEigen(*m_centroidalMomentum).data(),
-                         blockInfo->getOutputPortWidth(OUTPUT_IDX_CENTRMOM));
-        return true;
+    // Size and type
+    success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_CENTRMOM, 6);
+    blockInfo->setOutputPortType(OUTPUT_IDX_CENTRMOM, PortDataTypeDouble);
+
+    return success;
+}
+
+bool CentroidalMomentum::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
+
+    // OUTPUT
+    // ======
+
+    m_centroidalMomentum = new iDynTree::SpatialMomentum();
+    return m_centroidalMomentum;
+}
+
+bool CentroidalMomentum::terminate(const BlockInformation* blockInfo)
+{
+    if (m_centroidalMomentum) {
+        delete m_centroidalMomentum;
+        m_centroidalMomentum = 0;
     }
+
+    return WBBlock::terminate(blockInfo);
+}
+
+bool CentroidalMomentum::output(const BlockInformation* blockInfo)
+{
+    using namespace iDynTree;
+    using namespace Eigen;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+
+    const auto& model = getRobotInterface()->getKinDynComputations();
+
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
+
+    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+    // ====================================================
+
+    unsigned signalWidth;
+
+    // Base pose
+    Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+    fromEigen(robotState.m_world_T_base,
+              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+    // Joints position
+    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+    // Base velocity
+    Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
+    double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
+    robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
+                                 AngVelocity(m_baseVelocityBuffer+3, 3));
+
+    // Joints velocity
+    Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
+    robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+    // UPDATE THE ROBOT STATUS
+    // =======================
+    model->setRobotState(robotState.m_world_T_base,
+                         robotState.m_jointsPosition,
+                         robotState.m_baseVelocity,
+                         robotState.m_jointsVelocity,
+                         robotState.m_gravity);
+
+    // OUTPUT
+    // ======
+
+    // Calculate the centroidal momentum
+    *m_centroidalMomentum = model->getCentroidalTotalMomentum();
+
+    // Forward the output to Simulink
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_CENTRMOM);
+    output.setBuffer(toEigen(*m_centroidalMomentum).data(),
+                     blockInfo->getOutputPortWidth(OUTPUT_IDX_CENTRMOM));
+    return true;
 }
diff --git a/toolbox/src/DotJNu.cpp b/toolbox/src/DotJNu.cpp
index db9264ab2..7c82c2c39 100644
--- a/toolbox/src/DotJNu.cpp
+++ b/toolbox/src/DotJNu.cpp
@@ -9,208 +9,207 @@
 #include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string DotJNu::ClassName = "DotJNu";
+const std::string DotJNu::ClassName = "DotJNu";
 
-    const unsigned DotJNu::INPUT_IDX_BASE_POSE = 0;
-    const unsigned DotJNu::INPUT_IDX_JOINTCONF = 1;
-    const unsigned DotJNu::INPUT_IDX_BASE_VEL  = 2;
-    const unsigned DotJNu::INPUT_IDX_JOINT_VEL = 3;
-    const unsigned DotJNu::OUTPUT_IDX_DOTJ_NU  = 0;
+const unsigned DotJNu::INPUT_IDX_BASE_POSE = 0;
+const unsigned DotJNu::INPUT_IDX_JOINTCONF = 1;
+const unsigned DotJNu::INPUT_IDX_BASE_VEL  = 2;
+const unsigned DotJNu::INPUT_IDX_JOINT_VEL = 3;
+const unsigned DotJNu::OUTPUT_IDX_DOTJ_NU  = 0;
 
-    DotJNu::DotJNu()
-    : m_dotJNu(nullptr)
-    , m_frameIsCoM(false)
-    , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
-    {}
+DotJNu::DotJNu()
+: m_dotJNu(nullptr)
+, m_frameIsCoM(false)
+, m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
+{}
 
-    unsigned DotJNu::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters() + 1;
+unsigned DotJNu::numberOfParameters()
+{
+    return WBBlock::numberOfParameters() + 1;
+}
+
+bool DotJNu::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
+
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+    // INPUTS
+    // ======
+    //
+    // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+    // 2) Joints position (1xDoFs vector)
+    // 3) Base frame velocity (1x6 vector)
+    // 4) Joints velocity (1xDoFs vector)
+    //
+
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(4)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
     }
 
-    bool DotJNu::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+    // Size and type
+    bool success = true;
+    success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL,  6);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
 
-        // INPUTS
-        // ======
-        //
-        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
-        // 2) Joints position (1xDoFs vector)
-        // 3) Base frame velocity (1x6 vector)
-        // 4) Joints velocity (1xDoFs vector)
-        //
+    blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
 
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(4)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
+    }
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    // OUTPUTS
+    // =======
+    //
+    // 1) Vector representing the \dot{J} \nu vector (1x6)
+    //
 
-        // Size and type
-        bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL,  6);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
+    // Number of outputs
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
 
-        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
+    // Size and type
+    success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_DOTJ_NU, 6);
+    blockInfo->setOutputPortType(OUTPUT_IDX_DOTJ_NU, PortDataTypeDouble);
 
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
+    return success;
+}
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) Vector representing the \dot{J} \nu vector (1x6)
-        //
+bool DotJNu::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        // Number of outputs
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    // INPUT PARAMETERS
+    // ================
 
-        // Size and type
-        success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_DOTJ_NU, 6);
-        blockInfo->setOutputPortType(OUTPUT_IDX_DOTJ_NU, PortDataTypeDouble);
+    std::string frame;
+    int parentParameters = WBBlock::numberOfParameters();
 
-        return success;
+    if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
+        Log::getSingleton().error("Cannot retrieve string from frame parameter.");
+        return false;
     }
 
-    bool DotJNu::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
-
-        // INPUT PARAMETERS
-        // ================
-
-        std::string frame;
-        int parentParameters = WBBlock::numberOfParameters();
+    // Check if the frame is valid
+    // ---------------------------
 
-        if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
-            Log::getSingleton().error("Cannot retrieve string from frame parameter.");
-            return false;
-        }
-
-        // Check if the frame is valid
-        // ---------------------------
+    const auto& model = getRobotInterface()->getKinDynComputations();
+    if (!model) {
+        Log::getSingleton().error("Cannot retrieve handle to KinDynComputations.");
+        return false;
+    }
 
-        const auto& model = getRobotInterface()->getKinDynComputations();
-        if (!model) {
-            Log::getSingleton().error("Cannot retrieve handle to KinDynComputations.");
+    if (frame != "com") {
+        m_frameIndex = model->getFrameIndex(frame);
+        if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
+            Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
             return false;
         }
-
-        if (frame != "com") {
-            m_frameIndex = model->getFrameIndex(frame);
-            if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
-                Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
-                return false;
-            }
-        }
-        else {
-            m_frameIsCoM = true;
-            m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
-        }
-
-        // OUTPUT
-        // ======
-        m_dotJNu = new iDynTree::Vector6();
-        m_dotJNu->zero();
-
-        return m_dotJNu;
+    }
+    else {
+        m_frameIsCoM = true;
+        m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
     }
 
-    bool DotJNu::terminate(BlockInformation* blockInfo)
-    {
-        // Output
-        if (m_dotJNu) {
-            delete m_dotJNu;
-            m_dotJNu = 0;
-        }
+    // OUTPUT
+    // ======
+    m_dotJNu = new iDynTree::Vector6();
+    m_dotJNu->zero();
+
+    return m_dotJNu;
+}
 
-        return WBBlock::terminate(blockInfo);
+bool DotJNu::terminate(const BlockInformation* blockInfo)
+{
+    // Output
+    if (m_dotJNu) {
+        delete m_dotJNu;
+        m_dotJNu = 0;
     }
 
-    bool DotJNu::output(BlockInformation* blockInfo)
-    {
-        using namespace iDynTree;
-        using namespace Eigen;
-        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+    return WBBlock::terminate(blockInfo);
+}
 
-        const auto& model = getRobotInterface()->getKinDynComputations();
+bool DotJNu::output(const BlockInformation* blockInfo)
+{
+    using namespace iDynTree;
+    using namespace Eigen;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
 
-        if (!model) {
-            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-            return false;
-        }
+    const auto& model = getRobotInterface()->getKinDynComputations();
 
-        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-        // ====================================================
-
-        unsigned signalWidth;
-
-        // Base pose
-        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-        fromEigen(robotState.m_world_T_base,
-                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-        // Joints position
-        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-        // Base velocity
-        Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
-        double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
-        robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
-                                      AngVelocity(m_baseVelocityBuffer+3, 3));
-
-        // Joints velocity
-        Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
-        robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
-
-        // UPDATE THE ROBOT STATUS
-        // =======================
-        model->setRobotState(robotState.m_world_T_base,
-                             robotState.m_jointsPosition,
-                             robotState.m_baseVelocity,
-                             robotState.m_jointsVelocity,
-                             robotState.m_gravity);
-
-        // OUTPUT
-        // ======
-
-        // Compute the dot{J}*\nu
-        Vector6 biasAcc;
-        if (!m_frameIsCoM) {
-            biasAcc = model->getFrameBiasAcc(m_frameIndex);
-        }
-        else {
-            Vector3 comBiasAcc = model->getCenterOfMassBiasAcc();
-            toEigen(biasAcc).segment<3>(0) = iDynTree::toEigen(comBiasAcc);
-            toEigen(biasAcc).segment<3>(3).setZero();
-        }
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
 
-        // Forward the output to Simulink
-        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_DOTJ_NU);
-        output.setBuffer(m_dotJNu->data(),
-                         blockInfo->getOutputPortWidth(OUTPUT_IDX_DOTJ_NU));
-        return true;
+    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+    // ====================================================
+
+    unsigned signalWidth;
+
+    // Base pose
+    Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+    fromEigen(robotState.m_world_T_base,
+              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+    // Joints position
+    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+    // Base velocity
+    Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
+    double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
+    robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
+                                  AngVelocity(m_baseVelocityBuffer+3, 3));
+
+    // Joints velocity
+    Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
+    robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+    // UPDATE THE ROBOT STATUS
+    // =======================
+    model->setRobotState(robotState.m_world_T_base,
+                         robotState.m_jointsPosition,
+                         robotState.m_baseVelocity,
+                         robotState.m_jointsVelocity,
+                         robotState.m_gravity);
+
+    // OUTPUT
+    // ======
+
+    // Compute the dot{J}*\nu
+    Vector6 biasAcc;
+    if (!m_frameIsCoM) {
+        biasAcc = model->getFrameBiasAcc(m_frameIndex);
     }
+    else {
+        Vector3 comBiasAcc = model->getCenterOfMassBiasAcc();
+        toEigen(biasAcc).segment<3>(0) = iDynTree::toEigen(comBiasAcc);
+        toEigen(biasAcc).segment<3>(3).setZero();
+    }
+
+    // Forward the output to Simulink
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_DOTJ_NU);
+    output.setBuffer(m_dotJNu->data(),
+                     blockInfo->getOutputPortWidth(OUTPUT_IDX_DOTJ_NU));
+    return true;
 }
diff --git a/toolbox/src/ForwardKinematics.cpp b/toolbox/src/ForwardKinematics.cpp
index 052713745..a34f5c72b 100644
--- a/toolbox/src/ForwardKinematics.cpp
+++ b/toolbox/src/ForwardKinematics.cpp
@@ -9,185 +9,181 @@
 #include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string ForwardKinematics::ClassName = "ForwardKinematics";
+const std::string ForwardKinematics::ClassName = "ForwardKinematics";
 
-    const unsigned ForwardKinematics::INPUT_IDX_BASE_POSE = 0;
-    const unsigned ForwardKinematics::INPUT_IDX_JOINTCONF = 1;
-    const unsigned ForwardKinematics::OUTPUT_IDX_FW_FRAME = 0;
+const unsigned ForwardKinematics::INPUT_IDX_BASE_POSE = 0;
+const unsigned ForwardKinematics::INPUT_IDX_JOINTCONF = 1;
+const unsigned ForwardKinematics::OUTPUT_IDX_FW_FRAME = 0;
 
-    ForwardKinematics::ForwardKinematics()
-    : m_frameIsCoM(false)
-    , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
-    {}
+ForwardKinematics::ForwardKinematics()
+: m_frameIsCoM(false)
+, m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
+{}
 
-    unsigned ForwardKinematics::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters() + 1;
-    }
-
-    bool ForwardKinematics::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
+unsigned ForwardKinematics::numberOfParameters()
+{
+    return WBBlock::numberOfParameters() + 1;
+}
 
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+bool ForwardKinematics::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
 
-        // INPUTS
-        // ======
-        //
-        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
-        // 2) Joints position (1xDoFs vector)
-        //
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(2)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    // INPUTS
+    // ======
+    //
+    // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+    // 2) Joints position (1xDoFs vector)
+    //
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-
-        // Size and type
-        bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(2)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
+    }
 
-        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
+    // Size and type
+    bool success = true;
+    success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) Homogeneous transformation between the world and the specified frame (4x4 matrix)
-        //
+    blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
 
-        // Number of outputs
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
+    }
 
-        // Size and type
-        success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_FW_FRAME, 4, 4);
-        blockInfo->setOutputPortType(OUTPUT_IDX_FW_FRAME, PortDataTypeDouble);
+    // OUTPUTS
+    // =======
+    //
+    // 1) Homogeneous transformation between the world and the specified frame (4x4 matrix)
+    //
 
-        return success;
+    // Number of outputs
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
     }
 
-    bool ForwardKinematics::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    // Size and type
+    success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_FW_FRAME, 4, 4);
+    blockInfo->setOutputPortType(OUTPUT_IDX_FW_FRAME, PortDataTypeDouble);
 
-        // INPUT PARAMETERS
-        // ================
+    return success;
+}
 
-        std::string frame;
-        int parentParameters = WBBlock::numberOfParameters();
+bool ForwardKinematics::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
-            Log::getSingleton().error("Cannot retrieve string from frame parameter.");
-            return false;
-        }
+    // INPUT PARAMETERS
+    // ================
 
-        // Check if the frame is valid
-        // ---------------------------
+    std::string frame;
+    int parentParameters = WBBlock::numberOfParameters();
 
-        const auto& model = getRobotInterface()->getKinDynComputations();
-        if (!model) {
-            Log::getSingleton().error("Cannot retrieve handle to WBI model.");
-            return false;
-        }
+    if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
+        Log::getSingleton().error("Cannot retrieve string from frame parameter.");
+        return false;
+    }
 
-        if (frame != "com") {
-            m_frameIndex = model->getFrameIndex(frame);
-            if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
-                Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
-                return false;
-            }
-        }
-        else {
-            m_frameIsCoM = true;
-            m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
-        }
+    // Check if the frame is valid
+    // ---------------------------
 
-        return true;
+    const auto& model = getRobotInterface()->getKinDynComputations();
+    if (!model) {
+        Log::getSingleton().error("Cannot retrieve handle to WBI model.");
+        return false;
     }
 
-    bool ForwardKinematics::terminate(BlockInformation* blockInfo)
-    {
-        return WBBlock::terminate(blockInfo);
+    if (frame != "com") {
+        m_frameIndex = model->getFrameIndex(frame);
+        if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
+            Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
+            return false;
+        }
+    }
+    else {
+        m_frameIsCoM = true;
+        m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
     }
 
-    bool ForwardKinematics::output(BlockInformation* blockInfo)
-    {
-        using namespace iDynTree;
-        using namespace Eigen;
-        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-        typedef Matrix<double, 4, 4, Eigen::RowMajor> Matrix4diDynTree;
+    return true;
+}
 
-        const auto& model = getRobotInterface()->getKinDynComputations();
+bool ForwardKinematics::terminate(const BlockInformation* blockInfo)
+{
+    return WBBlock::terminate(blockInfo);
+}
 
-        if (!model) {
-            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-            return false;
-        }
+bool ForwardKinematics::output(const BlockInformation* blockInfo)
+{
+    using namespace iDynTree;
+    using namespace Eigen;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+    typedef Matrix<double, 4, 4, Eigen::RowMajor> Matrix4diDynTree;
 
-        // Get the signals and convert them to iDynTree objects
-        // ====================================================
+    const auto& model = getRobotInterface()->getKinDynComputations();
 
-        unsigned signalWidth;
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
 
-        // Base pose
-        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-        fromEigen(robotState.m_world_T_base,
-                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+    // Get the signals and convert them to iDynTree objects
+    // ====================================================
 
-        // Joints position
-        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+    unsigned signalWidth;
 
-        // TODO: the other 3 inputs are taken from the previous block's setRobotState().
-        //       How to handle it? What happens if a nullptr is passed?
+    // Base pose
+    Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+    fromEigen(robotState.m_world_T_base,
+              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
 
-        // Update the robot status
-        // =======================
-        model->setRobotState(robotState.m_world_T_base,
-                             robotState.m_jointsPosition,
-                             robotState.m_baseVelocity,
-                             robotState.m_jointsVelocity,
-                             robotState.m_gravity);
+    // Joints position
+    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
 
-        // Output
-        // ======
+    // Update the robot status
+    // =======================
+    model->setRobotState(robotState.m_world_T_base,
+                         robotState.m_jointsPosition,
+                         robotState.m_baseVelocity,
+                         robotState.m_jointsVelocity,
+                         robotState.m_gravity);
 
-        iDynTree::Transform world_H_frame;
+    // Output
+    // ======
 
-        // Compute the transform to the selected frame
-        if (!m_frameIsCoM) {
-            world_H_frame = model->getWorldTransform(m_frameIndex);
-        }
-        else {
-            world_H_frame.setPosition(model->getCenterOfMassPosition());
-        }
+    iDynTree::Transform world_H_frame;
 
-        // Get the output signal memory location
-        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_FW_FRAME);
+    // Compute the transform to the selected frame
+    if (!m_frameIsCoM) {
+        world_H_frame = model->getWorldTransform(m_frameIndex);
+    }
+    else {
+        world_H_frame.setPosition(model->getCenterOfMassPosition());
+    }
 
-        // Allocate objects for row-major -> col-major conversion
-        Map<const Matrix4diDynTree> world_H_frame_RowMajor = toEigen(world_H_frame.asHomogeneousTransform());
-        Map<Matrix4dSimulink> world_H_frame_ColMajor((double*)output.getContiguousBuffer(),
-                               4, 4);
+    // Get the output signal memory location
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_FW_FRAME);
 
-        // Forward the buffer to Simulink transforming it to ColMajor
-        world_H_frame_ColMajor = world_H_frame_RowMajor;
-        return true;
-    }
+    // Allocate objects for row-major -> col-major conversion
+    Map<const Matrix4diDynTree> world_H_frame_RowMajor = toEigen(world_H_frame.asHomogeneousTransform());
+    Map<Matrix4dSimulink> world_H_frame_ColMajor((double*)output.getContiguousBuffer(),
+                           4, 4);
+
+    // Forward the buffer to Simulink transforming it to ColMajor
+    world_H_frame_ColMajor = world_H_frame_RowMajor;
+    return true;
 }
diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index bc2f55b10..4923021e7 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -10,187 +10,186 @@
 #include <vector>
 #include <limits>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string GetLimits::ClassName = "GetLimits";
+const std::string GetLimits::ClassName = "GetLimits";
 
-    unsigned GetLimits::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters() + 1;
-    }
-
-    bool GetLimits::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+unsigned GetLimits::numberOfParameters()
+{
+    return WBBlock::numberOfParameters() + 1;
+}
 
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
+bool GetLimits::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) vector with the information asked (1xDoFs)
-        //
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
+    }
 
-        if (!blockInfo->setNumberOfOutputPorts(2)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    // OUTPUTS
+    // =======
+    //
+    // 1) vector with the information asked (1xDoFs)
+    //
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    if (!blockInfo->setNumberOfOutputPorts(2)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
 
-        bool success = true;
-        success = success && blockInfo->setOutputPortVectorSize(0, dofs); // Min limit
-        success = success && blockInfo->setOutputPortVectorSize(1, dofs); // Max limit
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
-        blockInfo->setOutputPortType(1, PortDataTypeDouble);
+    bool success = true;
+    success = success && blockInfo->setOutputPortVectorSize(0, dofs); // Min limit
+    success = success && blockInfo->setOutputPortVectorSize(1, dofs); // Max limit
 
-        if (!success) {
-            Log::getSingleton().error("Failed to configure output ports.");
-            return false;
-        }
+    blockInfo->setOutputPortType(0, PortDataTypeDouble);
+    blockInfo->setOutputPortType(1, PortDataTypeDouble);
 
-        return true;
+    if (!success) {
+        Log::getSingleton().error("Failed to configure output ports.");
+        return false;
     }
 
-    bool GetLimits::initialize(BlockInformation* blockInfo)
-    {
-        using namespace yarp::os;
-        if (!WBBlock::initialize(blockInfo)) return false;
+    return true;
+}
+
+bool GetLimits::initialize(const BlockInformation* blockInfo)
+{
+    using namespace yarp::os;
+    if (!WBBlock::initialize(blockInfo)) return false;
+
+    // Read the control type
+    std::string limitType;
+    if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, limitType)) {
+        Log::getSingleton().error("Could not read estimate type parameter.");
+        return false;
+    }
 
-        // Read the control type
-        std::string limitType;
-        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, limitType)) {
-            Log::getSingleton().error("Could not read estimate type parameter.");
+    // Initialize the structure that stores the limits
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    m_limits.reset(new Limit(dofs));
+
+    // Initializes some buffers
+    double min = 0;
+    double max = 0;
+
+    // From the RemoteControlBoardRemapper
+    // ===================================
+    //
+    // In the next methods, the values are asked using joint index and not string.
+    // The ControlBoardRemapper internally uses the same joints ordering of its
+    // initialization. In this case, it matches 1:1 the joint vector. It is hence
+    // possible using i to point to the correct joint.
+
+    // Get the RemoteControlBoardRemapper and IControlLimits2 interface if needed
+    std::weak_ptr<yarp::dev::IControlLimits2> iControlLimits2;
+    if (limitType == "ControlBoardPosition" || limitType == "ControlBoardVelocity") {
+        // Retain the control board remapper
+        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+            Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
             return false;
         }
+        // Get the interface
+        if (!getRobotInterface()->getInterface(iControlLimits2)) {
+            Log::getSingleton().error("Failed to get IControlLimits2 interface.");
+            return false;
+        }
+    }
 
-        // Initialize the structure that stores the limits
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-        m_limits.reset(new Limit(dofs));
-
-        // Initializes some buffers
-        double min = 0;
-        double max = 0;
-
-        // From the RemoteControlBoardRemapper
-        // ===================================
-        //
-        // In the next methods, the values are asked using joint index and not string.
-        // The ControlBoardRemapper internally uses the same joints ordering of its
-        // initialization. In this case, it matches 1:1 the joint vector. It is hence
-        // possible using i to point to the correct joint.
-
-        // Get the RemoteControlBoardRemapper and IControlLimits2 interface if needed
-        std::weak_ptr<yarp::dev::IControlLimits2> iControlLimits2;
-        if (limitType == "ControlBoardPosition" || limitType == "ControlBoardVelocity") {
-            // Retain the control board remapper
-            if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-                Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+    if (limitType == "ControlBoardPosition") {
+        for (auto i = 0; i < dofs; ++i) {
+            if (!iControlLimits2.lock()->getLimits(i, &min, &max)) {
+                Log::getSingleton().error("Failed to get limits from the interface.");
                 return false;
             }
-            // Get the interface
-            if (!getRobotInterface()->getInterface(iControlLimits2)) {
-                Log::getSingleton().error("Failed to get IControlLimits2 interface.");
+            m_limits->min[i] = min;
+            m_limits->max[i] = max;
+        }
+    }
+    else if (limitType == "ControlBoardVelocity") {
+        for (auto i = 0; i < dofs; ++i) {
+            if (!iControlLimits2.lock()->getVelLimits(i, &min, &max)) {
+                Log::getSingleton().error("Failed to get limits from the interface.");
                 return false;
             }
+            m_limits->min[i] = min;
+            m_limits->max[i] = max;
         }
+    }
 
-        if (limitType == "ControlBoardPosition") {
-            for (auto i = 0; i < dofs; ++i) {
-                if (!iControlLimits2.lock()->getLimits(i, &min, &max)) {
-                    Log::getSingleton().error("Failed to get limits from the interface.");
-                    return false;
-                }
-                m_limits->min[i] = min;
-                m_limits->max[i] = max;
-            }
-        }
-        else if (limitType == "ControlBoardVelocity") {
-            for (auto i = 0; i < dofs; ++i) {
-                if (!iControlLimits2.lock()->getVelLimits(i, &min, &max)) {
-                    Log::getSingleton().error("Failed to get limits from the interface.");
-                    return false;
-                }
-                m_limits->min[i] = min;
-                m_limits->max[i] = max;
-            }
-        }
+    // From the URDF model
+    // ===================
+    //
+    // For the time being, only position limits are supported.
 
-        // From the URDF model
-        // ===================
-        //
-        // For the time being, only position limits are supported.
-
-        else if (limitType == "ModelPosition") {
-            iDynTree::IJointConstPtr p_joint;
-            const iDynTree::Model model = getRobotInterface()->getKinDynComputations()->model();
-
-            for (auto i = 0; i < dofs; ++i) {
-                // Get the joint name
-                std::string joint = getConfiguration().getControlledJoints()[i];
-
-                // Get its index
-                iDynTree::LinkIndex jointIndex = model.getLinkIndex(joint);
-
-                // Get the joint from the model
-                p_joint = model.getJoint(jointIndex);
-
-                if (!p_joint->hasPosLimits()) {
-                    Log::getSingleton().warning("Joint " + joint + " has no model limits.");
-                    // TODO: test how these values are interpreted by Simulink
-                    min = -std::numeric_limits<double>::infinity();
-                    max = std::numeric_limits<double>::infinity();
-                }
-                else {
-                    p_joint->getPosLimits(0, min, max);
-                }
+    else if (limitType == "ModelPosition") {
+        iDynTree::IJointConstPtr p_joint;
+        const iDynTree::Model model = getRobotInterface()->getKinDynComputations()->model();
+
+        for (auto i = 0; i < dofs; ++i) {
+            // Get the joint name
+            std::string joint = getConfiguration().getControlledJoints()[i];
+
+            // Get its index
+            iDynTree::LinkIndex jointIndex = model.getLinkIndex(joint);
+
+            // Get the joint from the model
+            p_joint = model.getJoint(jointIndex);
+
+            if (!p_joint->hasPosLimits()) {
+                Log::getSingleton().warning("Joint " + joint + " has no model limits.");
+                // TODO: test how these values are interpreted by Simulink
+                min = -std::numeric_limits<double>::infinity();
+                max = std::numeric_limits<double>::infinity();
+            }
+            else {
+                p_joint->getPosLimits(0, min, max);
             }
         }
-        // TODO
-        // else if (limitType == "ModelVelocity") {
-        // }
-        // else if (limitType == "ModelEffort") {
-        // }
-        else {
-            Log::getSingleton().error("Limit type " + limitType + " not recognized.");
-            return false;
-        }
-
-        return true;
+    }
+    // TODO
+    // else if (limitType == "ModelVelocity") {
+    // }
+    // else if (limitType == "ModelEffort") {
+    // }
+    else {
+        Log::getSingleton().error("Limit type " + limitType + " not recognized.");
+        return false;
     }
 
-    bool GetLimits::terminate(BlockInformation* blockInfo)
-    {
-        // Release the RemoteControlBoardRemapper
-        bool ok = true;
-        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
-        if (!ok) {
-            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
-        }
+    return true;
+}
 
-        return ok && WBBlock::terminate(blockInfo);
+bool GetLimits::terminate(const BlockInformation* blockInfo)
+{
+    // Release the RemoteControlBoardRemapper
+    bool ok = true;
+    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    if (!ok) {
+        Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
     }
 
-    bool GetLimits::output(BlockInformation* blockInfo)
-    {
-        if (!m_limits) return false;
+    return ok && WBBlock::terminate(blockInfo);
+}
+
+bool GetLimits::output(const BlockInformation* blockInfo)
+{
+    if (!m_limits) return false;
 
-        Signal minPort = blockInfo->getOutputPortSignal(0);
-        Signal maxPort = blockInfo->getOutputPortSignal(1);
+    Signal minPort = blockInfo->getOutputPortSignal(0);
+    Signal maxPort = blockInfo->getOutputPortSignal(1);
 
-        minPort.setBuffer(m_limits->min.data(), getConfiguration().getNumberOfDoFs());
-        maxPort.setBuffer(m_limits->max.data(), getConfiguration().getNumberOfDoFs());
+    minPort.setBuffer(m_limits->min.data(), getConfiguration().getNumberOfDoFs());
+    maxPort.setBuffer(m_limits->max.data(), getConfiguration().getNumberOfDoFs());
 
-        return true;
-    }
+    return true;
 }
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index c0e0f01f6..65cc1a49e 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -10,174 +10,173 @@
 #define _USE_MATH_DEFINES
 #include <cmath>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string GetMeasurement::ClassName = "GetMeasurement";
+const std::string GetMeasurement::ClassName = "GetMeasurement";
 
-    void deg2rad(std::vector<double>& v)
-    {
-        const double deg2rad = (2 * M_PI) / 180.0;
-        for (auto& element : v) {
-            element *= deg2rad;
-        }
-    }
-
-    unsigned GetMeasurement::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters() + 1;
+void deg2rad(std::vector<double>& v)
+{
+    const double deg2rad = (2 * M_PI) / 180.0;
+    for (auto& element : v) {
+        element *= deg2rad;
     }
+}
 
-    bool GetMeasurement::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+unsigned GetMeasurement::numberOfParameters()
+{
+    return WBBlock::numberOfParameters() + 1;
+}
 
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
+bool GetMeasurement::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) Vector with the information asked (1xDoFs)
-        //
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
+    }
 
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    // OUTPUTS
+    // =======
+    //
+    // 1) Vector with the information asked (1xDoFs)
+    //
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
 
-        bool success = blockInfo->setOutputPortVectorSize(0, dofs);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
-        if (!success) {
-            Log::getSingleton().error("Failed to configure output ports.");
-            return false;
-        }
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        return true;
+    bool success = blockInfo->setOutputPortVectorSize(0, dofs);
+    blockInfo->setOutputPortType(0, PortDataTypeDouble);
+    if (!success) {
+        Log::getSingleton().error("Failed to configure output ports.");
+        return false;
     }
 
-    bool GetMeasurement::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    return true;
+}
 
-        // Reading the control type
-        std::string informationType;
-        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, informationType)) {
-            Log::getSingleton().error("Could not read estimate type parameter.");
-            return false;
-        }
+bool GetMeasurement::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        if (informationType == "Joints Position") {
-            m_estimateType = wbt::ESTIMATE_JOINT_POS;
-        } else if (informationType == "Joints Velocity") {
-            m_estimateType = wbt::ESTIMATE_JOINT_VEL;
-        } else if (informationType == "Joints Acceleration") {
-            m_estimateType = wbt::ESTIMATE_JOINT_ACC;
-        } else if (informationType == "Joints Torque") {
-            m_estimateType = wbt::ESTIMATE_JOINT_TORQUE;
-        } else {
-            Log::getSingleton().error("Estimate not supported.");
-            return false;
-        }
+    // Reading the control type
+    std::string informationType;
+    if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, informationType)) {
+        Log::getSingleton().error("Could not read estimate type parameter.");
+        return false;
+    }
 
-        // Initialize the size of the output vector
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-        m_estimate.reserve(dofs);
+    if (informationType == "Joints Position") {
+        m_estimateType = wbt::ESTIMATE_JOINT_POS;
+    } else if (informationType == "Joints Velocity") {
+        m_estimateType = wbt::ESTIMATE_JOINT_VEL;
+    } else if (informationType == "Joints Acceleration") {
+        m_estimateType = wbt::ESTIMATE_JOINT_ACC;
+    } else if (informationType == "Joints Torque") {
+        m_estimateType = wbt::ESTIMATE_JOINT_TORQUE;
+    } else {
+        Log::getSingleton().error("Estimate not supported.");
+        return false;
+    }
 
-        // Retain the ControlBoardRemapper
-        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-            Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
-            return false;
-        }
+    // Initialize the size of the output vector
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    m_estimate.reserve(dofs);
 
-        return true;
+    // Retain the ControlBoardRemapper
+    if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+        Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+        return false;
     }
 
-    bool GetMeasurement::terminate(BlockInformation* blockInfo)
-    {
-        // Release the RemoteControlBoardRemapper
-        bool ok = true;
-        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
-        if (!ok) {
-            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
-        }
+    return true;
+}
 
-        return ok && WBBlock::terminate(blockInfo);
+bool GetMeasurement::terminate(const BlockInformation* blockInfo)
+{
+    // Release the RemoteControlBoardRemapper
+    bool ok = true;
+    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    if (!ok) {
+        Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
     }
 
-    bool GetMeasurement::output(BlockInformation* blockInfo)
-    {
-        bool ok;
-        switch (m_estimateType) {
-            case ESTIMATE_JOINT_POS: {
-                // Get the interface
-                std::weak_ptr<yarp::dev::IEncoders> iEncoders;
-                if (!getRobotInterface()->getInterface(iEncoders)) {
-                    Log::getSingleton().error("Failed to get IPidControl interface.");
-                    return false;
-                }
-                // Get the measurement
-                ok = iEncoders.lock()->getEncoders(m_estimate.data());
-                deg2rad(m_estimate);
-                break;
-            }
-            case ESTIMATE_JOINT_VEL: {
-                // Get the interface
-                std::weak_ptr<yarp::dev::IEncoders> iEncoders;
-                if (!getRobotInterface()->getInterface(iEncoders)) {
-                    Log::getSingleton().error("Failed to get IEncoders interface.");
-                    return false;
-                }
-                // Get the measurement
-                ok = iEncoders.lock()->getEncoderSpeeds(m_estimate.data());
-                deg2rad(m_estimate);
-                break;
+    return ok && WBBlock::terminate(blockInfo);
+}
+
+bool GetMeasurement::output(const BlockInformation* blockInfo)
+{
+    bool ok;
+    switch (m_estimateType) {
+        case ESTIMATE_JOINT_POS: {
+            // Get the interface
+            std::weak_ptr<yarp::dev::IEncoders> iEncoders;
+            if (!getRobotInterface()->getInterface(iEncoders)) {
+                Log::getSingleton().error("Failed to get IPidControl interface.");
+                return false;
             }
-            case ESTIMATE_JOINT_ACC: {
-                // Get the interface
-                std::weak_ptr<yarp::dev::IEncoders> iEncoders;
-                if (!getRobotInterface()->getInterface(iEncoders)) {
-                    Log::getSingleton().error("Failed to get IEncoders interface.");
-                    return false;
-                }
-                // Get the measurement
-                ok = iEncoders.lock()->getEncoderAccelerations(m_estimate.data());
-                deg2rad(m_estimate);
-                break;
+            // Get the measurement
+            ok = iEncoders.lock()->getEncoders(m_estimate.data());
+            deg2rad(m_estimate);
+            break;
+        }
+        case ESTIMATE_JOINT_VEL: {
+            // Get the interface
+            std::weak_ptr<yarp::dev::IEncoders> iEncoders;
+            if (!getRobotInterface()->getInterface(iEncoders)) {
+                Log::getSingleton().error("Failed to get IEncoders interface.");
+                return false;
             }
-            case ESTIMATE_JOINT_TORQUE: {
-                // Get the interface
-                std::weak_ptr<yarp::dev::ITorqueControl> iTorqueControl;
-                if (!getRobotInterface()->getInterface(iTorqueControl)) {
-                    Log::getSingleton().error("Failed to get ITorqueControl interface.");
-                    return false;
-                }
-                // Get the measurement
-                ok = iTorqueControl.lock()->getTorques(m_estimate.data());
-                break;
+            // Get the measurement
+            ok = iEncoders.lock()->getEncoderSpeeds(m_estimate.data());
+            deg2rad(m_estimate);
+            break;
+        }
+        case ESTIMATE_JOINT_ACC: {
+            // Get the interface
+            std::weak_ptr<yarp::dev::IEncoders> iEncoders;
+            if (!getRobotInterface()->getInterface(iEncoders)) {
+                Log::getSingleton().error("Failed to get IEncoders interface.");
+                return false;
             }
-            default:
-                Log::getSingleton().error("Estimate type not recognized.");
+            // Get the measurement
+            ok = iEncoders.lock()->getEncoderAccelerations(m_estimate.data());
+            deg2rad(m_estimate);
+            break;
+        }
+        case ESTIMATE_JOINT_TORQUE: {
+            // Get the interface
+            std::weak_ptr<yarp::dev::ITorqueControl> iTorqueControl;
+            if (!getRobotInterface()->getInterface(iTorqueControl)) {
+                Log::getSingleton().error("Failed to get ITorqueControl interface.");
                 return false;
+            }
+            // Get the measurement
+            ok = iTorqueControl.lock()->getTorques(m_estimate.data());
+            break;
         }
-
-        if (!ok) {
-            Log::getSingleton().error("Failed to get estimate.");
+        default:
+            Log::getSingleton().error("Estimate type not recognized.");
             return false;
-        }
-
-        Signal signal = blockInfo->getOutputPortSignal(0);
-        signal.setBuffer(m_estimate.data(), blockInfo->getOutputPortWidth(0));
+    }
 
-        return true;
+    if (!ok) {
+        Log::getSingleton().error("Failed to get estimate.");
+        return false;
     }
+
+    Signal signal = blockInfo->getOutputPortSignal(0);
+    signal.setBuffer(m_estimate.data(), blockInfo->getOutputPortWidth(0));
+
+    return true;
 }
diff --git a/toolbox/src/InverseDynamics.cpp b/toolbox/src/InverseDynamics.cpp
index 28b8a70c7..5aa635a93 100644
--- a/toolbox/src/InverseDynamics.cpp
+++ b/toolbox/src/InverseDynamics.cpp
@@ -10,206 +10,204 @@
 #include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
-// TODO: Substitute with using
-namespace wbt {
-
-    const std::string InverseDynamics::ClassName = "InverseDynamics";
-
-    const unsigned InverseDynamics::INPUT_IDX_BASE_POSE = 0;
-    const unsigned InverseDynamics::INPUT_IDX_JOINTCONF = 1;
-    const unsigned InverseDynamics::INPUT_IDX_BASE_VEL  = 2;
-    const unsigned InverseDynamics::INPUT_IDX_JOINT_VEL = 3;
-    const unsigned InverseDynamics::INPUT_IDX_BASE_ACC  = 4;
-    const unsigned InverseDynamics::INPUT_IDX_JOINT_ACC = 5;
-    const unsigned InverseDynamics::OUTPUT_IDX_TORQUES  = 0;
-
-    InverseDynamics::InverseDynamics()
-    : m_baseAcceleration(nullptr)
-    , m_jointsAcceleration(nullptr)
-    , m_torques(nullptr)
-    {}
-
-    unsigned InverseDynamics::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters();
+using namespace wbt;
+
+const std::string InverseDynamics::ClassName = "InverseDynamics";
+
+const unsigned InverseDynamics::INPUT_IDX_BASE_POSE = 0;
+const unsigned InverseDynamics::INPUT_IDX_JOINTCONF = 1;
+const unsigned InverseDynamics::INPUT_IDX_BASE_VEL  = 2;
+const unsigned InverseDynamics::INPUT_IDX_JOINT_VEL = 3;
+const unsigned InverseDynamics::INPUT_IDX_BASE_ACC  = 4;
+const unsigned InverseDynamics::INPUT_IDX_JOINT_ACC = 5;
+const unsigned InverseDynamics::OUTPUT_IDX_TORQUES  = 0;
+
+InverseDynamics::InverseDynamics()
+: m_baseAcceleration(nullptr)
+, m_jointsAcceleration(nullptr)
+, m_torques(nullptr)
+{}
+
+unsigned InverseDynamics::numberOfParameters()
+{
+    return WBBlock::numberOfParameters();
+}
+
+bool InverseDynamics::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
+
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+    // INPUTS
+    // ======
+    //
+    // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+    // 2) Joints position (1xDoFs vector)
+    // 3) Base frame velocity (1x6 vector)
+    // 4) Joints velocity (1xDoFs vector)
+    // 5) Base frame acceleration (1x6 vector)
+    // 6) Joints acceleration (1xDoFs vector)
+    //
+
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(6)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
     }
 
-    bool InverseDynamics::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
-
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
-
-        // INPUTS
-        // ======
-        //
-        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
-        // 2) Joints position (1xDoFs vector)
-        // 3) Base frame velocity (1x6 vector)
-        // 4) Joints velocity (1xDoFs vector)
-        // 5) Base frame acceleration (1x6 vector)
-        // 6) Joints acceleration (1xDoFs vector)
-        //
-
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(6)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
-
-        // Get the DoFs
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-
-        // Size and type
-        bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL,  6);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_ACC,  6);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_ACC, dofs);
-
-        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_BASE_ACC,  PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINT_ACC, PortDataTypeDouble);
-
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
-
-        // OUTPUTS
-        // =======
-        //
-        // 1) Vector representing the torques (1x(DoFs+6))
-        //
-
-        // Number of outputs
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
-
-        // Size and type
-        success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_TORQUES, dofs + 6);
-        blockInfo->setOutputPortType(OUTPUT_IDX_TORQUES, PortDataTypeDouble);
-
-        return success;
+    // Get the DoFs
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+    // Size and type
+    bool success = true;
+    success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL,  6);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_ACC,  6);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_ACC, dofs);
+
+    blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_BASE_ACC,  PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINT_ACC, PortDataTypeDouble);
+
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
     }
 
-    bool InverseDynamics::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    // OUTPUTS
+    // =======
+    //
+    // 1) Vector representing the torques (1x(DoFs+6))
+    //
 
-        // OUTPUT / VARIABLES
-        // ==================
+    // Number of outputs
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    // Size and type
+    success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_TORQUES, dofs + 6);
+    blockInfo->setOutputPortType(OUTPUT_IDX_TORQUES, PortDataTypeDouble);
 
-        m_baseAcceleration = new iDynTree::Vector6();
-        m_baseAcceleration->zero();
-        m_jointsAcceleration = new iDynTree::VectorDynSize(dofs);
-        m_jointsAcceleration->zero();
+    return success;
+}
 
-        const auto& model = getRobotInterface()->getKinDynComputations()->model();
-        m_torques = new iDynTree::FreeFloatingGeneralizedTorques(model);
+bool InverseDynamics::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        return m_baseAcceleration && m_jointsAcceleration && m_torques;
-    }
+    // OUTPUT / VARIABLES
+    // ==================
 
-    bool InverseDynamics::terminate(BlockInformation* blockInfo)
-    {
-        if (m_baseAcceleration) {
-            delete m_baseAcceleration;
-            m_baseAcceleration = nullptr;
-        }
-        if (m_jointsAcceleration) {
-            delete m_jointsAcceleration;
-            m_jointsAcceleration = nullptr;
-        }
-        if (m_torques) {
-            delete m_torques;
-            m_torques = nullptr;
-        }
-
-        return WBBlock::terminate(blockInfo);
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+    m_baseAcceleration = new iDynTree::Vector6();
+    m_baseAcceleration->zero();
+    m_jointsAcceleration = new iDynTree::VectorDynSize(dofs);
+    m_jointsAcceleration->zero();
+
+    const auto& model = getRobotInterface()->getKinDynComputations()->model();
+    m_torques = new iDynTree::FreeFloatingGeneralizedTorques(model);
+
+    return m_baseAcceleration && m_jointsAcceleration && m_torques;
+}
+
+bool InverseDynamics::terminate(const BlockInformation* blockInfo)
+{
+    if (m_baseAcceleration) {
+        delete m_baseAcceleration;
+        m_baseAcceleration = nullptr;
+    }
+    if (m_jointsAcceleration) {
+        delete m_jointsAcceleration;
+        m_jointsAcceleration = nullptr;
     }
+    if (m_torques) {
+        delete m_torques;
+        m_torques = nullptr;
+    }
+
+    return WBBlock::terminate(blockInfo);
+}
+
+bool InverseDynamics::output(const BlockInformation* blockInfo)
+{
+    using namespace iDynTree;
+    using namespace Eigen;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
 
-    bool InverseDynamics::output(BlockInformation* blockInfo)
-    {
-        using namespace iDynTree;
-        using namespace Eigen;
-        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-
-        const auto& model = getRobotInterface()->getKinDynComputations();
-
-        if (!model) {
-            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-            return false;
-        }
-
-        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-        // ====================================================
-
-        unsigned signalWidth;
-
-        // Base pose
-        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-        fromEigen(robotState.m_world_T_base,
-                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-        // Joints position
-        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-        // Base velocity
-        Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
-        double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
-        robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
-                                     AngVelocity(m_baseVelocityBuffer+3, 3));
-
-        // Joints velocity
-        Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
-        robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
-
-        // Base acceleration
-        Signal baseAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_ACC);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_ACC);
-        m_baseAcceleration->fillBuffer(baseAccelerationSignal.getStdVector(signalWidth).data());
-
-        // Joints acceleration
-        Signal jointsAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_ACC);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_ACC);
-        m_jointsAcceleration->fillBuffer(jointsAccelerationSignal.getStdVector(signalWidth).data());
-
-        // UPDATE THE ROBOT STATUS
-        // =======================
-        model->setRobotState(robotState.m_world_T_base,
-                             robotState.m_jointsPosition,
-                             robotState.m_baseVelocity,
-                             robotState.m_jointsVelocity,
-                             robotState.m_gravity);
-
-        // OUTPUT
-        // ======
-
-        // Calculate the inverse dynamics (assuming zero external forces)
-        model->inverseDynamics(*m_baseAcceleration,
-                               *m_jointsAcceleration,
-                               LinkNetExternalWrenches(model->getNrOfLinks()), // TODO
-                               *m_torques);
-
-        // Forward the output to Simulink
-        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_TORQUES);
-        output.setBuffer(m_torques->jointTorques().data(),
-                         blockInfo->getOutputPortWidth(OUTPUT_IDX_TORQUES));
-        return true;
+    const auto& model = getRobotInterface()->getKinDynComputations();
+
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
     }
+
+    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+    // ====================================================
+
+    unsigned signalWidth;
+
+    // Base pose
+    Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+    fromEigen(robotState.m_world_T_base,
+              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+    // Joints position
+    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+    // Base velocity
+    Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
+    double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
+    robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
+                                 AngVelocity(m_baseVelocityBuffer+3, 3));
+
+    // Joints velocity
+    Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
+    robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+    // Base acceleration
+    Signal baseAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_ACC);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_ACC);
+    m_baseAcceleration->fillBuffer(baseAccelerationSignal.getStdVector(signalWidth).data());
+
+    // Joints acceleration
+    Signal jointsAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_ACC);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_ACC);
+    m_jointsAcceleration->fillBuffer(jointsAccelerationSignal.getStdVector(signalWidth).data());
+
+    // UPDATE THE ROBOT STATUS
+    // =======================
+    model->setRobotState(robotState.m_world_T_base,
+                         robotState.m_jointsPosition,
+                         robotState.m_baseVelocity,
+                         robotState.m_jointsVelocity,
+                         robotState.m_gravity);
+
+    // OUTPUT
+    // ======
+
+    // Calculate the inverse dynamics (assuming zero external forces)
+    model->inverseDynamics(*m_baseAcceleration,
+                           *m_jointsAcceleration,
+                           LinkNetExternalWrenches(model->getNrOfLinks()), // TODO
+                           *m_torques);
+
+    // Forward the output to Simulink
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_TORQUES);
+    output.setBuffer(m_torques->jointTorques().data(),
+                     blockInfo->getOutputPortWidth(OUTPUT_IDX_TORQUES));
+    return true;
 }
diff --git a/toolbox/src/Jacobian.cpp b/toolbox/src/Jacobian.cpp
index 8988cf4bc..4901c7ebc 100644
--- a/toolbox/src/Jacobian.cpp
+++ b/toolbox/src/Jacobian.cpp
@@ -9,216 +9,215 @@
 #include <iDynTree/Core/EigenHelpers.h>
 #include <Eigen/Core>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string Jacobian::ClassName = "Jacobian";
+const std::string Jacobian::ClassName = "Jacobian";
 
-    const unsigned Jacobian::INPUT_IDX_BASE_POSE = 0;
-    const unsigned Jacobian::INPUT_IDX_JOINTCONF = 1;
-    const unsigned Jacobian::OUTPUT_IDX_FW_FRAME = 0;
+const unsigned Jacobian::INPUT_IDX_BASE_POSE = 0;
+const unsigned Jacobian::INPUT_IDX_JOINTCONF = 1;
+const unsigned Jacobian::OUTPUT_IDX_FW_FRAME = 0;
 
-    Jacobian::Jacobian()
-    : m_jacobianCOM(nullptr)
-    , m_jacobian(nullptr)
-    , m_frameIsCoM(false)
-    , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
-    {}
+Jacobian::Jacobian()
+: m_jacobianCOM(nullptr)
+, m_jacobian(nullptr)
+, m_frameIsCoM(false)
+, m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
+{}
 
-    unsigned Jacobian::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters() + 1;
-    }
+unsigned Jacobian::numberOfParameters()
+{
+    return WBBlock::numberOfParameters() + 1;
+}
 
-    bool Jacobian::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
+bool Jacobian::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
 
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // INPUTS
-        // ======
-        //
-        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
-        // 2) Joints position (1xDoFs vector)
-        // 3) Base frame velocity (1x6 vector)
-        //
+    // INPUTS
+    // ======
+    //
+    // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+    // 2) Joints position (1xDoFs vector)
+    // 3) Base frame velocity (1x6 vector)
+    //
 
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(2)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(2)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
+    }
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        // Size and type
-        bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+    // Size and type
+    bool success = true;
+    success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
 
-        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
 
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
+    }
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) Matrix representing the Jacobian (6x(DoFs+6))
-        //
+    // OUTPUTS
+    // =======
+    //
+    // 1) Matrix representing the Jacobian (6x(DoFs+6))
+    //
 
-        // Number of outputs
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    // Number of outputs
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
 
-        // Size and type
-        success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_FW_FRAME, 6, 6 + dofs);
-        blockInfo->setOutputPortType(OUTPUT_IDX_FW_FRAME, PortDataTypeDouble);
+    // Size and type
+    success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_FW_FRAME, 6, 6 + dofs);
+    blockInfo->setOutputPortType(OUTPUT_IDX_FW_FRAME, PortDataTypeDouble);
 
-        return success;
-    }
+    return success;
+}
 
-    bool Jacobian::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+bool Jacobian::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        // INPUT PARAMETERS
-        // ================
+    // INPUT PARAMETERS
+    // ================
 
-        std::string frame;
-        int parentParameters = WBBlock::numberOfParameters();
+    std::string frame;
+    int parentParameters = WBBlock::numberOfParameters();
 
-        if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
-            Log::getSingleton().error("Cannot retrieve string from frame parameter.");
-            return false;
-        }
+    if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
+        Log::getSingleton().error("Cannot retrieve string from frame parameter.");
+        return false;
+    }
 
-        // Check if the frame is valid
-        // ---------------------------
+    // Check if the frame is valid
+    // ---------------------------
+
+    const auto& model = getRobotInterface()->getKinDynComputations();
+    if (!model) {
+        Log::getSingleton().error("Cannot retrieve handle to KinDynComputations.");
+        return false;
+    }
 
-        const auto& model = getRobotInterface()->getKinDynComputations();
-        if (!model) {
-            Log::getSingleton().error("Cannot retrieve handle to KinDynComputations.");
+    if (frame != "com") {
+        m_frameIndex = model->getFrameIndex(frame);
+        if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
+            Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
             return false;
         }
+    }
+    else {
+        m_frameIsCoM = true;
+        m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
+    }
 
-        if (frame != "com") {
-            m_frameIndex = model->getFrameIndex(frame);
-            if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
-                Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
-                return false;
-            }
-        }
-        else {
-            m_frameIsCoM = true;
-            m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
-        }
+    // OUTPUT / VARIABLES
+    // ==================
 
-        // OUTPUT / VARIABLES
-        // ==================
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    m_jacobianCOM = new iDynTree::MatrixDynSize(3, 6 + dofs);
+    m_jacobianCOM->zero();
 
-        m_jacobianCOM = new iDynTree::MatrixDynSize(3, 6 + dofs);
-        m_jacobianCOM->zero();
+    // Output
+    m_jacobian = new iDynTree::MatrixDynSize(6, 6 + dofs);
+    m_jacobian->zero();
 
-        // Output
-        m_jacobian = new iDynTree::MatrixDynSize(6, 6 + dofs);
-        m_jacobian->zero();
+    return m_jacobianCOM && m_jacobian;
+}
 
-        return m_jacobianCOM && m_jacobian;
+bool Jacobian::terminate(const BlockInformation* blockInfo)
+{
+    if (m_jacobianCOM) {
+        delete m_jacobianCOM;
+        m_jacobianCOM = nullptr;
     }
-
-    bool Jacobian::terminate(BlockInformation* blockInfo)
-    {
-        if (m_jacobianCOM) {
-            delete m_jacobianCOM;
-            m_jacobianCOM = nullptr;
-        }
-        if (m_jacobian) {
-            delete m_jacobian;
-            m_jacobian = nullptr;
-        }
-
-        return WBBlock::terminate(blockInfo);
+    if (m_jacobian) {
+        delete m_jacobian;
+        m_jacobian = nullptr;
     }
 
-    bool Jacobian::output(BlockInformation* blockInfo)
-    {
-        using namespace iDynTree;
-        using namespace Eigen;
-        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-        typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
-        typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
+    return WBBlock::terminate(blockInfo);
+}
 
-        const auto& model = getRobotInterface()->getKinDynComputations();
+bool Jacobian::output(const BlockInformation* blockInfo)
+{
+    using namespace iDynTree;
+    using namespace Eigen;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+    typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
+    typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
 
-        if (!model) {
-            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-            return false;
-        }
+    const auto& model = getRobotInterface()->getKinDynComputations();
 
-        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-        // ====================================================
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
 
-        unsigned signalWidth;
+    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+    // ====================================================
 
-        // Base pose
-        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-        fromEigen(robotState.m_world_T_base,
-                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+    unsigned signalWidth;
 
-        // Joints position
-        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+    // Base pose
+    Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+    fromEigen(robotState.m_world_T_base,
+              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
 
-        // TODO: what about the other inputs of setRobotState?
+    // Joints position
+    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
 
-        // UPDATE THE ROBOT STATUS
-        // =======================
-        model->setRobotState(robotState.m_world_T_base,
-                             robotState.m_jointsPosition,
-                             robotState.m_baseVelocity,
-                             robotState.m_jointsVelocity,
-                             robotState.m_gravity);
+    // TODO: what about the other inputs of setRobotState?
 
-        // OUTPUT
-        // ======
+    // UPDATE THE ROBOT STATUS
+    // =======================
+    model->setRobotState(robotState.m_world_T_base,
+                         robotState.m_jointsPosition,
+                         robotState.m_baseVelocity,
+                         robotState.m_jointsVelocity,
+                         robotState.m_gravity);
 
-        iDynTree::Transform world_H_frame;
+    // OUTPUT
+    // ======
 
-        // Compute the jacobian
-        bool ok = false;
-        if (!m_frameIsCoM) {
-            world_H_frame = model->getWorldTransform(m_frameIndex);
-            ok = model->getFrameFreeFloatingJacobian(m_frameIndex, *m_jacobian);
-        }
-        else {
-            world_H_frame.setPosition(model->getCenterOfMassPosition());
-            ok = model->getCenterOfMassJacobian(*m_jacobianCOM);
-            int cols = m_jacobianCOM->cols();
-            toEigen(*m_jacobian).block(0,0,3,cols) = toEigen(*m_jacobianCOM);
-            toEigen(*m_jacobian).block(3,0,3,cols).setZero();
-        }
+    iDynTree::Transform world_H_frame;
+
+    // Compute the jacobian
+    bool ok = false;
+    if (!m_frameIsCoM) {
+        world_H_frame = model->getWorldTransform(m_frameIndex);
+        ok = model->getFrameFreeFloatingJacobian(m_frameIndex, *m_jacobian);
+    }
+    else {
+        world_H_frame.setPosition(model->getCenterOfMassPosition());
+        ok = model->getCenterOfMassJacobian(*m_jacobianCOM);
+        int cols = m_jacobianCOM->cols();
+        toEigen(*m_jacobian).block(0,0,3,cols) = toEigen(*m_jacobianCOM);
+        toEigen(*m_jacobian).block(3,0,3,cols).setZero();
+    }
 
-        // Get the output signal memory location
-        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_FW_FRAME);
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    // Get the output signal memory location
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_FW_FRAME);
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        // Allocate objects for row-major -> col-major conversion
-        Map<MatrixXdiDynTree> jacobianRowMajor = toEigen(*m_jacobian);
-        Map<MatrixXdSimulink> jacobianColMajor((double*)output.getContiguousBuffer(),
-                                               6, 6 + dofs);
+    // Allocate objects for row-major -> col-major conversion
+    Map<MatrixXdiDynTree> jacobianRowMajor = toEigen(*m_jacobian);
+    Map<MatrixXdSimulink> jacobianColMajor((double*)output.getContiguousBuffer(),
+                                           6, 6 + dofs);
 
-        // Forward the buffer to Simulink transforming it to ColMajor
-        jacobianColMajor = jacobianRowMajor;
-        return true;
-     }
+    // Forward the buffer to Simulink transforming it to ColMajor
+    jacobianColMajor = jacobianRowMajor;
+    return true;
 }
diff --git a/toolbox/src/MassMatrix.cpp b/toolbox/src/MassMatrix.cpp
index 4fcbf7510..96f841253 100644
--- a/toolbox/src/MassMatrix.cpp
+++ b/toolbox/src/MassMatrix.cpp
@@ -9,153 +9,151 @@
 #include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
-// TODO: remove wbt nesting;
-namespace wbt {
-
-    const std::string MassMatrix::ClassName = "MassMatrix";
-
-    const unsigned MassMatrix::INPUT_IDX_BASE_POSE = 0;
-    const unsigned MassMatrix::INPUT_IDX_JOINTCONF = 1;
-    const unsigned MassMatrix::OUTPUT_IDX_MASS_MAT = 0;
-
-    MassMatrix::MassMatrix()
-    : m_massMatrix(nullptr)
-    {}
-
-    bool MassMatrix::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
-
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) {
-            return false;
-        }
-
-        // INPUTS
-        // ======
-        //
-        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
-        // 2) Joints position (1xDoFs vector)
-        //
-
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(2)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
-
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-
-        // Size and type
-        bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
-
-        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
-
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
-
-        // OUTPUTS
-        // =======
-        //
-        // 1) Matrix epresenting the mass matrix (DoFs+6)x(DoFs+6)
-        //
-
-        // Number of outputs
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
-
-        // Size and type
-        success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_MASS_MAT, dofs + 6, dofs + 6);
-        blockInfo->setOutputPortType(OUTPUT_IDX_MASS_MAT, PortDataTypeDouble);
-
-        return success;
+using namespace wbt;
+
+const std::string MassMatrix::ClassName = "MassMatrix";
+
+const unsigned MassMatrix::INPUT_IDX_BASE_POSE = 0;
+const unsigned MassMatrix::INPUT_IDX_JOINTCONF = 1;
+const unsigned MassMatrix::OUTPUT_IDX_MASS_MAT = 0;
+
+MassMatrix::MassMatrix()
+: m_massMatrix(nullptr)
+{}
+
+bool MassMatrix::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
+
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) {
+        return false;
+    }
+
+    // INPUTS
+    // ======
+    //
+    // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+    // 2) Joints position (1xDoFs vector)
+    //
+
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(2)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
     }
 
-    bool MassMatrix::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    // Size and type
+    bool success = true;
+    success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
 
-        // Output
-        m_massMatrix = new iDynTree::MatrixDynSize(6 + dofs, 6 + dofs);
-        m_massMatrix->zero();
+    blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
 
-        return m_massMatrix;
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
     }
 
-    bool MassMatrix::terminate(BlockInformation* blockInfo)
-    {
-        if (m_massMatrix) {
-            delete m_massMatrix;
-            m_massMatrix = nullptr;
-        }
+    // OUTPUTS
+    // =======
+    //
+    // 1) Matrix epresenting the mass matrix (DoFs+6)x(DoFs+6)
+    //
 
-        return WBBlock::terminate(blockInfo);
+    // Number of outputs
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
     }
 
-    bool MassMatrix::output(BlockInformation* blockInfo)
-    {
-        using namespace Eigen;
-        using namespace iDynTree;
-        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-        typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
-        typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
-
-        const auto& model = getRobotInterface()->getKinDynComputations();
-
-        if (!model) {
-            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-            return false;
-        }
-
-        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-        // ====================================================
-
-        unsigned signalWidth;
-
-        // Base pose
-        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-        fromEigen(robotState.m_world_T_base,
-                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-        // Joints position
-        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-        // UPDATE THE ROBOT STATUS
-        // =======================
-        model->setRobotState(robotState.m_world_T_base,
-                             robotState.m_jointsPosition,
-                             robotState.m_baseVelocity,
-                             robotState.m_jointsVelocity,
-                             robotState.m_gravity);
-
-        // OUTPUT
-        // ======
-
-        // Compute the Mass Matrix
-        model->getFreeFloatingMassMatrix(*m_massMatrix);
-
-        // Get the output signal memory location
-        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_MASS_MAT);
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-
-        // Allocate objects for row-major -> col-major conversion
-        Map<MatrixXdiDynTree> massMatrixRowMajor = toEigen(*m_massMatrix);
-        Map<MatrixXdSimulink> massMatrixColMajor((double*)output.getContiguousBuffer(),
-                                                 6 + dofs, 6 + dofs);
-
-        // Forward the buffer to Simulink transforming it to ColMajor
-        massMatrixColMajor = massMatrixRowMajor;
-        return true;
+    // Size and type
+    success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_MASS_MAT, dofs + 6, dofs + 6);
+    blockInfo->setOutputPortType(OUTPUT_IDX_MASS_MAT, PortDataTypeDouble);
+
+    return success;
+}
+
+bool MassMatrix::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
+
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+    // Output
+    m_massMatrix = new iDynTree::MatrixDynSize(6 + dofs, 6 + dofs);
+    m_massMatrix->zero();
+
+    return m_massMatrix;
+}
+
+bool MassMatrix::terminate(const BlockInformation* blockInfo)
+{
+    if (m_massMatrix) {
+        delete m_massMatrix;
+        m_massMatrix = nullptr;
     }
+
+    return WBBlock::terminate(blockInfo);
+}
+
+bool MassMatrix::output(const BlockInformation* blockInfo)
+{
+    using namespace Eigen;
+    using namespace iDynTree;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+    typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
+    typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
+
+    const auto& model = getRobotInterface()->getKinDynComputations();
+
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
+
+    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+    // ====================================================
+
+    unsigned signalWidth;
+
+    // Base pose
+    Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+    fromEigen(robotState.m_world_T_base,
+              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+    // Joints position
+    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+    // UPDATE THE ROBOT STATUS
+    // =======================
+    model->setRobotState(robotState.m_world_T_base,
+                         robotState.m_jointsPosition,
+                         robotState.m_baseVelocity,
+                         robotState.m_jointsVelocity,
+                         robotState.m_gravity);
+
+    // OUTPUT
+    // ======
+
+    // Compute the Mass Matrix
+    model->getFreeFloatingMassMatrix(*m_massMatrix);
+
+    // Get the output signal memory location
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_MASS_MAT);
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+    // Allocate objects for row-major -> col-major conversion
+    Map<MatrixXdiDynTree> massMatrixRowMajor = toEigen(*m_massMatrix);
+    Map<MatrixXdSimulink> massMatrixColMajor((double*)output.getContiguousBuffer(),
+                                             6 + dofs, 6 + dofs);
+
+    // Forward the buffer to Simulink transforming it to ColMajor
+    massMatrixColMajor = massMatrixRowMajor;
+    return true;
 }
diff --git a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
index 2760a7624..80505a592 100644
--- a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
+++ b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
@@ -13,251 +13,249 @@
 
 #include <cmath>
 
-namespace wbt {
-
-    const std::string MinimumJerkTrajectoryGenerator::ClassName = "MinimumJerkTrajectoryGenerator";
-
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_SAMPLE_TIME   = 1;
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_SETTLING_TIME = 2;
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_OUTPUT_1ST_DERIVATIVE = 3;
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_OUTPUT_2ND_DERIVATIVE = 4;
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_INITIAL_VALUE    = 5;
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_EXT_SETTLINGTIME = 6;
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_RESET_CHANGEST = 7;
-
-    MinimumJerkTrajectoryGenerator::MinimumJerkTrajectoryGenerator()
-    : m_generator(nullptr)
-    , m_outputFirstDerivativeIndex(-1)
-    , m_outputSecondDerivativeIndex(-1)
-    , m_firstRun(true)
-    , m_explicitInitialValue(false)
-    , m_externalSettlingTime(false)
-    , m_resetOnSettlingTimeChange(false)
-    , m_initialValues(nullptr)
-    , m_reference(nullptr)
-    {}
-
-    unsigned MinimumJerkTrajectoryGenerator::numberOfParameters() { return 7; }
-
-    bool MinimumJerkTrajectoryGenerator::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // PARAMETERS
-        // ==========
-        //
-        // 1) Sample time (double)
-        // 2) Settling time (double)
-        // 3) Enable the output of 1st derivative (bool)
-        // 4) Enable the output of 2nd derivative (bool)
-        // 5) Enable the input with the initial conditions (bool)
-        // 6) Enable the input with the external settling time (bool)
-        // 7) Reset the trajectory generator when settling time changes (bool)
-        //
-
-        bool outputFirstDerivative;
-        bool outputSecondDerivative;
-        bool explicitInitialValue;
-        bool externalSettlingTime;
-        bool ok = true;
-
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE, outputFirstDerivative);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE, outputSecondDerivative);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, explicitInitialValue);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, externalSettlingTime);
-
-        if (!ok) {
-            Log::getSingleton().error("Failed to get input parameters.");
-            return false;
-        }
+using namespace wbt;
+
+const std::string MinimumJerkTrajectoryGenerator::ClassName = "MinimumJerkTrajectoryGenerator";
+
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_SAMPLE_TIME   = 1;
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_SETTLING_TIME = 2;
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_OUTPUT_1ST_DERIVATIVE = 3;
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_OUTPUT_2ND_DERIVATIVE = 4;
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_INITIAL_VALUE    = 5;
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_EXT_SETTLINGTIME = 6;
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_RESET_CHANGEST = 7;
+
+MinimumJerkTrajectoryGenerator::MinimumJerkTrajectoryGenerator()
+: m_generator(nullptr)
+, m_outputFirstDerivativeIndex(-1)
+, m_outputSecondDerivativeIndex(-1)
+, m_firstRun(true)
+, m_explicitInitialValue(false)
+, m_externalSettlingTime(false)
+, m_resetOnSettlingTimeChange(false)
+, m_initialValues(nullptr)
+, m_reference(nullptr)
+{}
+
+unsigned MinimumJerkTrajectoryGenerator::numberOfParameters() { return 7; }
+
+bool MinimumJerkTrajectoryGenerator::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // PARAMETERS
+    // ==========
+    //
+    // 1) Sample time (double)
+    // 2) Settling time (double)
+    // 3) Enable the output of 1st derivative (bool)
+    // 4) Enable the output of 2nd derivative (bool)
+    // 5) Enable the input with the initial conditions (bool)
+    // 6) Enable the input with the external settling time (bool)
+    // 7) Reset the trajectory generator when settling time changes (bool)
+    //
+
+    bool outputFirstDerivative;
+    bool outputSecondDerivative;
+    bool explicitInitialValue;
+    bool externalSettlingTime;
+    bool ok = true;
+
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE, outputFirstDerivative);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE, outputSecondDerivative);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, explicitInitialValue);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, externalSettlingTime);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to get input parameters.");
+        return false;
+    }
 
-        int numberOfInputPorts = 1;
-        numberOfInputPorts += static_cast<unsigned>(explicitInitialValue);
-        numberOfInputPorts += static_cast<unsigned>(externalSettlingTime);
-
-        // INPUTS
-        // ======
-        //
-        // 1) The reference signal (1xn)
-        // 2) The optional initial conditions
-        // 3) The optional settling time
-        //
-
-        if(!blockInfo->setNumberOfInputPorts(numberOfInputPorts)) {
-            Log::getSingleton().error("Failed to set input port number.");
-            return false;
-        }
+    int numberOfInputPorts = 1;
+    numberOfInputPorts += static_cast<unsigned>(explicitInitialValue);
+    numberOfInputPorts += static_cast<unsigned>(externalSettlingTime);
+
+    // INPUTS
+    // ======
+    //
+    // 1) The reference signal (1xn)
+    // 2) The optional initial conditions
+    // 3) The optional settling time
+    //
+
+    if(!blockInfo->setNumberOfInputPorts(numberOfInputPorts)) {
+        Log::getSingleton().error("Failed to set input port number.");
+        return false;
+    }
 
-        blockInfo->setInputPortVectorSize(0, -1);
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
+    blockInfo->setInputPortVectorSize(0, -1);
+    blockInfo->setInputPortType(0, PortDataTypeDouble);
 
-        unsigned portIndex = 1;
+    unsigned portIndex = 1;
 
-        if (explicitInitialValue) {
-            blockInfo->setInputPortVectorSize(portIndex, -1);
-            blockInfo->setInputPortType(portIndex, PortDataTypeDouble);
-            portIndex++;
-        }
-
-        if (externalSettlingTime) {
-            blockInfo->setInputPortVectorSize(portIndex, 1);
-            blockInfo->setInputPortType(portIndex, PortDataTypeDouble);
-            portIndex++;
-        }
+    if (explicitInitialValue) {
+        blockInfo->setInputPortVectorSize(portIndex, -1);
+        blockInfo->setInputPortType(portIndex, PortDataTypeDouble);
+        portIndex++;
+    }
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) The calculated trajectory
-        // 2) The optional 1st derivative
-        // 3) The optional 2nd derivative
-        //
-
-        int numberOfOutputPorts = 1;
-        numberOfOutputPorts += static_cast<unsigned>(outputFirstDerivative);
-        numberOfOutputPorts += static_cast<unsigned>(outputSecondDerivative);
-
-        if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
+    if (externalSettlingTime) {
+        blockInfo->setInputPortVectorSize(portIndex, 1);
+        blockInfo->setInputPortType(portIndex, PortDataTypeDouble);
+        portIndex++;
+    }
 
-        for (int i = 0; i < numberOfOutputPorts; ++i) {
-            blockInfo->setOutputPortVectorSize(i, -1);
-            blockInfo->setOutputPortType(i, PortDataTypeDouble);
-        }
+    // OUTPUTS
+    // =======
+    //
+    // 1) The calculated trajectory
+    // 2) The optional 1st derivative
+    // 3) The optional 2nd derivative
+    //
+
+    int numberOfOutputPorts = 1;
+    numberOfOutputPorts += static_cast<unsigned>(outputFirstDerivative);
+    numberOfOutputPorts += static_cast<unsigned>(outputSecondDerivative);
+
+    if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
+    }
 
-        return true;
+    for (int i = 0; i < numberOfOutputPorts; ++i) {
+        blockInfo->setOutputPortVectorSize(i, -1);
+        blockInfo->setOutputPortType(i, PortDataTypeDouble);
     }
 
-    bool MinimumJerkTrajectoryGenerator::initialize(BlockInformation* blockInfo)
-    {
-        // Get the additional parameters
-        bool outputFirstDerivative;
-        bool outputSecondDerivative;
-        bool ok = true;
-
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE,
-                                                        outputFirstDerivative);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE,
-                                                        outputSecondDerivative);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, m_explicitInitialValue);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, m_externalSettlingTime);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_RESET_CHANGEST,
-                                                        m_resetOnSettlingTimeChange);
-
-        if (!ok) {
-            Log::getSingleton().error("Failed to get input parameters.");
-            return false;
-        }
+    return true;
+}
 
-        if (outputFirstDerivative) {
-            m_outputFirstDerivativeIndex = 1;
-        }
+bool MinimumJerkTrajectoryGenerator::initialize(const BlockInformation* blockInfo)
+{
+    // Get the additional parameters
+    bool outputFirstDerivative;
+    bool outputSecondDerivative;
+    bool ok = true;
+
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE,
+                                                    outputFirstDerivative);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE,
+                                                    outputSecondDerivative);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, m_explicitInitialValue);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, m_externalSettlingTime);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_RESET_CHANGEST,
+                                                    m_resetOnSettlingTimeChange);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to get input parameters.");
+        return false;
+    }
 
-        if (outputSecondDerivative) {
-            m_outputSecondDerivativeIndex = outputFirstDerivative ? 2 : 1;
-        }
+    if (outputFirstDerivative) {
+        m_outputFirstDerivativeIndex = 1;
+    }
 
-        double sampleTime;
-        double settlingTime;
+    if (outputSecondDerivative) {
+        m_outputSecondDerivativeIndex = outputFirstDerivative ? 2 : 1;
+    }
 
-        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SAMPLE_TIME, sampleTime);
-        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SETTLING_TIME, settlingTime);
+    double sampleTime;
+    double settlingTime;
 
-        unsigned signalSize = blockInfo->getInputPortWidth(0);
+    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SAMPLE_TIME, sampleTime);
+    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SETTLING_TIME, settlingTime);
 
-        m_generator = new iCub::ctrl::minJerkTrajGen(signalSize, sampleTime, settlingTime);
-        m_previousSettlingTime = settlingTime;
-        m_initialValues = new yarp::sig::Vector(signalSize);
-        m_reference = new yarp::sig::Vector(signalSize);
+    unsigned signalSize = blockInfo->getInputPortWidth(0);
 
-        if (!m_generator || !m_initialValues || !m_reference) {
-            Log::getSingleton().error("Could not allocate memory for trajectory generator.");
-            return false;
-        }
+    m_generator = new iCub::ctrl::minJerkTrajGen(signalSize, sampleTime, settlingTime);
+    m_previousSettlingTime = settlingTime;
+    m_initialValues = new yarp::sig::Vector(signalSize);
+    m_reference = new yarp::sig::Vector(signalSize);
 
-        m_firstRun = true;
-        return true;
+    if (!m_generator || !m_initialValues || !m_reference) {
+        Log::getSingleton().error("Could not allocate memory for trajectory generator.");
+        return false;
     }
 
-    bool MinimumJerkTrajectoryGenerator::terminate(BlockInformation* blockInfo)
-    {
-        if (m_generator) {
-            delete m_generator;
-            m_generator = nullptr;
-        }
-        if (m_initialValues) {
-            delete m_initialValues;
-            m_initialValues = nullptr;
-        }
-        if (m_reference) {
-            delete m_reference;
-            m_reference = nullptr;
-        }
-        return true;
+    m_firstRun = true;
+    return true;
+}
+
+bool MinimumJerkTrajectoryGenerator::terminate(const BlockInformation* blockInfo)
+{
+    if (m_generator) {
+        delete m_generator;
+        m_generator = nullptr;
     }
+    if (m_initialValues) {
+        delete m_initialValues;
+        m_initialValues = nullptr;
+    }
+    if (m_reference) {
+        delete m_reference;
+        m_reference = nullptr;
+    }
+    return true;
+}
 
-    bool MinimumJerkTrajectoryGenerator::output(BlockInformation* blockInfo)
-    {
-        if (!m_generator) return false;
+bool MinimumJerkTrajectoryGenerator::output(const BlockInformation* blockInfo)
+{
+    if (!m_generator) return false;
 
-        if (m_externalSettlingTime) {
-            unsigned portIndex = 1;
-            if (m_explicitInitialValue) portIndex++;
-            Signal externalTimePort = blockInfo->getInputPortSignal(portIndex);
-            double externalTime = externalTimePort.get(0).doubleData();
+    if (m_externalSettlingTime) {
+        unsigned portIndex = 1;
+        if (m_explicitInitialValue) portIndex++;
+        Signal externalTimePort = blockInfo->getInputPortSignal(portIndex);
+        double externalTime = externalTimePort.get(0).doubleData();
 
-            if (std::abs(m_previousSettlingTime - externalTime) > 1e-5) {
-                m_previousSettlingTime = externalTime;
+        if (std::abs(m_previousSettlingTime - externalTime) > 1e-5) {
+            m_previousSettlingTime = externalTime;
 
-                m_generator->setT(externalTime);
-                if (m_resetOnSettlingTimeChange && !m_firstRun) {
-                    m_generator->init(m_generator->getPos());
-                }
+            m_generator->setT(externalTime);
+            if (m_resetOnSettlingTimeChange && !m_firstRun) {
+                m_generator->init(m_generator->getPos());
             }
         }
+    }
 
-        if (m_firstRun) {
-            m_firstRun = false;
-            Signal initialValues;
-            unsigned portIndex = 0;
-            if (m_explicitInitialValue) {
-                portIndex = 1;
-            }
-            initialValues = blockInfo->getInputPortSignal(portIndex);
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(portIndex); ++i) {
-                (*m_initialValues)[i] = initialValues.get(i).doubleData();
-            }
-            m_generator->init(*m_initialValues);
+    if (m_firstRun) {
+        m_firstRun = false;
+        Signal initialValues;
+        unsigned portIndex = 0;
+        if (m_explicitInitialValue) {
+            portIndex = 1;
+        }
+        initialValues = blockInfo->getInputPortSignal(portIndex);
+        for (unsigned i = 0; i < blockInfo->getInputPortWidth(portIndex); ++i) {
+            (*m_initialValues)[i] = initialValues.get(i).doubleData();
         }
+        m_generator->init(*m_initialValues);
+    }
 
 
-        Signal references = blockInfo->getInputPortSignal(0);
-        for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-            (*m_reference)[i] = references.get(i).doubleData();
-        }
-        m_generator->computeNextValues(*m_reference);
+    Signal references = blockInfo->getInputPortSignal(0);
+    for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
+        (*m_reference)[i] = references.get(i).doubleData();
+    }
+    m_generator->computeNextValues(*m_reference);
 
-        const yarp::sig::Vector &signal = m_generator->getPos();
-        Signal output = blockInfo->getOutputPortSignal(0);
-        output.setBuffer(signal.data(), signal.size());
+    const yarp::sig::Vector &signal = m_generator->getPos();
+    Signal output = blockInfo->getOutputPortSignal(0);
+    output.setBuffer(signal.data(), signal.size());
 //        for (unsigned i = 0; i < blockInfo->getOutputPortWidth(0); ++i) {
 //            output.set(i, signal[i]);
 //        }
-        //note: index of the port is not known a priori.
-        //I should save it in the initialization phase
-        if (m_outputFirstDerivativeIndex != -1) {
-            const yarp::sig::Vector &derivative = m_generator->getVel();
-            Signal derivativeOutput = blockInfo->getOutputPortSignal(m_outputFirstDerivativeIndex);
-            derivativeOutput.setBuffer(derivative.data(), blockInfo->getOutputPortWidth(m_outputFirstDerivativeIndex));
-        }
-
-        if (m_outputSecondDerivativeIndex != -1) {
-            const yarp::sig::Vector &derivative = m_generator->getAcc();
-            Signal derivativeOutput = blockInfo->getOutputPortSignal(m_outputSecondDerivativeIndex);
-            derivativeOutput.setBuffer(derivative.data(), blockInfo->getOutputPortWidth(m_outputSecondDerivativeIndex));
-        }
+    //note: index of the port is not known a priori.
+    //I should save it in the initialization phase
+    if (m_outputFirstDerivativeIndex != -1) {
+        const yarp::sig::Vector &derivative = m_generator->getVel();
+        Signal derivativeOutput = blockInfo->getOutputPortSignal(m_outputFirstDerivativeIndex);
+        derivativeOutput.setBuffer(derivative.data(), blockInfo->getOutputPortWidth(m_outputFirstDerivativeIndex));
+    }
 
-        return true;
+    if (m_outputSecondDerivativeIndex != -1) {
+        const yarp::sig::Vector &derivative = m_generator->getAcc();
+        Signal derivativeOutput = blockInfo->getOutputPortSignal(m_outputSecondDerivativeIndex);
+        derivativeOutput.setBuffer(derivative.data(), blockInfo->getOutputPortWidth(m_outputSecondDerivativeIndex));
     }
 
+    return true;
 }
diff --git a/toolbox/src/ModelPartitioner.cpp b/toolbox/src/ModelPartitioner.cpp
index bedee09c9..2c54458bd 100644
--- a/toolbox/src/ModelPartitioner.cpp
+++ b/toolbox/src/ModelPartitioner.cpp
@@ -6,192 +6,176 @@
 #include "Signal.h"
 #include "Log.h"
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string ModelPartitioner::ClassName = "ModelPartitioner";
+const std::string ModelPartitioner::ClassName = "ModelPartitioner";
 
-    unsigned ModelPartitioner::numberOfParameters()
-    {
-        return 1;
-    }
+unsigned ModelPartitioner::numberOfParameters()
+{
+    return 1;
+}
 
-    bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // PARAMETERS
-        // ==========
-        //
-        // 1) Boolean specifying if yarp2WBI (true) or WBI2yarp (false)
-        //
+    // PARAMETERS
+    // ==========
+    //
+    // 1) Boolean specifying if yarp2WBI (true) or WBI2yarp (false)
+    //
 
-        bool yarp2WBI;
-        if (!blockInfo->getBooleanParameterAtIndex(1, yarp2WBI)) {
-            Log::getSingleton().error("Failed to get input parameters.");
-            return false;
-        }
+    bool yarp2WBI;
+    if (!blockInfo->getBooleanParameterAtIndex(1, yarp2WBI)) {
+        Log::getSingleton().error("Failed to get input parameters.");
+        return false;
+    }
 
-        // TODO: update to new logic
-        // INPUTS
-        // ======
-        //
-        // yarp2WBI
-        // --------
-        //
-        // 1) Map of joints / control boards (1 x nJoints)
-        // 2) Vector containing the full set of robot's joints (1 x nJoints)
-        //
-        // WBI2yarp
-        // --------
-        //
-        // 1) Map of joints / control boards (1 x nJoints)
-        // 2) Torso     Control Board Signals
-        // 3) Head      Control Board Signals
-        // 4) Left  Arm Control Board Signals
-        // 5) Right Arm Control Board Signals
-        // 6) Left  Leg Control Board Signals
-        // 7) Right Leg Control Board Signals
-        //
-
-        bool ok;
-        unsigned numberOfInputs;
-        unsigned controlBoardsNumber = getConfiguration().getControlBoardsNames().size();
-
-        if (yarp2WBI) {
-            numberOfInputs = 1;
-            ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
-            blockInfo->setInputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
-        }
-        else {
-            numberOfInputs = controlBoardsNumber;
-            ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
-            // Set the size as dynamic
-            for (unsigned i = 0; i < numberOfInputs; ++i) {
-                blockInfo->setInputPortType(i, PortDataTypeDouble);
-            }
+    // INPUTS
+    // ======
+    //
+    // yarp2WBI
+    // --------
+    //
+    // 1) Vector containing the data vector (1 x DoFs)
+    //
+    // WBI2yarp
+    // --------
+    //
+    // n signals) The n ControlBoards configured from the config block
+    //
+
+    bool ok;
+    unsigned numberOfInputs;
+    unsigned controlBoardsNumber = getConfiguration().getControlBoardsNames().size();
+
+    if (yarp2WBI) {
+        numberOfInputs = 1;
+        ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
+        blockInfo->setInputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
+    }
+    else {
+        numberOfInputs = controlBoardsNumber;
+        ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
+        // Set the size as dynamic
+        for (unsigned i = 0; i < numberOfInputs; ++i) {
+            blockInfo->setInputPortType(i, PortDataTypeDouble);
         }
+    }
 
-        if (!ok) {
-            Log::getSingleton().error("Failed to set input port number.");
-            return false;
+    if (!ok) {
+        Log::getSingleton().error("Failed to set input port number.");
+        return false;
+    }
+
+    // OUTPUTS
+    // =======
+    //
+    // yarp2WBI
+    // --------
+    //
+    // n signals) The n ControlBoards configured from the config block
+    //
+    // WBI2yarp
+    // --------
+    //
+    // 1) Vector containing the data vector (1 x DoFs)
+    //
+
+    unsigned numberOfOutputs;
+
+    if (yarp2WBI) {
+        numberOfOutputs = controlBoardsNumber;
+        ok = blockInfo->setNumberOfOutputPorts(numberOfOutputs);
+        // Set the size as dynamic
+        for (unsigned i = 0; i < numberOfOutputs; ++i) {
+            blockInfo->setOutputPortVectorSize(i, -1);
+            blockInfo->setOutputPortType(i, PortDataTypeDouble);
         }
+    }
+    else {
+        numberOfOutputs = 1;
+        ok = blockInfo->setNumberOfOutputPorts(numberOfOutputs);
+        blockInfo->setOutputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
+        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+    }
 
+    if (!ok) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
+    }
 
-        // TODO: update
-        // OUTPUTS
-        // =======
-        //
-        // yarp2WBI
-        // --------
-        //
-        // 1) Torso     Control Board Signals
-        // 2) Head      Control Board Signals
-        // 3) Left  Arm Control Board Signals
-        // 4) Right Arm Control Board Signals
-        // 5) Left  Leg Control Board Signals
-        // 6) Right Leg Control Board Signals
-        //
-        // WBI2yarp
-        // --------
-        //
-        // 1) Vector containing the full set of robot's joints (1 x nJoints)
-        //
-
-        unsigned numberOfOutputs;
-
-        if (yarp2WBI) {
-            numberOfOutputs = controlBoardsNumber;
-            ok = blockInfo->setNumberOfOutputPorts(numberOfOutputs);
-            // Set the size as dynamic
-            for (unsigned i = 0; i < numberOfOutputs; ++i) {
-                blockInfo->setOutputPortVectorSize(i, -1);
-                blockInfo->setOutputPortType(i, PortDataTypeDouble);
-            }
-        }
-        else {
-            numberOfOutputs = 1;
-            ok = blockInfo->setNumberOfOutputPorts(numberOfOutputs);
-            blockInfo->setOutputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
-            blockInfo->setOutputPortType(0, PortDataTypeDouble);
-        }
+    return true;
+}
 
-        if (!ok) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
+bool ModelPartitioner::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        return true;
+    if (!blockInfo->getBooleanParameterAtIndex(1, m_yarp2WBI)) {
+        Log::getSingleton().error("Failed to get input parameters.");
+        return false;
     }
 
-    bool ModelPartitioner::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    m_jointsMapString = getRobotInterface()->getJointsMapString();
 
-        if (!blockInfo->getBooleanParameterAtIndex(1, m_yarp2WBI)) {
-            Log::getSingleton().error("Failed to get input parameters.");
-            return false;
-        }
+    if (!m_jointsMapString) {
+        return false;
+    }
 
-        m_jointsMapString = getRobotInterface()->getJointsMapString();
+    return true;
+}
 
-        if (!m_jointsMapString) {
-            return false;
-        }
+bool ModelPartitioner::terminate(const BlockInformation* blockInfo)
+{
+    return WBBlock::terminate(blockInfo);
+}
 
-        return true;
-    }
+bool ModelPartitioner::output(const BlockInformation* blockInfo)
+{
+    if (m_yarp2WBI) {
+        // Input
+        Signal jointListSignal = blockInfo->getInputPortSignal(0);
 
-    bool ModelPartitioner::terminate(BlockInformation* blockInfo)
-    {
-        return WBBlock::terminate(blockInfo);
-    }
+        // Outputs
+        Signal ithControlBoardSignal;
 
-    bool ModelPartitioner::output(BlockInformation* blockInfo)
-    {
-        if (m_yarp2WBI) {
-            // Input
-            Signal jointListSignal = blockInfo->getInputPortSignal(0);
-
-            // Outputs
-            Signal ithControlBoardSignal;
-
-            for (unsigned ithJoint = 0; ithJoint < blockInfo->getInputPortWidth(0); ++ithJoint) {
-                // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
-                std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
-                const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
-                cb_idx controlBoardOfJoint = mappedJointInfos.first;
-                jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
-
-                // Get the data to forward
-                Data value = jointListSignal.get(ithJoint);
-
-                // Forward the value to the correct output / output index
-                ithControlBoardSignal = blockInfo->getOutputPortSignal(controlBoardOfJoint);
-                ithControlBoardSignal.set(yarpIndexOfJoint, value.doubleData());
-            }
+        for (unsigned ithJoint = 0; ithJoint < blockInfo->getInputPortWidth(0); ++ithJoint) {
+            // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
+            std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
+            const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
+            cb_idx controlBoardOfJoint = mappedJointInfos.first;
+            jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
+
+            // Get the data to forward
+            Data value = jointListSignal.get(ithJoint);
+
+            // Forward the value to the correct output / output index
+            ithControlBoardSignal = blockInfo->getOutputPortSignal(controlBoardOfJoint);
+            ithControlBoardSignal.set(yarpIndexOfJoint, value.doubleData());
         }
-        else {
-            // Inputs
-            Signal ithControlBoardSignal;
-
-            // Output
-            Signal jointListSignal = blockInfo->getOutputPortSignal(0);
-
-            for (unsigned ithJoint = 0; ithJoint < blockInfo->getOutputPortWidth(0); ++ithJoint) {
-                // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
-                std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
-                const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
-                cb_idx controlBoardOfJoint = mappedJointInfos.first;
-                jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
-
-                // Get the data to forward
-                ithControlBoardSignal = blockInfo->getInputPortSignal(controlBoardOfJoint);
-                Data value = ithControlBoardSignal.get(ithJoint);
-
-                // Forward the value to the correct output index
-                jointListSignal.set(yarpIndexOfJoint, value.doubleData());
-            }
+    }
+    else {
+        // Inputs
+        Signal ithControlBoardSignal;
+
+        // Output
+        Signal jointListSignal = blockInfo->getOutputPortSignal(0);
+
+        for (unsigned ithJoint = 0; ithJoint < blockInfo->getOutputPortWidth(0); ++ithJoint) {
+            // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
+            std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
+            const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
+            cb_idx controlBoardOfJoint = mappedJointInfos.first;
+            jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
+
+            // Get the data to forward
+            ithControlBoardSignal = blockInfo->getInputPortSignal(controlBoardOfJoint);
+            Data value = ithControlBoardSignal.get(ithJoint);
+
+            // Forward the value to the correct output index
+            jointListSignal.set(yarpIndexOfJoint, value.doubleData());
         }
-        return true;
     }
+    return true;
 }
diff --git a/toolbox/src/RealTimeSynchronizer.cpp b/toolbox/src/RealTimeSynchronizer.cpp
index 752674d44..62701a38c 100644
--- a/toolbox/src/RealTimeSynchronizer.cpp
+++ b/toolbox/src/RealTimeSynchronizer.cpp
@@ -4,87 +4,86 @@
 
 #include <yarp/os/Time.h>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string RealTimeSynchronizer::ClassName = "RealTimeSynchronizer";
+const std::string RealTimeSynchronizer::ClassName = "RealTimeSynchronizer";
 
-    const unsigned RealTimeSynchronizer::PARAM_PERIOD = 1; // Period
+const unsigned RealTimeSynchronizer::PARAM_PERIOD = 1; // Period
 
-    RealTimeSynchronizer::RealTimeSynchronizer()
-    : m_period(0.01)
-    , m_initialTime(0)
-    , m_counter(0)
-    {}
+RealTimeSynchronizer::RealTimeSynchronizer()
+: m_period(0.01)
+, m_initialTime(0)
+, m_counter(0)
+{}
 
-    unsigned RealTimeSynchronizer::numberOfParameters() { return 1; }
+unsigned RealTimeSynchronizer::numberOfParameters() { return 1; }
 
-    bool RealTimeSynchronizer::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
+bool RealTimeSynchronizer::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
 
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to set input port number to 0.");
-            return false;
-        }
-
-        // OUTPUTS
-        // =======
-        //
-        // No outputs
-        //
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to set input port number to 0.");
+        return false;
+    }
 
-        if (!blockInfo->setNumberOfOutputPorts(0)) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
+    // OUTPUTS
+    // =======
+    //
+    // No outputs
+    //
 
-        return true;
+    if (!blockInfo->setNumberOfOutputPorts(0)) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
     }
 
-    bool RealTimeSynchronizer::initialize(BlockInformation* blockInfo)
-    {
-        if (!blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period)) {
-            Log::getSingleton().error("Failed to get input parametes.");
-            return false;
-        }
-
-        if (m_period < 0) {
-            Log::getSingleton().error("Period must be greater than 0.");
-            return false;
-        }
+    return true;
+}
 
-        m_counter = 0;
-        return true;
+bool RealTimeSynchronizer::initialize(const BlockInformation* blockInfo)
+{
+    if (!blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period)) {
+        Log::getSingleton().error("Failed to get input parametes.");
+        return false;
     }
 
-    bool RealTimeSynchronizer::terminate(BlockInformation* blockInfo)
-    {
-        return true;
+    if (m_period < 0) {
+        Log::getSingleton().error("Period must be greater than 0.");
+        return false;
     }
 
-    bool RealTimeSynchronizer::output(BlockInformation* blockInfo)
-    {
-        if (m_counter == 0) {
-            m_initialTime = yarp::os::Time::now();
-        }
+    m_counter = 0;
+    return true;
+}
 
-        //read current time
-        double currentTime = yarp::os::Time::now() - m_initialTime;
-        double desiredTime = m_counter* m_period;
+bool RealTimeSynchronizer::terminate(const BlockInformation* blockInfo)
+{
+    return true;
+}
 
-        double sleepPeriod = desiredTime - currentTime;
+bool RealTimeSynchronizer::output(const BlockInformation* blockInfo)
+{
+    if (m_counter == 0) {
+        m_initialTime = yarp::os::Time::now();
+    }
 
-        //sleep for the remaining time
-        if (sleepPeriod > 0) {
-            yarp::os::Time::delay(sleepPeriod);
-        }
+    //read current time
+    double currentTime = yarp::os::Time::now() - m_initialTime;
+    double desiredTime = m_counter* m_period;
 
-        m_counter++;
+    double sleepPeriod = desiredTime - currentTime;
 
-        return true;
+    //sleep for the remaining time
+    if (sleepPeriod > 0) {
+        yarp::os::Time::delay(sleepPeriod);
     }
+
+    m_counter++;
+
+    return true;
 }
diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index 9448b4eb0..b2d9772c4 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -6,235 +6,234 @@
 #include <yarp/dev/ControlBoardPid.h>
 #include <algorithm>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string SetLowLevelPID::ClassName = "SetLowLevelPID";
+const std::string SetLowLevelPID::ClassName = "SetLowLevelPID";
 
-    unsigned SetLowLevelPID::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters()
-        + 1  // WBTPIDConfig object
-        + 1; // Control type
-    }
+unsigned SetLowLevelPID::numberOfParameters()
+{
+    return WBBlock::numberOfParameters()
+    + 1  // WBTPIDConfig object
+    + 1; // Control type
+}
 
-    bool SetLowLevelPID::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+bool SetLowLevelPID::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
 
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
+    }
 
-        // OUTPUTS
-        // =======
-        //
-        // No outputs
-        //
+    // OUTPUTS
+    // =======
+    //
+    // No outputs
+    //
 
-        if (!blockInfo->setNumberOfOutputPorts(0)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    if (!blockInfo->setNumberOfOutputPorts(0)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
+
+    return true;
+}
 
-        return true;
+bool SetLowLevelPID::readWBTPidConfigObject(const BlockInformation* blockInfo)
+{
+    AnyStruct s;
+    if (!blockInfo->getStructAtIndex(WBBlock::numberOfParameters() + 1, s)) {
+        Log::getSingleton().error("Failed to retrieve the struct with parameters.");
+        return false;
     }
 
-    bool SetLowLevelPID::readWBTPidConfigObject(BlockInformation* blockInfo)
-    {
-        AnyStruct s;
-        if (!blockInfo->getStructAtIndex(WBBlock::numberOfParameters() + 1, s)) {
-            Log::getSingleton().error("Failed to retrieve the struct with parameters.");
-            return false;
-        }
+    // Check the existence of all the fields
+    try {
+        s.at("P");
+        s.at("I");
+        s.at("D");
+        s.at("jointList");
+    }
+    catch (const std::out_of_range& e) {
+        Log::getSingleton().error("Cannot retrieve one or more parameter from parameter's struct.");
+        return false;
+    }
 
-        // Check the existence of all the fields
-        try {
-            s.at("P");
-            s.at("I");
-            s.at("D");
-            s.at("jointList");
-        }
-        catch (const std::out_of_range& e) {
-            Log::getSingleton().error("Cannot retrieve one or more parameter from parameter's struct.");
-            return false;
-        }
+    // Proportional gains
+    std::vector<double> Pvector;
+    if (!s["P"]->asVectorDouble(Pvector)) {
+        Log::getSingleton().error("Cannot retrieve vector from P parameter.");
+        return false;
+    }
 
-        // Proportional gains
-        std::vector<double> Pvector;
-        if (!s["P"]->asVectorDouble(Pvector)) {
-            Log::getSingleton().error("Cannot retrieve vector from P parameter.");
-            return false;
-        }
+    // Integral gains
+    std::vector<double> Ivector;
+    if (!s["I"]->asVectorDouble(Ivector)) {
+        Log::getSingleton().error("Cannot retrieve vector from I parameter.");
+        return false;
+    }
 
-        // Integral gains
-        std::vector<double> Ivector;
-        if (!s["I"]->asVectorDouble(Ivector)) {
-            Log::getSingleton().error("Cannot retrieve vector from I parameter.");
-            return false;
-        }
+    // Derivative gains
+    std::vector<double> Dvector;
+    if (!s["D"]->asVectorDouble(Dvector)) {
+        Log::getSingleton().error("Cannot retrieve vector from D parameter.");
+        return false;
+    }
 
-        // Derivative gains
-        std::vector<double> Dvector;
-        if (!s["D"]->asVectorDouble(Dvector)) {
-            Log::getSingleton().error("Cannot retrieve vector from D parameter.");
-            return false;
-        }
+    // Considered joint names
+    AnyCell jointPidsCell;
+    if (!s["jointList"]->asAnyCell(jointPidsCell)) {
+        Log::getSingleton().error("Cannot retrieve string from jointList parameter.");
+        return false;
+    }
 
-        // Considered joint names
-        AnyCell jointPidsCell;
-        if (!s["jointList"]->asAnyCell(jointPidsCell)) {
-            Log::getSingleton().error("Cannot retrieve string from jointList parameter.");
+    // From AnyCell to vector<string>
+    std::vector<std::string> jointNamesFromParameters;
+    for (auto cell: jointPidsCell) {
+        std::string joint;
+        if (!cell->asString(joint)) {
+            Log::getSingleton().error("Failed to convert jointList from cell to strings.");
             return false;
         }
+        jointNamesFromParameters.push_back(joint);
+    }
 
-        // From AnyCell to vector<string>
-        std::vector<std::string> jointNamesFromParameters;
-        for (auto cell: jointPidsCell) {
-            std::string joint;
-            if (!cell->asString(joint)) {
-                Log::getSingleton().error("Failed to convert jointList from cell to strings.");
-                return false;
-            }
-            jointNamesFromParameters.push_back(joint);
-        }
-
-        assert(Pvector.size() == Ivector.size() == Dvector.size() == jointNamesFromParameters.size());
-
-        // Store this data into a private member map
-        for (unsigned i = 0; i < jointNamesFromParameters.size(); ++i) {
-            // Check the processed joint is actually a controlledJoint
-            const auto& controlledJoints = getConfiguration().getControlledJoints();
-            auto findElement = std::find(std::begin(controlledJoints),
-                                         std::end(controlledJoints),
-                                         jointNamesFromParameters[i]);
-            if (findElement != std::end(controlledJoints)) {
-                m_pidJointsFromParameters[jointNamesFromParameters[i]] = {Pvector[i], Ivector[i], Dvector[i]};
-            }
-            else {
-                Log::getSingleton().warning("Attempted to set PID of joint " + jointNamesFromParameters[i] +
-                                            " non currently controlled. Skipping it.");
-            }
+    assert(Pvector.size() == Ivector.size() == Dvector.size() == jointNamesFromParameters.size());
 
+    // Store this data into a private member map
+    for (unsigned i = 0; i < jointNamesFromParameters.size(); ++i) {
+        // Check the processed joint is actually a controlledJoint
+        const auto& controlledJoints = getConfiguration().getControlledJoints();
+        auto findElement = std::find(std::begin(controlledJoints),
+                                     std::end(controlledJoints),
+                                     jointNamesFromParameters[i]);
+        if (findElement != std::end(controlledJoints)) {
+            m_pidJointsFromParameters[jointNamesFromParameters[i]] = {Pvector[i], Ivector[i], Dvector[i]};
         }
-
-        if (m_pidJointsFromParameters.size() != jointNamesFromParameters.size()) {
-            Log::getSingleton().warning("PID have been passed only for a subset of the controlled joints.");
+        else {
+            Log::getSingleton().warning("Attempted to set PID of joint " + jointNamesFromParameters[i] +
+                                        " non currently controlled. Skipping it.");
         }
 
-        return true;
     }
 
-    bool SetLowLevelPID::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
-
-        // Reading the control type
-        std::string controlType;
-        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 2, controlType)) {
-            Log::getSingleton().error("Could not read control type parameter.");
-            return false;
-        }
+    if (m_pidJointsFromParameters.size() != jointNamesFromParameters.size()) {
+        Log::getSingleton().warning("PID have been passed only for a subset of the controlled joints.");
+    }
 
-        if (controlType == "Position") {
-            m_controlType = yarp::dev::VOCAB_PIDTYPE_POSITION;
-        }
-        else if (controlType == "Torque") {
-            m_controlType = yarp::dev::VOCAB_PIDTYPE_TORQUE;
-        }
-        else {
-            Log::getSingleton().error("Control type not recognized.");
-            return false;
-        }
+    return true;
+}
 
-        // Reading the WBTPIDConfig matlab class
-        if (!readWBTPidConfigObject(blockInfo)) {
-            Log::getSingleton().error("Failed to parse the WBTPIDConfig object.");
-            return 1;
-        }
+bool SetLowLevelPID::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        // Retain the RemoteControlBoardRemapper
-        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-            Log::getSingleton().error("Failed to retain the control board remapper.");
-            return false;
-        }
+    // Reading the control type
+    std::string controlType;
+    if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 2, controlType)) {
+        Log::getSingleton().error("Could not read control type parameter.");
+        return false;
+    }
 
-        const unsigned& dofs = getConfiguration().getNumberOfDoFs();
+    if (controlType == "Position") {
+        m_controlType = yarp::dev::VOCAB_PIDTYPE_POSITION;
+    }
+    else if (controlType == "Torque") {
+        m_controlType = yarp::dev::VOCAB_PIDTYPE_TORQUE;
+    }
+    else {
+        Log::getSingleton().error("Control type not recognized.");
+        return false;
+    }
 
-        // Initialize the vector size to the number of dofs
-        m_defaultPidValues.resize(dofs);
+    // Reading the WBTPIDConfig matlab class
+    if (!readWBTPidConfigObject(blockInfo)) {
+        Log::getSingleton().error("Failed to parse the WBTPIDConfig object.");
+        return 1;
+    }
 
-        // Get the interface
-        std::weak_ptr<yarp::dev::IPidControl> iPidControl;
-        if (!getRobotInterface()->getInterface(iPidControl)) {
-            Log::getSingleton().error("Failed to get IPidControl interface.");
-            return false;
-        }
+    // Retain the RemoteControlBoardRemapper
+    if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+        Log::getSingleton().error("Failed to retain the control board remapper.");
+        return false;
+    }
 
-        // Store the default gains
-        if (!iPidControl.lock()->getPids(m_controlType, m_defaultPidValues.data())) {
-            Log::getSingleton().error("Failed to get default data from IPidControl.");
-            return false;
-        }
+    const unsigned& dofs = getConfiguration().getNumberOfDoFs();
 
-        // Initialize the vector of the applied pid gains with the default gains
-        m_appliedPidValues = m_defaultPidValues;
-
-        // Override the PID with the gains specified as block parameters
-        for (unsigned i = 0; i < dofs; ++i) {
-            const std::string jointName = getConfiguration().getControlledJoints()[i];
-            // If the pid has been passed, set the new gains
-            if (m_pidJointsFromParameters.find(jointName) != m_pidJointsFromParameters.end()) {
-                PidData gains = m_pidJointsFromParameters[jointName];
-                m_appliedPidValues[i].setKp(std::get<PGAIN>(gains));
-                m_appliedPidValues[i].setKi(std::get<IGAIN>(gains));
-                m_appliedPidValues[i].setKd(std::get<DGAIN>(gains));
-            }
-        }
+    // Initialize the vector size to the number of dofs
+    m_defaultPidValues.resize(dofs);
 
-        // Apply the new pid gains
-        if (!iPidControl.lock()->setPids(m_controlType, m_appliedPidValues.data())) {
-            Log::getSingleton().error("Failed to set PID values.");
-            return false;
-        }
+    // Get the interface
+    std::weak_ptr<yarp::dev::IPidControl> iPidControl;
+    if (!getRobotInterface()->getInterface(iPidControl)) {
+        Log::getSingleton().error("Failed to get IPidControl interface.");
+        return false;
+    }
 
-        return true;
+    // Store the default gains
+    if (!iPidControl.lock()->getPids(m_controlType, m_defaultPidValues.data())) {
+        Log::getSingleton().error("Failed to get default data from IPidControl.");
+        return false;
     }
 
-    bool SetLowLevelPID::terminate(BlockInformation* blockInfo)
-    {
-        bool ok = true;
+    // Initialize the vector of the applied pid gains with the default gains
+    m_appliedPidValues = m_defaultPidValues;
 
-        // Get the IPidControl interface
-        std::weak_ptr<yarp::dev::IPidControl> iPidControl;
-        ok = ok & getRobotInterface()->getInterface(iPidControl);
-        if (!ok) {
-            Log::getSingleton().error("Failed to get IPidControl interface.");
+    // Override the PID with the gains specified as block parameters
+    for (unsigned i = 0; i < dofs; ++i) {
+        const std::string jointName = getConfiguration().getControlledJoints()[i];
+        // If the pid has been passed, set the new gains
+        if (m_pidJointsFromParameters.find(jointName) != m_pidJointsFromParameters.end()) {
+            PidData gains = m_pidJointsFromParameters[jointName];
+            m_appliedPidValues[i].setKp(std::get<PGAIN>(gains));
+            m_appliedPidValues[i].setKi(std::get<IGAIN>(gains));
+            m_appliedPidValues[i].setKd(std::get<DGAIN>(gains));
         }
+    }
 
-        // Reset default pid gains
-        ok = ok & iPidControl.lock()->setPids(m_controlType, m_defaultPidValues.data());
-        if (!ok) {
-            Log::getSingleton().error("Failed to set default PID values.");
-        }
+    // Apply the new pid gains
+    if (!iPidControl.lock()->setPids(m_controlType, m_appliedPidValues.data())) {
+        Log::getSingleton().error("Failed to set PID values.");
+        return false;
+    }
 
-        // Release the RemoteControlBoardRemapper
-        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
-        if (!ok) {
-            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
-        }
+    return true;
+}
+
+bool SetLowLevelPID::terminate(const BlockInformation* blockInfo)
+{
+    bool ok = true;
+
+    // Get the IPidControl interface
+    std::weak_ptr<yarp::dev::IPidControl> iPidControl;
+    ok = ok & getRobotInterface()->getInterface(iPidControl);
+    if (!ok) {
+        Log::getSingleton().error("Failed to get IPidControl interface.");
+    }
 
-        return ok && WBBlock::terminate(blockInfo);
+    // Reset default pid gains
+    ok = ok & iPidControl.lock()->setPids(m_controlType, m_defaultPidValues.data());
+    if (!ok) {
+        Log::getSingleton().error("Failed to set default PID values.");
     }
 
-    bool SetLowLevelPID::output(BlockInformation* blockInfo)
-    {
-        return true;
+    // Release the RemoteControlBoardRemapper
+    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    if (!ok) {
+        Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
     }
+
+    return ok && WBBlock::terminate(blockInfo);
+}
+
+bool SetLowLevelPID::output(const BlockInformation* blockInfo)
+{
+    return true;
 }
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 3858a55a5..c739b0e44 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -9,266 +9,265 @@
 #define _USE_MATH_DEFINES
 #include <cmath>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string SetReferences::ClassName = "SetReferences";
+const std::string SetReferences::ClassName = "SetReferences";
 
-    SetReferences::SetReferences()
-    : m_resetControlMode(true)
-    {}
+SetReferences::SetReferences()
+: m_resetControlMode(true)
+{}
 
-    void rad2deg(std::vector<double>& v)
-    {
-        const double rad2deg = 180.0 / (2 * M_PI);
-        for (auto& element : v) {
-            element *= rad2deg;
-        }
+void rad2deg(std::vector<double>& v)
+{
+    const double rad2deg = 180.0 / (2 * M_PI);
+    for (auto& element : v) {
+        element *= rad2deg;
     }
+}
+
+unsigned SetReferences::numberOfParameters()
+{
+    return WBBlock::numberOfParameters() + 1;
+}
+
+bool SetReferences::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
 
-    unsigned SetReferences::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters() + 1;
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+    // INPUTS
+    // ======
+    //
+    // 1) Joint refereces (1xDoFs vector)
+    //
+
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
     }
 
-    bool SetReferences::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
+    // Size and type
+    bool success = blockInfo->setInputPortVectorSize(0, dofs);
+    blockInfo->setInputPortType(0, PortDataTypeDouble);
 
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
+    }
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    // OUTPUTS
+    // =======
+    //
+    // No outputs
+    //
 
-        // INPUTS
-        // ======
-        //
-        // 1) Joint refereces (1xDoFs vector)
-        //
+    if (!blockInfo->setNumberOfOutputPorts(0)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
 
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    return true;
+}
 
-        // Size and type
-        bool success = blockInfo->setInputPortVectorSize(0, dofs);
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
+bool SetReferences::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
+    // Reading the control type
+    std::string controlType;
+    if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1,
+                                              controlType)) {
+        Log::getSingleton().error("Could not read control type parameter.");
+        return false;
+    }
 
-        // OUTPUTS
-        // =======
-        //
-        // No outputs
-        //
+    // Initialize the std::vectors
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    m_controlModes.assign(dofs, VOCAB_CM_UNKNOWN);
 
-        if (!blockInfo->setNumberOfOutputPorts(0)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    // IControlMode.h
+    if (controlType == "Position") {
+        m_controlModes.assign(dofs, VOCAB_CM_POSITION);
+    }
+    else if (controlType == "Position Direct") {
+        m_controlModes.assign(dofs, VOCAB_CM_POSITION_DIRECT);
+    }
+    else if (controlType == "Velocity") {
+        m_controlModes.assign(dofs, VOCAB_CM_VELOCITY);
+    }
+    else if (controlType == "Torque") {
+        m_controlModes.assign(dofs, VOCAB_CM_TORQUE);
+    }
+    else if (controlType == "PWM") {
+        m_controlModes.assign(dofs, VOCAB_CM_PWM);
+    }
+    else if (controlType == "Current") {
+        m_controlModes.assign(dofs, VOCAB_CM_CURRENT);
+    }
+    else {
+        Log::getSingleton().error("Control Mode not supported.");
+        return false;
+    }
 
-        return true;
+    // Retain the ControlBoardRemapper
+    if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+        Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+        return false;
     }
 
-    bool SetReferences::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    m_resetControlMode = true;
+    return true;
+}
 
-        // Reading the control type
-        std::string controlType;
-        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1,
-                                                  controlType)) {
-            Log::getSingleton().error("Could not read control type parameter.");
-            return false;
-        }
+bool SetReferences::terminate(const BlockInformation* blockInfo)
+{
+    using namespace yarp::dev;
+    bool ok = true;
 
-        // Initialize the std::vectors
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-        m_controlModes.assign(dofs, VOCAB_CM_UNKNOWN);
+    // Get the interface
+    std::weak_ptr<IControlMode2> icmd2;
+    ok = ok & getRobotInterface()->getInterface(icmd2);
+    if (!ok) {
+        Log::getSingleton().error("Failed to get the IControlMode2 interface.");
+    }
 
-        // IControlMode.h
-        if (controlType == "Position") {
-            m_controlModes.assign(dofs, VOCAB_CM_POSITION);
-        }
-        else if (controlType == "Position Direct") {
-            m_controlModes.assign(dofs, VOCAB_CM_POSITION_DIRECT);
-        }
-        else if (controlType == "Velocity") {
-            m_controlModes.assign(dofs, VOCAB_CM_VELOCITY);
-        }
-        else if (controlType == "Torque") {
-            m_controlModes.assign(dofs, VOCAB_CM_TORQUE);
-        }
-        else if (controlType == "PWM") {
-            m_controlModes.assign(dofs, VOCAB_CM_PWM);
-        }
-        else if (controlType == "Current") {
-            m_controlModes.assign(dofs, VOCAB_CM_CURRENT);
-        }
-        else {
-            Log::getSingleton().error("Control Mode not supported.");
-            return false;
-        }
+    // Set  all the controlledJoints VOCAB_CM_POSITION
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    m_controlModes.assign(dofs, VOCAB_CM_POSITION);
 
-        // Retain the ControlBoardRemapper
-        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-            Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
-            return false;
-        }
+    ok = ok & icmd2.lock()->setControlModes(m_controlModes.data());
+    if (!ok) {
+        Log::getSingleton().error("Failed to set control mode.");
+    }
 
-        m_resetControlMode = true;
-        return true;
+    // Release the RemoteControlBoardRemapper
+    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    if (!ok) {
+        Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
     }
 
-    bool SetReferences::terminate(BlockInformation* blockInfo)
-    {
-        using namespace yarp::dev;
-        bool ok = true;
+    return ok && WBBlock::terminate(blockInfo);
+}
+
+bool SetReferences::initializeInitialConditions(const BlockInformation* /*blockInfo*/)
+{
+    // Simply reset the variable m_resetControlMode.
+    // It will be read at the first cycle of output.
+    m_resetControlMode = true;
+    return true;
+}
+
+bool SetReferences::output(const BlockInformation* blockInfo)
+{
+    using namespace yarp::dev;
 
+    // Set the control mode at the first run
+    if (m_resetControlMode) {
+        m_resetControlMode = false;
         // Get the interface
         std::weak_ptr<IControlMode2> icmd2;
-        ok = ok & getRobotInterface()->getInterface(icmd2);
-        if (!ok) {
+        if (!getRobotInterface()->getInterface(icmd2)) {
             Log::getSingleton().error("Failed to get the IControlMode2 interface.");
+            return false;
         }
-
-        // Set  all the controlledJoints VOCAB_CM_POSITION
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-        m_controlModes.assign(dofs, VOCAB_CM_POSITION);
-
-        ok = ok & icmd2.lock()->setControlModes(m_controlModes.data());
-        if (!ok) {
+        // Set the control mode to all the controlledJoints
+        if (!icmd2.lock()->setControlModes(m_controlModes.data())) {
             Log::getSingleton().error("Failed to set control mode.");
+            return false;
         }
-
-        // Release the RemoteControlBoardRemapper
-        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
-        if (!ok) {
-            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
-        }
-
-        return ok && WBBlock::terminate(blockInfo);
     }
 
-    bool SetReferences::initializeInitialConditions(BlockInformation* /*blockInfo*/)
-    {
-        // Simply reset the variable m_resetControlMode.
-        // It will be read at the first cycle of output.
-        m_resetControlMode = true;
-        return true;
-    }
+    // Get the signal
+    Signal references = blockInfo->getInputPortSignal(0);
+    unsigned signalWidth = blockInfo->getInputPortWidth(0);
+    std::vector<double> referencesVector = references.getStdVector(signalWidth);
 
-    bool SetReferences::output(BlockInformation* blockInfo)
-    {
-        using namespace yarp::dev;
-
-        // Set the control mode at the first run
-        if (m_resetControlMode) {
-            m_resetControlMode = false;
+    bool ok = false;
+    // TODO: here only the first element is checked
+    switch (m_controlModes.front()) {
+        case VOCAB_CM_UNKNOWN:
+            Log::getSingleton().error("Control mode has not been successfully set.");
+            return false;
+            break;
+        case VOCAB_CM_POSITION: {
             // Get the interface
-            std::weak_ptr<IControlMode2> icmd2;
-            if (!getRobotInterface()->getInterface(icmd2)) {
-                Log::getSingleton().error("Failed to get the IControlMode2 interface.");
+            std::weak_ptr<IPositionControl> interface;
+            if (!getRobotInterface()->getInterface(interface)) {
+                Log::getSingleton().error("Failed to get IPositionControl interface.");
                 return false;
             }
-            // Set the control mode to all the controlledJoints
-            if (!icmd2.lock()->setControlModes(m_controlModes.data())) {
-                Log::getSingleton().error("Failed to set control mode.");
+            // Convert from rad to deg
+            rad2deg(referencesVector);
+            // Set the references
+            ok = interface.lock()->positionMove(referencesVector.data());
+            break;
+        }
+        case VOCAB_CM_POSITION_DIRECT: {
+            // Get the interface
+            std::weak_ptr<IPositionDirect> interface;
+            if (!getRobotInterface()->getInterface(interface)) {
+                Log::getSingleton().error("Failed to get IPositionDirect interface.");
                 return false;
             }
+            // Convert from rad to deg
+            rad2deg(referencesVector);
+            // Set the references
+            ok = interface.lock()->setPositions(referencesVector.data());
+            break;
         }
-
-        // Get the signal
-        Signal references = blockInfo->getInputPortSignal(0);
-        unsigned signalWidth = blockInfo->getInputPortWidth(0);
-        std::vector<double> referencesVector = references.getStdVector(signalWidth);
-
-        bool ok = false;
-        // TODO: here only the first element is checked
-        switch (m_controlModes.front()) {
-            case VOCAB_CM_UNKNOWN:
-                Log::getSingleton().error("Control mode has not been successfully set.");
+        case VOCAB_CM_VELOCITY: {
+            // Get the interface
+            std::weak_ptr<IVelocityControl> interface;
+            if (!getRobotInterface()->getInterface(interface)) {
+                Log::getSingleton().error("Failed to get IVelocityControl interface.");
                 return false;
-                break;
-            case VOCAB_CM_POSITION: {
-                // Get the interface
-                std::weak_ptr<IPositionControl> interface;
-                if (!getRobotInterface()->getInterface(interface)) {
-                    Log::getSingleton().error("Failed to get IPositionControl interface.");
-                    return false;
-                }
-                // Convert from rad to deg
-                rad2deg(referencesVector);
-                // Set the references
-                ok = interface.lock()->positionMove(referencesVector.data());
-                break;
-            }
-            case VOCAB_CM_POSITION_DIRECT: {
-                // Get the interface
-                std::weak_ptr<IPositionDirect> interface;
-                if (!getRobotInterface()->getInterface(interface)) {
-                    Log::getSingleton().error("Failed to get IPositionDirect interface.");
-                    return false;
-                }
-                // Convert from rad to deg
-                rad2deg(referencesVector);
-                // Set the references
-                ok = interface.lock()->setPositions(referencesVector.data());
-                break;
-            }
-            case VOCAB_CM_VELOCITY: {
-                // Get the interface
-                std::weak_ptr<IVelocityControl> interface;
-                if (!getRobotInterface()->getInterface(interface)) {
-                    Log::getSingleton().error("Failed to get IVelocityControl interface.");
-                    return false;
-                }
-                // Convert from rad to deg
-                rad2deg(referencesVector);
-                // Set the references
-                ok = interface.lock()->velocityMove(referencesVector.data());
-                break;
             }
-            case VOCAB_CM_TORQUE: {
-                // Get the interface
-                std::weak_ptr<ITorqueControl> interface;
-                if (!getRobotInterface()->getInterface(interface)) {
-                    Log::getSingleton().error("Failed to get ITorqueControl interface.");
-                    return false;
-                }
-                ok = interface.lock()->setRefTorques(referencesVector.data());
-                break;
-            }
-            case VOCAB_CM_PWM: {
-                // Get the interface
-                std::weak_ptr<IPWMControl> interface;
-                if (!getRobotInterface()->getInterface(interface)) {
-                    Log::getSingleton().error("Failed to get IPWMControl interface.");
-                    return false;
-                }
-                ok = interface.lock()->setRefDutyCycles(referencesVector.data());
-                break;
+            // Convert from rad to deg
+            rad2deg(referencesVector);
+            // Set the references
+            ok = interface.lock()->velocityMove(referencesVector.data());
+            break;
+        }
+        case VOCAB_CM_TORQUE: {
+            // Get the interface
+            std::weak_ptr<ITorqueControl> interface;
+            if (!getRobotInterface()->getInterface(interface)) {
+                Log::getSingleton().error("Failed to get ITorqueControl interface.");
+                return false;
             }
-            case VOCAB_CM_CURRENT: {
-                // Get the interface
-                std::weak_ptr<ICurrentControl> interface;
-                if (!getRobotInterface()->getInterface(interface)) {
-                    Log::getSingleton().error("Failed to get ICurrentControl interface.");
-                    return false;
-                }
-                ok = interface.lock()->setRefCurrents(referencesVector.data());
-                break;
+            ok = interface.lock()->setRefTorques(referencesVector.data());
+            break;
+        }
+        case VOCAB_CM_PWM: {
+            // Get the interface
+            std::weak_ptr<IPWMControl> interface;
+            if (!getRobotInterface()->getInterface(interface)) {
+                Log::getSingleton().error("Failed to get IPWMControl interface.");
+                return false;
             }
+            ok = interface.lock()->setRefDutyCycles(referencesVector.data());
+            break;
         }
-
-        if (!ok) {
-            Log::getSingleton().error("Failed to set references.");
-            return false;
+        case VOCAB_CM_CURRENT: {
+            // Get the interface
+            std::weak_ptr<ICurrentControl> interface;
+            if (!getRobotInterface()->getInterface(interface)) {
+                Log::getSingleton().error("Failed to get ICurrentControl interface.");
+                return false;
+            }
+            ok = interface.lock()->setRefCurrents(referencesVector.data());
+            break;
         }
+    }
 
-        return true;
+    if (!ok) {
+        Log::getSingleton().error("Failed to set references.");
+        return false;
     }
+
+    return true;
 }
diff --git a/toolbox/src/SimulatorSynchronizer.cpp b/toolbox/src/SimulatorSynchronizer.cpp
index 741a48ad6..20f43456b 100644
--- a/toolbox/src/SimulatorSynchronizer.cpp
+++ b/toolbox/src/SimulatorSynchronizer.cpp
@@ -7,140 +7,139 @@
 #include <yarp/os/Port.h>
 #include <cmath>
 
-namespace wbt {
+using namespace wbt;
 
-    struct SimulatorSynchronizer::RPCData
-    {
-        struct {
-            std::string clientPortName;
-            std::string serverPortName;
+struct SimulatorSynchronizer::RPCData
+{
+    struct {
+        std::string clientPortName;
+        std::string serverPortName;
 
-            unsigned numberOfSteps;
-        } configuration;
+        unsigned numberOfSteps;
+    } configuration;
 
-        yarp::os::Port clientPort;
-        gazebo::ClockServer clockServer;
-    };
+    yarp::os::Port clientPort;
+    gazebo::ClockServer clockServer;
+};
 
-    const std::string SimulatorSynchronizer::ClassName = "SimulatorSynchronizer";
+const std::string SimulatorSynchronizer::ClassName = "SimulatorSynchronizer";
 
-    const unsigned SimulatorSynchronizer::PARAM_PERIOD     = 1;
-    const unsigned SimulatorSynchronizer::PARAM_GZCLK_PORT = 2;
-    const unsigned SimulatorSynchronizer::PARAM_RPC_PORT   = 3;
+const unsigned SimulatorSynchronizer::PARAM_PERIOD     = 1;
+const unsigned SimulatorSynchronizer::PARAM_GZCLK_PORT = 2;
+const unsigned SimulatorSynchronizer::PARAM_RPC_PORT   = 3;
 
-    SimulatorSynchronizer::SimulatorSynchronizer()
-    : m_period(0.01)
-    , m_firstRun(true)
-    , m_rpcData(0)
-    {}
+SimulatorSynchronizer::SimulatorSynchronizer()
+: m_period(0.01)
+, m_firstRun(true)
+, m_rpcData(0)
+{}
 
-    unsigned SimulatorSynchronizer::numberOfParameters() { return 3; }
+unsigned SimulatorSynchronizer::numberOfParameters() { return 3; }
 
-    std::vector<std::string> SimulatorSynchronizer::additionalBlockOptions()
-    {
-        return std::vector<std::string>(1, wbt::BlockOptionPrioritizeOrder);
-    }
-
-    bool SimulatorSynchronizer::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
+std::vector<std::string> SimulatorSynchronizer::additionalBlockOptions()
+{
+    return std::vector<std::string>(1, wbt::BlockOptionPrioritizeOrder);
+}
 
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to set input port number to 0.");
-            return false;
-        }
+bool SimulatorSynchronizer::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
+
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to set input port number to 0.");
+        return false;
+    }
 
-        // OUTPUT
-        // ======
-        //
-        // No outputs
-        //
+    // OUTPUT
+    // ======
+    //
+    // No outputs
+    //
 
-        if (!blockInfo->setNumberOfOutputPorts(0)) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
-
-        return true;
+    if (!blockInfo->setNumberOfOutputPorts(0)) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
     }
 
-    bool SimulatorSynchronizer::initialize(BlockInformation* blockInfo)
-    {
-        std::string serverPortName;
-        std::string clientPortName;
+    return true;
+}
 
-        bool ok = true;
-        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period);
-        ok = ok & blockInfo->getStringParameterAtIndex(PARAM_GZCLK_PORT, serverPortName);
-        ok = ok & blockInfo->getStringParameterAtIndex(PARAM_RPC_PORT, clientPortName);
+bool SimulatorSynchronizer::initialize(const BlockInformation* blockInfo)
+{
+    std::string serverPortName;
+    std::string clientPortName;
 
-        if (!ok) {
-            Log::getSingleton().error("Error reading RPC parameters.");
-            return false;
-        }
+    bool ok = true;
+    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period);
+    ok = ok & blockInfo->getStringParameterAtIndex(PARAM_GZCLK_PORT, serverPortName);
+    ok = ok & blockInfo->getStringParameterAtIndex(PARAM_RPC_PORT, clientPortName);
 
-        yarp::os::Network::init();
-        if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork()) {
-            Log::getSingleton().error("Error initializing Yarp network.");
-            return false;
-        }
+    if (!ok) {
+        Log::getSingleton().error("Error reading RPC parameters.");
+        return false;
+    }
 
-        m_rpcData = new struct RPCData();
-        if (!m_rpcData) {
-            Log::getSingleton().error("Error creating RPC data structure.");
-            return false;
-        }
+    yarp::os::Network::init();
+    if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork()) {
+        Log::getSingleton().error("Error initializing Yarp network.");
+        return false;
+    }
+
+    m_rpcData = new struct RPCData();
+    if (!m_rpcData) {
+        Log::getSingleton().error("Error creating RPC data structure.");
+        return false;
+    }
 
-        m_rpcData->configuration.clientPortName = clientPortName;
-        m_rpcData->configuration.serverPortName = serverPortName;
+    m_rpcData->configuration.clientPortName = clientPortName;
+    m_rpcData->configuration.serverPortName = serverPortName;
 
-        m_firstRun = true;
+    m_firstRun = true;
 
-        return true;
-    }
+    return true;
+}
 
-    bool SimulatorSynchronizer::terminate(BlockInformation* /*S*/)
-    {
-        if (m_rpcData) {
-            if (m_rpcData->clientPort.isOpen()) {
-                m_rpcData->clockServer.continueSimulation();
-                if (!yarp::os::Network::disconnect(m_rpcData->configuration.clientPortName,
-                                                   m_rpcData->configuration.serverPortName)) {
-                    Log::getSingleton().error("Error disconnecting from simulator clock server.");
-                }
-                m_rpcData->clientPort.close();
+bool SimulatorSynchronizer::terminate(const BlockInformation* /*S*/)
+{
+    if (m_rpcData) {
+        if (m_rpcData->clientPort.isOpen()) {
+            m_rpcData->clockServer.continueSimulation();
+            if (!yarp::os::Network::disconnect(m_rpcData->configuration.clientPortName,
+                                               m_rpcData->configuration.serverPortName)) {
+                Log::getSingleton().error("Error disconnecting from simulator clock server.");
             }
-            delete m_rpcData;
-            m_rpcData = nullptr;
+            m_rpcData->clientPort.close();
         }
-        yarp::os::Network::fini();
-        return true;
+        delete m_rpcData;
+        m_rpcData = nullptr;
     }
+    yarp::os::Network::fini();
+    return true;
+}
 
-    bool SimulatorSynchronizer::output(BlockInformation* /*S*/)
-    {
-        if (m_firstRun) {
-            m_firstRun = false;
-
-            if (!m_rpcData->clientPort.open(m_rpcData->configuration.clientPortName) ||
-                !yarp::os::Network::connect(m_rpcData->configuration.clientPortName,
-                                            m_rpcData->configuration.serverPortName)) {
-                Log::getSingleton().error("Error connecting to simulator clock server.");
-                return false;
-            }
-
-            m_rpcData->clockServer.yarp().attachAsClient(m_rpcData->clientPort);
+bool SimulatorSynchronizer::output(const BlockInformation* /*S*/)
+{
+    if (m_firstRun) {
+        m_firstRun = false;
 
-            double stepSize = m_rpcData->clockServer.getStepSize();
-            m_rpcData->configuration.numberOfSteps = static_cast<unsigned>(m_period / stepSize);
-            m_rpcData->clockServer.pauseSimulation();
+        if (!m_rpcData->clientPort.open(m_rpcData->configuration.clientPortName) ||
+            !yarp::os::Network::connect(m_rpcData->configuration.clientPortName,
+                                        m_rpcData->configuration.serverPortName)) {
+            Log::getSingleton().error("Error connecting to simulator clock server.");
+            return false;
         }
-        m_rpcData->clockServer.stepSimulationAndWait(m_rpcData->configuration.numberOfSteps);
 
-        return true;
+        m_rpcData->clockServer.yarp().attachAsClient(m_rpcData->clientPort);
+
+        double stepSize = m_rpcData->clockServer.getStepSize();
+        m_rpcData->configuration.numberOfSteps = static_cast<unsigned>(m_period / stepSize);
+        m_rpcData->clockServer.pauseSimulation();
     }
+    m_rpcData->clockServer.stepSimulationAndWait(m_rpcData->configuration.numberOfSteps);
+
+    return true;
 }
diff --git a/toolbox/src/YarpClock.cpp b/toolbox/src/YarpClock.cpp
index b504287df..67592823e 100644
--- a/toolbox/src/YarpClock.cpp
+++ b/toolbox/src/YarpClock.cpp
@@ -7,64 +7,63 @@
 #include <yarp/os/Network.h>
 #include <yarp/os/Time.h>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string YarpClock::ClassName = "YarpClock";
+const std::string YarpClock::ClassName = "YarpClock";
 
-    unsigned YarpClock::numberOfParameters() { return 0; }
+unsigned YarpClock::numberOfParameters() { return 0; }
 
-    bool YarpClock::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
+bool YarpClock::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
 
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to set input port number to 0.");
-            return false;
-        }
-
-        // OUTPUT
-        // ======
-        //
-        // 1) The yarp time. In short, it streams yarp::os::Time::now().
-        //
-
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to set input port number to 0.");
+        return false;
+    }
 
-        blockInfo->setOutputPortVectorSize(0, 1);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+    // OUTPUT
+    // ======
+    //
+    // 1) The yarp time. In short, it streams yarp::os::Time::now().
+    //
 
-        return true;
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
     }
 
-    bool YarpClock::initialize(BlockInformation* blockInfo)
-    {
-        yarp::os::Network::init();
+    blockInfo->setOutputPortVectorSize(0, 1);
+    blockInfo->setOutputPortType(0, PortDataTypeDouble);
 
-        if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)) {
-            Log::getSingleton().error("YARP server wasn't found active!!");
-            return false;
-        }
+    return true;
+}
 
-        return true;
-    }
+bool YarpClock::initialize(const BlockInformation* blockInfo)
+{
+    yarp::os::Network::init();
 
-    bool YarpClock::terminate(BlockInformation* /*S*/)
-    {
-        yarp::os::Network::fini();
-        return true;
+    if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)) {
+        Log::getSingleton().error("YARP server wasn't found active!!");
+        return false;
     }
 
-    bool YarpClock::output(BlockInformation* blockInfo)
-    {
-        Signal signal = blockInfo->getOutputPortSignal(0);
-        signal.set(0, yarp::os::Time::now());
-        return true;
-    }
+    return true;
+}
+
+bool YarpClock::terminate(const BlockInformation* /*S*/)
+{
+    yarp::os::Network::fini();
+    return true;
+}
+
+bool YarpClock::output(const BlockInformation* blockInfo)
+{
+    Signal signal = blockInfo->getOutputPortSignal(0);
+    signal.set(0, yarp::os::Time::now());
+    return true;
 }
diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 5542b9a42..683af090f 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -12,207 +12,206 @@
 #include <algorithm>
 #include <iostream>
 
-namespace wbt {
-
-    const std::string YarpRead::ClassName = "YarpRead";
-
-    const unsigned YarpRead::PARAM_IDX_PORTNAME    = 1; // port name
-    const unsigned YarpRead::PARAM_IDX_PORTSIZE    = 2; // Size of the port you're reading
-    const unsigned YarpRead::PARAM_IDX_WAITDATA    = 3; // boolean for blocking reading
-    const unsigned YarpRead::PARAM_IDX_READ_TS     = 4; // boolean to stream timestamp
-    const unsigned YarpRead::PARAM_IDX_AUTOCONNECT = 5; // Autoconnect boolean
-    const unsigned YarpRead::PARAM_IDX_ERR_NO_PORT = 6; // Error on missing port if autoconnect is on boolean
-
-    YarpRead::YarpRead()
-    : m_autoconnect(false)
-    , m_blocking(false)
-    , m_shouldReadTimestamp(false)
-    , m_errorOnMissingPort(true)
-    , m_port(0)
-    {}
-
-    unsigned YarpRead::numberOfParameters() { return 6; }
-
-    bool YarpRead::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
-
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to set input port number to 0.");
-            return false;
-        }
+using namespace wbt;
+
+const std::string YarpRead::ClassName = "YarpRead";
+
+const unsigned YarpRead::PARAM_IDX_PORTNAME    = 1; // port name
+const unsigned YarpRead::PARAM_IDX_PORTSIZE    = 2; // Size of the port you're reading
+const unsigned YarpRead::PARAM_IDX_WAITDATA    = 3; // boolean for blocking reading
+const unsigned YarpRead::PARAM_IDX_READ_TS     = 4; // boolean to stream timestamp
+const unsigned YarpRead::PARAM_IDX_AUTOCONNECT = 5; // Autoconnect boolean
+const unsigned YarpRead::PARAM_IDX_ERR_NO_PORT = 6; // Error on missing port if autoconnect is on boolean
+
+YarpRead::YarpRead()
+: m_autoconnect(false)
+, m_blocking(false)
+, m_shouldReadTimestamp(false)
+, m_errorOnMissingPort(true)
+, m_port(0)
+{}
+
+unsigned YarpRead::numberOfParameters() { return 6; }
+
+bool YarpRead::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
+
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to set input port number to 0.");
+        return false;
+    }
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) Vector with the data read from the port (1 x signalSize)
-        // 2) Optional: Timestamp read from the port
-        // 3) Optional: If autoconnect is disabled, this output becomes 1 when data starts arriving
-        //              (and hence it means that the user connected manually the port)
-        //
+    // OUTPUTS
+    // =======
+    //
+    // 1) Vector with the data read from the port (1 x signalSize)
+    // 2) Optional: Timestamp read from the port
+    // 3) Optional: If autoconnect is disabled, this output becomes 1 when data starts arriving
+    //              (and hence it means that the user connected manually the port)
+    //
 
-        bool shouldReadTimestamp;
-        bool autoconnect;
-        double signalSize;
+    bool shouldReadTimestamp;
+    bool autoconnect;
+    double signalSize;
 
-        bool ok = false;
+    bool ok = false;
 
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, shouldReadTimestamp);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, autoconnect);
-        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_PORTSIZE, signalSize);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, shouldReadTimestamp);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, autoconnect);
+    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_PORTSIZE, signalSize);
 
-        if (!ok) {
-            Log::getSingleton().error("Failed to read input parameters.");
-            return false;
-        }
+    if (!ok) {
+        Log::getSingleton().error("Failed to read input parameters.");
+        return false;
+    }
 
-        if (signalSize < 0) {
-            Log::getSingleton().error("Signal size must be non negative.");
-            return false;
-        }
+    if (signalSize < 0) {
+        Log::getSingleton().error("Signal size must be non negative.");
+        return false;
+    }
 
-        int numberOfOutputPorts = 1;
-        numberOfOutputPorts += static_cast<unsigned>(shouldReadTimestamp); //timestamp is the second port
-        numberOfOutputPorts += static_cast<unsigned>(!autoconnect); //!autoconnect => additional port with 1/0 depending on the connection status
+    int numberOfOutputPorts = 1;
+    numberOfOutputPorts += static_cast<unsigned>(shouldReadTimestamp); //timestamp is the second port
+    numberOfOutputPorts += static_cast<unsigned>(!autoconnect); //!autoconnect => additional port with 1/0 depending on the connection status
 
-        if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
+    if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
+    }
 
-        blockInfo->setOutputPortVectorSize(0, static_cast<int>(signalSize));
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+    blockInfo->setOutputPortVectorSize(0, static_cast<int>(signalSize));
+    blockInfo->setOutputPortType(0, PortDataTypeDouble);
 
-        int portIndex = 1;
-        if (shouldReadTimestamp) {
-            blockInfo->setOutputPortVectorSize(portIndex, 2);
-            blockInfo->setOutputPortType(portIndex, PortDataTypeDouble);
-            portIndex++;
-        }
-        if (!autoconnect) {
-            blockInfo->setOutputPortVectorSize(portIndex, 1);
-            blockInfo->setOutputPortType(portIndex, PortDataTypeInt8); //use double anyway. Simplifies simulink stuff
-            portIndex++;
-        }
-        return true;
+    int portIndex = 1;
+    if (shouldReadTimestamp) {
+        blockInfo->setOutputPortVectorSize(portIndex, 2);
+        blockInfo->setOutputPortType(portIndex, PortDataTypeDouble);
+        portIndex++;
     }
+    if (!autoconnect) {
+        blockInfo->setOutputPortVectorSize(portIndex, 1);
+        blockInfo->setOutputPortType(portIndex, PortDataTypeInt8); //use double anyway. Simplifies simulink stuff
+        portIndex++;
+    }
+    return true;
+}
 
-    bool YarpRead::initialize(BlockInformation* blockInfo)
-    {
-        using namespace yarp::os;
-        using namespace yarp::sig;
+bool YarpRead::initialize(const BlockInformation* blockInfo)
+{
+    using namespace yarp::os;
+    using namespace yarp::sig;
 
-        Network::init();
+    Network::init();
 
-        if (!Network::initialized() || !Network::checkNetwork(5.0)) {
-            Log::getSingleton().error("YARP server wasn't found active!!");
-            return false;
-        }
+    if (!Network::initialized() || !Network::checkNetwork(5.0)) {
+        Log::getSingleton().error("YARP server wasn't found active!!");
+        return false;
+    }
 
-        bool ok = true;
+    bool ok = true;
 
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, m_shouldReadTimestamp);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_WAITDATA, m_blocking);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT, m_errorOnMissingPort);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, m_shouldReadTimestamp);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_WAITDATA, m_blocking);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT, m_errorOnMissingPort);
 
-        if (!ok) {
-            Log::getSingleton().error("Failed to read input parameters.");
-            return false;
-        }
+    if (!ok) {
+        Log::getSingleton().error("Failed to read input parameters.");
+        return false;
+    }
 
-        std::string portName;
-        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_PORTNAME, portName)) {
-            Log::getSingleton().error("Cannot retrieve string from port name parameter.");
-            return false;
-        }
+    std::string portName;
+    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_PORTNAME, portName)) {
+        Log::getSingleton().error("Cannot retrieve string from port name parameter.");
+        return false;
+    }
 
-        std::string sourcePortName;
-        std::string destinationPortName;
+    std::string sourcePortName;
+    std::string destinationPortName;
 
-        // Autoconnect: the block opens a temporary input port ..., and it connects to an existing
-        //              port portName (which is streaming data).
-        if (m_autoconnect) {
-            sourcePortName = portName;
-            destinationPortName = "...";
-        }
-        // Manual connection: the block opens an input port portName, and waits a manual connection to an
-        //                    output port.
-        else {
-            destinationPortName = portName;
-        }
+    // Autoconnect: the block opens a temporary input port ..., and it connects to an existing
+    //              port portName (which is streaming data).
+    if (m_autoconnect) {
+        sourcePortName = portName;
+        destinationPortName = "...";
+    }
+    // Manual connection: the block opens an input port portName, and waits a manual connection to an
+    //                    output port.
+    else {
+        destinationPortName = portName;
+    }
 
-        m_port = new BufferedPort<Vector>();
+    m_port = new BufferedPort<Vector>();
 
-        if (!m_port || !m_port->open(destinationPortName)) {
-            Log::getSingleton().error("Error while opening yarp port.");
-            return false;
-        }
+    if (!m_port || !m_port->open(destinationPortName)) {
+        Log::getSingleton().error("Error while opening yarp port.");
+        return false;
+    }
 
-        if (m_autoconnect) {
-            if (!Network::connect(sourcePortName, m_port->getName())) {
-                Log::getSingleton().warning("Failed to connect " +
-                                            sourcePortName +
-                                            " to "
-                                            + m_port->getName());
-                if (m_errorOnMissingPort) {
-                    Log::getSingleton().error("Failed connecting ports.");
-                    return false;
-                }
+    if (m_autoconnect) {
+        if (!Network::connect(sourcePortName, m_port->getName())) {
+            Log::getSingleton().warning("Failed to connect " +
+                                        sourcePortName +
+                                        " to "
+                                        + m_port->getName());
+            if (m_errorOnMissingPort) {
+                Log::getSingleton().error("Failed connecting ports.");
+                return false;
             }
         }
-        return true;
     }
+    return true;
+}
 
-    bool YarpRead::terminate(BlockInformation* /*blockInfo*/)
-    {
-        if (m_port) {
-            m_port->close();
-            delete m_port;
-            m_port = nullptr;
-        }
-        yarp::os::Network::fini();
-        return true;
+bool YarpRead::terminate(const BlockInformation* /*blockInfo*/)
+{
+    if (m_port) {
+        m_port->close();
+        delete m_port;
+        m_port = nullptr;
     }
+    yarp::os::Network::fini();
+    return true;
+}
 
-    bool YarpRead::output(BlockInformation* blockInfo)
-    {
-        int timeStampPortIndex = 1;
-        int connectionStatusPortIndex = 1;
+bool YarpRead::output(const BlockInformation* blockInfo)
+{
+    int timeStampPortIndex = 1;
+    int connectionStatusPortIndex = 1;
 
-        yarp::sig::Vector* v = m_port->read(m_blocking); // Read from the port.  Waits until data arrives.
+    yarp::sig::Vector* v = m_port->read(m_blocking); // Read from the port.  Waits until data arrives.
 
-        if (v) {
-            if (m_shouldReadTimestamp) {
-                connectionStatusPortIndex++;
-                yarp::os::Stamp timestamp;
-                m_port->getEnvelope(timestamp);
+    if (v) {
+        if (m_shouldReadTimestamp) {
+            connectionStatusPortIndex++;
+            yarp::os::Stamp timestamp;
+            m_port->getEnvelope(timestamp);
 
-                Signal pY1 = blockInfo->getOutputPortSignal(timeStampPortIndex);
-                pY1.set(0, timestamp.getCount());
-                pY1.set(1, timestamp.getTime());
-            }
+            Signal pY1 = blockInfo->getOutputPortSignal(timeStampPortIndex);
+            pY1.set(0, timestamp.getCount());
+            pY1.set(1, timestamp.getTime());
+        }
 
-            Signal signal = blockInfo->getOutputPortSignal(0);
+        Signal signal = blockInfo->getOutputPortSignal(0);
 
-            // Crop the buffer if it exceeds the OutputPortWidth.
-            signal.setBuffer(v->data(), std::min(blockInfo->getOutputPortWidth(0), (unsigned)v->size()));
+        // Crop the buffer if it exceeds the OutputPortWidth.
+        signal.setBuffer(v->data(), std::min(blockInfo->getOutputPortWidth(0), (unsigned)v->size()));
 
-            if (!m_autoconnect) {
-                Signal statusPort = blockInfo->getOutputPortSignal(connectionStatusPortIndex);
-                statusPort.set(0, 1); //somebody wrote in the port => the port is connected
+        if (!m_autoconnect) {
+            Signal statusPort = blockInfo->getOutputPortSignal(connectionStatusPortIndex);
+            statusPort.set(0, 1); //somebody wrote in the port => the port is connected
 
-                //TODO implement a sort of "timeout" paramter
-                //At the current state this is equal to timeout = inf
-                //Otherwise we can check the timeout and if nobody sent data in the last X secs
-                //we set the port to zero again
-            }
+            //TODO implement a sort of "timeout" paramter
+            //At the current state this is equal to timeout = inf
+            //Otherwise we can check the timeout and if nobody sent data in the last X secs
+            //we set the port to zero again
         }
-
-        return true;
     }
+
+    return true;
 }
diff --git a/toolbox/src/YarpWrite.cpp b/toolbox/src/YarpWrite.cpp
index f557eccbb..3deba6dcc 100644
--- a/toolbox/src/YarpWrite.cpp
+++ b/toolbox/src/YarpWrite.cpp
@@ -9,149 +9,148 @@
 #include <yarp/os/Stamp.h>
 #include <yarp/sig/Vector.h>
 
-namespace wbt {
-
-    const std::string YarpWrite::ClassName = "YarpWrite";
-
-    const unsigned YarpWrite::PARAM_IDX_PORTNAME    = 1; // Port name
-    const unsigned YarpWrite::PARAM_IDX_AUTOCONNECT = 2; // Autoconnect boolean
-    const unsigned YarpWrite::PARAM_IDX_ERR_NO_PORT = 3; // Error on missing port if autoconnect is true
-
-    YarpWrite::YarpWrite()
-    : m_autoconnect(false)
-    , m_errorOnMissingPort(true)
-    , m_destinationPortName("")
-    , m_port(nullptr)
-    {}
-
-    unsigned YarpWrite::numberOfParameters() { return 3; }
-
-    bool YarpWrite::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // INPUT
-        // =====
-        //
-        // 1) The signal to stream to the specified yarp port
-        //
-
-        if (!blockInfo->setNumberOfInputPorts(1)) {
-            Log::getSingleton().error("Failed to set input port number to 0.");
-            return false;
-        }
-        blockInfo->setInputPortVectorSize(0, -1);
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-
-        // OUTPUT
-        // ======
-        //
-        // No outputs
-        //
-
-        if (!blockInfo->setNumberOfOutputPorts(0)) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
-
-        return true;
+using namespace wbt;
+
+const std::string YarpWrite::ClassName = "YarpWrite";
+
+const unsigned YarpWrite::PARAM_IDX_PORTNAME    = 1; // Port name
+const unsigned YarpWrite::PARAM_IDX_AUTOCONNECT = 2; // Autoconnect boolean
+const unsigned YarpWrite::PARAM_IDX_ERR_NO_PORT = 3; // Error on missing port if autoconnect is true
+
+YarpWrite::YarpWrite()
+: m_autoconnect(false)
+, m_errorOnMissingPort(true)
+, m_destinationPortName("")
+, m_port(nullptr)
+{}
+
+unsigned YarpWrite::numberOfParameters() { return 3; }
+
+bool YarpWrite::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // INPUT
+    // =====
+    //
+    // 1) The signal to stream to the specified yarp port
+    //
+
+    if (!blockInfo->setNumberOfInputPorts(1)) {
+        Log::getSingleton().error("Failed to set input port number to 0.");
+        return false;
+    }
+    blockInfo->setInputPortVectorSize(0, -1);
+    blockInfo->setInputPortType(0, PortDataTypeDouble);
+
+    // OUTPUT
+    // ======
+    //
+    // No outputs
+    //
+
+    if (!blockInfo->setNumberOfOutputPorts(0)) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
     }
 
-    bool YarpWrite::initialize(BlockInformation* blockInfo)
-    {
-        using namespace yarp::os;
-        using namespace yarp::sig;
+    return true;
+}
 
-        Network::init();
+bool YarpWrite::initialize(const BlockInformation* blockInfo)
+{
+    using namespace yarp::os;
+    using namespace yarp::sig;
 
-        if (!Network::initialized() || !Network::checkNetwork(5.0)){
-            Log::getSingleton().error("YARP server wasn't found active!!");
-            return false;
-        }
+    Network::init();
 
-        bool ok = true;
+    if (!Network::initialized() || !Network::checkNetwork(5.0)){
+        Log::getSingleton().error("YARP server wasn't found active!!");
+        return false;
+    }
 
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT,
-                                                        m_errorOnMissingPort);
+    bool ok = true;
 
-        if (!ok) {
-            Log::getSingleton().error("Failed to read input parameters.");
-            return false;
-        }
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT,
+                                                    m_errorOnMissingPort);
 
-        std::string portParameter;
-        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_PORTNAME, portParameter)) {
-            Log::getSingleton().error("Error reading port name parameter.");
-            return false;
-        }
-
-        std::string sourcePortName;
+    if (!ok) {
+        Log::getSingleton().error("Failed to read input parameters.");
+        return false;
+    }
 
-        // Autoconnect: the block opens a temporary output port ..., and it connects to an existing
-        //              port portName (which will receive data).
-        if (m_autoconnect) {
-            sourcePortName = "...";
-            m_destinationPortName = portParameter;
-        }
-        // Manual connection: the block opens an output port portName, and waits a manual connection to an
-        //                    input port.
-        else {
-            sourcePortName = portParameter;
-        }
+    std::string portParameter;
+    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_PORTNAME, portParameter)) {
+        Log::getSingleton().error("Error reading port name parameter.");
+        return false;
+    }
 
-        m_port = new BufferedPort<Vector>();
+    std::string sourcePortName;
 
-        if (!m_port || !m_port->open(sourcePortName)) {
-            Log::getSingleton().error("Error while opening yarp port.");
-            return false;
-        }
+    // Autoconnect: the block opens a temporary output port ..., and it connects to an existing
+    //              port portName (which will receive data).
+    if (m_autoconnect) {
+        sourcePortName = "...";
+        m_destinationPortName = portParameter;
+    }
+    // Manual connection: the block opens an output port portName, and waits a manual connection to an
+    //                    input port.
+    else {
+        sourcePortName = portParameter;
+    }
 
-        if (m_autoconnect) {
-            if (!Network::connect(m_port->getName(), m_destinationPortName)) {
-                Log::getSingleton().warning("Failed to connect " +
-                                            m_port->getName() +
-                                            " to " +
-                                            m_destinationPortName);
-                if (m_errorOnMissingPort) {
-                    Log::getSingleton().error("Failed connecting ports.");
-                    return false;
-                }
-            }
-        }
+    m_port = new BufferedPort<Vector>();
 
-        // Initialize the size of the internal buffer handled by m_port
-        yarp::sig::Vector& outputVector = m_port->prepare();
-        outputVector.resize(blockInfo->getInputPortWidth(0));
-        return true;
+    if (!m_port || !m_port->open(sourcePortName)) {
+        Log::getSingleton().error("Error while opening yarp port.");
+        return false;
     }
 
-    bool YarpWrite::terminate(BlockInformation* /*S*/)
-    {
-        if (m_port) {
-            if (m_autoconnect) {
-                yarp::os::Network::disconnect(m_port->getName(), m_destinationPortName);
+    if (m_autoconnect) {
+        if (!Network::connect(m_port->getName(), m_destinationPortName)) {
+            Log::getSingleton().warning("Failed to connect " +
+                                        m_port->getName() +
+                                        " to " +
+                                        m_destinationPortName);
+            if (m_errorOnMissingPort) {
+                Log::getSingleton().error("Failed connecting ports.");
+                return false;
             }
-            m_port->close();
-            delete m_port;
-            m_port = nullptr;
         }
-        yarp::os::Network::fini();
-        return true;
     }
 
-    bool YarpWrite::output(BlockInformation* blockInfo)
-    {
-        if (!m_port) return false;
-        yarp::sig::Vector& outputVector = m_port->prepare();
-        outputVector.resize(blockInfo->getInputPortWidth(0)); //this should be a no-op
-
-        Signal signal = blockInfo->getInputPortSignal(0);
+    // Initialize the size of the internal buffer handled by m_port
+    yarp::sig::Vector& outputVector = m_port->prepare();
+    outputVector.resize(blockInfo->getInputPortWidth(0));
+    return true;
+}
 
-        for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-            outputVector[i] = signal.get(i).doubleData();
+bool YarpWrite::terminate(const BlockInformation* /*S*/)
+{
+    if (m_port) {
+        if (m_autoconnect) {
+            yarp::os::Network::disconnect(m_port->getName(), m_destinationPortName);
         }
+        m_port->close();
+        delete m_port;
+        m_port = nullptr;
+    }
+    yarp::os::Network::fini();
+    return true;
+}
 
-        m_port->write();
+bool YarpWrite::output(const BlockInformation* blockInfo)
+{
+    if (!m_port) return false;
+    yarp::sig::Vector& outputVector = m_port->prepare();
+    outputVector.resize(blockInfo->getInputPortWidth(0)); //this should be a no-op
 
-        return true;
+    Signal signal = blockInfo->getInputPortSignal(0);
+
+    for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
+        outputVector[i] = signal.get(i).doubleData();
     }
+
+    m_port->write();
+
+    return true;
 }
diff --git a/toolbox/src/base/Block.cpp b/toolbox/src/base/Block.cpp
index b7d36396a..fd2e88731 100644
--- a/toolbox/src/base/Block.cpp
+++ b/toolbox/src/base/Block.cpp
@@ -1,15 +1,17 @@
 #include "Block.h"
 #include "toolbox.h"
 
-wbt::Block::~Block() {}
-std::vector<std::string> wbt::Block::additionalBlockOptions() { return std::vector<std::string>(); }
-void wbt::Block::parameterAtIndexIsTunable(unsigned /*index*/, bool &tunable) { tunable = false; }
-bool wbt::Block::checkParameters(wbt::BlockInformation* /*blockInfo*/) { return true; }
+using namespace wbt;
 
-unsigned wbt::Block::numberOfDiscreteStates() { return 0; }
-unsigned wbt::Block::numberOfContinuousStates() { return 0; }
+Block::~Block() {}
+std::vector<std::string> Block::additionalBlockOptions() { return std::vector<std::string>(); }
+void Block::parameterAtIndexIsTunable(unsigned /*index*/, bool &tunable) { tunable = false; }
+bool Block::checkParameters(const BlockInformation* /*blockInfo*/) { return true; }
 
-bool wbt::Block::updateDiscreteState(wbt::BlockInformation* /*blockInfo*/) { return true; }
-bool wbt::Block::stateDerivative(wbt::BlockInformation* /*blockInfo*/) { return true; }
+unsigned Block::numberOfDiscreteStates() { return 0; }
+unsigned Block::numberOfContinuousStates() { return 0; }
 
-bool wbt::Block::initializeInitialConditions(wbt::BlockInformation* /*blockInfo*/) { return true; }
+bool Block::updateDiscreteState(const BlockInformation* /*blockInfo*/) { return true; }
+bool Block::stateDerivative(const BlockInformation* /*blockInfo*/) { return true; }
+
+bool Block::initializeInitialConditions(const BlockInformation* /*blockInfo*/) { return true; }
diff --git a/toolbox/src/base/BlockInformation.cpp b/toolbox/src/base/BlockInformation.cpp
index 5fa160eef..5e52eb899 100644
--- a/toolbox/src/base/BlockInformation.cpp
+++ b/toolbox/src/base/BlockInformation.cpp
@@ -2,5 +2,7 @@
 
 const std::string wbt::BlockOptionPrioritizeOrder = "wbt.BlockOptionPrioritizeOrder";
 
-wbt::BlockInformation::~BlockInformation() {}
-bool wbt::BlockInformation::optionFromKey(const std::string& key, double& option) const { return false; }
+bool wbt::BlockInformation::optionFromKey(const std::string& key, double& option) const
+{
+    return false;
+}
diff --git a/toolbox/src/base/Signal.cpp b/toolbox/src/base/Signal.cpp
index 9d5f6adbc..67e6d6b42 100644
--- a/toolbox/src/base/Signal.cpp
+++ b/toolbox/src/base/Signal.cpp
@@ -1,324 +1,320 @@
 #include "Signal.h"
-
 #include <cstring>
 
-namespace wbt {
+using namespace wbt;
 
-    void Signal::initSignalType(wbt::PortDataType type, bool constPort)
-    {
-        this->portType = type;
-        this->isConstPort = constPort;
-    }
+void Signal::initSignalType(wbt::PortDataType type, bool constPort)
+{
+    this->portType = type;
+    this->isConstPort = constPort;
+}
 
-    void Signal::setContiguousBuffer(void* buffer)
-    {
-        contiguousData = buffer;
-        this->isContiguous = true;
-    }
-    void Signal::setContiguousBuffer(const void* buffer)
-    {
-        contiguousData = const_cast<void*>(buffer);
-        this->isContiguous = true;
-    }
+void Signal::setContiguousBuffer(void* buffer)
+{
+    contiguousData = buffer;
+    this->isContiguous = true;
+}
+void Signal::setContiguousBuffer(const void* buffer)
+{
+    contiguousData = const_cast<void*>(buffer);
+    this->isContiguous = true;
+}
 
-    void Signal::setNonContiguousBuffer(void** buffer)
-    {
-        nonContiguousData = buffer;
-        this->isContiguous = false;
-    }
+void Signal::setNonContiguousBuffer(void** buffer)
+{
+    nonContiguousData = buffer;
+    this->isContiguous = false;
+}
 
-    void Signal::setNonContiguousBuffer(const void* const* buffer)
-    {
-        nonContiguousData = const_cast<void**>(buffer);
-        this->isContiguous = false;
-    }
+void Signal::setNonContiguousBuffer(const void* const* buffer)
+{
+    nonContiguousData = const_cast<void**>(buffer);
+    this->isContiguous = false;
+}
 
 
-    const Data Signal::get(unsigned index) const
-    {
-        Data data;
-        switch (portType) {
-            case PortDataTypeDouble:
-                if (isContiguous) {
-                    data.doubleData((static_cast<double*>(contiguousData))[index]);
-                }
-                else {
-                    const double* buffer = static_cast<const double*>(*nonContiguousData);
-                    data.doubleData(static_cast<const double>(buffer[index]));
-                }
-                break;
-            case PortDataTypeSingle:
-                if (isContiguous) {
-                    data.floatData((static_cast<float*>(contiguousData))[index]);
-                }
-                else {
-                    const float* buffer = static_cast<const float*>(*nonContiguousData);
-                    data.floatData(static_cast<const float>(buffer[index]));
-                }
-                break;
-            case PortDataTypeInt8:
-                if (isContiguous) {
-                    data.int8Data((static_cast<int8_t*>(contiguousData))[index]);
-                }
-                else {
-                    const int8_t* buffer = static_cast<const int8_t*>(*nonContiguousData);
-                    data.int8Data(static_cast<const int8_t>(buffer[index]));
-                }
-                break;
-            case PortDataTypeUInt8:
-                if (isContiguous) {
-                    data.uint8Data((static_cast<uint8_t*>(contiguousData))[index]);
-                }
-                else {
-                    const uint8_t* buffer = static_cast<const uint8_t*>(*nonContiguousData);
-                    data.uint8Data(static_cast<const uint8_t>(buffer[index]));
-                }
-                break;
-            case PortDataTypeInt16:
-                if (isContiguous) {
-                    data.int16Data((static_cast<int16_t*>(contiguousData))[index]);
-                }
-                else {
-                    const int16_t* buffer = static_cast<const int16_t*>(*nonContiguousData);
-                    data.int16Data(static_cast<const int16_t>(buffer[index]));
-                }
-                break;
-            case PortDataTypeUInt16:
-                if (isContiguous) {
-                    data.uint16Data((static_cast<uint16_t*>(contiguousData))[index]);
-                }
-                else {
-                    const uint16_t* buffer = static_cast<const uint16_t*>(*nonContiguousData);
-                    data.uint16Data(static_cast<const uint16_t>(buffer[index]));
-                }
-                break;
-            case PortDataTypeInt32:
-                if (isContiguous) {
-                    data.int32Data((static_cast<int32_t*>(contiguousData))[index]);
-                }
-                else {
-                    const int32_t* buffer = static_cast<const int32_t*>(*nonContiguousData);
-                    data.int32Data(static_cast<const int32_t>(buffer[index]));
-                }
-                break;
-            case PortDataTypeUInt32:
-                if (isContiguous) {
-                    data.uint32Data((static_cast<uint32_t*>(contiguousData))[index]);
-                }
-                else {
-                    const uint32_t* buffer = static_cast<const uint32_t*>(*nonContiguousData);
-                    data.uint32Data(static_cast<const uint32_t>(buffer[index]));
-                }
-                break;
-            case PortDataTypeBoolean:
-                if (isContiguous) {
-                    data.booleanData((static_cast<bool*>(contiguousData))[index]);
-                }
-                else {
-                    const bool* buffer = static_cast<const bool*>(*nonContiguousData);
-                    data.booleanData(static_cast<const bool>(buffer[index]));
-                }
-        }
-        return data;
+const Data Signal::get(unsigned index) const
+{
+    Data data;
+    switch (portType) {
+        case PortDataTypeDouble:
+            if (isContiguous) {
+                data.doubleData((static_cast<double*>(contiguousData))[index]);
+            }
+            else {
+                const double* buffer = static_cast<const double*>(*nonContiguousData);
+                data.doubleData(static_cast<const double>(buffer[index]));
+            }
+            break;
+        case PortDataTypeSingle:
+            if (isContiguous) {
+                data.floatData((static_cast<float*>(contiguousData))[index]);
+            }
+            else {
+                const float* buffer = static_cast<const float*>(*nonContiguousData);
+                data.floatData(static_cast<const float>(buffer[index]));
+            }
+            break;
+        case PortDataTypeInt8:
+            if (isContiguous) {
+                data.int8Data((static_cast<int8_t*>(contiguousData))[index]);
+            }
+            else {
+                const int8_t* buffer = static_cast<const int8_t*>(*nonContiguousData);
+                data.int8Data(static_cast<const int8_t>(buffer[index]));
+            }
+            break;
+        case PortDataTypeUInt8:
+            if (isContiguous) {
+                data.uint8Data((static_cast<uint8_t*>(contiguousData))[index]);
+            }
+            else {
+                const uint8_t* buffer = static_cast<const uint8_t*>(*nonContiguousData);
+                data.uint8Data(static_cast<const uint8_t>(buffer[index]));
+            }
+            break;
+        case PortDataTypeInt16:
+            if (isContiguous) {
+                data.int16Data((static_cast<int16_t*>(contiguousData))[index]);
+            }
+            else {
+                const int16_t* buffer = static_cast<const int16_t*>(*nonContiguousData);
+                data.int16Data(static_cast<const int16_t>(buffer[index]));
+            }
+            break;
+        case PortDataTypeUInt16:
+            if (isContiguous) {
+                data.uint16Data((static_cast<uint16_t*>(contiguousData))[index]);
+            }
+            else {
+                const uint16_t* buffer = static_cast<const uint16_t*>(*nonContiguousData);
+                data.uint16Data(static_cast<const uint16_t>(buffer[index]));
+            }
+            break;
+        case PortDataTypeInt32:
+            if (isContiguous) {
+                data.int32Data((static_cast<int32_t*>(contiguousData))[index]);
+            }
+            else {
+                const int32_t* buffer = static_cast<const int32_t*>(*nonContiguousData);
+                data.int32Data(static_cast<const int32_t>(buffer[index]));
+            }
+            break;
+        case PortDataTypeUInt32:
+            if (isContiguous) {
+                data.uint32Data((static_cast<uint32_t*>(contiguousData))[index]);
+            }
+            else {
+                const uint32_t* buffer = static_cast<const uint32_t*>(*nonContiguousData);
+                data.uint32Data(static_cast<const uint32_t>(buffer[index]));
+            }
+            break;
+        case PortDataTypeBoolean:
+            if (isContiguous) {
+                data.booleanData((static_cast<bool*>(contiguousData))[index]);
+            }
+            else {
+                const bool* buffer = static_cast<const bool*>(*nonContiguousData);
+                data.booleanData(static_cast<const bool>(buffer[index]));
+            }
     }
+    return data;
+}
 
-    void* Signal::getContiguousBuffer()
-    {
-        if (!isContiguous) return nullptr;
-        return this->contiguousData;
-    }
+void* Signal::getContiguousBuffer()
+{
+    if (!isContiguous) return nullptr;
+    return this->contiguousData;
+}
 
-    std::vector<double> Signal::getStdVector(unsigned length) const
-    {
-        std::vector<double> v(length);
-        for (unsigned i = 0; i < length; ++i) {
-            v[i] = get(i).doubleData();
-        }
-        return v;
+std::vector<double> Signal::getStdVector(unsigned length) const
+{
+    std::vector<double> v(length);
+    for (unsigned i = 0; i < length; ++i) {
+        v[i] = get(i).doubleData();
     }
+    return v;
+}
 
-    //the missing are cast
-    void Signal::set(unsigned index, double data)
-    {
-        if (isConstPort) return;
+//the missing are cast
+void Signal::set(unsigned index, double data)
+{
+    if (isConstPort) return;
 
-        switch (portType) {
-            case PortDataTypeDouble:
-            {
-                double* buffer = static_cast<double*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            case PortDataTypeSingle:
-            {
-                float* buffer = static_cast<float*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            default:
-                break;
+    switch (portType) {
+        case PortDataTypeDouble:
+        {
+            double* buffer = static_cast<double*>(contiguousData);
+            buffer[index] = data;
+            break;
+        }
+        case PortDataTypeSingle:
+        {
+            float* buffer = static_cast<float*>(contiguousData);
+            buffer[index] = data;
+            break;
         }
+        default:
+            break;
     }
+}
 
-    void Signal::setBuffer(const double* data, const unsigned length, unsigned startIndex)
-    {
-        if (isConstPort) return;
-        unsigned dataSize = 0;
-        const void* address = data;
+void Signal::setBuffer(const double* data, const unsigned length, unsigned startIndex)
+{
+    if (isConstPort) return;
+    unsigned dataSize = 0;
+    const void* address = data;
 
-        switch (portType) {
-            case PortDataTypeDouble:
-            {
-                dataSize = sizeof(double);
-                address = static_cast<const double*>(address) + startIndex;
-                break;
-            }
-            case PortDataTypeSingle:
-            {
-                dataSize = sizeof(float);
-                address = static_cast<const float*>(address) + startIndex;
-                break;
-            }
-            default:
-                break;
+    switch (portType) {
+        case PortDataTypeDouble:
+        {
+            dataSize = sizeof(double);
+            address = static_cast<const double*>(address) + startIndex;
+            break;
         }
+        case PortDataTypeSingle:
+        {
+            dataSize = sizeof(float);
+            address = static_cast<const float*>(address) + startIndex;
+            break;
+        }
+        default:
+            break;
+    }
 
-        memcpy(contiguousData, address, dataSize * length);
+    memcpy(contiguousData, address, dataSize * length);
 
-    }
+}
 
-    void Signal::set(unsigned index, int32_t data)
-    {
-        //signed integer function
-        switch (portType) {
-            case PortDataTypeInt32:
-            {
-                int32_t* buffer = static_cast<int32_t*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            case PortDataTypeInt16:
-            {
-                int16_t* buffer = static_cast<int16_t*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            case PortDataTypeInt8:
-            {
-                int8_t* buffer = static_cast<int8_t*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            default:
-                break;
+void Signal::set(unsigned index, int32_t data)
+{
+    //signed integer function
+    switch (portType) {
+        case PortDataTypeInt32:
+        {
+            int32_t* buffer = static_cast<int32_t*>(contiguousData);
+            buffer[index] = data;
+            break;
         }
+        case PortDataTypeInt16:
+        {
+            int16_t* buffer = static_cast<int16_t*>(contiguousData);
+            buffer[index] = data;
+            break;
+        }
+        case PortDataTypeInt8:
+        {
+            int8_t* buffer = static_cast<int8_t*>(contiguousData);
+            buffer[index] = data;
+            break;
+        }
+        default:
+            break;
     }
+}
 
-    void Signal::setBuffer(const int32_t* data, const unsigned length, unsigned startIndex)
-    {
-        if (isConstPort) return;
-        unsigned dataSize = 0;
-        const void* address = data;
+void Signal::setBuffer(const int32_t* data, const unsigned length, unsigned startIndex)
+{
+    if (isConstPort) return;
+    unsigned dataSize = 0;
+    const void* address = data;
 
-        switch (portType) {
-            case PortDataTypeInt32:
-            {
-                dataSize = sizeof(int32_t);
-                address = static_cast<const int32_t*>(address) + startIndex;
-                break;
-            }
-            case PortDataTypeInt16:
-            {
-                dataSize = sizeof(int16_t);
-                address = static_cast<const int16_t*>(address) + startIndex;
-                break;
-            }
-            case PortDataTypeInt8:
-            {
-                dataSize = sizeof(int8_t);
-                address = static_cast<const int8_t*>(address) + startIndex;
-                break;
-            }
-            default:
-                break;
+    switch (portType) {
+        case PortDataTypeInt32:
+        {
+            dataSize = sizeof(int32_t);
+            address = static_cast<const int32_t*>(address) + startIndex;
+            break;
         }
-
-        memcpy(contiguousData, address, dataSize* length);
-    }
-
-    void Signal::set(unsigned index, uint32_t data)
-    {
-        //signed integer function
-        switch (portType) {
-            case PortDataTypeUInt32:
-            {
-                uint32_t* buffer = static_cast<uint32_t*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            case PortDataTypeUInt16:
-            {
-                uint16_t* buffer = static_cast<uint16_t*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            case PortDataTypeUInt8:
-            {
-                uint8_t* buffer = static_cast<uint8_t*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            default:
-                break;
+        case PortDataTypeInt16:
+        {
+            dataSize = sizeof(int16_t);
+            address = static_cast<const int16_t*>(address) + startIndex;
+            break;
         }
+        case PortDataTypeInt8:
+        {
+            dataSize = sizeof(int8_t);
+            address = static_cast<const int8_t*>(address) + startIndex;
+            break;
+        }
+        default:
+            break;
     }
 
-    void Signal::setBuffer(const uint32_t* data, const unsigned length, unsigned startIndex)
-    {
-        if (isConstPort) return;
-        unsigned dataSize = 0;
-        const void* address = data;
+    memcpy(contiguousData, address, dataSize* length);
+}
 
-        switch (portType) {
-            case PortDataTypeUInt32:
-            {
-                dataSize = sizeof(uint32_t);
-                address = data + startIndex;
-                break;
-            }
-            case PortDataTypeUInt16:
-            {
-                dataSize = sizeof(uint16_t);
-                address = data + startIndex;
-                break;
-            }
-            case PortDataTypeUInt8:
-            {
-                dataSize = sizeof(uint8_t);
-                address = data + startIndex;
-                break;
-            }
-            default:
-                break;
+void Signal::set(unsigned index, uint32_t data)
+{
+    //signed integer function
+    switch (portType) {
+        case PortDataTypeUInt32:
+        {
+            uint32_t* buffer = static_cast<uint32_t*>(contiguousData);
+            buffer[index] = data;
+            break;
         }
-
-        memcpy(contiguousData, address, dataSize* length);
+        case PortDataTypeUInt16:
+        {
+            uint16_t* buffer = static_cast<uint16_t*>(contiguousData);
+            buffer[index] = data;
+            break;
+        }
+        case PortDataTypeUInt8:
+        {
+            uint8_t* buffer = static_cast<uint8_t*>(contiguousData);
+            buffer[index] = data;
+            break;
+        }
+        default:
+            break;
     }
+}
+
+void Signal::setBuffer(const uint32_t* data, const unsigned length, unsigned startIndex)
+{
+    if (isConstPort) return;
+    unsigned dataSize = 0;
+    const void* address = data;
 
-    void Signal::set(unsigned index, bool data)
-    {
-        bool* buffer = static_cast<bool*>(contiguousData);
-        buffer[index] = data;
+    switch (portType) {
+        case PortDataTypeUInt32:
+        {
+            dataSize = sizeof(uint32_t);
+            address = data + startIndex;
+            break;
+        }
+        case PortDataTypeUInt16:
+        {
+            dataSize = sizeof(uint16_t);
+            address = data + startIndex;
+            break;
+        }
+        case PortDataTypeUInt8:
+        {
+            dataSize = sizeof(uint8_t);
+            address = data + startIndex;
+            break;
+        }
+        default:
+            break;
     }
 
-    void Signal::setBuffer(const bool* data, const unsigned length, unsigned startIndex)
-    {
-        if (isConstPort) return;
-        unsigned dataSize = sizeof(bool);
-        const void* address = static_cast<const bool*>(data) + startIndex;
+    memcpy(contiguousData, address, dataSize* length);
+}
 
-        memcpy(contiguousData, address, dataSize* length);
-    }
+void Signal::set(unsigned index, bool data)
+{
+    bool* buffer = static_cast<bool*>(contiguousData);
+    buffer[index] = data;
+}
 
+void Signal::setBuffer(const bool* data, const unsigned length, unsigned startIndex)
+{
+    if (isConstPort) return;
+    unsigned dataSize = sizeof(bool);
+    const void* address = static_cast<const bool*>(data) + startIndex;
 
+    memcpy(contiguousData, address, dataSize* length);
 }
diff --git a/toolbox/src/base/SimulinkBlockInformation.cpp b/toolbox/src/base/SimulinkBlockInformation.cpp
index 48ccdde51..2b9688738 100644
--- a/toolbox/src/base/SimulinkBlockInformation.cpp
+++ b/toolbox/src/base/SimulinkBlockInformation.cpp
@@ -5,191 +5,191 @@
 #include <string>
 #include <vector>
 
-namespace wbt {
+using namespace wbt;
 
-    SimulinkBlockInformation::SimulinkBlockInformation(SimStruct* S)
-    : simstruct(S)
-    {}
+SimulinkBlockInformation::SimulinkBlockInformation(SimStruct* S)
+: simstruct(S)
+{}
 
-    bool SimulinkBlockInformation::optionFromKey(const std::string& key, double& option) const
-    {
-        if (key == wbt::BlockOptionPrioritizeOrder) {
-            option = SS_OPTION_PLACE_ASAP;
-            return true;
-        }
-
-        return false;
+bool SimulinkBlockInformation::optionFromKey(const std::string& key, double& option) const
+{
+    if (key == wbt::BlockOptionPrioritizeOrder) {
+        option = SS_OPTION_PLACE_ASAP;
+        return true;
     }
 
-    //Parameters methods
-    bool SimulinkBlockInformation::getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter)
-    {
-        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-        return MxAnyType(blockParam).asString(stringParameter);
-    }
+    return false;
+}
 
-    bool SimulinkBlockInformation::getStructAtIndex(unsigned parameterIndex, AnyStruct& map)
-    {
-        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-        return MxAnyType(blockParam).asAnyStruct(map);
-    }
+//Parameters methods
+bool SimulinkBlockInformation::getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asString(stringParameter);
+}
 
+bool SimulinkBlockInformation::getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asAnyStruct(map);
+}
 
-    bool SimulinkBlockInformation::getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec)
-    {
-        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-        return MxAnyType(blockParam).asVectorDouble(vec);
-    }
 
-    bool SimulinkBlockInformation::getScalarParameterAtIndex(unsigned parameterIndex, double& value)
-    {
-        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-        return MxAnyType(blockParam).asDouble(value);
-    }
+bool SimulinkBlockInformation::getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asVectorDouble(vec);
+}
 
-    bool SimulinkBlockInformation::getBooleanParameterAtIndex(unsigned parameterIndex, bool& value)
-    {
-        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-        return MxAnyType(blockParam).asBool(value);
-    }
 
-    //Port information methods
-    bool SimulinkBlockInformation::setNumberOfInputPorts(unsigned numberOfPorts)
-    {
-        return ssSetNumInputPorts(simstruct, numberOfPorts);
-    }
+bool SimulinkBlockInformation::getScalarParameterAtIndex(unsigned parameterIndex, double& value) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asDouble(value);
+}
 
-    bool SimulinkBlockInformation::setNumberOfOutputPorts(unsigned numberOfPorts)
-    {
-        return ssSetNumOutputPorts(simstruct, numberOfPorts);
-    }
+bool SimulinkBlockInformation::getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asBool(value);
+}
 
-    bool SimulinkBlockInformation::setInputPortVectorSize(unsigned portNumber, int portSize)
-    {
-        if (portSize == -1) portSize = DYNAMICALLY_SIZED;
-        return ssSetInputPortVectorDimension(simstruct,  portNumber, portSize);
-    }
+//Port information methods
+bool SimulinkBlockInformation::setNumberOfInputPorts(unsigned numberOfPorts)
+{
+    return ssSetNumInputPorts(simstruct, numberOfPorts);
+}
 
-    bool SimulinkBlockInformation::setInputPortMatrixSize(unsigned portNumber, int rows, int columns)
-    {
-        if (rows == -1) rows = DYNAMICALLY_SIZED;
-        if (columns == -1) columns = DYNAMICALLY_SIZED;
-        return ssSetInputPortMatrixDimensions(simstruct,  portNumber, rows, columns);
-    }
+bool SimulinkBlockInformation::setNumberOfOutputPorts(unsigned numberOfPorts)
+{
+    return ssSetNumOutputPorts(simstruct, numberOfPorts);
+}
 
-    bool SimulinkBlockInformation::setOutputPortVectorSize(unsigned portNumber, int portSize)
-    {
-        if (portSize == -1) portSize = DYNAMICALLY_SIZED;
-        return ssSetOutputPortVectorDimension(simstruct,  portNumber, portSize);
-    }
+bool SimulinkBlockInformation::setInputPortVectorSize(unsigned portNumber, int portSize)
+{
+    if (portSize == -1) portSize = DYNAMICALLY_SIZED;
+    return ssSetInputPortVectorDimension(simstruct,  portNumber, portSize);
+}
 
-    bool SimulinkBlockInformation::setOutputPortMatrixSize(unsigned portNumber, int rows, int columns)
-    {
-        if (rows == -1) rows = DYNAMICALLY_SIZED;
-        if (columns == -1) columns = DYNAMICALLY_SIZED;
-        return ssSetOutputPortMatrixDimensions(simstruct,  portNumber, rows, columns);
-    }
+bool SimulinkBlockInformation::setInputPortMatrixSize(unsigned portNumber, int rows, int columns)
+{
+    if (rows == -1) rows = DYNAMICALLY_SIZED;
+    if (columns == -1) columns = DYNAMICALLY_SIZED;
+    return ssSetInputPortMatrixDimensions(simstruct,  portNumber, rows, columns);
+}
 
-    bool SimulinkBlockInformation::setInputPortType(unsigned portNumber, PortDataType portType)
-    {
-        //for now force Direct feedthrough.. If needed create a separate method
-        ssSetInputPortDirectFeedThrough(simstruct, portNumber, 1);
-        int matlabDataType = -1;
-        switch (portType) {
-            case PortDataTypeDouble:
-                matlabDataType = SS_DOUBLE;
-                break;
-                case PortDataTypeSingle:
-                matlabDataType = SS_SINGLE;
-                break;
-            case PortDataTypeInt8:
-                matlabDataType = SS_INT8;
-                break;
-            case PortDataTypeUInt8:
-                matlabDataType = SS_UINT8;
-                break;
-            case PortDataTypeInt16:
-                matlabDataType = SS_INT16;
-                break;
-            case PortDataTypeUInt16:
-                matlabDataType = SS_UINT16;
-                break;
-            case PortDataTypeInt32:
-                matlabDataType = SS_INT32;
-                break;
-            case PortDataTypeUInt32:
-                matlabDataType = SS_UINT32;
-                break;
-            case PortDataTypeBoolean:
-                matlabDataType = SS_BOOLEAN;
-                break;
-        }
-        return ssSetInputPortDataType(simstruct, portNumber, matlabDataType);
-    }
+bool SimulinkBlockInformation::setOutputPortVectorSize(unsigned portNumber, int portSize)
+{
+    if (portSize == -1) portSize = DYNAMICALLY_SIZED;
+    return ssSetOutputPortVectorDimension(simstruct,  portNumber, portSize);
+}
 
-    bool SimulinkBlockInformation::setOutputPortType(unsigned portNumber, PortDataType portType)
-    {
-        int matlabDataType = -1;
-        switch (portType) {
-            case PortDataTypeDouble:
-                matlabDataType = SS_DOUBLE;
-                break;
+bool SimulinkBlockInformation::setOutputPortMatrixSize(unsigned portNumber, int rows, int columns)
+{
+    if (rows == -1) rows = DYNAMICALLY_SIZED;
+    if (columns == -1) columns = DYNAMICALLY_SIZED;
+    return ssSetOutputPortMatrixDimensions(simstruct,  portNumber, rows, columns);
+}
+
+bool SimulinkBlockInformation::setInputPortType(unsigned portNumber, PortDataType portType)
+{
+    //for now force Direct feedthrough.. If needed create a separate method
+    ssSetInputPortDirectFeedThrough(simstruct, portNumber, 1);
+    int matlabDataType = -1;
+    switch (portType) {
+        case PortDataTypeDouble:
+            matlabDataType = SS_DOUBLE;
+            break;
             case PortDataTypeSingle:
-                matlabDataType = SS_SINGLE;
-                break;
-            case PortDataTypeInt8:
-                matlabDataType = SS_INT8;
-                break;
-            case PortDataTypeUInt8:
-                matlabDataType = SS_UINT8;
-                break;
-            case PortDataTypeInt16:
-                matlabDataType = SS_INT16;
-                break;
-            case PortDataTypeUInt16:
-                matlabDataType = SS_UINT16;
-                break;
-            case PortDataTypeInt32:
-                matlabDataType = SS_INT32;
-                break;
-            case PortDataTypeUInt32:
-                matlabDataType = SS_UINT32;
-                break;
-            case PortDataTypeBoolean:
-                matlabDataType = SS_BOOLEAN;
-                break;
-        }
-        return ssSetOutputPortDataType(simstruct, portNumber, matlabDataType);
-    }
+            matlabDataType = SS_SINGLE;
+            break;
+        case PortDataTypeInt8:
+            matlabDataType = SS_INT8;
+            break;
+        case PortDataTypeUInt8:
+            matlabDataType = SS_UINT8;
+            break;
+        case PortDataTypeInt16:
+            matlabDataType = SS_INT16;
+            break;
+        case PortDataTypeUInt16:
+            matlabDataType = SS_UINT16;
+            break;
+        case PortDataTypeInt32:
+            matlabDataType = SS_INT32;
+            break;
+        case PortDataTypeUInt32:
+            matlabDataType = SS_UINT32;
+            break;
+        case PortDataTypeBoolean:
+            matlabDataType = SS_BOOLEAN;
+            break;
+    }
+    return ssSetInputPortDataType(simstruct, portNumber, matlabDataType);
+}
 
-    //Port data
-    unsigned SimulinkBlockInformation::getInputPortWidth(unsigned portNumber)
-    {
-        return ssGetInputPortWidth(simstruct, portNumber);
-    }
+bool SimulinkBlockInformation::setOutputPortType(unsigned portNumber, PortDataType portType)
+{
+    int matlabDataType = -1;
+    switch (portType) {
+        case PortDataTypeDouble:
+            matlabDataType = SS_DOUBLE;
+            break;
+        case PortDataTypeSingle:
+            matlabDataType = SS_SINGLE;
+            break;
+        case PortDataTypeInt8:
+            matlabDataType = SS_INT8;
+            break;
+        case PortDataTypeUInt8:
+            matlabDataType = SS_UINT8;
+            break;
+        case PortDataTypeInt16:
+            matlabDataType = SS_INT16;
+            break;
+        case PortDataTypeUInt16:
+            matlabDataType = SS_UINT16;
+            break;
+        case PortDataTypeInt32:
+            matlabDataType = SS_INT32;
+            break;
+        case PortDataTypeUInt32:
+            matlabDataType = SS_UINT32;
+            break;
+        case PortDataTypeBoolean:
+            matlabDataType = SS_BOOLEAN;
+            break;
+    }
+    return ssSetOutputPortDataType(simstruct, portNumber, matlabDataType);
+}
 
-    unsigned SimulinkBlockInformation::getOutputPortWidth(unsigned portNumber)
-    {
-        return ssGetOutputPortWidth(simstruct, portNumber);
-    }
+//Port data
+unsigned SimulinkBlockInformation::getInputPortWidth(unsigned portNumber) const
+{
+    return ssGetInputPortWidth(simstruct, portNumber);
+}
 
-    wbt::Signal SimulinkBlockInformation::getInputPortSignal(unsigned portNumber)
-    {
-        Signal signal;
-        InputPtrsType port = ssGetInputPortSignalPtrs(simstruct, portNumber);
-        bool isConstPort = true;
-        signal.initSignalType(PortDataTypeDouble, isConstPort);
-        signal.setNonContiguousBuffer(port);
-        return signal;
-    }
+unsigned SimulinkBlockInformation::getOutputPortWidth(unsigned portNumber) const
+{
+    return ssGetOutputPortWidth(simstruct, portNumber);
+}
+
+wbt::Signal SimulinkBlockInformation::getInputPortSignal(unsigned portNumber) const
+{
+    Signal signal;
+    InputPtrsType port = ssGetInputPortSignalPtrs(simstruct, portNumber);
+    bool isConstPort = true;
+    signal.initSignalType(PortDataTypeDouble, isConstPort);
+    signal.setNonContiguousBuffer(port);
+    return signal;
+}
 
-    wbt::Signal SimulinkBlockInformation::getOutputPortSignal(unsigned portNumber)
-    {
-        Signal signal;
-        bool isConstPort = false;
-        signal.initSignalType(PortDataTypeDouble, isConstPort);
-        signal.setContiguousBuffer(ssGetOutputPortSignal(simstruct, portNumber));
-        return signal;
-    }
 
+wbt::Signal SimulinkBlockInformation::getOutputPortSignal(unsigned portNumber) const
+{
+    Signal signal;
+    bool isConstPort = false;
+    signal.initSignalType(PortDataTypeDouble, isConstPort);
+    signal.setContiguousBuffer(ssGetOutputPortSignal(simstruct, portNumber));
+    return signal;
 }
diff --git a/toolbox/src/base/ToolboxSingleton.cpp b/toolbox/src/base/ToolboxSingleton.cpp
index a3d7981b5..19042b281 100644
--- a/toolbox/src/base/ToolboxSingleton.cpp
+++ b/toolbox/src/base/ToolboxSingleton.cpp
@@ -8,115 +8,103 @@
 #include <yarp/os/ResourceFinder.h>
 #include <yarp/os/Network.h>
 
-// TODO: remove nesting
-namespace wbt {
+using namespace wbt;
 
-    // CONSTRUCTOR / DESTRUCTOR
-    // ========================
+// CONSTRUCTOR / DESTRUCTOR
+// ========================
 
-    ToolboxSingleton::ToolboxSingleton() {}
-    ToolboxSingleton::~ToolboxSingleton() {}
+ToolboxSingleton::ToolboxSingleton() {}
+ToolboxSingleton::~ToolboxSingleton() {}
 
-    // UTILITIES
-    // =========
+// UTILITIES
+// =========
 
-    int ToolboxSingleton::numberOfDoFs(const std::string& confKey)
-    {
-        if (!isKeyValid(confKey))
-            return -1;
-        else
-            return m_interfaces[confKey]->getConfiguration().getNumberOfDoFs();
-    }
+int ToolboxSingleton::numberOfDoFs(const std::string& confKey)
+{
+    if (!isKeyValid(confKey))
+        return -1;
+    else
+        return m_interfaces[confKey]->getConfiguration().getNumberOfDoFs();
+}
 
-    bool ToolboxSingleton::isKeyValid(const std::string& confKey)
-    {
-        if (m_interfaces.find(confKey) != m_interfaces.end()) {
-            if (m_interfaces[confKey])
-                return true;
-            else
-                return false;
-        }
-        else {
+bool ToolboxSingleton::isKeyValid(const std::string& confKey)
+{
+    if (m_interfaces.find(confKey) != m_interfaces.end()) {
+        if (m_interfaces[confKey])
+            return true;
+        else
             return false;
-        }
     }
+    else {
+        return false;
+    }
+}
 
-    // GET METHODS
-    // ===========
+// GET METHODS
+// ===========
 
-    ToolboxSingleton& ToolboxSingleton::sharedInstance()
-    {
-        static ToolboxSingleton instance;
-        return instance;
-    }
+ToolboxSingleton& ToolboxSingleton::sharedInstance()
+{
+    static ToolboxSingleton instance;
+    return instance;
+}
+
+const Configuration& ToolboxSingleton::getConfiguration(const std::string& confKey)
+{
+    return getRobotInterface(confKey)->getConfiguration();
+}
 
-    const Configuration& ToolboxSingleton::getConfiguration(const std::string& confKey)
-    {
-        return getRobotInterface(confKey)->getConfiguration();
+const std::shared_ptr<RobotInterface> ToolboxSingleton::getRobotInterface(const std::string& confKey)
+{
+    if (!isKeyValid(confKey)) {
+        return nullptr;
     }
 
-    const std::shared_ptr<RobotInterface> ToolboxSingleton::getRobotInterface(const std::string& confKey)
-    {
-        if (!isKeyValid(confKey)) {
-            return nullptr;
-        }
+    return m_interfaces[confKey];
+}
 
-        return m_interfaces[confKey];
+const std::shared_ptr<iDynTree::KinDynComputations> ToolboxSingleton::getModel(const std::string& confKey)
+{
+    if (!isKeyValid(confKey)) {
+        return nullptr;
     }
 
-    const std::shared_ptr<iDynTree::KinDynComputations> ToolboxSingleton::getModel(const std::string& confKey)
-    {
-        if (!isKeyValid(confKey)) {
-            return nullptr;
-        }
+    return m_interfaces[confKey]->getKinDynComputations();
+}
 
-        return m_interfaces[confKey]->getKinDynComputations();
-    }
+// TOOLBOXSINGLETON CONFIGURATION
+// ==============================
 
-    // TOOLBOXSINGLETON CONFIGURATION
-    // ==============================
+bool ToolboxSingleton::storeConfiguration(const std::string& confKey, const Configuration& config)
+{
+    if (!config.isValid()) {
+        return false;
+    }
 
-    bool ToolboxSingleton::storeConfiguration(const std::string& confKey, const Configuration& config)
-    {
-        if (!config.isValid()) {
-            return false;
-        }
-
-        // Add the new Configuration object and override an existing key if it already exist.
-        // Note: Simulink doesn't flush memory unless Matlab is closed, and static objects stay in memory.
-        //       This may cause problems if the config block's mask is changed after the first compilation.
-        if (m_interfaces.find(confKey) == m_interfaces.end()) {
-            m_interfaces[confKey] = std::make_shared<RobotInterface>(config);
-            return static_cast<bool>(m_interfaces[confKey]);
-        }
-
-        if (!(m_interfaces[confKey]->getConfiguration() == config)) {
-            assert(m_interfaces[confKey]);
-
-            // Check that at top there are 2 instances of the model:
-            // the private member of RobotInterface and the one returned
-            // by the model() called by the assert itself
-            assert(getModel(confKey).use_count() <= 2);
-            // TODO: and also m_robotDeviceCounter should be max 1
-            //
-            // TODO: domani: quando finisce la simulazione (terminate) dovrei avere
-            //       dentro tutti i Configuration al massimo 1 sia di model che di
-            //       device (e le interfacce tutte chiuse?)
-
-            // Delete the old configuration (calling the destructor for cleaning garbage)
-            m_interfaces[confKey].reset();
-            m_interfaces.erase(confKey);
-
-            // Allocate a new configuration
-            m_interfaces[confKey] = std::make_shared<RobotInterface>(config);
-            return static_cast<bool>(m_interfaces[confKey]);
-        }
-
-        return true;
+    // Add the new Configuration object and override an existing key if it already exist.
+    // Note: Simulink doesn't flush memory unless Matlab is closed, and static objects stay in memory.
+    //       This may cause problems if the config block's mask is changed after the first compilation.
+    if (m_interfaces.find(confKey) == m_interfaces.end()) {
+        m_interfaces[confKey] = std::make_shared<RobotInterface>(config);
+        return static_cast<bool>(m_interfaces[confKey]);
     }
 
-    void ToolboxSingleton::eraseConfiguration(const std::string& confKey)
-    {
+    if (!(m_interfaces[confKey]->getConfiguration() == config)) {
+        assert(m_interfaces[confKey]);
+
+        // Delete the old configuration (calling the destructor for cleaning garbage)
+        m_interfaces[confKey].reset();
         m_interfaces.erase(confKey);
+
+        // Allocate a new configuration
+        m_interfaces[confKey] = std::make_shared<RobotInterface>(config);
+        return static_cast<bool>(m_interfaces[confKey]);
     }
+
+    return true;
+}
+
+void ToolboxSingleton::eraseConfiguration(const std::string& confKey)
+{
+    m_interfaces.erase(confKey);
 }
diff --git a/toolbox/src/base/WBBlock.cpp b/toolbox/src/base/WBBlock.cpp
index 27f9913f2..cf49a66de 100644
--- a/toolbox/src/base/WBBlock.cpp
+++ b/toolbox/src/base/WBBlock.cpp
@@ -30,7 +30,7 @@ iDynTreeRobotState::iDynTreeRobotState(const unsigned& dofs, const std::vector<d
 
 unsigned WBBlock::numberOfParameters() { return 2; }
 
-bool WBBlock::getWBToolboxParameters(Configuration& config, BlockInformation* blockInfo)
+bool WBBlock::getWBToolboxParameters(Configuration& config, const BlockInformation* blockInfo)
 {
     // Infos
     // =====
@@ -206,7 +206,7 @@ bool WBBlock::configureSizeAndPorts(BlockInformation* blockInfo)
     return true;
 }
 
-bool WBBlock::initialize(BlockInformation* blockInfo)
+bool WBBlock::initialize(const BlockInformation* blockInfo)
 {
     // CONFIGURE the ToolboxSingleton
     // ==============================
@@ -235,7 +235,7 @@ bool WBBlock::initialize(BlockInformation* blockInfo)
     return true;
 }
 
-bool WBBlock::terminate(BlockInformation* /*blockInfo*/)
+bool WBBlock::terminate(const BlockInformation* /*blockInfo*/)
 {
     return true;
 }
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index e30b81379..2d1d5f828 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -1,46 +1,48 @@
 #include "toolbox.h"
 
-wbt::Block* wbt::Block::instantiateBlockWithClassName(std::string blockClassName)
+using namespace wbt;
+
+Block* Block::instantiateBlockWithClassName(std::string blockClassName)
 {
-    wbt::Block *block = NULL;
+    Block* block = nullptr;
 
-    if (blockClassName == wbt::YarpRead::ClassName) {
-        block = new wbt::YarpRead();
-    } else if (blockClassName == wbt::YarpWrite::ClassName) {
-        block = new wbt::YarpWrite();
-    } else if (blockClassName == wbt::ModelPartitioner::ClassName) {
-        block = new wbt::ModelPartitioner();
-    } else if (blockClassName == wbt::YarpClock::ClassName) {
-        block = new wbt::YarpClock();
-    } else if (blockClassName == wbt::MassMatrix::ClassName) {
-        block = new wbt::MassMatrix();
-    } else if (blockClassName == wbt::ForwardKinematics::ClassName) {
-        block = new wbt::ForwardKinematics();
-    } else if (blockClassName == wbt::SetReferences::ClassName) {
-        block = new wbt::SetReferences();
-    } else if (blockClassName == wbt::RealTimeSynchronizer::ClassName) {
-        block = new wbt::RealTimeSynchronizer();
-    } else if (blockClassName == wbt::SimulatorSynchronizer::ClassName) {
-        block = new wbt::SimulatorSynchronizer();
-    } else if (blockClassName == wbt::Jacobian::ClassName) {
-        block = new wbt::Jacobian();
-    } else if (blockClassName == wbt::GetMeasurement::ClassName) {
-        block = new wbt::GetMeasurement();
-    } else if (blockClassName == wbt::InverseDynamics::ClassName) {
-        block = new wbt::InverseDynamics();
-    } else if (blockClassName == wbt::DotJNu::ClassName) {
-        block = new wbt::DotJNu();
-    } else if (blockClassName == wbt::GetLimits::ClassName) {
-        block = new wbt::GetLimits();
-    } else if (blockClassName == wbt::CentroidalMomentum::ClassName) {
-        block = new wbt::CentroidalMomentum();
-    } else if (blockClassName == wbt::SetLowLevelPID::ClassName) {
-        block = new wbt::SetLowLevelPID();
+    if (blockClassName == YarpRead::ClassName) {
+        block = new YarpRead();
+    } else if (blockClassName == YarpWrite::ClassName) {
+        block = new YarpWrite();
+    } else if (blockClassName == ModelPartitioner::ClassName) {
+        block = new ModelPartitioner();
+    } else if (blockClassName == YarpClock::ClassName) {
+        block = new YarpClock();
+    } else if (blockClassName == MassMatrix::ClassName) {
+        block = new MassMatrix();
+    } else if (blockClassName == ForwardKinematics::ClassName) {
+        block = new ForwardKinematics();
+    } else if (blockClassName == SetReferences::ClassName) {
+        block = new SetReferences();
+    } else if (blockClassName == RealTimeSynchronizer::ClassName) {
+        block = new RealTimeSynchronizer();
+    } else if (blockClassName == SimulatorSynchronizer::ClassName) {
+        block = new SimulatorSynchronizer();
+    } else if (blockClassName == Jacobian::ClassName) {
+        block = new Jacobian();
+    } else if (blockClassName == GetMeasurement::ClassName) {
+        block = new GetMeasurement();
+    } else if (blockClassName == InverseDynamics::ClassName) {
+        block = new InverseDynamics();
+    } else if (blockClassName == DotJNu::ClassName) {
+        block = new DotJNu();
+    } else if (blockClassName == GetLimits::ClassName) {
+        block = new GetLimits();
+    } else if (blockClassName == CentroidalMomentum::ClassName) {
+        block = new CentroidalMomentum();
+    } else if (blockClassName == SetLowLevelPID::ClassName) {
+        block = new SetLowLevelPID();
     }
 #ifdef WBT_USES_ICUB
-    else if (blockClassName == wbt::MinimumJerkTrajectoryGenerator::ClassName) {
-        block = new wbt::MinimumJerkTrajectoryGenerator();
-    } 
+    else if (blockClassName == MinimumJerkTrajectoryGenerator::ClassName) {
+        block = new MinimumJerkTrajectoryGenerator();
+    }
 #endif
 #ifdef WBT_USES_IPOPT
     else if (blockClassName == wbt::InverseKinematics::ClassName) {

From 579174b529735fee79cb233305a10e8912653a62 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 08:52:47 +0000
Subject: [PATCH 40/89] Switched to std::array for storing the gravity vector

---
 toolbox/include/base/Configuration.h | 9 +++++----
 toolbox/include/base/WBBlock.h       | 3 ++-
 toolbox/src/base/Configuration.cpp   | 6 +++---
 toolbox/src/base/WBBlock.cpp         | 8 ++++++--
 4 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/toolbox/include/base/Configuration.h b/toolbox/include/base/Configuration.h
index 192656cdf..9b70142ac 100644
--- a/toolbox/include/base/Configuration.h
+++ b/toolbox/include/base/Configuration.h
@@ -2,6 +2,7 @@
 #define WBT_TOOLBOXCONFIG_H
 
 #include <vector>
+#include <array>
 #include <string>
 
 namespace wbt {
@@ -25,7 +26,7 @@ class wbt::Configuration
     std::string m_localName; ///< Prefix appended to the opened ports
     std::vector<std::string> m_controlledJoints;   ///< Subset of controlled joints
     std::vector<std::string> m_controlBoardsNames; ///< Names of the used ControlBoard names
-    std::vector<double> m_gravityVector; ///< The gravity vector
+    std::array<double ,3> m_gravityVector; ///< The gravity vector
     size_t m_dofs; //< DoFs extracted my m_controlBoardsNames vector
 
 public:
@@ -50,7 +51,7 @@ class wbt::Configuration
                        std::vector<std::string> controlledJoints,
                        std::vector<std::string> controlBoardsNames,
                        std::string localName,
-                       std::vector<double> gravityVector);
+                       std::array<double, 3> gravityVector);
 
     /**
      * Set the name of the robot
@@ -88,7 +89,7 @@ class wbt::Configuration
      * Set the gravity vector
      * @param gravityVector The gravity vector
      */
-    void setGravityVector(const std::vector<double>& gravityVector);
+    void setGravityVector(const std::array<double, 3>& gravityVector);
 
     // GET METHODS
     // ===========
@@ -133,7 +134,7 @@ class wbt::Configuration
      *
      * @return The gravity vector
      */
-    const std::vector<double>& getGravityVector() const;
+    const std::array<double, 3>& getGravityVector() const;
 
     /**
      * Get the configured number of DoFs
diff --git a/toolbox/include/base/WBBlock.h b/toolbox/include/base/WBBlock.h
index b3d5cf33c..227795a1c 100644
--- a/toolbox/include/base/WBBlock.h
+++ b/toolbox/include/base/WBBlock.h
@@ -3,6 +3,7 @@
 
 #include "Block.h"
 #include <string>
+#include <array>
 #include <memory>
 #include <iDynTree/Core/VectorFixSize.h>
 #include <iDynTree/Core/VectorDynSize.h>
@@ -36,7 +37,7 @@ struct iDynTreeRobotState {
     iDynTreeRobotState() = default;
     ~iDynTreeRobotState() = default;
 
-    iDynTreeRobotState(const unsigned& dofs, const std::vector<double>& gravity);
+    iDynTreeRobotState(const unsigned& dofs, const std::array<double, 3>& gravity);
 };
 
 /**
diff --git a/toolbox/src/base/Configuration.cpp b/toolbox/src/base/Configuration.cpp
index d28857016..a963a3b41 100644
--- a/toolbox/src/base/Configuration.cpp
+++ b/toolbox/src/base/Configuration.cpp
@@ -14,7 +14,7 @@ void Configuration::setParameters(std::string robotName,
                                   std::vector<std::string> controlledJoints,
                                   std::vector<std::string> controlBoardsNames,
                                   std::string localName,
-                                  std::vector<double> gravityVector)
+                                  std::array<double, 3> gravityVector)
 {
     setRobotName(robotName);
     setUrdfFile(urdfFile);
@@ -50,7 +50,7 @@ void Configuration::setLocalName(const std::string& localName)
     m_localName = localName;
 }
 
-void Configuration::setGravityVector(const std::vector<double>& gravityVector)
+void Configuration::setGravityVector(const std::array<double, 3>& gravityVector)
 {
     m_gravityVector = gravityVector;
 }
@@ -83,7 +83,7 @@ const std::string& Configuration::getLocalName() const
     return m_localName;
 }
 
-const std::vector<double>& Configuration::getGravityVector() const
+const std::array<double, 3>& Configuration::getGravityVector() const
 {
     return m_gravityVector;
 }
diff --git a/toolbox/src/base/WBBlock.cpp b/toolbox/src/base/WBBlock.cpp
index cf49a66de..0c344e33f 100644
--- a/toolbox/src/base/WBBlock.cpp
+++ b/toolbox/src/base/WBBlock.cpp
@@ -19,7 +19,7 @@ const unsigned WBBlock::ConfigurationParameterIndex = 1; // Struct from Simulink
 const unsigned WBBlock::ConfBlockNameParameterIndex = 2; // Absolute name of the block containing the
                                                          // configuration
 
-iDynTreeRobotState::iDynTreeRobotState(const unsigned& dofs, const std::vector<double>& gravity)
+iDynTreeRobotState::iDynTreeRobotState(const unsigned& dofs, const std::array<double, 3>& gravity)
 : m_gravity(gravity.data(), 3)
 , m_jointsVelocity(dofs)
 , m_jointsPosition(dofs)
@@ -130,6 +130,10 @@ bool WBBlock::getWBToolboxParameters(Configuration& config, const BlockInformati
         Log::getSingleton().error("Cannot retrieve vector from GravityVector parameter.");
         return false;
     }
+    std::array<double, 3> gravityArray;
+    for (auto i : gravityVector) {
+        gravityArray[i] = i;
+    }
 
     // Create the ToolboxConfig object
     // ===============================
@@ -140,7 +144,7 @@ bool WBBlock::getWBToolboxParameters(Configuration& config, const BlockInformati
     config.setControlledJoints(controlledJoints);
     config.setControlBoardsNames(controlBoardsNames);
     config.setLocalName(localName);
-    config.setGravityVector(gravityVector);
+    config.setGravityVector(gravityArray);
 
     return true;
 }

From 8c61547526f4bcbfc782c4a18bb5bc0e9b2595cb Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 08:55:21 +0000
Subject: [PATCH 41/89] Switched to std::unique_ptr for PolyDriver member

The RemoteControlBoardRemapper is never shared, and it makes sense for RobotInterface being the only one maintaining its ownership
---
 toolbox/include/base/RobotInterface.h | 2 +-
 toolbox/src/base/RobotInterface.cpp   | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/toolbox/include/base/RobotInterface.h b/toolbox/include/base/RobotInterface.h
index 83da54cde..1c1fb4ab2 100644
--- a/toolbox/include/base/RobotInterface.h
+++ b/toolbox/include/base/RobotInterface.h
@@ -86,7 +86,7 @@ struct wbt::YarpDevices
 class wbt::RobotInterface
 {
 private:
-    std::shared_ptr<yarp::dev::PolyDriver> m_robotDevice;
+    std::unique_ptr<yarp::dev::PolyDriver> m_robotDevice;
     std::shared_ptr<iDynTree::KinDynComputations> m_kinDynComp;
     wbt::YarpDevices m_yarpDevices;
 
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index 59633f63b..9c2d859fa 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -378,7 +378,8 @@ bool RobotInterface::initializeRemoteControlBoardRemapper()
     remoteCBOpts.put("writeStrict","on");
 
     // Allocate the device driver
-    m_robotDevice = std::make_shared<yarp::dev::PolyDriver>();
+    assert(!m_robotDevice);
+    m_robotDevice = std::unique_ptr<yarp::dev::PolyDriver>(new yarp::dev::PolyDriver());
 
     if (!m_robotDevice) {
         return false;

From a3c61c55870d6a4aa42bd0887d82fd0759f88944 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 08:56:53 +0000
Subject: [PATCH 42/89] Changed the name of the getDevice template to
 getInterfaceFromTemplate

Before the name was misleading
---
 toolbox/include/base/RobotInterface.h |  3 ++-
 toolbox/src/base/RobotInterface.cpp   | 22 +++++++++++-----------
 2 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/toolbox/include/base/RobotInterface.h b/toolbox/include/base/RobotInterface.h
index 1c1fb4ab2..6b85789d3 100644
--- a/toolbox/include/base/RobotInterface.h
+++ b/toolbox/include/base/RobotInterface.h
@@ -132,7 +132,8 @@ class wbt::RobotInterface
      * @return        The dynamic(ally)_cast device
      * @tparam T      The type of the retured device
      */
-    template <typename T> std::weak_ptr<T> getDevice(std::shared_ptr<T> device);
+    template <typename T>
+    std::weak_ptr<T> getInterfaceFromTemplate(std::shared_ptr<T> device);
 
     /**
      * Creates the map between joints (specified as either names or idyntree indices) and
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index 9c2d859fa..4e1fccbb0 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -195,70 +195,70 @@ const std::shared_ptr<iDynTree::KinDynComputations> RobotInterface::getKinDynCom
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IControlMode2>& interface)
 {
-    interface = getDevice(m_yarpDevices.iControlMode2);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iControlMode2);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPositionControl>& interface)
 {
-    interface = getDevice(m_yarpDevices.iPositionControl);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iPositionControl);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPositionDirect>& interface)
 {
-    interface = getDevice(m_yarpDevices.iPositionDirect);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iPositionDirect);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IVelocityControl>& interface)
 {
-    interface = getDevice(m_yarpDevices.iVelocityControl);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iVelocityControl);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::ITorqueControl>& interface)
 {
-    interface = getDevice(m_yarpDevices.iTorqueControl);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iTorqueControl);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPWMControl>& interface)
 {
-    interface = getDevice(m_yarpDevices.iPWMControl);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iPWMControl);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::ICurrentControl>& interface)
 {
-    interface = getDevice(m_yarpDevices.iCurrentControl);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iCurrentControl);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IEncoders>& interface)
 {
-    interface = getDevice(m_yarpDevices.iEncoders);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iEncoders);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IControlLimits2>& interface)
 {
-    interface = getDevice(m_yarpDevices.iControlLimits2);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iControlLimits2);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPidControl>& interface)
 {
-    interface = getDevice(m_yarpDevices.iPidControl);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iPidControl);
     return !interface.expired();
 }
 
@@ -399,7 +399,7 @@ bool RobotInterface::initializeRemoteControlBoardRemapper()
 // =============
 
 template <typename T>
-std::weak_ptr<T> RobotInterface::getDevice(std::shared_ptr<T> device)
+std::weak_ptr<T> RobotInterface::getInterfaceFromTemplate(std::shared_ptr<T> device)
 {
     if (!device) {
         // Blocks which require the RemoteControlBoardRemapper need to retain / release it

From 1dd9789559789d12aca826525b8b118ed99a236d Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 09:00:35 +0000
Subject: [PATCH 43/89] Removed Eigen from AnyType and MxAnyType

This interface exposes vector and matrix data as std::vector. The C++11 std::vector::data() method might be used from the user to gather the raw buffer for initializing Eigen objects if needed.
---
 MxAnyType/CMakeLists.txt      |  4 ----
 MxAnyType/include/AnyType.h   |  6 ------
 MxAnyType/include/MxAnyType.h |  1 -
 MxAnyType/src/MxAnyType.cpp   | 16 +++++-----------
 4 files changed, 5 insertions(+), 22 deletions(-)

diff --git a/MxAnyType/CMakeLists.txt b/MxAnyType/CMakeLists.txt
index 8d3250642..4faaebad7 100644
--- a/MxAnyType/CMakeLists.txt
+++ b/MxAnyType/CMakeLists.txt
@@ -32,10 +32,6 @@ if (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
     set_target_properties(${VARS_PREFIX} PROPERTIES COMPILE_FLAGS "-fPIC")
 endif()
 
-# Find Eigen
-find_package(Eigen3 REQUIRED)
-target_include_directories(${VARS_PREFIX} PUBLIC "${EIGEN3_INCLUDE_DIR}")
-
 # Find Matlab resources
 find_package(Matlab REQUIRED MX_LIBRARY)
 # target_include_directories(${VARS_PREFIX} SYSTEM PUBLIC "${Matlab_INCLUDE_DIRS}") // TODO: when committing
diff --git a/MxAnyType/include/AnyType.h b/MxAnyType/include/AnyType.h
index 1637b38b8..a13d1d03a 100644
--- a/MxAnyType/include/AnyType.h
+++ b/MxAnyType/include/AnyType.h
@@ -1,7 +1,6 @@
 #ifndef ANYTYPE_H
 #define ANYTYPE_H
 
-#include <Eigen/Core>
 #include <vector>
 #include <unordered_map>
 #include <memory>
@@ -15,13 +14,9 @@ typedef std::unordered_map<std::string, AnyTypeSPtr> AnyStruct;
 class AnyType
 {
 protected:
-    // void* m_AnyData;
 
 public:
-    // AnyType() : m_AnyData(nullptr) {};
     AnyType() = default;
-    // virtual void* getAnyDataPtr() const = 0;
-
     virtual ~AnyType() = default;
 
     // Integers
@@ -60,7 +55,6 @@ class AnyType
     // virtual bool asMatrixDouble(Eigen::MatrixXd mat) = 0;
 
     // Vector
-    virtual bool asVectorDouble(Eigen::VectorXd& vec)     = 0;
     virtual bool asVectorDouble(std::vector<double>& vec) = 0;
 };
 
diff --git a/MxAnyType/include/MxAnyType.h b/MxAnyType/include/MxAnyType.h
index 21fc7090f..b8990b741 100644
--- a/MxAnyType/include/MxAnyType.h
+++ b/MxAnyType/include/MxAnyType.h
@@ -92,7 +92,6 @@ class MxAnyType : public AnyType
     // VECTOR
     // ======
 
-    bool asVectorDouble(Eigen::VectorXd& vec) override;
     bool asVectorDouble(std::vector<double>& vec) override;
 };
 
diff --git a/MxAnyType/src/MxAnyType.cpp b/MxAnyType/src/MxAnyType.cpp
index 77a2f10f4..55e7fe61c 100644
--- a/MxAnyType/src/MxAnyType.cpp
+++ b/MxAnyType/src/MxAnyType.cpp
@@ -184,8 +184,9 @@ bool MxAnyType::asAnyCell(AnyCell& cell)
 // VECTOR
 // ======
 
-// TODO tests with other types (uint8) https://it.mathworks.com/help/matlab/apiref/mxgetdata.html (Descriptio)
-bool MxAnyType::asVectorDouble(Eigen::VectorXd& vec)
+// TODO:
+// Tests with other types (uint8) https://it.mathworks.com/help/matlab/apiref/mxgetdata.html (Description)
+bool MxAnyType::asVectorDouble(std::vector<double>& vec)
 {
     if (!mx) return false;
     if (!mxIsDouble(mx)) return false;
@@ -200,14 +201,7 @@ bool MxAnyType::asVectorDouble(Eigen::VectorXd& vec)
     double* buffer = mxGetPr(mx);
     if (!buffer) return false;
 
-    vec = Eigen::Map<Eigen::VectorXd>(buffer, md.nElem);
-    return true;
-}
-
-bool MxAnyType::asVectorDouble(std::vector<double>& vec)
-{
-    Eigen::VectorXd vecEigen;
-    if (!asVectorDouble(vecEigen)) return false;
-    vec.assign(vecEigen.data(), vecEigen.data() + vecEigen.rows() * vecEigen.cols());
+    vec.reserve(md.rows * md.cols);
+    vec.assign(buffer, buffer + md.rows * md.cols);
     return true;
 }

From d4dd040fc443c44f691e98a119acef03337e9c6d Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 09:32:24 +0000
Subject: [PATCH 44/89] Disabled InverseKinematics block

The algorithm used by IK will be ported in another task from iKin to iDynTree
---
 toolbox/CMakeLists.txt | 32 ++++++++++++++++----------------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 93f3a71b7..007f2d0e5 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -80,11 +80,11 @@ configure_block(BLOCK_NAME "Base"
             include/base/RobotInterface.h
             )
 
-configure_block(BLOCK_NAME "Inverse Kinematics"
-    GROUP "Model"
-    LIST_PREFIX WBT
-    SOURCES src/RemoteInverseKinematics.cpp
-    HEADERS include/RemoteInverseKinematics.h)
+# configure_block(BLOCK_NAME "Inverse Kinematics"
+#     GROUP "Model"
+#     LIST_PREFIX WBT
+#     SOURCES src/RemoteInverseKinematics.cpp
+#     HEADERS include/RemoteInverseKinematics.h)
 
 option(WBT_USES_ICUB "Build models which need iCub library (e.g. Minimum Jerk Traj. Generator)" ON)
 if (WBT_USES_ICUB)
@@ -97,17 +97,17 @@ if (WBT_USES_ICUB)
         SOURCES src/MinimumJerkTrajectoryGenerator.cpp
         HEADERS include/MinimumJerkTrajectoryGenerator.h)
 
-    if (${ICUB_USE_IPOPT})
-        find_package(iDynTree REQUIRED)
-        add_definitions(-DWBT_USES_IPOPT)
-        configure_block(BLOCK_NAME "Inverse Kinematics"
-            GROUP "Model"
-            LIST_PREFIX WBT
-            SOURCES src/InverseKinematics.cpp 
-            HEADERS include/InverseKinematics.h)
-
-        include_directories(SYSTEM ${iKin_INCLUDE_DIRS})
-    endif()
+    # if (${ICUB_USE_IPOPT})
+    #     find_package(iDynTree REQUIRED)
+    #     add_definitions(-DWBT_USES_IPOPT)
+    #     configure_block(BLOCK_NAME "Inverse Kinematics"
+    #         GROUP "Model"
+    #         LIST_PREFIX WBT
+    #         SOURCES src/InverseKinematics.cpp
+    #         HEADERS include/InverseKinematics.h)
+    #
+    #     include_directories(SYSTEM ${iKin_INCLUDE_DIRS})
+    # endif()
 
     include_directories(SYSTEM ${ctrlLib_INCLUDE_DIRS})
 endif()

From f2f31caaf43fd979448c56e1ee4b533cf5e8fd2c Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 13:16:03 +0000
Subject: [PATCH 45/89] Switched to smart pointers for private members of all
 the blocks

---
 toolbox/include/CentroidalMomentum.h          |  5 +++-
 toolbox/include/DotJNu.h                      |  5 +++-
 toolbox/include/ForwardKinematics.h           |  3 ++
 toolbox/include/GetLimits.h                   |  1 +
 toolbox/include/InverseDynamics.h             |  9 ++++--
 toolbox/include/Jacobian.h                    |  6 ++--
 toolbox/include/MassMatrix.h                  |  5 ++--
 .../include/MinimumJerkTrajectoryGenerator.h  |  8 +++--
 toolbox/include/ModelPartitioner.h            |  1 +
 toolbox/include/SetReferences.h               |  1 +
 toolbox/include/SimulatorSynchronizer.h       |  3 +-
 toolbox/include/YarpClock.h                   |  3 ++
 toolbox/include/YarpRead.h                    |  4 ++-
 toolbox/include/YarpWrite.h                   |  4 ++-
 toolbox/src/CentroidalMomentum.cpp            | 13 ++------
 toolbox/src/DotJNu.cpp                        | 13 ++------
 toolbox/src/InverseDynamics.cpp               | 30 +++++--------------
 toolbox/src/Jacobian.cpp                      | 19 +++---------
 toolbox/src/MassMatrix.cpp                    | 13 ++------
 .../src/MinimumJerkTrajectoryGenerator.cpp    | 24 ++++-----------
 toolbox/src/SimulatorSynchronizer.cpp         |  5 +---
 toolbox/src/YarpRead.cpp                      |  5 +---
 toolbox/src/YarpWrite.cpp                     |  5 +---
 23 files changed, 72 insertions(+), 113 deletions(-)

diff --git a/toolbox/include/CentroidalMomentum.h b/toolbox/include/CentroidalMomentum.h
index 754e4249b..bfb620a60 100644
--- a/toolbox/include/CentroidalMomentum.h
+++ b/toolbox/include/CentroidalMomentum.h
@@ -2,6 +2,7 @@
 #define WBT_CENTROIDALMOMENTUM_H
 
 #include "WBBlock.h"
+#include <memory>
 
 namespace wbt {
     class CentroidalMomentum;
@@ -14,7 +15,7 @@ namespace iDynTree {
 class wbt::CentroidalMomentum : public wbt::WBBlock
 {
 private:
-    iDynTree::SpatialMomentum* m_centroidalMomentum;
+    std::unique_ptr<iDynTree::SpatialMomentum> m_centroidalMomentum;
 
     static const unsigned INPUT_IDX_BASE_POSE;
     static const unsigned INPUT_IDX_JOINTCONF;
@@ -24,7 +25,9 @@ class wbt::CentroidalMomentum : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
+
     CentroidalMomentum();
+    ~CentroidalMomentum() override = default;
 
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
diff --git a/toolbox/include/DotJNu.h b/toolbox/include/DotJNu.h
index 9c70fe864..409a185af 100644
--- a/toolbox/include/DotJNu.h
+++ b/toolbox/include/DotJNu.h
@@ -2,6 +2,7 @@
 #define WBT_DOTJDOTQ_H
 
 #include "WBBlock.h"
+#include <memory>
 #include <iDynTree/Model/Indices.h>
 #include <iDynTree/Core/VectorFixSize.h>
 
@@ -13,7 +14,7 @@ class wbt::DotJNu : public wbt::WBBlock
 {
 private:
     // Output
-    iDynTree::Vector6* m_dotJNu;
+    std::unique_ptr<iDynTree::Vector6> m_dotJNu;
 
     // Other variables
     bool m_frameIsCoM;
@@ -27,7 +28,9 @@ class wbt::DotJNu : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
+    
     DotJNu();
+    ~DotJNu() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
diff --git a/toolbox/include/ForwardKinematics.h b/toolbox/include/ForwardKinematics.h
index 4a683e761..4cf69167a 100644
--- a/toolbox/include/ForwardKinematics.h
+++ b/toolbox/include/ForwardKinematics.h
@@ -2,6 +2,7 @@
 #define WBT_FORWARDKINEMATICS_H
 
 #include "WBBlock.h"
+#include <memory>
 #include <iDynTree/Model/Indices.h>
 
 namespace wbt {
@@ -20,7 +21,9 @@ class wbt::ForwardKinematics : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
+
     ForwardKinematics();
+    ~ForwardKinematics() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
diff --git a/toolbox/include/GetLimits.h b/toolbox/include/GetLimits.h
index fcabddeb0..3a0310fe9 100644
--- a/toolbox/include/GetLimits.h
+++ b/toolbox/include/GetLimits.h
@@ -27,6 +27,7 @@ class wbt::GetLimits : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
+    
     GetLimits() = default;
     ~GetLimits() override = default;
 
diff --git a/toolbox/include/InverseDynamics.h b/toolbox/include/InverseDynamics.h
index 63c8e8a3e..afb1d2ca5 100644
--- a/toolbox/include/InverseDynamics.h
+++ b/toolbox/include/InverseDynamics.h
@@ -2,6 +2,7 @@
 #define WBT_INVERSEDYNAMICS_H
 
 #include "WBBlock.h"
+#include <memory>
 #include <iDynTree/Core/VectorFixSize.h>
 
 namespace wbt {
@@ -16,11 +17,11 @@ namespace iDynTree {
 class wbt::InverseDynamics : public wbt::WBBlock
 {
 private:
-    iDynTree::Vector6*       m_baseAcceleration;
-    iDynTree::VectorDynSize* m_jointsAcceleration;
+    std::unique_ptr<iDynTree::Vector6>       m_baseAcceleration;
+    std::unique_ptr<iDynTree::VectorDynSize> m_jointsAcceleration;
 
     // Output
-    iDynTree::FreeFloatingGeneralizedTorques* m_torques;
+    std::unique_ptr<iDynTree::FreeFloatingGeneralizedTorques> m_torques;
 
     static const unsigned INPUT_IDX_BASE_POSE;
     static const unsigned INPUT_IDX_JOINTCONF;
@@ -32,7 +33,9 @@ class wbt::InverseDynamics : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
+
     InverseDynamics();
+    ~InverseDynamics() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
diff --git a/toolbox/include/Jacobian.h b/toolbox/include/Jacobian.h
index 5db8f6d95..a38a968c6 100644
--- a/toolbox/include/Jacobian.h
+++ b/toolbox/include/Jacobian.h
@@ -2,6 +2,7 @@
 #define WBT_JACOBIAN_H
 
 #include "WBBlock.h"
+#include <memory>
 #include <iDynTree/Model/Indices.h>
 
 namespace wbt {
@@ -16,10 +17,10 @@ class wbt::Jacobian : public wbt::WBBlock
 {
 private:
     // Support variables
-    iDynTree::MatrixDynSize* m_jacobianCOM;
+    std::unique_ptr<iDynTree::MatrixDynSize> m_jacobianCOM;
 
     // Output
-    iDynTree::MatrixDynSize* m_jacobian;
+    std::unique_ptr<iDynTree::MatrixDynSize> m_jacobian;
 
     // Other variables
     bool m_frameIsCoM;
@@ -32,6 +33,7 @@ class wbt::Jacobian : public wbt::WBBlock
 public:
     static const std::string ClassName;
     Jacobian();
+    ~Jacobian() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
diff --git a/toolbox/include/MassMatrix.h b/toolbox/include/MassMatrix.h
index 4ebea06b8..cd048c74d 100644
--- a/toolbox/include/MassMatrix.h
+++ b/toolbox/include/MassMatrix.h
@@ -2,6 +2,7 @@
 #define WBT_MASSMATRIX_H
 
 #include "WBBlock.h"
+#include <memory>
 
 namespace wbt {
     class MassMatrix;
@@ -14,7 +15,7 @@ namespace iDynTree {
 class wbt::MassMatrix : public wbt::WBBlock
 {
 private:
-    iDynTree::MatrixDynSize* m_massMatrix;
+    std::unique_ptr<iDynTree::MatrixDynSize> m_massMatrix;
 
     static const unsigned INPUT_IDX_BASE_POSE;
     static const unsigned INPUT_IDX_JOINTCONF;
@@ -23,7 +24,7 @@ class wbt::MassMatrix : public wbt::WBBlock
 public:
     static const std::string ClassName;
     MassMatrix();
-    ~MassMatrix() = default;
+    ~MassMatrix() override = default;
 
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
diff --git a/toolbox/include/MinimumJerkTrajectoryGenerator.h b/toolbox/include/MinimumJerkTrajectoryGenerator.h
index 5d175e7ab..1e0250a25 100644
--- a/toolbox/include/MinimumJerkTrajectoryGenerator.h
+++ b/toolbox/include/MinimumJerkTrajectoryGenerator.h
@@ -1,4 +1,5 @@
 #include "Block.h"
+#include <memory>
 
 #ifndef WBT_MINJERKTRAJGENERATOR_H
 #define WBT_MINJERKTRAJGENERATOR_H
@@ -25,6 +26,7 @@ class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
     static const std::string ClassName;
 
     MinimumJerkTrajectoryGenerator();
+    ~MinimumJerkTrajectoryGenerator() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
@@ -34,7 +36,7 @@ class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
 
 private:
 
-    iCub::ctrl::minJerkTrajGen* m_generator;
+    std::unique_ptr<iCub::ctrl::minJerkTrajGen> m_generator;
 
     int m_outputFirstDerivativeIndex;
     int m_outputSecondDerivativeIndex;
@@ -45,8 +47,8 @@ class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
     bool m_explicitInitialValue;
     bool m_externalSettlingTime;
     bool m_resetOnSettlingTimeChange;
-    yarp::sig::Vector* m_initialValues;
-    yarp::sig::Vector* m_reference;
+    std::unique_ptr<yarp::sig::Vector> m_initialValues;
+    std::unique_ptr<yarp::sig::Vector> m_reference;
 
     static const unsigned PARAM_IDX_SAMPLE_TIME;           // Sample Time (double)
     static const unsigned PARAM_IDX_SETTLING_TIME;         // Settling Time (double)
diff --git a/toolbox/include/ModelPartitioner.h b/toolbox/include/ModelPartitioner.h
index 2a8b5c435..32c57c098 100644
--- a/toolbox/include/ModelPartitioner.h
+++ b/toolbox/include/ModelPartitioner.h
@@ -19,6 +19,7 @@ class wbt::ModelPartitioner : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
+    
     ModelPartitioner() = default;
     ~ModelPartitioner() override = default;
 
diff --git a/toolbox/include/SetReferences.h b/toolbox/include/SetReferences.h
index d599a1410..74b5c4b19 100644
--- a/toolbox/include/SetReferences.h
+++ b/toolbox/include/SetReferences.h
@@ -19,6 +19,7 @@ class wbt::SetReferences : public wbt::WBBlock
     static const std::string ClassName;
 
     SetReferences();
+    ~SetReferences() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
diff --git a/toolbox/include/SimulatorSynchronizer.h b/toolbox/include/SimulatorSynchronizer.h
index f307c8fc7..7b7793870 100644
--- a/toolbox/include/SimulatorSynchronizer.h
+++ b/toolbox/include/SimulatorSynchronizer.h
@@ -2,6 +2,7 @@
 #define WBT_SIMULATORSYNCHRONIZER_H
 
 #include "Block.h"
+#include <memory>
 
 namespace wbt {
     class SimulatorSynchronizer;
@@ -27,7 +28,7 @@ class wbt::SimulatorSynchronizer : public wbt::Block
     bool m_firstRun;
 
     struct RPCData;
-    RPCData* m_rpcData;
+    std::unique_ptr<RPCData> m_rpcData;
 
     static const unsigned PARAM_PERIOD;     // Period
     static const unsigned PARAM_GZCLK_PORT; // Gazebo clock port
diff --git a/toolbox/include/YarpClock.h b/toolbox/include/YarpClock.h
index c4857e8e0..430c78838 100644
--- a/toolbox/include/YarpClock.h
+++ b/toolbox/include/YarpClock.h
@@ -12,6 +12,9 @@ class wbt::YarpClock : public wbt::Block
 public:
     static const std::string ClassName;
 
+    YarpClock() = default;
+    ~YarpClock() override = default;
+
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
     bool initialize(const BlockInformation* blockInfo) override;
diff --git a/toolbox/include/YarpRead.h b/toolbox/include/YarpRead.h
index 6fed985ad..33d9f6e64 100644
--- a/toolbox/include/YarpRead.h
+++ b/toolbox/include/YarpRead.h
@@ -2,6 +2,7 @@
 #define WBT_YARPREAD_H
 
 #include "Block.h"
+#include <memory>
 
 namespace wbt {
     class YarpRead;
@@ -23,6 +24,7 @@ class wbt::YarpRead : public wbt::Block
     static const std::string ClassName;
 
     YarpRead();
+    ~YarpRead() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
@@ -36,7 +38,7 @@ class wbt::YarpRead : public wbt::Block
     bool m_shouldReadTimestamp;
     bool m_errorOnMissingPort;
 
-    yarp::os::BufferedPort<yarp::sig::Vector>* m_port;
+    std::unique_ptr<yarp::os::BufferedPort<yarp::sig::Vector>> m_port;
 
     static const unsigned PARAM_IDX_PORTNAME; // port name
     static const unsigned PARAM_IDX_PORTSIZE; // Size of the port you're reading
diff --git a/toolbox/include/YarpWrite.h b/toolbox/include/YarpWrite.h
index 4d9e8238b..206567dff 100644
--- a/toolbox/include/YarpWrite.h
+++ b/toolbox/include/YarpWrite.h
@@ -2,6 +2,7 @@
 #define WBT_YARPWRITE_H
 
 #include "Block.h"
+#include <memory>
 
 namespace wbt {
     class YarpWrite;
@@ -23,6 +24,7 @@ class wbt::YarpWrite : public wbt::Block
     static const std::string ClassName;
 
     YarpWrite();
+    ~YarpWrite() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
@@ -35,7 +37,7 @@ class wbt::YarpWrite : public wbt::Block
     bool m_errorOnMissingPort;
 
     std::string m_destinationPortName;
-    yarp::os::BufferedPort<yarp::sig::Vector>* m_port;
+    std::unique_ptr<yarp::os::BufferedPort<yarp::sig::Vector>> m_port;
 
     static const unsigned PARAM_IDX_PORTNAME;    // Port name
     static const unsigned PARAM_IDX_AUTOCONNECT; // Autoconnect boolean
diff --git a/toolbox/src/CentroidalMomentum.cpp b/toolbox/src/CentroidalMomentum.cpp
index 1294c7e19..58484cb9e 100644
--- a/toolbox/src/CentroidalMomentum.cpp
+++ b/toolbox/src/CentroidalMomentum.cpp
@@ -20,9 +20,7 @@ const unsigned CentroidalMomentum::INPUT_IDX_BASE_VEL  = 2;
 const unsigned CentroidalMomentum::INPUT_IDX_JOINT_VEL = 3;
 const unsigned CentroidalMomentum::OUTPUT_IDX_CENTRMOM = 0;
 
-CentroidalMomentum::CentroidalMomentum()
-: m_centroidalMomentum(nullptr)
-{}
+CentroidalMomentum::CentroidalMomentum() {}
 
 bool CentroidalMomentum::configureSizeAndPorts(BlockInformation* blockInfo)
 {
@@ -90,17 +88,12 @@ bool CentroidalMomentum::initialize(const BlockInformation* blockInfo)
     // OUTPUT
     // ======
 
-    m_centroidalMomentum = new iDynTree::SpatialMomentum();
-    return m_centroidalMomentum;
+    m_centroidalMomentum = std::unique_ptr<iDynTree::SpatialMomentum>(new iDynTree::SpatialMomentum());
+    return static_cast<bool>(m_centroidalMomentum);
 }
 
 bool CentroidalMomentum::terminate(const BlockInformation* blockInfo)
 {
-    if (m_centroidalMomentum) {
-        delete m_centroidalMomentum;
-        m_centroidalMomentum = 0;
-    }
-
     return WBBlock::terminate(blockInfo);
 }
 
diff --git a/toolbox/src/DotJNu.cpp b/toolbox/src/DotJNu.cpp
index 7c82c2c39..e984d7a96 100644
--- a/toolbox/src/DotJNu.cpp
+++ b/toolbox/src/DotJNu.cpp
@@ -20,8 +20,7 @@ const unsigned DotJNu::INPUT_IDX_JOINT_VEL = 3;
 const unsigned DotJNu::OUTPUT_IDX_DOTJ_NU  = 0;
 
 DotJNu::DotJNu()
-: m_dotJNu(nullptr)
-, m_frameIsCoM(false)
+: m_frameIsCoM(false)
 , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
 {}
 
@@ -127,20 +126,14 @@ bool DotJNu::initialize(const BlockInformation* blockInfo)
 
     // OUTPUT
     // ======
-    m_dotJNu = new iDynTree::Vector6();
+    m_dotJNu = std::unique_ptr<iDynTree::Vector6>(new iDynTree::Vector6());
     m_dotJNu->zero();
 
-    return m_dotJNu;
+    return static_cast<bool>(m_dotJNu);
 }
 
 bool DotJNu::terminate(const BlockInformation* blockInfo)
 {
-    // Output
-    if (m_dotJNu) {
-        delete m_dotJNu;
-        m_dotJNu = 0;
-    }
-
     return WBBlock::terminate(blockInfo);
 }
 
diff --git a/toolbox/src/InverseDynamics.cpp b/toolbox/src/InverseDynamics.cpp
index 5aa635a93..e0303b97e 100644
--- a/toolbox/src/InverseDynamics.cpp
+++ b/toolbox/src/InverseDynamics.cpp
@@ -22,11 +22,7 @@ const unsigned InverseDynamics::INPUT_IDX_BASE_ACC  = 4;
 const unsigned InverseDynamics::INPUT_IDX_JOINT_ACC = 5;
 const unsigned InverseDynamics::OUTPUT_IDX_TORQUES  = 0;
 
-InverseDynamics::InverseDynamics()
-: m_baseAcceleration(nullptr)
-, m_jointsAcceleration(nullptr)
-, m_torques(nullptr)
-{}
+InverseDynamics::InverseDynamics() {}
 
 unsigned InverseDynamics::numberOfParameters()
 {
@@ -106,34 +102,24 @@ bool InverseDynamics::initialize(const BlockInformation* blockInfo)
     // OUTPUT / VARIABLES
     // ==================
 
+    using namespace iDynTree;
     const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-    m_baseAcceleration = new iDynTree::Vector6();
+    m_baseAcceleration = std::unique_ptr<Vector6>(new Vector6());
     m_baseAcceleration->zero();
-    m_jointsAcceleration = new iDynTree::VectorDynSize(dofs);
+    m_jointsAcceleration = std::unique_ptr<VectorDynSize>(new VectorDynSize(dofs));
     m_jointsAcceleration->zero();
 
     const auto& model = getRobotInterface()->getKinDynComputations()->model();
-    m_torques = new iDynTree::FreeFloatingGeneralizedTorques(model);
+    m_torques = std::unique_ptr<FreeFloatingGeneralizedTorques>(new FreeFloatingGeneralizedTorques(model));
 
-    return m_baseAcceleration && m_jointsAcceleration && m_torques;
+    return static_cast<bool>(m_baseAcceleration) &&
+           static_cast<bool>(m_jointsAcceleration) &&
+           static_cast<bool>(m_torques);
 }
 
 bool InverseDynamics::terminate(const BlockInformation* blockInfo)
 {
-    if (m_baseAcceleration) {
-        delete m_baseAcceleration;
-        m_baseAcceleration = nullptr;
-    }
-    if (m_jointsAcceleration) {
-        delete m_jointsAcceleration;
-        m_jointsAcceleration = nullptr;
-    }
-    if (m_torques) {
-        delete m_torques;
-        m_torques = nullptr;
-    }
-
     return WBBlock::terminate(blockInfo);
 }
 
diff --git a/toolbox/src/Jacobian.cpp b/toolbox/src/Jacobian.cpp
index 4901c7ebc..901a0a822 100644
--- a/toolbox/src/Jacobian.cpp
+++ b/toolbox/src/Jacobian.cpp
@@ -18,9 +18,7 @@ const unsigned Jacobian::INPUT_IDX_JOINTCONF = 1;
 const unsigned Jacobian::OUTPUT_IDX_FW_FRAME = 0;
 
 Jacobian::Jacobian()
-: m_jacobianCOM(nullptr)
-, m_jacobian(nullptr)
-, m_frameIsCoM(false)
+: m_frameIsCoM(false)
 , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
 {}
 
@@ -124,27 +122,18 @@ bool Jacobian::initialize(const BlockInformation* blockInfo)
 
     const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-    m_jacobianCOM = new iDynTree::MatrixDynSize(3, 6 + dofs);
+    m_jacobianCOM = std::unique_ptr<iDynTree::MatrixDynSize>(new iDynTree::MatrixDynSize(3, 6 + dofs));
     m_jacobianCOM->zero();
 
     // Output
-    m_jacobian = new iDynTree::MatrixDynSize(6, 6 + dofs);
+    m_jacobian = std::unique_ptr<iDynTree::MatrixDynSize>(new iDynTree::MatrixDynSize(6, 6 + dofs));
     m_jacobian->zero();
 
-    return m_jacobianCOM && m_jacobian;
+    return static_cast<bool>(m_jacobianCOM) && static_cast<bool>(m_jacobian);
 }
 
 bool Jacobian::terminate(const BlockInformation* blockInfo)
 {
-    if (m_jacobianCOM) {
-        delete m_jacobianCOM;
-        m_jacobianCOM = nullptr;
-    }
-    if (m_jacobian) {
-        delete m_jacobian;
-        m_jacobian = nullptr;
-    }
-
     return WBBlock::terminate(blockInfo);
 }
 
diff --git a/toolbox/src/MassMatrix.cpp b/toolbox/src/MassMatrix.cpp
index 96f841253..a14a9f78c 100644
--- a/toolbox/src/MassMatrix.cpp
+++ b/toolbox/src/MassMatrix.cpp
@@ -17,9 +17,7 @@ const unsigned MassMatrix::INPUT_IDX_BASE_POSE = 0;
 const unsigned MassMatrix::INPUT_IDX_JOINTCONF = 1;
 const unsigned MassMatrix::OUTPUT_IDX_MASS_MAT = 0;
 
-MassMatrix::MassMatrix()
-: m_massMatrix(nullptr)
-{}
+MassMatrix::MassMatrix() {}
 
 bool MassMatrix::configureSizeAndPorts(BlockInformation* blockInfo)
 {
@@ -83,19 +81,14 @@ bool MassMatrix::initialize(const BlockInformation* blockInfo)
     const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
     // Output
-    m_massMatrix = new iDynTree::MatrixDynSize(6 + dofs, 6 + dofs);
+    m_massMatrix = std::unique_ptr<iDynTree::MatrixDynSize>(new iDynTree::MatrixDynSize(6 + dofs, 6 + dofs));
     m_massMatrix->zero();
 
-    return m_massMatrix;
+    return static_cast<bool>(m_massMatrix);
 }
 
 bool MassMatrix::terminate(const BlockInformation* blockInfo)
 {
-    if (m_massMatrix) {
-        delete m_massMatrix;
-        m_massMatrix = nullptr;
-    }
-
     return WBBlock::terminate(blockInfo);
 }
 
diff --git a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
index 80505a592..d550be5fd 100644
--- a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
+++ b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
@@ -26,15 +26,12 @@ const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_EXT_SETTLINGTIME = 6;
 const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_RESET_CHANGEST = 7;
 
 MinimumJerkTrajectoryGenerator::MinimumJerkTrajectoryGenerator()
-: m_generator(nullptr)
-, m_outputFirstDerivativeIndex(-1)
+: m_outputFirstDerivativeIndex(-1)
 , m_outputSecondDerivativeIndex(-1)
 , m_firstRun(true)
 , m_explicitInitialValue(false)
 , m_externalSettlingTime(false)
 , m_resetOnSettlingTimeChange(false)
-, m_initialValues(nullptr)
-, m_reference(nullptr)
 {}
 
 unsigned MinimumJerkTrajectoryGenerator::numberOfParameters() { return 7; }
@@ -165,10 +162,11 @@ bool MinimumJerkTrajectoryGenerator::initialize(const BlockInformation* blockInf
 
     unsigned signalSize = blockInfo->getInputPortWidth(0);
 
-    m_generator = new iCub::ctrl::minJerkTrajGen(signalSize, sampleTime, settlingTime);
+    m_generator = std::unique_ptr<iCub::ctrl::minJerkTrajGen>
+            (new iCub::ctrl::minJerkTrajGen(signalSize, sampleTime, settlingTime));
     m_previousSettlingTime = settlingTime;
-    m_initialValues = new yarp::sig::Vector(signalSize);
-    m_reference = new yarp::sig::Vector(signalSize);
+    m_initialValues = std::unique_ptr<yarp::sig::Vector>(new yarp::sig::Vector(signalSize));
+    m_reference = std::unique_ptr<yarp::sig::Vector>(new yarp::sig::Vector(signalSize));
 
     if (!m_generator || !m_initialValues || !m_reference) {
         Log::getSingleton().error("Could not allocate memory for trajectory generator.");
@@ -181,18 +179,6 @@ bool MinimumJerkTrajectoryGenerator::initialize(const BlockInformation* blockInf
 
 bool MinimumJerkTrajectoryGenerator::terminate(const BlockInformation* blockInfo)
 {
-    if (m_generator) {
-        delete m_generator;
-        m_generator = nullptr;
-    }
-    if (m_initialValues) {
-        delete m_initialValues;
-        m_initialValues = nullptr;
-    }
-    if (m_reference) {
-        delete m_reference;
-        m_reference = nullptr;
-    }
     return true;
 }
 
diff --git a/toolbox/src/SimulatorSynchronizer.cpp b/toolbox/src/SimulatorSynchronizer.cpp
index 20f43456b..2f0c834fa 100644
--- a/toolbox/src/SimulatorSynchronizer.cpp
+++ b/toolbox/src/SimulatorSynchronizer.cpp
@@ -31,7 +31,6 @@ const unsigned SimulatorSynchronizer::PARAM_RPC_PORT   = 3;
 SimulatorSynchronizer::SimulatorSynchronizer()
 : m_period(0.01)
 , m_firstRun(true)
-, m_rpcData(0)
 {}
 
 unsigned SimulatorSynchronizer::numberOfParameters() { return 3; }
@@ -89,7 +88,7 @@ bool SimulatorSynchronizer::initialize(const BlockInformation* blockInfo)
         return false;
     }
 
-    m_rpcData = new struct RPCData();
+    m_rpcData = std::unique_ptr<RPCData>(new struct RPCData());
     if (!m_rpcData) {
         Log::getSingleton().error("Error creating RPC data structure.");
         return false;
@@ -114,8 +113,6 @@ bool SimulatorSynchronizer::terminate(const BlockInformation* /*S*/)
             }
             m_rpcData->clientPort.close();
         }
-        delete m_rpcData;
-        m_rpcData = nullptr;
     }
     yarp::os::Network::fini();
     return true;
diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 683af090f..023fb7701 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -28,7 +28,6 @@ YarpRead::YarpRead()
 , m_blocking(false)
 , m_shouldReadTimestamp(false)
 , m_errorOnMissingPort(true)
-, m_port(0)
 {}
 
 unsigned YarpRead::numberOfParameters() { return 6; }
@@ -146,7 +145,7 @@ bool YarpRead::initialize(const BlockInformation* blockInfo)
         destinationPortName = portName;
     }
 
-    m_port = new BufferedPort<Vector>();
+    m_port = std::unique_ptr<BufferedPort<Vector>>(new BufferedPort<Vector>());
 
     if (!m_port || !m_port->open(destinationPortName)) {
         Log::getSingleton().error("Error while opening yarp port.");
@@ -172,8 +171,6 @@ bool YarpRead::terminate(const BlockInformation* /*blockInfo*/)
 {
     if (m_port) {
         m_port->close();
-        delete m_port;
-        m_port = nullptr;
     }
     yarp::os::Network::fini();
     return true;
diff --git a/toolbox/src/YarpWrite.cpp b/toolbox/src/YarpWrite.cpp
index 3deba6dcc..6b50029d9 100644
--- a/toolbox/src/YarpWrite.cpp
+++ b/toolbox/src/YarpWrite.cpp
@@ -21,7 +21,6 @@ YarpWrite::YarpWrite()
 : m_autoconnect(false)
 , m_errorOnMissingPort(true)
 , m_destinationPortName("")
-, m_port(nullptr)
 {}
 
 unsigned YarpWrite::numberOfParameters() { return 3; }
@@ -98,7 +97,7 @@ bool YarpWrite::initialize(const BlockInformation* blockInfo)
         sourcePortName = portParameter;
     }
 
-    m_port = new BufferedPort<Vector>();
+    m_port = std::unique_ptr<BufferedPort<Vector>>(new BufferedPort<Vector>());
 
     if (!m_port || !m_port->open(sourcePortName)) {
         Log::getSingleton().error("Error while opening yarp port.");
@@ -131,8 +130,6 @@ bool YarpWrite::terminate(const BlockInformation* /*S*/)
             yarp::os::Network::disconnect(m_port->getName(), m_destinationPortName);
         }
         m_port->close();
-        delete m_port;
-        m_port = nullptr;
     }
     yarp::os::Network::fini();
     return true;

From e0e7a9263926c64ae59aadb4d046418e94b48241 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 13:48:53 +0000
Subject: [PATCH 46/89] Forgot class scope for two static methods

---
 toolbox/src/GetMeasurement.cpp | 2 +-
 toolbox/src/SetReferences.cpp  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index 65cc1a49e..659c921d7 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -14,7 +14,7 @@ using namespace wbt;
 
 const std::string GetMeasurement::ClassName = "GetMeasurement";
 
-void deg2rad(std::vector<double>& v)
+void GetMeasurement::deg2rad(std::vector<double>& v)
 {
     const double deg2rad = (2 * M_PI) / 180.0;
     for (auto& element : v) {
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index c739b0e44..6e20ed9db 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -17,7 +17,7 @@ SetReferences::SetReferences()
 : m_resetControlMode(true)
 {}
 
-void rad2deg(std::vector<double>& v)
+void SetReferences::rad2deg(std::vector<double>& v)
 {
     const double rad2deg = 180.0 / (2 * M_PI);
     for (auto& element : v) {

From f64da6e3adfd1b5323a0bd3228f227cbda2bfe14 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 09:48:01 +0000
Subject: [PATCH 47/89] Follow links in Simulink model inspection for finding
 the Config Block

When the Config block (which is a subsystem) is included into a library, for finding the blocks contained into its subsystem, `FollowLinks` must be enabled
---
 +WBToolbox/BlockInitialization.m | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/+WBToolbox/BlockInitialization.m b/+WBToolbox/BlockInitialization.m
index 5783432e0..cc335147d 100644
--- a/+WBToolbox/BlockInitialization.m
+++ b/+WBToolbox/BlockInitialization.m
@@ -13,14 +13,14 @@
     topLevel = blockNameSplit{1};
 
     % Get all the blocks from the top level of the system
-    blocks_system = find_system(topLevel,'LookUnderMasks','on');
+    blocks_system = find_system(topLevel,'LookUnderMasks','on','FollowLinks','on');
 
     % Get the name of the block's subsystem
     %[blockScopeName,~] = fileparts(blockAbsoluteName);
     %blockScopeName = gcs;
     blockScopeName = currentSystem;
 catch
-    error('[%s::Initialization] Failed to process model''s tree',char(blockAbsoluteName))
+    error('[%s::Initialization] Failed to process model''s tree', char(currentBlock))
 end
 
 % Look a config block from the block's scope going up in the tree
@@ -30,7 +30,7 @@
     rule = strcat(strrep(analyzedScope,'/','\/'),'\/\w+\/ImConfig');
     idx = cellfun(@(x) ~isequal(regexp(x,rule),[]), blocks_system);
     if (sum(idx) > 1)
-        error('[%s::Initialization] Found more than one configuration',char(blockAbsoluteName));
+        error('[%s::Initialization] Found more than one configuration', char(currentBlock));
     elseif (sum(idx) == 1)
         configBlock = blocks_system{idx};
         configBlock = fileparts(configBlock);
@@ -40,7 +40,7 @@
 end
 
 if isempty(configBlock)
-    error('[%s::Initialization] No configuration found',char(blockAbsoluteName));
+    error('[%s::Initialization] No configuration found', char(currentBlock));
 end
 
 configSource = get_param(configBlock,'ConfigSource');
@@ -55,7 +55,7 @@
     % Read the mask
     WBTConfig = WBToolbox.Mask2WBToolboxConfig(configBlock);
 else
-    error('[%s::Initialization] Read ConfigSource from Config block not recognized',char(blockAbsoluteName));
+    error('[%s::Initialization] Read ConfigSource from Config block not recognized', char(currentBlock));
 end
 
 end

From eb0e1b751746f10fa8b0318aa122c345d9299212 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:06:34 +0000
Subject: [PATCH 48/89] Retaining the RemoteControlBoardRemapper needs a unique
 port prefix

If there are two robot configurations in the same system which share some of the ControlBoards, the RemoteControlBoardRemapper devices cannot be allocated with the same port prefix.

As a workaround, a new function to generate an unique identifier for every Configuration object has been included. Under the hood it uses the Simulink's block name (which is unique).

Furthermore, the initialization of the Yarp Network was missing at this stage of the execution.
---
 toolbox/include/base/Configuration.h |  16 ++++-
 toolbox/src/base/Configuration.cpp   |  26 ++++++-
 toolbox/src/base/RobotInterface.cpp  | 100 ++++++++++++++++-----------
 toolbox/src/base/WBBlock.cpp         |   5 +-
 4 files changed, 101 insertions(+), 46 deletions(-)

diff --git a/toolbox/include/base/Configuration.h b/toolbox/include/base/Configuration.h
index 9b70142ac..b131ce81a 100644
--- a/toolbox/include/base/Configuration.h
+++ b/toolbox/include/base/Configuration.h
@@ -21,6 +21,7 @@ class wbt::Configuration
 {
 // TODO: check how localName is used
 private:
+    const std::string m_confKey; ///< Name of the block which this object refers to
     std::string m_robotName; ///< Name of the robot
     std::string m_urdfFile;  ///< Name of the file containing the urdf model
     std::string m_localName; ///< Prefix appended to the opened ports
@@ -30,7 +31,8 @@ class wbt::Configuration
     size_t m_dofs; //< DoFs extracted my m_controlBoardsNames vector
 
 public:
-    Configuration();
+    Configuration() = delete;
+    Configuration(const std::string& confKey);
     ~Configuration() = default;
 
     // SET METHODS
@@ -123,12 +125,22 @@ class wbt::Configuration
     const std::vector<std::string>& getControlBoardsNames() const;
 
     /**
-     * Set the prefix appended to the opened ports
+     * Set the prefix appended to the opened ports. A leading "/" is always present.
      *
      * @return Prefix appended to the opened ports
      */
     const std::string& getLocalName() const;
 
+    /**
+    * Get a string with a unique identifier, generated from the name of the config
+    * block from Simulink. It might be useful when yarp ports must have a unique prefix
+    * (e.g. two RemoteControlBoardRemappers which share a ControlBoard)
+    *
+    * @return the unique identifier
+    * @see setLocalName
+    */
+    const std::string getUniqueId() const;
+
     /**
      * Set the gravity vector
      *
diff --git a/toolbox/src/base/Configuration.cpp b/toolbox/src/base/Configuration.cpp
index a963a3b41..257a475f4 100644
--- a/toolbox/src/base/Configuration.cpp
+++ b/toolbox/src/base/Configuration.cpp
@@ -1,9 +1,11 @@
 #include "Configuration.h"
+#include <algorithm>
 
 using namespace wbt;
 
-Configuration::Configuration()
-: m_dofs(0)
+Configuration::Configuration(const std::string& confKey)
+: m_confKey(confKey)
+, m_dofs(0)
 {}
 
 // SET METHODS
@@ -48,6 +50,26 @@ void Configuration::setControlBoardsNames(const std::vector<std::string>& contro
 void Configuration::setLocalName(const std::string& localName)
 {
     m_localName = localName;
+
+    // Add the leading "/" if missing
+    if (m_localName.compare(0, 1, "/")) {
+        m_localName = "/" + m_localName;
+    }
+}
+
+const std::string Configuration::getUniqueId() const
+{
+    std::string uniqueId(m_confKey);
+
+    // Remove spaces
+    auto it = std::remove(uniqueId.begin(), uniqueId.end(), ' ');
+    uniqueId.erase(it , uniqueId.end());
+
+    // Remove '/'
+    it = std::remove(uniqueId.begin(), uniqueId.end(), '/');
+    uniqueId.erase(it , uniqueId.end());
+
+    return uniqueId;
 }
 
 void Configuration::setGravityVector(const std::array<double, 3>& gravityVector)
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index 4e1fccbb0..05cfcb9c0 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -11,7 +11,6 @@
 #include <yarp/os/Property.h>
 
 namespace wbt {
-    static std::string vectorToString(std::vector<std::string> v, std::string prefix="");
 
     // The declaration of the following template specializations are required only by GCC
     using namespace yarp::dev;
@@ -318,6 +317,9 @@ bool RobotInterface::releaseRemoteControlBoardRemapper()
         m_robotDevice.reset();
     }
 
+    // Initialize the network
+    yarp::os::Network::init();
+
     m_robotDeviceCounter = 0;
     return true;
 }
@@ -367,32 +369,75 @@ bool RobotInterface::initializeModel()
 
 bool RobotInterface::initializeRemoteControlBoardRemapper()
 {
-    // Setup the RemoteControlBoardRemapper
+    // Initialize the network
+    yarp::os::Network::init();
+    if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)) {
+        Log::getSingleton().error("YARP server wasn't found active!!");
+        return false;
+    }
+
+    // Object where the RemoteControlBoardRemapper options will be stored
     yarp::os::Property options;
+
+    // Name of the device
     options.put("device", "remotecontrolboardremapper");
-    options.put("axesNames", vectorToString(m_config.getControlledJoints()));
-    std::string prefix = "/" + m_config.getRobotName() + "/";
-    options.put("remoteControlBoards", vectorToString(m_config.getControlBoardsNames(), prefix));
-    options.put("localPortPrefix", m_config.getLocalName());
+
+    // Controlled joints (axes)
+    yarp::os::Bottle axesNames;
+    yarp::os::Bottle& axesList = axesNames.addList();
+    for (auto axis : m_config.getControlledJoints()) {
+        axesList.addString(axis);
+    }
+    options.put("axesNames",axesNames.get(0));
+
+    // ControlBoard names
+    yarp::os::Bottle remoteControlBoards;
+    yarp::os::Bottle& remoteControlBoardsList = remoteControlBoards.addList();
+    for (auto cb : m_config.getControlBoardsNames()) {
+        remoteControlBoardsList.addString("/" + m_config.getRobotName() + "/" + cb);
+    }
+    options.put("remoteControlBoards", remoteControlBoards.get(0));
+
+    // Prefix of the openened ports
+    // In this case appending the unique id is necessary, since multiple configuration can
+    // share some ControlBoard in their RemoteControlBoardRemappers. In this case, it is not
+    // possible using the same prefix for all the RemoteControlBoardRemapper devices.
+    options.put("localPortPrefix", m_config.getLocalName() + "/" + m_config.getUniqueId());
+
+    // Misc options
     yarp::os::Property& remoteCBOpts = options.addGroup("REMOTE_CONTROLBOARD_OPTIONS");
-    remoteCBOpts.put("writeStrict","on");
+    remoteCBOpts.put("writeStrict", "on");
 
-    // Allocate the device driver
-    assert(!m_robotDevice);
+    // If resources have been properly cleaned, there should be no allocated device.
+    // However, if blocks fail and they don't terminate, the state of the singleton
+    // could be not clean.
+    if (m_robotDevice) {
+        // Force the release
+        m_robotDeviceCounter = 1;
+        Log::getSingleton().warning("The ToolboxSingleton state is dirty. Trying to clean the state before proceeding.");
+        if (!releaseRemoteControlBoardRemapper()) {
+            Log::getSingleton().error("Failed to force the release of the RemoteControlBoardRemapper. ");
+            return false;
+        }
+    }
+
+    // Allocate the interface driver
     m_robotDevice = std::unique_ptr<yarp::dev::PolyDriver>(new yarp::dev::PolyDriver());
 
     if (!m_robotDevice) {
+        Log::getSingleton().error("Failed to instantiante an empty PolyDriver class.");
         return false;
     }
 
-    // Open the device driver
-    if (m_robotDevice->open(options) && m_robotDevice->isValid()) {
-        return true;
+    // Open the interface driver
+    if (!m_robotDevice->open(options) && !m_robotDevice->isValid()) {
+        // Remove garbage if the opening fails
+        m_robotDevice.reset();
+        Log::getSingleton().error("Failed to open the RemoteControlBoardRemapper with the options passed.");
+        return false;
     }
 
-    // Remove garbage if the opening fails
-    m_robotDevice.reset();
-    return false;
+    return true;
 }
 
 // OTHER METHODS
@@ -421,28 +466,3 @@ std::weak_ptr<T> RobotInterface::getInterfaceFromTemplate(std::shared_ptr<T> dev
     // Implicit conversion from shared_ptr to weak_ptr
     return device;
 }
-
-/**
- * Converts a vector of strings into a string format \code (element1 element2 element3) \endcode.
- * It optioanlly support appending a prefix to the elements. e.g.
- * \code ({prefix}element1 {prefix}element2 {prefix}element3)
- *
- * @param  v      The vector of strings
- * @param  prefix The optional element prefix
- * @return        The serialized string
- */
-std::string wbt::vectorToString(std::vector<std::string> v, std::string prefix)
-{
-    // Add the prefix if specified
-    if (!prefix.empty()) {
-        for (auto& str : v) {
-            str = prefix + str;
-        }
-    }
-
-    // Create a string in a format which YARP likes: (item1 item2 item3)
-    std::stringstream output;
-    std::ostream_iterator<std::string> output_iterator(output, " ");
-    std::copy(v.begin(), v.end(), output_iterator);
-    return "(" + output.str() + ")";
-}
diff --git a/toolbox/src/base/WBBlock.cpp b/toolbox/src/base/WBBlock.cpp
index 0c344e33f..d4acfbb3f 100644
--- a/toolbox/src/base/WBBlock.cpp
+++ b/toolbox/src/base/WBBlock.cpp
@@ -181,8 +181,9 @@ bool WBBlock::configureSizeAndPorts(BlockInformation* blockInfo)
         return false;
     }
 
-    // Get the configuration struct from the block
-    Configuration config;
+    // Initialize the configuration block with the unique identifier of the conf block name
+    Configuration config(confKey);
+    // Populate the configuration object with data from the Simulink's struct parameter
     if (!getWBToolboxParameters(config, blockInfo)) {
         return false;
     }

From 1f3f8a2eb5536ac914dbde49bc735642c0edff62 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:20:18 +0000
Subject: [PATCH 49/89] Switch from smart pointers to raw pointers for Yarp
 interfaces

Using smart pointers on yarp interfaces is not possible because their allocation is handled internally by the device from which they are asked from.

As minor edit, renamed YarpDevices variable to YarpInterfaces for the sake of clarity.
---
 toolbox/include/base/RobotInterface.h |  49 ++++++----
 toolbox/src/base/RobotInterface.cpp   | 127 +++++++++++++-------------
 2 files changed, 94 insertions(+), 82 deletions(-)

diff --git a/toolbox/include/base/RobotInterface.h b/toolbox/include/base/RobotInterface.h
index 6b85789d3..489bf0f35 100644
--- a/toolbox/include/base/RobotInterface.h
+++ b/toolbox/include/base/RobotInterface.h
@@ -31,7 +31,7 @@ namespace iDynTree {
 
 namespace wbt {
     class RobotInterface;
-    struct YarpDevices;
+    struct YarpInterfaces;
 
     typedef int jointIdx_yarp;
     typedef int jointIdx_iDynTree;
@@ -41,7 +41,7 @@ namespace wbt {
 }
 
 /**
- * \struct wbt::YarpDevices RobotInterface.h
+ * \struct wbt::YarpInterfaces RobotInterface.h
  *
  * This struct contains shared_ptrs to the devices which are (lazy) asked from the blocks.
  *
@@ -54,18 +54,31 @@ namespace wbt {
  *         containing only the reduced set in a deeper-hierarchy Simulink's subsystem.
  * @see RobotInterface::getDevice
  */
-struct wbt::YarpDevices
+struct wbt::YarpInterfaces
 {
-    std::shared_ptr<yarp::dev::IControlMode2> iControlMode2;
-    std::shared_ptr<yarp::dev::IPositionControl> iPositionControl;
-    std::shared_ptr<yarp::dev::IPositionDirect> iPositionDirect;
-    std::shared_ptr<yarp::dev::IVelocityControl> iVelocityControl;
-    std::shared_ptr<yarp::dev::ITorqueControl> iTorqueControl;
-    std::shared_ptr<yarp::dev::IPWMControl> iPWMControl;
-    std::shared_ptr<yarp::dev::ICurrentControl> iCurrentControl;
-    std::shared_ptr<yarp::dev::IEncoders> iEncoders;
-    std::shared_ptr<yarp::dev::IControlLimits2> iControlLimits2;
-    std::shared_ptr<yarp::dev::IPidControl> iPidControl;
+    yarp::dev::IControlMode2* iControlMode2;
+    yarp::dev::IPositionControl* iPositionControl;
+    yarp::dev::IPositionDirect* iPositionDirect;
+    yarp::dev::IVelocityControl* iVelocityControl;
+    yarp::dev::ITorqueControl* iTorqueControl;
+    yarp::dev::IPWMControl* iPWMControl;
+    yarp::dev::ICurrentControl* iCurrentControl;
+    yarp::dev::IEncoders* iEncoders;
+    yarp::dev::IControlLimits2* iControlLimits2;
+    yarp::dev::IPidControl* iPidControl;
+
+    YarpInterfaces()
+    : iControlMode2(nullptr)
+    , iPositionControl(nullptr)
+    , iPositionDirect(nullptr)
+    , iVelocityControl(nullptr)
+    , iTorqueControl(nullptr)
+    , iPWMControl(nullptr)
+    , iCurrentControl(nullptr)
+    , iEncoders(nullptr)
+    , iControlLimits2(nullptr)
+    , iPidControl(nullptr)
+    {}
 };
 
 // TODO o pensare come evitare di avere due conf con es position e torque nei setref con lo stesso robot.
@@ -80,7 +93,7 @@ struct wbt::YarpDevices
  * with the specified robot (real or model).
  *
  * @see wbt::Configuration
- * @see wbt::YarpDevices
+ * @see wbt::YarpInterfaces
  * @see iDynTree::KinDynComputations
  */
 class wbt::RobotInterface
@@ -88,7 +101,7 @@ class wbt::RobotInterface
 private:
     std::unique_ptr<yarp::dev::PolyDriver> m_robotDevice;
     std::shared_ptr<iDynTree::KinDynComputations> m_kinDynComp;
-    wbt::YarpDevices m_yarpDevices;
+    wbt::YarpInterfaces m_yarpInterfaces;
 
     // Maps used to store infos about yarp's and idyntree's internal joint indexing
     std::shared_ptr<JointsMapIndex> m_jointsMapIndex;
@@ -133,7 +146,7 @@ class wbt::RobotInterface
      * @tparam T      The type of the retured device
      */
     template <typename T>
-    std::weak_ptr<T> getInterfaceFromTemplate(std::shared_ptr<T> device);
+    T* getInterfaceFromTemplate(T*& device);
 
     /**
      * Creates the map between joints (specified as either names or idyntree indices) and
@@ -196,7 +209,7 @@ class wbt::RobotInterface
      * @tparam T             The type of interface
      */
     template <typename T>
-    bool getInterface(std::weak_ptr<T>& interface);
+    bool getInterface(T*& interface);
 
     // LAZY EVALUATION
     // ===============
@@ -205,7 +218,7 @@ class wbt::RobotInterface
      * Handles the internal counter for using the RemoteControlBoardRemapper
      *
      * @attention All the blocks which need to use any of the interfaces provided by
-     *            wbt::YarpDevices must call this function in their initialize() method.
+     *            wbt::YarpInterfaces must call this function in their initialize() method.
      * @see releaseRemoteControlBoardRemapper
      *
      * @return True if success
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index 05cfcb9c0..bfda124ca 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -14,16 +14,16 @@ namespace wbt {
 
     // The declaration of the following template specializations are required only by GCC
     using namespace yarp::dev;
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IControlMode2>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IPositionControl>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IPositionDirect>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IVelocityControl>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<ITorqueControl>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IPWMControl>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<ICurrentControl>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IEncoders>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IControlLimits2>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IPidControl>& interface);
+    template <> bool RobotInterface::getInterface(IControlMode2*& interface);
+    template <> bool RobotInterface::getInterface(IPositionControl*& interface);
+    template <> bool RobotInterface::getInterface(IPositionDirect*& interface);
+    template <> bool RobotInterface::getInterface(IVelocityControl*& interface);
+    template <> bool RobotInterface::getInterface(ITorqueControl*& interface);
+    template <> bool RobotInterface::getInterface(IPWMControl*& interface);
+    template <> bool RobotInterface::getInterface(ICurrentControl*& interface);
+    template <> bool RobotInterface::getInterface(IEncoders*& interface);
+    template <> bool RobotInterface::getInterface(IControlLimits2*& interface);
+    template <> bool RobotInterface::getInterface(IPidControl*& interface);
 }
 
 using namespace wbt;
@@ -81,7 +81,7 @@ bool RobotInterface::mapDoFs()
             return false;
         }
 
-        // Get an IEncoders object from the device
+        // Get an IEncoders object from the interface
         // This is used to get how many joints the control board contains
         std::unique_ptr<yarp::dev::IEncoders> iEnc;
         yarp::dev::IEncoders* iEncPtr = iEnc.get();
@@ -192,73 +192,73 @@ const std::shared_ptr<iDynTree::KinDynComputations> RobotInterface::getKinDynCom
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IControlMode2>& interface)
+bool RobotInterface::getInterface(yarp::dev::IControlMode2*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iControlMode2);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iControlMode2);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPositionControl>& interface)
+bool RobotInterface::getInterface(yarp::dev::IPositionControl*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iPositionControl);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iPositionControl);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPositionDirect>& interface)
+bool RobotInterface::getInterface(yarp::dev::IPositionDirect*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iPositionDirect);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iPositionDirect);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IVelocityControl>& interface)
+bool RobotInterface::getInterface(yarp::dev::IVelocityControl*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iVelocityControl);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iVelocityControl);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::ITorqueControl>& interface)
+bool RobotInterface::getInterface(yarp::dev::ITorqueControl*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iTorqueControl);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iTorqueControl);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPWMControl>& interface)
+bool RobotInterface::getInterface(yarp::dev::IPWMControl*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iPWMControl);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iPWMControl);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::ICurrentControl>& interface)
+bool RobotInterface::getInterface(yarp::dev::ICurrentControl*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iCurrentControl);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iCurrentControl);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IEncoders>& interface)
+bool RobotInterface::getInterface(yarp::dev::IEncoders*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iEncoders);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iEncoders);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IControlLimits2>& interface)
+bool RobotInterface::getInterface(yarp::dev::IControlLimits2*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iControlLimits2);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iControlLimits2);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPidControl>& interface)
+bool RobotInterface::getInterface(yarp::dev::IPidControl*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iPidControl);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iPidControl);
+    return interface;
 }
 
 // LAZY EVALUATION
@@ -300,18 +300,18 @@ bool RobotInterface::releaseRemoteControlBoardRemapper()
     // This should be executed by the last block which uses CB (m_robotDeviceCounter=1)
     assert(m_robotDevice);
     if (m_robotDevice) {
-        // Free all the drivers
-        m_yarpDevices.iControlMode2.reset();
-        m_yarpDevices.iPositionControl.reset();
-        m_yarpDevices.iPositionDirect.reset();
-        m_yarpDevices.iVelocityControl.reset();
-        m_yarpDevices.iTorqueControl.reset();
-        m_yarpDevices.iPWMControl.reset();
-        m_yarpDevices.iCurrentControl.reset();
-        m_yarpDevices.iEncoders.reset();
-        m_yarpDevices.iControlLimits2.reset();
-        m_yarpDevices.iPidControl.reset();
-        //  Close the device
+        // Set to zero all the pointers to the interfaces
+        m_yarpInterfaces.iControlMode2 = nullptr;
+        m_yarpInterfaces.iPositionControl = nullptr;
+        m_yarpInterfaces.iPositionDirect = nullptr;
+        m_yarpInterfaces.iVelocityControl = nullptr;
+        m_yarpInterfaces.iTorqueControl = nullptr;
+        m_yarpInterfaces.iPWMControl = nullptr;
+        m_yarpInterfaces.iCurrentControl = nullptr;
+        m_yarpInterfaces.iEncoders = nullptr;
+        m_yarpInterfaces.iControlLimits2 = nullptr;
+        m_yarpInterfaces.iPidControl = nullptr;
+        //  Close the device (which deletes the interfaces it allocated)
         m_robotDevice->close();
         // Free the object
         m_robotDevice.reset();
@@ -444,25 +444,24 @@ bool RobotInterface::initializeRemoteControlBoardRemapper()
 // =============
 
 template <typename T>
-std::weak_ptr<T> RobotInterface::getInterfaceFromTemplate(std::shared_ptr<T> device)
+T* RobotInterface::getInterfaceFromTemplate(T*& interface)
 {
-    if (!device) {
+    if (!interface) {
         // Blocks which require the RemoteControlBoardRemapper need to retain / release it
         // in their initialization / terminate phase;
-        assert(m_robotDevice);
+        // assert(m_robotDevice);
         if (!m_robotDevice) {
+            Log::getSingleton().error("The RemoteControlBoardRemapper has not been initialized. ");
+            Log::getSingleton().errorAppend("You need to retain the CB device in the initialize() method.");
             // Return an empty weak pointer
-            return std::weak_ptr<T>();
+            return nullptr;
         }
 
-        T* ptr = nullptr;
-        if (!m_robotDevice->view(ptr)) {
+        // Ask the interface from the device
+        if (!m_robotDevice->view(interface)) {
             // Return an empty weak_ptr
-            return std::weak_ptr<T>();
+            return nullptr;
         }
-        // Store ptr into the smart pointer
-        device.reset(ptr);
     }
-    // Implicit conversion from shared_ptr to weak_ptr
-    return device;
+    return interface;
 }

From 9b90b9e97529a074484db20e030d2945279114d4 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:30:34 +0000
Subject: [PATCH 50/89] Updated Blocks for using raw pointers to Yarp
 interfaces

---
 toolbox/src/GetLimits.cpp      |  8 +++---
 toolbox/src/GetMeasurement.cpp | 24 ++++++++--------
 toolbox/src/SetLowLevelPID.cpp | 16 +++++------
 toolbox/src/SetReferences.cpp  | 52 ++++++++++++++++++----------------
 4 files changed, 51 insertions(+), 49 deletions(-)

diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index 4923021e7..eec5fddc2 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -91,7 +91,7 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
     // possible using i to point to the correct joint.
 
     // Get the RemoteControlBoardRemapper and IControlLimits2 interface if needed
-    std::weak_ptr<yarp::dev::IControlLimits2> iControlLimits2;
+    yarp::dev::IControlLimits2* iControlLimits2 = nullptr;
     if (limitType == "ControlBoardPosition" || limitType == "ControlBoardVelocity") {
         // Retain the control board remapper
         if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
@@ -99,7 +99,7 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
             return false;
         }
         // Get the interface
-        if (!getRobotInterface()->getInterface(iControlLimits2)) {
+        if (!getRobotInterface()->getInterface(iControlLimits2) || !iControlLimits2) {
             Log::getSingleton().error("Failed to get IControlLimits2 interface.");
             return false;
         }
@@ -107,7 +107,7 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
 
     if (limitType == "ControlBoardPosition") {
         for (auto i = 0; i < dofs; ++i) {
-            if (!iControlLimits2.lock()->getLimits(i, &min, &max)) {
+            if (!iControlLimits2->getLimits(i, &min, &max)) {
                 Log::getSingleton().error("Failed to get limits from the interface.");
                 return false;
             }
@@ -117,7 +117,7 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
     }
     else if (limitType == "ControlBoardVelocity") {
         for (auto i = 0; i < dofs; ++i) {
-            if (!iControlLimits2.lock()->getVelLimits(i, &min, &max)) {
+            if (!iControlLimits2->getVelLimits(i, &min, &max)) {
                 Log::getSingleton().error("Failed to get limits from the interface.");
                 return false;
             }
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index 659c921d7..97b8f971c 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -120,49 +120,49 @@ bool GetMeasurement::output(const BlockInformation* blockInfo)
     switch (m_estimateType) {
         case ESTIMATE_JOINT_POS: {
             // Get the interface
-            std::weak_ptr<yarp::dev::IEncoders> iEncoders;
-            if (!getRobotInterface()->getInterface(iEncoders)) {
+            yarp::dev::IEncoders* iEncoders = nullptr;
+            if (!getRobotInterface()->getInterface(iEncoders) || !iEncoders) {
                 Log::getSingleton().error("Failed to get IPidControl interface.");
                 return false;
             }
             // Get the measurement
-            ok = iEncoders.lock()->getEncoders(m_estimate.data());
             deg2rad(m_estimate);
+            ok = iEncoders->getEncoders(m_measurement.data());
             break;
         }
         case ESTIMATE_JOINT_VEL: {
             // Get the interface
-            std::weak_ptr<yarp::dev::IEncoders> iEncoders;
-            if (!getRobotInterface()->getInterface(iEncoders)) {
+            yarp::dev::IEncoders* iEncoders = nullptr;
+            if (!getRobotInterface()->getInterface(iEncoders) || !iEncoders) {
                 Log::getSingleton().error("Failed to get IEncoders interface.");
                 return false;
             }
             // Get the measurement
-            ok = iEncoders.lock()->getEncoderSpeeds(m_estimate.data());
             deg2rad(m_estimate);
+            ok = iEncoders->getEncoderSpeeds(m_measurement.data());
             break;
         }
         case ESTIMATE_JOINT_ACC: {
             // Get the interface
-            std::weak_ptr<yarp::dev::IEncoders> iEncoders;
-            if (!getRobotInterface()->getInterface(iEncoders)) {
+            yarp::dev::IEncoders* iEncoders = nullptr;
+            if (!getRobotInterface()->getInterface(iEncoders) || !iEncoders) {
                 Log::getSingleton().error("Failed to get IEncoders interface.");
                 return false;
             }
             // Get the measurement
-            ok = iEncoders.lock()->getEncoderAccelerations(m_estimate.data());
             deg2rad(m_estimate);
+            ok = iEncoders->getEncoderAccelerations(m_measurement.data());
             break;
         }
         case ESTIMATE_JOINT_TORQUE: {
             // Get the interface
-            std::weak_ptr<yarp::dev::ITorqueControl> iTorqueControl;
-            if (!getRobotInterface()->getInterface(iTorqueControl)) {
+            yarp::dev::ITorqueControl* iTorqueControl = nullptr;
+            if (!getRobotInterface()->getInterface(iTorqueControl) || !iTorqueControl) {
                 Log::getSingleton().error("Failed to get ITorqueControl interface.");
                 return false;
             }
             // Get the measurement
-            ok = iTorqueControl.lock()->getTorques(m_estimate.data());
+            ok = iTorqueControl->getTorques(m_measurement.data());
             break;
         }
         default:
diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index b2d9772c4..94f3c6685 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -171,14 +171,14 @@ bool SetLowLevelPID::initialize(const BlockInformation* blockInfo)
     m_defaultPidValues.resize(dofs);
 
     // Get the interface
-    std::weak_ptr<yarp::dev::IPidControl> iPidControl;
-    if (!getRobotInterface()->getInterface(iPidControl)) {
+    yarp::dev::IPidControl* iPidControl = nullptr;
+    if (!getRobotInterface()->getInterface(iPidControl) || !iPidControl) {
         Log::getSingleton().error("Failed to get IPidControl interface.");
         return false;
     }
 
     // Store the default gains
-    if (!iPidControl.lock()->getPids(m_controlType, m_defaultPidValues.data())) {
+    if (!iPidControl->getPids(m_controlType, m_defaultPidValues.data())) {
         Log::getSingleton().error("Failed to get default data from IPidControl.");
         return false;
     }
@@ -199,7 +199,7 @@ bool SetLowLevelPID::initialize(const BlockInformation* blockInfo)
     }
 
     // Apply the new pid gains
-    if (!iPidControl.lock()->setPids(m_controlType, m_appliedPidValues.data())) {
+    if (!iPidControl->setPids(m_controlType, m_appliedPidValues.data())) {
         Log::getSingleton().error("Failed to set PID values.");
         return false;
     }
@@ -212,14 +212,14 @@ bool SetLowLevelPID::terminate(const BlockInformation* blockInfo)
     bool ok = true;
 
     // Get the IPidControl interface
-    std::weak_ptr<yarp::dev::IPidControl> iPidControl;
-    ok = ok & getRobotInterface()->getInterface(iPidControl);
-    if (!ok) {
+    yarp::dev::IPidControl* iPidControl = nullptr;
+    ok = ok && getRobotInterface()->getInterface(iPidControl);
+    if (!ok || !iPidControl) {
         Log::getSingleton().error("Failed to get IPidControl interface.");
     }
 
     // Reset default pid gains
-    ok = ok & iPidControl.lock()->setPids(m_controlType, m_defaultPidValues.data());
+    ok = ok && iPidControl->setPids(m_controlType, m_defaultPidValues.data());
     if (!ok) {
         Log::getSingleton().error("Failed to set default PID values.");
     }
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 6e20ed9db..121a72261 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -129,19 +129,21 @@ bool SetReferences::terminate(const BlockInformation* blockInfo)
     bool ok = true;
 
     // Get the interface
-    std::weak_ptr<IControlMode2> icmd2;
-    ok = ok & getRobotInterface()->getInterface(icmd2);
-    if (!ok) {
+    IControlMode2* icmd2 = nullptr;
+    ok = ok && getRobotInterface()->getInterface(icmd2);
+    if (!ok || !icmd2) {
         Log::getSingleton().error("Failed to get the IControlMode2 interface.");
+        return false;
     }
 
     // Set  all the controlledJoints VOCAB_CM_POSITION
     const unsigned dofs = getConfiguration().getNumberOfDoFs();
     m_controlModes.assign(dofs, VOCAB_CM_POSITION);
 
-    ok = ok & icmd2.lock()->setControlModes(m_controlModes.data());
+    ok = ok && icmd2->setControlModes(m_controlModes.data());
     if (!ok) {
         Log::getSingleton().error("Failed to set control mode.");
+        return false;
     }
 
     // Release the RemoteControlBoardRemapper
@@ -169,13 +171,13 @@ bool SetReferences::output(const BlockInformation* blockInfo)
     if (m_resetControlMode) {
         m_resetControlMode = false;
         // Get the interface
-        std::weak_ptr<IControlMode2> icmd2;
-        if (!getRobotInterface()->getInterface(icmd2)) {
+        IControlMode2* icmd2 = nullptr;
+        if (!getRobotInterface()->getInterface(icmd2) || !icmd2) {
             Log::getSingleton().error("Failed to get the IControlMode2 interface.");
             return false;
         }
         // Set the control mode to all the controlledJoints
-        if (!icmd2.lock()->setControlModes(m_controlModes.data())) {
+        if (!icmd2->setControlModes(m_controlModes.data())) {
             Log::getSingleton().error("Failed to set control mode.");
             return false;
         }
@@ -195,71 +197,71 @@ bool SetReferences::output(const BlockInformation* blockInfo)
             break;
         case VOCAB_CM_POSITION: {
             // Get the interface
-            std::weak_ptr<IPositionControl> interface;
-            if (!getRobotInterface()->getInterface(interface)) {
+            IPositionControl* interface = nullptr;
+            if (!getRobotInterface()->getInterface(interface) || !interface) {
                 Log::getSingleton().error("Failed to get IPositionControl interface.");
                 return false;
             }
             // Convert from rad to deg
             rad2deg(referencesVector);
             // Set the references
-            ok = interface.lock()->positionMove(referencesVector.data());
+            ok = interface->positionMove(referencesVector.data());
             break;
         }
         case VOCAB_CM_POSITION_DIRECT: {
             // Get the interface
-            std::weak_ptr<IPositionDirect> interface;
-            if (!getRobotInterface()->getInterface(interface)) {
+            IPositionDirect* interface = nullptr;
+            if (!getRobotInterface()->getInterface(interface) || !interface) {
                 Log::getSingleton().error("Failed to get IPositionDirect interface.");
                 return false;
             }
             // Convert from rad to deg
             rad2deg(referencesVector);
             // Set the references
-            ok = interface.lock()->setPositions(referencesVector.data());
+            ok = interface->setPositions(referencesVector.data());
             break;
         }
         case VOCAB_CM_VELOCITY: {
             // Get the interface
-            std::weak_ptr<IVelocityControl> interface;
-            if (!getRobotInterface()->getInterface(interface)) {
+            IVelocityControl* interface = nullptr;
+            if (!getRobotInterface()->getInterface(interface) || !interface) {
                 Log::getSingleton().error("Failed to get IVelocityControl interface.");
                 return false;
             }
             // Convert from rad to deg
             rad2deg(referencesVector);
             // Set the references
-            ok = interface.lock()->velocityMove(referencesVector.data());
+            ok = interface->velocityMove(referencesVector.data());
             break;
         }
         case VOCAB_CM_TORQUE: {
             // Get the interface
-            std::weak_ptr<ITorqueControl> interface;
-            if (!getRobotInterface()->getInterface(interface)) {
+            ITorqueControl* interface = nullptr;
+            if (!getRobotInterface()->getInterface(interface) || !interface) {
                 Log::getSingleton().error("Failed to get ITorqueControl interface.");
                 return false;
             }
-            ok = interface.lock()->setRefTorques(referencesVector.data());
+            ok = interface->setRefTorques(referencesVector.data());
             break;
         }
         case VOCAB_CM_PWM: {
             // Get the interface
-            std::weak_ptr<IPWMControl> interface;
-            if (!getRobotInterface()->getInterface(interface)) {
+            IPWMControl* interface = nullptr;
+            if (!getRobotInterface()->getInterface(interface) || !interface) {
                 Log::getSingleton().error("Failed to get IPWMControl interface.");
                 return false;
             }
-            ok = interface.lock()->setRefDutyCycles(referencesVector.data());
+            ok = interface->setRefDutyCycles(referencesVector.data());
             break;
         }
         case VOCAB_CM_CURRENT: {
             // Get the interface
-            std::weak_ptr<ICurrentControl> interface;
-            if (!getRobotInterface()->getInterface(interface)) {
+            ICurrentControl* interface = nullptr;
+            if (!getRobotInterface()->getInterface(interface) || !interface) {
                 Log::getSingleton().error("Failed to get ICurrentControl interface.");
                 return false;
             }
-            ok = interface.lock()->setRefCurrents(referencesVector.data());
+            ok = interface->setRefCurrents(referencesVector.data());
             break;
         }
     }

From a01cecfbed5b4098c7c4246021c0223311715c2b Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:36:03 +0000
Subject: [PATCH 51/89] Block which inherith from WBBlocks now terminate
 correctly

The terminate() method of these blocks should not fail before the WBBlock::terminate() method is called, otherwise allocated resources are not properly cleaned.
---
 toolbox/src/GetLimits.cpp      | 18 +++++++++++++++---
 toolbox/src/GetMeasurement.cpp |  1 +
 toolbox/src/SetLowLevelPID.cpp |  3 +++
 toolbox/src/SetReferences.cpp  |  7 ++++---
 4 files changed, 23 insertions(+), 6 deletions(-)

diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index eec5fddc2..60c665307 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -171,11 +171,23 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
 
 bool GetLimits::terminate(const BlockInformation* blockInfo)
 {
-    // Release the RemoteControlBoardRemapper
     bool ok = true;
-    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+
+    // Read the control type
+    std::string limitType;
+    ok = ok && blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, limitType);
     if (!ok) {
-        Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+        Log::getSingleton().error("Could not read estimate type parameter.");
+        // Don't return false here. WBBlock::terminate must be called in any case
+    }
+
+    // Release the RemoteControlBoardRemapper
+    if (limitType == "ControlBoardPosition" || limitType == "ControlBoardVelocity") {
+        ok = ok && getRobotInterface()->releaseRemoteControlBoardRemapper();
+        if (!ok) {
+            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+            // Don't return false here. WBBlock::terminate must be called in any case
+        }
     }
 
     return ok && WBBlock::terminate(blockInfo);
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index 97b8f971c..6869424dd 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -109,6 +109,7 @@ bool GetMeasurement::terminate(const BlockInformation* blockInfo)
     ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
     if (!ok) {
         Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     return ok && WBBlock::terminate(blockInfo);
diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index 94f3c6685..c593f32ca 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -216,18 +216,21 @@ bool SetLowLevelPID::terminate(const BlockInformation* blockInfo)
     ok = ok && getRobotInterface()->getInterface(iPidControl);
     if (!ok || !iPidControl) {
         Log::getSingleton().error("Failed to get IPidControl interface.");
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     // Reset default pid gains
     ok = ok && iPidControl->setPids(m_controlType, m_defaultPidValues.data());
     if (!ok) {
         Log::getSingleton().error("Failed to set default PID values.");
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     // Release the RemoteControlBoardRemapper
     ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
     if (!ok) {
         Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     return ok && WBBlock::terminate(blockInfo);
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 121a72261..4255344b8 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -133,7 +133,7 @@ bool SetReferences::terminate(const BlockInformation* blockInfo)
     ok = ok && getRobotInterface()->getInterface(icmd2);
     if (!ok || !icmd2) {
         Log::getSingleton().error("Failed to get the IControlMode2 interface.");
-        return false;
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     // Set  all the controlledJoints VOCAB_CM_POSITION
@@ -143,13 +143,14 @@ bool SetReferences::terminate(const BlockInformation* blockInfo)
     ok = ok && icmd2->setControlModes(m_controlModes.data());
     if (!ok) {
         Log::getSingleton().error("Failed to set control mode.");
-        return false;
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     // Release the RemoteControlBoardRemapper
-    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    ok = ok && getRobotInterface()->releaseRemoteControlBoardRemapper();
     if (!ok) {
         Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     return ok && WBBlock::terminate(blockInfo);

From ed7dd9272b7c784cb1df20a37f55990e109ed40e Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:43:13 +0000
Subject: [PATCH 52/89] Switched ands from bitwise to logical

Robustness matters
---
 toolbox/src/GetMeasurement.cpp                |  2 +-
 .../src/MinimumJerkTrajectoryGenerator.cpp    | 22 +++++++++----------
 toolbox/src/SetLowLevelPID.cpp                |  2 +-
 toolbox/src/SimulatorSynchronizer.cpp         |  6 ++---
 toolbox/src/YarpRead.cpp                      | 16 +++++++-------
 toolbox/src/YarpWrite.cpp                     |  5 ++---
 6 files changed, 26 insertions(+), 27 deletions(-)

diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index 6869424dd..7271a65fd 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -106,7 +106,7 @@ bool GetMeasurement::terminate(const BlockInformation* blockInfo)
 {
     // Release the RemoteControlBoardRemapper
     bool ok = true;
-    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    ok = ok && getRobotInterface()->releaseRemoteControlBoardRemapper();
     if (!ok) {
         Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
         // Don't return false here. WBBlock::terminate must be called in any case
diff --git a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
index d550be5fd..6c7e82e36 100644
--- a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
+++ b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
@@ -56,10 +56,10 @@ bool MinimumJerkTrajectoryGenerator::configureSizeAndPorts(BlockInformation* blo
     bool externalSettlingTime;
     bool ok = true;
 
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE, outputFirstDerivative);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE, outputSecondDerivative);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, explicitInitialValue);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, externalSettlingTime);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE, outputFirstDerivative);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE, outputSecondDerivative);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, explicitInitialValue);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, externalSettlingTime);
 
     if (!ok) {
         Log::getSingleton().error("Failed to get input parameters.");
@@ -132,13 +132,13 @@ bool MinimumJerkTrajectoryGenerator::initialize(const BlockInformation* blockInf
     bool outputSecondDerivative;
     bool ok = true;
 
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE,
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE,
                                                     outputFirstDerivative);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE,
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE,
                                                     outputSecondDerivative);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, m_explicitInitialValue);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, m_externalSettlingTime);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_RESET_CHANGEST,
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, m_explicitInitialValue);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, m_externalSettlingTime);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_RESET_CHANGEST,
                                                     m_resetOnSettlingTimeChange);
 
     if (!ok) {
@@ -157,8 +157,8 @@ bool MinimumJerkTrajectoryGenerator::initialize(const BlockInformation* blockInf
     double sampleTime;
     double settlingTime;
 
-    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SAMPLE_TIME, sampleTime);
-    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SETTLING_TIME, settlingTime);
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_SAMPLE_TIME, sampleTime);
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_SETTLING_TIME, settlingTime);
 
     unsigned signalSize = blockInfo->getInputPortWidth(0);
 
diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index c593f32ca..6ce3a3aba 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -227,7 +227,7 @@ bool SetLowLevelPID::terminate(const BlockInformation* blockInfo)
     }
 
     // Release the RemoteControlBoardRemapper
-    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    ok = ok && getRobotInterface()->releaseRemoteControlBoardRemapper();
     if (!ok) {
         Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
         // Don't return false here. WBBlock::terminate must be called in any case
diff --git a/toolbox/src/SimulatorSynchronizer.cpp b/toolbox/src/SimulatorSynchronizer.cpp
index 2f0c834fa..c46c528e1 100644
--- a/toolbox/src/SimulatorSynchronizer.cpp
+++ b/toolbox/src/SimulatorSynchronizer.cpp
@@ -73,9 +73,9 @@ bool SimulatorSynchronizer::initialize(const BlockInformation* blockInfo)
     std::string clientPortName;
 
     bool ok = true;
-    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period);
-    ok = ok & blockInfo->getStringParameterAtIndex(PARAM_GZCLK_PORT, serverPortName);
-    ok = ok & blockInfo->getStringParameterAtIndex(PARAM_RPC_PORT, clientPortName);
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period);
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_GZCLK_PORT, serverPortName);
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_RPC_PORT, clientPortName);
 
     if (!ok) {
         Log::getSingleton().error("Error reading RPC parameters.");
diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 023fb7701..9e5807cce 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -58,11 +58,11 @@ bool YarpRead::configureSizeAndPorts(BlockInformation* blockInfo)
     bool autoconnect;
     double signalSize;
 
-    bool ok = false;
+    bool ok = true;
 
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, shouldReadTimestamp);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, autoconnect);
-    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_PORTSIZE, signalSize);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, shouldReadTimestamp);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, autoconnect);
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_PORTSIZE, signalSize);
 
     if (!ok) {
         Log::getSingleton().error("Failed to read input parameters.");
@@ -114,10 +114,10 @@ bool YarpRead::initialize(const BlockInformation* blockInfo)
 
     bool ok = true;
 
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, m_shouldReadTimestamp);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_WAITDATA, m_blocking);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT, m_errorOnMissingPort);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, m_shouldReadTimestamp);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_WAITDATA, m_blocking);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT, m_errorOnMissingPort);
 
     if (!ok) {
         Log::getSingleton().error("Failed to read input parameters.");
diff --git a/toolbox/src/YarpWrite.cpp b/toolbox/src/YarpWrite.cpp
index 6b50029d9..5c59fd035 100644
--- a/toolbox/src/YarpWrite.cpp
+++ b/toolbox/src/YarpWrite.cpp
@@ -68,9 +68,8 @@ bool YarpWrite::initialize(const BlockInformation* blockInfo)
 
     bool ok = true;
 
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT,
-                                                    m_errorOnMissingPort);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT, m_errorOnMissingPort);
 
     if (!ok) {
         Log::getSingleton().error("Failed to read input parameters.");

From d4a64334d6f16c8252b94201ad343f29926d28ec Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:47:23 +0000
Subject: [PATCH 53/89] Check smart pointer status before using the
 KinDynComputations object

---
 toolbox/include/base/ToolboxSingleton.h |  2 +-
 toolbox/src/GetLimits.cpp               | 15 ++++++++++++---
 toolbox/src/InverseDynamics.cpp         |  7 ++++++-
 toolbox/src/base/RobotInterface.cpp     |  9 +++++----
 toolbox/src/base/ToolboxSingleton.cpp   |  2 +-
 5 files changed, 25 insertions(+), 10 deletions(-)

diff --git a/toolbox/include/base/ToolboxSingleton.h b/toolbox/include/base/ToolboxSingleton.h
index 1140a2d76..78dcf47e2 100644
--- a/toolbox/include/base/ToolboxSingleton.h
+++ b/toolbox/include/base/ToolboxSingleton.h
@@ -110,7 +110,7 @@ class wbt::ToolboxSingleton { // TODO: wbt::ToolboxSingleton
      * @return        A \c shared_ptr to the iDynTree::KinDynComputations of the requested
      *                configuration
      */
-    const std::shared_ptr<iDynTree::KinDynComputations> getModel(const std::string& confKey);
+    const std::shared_ptr<iDynTree::KinDynComputations> getKinDynComputations(const std::string& confKey);
 
     // TOOLBOXSINGLETON CONFIGURATION
     // ==============================
diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index 60c665307..eada4afe8 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -4,8 +4,8 @@
 #include "BlockInformation.h"
 #include "Signal.h"
 #include "RobotInterface.h"
-#include "iDynTree/KinDynComputations.h"
-#include "iDynTree/Model/Model.h"
+#include <iDynTree/KinDynComputations.h>
+#include <iDynTree/Model/Model.h>
 #include <yarp/dev/IControlLimits2.h>
 #include <vector>
 #include <limits>
@@ -133,7 +133,16 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
 
     else if (limitType == "ModelPosition") {
         iDynTree::IJointConstPtr p_joint;
-        const iDynTree::Model model = getRobotInterface()->getKinDynComputations()->model();
+
+        // Get the KinDynComputations pointer
+        const auto& kindyncomp = getRobotInterface()->getKinDynComputations();
+        if (!kindyncomp) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
+        }
+
+        // Get the model
+        const iDynTree::Model model = kindyncomp->model();
 
         for (auto i = 0; i < dofs; ++i) {
             // Get the joint name
diff --git a/toolbox/src/InverseDynamics.cpp b/toolbox/src/InverseDynamics.cpp
index e0303b97e..514c96d2b 100644
--- a/toolbox/src/InverseDynamics.cpp
+++ b/toolbox/src/InverseDynamics.cpp
@@ -110,7 +110,12 @@ bool InverseDynamics::initialize(const BlockInformation* blockInfo)
     m_jointsAcceleration = std::unique_ptr<VectorDynSize>(new VectorDynSize(dofs));
     m_jointsAcceleration->zero();
 
-    const auto& model = getRobotInterface()->getKinDynComputations()->model();
+    // Get the KinDynComputations pointer
+    const auto& kindyncomp = getRobotInterface()->getKinDynComputations();
+
+    // Get the model from the KinDynComputations object
+    const auto& model = kindyncomp->model();
+
     m_torques = std::unique_ptr<FreeFloatingGeneralizedTorques>(new FreeFloatingGeneralizedTorques(model));
 
     return static_cast<bool>(m_baseAcceleration) &&
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index bfda124ca..bf96983f2 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -183,12 +183,13 @@ const std::shared_ptr<iDynTree::KinDynComputations> RobotInterface::getKinDynCom
     }
 
     // Otherwise, initialize a new object
-    if (initializeModel()) {
-        return m_kinDynComp;
+    if (!initializeModel()) {
+        Log::getSingleton().error("Failed to initialize the KinDynComputations object.");
+        // Return an empty shared_ptr (implicitly initialized)
+        return nullptr;
     }
 
-    // Return an empty shared_ptr (implicitly initialized)
-    return nullptr;
+    return m_kinDynComp;
 }
 
 template <>
diff --git a/toolbox/src/base/ToolboxSingleton.cpp b/toolbox/src/base/ToolboxSingleton.cpp
index 19042b281..9eb76a4f3 100644
--- a/toolbox/src/base/ToolboxSingleton.cpp
+++ b/toolbox/src/base/ToolboxSingleton.cpp
@@ -63,7 +63,7 @@ const std::shared_ptr<RobotInterface> ToolboxSingleton::getRobotInterface(const
     return m_interfaces[confKey];
 }
 
-const std::shared_ptr<iDynTree::KinDynComputations> ToolboxSingleton::getModel(const std::string& confKey)
+const std::shared_ptr<iDynTree::KinDynComputations> ToolboxSingleton::getKinDynComputations(const std::string& confKey)
 {
     if (!isKeyValid(confKey)) {
         return nullptr;

From 9b3180aa0178be345ae1da76d1e5f2d6ced9db04 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:53:46 +0000
Subject: [PATCH 54/89] GetLimits: missing deg2rad conversion and typo for
 invalid joint check

---
 toolbox/include/GetLimits.h |  3 ++-
 toolbox/src/GetLimits.cpp   | 30 ++++++++++++++++++++++--------
 2 files changed, 24 insertions(+), 9 deletions(-)

diff --git a/toolbox/include/GetLimits.h b/toolbox/include/GetLimits.h
index 3a0310fe9..e96a7ae59 100644
--- a/toolbox/include/GetLimits.h
+++ b/toolbox/include/GetLimits.h
@@ -24,10 +24,11 @@ class wbt::GetLimits : public wbt::WBBlock
 {
 private:
     std::unique_ptr<Limit> m_limits;
+    static double deg2rad(const double& v);
 
 public:
     static const std::string ClassName;
-    
+
     GetLimits() = default;
     ~GetLimits() override = default;
 
diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index eada4afe8..44648995e 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -10,10 +10,18 @@
 #include <vector>
 #include <limits>
 
+#define _USE_MATH_DEFINES
+#include <cmath>
+
 using namespace wbt;
 
 const std::string GetLimits::ClassName = "GetLimits";
 
+double GetLimits::deg2rad(const double& v)
+{
+    return v * M_PI / 180.0;
+}
+
 unsigned GetLimits::numberOfParameters()
 {
     return WBBlock::numberOfParameters() + 1;
@@ -111,8 +119,8 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
                 Log::getSingleton().error("Failed to get limits from the interface.");
                 return false;
             }
-            m_limits->min[i] = min;
-            m_limits->max[i] = max;
+            m_limits->min[i] = deg2rad(min);
+            m_limits->max[i] = deg2rad(max);
         }
     }
     else if (limitType == "ControlBoardVelocity") {
@@ -121,8 +129,8 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
                 Log::getSingleton().error("Failed to get limits from the interface.");
                 return false;
             }
-            m_limits->min[i] = min;
-            m_limits->max[i] = max;
+            m_limits->min[i] = deg2rad(min);
+            m_limits->max[i] = deg2rad(max);
         }
     }
 
@@ -149,19 +157,25 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
             std::string joint = getConfiguration().getControlledJoints()[i];
 
             // Get its index
-            iDynTree::LinkIndex jointIndex = model.getLinkIndex(joint);
+            iDynTree::JointIndex jointIndex = model.getJointIndex(joint);
+
+            if (jointIndex == iDynTree::JOINT_INVALID_INDEX) {
+                Log::getSingleton().error("Invalid iDynTree joint index.");
+                return false;
+            }
 
             // Get the joint from the model
             p_joint = model.getJoint(jointIndex);
 
             if (!p_joint->hasPosLimits()) {
                 Log::getSingleton().warning("Joint " + joint + " has no model limits.");
-                // TODO: test how these values are interpreted by Simulink
-                min = -std::numeric_limits<double>::infinity();
-                max = std::numeric_limits<double>::infinity();
+                m_limits->min[i] = -std::numeric_limits<double>::infinity();
+                m_limits->max[i] = std::numeric_limits<double>::infinity();
             }
             else {
                 p_joint->getPosLimits(0, min, max);
+                m_limits->min[i] = min;
+                m_limits->max[i] = max;
             }
         }
     }

From 5c9912cd42de472d92442a57a79958f483377f53 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:55:27 +0000
Subject: [PATCH 55/89] GetMeasurement: changed some member names for clarity

---
 toolbox/include/GetMeasurement.h | 12 ++++++------
 toolbox/src/GetMeasurement.cpp   | 28 ++++++++++++++--------------
 2 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/toolbox/include/GetMeasurement.h b/toolbox/include/GetMeasurement.h
index 101aed7af..5caec2f71 100644
--- a/toolbox/include/GetMeasurement.h
+++ b/toolbox/include/GetMeasurement.h
@@ -5,10 +5,10 @@
 
 namespace wbt {
     class GetMeasurement;
-    enum EstimateType {
-        ESTIMATE_JOINT_POS,
-        ESTIMATE_JOINT_VEL,
-        ESTIMATE_JOINT_ACC,
+    enum MeasuredType {
+        MEASUREMENT_JOINT_POS,
+        MEASUREMENT_JOINT_VEL,
+        MEASUREMENT_JOINT_ACC,
         ESTIMATE_JOINT_TORQUE
     };
 }
@@ -17,8 +17,8 @@ namespace wbt {
 class wbt::GetMeasurement : public wbt::WBBlock
 {
 private:
-    std::vector<double> m_estimate;
-    wbt::EstimateType m_estimateType;
+    std::vector<double> m_measurement;
+    wbt::MeasuredType m_measuredType;
     static void deg2rad(std::vector<double>& v);
 
 public:
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index 7271a65fd..536ec00aa 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -16,7 +16,7 @@ const std::string GetMeasurement::ClassName = "GetMeasurement";
 
 void GetMeasurement::deg2rad(std::vector<double>& v)
 {
-    const double deg2rad = (2 * M_PI) / 180.0;
+    const double deg2rad = M_PI / 180.0;
     for (auto& element : v) {
         element *= deg2rad;
     }
@@ -77,13 +77,13 @@ bool GetMeasurement::initialize(const BlockInformation* blockInfo)
     }
 
     if (informationType == "Joints Position") {
-        m_estimateType = wbt::ESTIMATE_JOINT_POS;
+        m_measuredType = wbt::MEASUREMENT_JOINT_POS;
     } else if (informationType == "Joints Velocity") {
-        m_estimateType = wbt::ESTIMATE_JOINT_VEL;
+        m_measuredType = wbt::MEASUREMENT_JOINT_VEL;
     } else if (informationType == "Joints Acceleration") {
-        m_estimateType = wbt::ESTIMATE_JOINT_ACC;
+        m_measuredType = wbt::MEASUREMENT_JOINT_ACC;
     } else if (informationType == "Joints Torque") {
-        m_estimateType = wbt::ESTIMATE_JOINT_TORQUE;
+        m_measuredType = wbt::ESTIMATE_JOINT_TORQUE;
     } else {
         Log::getSingleton().error("Estimate not supported.");
         return false;
@@ -91,7 +91,7 @@ bool GetMeasurement::initialize(const BlockInformation* blockInfo)
 
     // Initialize the size of the output vector
     const unsigned dofs = getConfiguration().getNumberOfDoFs();
-    m_estimate.reserve(dofs);
+    m_measurement.resize(dofs);
 
     // Retain the ControlBoardRemapper
     if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
@@ -118,8 +118,8 @@ bool GetMeasurement::terminate(const BlockInformation* blockInfo)
 bool GetMeasurement::output(const BlockInformation* blockInfo)
 {
     bool ok;
-    switch (m_estimateType) {
-        case ESTIMATE_JOINT_POS: {
+    switch (m_measuredType) {
+        case MEASUREMENT_JOINT_POS: {
             // Get the interface
             yarp::dev::IEncoders* iEncoders = nullptr;
             if (!getRobotInterface()->getInterface(iEncoders) || !iEncoders) {
@@ -127,11 +127,11 @@ bool GetMeasurement::output(const BlockInformation* blockInfo)
                 return false;
             }
             // Get the measurement
-            deg2rad(m_estimate);
             ok = iEncoders->getEncoders(m_measurement.data());
+            deg2rad(m_measurement);
             break;
         }
-        case ESTIMATE_JOINT_VEL: {
+        case MEASUREMENT_JOINT_VEL: {
             // Get the interface
             yarp::dev::IEncoders* iEncoders = nullptr;
             if (!getRobotInterface()->getInterface(iEncoders) || !iEncoders) {
@@ -139,11 +139,11 @@ bool GetMeasurement::output(const BlockInformation* blockInfo)
                 return false;
             }
             // Get the measurement
-            deg2rad(m_estimate);
             ok = iEncoders->getEncoderSpeeds(m_measurement.data());
+            deg2rad(m_measurement);
             break;
         }
-        case ESTIMATE_JOINT_ACC: {
+        case MEASUREMENT_JOINT_ACC: {
             // Get the interface
             yarp::dev::IEncoders* iEncoders = nullptr;
             if (!getRobotInterface()->getInterface(iEncoders) || !iEncoders) {
@@ -151,8 +151,8 @@ bool GetMeasurement::output(const BlockInformation* blockInfo)
                 return false;
             }
             // Get the measurement
-            deg2rad(m_estimate);
             ok = iEncoders->getEncoderAccelerations(m_measurement.data());
+            deg2rad(m_measurement);
             break;
         }
         case ESTIMATE_JOINT_TORQUE: {
@@ -177,7 +177,7 @@ bool GetMeasurement::output(const BlockInformation* blockInfo)
     }
 
     Signal signal = blockInfo->getOutputPortSignal(0);
-    signal.setBuffer(m_estimate.data(), blockInfo->getOutputPortWidth(0));
+    signal.setBuffer(m_measurement.data(), blockInfo->getOutputPortWidth(0));
 
     return true;
 }

From 3a0d018acbfc7d85a29fa9afa0149bb01f850885 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 11:00:34 +0000
Subject: [PATCH 56/89] SetReferences: Position mode now calls setRefSpeeds()

The speed, used internally by the yarp interface, must be initialized in order to obtain the wanted bahavior.

In the future this might become a mask parameter.
---
 toolbox/src/SetReferences.cpp | 33 ++++++++++++++++++++++++++++++---
 1 file changed, 30 insertions(+), 3 deletions(-)

diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 4255344b8..90edb1c6b 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -19,7 +19,7 @@ SetReferences::SetReferences()
 
 void SetReferences::rad2deg(std::vector<double>& v)
 {
-    const double rad2deg = 180.0 / (2 * M_PI);
+    const double rad2deg = 180.0 / M_PI;
     for (auto& element : v) {
         element *= rad2deg;
     }
@@ -113,6 +113,26 @@ bool SetReferences::initialize(const BlockInformation* blockInfo)
         return false;
     }
 
+    // The Position mode is used to set a discrete reference, and then the yarp interface
+    // is responsible to generate a trajectory to reach this setpoint.
+    // The generated trajectory takes an additional parameter: the speed.
+    // If not properly initialized, this contol mode does not work as expected.
+    if (controlType == "Position") {
+        // Get the interface
+        yarp::dev::IPositionControl* interface = nullptr;
+        if (!getRobotInterface()->getInterface(interface) || !interface) {
+            Log::getSingleton().error("Failed to get IPositionControl interface.");
+            return false;
+        }
+        // TODO: Set this parameter from the mask
+        std::vector<double> speedInitalization(dofs, 10.0);
+        // Set the references
+        if (!interface->setRefSpeeds(speedInitalization.data())) {
+            Log::getSingleton().error("Failed to initialize speed references.");
+            return false;
+        }
+    }
+
     // Retain the ControlBoardRemapper
     if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
         Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
@@ -158,8 +178,15 @@ bool SetReferences::terminate(const BlockInformation* blockInfo)
 
 bool SetReferences::initializeInitialConditions(const BlockInformation* /*blockInfo*/)
 {
-    // Simply reset the variable m_resetControlMode.
-    // It will be read at the first cycle of output.
+    // This function is called when a subsystem with Enable / Disable support is used.
+    // In this case all the blocks in this subsystem are configured and initialize,
+    // but if they are disabled, output() is not called.
+    // This initializeInitialConditions method is called when the block is enabled,
+    // and in this case the control mode should be set.
+    //
+    // It is worth noting that this toolbox disables parameters to be tunable for
+    // all the blocks
+
     m_resetControlMode = true;
     return true;
 }

From 9993d136d2abc76eab819582a661085ce6060f58 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 11:13:47 +0000
Subject: [PATCH 57/89] ModelPartitioner: fixed the forwarding of i/o data

This block requires a lot of information for dynamically partitioning a vector containing controlledJoints data into multiple signals representing the control boards the joints belong to.

Furthermore, this block is the only one which needs to retrieve the KinDynComputations model and RemoteControlBoardRemapper already from the configureSizeAndPorts() step.
---
 toolbox/include/ModelPartitioner.h    |   4 +-
 toolbox/include/base/RobotInterface.h |  45 +++++++-
 toolbox/src/ModelPartitioner.cpp      |  97 ++++++++++-------
 toolbox/src/base/RobotInterface.cpp   | 145 +++++++++++++++++++-------
 4 files changed, 216 insertions(+), 75 deletions(-)

diff --git a/toolbox/include/ModelPartitioner.h b/toolbox/include/ModelPartitioner.h
index 32c57c098..853c3f0c3 100644
--- a/toolbox/include/ModelPartitioner.h
+++ b/toolbox/include/ModelPartitioner.h
@@ -16,10 +16,12 @@ class wbt::ModelPartitioner : public wbt::WBBlock
     bool m_yarp2WBI;
 
     std::shared_ptr<JointsMapString> m_jointsMapString;
+    std::shared_ptr<ControlledJointsMapCB> m_controlledJointsMapCB;
+    std::shared_ptr<ControlBoardIdxLimit> m_controlBoardIdxLimit;
 
 public:
     static const std::string ClassName;
-    
+
     ModelPartitioner() = default;
     ~ModelPartitioner() override = default;
 
diff --git a/toolbox/include/base/RobotInterface.h b/toolbox/include/base/RobotInterface.h
index 489bf0f35..76d338de3 100644
--- a/toolbox/include/base/RobotInterface.h
+++ b/toolbox/include/base/RobotInterface.h
@@ -36,8 +36,12 @@ namespace wbt {
     typedef int jointIdx_yarp;
     typedef int jointIdx_iDynTree;
     typedef unsigned cb_idx;
+    typedef unsigned max_cb_idx;
+    typedef unsigned controlledJointIdxCB;
     typedef std::unordered_map<jointIdx_iDynTree, std::pair<cb_idx, jointIdx_yarp>> JointsMapIndex;
     typedef std::unordered_map<std::string, std::pair<cb_idx, jointIdx_yarp>> JointsMapString;
+    typedef std::unordered_map<std::string, controlledJointIdxCB> ControlledJointsMapCB;
+    typedef std::unordered_map<cb_idx, max_cb_idx> ControlBoardIdxLimit;
 }
 
 /**
@@ -106,7 +110,8 @@ class wbt::RobotInterface
     // Maps used to store infos about yarp's and idyntree's internal joint indexing
     std::shared_ptr<JointsMapIndex> m_jointsMapIndex;
     std::shared_ptr<JointsMapString> m_jointsMapString;
-    // std::unordered_map<std::pair<cb_idx, yarp_idx>, joint_name> m_yarp2joint;
+    std::shared_ptr<ControlledJointsMapCB> m_controlledJointsMapCB;
+    std::shared_ptr<ControlBoardIdxLimit> m_controlBoardIdxLimit;
 
     // Configuration from Simulink Block's parameters
     const wbt::Configuration m_config;
@@ -159,6 +164,17 @@ class wbt::RobotInterface
      * @return True if the map has been created successfully
      */
     bool mapDoFs();
+
+    /**
+     * Create a RemoteControlBoard object for a given remoteName
+     *
+     * @see mapDoFs
+     *
+     * @param  remoteName   [in]  Name of the remote from which the remote control board is be initialized
+     * @param  controlBoard [out] Smart pointer to the allocated remote control board
+     * @return                    True if success
+     */
+    bool getSingleControlBoard(const std::string& remoteName, std::unique_ptr<yarp::dev::PolyDriver>& controlBoard);
 public:
 
     // CONSTRUCTOR / DESTRUCTOR
@@ -179,7 +195,7 @@ class wbt::RobotInterface
     const wbt::Configuration& getConfiguration() const;
 
     /**
-     * Get the map between model joint namesand the YARP representation (Control Board and
+     * Get the map between model joint names and the YARP representation (Control Board and
      * joint index)
      *
      * @return The joint map
@@ -194,6 +210,31 @@ class wbt::RobotInterface
      */
     const std::shared_ptr<JointsMapIndex> getJointsMapIndex();
 
+    /**
+     * Get the map between model joint names and the index representing their relative ordering
+     * inside the controlledJoints vector relative to their ControlBoard.
+     *
+     * @note For example, if the joints are
+     * \verbatim j1_cb1 j2_cb1 j3_cb1 j1_cb2 j2_cb2 j1_cb3 \endverbatim, the map links them to
+     * \verbatim 0 1 2 0 1 0 \end
+     *
+     * @return The joint map
+     */
+    const std::shared_ptr<ControlledJointsMapCB> getControlledJointsMapCB();
+
+    /**
+     * Get the map between the ControlBoard index inside the RemoteControlBoardRemapper
+     * and the number of the controlled joints which belongs to it.
+     *
+     * @note For example, if the joints are
+     * \verbatim j1_cb1 j2_cb1 j3_cb1 j1_cb2 j2_cb2 j1_cb3 \endverbatim, the generated map is
+     * \verbatim  {{0,3}{1,2}{2,1}} \endverbatim
+     * Note that the map key is 0-indexed.
+     *
+     * @return The control board limit map
+     */
+    const std::shared_ptr<ControlBoardIdxLimit> getControlBoardIdxLimit();
+
     /**
      * Get the object to operate on the configured model
      *
diff --git a/toolbox/src/ModelPartitioner.cpp b/toolbox/src/ModelPartitioner.cpp
index 2c54458bd..e987604f8 100644
--- a/toolbox/src/ModelPartitioner.cpp
+++ b/toolbox/src/ModelPartitioner.cpp
@@ -5,6 +5,7 @@
 #include "RobotInterface.h"
 #include "Signal.h"
 #include "Log.h"
+#include <algorithm>
 
 using namespace wbt;
 
@@ -12,7 +13,7 @@ const std::string ModelPartitioner::ClassName = "ModelPartitioner";
 
 unsigned ModelPartitioner::numberOfParameters()
 {
-    return 1;
+    return WBBlock::numberOfParameters() + 1;
 }
 
 bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
@@ -25,8 +26,10 @@ bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
     // 1) Boolean specifying if yarp2WBI (true) or WBI2yarp (false)
     //
 
-    bool yarp2WBI;
-    if (!blockInfo->getBooleanParameterAtIndex(1, yarp2WBI)) {
+    bool yarp2WBI = false;
+    unsigned yarp2WBIParameterIdx = WBBlock::numberOfParameters() + 1;
+
+    if (!blockInfo->getBooleanParameterAtIndex(yarp2WBIParameterIdx, yarp2WBI)) {
         Log::getSingleton().error("Failed to get input parameters.");
         return false;
     }
@@ -53,12 +56,14 @@ bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
         numberOfInputs = 1;
         ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
         blockInfo->setInputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
+        blockInfo->setInputPortType(0, PortDataTypeDouble);
     }
     else {
         numberOfInputs = controlBoardsNumber;
         ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
         // Set the size as dynamic
         for (unsigned i = 0; i < numberOfInputs; ++i) {
+            blockInfo->setInputPortVectorSize(i, -1);
             blockInfo->setInputPortType(i, PortDataTypeDouble);
         }
     }
@@ -100,6 +105,28 @@ bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
         blockInfo->setOutputPortType(0, PortDataTypeDouble);
     }
 
+    // For some reason, the output ports widths in the yarp2WBI case are not detected
+    // properly by Simulink if set as DYNAMICALLY_SIZED (-1).
+    // Set them manually using the m_controlBoardIdxLimit map.
+    //
+    // Doing this now has the disadvantage of allocating the KinDynComputations and the
+    // RemoteControlBoardRemapper already at this early stage, but this happens only at the
+    // first execution of the model if the joint list doesn't change.
+    //
+    if (yarp2WBI) {
+        m_controlBoardIdxLimit = getRobotInterface()->getControlBoardIdxLimit();
+        if (!m_controlBoardIdxLimit) {
+            Log::getSingleton().error("Failed to get the map CBIdx <--> CBMaxIdx.");
+            return false;
+        }
+        for (const auto& cb : *m_controlBoardIdxLimit) {
+            if (!blockInfo->setOutputPortVectorSize(cb.first, cb.second)) {
+                Log::getSingleton().error("Failed to set ouput port size reading them from cb map.");
+                return false;
+            }
+        }
+    }
+
     if (!ok) {
         Log::getSingleton().error("Failed to set output port number.");
         return false;
@@ -112,14 +139,22 @@ bool ModelPartitioner::initialize(const BlockInformation* blockInfo)
 {
     if (!WBBlock::initialize(blockInfo)) return false;
 
-    if (!blockInfo->getBooleanParameterAtIndex(1, m_yarp2WBI)) {
+    unsigned yarp2WBIParameterIdx = WBBlock::numberOfParameters() + 1;
+    if (!blockInfo->getBooleanParameterAtIndex(yarp2WBIParameterIdx, m_yarp2WBI)) {
         Log::getSingleton().error("Failed to get input parameters.");
         return false;
     }
 
     m_jointsMapString = getRobotInterface()->getJointsMapString();
+    m_controlledJointsMapCB = getRobotInterface()->getControlledJointsMapCB();
 
     if (!m_jointsMapString) {
+        Log::getSingleton().error("Failed to get the joint map iDynTree <--> Yarp.");
+        return false;
+    }
+
+    if (!m_controlledJointsMapCB) {
+        Log::getSingleton().error("Failed to get the joint map iDynTree <--> controlledJointsIdx.");
         return false;
     }
 
@@ -133,48 +168,38 @@ bool ModelPartitioner::terminate(const BlockInformation* blockInfo)
 
 bool ModelPartitioner::output(const BlockInformation* blockInfo)
 {
-    if (m_yarp2WBI) {
-        // Input
-        Signal jointListSignal = blockInfo->getInputPortSignal(0);
+    Signal dofsSignal;
 
-        // Outputs
-        Signal ithControlBoardSignal;
+    if (m_yarp2WBI) {
+        dofsSignal = blockInfo->getInputPortSignal(0);
 
-        for (unsigned ithJoint = 0; ithJoint < blockInfo->getInputPortWidth(0); ++ithJoint) {
-            // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
-            std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
-            const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
-            cb_idx controlBoardOfJoint = mappedJointInfos.first;
-            jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
+        for (unsigned ithJoint = 0; ithJoint < getConfiguration().getNumberOfDoFs(); ++ithJoint) {
+            const std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
+            // Get the ControlBoard number the ith joint belongs
+            const cb_idx& controlBoardOfJoint = m_jointsMapString->at(ithJointName).first;
+            // Get the index of the ith joint inside the controlledJoints vector relative to
+            // its ControlBoard
+            const controlledJointIdxCB contrJointIdxCB = m_controlledJointsMapCB->at(ithJointName);
 
             // Get the data to forward
-            Data value = jointListSignal.get(ithJoint);
-
-            // Forward the value to the correct output / output index
-            ithControlBoardSignal = blockInfo->getOutputPortSignal(controlBoardOfJoint);
-            ithControlBoardSignal.set(yarpIndexOfJoint, value.doubleData());
+            Signal ithOutput = blockInfo->getOutputPortSignal(controlBoardOfJoint);
+            ithOutput.set(contrJointIdxCB, dofsSignal.get(ithJoint).doubleData());
         }
     }
     else {
-        // Inputs
-        Signal ithControlBoardSignal;
+        dofsSignal = blockInfo->getOutputPortSignal(0);
 
-        // Output
-        Signal jointListSignal = blockInfo->getOutputPortSignal(0);
-
-        for (unsigned ithJoint = 0; ithJoint < blockInfo->getOutputPortWidth(0); ++ithJoint) {
-            // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
-            std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
-            const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
-            cb_idx controlBoardOfJoint = mappedJointInfos.first;
-            jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
+        for (unsigned ithJoint = 0; ithJoint < getConfiguration().getNumberOfDoFs(); ++ithJoint) {
+            const std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
+            // Get the ControlBoard number the ith joint belongs
+            const cb_idx& controlBoardOfJoint = m_jointsMapString->at(ithJointName).first;
+            // Get the index of the ith joint inside the controlledJoints vector relative to
+            // its ControlBoard
+            const controlledJointIdxCB contrJointIdxCB = m_controlledJointsMapCB->at(ithJointName);
 
             // Get the data to forward
-            ithControlBoardSignal = blockInfo->getInputPortSignal(controlBoardOfJoint);
-            Data value = ithControlBoardSignal.get(ithJoint);
-
-            // Forward the value to the correct output index
-            jointListSignal.set(yarpIndexOfJoint, value.doubleData());
+            const Signal ithInput = blockInfo->getInputPortSignal(controlBoardOfJoint);
+            dofsSignal.set(ithJoint, ithInput.get(contrJointIdxCB).doubleData());
         }
     }
     return true;
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index bf96983f2..e637d40e5 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -2,6 +2,7 @@
 #include "Log.h"
 #include <sstream>
 #include <iterator>
+#include <utility>
 #include <iDynTree/KinDynComputations.h>
 #include <iDynTree/ModelIO/ModelLoader.h>
 #include <yarp/dev/PolyDriver.h>
@@ -9,9 +10,9 @@
 #include <yarp/dev/ControlBoardInterfaces.h>
 #include <yarp/dev/IControlLimits2.h>
 #include <yarp/os/Property.h>
+#include <yarp/os/Bottle.h>
 
 namespace wbt {
-
     // The declaration of the following template specializations are required only by GCC
     using namespace yarp::dev;
     template <> bool RobotInterface::getInterface(IControlMode2*& interface);
@@ -51,28 +52,54 @@ RobotInterface::~RobotInterface()
     assert(m_robotDeviceCounter == 0);
 }
 
+bool RobotInterface::getSingleControlBoard(const std::string& remoteName, std::unique_ptr<yarp::dev::PolyDriver>& controlBoard) {
+    // Configure the single control board
+    yarp::os::Property options;
+    options.clear();
+    options.put("device", "remote_controlboard");
+    options.put("remote", remoteName);
+    options.put("local", m_config.getLocalName() + "/CBtmp");
+    options.put("writeStrict", "on");
+
+    // Initialize the device
+    controlBoard = std::unique_ptr<yarp::dev::PolyDriver>(new yarp::dev::PolyDriver());
+    if (!controlBoard) {
+        Log::getSingleton().error("Failed to retain the RemoteControlBoard ");
+        Log::getSingleton().errorAppend("used for mapping iDynTree - YARP DoFs.");
+        return false;
+    }
+
+    // Try to open the control board
+    if (!controlBoard->open(options) || !controlBoard->isValid()) {
+        Log::getSingleton().error("Unable to open RemoteControlBoard " + remoteName);
+        return false;
+    }
+
+    return true;
+}
+
 bool RobotInterface::mapDoFs()
 {
-    std::unique_ptr<yarp::dev::PolyDriver> controlBoard;
+    // Initialize the network
+    yarp::os::Network::init();
+    if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)) {
+        Log::getSingleton().error("YARP server wasn't found active!!");
+        return false;
+    }
+
     std::vector<std::unique_ptr<yarp::dev::IAxisInfo>> iAxisInfos;
-    yarp::os::Property options;
 
     for (unsigned cbNum = 0; cbNum < m_config.getControlBoardsNames().size(); ++cbNum) {
-        // Configure the single control board
-        options.clear();
-        options.put("device","remotecontrolboard");
+
+        std::unique_ptr<yarp::dev::PolyDriver> controlBoard;
         const std::string prefix = "/" + m_config.getRobotName() + "/";
         const std::string remoteName = prefix + m_config.getControlBoardsNames().at(cbNum);
-        options.put("remote", remoteName);
-        options.put("localPortPrefix", "WBTtmp");
 
-        // Try to open the control board
-        if (!controlBoard->open(options) || !controlBoard->isValid()) {
-            Log::getSingleton().error("Unable to open RemoteControlBoard " + remoteName);
+        if (!getSingleControlBoard(remoteName, controlBoard)) {
             return false;
         }
 
-        // Get an IAxisInfo object from the device
+        // Get an IAxisInfo object from the interface
         std::unique_ptr<yarp::dev::IAxisInfo> iAxisInfo;
         yarp::dev::IAxisInfo* iAxisInfoPtr = iAxisInfo.get();
         controlBoard->view(iAxisInfoPtr);
@@ -92,6 +119,7 @@ bool RobotInterface::mapDoFs()
             return false;
         }
 
+        int found = -1;
         // Iterate all the joints in the selected Control Board
         for (unsigned axis = 0; axis < numAxes; ++axis) {
             std::string axisName;
@@ -100,13 +128,18 @@ bool RobotInterface::mapDoFs()
                 return false;
             }
             // Look if axisName is a controlledJoint
-            bool found = false;
             for (const auto& controlledJoint : m_config.getControlledJoints()) {
                 if (controlledJoint == axisName) {
-                    // Get the iDynTree index
-                    const auto& model = getKinDynComputations()->model();
-                    iDynTree::LinkIndex iDynLinkIdx = model.getLinkIndex(axisName);
-                    if (iDynLinkIdx == iDynTree::LINK_INVALID_INDEX) {
+                    found++;
+                    // Get the iDynTree index from the model
+                    const auto& kinDynComp = getKinDynComputations();
+                    if (!kinDynComp) {
+                        Log::getSingleton().error("Failed to get KinDynComputations.");
+                        return false;
+                    }
+                    const auto& model = kinDynComp->model();
+                    iDynTree::JointIndex iDynJointIdx = model.getJointIndex(axisName);
+                    if (iDynJointIdx == iDynTree::JOINT_INVALID_INDEX) {
                         Log::getSingleton().error("Joint " + axisName + " exists in the " +
                                                   remoteName + "control board but not in the model.");
                         return false;
@@ -118,27 +151,42 @@ bool RobotInterface::mapDoFs()
                     if (!m_jointsMapString) {
                         m_jointsMapString = std::make_shared<JointsMapString>();
                     }
+                    if (!m_controlledJointsMapCB) {
+                        m_controlledJointsMapCB = std::make_shared<ControlledJointsMapCB>();
+                    }
+                    if (!m_controlBoardIdxLimit) {
+                        m_controlBoardIdxLimit = std::make_shared<ControlBoardIdxLimit>();
+                    }
                     // Create a new entry in the map objects
-                    m_jointsMapString->at(controlledJoint) = {cbNum, axis};
-                    m_jointsMapIndex->at(static_cast<int>(iDynLinkIdx)) = {cbNum, axis};
-                    found = true;
+                    m_jointsMapString->insert(std::make_pair(controlledJoint, std::make_pair(cbNum, axis)));
+                    m_jointsMapIndex->insert(std::make_pair(static_cast<int>(iDynJointIdx),
+                                                            std::make_pair(cbNum, axis)));
+                    m_controlledJointsMapCB->insert(std::make_pair(controlledJoint, found));
+                    (*m_controlBoardIdxLimit)[cbNum] = found + 1;
                     break;
                 }
             }
-            // Notify that the control board just checked is not used by any joint
-            // of the controlledJoints list
-            if (!found) {
-                Log::getSingleton().warning("No controlled joints found in " +
-                                            m_config.getControlBoardsNames().at(cbNum) +
-                                            " control board. It might be unsed.");
-            }
+
         }
-    }
 
-    if (!controlBoard->close()) {
-        Log::getSingleton().error("Unable to close the device of the Control Board.");
-        return false;
+        // Notify that the control board just checked is not used by any joint
+        // of the controlledJoints list
+        if (found < 0) {
+            Log::getSingleton().warning("No controlled joints found in " +
+            m_config.getControlBoardsNames().at(cbNum) +
+            " control board. It might be unused.");
+        }
+
+        // Close the ControlBoard device
+        if (!controlBoard->close()) {
+            Log::getSingleton().error("Unable to close the interface of the Control Board.");
+            return false;
+        }
     }
+
+    // Initialize the network
+    yarp::os::Network::fini();
+
     return true;
 }
 
@@ -152,22 +200,21 @@ const wbt::Configuration& RobotInterface::getConfiguration() const
 
 const std::shared_ptr<JointsMapString> RobotInterface::getJointsMapString()
 {
-    if (m_jointsMapString->empty()) {
+    if (!m_jointsMapString || m_jointsMapString->empty()) {
         if (!mapDoFs()) {
-            Log::getSingleton().error("Failed to create the Yarp - iDynTree joint map.");
+            Log::getSingleton().error("Failed to create the joint maps.");
             return nullptr;
         }
     }
 
-    assert (m_jointsMapString);
     return m_jointsMapString;
 }
 
 const std::shared_ptr<JointsMapIndex> RobotInterface::getJointsMapIndex()
 {
-    if (m_jointsMapIndex->empty()) {
+    if (!m_jointsMapIndex || m_jointsMapIndex->empty()) {
         if (!mapDoFs()) {
-            Log::getSingleton().error("Failed to create the Yarp - iDynTree joint map.");
+            Log::getSingleton().error("Failed to create the joint maps.");
             return nullptr;
         }
     }
@@ -176,6 +223,32 @@ const std::shared_ptr<JointsMapIndex> RobotInterface::getJointsMapIndex()
     return m_jointsMapIndex;
 }
 
+const std::shared_ptr<ControlledJointsMapCB> RobotInterface::getControlledJointsMapCB()
+{
+    if (!m_controlledJointsMapCB || m_controlledJointsMapCB->empty()) {
+        if (!mapDoFs()) {
+            Log::getSingleton().error("Failed to create joint maps.");
+            return nullptr;
+        }
+    }
+
+    assert (m_controlledJointsMapCB);
+    return m_controlledJointsMapCB;
+}
+
+const std::shared_ptr<ControlBoardIdxLimit> RobotInterface::getControlBoardIdxLimit()
+{
+    if (!m_controlBoardIdxLimit || m_controlBoardIdxLimit->empty()) {
+        if (!mapDoFs()) {
+            Log::getSingleton().error("Failed to create joint maps.");
+            return nullptr;
+        }
+    }
+
+    assert (m_controlBoardIdxLimit);
+    return m_controlBoardIdxLimit;
+}
+
 const std::shared_ptr<iDynTree::KinDynComputations> RobotInterface::getKinDynComputations()
 {
     if (m_kinDynComp) {

From 212ffaf7837d0af52929eb5c8f7086513bffae85 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 11:17:05 +0000
Subject: [PATCH 58/89] YarpRead: fixed indexing of signals

This block has optional outputs, and the indexing in the output() method was not correct
---
 toolbox/src/YarpRead.cpp | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 9e5807cce..939446e05 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -178,8 +178,15 @@ bool YarpRead::terminate(const BlockInformation* /*blockInfo*/)
 
 bool YarpRead::output(const BlockInformation* blockInfo)
 {
-    int timeStampPortIndex = 1;
-    int connectionStatusPortIndex = 1;
+    int timeStampPortIndex = 0;
+    int connectionStatusPortIndex = 0;
+
+    if (m_shouldReadTimestamp) {
+        timeStampPortIndex = 1;
+    }
+    if (!m_autoconnect) {
+        connectionStatusPortIndex = timeStampPortIndex + 1;
+    }
 
     yarp::sig::Vector* v = m_port->read(m_blocking); // Read from the port.  Waits until data arrives.
 
@@ -197,7 +204,9 @@ bool YarpRead::output(const BlockInformation* blockInfo)
         Signal signal = blockInfo->getOutputPortSignal(0);
 
         // Crop the buffer if it exceeds the OutputPortWidth.
-        signal.setBuffer(v->data(), std::min(blockInfo->getOutputPortWidth(0), (unsigned)v->size()));
+        signal.setBuffer(v->data(),
+                         std::min(blockInfo->getOutputPortWidth(0),
+                                  static_cast<unsigned>(v->size())));
 
         if (!m_autoconnect) {
             Signal statusPort = blockInfo->getOutputPortSignal(connectionStatusPortIndex);

From 9cb9aa8531d29739ce477f92e32e7cd10e6732b5 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 15:59:40 +0000
Subject: [PATCH 59/89] Improved logging support and log messages

---
 toolbox/include/base/Log.h          | 11 +++++++----
 toolbox/src/GetLimits.cpp           |  8 ++++++--
 toolbox/src/GetMeasurement.cpp      |  2 +-
 toolbox/src/SetLowLevelPID.cpp      | 15 ++++++++++-----
 toolbox/src/SetReferences.cpp       |  2 +-
 toolbox/src/YarpRead.cpp            |  6 +++++-
 toolbox/src/base/Log.cpp            | 25 +++++++++++++++++++++----
 toolbox/src/base/RobotInterface.cpp |  4 +++-
 8 files changed, 54 insertions(+), 19 deletions(-)

diff --git a/toolbox/include/base/Log.h b/toolbox/include/base/Log.h
index 699c431b6..e3f9d6764 100644
--- a/toolbox/include/base/Log.h
+++ b/toolbox/include/base/Log.h
@@ -18,16 +18,19 @@ class wbt::Log
     std::vector<std::string> warnings;
     std::string prefix;
 
-    static std::string serializeVectorString(std::vector<std::string> v, std::string prefix="");
+    static std::string serializeVectorString(std::vector<std::string> v, const std::string& prefix="");
 public:
 
     static wbt::Log& getSingleton();
 
-    void error(std::string errorMessage);
-    void warning(std::string warningMessage);
+    void error(const std::string& errorMessage);
+    void warning(const std::string& warningMessage);
+
+    void errorAppend(const std::string& errorMessage);
+    void warningAppend(const std::string& warningMessage);
 
     void resetPrefix();
-    void setPrefix(std::string prefixMessage);
+    void setPrefix(const std::string& prefixMessage);
 
     std::string getErrors() const;
     std::string getWarnings() const;
diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index 44648995e..ca668fad3 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -103,7 +103,7 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
     if (limitType == "ControlBoardPosition" || limitType == "ControlBoardVelocity") {
         // Retain the control board remapper
         if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-            Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+            Log::getSingleton().error("Couldn't retain the RemoteControlBoardRemapper.");
             return false;
         }
         // Get the interface
@@ -173,7 +173,11 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
                 m_limits->max[i] = std::numeric_limits<double>::infinity();
             }
             else {
-                p_joint->getPosLimits(0, min, max);
+                if (!p_joint->getPosLimits(0, min, max)) {
+                    Log::getSingleton().error("Failed to get joint limits from the URDF model ");
+                    Log::getSingleton().errorAppend("for the joint " + joint + ".");
+                    return false;
+                }
                 m_limits->min[i] = min;
                 m_limits->max[i] = max;
             }
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index 536ec00aa..a245105c6 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -95,7 +95,7 @@ bool GetMeasurement::initialize(const BlockInformation* blockInfo)
 
     // Retain the ControlBoardRemapper
     if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-        Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+        Log::getSingleton().error("Couldn't retain the RemoteControlBoardRemapper.");
         return false;
     }
 
diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index 6ce3a3aba..911b039d8 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -105,7 +105,12 @@ bool SetLowLevelPID::readWBTPidConfigObject(const BlockInformation* blockInfo)
         jointNamesFromParameters.push_back(joint);
     }
 
-    assert(Pvector.size() == Ivector.size() == Dvector.size() == jointNamesFromParameters.size());
+    if (Pvector.size() != Ivector.size() ||
+        Ivector.size() != Dvector.size() ||
+        Dvector.size() != jointNamesFromParameters.size()) {
+        Log::getSingleton().error("Sizes of P, I, D, and jointList elements are not the same.");
+        return false;
+    }
 
     // Store this data into a private member map
     for (unsigned i = 0; i < jointNamesFromParameters.size(); ++i) {
@@ -118,8 +123,8 @@ bool SetLowLevelPID::readWBTPidConfigObject(const BlockInformation* blockInfo)
             m_pidJointsFromParameters[jointNamesFromParameters[i]] = {Pvector[i], Ivector[i], Dvector[i]};
         }
         else {
-            Log::getSingleton().warning("Attempted to set PID of joint " + jointNamesFromParameters[i] +
-                                        " non currently controlled. Skipping it.");
+            Log::getSingleton().warning("Attempted to set PID of joint " + jointNamesFromParameters[i]);
+            Log::getSingleton().warningAppend(" non currently controlled. Skipping it.");
         }
 
     }
@@ -156,12 +161,12 @@ bool SetLowLevelPID::initialize(const BlockInformation* blockInfo)
     // Reading the WBTPIDConfig matlab class
     if (!readWBTPidConfigObject(blockInfo)) {
         Log::getSingleton().error("Failed to parse the WBTPIDConfig object.");
-        return 1;
+        return false;
     }
 
     // Retain the RemoteControlBoardRemapper
     if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-        Log::getSingleton().error("Failed to retain the control board remapper.");
+        Log::getSingleton().error("Couldn't retain the RemoteControlBoardRemapper.");
         return false;
     }
 
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 90edb1c6b..05317332e 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -135,7 +135,7 @@ bool SetReferences::initialize(const BlockInformation* blockInfo)
 
     // Retain the ControlBoardRemapper
     if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-        Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+        Log::getSingleton().error("Couldn't retain the RemoteControlBoardRemapper.");
         return false;
     }
 
diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 939446e05..a25dc31db 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -194,7 +194,11 @@ bool YarpRead::output(const BlockInformation* blockInfo)
         if (m_shouldReadTimestamp) {
             connectionStatusPortIndex++;
             yarp::os::Stamp timestamp;
-            m_port->getEnvelope(timestamp);
+            if (!m_port->getEnvelope(timestamp)) {
+                Log::getSingleton().error("Failed to read port envelope (timestamp).");
+                Log::getSingleton().errorAppend("Be sure that the input port actually writes this data.");
+                return false;
+            }
 
             Signal pY1 = blockInfo->getOutputPortSignal(timeStampPortIndex);
             pY1.set(0, timestamp.getCount());
diff --git a/toolbox/src/base/Log.cpp b/toolbox/src/base/Log.cpp
index 9ee6abdaa..47769393c 100644
--- a/toolbox/src/base/Log.cpp
+++ b/toolbox/src/base/Log.cpp
@@ -10,17 +10,34 @@ Log& Log::getSingleton()
     return logInstance;
 }
 
-void Log::error(std::string errorMessage)
+void Log::error(const std::string& errorMessage)
 {
     errors.push_back(errorMessage);
 }
 
-void Log::warning(std::string warningMessage)
+void Log::warning(const std::string& warningMessage)
 {
     warnings.push_back(warningMessage);
 }
 
-void Log::setPrefix(std::string prefixMessage)
+void Log::errorAppend(const std::string& errorMessage)
+{
+    if (errors.empty()) {
+        error(errorMessage);
+        return;
+    }
+    errors.back() += errorMessage;
+}
+
+void Log::warningAppend(const std::string& warningMessage)
+{
+    if (warnings.empty()) {
+        warning(warningMessage);
+    }
+    warnings.back() += warningMessage;
+}
+
+void Log::setPrefix(const std::string& prefixMessage)
 {
     prefix = prefixMessage;
 }
@@ -30,7 +47,7 @@ void Log::resetPrefix()
     prefix.clear();
 }
 
-std::string Log::serializeVectorString(std::vector<std::string> v, std::string prefix)
+std::string Log::serializeVectorString(std::vector<std::string> v, const std::string& prefix)
 {
     std::stringstream output;
     std::ostream_iterator<std::string> output_iterator(output, "\n");
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index e637d40e5..9755e4d7a 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -351,6 +351,7 @@ bool RobotInterface::retainRemoteControlBoardRemapper()
     }
 
     if (!initializeRemoteControlBoardRemapper()) {
+        Log::getSingleton().error("First initialization of the RemoteControlBoardRemapper failed.");
         return false;
     }
 
@@ -433,7 +434,8 @@ bool RobotInterface::initializeModel()
     iDynTree::ModelLoader mdlLoader;
     if (!mdlLoader.loadReducedModelFromFile(urdf_file_path, controlledJoints)) {
         Log::getSingleton().error("ToolboxSingleton: impossible to load " + urdf_file + ".");
-        Log::getSingleton().error("Probably the joint list contains an entry not present in the urdf model.");
+        Log::getSingleton().errorAppend("\nPossible causes: file not found, or the joint ");
+        Log::getSingleton().errorAppend("list contains an entry not present in the urdf model.");
         return false;
     }
 

From e210a17d10a3491b9d008762cca96f6243e0fb24 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 16:01:06 +0000
Subject: [PATCH 60/89] Initialize to nullptr the buffers of the Signal class

---
 toolbox/include/base/Signal.h | 2 +-
 toolbox/src/base/Signal.cpp   | 5 +++++
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/toolbox/include/base/Signal.h b/toolbox/include/base/Signal.h
index 0fbe27f3c..21109b7c7 100644
--- a/toolbox/include/base/Signal.h
+++ b/toolbox/include/base/Signal.h
@@ -19,7 +19,7 @@ class wbt::Signal
     void* contiguousData;
 
 public:
-    Signal() = default;
+    Signal();
 
     void initSignalType(wbt::PortDataType type, bool constPort);
 
diff --git a/toolbox/src/base/Signal.cpp b/toolbox/src/base/Signal.cpp
index 67e6d6b42..028daef88 100644
--- a/toolbox/src/base/Signal.cpp
+++ b/toolbox/src/base/Signal.cpp
@@ -3,6 +3,11 @@
 
 using namespace wbt;
 
+Signal::Signal()
+: nonContiguousData(nullptr)
+, contiguousData(nullptr)
+{}
+
 void Signal::initSignalType(wbt::PortDataType type, bool constPort)
 {
     this->portType = type;

From 8ea9fe7d2ca6d5a25a16e048934636e2086eb21e Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 16:02:06 +0000
Subject: [PATCH 61/89] Use const arguments in Configuration::setParameters()

---
 toolbox/include/base/Configuration.h | 12 ++++++------
 toolbox/src/base/Configuration.cpp   | 12 ++++++------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/toolbox/include/base/Configuration.h b/toolbox/include/base/Configuration.h
index b131ce81a..4f0884a67 100644
--- a/toolbox/include/base/Configuration.h
+++ b/toolbox/include/base/Configuration.h
@@ -48,12 +48,12 @@ class wbt::Configuration
      * @param localName          Prefix appended to the opened ports
      * @param gravityVector      The gravity vector
      */
-    void setParameters(std::string robotName,
-                       std::string urdfFile,
-                       std::vector<std::string> controlledJoints,
-                       std::vector<std::string> controlBoardsNames,
-                       std::string localName,
-                       std::array<double, 3> gravityVector);
+    void setParameters(const std::string& robotName,
+                       const std::string& urdfFile,
+                       const std::vector<std::string>& controlledJoints,
+                       const std::vector<std::string>& controlBoardsNames,
+                       const std::string& localName,
+                       const std::array<double, 3>& gravityVector);
 
     /**
      * Set the name of the robot
diff --git a/toolbox/src/base/Configuration.cpp b/toolbox/src/base/Configuration.cpp
index 257a475f4..e4205ac9b 100644
--- a/toolbox/src/base/Configuration.cpp
+++ b/toolbox/src/base/Configuration.cpp
@@ -11,12 +11,12 @@ Configuration::Configuration(const std::string& confKey)
 // SET METHODS
 // ===========
 
-void Configuration::setParameters(std::string robotName,
-                                  std::string urdfFile,
-                                  std::vector<std::string> controlledJoints,
-                                  std::vector<std::string> controlBoardsNames,
-                                  std::string localName,
-                                  std::array<double, 3> gravityVector)
+void Configuration::setParameters(const std::string& robotName,
+                                  const std::string& urdfFile,
+                                  const std::vector<std::string>& controlledJoints,
+                                  const std::vector<std::string>& controlBoardsNames,
+                                  const std::string& localName,
+                                  const std::array<double, 3>& gravityVector)
 {
     setRobotName(robotName);
     setUrdfFile(urdfFile);

From dc20f9a34dc479872f6f29956fb1bcb99cda0c6c Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 16:03:50 +0000
Subject: [PATCH 62/89] Fix passing booleans as mask parameters

Sometimes the boolean are passed as double, and reading them using MxAnyType::asBool() fails
---
 toolbox/src/base/SimulinkBlockInformation.cpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/toolbox/src/base/SimulinkBlockInformation.cpp b/toolbox/src/base/SimulinkBlockInformation.cpp
index 2b9688738..38c1060db 100644
--- a/toolbox/src/base/SimulinkBlockInformation.cpp
+++ b/toolbox/src/base/SimulinkBlockInformation.cpp
@@ -50,7 +50,18 @@ bool SimulinkBlockInformation::getScalarParameterAtIndex(unsigned parameterIndex
 
 bool SimulinkBlockInformation::getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) const
 {
+    double tmpValue = 0;
     const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+
+    // The Simulink mask often doesn't store boolean data from the mask as bool but as double.
+    // Calling asBool() will fail in this case. If this happens, asDouble() is used as fallback.
+    if (MxAnyType(blockParam).asBool(value)) {
+        return true;
+    }
+    else if (MxAnyType(blockParam).asDouble(tmpValue)) {
+        value = static_cast<bool>(tmpValue);
+        return true;
+    }
     return MxAnyType(blockParam).asBool(value);
 }
 

From 3a1941c13bf5ced45f9c0231527572dd02319bdf Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 16:06:06 +0000
Subject: [PATCH 63/89] Added method for extractring a struct from Matlab's
 WBTPIDConfig class

The struct is then used as S-Function parameter
---
 +WBToolbox/WBTPIDConfig.m | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/+WBToolbox/WBTPIDConfig.m b/+WBToolbox/WBTPIDConfig.m
index 9d23b523f..51999e301 100644
--- a/+WBToolbox/WBTPIDConfig.m
+++ b/+WBToolbox/WBTPIDConfig.m
@@ -57,6 +57,18 @@ function removePID(obj, jointName)
             obj.I(:,idx) = [];
             obj.D(:,idx) = [];
         end
+        
+        function value = getSimulinkParameters(obj)
+            if isempty(obj.P) || isempty(obj.I) || isempty(obj.D) || ...
+                    isempty(obj.jointList)
+                error('Trying to get parameters from an empty object')
+            end
+            value = struct();
+            value.P = obj.P;
+            value.I = obj.I;
+            value.D = obj.D;
+            value.jointList = obj.jointList;
+        end
     end
     
 end

From f20f521f70625413948c536ea757624b2b287a49 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 16:06:39 +0000
Subject: [PATCH 64/89] Typo in Mask2WBToolboxConfig.m script

---
 +WBToolbox/Mask2WBToolboxConfig.m | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/+WBToolbox/Mask2WBToolboxConfig.m b/+WBToolbox/Mask2WBToolboxConfig.m
index 0396a46a3..b9850d12c 100644
--- a/+WBToolbox/Mask2WBToolboxConfig.m
+++ b/+WBToolbox/Mask2WBToolboxConfig.m
@@ -22,13 +22,13 @@
 WBTConfig.LocalName = stripApices(char(get_param(configBlock,'LocalName')));
 
 ControlledJointsChar = stripApices(char(get_param(configBlock,'ControlledJoints')));
-WBTConfig.ControlledJoints = eval('base',ControlledJointsChar);
+WBTConfig.ControlledJoints = evalin('base',ControlledJointsChar);
 
 ControlBoardsNamesChar = stripApices(char(get_param(configBlock,'ControlBoardsNames')));
-WBTConfig.ControlBoardsNames = eval('base',ControlBoardsNamesChar);
+WBTConfig.ControlBoardsNames = evalin('base',ControlBoardsNamesChar);
 
 GravityVectorChar = stripApices(char(get_param(configBlock,'GravityVector')));
-WBTConfig.GravityVector = eval('base',GravityVectorChar);
+WBTConfig.GravityVector = evalin('base',GravityVectorChar);
 
 end
 

From ed2d5de1cf0099862bf7168575a956d4d1c7d81f Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 16:08:34 +0000
Subject: [PATCH 65/89] Disable IK blocks

---
 toolbox/include/base/toolbox.h |  4 ++--
 toolbox/src/base/factory.cpp   | 14 ++++++--------
 2 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/toolbox/include/base/toolbox.h b/toolbox/include/base/toolbox.h
index cc0750e51..14f5a3778 100644
--- a/toolbox/include/base/toolbox.h
+++ b/toolbox/include/base/toolbox.h
@@ -21,6 +21,6 @@
 #include "MinimumJerkTrajectoryGenerator.h"
 #endif
 #ifdef WBT_USES_IPOPT
-#include "InverseKinematics.h"
-#include "RemoteInverseKinematics.h"
+// #include "InverseKinematics.h"
 #endif
+// #include "RemoteInverseKinematics.h"
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index 2d1d5f828..ab7d9f9be 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -45,14 +45,12 @@ Block* Block::instantiateBlockWithClassName(std::string blockClassName)
     }
 #endif
 #ifdef WBT_USES_IPOPT
-    else if (blockClassName == wbt::InverseKinematics::ClassName) {
-        block = new wbt::InverseKinematics();
-    }
+    // else if (blockClassName == InverseKinematics::ClassName) {
+    //     block = new InverseKinematics();
+    // }
 #endif
-    else if (blockClassName == wbt::RemoteInverseKinematics::ClassName) {
-        block = new wbt::RemoteInverseKinematics();
-    }
-
-    
+    // else if (blockClassName == RemoteInverseKinematics::ClassName) {
+    //     block = new RemoteInverseKinematics();
+    // }
     return block;
 }

From 33532320a824dcb4603281baec14f97033657c90 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 28 Nov 2017 15:50:48 +0000
Subject: [PATCH 66/89] Use system Matlab headers in MxAnyType library

---
 MxAnyType/CMakeLists.txt | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/MxAnyType/CMakeLists.txt b/MxAnyType/CMakeLists.txt
index 4faaebad7..608670096 100644
--- a/MxAnyType/CMakeLists.txt
+++ b/MxAnyType/CMakeLists.txt
@@ -34,8 +34,7 @@ endif()
 
 # Find Matlab resources
 find_package(Matlab REQUIRED MX_LIBRARY)
-# target_include_directories(${VARS_PREFIX} SYSTEM PUBLIC "${Matlab_INCLUDE_DIRS}") // TODO: when committing
-target_include_directories(${VARS_PREFIX} PUBLIC "${Matlab_INCLUDE_DIRS}")
+target_include_directories(${VARS_PREFIX} SYSTEM PUBLIC "${Matlab_INCLUDE_DIRS}")
 
 # Setup the include directories
 # TODO why in the how to was INTERFACE?

From b695ad4509fbaf79d3b501e54fd6f4225fc75e80 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 28 Nov 2017 15:51:38 +0000
Subject: [PATCH 67/89] Moved +WBToolbox folder into toolbox/

---
 {+WBToolbox => toolbox/+WBToolbox}/BlockInitialization.m  | 0
 {+WBToolbox => toolbox/+WBToolbox}/Mask2WBToolboxConfig.m | 0
 {+WBToolbox => toolbox/+WBToolbox}/PID.m                  | 0
 {+WBToolbox => toolbox/+WBToolbox}/WBTPIDConfig.m         | 0
 {+WBToolbox => toolbox/+WBToolbox}/WBToolboxConfig.m      | 0
 {+WBToolbox => toolbox/+WBToolbox}/WBToolboxConfig2Mask.m | 0
 6 files changed, 0 insertions(+), 0 deletions(-)
 rename {+WBToolbox => toolbox/+WBToolbox}/BlockInitialization.m (100%)
 rename {+WBToolbox => toolbox/+WBToolbox}/Mask2WBToolboxConfig.m (100%)
 rename {+WBToolbox => toolbox/+WBToolbox}/PID.m (100%)
 rename {+WBToolbox => toolbox/+WBToolbox}/WBTPIDConfig.m (100%)
 rename {+WBToolbox => toolbox/+WBToolbox}/WBToolboxConfig.m (100%)
 rename {+WBToolbox => toolbox/+WBToolbox}/WBToolboxConfig2Mask.m (100%)

diff --git a/+WBToolbox/BlockInitialization.m b/toolbox/+WBToolbox/BlockInitialization.m
similarity index 100%
rename from +WBToolbox/BlockInitialization.m
rename to toolbox/+WBToolbox/BlockInitialization.m
diff --git a/+WBToolbox/Mask2WBToolboxConfig.m b/toolbox/+WBToolbox/Mask2WBToolboxConfig.m
similarity index 100%
rename from +WBToolbox/Mask2WBToolboxConfig.m
rename to toolbox/+WBToolbox/Mask2WBToolboxConfig.m
diff --git a/+WBToolbox/PID.m b/toolbox/+WBToolbox/PID.m
similarity index 100%
rename from +WBToolbox/PID.m
rename to toolbox/+WBToolbox/PID.m
diff --git a/+WBToolbox/WBTPIDConfig.m b/toolbox/+WBToolbox/WBTPIDConfig.m
similarity index 100%
rename from +WBToolbox/WBTPIDConfig.m
rename to toolbox/+WBToolbox/WBTPIDConfig.m
diff --git a/+WBToolbox/WBToolboxConfig.m b/toolbox/+WBToolbox/WBToolboxConfig.m
similarity index 100%
rename from +WBToolbox/WBToolboxConfig.m
rename to toolbox/+WBToolbox/WBToolboxConfig.m
diff --git a/+WBToolbox/WBToolboxConfig2Mask.m b/toolbox/+WBToolbox/WBToolboxConfig2Mask.m
similarity index 100%
rename from +WBToolbox/WBToolboxConfig2Mask.m
rename to toolbox/+WBToolbox/WBToolboxConfig2Mask.m

From 00911ae1e8f52b2397911e591e6ed34566047589 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 07:20:06 +0000
Subject: [PATCH 68/89] Fixed DotJNu output variable

---
 toolbox/include/DotJNu.h |  2 +-
 toolbox/src/DotJNu.cpp   | 10 ++++------
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/toolbox/include/DotJNu.h b/toolbox/include/DotJNu.h
index 409a185af..0bc8153ee 100644
--- a/toolbox/include/DotJNu.h
+++ b/toolbox/include/DotJNu.h
@@ -28,7 +28,7 @@ class wbt::DotJNu : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
-    
+
     DotJNu();
     ~DotJNu() override = default;
 
diff --git a/toolbox/src/DotJNu.cpp b/toolbox/src/DotJNu.cpp
index e984d7a96..c6fcd7c2a 100644
--- a/toolbox/src/DotJNu.cpp
+++ b/toolbox/src/DotJNu.cpp
@@ -189,15 +189,13 @@ bool DotJNu::output(const BlockInformation* blockInfo)
     // OUTPUT
     // ======
 
-    // Compute the dot{J}*\nu
-    Vector6 biasAcc;
     if (!m_frameIsCoM) {
-        biasAcc = model->getFrameBiasAcc(m_frameIndex);
+        *m_dotJNu = model->getFrameBiasAcc(m_frameIndex);
     }
     else {
-        Vector3 comBiasAcc = model->getCenterOfMassBiasAcc();
-        toEigen(biasAcc).segment<3>(0) = iDynTree::toEigen(comBiasAcc);
-        toEigen(biasAcc).segment<3>(3).setZero();
+        iDynTree::Vector3 comBiasAcc = model->getCenterOfMassBiasAcc();
+        toEigen(*m_dotJNu).segment<3>(0) = iDynTree::toEigen(comBiasAcc);
+        toEigen(*m_dotJNu).segment<3>(3).setZero();
     }
 
     // Forward the output to Simulink

From e24edee09268a068d8812fde88bb7785f52945f4 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 08:02:52 +0000
Subject: [PATCH 69/89] Signal class rewritten

- Added support to contiguous inputs (which are now the default setting)
- For non-contiguous signals, an internal buffer is allocated with signal data, and data copy has been minimized as much as possible
- When gathering a signal from Matlab, data type and signal are now read directly from the SimStruct
- For the time being, only double signal are supported, which are the Simulink defaults. The structure for including the support of other data types is already present, and it will be included in the upcoming releases
---
 toolbox/include/base/BlockInformation.h       |  48 +--
 toolbox/include/base/Signal.h                 | 175 ++++++--
 .../include/base/SimulinkBlockInformation.h   |  22 +-
 toolbox/src/base/Signal.cpp                   | 394 ++++++------------
 toolbox/src/base/SimulinkBlockInformation.cpp | 247 +++++++----
 toolbox/src/base/toolbox.cpp                  |   9 +
 6 files changed, 467 insertions(+), 428 deletions(-)

diff --git a/toolbox/include/base/BlockInformation.h b/toolbox/include/base/BlockInformation.h
index 06e2c37c1..43ef04306 100644
--- a/toolbox/include/base/BlockInformation.h
+++ b/toolbox/include/base/BlockInformation.h
@@ -3,7 +3,6 @@
 
 #include "AnyType.h"
 #include <string>
-#include <cstdint>
 
 namespace wbt {
     class BlockInformation;
@@ -21,37 +20,6 @@ namespace wbt {
         PortDataTypeBoolean,
     } PortDataType;
 
-    class Data
-    {
-    private:
-        double buffer;
-    public:
-        inline double doubleData() const { return buffer; }
-        inline void doubleData(const double& data) { buffer = data; }
-        inline float floatData() const { return static_cast<float>(buffer); }
-        inline void floatData(const float& data) { buffer = static_cast<float>(data); }
-
-        inline int8_t int8Data() const { return static_cast<int8_t>(buffer); }
-        inline void int8Data(const int8_t& data) { buffer = static_cast<int8_t>(data); }
-        inline uint8_t uint8Data() const { return static_cast<uint8_t>(buffer); }
-        inline void uint8Data(const uint8_t& data) { buffer = static_cast<uint8_t>(data); }
-
-        inline int16_t int16Data() const { return static_cast<int16_t>(buffer); }
-        inline void int16Data(const int16_t& data) { buffer = static_cast<int16_t>(data); }
-        inline uint16_t uint16Data() const { return static_cast<uint16_t>(buffer); }
-        inline void uint16Data(const uint16_t& data) { buffer = static_cast<uint16_t>(data); }
-
-        inline int32_t int32Data() const { return static_cast<int32_t>(buffer); }
-        inline void int32Data(const int32_t& data) { buffer = static_cast<int32_t>(data); }
-        inline uint32_t uint32Data() const { return static_cast<uint32_t>(buffer); }
-        inline void uint32Data(const uint32_t& data) { buffer = static_cast<uint32_t>(data); }
-
-        inline bool booleanData() const { return static_cast<bool>(buffer); }
-        inline void booleanData(const bool& data) { buffer = static_cast<bool>(data); }
-
-        friend Signal;
-    };
-
     extern const std::string BlockOptionPrioritizeOrder;
 }
 
@@ -61,7 +29,7 @@ class wbt::BlockInformation {
     BlockInformation() = default;
     virtual ~BlockInformation() = default;
 
-    // Block Options methods
+    // BLOCK OPTIONS METHODS
     // =====================
 
     /**
@@ -74,7 +42,7 @@ class wbt::BlockInformation {
     virtual bool optionFromKey(const std::string& key, double& option) const;
 
 
-    // Parameters methods
+    // PARAMETERS METHODS
     // ==================
 
     /**
@@ -88,12 +56,10 @@ class wbt::BlockInformation {
     virtual bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) const = 0;
     virtual bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) const = 0;
     virtual bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) const = 0;
-    // virtual bool getAnyTypeAtIndex(unsigned parameterIndex, AnyType* data) = 0;
-    // virtual bool getCellAtIndex(unsigned parameterIndex, AnyCell& map) = 0;
     virtual bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const = 0;
     virtual bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const = 0;
 
-    // Port information methods
+    // PORT INFORMATION SETTERS
     // ========================
 
     virtual bool setNumberOfInputPorts(unsigned numberOfPorts) = 0;
@@ -114,13 +80,13 @@ class wbt::BlockInformation {
     virtual bool setInputPortType(unsigned portNumber, PortDataType portType) = 0;
     virtual bool setOutputPortType(unsigned portNumber, PortDataType portType) = 0;
 
-    // Port data
-    // =========
+    // PORT INFORMATION GETTERS
+    // ========================
 
     virtual unsigned getInputPortWidth(unsigned portNumber) const = 0;
     virtual unsigned getOutputPortWidth(unsigned portNumber) const = 0;
-    virtual wbt::Signal getInputPortSignal(unsigned portNumber) const = 0;
-    virtual wbt::Signal getOutputPortSignal(unsigned portNumber)const  = 0;
+    virtual wbt::Signal getInputPortSignal(unsigned portNumber, int portWidth = -1) const = 0;
+    virtual wbt::Signal getOutputPortSignal(unsigned portNumber, int portWidth = -1) const  = 0;
 };
 
 #endif /* end of include guard: WBT_BLOCKINFORMATION_H */
diff --git a/toolbox/include/base/Signal.h b/toolbox/include/base/Signal.h
index 21109b7c7..38f827a8b 100644
--- a/toolbox/include/base/Signal.h
+++ b/toolbox/include/base/Signal.h
@@ -2,50 +2,175 @@
 #define WBT_SIGNAL_H
 
 #include "BlockInformation.h"
-#include <vector>
+#include <cassert>
+#include <memory>
 
 namespace wbt {
     class Signal;
+    enum SignalDataFormat {
+        NONCONTIGUOUS = 0,
+        CONTIGUOUS = 1,
+        CONTIGUOUS_ZEROCOPY = 2
+    };
 }
 
 class wbt::Signal
 {
 private:
-    PortDataType portType;
-    bool isContiguous;
-    bool isConstPort;
+    int m_width;
+    const bool m_isConst;
+    const PortDataType m_portDataType;
+    const SignalDataFormat m_dataFormat;
 
-    void** nonContiguousData;
-    void* contiguousData;
+    void* m_bufferPtr;
+
+    void deleteBuffer();
+    void allocateBuffer(const void* const bufferInput, void*& bufferOutput, unsigned length);
+
+    template <typename T> T* getCastBuffer() const;
 
 public:
-    Signal();
+    // Ctor and Dtor
+    Signal(const SignalDataFormat& dataFormat = CONTIGUOUS_ZEROCOPY,
+           const PortDataType& dataType = PortDataTypeDouble,
+           const bool& isConst = true);
+    ~Signal();
+    // Copy
+    Signal(const Signal& signal);
+    Signal& operator=(const Signal& signal) = delete;
+    // Move
+    Signal(Signal&& signal);
+    Signal& operator=(Signal&& signal) = delete;
 
-    void initSignalType(wbt::PortDataType type, bool constPort);
+    bool initializeBufferFromContiguous(const void* buffer);
+    bool initializeBufferFromContiguousZeroCopy(const void* buffer);
+    bool initializeBufferFromNonContiguous(const void* const* bufferPtrs);
 
-    void setContiguousBuffer(void* buffer);
-    void setContiguousBuffer(const void* buffer);
-    void setNonContiguousBuffer(void** buffer);
-    void setNonContiguousBuffer(const void* const* buffer);
+    bool isConst() const;
+    unsigned getWidth() const;
+    PortDataType getPortDataType() const;
+    SignalDataFormat getDataFormat() const;
+    template <typename T> T* getBuffer() const;
+    template <typename T> T get(const unsigned& i) const;
 
-    const Data get(unsigned index) const;
-    void* getContiguousBuffer();
-    std::vector<double> getStdVector(unsigned length) const;
+    void setWidth(const unsigned& width);
+    bool set(const unsigned& index, const double& data);
+    template <typename T> bool setBuffer(const T* data, const unsigned& length);
+};
 
-    //the missing are cast
-    void set(unsigned index, double data);
-    void setBuffer(const double* data, const unsigned length, unsigned startIndex = 0);
+template <typename T>
+T* wbt::Signal::getBuffer() const
+{
+    // Check the returned matches the same type of the portType.
+    // If this is not met, appliying pointer arithmetics on the returned
+    // pointer would show unknown behaviour.
+    switch(m_portDataType) {
+        case wbt::PortDataTypeDouble:
+            if (typeid(T).hash_code() != typeid(double).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeSingle:
+            if (typeid(T).hash_code() != typeid(float).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeInt8:
+            if (typeid(T).hash_code() != typeid(int8_t).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeUInt8:
+            if (typeid(T).hash_code() != typeid(uint8_t).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeInt16:
+            if (typeid(T).hash_code() != typeid(int16_t).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeUInt16:
+            if (typeid(T).hash_code() != typeid(uint16_t).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeInt32:
+            if (typeid(T).hash_code() != typeid(int32_t).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeUInt32:
+            if (typeid(T).hash_code() != typeid(uint32_t).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeBoolean:
+            if (typeid(T).hash_code() != typeid(bool).hash_code()) {
+                return nullptr;
+            }
+            break;
+        default:
+            return nullptr;
+            break;
+    }
 
-    void set(unsigned index, int32_t data);
-    void setBuffer(const int32_t* data, const unsigned length, unsigned startIndex = 0);
+    // Return the correct pointer
+    return static_cast<T*>(m_bufferPtr);
+}
 
-    void set(unsigned index, uint32_t data);
-    void setBuffer(const uint32_t* data, const unsigned length, unsigned startIndex = 0);
+template <typename T>
+bool wbt::Signal::setBuffer(const T* data, const unsigned& length)
+{
+    // Non contiguous signals follow the Simulink convention of being read-only
+    if (m_dataFormat == NONCONTIGUOUS || m_isConst) {
+        return false;
+    }
 
-    void set(unsigned index, bool data);
-    void setBuffer(const bool* data, const unsigned length, unsigned startIndex = 0);
+    if (m_dataFormat == CONTIGUOUS_ZEROCOPY && length > m_width) {
+        return false;
+    }
 
-};
+    if (typeid(getBuffer<T>()).hash_code() != typeid(T*).hash_code()) {
+        return false;
+    }
 
+    switch (m_dataFormat) {
+        case CONTIGUOUS:
+            // Delete the current array
+            if (m_bufferPtr) {
+                delete getBuffer<T>();
+                m_bufferPtr = nullptr;
+                m_width = 0;
+            }
+            // Allocate a new empty array
+            m_bufferPtr = static_cast<void*>(new T[length]);
+            m_width = length;
+            // Fill it with new data
+            std::copy(data, data + length, getBuffer<T>());
+            break;
+        case CONTIGUOUS_ZEROCOPY:
+            // Reset current data
+            std::fill(getBuffer<T>(), getBuffer<T>() + m_width, 0);
+            // Copy new data
+            std::copy(data, data + length, getBuffer<T>());
+            // Update the width
+            m_width = length;
+            break;
+        case NONCONTIGUOUS:
+            return false;
+    }
+
+    return true;
+}
+
+template <typename T>
+T wbt::Signal::get(const unsigned& i) const
+{
+    T* buffer = getBuffer<T>();
+    assert(buffer);
+
+    return buffer[i];
+}
 
 #endif /* end of include guard: WBT_SIGNAL_H */
diff --git a/toolbox/include/base/SimulinkBlockInformation.h b/toolbox/include/base/SimulinkBlockInformation.h
index 0da7f51c5..dd79f9b31 100644
--- a/toolbox/include/base/SimulinkBlockInformation.h
+++ b/toolbox/include/base/SimulinkBlockInformation.h
@@ -15,20 +15,30 @@ class wbt::SimulinkBlockInformation : public wbt::BlockInformation
 private:
     SimStruct* simstruct;
 
+    PortDataType mapSimulinkToPortType(const DTypeId& typeId) const;
+    DTypeId mapPortTypeToSimulink(const PortDataType& dataType) const;
+
 public:
     SimulinkBlockInformation(SimStruct* simstruct);
     ~SimulinkBlockInformation() override = default;
 
+    // BLOCK OPTIONS METHODS
+    // =====================
+
     bool optionFromKey(const std::string& key, double& option) const override;
 
-    //Parameters methods
+    // PARAMETERS METHODS
+    // ==================
+
     bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) const override;
     bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) const override;
     bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) const override;
     bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const override;
     bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const override;
 
-    //Port information methods
+    // PORT INFORMATION SETTERS
+    // ========================
+
     bool setNumberOfInputPorts(unsigned numberOfPorts) override;
     bool setNumberOfOutputPorts(unsigned numberOfPorts) override;
     bool setInputPortVectorSize(unsigned portNumber, int portSize) override;
@@ -38,11 +48,13 @@ class wbt::SimulinkBlockInformation : public wbt::BlockInformation
     bool setInputPortType(unsigned portNumber, PortDataType portType) override;
     bool setOutputPortType(unsigned portNumber, PortDataType portType) override;
 
-    //Port data
+    // PORT INFORMATION GETTERS
+    // ========================
+
     unsigned getInputPortWidth(unsigned portNumber) const override;
     unsigned getOutputPortWidth(unsigned portNumber) const override;
-    wbt::Signal getInputPortSignal(unsigned portNumber) const override;
-    wbt::Signal getOutputPortSignal(unsigned portNumber) const override;
+    wbt::Signal getInputPortSignal(unsigned portNumber, int portWidth = DYNAMICALLY_SIZED) const override;
+    wbt::Signal getOutputPortSignal(unsigned portNumber, int portWidth = DYNAMICALLY_SIZED) const override;
 };
 
 #endif /* end of include guard: WBT_SIMULINKBLOCKINFORMATION_H */
diff --git a/toolbox/src/base/Signal.cpp b/toolbox/src/base/Signal.cpp
index 028daef88..b55bb425f 100644
--- a/toolbox/src/base/Signal.cpp
+++ b/toolbox/src/base/Signal.cpp
@@ -1,325 +1,189 @@
 #include "Signal.h"
-#include <cstring>
 
 using namespace wbt;
 
-Signal::Signal()
-: nonContiguousData(nullptr)
-, contiguousData(nullptr)
-{}
-
-void Signal::initSignalType(wbt::PortDataType type, bool constPort)
+Signal::~Signal()
 {
-    this->portType = type;
-    this->isConstPort = constPort;
+    deleteBuffer();
 }
 
-void Signal::setContiguousBuffer(void* buffer)
-{
-    contiguousData = buffer;
-    this->isContiguous = true;
-}
-void Signal::setContiguousBuffer(const void* buffer)
+Signal::Signal(const Signal& signal)
+: m_width(signal.m_width)
+, m_isConst(signal.m_isConst)
+, m_portDataType(signal.m_portDataType)
+, m_dataFormat(signal.m_dataFormat)
+, m_bufferPtr(nullptr)
 {
-    contiguousData = const_cast<void*>(buffer);
-    this->isContiguous = true;
+    if (signal.m_bufferPtr) {
+        switch (signal.m_dataFormat) {
+            // Just copy the pointer to MATLAB's memory
+            case CONTIGUOUS_ZEROCOPY:
+                m_bufferPtr = signal.m_bufferPtr;
+                break;
+            // Copy the allocated data
+            case NONCONTIGUOUS:
+            case CONTIGUOUS:
+                allocateBuffer(signal.m_bufferPtr, m_bufferPtr, signal.m_width);
+                break;
+        }
+    }
 }
 
-void Signal::setNonContiguousBuffer(void** buffer)
+Signal::Signal(const SignalDataFormat& dataFormat,
+               const PortDataType& dataType,
+               const bool& isConst)
+: m_isConst(isConst)
+, m_portDataType(dataType)
+, m_dataFormat(dataFormat)
+, m_bufferPtr(nullptr)
+{}
+
+Signal::Signal(Signal&& other)
+: m_width(other.m_width)
+, m_isConst(other.m_isConst)
+, m_portDataType(other.m_portDataType)
+, m_dataFormat(other.m_dataFormat)
+, m_bufferPtr(other.m_bufferPtr)
 {
-    nonContiguousData = buffer;
-    this->isContiguous = false;
+    other.m_width = 0;
+    other.m_bufferPtr = nullptr;
 }
 
-void Signal::setNonContiguousBuffer(const void* const* buffer)
+void Signal::allocateBuffer(const void* const bufferInput, void*& bufferOutput, unsigned length)
 {
-    nonContiguousData = const_cast<void**>(buffer);
-    this->isContiguous = false;
+    // TODO: Implement other PortDataType
+    switch (m_portDataType) {
+        case PortDataTypeDouble: {
+            // Allocate the array
+            bufferOutput = static_cast<void*>(new double[m_width]);
+            // Cast to double
+            const double* const bufferInputDouble = static_cast<const double*>(bufferInput);
+            double* bufferOutputDouble = static_cast<double*>(bufferOutput);
+            // Copy data
+            std::copy(bufferInputDouble, bufferInputDouble + length, bufferOutputDouble);
+            return;
+        }
+        default:
+            return;
+    }
 }
 
-
-const Data Signal::get(unsigned index) const
+void Signal::deleteBuffer()
 {
-    Data data;
-    switch (portType) {
+    if (m_dataFormat == CONTIGUOUS_ZEROCOPY || !m_bufferPtr) {
+        return;
+    }
+
+    // TODO: Implement other PortDataType
+    switch (m_portDataType) {
         case PortDataTypeDouble:
-            if (isContiguous) {
-                data.doubleData((static_cast<double*>(contiguousData))[index]);
-            }
-            else {
-                const double* buffer = static_cast<const double*>(*nonContiguousData);
-                data.doubleData(static_cast<const double>(buffer[index]));
-            }
-            break;
-        case PortDataTypeSingle:
-            if (isContiguous) {
-                data.floatData((static_cast<float*>(contiguousData))[index]);
-            }
-            else {
-                const float* buffer = static_cast<const float*>(*nonContiguousData);
-                data.floatData(static_cast<const float>(buffer[index]));
-            }
-            break;
-        case PortDataTypeInt8:
-            if (isContiguous) {
-                data.int8Data((static_cast<int8_t*>(contiguousData))[index]);
-            }
-            else {
-                const int8_t* buffer = static_cast<const int8_t*>(*nonContiguousData);
-                data.int8Data(static_cast<const int8_t>(buffer[index]));
-            }
-            break;
-        case PortDataTypeUInt8:
-            if (isContiguous) {
-                data.uint8Data((static_cast<uint8_t*>(contiguousData))[index]);
-            }
-            else {
-                const uint8_t* buffer = static_cast<const uint8_t*>(*nonContiguousData);
-                data.uint8Data(static_cast<const uint8_t>(buffer[index]));
-            }
-            break;
-        case PortDataTypeInt16:
-            if (isContiguous) {
-                data.int16Data((static_cast<int16_t*>(contiguousData))[index]);
-            }
-            else {
-                const int16_t* buffer = static_cast<const int16_t*>(*nonContiguousData);
-                data.int16Data(static_cast<const int16_t>(buffer[index]));
-            }
-            break;
-        case PortDataTypeUInt16:
-            if (isContiguous) {
-                data.uint16Data((static_cast<uint16_t*>(contiguousData))[index]);
-            }
-            else {
-                const uint16_t* buffer = static_cast<const uint16_t*>(*nonContiguousData);
-                data.uint16Data(static_cast<const uint16_t>(buffer[index]));
-            }
-            break;
-        case PortDataTypeInt32:
-            if (isContiguous) {
-                data.int32Data((static_cast<int32_t*>(contiguousData))[index]);
-            }
-            else {
-                const int32_t* buffer = static_cast<const int32_t*>(*nonContiguousData);
-                data.int32Data(static_cast<const int32_t>(buffer[index]));
-            }
-            break;
-        case PortDataTypeUInt32:
-            if (isContiguous) {
-                data.uint32Data((static_cast<uint32_t*>(contiguousData))[index]);
-            }
-            else {
-                const uint32_t* buffer = static_cast<const uint32_t*>(*nonContiguousData);
-                data.uint32Data(static_cast<const uint32_t>(buffer[index]));
-            }
-            break;
-        case PortDataTypeBoolean:
-            if (isContiguous) {
-                data.booleanData((static_cast<bool*>(contiguousData))[index]);
-            }
-            else {
-                const bool* buffer = static_cast<const bool*>(*nonContiguousData);
-                data.booleanData(static_cast<const bool>(buffer[index]));
-            }
+            delete static_cast<double*>(m_bufferPtr);
+            m_bufferPtr = nullptr;
+            return;
+        default:
+            return;
     }
-    return data;
 }
 
-void* Signal::getContiguousBuffer()
+bool Signal::initializeBufferFromContiguousZeroCopy(const void* buffer)
 {
-    if (!isContiguous) return nullptr;
-    return this->contiguousData;
+    if (m_dataFormat != CONTIGUOUS_ZEROCOPY) {
+        return false;
+    }
+
+    m_bufferPtr = const_cast<void*>(buffer);
+    return true;
 }
 
-std::vector<double> Signal::getStdVector(unsigned length) const
+bool Signal::initializeBufferFromContiguous(const void* buffer)
 {
-    std::vector<double> v(length);
-    for (unsigned i = 0; i < length; ++i) {
-        v[i] = get(i).doubleData();
+    if (m_dataFormat != CONTIGUOUS ||
+        m_width <= 0) {
+        return false;
     }
-    return v;
-}
 
-//the missing are cast
-void Signal::set(unsigned index, double data)
-{
-    if (isConstPort) return;
+    if (m_portDataType == PortDataTypeDouble) {
+        // Allocate a new vector to store data from the non-contiguous signal
+        m_bufferPtr = static_cast<void*>(new double[m_width]);
+        const double* bufferInputDouble = static_cast<const double*>(buffer);
+        double* bufferOutputDouble = static_cast<double*>(m_bufferPtr);
 
-    switch (portType) {
-        case PortDataTypeDouble:
-        {
-            double* buffer = static_cast<double*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        case PortDataTypeSingle:
-        {
-            float* buffer = static_cast<float*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        default:
-            break;
+        // Copy data from the input memory location
+        std::copy(bufferInputDouble, bufferInputDouble + m_width, bufferOutputDouble);
     }
+    return true;
 }
 
-void Signal::setBuffer(const double* data, const unsigned length, unsigned startIndex)
+bool Signal::initializeBufferFromNonContiguous(const void* const* bufferPtrs)
 {
-    if (isConstPort) return;
-    unsigned dataSize = 0;
-    const void* address = data;
-
-    switch (portType) {
-        case PortDataTypeDouble:
-        {
-            dataSize = sizeof(double);
-            address = static_cast<const double*>(address) + startIndex;
-            break;
-        }
-        case PortDataTypeSingle:
-        {
-            dataSize = sizeof(float);
-            address = static_cast<const float*>(address) + startIndex;
-            break;
-        }
-        default:
-            break;
+    if (m_dataFormat != NONCONTIGUOUS ||
+        m_width <= 0) {
+        return false;
     }
 
-    memcpy(contiguousData, address, dataSize * length);
+    if (m_portDataType == PortDataTypeDouble) {
+        // Allocate a new vector to store data from the non-contiguous signal
+        m_bufferPtr = static_cast<void*>(new double[m_width]);
+        double* bufferPtrDouble = static_cast<double*>(m_bufferPtr);
 
+        // Copy data from MATLAB's memory to the Signal object
+        for (auto i = 0; i < m_width; ++i) {
+            const double* valuePtr = static_cast<const double*>(*bufferPtrs);
+            bufferPtrDouble[i] = valuePtr[i];
+        }
+    }
+    return true;
 }
 
-void Signal::set(unsigned index, int32_t data)
+void Signal::setWidth(const unsigned& width)
 {
-    //signed integer function
-    switch (portType) {
-        case PortDataTypeInt32:
-        {
-            int32_t* buffer = static_cast<int32_t*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        case PortDataTypeInt16:
-        {
-            int16_t* buffer = static_cast<int16_t*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        case PortDataTypeInt8:
-        {
-            int8_t* buffer = static_cast<int8_t*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        default:
-            break;
-    }
+    m_width = width;
 }
 
-void Signal::setBuffer(const int32_t* data, const unsigned length, unsigned startIndex)
+unsigned Signal::getWidth() const
 {
-    if (isConstPort) return;
-    unsigned dataSize = 0;
-    const void* address = data;
+    return m_width;
+}
 
-    switch (portType) {
-        case PortDataTypeInt32:
-        {
-            dataSize = sizeof(int32_t);
-            address = static_cast<const int32_t*>(address) + startIndex;
-            break;
-        }
-        case PortDataTypeInt16:
-        {
-            dataSize = sizeof(int16_t);
-            address = static_cast<const int16_t*>(address) + startIndex;
-            break;
-        }
-        case PortDataTypeInt8:
-        {
-            dataSize = sizeof(int8_t);
-            address = static_cast<const int8_t*>(address) + startIndex;
-            break;
-        }
-        default:
-            break;
-    }
+PortDataType Signal::getPortDataType() const
+{
+    return m_portDataType;
+}
 
-    memcpy(contiguousData, address, dataSize* length);
+bool Signal::isConst() const
+{
+    return m_isConst;
 }
 
-void Signal::set(unsigned index, uint32_t data)
+
+SignalDataFormat Signal::getDataFormat() const
 {
-    //signed integer function
-    switch (portType) {
-        case PortDataTypeUInt32:
-        {
-            uint32_t* buffer = static_cast<uint32_t*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        case PortDataTypeUInt16:
-        {
-            uint16_t* buffer = static_cast<uint16_t*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        case PortDataTypeUInt8:
-        {
-            uint8_t* buffer = static_cast<uint8_t*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        default:
-            break;
-    }
+    return m_dataFormat;
 }
 
-void Signal::setBuffer(const uint32_t* data, const unsigned length, unsigned startIndex)
+bool Signal::set(const unsigned& index, const double& data)
 {
-    if (isConstPort) return;
-    unsigned dataSize = 0;
-    const void* address = data;
+    if (m_isConst || m_width <= index) {
+        return false;
+    }
 
-    switch (portType) {
-        case PortDataTypeUInt32:
-        {
-            dataSize = sizeof(uint32_t);
-            address = data + startIndex;
-            break;
-        }
-        case PortDataTypeUInt16:
+    // TODO: Implement other PortDataType
+    switch (m_portDataType) {
+        case PortDataTypeDouble:
         {
-            dataSize = sizeof(uint16_t);
-            address = data + startIndex;
+            double* buffer = static_cast<double*>(m_bufferPtr);
+            buffer[index] = data;
             break;
         }
-        case PortDataTypeUInt8:
+        case PortDataTypeSingle:
         {
-            dataSize = sizeof(uint8_t);
-            address = data + startIndex;
+            float* buffer = static_cast<float*>(m_bufferPtr);
+            buffer[index] = data;
             break;
         }
         default:
+            return false;
             break;
     }
-
-    memcpy(contiguousData, address, dataSize* length);
-}
-
-void Signal::set(unsigned index, bool data)
-{
-    bool* buffer = static_cast<bool*>(contiguousData);
-    buffer[index] = data;
-}
-
-void Signal::setBuffer(const bool* data, const unsigned length, unsigned startIndex)
-{
-    if (isConstPort) return;
-    unsigned dataSize = sizeof(bool);
-    const void* address = static_cast<const bool*>(data) + startIndex;
-
-    memcpy(contiguousData, address, dataSize* length);
+    return true;
 }
diff --git a/toolbox/src/base/SimulinkBlockInformation.cpp b/toolbox/src/base/SimulinkBlockInformation.cpp
index 38c1060db..f8825d0c8 100644
--- a/toolbox/src/base/SimulinkBlockInformation.cpp
+++ b/toolbox/src/base/SimulinkBlockInformation.cpp
@@ -11,6 +11,9 @@ SimulinkBlockInformation::SimulinkBlockInformation(SimStruct* S)
 : simstruct(S)
 {}
 
+// BLOCK OPTIONS METHODS
+// =====================
+
 bool SimulinkBlockInformation::optionFromKey(const std::string& key, double& option) const
 {
     if (key == wbt::BlockOptionPrioritizeOrder) {
@@ -21,27 +24,15 @@ bool SimulinkBlockInformation::optionFromKey(const std::string& key, double& opt
     return false;
 }
 
-//Parameters methods
+// PARAMETERS METHODS
+// ==================
+
 bool SimulinkBlockInformation::getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) const
 {
     const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
     return MxAnyType(blockParam).asString(stringParameter);
 }
 
-bool SimulinkBlockInformation::getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const
-{
-    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-    return MxAnyType(blockParam).asAnyStruct(map);
-}
-
-
-bool SimulinkBlockInformation::getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const
-{
-    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-    return MxAnyType(blockParam).asVectorDouble(vec);
-}
-
-
 bool SimulinkBlockInformation::getScalarParameterAtIndex(unsigned parameterIndex, double& value) const
 {
     const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
@@ -65,7 +56,22 @@ bool SimulinkBlockInformation::getBooleanParameterAtIndex(unsigned parameterInde
     return MxAnyType(blockParam).asBool(value);
 }
 
-//Port information methods
+bool SimulinkBlockInformation::getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asAnyStruct(map);
+}
+
+
+bool SimulinkBlockInformation::getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asVectorDouble(vec);
+}
+
+// PORT INFORMATION SETTERS
+// ========================
+
 bool SimulinkBlockInformation::setNumberOfInputPorts(unsigned numberOfPorts)
 {
     return ssSetNumInputPorts(simstruct, numberOfPorts);
@@ -104,77 +110,20 @@ bool SimulinkBlockInformation::setOutputPortMatrixSize(unsigned portNumber, int
 
 bool SimulinkBlockInformation::setInputPortType(unsigned portNumber, PortDataType portType)
 {
-    //for now force Direct feedthrough.. If needed create a separate method
     ssSetInputPortDirectFeedThrough(simstruct, portNumber, 1);
-    int matlabDataType = -1;
-    switch (portType) {
-        case PortDataTypeDouble:
-            matlabDataType = SS_DOUBLE;
-            break;
-            case PortDataTypeSingle:
-            matlabDataType = SS_SINGLE;
-            break;
-        case PortDataTypeInt8:
-            matlabDataType = SS_INT8;
-            break;
-        case PortDataTypeUInt8:
-            matlabDataType = SS_UINT8;
-            break;
-        case PortDataTypeInt16:
-            matlabDataType = SS_INT16;
-            break;
-        case PortDataTypeUInt16:
-            matlabDataType = SS_UINT16;
-            break;
-        case PortDataTypeInt32:
-            matlabDataType = SS_INT32;
-            break;
-        case PortDataTypeUInt32:
-            matlabDataType = SS_UINT32;
-            break;
-        case PortDataTypeBoolean:
-            matlabDataType = SS_BOOLEAN;
-            break;
-    }
-    return ssSetInputPortDataType(simstruct, portNumber, matlabDataType);
+    ssSetInputPortDataType(simstruct, portNumber, mapSimulinkToPortType(portType));
+    return true;
 }
 
 bool SimulinkBlockInformation::setOutputPortType(unsigned portNumber, PortDataType portType)
 {
-    int matlabDataType = -1;
-    switch (portType) {
-        case PortDataTypeDouble:
-            matlabDataType = SS_DOUBLE;
-            break;
-        case PortDataTypeSingle:
-            matlabDataType = SS_SINGLE;
-            break;
-        case PortDataTypeInt8:
-            matlabDataType = SS_INT8;
-            break;
-        case PortDataTypeUInt8:
-            matlabDataType = SS_UINT8;
-            break;
-        case PortDataTypeInt16:
-            matlabDataType = SS_INT16;
-            break;
-        case PortDataTypeUInt16:
-            matlabDataType = SS_UINT16;
-            break;
-        case PortDataTypeInt32:
-            matlabDataType = SS_INT32;
-            break;
-        case PortDataTypeUInt32:
-            matlabDataType = SS_UINT32;
-            break;
-        case PortDataTypeBoolean:
-            matlabDataType = SS_BOOLEAN;
-            break;
-    }
-    return ssSetOutputPortDataType(simstruct, portNumber, matlabDataType);
+    ssSetOutputPortDataType(simstruct, portNumber, mapSimulinkToPortType(portType));
+    return true;
 }
 
-//Port data
+// PORT INFORMATION GETTERS
+// ========================
+
 unsigned SimulinkBlockInformation::getInputPortWidth(unsigned portNumber) const
 {
     return ssGetInputPortWidth(simstruct, portNumber);
@@ -185,22 +134,136 @@ unsigned SimulinkBlockInformation::getOutputPortWidth(unsigned portNumber) const
     return ssGetOutputPortWidth(simstruct, portNumber);
 }
 
-wbt::Signal SimulinkBlockInformation::getInputPortSignal(unsigned portNumber) const
+wbt::Signal SimulinkBlockInformation::getInputPortSignal(unsigned portNumber, int portWidth) const
 {
-    Signal signal;
-    InputPtrsType port = ssGetInputPortSignalPtrs(simstruct, portNumber);
-    bool isConstPort = true;
-    signal.initSignalType(PortDataTypeDouble, isConstPort);
-    signal.setNonContiguousBuffer(port);
-    return signal;
-}
+    // Read if the signal is contiguous or non-contiguous
+    boolean_T isContiguous = ssGetInputPortRequiredContiguous(simstruct, portNumber);
+    SignalDataFormat sigDataFormat = isContiguous ? CONTIGUOUS_ZEROCOPY : NONCONTIGUOUS;
+
+    // Check if the signal is dynamically sized (which means that the dimension
+    // cannot be read)
+    bool isDynamicallySized = (ssGetInputPortWidth(simstruct, portNumber) == DYNAMICALLY_SIZED);
+
+    // Note that if the signal is DYNAMICALLY_SIZED (-1), portWidth is necessary
+    if (isDynamicallySized && portWidth == -1) {
+        return Signal();
+    }
+
+    // Read the width of the signal if it is not provided as input and the signal is not
+    // dynamically sized
+    if (!isDynamicallySized && portWidth == -1) {
+        portWidth = ssGetInputPortWidth(simstruct, portNumber);
+    }
 
+    // Get the data type of the Signal if set (default: double)
+    DTypeId dataType = ssGetInputPortDataType(simstruct, portNumber);
+
+    switch (sigDataFormat) {
+        case CONTIGUOUS_ZEROCOPY: {
+            // Initialize the signal
+            bool isConstPort = true;
+            Signal signal(CONTIGUOUS_ZEROCOPY, mapSimulinkToPortType(dataType), isConstPort);
+            signal.setWidth(portWidth);
+            // Initialize signal's data
+            if (!signal.initializeBufferFromContiguousZeroCopy(ssGetInputPortSignal(simstruct, portNumber))) {
+                return Signal();
+            }
+            return signal;
+        }
+        case NONCONTIGUOUS: {
+            // Initialize the signal
+            bool isConstPort = true;
+            Signal signal(NONCONTIGUOUS, mapSimulinkToPortType(dataType), isConstPort);
+            signal.setWidth(portWidth);
+            // Initialize signal's data
+            InputPtrsType port = ssGetInputPortSignalPtrs(simstruct, portNumber);
+            if (!signal.initializeBufferFromNonContiguous(static_cast<const void* const*>(port))) {
+                return Signal();
+            }
+            return signal;
+        }
+        default:
+            return Signal();
+    }
+}
 
-wbt::Signal SimulinkBlockInformation::getOutputPortSignal(unsigned portNumber) const
+wbt::Signal SimulinkBlockInformation::getOutputPortSignal(unsigned portNumber, int portWidth) const
 {
-    Signal signal;
+    // Check if the signal is dynamically sized (which means that the dimension
+    // cannot be read)
+    bool isDynamicallySized = (ssGetOutputPortWidth(simstruct, portNumber) == DYNAMICALLY_SIZED);
+
+    // Note that if the signal is DYNAMICALLY_SIZED (-1), portWidth is necessary
+    if (isDynamicallySized && portWidth == -1) {
+        return Signal();
+    }
+
+    // Read the width of the signal if it is not provided as input and the signal is not
+    // dynamically sized
+    if (!isDynamicallySized && portWidth == -1) {
+        portWidth = ssGetOutputPortWidth(simstruct, portNumber);
+    }
+
+    // Get the data type of the Signal if set (default: double)
+    DTypeId dataType = ssGetOutputPortDataType(simstruct, portNumber);
+
     bool isConstPort = false;
-    signal.initSignalType(PortDataTypeDouble, isConstPort);
-    signal.setContiguousBuffer(ssGetOutputPortSignal(simstruct, portNumber));
+    Signal signal(CONTIGUOUS_ZEROCOPY, mapSimulinkToPortType(dataType), isConstPort);
+    signal.setWidth(portWidth);
+
+    if (!signal.initializeBufferFromContiguousZeroCopy(ssGetOutputPortSignal(simstruct, portNumber))) {
+        return Signal();
+    }
+
     return signal;
 }
+
+PortDataType SimulinkBlockInformation::mapSimulinkToPortType(const DTypeId& typeId) const
+{
+    switch (typeId) {
+        case SS_DOUBLE:
+            return PortDataTypeDouble;
+        case SS_SINGLE:
+            return PortDataTypeSingle;
+        case SS_INT8:
+            return PortDataTypeInt8;
+        case SS_UINT8:
+            return PortDataTypeUInt8;
+        case SS_INT16:
+            return PortDataTypeInt16;
+        case SS_UINT16:
+            return PortDataTypeUInt16;
+        case SS_INT32:
+            return PortDataTypeInt32;
+        case SS_UINT32:
+            return PortDataTypeUInt32;
+        case SS_BOOLEAN:
+            return PortDataTypeBoolean;
+        default:
+            return PortDataTypeDouble;
+    }
+}
+
+DTypeId SimulinkBlockInformation::mapPortTypeToSimulink(const PortDataType& dataType) const
+{
+    switch (dataType) {
+        case PortDataTypeDouble:
+            return SS_DOUBLE;
+        case PortDataTypeSingle:
+            return SS_SINGLE;
+        case PortDataTypeInt8:
+            return SS_INT8;
+        case PortDataTypeUInt8:
+            return SS_UINT8;
+        case PortDataTypeInt16:
+            return SS_INT16;
+        case PortDataTypeUInt16:
+            return SS_UINT16;
+        case PortDataTypeInt32:
+            return SS_INT32;
+        case PortDataTypeUInt32:
+            return SS_UINT32;
+        case PortDataTypeBoolean:
+            return SS_BOOLEAN;
+    }
+}
diff --git a/toolbox/src/base/toolbox.cpp b/toolbox/src/base/toolbox.cpp
index ba9c86cb5..74468baa9 100644
--- a/toolbox/src/base/toolbox.cpp
+++ b/toolbox/src/base/toolbox.cpp
@@ -177,6 +177,15 @@ static void mdlInitializeSizes(SimStruct* S)
     bool ok = block->configureSizeAndPorts(&blockInfo);
     catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
 
+    for (auto i = 0; i < ssGetNumInputPorts(S); ++i) {
+        // Set explicitly the inputs port to be SS_NOT_REUSABLE_AND_GLOBAL (which actually
+        // is already the default value). Since the toolbox supports contiguous input signals,
+        // this option should not be changed.
+        ssSetInputPortOptimOpts(S, i, SS_NOT_REUSABLE_AND_GLOBAL);
+        // Set input signals to be allocated in a contiguous memory storage
+        ssSetInputPortRequiredContiguous(S, i, true);
+    }
+
     ssSetNumSampleTimes(S, 1);
 
     ssSetSimStateCompliance(S, USE_CUSTOM_SIM_STATE); //??

From 930b9e4e49eaa2c711fc885a7972242e941f35fa Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 08:03:41 +0000
Subject: [PATCH 70/89] Fixed the parsing of the gravity vector

---
 toolbox/src/base/WBBlock.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/toolbox/src/base/WBBlock.cpp b/toolbox/src/base/WBBlock.cpp
index d4acfbb3f..82cf92a05 100644
--- a/toolbox/src/base/WBBlock.cpp
+++ b/toolbox/src/base/WBBlock.cpp
@@ -131,8 +131,8 @@ bool WBBlock::getWBToolboxParameters(Configuration& config, const BlockInformati
         return false;
     }
     std::array<double, 3> gravityArray;
-    for (auto i : gravityVector) {
-        gravityArray[i] = i;
+    for (auto i = 0; i < 3; ++i) {
+        gravityArray[i] = gravityVector[i];
     }
 
     // Create the ToolboxConfig object

From c9239060b3d2fe220b5b391e0613531e09d2ef6f Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 08:07:01 +0000
Subject: [PATCH 71/89] Moved the update of robot state into WBBlock

This method avoids code duplication in all the child classes
---
 toolbox/include/base/WBBlock.h |   5 ++
 toolbox/src/base/WBBlock.cpp   | 102 +++++++++++++++++++++++++++++++++
 2 files changed, 107 insertions(+)

diff --git a/toolbox/include/base/WBBlock.h b/toolbox/include/base/WBBlock.h
index 227795a1c..bfd289f96 100644
--- a/toolbox/include/base/WBBlock.h
+++ b/toolbox/include/base/WBBlock.h
@@ -12,6 +12,7 @@
 
 namespace wbt {
     class WBBlock;
+    class Signal;
     class Configuration;
     class BlockInformation;
     class RobotInterface;
@@ -70,6 +71,10 @@ class wbt::WBBlock : public wbt::Block
     bool getWBToolboxParameters(Configuration& config, const BlockInformation* blockInfo);
     const std::shared_ptr<wbt::RobotInterface> getRobotInterface();
     const Configuration& getConfiguration();
+    bool setRobotState(const wbt::Signal* basePose,
+                       const wbt::Signal* jointsPos,
+                       const wbt::Signal* baseVelocity,
+                       const wbt::Signal* jointsVelocity);
 
 public:
     WBBlock() = default;
diff --git a/toolbox/src/base/WBBlock.cpp b/toolbox/src/base/WBBlock.cpp
index 82cf92a05..c067c80e1 100644
--- a/toolbox/src/base/WBBlock.cpp
+++ b/toolbox/src/base/WBBlock.cpp
@@ -5,9 +5,13 @@
 #include "ToolboxSingleton.h"
 #include "Configuration.h"
 #include "RobotInterface.h"
+#include "Signal.h"
 #include "AnyType.h"
+#include <Eigen/Core>
 #include <string>
 #include <memory>
+#include "iDynTree/KinDynComputations.h"
+#include <iDynTree/Core/EigenHelpers.h>
 #include <iDynTree/Core/MatrixFixSize.h>
 #include <iDynTree/Core/VectorDynSize.h>
 #include <iDynTree/Core/Twist.h>
@@ -28,6 +32,104 @@ iDynTreeRobotState::iDynTreeRobotState(const unsigned& dofs, const std::array<do
     m_jointsVelocity.zero();
 }
 
+bool WBBlock::setRobotState(const wbt::Signal* basePose,
+                            const wbt::Signal* jointsPos,
+                            const wbt::Signal* baseVelocity,
+                            const wbt::Signal* jointsVelocity)
+{
+    // SAVE THE ROBOT STATE
+    // ====================
+
+    using namespace iDynTree;
+    using namespace Eigen;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+
+    // Base pose
+    // ---------
+
+    if (basePose) {
+        // Get the buffer
+        double* buffer = basePose->getBuffer<double>();
+        if (!buffer) {
+            Log::getSingleton().error("Failed to read the base pose from input port.");
+            return false;
+        }
+        // Fill the data
+        fromEigen(robotState.m_world_T_base, Matrix4dSimulink(buffer));
+    }
+
+    // Joints position
+    // ---------------
+
+    if (jointsPos) {
+        // Get the buffer
+        double* buffer = jointsPos->getBuffer<double>();
+        if (!buffer) {
+            Log::getSingleton().error("Failed to read joints positions from input port.");
+            return false;
+        }
+        // Fill the data
+        for (auto i = 0; i < jointsPos->getWidth(); ++i) {
+            robotState.m_jointsPosition.setVal(i, buffer[i]);
+        }
+
+    }
+
+    // Base Velocity
+    // -------------
+
+    if (baseVelocity) {
+        // Get the buffer
+        double* buffer = baseVelocity->getBuffer<double>();
+        if (!buffer) {
+            Log::getSingleton().error("Failed to read the base velocity from input port.");
+            return false;
+        }
+        // Fill the data
+        robotState.m_baseVelocity = Twist(LinVelocity(buffer, 3),
+                                          AngVelocity(buffer+3, 3));
+    }
+
+    // Joints velocity
+    // ---------------
+
+    if (jointsVelocity) {
+        // Get the buffer
+        double* buffer = jointsVelocity->getBuffer<double>();
+        if (!buffer) {
+            Log::getSingleton().error("Failed to read joints velocities from input port.");
+            return false;
+        }
+        // Fill the data
+        for (auto i = 0; i < jointsVelocity->getWidth(); ++i) {
+            robotState.m_jointsVelocity.setVal(i, buffer[i]);
+        }
+    }
+
+    // UPDATE THE IDYNTREE ROBOT STATE WITH NEW DATA
+    // =============================================
+
+    const auto& model = getRobotInterface()->getKinDynComputations();
+
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
+
+    bool ok = model->setRobotState(robotState.m_world_T_base,
+                                   robotState.m_jointsPosition,
+                                   robotState.m_baseVelocity,
+                                   robotState.m_jointsVelocity,
+                                   robotState.m_gravity);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the iDynTree robot state.");
+        return false;
+    }
+
+    return true;
+}
+
 unsigned WBBlock::numberOfParameters() { return 2; }
 
 bool WBBlock::getWBToolboxParameters(Configuration& config, const BlockInformation* blockInfo)

From fc50b088f15d3c93187559c0b5c12a188a3c6ed7 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 08:14:26 +0000
Subject: [PATCH 72/89] Updated all  blocks to the new Signal class and
 WBBlock::setRobotState

---
 toolbox/include/SetReferences.h               |  2 +-
 toolbox/src/CentroidalMomentum.cpp            | 49 +++-------
 toolbox/src/DotJNu.cpp                        | 49 +++-------
 toolbox/src/ForwardKinematics.cpp             | 41 ++++-----
 toolbox/src/GetMeasurement.cpp                |  4 +-
 toolbox/src/InverseDynamics.cpp               | 90 +++++++++----------
 toolbox/src/Jacobian.cpp                      | 38 +++-----
 toolbox/src/MassMatrix.cpp                    | 37 +++-----
 .../src/MinimumJerkTrajectoryGenerator.cpp    | 13 ++-
 toolbox/src/ModelPartitioner.cpp              | 10 +--
 toolbox/src/SetReferences.cpp                 | 43 +++++----
 toolbox/src/YarpWrite.cpp                     |  2 +-
 12 files changed, 152 insertions(+), 226 deletions(-)

diff --git a/toolbox/include/SetReferences.h b/toolbox/include/SetReferences.h
index 74b5c4b19..9ec5a385d 100644
--- a/toolbox/include/SetReferences.h
+++ b/toolbox/include/SetReferences.h
@@ -13,7 +13,7 @@ class wbt::SetReferences : public wbt::WBBlock
 private:
     std::vector<int> m_controlModes;
     bool m_resetControlMode;
-    static void rad2deg(std::vector<double>& v);
+    static const std::vector<double> rad2deg(const double* buffer, const unsigned width);
 
 public:
     static const std::string ClassName;
diff --git a/toolbox/src/CentroidalMomentum.cpp b/toolbox/src/CentroidalMomentum.cpp
index 58484cb9e..126105c9c 100644
--- a/toolbox/src/CentroidalMomentum.cpp
+++ b/toolbox/src/CentroidalMomentum.cpp
@@ -8,7 +8,6 @@
 #include <iDynTree/Core/SpatialMomentum.h>
 #include <iDynTree/Core/EigenHelpers.h>
 #include <iDynTree/KinDynComputations.h>
-#include <Eigen/Core>
 
 using namespace wbt;
 
@@ -99,10 +98,6 @@ bool CentroidalMomentum::terminate(const BlockInformation* blockInfo)
 
 bool CentroidalMomentum::output(const BlockInformation* blockInfo)
 {
-    using namespace iDynTree;
-    using namespace Eigen;
-    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-
     const auto& model = getRobotInterface()->getKinDynComputations();
 
     if (!model) {
@@ -110,41 +105,23 @@ bool CentroidalMomentum::output(const BlockInformation* blockInfo)
         return false;
     }
 
-    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-    // ====================================================
-
-    unsigned signalWidth;
+    // GET THE SIGNALS POPULATE THE ROBOT STATE
+    // ========================================
 
-    // Base pose
     Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-    fromEigen(robotState.m_world_T_base,
-              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-    // Joints position
-    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-    // Base velocity
+    Signal jointsPosSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
     Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
-    double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
-    robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
-                                 AngVelocity(m_baseVelocityBuffer+3, 3));
-
-    // Joints velocity
     Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
-    robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
-
-    // UPDATE THE ROBOT STATUS
-    // =======================
-    model->setRobotState(robotState.m_world_T_base,
-                         robotState.m_jointsPosition,
-                         robotState.m_baseVelocity,
-                         robotState.m_jointsVelocity,
-                         robotState.m_gravity);
+
+    bool ok = setRobotState(&basePoseSig,
+                            &jointsPosSig,
+                            &baseVelocitySignal,
+                            &jointsVelocitySignal);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the robot state.");
+        return false;
+    }
 
     // OUTPUT
     // ======
diff --git a/toolbox/src/DotJNu.cpp b/toolbox/src/DotJNu.cpp
index c6fcd7c2a..8beab3e06 100644
--- a/toolbox/src/DotJNu.cpp
+++ b/toolbox/src/DotJNu.cpp
@@ -7,7 +7,6 @@
 #include <memory>
 #include <iDynTree/Core/EigenHelpers.h>
 #include <iDynTree/KinDynComputations.h>
-#include <Eigen/Core>
 
 using namespace wbt;
 
@@ -139,10 +138,6 @@ bool DotJNu::terminate(const BlockInformation* blockInfo)
 
 bool DotJNu::output(const BlockInformation* blockInfo)
 {
-    using namespace iDynTree;
-    using namespace Eigen;
-    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-
     const auto& model = getRobotInterface()->getKinDynComputations();
 
     if (!model) {
@@ -150,41 +145,23 @@ bool DotJNu::output(const BlockInformation* blockInfo)
         return false;
     }
 
-    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-    // ====================================================
-
-    unsigned signalWidth;
+    // GET THE SIGNALS POPULATE THE ROBOT STATE
+    // ========================================
 
-    // Base pose
     Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-    fromEigen(robotState.m_world_T_base,
-              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-    // Joints position
-    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-    // Base velocity
+    Signal jointsPosSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
     Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
-    double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
-    robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
-                                  AngVelocity(m_baseVelocityBuffer+3, 3));
-
-    // Joints velocity
     Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
-    robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
-
-    // UPDATE THE ROBOT STATUS
-    // =======================
-    model->setRobotState(robotState.m_world_T_base,
-                         robotState.m_jointsPosition,
-                         robotState.m_baseVelocity,
-                         robotState.m_jointsVelocity,
-                         robotState.m_gravity);
+
+    bool ok = setRobotState(&basePoseSig,
+                            &jointsPosSig,
+                            &baseVelocitySignal,
+                            &jointsVelocitySignal);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the robot state.");
+        return false;
+    }
 
     // OUTPUT
     // ======
diff --git a/toolbox/src/ForwardKinematics.cpp b/toolbox/src/ForwardKinematics.cpp
index a34f5c72b..aca145cac 100644
--- a/toolbox/src/ForwardKinematics.cpp
+++ b/toolbox/src/ForwardKinematics.cpp
@@ -126,7 +126,6 @@ bool ForwardKinematics::terminate(const BlockInformation* blockInfo)
 
 bool ForwardKinematics::output(const BlockInformation* blockInfo)
 {
-    using namespace iDynTree;
     using namespace Eigen;
     typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
     typedef Matrix<double, 4, 4, Eigen::RowMajor> Matrix4diDynTree;
@@ -138,31 +137,23 @@ bool ForwardKinematics::output(const BlockInformation* blockInfo)
         return false;
     }
 
-    // Get the signals and convert them to iDynTree objects
-    // ====================================================
+    // GET THE SIGNALS POPULATE THE ROBOT STATE
+    // ========================================
 
-    unsigned signalWidth;
-
-    // Base pose
     Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-    fromEigen(robotState.m_world_T_base,
-              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-    // Joints position
-    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-    // Update the robot status
-    // =======================
-    model->setRobotState(robotState.m_world_T_base,
-                         robotState.m_jointsPosition,
-                         robotState.m_baseVelocity,
-                         robotState.m_jointsVelocity,
-                         robotState.m_gravity);
-
-    // Output
+    Signal jointsPosSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+
+    bool ok = setRobotState(&basePoseSig,
+                            &jointsPosSig,
+                            nullptr,
+                            nullptr);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the robot state.");
+        return false;
+    }
+
+    // OUTPUT
     // ======
 
     iDynTree::Transform world_H_frame;
@@ -180,7 +171,7 @@ bool ForwardKinematics::output(const BlockInformation* blockInfo)
 
     // Allocate objects for row-major -> col-major conversion
     Map<const Matrix4diDynTree> world_H_frame_RowMajor = toEigen(world_H_frame.asHomogeneousTransform());
-    Map<Matrix4dSimulink> world_H_frame_ColMajor((double*)output.getContiguousBuffer(),
+    Map<Matrix4dSimulink> world_H_frame_ColMajor(output.getBuffer<double>(),
                            4, 4);
 
     // Forward the buffer to Simulink transforming it to ColMajor
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index a245105c6..e95e31dad 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -16,9 +16,9 @@ const std::string GetMeasurement::ClassName = "GetMeasurement";
 
 void GetMeasurement::deg2rad(std::vector<double>& v)
 {
-    const double deg2rad = M_PI / 180.0;
+    const double Deg2Rad = M_PI / 180.0;
     for (auto& element : v) {
-        element *= deg2rad;
+        element *= Deg2Rad;
     }
 }
 
diff --git a/toolbox/src/InverseDynamics.cpp b/toolbox/src/InverseDynamics.cpp
index 514c96d2b..49b3e8386 100644
--- a/toolbox/src/InverseDynamics.cpp
+++ b/toolbox/src/InverseDynamics.cpp
@@ -5,10 +5,8 @@
 #include "Signal.h"
 #include "RobotInterface.h"
 #include <memory>
-#include <iDynTree/Core/EigenHelpers.h>
 #include <iDynTree/Model/FreeFloatingState.h>
 #include <iDynTree/KinDynComputations.h>
-#include <Eigen/Core>
 
 using namespace wbt;
 
@@ -130,70 +128,64 @@ bool InverseDynamics::terminate(const BlockInformation* blockInfo)
 
 bool InverseDynamics::output(const BlockInformation* blockInfo)
 {
-    using namespace iDynTree;
-    using namespace Eigen;
-    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-
-    const auto& model = getRobotInterface()->getKinDynComputations();
-
-    if (!model) {
-        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-        return false;
-    }
-
-    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-    // ====================================================
+    // GET THE SIGNALS POPULATE THE ROBOT STATE
+    // ========================================
 
-    unsigned signalWidth;
-
-    // Base pose
     Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-    fromEigen(robotState.m_world_T_base,
-              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-    // Joints position
-    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-    // Base velocity
+    Signal jointsPosSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
     Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
-    double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
-    robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
-                                 AngVelocity(m_baseVelocityBuffer+3, 3));
-
-    // Joints velocity
     Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
-    robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+    bool ok = setRobotState(&basePoseSig,
+                            &jointsPosSig,
+                            &baseVelocitySignal,
+                            &jointsVelocitySignal);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the robot state.");
+        return false;
+    }
 
     // Base acceleration
+    // -----------------
+
     Signal baseAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_ACC);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_ACC);
-    m_baseAcceleration->fillBuffer(baseAccelerationSignal.getStdVector(signalWidth).data());
+    double* bufBaseAcc = baseAccelerationSignal.getBuffer<double>();
+    if (!bufBaseAcc) {
+        Log::getSingleton().error("Failed to read data from input port.");
+        return false;
+    }
+    for (auto i = 0; i < baseAccelerationSignal.getWidth(); ++i) {
+        m_baseAcceleration->setVal(i, bufBaseAcc[i]);
+    }
 
     // Joints acceleration
-    Signal jointsAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_ACC);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_ACC);
-    m_jointsAcceleration->fillBuffer(jointsAccelerationSignal.getStdVector(signalWidth).data());
+    // -------------------
 
-    // UPDATE THE ROBOT STATUS
-    // =======================
-    model->setRobotState(robotState.m_world_T_base,
-                         robotState.m_jointsPosition,
-                         robotState.m_baseVelocity,
-                         robotState.m_jointsVelocity,
-                         robotState.m_gravity);
+    Signal jointsAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_ACC);
+    double* bufJointsAcc = jointsAccelerationSignal.getBuffer<double>();
+    if (!bufJointsAcc) {
+        Log::getSingleton().error("Failed to read data from input port.");
+        return false;
+    }
+    for (auto i = 0; i < jointsAccelerationSignal.getWidth(); ++i) {
+        m_jointsAcceleration->setVal(i, bufJointsAcc[i]);
+    }
 
     // OUTPUT
     // ======
 
+    const auto& model = getRobotInterface()->getKinDynComputations();
+
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
+
     // Calculate the inverse dynamics (assuming zero external forces)
     model->inverseDynamics(*m_baseAcceleration,
                            *m_jointsAcceleration,
-                           LinkNetExternalWrenches(model->getNrOfLinks()), // TODO
+                           iDynTree::LinkNetExternalWrenches(model->getNrOfLinks()),
                            *m_torques);
 
     // Forward the output to Simulink
diff --git a/toolbox/src/Jacobian.cpp b/toolbox/src/Jacobian.cpp
index 901a0a822..c7574974c 100644
--- a/toolbox/src/Jacobian.cpp
+++ b/toolbox/src/Jacobian.cpp
@@ -139,9 +139,7 @@ bool Jacobian::terminate(const BlockInformation* blockInfo)
 
 bool Jacobian::output(const BlockInformation* blockInfo)
 {
-    using namespace iDynTree;
     using namespace Eigen;
-    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
     typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
     typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
 
@@ -152,31 +150,21 @@ bool Jacobian::output(const BlockInformation* blockInfo)
         return false;
     }
 
-    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-    // ====================================================
+    // GET THE SIGNALS POPULATE THE ROBOT STATE
+    // ========================================
 
-    unsigned signalWidth;
-
-    // Base pose
     Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-    fromEigen(robotState.m_world_T_base,
-              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-    // Joints position
-    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+    Signal jointsPosSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
 
-    // TODO: what about the other inputs of setRobotState?
+    bool ok = setRobotState(&basePoseSig,
+                            &jointsPosSig,
+                            nullptr,
+                            nullptr);
 
-    // UPDATE THE ROBOT STATUS
-    // =======================
-    model->setRobotState(robotState.m_world_T_base,
-                         robotState.m_jointsPosition,
-                         robotState.m_baseVelocity,
-                         robotState.m_jointsVelocity,
-                         robotState.m_gravity);
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the robot state.");
+        return false;
+    }
 
     // OUTPUT
     // ======
@@ -184,7 +172,7 @@ bool Jacobian::output(const BlockInformation* blockInfo)
     iDynTree::Transform world_H_frame;
 
     // Compute the jacobian
-    bool ok = false;
+    ok = false;
     if (!m_frameIsCoM) {
         world_H_frame = model->getWorldTransform(m_frameIndex);
         ok = model->getFrameFreeFloatingJacobian(m_frameIndex, *m_jacobian);
@@ -203,7 +191,7 @@ bool Jacobian::output(const BlockInformation* blockInfo)
 
     // Allocate objects for row-major -> col-major conversion
     Map<MatrixXdiDynTree> jacobianRowMajor = toEigen(*m_jacobian);
-    Map<MatrixXdSimulink> jacobianColMajor((double*)output.getContiguousBuffer(),
+    Map<MatrixXdSimulink> jacobianColMajor(output.getBuffer<double>(),
                                            6, 6 + dofs);
 
     // Forward the buffer to Simulink transforming it to ColMajor
diff --git a/toolbox/src/MassMatrix.cpp b/toolbox/src/MassMatrix.cpp
index a14a9f78c..6a6aa50fc 100644
--- a/toolbox/src/MassMatrix.cpp
+++ b/toolbox/src/MassMatrix.cpp
@@ -96,7 +96,6 @@ bool MassMatrix::output(const BlockInformation* blockInfo)
 {
     using namespace Eigen;
     using namespace iDynTree;
-    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
     typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
     typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
 
@@ -107,29 +106,21 @@ bool MassMatrix::output(const BlockInformation* blockInfo)
         return false;
     }
 
-    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-    // ====================================================
+    // GET THE SIGNALS POPULATE THE ROBOT STATE
+    // ========================================
 
-    unsigned signalWidth;
-
-    // Base pose
     Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-    fromEigen(robotState.m_world_T_base,
-              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-    // Joints position
-    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-    // UPDATE THE ROBOT STATUS
-    // =======================
-    model->setRobotState(robotState.m_world_T_base,
-                         robotState.m_jointsPosition,
-                         robotState.m_baseVelocity,
-                         robotState.m_jointsVelocity,
-                         robotState.m_gravity);
+    Signal jointsPosSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+
+    bool ok = setRobotState(&basePoseSig,
+                            &jointsPosSig,
+                            nullptr,
+                            nullptr);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the robot state.");
+        return false;
+    }
 
     // OUTPUT
     // ======
@@ -143,7 +134,7 @@ bool MassMatrix::output(const BlockInformation* blockInfo)
 
     // Allocate objects for row-major -> col-major conversion
     Map<MatrixXdiDynTree> massMatrixRowMajor = toEigen(*m_massMatrix);
-    Map<MatrixXdSimulink> massMatrixColMajor((double*)output.getContiguousBuffer(),
+    Map<MatrixXdSimulink> massMatrixColMajor(output.getBuffer<double>(),
                                              6 + dofs, 6 + dofs);
 
     // Forward the buffer to Simulink transforming it to ColMajor
diff --git a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
index 6c7e82e36..05aa56527 100644
--- a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
+++ b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
@@ -154,8 +154,8 @@ bool MinimumJerkTrajectoryGenerator::initialize(const BlockInformation* blockInf
         m_outputSecondDerivativeIndex = outputFirstDerivative ? 2 : 1;
     }
 
-    double sampleTime;
-    double settlingTime;
+    double sampleTime = 0;
+    double settlingTime = 0;
 
     ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_SAMPLE_TIME, sampleTime);
     ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_SETTLING_TIME, settlingTime);
@@ -190,7 +190,7 @@ bool MinimumJerkTrajectoryGenerator::output(const BlockInformation* blockInfo)
         unsigned portIndex = 1;
         if (m_explicitInitialValue) portIndex++;
         Signal externalTimePort = blockInfo->getInputPortSignal(portIndex);
-        double externalTime = externalTimePort.get(0).doubleData();
+        double externalTime = externalTimePort.get<double>(0);
 
         if (std::abs(m_previousSettlingTime - externalTime) > 1e-5) {
             m_previousSettlingTime = externalTime;
@@ -204,14 +204,13 @@ bool MinimumJerkTrajectoryGenerator::output(const BlockInformation* blockInfo)
 
     if (m_firstRun) {
         m_firstRun = false;
-        Signal initialValues;
         unsigned portIndex = 0;
         if (m_explicitInitialValue) {
             portIndex = 1;
         }
-        initialValues = blockInfo->getInputPortSignal(portIndex);
+        Signal initialValues = blockInfo->getInputPortSignal(portIndex);
         for (unsigned i = 0; i < blockInfo->getInputPortWidth(portIndex); ++i) {
-            (*m_initialValues)[i] = initialValues.get(i).doubleData();
+            (*m_initialValues)[i] = initialValues.get<double>(i);
         }
         m_generator->init(*m_initialValues);
     }
@@ -219,7 +218,7 @@ bool MinimumJerkTrajectoryGenerator::output(const BlockInformation* blockInfo)
 
     Signal references = blockInfo->getInputPortSignal(0);
     for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-        (*m_reference)[i] = references.get(i).doubleData();
+        (*m_reference)[i] = references.get<double>(i);
     }
     m_generator->computeNextValues(*m_reference);
 
diff --git a/toolbox/src/ModelPartitioner.cpp b/toolbox/src/ModelPartitioner.cpp
index e987604f8..21f872c9c 100644
--- a/toolbox/src/ModelPartitioner.cpp
+++ b/toolbox/src/ModelPartitioner.cpp
@@ -168,10 +168,8 @@ bool ModelPartitioner::terminate(const BlockInformation* blockInfo)
 
 bool ModelPartitioner::output(const BlockInformation* blockInfo)
 {
-    Signal dofsSignal;
-
     if (m_yarp2WBI) {
-        dofsSignal = blockInfo->getInputPortSignal(0);
+        Signal dofsSignal = blockInfo->getInputPortSignal(0);
 
         for (unsigned ithJoint = 0; ithJoint < getConfiguration().getNumberOfDoFs(); ++ithJoint) {
             const std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
@@ -183,11 +181,11 @@ bool ModelPartitioner::output(const BlockInformation* blockInfo)
 
             // Get the data to forward
             Signal ithOutput = blockInfo->getOutputPortSignal(controlBoardOfJoint);
-            ithOutput.set(contrJointIdxCB, dofsSignal.get(ithJoint).doubleData());
+            ithOutput.set(contrJointIdxCB, dofsSignal.get<double>(ithJoint));
         }
     }
     else {
-        dofsSignal = blockInfo->getOutputPortSignal(0);
+        Signal dofsSignal = blockInfo->getOutputPortSignal(0);
 
         for (unsigned ithJoint = 0; ithJoint < getConfiguration().getNumberOfDoFs(); ++ithJoint) {
             const std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
@@ -199,7 +197,7 @@ bool ModelPartitioner::output(const BlockInformation* blockInfo)
 
             // Get the data to forward
             const Signal ithInput = blockInfo->getInputPortSignal(controlBoardOfJoint);
-            dofsSignal.set(ithJoint, ithInput.get(contrJointIdxCB).doubleData());
+            dofsSignal.set(ithJoint, ithInput.get<double>(contrJointIdxCB));
         }
     }
     return true;
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 05317332e..5aca71d0a 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -17,12 +17,17 @@ SetReferences::SetReferences()
 : m_resetControlMode(true)
 {}
 
-void SetReferences::rad2deg(std::vector<double>& v)
+const std::vector<double> SetReferences::rad2deg(const double* buffer, const unsigned width)
 {
-    const double rad2deg = 180.0 / M_PI;
-    for (auto& element : v) {
-        element *= rad2deg;
+    const double Rad2Deg = 180.0 / M_PI;
+
+    std::vector<double> vectorDeg(width);
+
+    for (auto i = 0; i < width; ++i) {
+        vectorDeg[i] = buffer[i] * Rad2Deg;
     }
+
+    return vectorDeg;
 }
 
 unsigned SetReferences::numberOfParameters()
@@ -125,7 +130,7 @@ bool SetReferences::initialize(const BlockInformation* blockInfo)
             return false;
         }
         // TODO: Set this parameter from the mask
-        std::vector<double> speedInitalization(dofs, 10.0);
+        std::vector<double> speedInitalization(dofs, 50.0);
         // Set the references
         if (!interface->setRefSpeeds(speedInitalization.data())) {
             Log::getSingleton().error("Failed to initialize speed references.");
@@ -214,7 +219,12 @@ bool SetReferences::output(const BlockInformation* blockInfo)
     // Get the signal
     Signal references = blockInfo->getInputPortSignal(0);
     unsigned signalWidth = blockInfo->getInputPortWidth(0);
-    std::vector<double> referencesVector = references.getStdVector(signalWidth);
+
+    double* bufferReferences = references.getBuffer<double>();
+    if (!bufferReferences) {
+        Log::getSingleton().error("Failed to get the buffer containing references.");
+        return false;
+    }
 
     bool ok = false;
     // TODO: here only the first element is checked
@@ -231,9 +241,9 @@ bool SetReferences::output(const BlockInformation* blockInfo)
                 return false;
             }
             // Convert from rad to deg
-            rad2deg(referencesVector);
+            auto referencesDeg = rad2deg(bufferReferences, signalWidth);
             // Set the references
-            ok = interface->positionMove(referencesVector.data());
+            ok = interface->positionMove(referencesDeg.data());
             break;
         }
         case VOCAB_CM_POSITION_DIRECT: {
@@ -244,9 +254,9 @@ bool SetReferences::output(const BlockInformation* blockInfo)
                 return false;
             }
             // Convert from rad to deg
-            rad2deg(referencesVector);
+            auto referencesDeg = rad2deg(bufferReferences, signalWidth);
             // Set the references
-            ok = interface->setPositions(referencesVector.data());
+            ok = interface->setPositions(referencesDeg.data());
             break;
         }
         case VOCAB_CM_VELOCITY: {
@@ -257,9 +267,9 @@ bool SetReferences::output(const BlockInformation* blockInfo)
                 return false;
             }
             // Convert from rad to deg
-            rad2deg(referencesVector);
+            auto referencesDeg = rad2deg(bufferReferences, signalWidth);
             // Set the references
-            ok = interface->velocityMove(referencesVector.data());
+            ok = interface->velocityMove(referencesDeg.data());
             break;
         }
         case VOCAB_CM_TORQUE: {
@@ -269,7 +279,8 @@ bool SetReferences::output(const BlockInformation* blockInfo)
                 Log::getSingleton().error("Failed to get ITorqueControl interface.");
                 return false;
             }
-            ok = interface->setRefTorques(referencesVector.data());
+            // Set the references
+            ok = interface->setRefTorques(bufferReferences);
             break;
         }
         case VOCAB_CM_PWM: {
@@ -279,7 +290,8 @@ bool SetReferences::output(const BlockInformation* blockInfo)
                 Log::getSingleton().error("Failed to get IPWMControl interface.");
                 return false;
             }
-            ok = interface->setRefDutyCycles(referencesVector.data());
+            // Set the references
+            ok = interface->setRefDutyCycles(bufferReferences);
             break;
         }
         case VOCAB_CM_CURRENT: {
@@ -289,7 +301,8 @@ bool SetReferences::output(const BlockInformation* blockInfo)
                 Log::getSingleton().error("Failed to get ICurrentControl interface.");
                 return false;
             }
-            ok = interface->setRefCurrents(referencesVector.data());
+            // Set the references
+            ok = interface->setRefCurrents(bufferReferences);
             break;
         }
     }
diff --git a/toolbox/src/YarpWrite.cpp b/toolbox/src/YarpWrite.cpp
index 5c59fd035..bb445a405 100644
--- a/toolbox/src/YarpWrite.cpp
+++ b/toolbox/src/YarpWrite.cpp
@@ -143,7 +143,7 @@ bool YarpWrite::output(const BlockInformation* blockInfo)
     Signal signal = blockInfo->getInputPortSignal(0);
 
     for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-        outputVector[i] = signal.get(i).doubleData();
+        outputVector[i] = signal.get<double>(i);
     }
 
     m_port->write();

From b922c549f47b9f7d5cf88dbbdb5f4a090a0c61f9 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 15:32:00 +0000
Subject: [PATCH 73/89] New SetReferences mask param to set the reference speed
  (Position mode)

The YARP iPositionControl interface needs to find the reference speed initialized in order to produce the wanted trajectory. Before this commit, this value was hardcoded,
---
 toolbox/include/SetReferences.h |  1 +
 toolbox/src/SetReferences.cpp   | 13 ++++++++++---
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/toolbox/include/SetReferences.h b/toolbox/include/SetReferences.h
index 9ec5a385d..16e2eba7a 100644
--- a/toolbox/include/SetReferences.h
+++ b/toolbox/include/SetReferences.h
@@ -13,6 +13,7 @@ class wbt::SetReferences : public wbt::WBBlock
 private:
     std::vector<int> m_controlModes;
     bool m_resetControlMode;
+    double m_refSpeed;
     static const std::vector<double> rad2deg(const double* buffer, const unsigned width);
 
 public:
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 5aca71d0a..e8681fc33 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -15,6 +15,7 @@ const std::string SetReferences::ClassName = "SetReferences";
 
 SetReferences::SetReferences()
 : m_resetControlMode(true)
+, m_refSpeed(0)
 {}
 
 const std::vector<double> SetReferences::rad2deg(const double* buffer, const unsigned width)
@@ -32,7 +33,7 @@ const std::vector<double> SetReferences::rad2deg(const double* buffer, const uns
 
 unsigned SetReferences::numberOfParameters()
 {
-    return WBBlock::numberOfParameters() + 1;
+    return WBBlock::numberOfParameters() + 2;
 }
 
 bool SetReferences::configureSizeAndPorts(BlockInformation* blockInfo)
@@ -90,6 +91,13 @@ bool SetReferences::initialize(const BlockInformation* blockInfo)
         return false;
     }
 
+    // Reading the refSpeed
+    if (!blockInfo->getScalarParameterAtIndex(WBBlock::numberOfParameters() + 2,
+                                              m_refSpeed)) {
+        Log::getSingleton().error("Could not read reference speed parameter.");
+        return false;
+    }
+
     // Initialize the std::vectors
     const unsigned dofs = getConfiguration().getNumberOfDoFs();
     m_controlModes.assign(dofs, VOCAB_CM_UNKNOWN);
@@ -129,8 +137,7 @@ bool SetReferences::initialize(const BlockInformation* blockInfo)
             Log::getSingleton().error("Failed to get IPositionControl interface.");
             return false;
         }
-        // TODO: Set this parameter from the mask
-        std::vector<double> speedInitalization(dofs, 50.0);
+        std::vector<double> speedInitalization(dofs, m_refSpeed);
         // Set the references
         if (!interface->setRefSpeeds(speedInitalization.data())) {
             Log::getSingleton().error("Failed to initialize speed references.");

From 42ecb923bff4d588398fff1c13f7276f08350506 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 12:21:35 +0000
Subject: [PATCH 74/89] Cleaned CMakeLists.txt and folder structure, updated
 library

- The library is now exported only in R2014B_SLX format
- Removed yarpWholeBodyInterface
- Use default FindMatlab.cmake (cmake > 3.3) and Eigen3Config.cmake
---
 CMakeLists.txt                                |   10 +-
 cmake/FindEigen3.cmake                        |   90 -
 cmake/FindMatlab.cmake                        | 1467 ------
 toolbox/CMakeLists.txt                        |   88 +-
 toolbox/WBToolboxLibrary.mdl                  | 4383 -----------------
 toolbox/WBToolboxLibrary.slx                  |  Bin 38548 -> 0 bytes
 .../+WBToolbox/BlockInitialization.m          |    6 +-
 .../+WBToolbox/Configuration.m}               |    6 +-
 .../+WBToolbox/ConfigurationToMask.m}         |   12 +-
 .../+WBToolbox/MaskToConfiguration.m}         |    8 +-
 toolbox/{ => matlab}/+WBToolbox/PID.m         |   11 +-
 .../+WBToolbox/PIDConfiguration.m}            |   31 +-
 toolbox/{ => matlab}/export_library.m         |   28 +-
 .../library}/WBToolboxLibrary_repository.mdl  | 2621 +++++-----
 .../library/exported/WBToolboxLibrary.slx     |  Bin 0 -> 534705 bytes
 .../setupForMatlabDebug.m.in}                 |    0
 toolbox/matlab/slblocks.m                     |    8 +
 .../startup_wbitoolbox.m.in}                  |    0
 toolbox/slblocks.m                            |   54 -
 19 files changed, 1287 insertions(+), 7536 deletions(-)
 delete mode 100644 cmake/FindEigen3.cmake
 delete mode 100644 cmake/FindMatlab.cmake
 delete mode 100644 toolbox/WBToolboxLibrary.mdl
 delete mode 100644 toolbox/WBToolboxLibrary.slx
 rename toolbox/{ => matlab}/+WBToolbox/BlockInitialization.m (91%)
 rename toolbox/{+WBToolbox/WBToolboxConfig.m => matlab/+WBToolbox/Configuration.m} (97%)
 rename toolbox/{+WBToolbox/WBToolboxConfig2Mask.m => matlab/+WBToolbox/ConfigurationToMask.m} (85%)
 rename toolbox/{+WBToolbox/Mask2WBToolboxConfig.m => matlab/+WBToolbox/MaskToConfiguration.m} (85%)
 rename toolbox/{ => matlab}/+WBToolbox/PID.m (94%)
 rename toolbox/{+WBToolbox/WBTPIDConfig.m => matlab/+WBToolbox/PIDConfiguration.m} (85%)
 rename toolbox/{ => matlab}/export_library.m (56%)
 rename toolbox/{ => matlab/library}/WBToolboxLibrary_repository.mdl (74%)
 create mode 100644 toolbox/matlab/library/exported/WBToolboxLibrary.slx
 rename toolbox/{.setupForMatlabDebug.m.in => matlab/setupForMatlabDebug.m.in} (100%)
 create mode 100644 toolbox/matlab/slblocks.m
 rename toolbox/{.startup_wbitoolbox.m.in => matlab/startup_wbitoolbox.m.in} (100%)
 delete mode 100644 toolbox/slblocks.m

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 034310442..7b99e7077 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,11 +1,13 @@
-# Copyright (C) 2013-2015 Instituto Italiano di Tecnologia
-# Author: Jorhabib Eljaik, Francesco Romano
+# Copyright (C) 2013-2017 iCub Facility - Istituto Italiano di Tecnologia
+# Author: Jorhabib Eljaik, Francesco Romano, Diego Ferigo
 # CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
-cmake_minimum_required(VERSION 2.8.11)
-
+cmake_minimum_required(VERSION 3.3)
 project(WB-Toolbox)
 
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
 find_package(YCM REQUIRED)
 include(YCMDefaultDirs)
 
diff --git a/cmake/FindEigen3.cmake b/cmake/FindEigen3.cmake
deleted file mode 100644
index 82846c3ad..000000000
--- a/cmake/FindEigen3.cmake
+++ /dev/null
@@ -1,90 +0,0 @@
-
-# - Try to find Eigen3 lib
-#
-# This module supports requiring a minimum version, e.g. you can do
-#   find_package(Eigen3 3.1.2)
-# to require version 3.1.2 or newer of Eigen3.
-#
-# Once done this will define
-#
-#  EIGEN3_FOUND - system has eigen lib with correct version
-#  EIGEN3_INCLUDE_DIR - the eigen include directory
-#  EIGEN3_VERSION - eigen version
-#
-# This module reads hints about search locations from 
-# the following enviroment variables:
-#
-# EIGEN3_ROOT
-# EIGEN3_ROOT_DIR
-
-# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
-# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
-# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
-
-if(NOT Eigen3_FIND_VERSION)
-  if(NOT Eigen3_FIND_VERSION_MAJOR)
-    set(Eigen3_FIND_VERSION_MAJOR 2)
-  endif(NOT Eigen3_FIND_VERSION_MAJOR)
-  if(NOT Eigen3_FIND_VERSION_MINOR)
-    set(Eigen3_FIND_VERSION_MINOR 91)
-  endif(NOT Eigen3_FIND_VERSION_MINOR)
-  if(NOT Eigen3_FIND_VERSION_PATCH)
-    set(Eigen3_FIND_VERSION_PATCH 0)
-  endif(NOT Eigen3_FIND_VERSION_PATCH)
-
-  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
-endif(NOT Eigen3_FIND_VERSION)
-
-macro(_eigen3_check_version)
-  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-
-  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
-  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
-
-  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
-  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(EIGEN3_VERSION_OK FALSE)
-  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(EIGEN3_VERSION_OK TRUE)
-  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-
-  if(NOT EIGEN3_VERSION_OK)
-
-    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
-                   "but at least version ${Eigen3_FIND_VERSION} is required")
-  endif(NOT EIGEN3_VERSION_OK)
-endmacro(_eigen3_check_version)
-
-if (EIGEN3_INCLUDE_DIR)
-
-  # in cache already
-  _eigen3_check_version()
-  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
-
-else (EIGEN3_INCLUDE_DIR)
-
-  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
-      HINTS
-      ENV EIGEN3_ROOT 
-      ENV EIGEN3_ROOT_DIR
-      PATHS
-      ${CMAKE_INSTALL_PREFIX}/include
-      ${KDE4_INCLUDE_DIR}
-      PATH_SUFFIXES eigen3 eigen
-    )
-
-  if(EIGEN3_INCLUDE_DIR)
-    _eigen3_check_version()
-  endif(EIGEN3_INCLUDE_DIR)
-
-  include(FindPackageHandleStandardArgs)
-  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
-
-  mark_as_advanced(EIGEN3_INCLUDE_DIR)
-
-endif(EIGEN3_INCLUDE_DIR)
diff --git a/cmake/FindMatlab.cmake b/cmake/FindMatlab.cmake
deleted file mode 100644
index 373aa38a3..000000000
--- a/cmake/FindMatlab.cmake
+++ /dev/null
@@ -1,1467 +0,0 @@
-#.rst:
-# FindMatlab
-# ----------
-#
-# Finds Matlab installations and provides Matlab tools and libraries to cmake.
-#
-# This package first intention is to find the libraries associated with Matlab
-# in order to be able to build Matlab extensions (mex files). It can also be
-# used:
-#
-# * run specific commands in Matlab
-# * declare Matlab unit test
-# * retrieve various information from Matlab (mex extensions, versions and
-#   release queries, ...)
-#
-# The module supports the following components:
-#
-# * ``MX_LIBRARY`` and ``ENG_LIBRARY`` respectively the MX and ENG libraries of
-#   Matlab
-# * ``MAIN_PROGRAM`` the Matlab binary program.
-#
-# .. note::
-#
-#   The version given to the :command:`find_package` directive is the Matlab
-#   **version**, which should not be confused with the Matlab *release* name
-#   (eg. `R2014`).
-#   The :command:`matlab_get_version_from_release_name` and
-#   :command:`matlab_get_release_name_from_version` allow a mapping
-#   from the release name to the version.
-#
-# The variable :variable:`Matlab_ROOT_DIR` may be specified in order to give
-# the path of the desired Matlab version. Otherwise, the behaviour is platform
-# specific:
-#
-# * Windows: The installed versions of Matlab are retrieved from the
-#   Windows registry
-# * OS X: The installed versions of Matlab are given by the MATLAB
-#   paths in ``/Application``. If no such application is found, it falls back
-#   to the one that might be accessible from the PATH.
-# * Unix: The desired Matlab should be accessible from the PATH.
-#
-# Additional information is provided when :variable:`MATLAB_FIND_DEBUG` is set.
-# When a Matlab binary is found automatically and the ``MATLAB_VERSION``
-# is not given, the version is queried from Matlab directly.
-# On Windows, it can make a window running Matlab appear.
-#
-# The mapping of the release names and the version of Matlab is performed by
-# defining pairs (name, version).  The variable
-# :variable:`MATLAB_ADDITIONAL_VERSIONS` may be provided before the call to
-# the :command:`find_package` in order to handle additional versions.
-#
-# A Matlab scripts can be added to the set of tests using the
-# :command:`matlab_add_unit_test`. By default, the Matlab unit test framework
-# will be used (>= 2013a) to run this script, but regular ``.m`` files
-# returning an exit code can be used as well (0 indicating a success).
-#
-# Module Input Variables
-# ^^^^^^^^^^^^^^^^^^^^^^
-#
-# Users or projects may set the following variables to configure the module
-# behaviour:
-#
-# :variable:`Matlab_ROOT_DIR`
-#   the root of the Matlab installation.
-# :variable:`MATLAB_FIND_DEBUG`
-#   outputs debug information
-# :variable:`MATLAB_ADDITIONAL_VERSIONS`
-#   additional versions of Matlab for the automatic retrieval of the installed
-#   versions.
-#
-# Variables defined by the module
-# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-#
-# Result variables
-# """"""""""""""""
-#
-# ``Matlab_FOUND``
-#   ``TRUE`` if the Matlab installation is found, ``FALSE``
-#   otherwise. All variable below are defined if Matlab is found.
-# ``Matlab_ROOT_DIR``
-#   the final root of the Matlab installation determined by the FindMatlab
-#   module.
-# ``Matlab_MAIN_PROGRAM``
-#   the Matlab binary program. Available only if the component ``MAIN_PROGRAM``
-#   is given in the :command:`find_package` directive.
-# ``Matlab_INCLUDE_DIRS``
-#  the path of the Matlab libraries headers
-# ``Matlab_MEX_LIBRARY``
-#   library for mex, always available.
-# ``Matlab_MX_LIBRARY``
-#   mx library of Matlab (arrays). Available only if the component
-#   ``MX_LIBRARY`` has been requested.
-# ``Matlab_ENG_LIBRARY``
-#   Matlab engine library. Available only if the component ``ENG_LIBRARY``
-#   is requested.
-# ``Matlab_LIBRARIES``
-#   the whole set of libraries of Matlab
-# ``Matlab_MEX_COMPILER``
-#   the mex compiler of Matlab. Currently not used.
-#   Available only if the component ``MEX_COMPILER`` is asked
-#
-# Cached variables
-# """"""""""""""""
-#
-# ``Matlab_MEX_EXTENSION``
-#   the extension of the mex files for the current platform (given by Matlab).
-# ``Matlab_ROOT_DIR``
-#   the location of the root of the Matlab installation found. If this value
-#   is changed by the user, the result variables are recomputed.
-#
-# Provided macros
-# ^^^^^^^^^^^^^^^
-#
-# :command:`matlab_get_version_from_release_name`
-#   returns the version from the release name
-# :command:`matlab_get_release_name_from_version`
-#   returns the release name from the Matlab version
-#
-# Provided functions
-# ^^^^^^^^^^^^^^^^^^
-#
-# :command:`matlab_add_mex`
-#   adds a target compiling a MEX file.
-# :command:`matlab_add_unit_test`
-#   adds a Matlab unit test file as a test to the project.
-# :command:`matlab_extract_all_installed_versions_from_registry`
-#   parses the registry for all Matlab versions. Available on Windows only.
-#   The part of the registry parsed is dependent on the host processor
-# :command:`matlab_get_all_valid_matlab_roots_from_registry`
-#   returns all the possible Matlab paths, according to a previously
-#   given list. Only the existing/accessible paths are kept. This is mainly
-#   useful for the searching all possible Matlab installation.
-# :command:`matlab_get_mex_suffix`
-#   returns the suffix to be used for the mex files
-#   (platform/architecture dependant)
-# :command:`matlab_get_version_from_matlab_run`
-#   returns the version of Matlab, given the full directory of the Matlab
-#   program.
-#
-#
-# Known issues
-# ^^^^^^^^^^^^
-#
-# **Symbol clash in a MEX target**
-#   By default, every symbols inside a MEX
-#   file defined with the command :command:`matlab_add_mex` have hidden
-#   visibility, except for the entry point. This is the default behaviour of
-#   the MEX compiler, which lowers the risk of symbol collision between the
-#   libraries shipped with Matlab, and the libraries to which the MEX file is
-#   linking to. This is also the default on Windows platforms.
-#
-#   However, this is not sufficient in certain case, where for instance your
-#   MEX file is linking against libraries that are already loaded by Matlab,
-#   even if those libraries have different SONAMES.
-#   A possible solution is to hide the symbols of the libraries to which the
-#   MEX target is linking to. This can be achieved in GNU GCC compilers with
-#   the linker option ``-Wl,--exclude-libs,ALL``.
-#
-# **Tests using GPU resources**
-#   in case your MEX file is using the GPU and
-#   in order to be able to run unit tests on this MEX file, the GPU resources
-#   should be properly released by Matlab. A possible solution is to make
-#   Matlab aware of the use of the GPU resources in the session, which can be
-#   performed by a command such as ``D = gpuDevice()`` at the beginning of
-#   the test script (or via a fixture).
-#
-#
-# Reference
-# ^^^^^^^^^
-#
-# .. variable:: Matlab_ROOT_DIR
-#
-#    The root folder of the Matlab installation. If set before the call to
-#    :command:`find_package`, the module will look for the components in that
-#    path. If not set, then an automatic search of Matlab
-#    will be performed. If set, it should point to a valid version of Matlab.
-#
-# .. variable:: MATLAB_FIND_DEBUG
-#
-#    If set, the lookup of Matlab and the intermediate configuration steps are
-#    outputted to the console.
-#
-# .. variable:: MATLAB_ADDITIONAL_VERSIONS
-#
-#   If set, specifies additional versions of Matlab that may be looked for.
-#   The variable should be a list of strings, organised by pairs of release
-#   name and versions, such as follows::
-#
-#     set(MATLAB_ADDITIONAL_VERSIONS
-#         "release_name1=corresponding_version1"
-#         "release_name2=corresponding_version2"
-#         ...
-#         )
-#
-#   Example::
-#
-#     set(MATLAB_ADDITIONAL_VERSIONS
-#         "R2013b=8.2"
-#         "R2013a=8.1"
-#         "R2012b=8.0")
-#
-#   The order of entries in this list matters when several versions of
-#   Matlab are installed. The priority is set according to the ordering in
-#   this list.
-
-#=============================================================================
-# Copyright 2014-2015 Raffi Enficiaud, Max Planck Society
-#
-# Distributed under the OSI-approved BSD License (the "License");
-# see accompanying file Copyright.txt for details.
-#
-# This software is distributed WITHOUT ANY WARRANTY; without even the
-# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-# See the License for more information.
-#=============================================================================
-# (To distribute this file outside of CMake, substitute the full
-#  License text for the above reference.)
-
-set(_FindMatlab_SELF_DIR "${CMAKE_CURRENT_LIST_DIR}")
-
-include(FindPackageHandleStandardArgs)
-include(CheckCXXCompilerFlag)
-
-
-# The currently supported versions. Other version can be added by the user by
-# providing MATLAB_ADDITIONAL_VERSIONS
-if(NOT MATLAB_ADDITIONAL_VERSIONS)
-  set(MATLAB_ADDITIONAL_VERSIONS)
-endif()
-
-set(MATLAB_VERSIONS_MAPPING
-  "R2016b=9.1"
-  "R2016a=9.0"
-  "R2015b=8.6"
-  "R2015a=8.5"
-  "R2014b=8.4"
-  "R2014a=8.3"
-  "R2013b=8.2"
-  "R2013a=8.1"
-  "R2012b=8.0"
-  "R2012a=7.14"
-
-  "R2011b=7.13"
-  "R2011a=7.12"
-  "R2010b=7.11"
-
-  ${MATLAB_ADDITIONAL_VERSIONS}
-  )
-
-
-# temporary folder for all Matlab runs
-set(_matlab_temporary_folder ${CMAKE_BINARY_DIR}/Matlab)
-
-if(NOT EXISTS "${_matlab_temporary_folder}")
-  file(MAKE_DIRECTORY "${_matlab_temporary_folder}")
-endif()
-
-#.rst:
-# .. command:: matlab_get_version_from_release_name
-#
-#   Returns the version of Matlab (17.58) from a release name (R2017k)
-macro (matlab_get_version_from_release_name release_name version_name)
-
-  string(REGEX MATCHALL "${release_name}=([0-9]+\\.?[0-9]*)" _matched ${MATLAB_VERSIONS_MAPPING})
-
-  set(${version_name} "")
-  if(NOT _matched STREQUAL "")
-    set(${version_name} ${CMAKE_MATCH_1})
-  else()
-    message(WARNING "The release name ${release_name} is not registered")
-  endif()
-  unset(_matched)
-
-endmacro()
-
-
-
-
-
-#.rst:
-# .. command:: matlab_get_release_name_from_version
-#
-#   Returns the release name (R2017k) from the version of Matlab (17.58)
-macro (matlab_get_release_name_from_version version release_name)
-
-  set(${release_name} "")
-  foreach(_var IN LISTS MATLAB_VERSIONS_MAPPING)
-    string(REGEX MATCHALL "(.+)=${version}" _matched ${_var})
-    if(NOT _matched STREQUAL "")
-      set(${release_name} ${CMAKE_MATCH_1})
-      break()
-    endif()
-  endforeach(_var)
-
-  unset(_var)
-  unset(_matched)
-  if(${release_name} STREQUAL "")
-    message(WARNING "The version ${version} is not registered")
-  endif()
-
-endmacro()
-
-
-
-
-
-# extracts all the supported release names (R2017k...) of Matlab
-# internal use
-macro(matlab_get_supported_releases list_releases)
-  set(${list_releases})
-  foreach(_var IN LISTS MATLAB_VERSIONS_MAPPING)
-    string(REGEX MATCHALL "(.+)=([0-9]+\\.?[0-9]*)" _matched ${_var})
-    if(NOT _matched STREQUAL "")
-      list(APPEND ${list_releases} ${CMAKE_MATCH_1})
-    endif()
-    unset(_matched)
-    unset(CMAKE_MATCH_1)
-  endforeach(_var)
-  unset(_var)
-endmacro()
-
-
-
-# extracts all the supported versions of Matlab
-# internal use
-macro(matlab_get_supported_versions list_versions)
-  set(${list_versions})
-  foreach(_var IN LISTS MATLAB_VERSIONS_MAPPING)
-    string(REGEX MATCHALL "(.+)=([0-9]+\\.?[0-9]*)" _matched ${_var})
-    if(NOT _matched STREQUAL "")
-      list(APPEND ${list_versions} ${CMAKE_MATCH_2})
-    endif()
-    unset(_matched)
-    unset(CMAKE_MATCH_1)
-  endforeach(_var)
-  unset(_var)
-endmacro()
-
-
-#.rst:
-# .. command:: matlab_extract_all_installed_versions_from_registry
-#
-#   This function parses the registry and founds the Matlab versions that are
-#   installed. The found versions are returned in `matlab_versions`.
-#   Set `win64` to `TRUE` if the 64 bit version of Matlab should be looked for
-#   The returned list contains all versions under
-#   ``HKLM\\SOFTWARE\\Mathworks\\MATLAB`` or an empty list in case an error
-#   occurred (or nothing found).
-#
-#   .. note::
-#
-#     Only the versions are provided. No check is made over the existence of the
-#     installation referenced in the registry,
-#
-function(matlab_extract_all_installed_versions_from_registry win64 matlab_versions)
-
-  if(NOT CMAKE_HOST_WIN32)
-    message(FATAL_ERROR "This macro can only be called by a windows host (call to reg.exe")
-  endif()
-
-
-  if(${win64} AND ${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "64")
-    set(APPEND_REG "/reg:64")
-  else()
-    set(APPEND_REG "/reg:32")
-  endif()
-
-  # /reg:64 should be added on 64 bits capable OSs in order to enable the
-  # redirection of 64 bits applications
-  execute_process(
-    COMMAND reg query HKEY_LOCAL_MACHINE\\SOFTWARE\\Mathworks\\MATLAB /f * /k ${APPEND_REG}
-    RESULT_VARIABLE resultMatlab
-    OUTPUT_VARIABLE varMatlab
-    ERROR_VARIABLE errMatlab
-    INPUT_FILE NUL
-    )
-
-
-  set(matlabs_from_registry)
-  if(${resultMatlab} EQUAL 0)
-
-    string(
-      REGEX MATCHALL "MATLAB\\\\([0-9]+(\\.[0-9]+)?)"
-      matlab_versions_regex ${varMatlab})
-
-    foreach(match IN LISTS matlab_versions_regex)
-      string(
-        REGEX MATCH "MATLAB\\\\(([0-9]+)(\\.([0-9]+))?)"
-        current_match ${match})
-
-      set(_matlab_current_version ${CMAKE_MATCH_1})
-      set(current_matlab_version_major ${CMAKE_MATCH_2})
-      set(current_matlab_version_minor ${CMAKE_MATCH_4})
-      if(NOT current_matlab_version_minor)
-        set(current_matlab_version_minor "0")
-      endif()
-
-      list(APPEND matlabs_from_registry ${_matlab_current_version})
-      unset(_matlab_current_version)
-    endforeach(match)
-
-  endif()
-
-  if(matlabs_from_registry)
-    list(REMOVE_DUPLICATES matlabs_from_registry)
-    list(SORT matlabs_from_registry)
-    list(REVERSE matlabs_from_registry)
-  endif()
-
-  set(${matlab_versions} ${matlabs_from_registry} PARENT_SCOPE)
-
-endfunction()
-
-
-
-# (internal)
-macro(extract_matlab_versions_from_registry_brute_force matlab_versions)
-  # get the supported versions
-  set(matlab_supported_versions)
-  matlab_get_supported_versions(matlab_supported_versions)
-
-
-  # this is a manual population of the versions we want to look for
-  # this can be done as is, but preferably with the call to
-  # matlab_get_supported_versions and variable
-
-  # populating the versions we want to look for
-  # set(matlab_supported_versions)
-
-  # # Matlab 7
-  # set(matlab_major 7)
-  # foreach(current_matlab_minor RANGE 4 20)
-    # list(APPEND matlab_supported_versions "${matlab_major}.${current_matlab_minor}")
-  # endforeach(current_matlab_minor)
-
-  # # Matlab 8
-  # set(matlab_major 8)
-  # foreach(current_matlab_minor RANGE 0 5)
-    # list(APPEND matlab_supported_versions "${matlab_major}.${current_matlab_minor}")
-  # endforeach(current_matlab_minor)
-
-  # # taking into account the possible additional versions provided by the user
-  # if(DEFINED MATLAB_ADDITIONAL_VERSIONS)
-    # list(APPEND matlab_supported_versions MATLAB_ADDITIONAL_VERSIONS)
-  # endif()
-
-
-  # we order from more recent to older
-  if(matlab_supported_versions)
-    list(REMOVE_DUPLICATES matlab_supported_versions)
-    list(SORT matlab_supported_versions)
-    list(REVERSE matlab_supported_versions)
-  endif()
-
-
-  set(${matlab_versions} ${matlab_supported_versions})
-
-
-endmacro()
-
-
-
-
-#.rst:
-# .. command:: matlab_get_all_valid_matlab_roots_from_registry
-#
-#   Populates the Matlab root with valid versions of Matlab.
-#   The returned matlab_roots is organized in pairs
-#   ``(version_number,matlab_root_path)``.
-#
-#   ::
-#
-#     matlab_get_all_valid_matlab_roots_from_registry(
-#         matlab_versions
-#         matlab_roots)
-#
-#   ``matlab_versions``
-#     the versions of each of the Matlab installations
-#   ``matlab_roots``
-#     the location of each of the Matlab installations
-function(matlab_get_all_valid_matlab_roots_from_registry matlab_versions matlab_roots)
-
-  # The matlab_versions comes either from
-  # extract_matlab_versions_from_registry_brute_force or
-  # matlab_extract_all_installed_versions_from_registry.
-
-
-  set(_matlab_roots_list )
-  foreach(_matlab_current_version ${matlab_versions})
-    get_filename_component(
-      current_MATLAB_ROOT
-      "[HKEY_LOCAL_MACHINE\\SOFTWARE\\MathWorks\\MATLAB\\${_matlab_current_version};MATLABROOT]"
-      ABSOLUTE)
-
-    if(EXISTS ${current_MATLAB_ROOT})
-      list(APPEND _matlab_roots_list ${_matlab_current_version} ${current_MATLAB_ROOT})
-    endif()
-
-  endforeach(_matlab_current_version)
-  unset(_matlab_current_version)
-  set(${matlab_roots} ${_matlab_roots_list} PARENT_SCOPE)
-  unset(_matlab_roots_list)
-endfunction()
-
-#.rst:
-# .. command:: matlab_get_mex_suffix
-#
-#   Returns the extension of the mex files (the suffixes).
-#   This function should not be called before the appropriate Matlab root has
-#   been found.
-#
-#   ::
-#
-#     matlab_get_mex_suffix(
-#         matlab_root
-#         mex_suffix)
-#
-#   ``matlab_root``
-#     the root of the Matlab installation
-#   ``mex_suffix``
-#     the variable name in which the suffix will be returned.
-function(matlab_get_mex_suffix matlab_root mex_suffix)
-
-  # todo setup the extension properly. Currently I do not know if this is
-  # sufficient for all win32 distributions.
-  # there is also CMAKE_EXECUTABLE_SUFFIX that could be tweaked
-  set(mexext_suffix "")
-  if(WIN32)
-    list(APPEND mexext_suffix ".bat")
-  endif()
-
-  # we first try without suffix, since cmake does not understand a list with
-  # one empty string element
-  find_program(
-    Matlab_MEXEXTENSIONS_PROG
-    NAMES mexext
-    PATHS ${matlab_root}/bin
-    DOC "Matlab MEX extension provider"
-    NO_DEFAULT_PATH
-  )
-
-  foreach(current_mexext_suffix IN LISTS mexext_suffix)
-    if(NOT DEFINED Matlab_MEXEXTENSIONS_PROG OR NOT Matlab_MEXEXTENSIONS_PROG)
-      # this call should populate the cache automatically
-      find_program(
-        Matlab_MEXEXTENSIONS_PROG
-        "mexext${current_mexext_suffix}"
-        PATHS ${matlab_root}/bin
-        DOC "Matlab MEX extension provider"
-        NO_DEFAULT_PATH
-      )
-    endif()
-  endforeach(current_mexext_suffix)
-
-
-  # the program has been found?
-  if((NOT Matlab_MEXEXTENSIONS_PROG) OR (NOT EXISTS ${Matlab_MEXEXTENSIONS_PROG}))
-    if(MATLAB_FIND_DEBUG)
-      message(WARNING "[MATLAB] Cannot found mexext program. Matlab root is ${matlab_root}")
-    endif()
-    unset(Matlab_MEXEXTENSIONS_PROG CACHE)
-    return()
-  endif()
-
-  set(_matlab_mex_extension)
-
-  set(devnull)
-  if(UNIX)
-    set(devnull INPUT_FILE /dev/null)
-  elseif(WIN32)
-    set(devnull INPUT_FILE NUL)
-  endif()
-
-  execute_process(
-    COMMAND ${Matlab_MEXEXTENSIONS_PROG}
-    OUTPUT_VARIABLE _matlab_mex_extension
-    ERROR_VARIABLE _matlab_mex_extension_error
-    ${devnull})
-  string(STRIP ${_matlab_mex_extension} _matlab_mex_extension)
-
-  unset(Matlab_MEXEXTENSIONS_PROG CACHE)
-  set(${mex_suffix} ${_matlab_mex_extension} PARENT_SCOPE)
-endfunction()
-
-
-
-
-#.rst:
-# .. command:: matlab_get_version_from_matlab_run
-#
-#   This function runs Matlab program specified on arguments and extracts its
-#   version.
-#
-#   ::
-#
-#     matlab_get_version_from_matlab_run(
-#         matlab_binary_path
-#         matlab_list_versions)
-#
-#   ``matlab_binary_path``
-#     the location of the `matlab` binary executable
-#   ``matlab_list_versions``
-#     the version extracted from Matlab
-function(matlab_get_version_from_matlab_run matlab_binary_program matlab_list_versions)
-
-  set(${matlab_list_versions} "" PARENT_SCOPE)
-
-
-  if(MATLAB_FIND_DEBUG)
-    message(STATUS "[MATLAB] Determining the version of Matlab from ${matlab_binary_program}")
-  endif()
-
-  if(EXISTS "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp")
-    if(MATLAB_FIND_DEBUG)
-      message(STATUS "[MATLAB] Removing previous ${_matlab_temporary_folder}/matlabVersionLog.cmaketmp file")
-    endif()
-    file(REMOVE "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp")
-  endif()
-
-
-  # the log file is needed since on windows the command executes in a new
-  # window and it is not possible to get back the answer of Matlab
-  # the -wait command is needed on windows, otherwise the call returns
-  # immediately after the program launches itself.
-  if(WIN32)
-    set(_matlab_additional_commands "-wait")
-  endif()
-
-  set(devnull)
-  if(UNIX)
-    set(devnull INPUT_FILE /dev/null)
-  elseif(WIN32)
-    set(devnull INPUT_FILE NUL)
-  endif()
-
-  # timeout set to 30 seconds, in case it does not start
-  # note as said before OUTPUT_VARIABLE cannot be used in a platform
-  # independent manner however, not setting it would flush the output of Matlab
-  # in the current console (unix variant)
-  execute_process(
-    COMMAND "${matlab_binary_program}" -nosplash -nojvm ${_matlab_additional_commands} -logfile "matlabVersionLog.cmaketmp" -nodesktop -nodisplay -r "version, exit"
-    OUTPUT_VARIABLE _matlab_version_from_cmd_dummy
-    RESULT_VARIABLE _matlab_result_version_call
-    ERROR_VARIABLE _matlab_result_version_call_error
-    TIMEOUT 30
-    WORKING_DIRECTORY "${_matlab_temporary_folder}"
-    ${devnull}
-    )
-
-
-  if(${_matlab_result_version_call})
-    if(MATLAB_FIND_DEBUG)
-      message(WARNING "[MATLAB] Unable to determine the version of Matlab. Matlab call returned with error ${_matlab_result_version_call}.")
-    endif()
-    return()
-  elseif(NOT EXISTS "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp")
-    if(MATLAB_FIND_DEBUG)
-      message(WARNING "[MATLAB] Unable to determine the version of Matlab. The log file does not exist.")
-    endif()
-    return()
-  endif()
-
-  # if successful, read back the log
-  file(READ "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp" _matlab_version_from_cmd)
-  file(REMOVE "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp")
-
-  set(index -1)
-  string(FIND ${_matlab_version_from_cmd} "ans" index)
-  if(index EQUAL -1)
-
-    if(MATLAB_FIND_DEBUG)
-      message(WARNING "[MATLAB] Cannot find the version of Matlab returned by the run.")
-    endif()
-
-  else()
-    set(matlab_list_of_all_versions_tmp)
-
-    string(SUBSTRING ${_matlab_version_from_cmd} ${index} -1 substring_ans)
-    string(
-      REGEX MATCHALL "ans[\r\n\t ]*=[\r\n\t ]*([0-9]+(\\.[0-9]+)?)"
-      matlab_versions_regex
-      ${substring_ans})
-    foreach(match IN LISTS matlab_versions_regex)
-      string(
-        REGEX MATCH "ans[\r\n\t ]*=[\r\n\t ]*(([0-9]+)(\\.([0-9]+))?)"
-        current_match ${match})
-
-      list(APPEND matlab_list_of_all_versions_tmp ${CMAKE_MATCH_1})
-    endforeach()
-    if(matlab_list_of_all_versions_tmp)
-      list(REMOVE_DUPLICATES matlab_list_of_all_versions_tmp)
-    endif()
-    set(${matlab_list_versions} ${matlab_list_of_all_versions_tmp} PARENT_SCOPE)
-
-  endif()
-
-endfunction()
-
-
-#.rst:
-# .. command:: matlab_add_unit_test
-#
-#   Adds a Matlab unit test to the test set of cmake/ctest.
-#   This command requires the component ``MAIN_PROGRAM``.
-#   The unit test uses the Matlab unittest framework (default, available
-#   starting Matlab 2013b+) except if the option ``NO_UNITTEST_FRAMEWORK``
-#   is given.
-#
-#   The function expects one Matlab test script file to be given.
-#   In the case ``NO_UNITTEST_FRAMEWORK`` is given, the unittest script file
-#   should contain the script to be run, plus an exit command with the exit
-#   value. This exit value will be passed to the ctest framework (0 success,
-#   non 0 failure). Additional arguments accepted by :command:`add_test` can be
-#   passed through ``TEST_ARGS`` (eg. ``CONFIGURATION <config> ...``).
-#
-#   ::
-#
-#     matlab_add_unit_test(
-#         NAME <name>
-#         UNITTEST_FILE matlab_file_containing_unittest.m
-#         [UNITTEST_PRECOMMAND matlab_command_to_run]
-#         [TIMEOUT timeout]
-#         [ADDITIONAL_PATH path1 [path2 ...]]
-#         [MATLAB_ADDITIONAL_STARTUP_OPTIONS option1 [option2 ...]]
-#         [TEST_ARGS arg1 [arg2 ...]]
-#         [NO_UNITTEST_FRAMEWORK]
-#         )
-#
-#   The function arguments are:
-#
-#   ``NAME``
-#     name of the unittest in ctest.
-#   ``UNITTEST_FILE``
-#     the matlab unittest file. Its path will be automatically
-#     added to the Matlab path.
-#   ``UNITTEST_PRECOMMAND``
-#     Matlab script command to be ran before the file
-#     containing the test (eg. GPU device initialisation based on CMake
-#     variables).
-#   ``TIMEOUT``
-#     the test timeout in seconds. Defaults to 180 seconds as the
-#     Matlab unit test may hang.
-#   ``ADDITIONAL_PATH``
-#     a list of paths to add to the Matlab path prior to
-#     running the unit test.
-#   ``MATLAB_ADDITIONAL_STARTUP_OPTIONS``
-#     a list of additional option in order
-#     to run Matlab from the command line.
-#   ``TEST_ARGS``
-#     Additional options provided to the add_test command. These
-#     options are added to the default options (eg. "CONFIGURATIONS Release")
-#   ``NO_UNITTEST_FRAMEWORK``
-#     when set, indicates that the test should not
-#     use the unittest framework of Matlab (available for versions >= R2013a).
-#
-function(matlab_add_unit_test)
-
-  if(NOT Matlab_MAIN_PROGRAM)
-    message(FATAL_ERROR "[MATLAB] This functionality needs the MAIN_PROGRAM component (not default)")
-  endif()
-
-  set(options NO_UNITTEST_FRAMEWORK)
-  set(oneValueArgs NAME UNITTEST_PRECOMMAND UNITTEST_FILE TIMEOUT)
-  set(multiValueArgs ADDITIONAL_PATH MATLAB_ADDITIONAL_STARTUP_OPTIONS TEST_ARGS)
-
-  set(prefix _matlab_unittest_prefix)
-  cmake_parse_arguments(${prefix} "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )
-
-  if(NOT ${prefix}_NAME)
-    message(FATAL_ERROR "[MATLAB] The Matlab test name cannot be empty")
-  endif()
-
-  add_test(NAME ${${prefix}_NAME}
-           COMMAND ${CMAKE_COMMAND}
-            -Dtest_name=${${prefix}_NAME}
-            -Dadditional_paths=${${prefix}_ADDITIONAL_PATH}
-            -Dtest_timeout=${${prefix}_TIMEOUT}
-            -Doutput_directory=${_matlab_temporary_folder}
-            -DMatlab_PROGRAM=${Matlab_MAIN_PROGRAM}
-            -Dno_unittest_framework=${${prefix}_NO_UNITTEST_FRAMEWORK}
-            -DMatlab_ADDITIONNAL_STARTUP_OPTIONS=${${prefix}_MATLAB_ADDITIONAL_STARTUP_OPTIONS}
-            -Dunittest_file_to_run=${${prefix}_UNITTEST_FILE}
-            -Dcmd_to_run_before_test=${${prefix}_UNITTEST_PRECOMMAND}
-            -P ${_FindMatlab_SELF_DIR}/MatlabTestsRedirect.cmake
-           ${${prefix}_TEST_ARGS}
-           ${${prefix}_UNPARSED_ARGUMENTS}
-           )
-endfunction()
-
-
-#.rst:
-# .. command:: matlab_add_mex
-#
-#   Adds a Matlab MEX target.
-#   This commands compiles the given sources with the current tool-chain in
-#   order to produce a MEX file. The final name of the produced output may be
-#   specified, as well as additional link libraries, and a documentation entry
-#   for the MEX file. Remaining arguments of the call are passed to the
-#   :command:`add_library` command.
-#
-#   ::
-#
-#      matlab_add_mex(
-#          NAME <name>
-#          SRC src1 [src2 ...]
-#          [OUTPUT_NAME output_name]
-#          [DOCUMENTATION file.txt]
-#          [LINK_TO target1 target2 ...]
-#          [...]
-#      )
-#
-#   ``NAME``
-#     name of the target.
-#   ``SRC``
-#     list of tje source files.
-#   ``LINK_TO``
-#     a list of additional link dependencies.  The target links to ``libmex``
-#     by default. If ``Matlab_MX_LIBRARY`` is defined, it also
-#     links to ``libmx``.
-#   ``OUTPUT_NAME``
-#     if given, overrides the default name. The default name is
-#     the name of the target without any prefix and
-#     with ``Matlab_MEX_EXTENSION`` suffix.
-#   ``DOCUMENTATION``
-#     if given, the file ``file.txt`` will be considered as
-#     being the documentation file for the MEX file. This file is copied into
-#     the same folder without any processing, with the same name as the final
-#     mex file, and with extension `.m`. In that case, typing ``help <name>``
-#     in Matlab prints the documentation contained in this file.
-#
-#   The documentation file is not processed and should be in the following
-#   format:
-#
-#   ::
-#
-#     % This is the documentation
-#     function ret = mex_target_output_name(input1)
-#
-function(matlab_add_mex )
-
-  if(NOT WIN32)
-    # we do not need all this on Windows
-    # pthread options
-    check_cxx_compiler_flag(-pthread                    HAS_MINUS_PTHREAD)
-    # we should use try_compile instead, the link flags are discarded from
-    # this compiler_flag function.
-    #check_cxx_compiler_flag(-Wl,--exclude-libs,ALL HAS_SYMBOL_HIDING_CAPABILITY)
-
-  endif()
-
-  set(oneValueArgs NAME DOCUMENTATION OUTPUT_NAME)
-  set(multiValueArgs LINK_TO SRC)
-
-  set(prefix _matlab_addmex_prefix)
-  cmake_parse_arguments(${prefix} "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )
-
-  if(NOT ${prefix}_NAME)
-    message(FATAL_ERROR "[MATLAB] The MEX target name cannot be empty")
-  endif()
-
-  if(NOT ${prefix}_OUTPUT_NAME)
-    set(${prefix}_OUTPUT_NAME ${${prefix}_NAME})
-  endif()
-
-  add_library(${${prefix}_NAME}
-    SHARED
-      ${${prefix}_SRC}
-      ${${prefix}_DOCUMENTATION}
-      ${${prefix}_UNPARSED_ARGUMENTS})
-  target_include_directories(${${prefix}_NAME} PRIVATE ${Matlab_INCLUDE_DIRS})
-
-  if(DEFINED Matlab_MX_LIBRARY)
-    target_link_libraries(${${prefix}_NAME} ${Matlab_MX_LIBRARY})
-  endif()
-
-  target_link_libraries(${${prefix}_NAME} ${Matlab_MEX_LIBRARY} ${${prefix}_LINK_TO})
-  set_target_properties(${${prefix}_NAME}
-      PROPERTIES
-        PREFIX ""
-        OUTPUT_NAME ${${prefix}_OUTPUT_NAME}
-        SUFFIX ".${Matlab_MEX_EXTENSION}")
-
-
-  # documentation
-  if(NOT ${${prefix}_DOCUMENTATION} STREQUAL "")
-    get_target_property(output_name ${${prefix}_NAME} OUTPUT_NAME)
-    add_custom_command(
-      TARGET ${${prefix}_NAME}
-      PRE_BUILD
-      COMMAND ${CMAKE_COMMAND} -E copy_if_different ${${prefix}_DOCUMENTATION} $<TARGET_FILE_DIR:${${prefix}_NAME}>/${output_name}.m
-      COMMENT "Copy ${${prefix}_NAME} documentation file into the output folder"
-    )
-  endif() # documentation
-
-  # entry point in the mex file + taking care of visibility and symbol clashes.
-  if(WIN32)
-    set_target_properties(${${prefix}_NAME}
-      PROPERTIES
-        DEFINE_SYMBOL "DLL_EXPORT_SYM=__declspec(dllexport)")
-  else()
-
-    if(HAS_MINUS_PTHREAD AND NOT APPLE)
-      # Apparently, compiling with -pthread generated the proper link flags
-      # and some defines at compilation
-      target_compile_options(${${prefix}_NAME} PRIVATE "-pthread")
-    endif()
-
-
-    # if we do not do that, the symbols linked from eg. boost remain weak and
-    # then clash with the ones defined in the matlab process. So by default
-    # the symbols are hidden.
-    # This also means that for shared libraries (like MEX), the entry point
-    # should be explicitly declared with default visibility, otherwise Matlab
-    # cannot find the entry point.
-    # Note that this is particularly meaningful if the MEX wrapper itself
-    # contains symbols that are clashing with Matlab (that are compiled in the
-    # MEX file). In order to propagate the visibility options to the libraries
-    # to which the MEX file is linked against, the -Wl,--exclude-libs,ALL
-    # option should also be specified.
-
-    set_target_properties(${${prefix}_NAME}
-      PROPERTIES
-        CXX_VISIBILITY_PRESET "hidden"
-        C_VISIBILITY_PRESET "hidden"
-        VISIBILITY_INLINES_HIDDEN ON
-    )
-
-    #  get_target_property(
-    #    _previous_link_flags
-    #    ${${prefix}_NAME}
-    #    LINK_FLAGS)
-    #  if(NOT _previous_link_flags)
-    #    set(_previous_link_flags)
-    #  endif()
-
-    #  if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
-    #    set_target_properties(${${prefix}_NAME}
-    #      PROPERTIES
-    #        LINK_FLAGS "${_previous_link_flags} -Wl,--exclude-libs,ALL"
-    #        # -Wl,--version-script=${_FindMatlab_SELF_DIR}/MatlabLinuxVisibility.map"
-    #    )
-    #  elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-    #    # in this case, all other symbols become hidden.
-    #    set_target_properties(${${prefix}_NAME}
-    #      PROPERTIES
-    #        LINK_FLAGS "${_previous_link_flags} -Wl,-exported_symbol,_mexFunction"
-    #        #-Wl,-exported_symbols_list,${_FindMatlab_SELF_DIR}/MatlabOSXVisilibity.map"
-    #    )
-    #  endif()
-
-
-
-    set_target_properties(${${prefix}_NAME}
-      PROPERTIES
-        DEFINE_SYMBOL "DLL_EXPORT_SYM=__attribute__ ((visibility (\"default\")))"
-    )
-
-
-  endif()
-
-endfunction()
-
-
-# (internal)
-# Used to get the version of matlab, using caching. This basically transforms the
-# output of the root list, with possible unknown version, to a version
-#
-function(_Matlab_get_version_from_root matlab_root matlab_known_version matlab_final_version)
-
-  # if the version is not trivial, we query matlab for that
-  # we keep track of the location of matlab that induced this version
-  #if(NOT DEFINED Matlab_PROG_VERSION_STRING_AUTO_DETECT)
-  #  set(Matlab_PROG_VERSION_STRING_AUTO_DETECT "" CACHE INTERNAL "internal matlab location for the discovered version")
-  #endif()
-
-  if(NOT ${matlab_known_version} STREQUAL "NOTFOUND")
-    # the version is known, we just return it
-    set(${matlab_final_version} ${matlab_known_version} PARENT_SCOPE)
-    set(Matlab_VERSION_STRING_INTERNAL ${matlab_known_version} CACHE INTERNAL "Matlab version (automatically determined)" FORCE)
-    return()
-  endif()
-
-  #
-  set(_matlab_current_program ${Matlab_MAIN_PROGRAM})
-
-  # do we already have a matlab program?
-  if(NOT _matlab_current_program)
-
-    set(_find_matlab_options)
-    if(matlab_root AND EXISTS ${matlab_root})
-      set(_find_matlab_options PATHS ${matlab_root} ${matlab_root}/bin NO_DEFAULT_PATH)
-    endif()
-
-    find_program(
-        _matlab_current_program
-        matlab
-        ${_find_matlab_options}
-        DOC "Matlab main program"
-      )
-  endif()
-
-  if(NOT _matlab_current_program OR NOT EXISTS ${_matlab_current_program})
-    # if not found, clear the dependent variables
-    if(MATLAB_FIND_DEBUG)
-      message(WARNING "[MATLAB] Cannot find the main matlab program under ${matlab_root}")
-    endif()
-    set(Matlab_PROG_VERSION_STRING_AUTO_DETECT "" CACHE INTERNAL "internal matlab location for the discovered version" FORCE)
-    set(Matlab_VERSION_STRING_INTERNAL "" CACHE INTERNAL "internal matlab location for the discovered version" FORCE)
-    unset(_matlab_current_program)
-    unset(_matlab_current_program CACHE)
-    return()
-  endif()
-
-  # full real path for path comparison
-  get_filename_component(_matlab_main_real_path_tmp "${_matlab_current_program}" REALPATH)
-  unset(_matlab_current_program)
-  unset(_matlab_current_program CACHE)
-
-  # is it the same as the previous one?
-  if(_matlab_main_real_path_tmp STREQUAL Matlab_PROG_VERSION_STRING_AUTO_DETECT)
-    set(${matlab_final_version} ${Matlab_VERSION_STRING_INTERNAL} PARENT_SCOPE)
-    return()
-  endif()
-
-  # update the location of the program
-  set(Matlab_PROG_VERSION_STRING_AUTO_DETECT ${_matlab_main_real_path_tmp} CACHE INTERNAL "internal matlab location for the discovered version" FORCE)
-
-  set(matlab_list_of_all_versions)
-  matlab_get_version_from_matlab_run("${Matlab_PROG_VERSION_STRING_AUTO_DETECT}" matlab_list_of_all_versions)
-
-  list(GET matlab_list_of_all_versions 0 _matlab_version_tmp)
-
-  # set the version into the cache
-  set(Matlab_VERSION_STRING_INTERNAL ${_matlab_version_tmp} CACHE INTERNAL "Matlab version (automatically determined)" FORCE)
-
-  # warning, just in case several versions found (should not happen)
-  list(LENGTH matlab_list_of_all_versions list_of_all_versions_length)
-  if((${list_of_all_versions_length} GREATER 1) AND MATLAB_FIND_DEBUG)
-    message(WARNING "[MATLAB] Found several versions, taking the first one (versions found ${matlab_list_of_all_versions})")
-  endif()
-
-  # return the updated value
-  set(${matlab_final_version} ${Matlab_VERSION_STRING_INTERNAL} PARENT_SCOPE)
-
-endfunction()
-
-
-
-
-
-
-
-# ###################################
-# Exploring the possible Matlab_ROOTS
-
-# this variable will get all Matlab installations found in the current system.
-set(_matlab_possible_roots)
-
-
-
-if(Matlab_ROOT_DIR)
-  # if the user specifies a possible root, we keep this one
-
-  if(NOT EXISTS ${Matlab_ROOT_DIR})
-    # if Matlab_ROOT_DIR specified but erroneous
-    if(MATLAB_FIND_DEBUG)
-      message(WARNING "[MATLAB] the specified path for Matlab_ROOT_DIR does not exist (${Matlab_ROOT_DIR})")
-    endif()
-  else()
-    # NOTFOUND indicates the code below to search for the version automatically
-    if("${Matlab_VERSION_STRING_INTERNAL}" STREQUAL "")
-      list(APPEND _matlab_possible_roots "NOTFOUND" ${Matlab_ROOT_DIR}) # empty version
-    else()
-      list(APPEND _matlab_possible_roots ${Matlab_VERSION_STRING_INTERNAL} ${Matlab_ROOT_DIR}) # cached version
-    endif()
-  endif()
-
-
-else()
-
-  # if the user does not specify the possible installation root, we look for
-  # one installation using the appropriate heuristics
-
-  if(WIN32)
-
-    # On WIN32, we look for Matlab installation in the registry
-    # if unsuccessful, we look for all known revision and filter the existing
-    # ones.
-
-    # testing if we are able to extract the needed information from the registry
-    set(_matlab_versions_from_registry)
-    matlab_extract_all_installed_versions_from_registry(CMAKE_CL_64 _matlab_versions_from_registry)
-
-    # the returned list is empty, doing the search on all known versions
-    if(NOT _matlab_versions_from_registry)
-
-      if(MATLAB_FIND_DEBUG)
-        message(STATUS "[MATLAB] Search for Matlab from the registry unsuccessful, testing all supported versions")
-      endif()
-
-      extract_matlab_versions_from_registry_brute_force(_matlab_versions_from_registry)
-    endif()
-
-    # filtering the results with the registry keys
-    matlab_get_all_valid_matlab_roots_from_registry("${_matlab_versions_from_registry}" _matlab_possible_roots)
-    unset(_matlab_versions_from_registry)
-
-  elseif(APPLE)
-
-    # on mac, we look for the /Application paths
-    # this corresponds to the behaviour on Windows. On Linux, we do not have
-    # any other guess.
-    matlab_get_supported_releases(_matlab_releases)
-    if(MATLAB_FIND_DEBUG)
-      message(STATUS "[MATLAB] Matlab supported versions ${_matlab_releases}. If more version should be supported "
-                   "the variable MATLAB_ADDITIONAL_VERSIONS can be set according to the documentation")
-    endif()
-
-    foreach(_matlab_current_release IN LISTS _matlab_releases)
-      set(_matlab_full_string "/Applications/MATLAB_${_matlab_current_release}.app")
-      if(EXISTS ${_matlab_full_string})
-        set(_matlab_current_version)
-        matlab_get_version_from_release_name("${_matlab_current_release}" _matlab_current_version)
-        if(MATLAB_FIND_DEBUG)
-          message(STATUS "[MATLAB] Found version ${_matlab_current_release} (${_matlab_current_version}) in ${_matlab_full_string}")
-        endif()
-        list(APPEND _matlab_possible_roots ${_matlab_current_version} ${_matlab_full_string})
-        unset(_matlab_current_version)
-      endif()
-
-      unset(_matlab_full_string)
-    endforeach(_matlab_current_release)
-
-    unset(_matlab_current_release)
-    unset(_matlab_releases)
-
-  endif()
-
-endif()
-
-
-
-list(LENGTH _matlab_possible_roots _numbers_of_matlab_roots)
-if(_numbers_of_matlab_roots EQUAL 0)
-  # if we have not found anything, we fall back on the PATH
-
-
-  # At this point, we have no other choice than trying to find it from PATH.
-  # If set by the user, this wont change
-  find_program(
-    _matlab_main_tmp
-    NAMES matlab)
-
-
-  if(_matlab_main_tmp)
-    # we then populate the list of roots, with empty version
-    if(MATLAB_FIND_DEBUG)
-      message(STATUS "[MATLAB] matlab found from PATH: ${_matlab_main_tmp}")
-    endif()
-
-    # resolve symlinks
-    get_filename_component(_matlab_current_location "${_matlab_main_tmp}" REALPATH)
-
-    # get the directory (the command below has to be run twice)
-    # this will be the matlab root
-    get_filename_component(_matlab_current_location "${_matlab_current_location}" DIRECTORY)
-    get_filename_component(_matlab_current_location "${_matlab_current_location}" DIRECTORY) # Matlab should be in bin
-
-    list(APPEND _matlab_possible_roots "NOTFOUND" ${_matlab_current_location})
-
-    unset(_matlab_current_location)
-
-  endif()
-  unset(_matlab_main_tmp CACHE)
-
-endif()
-
-
-
-
-
-if(MATLAB_FIND_DEBUG)
-  message(STATUS "[MATLAB] Matlab root folders are ${_matlab_possible_roots}")
-endif()
-
-
-
-
-
-# take the first possible Matlab root
-list(LENGTH _matlab_possible_roots _numbers_of_matlab_roots)
-set(Matlab_VERSION_STRING "NOTFOUND")
-if(_numbers_of_matlab_roots GREATER 0)
-  list(GET _matlab_possible_roots 0 Matlab_VERSION_STRING)
-  list(GET _matlab_possible_roots 1 Matlab_ROOT_DIR)
-
-  # adding a warning in case of ambiguity
-  if(_numbers_of_matlab_roots GREATER 2 AND MATLAB_FIND_DEBUG)
-    message(WARNING "[MATLAB] Found several distributions of Matlab. Setting the current version to ${Matlab_VERSION_STRING} (located ${Matlab_ROOT_DIR})."
-                    " If this is not the desired behaviour, provide the -DMatlab_ROOT_DIR=... on the command line")
-  endif()
-endif()
-
-
-# check if the root changed against the previous defined one, if so
-# clear all the cached variables
-if(DEFINED Matlab_ROOT_DIR_LAST_CACHED)
-
-  if(NOT Matlab_ROOT_DIR_LAST_CACHED STREQUAL Matlab_ROOT_DIR)
-    set(_Matlab_cached_vars
-        Matlab_INCLUDE_DIRS
-        Matlab_MEX_LIBRARY
-        Matlab_MEX_COMPILER
-        Matlab_MAIN_PROGRAM
-        Matlab_MX_LIBRARY
-        Matlab_ENG_LIBRARY
-        Matlab_MEX_EXTENSION
-
-        # internal
-        Matlab_MEXEXTENSIONS_PROG
-        Matlab_ROOT_DIR_LAST_CACHED
-        #Matlab_PROG_VERSION_STRING_AUTO_DETECT
-        Matlab_VERSION_STRING_INTERNAL
-        )
-    foreach(_var IN LISTS _Matlab_cached_vars)
-      if(DEFINED ${_var})
-        unset(${_var} CACHE)
-      endif()
-    endforeach()
-  endif()
-endif()
-
-set(Matlab_ROOT_DIR_LAST_CACHED ${Matlab_ROOT_DIR} CACHE INTERNAL "last Matlab root dir location")
-set(Matlab_ROOT_DIR ${Matlab_ROOT_DIR} CACHE PATH "Matlab installation root path" FORCE)
-
-# Fix the version, in case this one is NOTFOUND
-_Matlab_get_version_from_root(
-  "${Matlab_ROOT_DIR}"
-  ${Matlab_VERSION_STRING}
-  Matlab_VERSION_STRING
-)
-
-
-
-
-if(MATLAB_FIND_DEBUG)
-  message(STATUS "[MATLAB] Current version is ${Matlab_VERSION_STRING} located ${Matlab_ROOT_DIR}")
-endif()
-
-
-
-if(Matlab_ROOT_DIR)
-  file(TO_CMAKE_PATH ${Matlab_ROOT_DIR} Matlab_ROOT_DIR)
-endif()
-
-if(CMAKE_SIZEOF_VOID_P EQUAL 4)
-  set(_matlab_64Build FALSE)
-else()
-  set(_matlab_64Build TRUE)
-endif()
-
-if(APPLE)
-  set(_matlab_bin_prefix "mac") # i should be for intel
-  set(_matlab_bin_suffix_32bits "i")
-  set(_matlab_bin_suffix_64bits "i64")
-elseif(UNIX)
-  set(_matlab_bin_prefix "gln")
-  set(_matlab_bin_suffix_32bits "x86")
-  set(_matlab_bin_suffix_64bits "xa64")
-else()
-  set(_matlab_bin_prefix "win")
-  set(_matlab_bin_suffix_32bits "32")
-  set(_matlab_bin_suffix_64bits "64")
-endif()
-
-
-
-set(MATLAB_INCLUDE_DIR_TO_LOOK ${Matlab_ROOT_DIR}/extern/include)
-if(_matlab_64Build)
-  set(_matlab_current_suffix ${_matlab_bin_suffix_64bits})
-else()
-  set(_matlab_current_suffix ${_matlab_bin_suffix_32bits})
-endif()
-
-set(Matlab_BINARIES_DIR
-    ${Matlab_ROOT_DIR}/bin/${_matlab_bin_prefix}${_matlab_current_suffix})
-set(Matlab_EXTERN_LIBRARY_DIR
-    ${Matlab_ROOT_DIR}/extern/lib/${_matlab_bin_prefix}${_matlab_current_suffix})
-
-if(WIN32)
-  set(_matlab_lib_dir_for_search ${Matlab_EXTERN_LIBRARY_DIR}/microsoft)
-  set(_matlab_lib_prefix_for_search "lib")
-else()
-  set(_matlab_lib_dir_for_search ${Matlab_BINARIES_DIR})
-  set(_matlab_lib_prefix_for_search "lib")
-endif()
-
-unset(_matlab_64Build)
-
-
-if(NOT DEFINED Matlab_MEX_EXTENSION)
-  set(_matlab_mex_extension "")
-  matlab_get_mex_suffix("${Matlab_ROOT_DIR}" _matlab_mex_extension)
-
-  # This variable goes to the cache.
-  set(Matlab_MEX_EXTENSION ${_matlab_mex_extension} CACHE STRING "Extensions for the mex targets (automatically given by Matlab)")
-  unset(_matlab_mex_extension)
-endif()
-
-
-if(MATLAB_FIND_DEBUG)
-  message(STATUS "[MATLAB] [DEBUG]_matlab_lib_prefix_for_search = ${_matlab_lib_prefix_for_search} | _matlab_lib_dir_for_search = ${_matlab_lib_dir_for_search}")
-endif()
-
-
-
-# internal
-# This small stub around find_library is to prevent any pollution of CMAKE_FIND_LIBRARY_PREFIXES in the global scope.
-# This is the function to be used below instead of the find_library directives.
-function(_Matlab_find_library _matlab_library_prefix)
-  set(CMAKE_FIND_LIBRARY_PREFIXES ${CMAKE_FIND_LIBRARY_PREFIXES} ${_matlab_library_prefix})
-  find_library(${ARGN})
-endfunction()
-
-
-set(_matlab_required_variables)
-
-
-# the MEX library/header are required
-find_path(
-  Matlab_INCLUDE_DIRS
-  mex.h
-  PATHS ${MATLAB_INCLUDE_DIR_TO_LOOK}
-  NO_DEFAULT_PATH
-  )
-list(APPEND _matlab_required_variables Matlab_INCLUDE_DIRS)
-
-_Matlab_find_library(
-  ${_matlab_lib_prefix_for_search}
-  Matlab_MEX_LIBRARY
-  mex
-  PATHS ${_matlab_lib_dir_for_search}
-  NO_DEFAULT_PATH
-)
-
-
-list(APPEND _matlab_required_variables Matlab_MEX_LIBRARY)
-
-# the MEX extension is required
-list(APPEND _matlab_required_variables Matlab_MEX_EXTENSION)
-
-# the matlab root is required
-list(APPEND _matlab_required_variables Matlab_ROOT_DIR)
-
-
-# component Mex Compiler
-list(FIND Matlab_FIND_COMPONENTS MEX_COMPILER _matlab_find_mex_compiler)
-if(_matlab_find_mex_compiler GREATER -1)
-  find_program(
-    Matlab_MEX_COMPILER
-    "mex"
-    PATHS ${Matlab_BINARIES_DIR}
-    DOC "Matlab MEX compiler"
-    NO_DEFAULT_PATH
-  )
-
-  if(Matlab_MEX_COMPILER)
-    set(Matlab_MEX_COMPILER_FOUND TRUE)
-  endif()
-endif()
-unset(_matlab_find_mex_compiler)
-
-# component Matlab program
-list(FIND Matlab_FIND_COMPONENTS MAIN_PROGRAM _matlab_find_matlab_program)
-if(_matlab_find_matlab_program GREATER -1)
-
-  find_program(
-    Matlab_MAIN_PROGRAM
-    matlab
-    PATHS ${Matlab_ROOT_DIR} ${Matlab_ROOT_DIR}/bin
-    DOC "Matlab main program"
-    NO_DEFAULT_PATH
-  )
-
-  if(Matlab_MAIN_PROGRAM)
-    set(Matlab_MAIN_PROGRAM_FOUND TRUE)
-  endif()
-
-endif()
-unset(_matlab_find_matlab_program)
-
-# Component MX library
-list(FIND Matlab_FIND_COMPONENTS MX_LIBRARY _matlab_find_mx)
-if(_matlab_find_mx GREATER -1)
-  _Matlab_find_library(
-    ${_matlab_lib_prefix_for_search}
-    Matlab_MX_LIBRARY
-    mx
-    PATHS ${_matlab_lib_dir_for_search}
-    NO_DEFAULT_PATH
-  )
-
-  if(Matlab_MX_LIBRARY)
-    set(Matlab_MX_LIBRARY_FOUND TRUE)
-  endif()
-endif()
-unset(_matlab_find_mx)
-
-
-# Component ENG library
-list(FIND Matlab_FIND_COMPONENTS ENG_LIBRARY _matlab_find_eng)
-if(_matlab_find_eng GREATER -1)
-  _Matlab_find_library(
-    ${_matlab_lib_prefix_for_search}
-    Matlab_ENG_LIBRARY
-    eng
-    PATHS ${_matlab_lib_dir_for_search}
-    NO_DEFAULT_PATH
-  )
-  if(Matlab_ENG_LIBRARY)
-    set(Matlab_ENG_LIBRARY_FOUND TRUE)
-  endif()
-endif()
-unset(_matlab_find_eng)
-
-
-
-
-
-unset(_matlab_lib_dir_for_search)
-
-
-set(Matlab_LIBRARIES ${Matlab_MEX_LIBRARY} ${Matlab_MX_LIBRARY} ${Matlab_ENG_LIBRARY})
-
-
-find_package_handle_standard_args(
-  Matlab
-  FOUND_VAR Matlab_FOUND
-  REQUIRED_VARS ${_matlab_required_variables}
-  VERSION_VAR Matlab_VERSION_STRING
-  HANDLE_COMPONENTS)
-
-unset(_matlab_required_variables)
-unset(_matlab_bin_prefix)
-unset(_matlab_bin_suffix_32bits)
-unset(_matlab_bin_suffix_64bits)
-unset(_matlab_current_suffix)
-unset(_matlab_lib_dir_for_search)
-unset(_matlab_lib_prefix_for_search)
-
-if(Matlab_INCLUDE_DIRS AND Matlab_LIBRARIES)
-  mark_as_advanced(
-    #Matlab_LIBRARIES
-    Matlab_MEX_LIBRARY
-    Matlab_MX_LIBRARY
-    Matlab_ENG_LIBRARY
-    Matlab_INCLUDE_DIRS
-    Matlab_FOUND
-    #Matlab_ROOT_DIR
-    #Matlab_VERSION_STRING
-    Matlab_MAIN_PROGRAM
-    #Matlab_MEX_EXTENSION
-    Matlab_MEXEXTENSIONS_PROG
-    Matlab_MEX_EXTENSION
-    #Matlab_BINARIES_DIR
-  )
-endif()
diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 007f2d0e5..62cf9590d 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -1,5 +1,5 @@
-# Copyright (C) 2013-2015 Instituto Italiano di Tecnologia
-# Author: Jorhabib Eljaik, Francesco Romano
+# Copyright (C) 2013-2017 iCub Facility - Istituto Italiano di Tecnologia
+# Author: Jorhabib Eljaik, Francesco Romano, Diego Ferigo
 # CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
 find_package(YARP REQUIRED)
@@ -14,18 +14,17 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${YARP_MODULE_PATH})
 include(YarpInstallationHelpers)
 yarp_configure_external_installation(codyco)
 
-find_package(Matlab	 REQUIRED
-             MX_LIBRARY
-             ENG_LIBRARY
-             MAIN_PROGRAM)
+find_package(Matlab REQUIRED MX_LIBRARY
+                             ENG_LIBRARY
+                             MAIN_PROGRAM)
 
 if(NOT Matlab_FOUND)
     message(FATAL_ERROR "Matlab not found")
 endif()
 
-#### Settings for rpath
+# Settings for rpath
 if(NOT MSVC)
-    #add the option to enable RPATH
+    # Add the option to enable RPATH
     option(WB-TOOLBOX_ENABLE_RPATH "Enable RPATH installation" TRUE)
     mark_as_advanced(WB-TOOLBOX_ENABLE_RPATH)
 endif(NOT MSVC)
@@ -37,22 +36,8 @@ add_install_rpath_support(BIN_DIRS ${CMAKE_INSTALL_PREFIX}/bin
                           USE_LINK_PATH)
 
 find_package(Eigen3 REQUIRED)
-find_package(wholeBodyInterface 0.2.5 REQUIRED)
-find_package(yarpWholeBodyInterface 0.3.2 REQUIRED)
 find_package(iDynTree 0.7.2 REQUIRED)
 
-#On new versions of Clang, MATLAB requires C++11.
-#I enable it on all Clangs
-if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-    if(${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
-        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-        if (${CMAKE_GENERATOR} MATCHES "Xcode")
-            #this should set explictly the option in xcode. Unfortunately it does not work.
-            set(XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "C++11")
-        endif(${CMAKE_GENERATOR} MATCHES "Xcode")
-    endif(${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
-endif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-
 include(Utilities)
 
 configure_block(BLOCK_NAME "Base"
@@ -64,7 +49,7 @@ configure_block(BLOCK_NAME "Base"
             src/base/Log.cpp
             src/base/ToolboxSingleton.cpp
             src/base/factory.cpp
-            src/base/SimulinkBlockInformation.cpp #this is temp
+            src/base/SimulinkBlockInformation.cpp
             src/base/Signal.cpp
             src/base/Configuration.cpp
             src/base/RobotInterface.cpp
@@ -74,7 +59,7 @@ configure_block(BLOCK_NAME "Base"
             include/base/WBBlock.h
             include/base/Log.h
             include/base/ToolboxSingleton.h
-            include/base/SimulinkBlockInformation.h #this is temp
+            include/base/SimulinkBlockInformation.h
             include/base/Signal.h
             include/base/Configuration.h
             include/base/RobotInterface.h
@@ -195,8 +180,8 @@ configure_block(BLOCK_NAME "Set Low-Level PIDs"
     LIST_PREFIX WBT
     SOURCES src/SetLowLevelPID.cpp
     HEADERS include/SetLowLevelPID.h)
-
-configure_block(BLOCK_NAME "Get Estimate"
+#
+configure_block(BLOCK_NAME "Get Measurement"
     GROUP "State"
     LIST_PREFIX WBT
     SOURCES src/GetMeasurement.cpp
@@ -216,10 +201,11 @@ include_directories(include)
 include_directories(include/base)
 
 include_directories(SYSTEM ${Matlab_INCLUDE_DIRS} "${Matlab_ROOT_DIR}/simulink/include")
-include_directories(SYSTEM ${YARP_INCLUDE_DIRS} ${yarpWholeBodyInterface_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
+include_directories(SYSTEM ${YARP_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
 
-list(APPEND LINKED_LIBRARIES ${YARP_LIBRARIES} ${yarpWholeBodyInterface_LIBRARIES})
+list(APPEND LINKED_LIBRARIES ${YARP_LIBRARIES})
 list(APPEND LINKED_LIBRARIES ${iDynTree_LIBRARIES})
+
 if (WBT_USES_ICUB)
     list(APPEND LINKED_LIBRARIES ctrlLib)
     if (${ICUB_USE_IPOPT})
@@ -227,7 +213,7 @@ if (WBT_USES_ICUB)
     endif()
 endif()
 
-#Adding files used for the generation of the dynamic library
+# Adding files used for the generation of the dynamic library
 matlab_add_mex(
     NAME WBToolbox
     SRC ${ALL_HEADERS} ${ALL_SOURCES}
@@ -236,46 +222,40 @@ matlab_add_mex(
 
 # Link with MxAnyType library
 # TODO: this will become an external project sooner or later
-target_link_libraries(WBToolbox PUBLIC MxAnyType)
+target_link_libraries(WBToolbox MxAnyType)
 
 # Link with ClockServer library
 add_subdirectory(autogenerated/)
-target_link_libraries(WBToolbox PUBLIC ClockServer)
-
-# Remote Inverse Kinematics requires C++11
-if (CMAKE_VERSION VERSION_LESS "3.1")
-    if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR
-        CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-        target_compile_options(WBToolbox PUBLIC "-std=c++11")
-    endif()
-else()
-    set(CXX_STANDARD_REQUIRED ON)
-    set_property(TARGET WBToolbox PROPERTY CXX_STANDARD 11)
-endif()
+target_link_libraries(WBToolbox ClockServer)
 
 install(TARGETS WBToolbox DESTINATION ${CMAKE_INSTALL_PREFIX}/mex)
 
-## if you export the mdl / slx library, remeber to call this command in matlab before saving it
-## set_param(gcs, 'EnableLBRepository','on');
-
 # The following line is to properly configure the installation script of the toolbox
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/.startup_wbitoolbox.m.in ${CMAKE_BINARY_DIR}/startup_wbitoolbox.m)
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/.setupForMatlabDebug.m.in ${CMAKE_BINARY_DIR}/setupForMatlabDebug.m)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/matlab/startup_wbitoolbox.m.in
+               ${CMAKE_BINARY_DIR}/startup_wbitoolbox.m)
 
 # Custom script to generate the library to be committed on the repository
 # This target is excluded from the normal build and must be called explicitly by the
 # developer who modifies the library
-add_custom_target(export_libraries ${Matlab_MAIN_PROGRAM} -nosplash  -r export_library WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+add_custom_target(export_libraries ${Matlab_MAIN_PROGRAM} -nosplash -nodesktop -r export_library WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/matlab)
 set_target_properties(export_libraries PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD 1)
 
 # Install configuration files
 install(FILES ${CMAKE_BINARY_DIR}/startup_wbitoolbox.m DESTINATION ${WB-TOOLBOX_SHARE_DIR})
-install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/slblocks.m DESTINATION ${WB-TOOLBOX_SHARE_DIR})
+install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/matlab/slblocks.m   DESTINATION ${WB-TOOLBOX_SHARE_DIR})
+
+# Install the package folder
+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/matlab/+WBToolbox
+        DESTINATION ${WB-TOOLBOX_SHARE_DIR})
+
 #if MAJOR >= 2014 && MINOR >= b
 # Note: We had issues with Matlab 2014b and .mdl models.
 # But this issue seems to have been disappeared in 2015b. We have to check if we need to enable this if again
-if (${Matlab_VERSION_STRING} GREATER "8.3")
-    install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/WBToolboxLibrary.slx DESTINATION ${WB-TOOLBOX_SHARE_DIR})
-else()
-    install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/WBToolboxLibrary.mdl DESTINATION ${WB-TOOLBOX_SHARE_DIR})
-endif()
+# TODO: check if the mdl support is still required
+# if (${Matlab_VERSION_STRING} GREATER "8.3")
+    # install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/WBToolboxLibrary.slx DESTINATION ${WB-TOOLBOX_SHARE_DIR})
+# else()
+    # install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/WBToolboxLibrary.mdl DESTINATION ${WB-TOOLBOX_SHARE_DIR})
+# endif()
+install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/matlab/library/exported/WBToolboxLibrary.slx
+        DESTINATION ${WB-TOOLBOX_SHARE_DIR})
diff --git a/toolbox/WBToolboxLibrary.mdl b/toolbox/WBToolboxLibrary.mdl
deleted file mode 100644
index a0e924d52..000000000
--- a/toolbox/WBToolboxLibrary.mdl
+++ /dev/null
@@ -1,4383 +0,0 @@
-Library {
-  Name			  "WBToolboxLibrary"
-  Version		  7.9
-  LibraryType		  "BlockLibrary"
-  SavedCharacterEncoding  "US-ASCII"
-  ScopeRefreshTime	  0.035000
-  OverrideScopeRefreshTime on
-  DisableAllScopes	  off
-  FPTRunName		  "Run 1"
-  MaxMDLFileLineLength	  120
-  Created		  "Thu Feb 06 02:21:39 2014"
-  Creator		  "jorhabib"
-  UpdateHistory		  "UpdateHistoryNever"
-  ModifiedByFormat	  "%<Auto>"
-  LastModifiedBy	  "makaveli"
-  ModifiedDateFormat	  "%<Auto>"
-  LastModifiedDate	  "Wed Aug 23 12:36:18 2017"
-  RTWModifiedTimeStamp	  425392578
-  ModelVersionFormat	  "1.%<AutoIncrement:383>"
-  ConfigurationManager	  "none"
-  SampleTimeColors	  off
-  SampleTimeAnnotations	  off
-  LibraryLinkDisplay	  "disabled"
-  WideLines		  off
-  ShowLineDimensions	  off
-  ShowPortDataTypes	  off
-  ShowDesignRanges	  off
-  ShowLoopsOnError	  on
-  IgnoreBidirectionalLines off
-  ShowStorageClass	  off
-  ShowTestPointIcons	  on
-  ShowSignalResolutionIcons on
-  ShowViewerIcons	  on
-  SortedOrder		  off
-  ExecutionContextIcon	  off
-  ShowLinearizationAnnotations on
-  BlockNameDataTip	  off
-  BlockParametersDataTip  off
-  BlockDescriptionStringDataTip	off
-  ToolBar		  on
-  StatusBar		  on
-  BrowserShowLibraryLinks off
-  BrowserLookUnderMasks	  off
-  SimulationMode	  "normal"
-  LinearizationMsg	  "none"
-  Profile		  off
-  ParamWorkspaceSource	  "MATLABWorkspace"
-  RecordCoverage	  off
-  CovSaveName		  "covdata"
-  CovMetricSettings	  "dw"
-  CovNameIncrementing	  off
-  CovHtmlReporting	  on
-  CovForceBlockReductionOff on
-  CovSaveCumulativeToWorkspaceVar on
-  CovSaveSingleToWorkspaceVar on
-  CovCumulativeReport	  off
-  CovReportOnPause	  on
-  CovModelRefEnable	  "Off"
-  CovExternalEMLEnable	  off
-  ExtModeBatchMode	  off
-  ExtModeEnableFloating	  on
-  ExtModeTrigType	  "manual"
-  ExtModeTrigMode	  "normal"
-  ExtModeTrigPort	  "1"
-  ExtModeTrigElement	  "any"
-  ExtModeTrigDuration	  1000
-  ExtModeTrigDurationFloating "auto"
-  ExtModeTrigHoldOff	  0
-  ExtModeTrigDelay	  0
-  ExtModeTrigDirection	  "rising"
-  ExtModeTrigLevel	  0
-  ExtModeArchiveMode	  "off"
-  ExtModeAutoIncOneShot	  off
-  ExtModeIncDirWhenArm	  off
-  ExtModeAddSuffixToVar	  off
-  ExtModeWriteAllDataToWs off
-  ExtModeArmWhenConnect	  on
-  ExtModeSkipDownloadWhenConnect off
-  ExtModeLogAll		  on
-  ExtModeAutoUpdateStatusClock on
-  ShowModelReferenceBlockVersion off
-  ShowModelReferenceBlockIO off
-  Array {
-    Type		    "Handle"
-    Dimension		    1
-    Simulink.ConfigSet {
-      $ObjectID		      7
-      Version		      "1.12.0"
-      Array {
-	Type			"Handle"
-	Dimension		9
-	Simulink.SolverCC {
-	  $ObjectID		  8
-	  Version		  "1.12.0"
-	  StartTime		  "0.0"
-	  StopTime		  "10.0"
-	  AbsTol		  "auto"
-	  FixedStep		  "auto"
-	  InitialStep		  "auto"
-	  MaxNumMinSteps	  "-1"
-	  MaxOrder		  5
-	  ZcThreshold		  "auto"
-	  ConsecutiveZCsStepRelTol "10*128*eps"
-	  MaxConsecutiveZCs	  "1000"
-	  ExtrapolationOrder	  4
-	  NumberNewtonIterations  1
-	  MaxStep		  "auto"
-	  MinStep		  "auto"
-	  MaxConsecutiveMinStep	  "1"
-	  RelTol		  "1e-3"
-	  SolverMode		  "Auto"
-	  EnableConcurrentExecution off
-	  ConcurrentTasks	  off
-	  Solver		  "ode45"
-	  SolverName		  "ode45"
-	  SolverJacobianMethodControl "auto"
-	  ShapePreserveControl	  "DisableAll"
-	  ZeroCrossControl	  "UseLocalSettings"
-	  ZeroCrossAlgorithm	  "Nonadaptive"
-	  AlgebraicLoopSolver	  "TrustRegion"
-	  SolverResetMethod	  "Fast"
-	  PositivePriorityOrder	  off
-	  AutoInsertRateTranBlk	  off
-	  SampleTimeConstraint	  "Unconstrained"
-	  InsertRTBMode		  "Whenever possible"
-	}
-	Simulink.DataIOCC {
-	  $ObjectID		  9
-	  Version		  "1.12.0"
-	  Decimation		  "1"
-	  ExternalInput		  "[t, u]"
-	  FinalStateName	  "xFinal"
-	  InitialState		  "xInitial"
-	  LimitDataPoints	  on
-	  MaxDataPoints		  "1000"
-	  LoadExternalInput	  off
-	  LoadInitialState	  off
-	  SaveFinalState	  off
-	  SaveCompleteFinalSimState off
-	  SaveFormat		  "Array"
-	  SignalLoggingSaveFormat "ModelDataLogs"
-	  SaveOutput		  on
-	  SaveState		  off
-	  SignalLogging		  on
-	  DSMLogging		  on
-	  InspectSignalLogs	  off
-	  SaveTime		  on
-	  ReturnWorkspaceOutputs  off
-	  StateSaveName		  "xout"
-	  TimeSaveName		  "tout"
-	  OutputSaveName	  "yout"
-	  SignalLoggingName	  "logsout"
-	  DSMLoggingName	  "dsmout"
-	  OutputOption		  "RefineOutputTimes"
-	  OutputTimes		  "[]"
-	  ReturnWorkspaceOutputsName "out"
-	  Refine		  "1"
-	}
-	Simulink.OptimizationCC {
-	  $ObjectID		  10
-	  Version		  "1.12.0"
-	  Array {
-	    Type		    "Cell"
-	    Dimension		    8
-	    Cell		    "BooleansAsBitfields"
-	    Cell		    "PassReuseOutputArgsAs"
-	    Cell		    "PassReuseOutputArgsThreshold"
-	    Cell		    "ZeroExternalMemoryAtStartup"
-	    Cell		    "ZeroInternalMemoryAtStartup"
-	    Cell		    "OptimizeModelRefInitCode"
-	    Cell		    "NoFixptDivByZeroProtection"
-	    Cell		    "UseSpecifiedMinMax"
-	    PropName		    "DisabledProps"
-	  }
-	  BlockReduction	  on
-	  BooleanDataType	  on
-	  ConditionallyExecuteInputs on
-	  InlineParams		  off
-	  UseIntDivNetSlope	  off
-	  UseFloatMulNetSlope	  off
-	  UseSpecifiedMinMax	  off
-	  InlineInvariantSignals  off
-	  OptimizeBlockIOStorage  on
-	  BufferReuse		  on
-	  EnhancedBackFolding	  off
-	  StrengthReduction	  off
-	  ExpressionFolding	  on
-	  BooleansAsBitfields	  off
-	  BitfieldContainerType	  "uint_T"
-	  EnableMemcpy		  on
-	  MemcpyThreshold	  64
-	  PassReuseOutputArgsAs	  "Structure reference"
-	  ExpressionDepthLimit	  2147483647
-	  LocalBlockOutputs	  on
-	  RollThreshold		  5
-	  StateBitsets		  off
-	  DataBitsets		  off
-	  ZeroExternalMemoryAtStartup on
-	  ZeroInternalMemoryAtStartup on
-	  InitFltsAndDblsToZero	  off
-	  NoFixptDivByZeroProtection off
-	  EfficientFloat2IntCast  off
-	  EfficientMapNaN2IntZero on
-	  OptimizeModelRefInitCode off
-	  LifeSpan		  "inf"
-	  MaxStackSize		  "Inherit from target"
-	  BufferReusableBoundary  on
-	  SimCompilerOptimization "Off"
-	  AccelVerboseBuild	  off
-	}
-	Simulink.DebuggingCC {
-	  $ObjectID		  11
-	  Version		  "1.12.0"
-	  RTPrefix		  "error"
-	  ConsistencyChecking	  "none"
-	  ArrayBoundsChecking	  "none"
-	  SignalInfNanChecking	  "none"
-	  SignalRangeChecking	  "none"
-	  ReadBeforeWriteMsg	  "UseLocalSettings"
-	  WriteAfterWriteMsg	  "UseLocalSettings"
-	  WriteAfterReadMsg	  "UseLocalSettings"
-	  AlgebraicLoopMsg	  "warning"
-	  ArtificialAlgebraicLoopMsg "warning"
-	  SaveWithDisabledLinksMsg "warning"
-	  SaveWithParameterizedLinksMsg	"warning"
-	  CheckSSInitialOutputMsg on
-	  UnderspecifiedInitializationDetection	"Classic"
-	  MergeDetectMultiDrivingBlocksExec "none"
-	  CheckExecutionContextPreStartOutputMsg off
-	  CheckExecutionContextRuntimeOutputMsg	off
-	  SignalResolutionControl "UseLocalSettings"
-	  BlockPriorityViolationMsg "warning"
-	  MinStepSizeMsg	  "warning"
-	  TimeAdjustmentMsg	  "none"
-	  MaxConsecutiveZCsMsg	  "error"
-	  MaskedZcDiagnostic	  "warning"
-	  IgnoredZcDiagnostic	  "warning"
-	  SolverPrmCheckMsg	  "warning"
-	  InheritedTsInSrcMsg	  "warning"
-	  MultiTaskDSMMsg	  "error"
-	  MultiTaskCondExecSysMsg "error"
-	  MultiTaskRateTransMsg	  "error"
-	  SingleTaskRateTransMsg  "none"
-	  TasksWithSamePriorityMsg "warning"
-	  SigSpecEnsureSampleTimeMsg "warning"
-	  CheckMatrixSingularityMsg "none"
-	  IntegerOverflowMsg	  "warning"
-	  Int32ToFloatConvMsg	  "warning"
-	  ParameterDowncastMsg	  "error"
-	  ParameterOverflowMsg	  "error"
-	  ParameterUnderflowMsg	  "none"
-	  ParameterPrecisionLossMsg "warning"
-	  ParameterTunabilityLossMsg "warning"
-	  FixptConstUnderflowMsg  "none"
-	  FixptConstOverflowMsg	  "none"
-	  FixptConstPrecisionLossMsg "none"
-	  UnderSpecifiedDataTypeMsg "none"
-	  UnnecessaryDatatypeConvMsg "none"
-	  VectorMatrixConversionMsg "none"
-	  InvalidFcnCallConnMsg	  "error"
-	  FcnCallInpInsideContextMsg "Enable All"
-	  SignalLabelMismatchMsg  "none"
-	  UnconnectedInputMsg	  "warning"
-	  UnconnectedOutputMsg	  "warning"
-	  UnconnectedLineMsg	  "warning"
-	  SFcnCompatibilityMsg	  "none"
-	  FrameProcessingCompatibilityMsg "error"
-	  UniqueDataStoreMsg	  "none"
-	  BusObjectLabelMismatch  "warning"
-	  RootOutportRequireBusObject "warning"
-	  AssertControl		  "UseLocalSettings"
-	  ModelReferenceIOMsg	  "none"
-	  ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error"
-	  ModelReferenceVersionMismatchMessage "none"
-	  ModelReferenceIOMismatchMessage "none"
-	  UnknownTsInhSupMsg	  "warning"
-	  ModelReferenceDataLoggingMessage "warning"
-	  ModelReferenceSymbolNameMessage "warning"
-	  ModelReferenceExtraNoncontSigs "error"
-	  StateNameClashWarn	  "warning"
-	  SimStateInterfaceChecksumMismatchMsg "warning"
-	  SimStateOlderReleaseMsg "error"
-	  InitInArrayFormatMsg	  "warning"
-	  StrictBusMsg		  "ErrorLevel1"
-	  BusNameAdapt		  "WarnAndRepair"
-	  NonBusSignalsTreatedAsBus "none"
-	  BlockIODiagnostic	  "none"
-	  SFUnusedDataAndEventsDiag "warning"
-	  SFUnexpectedBacktrackingDiag "warning"
-	  SFInvalidInputDataAccessInChartInitDiag "warning"
-	  SFNoUnconditionalDefaultTransitionDiag "warning"
-	  SFTransitionOutsideNaturalParentDiag "warning"
-	  SFUnconditionalTransitionShadowingDiag "warning"
-	  ModelReferenceCSMismatchMessage "none"
-	}
-	Simulink.HardwareCC {
-	  $ObjectID		  12
-	  Version		  "1.12.0"
-	  ProdBitPerChar	  8
-	  ProdBitPerShort	  16
-	  ProdBitPerInt		  32
-	  ProdBitPerLong	  32
-	  ProdBitPerFloat	  32
-	  ProdBitPerDouble	  64
-	  ProdBitPerPointer	  32
-	  ProdLargestAtomicInteger "Char"
-	  ProdLargestAtomicFloat  "None"
-	  ProdIntDivRoundTo	  "Undefined"
-	  ProdEndianess		  "Unspecified"
-	  ProdWordSize		  32
-	  ProdShiftRightIntArith  on
-	  ProdHWDeviceType	  "32-bit Generic"
-	  TargetBitPerChar	  8
-	  TargetBitPerShort	  16
-	  TargetBitPerInt	  32
-	  TargetBitPerLong	  32
-	  TargetBitPerFloat	  32
-	  TargetBitPerDouble	  64
-	  TargetBitPerPointer	  32
-	  TargetLargestAtomicInteger "Char"
-	  TargetLargestAtomicFloat "None"
-	  TargetShiftRightIntArith on
-	  TargetIntDivRoundTo	  "Undefined"
-	  TargetEndianess	  "Unspecified"
-	  TargetWordSize	  32
-	  TargetPreprocMaxBitsSint 32
-	  TargetPreprocMaxBitsUint 32
-	  TargetHWDeviceType	  "Specified"
-	  TargetUnknown		  off
-	  ProdEqTarget		  on
-	}
-	Simulink.ModelReferenceCC {
-	  $ObjectID		  13
-	  Version		  "1.12.0"
-	  UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
-	  CheckModelReferenceTargetMessage "error"
-	  EnableParallelModelReferenceBuilds off
-	  ParallelModelReferenceErrorOnInvalidPool on
-	  ParallelModelReferenceMATLABWorkerInit "None"
-	  ModelReferenceNumInstancesAllowed "Multi"
-	  PropagateVarSize	  "Infer from blocks in model"
-	  ModelReferencePassRootInputsByReference on
-	  ModelReferenceMinAlgLoopOccurrences off
-	  PropagateSignalLabelsOutOfModel off
-	  SupportModelReferenceSimTargetCustomCode off
-	}
-	Simulink.SFSimCC {
-	  $ObjectID		  14
-	  Version		  "1.12.0"
-	  SFSimEcho		  on
-	  SimCtrlC		  on
-	  SimIntegrity		  on
-	  SimUseLocalCustomCode	  off
-	  SimParseCustomCode	  on
-	  SimBuildMode		  "sf_incremental_build"
-	}
-	Simulink.RTWCC {
-	  $BackupClass		  "Simulink.RTWCC"
-	  $ObjectID		  15
-	  Version		  "1.12.0"
-	  Array {
-	    Type		    "Cell"
-	    Dimension		    13
-	    Cell		    "IncludeHyperlinkInReport"
-	    Cell		    "GenerateTraceInfo"
-	    Cell		    "GenerateTraceReport"
-	    Cell		    "GenerateTraceReportSl"
-	    Cell		    "GenerateTraceReportSf"
-	    Cell		    "GenerateTraceReportEml"
-	    Cell		    "GenerateWebview"
-	    Cell		    "GenerateCodeMetricsReport"
-	    Cell		    "GenerateCodeReplacementReport"
-	    Cell		    "PortableWordSizes"
-	    Cell		    "GenerateMissedCodeReplacementReport"
-	    Cell		    "GenerateErtSFunction"
-	    Cell		    "CreateSILPILBlock"
-	    PropName		    "DisabledProps"
-	  }
-	  SystemTargetFile	  "grt.tlc"
-	  TLCOptions		  ""
-	  GenCodeOnly		  off
-	  MakeCommand		  "make_rtw"
-	  GenerateMakefile	  on
-	  TemplateMakefile	  "grt_default_tmf"
-	  PostCodeGenCommand	  ""
-	  GenerateReport	  off
-	  SaveLog		  off
-	  RTWVerbose		  on
-	  RetainRTWFile		  off
-	  ProfileTLC		  off
-	  TLCDebug		  off
-	  TLCCoverage		  off
-	  TLCAssert		  off
-	  RTWUseLocalCustomCode	  off
-	  RTWUseSimCustomCode	  off
-	  IncludeHyperlinkInReport off
-	  LaunchReport		  off
-	  TargetLang		  "C"
-	  IncludeBusHierarchyInRTWFileBlockHierarchyMap	off
-	  GenerateTraceInfo	  off
-	  GenerateTraceReport	  off
-	  GenerateTraceReportSl	  off
-	  GenerateTraceReportSf	  off
-	  GenerateTraceReportEml  off
-	  GenerateWebview	  off
-	  GenerateCodeMetricsReport off
-	  GenerateCodeReplacementReport	off
-	  RTWCompilerOptimization "Off"
-	  RTWCustomCompilerOptimizations ""
-	  CheckMdlBeforeBuild	  "Off"
-	  Array {
-	    Type		    "Handle"
-	    Dimension		    2
-	    Simulink.CodeAppCC {
-	      $ObjectID		      16
-	      Version		      "1.12.0"
-	      Array {
-		Type			"Cell"
-		Dimension		25
-		Cell			"IgnoreCustomStorageClasses"
-		Cell			"IgnoreTestpoints"
-		Cell			"InsertBlockDesc"
-		Cell			"InsertPolySpaceComments"
-		Cell			"SFDataObjDesc"
-		Cell			"MATLABFcnDesc"
-		Cell			"SimulinkDataObjDesc"
-		Cell			"DefineNamingRule"
-		Cell			"SignalNamingRule"
-		Cell			"ParamNamingRule"
-		Cell			"InlinedPrmAccess"
-		Cell			"CustomSymbolStr"
-		Cell			"CustomSymbolStrGlobalVar"
-		Cell			"CustomSymbolStrType"
-		Cell			"CustomSymbolStrField"
-		Cell			"CustomSymbolStrFcn"
-		Cell			"CustomSymbolStrFcnArg"
-		Cell			"CustomSymbolStrBlkIO"
-		Cell			"CustomSymbolStrTmpVar"
-		Cell			"CustomSymbolStrMacro"
-		Cell			"ReqsInCode"
-		Cell			"InternalIdentifier"
-		Cell			"CustomSymbolStrModelFcn"
-		Cell			"CustomSymbolStrUtil"
-		Cell			"CustomUserTokenString"
-		PropName		"DisabledProps"
-	      }
-	      ForceParamTrailComments off
-	      GenerateComments	      on
-	      IgnoreCustomStorageClasses on
-	      IgnoreTestpoints	      off
-	      IncHierarchyInIds	      off
-	      MaxIdLength	      31
-	      PreserveName	      off
-	      PreserveNameWithParent  off
-	      ShowEliminatedStatement off
-	      IncAutoGenComments      off
-	      SimulinkDataObjDesc     off
-	      SFDataObjDesc	      off
-	      MATLABFcnDesc	      off
-	      IncDataTypeInIds	      off
-	      MangleLength	      1
-	      CustomSymbolStrGlobalVar "$R$N$M"
-	      CustomSymbolStrType     "$N$R$M_T"
-	      CustomSymbolStrField    "$N$M"
-	      CustomSymbolStrFcn      "$R$N$M$F"
-	      CustomSymbolStrFcnArg   "rt$I$N$M"
-	      CustomSymbolStrBlkIO    "rtb_$N$M"
-	      CustomSymbolStrTmpVar   "$N$M"
-	      CustomSymbolStrMacro    "$R$N$M"
-	      DefineNamingRule	      "None"
-	      ParamNamingRule	      "None"
-	      SignalNamingRule	      "None"
-	      InsertBlockDesc	      off
-	      InsertPolySpaceComments off
-	      SimulinkBlockComments   on
-	      MATLABSourceComments    off
-	      EnableCustomComments    off
-	      InlinedPrmAccess	      "Literals"
-	      ReqsInCode	      off
-	      UseSimReservedNames     off
-	    }
-	    Simulink.GRTTargetCC {
-	      $BackupClass	      "Simulink.TargetCC"
-	      $ObjectID		      17
-	      Version		      "1.12.0"
-	      Array {
-		Type			"Cell"
-		Dimension		18
-		Cell			"GeneratePreprocessorConditionals"
-		Cell			"IncludeMdlTerminateFcn"
-		Cell			"SupportNonInlinedSFcns"
-		Cell			"SuppressErrorStatus"
-		Cell			"ERTCustomFileBanners"
-		Cell			"GenerateSampleERTMain"
-		Cell			"GenerateTestInterfaces"
-		Cell			"ModelStepFunctionPrototypeControlCompliant"
-		Cell			"CPPClassGenCompliant"
-		Cell			"PortableWordSizes"
-		Cell			"PurelyIntegerCode"
-		Cell			"SupportComplex"
-		Cell			"SupportAbsoluteTime"
-		Cell			"SupportContinuousTime"
-		Cell			"MultiInstanceERTCode"
-		Cell			"RemoveResetFunc"
-		Cell			"ExistingSharedCode"
-		Cell			"RemoveDisableFunc"
-		PropName		"DisabledProps"
-	      }
-	      TargetFcnLib	      "ansi_tfl_table_tmw.mat"
-	      TargetLibSuffix	      ""
-	      TargetPreCompLibLocation ""
-	      CodeReplacementLibrary  "None"
-	      UtilityFuncGeneration   "Auto"
-	      ERTMultiwordTypeDef     "System defined"
-	      ERTMultiwordLength      256
-	      MultiwordLength	      2048
-	      GenerateFullHeader      on
-	      GenerateSampleERTMain   off
-	      GenerateTestInterfaces  off
-	      ModelReferenceCompliant on
-	      ParMdlRefBuildCompliant on
-	      CompOptLevelCompliant   on
-	      ConcurrentExecutionCompliant on
-	      IncludeMdlTerminateFcn  on
-	      GeneratePreprocessorConditionals "Disable all"
-	      CombineOutputUpdateFcns off
-	      CombineSignalStateStructs	off
-	      SuppressErrorStatus     off
-	      ERTFirstTimeCompliant   off
-	      IncludeFileDelimiter    "Auto"
-	      ERTCustomFileBanners    off
-	      SupportAbsoluteTime     on
-	      LogVarNameModifier      "rt_"
-	      MatFileLogging	      on
-	      MultiInstanceERTCode    off
-	      SupportNonFinite	      on
-	      SupportComplex	      on
-	      PurelyIntegerCode	      off
-	      SupportContinuousTime   on
-	      SupportNonInlinedSFcns  on
-	      SupportVariableSizeSignals off
-	      ParenthesesLevel	      "Nominal"
-	      ModelStepFunctionPrototypeControlCompliant off
-	      CPPClassGenCompliant    on
-	      AutosarCompliant	      off
-	      GRTInterface	      on
-	      UseMalloc		      off
-	      ExtMode		      off
-	      ExtModeStaticAlloc      off
-	      ExtModeTesting	      off
-	      ExtModeStaticAllocSize  1000000
-	      ExtModeTransport	      0
-	      ExtModeMexFile	      "ext_comm"
-	      ExtModeIntrfLevel	      "Level1"
-	      RTWCAPISignals	      off
-	      RTWCAPIParams	      off
-	      RTWCAPIStates	      off
-	      RTWCAPIRootIO	      off
-	      GenerateASAP2	      off
-	    }
-	    PropName		    "Components"
-	  }
-	}
-	hdlcoderui.hdlcc {
-	  $ObjectID		  19
-	  Version		  "1.12.0"
-	  Description		  "HDL Coder custom configuration component"
-	  Name			  "HDL Coder"
-	  Array {
-	    Type		    "Cell"
-	    Dimension		    1
-	    Cell		    " "
-	    PropName		    "HDLConfigFile"
-	  }
-	  HDLCActiveTab		  "0"
-	}
-	PropName		"Components"
-      }
-      Name		      "Configuration"
-      CurrentDlgPage	      "Solver"
-      ConfigPrmDlgPosition    [ 963, 135, 1843, 765 ]  
-    }
-    PropName		    "ConfigurationSets"
-  }
-  ExplicitPartitioning	  off
-  BlockDefaults {
-    ForegroundColor	    "black"
-    BackgroundColor	    "white"
-    DropShadow		    off
-    NamePlacement	    "normal"
-    FontName		    "Helvetica"
-    FontSize		    10
-    FontWeight		    "normal"
-    FontAngle		    "normal"
-    ShowName		    on
-    BlockRotation	    0
-    BlockMirror		    off
-  }
-  AnnotationDefaults {
-    HorizontalAlignment	    "center"
-    VerticalAlignment	    "middle"
-    ForegroundColor	    "black"
-    BackgroundColor	    "white"
-    DropShadow		    off
-    FontName		    "Helvetica"
-    FontSize		    10
-    FontWeight		    "normal"
-    FontAngle		    "normal"
-    UseDisplayTextAsClickCallback off
-  }
-  LineDefaults {
-    FontName		    "Helvetica"
-    FontSize		    9
-    FontWeight		    "normal"
-    FontAngle		    "normal"
-  }
-  BlockParameterDefaults {
-    Block {
-      BlockType		      Clock
-      DisplayTime	      off
-      Decimation	      "10"
-    }
-    Block {
-      BlockType		      Constant
-      Value		      "1"
-      VectorParams1D	      on
-      SamplingMode	      "Sample based"
-      OutMin		      "[]"
-      OutMax		      "[]"
-      OutDataTypeStr	      "Inherit: Inherit from 'Constant value'"
-      LockScale		      off
-      SampleTime	      "inf"
-      FramePeriod	      "inf"
-      PreserveConstantTs      off
-    }
-    Block {
-      BlockType		      Demux
-      Outputs		      "4"
-      DisplayOption	      "none"
-      BusSelectionMode	      off
-    }
-    Block {
-      BlockType		      Gain
-      Gain		      "1"
-      Multiplication	      "Element-wise(K.*u)"
-      ParamMin		      "[]"
-      ParamMax		      "[]"
-      ParamDataTypeStr	      "Inherit: Same as input"
-      OutMin		      "[]"
-      OutMax		      "[]"
-      OutDataTypeStr	      "Inherit: Same as input"
-      LockScale		      off
-      RndMeth		      "Floor"
-      SaturateOnIntegerOverflow	on
-      SampleTime	      "-1"
-    }
-    Block {
-      BlockType		      Inport
-      Port		      "1"
-      OutputFunctionCall      off
-      OutMin		      "[]"
-      OutMax		      "[]"
-      OutDataTypeStr	      "Inherit: auto"
-      LockScale		      off
-      BusOutputAsStruct	      off
-      PortDimensions	      "-1"
-      VarSizeSig	      "Inherit"
-      SampleTime	      "-1"
-      SignalType	      "auto"
-      SamplingMode	      "auto"
-      LatchByDelayingOutsideSignal off
-      LatchInputForFeedbackSignals off
-      Interpolate	      on
-    }
-    Block {
-      BlockType		      Outport
-      Port		      "1"
-      OutMin		      "[]"
-      OutMax		      "[]"
-      OutDataTypeStr	      "Inherit: auto"
-      LockScale		      off
-      BusOutputAsStruct	      off
-      PortDimensions	      "-1"
-      VarSizeSig	      "Inherit"
-      SampleTime	      "-1"
-      SignalType	      "auto"
-      SamplingMode	      "auto"
-      SourceOfInitialOutputValue "Dialog"
-      OutputWhenDisabled      "held"
-      InitialOutput	      "[]"
-    }
-    Block {
-      BlockType		      Product
-      Inputs		      "2"
-      Multiplication	      "Element-wise(.*)"
-      CollapseMode	      "All dimensions"
-      CollapseDim	      "1"
-      InputSameDT	      on
-      OutMin		      "[]"
-      OutMax		      "[]"
-      OutDataTypeStr	      "Inherit: Same as first input"
-      LockScale		      off
-      RndMeth		      "Zero"
-      SaturateOnIntegerOverflow	on
-      SampleTime	      "-1"
-    }
-    Block {
-      BlockType		      S-Function
-      FunctionName	      "system"
-      SFunctionModules	      "''"
-      PortCounts	      "[]"
-    }
-    Block {
-      BlockType		      SubSystem
-      ShowPortLabels	      "FromPortIcon"
-      Permissions	      "ReadWrite"
-      PermitHierarchicalResolution "All"
-      TreatAsAtomicUnit	      off
-      SystemSampleTime	      "-1"
-      RTWFcnNameOpts	      "Auto"
-      RTWFileNameOpts	      "Auto"
-      RTWMemSecFuncInitTerm   "Inherit from model"
-      RTWMemSecFuncExecute    "Inherit from model"
-      RTWMemSecDataConstants  "Inherit from model"
-      RTWMemSecDataInternal   "Inherit from model"
-      RTWMemSecDataParameters "Inherit from model"
-      SimViewingDevice	      off
-      DataTypeOverride	      "UseLocalSettings"
-      DataTypeOverrideAppliesTo	"AllNumericTypes"
-      MinMaxOverflowLogging   "UseLocalSettings"
-      SFBlockType	      "NONE"
-      GeneratePreprocessorConditionals off
-      PropagateVariantConditions off
-      TreatAsGroupedWhenPropagatingVariantConditions on
-    }
-    Block {
-      BlockType		      Sum
-      IconShape		      "rectangular"
-      Inputs		      "++"
-      CollapseMode	      "All dimensions"
-      CollapseDim	      "1"
-      InputSameDT	      on
-      AccumDataTypeStr	      "Inherit: Inherit via internal rule"
-      OutMin		      "[]"
-      OutMax		      "[]"
-      OutDataTypeStr	      "Inherit: Same as first input"
-      LockScale		      off
-      RndMeth		      "Floor"
-      SaturateOnIntegerOverflow	on
-      SampleTime	      "-1"
-    }
-    Block {
-      BlockType		      Terminator
-    }
-  }
-  System {
-    Name		    "WBToolboxLibrary"
-    Location		    [747, 53, 2027, 774]
-    Open		    off
-    ModelBrowserVisibility  off
-    ModelBrowserWidth	    200
-    ScreenColor		    "black"
-    PaperOrientation	    "landscape"
-    PaperPositionMode	    "auto"
-    PaperType		    "usletter"
-    PaperUnits		    "inches"
-    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-    TiledPageScale	    1
-    ShowPageBoundaries	    off
-    ZoomFactor		    "273"
-    ReportName		    "simulink-default.rpt"
-    SIDHighWatermark	    "1773"
-    Block {
-      BlockType		      SubSystem
-      Name		      "Utilities"
-      SID		      "192"
-      Ports		      []
-      Position		      [364, 17, 462, 114]
-      ZOrder		      -1
-      ForegroundColor	      "white"
-      DropShadow	      on
-      RequestExecContextInheritance off
-      Variant		      off
-      MaskDisplay	      "image(imread('utilities.png'))"
-      MaskIconFrame	      on
-      MaskIconOpaque	      on
-      MaskIconRotate	      "none"
-      MaskPortRotate	      "default"
-      MaskIconUnits	      "autoscale"
-      System {
-	Name			"Utilities"
-	Location		[551, 44, 1831, 765]
-	Open			off
-	ModelBrowserVisibility	off
-	ModelBrowserWidth	200
-	ScreenColor		"white"
-	PaperOrientation	"landscape"
-	PaperPositionMode	"auto"
-	PaperType		"usletter"
-	PaperUnits		"inches"
-	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-	TiledPageScale		1
-	ShowPageBoundaries	off
-	ZoomFactor		"166"
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "DampPinv"
-	  SID			  "104"
-	  Ports			  [2, 1]
-	  Position		  [435, 153, 505, 197]
-	  ZOrder		  -1
-	  BackgroundColor	  "[0.848000, 0.128048, 0.320035]"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskPromptString	  "Tolerance"
-	  MaskStyleString	  "edit"
-	  MaskVariables		  "tol=@1;"
-	  MaskTunableValueString  "on"
-	  MaskEnableString	  "on"
-	  MaskVisibilityString	  "on"
-	  MaskToolTipString	  "on"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "1e-4"
-	  System {
-	    Name		    "DampPinv"
-	    Location		    [0, 29, 1280, 744]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "100"
-	    Block {
-	      BlockType		      Inport
-	      Name		      "mat"
-	      SID		      "105"
-	      Position		      [50, 53, 80, 67]
-	      ZOrder		      -1
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Inport
-	      Name		      "sigma"
-	      SID		      "106"
-	      Position		      [50, 93, 80, 107]
-	      ZOrder		      -2
-	      Port		      "2"
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Damped Pseudo Inverse"
-	      SID		      "107"
-	      Ports		      [2, 1]
-	      Position		      [105, 39, 200, 121]
-	      ZOrder		      -4
-	      LibraryVersion	      "1.32"
-	      ErrorFcn		      "Stateflow.Translate.translate"
-	      PermitHierarchicalResolution "ParametersOnly"
-	      TreatAsAtomicUnit	      on
-	      RequestExecContextInheritance off
-	      SFBlockType	      "MATLAB Function"
-	      Variant		      off
-	      MaskType		      "Stateflow"
-	      MaskDescription	      "Embedded MATLAB block"
-	      MaskSelfModifiable      on
-	      MaskDisplay	      "bgColor = Simulink.Root.ColorString2Rgb(get_param(gcbh, 'BackgroundColor')); image(imread('p"
-	      "rivate/eml_membrane_16.png','png','BackgroundColor',bgColor(1:3)),'center'); disp([10 10 'fcn']);"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      off
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "normalized"
-	      System {
-		Name			"Damped Pseudo Inverse"
-		Location		[12, 45, 1279, 3773]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"100"
-		SIDHighWatermark	"1773"
-		Block {
-		  BlockType		  Inport
-		  Name			  "mat"
-		  SID			  "107::1"
-		  Position		  [20, 101, 40, 119]
-		  ZOrder		  -1
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "sigma"
-		  SID			  "107::25"
-		  Position		  [20, 136, 40, 154]
-		  ZOrder		  11
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Demux
-		  Name			  " Demux "
-		  SID			  "107::1618"
-		  Ports			  [1, 1]
-		  Position		  [270, 230, 320, 270]
-		  ZOrder		  98
-		  Outputs		  "1"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  " SFunction "
-		  SID			  "107::1617"
-		  Tag			  "Stateflow S-Function WBToolboxLibrary 6"
-		  Ports			  [2, 2]
-		  Position		  [180, 100, 230, 160]
-		  ZOrder		  97
-		  FunctionName		  "sf_sfun"
-		  PortCounts		  "[2 2]"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		  Port {
-		    PortNumber		    2
-		    Name		    "DPinv"
-		    RTWStorageClass	    "Auto"
-		    DataLoggingNameMode	    "SignalName"
-		  }
-		}
-		Block {
-		  BlockType		  Terminator
-		  Name			  " Terminator "
-		  SID			  "107::1619"
-		  Position		  [460, 241, 480, 259]
-		  ZOrder		  99
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "DPinv"
-		  SID			  "107::5"
-		  Position		  [460, 101, 480, 119]
-		  ZOrder		  -6
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "mat"
-		  SrcPort		  1
-		  Points		  [120, 0]
-		  DstBlock		  " SFunction "
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "sigma"
-		  SrcPort		  1
-		  DstBlock		  " SFunction "
-		  DstPort		  2
-		}
-		Line {
-		  Name			  "DPinv"
-		  Labels		  [0, 0]
-		  SrcBlock		  " SFunction "
-		  SrcPort		  2
-		  DstBlock		  "DPinv"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  " Demux "
-		  SrcPort		  1
-		  DstBlock		  " Terminator "
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  " SFunction "
-		  SrcPort		  1
-		  DstBlock		  " Demux "
-		  DstPort		  1
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "DPinv"
-	      SID		      "108"
-	      Position		      [225, 73, 255, 87]
-	      ZOrder		      -5
-	      IconDisplay	      "Port number"
-	    }
-	    Line {
-	      SrcBlock		      "sigma"
-	      SrcPort		      1
-	      DstBlock		      "Damped Pseudo Inverse"
-	      DstPort		      2
-	    }
-	    Line {
-	      SrcBlock		      "Damped Pseudo Inverse"
-	      SrcPort		      1
-	      DstBlock		      "DPinv"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "mat"
-	      SrcPort		      1
-	      DstBlock		      "Damped Pseudo Inverse"
-	      DstPort		      1
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "DoFs converter"
-	  SID			  "1771"
-	  Ports			  [1, 5]
-	  Position		  [240, 241, 385, 309]
-	  ZOrder		  81
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend\n"
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'YARPWBIConverter',robotName,localName,wbiFile,wbiList,yarp2WBIOption"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "DoFs converter"
-	  MaskDescription	  "This block converts from a DoFs serialization to a YARP serialization or viceversa depending on "
-	  "its configuration.\nThe DoFs configuration is automatically currently taken from the WBI list option.\nThe robot na"
-	  "me is taken from the environment variable YARP_ROBOT_NAME.\n\nParameters:\n\n- Conversion direction: specify if you"
-	  " want to convert from YARP to the current DoFs serialization or viceversa.\n\nWBI parameters:\n\n- Robot Port Name:"
-	  " Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name s"
-	  "pecified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the por"
-	  "ts opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of"
-	  " the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	  MaskPromptString	  "Conversion Direction|Robot Port Name|Model Name|WBI filename|WBI list name"
-	  MaskStyleString	  "popup(From YARP to WBI|From WBI to YARP),edit,edit,edit,edit"
-	  MaskVariables		  "yarp2WBIOption=@1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
-	  MaskTunableValueString  "on,on,on,on,on"
-	  MaskCallbackString	  "||||"
-	  MaskEnableString	  "on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on"
-	  MaskToolTipString	  "on,on,on,on,on"
-	  MaskDisplay		  "robotName = getenv('YARP_ROBOT_NAME');\n\ncurrentSelection = get_param(gcb,'yarp2WBIoption');\n\nif"
-	  " strcmp(currentSelection,'From YARP to WBI')\n    direction = 'YARP -> DoFs';\nelse\n    direction = 'DoFs -> YARP'"
-	  ";\nend\n\nfprintf('%s\\n\\n%s', robotName, direction);"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "From YARP to WBI|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	  MaskTabNameString	  "Block Parameters,WBI Parameters,WBI Parameters,WBI Parameters,WBI Parameters"
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "Minimum Jerk Trajectory Generator"
-	  SID			  "1747"
-	  Ports			  [1, 3]
-	  Position		  [450, 73, 605, 127]
-	  ZOrder		  78
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'MinimumJerkTrajectoryGenerator',sampleTime, settlingTime, firstDerivatives, secondDerivatives, expl"
-	  "icitInitialValue, externalSettlingTime,resetOnSettlingTime"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "Minimum Jerk Trajectory Generator"
-	  MaskDescription	  "This block wraps the minJerkTrajGen class from iCub::ctrl::minJerkTrajGen.\n\nThe Minimum Jerk T"
-	  "rajectory Generator is approximated using a \n3rd order LTI dynamical system \n(for more details see [1]). \nPositi"
-	  "on, velocity and acceleration trajectories are computed.\n The main advantage with respect to the standard polynomi"
-	  "al \nform is that if the reference value yd changes \nthere is no need to recompute the filter coefficients.\n\n[1]"
-	  " Pattacini, U.; Nori, F.; Natale, L.; Metta, G.; Sandini, G., \"An experimental evaluation of a novel minimum-jerk "
-	  "cartesian controller for humanoid robots,\" in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International C"
-	  "onference on , vol., no., pp.1668-1674, 18-22 Oct. 2010\ndoi: 10.1109/IROS.2010.5650851\nURL: http://ieeexplore.iee"
-	  "e.org/stamp/stamp.jsp?tp=&arnumber=5650851&isnumber=5648787"
-	  MaskPromptString	  "External Settling Time|Settling Time|Sample Time|Reset on Settling Time Changes|Output First De"
-	  "rivative|Output Second Derivative|Explicit Initial Value"
-	  MaskStyleString	  "checkbox,edit,edit,checkbox,checkbox,checkbox,checkbox"
-	  MaskVariables		  "externalSettlingTime=@1;settlingTime=@2;sampleTime=@3;resetOnSettlingTime=@4;firstDerivatives=@5;"
-	  "secondDerivatives=@6;explicitInitialValue=@7;"
-	  MaskTunableValueString  "on,on,on,on,on,on,on"
-	  MaskCallbackString	  "externalSettlingTime = get_param(gcb, 'externalSettlingTime');\nvisibility = get_param(gcb, '"
-	  "MaskVisibilities');\nif(strcmp(externalSettlingTime, 'on'))\n    visibility{2} = 'off';\n    visibility{4} = 'on';\n"
-	  "else\n    visibility{2} = 'on';\n    visibility{4} = 'off';\nend\nset_param(gcb, 'MaskVisibilities',visibility);\nc"
-	  "lear externalSettlingTime||||||"
-	  MaskEnableString	  "on,on,on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on,on,off"
-	  MaskToolTipString	  "on,on,on,on,on,on,on"
-	  MaskDisplay		  "firstDer = get_param(gcb, 'firstDerivatives');\nsecondDer = get_param(gcb, 'secondDerivatives');\ni"
-	  "nitialValues = get_param(gcb, 'explicitInitialValue');\nexternalSettlingTimeParam = get_param(gcb, 'externalSettlin"
-	  "gTime');\n\n%Inputs\nportIndex = 2;\nport_label('input', 1, 'Reference')\nif(strcmp(initialValues, 'on'))\n    port"
-	  "_label('input', portIndex, 'Initial Value')\n    portIndex = portIndex + 1;\nend\n\nif(strcmp(externalSettlingTimeP"
-	  "aram, 'on'))\n    port_label('input', portIndex, 'Settling Time')\n    portIndex = portIndex + 1;\nend\n\n%Outputs\n"
-	  "port_label('output', 1, 'Signal')\nsecondDerPortIndex = 2;\nif(strcmp(firstDer, 'on'))\n    port_label('output', 2,"
-	  " 'First Derivative')\n    secondDerPortIndex = secondDerPortIndex + 1;\nend\nif(strcmp(secondDer, 'on'))\n    port_"
-	  "label('output', secondDerPortIndex, 'Second Derivative')\nend\n\n\n"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "off|3|0.01|off|on|on|off"
-	  MaskTabNameString	  "Trajectory Parameters,Trajectory Parameters,Trajectory Parameters,Trajectory Parameters,Input/"
-	  "Output,Input/Output,Input/Output"
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "Real Time Synchronizer"
-	  SID			  "1657"
-	  Ports			  []
-	  Position		  [155, 14, 280, 51]
-	  ZOrder		  23
-	  ForegroundColor	  "white"
-	  BackgroundColor	  "gray"
-	  ShowName		  off
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'RealTimeSynchronizer',period"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "Real Time Synchronizer"
-	  MaskDescription	  "This block slows down the simulation trying to match the period specified \nas parameter (in sec"
-	  "onds).\nThe bigger the period the more probable \nis that Simulink can remain synched with it.\n"
-	  MaskPromptString	  "Controller Period (in seconds)"
-	  MaskStyleString	  "edit"
-	  MaskVariables		  "period=@1;"
-	  MaskTunableValueString  "on"
-	  MaskEnableString	  "on"
-	  MaskVisibilityString	  "on"
-	  MaskToolTipString	  "on"
-	  MaskDisplay		  "disp('Real Time Synchronizer')"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "0.01"
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "Simulator Synchronizer"
-	  SID			  "1658"
-	  Ports			  []
-	  Position		  [335, 14, 465, 51]
-	  ZOrder		  24
-	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
-	  ShowName		  off
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'SimulatorSynchronizer',period, serverPortName, clientPortName"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "Simulator Synchronizer"
-	  MaskDescription	  "This block synchronizes with the external simulation on a simulator \n(only Gazebo is supported "
-	  "at the moment).\n\n"
-	  MaskPromptString	  "Controller Period (in seconds)|Server Port Name|Client Port Name"
-	  MaskStyleString	  "edit,edit,edit"
-	  MaskVariables		  "period=@1;serverPortName=@2;clientPortName=@3;"
-	  MaskTunableValueString  "on,on,on"
-	  MaskCallbackString	  "||"
-	  MaskEnableString	  "on,on,on"
-	  MaskVisibilityString	  "on,on,on"
-	  MaskToolTipString	  "on,on,on"
-	  MaskDisplay		  "disp('Simulator Synchronizer')"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "0.01|'/clock/rpc'|'/WBT_synchronizer/rpc:o'"
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "TruncPinv"
-	  SID			  "109"
-	  Ports			  [2, 1]
-	  Position		  [335, 153, 405, 197]
-	  ZOrder		  -3
-	  BackgroundColor	  "[0.534601, 0.470279, 1.000000]"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskPromptString	  "Tolerance"
-	  MaskStyleString	  "edit"
-	  MaskVariables		  "tol=@1;"
-	  MaskTunableValueString  "on"
-	  MaskEnableString	  "on"
-	  MaskVisibilityString	  "on"
-	  MaskToolTipString	  "on"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "1e-4"
-	  System {
-	    Name		    "TruncPinv"
-	    Location		    [0, 29, 1280, 744]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "100"
-	    Block {
-	      BlockType		      Inport
-	      Name		      "S"
-	      SID		      "110"
-	      Position		      [50, 53, 80, 67]
-	      ZOrder		      -1
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Inport
-	      Name		      "tol"
-	      SID		      "111"
-	      Position		      [50, 93, 80, 107]
-	      ZOrder		      -2
-	      Port		      "2"
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Truncated PseudoInverse"
-	      SID		      "112"
-	      Ports		      [2, 1]
-	      Position		      [105, 39, 200, 121]
-	      ZOrder		      -4
-	      LibraryVersion	      "1.32"
-	      ErrorFcn		      "Stateflow.Translate.translate"
-	      PermitHierarchicalResolution "ParametersOnly"
-	      TreatAsAtomicUnit	      on
-	      RequestExecContextInheritance off
-	      SFBlockType	      "MATLAB Function"
-	      Variant		      off
-	      MaskType		      "Stateflow"
-	      MaskDescription	      "Embedded MATLAB block"
-	      MaskSelfModifiable      on
-	      MaskDisplay	      "bgColor = Simulink.Root.ColorString2Rgb(get_param(gcbh, 'BackgroundColor')); image(imread('p"
-	      "rivate/eml_membrane_16.png','png','BackgroundColor',bgColor(1:3)),'center'); disp([10 10 'fcn']);"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      off
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "normalized"
-	      System {
-		Name			"Truncated PseudoInverse"
-		Location		[12, 45, 1279, 3773]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"100"
-		SIDHighWatermark	"1773"
-		Block {
-		  BlockType		  Inport
-		  Name			  "mat"
-		  SID			  "112::1"
-		  Position		  [20, 101, 40, 119]
-		  ZOrder		  -1
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "tol"
-		  SID			  "112::25"
-		  Position		  [20, 136, 40, 154]
-		  ZOrder		  11
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Demux
-		  Name			  " Demux "
-		  SID			  "112::1609"
-		  Ports			  [1, 1]
-		  Position		  [270, 230, 320, 270]
-		  ZOrder		  98
-		  Outputs		  "1"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  " SFunction "
-		  SID			  "112::1608"
-		  Tag			  "Stateflow S-Function WBToolboxLibrary 7"
-		  Ports			  [2, 2]
-		  Position		  [180, 100, 230, 160]
-		  ZOrder		  97
-		  FunctionName		  "sf_sfun"
-		  PortCounts		  "[2 2]"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		  Port {
-		    PortNumber		    2
-		    Name		    "TPinv"
-		    RTWStorageClass	    "Auto"
-		    DataLoggingNameMode	    "SignalName"
-		  }
-		}
-		Block {
-		  BlockType		  Terminator
-		  Name			  " Terminator "
-		  SID			  "112::1610"
-		  Position		  [460, 241, 480, 259]
-		  ZOrder		  99
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "TPinv"
-		  SID			  "112::5"
-		  Position		  [460, 101, 480, 119]
-		  ZOrder		  -6
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "mat"
-		  SrcPort		  1
-		  Points		  [120, 0]
-		  DstBlock		  " SFunction "
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "tol"
-		  SrcPort		  1
-		  DstBlock		  " SFunction "
-		  DstPort		  2
-		}
-		Line {
-		  Name			  "TPinv"
-		  Labels		  [0, 0]
-		  SrcBlock		  " SFunction "
-		  SrcPort		  2
-		  DstBlock		  "TPinv"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  " Demux "
-		  SrcPort		  1
-		  DstBlock		  " Terminator "
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  " SFunction "
-		  SrcPort		  1
-		  DstBlock		  " Demux "
-		  DstPort		  1
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "Tpinv"
-	      SID		      "113"
-	      Position		      [225, 73, 255, 87]
-	      ZOrder		      -5
-	      IconDisplay	      "Port number"
-	    }
-	    Line {
-	      SrcBlock		      "S"
-	      SrcPort		      1
-	      DstBlock		      "Truncated PseudoInverse"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "Truncated PseudoInverse"
-	      SrcPort		      1
-	      DstBlock		      "Tpinv"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "tol"
-	      SrcPort		      1
-	      DstBlock		      "Truncated PseudoInverse"
-	      DstPort		      2
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "Yarp Clock"
-	  SID			  "1773"
-	  Ports			  [0, 1]
-	  Position		  [335, 76, 405, 124]
-	  ZOrder		  85
-	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'YarpClock'"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "YARP Clock"
-	  MaskDescription	  "This block outputs the current YARP Time\nIn a nutshell, this block outputs the equivalent of th"
-	  "e C++ function call\nyarp::os::Time::now()"
-	  MaskSelfModifiable	  on
-	  MaskDisplay		  "disp('YARP Time')\n"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "Yarp Read"
-	  SID			  "1632"
-	  Ports			  [0, 2]
-	  Position		  [105, 74, 165, 121]
-	  ZOrder		  22
-	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'YarpRead',portName,signalSize,blocking,timestamp,autoconnect,errorOnConnection"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "YARP Read"
-	  MaskDescription	  "This block behaves as the command 'yarp read'. \nBy default it has the option 'Autoconnect' acti"
-	  "ve, which means that the user \ncan only specify the name of the port ('Source Port Name') from which readings are "
-	  "desired,\nalong with the size of the expected data (e.g. 3 when reading the torso state).\nWhen the user unchecks '"
-	  "Autoconnect' 'Opened Port Name' field shows up \ncorresponding to the name of the port the block will create \nbut "
-	  "won't connect to anything. \nAt this point the output will be always zero, until the user connects it\nto some othe"
-	  "r port from command line by issuing 'yarp connect [from] [dest]'.\nIn this case an additional output, called 'signa"
-	  "l' will be added which will output\n1 if the port has received at least one data, or 0 otherwise.\n"
-	  MaskPromptString	  "Source Port Name|Port Size|Blocking Read|Read Timestamp|Autoconnect|Error on missing connection"
-	  MaskStyleString	  "edit,edit,checkbox,checkbox,checkbox,checkbox"
-	  MaskVariables		  "portName=@1;signalSize=@2;blocking=@3;timestamp=@4;autoconnect=@5;errorOnConnection=@6;"
-	  MaskTunableValueString  "on,on,on,on,on,on"
-	  MaskCallbackString	  "||||autoconnect_val = get_param(gcb, 'Autoconnect');\nprompt_string = get_param(gcb, 'MaskPro"
-	  "mpts');\nif(strcmp(autoconnect_val, 'on'))\n    prompt_string{1} = 'Source Port Name';\n    set_param(gcb, 'MaskVis"
-	  "ibilities',{'on';'on';'on';'on';'on';'on'});\nelse\n    prompt_string{1} = 'Opened Port Name';\n    set_param(gcb, "
-	  "'MaskVisibilities',{'on';'on';'on';'on';'on';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear au"
-	  "toconnect_val prompt_string|"
-	  MaskEnableString	  "on,on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on,on"
-	  MaskToolTipString	  "on,on,on,on,on,on"
-	  MaskSelfModifiable	  on
-	  MaskDisplay		  "port_label('output', 1, 'signal');\nportNumber = 1;\nif (timestamp)\n    portNumber = portNumber + "
-	  "1;\n    port_label('output', portNumber, 'timestamp');\nend\n\nif (~autoconnect)\n    portNumber = portNumber + 1;\n"
-	  "    port_label('output', portNumber, 'status');\nend\n\n"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "'/portname'|1|off|on|on|on"
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "Yarp Write"
-	  SID			  "1659"
-	  Ports			  [1]
-	  Position		  [230, 76, 290, 124]
-	  ZOrder		  27
-	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'YarpWrite',portName,autoconnect,errorOnConnection"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "YARP Write"
-	  MaskDescription	  "This block behaves as the command 'yarp write'. \n\nBy default this block opens a port names as "
-	  "the \"Opened Port Name\" parameter\nand stream the input signal to that port.\nIf the option \"Autoconnect\" is spe"
-	  "cified, the first parameter become the\nname of the target port to which the data will be stramed, \ne.g. like \"ya"
-	  "rp write ... /destinationPort\"\n"
-	  MaskPromptString	  "Opened Port Name|Autoconnect|Error on missing connection"
-	  MaskStyleString	  "edit,checkbox,checkbox"
-	  MaskVariables		  "portName=@1;autoconnect=@2;errorOnConnection=@3;"
-	  MaskTunableValueString  "on,on,on"
-	  MaskCallbackString	  "|autoconnect_val = get_param(gcb, 'Autoconnect');\nprompt_string = get_param(gcb, 'MaskPrompt"
-	  "s');\nif(strcmp(autoconnect_val, 'on'))\n    prompt_string{1} = 'Destination Port Name';\n    set_param(gcb, 'MaskV"
-	  "isibilities',{'on';'on';'on'});\nelse\n    prompt_string{1} = 'Opened Port Name';\n    set_param(gcb, 'MaskVisibili"
-	  "ties',{'on';'on';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val prompt_string|"
-	  MaskEnableString	  "on,on,on"
-	  MaskVisibilityString	  "on,on,off"
-	  MaskToolTipString	  "on,on,on"
-	  MaskSelfModifiable	  on
-	  MaskDisplay		  "disp('Yarp Write')"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "'/portname'|off|on"
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "errors"
-	  SID			  "714"
-	  Ports			  [2, 2]
-	  Position		  [200, 153, 260, 197]
-	  ZOrder		  -9
-	  BackgroundColor	  "[0.300000, 0.580000, 1.000000]"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskType		  "Errors"
-	  MaskDescription	  "Computes two kinds of errors. The first is just the difference between x\nand y while the second"
-	  " is the ratio (x-y)/y."
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  System {
-	    Name		    "errors"
-	    Location		    [0, 29, 1280, 744]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "100"
-	    Block {
-	      BlockType		      Inport
-	      Name		      "x"
-	      SID		      "715"
-	      Position		      [30, 28, 60, 42]
-	      ZOrder		      -1
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Inport
-	      Name		      "y"
-	      SID		      "716"
-	      Position		      [25, 103, 55, 117]
-	      ZOrder		      -2
-	      Port		      "2"
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Sum
-	      Name		      "Add"
-	      SID		      "717"
-	      Ports		      [2, 1]
-	      Position		      [95, 27, 125, 58]
-	      ZOrder		      -3
-	      Inputs		      "+-"
-	      InputSameDT	      off
-	      OutDataTypeStr	      "Inherit: Inherit via internal rule"
-	      SaturateOnIntegerOverflow	off
-	    }
-	    Block {
-	      BlockType		      Product
-	      Name		      "Divide"
-	      SID		      "718"
-	      Ports		      [2, 1]
-	      Position		      [165, 37, 195, 68]
-	      ZOrder		      -4
-	      Inputs		      "*/"
-	      InputSameDT	      off
-	      OutDataTypeStr	      "Inherit: Inherit via internal rule"
-	      RndMeth		      "Floor"
-	      SaturateOnIntegerOverflow	off
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "x-y"
-	      SID		      "719"
-	      Position		      [225, 13, 255, 27]
-	      ZOrder		      -5
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "(x-y)./y"
-	      SID		      "720"
-	      Position		      [220, 48, 250, 62]
-	      ZOrder		      -6
-	      Port		      "2"
-	      IconDisplay	      "Port number"
-	    }
-	    Line {
-	      SrcBlock		      "Add"
-	      SrcPort		      1
-	      Points		      [10, 0]
-	      Branch {
-		DstBlock		"Divide"
-		DstPort			1
-	      }
-	      Branch {
-		Points			[0, -25]
-		DstBlock		"x-y"
-		DstPort			1
-	      }
-	    }
-	    Line {
-	      SrcBlock		      "x"
-	      SrcPort		      1
-	      DstBlock		      "Add"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "y"
-	      SrcPort		      1
-	      Points		      [15, 0]
-	      Branch {
-		Points			[0, -60]
-		DstBlock		"Add"
-		DstPort			2
-	      }
-	      Branch {
-		Points			[60, 0; 0, -50]
-		DstBlock		"Divide"
-		DstPort			2
-	      }
-	    }
-	    Line {
-	      SrcBlock		      "Divide"
-	      SrcPort		      1
-	      DstBlock		      "(x-y)./y"
-	      DstPort		      1
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "holder\n"
-	  SID			  "1296"
-	  Ports			  [1, 1]
-	  Position		  [105, 152, 165, 198]
-	  ZOrder		  14
-	  BackgroundColor	  "[0.537255, 0.721569, 1.000000]"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskType		  "Holder"
-	  MaskDescription	  "This block holds the first input value during the simulation."
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  System {
-	    Name		    "holder\n"
-	    Location		    [12, 45, 1340, 980]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "100"
-	    Block {
-	      BlockType		      Inport
-	      Name		      "s"
-	      SID		      "1297"
-	      Position		      [145, 43, 175, 57]
-	      ZOrder		      13
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Clock
-	      Name		      "Clock"
-	      SID		      "1298"
-	      Position		      [45, 65, 65, 85]
-	      ZOrder		      11
-	    }
-	    Block {
-	      BlockType		      Reference
-	      Name		      "Compare\nTo Constant"
-	      SID		      "1299"
-	      Ports		      [1, 1]
-	      Position		      [90, 60, 120, 90]
-	      ZOrder		      10
-	      LibraryVersion	      "1.388"
-	      SourceBlock	      "simulink/Logic and Bit\nOperations/Compare\nTo Constant"
-	      SourceType	      "Compare To Constant"
-	      relop		      "=="
-	      const		      "0"
-	      OutDataTypeStr	      "boolean"
-	      ZeroCross		      on
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "MATLAB Function"
-	      SID		      "1300"
-	      Ports		      [2, 1]
-	      Position		      [235, 37, 305, 88]
-	      ZOrder		      15
-	      LibraryVersion	      "1.32"
-	      ErrorFcn		      "Stateflow.Translate.translate"
-	      PermitHierarchicalResolution "ParametersOnly"
-	      TreatAsAtomicUnit	      on
-	      RequestExecContextInheritance off
-	      SFBlockType	      "MATLAB Function"
-	      Variant		      off
-	      MaskType		      "Stateflow"
-	      MaskDescription	      "Embedded MATLAB block"
-	      MaskSelfModifiable      on
-	      MaskDisplay	      "bgColor = Simulink.Root.ColorString2Rgb(get_param(gcbh, 'BackgroundColor')); image(imread('p"
-	      "rivate/eml_membrane_16.png','png','BackgroundColor',bgColor(1:3)),'center'); disp([10 10 'fcn']);"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      off
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "normalized"
-	      System {
-		Name			"MATLAB Function"
-		Location		[12, 45, 1135, 3068]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"100"
-		SIDHighWatermark	"1773"
-		Block {
-		  BlockType		  Inport
-		  Name			  "s"
-		  SID			  "1300::24"
-		  Position		  [20, 101, 40, 119]
-		  ZOrder		  10
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "unused"
-		  SID			  "1300::26"
-		  Position		  [20, 136, 40, 154]
-		  ZOrder		  12
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Demux
-		  Name			  " Demux "
-		  SID			  "1300::1609"
-		  Ports			  [1, 1]
-		  Position		  [270, 230, 320, 270]
-		  ZOrder		  86
-		  Outputs		  "1"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  " SFunction "
-		  SID			  "1300::1608"
-		  Tag			  "Stateflow S-Function WBToolboxLibrary 1"
-		  Ports			  [2, 2]
-		  Position		  [180, 100, 230, 160]
-		  ZOrder		  85
-		  FunctionName		  "sf_sfun"
-		  PortCounts		  "[2 2]"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		  Port {
-		    PortNumber		    2
-		    Name		    "s0"
-		    RTWStorageClass	    "Auto"
-		    DataLoggingNameMode	    "SignalName"
-		  }
-		}
-		Block {
-		  BlockType		  Terminator
-		  Name			  " Terminator "
-		  SID			  "1300::1610"
-		  Position		  [460, 241, 480, 259]
-		  ZOrder		  87
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "s0"
-		  SID			  "1300::25"
-		  Position		  [460, 101, 480, 119]
-		  ZOrder		  11
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "s"
-		  SrcPort		  1
-		  Points		  [120, 0]
-		  DstBlock		  " SFunction "
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "unused"
-		  SrcPort		  1
-		  DstBlock		  " SFunction "
-		  DstPort		  2
-		}
-		Line {
-		  Name			  "s0"
-		  Labels		  [0, 0]
-		  SrcBlock		  " SFunction "
-		  SrcPort		  2
-		  DstBlock		  "s0"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  " Demux "
-		  SrcPort		  1
-		  DstBlock		  " Terminator "
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  " SFunction "
-		  SrcPort		  1
-		  DstBlock		  " Demux "
-		  DstPort		  1
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "s(0)"
-	      SID		      "1301"
-	      Position		      [330, 58, 360, 72]
-	      ZOrder		      14
-	      IconDisplay	      "Port number"
-	    }
-	    Line {
-	      SrcBlock		      "Clock"
-	      SrcPort		      1
-	      DstBlock		      "Compare\nTo Constant"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "MATLAB Function"
-	      SrcPort		      1
-	      DstBlock		      "s(0)"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "s"
-	      SrcPort		      1
-	      DstBlock		      "MATLAB Function"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "Compare\nTo Constant"
-	      SrcPort		      1
-	      DstBlock		      "MATLAB Function"
-	      DstPort		      2
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-      }
-      RTWSystemCode	      "Auto"
-      MinAlgLoopOccurrences   off
-      PropExecContextOutsideSubsystem off
-      FunctionWithSeparateData off
-      Opaque		      off
-      MaskHideContents	      off
-    }
-    Block {
-      BlockType		      SubSystem
-      Name		      "wholeBodyActuators"
-      SID		      "224"
-      Ports		      []
-      Position		      [250, 16, 348, 113]
-      ZOrder		      -17
-      ForegroundColor	      "white"
-      DropShadow	      on
-      RequestExecContextInheritance off
-      Variant		      off
-      MaskDisplay	      "image(imread('wholeBodyActuators.png'),'center')"
-      MaskIconFrame	      on
-      MaskIconOpaque	      on
-      MaskIconRotate	      "none"
-      MaskPortRotate	      "default"
-      MaskIconUnits	      "autoscale"
-      System {
-	Name			"wholeBodyActuators"
-	Location		[425, 373, 1725, 1134]
-	Open			off
-	ModelBrowserVisibility	off
-	ModelBrowserWidth	200
-	ScreenColor		"white"
-	PaperOrientation	"landscape"
-	PaperPositionMode	"auto"
-	PaperType		"usletter"
-	PaperUnits		"inches"
-	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-	TiledPageScale		1
-	ShowPageBoundaries	off
-	ZoomFactor		"667"
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Set LowLevel PIDs"
-	  SID			  "1752"
-	  Ports			  []
-	  Position		  [745, 230, 820, 280]
-	  ZOrder		  41
-	  BackgroundColor	  "[0.827500, 0.576500, 0.603900]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskType		  "Set Low Level PIDs"
-	  MaskDescription	  "This block sets the low level PID values for the robot actuators.\n\nIf only one gain file is sp"
-	  "ecified, those gains are loaded at startup.\nOtherwise an additional port to this block is added which accept an in"
-	  "teger\nrepresenting the index in the list of gains to be loaded (also at runtime)\n\nAssuming DoFs is the number of"
-	  " degrees of freedom of the robot,\nParameters:\n- PID Parameter: String specifying either a file containing the PID"
-	  "s for the\n                 low level control, or a list of files (in yarp Bottle format).\n\n- Robot Port Name: Na"
-	  "me of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name spec"
-	  "ified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports "
-	  "opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of th"
-	  "e Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	  MaskPromptString	  "PID parameter|PID Type|Robot Port Name|Model Name|WBI filename|WBI list name"
-	  MaskStyleString	  "edit,popup(Position|Torque),edit,edit,edit,edit"
-	  MaskVariables		  "pidParameters=@1;pidType=&2;robotName=@3;localName=@4;wbiFile=@5;wbiList=@6;"
-	  MaskTunableValueString  "off,on,off,off,off,off"
-	  MaskCallbackString	  "|% Get the mask parameter values. This is a cell\n%   array of strings.\nmaskStr = get_param("
-	  "gcb,'pidType');\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0"
-	  "]');\nelseif strcmp(maskStr, 'Position Direct')\n    set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0"
-	  "]');\nelseif strcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\ne"
-	  "lseif strcmp(maskStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear"
-	  "  maskStr||||"
-	  MaskEnableString	  "on,on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on,on"
-	  MaskToolTipString	  "on,on,on,on,on,on"
-	  MaskDisplay		  "pidType = get_param(gcb,'pidType');\ndescription = sprintf('Set Low Level\\n%s PIDs', pidType);\ndi"
-	  "sp(description);\n"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "''|Torque|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	  MaskTabNameString	  "Block parameters,Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
-	  System {
-	    Name		    "Set LowLevel PIDs"
-	    Location		    [0, 29, 1280, 744]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "1000"
-	    Block {
-	      BlockType		      S-Function
-	      Name		      "S-Function"
-	      SID		      "1753"
-	      Ports		      []
-	      Position		      [125, 39, 185, 71]
-	      ZOrder		      19
-	      FunctionName	      "WBToolbox"
-	      Parameters	      "'SetLowLevelPID',robotName,localName,wbiFile,wbiList,pidParameters,pidType"
-	      SFunctionDeploymentMode off
-	      EnableBusSupport	      off
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Set References"
-	  SID			  "1767"
-	  Ports			  [1]
-	  Position		  [645, 230, 720, 280]
-	  ZOrder		  43
-	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskType		  "Set References"
-	  MaskDescription	  "This block sets the references for the robot actuators.\nThe type of control mode is specified a"
-	  "s a parameter in the block.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Reference"
-	  "s: Vector of size DoFs, representing the references to be sent \n                to the robot controlled joints.\n\n"
-	  "Parameters:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the p"
-	  "orts opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in th"
-	  "e \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by t"
-	  "he underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Bod"
-	  "y Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	  MaskPromptString	  "Control Mode|Control Type|Controlled Joint List|Robot Port Name|Model Name|WBI filename|WBI lis"
-	  "t name"
-	  MaskStyleString	  "popup(Position|Position Direct|Velocity|Torque|Open Loop),popup(Full|Sublist),edit,edit,edit,edi"
-	  "t,edit"
-	  MaskVariables		  "controlType=&1;fullOrSubControl=@2;controlledJoints=@3;robotName=@4;localName=@5;wbiFile=@6;wbiLi"
-	  "st=@7;"
-	  MaskTunableValueString  "on,on,on,off,off,off,off"
-	  MaskCallbackString	  "% Get the mask parameter values. This is a cell\n%   array of strings.\nmaskStr = get_param(g"
-	  "cb,'controlType');\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, "
-	  "1.0]');\nelseif strcmp(maskStr, 'Position Direct')\n    set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, "
-	  "1.0]');\nelseif strcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');"
-	  "\nelseif strcmp(maskStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nelseif "
-	  "strcmp(maskStr, 'Open Loop')\n    set_param(gcb,'BackgroundColor', '[0.98, 0.98, 0.98, 1.0]');\nend\nclear  maskStr"
-	  "|subOrFull = get_param(gcb, 'fullOrSubControl');\nif(strcmp(subOrFull, 'Sublist'))\n    set_param(gcb, 'MaskVisibil"
-	  "ities',{'on';'on';'on';'on';'on';'on';'on'});\nelse\n    set_param(gcb, 'MaskVisibilities',{'on';'on';'off';'on';'o"
-	  "n';'on';'on'});\nend\nclear subOrFull |||||"
-	  MaskEnableString	  "on,on,on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,off,on,on,on,on"
-	  MaskToolTipString	  "on,on,on,on,on,on,on"
-	  MaskDisplay		  "disp(get_param(gcb,'controlType'))\n%port_label('input',1,'References')"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "Position|Full|''|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	  MaskTabNameString	  "Block parameters,Block parameters,Block parameters,WBI parameters,WBI parameters,WBI parameter"
-	  "s,WBI parameters"
-	  System {
-	    Name		    "Set References"
-	    Location		    [535, 41, 1280, 744]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "521"
-	    Block {
-	      BlockType		      Inport
-	      Name		      "References"
-	      SID		      "1768"
-	      Position		      [55, 48, 85, 62]
-	      ZOrder		      24
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      S-Function
-	      Name		      "S-Function"
-	      SID		      "1769"
-	      Ports		      [1]
-	      Position		      [125, 39, 185, 71]
-	      ZOrder		      19
-	      FunctionName	      "WBToolbox"
-	      Parameters	      "'SetReferences',robotName,localName,wbiFile,wbiList,controlType,fullOrSubControl,controlledJo"
-	      "ints"
-	      SFunctionDeploymentMode off
-	      EnableBusSupport	      off
-	    }
-	    Line {
-	      SrcBlock		      "References"
-	      SrcPort		      1
-	      DstBlock		      "S-Function"
-	      DstPort		      1
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-      }
-      RTWSystemCode	      "Auto"
-      MinAlgLoopOccurrences   off
-      PropExecContextOutsideSubsystem off
-      FunctionWithSeparateData off
-      Opaque		      off
-      MaskHideContents	      off
-    }
-    Block {
-      BlockType		      SubSystem
-      Name		      "wholeBodyModel"
-      SID		      "209"
-      Ports		      []
-      Position		      [133, 16, 231, 113]
-      ZOrder		      -3
-      ForegroundColor	      "white"
-      DropShadow	      on
-      RequestExecContextInheritance off
-      Variant		      off
-      MaskDisplay	      "image(imread('wholeBodyModel.png'),'center')"
-      MaskIconFrame	      on
-      MaskIconOpaque	      on
-      MaskIconRotate	      "none"
-      MaskPortRotate	      "default"
-      MaskIconUnits	      "autoscale"
-      System {
-	Name			"wholeBodyModel"
-	Location		[425, 373, 1725, 1134]
-	Open			off
-	ModelBrowserVisibility	off
-	ModelBrowserWidth	200
-	ScreenColor		"white"
-	PaperOrientation	"landscape"
-	PaperPositionMode	"auto"
-	PaperType		"usletter"
-	PaperUnits		"inches"
-	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-	TiledPageScale		1
-	ShowPageBoundaries	off
-	ZoomFactor		"309"
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Dynamics"
-	  SID			  "369"
-	  Ports			  []
-	  Position		  [364, 21, 471, 128]
-	  ZOrder		  -1
-	  DropShadow		  on
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskDisplay		  "image(imread('Dynamics.png'))"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  System {
-	    Name		    "Dynamics"
-	    Location		    [425, 373, 1725, 1134]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "219"
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Centroidal Momentum"
-	      SID		      "1694"
-	      Ports		      [4, 1]
-	      Position		      [495, 101, 680, 164]
-	      ZOrder		      72
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Centroidal Momentum"
-	      MaskDescription	      "This block computed the 6 element centroidal momentum, as defined in:\n\"Centroidal dyna"
-	      "mics of a humanoid robot\" - DE Orin, A Goswami, SH Lee - \nAutonomous Robots 35 (2-3), 161-176\n\nAssuming DoF"
-	      "s is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenou"
-	      "s transformation between\n             the base frame and the world frame.\n- Joint configuration: Vector of si"
-	      "ze DoFs, representing the configuration \n                       of the joints.\n- Base velocity: Vector of siz"
-	      "e 6 representing the linear and angular velocity\n                 of the base frame.\n- Joints velocity: Vecto"
-	      "r of size DoFs, representing the velocity \n                   of the joints.\n\nOutput:\n- Centroidal Momentum"
-	      ": 6-element vector containg the centroidal momentum \n                (3 value for linear momentum and 3 for an"
-	      "gular momentum)\n\nParameters:\n- Robot Port Name: Name of the ports opened by the robot. (e.g. icub).\n       "
-	      "            Set an empty string ('') to use the name specified in the \n                   Whole Body Interface"
-	      " configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole Body Interface.\n- "
-	      "WBI filename: name of the file containing the configuration of the Whole Body Interface\n- WBI List Name: name "
-	      "of the list of joints used to configure the Whole Body Interface\n"
-	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name"
-	      MaskStyleString	      "edit,edit,edit,edit"
-	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;"
-	      MaskTunableValueString  "off,off,off,off"
-	      MaskCallbackString      "|||"
-	      MaskEnableString	      "on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	      System {
-		Name			"Centroidal Momentum"
-		Location		[0, 23, 1280, 744]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"248"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1695"
-		  Position		  [20, 18, 50, 32]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1696"
-		  Position		  [20, 53, 50, 67]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base velocity"
-		  SID			  "1697"
-		  Position		  [20, 88, 50, 102]
-		  ZOrder		  26
-		  Port			  "3"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joints velocity"
-		  SID			  "1698"
-		  Position		  [20, 123, 50, 137]
-		  ZOrder		  27
-		  Port			  "4"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1699"
-		  Ports			  [4, 1]
-		  Position		  [180, 11, 255, 144]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'CentroidalMomentum',robotName,localName,wbiFile,wbiList"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Centroidal Momentum"
-		  SID			  "1700"
-		  Position		  [315, 73, 345, 87]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Centroidal Momentum"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-		Line {
-		  SrcBlock		  "Base velocity"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  3
-		}
-		Line {
-		  SrcBlock		  "Joints velocity"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  4
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Get Bias Forces"
-	      SID		      "1724"
-	      Ports		      [4, 1]
-	      Position		      [400, 202, 540, 303]
-	      ZOrder		      73
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Get Generalized Bias Forces"
-	      MaskDescription	      "This block retrieves the generalied bias forces of the robot.\n\nParameter:\n- Explicit "
-	      "Gravity. If True, an additional port (explicit Gravity) is added.\n                    Otherwise the vector [0;"
-	      " 0; -9.81] is used.\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 "
-	      "matrix representing the homogenous transformation between\n            the base frame and the world frame.\n- J"
-	      "oint configuration: Vector of size DoFs, representing the configuration \n                    of the joints.\n-"
-	      " Base velocity: Vector of size 6 representing the linear and angular velocity\n                 of the base fra"
-	      "me.\n- Joints velocity: Vector of size DoFs, representing the velocity of the joints.\n\nOutput:\n- Bias Forces"
-	      ": a Dofs + 6 vector representing the generalized bias forces\n            of the robot\n\nParameters:\n- Robot "
-	      "Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to "
-	      "use the name specified in the                    \n                    Whole Body Interface configuration file."
-	      "\n- Model Name: Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name o"
-	      "f the file containing the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joint"
-	      "s used to configure the Whole Body Interface\n"
-	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name|Explicit Gravity"
-	      MaskStyleString	      "edit,edit,edit,edit,checkbox"
-	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;explicitGravity=@5;"
-	      MaskTunableValueString  "off,off,off,off,on"
-	      MaskCallbackString      "||||"
-	      MaskEnableString	      "on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on"
-	      MaskInitialization      "gravityInput = find_system(gcb, ...\n'LookUnderMasks', 'on', ...\n'FollowLinks', 'on',"
-	      " ...\n'Name', 'Gravity');\n\nif explicitGravity\n    if isempty(gravityInput)\n        Simulink.Block.eval([gcb"
-	      ",'/S-Function']);\n        add_block('built-in/Inport',[gcb,'/Gravity']);\n        add_line(gcb','Gravity/1','S"
-	      "-Function/7', 'autorouting','on');\n    end\nelse\n    if ~isempty(gravityInput)\n        delete_line(gcb','Gra"
-	      "vity/1','S-Function/7');\n        delete_block(gravityInput);\n        Simulink.Block.eval([gcb,'/S-Function'])"
-	      ";\n    end\nend\n"
-	      MaskSelfModifiable      on
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList|off"
-	      System {
-		Name			"Get Bias Forces"
-		Location		[354, 32, 1634, 747]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"255"
-		SIDHighWatermark	"1748"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1724:1725"
-		  Position		  [35, 38, 65, 52]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1724:1726"
-		  Position		  [35, 68, 65, 82]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base velocity"
-		  SID			  "1724:1727"
-		  Position		  [35, 98, 65, 112]
-		  ZOrder		  26
-		  Port			  "3"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joints velocity"
-		  SID			  "1724:1728"
-		  Position		  [35, 128, 65, 142]
-		  ZOrder		  27
-		  Port			  "4"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Constant
-		  Name			  "Constant"
-		  SID			  "1724:1742"
-		  Position		  [20, 157, 75, 173]
-		  ZOrder		  30
-		  ShowName		  off
-		  Value			  "zeros(6,1)"
-		}
-		Block {
-		  BlockType		  Gain
-		  Name			  "Gain"
-		  SID			  "1724:1743"
-		  Position		  [135, 180, 165, 210]
-		  ZOrder		  31
-		  ShowName		  off
-		  Gain			  "0"
-		  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
-		  OutDataTypeStr	  "Inherit: Inherit via internal rule"
-		  SaturateOnIntegerOverflow off
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1724:1731"
-		  Ports			  [6, 1]
-		  Position		  [205, 24, 265, 216]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Bias Forces"
-		  SID			  "1724:1732"
-		  Position		  [325, 113, 355, 127]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Bias Forces"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-		Line {
-		  SrcBlock		  "Base velocity"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  3
-		}
-		Line {
-		  SrcBlock		  "Joints velocity"
-		  SrcPort		  1
-		  Points		  [44, 0]
-		  Branch {
-		    Points		    [0, 60]
-		    DstBlock		    "Gain"
-		    DstPort		    1
-		  }
-		  Branch {
-		    DstBlock		    "S-Function"
-		    DstPort		    4
-		  }
-		}
-		Line {
-		  SrcBlock		  "Constant"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  5
-		}
-		Line {
-		  SrcBlock		  "Gain"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  6
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Get Gravity Forces"
-	      SID		      "1733"
-	      Ports		      [2, 1]
-	      Position		      [605, 200, 745, 300]
-	      ZOrder		      74
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Gravity bias"
-	      MaskDescription	      "This block compute the generalized bias forces due to the gravity\n\nParameter:\n- Expli"
-	      "cit Gravity. If True, an additional port (explicit Gravity) is added.\n                    Otherwise the vector"
-	      " [0; 0; -9.81] is used.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose"
-	      ": 4x4 matrix representing the homogenous transformation between\n             the base frame and the world fram"
-	      "e.\n- Joint configuration: Vector of size DoFs, representing the configuration \n                       of the "
-	      "joints.\n\nOutput:\n- Gravity: a Dofs + 6 vector representing the torques due to the gravity.\n\nParameters:\n-"
-	      " Robot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ("
-	      "'') to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Nam"
-	      "e: Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file co"
-	      "ntaining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to con"
-	      "figure the Whole Body Interface\n"
-	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name|Explicit Gravity"
-	      MaskStyleString	      "edit,edit,edit,edit,checkbox"
-	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;explicitGravity=@5;"
-	      MaskTunableValueString  "off,off,off,off,on"
-	      MaskCallbackString      "||||"
-	      MaskEnableString	      "on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on"
-	      MaskInitialization      "gravityInput = find_system(gcb, ...\n'LookUnderMasks', 'on', ...\n'FollowLinks', 'on',"
-	      " ...\n'Name', 'Gravity');\n\nif explicitGravity\n    if isempty(gravityInput)\n        Simulink.Block.eval([gcb"
-	      ",'/S-Function']);\n        add_block('built-in/Inport',[gcb,'/Gravity']);\n        add_line(gcb','Gravity/1','S"
-	      "-Function/7', 'autorouting','on');\n    end\nelse\n    if ~isempty(gravityInput)\n        delete_line(gcb','Gra"
-	      "vity/1','S-Function/7');\n        delete_block(gravityInput);\n        Simulink.Block.eval([gcb,'/S-Function'])"
-	      ";\n    end\nend\n"
-	      MaskSelfModifiable      on
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList|off"
-	      System {
-		Name			"Get Gravity Forces"
-		Location		[354, 32, 1634, 747]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"255"
-		SIDHighWatermark	"1748"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1733:1734"
-		  Position		  [10, 38, 40, 52]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1733:1735"
-		  Position		  [10, 68, 40, 82]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Constant
-		  Name			  "Constant"
-		  SID			  "1733:1744"
-		  Position		  [0, 97, 55, 113]
-		  ZOrder		  32
-		  ShowName		  off
-		  Value			  "zeros(6,1)"
-		}
-		Block {
-		  BlockType		  Gain
-		  Name			  "Gain"
-		  SID			  "1733:1745"
-		  Position		  [100, 120, 130, 150]
-		  ZOrder		  33
-		  ShowName		  off
-		  Gain			  "0"
-		  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
-		  OutDataTypeStr	  "Inherit: Inherit via internal rule"
-		  SaturateOnIntegerOverflow off
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1733:1740"
-		  Ports			  [6, 1]
-		  Position		  [180, 24, 240, 216]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Gravity Torques"
-		  SID			  "1733:1741"
-		  Position		  [300, 113, 330, 127]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Gravity Torques"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  Points		  [41, 0]
-		  Branch {
-		    Points		    [0, 60]
-		    DstBlock		    "Gain"
-		    DstPort		    1
-		  }
-		  Branch {
-		    DstBlock		    "S-Function"
-		    DstPort		    2
-		  }
-		}
-		Line {
-		  SrcBlock		  "Constant"
-		  SrcPort		  1
-		  Points		  [4, 0]
-		  Branch {
-		    Points		    [0, 60]
-		    DstBlock		    "S-Function"
-		    DstPort		    5
-		  }
-		  Branch {
-		    DstBlock		    "S-Function"
-		    DstPort		    3
-		  }
-		}
-		Line {
-		  SrcBlock		  "Gain"
-		  SrcPort		  1
-		  Points		  [13, 0]
-		  Branch {
-		    Points		    [0, 60]
-		    DstBlock		    "S-Function"
-		    DstPort		    6
-		  }
-		  Branch {
-		    DstBlock		    "S-Function"
-		    DstPort		    4
-		  }
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      S-Function
-	      Name		      "Inverse Dynamics"
-	      SID		      "1748"
-	      Ports		      [6, 1]
-	      Position		      [190, 199, 355, 331]
-	      ZOrder		      75
-	      FunctionName	      "WBToolbox"
-	      Parameters	      "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
-	      SFunctionDeploymentMode off
-	      EnableBusSupport	      off
-	      MaskType		      "Inverse Dynamics"
-	      MaskDescription	      "This block compute the inverse dynamics of the robot.\n\nParameter:\n- Explicit Gravity."
-	      " If True, an additional port (explicit Gravity) is added.\n                    Otherwise the vector [0; 0; -9.8"
-	      "1] is used.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix"
-	      " representing the homogenous transformation between\n             the base frame and the world frame.\n- Joint "
-	      "configuration: Vector of size DoFs, representing the configuration \n                       of the joints.\n- B"
-	      "ase velocity: Vector of size 6 representing the linear and angular velocity\n                 of the base frame"
-	      ".\n- Joints velocity: Vector of size DoFs, representing the velocity \n                   of the joints.\n- Bas"
-	      "e acceleration: Vector of size 6 representing the linear and angular acceleration\n                 of the base"
-	      " frame.\n- Joints acceleration: Vector of size DoFs, representing the acceleration \n                   of the "
-	      "joints.\n- Gravity: Vector of size 3, denoting the acceleration vector w.r.t. the world frame.\n\n\nOutput:\n- "
-	      "Torques: a Dofs + 6 vector representing the corresponding torques required\n           to achive the desired ac"
-	      "celerations given the robot state\n\nParameters:\n- Robot Port Name: Name of the ports opened by the robot. (e."
-	      "g. icub).\n                   Set an empty string ('') to use the name specified in the \n                   Wh"
-	      "ole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole B"
-	      "ody Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface\n- WB"
-	      "I List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name|Explicit Gravity"
-	      MaskStyleString	      "edit,edit,edit,edit,checkbox"
-	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;explicitGravity=@5;"
-	      MaskTunableValueString  "on,on,on,on,on"
-	      MaskCallbackString      "||||"
-	      MaskEnableString	      "on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on"
-	      MaskDisplay	      "port_label('output', 1, 'Torques')\n\nport_label('input', 1, 'Base pose')\nport_label('input"
-	      "', 2, 'Joints configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joints velocity"
-	      "')\nport_label('input', 5, 'Base acceleration')\nport_label('input', 6, 'Joints acceleration')\n\n\ngravity = g"
-	      "et_param(gcb, 'explicitGravity');\nif(strcmp(gravity, 'on'))\n    port_label('input', 7, 'Gravity')\nend\n"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList|off"
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Mass Matrix"
-	      SID		      "1633"
-	      Ports		      [2, 1]
-	      Position		      [250, 104, 390, 171]
-	      ZOrder		      32
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Mass Matrix"
-	      MaskDescription	      "This block retrieves the robot mass matrix.\n\nAssuming DoFs is the number of degrees of"
-	      " freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between\n   "
-	      "          the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the con"
-	      "figuration \n                       of the joints.\n\nOutput:\n- Mass Matrix: a (Dofs + 6) x (Dofs + 6) matrix "
-	      "representing the mass matrix \n               of the robot\n\nParameters:\n- Robot Port Name: Name of the ports"
-	      " opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in th"
-	      "e \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened "
-	      "by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the W"
-	      "hole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name"
-	      MaskStyleString	      "edit,edit,edit,edit"
-	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;"
-	      MaskTunableValueString  "off,off,off,off"
-	      MaskCallbackString      "|||"
-	      MaskEnableString	      "on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	      System {
-		Name			"Mass Matrix"
-		Location		[589, 68, 1869, 783]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"248"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1634"
-		  Position		  [20, 23, 50, 37]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1635"
-		  Position		  [20, 63, 50, 77]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1636"
-		  Ports			  [2, 1]
-		  Position		  [125, 37, 185, 68]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'MassMatrix',robotName,localName,wbiFile,wbiList"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Mass Matrix"
-		  SID			  "1637"
-		  Position		  [245, 48, 275, 62]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Mass Matrix"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  Points		  [36, 0; 0, 15]
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  Points		  [33, 0; 0, -10]
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Jacobians"
-	  SID			  "202"
-	  Ports			  []
-	  Position		  [217, 20, 324, 127]
-	  ZOrder		  -3
-	  DropShadow		  on
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskDisplay		  "image(imread('jacobian.png'))"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  System {
-	    Name		    "Jacobians"
-	    Location		    [425, 373, 1725, 1134]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "322"
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "DotJ Nu"
-	      SID		      "1683"
-	      Ports		      [4, 1]
-	      Position		      [590, 170, 755, 265]
-	      ZOrder		      67
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "DotJ Nu"
-	      MaskDescription	      "This block computes the product between the time derivative of the\n         Jacobian of"
-	      " the specified frame and the state (base and joints)\n        velocity vector.\n\nAssuming DoFs is the number o"
-	      "f degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation "
-	      "between\n             the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, repr"
-	      "esenting the configuration \n                       of the joints.\n- Base velocity: Vector of size 6 represent"
-	      "ing the linear and angular velocity\n                 of the base frame.\n- Joints velocity: Vector of size DoF"
-	      "s, representing the velocity \n                   of the joints.\n\nOutput:\n- dotJ nu: a 6-d vector representi"
-	      "ng the product between the time derivative of the\n         Jacobian of the specified frame and the state veloc"
-	      "ity vector\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- "
-	      "Robot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('"
-	      "') to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Name"
-	      ": Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file con"
-	      "taining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to conf"
-	      "igure the Whole Body Interface\n"
-	      MaskPromptString	      "Frame name|Robot Port Name|Model Name|WBI filename|WBI list name"
-	      MaskStyleString	      "edit,edit,edit,edit,edit"
-	      MaskVariables	      "frameName=@1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
-	      MaskTunableValueString  "on,off,off,off,off"
-	      MaskCallbackString      "||||"
-	      MaskEnableString	      "on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on"
-	      MaskDisplay	      "escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('dot J_{',"
-	      "escapedFrameName,'} \\nu'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\np"
-	      "ort_label('input', 2, 'Joint configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, '"
-	      "Joint velocity')\n\nclear escapedFrameName;"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "'frame'|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	      MaskTabNameString	      "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
-	      System {
-		Name			"DotJ Nu"
-		Location		[0, 29, 1280, 744]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"391"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1684"
-		  Position		  [20, 13, 50, 27]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1685"
-		  Position		  [20, 43, 50, 57]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base velocity"
-		  SID			  "1686"
-		  Position		  [20, 73, 50, 87]
-		  ZOrder		  26
-		  Port			  "3"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joints velocity"
-		  SID			  "1687"
-		  Position		  [20, 103, 50, 117]
-		  ZOrder		  27
-		  Port			  "4"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1688"
-		  Ports			  [4, 1]
-		  Position		  [125, 4, 190, 126]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'DotJNu',robotName,localName,wbiFile,wbiList,frameName"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "dotJ dotnu"
-		  SID			  "1689"
-		  Position		  [245, 43, 275, 57]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  Points		  [20, 0; 0, -15]
-		  DstBlock		  "dotJ dotnu"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base velocity"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  3
-		}
-		Line {
-		  SrcBlock		  "Joints velocity"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  4
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Jacobian"
-	      SID		      "1663"
-	      Ports		      [2, 1]
-	      Position		      [380, 190, 540, 245]
-	      ZOrder		      39
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Jacobian"
-	      MaskDescription	      "This block retrieves the Jacobian of the specified frame.\n\nAssuming DoFs is the number"
-	      " of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformatio"
-	      "n between\n             the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, re"
-	      "presenting the configuration \n                       of the joints.\n\nOutput:\n- Jacobian: a 6x6+dofs matrix "
-	      "representing the Jacobian of\n             the specified frame written in the world frame.\n\nParameters:\n- Fr"
-	      "ame name: the name of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the po"
-	      "rts opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in"
-	      " the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports open"
-	      "ed by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of th"
-	      "e Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	      MaskPromptString	      "Frame name|Robot Port Name|Model Name|WBI filename|WBI list name"
-	      MaskStyleString	      "edit,edit,edit,edit,edit"
-	      MaskVariables	      "frameName=@1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
-	      MaskTunableValueString  "on,off,off,off,off"
-	      MaskCallbackString      "||||"
-	      MaskEnableString	      "on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on"
-	      MaskDisplay	      "escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world"
-	      "} J_{',escapedFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n"
-	      "port_label('input', 2, 'Joint configuration')\n\nclear escapedFrameName;"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "'frame'|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	      MaskTabNameString	      "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
-	      System {
-		Name			"Jacobian"
-		Location		[208, 105, 1008, 627]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"237"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1664"
-		  Position		  [20, 23, 50, 37]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1665"
-		  Position		  [20, 63, 50, 77]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1666"
-		  Ports			  [2, 1]
-		  Position		  [125, 37, 185, 68]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'Jacobian',robotName,localName,wbiFile,wbiList,frameName"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Forward Kinematics"
-		  SID			  "1667"
-		  Position		  [245, 48, 275, 62]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Forward Kinematics"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  Points		  [36, 0; 0, 15]
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  Points		  [33, 0; 0, -10]
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Kinematics"
-	  SID			  "176"
-	  Ports			  []
-	  Position		  [70, 20, 177, 127]
-	  ZOrder		  -17
-	  DropShadow		  on
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskDisplay		  "image(imread('forwardKinematics.png'))"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  System {
-	    Name		    "Kinematics"
-	    Location		    [425, 373, 1725, 1134]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "326"
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Forward Kinematics"
-	      SID		      "1647"
-	      Ports		      [2, 1]
-	      Position		      [350, 103, 500, 167]
-	      ZOrder		      34
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Forward Kinematics"
-	      MaskDescription	      "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is "
-	      "the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous tra"
-	      "nsformation between\n             the the base frame and the world frame.\n- Joint configuration: Vector of siz"
-	      "e DoFs, representing the configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics"
-	      ": a 4x4 matrix representing the homogenous transformation between\n             the specified frame and the wor"
-	      "ld frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- R"
-	      "obot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string (''"
-	      ") to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Name:"
-	      " Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file cont"
-	      "aining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to confi"
-	      "gure the Whole Body Interface\n"
-	      MaskPromptString	      "Frame name|Robot Port Name|Model Name|WBI filename|WBI list name"
-	      MaskStyleString	      "edit,edit,edit,edit,edit"
-	      MaskVariables	      "frameName=@1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
-	      MaskTunableValueString  "on,off,off,off,off"
-	      MaskCallbackString      "||||"
-	      MaskEnableString	      "on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on"
-	      MaskDisplay	      "escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world"
-	      "} H_{',escapedFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n"
-	      "port_label('input', 2, 'Joint configuration')\n\nclear escapedFrameName;"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "'frame'|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	      MaskTabNameString	      "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
-	      System {
-		Name			"Forward Kinematics"
-		Location		[0, 29, 1280, 744]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"391"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1648"
-		  Position		  [20, 23, 50, 37]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1649"
-		  Position		  [20, 63, 50, 77]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1650"
-		  Ports			  [2, 1]
-		  Position		  [125, 37, 185, 68]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'ForwardKinematics',robotName,localName,wbiFile,wbiList,frameName"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Forward Kinematics"
-		  SID			  "1651"
-		  Position		  [245, 48, 275, 62]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Forward Kinematics"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  Points		  [36, 0; 0, 15]
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  Points		  [33, 0; 0, -10]
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Inverse Kinematics"
-	      SID		      "1754"
-	      Ports		      [3, 2]
-	      Position		      [350, 198, 525, 262]
-	      ZOrder		      35
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Forward Kinematics"
-	      MaskDescription	      "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is "
-	      "the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous tra"
-	      "nsformation between\n             the the base frame and the world frame.\n- Joint configuration: Vector of siz"
-	      "e DoFs, representing the configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics"
-	      ": a 4x4 matrix representing the homogenous transformation between\n             the specified frame and the wor"
-	      "ld frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- R"
-	      "obot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string (''"
-	      ") to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Name:"
-	      " Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file cont"
-	      "aining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to confi"
-	      "gure the Whole Body Interface\n"
-	      MaskPromptString	      "Base Frame|End Effector frame|Optimization Option|Robot Port Name|Model Name|WBI filena"
-	      "me|WBI list name"
-	      MaskStyleString	      "edit,edit,popup(Full Constraint (Position and Orientation)|Position only constraint),edi"
-	      "t,edit,edit,edit"
-	      MaskVariables	      "baseFrame=@1;endEffFrame=@2;optOption=@3;robotName=@4;localName=@5;wbiFile=@6;wbiList=@7;"
-	      MaskTunableValueString  "on,on,on,off,off,off,off"
-	      MaskCallbackString      "||||||"
-	      MaskEnableString	      "on,on,on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on,on,on"
-	      MaskDisplay	      "escapedBaseFrameName = strrep(baseFrame, '_', '\\_');\nescapedEndEffFrameName = strrep(endEf"
-	      "fFrame, '_', '\\_');\n\n%port_label('output', 1, strcat('{}^{world} H_{',escapedFrameName,'}'), 'texmode','on')"
-	      "\n\n%port_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n%port_label('input', 2, 'Joint configuratio"
-	      "n')\n\n%clear escapedFrameName;\n\n\n% if strcmp(robotPart, 'left')\n%     prefix = 'l';\n% else\n%     prefix "
-	      "= 'r';\n% end\n% \nport_label('input', 1, strcat('{}^{',escapedBaseFrameName,'} H_{',escapedEndEffFrameName,'}^"
-	      "d'), 'texmode','on');\n\nport_label('input', 2, '{}^{world} H_{base}', 'texmode','on')\nport_label('input', 3, "
-	      "'q_j', 'texmode','on');\n% \n% \nport_label('output', 1, '{}^{world} H_{base}^d', 'texmode','on')\nport_label('"
-	      "output', 2, 'q_j^d', 'texmode','on');\n\n"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "'root_link'|'l_sole'|Full Constraint (Position and Orientation)|WBT_robotName|WBT_modelN"
-	      "ame|WBT_wbiFilename|WBT_wbiList"
-	      MaskTabNameString	      "Block parameters,Block parameters,Block parameters,WBI parameters,WBI parameters,WBI p"
-	      "arameters,WBI parameters"
-	      System {
-		Name			"Inverse Kinematics"
-		Location		[0, 23, 1280, 744]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"312"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Desired frame pose"
-		  SID			  "1759"
-		  Position		  [10, 13, 40, 27]
-		  ZOrder		  26
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Current Base Pose"
-		  SID			  "1755"
-		  Position		  [10, 43, 40, 57]
-		  ZOrder		  22
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Current Joint configuration"
-		  SID			  "1756"
-		  Position		  [10, 73, 40, 87]
-		  ZOrder		  24
-		  Port			  "3"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1757"
-		  Ports			  [3, 2]
-		  Position		  [145, 4, 225, 96]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'InverseKinematics',robotName,localName,wbiFile,wbiList,baseFrame, endEffFrame,optOption"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Desired Base Pose"
-		  SID			  "1758"
-		  Position		  [280, 23, 310, 37]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Desired Joint Configuration"
-		  SID			  "1760"
-		  Position		  [280, 68, 310, 82]
-		  ZOrder		  27
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Desired Base Pose"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Current Base Pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-		Line {
-		  SrcBlock		  "Current Joint configuration"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  3
-		}
-		Line {
-		  SrcBlock		  "Desired frame pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  2
-		  DstBlock		  "Desired Joint Configuration"
-		  DstPort		  1
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Remote Inverse Kinematics"
-	      SID		      "1761"
-	      Ports		      [2, 1]
-	      Position		      [560, 105, 720, 165]
-	      ZOrder		      66
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Forward Kinematics"
-	      MaskDescription	      "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is "
-	      "the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous tra"
-	      "nsformation between\n             the the base frame and the world frame.\n- Joint configuration: Vector of siz"
-	      "e DoFs, representing the configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics"
-	      ": a 4x4 matrix representing the homogenous transformation between\n             the specified frame and the wor"
-	      "ld frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- R"
-	      "obot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string (''"
-	      ") to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Name:"
-	      " Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file cont"
-	      "aining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to confi"
-	      "gure the Whole Body Interface\n"
-	      MaskPromptString	      "Solver Name|#Dofs|Optimization Option"
-	      MaskStyleString	      "edit,edit,popup(Full Constraint (Position and Orientation)|Position only constraint)"
-	      MaskVariables	      "solverName=@1;dofs=@2;optOption=@3;"
-	      MaskTunableValueString  "on,off,on"
-	      MaskCallbackString      "||"
-	      MaskEnableString	      "on,on,on"
-	      MaskVisibilityString    "on,on,on"
-	      MaskToolTipString	      "on,on,on"
-	      MaskDisplay	      "disp(solverName)\n\n\n\n% escapedBaseFrameName = strrep(baseFrame, '_', '\\_');\n% escapedEn"
-	      "dEffFrameName = strrep(endEffFrame, '_', '\\_');\n% \n% %port_label('output', 1, strcat('{}^{world} H_{',escape"
-	      "dFrameName,'}'), 'texmode','on')\n% \n% %port_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n% %port"
-	      "_label('input', 2, 'Joint configuration')\n% \n% %clear escapedFrameName;\n% \n% \n% % if strcmp(robotPart, 'le"
-	      "ft')\n% %     prefix = 'l';\n% % else\n% %     prefix = 'r';\n% % end\n% % \n\nport_label('input', 1, 'H^d', 't"
-	      "exmode','on');\n% port_label('input', 1, strcat('{}^{',escapedBaseFrameName,'} H_{',escapedEndEffFrameName,'}^d"
-	      "'), 'texmode','on');\n% \n% port_label('input', 2, '{}^{world} H_{base}', 'texmode','on')\nport_label('input', "
-	      "2, 'q_j(0)', 'texmode','on');\n% % \n% % \n% port_label('output', 1, '{}^{world} H_{base}^d', 'texmode','on')\n"
-	      "port_label('output', 1, 'q_j^d', 'texmode','on');\n\n"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "'/cartesianSolver'|12|Full Constraint (Position and Orientation)"
-	      MaskTabNameString	      "Block parameters,Block parameters,Block parameters"
-	      System {
-		Name			"Remote Inverse Kinematics"
-		Location		[853, 51, 2214, 1013]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"375"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Desired frame pose"
-		  SID			  "1762"
-		  Position		  [10, 23, 40, 37]
-		  ZOrder		  26
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Current Joint configuration"
-		  SID			  "1763"
-		  Position		  [10, 68, 40, 82]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1764"
-		  Ports			  [2, 1]
-		  Position		  [145, 6, 225, 99]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'RemoteInverseKinematics',solverName, dofs, optOption"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Desired Joint Configuration"
-		  SID			  "1765"
-		  Position		  [285, 48, 315, 62]
-		  ZOrder		  27
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Desired Joint Configuration"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Desired frame pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Current Joint configuration"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-      }
-      RTWSystemCode	      "Auto"
-      MinAlgLoopOccurrences   off
-      PropExecContextOutsideSubsystem off
-      FunctionWithSeparateData off
-      Opaque		      off
-      MaskHideContents	      off
-    }
-    Block {
-      BlockType		      SubSystem
-      Name		      "wholeBodyStates"
-      SID		      "206"
-      Ports		      []
-      Position		      [16, 17, 114, 114]
-      ZOrder		      -4
-      ForegroundColor	      "white"
-      DropShadow	      on
-      RequestExecContextInheritance off
-      Variant		      off
-      MaskDisplay	      "image(imread('wholeBodyStates.png'),'center');"
-      MaskIconFrame	      on
-      MaskIconOpaque	      on
-      MaskIconRotate	      "none"
-      MaskPortRotate	      "default"
-      MaskIconUnits	      "autoscale"
-      System {
-	Name			"wholeBodyStates"
-	Location		[425, 373, 1725, 1134]
-	Open			off
-	ModelBrowserVisibility	off
-	ModelBrowserWidth	200
-	ScreenColor		"white"
-	PaperOrientation	"landscape"
-	PaperPositionMode	"auto"
-	PaperType		"usletter"
-	PaperUnits		"inches"
-	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-	TiledPageScale		1
-	ShowPageBoundaries	off
-	ZoomFactor		"576"
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Get Estimate"
-	  SID			  "1671"
-	  Ports			  [0, 1]
-	  Position		  [360, 212, 440, 248]
-	  ZOrder		  53
-	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskType		  "Get Estimate"
-	  MaskDescription	  "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of f"
-	  "reedom of the robot,\nOutput:\n- References: Vector of size DoFs, representing the estimate requested.\n\nParameter"
-	  "s:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the ports open"
-	  "ed by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n     "
-	  "              Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underl"
-	  "ying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interfa"
-	  "ce\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	  MaskPromptString	  "Estimate Type|Robot Port Name|Model Name|WBI filename|WBI list name"
-	  MaskStyleString	  "popup(Joints Position|Joints Velocity|Joints Acceleration|Joints Torque),edit,edit,edit,edit"
-	  MaskVariables		  "estimateType=&1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
-	  MaskTunableValueString  "on,off,off,off,off"
-	  MaskCallbackString	  "% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param"
-	  "(gcb,'estimateType');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510"
-	  ", 0.6706, 1.0]');\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745"
-	  ", 1.0000, 1.0]');\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0."
-	  "8706, 0.1333, 1.0]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.57"
-	  "65, 0.6039, 1.0]');\nend\nclear  maskStr||||"
-	  MaskEnableString	  "on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on"
-	  MaskToolTipString	  "on,on,on,on,on"
-	  MaskDisplay		  "%disp(get_param(gcb,'estimateType'))\nport_label('output',1,get_param(gcb,'estimateType'))"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "Joints Position|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	  MaskTabNameString	  "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
-	  System {
-	    Name		    "Get Estimate"
-	    Location		    [653, 318, 2086, 1271]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "1000"
-	    Block {
-	      BlockType		      S-Function
-	      Name		      "S-Function"
-	      SID		      "1672"
-	      Ports		      [0, 1]
-	      Position		      [125, 39, 185, 71]
-	      ZOrder		      19
-	      FunctionName	      "WBToolbox"
-	      Parameters	      "'GetEstimate',robotName,localName,wbiFile,wbiList,estimateType"
-	      SFunctionDeploymentMode off
-	      EnableBusSupport	      off
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "Estimate"
-	      SID		      "1673"
-	      Position		      [210, 48, 240, 62]
-	      ZOrder		      25
-	      IconDisplay	      "Port number"
-	    }
-	    Line {
-	      SrcBlock		      "S-Function"
-	      SrcPort		      1
-	      DstBlock		      "Estimate"
-	      DstPort		      1
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Get Limits"
-	  SID			  "1690"
-	  Ports			  [0, 2]
-	  Position		  [475, 211, 570, 249]
-	  ZOrder		  68
-	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskType		  "Get Estimate"
-	  MaskDescription	  "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of f"
-	  "reedom of the robot,\nOutput:\n- References: Vector of size DoFs, representing the estimate requested.\n\nParameter"
-	  "s:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the ports open"
-	  "ed by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n     "
-	  "              Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underl"
-	  "ying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interfa"
-	  "ce\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	  MaskPromptString	  "Limits Type|Robot Port Name|Model Name|WBI filename|WBI list name"
-	  MaskStyleString	  "popup(Position),edit,edit,edit,edit"
-	  MaskVariables		  "limitsType=&1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
-	  MaskTunableValueString  "on,off,off,off,off"
-	  MaskCallbackString	  "% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param"
-	  "(gcb,'limitsType');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, "
-	  "0.6706, 1.0]');\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, "
-	  "1.0000, 1.0]');\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0.87"
-	  "06, 0.1333, 1.0]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765"
-	  ", 0.6039, 1.0]');\nend\nclear  maskStr||||"
-	  MaskEnableString	  "on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on"
-	  MaskToolTipString	  "on,on,on,on,on"
-	  MaskDisplay		  "disp(get_param(gcb,'limitsType'))\nport_label('output',1,'Min')\nport_label('output',2,'Max')"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "Position|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	  MaskTabNameString	  "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
-	  System {
-	    Name		    "Get Limits"
-	    Location		    [0, 23, 1280, 744]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "411"
-	    Block {
-	      BlockType		      S-Function
-	      Name		      "S-Function"
-	      SID		      "1691"
-	      Ports		      [0, 2]
-	      Position		      [115, 33, 175, 102]
-	      ZOrder		      19
-	      FunctionName	      "WBToolbox"
-	      Parameters	      "'GetLimits',robotName,localName,wbiFile,wbiList,limitsType"
-	      SFunctionDeploymentMode off
-	      EnableBusSupport	      off
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "Min"
-	      SID		      "1692"
-	      Position		      [220, 43, 250, 57]
-	      ZOrder		      25
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "Max"
-	      SID		      "1693"
-	      Position		      [220, 78, 250, 92]
-	      ZOrder		      26
-	      Port		      "2"
-	      IconDisplay	      "Port number"
-	    }
-	    Line {
-	      SrcBlock		      "S-Function"
-	      SrcPort		      1
-	      DstBlock		      "Min"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "S-Function"
-	      SrcPort		      2
-	      DstBlock		      "Max"
-	      DstPort		      1
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-      }
-      RTWSystemCode	      "Auto"
-      MinAlgLoopOccurrences   off
-      PropExecContextOutsideSubsystem off
-      FunctionWithSeparateData off
-      Opaque		      off
-      MaskHideContents	      off
-    }
-    Annotation {
-      SID		      "1213"
-      Name		      "WHOLE BODY TOOLBOX"
-      Position		      [241, 157]
-      ForegroundColor	      "white"
-      BackgroundColor	      "black"
-      FontName		      "Sans Serif"
-      FontSize		      12
-    }
-    Annotation {
-      SID		      "1214"
-      Name		      "Copyright  2013-2016 iCub Facility Department, Istituto Italiano di Tecnologia\nThis software was s"
-      "upported by the FP7 EU Project CoDyCO (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics (b))\nhttp://www.c"
-      "odyco.eu"
-      Position		      [240, 192]
-      ForegroundColor	      "white"
-      BackgroundColor	      "black"
-      FontSize		      5
-    }
-  }
-}
-#Finite State Machines
-#
-#   Stateflow 80000010
-#
-#
-Stateflow {
-  machine {
-    id			    1
-    name		    "WBToolboxLibrary"
-    created		    "06-Feb-2014 11:51:26"
-    isLibrary		    1
-    sfVersion		    76014001.0004
-    firstTarget		    26
-  }
-  chart {
-    id			    2
-    machine		    1
-    name		    "Utilities/holder\n/MATLAB Function"
-    windowPosition	    [1152 -205 -179 985]
-    viewLimits		    [0 156.75 0 153.75]
-    screen		    [1 1 3046 1050 1.25]
-    treeNode		    [0 3 0 0]
-    viewObj		    2
-    toolbarMode		    LIBRARY_TOOLBAR
-    ssIdHighWaterMark	    9
-    decomposition	    CLUSTER_CHART
-    type		    EML_CHART
-    chartFileNumber	    1
-    disableImplicitCasting  1
-    eml {
-      name		      "fcn"
-    }
-    firstData		    4
-    firstTransition	    8
-    firstJunction	    7
-  }
-  state {
-    id			    3
-    labelString		    "eML_blk_kernel()"
-    position		    [18 64.5 118 66]
-    fontSize		    12
-    chart		    2
-    treeNode		    [2 0 0 0]
-    superState		    SUBCHART
-    subviewer		    2
-    ssIdNumber		    1
-    type		    FUNC_STATE
-    decomposition	    CLUSTER_STATE
-    eml {
-      isEML		      1
-      script		      "function s0 = fcn(s, ~)\npersistent state\n%#codegen\n\nif isempty(state)\n    state = s;\nend\n\n"
-      "s0 = state;"
-      editorLayout	      "100 M4x1[10 5 700 500]"
-    }
-  }
-  data {
-    id			    4
-    ssIdNumber		    7
-    name		    "s"
-    scope		    INPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-	isSigned		1
-	wordLength		"16"
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_INHERITED
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [2 0 5]
-  }
-  data {
-    id			    5
-    ssIdNumber		    8
-    name		    "s0"
-    scope		    OUTPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-	isSigned		1
-	wordLength		"16"
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_NO
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [2 4 6]
-  }
-  data {
-    id			    6
-    ssIdNumber		    9
-    name		    "unused"
-    scope		    INPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-	isSigned		1
-	wordLength		"16"
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_INHERITED
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [2 5 0]
-  }
-  junction {
-    id			    7
-    position		    [23.5747 49.5747 7]
-    chart		    2
-    subviewer		    2
-    ssIdNumber		    3
-    type		    CONNECTIVE_JUNCTION
-    linkNode		    [2 0 0]
-  }
-  transition {
-    id			    8
-    labelString		    "{eML_blk_kernel();}"
-    labelPosition	    [76.125 85.875 102.544 14.964]
-    fontSize		    12
-    src {
-      intersection	      [0 0 1 0 23.5747 14.625 0 0]
-    }
-    dst {
-      id		      7
-      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
-    }
-    midPoint		    [23.5747 24.9468]
-    chart		    2
-    dataLimits		    [21.175 25.975 14.625 42.575]
-    subviewer		    2
-    drawStyle		    SMART
-    slide {
-      sticky		      BOTH_STICK
-    }
-    executionOrder	    1
-    ssIdNumber		    2
-    linkNode		    [2 0 0]
-  }
-  instance {
-    id			    9
-    machine		    1
-    name		    "Utilities/holder\n/MATLAB Function"
-    chart		    2
-  }
-  chart {
-    id			    10
-    machine		    1
-    name		    "Utilities/DampPinv/Damped Pseudo Inverse"
-    windowPosition	    [699 -205 167 985]
-    viewLimits		    [0 156.75 0 153.75]
-    screen		    [1 1 3046 1050 1.25]
-    treeNode		    [0 11 0 0]
-    viewObj		    10
-    toolbarMode		    LIBRARY_TOOLBAR
-    ssIdHighWaterMark	    8
-    decomposition	    CLUSTER_CHART
-    type		    EML_CHART
-    chartFileNumber	    6
-    disableImplicitCasting  1
-    eml {
-      name		      "fcn"
-    }
-    firstData		    12
-    firstTransition	    16
-    firstJunction	    15
-  }
-  state {
-    id			    11
-    labelString		    "eML_blk_kernel()"
-    position		    [18 64.5 118 66]
-    fontSize		    12
-    chart		    10
-    treeNode		    [10 0 0 0]
-    superState		    SUBCHART
-    subviewer		    10
-    ssIdNumber		    1
-    type		    FUNC_STATE
-    decomposition	    CLUSTER_STATE
-    eml {
-      isEML		      1
-      script		      "function DPinv  = fcn(mat,sigma)\n% Economody size svd of mat\n[U,S,V] = svd(mat,'econ');\n% Damp"
-      "ed version of S with sigma\nS(S>sigma)=S(S>sigma)./((S(S>sigma)).^2+sigma^2);\n% Damped pseudoinverse\nDPinv = V"
-      "*pinv(S)*U';"
-      editorLayout	      "100 M4x1[10 5 700 500]"
-    }
-  }
-  data {
-    id			    12
-    ssIdNumber		    4
-    name		    "mat"
-    scope		    INPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-      }
-      complexity	      SF_COMPLEX_INHERITED
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [10 0 13]
-  }
-  data {
-    id			    13
-    ssIdNumber		    5
-    name		    "DPinv"
-    scope		    OUTPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_NO
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [10 12 14]
-  }
-  data {
-    id			    14
-    ssIdNumber		    8
-    name		    "sigma"
-    scope		    INPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-	isSigned		1
-	wordLength		"16"
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_INHERITED
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [10 13 0]
-  }
-  junction {
-    id			    15
-    position		    [23.5747 49.5747 7]
-    chart		    10
-    subviewer		    10
-    ssIdNumber		    3
-    type		    CONNECTIVE_JUNCTION
-    linkNode		    [10 0 0]
-  }
-  transition {
-    id			    16
-    labelString		    "{eML_blk_kernel();}"
-    labelPosition	    [80.125 91.875 102.544 14.964]
-    fontSize		    12
-    src {
-      intersection	      [0 0 1 0 23.5747 14.625 0 0]
-    }
-    dst {
-      id		      15
-      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
-    }
-    midPoint		    [23.5747 24.9468]
-    chart		    10
-    dataLimits		    [21.175 25.975 14.625 42.575]
-    subviewer		    10
-    drawStyle		    SMART
-    slide {
-      sticky		      BOTH_STICK
-    }
-    executionOrder	    1
-    ssIdNumber		    2
-    linkNode		    [10 0 0]
-  }
-  instance {
-    id			    17
-    machine		    1
-    name		    "Utilities/DampPinv/Damped Pseudo Inverse"
-    chart		    10
-  }
-  chart {
-    id			    18
-    machine		    1
-    name		    "Utilities/TruncPinv/Truncated PseudoInverse"
-    windowPosition	    [649 -205 167 985]
-    viewLimits		    [0 156.75 0 153.75]
-    screen		    [1 1 3046 1050 1.25]
-    treeNode		    [0 19 0 0]
-    viewObj		    18
-    toolbarMode		    LIBRARY_TOOLBAR
-    ssIdHighWaterMark	    8
-    decomposition	    CLUSTER_CHART
-    type		    EML_CHART
-    chartFileNumber	    7
-    disableImplicitCasting  1
-    eml {
-      name		      "fcn"
-    }
-    firstData		    20
-    firstTransition	    24
-    firstJunction	    23
-  }
-  state {
-    id			    19
-    labelString		    "eML_blk_kernel()"
-    position		    [18 64.5 118 66]
-    fontSize		    12
-    chart		    18
-    treeNode		    [18 0 0 0]
-    superState		    SUBCHART
-    subviewer		    18
-    ssIdNumber		    1
-    type		    FUNC_STATE
-    decomposition	    CLUSTER_STATE
-    eml {
-      isEML		      1
-      script		      "function TPinv  = fcn(mat,tol)\n%#codegen\n[U,S,V] = svd(mat,'econ');\n% Setting to zero value\n%"
-      " Setting to 1/S(i,i) singular values greater than tol\n S(S>tol)=1./S(S>tol);\n TPinv = V*pinv(S)*U';"
-      editorLayout	      "100 M4x1[10 5 700 500]"
-    }
-  }
-  data {
-    id			    20
-    ssIdNumber		    4
-    name		    "mat"
-    scope		    INPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-      }
-      complexity	      SF_COMPLEX_INHERITED
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [18 0 21]
-  }
-  data {
-    id			    21
-    ssIdNumber		    5
-    name		    "TPinv"
-    scope		    OUTPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_NO
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [18 20 22]
-  }
-  data {
-    id			    22
-    ssIdNumber		    8
-    name		    "tol"
-    scope		    INPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-	isSigned		1
-	wordLength		"16"
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_INHERITED
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [18 21 0]
-  }
-  junction {
-    id			    23
-    position		    [23.5747 49.5747 7]
-    chart		    18
-    subviewer		    18
-    ssIdNumber		    3
-    type		    CONNECTIVE_JUNCTION
-    linkNode		    [18 0 0]
-  }
-  transition {
-    id			    24
-    labelString		    "{eML_blk_kernel();}"
-    labelPosition	    [80.125 91.875 102.544 14.964]
-    fontSize		    12
-    src {
-      intersection	      [0 0 1 0 23.5747 14.625 0 0]
-    }
-    dst {
-      id		      23
-      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
-    }
-    midPoint		    [23.5747 24.9468]
-    chart		    18
-    dataLimits		    [21.175 25.975 14.625 42.575]
-    subviewer		    18
-    drawStyle		    SMART
-    slide {
-      sticky		      BOTH_STICK
-    }
-    executionOrder	    1
-    ssIdNumber		    2
-    linkNode		    [18 0 0]
-  }
-  instance {
-    id			    25
-    machine		    1
-    name		    "Utilities/TruncPinv/Truncated PseudoInverse"
-    chart		    18
-  }
-  target {
-    id			    26
-    machine		    1
-    name		    "sfun"
-    description		    "Default Simulink S-Function Target."
-    linkNode		    [1 0 0]
-  }
-}
diff --git a/toolbox/WBToolboxLibrary.slx b/toolbox/WBToolboxLibrary.slx
deleted file mode 100644
index e19fa448e9e24bc18e7446db8c43a6dec97ec0eb..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 38548
zcmaHyLy#^^u%_F_Y1_7K+qP}H`?PJ_`r5W_+qTU!|J}`viI_!2R1_9(zO~4BGD}eg
z6buyz2nY(u%@jk%tNC-*5*P?*00amK=f71uGgl*1BUd8^69;EAMP~;`GiO&TGZ%VK
zJ6k{H1^Gcn)SuMSJDn|fq--W+HeMlP)Z&L4*K{SVt<sw5pPsG1ks<G^c`n|!9c>)B
zepSrt!ETG^R7FTaz?MeNmC;n*dNV`NFga)3XQc~_V(^@((~YXCvY4<6tEz@QU>MEf
zn@mb_3#(sIM%TmWs2)mH^K>0d>P~z5c7ZhX?%hDRD9ocUymK9A?JRIr14wvuE=-#0
z2Cdid&Vhws;F~<MBvAn^(w}8PRSfdSnVZ3Cw}5sFh?BPDU_k9vg}k?3cK+ep$ziDj
zTS_NRDv)ai;+rDomMLsU>oz+TKje~$6FF_OCVn&7I?-pOmkd6>hD*vwNSrWoxM??W
z%18>C2LV;D=N=aR?5KJEsQrg_Ezb&&d#3d5cjM1aY{+--1nS-cUrJ-V`v5%f3euOr
zft@6|QBF0b(F8nB>>P3)+$R|NYoktUjQ9lU1uUZC7=Z_q&uypv+cz{f-2L3DnSkQ|
zGRUc@+jjInV<i4F3Ge?l$j;;cwa6@f${vIXPAq_IvKK{=7C?>SeqBK=EznPjjv{v`
z>f|}Smkb__)!BUF;#;@NXZ(kQ_8R5Id8ejCuyMkx^ZD_v`QLj=5KTgG0+bIIkxT;%
z_pTlFyNdFtGGC)5{-HiX%PB+YIs#^37nECjIkU5ciYnGM6ozW{ig$5ZH|r)jK=Osv
zj5WdK9^G1|)c)8U|MdZzH&#y;Az0nTx^^8S{&?^i9%<$d7CAg%{!qS60C-jc4l3q!
zJ;;7eo372ypT;5Ye+NJd<A6EiKjDl24f6kA0K`09&Fo#Q9PIz+vFgnZAOtb~0h>3l
zdbNjzh{1-T;PX+uv)O<OY%SS>`t4!MyXVZDK31DCmUt-Y@A1HP&I}~9@ZIVv58Ha_
z-U!~0s2y40S-dBQSXfTYjYV{Y_AmP5W1Q%ZYjbX#6DQqpF-|NK-H`2vsfq2d5@Oy@
zQE8WkVcjD@m$;1qe1UTm5&wm#MqsKuQ8eyhrd8>d{+M6<3-rIW*-<JAx*7ukSp<Os
zVg0Ag#mdgj*2><7!PwTp#KzRh$imsk?tkRm^!RveaVBwm_X&W<dvwOL98nhCx-V`V
z*^K?HHxNu+bo2229M2P*Hi;x!Cq0&)P5ZyL!2sO>K`W<IM!rs$nL)1!7b;eK7GBN-
z2*}yq1bX(Ka0}R7#h$i`=Oo%_&+aH}H5q<8*Z=G}wC(D)lQ+!eG+fEW07Y5%kymx^
zEH-nTt=3q0&b?#(b}sJXpgb<U&U+G`F7zB=760|5=)SmVBM4(a43n_1aM0H?v%Yt?
z&nq|mx+%Pg<9~8^6bmQukglCrC;9z}Wea?q5pUYDW6%C*OlOpuW0vZTyE>L3(CKxu
zNe102JMp7r!#|78)!)&b!~O35LFc#h?i~+(aCP$ax86A3b{^+)x()ieY4fIG8lKt`
z7^j@C<@K1n#LXh08*?S_D|v4n^%vlQFm|w!Xg&Dy{aiIQ*O@&VJ#cE|wNYEHEm=ux
zS5xO+F*Vk=_#L3E$A_x>T57%7)gl=R>kwm+sjK2Cszy;`+`&rl{JL@Yk?&jBUg@;^
z)^LE&df)Sh<-B@xRq23MYUO=4lpmg&1<>WG)k<&s8`t+~_l5>f$<=0JD<zryRjSk7
zla_M=i|PA$&4~fkYKc#S{{EBJmQ%2^>A#iw`WUC_@fPUqwa>HezVYZ|)!1t+N<;iS
zv9#>YcZi40#qBZdI=fmSZr<|=B}e1fgX`cyR$N?q0;+OyyR17-@+@<r?)@{Q@34Kr
z<we+99qO{isHC5VXMvqSe>b5bnA1P!K-IHyvB0;oGj&@e`V!E2dyER!bakR_$@Y13
zsxNWJ!9%D7`6I8eI)37Loh-;0Vs0|;;Nf$V#&3DY2I*~~amDs*U%s=l<)dfWTj%k-
z2aCb|<8fL?vWBJOfe~i1jpQI11cZPt0Kh`H8(L-sd7OPTN}F@MCH?1%Sam=K@dwt9
zvvd@l2{B*cBC_r0HJspP|7C#IF`ye(A482R>@<}|Z_gL*>OhMXE@r~@%dULI?yjYi
zDv9EYh+V*M$p2Y<c`1|SaU3kexR1}WywmRq@Ym2`JuE@l2@13cI__aS)Gn6`F%%pT
zcMQH_I6eK8f+r^?|6n+G6QVj{B2HgL6~BaxPaO8M&x4?0m?@_J0hVX1NTU{`KMJee
zCRzp`Wv|nv7XGZZ+G8#EGkrGlY@k(|8bj*A`RuPPZ?o(asDGFew);nOSiNAqvui#Y
zdN+~3<4I7p08YaP?3iG72o=^V+k>7@*brsSUtxsVnL%SgWn+DB@`sXQUN2&jO`>{J
z!Mt-pne^rR>OM+=QZ5<pRoI~~-t0+f#TjIQ#gn$O#apWZ8bw12usCIdN>0Y9@uo7)
zVWa(lIO;05qt4etq7#fia0Al}l>KPf;s8s9iH(qSNd2Ghfxy&G#&6pTjyh5119-k^
z%7>FdV(Oql>#v$%<4JV*qsfd9RZYP?J*B|6rU|+S`mv$EvOmuUI38!1D*txj5iE|F
z68b-3JD0P?$mafDbVGV)!A^zt<l*@LS$$X<a}*9C<9r(I8@k{Y<<y$P)A3}LUJZF%
zmstC{R)|Hy>SS>M3uQpCpG8C{u0xq3(TU`6<nB)#Y`*zU6cMkr!0&K;3}j41fPg8W
z9;{_2c>|W06H&em0*a0wWcmvfkb*jlxbPwB5coK|2ab{;qmn>YU6629h>IIYBK)?^
z#$=(I79^~!crZM$bYeMb`6dVxMGSlx#9`kI)i=pOT*n@wv~{U=sK1^QO*tg3%k6rH
z+AM_z-hSQ)?a<eg(i)*%0(sUyG2*4!{+C8xLf)%V#N#xBFciW52WPG9&G}v6!CnTn
zkKA2T*MYq5;o^`WV?LtIX}}S52)5l$P<uGnT&CMAbx+hmn48E9TtfTr9s%~id0r&n
z#fAhdGj`r)t<vy8_kFCz4pZ>>u%o%LRu-i;xjTwj9c3HziFMI(q}<!}tIm)YJ(V}_
z(>mL~8hR~3p@R%Ki1T`~)ZLC&sW(rns}Smx(h*@Y+pikPH>I=M65gI6G!CEr*jpo(
zs(WCKO$I!W@HXG0r$t5Nu&;+aPRQMoW~(LK!AwiOop#x8)U@AoEnw{K3c#U%$`!%_
zE(IsT{5~$B0W>J0fX<T1+d`ll`%(+c7pKRap(vRh3HU}!T&0wRCw9q<cip4Tn;a!U
zqy#Rfed#2eby8)~bMpa5y>O|T;>|U4l_?s0uz}MDdEj1=Jp%8Xr@W>>BlwRU{K<&I
z)*alKD5#7p!KanZzpgyib0-;TTjmP~ikdF(a-xQk2L8gPW@s{j<_T0*;&M}2pGtMn
zBW%hzoAb?rZCpGvY}u-%g~Iu9Yz=0zp(Y^)Dy%$LEZ{U64{JUol$DLgB8xaQ&9EBv
z_d!pPmX|^2cEC5YO~qu|DMz!tQbRzT{q2Gx0&<%#SU)0v&njO+0R9JO%suB?cEFlW
zaNkh7^k|Abu}8=;puhDsrgEy;kiSq~3A}8hk0Kse*IkG-q-~tpn5q`IxOdT*tPER?
z23Jf}_OVfKyfNixW5Gp{8KD-gYu55K@Ef|w$4k975<PpZW5NKhv^dC^`~tNRmuCDH
zFDf*EN&L3PjMEXR!$Xdh%9EPM$<sl00<E5dGLaO3=Hm~;0r9X+GWYURfq!0deo!w0
zU90-l-|KR)-V<K@-E)Om#w6xXiOTYd7x>k~Cd{HDxs2m*3b}SXE1jE+Y^^sG0xAx;
zX)AXeq5}-_Vj~KY!$N-2vR)lSO1WVd*f_$MKgL>chQFRUqf4!0;t{a7hGL&VTA==>
zHbS2Qo)8=mu&#>J0#EhqU|hv1L~8AKs|5RIa(R5B&Jd{OEz-r#W|^?Gk`;OA6Kz!W
zxLnFu3I-eoYT2i>A5_rf=^znd3fQ-}6rN#Ahrlldy?!l}VqI*El}xBw=*;CDIt~es
zl0v6Mxwr+Gm*@{LsuT0XsDk+tG8Cmpl)M_G`m3~(Vep)`c-6vTU{!EvEjv93*^}5R
z%_B%d_FzV!)jM;*W6Vd8f#guERV3p8)f-0#p~h0{B`WLcN>?Y4V|8hW82VQXAj=y0
zrn5~9lpb<HnP;Nt*sJY>Qen^0b|wn9)rvvNee$Z@lvFbiNa+FeRQcNE>LU<<wB@L^
zXf>vv$i;U0a#{BQH}DdsuQ+XosVZlZJBLtZ*=}N83`%@LoFvI=K$KTcCFNNn42u0d
zn$*`dc!Uiqxj)KIU>wx8%@Rj}P%TwAuy98+%lo{WoiXQcV1OmKN%T5-0zov@N^j8I
zn(3*_A-<=_{Jif=F^zDjxgu!P?Xl^h_Z%c}PwGq=nogm3e~0$LmDFH1XC9TreTOj0
zonHH@T(HU2!95lvxC|a+wsNSrU@&fwW67>zJ97UARqgjF+6m)@x}?s~R0*L)`8>3?
zI<6|qk}<x_SEe2Y6kn~(OCSrRJ7S@HoHG$@Gmx?N_QX#fn8;S{;*ux2Blu-wGq|-{
zcgBX%%c6e##CpaC@JqzUf%0&Q(R^5vJd2FxCI!h<=98hPW9R{e30I(S*@-&YEe^e&
z?Im&XS6lUYq>BS5i7`HQ@mzU*2l#ImuM1|e59M3a%`SF>T$L|#wQ%SFJZL<~MUt-m
z_Q=E%Y6<F5xg#_67crH&3=g!-Vd<Yc8vLVdEX)3U`^mcl!a?z+Gv%JFH0gCS?@)Ba
z!v6nqDpat^8QvnV1MbSiyA0W2A8)jE|E)!ypV@+)tLNw!*LHLj{#dnY<B{o>o8j*$
zI-rVJ;2poBg3beVb-Jm0gJv)GYZMFigRL04E1%2yrF)=GnSlsrJG2~kvt~-p!%6U3
zw4BYrfc=cIw$^|nW1Z5cGy<~|A6wp5adamTYEK=;Ymy;`zA>>Cdbs(FT@yb3#lee-
zxSL0xVm1gWyMABV@_NFSufTVcgdmo)JWut4SU!)U0hsMX;ZW8z^Y#`INQ+9tCUVbl
zE%t{bYx4^$4@PVy)%BXI<e|*aEpbtBGd)d>7O#XYtR6|!Oukx&TETHmM|5N`vDA$O
zIsqW3XJ1zZ@%+kySs?1iWC^zj<#mm^VT4T<i|<`Wz-p&BYKC{Ijd4b}>9zOtn79zJ
z+H~kN3kL)dqk|u=)X61PGD*#krKkL+0<~r`(9T(!(HbC*V?SQqkzhBMGON=11gaVQ
zt4$l$)h=AbUeEY3f0b^x$7&>T?NsMIL)19Mp43LwcRbkFNKG&hzS;z_+2|}TuZSP8
zbD}G8mH@svAYM`~;VezYom-K4l?gf+S<#jRj=jp9%|eRbCi>6XsV)98%b5Wd#$|;X
zb=3No=?PR+AfjLIL%&g;R=Y~|mgqMw;~y@b&S>t@XCRw0HsMgBdfgZ=u*PmkZ7ns|
zJGA69&cA6aZxXXf63F80b5GAg$+&t5eU8MBusJ{ooK09B<cK$JeQK3v>+bSb=%6`N
zKv;JrZACRtH+>!_KjmS=S8-BGCnLz5_u#>tEy-oK?Ygejh=h{KmY?d`--4Y^r%HcF
znWqA6hNR&LV5~spidIUcmSxVBDkU%66`EoxRrrwOh%EeBJ%f+&2<yG+eP)Y|dSo?#
zN@@0I4*;IKHoYj(yXD(->T(enq3IN91b~1wz=zCgRE@z~EEnFSq_txJ&97>79haKn
z4H&;cbVSH5CpjChw;RT<WJ0cUJe8djq+^2?_^~u|HxsD80sU9JC@;a&<0NwpJC(1P
zP=Gxk4o4MwDeAdOU9VE4f0$6Kj+8hvnFJ>Vj)B3Mh;>)xR45Tz7EK%I5upoOO7lF>
z@SCFqC7?gEl5y{N+LSGC&6QH-b<?Tp=G?QN_0849i_BJ5hW2${TwD5G;$&=*ZoMf9
zK<2{<Oa^7W?kPW4jG8GfBlOOAXDLIfz-_K9`!HiVwA()ND7geOQdh%y-}iOjmlcXV
z_UBaTH7NNykyq~?6UWoAH+|>raI^a^^~XV-d)^)4i%2sx5Oadg{q?MBmryFH@Mbh%
zZ=s8gMS@-vAj_j>b+yX&>}!rZKxyfTek*1P*Wb;Y(&>=#b@<aiYZ8R{RhY3YED4S}
zh6owau;Cx=%I!F9!^~DaDD+=KEoYzF_W(7$%zJ-81I{%h`y{o}z1;2iIgt5rtr&Wc
z%S&jBjH8G;NPzpuS~`d`^V%=7EUZ)r?617o6oz0N()ckwfbk7XuNm69+x5%{y(6~W
zA*^QesTNvxC{5`1K<e)R#xhqgbO8dRMyzNo>Qpu4GvrE8l?by;2!ji$?Ne)1q^{%D
zbBKhixCPXNEXL1%lGe^GP@-DtN+lneUtE~=t;SB$iaHZ<2R9e8kVH&Fd=7nDh^C8l
z7ttvL8M^7I>ghSB&uO~HAQP2ObXvWmOyhf7^id~mrCvO2g0fQZM*D&g_pxNNa!SPt
zd*FM5ms8xcg@^#+VI0fZX4f|oTA`Y(aPGGu2X~o!(CgnWUUeHA%_x{m%nL*GSMv_+
zHSXY#FY(tvq^*-#3x8+c#Ps(`Gv=<&(LVMOV?QS1pI$9<j1t%VDh6*9;_Ca`BPOqU
z@$HRe`=0I=kQ<A`KXvP_o+5fElRRWvx>j|hG?dqArcS9pNpy9MCP{87ud<Cno3&D_
zirXC3(mlB(6;<sXnlqQYlRnjhrPb28v6I&7dw}Y^OLMc*I$q{bn$ysSklMY%(#ggP
zZ-SJo(zhE$KkaYoVp3fBUsJb`Du6F<8(REXOq!yjWRr*H#iMOW{kVn6{4V_%CehI%
zEHG3Uyw5-fjfYtTcI<M>;uHkST0!D$Yh<ohW+=jvv*_P;<{p1tZe6Ed=bdX8wh{M3
zk6lW2y3pLb+JFA+&~>lBfp%T-!`uEc4&P+mtZcW2LjG*s^E2@9%oJ~QFYH!n#d7sD
zFAa**k<oY8NViV!xIc<fc2dd1&Is2$t~mN}>n12@j7qGfAu}`OF%miq9%?gXmU|Pr
zw>8j5?Zughi<)sPin~5|D{Hpp5zv(0(_!H9;%}vYp=~MduSr6kpL2vQf`m8bBh<t*
zUFp`r_@&gSuEKAX-RVD$6x1;#`s)RD4jIT=gq*muWvwicQKucTQXQ2aKn`2H*-z?c
zEMsdO_y=LgG}@}#JFCs@_uYtw2^X5|tcWWvGFcie$h{zMJUQc7!o|=k{;HQ|QM#nY
zLP0D7bUb?Vv~CLdEPft*UlhpQAnp^l`8AIl#O1b`X|KZ!vVGSfR9lUZ+vBO*f)ha#
zs6_0lVWN0(heA)jhI2efjch3D6Utf2sc%0cv|qw3&NM8}md!N~-T8c9K?fBgRj|)a
zW?``d^?bE>1dQXU1+mdmzp(PBvyT@W@?}b|LLaaa7g2_onDmD&9w%V&Ww0%(fX%!@
zvXH^epRt;2>#_CvK*vfF2uw=;)^ro0Xx^BH3j!3#S^oILkdK^oU8&>{kU{5{PF@cu
zsy$9w@*1uOE;<u-aP7(;<R%(%DgLVd`JoWtLnnj6EY68JlRyn9S5`#7mrzafs#K*^
zJi4}MQN&QH3tnh2tkXvDS%^`flz9IYY+@>-T!4d2QJwb_s$y>;q}9EKucwsdLCEUg
z9SpjhvIiYmRe!k9isNMy<ldn{pPg89u25G`NZlh!_(p1vZpcHP7chW#_=64$E6UuL
z(t`RTL%<w%=*Ss7bHi6Wu3``5Ah;U?2$ha7D^LqDRAcqX!O?t{3=}}H_~n6R&*kV0
z;D>z^&`UqRf+fK~reD*RUjV3!ByNRBtJP>9akmHtD%Xy#ke@tqnN=#!<QNwbA6Of;
zH{hp7er%F`0yiaOu)7dCfq6;=h|K%n-<PQe_n*akAR{t7o6A_D)L<Qyl67VuGmP?`
z+_Mz8$(9FQB|9bnG%D0J*7M%6#SYSK7m^mZPC6ZpL@?W2r1PgVYUD)-L=!1&R(hRp
z&WL(D#Y&@835M=be@5!#*u?v74a!N%#di`2F5moRZ&v!r`hV6~bUtrYxPe$%R%+#)
zf?I5w)`I(&QBEuCG;^Ei#cJU|9eOvf(e~;_b7uBubLv7>e1kbGP)IJ|l{*4K@9cZo
z5pL!z(p`{Um~(xE=wlKoT5ct?+Q|cmtxNXNT1t%HS8t|=F$+zir+GYCk7j$a2tZ`4
z_o-}wYq@u0zcTL``ybg!SHVA3JPnsL%T@LNo|<kH7Nk*;R(3W>qo^V4B`CXjZW!I$
zPMJuRT8|@&rv5gT7c347Zpd41SU3yF16KdTiRNJwoSVe^ngCBsGMInL)&g3A0%AoE
zENB4Z<9-wzQ~^jk8dMz)r5Ycu5i$3kp!F+e;=@Ph<S1qp=vn<1?{YPp5>~Jks?hmo
zYTLj%!6H(+QXEldAp5?bt(U#se>X+Oey2=fQELHRe|j+(0J4aD+FjOdf-8>w0X#MO
z7;zmpZTk0ZP1t%%C<r!t{s0jM@Aj1}7QQ8GdK7$!W|c%FLN%r;E$JJkN^PuI#TsRG
zShcFu4o*sY+5@-3r2Yavb*`xOUkj!MnitHluhTc{mnbhWFjc={2_&XgG8L|xG>1OE
zHpa~ox<;BZ>(Qv>MaoR7mn=MXa(@j*o(7xbU*+@N<Gj1(a1}P`>$x=!rJqp!WjCd6
z(#@i6kzppjdg9vj2ve1xUO9MQj50qFUUx+e4JNKxpjN6gbYBsbk5%|sLqmipVWWe1
znpQ_=zae+X7I|!hKLBeKBDW1#am)K4?LC{8z)gc^^1@5OipKbOUl9gEh&sm)8Wvw?
zk)aQxj9kFv_X^riHkD*cmZE$5<mDW%v49JZQEW7t1qb@PBC-~s`f-5HuTPGka`gtE
zMPPb6)1WvuLE_IYE1>tFc4Bx043-}{K>%=@OffYkp<TGr{0LHi+u=%s|98?XfhS91
zw!<yj>BH|zg|SsY3I7XK79R&i1T|lD9)h)ha2Qr@ItWGsKXw@Wr6|Y0l+EZylarpL
z{cMi<pu{`Ct2no3jUP?{H5}%XOOgw&6r}TZ!SHTnL0@Hy%Ts{YN69~14(rJ)3zv-#
zT8*E^b5!j}R+6H|nM~X%g0fp;{SDU(tSitMoRv#ieN)tv!^%yJ@J6-8H`iPO41BH@
zWyhqPWy@az4*jN0l@BEkDD@iIs-w<bOQu*^q@$WyU$NofKCE*aQMZs9y*CHqc|dC<
zs)KSX^)fp3KR!sZ<X=><mPHifotyj54)r^Ez)#6RNt;POeMe0bS1k%ey_@&g4X=f!
z|7E7~<O4XG7EeWYBJ3}z#LRg{fmB%0FPev+e3f#Z>1m0Y)}hNALhayt<{8TKz4}k(
z_O4K&^vHnE5?hi(gi{)TBb6kpC&a-qjIc;A=>5erfz}Q;uq`D5Oih7q3?_v#Wi=or
zL{$9<(D>I%tb7oN<t-3~O$2B(0YZizjwCaWqD5{uSpWEGnf-1jlGNAJTM8b4#3Wm5
zjOU&hPajoY>*2&}szdgeOu_6G1L})Dju6l-T_#P9_eXjSm<<747eqA;@+8#3bA>y&
zL%gdrDhAQ*NIKjB0=i&v4>DgDb3Hu^$~@B>kRk@`5Q_kC5A+rV&L}S_XY?{`qKZ>z
zxLyD~$p#itt<p`P2m>co7${HV$)sEbjk_Q9jh8m)E~h3gJKn#nj^f-`ivoRt;TZt!
zQHK8%KW;>>!iPhw)waGgx-1dS4V<_~nNT6>@RRk#Q}I7nO5#7<ZI)o9cQ9wWKdPYg
z5lvBb{krKoa)CcPvLc~IZc##>h6-?!lt%)J@M<bbQ!U_E%qS$M`iG8rw!BMZ`BJdT
z34@;hGTM%2$Fpz<g*~H4911zpoaqRmi1)kR+g0SKjV>*xoyG2TB3JL5f%jYUn%%l)
zb7$?{1^W+<`@UiC%DT^{()@9v9t8!eiOa$zxCcp>rKDqqQKE~j5oG-e7*AW?dC@*<
z%V&tbiMLy%H<`vnx?5&0N+^?EcmF4m3C%)k<dCRxy^v@MS~B|a&r~mbFfzqc*$DsN
zymOP`wFN(FJt14e`uWosF$Te{dc~*DnvL_tWJ3*_&u1SY7Y|cTW?SMZ-Ds?eLb!MY
z8#L0tWu0(yn_pEYPlQs^BLdpwT|dz-hjF|?FtM>400%qJd;!sD2JKCbZ9P&g`}y<n
z+;9}+)=bLC*)Y|KF`xMpF|v4}-}*mzi_k}X8ijV{ly4_g75=*SNb4ODr0Hlh(qu7x
z0i^H!oz+dCu2dLk!t{nD)Z?mtH(^~8oVePjgNIyWDma?;x(>#^e_iqRI`UpHMw!|W
zZRhbZwIqfUZJ9X_DJcb%JdHEU=yc~8hDom4o>^yrXM6%c0sDagV2AH4o8k_!3uo8D
zljt|_Gad|k@n{r1Z82PZUa17fIB?$7cy9^oCgxL=(`+%BM^>0z8@B@>=_*Hana#s5
z(}jhLdRc3~Ss8gmXGGe=W>hI9k-bd3xC}!CY!g|BW5{`q{P?KQK_`_W(CFcdDN47;
z1N9c-v((50a!rhWP4{PS8Eo(d#^YA~dPj>OnC9Bgs&q%G9A+W~kU72~@3`lq(qnxV
z&q;s6@wA*L7xLLY8P+T}t}->zqD$cRYSN$})8>~^ympnDL!^#^;y&<nm*48@t2^K%
zpn+o!m^NzU1ZMRPj{HK&KgX?y;9fUt4lK6+D1A(6IR>_V%bu1k-({SZ?7#g9XM^je
zjQQ<Niz@$D%;fg7c5uyhY&h79(&mkTdX$ywigx(7^F#7q!*~%9r4eBUyplF`B3Tl`
zJ$YS4YRxrM=5(Iu6gJt&xnxFUgKmZo4MqYDKaB-HlpMOLZiZK<ZG?bIxm>T&Yfs4C
zIU7zLQqG<i;66P*O~L(F;pnaj138Jf9Nih6Mrl~5IV7Wt5x2?Q@IK0l+-d!hOQ+BQ
z?YGBWR(7f5=XKeg1w9%peksBM3^bvHm^&Q`sFzMzDoEzzXxhk}en9xRar_LEw|St*
zU4`+Ylunu+$F{VkpRtZMAZ|`q9o#GtGm(ijKaz`Rj?W$tAExCrl4Mp98m||2q9O<T
z4<yMDu7Bvv1SAMD>Zu^QIzA|K$(r>XmQtlWB%_VhCu;aLW0k@Z{cJnYU^Iyr(*ZAU
zyM6=1f+g&%8@K$?){*TDv)A!1iWJ8D9eyBa%i%7PZoyEw#v-jbWq@%VT@O;J>w4Qh
zvWt!v6DJ@YH`;NgCALz*^VfcBb=opE+6IV0aw8W3Exz;!=VPG$`N=Ux|2;G}Ducut
z9%1BQ>fRLPLGm4^EAVSMha5{t6II>cyqGNEqEAfw9?gw)u41YdTL;miZMu~Lo0UyQ
zc!|~({hXkn@MzD|C>0J2iHaXX)bp#DDja4K;vgHZ8EeGKh;l5tYGHi}l0Q21JrF`N
z`7y$HzdpqKPJW?t=IASYZ0CCQj5TSG$r2cC!prX|5zSn`0ylzG>)urq3qsYuue!tx
zCAEmiMU3ApMyCDeb)aQh;a$OrE^9AD7Jgf`eI&Z|Y-S9W5DLpkFQpqweUemRN+KCW
z<LpArW_eVIe0!tia!fr=dxgYCB=k3Y^;jc%o^zQs#56H7P(~ZoE-w^UEkjmN`_2$X
z0`-B(nZmZ`tqD3TeFP-wleWr=QjugoLHjHbPrlO${@+s<<3iYdskpGd_#vEA$(_RR
z$YjHRFqkMNHljVYLR*Q9zRdr1dm|;Iq9|krNJ|u6ij=w>2oA?YZ}_#*n&b08mU3Sy
z0r3vL1XrAqL-V!(WCa-FGd`d?chDJVP|x`X(PKN<%o2TXJd2}=%wkca?6W#rh!Cu(
z$V6N<{2x)%WaASfAd?VWBQxO2<FiY<t*5Fbi|&2-&Ld=Yb&6^NIIoD{-$iG#iis%X
z#%0^ct94Yj2{$%me$R2*R~QGH_FcHe*j;tkSG=H&gRy6RVCvV!Dr^e<E<|u@@s<V-
zbG4+5d-9C6XJx*K?tsIMzJ<n8pmMH0EdM#4RBC{}H|hqRin=pGXZ04HR}m?m12X!M
zDc3L}GB^4jQJ9M7q*EXj<$x1A6Ek=`LS7_AV6PP$8B%PaD@;)mTbq4(Aoc2SI|<J!
zSV>pMkm{pWyJu{r%UG{>V#o4{A|+N@dV^nE)e!QbGQuYJNLa~QL&(dLZ`SkOS-MiA
z(zE`nS0D%vK`>!QV@`NNc6Kft4CUCuc*#a(Bv+S6Au}aRr`&h*8bbwz(Vc2$j>SjY
ze^qHLN7L|KY*rr7?`3<o>>J#ltEX1%fF)%BZ!OJZd;3C2QI>5pnFA|;2*gV)>JPQ~
zg`B9Y%r_|&Kvc}JQ+Yp%X+(<6jv1c0#a<U@ncqqI3H4`THKi7ioIY5gVcebnzV*$n
z;Fi69*>6|Fw{Nk}v3{N_pSOU@?gLP~2vbOvxAP`CRl9`Tr<08#+`KPZ*DBiCwre!O
zqu4>YK7Rgl(#55Q(6XuMy>ynA#ge@p<rHf*Bkl(1b>m<vns}v_b&pq2cc7kAPq8K>
z5pHT7OHB}^e2uKs`!F@{EbuZh7e`jAG>|PVauF0)#8deDif<h%xu~wS5>Zm*m%E*I
zEk!7CHRx{%^~6VNtw_rxwxx2<a=8H?1u0=5P68#6I$b?ah#qYrMLLa)lZiPYFn5s(
z$nOkm8pGSPT42F%X^Kxnm05UB8c9-xB)=@Mp1%aOX%@o5XbLUjm77x*D=V{3nObp$
z{MZsz*h^jk5GH<oeG${T1D=Lgt(CAsH!1w*-%LqWG3F{8(T<U7DAJ^;StX;b3xarS
zi(}w!@F_$zJgH^I3uqDwCEe>{^x+Z)c^1zNw4?02AE9uxK5Ar6+ENDnmVGzx6>uWq
z1Jny1@~*L5Hc5xzG!{9S)gn^wA45>1aoM#1k@DTk^Y)BY2CjydPFtH}BEzjaoeJNS
zi>C42BNmobo7m^FB+wYbcWT<f{$3j~Z#Lf(1aqbgQ_L(;+uC%cT4K>ovSqDbF>$Mn
zkQNgrIawM=0wem$X==g5hxyFOo(dc`3-WWje!KWb;M%2}pUKEbuQ2&!<<#U!JBJv!
zkeFfdNqDyH2BuH7&B@5@Lyi<924-!G`rw&67epi;_t(O`_HI?U`aX+It&`irtkRMf
zDNJDIswYrIOGXk81)o~ggdFIet%R*QPNsaJM^5LlidMqt?+hO3*EG2mw1%XXftGzr
zgewgMA-R9Ye;K9{-G}P0ToiN<+T$s9F9EZ>0*G1?PctH7yeAYp^b9yfaQ-T~?O-1J
zA&IguC9xCBdIQ?g3|Ws>aMm@iyD;X9H7$f{7R(ha$@gB`b~56H?dTW1!eXu99<%(N
z6`l7+1-83LDDH`AIM6H37->nc{5m`O1D&U<s^p==G?m=*$U3s)VQ3K4W?df;)ac$D
zf#_16L}F@?)SDO}_(~nexLxJ^y|e*@_*q{cyXS9B<lqaT|M9w{ZGl`xI~&CL>NV7J
zE-n~E7+jubI*hF2>W0@ou;Nyya6H{wey`ga8N8nBD!tcy$e|+y-c3_L!E16F*kR8u
zaa;$Pb=IM`YE~SKxZF`&;a*2|_LvT=kU^ZVL}ZbY##|W3kLTT>-56Uw39IIiGi_+x
z+yPFge1qol!OO|P$xM0n)YZSQgX5)zldtTnsV9X#-MpSYEOMWeI*U(atephd44S}h
zW4-UWftQuBp{C-5#1Gsew%rk4WmhS8t{L|aR`*1Gx{9g1y>XrzSKu1Y2UT~l$;CGq
zyg=}{&gWJJX96-4Wm8_qx3oFt@i4j%xPRuB&0hJQX+}?y{M!42Z|$;~cL&lDf}E~Y
zm|0R~{nU;QEBhEU_e)F+*g70<qOjq45uw0GjLKR=p1h#%sF?YYLt$uwW||f=;-_xq
zPSGhcteuesrLypcyqbA31iUtgyuZk~V-%xrcZl@z*g85)GPe$PJ<FIRMae=ebn!jw
zn`@d7*B0>Xdrdq`_zy(5^Pwv7FH%xq2F827*u>7{6A(K`-DMX<x=UJ0BOn^i`M*^i
zCY#KSMTnyPiesBMEI)Bcg@rc>qk1Au;!Rr^@QFbjq`+k+B*|9y)gP=Efvw4?1q_bw
zEcx@|RBFZ3dl^=keP}H*W@%x<GSMaK=DAEOnxJLkCIt6ddS0fsd=3AxI}Vq9&4!1{
z=z0=cG%L>2MOT3pLjP!y0os6d5WVc>aZe$orEW87=Do8l^J&i2--0zA((DPXpjP?g
z8FYJXqG2+x!yVvaPDGxDXW4odgV8k|ogCm|iSX(}ib*RTkK(PJ_i-VlNp>||ymwqo
zQ`XE|Q=CIIg=Abrc+&VR%RNy@c)It;v95i#9i)W=<1bO=V0&D3P#TK(;+h9kO%6;K
z<nR4|Qy=M1pboAY(F$?x8yIzBtaA|aQbly_t7Kv7B}W%fcvl^oA~m%8WxC4>I~TUp
zU7lu;3V}ns0tP}5bT94O8)&td%IWH3H=r#IsUO6b%HSkBLK7GHR)P_tQsbXT32Kwr
z$OFocCCEEC(j?s!8Dh4v)!_S7WyZ}q)<}#l$}5F>(uMi?j>P+8%1{`Ur7chx`N3{h
z=sT*X<(cbLtzcPB;JxT0Nfy3(S!DEjPbzZPfAtVn6u~Ry*Z>vNQtTH%)FUS-xH{KV
zRPi5~0v>XoF2Vd86{(GlWbP_xDmVYrXvOwlI|TN!kZH=4-f!blB;;aRLGA|})2L!4
zB*3vc@=AXoAzBN5t3UDEdR$MgkxqG+Sx-!BN$pi%2QHh6TvhVHPaq>Rtt-AYN@OTH
zwHNkq8ogm2+10*%e)I;ZD;|oev$@SX8|;V<VC5s6)mj=lML89d%0vXqyMrdRK}Blj
zYG<!oSf<PP3vQXzoeA>Fa7U@_*?|b?h8<X(@Lj8Xkeq{D39TASeIU;5e@Hh{e8{aZ
zEHi$QXWYUD*e{D;V8e!!2cuWQ)yQV%xL7h*XH3pVxwUdZk`E<NB2){~DHCW8yfpd#
zS%^y`shu2ET<=rfW0vsWY2rqPYC*6)iI`^l(Z@&wB{nbm5$>MbjJ5a{3a;X_`DSat
z=^EtTprdjQg-#e39!Km&71VI9n{b?l$*cFrhv|@<gQfsmBqA3P1-D0dDuyiS%2Egd
z66ve&J8xPuIn+Xg5Vv`KcuTy>sH}sE7oI+9p2q?4pVGfUNQO7YY~5d!@^9Ov&y2hL
z8d}B#d+St=%h{57I>%DU$4;S0L!swnt&6P(aS_mzXxjSuQQF`5`nph#rMsl1!Xtkf
zl`YTv3PD1Steo*}&cxYN-(q3I$kgWP<64@wXqPMM6E|VvY_7>=TFz_7Uyuc1o)FK6
zT<~8C2w0eJ9n@>C;`@^ki^gjcW@0^RDQcTnD+N1vpb0j*kAzL?2Vr7qYsL8r4aGgf
zNC5Z8%R|(sImibd(?05IT92N8j;~Zs?`y+}qQ7<%J;p{@PvlMf?<~$G9rO}%gJRfb
zQzh^~F3-6atp8gD!-NxCIAe6L#Jizzyzt+|9X)3Jq1k>(C_#e^>T@L_!<fJ0U7O*f
zHaC2-<{CUB3gU+A^>(udPvEwQCK_K@{0Q)_8CvgSwXa9{EF7MG`}=Xh@DVs5qY9es
zinryAhN^<X$H2Pd=>hw~ac~TTy=I)tGr(Dx^QuE9?fG(WV=c1gf8IQ_5YNYi6hiED
zJkAS>(0TLep+v~vH)l6qPVT{b_ZPA^Hzp<~s;&+gun{{3gjovGX-SD=;MG@KjF97C
z|H+oa_pIS`FZ=j?O23*_mFmR>LD)G=xz_l}Ik3C-biBdvSnsdJ+ShI2y1vvPuAO~t
z`u&l8Gw5lA5_$mDUFna9U+eM#kLJy648RF^U;2koCh!B5Z-9dzy#GCnQ)Hm+|7>P4
zPY@Azj@&0hN#e4La$7n+IX@nV9I31|lT#fF(1upJngT>0J1+-G@-7{T>}vN4U&DR|
zhGwn{NBW#*97AVW^^^tpHzE;^<1w)Y37>~947C=M8Wx6+W8XQhDO;BreT>77_)3lR
zh>F12xOiJi1&Q8-1jh^f6Itp|pu$g0@s7qaTCYwcY+Qs2*smjh4Dq-?<eFsJ_FNYm
zcGS2qi=n`0Zo1@M+G!oMX3bAWcX4-)8x(@-jWNfIr>9nP@cfWJ1RpQ}11(d<;I_dy
z=0xT1o7PL>CL5&>6lU(ED4rv>V^&cs_=;}tOFQ`p;V3D^?2UugCi_vrOzZJwZZX{#
zNm&t6$6Mo?{4pdO@hUV-WOUiy>(luc>3b*`F^`x>wJe3|?7ZtHWfLcC;uPPG<NK0%
zHwq7eB+kynd(dKJuj43Td#oEoFq-cnGu?wiy1zobjI868E>v@Vs1>hH`|hPD&4wcf
z?cD~`01#n6P3We6vp}0%Af2p8Enk=8G1kZtgV~pEu8y<J2u{=L=|(5Y>@78W$<#(o
z>29kN?!O!l<ATcQ%9|D$$O(HXmDI#LXG|wg?JHVYF3}XxzI1LPm7|uuW6B59#JCG6
z2P<h{z6-E$IQlV2dF$KKHMtAWK)$z`>G`MUb-+AHPCHTcNcxoI!kyfeM1l2jd;f>i
zHUHF6UA<jhVrIp;(p`-RWf{jHKo};ykc(nbZ$WhOmdZuGxQ&}!rBA40&WiqybDZ?U
z=7?J|-5zPYNK;mc<dvo@kzR{ClqM5hLF}FSK=(|@j#B?`QQ76gEAKu03eKpn$aSO}
zcngvG{Qimr*IgKOj7Af17VRHPXSw}aF*}MO3k%n~j<^?%@A=O3WHBz+NbE+@v30Qj
z`hAOy#Jj|pJc`#|KSCn{$xaRmRZd(Q-0%LDf%nI964@gun*iUVlL{ycNcr09<Spj>
zy^5v3P>cH3F%0_Cbg-R(yys5fH{(jM(Ix*m%r|U2Kb96)CC6xi>60NvmFJ1jY4-lm
zq-Hnf+#Ws?Fra_BtL@=&FH%G=R!1mmdfCzTOn0jeH4PP691AD$1O@K%&Z%`CA<S1@
zpmelS0=;)TJe@*8{MHentqwP`t&^@eokW+oYm&s_NMs#Sx+zO%?i7qhdv{5cWg~q>
zWMa6MEO}MUuBM{hwxz4>;jO1;l`G*hRr=yEBW_VwdH2HD>%}r@zBg^wG{@S^-GPgw
zO`Wl@b<4-7!PDAU6>AG79U4&Av9GUM0>LCP%g}x_>PwDiRUbURllSNNUV!8qN4%ls
zi2Jqawdnz)!wu=^l*KtP0UT?3m_-?v^xbz*o%aF6sEd#{^gN8L9a;75a>X?eef*eA
z@<h#3)Q83=JtvKjZRciv*taejYpECeVAkhEP9i8Kpyj;1(PEM;Nh35)qB$~jJ`qAi
zdK`@OqE{!l0=D<dZ0K~)(-EOmc-Bk~kLyK<PfwahI(@M+fxdKqlH$LaorgDO0qSz3
zf3mpV+Ei);LmqwUTAlMN;PO0}ZDE1qLiy0!CX?O_)80eRlpXcvq>fcf`tK|YzZz1v
zD*K89ml{m!$MXj4R9cc$S`jP~q;>h<n38N$s-!gb3FY2OQ>sPn%L(P@RgWxMGAe*h
zwklPsa;ak3#fhuOfhc>WGP5d;9HR=6T9hz<k{lof@H(e^!zP{T+$5EX>_B#4M=Wx}
zCZFn@%o?&E^WSmm66r$P`fF9H!g2j_RVrDX$~0$Uu6VODX)1Ju4=DyZHEGrZ=}P5u
za^3&73yah&T3$}MOQoggB-MIrQlHHhDwXZaq@3uUBO_5a?ugZ3?z5bY5qny4;7I?w
zR^ajy*xF|ZK<zoVMNw8|`<Mn%DgBN=kZU2KMJkt?u#edmE76)MT)GSW%}LwO%O$xb
z>~lg#gwYc9Mj*s1%^8+z)1QZ*psAXihsU1EmiMu5hkzA1C~p*=KShddbqo6g59!}W
z(b@wW8uBup&vG?T-$1Rv@Aw=aV0m=k8Jo${${2C-+k16)XEOBl75CLn0;VGhD}K#X
zoxoNW$)u{U10WGBf(~n7eU$0sJjU4BSsP{~sn_7Kslu?cAMn$)E-p`u@z#rs<!3m2
zVz#&A;6SDqbqMvO%hxXsUo|jIXC~Qh@Br16!}hSkKxyr7xb45ZL4L;3<(9afYndBd
zGEg1onB14_>^K>s>)^m=JjcR7x-|_NXg_?$&BCZr6xrhTU6o~KH+L`43Ur^dX?Vu#
zUKHx)zlNQ`Jb;bXyLs5f-myV3=EU`sd8&FJUTXd0C39e8RF+K%E=$ZNlR;;GKHH5H
zi9}@diisT_=N1$U(P}iXEqkbg&*aetx8-(gJfDS#i{2XVG$(%U#}eDWUunBJkLfhn
zYT3~L;)`L@1AZ)Kaz*lsD`$K<f4141f^aR6PTM1E{=B(P+*<kZ1{Iwr7f4(ij&!P<
zwh{rEIi&<9aF6MiW@kg<s*7ZI<&JI{ZxoU$cr;W{nUZ6X@Q5&Ne?@2r5)jqq-x_y4
zz-xDzW*PQl$@{fwFzn)C<Q`}?mV6@j*$<&JUwwDj&*+PXgP|9dkok8Ex@@VzHy|uo
zicy2Jaj$;xZquP&b>J>%>)y2p6c>wsU|J~5N}Cr57w3YW&qs2+)}Q!Ll^1$R6qDlw
z<`b`~vo!qS{oFG#nU9&czZ^Br5(RYWs=qyvz@5oPIeF%8;ZceS+xLJX+j_X>_}ic!
z%4*sj@Dl=DW7x}+h#6a~E+&Q?Fb||@6c|){M16o+gmCESNZXs)`qT$K(NlfvWHI~g
zx<?$u0QE>UxNvgd-jNe=0@6!=>_XpfEM7ee+&tvOnP{7hQ@3uQmryGCQXwWR&6Bz*
z+`jzn3c%O5ii094v{#Q-4)1Q1jixGHB`yMa(ZDvMLXK^L3Ue*;z%C_ELme#ZTV#}u
zd@4epKv=%gD9|WMBfT{+-p=3OrH$T5SNZcWUH0@o+(d#7_GN;CKJqd3OdqY0d40a;
zjq9RNt=n|eE)CQhU@`bjcRTm5TM`T-Wmcrxyl#Ydup;cAmlE<CW6OBgMTfW%eA9Ls
zHQT>91FP-2$FJ_m-f~M}Uw_s>9LU?^L}wq^gzPDQ4EY;50zMkThpWNGGvKH)(<nnB
z6=$2eN^5ER6Czq08@nRYsjTc?^I+vtNLVunGU;42%@q72HA_n!schv%AoxcdY@;=o
zZW&R!M#)F6kJ-a1iTJ^`dX+yx!-f|bR+_f47jM%!AZxz1-3@N+@>&g=l;6V#(<EzO
z4_{Au_|XI+ETePt4ou1d@JoHEtjl0wkYk)}Ywg>pfdYyuDwgGc3x)A4y`nesY_D86
zmom(?ix=kg3uA|k3-6s?tLLrhkfn5dNaI#dLd^oqDv{1Q?Jcl8V{5m_q+t8#==$6}
z@9MN?1mZ%+quh?&RQLMGV|^8o10KIt#*<spFeKca=6tE_{Ax$uUaFa-k+SKRk1m4g
zeX-VyfHYe;dcB_QRmGo2+wdyyc7VU0*}5O_XsH>IPpp*IIl<jNBFtPt{9YGU_;ung
ziW|q@3x!zZnRbv}X9djpU1kG6(NB3h$p%P>;$B5lw=Gnu?9%X~LM;uc$|J;^bgXz3
z81fCez3nLj37hY(CT>)kzeLmIh&KQGT-Pt^+odh>SV7#^()*sgb!J&4oS!NgMz~u7
zO&kIdvD6oc(U!Q+$2b##J4nk3GNE&zccYJyZ+y_(k0}SLHkb;8uZ3NG)ArA^QqdlY
zAl?CWH&=fa#CI}?6dMA6l&W;m)8L4p8FK1x7fbx@(F|#&<`KLt7|S1?<Hdm(JCETm
zUqXET`6PS4l^4(f`&n@$5ds~=G^rvp)SZu0UGb=P>m%;Npx2bOhGRF^_PBt6mf0)M
zn+y!n_C0?e>#jk#BpR(JxK><*M#}*)4^^s0UBtwbqT$LzHC_J3Zrj%9ZTs%1vTfy9
zn1#VLo?KvgtRrDc0_DRqd7AWXSkdiZPmO`_vAewEI*VOg?}DOTj9u<1rdO$%Kfo7+
z&BuuBe>szW0dS(&OdK388Shi-ZO^3w1fByjC>#A}K5&Y}Dj&ued~cKTg?%|1uw=%;
zh|L<YG+nR<(i=A7Of2L1Ot4f`NU*R6#v3>n-~CEd4!x_6-+Ctx7`$&f2rSWiI~HCg
z=kS{5Fmx9<ts}j*6WENmdN}0IM*)0z-3We(H9glq#COrE{u{yrciwGiMSE{x+?v0-
zlo1}(2x_b40HLM@hl`zE4P=0=;-8PUB&;Jmy`hdC|8W@qL7LHRJKCWZt|#GdS6qBo
z=+g*FXE_|uxNG<jWW$~tB>(PsY5KAU@&PIj!GV=8&mC1Y$Ct*dQ)E=#Ux+v#wIswt
zZ67j>_IELX-I4cyh@>zw{*A^P6`a?U;jXN%9?WdK!r*(c(HrATUp{{n%8s3t(Qm~p
zRV|sbQT(#{C{!SwQ832%qdXM&Ro4oxJ&S;tr16KRm^+>>w|knzS>wM7(QF5Hi&`bd
z0!FM_QVWu$zi9uU*Hu$#lnt&!*YZ9ZCQ3lGGNRSa;WzADyl&<DQ`55#3fcD25m~>|
z`(JgkGf5A6{v><eCY~9?AvZ|$x|?>$vNj~hY|SKnnc`(jRn6Fu+wpcn0@zV{MD2D(
zQ@+TFCofWXvY1t}4i9qjPBhSzW)*CEe}2+v&2rXDHF%10T-#sbe6;KQMLRNCo+2~J
zLoiLX1tYSQPEdt&s{K^Cq#M`}XgCxjvYx>QCqqqjOm(?N2ty4BYjX&DMQX3fYjscB
zoqKhY$Q5oKxGQk?B&(vSITAMiokmcfaV$~HPX<j^in8my6*%kqXt`^4NSfBE=yKK8
ztHREwW=$}YOrb$leCMR2tJCM%m$p0mQq-!Lc1UgjT6V9{bm)7iQ@uRsil#nzW-uD|
z)o1YL#lZnQKyK({9tJB!^!KDClQrpeICd461M}KGi!ZuDzFhlMFNK5L0RvDjHGE`H
zLd_a!EUIY#IP{hPB6^mb-L{3Yz~DM3M?J8BUK@Ubm>?`bZsABtDs$R#t;Pi&UH6jv
z1sRMf5V47C4_zg)2>aI|2n?3JiL%eFtEWQ-D$Gg5lxp)+s?J4<UIZW$;y)Hg5UhpL
zesQgd5|cbk5PFi{z~pxOK9!>Px`!mhnsvUQxr;=}$QcC}n~UDUuVSDXjfLxSTBwXt
z+-ap`seJv?xP}JaN{}ST<3TVt0ou?~)pRs2zkZiCnxx`V`nCWh0}l;qy@<pm@uW<_
zAO)j$5v<-fWdQc<^Q}_1u}kAxYU1r;UC}nW`7eoL3Xv1VsFi)L$L#`z=l3w|=WGD#
zBaA(h8ncHG#sKcX2VZFkrCo1}T22DIxXcQlt5<Kb)2q8ho-Ugc29GRC{J&EBT>OE(
zuxBX;yLgEaSDNtH*?p{VxhC!9{paKT<LT1O$;-bV$H$BF$Df&(laF!(`nlabI268G
z7UrU+3NV1JiuFTn4i4D?3cfN5U9|f;eX!K~=DHbH6%~WYGA})M+kGf=Y+N|-#4RJ=
z3nqcDsR3yh|5vJ5Pm|t|>A>`N|9#L#bAuZe1ml#b3T!?(MV`S>xal#g2`ljuP?Z+k
zVb@7wrG#(70a5div+N_-zs3(DnGO?vT+2^(?D;sOFM5Qjp#*1?M`N3-{x=I0+p~4P
zm!UBl+4NCySxyJ&LIu;&`vF&qgC%R}%AJ~Zl(xQ?BxTl5a|4`4i8S7NLVr?pcvTBV
z>L6r-e##-MeeVB5)i*|G5;fh%wrx8TXJXs7ohO-0Jh3scZJSSQ+jb_lo!q?dch_C_
zTdP<1sne(b)Q_rjc6IF?N*~vKJaEQoLaSnJ#Z8{h+<ZK5R(8Mmn1>HB1If<CYGtyX
zvc{pmajd^D@WF*UKV71@?XLu!z9GQpqsZe(-xT@T`pX*6iJk#DO)k(fN|0ewTBZ-X
z1%WMRz#n4Y`P6Gs>_TO?An$&b>?SaQSl5m1aK9u0(6caOV14&L==A{@mIXERF!YUG
z8(n^M?P5%*Wg~QGbB3K#qt{8?O+bFJ$GF;K=QIal^%3!cbFdj(oR{&L*p^-1UzE_N
z2DwCmR?8l{)#sX7cq6uCHl_ZYJ`w1B78VN?laKM2-jWRhehqU*WBg|?!Py!3U(bF?
zP^0*j3_#`?(rjsM?_a50u`J3fq4ik*t{&mD&#0*dev2vNW1)Q7De*T?FJw&>_72y-
z2Rty-28tv67PI@=Pqeq<GeeL(8M18pdY+;AoZ-}jzYLxwW+44M!6gdMO1xWW^E+0?
z9Q7_}p0?T}KqeTKfoY=`d2KrA$U1Z~8|F`6Beqww&20brjD*l}6>+Y7pcBN1vMY%{
zU7*XZm<EO`R#o^el6&Vhqt6JewEYq`dunS@P=4$Oc5gRtK+?|P+~TTz(e}AA$o17P
z1m$(=qJ5C$$2}0_rqKB<+a?+`50>07d$%^vq}_KJA&-WDBk{N*$(kqxWPNjjzv4%P
zkOtKK<7Vzj6VYHyf(*w2L!m6)Y8apnDNZQjZc9336a`XCaTH~dci4QP8d$Z^u9A85
zovC|uKDsF@akRVeXziYkIq3t3hktbn73e-(!n0UPym*|h)MJ)ZayH!4%H#o_2Wbgg
zbl_SDRg}EC3efz`2<x3cO;R4-I|mB|xqL!Yt;%y#;Ff?C&A`|V!FMZY_DmFY*GsSy
zLK4f{F$HQ?l+i#Efqwj3j6@MVxZ!jbM@)p)RLMF-g3+1~f^o8S-2=vX^+XPR>-pq?
zS*%dSBaH2*z%=XDw=hgT_KxRr58=#JGAtdFZ3OJK7Jd^d)W)4i&C)F@|76S>fJpin
zipD{r`DcRlYL<8PsCX5ZyYxYsOz}FsUQtUs`h2{-9IOjjsHOyv)HLlJlU;qD39U)B
zRvtc#3|2Fpd<-)kSFKFt#im*y9Bf?Zg(TmeX1YON016b<9OiJry>R%wyczZ2?4Br|
z-z|1Z4eHnQWb@DgolOB2^;zGrYPl(Wd&tC3&N_vB&SsM;@2xn@$XO2zy@xnP3)OLB
zH*-^(bHg$RT(7$7Ta54z9lS)RL^0B6a*pPQD8`b<)Sq8ylrQoyCp6L#^nosB5rfF$
zG^dc(96fse<~1DTa(Ud^?f*Q&`2Kl%YPHs$iJ}FKBv&+;0`?<=?f?{UZmm132kTy3
zMbYP2S;r6CX=*;EWCOpLm~x?buk)7=Sz$_3IHV6-#94DCm_<Mz=yUyUxkp7XQ1D`K
zAEB#GCr7HgghB0<gy=;<Pvq5|P0Jl%5oop&A_GA@lrx-mkR<{TQSf)7MSH?S{-y?e
z8W}*4@5byKA+70~`Zyv+iH5bLr^39g)j%jpoUZm$q_5mpCkH}M7LSk!J)07l_a*4o
zuijakXh=eJ`Oy~M@V_I8>{7k4YXRcf5igFn#3?XLik{`XP)<2jBCu9+9XV+Tq-Ega
z6w}!>`<OpW&O-G}Wbm%SWVN%F|8o6>Ihc@aB8iP+(TUvw)8OCVL?a=d8%~A~^fG(D
z#k36t+(Yim1tndd=4Z8EI`2LwLhLU&!BHOA5#}g$IB%1vP%>k3S|uUs6d_cput!Lt
zO#F=P1a&3;YPak8yH$y_`CiZ6H=ky&i81e}4lKL*)hptOAliDL>%wGz6u;nt8vK{2
z$*fASz4N}diy>0kH2~HcxA;fI8qAraiR393k{Q2K4A#L99Rr>G)=(V#SNB$|+KY<*
zP+Jk*y`Q_x_f#y?RK1au_Ts9b6%+7V269AXtS?;L;x`>BAqR7my#<^?g9l1~0@d_r
zJ1J4KIF$w+Aj(V6&H~gI9uT#D85@b~8(KEzSNmo;itDGMC`2`%`DtR@iOqVcgGSz&
z+>K4fE7Ly+NxYUTg+#bLd6ckefyFm|Qp$RBp21`<1bg&5fxlwSB($*@raHE9TzV<v
zKcu#CAdCGPy&hf4BpE#DrPdu(@g^$L^)|zQ{<jR0b8b@VjnLAL1u_PZ#X+l~Q0ahy
zElH<>V&gT=<q8s`vlOyp6x=c8AF)zo%$wi}!ksjsP9!P#E|POqWM0sna2evslrwTt
z(41pGgvIul!z+>ld%|KDN^vCu<yN6&Yv)Bi9e~>GBO1Dz5m2jGU!Ri@feX6j#`7|c
zYT~mbCulxgaU|=Lm5pjfPy3d`sagfs1GYyL-F>2<sQth{ghs9i+S`^g{$SU-u}ucS
zX-CFZ-wj(uiMZ{$&@hz~8@mCNE4(px8M;}jyGLr9l=RMwc~rSQ+maB9#^daE7kz`O
zE}XDUnOoV%5gGeW3PnL?gcF+zzd7!$szb6V43(l^-ps?Rxsb6MYrc9#Y^0ASTQst{
z<h3oN|JI45CE*43NK>yknMX4hr67>I{m6oZ8SSFhQ6%T=9cohE*bH(5Mk->+{b(kL
zaN6E}y_rtK?@&OP_@{z_ni}FNn1O@z-lOzXS^KE+Q(%^fe|&WjsWC_Y3zhENrr&Li
zhxB?Mi)!`PM)=P=+_vrIHGTV%hx!jNVCN^={W_#T2sgXez}%ae;TfMxV>qh&lIkbq
z06)TUG&eU*`tMkAFmaeeMpz=@=VDF&uJxYeVRy>>6ZV@5$>j$5M?#YuTrbMtI!*7m
zIH<#MIc~41-8XoFb!epJiHF7UC-993NAgU+-Hl1RX9A6Bx3Ts}Y9jf$6gRpwBP|1N
z;6z8W7T%B7Vv26b$EL0E*b-u`?e`>bYV+*ryR6Gb4<s|Mz5Z~tB#G0;6K2w=z8nLy
z?GC%G3NN=S^->{&nKKmYd};qEZ3Oy)qBBxq6?NM-JS<RF*(OzNi{xTaN-vly9lJFw
zhETq>;rL|H!S)~2?+lA#`Y<}_5cFEGtw)a1^vajA>G<i%HiZIwjPgMTHR8ILYkFHc
ziSE;fp;bjXWzhPvsz!P6qz~<weo5sA;l*VNvV0n4ZS-Sko2Mf}Fy=%I<y?lnjHJ!K
z)TG&^RSA(@o0ujCbV*0e&ft%j6;y>C4Z}~AIUarkCy!^(H1k45`nsE>-WiN?t|ibD
z<cjk~r8svO3c2WSVnv87CD?-b;^{3o4TYNK2Bue|miID?f%J9h47&Ewc5r;Ha`k20
z*?;Cx>@X+le~>jmEb|tFOW;@OZGDrbsG3)B7tEVZ@D!Tf30V;;J;|gz0o(3Z?#$$v
zYB!#WX0L;)X$VQ7?I#AHiJ_7>Q$*_LnG^W5dEA_8SfowM!Q95jf6LV0Fq1`AI=z}I
z8I>b;Q!BE!wd~So3hiFgTL2FG4Hc#i_s+BXcCjhRlaLK1at09$dBA_wu!vT9Jv;Sm
z#n&SpZ6xC;?aln~x>$IKcW+$!p_h!)nY(D`|2Qi=*uARZqMc09xY@$cAI-@$9^B5b
z{tBj_+_LFIg>-|k{u-G&S_MQ|E|LVBCPNN-`MPvhJT~fy9%?K|JYvQTLik{%R#aUN
zcnf}Pu;lCED9Fo-YQlGra1}4ZbdxH6j-=_%pP?@p4981TjP%U$vF%#g@nwF(1OITd
z1NnfD;&8LB4wSspb+jDQPYLg=tHGU_Sy}!BP1w;(u)Srft3f;OqD%!lh^-mLq<t17
zm9*PPi2S8U#Q_iRA(NQ86FtgDXSs8YuN(a`TC#=-pEzg5-n;^r(|&n`EXBvip5Kvl
z;!ZVsTT=bq`j!h`j-fz9(t&|Jq%4NVw;?J$>06KxQX`B(Zg@#?bW4^m<-DSdSuae4
z@aG7~Z8Tr8Qrp+{Ovnp=)<=6CP9&4L>|mKp*wL7&IZ-(%nQ6z!ac-wdQx;oEYaX=h
zUR2T*CHYXEL-m&xd=xaI4O0ZqZQks_J6`}pyjys%G*zZHMks88t8c*0<M&_JG9tt2
zP8Mg2>#rgoNRt?0AwL8(9-YFtE3AKuDQ##FNDTqNY5W?W5G49*!!hDp`;ONNeb|?V
zwJ1$P-5Z?|Q6{^NS9*PzG}UHzQi&(C`__?ul@1)-#fry#v#UdwWpi(Tv<m<<C}@~1
zzzv0t^dYa3fNnMkH*g<mDtcSn?THvs$%-oE30I#W5?t$EH_O|LOtqIdxXyV!P#-a>
zYSRJDyf<70(#Bux<X1id9qIvofR1CEdao|Y<|Fr}^T*quuH&3KsQxjAGwNKmYPhQ*
z{PEt1%R30-Wu7Yk>rd%#gt?iDY+V*Y(fN&_VlIU{GRVv}vR=o04C!i9G9*_?guFKJ
z{^A>X{>a*@W*YNQO0yBf*MLwl&QV>6*Dnr|lW6@*rWiY^(?&uYmuWy}@M&|OKkrdd
zi?jgaXa@lmZ-&!j)ly>lKUmldL*r`Res2cm2CGSv5f($oWFG3yizpKzJINO6)vdp~
zX+{@@0m2V)S_`OysAh&Kr76kvicmwF-3FT>>CT5i<}99C2m#n_I!&0eyz)d}b0exc
zW@6mph-3SCK5$-<w6*)|*Qr{$U7`vYtGyrtay3<V+foix@2G3}ykbLNGTQ)WIQ6Sn
zbZztr)l!%Wg?|yJ^Dy862}M#oJogBe&W1LtVVq4J4$4>VAN0riA}<Q<R?JGE>MW;Y
zs__-_!I{cEL6G~p2-_q5+Hfz$^X1*3g~_SGa$>^%((;A+zGU^0H#WPzdf;O=h$5N_
z3hj34A|Q|Hsl`pwhQh`h*vf|sYMU^iT39`RK#&Dam>#tcNHP%0Unys#ATI#Xpg9o|
zUp^gaR0tV1OA0xOF;K`e_&43}s<RHrS7UxGv6p-z%Wu$06l#-LJ=Zmtkm2yPO`%;*
zr4~dC0C@15Pp%_<OliG;pLjQ1vgv`bI;Rr1d<$9@Gpd?7crbcRFrVNM6dZ6axD+~b
zOKA7m0iQ-s8G1apuW8*%Bx&gLO(4(lFOB+*|28K^HAa$H_)=M)G)$nVoQh_weqOAV
zJ!Z)TuW39^RXHmTB=U@s=(8dajY@iutD~2q3YseXCPbt*6OroVt)C*8DF)xdZi*!e
zEY?0y7EXW4D@Wa#=eI}=I#YOsV-r<<K&|p=3q`f7x@7Nhq<HU$H1lca54aHGPkQlQ
z8qhzt|8cc#P{3}wrAwDK!#WLV)S-EX1*(nZtR1=FIee&Q?S9G>ho|_j`7$QJ^@JY9
zHbyazKFu~p2a!%?OPrw%{4h{!X7e4TCbMnoL76eZACd6~9Sn18HPgcUlM?g#IyfR?
z&B#Tw4b)UuYJm;yv7sDKO-<^u(pb`sY}O;#jjT36hdX3+kC1|m+8c3qjI*Uk9<F$!
z<L_+PikOIGQ!8agDQ9=z6y<NZCFKlD2(EEw5V%m-4O&2&L(y=^G7O%FfLz~d%c2nM
z6sHsav&kth)kjF+I^XTl#BEqwrov92-(?kabA$Yzss93w_XU!V>mFhGi$7{CA_D+C
zaz6ejgC&P<?l8fA11+N_P4<N+$moO=E|SeHtYm9!v4KFj={N|69&6b)_@Tu}3RS%-
z+_n5n39Wqb!mO=Eqdnu4r&V<E^yx=uq|VCP-p-E;>WgTIoZ^;2T&Fn9Q5s)VrAfT2
zo-G3TVp3klNCmIn+FygB=aI7!!Pkw8`{RXx`XXVjt{-07E(k+o`y$@_D0Qa;mDuYi
zKZQNisgK6yDSbGEs!kg#Lnk(ks-7J%>ogv6MEj&qY_adV2+iSihJKD<jq3!%FxxPn
zRp^XTki<{^9GUznrTsD38F+rqI1`<^Vgt`gTFgdV3;zc3W^~vP<qf!W3l7H=HJwnf
zit@<gr~HbIBd^10o$6kyea8nM2PTqswBNds8LmQdNrxVED;-zAmyIm{{%LR{v+#%h
zHcPKcvjdAhruJ)bV?3o9W!(2-p76X5i1V5Yo%0HQG9HlB{itmeeJ!Kts>5f?JBexl
zd-T@Cw|b)PSrvGH{LAycdz4^TCOo5v^qoG{%#3157e@PZpXq$hRd1UM${pKOlhp-c
z9(bE6WK~#^$V+4z<07=u{Ms^+WYFdP;Q(U<tv;c?epxd+?w|cy;1A=oc6mW&5-A|8
zs&($T*2&>%Ia6^nkh_Ug@}WYD=Wes5-e05vRviHc4@akU{(tFtNXwfRC$`j`jzqH2
zL`d_VSk*|odM~96@D4QY%zb!F_dNd#LEf7i2-r;U9U5?`*3_o~*UO9!8GC!R(D$Ri
zA;=gUDz55}Ud>8YL~`WLk#1c~`X#g?okAtI73D37Bbms~#fz|Jzj$7K`6R6JS^GSV
z@}8Yxz;)!K4_1~lIHj9f)4+!QVUWlmn(%s6wwTNzP8YR;V%;xE`wiv#*T~<JF75En
zk~j9vQtUr}v&i!=XZAX`Ooxi=H&TW1JXAuXXd>q!@?UcCEr{%Up1VoCh0u_wujd(%
zzenS4?_1fS8l~-;cOwz6c)s>_sb_ljbzAOXIa(aApLMbq;hY_?IfvLcAoZ&11bYC<
zmi3Nz^9$#vz$UxhEPGghU^SbeXZxyAGCrwaL%q+Pyf~2@nke@}iK&UJEde05Fzv>c
z1U{Jgu7XA6wx4IJ5XelS{^Xu3Ffpzx{%g!RpOd~*(SA91U$dVF6Yj{yDUJx_f|1}J
zbOmEyA30x74s;e@1)XpA4jAHJ($keK8FV=J%<#g~>RWiLH02E#zMTR)XP0BMRj3)u
zuI~c@ZPm-6Rmg;}Z!JQCYhyQ6_?Eu+6-GQ7L>;dC=gR~1b+;`|_?Cii9Nk!*%&4v3
zlh{AsAdf!l%vUZ6*M#|&r*b~1K3Z=Yj;4y!3JgO^QCa=LkYrl0{sZ$I(-syF5?_J6
zoY2;{nH?n)D9hS;?A~>fD*8K*j0GyB>c|WkOw6tzMIUR59{LwBVgM#@iH`BGU6j4A
z=s~=LFc4Bqw~;N14=xKbUS_UM2p<Bte~4;2G1yd+{K5*VG}<7lJ0nStJUG*IFcm(F
zSeH>Se?jNN)M0!3U?;ODP0^qR)Wo(Z1EbJUo+<BA4Ofq<673RiyU0Rfp~qFOWEu;d
zCI#5IPhd67h0p2$78eUF<Ad|bwle``%N;pl7c{^8-7}p&RO~b9BHqA;R#VOlZ1x#6
zZLwKpTAgzF#?bgH)@a}tsGC5=_wr~4QrFyNhV$8@`&x{Cmm<#k^QBzYdfCzKu{@!G
zvF3W<2LtZaHZe(6*Z-*4DVUp`=F<I8Ka!fTLAC0}`>)m1e=_?)6;}rK2rECrI*Q>}
zMjQXYGYXX?rGbLPD*pr0YBj=R5*wuo4Uiy^eyBG8AY+COt`1?QYBb6m?N2nK)(OW=
zf*VH*g;$|0r(_$oUrBDZ{~<^C)uHP%`Z5+fvtWw+#SQD8D%YM2p0`c_qc8953odl*
z|D!OO+!Q*HcVxw;UlUpcnNC9SsNWD<i0yANT`n%NAIgj#=m`Ic?q>&Pbd=+k`tFn6
zs#%c!#5JbtZ|--Ws@?J9hBmb)QYc!qBoT1iU`;Wy@HHa#m)X@K4;kKaskP?k^9>Sf
zE-9VwI7({$hUTllNMYYHjRjUDFX=+-j|#Z1f)Bq#Q%M68&hh+WVQq~33ldH_s>lI<
z=LK<y6owvvKTqn*MKb;G%U&pZn{I^7zn)>((<g&_`XN;JQIp7gAOHKw)f>1B3s~J2
zBQi)yS_xt_$Z1*`;M?k9e1ns^U+iOii*KpGZ#e+lO$LW7eMkw_MY^xS2k_8TD@&Xm
z^f5xm^I7A!m`7(zmnY?6cFVUEVUUt%dQQGcFDQ8X<zgh~^G;#*G8RdpEdHv70MLpX
zsNozy0b2caErv7vbeq$0pc=zjBh#Pjs6%n8@qVq^j2o#fqNa4pGt6KV%f6zBOT>H+
z4II$nF%T~{AfNcjcNO%nX0PQgzItE-kXE?IT@+slq@u&#0HT49<t7Q9wwQR0!19^g
z&L%j-HC=71nXP3EJa%Syr{>2Eo;)mk401{p7SHY)0z9?p3I$e|?(~)1Kswr7narzz
zm0VM*q5Y({t$?5i12>vl&)ysAiG6P7u{!+jfgVNvaJcjoYm<lHfleE_1m+Lep-vmN
zOehDb+rMOcemeas^^WFUB_U1;_nKg)Ga<p2gVa7BN5pdq40*4fjlJTu8sQKZy{zIx
z-{y)A*+^*b<+2)KAWV*VThrxPa|;Yv_zoaWsn<}5qdu6GgJZ0H`0W4I@<^XBc1A0{
zKYaLJUQ|H(bQ)l!84<EU4?0xMgIB-E0MGgaIU8GL!Mfla7=pok;svr?gMqkeGsa=n
zyI{MenD1({|D-c{yE<9Z!fcXxmoKa7A7aOGG?)ySiN$9xH0s#az8;Mh;Ras8!mXBJ
z^xJ_47aC8Pm;ZBv4Cb5MljKa5BBd#$XFGOaiQ{qB2Wq3DuP!dbqOX<_S=10wp&d6$
zq>fB&m9xazZOIOb!6^naK%Gx`fJjS0taol>ZhAUFgAajLMS!k@*Ui|^X3m<s6mVdS
z2O&b)1%f6l8sb1zE+*o{aN*SccV^wFhZBb-L_`FXq{n|V#4u&Q$6b^<+T#Zid^*_;
z@<EjSN3B3@{ku|f06qPQ1gzF$AcS@^q@Z;!Imsy1JYid%@Ct-+1}84`EH}-v+$s}X
z64+0^SKpbi3-n*4%*rs%@x+ZzVg>-jdHR&SF&aWwfIk}_HrBhZMN+VjJ`{;v6@(BD
zW#{MJJTaz@cs@LB_B!Vr&o^lwPo%SC)c`vk2f}!*8A0K_M`_P?-7UpnTu)V0cwTv?
z6S@;Y;Za*{&n%>+vC=oe@WD$6x}>6geZb$@T-4(D=p*WykI_&zui3`MvjgPpw)xdY
zD}mLjP<y>OTlvPP=rDWD9?6d0+qAPqgl>N-;ff(P0Cl5)lFJL)rBtrt?l$vQN8ef!
zUd);k;Tvv@;+E_$RZ4+Qvf|$*pan|y$^ED3XUxS)<v_~4R=Prc9Oh~Qv94Y|$^V`e
zQ0@^Awb5$^#%7Q3C)nQ9Yq1Q$e81n;U>>#>(SvMjMtA^D2E%)}Qjf+6!;<w$U+=Jo
z`GEJm%TXRn<8!{ucz1lvV#z5J6YT_7bg6%2(fo6X3V9{VVK`G}+efq@jd{9B$!tml
z@*A6!W?sl9Kq6BUDLOR(Dw^(B*}paDo+fO5>kyQ>N~gYQtXjNtvOZOL)Sc7!Z2%7k
z>uX?se;<L;y<bw_mcaHX99W+4C%j!da3{R~5VAhCVVG+MaE8JM9*A2-T7!9QUul45
zoP~LS&&_O9C-ofW_W;uBE5NsjC;4Ky{geMh%v@=Ni~L<UcC=BGC8`E7)Q3OrOtph_
zz<$*ajvb%{d*lIy9`|U^^-KMj`|l)7r#Xr`Z8)tvVL7RkOAW9~5u4i!xHKOO!9WdL
zLE8=IWzLKz!pan@o0P4D_zb(eL@$`Ha}fxo9>5arOpz$XADkj=J$Db4$sQ=<z;D(H
z+EuG$I8=awqP<8I3=+un<q`zu5Yn$1jYEjkZFm$X+Vl+~S$~5_A+$&RDOtghxLsgx
zq5YaZ8S!|ZPHB>WjJWHrKBmL|t3^-T#%Jsw%Vv8}V)X7b^XSGHbRD@E;R}G8(Yw}r
z>xt{^fAZ=8anHS<{fBuIhk1W1Klg~n8Yuw9lcH(=@4EWT`}_UB>T@+>8wA#$I&ork
zhVvJ>g#{C$nVDsfv%4^fADIVyg|uf<2egRzwdXvDe{4Y^7l;=V`76SSmJ<1^V2PJ|
zK-9<$x+|W+_MtD%JX=JUO$dpuC=5H#*$vewcr9sX^}1&0iM+iHZ$?N!$dFIRh%*O<
z#q3j$VmVo{AJeJ^D^N!$_WC*eIa-gYsV_Vg6%KQ&Pog80@CThgYD@>$$RcDu;!akX
zh?_U6pPEhXrX)`fwma^^rEV}uf$MNFIvSB103g@MMG^V8S;N`I=hVKb598FXl0ta}
z^>^Lm`H?Jd#SkWp(IjOL=GKK=ml-UGABZ)Yp)7g{E2aA0X5=s2E!)`aaimOu+eP=!
zlhx0b()~A2x)Z39EhNPO6b&t|0~ig@vB{1$;jFkPbe5OrAN$&PZ(KYhq)Icz@(Af3
zdqyNcMM#~tY^53MaSe5ofYfmSOooEF-y{&Dwq-lv#13=gLIsWdxCT4m^Kl9Lei#Mz
z$FZT;&XtY3-lfepLw*fPj|ODI2Hv&Npna!PtqCN=bld)%XI8{azJXg*0A@d^s>^d0
z2OKZLkx<nxGly$!sbjTKvr@4iSo0}s&>8|bISFY#T^1<?_3C_vD$S^H#2Jo9_Nk_)
zqzbuSc?#jpRY|qvrBI5qT$unSGoqeS=u^mvK)}rJ0du-N=dl}}v6jqe8?-yLrzQ^8
z%aLe~n=oT1Lq!W%eAOeS`}Vr8XqeXt(G&&Gcb+7jT$xC<W2A9Lzv-ygXXWMf)+dRg
zwuZJThJ~c|kIJF4o@>Dbp`SP4xuz(Vx5t(j*F4D%a7nnRXFyc0l{w+JlbIt4LgB4o
zJ_v5+%KRUpL&v{u(BGHroF81fVXL_C1FN^pay&mQYG`5nx<HA1RD1e8ghFlnL|yWz
zJRX=K@UeIr<1<toOEm(qw}ee$@W?uP`7&AjP$!V7{*t;Zo5}6e^N@AXg)!r03}eNm
z@^BMyWvEmxce(bXXx`&*Q2nPg7W}j8koN{c_z3vRr?CeL>`7l_N9I11nC26)d4$?V
zcC!_K(<vOYp5mdfPMiTe`MA9tF&wIm1S0%6nYNa}ZGf}34e*%G<XUz^aRvGn{7bY{
z8-u6opvjk#1g&bP)!-uV8#V~4bL+$c=pp~h=m5k~xAn|qn$`U{E9XYAqw!VOLGd{L
zU7@-$Fbdu%%%LF8BCU2eQhT901JdxO^_E8b8+`@8j!UsWdIv3c7991{(yBIuGwR-6
zDcNOM&xD+TfF2nf*%@sx>)n$+MCNvk7RN#^zVLM)9&fs|$yyCh^Oq<jmzskxtOL7m
zOh|yzc>QkBPb202lZRO;*#2A{w}V{@;6jJ!nypKFqDbP8$&jrfHL0Y~fyd*HK-?Jy
zQ=t-{m`~uc-IX~s_$yoBo{bm99+1h2D@Ld?QvR8P)K>gQ3B##EU5|34lrD{vTK?=3
zM2$Lm>obZj*yuPI3}!+H`>7pm(>U2wb<mm#{VQ6jJ^@r&>JnU>xonv}k-978Jr*>W
zHc}@%7;n;iJA-E>T(3G*EslvSdne^SqBuN5v`#%vrZHurW(fsFDS>H=k=L%*N}mYB
zFkk97i?qf&uaO6LpN#A#V>C&*AE}=3KTS~eB3R3DYh73it*F$<$Z?({$^@=@95oHp
z`wEOCO071sAoG`#{I+l8teiI8Mq6ys<NmcY%2QaOC~j44s2ESU;c{h+%yLN+`-o6m
zyK&+*BI$Jm3q7fxhSvhtq^tC+)i2v6#*V|!k`hx%PYdiA!z2HXJ{~H<T_zW_6{*cb
za4j1pg(U|@$qaqerIzxlj$^xlVd-M|cezm9)Dh}ov%m#PSkuG?)@uRnuRf!fK4|l$
zC0fvuHo!~;wn)=cYZ-b)9cr0Yl6TDS^tKja7L`eCdNww@1ro(6H*-!G4YLNxMuF23
z7EK0`Hl^3P*Mg?U+MGp4h!1x_E@)aMK$jL=ZmKFAQ*5`)^Uo@<DIbwRi+xtbZDwL^
z&IMspW|tBy)h@cDv*Ua3onp5`X^X^sq7iQ1^j`zteKaK`MQWCklOL7dSau~8UY2!C
zn!eJA?*`70$e9dQrQ2jCd?G{>#npH>EXw`E_T^`)h&q1NjeS46(;r*#xfMV5CD=kz
zSo1DWYli74#=l`5--F1t#oi+P*de}q1KiW^RWn@>QlhtG@9=)?o|Ln`oFq|nZ_N;T
z59Y#noqNwBw(xVuqw&Xy^R6BwQCoXtFB2{`|Kuwv#R`~XT3@P!*`1i}isq~G7A5T$
z!0}<cE6YuFe~5`5gQ*d&tB~S-cnERfhYdYJ%qmICwb8jtNMg4Io#nATCf*{2XSJv0
zv+{z2?<nD;uG!odm$Ui0Tq9Wgtpb^%;VJ9}vl<Fc(z-{JQusS&bt6_$1rRP?WcDAU
z$*R7=P}IZ?3Yfn@es+FJ6sDm(sgDpTsA5zxSFG_<TeVdeE-yuH3bHuKOU6J7ZF5(W
z*G4D+AO59XYdaOk$Uho)(r|q-?3Qvwy|#OB^JT@Al5!N9@?~gKDbjUuOk&yY9oyzE
zaN@1qNOp?jg7DUNeaR3i>-s4uouqmeo_ZDL;>HX|lt}k5`y=ozUj);H^nisQ$mvDS
zgg<CBXa2zpT5vJr=w&a(C(A2BjicimC+FuqLz_>@ptBh5r5>|!(hw@P(5Rv6&>iIK
zneM{gzPO_Ww4--l+8JT#0Ezjle=&hvX@u3Xrfsy6yxWp)ZOvu&4}|rS!8DS0)60#3
z507Y;2r<V5U&v-)>V3YV%k>tNSzhhxyD*;<!_<`Z1Q0#r$nZY?JU@nlF5uEZB=qV2
z?UzFoHk7(r;=fiV2#TJ5vC-vT=RyoI|Djn!L`;lNzU)QRiugm-NWpBh6Kjb6f_%W`
z>dkCQ19#j7o`;FnOi5+aGXz@aGDCCW%kfZ*c5(~w@%6u@D*j;j&$UB=fRM3+fMEUq
zQWd|Qjh)Rc>>S+wt5c!-$6-wh<!d{~<Up1Fn9>LG&dM(WCEsyawr*5ky=i0zvYD0h
zmPz{f<g#J=5-$vq^Pt)~K_WV_)?nJ!%_20-@cg#@Ee#xy7ZZ1+A*QY(2C^AvN$#eC
zif!hlhq0|5TrbQ3HXQAyi3vh8T{(-<ib9f6PeYbb(7-=aXHiQQ?Ijg%UswJwhI!{&
zOLc)jX%X1=sxh8&u!Y6b$H;!q=u4}yxY_RRMTkSK5efGNi@I1cQs;dPmEs(r^$CFn
zSPo|bbE7objj)Z6wZh+vi#ZH}7YsGE-9<6VUF{RTL}ZC(#<~pKgrG{Hv%gotb;`B=
z&7ZF0ldGw|@60MYV3R`vjS5l6_dtOE8n98FR<(w!RRLE9!@5nn{CMd}B;j90tfsyU
zvZ+Z(P!WtqgZU71lL>^`YMMbnm21VwJ@qKd1?S|>3xuF*qepS#5Q3zZVM10DFX4-C
zR+M*pPUBUIq9(~cLSXE^SartMnQW+7TYU3hy=b1Y(S()QDfSMhnisU9d9fewMy)7v
zm%)$jSoLb)dC=Hq!Pg9YHNO~>tF_=Mv0z`T@)p}Dz#j3>8nlD?aCDSdB)3B(T*;gy
zWEUv}7>i6#A@OALAZz~gXC<<4HHe<Mg5b>=IF|$Kx5}O`MehfS+!ETt5C%SPP)Vim
zIRl`$X58`;MkSmjRu1!w=mWeI=1yRX1K)?uvg?k}z`gUvm7C1yI#NY*O3>?U?x$V(
zYsLA^dIz5j<*DHLJZG;KphL9T@JAD2XXAUC4w}CC!L1?e-#pg6vW-f8m&+jNbHPf1
zY|k+737CfrKw~g{uokXh&F+~Ec<LEU2zDr#{?$wdws(VMde}?@&}TKjYDO46k{rHG
zOPEH~oA>0Vdn_>sm*KwD%V1z`9KFUmR#eQJ+@;hc9I=|XO0?h9Cq|;tgn-FAlf!W1
z#6_6gDps8asm{v3{X(rl@|f1T)su(GUXRJji_^@vErP4cxm$1BR(^b}iGo}1C3Po;
z-)Z6tMB!{w#Y7(wY)nv-Q|9~S)|^w&hi_W|1o4$a0okErET^eEz*prWw;!T0xV+wD
z5*{$<nk)Edo$**<Br*QbGzA}68(Jti9RhxZs_g`Rw&_~4_<Uy^{w88~ey1j}%2aK0
zF+@~cPq04}iY_BM^zW$kL?JI`MAv8rzo##Q`G_&xJne>JQ2!UY+n6R;%{tfoNM!v-
zV%+kHz^{>{B~qXxcB;KW`jvst0>5<^dDj6H$0Qv@Qy^SlcQbw8e0PE@^%U-@2%LxX
zqO;OM5t%)mns~xJf&IOc3T@8YwmI3O<S1r}>>p4BN%{{sTeIUDSF)2}J%8&d+sgKE
zMh#bp6ni-|^*VWs3hKA_Zga$jf82Ho3h)Bx=c}`yj!UtdccspB&Wy4J8R_HLPv>-z
zVe%y<W$`ll`6nvj9#kvXfS4}H0sp4v3tcxT?fSl1t6{9G6=B!gw1SV><B)7%L$!zW
z*`>wD6Su=fgnOy^)vi^qYv<W|dlatVUB*00+E+()Um&?tytA0d<n&Nl(av{Pc*DM@
zdjOQomu5_!4efBPHK$GjEG=<u|MYwBBK;%1li)xKqag$n%hYY~KyC$kf!NRVI~xDV
zJ^3LALlh?YPqqjoTInwMC`f{W1S%##0wV`2YJ|E}aW;%NNFuSzwa*ufeJ?Z1t5$@<
z;ycz@{b;D~qo2X?sOGvmr!;D!=mBzG5BbHz5Wh+e%|1wm@NTSSo-~PTI?8D7K^2_S
zV%Ew~)0?HS;_o2E(eBVekeha7$Ic5GQaVwNrpcL+(R<JN9P}&dXgy|@&|#R-k!s08
z>UF2h3lEKSoj@P*x#>{=0a(Wd#aVr%S$(G14}#4+8}Ehzl6G*?eBt9cY@XL3T6LKz
z#X%T+?*2Q%%DX$l((=85*w94hv{9<pJFGg9SI9(G!J<9j^CdFeo;{N1Wign3*Tgr0
z8w~@<jeX;T$Y{yQd(eU~f-4bKI5D3P&;G4Z#3<9FA=$><DD*5O#>!A(&|N~?;K1Yt
zzgZ7;&L77x=Agys@WZ#@WC&F6#%#o~Wd|xEk|6ZwerYPolswKJbd?MW$^pl`hGw$Y
zB1&Lv;;<@-M*QfZXfqSZR6!WzQmg?O<Y6m!m8=2Y2M!Uad=hWh`YZv*7xf*Us6mD#
zDOk0aRu39dzuu~1F=;pD%}piAYOkA?$@9JKk3AymJ2*|3sTjZHISHQ&2coTuz~z39
zdM8+i?z5~f+3(TV>3?sJFYlQDce;DGRGgssmfX?@2LVC<PItPZ4uEfYDQ8194@dLg
z`v1vwO$p<GJ{A;l-@)5v8M*e-@`#@N81oFs55G7z3M`*dBA9n?YN0&Fa<MqAsfnyV
z0D?b!`akJ4QtM&6;(-TJaQD3IL%^i>)J`m96*I7HKSUz>)?S7|=O5YjWEQ>S0-E*Y
z5iv66n|XnHAz|6ncd-O0DP`)Y_h33|ZUwWQbG_)EbXM1~2{&w0#@5n&7q5XXlu`Ki
zvp|)O%GOSJ?uFAB#IRXB!~v0}+sPW7K>?Ap830Es8|!xM4zyp%iyhdTtG867p2dFh
z(zEyp-k&|51-qB2;Y_(e?4l)7V^nlSbli=jYSLMJZdYX_SUeJ?z*>RhG2gnF?K?u<
z9ATFaj@HlyKEWR2gE<PX6WAlp`;Gam8~47?*P~OK&4z_X7dZjY|LxeC1l}ytZ^y=d
zI~M-iv4&3OcE6dK{&O#y-<IiT!GOBfgl#pP$3l&BX;(IOBYOayiZ{hi_oYZ%-`Y~E
zYtZEy>OdfVnTi3o?Aovv7np^%mKTp?D1kr(ili6kUp<VU`^Tg7!YC~ni9g}cXfqu;
zl#&z+<|Q%3s+ow0uj6czoB9JwNzIn>q(?&^@Ju{kLwI%w*+<6sx-CB)pb6dLlS-{N
z0rzWuYKaRw_<u1MafF2+uzVXP(x?vpgnoh7&fAPpDcPEPJW=G`<RVv-JV;2-*IjA7
z4`}20gd_`HEWI+BZP;+WGu@F1nnWGS`?owCcgWN8ZK~vS79)5k;xM@b^whTnfA{-I
z=NN{Y1QY``_lL%LTOw{pH~@Slv^6t)S7hm*GyvmGeKW+x&X_19>l?`b?MZ8NF9IZT
z5Rfm5|JjlKKj}Vat8aY@fU&h5lOw?L!t+QKU17!EO4#$NlNKf{Oo-(^S|(vjlo^zi
zgb+4ND3MA11ZIx(9x0EUQ22zAy(|x?RNei?ywS>b73y}x^Ol*Fwd#GCnf6gXO-;zi
z@x#R8Td_>2IPY7U!jR}08QJga&}l!S(l>lWbaMb6ge30;ncL3+_b&(twUDT`@HVrl
zAlppLrQ5tW^u1oHe?pi_R)Q=M&o#c`otsdde5<ZU9ILb8Xl2JcL8m+<GjobLcHHV*
zXtG7tS>O2Clo#>x@+71e*T`g9)ceF}yUpEAU~4@e<+5i(*vh4NH|>J4S(ybdJ$g6i
z*`C;|nL~~J+O3)MbDQ_F$t$fNrXlEdu|1yDYM^<(Pj1f$uFMPSk?-gi8!Y1*(QN`1
zF`S?13tLm$*^_c={G7^4hps5VoHAtgFVop2lRN3L*+6%JX-VOI*}7g;Rl=q6nK5?w
zue+Z|vsDl-?{xe8xD?&a=XjR4<5BCBpU)?P^?72>02!3UXMYK6qx_78bq&LaK-Y87
z@_NB&^6DSx^!z@YS(=0itmK1+4VsdYEY@-{@wX$A<HAF*lD#<AcYcsJEdNAJOzDD5
z-x=xYg-iwk-ni4Q$f!gS>&`PBXS3Uo@M##j)|Bp(pCZ!KIJLn2wInkqCxUZ@w;gSG
z%+%R;CoNnO7{2*5Qm5?^!_`el0uVkBhk|R~LCj042jvG{jM7JV5z=!_I4b=GSw9q}
zcvgsCuuOk*#Mwxtl@pGe2Z*GQJ+11p>8|&b!^E}SFnfAie+)#pkvax8jn7d$-ch~i
z1d7ryN@HZtL^D*08RcR<%<XIR-g7oA9o#^N&XP!B7}uo6N0QP+84`m&|9Qpd+MuK@
zSVCFepH%gYEtoe#3ME0hHAUgE`zaU`FO<qX&}~M?Hp?)EL_(AM_wZtH4NZKM+`?BI
z&hXLs$5i4)&3QctpNP??*)S*y+z~z1p^_OnrLY>h__I_j!boc|xVHI^n0Nxnfs!!W
z)Os7`3c0)evWe(?)aj=`CaO*C5jLM<8yx(*cH7?36ljfrXLObeo(I_FSeW?txpW}b
zt2Sz#7~(h|j3wKs{|;`skB@)gKXLti24%n3I{+~n!f(yS)@)nC_>+SQ>L>(w{10H*
zYy<T^GVvrd?%5xX(AA-RjVd?tYXoi4_h<dLYGqZ2C-k6hFL_CA;qD!q9V=RJAf!=c
zy7>at&DqxJzph%`(jAeMr0))e@ztlZ?ab-N7p5N#2+Naxp&c~YvC{5yT`+`rFZFkl
z(09?MGacU9UY20~AgijNB^YaUqY&jYgCkcV-ztPUNoDKzajl^j+o#6?RKa+Ii{1vv
z`P;P?Wz*-<L|Lgx?wL0?ph3;Q{bWPrd=Q+KnJ|J2QU2Ut4O7%ePC_Ve_hfDNs1w2I
zJ1bi~>1$2|lcE<1(eWke&V^=iUo^&Dt=of={8Kf4QwXx)EKS5=5r~3iUANLia{)Y<
zr+uV)5j@E~e=dK^Q3!mIAhBNrytL*0bnXefTRmH{w7fXX*n>B^1hnIx6qb-Rx{6gO
z94xGcw}8N|voPqsf*xA;?3Pe}UTe~X0(<UxdHse*AcF;4UG<qAL4<_7#WGF&ID2s5
zCKm9dFsTErn6o=JCQ@!sA=3YKRK6+sIlTKv?k0eyPtCoBABun>rplB@SXAz3@oF?Y
z$63F)8&moIsdX3&bTcjBT95N~n{FX$9ITKIg}R7DCH(a0=oq{Ei;0RzQ=p>*$Z3`!
zhdy&R`7K)0CdV3<BY@IRXi0M_xt@|he-i>Ogj@QztfLIYy5yVQ1ZLMFUUG(z)~(Af
zYNUw#FY-WzKU&Ttr%@P@-*_qdKfJ`OwsVJO{uWLrK}ns7uSZuhw)vTRi^2Hy;5WP<
z2fw3IE}5ZDUkGJPDtwD}hUVrI0Acv(X$VDLuS)60j&*iZO(+mYECRbaMDTl`VtAay
zi}a6`55LvCISCb@1jTY^rhM^)a3r>jQf$Ahu0~uwJ#zVaHJkrTD-UnBmvp-&46Vu>
zEg#pnz}_BeWeA@Yjo#ke`X!-{-c6F^z-Jfp4j5Neb5g&IBGI75WRpwbnYJL#8@Tsd
z`<R?CnTluLb@ZBG5<+t*ZNKlrG(h3Y*N~`*+rpI4+liH}sYCrj$RS8o<9%6+b9BI*
z(r?TjC3=|Ns9B^nqd+u62DKeaoA!l_%n{{Iy>*a<d#D|Hun=YTcT&VITE}2~P!alD
zhFvdw@{+4$nt836<1T|Pqj(5RoLY{0*<!gIxo1G$he7o`wtX6dmT=5S&)8E~xy_xF
zm|YaATkYd1ivNS#8a&Kx@LEPGOyU_m-q->(KEFS@$N?hw5@3qz=0m9q26G|w(Um9r
zi-7(6FgzuLrD$e;SA+^X3~$IT5Db3Er)YwiujvZ6YH?$5v+VaCIX>88{nNHX`dT;_
zb0Lwn4j$47n9)j~B2J>dyQ}|qyy|F}r5@1X=T|Qgg0T;>%X~*;0{C>9E>C&HxM#-@
zyOEuz-Gj0CFb?ZLkcYc@qE#y0mI&Wf<nK5vNza6!{3&f`GuNVs&-uWBma4QEbk77<
zOGZp6cNfa5UhOM!7R|gJe(LW1G!s4)*CQ*4`Evu<x7~nnGkBM$<q>+9L~X`OP(_1~
zIaBa+_u4RR``kiXI)0@&^|i_SI9VP97QOqdV^cHYEG*nCG*Fos_fJQ@K>b;QjyV_W
zwXr3Z`o6jFsNVtG<XfGC5&UNU$r4NZvS>ng*touuo*;lRs8no6R5Z>)`;8Fm4{J(M
z`Q&)LeH)J4ORPqyw-L0c_b)@#O=*kB`31&!oh@&H61T;?d-o+Sr?zkv5X)AD&}ZD}
z>Auk#@KaW0&nsq_{#r7k9kdDYGx@i!mEGXs$01udxeU*spBh%t#&#6fym#uPHf??n
zk<gcl{muJK+86bX^V+Ry-(APQsM{S<+qDeS3;ROWq8nh(pa?|Y1M_WcRK3Tg$OWH2
zG^l!6eQ!N}bfQoXK~o_BYhcSey28tw$$kyU#Ck){b|G>yT;?k0|FI@^#V#DV<{Jc|
zNQiXqQcco&q!nQP`A3OGoqU72{d6~1A5IU+?*L`yo)X#)cQuxl9d2zG$7`FCt!MTv
z7d5~-|F{0ibQKiX8nD&_t3n`AP?QJi9W$du6I#{outf#$!LUvc9d}X}?dY$g9RE(t
z^1wst(MDkq(j%WhJ_EUZVQ+&=h;~<g3B=D%`PYFKmSOZCjXZOK#twrYPaRK?;rx`~
z1h)vQ-RrQdFnC=fUNer8L&xiL?q8m;pEj^EidOGV(cksersQf6zmTJ`2fof}CI|Go
zbg$~9U5`Zm^A5YI?MeDUY$ho1Itjxfa-HS#!pz((vj(5%rQdma&mI|_K9ZRy%MP*V
zjD+n2yQx_5_3}HnkfIh;k-OjB65XjlXk>!HXd-EQV)ov!lR#r>k$yT*6vI6hZG2&x
zhqQBBq}I_cOKZ)HItB}{-*R(83Ped05P#h*DV`ME2a@0+`4Qk+@ed>vVhJ+nX)oXL
zVrnVN?S3=3+ptm3t%6vJG_TN)#s@-G2=I2l-sf4H*SC+sT0oEj+!DlBh0u1{H=Ibj
zQy>GGIXf|Nktc#j3EkjHSbxnZ_N@<@5OubWL9q=-(7rE?WeMVmaMby`y=*!0i|KN~
zvvO#<1<^!gRIj(2gp2~Mw_HEm>4VOR&F9<PF0IBc7eqd)c0NM#hxj+N5&kI;PfYG}
zG+Sl4Ue28;4}25j4xhtZCuwk_YnmT1hepX`&OJKaadvdw;jI2nFVv*gqd&m0w6#@<
z6bGf6C6ft^6AVf4mFA|egEgXAE$Q%0x@yia28Qr@?*_$C>_hD1o3V;y$Qq!7m*Lep
zQZ1jUgryFI#zE?Z_lTJB>U(EM)+uC_=P_6O;h_sJ#64N6O$O*L1IAgOtyp>K?|cfF
z_bdjzDL*bopeX9ZWN0Xgt!WpRZ^z$<7Qh3$H#09$AqT`E>O}HJpr?B-$C~t>N}>y_
z2$?)}!Hgujh}4(H|F)Pg&)f9BUfw~tKz9AHEfIn^{=EN3bY*d)OijMEGIcb`nXDnM
zPZ6ji*38~Esf^v49Na)4wsl&Nd6s$?d(fc##@SUbO86KYc`JZ9<>dH$Uj&XS)OhYW
zNAq6zcjDILN#Q!sl>w#abnRh_ot^_s+tXe4*L@vBzXz}h2^-GUB@4US9n0PB0>B|<
zf-iP>+Ps_)-Y?U$r=D$4HZHRv5>Nf5j3ZLRkoKl6?Cz`A?Ef79F95f*Pf(#AG`gU=
zj1zVkxK+a9ot{|s{>I^H?3{!=oQ9`DveYKd;Xdr^5!+>ix920v%VvHRSC(|vQvZ*>
zi}y3n{!gdes<~jj**?SBD8uH5$9ht8HFMw%W2RA7xbrG`|11nN&Bf`Ltu2IN&AF#!
z7#X_KnvAr@yn#ur-RN4^dSk@ngW5lTqWjWVh_2y|tL^cBT&^n7`llgPC(OwJHK|E<
z0_V5QM;VSZyZr-Pjgjuc;_k}S1>mYB<BgI5Xk_d$kq(5bBp-O9kF0*igJCi8`oLgP
zUoAsE8XVs%&)?~7UluXc=|`f5u9hK23BAPk73(-!J^i#Ah{E7dbqjM-Y+o<^K|f4E
zJl!Tn9slL|$>V%{euPf+T0wfOx~!OkkpSi_Q8lIVUNyfG^I3e=v9(AGT57}np+VFp
zI!BMPyox2~9FMf*emqR{8Wkb(>|oyA*2&cZJf8SJQ^xPw$<G4Y)ICLPhX3d!1KRzm
zW^&FW%-@oVu(EYz!dmRcIxCJc(1s?cUCVqPO?Gx)RgM!;ClxkjUo$?0gh(Y<Ut;R{
z4_XAlV|I6FwsojG|2@#}SxG~!fl@v@7UN~rhXz0p9&|FtY`_mB{f)41-}!(vmLunT
za<EVjH}%_^*z<=xB(qw>UBvDG5M4S*LJx1oN8PGe4jra2@C7gnn8RX~Bf6;pcZ`T9
zC?4Db%v)7`CaWG-6<CLNv3y&o1v?PhhR4_WkFdw{Htg@O8m|F5z#l|^I?TOcCZo~Z
z1uUVHOB^P817~nJ?<&pxxqF=rp%_j=yUQjJ&8%Ds)qidPru=UDQ|j@(4lGbPBC)Hw
zj0xM4Q4-LpYWQ9%My{W-h4Su2)5q-!?s)63brb5kp3In4mOpbH#wK+py#s<-<=C3`
z-lt@Tq@n26x+FYpURjqM9&rEi=zZB#CePz)E*5Y<L^}F1h`xdkmzz^>bD9`VT6n}Z
zvbG~l{c;i*^HNURGN#kY=6^ZDwrBHkDg;^8(tQL&F_m_Fey@|Q0>SqW>OZKKqR19@
z6_M@Rj&$Usu#>t)RSN)w{<ZKFy5;!z<UT#2e@-AoFVR#`<1RW95LlOO^)8r>?&c`+
z);ZWjDd>ub3+|QZ_CX~{xh8Av=vrE(nTUIWr^p~}yG!8QSBK}G65<x2yUig@47Tt>
zYBxNG3t5&#y>Qh4Ql++`Tt$kKjr~+|pAF{j>WKVTv;1S5q2hPfYfCOj;M}n;npzmr
z=EJ0g+j4>nN<QBbs&7Pl;^Rd7K(d(zC6nZ)CfVhrDA3dh-tC|#e86AsTQ@<rbUw?P
z?7-43vrq#Go2!gsCUNCPtG#xlyv%VesKTuZm6UW)!*w%O6nZv35AyV#HifiZ$~<tv
zw5o1&$NhLmy+j8kbkSaT9_~=WiBix9i@rwau2mtm*VmqI?VdzTXj$~a<un4~rZgG!
zEmvYoCjM@{hhDJ(A)=_F_A-pb<-)<5)0$IJ%H&n6=ZJXZ-?d&8BEAfjc&=JFkdhuU
za-Q)bo<gFZAXU6KYAcn#q>be~`rT>6SoPEco66TFK_2Ap=i-fg+F&_|3^<)~JS;wz
zrM8dF-d)g=B(<LOvAvc#rx4jpDO)%H+o|OH1e`>=+TQCy-j)92{BfT~-}AbMjBfQ3
z=c^vBnKWd|pQ+9HA%y=^$XQ24*{utFKpK>8L6B}q>68>4Mg*jDU;u}a7(z-K2`TAL
zL6Ghc5b4gLTe^gy>x}n1>zwns&b@cP>s{~Kd#&fU_Vetu|NFg9I{FsI$gb%Rk!ZMG
zm*1*2`xU#<{<=1z7eIF%tc)RwT%j&VeT`c?pZBo#fPRU1X+r1fCVhbIFzfKu%aXV6
zyi7Rthc@GRAoSy}zo7c+ihAH07f*bf{ngv>6^EFRu59m^vYz{H#~H&u+?6XkT+E2k
z%{|Rxi_{jS7*aNUjW`bJK8$}LW`-0C-IHqTH;K+-pD7j!ue*9#foRjq{wTe0G#yKq
z`f`)Df6akif!IjtQ2I^{Qn9-B+WNk<(|hX59x!X^pr9Gl4Ef%`G+{m`Xe=YTvHnAR
zJuIHWnFrjh^NSoL5SR1dJjR4`wuxu0?_#c#_O66Qr}1{i0G`fjTXff4^wElopx{dK
zKw<Zlf~?-alK=~r&km*?Pg@r@$px>ZcijcMxR`VwQoIohg^S#unYLDixUEne6(9;d
zz0`hKhwXU>Dn4jYYY>6foFo;)q!maMyC;-6Q`k#b!VR5?S=bgKwdb!3h16?t5=P+z
zF8$;!NSz|~_PSbJ`Pyn?AzK|9bh|RbyCWs`8odF%++ecjGZ0)BWW!Lbp$&)}htaak
zm9|?9lG4APLt&O?Ioz2wK3kYHrfcg<u+8fbJD;>o=lHoo4=tgziO>60JI!M(4TPd!
zqZdq-*CI=WGA}e|vf4gH)VMm{ffm&#N4n2XCB=byR%rdY{AC<u!%`EvrlW(OU1VA$
zLp<M$7#c3u#D;ujQu^^wTOEf<XsQ07L^qEl8XiH&2~|pVnV*_P$Wre6@J{qT`mzcE
z0r?EQRp~<E$~@^BRMm$(yt*e+-^qhQ1}2jHY}Cc-^{?ljsgQ?6&vC^~uW8H3B=(hV
zZ1BAg=XtQ;KK6+&N*A<)<u-o;oyd2JIW#BnIp}-Nx~-x0PIrZSsUn78w$AfAb}<YQ
z%;do%Ii@GB7SH49+Ga#^bQ>{ZwMAIfN7h%bD=Z&W^Az7!(<&xcrV%6D(4CXeLkGKz
zN!W;Q!jc4vQ=3t!8y}=55S|3adh_G8^sSR>BA?C4i0U1WgW1OUWOn31iFeE4R&iZ2
zhQC<6^v+}wa75xpn-cS@0`nQe5FA&WiaL6pnXOvlWM$a=o!uIKC-PvvyFG9>qTy-R
z%1<n|d^1$roW8~Hp-HN~yE3_j@<E)GdXx)<EIR>m97Cf9bAk^-$ao&>>Ero|N2u0L
z$i9A$m+*uP(QG(!On{lEC&2QgMtLCM-V@wgg?Wy+^}GhHzUH;A^q*mv)*~1K3W8dJ
z>{f1beAc8=_{YO^4sfwmVFM1N4Cs*{OhB1BZGE5$Q;GiwL9yA8xFuvp%;PtLf7@%<
z+}AeFmG%y+H}g|ve-97w&#sHryp||S(xc17(sf`9Ap%XdxP2TO9SO&`mjfnaNK@+j
zoi9HJiS;*4fonboT7W=3SK`kzp~bVHZPBa)3u^ldy~*^}tzj$$aeriI!?!A<_eRop
zjosfD@ujE1D;GfAQq`Np1hNZL71sDw)Q|iLWt@W1As7C_HiW9lSNZgP`<d0Q7BVRo
zV13%0*Fv7N$pYRKp9vDtWr08>hQaatK*n3qVJx#)v>GBBQIo6d=o^=U*(_$SkbD-{
z;U(Z_pIRa2S|1hl%OSu@xi2ZacwAMHjl50KZ%)o9AU`5vqNyDuc{1Wp`xZTWGOv?`
zml~HoBJsu54d_!s2kD$Plj!6<6_PG~vO_K?1b8OzWx#X^5}rBf0;Trhl-SUVs4f*j
z5m5%cbM6KjEp+h|XA;H7H8Cq*(~(ts65fmfJ6kVrj63k2`jq9UF$Rxc^W#KO<haXx
z+se(Fzk6H6*ChXW!LRN<`2@ZrazkyJdW5)RbC)e*8?>(_>iXo)B`PZFL9R=gsHY?w
z|G}>=)1S(gKlHhk9>QB0r}R_lsYOyr0xOj_jp-}aKb7D&48#m2Jpg^lInqv}`6#vL
zP>!E|VdEqR&NySEr(cttLNh3E+p&%|B7qRm+jGWfKCX5xYbDq~n$};AV6~(O9ZG1A
z-D6)BVF+Z}*FdMnXStdsYO=7gGHkt!kMB`lHsoGf{$>^vWK|SPTzV+)JJUc#Pup?I
z<z)G*sAf_ztqXIxQ|+q)Pb}Gf4Pmz&Nz}B^bcV1=vyKw3*W_)M#CiPs3)4QQU{N~N
zuU1rC2X|Y8*^V=2dm;qejmB)X{O0SbBg<Ek-<!Uv+kWAn0qdy&GC>c<2ZZ03s|(yn
zDq+KqMX+Lgg%0}`$Mww~m0iKmIe8P-?8Q&z)PI>*eddQy3iGvyRF;YsPG=>?w!GlS
zdLEr@HFf=B*`)EaGq}9+$$3K2m|V<Z)xly)()=cl7~WDAdvjjCmXaW?fBBdR--3aN
zzCw>WKvI8+Z_7vN**nK!#;X}nx3}KDsHFxqg0C!)&B2tDeHGf>(K>axEfMM%b>Uez
zGx=?A`vR>vm77B{wdN+Ry1A+N=b5_eR-QqN)XC!W+-!huNSBoIkc*|n{NfE*NBXqt
za>U(}pqtremtle}6S^_Dl^&#VJ<~y-dCH7lD<XzWVa?P&3A~Wpw>*w{^ztB?nbEh^
z4KIq)<khhI9=xDg-5ppeCjW{3V`AS6o;NoxtIok)N#vY*g4q3qXY@iWc8*vtq&6U~
zFSg1$Q&;H7g!4yW4?_+*;z5?|bIavMN>A-~H3cz?kO5-}YnEkqH|gF{jOOn{!J&Eg
zUx6{tHCm*ac52r2rXIvOi7r-2(F_=Jct3v0J10-t^;t3PvtTR2=3C3FfHn>19SG)S
zC+l-bZ<C!-s|6z>YDC<Ae~?9Wzq?HCU2_eB;MDcj{K*)El;uo`qWZwFeTtJ1;3hsw
zCLoKUqyn-2*nsL-0twk}K<q5c%?Se6zMS<!*FXZ#r7i(EcP|4pLPp=BzwOO}B-9EX
zWfSh9RVwronXmb218mRU*7cm4>wbIw{cLR4b7f*=E%w+E>1_m$n8{e$);YXQ(r^My
z4lx%)?v*|Zc>^l<3!@o<Gi&tRr*3<)GtocjI#}eA;;RUZZn4sR=OKdTu_kuf76SkY
zIDbx}`P{`bg;-4psvASR@l3<v;QPwkCOX4Z#QpxL$PD7djEU_YBdSob8oL9sUnilf
z;OnIcek)GV8=B1Vp&*Wxx^L2PjN?>nX6GPlSKNT!LVz+VP^qI}75sJqL&oDU?_{9H
zWuwVk&35}NpOr(|Z3I)JT$&#VoCfahy(&+Kv~Dfl-MSej%ub^Zop~G2&!vW+u+i#y
zziZ~uiYX3perWMDxTPfptb3m&LRi)Ab(;@@VHEC3sx#~+WVRSmYz{AN`r+>A#E?G;
zr1g((^tNxPEF#@yzVK6OQYp#~v*5V*OD#-H?Zej?CtQplxhnb+iIPWV*fUihwjW`T
zGy=h0M*a^X#r&93RA&?lLSfc3Lp;WP>BCmYGS~auEo|CFQwNW6okx}#gqrjiUkx3R
zfUT^82JScR&i89=v>qzwy})v?g7GzX7Dw_uI^e;SAvz0+!_2(MU+R(@0l8U8Tc`R|
zkOz;`XM?hu1hJF1lXo*79<(_Bawxmu!e6+Eu+~5ZQwE0VWmJ3M65+!hCsMp?bL8`N
z>4r@6r*bk6?cii9VlVhGd>Y<8-Y`&alprxMliKX#%v?IU^_Q5qQ&VmVP2P(G4vG+F
zEE+d2EN6#~YIMgi@ub~HGr|<9Oa5fm6KrKYkiIBF$8nPAcBx&MJ{BvRyz(|@BBc1~
zCGYZ=w{#8-mhc*Y<Zw;EFkMjQ=4n*i#L?7_Q4P0p1*3_{s6@)1?WtMuk#>`F)AXbF
z9{FZJw#YiRPjkW^A~>SzGdLH*mayg$cLi9W>)C4X*>dig1Y)dtiL3K3Bt!^?crx85
z9-N*h^~2ZlQ*G2#lhfqE@w=}HZnmhN(OBn^I?=jGBliiaU@mtT%}Fr(R=;0rR`<xm
zRNqW;gyyA{`KX_e+kmz_cU9upSFhyagu;p_+l1?PnLN=u?Y!KmbS`FGo4~m9pZxr8
z+AFbqZc4U-QbY<f`do-8ZxrLyF_ZkgLLTV5ETq-=I%vTNZvgvI846Rlz(?Y?>A`l?
zl^+@^eZx-ybStU7i1@MG^<CdxIw#zMAm^`xEAqquDZLbP#j;1S@qvWy@koz+JZtaj
z3R$^~9H34AtvVHt4QnMC;&z2cbk&uXMeqY5j%-dDSMqYS`<p(9%|=$IYi=J5)9afg
zn^Mt`wq>!x3BQyFF2(jG)@Dag>$#L+f;7?Nl43%BZr8e>lY9K^Ea6L2I_vgU3lZ-t
z4fqFxZApxaSv=Z<+P=+|ADE7S`^&ct_)bIRL_e@F9?bJO&hfAHdd=VoG)m2b%+8t*
zQVE6{YIw{=IQ!lmu!@pFMJB`T(8V4LJ(o~ro|P82rpyw5woc^ay24<SK*^VoOE3Gw
z&mdSL39p~k(vbe3fF=vRem{1_QXX$;BkZ=K!}Dgp(Ph1H94<iy(1Kg3*1OH0X#=4H
z7Otap`Tkby=dJ;jtB;TY6O#tUy&>vnH@7k0B{0&uG1o-zJ|Lk0t|2icxx4`NwO8mB
z(uvTUc^=pM-@6RgCG1UU<PZ!I>?4!gL4JW5PAUShmSFvv6g&Xn9P{o3y;U+um<V|N
zp_{(L<-^0oVAjx2$WDiDMYed6V);Q8gA|&caWCC3=cl^fYA={yu`jh1@^bbzCgSzp
zNJhpJx&~qjsDDhiG_p6Ka&47baU&9Xj2M?VKBUU=+5geuy<X+%Z_#zG=~Rj`W-}=9
z>3nLYv>9_Od42otiZ=|_>@htyU!GL93rBwgHtsg(G!z6^b4?Iu#)!^##_D}#$S{cq
zC%4~V!S~$*$z_S_X}&y5z_)`{K`n|P&-|%_1w>+`VL6WVf*&QhDg<Z==JJM>l9=6w
z`rpXL55=a9E(xI##2r;8KqKC=M$RrgTQjC;N-!t{tvJ`&W#Rs`A-`{aIAg9Hs4wGp
zEw1}($3L7$$Xy%Lh|b5yjt_L~urmCt^Gr1~#1O|9<Pw6Xcr~R@j~2KGr6gvbsjTtT
zHN#<TU|X$vH~r8F_bV$N&B~|@pOyz%k(k7A=94&5>y>Kw8}k^c7~B^fMfKO3y{-DL
zM>{y!RbmY;E5k0!?K4G}^2_VbcFTIG?h5W5%H+f?-4V(G773qly1Rc!N>1M1+*-ab
zRr4y$$e+8m<*7YBQASFNf~v!~&T@NiF`ArbVK%V>P+vt@SXfuUO`w`xmaS7>_I+%l
zM+-DHobxGS{#2I#xE6{0P*@mw8QF1R2DqS1`f?`^j9j0sg|%8@1?mKyU|(Qjp57A>
zFev{1{kz&CJx5uL+n_^eSXj}u)s2lZ4-=EWvxTZ=*W%Qa=0={q&+UnDSxE_RF=L>h
z&MQ3KrC|BVonX?+$_y-Qlhdh?b)a}<FBbpk$Vd;XTR6#!2pM@pPc4;nTDpl*1Y*N7
z5}!2UF!tlkb<%lSB%%9}$8}Dz^>tR$2O256GH@4Di;wQR?ShvlrtP3Ix3zI3Qb+R<
zQ;!DL23;(`N0OfLqHCmLeI1Y{-An(bAA4@@1+|c2xM{jzyPcR^nr>G&`^zMW<p2#v
zNNNl9xpqIli*f0olf_}<y&QQiY#AA_41wDvEFtDjF>*^r5iP1RZLvz^)kE)$o}!Y{
zQh&~0kz^0oX2Yw0+5_Q=Ori;MaArj^D(nIxJB9#(Gqm`Sb;d1WSk<O_bN^x{He~gO
z>d8;6vt0_?$j1TOXGs($>eu;L;5+QeVS!j0Q)lvoxgSp*AOTgU*u!%&Uw5`Q=jP^!
zZtOygX(iv07>shR-kJOOEaKvUFIpyVQ@?g(5x_WjSud?sK<;9*W*zOVVg3s~U82+@
znUz{=3LL-c9h;)hCmGK}KebBK^V{ZRq(+S~x3*+uW#<`Y;anX00RC>!+*|D2Z9+Ln
zY$zWICD8z!Y@qNrHuiRWe@RK^Z(tU7mNsVAj%Lu`!q@*uO5jL2+aFH|6idykV4pbh
zK9N|v1oB#G<zo|lWECj~Thylw?(JwN4d>l%v;^m`0z=nRih{T)9<<{Gb^K)Mwp~8H
zK0QQNqV19A$2X`e_Y)f&!&bKS%8@1$rh9DLR;y!7JmLN#SAmzixqdCV;H0wTbvLw1
zK>FjV;G_rEZqm9}`EW-BAHPXkYGKLTes)%@hbPzd&@A*ec_-h$4_7$1l*&@#XP^b;
zqx4hrYlZag3kCvFVBHn$7Ud72p#uP9s7!GHa7)VP?p2qA5LE7Ms8w3j>hFP?{&W1x
zC$fM!f;AmsZ^4evHejdUmG~3nklpmA6BVY6il+N#_+Owb)aPFysO$fa(xY4!NJJq<
zQ7`M?P}!(m{;w!SH<X>{WCOGRZ`*^iYsxyKq$O*=djRUcF}+b1+P_Zy&-4B>%Rd$P
z-=x2?<goe=%-@9gKN){|h5u$yLI0~|_$S~`f9~G^2m8O-bbki^sf+y%{A)DA{-dye
rlgIvK{CQ!1$NyD<o0$Ko!2fZ5G@oOlej)$>a8Zvx>Oikzf6x8_BRKf#

diff --git a/toolbox/+WBToolbox/BlockInitialization.m b/toolbox/matlab/+WBToolbox/BlockInitialization.m
similarity index 91%
rename from toolbox/+WBToolbox/BlockInitialization.m
rename to toolbox/matlab/+WBToolbox/BlockInitialization.m
index cc335147d..4fc94215a 100644
--- a/toolbox/+WBToolbox/BlockInitialization.m
+++ b/toolbox/matlab/+WBToolbox/BlockInitialization.m
@@ -47,13 +47,13 @@
 
 if strcmp(configSource,'Mask')
     % Read the mask
-    WBTConfig = WBToolbox.Mask2WBToolboxConfig(configBlock);
+    WBTConfig = WBToolbox.MaskToConfiguration(configBlock);
 elseif strcmp(configSource,'Workspace')
     % Get the object name and populate the mask
     configObjectName = get_param(configBlock,'ConfigObject');
-    WBToolbox.WBToolboxConfig2Mask(configBlock, configObjectName);
+    WBToolbox.ConfigurationToMask(configBlock, configObjectName);
     % Read the mask
-    WBTConfig = WBToolbox.Mask2WBToolboxConfig(configBlock);
+    WBTConfig = WBToolbox.MaskToConfiguration(configBlock);
 else
     error('[%s::Initialization] Read ConfigSource from Config block not recognized', char(currentBlock));
 end
diff --git a/toolbox/+WBToolbox/WBToolboxConfig.m b/toolbox/matlab/+WBToolbox/Configuration.m
similarity index 97%
rename from toolbox/+WBToolbox/WBToolboxConfig.m
rename to toolbox/matlab/+WBToolbox/Configuration.m
index 20374e498..6bb679ec4 100644
--- a/toolbox/+WBToolbox/WBToolboxConfig.m
+++ b/toolbox/matlab/+WBToolbox/Configuration.m
@@ -1,5 +1,5 @@
-classdef WBToolboxConfig < matlab.mixin.Copyable
-    %WBTOOLBOXCONFIG Summary of this class goes here
+classdef Configuration < matlab.mixin.Copyable
+    %CONFIGURATION Summary of this class goes here
     %   Detailed explanation goes here
 
     % PROPERTIES
@@ -116,7 +116,7 @@
             end
             cellArraySerialized = '{';
             for i=1:length(cellArray)
-                cellArraySerialized = strcat(cellArraySerialized,"'",cellArray{i},"'");
+                cellArraySerialized = strcat(cellArraySerialized,'''',cellArray{i},'''');
                 if i ~= length(cellArray)
                     cellArraySerialized = strcat(cellArraySerialized,',');
                 end
diff --git a/toolbox/+WBToolbox/WBToolboxConfig2Mask.m b/toolbox/matlab/+WBToolbox/ConfigurationToMask.m
similarity index 85%
rename from toolbox/+WBToolbox/WBToolboxConfig2Mask.m
rename to toolbox/matlab/+WBToolbox/ConfigurationToMask.m
index 1e7e3b227..433b38f04 100644
--- a/toolbox/+WBToolbox/WBToolboxConfig2Mask.m
+++ b/toolbox/matlab/+WBToolbox/ConfigurationToMask.m
@@ -1,5 +1,5 @@
-function WBToolboxConfig2Mask(configBlock, WBTConfigObjectName)
-%WBTOOLBOXCONFIG2MASK Summary of this function goes here
+function ConfigurationToMask(configBlock, WBTConfigObjectName)
+%CONFIGURATIONTOMASK Summary of this function goes here
 %   Detailed explanation goes here
 
 % Assign names to labels
@@ -16,7 +16,7 @@ function WBToolboxConfig2Mask(configBlock, WBTConfigObjectName)
 try
     mask = Simulink.Mask.get(configBlock);
 catch
-    error('[WBToolboxConfig2Mask] Impossible to gather Config Block: %s', configBlock);
+    error('[ConfigurationToMask] Impossible to gather Config Block: %s', configBlock);
 end
 
 
@@ -30,11 +30,11 @@ function WBToolboxConfig2Mask(configBlock, WBTConfigObjectName)
     WBTConfigHandle = evalin('base', WBTConfigObjectName); % Get the handle
     WBTConfigObject = copy(WBTConfigHandle); % Shallow copy the handle
 catch
-    error('[WBToolboxConfig2Mask] Failed to get %s object from the workspace', WBTConfigObjectName);
+    error('[ConfigurationToMask] Failed to get %s object from the workspace', WBTConfigObjectName);
 end
 
 try
-    if (isa(WBTConfigObject,'WBToolbox.WBToolboxConfig') && WBTConfigObject.ValidConfiguration)
+    if (isa(WBTConfigObject,'WBToolbox.Configuration') && WBTConfigObject.ValidConfiguration)
         SetParamFromReadOnly(...
             configBlock,'RobotName',...
             strcat('''',WBTConfigObject.RobotName,''''),...
@@ -55,7 +55,7 @@ function WBToolboxConfig2Mask(configBlock, WBTConfigObjectName)
             configBlock,'LocalName',...
             strcat('''',WBTConfigObject.LocalName,''''),mask.Parameters(item_LocalName));
     else
-        error('[WBToolboxConfig2Mask] Failed to get the %s object', WBTConfigObjectName);
+        error('[ConfigurationToMask] Failed to get the %s object', WBTConfigObjectName);
     end
 catch
     SetParamFromReadOnly(...
diff --git a/toolbox/+WBToolbox/Mask2WBToolboxConfig.m b/toolbox/matlab/+WBToolbox/MaskToConfiguration.m
similarity index 85%
rename from toolbox/+WBToolbox/Mask2WBToolboxConfig.m
rename to toolbox/matlab/+WBToolbox/MaskToConfiguration.m
index b9850d12c..c3c51c959 100644
--- a/toolbox/+WBToolbox/Mask2WBToolboxConfig.m
+++ b/toolbox/matlab/+WBToolbox/MaskToConfiguration.m
@@ -1,5 +1,5 @@
-function [ WBTConfig ] = Mask2WBToolboxConfig(configBlock)
-%MASK2WBTOOLBOXCONFIG Summary of this function goes here
+function [ WBTConfig ] = MaskToConfiguration(configBlock)
+%MASKTOCONFIGURATION Summary of this function goes here
 %   Detailed explanation goes here
 
 defaultString = '''NonValid''';
@@ -12,10 +12,10 @@
     strcmp(char(get_param(configBlock,'ControlledJoints')),defaultString) && ...
     strcmp(char(get_param(configBlock,'ControlBoardsNames')),defaultString) ...
     )
-    error('[Mask2WBToolboxConfig] The provided config is NonValid.');
+    error('[MaskToConfiguration] The provided config is NonValid.');
 end
 
-WBTConfig = WBToolbox.WBToolboxConfig;
+WBTConfig = WBToolbox.Configuration;
 
 WBTConfig.RobotName = stripApices(char(get_param(configBlock,'RobotName')));
 WBTConfig.UrdfFile  = stripApices(char(get_param(configBlock,'UrdfFile')));
diff --git a/toolbox/+WBToolbox/PID.m b/toolbox/matlab/+WBToolbox/PID.m
similarity index 94%
rename from toolbox/+WBToolbox/PID.m
rename to toolbox/matlab/+WBToolbox/PID.m
index 33badfea0..8b1541ed0 100644
--- a/toolbox/+WBToolbox/PID.m
+++ b/toolbox/matlab/+WBToolbox/PID.m
@@ -12,20 +12,20 @@
     %   D - Derivative gain
     %   joint - Reference joint
     %
-    % See also: WBTOOLBOX.WBTPIDCONFIG
-    
+    % See also: WBTOOLBOX.PIDCONFIGURATION
+
     properties
         P     (1,1) double = 0
         I     (1,1) double = 0
         D     (1,1) double = 0
         joint (1,:) char
     end
-    
+
     methods
         %         function obj = PID(jointName)
         %             obj.joint = jointName;
         %         end
-        
+
         function obj = PID(jointName, P, I, D)
             if (nargin == 4)
                 obj.joint = jointName;
@@ -44,7 +44,6 @@
                     );
             end
         end
-        
+
     end
 end
-    
diff --git a/toolbox/+WBToolbox/WBTPIDConfig.m b/toolbox/matlab/+WBToolbox/PIDConfiguration.m
similarity index 85%
rename from toolbox/+WBToolbox/WBTPIDConfig.m
rename to toolbox/matlab/+WBToolbox/PIDConfiguration.m
index 51999e301..0fa0f707f 100644
--- a/toolbox/+WBToolbox/WBTPIDConfig.m
+++ b/toolbox/matlab/+WBToolbox/PIDConfiguration.m
@@ -1,20 +1,20 @@
-classdef WBTPIDConfig < handle
-    % WBTPIDCONFIG Class to store a set of PID config for many joints.
-    %   WBTPIDCONFIG(WBToolbox.PID('jointName', P, I, D)) adds a new PID
+classdef PIDConfiguration < handle
+    % PIDCONFIGURATION Class to store a set of PID config for many joints.
+    %   PIDCONFIGURATION(WBToolbox.PID('jointName', P, I, D)) adds a new PID
     %   for joint 'jointName'.
     %
-    % WBTPIDCONFIG Properties:
+    % PIDCONFIGURATION Properties:
     %   P - Proportional gains
     %   I - Integral gains
     %   D - Derivative gains
     %   jointList - List of joints
     %
-    % WBTPIDCONFIG Methods:
+    % PIDCONFIGURATION Methods:
     %   addPID - Add a new joint PID
     %   removePID - Remove a stored joint PID
     %
     % See also: WBTOOLBOX.PID
-    
+
     % Read-Only properties
     properties (SetAccess = private)
         P         (1,:) double
@@ -22,42 +22,42 @@
         D         (1,:) double
         jointList (1,:) cell
     end
-    
+
     methods
         function addPID(obj, pid)
             % Add
             if ~isa(pid,'WBToolbox.PID')
                 error('The argument must be a WBToolbox.PID object.')
             end
-            
+
             matches = find(strcmp(obj.jointList, pid.joint), 1);
             if ~isempty(matches)
                 error('The PID''s joint has been already processed.')
             end
-            
+
             obj.jointList{1, end+1} = pid.joint;
             obj.P(1, end+1) = pid.P;
             obj.I(1, end+1) = pid.I;
             obj.D(1, end+1) = pid.D;
         end
-        
+
         function removePID(obj, jointName)
             if ~ischar(jointName)
                 error('The argument must be a char containing the joint name.')
             end
-            
+
             idx = find(strcmp(obj.jointList, jointName), 1);
-            
+
             if isempty(idx)
                 error('The specified joint has no configuration stored')
             end
-            
+
             obj.jointList(:,idx) = [];
             obj.P(:,idx) = [];
             obj.I(:,idx) = [];
             obj.D(:,idx) = [];
         end
-        
+
         function value = getSimulinkParameters(obj)
             if isempty(obj.P) || isempty(obj.I) || isempty(obj.D) || ...
                     isempty(obj.jointList)
@@ -70,6 +70,5 @@ function removePID(obj, jointName)
             value.jointList = obj.jointList;
         end
     end
-    
-end
 
+end
diff --git a/toolbox/export_library.m b/toolbox/matlab/export_library.m
similarity index 56%
rename from toolbox/export_library.m
rename to toolbox/matlab/export_library.m
index 9044fda4d..c452b7fd1 100644
--- a/toolbox/export_library.m
+++ b/toolbox/matlab/export_library.m
@@ -1,4 +1,4 @@
-addpath(genpath('../images'));
+addpath(genpath('../../images'));
 
 fprintf('\nWhole Body toolbox exporting library to multiple versions\n');
 
@@ -7,27 +7,35 @@
     quit;
 end
 
+addpath(genpath('library'));
 libraryName = 'WBToolboxLibrary_repository';
 
 try
+  % Load the library
   open_system(libraryName,'loadonly');
   fprintf('\nLibrary loaded\n');
+
+  % Enable library capabilities
   if (strcmp(get_param(libraryName, 'EnableLBRepository'), 'off'))
     set_param(libraryName, 'Lock', 'off');
     set_param(libraryName, 'EnableLBRepository', 'on');
     set_param(libraryName, 'Lock', 'on');
-  end;
+  end
+
+  % Export the library
   fprintf('\nExporting for 2014b\n');
-  % This does not completely work: images are not saved.
-  % Instad if saved form the GUI it works..
   save_system(libraryName, 'WBToolboxLibrary', 'ExportToVersion', 'R2014B_SLX');
-  fprintf('\nExporting for 2012a\n');
-  save_system(libraryName, 'WBToolboxLibrary', 'ExportToVersion', 'R2012A_MDL');
+  movefile('WBToolboxLibrary.slx', 'library/exported/WBToolboxLibrary.slx');
+  % TODO: Check if mdl support is still required
+  % fprintf('\nExporting for 2012a\n');
+  % save_system(libraryName, 'WBToolboxLibrary', 'ExportToVersion', 'R2012A_MDL');
+  % movefile('WBToolboxLibrary.mdl', 'library/exported/WBToolboxLibrary.mdl');
+
+  % Unload the library
   close_system(libraryName);
-catch ex;
+catch
+  error('Failed to export WBToolbox library')
 end
-    
+
 fprintf('\nDone\n');
 exit(0)
-
-
diff --git a/toolbox/WBToolboxLibrary_repository.mdl b/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
similarity index 74%
rename from toolbox/WBToolboxLibrary_repository.mdl
rename to toolbox/matlab/library/WBToolboxLibrary_repository.mdl
index 357430b63..a122a1e37 100644
--- a/toolbox/WBToolboxLibrary_repository.mdl
+++ b/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
@@ -1,19 +1,21 @@
 Library {
   Name			  "WBToolboxLibrary_repository"
-  Version		  8.8
+  Version		  8.9
   SavedCharacterEncoding  "US-ASCII"
   LogicAnalyzerGraphicalSettings ""
   LogicAnalyzerPlugin	  "on"
   LogicAnalyzerSignalOrdering ""
   DiagnosticSuppressor	  "on"
-  SuppressorTable	  "22 serialization::archive 11 0 3 0 0 0 0 0"
+  SuppressorTable	  "22 serialization::archive 11 0 6 0 0 0 11 0"
+  SLCCPlugin		  "on"
   LibraryType		  "BlockLibrary"
+  LockLinksToLibrary	  on
   ScopeRefreshTime	  0.035000
   OverrideScopeRefreshTime on
   DisableAllScopes	  off
   FPTRunName		  "Run 1"
   MaxMDLFileLineLength	  120
-  LastSavedArchitecture	  "maci64"
+  LastSavedArchitecture	  "glnxa64"
   Object {
     $PropName		    "BdWindowsInfo"
     $ObjectID		    1
@@ -23,7 +25,7 @@ Library {
       $ObjectID		      2
       $ClassName	      "Simulink.WindowInfo"
       IsActive		      [1]
-      Location		      [747.0, 53.0, 1280.0, 721.0]
+      Location		      [257.0, 95.0, 1595.0, 866.0]
       Object {
 	$PropName		"ModelBrowserInfo"
 	$ObjectID		3
@@ -45,11 +47,11 @@ Library {
 	$ObjectID		5
 	$ClassName		"Simulink.EditorInfo"
 	IsActive		[1]
-	ViewObjType		"SimulinkTopLevel"
-	LoadSaveID		"0"
-	Extents			[1246.0, 559.0]
-	ZoomFactor		[2.7309417040358746]
-	Offset			[10.873563218390814, 6.1543513957307141]
+	ViewObjType		"SimulinkSubsys"
+	LoadSaveID		"192"
+	Extents			[1557.0, 731.0]
+	ZoomFactor		[2.13]
+	Offset			[0.0, 0.0]
       }
       Object {
 	$PropName		"DockComponentsInfo"
@@ -65,26 +67,27 @@ Library {
 	Width			[640]
 	Height			[480]
       }
-      WindowState	      "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAAB+PwCAAAAA/sAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA"
+      WindowState	      "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAACivwCAAAAA/sAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA"
       "AAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0Ac"
-      "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAABvAP///wAAAAEAAAAAAAAAAPwCA"
+      "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAANQAAAooAAABbAP///wAAAAEAAAAAAAAAAPwCA"
       "AAAAfsAAABUAEcATABVAEUAMgA6AFAAcgBvAHAAZQByAHQAeQBJAG4AcwBwAGUAYwB0AG8AcgAvAFAAcgBvAHAAZQByAHQAeQAgAEkAbgBzAHAAZ"
-      "QBjAHQAbwByAAAAAAD/////AAAAKgD///8AAAUAAAACZgAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAP/////wAAAAAA/////wAAAAAAAAAA/"
+      "QBjAHQAbwByAAAAAAD/////AAAAKwD///8AAAY7AAADFwAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAP/////wAAAAAA/////wAAAAAAAAAA/"
       "////wEAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
-      "////wEAAACE/////wAAAAAAAAAA/////wEAAAD2/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
-      "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAAFL/////wAAAAAAAAAA/"
+      "////wEAAAB6/////wAAAAAAAAAA/////wEAAADe/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
+      "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAAEt/////wAAAAAAAAAA/"
       "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA"
     }
   }
+  HideAutomaticNames	  off
   Created		  "Thu Feb 06 02:21:39 2014"
   Creator		  "jorhabib"
   UpdateHistory		  "UpdateHistoryNever"
   ModifiedByFormat	  "%<Auto>"
-  LastModifiedBy	  "makaveli"
+  LastModifiedBy	  "dferigo"
   ModifiedDateFormat	  "%<Auto>"
-  LastModifiedDate	  "Wed Aug 23 12:33:30 2017"
-  RTWModifiedTimeStamp	  425392371
-  ModelVersionFormat	  "1.%<AutoIncrement:382>"
+  LastModifiedDate	  "Mon Dec 11 16:51:04 2017"
+  RTWModifiedTimeStamp	  434911818
+  ModelVersionFormat	  "1.%<AutoIncrement:477>"
   ConfigurationManager	  "none"
   SampleTimeColors	  off
   SampleTimeAnnotations	  off
@@ -92,6 +95,7 @@ Library {
   WideLines		  off
   ShowLineDimensions	  off
   ShowPortDataTypes	  off
+  PortDataTypeDisplayFormat "AliasTypeOnly"
   ShowEditTimeErrors	  on
   ShowEditTimeWarnings	  on
   ShowEditTimeAdvisorChecks off
@@ -118,6 +122,7 @@ Library {
   FunctionConnectors	  off
   BrowserLookUnderMasks	  off
   SimulationMode	  "normal"
+  VisualizeLoggedSignalsWhenLoggingToFile off
   PauseTimes		  "5"
   NumberOfSteps		  1
   SnapshotBufferSize	  10
@@ -149,12 +154,13 @@ Library {
   ExtModeAutoUpdateStatusClock on
   ShowModelReferenceBlockVersion off
   ShowModelReferenceBlockIO off
+  OrderedModelArguments	  on
   Array {
     Type		    "Handle"
     Dimension		    1
     Simulink.ConfigSet {
       $ObjectID		      7
-      Version		      "1.16.5"
+      Version		      "1.17.0"
       DisabledProps	      []
       Description	      ""
       Array {
@@ -162,7 +168,7 @@ Library {
 	Dimension		10
 	Simulink.SolverCC {
 	  $ObjectID		  8
-	  Version		  "1.16.5"
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  ""
 	  StartTime		  "0.0"
@@ -202,7 +208,7 @@ Library {
 	}
 	Simulink.DataIOCC {
 	  $ObjectID		  9
-	  Version		  "1.16.5"
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  ""
 	  Decimation		  "1"
@@ -237,12 +243,13 @@ Library {
 	  ReturnWorkspaceOutputsName "out"
 	  Refine		  "1"
 	  LoggingToFile		  off
+	  DatasetSignalFormat	  "timeseries"
 	  LoggingFileName	  "out.mat"
 	  LoggingIntervals	  "[-inf, inf]"
 	}
 	Simulink.OptimizationCC {
 	  $ObjectID		  10
-	  Version		  "1.16.5"
+	  Version		  "1.17.0"
 	  Array {
 	    Type		    "Cell"
 	    Dimension		    8
@@ -297,10 +304,13 @@ Library {
 	  BufferReusableBoundary  on
 	  SimCompilerOptimization "off"
 	  AccelVerboseBuild	  off
+	  OptimizeBlockOrder	  "off"
+	  OptimizeDataStoreBuffers on
+	  BusAssignmentInplaceUpdate on
 	}
 	Simulink.DebuggingCC {
 	  $ObjectID		  11
-	  Version		  "1.16.5"
+	  Version		  "1.17.0"
 	  Array {
 	    Type		    "Cell"
 	    Dimension		    1
@@ -387,6 +397,7 @@ Library {
 	  SymbolicDimMinMaxWarning "warning"
 	  LossOfSymbolicDimsSimulationWarning "warning"
 	  LossOfSymbolicDimsCodeGenerationWarning "error"
+	  SymbolicDimsDataTypeCodeGenerationDiagnostic "error"
 	  BlockIODiagnostic	  "none"
 	  SFUnusedDataAndEventsDiag "warning"
 	  SFUnexpectedBacktrackingDiag "warning"
@@ -405,10 +416,11 @@ Library {
 	  AllowedUnitSystems	  "all"
 	  UnitsInconsistencyMsg	  "warning"
 	  AllowAutomaticUnitConversions	on
+	  UnitDatabase		  ""
 	}
 	Simulink.HardwareCC {
 	  $ObjectID		  12
-	  Version		  "1.16.5"
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  ""
 	  ProdBitPerChar	  8
@@ -456,7 +468,7 @@ Library {
 	}
 	Simulink.ModelReferenceCC {
 	  $ObjectID		  13
-	  Version		  "1.16.5"
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  ""
 	  UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
@@ -475,7 +487,7 @@ Library {
 	}
 	Simulink.SFSimCC {
 	  $ObjectID		  14
-	  Version		  "1.16.5"
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  ""
 	  SimCustomSourceCode	  ""
@@ -499,11 +511,13 @@ Library {
 	  ModelFunctionsGlobalVisibility "on"
 	  CompileTimeRecursionLimit 50
 	  EnableRuntimeRecursion  on
+	  MATLABDynamicMemAlloc	  on
+	  MATLABDynamicMemAllocThreshold 65536
 	}
 	Simulink.RTWCC {
 	  $BackupClass		  "Simulink.RTWCC"
 	  $ObjectID		  15
-	  Version		  "1.16.5"
+	  Version		  "1.17.0"
 	  Array {
 	    Type		    "Cell"
 	    Dimension		    13
@@ -586,10 +600,10 @@ Library {
 	    Dimension		    2
 	    Simulink.CodeAppCC {
 	      $ObjectID		      16
-	      Version		      "1.16.5"
+	      Version		      "1.17.0"
 	      Array {
 		Type			"Cell"
-		Dimension		25
+		Dimension		27
 		Cell			"IgnoreCustomStorageClasses"
 		Cell			"IgnoreTestpoints"
 		Cell			"InsertBlockDesc"
@@ -615,6 +629,8 @@ Library {
 		Cell			"CustomSymbolStrModelFcn"
 		Cell			"CustomSymbolStrUtil"
 		Cell			"CustomUserTokenString"
+		Cell			"CustomSymbolStrEmxType"
+		Cell			"CustomSymbolStrEmxFcn"
 		PropName		"DisabledProps"
 	      }
 	      Description	      ""
@@ -646,6 +662,8 @@ Library {
 	      CustomSymbolStrTmpVar   "$N$M"
 	      CustomSymbolStrMacro    "$R$N$M"
 	      CustomSymbolStrUtil     "$N$C"
+	      CustomSymbolStrEmxType  "emxArray_$M$N"
+	      CustomSymbolStrEmxFcn   "emx$M$N"
 	      CustomUserTokenString   ""
 	      CustomCommentsFcn	      ""
 	      DefineNamingRule	      "None"
@@ -669,7 +687,7 @@ Library {
 	    Simulink.GRTTargetCC {
 	      $BackupClass	      "Simulink.TargetCC"
 	      $ObjectID		      17
-	      Version		      "1.16.5"
+	      Version		      "1.17.0"
 	      Array {
 		Type			"Cell"
 		Dimension		18
@@ -701,8 +719,7 @@ Library {
 	      TargetLangStandard      "C89/C90 (ANSI)"
 	      CodeReplacementLibrary  "None"
 	      UtilityFuncGeneration   "Auto"
-	      ERTMultiwordTypeDef     "System defined"
-	      ERTMultiwordLength      256
+	      MultiwordTypeDef	      "System defined"
 	      MultiwordLength	      2048
 	      GenerateFullHeader      on
 	      InferredTypesCompatibility off
@@ -746,6 +763,8 @@ Library {
 	      UseToolchainInfoCompliant	on
 	      GenerateSharedConstants on
 	      CoderGroups	      []
+	      AccessMethods	      []
+	      LookupTableObjectStructAxisOrder "1,2,3,4,..."
 	      UseMalloc		      off
 	      ExtMode		      off
 	      ExtModeStaticAlloc      off
@@ -767,7 +786,7 @@ Library {
 	}
 	SlCovCC.ConfigComp {
 	  $ObjectID		  18
-	  Version		  "1.16.5"
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  "Simulink Coverage Configuration Component"
 	  Name			  "Simulink Coverage"
@@ -803,10 +822,11 @@ Library {
 	  CovUseTimeInterval	  off
 	  CovStartTime		  0
 	  CovStopTime		  0
+	  CovMcdcMode		  "Masking"
 	}
 	hdlcoderui.hdlcc {
 	  $ObjectID		  19
-	  Version		  "1.16.5"
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  "HDL Coder custom configuration component"
 	  Name			  "HDL Coder"
@@ -823,7 +843,7 @@ Library {
       Name		      "Configuration"
       ExtraOptions	      ""
       CurrentDlgPage	      "Solver"
-      ConfigPrmDlgPosition     [ 963, 135, 1843, 765 ] 
+      ConfigPrmDlgPosition    [ 963, 135, 1843, 765 ]
     }
     PropName		    "ConfigurationSets"
   }
@@ -838,6 +858,7 @@ Library {
     FontWeight		    "normal"
     FontAngle		    "normal"
     ShowName		    on
+    HideAutomaticName	    on
     BlockRotation	    0
     BlockMirror		    off
   }
@@ -863,7 +884,7 @@ Library {
     SelfModifiable	    "off"
     IconFrame		    "on"
     IconOpaque		    "opaque"
-    RunInitForIconRedraw    "off"
+    RunInitForIconRedraw    "analyze"
     IconRotate		    "none"
     PortRotate		    "default"
     IconUnits		    "autoscale"
@@ -955,6 +976,7 @@ Library {
       SourceOfInitialOutputValue "Dialog"
       OutputWhenDisabled      "held"
       InitialOutput	      "[]"
+      MustResolveToSignalObject	off
     }
     Block {
       BlockType		      Product
@@ -1031,8 +1053,9 @@ Library {
   }
   System {
     Name		    "WBToolboxLibrary_repository"
-    Location		    [747, 53, 2027, 774]
-    Open		    on
+    Location		    [257, 95, 1852, 961]
+    Open		    off
+    PortBlocksUseCompactNotation off
     ModelBrowserVisibility  off
     ModelBrowserWidth	    200
     ScreenColor		    "black"
@@ -1043,9 +1066,9 @@ Library {
     TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
     TiledPageScale	    1
     ShowPageBoundaries	    off
-    ZoomFactor		    "273"
+    ZoomFactor		    "343"
     ReportName		    "simulink-default.rpt"
-    SIDHighWatermark	    "1773"
+    SIDHighWatermark	    "1789"
     Block {
       BlockType		      SubSystem
       Name		      "Utilities"
@@ -1065,8 +1088,9 @@ Library {
       }
       System {
 	Name			"Utilities"
-	Location		[551, 44, 1831, 765]
-	Open			off
+	Location		[257, 95, 1852, 961]
+	Open			on
+	PortBlocksUseCompactNotation off
 	ModelBrowserVisibility	off
 	ModelBrowserWidth	200
 	ScreenColor		"white"
@@ -1077,7 +1101,248 @@ Library {
 	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 	TiledPageScale		1
 	ShowPageBoundaries	off
-	ZoomFactor		"166"
+	ZoomFactor		"213"
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Configuration"
+	  SID			  "1774"
+	  Ports			  []
+	  Position		  [435, 260, 510, 290]
+	  ZOrder		  95
+	  InitFcn		  "source = get_param(gcb,'ConfigSource');\n\nif strcmp(source, 'Workspace')\n    object = get_param(gcb,'"
+	  "ConfigObject');\n    WBToolbox.ConfigurationToMask(gcb, object);\nend\n\nWBToolbox.MaskToConfiguration(gcb);\n\ncle"
+	  "ar object source"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    21
+	    $ClassName		    "Simulink.Mask"
+	    SelfModifiable	    "on"
+	    Display		    "disp('Config')"
+	    RunInitForIconRedraw    "off"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      8
+	      Object {
+		$ObjectID		22
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  2
+		  Cell			  "Workspace"
+		  Cell			  "Mask"
+		  PropName		  "TypeOptions"
+		}
+		Name			"ConfigSource"
+		Prompt			"Configuration from"
+		Value			"Mask"
+		Callback		"% Get the Workspace/Mask menu\nh = Simulink.Mask.get(gcb);\ncurrentConfigSource = get_param(gcb,'ConfigSo"
+		"urce');\n\nif strcmp(currentConfigSource,'Workspace')\n    % Switch the visibility of the GUI elements\n    set_para"
+		"m(gcb,'MaskVisibilities',{'on';'on';'on';'on';'on';'on';'on';'on';});\n    h.Parameters(3).ReadOnly = 'on';\n    h.P"
+		"arameters(4).ReadOnly = 'on';\n    h.Parameters(5).ReadOnly = 'on';\n    h.Parameters(6).ReadOnly = 'on';\n    h.Par"
+		"ameters(7).ReadOnly = 'on';\n    h.Parameters(8).ReadOnly = 'on';\n    \n    % Parse the object inserted in the Conf"
+		"igObject field\n    currentConfigObject = get_param(gcb,'ConfigObject');\n    WBToolbox.ConfigurationToMask(gcb,curr"
+		"entConfigObject);\n    clear currentConfigObject;\nelseif strcmp(currentConfigSource,'Mask')\n    % Switch the visib"
+		"ility of the GUI elements\n    set_param(gcb,'MaskVisibilities',{'on';'off';'on';'on';'on';'on';'on';'on';});\n    h"
+		".Parameters(3).ReadOnly = 'off';\n    h.Parameters(4).ReadOnly = 'off';\n    h.Parameters(5).ReadOnly = 'off';\n    "
+		"h.Parameters(6).ReadOnly = 'off';\n    h.Parameters(7).ReadOnly = 'off';\n    h.Parameters(8).ReadOnly = 'off';\n   "
+		" h.Parameters(3).Enabled = 'on';\n    h.Parameters(4).Enabled = 'on';\n    h.Parameters(5).Enabled = 'on';\n    h.Pa"
+		"rameters(6).Enabled = 'on';\n    h.Parameters(7).Enabled = 'on';\n    h.Parameters(8).Enabled = 'on';\nend\n\nclear "
+		"h currentConfigSource"
+	      }
+	      Object {
+		$ObjectID		23
+		Type			"edit"
+		Name			"ConfigObject"
+		Prompt			"Name of the object"
+		Value			"'WBTConfigRobot'"
+		Tunable			"off"
+		Visible			"off"
+		Callback		"% This code get called whatsoever\nif strcmp(char(get_param(gcb,'ConfigSource')),'Mask')\n    return\nend"
+		"\n\n% Parse the object inserted in the ConfigObject field\ncurrentConfigObject = get_param(gcb,'ConfigObject');\nWBT"
+		"oolbox.ConfigurationToMask(gcb,currentConfigObject);\n\nclear currentConfigObject;"
+	      }
+	      Object {
+		$ObjectID		24
+		Type			"edit"
+		Name			"RobotName"
+		Prompt			"Robot Name"
+		Value			"'icub'"
+	      }
+	      Object {
+		$ObjectID		25
+		Type			"edit"
+		Name			"UrdfFile"
+		Prompt			"Urdf File"
+		Value			"'model.urdf'"
+	      }
+	      Object {
+		$ObjectID		26
+		Type			"edit"
+		Name			"ControlledJoints"
+		Prompt			"Controlled Joints"
+		Value			"{'l_elbow','l_shoulder_pitch','torso_roll'}"
+	      }
+	      Object {
+		$ObjectID		27
+		Type			"edit"
+		Name			"ControlBoardsNames"
+		Prompt			"Control Boards Names"
+		Value			"{'left_arm','right_arm','torso'}"
+	      }
+	      Object {
+		$ObjectID		28
+		Type			"edit"
+		Name			"LocalName"
+		Prompt			"Local Name"
+		Value			"'WBT'"
+	      }
+	      Object {
+		$ObjectID		29
+		Type			"edit"
+		Name			"GravityVector"
+		Prompt			"Gravity Vector"
+		Value			"[0,0,-9.81]"
+	      }
+	      PropName		      "Parameters"
+	    }
+	    Array {
+	      Type		      "Simulink.dialog.Group"
+	      Dimension		      2
+	      Object {
+		$ObjectID		30
+		Prompt			"%<MaskType>"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  31
+		  $ClassName		  "Simulink.dialog.Text"
+		  Prompt		  "%<MaskDescription>"
+		  Name			  "DescTextVar"
+		}
+		Name			"DescGroupVar"
+	      }
+	      Object {
+		$ObjectID		32
+		Prompt			"Simulink:studio:ToolBarParametersMenu"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  33
+		  $ClassName		  "Simulink.dialog.TabContainer"
+		  Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    34
+		    Prompt		    "From"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    35
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "ConfigSource"
+		    }
+		    Object {
+		    $ObjectID		    36
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "ConfigObject"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "TabFrom"
+		    }
+		    Object {
+		    $ObjectID		    37
+		    Prompt		    "Data"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Edit"
+		    Dimension		    6
+		    Object {
+		    $ObjectID		    38
+		    PromptLocation	    "left"
+		    Name		    "RobotName"
+		    }
+		    Object {
+		    $ObjectID		    39
+		    PromptLocation	    "left"
+		    Name		    "UrdfFile"
+		    }
+		    Object {
+		    $ObjectID		    40
+		    PromptLocation	    "left"
+		    Name		    "ControlledJoints"
+		    }
+		    Object {
+		    $ObjectID		    41
+		    PromptLocation	    "left"
+		    Name		    "ControlBoardsNames"
+		    }
+		    Object {
+		    $ObjectID		    42
+		    PromptLocation	    "left"
+		    Name		    "LocalName"
+		    }
+		    Object {
+		    $ObjectID		    43
+		    PromptLocation	    "left"
+		    Name		    "GravityVector"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "TabData"
+		    }
+		    PropName		    "DialogControls"
+		  }
+		  Name			  "TabContainer"
+		}
+		Name			"ParameterGroupVar"
+	      }
+	      PropName		      "DialogControls"
+	    }
+	  }
+	  System {
+	    Name		    "Configuration"
+	    Location		    [550, 86, 1677, 725]
+	    Open		    off
+	    PortBlocksUseCompactNotation off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "600"
+	    SIDHighWatermark	    "70"
+	    Block {
+	      BlockType		      Constant
+	      Name		      "ImConfig"
+	      SID		      "1774:67"
+	      Position		      [20, 20, 50, 50]
+	      ZOrder		      81
+	      Value		      "0"
+	    }
+	    Block {
+	      BlockType		      Terminator
+	      Name		      "Terminator"
+	      SID		      "1774:68"
+	      Position		      [95, 25, 115, 45]
+	      ZOrder		      80
+	    }
+	    Line {
+	      ZOrder		      1
+	      SrcBlock		      "ImConfig"
+	      SrcPort		      1
+	      DstBlock		      "Terminator"
+	      DstPort		      1
+	    }
+	  }
+	}
 	Block {
 	  BlockType		  SubSystem
 	  Name			  "DampPinv"
@@ -1090,11 +1355,11 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    21
+	    $ObjectID		    44
 	    $ClassName		    "Simulink.Mask"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      22
+	      $ObjectID		      45
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "tol"
@@ -1106,6 +1371,7 @@ Library {
 	    Name		    "DampPinv"
 	    Location		    [0, 29, 1280, 744]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -1152,6 +1418,7 @@ Library {
 		Name			"Damped Pseudo Inverse"
 		Location		[12, 45, 1279, 3773]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -1163,7 +1430,7 @@ Library {
 		TiledPageScale		1
 		ShowPageBoundaries	off
 		ZoomFactor		"100"
-		SIDHighWatermark	"1619"
+		SIDHighWatermark	"1622"
 		Block {
 		  BlockType		  Inport
 		  Name			  "mat"
@@ -1184,20 +1451,20 @@ Library {
 		Block {
 		  BlockType		  Demux
 		  Name			  " Demux "
-		  SID			  "107::1618"
+		  SID			  "107::1621"
 		  Ports			  [1, 1]
 		  Position		  [270, 230, 320, 270]
-		  ZOrder		  98
+		  ZOrder		  101
 		  Outputs		  "1"
 		}
 		Block {
 		  BlockType		  S-Function
 		  Name			  " SFunction "
-		  SID			  "107::1617"
+		  SID			  "107::1620"
 		  Tag			  "Stateflow S-Function WBToolboxLibrary_repository 6"
 		  Ports			  [2, 2]
 		  Position		  [180, 100, 230, 160]
-		  ZOrder		  97
+		  ZOrder		  100
 		  FunctionName		  "sf_sfun"
 		  PortCounts		  "[2 2]"
 		  SFunctionDeploymentMode off
@@ -1206,16 +1473,14 @@ Library {
 		  Port {
 		    PortNumber		    2
 		    Name		    "DPinv"
-		    RTWStorageClass	    "Auto"
-		    DataLoggingNameMode	    "SignalName"
 		  }
 		}
 		Block {
 		  BlockType		  Terminator
 		  Name			  " Terminator "
-		  SID			  "107::1619"
+		  SID			  "107::1622"
 		  Position		  [460, 241, 480, 259]
-		  ZOrder		  99
+		  ZOrder		  102
 		}
 		Block {
 		  BlockType		  Outport
@@ -1226,7 +1491,7 @@ Library {
 		  IconDisplay		  "Port number"
 		}
 		Line {
-		  ZOrder		  61
+		  ZOrder		  66
 		  SrcBlock		  "mat"
 		  SrcPort		  1
 		  Points		  [120, 0]
@@ -1234,7 +1499,7 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  62
+		  ZOrder		  67
 		  SrcBlock		  "sigma"
 		  SrcPort		  1
 		  DstBlock		  " SFunction "
@@ -1242,7 +1507,7 @@ Library {
 		}
 		Line {
 		  Name			  "DPinv"
-		  ZOrder		  63
+		  ZOrder		  68
 		  Labels		  [0, 0]
 		  SrcBlock		  " SFunction "
 		  SrcPort		  2
@@ -1250,14 +1515,14 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  64
+		  ZOrder		  69
 		  SrcBlock		  " Demux "
 		  SrcPort		  1
 		  DstBlock		  " Terminator "
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  65
+		  ZOrder		  70
 		  SrcBlock		  " SFunction "
 		  SrcPort		  1
 		  DstBlock		  " Demux "
@@ -1300,90 +1565,56 @@ Library {
 	  BlockType		  S-Function
 	  Name			  "DoFs converter"
 	  SID			  "1771"
-	  Ports			  [1, 5]
+	  Ports			  [1, 3]
 	  Position		  [240, 241, 385, 309]
 	  ZOrder		  81
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend\n"
 	  FunctionName		  "WBToolbox"
-	  Parameters		  "'YARPWBIConverter',robotName,localName,wbiFile,wbiList,yarp2WBIOption"
+	  Parameters		  "'ModelPartitioner',WBTConfigParameters,configBlockAbsName,yarp2WBI"
 	  SFunctionDeploymentMode off
 	  EnableBusSupport	  off
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    23
+	    $ObjectID		    46
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "DoFs converter"
 	    Description		    "This block converts from a DoFs serialization to a YARP serialization or viceversa depending on"
-	    " its configuration.\nThe DoFs configuration is automatically currently taken from the WBI list option.\nThe robot"
-	    " name is taken from the environment variable YARP_ROBOT_NAME.\n\nParameters:\n\n- Conversion direction: specify i"
-	    "f you want to convert from YARP to the current DoFs serialization or viceversa.\n\nWBI parameters:\n\n- Robot Por"
-	    "t Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use t"
-	    "he name specified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name"
-	    " of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the con"
-	    "figuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole B"
-	    "ody Interface\n"
+	    " its configuration.\nThe robot name is taken from the environment variable YARP_ROBOT_NAME.\n\nParameters:\n\n- C"
+	    "onversion direction: specify if you want to convert from YARP to the current DoFs serialization or viceversa.\n"
+	    Initialization	    "% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig"
+	    "] = WBToolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n "
+	    "   clear WBTConfig;\ncatch\nend\n\n% ModelPartitioner Initialization\n% ===============================\n\nswitch"
+	    " get_param(gcb, 'yarp2WBIOption')\n    case 'From YARP to WBI'\n        yarp2WBI = true;\n    case 'From WBI to Y"
+	    "ARP'\n        yarp2WBI = false;\n    otherwise\nend"
 	    Display		    "robotName = getenv('YARP_ROBOT_NAME');\n\ncurrentSelection = get_param(gcb,'yarp2WBIoption');\n\nif"
 	    " strcmp(currentSelection,'From YARP to WBI')\n    direction = 'YARP -> DoFs';\nelse\n    direction = 'DoFs -> YAR"
 	    "P';\nend\n\nfprintf('%s\\n\\n%s', robotName, direction);"
-	    Array {
-	      Type		      "Simulink.MaskParameter"
-	      Dimension		      5
-	      Object {
-		$ObjectID		24
-		Type			"popup"
-		Array {
-		  Type			  "Cell"
-		  Dimension		  2
-		  Cell			  "From YARP to WBI"
-		  Cell			  "From WBI to YARP"
-		  PropName		  "TypeOptions"
-		}
-		Name			"yarp2WBIOption"
-		Prompt			"Conversion Direction"
-		Value			"From YARP to WBI"
-	      }
-	      Object {
-		$ObjectID		25
-		Type			"edit"
-		Name			"robotName"
-		Prompt			"Robot Port Name"
-		Value			"WBT_robotName"
-	      }
-	      Object {
-		$ObjectID		26
-		Type			"edit"
-		Name			"localName"
-		Prompt			"Model Name"
-		Value			"WBT_modelName"
-	      }
-	      Object {
-		$ObjectID		27
-		Type			"edit"
-		Name			"wbiFile"
-		Prompt			"WBI filename"
-		Value			"WBT_wbiFilename"
-	      }
-	      Object {
-		$ObjectID		28
-		Type			"edit"
-		Name			"wbiList"
-		Prompt			"WBI list name"
-		Value			"WBT_wbiList"
+	    RunInitForIconRedraw    "off"
+	    Object {
+	      $PropName		      "Parameters"
+	      $ObjectID		      47
+	      $ClassName	      "Simulink.MaskParameter"
+	      Type		      "popup"
+	      Array {
+		Type			"Cell"
+		Dimension		2
+		Cell			"From YARP to WBI"
+		Cell			"From WBI to YARP"
+		PropName		"TypeOptions"
 	      }
-	      PropName		      "Parameters"
+	      Name		      "yarp2WBIOption"
+	      Prompt		      "Conversion Direction"
+	      Value		      "From YARP to WBI"
 	    }
 	    Array {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		29
+		$ObjectID		48
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  30
+		  $ObjectID		  49
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -1391,55 +1622,33 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		31
+		$ObjectID		50
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
-		Object {
-		  $PropName		  "DialogControls"
-		  $ObjectID		  32
-		  $ClassName		  "Simulink.dialog.TabContainer"
-		  Array {
-		    Type		    "Simulink.dialog.Tab"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    33
-		    Prompt		    "Block Parameters"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    34
+		Array {
+		  Type			  "Simulink.dialog.Control"
+		  Dimension		  2
+		  Object {
+		    $ObjectID		    51
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "yarp2WBIOption"
-		    }
-		    Name		    "Container4"
-		    }
-		    Object {
-		    $ObjectID		    35
-		    Prompt		    "WBI Parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    36
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    37
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    38
-		    Name		    "wbiFile"
-		    }
+		  }
+		  Object {
+		    $ObjectID		    52
+		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
-		    $ObjectID		    39
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container7"
+		    $PropName		    "DialogControls"
+		    $ObjectID		    53
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
 		    }
-		    PropName		    "DialogControls"
+		    Name		    "ToggleButtonContainer"
 		  }
-		  Name			  "Container3"
+		  PropName		  "DialogControls"
 		}
 		Name			"ParameterGroupVar"
 	      }
@@ -1462,7 +1671,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    40
+	    $ObjectID		    54
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Minimum Jerk Trajectory Generator"
 	    Description		    "This block wraps the minJerkTrajGen class from iCub::ctrl::minJerkTrajGen.\n\nThe Minimum Jerk "
@@ -1485,7 +1694,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      7
 	      Object {
-		$ObjectID		41
+		$ObjectID		55
 		Type			"checkbox"
 		Name			"externalSettlingTime"
 		Prompt			"External Settling Time"
@@ -1496,42 +1705,42 @@ Library {
 		"SettlingTime"
 	      }
 	      Object {
-		$ObjectID		42
+		$ObjectID		56
 		Type			"edit"
 		Name			"settlingTime"
 		Prompt			"Settling Time"
 		Value			"3"
 	      }
 	      Object {
-		$ObjectID		43
+		$ObjectID		57
 		Type			"edit"
 		Name			"sampleTime"
 		Prompt			"Sample Time"
 		Value			"0.01"
 	      }
 	      Object {
-		$ObjectID		44
+		$ObjectID		58
 		Type			"checkbox"
 		Name			"resetOnSettlingTime"
 		Prompt			"Reset on Settling Time Changes"
 		Value			"off"
 	      }
 	      Object {
-		$ObjectID		45
+		$ObjectID		59
 		Type			"checkbox"
 		Name			"firstDerivatives"
 		Prompt			"Output First Derivative"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		46
+		$ObjectID		60
 		Type			"checkbox"
 		Name			"secondDerivatives"
 		Prompt			"Output Second Derivative"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		47
+		$ObjectID		61
 		Type			"checkbox"
 		Name			"explicitInitialValue"
 		Prompt			"Explicit Initial Value"
@@ -1544,11 +1753,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		48
+		$ObjectID		62
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  49
+		  $ObjectID		  63
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -1556,38 +1765,38 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		50
+		$ObjectID		64
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  51
+		  $ObjectID		  65
 		  $ClassName		  "Simulink.dialog.TabContainer"
 		  Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    52
+		    $ObjectID		    66
 		    Prompt		    "Trajectory Parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    53
+		    $ObjectID		    67
 		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
 		    Name		    "externalSettlingTime"
 		    }
 		    Object {
-		    $ObjectID		    54
+		    $ObjectID		    68
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "settlingTime"
 		    }
 		    Object {
-		    $ObjectID		    55
+		    $ObjectID		    69
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "sampleTime"
 		    }
 		    Object {
-		    $ObjectID		    56
+		    $ObjectID		    70
 		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
 		    Name		    "resetOnSettlingTime"
 		    }
@@ -1596,21 +1805,21 @@ Library {
 		    Name		    "Tab1"
 		    }
 		    Object {
-		    $ObjectID		    57
+		    $ObjectID		    71
 		    Prompt		    "Input/Output"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.CheckBox"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    58
+		    $ObjectID		    72
 		    Name		    "firstDerivatives"
 		    }
 		    Object {
-		    $ObjectID		    59
+		    $ObjectID		    73
 		    Name		    "secondDerivatives"
 		    }
 		    Object {
-		    $ObjectID		    60
+		    $ObjectID		    74
 		    Name		    "explicitInitialValue"
 		    }
 		    PropName		    "DialogControls"
@@ -1634,7 +1843,7 @@ Library {
 	  Ports			  []
 	  Position		  [155, 14, 280, 51]
 	  ZOrder		  23
-	  ForegroundColor	  "white"
+	  ForegroundColor	  "[0.917647, 0.917647, 0.917647]"
 	  BackgroundColor	  "gray"
 	  ShowName		  off
 	  FunctionName		  "WBToolbox"
@@ -1644,7 +1853,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    61
+	    $ObjectID		    75
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Real Time Synchronizer"
 	    Description		    "This block slows down the simulation trying to match the period specified \nas parameter (in se"
@@ -1652,7 +1861,7 @@ Library {
 	    Display		    "disp('Real Time Synchronizer')"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      62
+	      $ObjectID		      76
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "period"
@@ -1677,7 +1886,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    63
+	    $ObjectID		    77
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Simulator Synchronizer"
 	    Description		    "This block synchronizes with the external simulation on a simulator \n(only Gazebo is supported"
@@ -1687,21 +1896,21 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      3
 	      Object {
-		$ObjectID		64
+		$ObjectID		78
 		Type			"edit"
 		Name			"period"
 		Prompt			"Controller Period (in seconds)"
 		Value			"0.01"
 	      }
 	      Object {
-		$ObjectID		65
+		$ObjectID		79
 		Type			"edit"
 		Name			"serverPortName"
 		Prompt			"Server Port Name"
 		Value			"'/clock/rpc'"
 	      }
 	      Object {
-		$ObjectID		66
+		$ObjectID		80
 		Type			"edit"
 		Name			"clientPortName"
 		Prompt			"Client Port Name"
@@ -1723,11 +1932,11 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    67
+	    $ObjectID		    81
 	    $ClassName		    "Simulink.Mask"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      68
+	      $ObjectID		      82
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "tol"
@@ -1739,6 +1948,7 @@ Library {
 	    Name		    "TruncPinv"
 	    Location		    [0, 29, 1280, 744]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -1785,6 +1995,7 @@ Library {
 		Name			"Truncated PseudoInverse"
 		Location		[12, 45, 1279, 3773]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -1796,7 +2007,7 @@ Library {
 		TiledPageScale		1
 		ShowPageBoundaries	off
 		ZoomFactor		"100"
-		SIDHighWatermark	"1610"
+		SIDHighWatermark	"1613"
 		Block {
 		  BlockType		  Inport
 		  Name			  "mat"
@@ -1817,20 +2028,20 @@ Library {
 		Block {
 		  BlockType		  Demux
 		  Name			  " Demux "
-		  SID			  "112::1609"
+		  SID			  "112::1612"
 		  Ports			  [1, 1]
 		  Position		  [270, 230, 320, 270]
-		  ZOrder		  98
+		  ZOrder		  101
 		  Outputs		  "1"
 		}
 		Block {
 		  BlockType		  S-Function
 		  Name			  " SFunction "
-		  SID			  "112::1608"
+		  SID			  "112::1611"
 		  Tag			  "Stateflow S-Function WBToolboxLibrary_repository 7"
 		  Ports			  [2, 2]
 		  Position		  [180, 100, 230, 160]
-		  ZOrder		  97
+		  ZOrder		  100
 		  FunctionName		  "sf_sfun"
 		  PortCounts		  "[2 2]"
 		  SFunctionDeploymentMode off
@@ -1839,16 +2050,14 @@ Library {
 		  Port {
 		    PortNumber		    2
 		    Name		    "TPinv"
-		    RTWStorageClass	    "Auto"
-		    DataLoggingNameMode	    "SignalName"
 		  }
 		}
 		Block {
 		  BlockType		  Terminator
 		  Name			  " Terminator "
-		  SID			  "112::1610"
+		  SID			  "112::1613"
 		  Position		  [460, 241, 480, 259]
-		  ZOrder		  99
+		  ZOrder		  102
 		}
 		Block {
 		  BlockType		  Outport
@@ -1859,7 +2068,7 @@ Library {
 		  IconDisplay		  "Port number"
 		}
 		Line {
-		  ZOrder		  61
+		  ZOrder		  66
 		  SrcBlock		  "mat"
 		  SrcPort		  1
 		  Points		  [120, 0]
@@ -1867,7 +2076,7 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  62
+		  ZOrder		  67
 		  SrcBlock		  "tol"
 		  SrcPort		  1
 		  DstBlock		  " SFunction "
@@ -1875,7 +2084,7 @@ Library {
 		}
 		Line {
 		  Name			  "TPinv"
-		  ZOrder		  63
+		  ZOrder		  68
 		  Labels		  [0, 0]
 		  SrcBlock		  " SFunction "
 		  SrcPort		  2
@@ -1883,14 +2092,14 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  64
+		  ZOrder		  69
 		  SrcBlock		  " Demux "
 		  SrcPort		  1
 		  DstBlock		  " Terminator "
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  65
+		  ZOrder		  70
 		  SrcBlock		  " SFunction "
 		  SrcPort		  1
 		  DstBlock		  " Demux "
@@ -1944,11 +2153,11 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    69
+	    $ObjectID		    83
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Clock"
-	    Description		    "This block outputs the current YARP Time\nIn a nutshell, this block outputs the equivalent of t"
-	    "he C++ function call\nyarp::os::Time::now()"
+	    Description		    "This block outputs the current YARP Time.\nIn a nutshell, this block outputs the equivalent of "
+	    "the C++ function call yarp::os::Time::now()"
 	    SelfModifiable	    "on"
 	    Display		    "disp('YARP Time')\n"
 	  }
@@ -1968,7 +2177,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    70
+	    $ObjectID		    84
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Read"
 	    Description		    "This block behaves as the command 'yarp read'. \nBy default it has the option 'Autoconnect' act"
@@ -1986,35 +2195,35 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      6
 	      Object {
-		$ObjectID		71
+		$ObjectID		85
 		Type			"edit"
 		Name			"portName"
 		Prompt			"Source Port Name"
 		Value			"'/portname'"
 	      }
 	      Object {
-		$ObjectID		72
+		$ObjectID		86
 		Type			"edit"
 		Name			"signalSize"
 		Prompt			"Port Size"
 		Value			"1"
 	      }
 	      Object {
-		$ObjectID		73
+		$ObjectID		87
 		Type			"checkbox"
 		Name			"blocking"
 		Prompt			"Blocking Read"
 		Value			"off"
 	      }
 	      Object {
-		$ObjectID		74
+		$ObjectID		88
 		Type			"checkbox"
 		Name			"timestamp"
 		Prompt			"Read Timestamp"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		75
+		$ObjectID		89
 		Type			"checkbox"
 		Name			"autoconnect"
 		Prompt			"Autoconnect"
@@ -2026,7 +2235,7 @@ Library {
 		"t_string"
 	      }
 	      Object {
-		$ObjectID		76
+		$ObjectID		90
 		Type			"checkbox"
 		Name			"errorOnConnection"
 		Prompt			"Error on missing connection"
@@ -2051,7 +2260,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    77
+	    $ObjectID		    91
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Write"
 	    Description		    "This block behaves as the command 'yarp write'. \n\nBy default this block opens a port names as"
@@ -2064,14 +2273,14 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      3
 	      Object {
-		$ObjectID		78
+		$ObjectID		92
 		Type			"edit"
 		Name			"portName"
 		Prompt			"Opened Port Name"
 		Value			"'/portname'"
 	      }
 	      Object {
-		$ObjectID		79
+		$ObjectID		93
 		Type			"checkbox"
 		Name			"autoconnect"
 		Prompt			"Autoconnect"
@@ -2082,7 +2291,7 @@ Library {
 		"';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val prompt_string"
 	      }
 	      Object {
-		$ObjectID		80
+		$ObjectID		94
 		Type			"checkbox"
 		Name			"errorOnConnection"
 		Prompt			"Error on missing connection"
@@ -2105,7 +2314,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    81
+	    $ObjectID		    95
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Errors"
 	    Description		    "Computes two kinds of errors. The first is just the difference between x\nand y while the secon"
@@ -2115,6 +2324,7 @@ Library {
 	    Name		    "errors"
 	    Location		    [0, 29, 1280, 744]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -2248,7 +2458,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    82
+	    $ObjectID		    96
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Holder"
 	    Description		    "This block holds the first input value during the simulation."
@@ -2257,6 +2467,7 @@ Library {
 	    Name		    "holder\n"
 	    Location		    [12, 45, 1340, 980]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -2290,9 +2501,11 @@ Library {
 	      Ports		      [1, 1]
 	      Position		      [90, 60, 120, 90]
 	      ZOrder		      10
-	      LibraryVersion	      "1.388"
+	      LibraryVersion	      "1.391"
 	      SourceBlock	      "simulink/Logic and Bit\nOperations/Compare\nTo Constant"
 	      SourceType	      "Compare To Constant"
+	      SourceProductName	      "Simulink"
+	      SourceProductBaseCode   "SL"
 	      ContentPreviewEnabled   off
 	      relop		      "=="
 	      const		      "0"
@@ -2317,6 +2530,7 @@ Library {
 		Name			"MATLAB Function"
 		Location		[12, 45, 1135, 3068]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -2328,7 +2542,7 @@ Library {
 		TiledPageScale		1
 		ShowPageBoundaries	off
 		ZoomFactor		"100"
-		SIDHighWatermark	"1610"
+		SIDHighWatermark	"1619"
 		Block {
 		  BlockType		  Inport
 		  Name			  "s"
@@ -2349,20 +2563,20 @@ Library {
 		Block {
 		  BlockType		  Demux
 		  Name			  " Demux "
-		  SID			  "1300::1609"
+		  SID			  "1300::1612"
 		  Ports			  [1, 1]
 		  Position		  [270, 230, 320, 270]
-		  ZOrder		  86
+		  ZOrder		  89
 		  Outputs		  "1"
 		}
 		Block {
 		  BlockType		  S-Function
 		  Name			  " SFunction "
-		  SID			  "1300::1608"
+		  SID			  "1300::1611"
 		  Tag			  "Stateflow S-Function WBToolboxLibrary_repository 1"
 		  Ports			  [2, 2]
 		  Position		  [180, 100, 230, 160]
-		  ZOrder		  85
+		  ZOrder		  88
 		  FunctionName		  "sf_sfun"
 		  PortCounts		  "[2 2]"
 		  SFunctionDeploymentMode off
@@ -2371,16 +2585,14 @@ Library {
 		  Port {
 		    PortNumber		    2
 		    Name		    "s0"
-		    RTWStorageClass	    "Auto"
-		    DataLoggingNameMode	    "SignalName"
 		  }
 		}
 		Block {
 		  BlockType		  Terminator
 		  Name			  " Terminator "
-		  SID			  "1300::1610"
+		  SID			  "1300::1613"
 		  Position		  [460, 241, 480, 259]
-		  ZOrder		  87
+		  ZOrder		  90
 		}
 		Block {
 		  BlockType		  Outport
@@ -2391,7 +2603,7 @@ Library {
 		  IconDisplay		  "Port number"
 		}
 		Line {
-		  ZOrder		  61
+		  ZOrder		  66
 		  SrcBlock		  "s"
 		  SrcPort		  1
 		  Points		  [120, 0]
@@ -2399,7 +2611,7 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  62
+		  ZOrder		  67
 		  SrcBlock		  "unused"
 		  SrcPort		  1
 		  DstBlock		  " SFunction "
@@ -2407,7 +2619,7 @@ Library {
 		}
 		Line {
 		  Name			  "s0"
-		  ZOrder		  63
+		  ZOrder		  68
 		  Labels		  [0, 0]
 		  SrcBlock		  " SFunction "
 		  SrcPort		  2
@@ -2415,14 +2627,14 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  64
+		  ZOrder		  69
 		  SrcBlock		  " Demux "
 		  SrcPort		  1
 		  DstBlock		  " Terminator "
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  65
+		  ZOrder		  70
 		  SrcBlock		  " SFunction "
 		  SrcPort		  1
 		  DstBlock		  " Demux "
@@ -2483,14 +2695,15 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		83
+	$ObjectID		97
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyActuators.png'),'center')"
       }
       System {
 	Name			"wholeBodyActuators"
-	Location		[425, 373, 1725, 1134]
+	Location		[257, 95, 1852, 961]
 	Open			off
+	PortBlocksUseCompactNotation off
 	ModelBrowserVisibility	off
 	ModelBrowserWidth	200
 	ScreenColor		"white"
@@ -2501,50 +2714,50 @@ Library {
 	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 	TiledPageScale		1
 	ShowPageBoundaries	off
-	ZoomFactor		"667"
+	ZoomFactor		"300"
 	Block {
 	  BlockType		  SubSystem
 	  Name			  "Set LowLevel PIDs"
 	  SID			  "1752"
 	  Ports			  []
-	  Position		  [745, 230, 820, 280]
+	  Position		  [760, 230, 835, 280]
 	  ZOrder		  41
-	  BackgroundColor	  "[0.827500, 0.576500, 0.603900]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
+	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
 	  RequestExecContextInheritance	off
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    84
+	    $ObjectID		    98
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Set Low Level PIDs"
-	    Description		    "This block sets the low level PID values for the robot actuators.\n\nIf only one gain file is s"
-	    "pecified, those gains are loaded at startup.\nOtherwise an additional port to this block is added which accept an"
-	    " integer\nrepresenting the index in the list of gains to be loaded (also at runtime)\n\nAssuming DoFs is the numb"
-	    "er of degrees of freedom of the robot,\nParameters:\n- PID Parameter: String specifying either a file containing "
-	    "the PIDs for the\n                 low level control, or a list of files (in yarp Bottle format).\n\n- Robot Port"
-	    " Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use th"
-	    "e name specified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name "
-	    "of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the conf"
-	    "iguration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Bo"
-	    "dy Interface\n"
+	    Description		    "This block sets the low level PID values for the robot actuators.\n\nThe PIDs can be stored in "
+	    "a WBToolbox.WBTPIDConfig object, each of them constructed from a WBToolbox.PID class.\nThe number of PIDs must ma"
+	    "tch the DoFs of the Config block pointed by this SetLowLevelPID block.\n\nParameters:\n- WBTPIDConfig Object Name"
+	    ": The name of the object which store the PIDs. It must be loaded in the workspace before the simulation runs\n- P"
+	    "ID Type: the type of the target PIDs to set"
+	    Initialization	    "% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig"
+	    "] = WBToolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n "
+	    "   clear WBTConfig;\ncatch\nend\n\n% SetLowLevelPIDs Initialization\n% ==============================\n\ntry\n   "
+	    " PIDObjectName = WBTPIDConfigObjectName;\n   \n    % Remove the apices if present\n    if (PIDObjectName(1) == \""
+	    "'\" && ...\n        PIDObjectName(end) == \"'\")\n        PIDObjectName = PIDObjectName(2:end-1);\n    end\n     "
+	    "\n    % Get the struct from the class\n    PIDs = evalin('base', PIDObjectName);\n    if (isa(PIDs,'WBToolbox.WBT"
+	    "PIDConfig'))\n        WBTPIDConfigStruct = PIDs.getSimulinkParameters;\n    end\nend\n"
 	    Display		    "pidType = get_param(gcb,'pidType');\ndescription = sprintf('Set Low Level\\n%s PIDs', pidType);\ndi"
 	    "sp(description);\n"
+	    RunInitForIconRedraw    "off"
 	    Array {
 	      Type		      "Simulink.MaskParameter"
-	      Dimension		      6
+	      Dimension		      2
 	      Object {
-		$ObjectID		85
+		$ObjectID		99
 		Type			"edit"
-		Name			"pidParameters"
-		Prompt			"PID parameter"
+		Name			"WBTPIDConfigObjectName"
+		Prompt			"WBTPIDConfig Object Name"
 		Value			"''"
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		86
+		$ObjectID		100
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -2555,57 +2768,26 @@ Library {
 		}
 		Name			"pidType"
 		Prompt			"PID Type"
-		Value			"Torque"
+		Value			"Position"
 		Evaluate		"off"
 		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\nmaskStr = get_param(gcb,'pidType'"
-		");\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]');\nelseif s"
-		"trcmp(maskStr, 'Position Direct')\n    set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0]');\nelseif st"
-		"rcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\nelseif strcmp(mas"
-		"kStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear  maskStr"
-	      }
-	      Object {
-		$ObjectID		87
-		Type			"edit"
-		Name			"robotName"
-		Prompt			"Robot Port Name"
-		Value			"WBT_robotName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		88
-		Type			"edit"
-		Name			"localName"
-		Prompt			"Model Name"
-		Value			"WBT_modelName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		89
-		Type			"edit"
-		Name			"wbiFile"
-		Prompt			"WBI filename"
-		Value			"WBT_wbiFilename"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		90
-		Type			"edit"
-		Name			"wbiList"
-		Prompt			"WBI list name"
-		Value			"WBT_wbiList"
-		Tunable			"off"
+		");\n\nswitch maskStr\n    case 'Position'\n        set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]')"
+		";\n    case 'Position Direct'\n        set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0]');\n    case "
+		"'Velocity'\n        set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\n    case 'Torque'\n        s"
+		"et_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\n    otherwise\n        error('PID Type not recogn"
+		"ized');\nend\n\nclear  maskStr"
 	      }
 	      PropName		      "Parameters"
 	    }
 	    Array {
 	      Type		      "Simulink.dialog.Group"
-	      Dimension		      2
+	      Dimension		      3
 	      Object {
-		$ObjectID		91
+		$ObjectID		101
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  92
+		  $ObjectID		  102
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -2613,75 +2795,49 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		93
+		$ObjectID		103
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
-		Object {
-		  $PropName		  "DialogControls"
-		  $ObjectID		  94
-		  $ClassName		  "Simulink.dialog.TabContainer"
-		  Array {
-		    Type		    "Simulink.dialog.Tab"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    95
-		    Prompt		    "Block parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Control"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    96
+		Array {
+		  Type			  "Simulink.dialog.parameter.Control"
+		  Dimension		  2
+		  Object {
+		    $ObjectID		    104
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
-		    Name		    "pidParameters"
-		    }
-		    Object {
-		    $ObjectID		    97
+		    Name		    "WBTPIDConfigObjectName"
+		  }
+		  Object {
+		    $ObjectID		    105
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "pidType"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container8"
-		    }
-		    Object {
-		    $ObjectID		    98
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    99
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    100
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    101
-		    Name		    "wbiFile"
-		    }
-		    Object {
-		    $ObjectID		    102
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container5"
-		    }
-		    PropName		    "DialogControls"
 		  }
-		  Name			  "Container4"
+		  PropName		  "DialogControls"
 		}
 		Name			"ParameterGroupVar"
 	      }
+	      Object {
+		$ObjectID		106
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  107
+		  $ClassName		  "Simulink.dialog.Button"
+		  Prompt		  "Toggle Config Block Highlighting"
+		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
+		  "ock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system(confi"
+		  "gBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'"
+		  ",gcb,configBlock);\nend\n\nclear configBlock"
+		  Name			  "toggleHighlighting"
+		}
+		Name			"ToggleButtonContainer"
+	      }
 	      PropName		      "DialogControls"
 	    }
 	  }
 	  System {
 	    Name		    "Set LowLevel PIDs"
-	    Location		    [0, 29, 1280, 744]
+	    Location		    [114, 82, 1709, 948]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -2692,7 +2848,7 @@ Library {
 	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
 	    TiledPageScale	    1
 	    ShowPageBoundaries	    off
-	    ZoomFactor		    "1000"
+	    ZoomFactor		    "600"
 	    Block {
 	      BlockType		      S-Function
 	      Name		      "S-Function"
@@ -2701,7 +2857,7 @@ Library {
 	      Position		      [125, 39, 185, 71]
 	      ZOrder		      19
 	      FunctionName	      "WBToolbox"
-	      Parameters	      "'SetLowLevelPID',robotName,localName,wbiFile,wbiList,pidParameters,pidType"
+	      Parameters	      "'SetLowLevelPID',WBTConfigParameters,configBlockAbsName,WBTPIDConfigStruct,pidType"
 	      SFunctionDeploymentMode off
 	      EnableBusSupport	      off
 	      SFcnIsStateOwnerBlock   off
@@ -2716,115 +2872,70 @@ Library {
 	  Position		  [645, 230, 720, 280]
 	  ZOrder		  43
 	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
 	  RequestExecContextInheritance	off
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    103
+	    $ObjectID		    108
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Set References"
 	    Description		    "This block sets the references for the robot actuators.\nThe type of control mode is specified "
-	    "as a parameter in the block.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Refere"
-	    "nces: Vector of size DoFs, representing the references to be sent \n                to the robot controlled joint"
-	    "s.\n\nParameters:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name "
-	    "of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name speci"
-	    "fied in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports"
-	    " opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of"
-	    " the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface"
-	    "\n"
+	    "as a parameter in the block.\n\nAssuming DoFs is the number of degrees of freedom configured in the Config block "
+	    "associated:\n\nInput:\n- References: Vector of size DoFs, representing the references to be sent to the robot con"
+	    "trolled joints.\n- Reference Speed (Position): Set the reference speed used by the trajectory generator of the IP"
+	    "ositionControl interface\n\nParameters:\n- Control Mode: The control mode. Choose one of the supplied mode."
+	    Initialization	    "% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig"
+	    "] = WBToolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n "
+	    "   clear WBTConfig;\ncatch\nend"
 	    Display		    "disp(get_param(gcb,'controlType'))\n%port_label('input',1,'References')"
+	    RunInitForIconRedraw    "off"
 	    Array {
 	      Type		      "Simulink.MaskParameter"
-	      Dimension		      7
+	      Dimension		      2
 	      Object {
-		$ObjectID		104
+		$ObjectID		109
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
-		  Dimension		  5
+		  Dimension		  7
 		  Cell			  "Position"
 		  Cell			  "Position Direct"
 		  Cell			  "Velocity"
 		  Cell			  "Torque"
 		  Cell			  "Open Loop"
+		  Cell			  "PWM"
+		  Cell			  "Current"
 		  PropName		  "TypeOptions"
 		}
 		Name			"controlType"
 		Prompt			"Control Mode"
 		Value			"Position"
 		Evaluate		"off"
-		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\nmaskStr = get_param(gcb,'controlT"
-		"ype');\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]');\nelse"
-		"if strcmp(maskStr, 'Position Direct')\n    set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0]');\nelsei"
-		"f strcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\nelseif strcmp"
-		"(maskStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nelseif strcmp(maskStr, "
-		"'Open Loop')\n    set_param(gcb,'BackgroundColor', '[0.98, 0.98, 0.98, 1.0]');\nend\nclear  maskStr"
-	      }
-	      Object {
-		$ObjectID		105
-		Type			"popup"
-		Array {
-		  Type			  "Cell"
-		  Dimension		  2
-		  Cell			  "Full"
-		  Cell			  "Sublist"
-		  PropName		  "TypeOptions"
-		}
-		Name			"fullOrSubControl"
-		Prompt			"Control Type"
-		Value			"Full"
-		Callback		"subOrFull = get_param(gcb, 'fullOrSubControl');\nif(strcmp(subOrFull, 'Sublist'))\n    set_param(gcb, 'Ma"
-		"skVisibilities',{'on';'on';'on';'on';'on';'on';'on'});\nelse\n    set_param(gcb, 'MaskVisibilities',{'on';'on';'off'"
-		";'on';'on';'on';'on'});\nend\nclear subOrFull "
-	      }
-	      Object {
-		$ObjectID		106
-		Type			"edit"
-		Name			"controlledJoints"
-		Prompt			"Controlled Joint List"
-		Value			"''"
-		Visible			"off"
-	      }
-	      Object {
-		$ObjectID		107
-		Type			"edit"
-		Name			"robotName"
-		Prompt			"Robot Port Name"
-		Value			"WBT_robotName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		108
-		Type			"edit"
-		Name			"localName"
-		Prompt			"Model Name"
-		Value			"WBT_modelName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		109
-		Type			"edit"
-		Name			"wbiFile"
-		Prompt			"WBI filename"
-		Value			"WBT_wbiFilename"
-		Tunable			"off"
+		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param(gcb,'contro"
+		"lType');\n\nswitch maskStr\n    case 'Position'\n        set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, "
+		"1.0]');\n        set_param(gcb,'MaskVisibilities', {'on';'on'});\n    case 'Position Direct'\n        set_param(gcb,"
+		"'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0]');\n        set_param(gcb,'MaskVisibilities', {'on';'off'});\n    "
+		"case 'Velocity'\n        set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\n        set_param(gcb,'"
+		"MaskVisibilities', {'on';'off'});\n    case 'Torque'\n        set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6"
+		"039, 1.0]');\n        set_param(gcb,'MaskVisibilities', {'on';'off'});\n    case 'Open Loop'\n        set_param(gcb,"
+		"'BackgroundColor', '[0.98, 0.98, 0.98, 1.0]');\n        set_param(gcb,'MaskVisibilities', {'on';'off'});\n    case '"
+		"PWM'\n        set_param(gcb,'BackgroundColor', '[1, 1, 1, 1.0]');\n        set_param(gcb,'MaskVisibilities', {'on';'"
+		"off'});\n    case 'Current'\n        set_param(gcb,'BackgroundColor', '[0.96, 0.77, 0.46, 1.0]');\n        set_param"
+		"(gcb,'MaskVisibilities', {'on';'off'});\n    otherwise\n        error('Control Type not recognized.')\nend\n\nclear "
+		" maskStr"
 	      }
 	      Object {
 		$ObjectID		110
 		Type			"edit"
-		Name			"wbiList"
-		Prompt			"WBI list name"
-		Value			"WBT_wbiList"
-		Tunable			"off"
+		Name			"refSpeed"
+		Prompt			"Reference Speed"
+		Value			"50"
 	      }
 	      PropName		      "Parameters"
 	    }
 	    Array {
 	      Type		      "Simulink.dialog.Group"
-	      Dimension		      2
+	      Dimension		      3
 	      Object {
 		$ObjectID		111
 		Prompt			"%<MaskType>"
@@ -2840,77 +2951,47 @@ Library {
 	      Object {
 		$ObjectID		113
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
-		Object {
-		  $PropName		  "DialogControls"
-		  $ObjectID		  114
-		  $ClassName		  "Simulink.dialog.TabContainer"
-		  Array {
-		    Type		    "Simulink.dialog.Tab"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    115
-		    Prompt		    "Block parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Control"
-		    Dimension		    3
-		    Object {
-		    $ObjectID		    116
+		Array {
+		  Type			  "Simulink.dialog.parameter.Control"
+		  Dimension		  2
+		  Object {
+		    $ObjectID		    114
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "controlType"
-		    }
-		    Object {
-		    $ObjectID		    117
-		    $ClassName		    "Simulink.dialog.parameter.Popup"
-		    Name		    "fullOrSubControl"
-		    }
-		    Object {
-		    $ObjectID		    118
+		  }
+		  Object {
+		    $ObjectID		    115
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
-		    Name		    "controlledJoints"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container8"
-		    }
-		    Object {
-		    $ObjectID		    119
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    120
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    121
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    122
-		    Name		    "wbiFile"
-		    }
-		    Object {
-		    $ObjectID		    123
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container5"
-		    }
-		    PropName		    "DialogControls"
+		    PromptLocation	    "left"
+		    Name		    "refSpeed"
 		  }
-		  Name			  "Container4"
+		  PropName		  "DialogControls"
 		}
 		Name			"ParameterGroupVar"
 	      }
+	      Object {
+		$ObjectID		116
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  117
+		  $ClassName		  "Simulink.dialog.Button"
+		  Prompt		  "Toggle Config Block Highlighting"
+		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
+		  "ock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system(confi"
+		  "gBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'"
+		  ",gcb,configBlock);\nend\n\nclear configBlock"
+		  Name			  "toggleHighlighting"
+		}
+		Name			"ToggleButtonContainer"
+	      }
 	      PropName		      "DialogControls"
 	    }
 	  }
 	  System {
 	    Name		    "Set References"
-	    Location		    [535, 41, 1280, 744]
+	    Location		    [2245, 90, 3840, 956]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -2938,8 +3019,7 @@ Library {
 	      Position		      [125, 39, 185, 71]
 	      ZOrder		      19
 	      FunctionName	      "WBToolbox"
-	      Parameters	      "'SetReferences',robotName,localName,wbiFile,wbiList,controlType,fullOrSubControl,controlledJo"
-	      "ints"
+	      Parameters	      "'SetReferences',WBTConfigParameters,configBlockAbsName,controlType,refSpeed"
 	      SFunctionDeploymentMode off
 	      EnableBusSupport	      off
 	      SFcnIsStateOwnerBlock   off
@@ -2968,14 +3048,15 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		124
+	$ObjectID		118
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyModel.png'),'center')"
       }
       System {
 	Name			"wholeBodyModel"
-	Location		[425, 373, 1725, 1134]
+	Location		[257, 95, 1852, 961]
 	Open			off
+	PortBlocksUseCompactNotation off
 	ModelBrowserVisibility	off
 	ModelBrowserWidth	200
 	ScreenColor		"white"
@@ -2986,7 +3067,7 @@ Library {
 	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 	TiledPageScale		1
 	ShowPageBoundaries	off
-	ZoomFactor		"309"
+	ZoomFactor		"381"
 	Block {
 	  BlockType		  SubSystem
 	  Name			  "Dynamics"
@@ -2999,14 +3080,15 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    125
+	    $ObjectID		    119
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('Dynamics.png'))"
 	  }
 	  System {
 	    Name		    "Dynamics"
-	    Location		    [425, 373, 1725, 1134]
+	    Location		    [257, 95, 1852, 961]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -3017,7 +3099,7 @@ Library {
 	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
 	    TiledPageScale	    1
 	    ShowPageBoundaries	    off
-	    ZoomFactor		    "219"
+	    ZoomFactor		    "269"
 	    Block {
 	      BlockType		      SubSystem
 	      Name		      "Centroidal Momentum"
@@ -3025,71 +3107,64 @@ Library {
 	      Ports		      [4, 1]
 	      Position		      [495, 101, 680, 164]
 	      ZOrder		      72
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		126
+		$ObjectID		120
 		$ClassName		"Simulink.Mask"
 		Type			"Centroidal Momentum"
 		Description		"This block computed the 6 element centroidal momentum, as defined in:\n\"Centroidal dynamics of a huma"
 		"noid robot\" - DE Orin, A Goswami, SH Lee - \nAutonomous Robots 35 (2-3), 161-176\n\nAssuming DoFs is the number of "
-		"degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between"
-		"\n             the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the con"
-		"figuration \n                       of the joints.\n- Base velocity: Vector of size 6 representing the linear and an"
-		"gular velocity\n                 of the base frame.\n- Joints velocity: Vector of size DoFs, representing the veloci"
-		"ty \n                   of the joints.\n\nOutput:\n- Centroidal Momentum: 6-element vector containg the centroidal m"
-		"omentum \n                (3 value for linear momentum and 3 for angular momentum)\n\nParameters:\n- Robot Port Name"
-		": Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name s"
-		"pecified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the port"
-		"s opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of t"
-		"he Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  4
-		  Object {
-		    $ObjectID		    127
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    128
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    129
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    130
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
+		"degrees of freedom of the robot:\n\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation betwe"
+		"en the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration o"
+		"f the joints.\n- Base velocity: Vector of size 6 representing the linear and angular velocity of the base frame.\n- "
+		"Joints velocity: Vector of size DoFs, representing the velocity of the joints.\n\nOutput:\n- Centroidal Momentum: 6-"
+		"element vector containg the centroidal momentum (3 value for linear momentum and 3 for angular momentum)"
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
+		RunInitForIconRedraw	"on"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  121
+		  $ClassName		  "Simulink.dialog.Group"
+		  Prompt		  "%<MaskType>"
+		  Array {
+		    Type		    "Simulink.dialog.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    122
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Object {
+		    $ObjectID		    123
+		    $ClassName		    "Simulink.dialog.Group"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    124
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
+		    }
+		    Name		    "ToggleButtonContainer"
+		    }
+		    PropName		    "DialogControls"
 		  }
-		  PropName		  "Parameters"
+		  Name			  "DescGroupVar"
 		}
 	      }
 	      System {
 		Name			"Centroidal Momentum"
-		Location		[0, 23, 1280, 744]
+		Location		[300, 122, 1706, 880]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -3100,7 +3175,7 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"248"
+		ZoomFactor		"347"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
@@ -3144,7 +3219,7 @@ Library {
 		  Position		  [180, 11, 255, 144]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'CentroidalMomentum',robotName,localName,wbiFile,wbiList"
+		  Parameters		  "'CentroidalMomentum',WBTConfigParameters,configBlockAbsName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -3201,84 +3276,63 @@ Library {
 	      Ports		      [4, 1]
 	      Position		      [400, 202, 540, 303]
 	      ZOrder		      73
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		131
+		$ObjectID		125
 		$ClassName		"Simulink.Mask"
 		Type			"Get Generalized Bias Forces"
-		Description		"This block retrieves the generalied bias forces of the robot.\n\nParameter:\n- Explicit Gravity. If Tr"
-		"ue, an additional port (explicit Gravity) is added.\n                    Otherwise the vector [0; 0; -9.81] is used."
-		"\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the "
-		"homogenous transformation between\n            the base frame and the world frame.\n- Joint configuration: Vector of"
-		" size DoFs, representing the configuration \n                    of the joints.\n- Base velocity: Vector of size 6 r"
-		"epresenting the linear and angular velocity\n                 of the base frame.\n- Joints velocity: Vector of size "
-		"DoFs, representing the velocity of the joints.\n\nOutput:\n- Bias Forces: a Dofs + 6 vector representing the general"
-		"ized bias forces\n            of the robot\n\nParameters:\n- Robot Port Name: Name of the ports opened by the robot."
-		" (e.g. icub).\n                   Set an empty string ('') to use the name specified in the                    \n   "
-		"                 Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the unde"
-		"rlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interf"
-		"ace\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-		Initialization		"gravityInput = find_system(gcb, ...\n'LookUnderMasks', 'on', ...\n'FollowLinks', 'on', ...\n'Name',"
-		" 'Gravity');\n\nif explicitGravity\n    if isempty(gravityInput)\n        Simulink.Block.eval([gcb,'/S-Function']);\n"
-		"        add_block('built-in/Inport',[gcb,'/Gravity']);\n        add_line(gcb','Gravity/1','S-Function/7', 'autorouti"
-		"ng','on');\n    end\nelse\n    if ~isempty(gravityInput)\n        delete_line(gcb','Gravity/1','S-Function/7');\n   "
-		"     delete_block(gravityInput);\n        Simulink.Block.eval([gcb,'/S-Function']);\n    end\nend\n"
-		SelfModifiable		"on"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  5
-		  Object {
-		    $ObjectID		    132
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    133
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    134
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    135
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    136
-		    Type		    "checkbox"
-		    Name		    "explicitGravity"
-		    Prompt		    "Explicit Gravity"
-		    Value		    "off"
+		Description		"This block retrieves the generalied bias forces of the robot.\n\nAssuming DoFs is the number of degree"
+		"s of freedom of the robot:\n\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between the"
+		" base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration of the "
+		"joints.\n- Base velocity: Vector of size 6 representing the linear and angular velocity of the base frame.\n- Joints"
+		" velocity: Vector of size DoFs, representing the velocity of the joints.\n\nOutput:\n- Bias Forces: a Dofs + 6 vecto"
+		"r representing the generalized bias forces of the robot."
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
+		RunInitForIconRedraw	"on"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  126
+		  $ClassName		  "Simulink.dialog.Group"
+		  Prompt		  "%<MaskType>"
+		  Array {
+		    Type		    "Simulink.dialog.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    127
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Object {
+		    $ObjectID		    128
+		    $ClassName		    "Simulink.dialog.Group"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    129
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
+		    }
+		    Name		    "ToggleButtonContainer"
+		    }
+		    PropName		    "DialogControls"
 		  }
-		  PropName		  "Parameters"
+		  Name			  "DescGroupVar"
 		}
 	      }
 	      System {
 		Name			"Get Bias Forces"
-		Location		[354, 32, 1634, 747]
+		Location		[215, 73, 1810, 939]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -3289,12 +3343,11 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"255"
-		SIDHighWatermark	"1748"
+		ZoomFactor		"318"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
-		  SID			  "1724:1725"
+		  SID			  "1776"
 		  Position		  [10, 38, 40, 52]
 		  ZOrder		  22
 		  IconDisplay		  "Port number"
@@ -3302,7 +3355,7 @@ Library {
 		Block {
 		  BlockType		  Inport
 		  Name			  "Joint configuration"
-		  SID			  "1724:1726"
+		  SID			  "1777"
 		  Position		  [10, 68, 40, 82]
 		  ZOrder		  24
 		  Port			  "2"
@@ -3311,7 +3364,7 @@ Library {
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base velocity"
-		  SID			  "1724:1727"
+		  SID			  "1778"
 		  Position		  [10, 98, 40, 112]
 		  ZOrder		  26
 		  Port			  "3"
@@ -3320,7 +3373,7 @@ Library {
 		Block {
 		  BlockType		  Inport
 		  Name			  "Joints velocity"
-		  SID			  "1724:1728"
+		  SID			  "1779"
 		  Position		  [10, 128, 40, 142]
 		  ZOrder		  27
 		  Port			  "4"
@@ -3329,7 +3382,7 @@ Library {
 		Block {
 		  BlockType		  Constant
 		  Name			  "Constant"
-		  SID			  "1724:1742"
+		  SID			  "1780"
 		  Position		  [-5, 157, 50, 173]
 		  ZOrder		  30
 		  ShowName		  off
@@ -3338,7 +3391,7 @@ Library {
 		Block {
 		  BlockType		  Gain
 		  Name			  "Gain"
-		  SID			  "1724:1743"
+		  SID			  "1781"
 		  Position		  [110, 180, 140, 210]
 		  ZOrder		  31
 		  ShowName		  off
@@ -3350,12 +3403,12 @@ Library {
 		Block {
 		  BlockType		  S-Function
 		  Name			  "S-Function"
-		  SID			  "1724:1731"
+		  SID			  "1782"
 		  Ports			  [6, 1]
 		  Position		  [180, 24, 240, 216]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
+		  Parameters		  "'InverseDynamics',WBTConfigParameters,configBlockAbsName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -3363,7 +3416,7 @@ Library {
 		Block {
 		  BlockType		  Outport
 		  Name			  "Bias Forces"
-		  SID			  "1724:1732"
+		  SID			  "1783"
 		  Position		  [300, 113, 330, 127]
 		  ZOrder		  25
 		  IconDisplay		  "Port number"
@@ -3436,82 +3489,61 @@ Library {
 	      Ports		      [2, 1]
 	      Position		      [605, 200, 745, 300]
 	      ZOrder		      74
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		137
+		$ObjectID		130
 		$ClassName		"Simulink.Mask"
 		Type			"Gravity bias"
-		Description		"This block compute the generalized bias forces due to the gravity\n\nParameter:\n- Explicit Gravity. I"
-		"f True, an additional port (explicit Gravity) is added.\n                    Otherwise the vector [0; 0; -9.81] is u"
-		"sed.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representin"
-		"g the homogenous transformation between\n             the base frame and the world frame.\n- Joint configuration: Ve"
-		"ctor of size DoFs, representing the configuration \n                       of the joints.\n\nOutput:\n- Gravity: a D"
-		"ofs + 6 vector representing the torques due to the gravity.\n\nParameters:\n- Robot Port Name: Name of the ports ope"
-		"ned by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n     "
-		"              Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underly"
-		"ing Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface"
-		"\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-		Initialization		"gravityInput = find_system(gcb, ...\n'LookUnderMasks', 'on', ...\n'FollowLinks', 'on', ...\n'Name',"
-		" 'Gravity');\n\nif explicitGravity\n    if isempty(gravityInput)\n        Simulink.Block.eval([gcb,'/S-Function']);\n"
-		"        add_block('built-in/Inport',[gcb,'/Gravity']);\n        add_line(gcb','Gravity/1','S-Function/7', 'autorouti"
-		"ng','on');\n    end\nelse\n    if ~isempty(gravityInput)\n        delete_line(gcb','Gravity/1','S-Function/7');\n   "
-		"     delete_block(gravityInput);\n        Simulink.Block.eval([gcb,'/S-Function']);\n    end\nend\n"
-		SelfModifiable		"on"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  5
-		  Object {
-		    $ObjectID		    138
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    139
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    140
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    141
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    142
-		    Type		    "checkbox"
-		    Name		    "explicitGravity"
-		    Prompt		    "Explicit Gravity"
-		    Value		    "off"
+		Description		"This block compute the generalized bias forces due to the gravity\n\nAssuming DoFs is the number of de"
+		"grees of freedom of the robot:\n\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between"
+		" the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration of "
+		"the joints.\n\nOutput:\n- Gravity: a Dofs + 6 vector representing the torques due to the gravity."
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
+		RunInitForIconRedraw	"off"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  131
+		  $ClassName		  "Simulink.dialog.Group"
+		  Prompt		  "%<MaskType>"
+		  Array {
+		    Type		    "Simulink.dialog.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    132
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Object {
+		    $ObjectID		    133
+		    $ClassName		    "Simulink.dialog.Group"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    134
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
+		    }
+		    Name		    "ToggleButtonContainer"
+		    }
+		    PropName		    "DialogControls"
 		  }
-		  PropName		  "Parameters"
+		  Name			  "DescGroupVar"
 		}
 	      }
 	      System {
 		Name			"Get Gravity Forces"
-		Location		[354, 32, 1634, 747]
+		Location		[300, 122, 1706, 880]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -3522,12 +3554,11 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"255"
-		SIDHighWatermark	"1748"
+		ZoomFactor		"285"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
-		  SID			  "1733:1734"
+		  SID			  "1784"
 		  Position		  [10, 38, 40, 52]
 		  ZOrder		  22
 		  IconDisplay		  "Port number"
@@ -3535,7 +3566,7 @@ Library {
 		Block {
 		  BlockType		  Inport
 		  Name			  "Joint configuration"
-		  SID			  "1733:1735"
+		  SID			  "1785"
 		  Position		  [10, 68, 40, 82]
 		  ZOrder		  24
 		  Port			  "2"
@@ -3544,7 +3575,7 @@ Library {
 		Block {
 		  BlockType		  Constant
 		  Name			  "Constant"
-		  SID			  "1733:1744"
+		  SID			  "1786"
 		  Position		  [0, 97, 55, 113]
 		  ZOrder		  32
 		  ShowName		  off
@@ -3553,7 +3584,7 @@ Library {
 		Block {
 		  BlockType		  Gain
 		  Name			  "Gain"
-		  SID			  "1733:1745"
+		  SID			  "1787"
 		  Position		  [100, 120, 130, 150]
 		  ZOrder		  33
 		  ShowName		  off
@@ -3565,12 +3596,12 @@ Library {
 		Block {
 		  BlockType		  S-Function
 		  Name			  "S-Function"
-		  SID			  "1733:1740"
+		  SID			  "1788"
 		  Ports			  [6, 1]
 		  Position		  [180, 24, 240, 216]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
+		  Parameters		  "'InverseDynamics',WBTConfigParameters,configBlockAbsName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -3578,7 +3609,7 @@ Library {
 		Block {
 		  BlockType		  Outport
 		  Name			  "Gravity Torques"
-		  SID			  "1733:1741"
+		  SID			  "1789"
 		  Position		  [300, 113, 330, 127]
 		  ZOrder		  25
 		  IconDisplay		  "Port number"
@@ -3658,73 +3689,63 @@ Library {
 	      Position		      [190, 199, 355, 331]
 	      ZOrder		      75
 	      FunctionName	      "WBToolbox"
-	      Parameters	      "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
+	      Parameters	      "'InverseDynamics',WBTConfigParameters,configBlockAbsName"
 	      SFunctionDeploymentMode off
 	      EnableBusSupport	      off
 	      SFcnIsStateOwnerBlock   off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		143
+		$ObjectID		135
 		$ClassName		"Simulink.Mask"
 		Type			"Inverse Dynamics"
-		Description		"This block compute the inverse dynamics of the robot.\n\nParameter:\n- Explicit Gravity. If True, an a"
-		"dditional port (explicit Gravity) is added.\n                    Otherwise the vector [0; 0; -9.81] is used.\n\nAssu"
-		"ming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homoge"
-		"nous transformation between\n             the base frame and the world frame.\n- Joint configuration: Vector of size"
-		" DoFs, representing the configuration \n                       of the joints.\n- Base velocity: Vector of size 6 rep"
-		"resenting the linear and angular velocity\n                 of the base frame.\n- Joints velocity: Vector of size Do"
-		"Fs, representing the velocity \n                   of the joints.\n- Base acceleration: Vector of size 6 representin"
-		"g the linear and angular acceleration\n                 of the base frame.\n- Joints acceleration: Vector of size Do"
-		"Fs, representing the acceleration \n                   of the joints.\n- Gravity: Vector of size 3, denoting the acc"
-		"eleration vector w.r.t. the world frame.\n\n\nOutput:\n- Torques: a Dofs + 6 vector representing the corresponding t"
-		"orques required\n           to achive the desired accelerations given the robot state\n\nParameters:\n- Robot Port N"
-		"ame: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the nam"
-		"e specified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the p"
-		"orts opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration o"
-		"f the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+		Description		"This block compute the inverse dynamics of the robot.\n\nAssuming DoFs is the number of degrees of fre"
+		"edom of the robot:\n\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between the base fr"
+		"ame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration of the joints.\n"
+		"- Base velocity: Vector of size 6 representing the linear and angular velocity of the base frame.\n- Joints velocity"
+		": Vector of size DoFs, representing the velocity of the joints.\n- Base acceleration: Vector of size 6 representing "
+		"the linear and angular acceleration of the base frame.\n- Joints acceleration: Vector of size DoFs, representing the"
+		" acceleration of the joints.\n\nOutput:\n- Torques: a Dofs + 6 vector representing the corresponding torques require"
+		"d to achive the desired accelerations given the robot state"
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
 		Display			"port_label('output', 1, 'Torques')\n\nport_label('input', 1, 'Base pose')\nport_label('input', 2, 'Joints"
 		" configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joints velocity')\nport_label('in"
-		"put', 5, 'Base acceleration')\nport_label('input', 6, 'Joints acceleration')\n\n\ngravity = get_param(gcb, 'explicit"
-		"Gravity');\nif(strcmp(gravity, 'on'))\n    port_label('input', 7, 'Gravity')\nend\n"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  5
-		  Object {
-		    $ObjectID		    144
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		  }
-		  Object {
-		    $ObjectID		    145
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		  }
-		  Object {
-		    $ObjectID		    146
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		  }
-		  Object {
-		    $ObjectID		    147
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		  }
-		  Object {
-		    $ObjectID		    148
-		    Type		    "checkbox"
-		    Name		    "explicitGravity"
-		    Prompt		    "Explicit Gravity"
-		    Value		    "off"
+		"put', 5, 'Base acceleration')\nport_label('input', 6, 'Joints acceleration')\n"
+		RunInitForIconRedraw	"on"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  136
+		  $ClassName		  "Simulink.dialog.Group"
+		  Prompt		  "%<MaskType>"
+		  Array {
+		    Type		    "Simulink.dialog.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    137
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Object {
+		    $ObjectID		    138
+		    $ClassName		    "Simulink.dialog.Group"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    139
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
+		    }
+		    Name		    "ToggleButtonContainer"
+		    }
+		    PropName		    "DialogControls"
 		  }
-		  PropName		  "Parameters"
+		  Name			  "DescGroupVar"
 		}
 	      }
 	    }
@@ -3735,68 +3756,61 @@ Library {
 	      Ports		      [2, 1]
 	      Position		      [250, 104, 390, 171]
 	      ZOrder		      32
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		149
+		$ObjectID		140
 		$ClassName		"Simulink.Mask"
 		Type			"Mass Matrix"
 		Description		"This block retrieves the robot mass matrix.\n\nAssuming DoFs is the number of degrees of freedom of th"
-		"e robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between\n             the base "
-		"frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration \n           "
-		"            of the joints.\n\nOutput:\n- Mass Matrix: a (Dofs + 6) x (Dofs + 6) matrix representing the mass matrix "
-		"\n               of the robot\n\nParameters:\n- Robot Port Name: Name of the ports opened by the robot. (e.g. icub)."
-		"\n                   Set an empty string ('') to use the name specified in the \n                   Whole Body Inter"
-		"face configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole Body Interface.\n- W"
-		"BI filename: name of the file containing the configuration of the Whole Body Interface\n- WBI List Name: name of the"
-		" list of joints used to configure the Whole Body Interface\n"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  4
-		  Object {
-		    $ObjectID		    150
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    151
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    152
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    153
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
+		"e robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between the base frame and the "
+		"world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration of the joints.\n\nOutput:\n"
+		"- Mass Matrix: a (Dofs + 6) x (Dofs + 6) matrix representing the mass matrix of the robot"
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
+		RunInitForIconRedraw	"on"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  141
+		  $ClassName		  "Simulink.dialog.Group"
+		  Prompt		  "%<MaskType>"
+		  Array {
+		    Type		    "Simulink.dialog.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    142
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Object {
+		    $ObjectID		    143
+		    $ClassName		    "Simulink.dialog.Group"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    144
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
+		    }
+		    Name		    "ToggleButtonContainer"
+		    }
+		    PropName		    "DialogControls"
 		  }
-		  PropName		  "Parameters"
+		  Name			  "DescGroupVar"
 		}
 	      }
 	      System {
 		Name			"Mass Matrix"
-		Location		[589, 68, 1869, 783]
+		Location		[300, 122, 1706, 880]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -3807,7 +3821,7 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"248"
+		ZoomFactor		"455"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
@@ -3833,7 +3847,7 @@ Library {
 		  Position		  [125, 37, 185, 68]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'MassMatrix',robotName,localName,wbiFile,wbiList"
+		  Parameters		  "'MassMatrix',WBTConfigParameters,configBlockAbsName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -3885,14 +3899,15 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    154
+	    $ObjectID		    145
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('jacobian.png'))"
 	  }
 	  System {
 	    Name		    "Jacobians"
-	    Location		    [425, 373, 1725, 1134]
+	    Location		    [325, 44, 1920, 910]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -3903,7 +3918,7 @@ Library {
 	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
 	    TiledPageScale	    1
 	    ShowPageBoundaries	    off
-	    ZoomFactor		    "322"
+	    ZoomFactor		    "397"
 	    Block {
 	      BlockType		      SubSystem
 	      Name		      "DotJ Nu"
@@ -3911,87 +3926,47 @@ Library {
 	      Ports		      [4, 1]
 	      Position		      [590, 170, 755, 265]
 	      ZOrder		      67
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		155
+		$ObjectID		146
 		$ClassName		"Simulink.Mask"
 		Type			"DotJ Nu"
-		Description		"This block computes the product between the time derivative of the\n         Jacobian of the specified"
-		" frame and the state (base and joints)\n        velocity vector.\n\nAssuming DoFs is the number of degrees of freedo"
-		"m of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between\n             th"
-		"e the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration \n"
-		"                       of the joints.\n- Base velocity: Vector of size 6 representing the linear and angular velocit"
-		"y\n                 of the base frame.\n- Joints velocity: Vector of size DoFs, representing the velocity \n        "
-		"           of the joints.\n\nOutput:\n- dotJ nu: a 6-d vector representing the product between the time derivative o"
-		"f the\n         Jacobian of the specified frame and the state velocity vector\n\nParameters:\n- Frame name: the name"
-		" of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the ports opened by the robot"
-		". (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n                   Wh"
-		"ole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole Body I"
-		"nterface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface\n- WBI List Nam"
-		"e: name of the list of joints used to configure the Whole Body Interface\n"
+		Description		"This block computes the product between the time derivative of the Jacobian of the specified frame and"
+		" the state (base and joints) velocity vector.\n\nAssuming DoFs is the number of degrees of freedom of the robot:\n\n"
+		"Input:\n- Base pose: 4x4 matrix representing the homogenous transformation between the the base frame and the world "
+		"frame.\n- Joint configuration: Vector of size DoFs, representing the configuration of the joints.\n- Base velocity: "
+		"Vector of size 6 representing the linear and angular velocity of the base frame.\n- Joints velocity: Vector of size "
+		"DoFs, representing the velocity of the joints.\n\nOutput:\n- dotJ nu: a 6-d vector representing the product between "
+		"the time derivative of the\n         Jacobian of the specified frame and the state velocity vector\n\nParameters:\n-"
+		" Frame name: the name of the frame. It should be specified in the URDF model."
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
 		Display			"escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('dot J_{',escapedFrameN"
 		"ame,'} \\nu'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('input',"
 		" 2, 'Joint configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joint velocity')\n\ncle"
 		"ar escapedFrameName;"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  5
-		  Object {
-		    $ObjectID		    156
-		    Type		    "edit"
-		    Name		    "frameName"
-		    Prompt		    "Frame name"
-		    Value		    "'frame'"
-		  }
-		  Object {
-		    $ObjectID		    157
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    158
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    159
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    160
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
-		  }
-		  PropName		  "Parameters"
+		RunInitForIconRedraw	"on"
+		Object {
+		  $PropName		  "Parameters"
+		  $ObjectID		  147
+		  $ClassName		  "Simulink.MaskParameter"
+		  Type			  "edit"
+		  Name			  "frameName"
+		  Prompt		  "Frame name"
+		  Value			  "'frame'"
 		}
 		Array {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    161
+		    $ObjectID		    148
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    162
+		    $ObjectID		    149
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -3999,56 +3974,34 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    163
+		    $ObjectID		    150
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    164
-		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
-		    Type		    "Simulink.dialog.Tab"
+		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    165
-		    Prompt		    "Block parameters"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    166
+		    $ObjectID		    151
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
-		    Name		    "Container8"
-		    }
-		    Object {
-		    $ObjectID		    167
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    168
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    169
-		    Name		    "localName"
-		    }
 		    Object {
-		    $ObjectID		    170
-		    Name		    "wbiFile"
-		    }
+		    $ObjectID		    152
+		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
-		    $ObjectID		    171
-		    Name		    "wbiList"
+		    $PropName		    "DialogControls"
+		    $ObjectID		    153
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
 		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container5"
+		    Name		    "ToggleButtonContainer"
 		    }
 		    PropName		    "DialogControls"
 		    }
-		    Name		    "Container4"
-		    }
 		    Name		    "ParameterGroupVar"
 		  }
 		  PropName		  "DialogControls"
@@ -4056,8 +4009,9 @@ Library {
 	      }
 	      System {
 		Name			"DotJ Nu"
-		Location		[0, 29, 1280, 744]
+		Location		[300, 122, 1706, 880]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -4068,7 +4022,7 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"391"
+		ZoomFactor		"428"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
@@ -4112,7 +4066,7 @@ Library {
 		  Position		  [125, 4, 190, 126]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'DotJNu',robotName,localName,wbiFile,wbiList,frameName"
+		  Parameters		  "'DotJNu',WBTConfigParameters,configBlockAbsName,frameName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -4121,7 +4075,7 @@ Library {
 		  BlockType		  Outport
 		  Name			  "dotJ dotnu"
 		  SID			  "1689"
-		  Position		  [245, 43, 275, 57]
+		  Position		  [245, 58, 275, 72]
 		  ZOrder		  25
 		  IconDisplay		  "Port number"
 		}
@@ -4143,7 +4097,6 @@ Library {
 		  ZOrder		  3
 		  SrcBlock		  "S-Function"
 		  SrcPort		  1
-		  Points		  [20, 0; 0, -15]
 		  DstBlock		  "dotJ dotnu"
 		  DstPort		  1
 		}
@@ -4170,83 +4123,43 @@ Library {
 	      Ports		      [2, 1]
 	      Position		      [380, 190, 540, 245]
 	      ZOrder		      39
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		172
+		$ObjectID		154
 		$ClassName		"Simulink.Mask"
 		Type			"Jacobian"
 		Description		"This block retrieves the Jacobian of the specified frame.\n\nAssuming DoFs is the number of degrees of"
-		" freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between\n        "
-		"     the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configura"
-		"tion \n                       of the joints.\n\nOutput:\n- Jacobian: a 6x6+dofs matrix representing the Jacobian of\n"
-		"             the specified frame written in the world frame.\n\nParameters:\n- Frame name: the name of the frame. It"
-		" should be specified in the URDF model.\n\n- Robot Port Name: Name of the ports opened by the robot. (e.g. icub).\n "
-		"                  Set an empty string ('') to use the name specified in the \n                   Whole Body Interfac"
-		"e configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI "
-		"filename: name of the file containing the configuration of the Whole Body Interface\n- WBI List Name: name of the li"
-		"st of joints used to configure the Whole Body Interface\n"
+		" freedom of the robot:\n\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between the the"
+		" base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration of the "
+		"joints.\n\nOutput:\n- Jacobian: a 6x6+dofs matrix representing the Jacobian of the specified frame written in the wo"
+		"rld frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n"
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
 		Display			"escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world} J_{',escape"
 		"dFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('input"
 		"', 2, 'Joint configuration')\n\nclear escapedFrameName;"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  5
-		  Object {
-		    $ObjectID		    173
-		    Type		    "edit"
-		    Name		    "frameName"
-		    Prompt		    "Frame name"
-		    Value		    "'frame'"
-		  }
-		  Object {
-		    $ObjectID		    174
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    175
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    176
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    177
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
-		  }
-		  PropName		  "Parameters"
+		RunInitForIconRedraw	"on"
+		Object {
+		  $PropName		  "Parameters"
+		  $ObjectID		  155
+		  $ClassName		  "Simulink.MaskParameter"
+		  Type			  "edit"
+		  Name			  "frameName"
+		  Prompt		  "Frame name"
+		  Value			  "'frame'"
 		}
 		Array {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    178
+		    $ObjectID		    156
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    179
+		    $ObjectID		    157
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4254,56 +4167,34 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    180
+		    $ObjectID		    158
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    181
-		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
-		    Type		    "Simulink.dialog.Tab"
+		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    182
-		    Prompt		    "Block parameters"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    183
+		    $ObjectID		    159
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
-		    Name		    "Container8"
-		    }
-		    Object {
-		    $ObjectID		    184
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    185
-		    Name		    "robotName"
-		    }
 		    Object {
-		    $ObjectID		    186
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    187
-		    Name		    "wbiFile"
-		    }
+		    $ObjectID		    160
+		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
-		    $ObjectID		    188
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
+		    $PropName		    "DialogControls"
+		    $ObjectID		    161
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
 		    }
-		    Name		    "Container5"
+		    Name		    "ToggleButtonContainer"
 		    }
 		    PropName		    "DialogControls"
 		    }
-		    Name		    "Container4"
-		    }
 		    Name		    "ParameterGroupVar"
 		  }
 		  PropName		  "DialogControls"
@@ -4311,8 +4202,9 @@ Library {
 	      }
 	      System {
 		Name			"Jacobian"
-		Location		[208, 105, 1008, 627]
+		Location		[300, 122, 1706, 880]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -4323,7 +4215,7 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"237"
+		ZoomFactor		"430"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
@@ -4349,7 +4241,7 @@ Library {
 		  Position		  [125, 37, 185, 68]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'Jacobian',robotName,localName,wbiFile,wbiList,frameName"
+		  Parameters		  "'Jacobian',WBTConfigParameters,configBlockAbsName,frameName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -4401,14 +4293,15 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    189
+	    $ObjectID		    162
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('forwardKinematics.png'))"
 	  }
 	  System {
 	    Name		    "Kinematics"
-	    Location		    [425, 373, 1725, 1134]
+	    Location		    [257, 95, 1852, 961]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -4419,91 +4312,51 @@ Library {
 	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
 	    TiledPageScale	    1
 	    ShowPageBoundaries	    off
-	    ZoomFactor		    "326"
+	    ZoomFactor		    "338"
 	    Block {
 	      BlockType		      SubSystem
 	      Name		      "Forward Kinematics"
 	      SID		      "1647"
 	      Ports		      [2, 1]
-	      Position		      [350, 103, 500, 167]
+	      Position		      [360, 103, 510, 167]
 	      ZOrder		      34
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		190
+		$ObjectID		163
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
-		"degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between"
-		"\n             the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the"
-		" configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics: a 4x4 matrix representing t"
-		"he homogenous transformation between\n             the specified frame and the world frame.\n\nParameters:\n- Frame "
-		"name: the name of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the ports opene"
-		"d by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n       "
-		"            Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underlyin"
-		"g Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface\n"
-		"- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+		"degrees of freedom of the robot:\n\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation betwe"
+		"en the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configurati"
+		"on of the joints.\n\nOutput:\n- Forward Kinematics: a 4x4 matrix representing the homogenous transformation between "
+		"the specified frame and the world frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified"
+		" in the URDF model."
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
 		Display			"escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world} H_{',escape"
 		"dFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('input"
 		"', 2, 'Joint configuration')\n\nclear escapedFrameName;"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  5
-		  Object {
-		    $ObjectID		    191
-		    Type		    "edit"
-		    Name		    "frameName"
-		    Prompt		    "Frame name"
-		    Value		    "'frame'"
-		  }
-		  Object {
-		    $ObjectID		    192
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    193
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    194
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    195
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
-		  }
-		  PropName		  "Parameters"
+		Object {
+		  $PropName		  "Parameters"
+		  $ObjectID		  164
+		  $ClassName		  "Simulink.MaskParameter"
+		  Type			  "edit"
+		  Name			  "frameName"
+		  Prompt		  "Frame name"
+		  Value			  "'frame'"
 		}
 		Array {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    196
+		    $ObjectID		    165
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    197
+		    $ObjectID		    166
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4511,56 +4364,34 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    198
+		    $ObjectID		    167
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    199
-		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
-		    Type		    "Simulink.dialog.Tab"
+		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    200
-		    Prompt		    "Block parameters"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    201
+		    $ObjectID		    168
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
-		    Name		    "Container8"
-		    }
 		    Object {
-		    $ObjectID		    202
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    203
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    204
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    205
-		    Name		    "wbiFile"
-		    }
+		    $ObjectID		    169
+		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
-		    $ObjectID		    206
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
+		    $PropName		    "DialogControls"
+		    $ObjectID		    170
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
 		    }
-		    Name		    "Container5"
+		    Name		    "ToggleButtonContainer"
 		    }
 		    PropName		    "DialogControls"
 		    }
-		    Name		    "Container4"
-		    }
 		    Name		    "ParameterGroupVar"
 		  }
 		  PropName		  "DialogControls"
@@ -4568,8 +4399,9 @@ Library {
 	      }
 	      System {
 		Name			"Forward Kinematics"
-		Location		[0, 29, 1280, 744]
+		Location		[300, 122, 1706, 880]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -4580,7 +4412,7 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"391"
+		ZoomFactor		"430"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
@@ -4606,7 +4438,7 @@ Library {
 		  Position		  [125, 37, 185, 68]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'ForwardKinematics',robotName,localName,wbiFile,wbiList,frameName"
+		  Parameters		  "'ForwardKinematics',WBTConfigParameters,configBlockAbsName,frameName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -4651,6 +4483,7 @@ Library {
 	      Ports		      [3, 2]
 	      Position		      [350, 198, 525, 262]
 	      ZOrder		      35
+	      Commented		      "on"
 	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
 	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
 	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
@@ -4659,7 +4492,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		207
+		$ObjectID		171
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4683,21 +4516,21 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  7
 		  Object {
-		    $ObjectID		    208
+		    $ObjectID		    172
 		    Type		    "edit"
 		    Name		    "baseFrame"
 		    Prompt		    "Base Frame"
 		    Value		    "'root_link'"
 		  }
 		  Object {
-		    $ObjectID		    209
+		    $ObjectID		    173
 		    Type		    "edit"
 		    Name		    "endEffFrame"
 		    Prompt		    "End Effector frame"
 		    Value		    "'l_sole'"
 		  }
 		  Object {
-		    $ObjectID		    210
+		    $ObjectID		    174
 		    Type		    "popup"
 		    Array {
 		    Type		    "Cell"
@@ -4711,7 +4544,7 @@ Library {
 		    Value		    "Full Constraint (Position and Orientation)"
 		  }
 		  Object {
-		    $ObjectID		    211
+		    $ObjectID		    175
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
@@ -4719,7 +4552,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    212
+		    $ObjectID		    176
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
@@ -4727,7 +4560,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    213
+		    $ObjectID		    177
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
@@ -4735,7 +4568,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    214
+		    $ObjectID		    178
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
@@ -4748,11 +4581,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    215
+		    $ObjectID		    179
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    216
+		    $ObjectID		    180
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4760,34 +4593,34 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    217
+		    $ObjectID		    181
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    218
+		    $ObjectID		    182
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    219
+		    $ObjectID		    183
 		    Prompt		    "Block parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    220
+		    $ObjectID		    184
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "baseFrame"
 		    }
 		    Object {
-		    $ObjectID		    221
+		    $ObjectID		    185
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "endEffFrame"
 		    }
 		    Object {
-		    $ObjectID		    222
+		    $ObjectID		    186
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "optOption"
 		    }
@@ -4796,25 +4629,25 @@ Library {
 		    Name		    "Container8"
 		    }
 		    Object {
-		    $ObjectID		    223
+		    $ObjectID		    187
 		    Prompt		    "WBI parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    224
+		    $ObjectID		    188
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    225
+		    $ObjectID		    189
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    226
+		    $ObjectID		    190
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    227
+		    $ObjectID		    191
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"
@@ -4834,6 +4667,7 @@ Library {
 		Name			"Inverse Kinematics"
 		Location		[0, 23, 1280, 744]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -4945,6 +4779,7 @@ Library {
 	      Ports		      [2, 1]
 	      Position		      [560, 105, 720, 165]
 	      ZOrder		      66
+	      Commented		      "on"
 	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
 	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
 	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
@@ -4953,7 +4788,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		228
+		$ObjectID		192
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4979,14 +4814,14 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  3
 		  Object {
-		    $ObjectID		    229
+		    $ObjectID		    193
 		    Type		    "edit"
 		    Name		    "solverName"
 		    Prompt		    "Solver Name"
 		    Value		    "'/cartesianSolver'"
 		  }
 		  Object {
-		    $ObjectID		    230
+		    $ObjectID		    194
 		    Type		    "edit"
 		    Name		    "dofs"
 		    Prompt		    "#Dofs"
@@ -4994,7 +4829,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    231
+		    $ObjectID		    195
 		    Type		    "popup"
 		    Array {
 		    Type		    "Cell"
@@ -5013,11 +4848,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    232
+		    $ObjectID		    196
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    233
+		    $ObjectID		    197
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -5025,33 +4860,33 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    234
+		    $ObjectID		    198
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    235
+		    $ObjectID		    199
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    236
+		    $ObjectID		    200
 		    $ClassName		    "Simulink.dialog.Tab"
 		    Prompt		    "Block parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    237
+		    $ObjectID		    201
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "solverName"
 		    }
 		    Object {
-		    $ObjectID		    238
+		    $ObjectID		    202
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "dofs"
 		    }
 		    Object {
-		    $ObjectID		    239
+		    $ObjectID		    203
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "optOption"
 		    }
@@ -5070,6 +4905,7 @@ Library {
 		Name			"Remote Inverse Kinematics"
 		Location		[853, 51, 2214, 1013]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -5159,14 +4995,15 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		240
+	$ObjectID		204
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyStates.png'),'center');"
       }
       System {
 	Name			"wholeBodyStates"
-	Location		[425, 373, 1725, 1134]
+	Location		[257, 95, 1852, 961]
 	Open			off
+	PortBlocksUseCompactNotation off
 	ModelBrowserVisibility	off
 	ModelBrowserWidth	200
 	ScreenColor		"white"
@@ -5177,102 +5014,93 @@ Library {
 	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 	TiledPageScale		1
 	ShowPageBoundaries	off
-	ZoomFactor		"576"
+	ZoomFactor		"600"
 	Block {
 	  BlockType		  SubSystem
-	  Name			  "Get Estimate"
-	  SID			  "1671"
-	  Ports			  [0, 1]
-	  Position		  [360, 212, 440, 248]
-	  ZOrder		  53
+	  Name			  "Get Limits"
+	  SID			  "1690"
+	  Ports			  [0, 2]
+	  Position		  [395, 218, 515, 247]
+	  ZOrder		  68
 	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
 	  RequestExecContextInheritance	off
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    241
+	    $ObjectID		    205
 	    $ClassName		    "Simulink.Mask"
-	    Type		    "Get Estimate"
-	    Description		    "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of "
-	    "freedom of the robot,\nOutput:\n- References: Vector of size DoFs, representing the estimate requested.\n\nParame"
-	    "ters:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the ports"
-	    " opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the "
-	    "\n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by t"
-	    "he underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole B"
-	    "ody Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	    Display		    "%disp(get_param(gcb,'estimateType'))\nport_label('output',1,get_param(gcb,'estimateType'))"
+	    Type		    "Get Limits"
+	    Description		    "This block provides the joint limits gathering data from either the Robot's Control Board or UR"
+	    "DF model.\n\nOutput:\n\n* Max: 1xDoFs vector containing the maximum limit\n* Min:  1xDoFs vector containing the m"
+	    "aximum limit\n\nMeasures are in radians."
+	    Initialization	    "% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig"
+	    "] = WBToolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n "
+	    "   clear WBTConfig;\ncatch\nend\n\n% GetLimits Initialization\n% =========================\n\nsourceLimit = get_p"
+	    "aram(gcb,'limitsSource');\ntypeLimit = get_param(gcb,'limitsType');\nnotifyError = false;\n\nswitch sourceLimit\n"
+	    "    case 'ControlBoard'\n        switch typeLimit\n            case 'Position'\n                limitsType = 'Con"
+	    "trolBoardPosition';\n            case 'Velocity'\n                limitsType = 'ControlBoardVelocity';\n         "
+	    "   otherwise\n                notifyError = true;\n        end\n    case 'URDF'\n        switch typeLimit\n      "
+	    "      case 'Position'\n                limitsType = 'ModelPosition';\n            otherwise\n                noti"
+	    "fyError = true;\n        end\nend\n\nif notifyError\n    error('Limit Type not recognized');\nend\n\nclear source"
+	    "Limit typeLimit notifyError"
+	    SelfModifiable	    "on"
+	    Display		    "fprintf('%s\\n(%s)',get_param(gcb,'limitsType'),get_param(gcb,'limitsSource'))\n\nport_label('outpu"
+	    "t',1,'Min')\nport_label('output',2,'Max')"
+	    RunInitForIconRedraw    "off"
 	    Array {
 	      Type		      "Simulink.MaskParameter"
-	      Dimension		      5
+	      Dimension		      2
 	      Object {
-		$ObjectID		242
+		$ObjectID		206
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
-		  Dimension		  4
-		  Cell			  "Joints Position"
-		  Cell			  "Joints Velocity"
-		  Cell			  "Joints Acceleration"
-		  Cell			  "Joints Torque"
+		  Dimension		  2
+		  Cell			  "ControlBoard"
+		  Cell			  "URDF"
 		  PropName		  "TypeOptions"
 		}
-		Name			"estimateType"
-		Prompt			"Estimate Type"
-		Value			"Joints Position"
-		Evaluate		"off"
-		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param(gcb,'estima"
-		"teType');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0"
-		"]');\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]"
-		"');\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0.8706, 0.1333, 1"
-		".0]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]"
-		"');\nend\nclear  maskStr"
-	      }
-	      Object {
-		$ObjectID		243
-		Type			"edit"
-		Name			"robotName"
-		Prompt			"Robot Port Name"
-		Value			"WBT_robotName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		244
-		Type			"edit"
-		Name			"localName"
-		Prompt			"Model Name"
-		Value			"WBT_modelName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		245
-		Type			"edit"
-		Name			"wbiFile"
-		Prompt			"WBI filename"
-		Value			"WBT_wbiFilename"
-		Tunable			"off"
+		Name			"limitsSource"
+		Prompt			"Limits Source"
+		Value			"ControlBoard"
+		Callback		"sourceLimit = get_param(gcb,'limitsSource');\nblockParameters = Simulink.Mask.get(gcb).Parameters;\nlimit"
+		"sTypeBlockParam = blockParameters(2);\n\nswitch sourceLimit\n    case 'ControlBoard'\n        limitsTypeBlockParam.T"
+		"ypeOptions = {'Position','Velocity'};\n        %limitsTypeBlockParam.Value = limitsTypeBlockParam.TypeOptions{1};\n "
+		"   case 'URDF'\n        limitsTypeBlockParam.TypeOptions = {'Position'};\n        %limitsTypeBlockParam.Value = limi"
+		"tsTypeBlockParam.TypeOptions{1};\n    otherwise\n        error('Limit Source not recognized');\nend\n\nclear sourceL"
+		"imit blockParameters limitsTypeBlockParam"
 	      }
 	      Object {
-		$ObjectID		246
-		Type			"edit"
-		Name			"wbiList"
-		Prompt			"WBI list name"
-		Value			"WBT_wbiList"
-		Tunable			"off"
+		$ObjectID		207
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  2
+		  Cell			  "Position"
+		  Cell			  "Velocity"
+		  PropName		  "TypeOptions"
+		}
+		Name			"limitsType"
+		Prompt			"Limits Type"
+		Value			"Position"
+		Evaluate		"off"
+		Callback		"% Get the mask parameter values. This is a cell array of strings.\n%   \nmaskStr = get_param(gcb,'limitsT"
+		"ype');\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]');\nelse"
+		"if strcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\nelseif strcm"
+		"p(maskStr, 'Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0.8706, 0.1333, 1.0]');\nelseif strcmp(ma"
+		"skStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear  maskStr"
 	      }
 	      PropName		      "Parameters"
 	    }
 	    Array {
 	      Type		      "Simulink.dialog.Group"
-	      Dimension		      2
+	      Dimension		      3
 	      Object {
-		$ObjectID		247
+		$ObjectID		208
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  248
+		  $ObjectID		  209
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -5280,65 +5108,46 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		249
+		$ObjectID		210
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
-		Object {
-		  $PropName		  "DialogControls"
-		  $ObjectID		  250
-		  $ClassName		  "Simulink.dialog.TabContainer"
-		  Array {
-		    Type		    "Simulink.dialog.Tab"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    251
-		    Prompt		    "Block parameters"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    252
-		    $ClassName		    "Simulink.dialog.parameter.Popup"
-		    Name		    "estimateType"
-		    }
-		    Name		    "Container8"
-		    }
-		    Object {
-		    $ObjectID		    253
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    254
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    255
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    256
-		    Name		    "wbiFile"
-		    }
-		    Object {
-		    $ObjectID		    257
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container5"
-		    }
-		    PropName		    "DialogControls"
+		Array {
+		  Type			  "Simulink.dialog.parameter.Popup"
+		  Dimension		  2
+		  Object {
+		    $ObjectID		    211
+		    Name		    "limitsSource"
+		  }
+		  Object {
+		    $ObjectID		    212
+		    Name		    "limitsType"
 		  }
-		  Name			  "Container4"
+		  PropName		  "DialogControls"
 		}
 		Name			"ParameterGroupVar"
 	      }
+	      Object {
+		$ObjectID		213
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  214
+		  $ClassName		  "Simulink.dialog.Button"
+		  Prompt		  "Toggle Config Block Highlighting"
+		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
+		  "ock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system(confi"
+		  "gBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'"
+		  ",gcb,configBlock);\nend\n\nclear configBlock"
+		  Name			  "toggleHighlighting"
+		}
+		Name			"ToggleButtonContainer"
+	      }
 	      PropName		      "DialogControls"
 	    }
 	  }
 	  System {
-	    Name		    "Get Estimate"
-	    Location		    [653, 318, 2086, 1271]
+	    Name		    "Get Limits"
+	    Location		    [300, 122, 1706, 880]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -5349,129 +5158,111 @@ Library {
 	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
 	    TiledPageScale	    1
 	    ShowPageBoundaries	    off
-	    ZoomFactor		    "1000"
+	    ZoomFactor		    "692"
+	    SIDHighWatermark	    "1773"
 	    Block {
 	      BlockType		      S-Function
 	      Name		      "S-Function"
-	      SID		      "1672"
-	      Ports		      [0, 1]
-	      Position		      [125, 39, 185, 71]
+	      SID		      "1690:1691"
+	      Ports		      [0, 2]
+	      Position		      [115, 33, 175, 102]
 	      ZOrder		      19
 	      FunctionName	      "WBToolbox"
-	      Parameters	      "'GetEstimate',robotName,localName,wbiFile,wbiList,estimateType"
+	      Parameters	      "'GetLimits',WBTConfigParameters,configBlockAbsName,limitsType"
 	      SFunctionDeploymentMode off
 	      EnableBusSupport	      off
 	      SFcnIsStateOwnerBlock   off
 	    }
 	    Block {
 	      BlockType		      Outport
-	      Name		      "Estimate"
-	      SID		      "1673"
-	      Position		      [210, 48, 240, 62]
+	      Name		      "Min"
+	      SID		      "1690:1692"
+	      Position		      [220, 43, 250, 57]
 	      ZOrder		      25
 	      IconDisplay	      "Port number"
 	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "Max"
+	      SID		      "1690:1693"
+	      Position		      [220, 78, 250, 92]
+	      ZOrder		      26
+	      Port		      "2"
+	      IconDisplay	      "Port number"
+	    }
 	    Line {
 	      ZOrder		      1
 	      SrcBlock		      "S-Function"
 	      SrcPort		      1
-	      DstBlock		      "Estimate"
+	      DstBlock		      "Min"
+	      DstPort		      1
+	    }
+	    Line {
+	      ZOrder		      2
+	      SrcBlock		      "S-Function"
+	      SrcPort		      2
+	      DstBlock		      "Max"
 	      DstPort		      1
 	    }
 	  }
 	}
 	Block {
 	  BlockType		  SubSystem
-	  Name			  "Get Limits"
-	  SID			  "1690"
-	  Ports			  [0, 2]
-	  Position		  [475, 211, 570, 249]
-	  ZOrder		  68
+	  Name			  "Get Measurement"
+	  SID			  "1671"
+	  Ports			  [0, 1]
+	  Position		  [395, 156, 515, 184]
+	  ZOrder		  53
 	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
 	  RequestExecContextInheritance	off
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    258
+	    $ObjectID		    215
 	    $ClassName		    "Simulink.Mask"
-	    Type		    "Get Estimate"
-	    Description		    "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of "
-	    "freedom of the robot,\nOutput:\n- References: Vector of size DoFs, representing the estimate requested.\n\nParame"
-	    "ters:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the ports"
-	    " opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the "
-	    "\n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by t"
-	    "he underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole B"
-	    "ody Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	    Display		    "disp(get_param(gcb,'limitsType'))\nport_label('output',1,'Min')\nport_label('output',2,'Max')"
-	    Array {
-	      Type		      "Simulink.MaskParameter"
-	      Dimension		      5
-	      Object {
-		$ObjectID		259
-		Type			"popup"
-		Array {
-		  Type			  "Cell"
-		  Dimension		  1
-		  Cell			  "Position"
-		  PropName		  "TypeOptions"
-		}
-		Name			"limitsType"
-		Prompt			"Limits Type"
-		Value			"Position"
-		Evaluate		"off"
-		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param(gcb,'limits"
-		"Type');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]'"
-		");\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]')"
-		";\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0.8706, 0.1333, 1.0"
-		"]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]')"
-		";\nend\nclear  maskStr"
-	      }
-	      Object {
-		$ObjectID		260
-		Type			"edit"
-		Name			"robotName"
-		Prompt			"Robot Port Name"
-		Value			"WBT_robotName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		261
-		Type			"edit"
-		Name			"localName"
-		Prompt			"Model Name"
-		Value			"WBT_modelName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		262
-		Type			"edit"
-		Name			"wbiFile"
-		Prompt			"WBI filename"
-		Value			"WBT_wbiFilename"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		263
-		Type			"edit"
-		Name			"wbiList"
-		Prompt			"WBI list name"
-		Value			"WBT_wbiList"
-		Tunable			"off"
+	    Type		    "Get Measurement"
+	    Description		    "This block gathers the measurement of the specified type.\n\nAssuming DoFs is the number of deg"
+	    "rees of freedom of the robot,\n\nOutput:\n* References: Vector of size DoFs, representing the requested measureme"
+	    "nt.\n\nParameters:\n* Control Mode: The control mode. Choose one of the supplied mode.\n"
+	    Initialization	    "% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig"
+	    "] = WBToolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n "
+	    "   clear WBTConfig;\ncatch\nend"
+	    Display		    "port_label('output', 1, get_param(gcb,'measuredType'))"
+	    RunInitForIconRedraw    "off"
+	    Object {
+	      $PropName		      "Parameters"
+	      $ObjectID		      216
+	      $ClassName	      "Simulink.MaskParameter"
+	      Type		      "popup"
+	      Array {
+		Type			"Cell"
+		Dimension		4
+		Cell			"Joints Position"
+		Cell			"Joints Velocity"
+		Cell			"Joints Acceleration"
+		Cell			"Joints Torque"
+		PropName		"TypeOptions"
 	      }
-	      PropName		      "Parameters"
+	      Name		      "measuredType"
+	      Prompt		      "Estimate Type"
+	      Value		      "Joints Position"
+	      Evaluate		      "off"
+	      Callback		      "% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param("
+	      "gcb,'measuredType');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8"
+	      "510, 0.6706, 1.0]');\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137,"
+	      " 0.6745, 1.0000, 1.0]');\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '"
+	      "[0.9255, 0.8706, 0.1333, 1.0]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor',"
+	      " '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear  maskStr"
 	    }
 	    Array {
 	      Type		      "Simulink.dialog.Group"
-	      Dimension		      2
+	      Dimension		      3
 	      Object {
-		$ObjectID		264
+		$ObjectID		217
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  265
+		  $ObjectID		  218
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -5479,65 +5270,39 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		266
+		$ObjectID		219
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  267
-		  $ClassName		  "Simulink.dialog.TabContainer"
-		  Array {
-		    Type		    "Simulink.dialog.Tab"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    268
-		    Prompt		    "Block parameters"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    269
-		    $ClassName		    "Simulink.dialog.parameter.Popup"
-		    Name		    "limitsType"
-		    }
-		    Name		    "Container8"
-		    }
-		    Object {
-		    $ObjectID		    270
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    271
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    272
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    273
-		    Name		    "wbiFile"
-		    }
-		    Object {
-		    $ObjectID		    274
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container5"
-		    }
-		    PropName		    "DialogControls"
-		  }
-		  Name			  "Container4"
+		  $ObjectID		  220
+		  $ClassName		  "Simulink.dialog.parameter.Popup"
+		  Name			  "measuredType"
 		}
 		Name			"ParameterGroupVar"
 	      }
+	      Object {
+		$ObjectID		221
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  222
+		  $ClassName		  "Simulink.dialog.Button"
+		  Prompt		  "Toggle Config Block Highlighting"
+		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
+		  "ock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system(confi"
+		  "gBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'"
+		  ",gcb,configBlock);\nend\n\nclear configBlock"
+		  Name			  "toggleHighlighting"
+		}
+		Name			"Container8"
+	      }
 	      PropName		      "DialogControls"
 	    }
 	  }
 	  System {
-	    Name		    "Get Limits"
-	    Location		    [0, 23, 1280, 744]
+	    Name		    "Get Measurement"
+	    Location		    [109, 127, 1339, 823]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -5548,49 +5313,33 @@ Library {
 	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
 	    TiledPageScale	    1
 	    ShowPageBoundaries	    off
-	    ZoomFactor		    "411"
+	    ZoomFactor		    "600"
 	    Block {
 	      BlockType		      S-Function
 	      Name		      "S-Function"
-	      SID		      "1691"
-	      Ports		      [0, 2]
-	      Position		      [115, 33, 175, 102]
+	      SID		      "1672"
+	      Ports		      [0, 1]
+	      Position		      [125, 39, 185, 71]
 	      ZOrder		      19
 	      FunctionName	      "WBToolbox"
-	      Parameters	      "'GetLimits',robotName,localName,wbiFile,wbiList,limitsType"
+	      Parameters	      "'GetMeasurement',WBTConfigParameters,configBlockAbsName,measuredType"
 	      SFunctionDeploymentMode off
 	      EnableBusSupport	      off
 	      SFcnIsStateOwnerBlock   off
 	    }
 	    Block {
 	      BlockType		      Outport
-	      Name		      "Min"
-	      SID		      "1692"
-	      Position		      [220, 43, 250, 57]
+	      Name		      "Estimate"
+	      SID		      "1673"
+	      Position		      [210, 48, 240, 62]
 	      ZOrder		      25
 	      IconDisplay	      "Port number"
 	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "Max"
-	      SID		      "1693"
-	      Position		      [220, 78, 250, 92]
-	      ZOrder		      26
-	      Port		      "2"
-	      IconDisplay	      "Port number"
-	    }
 	    Line {
 	      ZOrder		      1
 	      SrcBlock		      "S-Function"
 	      SrcPort		      1
-	      DstBlock		      "Min"
-	      DstPort		      1
-	    }
-	    Line {
-	      ZOrder		      2
-	      SrcBlock		      "S-Function"
-	      SrcPort		      2
-	      DstBlock		      "Max"
+	      DstBlock		      "Estimate"
 	      DstPort		      1
 	    }
 	  }
@@ -5600,7 +5349,7 @@ Library {
     Annotation {
       SID		      "1213"
       Name		      "WHOLE BODY TOOLBOX"
-      Position		      [172, 149, 311, 166]
+      Position		      [172, 149, 319, 165]
       InternalMargins	      [0, 0, 0, 0]
       FixedHeight	      off
       FixedWidth	      off
@@ -5612,10 +5361,10 @@ Library {
     }
     Annotation {
       SID		      "1214"
-      Name		      "Copyright  2013-2016 iCub Facility Department, Istituto Italiano di Tecnologia\nThis software was s"
+      Name		      "Copyright  2013-2017 iCub Facility Department, Istituto Italiano di Tecnologia\nThis software was s"
       "upported by the FP7 EU Project CoDyCO (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics (b))\nhttp://www.c"
       "odyco.eu"
-      Position		      [102, 184, 379, 201]
+      Position		      [102, 184, 380, 207]
       InternalMargins	      [0, 0, 0, 0]
       FixedHeight	      off
       FixedWidth	      off
@@ -5628,7 +5377,7 @@ Library {
 }
 #Finite State Machines
 #
-#   Stateflow 80000010
+#   Stateflow 80000011
 #
 #
 Stateflow {
@@ -5637,7 +5386,7 @@ Stateflow {
     name		    "WBToolboxLibrary_repository"
     created		    "06-Feb-2014 11:51:26"
     isLibrary		    1
-    sfVersion		    80000010
+    sfVersion		    80000011
     firstTarget		    26
   }
   chart {
diff --git a/toolbox/matlab/library/exported/WBToolboxLibrary.slx b/toolbox/matlab/library/exported/WBToolboxLibrary.slx
new file mode 100644
index 0000000000000000000000000000000000000000..f02b5434bb5c2b45a8d92f1e16fd33edeb7522be
GIT binary patch
literal 534705
zcmaHxV~j3L(5A<>J!foN&)BwY+qP}%jBVTY8QZqC@AqqWv&nYSNp+{|$6Z%<x{@jd
zX;3gUARr(pAlI;HX=gAoA#-3Lpneb_Al(0UZB1PaO$=QO8I0|nOck8$9Za2EEKQy1
zJ#1}!l@{cJ8PUGc7u_jMotGdqip=D-jnInkYf^aBLerXEWBM?$_H;0IH=O0>_+DSa
zs*E)`A?L*?v55}e$AKqQ$xR3fS52;Wh{rU@S=1<@k*)gwn4^bx7wK4fELMWpf@77j
zC51gu3wc}9L^bStQ)b?4h1yKyE|N7}tDd$SeMKJ!fbQz=q0mlcn6|UHR81hmr(x&Q
zR@v)5L12$52tY65$nXaFx0KY&f~)Jt9A$0<(a)$l&dE#`BPUnZTG!=0ce3*j+-}ZD
z?^e>7a8M(hu@agQsdq+l5U<E^5CI^E3OSE)v}m0-P@d3yO?J!><0o)N0_9I?3EO{&
z??G{pxVt`~?ngdn?_AWle^k8YloH)4p|6<Hr`K#hyLf=teNoMM=84sP8)2;`)e+Wy
zfz#=sb%anF3phe%)6Id!g8>0y!DnuC<U2l|o0xe8afE72em7Zi-hLr+kDpC0_lOGr
z7azx>Zky5nxQPG92><`&W9$C^5;BdSvIAj)6ZI#X>_ruzt)xbEyDF!a;_oNLK$SfZ
zarBtpO$Lv~?rc7G_Nm+9GeY8^y+VC<+OGL4&^Y1Q`Sftx{QH&?M3WGl0Oid^B;CNm
zy<<!LrmQro#Mfv+aG;0Ka>7uuhJY2=1?Ada#_VLStb%<7g{hLg;#Hj1&ALHeDe=r|
z%9`MOhhZgMVs~Ul@N$pC8>=gW5Ul2GRl9~6e>C_6k34e=ixTcXe<0V!4?HUl2NiR&
z7GyW4Mb~EQM`NG&e+M9TKh-YdKjDl2P4fR=07N}pOzoU4?d|^OuIk23Ap|iZiTamh
z_Rz@}hmA?C(l38&kP8&howEk{GmN6s+soZdP+g3~9Ej$5n@dNSf(2E($=YwC+_X*I
z00n_=K!}@Hgm5rLbW%@O=ayBuqrT6hMz0umgwTha|3$lugKK2P>Rf*hEO8T)Er+y`
zBvZ_(xc==1Yuts>*v1m`0r)AdD3UWLd1f7dHY;ei-t@&?fc|f7F8@6~w*Cq!BvT+D
z2T@QU?EkbmTiUwXSlU@L7}?kxTbo!KnmZZV{*RpN9!vL4u|~!(-98X;_Z;K7an=Fd
z#$xa0(Me-XFHtVPTa$-30g+@8I1o4>D@nN<d;iK#TyKtfAgavPOcoMp6Lp4_|3*vi
z`|W3D%{Izho6hN&ZO_8izX%p5*{RI0_8zEF2FT6dp1$XkEw)JClNeolGq8D;PcrDn
zz7k9O9ZinBeZIZhyVa7Hos2}nw(wCprufn@^B9nW+`HPgSAIBs0=W3u*`4mrX@NVx
zTEY_(@85Yh@%(p+pwcJl(<cAx2lma++GKkUybfn4(NTi?vekcZAGYjS*LF?o(``LK
zCLU>$4~#{5@pQZG4HJR3OD}+CocPBXIflAA41}NF9>hKiuil9cM}NPso8?C6>WFTV
zS<(!<+sm3^GzL3AieiDTr!B5vE>?c6xbvO&c9u<?&z~zSc2jMhM)=*+sWvlM-1%ir
zUb$BDo~V!1rwx?XNv*O@nd-}Fek|~Rbo=%EcAGcDIN0pfbXuBj%2bh}K&4$kX!f_i
z8y7FQGx)Y`(frT!pYHRQY*~FJU6XVXNw<ZN*2H>ls<!u)PJbMKBPV{0-ZA9p+uF^n
z#3ZADvwB>7X<CMn@e;1T-A(Yu`vF?y^TKO8PC;(g-hDLq$8-(kO9DN7^Z0mkHlN$9
zTKY_X(TP5e{Or02?h#_~@_3AR&50@tHR}MvOE5YN;+wh?R~FXq!zvX#Ef`Lahe|(b
zJHHOg`v;@`ccyo@IzuA0UT!(StM1y&8OfgkoPqiLN?z%?6@J=tc|~AveY);$FmPMX
zPJGQcUfK|DOaz~#<A@u>$k`pr+3Vd;yP17)I_5UAv+!dXNcIvzK=kPRL2wjzhITl>
zp4RV-&h0o#{=F3aXQ-$V*i2gr#?cw!h-FW$n>+q5!T8+(4X_);<ULp9aVD2KI2YG%
zrjVgeQ!K2e_ZPpi?e&%CZ8LplgogJS+_++nqQu#pL~*nF1@GLSKWtao>flh`LlHVr
zBSbRO<eXz9m~mDoaj5LP4tN{|IyyU9yK5f)Lv-A2@M}cLx@D#1d=3I$Y#1^8uDA6g
zOw;}Mu#jV=>9v^sao8Rx(b@#4yIGv-VJuX*+pecSq0R@M4k}3?!bzqwczf>QX_lS>
zbBxkM^!oph*rD9w^8OBntqvp7>+bEEleGHn<5{HFlMeL~_gXVJ;FJK3x9`!@+CWf}
zorIdB$a7C6dove-f=EIf<;gX>NW;&4BrhswHU4$x<LI7??x+S&rM_41{QjrI&1>rc
zJ$M<@|9nQn25E%t`46v*6ONZt(Ntlz)|wDU$qRTCiS{c9LPx@|JZd&2N5;duU}cUF
zZ>_?4Xs*@oQEC`<XC5|+Sbvtbh<v=d^%dVlxzz$EeRQyF8f5e)3a49t+AhMKi2%an
zri@|PgL5q7Q<;NPCuS@F<We3>$sVJH7qsZn?i`-Z1~cws_AVG{RDQ}C8Y8V>+Sxy7
z$~D5FA&;l^?jiXKx}+h#_H{iUmxS2`a|a41pHQcdhcgBsXA^HjvD1GIqz;o@@TiV}
z-I3>cG&ln}Ey9g$5dZ?=T^qBd-OdIt+2ssE3V=BUg8PzNMDmZkq4)qvLHuFQ0M^d}
zWiW&fRYAPogTX`gI;oB5DCkBLi315hg|tsE1|Qm{qq2yCion(DS|I--=8wR$fof`9
z5j;>_%Zg?k($e94x<Y%B1PAx%ZUnc#)tB%VnV1ju-aGozU26}ZmJ^rrtP*zL&*%?D
zu-ntMTWVwfq5#-No~REaWM9r4E%9!Dfg0o7Gtp<*8F&Eu-%4k<KiWid)IEfs$wp8N
zSMN!|-aQJFV98={Chzz*6AkTGT;qtM&Eo2N{|liKHVbP)dR!D)Vs6d0@RF>M9al%K
zk+bnKYkP%1E&O|aKWHrf>Z{ur7&OX+1D9YZ9kA2cDmmw2c^d+gQZge%WaGUX%u&ih
zW%-Ms2k++C2DxJa6RsJG&_3_CkJR3M44K~+md3apuY7>#(X?1A>kQ>y<m!LT{Gz<}
zQEU!gK3r53^{GhDBVwJi&npn*4CG4&#`|S66Ti&^`LZq}j2?GCo7*2F^&tk=XpWDX
z9CybqQFWnr9DkFYz>gBo>98#oik(8LEPHM{q;C)^R0VW(MNDIYE*s46_)ZjfTV#m9
zJLe%`!P*GFpBevkFm~M*W?ZyL>V^2-Uh}IgPkr9*MyeM4)Rvs3+q0BlF}9Y$sG&ud
zl)qtvfRd=pT(+&kP~-`ZcFN{ri)0rU$BbV(a(<>{Ve)L4nYO=OklqYu-w6jg)xy(q
z6B&76<GI8#217ffX6<9Q6};wU$EBm<m#GRc)qcd(YAavw6JJ$U@dF*B%Lkqhmd|%>
zJK7Zo$dPo<KA-SE|J%!FtV`l5=^EE1;zHv5m&fFui8hV7Oa)?)^zH40*>8-gA@mkS
zE1Y&fz<5Ptt7cSztg%l^Y?73&X{%j{PvY<PjF&PU3_DcIqUF)=A9SXhcWhlWbHcd#
zURLa)Ha|_8E0kmmzuqO>a6dOX-qQdFNkFW;Dv}yh=7bWiY%E6~*ew`AimYNYL&b|V
z>>SU#`bxr?Ah}>=7>=g{{n4M-?r<%)Pwjup9cDS5NC2}Q!$)-2+a^|S29xM@P4~4I
zB~!i3M>X&dotD#}d}D_{6w?kFs!3@JB#SoZELfo?IiEDu5~ywfeQR<xZy#?Xe@c?H
z(AdR?a}7f(hcHL+O<js21N0PBkC1s$oC<WMYXk2tCM+1wW=BbYe`cGfE9w;iM$Q~l
z^mUdATeC@ln||L~MTg7z1h#*mZXm98-0DObs4OiQ6Wky>H^=)UaPb&~aX#-?6YPFA
zOH)Nt$~9VZMZ1>kuHEF2SuKt{cDhme44i1Oiju5e8-+xwf(wR$9hx(Pt%?z8bw=5-
zyq;-gAm}d-aBE`7-z1_Uq+S{m3MiKbD6H8iE}%;C<+OwxRn4}sA?J}a2Z>XM>Y|+~
zhB$p%LW1sp`C#>Rz2iA8dh<6?V6bzMtgO|}q1kZvn3tnB+oD8}C2qOpt_q7;vcz`3
z3X6aiS-4?{>NJ6o&k+F`|5DbvXs$!uI~`!VX+ZJDrjtVL(RWKibfkO86vzmwi84xq
zsw#UO2l_j&k>MzMFR@*|FOXy8;IMoV$2@YNyX^-!>$qzugMdXk`#nKttt{La{~cnD
zferE|*po2}*_rg)cNDEp+!m-k2tFMoAs;feOE8MU6FCLTsy8RpS(Ob_-5RVa2>lA|
zt~^Tb@Vy*Y&@PS3{Z6R)HZNzZ9U`HFQvC|>5|!#180k0>qqr4(7zOZFzR?~>9c8Fw
zypR^I-Y7U1SE$&0<H?__OpGRt4aBPsfiqWKYQ!8a2QMf#rxX^=e(*m_2Vys`q*xm_
zIXk1#0k8^~C434s2k(Oj1JdGr<i^H^kjum;;o8W?VO$I;a9Qhvi%i&BvpL#B!4z<P
z*i*=8D0HjTj++kWX3D78e0`>}@;MdzF%g~?F@XHReT+5hhhf8*()k;T%^oJBT(x&2
zEP>Doc+hz6F|vwokBH<?E(a<x`F$gmS<$4KGz65^VR52fbzU(J*n|Ln-Sobpz|hze
z#1bbq+tm4~Cm1#Yp|HLlL@cmrI^H7BeLzLwZN_vkl`o9VZQGMvAB)8+_cyV|2W_bf
zPPE2IP^R@}<TJW8kOB^9_os-U%TRIkM%uf}!p(ZKe9lM=Axmq`ZN-4x5UfR#6UpSW
zs>5dLe$ieOjd{D8gB9dYpfSPj+D}WgZ)&Z!UutT8!~GhL<}ftnq3u9(JY3%wK4xGp
z?jNQeaZbR};PFK5^@Dpc8w9;=zZY#;J<-Z1@TW07xcO{~hgv}_pL^*5f{a9=0FE;Y
z??z!@Q%Zv-OZO3NwudBB(^D%CR&2TYTI^-=P-y6wSO~bOriS{8XF@i(uLN2JUu`Wz
z;Dm+)CW=cG^%9Y`AJEm=zJ-)nK2`B7r^*p#`~lKPeI3Fu{RWHq*N#J_kZvJn2KPKV
z)3h+N8=skRu^h4La_BTO2LyRNE${4KW)G=jiNagBImt~)aBq}?_buitt-Uvp9}DoM
zyK9l2%t{b(Ic*2Os%L>$H_oFCve92EoBMNF*f_i_!hK_u21T!gYQ=jp#IMl603ckA
zF#?I9*^r$gK-BiJiuh`RYjbe0gnj%`l9UOzB8NIGWCp6@E!m}ohP3T0?|nP@2WE7(
zugYtRwq`<RRgeOQ+T&{|VZm$gcn1x?)V~PPLaBFxk6q-)-D2aZ49;3Y4U!UQX8y$s
zhiMdt^O>`o%A(-ifZ^_!xtu}{rBPlb#;nM=@YAR>D5ATL$YBm21yK_yY%Kz`{q`X>
zgnFC4if7o&8KfULOXW;OO;jKHJWc@ALBo47N;)?O$Xw^xIfD%ePPfg5j>U*TS;O^C
zg|fiBoo<&(Z*WbAYG^bk(?>vz0Hw-i3KT7yyes2mJV`rqj)*}&skqAX-RyH}T@2KR
z7jQh+R9J2~h+L?h)oUgDITn2=iEI6r(UieCSh(hM1aY~r*j*f$B-VZq<np-#Gj;HH
zsKFgHi949lK?QNk?jWB{UR(~zQ0v00L~H_Qe<lk*Xu~q;*GqB#)r6nHCghKJNphT*
z*J0S&X&QgAT#ywME|WYJ8pU9jT3`-}L!@*k&L1y!8fRt^bY7i3F|+16u}}ijEczs{
zULq&_l$&|Tu@7TG-M4$oTCtFD*!&(BrOm?TX`0oNqU1|(^`rRE<HT|nwu&`zTvxh%
zifaltw?gvRzX504P$_r?Mz?&=2qnFqD(E5%sQv?_AgR&pD{TI>V$HGUK0=jpNNTDr
z!HBcwkT+;45~V|-51+(*^c;-`JnT5_P837o>#^2{9M7KxKQgzvyuszrFREba^JnpO
zQB;k@q6@+6jTLs5HZc<Izf><Og~hO&!>=W>aQWrAx;})tTu=A2GCPyPM%{uy6!A<(
zc;O#M7@aBt&R@qszBa9|$nubJo}wpVs+^K*Z~;eJ@7D4CQZt~00Hr+^8Mb`18R-?+
zGQynDIeOKMoe8>5StH0OnYUo!o6{7};tc|eNGnQemwtOGuhn_Um;{b|F03BHy)f0Y
z%N}Wl<awRpSQ?e)QbN@;Y6y^<XpVbt5)F?qcp*%Ka+DwxmMCw0IrycXsxWG#;POMx
zy$xr0)RK+KPxQIHfD4F>G|I*Xs@LI>ccKxg5^=|<Z#?*wx4K50hLUnIA8QZt=`=J;
zWI;Jb#G1V%5AkIkZpxI=;?W_hXos^3Hh$s!CO7s7t;M(8=!-t;8f=ls5%QpdTiR#f
zI8TQbtJh^V*zNa8NRRLjJAO{6txUFq<<_2fTt(<4hBM!FX}G=FJDpv<LbcZoQ4WD*
zFAua%AmT0P9Q+|7EaK0BNEb&_1w!396RRI59k{Z8ob7{KFpOiMF1xf#uu8ml+n6IE
zP{2EWyyR{FB5<=eYSKB>3cf|~4$!L*>MAUS-v5$j)8wX-1`JwCva543tiMoGkV6-{
zm?Z&Om61aide~t}^dyr6sPgi_HFC#3AXh0+fmS#xV4FM_PwuH8(pdYRCvx#J&Bc1N
zek0JSCdm%@DuhYrZx((uzA1}Ea^-vt7=(0H`tY@(*PX_sC^$$qaaOx{vn#J1H8Dxp
zV;WB<IPQlcK!w4Z4`ilfGmGSk8A+WR2Ul1tNSbdB&x)884m59(2*AnY6JjD@<}m1T
z;MSI|$>W{I+N>yXo?E`XMr*z`zarXf_K=*s0DSM$=NGp!`oq4AJPI>$xlP1waII_?
zX~nbm6)v0$0TlG3>&0DT`@&D67536NWNFR@^7A$xOhyCb)UzTBNhsVL`6vX}JzFX*
z8O44SkL_({F$ZxN00-la{J@9x%W|=%+#-1aMMhk9PHb6eeDeDI{-$`ejRkL*SZEkq
zVKOyrvqc35D4!${D%|iqB{zomLwU6f@&0=L?L7{%`9GYwGbgNU(9C8YF;bKj9-#M{
zJsHkzGZyi+wfut!WbSQM?Okxp9QU2{!~F|QzLv!5ODyIl3^ETGANLLf<_J^N3Ip1y
zQbp4$?8F&(RrFU*BrIozJ)~bATyM#mxzIkO9BmjKRlt$rVI|vl*2RdQKnA!Nfv4q8
z{25$8k<2Nhl^%)V&YW#N`59BQq*vEq><=#cD$iYjBCVeN^{%NVcNKH>xofYtJ;;z<
zlrq-2sbN^0K;175Z};IK>Hu8ymQQHm6IrMIHN=vw=dHJxyhWBFCMNx1^M?u88!2w{
zE?`^Fuq+f{vnTAowMa2HyMe|^>4e6A_q07_&FVKNfPq!>WlH~ip-o5Ky04b``Js{d
zq*7O*nyXFN7du8<LP~7{pPu}<!8nSA9SeLa3%=xkJ!qu;`4i*B+RIb)<4z543hggq
zo0%#F4$5}p2NBvB!3}3N7Sv?LMO%a|Oev1#U$CA*kzx@BDnvcr`$sif3yGb+6+&ZK
zmPanD-^ft#$+Rxe$hPY3h4z(~Er3TB9ryIjx}!=hEitu^2<bb~8Iy#MO#GJ@tM?CW
z8b*XkFV!U#PC5j0*p)+jz|b|{pDE=VAbo+Ipr}wOf~kP2@nBWO?fcpOQgN6k$M(Bj
zEr+x2g{OU5-d`8}qWHO39jSI5doIB$oDkv`=+H_ng+p$IKLS+2jt!C>zH%CsV40{g
zDx5lWgmxi^yiAC?#Dt9Sk(Ml=D6c>a*!ED1h<ZCJ)<|!>9u&wPg&f*KxfU~U40H>d
zq`!<eRAu?V6~+Ke-u#ec6<?v2kHMeeIm!#a33j^7TxEJ#Ot%nEo>NwxUTRKRUnJAK
zYH;844MgFXPSL_BmHeSQwCj=jcs8?s7yUAlG6)+9#Ak8-(hsWwl!BkCP`cR96gi+3
znU;ZyT?1PS3_d6kKI62HsJ$GQiqlEPyR=|4MV~$_X}4es=MDlnCJ6fpda*^!zfO>l
zJ0=|fgzGtTOle|gc6~45+1Nyil^co9c4Gg6RS7|~7BI#bR~{B7@v}AJDLI0bcIn%b
z@ctxf4;b%&vN-o^KXP99JEtbj%xwmL&Vpni7l~!Orz!=f0!ekMLlETI#vxo`a_kZV
z<8^8fl%8cJ#_nrIkNRWD8YQHMY)#YdE7$5~#)J>lgP+W;f|MX`j+?pZ`bBZ=qk%Ll
zg3_wNzLXDnkh=`ZtZ`*vG-a&3wLgK}<wu2bek`hM(Oh<om*}K{=|sqF>6dOPky3xa
z$_H}QLM0-pE2Uw4kE#;D!-_@F4Wtkwj>va*e#ch$cYY7MiFsLcLHAbpXF~%oMf;y#
zO6FC=!K=eif5t3bHQMdlUVHWk&Dp|A)#-$GeJX<)yr%wXvGnLz+oA4AxhN#E6N6`<
zJC;NhqN#|ns)9~N4OuB<V#XW{p!8}}Gr@5irB+4c`lsdeEJhgaIR5mjLrzPJ+?@!B
z(-FHhP5_ndLT-NE(#m*SMx*6WjcWucXOS(P>orV`4$r};QM5KJ+QVE|Z-M2rw^Wu^
zeV<=&2kBRg3Sg4i74c2Vs%~{axeY&~P`Os}e^r#;Z#CCNj?rISG}60!1Q<_NfCqb0
z^Zyp2P9q6z8)^`oMDgY5=r%10uKW!Hji}rZjnKuAg2vBNW)Y|XD11Z*kyOfs^l~$9
zaI%UUVZf({cNtzG&d@}>`&Gg`rl&vIlmA({5L&mR3D)-*_S?&gVbk--+0rl*m5i!l
z-V4UXk&r7ky+nv7qr|uwtXmM5AUQK<tMuEe9iJYNLIgl304np6y{E=38WeoBJwey*
za=Osv1&*1<>2^p?b6tbML3}Qi8C&@kaX!(eZ*W+IQz%8}Azk_(R$yJXK?0=XOTj?f
z%MA>uNU!jxV9mgk33j15Rz9PxudjMu3_XfCRTJg{rwrvV6I|mVy6WQGvNs-sUx%77
zkL%V`REa9JDu^ix$IZbJ+pTk;&Wlv@hQ|>W@b3_2`P>78mIQJ!SUaZdDx;wQJ{iqf
z_=(P*82eB4IrKK4bW9pQdrDl=<C8R0Sc`Bv*DI+n&hXgPlRkoKVcJ**9i|;1l<d73
zkgOp!#0K>C?qnVfPYR~)CPp$TV%jVrp3O~{eUXci%#cQC0x51WLyh8)Q`1u4QRw=>
zo`s^aX?>l57G8dXj!NSg8Y)nvW6A?O)a9CaPLPqqY}EJ^%*+mE)z-IMo<I(|pII6-
zuQ%QwmD=`#S^1IkfF-1fauc1Bi{!(If5Q8aIq#$kM1k>Myw_>$aa#i^319_fX~y7E
zSW>XeQZmFe+^XyS&BIEDLD&PmASP#vOn=YQVNsP!S0z(pl#v{K^k`3ec#=s;<?Sm3
zMR8A#tDuJTjuxVCm!D_j!>`Ik(q2Vu6C48q!>%yKI1DRG7QqWiSF0531+vuF363y(
z_f>J>{^8`NQS$=OoM?1=v3EgI?*VT|Tm22o8jMxn$|ZEn9@Z`ju23l?Fk8V=VlY$4
z?AZrjuY<^Z2}PMzk<{Z{9p*csM}Rk0Cvz52&H^a=>A7;&FaUUj9yMgTx#}7)B$eDZ
z4IUW7lN1u`#ZeJT1pyo)y|&eX;YF!XX5jrDs^ndw&H|Z_I#qaF3fkX{tQV-0W4daH
zA8zVOapY90?HzybFS(&-kBx{%5!)1(_>jK#WcfsCWEN>rz6wr6LF1Ef$@4aWsZxyf
zf)(eTQO)|8y4BIxv$aTe@p(%KR4T+JnSAIPK<a+{^#qygyy?XH-x|yG^c}d(aJHjY
z{}ngyYkXOI_x-T~(7qRM-J0rlH=_?j*E5@%296-{ux2%!e~xWpYCsfx1*lW^vfMI`
z{`PCxDP_^)h)$N%k?#AN4asHjw+{X$(<7?t4W1E{Zl>c_aEqn9rcL%ke}_i~ESnJj
zkbPtby0OZp@<%*_VN}L7oO6xiU`*=vvE%A`AsQSzzuWhryKoQ<B^sh?lIc`iz}tGX
zYE~5#u%?=LpzrC^=2Pe@S^X?9uW#z>7`q=KqnX=O`}rE<V#y)f_F7o)I#k7*bP48>
zpdw<DUa>5o*g{mKxhp3eiPFUfe%7ZDE`lG<O(}>ft4Kehf$`72K;>vZ$)vN<P|L>b
z`jcYS>$0x_YlTJQ5TVy&qpS4xIt?w6<RI8O+uh@wRDja1)p9gs>UYN5>&|_kJ{E04
zvX3Lc)sP%WAYkh_EKl$+c$j6D(rwK#h>%>iJvZ9~@wdf>TO)xXevufA<tvVO8pi<4
zIh0y0?HTX22Ry6W&$h=j9<$ZoC3^=*D;GTxBl*m-Vg@%xG$Qj#OOkU5Y#f+4el#Ss
zb?ET2ytbd~uhE(Kgyn>rBd4U8C1JyjJGpkkASEX{4^~lj8~}P~&>_bS!pIn9Cn<(E
zNB`<E#pEbZ^kt*#@tW^0Uo}GENqCMp_b}`%L1nb*V0@>rR%O@G&cG@1iNY{-wa<M%
z;Pg?B>S?6oxIS9M{GB}0L=T6HG=@#zEL%iwbfCHT6glWegt0j2u`>GlMU8(!HnXZS
zQVjYt?2>!dpANS`0RZ*#f_N8p8Qr>VEWgn#q?SGnu+#F1Ih7zO-*{7Hm|n!~im*V;
zlH=VarT2G##*^A#Zk?VmG?_K?1HE0~(RLHE?NClZ`(7u3=|&4F=?o|}^^{gAmE6Cm
z-LtS(raay<X3^dYtzx3=+$csyq?rF6CduBSZYM(#Ws=G0Fx49Avk&B#O_FajeCZ2$
zKE_AQ!OGnAyuOZekCRV-%kJk!V4<ZFm0+o&TPTa@HiTq!Gj=pt7_morl_Re1sk9Ak
z&_8;dWN1G-di<@ruzf{?MlB(@f}mxUu#2RzfcP;giiS#_98Va@(hW$QRL`Bk2&@bg
zJE=6DifyH8J8epO`kNc73F7DA)WB_#u@k9D_1C!u=J;yM<4ZLi$C7Nz{o?t;j-_Q;
zenC<U<OYVqjX`1{vmQy~Y+`~^l^L@{AVMmXg{E<}VnvHQWu{P@sa<X+8Av4aw%QP6
z?Z&U7ld+wry0OYG+#Hxru>cMfqIlpm5a9s-%}-?`Y0?ap+e|t-GDevl(O1D`hORd4
z14CGb(NTV~RbpOeTjLv4J;be6HkOS;Bd7v!s*a_KgBBMbx;`v|Zvb8~yq{?s@xL6c
zU}?uU=I(V7RusQ6y*+?xnWPyKduXoyS~;}IgMA{JkL1iWtW|xL*uS9>_@(Pea@m!n
zc{b@0@CQhVvo{Wa1{tcLKUzKuvCsDciWs<UFyj-1tC(XZw$!~5W7gDrzj+5b|9ptG
z5{{ybNE*`ZHkVbKXHURgr}owxp7;X?gl)kfS6wZC<LER*sxy%!J1@Rs5OCrygSF+l
zNQtF{PNFFGBc9#uZfDv%v_G2gf)|yE-Cp4!iJl8@9e*CE&^VM~;$u;jQYn@;fF~C#
zC!MASI5t@ZtI2v`Oe;=nFR`_7@J-nIC0f)%&pIoqQDUT@i>{G<PAH0+R_;$IPsR|s
zsLwPQjQH)hQP{avLm*h5sw6zN)e-w&c8|Z|$pkt>zhCUMTSRc}5_eM(xrIDupQw&a
zPIGNSwMZvgB6YD))ld;l75TjGOcdl%l!hDu7>eR3ag$6yOQT!Z4ZYPH(SGen%pN93
zLluD;LosI%RiY|?xcfzZpX*vsH4p+ir1O6FBfDDQW)2`VA2C{w<US@v@?907LhQ;d
zGLQ%E_)Y#R5fh3fK&v<;zOSma^%Y+$;d-`#_dUB5Har{2Io-%Dr2o2YuU9Y?CEK`f
z82Pe2cNsI|xbt~Wu)V_D(=YEJ&c*F&C7+A;w{Wm@&k0O^3r@Nz{c*VmWVmx?`L+-}
zqFGMpHEKdLJi8vL&fmBKsRuO4A<mav;zN)3G4Nij(xIw3L3CEH(|Hz?!rP;u3?1+c
zBcd>4@Dqh8drUcoQCST1*ckPpb#r@|=7-$MR#8nPz||-tP;0tgx^2jgWMQK|Y-Itv
zbL6um`XJls8Q;jPi8C<Acjh2Ug&kcc`cj>jowHi*&e<0q6*ND&wQ6#4l|42&Cf&U9
zV9OVvbfzu1LHe3%^_;~0TiF-4Zqo$9M0vC8#d4Km5cnqbtqhy@TP7!c3sJhcdN*-t
zLR}{{P?S*~aDRXPm&W$*s~>mfWDffdq0PVmU_n@{?WxS&IAzgN?k`5E_zU%Xk94iW
zapOx8x@wJSneNul6ZSI9)YfVQWaD^U+K&W80cece4`nfOPB$(;XpkL{il?_N@$zx~
zF9{-lZ$9VrO^SBrkCN|$&IicbVeV2Y%4_;}4D$r=OqHl1`{p|4qmGoH=)!6j;ps|R
zqLmyzX`S5oFk#B*aC&|y?Lq&*C^=M&Es32LTLq98SasBMcy*Zvv7m};hb0ah8?YmW
z;D->Tzje}FhEZ{dTGNC@`v@%-%r)mr6o4xiiAI#TIl#M_H?V=HB@?$oF#ef^YM0kX
z0cXQ5C@9MXF?*B2-O(JdkTUnh^=!1f$?$tv3TKIBl&z58{0ySn*CM9iY!6&7<MD6s
z*A4&v{FwOp%5J){BmrE{Z8G2#5`r19gC^SVRQ&7KuJNqXdh}~K30^$$xwORa?40|8
zXta=nGBR2K`Qr4%9W0JqBM+5XSQ{bHEejIlr0rq_-yNE<{uDW;-J{fh!HOBPc0nkb
zpd<(hdKpYsnAh__gV}(c6B6{^H>9*ceA~ak7iCv0bZt|*)GPV-EmZ?4T2t{hiLkDM
znnSdIt&x{PN<<NPL5nseIovEYv{%9mj@ywY6R01m)316VMyh-V`*xQ#b2{1M2pUKx
z83J>IpOKg~RctF%)-xHPw0`1c^^OxZ`loDFj8^w;dl||H(-$q78A^ax9ZgS9g0oRP
zDD;$3tJ+<e&Qp4&r?B;Cb?E_;;?rYJX=)MyflTqM`(H)jd=^amSF=X(i0lA%MM&$7
za^ZEbd7S(R*XC41Sbr8wGoIyg){2IJc$JXuEwm<E7!auPdnScr?JL+(u7y=kgu(<F
z`zLDPq5s%O`yGq_1%18RV;R?EbOi(G>f^RNC-3Ly?QsLcZ0Wbh8ovwt+~14blDoPF
zKh~1CsMdg(VEHf(>B9A)_VBGTw0D}JE>4PdlD*t4OY28Xm>$ynP;WccZll+V`j=$$
zt-;3_uJzSHyjwx#OQDb+{cN6@-1M$k!C4%I7%oj(TYx`-*Va8~>Z)4S(<MZU&1xmu
zydB1E8j|gtUp**w<-UzyhJ*-Cq8L|K&aeonmT9jL+(?oo>&i)1#1egm6Vr$xA!o9F
zNT_-Ai*|{5XLMt272bebB!pH(IntrGUp*t8JL2(<@KAJq^y#o>wNWuy1=&z6yB*SG
zJ>J0td-o2}K!FPzeg{&SQK2??Q<)R~lM-xJxc1T>U1~aorcs-N`N2N@f{x<a`y%&G
zd3MmFN_|q^fs~w#^r)H>tf4oqX2_DX5O#?PmGmX$vZIoLH&s4#PBKaqU3P$hunD-K
zQZjNL!PCCy){=1KA77W@+uWe%iN#f^e{UKpDlZ1{ALZ`V!$sT4b&W^9JzK;)Mv-R|
zm=$j*dQJ^RF^u|l4abOcWa-*IWPo+2sU2_WTBT|Y{|D8|?zv_4&Z}HCr+75^0*AY#
zKoUo{5&19)=DKIQ@+3Z*+dt`9+Jlm{o3=L=!8>uKuOHv|HM<v4c_SrpP8DJ$vrZNN
zB*Q!M7`1f*+bs0g^zxAYxM*cFozv~>wXLE`@)BcqVtmXLg5rPoi9{#37UD)IPn)Ws
z4^F#dLmItPqs9#vUXb5Q8kGpOQ4UBgcs7P2q;P+oK~V`eFH=YNhmgbgrWx3u#m+lt
z+#L9KL>tuo{ca!(xrY2T<r+MpU6*=kht`pQq*1<m;AJ;^l%DE<e=X6x*o~|mNB7}<
zw!@u3_20avdGqL<KKx^qJVp3q-NbYT=kY_|!)D<I@uuCiV$%w4(g>(c$dyA^AJ-|9
z<QNtyOEUM^U}*@ztFq9DrqAd{KaHjHtJCdbzjpvt;Z(s<p<oDYQ5tDmY;;F|R)_F{
z@CweZTzXI9NTu(sFj*(?Kx83_K<FNCr{bP@$_i|XiN1lBbMlIMSjw>qZ;&obr>}`E
z<ceO8<#aE(cuv-<w3js#Yt~qJ)M;JQ?bYb1=-yC+USA@GAd4jcB@=3um$_b~fL&Vo
zuTW_~Mmnez38v(NIF3|#2tU6g8VRnrK@A$KK+U~6VLWlcaTinVKoIbbDLn7fz^W8L
z-acYc2{H2?jZK3i_@+HE2{V*u{6bripLf&|Bw^v$dSYr<hvq}QmPB^<PcB-irE1%^
zxg;aHw2k)UuNUkw*WYkJf>_tCee{G-Vt%Q5#h|h>(y<R4p8&wDdKCp#pDk`{cQe^i
z-Q*UirvjAx9@AGnOvv>m$4WbpP?3{KUTHuuOBED@G>!w@!s3+^r*lwSGYCQ#7+$pd
zbK-7fG44K)^&>rvI9pFT&<X4JU&)tt)ILB8VEeXEYCqR|v_LiLs0=)z_`+&Q{6xJb
zMfwP(h;e*8UL;%E75m=IB)Ns9wdH;lJ$p-BQzj<+g<`9^36>j4x-WOuW0n2q&?<5?
zla}I8{>Ou;iZDS_DW&&sNprOYN8H4g8{s^EZ*{f6194exO$J5$$`mDNFu4-Go)hxz
zxg#C-<@)N}4-=s9Shz1KRyQ)|(F&dJhf;cOk&=Fa2Y-lB8^2pHp<Qd6T0LSXMbA?e
z1GDr8=6ESZ4kS(Gn7rW9kmI1>BemSYOMU!c#EW8o+6#uo7=}^`6#SzM?m#2a7HL!=
zwkUwQv;_vcOvZjhjb2;7B=oh4wtGcY*V7N*NlDKPUy7Hw%|g?%?Jwz!GWU07yCd{P
zKR8Ji8dw&V>^8;P<#yDRLh0kOT^oTvnNYI8f>c(ETG6Uzq=f%8KwX6rt<hSw#Shl?
z<C}el^KME&b1G>LB*Cf;1bmXZ26!f~ldNDp-I3^Cu2Qa9gbXFgFf>w)S-o7IHM>lR
zcYzpzVfgHDQ`Jd6*7y}|C|99L>=8J`tnTVl=7}EFLNMgC40Y1>8rW(z3xrF21c);6
ztJqz3zy!r|!2=INEI|a_B4RA}s(7sh%P3rxvq*xsy^uXR7jh`O4M31LAzuAtQvRl*
zz`i4q0~Y<L0Tn}Ii9@CIPGK!-T1}3n<}Q4m_<Gbd?Gh%|^%`l8&0beu22Stu!w;#R
zo;kM<97uJc0B>VKo{2ivoD&JLs}Y!AE4s4QnTIk{Or(V%BNu!RddOl(g=)cy?`TIi
zR}w1RtgSba5chF@ad3C=vGf`Im^}JVO$OFmTbqFi;x?_qk!|Tg<K&TVCO<im&2PTC
z;bo7$nMZ~av1-rS)OZnmAe@sOF$a|n&@n!$hTQ3yv|b-%$ewb4NMsCjZl*ogOc?rW
zYYV;uihrRFJY&7E{wDj$guEt)TOw}YX+%!)D@u%@@6fElf2BN)f~;h*MT`wi$mZL_
zHkdMJIB)VoSw+v$V3#jCQWi|^+3(=-Pg5+(<mzPn4%*%&YfH~!8W7t`cLj=p=K=em
z1r@go%KAbKNr>Azx3Bw$1o82Mm>34Jgs~?E(@Uw*LXi`ecU|TLXn382b3*L=hs>~a
z-)5V1P-KFqD9$Y^VcY>fx0x~_o82ce5#b3=RB=0i5E_in3XWKeIUba7j?Y6cjteI5
z{nzp5kQde&*8;iL?Z8eyf|xc%cJF&7yZ@NWO)bk%Jb{9u%MqN*nY15zBOO?pZ#jzg
z>wHLiXf5C1Wo&;|z3uZ9`R^I%pS7+rgp7+6FmQlozlym#Dq~A!K!sf{WqS!o=|!S#
z3n$?KcXaTT3W-me3Drm!Nv3C&!^st|^r`l~hHLcD5(1`R!X!1rNbE3|6?4N7FZ$JS
zMd9=MsD&BQ3akx!WG&eQSCY|r+)H2T(Y!<}IMWeVy0FnX**a6#)2@*hiBkaA7Sl=A
z6!DidZ8#eFON1Ir2~xhsi<@A)@f4HtL?N-FC^$D0X*fhf=)}Mi!xP5-;#A$-7vFTL
zKbm_ZrqL6}^>ROPp$GE)^77aEFroRI%El7$LO3~4<fmt%RCe;4kgY!W7*zpSu>^66
zqb4{g)1=9f?n#5*V9O=hk2kUVOO{uG^AxZg<B}iwj`{Tli(i=_JR**~Y2IDLjmdUx
zngYD*d?37PRS&syo#H&)^CL!hs#O>kF%lvZ4l(VW@xJ(al{=%PR)DMdnm+643sd*0
zJv=Si_2H|7-1M?|NV>quRa8{W8<jLRK*lYCZ7&Fx;(guAI=3@bCk%Fnr39^`nfPLs
z<pi)YI!#Nl<#48lO9ZsEt|1<s-P5DEx9;tIt`<vIX-J(*PMsIS#klEBI|o(mzF#~$
zIp4aGSJ5G{ywP>ZGUEfZ6HV`h(*@RCb7~xr*Fmr#1M)Q~CW^e^x8m=;FyA_;++4hk
zq5*H_$%v=SB1RJQGa(a;AvZ?M2zds1*~DOg5K9Mt3IHW9$3Ce6zH$(1=Ap^35^!+d
zGOsNg<V0Euh@92^9B?!jsNKMrwibJ~R3_<%MaT6rk+GOTRTEeAW@Hm+X9-MfQ&1K}
zcZjRv3fTtSWf&zF&Kpl5)R%Wlj~a7gX9ObM!Ah^t$Npgy3pm2R7CvlwA;4%V&ONXf
zGgx!5*%`P!b>NM`zovL|wJ4CAALMsyCj8N8AGidCl*hvp;6-BeAGAtU(%r;jA9Mr`
zl>lu|Wbhx0#lzMU@R{mQdf}B>SaRSgjn3R}Pn&Q7`9Z)1esngx@W!QQTE19dRL!@8
zT3Y_xcx<YQ-iLLeUCG{9pO~1as@k8!se2u`5K?G}Btbrb;JMtWhZ+kdeDoB)eTHCo
z)+21HLDXy2+8Cj<nEz>&S>0HAG810S?y7SrfbiQod+D4JRNwt@c(#+zh8Xa<U7?9a
zGT|3ch5u^V_exf;pJ?LxTz}in|8-~ly@!1JZrNu_UXJf3`6xUVCv=1O4jezzE%Ji#
zG?5GZ8=9n)6)xr^KP+XMz@>*9s0FQdIn^)f!*wAzoOk|AbW4YbR5g^>fP<+$?l^~+
zyd}(0v-&hA&yF+Q!74t*5fVkoclAllYg?E!jT5e9YgNLN*&ME;M@K-Gr35u|Ur2_G
z@{B46`1#h)nmr!&P*b|9F$*(n(*l{0V(}UEeSe5>KgZ;nZZdM&M?xOZEp21c^N^UX
zyp%!Qgc*>tq>ImJOtwao6S^~OzVL8Utnyl#LPW8L@*~M$9O;~|Y$zf<87vR@^6v6#
z>|RKT0Yv|ufGZbx!Bq6u<QRN?hQ5`MM)uKEC(bqb#>*@kSw0Aigd0Y2aBSSitdquy
z4#_yY|FQa}lTOaISbo<|VQ2Sgk@j*%<Bk>|UfQdw^P#vwTB=x5Z)dhuRl)*j3W@ly
zlQcX@CU82d4E#$bV~iopdv+M1u3H^ZX(GChs|%^V(1c9i>!!XnN1xU;<flw68<*uV
zlFw0P-jiyt&Wm<{)-gMN(26j5NJ~pKw=z^PimD3e*NZeXX@Q#NlTRBkkQ@9^qC^XS
z;LRdU^)FgU`KuwWb>a9Zk)+bXdVHCu+@wzNePEms;Z0V7!9jiiGuBRe{((7Du}(9)
z)n3cR<}GUZA_Z5`K+ZL4){uJbm}G-d0*+p*d9aZ}h`<mi{OT9Un~k2gqUhej9QO<n
zpJ3m#V{9=IipH~2ZAWB!n{u4Ckgl@k14pdvFIZk@xvpdXaE1#`;z^J#Dv1)kj;3nV
zXM}Q2;#}rHv2<0ziC$n(Gl`9I$sbTud$G{!<Tga6hb1l7@TR1Z304P~GDTD|M0!3n
zk&7Y4X!xn<)o9;|BUcC8(Nb||_HhtXo^!3{KkP5olS@r|q*r{TU0_m^zrC_x{ZwtE
zMAt#{P1}uFYarFm{#Z3LR=<7a_LVtG`>rvl*RgAd{?pZ8Y<#i9WS%C38HfJXv)8-V
zO6nd;le^$@b0Q4)Z}R%Deu7GE(q?1^ApM2y-u88NRpvDg{h<haSC}FeQiTGdmYrpA
zBL?n}w|tzqwAJ)Y%LUVFjxIcV=L?f|_Ixx;W-l6y*40{YH?iY%XMVi2X5N@YB#xaK
zZ-!(Uc6e;WsD$MSxFP7Ey?8Nb#E8_%cpAkK^*bn`l|mMuk_+XWMNOk~Vu^lTjEtkn
z%OX&OtS(Qfo*b8u8N`hb8h4KR-MaDKExYMnuC8iw^s!<MX5GWQt>X42!IR_M|K1)v
zm=9k+4vEfm+9K@LE)$->dwoHS-Af_VzmDsW9xAkQxP1hzgZD6w=MmfeZ((sEK44&c
z-(T#FW7_DlBYH){pZSNBgPyzZ9Zt93BsQSQe3;YW?l_~yV;_9lO*9Up$USPW=FUWP
z6vpF$#NoJ%G4&<CdRZeYc)5AV7!zm4q;N5^TWzxnIj>uN$EUd{$u{^xtvAbqcE6k2
zgSSYx8Z6#n-$&|>0a3B@^q;^*6k+H(YuzfrmT<)ut>)ldB;v(+&!(c+tz78S4!FJG
zf0kX>(vXbaAGxP&R_Ss*dJ&)dryWqq_ARCJ9>^q#R#~sx#ie3j{qvsieaBVNFHM)U
zzQv;*V6BxmCDBf|b)~-J<(-t%B@e8$ZJy*UZOl&M@@)|26uTsEX|D~^*PpZ`?@OiN
zATKBTp66WhSGmTEf8;IhCI2~DcnQtsYLEZ7!muqFs}ZuY50z=oUfxM%E8sd~le+fp
z0aWyG@l9=EiIBF0RrJ&)e?aLh{&zg|KW7L6o)-6U&Q+=w4pf}V5(&B5LndYK^t*_y
zB0{<r_vSsRik@>KowDVf!fs{jw$00w4W1SvRdppA$@fZSZ~eLCD=mvGl!@eBQ7ii%
zN>gt;c|r=~Rwb+3!QzzM@+TlZ!T-!;;^A_u#wYaBmmk8RY-{l~V!6v)KCF&Yfu=0o
zl3mytYPtbuj_@tPpS|iG4r6dR%n0r%uE-jj8eU3>B+Bwh0yNhDvS-p<ZMHh-H1a|D
zlFriYVr32EOE_IJJPSs$)*jHBkbwW%<Xo-Spe`Fpg~fkA(%BL8d;aU$v$Q+v;alC^
z9Ljrr!F#>wm_H}lU^0p~jIL&qeXT)3sJMwlu3?mMOWa*r@ibUC^c96;aq6@(XJaT@
zqVqtPc0FcYQK+L?NImuR$(yLTJ{KDf)l(_lO_5jbf~(=5Kp+#F%De)r&t_#>jB9|>
zX<x-(>%q^my9arM;!euxzZ@Y_OHGbN;ViPVgm4rt9i=lPJLDbAonh2g%MsFfEW)?4
z&<;n;k{lf!L|~<vFU5;0!8#Ryy#J|3WHk;ULgLxjUdEAa!Dhm{0gA4N&G*>A@ak9M
zsA2Ty_dD)q7K#fVUlkIkao>-XxXK)m=aNPngBXwmU9Y#XCcpphx8czayXH<_^PGl+
zf&CmCHX&&a$`muOn3FVKoZpzob{y=rV3`)YFk)^E=(e!&9j+@DrNzUMzm~r5{}C((
z*V<fcS{=n`ke$gd@_sNvz;fi10X}V<gyDtNK_Gd9l`k>}#v~{Nj<nF`h!*IARW1O-
z$%mjj-QxvHcQ<g=h6FZ#bM|>@@-;!eZmz;D!hXrU-?R2dncEIr0Z+qcNOM02#kLV_
z>y1Vo`f{?-bD<G30>KH_1X!fqGB_|nAHbNu(13iEe#2;^e~nha+f#50W)<%C!+DmD
zurxPh-pqG}ha6o{C<%>3Gs?P@m8uBx8y9GMWiZCiVp6S>kbt;IZG+evy=9mMDR`|7
zXd%sTF8Md8zf9V*ucT;9Jogz;O=mzTe<HKU8IEp8#Ex2)6p=^rTZC2C3l7XPNpOZ+
z1aRu(N(+?o{qBOD`c?1Wo6vtftr3URjXx`C5c1x>sPT=d>aI?e;6bw3xI%|><b<Q%
zw;q2(<kQ0{k$No)5sl=+G|$^wdh)8y`8SKeBq*>~g;oe7&?Xy6HMB%E^957L2BI~L
zYC#F}E^x#uVaBHzo8A5Oj6-=9rAxstA5!mE2a!t3U|_nHzq3mtTbY86@GxI;^?3kA
zoD&md2ecX}68BD@HHIWj1pX`@{`D~0&(a-JWj^{&ofvBC<p1?c9RH!v4cC~~i*^mM
zg#7hWO!8oCncz8Z5%Yv>T28ZSd5YZiT^!aqzV%FXmhbssgtLHPK;RW8IsQ@W=OE;9
z$iB!1c&P~-Q1&Tt_=@T>yOIj(I$5_>R7%?&+csKP*%nz$Rc7}Zg)Z8a^anDBqKwR<
zTBO_@=vr84OXeym0mFacavRP$`$&uMHLBcl{mi2Diw~@8b5b%28r2ggv)Z?e9(k9_
z1)2lgcGkFY%bGQ4)qM|~PAZPSIT3uqDW=A@A{{y3;7b?FJfGT<qO$t$_Ha%=aMG)Y
z?_evfV4l$!RRaR^+RASxS^?oSv5uu|IPll#7ZS8-RRrpDID9o?#1+=@YYUws+&5`|
zN3@eq-O>V9Pdj>O+^|2zO1?JU+xo1SemTvE<!MRkir;=zC6CCUiTm^;d7+;@BK6cU
z?W7$qovC{3%wJU(M0F^~minn<=B*VGHCi+_yN7g_#n7xb<Az^v0={3^hBt0%sRfZs
zEEV-Qz#ZQsQguK)UuIVT+HvQ__2XxSg3>}v>nJ9(yO;o$*}yjp46;t50eqr3H~G*l
zNHi*2wZ6y_DFe2`2(c-7%eh;9K)1*9yn<8Ed~e<S>gU;0qz$W(JB`j05Y6$m1-_((
z@Q;P>{rqaUMWIl3YD9QJpCqaV)XZL~KWJhd@*yAN3>5w#GaJaPHc_u@TQrfP2R)<u
zq5!%h89{ut+{(*OpB{BH?qJ>6D$IR8X7nCbUSUL$;hrI};$-YA>rb?sHTIp`iKbh3
zs4fZ|4{H#3J-*Yvfn*ExJ-uCIxTDfyab2f>|Juw5CGnZ@<v(W0=2&9s*`!SgzS@oU
z`1V4+V_(`xC4|@e{JMXhgmrk2IbciI-^!clX&ydFd~=-XL!ubA?c*q9u5_!yt4@lh
z%J=kuUTe>FtMi_14|KYYlC0dq(0!g<V0!FF7D|1kgYqJZ(=8g84#=0<gFgh2fQcdV
z9Xzi;MRKtE_#<*Jk`qXLi-DFCB<w(3N%xg9A~=D0+FZ0>rd8TFj&l^f+P()<qM#{v
zD!uEX_j>DOPlOaUg(0?gkuQ~srtV}aRIoT`sKLBh8WEDv+8WU4Q$arusN#j)?^;9e
z?y0Bz<$&K~3lY4z^peCtZl<;@)rby13u(1LCRbaHdBk5=|2ytx(N?#n+vsjOC9dXB
z?!L=ywX^SDnuLLeS0TY2MaRi{06KhDte^DlOK(z&VHY^I2TcXj&LW@A#zpwwJ&J0h
z>8(*Ig=|=cr~J4j7eEj<@#LSS(P6?aP$EbTd*2Yk{Nki=OCJe`34A1nX8?dh6<kNs
zElV8T!4nCut&)`FK&y)kv7PfT;jYowFKA?cl74jt2eljz^#h*lcJ2&(yuzsawNZxy
z?Hs{yG?iygN{KEqHF}oJsfh8TyXk>|-TuM+;oH-Zve|VS^uJ}nm?Fq;Q|w*O=h<8h
z5-p4Gd6?Ec8^!J7!@h&|4XHiJ692S>C{XLk{uFGUff8{$I;XK5I+@VZCUG10-k#sX
z`2R)KHwAgt1YfpoyL;O1Y1_7KP209@+qSJ~+qP}He>>l9#Qt~hLp|K6dO0`a=83F4
zd4{LOI3ljUQHuZU9<bM1p%#(mtn@{k5_r_!PSQTKFn60adWNWM*rs+<T%O5j+0-&y
z94_-JEN7gN89kCWZL%k<%a$$8Cs!<>F`Pb8_euO=*R+H=zQjk^-O-a)>lL?NsLENF
zb%ZY7;M4un7SePVks%gb&6kIU%-YmNb;P0hd1Z@cY?ZxZlONx93~S;BJKs9-WE(jS
z(kI~A79cc}FYDSivA+EUBKMJ8u`Oie+qh-hwczC#v1IGZ>;ucA`G-A)Ht#ZbJw_TS
zE@zX@DC;tLD+U&RxzVIV?IHbqJ2G9wb~-L~lTOdJ<jD4mv{u=(O=7R2ZPzMgkFJL%
zWwjB5YUk^88k6x*ZMtYz>{lr_Py!04oBlE--P}ppzfSHR?C10g>~XCwCGHDUQV-Bf
zr9A4ZM@*T=l?_#<LvgcXhtf);pi(a_mr9yx$uyf}i~M|s?yOEC+pd$reoBq}HEc^d
zEvgXFn}{U7`2jc6G(Ho5$b7fR+BPzxhD{UwEh0?y^wqDS@|Uf5d&~4C{Bh*AigGKO
z)nuxydzGr2;Ynl&6HR7gp<Hd|Db*p+riab7bZ%4v{Kml_eB>u6RB+ql7zdD&Jc;$y
zix)Q*=k!HL^Y-oQV`sz?DL$9uT!o6&8LDTra9;_K>m0Aw*ew+8E*|b!7ME{Z3pRFE
zW7j@RzGKL82%CthB#+#rQ<C8k>z-{hzW1QonVv_l?>~0aG3!C9%ef|9<-?op&4!y4
zJg~&nL09$qf7V}G8YUyZJ#S)g4GNik7h26(4YGmgZln*n1I#iqL$EPPM3q2&gT(xw
z8(8OcBIEI6u!^V<35H3vVhP=0Gqa-qEK3C*%7}3|sQIKv@Igt5=Ng^~=uEw>@je%U
z#afHBiev)8b@q7}0Jr-O-%;)XH6vG3wz^%}{A)&KKK+a~-!9sRjYS^qYc#!YSC54F
zV3cbp$N{&`WDhqOG{G9EyVbdE;%7H+9^?p?RC#~Gh(%od3r+m%szE{fjSkgSnlS)-
zB7DplYcc^LTY0echXw5D4o+=SL!xtih51^1-%ndR;8h^(!$pKqqyW*DGT@fz2J66g
z(O2e*+$NbIU^q`!><1R(L(ETP?>@HPcdZOw!___b00S-;yj)aP-!3MeM<ch|EF<Ps
zRXt0eRe(A1?{i~^=n#sZV427!|Kh)1%O2A#>!})KJUXlDY2JfDc+o5ahz6Cm*=Nk(
zgajnhwZ91}zJnOE`bznK8*pvhv#`)=f&hfzfF~th=Qe`)^e(*3kU}ys7|tjL23*(n
zO~unj21yJ<BnEs){z}n?>2I)y5}r^<#Epmx(rWYuq~E>c)Bho_pj41!nNJgDD<fRT
zrX|AELHp^8kBW3!(Ih9B)Ul??!UV9vSg{(*!6E%@frhdmH1U#qeE4OX@#VOn1&n(R
z@cky|ou7wwkok%fnipNc6s$f;LXSnyt8a`A?$2bJ(Ob#j5$GYJ=Z%OCA(4`=59HDB
zoLeq%C;WHG|4X(hg^W13FJA>yaUQwB20XK1+i=sGn3J5n*CS+?DoD4BAl%WB$WXuv
z0u$umAgmgLH3ZWc|01G60nRIMAsxAzzM22eF7qC61R9~t)gY2=d=l-HJQIk@;B>hK
zL<uw!pGG!&xCs<&wORtC?YkRBq$OUY?rQpbatoA0|4-z~5v=D751f$N_|I`%@LdEF
zA5!`1rQN&<X%Hx{mm)z>$;sS~O-uRgwSfS@#;w!y9?$m|5rJm^APn-{rE*)c7+Mc4
zel~tJIvlV0b48s)+inryCG%Rhe@?M--TXHW-c;Stos0zn50`=P7IbO~+oFYhMmc7p
zG8qB2Au4C98{9wv_rB=n<7=5@pY0deS^Db4Q6X&0q$%F%I-;vU66@R{D|9iY{EbVd
zuDm08qUD5l%<7#veTyE39NRq>UAhxv-Uy#P`5k5229!zLACFmQLQ`G!u2^Z5sqn=`
z$K>1h{(<H#-egZic!t#7nTRHZp891<_JdFO9i?X>Oj^yv4_@|#2#aw_s;~ly>(r5C
z*%2n>M(aG9h=k!IQn4V?Pay>OG)mu;!-B?oB}cG}adBk$+PiQGB?9#WO_XCM@t1vK
zC<SKCAS>OjqzHVAgmg==9#We(KO%W(9eQ`NWisv!fZ9Tw$Ofc0=_9RV!(Pf&x^A)^
zqcRewy%<=El3^^_Pst%yfjLHBK^fXXl055ZAi-#=acS*6<!l0sv(ebw^Yjz*Q(Z97
z-6gZ19f!+p?19{iQ1nk}4h{zSFrv;B4_MV>i=xu@sRG@0(;ajSmW&KJ9Up0LxeEz+
zvI3e!(arD>WkLcI0mz^uDIb?K#XEAQfYPJ%2hU{=KD?-Q&n_6ST^q@hhuVW%?a3uA
zOT-geP{KoQ^0>TEkc6Zvdxj$EBCV^l^}XZW2awfvxmr*fhoSTq?lG0{;^IUJyzHgO
zdj_((fg4!lPWOyW*_mtQEraH|y3!eJL+4+GrFBt7<p!#nv>1!YPwJ}m1<yBI<8jN1
zpvFu(x?8I|_>G096Y3a?d-B?u_!Ci|iD|P{XycjiakdS(SOIES8uDOPlnHEGPMB*|
z$lktm!#yfi@B3tphKMOrRD-f5Vzy9y8LfH<`HO+58U-qD?CME;O)-I~o*KH$TyS_p
z#>kgueW(ZRO0a<qA&xtQ>a<P90irc9kiA&3O`=q_Lo#11>bJ~$96*kzEn6aq#UQ7Q
zh8IC@IHs3*r{rslc_15>RX?1UzryTWj@+GK77`@M)0)nGS5rL$y=0>fqp`6_V`yJJ
zup{Z8D`{H=VeZV%T6yzpyqz}0?y-^YLU=Z{b`TmJ7hzadukfcRZ*>%|5lrn_M{pPO
zY_`5-X9R5Jr^B)*)uy7e>5I^0afQ98$*O9lfIP)!wO|C*VwzSQr~n0{<(-b3?h6?H
zT=ifMBNrNV+hqy7c&*eJQj#x(8eFoI7@ki}Vbri{FG(iD8jh^HT`Lm~&H0JMhy-S7
zFHf(j!@Bc|X`Z;g!f@F-1H~>-9jUKJSXxNixDw35#l#5xlexPtYxFEZ>GG%Zj&mMj
zyGi=eH74wx2#`yYpjlgs%VGtAr7AD?rKjcqObj32<wR^I`F1WNVf92GlWm)h#IZ{T
zgUMy~)~#jiN>awL-9|cf^_JrmcB9ljSxYQ^7uCbdv=+g%-)nWlfiyDBdMU~_wC%XC
zHzR@COaq4+_S$sb(MB6RFa9S<S1-NA&~2M2V$G?f+9=rjD$I07N-EKdB30FnDEBLe
zqgJa;TCYovOuoW@E~|0$mo0PRd0k;{4;XCfR@8925GjOtopH}BjycoRu{vYU+6L>d
zlkbbg)>?OLo9eICwAEoYZKL`Ce+pY&beBhZMb_B12X4tsyyAH!V1|6ZfE?plVeDF6
zV+U8^mTX_S1TNAwE9({y)Tmn)VGf#MB|NYl)krKhq%x}AF56=%lU&;kp$liSQq$5l
z|LN1g-^Yx!rPEI(0y^WMb_P-{@&l0VRA}{wFMVL81y0I)l&PHT!V2L~E1%7UT5?Gn
z{=`0glCA$qoi^6ajZsVK)}Dqr%E=58@S<JIW3s7D%vuUhfncfdX@$I%56rPDa&N~b
zw1xc6lL3)eyQph!8y-kQMP+^u5bmleki}#k3}8r)LXJ!Et-#MS$ILyxGKbudul0ij
z;@-Hcd5J}ObA+v0<+_>DecM0}eAnu#;<f9s?i0Y7*AFC88C{I@f|$=B&8a|`R{_Ze
z&TY&2L?CCltN!eUTt@rD@(W=mvec2FYbUw{97>u*N&NSfb#x)UtjtUk%o_P89B-ws
z*ly+6b<|7##ZU?e%qr@q<$TDNBdSI1tX?mFzK9k#2Dv3iQV4us*q-6-y=P&^=K~|@
z<BThgoJZ8LNeO|T$HLB{Cxft3x9MT@ns$yciG1$HBU>H7U(eUuV?M2YhV7eN$L1|%
zY?IO@noZ7#460L$gM$^R?Y_lFRA#naxi(*0ly`jrb~$NEqdA$ZWavtH6Gvehf@tZs
z)lxfwx>|oZG5Mk~l{Ml;!CVo^xIi}xERnY|LAznQL;<%p@OgvlUgi{c`i;E^d-m#z
z>BC`1bsSkcrB=tZ8AN+M5#vZmIpZtK(v)mtNwRv_sM=G*rnviP6LmSo+^v}PQVQ)w
z#WvUsJA%+lb-`%y04fN-M%w9BT_R%pV*nj-K?7;*n31m%BkHUbo6j?GLBq&9{2D96
zVI^NB*xy?SnO`hp$w4=;5t!mvk7h(DT4EY=_V`7jFQ?HXxCScrL}We00Ft<N7fJ=y
z5wDrKa{l<JNLFM{4TYqKsw6*|FcVEg!K2oUXPMG9W{CHps<quY=gF1bJua8GkUG;q
z3gWvnD{Cs%y+Z!*m2{$`Wb%UsSljN%Qon{q^};&}CZ=@DH`6i!+Cv}nqDkHFDrXq~
zEQ({v`t>jMgcrU26WB6+l?=__-?==@9~Y%{_Rt}VbsCm|@&JcO8MHDIOu0TvuTJle
zg@b*XjNX9)xH5f{)HHeh&^&RPq<H3igXHA`)3=R^OEO;jV3*xg*4;TFMOk+^mwC;K
zZR@H`J1M5Sx`cPJgI=vk?;x*7RQSMFMvh+{@-&Qx?xc6Lj?(FLCIjLF8rFE`GLTZ5
zf|lUbc2ksA)?$+JOSyjp#EtboF{d&%<sEh9P>v`|5@Q^Wsu*J>sGI!=M-q%ipKpgb
zh#gS9&<?|g+{}#e*0IFdMiMTHe2zyF)XEv=A=7~k+vsZI-j7<5b=4m08*Per>x^LM
zEGQwXaJRq7ZAiX-(M9<Wibn4l%Y)<W#@H5a)#o1;i&&tn>izm!6MXdrC-Vky#)R-}
za-_^ZwX8|RHA<nM@e0yWzo!}5$_uZ3BTnF-j7wLFdqvVnhBUNGFsLMurbY@(Xbm)>
zUI3)Im;ATaXG(}Y)KH($wWkt_Vt$Cos#*oSl3K~F<(g0tRVC_Fi92fZed@yKy5qeA
z7;})<4aivGF@``*`<5-dF@VBtEr`j1Q>@k#I&1KvxnW`rk33<LzgD3-f4ew|P!Dvs
zQ0%N1%|n;hqLU9^Ar^qXs}GvhXKU96$`Qpx1_Wl|-Y^?!ayk8d@`4M{c1si$i<Jq(
z7ZoI;BbJ;b#I207c4T)mIFS*QMV$`zpexO3vQP!D>bSnOLYfH2v!RqcYtHK;IFU(D
zv=;SIoruG0D;N8U2N-Zx_be$<Xc2e^v1Lm<L$^3n;^=Vj^DMxNVDIQ^mZvxSs59-4
zm&Z!*v8mAJwECCSgejShgZw2imc`Q;<isMXGI|4>k>&L3Sbf&HpDm_O_&rAGv{sqg
zytONy1ga8`yH|&F9w?FLu99pNJzvqRO*k1OT^jgOA77|J2?uKgQIDl$j(H9m<{&KT
zCDMs}21a(%C!J0ng0C~|5)-#M^Cjg)Id(L%F150%G;TI_ozQf>P({Nu+y^K-U&teE
zjVX7qBH2R^TH*?=;EU}lCQ=Uq#!lH-A6`wV2vj1dzh3Buk59U&b0N&h#13`U<LPRU
z^li}b&$MuFD>;c2R)j%M?!?;?@8v{yI~jLsBJSn-$Bm4;Kk1|03O>S9v?Q_aD&3Q<
z;oMVfe#;{%l-d5pb*_~2tCxf54shf!wia4Yw-QP`^kgM3{z=M=Plhw1QliXnabfyJ
zg<EMXq)C@UiG7-ypCp(tZnf-8+*f1DOvAAlCr9oH9$I*XjAVnZ=UYXJ_D)b6uK<&6
zpgyT^bSt;Mq-K?*w?mzYTGeq^Zn{8l`7I|Y1YqjdqEs>72K8~n1f%sHZr!Xrzy37h
zsw9);FCo>{kF5PAScPk=j{T5LmY;%aN5?0?bbUqM`@R`zccRQDMq-2tO}$i_b5&@6
z5n?P^%5b4$Kz<shK*sz&_PiI=ahd*vYRmFEMhH7;+=^z*(qg-=_&Y+LUv_42mHe(H
zsr=yvQmjMF+t`@lP<i0%u|w*V{+|+Nqog;9`W<KErL`4?rg+o<84?CKYG3OYUfDUC
zw!&p$4$cRgs!tnSYZ7)Zjx#%}V`B00o>#`aC~vaOLsH0fTi<E@_Y1i-VZ&Xp;pesN
z+Rq5C@nOt;jHmIETOfqkxz*{DE^5h&H{9(hhV<h`zmhA<ipp~V1EXqP!K;&5%Fb+r
zkLLI%XAVU)FYF%<2(Lx@Z_Azc6N2f8Q*9&WJLp#)@4=qAn<T$6wamXxFlJep>xm4F
z6sRlQyG@tQW`|rc8ty`?=QATNo+Q<F!OwOo8mqm(R?p?!Oluc=T+vr8o=)H<iBzfr
z?^@dBUN=->8=pA%K6XujQA#S2Y`|a78&9j?hO3dh@-U5Vp(mcD6269h^4|0eXH#w$
zo|VfN%T+QVK%2Qi_kR0qol7M^>Gv&C;1xzj+--*FdCTj971mrmVRvA+?5o-Iu9(~V
z5Bv$6ys1fOqSV1$PTNLE`&ObV(6roET^v$zR7GLMU{O)9|FMqV!kx4i;xAQW{(PI(
zg||H3)b=EN<TUthiXCF*Y0F}G+{7k%t)kl9sW_lhG2+8awgcqct{tY@*&W)%Lc2Zb
zZVl<)11lt!RgEtQad!65NC{L3?2OvpHNE&EZ#xZqnQ+3?sXZ1=vb<1g7AEOcQS2vh
zI^IS!S=JWa=o!V-m2{nYHA?ldm&W9I)pqzFlcFC5unMyi&31xM^pX_>a+-MU@BU;*
zS2JQjNYX4;SjE3&SFYbPmwx*qf0{C~mpngLZo025*Wnov7jVHgTRiDyD#fw5G)9g0
z;C!2w+gQ=~mhJJ#Q$Z<vC{_;gdyK-#ZfNGeE4u-E`6l5_88v;|yLeYl@0A$YDNXal
z;^N&g8OzCZDz71&>_Za7FFZQDDW2s#Q$4L30e()Eiy7!%ON3+Uk?-sRyj$}4zlZx~
zX8dVP04qO-v_dVv2~liuNFfl$!XkBsRCFJIK0X0IqU%$;8=LZe`x)QdJ&gy3l^hQ~
zn*6<ZzgKC@80nifcoKW)3tlC3k5P7+x+h5DnN0on)F?{Hn$|FA5{f|c@0d_Et&DEe
zcYvb?<OiLaAYKN1YpTa<ZG24B7+E)q#!kp#PxW#%TPjU!*J5t6nnUQ#2&r18kJ@@@
zqz&~$`|Y`3z6=btZU}bD!a^~bBb^S$h8#CO7uVK?qv%~3)5EOHvw;Yen!Z;KM31@2
zwFMfo1Tq4;4+O6;vJTN@j^eCIchkrFbeZ3!;E$<CZCXYg!E^OZelz6C3|XgjViu#m
z(MMm@q^Q<js7{EFD3LOfIJT%z=*KAbDDg23iH98)eahl2qf@ItQ<snmCqHveK%^+V
z$fEz-FQp(htD9sjyGm1VZAGP1a@1Rp+b3<?AO9<((@wz)(e%qIyBGEv@)k2ihuxK$
z61x|H0--W1lu&M<Rh7&I^LhU)ln?Lwb~;R$*9DFJ0<(<U(~>Z@GNQ}VDy6+joz+I`
zmTIAtN`2?NqAW?u&`*~7_GzgJucVY=aCT9Z6guV)^5`Y65UF048sm_3y)>$(t4htg
z%{^Uv=*m|usc&H_EB{t<O8VoXp*xw_Ld<**3lqZ-5v$?u>yN3??_6seQ?_&N{AD1u
zv6zvHWu8LOP8N#c5z_DF^kP)DeaFeCHj5NJt3&&?zb+2Oct4fVgSr`77g5+@UAu;A
zS!L`9tIyDHl`(_Ewvd;0csG)c#yqhO?dsOjyI5iDBl|H9?#6gCQ?E3P2yLbnD^<8*
zURmLn$?p|y5$(0sjh8mWwfDSJs?xh1^9TgDZlPwD07!al72J{aL$4lLpw>p<BK75;
z1?_*6+IEz|4PIBMfx2EzfY*BJsDQX<VL#SsNZeG*MGcHas9kc-UsFKqpS$~HqPOeF
zLAogJTl5scUeX)x-A@VF(YlsHzBjKItO$aGw{sO_6i}M0px1?fyS6br^r?|N`;S+V
zb$ur{9J~@%u~uZ4y-=`OX6J_<PI3OdLZJX?xo&;E@C1sc<>6gBv5bwhYOl6t?f!0l
zpzjmVq<m0b_hLWUv76uebTz(FWqPgDvh)Jy<H41_RyVCksa)<&FKJcR@isNCsNwN9
z-!#R^vs+i%q^UiBK-aL0lAWe$U3!VS9{9I^M5(J`$(FVy<K5RURm*}r`F2TZvjPpK
zwP8t#N+(tAxU2CWwRG9UO{$Tx+FoWS*H%5$Z_}JN*<4;7H`!D~(9l^hfpym+NwP6}
zt&nN8-j1_uRAo{M8D0lhTdy6%rFCQf`#@%<ZC+f64euI2=d8`*VvlXz9A=b@#Q#qd
z#-w5-RV1YJ@wA9M1wo(*kiMbgU)lkg1c=yB-IC<s_^oc?=#}pd)hfa7`;7J)^RI6T
zFR?DaR5|0bMt6?L`}|<g<DT4%aD|K}75!Eyv|w2Z+Mni^(`~oZdEAHleGwCbY@rcb
z^81eaO~g>a8Ux<l#lhX-`~2hJ0`O`7aDI01{k%NfCC{&)-P1=vF7~A*lk5{w^*$o<
zPRaUfvHcC?L~338OL98hgVx(3>jdM;O*AS}Y5j`#`pKtI7>zSPVec6JjvbLPfu;Gh
zn9;&~#oXbs@R!hSJXk$J%+yIgXyz`G>}(S48~8;G2494FLRMwD{=_qjiI>*UD^nLQ
zgl)u8kYm@hy32V2<5i||V|xhbYx=i;5;}Zvk1r2T5lKCrL;)e+a78{s`J6TVMdqta
z#?7bBDw{7{AG4Hbvto<(8h3(QSF$Dsw*OxiFH~P0+stG99FCK5ciOYaA^l{x)@N%U
z+Mf3cp2&(e6D%_ATjq!cH`rbwd^UB%#US`8a;VSdagOj4!HPdKa*C8_Yx~Q9XsY~>
zm~Ii0c*$IgW3h)Vf>Jkn(G<mjyDbPab9(DHziDdR@6M^xT~CxO-(-xhIQc&HGxP-d
zA@`d#iB+V+suSu3&=!=*@+C&=py&kC=}^hp;OOz+*CFw(SW@`gk0Y(UTb&x4VFem>
zgp4}q?gfG|k&Y9(W4zcrt0C~Q1RPaO+^?dNP6X%`5mjYuS^=ZxbI_=gqmxCeKSzW3
zy^dQG#3PXo+-|2)9_UfLFAjovtn=&K#I9tUJgu`lbr^5Z&d^G%I}WqLqTuLh40|zP
zAecYj2h%jcwM!mLX_sq=?miESkzHB?LZ>sJp#>YHVSCKBDJx5#DDyh#OSRD$=v$F$
zUNa>43O31RI}$GQIZ6^0&W=6#C&9GP=-9;6c40z%vCFn$*RgP371!arE|XUx#eLdo
zISTgOTGw*+!$#LW61~A`>k+|$PP#8bzjVhZUP1DHq_4qMQK}7?RVW%aVkp~H`l3Ot
z^-pRPS~25JfVe4Nx;8ofsu2j(UxQ|Rcf$oqbN^K%4ms$gTOE--idGXrc}Bo^(i1Gj
zG}iptQtoGE&JgqMV2YYtpo!u28}=PBtwO5PMIlw(-qZ-M9Gj&laZ7MOR>yQ!S4KvD
zF51(i8jL61-(A3}tbx!NE{q(+JP_4A=<*s@t>|X1s;M}d*XAn;|22M5tdbE2)#nJz
z#mrd&_M8kCl4zTmHMYzmI+;3I8CbIFO(_0NEBNE+AZ3$FjW~)v<)p4RDrb{>JX@(c
zr9@vsIol{QQ^z*B+yL33UvS|qby~=R*nxZRXmq)HP(1rR|BO+Zd+Ww^c~G#sQi9+?
z)_Z<uP~SbaX_RZfeCt-#UV7PmpjPHMOc&xPDSuk&*L=rw0H#H6U$9$~s3d#(+{%@5
zX+!1SSsPN+i)90zfZ$`1X^ai>i5IY3X-6f_<-LEQO`U-7T`N@Ez+|UJ70F#4tpfY4
z>9*P)iT3(54bCMZv>`_dacwVX9HxKF4c(SqtS$Slyhj7;3$@<vZ>I{=j&p}wTceK9
z;kmH}sT%w{)|vE3f;WVtkj2syG&WPPq#o&b!Bu{8iIBt>Ohc{Z4Vh?e6tP%=z5{I4
zd-?p8ux~5fv7e^h#7Y+60INq8@5kYD{5y5&i7?Ims1qCdnkL(b?^~~isBjr_Q70h-
z7paD*w3NbAM?Jg^tzn5?`b(?|XJN>$61>~<fPIj>^be}C@CsGwpEfDi$t65CM%JwK
zOj(&}^3oIBxC+Mo#nWD^ptXQ$J?r_ms1(r+5#1W{l~4$TYWeOM6RtQ^CuO#HsU`TV
zdfJE35K{rr=eMjzsBB7zGFljl=)nN!@{=lWZAOj5j2D;Tx49mTFpfME|Eb55s7Q%Z
zQZlVcOqjR%RrWpclTH$*Rz44FDR0@O7byG%`c%iHKVJ8iU_23TcQOXLwOm}LZF<fV
zC~L!>gDv+T`lFF^#L-f+Y3Iv)y<v~GJ-?%6CE}NU8K9z|6&%nwKJ4grc{X=tc{a!0
z9`$?<U(Ej(^3}bSay#gu)~wP(aM8FePoq_L8$UvPn;wo9tWna7YER;N6@4!YN~E`9
z)8q2~nFj*Fo#hquEp%N7lFONyJL^^V(`paF^lsfc0qU)Ri^n5nN=&=K^2hnoH2ei5
zi93Q``8#^JZ4<py4hGO|6S*pANpJlv?Swk4ZrLr)RkRO?SCTD=DBbzYa%GJSGi}Mx
z9d$~t?XKh|Pl#6`KLK5rmxN>4m?nCG_aS{n`z{?tK20-zA-%RK)Ix~vFh{L=oZyXt
zO|zX{^%ZG8@Z0X4R>>gP^y!t0x7CW&#_f=nvVcj<glV=376tpkPFP)=&;aE4x%bLt
z8EO;9Y+fIZknHX-QL;UNO78+UN_cs*wfNU}#bpBYSYj+yO4&h8f_i?<Wts9#UeQI`
zq9sPMiFCs_%419Zf%P9))aO4PoMyqX76pVVT9e6`72t)<62bI!+}hNfRnk*Jk{zp4
zsZfeUum9AuJxzbqkjyS-MR88XdZ^%>krI4x85b59P1*H~YhtBzkM(}0F<UrU#PXCO
z_g4QDRkeL;bd;=PIX{zs)~wor@WDWQ9=N1w%Sy6%IBc5+Jd^AQ0|RPKBG_KHv?q^Z
z&6hw$n=EEGhM<smXGEA|{`!lja4&|3<juD(wT0(U>L0?;U(bp5QLjpK6NlugYXg>M
zVm^6g`^sjl+NRcN4po?$Z-5z?*<geHt;DK88eQbz{Pz13;o|b!63o);J$lO>Ehk8x
zyJ|Bd=>-JTqAOKaCDSgtVC_UGiDXD>`9qaYXMQy={<6W$SOz7!bR@D|f)d1IuOC6A
z(7=H69|^rSzR>{81hSe(Sk#vkLK1@>FG)ru`Jf~KL&lOP6~>8R{tBD)4+9J*#o*~C
z29*}*PeQzh0D)`t3-<^v%vsoD#$D&6luu*)q>WhY(MiBXm?UHn=U!3>|9ZZs8PNSU
zRg7#K8Fzj9G@0fU%W)Q)lX)B)%i&nbBdv8$E5}Xa0cW(J=wvwH6aLp9*|4&PlCdc&
ze}aN-!2>yhAN?-$pLiyh|52EMpkz^Pj@l(&v?WxzmYpjMoUitzY7quF+6#e53lN!Y
zCt@j>prmJ=Q*&8RZ*&V5@F<YTh{g#AC2$`;DHsWN3hsGNdYnuZ6hhAJ%UJPD<VY!D
zT#TisRMm7MD-K?>q?<!5+g;ZXg&A{XgHJd%2!%()?DMZ+uJHna2EQaRM*{be79MaL
zepB6d=$i-4UCIrrn;P?xHq%Aj>vbXL`}{biFZx~;JTE#tNh-}-h#dj?=ctt!I0$vL
zyN)3U_O*%F33mKB0Sm9z8vCUbgu%#`kuB0t-WGTbYKiw_LW9_c<xV_3&%R>Lp6Gy`
z<zp!rfV~05KA7*kAM3FczMJ2I(~9Jd<$fU_@UK`NbOTi)gYkF*`!Q9HzCh5gGmJ!y
zCG<QHTgsl<Hw=lfL%85k{C@E8c=kNc1a_$G686D^Am;CuhyY#AowlvkChZ{PFmHWk
zLu*#Xmu9v4X)KtUGwh!l4mS1V^|Y(k)RUD1zLHRyt#YVbKJ<%>)*vJ{fViqEoF=Mg
zQ0)*&V;a9|2vp_<uH8ud?{PK|Yz}>@!%vm-`o#enR@~`bTQex`BWva5*2V(5()x-Q
zOR~phI5~;igWg48-T6Wjj9;PU5{2t~`4Ga>!Bj&vj1OJt--$IRFD_;ibGw@HrBHw|
zhb^aZyactR?A3pgB$c`ZF3j52(=Xd7@D!8LD;Q6!bu|HmY~=fYqUps}%25}iV@Zxr
zs*txMW#yRs(T3w825_)^M%T)@h+mv6dhsgH(g3M$6<?o|Tllh@ZN;r|z3}<nX63;~
zP3Ma(CqoxLH=2VHu+hJ3D`o|lP)5HQGoElM?nUYT5Gn{M62)}#<S7!99FN)AdvFSE
zX&m%YG;+6A0Idn_5>to4LktKFNZEQV>%0t!jp-(!3T)l4Gv3ULyF0rx4}M1Xg8C%r
z3r#mZbxrfW6(m!LS`SUJ#9Y6c_ZC0UMP_*_w>;GkAy%a#ss#X4O{(_IWE+5d#_7~{
zA*&hzDULhY(YwnXDcjx!2<k@$%LmZJ+S`F}2_A&`iCPQjcvY5l>+Q4Ens5H`H68qW
zRy(R>MiC@ciA^We$Rzi~N{>vFZyX`jg@5O%4v)|l(xw!pua1kk&QY$Q$#p>zGM&37
zic@%Ml6$1vzwtf9L|VRS!!R7o0_v)lhDB~)+M^=)kW9d447;-WoO(quQGHVA$s=NP
zHfDo8l76!%X>Qr^%_HN;tH+;GI&!_2xr&Yqkx)igkz+lq@eNp`C{LSQzMCCA1!5lN
zx=y1E%*oH)mlWX3>aJ4YjP1-*?@Kj1Bs2$5HvAp=MdmC~Vf#cc5By7s{t=%I^}@8E
zpVJK_3FGt#I$32^Lc0KV&7DkHT2?rUBT&$Q;XUJ+l)9~T%n)6MUTLlPr4xZ?kz<nR
z*ia38c7U`e8A@_MsK(b|dXJHm{TU6%)A3W0GE%+irFv~en2y`SOFp7T+#V0Mnit#I
z+oDK5^q{Z#THHRow;7t!g?@Dyg>-qBr=wq-fpL&Or(c}V8ji0@xg#pdlc%u1Y(lLq
zQkkw?G@HT2bY-_pygsgZXr$7Tl1@&nz9G)~ibTK1r<l}ma1lrJiG1gaF1pRC2<f*u
z^dmOUzuR`q4AHC=W``$fv@Ow(CYi;x&Vc)46|I5tLtpHpMO=22&N533gy+}wj}49i
zaU&U!i4R{bFxcns^kP8_ksmT^JQ~&G*QmmpCYbx53zvOU#Zk!E!^S6PZ^%VGOpDe|
z!2R`b7wYxh!JA+6WmJ?~7$(5a!r39J7m5+2rAL~s-$v4#Q5NGG>!o8~mNtwT=7%48
ztinZpstwF8CeYtt<D$qEVzE#Ry)ey5>kW5vY|H1p+(MVF7WMZQ0{rM|=ulHJvvXj<
zGsSrEP_Q=j#z3L&^_bi9SPs8?xQMJ3>+_5BKk8InGz>2RO@bytz+%7?ib-_1K0mWJ
z1qmCEHv<yi05`fUBi%(#0vXTP5KUL9bHD9iA7&Wi7AoH|ZjW{dc3PI^bA1FVRj#7M
z>ljBEOW%BYyB!LFsic2vVJ5!Hf!#B2d3N^=M%Jla$Y}IpVJV8U8bJn?yX*hO3Lp5s
zQ>E_a<`$D+#TUH=p-G8UhCmvjmRZ{?T@=tKe_)-GpwkwAkSGJexg2BWPQ>2hA$oW)
zlU)wg|FZ)4e{59#^Dy#43s~ra00JUr0RqDKe{EEpoDH2#|5)3({cjHyZ7;hG2_(R7
zp3$)~%^8_5_@lXhBvPUM=s%XCtJ*TQ2j0ra_CPOrc7D^edxH}W&vsmEkt7zIT(384
z<@P5mL;vcb>oWt?wjeIyR82%xNd#y+!HmRB2^rJGTL*1dHKb9H7GyNmO&uMGa<+ON
ztpkZDtC5m8tEh>0uHjETajdsQgiS-`Q5?hGordxfp2Bil=ZD&4+VKts=Kvkc6P+KG
z+VXanyEi@-g<2F002+C@Y^=fO3?j`rP~!&-#dbA<9>k5zXg|^_G2R^aAR+D~7?wZG
z*lHiiAb)*8@CN>OECa?(_%;}M8nw-n61HQ$g%fY4mT$hg>Y+2E^pIs95hOBL1J5%a
z?nmHOZAQ%owni091r+1%uho|uPXe)k8bTG-RiJHke7vd<6iW2xxclrjsGXKMIAoa)
zwEPQ?ihNKuj)EXC@=h8gM^*uF3MqO-711)D#8!D(x3>%~g%}E=+*3HZzUy^oOs(mr
zs*UB(fc5Lv8B29&vAt5C2=YaKbINy{$v)(&5_c)w*zR@jCeCNI-QT$CK_8~q6EgLG
zILrR9Y}ELOY!zXS1>_7{Lw(!Zi!GB_!{e`IPvf%)726sL&CVcjW^*E{a|bXI*mUT{
z&fS7><qciQfDD@FE|#MXwh2ApTS4Imy={?8r13c0La@)d6(o&|Ig72G6d2G1ddn@G
zLzf19jhf^(oT7mG6ih0%m{5183+I)gHdsE*y7JbG@|yGyzv|19!}55}-!4IhYBJ-F
zCqvIC{%tvK2`3G<0JHh@*!0ddDEC{f0HetVDQ{zbgZfHBKcQ_i1knX)XAe>Do7;k=
zm_r9+fq)uZ&!%Pm(o3a*&ej8dQ}M5*gVG_&<JmTYYDT{QN^N<<5CL-;9Z0_kY0FQb
zQQO3biTjkfk(h=dR1sB*^`H4cOE#F|Gy0;p8*QGt4wqTSXi)p5wRUt^tT9Xy*U_+k
z{yg39F<pIqk^Q-YcU!&i;A7Rni;FQ;^uV#A>PYL9A-Y5m!7Ncq@Eyra4>3JsdRS?}
zHUoL`xnm0_x^}`RJ#vQOIP+)=s9xsqhc^V3)p<$5X$!t%4>{eWJChqrPCPMA!)>b%
zD;A#(1-(VqbOgQJcCA}}do+yr6tcd0R1sUJueH1$At-IcI~)l^l@cB~I_)@@D~KD@
zHkiZxJCMb2N*7_8aZfs|>wxMup$<~F$-X!i)%cy9uzJqtFqX3NtIZxW-9|6-R?l~d
z*P@rC_ZWh8ni{Mn2xg$Km1bbEFG-qW2Kzz?#zS)1Sz)P!*oIm~H0cS?=E+fsD(`dG
zl=ww_96e3i3m8tE<{QS!<gCt>_&h`>z+%R#x+{WC%@r)oMg~Q-K^Cow;`6J|6u#+*
z!&*)bmJju6eg4OOC4T#{+?m>$PP!;7a}x9QiaIJ>wydloQA)S)Tq(kXd=1k!u2+00
zpr!R%+YLgqabVtj6ytVH(Dfms=zIPwG`Fp()<g30=Fj&lhuw9gd%5ZDzInfE&*f%U
z3^xB`)*?~{pu2V;h{Q3`Swv`hb|j-@uj%gk6Z47s*|u!4JZt)LWRHELHGSIF%naMg
zYtUyO;po?+7%M_JB|eBqwsw;TVn>@dkj>nny`fkBIg<<&LAdylbO}(b!ehv3uox*3
zL|mX4S{_Es7)81Kd^lmSSaPrHfFB6UL3WOJy%6c2fBzbDrl!ULnmH_wTK2~)GJ_V<
zzin)HBmRj{gdgG~^Uva;Tw5F2=Pjb@_EPEx5Jgv1==D+*G$t90xO)f*RD0B5B*xvj
z@rwfbWR7Ix88RlsG(HQy$Aj`(8ZX&p)MzHuzci%5b^0<E1xLnu&mm8E+;m9WY%$LC
zN^=H&<qQ~OKJ&M7Zhh$oid(}-@<dGLF?-$tX*6V~l?J2nxCiVBD(>$IO3L;JVL}pI
zQN<|V?J;Ua-69g0hY0@#T`ZI0@cb)&RS}2oe@A#9wAD0(*gP;fjEIt&dH~4}#lIF=
zgBAA!_7>0)Lx?mx9-3>&fkgA0$WRd?9I{tn7ql(4$$#EMm5u2P$`rU16?XIilo*cu
z%aEBczT#L(NF0df%0EL%k&M&XgSwhlPBHL|OW#ELPDlZSSrl3+*?<={3}tRAl{^@Y
zM1nC8jU;^Sv6?Z^=h!Y1nMdsNPWN}<*>z*LCvvbpQ5r`5jrp^hgu`b|JUZ33tf{d$
zas6G(DoLS_&6!73V>g@eDmfiMmJR={cqrDQ1XPB5+$YH*?C|&Iip>F~wXP;Y&&?yl
z|G0)Z{Y!V34$+5<|Lov0K!Jcz|D`)^VLRJ@)@RQ8DjxQxPP+f)x)$Z}|BT?iQz+G0
zP&b5CRpIbD@w5@1K&!EtQ4?e%)<2$I{Dr70Swt`9UpDb*ipEE98V1sv-BP-#!j$r>
ze2R3n$6wc_9T-H3?cuR*>l3wQlw?MV*4YeDWLzr}@fF<_sF(4zBuWs^+?ihIK^(BP
z(ew2LqApxHx|Lhpf@5JOa2$C&2RLcrBSwArrPY--qY-OU4m<|0eg5iH>0==U&a)zc
zE>E!X8=-|knTj+G7R!aP82rrumRDv7L&S$*EOv4{8=XGqP;Ps1NSG+TUNCQ?v@xcC
zILaj3eG^e+cV8Z9iPH!kTa>^-<d*-nK%=3ihyjg5q=3!AdoaQ8k@xa$%YD6Xxe7S<
z@}B$wj!m{ox(oZ2joWvkw`~!IxuegnPI1;ReeJvQhWbAU|L4nAm&BFx>mS1L{}6`#
zhp@h*skIXW{eNr8;;z)-Z#0NIb?6TLMGWKwmo7y^H{xgDnM7mUOh3|$&7B>Uh9+(H
zk#0D`_nA0Qv)(NWQNDRd3t7=9+A=WsHlfVY!rSM`tAIqLekg?%1JPG3N=^C`yK<sZ
z{(=<xcoicd(M_yv661ij@?Rz^1(M@o&p1Y&AEBIk_$*@+Jbh+Ac98gPi7Dmg+qO>|
z{wm2!d$`f)%UFT}U>JT)QyJvPUSR;x`bEnLas?|>k5|%y`+US&qGvJ5#fDpruOUqw
z-_TTn>y;0BlPycOFZxGfexsNZ*?{)vvu;@$o^7SPo>DlUWGs4jTOHM1ey2fy$vpiC
zqrlQO^}~@#uJ*`>F;-iiGOD^co?GI~A4*%pZCw-i<({}01dDs{|3T9IACiLXfrjx>
zkU%%7kpI7Zp_8?Yg^{D7qlb{Aotu-XBfX=&6VNY#oxcBb9tsKy$nD?xf8hV$=f7BY
zGq<xg6|yt&Q2vkFIng`0nl*o{#$E}emPYhS5ucXgR?}K8mo-8xX(h=yh}VQDa||yc
zy1A;lJj)Q`;pLCAx8mmX|8B5e@9X6!{y7G8kL)w_Ic{%we0=Kf`-T2|q&ZHU7Uo>^
z0a)*b`xO1Y`2o-Rt@__-O>{3Ow|=7Kej^f4_@jM4B~+W8>;KBArG`hdHTv4QSKi;>
zb#wapeSeW2e!~7~PTis{K0o!deDr^Cp>j{(XDL2rAGLy@zy$X;-}`tUc54fAJ^;%>
zzhxKq_<KKA{l3#a7*x68`~a6M^2hps#_P+iG(Uh9Td@b=mJsk_*W?2Uc)Z$OF?J`U
z@;he19QNaRdQm?)e|YV)-6heT1f2V_x7i6azG{d1!DS#`KeUm3FP{4mzVgo+>Me9{
z-}*(r-afw1HhpgT@!XBL=`UJTow$5`>W@0>Z(jEO1%UMce(rztcl&>$AJPtP{aANq
z{pNQmf4m+c9vQfvZsDKOPW^g1^)qfCKiV2AccT2Vpx){LAS-|m22o9$f2-e$5dgc`
zNBsQ}_<OeK2mZaR@0TA$@J~_6dEeRXwV%~a*DOER*Q@W&Bw*(rfL3aZ|1$}=kJ|xU
z_K9Bt{D1C0+AIKZ`CrV>eRQE?{J#Loa26MN^#B6iD}Hd~&(~0LKw)3pmv+$iEiBaw
zz*3?CfV^-)SO@Tu*axhFe8d%d8-ss~@8$b>0d~{lm;4Bj$$y}IA^i=n{uS)=wn=})
zrGEgJ{1<&c0KUI~gld3W%UG-rK;L|L?dJG{@D*@xVZM8UJ_axw+XsXwef#YO_4P>q
z;6?-1!(3%9ANY&Y$p3v?Q@S?C@06+5?tPcVo*aOWCSZmAo1jiT$?(AD$NbFCYNhdC
zJViOn12*|TK+`II04C>ZC~N#Jge#8n5=j>s9{Q!2EJ6x>>M4)C<4B`Jc9WNP2<CnS
zd&FwcB!@jh{rs~*WpFK3rM;`HByfR`4h`d-ks$n_Z5sZLG6W^tEb>p-`>v*J;UJ(?
z7N7<wePw4~n%|AIsJJc2=>V6+S^27!rD~#1!Wq@C4<cp=ufH%IL=Ue4!XJ<Qj?47c
zS)^50pY!u^2%CK>#8WWSU$*-=rLHME%3z|&g)TE-a_AhbVdPp__~%YzXwY2gb>3+5
z@!G2GUj5r^14XBKk2E@p;RfK=qPB)9e`1|V+_pP%;}LCQ@FMe{WpRn^qjZd!yA!3D
z%%Ce<-@AaKb}het5ihphQ79P{Qy_0z<hLPCQE`-&>XZ@0PYSiiBbM27^~K)YC(Y$F
zEDT|gaQZF@NFma&Q1os`!rZqO48NJCem<VI=Z!qtOE|J_z%h<ie5PN}_)ttI$E&7V
z?zRAoXQH`vHwJvtZaI$XnL-`NaHprK=T4l?8N78K6>zk`-$F{jby~CuQJ?0oWK%~u
z)eOk8)uTD-!m&X}<D?x1cgMDIoGgiqz;HS}Zus2OpSCMRq+Tcx*hvf{r{Feko0v!_
zKC>k>(=m$4tW*Z$2BC?&D3Xe_GHl8{?a<0pF7%nZ`)^kZFUPlOgIELQ=6yPZtWkf5
zA)az@SXbpyTgsIwb#9@T))g`rhR3wyOn7%3Tg=DiDaLYl%p@tgA~k*Ck7dVlC+25T
zaf^%Fqg4lhUAU*Ap07Byhk;r`o*MJ|+)Kth#yW8|jLCl3tXN;$(Lr-8OoaU#Z|Zfz
z^I=wF{tb$uE!LLMR<b}VX&IF1netKy!kE<766~HTr@8e7`9Up?N~=Hbd!ts!t`Lfa
zoc7jnViE4l01jx-N{Ha%M~Xjn^icOqzKg#v+~{x`k<<96-oD@=iB}ueGWn~Wo=w4z
zKabsgSxVup(P&9aw55Hc+U*RR6x&7?9R|8JPa|!g>oYJB3Y=n<P|^5q`Xbo@F7DKB
zW8TwdX5~yYvBciW2g!G%1&W{rGGk;jwp5AF0aq#pa^a`}#?iH-u81$<xfY?koPHSO
zk3t2!j=_46wh`f5YL;5FpJO;a0~&Jn+nEH%lRWpC>h8v$y04>L6Qp#l4H4FP@`+`V
zbW5m;lBQvl?&swq)WVNSaKHgRQ%}CATt>t@(*4~8^Ewn~(?H+b%)>KIL-U{~CxYu0
zW&(JJ&z;P>#<}ykhkaMp^!#-SxK{arWs6!5k~v8uojyTera<fY-UQehUgIU=-Gr=3
zi-A08j((c|NP-}(v}FW%F9c^}hPXXz0w<#X1lBM_+e=VMJ=xFhBJ;D(F!r$E>Mzop
zwk1xvugLTZzhDx{FLxH)J{s;fdgB>-Bd^t>xKU_h=wO$_Mjoo2{_?o>RZ(u2#Ys?N
z*}e)h5d_EA6R)DO*UyW()@ACnzRQXezq3^AyRC)1pB-zx0=JXH8;yA_9uE&Fh>=5t
zbOEu?py-y$UlGB?*-H-ZDCNRRLow1>Pizm`q|}io@_Z_*LB}L}4^gPjk2J9`SsKBf
z6=!a-jlA`wzDqrYM=z&Za(hgB3lPq3KS(2@@O2_mEUrs;sAW4m!WkZIjC5X!8Q!tv
zach<G{Vo57pOd(W9|99iU~ukN5Gc<PP*_~adV&<{TKtT@V}PqA`{V5(&vFjMXe&G&
zfQH9Y0G*U&!x&fLtWbt(j@_+ub!Qu((8UPSEJBN=sriYyi+cYX!wj*J=dfyZsAgWU
zVy!Y6G#e<E&4(+-b5!eOLGUlF^w^v1zWSF#%JLH;kYe@h<y;6pDq+ZY_zZ_pH$@N+
zWIRLfb-P1}OgSR)$zFTeqabTa71et}!Ubxm&EK@^$C+@St!lb@rd<bBm`c6z4n2Op
z)f;IJOs}D<H^w`zc%sX*#`bkQ5Kt+`hAy(5_RKf=Il`ErI8E(|w$$&5Jz5w~ZA)Nd
zR0vfA&&yMO2sgL99txYMIZ_MOtlo6Z`X3ttPhpLnfl+EViq>&xm{x6yED})gqCv_<
z>W)quA)goWSC+~aCG%qV%_6KpjTs~93q?%*rtlI6{4Gy)CWVPB@mSM2Yf<N78`I!u
zom{VbAQH3&r?2u#0kyDgJA7G<2U_i|?uK}L|N2W5Pyz&^#piZigJn)k-rKT(O@E1z
z@KzA`m`Zv4@+)8%7t@|6xw@>H!=`{rCPbeu{>XE@1_(`(Du`0UeBAQt)ftc4Ocp8i
zbxx==umkgYSwic;m%nrR)eJSVkRnL=@>Pikq8BtpFhD0T@-D4AvKy^b7MNj#=92B=
zTCR1lq6z~cs8$NLM&H-I;Hd~W(S?$0V5(h%Ta|%(_ir+FCoW&Kcwf2anI>{}gd+|e
z!_TMpY?i@J#e5zJ2eP@vOi-G2)XC(;XFg55A+XydXHWudAr*+1P#2zw_jo@i*k#4B
zbwC|G_hP=XfXiI&{z^1bX(Bd^i`pRM)s66~krt%GLDIvQQWSmc`J#LZ_6ZiG$H^U^
zbRZ&YbA#Tma+bTlzMjI#f;S4Jvqs2V`Ck|tbmChC*JOWL{+6J!F0G)s$5v_=2v_<g
z4?o?k8!+gj$qm}t2q8t-0q=GyqpA{>vic10xQT$Iu&(j$JV`&#_pP_-@x3X_#jDBC
zzWxE#Nu7dB?9V&Dm(#hf{`q6VpqcZzMtZt7vGcn9#|t_Hh~{^7D6IR+x=P?jSQwj3
zN(#T%p{wwDgqv3v$t&YEs*RL#qNJcUVYQY5B|N^a#SqSjqEv1D4X-QnrtfO|<(*y3
z2$9R6PB<EMre!(@hidJa_>)t@j<tu*7~n2K*~xEW_uI#JW?3kkl1VogY7$Mxdv<lM
zO7hd<^$c>JCY=6)Vg~N_1IE*ZBkBUsWcahA$k&8|gFj0|Y@aPFNrml2SK8biQ1H5_
zIKk8p#x9b~Ct6ONZvEs~{sivDd1xD$IvEE9gZAsVY}vtAuND6X7MM=yzFAh#GQv?W
z-FW9d`s^{iDh&VY@HDA=3B~B&n;S(;+?qpq(ylaIV51GQ91#9Hp+e1DfX@Ag6U16s
z=EmD>`e+`b_DI>1q;Nt-$8IckXyI#>dFO07yT)bq{&-FX-VutXA;B>JGOPo8W--J1
z38$$<qc!{f4P+XH9r64sxK1(Il8uzhc<wU_X7qGaA&qV+ZR9^Ty;;OmFx~eXi^_x@
z@tb}2u?=fOB@(U!!P7N{UGjTkRH>kD8tkvS^^7#hI<wofnK^$DmQ{IRs{XeYUb}|9
zKzQo`CJZ|!OpMeA)}f@$+gxO|Lk-S=ovCLC0><YSbIeH=`jx109xG%l7b#yW^@)05
zM7~302f@JacAS1Kc$4+@18zyf$d~I&%|eBP6fEYPAtoKrxFL2=6lhacra!jt7-E8>
z%*+2e+*vjQR7WSd2l)^wLMlT}T~#R6+q6b4Dn^5zHP45+?L0hTT@Xl7eZQ%na&AWJ
zt?}h?-^QiBFj2l7fIVR25Wxb0fB>{HiTzaXzTptoJ0QL}k^*O1&Otl~Z##4gB`B;K
zudD*)=Oe<c=<_@#yfJ8Qv5QPZ8bv-d2e%G(sFDUHB~|+@)8mwWI6QeOE56Al?nw9C
zhU{1=$gF{992&VbU-Oxuj9m5;5-qkejWLX4-YTE4-mhZ>9~M&4z`2s+kVGf73r(RG
z&ws3j*Jm?+5n%cCMxC81$iM^_XXtnPT%Km+YmB;qQhkj3awEDyBB+YQZ(P^QZU&jX
zkB8Z3ahvAfzA`?~_(BX2{m%SIO?%ho@5ZHKZmxwE;xSI!0Vmv5Bx8FLs=oH}bSX0N
z71*~uJ4sc&zqoE==nGs=w3oKAze)N7>#z7#@;!U?vTpskN5DiMP4WO708Wbqq69AK
zL;*K^hlt1Ok8maTfs4@$ll56BY+1P?X5lVT8(HTH-QF=AAnn8IY~(rIJV?l$n2HU~
ze0a<OZTB1qZi$d|ZA;y(nTrPw_C4cvXX2as1opoGLqNR0h`sG?^f3y)x@n1~$Qvin
z^<-h&EX7~(L<BvDaAL{Kw+!R*v;9OiylKL3c_Oc&;ugbo<85+ZyAKq>EJ(npVJfLO
zso5RFAT;KKh)45~XBr9O>P~<*35j7dbL)Wwpua7LBrxZ8W=lR_2j#g5P|6v&z8XnH
z%kNWfMU_#~cH|=drLi)GeizZfbnt#em0tnV-NqTzzJ1J$c`&C$TIoT@_l)A7z?3zz
zditu-a6TSh&#2m1osHn$3aOX>9&EI~gu@|d6hZpOXSEHzMDZiQmup066i*L?qS&m*
zIOAJ2(Cde{!swWw1y6D-K!4cmIsfPZ2Im_0>46LuSq<0eF9!R_nM%FCEH`Gq73j6h
z7iPNmPrgtYaysQ_y%Ku+%L{}pU5m-DaYBmzHiCH7PF^*Vm8(mNzt%U7A$z<x@tAuC
zCBIa$9Zc^>T(LhX1bT3V{z<A6;xR!}sOq~(%k`Y-64$hh*%U+Qy-)Yqa!i&^{?f)E
zmU$}$42hNjA|3H2#X8gj!>obyer2s;udiURth7SEuvC8xZxOxl^rH8Au*qG+EL=re
zw4xXcC0+p?ZV?gGE+93;>77-^bG01R4F|ndTW;&eVvy;2RZRiiy8&IZNfeJ(V_MJ-
zI4;WS{3Sj3VU@bcRR(!kp!-pZta7jWVV4>9>owgwe};ZG3-C$0JqBX0ihFkbenjyW
zp`BR@$PWs=s^{C(tRHe8i_Q&VY_OeQYir>?Qg!**gA<<A*Xb2oX1XSB)tz2%txTXg
zAC#4b)_zd9n&q@XisU^RPWggwOjtf2qqv|mN(8_Yxsa9YS9++-3xUvN7><%I+{CQL
zCzeDZQSZ1)c;z~b#try<>9irda%UWN3q*E(Y9mT$Zu<J^;kEhNQg<V-^W2MXiL=(S
z`jz_W;WPlTHFrLQdy~9$@M2Z&Zgv?4LpO{{6b8zR5cq2ui3YN&7jp5kn#gfSG$C%?
z)#la^31|?{Yz<=Zsp`yZ68UrjQy~<IafJP&MqTr;kf$8g13+^BnhmAN+r5Z@Yi4mj
zY0vBDw<AoxtSITfXYIf-KpPJEaGE45HK$SrYEAp`*@n6~9h+#yUrMxQ&E8Ov`tno=
z`mVYBC7v~=Ov=6SR1qw#(bLK$8LNB0ZdiVKl;~Y^2-|p_CznY+fuUd^#(KXfjP08G
zD(TBUSx19m!;`Qe%^00GM`^XG-9S^p_KETPaYX?Ka?9Ztho^X(ri<dIWf!-!CQiEb
zD3fimW1(xz7%(u3-`9iReFWqWRT1JCxL314uFO-5x2r~7GVoHD{o0#zBh@96n_!mO
zv%wc8Jl<SQfe|)FHqjlH^qy!$FuX&vX&&}V=T?}b#VXCSr(o5i#>Qbd<nZ~rF7lJ4
z7UcWI#V_p9Gz;Mdymx8HG<^7x38ig(e#hAR+w(>9yjWZmjqNor!y-MS*XHr=j2%*&
z+m9hlk!Hkpi|C}>h!9EKjfX`cIM@<K@fsb;)X`~{>ixP<SH9hngXt#xenc<|g6!9Z
zHR7dFEmzJl0!fvp1%TcJlb1fDZD6A$L`mik?v3lb)$%s%!+I+5Fy+LRV*S}$U<e91
zbS{$$*w^p$8QaD~vDm$K|Lo6?!?R_xBOgH%s&|ET5@DvH=`cQMA4a&4d$z4r4WtV-
z;l#Gn_OH_If(wUOe=k}1p_jA#Q;V!_#os#hi`|+qG2B|(j-AuYr_k)Jn==ON{^wg5
z$4!Q3RF)H4&-<<dODl#dl45YEPCnO_PsVF!W)it8D8A1o&&4?#6~AOy>uYp(oO`!^
zVhMcDWM-e9I8Td+%;N`3iJbe9Oopr*!@7-JWv`@;B^vyN-BV#?L$_r{<tO=MI1q+t
zdhj<@h?}bQtN8;%?-L1z_3fk|Hs{zETY-b$Fm&#_@lm`jisZIw3*!3^sYsoMCfJ@m
z2YRCl+Qo5|!3PDjiqA3lQQu~%L;ATTJh)zOC(9>Qv3GHwpG4R6*@Y~~5ZY>LRpd3?
zdUd<k3=v8N!1*P1c-4&p=^oIdS^Qj8`UQ8$Aa;se3!n$GA?hJ`(z&m!1ZOT)a3*kO
zORXV)=Qh54!{1m&vSvo$RCSS-9}%Gikg`wgUeJL&(Uz(d+`<^moaRL&F|otc3elYK
z$eM%Y-~>cHxU2)}UFWSzi{S%T6%1Gn{^TljIAyUzOS=@ui=jD)N6pC%c=yx4*2*2h
zmPaU6oy7MHE1klcHWej9DGIEsTdL6W>SWQcK0iO4XA%OK11IkI;w?IBbroPNzCteE
zv>kGWfMExhQQl!$sh|@{1CjFdO&R>#;@mzrr5yfLfmYR{ky6w&q_|6qg0)CR1MV_`
zzZ@BS_T(+g#NEZ$p}+k2vJ?>0i1qpc^q2+E<|KmLm_{bm;8#tjpnZ4vPaWfM9AEw{
z0ck`9s%j``GbAD><|7&sUdj-L&5kIshyLg!LJE9EFZuoe9*766`m^*z8;Ps{`3Qf3
z216MdzH^t(OH)Hy&rbTzV*%ZNw)@DiJ{mJsNTSh|cnCd@m~$Z0;L;{B`fSiJb|3u7
ztfQ_PFwoG5Mfwofq^yZ$mN=Q#y7de1N$IacaTV_AT9To|Jet!>nDRaXS)Kn>IgFKP
zqKC~D8`H4|knmQOUEuO6oEfT4B6@vt1T*moPI6gZ3(#H&Z0{XHsD?drADZrg3dAoF
z2bEb|sYf;u5`V$A#X{j^Pyc{Hpm0i{NUIfYAvQ;Zpwi-cSEXL&G=CV3JAtlTYz%UO
z=s)YZsUu7j`4?Fu#fj<^mWk07E*)x=NBAj%Q7@{wDw&@i!Ou(gr0jGYs~eB`6McXc
zqn^N&>_`sR6S=SPWpn<^M^avm5Z^R-SW^J7_;yu=<F)+;dPPMXFenh09E)LTuz&hX
z7y{V%Tr>@Q5eD0r5&uHSuS<qJ6>ssh+Lz38#5${dTRFvDA6g=cq*tTaqP>R|wC0bt
z&JBg<kE`th-knX0K0~7<8<j-aPiZAxG{@-mg*c1agr<Wb7JbM4p?>Q)GD%qlbA$VM
z(SSS;$GS&O$Ru@h6=0SWjU56)AQ=sjyuH4OMi;zOKa0tLIQ{VjiN-Cxw_eTo$!!*D
zl@;$0K+(8uce(q!v4xdKFWqZrKf;=?W%Uafhz9v#CtVu!97`ZR@6ob$1YaZ^j4b70
zj7d<ya#>ukg@RK<V$ewS=&)pv@oG>0+?zbSa)l4Ndsh?VpELWqsIBcD&CMz0f-=JX
zeOERh=#TIl9~lS-X&|WG@gpz`6d<0jjErDwCh(mlC)D(qv0Fi3g-qX{-y=_1I*Qj(
zW`>d0HCwoA0{c;VAEOntd*tKinXEW2{=`i|{`wS)li-SZ9nIbtgAJRIV?Fe!TBem0
zZ`y1Si~rJv-L5N3i+;3%LcrDfY&bw^eP~gP%75|WS@mR1nS5~?L|p*!RuHORdH{Kn
zL78)1Ir33Ln&-k{)Imt%i7TiDxK*Y0lTgVoR63v@(;aF{aB1O%e3hDkGzSwCKx1aX
zbpkrJYd+Va69rn#fKaQG(mO2p#yx#5T|_?M$YAn8Q=j?8_D(FhS9B-S$yZ3<VpC5A
zf3Nj^Z+PZ_i}<6IqD@yUnvZ-5`?2+bwc&oT+U!lv=SIyrz%&XF--=$2G<tWr`^qH8
zPoDz$WTF|K_}e%67(VYHze;RP5+$u)+93{@DHmMW!zd}8J7!m2RlB6;RQ8E??#2_g
z)fu7!wp09=pKJ$#)o)*NUdYJ=!A9@P-pu7pF=c~n&;1A1$ZiCz25W>mxfH5%;}<Xs
zF-d;}+y_3JGvv28a7M7PF5#X2Oj&wc$_?*|uS5LeQJFl^PCgJOFXEKx4I}&-4hLM~
zC=mt@J~)B_4Nd)IZuNrs^SCxcaT5hE7sgNUZ&~By)6z=(VgNEi69+0RNJ^<S`Yz3;
z$9X3r%gZq>d2IKbkG%?g+!#nO{yvC4QGG`fz)L@YSENZHhIe%^89xemX5XjYPFzEC
zCglp#;>AKW3M|*h3P*6!`QVw6kdlk93g-bvzvsf*<EvhQ@9v}by(!dczLgZwUD}R3
z5OF_Nyxp7x=D^{?FrO~DWLL}AKnB7FB8M5DO2M>Ss1X~ae#y__68r(Dys-K7toNy+
zy2@;hRz<!ior2lME&Kk`<VPrzSc^1=Q)8OU<wbp|l<|%OsFUMD&XA^XAiH<G(xb6j
z<DY`T+wy7IXVlAnDxhDF|9&(KzG9I;)h2J{w2qgncjZWFZ|yHn6dvHO2HVfGR?^Gh
z_iLRQwJbkMP3kwvF-rNHMTDMT7nb3p@hOj#Dz403xUpq!vx-4s?H+_QW>|C<FTAP|
zyK_~s*5L-K^iJXqG~JEkDc2svDo#t$dDx7NPz&CC>(4KUVy?Q!d=B<xO9$mW#6YkJ
zUC&guKYX?aH(yVxtBOYQ#>L-Y9vtgD0`6*V$wj@=hN!PWdk!&-%#5ncTRWvH|2VAQ
z;Q=+zcpQxh@z7IV?Ol2cWB$YArf5Vw=G7P}r3LDeTG5cK+0F|mcm~$wp>P(`M|wqk
z=iS4VV_aL5NcbaChu|bClrN%zkl$b3H~7peU1_d4)u6wlif#RRBin0o#a8KgV)(8|
znc3!GSDbd$a<m6u-~P9il6Qk|kLJ0rR5|6+&h*5b#cXKF&7D6#0~Mma`+mg10<C33
zPSGzZb;yE&_pG*5JoQ*>Q?F?NW1Ng3S_*w8q4#cF#sE>$o&uSYH9FImn9=L`eNnN2
z=|H*46QSz&=p_^P=l8(Qc-;X06?FpFiw{QXpK*x+;>+<qSms+c(OVa@3J@V#3M*!a
zq*6ldR;Gq<;gZG?CGB#@NhbCOXnn_+AG^o#-G=ZF$&;G$RIV0yarUF15(Efsn;^kO
zWMkHzzw)f{x@<hAacIi6X!Av}62rF$T&q8dno@q#M;E?BgT}pEy<R2wt;PL$4p1@X
zJJ-jwLG2$v(`fZeeSZM}4|)E~JNk{a(C?ADV`YLb&i7(SmrgWr3anSMDCkP`%D)#1
zge^7Xt<D+Cg9QLoW|I-16s~~amcbQ0IQ*w)KX-CwnoOh!hdgDJA<r8uh>vZT!Oas$
zcO!cMDooqwcsN26-x3d3-_#n?fXRpihKj)Q!XqdLb1Jl0>nF!#Y=+DM$032zmunFe
zvY!9&3SbpO_uZClHmox6ZFWO$rYR~cr{ag><fal_jnL@UwF+O2%%SqXpNS&*q1<Kd
z8>IxD*iV-7heKJfe&SpX{RlAERac=7X(zDb@``&o^)G1t<_|dcBTiXg>hpaH3?lG}
z&0X+06!0Nvxd@S*u<4hr(760@zZSmmX?5X!eB3JICrt+k?%O}lE%Ze}Il{VhUzNjk
zhA|9QY6<u9*)C89O^@B!v`teu@1|JrkBckj+@x<Ud`^_QU@&n^uZW^<CaEaim;F(y
z=)egWqZhRQnfiyPt^(&^&h~0H_pUF2ydHLj%}rIX$ExC(-s$t_?Bnh~l;-Um;`xw6
z=zCA9Jc6||r)8cxsmlqgs5fxVlnWnUpCHma1@Mu0)cFX{9{rGVk2sCG<!zwfJdz-k
z$C}UtBo!!H`eT9N$u#%fU>2M@J!IDA6fHEqOmUc_G~@%_s-Y3(au>**>iAnBS6uY|
zIx~EB)o=8;rR(|I=d;PH6(-zliZ664k^hOi7L2~-X?O*sIxo65Lw>7gs(!&}&<1(4
zrCw)O#b1lNoA7hWzoyxdK#mqGewvtz%DCI72L(T1-f}?#7=kDMOd#*U*{Q5*13T<{
zzj`vNu|Ie!8e-gI%#0W+(`^vfKH`irltMLypO_z9mVdJ7o9;?FkWSyt-jCxSakyFc
z6o2H0$6Ih>?={m$f;nhe^Fy>|odoT!jJ-Mn?IsnDa?20H>*%1AQ3-5yKBJmrGW1p!
zESqL1C-l@Uo17fTm|Z3(euP3N;fV8vg#s)|KB+tIN@U>1>>-YJb${@yVVaBLFtHH0
z{iYUWB#mb+fa1AONO<WZ_qS<~myL(tHhHNW4pxx}C!{Cf1+b}wrh^z9z66y6TOCHz
zM^oC|D1N5(IX%QS2?5VxbRv`bzK<wNSk?gF(rT^-sj%cD^{v0($i+cjIAoa>Ma57r
zC0u8F_3E3jsCe5b&f)sH8u83|mkfHp6;bP}<dQHWs-=XZP3EW349=uwDFyV_e7a&L
zTVl71v6#_pm#<sc*jTnO74*yy^{IpR9@H5Sz-o0pZMSp|<B$!NUj@be1Rp%Vdhidr
z&&uq^_Jag|-+a?NRbFe}hv$uh##vJ*0x0lz#(bmk5`;+vvfCM$nun1(PI?E>^_Y{$
z-diCP+-r{GX+>@1bc3*X(4tY&@ez;l8m(+?W{F0P$?1qhM4nw{*ff5Yvf9D<B=n1^
zO#A|I_{=ar`@nNO6+AIzZ2o&u59;Z`snscPzOR29`UU>=kVg(sc!dBbe>U7^B#*ng
zZ~Oy+fp0dHg$%ujmrQS)+m9T$@Ykcv)2SflQObrb>++L&g<<BZWS&s=5{LP&Q}n@L
z^ZV}8S%hg34<6>#oZLI~tk8Tgl`n%cyT^u!0SvoBkBgI&Z|`R`?p*>Z?imzHfV?z&
z&VlDiC@G_G(u9xjTkJcxUe~=+SaR^Jh|dqz2DhlCM)8j`H*sSF0idKj>9Mp1M}chU
z($RCP_zWhrs?u|o9hc+$(%E1Kr@{95c3{zBdy_Ri&PsO56e;x(Qx-`P?E?$dM|;ZS
zu8Z#l0`e5%><;mM4cEUM$RXA-OSZ%*vzcOx(GR<L3&mG^!mZ*XlH;Lah>HoOGrqF1
zz208V1XM1I9G;<%2}f$@VI;0peRF%MVElp~GBf(u?fqeW1Q7f&vC@4JL-&XghDrjq
z2S?qI)^V?!uekNRR;!K1nC1})akGq70@KoOX&_L)4oo=YGG~6j8fcEsS~tQBuS0%<
zOo8U@HF`P2a17%GF8eXjRYlG04I<BJl7Li}v7WxBZl!h^MERk!uuKMK`2_Hr@3_mk
zCaRSVY>x;v4t(&-b#jEq&?x}%IK0Q)Ss*(STEkw`6zv=7xjJ4Y)U5NL`d}KP5rMR$
z_rt_(1Q&|{MgWmbB6;}EX+`-Y^^q-@qUL&5TJlqe&ox~~Y^T6C^Y2(~d&2sCsi(R4
zZ3czI)U$_=_89(5cb9q6okJ-)Nr0Y0Dy2bJUYAVdcEUCqMMdP_oKYA#YqfOAaDsTq
zxPFRC9#SCd=q?_~JqnVIr)*it-ZN>Pl9Jv{eZvT|I7oeLxA`2`h^10&8|aj|8t4N^
zva9Zo#?NY-=F)ZOYsEnUGhW<!!BH*iQMs=SJYwM|!cHgdhVNi`yj`)0grp(xD(8Ln
z=_0*NPi|_9P+Sy4%QXpST<89G7iLs=B`WxsXsQ}MJx*IEdI`3y(!kh<|KYC(fOGq2
zRF(8PS@mqec&P|Y;vdld^}rDQJ`+vi4`X-p2&dckyshC75Jh@vv_UI9#}4NU>>VPr
zJ{c71<99OjX|*r5pN^mRAy{PF^DGi!6e;$`@pf(vaA4EoWSQbve)KLX#=S7-6)t&(
zmiZ)WW8LQEv4=$VP<n9`hQr&66QuW1+$^GsDJM<cp>e`#K$%CS-^AFwfl#vh^oM3D
zXG!cTXtw|fTDg>Lz>2pi_)>|2u&}W<@Ji4pjwK2fxDFL$v}Tux^A_S^5r`1S{Q$_a
zUYxWT(nsqG58Uafr?^j}<_rbuthdXGGIilevM#)9L>aaa%G?b6%mC3Gj|XWawLMi;
z2HQ#*ihO!9)aF)q%f*uC6q1t%i&Tc!!=As?hlSYvp2Ts~zuuMj-iY3Qc?E%Gb!rdU
z0D66#s{xO<?k?ayea4%DXk2O>S%^kb;@l!?<wPS?sL=-`(eV5;ijUb7s^eQ(1IfRi
zDEPxOU3+4Ck4@$TYZ>7unA!q-7eyIF{t3xgauF2Xei((kUYs}X@_5yC`k+5aGbKt*
zSYq_**AIoNk@d|P-;@CHR)6MWHzw)E<WhFZ2vg}&^zlj0*9=9kLPif?uQN@M(XMG=
zouW2f%V$X4Up4F(!@tQo2G3ZTKTLIj)JI%v(ybU_10MhKtaqfUeZ5+Xhj{uLhpir>
zsZ31kESZI-EPrxHOeX2_6PjHef{9j2zi}y)`?~@LurNo;7>E^(nxFkbkTW#`tN8#`
zr=|g%b2}q#1K)}xenJWQ?yc#6ci+anty=?FwoK>+1FIi;biqy6N&^{#B3ATY<(=yq
zz=SN^Z6BY8R`<reUyrl$=a7;5xR5++bab`8_4v178NJ~7`8$d4Q>Pjv0y!fLFyH{F
zTWWyLhEn$9wmmdwEl0&w8g)_c0@#Jv8>?cHd6S_&^I8omboPuAJ@G8iKD|6zpQ!J<
zqHhV*;~|+#AX;QTLCJ|vp?QAa4KHzQYQTM-^_|NPKll3n*+$bbe8hjlxR&&w8c7*G
zk={UrY8@7|i=HFjQsJ{#5o^?liF98LgH*(M#6OxO4&U=ah304SOVhIeU8z7Q3kXt-
z8lU-f@`qEAs!OxZbO-w6*DX)cF<*bZ>4{{hz0*kU)?_~eQMlVPC!=G9&yj|YHVz7&
z45@!50pc7I^-zwKt&0;|5fSri@+bgkdw=R>mMvdI2GPm@ho4=Dx$ZuSeb(*y=$}2}
zUzexkCAaQhJW(m4=Uh^-;x+h2g2fh7-|Wsn&3#`){PGDM9FED&jmi8Q*5UFV{>mu5
z!cFbuT{=Se%16jXlpg>??zKv?m7fhkDL6kkjKFInz(vtFu<}aj49q-XPiPMCwEyJn
z=I(1@yi8DS@XkdmqVV=K+_-^}(4LsB$K=a%FRztWzF*h61$%f%)+58xdQ~sF#q=X-
z?rFIPGjS}`b~Q_!w5=4jD(lRY6FA+~@pTa4#*F7@Rrr=grVMzwatG-q0>HEkL%5rI
zkd3QeStR5`62zHSPdqonR#ExPyO3dTtwG+}evlIT=g;cy?5nLx-$O$IeX*QZbv^I3
zNbt(|CEyc0SZX<IZj67*$Zl97Fh-x2G@1BytebAQzUrYj)W?6Fa)zK?$f13KN0m&T
zNyc%P5F2k^wXh01(|aaEHC9ZxMS`!_+*B!!YhwB7%o1QXB(4C%?dMi5uGbeiON5*K
z3TV<?XH(cQwtYf1Rm-$o8d^&Rf68gwSgWUsY`7O^ypQuhVZTx5euR0Gv)sosduwi*
zCvkYKOYwY*1bU%7ZpG1?TX_0g=kmx&c*IDuM4lxR?;9u)!Nn6poU4T)Y@`V)YZ1al
zqRjQf*46z8;$RT+-7i}^VY6=lIVtqdRE25HVu@_r`N$`x+7dU7<^~>g$@1ns{zKev
zz7w*VTP{Qb38KiYV2@#7p(g1kh;{gsbdgal_NbYsPYEftm9I|cwpD7a^heGNuMBvN
zkCz_wRJa|O1bO-W^>+kIxQ90Eqme^LVvR)`;SMo0F#9byd{r#GdG+<8)}9}d1&2<B
z@!V@sa1G^@(@Qo1=3w(v3+`8fLc@+xbRe^5V?bNYWF6S~*D=XCf9S29CpV~6KLD>C
z<n#FP%fd?p73s2h+jIK%vP3v6q=TQ&7NHW>9=&9^7^JF+yJy0|rg<A$1K#~||Dx3P
zEW_~~o=#mwq7iOG?rt45OZ+OTENGq1NdMvu<du(t(Xj@A@e7dR9Du1A&lHKCrS)=Q
zYEw!%xtDr+PnGp)i)B*7MVu?($1aB*&;P2Up97oQz>_`Kd+`iq3KJWLei~SExULzH
z6!l!JU}0XjNIP-3^&1d`kK_(iCu3N-2=^&nLb(e)WC0w9E{jtj+U(Hd?+E!eU>R>`
zm*#6gUsHEZK<><bj%+2}vryq|o!HiFGwp4Hxfw+qAF}XUqVIP<aqhBT8y(N~vLpp2
z6uJd|RO_61L#+x^uwECOi>~asX|f@2u{z6}*SEQ-;aed0xo5wAqu}J%m^J5D9@AP$
z$V;1Y>u-3ae0DT2t(8=n>fN_Ek?7eNWnFq=O7pHUZ6Ebld$HEzY9cht&^I%@83n>S
zu!cIaXDaXVc+U2M#)|3Q`pP=CBeAe4ljDZ@qICWch6_GMtXlNvITKkG0#S^sk;!!V
z!;-GSRz$jKv-qpjAqVi`mG^HWUd30^OT9Qznz-optM&SG?4@#vH8Qjj__J{%^GALG
zy3Ow;rR?!nPj}|X(iZp=fpIsoL=!3o`16-)XlA){>D<CT+~zFi3xG{6h%RBE&nN?a
zt-7;rP=geec{lUfUJ4<j2!Qf6HD>jfyC<Q}1}8Ii{@SD?EIRz_v2LO5r~3O`@w%n$
z{1GNj)iWCUWN#^UdxZG<5|*)|8bvuS?VF*#WmNu#IXhQouOCZX+aFl~ybClMRzWSY
z;#KfS69#YijiNvmRY++Wxi#%=0=O8nd1BKJx|8ZdJYv2IgK^R_dy?KdXYxG>XixE+
zaMWp|JD0*)RSsAtIC$LdkU$>qn)aT?<d&FB`QYf^`Xs0pb_=r-xODHP5!L7Y^aQh%
zdC1G)0TSwaq#{3}b7V+0#4|(bu*51oIAg^DP8Vt5r~1~(L6yQM3&fMdwb{uAU|uV8
zVL$RI4ocLg_e_eOf3)6y3;Nfx)gm4zGoNVUWQM|hVM!Tn|G33R3a6xqQh*HmF{h2C
z&*;2Yt4gKD{O97V_mLScLn;~&y)cElJ6&ttm=CRH#tvm=LN>z7<h<}rHvx#OyWx_g
zUe!aZkf~Zf2F3?j8Rk=PiyW*(gJv62E(-6r7s|lB*&z1vr*7sQ2?m0$U^W2)^Vj>{
zHxWpT2td6b%`QXmeEvP%*;oV(2C^S=rF{#gTW1G#lrhL+e|%v~ZC}?+%dI^Z&9rhZ
ziD)z)F7aizcf3)rhV``?R8Sw@RZci2HU?Ho<ktRPG<E?;Pe{|Lv3fVprhnGR7w|qi
zXNk}OtTb&?n7<BoDBfGg0_oL6Ad+<vWiUoYDSwrJFoQ!YV)nM`?7=R7#?F?bC=p(d
zaLjpUsjxWCuj%$L6hB>^aRNb~5(G9}JR+W|Po(H5Zy?7w2G5uC^K{>Nf<yN}*)p5N
zSyJlhh3TtyvOO_w&R@QMJmKZNFa~`<r9(pY^8>La6u&EiaahyFMRY?3yrKl-TMYxJ
zH?w%qpP#2|F7?KA5sB&ba^2;-u&PdRxK&!|zIcLb0K)|6##$@3luTXEkyWV20OU|`
zFBJCX^0+xf%01%5i9Tf0&GJM|UEe15R5<;Xx`5^9@2c71^zzg~h|u@-jVX3uD1crp
zZ=h`Sjb?6u2r=ij$USOYc?4lh)_Sb$fbb3@Ej-V9@fpWwId5zjmw(l-^V{G}9+s`0
z`Ar$n)-wS6&O3aR?&_M~kd43o(^IGTZp{Xfon<#A;2+;|Eg@r@lal-?B*tApc>Ux*
zKUOPK+1PavZ}s-imdy5<ds4S7W?d-r#P;<&&M`Ke-)BrqtA3Kr%^#j+4Q~Tg%u!kj
z$5J`P@Eo*1wIXS9rU$uGd->!fBjQB-_S;sW{sR2nT93i7xAD!1o%_E04e>igDMFKv
zMQ3qjVElAY01n0KC&w;9t9<Y}TcaP$9n?^G^(lP4Bf(gdfIqL1TdQCD^8dDJ7Hs#F
zu}`|(u3FLbxJM(<nd%Coe?nLNdbPtcvdA<9@0K;d1{E&>FOPg0%s2e}=P5#G?~riD
zz6AGfeh>P1k)KN(^Zg{8i*Y~GAyi9=(WhIE#zPqqdZc4h07JmN=L5bPc@Uranu&tT
zNE&%1bEAG~CX7W!m{D+4dVEsL_f#L>#HNo^fwJKBI;;>My&tGcIGrYUI@1sMLy=Yg
zYiv86yQ_A4j{Ql!Pi7N#GI)BzhR7$aNhIug60ld4%6oTmGHgx-InAe(@1PEm1-St9
z<_72tD*P?S46YU$!GXer3h{bb0Y~c6*G67x>x?C>?fxsv9+LuB8F;<laD56|<X3}g
zYHJibp8%RWub)#2kPsFO&)cjNJZ4G*IY3bQCGYi2wnKiIpY-soqB!P^q989Gj4lTe
z5U1~k4PFmPv~}lkNW|gcY6TxD<T0oh&rXrd1Y(SLGLjv&!Bs!~P&t+r!t!utl@S0r
z0i(nQPU%v$!7*cR&={sI$eTfuaq;cCCZ^+&w`zCUD$uxq5FdMFu|+lz+#uA*A~C*V
ztcjaX79b`@VAY>%ehN~tSWJdTNE0-XEM=Np>rCLwCFA#v36P1AC4l?fB7FD2=2+{#
zkhk}z&KTcuJ$hg%d#8R6@5k(p#NVdo5j=)t(NMm<Wtq}1Lx16#*elOUxm|eo`|P&+
zg;^7r0kR~-vQKv4G!adBSuGs(9q1tb^Mg+Ll0K%L0~C;rvuuliGtLf`gsL11_+(z8
z)iLBn^=l_JvZkZ1-q~%~`|Ib^4>9g3IGB9pWeP$`AeX)vlPMi?)mCld2|v9*1x(;$
z&V^}+sz!!e1}FT2CrUIVmSZaF=Bc$r(~SJ4n8~CpU2pejR<m|x>!J`%S^h7M&SJ||
zAc~?N!~nNpkl^mjaCZst^^bnjtZqoEZk@Y#0>yr;lN<Kbp7MUnovZl?xM|Wzt@B|1
z=r#9L?u<ScETOH)y@uJq1@2mS(+Z_!9*epBggnYid3;6ppflf#9f{5PVDTn+Q)+uv
zLI1iAuaed%Yh?NR3H!lQIduYOnXXbu7}h<4*0EOKjF$=B5&ttH%tFMWFIGJrp<FNm
zV2_8!Y@~C>S**Y<Q^jh5%-VP+)WV!0hR>->%YJ>9m=gr?e8RYWc%R`dbXEMxHg6eW
z-kcC3{>?}>r;WI*`VeU!o}1x2LFUl`L}Iybw<*_2{1I;cG16x1GJKEcrPCrf7x05a
zfN=WKcey{xOM)p_b^-a}HW8ZO(l0n8Uf;y24^l31yhR^+)B?MTQAe}UBop{|f-Oj5
znK3X`xiaEmeN^j|MBg2*u<O^aFOPwpZ;$*{IyUA_U_LL(Sf<=(I;zRu*=Vm$QN9lc
zJ=i)%K#SG<VUgXv+lNkWewU89-&?|72Jyp>&mq*e6$|+CxdG8e!-`mH;#q!3WCZ6B
zx7w$o%^wgM`<k;Dn*<nVp46^$E_4c;P?cR;#xIA6_Vx~vQ7ds{g+zSELeN#ZwQu~m
zA~JP!g*P0gFgmZt%)%wBA1SUszxN+WA$Ie&d*HVQ7^|?X{CXnE-9z;E<SOlwxG`O%
z7RGtk_IMj?Arj)T;9I1zPh`qhA;Wm-PF5qHducU%@A3Ii91(uW$@Sp}<UO5=TJwa2
zpGo$O2C6?Q2m-BfJT7NgD$0;2p4a=<W?3WZXdf-9_kM$udcYwx&X|mI_;>eA`EAgT
z)mS&gu=BIrTfA!?c~+j&;*aO=-QxH!56`Kr3;49yq$b@hN3DaUCGrHuOecO%8O(Te
zwsh0}9q~kR4C*N<Ka%H`^YU1=KJ0sQi5(#{=J^l|2s_y;?$U@Y-@s3me>-mpjN=->
zO%I-+O^*fmL)I)~ehcNNO@<t3#XTOz3Yr8`ZS;0VTq8$r0CiT=o<lA2@Uv<jtPPga
z3rdkr3EJ6(HO7YSj5}2Y$$F0uc1n9fDjhSUYw$b`gMA&Zc76=?qFQU~2n$7r@fiXh
z4{M(%Ke~|a2(c?fE64YqF}L8&y37ACorBVCG<E3wIEkaVEOqxfTT_CTU_zdh;vla%
z7dp7NCz4i{qnYACPXV@t^Ml89@+p8U^JHcz!IVDJ*IbGI$95SkcUhF~(D7ii!%T^8
ze7RR^1~pR;lEQD~wX5IvD7u%WKeUXHrYMa<h4z0x+iovJ%NTmU`MP{y{<)ikRxLll
zrSXk}f-CyJ>-vjvcMY1AJurw{T#p-;W4|!J)gOybjWZdh@g|vcYN941@>TA_-UA?q
zcNJG1{O+l$905M)KEl*dz2mx{(O6Z@cLAh>PM`w~l~oeW>Hd_3u@ceY;2_Ht`U47{
zo>?4w@aWx2EyCS{05i%D+7hQQ?o?z(Lhl5WqQk^G7On8cXCIMNhA9Jafn4u#XJ62-
zo#)L_%<4BBTm#Xt$6D;p+AaS|RSkOd)O%K+p*1}rUf|Yh!f@p0yj1z_x^b9xfKQqu
z+NU*n**&m+Wd>ja8MjRxqI<wc=}DO6v#;Z3;?yszH}CuKgYZ>23Nv3%a&(e#4S5ld
z%X*E6F5Y}JTsl$5UsAY3PR47rl%rgvTbp#;)w6^wmA2bi?(CMV%d0ng_T{L>L$+;9
zX3>S?KSU})Zq5Yy`mPrPA+o3N`XXu@ky~ww?zj*!wQ#^F$!1+7?6#Apki{-|ZL@yd
zeFSm$$u8X8m^<v@+qsTHY~T0US3VOE-Cd}CYZFmpWMtW2NUd}~e*Rt`SQAj`_hGWS
z{}AT&;pO(TxEK58z;^u#yT0KBX7C>o4TeH5gghERvK~_24`S|(LoAYw*jm;HFEP=z
zbSP;A_8p?Ypw5rkN^<z!k^ArZ>4k9zFA>i@)Euc8_AL1zsreux2qf-q@pw@?G3K`M
z1iy~%yzL>+j;k%Ni*_SiC9FdVvU48GnxwdXi{LfdPVM}#I46JZZpy0}ht>Phga)uh
zy@p8H^MOrW=k4p@s5v4IL`tDyh16tffO}Kc+eBx8peORlugY~>kbJ1MS}9QFv4Yf*
zY~;^4^CPS%(9Qjvym!HRI?g9R&0J;jP<-6@uik}6EXN>LIZ?@=aq-4}vVbMXoY#lw
zt@uWPn5O$4tGJ|Yql3g_p;%3^mY>)6(|)$%SspDLiYlr0U^RD1`$Kwlyz|?$k)GPz
z<(XKwWwVfSn{p_;g=b8mxfjR@nFtXT74|N}F{J6(P!7+wyFq@(iO76xZRyj^mYzcQ
zjw&IW{{mmmdc`LCL_D~-+cTDWFa5D0&ys#zf4gn=7VExJSf9UrL3NfyR;tj^izf&?
zxAKf)-4r1Mt}>oIGAZVd@!bMKeqqzxkqmvfZ<n^E<?_{caLsTQ?1TKuJLEDAj$je2
zP^|UZ!brLm{DMwc+is}THOdn4hNk=7QXw|e<JasRzrn;y46*0;y-igd>kx<W`Pm14
z8kXoxuA}S;l9#()L(b^b(D~lBC!i^?WcJ91IBNztQhJSyf=#b#C+{tzYxUWTHx*WX
z1VjqBE|$mH`u<8GZ;_>pO*VR(!hJYDib2=Q9_c*Y{yu-aBpvdFX(Xt-qk)4_PK0E;
z&6-Lj)B`%=6EF`(>SspBRB5Vk8Ff@=<G0bE&Kqiy*0cENkUSVV6&HtHHt6{N0qkyT
zWqOwJ!RpI75P!wzUWUBJ*fuBp#fOoxp;ddEmNA-76ZQnzsXcPbOsy~GhhCBChe`6n
zb3c(T6YuM{t^rau-a-rT=GyE?2?in;bu$=qme^b;Fnj<TEpouYjA6M<4Ga1vy4;Qp
z@02UsB(~n%<-pz8z5OsCU!EX*#K+!GL#nmpi!|{P8{1PiVzRIcA#Cw+PD)d8aWD0~
z*MDmsf%}z=#N&rjsJpS(g#)ej_5r$|ib2>UOwNR6E)+G5(iq%)LIyg5uP;tV4Re}Q
z1Zq|OAR|R#QOk9;AU)q+R)}W0t;ThI$?O<TNsT_WGg)tnGj|;dc!lGdWzk+Fz3JR{
zQH=sZ`zGS7jsY4z0AxiIJmxse*r~;ys-GNugTTw+c?Q6eQ})YALVv%X^S`*aap445
z-r6r}T;Ci%oCAD*po&SLxLz$bRinf(X@pbh7wOvEBHlQMZTReuqAhbqHGDk&Ud&j4
zR<*63j|qv<&ywiMKQw?`9{$XS#ap=`#^wfO<oT5PuzaxBu*rjwMd;Wzv6k^s?Uzs{
z4hIoN&ih!J?Q<4HxGg}93-r<qv_K$ASMN}hZRcVEMq5hqh;+nnddSi!{xkFo({=oh
zA5a7|&!e?Z%L(o@pGU2h#ti1>AP+&4=?m6|qgRXfRZdMz?G$F*eT`6zkKt^Uzd{H!
zMh<6aVRyUyZt{eniYqpm@g7hg)|Y<pmk8WWF%I5lPRZh8IqbD(Q7<n@CYyBD-gx_-
zI@3DEZ1eAL-vcZ@E0mz`>+3yV$ooAZnD(}Dg2!Z<7vK#GM5~g+WndOaO8UIxQR->t
z|Lti|Ljo;EBXgvn$m?(#ki>&znU=V1#mX>(eIDbM*ibeIN^Ts^x6)V^&xhmJ?D2sM
zi!wdM-?xN^pHOLzsb8&wu+%_vdpRFe7yZ^OiA%8qWxrCDsEX>gf!_pU?$p7)CTs%A
zzc0gCc%9Tcl!cd}-Ou+?N94W;a)3ek0v-)hG~vSM-%*xJa4ay0z_)Isi0}L;>?55c
zv2a?sIRy2TV3L22i;QcSNUxotskb0_;28FU%o~!m!V|4<uOrKY5WKF*i%t<?-}zGA
zVRp4KD?HIje&H6t@j2X$><j0DEkxFUkI`WV)N#|c;p!Ze?-UjqHw&J{)%F<4h$nce
zfmK)FehkoB*bYQq9k3s3s%^Ex_21Qvq@*;z?TVno6E?U0{pt|D_jOs6uRU2~raYDo
z=qAII?Q*-4MtCJ!=SPufQmGQV=sm`-#)>}wyLSpd2YS#9q~^c#Q44YVliZ9GjF^l(
z2whT9?+V}Vg|BWD^hVt+^GHyj_w-K<$Y>ks>|=OhoV*d>LG9GdgBk&FM!!)R4@+ZA
zHF5JF>O4`(Vp#Y`oFyueno{tLWl!Mk-z@~PuG*VGd%F2?r7fc;yx@Jdzz)S-Hy7_a
zyw<snqF+cFMgRps`oA5N>gf?mg;#NjH^`Ocm9)FwCLHSJh6x0Ae__FGLN;fjqH!7^
z1DGG21_pdffa%xPO^Pt0!pou;7on&k<8REPKBL(4K3%8`e?{3=Ui*dJ=AF5{Yx+i6
z<&yb!bTt&Q<j+J?^*Ou?6aD$n5THoE^^2&@TBbeC`-)V0TzpOX%=f_;Z5xCmDeEV`
z#b@AUpv7ZqvWI>^F$A8vAvi+ee=?rB(ywL)p0V6-qcq{;#`dfKk_8IF#F*x~dl9ZH
z0HyL)l15_pFy%IUdF^u)#8}ns5-}cBkP_&g->vw?!Fd1~D7Hl-vx%X#B>%Bi`6oKh
z*zeXiqGuK7_IQ1*C#yS0NbIJV%iTc&a^cW;PJ*$~KRsi}ih<@%jod=qz4%oFmb09W
zWW7ts!oTyF`g%1gI^cz!JKAxt{u*ONYwE{v?s+0iNV*52PKF`M?pHI?E>P$+R*^!r
zCvHp|l3CEgi@u*ShO~>XL`0Yi@d9zb{nDjE6*6;q5}ubD4KF_m;Nij;x$kb`n7a#M
z2#ls*(l}fc+LK%}^gVh{ahxxN_*K|K0oon!sEqcRk_GJak&n=BJ$F!5+*zGm&ESPh
zL|wnff_ei|^yKJZbw*N`*AuNpM4#B&dnt9_xGFqSTF{4Itw)Byl`8aQt6IcYb&Mf%
z=*_Xj*NgyZ+b+zrMX?59szdcD>%t3*I7PiwtVjj*YUAc5X;Emz3-gHa^#?S?9+>sY
z$;Yzl^J^MdlJCE|nv4NIObjed`vRghDYhk#-$eQ81*ov!(;)jN3~+*@N-Et7Lud)<
z!)-AOu@(<fN%jlUa!(io1-PQhBj_2SYo8HSsCNvC9e9RFVI$tK4_jl?bP2+*Jnwf-
zKhjw1MH(C&L&hm{uo5QY3Gdd4rwz*$+=|>oe&s^lMlPD6L0b<w+v+gjcY|F!U@8vO
z5hcRSBbX}L0B4$7(!2-rws4uXVUzf;&tEp)1_BTxiJC`AmWEK*V09lk(0sW!6?=fi
zq?+{3uO3@$EPy9RkC?-vz+rPqwJ6Nam32Q~PJJr^S&B&CPQDr~%>ubX<^L=WfNaZ4
z);NZqipq;LE3v)JtBooKuoO3$d(U=ceF<ZHQ6O*K)ur^^E(+s6+1uJKtsaZdU|7cR
z2~er0!=iLPY|_Y}b`jYCJt}F0)8;05M*wN`T;x=(L`Z{jDi4~}C7;hn`Y`hA0bY!|
zHrgb>6Uk&$&~{H)&wIR821qXFfyU%-yk8gGRHv>)&z$6N-yId})5)Xb+br2hY(yJB
zhIe`_*HuT(sV2I&bRgc^h;}El`2xB+wVTCJ$)vEDP#=RQ_ex?4fV&49m(PXccvWP@
zHj+1+LgW=Pqn(9V!p?U|1H^fk5!q5?mr%ODAN)k~6%Unu!l-pQb-#>38^nz0qE2=Q
z(qt(zh-oU#vvS}1@p}Z9N0$-_w08@aaE=;^o2>P^j%Epo<zYU=jYRspj=-&_(F3y1
zu?dUtf3*B+Gj7bZ;I}#2(h4z#NDn!~i|^)GTmCb0ZfV3mUuQ3}=99f7mtM|o(w497
zNj*_dq>S=o-V9ydaotB0LF_r&a=wh4&Gz6zU(hc-jL?6CYCe7m>#&6z#s%Z+HCgd)
zw|EWD>EHeoVOS_fBR?Oxf_1ReNWaLmo3Hh~0u*>0Rr@y0i8}QKo>leGOEFt3@P0+R
zJniJGm&^-Scl|}R39HXlXEN&7rX&P2U&0xmS9A?3wNG4x2?m$K<gg%UnKa4Kmj{J^
z5T&vCYbcH4X%3^<Jbqp@h5DlRt*k49LsG)G%Q*h->5RP8i^|d3*YUval1Jfiq)zTO
zD1@GEg{G5}9bd|=ZUFR~JW)aP3fd8|VxI+{v*muCX<6~|Ic)I3Ah|0dOZCR=kt-js
zLq$!9tt4o}?}^`Zx7*U*CVo>}b(gvtYz`TQ>*)xxH5!iSq&@O1wqLA<y&BMAwAsok
z)>*bZJTjH1oLM#C_Al{}u>9j2$02uzTmsFo0RZ69tb~6{Uanq*VCVVO!W%TCXeAMp
z|GS4u<ak<yOwy*Ab@<gpnizFV782pTJt_2vej$vA8kIMLk%RKC=Q~zmZx$JLlV9rZ
zvMT(0d|wFs4U#>fmHvbGDySy}q0qygneb+fJt8PF`-VbyF^Q&DY8q{xzYJ=HPOPl9
z$geqG63@Cka%3Uvv{IT2VbQgHO=H7y8C`+z9{`~-tyJ>Ui%p0|>}(=J%bdQr&%kWV
z!f+x4xr2=&o1-I8y1E#6@hYktE=;%R$nLU}+uri;{9!Oc?(_K^p^F&DER6<mM#|fR
z;pc<_bF(rkaY10K8Qe>lktXACTgZafN<l3#png{{!rkj<MioE@S+S+ICJ;giHO2D5
zspJD{Wv~g<KFMPly55MN-xMHjJy&~g@KtYBnMu9kq{XgiMA#FZ+4k*BD=3dQ_SU^d
zvcTp7sToTgcnrPr2|1Z2!iy;JFW)`;H$Og-Wta{{Aq^`riV97QR8z=_S(IIdQF0XQ
ze)e@z7tVw=+TsliuC6cfGP*+}DEp|Pu}zs7T<OELcTUyczr8j6;%o<#ejYJ<U7NKl
z!Z_|1RoCL3uqvW5Lj!K@P&L62IwTl2%b9>Ypxfp(d)13EN+C#nRq@&Ay+@!Cs)7x&
zSiNzt&aCi&H&{wp>tt!P{1DTyes;<tyQf1ny`RaGQ&BbF`8^!dCPzk2Z~+=_Xpu3&
z5$Y@NuavRYU*il+%$(JkU?JHYY%J{r7bG8%Q&12bBR;OMqs@qG24BfVL5gpe`Fq<f
zC-j<kz;EUN`Nx}1;K(2C@n>ftZ7rwDs%Hu?=@<BU6|U>@m+UN#X?Zu4Z;KY>geN4K
zE^Wz1@O-6iHe!ByCL(+SzjNk?vzt}-%l@aMrJo2lVBs3QN4oV#a)`1#hb&fG_%V4E
zW6APNfB9Y0EK2wUE8Jiyq2I3Knhng!=!+}9#J#1ORvqBFo}svcDm9S$ao#f!85vkF
z@c7@;*LRH87yb0_B3F*tI`3`t<r7n94wpX!j{~KVQ0&0>zPp9ETQ0uC{5rcAknrkk
z?AnYUDj9W%a{Qxr=BRs6I9yXKjdY#Sa(NM|PS<6KSZmGdA9XXgIk)t?iNo)P$iLLG
z5ELAtGk>T3b%M?DhTM%mhc^LH_gh7+0`06PzxuX!^Oub~WSsL>iMrnR#PYrr6;S#P
z_iY~usVJD*oUmnH3Uk-8u6yoeYFd-(#lNJv6<2X~-h3J4r>8q#y|I96Yp5cdrwSyd
zyT{v(pdT<;n*C+U9*c00oIDF0I1f^qR;P#y;A*j7&fQ45vu$bWOEa{Q2i<d&Jq^Ip
zXoKXoF0;{8v8@Jib*xFwmZ%(yu9Az6pZ2c+jI6-PAjTQBgS9Et2$LyE5)s=IPFumo
zV*;r)u8L0<v&^_!2C3RH#v)A|((C*|(OtT&L06JL&`MjJqcr>1o~((ES?zW<DuP@J
zh@l+)W}dJ+BzOAjr{XcSsSd@BX6qvFAz8lua$DaGLA7>N==IGK8b`Wz@1QRZozwLz
z<|NGuGhm%;jmjwnq1Ri=FuBq`M9TNs-|eeQS+)|YeN6PylZjyXr5UsK<a>C>*sgq<
zWD>k<6{M;3bM{b|T0s5jK!Cbl-e)N~xg~)Ee#S7map^?ArwwN6Vl~yvfvo3qcWU?t
z$=cz%W3=;_Y*vx^>#Op0bPylQ=3c@`qshX$=GA4x+VqW)#K{o?zVL1Lh|F<7W+gv&
z4W*3Id=k`>cUmK@Bm*?4r(>p5*V&vA+d!j3*mj9E#S#5Qwa`6TwAC=~1uV)JB!xfJ
z+1@*dKgc9-dsDopAO}(tQVfJf<iT*;_2xp8;N8LLZE~9Oo~ctBg2hdZi_0c_udpTi
za#!01K&eV^U^^?$`q)j`oU68x9;A4FfQTPIm~(84X~&n#*3F~9I&aE~m?%XqBSAb&
zI)ih~G6sz)xAnQi2I%ABui9W*j!exUa8r1X#*<Y&3LNzGf_H#U8IuQo2Im;Pd`<C{
z_cd&l;qng+3!sxjSX>$h+ifZ7wYl9S5!Iap>-b^%_od-<lsDaA2>|a?Vabq3)(jsz
z=iTVt8)N<wqX7R*7jNEaG9>;3@b_jjG^@$RRQ%Xo_(-jaefQ7^Q^S%;-Pe!r+Ytq&
zj_k96vp4cUaG}Utv~_{@BnbyO<aMu24sHE&5g>7K5E;PKS8AN#p6M_D19M1Sx>e|!
zEP;|Qz(hRE`MyvfIstk~p|nEzILd<FpCi=vpKlVa6bjQVHA7gsxXe!E)8tIgK_)aY
zJ|Ia)T-}Q+jE&WO=<n1!Wc&eQ@DgxZ!N_qG<u>VaU1xS;mV{p_j&VxOC62ECOiHN!
z0Ld5QT^fG`ZC1n(ugs5&(2QmEBz!jNxsf`2{Y;lZzk>oB2%;?ZVaeXMr1IZ)hz-i)
z0s=u2ASM&c26mpNLvo!s0rl#R_DoMadfpvT9~VC(7Hy)d3s3$zQmKx%*m-Fm&4~mN
zGx)L+|NFS|D_sHsz1ZFrVOvXfRqZFQRh6)dx@fS@RNnc6nO2IBuN$p2WlFhYe}6tA
z0HaZoIA+_|sy8WWP~`lZ2^Rp2qyh8IAX&@jWGQszz&1Rh8J|!##!MA_x8q+9j8%B6
zJKt~?oTGCUk!!?AMpFir0aFYi{i7@StZl=plTK}F)F6ExMRZr{QPNe~`%Au#^?rsI
zNZOY+tqz^XbTK=Rwe=wE(cfD)FOV1l256VeDuS@3fI6*iG&-E@pCF#^M}Pq%*>*MM
zM2Hn4(5OwW2U?4R(L1|GhL~td1$?Clf)l9ap$@zK-8<E{M=w?oGQGAF&7A5#fw{w)
zD@DNLCU?l1OG4&Z&JZi&r`m?gP6OP$!w{&y&k6cqo{ce*Z;JgYe=BM*9wCIaqHrA}
z77m0UqJhfFkU7eY`zoFa9`<M_AJ;@h%G(dve&$R668)1$<2z3;C62Jve0Ai}=9w*c
z=>xa`DL~f0Tg(=vO<Tp;p;UT*C5ikEOAmZK#_uC$;V|$AzbEiHw)CE}D<5wZzq2p*
z4#H*`^41aoJHCaYci%s-1XpvYtM^OhX`0x@sgRo|4_;m+Ue0d9kkngwn4jCd0Q|Fa
z8qXr&nNk!0g56%yZ$r6L$hj_i<{kT(^?rj$;*8#sqRog`gYPl}i+fv7qb?o^1zrd{
z;PS!Hmoug0k#^KUP=%%IiC&dG8%Mq9fTXAqTswLi3FcuGlozf>F*?&Ph)Y|AwMl$T
z5WO!rCL1w3q$2%WXs;8F#sCd#`<f(d0s7zm478WQ@V9>3Jf8Dlw7f!{T(kB2e5lj-
z+^<fJH=Td8VxjY~H%YKTl@22*Ksd0di5Ov~fXo9(WhSvx=m)hsXysPO=%`a+^U5*u
z9u<FjBHXjx42t=aR*TuV(Gp<DI~w1<p{EM##uGOP8`2@*!<F+l#3~!<JJCCW2kQ}c
zcIy3QtNOWEN~1lQYcgO%aqH!z4cq37Pls!b(;ikR;LT$~7j{^lMn-!Hr}O2`-Rmwu
z2YS_wVPamuMhZh#tRnzAvE|F*oUjuxo!1|-0m8d2gK32kJg3GuarGgXj)V2N9aY3#
zC!kF6*W?l}iocN2iot&l2ucCdM&cw^45F+Qn=zc*ZEH&fUExvm9(MG+OjVC=ySoq{
z3Eh7po>RrrUW9-t<^>oPeUb?Hwp^2By~4P3G!&~Erx@jO?PX5rsFoWWRu}qjLk+ub
zXwE3s+`-uF?VqJKhogY?RDa{O2Yh@l9@%1sgbN!JjQIg4+z7}~8nWX>&w|k)*TqM&
zSjx8$VgSw%rV5L^-AX>QS*swq!4LJDvUDTLI^oR~FdAEf;AQ}$*|EnR|JDVM!Kj!X
z8!QHHgGR5BK8)*5t_gRWj4_m@e{A8C7<jBSTyn#Z-91TR-#%pnLQz?5ZBT7%L(8zd
zp$J+CE;}fj>6e7|$qXXY*t7VGx1F?u1v6^K&-{`?5cyB2>z~I@W<$c?&Ybi{B@k|y
zA2=vSA4?u8Oh4)=T?QsTkX>P~z{|Pl_tV>uhx9E>>3MGw;aZFv+g|Ne=bsF%LrW&~
zc3NXUm-GJ9s*W4N=orkN3>Rq_7)!eS%b6QC3G-iZtXGJ_2>&iNlIc(#@xDUXvla*2
zbTEmHb>wUW4vAq-r6(J_zjy(JMrp$pB~WV$3re3cqC|*!M^}xirwI^WB=YCZR+Yjs
zZRlaMqEim`2J|8pQB8q^mvdu(C32!>6{e8lqLw1B_TVW&Q)-c}3@^Y6(U@Ef)H2g_
z*Pd@;i>CrnV*;9hVlKTJ<jbz%C=cdNpnUz5O`&>!v;8z+Dk!sd;<`&<oq2E?@uyCf
ztUn>Yg*5Vsoh{vj%m3iXzHG(amwt4v^B%yX@9Iw74z*_y<*m<ZxrEfWuAZ${1kPCV
zvp}u)FSm7!QNk_a*SAeD{$L*lpq{VrE?q}5jG~iaJ;n<PXD+a=i-eS30W!$&p%xDR
z%c(dGEMqslnZLXAfnt+1POW%JcP`~M;%moe@N~q<NE13(^#!4G3YKf$_E|e{O*E=X
z{oQ<N`ni(IV%S5Wr?=j{CBmRj$uNIyzbl;XPmW?rc>H79{;pgC;|y_1#?M87gr)an
zG&hlI%+s^zy)8})!E#m0PxhRzV51pYRXM|V)_(g(jDTxD3)p(+L6!!sVk2Zy^m$y-
z`)_%0gk(suPdBl~$J93gsg7K&9F`{D)?sC#+Jg)643gc1*BMf^(6-{=FNc|dBz4P&
z?s#uuNXQ|G;ws)|Zy|1lk^KN^6i;e3WDl+nL$se;b(-a-<Slsc#WklBb3_w;k&T*G
z1xr4!>MGHRj_obWj{n`HPEtL|Xf0w=G*GA{SV*ixs>=b<q*&_JN^<n|oCzfLbyd{%
z5FWU>+1&D8;OJN+L7~fFB8mDN!TJ`t{U#vb@;2EdYt-bZy>SNtm>gL|1G#;N)Xg_R
zt@`DG6xAPUwRYbCaAy3`fO-e#-dpxMU%c|Al>vx+L!ive>I+_1JM<7vO@xdX`EB;9
zEuI_uwT9vBxYMpY(}tw=;~jnKT;Q5ID2XIER4hKe!6V~goA=N1Fk@JINSgJOn=&GN
z%i2I&Y5}1~9Sm+U=+*g~qw)TNZ>xP-ZYjfK!~8E2j+J%Cv`*82Mv$f<+9U%+H+=Ip
z2pqHnb13?$TtC{|C35ID62wn5t}WW$)uOQx)H8!ChaPu|Lx>gyvTo0LGDGAjnM*|O
zK2bL+2H|3yoZB@>q@fvoo;6~Ico9r+uOP>-=;8ZoVFmK8v-I`tDKZsJus@2Io=`RB
z$5sDr%_AeAy(zi||Lq^MA2&>&5>t>mDb1k8Xe1zZcf6fWH&CiX5MYctLCu1%IdwFU
zij!4qWbZpZG>$*m376Y-?s`Me7D62;M)qBSNpfMN2Za|ie~8r<bXWU$c|#KPy`NGU
zN+tPPJV&OpKP#BjFeQwV4=uBJ7o-=|AyIkST%ZaByAJ%XQYvEC4MkKhG2VRQMcM<V
zeqfP>qucp9Ov4smqVT6@kO|Xd(KEr*O^zX^_Ta<e<Na_mXa*Q);sh%8$27#O1aWqS
z9Lz<!#ciBU3}3Nxg+5aVLnsLeC-*F~k0nGiihWAs(;%h7C(RdBS44))4l)(-DUuGM
z0{HcH9^lD&(d6qI8yRYP2S3Fh9di!4@E9Nx;w6*sDskVS8~8q63Hnpez&>}7fq3ex
z#|>bjp6I^(&hl7cyq%xDC9AzJtxdP>7eAwu2T`l`20lK0Wj}y(2EJgP(*?3Bv>{TT
z{qoQ%%#n=He5F7V^{YcWR<OYBtpDoF%Ak3cH?0ZiGLPT5(Pa_l7FYaY*y$+&Vw-sq
z$I5Ntz}7XaeWfL43Xk}-K6t@h0b=P<Dz%`_J_pnF7xyf<t<jPVYlDmuKn`8zirLJ=
zn=+Ho_+8>4lZ7`xxAJ#rb?)Y5cBU2tmNmp$3Mj(KtV8OfN7nKCPVg&X>#?td@WrwC
z(*N&GMN(){9Z5j4{>8g<__r-zg{ExF8e+7o6KTt1nkU;(RYldj2Z}Zc38|M^*5KM^
zLKMw}2VaD))$TK3*!-(OgBUG8C)9K}`PHMld5Fa+xglPosNy3T1Bbn16IEF6ILAUv
zzQ0K!6JO{g;wJG92$us__Cw1pY~sA13ul_!L#+}Q`e8J;ZyMOCQ!VIuy%O$?Bf~g{
z9Qd1+U_^oEsCFj)tXb>6;MBcI^#;GvvZVX8!4~L-cHneYVMP&O=Q13ONQ2AQDj_1G
zBHI8=?1vRqiGxP!Wb{DKt_!5X@#ft{(`Q*_C~A5&{j~_*H?)&&e%Jvish;N>L~D^g
z&w1HS1j1?+fFNu3NnP-7Cy;y}pQ@D#_HPZr5W1y}0}2n91@Vo@4b48qPcRI!8sqvV
z)F?95$%qzB+`MbL28;}UhG0XipB$?ikLhOC@bZGaZ1(ApOXEi`E0-(FK34;hB$0&z
z3~bmxsprd{k}&fR`Qu2&A6u%JqWomdcu;Q{8dHq!)bUy){Y2U_3!^M9L9EpMjK3A)
zY#<JOs9fIVGLo61y5o1&l2(41=$F9tcADYj<VWkv;a8}_igAaAki$@6w~w4kAV5or
z@NJ(9n*a<0zIb4|Ydl#WyZY@v?BWVQjXq?_>^q`Q{~JFHK4Y91CrviH^w2@@L2{^`
ze6w@v&+Zhhtgpq&Q06z<7*#|bCN1f_&A^d)%%6;-Q3=mrD29j3|DxSRwRwzerPKn^
zP2w?3j>Yi);D<X2Wcl^NXimwA6JV7-;;%4`!aIH_;=>R?%YJ74C`C0z+i_kTS3q*|
zS9R}9ARL5|4nFALHMEG7syWhRz6fvm93%Ju3&{K<3A4l|e*6;5?c6#W$b1Ng+(+Eu
zA5!$RCX!(`H$|Q=EQa3^`a-UYKTjmas0-AyPUh?Qx96>aus%)-(Z+(W3Veo(j@u$w
zD?lrsue<Gk+h~a6VH>||3&5u3H7D=Tq1!qR2&GC(I&`P(3+%lUOK~y2^)%BPs8p|?
zgALD){_a8Drn(iy_`vS-A=8}VUHT%#CDw#IzM+myNR{k{w|+-t_4LKverE=fWs4q#
zSRLco_q;zR*-Zo2jSMcZunGl6AKw&(9YANONew!Vxwz_ciTprFjJVHIGqjkYYYIL?
z=^rLLpdiPsbU#NOH0Jdg3Md7pPq~?iS5}=nq+c2b79TeZl#StU`UP$otvd02fl;tM
zFJVaksA)jhH4?LMuxcA+wd2rzzZhl$hE?Rom3-g?TFE(0wX#YqU^q`TOLh(=zJU*H
z_NPS=0fv}_#GDJH%Cj^!dCl7ZMTQ;9d391=zLU)Gb>Gfcg;A`Z6s+I8yA|wxGj6-l
z&sjgiiP$r^8_-wzZF9%XEn&y1glgQ~`yK|6>PVF{$%1`)!!@+zpI?$^lRSaa5B$HE
zKWTvZSr5h)^-$K+kKOR#un+1kSNQ`rPJJpriKZ{?D@2(dC)hpfqt*?%jHI%^2_<--
zES<L12!Jg{0nY;<t~)*PY+WI!cqliI!8e`;NS7Yy_#Fe}M!yTGS!(d5Z}+;MnH&y#
zGN?|*zW2^}J^nq{Ebg?3lw-D+(+<0+(AB>9jNvN)EHNZdhh(Hk1bqs|$j%|v;j?^#
z{AtmqE`HJJ1v4|_UcgZsTO$P1Gf654TP^9a<9~#7FQ-M=0^TUcn%791zEXb<ulQY$
z&Vw0InlLp2(;l;*(M$X_47VPmj}fUPHInYDz556t0T-_A^odnryN$K>n*<QuYqLA3
z!*z`Lr~s=2Pv`$yy*#MINFhdVt>6IP-BxbxzG_y$KIk&I-?ufFWRI+^hsu5t&qq8*
ziZad`^Cs<p&czJ;OgsNDz?n<i0d2!*YrW`3h?`G0jhuKf-G60Am3yQT)heT@ox0Dk
z?#dALG#hv6BJ9)Uf*=W@8F;W_!Xvhdnh?ac#hFrG=x+Ux2yP=qgIJUWDm7wwx`1-H
zFPoM^>t{tX7^WbY^d0_Q4<fB4RX67gf1O{J2=jaqm|kK^N}3ypb1&Jl^YoUl%Ij-8
zPc`~_fmXOey6y6qGY%HDNQ%k~PpptHex#);-2?@}7k4p&E|>uTp7F)XjMYC7M#PnU
zn4>}zZ7{nP_d0!N7VYOZg8?SpZ?XGhc&BLWItjB}*mB+UPWpyANy3WLx#~dk#rhy>
zZ!dp(xtxVtfo$^Rq_oIRcfH%NShl4@gY8ytz@<%aK%gk^s57BsFZbpdRA-~OPdVWV
zq)Y?m+O^ZmKgwf38=sT{Dw3v$??1|URp5|vg8th+5K*#R^9w-mBB<oXvBJCFPsTaQ
zwD)v`x)?SN;-5J$s7pfpCK`eDJoB30O47{Cf&XkO?${JKKV7dvkCSD(jfEokor(qy
zladd7jN*$_oMnLseS~_uGJ4)m+%V&KO44~gKFGUYzGxXZ{e;I!PGw!;+TZ;VY7nF6
z0OAxKVL0X<04l-v{upyyL<pUS`=NFUoK}wqEM!2n_IJJj6X&QLOgYH^7LKr$Q4*nC
zr&Qf$45=|K2q=IN4K)3E7C&&+&t{Dah?XqyL=W&dizBWp08BQ&nCT3^S2G280R!`;
z)q*&DI-g@#8S2)_2&Qwq5sU=S!bJg&T4<UnJx#R+%b-pT3dKut;Ro*l*bbG3k$Xzg
zg&1hlo!ijO=?QA)$La2g^KJa)p8Km#CNvmIy1Sk~U3e1lJe4Z?vfw(l02UZOg2HGl
zd%Us7?wF!reGRLZL`DoqNR$$mx61ivLgSaB-Z!^A?p1w45e6lK#Qz>zbl#ntQ_?qv
z9#JX}y^>$f_|erji08M*eIf7|p3=kUOb#h+BF+2D<AW-mosW@c#0Z?o2cJl0HS}0!
z+H(u@-W|&=MkQDt54uLt1_|^X2m0IwnrNhp%X}Un*Ae*04^_ioODBWJuc?pX=#SEY
zX%^}aCs8!;^v7ZR-IjmWt3wOY_EC4-t^Qbyv^BTU0%jhfy!GHuL>k6CB-Lj3Q>v>r
ztSd+wU<`XI%&(Gk+X}aDQ!Vh9jSe|I$;y8|5{t%b*<hl%Ld@jO)TlN9J5^L!Rjr9!
zb7g}s`?HAxpTbc}hwXLgN*t$*#vr1Y_`Bxz<amG^B_n^b;BU>Cd3IR3VI=a3buUiz
z;8W*}zYBqn2eX0xaB<L&Iw}Pvt}hC1RchyKN(@vh%cW~Vxs$Vs=3uKb?hP`u*{l&+
z`tSKchqV_<ekN}fgW*{@I!(T3OzEwTk0}^Gn2OmXH(_iAPconicxA`J&(=FN(5zP(
z`HEMl$Me3H@^}06ts<PU*#=Xs@k+Vv>lG6AJ%4YGH)AuX6cAanVU#9B3nQ4LYb9UR
zl(0MU3r^!NOiPXMJt}iEWC!#ee$C#fAJ8N!5RBOq$iEeein%XdRwy_z7W`fGsGcO9
zM;M9XP>eYT(Sm51_6Y)#TYBxk`wN6qDlNMD9a$_g$!HwK=dE-wJ>fBBza))o+mK1;
z`%>PQV6=+kJa9Nn;==By!u4SZHRp2tB9R@#@UqQ4pH#|?@TERv%3hYyB%DV_q(l^q
zD-Osg>jpy7Dx^qJvB*%V^7kgjw+)dPt{s%&=LMMoe;wKIQ`vN0<)0@a$7DljAIn_T
zCzRQUA3UzN<*v@_(qR!R7`omR5`7*&<}tSv-r9z7I(c5{LLvk`VJynl;Qc5HaJoyg
zXoe6SEmspNm1rVwoD!K;l%zPv1&VbH?H8c*<`m9r!i5^sJDy#N(jLM;oFn81^2EgK
z6TTYr6Yv-PL2foK^K(xZZ`<u&&X+{!XN~#}?*Q4Xi9f*g!cuNc_;R`D)0=qri<$Oz
z5C7tHAfFAA1~53H^iqFJ^PL~|!KCmk;ryNIALfh?Gf1k7;P<CW;oXVBl9tBsRk_@A
zQlxFQe0(-z{*r{$zZGBFSglp+_!JE@+~6B#y=^HKt>9<gl+G-p&IRNL3F5yW9GY_g
zXvuS~p>SSg{0b|Bwtvs3`v06KC*1`tyhlZxAt-0*4NH&F(WYAfR~Ffj>lD|!ZGu(0
z(K9BW{%VVHN0dNXykCG2$=XsquWtG?RJ9ZKpU<cI@I7z&R{4LAU-2ku_iY=TrROkA
z@+MADogMAr-wplX))5r1H`rKF&)4S3eT8eku_z#jEYk!bTST8*qLYIIBb0eZ2fZSZ
zY&X`vpqr~rkvrr~O0OyN)J<_@Scbm$D96APy!>UXU~y6PR_CO9ucCvNsExcQXZ@&q
z>klgKg5dzdSVWR+sqiE*ANn%xmn!WqL9z%A_V!}Gjg$DHz?&^9Y?|Y%gJpE2PyY8E
zp<#ev*qQ(ZO?Pq}PNcJvjVTlO1=NQB?RKy~7XX4s!>rVyyJTv-77QTjO#wMPMirc4
z&zN0!g7Gkz$R&KRoQsm58mG43Ry<$itM;i0BSg=80T0*{IJMN+=9JTA?p|Yi%^*rl
z+J&^hbipHSPLA5pse9@K@Z1<C;(S4|j7gknjOULR`ob`Q@~AU$3ZlsD09<hKVWfea
z*;y9@!Bd%rcIZZxD$s^hOZoAyf^kI=W<L>_>h_bBDDch0<ZLIqNVB|jAHSV3B>S<y
z<Ma27>R&9nYj&)3JG9(E)0hW-u*M(V%-8)3u?$gOk~9C{z1+wPHYbMPU~OJDR1QC1
z0Q;O;plZ3<yfFbe^tu^M2$%JaC$G3spVoW;MGR;3!s;9tROjF#R(t|V{Y?tM`McIY
z*$V?pD!zgp_a=E2b3^87a?Kb1u76C0<L2U<{9zi0d+9f+z+$vuM@MADh2iqFIzF9A
z5bg8oWm6YMnCHs77fK@Cg0R0$6W5lYd6h~D4II_ZpIS=<OZ8*J51QdzCrrK(*K>ZV
zFR4YuPwfN!nvBDH&2O3Duu|{b_^A*oO1N}sX{S~Pn~|y!N~1OgZJ%`Zk<(8EOG^1A
z=v@ZKuS4fG_K&CY)^e5Eg75<o;9ZFK!V8n(5#GC}|Cw{wy2&IOVVb?Gz7h>hB-{MK
zlLnYKI{D4%wj!UoryKWlp)Z?#6=om&!%4BMAas!b>`nPb1%jp_2@K1zDsj3Xc$D5C
z_qmYjV=JjL<OZoN$zFe46{?F}#<G>OU^v*9H3u#pu-+P5ZRN<$U8ZVu09p&3jvgp%
zNC=X{dh3VjYk{8O6vQ91rymaGt3EkSbT8H7OC##e*;c7uPuz==PBhuAS#LXkB|wdi
zUu5zbXM;Tg<W4{V-*#yh;3s!Gvj41%OsA!=cEIl?@&MbbUSt_40rCwjn9E-Xd;xZM
z6=KV~-&b4I-Zl_?fE1{jcMTi@)VcMi5<i}cj7#4st$gOxtU4l_g`-xTG8KxfTkXlV
zqsi9(0D*6}*87ml+UCiC4{pBYZ<6BUZC<UlrU5Bboz+o>(#gS%IxJ9Om}ic#yMDy^
z%?atKeQQu2x5cz(4i1|OEFMbO#9aYD=S6)*iAQ}Ymcfm`&55Sx>#&Xu;6fD80uier
zGI45Gr<D3gENt_5?qTa*e}xJq^oSa#?OT^b^!OXF?@^gFaq)%=;0X^PywvV`yI0Lr
zB`Xc)d}MrPUB%nJShof1t2nE>d#1CyBHH!!p#Wp#8C_QA_0D<EK5YoH%=>;_fQ&|z
zU?msxa}01V!Ui2vEZTa*S=14okbXcEpio-{O@OzmrVGNqBlUt7QU+W%b{^jpS%A5;
zEOx(bsr1o2c)x!EpN`u8vA`G!wWuP>9;4@nYeZudI`DXY(wvlm796vf_=$CNmKLVD
z>tT*ra+$e2SMrt>AX`Q9{hY7h%Zg<wsMZDKl(u9>Jnm}}A8Ql1J^%i4MBFC4_h(>9
zDZOwWKzT?yZfd6HWpDd?TcZPRO?N@M!Utr067_Ur6}g=$yqo(3KKN~f;EI;{+hAT=
zHgUGRS{rKq2$scE7Qd<;9oznjzHbYH@A#l#uK_E3MZ@I+?Z=Ic+Xd#2rcw2D`Jv)>
zvMM(4LsR9B_QBI4j+^(u(*q^CL+jngow2ShMd2}i;ncYbFRo3~?Bsz)v*co8lpmGq
zP<Zv}9t8EB4W}?Q)|Vf;-U7Ux7?PflbIj<!DT$_7khTq(OjEw<sO|ZxEJ0e88lBZl
zF-27FVH-Z2r^K2CQAC))sjKZ~n2sB`7z_H4e8Tl>cpL1U!h%Fxhe>yCU}w@v#Nu5D
ziw;z^Ymf{I%o|262P1Nsb&gO`=pV5(?)V*|mvV$9HQvqE9QjcSax2pEdjGOpR%@|d
zu@p@iC&&Ucvu%^)-;%YldKa&L55!lDZ?D&&j`#Q4T!;jFIuLt4W5K(2ZAik*!a5Ie
z3_+1JWlyS?#42*|ID-m`K7lnp+?hUx3N2j}$_=w2_FjV=p2m#!efpTWvETV7kGtJP
zSn=De#2+W}5uQb9g^pK?=|E?!;vZ8zrbT6?4=6zh^9_T^va(i8*^A8>*hJ@|k%@$#
zZ%wCWOI(MfgpK1?-2+F$kSyMYs9Yq%&BF4*n5@ARu<GKEaj7*pfMSWPntrW(`Rw<6
z65dH`G~^@XQ8vcYUXFOlAmQpDbx9#a4<$MDc!7V@&7RCwqmUO|^p2w}rAzu6pfIaD
z+c!sIZH{La{Cj%T-I+<!+vVp|XQH&vQd=*^U4f^{u6s7ffcCLYNIsrWDgFfbEoTZg
z>(6cReq_$h$|8nv@+wi#`loEuZoy*Ad@^`Msav2|*hs|GVx@h2RXIo7ZxYv9<TI;r
zbvz@OI>taefF3`<&NWhpT`6P$t2PK{(c#LXX;7&E+PS|!;HckV9EDhEiO5JvACi?h
zHU<SH9XV^cs9c9@r+LC3epAamEIVnVikn-|OWM4|t9P10!8LYcF_#~gAIk<HJ$?qN
z+`LzbNK-8B#bB2dgqH54j+gMxxV&(e9fzqp<3?Fm!#6>EF{kF7BVW|W`bkrdlx2b|
z#1{<r`HK$&y#x5E5?1MU&udN@EzynB(dM%%hX{KuRaBu;lxNLwy{53$)dSmXF1FdM
zFFAd{@<R3s-sFYgZaT|Vp2NJ$nZIvAFG?^)BdF<rlOsQt9C+fk34!}Pyw3vaCpeTi
z+OH7@0LE6l@%}ywBBqWf%k=?|v57ABWOXkwmXxu+eZ+(rAjV?XIH0sB!$}Z3(pnld
zcGbv+s6q_4x1fi5(!2Z2xo{S!(%OBYSuWPmTteup((b0RF#utRI`<pU&^s2heU<Wr
z-J2Cd;w&8C;WOTZkj*dpXuBDAD2V`xLd1#jw;&g&84(~Wle86%_@lj=e;5uQ{^n7B
zR+Aj(+QjJk^@5iM89+L)jNHhdu@kUwIb?#Lx_Eoj(uskY0OA;hbvt;akAj~XJWA6f
zUAd~`o(J3Z2PJ#8PkY%LMDy5O;`((PH5rePx8+PuNW=Qr#0WeZ<ON|>^o{|gFV-||
z=7&j(E;HgzSHdq6x_mpvVF25D$wJjH{$?(pir)0@Brk)O7Of$jSsJAPyM=e=ZQUg@
zJbN3OtNDgL6YjpkkwIk+Z}&Hs%`{H?4P>^LAd_=on~`b;)>ncXEyf?ddkSPSN`nYy
z8H~%<N%e;Ni85PQOm*-xv;^Yb<=x2WrQ;QA2aIc!yb<OrMha4NVV}U^*MZ)WY;D&n
zWArH376c}~`C%%U=z=BI8cz(z`VDE$MQ=#vq}_&Zm`-1pl`kD=Z<(ForCgTGC*gjD
zkfD{c#m8NK3dU$mJ=6IIyqQ6KWTrJpx+8_x+ye~wUX~+#iDZcV>Ii(3`#?@AEZD%U
zCm<5NUAQ_wFz0IlwLWcd5LUl#QBX80%@TviEPo6WGRw0d%U0x-X+>)Jt*#r24#k5S
z5(%Q?F~aXoWbSC8WKmZL`RX)A8fHy=j=1?7XH{QNc|LQs_zb+aeefH+6|%T;dfIUy
zw1LQ_4#pMd)l7c+Fo}Y*+GnrciN5)Tg2=-@6bTLm6*yTnSLhxKmUq<QW&K!PyU{1=
zlllq87YJ#pD&~0MRc*0*nGnOdjFss1-Bm+mA(m01min;gRPzHhnpL*vh+Nxsc()lg
zsRu%f1R;jmE`AANLXyJDagD~QZ#~Bg-6cOm@-k@oPCQpRXA_h)xwirFFn6L>P#`gZ
zO2!3?6nkr)+YB#bmzU5bxk?qkLuR^<QsJiDD?m`Ip|zU@4g;3@+!+5RjFREl$2AR(
zb<nSQw_w9^MXT4jyJP!;E_A#zRuguR84_aFFaqdRAb+wX1i=%Wux{@fOr&nc<qe|}
zn8J<<{9J1es`9B+nbM(FzR~+M3IDYC;pl7&thOinj;w*RY_nRJ3_5jb_jaz+weHR<
zA|^9=B~G8`4i~%i+E1a>UoCDuI9EBL;Zaec{YTtOhw1a}CV+fwvKlKOekFiV==0n-
z<<S=M%&IZvm(Xjh-TEGm=tmPqYHe~)vBc%2P_eyK=Ev1-MOz;P`zdza?`cs9G<Yb+
z27o=^OO@*5#Et3bFeQDTfkw>BEq?ti-6+-7dK&t-4n}_~5Ss{=w9lJsy1`XOE%uve
zJ!`K{eM2}F&gv8n8ek>UE!z3CEDf+5+8$V6HHP$5M5vfMUQyjC@3D5A3x;u*2e35(
zJ1oS<HrSnmryGsv0cz*24350u*`SY0$umB96}Z5Me3865#O`)#h5BX^bJK-RnPiAe
zbi-H7(WHEZT}Af>Ci$2E83RhX25%sQA*Da(CreX8(-?y<Uc_qw13ZUGN{6#$Rh?h!
z^o~5X?$}tEdhaJ1T2$(^W`94Z=WRIG=@F>d#X@LqjN}(C1CQp3yWGS8EX>iZyi`Va
ztP~rs@d?$&IEdN+d{_qJ-satNFck6V1Z0Un@8cfq2wmSS0+DKr7wAngcbK}3FgBq7
zs`=OMwObCs-RGlkjYtfcgd^sYT$g!iZ}EgqFiq5uryCco^-<N!GLmfUGak}~MYjw4
zSSe&h-~IkD;isbE50d%(DSu&*dOMF=7_Dg>W#NHgAp8k32Sh+O9?$p3K6##j8u~Hh
z&FNQQcm2OfSd@dFW#@_j`LXk5Lu=E|jRaV1Gy?F2R%I^~8Y^me+yE))Q$Bb1sDF<~
zy<=*Ft4cp>*@R{OgDp%voq2(tuvo>Zdt6mY@gX%F5}#djgz_)r?o>w4LO6Fi^=V?;
zRQTc$SaVoL4)v3sV!mtWXx!)G0x!31>Dxp5r9mXG#XuV^4fVZiZ>q>U9E4Yhc13y|
zW+FosFV#CR&MZn15r!rSK^YGKq`Oq7!nAbD=#~atwVI+v;}logwMf&+j-zas8_Yf1
zP=m*dbsIi~@wb_6tG6GsyTRSbD%{$;^~`sz7Kq;*IW$pj4iPTHh-!WK{k8ELT$~yo
zU&yFv$zYz794=Y>@Dx*}mX}f!S##SZ%O)3MYM4keKprJ($Q=O^T{{K*LL}1o9lIAi
zR2#`xz?wo3*5LILK_nux(&~BsOKmr&$Sj6u=cJZ2DZ0rAFN0mHX7w`z^^VFt4jhB4
z9TGt$08de0x4Q;kBq2nBU(#}74E74992R}he_jI-ARw;4L)L>?(q$SrD+m@$l>H$9
zxcJNksCumu^aW~XshQbNU9$YbC=|nZZo{yn0^RCksCE2<HQ@umA;Db$Wt|?ciCGz~
zpPgL`nsoZ`QR(KDo>r&oMKLr#RU%AUNC4!T9#?gPYg~I^RTXlRCG7lI#}`+)*G^V?
z7=VWebZ(VIm(&)PHS_BnpElbD5mY|N$Y8%Dl+3jA_d@nOS*DmJR=}J?W;xH3wtQd#
z<2kFJ7L<ge6LCdrvdhEnEV@YR3`D0Sreu!ACYz*3-tv8eGKNidjpA7dB$jqa>Zs{(
zog$~-leCjHpd@;1PCfO{1_^oceFXc(Oiu|-De-oWSE1v&?n85T`girSXIgt2-xKea
zAW1V8nU`Hu4Ua0+^?s%;fmuIjdwa&cdY*E~HUcjJN7vt1f`Vv!N13XA>17lJO0rrC
z<LW2aQM~8LF;~<y8H48Uf!lDa*C|@IcibfpB;v}4)ueWi=$B-r3V@qp($K7XB$?HQ
zx8!g&VYQZ}`i|?o5-MWshA#Fdm9M`$kjUS?E;L(dCC{_Ab^bJl{5*sF`5BLR10Zd$
z_3@0SG>V;!y*mogJg#x$=2j-J&;9JS5>Lb(gf5DX_Oma8h7CH!{mJkEO!it#uiO&R
zK;TH{kuuH-0WF;iNlPoJWi}O;bnq#6N6!$dS&I@b(AQ_Y0OKZ^c(`#GEY5U)ZOIDv
z!R+p;o96?|`;WA&o{s(LXwTo*mH5A;pbmrh!rz`zccW#x&G7qurMV>J()pOPxMXHu
zRpFlU&r?=!&_jVau|m@MRSM7?^sw4eguG_7vP%oJvp9l`Zib}}f-R+y%x(8nR;d`x
zdi9&MFpI6e214>vQX8Kkb$_-Y38O|8X7UA#YgEzbCvS3+@hYB>h^|ew74&?R{=gJO
zanmYr`V3#ZPlC-xv5a?J#nV7OPI>C!pwI$zN(9UsG9oNif;%*8f1-_nf3^WwP!T#M
z=EP_dNRtmjO}~T9v-p|e+Qs?R!paW?5UQ|Do&dPqEpiLr0>t%TsICu5k+q#4H3N{L
zrJHr!LnnvwSc*wtFk!G>dEBUFafLAOr*r}OX1*d)|K9WTe&5J2bDoJ}#Al_?Xs+^y
z1}X?$`hmUU#Hoha@!3H{lQ&1-)B4tr%xlE_i?fei7!DM}4S5B;oU?i1Onz7Y#*z+S
zXHSzZgVu4iJl^<p?a_;2>!ym#aKsi%L*+Hk07K8;^8oKZRCJSr5iL<r<UaoFJi!ti
zL2vIJ_3PT^nYP<e(HU<h%G=cz;bR<l^o-;bSbp5Sh1%)@(I41@00bL5eZ68@9-2_}
zZq_59tcTb)dZDG}CjtTDZ$oBGfenZR?frS$94Uv*)WXgh*32+I-W1%m+7cY5qPD*X
z_yFS~mGb+T<_8V{=Jwl@PkH=kkUmT%VY$FI5*Uvci!P*nLOytMAQ(EiQY*RfD9oDD
zM{@_MeQIeOfi2$41fP;ta>q)Py3xAOJ?s?_7MM)Tcd**%UM=~&zzgJxA{YY-QP2m|
z9jxX~<f}=eadcNvAw<2xdUXglXuaP6S`ZiUiaBSkz$W>lyvIMMpT4Xqq@{gGm{3!z
z=zDSDCcmN(#gQ$2z8XB%f>%RZYDdV&Kijt#?jN6Oo`yp_vPk6$i&0`&8C%k~-}h|>
zkLu7k45n>-qA(1TXssG*Q~Qekpa?RFA}+N2+GjzefImcP82Y{}>3DWK9BX{tfxEGK
zun56k?<kd`h)nbyXUdv0>*EsEWq8&~iqG#OPAQfs7d3ZJQI+23iu@vk%=Ri!K~iM|
z74>t4$k04em7iWI%i<iYn_qXu?x5@Hm$bRFRL$GhX28+QfUDoFa=)6PIFx(k)x5J3
zdTVZjo;?7TF9g-N`;znQo64zv6<pF`ige50=7_|=>*JapOyRX+uLm%`DsddLDWd|t
z)0<AC@E78=2HFh$^Z4bD@eGvwdq?&@kP60u2wB6tnm2O|0hUF2y>d{GEP;yjYt-K!
z9>4PplWxV9&MPY<D*Pg;c9f{{m)>_DQow@hO_irUvAatqGQ@x^$KGBz$fn@}-#ygD
zzj;8xXZuzYW|-KOHx0c;l<ONV8!W^_vNLL~&uV#;bEgd9$9Obg?=14uz`Nc4#=)Gj
z)0(F7@}PVQX}<OYQ%ew7rW%2kz^9F+Z3qC>*^r`N$;zFy60ryB)iJ)*MS&X%Eqi2H
ziwNWud=_?XX$J9cNQ9jWokiqJk&}`$`C($|#xpoebeV-~+t?-Q=Rk|U4Epc@PflZH
zXP1%!wQ%g;NzODgymRvFfp5fi@;%MI@ky6|=SHI({CaIGSKF0JWv}Rqo3x|$o1JdG
zdV!jQU*OS>EA3g+K?H64R=UHsi6ospc+gUBiVxut0@2f)#hm4zLl@XKAAFk7-1pZv
zIv7wqAm4DU%dBCB4Z!MD!cFlX)+3Ef(ay74L`!pCnk6k)^2<!1&KB)_q>~UeR;2E*
zP17duSVSpER&Uk%{Arb0TO#4h@r20kPQ?!cEue?JiKN{QVZJAks!p>g{!aW#IVao4
z7M4!Dp_tERd->S8QqJLNGf!!p_&VHac5a54qtWI1Hy_QsSP+XR1%M{|D|!49I}j>N
z*MJQ-hHK#4!SLLDg$2MiNH-UZpo7L=Oj*zcz4d0y^y;cTkVzi4H`jic7svG%EQF_U
z;V*)$?d>!6*6AM)qTaCC$PoC24cBxIH0K?U^G@OovU2_-c);Bs>NAg;7|uTQj2xZM
z1v>a{M5hAV?%^{HlEjJU{8h?m*z+?8?duFz5(I8&7*nCDzJBQLc>~{{jL!I`a0}&y
zZ_yPF5Ecto!&+z!t>_JV_){oexHyQ+Wz^>~s{y!$AIb#|)eglbS|3>T+&ZDdsKXr|
zrayda_;BNs9VH8WIABp4g8HTk6(qcgVm3}BhwZ80brdvDV{Jx+4V3IfkGa5J2i7u^
zaP#$N{D4Yf?#TG7TJpjB6ZStygtq4Di6NOb&Nw2f{cdf)KNl71+jYv-tOfr5rp%AO
zduD|1Wgi*k7QPo75q6mLDBaNEn0TpJb*<)Le<@AEho4wuiyrvMeN{J1BS4Fc!U$L5
z35~`MYCFz2{BJft33HswqOPG|C8wn52o{g&#D`5E^4d5S{)S&lV9@<I0yT8-m+TQN
zFTh=jm%`Wjm*d9YtK!I;I-{@}@77a03S*<cpI*ZIggfp}qj6yvE7#2SMZ8Gc<km{C
zH`jZ=?byR%sGJ1EG<}xyHjL5&fgtzI-1O|euMua*WUBc?7j->-2Few*9IT+}+iF}6
z^OYxmeZ9MFKV0&v^EDCrYV;ew@|R96`DM7-ri)=k1%wf_D(|nq*Lw<@hv>Gi{pcM)
zH;adV?ai*BovA)Qo|Es3yc!*yMAj_k#4FccKxmm~maVY^g5Q;t#?gE-<eq?dLPOH5
zo4t1L%y7P1e@X=$gB1QT+mrtR6wm~2yMt$ZpCWEXU(7i01eOl^y`aG7&7xd=y20oE
ziL=^q_<HtC#Eu*2N1)ByZ#GD`8fGjI&GL0O0WnnpIWGMm(Vvtl_|c5_zDznzdUoq&
zPeT8W9~K12g!S}O$zcS1%N#~Xh14z^GMoTP;#?=+&n5TcxgVGAIbD$&uh~wVr!%iT
zzqcS_I_<hoHKgP3EsSG2xpc|td)!0)+`nQ!ok;RT0P(V*)REMV<)+``#Dg8B#<}en
z>LlCYSC<`OoQ}LY_58zC9k~&@lk6B6LlRAW8U-efOFCOtv$yg~W(#8&tk%&}K5s=g
zUN1^a0g0b}ux!$9;7`oz4>j@nBr`mK%<DFP!yU8?{R_OM*_mYZWbQ3ZDB}coKu#`^
zo^1;2w;Z|veFfA9HSm;AH_J46hawuU%v3<K8pi%D=+VusWn^`!kgN2=ixofhVooVT
z(7*Fc6&NPV(-6KG)4uH3)ado)Tk0)<4N^IfN<hgFC1OBGv7XSh*^Y9Ggg9INf4oL+
zH$_?r*cKZY$lpA<+grP(t8uHkDW^50IzvuQJI7$9b(1up6{;E3k;G4c2@}~-8>mDO
zi@9E*qE)LDn`MiUIn3f;-|w`Pi5oDkt5xKQ00Th$zo&q}2r@zZ<kY7U$(-LScdwTy
z_v{iz2+a~QhsY5R;syasAen-t7R$i{3is~<Z<L9n?3r6hVgEJ>?^=(dboK8SLvS_K
zk{jb+Fe5aoy(j;TfYR7~2O_;y6mPN+v>`nx;pC;%0IM&}wzx?2NEn^K)(NC?<J%`R
zQ2@9oxs8LZnVBnVnbB<QP(Jy?LOLEr<+z{VMz7oi&VA+rT`I#1c!bgW`!L38sR!rE
zK9>VRBXtYgKgEK<-^;HQ-WDVpj!nV>cOBG7IOYUJEOWkc128|ux|dJn8S4}+m~ewl
zZ8eVGjXD&PN;?26q=IUbB#>1?L(Y3J#Cmhoo#8)!hUeTIQ4hJ&{Zs#@L{sk6t=QIk
zv15B9+avMzWEd^AjVC*N4~KRJ8QYPBs18~x@Hq!suGcP{5XYXDSF(4$*4H+f<N5X$
zUM_;1T~I<yMH#!R6w&?3V`QpPql|olkBUcu;M60LRnDdoO}7K~hL8;+PE-!^V_Z8Z
z(zLl6j}``@A$8QfbjC#%Bdf+0){1lY{1p*QIZxK|jKd*6qZAFlDmZJ{5xN{rup+Oi
zO%Mx`gZNejKhzw5T#~Q<Ee~?7$$6|Jcc;HfEqDC1Stxa3%dTi4Pgfl{sbSPvn+RAD
z>D;9wqW#nedb+*^gn}1EO<Q4^ugcobn{y<8hxW=ehvlbq-=Ny{3rS#J{4uM4-!%w!
z8ZcQcGbf*Lt5~e|TIl30p0pr!&WRSuS#dQJHYf6HWUUGPUe6{T(rc?VWj~vn&?cd7
z!}6($-@YN@@Ht;*?5<z@<&p;oW7q;?U~?Yp*gbHRlG-jyec{ZYa)!p(d8r4l6imGr
z!+eH)!fN&SOu_-Y`lJ-;EuDEv++Eur&=jgV?`ZaWr3p_pePEjnC*yMf7s%T~qb<Ce
zi0%lp9-+m&2FYS<4gf0tR89QcAroXyAA!6}oO|2R*@zDHArzZ3ZhtF_I7rU>O6mVf
z!Ez=Yy4w6vBHp6QW=`^I4eg19Vj&PA3yuLM<cX+az(&-Wp*JDO&+(zqNAq4c0iCUF
zo!?x}@f1aO`dZ&aI?~uDL-Ah@3H}eFT@sJ&?Y%JVO2T7u>2a=-@)Qz;*RM0c`Is-}
z{aKcIoJ77-NG7yv6Akk_&Xg}Zy`V`x4uy@%r_Ps|KcM0@q&TyBsS`w(3u)b7x^fR>
z{_?%8Sz`j#zLXgsoU+5};=vu?yKm^AZ;WFh$;Pj7;EouSZ{1zK^Mzn8(5<tz8}vn+
zK7Zwlzb*niqQZ`qFNYteIc`Wbz&evj%)>Ij1J1r=PO|B4-Q7z$tX8KFG7iyK*?A_Z
z0_>JED?;R*az%qx)g|~O()}~CT|V{rEq4xDVJOrefe%EDyJp$scs#D>w+GLfx|ZZh
zq((%KxX>wv;TXpC9ri2p1StmEV2l|?JN8CWrzci~g+5Z<<%5e?%_2%r8mL@nFVLnj
z<R!QA>y;{mIl6MZ+?>x}L|pt2A+DROtC6v>X^JvATG$p=schBejGS&A(IG0OKeD$$
zA3^k@@7od|I&Gc>#rZ0PdRgcD;9<v0!n^?V>3{c{Iu;y~E+|ID5C7*COIZo$K$9|<
zkOhAv^TQE`z|a%;GO=m9KpnRGjpaOqxk?i@KT<zw=phKy&y8;5YLEJ3darGM89!Mx
z{27EhfPeN*%3h8A+ROMf>q+WCHd<}KR-=*X)wou&`~bT^R#4X5ucpj6<fTmeGQtg7
zA88B1x4>nFi7^Yk==!q`sB~5V;hc;&(VkP)zg-PnEDs6L>C*hV<k2bUsVB=jQ$J!%
z9+%qTa<$sH<1^R;YM1xsul<wGVkrLD6eh}D_s<@AX)5WML`w}GXlbR?kMFr?oPB0r
zflSGW57t=)J^cgRSn;wUeHiBBBg${%HyqJ15>&R?EJi%)(~Z`s?^1xuy^=h*T7zGN
zZ(yMP1BeSb2>J&mo-rjD(z5qSaCB#nT9p(dGjjrpB{$uu)wnW7?MROZ;iq$PW*mWR
zsd+cS<JuFCi2X#f9^YNM2a{|t<M5elhc$#_fhT?)U*6;rt+6Rw<pBk|H(2AofNwHf
zX@zeL-z$lM1>q|3_M!63-;6Wg%ht$i;EBrYN<(x=MiC)HBg~ZyBj147@anvNL!CGx
z+kiQ89u&1KY4xu*vmG72xV7%;Z^Uvbbw16;bJ#FdP3v<BjY8umoO}`!tNz;z%0bC7
z1xyNINT$)f9<DOc0%;+nzdLfKt7!Fb6<(1FCJ72T^Yh`{m(%04<z?|u6f1tinoCkS
zJnS(4y;yx0%DvZUoY?wWB@EL9^gdS0#LLO9?!2f(GfPVJS@3+X3--|2x6_nAy#0G+
zLaJFVmX5sgmx9D}uAv|)Mj=<zXKC@31N{~x%WK0-4`%r1(W@NVZ_C0x;B-mS$K<BM
zWX!}Os^lkKVFlIibHv>4o|Ngc`n6*3S{rIW0p)Q(mVSz9y_(kgEbAqPXa6#TrGAyK
zsq*zK^epr;oHr6LUX3KD*nxI$W^Q;zjT(!)gkx{|A}Lp2D^Z#ruVr$ZYA9U#1>NvS
zkL)hD`oBl5l_y&+cY_nV<c&`e4)cT18o*I;zHA7)4ZyF)(cblsVD`z&Y9)UQcUW<Y
zVIFd?!RAo!h2<B>yRdY8PzN4PdN$7|&l_E#Iy?kx&NuEnJ(=_P)i`&HFZn!N_%I%9
z(yzWbWD=}KEI0o(A|io4#=Yh1^d^Ke*5*JqRbqQgufi`!VVms*S-bd^x`B(z#cBWp
z#o<P7CurK;g%NE!x^`a%=_F-B*<Wx7@iQo!5)+Z5uuPUBhqF`%wRlB1-q*9}k6o^=
zxydHS;N;PU(|V1Lb5xcG&d1Zpa)K$pRPqzQK@7OvL~OJEI*R1;0<uVMXe3_ygOmr>
zcl55*{3a9#dc5PSPklapX~@)Az)-a?@)NH9I@Uq{eikGFt)cwD#YD^CZ+;ozQ73aP
zE=tNdGvrlZ4B%y8H;M!FhyI%z+|P_OK}}!H^hW=@TSbMhNJwpr)Wl~>>?r{OxTj|v
z1V^~hYA47s=m@y)Qwi0F&bl!<;NUrCGqfQ)35kt?QM)S#sd%qmee=cIp965ruh+73
z!_TBO;HrHwz@-s>t6JVCHNoQ0r)=WG1sAv&{dL)*K3S2abg3pV$0%jjOOtw_Z|!<k
zk56;B)EXvy-8F%d#L3M(4t*V!OKt30|G)x()65e81VbK9>g^DcP`;=^6QEMoq);2!
z%Xxb4swml?t5q!Rt6vTG<E0muh>>Tv1qOi7e-#2{QF$NT*TPNWM$H1YhdjTy0OC>0
zFS`DRJc;7juD@x%o7YL3b024B-w4tR!}MsFdA>$*4;#+v*?4<c(H8>@Fzf|_f_4Ci
zwwdRt2qg7jlGo!!hBd2)i-=+55Yy#a;f@GFwMZ-_OAi4MtNPn4klJEOMNd!emu7Yw
z&LzkTr%6!b#OmI`OpcF+b7+5yLyqLwpS3hx%Vpp-#vnf*(Yo>sop@=_e-GZxze8(e
zjO6rq)D2K83V(B3k3Y5=WZ=!BYFJk380+>)Jc)XEDPdnRq^Ux*D2Ow=1o%B;uG;d!
z2|E%(mCs<A+VSA<Eq{^P8GCCGwe6<Vl#Tc@7_OC_TNkg1fveIxd-RVMAXQQc<b1U8
zF|aO(8p@7vDXOqPuk2b-dyU7&eLQ4P=jB^2B4pP5O)sXDA6om}5SFZ>M84?1vTWQ%
zJJ{rOTbc@quYO<QQP$ruG1|L`>i+AnJ67P!Z8>+03Dw<CIc{Ujj**&rpPMJ{PyKdY
zu(l1Y?x++$xOeTm*n@1s+m*H{nzXH(VjE2Kd6kd+Ii5MFa^_)4-u2`M2jQU;<^UT&
zCa(WhZm-r>u|DiK?10(@en6e@p0Z1+pr-a<huk8}3C;pGK}mT_<)hM01x&|%AO$1D
z@OfEbj30}&Vbm881hiCVyE+fy$S~6RFcC;i6e8W3op{1?pQ~p^x(s+Dw9ZD>$Sw*7
z?U#vA|F}W@Jljqge!lK1nIOIGSLX5puy6m%=L|``8EhG#JiYQTI|b@88csDs_&>Xs
z-|&075l$sTCVej*p1f<yN>3>1-}OrM^D_aQdW~er2x70`T&z+U*1pe@u&wCbMCI7a
z%ADZB&gf`c%+FpCRE==d*UjXUgoOpg+%v;156*}@*&xj4WRbaWL7G0Cxkvi>1qAz}
zz{peWf`i^~`)B!r%G_4<b$`2zuLOe_%QZ8;r#d(VRRv*YoQx@vO9rP0#o8xN^3~6~
zloy!`0bLT63#iv&DZ+!gCbQ-rI17X-+k36vi1nhvOy>~yg)~`lObv%03aIA%>BjK0
zE5#Oeb@Wnp=#?XM`oHkN9P&jl;&C|9o^^ogD6Uk#=|RqzUBr!8-F8|3+LJ?0?5o9#
zE8edq*!V+Mt<ctz^X@Q%Uti^psI*3K9pqOu<EL7*eL=Zz(+bZdf0(x&ZCgNkK{PWr
znUX!sLyON^ACN!t=sx${9Ult-=@u{6M67khXO`YD>GdZ7aRll4-P5DSD7UXaGy26w
zoww@=CZFbKCEDN32JK`Kfk-$pL}Ma(c2@HT-m1Cw(|sD7a9F=)aS(}!&rbMWU;qd>
zlm~<ELS)^|-34ZVd}rNOK5G&DPP1I`CG8|fERHzhoGyo5Bf%-U#65IUaDV_^98Sa(
z_2-oprc#k|sp^*-^rq5stEdR~^Bp98p++tQYU9=FA6#NsQW&k$7Pa+vKcKn%+kL)S
z^1^03=yz2T731r)srt%%#O{tzV21^<X6}xHpRBz@k*JgYY<wgzIDc=OeF<}xLVm4~
zTqe%4BWvxYctsQVQ>4k?z|3~O=s~*AARkJwpB{9dtbliA^mIL+C0*#_^ZQ7njnk(W
zjJFs<OE?jaYJ>XcV<~U>4q4?a-+TSE)CeAawMN?8VbaXXKW^Q=8faYP(b^s_!T_(x
z+)v;uw$xP<;FJt>&6Xw`wLzV-p2zUl6>BRg^@wVWrea^@ba<J?U)1}Cv{U)4%qoN;
zKmbcXw7*1-T)f@hqtumwdqcXeI5Dr+vK`c8_yVZxxzi1jpGymlQP=97<gw<|RgL7n
zTaD1cwLai<rp>^7MQU*{G9v}{#rfBnW0y6sRdtIt>5s`BUQ8=v?Z}3Nv!8Jln|LOW
z36f~khVCm8pv8z(&U?K^0-W}4nXf;)rjZ-7^qBYYR#K>`m8<2y{a~!Rsyrtx`c5NM
zIPDh}NSo?+ZgxY_$HXf{2}5Phe7Mo-G9t&s;%~L~F14V!!r!)m6#PST8)12N)DvJ)
z;XOhm+UY~fYT=LlqaMbGop}53(iCvcIf2pE0r`&_V4Pdt%=<I(trWmnj`wtx#e(H@
z-pX3adehREOq<`|s{#n|s_v2Ve^P#-o7oJ`;9l^n-@+$d>FCnUe5d^`mxbu<AlcLh
z8!nKpqGCAIfq0RJ(e5XSeMX4KAH`!%zLEb{W9nm?0T-~806tj2NTcl38VRNooS}CB
zA{}#`B8?VCUT`5`Rzc@4kt&yOKwhP5ckZj9O>&66i9UnOs3v%OQxPBDto>oYkp`l1
z>6k{Q3+*bauFZ5i^Opx_{B}wz#QY(ZF{=+Lol1{I<VON@5{57_ZEn5(U1U}esD>i=
zHZ>b0uG2aK9AG+rtj<Maj<vR0$8?knTF8R$31u4Sl$Hdik3Fv(hf2(?@0DBZ12cwN
zIJL>wG3z|2vf$4vUJ?=meFj>70Ux0Yz7Fc`TAe^qy`fO~!`)IrMi!*6;!T!T><Ux&
z_x#Xdh+^<d_z0AV_i(rwiD1P<c`EkY3{@eC9J5+ql_49Qr#7~}bL9N(PQ%9(ch%^4
z&u&xB;~c9NK7PSW5*6jJ1K!t^t-Ci2Y^@BHE0IOnEvb+5P~s?glN39DPPM8>uR+|~
zCbrunwd1B%her>b`#jPqDM3=X_l8>)MDlgXE(6do3PXI{{gsCBR_(#}mxcT^xuv2u
z&M~Xrm8fyPMIlw_n2A}QKDoCNb%;idv=wiWuH}ymr_#4aWxZ<K#ZpTeN;qdKe8hi-
zZEgKK%3b^hd&2r;pCu}%?!)sy<y6Z6`Vch}pU`X!19SjAO#+G1$m0`Cw{;O^KN{TR
zNlkijFAKtuMZ+^^ZAe;uz_|IQ@bhCs8r8zuQPO?S9x=b~ayE9d*vJ{}lbXPH_)e2g
zh1QGAYxwod;07!5GQo-CW6dD0u@t?>mQ(x?tTZZEHJ}YS^|9CZqMGcRH$IAi>E}#U
ztgPbbb8F_+lUZz8*UWcB(G_Lixp;`$<j9fQ38fpUK$un*wL=dio=xKXar;qVyPD0Z
zXDXr1+;`y_H<p`|g$ZY2|EL@ZrgxzxC8Tr@TGtTYu`hq}S;-{4+J_B|f>Uaa4U5^o
zvW0xLf%oxCa+@%U3XJ7RCaYa6U^{oZ6?!}k!G+6@7FsO(o0d{OV5+=~QVwfa-TXi+
zr_WTB#Go6Lm>AHqO@4U<9Zc~<@b<~U+VN>-(V~ePr*4QuML%_VtLkm-J9f9heBnfM
z9q3QT#nPM3kC^${#j+>AKeEr9H7#9NWPW|FdU|2k7`y0WjVB6oE##nO6X7S#d*m{o
z{y=o`hXG==QK|%C9U}9@SR;c@PnA)3_J)s6o~)^#7Kz}av-FX+<~#V{@b~)w+*nj2
z%JiYOi|qp7U@A|Vt9vZ0Q2g~h0g+x%vVu2z%lvr!t<puN-x-gFP>^Ja9nslbvXLy(
zj5eE*((OeSV40_3I9fN@!3u&~3izzvhGVeuD-5|vHOhK3%?}>gAV-xsijJlCO0^vs
zctkiuc3#&ku<y)2Hg3F$OTI!Xh(6>J6^$1j=LILz&(WaSsdz0F({i~<=ElK}vtK&R
zK|}o<URZ%>FzN;BjE?(R#iO_G?=OdnpmA4j8HYk<3i`&wFOoxi8^OXBhp6|fDnu-X
zvd&OvlcUi#ZXQ5~jf0P78`FKu#%bdBY)3*F&FBszEk8qr<{H}Zr(z(>6RQrH<fSWj
zG5pqq@d*d~-en16MhzL6h~9G!Yen0mA7YW;`o5Hiw-ZR?3XQ0&E4AT<27b6+KL9$;
z8$_n7VsoW;OvDgvW9#L54GDIg4NF_@{3|y(AP-IS9chW_!{hZMbT{X#3<1NzC76iX
zXq{=q`}IYSoANIqE7MIL(7L4*YG_++sa}yM<V9uY7w%Aj)7?4A;Q_PUS6kf?r5VQA
z4e9HMJs*W9`tnb2mvqsTUI(k)_|4N5P^N2{_|WVt@62&xNSH6A4+A+$3<EEHF8%C+
z{e;(tbDD&I@K>WiOVK|rWnHFcQ3sFKmV4`Op6o7TldO8LROpS@y6%wbxtw1%R)6bQ
zNR?a^dtD>)Yi84SSd7i*=JP$-pIZ;w*bBWueLk)+$A(-aJzPb-bCU06(|{U8pt)0M
z?zyqgkvlHwOVeJXwpx0wt+$Z^k1%fG2(wWVOKHDw5$QHXkCknKQlY*VVDK=8?X|Y4
z`Fa)Y2*xg`I%9IazA{FBg1ExhU!;!P-cVg8l??1iET5fE3bnrNYCT?npXRkafx-*q
zY60?^wx>Uky@iada!UPbvo~m#aq;iIU-|m%sexi11)4nd=_^O*b?(pX1|idK^%m>1
zK>qGiJw%guKa`8!yqSwdpZ<W`{sN!X@$8K>#H&}X0H0+OV%l65t^8!MNu$0gMe36@
zwTfv4vYnvh_8S!nnw$(EagD~N=MYSXane<?nXtJ0<tKQylFu1U#ZO(x0|ny4{gNjL
z0t~oM(w8JX0&0xn%?0VlkXiOOx4b;G1@Vq62Gc3m?e<K_$%lX8p#66En0v2PwFD`>
zgn$h|yQ+bZY+0Qxx5l!b_eqMml5)99vl{)ag9-s;t5+92Hd&=~IIQ*koU1L+agB^c
zpRw6x2jb^<VD9=iuGTj}UlGz|fb?Ge=xaqqt=eKk%^}qA3!~dIAL$ki+Ulnn0=H{6
zE2qeyjl5vPu0D-h?}4weo{RRvahRi*N`wV7C$&lD(?B>qC<^|L>klJtY=%P?uw2ON
zFgyx@yWV%-sSLJp4!=gN#{8*3`jIg_E7hL@z4?2hhHL-whF-`-^Ip^Y<AUrj66j8&
zl-WB3z#%NuDfU8v?4bh-Iu^0H_G03wWuO}`(%;@3jxD)V_jUK}M;?1Ee&yk0_Vern
zMSMf`dh+YZmIwJ{B7uv0o~4Wfx;|1DiNU7`M(+1EVEjp@lFcX@wsW3c9GOn$-Ib@-
zf!DkLds2XZmMm%Vj*v!;Z@y#`HjRGOllEmgnx&gNliQECl^==^-qihJi7}+iH8F^c
z?}rig33Rv*5reEGqcnk=e+bJWcOrT`*#|{ApCtUd@ILil4B~!eyc39SO`(4#2t-M}
zW43uKbNbVpx>IJ!kinB|l4vSxeMOd|AMk?ith05a!kt6I-<w*O2XYke=j^Y{(+`f*
zJ<h-SO+&o=*L!|gn-I<r2@Kf3&x4XAFsNy=4pACWop}F8(|PR1ss&N>gBXxQ56L;l
zW=765Ieq=bPkJ-UQn%nxwQDV7IKxaSxru&x2?VV==)YU#{@u-zvwrZ}RziN*7pbL}
zO~Pe9C3?>`BsNPI2`_k-^^rljPfE9krTbYD3pl|m?@?Lg4lnkqq<8oA&2Lb1m5*&W
zhmO&!rxMNCKOfo*k*p&6;S<6$pQ6A~5;vscNhmI!VdAW?o1{cYm-3Y>4-zm5wu#CU
z#YMXUBeWfUxAV|Ui(mpG&zD2l5#GpuY#L|kXEbuOz`eh}C1GIsa1pLt=ryr@v{$;x
zo8rK0b3lsM>vN*$yt5<1af+kW*d+F%z!<|-0O(2HX5p3<J$^>`gqyo<BuEuA4<2n_
zpTilx?V1#2iv&gd=sZ>(w=R7GFFSU)J$7PHpzBluCdb-GE66G4qdt_vMxqyAo-rU7
zrS9ZdUn5K@D(wMRmz2(5>#pc+fK#s0NCWeEsOg5><_Jn1Ta+Z~`|`9exaO(I4Xa4H
z`e4>)X_a`QUvGZBJ-Ni3taBvC-35PlhoYD`i<l+x`<@BP7&9Dje~ik%0ij3um(krm
z({SKoka?BZ@Ac)zdY|0A&1(4O_m=~%FsIX!`lcEfz+Ht@+T1_XN05m-!hg5C0peJM
z;uV`GWDr#3pg+8n^)qRj?r(1yP{u#)hcQ1gm(Xh71%Adaie%DuIow#(-cZ3_)1L!Z
zeXcr{XsU`va5y)=qD2^={CFWIm+c*^D~V<)y@gmg%=?Ds7I~Gw#56z3S>P>Dt8!aR
z(K&Izk}=jIFf`GqyrVx$n8srdeX;F;xpzAEa!{>c1INP(4J|Xq;+2_Crb+4f;Sf)&
z-#EGDWXKMeLge>rGq@xsPW*(jiJg36?bP|>iHM47-6dl!{JT@kiGZ%Oqr`9ca(4me
z2;Tl3y8c4N%c-74xr24I@gx_q9z}_L{_KnalQWLrv(mY9$B(mRX2SjLsZ<krOhF@Q
zRb$K3FL3Hfp1}qRDp9^!L}#}I99-&;Ld1ZShN|FBksQOpIzK|xBkDxs7}LsVUPv47
z>=-XZ8?stnF^gZl%@;asXdMHHxH=wN2)O*?Ine8a+&xq_X7)yFZ5O1H6#%6({N)(%
z{nTnci{Sfp;mK>*<ta|RJ)aovQQdggW<`Wa`~#vF<2N!o?A~#lh^(AB%aEzCBkqpn
z!*92a&&ileG-sY_`%-rZDjt}SWW@ss^;m-72Z&d)oUA9vpsr*JpN810A2|DM%xj$%
zF&|l%9SpvvHk?x`f4DAgP>VkdqxybumXy2cu)Y?kU`lF(PkBk5j5*$sU8J^tuG4O7
zS^7M7G&?o+jMkD<o3(R^*6VZBP)@p>q}a>jhsukP|I{Q#YcHeSG!13D+^l2^EWqSy
zy7+s6KbhP7yCsPM3|#dEAtvtcHy^)u(=iiI>kK&s%+G@R#D5rs@e6WCYi0|3Pr?c#
zVnfK}H20T6>Zb0C94|9Z)`veMlDJx1HZ}7_V!ahwEMIw@E8`q@T0ic+DEFt5&~_7L
zn6pXZ2rQ?c2WjYK?(4)H-=_Q*wnb-#pK^a$zQ8d7-DW5a)}=Yg8{yxCmK-|XCo22I
z3%bzq2JOLK7_>E6QeMvVIW0&*JYg!0l{M-`(vv7ZfbC?J<4@mrYUddAD-Cc0cN$lW
z{K?yfN};}&{hDkAs9qoQnjr93C<9EZ<N(46`0p8EI1<<91<ERSpl`0(Kj$gE8_;|k
zAgXmZQMeqf-B7=u2X*{9kA+(Lk*@)ht=d0Qv!r4_-Lh^-&Yr}Ifd81?!a<n)>3vKS
zr&XQNt``t7=DXMp+td3oh12$O&&Bin{XxUNf8rt4TYKTJMvHwGx-HY$+`fkGsmK>O
zRn6C!NlhMU!3d$*eWy`gKo5E7T--zD@HL+wl6Jsb8wX>{0gdjz?*o9{;6-<SO0zHu
z?W;pFWjWlB6`*dZ`fO~q^R{dYN{YkA43|Ooz^--^9Y0_&wXF0BDaEULmxK90Zj>BS
z<tFbx=f`>p5O=ln{9L2#WMXwnhv%Skz-Tt#Hq52^?w-8I{}453X$mR_7FrWLq;PZw
zvXj4x^46jL?tb1miKU12VK*ZmYJs=+t(Av(jaZIPDSgyVCnq3hw~335f|FZWSR;$L
zf*Iih7>0v8W{U~2NJ!$42SP%Ra@##C9(4y;L@RWCh8}PG&mVJf*ck_`nDMs&pBT>*
z(-d`TjEyAd)3PT^mGp+pBh<N+@nV%ix_S(u>U;Z9Ix7wZGB`gNnP_eyP^JBip~iul
zWBe_n$rZn_&e832M0U?=SpsQ9d>9gn?uKx)AA9%t<jn1egx=`ggRdISuGuiUJzbwL
z^GqASD8>S(oidyi{jHOz&F-nc@$#CfAbB*4I5bZ7yS1?oj3q;Qs0TOT8lq`T@TD~^
z`u`r^R?FWnW%<yA4Z5iUnJzW`D1kdYhrBk$BG}gB5lkZW)wc6{?u&ol-$$2b5TU*~
zq7IhArmy|^jf1(ut8Qw`_WrLnM7%hLRpYsbli!o9R&paCeHJ%&Ar+jSg&ndSe9Cqr
z-E?ZZ(R?%8cU@mcQ$IwW)fCG(Ld_h`wBY#U<E4Fkx5(*|+7D5LmaoI-R|4<0r-sXE
z8(w;cv2sa{0{7Ljys<n&A*vSrrT4A57u3grvA&z<FRpLK2X`A4E`0J=CxO_ua`+NH
z)~h(q&^XJE?nf4PMdLU3YRA2ir|PBCYcPJpX9R3<-1%CKBf53|Hipq_ZgHo<lh&P?
zh{Tox#w}`Aa<WOoe&DT@(v>hD9R$=u^@Cdq<@^4evvG6W_vL)%ovfdPyPka>3|mRw
zvN4b1+aJvDy|z|{ioxB{Gh3}1n-{h|wUt;rGF3w_pNE~^UXvi&rp~c(Yqiv2XPn%)
zYq$y>EkMNQNq|xKg>S@$BYj9*BaS!EM2sQ#Ir}4vb+{1QUI$0i8jjmahy@(p{n}}Y
z5)0uuS*7X6hQG;oKFSZ^wUhJUKp6`v^?7dXwkRbBWQhckQ0Dt=RLbko`s4c<e(zbG
zl)u8n2J;aRZ2zl!j-6T3*1Jo<e#%CC4udmif#kjxS(_$9Zud!WcQ$7Xz;%ra>5&Vt
z`0jvE60djR|H$#6F?V0$@Y_<>@&mmu$5qoaSik-y3$aj#+1|f>CSmNbxi^37q1NF;
zn1#-mx!J*9*@|XG`z^_)$m!h8%FPru&0TRZ9DgX(GS8RvHS`|g@LTB)dBAu3^t?BR
z8>W4&ZXL7D1D~bDe{k23^HG{hcFS5~7M<#7gn=`TQZW(v3{4#|6GDtwAQRb9y0OHI
zs9Z<SNhqfRrWq*=E{4B;*jK*z1-ToC0o=PRk3AP;b-1k{uMb2#k5ttH++$p_=Z?tR
zE)6Zhny5Hj7raVj>#j+O`Ndc~_cG}Y?EF*?j7aCWlaGEdC*_C>CQO>I%Hjcht_b0c
zI>}Yt^$Vvg4BW%7$Y6dJz^TZkTE7OiJqb<^7q<@H+i#{@l$~pa^n~fzkev+EC)(c*
zpGEa-00lGUPeP75gW&?9y}d2YIXikNg73yLX4IR8^V|FaFkh#X68)<F+QKdhtz`Pv
zRd&Cm0=`z{=WcV5cOyzA*0r(!N!5J)(BT}TQC)*J_A&F4JMQ;mtoT-N(Bb%VtuyWP
zz5k{wkN;l4gwB}VOX=?w<2y;q5P7_`M|{*iC4E~6M*$i@@yl~%KVN=W4Q#*GIS!7q
zuar8H9~KUPw2J_nl6xbH)g_Nbgpqq!;^Rhqaj6cO!9Kb^rb(nsGLX|;D%y4=K|&E*
z=E)*Ro&F$>TmZ)J?c8^j?T|`dkOMrcrx3(otEuOaA^0fw5IECG(=yE{4lnp?l^H{p
z2hFP8>GgI)(cmlHmkdl$B*gz1MXmf*dM0*HrYh;sm1G-9dR#oxX_tP~ld`O~iy{y?
z#ZcLlxx5A@%3itwe25AD_PKw7e5=NdG#bt)($6o@U#6HkZXdm!^W2@sG&}{3YjhZE
zT`ya2xOxc~mT&yFMe%%*TKMnQ|8TKI>A!?2vn`HkE%vx+8??X^G5)eQ&~WL}5GnHL
z)77DSCi8t`o(}>VBl7*XC@F!{=igHdV#@iM43{)Oj&JM2c-lPQS7CqvQP#?>K;{GG
zqtX!IZ}3UdgsLjTm<td-6!>cfdL@2anc(a**E6=uI{gAJ>??dI(gSMmBIv!s&D$6;
zf75mhu-$LWVv)qyQnB)Fm-#6c<M8&B<>`(xdLH~;fXaRGkmO+SXaFovC~F(t3xJ{a
zP{wkxgglFMcIVy^a`C#5V#T;mC`m=)I9J^65)iw=>a$u+bOa6btpIcMm+k<1_d50m
zTsbLwiYlZ^f-v?)Ef*yH&7qg<*UO_5ocFkDL`y}x(<to6Epuk*61!i!005jdC*g!%
z@b8M`q)GIv^~u^x9aJC$rQay#yup5cH``HRgQ_gY)D>xKNvV=M_cg{6rN|Mt)sJJ4
z-0`MX$5a`iRHt^uPqYhqMsU(R1`oBf$%zx^2T>^{I3SFka3skKQq{%q*@$sXR*n(1
zF*2xjjMl9Z`EP1;L5olkxpFh-=gyCpB#q{NP}(upxS^_v&ta-}P_psd#%OrrE!kp=
zi@8}vNO9KD&n88|plyae%WTehuj(&FW{x`ftJs-eR$(Hd7q^{65VUa6d(B=nHAWF5
zsV&ncUu(YK?;48&Z=9(Zey^{IX6{^jUVy?~{Js9(#rPgeY`t}FYoS_sXn7zb*BtFc
z-8>Hs3@9;bZx|WS+P?y0`9zwwBTLr|M~FV&Rj-JE`kNFeR1`H**8Ss4M%Q+9YOHyS
zrf4bK4n~p^p6rvQ0UAMe@>rM!KQ1E4I`H4S{;Y`%IgHXj=BE$Z9W`FH!uLMr7}?D|
zC87}|4G#`a2y#N+g_tneEysZVg_(e2CGQscMG4s&QyTI5LL2eV$&Ba0BN0u1P(8F1
z#x!C|YH*TVI&FDA?fG}h6SXF!{lTxs9C)JJJOF1OKL2s8awuGGTD3ayID+g-)*z7=
z1Mm6(cA(|65)Myx#^rLD5_l=IxEkx<djyjmm8l`hN#?8r@?=n+=a+K?jL$M&W{s$`
zyAq*+B(#i^%&+Y^NPPqUb5t=*KY4pplr}g-1oRaaeb*+XfWGT%IXzjyb>RZNWkKq>
zjh)ahQUG>8=Wv0Kex_zt@xZuH{wxT+5t`Omk%mKs4rKdvSm8`7R6u}Qe#I&0$r;gS
zVTxj7zAxa;3S^M-)j~+_aT#$(L)Y#zy;AX<2`b{hpUwB@qE0yb2gx<;FAic!#3uft
zL|-jEslS`0alAI?i=vL|&El}Rbf3xgn{TUMpmn6Oe#2Rg>zx-e)#q0oLwVTp!X*2r
zgXuDBmZ&Lw%4P0KDQTqK{puUIB;ZyQ#vFV^U3HQh(>MDxx8|&APY~o{MU!gXG1$*R
zT<WYmpT8OuV29a>_j_?zL<?MJV8`1|^JW?N%+-oV$l)jDZ~#w1u`Zv+e-hDy#*h@7
z%ZVT_Uap^$0mw9|-xtB@cMUk?>U46j&$pIFIs6{?w=|x|IoBd$*9Z-Cq|T00QPF1I
z=g3mt&rCh=jCdV2arZ;iKGfx!_N<gIE$JtmR7zE{qk&y!qMf_MTX<5xeDu>iWRhCM
zWri2LZHbV3pp&w7)5fnljKg;$OxoB2(Ay&Diu0FTIEk|u5sMd}{<|-@eb_U{35iBK
zJJ5EPwe<-$e=3|9V+VM85=Dce=!*64|7esqYm|qQ{beGN42UMv>{~L5s5n&go%=Oi
z>$ipp5DAA4;<cIu4SvT>-<U8hQAkbWDf%Xn+qJ*3J>R;77UOKnXWOMW$yY1~_;BfQ
ziw3L}*Y~LPxnO51Xz3~CNSDwdsQr__7Fk6WLGJMNt#A}Uh52Jdzl5$#4UxZu#!;r3
z@lH*Z&|!7t#d8y5NSx!E832fI=RKTF>Gp_7%gmw`2-e0)fj3Km8)}4BA?%yAh!tvH
zTCbID!op{(E0qC&gnTn^9pdC&O1wNWlTq{Uw<%E>6*1-P$28|xqgT2}lW;tI&6_k3
zDT25IvAOI4r{>N4VYTZPwOs-Ti>{0gt^T^w_hacEVJt<Q>z$it(4><G9RjEh)&u0=
zI)GFyIeYI&EViUSb*TnjVK=1Q4~=<`@@MPUyt}`9t&||?dhfNRuid$hSE+^*WK%A7
z`E<;mok{%mw@2w<+;Hyk4i+~3n`^VOKS48sr`rcKc_J?(Lukcu+~@`fgjHB6Eiz|t
zA17R4;QDS_D{Rs1LVfG2Vk9+!$^9<zYrUaUa$g!2%;P+PARQ0bMCg>4r9%~vnv$*!
zy*OdQDa#oICtvJ?q@eSs#2UP5`!&ozJ$sP626oHtKL%~{pYJZo1Yi{_?qiOR*NTG1
z!?+r(xL+W^Z3h}nUhYkn(#V;#=?c1Df3NVhzw4;0l-YbGP#RGp@8D~Y2_tzg?e{2|
zw7-A0_iVE>z=eE}NpTfFLjgG{A__a(HV+OVM0|Y$onwsr_2#bSBmGIgo}7F}S<|C(
z*Mf`WW_?)v!14Fl0YD{}4HY=X1^<v~%yP=yU8m|)1XwI`eYMcn8#zPsK9E_6!6j5l
zF(%#9I!sqj4v0vI)6gf16_NtuVnl*KC(ZpjO=EeAU#VTg=oo*P-pKxeo)06zB-}*`
zKuLMEL>60e4e(=mp|5LEdoIY2g_y>$$&&i{1lzp-namL^^+1K>sw(=E`LHv{h{mII
zfD#XtCQfMBFTMyg&2fmve7sWu!iE2Pd2(*U3G%nS-LH{f34*{Xh!ziF?1PBErkG)W
z5Bc!(3gJ(FODo8nj=_aDO{leNSx2@|-Jz6%dX2PX5Oe>t=;9=hb}E4_x%k5S)^JBw
zJTRU>k)6K}()G5iO5SXs!X&x-k;1%N6*?mQD(1Ar2+BimAC?{S?0M#u;);d2{ec^2
zpFpZpkAS=TPXMrH60sE&&W}h8kukYsjy9>+Pa`k3ymw@`1t4`|m8$`&TH+BPZM6KC
zE5;Z}1lYXptR<3|>O=5jF4A`uPl(v!M$4czVF4-TlreqE1Ec|N><M!bpK>7Vf^>Ek
z_Y4`SP&}~&S?GuihWeb{u&;lThlgFl>drZqV&Kw#5+c9j>8BD>!0?1jqi{j&Z!%lB
zDFSPrpXLVvBk~S8|NO#+sRM1GtL)WuLPq0EhHc}BbC#_6no<%*eN#_k-bJ}`BK_hS
z?XrE%(f<DXh0a2|XZ;NDWwtw*A?qdZz?303!)rS8_x$E!Y(?`<K^HCqba5Caxk|l0
z;rZ1IFxhls@8TkCzaLNUP-=2f@taTIec;@!MzOEb&~^JjUPU-`&}qX0%3=$nQrU=s
zeE9FECwMWcKmGa5JeaeVG{?)DBQ4-dNe2mXG3^bWipV%t1b;7J1#t0Q7dC)|(cK2;
z$RRxD_Mx<tHy)@wJ25z&LNJ93KL40g#*@?`%D)>5k~?4#1*Z9W2WPYa^O{t=pxO5I
ze8BV8=`ggU4WqDjF5^46#{FoDct>dhtkYdgzdnrXkB~Zv_)8%+lT_~$dJtVugA9S&
zetc9LYR=#F1&1yJj`uowgvTnVC4PyQqQxIBgEjeL;C<(i;A#S2T;ZV*eQEyAV8q#4
z{R|%${T}2wn9En^MHA-QjIx$0HX1C)8|JB4Mp<)1mRwx98<l6JD5MJOwy`B$bOWUH
zBf;Q?BpeS5kfD_$%Pjy$!7I+5cwQid2Ug4_)YSdNOB<U3&0mjJ%a0qk@B9&0C(uQU
zJon$K59Kv}3j(#n`b^%enQT+=O^}`a>4AZ*tHxCLr1YidpU)*t6h{o+-so4Pi!$f&
zjFzLeqfQhN;Q7If*koQL$OMXyhS)d92;2m%5~>{~Pp7D{idU|XHu`%d$gF(CIdMbW
zixVEY^39a$L`tppQNY`94*JIPU$6n}k!|y@dkbvWdp>`u3l)DnJqR)GHBdR+)Ml<%
z=gB-Gi^te}_>sgHc5dXwE-yCx@($dev5M0m$0Q#l7wV+W&xSWRNom?=1|w0>CP<Qh
ze-18`Fb<zmEAly39<T4qJo<o@_Fjm*dGf|BL?4q!Rlh|##^N}=c@@=++G~JM^wLeq
zj;Mf6XS+ti=^2GA^OS(WSX<$Za7q+|FCW)?Dj{GMNQmnEbNu4lDtGJ?ahiF2OS0aD
z>VD4|?mwTeyb>0j?@Myjg8^D!RAQd|nyQ+T>Dv;gF!f+BSyy9N5$n2VLmg(4Yr)qG
z(3KC&8wzU((D%&b>jz($uP2PxZJ|W=u{m}z@LUkb^yjK8!rE`UqhSRF7+%94bm_iM
z1??3WlmTSu6C-t>)92e!&RNXAmHJ*5c5+-_jk1pXIeQ)OG(6X#Rz75O;W~ZGJL+LB
zbq?<eke_fztmQ3XcP6Jry8UuM<&UH$9XF7vC<DVlUU!^ZRrpqJc2yASJU;Mp?`!6%
zUT43%FlPtf8j|c@OakD%1Gv^ltrHzfyla$6ubvaKL3|hU)i@Lgi_ge+1W~i@Q(bUS
zJFz<6l!S{tN|BCz&p$Guo@Nh1*KD2{juWMwwm~KPWv~h;M64C6&I@Ki@h6;vGr@!N
z5w>qrd_5JT^-$@wU*unTw6iGn`5iX$9{)v3U-2M5s8h79yN5n8e&g6AlWnLo+AgD(
za&6#Rf4dDci22YV4EDbq#8Tx_SGscx_-j^YxUd_yQ|_gY@ry?XPyoR`6UI49dJZhu
zIx<kgX(IA4f)tFVfEk9Z{v<95M;^|Uy-{8cmuyz=_M+SIsE@4j{`iUxaI`{@>AZf&
z50~gg`u!f$k&7=+$?p6e_Z7dtmoKM2ZxX-{dA<;3JkTbepGym~MuS0=tl;ir*1iaD
zphyMkFE1;Vm7Z>fTkuspZje+4-W<XVUM~_t8vc8BTnX$;Phie&j2LFVt;$`Z{kNwB
zB)gjw#lim5h3<6?1HY#V+3N2gpY#Dv8L?dt)Z1_+f&1>w-BPPH4JhyLV7zHS!(4&q
zORr-#T@q4gpY9m9<cY`cu1fDb>gy3$JH~reSDyIMD#>psk@InY+JM>Lv?{A>mo_<!
z1zBPxD{#RCjH1*2!k<(DR^ZhViTUXaj^>8F!AWF<sKA6Ig<rZp=Bvn@SYBC{cXZkX
zk!3f2J#)NSa|>Q4bOs}GRxJLRPf`Y1jCn2nNOz~t1hpJ>I*zH@{H8mZgt7wI2LA>0
zha##6#USzXLj@x8O^O<AVc?<8#40nrU(;TbR3l>v)RK`hn9s8Y!C)$&Dh)LjVR~AV
zi0MeMdD6g+PJrzQLz!+VzM(&ek-zmSvawypYVck-aV-3ldwDF~!afy$rQho2zDd7E
zg{3+pUQWDU;>=191@`s})!|y>AFpQ6+%;s%d*J;hyqj}w-}ZgwWt(G+ToagxU%r=N
zd_M~LT%g=y<@fV3E)#2uU(H1nQ_&1oqI6Xr`B!)`y?I$Vn}gw=cv2?O*!d;(ZCj6k
zpmlpKpD&Q*Q{ok^O`5-m<K5r{0D3g9?`3Yyg!oD;SJ-<>Smll65_TSc5%Il+FMGWm
zpcBE%pnIR{MFW{-x?%uPHYmKwU<QX9wr(9Y?+tEPR}@)5Lf^mGSP9!@gR3nM+kLHr
zdo>Z#TdM^&*roKFdO2Q!jr4vkIM^gH`M@^1g>cADfF>ctORqs}C%PpIpS-#9*(+++
zkag!^v9$h`Yig6YPp<PZ>Tl7Oq`1W8bxvE_Ni_b(+mN%hm<ru9EgxG9^+MYZAC(lP
z@4zHzjeUPCgC*lfKrfomaY!yQ%;p)jhuR-%uEc$1zJAmf9KzJW(lK~PbM}<JJ;SqK
z)>u+!6f^;3x^%AJlpXVAAb#B%Ebl5Q)g38*zFQ%#y>K|Z&-|d7X1M{&s)t!v-tDtt
zBF*S1pRRKiRF9}b*#L{v%DBZph2Vx528Rrtd{>s|o#@23T3w{ESJ*ygXF=;TJclop
zTt@ZhnH9aDdUmo(V(l5`jYHGx*dsHn4Q<_wuyVReUM@u^W?kde<Bk+nQ)r0W_cbFU
zePfS#3SP-=Uf=q=bgG}LAi1JMKAl%FjT7IUS+wA-m5h5!yXGx4r@j{TCcIERqu+Lz
zAYL7ruBCU30*AyasE-j(N)D)--%V0im_+O9BU+MUiP=RdHV)6v%5{>c1cFV(K=gDv
zp5uS82!8==^l>~0S>denX>!a!+ZUAxpZn8pCrhOyz;Y>WoYZn1J*4^iPHsVscq4)^
zM~l2#XT`;2`ED7I(Qd&l8CO^P<g`ynG=|PssA&rXRM{HHPu*RDx6<-FEH;p?mQd_*
z$PETmo?xkYw|+!Ql=OrYM~Z=it34AN5^mm_^${2L6rd3<oDmFpv4qTG8GbGtw3tE+
zj6<dl9zTsZqJL>PKD^b^8ULk7=qe?A<z1pu+7p>;YG^}(iBD8H0}P0SxhJFHSjOh~
zQ9$h?CR`M104GdROe`*4HjY))rJ3VTbkpLdiUD;%$$)xGem1F9{Dwh7kCwqAxC+<l
zBPN0#2J6(<P}`y0Cs;D8Vmy?$@Pp^%XVJSAN6Loun1L>H$k&FTWgOcBjV>%){87MK
zf7)MnM?S-HK|zHZ^xxLN9S^%ZPm>ny#4oXjp82;EZlH}v^EnX+)NcN5zpJc>(f_Op
zZF)~Fm$p3zFXxRaUuS3{aXJ8fTY1cjiURUJ<r?wt-V{fgfQ3=Jpx|OLm-#yhD=*H}
zuX9hYTU6>SBns(*OdB+FJ$k#_<O+U!E)GB1{dqNs3s{Cc?>d7uzn!C&X~l{~NqrH1
zkNZN%mT$57a@sYo&J@U;hJZqi13%_VZ0e7%uuL+`4d;J#$|eH|XWfj!iJl5s`8lq6
z5o*#oxFV-*6j_S7+TeH5R8gu@EGV9}bfwXtxLn$2R^qgAs$Nby%rmzFT(g#sMPnI+
zS>F1B<z9u}IN$no0jd+anD5g)SHCCmJbmfjISpfdF2X92KM*OL<ZITXF(tc8Nl0~#
z@?)<Qj{8aA%9$eJU>Z5Uz~)66FLb7OzJJ@3gjfFduG^7q0|Hv%6_zGg&vkfmW^ye_
zMK?f!ojl@~*f$G=g>P$8HxjV65_jeVrTQmxb+bVM^@=TDPz+3dmMVc_e&EbH5PomL
zy)pA)EA591mR;c{;XJ3A@Fau;);BVP0Nzv_Cen<DXu$UMPyJ};o_vV1M!jc2B<jPz
zA)vKyWBvV)4wOtvSbD#|<sb<__%v|)Em+Yj{VEQCx892NED%TqP#2C|=&*7r7QKN7
zaKAorG~^Y-)SOFDen=yQgZgGwMr~wGJ#n6oTRuERX`5Qv?iTvwIXBj6fp<UsOcCw3
z*JXCJXhS-y?A{ZOz2W8Bpzjko45ul}*4lE(Z{JHX`?5xAp@%#7D@G~tw~g?{^Fj}M
zE{xomM?H&>O27^A>fIXG<GdSwj0fQ*(;CsV0a|{NnKnaPuI<B~)cNaPH6Z&Q_V;38
z@e?w86-AsD6188ppIFE5i~IYU`qrS$DwZ4nuqjed)rc+m<{CWSyrAfH`WotOOWk;p
z8aKNz7xDxvIzk)>5JXkBAiWykB;30AwTNCX?PCwloXBpLh8Rnsv^Mh0G9-FMfuErG
z6#kNNQIkV&E=-ekQI75p`kI%;@O8W%mCtzKBjx@Kvi`7Mhjln>xS#SaO$C>nsd02<
zeurpoIVwCuVdcHYMHn(7bm-hi!mVN=hUPMkzc|}H3%cD#KEhrI6(nkH0JlA4&N>h=
znc7Fq(d$}06H~&|btgo9bEM<m+`nJ%f+0|MyL3Ra9?QYpAQ?QrWVb`riV0km^TWv4
zMDzH>PGaZ~-v~pePyyuOhAh|>q5c)`&T|_r42KxLbCu|KzjAQR4fAZ|oG-O?X@}>l
zQ{DqQ7>}n{yVDN>_qP`B7*IPUb_k=jG+s%ZTD&uCtG2kZ<Cbq8ak@!iGgwVezUk}V
zA_mI|(Fkd{I0O@JcIz*7!XTU9zMb8O@+Cqe;vsNwYoF(_JI_!;;pp0Vin=lZXG0-4
z1rxsuR52$JzZdX5T~36Orbu)(GXXjB1`KBzew*!=plQ55S-D7uq`K6mDXD`8!S!|f
zj{_T*(ePY+>363H!M=+JXD3yXLUJx*o)0~5pzP-~b=SzkG@{5|%>3>ckKjG>cJqk$
z67V_u$UHShQKY^4m|rI8806}OMcM!OmLTV){(1%iS8&kJ6HEH#LM~ap?7<AS5ga3O
zu%IDkYyC&9Y%I?<u`k&22wS&yj&yb8Df=PeK$n~xiH-YnfRr!lPK0se$=q)(g_)<1
z^dLLN$Un*nbh6m>)*a+}<NVy%*ET{Fr-+5DE$Pz`{{09zfy@Q<+#_mMsObfBFDa?F
z-E3eK9Ahk&LC+)hOvQnEzx};Sd3;e05?SI}_@A}iYyk6{c;C2`TqIT=M@kCBV3kL3
zlp07e(wk@UY)xQF_mZ@YewlH7p~XDmO2+td#@UJ-t#?WvRGO>P+ofnIGxH7%z8bFm
zT@O~#9dAHtK1eh^6hfJjSEa8u=I6w%-JoJGE_3Y%_b)uP4r+W}BT?>Qovh6;n7|%9
z7R@~a7y#DZL20o9LSOv$o^)23U}t8nJLh0QU;$aggkzd!w)uNzM%$CP+0SCRL!(m=
zC>+9S4Rf5$-ewRX)FBc89&d)_hEbr7y?C<ZY_%Y1nvzmO2GUEw_h+Fd9baRF!qYmH
z*6gu8dEAt)-oDlt&M&;Z&|_zoYx>-7r4UX2Ah}f&IWF595^j!sC!~5>>~*_g0JH*5
zlJwH)^>E_GYpFnCrLfBVEVLq65}c^x8c=JD@y;gg)c16+GWSS7_`xWFy2A3L;nC%+
zUmwpR#`wf9sT_L8$)iXuGw;8i&}R!v`8!7V#v#EDdS<7Tee!moL1BBSnj?)xSY~=H
zdGA+&s&?aHIV$n>9QIAUo#FZ^5%v8h)@u8OuPhbm2EGX0u#ZlNYOT4M7nR88Jxnt~
zEb;s-ut<#0#vmv1_As^6!X%axm0jqJ?Nr{AQulc*^H|+LePgaPfh~daP2UUu3$|wV
z#iv`jQSP>Lim;Vu%L1bQe2K4WW{mgQM6P^)S6F>WLL97OF66!oW?4-PjQ|5c{J(<{
z`|V=bfZR$m9}UKr><+r&vmqbjJT-_Rx3{v{e!Yk87ALSq3$+oG)Q4q$KZMB3#nBO*
zQ%ue1d>8O*;s7bM;1gjyGKCE!8gnc5sD0+@z}-8%+eMRE<PPLgs;#(#cV7LYGiyb3
zPZ<%s5}vWo`j2DMjsm$?)`S|qWb=pldoVGn4lYd&dduur<~)*j-W8w9em_ZT1#Rw+
zL)3)lu!h=H??X#Nf8D%#_d1Dw&jxlAJD;?lV4Ze2m*$MVZZP_+e~1hy^2$aN+xC9Y
zd@^HBK)%M(h40*pOsI0VKjlT%C0Urnlrv1K)py!g_~<x~_Y0%UT~Xl%K3kkb=bYF0
z(G|39+%(0qY3aa6m-ciC&__NR%sNMFgAO_L^;9N~A#SqOU#Vv<p1xAOUo9m3Y@H|V
z+99a4<u4;Mt8yKz%GeQT-1wz3Nz&-xqJR87ClRNU=Yl<=6=XY30M9*^<mjbsNWIEK
zY!jhDEp>_-m)!8Zwpn|N#`PVUaaKoEU{VP|o_XFq!+XYoXTeAsC9X8}(YB5IVb8{d
zGuOZyhYsZU0=R_z4%%b1x^0&>^~wREwX2MOlNPm}_2A%6L4LgavB!PIK9d_G0~ei#
z`m7p}=_Bk0>?5n4cBoeqzt+c=bRM29E@l{hR;3fhAzl8!!-<s*JV$Jblvw9f;A=U{
z;Ab?Q2H32qJJb<@?tWnq7lQUn0`&C$vRpgh>3^H$UV4*tSP?$_xT#3z?<vyIr&s`6
z`;p3=#0Mx+AlQa|oWW~S(#M7lu!DuEOofF)h1%XuUi;3Vv!BWr=+TF9)Bu8~xP#Gf
z>48r_vCOh36M9DP$wfuk%jJO=vg!ZaorP1<wR|P_t46wa1y)cP5if+3J~fXKrTg_k
ztb`^jXHn-uFtP(8h}JdsH4l<pT2gIh5X?6exo;v4`J9p6@TWk&LeF0DjuA%SeV-R5
zwrU!_a`=EvDt<X!mQr06V8yC&Yo2yp`5iN?(69Km7NA99B#e_35oZALp@3y24;ZkP
z?ZA&OnE@b<j@CZJy+D9$OTjqb2{e=U_X7Yvw3L%Z^@lNj>u#JkskrIQ@>2QNJ*3CI
zfmlNx5$ya5V(Pvm-p0N|l!7_rqFd5Ae=NasKYwso&+H6joPOSu?Y;}`t)kPgn3tM!
z7?Y)FAL@+}9~`};gjYzvXVuvo=X<N4s%pUnYs>R<Wf4_EGyh5h2)P+WnE9_vwWMfq
z3>4Cq;>z^+iQ+f~J-JS_%#zYH`~@&BOVDuBi*u=1t0HmHD~sNy8tcdne{<Tl;=xtT
zw_pCyq)2G*e6zsf7E`w1ej$20#RoVe*tKSfY#=>oZAV$RO&1IzEoRs50&L2M?|L-7
z-zlcEcFxlbiiq7nK}nhUigLzMP=9-IVOtCCyY;ISMq{=gmZ8hGrp3=p%*$&|3lV?$
zA+@LSd_Ev2PK&x8xk7VvOW~wg>Oh#7yvu2-1$gqs(b4_Ri5FPjxq#V2WWkVE@#neK
zNdsuFZ1RFLnd&X6j#<&#hlUlVBesv^s*wVBrlrDIxJ;jm_dnLeOkSrLS>Wa<duG(%
z{s$k`C&9<rW&ZvxJla-QXE_`6+04dEV<f+y6Oc&GP`@~e(llMse9zl~%^0~q>8ba8
z7!ku~<#T`TM&Q2C2AJOwJiWAla#kjt**bdLY%W6sR$sxej_k_C*h-k{w{~RPyN`^|
z>l3wMF!!KO8)8<YZS)H2?ZT<zs$Q;ccfqp2OD!a|aaGi06VFPQ|L88v4T;2)?FC9l
z6<|it-M7@_F&MOaZ`RLEd7t#1)6_>G*JHL&tQLpww)u9fe6(jt$X}2JOa-n%N{V^J
zXPZ@GA3>P8zuSl+e1VLR_Nk$W*@c0qMPZ8qPCkCW>>!O!At<AMe&Vs?tE`b8Wy3}L
z3%bEa`!!P(%kAFYZoZPT2=n9wiitJZOzb+)DK2&r0$p6Q3O8!(m67pB#D6rovlxm$
zd91X^&_bn9&c7nVJ94p&W*bc#T!wzS2!6D_Izkj0q@-J0G5rO7cA`U4qVlS-Q5{|C
z=M9e>f=oGzJyX%ScmzbQB2BNabyH=qk+)QmH>OMI5J$l371wMH`0m88=VxQ~Ie190
z(^&Y8x*NcWK9$JgcWL&hu!<m8VjIyy3Sgv=u3RPjGl@Tkebg+#%<ShwM`ZQ$i$ntf
zr8+%NApndjDhPj1gICo8H=hjFWScM_C<9|X(xsdMIYKJd2#+ACv^HNx6^l+w{fzBR
zBDB6DOj>N2F<`|7pH*Nvk6|PO&76j)Dl%G$NrHahc)jVDJ!!6w*gQ@3HnTxVi7c%N
z08>Wk#@Q2C_kpATDdrZvJ%iZV5548FPd=n4Bjl&!zBsW-Jo#go=tY{a6#phj6S4g(
zuFf2Jo)PP9KRYH+&k3$gBb<lO9NFLjT$^QCD!<xB0o<?OVPvTvkmyM6y^EpOSr+SU
zhWnt}hzYlsejZ$Kb;$`W7?^ipkiBD!5*DfvqH1l6Omhv$)@;?N-x2y_b_Imo<agIj
z!5zqMoVvhL-3srVHDfJU=!_skbM~B}ftb6>*z;NdB^UinQ1nyDBQTj>@Y|0<!+{{9
z9(PfV0#6kX`xtD0mzW{Pt+5XL%)lE+13U=6JQ$@anrQ%Ajfcwc<!=wUk;p8?*QWvj
z=9ytJOuq2MtXK*(;&Hb;BBw;Fq!{Ed4ok!YjC#AomL@{eD}Ql}tSL*QO=1LT@Wj{*
zap-b?pK9VeCpk^>RnF5SW+_A~qapz{W;f$W4LQKR3T#;&gQ64*{_Ng0rT+H)90T{R
zdGPu8$SRd18J8C$jn<sMO#tJZ<HQISl^8OloLJ!|x^P>K56cH6e}IQs(dV-Z>37$@
z;2unpY?YB^l!ukR9KiJr>u^8SjkbCF9V|CeP4tx9lOSn)$A!b;-HH1Ppu@e$KM+i!
z!4IFvl<|2g<{g7&NS9AW^H~_Q^SE4?^&OfnP<=2C4s}3)#SVAe6!sMO9V8L)OPwI;
z0p#Go9I(Yu8#WQ;7|Nyf-7>6*n}>?2#eFWlk2oA0;|=nx*78@*w;Gf43>cRX9-Na7
zM-sjV;r&9S7;D5Z%9F{LGRuv!;oUO*WUW)mmS7hdjGZrP-SVZzGr`_9rY#(*ugNYG
zMKVJx(U=*X#1W$Lt-%TuB;&Ukv_%C33f_YrV@iEZ$*^_L6OT!%QCRk*5^ZYAZN{m1
z4}d=hiBN|<daA^BOQWou`|jry$2U~!OGmzN{u{JKuq|h&3`+0s=sKB3suA59Fi*h%
zqosp^SeRjq%4(<vgXw%L0ZR=ke7t*F^bY;=4yXh(X3A*n^;UC6+H5jSeJoiX6NW&$
zYjMAo7|R@|%+g&2lBL_DqwWM$8m*Ni0viM)VpQqLavH-8l=wPV<1HT|g}tcNl^QEs
zjz<IDBvX3AnrVq1mtDU!QSw~1cH_5dJ%kV{WCA0zxQy@$V5!D3`N{8zW05EW0h`r?
zCt(D#@=3YMo)3*TORR&vP=D~dTY4s_0~ozdIYP2pLRVv#oO$>rTafYw<qJ9+BQD4K
ztu|3s`!%z^7;~K#z9|C1H^<U#V(*<MBr!zO&=G4{<gt1<P%&43-g*9rh1@90Ha_WO
z0H(fWc!l&=9t2K^fxCLx+{aN<o~z_+;sLXDqOU+|UQSt#Gw6<Y3*;!DU_tkr(X0SF
zr<Qj<A^LQ4-f-B^_22z*OxL>gC>OogTDpUuMlYL!vL%wI6L_4&w<ot5BFq-~vM*>F
zQ#cayIUsc28&y87tX(-?MXB%`h}&XMJ@*tOYmeMyQ{FLLq^~zeRt`bw_MR{6psq&p
zx>wVJTf!wtJbYcJFps~rWR4~3#NKu_^q2YQmqO0d$FhHj^yZmfb!dHZZ04RKXd!99
zYpKO)_J^viz)1aBHmiKyZ~!yyk0{MG>@z(};Hiq~$@LV*WGoaC>m*ziy{D@1t+5k)
zc`WRoGP=1`(Xe7oQ@obcwOn~O@ft1|ZYH@}bMud*v)Gaph=S+`vA}JK7Vd@Za4X#T
z`k`mteURk6h`0rr*+JHle6gWlxRFzA&3@=f3h@#YEDu9&=wMX0*c>{~K)x0GMc@nl
zC37YOY3Mc2wt2bkRW9Lgo_Mo8964Gav<;(dl^K@#Wr4^I3%J$*_ORiyo0|Cb+Mu4(
zH7`kUwWC<B)-n2J*W5qa-n@COdShId4jjkf0?uNFE_&$dd5Vuzu}|E5of_L{UJ}rz
zp9%dII_JLu()-ZRwU-Uh<!9&;^*89i&@*IK(y-UbZF6=bgG=UjBwjc=_zFB8Yvi)b
z@DF-4%5Yu=0PM(V)5+QR(88xg+wU*=4B>^nYW_9E`a3Z748nd2CVcc0sC*k5WIG1T
zG`$5djOK+^5WbTbkN>{Jk-6&b{X^3oBu)T_R$AEe=5}w?80k*ROOVBKECs*EI}+Nt
zI%pp6H%#m*EQiQ5Bfi6Au=-)}-A~wkAiLjC6f0~xmxG=c3H`Uv?{4?sA?6;b28}`$
z7JwjL{|EAqMtJ5pDEHq>2#bb0Lxu8lZ*dnNA{CtW86KV()@2ersQ#BEwkQr@(5iVE
zj&ICi3J#;n&!rN5g{z-Vo)E@<QQu=bzo~8wt2{}{wp@akCb51Q`sqAe)XCH_k&(nk
zX0^=)WuOX?G8O0c?+{Ew27lagOmaArW?cWk>Og<%-~9bS1+ZjWtbcai#r86t1~cGN
zzlY=647AV2h9aB$k+f(u)@ttUc`VQs*V)rA7PlC!m^y|<I_MCt0fKthNuw*dC;;f_
z;`?~ey(}1ku>^vV0Co0e<xzc~)PnN`=YNE$f!XOp(1BwHNP4}o*CMk%LrBL1H;y23
z*frsn8h+XE^b!7!wiS^!h4FpdAId8qGTUgzUAlWfbyuyoA3cB^pA<8xPdFU%X7@FL
zs294t2#ADq#cheri|JlO#}GtPIP3Hd$JfRMCo`IU&vmQlwr}lwWP;=sT9u#V4Lksn
zGN0ki4e9r=zwNq)+Q@!9*?QdHe!LBcer8b8FUlVY*aKie4o%prk@yS#X8CVj7^unU
z6vH*&7?NKO=5H4IAY}dQrr5JOA-v43n#Eg(`1V?q$pBqIqQ5H}0`QFC86!Bk@SCN>
z+)@3+X!Q%x%OtT5NI6=T0nFzipLk{Bx1}b?nX3tO0+>En8vOg5m;QhY`XU&ENo4y?
zL?;BCrOKP6;12zv0c%j8hg~!N2JDnR2|MQGkp<>+6VSc={MJ&BApAqTVWBT`Q9;cf
z6>2k+x#CfNixdoHXf~nm9Zl=v0-?))v+R4}BkI`d5tHO)nBvQWeF{sFlk>O9|7IX;
zDy*Bc`3xc@g%A$=c1Rdm!ow<v;onyca3AM5a%IHiOx7W{Azx&M<1pqCY73w-KVGR9
zytFB#0EdUO6M`z@0Bu7<l2G#CKG7Jztoo*+^yQte_*#J2ERxekW8{A8?4BRfSAq`M
zy1n7UJ=BC;BJ9fDgx)2USJ7(jVu(>gCS@~7c1ijiBeGs%_vP8$4!`<Jvc>NT@+?nx
zk=4V90iz!|ZutpfhR&v(or`ZC@^e6Ss8C9pdi(G@VAx=m_YdabBg<fevkqu0D4&zw
z%k!Y%0ZKfb@@{{OH;ljA$9|MhpR*KyTxt<}&pe}4SITaCn;&-V9yL<`q5bXR!mRL6
z+p(*Xt4>cXJkcQWi9$cjR+~9Fe(qgruo9wTUHENoOwY-Wd>`fBe2GWtA{JGfXjWO3
zpfj;Nt1*g&TVQ83Qo3Vj!wWGMH}MCgZ5qii`-n)0Y8I}s`!&hV?WBBH?qR7QAO-M}
znu~Nd7&_^f;e1(>93b3CP!@nLwR1kKy2nIP<9Z(QfGoXsbdn7+A0lT3XDWCXIvo+S
z*G;XGU=Y_6VLxFPp4DLHrXc1A2b!@+3`7a)Mz``OV!5zqkgX38+$Z}gnx2Uyo|m@w
zOoTAUhM$9L{Q8hHXlU(!)E`IE$QO$s6@2@)!lL3Ho#}!e#rrnjrRqzO2f>S17v>T2
z`e<<h!`?WH7V5an3sXrLESQA>ua1e2_;uj7u$E@fX}{SkjS&eZf-gi-9xSuQ5~L@S
zc>ZR~_x|1!=*#N_^eYeqfU0YPH&=>3IIQaS>)m;e%KzFqRM^UfeOfcW3g&jh(wp74
z&Qrt-?r5);1OTG;Ha!nch=-km{NPctW=g(`8V!v!oTo2@p8~3E@eMrg0@!r8y6k?9
z-&_wd5tUO^J*%5ytGgIu3RJZVmQ&v&hm>Dj_B#o-&f$yx>@7GDm2=6z6^94P5XV2a
zNM~$ryI95QI9LZ$#q(qs{g%6in_wMr+$C+)Fw0;kz63Z0mQj0v;h&NTLLIWkXDoPN
zfZW6j^dCmFrJB07{zK)z#jSQNSaQNUjGN30NWpazS6alQQ0ezZUuf-Us6i5Gw$}rI
z6fB=k7~*K7AIUEg7*ZZE*)E_l^hhJ~fjI%JSXtX9Nz6*valN~Zt=tR!LLnUp{m>YZ
zv`S(OVGWY~q7Ry$=s>Za>l4o)57aPFnNfPIH`NuJA7Vw#D?1ljbXQ<dhT63|GpVdN
zL2FhC)YI7;W2RX+=#w-^@Pm)7f<ZmFsd3WIuhSI`R`7u?Qw`Q>gEGR%-M0#k1Y4U_
zH2NljJehv(TO5|wJtHIRon(j|)pgxGxdXTV7_+8az?C!cW%@aQb#zv}y({*fo~${b
zDi}+r9nbX(>N-w77l9BhG?B~la5g%BLyFGB2s9jg?3@DG4<~InM=>sIZbEWiPr(rz
z+1howRI<TxKFJ*xefm{(8ZVnLAC|A<W$2|G%RDpP8!H0qtfWzwevNh7)~tUV+bS1y
z`G%#{h9iu(1etG9MdEbQvh_<RiB5pLZ+|b-1{u%P*o>jV!RvDRApnLw)XaqXmjYTt
z=&Dt;J9~DU^>o$iqr4p6yN6MCf13@<UwnC{G-(PJAIsDr0xG0G^FaJ9VqV#zhN&I7
ze%8phjN`|3%cSfH^Qqz4wCy>e4V8>0f!N=^qI(UiOXZnF+Sp4{R*+-Ho^0a@F)vrn
zoYiK(1sKX0kiflu4<jzd7_}K0^`(J7b^?!j{{UUs9!p{O6m`UdX@Y19SjHzi49Oj9
ze#1%QLjs_WMdsWTjpt__CfhqZmZHJ(EFIP&k*^hK9>YhH1GLtqtr%sW8gXFe>Oo96
z%6afm5++mx?$h<F_3<6MmNxMQJu@8KJ%O}tH4bd2W*QN+CHdQpg<4ZnLS?Uh8hDRZ
z+|0U}a24{XtKZi(X_V0(<w4?dDAtgO%rktZex+p(XiEgW9+Kn}ZqsRxm2Im9&!1cX
zC<HoL*#x-*zJ2a~UFk?)GpdUctWHS^Wk7kzpl`o09M-?)KrVx2bGt>`b8>6zc+Drq
z9<Q~5i#1C+R=$sj_$-Cwk8l<KSxzq$FPucfQhzbj0yj%t@*^{37^uj&uf?Lo-u~@2
z@KuPh+752CeTV{apn3RU<>fqCl}kQjdqY@gy2MV_M~zSzRz287kXoR7djp!z+c&R+
zvR|GnyO$p+(k|C=f&pu3@I2E@1n^qC`eGPBzolIc7vT<@h~tf;=g%*cmDRwn(#bxY
z^}R)kJ54w&+wf&H@5bm1L>-)Gn>i_xXz{Ea#yL0_&Sfgr16@=C5e5n?sgg3U)#<2`
ztW|<bh@%74RF42S^GBe4{RNcR?EV36-YI#3VA|dj$A;63OXr-(IgpI{{Nm8V*v1~>
z&5dn95CYxYkb0Ss&E1h4zby1+AegA+_wm#&wUxw|B?82&GhEifYBj`4D-o3H>Im3U
z|8<0$8b}V5)$(bJX4`c1mlT8z8VU+dw}EOSurD7D*tb!&tTY5Y@fQsM>D7_4qww_6
z-+Esnxg%49j-|$w_|Vs@R?|)sL8vdiZLMS406xxj1uXW0OM5WL_a#KH`KWjVtHFf3
zrTdOuO?$>2<6PJFp$F|1s#WYK+%mM&)}A(~(5CajU|6zvbtaR6=}iQ?Jt%yrxcrod
z8@t%FK3(&-%ZEu7xf%dVS~Mt@rlHZxTXZx?6gl~dJChDxY^&;m(ugrnyaNuTu-)BG
zkxG*eAIKloWh1RpipsbLWPJQa3QCYt4*UWz2}5iE<%30WvZP|d5QC_I#DI|GVWHq~
zE78D`Ejg&u;-}+iNLzNSTaE$d=Vn(&IC7C;=<TS9rFhsv<(Bk8c-kH;zO$Y4AOmvC
zb-CW-8uPiTP~2yCTddJTq~o~HwKp&etn5`0mzJkb<j-KJ?ad(c66@I$fRCx{u0J7f
zzaA=4DtKc?>jcIQpIFiygMLD9CnWq1EZX5T?gQSe!{OV5ktle<wqhQ@a~N3u$u_@G
z3*-nS`U}53tpYG*RJl?H_IR6Ov4h_bhLfhUU9Mo40(-MN7-h}Z<^T&eNMulN2W*WV
z6#Sw*S_=U!R)g~t$5h#?n!6U3GS(P(rW6c38rm@5@>sxj9HL`yB3g;y{MpCU^4yyS
z%#Yk%bR1YW1L9A%dkue%lY#&A(#wW`gRt|!ZetE((B84nhaa82v3zFzoi(s#EdLdv
z%6uyLxdNe|r5}N4ZD0Vw7tY-dOc(ejZ7DYZV4?teNlcJ4z93-$(Q7RaOi@0ytl{%h
z+6SXWIm=8rCCqaLcQ1|y8I&aSOgLX4l42N`k})&k5+1^(cWlDr87j1XHIQOm^~RG>
z9DOPbOEu8>dmq9Z-|~2Qet7)fr-UMyXZ`3z`lH~#X)c?k9*Vaq!M!)9eY>C7lNXnY
zONZ>BF}MQqsl|;y<LQLW_}9P7&62C-%@5yC&<t4Yi8CU3(QWE8*0yh=P6R%RRqf5J
zJKwh^F5HV=Jwl+EM6q6a-LXO9)48#JN>DveDxbjP<VEi$DG5sts=7_f`hs#QAL5G9
zu|2xnm&8=M3>n&xEC@334{lJO1^=wYVQ6@SVDB+}gR&1Aa-!{bH#IGk<1bvYj2!b@
zyEf7Xq&p+xlx__4;KkN2QtX#z!1e483@9au66}$Jw7FqQ=Z&)c?K&lco&y62FjN@h
z$@l|C*hkRqShEx^Ba#pK3R(TB89+$S6HYArj44i?bl@A&$d1{rY-n%Ry&I>;faXw}
zlj(C8=e}WUB_ZC_jKhAj8B_z*-#<u=XB9tH*i->PQSd!y#c$$jfyl-?VH~PGe6sM-
zP8#&I2HF}pZr>Z87kX>qD&y3XGcx+TU!U_(K)0l5&!-AiG3JOdAVK^$wMI->E8rV?
z>8>}8;z-sEyi$ZO>^*$RB6RK+`ZXeU@Z^(0Yjalm`5rN5B(l9hmr2*jYq*!^MaNJ<
z<HD**`OJ%jWyJg?<V1M8fU)2iP45+d13upyA(yb5PWr;2ZkdGVwM=ZM;N@8eSe2M2
zH2Y!PJ5!G}HCED`bc{~knqv;r41bz0CbJwrCq`W`*LBhD!BVvXEUwT*l!_Y+THGLY
z?ie2cr#bZRP?AvGgUj%tIlYxy&dVX4eEwH5(hP5}{Gr7<&HAyobo9ag#vsc^k-UHO
z4~Qx&Nc%qbf&J@H?r-?I5t#Qx{QDY%IF$u&vR!iv+D1pbZ8Qq%sDYZ`=49m%k4BGO
z<(x4#E4Bps=Lz&GPvEwB*putDnO%$|;XbW!S432(&Qx=3r}y3^`KY#fYw<;7=1h^9
zlCBz~l>r)1Wvc=Gi}qhuX2ix5xE8QL#In&z5_E!E;qY}<<*yFLt^=a2V(t}aKK_($
zh}&Xq^BQ<;SnEa==ePsE5Pj%SYKoc)HDgShaHt=p!0D_R*4H!U`G~5Xu5f*~dPDh^
zU!C~T5`p`lSfMIX9;nB+`lFlR=$Vl31>^em3RU&FWI|x)ara(2ihLJXu61I_=tUA#
zEq>j|nxEvwf=?I96JvzSXW{F-G;R1fHxH3Ua(0V3)*O{b3@5*FDp9mde5y^*Ko6y%
zT3y2&_<Vad|6W^BnEJE22oBi$NI8)pO@jb<zsR?{tjyXTa%qm$?`U&k)Y4?RdB|UB
zgC=Og>+(6~uQ5vaQrRz{PF}0u_qgbw%k5!1^)3|l$+YS5d)>#eq({yge_5#yK8?Bd
z7w&QVdflD2lW>QU4i~8Oa=*8qOiH|tB>qZepaC_5N~|5Oh6AN`0wDmcoT_^vxQf|c
zQ!s|3CpMNNmNve57QC*DvL3;W7YUpZb~8jmD}B1~_6E22JS9_lGz~C=!h@_EzQs#4
zdq>f4{pLp(v@LO@9q4UO1DS|FexqA~*4K&7T{3Ez;$RIppLIU!zkURzXx!RNN%Rv6
zilA%#LgQ}b;KxrYt^{Z8K7a=!L^>%1EUEW1EtDYeCw)Bd&6^iU^OD3p+iJKhh?fb=
zG0^L^Y&+&|CCJHutH$rbZENX&%Y`%hFZUdZHhyCAnRc6GETGJO8*qqW2&4cW%{g^k
zR|tRrHu+1b5iG?T^o@Rii$d6Z>qp!tiRzP+2n)F7VwX!d@knX@dbdMi+?}>$)w1>@
zD8DDk1H>)!B8|*_prH^gcu{ZX(ZFbce>*1wa4oS2oYsCmKA3G^+`UMFBeHv8@3~+p
zr!-doWb>HsPZN~LFGLaq1`1Y-7mS$BR)ghf(o*meRO(XOC@y@b%7LTN%t`QYHa<11
zan8ABMv-nQs;;-`HYYhVo&t?vV^(5Tk&BMGi68`-J!hb9%|Q?qr@Z|l{SX4STE~Gd
zX$y&1<pZE5%7dx=5lbT3MV3oEu@b&fkczvWe%W7~$enlAvdcwpe|xm^64Sm9RTH1P
zquAK*$NaF_5coaFZp!?Io_&j?)BV<KLeh!;`!H$Oa4jt+fG}SZKNw+d3`-2UhWx4B
zvp~7m_och5anZeAy8D>B(H`(&0S?EB#0{I8LnRs#8tm;o#!%SU+TB~hxVp_msAWJ@
zH&x%+E;xhA$duf;b<zC8^6ptA!L!(hCh#A8@(v2xq@Z3%c<PVl0Q7330oZAOK+k{u
z&8y=11xqjRRkhzM8HS6Y?K`_)w50ETbo#0MQDn5RX4WJTV3^GkBdIFD{zV_lde&@x
zh=fNFr2E^og|UqpB-u-jiLS|ox*_EFx8Og)%4M}Bn2*4Zw(JdOK0{M)?Qf77@LO`a
zC5nWdJNz5Qt_g&Lmuqf6uQ0|$p0=cJK}Hy#=-qIW;>2rN>Q3drGX|8TTU)3>u=;Av
zn}Lcpc7eH7+4_h3gpo%A*e(c>5oP=kXmE{|je!yC&g$%wb}uxUM;QY`YFq^WeHUfD
zRYa663FP~GPd3;371?=a{1M0lye|>-Z}Hhmh=$JI9LLNyYo@`vrX%OVaTUmpJfh<p
zFw+`WPV$O}<K)!=^243(CJcQa&WoRoJLkWcwIGXxeyP==uM;(LNzSjM<5?wvKq-g?
zk}{jeCD*Ml3a;(2x677fO^8W~Rsc>ZBQqD_7}^V+>DNd3ef3m>(!O1m2HEUbBqk5T
zmO&He;6&X1`sdoM*)fRN)@l07&mXA#xb?jC{-7?P(JA1EHH0x9gBScDtKU?J(8(<s
zUa@Sln|v*Nl~CuIo=QED@qu<@ZFM6WKey%D$1l{(8BPe!2)+U|H5ne)%H@qi7HQ&1
zzP{X$F$>459*7WwCb?BHFDXmT>9Z2cVx0G@3cxo`^3pYq-dSn%Vv0`dH3a5|j#B*h
zVOYsEbJAXUSnmxs!RT~gVOo8d5(C?+!oPjo)k|G!(+4j><m-%~i$h26v0bfK^w+ku
zWw0!H&%etSu4d72bq^;WW3*()oK&;k9^soo{_L4QR=RgS*D3vK^?oU7BcE(&mD1%o
zzLafTDBWh5mkh3mxG5{jQuzZG49st|7?z&EBy@Ds_PD>_vm4qf+<LpPn!=loWTTkv
zxgg6bbsS%>MO^Dl`O2Oe8!s@lJJVHwx8O3agBgcQx>Ei)@)9Nd_oVL236@C^9~Jj_
zNVa6uWu&~Sq4D(Q+(MApt+x(H7~vhttScU=d@5=`^8uke9ZC5F<rBBiYquJi-$X9E
z_wrl+<NdOv8xgTURXm5HsR8M?J*4E|6vWyc<(S$l?@BV#8d?CeU`^FMmW{R0UDcP)
z3B^<(zpC7bGoGdNOIE1@M5u6KgC69A@yoXdVsu3cII#>ac}R9%MyLFfErJMa6*22e
z-p4SyNfQ<U=-+-d8n*!1+9QOq59WaM!s#-I>sbQS-9+&@I~o)|aj9R{Xpm93*$gPc
zB>8X?j^|E)!w*ynU5OmE;?Y`Wec-VA?S;wWATBX$03bj>fp1CbuxHMN@n#rz8N~Fl
z=_XcYxZ8QY3;PNBzSmu_N*JMmASm7U$ke}jv4rh2b$!Gd6foJ(yt49nhX;l{6mS8W
z1!#Hmv)4i5F_#4}ycVz4X5&m<eowIMiLo8%1k-W7m!)c9gD0(Tf*@|jr%1{V*PN0U
z;=`4qUmpF}Lr_NE3Kg(S<m{4pY2|`&T^kJ1^ee1YM(Qwu^TZbQd2Jxbpd(s&|Lq(;
zn7`lFk<O-2TAv&fAq|!?n3Z$sgskYDgD-d|jl|ze5oqQN+nkYS(D2^meCpl~ErTVy
zKd(|^Ht=Y**{);_(zWh;G7QHs?$=>`BT*ig{rW1LL&kNKJLkzq(#3#@!*E#v?MBy+
zs9N%E`#a#P2KV59z+9N&gj^0P;KKQNGn`;}*<E5lR97GKz?@BuV!7BT_$XqP_^LNX
zP>uM|Xp`_Ql0mX$uNZ)L?UWAV@HJwS6_6;KqpY_$Bn;3x;uKL2NL{PVvV4ma#b2%~
zd_wJSviKY*Id^oau6D6+`23j=n{h>yzqjBW>`BBke>_(+$sYpa%4+%6vXttY)`(le
zNEH?rgQv4WKsl|3qI6x68NKk}-8=Q@4DS64B?CKf4r%++YTw5FYBEMcZr6SFy}UD^
z+$qm)B~{>6rkPl%Y9&|+smJ&=>M@2^>MM>;^?5tJkRfWN<UR`x6HJxuM`_ba*YT<{
zl3z8#0m*c(NLBieWbYEq(|?mmf6LF|{7W*)^qwzY%-9XS5zQTELR#f}v=;KfzIWm<
zxAK9rRx6mV2AHifNR|ryDw+XtHEce15zO{UhEA7OzC^IUvw}}$yF+-;pF{X|G<4w;
zq#k%Jp>Sg?1PDY3hSSHatH@#0cliM`O4+xF3nQYCe=MqibQ_>KjH#$a+UKacCKupR
zT23`>SRc_6q^)kjSv3Ib(B|ut^=IhbjdlF)?dM2%?aBDxoQzk0pM7|bRW}yIbDqmu
z4Lh;DAkV!Aa$+;trax1_$yAh)SKhOlXxH#GR_eh<g~NWl`O<I*F!9EufJ<hV*ybTj
zd&f%i*_;q}ZnXvXlA2*g;>0WRxIaAy!a@5e@|jNQy)Ds=;Vbdu<VWPydS$G7VIt?p
zOhwSy+s8xG{WHk7+m-z$UmO|tUf!-u_PWpabGbeRdXX#K(D#hG*ikHVT`veemmW_<
zlI;q2EdV{6FGlc1d&o-gjktW%zp7?bKahefBfD7`O970au_Y9C>46g@I-nMYE>6fh
z`#pz2z<yb2c)o_w(>qk8f$*%o2#{2#9lGu@ct*)FKiv4?*3(02E$F{Y%S@+8rJCar
zL4RpR<>9ctg9*Uo+Gp?~+6*JE=ny3ZopjLay{^CIlN)-Y>ByRO;b!K&*kx29GZb%Y
zw5mgQIce%#zy0b=h(VC_nxpMi#{+{4mj#0%HZVJ5F#@TanlkTiACSuZ@}xix*7Hft
zN3~ezuGhPIEnD~8?wHvM#9nA1VCZjskol#)>Dv#!F_i66;nWkyc7Z-qXX+$?_H`#V
z#~KhD)oTu-#<VJ`zlG8hT|1YMv$GZ*u;WOPx*NaY(a^n6W!|rbLLY}n&NZdX0VLIh
ziUK8ITc4p4B#yQ)(<S=l*+8~9>wa~P8CS9)q__`1BWXLa%fb3jh=gC>3wLdFv&WIl
zbGm!CbT{>qanyx)u`N$j_G1eUi}LctZ+at6SMgz&QULlH#wqhtoun#94cwhs(gONh
zx@R&DDw-`RZ4JW<e}1OF)EQPI5T>#{ie%ls(a+c&^6#bcPFA*BO@mGZn$U&agxPi8
zAgX7!dTawRnpXT^n+uS%&)0%~X^I?ZX2LmM(gLxutP!^B8=~xx$SJ9fp}>2h1V9no
zB5~putzk+`qXl1(X})@tv|9r4Uneh&#x4dfS5h8;4TQwW+~JItdgEEbk*K5KQ3)o*
z?tdQ@HBu?<_+RX4Z0GG1+iP>Ax5nn@%XIVS{c30W{a!9kEtW7Ze`|Hbvn(nK-d0)~
z!hb)@)ENb607c%{F{_}2@&4B08lU7$<wz{flU=e&Ip-Bmx}h@I(yp2hBZtt9R}AT^
z)NbUoon8HO+wn~6&sxmaMr~br$dmkt<kt}_OU+&yNd)r@<x<VIPyvswea@d2G~&vi
zqsDaMPr>Xq=f-c9dkf>)X3+i3FQi6;^J-YgUauNWgdDnJSzhzi=>mqG5L2XOLewF3
zR>xSjySW)bL&Q(Tg)9fj<=RGQ4vC(e9$h34Ao!uS^T-vs!t$m(o}0@r4L=2`d7q0{
zWrtBz_7K&=hQI&VYgWIC7D?1{sc?xIya`zA>rMT1mYMSL;AJ%ui|1}aD)P6~HJ{Ip
zd5&j6i88MI)Pc0oz657De?_3YbuYZ8ug~yksC|F*w$Y5Ng<UmXPFr8WvZ>@OQtBuR
zdRex3ryw^axDxtiAMcqMG3xleRtA>s9NRx1-1qdr=WIYAqf@dN0LQc1=dfp2{p#<#
z>X!b{gRqRwWaYo@<{$g~u!I9dV(nUx%T>Ybo09ldB6!8`M;$4dZC9^kLsXm!@^8{Q
za<eiRm8|spk>?5!;X>jvc~16B3-B3aE7^rLsRu;0Pl{H#@s%EiLb|vzyV~c<&u?)c
z;zECb)oy!R3GJv+9`A19H?ZYh^eZ`e=x_6p597LP2aC43*aB$(Vg8{9N)0ZWTBN#Y
zN3VH#+C!)CKo48N|4O{DZjJ;IzotN{exrLez-k?I@)5KR!|LLq*AUKY=jPTQqOHUA
zWsXMvn1P5zo<o;yYWRi|_ya+cs1>A)qXPx9n)+D?#G9Xfxs0z2rHr`p0J73kZGYYG
z^A1c%GC4l!Q>DUwLB@|vM!7qJm!aEgql$u5M))t1YHbXZ#yf%_jrW*Jv8RZ6e%rp<
zK>(xhD{BbZT=$_i=}Gw(ikpW_Yb{31E{cUYLv>G8YN}MM<v=c++Iz9-hW&RvmkDIo
zwFM-em=1dO2YL%{FWj?|>|ZIUohZpZPGR#k_gr27-HI*!bg{tHiLAMqXK`G_xeHmm
z$bGz75eRWk-xTz^)tjP<4#CU~XzWIW2m}9(T-r(6{E-TKMLU(Q&Dd7&#FbjSfF=Rw
zf~6vG+6JY!L_y11LB1uhT;j9hi(}`Js`io580g3Pb!FEfd-rZ7y*l8@Z)0G6(Bd8O
zaR05oQ{%qnSVThWX2j$bg&cp6`OygCXLmrqq`>dY!;wH}nziN{%8V<f4oRovlp6(4
zmixKk23DcyK|7c}KeQ(7%am!XzdeMb+En^0Mo_7nN%c9>G10t>&U+n?uub>Lu*EG1
zt?);;-yX0p1OkGkn>pIU@hSgd;MMoa3q26>J^D5!F2-*+{$XpBVziAg{?9$oGZ}OB
zmP{R8_{fDrCMK?8L?pS#6>i<8qZb5)ZD)vV3d*;f#@q+UM==q1e8?&ckNG+L96|up
zGYPnX!N`M@2L@*hv{wR2p`S|!swPCD0F8eKs7C`JvF_|<@?S~D1j%DY1}RGfr*els
z8Q(``vM9#JF9Rop6FaIzFWR!}=8z@8sWvWVCd*z_hC!Wb$?97z55l(;yPHPC!9~oY
zKpt&gC>Kgq4UopSeV2|OV}Bc9L~Rb^WKROv<nVc}R}OV0h%JECPh)k3A^Sm%wf2U8
z)`23AAz_5wwcJ)cmV*Q7UlSx#r-F_$<Dr)&ILA49=@ypS><fi2S<Y#$^lGDqoTJ$l
z!i!MM$f})3Rr7bI;%6ElA_y*>GP-*q_aSGgn#c{iNkOo1R1+i@La%6ce!cB)Rg1x9
zUIKcBFB2R5Vnc7eQiRdyGXEa081V#OwTX9HCHROR>p5pt5Q#Wb2z(@{++GOklfwAR
zIyaYfjcfO>R(M~FKMi-0f7zYi)%W$^P*U!xXJvW=lpy+AbMk}Lp}t`{%s@o0&=`+D
z@&y4qJ0IxV{{TQH{Rct)iuaCc=nFAk9xTkhh<%l~(9)9J(Anz=xW{B9a{P3cN7||!
zj+vzLvdyd~WUpect|g-gm)ONfS)DpD<Lr<gIgCYYJZ|f;XPru6ex!elRDcuiH<Y4q
zi<?Em7ZXT~`aZ;?a>r};hRm<5T64u$7y+Jmi!Hp=AQF&xHTRv&AmkX3FM8B#u?~{~
z8s4#2_5zvU(i1>aD*Bekf-@@Q@7DwkR>F&V3DnDx{gU7?yDnmzvp;fl0rSHVg}_%X
zoN?XmiH*Wa{4y1m-It!LVZtOG<dxJ`u$V7@QL!4c$+M}@y86rd3v$4-*Gj1Y^2>4W
zBmcaA5GO+T@;b`l7d@|G7tG7t(z-ZWbfkm^bMxDR6X|==096tpKgL{^WiSgIsP|Q5
zEDtDnbas$Zz_jl++tkHXnRJBbEtnvhxFq?;=Wi-DQ{(O^JUDqbZ|fv(H|uo@_xJTH
z1r7PgM4!3aO`878ij>Jc1gX9K7)UZqYm0YvvgbyKjFPxLT{~5}cQr}xwTn8~L(;)8
z7Qp);H{$(siDK}n5dQ!P$XZslhj-=GT*Z{I99ym`0xNe^17~X{P)M>qH(EuhJmrg*
zxcD^k%D<NP8sz}JaH?T-)aPNW*V%%)A*3HeD4&c5cWa(|#8u-B8v0$gD5z1w`dovO
zQjkm%voc?5Xkkt9_YJU|#`md<o9F7>St4)_oHo8uvx@__yLZZvC0e<tZxoO-%x?8i
zRH$0O<-{oceOVA?fzN6e3sQmhg03x7yg$Q}^Vl4IU*5x4T5ag}?kyBWyV0CnIwq54
zyGkIL7ocpR9c7KA7B?VbQQYVDi%Kgn;iVG1Z2G%$Itp19T@mm!p;`*om{$jtQBha7
zIs5qO4I4iKRt35nvnL`B6?%0v?`@1lYOHxj?$EY?ViQKFCCr%}4g}(fQuC2|d;Gm>
z@Es}xY!tp@xu3Em>`NHwJ)5YHRck-kkNb?>ei-?=j1SBf>v1`V1>k^#=aVqzmb$0+
z+k2nALp;vMh7`B153>8V|9ZG~_gLwZ`Oz*M5%f_a%OT79@s_`?N{$q8JMGt^UcOnj
z<c%~LDP>jnHAZX=w2?MH>>-C~`I1*>SS~sGUjRwO#-&%mE<d(AQJ&N?^iRm=VYFo{
zY#}pGLs3Y4)LJC-O*tob{N^px_F#AFXepET*%zc52r}rp)g|<10W1*wg#{xGSVw~_
z=^+X`FA8nL`n?jT^I;)b^f{)D-}-3a^LJPnZ6-wd)6JqG9CYu}Ac~B8G!LfZZSNg<
z9_!;&I1{hl!dI$pRZQK|$KvTR?#*s7BRbSGe_=fZ4mmq})BuH96UY%`I33jViV|=V
z$TR#{Bc`P_l@aWxIhN@Yojl|9wU(CXuHd_^88TPw+W46+3T9Y$xsfY_)QA(SYk+<y
zhkU)WM5GXV*i$0+Im7R9CJ<)TCEv5qo}>rp`^&)CgfbVS?c)bzro)ihuO-Qce9RAW
zJ=OBrKC6vwo&-Osl0X!D>7-|r${0ImEn>*b8nTjXTwgG3N5;T)83qvgY()dP?s)z$
zJ{gatAC#bim%z=D(z2gU3uNQz6v{_vWt|6ApeK!yG=?U5lyOn1Vnt)SuY6y9F4wgr
z)j21~V{q+V_M3K!Kc40>2}CH11XGBo7_(8p7HsJA2oA`-G$tdIMTTpd9Nm6YroOpH
z<2M8_Yc8^6;e2e{>~o$&jtPu=lw&Vo;k!aS5z;Gm=`72+n+Ydj?rc<eomGMgE^&@2
z5{OopPJ%Ej`i|(3P6&tM5d4_}9~HJ)l4s?nuxN3`lU&H8Tk0vL&+~X{%q?yxcOVlb
z%9EowV{u4;-X9{e&^1q_&DZs~%`xmC75b*$JjMss3swJF<2qGcU?mg|Acfo5i9j=I
zO@voA@)ND7PrYq}3tUM?KHn13)?m;=E`XDCpMDuoWCo*HD9<RRGtMJ?e(L8s&;G+_
z8B>(*$D1j%@wjhNWiIS+WXH$06Dn*0Y-a8F1BI4k1PmPMBpKRS+!!pqd$n+h&SAyz
z5E5~5tFR_D3ebrRQ@Ud%IoyLeL7$;jL6J#UROX-94CJs@Yne2ESeDRvjLRWZg<Ncl
zD5jJomZ9XfYNL?(q@#E2tiIZ*mJ&~u@ZU0pwJ{#2>5%*@T3%o(Ra#-R$Kol20Ohv<
zT?s)>=Qz?;lU#a^=;MGzNLaQ<z5ae{68?|n?8@A1Zxd0pCTONvIB(haYH=91Tkt2o
z<&?x0(ugzZ0Vk1>muU*$I>*s|p!`4pj*BGet@aUwKukbj2xrX?$Qs%KOVH~=4QWKP
z14LKRtlkKvL`(D4y`@R7i!k;>8Zj`fSje09CIvufy`lCtZtJ=_R9yE)y=laNfg*q2
zu|<N8sZJj&aLgdnstLs+mh_JK_@+r#&S;lwBGFiOmwUXlVCiN_{`PT~dZpHG_8A8l
z@qNeCz1XWn!yKbI*ZjaHx8HYJZRtKl)21BXW_3)Svx3}!n#kQ~{&R(WpoDUXK*)YM
zWD22V*CJ(sX&8WCASsIzE~~JBAH>x9si~n+j#Z*WXu|9HJTMmT*&hS{qQjuwm^qdp
z)=R{=_!7$Belr0`*IdzTs_m(<9PZFsu_DO0e1~dijt@p?o^!}$E}7>w4=<pZl7|2q
zc4E0`Iiqo@m~Cq7*$SmFm2%4}_^K17Bp#SgsQ{<|M)E;hQ1~!{B1qfTb-|bKeK$2N
z#OYesdIDW{iutTLE)3rCy<R*_OQBl>AIIz&IJ|<D9PlU&B0H1f`l=vX!N%lgbzaLu
zHjk?Afa>d6k@&jV`nNa{9+ST;(<9|X`K?GMT(T=~9VNy|3Z&uQP{z6Y*5vdeA*@%X
z2PMHoMCx@NB9@)4Jx_opB0DE|yMytJX#ZJTGFnLi-NTx*Ag%f+wA!Gm=Om7kkg1=0
z6q^*3^#wkL{XzuXXN4lkMy_wdvVQB?gLg8F9(77c2mS2~Eom_tk`H_;Nn~o1`6V;{
ziu$+DVjo9Nvrn&$iy!U8zmxshT%XD~$p?wd-+V5<DBt|#7><MP6Ob7^<Aw!9$?YjT
zk~bu&ob?Ohwj6}gb>+bWt}_{ovrA-4+RXYWKF79NQ3i{`9A|@o+x8`mdlhK%bQ?H_
zXU|;;1A({1=n#)I-75TmGc81V<j`4)@YM{i5R-%83Xf5*SQUwWluDHZ4rCHhu?Fl&
zOs!;mV|SVZWDRf)as^{gi)Vi^ZxHYe?!mEcmbP<UIfgc&zc@ZFWx0GYvE}bObB=zi
zuJMdJ`{$xDa<L>UF|;7+wR7`ObGmC6!nz1rO?3M0Ng62zok6>1-)JI5&#;pHV!MIY
zzby>GOzwwVwY=k+KDP29mNwa@b4wW6*5@p{**b(8Y&}x=elvdtU1JEaCeH{D7+Ryd
zR#=LrFpa?4xC_*tNnL1xCM#w;0Y_x;(QG(w%FqBd5@?vIeGsA6KeI7U1Cir=k-D(n
zq#nr7W6`^ITaTpy_1YKhVRv6fOt2UbI}<9z_C)f3Lja-Bm1bK3=&<GVd>J~2;!_>Q
zObTOsN8XZqyXGgpd5GN_yHj!PD?_kls*%evwr>D>?^sIyg29aQRfo<#>cKG6<7Nyz
zG{1j4AsCju^RbEW&6nC`xinjjZBXJB&-8psDA7N?exSLDG~sUh<|c9O@puGzyY`U;
z(xh|87G}tS6vhwPQm4<{k2s-xxPpuUmPh-P#}GL@z0cbITi`EI^(*QNymQ){#3sWa
z7kA>AH*Ln_VzmW%C|h1XH9FDzjb2M+%@E@3GyWOQ+qUw#@bhQI`1e^<h7>S~8qe4C
zFg22&mfQNfMHlH0KitecrPboIG7yN>fj_pW`NJ2{I%*o~zZ@wwYJ*Rd-dflmcqvW!
zcDWa&tf5vqChJ|GqzTSBu`HFmgd5e9f1l$g8T+}}8S}4L>Cl(`A`c10Br9Ila55Cr
zc+W@LyPrgvk@P}}7UebWCP?N|`+1ao9#)QJ`^&C%ey#G1+y(?+z7oDe6vB5or3A#I
z%X`lz@g_>en&HJ@ic$D28x1ew<Dg_{iSE+HWDb8S2>bzoGpQI!0$)`}KWp$TWCLBe
zg;(6UdVxX_AkNEsxJ6R9H-T24oQ1Oc_H*rg+HmP4jJ^~%eK_RK+U>B@?K%W{k^1|U
z2v4&d$P<qx7HcDi3jZBl{1lS%LzSoINI0z?*=Hc;KI*2t@Z#qKx)ty7P(0uUNI;|b
z19J;lmp9zS*yuN5C09l*y#;gtBy@KAp@e$dIbBJ65sa4UHCa~vEt#Xk`S1c-xfmCz
zQvtSt2S8AJ>$8l{sDr{0J&cPOUu}B5zCGKlb0wOusn8@rJM9OvkuRrO*x~h-(U2ef
zQI34$4Bt$LBHDp&)ye_kK|4?BZU2cYSQtVzL1&)Jv`X-1ihZSD);q3y``EpnYtQ8Z
z^<X&-2;Gvm+iv}mgY;bJp(IJ$Rv1&CgV$4#{1ye2C&_b5f@*I;>fq)Kgl^y2wH!8Z
zxDwP7dnv3u!Yx6dpW;h8g84QdY(i$1$I#YN<8xW?T=D`Qy{xU;P}E+KT-KJ{=r>jO
zBo6-tMx0{9ZKl~TX-XxCT8BaxUt7v@^ar+V?KUOboK6-9(~rQFv&XPH7r(p<j;!%%
zzZ?9-uHUJu2OvI)hRp>x$l5jsR3Lkx&6E_<Wc-Q(osi749YJ+xAp?nNk-iZAxb*W?
zxwTY<cIX-!7E^|JsIfK<FrkevoJFD&GSM4VFOX-!Sqp@;=lM^5lVEIn!LAejPswRN
zKEjuB(5baWik3@qoSB$Pf)Q5p^?(SF-^?tJVjxF@<IUFH)CSHhmhp|0DEiZ47}Gm#
zEqO1|wOEeUrv#~(9PpbjTN3-~xq#ZGWbmbp^=o!rJgQWBn(yPA&NtHvU!`eeRgx^w
z#}7~0GBF|km33vijw)I9y}#n<)Jv7P*~Sb8q?;)*gUvkKZxGD$4Cd<_XWc4Qsj&zL
z8x#?Hh}df(V<gm0TFm7zsLbKlQ8)<(u}}Fa(KE4y_(IzVwQRxX=OfnWqYM^tVa2y<
zB4UonRM;DUlVOsjB|RX255}#Djw*_kXEO6#a8OtEg<}J#%@$Md-pjokQc#Ba`{F~?
z)ERtjYTF*eMCpik-PSdH^PoMduVmZ^1jIBWnPiHHh}@IF{T!W^+dctu*(4V!FmXv>
zvd4G}$|$~#h#NcyiB!&Q5UEg<ao`}9U6VaK-fyn0H|20CNW!SQjpN6`v4}Ak$tu?N
z-5_re1V80VDO?AaKv>T9wSfep!{d1r+Nas+8dN0l=vAVwu@)%May=2&hFe+?*0UGj
zE1ib`#vYp^*6eGFOvTa(^|oOT=^>#ZZyhZ^#dc#);B7m$P}=0!BC20KtOY|tPun5<
z4T~&9z7mqWiJSlxK<dBf9`RImIy8!9zpvL_nQ*^k{Ai~o=!T@PS)0<;QcmzlC-2fj
zCb%adh`yx;h$t(g3<DMnIIXx`%2*9%b~{G=44lmW)f1lb+HK~XOz21;2QN)vEoxTG
zHWWd}ia98VT&#!Pp%odfy?p11^3cw-U_h4_5tLX0&}Y&-oNkN!XWdt~WkW-AD4FF%
z%2B{aHOI9qPxP!9wGh>+pByM#(;LAXa?D|fI^g=zwidV(2mBW1d2;QQ7rK(p%ya7Z
zUJ0wO9*RE%*o*k1nm4T887QrZo@Q_y9j#lHtY#^S1X)L6*5Ycjtd*xeW+U5e9DjES
zuLRe!dA{oh)y0hktd!_iCmm!o2hpjww!R#ZPL|x6mXmMFuMRo_Y_Jd(@g551S^J?y
z`Kl!`Sro&(X+X|S{C*~O-G(-`?+5`y&^#8|bRb88^r_p17HJ}QRXBQ86DJ!U7-4*c
z=t)O%z*2RK0;yRqbE>OUm1{TCw~6N(M3TGlM$5zwk3{$D&W^l}p`d#*Tdrf7EKr5F
zHC8?O*0RefCU_5`3{&*xTzMJQ@WDkav4FHe7Y;}>d3Jxo9Z?U*=^%z~t8C-<ezY#Z
zJ~72B`8?4+xXFA+;bopxYjKSQurHL^bh(I+P~b16sg7o2>w<uGG{&RvKx<&sy@#-E
zM#AI09xWXvqqIZi6jjl6bzQW(tcbnm0KE@3toQ1zk>svd6bHN&IB4Ca?4#1rC;e6C
zY)mk`GC9jDF`j7<I<9t333H}n=@FpIQO|ggCRd2+Gc`^1BVp@!deL>9JzLuF1+`cK
z73?xfJg-NDcqa`sPohnJbjdOPSkAc5*?rI+7M@Y_{ff7l*K!TG_La;|%;$Aqc72J!
z)p_8`lis>$L!LJSV*IDh0AW;*XAwWd+0io?EkYx7De#z}=2&ffT##HNR%@EyG{7?b
zT!VD|DVK5M7?ut27Tc&S&gyRVEB3_`8@IZH?`?RhT-S2s(s&^Ssa&_~YYKIoC$0pD
z2@((0!nLB4U@)*>fDAw4gOMG8Rm9A-1Jjs50wL!}_WLE-AiLiy0^uXK>)XcYjTBtk
z<__Ph(|ZdcBoQ$>dMUz3pNWhvkVoC61D^EOK63sDs9C>^{4qLf#hrLf-%a`6q47&5
zg55K!PN_I%R>^?6+&H&YTYW_ico8fx-8wFLHE?NI*&MtH$=YQP_8TNBpmd0BXK}d<
zGh5K9T>iFF8k_Iw!o=E(h};8zMuP`wvty{V<_(k@sE*#iX^BR%2rvFjYI0BWvi1h8
zdkoq^ij~xj?X3kBQPV)@@92Y-A43$h=7JA?zRpre^JL5%#M&P2qLls1F+D%`y|NxL
z$4T<Ze#JsRqa1Z2PuvWY99_;~@|x3^tdzmhS~h_-iT$YKB|3w0Z4`*0+x^UcFCSeX
zD5>`cb;}iuR4Ys5Y8PBCytUnmM&T7xzx&9T&&j?4vIAu-gSVL)Obzd*vDiyL1{BLr
z>_MDR<20oIq);4tULvSA#pV5uOnA`=cwN^=O{sCnR!XKVm0~6eG+Fw{4Zb9!wj@4S
z7iVuShj1QJ*vQ4`AEPji+Ju&w4mVz+cQiEa)lDNl_lS(cek_V|!kg1}GecoUWJ<nF
zZ&!?v_4i2_z)h|lAw8$sGl8_2nm_}9tRB>~lbeB1(&>4-?l0l~zVl-i7=0gDgWtq<
zjAa2T868)OtV0&(N(9)8VT_J6?s|}fM($spVl8dKT2&mhtmE`*u3gRdk;w5?knlHv
zuP%Ixid!hbI=71SN5@8$gJx_@omBd3V6vM{J>j~=qOz>Y*GrT7aK2Tx>4@+>VDGy!
zz*-Sa!N!%mfDxt?bu?SGi#iDxf^%R*R9<!;m=AxG(ff&-FNuV}8hR7&W*!+0>;&T_
zwP0zY`kN$)<m^MDGVIny({#h!EnaXV%+S#C=|nv$H8CGA1qM22hM!(x>j+&zDppMf
zeOOSw@6p4Po=o7l_d^cY@HiSo56tuvw>S1>GLa#4$iidyWFgPo4X~ByB+L_)`E>`c
z$?F;s%1pa(ogs@Tp2{we{$vrZVK{r2Bfs3I(2&ek6P&U(@*wfA^E3xHaGba}2gc{k
zc{594bQyQn!m`bFYym{x@A#C?bTX&q97ZSiZcHy(lXvQhy5WS^zRS<-*BQTkPp#_=
z>ArQu#gX=y8X@u9LSLHx#$}Y1i0mreXpEx8kPWEGbr9im!|sZRPbI}Wf9<Z<*=6F$
zlsV|_ZqHN;B}G`3FjNQ9LQ?{PFe#`r#2s}~yeRv1V{{^`WaR*D+GS==sNxwuETmo4
zw6Bje-{1?$;jhjxHl^U>G-9tI64eD{k9TlI-?kKgmdWFz_h$0_gsNcj`<Y*t_+%aF
zxa6vV4DF?G6{t@qM_1Gb6_sx<KAl*Miwk_|$rJh`KXWdT(VypK(Cz+ArT3l2@W_IZ
zIe1jwSX`tlVdvZ>StF4*B10->@18Kkyka_+ZT-hKdch?*O|k?y<_%c_?QxG@m-yED
zsC3Bq^ziCi4#)g`6tI9m*9sGu<r5=-=1hsd2%5}AEmiQ>IVwIcS-OZRdFY!9JPJNZ
zq$_@6-8xJS6vb+4Sc+m&F^F|~VeS_J8sPnYuDlP<d><$NLmB#6%<g^&C0BtiNzj=h
ze6;kEgj(K%zXEwnBrx!g;?=)rQewK~cutBi4ib47mj}&Aun@Ml=X^6cDV17)?9*uX
z7`nq?$qh&%&PZ6OSre+7{%m|LIMwH0*;w}b>;3clN_<~_{dviL{TV0e^y^Ph7rhbA
z`BxGD{QewV(eGb>_8-Y9P=6r*i~sQ{z7&f3?<z%ps=qJzkLvFWj^BO!tLd})&%Uy+
zkLbsz@t@zzSpWTR|LpJ|-(P7_*FV48u1&tbx;_NO{2A-_*EEk^mHhnvTl#zZm*7WT
zv<V3NpWo35o&HN&c18R1yD8>m{I~q~QC*y0KfjTGOaFgAKei(NjO`T6W7tk<H#TQm
z;XD@m->-kb=jZyzN6T~n$A6mXJabxw{HvshF9rUqgimAq*6zo+)TbinWN*7T{{C7M
zFn8mRBu&rCU#kD*ncw@gX21UD{{T=+2ME)o4+16$0RS#x0RT`-0|XQR2nYxOc!rBh
z0000000000000005&!@IcW7^HWkPRcc};I*Wo#~Uc4xHt*Ru0Kk|qegN?OiMx1qA2
zRc~dD0R#xGC2<F>wZ_vA{_Lvi>X}|!TeBV>I|K*@!vh}fpCJF`|GfI{FGs$t^*H?f
zukb%ZfBj27q+?bO<=_A6x!=E0fBirI^<UPb{L5KqTlM$9BGf-)B!u?;U;k3&by;oy
zxCGNM^5@b~=O;T}fB!4=7w9iAguMUoU;pyP7}mf4wc57nzk%R+p8tHJ|2!@wh(Hho
zzLWpkkpFgd_0ayW2EsH=ga3H<umAcl<zI@r>;C@NVI1<m{$<^kvCaSf*QATn_TOLr
z?cY}W2LChmZ_D1jL-HdZ#w`1fLGOHd8c%=!>pJi8lK)TFo3VZqlDr@3{t+_m>gjJ&
z{Abet9``@5VVvT$-tK?I`}g(y=hgk~KL)({-IjP*i*f1y{?|U<miqcH@IOKC-#?!J
z>l^G(l)q$u|Eu=C{)_r%@!t<`GXJ7N|9*h}^8Byw?#R<^T>h39#e4E^3jzQ2U%>KT
z|0T<d^<V$x&%Ky`g4A!6KQGY#9QAL=Km85)6A=23BTfHBeJ}sp;l29&W5R!*=RN)J
z6aP<X+L!LX{2%|A{lETuw*C+3ACG@q_WwxAKU4qPa)|sB@;~K}rv3^0@7crtQxdU%
zKhWe~)OX0g9kBm>DaHO@O)2(2Qd<1u@qbS#{Qp`)|5220uAu)&9Q1F`{~HUE`p*$z
z6#XZd_=}35@c%f%=$pqsZ~Vsz@&8{6ssH-_yNCayUjOfak?h;{zkrLr-ty%?uK(jz
zSHFiBBmbXShyNE~_5Xbv{syCep0GcAQTK6~{|Efi<X`_XE%}-+N6xI%n_@fO>ha(2
z>)$4)-xhmu`OVaO`~#%_ty=Qp?|;qWE&gx+m=K(X^8b^>YffPQRQs%9pO7MyBlA9V
z$E$d+e9wwMPa^zbet)jV+kRJnPCg+k1)=tyq2QnK;3-1&qR8)g$?zR-`8GBf7o8_(
z>-gc`p}|7#Xh%0mrach%XwqFC%+F`p_8V5~y4J3Y9oX;6I^O@<`hYNZrFk~v`Fz-p
z%=j`^^QmvC;Z~;A&J%kcJ$^E?fM}6K=ivf<!S^G>!g(jHB|M)68a#Y3>#sqowMM&-
zrX1YX>Y1;iQMx*y*LvjHNJ;g-{ms8nK-w^L!_wWe<06Ug^4R`>)zU{uTRn<>WYT$?
zcOZu9s9|Rssa9gP4S!jrV4ox+JjP&*&pR1Y>yc^A)0BkDB~$NbHb<_SIKrnA#?iye
z6$blAA9lU1mLe4OyyZzTS@s=jUk*P5%r2XZ)<d(k;AeBn8iTPCSP9A3=%q&yXz1;+
z)^Tj?qt(i&@HYp^8F&Rcanr^L{W_Tt$k0#mFHZ-zOV|3q2mFQ>hOf&kC7ZSUVc9)0
z$lJHlnsjn0Y}NeguBDUFwL?(<3yr{!iyDpWi4S1jZ!A5oGavqmeRu!Jr2APig17L2
z;`Fdh_voEQs6L(9>=EIktq1zDna)YEsYmt`w}2=j_?ACRC#x#mdHl)IOvX)LL#t0O
zhxj8Sh_<7MGv}sxwRxXc@!?>a2uy1iA|+}t`R>ulx$6pf*FeDTo*^7lOJ#vKb5AaT
z$5Pt23)dd<-Nd313wS&BYP6$>H|ivPblMqP%HG@#)_dgR9Jrz39DnmzB1_a)+!!3B
z7Xp6cTW@?4-0^13U{ibMOiK8nYPxH+@9bd$jupm|w_0HA0t}yjEO@k!7a1}lJ{ZdS
zbSSoEFcbYZ_A}p`KSEdW<w%cTmpn;e{aqZk|0c6W3(DDwYO*tp=Pp~PBe9g=`P+c#
zU~jr#OV!A+Ah^&CFumHziSVTO80ke9IxYWWEGJQ!8=5hUXy0%0#Zz#D0Jlb9iw!i2
zSI%$jO@tm4%v`qO`L4MMu}kq1f-jyzvwC}=&OzGE{!2)ER`*l58sA!FZPId}q}`=b
z#TJ4V6#55AsBe3vyyvp!8n~2vT%!KwrCEvqt%}jg+d^@;*G%b}(Z(%c2VSC<m~4&^
zFVehG7<tTiq_C&C^bwzmK#|oB%)tNXy6A>@D|n^=EkM%0y&HlqwSUG#e92^?DbR-5
z=Dfu-H?dB~@ocl^n+7m>J}r3ya|_4iG^gh|ZeiJt!zKOPKITEjG@^*#O0cm^RWa1{
zRpm2pg%EWO)@N~?IwoW5j%*T>R#0kq*rQ_BT6GeBTAwNPu_}q0V?W_ls{g_~2WyB|
z+izA%Cwy@eka|UXP-1Hy8wOxjwz;DMuKPJXA+kKxdwX<dmEekC@$Jf05wi<&u!-BK
z9}c|G!||CpnT_CwqGg=hnI?%E=Y8N(nZh$IAT=L_0@ikQwhAT7JL@f*cgMX+k1i@T
z*`?iS<eOQt`M0kn3or-x7uuo(Msi=TZ*OJ%SL7xi9IXVBawwQb{762bIDg3_y10g@
zWz#Xg!J4%Pj!Q6-*qD4297TNJCLq{mkL8>WuW+v`+5X@Q=Jd&*`=Wjs_v?xQF3fQ?
zXHYL5$SGcwWZX0rc5W6(<7npQ2q1^&{?zLARN4aUlkk;}hn6S<Sw`%=$5H)U>f9YY
zU=ts`tv?Cz`S6-ULr#hJ059hz2;#5+S5XruV$GBad*Y4pDf1ms7ZPqE)GN-Kv5Mc1
zSM&5mP<IDF?yyakw#D&C`1;zDWDIiWKA1H#JI5>tgvx^?y>B>efwB~BNij8vvyl<y
zli@Q<6b1r&=TFz1WnTPw=|&yCMm`T;LJ6=9X>5SF(ty(CLFMeMc~OW?c-S-!|0etv
z6`8TeG_m9?r}$Z}w0=cisdGf)`3cY228H`8?s}R;#`*+l$c+c{8#X(g8mXQRgK!f<
z#Xq&N9b)+u`}2=^$UpNaN-ZL)asHV@@YZFu4W%~N6HG-rII7mxr)I1GTF1pvI&bOa
z7j`|3?ARRrQx~`JtLR)_%EP9MbiM{#bD^IG?COr6X!ToFi$3$EH>ccVfdN9-1+5^S
zi*ESrfcpMAhdZNlLI77L7mZf)$KBg~RpU^V2Q~$s69C|sJq<ez^T72Rw0E;@ctxIt
zI1v8^HKuSQrWL>zP-~@@z1neH9Rxq7aT-REs#^-`6H(8ejYM=#?0Pdivtpuy*d)!)
zZetjQ-gfz($S#e$hsJLcYl9Gdy})e*<mj2gSG~;{RJ9+Sa(>U@v560gdvl|W98gqO
z?j#0w2_?(L@j-GRb)HoW)L*y@TVyhKu#1H~d<vPV-d5#(Q5`g$Ry7@5en(+oMSp;)
z92`a+;Q%v;1ND8e3HA^tZ(!oCr<6+U?M^|C<42ztDHQ21{~Ga4XVIYHq(Is|ct$jM
z@x|Ut44XLQZ6|W=KuLhN!N*a<2AMIkb;KcoO9B8*zBmh`$d))l<$kGu)ySYHNM_3>
z4-E@ZbdS;Cjcx`8{3-?3EYeWpHMVp#Z8Dj35xxI*JQtGgsq?7{KVmpJdg{?A2JnD+
zIMX+L$`(2>(s;Gom(*Nvm^AXcR6yZur!Bqe1Ng1W)yWjVQy~60hrGWvO78kl9DV>A
zTS6o1FwV<2z9#zFMFStcCN2R#!*f39<(7~6?QpuoJ@70JaD~ES?ngp0Rqi3A@K|f>
zeyK+1g@?VW!4$U{?r+))4^lAp2dy-d9A)=7CqCQlh)9)K9ZZ90kPv&MXc?nxL{jpO
zxrPNK=?6V_rc)jx4&=3R33%C6k28?wPHt8YmuvH#yK$)6U@i`jdnl$#A&RSVfIBaT
z<`en$3EXcr+W?KV8&~~qYor;<)-Ypyd1CG5EQlm5G&Zh-<v>Ptnnq9&C5Evyw(7ev
zaMVMmgXz*StSkwF$c##}RXuR2qa-Dcdv`AlQ8i>vy>^O<V$eJxX4ltjM;l)SQ093s
z3ZXg^%ErgMW*hNIU4Vf#@Lr;jTQ0(IRM!o)wqffoP!dMaGKJ{}L5bkJ5p>!0FdR@g
z{|+{ENDNKlOWovv!Opp~&AQG6`#$`>1vu;@Ih<~pcORb=bpnh}SugU+ehr>)90n^R
zw~!2Y{v+)JE5(lYc;_?RtravoNh&Dy?if(@=?|R!W8n@TkzDsaO$zi<6Q@)}Eq=@<
z?8}RMlD=~xcrd&;hy|NH6RKQ^PNAlR)BR$2TziU)BA^~Vr-5e&@h7hy((lhWYZGc0
zTP;D`#IARhS|e~Fp~mIn9J2X}T@hgA3UD%s)IPW!g0}fOOe8+4mtZaJhe*Qlcqg1K
z>Qk7*N})~xe*b6!F6TB8ez+^jVFKF#76B%da%ps=4(zp?JG0@ByH^d=9RShj&n3NF
zOKqZ&c$bGm;A*{wU`<|CT!gmip*B?<sFmdxO^us$hq`#^Fv8U=m}(khCS&znTahAK
zezm8$qSH4*AK7_X1V$QhsrW*Ff&zcN3ftzNfu999>xn${k~PShaCz5y_cN@5Ai)mY
z8W~slVis1IAYl$9mAuU2Qs+lu6?%StCeEY=AHc%!y(43Cq8LiAg&^P-aQ27FCcw*{
z3<j1!++SHypBS|)b{%)`U1*0|G$4sT6gZY9A#XLiP_V{*Wdj&Df2FXe*UbWSm@_rD
zU^VoQTx)>()+1a}6=vGqgiTYQJZ20a!<`C!yNu=UO*|_+ZmXldzrf_vTnKLn3oVc(
zd%j462{vRyuCpIJmc<g76P^u5@1#I}TSRTv6>`M&+_2j<ZP2#Bh34VFwKr@<y`QUr
z0)PZ+oA8eS<t^BZC6~fA;}${1weAiJ7rICqWdToVcv@NvxOH7W+AXD9iZ3wVL$7$-
z8|zVv6l8|_4JNw|M`A}Dwf&jLsaQk(I5<pv;MZpu9a^|p+^{zElKYM;slGqPR)adl
zzrFZ0Q@8idz0%pBFad@cs{op!DaCp$>JcTfo7rR0g6n_gHp*r=JhxqD`+EIfls*?n
z@}JM?aO~-r8=QY!)@*Ep0xPR1)?eRt*H7RW`oav&)2lPaaKDUAcz)_o2tUt+oskw$
zT0>@`K!R3}JVv^CaP}5BZ5BPof#8gD#S{8Ze46D;M8bBURcRMyw8!XSMf6CG@~|;3
zy@}hmMIo6ldrDUtRSrlW`OOFk+gH(v!w8q~O6v!#)i3iuAi1(wo+VT+9zQpHRmF>|
zRMotzls;f#Qt$LcrDxZ@e9@5q@>y0xeQxUN25^J;=tss1B%w)oD7uv>k_}<KZFzXy
zYYO0-Y}$i9bZSZSiF%%68>#i&a$WCHaT3b_6K1zis>c-5pYo+CfCBTB+R<Z50`z5Z
z08;G$NBuHCikuHXEpfl#r#9h6$RElkM-BIbHxMNtOZ4iZ>!c6rs`8^usvj?Tv|jN`
zV!Nb(m@792<Kl0Y7{F!vM1X+7Fgj2Yk0z^u12h!y9gHPqUgX<`fSOn=hT<o1Kh0v&
zrG?Go-6yQ_+Q@!v+M_9iq}i5qJLi}my}V^~_IkjY(d;J?!@2E{Z4lw`D5ePx`r^e~
zqp7=S4FI`>38ggTlIzg|<DcUUlnX&o6<~lbfbwPzyk~i_o*_ve_Id4CPVeOO%fMZ%
zVl=hfE<Zein$Qbq<Czx;1ui_+-|`nm{Z3Lpl(v5CA8<4%fhtt=Z3Mt<@F?t)oiI_c
zHNGJD&Gsk4Lck1<L}P=e=yx_mNiMxt(OjHNK!(sD=GUE+Y1bYG1cR^7F_Y9d=5&!t
zf@gZbi<%yx_88Z;kqqVfEvW)wC2@yo5GmE1Qntid2Ml=m#)Jm)`KHG&V;BxWGiVi-
zm*bGvD~aTr%V(OzJW&xVA+@l{*yUW;WLh6w{-Wrb8wtQH=rhYI`p~k9LzmT2)Ngcm
zqdRGLt%e0c&(sIQkxVu4xm%#Ps+c}DU9D5#b$e|<#)tM+ZoS?S7JIzwm0oi;KjuEp
zgZr$7VpkCneDF<((d?)T`t<ii25U0ZIhKHNui4HAH18${8$<t7>tW#mXh2;7`~U`J
zf^NB+BCu$Dp5X$x^a2d`xmz6Zu2wXTau-gZ58AB8wuhRypu=xN4-)9_#jQ8+re+9h
zLGepz-z6l=uLwS#(M8GD9&g1Pyxb9yz5@2a&V6_J@==ofkY96!yD43u-JG0#+GRR;
zEmZ^N0o?fDTS9em<5YW)9+5`{qSGK`N04jHy@ZnFZtWPQUPOqCTL5GNF5|DM1URFB
z@r~|38%P>MA@CIrPT6Mgx$!Zx<9!XrpSyX$fx&ZHcD^GgbC{kq#6Utp-i*b59L0{&
z5$=enOd^o3%%Iiy8_d#<;^aof9q9~}MiVQyiuMQ{Y|-4ZXI`f-Z^){1%N$*L#_q{b
zL}74#rl1Lf5kr^-%Ke^UuR4J7AA&%s2M6NP4AG?&H0+CXUm&}5$nJVX8FALsXkeMT
zjUXjs*8Cd4wpKL+V~7LRH4%(nrbU2@EH@ll1A)O*twUX>fnawR{1U&Iw!nZ8rFw1|
z2+C4noV4dzilvfq_BTl(FK%qrf2~uBOkzOmOx5x@roq&1+(W`eR4sBJvAY*LhGV}H
zKz9qUDv2TbWCMf*%^3<ZXQ(YTX74&<ac4kt0KM_X5#RLI40wIIZi_U?4j}mvau|VX
z5gsVU)DfIcT=(!>C&PZ+`QlAPxOY@dT9>0_DJTMPyHG4bZ-=X`^I1->x;fN_`s9T5
zMP8c|P@m&d`)2hC$*^g93S<KG2WVpan?NA5?SZR-^4Kz;hh4MJ3iiq}LrRyU1Bxn_
z9uS4R1w|J)Z2S)Zl+{-?&Dx@H<M)<!YXnoakQ)b*^uAvy-xQS@8&@)DTB_AYa=0O9
zSJrE;9*ZJcLCsD4dG$}G(pM1J?QV#3-B3LlZ@nk)tLbfl?bhFUJdHfBnGSF)0;L1~
z#bV!rxE6h_plJc{t5J&J`{7t>mY+sq98<bo{4`wbLuP1l?NeSP(DMLOR+Mj%fc>k7
zaqG~O??fJ*8Kf==PN<o^2JwEX(}T-nra^qYC}yzUy8lU}@Ri_ShI>Z;MW|bYjidl}
zuc1h=A9|1#NwNuMH<Fp=nbzVs%Q-K~v&f=5FH+O{rN+pFX=uM(VH7`_!afSI(-TXM
z%*~zvgBq^jL|aHzVeoto{Kc}JGi;s!LSL)pk7Uc#6xS*$A2u={0rv4FerH&d{P~18
zfLt??>bqg)4$21jp>R;*njfNnSr7wQfdX1I#KIK}%y@aByT}W}H^lB{5E?@wgu9*7
zBx0t901nzF`-_tyhoZ-yz1DkzzLynlUTGn`>}1MCE+*I2uvwfo8c;Ag(gMEMD*dY!
zL6!;YHH=N;i-+#KrgpoWOLdQ98=h%>`st@$EBe;aUXFoKcgLgU_Aa(NY2Xj8<u>bC
z`#nTs6`@38lEJIg!#VK=i*zFFZo%Uuuq;IzNF&M4KU*O|mqB-{D=zf|j1aQfleVY1
z*o{6hzIfD#?!-~P?wJmYvsuAh(nG?bfv4&3iiJrZFB-i|wR=Xs2Y4qFbaXH&+<h;1
z->kkF!#P}q(`WeH^sHC2g-U1-C8nmf@z2K5iez#lDRl|cS|Mf(wHyrDwS|Wg3G+13
z$|Z+WUInKF308M4hBaY`i`L$z7+uf_G?|q_r34UTFy?1ufw!PiOeG-~hF`r@8aYKx
zNAHHk4bX-Fg8Vl?acbyxGkN{VaOhovN@6Lc^iNIKpO>HKDnF#`^e4kT#ng$psgcQj
z`vWCo`g7c<lMs9-U88I<cG*s<3c9!ia0yGkmJO=!n#-@4DZ@I-95B15-3;1%=GewN
zYB>`M^sA{4Xz!7!65fvwA%!adTI6;UyKVUaL_L`|X!m)^5Og9JNl^UNzMt!vn5?Xd
zf(*@`3c|-!qlK%<3JqRD!YdTP#Q_`Wi(p#{A8pG$9N(iOh{A8lg9K6!Lm}nHVwiA&
z@(c;W62npsm+JU?m44m=nv|Z#04L5}SfeSVdd)E{YCI#+vKxDrTeyrh#HQroSS(q3
zpKirn^UwXulXy<<CBBCMK49`?%Z{<hvwGDVK>@THk;GeI)z2qiy`4^!0fgeJljdMO
z=<!wBDdM&HiVvA9XDUum)YFHTLsL{lMR?+gdE4t=2nL*8W3`X&x>=8crnH*`>2@&p
zp)Gs+0K8!=`&da^8Y+%L!;Zt87vTG1%rD!~MA^3xrfs`8%(I1?d=?_u=+=3X4^5N2
z2bqU!4m*;*`MU<Kti6HKn@CKGAm_tj3WI-$JRypfS$%u`ETXLK8KRmGFCS@P7^H(X
zNP?b)3O?IRS^PnN%`{lrqX0f28Av&e`pMOMUG9){d}Z4#7A`2fEqx{+s3Q53W#1rX
z+MpV~BCk=&jDilUnNc;+I8c}vp{h?Ge87DIsHZB!^w>JTz+bTs(<gL_`7T7N<-asH
zMFo5N=Ik|&g6sY{B#gY)FowiC#{fO`!b~MXJ)pgur=F0!|1xBn4Jd0zL?_B|A%g|K
zd35)?TnH;V&Y${zB83m{nf^fYF=!iQY+zsK%}!sJ0+JY<WJBZ!vWud~w>rV?_o4uR
zoJx7U;@OVlx93su8rclQ%VfooGbljdO}~j9)OytDQP|u<K9~)&+oK7km;syMCD0Ez
z4<&ZeHV)*sq8q;QReyc86z^@3YgD=A|B|lDr1J@1Xi+I!ZaQTww{wb~sXiJwWZSTX
z7Id{iX>|wtn@9SlMn`^G*e_dT(Z!<{M(q#14aWx3uS3X+v~f`Yyu$dgwwP|l32eN`
z%U{5D1@X*LQ_cW6yNoQm8KoAL<Cp~|Bo8tWK&&9;2SGis<!dGVaZ&b~ux*e1a#LaX
zd%z7iu62n|iy|L$S2nRroK_iL+|f6Q+71g`LRyu*Djp{sKMuP9xn#k(1<*(87Jp)d
z^-)o8ERCXVUlkbF8#xdXfdhk-T)A<8hp5}fA|n*XILnlsd7w`zh;(F0GJ54lzWx?<
zDeEUX&{;SO4DeHgg1YJxML}2e>cATN??dCzy5_IRHE!8T{gWo=fqE2owe`1lXh@RM
zEtUO!((LQS{thpSJyXbKeEo?9d|WW1q^#G5=T5H;gZ+11*=Iinfx$@#L6sjYg(9wF
zR0Cqq{K|WNS!E6EKpGx<C!-i6sklHqKW34Aoj8(<pdGFQ2JY&+nVXo?^r6hlDsZ_5
z`aclC_nPR&^Cv77iTG@f94=KGyz|MRB*Qt3&})Ld5$kt%l8hj=Gl5FPp5xHHx`JZ3
z6BzOxtBpckis?4<Lj*YXK$+OaNOuSe_ia0$#Umy|rT$l=4@S)=XGx>Xy&8zDSr3>h
zt?2+|4VrNI@H7Y{;j`oP{A0z#sO9k4asZy_%QjSEdtMbQh2{3fm+d@}pPuv`;G$)-
zEbG(VD`$`gN48@WCai$|wF_Fr+mr$-VJJmj(QTYC4++<w5X3fO%kg6Z!Sy7HS6ojh
zS4skny4H#075GWh!2Th7lOtG-P3$RJ&B<U4^lD7*Ot=RV99>O{h87iNA}{LQzo)Hz
zia@3afZ^CF_z)y(K}3gJ37=j8(72zH&pj{whffXi6CQ_%X`~govPS9O&7mZ(1kTYN
zZHE@%+}S6GPYgb|nau!(j)Gv~bq^u1-duIf9sFuyAI4b!2v;5q6UFc!eE3{A4BogF
z!gz+93;@uc4w@~v>>>xkUjra06{hdAl8*gQj>xGjK_h-fhBpYLz)SF5Uo$Z1#@5OJ
zh=Y4?WgzOx#)^Rxri<tds5XrpHCDWvzd~$Gkok|{SXfUBP<z`NxEnB|3KkXbX1d|A
z>2OQ@WjPr&fkva5-$ZqrZ9Wc!vID3R_^jWY#^~TqzDE-EeVvhz+~(|emdsQMQo>IN
zxlr4)+_-OfTCZe00^OwCiJqtDEttB&avD(GUDG!MZOR7qFY;agv!TTqc0)$8Xog8g
zkr-xugUPAn;3j=t2UH9MsM;^V<$QP1g|$lP8ow3&%cdFTa<E`GH`S?cT7;Tj6d|)+
zDCjnVpOtVSYv_i|-hzF#j{8`K;sC89so$+$&DUo^mW(TuAdBS^)C$UVA2_gyHrZs0
zC>+8Zp3Eg9rltuV#n1C(z+Dlt829P4XaYSd;b`WS8&Z|@W!8(~%2PvOUcDw^4TQj9
z(Vtpz)0gMi`_~$GM8!tu^?aFEEquuz*9@#zXGIzNE}>y2flMte@lkcS8^hYs2Jf%=
z5EH{Ng2orcGgCA^J6$%#pp!;n&WcoJ?O-#~S(mFy!%gMVR%eX2PB<?f+-XT<_Z_3S
z?nbm<Y-#xB_8sZ9NBew7s5LA|MkLM&y*_HE<GpQnX$j`x;~__R=FAlNz~N|m4EGV+
zmC#LWZ)Z%9nQ3@p*S!8iQ%PjCvb^nl1=SRlHCX|b^yA}Uh_$(`)n{b<>_H7p-}Qgc
zLh76IeH2jk_L)Si8sPjYdXi`CF-6Vjod<d9s1Rt0B6N+aPE~OC5hk}``Cu@trpK+&
z$bbjgTAPq@*|f((Dd|iOFUU$nnJ?=XNGxKLhZJ6LH~pkC^7>z&{$w+>E-`ax_Z}|u
zs##9tRlNoy+VbbS6I{|%i-IM-XTqjnLGc;@6$pPK23YZ1lf^?(@(GH2oRD|$Bhk<z
z?f}P-)m#jj2GJXX+0-Mb7lE%mLpe=y%^1&%VU@%K^#H5c!T}$YtR8!}!jCWQu-Mox
zI5FffU=Ci%4<{?iy(ka)M`eyalL(1;H>%(2XIG<%Qa9u=_{l_}UOW;8%^TDs?qh<h
zL`2vP4S$r;(dwEIl^6p$)W5z=;Yr=3;XU_bT`WT&oCaslw;OUntS<_-rUAN#<`xA0
zvC3lieIGDs@KS*nj4DlZZU$8NL8vNk(&?_x%R3!z#&PAAI!0+7!pdt-!#nXk+>e%`
z4DP2f)poPlG>jxVpmy<uEC3jbzxDacO0^XgI2y!w6X_-PmF4TmZJvIOQrM83IZ#%9
zm@M_em9;IeGA)L|#}Z?cCJ8k%`kG{<T%~h=>2vE1IER>)7=2$NmoA%l#)_}*_CX`b
z*3MlZWZTJj>E4pGIwJX)c&C!pHUf6uVI7difeCbUk@Q;(##sY(k)cv=7>(Q>8u?TY
zeP*=j|2Q$g^v>7ym(Zj7Mp~Ynj<H^LDgkX;^gu{nNmZIeZY+GO8k8f!TdB>N&$pU6
zbNx-P;68)2D;|KrFaHe`$uI1%pONu|8mCQ_F&CPWaQE11_;=!FuDkg(Z}tcK#fOQn
z1c+alG=RSF`Iu<^`gTZ6P<p3m4Hl*7q27*N4~VyuDi$ez=BGPV+A>EP@i~ak3oeAy
zoVM96+m;DseK+b0cdNV4raT7LY4e1hs<1{KJtRW_dVx2brE7}saa=^gVfdVB*Cc0z
zWtQ0n9^;tdmIa{c{JYKRIjdK69u@f#<*}Dv$V9}cfUK4Sd@z<JH24bJcgrM7UM*iL
zJX!5rI+tSO4!C^he^e94xbB_AF!pOpKm@<t?wf?+L4=#6@qLQ#m_Y#LC^gn7A&1&3
zy?Es|n3l(pbJ;)!8`5d7G<n(W*dtXQfEi6;8PRbw0K896>XRB$2xcULG#G^3{1!TZ
zSqGOc`jExE(r`rVo>y<<4&WB%A<y^9HO!AuQCpiEYd6$n0!76nOJx6^hJyM>rkJ07
zUbEinnEV40{Yh+?gPDLe=0K#Al-_{5m2*t;`STkEarJh0nG;dJG+Blc6@K{3?6Bk-
zK{tV}AW*Jj(ra+R3a~K2tfXU-o2_Y8mEgB-)LZ;<CPGng4}*a>E>2J1kCu{|Ya}e!
z4#vLi8N3ien)Wi<z_1~+$!)7OnNq!%eICtb&h<#lW`~;e(j|0@;l;AR&z2WA3g9e+
zHY-h{fdd^&`^X21hohV)q`l_@_M2v+6X&!LPY^7CaC!65EjTdK;T*i`p_Di0#szR>
zwPLIJj^oOYkpJMk#d(JLFpT5btgkF53{@^>$ZE5zwS!?ocS6ietXmdo;ZJD0D~i8O
zn|wY!|G7TDOPR(xj}S@8X+rlgT*W_B-{#v1Tupl^RK~Tb9V+SltCXGymYP1Nu`3oU
zvZgl^cC&cIATLglH=&NjG15C5CE69i`^9Aajy8oX(@hyiHzI0QUTnM%PGU3E7Q;Dp
zMpaB3C(=rse@Ok+4t<;G1hm{=wqIV}3*C4H_e?bK+Qi)#6ZbuudosJEFjq|8a1E#!
zkKNfbz)9s6^sNjsG(t9TF}@X)y%a+>?^LUIQ-V}ylT%@yf*3@f-z%m^{-v8f)|X=!
zwGsd6_qFuwC&ATL@rM)>d}K{qDXdNB93<=>znp<neOgj53Sk6p-R1;)+%Wvs1vxzg
zp-<Vcs>XHEhFX3kk^REou}vPX9c62}=G^%o18B2Ef7X40n4YpCsep0AadD19MCZWq
zElWPiXQHZ1@*Ft=2CZGzy~K4_{cJO(!Q~uE?qR{ig*Po&h0c_6Qy0|vavgX=$pgf<
zo}%HGMGaybo`g}PfA&}ly((9|bUYyLzK76MxL<Vo<{;F9dPj&8-#R)t7uTx0+^HSg
z2+-MHXbf!yN<|;ZWMXcN3batbdGgp4N76Vn8pEY@aCCFLPS{3HGLKv9Xbuf(xjy%b
z6>nkP5iWIGVy*l$*<GeCjUz+2dfrS_=1FCII(M+%Ru8*b6g5i`Ef621{Vn;Fa5XMa
zMx*X-?i1lh`ncXte``o*%Y6yycIjpSVdMiGf8P}B*3P^J)rhX?vPNJja~nQ~-+TW>
zmm(uRuTON=(GQ3Ld(^9Ds9%WV&t%UI>3G3ie&R#%!u?b5NmbJ#mtYsHzP`nJQhIS*
zbxgoZfO+4qV!!P*f-?p1r^RlMC>YHQZLz@wzsq!?cqytDyn^M^2%oTM$A`6qZV}iJ
zMny32!K*oU4N$Fi*G?G(dUodsF)l2UTE$7x{yl>Xt^KOeH825T^qVGudx)w=zL9Zt
zkQr0Ot;``C(F_EHf;G)v_!u8zVMhqCuT=oP7VS7GS<d&ID829)`x%-o+eYpaurc?l
z$sNY}mi!@U3wZl9NT|zUO5{x8VYGu%`?}S^0?f_$xx4NcB0D_CMX^qhvLw6iC%jH0
zF>ZRii5PIA+||S$1Nj?ta6cln^@rj*pJ00cQa{=yeuYLnY<$8@5wXGajOU~bv<$&A
zI}P|}4<Gj9qZXg+dwCnEYLr-`eh5A+L{sX4dL-pZ4@Nv+hB?PEGK7(DGGATI=?LEc
zK;`sliHCBRold`m4f~;EbyndMh){=sfb~J6%I18GaC%+pBGeoMEVOCX>-{N(04L`q
z&2wvA%|3@fan;*zQ1wJV&yR7K5Ream5BJ-kmuBy;eRQi$ol~!wU*F@EwXJgWxBa>q
z=^dx|1=lN333L<UG+tpnV-i;yzN$7diK#o7jQED$NQ*0U%W_BXNU-EX`fj}Q_in@v
zeg;)mCDTX&y2eNx+~k9Y=|}e%weWp4T)5asA=^M9FJC#~%*-;{Y$w(`-(bi2CK3YP
zi(a(f=7A!F0*dh`hYf0ShiBZpP3_J71$no1w_qT1+kmwk>Kb~2p9$k%hnL>P#*O&+
zmY7&QOHyj;IYvDagB%Lj^poqDi@)N;v6R#ptn9lK`Zt&IBBwgkC_c+CJZTV2j0Okd
zLIYUH_`q26+e^og(2l`3M(92njt!Sa^%F3cul5<z9s(h)HE)eip5;*Y;Gwp+PxnH~
ztDq&fn41B3MrA_>*l$67H{)omo{a4@&JLg=kc2j4%UUR?H$v)ni7J~oAh2};+I)LB
zpJyTI99byA&z;l>vqc=agR*V3?8;1<VFIKTed!x1i4@%0=4521l`+mQzNLb3BI=%u
zN1@NqxBT)ENqJ+)+!;Sjq4;uGZ7I&gY*q4Xo|3XQ3_*{$8a+G|#|o4?TRR1iWgVGb
zwCH6$J$`y4IUEvwt)IT&^l@P2U}O{6h56sa8kx4YbjV!%ulC6vh+@8`PW|~=R%chv
zS+dvo4EZPzE`#x&aeR+WD}LB{`IKb~{*!*eg1kSiAAIH^untATu9FO7E_{;!PZPEZ
zzQHy1r6A->@OlRQ+TY80#w3~Mjx2+}r}q8SSQP)3v=5KcGH?cXe#e+#mXRRGbPb&1
zwes$*A|w6&{6sRm>**-sGIu+p`xX=DcrOpQFL_6n`__%`w#yH)myH0Z++n8O?1-d+
z-UkUN&;y+#tSS3KcPIcS#JY>pQj^R8Ozs5!Rj`v(eVLq=(PU^Z)FJd42gL98^g~)$
z@|YU4>OuiJg`>ZEgJAGp2+npP;-dzfsR=)pisY$|9f%wbDtPtLTcT_fN(7Ki8g+FP
zPQ!2>xx!3MHr13mr*PdIsVRR7xP1CIOGsf6X=6O;GV4-qWp={-@XeX!Cg%N6`IVHe
zL~PHJHz|Te%i2~x1gi81rzY_T(Q9a2VgNi`m(}g-5{MdWU2&U>WqJh3#!r#ou4P)W
z>D)GogIdz1Ty#%#>=Sq~SODo^8Y_^;FVyF-hF)YS-g<IO)^BLh$0^L-gzoKmc?z8$
z`q)j8f^tIe%+K`+dBYcy2hd-nkOMIf-9vkDiQobJ6znfgwiLt3y}Rc@jGDXgvBTEw
z`-dhGjwN4PYHx1w=VI_!-I2Vadv$&xV;@aTuqCC?A=J;vR*=<-{Ta0<{xlIXL5A1;
zEx49ciA|pRw{lW-B|-8kTqXCu3x23el=ZK3o3|wbTcA<4fq%uu9CtVmqW%)OuK5vI
zTpYPqAJ`NY_N#(jYYSQGHyU2+Sm`&M*T0NI)mNKsd1J#!3)Ndskr+5UY+Hb*AuJ~y
zYaqnA#l&g2JiWTyaZNhS1+WvSh=lX0!8YY~VZ}{+m+0l8U(@pdI-G{KCW>HE(PA4$
zUuibqIW@TyfZ{X@t!hkFW81atcm9S9NsPR7-|V3fP`0=L^g|Dgw<8TZ<wZ+@Vb=6)
zA+qj<T_&8KwHC=0Fzd}2Xyxa2CjDhKDn;;wuZnbjkp(S%wd}jnlD+QLz_Y0tl6HM?
zhGHG?Yp)|!Cxmi%%HbMZdf|6<n!Fogz$Atk>pQqtMYgG0Pt!SUB;?XCxP|)2D~`p?
zmpRo?dqO!SczJRbaGdm)zPGQ~1RGRa5r2O`b61v%iU(+1hhO(nouR+7fwS=Rj!>ji
ziX;4~9h_Gse7mXn#4gW)MIl=$ot#_|;DB_=6qz@uRap9nn8xwJeN%ewOw_P8!rgv+
z+#ZVopF7{Bxqbj{BT*c#sJuquNhwe3Kmwgm-G4y$@q%d;Fm+6uJA2)gI#52>mbVIF
zwZTw$+7nW-IlgDR!n^O0yGAH@d(|4hI~~JCe8fR&|4N|H&|P<Z2+lzWlp#7Vf4FM+
z8-~T6@`DclnI^K`{O@b#`y_eyrW1zq%YTOo4ibFyTGhv1-P!#%`AJ*H{x$DbWW55B
z%L6^|En!|h)G!Irv01ox7VOEZ)3OVExogEYlaxJ;^3xa_`q6p)`t9kF!Zcmpe~1I9
zhu8gvg1`PC_i+%EH$4g(MGm^MJ4$=w4wXOO9aj-~Z`xC({>h>DEqsSbW^Z$=IP24`
zB|>&W(Ou|(8Jmc2^=}*v9!-9*=i#&-w%^KidNjB0oolkW@RBb+gW~+!7dZ*z2|7{B
zpv4{ieBXOlN-?n~Ded#&b_KuVwVP}pTAze_?l3g{*h9d({O9!(#5VMvOSMTxewT0G
zu_+J%UfXnhfPUgqkW!G<e}>#vmlB(%IyKG)``?ZbIz4yLS!Sc(QjxC+^~ukjZibu9
z!2N8mzKZzrDN=}^bn3Dz??kw}&!$sw=uE9C`8#JvT4jr6px?oE+{3ApE9tX>X==`;
zhVMtb<ZF#GJUqQ0xJ@~sWy3g)XU|;@^dnwzly(k943}ieJ(Wo&L^p5BeH$jiprl_t
zHZZ_z)cnCxKJZyPG~*6bA6We!ZI{p{p}X`FW#FfGlQ#>?u)!oOp-mkgM<pS;zcS@~
z7LCCN#RAX1djE9)eCO*O=H!{$Flyb;C30bQoZ>*DC-7S<a}n>nU>FQ18X5UX8cOf>
z5DI>C#8Dw;b*gG3PKs}ko(?iB{VMOt);cYVS`;5w5f{6AiN(jBq}t+3i%@ivkMSbt
zaUR&<hQ50yX_l;ktbHiRLatXjJp%@1)tNlAMvF5hIde*`ukbnsj6vf%`j);W1<%%>
zmvW17DAswH(np~dHGRt)7dQsZ)@4QeD{Zn7U*v*k17djjU;OnAm)c$R7F2zQtkqU<
zZS)%6DG{sBcL`?SnT`Qx1R_DrH+OCmvh+aBCrayIp(ffgB=|g^ppF9Wo<QiL#LG|F
zq_l5(U@e+S)%+af7Yjn5=4d`%E*+X4lO(sMyzAofCU|{87d+h3e@PghzDy4g6(w33
z(P|_V7rb16t_97%R^R{ytaIo2QVmqvOL$DZqXO6CL=sAebc|9Ipz<9Ulj|^!Qf&QJ
z86CK0;L)clu^F-eeqGQ3b&=r21s`6Q@_1Vd%SEa1WkYy;%<Z-VMz)Y8#xkYTSHM>j
zoO99s@ZTnw$I~fFfDC5GCuJOQw@Is$a_+&1`7zeJM_p3$>m{KL{&Nm7ZW`gpH>>D~
z#y=A0GjqzE``i*<Jv9c1V$4&R%IH_UuY=EAOKWy6p(yNoB9;-hi=`e+#LA6(N$^gL
zSyX~)_s44ODy}#l2p@hVdJ$yO;#qYoerY2Ak)G8#7}(L4u#*Z&prcVl-y3RI@<km|
zy+|nSB9WZTyX#(ma|^#O5coIWstEYU)5-wv602ZR$ZH-&(;Dzo3fro-6Q^0RWx(hV
zgx1OJ#zFrbc?c|b-=^v(!k1Up%8UNNb_1^J_-X<^X18eQCkqN!Zt#82+*|P8-hM>+
zNWC@^-UhFY_^D_+!WC(aWZg$37~(UA(UQl|0b001bxX?33+;mF?wH>d@g1<<+j1MK
z@fV1-cnG<TvF*uWCdC1A`kJ{+4EQ^9M3p}=MX0|hL};4};EVwjrG6O%>JHNVJ#ONu
zd;k8b{F4*2O*fp6OVr%P5rBxjkZx3bqy6qpvEbu9u)uq#w9A&eE$#0Wxd(i5PgYT{
zc~JCZWzwgvVnJq5WK_QPYHm(3s9#`4kK#OW25W=wEDJAu6H+UO<7hFbpQCF;$YxE9
z0qzGF*=k<bWMAcZIbKU&?w1!OczaVTVmVMB*gSK=U^Wl6F*UR}Z$%*3`J^3^QV4Gs
zSg8KmhG+*LMTR{5L1-7`L`Vm=aemfIMpvN?4g_!)0wM|TXB;ACu-n|L95oDBTZj`2
zIGu96cHXJHqyH84DK0A>1F@Hqhr8%1B0iB!)o6TUSZS`pa@fNVGmmSucp0;B4$Ofd
zY8w1nfQl_A#T?Mobl&{)Eedh584{1gozur6ztW(f6dfNQebgxt-+#_mjK2boYv=ms
z>se}QchP-C&6<@(d*GhowK1@K&ODKaZ}D~M&CpiTt<Am8Xm%d8uRNjakNgZp?nJ7r
zhU0<E0bsK;;H;*_sh@G$-6r^Wxnyq|WoLCsTrV$cqSV{}7e{BY<th|J(GOyP+b~FQ
zC)f;kcfS77Z`v!3rK--}Nw_=@t`Xi8xs79BpK<Jgu&{|v>hj9Q1|T0SY|Tkn7f3kc
zLwrL=oi^XJPN4K!>p9~{rSVok1k(w(k-af_Awg{-n6DyQJZjz27^y|$k#*27<<s8w
z4}Tz8sn#NXPwv;?R@bY0<eEfT=)+Is5J=k4r}HIXwK26atNC~Oyw{LS6@6j7Q?#lR
z|57bj{Cz${#Fh#a%JGg#%%Z+t9Xxpd<9iKoHEhvnF9CWe_>ri(HiJ)e=i&EC?Ol7G
zeYJ!)zq3%Ic^34^?7i6r`vOefq+cf3Rm(BgrTXsZ(_1)bf7(xa4p-i}R_#`_W|2}4
zvlYztdJ2B@Fuz9q37gOB_W|c^8W3G~XVGpO(U<0134RI{^BDSv1a^U)Vd`)qW~=Vm
z@E06kK)RpWSI|Bsn!{`x*~8VaawgygOW++6Sl1O8Ic<P`9-Od<+HHpa<t>gViLFp%
zg<p8UKRX*v+ap_)Rsbti7n=;=Eqq=#cE28sNH7pw7?gKL6}OvW(i=Oq(mIefdGz_$
z)P6vJ)(eFw=Z_q;Lz?YXiw`rj%6>SIQM-*TnlhU|c9hu`-i?C8+&zw%6OEYMIzyEO
z$k1;QFtui)VcA2*))91~o^2{@g{`=-3@yfJj%89XrcyK-QVyzSMCJgdb51Ti5-uFA
z4Qa&aWsY($+b{JwKR^j8kV1ba&41u4IpK+79~*lKr^drtBK*<;!%y?OR$KrT$t{ep
zGYu-9Cz(wZyLf27-CG4_w@V3G4%as@W+V8?a7~+xV_6%(k}J#PQ@Wf-ZrojcKXnN_
z;00zxN?IN;(O6ysLDN!1bsw??Ej!iUi#}6v2-9SQD)$-7VndHbwL0nE&gp$M6XPL`
zb4<iH|8hvNP&rlfSR`;<%heyJ(2UZ|>yBX&=DE2~%SN)a^5}bQIPF#(`yox%#Ep!M
zf#>v66nSc9$1o{YFmT%j>N@tLi_NYd&TY)Qq06@;TjS+&dZs594o8ko%K!;L_P;3d
zwQ%(=P(t7WlZ_LUuO&mb%?jRQ$K>>pqw@OPB(uyPCg5ueTAMzk4)OaQ#aH#BH?sDx
zpvs8jW`R2aphqGYwk6D3=Q4B>8<z(`zCyGS*81EYfp+Q)$sOtuy>7{p`z;|aw}1Q(
zzKq}FE9+Za2d5l-0wWF~>%7+<uz61s(`@-6?U5n->n#elvUvX%FHpIcg`+k@(!C)$
z0ogw;`1vJ@)^#x(UXxB5(vO?wlgBq9w@8F`O+7ZE2+zPVq|7|jABQ>D6|CJcgQ*Yt
z_r-o-HTBam!Z4xGh|!sL)iLpb;wcJRqM)002EU#F%soDtYmcn51a5t4PyX`>Q1T;i
zPc@Omxk4!TIVRVTx8i3AP&U-P3HB=fESoyylZNv|&^ra{L`!FUib4^~!NB3xz%cMm
znU8ZkI3Uz@a)vHX!g8LmjcUS0v%4^@m>^brP1WE(Qe+1aIpB2f50*OmnUmUQcq65Z
zA>b4Hx7%x_ZeuclW*8BQ8F4=yd(bLAq0@UBExF~#{58IVB$jgE%@PLJvET-F(4<H^
zbc%xEQl^;D;AW!)rtb312x{B*g9gwM3(@?Vq07b8El_deZmMf}$N*u0`PPK+>2Fs~
zFp0BNlD{uDKnNgrv~({MbM=0JPvRp|Qk!D{Q!Z?Z1tY*5z$IjxpI3XF?ufS&%J5BQ
z$F08`F`mW&+j^$%eaLAQQ-fF4H7p}j*&BIHtN^cHJ!EtuAsRsS1tJB>K<*tc;`98z
z>!7x7Rq;6rK_gUK)Qh$?l+S&BvPwDthzGGw)j?KvAj&@vu+@`7tZ|y|Ar(Wm@spt_
ziv#oM*F!txXX<!_)xcD-ytrZ!GhT*vF7GwNH0uco&H`8)p0PE@KEY;iy$j!SFb^p`
z%R?EYRm|GiL_UlBvk}Yd!s&WuV_-dgiHtGM==yG6@V3{o@g36me?Nr|q1#W;i#kc#
z;aa|h+iw~OnjOBIkV)P<FFrj`_c;w5^E|_0vNxz;Ga%0?6=d;5)<y#~;`&?LrKXsY
z-8Ppz>1S^!2_(2B?#Z_!L-`HOa9<=ICcwgyJ9cbx-_OrV-ES;0Wt~ZC*dR%}ajoh<
zCM#`mG!J#QOb7jg5^$87GskCi5GVM`L($ueCMf)$aOm&cw2*L2B|Z4Yy#=z_Ht$dj
zDtArr-T}!WQ{^_yMPp<0kTJ!+uWvt>Rn%{KYL*+|d&vrua}$nYZJN(Dzt|`q$v@yj
z3E~{$kq*np&y^j4Ef4dQ^XMmlHTgq+lzYEYf^f15UFS7s)5^TA*|JLn;D4ut&O8Wd
zfZo+_n@9YtXA1C}_%2(j=I-;itt$0rc#cBvNX321S46RLVpe3?ZAtl|y*Ph<Lr0kQ
znG(<(<9pY577+r3F>IkD!<1YXI@yZi#c%Cp*ocZbE;`T=rRKU~BE$9|M#X7HJpdgt
zb5Zl$2|BwkTRHcbj`}`~Dix@uwoW{R?Zr&wpV3*$+3d?Yk8gKgonD`ToWh-ujB`pb
zvdA7kE>vpK-p@rV8;rPpmBDCs{6l|VOLPQbILC1aBSEbl5a%EU>EOYuc_B4uLg|4s
z65AzpB#`T-A+a#i-6B)%2qO43%l!RZm28ar)Xp>Iccg~Eg!zRb@I>p-lSkO&T7yai
zt-~1y%1C(kc%#R^nz_sMU~I25Sb?ulPC|W?0BaOn-o$1w&W{GuYH_R8*A(6QgCmbG
zU{DAdWY^gf?_@uUA_<bhsKte9M{%BF#J`vfOa7>OBu5`@uVzFi`np?2LQbSkB(B!!
z#W}r-FN^`L;hVgjSWnVHA?+DXiRgNUXSgVuUkz#JhS9O7q5<|<&yiqYxpgYC*KRv5
zCtfUE*VeI^0Tv-**b2C(;&wHVEpzGd{BLZmDYn_cOXi}C`NXdp>^mf|3P(Spg^tDa
zbh0on25S1A1(`*8<=WmaE?OhJxZan$zVim;pXaxhv#kfgA^>g9CRc7R>Bv%?W%J8g
zLi7z3p;>}SXC|UKPxc@;<>twX?mD}53ZKJ{1p<`BaQEBgqYAc;vlR)$1}plFGIaho
zb$xaoFM8H=Ve#v%!?uu=K`+&K+V+PdAdoiF_44hWl0rGSq~OopnIPj9`ddgi&!eb&
zi_{K}E>C$G>rE<M&q~c~R0<sMFSqdyIL{HsW=fQjfnLyAF1QILTgsNf!L+lZHjNmZ
zA>nHqRO7LcCLhQ%NvlOHLe;i3qmazoe-|#SELf<gKu=c0oeK9Phdc449HisRbLZo$
zx1O|j^`eta#2IC1X(1Y6B0BD9-BT*|U2yob!T_Q{{Bl^8@DPV-Rz7O(Ro#GtLO;L6
zSX11>f_NAIbo*l))z2n%APBJeiH*Nck(W1cyN~W9kSMPyA;8~<PLwZ^^TZx+*Y>hj
zuvur}ojrWtiaUf(cqBBDu$_`7Xo%_)C+ZI{O_!uoW{N_FomAQYkpP2!_Zu?hlx3LK
zj*rRl;ao1559eW8{u_v1(kLkZG6s0JvUkb=l1X(=L*y6!@lRH$HoB~&0KzsP&#0%%
z0F!!n%fK;G&2fNIuaKLS@XOpX$XOR{6Chd@^Ls44rWci?w%YyE@Cpx+0w96QZQ+|&
zEVP>`=UQg4`{Hvjp4wpgr7`=D9yF1W-?~I-8uXLJs>aC;=?WF9e!q6R1UNj97I|C~
zCvY5v@laW2QZ$OP*D|pz+?5~D+rhn<plIHD0~Ig=w};i(X%1RPdnnvqq8*h&e~thQ
z#1X!C`SkFQDRsBk!8Jw6!83415mdOx0UmL!UrpF#yH!`vlb3t`)|`wrYV7x^FcYpS
zdpUf6C^mzW90H(RBKWzO&KDLl88$+`!x3~sFcB8G<VrFl^VOj>U+y=&2pZpta8bPZ
zpfb>L^Lq+W$nP`ma>K8}v17i&4wbYH)`<Re$OFEx=sstuDJRF}`LNvvNK5Ager)ae
zx$#Z+fI4-QtFIwWI<9<{M8;O(U%&OX3Jrgsr*eXTdk)TQ<3WzH85dHkK_B(w7TsH8
z*Dbt>w<Tv)&s}aA1o*)mqCiB+z=nAYuWWDGI#af#O1`;WM+Bay30|M)F3|g!dr(}}
z{EOOA4ljaHMBg-M?S1{Sqi=pgje-Z97SyBbUgtlu56hF4{RrXUJ@Xaum$O~a&n-lC
zdWdFU7f~y~Xr~DD1HpcF7e5pZn3qd5hiZR_qZrX$WLh42T`Pnhf9n)Em$&P(bE9i#
z_Vt@{+61rkE}jAm2Z~MyE|cx>*j}t7xyNDEK!taH{%+JrGB_0(zjiTu7yC#~rJ@O~
zJdpj*WKgrlqjkauro}$d{Jvk!^)d3SjiE`$;F+@3coLgQw6vAGRU0D?0;f%{_l&Le
zs2OjT;d9BZkbN~i^ZPH|<5-xwv2mvGi#d7V?xuW9eH-LAOY;#TI4v?zbwH?sOb*!t
zNN+)hCkzOH$yaNKPoG^|GwEgA<p2g~(5IOlhwA-<$ZZQ1OnE$|zz@YM(dgC*DBOnV
zo(y){GdiTZbrqM_+rQgH_>g9+SL2Ut6S_DeswUBUK<cl*e7`T^aIjuP`{@IB$+%#<
zP5j=0Ny#Pa$nr4?+B*a007G6SRLvx#n9o;!aT0waaiToSaRPh-i9D<EM03*hL1oQh
z`R7!dOnIj?0pGr0@GU+zlO#@42^nmA*e^yg=t7%U6m-5HbXoBtLF?Ww7BxHsB`IU<
zgPXX^oulSB8%HS<qOykYPu51>e<qjNa?#(XMkDv<p4qr-d-r!vFkr{g6g`_OUJkeY
zw)PEBfk$7|vDWifn}e-6jrxfp`i=6hH}y4W><|e2t=A^B+5wc8%(>K*X;LBee|aH}
zwnc@nR3Ft(2`s9w??+!Kcair%k-uFw&s*6eufwqS6g71^L&j$s8(+g(*T_68^&T>f
zeuPf<1lw=L7P+SS+jJe*!q?>zn?S=#qG`)Ea24c@x`F<9=B;8S1vPA+%&}Na&AAN^
z>ZKI?ZR10SSyUj$NH_D!gUNQ?(Un&do<C5|Gp_40w~Z;`S4x&k|LU0~i+(B2%+ITm
z&QcqJYERu_X%$332c6r%s{t`KKE?>f81zFPg<GPZOZQ7~Ps52tSdd9J0Z2x}rGylb
zuYL9JOb4#VIu$AQU_ga+#%hab---`mfc!VE5|i)}tvBaSV7i(zZ$9q6zAJ{Eon_*D
zN+j?89am@P;tbFV!n5)fTx%6HW}Zl>f5!|K8e_gDKgV16{Y}aBfSKg9X4KF8^98D$
zMkI<ytFV{NR%7AvNQurftrSwf+~a-{uIN`#o>B#qD&vX3DXd<^&6lUL6#{%dpO5rm
zWSjr~j;WcG_}*<L)S<!tdWPM;K%ouYN%WN}r4_9Azu0^R-|vLAi6I5KpDT3Z2$w`m
zJxX+>lSNt}Bf$AN9H1SEOy#+!{oQ)ok2R@fPX9eQ7t^t?tIZ{Znk|pJFUMPx&8)>1
zLv7bOThJnJvScO)zw8CxglI7{)$#T^30gIbl7{!OA5@bF|GLxkeK;fK)U=T1us0ii
z-SD{61xo*xh;(Rz4a~=~XfaMV!q~{o(r)DWoCn=0wv2=XYFmL0WG~WP?7ZnUUEKI9
zf|2jZUe;+v+CWvmqE|I2Qe=cg|5^MK;l|*6J_`&#TG{kspWnp(trPE3lJAA_(M>FE
z+q|qR=~et9n<>SptjnM&0!7hN1#&s4q(VqjEM$p)zuhnEl{`7Jyunk!`|^~pJwjXo
zhAz~u_@cW5=kLs8V^Hu6dXIpira5*=J(iYx2J#a4mz2`=<x<#hfG167eJjt&B+&~c
zBUt4r<!VNGYQHiyY=3@pA*zpWvtT7ee#li>KuJH^ng7`V_+GPuGhV_4UTFWNB&7XF
zYEZ)6Nq+Y@MaA8msa?HLD^iRmB1{<gA^#haZNKFN|K5YWwQ=jatsJ)xj5Aye&}r_u
zk^9Dy>QWKtMZSK%6uU2<X8nEDpL=s0VoeL1Fl2kn5H9`COd}Bl8nzysS47O$M^YUe
zeDI1SKGisS#e<Vw3m6@D4ht5{sZiT6gmKNCj1|7wyW6L8VPX!CpqobGb7K$ru#ijv
z_*;FTkpSUd7iqlE$DI~95sl;b_q)bed1vCXAxT9eg`pQ=-#0^BI!pA}&oiFx%*^y(
z<~M^jyGP__^wS~U^JSW^gqMEuwu_;8+H$R~P5Y6jNNeFd%Z>b|7MDAY(;AGqsi5Rt
z-fEWtZ|Wq3^@L)50lwzgzEIT0VQ!B9ZtC}u^wlkqegH#2yuXhZSK!7*$i7i*4q)Bm
z^v?=NYDb?h`Uxe^oFl^Ea|cbPOg{g<Ho@SVnq#cS)7`VR)mr#ofaN_m%;@9T?`Vz$
zaYlz6(z!6QV9oUIjKFXIYSHrO*G#5$F@K6*8~E!ASc#aXX8Fp*;%!95CoA$6y`u&o
zr@Ls^aLZqwaD)CxRKO6Q{;0b5`mMWz<kq;3G7cLXzCPhjbLW8@fkw-=hAoTq4&b}(
zdij)Rib&1qi4)e;Kq)no@KuG_zZNk__9~dXg}kHlLo_wUs=GpCYqgCe?fI`MScd)5
zvN)w(8Iw^4ypAK75($YP#SZ(oyUO6}cb9j#1k|R$um`jj!jv6-H`R%T`L?vb`{*)?
zKp@ZYL(9~Zufa*Eljjhb0qq`Xp!eX8DV(*Ji@byAhO`C6Znh*~qto$y>!xc&v!^lH
zdxmdAjlcFp<)X&+7Fjh6LD->)$y9Fv<YrYbB7Y!n6}W1*%_Pfrpxan~UB9iyY;-h1
zk7cnhEWS#lL*-!VJy){Y=Ie9;#V?1`U#sb)iwA-WP)`&MyD3*SA<pi}H0fm&sKB@!
zn4k4!BC-*g@}8Vz<K@p}Gl#{2F;EtUh6qwpbc#h^*IBYZm?w9_Npqi_BTbZ@^Rw=v
zUI_*{Y+>4*_#M(oD9kYIi^_FP!1eadk}Yo=J6k^|l6}TK3n)~EGqJ07PLb0YeZWW&
z8nfzFDZWA~^S_@VuEMi}K0`j)Ck$Hlr3MeJ2&aw8Zy!N@Gk&MRxM!M@;Y;7lCAVzq
z%aolSlu4R*QN=p>kIe-rjvzAGCzn$q^n}s3UIyWtM=yKK&V!qt!6sM6@G8<LM%$_H
z`*F*G3APx|9E2X*-(TprkS2ef<U4~c?;pG^Ps*25=0K+al(p3=HX?LBsC&ro6$>Iq
zpP<D^?arX*p)TAgk<%ex+dprZd7Z>xp-Tb7aEC;f7MfqmEBc|VH{lAMCtbQ-D^299
zV8qq@c1Lhw$dA=QgaD@1#zGsuJzqL}0P&O_`ke>%OCR&SR;^cW_HT^qev1O7XpL)W
z?}_s-+%5zrN^_uacr#-ach{BSZV;|TpkjA+7HBITaEs{XmJ4uQAJblLala)^3iE8b
zq)j+n4y^8yq=8>yoEc)7vS{<L(A5!Ag0RES#OGPz|JI|KnRn!OdL1zyM7ryNB1mK-
z%G43Op&o_opj%Laa@A%)QU%B>t_&X!1_J4;vc(uGg#JK9#>Iu7%#+X{4D<zE%z>#9
zU6=^X9T4E`BPBc+7b9Jw))W3iTI*6jMSSg@KvRur(=d6VExRcmWH9=q2tyVA&bqKZ
zfQk-A&>OPRLhb&RIgu>-2}{mMd=%Qu=K{nrpn4_#?1RHe8T1@?ZSfJJjM1^}figS=
z&%TOZ>PO;&wie|ocJ?#pX`{@peTL}QeZYVac%;f0PkW(9qih_IY%k`FMybu{NO4i!
z{K^-IyG8S6VMyZ{e%{mbo^X0!_?Tdx%7_tKYIlhA5X|57`iP|+(CPGXist+1x)^YT
z-i%<D9(rWv=4zz@<alRh{G3G=VRc#dz1ImMA#A(-^nP%oeMo4l8@d=pe;TQ~A1{)y
zd(u|CkuV2I`sGW^UDD533nm8sqpTvo<Et13veBT({|-^;AZ85h%280TMMxU>Gc+p5
zNMjN!digfn`s)9UxL656y5#%<tNdZ%hCa+oo<AH$<@*9A`1455;gDv^Qf+AU;Sxk!
zp6(UOtV2J50aOj$&nfs=`elyGvv0;fn=RA`cON*JdnXWhH*Htxchr^yF?kgodn&+j
z0Lw(jAEWh%-B0|OKEj^;dR2V?xFiD;=p*N?kB!ro$ZcM3Omq+%t-TbJA2s35cNXYS
zM`$(gzC{~6;My)e5ShNX(uGv!e|ODW?PHu!)nHo#ZQef28Q<$ta#k`UG)jSs(+Y$+
z`2Ri$S!&OqM~%z$!JNU_oJ$VYIjVva6-K3p4Nc5+))YxMY?L~?gM86pvEcAka}kv#
zNsC3bMhIJlqcd$E5$djAzyF?Y=%^$5MWViFmo)t@d@760S?)ePTxhHKwbr81NkQcW
zpm8oF#VVnjv<&vo@hj3ak@2^&57g_GNCmo?pk*$QS{`zr1|fC4KPXlj6&9V}mOUa>
z^xj=dh>CJF8#-J`E`j`cfqR>3ImOdqCZXnxd;*f)^SWfd86Slw3%Ts<Z9@ICgiW}@
zy61r0N`Z!IRROm(TkCr?eOdqn07bmYNBMVRZk?2dHUh4EQCWkxt-dH}0)>2<zD_2E
z=5MzqFRhb{ccMlf`4RDhN$5P(wN*e9SD6$Yum#ghv!D&VR%>~3G8Zj!R10?)1-JcN
zn3`gN_<Kdr7%z9iQ!80%OVg#Pjsf)-2O?abs!bdpw^ks;k71G??i399vj>v?$)Gi8
zecuIHyUtLeqQ-}D-dU4MqNt=Pc4?A17=t>QY2ESk*~Hi10u*fdtO*oUufs4bu8DAo
zaoPvdBrH#*yPTGxvb1srlC{+_Jh-BLhD>0$fSTQ?P;DCY5wDL{jc2sc#e*Uu`b$;8
z2wXhu5R-6O8Ax8(RSxl4eJ{;~+KQ%^<z!u0iWBs|P>;|+pmM#@!yy?O$M7%|t4+@&
zqNY()F+Hotcn_m$QO(Gy_xG3k3fkw6l2NyJMgo9yBdC8_bw0s&Hms1lH@Uq-(okgD
zXXvMA_*((s{Pc_gjFDQcFLP-T^!FoOjd=>U&R(<}wzO*}s7o*8M0A>FFv+xi?q?CY
z!F^zDZ!Uwo3?0$${mzkw{d8_deQ$nWU-y1zeXRxti!_0dpvM;?=NzzY+F>XPqj?0&
z`h7FmDL7r<0?!D~+Wd{Uk=zDe>m_3)8NO5)TGHfP8qK<HR=yM#;U_}F0;+(}q{l0#
z?4A`*ZY^2y)`4p&rg%0%P#s3vWw9=7ueCi#QEW8dBWfXTRYttrfC1E#x%?TeOCs~h
z)r8o}$~S17Zq5wu(T7=rai5t%^ud_ek6q;N0Ny5}Lb~>aPNS6qdX9=`ds}0GG<c@Y
zR4+<Lhwvl#Y8MD$aHj7tK*e~wAQLBbk62`EdYhV4l+k{hjE?!wvz@rnNVdioj@nS!
z-|`Z?iR6yS!Y^+j@t{=@s6QU7yqwd&qgVF=;kKxWJ4%VGoJ3WY10gID7Fg~S0~(ZM
zmKKq+q~12wjHS>MTj}4H9=_d1KoIw#-_Rb9ipmM&-L5%ijFN6X70mS)@@NHZIhdiv
z4Y`8I)vp*OQ1gUE;Zw{5WH%WxuqOU>vA08FZ;lL&1+MCBCh7Y_D?RbX6e%k{^5X(7
z++9N6#_du9o_d*m-wj-@a-UDVii7eB7Bs9L`QtDUP9#EURr%szE8v_o+o(-M4`Ac1
zi51IOc$Pw(Zb{8(--cWV&U77st!J|a7+eBY;~~8;R_Bkv0p9#&3|gs5qFJyv1f4O<
zOgwY1Wc1q?{hDZuK#hXW2GZ4pDcwOo8l&zLd>=&APnOc&N2Cp`RN4-^A2;BM&fMAg
zx$*WVL>J%E8F8QS3cF!0ZhRkZr_Eh&lG}0&fg%Nf>zB6FAPL^~eNxeo)2sWk&UeuS
zFMceCMBCYn1O(=r(9FP`5URkSFrt1`GlD--MxKZ`VIcdmKaV1ZjulTr<|xnLwiu4F
z$$vnR7>^9LcD~&yPa-b2>)t_(=R1f+!<fBp#dciE{RH0`^cH6PI`2)Ea<_Xi-KFvy
zh-^-cwKi0JOp#wR1%Juoou5GF5>#ZB6j1Wy=-?W-9{jy{VOj%-N`R;sq$qTll*Hk4
z3xzhd>YMRS-<~LhFR@II(yhB!`tHYLAof|sL|m|GaC%LG;7PO<HsOzyV3>S5B3Avj
z-T08EQTB(5EGO;g!`P(GUXDSyy@LwHk(gaoe>+=HQOLo`K}>2KLny#(cS%dz$^w06
zWS}J{3%t1NG>pX4r}TRoVjZ>ou*UY<udHP}j$1P2>Vv%C*_{}<ODM)nN~S?mU}_F2
z7)NPlIQt@k%NNpSKet*nl=WRg+XR-M+NC~4j<1N3NyB|<93bvAK8csMc%GF4(C0?f
z?@J|w8g)DXdPH=F{X4lc#_I0ofjH%q+jmyhZ<Pzm>zhvd*G27^^uzP>-8;x9i>Q`9
z#?K9pisHd6fG{JzAKPU$VI5va{SL&dkHfCuo%nuEyt7U4WN0eONYXV@X=&=3t5Fhj
zO`Cv~C{eo8lbo3*XcAKQSBHyn4A7B~W7IX(Gk$Dgw<Yo=iDd~THeotoDq$#*g#AYy
z1Iiyc^ElIlD470O76JauJwHXmaMnF1MmGZ9Sl_v=`eH(~sln}GxPGZLB?69Y)?R>4
zzuTS!N94>J44)zrTS1P1NA${3k!suthY6bUc5Qt05?n%6xUY?MM_C-{p>@*j7kOJ2
zV~wn?V0i7)Ef}o2FyiOk^AurFA21~Z=E0|?q02PIrGdT*@nXmtSoB9;;ntSI5e*iM
z5Z^F`%i{z}MKQY~X44UHTfq?XGJwMksclN^(!H-0(j8v=qkh9=>9GLaCkwgP@z>`Q
zt+>g~4Jj}>%~C1`Jz8Vz=_{S!M$YonMdP)aQ)wb%mJZU1ApmX6pG&k+r?U0?(W3m2
z*+=rtj0vY_>V@z?HDwZAq~iKsqs@E(iUts+{D~U<wScF64t5?7jjE=EA%L*7@9lH6
z(YHXx?I(<BKcnf_Kvssj_4+#~UgsM&alh3yP!>(Bd=OSSjy7Q}tI_s@)BR`Ii-erA
z!F1m~4H#zn0;233IQ$-S`D$ahTUe8jUsM#|1}PW7mK;v!L1a^WA_Nz#OKq$9<jxoM
zkf5{*))4A5AUp4HS51<l#|=$MGC_L(_PM5T`hn*y?GnNAq+r!r0Nz61-2PN6LeE^E
zxlE-VK&Ca)F_n1>Qt|zk$pEf%&{~pdet^o13~Nh{&Kgy-q>mca?Z$Kf1k=s3IbtMb
zJrB3Lzl8|S`pC`{6ZLIi)A!{EbaZT-5`mfL9!6z{QB3Q|CBuR|J&V<f8k>61%=!E8
z$TYZa^iB8ZnS!=&TJtvEI1JaGBfO#Gh2lA@?70oGoS6}CoibAIDS)mk#FxN<Qi#V~
zbjFz)ghz!+B^%F?MERya5@s{@L=yHMA)5?D2b!<sp<q;dQiPGwAFap(C4cT?ssTy2
zpb<8;su2=$5pXHh<7mI0!y2t007k1|qt`?AO8_#lx@T$q4Sh9Evt|f$YIQgfHZV@c
zABx5K@ual7vE~aL`HcLirOoz=LuAg6h+-gxjPO~|30|Num7|MGHlhVy%9sem&Y5Pp
z=39lerE1zI1VORzkG_FtYZ}PSN7^BoEz*aAX=nOO#b`0DzUuCj*Zz0Yc3Aj7^_@qZ
z-OGEI_9A1KlMrdqJ(J1#!&+qbyOk=f9#`6TFE=n=ll=|CqleUVrKd+V_77apIQ}^#
zaA!@E4DGjJXe#c~E?`K1H_h7ZlsA4Uko8SD*kd7QdPT>wkNGRh>LK!Hf(q)K`Lju}
zFJr-;wS-#MxdjiZN5@zVWOYBlAXRw{g2j<^^BO4aEvZ9{lPzr&$Hjkb{bqcw+_{@e
zE^V${XhTiFi9d`j(7bHA-U;Q_SWJT#uRSnLul(G53~3E2D^{|ijw=zJekUK{H~eIb
zqoRus=V~y1mL5;J+U;X~LE@rHha%<|rGDh@B&_qrq#uB)%bNe3=;wy3h>~UNCGM*T
zgS!j*R~gr)!uK{hpgk6E4OBl=W?o$6ev8Nn&<*lyd?@w0+MxOOQ{x%pBPGw|r1B0n
zm)kB|{$kGPxWIDf?O~pdz*Y{|p9D<q%JAbCtIpIIo}g`<UQE25Akms=hvox139*W-
zvRkH0Xg~CpA!=vS*+_Zc`G^||pw9+nY*Cy0<OeylQclpji+=tJRPBht`i)~-BC=MZ
z!e(7lt}!>lO09}-VxF5PH5#i$W_&qQ&iM=&#|#xR5mTpC88ppOFr^}P06eZ}LU6(e
zN#ATT6^R<@oZ#<eCNrVeVj1YtUhty4ts=CoZbMr_u2tVQOG={Y^dWbcZ_k4I8RPO#
z(Hk`-ehpP7Y=XzG`iz_tJ-_EL)zEZ{!4lTzzQxTZZ4fHj<CbUb8<gX_EsMK-FPiDd
zo;O%orWwKpba^X$teARF6FEDLdr9Xl79pj#-7;te?ZQ=x`^b1EKHlDyIP{~|h@xIw
zYJ2b7tIP}M$(e-exbweOZBesz;l^<oojwK-EU?dnXZ}<83Z<#Jna_g5Eb}m?COklI
zn1N39TSd9|x{4gHsOi{O7cOEFcpxohDKm55=y7rERv)iTJ7(5iwKP4NgChxnQ{`QS
zl5c6atU=OHUR;^FV8ok|w%K=Cj<rFobARZ3uyhZ1Sy@7~>3ci_1^BieK+7x#g{$tp
z@ps;Z_jOYZ$`m8UwwgOAtR%)TBoaFNR5hISV6rlhdlhC9ZG%l^d<5HNSn8Jm@hwJm
z`2nXd3F2)-Us{PtGo@0XeEPqJm%la_LMev2;3xC$V<vF~PbNEW6`-v%QrvhW1HM;@
zL|caa^yBg_SMAKpFgOYT_~viFdJ-Ma6B9!EeVf(^t1CL>V4NH5X`2gCOG=s7@2AY!
zzAZxK`0ZSTqZ1A-hs1r{>(}%RFHuy!wXUb0#!)Yi8^QOz+fS>dKIA#s{vuUx5WY_s
z_~uV5LQEKBZ!+8_zTQh{<qVzhY?(m~MXKwz{dKsiXm`NGO%?$Ys#lgo7@}?!W<e3>
zAN0$2{QMa7AhWaTGRtCxigEFx)J{V466&a?wO0|ARi9pNlG*+Y`Hj&;w)!;ZPVgA6
zjvgmvzA<K-?cDf*Wpw6iHX=nF#kA<}ySKm`+<{*n;G5?`JBT_RAJ~3U*|qmwF*EU}
z&}j7M>|`JzMUT&-EbKaebu-N+PTNFW$}VCb90eYNDwQ)ByVecBbq;k)$L@Kl1<Z?l
z9I>A2l2rjDj_t!S@L*9FG!1;+H3!Wj#}v}zV{^V<)Au3KP_|NdZW8@%=jNTLbqku0
zzkNCK<N}<GAm+=@O;Jq_j))?HBFK|x$Md3z5*kzsaz5NtoEiUI8AeJ-qp}3+_4e-U
z&~gcE0J{~@A$CBp`PfHiZ;kg)bGx*Bk`~{b1k$FcWYNDzOD*|6A_Sk<cA*yKv|tL=
zRx(}Ow5nf-&ZxaG<Se5CwlJ@f3-ir?q$3{}%YwT*li-YtUlV3%SZ1--#6}=BOo&I%
zk<`iP@;8ur9_lGpGwc!Cl*Bjazk?<;$Qjmw1d#;+7P>%;xj6K*CQoB(Z1(E`?Nob(
zrgVE9orlxn4<kC~hnf~j1p!pw_;g825^;i9OUtutu_dI<ANz<Q&sz`G4%SCb3(ACg
zqcVrjHM}Qt;v1HWM{#PHDhVse5O>u)g*k1Ij6q{Ds;3F>iN6u$qUJ@E!>{ib4BfK^
z%E=*c(4Bc(mYw`wqE%#uIu^WRMY0fFhyv<wWi+ANRAe%%x28<rLY@kG!Z6R#s?;{;
z6#g+}ghB0qQDmx_P;7DskT#XSjyQcibAFn8Z_u64JgBOy^|M4_njM;-ko4cf54iY)
zxOpMjUDSSKJ(|vGoX{ZqyoV5sN%<u+7*aYW55NV*{0K!(#kQdQ5_vz;O+!tXJ=HYZ
zEYH?_Is-zT*?lA8@W%)QpJRKXjB^Er06rUKDlLuuhPs#$oQ_^Y#a{Rx5sDnb-V)v2
z3ayZ$8+c+_tKe=C>G3ZJp~tfG8H%1i-SiYG*bt)GY^-HM<(+8X3TH|*N2=D`@q@D=
zyv%$gb28m9O$<k=$TSN$0kkt{c4Lm|opyfowXes|rTyg>#`cf8Tohg~BA1>r**ZIQ
znQr9cWVl_9=(Z-FSJGJg(*~%>M#bjXBX|ag<P{Z;0GkB_fv9^BJTjOV4#BOzUi@13
zZc9FyloGmswgDh*OB&k_DF_C~e5rR+P~~8NtTek>J6N&MRnZ&X^OguqnK1h7!T4P|
zDr?2yRJ-xQVMqU=*>-c#!sc|JLE#R>?<Jprf!`4Vu)k4{v79~=$pc!%DQlP5RItYv
z*MbgK1|Dh#A#luLK|Tl*qDKPxU~DQ4@s?7Lq6CdffD{gRUCPjz2^A+<(LWeQgXFE3
znN5qx{!)Uu+it$R6I+8XAZJ7ShRt?!+=kIGeA7gzv6Z(+7Of3Ts=EFj<?>T;;pzB%
zRN2f}`Y%1A<AG6#kxbb+FiP|g!WT)OXWxe``ofKCTK*4&p!nciMkJy^0q)<J!Mg5<
zZnm}7OBl7|?}zU#EilJ6C^FoK`Z(Q_)Sh{@I1P__;cgY(>8MekJzRNQIkfkj05je2
z4W<giomdXwvREU4(i7K5;;)dxCIJ0K=x@(LoZJS#6U3qlF;ykwI@NV{f#Coa_KZyG
zXW8okm#`Gz$l&vLyO{E~j)uOkvg+Ui0mZa;k>xc}qFs!kF^-4za7L^T$GoU1r<qH9
z2`}4ms5>OD><(wXO@;P6m2d_>5)n!)H(G$VL!T{5Fugv-0m-pQ)$#PXGR;s6(OS?p
zD|D~z#U@3#=FWH%Fs8_#hL!96j#-|=!L)#P`r#CXi+4eEAX-I!fRxV7IvgF$j&cF^
ze0Wpvd?sZuS%k}D0`rBcP(&YsM~E1yo71yE&RHPKEgW>D^N`w%`2N-u`gm82?_Y_M
z{Tltou$w!Py;QLk+^ale<2{4Z3hCa+5|8scta}-UzuyYW?M)G1ALC!fQ+b-Ee-Jp$
zv!!Vpv<?prnlMn;x;UY9Q8sbo0qN@%{b#Zu@rI2rDJlgtLUF+uW2ZceCUp9$o~c{d
zUWgETN!VPGoSZF}IgE*`o)zw|Fwtp{)-=|Tg4#Fv`Gk+g_0o+B-+Ewj1Z|KO|Be?t
zIuG($Sez|;+P&hPKj90+quS_he5Q1-F-;(U_wm3Ten8=?RbPq;sp%HfPkz)t0{Qwn
zX5Z8Tb(nF?S^pEiuVT!U>@`~tUg_Z6^L5ihk48Kce4J%nTCsai*}U81Q?Lx6ykO>q
zBspgV+x^0{$v)orxXyGi#Phhge@T)5?F4SQ2wX2dA5x!5dnfQhy8a%p(#vdw=U$ac
zT}tD_c5w>^7eT<$R>e^)REt~}|MuMXGy|2USMJYZ3zdSyx541mJ=VcAPhps={eG1-
zv6ArjHCPg8OE;Zg_jXk?#F>e*zun*c1Tew0GP-e-;L?1Hqog{Z?m0SH^0>B#0pH4R
z8$b;$8hE^sgn06?<CyBXIEAE@#EC`u-xD!^88ohTH+sH9zw8>}CX3~5h`O{3-42!C
zGur+2<Ig1jPOQ>@y#LpL#zbRoq#me-0;FW#?V|ibY;nM}t=x|C;ErGI^xsVluzBkj
z%`fs-ri4fIDpxq30^D)`F^hQzLlgv|*&MPjnA1XAvUD)4`g)15RLPXhc98ML$Thqn
zYhJYRW;k_aV0QIEuo2o8tE25v!j+*NHHaQ|e748tDE<Qf9!ak=CSW^sm`FvVnAeY_
z@OpEjT7oAA{^$lD$Ip`}AGzGA_LNa`fio3Jhz;K5Tj7fnR`)7HRL7lR3P+3AcAR>-
zRNG{LYFrRR6lIXW<3<nseYtR*H?RJr95p!PbPteaPp;U|dx7x<b{oJM<`mzf<CSn!
zN(-R(j8T>}gMxGd?A`>YqI>7>(UK91Ifd~%7feG<HNA*<0co2WF4QkWEuSFj$a6<;
zdkupr1)UfnH9{v^q2;A`%1$-K??F4sNTOl9zppkQc*s_eWvbdl(`>T~h!|wdY)O~-
z$qu|$6YwMKU8lZ{xQrr>pKt;_0pZ`qnR;3e)EUxe$;$ycT<b){Rh3hw{5O`Ba-+eh
zq|rS${XlQxd>oSmCZ>fy6~|I2$`}SrNb?IfC198p4t*%rBp(WR>Cx!T$71m68Mu@x
z^;gS{iDs^Oo5`dMtQ*fo)j__6Pk?~#JXAClCY{DksRf_Ur~L38Z+W&tmh8tTsqggB
zv`o{#cF<@RSd_X0fTE9s<S1b-)?9F4S%<NIx6xVsNBb&J+U6|q&PJqmJzv1fF!yYg
zicxYi)u)FkY^g+WqAFc#_kAvCz!`s9@!_5w^V84q^BSt70lazXaLY_A{+eJJ8N+88
ztO!QeMx$dWR+;N0WNb<4z??vF1qz{?Jg*duS44?j))#X8AY_j7-Z*^X1@L>+`9vgA
zsm7;@QREV4;G@t^QNAyNl;QU~@<ir}>=vIy4n-tR7FvPT!=c9s6Q;5Pzzf5x2(B*3
zCF}p|RlCnt;FPy9WR{F+`ST|rC?J#5`nZSo0prvo=|?jAUJ^rY1)vV}vs-{Y1)JOt
z{?!yV#-;A>WjoN>7og+LFLy+4p>uRxkqQNKajd_p;0GkPAwcL4<cE$MK)MZk$A5Q(
zHp?lx>h;qnUu5~i9hrp^Q?TIM%XegZYTqpG%*;;p<z?c{jC~FCKK^`gnTJw_46<#X
ze`riM>Nb75uD%5<Kz=f~CmiwjD0uM=nQ)BIBb|mtFEqATOOsCz^NTxDg<0k~8WzT}
z$`=>=M(obQr6NGV#X~U%8Twoxamk{C7kW;M0URRe3eb}y<212<o3eiOn-}lI<wX}|
zx#U+;33dEd2mCDaX;P$>8bJ0A-xQfX8xsq^p#3re88g4$4@PYJWF-tToI$s^^h50F
z_=V>tL&WEtuY8F=CWxw8)<l`#X+(OF<fbi6v>hX4WD6NUPO^`*P_{UthIqyK8`VWT
zi5Kz{_XEpQ1T<V`$GVybQr>H{+?K5$-+Zq^M0{#tc-fF9MUF1e+mdI4>_6<HQ2#hO
zizUZlD2jfN7cs*!F*D=N%*_7!anG(RRh`7v)4S)mBFSjw1Y?#aAi`$$ujom!`3Y3C
z368wRNVy%^Ch^FGHD3Oc@xx0H`Pn9-7RC=6*8(X6Ky-ofLGI#@p+89X`50bSAyh-G
z2BoF=7ubW8Ck*5aw+mI)6TbhH6a(A|AY`bCs|9DC^i>E$g}t1TaTaqUKiGp7s(J!i
z-&X4$J$a2^(hu~XPop@Dg;%cUl#ir%C~ms}P+2uE88CqY1^~pb)QfakK?_wy962WJ
zLnXy)XGNz2{3p+7J|`2c65fWz2>I<|_>U#Km*}8}P6Q$b$nUC{X;R|3iOoHrVjd(d
zh_H`oD3K_X7Rl#xeUselWN8_D!kU4uZ2ew@Z=Bb%NUqFLKJ0Ygl1vYz#yWYt#3A3y
zcs-PG-$F3QU3No^_p3u}s+|6|)<ncTmx9*3P<m|vMJ2r%ZL@14EKtN@GcZ#lc^x4p
zvR~MP9I+5E3+$d{#?;_aDKkVqZ=&raqJ;yGvG}T~*IYP4iEZoeQwVIvvrCpV<oR{{
zMCs_~@P$p_6Vek?)KaSlm+WUgaJ(o+qGq8Ty$wB&R`_O-=g_^P84#I?*`h7LET#}0
z<JUQ=X`8Q@I&2crI=tw`6b6rv{Fgt}nNx3vJz>H?)um7#&ir@;c!=}Er>V{!59hNd
z=xI;>B<RaleSgVap3dRuA$Ru(8UWZG(Q{ceWXOx8?NqB=YA}9YW|vmf!kSheC&W<c
zJRFZ9`rLsJp+6r4(R;w`<Bz1Ighf5;7D`*M4n4%)RUP5MEid2Jq~cA#d7>1QfZuQ6
zi~b<e0Zj}3$*W%GxX@ko?BbtqoPKUaTEg4MASP+F6a2VAk2(B1{#hUn_75v-27UYC
zxeDPsCV(amEm2^MjFn&!n?vK7%NZ0or<9-RY7zRVsK0ZH^c!>mDc@p}S%}@BT`Tz#
z;(N8r+f=LekefQea7TJpnH9T7uXvYO02Gt#baYy0l7#hI$f$gyt^9ZbYKDwZ$CLnR
zuo4WhDUnA0$AJ(|N^K#BI*vpAeasLn%EC_LaQ5QfA#CstOrxyDfI4zW%t)J%oG-2Y
z{aR@ig0HdpTY8r*`wVrx;1i}mtdf0*gmB4zi1A~4w3jIfY&o<a*mZzqMNDxcg=S6%
zI!}+5M)EdUWYHE*AYr<8_r#C&M5XeUfPEcV+u}pu-<+swG(O}$9Zh%9x3`8rZLV1r
zSVqoTnDwcc>UV(USSTF~Gmk)j^4pNvT#4!&IfpA{jZ}q&%p7_m9_0GhkreqhPWJZ@
zz8tykZzMDu`L@nR2~2?EFR(m7x0b~;sM+hvy4}wQel5+T`5>EiYo~$1&8lc`fK!&w
z9TU(>AYZ%LPiH&qB+LgrrN^+|hbXbinLMD)-%>AXm5f5lEs%hH2!8$^Un=OUMW-O;
zl6*TsM>=m9Q(;rm$u6bxReZu}tR5Mu%7QF0?%-T|r(dro=U@SD8#nKUn*YzOeOg(i
z&g}KdR<K~;T)#eEbzLZ^7s?I&@%mURpUD&s%lq3?qzNf|HePdjisCTYJ~G`J_|i@9
z$hSO^1!;j<I=s+6<(wdN58siw6W<I1pCS94rNsFO*MIPLj)y6*>sjAcvEV~M`r)2t
zp$XPA&Nw^7O!lOmg=JyJk>3xSJE4?!JfF=pHAmt&&uPtfrTuA$?B?Y7g<yolX_46O
z=5MT|cdVpQhS+44nAR#tMGjiyI1i0HKF{FNFSz6s_Yg$h8hB6BbdQDUsAIRrjq!8C
zyZIfNmv2$u*X~s<@i79ET44nLnf!1ZDDLuXpcSImwZII(BV9@q4SkNO2B}d~+p2~>
zs$TcJyv0I6Tv}&^CY!|KG5(!@U9XB=wbJ$7yx!0#-9A`t@l-g9x40Al7c+NK?VQQF
zGO4jKaFA9!u23Vs<rr34e@WjP{YT(=M#z&;R3PaJ)sC;*hNy%7rLY{tdpi-zlV?nX
z)xg!4$|J^1s1>2Wzw74CrgC<HNh^Mk--N0xccs>pLV{1IpJ-yvHJT|S&_t6@zT`uF
zO(bPiuNyy&l(7;3Uw24C$67w&ZNcJ?BL#8-6wU8<De>w#d}o6FOcV6Xm+WeghO3gc
zf*v*;Q}~p>IQ;GvBh6}EB}$yKjND=Kcc#7DQwqCXsK8pbQb*emfqeaD2K1{^>_enR
zcad{%N=?fL;v4Oz@b|1DULORaNn`H6d<mPl3zbsk@^};ET~Trnm6KIe9D$ra2>LrB
zLVQCD0YwrGN93NJeW2((1TnaBEv;x~H@kq2)^L&iz{ifT-9%0X5J-ag<yDY5b0mV&
zJjsLY?<^Fq=&g(rqVJp{-qj$^7bn>*TsK}fOMrt{g+$r;0=>SQ5)maHYOXhRogGMY
zP|nAfd^^^0_6mPCo*vD1+~JAOQDFf2>Jz#zi%0N)>w-f@M*D@5S3ZkG2Sd5JxWma@
zI)nFCsz|mHE_1DEv16DDdBH72!5{VLCi-v)IU^`EHBbWvNUqHGcq`)K_#9`kjU*nP
zJ~p0-EA(bg60qX^;!c2M=TL*X{N;D8cfuult>g;~kKMn-f82)Fs=<y4!84zwlpFO#
zKO!9nNP_hyqG3fTP!t|L55W3anY8grlX^yczil9GfsX2?cw-4hn%0htBpvNs6iCu{
zun9UMuuIX;H4^IG28eZU|CWJYW0PBNtLn9>K4K(4NBmYxw~6Cu#ypno&hBdGPl_q{
z9zCRgj|e1<_*}lA`qWg4RH(-2{RmD*I+f_8xE~8AJf#|53Mhhx9zTiBC@oWu9e}Wx
zb}@%p)OhCGi`wJT*fhD5qe_$#3bCifaRL$?pfJW)mPWBOdQ5?GlVx4vZoCn$jWxew
zg0q4_=A(2g8T+o#_t(&1a}e~4bdWuA{dHA(D)h-$1n2I|wV3*$=Zi?dCs=<m@*syh
zJ`0Ht+72S7SI+tgy3pGnr4(}e1US3S5Bp3S(vtXHBo96fOcWaGqo3_{{CIat>T$8y
zqW&aydsIPJzolnp%FEXK&W=`hl3(t71WL4pSLMF%N6yPR8M#E~qC`Ng$IcYZNtmb9
zVDl5>;|WVx;n9%A3YEl(q)?e=r_$ZB++fKU2L)QV?|V9Q_LL3p3nF0W2g(<NlFt0o
zrO|=L;WHQ)#vT+vTJ~>ieB)wenZnr)rMk?cMz1{t=M3dtNT82|*--NOUuVdLOvFcC
z<sBPjsUkYwM-}?)oO;xsVy+TS%kcw~39QQ}R<hm>6ZsI+hghdsx%P&t=WJH^7-VPI
zdf$<*CeM|O*|B@_7H;--7*hK7K(+0`swT(~GSC($MgH4jo}9TVzPDNV#RW`o8;&zR
zmZIv4A&f8Z@+IDcA+1x<V6cf~&7_EhnoFqblH@2`NN41Yr}`r0>)9kN6HHjUj9yBx
z!5X?V2_Z2@0lL-aoteL?Fl@&{6<LU;49auM3}D^wn#$;$2#;#Xa8}(gi%-2}Mg36J
z1wtq_8OGTS#9VD-FuYmcJop$K;;w|&$GA`k)V)vur5+r6(J6PB<EGWC?3scYq>LqV
zerX*B%b-%%A5B(L-=(!6j_znRf(t<)?|PVRiEXsV>Ings5SS!BDfnYY=*qe;z5X3S
zYaMlW)T_5W(ZPDbHzW2OD1Oq1%J4+KHzW%DuY)|eEaC;De2RQX_Z&nZZJi<Cob5B#
zl)}JCnL!FY&YA5eJ=E)S(1#%kBrJFC^xpqhkG-vOJ$t`oY<GM^e20PWZ!=Z7#+kp?
zy#6qkXt`tU9@J+Q8H)3~O78ZWTOQA5sYxwT;}c=u6FIYxG39$Uo$e(eG|{F(ZEGY`
z=HEbgZhK<DOo-Di7!Zm+i2f61^U{JL^|!ot$M+a`a4j$t&jU-4!nR8ys2+&4q`ewk
zi9z6e9!MVj`J*3YS}FQ2+&>MYf5ch}hpCfBTuvAo49SOn6}lU-FaOxj4*`j(RyY+!
zLa9Zc?+Rj}J}E{yMwM+!Yl5-<^B{ItBS8krutQ^3QR(d{Q4nmA15NZer>WBgyjs%4
z*lf=I)@UP}ssTiPogu)Z&LQ~YB~b)MCc=PC{~BmxvmpnuX$QgUg^1FFqLpD8#{ieE
zvbbni5todx9b;gmPcF59jwuP=E161&K99?S4aM?Wc>2`U)edOXl_IQtyV}pPY?#rL
z3wzsH5gp)=YCLtTHy9rZg&|vr*u_e_2pt`BA8yq6vW`h&tNfdWa<;LW$KvEy-6dGl
zIfbM3-b|a$xFOwSGMaAnJy#P3mhg+nN3~~%57iJPIp3`Xk1rbod2lGod0&Ze-g;3F
zuQT1IvjYgqB83l^&KVgA#LNkXAh-kSAsC9&TgT}=L*1tX>mK6$;TwL;1-;%0iR2`A
zOg!17eebr%67m?5G()J51R;0i7V(oj^a<wi&ErsW6qaswI33tq7(IU{*nM*6XeTsg
z=tf`^ZixK|VHT8P6sj`|*cJ?S4Sue%0Nyn%W(7QG;ckwj705ang?(VC&Qp*`BQ{Ff
z9TdKP4mPjOm;QY?F_~HjXZO|}$7W-Psv12y^%*W(c_psSnTga}7z}a{hA{G1J=KiS
z_R;k{+k^lnwiNKUsJaNkE!Da^UN#}i^`O|jP&Xrg65941m%6ruiWAYq`JGr<{+KB1
ztXiX=fO8&Id&s&Ry8Q+l?vx(AA5Pc&EQOO3@vOVJ4jVi{e=7z4jJ)50TP=M;)qO31
zhbE&xD*(fqvP;6-7>jcMp4XIgpRDTA{p6Uw(%l{*gQ^R*@K>-Uh3aC;FPy^^A7d%?
zMRc0Z-Y%1Hd~1)$k7(n~nBrup&+?m$5>x!%M7_WP|2wM>FMgAkzug3#JTv-IcG09M
z;CwN@P*gq8DiWAE1Wssy2%J&n33%ib7drK^>slEt!`_b1cEOBokVkDMG?|=+b*fw4
zC{2@c*AfMO38?d!alX!*Rr>^K#lY`JBdTj}bt>Pr0a_rn?X)_Ke?#;#ij<UKmhgMO
zp00!1m?fgjNg0R=k)O34dbP&6hV837xVH26%(!$kpgKH;rNiKUlCCvzk|;u8j^VQg
ztTx7UReHlg?E_Q!`_v(>wpOLvwI2%V>hGbGgi{|dtn|aRKF0-2n8RN!-XM6qAl+C1
zVvVGxPv?>0`>19U$PJ?Q3dICCSWn3|kY`b)Q*pqA;y?(?ggl}I2sdXIqx6A<+Md<9
z0hG%A%sh)XNS7A)fMxf%ez+_Y+y_)jmuT3@#zz}PeHSUq7GrL*Gx^+U^8xtrk4eyV
zwu4#U`*2(W>3VvGOaK++rPNr`#j8pk@6K_>>|Hreh18p|pyU$b+$kZilcRc!<1Hqs
ztoX<M1QmWcVaj#Ar%Q6b#B--~)1?0BS~~=0sd&Mc^n37GoZ3P>xD}W>9xLgi9yR_B
z31DB<lAbdxd@I3lpFz+2PH=r+suLu*D>tQ!kwT8rt`i~W#QL&^M$Wl+aWsHZqYtMo
zg50;i_F+<+1~XULI4etKb^e9EAs;$|>;a`$D0_<2i%)rUf(0)GYVi;}np*{A2KRY0
zVGq3hw9n!$yOXBQY;MY&00lt$zreKAVfH3Xt(l`ylqJ#vBCh5XW;`%4zQ!)XCf-*o
zH^;cwE|K!PGBTRo0rJr*zY@Nu^t(ZTAI>GZ1qy*i-%+NS<LrtMwf4K+Mc%j6T`S#Y
zU%B{R^L9LU*1Y#eN0PS#ioNFO8%b7+$*z8OxyV9%-P`yr)N&EGIkM^~i4kRpa)_Zv
zMNELe6+am(jMucw;u+*62HW>5S2iRXZcqA}(j#5}!~3`Ov8=Nm9j>(zkf(iwFEuR0
zB3Z{d=lh9k$Ij?W$igJCeEjVt<DrwOpR7Xtc(2QRBSD-Wne>?4J?s~knjY0QmNdp&
z_dkQaX4<aY&}UMpJQherd06vh_Roz|!|~O#k$&n7MS>`JNHI<VV*I6{m6|hw07Dai
z5i#^bX($Qya{JqAxDmS5HZ{aB(C)~Ub6%(>$0ZT&0iT6FD{CUvq?=3GPU{d6-r{aY
zbOEVQu$%t-CgKOvmy+e;ro2ECQ9Hc~zo1Qin7`*Wo6XO+dpAy2P+fbtC47%k)dP%o
znI6f><quYpOeyhT(l>O-N2c@aqi!g$-AWiTrXf32#q~M<heNAyAak%rbQWv<CZfQV
zPFTK}J)Li#5|jL!(nY5iz@eDe@d-{Ut7NmlHpNP{=lxuLP2R~W>|5lnx#m9=RyDGk
zdK0-c#7qTMDbd^SZ<RU%$`M3|I3kBgd?4<@Pq>rEsG-j}zGdn}x1<UZIw^ceVYr~1
zr@WpN&ZTYf7PO`g_e%b`bac=AEKVz5N~A3;3JW4Ysj9>a>7)fCQrA+oa6*p}pd(t_
zZU%aS12bypt94t?2o%c$Qduxfz@xQf;-ZCxaX*&ZB619=`NyL3#5SAK7wj%|Z?Q*j
z<;+9|BFc1Xu+Z%7{)+7c@j?lV@VB-U8*wK6rcn;KiycQeqy4Qn@&cw_J6^k55_kj!
zcxB@MTF95IUNyd<lFOE|OOebWxP6jbM4tQLz4Y&p7p8fc`47wap2W$@jq9+wpTd>!
zvZ>1sH?};mNXWo!q=yN9v+M-_P@g<UGbQb;0fi}JX9nT%_+{fo&#`_#k><XV$eXMh
ze}BRQ{Fnr-z}C>Jnz>(m|NOZ2{F=YtsG6rM(!76~dRUh1x0HU-&kqxKNiv+u0U-Mv
z-~~R$JIcTW@_dg`7%<?)LFE0ccR?0--Z6OkFpt54#M2kri_*y>#9l5*KQn!3vEFfd
z^c61G9{SpBGVlg5SVUEg$?#DyH@U^UXGk14$R{WG!Qx02*;D9tV5}rid{KLX?QKOK
z0{r#qhwfh`l@y>8?OQ8)D(s&hV?fiM2Sc9EfSk{Nzob*({rz4K|FtGVU!F}evUb{;
z<+PueA!v(V965C<NB(tfBqQgt#U+)qnD6REU!V1$h%m1)#~^*8)|&|#5ePra?i7cc
z%W5wU%pvsZ`-FtHyv|j?Q*zQ8GaEJ3vX)Jpj_GNU(`Imt)LKQk)s>~>V@ZEQeNqJ`
zJhTLkY<BFJ)1ZKisV5sTcFf56Yb0+1*sC8Im~o^AyBwOd0Q{CYMwP8(794Y8c%e3o
z4Rn}FEi4GrUdb~YUJyGgo<dUb_-gI6@n14eenj4OrlUlKBhuReY~QEdm84g!m9OAB
z^`(W3oO48kXYH*0PLZES&LZ?}mvc@9$2AT287JiYvE!X`!93-ZFkn@Qf9??4%O57t
zZw`Y=mFC+)VuGEi>1P4@!qIHj0G+!)ij!cuooSGDo3X=cezXR}nb~wzpSRzf`}Mo;
z_`CjvLos-itl+RTv68fOicC=)R&H3>i>+R*d~&b8C95uBkS(Mjg+b$>Y{4<=C10=N
zTVKYaCPe*Qt9OZ>nT75ww}PVG&SM0MW_PrO=~HuWSC3X1&o?9#HWIx$deXjx*5@^@
z6Q%~unI&1HGk@Ii*a|KF2tPerv?LyklZ(Pocj2TA2WJUi7VA`6!K;*5iGe{JK|dM`
z_33Zos(%L?AdXk1_HAh)yyqF=-kEBW4;cj5ug4>`d(?c29Z`B;P;PN>8{OMzYH15Y
z?$JAOJ5M~&LF#kKrxkk_!3_8P(~rMlrhgT)DaKyZUUOv;9Lgyfe%<vsUe3xjjJw;#
z`fdVZugW|fZxHx)pnX_L2P9~9$sI~Eg!pE9F$>&=E#n4MlQ7v&gdE1KrP}wpnu4-}
zq}w)L4RnhGeHrlx6?{Kl*z*eRtg*)U&c(1Q=TD~1Rig4cf(4;&Ot(_qn3}#cN-L|)
z^EZDzVbP?}w9p%c?M_4gP|$oO1(P2o{?<N(5>s-eTxn|FzSO58J&R5UlK0J{81Ewt
zM6NEV^cyhj#bYJSs8KSr0|%nwvMdfk`@oU8dw0694y6hc)Pig|Cv>fQ<<k#&#LGjq
z4m!Z$8$27Cof1OW$2SvBiJ_O%%ghiC6L1hPe`oj97`DBNR^cI2SnFU`{NU_G5aln!
zHSrDiKt_oPwyFLj1#23ql?>{-z&FxdG=81%kj7gp)&ot`tx{eri<;RnKtZ<^8+2}b
zv<!V4T~{MYEeLmVW32Dj5#Bou(~9MX=moj@@Nk2Fa|<r!r%_2K|J!KeA#L@&wROwg
z1J%G#!D!ZzToUwmZoxfe2G?cE^qWnX^pIi!4~z-=@#7<Jxg~nb%pMlV@T6C^9=pLp
z?~0t@73num8YAX1qH|l_$r*Ag(u?us*#&<>xh%wie9(05Vc|7}k*CVY<GoA(=19It
zNM(ivJV!o=5?q;JT2AGj`O`!$RNH6ptt}_@Lt|m`d5IT&FN@kX8PllA-N!S{DXFjH
z-3c7<Md0df_^?grZ=`89AXyIJPt+}{Y&Cz#2Ne(;i9;fw3D-Z$TBCX-IHp#&BYRd3
zgVVQ5A~pE(_>W&RB$fdsfj2!2Qn*8Tg&psRma(dDiH!O@(C&*QMjpFX8oR#5yOz?Z
zv?d)r#V@0oRhiFon})L^a!xkr5SSwNkM<yb5`IfS9&LO>>E}Ur>FAPX06irBeD64&
zMEjuOJfnZ#U!nazXKZ%}&Mp&O!Xyr71325nf*jE3a^`8f#?u+&JVd0G0ys!bAW0+a
zq}910qp60L7hEx?ql~1|N=yk^*|0*7&YfeD;MTxFz)Z1Y6hdx_q(53NQ!_5j49dms
zT(U6{Pv3Z)@}-liQ5e@ToN6IE%N*S96WgaG*rlB>a|X<W7aBnV`3Zx*L4s)yuD+Ao
zL%A0L;xT~|9V5B!dY<(0k&HA+f}AKfw!WmmA9NlUIvqXN$M;@F?eEF0K9h*?Yt}{l
zW2xfhGkjN?@LMV)tn~`UAr`u7p)zR1Wc_VKQA1tUS!xOnB3|A%4{`2#`QBZw{76`3
zGJ0BTXA@~}6QM%)z;NxzanV&VPo(N?+(IAWDGaIAc~c)<%Z}gbeKZ>KT-rtM3ET#@
zjn6F8%mItZWd2&>yatJ;IR2IoQqe*YTo#kF>;bBPe(X$B{lx5B#^3TAS2+02Fn33Q
zmIF()10uH0#PM*D+7myK#_?^s1@cZ!K$J$e1oWT7nX*FCWUnG#Qbz#XQ%s-MFm|H|
zDHXuPu3+SH8|~UAHMQEO3lHh!Ya!{RLCm}nXG!RY`sv#e7}c_Ok2uSRe*{Y-TY%Zy
zp<+L`22b*t({-`o8xH)Sx5pi?PsVphObxa7M_^D&Tg2M|KdVWrZ<Au#jl2Wv8us5E
zVkcW7Vdo$)sb&bodKW4{lzsBu)G)e_6Hlf~)}U^Fk}n63>B>ZaU_?_tV$$qLpXuw@
zN@ifk<i;T|z-p3=h2Ck{Qxn(X@l&aSfFwYACylN#y7l$3IB%<1g5Ue~O(3CoN%~B?
zDaC*vH}&y!`O(eWth0=zTkTL;L;02pi<u_E7+WB;>|I(li^}zuV2tkHekNataj>Zn
zVHHvz5L3M;wL}aix|uX_P0At>&Rxughe^e>&Otv27D{Y)Ek6(2a!MI-MP&`)61D+e
zYUPk7zU3Q=64vOuI)xL4{CvWn->Mc-Vo_lIBngYYaJRLe<`?NF0B-Kbu2#Q8-sUes
zAExhP3>92#|90!<lON8}D2D5%d|D%n1>8E?!=D6RCCZd)1C}#ku}cdMSlt8d+*O8P
z87&f1?Y9SXwC%813TnmCRp+29IBJPI>5#h%w%C~B;kV&r%J%OcD+8a&;yGU$#Cma)
z&23tY)eNFR%p<u=ql@$@;+l%mkJ4JoEkZosi1b6%wd%JayTPMweGs;~%N<4nH_}K}
z!SFU*#oDzv`36%<k*|tmD;zk+iueV1=~+ftNnB0j<efH9!#b)NF{XyCbI-CQ=X!GZ
z3`hen&T7A(e5XQq<=nT}-3e%LTUX&>ZPS}8j`1TUeE&|SKEFwzXY`4R$I-Um$ZE*m
z9LwZj=ZF}c(b}u5Cduy_EVbYA{O*a$ic2CU_2}#`k2^9!w@LHh0>N3L&m=H!ie~_m
zAllDumCTYq?vMHeX%A+x#goor*+Or`z~Xm1d+rQkoHLvXqn%dFw7`iL6m<8Rq(8jG
zB+4#y-I?AxZxp17^!<M6@7H#%pU1B7$0mmpv-I5nUd7kG_yj17InA%?YO+`m38sF=
zAIYUH3oE3?zWIBBjS?X>Ks_De#06{P-ztlz5@w>H4;-L)k^If?A^htDKEz5xv$^9E
zv@s3VYFp+|snfXO?OG-bf9G#{iSaw784j#M(3@XnOq$<<@e&yf<-^Yw*wZm<XKz+T
z?Hk>NCs8sXg9&g?6vUrM%#H0ro-j{E0ojOO<1t4%&H7b-Y(R`bjllw?BP|q=UqUG>
z+(A%Mej|70-79yt1&fs30T$1MY#<qk(h~imh%o=V9*OhVn>CRnyxo)pg<`}0U~@b#
z;P6c^$&WMtq-}VC-X39_XXAv0(Cy@FLw4}pGt%7XT!`0VzG89eI#dd0_2S{bFN1Lx
z$oz6Cy^4rUvbyR8ENX3AiB<lhnc!^ltwZvnj}`BMfk7YM)}6xIls1cJE^(uf07spv
zB?d%cHF8iYGl?#yA<E40Y!!&qp1F{B2J`h;QcG{xmRoi!J^<Vw$pIgPT}=Am>g-bp
z*^V{!K0IaqR{cjhJ>KYesK?6<)-qL5NF{<(GzcnLOYrhs-Ppw1ae7FfAUN&-aRFaE
zbrNvGu4~J{>~G3EcrP8wYGt21oo%i@q9vUPmU!iJ-S>9su?xn*9#}2{bTW-n-|Mt(
zJxdm#`QR{K01mZ4_B%?|OYNc=;^ANhf-bp-(1>L&Ws5sir%RxFv%(4#Ib4?Gd6&X(
zwUqg>8+*1)x)&E5fHrv#tQ233F%ThxUR1kORCDE`8|+E~$V9?m+-;Gs36)@pRy64w
zTcworO8`AU!oL-G*CJ_O;9AE6Y*VtK62gJM$&~3>H?gXFT`SLQAxt~l1KvU>C0uiQ
zzjM1Ee~|<!%jcrfgX!FJx4I-6%0D*Tsh%q?1FK*GpI`X#8Kyy2NDje2*Kw1*4nH~I
z;!KAYag|_}l@{nzP%AKy6@hqzH;6hSzPZwGESLb(vK!Ng*E?5miiK1l|Kp`(Jow1y
zrX*<%(&Zw#&=I$4)>{<neKpMA*LXCk1D)if(|ZQ&<yk`kcVe+p+7rTQpG{6l;|YH=
zJ0+m4NC1C1g?F1+pFg554Fd@y@taTh;`Wv`8o`lSux^_&NVpXqYw{!<h)hj*O3)dG
zR}`s-f{p%8je6BdlxOE}f5n3NO*>u~Oq_k&CIUJ2#3B{p(x>S3!oOqn1uxwe83h@O
zq{g(SsMqKjn;Ge(4h1xa#bB2EMCXIljY(ohR0`dlX$!h8VpumzJ(mD!3aPK5P-dWQ
zo=-+ex;zE7B|movt;jb6iSy04AE^Ik`y8vfhdYE@0*Zaj%OE-K{Hm4hUj;WA3|k2J
zMRRIrxcDo?Wb|t)a?<`5-3EF#>HOdl?X7N{!a&@BmP3j6Z*T`hcH^q?%n@z#e45B%
z8pu8f?lQM7h2#AITxt9-S0@6{O#3sL($TEZ(art)UB9|3etKHne?ki=p<#3^Z<n_x
zk`goklK*@$Mj9f_Nn3zOAg%(b!ig#ABgdF4>;&KlLtM!NwNEtU)41|s<k6veVzVRs
zRz(fKSSPS;MCIq0>EH%SBuq^vS%y5o#}&`C!Nhy`2%wz2r>xQMJ6SRTC&WMqyh)5n
zFuBKTDboU`L0T~#PljfYD8m71m`PI48RV+pvHH#p5Y*~si{^##0YT+;GkEeLTU7E}
z;v6&`=o5H&<7vlA{PhG9k@)IYzj8j&0q*nSRMAs<3@zpkmt%Ph-RSR)XcDa59!el%
zW=P>C65ehMrBS1m(}ir4lDp|cPHg1cfBPr>taMmHosm5hT=*5rbq?1%=u{UAUd^?n
zylm?AXfitSvj9WW1gvJ!MDOGZ>(!Trd0N+gG;{aw_Y(ik)*#Y0W_jhJWt_i<vlokC
zT&)negPs`ug*=i@#Fv%3nT~Dp$-dG)yToE%81h5kEd(KI^BmDPM_EKncipV2B;T`m
z<rNt6`oC@2_CPJQ()ZsW*60tI*|?tNw>$ZKy!lAH-x$>}-=H{?W(yjz*MHeLm<Rar
zer;i>n@~A{;F}|5)K!?Ynn-qL0wJ4of<g@!0fz%4-h2qc<bz9J+YXTlQW?S)VwYO$
zJ5uA0%JI!Dn@Oh6ONfMc!bIxqw3sco*LxhA*Ov7+*&H6cljB>xF6}I|r@J!xay0-p
zT8l%cH=fUgK5-@4(COQ+t(<$*rk`#^TN})EoNEW|6~m107d9pO3Uj_H1CwEN0=<q1
z`s-y|^!NPhjncCox#h!lVn3=2867u`X3%_whaUj#>6^s*#%<DR3W9R1w%x=g3gGZE
z?|DGHxFeY-CF&OB>`9elnhbo~r1mI4ghkBiJl#-EV`}^Bk{ZvZ#4vhHUu;{Dv3sgn
zOcqFNlPBzNZ*nX~K<e<6#e+yT9Q0d{U`&SRlt`{$QESlyb`#1Y6!xN0nE_QyS~~6y
zk^&0;1Y-xG6kVHsF#~>fzu1p>hpC!xaZL}C>8uKq;IkQRF9dtvv27MCq#+4;ht-tX
zo6}G*d>N(p(&g0bUD%NyjV9w8<A8QeYMj65bZkrsf}UG~fbvMHecT~HrO`2R8?vtZ
zQfI_dO71g{eU3jXhK`#;G#Hv^*GE+-DE1#Blhl=ObF;@5c-g~dlC|nhf*7KbdOX4S
zkTDw+%IiEHv3^IasiGrMP5x|BU0+4*=3!wc6X+6Quj|?y^3=%Q9-hGZ$?1>tV|e;P
z0!9tb7(^@TB|GbP%*h`s8aLiof0<%Dk#q0uy~o3KtV!_e5lJYn7j1sJ5f%332wIB3
z=Q5sc&^8vhgN&)^@makgBH~cHrd86FWMrIFF8}ga%Z}+uahjNyfHqS{n3aU|6(B$4
zc`Y?8MY67?;D**Z(%-)l;=zw%ly}w0UvhcImrRI35(eVHdn~TlJQ>b#&kqXEC>h1!
zkOvFE6Qm{+?39H9$NJ%vjv%2=_ItC~fZcvA1QGfw?OXhu=V<Gf0{`2<?pK<YtH^zM
zs%I1#EiOwT^R4J~vu<C0=MP%Ko6~f^tub!-1xwyKUq+qI<n1vdK5=R+kL=n=k>Fg+
z3*e8HY7SYD12SvIP`XXCJ906gqK80=+XLlPBD|4fC;CBMq2(PFCeWY&DU~nYEUv#!
zf%Fo)3bGHJC>bYub#$DtbFWkOo!PHPP0lmrBeX?&)4fSTIr)36O8PSt^%*$lli2&J
z^kg=D=k^9E0qU;i`}ri(aMz67*DBz7wt(W>>o`a{oJtG_Y~6NmD&Y8coC9)6L{&e=
zxG+)9;PAEVwZE+!p1gAI;_&r65wJyCLv*RIiU*+_vVwg`xB1anjN_p_wcB?Z&SYaq
zyO!MIkXA$3!Ds2q7;VYtH~4B5*=I%0)x88ShFhT*kMJ#_%%H{-pda3b$FWm}qfG!#
zdN%uZ^spyrapyZf(ywc0Ah!ud2HF0d1hJhHB#pt_ZtE#?2D{Ys;)hLbuG~vT8C5y3
zNV5$t(DAvUR|*?&BJ7x*F&F-}XOu`?NwcI*(z&s5ji@~-dUO4mco2rnm8m&9C3e|5
z^t>7|K<gr8g}YtXIOfxKHzP4>irE?C>UmwUgteqcOD?k$1fXW<Oz*L&GDO@o4F0Nq
z9O;$RLz2)~dy07fn1qp7Q3({l7seE<F%KjJQrZ}Zb6w$<Ss+0qRaL25xAa>DLknK5
zaw-y!5`PVlke8RQYzSoI=gT-kbPEd=ym*v1wS$Ad4Id<Vw2NmCtJ=7KQ=9ZDCTPfE
zVU))P)Q5B0*T=h0sqZvmUqzwOfY*BG8+-s<Uf*4~pvVWz%tj95*kKsX56+^DP6K4<
zNxkL6e|RnzK`SpweDHIeQ}VBOe-iK`k1HsI3Nl}L-h8^`O|p(97mIpYK5YDyDsUhh
z#H_IE2%qs*mtnX?@-MOUgonyLE}mcyqk$(A)fUfu3V;ul(hfokPP?p|A$HatveJ+C
zlEJ4_H5Hx&fDC2&9sy(4<Dg<A0WyhG*l|y8YE9+TNB@G)-YAnAEaX(&sJ&B(JO}*P
zZ7BQ_Bm?0dr3)zev>@vgRq^CLEf3Ea3~VY8)5m~8r+UMhRkpZr_~Al(Xf7xLh6(TW
z_~VA5CWOK`=|UFoa}NR7L*VWBoqcfhWh>FCo==U)Dxq&oo$1yOMR`dkO)EgfPEM4^
zQ%pKm=WWP~8tlF`6awRl?M6h-X{(zG<Dgl^c&I%qedG^QX=_(dpn#rF;otKZ>C;p0
z5uPd~B=Xood%T;!qnHyA;{gRA;tcNxDBgYeILi96aw@e{%WxU(tI?u)$GX;5C%QWC
z?ChsInfgf^)QZ>IXNkeka5m@TYKm3JCYU;j?50Ps{|LcTKOFdAjAjDex=d@iYCS>z
zttI|QdQo@V7YF#Ga}^<V_7$Ingpsxj8*Ymue^&=&^ZePIy<v%NP;+3vA%l7_ddbS)
z_k3K24tvx}Qyeca(dU#caFHU~!3>wm;E2&045|`+$#nRUy++DSItGva#gIVir{e8D
znu|dD>^+ErIP0Kc`ucFbzudrEfy9IJ4M1c>wd;#c+tYOqK8S$shD?8JzOYKfQg7Bx
zN`Z)7cxy*~hb^-~;{F+mcQId8$XcefaE$}^mH%;aBymGDqAII=Ze6pA!=7i}jk=5a
zb$`oZ#Xf#CEaF6@v#Vbu88g7WYWb)UP2!d9bz}M2R2Xw05M=(25VsNR_LbnTH#4tn
zGrvI&;JH)yGp~u4+7XNu#KJ`a0hn-SYji5C-o!=&n<Y2MhO+bctmb2$HV@^8sz=f;
zaWm!KY#9du&VOhP>jC^XpC@Rb1(x&s%UjX*ofKm{lcF&lqX0|xUR-qIPX&4|6)298
z@I=j+Qr02JnnQ~eDjaQqln?j8k0Hp7k5Wuu5TZ63*Xs1U-J7ABcSXxAgv2`az0NKN
zba=h8gPh<N>}=dW-<Cdm#A^s{i8!8ajWp^ES<2_SRj~haHQ#_EIGx?uP3Sk>gTu){
zSc0TOr5{$REhH~B-5LD&sGX~7VvwPNs}v^9wzZjnM4TN`>F@KEA--3nwYb@wJ@5Ra
zt0Hdc6U2kVpRsTA9}#@k+#$iH`8&z(&iGb#GyK^FP=$1kL%?_z4r@aVH8DTQp?T$j
zbRa<$Zx&?gvJlei(L~zkCM36e+ZQK@B-)0?<l;V$I{?%5^RRPQu-fR+W!M8u2?gDL
zTSJnK(-u-9?d$qieD0qQ<t*+`wTSik%-yq<>3tqIKpHQX?2Bn{FkE86I7eNeJM1vp
z0{krPF^fvl$udVfMH)(ShUM;<QBKL?xNnB`4l1Ng4u<zJ_<^(!LW)o_P#03MXxsDc
z!d7bF=I9%9_qMMd?|<Xg<{+1XPH;P13pf>vvf^g>EUU&bq*Lbu(!WUwp0rr_E`cQt
zm>wT*pVY_ye!3cb3xka_QK=(3Yv3`L*_A7GE1puj_+c6)Z-ZxV(RqYPIp0;@O<R8u
z0Tr>}Fp0&4Rnv6G+_6@nHDz6zj36eYLWUzvE2{qVI<r*6z+z&^egH7bOlk|>FbUt;
z{v6rw6+Q9O>1=Y6KkCz$v;Bpd2^}M1x|w(>Z&FOL?|GncZdW<*<6nB-!SYN}K$En7
z$6OIo<>?IqGQUe&^s?ZuAJB+3T}C=~Veb5$V|qD5B$g@5pk`i50aik|5uTBR4u8Ll
z&$_uUx>WB+hLio<fXqqDqKqH&V410<cF=lREXK`i^Brf}f8K`7V${RO=%8OO1{@oD
zOQ40f4uFx!+tWQc=j{aGR7s15*TP`9Sm5y`FZ_Xtj@Ac$I7}H8hhsIETv%xKt;Dy?
zzMRUTXXRK_tWU!-wEl<=aS91kyAObI*I70_EQZ*lao9>6jhwVUD*ps1>D-L}m}DcM
z>GlE~vP5cD5RjGmPn+f1j{zbI^he~AAn^=-+-zD1O^c8|;5W!C^aqahcX+v(z$0+`
z{he84;w$HGzu)KXfMhK0NQ=H(Li2s6N%QeogJP0vhgj;yB55&*7r(ESf9%|yA57&x
zV3D_<UzChqa{LM;iv1f}x8#Gw1m^&>g1O&*h6!gCLOox%Onq_C>Xx=)Lydo@=gV+8
z`W9IPST_FBCKac9F$b>GObLJ;zv^yaKkl%Q!9QY++C;oVg7rurnAvR`{Tj8amaE0Q
zmLt+@B_MMTaI!na?HF6jEzV}amf}kwI;}U9I6PU@(~VRNWxe}fsnzX<Sp8zK(LpV%
zWlrbm<C4HcJWUqfyZKfE9&C?nED?8%&=8zp7ehEyAm|Ym!xV|s_PWo?3d*u3pU>b8
zQB|zMcFb_*y$q40<3~nwNyO-*lT6T_j7Q8OE}a6!rle_ztV_goXZ|&QM)=fi8Q-si
znqZ^Gm!s+GRndvel6BOhC!01F!z`}aSe>1Bt1aQ~9WL#Zau!|N2cpgEc|D{lkkW&E
zdW9oM<QIhbVSja(Q!{NP3&U#EXKM36@71jqynF2)ngUy^<;dn0;5A@?Es(a}%MW4<
zm<Q_kU!EE0>p%$1c+uoJCJ5+=h~(?FbO?D(H1ZCX9$;pJTr8|ryJC~`UcW#PdnI_{
ziBGgjSm=o!wNYLh^|Q??5ghz43ra49UK6thI0obvMO@wlpAlIwVK61K>mU@Nd)$lP
znzqQYsk<y+tK}#ty?4|$yQPp`!5<i2RgoghLjoY~@ZLIFYesmH3R6Y53(YE$(TQ*z
zTmlL%2v>~#aL!2DCyZFY5urED1NG2jES0=qGKkP?!T@^b1AwtlSr+Z@?Asl_b=v;`
z5M-0DKST#>I=W+Y>~9x6rt{z;I5Q@p(M$<KZKOdY)Q`EC(KIjupY^o6$DL3Qj3;cM
zq=Q+doCE|(lg4ox6o4l3F$#5dz2x#%cuDMb*-?ifu;8cmOt|6h#}<Wjx!m0nh=n)p
z(ecjMOjR27lrMAB!teY1owW7&eY7}?Q`71}Jck7CQu}k>Z%65rygHi~iQ3{WMWUVV
zVs)f+NGxcr(U2{FpATj=RTPMB9C65?>YbqrXR<vSQEmlH`F>$61R-Hs4bWKD0{=KV
zkL6Z@D2RR#3vyZ#By!H|$Rg+X^$)*|U9NIT!_2+ieWYP1_Q${h=uDJ)m1^27xe`&J
zu=5Cou6rQr)Q)>}GkAc|Sv_2I;W@?wE)sb*cgw=Q-@ge246oDibqVV{ZRvkT{GoE2
zlkHLhrZpx!he-V*M#`k5f75CN&3fTh;Me<dV4oQaG7jNI8PoCQRlxf1F*Ii{18;+r
zSUyRljYT`IU`vZ(5pP-RG=G1t*+Vp9ER=Knj8J*U_Ic!I^-s^ZbN*VUcBnJ96la_i
zUZ@iA#0V-He?CIB{(=Aafz-ynJ5hcbF=1oDX7j^mX2v(0BmJQ`BDPEjlGnBpp=A#@
zJ5w8{G-%4}{w-o^<J#g=W3^x!06!FTKI(>%T^L<o$%TW5s2MzP#Wfcm=-a(AH<`fq
z^&_6cJ-m|oyK|+@pyZCM^#aHqjz2)*I4lE`!`fRA#D6?Zf`=XZWxX$Hw~`L+(dmiz
zD_ke+wfDCltVsk@d`h-VK=afJxAG((cMRl2yM3rHKqbE%punAf_Lk!5`d)2n7#>ba
zP=NX(Ab83MMn*Wr^LFO3K?v#{B8kE(K`klY1nnFQuG?dh8GFg^THMihRM!vao`5-o
zF}6y|uX1HaMhjrlE>M^NE8S}%o%zbzNhKv99}Z;eWd3#+G@m6FatVDqp+!$it{{$k
z<qv0T4H6rZHYdCMIotVtCq`?+ZSOK7xvifr+SD|)?j4!B-$FApx~A%KWzihqJr8A*
z`DoU+o2b_c!A}ok7vCgrJY#V91xPoyqA=Sh+PsHq7nQZ+H^}ImOBx4EJNXI)pbOnw
z(8eVeJ5~VInziI<Nk7I_tioCKsjKQC@#06zJ@*`u)csu_$W(YIUg6u@dHzuutdN$6
zd<l(ix36z4;k@#9?m3JSxhrT_B0JAhcL#VB_!<Twu=~9`s7Y)Cv(6VERUq^mP0flo
z%6T)5t361#oQ(sX5`NT+LFYRdR@M{gZ#2Jg&T$IIWOY;e9;6%c%%mX>E~2MFV-p^X
zK=AVHVShYUrZha2ZcXrHU+n|hVk-Kld@^;m$G}R@`$89)+@7b$XOMxZIbbVCc#CpM
zzH`4$`m?6A_9#^a$Uo;EPbZvSw-y|H0?}^^iPE<N4C`PV;~g|xaj48(uR=bi%shrm
z`U9|amYpxs151LjoT7&-fR`q&g|Yh24~-NV5^F!FG}|)W){P{mv#qwxU46oLsiA=g
zGXUbeLIvF~;bM@bYu{1!gTib9-pxIE__j(0=Y%~n%S$;&?1Uaq@`OBq%nwB$p$43R
zthHtaBO3UG_b8EwI|vxDM)4P1wc8P^N%)N$8(zvf82I<Kv9Nqx;KpavcwO+Pm52#i
zD4DIRTktjZ38nL@dOFRVBHjxQ%rvSUc1zDk>ci8LH}}N^1tNHB2{9cPdQ%H#v6TBP
zaM(b{;UuMs{ypJYSa=_Y#G65qffMER(?yGzi_C}q!Y%LQs^z--{bgC|GgzqM2t!`>
zjsoTQ2bZ7L-LX`TKdA|~P2<Qf(Q1RTnRU#UL%}94&U~*A_2DE!joV(!{YTa^U9H&Q
z7$RUe$N>Fhsbk}MG14lve&L@%(31IU=Wi07HvPRI^kKZGo2AVBo=(Xrdy;`H)2mjC
z?JKnB2DBdz*ZnT^n6RyW+!JC>ZtveDgk`&yf5euXJ069_2}@$v^q|`3aqB1GkQ0Sz
zKVrtDVIGZJB8QvgMz*wh8#zATg7+XAuKm3&YpE0g9?{m!Pt`A(NB;7MV)`p-rqM%Y
za^qMOo}Q9_*`Lz|XOhr|Y^)OS2MJej876`ru-JTB-vx@wMDYzeoe)x)fS`$!m@ABo
zZ0*<Go#5KT{qY0W2aT;QUumW(|F4%$=(PYDk|tU}S4z8Z&m-YxRH~OGyWE`h#V5qq
z%lN_9OfJ9KOAi4Dn)I>HiNR@|bu5)pIxfT9uR=zjt)McXx_KLWu|vODAtR;QX*>m{
z+(17w5uZ?dbUXCrLK+HTs_}}y(-?75eW>((r+7v(6H5faX`<tII&(c>9~~1*4AUmt
zJFz|8zioFqZuFod=?lYS$)CRu*bhbzFv9svQM%lpwGO7)?8jU`h(U_>a*{12z&Ch0
z?g6^IBhp!*;$E(8xqaqQ0&)g?adY6UV<#7G77V6jX+ILK-8pW3j=Oo;F%3y5+#Kpe
z2jkmKRH|CYFaAm$r@KSfY@?&Y@4EL$<O$*hEODi7X!OSKqBWxrxZ5?7youEX;-kMY
z=faisNBYe}c26vP2>JSe&aus^TKkyA?{z&tO~=hcEWQGch0+eVEq8?mY)O{0X>8kr
z3T0^9c<Ub%)-YrZgd;0(?iN!1hq61yEHwuHut=>iMD@92^!JcUY288+DBMx=(EIJ&
zoOhuo4t%L{(Qd26Q->$j`iqX-F<^`_@^~Nr$h2U%LI=W{&q-p5QM5Iu;f8pAFv3=P
z?jLo$7mKaULyg{0hR;j>4y0WIMYt=s%%+>8SX1H91-an$v3;!}^KbwMN-s4`m$O1h
z?&OnVJdYbgY3Nxlac;+0e-F>vjbGb0XzzMBobX35d_REiWNXb^3?}3-Pqu9Md0s1a
zBYt*ETM`NzXMG2jB}(>^PYG_LkuY7*5W`RK4QgzpRxgzq36ax5x|>pM@}SAQrjSJ#
z4=6=}3N@pg<mlJHv6+!+7BNX)cp4-pN&?l#%cgQ7It7rNK~mFsw{MOgLI6~x<DxvN
zE=;O61B?%8H8_jmI92DvwmUm+9UYv!xbc%ijy;mN=^50*PfNF{E(U(jO(p)FxUJ6s
z-xFXvWjNr#X{g4XGAO()(>rm(`&t|t4tOsO2zP+|1*b6z?;r-S53+{<uKxsqJtaMy
z=OM7acgQw36(SnXT0OA*BEvJnTNEEMm@%i5-(0f42_S9LTJ~!1$M;eAU|EGWVTXR`
z4i(at4_!zUF^+Q0(YfN%b2KCQX$^Rb@0eqI_ORiViJ+YVVS2K5d7$38!zIelmdjZJ
z1q@a*O&9fjW}h)_gYXY5YO4hZ#>is)>(`SqxtFe?mgzG{F(8yE^{6ueN1K+T%+T$7
zy~Vzqk=)Uef(Id~CK2%4tux}$g8}LQDZJ3Z_=-t!N23e9%Y1~eAKeFXC<c`kzo)FL
zT~l{hL#|Dp5bt5w%I5iC{!OTLB-ZCWY3+VWpOrH!nJL2QU5dQ*zi2d=6f){4CUHww
z)8kCC_Z{Oe7<y;d#-aFh`Ss4>?p@2>ft+d`+W-l&j0WSz&;cX$K*f8Dfi<bF1g>fH
zZ%;9L1f@fPQ?i4~7QO|yL%A6Vc{UzS!84S<qU@4%SROPXUTz6F(AU#S675;N>iX@p
zq9Q`qPs(J-hT)yky8G_M^?RbZxRooKa+UT+!-q&1p#X%j4E!~~?dAcgm%>c22j$Hs
zkTY>6u$$&?R0T+`k|PaO^(wudo!nLg5xn&6JKSKudTMCjm+oFumxh7CxGKtFqPVXj
z8lwAHd~cCU7ygZ~R%3gf1eaNu7MAandC&$8T<Hk`uVT<3aOLikAU(cUe~d%A>{iIg
z{o*K{gy02BKBp*i)Xw3sT+Z^GL8?cGBhPxe9NR|m{fC0x3!<1mZX}E|%k)z@R3)~k
zMgFaT;7+2xeX}9rvn74HG^=x*+l(NY?!WuY?mOsQcR9qhKNa%(d82B@<v(1ZS4NmK
z(x*V8nG}lpo-g{>4$f}2SvJ*Me_e3LDDp}vrmARKb$Jhi=UVPYPxHaEjl6kahkXhi
zA+Q|^;@`pSR}^3e7@$o(1Ak*MdlL5+K_kdI1YyD70rv0paUdAe7ocAcUaMk&X9bJX
zg(f#wHxStQK@%hEi+TbOd)&f^U%j->dU2D7e4^e~wAV44zJ69$3?nhDY=6F9O`kEr
z#A@h~`zb4N1!un|`>i(0X4ebsTcUGe=DRO`+UmFbO|Ie?O0T1vf6pt9y7DZD3<YQ3
zBjXRp*LcT5oB9rp&uRMIS8?9piq>PJtcP)tVrt-~e`BaiASp#A#Z2Z5)?B0cBE^|n
zpb#E{1?7(gV2pO+s+6NM;$r-suNZ`S{B9leLTs*RZ#^c((gBZF`N7%nyxuN5sbKuR
z##_v9Qg2b{F6FFy3U_u)^BSXzA$W~c%RagVs33P1o{*_dW<xzfQtJJ<-*^fgZ(ma3
zQ(z&AXSU#C0|sg=piTIiBFa1V3$M4P54j`GX41hGiPl-kp&Tw}N3$yj6~*6O=w_ye
zUl?Zz7W+D3qT~5JA8-3u^6*ovVC`V)z9Dbv{x(nCy%kwPZMW7tVj*$K&QyQHv{n=T
zIp89O5jrfgJkKs5^&!f7o@w}CAC^c!6Az2aBbXWyqg>z9>ZJ_R$C#3Eo(8OAV|p1*
z*`>q<EU)ZP`1)NnkOUBjm^hy+aRXFKQ}T9_wPv{9EDFr*3M@^v!7i{FX}+VnEJ|7D
z94s>#@>dzBUzy(e!!)vUTif(Oa$F8Evu@J@p*?mA&D^N#+r^V%<lEc^G9)C;kN?o*
zyIL8GIDsO%*UmDAAJl()v6BSE@=<Dv4#f-UZVe^}(WZ9=7XSNP_{9ci>Mjs?cr+?U
zfLeRLLB=mr>{=P)61oLcZn&v|K+En8^PWl{O?gv7nfM*PJ7X5A-kdm$T*R#nd>T?=
zdt{vg&<3fOGWKeybqa{hq0qCI!<e^}AR<H@w;Q=H4eRPYQ8u+!Mc%l;XG}tDO!JIQ
zBfnBXIz>@zXqw-`;D?X&fO4)EgP)&pcz`#rP+QV7yKp7I4%s_e*c_7Y#wsE+4ZZA9
zqY^=ZPihX#04@%Fbmi($KzaeTm2BPoiSEq=6I_hz0y?%H6b4e{NlN@X8<_;d6gRLU
ze~Dywi${TB)NA&TUAkble|g+wJv}(<G)RN99h7cBX!Cat>&mI3z_GX5F0w*7>l4Tv
zW#tzxiLD$5v4YYmH^hE=(<mC>Fo8G7z>DT-F7z&r6oBz9O+AclAVhln%5n`T?s@3j
z^e}uHKvAYKVF=BWB=so;L3E-oROj2M08`dpzDJJSjxV!S;i~$yEr$zDZ;#(9raK#%
z8R>M0W=;>gfr;S()cV{c5=8>%k1<f6Ho;#Qf*&(IoT7|U_>7JGC)*m}AgWg9J6!&H
z=lRja8)GVwWsq;pi@58?b{0Q=D`st@esq;uY)y&3lp-UGT)!lhZK_jfsNS2GWhk{0
z9KpHvyI&bQsHgO9$|-#vO?dE<K6f=YlO$cfVfdY+FIrZOLzmyT7K)62hDP9Z5M0D)
zc)bjUBtmdkWZg5|wcWwo=IYZA&0Z8Vq3!ZgdvLiXvP^D-p3w`t+ZK&sy(9&q)oyS0
z#?y1dKcqUF1SExd%0e2CI5eA8ML@GR#dXp}aCUrY9rw$KXE?4w^i<DaCzCe#Eb)k9
zrdcNly2f&=^%bjAM+j%5BG!E}5ycRUG^HGCo`u4(Yw*S*x8P!e2Wu~AMEu#=5%Y3v
z7>O0<qEyJZaF~=#0@l;nviOcUwy7B#GI{*oqU^Nj(guJ@iE!)Aocn5G7?=E<@=&k5
zIbr+tdNZycOcEPT!^o&M{Dw&JP{*aA-^a})Ki9m#>m}k$WfZ)wraVX>0Fa$%4s24U
zzjS+vCq?Szu*dm#;%!7G+6q=DwZ+MDcK3SxA$Zi%Cr9C&`$L6wHA|*Jfs232BCCIw
zICSid=|ysAz1M}HPLXlhhVyzp_%?=FlG2j{;7rakJnlZaK53xJYHn$<^Y#jCP9*uu
z)sN{fzeKd#(MF+CLh!*gz83yrr4$ySd71XmX-n;E;%J9^D`o*|hYOcZZ*Lmu0FW6k
z3c1HP&rM7#hbBK-_io@3tu~f%F)uV6QQBAYwm>?AAVi~kww<M!1_1N0=ijp&>t`ep
z5O54pbI~Fk;NFGiRDhE3=Dw7;uI)m_zW!ad&!SOnb1-OcKDpT9u>V=LcO9(Cl7vr_
z+hRSts>@j~{MnyA#kt^y;}>)w_n|6&6-|c8100BJHDA2;0LFqBj2oq`%VeJo{Q=-Z
z%^QN1@PVw(UZ&uw_&SEz+kOH9UdSeMxNx_8`yZ8(h;(OoMWio=@a07%umv_g2}oN5
zJeyL8+yvcM6zXDf{Cysp3rh#WN90FE;jsc8efSAMa0UCBeLn0v3x;c-KdZ2qFtTo+
z)xB}IVxXUqV{ejUKG9L={MuGPA4`;y0$9V~nh^P9lt3IRqIL|hO{zE?I$;hz5-kS4
zwu@5)`5-VzG4*mZgxWmlp;W!$#?I-R=CJa^f}KudLCA7#vmsGm`fl}j8_8Sgc=&Gb
zD3bhWHIg&0J|N(VO|RFD0T9Qa>R?{e8+yotX7+j{2@4Dbas|D>CL{7t^t{kp#c4s0
z5aGk;jkuwDlq~4*_1zd@<xhrc*FEiGnP<yfu1dZ!LHn3={1~b$VP-|ClrZha!?y_6
zMnvS_B*VO#sz>7Pk~`p8zQ^)9kP{Au{8E-3aD@7t_IE9AF5ZNznAo>qO6r}J=KjfD
zH~pSzd65O|KIIF_Sl2hFzhKwB_<i|>Q}(CtlCeX#k1kpU*gNfpPGK82DMG7v%HsI*
zBn2K0k3~qw#<%FY9GCFAK>#8W4)$O@b6&N#&vuCi4wmFk3{4XNcvDyfi9nmTz8uaH
zfgPKE1WXuT1)omMBXKH<f~IM}zjJQG10Up<@^G53()=h4iEMggLoVEi;-2>KLRjzA
zztMb7-8Nh|@Vj}2C^KZO#t`bN47EoXBj8$F`xQu<_3p&<cXm2Je)ve}aeFKvScvY~
z)KM64gylIH93Zd;LzeG@P;72CWZtHSNkm00BdTDjV?jq!cH66I8UxhBV;&C&0wumR
zmzr#bs93f~y;sqEwbmlo)X{=TgDT%Qm|eG^DA3A$Rge*7qk9*-9kx$5*vEaE>R@ne
zVt7v<<{re%>33~a!V4Uq(sK5kf29%_m9sBdPufv-8Pl5#DE?x$$KOKUq`L~?Au*Ta
zLEbLl>&WAnOlz_jg10Q#u&nx{QTP$iy!rk=JRtSo*XJ1yAp^nH22N13%PgIU>&C5v
zgz6Cpu`l%tuMAave&6g+09fo`cKE=u1|*R1OBm{9S&^+V!k<D9Mfyg%hK&3Wy3_*l
zb{My{*WqEUmWI7zO-?l~rU}0gvSy{Q)INS$C`P&31b!-Ok6>qfwFg6$XiAsIgTx06
zkj(<o6_@%`dET<N6nf;&O+$`$2;nO~Ze05YW2}C&K^Yl(ddY;lX)tgmwkC65bW465
zc>0MvErKLwam026<gJo2a`&TcbK^c1{dv$bBvM3X*AVJvWQqedE*!BT<p$STs=9OH
zd784QLueGjF^gVdKYANVZ!h-)H_lJG)fPlex}UfqKwbkQmTm_6WJN&f8$ukr-%kSA
ze7<NR_4JnI+UNBQkxyfB37+Vkpr3w%jgbGHpx?{E@N2d+USe~t4NHlxB3((XE5yl9
zad20&JZz2&A^$d7;RaC6(3TcHgyVp+4fL+o6P#R0vk)Oe74#wG#1&t3Sq@Yh9_r2`
zJG~sk*Bc6fu=r5YABoL2lF08xs&W8^2F247R7R1k?gIuJBpaa98fR+T-lSs?bf<7|
zP~qjQ=l3AFItFKVfu#4_H808@abihouL!C59Q;ziez1R@uPs%#hN2zGgW!?9nHYz|
zHtQGj`0_Z2djv&dPzvQ)Do5QgJiG3bD4wt9@iY7!Tt#;cLse193k{EJV)G0k9{^au
zSlNl=eW^rd^|s~wUmp`?184{jXf%j2PI%k|@h|`~8n}e5SRqvd08L-IZ!v8Ln-vCs
zrSrkM&%r1+IA1PZK;u!&`zdKUKVb1K`Y3Ol_lD8;&g3Xf@COK`sBYwrHtB5`oV?jC
zgF$S0np8>sEVx?q`56l~^rL~WdG++C>4JEEJ!B5$i}$b_K3Bb(Q7joAIaB~a2i#A-
zU=0xMhK7CDY1Cw}DBl2xzyrXO#mJ!`1eN76$5Q%GMhYiyo@An@@F+<PX~P_b>)<M~
zOiHv{X&U>MhL?b~hC{gS52g`O-{*mAs6o`JV<pbKUI<|4qBORi0%v(h5%M$cv{DTD
z_2CnLr*u!B34=1eU{QPp)I{6~;DF)5z6A=xy8JvZFRvi@6Pw_R)DzeP$-BZo5GBbt
z1s)71b}<DXLV9bgb)jSb%HB;GvsxUY`<z!zdk?v<h`XIQn=U&0_k4O*<5*NgPW*77
zJ4RvNX(ZEIJ(i`|*{@&th_klO=EV+W1m}>pi=m@2WzHkI-%7)Zn0CT%+esoLY%HTd
zvjF)*_P=0Ilix;dU_3mB3^Yd<q)?Z1{3?veZM!f+KsWJaBT8b-I)riJ<5a;Zp;p?i
z=!_YRHK5JzVzl4Cnokw;rpQI}8lKH&gH9nPFD~RYdO~*8C=i(j)&xEU5C$Kp)D66q
zxRAx?gHf``;l3kSQ;~Hk{R6X8V-vTAk{_;+3S%fd^SeF~zT{F85c_ajy->%*H{hGm
zB=ds5a&%|(E_<loe(yRmbnhQv`zwCLEARIgp-5Fhm4pa(JyQb8@|9%|yK0f39+*EY
zPv=y^a)W5op!fYu3|;`skAA2J1M<YjAJATw4bgWr%g$_$35Boj2*^*(j;5sR;H|(}
z94UV1VFVFM<`>9D5E!b-_K+#(kb@FhRVf>db;e3q0g5hAD(A`|M-KozhrhL43QD^<
zG2)L(KDPy9WK29v|EtG0cKOZhul>g+*(tZ$vVb)3S(dg^kyGHC4&c6?MZtm`aDpIj
zKbgnXw_ea!J#(`NeY2K7<S)8yQ4U*t4>VvE#&uQMOi*vul%;Daf4jxjl)wdjG!I0I
zeu5X6d(_9iH0&infC^|BqAOz_q+q!Z_PXSXBJF-a?rHj-S)$~w^W=G_E2}V;$(YQg
ze|bTHaqO$fNdvPIL4{3PG?gvU9|2LqIL0aPTT2*6Q}@p%3bfYu1VDc#NC4uu-$U(v
zogGDR?-#OX&^*Le4O-!4qAwKq1=5V`XSqK9KIkVZGuD#ees?F`4Z+=b^V$u(Kf<Tl
zuFYdP>N~Vm;rl=<;lSk)ItH0X$z-*CBX2ldft||^@l!&ZK>t#;qWu8%bEZ8?3}1sI
zqgV|4cxFr;hQ*23FUIl2!W8w1;qi0epPkMnTUrNq0)rmSS$JqZgg?eFr;Y$92LS#+
z4Y(xW<DLd8ZyGxq=#g3`3N~!HS$DrrG^NJXd26RFv^Bl+nQdC{0DNkPN5O7!mRveU
zv+{%0vk2CO8I~%J&{J8%gXEb}e9-Uc8FCp1b3FqMKxwHh1Xl<UX(Dqd0qCUu7=8Zy
zD0hm201|b)Ax<u6ZC5}?<~HF2p?3FZ&|kA?h^#|1S;{wYSyIY;eJ%ss=AvZTM`&pm
zI9l`hN(O-GK&p|NFmf{P;C{fCHN^3NUi#cOH0O#B{vp$n){MNmp$Au<xKwT2FI#cV
zzKnga33k7!%4h*+a%I3xZW*^$QlGykp1PwTr-(nH2-aF8Q~<w=`p!mmX-J2Pw)dEG
zW)x1DQ#r%pH`K7gk60ry87t`5#$3(_fh|yJnR2H0xBa>_ljgTmH%rVjvJ(aW`*F)%
ze#SEH%M%oh2g%q84=od((b0-6FSVa(7d9wkl3xfg0_e_oEyuhlbJkI>P{9q7X}!8E
z0D3-2ltk+xgp5+xqfye0^97f+<Jl(eOYy)*Wg6Oz5YPxk*`nX^N>bf+%h{AjHaiTi
z7oyOKR-cmZ6-jMHJYNOokb*n7*~A2o;@^GCKh`kP6#`|DU>;d)t4EUwIBp@#1LE%y
zxs<LaPhsi85ld))lF*4dEKk@rf;)hx-VXSVxmBtm=Y-lh@-dx@-ubop$5z|J*!#5&
z2~-a2Lfvg((|=$KlXF447d7p>n?MC)m!z7xDfWim;uPq^9BUSARE+euX(Aw!Rck9N
zWVRxD&8U?D-{#R3y#nn0V`swyq};q;<k9=CpKk?<4zja;u5~9Bf2fij5KKC_m-xs$
zP7J6`2^Xl^ETBb-i2wFkY~qdJERlV8r}#>NJGdHWKW#|>7eMI0+0Oy$5t#28cK!N8
z@Jqc#=MBIr;<3UzRnc|ysBoXaN|<~WB9p?)-!LKkJ*6iif~R6SanIZBrm?dEfUP5`
zOjOD0!_d4zqIvKmh?Alk`WWoRHT-?RGTks{4CVolJU?4m-bYas9g=>R5C`1F;3cUv
z+nis6TNMN*sr*Ru2QDm&jz9(!5@0@3;A4zs`O+|3#)W2cY-R2I+ou(&uB6A}8tF)&
zk>jzzt8Kgzn`pjm6Q1zJEKXcS;VF1$CJt!jx{<*mR_X~ioBF#L_i470TmEjyk@a-_
zf?%GO4W+voIprN1@gl_K25>a0X1|W%%<RO6u0wp-E&jO8pxUr5s#~)heWv9(*(Dx>
z<svi`l&`YHwdy(D9G%d8W+usZF=@a^LoedhtVtNNkxt%}8EIePhfAG)vFR{yR>)p|
z8Ky0v<I|sWd%mgWsbumI(udYS`P-#m%LoS1W4z=ua)Ca`#?Xqi<ZjGKfQ7eN5va$>
z#vUMvT*X-+)cpo7fYU_PIrrw)KMC;t;eDYKjav=r8^gE>_!s~QXW2uf#v+`xd_ouK
z!Z~50^lf6%#~H7F!LPXGzqPgFtnrotT^pyGy;E8@17@pS)MDV;ocG!M!C{6Ux9z3j
zz@Ay<4g!!H6^lXqB*r&iE=F0GXwRd5s$jcmyrBWbEtbl0kvBbH`Q+k<%+uP_tkXOO
z)x)^%IS7--V`eCA_2nq~6<m)6O`c$jCmwF{H?S!oEBI&BMdTaJN1oVkh|a%V+wA?&
zk&p+7_;<GoVEn6@i{~t}l@`?xnXv8Y?1Q6+ulL&S;12uCL{mnFBV@pOx-Td=VL$*W
zN!{`*JeeH8r3zqG*Ogt)BMsdl?P-KtJm>5paR6N+<u!DI(L@n=KZUXb!Sa~kmjVfl
zH7>nJbi&_P7C8GNLP0nDI^uiz_p}9kGJsyplJ;BV<}bin{;s27Y@k@8aO8X3d}b(a
z@j#+y_%e~mPj}?{FYbW`1fVkhl-B_+oU}WpjF&FzZTj*?T)UiH3bzD?n@aZYz+@ht
zilU)<ZKMoOgtaCqo{9R3%fo`s&FsfSvZJW-_s#*X=W3fsBdvfZ%zOxAK}kz!x4v~A
zHGDMb-jLj&nmiM-(;3&}AoalO04<+lPlOn7mi~UAdBdeWV-L4wzDMv0gpgR-K#N;P
z980R;Op^2QgHcejyMsJMpg#?a0gg3sGXhgNlxk*)uZ*fXMc6tut?lkzb=WJo0TA1S
zZlY8Gk6pn%bIM#gkXaC1IY?p)33$&Geep;KWZXVP8ptZzQUJo#xiGsW%JEPu6c^#I
z!ws_eIsdL>+F9XDhGYSmIBq2*!lp?WqD2}Gx-%*wfwzl;BJxOdlxo3lg1P)SX5jPq
zM9{E#8lKkHa$5aKK7po>8b=|5lfZC5fN#u7QURjZj-0_VuPTwBbMb4I1qqm(e*wzj
z$ovls7DfB;SQ-n!)x3ByGQ;Lm2Ca*0*^e*PSOxu8&p4d1(9Z^C?H7R(^D%GhM+(2X
zg~69kjLK>B8pvNOxTsiMxstq7ifqD|);hoipKCR-fK_mfJ1R1(ASCuUSl(bt<S?IT
z4F<)NU^p3(R|hwwNEaAZK-B-V0!vnNT1Z5+xcO@VOH4akqxOgpU-w(k6H5ZPxu${q
z0o@ED`E4R^=b%OQglzK;rsrp$mM5Nl#7!eBIQpyX2`-yA;+kE&E(}zOF5=%XaEOV#
z0)}ZO^aTnVN^(8o@C(&Xzmq(`!^)PU`xSed9}8XyiTx&osCmQ~`qd=9<MJzXCu$t1
z09keEeg&SzSP-No`!Lkp)H?F-SrkT?TZb{e_{HZT;x;7t?QK7lJz5JSOy8FS{lfX=
z_r6TBy*(H+UUCqDA9A;_X+Kn>T4|Ue<4kMUgkJP$huamttaEv%8M>gV#h!b<UY8OW
zbR_UL#(evO8Az~~1cFqE>z5VoUfBHm&!8Ct={X-oyHn_7eQ8;8^>?0}@c5##p}=pR
z@HA()e%1&o4s7uJOSLbs{jh<e1Yw&H>=o6w3CO5C7o66w3*b+1e(827A_+6gEjK?R
zA%x#uwCj}1d~`q{jpsR4bqs<q=Z^7y)@Qi;s2Pa_hs=j&_*9dh0k^|=uFsO0#Sdh>
zkY}d9;)2qoqhW*$#fvhE?V?K{O-a-o3g#gJqDMsPGqDJ?b6`XE(W7OA7i!o$&3QE4
zJrI-R@bc<(D9I#R@V7#MJEn+r!c!3y%<e*P`?HK4urhv0J<nwv0|TnZ+kU%cFzlZ2
zL(JfMKjT;r=e6{}Y%Wukf*CJrc-GeQ?u~z;%Dp@s=^bM{q<D)DD8WQAeRP$+$UY}&
z_mn=!3BYKR!@3Fw@S^~5G*PjS^QBt(al;qzB0gC8pw(MHKFxy_MqZvsMUUto0$S37
z3PGTUgMertGX@;TQyAIM^wxcxBLlh!AzEKwVYE^8ehK-yW1l@76m-;U!2-yIZyMLP
z4~Zx{S`vkcfnuxRIa8Uhc?toHAwO3)lv99<g!S0;Qos<vS$Hjhv&=xHT)Uo|1OA);
z;xq~#fZ^oNeQAr)mxtn#LE%`sqO|MA!I|Mri8OW}3?jWhCPrEB^M(6sn{OYtHJX<t
z;3U6X@_W}j=0NfqLd1G>2vRuiBSMdIp*D>8zH(s#&@S=;fLqPcKz89JXhhU;lz0U4
zr$<aoYJDT~tAhLmzQjCy3A@bdZbxGn*ug!@4rU>ay2>1V#U!nAyp7mj4UpQM;Z;3h
zNRYliISBX;Xc(fl2|!^K2&f$F$;xY%R4}tda{;Oe{shC?F3H*q_8hhpJyG+lRoneo
zt$3zh@V?2~@+8d?^&-#s2+@}iu~okagDvTk1>wpDRlIUmpCo00TN2lqwoHxfpGC0O
zX_LW<0f20_J|HCB37KEl%#rQOmJDcvOy4sR^A(152XM#k^eljfUm<I8Uo=l6wRY}k
zZNN%%nd0&mCW&4JZfVqs@(z=}?+g4+*7c6*+(ZJU-K@gW5K#1@zF6QLom3G~Ur-{n
zjHA7k?I%9=%9LFQ3v_CdZZhv3bcLJ3^Qr!ejx4vSGpR3elBM#EbG;V;z4mHE#A26_
z-;W-5ci$9vItOruS?P6K=5M=kliBX{EQ0Vn6gGF1<;^5eel-uZ@>Ew&!V5}UIDDfY
zGwqPNcCA}BE4)+V4VV+`%M#aCVV?ewpB=7<ckaJah=cowh2L~J4nVFV<vOI$D-E2V
z(YyBH#fRt^`(-)D7Um8>?Ojs@zY4>3R*gq*lDgQ-3D9rCO9r?HzFlXqAgA}k#6r(c
zE8+$H87YpK{Jjh+9EUHYOEm*m=uU9<dbg$G7(jfK#n^B!vhQB}AxzdCGXy=p71o5n
zdXe{M8Qgrw>$WS2+545}^d(p8-Up|G012xT=I)EIFBAP`$9zc+Zszgd(2lPt&PdNu
zRS_O(vi&k@0fwEW#GSWHNeMI%8^pkISDfC4FWpFVkQu<9%0-V`y*nZ^*&Y}V?<s~i
zfr0Se{lSM84)(c`A0G(<rrOzu$#WbiIIf9vTGD}YP;k614af(A^f4nAmcF7xlbF_&
z_C}{H@r<Ok|76q9^#BaI&ZE76S+25lk;(X+2oH}*$yQ)h4(H&NSaAdy05eG)<And(
z`VVHUlEbTfWL(p{^^QaaMk^vc?FFRYhLYj>(kfu)`=RthB(xVlHW8&^Rkbg5LnW2+
zItuAvr|4t?M7!6B4!_Hl`s4h1$pv166sBY+BI*h+lI%WKsgTS^0A_i3)j@;Ma^7kS
zRj^VxY+Ct}$>?qQU66_<q$6iurkG??qu^cI4Z@pW)B?^Sg<vze_6--49B5lu;L@nY
z%~*G4|K^dULu#>EB$W-iev+eI1gD|D>qB^=K&J*7EKhBuC?;=GPrL-szJaI?a1mDn
zn*OGti~XI?(b^lgFHxOe!Y;xuAy4Zf|83+2l1~Nb7uQc2+83wI&(x59(J(o5&)y9J
z?oSh8zqFbCtyOAw&@?_=CqA5(<f_s<+;S-LSEa%^5VH?2EdmPLm-);HOpj_tVGf6h
znl9ivO>wmPTJP0AValT2QZj<Kj^`F(>OtHB*-1emKz<gjn~GDjXF+EB878u8X}Y)1
z?MzQ~u$5lVa#tvzil(G?cruTbX|n%3Nb*I@k%D+kELjiKhsR9V<eLPV$}vCs+Z_y1
zpiy4nd<wsPXsI<CYGQR7ha2-e$xXWPG;+%R9`r3D<dUutO#|t0O*wBcwc5`Fk>9|3
zLgliLF$9F+<8?Ds9;@_F6mQS!F}<jviYRt?P(*MBuQO~9Esp(s>^rbYu^t~cO7|Aa
zs<ED5j+6hsOUB6fQU|lgxyF2@=DPX6`_9-msuZtZ<p&Bp+IVYOOzF3Z@owc97YmQG
zc^Uq|CV}9D=bO7#VzJoWiBuVd_QdUXD1~8r6Mvjs_BVDoHc8i}m}z)(9pVW==^5Xd
zv4$UHDL@{7Xoy!xVmQkaNx=2eZ@b|!AGvL8X|?vv;(atEMO`l0#!stp$%h?*!i|hZ
zxoua4HZcd6Kg0u4t-|VOKr>s^7)tuv=JnM{a^*u1L>QtE6IX#;2eEp+Y7%ST%C!GU
zX1!O$M30~cZcSoR0zIrK+H7}dH|Goe)Rz<oe#h?gLZ)IrgCQ-xa_A*6wi~SMkxk|J
zI(E_YaVkN%SLGWDbTk4=ng}s(B7yMH1aT9ttXu<yVVGBC-bVJVR6CqccH(hP62==?
z-mJIwU<B`MRVsxBE;=9`!vm!Xh)&Z<HpIFc7X|Dn2B;y5J?YX+kuY`rRrP5Eb@a}n
zp=eP37-uT!B63uA#w{jv$;(wZH+=KAg?xV42PU5#`Yphvi`mP9F$HW!0VAF0EqJNE
z8T-h)g~AV?28=i51F|YULr`z$6xYd8n5YWx3W`2s?4tdes;^yBZ+!$En9nOs^lNT5
zPF^Z1$!$fh^WmGPA{{I8aCieYs`TpsK4Bd;d*NzRr`*QvihdTSZo7HNge5ju=(!1}
z4SfA>A6y+eoUaZ&(b3`Gx=1ZdG9OHKaYphE-Ea2LoUq11ZQ!=I&ZtFTF{ZqwNsx2)
z9T?le9IG5rhF&ICY+g&_#L8kn`l~6kmN4Mkf*!-rE2$l~B#ERBmB;&*+}*Z@B@9pZ
zxgL=RF{*iUS<-^vuw^uzEzdqY&`2_m-hZMg6D_lMh7T?KoQzm{ny6L@x2<Fejx&}X
z!lvz)r9La?8oD`YsH<~H&4Xn6DN)NZ#{@JEAg&RBmcNY_FSk3iN3mi`XofOIi(yaR
z(=D3k=lH~I#r!@I_FmgkouOqeN1mC)I2HN_q}ETfn~xL0!WIh}UL4=Y2e`Z>soxqu
z=MRY(jr_Vxj38Fl3?ExQK#ta^c2(E_OF*>0>~jc7^|zPb3UamEL~$SFW(yKEeDS{*
zLTfa~NPuP-QPC$*brQOVV7fc|x?26s{=V8kpHA{bh$hAl38`b=TTzK~Ru|qOt-Db8
z(8On0Z2m-oEDOX2@sSVfoCX7ew}`)<%bl7~<j=hxL4<^%dfst8EIs?Pae&Qh7S_xU
zlIB~QaHx9tFP|NNUA-E_W{QsJ`YKYbiX%2lWB61$aKM}3ZbxJTE%C8Q$F5QmxK=1V
ze!+`3fKORgY-9+xPix)a7K|KYZ-n3m3nhw#Q1rH|@yR1?-W|@m1J%(@c$S7O`Y<S6
z00o4nZ`r~!7~jLhG*6x;6oi0Mk31+E<PmfvQ&QioVrP4JNCEx;Gh;@V`)Km@oV7yx
zDa&Gbj>eCkp(ey<**iZX$#~c$iW3Gk=X^zd#_o2wYwa+kG7JZpJz80^c;X1sfvm7w
zL^7yFn0K*nuF-&|bQeCt1laQw0~RmsOGjH<{K<FW(9j={C*-YxG15yYgD_LAEWzEI
z8IAK%as>ThASH_U8Y>j8rs1VvnY^kpkdUN6BX|ECyPy?-ig~}tjL+JvFW~B;Ndw|<
zI*}%1NR>Llts1~e9DnYo#A;A&Y04;((^%8$DIllo{ZE@rK3C!|C_)ZxWfQRu_IjMA
zgnPT&A<}1gAtIajLQ<m+ycOmLIFW|<LMMkMZ_3aySKR%|Ii!O%a)fj7!e34U=5hQ6
zFtW5-%`h0_2?kn!(MV$nmy+c6`H}=Eha>3>zuA2CPNzz871#<p3_O8If)<L9ETJb!
z8oW?iyPT%nbh5n1N|V4sFiYSvY;u&iwtHuw1O<<w<cGXFRGI;gUqgeO656!K;Xe$1
zpe<$(gXe<qfmSdhI=5^s3uK1v$G-Eb_BKG1n??wd<-3Ee@=+j{YtL(E#;1KuCZTiO
z(uu{Q&;#IjAu^Cv9}JJIDhvrWCU-aV^o^eJA@iLxvv-6IFz#y+qIx0Eo+5;>_BgD*
zE)@qy^HuxH{PGX4hAQM=8qp5=+nBc&ho!ImJr|WIv1u7Y@No2e!gCZX^E$s%M85dN
zqs!Btsfs_Igig{298id*MRZ}%pH+s2nZ&cc1^CdwWgbMzpWpsEh8|;9$ss<u-gK7a
zwHw+npqZ1$pD8-P#^ipG{oqk>AGq%~Jrm%!9UDT%&*I#8A!J*6+@MF~yEC7Nj8vEw
zN(5G<O(DV){5!;qBoHEpKRoDo6h(DzwEVzAEOYRd_U~R+@6z+UOyu(}%Q3mUOMUAK
zo#cpSz1>V+s2IX#zG`?iLDD&MAsk!6<GNbT8Ww!JHOf(t+Q)=!B*gzlW3L96NY4bB
zGW1PCZO$(&rf(K+n;8HX%pS}zOoHNK7OHUj-0amexf|I7IJ|}CkS|dcTB7g+=z|G-
zi0m{uOFPZy3rrVj9Y2v?G(faO0Q}x4(0uTqomqqn4?s}%H_Oz2bIV2IC}GzANs*WL
zhe6vurd+#N{NT8^r9}e1!UVvY%u>uMG7(sd@nHfSN5iOvuknQLx<dV02Ja#M9>`bh
z!)rzdAuDBamsDIwJ5VynN}stEx&pZR;==*IS_wBcJGGizB_0T;Ud<wa&ZXG-CaDt}
zIT4R5G|EnA2#ur(!>9&6J~*ASK2!X%-8_AY?_}EMzp}1u*Ht9hzTdAn+WpcksxGqu
zsZL4EgUx8n^u|0GGtXatbDyqmb?e#!Ct;LH1`)B=k_{-O!tC1kG-z6E1^=;*?T)#r
zd48PjBtG=;UZd7{*T(wsRtLHFQ&^brxJSi(35v$!!{{E7bsq>s>zD~bYYjfB<HPTv
zp?E85$v7sf&rb1ySoNE~vV)EYbC;BkWrI0C;}U|Gd)OA0ZP1WnP$A%5y#Uln;Zup)
zO?fIDAABe?fqazc^K$Cz91vHy@>e5H@VM$^chV6gu+;vUbhtS9ekf*6jj#sqq=b4D
zQs<1VauBEZSghMlv{~Z;WVjxZ9dHs>mV72Qa-Bd^{i-1zNuX1kKGF7Upj|1fqK(l>
zryO5!n*l<kNyjSBo3~pbPG`g5$7(1sNS;`+v<(qL4M$BLrD*4Toq7NPt%^cV6Za2`
zzN78;z1W2kJ5m~=c17c7`v$S1V&7e1nr|;7jr!zfu)AaGyv&Via1F~qwh~8?yDuGH
zv1ooysBqEgn?KH)slKro;*2iv{0~FCHTykm#pgEeF`P`^2dkd~)JszCZb?Y)YS-Ov
za*P*hU{Z4ZT%r>Y-xr$!9ukN=YZo!c&7x!N2Wtw*h46V&F4*<Tv@yP#5R*RM(-)*=
z0?2Dpy#l=n++yozZ*QA(&(;)Sj-5g9b&;SKAGRbl?w9C^81l|o7%|;0X)ZPU@E-t;
z94qZkx&yqipJ5BBs;mXg!(th3wJJ5Sn!=u+<zo+nZWPwx^J<)Sb`zkzmdk~WRUT+B
zH1Id1obL3HiBV&)XD$ddrs70ghW<d<`7Y(0Ee15p-{*I$!Tnp?`i4Gw3vzAfToE>p
z%}lCDG;W|Ah8?F<9G#F^#d#2ps7gzOA+aDoIYX^PL_8z&PJHqY;)zylyL*f#eO9eN
zl#I5cH!N3KM=EiN7}V;AC)k<T)kn`3>hS@=CAlG^Oi<HBaFEGWl$l)42a=ZQ=6K(z
zF2v?|(2d9*9ZI(m)-#_6&}CK1jX`x=HFygt!_bj^qmJ6+oyfiI2S(mQ`3mEG_jwHX
zl_&0HP221-*4**zOehhIfG~8-U<Z4jj|blaq1gI)^rAXFh(#^Rmg)H}KP=_WKu<Ha
zjX+*LGmqZTBV)h_N98o5m<hKd*12&H!24HuJB@{|aw@Lh!3ELvy1O)pK850+x)a<$
zF~2bc<u7>xmrMD;?nbD!X~_ncir-XuVBw$zT;m*D!pot+z{=b8+Ha}UeFQffPS#~%
z^=@?xvR6=f>bFnB)QI)DY%Hfc1@}{^D(>eK=K73dyyL{-1U?1WLbwS_d)WV^3gGmW
z1Vd;~l^T*JCFU;al+}-5=CT9C#mPz|hu8=u;&noxqEs^C4IXh2h^lku#F^q-L~_09
zLZVYH`Dhlhjh1RxvXBl<%qfj|iI`<xBLh2#9d35Q8;=epK)`9`wiRj)R2Fb*fkn3{
zw1KBRA_|raN>8@lggb!n5nm+=I?$XK?lHlB$Ig>YL2hKKm^g0#b~l4)q08TCwIx$V
zQ5foUY9<%ZX7-;avATS!;HAT)8qUm`&H<r>v8s;<uQ28_-yQ^e(6#$1xQ_^{$mcTj
z=iDhhlNNr>5rP#^?L)A185iiMrcWb~&<ooX-#4lnS+=oVpSS}Uv6XV<A0+EA;uFs6
z7#fS`eFWtpx0rYQiNXZu;?@e74#FiR$Rm`&0sDszw;A`ashxQ@qMB~g)A(3z;(1sa
z(2SvT)0@Ot3&1%=TEe)SySY3<hYQD<O<I8&X;`r+iuH#Awp~>OP897zmB0V6#Wd*a
za0{DFjdzgI)zs)f7yA_;P}D6HWww3WFGZs+J%P%0cs1KGBJ3`7<%>^*?`xSOET5e>
zIm$BXa}%9lG*nB>Ku!>|M=#CFdnVV->F{1jP0Y|^TWc#-f{YTU`hl`gU4AEBBJ#-%
z&8%a|Pbxbu4uC*YK(25jX?ZN)K87!CD<*+mXrgr;!G7eB*3OP6x%bitVbxZ%cNUeF
z)2IwDw6*M^JZF-madmki1A1M{46|1pncVLxy4EJP5jM7!OL{%j2qyfMN{yUxZdVJ^
z2hQ#!%RbW=Cqd=qm-Z%K*`lkIg+DvRtjN2HtqqiU6d8=<os5*NSQ`+~T~Q=O6wIrL
zdq=Bo&zAU1_$$f8VQNqvlTU`R21t7aX$@~Go~=q^F%In~LRvD9Fq+aEF$7f;pVI{d
zDfR%dA2S4kA*SYe2E)GYgSvv+xFDP&GdI>qA;@H)t~Dp(dSZOEM90CcPTtZf%6i33
zy&ecf!U`r}y)5l6s^mMrYJ7jfD(b-+YI{j*Xg;a=3vF@)w{2&UEY_wizpi-OrMek#
zE10ffZR^-7V=wYp5Oz4+DjI}jEFZ}{0Zt=}fZ7S$VtnS0I>4%6^L&i@ex5_lXVe~d
zbt6;HcjKuZz6f`7Y9~X<OT1S$41-{sX0!u+Ia)(#vEK#HEQhsI86n=zt?;1`AEP!T
z0%yWG5r!I#Q%Eo_-auy8p+Riy#~M~kO7SCua}ot}kE=qTm7$cz7O|*}bWD1)W*8%8
zE9hc8y}C(ekk?%UVL0G3kkDe0;9xr21F~KP(a~kJqyi7u@I<|(7G-Xe5*7KK>Ba}8
zow@2j?5dQyFITNU?)O<|xfj5)g1{7z;y4WB57dm@W8g8g9!mV~f~=O>;pR<3+HfeF
zSve-nkwR2f2>_G<GAGB0JP01gQ(?pj%?r;6tjS!C9YI8zv3+=ENI01Nk+X=Nv#0*W
z?ir8UdUPRgsA$e73KvzvK=>2I-s#L_IXZ`r0b*1%dBZclO?m>PX%@M}eW}o_%809*
zHE+j=P8<^B)&OL2B+bprEr*N+(tDIS^Jkyx#X`dsokApA6kE2@DV09^ijk{wWgn4h
z{)$UMrO8KxX5>jRjDQmmUeLPZMT$ZpG>#B3^1{Q9!nwf=<sBl4H=Ru&a^01_k@t4^
zKu#mnaZ0^Kd`ejYdj>Y4Dz|y^x<F9@Hw^~n?VP4{As)OOWbea!5mC6AWGr^XLEv&+
zq6x2LzGv*wS@Dy{(iT~?94~Ut46J+X<HG)W3^A233=q6DG<-lGgg~{rR^YEHh==Y|
zZ^0!kcp`q%+b)Pl4YP(o7eYm6PmffjDq}WlTo%ZrVSH|wW+Gl<-J>CoZyRHF7KPk!
zW$JcHX<HrCTycJ7&y}rEp}0YccU{5tcGhx-;p0MpIR3zg;(uSk8=|u$7~Vw#PH^-S
zL~((k;GjwaU$vXb4RFHYKpwb{bG9-EoylZ;U9P{S+NDVkT;E_94YKNn&hXLoa9-KE
zLL3TXWW{<^?*Qh;t;o}&i;<heZGj}Adzl|LdM9`#^&i&?b1m?*ms$mmtEzBqc-~&;
zr`>jp+!m(Pf;lK)b)k;lT@T1n0wOX43}R$wQ|btgnwf*_CqGB`WVQ<_%IPcG-%myP
zM5wxu>y7??$dUDi@i0OK7>VFb$qHJtim5A}hJ)jRuN3g6Ti^4j;T<xIv@~HRlj$+a
z+Lx%DoN$+*i<?0-E)A{UuY#dCqH@A!YRIM<%nd7HYJpsr+iLnzDL{EgF1g7iLdQoV
zCs5mN(1B4T82ekXE;xj6Bzz-EYQ~~MuZ%6YK{7T1ovULM5T<$6`^hkBfuG~D_qqxg
zhGf%mjw|UR6EL*hlmvN4i0A--1-1N=ul0Zq*#U1i--a9Q0n!s6P)t5nl9*`NP|Hg}
z_c^LZn@!F<901Wv$>wDGC%mOiNi{oaX9q~6;TokPh0rxnjHU3lgowq{ZH`s6P)2jk
zh{2`z*2ftGihFnDMjfs>(yx&o^HAf@0J!t0k}=Iiiuz_lCZ&mQ3W?(8X;s7WY8flL
znZh%`T_iUjwVL4MW>COA>3N2VLX(3HC+Jz0>K)`dDEW0ZKUPcWj){+93e^SjJRETb
zz%SGvp@8S$<=*FKR7ZE{F$coPNjVUsOyhqjAReqUTsBRAD^+&?B>u!k4IxC%eYfP~
zoSHR*s0U)*b&;Ug5b^Hr7)pG{_FB&ZgpLIEpmLZTpumEp(7hPF7_uF{t9V5LD5B5i
z;a~9tM7e7E)~eO;y?P8c{<VAVr@rTaVjr|k--M;!85bmkbGSDzl;)Si(Peg3AM4cy
z7G<$igN2Arz^S|5jN0<sO-5l7mG9a1{X4iH`i)I)!-$cKc~-;9>{jL9N<<yu%>G1k
zlh1b`x+2s)NCfV;w=|bI$?Ks#gC-5@_PK5A@hw^lC^?!ptP^pH17yV;;=@@bAnl$d
zk7@3u`EW?yv1gUXY@uS^KL#fFpPjo)2IPL+#LZ)}G((c9(VH_62|H5C6h25t-GL9P
zaB+o8DK-Df1NzQ`IIFQC+!e(O_*3Sp7GSv2Io5c7_QX;U{k9O$(0VW!$q6o`t}Wt{
zf(ujDvWRWmGPw$4#I{q0RF2csr^DeOvx8E@^Q;uAMKGY%oK1aNXBCmyn+T@vF$$I?
z-x>@}Ea6&o&!eFLx@bRCZasuebS4BRY@?`E3^xg)K2qO{R7lVk3S(viDvV-@JJM{5
z18u%0+OWW)R4tru58%06f4q}Rdb5HeI<PQ?E3RO%w{ROxIS3Y75vJK~;`X(nkDxJK
z<r8+6e&}t(UW6}Un?gV)`i7NbP?2_}#7%pKJMb(e7B~+W;bXzkiQj#L(UMV=Q7-0=
zXe!n!xlx#L%r0S$-jnSr!rHReEi4KQRgh0Uj!VpVJpTObt;EjnbF-Vg*_c4cea}xb
zG{i4iIswp+^hC(P`*rI0Ov_K~^`!aulWNN-vYh{|ziu4sU}DU&ZokOM*7xt=F0rL>
z{^Hc!)bpmzF6YDJOPhOEW>KRf5*>RZxyth}OIwxr%I;r0J4jW`!3U$PZk={jB3CvG
zUYzE<NO5{=Wm*3G`Ss)c`GwxT;6ML>%Rm3f@?!q;kF>1^D_*J}b@ub?djrM4{`_P3
zwg7|vJNCciZ{MpQ4~F^gCPRNWf9>!e&0jlQzsC4i*P!{&vC1Fcrr*Ci|M|5}?ce|Q
z&jJ7O^`ofU_UBjEclp<keu&e0`99XKAM-Nx@BHW2--=(ae;Iyn>n=~@;pbPfF3W#e
zo4)RTetqgCpZ;zCwbj<(<L4LlZ|nab=l8wNzK;zUmMQM$qMtsXuXvg2<L~Hi2zaBv
zea{js|M*Wgfp36U=)cws_2Ys3wMKw5e$DRpX>Gwo@-6TBEc^Pg<>}H-zvl(0TFYNk
z|Le^BTIQ|%^MC#iP)i30{YPxIC))r3ha>?2P)h>@6aWYa2mpA7i%S3i0000000000
z000&M004JrZ){~kZ)ABvV{~<4bZ>HVE^~Hgw7O}tgGiPo_*cTBzjPTH$-dQOWE+bB
z0b<|3v4hz6<<}1{a;dDI8XFt4YCV%2A;;Z0e($;GNbfKI>+ITJ_IzIIq5u6?_|MR<
zzvO*7WOZNu{;TT<zfr&bufP6f*~?#!I$NvXe?_Q2V<d!j-LJn?d0kfPAE#g%Mt)B1
zb$+nJ`TMWXFVHVAggj69*I%AF`sMdut92d!9R!c#`167Od6-KOfglKc2LF4Pe?Qy0
zZ~m)}Fiq3oAD{mE*T0m%6m{GF{%b$<`LDk$>pV31@4qH(oHqY>``h1F`%M1R_qTa#
zpDy{H_d}Nbv(qzPp2p+vzb?}j&-s5k{~hWFkmR|f{bS0st;gTS_-D|+&HJxw7{)lQ
z*Xxh@{;{5aUEOd0?C{{b&T+pK!`%J;YZtF`eg04QPtf!C$Lqg6ll{!{OZNM(pXdEA
z>Vx7xng`5ZROlZK^vnHU-`$?4>oEV87sYe%_l1Ce{R>$B^)FdoEPwsW&%GEwlhn^F
zKX1@~o%J{5Pro5Q6GH!NY5EuSIsNzMIeY&x;6KKB4*xdre}ZY7+yD7L{uuq={(;v2
zfc|*=ecAs3%AcwKHVlzJA^!<On)(y=H}tT70TKI0LzBO#PnW+p*nc0S*#A*TvHyUy
z_~Y@vLkj;N1N4uee6WK42^{qI*Z;<Vr2chA1b@~+{Gy^5^&c&a{-XZz!9Nd(|9=ot
z|Mvf#!~cxe|D7<BZC(Ehy6EaPpZ|IOk9TeTG!IAqKT(JO3$pru--h3i=dOQ)v7f!D
zySU8%NxwAt>o4P+FZsOZ%rZU@Tk%>C|G2Ne4^BTR_VDt9)YJYD>AzQVUi|)R7O(NY
z|1lsq_T~ST#7j<Kf2uuJw+=`V%Yk_wn(bCEw|tI@@OhC?j`?X>c}1b<rvn$TZ$J1v
zM=1EyA3P+eo)!5yE}2*RGCd3H^^4AvBlV&l1c?ryfh6zn&8%K1B6*F?z7?(%k1vA_
z%X=uxw<x);n`Z0TOEX4%@8SA>cf&~oC$%~+Fkj5OhL|@%68lnmZ=ZQLk-C#`i+~0>
z%_OWDMoLH1yzlT<+<EPzz;=3Q5ac-8>$>Mz<n6Dimys`5V9mch9bbBV81cIz^Prl7
zgA3>1KjF<*%c&2hcFzt4l;Se9B373oD7uVmHSUzd^PYp9sRzZJ>&}-8zib83018L~
zgO1*>_?$a^uir=pJe~Q|WmxhVJi|?67n@h1ne*ZX{-#!5Czv@-76%8sbxxdK3_WpW
zAjwe+yx&QcG1_t0-`#6X4j8({>dtIuB#bEp!B&~I=F922%<QmdNQyXpm9-hj<9K0$
zXcQlqU!`<zf*y9yB_VqRk?>)1LAGr!dy5==aVs-!(w);WIG+uZxf77)7w}3!WrFVu
zrR;a3a^<M}TnFopZHgFUFd4#b+}8FrEv%B~S9lrRymXO;7n#B)D1jrs#r^O|;#;aq
ziM=`Gt;Y_FmG=Q3DCC`MO!zaFLox8K<6=t)>Wv4J%YgD&N)S`P(xHS55aY`rr*;0`
z4hC0Av#-HDlNtOh>Z^sbdooyPZRQ^CeWoy3(A}A_<ngha%HnN!=<V!cw|t@IUiTn9
znbLgG*((QbHpQSrf2lZp1Vq&=`Sn~*m6GF9!op-412xCQ1dVPL=9K$UvnEqjQPM@@
z;{-!Oqmd*E!~Ws!r?8fZ8PgGUd8&`;+&F|k_uEbESq5L@on$P`$k@Go3Kr>edqCIp
z_VFnMj(0KYBsxdOcg_Sxg{RxfU(1ssQ=C4rz>Koe+$za5ZZYm!1gw&vV;&P5Suc6`
zRiW;3!8-XBlPrR?s9|ybC2X~m^lIbEw__prU^EYoe))sT++ZUNOVgeTfGKwDu%<F_
z70O9}??ZbXd1d?8>0fiof^&L|sVFMAUs(A3#~|V`l{`GWma*=_<yhhG70<05w0q<}
z+g2%%N_(eA+!x4sjM$Pbe1Bmbj3l)Q*)@;GtXZM~@z)!_yCt{x=D<%1(k+*fc2gF_
z^&{nB3IT#my*9#vSaODj`<u~*=gbGg9Aqa1?7^K(F{A*WgdK4cvT()vokbL3=5N4M
zNl7!GG0mSb+4q{j!@~}C90C}hz5qF|0gW1R_$!A1AC|`JL*?UFYbc~W$!ehVMab8@
zDuUg2v=_8cY1Sm~lmh>VkN9}@_S2c_@s;d6%rPm|654Icy?L9w?0FNg>)!b0-z+S!
zf%<0CJN@`O)|q(U3@G0ZAsp*h;O}#2_o3Nigx?O0p7WK?O*}q?Y{E$2SjRG(z>pEH
z<^`#!iydF$i-gyiB~XRgS)GzXX$)R*zN@iE*5TP`+ZOm|e7U5G%S@NXeb+UNK`1y$
z&Ph-9jZ8JNKM3zGqaevcQS;<##)!Y{)os}Zf4jYnaXz>3w~le?i&l$9cE9A11%(u^
zNyr75Mh7e3SI#lsz%-3;L^0BB0)LECu~>!N6Y6bUU>Hf{ljVAFsl79S$?p@^yo~nY
zmz!X_E{;49S5U06=-y?De8{NUx2rW_-zHe4@Y{b#MXaX+FUJL#q}LB0Ov_b=P8Q==
z=H=XzaD|4I8r;`%xu-0pY_W|7!z3v&@`~4GlilgO-@rMu4k8)yy5HB$V5q00z$}wT
ztOypE(l1f-j)$XVq+v8v)yI6vis_WT3|a~oeAejU0d5=|`a+O!jPCQ>gI8J|`Ff%c
zSWnel0L_z0_-2}DU&1A5=Mh8?0$wpqwD34yNSWMIG^)(;v3JrBUd?X`;!};|4m=KI
z$0N8jk_|NOrDdL$k|{ov^k(;x-2$5JRY{B2l>xdh_H0i&OC#T7wTu3+ma9V#HlXs(
z@G9PoeqLi7dbg50A7V;xl)*HCL>p6x`|%(GY}h#$H-B9XmKdDitBD4x9!|ZmCT2{8
zVdRKXW8#8YY7$)UN>egC7*T}^?XkfahLT6$<{6hT?Gp1*e6)y-1A`QG2L9NIJ;OOX
z-qx;CZ&+=$jL=4RokLD4cw~C^%>Fb%E#~u^DW>@Sq01g_vl)h-_>_Zg0`=o47#3{C
zKjtxKv(M0#9iKUJ6fV_n_F_U%Z0`0q2A~w8k8&aoNLeY;wR}t2by~(CV$#m_YXHfq
z8{<Sb9l^tMoZX69BwE0^lxkTb<HI|fX%_Bl8)!HwHBcIBvgD74)FFl}XWXBpZ9-=+
zI^H-KuUU8)hYR3TzfuzYksbW2`o;(9O`d?M7h%Rr;H=HgINR_ppLh*SX)(h=LHtiY
z2pbcR2RQ<MqHmspl;;q5_p&xGt}=`U@F6BUL~5qO1d!iNtqvcLGttab^4oHYiw2$~
z49HT(Sd<B_$!QUPAhmieCbbs6kh8ExeO(;={t4$7&S=nq<1m~*l$)nIPo(GZy?W0l
z;Il`+1;;Plnsi0MEp4+lmVh5mg#(xq9;NXXY%iu?!1p#~V$Z~4W?{t?2y5$3eaXH9
z_F<G<DxbX~+-E-Ag-nx0bFb2zfJH^l(<xLy06A5KH~_dW4S5Uf@3vJxI|s8u&zHxg
zrn5s#>Q*p)I#0a8fj#HTU8J=Ps#i5NS)Oqn9rJ|F^5~r;s4jq2zq+ZX{-Q@4Oz_49
zM6IvSYGt$`Zbzk#shX%$YO;QCtyKWp6N3c_s-88lAY}Fj7J)W=u6UV%cS*)N=kmM{
zO>oFllCEj6@XjhqfMM6n9yYMlFab2RqcQ^Di@gfnOjp&p*0cgl|6sRBabyMImFB$k
z56IjOp*W0EKWK^eXP`GW!9<^EbH1=!Qm4vq*|@ed&U<Pp8aYph|HdYK1H3=x71_XJ
zm>mC1ThXqjP?Y4cLLIr#A&w-04&$Lh(Ad}AFA*{`(kF<*AFaZF8Sw)P&)Z9@1iA~&
zc-XARhvM_2hpuMEzP!KhG6uUi$lBFY<6bNZ(Rv3QZ0<vW!8}|@QONWVdDnDMZrGqX
znlDzxjUXXaUA5v<$isLQ7j}E3m^|~uA#Ld#2v(lWjDUZ}$f@bJay?AY)$Ze|d3b?h
z+Qk_rQn&&ii~hb-P_iX{yN_uXHj~RAlKDFBZC87bMs4^bG~ZeGh{`t!Esy@H0@-dP
z9lrM_Em$IikMVj@R>tTU?_@djwaU--QW?A+dm^>gugH|R?vCvYPjI%U#EVDr9E<Uf
zWK+`ApjTehXO`32+dQ~Tu;P0S3xXD{fH5|-CHgR!jn*~Ti%I&iod8V%mg7`oE&nK#
zhx73pf!JU~FD>K;=6nxrAH75)!i|_HSwNrEfSYkk+4IOj7+i``Q^lK{N9Jvdm~=Iq
zjPn|So^j@jcjr?{{&w#s1CX|d_3_T-mHhN)$WF`z_{>RQ;HmQ{X)MMrjN>YAWl_7f
z5n_1m-uPON-QkMM_VN9dr(#}a_;42=LbBQ7E%8XYdQQz{D+U?|)VxWL;_p?r!+QpL
z)G#PrED2>`X=Ld62IA%HB(sjiVRoMO%)^Y%*f^98>Z{AW3v^#=M@RFBkfV1xndb6`
zBJE)(Iw^ybd|_G)Y2TU;aE7pEJt}$WwdTs0KU!yDceM(PL7@(glwb6H-?7QiUDFC=
zM!qpgFXOM)BkOo5=glPt@bK2iy*gJYRQ)aGOwPrLid?YiG2d3nb)Rqj>-*7SK{Z=5
zWV+7XeZ!4>E*TRoraToK>3Dy6J^*1QyaDaN^mzBh5!lC9V7|?1#)+JK_@%G>Qi|Xq
zjZl&Fu}4Z9DW}i*kxQ7Ki7xZVNj9`Gjo%e+7cjG>=Vk&$X7At)&1}6hU=JGR&sa0g
zEQA(a-Vm~_QEziQpAj#{W$TxzE$U3@rIzJ}_<8L-56<)4H(>Z8P=rw4EPXvyVRV<0
z_L>kz9?J|Ax|~!z5FG*j#hy6uvDjv7dwk?r9tUq7cg8NpYrqy?MHxMYrPRD0ZXTYv
zWw5WlN1?r{n<}gqpyHTAvAxs;DpFOCQb)3a%yAquV55cHgU4Gr<>T#9q)RZ(Qp_08
zTZHtd1GhXH1Y<VFyLhI|*S4Wm3}!oJqDBd$?=oiht{p4VHi~Vogk;$bGa{-L#`E@V
zIj*D)P;qid;h@Tl;I~=fcdq!@Ql-Tw(h_`<?qkK$jr4&aYw6%R&?(P;_GT2Wg%;+F
zY-V78ap<<L89i$OHQ9A#1=s!M4F-J&wYG>%5<;qiz}t7w7+x{HKyZee@1J~fP+<K&
z?H<n)*{$9woM1jRpMfDPQ;Ql-Y^cYK$p#Ll7H7ecPot-8k$gUq9}ZD+mzDV5ug-qa
z6}tS8$`f;*81qja5q@bC(o%O|Iv!E{s;@G;-1~X~5OBt93BmSsCX2xjEYcheBd+a-
zc@^v|Vb2;m+q7&#i>UK{=z0U(Ar2lRM73OUx>es}KEgym{#9r0-tttdfsLabY<;{r
z5JgU4Z)xdL{I0!$txQVGRDh<AO==e)YDU9!$%kf=E2b|CVE&LPPX?AJf@X{wt-rgU
zR&y6-ueC$XF{m|gPO3bZg#Gd8FIs$E@Eg)bH8Iaeh$k0;qunAH8YIp4aT}dqeZcC6
zOJZyunj-nZYv2$rrysmXe{20%OO;IQjwUSyf{V%z{LmUd2GIQ~B#Fn%_EgD3K7`{N
zh_q$raj5GJNVD5U<`r7gMp3fTq4){}C=N7QC-fCLt`MW@5YW9{kgs5qbe44RTxvy!
zsUDs!sgO-FX>^^jDEY&0PP2b>fF`<*F(O&D3>R==<BK$X<jrf+>m+>a!*_o??ZG@!
z__6u(rRBb~bz{UHNC)rkmbM*6g*r8L_Zr(2Xh(0>FwH>>g~{iEdK}~75k-jm7U>g?
z^Cf3fbT`oh)zlt$IMWA;0twnD-t@<It;P#r0OY6sbiIIybJ|`Q<Ezfg@gFe|K;JSV
zQju1QvxviMU`>8Z=bQD-95Pb2p~pkCo%`Twp%>MD-npdk6I36luW3=CkKqDPs`zZy
zIPb}GKOruISt)G<49HOuBbUX13~Wv|{Z_1>w%@fEeB3ULunBAEWp8HL6sV<OF*9b5
z<cu(hls`stOV@mc`-ToVqHW;Bm!HgitGe(6(Y4NUDhGkSm-@RiAh-`HF+4}3pf<Q{
zi3=|g)434pS$?x@3f|Fp1)`50VuFJiPKN@()UYTuAjO%s30nAu%PcPn*Kvi%s^z3U
z!p*N#O3#=Gbg_+w<$idJRN62Zn};0I+EVpe`!nufdvDW2+!^^26*m<=4si6=RscXU
zR%(BG!jVII{wlZ;w{)dpEDpvxgc(8isnG<?;{*xpEj=aulRmevqfg`mqZ6BID&xyf
zoNKI>lW`LShdZL#yagDT0Fb0%+1{Ba*qT~&>ShqQ28v%Ecqc8Gm@mkTD{iq5AGpzP
z5aI_%#~=94U+o&A#&rca@+h&-9DJv7%34o<qT!wd3TGGz4s@0Dl)#?(!$Ed+B5pqi
z8eWoPBJ|+HaY4j#9!>MIACqh<Gz5hl-;T>9e|XalkrE>@C`tAwUS+|$+^HGXxEDl-
zDUR{bCiZ^u8@HEZ6ECQfLn3bosF2J?Jr<MP;iPd~sY-@7-cWNGNQEt7<xB`@M&SWs
zy<NfwKvr|8=<&b6P$*9-^PRK7>Wt@J{{%G};gj&Sg;D53cOGAh#cU-{*_e2}3KJ<u
zI-(p!SsNvT)3of%BUHSA$mfAY5e*l=INGCE@T3vD?BPzLYYRUP)T~A`3k=;cOKEu#
z5wX#DHU~C|kT7+97P%CuZA;Y*e<K#d0Sv@^NxymQ_I<EP9fA^4hqLq@>Usw2kndBF
zPa*2X23OC=1)ik~_`r}id0PaJkJvnv*PJU9mKX5uSU<nOKxYr}@b#ASy>~<`3O4Am
z#rFO<05K?gE73jbM2U0z^Qy=)!#t`AN^g3k3xiMvj|DU0s61n(%!^W?iH*y|M{}6C
z(NUWZ6_Wz`fq8f#SmVlKnF`Arm|3YJw+z>O+JBj$Xteg@@Qvzp4eh;<(b}x)T__=2
zmNF^Rd|&Zb)=)GP42m1sWUjrb?TL4Bf5AHAm_nY0bWdeOb*LvIa&-F4={E7_qf-E7
zj-_-L(V*ZF`RS^=@bctZv#Z)&;XTxY$m3*dYzaG-z=R$edm&vI9|oV8G2#>Eh<nYW
z4XMZJiGGP+F3$=D-+;=*c%U4ig(mxn7n6jg!LFXfCpp?Ua*?Hxp74hyb-fn1#L=>h
zL}M62D1~@1w((>&yqV~WC3`7O9S{2BfuO>i=#WChRDUd}%(T5+Zv`%v9ws&9y(Qm%
zO+EP3-@f+*?^SVyZqpHMJ*k*95UdUl(b5K+FlfNeu55Dmy}(ZhpXXE284{Cy6@)%n
zb-R+TfQ&r^*Li%v&viL%k85j9mLnM?;hV~VnB=<6R&_tbo+nZBt82cB4^?)!=ad~h
zvLsOF4>xWNs9tTMQ$g2OfqCCk-zU4Yh8~~gT*vN{a0FKtB(#U^3Xb^F!56_}R}utc
zQ@Cd&DtP-(c}LWZ31+FY(n>{WsPQ$U-hRCGEole2F#UKLv=Jg%_{#Q>aza_bY1x63
zS*6Cf@I~*wjosLu<l={UK0Ssd58QN!-n;kUGfVHuOL{3{aSR>YC+s1_sTtj`XaRbC
zEp3rfVK<-LrM}YD6<Xa;43EdsO21yYgzF<mj#R=$K#&48FGu8k<|13YTF1r%!?5WW
zUy~E?daNak5g|j*qgpD-{C>8rbUrpLZV0sZWm!O;N0pKm(&_r0;+ezbO;*|`2xz`=
z;8MLcFQzD)i{xg1Zxs50m<a0zGq3>W8(BUf!#<7cZzP~yQuWT{xp(y54bZ|@c-(y{
z-@TU-D!?qhnR|vu?_khj;9~;)dh>ST{#H7`6NjcI*G?$*L=k;Ud;4Ue4RArPBq>z#
zUSBs|XW!TuP{F_jjEpr{_}G#QA#e!VvNGx?(9_X^v9^=2<EJOO*)a_8I%d(XbNB}g
zK_6s&sC9C_i>qcQ7;HM8Zhqc0MIJwHL(ty&$f;&A#7_-j66J}eMsxh_BKg1+sJQ-S
zF~vRt%G8DBv{#4ybb0<Tej6yw$0RkGoO>oIgv?3i-6FQ!`j*lFv}W|)X1Us1Mh%He
z4kmF^pJeJM-GS2tQ2|<BYd{+i$Nu0)7lWe=gt#*J_b$tqe=->*=8w*r9B;4qgO(qS
z`9!@}e^Ykv<&*=s*~%nH*mJ4@-R)N4zHeuVXlCvM;E(N<``1=v?Gq17j%n_}lD99L
zx9YvW?XGp3znKy8(vv=SypZ5CeVHeIRA~*po7XnRfw>++AvV^NV$ibt*2q*{P^3*j
z&3A0Kv*knp#9Dlhc>xpCdvo#e<*6|B;zS%LJHav2S$wU0=<k`Z6e*?l9U8We1M#v3
zFj;bdO-5R^sVdySzI#K#(ZpuU3EP7=>QiQ>1={+QlX6dq%6JHvN=Hh_OM+slp|XlW
z&PU;U?Hs{RFb+eo_Ly6Of$8_e0ayA+5IHRI3Mz?ste?Gk%0m#oNfOf(QdyK#0eWVw
z?)s2|Jom^)wL2m*wGdf9S4rUALS>BdvIl%x?30>k(M{gZ?^sWbtv8&Qd^BaMLUGzI
zF$S);<EFjnT|bt<$!0!>lNN<B4-SoH>WSTq%KiIk0X5QIePo9`bIu<eFtvU(%i&PN
zl;~Oa1GageMQ<SuMbv+ML1XbIJ@LC#^sHUjs@jYu9;Ip9m#>-IGxD(3tu&ogHajj%
zGtb$?xi_a#k&_qO*Vdyyj6TVdlp?~8%OWz`i0sj8HdPsKZ&5UdIMrE%6dG}u<~TM&
zZ8~8_JI$`!?lkjA_ymv6C9flxR{e9D8ay}FX;>FLR+zvf^+KB}I<{|KnqHG6Li;$r
z$msbXN=0mR`xH|nplkD~$&wGj;U47Gd(IjaHos4Ik7Vy2r+`VWIe*woK8v}JA10u4
zM;ra{;hZcZ0C&2GiJ>p_0ACMmEE+sHo)eAbzJXU}c+j2|yge1;v)$l(e<$w<o~BAS
z+#a-{>G8gH8%?cJNrr7}57FWZ>>C^s_?l!J(jiiY9j=3r9q0G`c&+;ebz<VGvO(8)
zS@99QL=0~qJ>?nwbRm-sk&=*;oNl_fg7KN};HG@jL+Y#vAMVYMoGW6C0<JZtMAeWo
z6B=f^eF||^CJm#?v&c!?=mEJucaGLRoUlN09)EYaC)HX`(xW0C9{BWidxUozZ2Puw
zy1&nMo~$u>^zSM1H1_!TFnP~U-K#l+6*5~*-_$q39_>vKkJhgXkLz8<p<rSJy<-tV
zAbMiGaz-tR=hEr0&L8jwHdDAl00%($zYj5E4qYtD8`B@A%VlxKLJt}rCw(w7wcfS2
zjc;jCoHWx(W+af()g#858{k{x_=&9aaY8Bi?Is{E?_>?GjZ=y74DN@BV0d9kA$~Lw
zwpOk7h+&+94|eSu(0D3iaEJs1_3fhtMv0e``t!KOz+>NB!}wtg;8dg&g>vFs&3)Dt
zuEOZHoD_5blgr03NXbf48`28W?Q;`C&L)YPD@W_W_aWti>_u{gI;VPCK@it_!_ZLp
zcwuCyLxy0`ulPtIWss;ldq7~a>sj@(^vCx{H<^U92S;ZhFdqASJ<MVJPI`EUTJ~+9
zVwurARu1oR%)jrqE&CCu1noI}xB4u4Ec72=VA4<Z*iYaJ*DtJmPvLs>Kh-tKXKE8W
zUjWiYQ?LrQbf2z~IHeM;OJPyg>8)9rM`Gkn6pr&%3<8EH=HAhPi~So+_c2Cn+iky0
zfWDx1T64>2Lc}bzL4$T-*j(prB!^2WR8AZ(Jj#S<?FJBbN&usCvhJpAeLwm|&T#QX
zpYmfe(A4`d8}U6$b)MgIlTtwY#Mz_epp*EN%sUh*AkJvK=iB#ZEfs;86h3%ugOLl5
zbeN4!#pURASt)-X;ajHI`&0J|K!GM<l(jia86f`fa%v#jrq_B$t~R|_Z?%v`fTZ*T
zt+|djVnr#PU5*A9-v*{O3D_)?@F4{aXKy=rJXB^i)t1_f4bs(Kdm|+gqTyr3XPP}_
z0hqgF3dkDIxy(Zyn{Z^f>eQgo3yzs$4uU{CVfJyYQ<`0wUrckxWtY?7atgXFR2f#D
z!2m{~J@8gAh90etE2JeVal=LtJ%o`4+k0d4;ccr`;-6T#{7Gx|Ph;!tFdfW^8!lVq
zW5l!GyzetP;xU!6n5f(sED&^r&gX|&cvs>t117Ms@=tr8EdpIUVniTh%O8?-D~7n$
zJ!x0h0yWdSDG)uJ#vMxo6+7At8xB$S8q+Pa1=!3YzT_+&sJd8RB7#%$3g^O~`Q2j}
ze7Tg5lq0l4o5o`^-O$Em0S+R}t{SW4ONwXQ_sxbrTYg?xW+N}&q<EsQ$~ma%>dcpR
zSKChMQ(|5LoE0zMJ7j>{Biu}Z6>z@VyOJ(;VeMK;^CcXio<ZFzt{(Xl7RK9!4Hw+{
z=|R@}?x1i|kB*IZenU^8p{GZ;Tz!mr8sepopAjETo0UwYzvy^k_A#Ac!lUJ>#59>V
z0u68ca7Q(j&gcyxv$7%EZ>bTF^_orDRQTf-{FyuX;!#QJ4d+`jx@7g~+vu$ag7E>n
zA?O&RVEVO(_?0s@eH(EuK$=+{5t6_KhTj#{HTr5b+FN1K_Zq9iYh~;-la9*YXiH!2
zp{t4x^*@SZM)PBl_f0Z_0%OVjkMFJoQzLtlgTC2|>joS2<nnOG{vBI8<H~rekTQfN
z_ruwRlKQGvwY+X8ceG>c*t;Lw;F9kKg=(7li-R?uRJKkbh6d<zkV{dTIY|9P)GEQ&
z(E+v!HdjP5eod2|tUIQPjp=)A<9x{tJo<#aV(0LWH<SH{q2{pyq>w`Q20>%;DfdN@
z1Dx=rxliRtw77<?KwDCsuIsWDf4G8}6k=rAha)crfb987Uw{|0`CH)-lZWmbAiw#T
zicFoTb3w%Vy{=_cfI`9x@@6F8U9kOYJD@uhNY&DS{Zizd9|df~K&rJ2gLPj;3Told
z_cdKdl1cfE4;ECf%|nX<-%~G1b0?%0$Tz6D7;XFcol?5eoV_nWo!}x>K<6qaFO>oy
z2sxYm$ZlS$1}x<Md3y%Y*sohKnm{N%-*Zo=r)ECSupud}BnKuo`N+tJlw$1VWw%Mi
z=Yl?=M!1TqtK^xiKn|ZtI&xYE{SsE)m`ZJaw8I%KYt}=oTJL^2Gi8e^=+J?H&)|u~
zVCQ5Q!m^d~!GoI>2;^&*<2Ha-T%c^$?!nICV2hF~D>d3DAQ@@4x-Q)^{sn9<{cPIN
z-Jyyy!MSu2_?X^2?4|T-6!wVP5Mzv;(|c@v>d=@HRyh`YD~*j@_4}kB)#1?2E98np
z^QO&{KLYXia_IAECw{}xuEXia4|JBO=R!Jvzr?{CTDF!@nZbedWxhK)Egne|v*0o$
zBeHyg9TEtuuRR0|Y@yL_&gCam%pWn`O{@BbQ75FV>A#hyu6hqmJf7>vYtzJ51=4HV
zTY_1!3z>Bs4+{)n^H;+s2KS+35|_t5^S=F~ziYh~vsaE&pAT=0r*PcZ8FtO6aee5(
ztQ+LpB&gem$#TOX+Am-;Qy&IxN|JY4yq_|!1L%s|D^(gvYB0bYeJ!tj2-CIhsPQlo
zB-UI9fw}mK@;x1Si+o}PD~?=Es$TjUvGF4hlFe@pc$44x$8pYZ^ptlHJ%(|{)owPL
zh)};+7Db^<aaMYpMg5pnA#Xq%mn1C)jqSA_E8*FXIHZm8-u5qGS(r=4EXTvXuAB`*
z5t=Q9dQ!7gm=mm&<vna8d_Lm%s%hRlx#)yzI22-2r&to|l>}*L5)OQj?#wGyGrG5U
zJ9y0=`76}u$JH$UvoHLFK*>?<hQA%<=s@Vi`%M?;jXmKk<t$Rp78d?~&F)uB8HQsR
z+qGDa`+;29@@fitDgVGKj;RzItV=JLedTe{@xGZ!ut%O<rUb5wN8h_Ndwx9wfn3(N
zTS<B^O~|>{E8=s$O^r?5dyCSs>=ByE)c~GX+*8^!_aMkR$r6u0ol1`l1gaS+KI8ht
zB%cyOLc*GqjDbqMzLR7o*=VVdwq>5!@jg#7uDXwrxCV7o4DVoQJ+-T}7&Y>8E_@ch
zvg52dgl7@qly_UnMu;gi2UJmaIiZ(*8X8t)OKkm}w@Q;i7zZE|dtdFji&Vx7&|QS*
zKvbi2+cNz6FwRRf_$nFz+g>>-6_M*JBJUB(OLS&}%;|IyZNH;o^z0~oT?^q`W-`6G
z{0{qBMzB9n2K@Hes*)!9{iK;Ru`pzO{fu~@cwZSk*bDt#pHf7TS{WfyrN51~@hX!A
zE_yf%O!apuyV0N?vrKuUiGhK!WVO<VmY~jl>g8wWP$mK-0ON9hC7xo|H^x_vsKR=b
zskHM_wSjhaLzN9&3Di8&`MW0?<+-~LJAuI-ij70^7}W!1_S3EtF!|ni{l;~82zyr+
zIRn~3H}S&|xGuW%VZ~ITeD3o+YmQsLl*h7~iLrN8R$Wkr8&sjhRkmJ4$pJY!V0*t3
zx<^wB=47C_$UFG8KQNqFq-VLWio-X-mD&Dq$QM$MP|%moP0#-NcsQu%0mfm<zAvMa
zxk_v77P#4qWtmk&+u+5A(|}vu>(Mbnjd3{s(Z9IH_i0C1y}YsZO8QpDez+`~@$JQD
zjE)fIjdJ~W6@ia3eo%?{IQrp6PesGQSQ&kWe2kG1KxZ_YY;Qr9zAoSOg?@F!Pu4Ry
zNS8*jaRm{qo0D^Ak?9#KV!boL?<F?8qRJNc!&Z+jr>o$4k#ab9OA1vOaRTqdQxC)s
zOy0oKB5^Q&BxSsZ`?bT9%XUylvmYLL>mNm0C^ilm^4(g&t*pl6{K!%23(e%md=tH5
z^Glkg-Wh_Q+78sjnBIrrrA!J`O2dN3#OrKr!DTW@#0_mstnCb^?@a1#4jaIHYGEma
zd}s%Sf}@{vL|zCzs6voJ=ua|`!!8v0Yh`2ZYq)ZspFJWu`eRSxw`6{j%nib1Sh#fs
zrcy^xRpdz3oWo>!%xo8ZmQ*k=C}ME*D#HUPA*L6=>yl19!XC!zxclLyCnD_&z-HKx
zVEI#ynQ@&!Pq;T<li_ryaZlK5i!G}9eU)24?c#+YN1C9(awZ0`N{*L}?qnuc_A$E|
z<dE}*)wol9xe5#|VD;F#2N2ouar!_22i`48<m8zWtSWSkHdVLzn(;>$q{KMDkMV`k
z8hhimwN4=$JKWBor&XW~_n8?>L=US*E@iGW<I&M)AJlVoS-Fxc^F>l^YsDwFdk$KW
zp=$#!Ytj^hY0GJ`;sK=5chG3yx*cqNno?>K$59V~+*q{Vn0?<^dPJCS88BZ3ssO07
z_yHX7t8`RvM`a0}lt8q-lvp;vVn9t^z3)Zer@}01NcsiyltJLbrl2wS?~S5zw3}}9
z;q<4(l3dBza5>(deW4|+6%vN`NkHli;gM*od%EhQTKdf!!2-;K2)o|MF$!6T-SM>}
zCfV=fekZ!bVbwhrm2!_pj<%T9XMfIvG10R~OxfMXJT>`PaLA1w{*g<>U_R8QA|V5A
z^4x$gL1}y8Q}A84D+#*cpxco5+CT~-(JTkX1&YnIKssemXo-9j3wFH^K)UgOTBt$#
zu#no2FV(**^^l?n&=xIYoJ%M;=cB#&FX&jjF>{Or)q9MY6$UjVG03Z{;~$23*b)2A
zvI+BYi?&lAIO}WU?W}g%Zc8#fy~pVI_Sz^M70jZoh&fWkG<S-m5a_s?6bMh;B7XVW
zk1TxUo%4m$!ZvGK5|0ZrRn!LxtLAV1Qoh{9jYf5Xqz_azYB)A0<JgWZZHq^Ftx8*4
zYm!Xd)le(%HzEd!*}E+OKD__fxnzQe{+2A&{FtlBugQ^hWT`_*JII>QvgP9tr8Kj5
zAwt3hPN=rZXxnZ3kBM*jcg(HF>+4gR3u~x5qJg3PJ5BHDijF7Az*{SqjZ)^se`I(Z
zd-rQaFHoDvO%L!jl2WRdi2nZ4rV6MsgY3yUjo2_1W5+)oTpSf)Q${>F_9yYt&JvrC
zobTf1_*8sobciy31!X3p%b4vF|2T+8117AAqP)(D02Q6CX25`MO`7H;G0Ny@v`(oC
zpgBDpIjQ)7Av!riG6Ezq3X~{E17YG;e!b3Q0P715x^*>J853h5J{A45F)e0D#HtSP
zC4JrvISSDGv&@RtZmFCps!^pvDvDf(#mA=z3;a>4t8Kw&jZ-nWAzewBD<aZncIY$Y
zslCki-cyjz@x@la<SUg!T?Q}(fjxh#zLL_^NZ-kfgMtRr5O8;5ldU`AvgZl<)%NHW
zN~-|U(;$7OIsF^*c|~Y6bFueOhUPaIUX77NT<`LVD}o<=4@G9gbp87ZWC~ef{4J6U
zkDR=7?#x~^)MazqDK%G~b^&ytMk?up5SMQ@DM=OLf<YLf(x)0N!7RQFCTZIWCEsYY
z3`J?ejdu#%U$EJSSGeBC;ST{$U6j<2ht+*Q^RX|6+86+6=4hCc%Ow-zTn|hiEZhf7
zCBKVrUHC{u$$z_A+!>D;&BLRZid*|gCXFWC2pIm1$IE9{)6LbLk!*&qmWIjB+yp3@
z7U#JcPcYPNW&}BN_J%iMU-TB^Ywf;ismz6-)TQ7fU?9eqqSS9&%|4cUd1*9umvfUz
zALqE#)|I@>iJ9smf@{+a<Pg7K;OD<dHzOp`T(j(;Gtm?U%8#a-?pvW*iQ-EEDsPw?
z-lLzC@z*`S1GjgQzun0`mrxwD4R?Ifgq&pI&W3oo<JRN|fh&Mcp|4(|OIRT9Z#eg#
z@*B1QM?kp0(gojc!)Bs*zFrm+T*RJMFtr{il+xOzymxZ1ADfix$Z;O4R4$KD2GH2;
zlSratF{9vJis&A2^VQUg+|*L?LicJSE(>GOcONfeVq&IJz}OSvqjO##>f^!M^1U<V
z=X<t|F}d@8Z`@{j>BIQ$DY-CzKy4VUQm*OsJyu0XkY0F~JQ44t%<pa}3V5`x>h~OX
z*`y3ca8d)K^MD5=pQW;%VFkBClYAUlqt7mVfgVjtME8kFhiffIdP(MLaZwVy$IW2g
zd_GglVc`tGY3~<Vj{(aBkhga|h^`r)VG6;1DJ_eebWQofozmB{on&y0e5saDR|th-
z19{KeT!R8{7uro$$22r*@r?O?Z7jiN?Bx$7;jSK!A>ua6JNczdxvN@Cz!YhVi0SOx
zsyGR1lhT6pOt`+oa4z`Qqtbkov2!3RT^ih2L{h6u@`B9LX%3cd_TI@i%wN3M<na^O
z>WFZ{8ko;vR2R$*_gC=TQGHD@Oz<kVfUu8=pRrg|{Ug%konVSZbln9M!Nlwqc@upb
z9FNo1>((f&cYfy!LuZnA7>qLTb{R}95&wK=(0Qu0^Rt3Q$4MEiKGHhU>p$M$NmwNT
zstF(zyp?9&YEtf#c-2dlF1OSl(O-n9i-!`Xc^=J7OA*5;M&hVPmUHgfn1b<0*)RG^
z9uE4+<|lYm14c{Zi!#AP<5`+|)Qe1zCA5es0I14f?Jpw6uub;;RMiGRhUK>pZvB&G
z$W!!@*xAPAi}Djd&&L!QahkF@pCq+@rp$6+0#~8$qngJLSG+sm-E#(87oJSGeY(Nq
zy$|ywm-F5jTh`(NG|uq%?1Je<cg16QRT|YyDaX*8Xb2Uzs^JN3is|i9%cx`e6b$v*
zyf!B^z<lZa$H(YTXn~KVG0E=?`CO(E27<)U10R7)aaw#1{f@rLyRN|xD~1IVI1B&X
z8p0M09FBc9<@J)y%l<Q~rb2d2K3+?P!HZB_5k1t0G^SWgz&#%A<-FS2lUI^baF6l(
z5PKXaI8b~0?y}zvUHL8)1IsA|f1&UpxS)=IN*<-T9KA8G&@W?`ZJ<C=Gk?Y&n}~iy
zDqH4?<bVj9bbm0WX>GHYgP-Ad1F}Apv=zY2kloRv3k%yxz>8!X6!Img`Z9b1`e?z}
z7b8YYH4|<}dyjwJfVh8a_g8+?P*OU|8WV1UB{)4bT2`w2wjeWn$nanuGt7EN40DEs
ziB(I@H(|nN1_K}P9`_dy05Mb3peYTe*TUH|3P2k%71Dj?I34SFmU#2?OXRzKs)%u#
zZRWKYKu-HUCFDHCI?SW5o%cRFdOtHo+I*Ev!#KkGoPBlggscDou33C{KMA$b=6U7}
zkflOC9UIUOd%L}IhCgjnt<xQTWqx~7Jc98w!D##^z!A#gfP%tGct||bed&MHv9U17
z4;MHcD3J;#GAh1u2=^T@$-mvY<N*gK;hLYXqC5li;4BVGCm)G_etvU;-O#D+@X+@N
z;Bay}X&b~nCSq~QThqRxU9%NIEX#8|DA|#%<5RmD%iYZAj4@qeOnf;rdYbzx7$~kh
zHU^vLfCJ10ihh1k%JnB?0njbIiO9pru!mPyIeGK~^r`0idxNFqLn<YTF)IU;8#50&
zQ>)<5KfT}enO1=dG92QPe*S4x*~nQQjMWZ34sG3h!9=H=e@yM|036XxbVdQE4Ixw7
zAp)E}$>b(BjwM4ot9@Nb@~|<(X<D!)n@3uzZ|L>#6pSZ5q<`sVe5zlugMAp>b9-nQ
zmANDR{%GCo#Nm_W;0j7Q$c+s>&mcTUZQnBwQL!H~o>{Img&%DWaP7`rMuV<7b2IV<
z__2nuG^z`FXxA`m$|wPb5T6sG>2e#GLmyE1SY-P#NY&etct>}BNJP={4=(4~6YEB<
zH?_rKAZ9Fa2IbeZ?k5Dx4hICur&FLsje4hsSY_)5xhx8v4NGCbU?D3V5J{pH0ABQ{
zC(vzq>uP*B<u}K10bzq<ajraTQgXI6bH&ec-_4X24P%B_{w7W)-UD8I6!iNG9JWfZ
z*f6w{HCx;Mlz#O9GwDmr{kcr$6^`m>v2hrRtxUBcOYcHP${|Y|mmtigP0gzPhNI;(
zr7Q$Tsr!hqu3Ymaj&2gpcaYssp<q75>d{2u(a`69bP!k*H<cU`Y*ZpVn;{z9>*7)h
zY-E7)36aF5@gDk+p@3J1A*ho{`ZmnB``EqQU=vKe!Zh2V&`0;!4<pJ>l+5}DY7iYt
zB=sugmIe=T!-<$hw;VY#sRufi`g~o=u6viIvBg3_!<zfN4k4F+JQ#8S<hNWMzQ}_h
zI0G3j_xVi#fpj>N&b2TE;`$dbMuR1J2rPMMFr>f?HWb@IAhHt#RXQE-w~E6nvS9nm
zs<)3+Z3_?$EQxG%igGcuDg+R+6{x=eO}Jmlg=b|Bf>hs8Kofm?^o<8eu#+`{fk}Rg
zV3yX*9Lo1@HCguv+PN$<hdhb3f=aC)->X88Y!5X-l!+rD5M?i2pHeDav9Add1(p|`
z6#jXC*BFH`>~rOe;g?)yWM2%fQCKIb7%q6t+1CVVjgDVsmoFH=_JxgPVO5g1E7MN5
zbu!H)El@w10O)w)EwVNp_!<2zw8r^dL|qFIe|YuS*ZJNM?oO%f^*H*Hb10mKf+aIb
zyU@wxd*lO5uu@<5^*W?6dSymBv#J4MPHr@s@)E<b+4P@(Sbux)>mu~Pc?1|{$Li3(
zd$^!qK>WJ1?Csf5dVqwfZAL9($>fQa?Rw8XA1Vms6-)NCqUk3vdRXQ&{kSn%RB);J
z4blIbr1MyER0*Q!2eH7rB_4#A@H@Qsp09uOyw&tXbf}@KGVeK}RAL__fNJn-J!-jC
zxkFAtmj;l(lw!ygYP6%AZ<o-w#v1JQDb*^hkji+H$^-C0FH*ccU(f5!Tlb@9uhF1o
zk(@l`7-PPwG3UzH^{g)8cv*@|J-kq{C#N7Qa?N{00ke!lixpvMhw*GQbcX~>l%&9w
zVhKTV9Ew_Bb+sF?C=-aDuM+?urNv*VAwSb94fhISh@96hzu>!n&Wv5&dqLH``ZK5~
z3}9vw@Bkwk*=p~4ry1bm<7n%+L{i-aKKGLN+gd95$;q%!6|XzcUM~1JS3kK%<mpE-
zDojonQ~+R4rZio}G_VG^`req}pdT#>B|zfdq(@YT@;>v|k)J_p&#}q*scv8v*-vV>
zNu(?eZ&UCJbcdYDH?H-nlRwC5<>U>R*)7mi#7Rg3<Gbpy8vgupep#xE*pr`{NMxv?
zzH+F<!tFo@84#}x95tKX7+(6CB?S}pED_*3YjPq!Kzo{pXa$B)x+?)M0h7pAxaO5H
z>nmCbug62kc8@b_`mv?V-QIMfyj#Y$kL<F;{GE889(<azF#_Lc(;~DZs2azsJ*lzb
zP5!{#ub}Ol0_abW1I?MLUraQ*Q_Doky7bO}O6L@{u|K($4B!u4QZ5}_kgaR%uOnLl
zL*}<#9PGIdspV5zd;_gfR&;x6C<#8T8a?NRW+fU%<%j>OCIULSd7188BXBcn(~}xJ
zu>tU|ebO`(AKH4a{Idle95Epcj21PGM!5}(^d{dEaBQ5S3i>Q(i-rd8zL)gpqxlC-
znhsBmC`l0<mcfzYWA0wio?#`SU?4{m-yqA;t^s5^!XnFHh@O>d?Xa69<}_ll0SA*w
zk0eP>BkA@oW(tOcxmXy*hl~Z$f8~Ty2(Mb1iU>2>m!<La<xImthY*n4<5%J_APg|M
zP>nkd5CHO_u;!pmGkV@}-@N3N4I)PNW2*}@CPAlZ6Ldbwk4u0bTt-XY2N^8PE4fx)
zKKTA#zU+>`=E=o!dq@5(Dfv|u-vNBd`6|pMe8_eLrPfzMfO$~#WGrymptG76h79K`
zkPkJRUKNbay|sD+*P*d;cdcKk;BJ$)4&r&Tuf3kB*{F!;#f#m^*C_yydt2n25m*=M
z(IOaCgTx^pPjh$8@D0~WiX*I3<qJ$uNo2OOky^r(^!M|-LOm4)g#`@&!#<3Mu9nlS
zyAt}=@6ALr5Z`XKhZjp{0pefLNfkMH&HnzgBLu+|+&mOd(WgVMaOv&q2?AHid<0jI
zKfMSgr$SKNc^~eIdR~G8x`P6!3}y6G<;THFE3NX=Y$LSpl2lp)0I*TKY9y3?zy0V+
zdFG_~4K8tvlUgxlA|_d2XEobmRDFeZCc~t2!B|S>$kqTXUMD3uil8yZl??Z?+37lA
z1}&(hd9PQRsFq(p8@Wvu6dD&7+b}S5&$AzV&tq4i`dc-@1ZFm-wIzjD1A58OGe1Bl
zs7q-9I3w9$ER2TXWW?sGgow=0E<18j1&4^eNE@DZ^wVUYHAlxfkbh==ye8LCTp_ux
z-Xh;b-bh;P;zEHOMj>AdM7ah2{@7O|#svY$I{K_hV;ANDC}Lqzfpc@?QIBrPzEQvP
zW#LUP%@dnxezGL1;2o6U@t1xPHP~W^_Z$0%?K#(hpAUI2KUj;~rS=Sovc8ARSo}k0
zU7I~%(5Qk2UPEyqYe)Q@BN8NXwTNeDkg5Kv=D@#BI+JsRC-=T3QAL?jMlurD;K9Jf
zV*Rz4UNA|fiHe*SHhpeM<_E|o!4x)4ZtjzRr;k}$+nZm+$3e+W+xM=eoml8)D{u<#
zJcehLc_5H(GWw-RzxgWSK^q<bkH3jO%SU+x;DrdtttmK4%EwX=Z->iC(qb1WQkycC
zRF7o$jxsi_+Yct-bM%0@Wmi(@ze4T`720eu9Ux;ciwAs#x8<^Zs>dxp84<jeukx!I
zcabG#&l!C1r__HQ;Kzf)s9RqO@ZH^rtB_ep?0mD5G?lZvNcWHzdiiPq(bFWQ=tpL1
zT7)L9*EI*~2U?Mm<jCXh)Q{swrvne*()+7Bu{2u6Eegwt<*a_hoCF6ub4;9Z2gh3w
z!UMptd5D^iZ0z^Jhoz`G$wbaGw~%UjBGTg+REg2%XWChF^G8O?lW&X^VKOBdN4E)W
z2E#IAO2)3CpJ<uH*%oUuKP;GPv<A-Ua=WfVD`e%{1-=<ondj^RaJZUxm&dtsN$FZV
z%NUx0a8i7^0zPQOHK|dNd~CB!0KiV7M_6L&n`g0hiWy)i94X&NJ(!?=nfETucLk1x
z+8sxV!7RN_+c<nJwBY^xwRG01(_${(pUt={48Cfn3Ku`xi?_VhZJ=Xf-^N0*#(VpA
z{ygh<c^%sHEfSNh0rZfBztJYT4yI4?&#b-IPhx<Vn={<E6xLsW6yfS%9cZ%HP^-uu
zFKTwad@QNAwx9ltf<~C42e@t0C8QgouUEsj&6uZoJeZ0%%$6gxk$<k7;ts!}c72O6
zhoC06li!y;f@ZE>OQTh$oYy_zck>guUJ7<}=4-6R`+z2)_01f)Q>t~BHrsQ4Ow&@P
z&!K>@)0|A-Z+SUvbs*I1JjVFhpxM@`QzhzP_LzCz6B%KTEF(q8wtpU(UJVfZO+Z#*
zWO=oVuewJ>b=D4AD9Q|cbdKi7;tjDXa;+_#2Q5Biv|+^+bw6D~)~6i5Y980wR8aAA
zw!*P_J#XAJ88+_6TfK*SZ#H|YgC`1Et8r}p5eWxl_)=LeiQ=os<SFt+O1b*Agw}fB
z?{!8cweK@2RgYp=C9odfS`i33{7N`Ehd?#ctWiYo+D`eWW`Gg%CCV|#U`-q~K86DX
zuWuk1+D#`K1(N(m#kc<ef{b39g`Ctz!{^fSen>5W1xZSTK;ANM{bF0p*}#M11YLhD
zxz5J<yk+Mi5e___R5}q6-BR2nX`FwHuWDG;93EN$*lps+U{tG9V61a)Vf@e3BK})i
za2n9yv4T8c9^ewnGaZ@DCg!fewq8M(4Q~QaSXjjjO5Zr(Z%lwiJV6gBV?GS8)18gS
zE@%I`)rO|Nl<kgjGX*~_wEEB>x1k_4TGH>4$^{b&@Zf<R%-}B~Yfm2qE3$LKAX$R`
zQ#0vC_&3Kz4M6M32PV>c`IETjeG%)AR67Kr?n|MBjA(aclKh~S&_AnuDy4*GoXK9o
z-$zLGml?dsqx<CUK2julnpMzg&YnC9E+Qk4U|s>zIT_Vk&naCPT7~kr1v-AV0s6u?
ze!y^UK1nzV`%HRnUjWWN!Y%Mf@w;M=VQT@HDa;`;k@-aERjF<y(UEK;Xr7kn0cQLS
z(3T)h+R=h>@q3_%lLTtWf9@Sc&f;rZ#mXtLiTH|RH^RL|gHA4C5f<Aut%Z(6Th#ED
z)=0<L?8l_~l`gxLNi2VURO1lNz;{{%tZO(Gc6`d_%4*6KBOMUNG7t<r>_SD`W$`Re
zSLN-{WN_F9Z1R)TLE^%<mMS45D^#{Po~8oc;;}k}&8}vKFM*ijT<^Vj3NASsR7CF(
zN3s4`ACRjUB8B77(JrN6??<AR=+xYD0e3ukY(p{S&p1&ZUUYGG4_X&@G_ID&jf==`
zUO^FrKEn{gSsZ;+$`VZlea}q+GClHswjcI)$XbX!G&NKaXX%|Il|LySEuu#@)wE9M
zNSe0lxt=`(Z=8-@qNMKtEaJZ7F{WW=Zf@!LslqzD?Vqk;D5g|eDPUTf3Xi-nR<!l^
z7dbGs7_6Ddfn7e(atS~aA2Zp9y;rm!D18eGLo3<S%{)m2U%sHtoAawMhZ}iaNsG?%
z_<nu>#D+W-cSwi6sw`lK&&5l|O62x?Ocs>_cHlz}qDC)Szu2x_)?vSQ1B#ST>;)8B
z<WMz6;6}D<a3MLswWwtDIOm9Wr9qByuz1RsBK*)a9pi|Fu}@197qw5g8Ne_r@5B@8
zSbiUx7!>f3jEr~Ge-GvxynQ10cmH(0PP`)Sk+#A4pKlgN6^_qBKFm6NR?tW4K<~Iw
z-ijK_g1RbZ9e-k=FS&EYjUaF*1}H;En@)^AF+BOfg;A^S%bw4|#bbaL1IJ*%ex^qS
z<n-UXcrHZ+lwCz&R=$P~qvGBW_q^cYLD=uDzwEzQqrx(W&jSw)&=5h<ZG7bFEWe@K
zE$@P5fI3E^aQE<wNSW*bj!_|F&{yJ|#4`dW%)x0QlEzocf2v|4a3$(Bi743QSG!b>
z=XqBq)O6ZprF7-q4~_n};hTLss{g5;Uk1Cn!$WrOiitzgY1*Ez5^);35a+s}qsmIL
z(Jr6l8AukRR`Qm#*y5K{Tfoi+mW2@cv}WE!UjkDwb)lLSHc(THC&BO?j-A?bcciWa
zMG@8shG1Ry>Z1)&y6_zVWu+Ny^YM^xubg&0&|s+Bs`k~&1(B2ED;7c@)XhW49pd^v
zazNdx*k<u#+qO|HNy?wL?Aqen8&`__07)8{QETePrvU*WxiQL__P9@$&9V$g73ZLd
z0B!mlX6+IT=KglmbO<eZAP9CTEvtkfjS@rjHX@R$5J2dPt~_>kID!3>si#zcfS-I>
z2UzA43BcnTA9GSiomA_f&JGch_|w`#+D9W=yI+QiPK}hG4jp3-I6+|s2V@3aG3#AD
z_(j-BM~0~|=e$p)N~$iwZb9?yexSMatm&lt(u91~VRFsxj`wP?`G)gBOG4|Yt;~jq
zhIV6tVU<PioLM0|Mg+^j6k~3yizR%i_<S%v{m|(06zPrS;9is;%WAM5_)K7~l3#$|
zOp0!R*a4vL*H=V8e%2k*8=OQ-3fyezIA)RjrpH5Ek9m*G<T;q;V3_t9$^n`$MD?kg
z5SrK+L?3u+ZYZ#k_~iBChHaS7DVJ#zBT4Q3*(zXA>&$u-;_>PH@PQ8$T_~Fox>Kg8
zNwaotPJesLz95}x1VOG?glheb9mnmO<!C_OryovvqyYRg(5bQuS-8IqE&u`c1y*E*
zz(_zcDweYrfWJMeIz0l(KdLZ&p!a`P<6}&EC78sfyiGA2SfoF-w&XmEeZVKd6o!JI
z4YOI5Vb}M}VR(%SGV4pa8x?>G{rY*Kg!U+hwCG$z4~(H>uB@}a&kUR|BlLa}yIp9&
z9d1j&YJ;^PS+=ms*5X1=VxSecuA01>ab}y*3lB|)q1TF1WVyHtM`wDUCSoS=ua=-h
z6iC1j(Uw`<b5A|=lAQIhq(#dXKR1#gV#OxRt6}6A%E{9X;m8{JWEh2EKVLy~S#jC0
z^NXb0$Ap&!38^eJ<NlTts?9qy6xY+sF~0K1$860d!d*9|qdrHD#Ai!agyZ|`=3Em1
zAfJGQOI?9NIowH?G@}Q-sG2RPFB@W8V;GQCU~MTwBg%EnZ|&FD!%a}OBn>1|S^d6j
z0*y(l;q<ZHNWW4D`a_}37e~eoe}Q+BB@`DOOxm2S3U(M#G{NG?KnHWT5244Cxlt8o
zPkmBspO4gz$pk)s3nhiJQ9u>n-iT7kr765hmQ4Oa+!d#T=y%V73v&&jbJbERfFlC}
zO@JnN2N1?w_pqh}O5wsv-sSO_4^zzH-mn%b(H11A0QERztQB_zQ4<3agVJ%Y;AQf~
zy+53x?-dyp$20eU3o~JdpaIrLwU@jzdec9H=3@`b`-_el_>-WItFfEnsJv&5#18O}
zzppe^^Km>jIhXvllxOZY=;`PoByWaRjOuhcw_a+sPFj`9d-iPZIVwp8NCQB)5%K~C
zY1erHZQ-#Xx4L>c)X*vziR7TS9+8P8VhQ41TvWlyCTOsfuxiQNKhuwP#VG|`WZxgw
zC)Ys5W1yLIzp0C7rnD^UdtSTIgBIDcjDTO9V3ci<rgmGX^R6qt`*H&`4FD{&scGp;
z$EpJ@dtH=srgUs{BEN2K(SRy?r{$KI(vN2>h1CPTi!OcTUP9zPk@<IIm4m7Jo!!$c
zVD^$kn4`5a@{`kkM-xy`s%3j%IjtU3p4IN|CayWku*6*imQ~UoB%>bFp@A6<N{&vJ
zZ3H&x1*RQ&>l7D_w{6x1rluS*K_xOe0moo(A8)xtuQJJ8$Sz_*`!BU>xP;4uoB>v_
zzyST3G}4W`#2ly=*+l5Do?CnPA^QG3W4%I3$4VAHb81d+Z$=w!THjg=*(nD8o@YZv
zX7|glGN|NR&^dpQXNb;jF7m%<3#P1*bO6RS@|kv{$%}SXc|ty;7%$a_hg?aUT2tP2
zB|AA~HQHV$<*}1fn=)9I-9Fn-ktCQ3$^dgoj$@}B|2*U1p3p~RISJ+IBtP^8$N7@+
zpNZx%?qIfU0+2e4d0YWG7eJK<J~4T~PaSHFrcz*M1xg7xRUC8Q_*MtbmeV)d2zuuB
zpl%P5qF>pU!r>_?5`nER)2LiEqL!1^^~VH6#aPg1+rMr2`;hZ>j921`*|Y%525))H
zq=$$8@E;<566<|oJ^K~Z^NYIY7Gi?9^IKxEazUH2Q`nPSNQhgvEc$&+Ts$s<LZc5%
zqL(zLc(!|7q+akTpH=Ywdq0;tt&d7&tcK?qpCi*Ky>ifj(+Lw+MK}g)d&Vbwu)AI?
zU~*~N4kwSea)*V}PpX~^s)|e>yYSgTi6}H%o6i;QkBsp_WL}rQ%D`t!9&Jgp?fPXr
z1~NAIRk7&TD2@nI1K4iXcM7u|iYb$}uug1XorxW`aKiZ8$;@!2lMBIP@g1#eCBzSc
z5}7f+%e+%T1e+5w9!lohu{NYQQ(L{5U(f(CfCqE(wc_)c_^lo@+Zg{mQq$wQ*Kh3;
zt-<b;g2a(Bx5Lztx#DdV*g64eaPvYGL3f)vd~-(wA`~IVzjY|aSY9#x+4o@sZAOgY
zp+}*Mz2xBc7bOjipd!bH8$|&Cgu_DInY`oQAq=gj8ieI0wYO&JoC)mo&e~Ie1oT}?
zirgvt_@JF+G6R&-fu-o($K9fF-DW^wLsNc3qP_JU3i=gHj9T<f3Rr@qAZAD`BN#ZT
zNIId?y_=9#cALNbd>s!o#c{}Z3BH>p4b+jV75*kv9Z)0(QH+8ioCR8X!@nqmHPV++
zYHJG==w$Ph&*C}xQuFTuR4d@!-#qm*?sv~wYZ^X%Vrm>g$ba<S|6{e6r|hh5hBh6w
z6YX)|gnxNyHPUQLC5#e@Rx=n9Zx`;%kX0Yf@KC@{0RR#P-sQ>KuH?9s`%CrdFG3X^
zZT<5TGg<I<8H$0=#O`;|x(-n*E=m~S4?WGa?ehWG9)?|(t$^rgr3_U1_ts7`dBv7c
z(E5TFmDe!^sRZg;Ip&*?M9<Z>EL6<M335Jc4A)q|)9tHm%c2lqpD)?#bb#K1Kqa0A
zkHy_>yR!33P+AX38h{CkYGZS8>n6td{iWihUIH%omFQ*LA81r7oJWgiJ<cp`c_P7x
z;!9`=IvPfgJl|i6AY`3wDQyQtvKh5unFGj>BUE1CNz83Hz_=~!w{JFhwXP}=Y#yF+
z*uCrI_Y2cBwO^ohTxV{xx@)iqoDS~iLT^B%VcN8ly|AgbAn2wrr5%=}HMnQK>RU+?
zYYJv5l4rlaP|Hc|`{$`9RA%30-Npw$WjA^GswBSdAt#x#Y5i5>M-1~5sDG5DJovA}
z;buQyaJ%xS#?l?vOa+LYmA>uwa$Lr*d^vs@Z{HI^0|xQW^>++H=b9560;~y*+lgPS
zfz9sii)DKiB0|aPPx)+`RcX&b;<La|RMG*MWyX>RPBa3}Th$#~Ukhr5a`}N0b4m>H
z8|d$EwjUru*6imS0Oz)EX#gWA|M{|Lf#>+BtIRq+uPxL5!T@HiX?bkl0xgvQ`n`Gd
zCh(e+u5PxMfrJcBdC+xq$QVOW`I%B`erW9IUg%k--<%B`ccuC#bxEJsYx^k)2U+R%
z#?EQbX{0@)HLD1C=YvA(YlsE&5BZQ(JUo_ABzKVApQ9z+XZIJqy6UbVQ$xv_$Z$p8
zA$aTkf1%}hl2mxe9!2^Q>-#Qfe@hjz3b!7pfp!ivY|nEsELc&SewPmdY7&gT26adF
zlly3^j+m4XxJ4{yrZ}3B;L@{oCV=vDJ+~?Q2q87CD;R2n%8j^ILhOi85iy0{MR5@d
zG+Kt~@?XF3eROOBxi`Scz6Wc`-WVu$KoE0+8fd$8>Hr?Ug4UHGYj31p@cU6>0wAXE
ztVXZLZeC<&IRI9wkM=O&{8lE>@Q+DGfPZI8PxWI<kCqbMkO8_GC4aKqHD5oY)-4@6
zlYkB0=1AJ;;QHF>Q3=0(9nw%on^!l1e9)zo1zztWqJVeY%Tet&2?ul522CRa>GP@G
zHwUIXkUb+6$;I8L_NeouQ*)%u!L4{jIn5g|_!u;C38TT&Ga@1{V%raF?gXvlelzfW
zWb1S1?|=J^<nkN%R*z_JP<$lE3pWID))5x7l*OGjzkU4wz1$%2O-b3YLy>hMt;pAa
zL7P*124uqkiVK{g<}N#NII(52vwU{p#kOv~BX1GLp?jWIS939Ar9B-I{y~iGhv9#R
zr%{L0kymoQqq(jxPcYKlrLWH~HJ}h(9A`DxnNly`pSlg6=SPek?FY<9A{A=I|2?C5
z`|sht2%^hYU5~Tl-rV#6v_nEXkc7;Zk^I9!GQXsC{6p6e7QKUvy>(i;rR;_`IUjm0
z=~Pz{QB_@T5qB%<Ws)O(WBcq7JUONxvNdIX=K_V7tZlhKgxw5gwL`1*>|FPek9`hf
zWE=W4h=LEnv5}$oqqqsAf3iWR!d#{z8+io<&K*cC%@OV_pQRO@;HQG{csv+)z`938
z6jjJZjCx`(R{_rCx97sEj6)U`ITpp)9Sh2m@)0m>k$=)Df95Ziim>^?RRA`+s26^q
z^_H=LqQ%l91{QlvenPmEC)u}+G37S(8q=?HkNUnOl>~+54AikEkxyL16q7601p2pM
z*zh+qOOi%C1)u_^!s5jJg^tjaR_#ifIO%?eV}lEx`~1_UrFs6ei!QR*N`PnRpQvZ$
zB#%CcP5VfUpw5$0Njs`@f`y7NaiG_+ebXFRy*E9FiYm4Dv(fDeA?54`z;a71n-<i9
zy{k-+HrA}}U;iGZ{&3KH;1RH;@-M6rE%m!_#lFNQEPjWW<2X+5@W#xTWAUbKI9nb3
z{<165w&}f$7<5Kpkx>-cGSf0vY(#l6A|qoJJebDm@^SF-ttL(Egb4eo+4EN*Sepd+
zF#4dG11JWvSiz)#`d*Lv<bFjrPy#~c1Baj3t9hDzB=Tc>3iF8=s8H!^I;7BuCst#>
zjhY6+8~-Aue9@Cs)`T)H4b3A;%n{T(KgjGNR8i?oBK3APDD%CzCYv?2@^|b64TUy-
zlX3YY4S8u&SIG%N!NIO&b8}{mj}KCAg@5CD0GFzj_#%~)82S5J6CznEvXUv<RMG``
z_T#IM%b1cV?`o~;YdKqKIDq_M;%YeeqLc`p-hL#^c#Iu)L}JDD;#ihJK^%E=w7}<A
z39xMSX_qYrdFg?*HeZK*SM5q`)>#5}LO;g!8wQEBk01X4^P*@k)fF(U2N+g@JiNr^
z$Z;gN_aF=M&=1EG%=~;qT{k)#h`SVSi~L^MZ1Ez-5yA!9qhI`MUv6*3VOx3}W5gN@
zC8KgBfl2mg%J`oVNBrL>C|mYP;~0P9uu`I$txy517k<XEW5_ZSZg(w$%c?NWp)PQD
z9BJE-4cN6{jika;U%c?^QLf0@L1^)MLY~9h&dN}hOJ7h8sv{x`8ENz;y^63xNScZ*
z8<Ys`-Zkf8w70ORY@NhWj$8NdnSMogw~v&xRB%p6i}ME@ygX=v#ivY4r>Hu`JaF-v
zJq&*nD^=Q$;1VSmBnuYo?l!G_x2*0E91yTi()C5waW`?g$+O;%pC!WvBE|PAi@f%U
zs4lKHPFALMch4x4SLo-x9a5WZ2kBE{8F{>)w&FVv?bcM)@SuYi&C8&!s+Wd*jIRdi
zL<S%4dGz)jf|lM{a%fmhd{As@=_bsWIfu}D6%>G@06^(>N-=E#*YVrtU(5VrS5aae
zke7!8k53L?j$+FM&zfh{eLukHuHjb(&jXd0U<F-#jX76d&;_O|@=P(f>$Rm+-&JPR
zH2>TNgMpMiqFZk~#640{YJJ(nuQn<zA&^^a@Gj5v0$dUo+XmgzJ+#}!8Uu~FrSRsn
z0Qx96te6W91YcVBOSKY^>1{7){b{Zh$Q{nG$@PXY1X5fTZ=sY8Y4d>wf2+j8fdGK-
zZp7=pr<Qu6`}=8`PMpS^IFt!`PUA#iRER=Q<okZ#v4V<U??Zr6hi*_#+~5wVO7@Un
z-r9U8HIBtTIfFW0CQnBm^ADhLOVos{wC;-{iP_*dw)6<Cd>|as=K!AChB1XJ9M6K)
zu`~*;$b1LJ>>3!i$}HNf7yM<un#KJO66tM^L7rK5A8Fo+hsC}nitaM9@h#)?6^NlW
z&VF;?_x2hq%ye-_&?WUgc%Vc;mpFZ+!n_Q2thO~Js%=4D;JMLps9DB<g74l8XjBq_
zaU6;%G|F1wN@1CoClB#igay4#F1TqGwbx~2GMGx+1c;vl&EF~fI^y&xb9BGLV{Q=u
z_K`fUh1q-Dx``#^3n%3d1bBmMs4UDyf?t$h={l6Bpbu_L^}&zxTaPkm2q%tFMj3Qu
z!yPfIpLl_7Z;b5_WmA-_Qu0bSpA|w5(c~FvR)D(Pjz&&=K}^e{S1ij^Y0J=A6>5W>
zS&$!IUh>#=fha%&HUz~`h_dkM9yp(}RuL5wNzhBwY^Jpn*%r}~D|%ZJqZpy&R>jJt
z=MRiW@y6&=!r>k?1Z9gsIoLDPx5U)+c3L7I@zrd=!Pf6Ho(ZMuN-wdu>!ey&va`h@
z{lqDQ8)Co4^NW!W)%z~W<5n{4#;>TH@fa)lGU+#jMltjq`~c;7VMU+5Pkd|lp)|!O
zstGp<PB|kH0J0iDrDhQAF(Q{Yc26g$H7V3~ZFzpj*&%C<A2+MO4E|BZ-O7uLLD29A
z;EU!LG|vw%Us%?=%3K3W#^9ir{JXaA!X6aE^e%@+zWM9fxVRnx*+X0MQy#$7!`&MD
zjO4%&%<x$1UN3+ZFnkanH74PqEY&;bA2w+3aMH5zTxQDe$cNJrs_6)qfd>3%cHcHA
zW3|{E?B<RqE5I*_M;$O$Fh^|}bkh2%Ius2Lq)ilxX}z>cY7HGNgQalw_Kma0K<_Ob
zJvv>>3VqI4vI781Q+#>R<)UVd$Q<&^D2b>w4=AdkxRL^UZqiJ{=>sCxvMR|;qa=a_
zk3kDf^TXdN+NoizR00<yHXC7M5ViK<nE9iVM~Rmmf)mC1+~#sr{<nKk(8S=kv=ava
zQkJ!jh;P7jaqQV{#97+W^s=E%1xc~W(%01jijCy6*9h~Ke*^+}00iH*6VA-H=fCy7
zjsjrDcIL^}NNk&w8U}rAM-k5a(5>TDLB~CSEf7|N)YN*_e8P$^6U8Ehc=5sDOu+Dj
zN4ZqImt2maQu28A5s4CeV%QZqo6)VrJ$H~jYsV84{ty%m<YBrjwPORF?zZ6=S68=8
z-+5^&Gz%ONut@xI$RCWQ$6}@0&;SY@5>xR(^OuIIo1OKNf$Tn`aIS{7CE;XxhRcoO
zfM4QtAOJE2u&tP7wY<k^HLLLhoKo!w&NtDHRPnJQ)QT5yzNVs7=&tT4Jegm({EX0s
zG|~a>_73Ct@1oW-V7DPdPv9#beLG<8)HGI$viAw6Ktqtvwk04<tJNwoJ2Rge-kzvE
zJL1dK^I_rY-j0!p+^A$@WGok;dv+?3pHDLi88nmNEMMhvqJ7_HmL-Bh0)p)hLfgCi
zWVEal)^kkliof@(rsJiITM~BnsDW3MlT`M7$nKAx#+StY_70w4qv+W$n_*~V56Q0E
zdDDKqeR%^JNwboYRs)8ytKX?N4vg<HCkFtokj&MOV!j)A$H(yZtf~m;W`&#4+oO0Q
zA(m`yQ{HFD>1f5%+cp@2NNJW({shZ#EL#Is7&(<DO)u<&g#5t_OQJ|TK};(sLo7NF
z#RXZE?FvgzyiSXOZ#WgCHho+lT4ZjB9|SjeIWALQgZmxkwguddA#B5>@Z*@fOM|?{
zE3cFc^qbP_h(5{`9Bp)X->v5%Mbg3@Db+>#zN+kdkte1`Meq>1=kE#Z&4<cpX|SM5
zK|Lyud#_EPXO|o97v_Ns)Gh!qd=D!Y$+oW{KzrSOt7R=Cpe9Nlo?&B+K+s5>^6xp4
zMv{s~Isx+=S>sTKEyCXvn;ocjI6G&U7l5hx^Q(x57W;dC7kibk^B7yhl+cTyO!Fr1
zICdhRI>G=ABoU7XE;AX*Y03BCQ$S(u+#8(>UrZ?m*59(DA3n6>191q*pEQp-oGiZb
zXMlMBVeYgzNKiIyyNi4JIFYsh`>i#BD+Vhe3cpmj0PP^2C@x(hO~b!lY$3+WvCBn)
zbYB5Dm&4<S^mB!f<SROxq^lVZ*7S~8RoQ=mAxbp%IbuxkNw)e7lR*!cskSlIXx)fq
zxt;MrKI6N-@+6NX^yEn}X~)N*;;;ziSg?$!?(w+<d%|<t=<MiEiZ;AM-Oxz^De*AF
zN!34Xek^njr$S`gmc&l(6(KZ7K9MV;Ejb|x5;6(Ink_Q^o#6w%vNhe}m*fZ#bRkhF
zsfTA6oyNzgnv+|Tx_87}RHKS<7J<S)V-llydsiBhC5S#%JxWap%-jgK8ILFB&)~V*
zK-ub9_h6x-WWF}22Xk}nWI&V85~7#pmj=5StPS^G7s@cSPDZsd*{Z3cVA`n_<y1At
zI+^U!ViS4tf-QbgrX$+`Q$(eUl|$?_jge}Zwq0_nZ-~zU9>3{*v)`jDyto3jl=h9H
zC$Vk{6_T#AWh_ztd&8$42PsGT6!M#^=g8r=_o9}V*SF<$%NwffbUVM}^-X*SB-Ns?
zBLxSZ)<vA!(tgWqUSc9|IzlH_oSMJ{2#v^q;G{gu=LY5#P1+3K?*VnB>ABbCn@y;F
zxojg+Ndl+eF_6rHv^MyTIQRT8;+MG0&RV>CU|Zp}yBOF%`jFVv4_{OqkiN=HfJx~6
zmieT!iO`;sB>Lub1fagMn%Ga_5>K<vL?%4(CV5TML*~E3UYiUxLoM^v1{u29e~|2j
zB_ja52kPPV=-z$<{P4EVlG-5pDg-&)&A!-Od`j92iBX|x+~CfMhWQBp`$EvUF+ht$
zaL0m;j<hxML+83yQPaT`{x{aVhUBY<q~An%kon{$&sgYVDxB7YBZzpQ1<I_&AgXAW
zSf_fzTPpI8jlC7y7_0|v!>`}jgBz>BMiX>UIV-1?lFD$4H&K|$U65nxD@FO-n!9K~
z)j{YWO!~%Ry8QkwBmer8%K@xe^6P4#y=gtAmBR*qDvZW24FmifJ^%?o_P<ki5Md@4
z+k<m7bKfI{EXW9Jgm;SVZ_{Yp3tC=HqQI))^;2h%*06rDVse~VWPtMd4KwMUOXu!s
zf8Dq>e)u4kU66F!>})8*A^0n$f=(9V@Y|>@)h#i0CK8|r-C^Pb0`-{mUU}nYxJQZe
zpo0<WdX<0^U-Up;1s_0?pQ{`O#;zGOfWb_L9qi&}a*Uxk>-YefU>kG>`(~G5SBkWg
zA)e(V!<J|;oHR7WSlFybgRMbQW~yviJgt6mOtdr*)@R76IlPqLbO@3iao?SOlbljt
z97jHAMtoEoZo&{V)Gsv^8nuu4e)zi3Jg2i*{u=Nj3zk+-c_T)AzrWGsFRJH{>9uCL
zh#?bbRvn{_67Gd11QqMIvB8C|{f{YFhC$H>P`@|`lS)CzrBmaI0N<@b5C}6X1BI1x
zML=lLbL)2RHU;kX{9=u>%!IBWQU<JJk!9k$_StJ`uGfWZlA|*L!0(}$&if@9<7VU|
zuiD1WpgK_<Y);PLD)?Z@Q0ng<^os>nx`I^$w+w%#Qt3=Zp?=hX-1=>|c=>tkqQZ?u
zC(UelTAX`p*aSxkB%Dj&irEDT-fTJ}qTk7oa+Xfg1j3yo%zkf=-~(dMKD7M%z3V3X
z^jZhjBo-7|YU3}PyVGj>m9y#P_t!Ub?=T9EG%sN9N=kUyYjEiC?9+9XG}*I3lH+|o
zD~Exef9Ge^!<y6RdIy1};CX}|-XLMSj(zuqoDa-n%Q@of{$=nq``eVT2SJ^NS@X2<
z6WaOR1DZ?Jn2f21Z*f$k8nS4dSA+YDH8?$;A+p{Z(wbG61USuOxkJ$*@Hy?@Ax53M
zl+mhO;m{=ByY!z8)(Nk>Wp6B=y?tK7>4Cx+OojtcT~EP%LmM+L>~aX2+atHooqF#9
z1;w>KWC1Q<uxq3;Mt!^ck}FYrG9y+I11M?@x-ZV~3K#PTh+ig5)1Ao>WEWo!D4al?
zplgxa_KfNcrFe!iF%pwNP8L)Dh2BFG`NSuThEc$st{>-~5C(b~*JhkmaUo+~=@u_E
zU1sbR^03Hv4|(YBE*5p)UIUlUDNjv1ZKlXzg!uizarWA!(-ryv$B0bpc{J#NAl#k0
zc{7Jwz}#CFf}EN_Hf0<nztLoU{3U&7DcG+d3)-p!lxr9xLd>;UWmX8IQL!pkWJ!{Y
zkm!p9w7q1U-InNv&WhjRCph2RL;$(fX*e}!CE{rp!w?D9C>0`QQe=%Mq-#!kcYP-4
zqg7vG8n9AL4k`nsH$dk|(!BGG!;@TzseZP6ufrYVqs*gos5DYjH&Y@L2PT*)sW(0`
zaWDcvyawFsV=5vxna6?IyJm0>st_ePSmhM8O~i%H?Hj@T^DJAfaYK;tvNeo4R|XZ5
zwR5GzUmV7<##^I4RMs$;$Q!A$47(l?-4I7HK*rbRbI9?9sxOMR#=u${nuiYD>!=VW
z&V-6py@Z*Gk3JVY4G_jl9+#B3B%2d&x=706Sqq#wq(y23RL!O`G;aO9qlLHzG-6L|
z6?!3t<?tfv7(lz4SvERYv;(04^7qZGvaEfW*e{-V6Qb)DVKAQPw{d_N#qE^_-bg*J
zN8z$cK>zx4fIe&EJdo&uDEd`|5pV&dI}?RO`xy4X7dQ17^r0bU1Xy{fWhN_BT8f++
zr{9|f*%tLyKFBf6`)YUg)D2U{TyfL*6>KNAkO*S2Lwf?;fAcRp3Nd{GV}Z7hoZyUu
z9Q5U7+HM}-RccJll%x#}LsuigHMbsZ!5!@eYruWF?$8f&M~*-s`ndSz3|O#QvmG<U
zCBKowDHEhn7|`0bjI5@y@BN*(JukodmaD$}IU>wj%zn_Ym@TAdZ5tP3mRUpauT0j!
zet>SrD<GEKV4mFcykrG0`@oM#?l$evCl2Iy1q(BTOBr7m3wwm0-lJu}g?G7J{Jjk%
zlG6Q{#{qD4(KO5G=h@vbU!l8MCV<he9F7Nc!+MBr3-coH?QO9!9pfTQZoYyUw3=A9
zcL&-b(!vH8_e?*Vw`|iW1V7)TAJWArFe9HA+W+=R5Mwfc0hQmD$X1Y1VDBH^r-$|f
z{6v7+j)FapS!jOVUT`I(3SdK)r2-r}KIQ+2taO;#_}h?#$OC9fX2SR1jt?gfZF6Jf
zq9I2yib<`k>8CgbBK<i|%my!-z@0eYe2|858Zkn8RhC~zY!0jKo0`%;L-n?|4_|sd
z`LFjZ3V{Zq{`M-EoXOxg-ga+9yhDulN$X^XAK~;{ks~@6r1~tM$4BetaHmWQUseWo
zgvMe+2Y053DdohSL6yvQq7rZ?<?kVKxw0oEbfU8a{_Wkkp!zs$5Mb~o_$C$G*{mq~
zmh-w4CYK)_%(-v>;8O&|ws9L5OpbpBE$pKJaKhR=hQQ@n<MVJ&C~NTr0<@q6zz3y#
z`vDkMR>Co<i12mpmn{ch?}|ZR8!rU>_@KTvq-EE#qTlTM@(C^O4qHooA#^$6HQ1ny
zNWM`6T5V?72SFT>S@KsFb5S&AaLHC6d}Ds3|Gqizvy@d+Xt)~>1L@Jk^MHr}<Y+6t
z!sqfK&@ToSxL8yY&7zoQz*?mCG~ygPaXD^pBi;ISQ_2OU7Lo?JPnI9+&xYX;;falU
z%9kV!y*M)Ta-I&;$Y9aXGnk9*r~VGuO}61igS;?O^+#`QlE9+)Bt`U=+;JcIcZM^0
z;E*ntXfj1mzOq1SoziMANQ8qt+{3VoByG2(82Ukq^R}3elS-?xc3@oLxlYz<v!Fbg
zlK4k2H4H`+{DP6;cs3u2W2M+ON^t})x)_Ej8KDzw&#5Z%b}FG^#QC?j3rNj#FcLZR
zz-FoDZ*sHfZBO#^x{s&Oq?A8|a-QoCs&zci1`GwwSn@x5<uZorr52Z|I8M;~tfxM{
zt-`ufUcO=8BahGy)JVJo2_nSLLJ#PbMm$jDmDPV&vfC56^p3q?$0g_neqpqr$G_Yd
zJm>0}Ne+ReAE!liH}yi?>#a40<0TURr9QZCJCV8i2fRuE$A0(hxfqO^giNEutD~kI
zdzRnrT<bV@zLw@Is5Qs%Lk6nghA=Uy>Y7K&Cd<AWd<FL_KjJ>=U%kM(!7kK?^O(0s
z$twES)xYzY?mHi@{qU}m?(bA<P9OQ&Ofyns=OZJINR<%)B=Zo%CXPmp6>h#?QAjZY
zbjlcGsuIWmwWC2sOHw-2tKknf^8iby*Ysouuy@m%GT?)g&)=KO*4qT0s{!Fo%;KGX
zTdZ)Q)Kep3R#tFNFCvJK%<vuUSaQ|j*5j#!?zSl%<l_?3!ZA-Jui5vS5FsRo6%Yeb
zudc;Ia|3H_-;2Hg8m~!&O>bdnOUvUyuKid<rr+{6iA$6L@6eIed|5sR6TacQEn%dU
zONuwazUdy-uY!A;Y6zeFE~!cz%lXCC{2sm*kbVkg0uecUgA0d?1X(vsVd<%GAEBzU
zqSFyyJZ>j1DU;YqzC1=!J!%QW%f4=CC^O;%u%+kP+c^%hRrtuQk<N_8*Hq_Y7>*BB
zKGEiZjKH3^!in#9gKiNDuB@CG+uv?ntG}_Pk@9c$nE}xNY{Y&Dr;6-2>hu?h(55@(
z53OUI-_&L&@l=T(#TjGd1c8eUpauKr7;-p7W5Oh{=m8G$M2DgjO&pwY)26hEqp=t2
z(k;E%_Fd(`F$khYXqfp>ThApMZhz4}l^^(14AeV{@aW)4p??~MVIFV&yc*y%-6dEj
za&CJjJqK*$tM3>WROZf+Z!X}I5CYH?#{s~99G%B@t1uXZABY9LEluye@2IAO>G1TI
z+*NW8iH)RRGv81oTAf=myYoSg1R`1~x>(AK)on~9J?T{hOoF7eq-x>uPJ!c4h5h_`
zl?El%Scf~xD%R{468w(oIDDW^Y9&;%WWpCPfr5ePT(UGK3mll<v5jY19XxS{ei995
zaR=nt+c-_Fjt7D2%GOg|7)wYfG&_Qf(fJ+&`K&TY<I^&#FOv01HOIsyOVi)IAfwcv
zOgXI>$Qz39V;WarSPIFmR6Xi}rK0krw|LZ;AVZ}ZC?KTo4irryvjiG2dJy~~M6#rw
zenilA#G84b^8D3E)y<1KCH9M7>&P=f0&Vv?$kX^2-m{KPY*-dP_`1q?et6My`z+Tn
zys8GdLjutJ!5>OLYz89PnRi#NLGe9oXV>}sVkqX1(L}gvaiGj1QjXp>H`n#$gPpQ1
zo=Glv_o1<k0D^=C0k1<4Xv|^&Snx$&%vVU5%XG7T2SP7E$$HGmTv9^B%)T|;R5n<C
z@B@8Cp3q}DqNqHvG)6=v@`K~A*@$^DHYGF=mXQ&mRg>rfeRkl6`e-F*@*9p3&*CPn
zP`GQGT81qt4f0Awr}1E4usdkUS$!zd%YFWnFH2j)#41@FS$6{k>KYnD@CY}f^yJmP
zBhULADP?8#{mxWQ2BNf|JZ`EsIGJ~?&{f;PG{^{RQF0If0H{P2-UD*oEKGV2ZIivG
z?oeW?Hlv12Am6W<Vf=N3;uf>u^F7Aw%_E_?0s4mO_Oj@D0X9iPPNM-<K{tdjJX=3_
zL^cz+DKy4#lcQbv%Z3)F)6jkA>!(`CuXALGSQ2|`V4`qi4ExEheurT@+=vCk%E-n_
z`<GJ487E*5Ye_zLo8|}rP{FM((q>Ic$>*h(=Xet@5RS20ZFn=oJL!1fo2?VGU<!bm
zs*!Z^<!KS)I3<#ng~m)LbBvf4HT$@vv@9kPsZU83yKybwM@#2-fS!!A4pV78hRtfT
z1tin#hF&tXh2O}X!TcgNjUcmNtZ79rhUp0;CXWF*=qdh9GYfwf^n*_?Lb~nL`rJ6e
zU1A4GQRe$O(!~Xcq5h;p)?1g@^I~l{v>}}R6$4+4)VYl+YGb5arv`4hpOY1F4r7=^
zYb2-WJ)c#kYodWi8I*9Bjz-A5pXyZKx^V9x9-r2s!0(B_V=Y0Pq0pm9JCwg%%gFnt
z3YY=npdQO7a)^PZQDZxa2q>&fhVI~?b+k2D+FF(*5$V=lUzHGwB}WB7t#m{aG7#BQ
z2~iCY#{7C=I2uU@hl2eT#=m-IOWyw5^3+|+cizj(ZlNag!0D+%s=nsY2mIv{2<1PM
z_-)SCSXPqr)v-ZuQjr~usr#JO$#||X!VZhKboQ(vVh;MW@jPazo@G_~g6eL4A?|Y<
zZwvaMG}R<XzE66l2!c-SA)1y~NC{+X{2g=eWENBOdC0eqz#WqJ9mHWvD=7i4fVc(M
zokt|h^KkNlPL256M@^;iN}=1XN3R$}c_62jD#)a|VRC=ldBsw?O$8)`Fw&@p#;Cfo
zd@0i~?3TV=?n-PRjJ|(k`6GUmiC$oq{k{46wT6d_T(Y6@zb(e<puou<LQ##HRhW<$
z6ccAH=I?A-{G6JvQjBVzvjEylJ$&yf8YrX?!eRq>(Qx$WHI-U=Eg0Y?6>lQLDWK}*
z4ZTSZh7b0prl@^hfQj6f+LB|BeuqCm1ssd=@Ej0%A5v$&odf8OU>46AM+9wr$IA5)
zEf4LjLOVEHpeIaU+`-K72Oc(67^DXtNrDs8M}ffrQ$Vc0Z3?7Dw7%fmt@*DF0wuQp
z){*6ImpybI*kpyuWs!aPF{L)in$<_{brK5WeR%-7kGT)X)9ETv;x(eD%{}m3Di<DD
zkTq0^WU0JDDn09ZOGVu5sFC09Ub8;^dsLpwl|bL*uFTLcXyO(5g+ns)&9r{SDK!%`
zK`_O(q%hs`d;a}hJIhU3xdRJ{*sCR~HHHWTMKQ2f(X*6AIn%YzDO3z&Eeoj!fL29g
zKQS2hssq~5ceU+cxOsRwZ?dT6c>5{f-9!++y>3$SNsJ)ii&lj!wun6^J+Wb?RNKYw
zc>vWYH)-ABC*zHf&dy5G$fK#R=<*L~8|}B*wq<5_nDgfn;MGZ5@_7K*M!;nQhRgz>
zLRoAfO_*I#TX>cqjnS2iAmK>)ev(yL?R)H5zXs%P8zSKmIF1%Div8Sv+lL-MwzQj7
z@I!!*vgAxUEbg-5PyWsnEb6T^=%3rRNpu1*P$J;G@6)(pbIPbPY}Y{3sUvWo>_`Il
zIBIX;sA_aQss;m!okQO^*U-1*3F)b0WWHMy?h)p`z~z<gsGV-DR>Y)+jR{{LVa->l
z#kJat&4Z9})XnxjSxy!5kt_1~N!?0DGSwbt^&zrhtO_xaZnsKgS_l@cM>or>sr@)~
zu?}Xu`mH%%N@^ZDl!L3w-#wwc?b!_@WAu1lO2<P?<?~G5+0WrsV(HP8@UmR-J<X~p
zhk9AW&2)F8Y6lOjAHYFV^_3T;Z6lp&kljRKGQ^C~5s%plkP|DmY>6~FTAwz{iUZtU
z4xe$2r+(r~f2!zf2Pp{i1#Xd5_>lOb!o^Ec&)|<52Lzie`|-}gbw3;w1Sj4ywngnW
z%YMu&CNY-HsO4zCkqwgEbOtZZ-Mcr-FGxQx;9NI8OWDX<18{|QvG4nb2F%y`uJLZm
zo;=V=32wO15>LCwgs#&a^{g_DLK0xJpa}-4?30X%Yib0FtJB6YFUpek5G!d2F#0)=
z^Ry4_GPVkx`8WC7v$1TU@Pm;wCNGxwi|*O`8Cu9m+)>h<(7qxWcX)J_Df|hDcKB#T
zx_IieQ9-gq7`kPCNNE;0lIYRSX1iM&NUxsp!#-?RGpsyMU!G;|?#p_P$HofF=g%xW
zrt~0VL;(nrXESIe$MJgX&YRzalTE+$JWh^fXXUq<m-+tv?^HaI83jO3^8S{bA>n8u
z=b=DS^uS4-M1%0K$0CBkk`4$FG~NLKK!n~TL?Tb?Ily>DM?BISg=>DBU^$x68pR;J
zc~gthb`J52ZK9jbs!yhyf<C8*W=cH_ppkmwWG7SGs;N^wEVdfdY4W#Pt_Qp|q6u?M
zjo$T>!noR#;6n7<%$`sy&0I>0z+eRo<i^~4W#>$|2fTaH-%8f6!v>GE>+R|$iGew1
z7K8q-5su#1(I4I$n^}&#WYEAlWOwNO^pVf|h3`x^W5GoFC(6uSqCpV$kD-XalhXB=
zPZ8Sf<!%JUdIKZTTKYmLJrENyJ7BtJB_t)Tf2bvPw3pkeIpC@!V57!TY!k=9r<KAY
ztVM~7$PfR-Wqq$&sEfrG6O0qiKN<%e0KfF$!%7G6JhAun2S3`sp8@}SB?0mlBr!e#
zOlk6M`3^MPt$I)*4pwZQS5}8-H%#r()JGAXk6^FB?lfTW4dV?Ye~aGSoU?j{bNfta
zAX3Gr8l4p|{a2?8w4}HnwI0fbTGiK|LjGFTR!V3BTcwF8aXC<n;k3rbn*$cBS%N{o
zrMnQ8dzJGxvq6Ur>9cyi+7_N!Uzj3g5{#HRTD5sF4zeGYa`&UP8>r?oXL^h7GM_9Q
z`T{ZlS}?ky!;8JgpeHd?4k<&jz8d==n_O4jk)t6IP;?if4-1vu@_h12?beXHs<;8@
z&sC>ff}|pKVAJKbB)i*>QRDKre7K$gwZ`C5fiyyOcMKW@5d$mAXsOjxlv=wZp&kr0
zB)<}jzunAkGWIMwOL92M_U$j_B+tD2P?4$ZFNPh&5vdXe;amC6xM4&4ZsG8uF|1+#
z?Z4v38rnTIr8FKaJ>DiX6(IBmNtE3F#`6Sgya`<1eBcu_S;dNAW^RZ8`-80yPFV6H
z*n6n2<8Q)m)h(0y)X0|s)-~m2yXd$}qdpuMDUTr4rDbjUu_RzPnN%>V#M#~Q)d(B&
zv&5{X<RumehF7yUK^oTR1&QkECuZuIg>KHxm5iJmGIn!{+FsioX2MMJvy%@wB9uUw
zsab5w-?L2cUqF-qgQC|PjCM;U>L<X({>MrqXM@XD*T~?-TQRPj0FuohhpW^q7-uW6
z*lJ)%6y<h-F^nqd?bw#Qo{<&q_tVC*0ZU+utr#q=i>;{gSP5QUo4bN@#f0s!Yq93I
z5Osr&90#CCfjVMI0*y|=^n(jC4tNJ4nsA63+-YKC-!w3)KakzNu|F__>Pu6`;2h7B
zEhR39><=%}V}gkj5O7+|m*zZtiu_wX%$QNI;1EQr4lB0p!M(Yd3u^`uqG;3?W5A#=
zTT3rJ)Br+HSf#m$yAjxs3-qF?o%PP`_w`Te%V^h{{g!w5$=1LP|E=c);sc6`NCZHu
zk^#xTJz{wc0)PF_XOkOVR>23ApF3}zT=lJ0_bPs7$Jp7&V}Q6kj#N^Di>F|Aey@Pk
zkCoFT-bWjuo2kL=`a<<3EyBkxThF+XBJUt|6FyF<MBnE122x!<WxC(d0X3m9I_j4d
zuIri>V+r}hKPqJdZy?A4-A3B-u+%`P3b4)y263$ypCvg+Y3x_R$ouuM7p*IUR~1SK
zE8TiEh9YFwHPo9^p70k@kGQrMOFgN34N?%N1Ux@Lcn{KnNEXYh!ZF+Jw+1Ms3U<!9
zaKH?mO<e;vH&OKv;dEX1r)Ao@*=|mNI4R(UAn`6?Z0eS7M-k|joB5G9YW}U)!@a4v
zB9R^5P8>3krgvOC&g2VV0Eb19P46=%*qVYMv7Y0wY}vF0{1)y{5XihErq|#hl+>ZP
z_@YMZ^q$$s#7yX@qk7M{cI(kBJ%Y-TdvOz)6PVVk2(-~#c*;=7;gG5tpZ*GHO4Am2
zjy3@SrtVQ1v+{|eDqdP`7R8kZtmXPN%E|$pIh%+aP4Ke3qlZWv-FH~ari?3yBwpWL
zsF#)Cz0qdOXpC%x8QpSx8cnV_NYB<B(L9BXR8WhaP?dm+m|ukOx*BnHb*wt1M7b0a
zSNx9cO1<IK`+T9cEIM2KUF%j{-sgFt_`J)`X08iEf~J44zeU<CL^MCi;IEO)&1sc+
z@5m%9DqG1rS8EJ(V2QLst}W8c`<6g#@w6~TC%}F`WC;tE<wEkM1vAXYRygrq+al~M
zhx_==m3IJ0bd7&7PReiXBs^jDsxEs-_kweN!z22|Xap9T4P^RQQ|R;2eTGY@OiP%3
z92M8+iLS&c+^L@6KB<_Aq%r~}K7R9TcVrcT;}6@aCMLk{?~y0;du^3>8ndCs5Y;Sg
z-LKV&|6pp3t@%5P8*8Q&MO;mJ_^fh0aMw+O>MCZJcG7VXQ?3jBohAlbz<MpR3S#Gb
zkq0+|tn|dgn2?9R^qI<*coeByTn=<}O-L-C$PJsIQE%uUQ_ax#WMER=e;xdz<*t?E
zj30Nl&QFjl$EOI(V~)`eiStMXjGVC9blj`^PGS<d<!MT9OG?`xWR`LJ<>le2b_`3?
zE~Q_|WIMs@{Xd47Ph?_8?{x|FYUKf;a(0=<AF}0sMPHpnWa+&Px*)anaP-o6-d;3q
zWc={Yt%(d4*IT_A@f)4#x{0sp6KYu=mJfV}%uI&?k6NPhrs5xDT_FJ4bg?ESgysf=
zE<uH;pMpO<vJN6NzKj95kt8PAJug=}Cxa&uaB=xm30)YIVKCJ%GaTc3A%$<qtbgar
z)Efx)!;*2FbNI&(u-kzcoD52&n7x*1gNWvc?43I@W{j!z9a&nBB9Po#2RU3uGu6uu
zo?NI0i$|IwN2ER+k*KKDvG*B^{M(TwXDOW-b>ps#ylE`Vec8I0(!J*!Tw*jV`Sby<
zsIX)uVI+Qu%(UnBjdXGOVX*A;mSG_VV;Zlg2rVI%m%eH-2&0k+ehy0Vb&FCbh_~m+
zJ5zo57*K2I+)%#&kfnWMPWH7O-*7TMipldz0H0`>Z;8=ABp|<9DDP-eJUsZi?kGoz
z0v`$%!*xb}byP2Ti@yieZju8wj9)-T;|Cmf)90r*Biux3M*Pr}_Ry@r&3$&yP*VdY
zD+b1M!hI0D<A_TG&-++UUEo|?9Lv;m7ZW70_#~x4g+<tw8||oVMt#-A$%$y>X4oCW
zwh<ue@8twFcyL^?YBNNt00q+p)&;-M@f>dQytFsu=Z$j~ODCL={8&&@@LcgRi@#79
z7>nFrSI#7{ic_lXT2IHNSJR{7!b#ZTJ?UDk+Vk2|KRmcd1ABXwKU(_SE-^F8kM?tZ
z-p-wVq#7gnNSx3u`EFZ}$Jbl*^Y3v|LA(KK&QhzyF>dIgm_pS^eArPSl5&v2Jcx{4
zE$FK`RxmDnS1f3#jA4YLd`4|Qv%R3p(=R=G9D5T=>_D+{pGV=ehSG_)$8kP_cdH}t
z`fviQ06PShqJ0ocYW3vx)pM^S?RcX(&ArW{u{R*wXtCB?_SO)EITf_p)u%@S!StHN
zvL#~svJ2YG^#BTkOoSP{0LnWiry(wA^v0XE7mzQMH6Z`975xy|ya0G1X|UxBISka~
zt`fbquL=781Lf=|2h`KqwEFFuSzYMMe<;eM8uQetJ&b$0_^vw3ffNpHJ%f(q(L3m*
z>V;`7A8x_EG3}LR6|zUbrW@y5FU)($kr!)PTC*|Z`_j(zE2ZRk9Pi)CQZtJ3NyCE#
z?yC<Aq*<1QquhJ`8|9)$n`{n|Suvjzwl-T2_Q1RY;U_6V1KjfyH)Lm+mgyZ7GwfI(
za^LYfDjHXkfZArnzMu{D{Iy?BHtl;$5@;tOSwsZJEF7NVILjzP8K9LKIe{n4LPh%j
zI~vB&`<fH!Bf7t4sb26pVENXNBtbG>R^?-`6aY8dg(twbw|1w$A464I<F|r}r5|6{
zt-&`}j7)GKB&Ul2mcB)ea$^8(z<$Pp@Ck;&CqoH%b#Cl<`X)6rda;<^E@(-fEZpns
z<z$rl&HHIa(bFm`HD8-#kl&I)j#zAsjfqMyya42+cdAm_*hfn=Cz<Tc?<+mKHSqgo
zk)J5(rLi3Zf=o{BB|Us4&A4%#OeBMzIe1*|_wRUhmzbm|d;dqjo%K`J>ndDvE4utl
zL(WT<6<A2rK%-I;C#PKA0=22OI=_%*ii*Wy`eW0&DBJ+?LeX!Szk}!8nv8+5f{I1=
zW9-|sUdjM`yAJugAn$y2s}Y45?;&7AgVbQr(Ji}zZ2U=^#yNRwG4!C&#Ll0t_(8^2
z5Lz8Tkg0yCF<T4<xs3D2WoS?odq5Lxj>Z!n&EPn4Dn^1ouT2oizYS6yN>uHT8YABP
zZ2AR*qh!Q9YxgB1AsTJ#{7E6x+_II2VvG#e{zypDS+qIxD2h(j-%~e<IQOIUuv2Uj
zbBjPl4=F-2gcW#@04gO|>xIj<`%fM&)W~<;WoJu(UPbzoZD?z{Py8L-9WV+p=8mJe
z0TsiL!9QpNNW=w4LT;f#>%>ys{Mpfz&GZ0TC}N_(J5)5GU}37-bM!2h(`p?#%dY{9
zdW)7e&RqP=liQ4ua#sxHHDg{_TK%zC`n5=8gg3gDexH!E8a$zB#+diO-c2ti=j>LN
zPcf&v4bSH?Hj=`>!64g(<*hlKU_KE{fkIEy(epj+jD}DBDON)_kvm<2&&40RGcd}6
z1q2OnWR(|RAd%}%?w@Vm+_n6grVooeUFHOi)ez4q@`4WJJu+LHA)23-hrPB(DG#(^
z<rs;Rbth!n->nPtx-oJl%M4cKW$B7)q@jp+;8dXSrhppubOq#ZZmG#{%+Z=43gD!T
zvHz7m`ew9NTz*4Uk-2~09bJ|5F_4&{&?H5=buc9vxu-V6LRT4*1%r`see2;RES@)5
zP0jHbHPy6FZC0J7h`eHy{6N-O$e@;6o(mFrIAZ1#(?*rV<ns(#mDCKFJ%)9vp1PlD
z{316Jipot86!U---IUG)6y9Be)b3W_Wn3%o_7B0w0LpK4Lh-?*)++%9U4ri)ZZZuo
ziC=E20Kj)BfZQLx!r9^Y2rH_5$P^@MPuf|e^#f{F&%H9gBg3Hc`x9*K0FZdgf~PXP
zk~v}s-3IPOkfEb@8|pN>eXE-1jaUiFZDR<q=aU2GHG-hpZ?n1n_{#V0W*4yMvcOu&
z^Y7`d#fr1rg*3VDWp5`7OI6UeH%Jm~tH)4OyoQ?qyubu(DIR6w6rkzIU|w^)fk6#j
zRXF2iWs3{*XW&||d=`8bb>uTNncH0OLuBk&yJ3J~mOrjz&xQg99cAPIQx4Gf%sJK@
zapc%U;wB-MTZ4H}UVR5&LPUw~6EIa8zt7pvEM)Sb%}*hUWv_C;G5Sc^wtZ;TaBmD`
zXL)S%(p^9I<xy2dZ|$+4^mZ%|9{y~v=McO+uM+8i>I)-6Ge^5GGPR9j?h4HiRdU7I
z=~<k`<ICfh(O}Im-1vS}#&uYzIc(lfuYjDtw9u7d9H%a&NVM`w%I=86)xM8UaVU8d
zx5e+chTD6J=6m~wl3kcYx6R}Z;SmyVslL-YnYeyikwUecpehD>A@>m|VA9K;I30b-
z%8m;CTOA0wP*^2O?;Jui7^T6tpQmGx!8RCd6(<&!Jr--j?Xx~IIRGJ+N!&7KDiBB0
z)eqMC42s33X!3z+3UQzr7gUlSm(7tX`{SAC31-<jonO45CT%&Wa(EJGrd`r~z67v|
ziaJYP9B<C(Wb`;B^fCKy2&h5oM6*7Ac6tgdw4ORoLh$9n&lBLNTRy5N#>bu{VA{I}
zbPKB@g%mOi=VJexxJ$SD(TuXa6NY=weLEWgA~MOLBr66hp^X$Ci@0b5ybJ;nkFF4d
z`~Wzi2SqNzK;1=lGs~#b)Vj6d#eMo`43B?q*2ztT*m7c;7dGW#xGK2Z%6TqM3Q$XJ
zE@Awb-{+U?zh<Uo$cL(OSXdNc)-xJLI%E!q+vn)-9d?Y4BIEAg2?W_a{`^XWS|2CN
zhUAwY!m-2iHKEg63PprYKk8WeBNc99t~d@vC3}Pth`{d_q9sSX;jqlXPqs@*5pXY(
z;lNyiI^4S=1Jnj-rKpB4Lf+9%4<~!Jra?7EWY**m^hvJ}KF=VOD6B!@6XMTfWY99q
zpm6)!p_Vb03`WXI*J{y_vN5a6Px*vPv*k!j+Ax_54FOPk8m2>#Dmwz?d96v)n4eBH
zx1^TwsN4W@m!{?qWcf;TuP;(P(JwZ&<lCjzrsx(1UlTHxD-pw@U4+*9#kRO3bWu9j
zkV&km+e&hA5vxV9ZuFuJfr#?U>gJo&mLzVilYzk-LDBe#el)Dk!zEDd@9*^7(d&P&
zSo;g9S22Q1E7}$=5mLj4GR769=Q&wo1;aK~%mnVn-H{jk2MG2j8lSpxSM(=|#jc_#
z2=VCnXuZWjj$(zwkv-20aV;E#UV&a)#W9Glgj>z{{W2(9iOJS?NHgrDiOO8(h$d+}
zr8CBY?B}Oh5rkIKT=tF^t;IXXmp&WQrJi^$r%H*KG8+6SMNuZX?@o}DpRGhb^kV=w
zh2aigR5HZ@Wl=s#Rxj8dSKS|nWG{!nwki`yZgpX`s}Lm|BBUEKIc=FshJr`O_MK2+
zROQF{w#zb`)w`<=gBRr1NOrVCfQ&s=RF3xOSo{Z#fmhNw<y+SLvvwY_@%?%m*L8cR
zzf*McHhhcCz$*Mp7cRZ%8-)H;Bs~P!<;Q_Cj_Fn^C1o?O6}Ag>JqVf)Jdx8xlu?$Z
z7LmWJK29$B0Ia6W&862Z@gA0`QNNYccnYo+i>2n=VHplKw{i#D5lG`e5n}o<Mp)zc
zqj$hA-jOeX$@6Ylw+vf|yQ$P1*57RhwD}c6NLoEi^^c+t-QS`N-&M0uGCuOpgUGG`
z@}>A`r4KGp1SuA!R2j<rTtjj=8y2|nY?x?wn2EEZT=}tFI{*0qbzXs+q?=3n>^dSp
zODJ7ogW%d6>lNI)4#h>NrbO#wONNnbFPTrh>1bzEQd$_JoWEFb1E=QlJI!%Ke~=Tv
zez5G8f`bH)<FvLQMycPm9BJ2}A@I}B77wQ${wUjz>EBN>RgAz*V)dWyqQLnZhHW5!
zKJ4e?`VJFl=Ss_6p8*_8K6nh1S~HLEdOHi0r6O?l87D^vDh@ViO33nUrKK!&swjAO
z?(q9kF#lMjJMm`IioOM41`&!K#sIFmqN6`?%L@<}ytY%ugxnM6wXI{|-efBMI{Wr}
zn<Pw8oAshv7c1gdO^cV}IftPbdnG0fXa&o`Aqy|VE10AVl>lg$Mv}akqdwW7HRn9?
zUV7z=EmJ*r^uADolHS;y%&q7xuF<9q8QxIEiTs^(8V^%792*>c5g@mh0NBpk256WY
zw*uv@b)=gWafafNzIwUjtCfW&1iTH}PvC7^coj9^epwFMf7M~2;+3*}#zzylC8E*C
zent)PEv>0e{`Rs0^f&LByJ|$dwj_R#{@&nj`VvSmWffVI_165|ee~I@%q?&g%TH=I
z3vL!s4h>!6vf0KhExApAxi4*c5P)M+=|%^5WnlO6ZlH~N6q4@S!xJ+&hpvK-H8_)`
z#eaFTL95EBzEoBq-#0Xeuo*#-a&uZVdt1?X;WpcwEMWI`V|o@8;#O`XWz8em1;b-k
z5kFcDaSk_$ZHjjzjs@+~vK)<4_wzk!Ga|)nOYUFivo;KTl1J-L&W~%zhezL3i{&^8
zVqAp6->uFQ^z|0-0thVwt^WP0F1M4g1Og~Gp40w@Sbm4Ii%2GuQ0g^3P|SsuPMaby
zE2YF@Ut~ILYfUZorCLzG9ui>LiX5t2J+7?$DG8l4*qy@ND8`=otV%}>uEZM8i>Qe7
zxEkH02%8geM^%r1<mUI(dyPBUu{X@q59A^|(KoEeNm*>I{zE{WdbneB*aY;6ofZy|
z5D~C`mbKEGA9>8|S_qW7z8nb;z4o$Hu~A2=<gJX}U%8W=b(b#vIRd<O4v&vVoGc?N
z-h~%ci&(o3AL?-uzc%&u#FrN8e%R6b{Cbu=Wp4LTve!@jX1SyFo_nJ4v}?ydvK)#J
zygaR6#ghM8M=#mr`2CnVXs0s`1N^m`Xumin!K{T}3jK`%pIGNO=O(jBmIw*e2fG8@
z4?AUVZHH90#8;8Ye``^Oc*dJlUj3*fUg=Y;03s?dvH_cmi#+<7ODpuC%zag?-YTD(
z@^u1D?(HIo_&i+O;^Ozs!)|gB0Q1@dB#H!TZ@UyQ)K->EZ&_>rBCQJ~!wWAX3hZuv
zC3d2IshMbTt^ZC@6c+wd_-(!{nLAet*~=Hl?<aL->TzSpBI#|(W7}v)b50!oTE$PM
z4!`R|eI${rzA_E~l0&bEsu?nPX3Is^IEU~1k#C1(mgO25kX;&q;Yq7;%lYsebinpa
zB_;6e<*bec7S^0fNe*Os9>;zmpS$CNNBywD{$@Gxq2X$P4XbDZYkb(uB~W4pzN`fz
zywbPOkr7~G^PY_Ajw+B4T227}y<lVr=XotFiEZ*UyCPgXa}i!XP5EY124ngPT`d5A
zKL6J|qaqboQ4xem`q!$!lC+G2QP~f79GECdY7pei?8ZW>;@JvU)RN4%zCC81X&b(f
zJCX#WDr$&GKIfCb2+SYl(|<N1qg%r?ovGTfGw2}CV>GzN4)1sDliuV8g!2}%CgwVQ
zDacgelIqXko-Ui!3%tU>Wa*$08=1KkK#6Jqu%3E~x<Yrk+YPXS5?CDpwW`~EO`?;@
ziftIe++fA+Ma8hc$hbz9FheLI^lut8_+&#WYSMKJ^c)T+;em{nJl7A-|9xl7_ZADN
zF#8d1=R;@c(Learc3G&>0Np^TXYRW>huiNF?JNr?4<8k3!u<|V+cvg3s>no6#Pxzf
zu{#MXiP0_NkO2r!-eh4#Vt6rN6ICe1x;Rc=&#QCXGaE5E>?KRQu{VIl$gt30IqGZM
z3hnL$&Qjw$euw1B0o6Xf;Z<J5IYyQQpTeb8+Cb!Xq={NidHeu5p~fVSQvF>Hz7XV!
zC6c_Q{z+`7iNP1TxW@{bXWOvqTs{Is_HU}XXZX_Jq$cGpdq{g6Ewpp#i|Er9%Csaa
zi_CcEpxlvbh|>}*?yr#X*OXdCd61L?M2G77!#m#^RX2ORiste_aj(gMpCf>Zy+|8_
zhHEU$ZxH=ZSTUaXx>;3t8VFck>JojoJQZA;Ozh~XArOSGxk(O_@0rBxKHhHfoX^DM
zIq(kr9G@sDxJqcPMg`2}Iv~`2@S%#8+-E_VFvN`&Jt$mHji3qX0!YZTpQ{@ver1IB
z!=uAO_Hxs5lpEU{jgX=YE;wMR2#FJsUx%2Vz$sjr4|_)kH)xhCtc`F4saHe{jQxPD
zh4QyPmMP{vxD9o%N`&lK4c705ynpGmTrvEcs_OH&T%>+p4lPgPW%>0bNUA*}ANlnB
zWZtgnD!--8Y?V|>qIC?@(_7;*wx9ddz8TKgIFAAMeLZf$atj12i}HWhX&(#y`;0dn
zPf3_nz>Jxlia+hC<S!C&(_(GEbn;Rcc4IiZaje0H1$&KkrzB3n+Im68@#R1LZs#BT
z5|*KGv-1K8EnC%TWfug+(9{=B)gn`#aI$0r^#`z~{FjzSlqRXzfVdtnvZw=sU`YK0
zOk^Y1Dk?iyR4qjCig0t0(%<Ego>NiE^Uk#g$qk8OR4o7jqo|y5kkL??Qgku}kjEpe
z`%rV6%{XCu@Yg0niFP7m>^6)3W?yGRud}DCD>Yt?-vwwOKQ~J=&!MLD^v$C78hY0(
zQ6^sxSp)|;W#!Q{A+;w}gR(k^jJ~;L`p83=@@qeE?lk_-Of~9-ReXnFJ4p^i$%d3_
zSd><h=R&IEB<ICoHpQ3hE|JiBy`vq&>I|-1w`BevKHnkZ{_dvsx081FJ?24dR-@*W
zVC&rAjCVYyYkEd&D~$JG4NLDh4qI0SyexnLHrJO2+kh}B?iKzBhYBAh8w1}*>1i;B
zPpSZSk2<(3z`c~J)gqX>e}c|Utn<kH5;EPaznRoay1ysD&J&5XIKTDfng#Q8TrN`_
zOr(^MW+J`Tk4so>^P>VU4v-JH3xMivp5mrzQSK-v8dXTBFQ08=N<A@L+$7HjEcUBz
zXuY}S5vC`s5nSULOGnc9!xx!DBFNTV<)g(GyJk!DoOv0-G$OTE$F}qJ1McBx;dP-;
z?eWlmmx<O(g0Kc$_!S5{^6`|V#aN3PM@yR8+x{{1d1}tKHf?Nj!lQ<l4$+?ir{s9U
z1K>_}Jp^b{@IV3%<oaci){`$)I(5!kNeX+FmEJY-KHf~am>8iS-gFEDQiJMqTR7;J
zG8*RPTUb*xrXV%=O@7_bd|OD!eyZs&x&z;7_&rB-Q~=XoAp1h0P$WMb>%r#`rPy@k
zY`&_|4UaoFKPXr1sBA9_Ha>UJ6W`l-q?9N9j?(D<P<~_bX=qVWP<$=wj0Q9T5yt(q
zfFP!N4^%&;zzgPK69`@HzVrYZ!qBAKk5PS*nQ%$`aQ%u^;@iW8(P-tXXIrW`NZ?2^
zVGFp?TK|wKgdxv`RR)W&?$x-!YBwYXA#2eHIonJj3${^)p6Z`&1@Ro=>RQvlwjZBr
zfq!Tebwzt7Jl;t9-bP$*s>b2!0>SkHpy`j?%bKDS*{uto7!fs&#M^n1zRBnIs|3bR
zi^kK#?L(la3$RvzauEO#D7WkKt`-M!=|e(45U>|T@Ln5s-(2z4qV%(t8YC8T_)&-l
z`Q*~P(q@MF2oK;SCev8qhHc{<M*IP!s=~ebItJM}mxM`jxVb(2t4_CawuKSGH^7_o
z{DmO|yYu&GOJ*6*%BmXW`<02R#sqJE&o)upWtb-OuVexg%Rc_~W-tn-mEbwausVql
zoG#jDFuAA@hbYKYy`Ajz=I;30a3vKN;F!H~THU2uEmn@qD8J$U(7eOQ0@veB_4(Ur
z)774J@j5#y^wJ@ZQ2l(ayF!8h2H&>iU>t~+vx*Ved)M1mZ$(m3qJNt7CF7G;raK0`
zoA~-UVbN^qP(R7a^!0ZR&Wn)=Sshpcg1mT+<fQ^O2hfK?NEYh=ps3aPZcqogBE|M4
z=X;}L`85~7k}D}Y8X#SxuVK^k#M#$1Q0!CWIr)2_aFYQ(MVk%whv=X!a}$oXD2qGX
zj0y|BKY~^S<B1&P@IU)lq;!C3HADVV;kO)~&2iiG)QHB&ov?EX>oker9v`;FaS7{+
z&a;s663%0=FBt@K_%Y2=<A4|8oV_h7hPJG?0Lk_Qp!LEC=Z%ielVZ<3O6W(m9ts5D
zzlCC1iC?KmFQ(DBK;#WadTLwMF(jf|x)`pJKM`RyHL|vk-ct|qaP)g#(02GC2;vmS
z&|L54hjQ>nkpsqY2T_Yb9#~@^3+Y7pN81GKxH2GHrQ9;@@kz-2nCc$L>JG}0ITAqn
z6vo9<YU}cfszkoRqs()f-VkXs=GVTNia80HI?+l?2R!a^c*P}}aU4x_uRWx`iZuog
za4X~M@gvD0Ri*>gAs8yk1({2?%Ly2lhLbI?UY#zH67n!sMuYqfY@q&`+Vewt=J<gt
z>XNd-&T6T(X6AAW%J>3BVcVJ)+_4~p!i2Tj;L_L!Gg*4n{gR`vr%@EUw%EnCyWnkL
zeWo&*TOVe}jK~|E+JF7iMHTSn=pHb3Z6O?@EnhlUt-JBf9U?UO>_h>1r&;tp5s%|*
zAx_^!Hg*>K193}7%@`E_a_ToILO4nDwtTs}*(;>BBq`%Jt9?*mFm4i{4$P*t0MIQL
z&a*qvV<@pCEd$DL!qa8oN~+Qm4nQ~>waX-S)JIIfu#AKW{9IPgC%>P@J9(OjB^3ba
zWFuloYJ7$mY*`yDNI@SeanAWf2H|;WIf|kjG=|G31+|yhay)zg*!WmH^)Nz*+9oKG
z)j-(EbFtRm<4~}A+#o^4IK}{^BbSLWSJ=CQ-jm`|R>nGd{pVnDP}2b($ai}u%)^Q^
z0=Ra`s;RQwwtA=<nWmoA2*AIGOXjm#en>>rJNjD6vBik{3bZnAH7EGXqlD4D_AP>s
z<L6tL1sr15IJQ1DYAL=05DEj}=Pf_r!}?>wDGF2@jj*;WB5_WC(P)7nJ^lIS3S>G!
zb4yZGf+o@q5f`Iv-(_XY;dkW&>yDK$D_`*3qjzF04Gtj}Cn1@Ua95chP!TNM^Cni!
zXSw}7jvy!*b1e)%vWyX_<~91%0~#4x2hghPGNMVvX=r%<y2u$UhH0&AZRxT7j&q<6
znKgfuN!q+<GpF6%ziEPU(JYh>@YpDdStwi#2Ho0*gnw8XO>Ywtg6)b$miAQC==679
z1;$Xb$H)`<L}S7<oPnBXhcDFwD2|f1S{)mTTA5Mwd)_mdR!#FU)`Vy>EImDCXD#C*
zbTK;+RtmM>?Ih?>w)(CyHc#u6uLSJG_2rRrQYJ}Xwr2<o&(23BK|&ZQLtYkQ7h0`k
zjo@RxF8}($XK3Kb`gGrBex`<p)QH4GjytlJ00Za**42B3fL(kH3N;X0D^xaDJda)(
zU&b}Gp6?G_zazAbzsQivD+Q16YiSlak9)g6a;EBc(Gm0g7FobW7eCIu3C4IFmLvoT
z8gOsvgYVV=?C`k%fXn{+V;iJSke1iWv>=+7W3yxOqq`Y3JSonC15I1XvRgns(<}us
zA}*&qN35j$&Ar%na0H?8=6bq=z1&gW&a$cYJt#<ARuAAS=qjgY(I@2cU<fQSdNnK8
z8J%d4F{ygJ9=|^vEF~YT%33q6s82IlK5$OQ@*=@3X{6<<#fVbf^LZh<ZYJ@fiI^Zl
zzi!XDbdpC<z~xasJ=tDr#5Nk<4lE^C-xidwRL;StxER0nf(tie@iz<9CLmGQnK|s+
zzP?!ZdH`6sJ|l(K*1T40^M;Nnta;s7!4xKS>qgE`X{4f_;#Ce%3-34%I@<im5M$XQ
z4H3V?rJ*oo&Il+yWc7Nc6I!kJB_(PKtgFw!OmHlTcuM>ZeOi*N$rK*yB+(NeEa`8(
z#wWLTh+HND`Tp|H1Pcx=RuYXQY;RNSA>K}8Yl@}*_bm_xpQj<d##*9-l2D~+-V2J#
z?i0L8>AFDq$^5s1fF8E2mYltIeM8~5CvGK6iglyy+qf7~@4TZ6s2`Rn!bUjQOZ#jZ
z=XLmq+g#eOgl0!VZouKGz%u%oPL&s0eS9LaM!$df=?4|rgA6>bkHs6UVj^!2-O<Og
z>~aUiprRNs{$-`hT+rkD@t*q;r`HDT;y4!FA#;C4rYR9VYm#a7ra%~8eigB$8ph}o
zqiG!3sFH9Um6DG7QBYx(+)qg18KjuqNu!2Z*?0JZw$^46agKh=+I#G`$_k#H-TC`f
zp=Fo^!$s$zZ~lBtUEO^jurq%7W(8c6I7IFMsWw<%$QhQ%cYsL~A65SuU6CNs=PZ_n
zL@+D!_(^liI<#&+>}7LQboCPg=~xI&(MrY6vJ_fKe_L@k#@C3d?xRZr#XwksVz_6u
z_azCKYejZXnb7sxMj9F>l1I{ymlI+Sj^=Dmc=S&xW9rt?N@)TUlswwlm;4VdKGVlk
zH3&Qlz=$FX<6z>+RXP4e5x45Hb3X{tgzZh2h<TDvKAv+%eG$HjQJ2*2LHMYotDSl3
zvreyX)wtJ5F0tFHezG5OuhHLIm(SwMwgTZsSzBUJs$K%XzwT26QePr%`Y0t%i=rD-
zs!<B6Zk+tJaq(U?(3bd?sDbelm=-Zz;`RM|m`Az2MiW+E5}&Ld>b3kCUNUj|>y;Lf
zDdb|&%_l_&OhY6?JVkZVMcWM9#Fe(+l*d=YwE!=?$;Mv3iTkAU=`6<Ex~J}NdXzLG
zRoU#VqjEW(S1+q_DJSYXHUS+978hdy=)YWhPR!?VFK+zctbP{7&a}Ti-}<dk?13?9
zk`dUn_<D`f?mP52TcRTzgSC6Tj2oNJ`S9mwV1{BZ2RbgzcI<0TAQTEQPfh`Ynfjg<
zu{ijGlz%_%(D+%9wcn4?<n3g6nk+-AdZwcI2$5<Jmo})wojW661~57bCK#a+1^$L6
zHUrTJ{_bzo#2MI&vEEBvEjxn(pzw}b*&{9O#$Ou$P`M?s!Tg0BivQcc0CU8Mf`=*k
zVqr1AB%PCaOwi?$#dntS@r+^&fodDCer!S?q^9Q$Y(Gxi4AA7){(kpdaRek1#wg8a
z$v#WLK=q`qza-sZ>3hRFiRl=QkmHv&d94wDqX8||KvF%8QhDD1l<rN6oeDIiqVjQ^
zmKG2XZ)4Qzrcp`9rFyYlg17gL>o8MShPj#dqrX!)PL)*YH1i)v=dI-^5Jb@rA`l)F
z;=T7|cyERO`eioQV9uTyT6EQ`dxZpVyhgKl6n~eRL*7?Lp(jw<vgh`M*-OKWi~vRN
zo7DSAaD0I^obqj3*ta?`?HG1NOdg`mq8aeS4nJ$B2a~7vJ?X=cUclE4UFKJgwmrcF
z2*2!Z+Dqx6rQo;Go3V;@1D=9mW~c+p2ZDiBI>9#`2P8)qs?BsaG*-MccurjO1H|V%
zmXEv91gzqH5hUS>30R3)+}Ds##aH5Xx4Xvgh{YWH3uj<@yY<w1N>_8_I(oEdS%lTr
zs)P`^GJ?+y!7DQqrFbv!r^!!ptK#L9B8Tqeuswfy|B&>S_zCgsY*NwZSo5KX*50k=
z)-Ft7`~CHQkP}Qem20TwIzX5ex|CV@WXGO_`oF;LedU{CPNr1kG8FITvX{qHy!>_;
zB#@4rq3j$UA~bN!C=9s>{a|A~3r!!gv+z2-SGD1aWS$Q*5_Y?|Qx7363xdWz%#8zN
z=gXV$BG>I3wh>fu-%^>aodj6QYn=A>*-D7$@M51KmR9x=Ix|;2-7mPYT;|nvD-R+$
zf<gQ159!-@F+QWZqG&>O4e6(z9xj5wC92^7uVNG9RW*-WXJG7(-?-gjk+|VY6JNHs
zb$2rrYJ?pUFRQw<2ZQDVdJk@`=z!Z3paJ-|46$6$?VmJnro~Ova9D=?jFCB$FWxX1
z{BSH-`d;3U!h*pZ00}_$zn(a_H#t@+YB6+T$F6s!%%ngUIVxKj4V1NUKgdxyYFS;@
zQxY|q#G`b4-Ka~+g`p(o(zfNQP%`piK+_oFu<C=Ut8avD;~yeDt^4`l5nr@LLB9td
z)0*8Go#f}=$DC3%C)4l5>d)1#UiJ$)Md%}~lYvaFx!&iOQ1SU8ZVnmJfZ4a;VwqCK
zTI9>%@dC$irCJP^TbwME@#rb>Qj357ib9sz{Z`Rp&5O{HD;*P(U83X7&-Oi*OXPU1
z7t~W?r^Y*YwgC@!mMaTaP&x84d|BH0duYCDg}4#YL?@5q;H2F)r$vsW>WSJr%5*wZ
zJ6vsL&+X@~q`@=%<;IcRS^ZP_C4Wy<F0pOP5y!ee-{g_5i6&47Bp9&ltn=|m^rFd`
zlXDBb|Geq6MIunJJpBShwlKFy!IH}j5qTKi9d|f?Xm3DZidQFt(^W}2Rt*bmecG)3
z>7{Q&^md<#?5J0?MMAV+NlwBs!4J?0qlL&+!XNkt(Yhi_*L{97L_&<I4C;vB6uYZU
zR;fYNQ`tQ$e2^95Rw4WQcVwqtt)cVW<I#u8PGuzwKez3Et?hC=kbGIV&3Z^@?8o_d
z1KW#!f87IHe}^ByTT7IzIU|HzrsW^BIN{jX(GkK{3#s8IxnMu8*#y+ZFQvo)A&~=X
z8J2YENj}50D{qYW1(`H#K@$`uM-y<b3BCMcF3`r|T!N)u+EvK=#zlMU4c$X^uzNK+
z#ThqZO8w(wT;#Pfto)XHe%>{D3>1wDT7_zLey9BSA{@)%G4`&7Tkb)%aaD{Wi*6Xa
zCLR`~Xc3(Q6l96JSI_0JH0sgMt;XOXHbAG&lb!xByog8U*Z0ftv3iq{NM5lWwqr8j
zxv(o=cm3D6O9j|9bnl)0D_r@?!YjBm=nAh7|04c!6y``fQYiC2gI7Om>fbd6FFa8N
zt7bPiF4Va)W*)_<mu|Ni4u4My<(9nt)p{@XBH60L2-|ZiI7F33xh0ZK-~}BwUUA#V
zEL0lK_(0*<jI!O#qetiOB%k+!`nxw?UJH2PfZsr@FZiO+D5(v3Pzay3wp69Iz98X=
zF$BgGDIz)%#kp6CvcIjTVG_~p>?>&y%QOnz-Oip|+dYcyPEmB)mhA5U+~8=+X)Au#
zSQ`!L&FdI5W~YeYIGb|(zGQM&gY`J<-B`?adoiLb9gn_v#M6cp0&E+!V^o`N&!fS+
zmTet0BR59XG2fN|I)PBWDTJ#xHt^5|0(sOOX7hzZnpD0pg>Up_+*muueAyB73$qBD
z67PEQ0yOjMTC9MpZ3;M%nH6W~-Y$56$H7%J^UE#IV_3cA86&+Hp36$cFbz_ls9<v*
zD^1`RJGdoyvdUZ38X`h4PXshT`4xAMf$yz`;0IK`>A7l7XH^&0!DkFb=F4Nt-if$V
z+0$I)$(?T=t4RR{?wOW3JmCBx7A3H|n4~Z*_uaN>B$(zbX+;c9X?pdRz2&ngPrZXo
zHFtr5vCBKZjpbNa8OrLpmqq&r_qo&5eW*X+Z}7fA<c3MO%YBN<L2qxHpX<N5y;!6X
zsHqhk74MD@&zklJQ-+^u{e5ESwN??QdGhV!rWhUs+M9@Sq1e+F^yO9;^%j0?X0c<q
zQh`0q`-`rkf<cu7^qw;&p=m82j!nH8Qg0m)_Sap&?$HnOYizL6nJYh?DCzFRbg8m}
zg8>k+&9wv|gb8Y3O`eBB%kY1nXbQc$Lj&Wcy4y$4IYpXg{~C{e<D{rl*AdDL=bDdO
zuUoT3)o3j9>B<r8YL@aNIyl}fArA(hn-n_te}LM!I~lfIqm9_bKZE~6Ind8|GjTD(
zzI@GS)k#sJ3%fyuS%Z5|ru1;nJ2&&d+$hO5s^}QQ5i6bM2MAaw5IKW;GDDie50IMA
zpry~XyM`j@eVgFO5nMgo8(4{%kpIGXzj1}+nE|<&C#Ve;ASZ(^%OEJD^A#(-qjRSx
z_WpNK-*|g5;hAW40lwkEqA<OR#KU=9{gHKjd}7yi+En<)6A@Af_VsNIyMdy$>Lg-8
z2K!7HZcCpx|0k8BqEx~{XZaa|{CDj?#IQBNUrH=6_V1f!S)oeRWG;vuwpHK;dv{Yp
zU7JIz+v3{8j&Adt)9X>2lTFf<o(1$Hw+1ZB4?Q{Pcg&#Cm!uefAcRs)TMa-{;x$5*
zs5p<GjLQ+HNR;5w%RBdXLjdoJci%i(6-B@ihjU|xA~mT2;P#>4N`u`=gP&rW;T*rJ
z-bRo2cohur74PP|*SOo;5hK}m0ZSnD4aT11ysSm)n!x3YP^2g5aw{J%PzFwDMHmMc
zc30rbyA|d=vR^-+-#MgOk5If7k<ET%h)-(w2YtRF`ny2pq3FB@#d3tyL;PsFj}^$0
z)nRA&-ST%?83F-+rU8N;AxPvaSy?=a7=Wz4qvR6J2$7N-Chu6q)Nh5pJsJ(_t{5&N
zG}d(L$tT4;Iu?n!K%7<sIoIBu-_Lxe@bu&+8pq9G7x0}GL&~Y$k2#+)KZL70kEm!4
zbzS||ICu=2XjF(La2zZDGWKH5ufs!zmEj|a#l0S$>^qvzrETUkyWl#LJ!jh2*ML2W
zOcBdAK}Quel@pCRhkd6OJsw;uTP`*^r`R)vzWessZ*XSVJNlKPs3z(sZ{Cx)FBDPs
zzj^~tD91#T@<{;s+B9yNWew7XQq4Ar+BF69^Eh@{lVHdy;nmHT1E+v)sNHs>4TGWR
zUl>=LJss;ZyS|m6W$ov0FZHKGt@--BBGL!O5$HXO)Q_8!PlMi>`Mt&)t@cWY5BKO;
zdGi+0uXG;S6pRI35koWcY4_`G`BqI2|GU8y!Y4ilaKKAG>2U0;M_xTQ+n*(D{a*pU
zA?7h23;JPkFGg>MikyujBwyqR1-)Z(bCC!<Ncs>gNW4_%v=YjJFip-_ke!fe%LgPz
z7-BczRTEEhw6=dPbP6?0Eux^N<vLLA*U>}*+obtNA4hT-dWv(g-(D{Gf(SS~^xGvM
z{~3q`a*yascg}$Dji4}JW~t`3b{-K`lf$DZN}_1l=6J8i6|`8=x}G!S!>zE`_@{g9
z)B5bikbsdc&6<oc*N<eyHX|zhB1@t+XPyC&kEYnc>8v`xi_m-iP~Le7DsW>C@5Kj2
zfp5jk9efkKn&u1k6Y*aYTLEo%O+Gx#ctamldjFn{+SeL}&7go`AC!(0nzx<IXe0G5
zVS(j+!pAaec~mO|KE=<4OTS4hMH*r=Sb1`N)hJT)A9zYH@sPb4X4`JcIs-WgGU3>E
zYk7U5lE&U`prltGLpE_G5Fkv6T8BmE&OFcCKYpiW%HZp2S7_*leVXy|0b3La)1S#f
z2zSm~p0C3?9ROh#eQm_Af9avppWFI-Uksg|jC?1tH}t;M-!M<MFZ-}Obug_;#whhx
z%3kLgJDcqgWcOjN#}sV~`C;1fc4VAXM4vQKXera5glw?5rff&o+)&@s%ODu4hHhM`
z<B;=xbGeZFkw`lYipkAp@obn$7sA=Dx5o%jyvCi2^5suLDDrgQuP9r-{N2@6ut3%I
z!v{;9xibvID#!-l<SeD3jl{HyVdw4=)lcY-UJ$jFPwy(mZlqCaRV|6;JK}`mhpt(D
z<uGy!s*0g*gf<6o*4!P*_Ow8f81ONl3+nYK*!^<`X+Yg-I=sQx8r=*OQ9I^8O>2h(
z3Hj?>gm%2AQT)a)^xteOsE5r)J(husfXSbkdPTS%gB?w>F#l0$f0)xwmm<W3rWqP<
z{n<RqOb&#J7|F=!bD97K{POR%1w4_l%&e{QgIzn(0^n(D!Apj0=akdc98!S#xWA?N
zSGh=ALKX`PIv`?-vd3e-O6JI{>MC<MVxvWMLk>p7G9Zv**(&Mpk>h4s$kB$$=OeB`
zg0cNduJ)s<D6%M^_eS1rAn(EcuTAJ&@d2=gGREt}0)AEou@fW`7}Iv2;Er98SPus`
zx|28|I~3F9y`OV}F2tk~D{l)Fz6f?av6*95ZywH{wI=xrfiZA0DpR34IjOOYk6e|w
zJVIyQ*oAvZ2N5`1mC0vJZMy&`LjM}_xHUuBC4kIgq;XIefTJ>c*nr}-^d-pjz`(-7
z)z=r0vX~q*xtrKZ*Og9W46F?r4CU=!Mho}W7xd^GXb)|&>HLM;6~85-Vjfgy5zCE%
zU_0@j{xIT4y0Ls9x@@RJUHTkSC&I>SI9n!}M}--eH#5X*t(%JsL_pQ1@D{_5+d`(1
zDdd}|Q)tSb4T#phQgtQ~Qk_Out0&LrQ>&ug`U(7tVu`Zla~(yBW4nSox*t`KwrPUz
zh!f=iS-Oia^}lCrFJ;XGIR^kxvdP)P-uyX89AFPUgcpNtJojU>ZNs`hmkap{UxBR6
z+LvGv2RhLeuHL-$d&~7Bd<YcnOYERJTbx^k;&m%AL#S*IX2wejfK&2<w*LK!l%h~#
zf;EK8Z{ypfOW;XXH?}B6V77i?&2BFBv*9=sa-ySciH}0-0-!QP;`3guA~YN!R^Aed
zy<?4|mUXPEqSN%A2zam->q>~6F}9Jkx3L}S)Q!&DebW>6kRIlzp!P5LIuh~raD;kW
zVeLAfd>273DFP+%F9I{AmRH)>24!=XDkq*?sw3Vouv`xFwYdW?v1WQ?@D1O8x{*LX
zx}LRSvrcP{t?nF@xCafGW@1%~56}um$|YdY?bj>3cBz8?q|y5n<uRr~mU)^{o@mKJ
z`a5G6A3ehpZ!yC{Yb+Kw=W|c*&Qr6<)^B5sdLghN42@P~PG*Ll%+Hb;*xh#+H4cr;
z84QJe1sq)}bb3I!SD9U`VawguKSsb0p6&j7Ua*kkSJ;q8bvF+%;=Kh_wAa`$S*Tn_
zgPP8Wy*t_tFx<%3%HNh{5Cpiv&)05lR9qanGT<sld*rlC(;`SmFd6YJF#YCGDT8+p
zh&zo#J`Eup@(qjGR2FAvGayf?O4q7fQDnHaem*m!t$n7skl1nV>jnV|w31TQXL0+x
z;}!m~zteOv@AECQpO0i;Nyh8h$_P4fPzU{)C$p8M=mAZXCvoPtWO_D)oKfmc2a<hH
zn9=hmzV*~WD~mDBzzfb;^{q18fQ4PGyZsBI?<Rx+fF!V?MtWZ&Bxja~NZfNbexw!w
zF&&^_m(dn+WRUxu9N^ou6Ug&<{<)dpV~jk_j+RR9>+;2nPADI=&PyDm2{2TdQO?++
zBP)jmDZ7}RP;ya4@RgRza-JMQCDOpLdz#o*x|_Fs`k^_62G&*dW26GgWCz$$0e-J?
zEwWUwEcnI1{-hoRz#;HEF6=uI4})Z?o>+_^wIWEXc2gOVcIQf&HtP;^kM*fdg=F8Z
z%oFw#7W)dAvZ?RN*u(Jc?q!9t444(`&s2!7j%<e{&I9Emv^r|a0);!qXxuuQ^nE4U
zON))+Nx-pJJYW23tTBVi*~**Qn~P`r9<9*bMf--Z>BCs?rCfqqFfVwr?qxK-4BeMa
zb?AC*l*!#?;xZr1-?fOCWXEIMgV`LZ-`g`CB7%h{I6<f<LX+9^lvYor+@I`7v=S5p
zLmOZ0HK;3Yjprgw<GAGN?7u$+XHPC(93z-3Xn9AL(M#c7G1VI!<KWU_DC+*G8Ym7s
z+XBq$yo8SOB-@)k(FKoCnErMENkF#0sq-8Edr_EU;mtwK<eZpGlr1_R9W>x>Jwf^m
z$u<P?ZqxUdiS#YV>}l?AUyN}Ds$Go0;l{)vsdLbK{5WfDCVn$0aX9enV_FIAuoQQz
zm%L)xA#mE<<^0IZF#1l{Oh2Vr>cTaN-_4*kY7#AeXJvQKD(F#p^Zk0JCFh0iiF9G~
zDV>fs^mkKxlrr56X)cIN*zTxA`pj~(T|R7*WkRF*uDKN_%P$2ji$T(*onmo?GTt(`
z1b7xPk`*^|CcA4Ezo8FgGt8NKyE0$Nd4Y6WeVv?r$%*N=wjj>_m3B0v74A|-D1dOH
z-xQURdcRy?(a9tSBS=RT^dsKL3tfhAUK08)No1$;=tvzwk!v(_P59C%t0zPHNOah_
zu&)yZ$OZxyyxG>a_iXl`WxaK!I_nb9Q9O^J3=Y(s4}BwAz*G&nN3i#|A$f!H2IH%h
z5%q0<Hdpi*VI}!{8h8ISz?mu^$d8)xL-<W8v^KFg0QK(QIi)J(zvW3zv>6*bM1A42
z0?{6w8T{Q5>Tea@bj{&>o^v}jbJ0_rd>J^);j`y-!zG5OD>jh8hdCC~RQgJH9Cv%>
zYm2PQ?|&yRmT)69%SZE@8u><V@L;%&TQ^p!6T)c-Of}&jG>Yw^p5+%%v_Sm(nnyjy
zqDu88peb=PVx*KCxEd?Y4nxD9{qWtta#PP<f<^e-OdC+I%|W0QJuvnqB3IXv91-nc
zY0%m-p87NvwbJb|VXqIDR+>`5a4xEoCL0VI<y()FI?~T)uk2;an!&zpe`rg-nUucz
z5gDunAMI2fZ&5Xxp>JfNF%pNmkIuDu%~G?1i4#lqfPc&Py5n`BOdqVOttfl2tevqU
z-m<l~%5JTDwvoKfX2)CTy?5$oEp`X!P1Vn{{&c2z5AE*EmDP3kyVZBz$h~~B5T*5p
zdS$P_7*z~>6dxwoRaYba$>_>3%t10$?C%RuhdD-hXpRztQ~m4RFK^)^YFmuwp+mXM
z<kK%cFfvQY(R9n(I1Kn3c?447(-2B7F#7UJ@*pzT7W_GLH@-WHe=#tbONecFtqy(y
zvXbJs?uD&Ag8X}=OpOL5LAqi9?M!^LC&UUH*Tt&YhR@i@3}jGa^VY?gbZ$Sasxq)l
z^n2Ex!2DQ%f7Vt^jx&KjGj!$F<=BD<xr-i`8*+cmioNw$PqY8vkKueT4wA*_jc>vE
z0?~k*$&ZWI%{O#m59C~q%Zf56Gfbsu<M}c5bn>qWrO1P;saTHzdG!One74dcgjyt^
zLX==|izTyzTEaKyXh*A!oEJrTzl7Xix_8HjgFWx&;HAraLtCB)n$QBQ15*?TTAF7u
zMZ_DDBx<01HgPMs{kC(KJumPoo>WRlo0~R1?>?EtSNvX`Q5E78)#ZoRi0^jJ&rGLt
z_bd=|p-Fdsb6*NkUa!5s>AY+%J$Gdr0hYXYs3uvNr52={`qvQ6rnO|+12o#>SHf%w
zwNBOv4a^F`L@A|IySig~Jm6iT`Xf9@M^zpS?1kjV?|1DL>UX~wAk-AVY-KI~tmBIk
zk^ieDhN{wS2-Kt#Eo*A9<*M@)!YOt*xXxHCn?e|fkkqf--{``NLP8u8qVylRkmTEt
zpnKaKbkzan8@r9*b7==`mdS?H?}nx#i-cMLofmOgZ4DzUi3V}_{uXG@bE;rQ9*MLL
z01)G;w9<P@Ejm8HQbgn0z+=Sh)cqTynjCWAa!iVTyrqz;nDOJ-aj~QYJlEURT8jF!
zutj{R2H^tEk2_<uyl6gVs8}>2je)r`Zwh>4|DaQJW?>S6StCRaUKze?1suN86}FV<
zTvEmSUEn>GGC&^3KJ0RsUf`Rji=jE%H#B#59ow@0H3rSSGRt;0P&Wajh2^f;f48tZ
za<TIks}Px08W{iY>9OVO5s)i6k6f#xrAKYOEdB_o-YL^Z8XTD{dlR~CORd%*m@rec
z!GcaikP{T|zrap@7D^rB^OHj=PhTbYjNSNZ{`mu5=HMs$@WFyOu3pDuy*W6ec=`&W
z2S0_lv+i`(@uAl%?D}qOwtvYjd5YKbkP}ivsVIJuQDB3vNX?{I#B9wwl1`J`{QYg~
zZXFT1*0EU&trPO_EpjMv3Y-Qy2Hx-syGRBF?J@gKzr8hT`2L$e{PfOaut<-=RQDUo
z$mgqsi@9cx+j&DS_0P4PLYKBs+}3j_lZ_qbv!GaD(p7NZmmBJ=T(vd_=m5_88pXDc
zLFo=#TeI<GT~o|DF5DgV39f3Q6iV2lT3G3##?%Jws^_)+0U@B^BjVJklxCuRCDi1R
znE{!`D4t;}h+w-6)CE44tmChWL0*@8`fP`s0yc#o<i6=O_bm3g9)lO<9p8^<ozrkj
zNYLF)xkpgo?NiPa*_>met<+TGx7>*5I#rp7>NJ>NO6-ugVKkUXRaSgigqpMpy45$0
z2|tB^An1)PQNUK9$#z;t^$2`$<cl}F<~}IN7ZWL_;pLUf&b<;Q=}G@&)6-ZK$Y;hV
z8-2)F<EUUEk9lIy6H}gvvoGi{ZyW=PtvFkdZIEzkA!wHz<De11vYrr0+jHbXa4*6-
zJoKZqOGS-PK|tKl;?AIqs0c|0F#!WW3!(zG2mQJko|&^v+BRBneudFve@sdyYlR)~
zmlMMYq=0?i8>WH+Q_~SE4Yny<bZ#SS>0==<u#8x9(9Irv@xi0rE>i+1?My|PN1=09
zOA{oq>tWC}FDGCub6t3g1qbPS&QxZtP0FJzWq$4)2GLjAqA^O|bEoHItQ{Mfm&=J#
z5=bs7IBX&ZgurzRjU04t-F+Re`x1kNHOo1BLqtw1pOKuDJCOUm!r#!}qi4p>2Ql*S
z>HD^0n!`>mDB>B(j0oQy>I<sKg;5fZ=EMTWpPx%-=J6Rqx4xm{t?C@1CwY9@4n|ON
zyCV^a=;|G2Rhs0CwHp$EIviP&N?r&9rr;&l*y-+Py5H^Awn*13et)wq)^AdM`rlwX
zf`*hEcUk8B3)Wef3u9l4>|j<+e$R4Z(utby>P8^%#NPQKxW`~uEaC3Szqe5V`#MPy
zATnL9+jn`QJkdOM#h3a8^dENy`EFQd_8Y3}i`y3km0r;#=G)%N?7_|?AtC0IH@mFg
zv-JHFg2T4zN^sDjVpQh<or!6i2%pVi<@(6qG>})(uE3}*Ab9dl#EZaK(yLeuTo1WF
zCf5!6cm4eu%VS6eGGAEPvy9k?mn&epL8^}bm}ki$PdT|2FNoZd)L(>)D%jRf8q@kj
z<oJ8$2y*t;g{)q~0KzW$=vWb8a{zX&e|ejeewr<7>&O=8cUB3-lPVuEe9<G0?EKbc
zB&g8LGDtdGj?=ye*$I%M7dOpfIqGBbq=L1Mr*Pz6786W|bb@}_JqPqlMACP$70y<%
zVcv%MIW|yM0TkvwoxElJEm_L;;pHz2hRn>IkvErycjwTw03L}W>dsE}MFvmuP2I7j
z#;ZESm(eb0oim*f_X;jH3e^=tRo|McK9KUbk^n;EI$u4P3JOIlX?C)Im%)dy-c5~U
z%R_+J<9V*j&<OW+Nxp8szcX8pn&t`lDu^}{1l9{;um90Y6KAE%d1yMCy9F$HAc?`H
z8WUazzZQUO{<v_tzLjF{@%poQZ{K^?O=NNT<hDFm8oP9F->E-Jgxv~Z^#&K6ez(Y|
zgF6l)e+T&(S2FfQkhkc#mnm782jB!}+o3uoiz3E~t@~N6R@@!FhGmw;ML{3}S<o0;
z>d~uVSXwBfwU1I>LVzH=eGd<~FM>A1-r-G)EFKR??uZpjdlg<szUM~kZvEH2%zN~6
zphr(C>k+OQE%&Syek%xYiS`{dOJOvTNAZB~-vO}yqVH#i@r*~)@_==Aa5LzT40a4z
z8ANAvOFslBj|KRA3L+t_eWkar7k3pXRVds#GP0mwsmiVT(ndkOm{M#$!-{uUE@MLY
zvNep?xO8!CZ(-hgqht8us(5|ZS6*(%nuAdqq2cd?f|~U94yYC`r#JC!HA0U&8ymPZ
zxcXAA7sw3mSUn?@*>;QP{f?z_i!!$jst|pH$Kvc0r60Vfh#`UrvIS2;GuDIrL=Dxj
z)f##udeHzuMz<%|$(+H?d+e~(Xu!Qg8K`sH|F}H#Dnrz$^9|kiz?Cx+g6In6-#0n0
zzsJ)7-irN@$q?n0D$@jklZKt>TY?$RSi`k|&8RiMv-SDL6D5A2lX6QyHR4gKU!G#5
ziGO2=f0241kA{zUJBH%mTxw}RjBoXH;yJl~t+>1Q$lk{poo?Us(B6F-_aaXS(JB6(
zd#OHA6n7|6BW)N{y*GS{tp0XVpMy*6-Cs9ygTooPX1u#?`KY7axXDRHbjy-!`}ALU
zN=mm&ch<TT4L|(zi@XJfUoF?18|xDEPy>e~z<KXsTD2Sl?O9t`45su#%Aij3VjG`(
z@Hd|YR*!MOckWrlB%%%kyMqMG421vYv!?ak!Dibs|7w#Q-{ZjT30hWQyshhSG3(Pr
z>MEA2I~e=oktH8xlXq>?x8KgL@DBij$X2iQts}H#;e-2ItG{pR8G<cztFW;wd+QAI
zY2yX7Q0urLopbF<>s+gM{HRlg=vKj!Lfd}6t#!12M}moGl(l}cl0@EsQ|#A=O>5l3
z6Ss-8$k_hEJI{`^F=rmDJndLLL#KkvgA(E+Fp&VB0LS#YEMqvO66g6q8gB7JLH=C4
zR<pAnh}aaZD~BUfMP+e%UHjbX&lh?M<8j2l&&(G%WmGhJY87S)T;k|*vxbg<Df5^9
zib$tf^WDpwb~T;2+4N4icd+o$dSm5^HR8LB!W+68a*RoUg57F+sm!FzcRP$AdA@rn
zC5H@DxPNd#Z7Ph^+YTo|DTmpP3NR7qAMWMre8!#2H^MK#vYAV^ctM?y$Swr??C-e`
zuj$fo16fQvnuzMgxu>|m#%CIvfv~W~YmLIZrp!LeVDIhuo;~LlIpMb-c%U1~bnuqK
zXj%IAS?iAi4iDF3dM@62-Rrh-QU~1YO>NHL$jS{~#O}hN7VIO-*hb0Zi0}u0nC}PA
z)h%WBvYIp|#EA4gFwkq}0KW6>g(c{gY7Mv3bLnc4P&Jw~c?4ZURDfpXN28{<Jc<H<
z#;!(%RU?nt{N0i4CyImk>mNXO6bJDSMwE4`NE$BI()m?oI?x;8Jfm?Il7wykZn)fw
zz(C#YJ_waNydeV^$q0|ESmJ)wxE0E>e5V0^E{dNUOI#&A)5)}n=?$B+xNicnJ7xx3
z<K~v}+Kkz(B4|$+Yp>2dB?*P!f2xxu#~r!1MnfTVSLUqB6qdXoT0J6y!@>6SO-wSj
z28L8rFGgi};I!NW=|^e5w6ar<(%lII8?@<?UO%}K47deM6C#T0G~rBob<IAhNj=>2
z6Mm36B=>VGIJ<?sg#PBJOEh%jqImU+xd%@b#nt!{6R?a1Z{sUYbGMR;N=N9sani1J
z&jc-RS%m!t7{;{g6c{cv!uD}Gv2F~sY1^7*;BxWt+^mr3jrQi8#3--E#G5;biveuI
z)XE}YA9{XYmH81!<QSV5!Wr%SumTkx-Oq3oalWH3Yf7+<RbT$DegfD}x)l2ScfAkw
zNf71Mli|i1NvY)P({bO-tBb89hN9}P<~?qgyJm$2dyRIp7G^zh($u!N_Y|5`QfHz>
zCtnFc?MWLXvCt5GGKDjko5*e(ILn47_73QK$o+=ggNF!uvD?qdkq4ns(C3@Z(E1}-
zcI&i1kJw<NzKQ+XY?(>-`6JfVmp!ZP@|T)HU7GVe`md@g+l7c<#a*+>1J1j!M1eR%
zp*>w-Ur}M)MMYreYqZ0z{(gO~34a{ble>lc`x;{Jya!d6W4BtLb#11WXfG0#1~`RG
zt3D%*t-mjGiALh~GkgA>8=8%r`Q57ePNjlI%iv6HS#WQ1qL1>!+v!IE9@?pQ7Cn{k
zh>r{nOW%6rLiFwWM3b}4LbbJsna4}VMy5uvPIX8!r_pVR2e;X$*q<XDA5pKv!u86S
zIqa)26B&t~FskOD@Tw-Jxl1A}{VQ1p?DW?!dO7MluNG0q*Ui|E?WvHq`=<OolrV{^
zTpr33*5v(R$@wg>SA@{5GP{va+3v21-+}y;3_S6;qFVO`SGc+B8~Jd7ICh^R#aT)8
zl;kDbS<0-44Q36UncBTHq!*xNa(}<1Q<o%cM{swW7z;cUikXFx#(~#<dQL<Bz~QRg
z#L&G&$Aw5+kI!;=MZ4aPE9GrNUDu;jfb<m%;Rg@wNqtcX&|i)=z<1KqL8f3>jSIY&
zg2j4ZmwXdI-W0eoD{y*#rm+e^kr_egnVI>E&4YJ=5zsftP1y_=fNz;}3Y&c~AL)Qr
z%NO@GZT?=>o@8~?3)w4d@!rZe?nq}=Zuf%ai)OvknhQ&b8sspc#;zKV{+f5=?>2Yl
zwe99+xtJCTyb^~W43k`vj19FgT_@e|EYY&<t&`zQ?$~hd?^0!@;YxgqIUxn68s)C=
z&#}QKxuoqm&_k_}5ZG`Y(7oTF#FtJtlJIu}m8{R5_$$)@Z#*A(R~PFVs{>%Gy^!W`
zs5jj;E(*~2Q-^XO(_NJ^Mw+X>CJ^@F&*9c<`?X(NH8R+sw;542AakQ1kpISZSZa*?
zzMc1sGm`L~NB$V|_&P@M!AIdT#d)LrchFE>Q1~)V4$|n@z91*B2gaQ#Wuz^B1$GCX
zB1|1#3D<`-7F(~oFnlD#<x90k>*m+Q8mP-YBZP?2&~IH%s`r!PYpoO~kbe_@Vdq+7
zg4(IOWe;H-KMS?>kSm1Qfl0zq;*$PAL|VaSmamqfM$!N4K4j#5cabgx;skTu%obDX
z_VPjnTE`mpMso~oc8Lb7q9NF=A&{vD9_zEn+E2k?3F8u}2m5y(SIurhE@%5s$Sb{i
z`83vjG)k57L_z`|Q?87Zc}2g2WYin_Vla$&#h;P#xJ`4H9A&mMoUf}7&CQV=J}~AI
zYxi!#pM7Ng_L;88J5`gz#mGWT>cKv7&70~@2xGgyfOL5S<!B~VN^M2!7d<mAdbi$f
z4K<(3uQ7tp3>kZA%#PoBg*uge5Qce@^Y|d+=!{?AxFnJY)0T9RAj}6t8Ie|KM$qh&
z&;=lwULfhv&*)JsmX@s0bun7AG&LNbvH*0V%1*XKVYJ0VYo7MIP)czSs2DyCF^IR^
zNjfWr>>0Klnfcu-wZ<xDBT`fuRdDQB{#dC!l~~%OI#=2UO-`hbeWP3Emo-l5?-5-i
zV~=(*-A<Cz`23{7I(=dh_`T;i&BEXkb$8*`$wW-ARp|ojxA;1(eB!Lh5__5x@SCdv
zXX+ur0x|wGYn;U<4{rTN?9TlFV#Smq+=Ct*VlZ~tLW;4*zOQEJpFnrmA>A=G=<=a5
zQ#X66rT#+bB7Sf(0z`0?o!<xUso{%XtS2vlLTeC+Hey5NZYLFPTix{JQ*EA4QU--z
zo2i&OW!iAjj=mAqY!{WUBg43SF}rum0f!ojEI>-*vLIM57;1R<M#V|}))4U4P(5A{
z`bY!*-M&_gr!Ji@?AKKXs!Z}_(AXEIjxaUQjaT<WR7-%M8UaQ2468Gpb@74|%P(NW
zc?qG1(|X&@P5~H3rj5mRPS%tq$1Yf5QNyou7xA|YO2Y>p<5G42e4R~nm|BNg=byer
z<-M}STwz@OOyF?iqcn`d>;u94nHx(-Qd$G!w8IU)q2Wq=Fv_f-p6vpzu9H_m)QeU>
zS<J4>Y{gG#bR;vsnNx#KnQytxL~LoKpfuy3qsqs3+u?2GCsCDR)c6_-pd9)qY!;wE
zrnnBskD*`=@O*7741DPCamo~~f_G4oxv`{@@WPoV8ia(+MUsRnS*I<Yz3c_aNqA%F
zu@XuVES<R9{1x<4n4qcR7=H4=`&u_lquX(5CL4xICMc;d573E#D<8th^TkRj-BlWd
zXMBZ&oR#@NzgF*KuL#1@h}lD3P?*hd>I}l%kqd<ITN_65;3&mnQDIkq07LW5vh_c}
zLBTvX7t>Ga$dx$K@^!J`x*YyBDzajHunXwlDkf}x?us?l&6ug62wj2Q7r%ODy(UkG
zJ@dv~2Gnk!4l9hm<lo(Eru&+EB9S4`^)}BR&up8tKoVE}xhwyk&|?3kMjshp+`y@Q
zc`f<Suc#LBziX<ef@z86Uu5`$%YjsiwfL}WidfwTZ-fdpI591CbV<s*5Q-29#t#p(
zuGnQ|;m&<P9*J^25-5!~%YmE+d#imtpU5gN?eEhK&%y&s`!edAVZGkX#xXh~z$gRT
zd8IOQ=)|pwi#aO9Wn!8enoLpDOVB-M`8MW|9^M4r{Se*YNDjpI3s?gMsA4`mj}1!D
z65@0}t!&2zJCr7DFYZCWl4Rj3byiDnU??bGOL;d(2FVSbytEiaIe(U``|jVT;cELx
zJQ;ofAf7yP0T=1X6hZW0Q0+}QVy7>qGcCq=)mAgO9dg`7;n;-^YPiQQz2CL%lo@+|
zrC**K*y2K*4pAne2Aj+P`CE^jY0@@O)lru>>e^LLJEP9NWpx-cgP7c*-AGuf@`A73
zIe3(Caz`LpnO8hZbH-ycWSycJes@L@5xdy{FhAWR`g>2}M8gL@7-T@!t4<B|R*Em9
z=-*-p*&(AJJAPFthSS6N!L@`<X15>)sF79-vEP8t2=HB>$78;VW{YnY?c#LL%w4sp
z>F?|!ZiHt??kdyg-rW}}6${@SV4_g7H@}~0yMd2i45eZ~UsU|fYWTc5B?P~R+`P8g
zK4W8r#!+yaB#?oWk~~=t%97t>F9YLT8+|o8%qX!qD(W{XI`m``QB{^SOrVGzlV2iB
z$t>?Fd>n~~1~tKF=<)mUYpyi$KpKB2zN)R1Q`FZ!O`fpXrR9R&u-(Z4^7~+{@b+@$
z1aX{Bl!A(|AJw!2;xim>?#>}iWLfkHZ<uqXNoV7U%PL5%0v6ucIK6a&)e=0tdC<)`
zyZuwaShI(yP4{;IPj+i|8L3}LfFY3_z9ah0*?dy0cLWpDb4|C8XbyOdmVr_~!-pn;
z>`}cCE8$BN)D8gH_WoqgC4}5LT<aoRed`;@1JZh(V};=JO-~A$1|LpMZgC8cH786k
zV_zLGNp|Uk7aiUfaYn6gvAePSZ6p!7;Ca!ZH)&k1&pU=2on-fDPzD;cttePNNFUNl
z*^<>y<$InIi;^MYu~&|JE=P%{kbc@Jc6YZo{rSar#rA*ta%0+uqg1eZ2d(MJcqJUB
zV!XMuRT{WfCWfd55Q@JnAGQ3Vf&3ya^9yMBp#us%Uk}YfW%v8hvwfxK92yGD06Kvi
z4;_KbUXfdQhW0xuB+9otbtY1doyFtFT{ckPWn!Pd?h+V>9_z@k=jWs>boA!p^*bza
z*ZKI)>g$0_h)IRRuwS-$Ta|Nk%Ut!R8o|eqW`Si)ojn7gmvVN}c2DRpUN+07C%ZdE
zC>|{mdXsVb!{!VkGWFJu<;u&|S3}FUBaVyI|6UVz=)17nMA3y){0;#Hxk+twZ=|VK
z<4w04Xg8d6*~8l1k9D;B;*6Rf4cV*z;>gRRN>*>JNUW^mxbN;R-7dLWr1}a;{k>|X
zr+Pzv2<XCMBRZ6p?ak#F^djP=D9|UW0}S=$6Q>lFCkc%WadqCYe;1lr2US~DLfm)~
z99@+@XAuFHD!sx5cIh(YN9OE*a0Ccj={G<&)YE2RwJXEkX}{C?XNvDn7UYYfXzkxr
z?C;RXwUhZNTqsH*+rn?WydJk&SgD}Dw&yFZZ{x&wf#MLr6Oza5e%Qs?!~D(trITI~
zT_DD$p1-&eRhqu4Bm&OH)ykBLRq2mG>3A3<F*6kb{JA)q2K0_;@YsIA1J8<XE7Nva
zTl`mqpD9sCmWw+rGa5}~Q1o|#qlgKIUgY@XHrv6VU-&!<r<)n<XJJN&?pXX&rsxp2
zKEXpJv1)u=MTZ)0m!Hd*Q>4DcQoETM0+8k3@6TPQkViO>(cwxady#ZxTbjXJho-rG
zdM;)g4$}!aB|d7vJ`PHk<+sGJmZ;{c#D69myjBH}bPDe02&oaT(QQ5bU3@X|g#zJp
z6g~!qeD6qGxR)PEe<7P(LbSncuQ1pPx@8pO$v**MVcZ%z7b~riVFi=~B{R!=Ndl=O
zSs{v8U5<}B7YZyHgWyv4_snIf%TaB}CI4lhg;2G&F%V@WCCL>fvG|DJ=3d&HJv#is
z;1{)G+<fzVI!QUz|8AXrJ*<BHggQHEN!R38<Sp2m;6%|DsV>aYkrTU!DVUu{Odl^8
zpip+<9z1jLfFEa@ZbG*^7ULzGg@55WohlCg35QILc#(|o@G9J1IR-|*?h7XJZuwGx
zR@SEKwt-PY?jQ%B0_62Wb_9u=iqDEsE7f)1*!yKHPE9iDB}?s<5B1DIl?y?ZV@ajT
zakssDt<Q+jif4zha~sXzi@_B|zjpBDj;cwNyXeW%wvPF3IGQdq86B2aH7~}80RJ5F
z&WlNDh`*ijE3Y-VINXZAs+@C>Nc2wJs^`a3(_+J41%w`u@}?eDgb_f*aDuk;FZ&8p
zjmzrPet%a7U1o}Dyh^>IB2iXBcAOgKtCzM?W?=3IMlb%^6y8I`m{+B?nhw=V)!Dmp
zWz1-?OgZBvb@C&m?9BlAWp%@SGop*YZ{VTLC*jbw!J35D2#?XFdtEk~=${Vge>V>Y
z*jrnj_I5f$$N;5NpKJHofWQHM3uXMu3BaIV$iE0c@2Bwt+eLA^r`8tFnf<uTxUSn1
zpY#6yJx(TWH;_D5aM`Sm`Kp+-oUmZ+Bci$ZWT7t)hG*Y1EJE~}%Kdn^SAnu_f>6Ty
zRH-DM7V%DFE$kCfCG@YX_u6?@Thm0(_f;&-KIs;<HaSVPN+KFeFgcx(bIx4-=ATv7
z>elwB&&I<xBfd|7!JyrD29>4IYdxcR3m;md``~^M<<p1!a9F|8MaiJ>!AQu#3?vZ)
ztWKrLEbKTrRv>D0LJ#0sArbQ7Q%jg;>&j1eez_uv4=<^*7lPP$5<jzU&2a-NLq&I}
zO3+`P`gV?cD@Vm0-+-@;mh0d@H@M7Ob%2gt-ZxmxT`xB(@iWaR)y_EDr;U)WO|{MD
zuDGmj=8K(~D4GVYbz;U_r{j$m8=vpQVd9e9!vi*(lCt#C`?~zpS1*bg1JgBy%8Fq8
zqSyz8vCWH790lQuqwz?CtimXFNOYccMOL4MNW%*|YQ8@FmCIZ@|JY{lnA9w)B5s%n
z0=0APGyJLUj_R$pNxMvNqt&dkr~N4_DcNOI?=%t)nLQbO!eq0xH2}+yt^vF*gtcWf
zp9`V7E%6?c$y{BGD&uuaOr2V0Et8^MWnQH>bR}5sxy$=%Tvwk!ec6(-PaVTz*Vg;j
zanxY{XPs(Et%fG82J-ttSMDF99dTixL=dw(JTs)SMku$eL2UC?v^|x*$@1`zv}RSo
zD<Q?0$W;G2YJIT8)zgWKWQcIH%pB_8+J|WI$5>nZgz<odBj*vdUJpW#BU**j{YFll
zWx+_L>O~3c4pP%Dcq`5Wp2hh;bf~<p%6_G>Kgf!G(w2{0kYM*?;B<?>l+FCo-PdP8
zu`G>~91C)#*akSAfli3CF&H$?y4BwyN+~+Sqp@EQ*l>-6F9p*}(7^tl3?Tpf{8tPx
zckirIy<=_k@@#kpv3LAAJy$guaytIboCkYZD9bMhqsq<Q3+>0$iI}S0`{$m*BO6co
z236Dr$mskOOX$633@n_jiSOhlJ!VdC*w6SpRGURF^GUS9(jtKrydFv~%(DsKKC{!;
zxqa}_0o(F(y;>Fs#BY!l_q014^`#Vta?%o%PXhe16#%?OgiU)x?T+2osSO0{gjRjb
zG#DV%>JP72+Wj-)a^+rmUX8_#heoLP%AXm>ou%f!XK?+I(Tj*4A%&7#Lc;`z5Kl@P
z(a2o#^9z4%Tat3?2@~L+seSduL`ycju|H!-EQ-^5n5&eQyCMPW&P>F=*6Q%eVGW=A
zQB17lL}>RP+@mU|55w9?M6Gk=QaP_WSmHgqd+pEsl=1F)GoK0AO!z2~(-M*Dx}?gT
z*2NADQavZ{Uv2=~psFs~J>+oU$XH&$c%@$)UV=$ZeEA3PG0-HGme3i@AA)oiK2KNG
zV%?MtW(#6COf;(KG^(e%B~eg}RZ1lFp=cF(t1&hM4|xJ#kZf}>mxANSA08?~T~nDc
zijrEnmG->*$q|xC*(O4GCcm>40EXrOnj?;IbX@CQ_)D}7m2v@$<-Wq-Z1Th-CXp}D
zj?vXMM+Mg5mf<2(;;G9?kni<A&O#lZ3^7hogIhPR>kSX|GJm&BN-Rk!tqg;Vk{EX{
zWgL^}gWj_R<t*&WSG!Y!*<caK#{t95>L`FGPvi>{X%S>T%In5k6gq_L<p8(*cV=-<
z%~(lxQB@5#V6i=eL@D?o4&ym#Z?t}Mrp0m%efn2)nHenpT!?$Q7WW^Q4ol&)n_YlX
zwp$eki%Xwgx2NdQDNVa&$*e6uH=hNA`s@MHiLNlj1%P}Pp*DSAYhG>Yl1r<(oXZC5
zobmwKFTLuL6eR_MCEo;i*ehX@K@tn*U^S%;#Ipioi9COXx}y>t6eyNW<OcAbe%1>d
zlxx7HjS~MRVQJgxwjT4-Xa1!T6VE9S+tw|uElXh5OWb?XIwwl|qohY>IaGzel0O^U
z3=@ZPIKRa`EDZR_e=JUI<q%6Tx%qKh`t|^SlhG9Hrwl=P7-M3KsNSvvj43$0fNQR3
zJx9t<G(`&%CCnh%iY_`izqPgGz$_8VS>&7*Ayd0-<nGbwlnx(2RD4sru}6u9MU<_N
zkj$w%R!TevDz(aR9}<HHY(|?*t_WefI(JC|F->=Sg#!9iRplS$Ev{g`rbUw-H|kCi
z5Z1am@w6%w{`(;Zr4z`tWQK`DcfsDch33d!B}%0cfuV;Ljh1pTb?(M30zQKsWWg{}
zX2G{x*gv<rzP9rbM0}8{QCjpKUnE+u(RsdTjxx|YLPK8bK)73BY{b6rconYBWE*)Z
zTH8^A6L$Qc#l*%*O<!*2MyAdbJgu`?SgGN6zsduW4SWWxxDEa+Qni`l+JsdW>F^83
zfbDklM<y2GYCeCw<7b#<lxt6%CC_O}QU>`%uZI5Fo*aTQpI+~nDf^4hOp&|WO;+S+
zL3>Wy0*cvx0jnlWcNSlO{u)yBuuD`DPqc?ujzoK^hJ+L*qjWO4Xg?236F(^JEpcLy
z))gs-Q;vEcY!?aSNtn$<sP|?xf7%B}e+jIuqMfJSbGTilw$GT(j()xxHPa_GHD1?G
zLt+dJ_~&D2pLjRUqAL+|tLOB^`!s=B!>*6A>he7P39M7VVJhl)fKC}c+gE-^zx0m#
z)OcCIPEra+I7HQf2g`$OetY5-inn3VKjSh^xIFL3(e|jcU%?!^=<Tw?&|&%Skw0e^
zp5tzBU{?6H>QlW011k$>V4sy*?a=iekFx*ehnL%tp^{!>)n_jHwZBquf1Ju@v5;QP
zpZ+b<GN^f!Q#<029uLj2W_S%6<hTdi0X7ry9}YCQ|I#5WXejejFjS}k*-O1}a{X!h
z=p^JPZN*A~&xRs1&+bwSJP5ORZm7_{0F;!jlWw7x2u&>qf>Wgm^9V*OMvuBy_g4V?
z*4(R9s%+d{9aUlCsfkl3vU`xWNqKVB`6X|6;)%2)y$Sm><?CC%#2Bqtl(t;btC2ah
zevKUFHn)Yu{yE0&><kF+>K4W+2CLNkb|57U0}e0(1sWJvsEl>{KHn$3w-gg);0gb9
zudYZUT}-CR*mW>vpBr9;q;8(aX~-g9%w4tbhJD!wnoXJ=x%=yaooxw3=ivhGg%tMZ
zy!u#w4Vlcz;EPq1SA3oD9*A016vS*=z<TlcVu|^&WxcT4V6uN7<&bOEz9*%(`EYyV
z-)4Ntj@BV-C?fpcg;y7@ML;%=&;2(`z8aV@p!*sPFfAW2^G~xP!(v+3Y-{%#M*3)Z
z>tm?bvuz!u3&^HCq+50&;DuiWjy({^6JunhVIQQH0^txfnuBB(S;lNL;!f#lPla3e
z-qsazH;*m?&8OCP;fsiBbw8DWO>AUx?{~|Ap{FU_?mzLPm7SACMJ*{UDp~hcAuLB$
zYLxEguN*G@)=`vC;<ED#jm3?ZPQINLv$x<bL1A!QnnmQmyjWh$2+U(biEaxP;lVJK
zL2H~lat7^yAU_qSu3XBu=JJm&VJX~X{e_#VJPd@6pwg4uj!x&$C}9^xP~nH~IZ@VO
zGIX0nM543l;T}JaA^L%^Dq&I+E3fH{KKDwyBdO3H_WeF@YrZ5Ri+2Po-3`?iY%i@z
z5tbZe+NXNjbaiv{<u3{UY$92CwVolJ+9;D#-;QhD?lN>!*g+=hJ11BuQYhlU5t^h_
z4pNho@T&h=H!FgohpQ1tKRPV6(A)>noeg+pO=<KM2|W-44{^>ZC`~KMycWJgA(%Fr
zXlI*fqnFRb(|?xg$a|xrUlH{BkaV=Y<wRTq&%9KP=@@;TVCxH(@VY`?uFuJtoU}?e
zzIBc_V#2vK*Vl*(LC1vM7+JlCz>uci!wb&@EC6<^iIg_t=C>aB4t%XC_cIHsN@N(q
zCeBva@BMoHXiP1>s=u@_rc?3tYu10m79EX|Q|!VsBOYcY*`T@)hL7T15#CF;xaO;<
ze*rVhoXls@zn#{ysD%&h{;V`@WWlZOhog^)4sLqXNx>(KR7vrKdSJ7leDIinZ!Lzp
z{)O~#<vZ`Dx!3BncZuker{gsua-SMEFi?cFKgT1&DV5^(ZOr>xky6-;t@=etid&g9
zG=f3>jD1~J8u*GC1$_WZ>;VI?rPUp~@b}6N%3p~#;c%4*vn5p6kWa2H4xZYOltz}$
z-Wd9$aXB86JE-?$6zC0cT@G*jq!+Z#-m8%W8@ZccE~hKCjv)GV--BiEOM%599ceB9
z8Y%hxz+@@mQ^W6kMZxw%jXvVj`;|?AEHvu&L&mS#*!(SH;MayjjSwltg_ka6yWg+f
z*lujJDl@vU-~k@EIcI2<@BB)u`->$GUN{^oDO6xy4phwL2}`6nhwXBd-s^d3fE8aY
zg5aO{c)A2t(<I}voQk)YY6};*1Q=n@w(EKN3EX^<51|YuZx9+~h`4)8Z>Ad416L4B
z6uRV>>#4O}XK;ajUg>6+4sR!P3>G#y_Xo@Qlvwoi&wYReCLN!QrBoG_Rc&%^Si)IW
zbuZ-ca*xwwn7=>ctLxUoSv7+$saKz;`U^ZY*IO<k^pS>HE2f$Z=EvPvdK_UHJKxy$
z!C~%pl)!-|aSU4xA8)bv&LMxTk%^gnniM|btiuhrw2GTGytF{-(%$~Y8;CDs0+i#-
z$`I&hdB$N>tFQbOd2|63$&tC$jw`YU?3Kpsldn~D*`Be5*+N{!+$$qA!t{j3f5&1z
zt7>t>4~Pz&oEwycx1SRfq){MoVf~6IgucpLFeg}I3Pmm$n@-x=2Tbscc<X(=jYdyn
z^eQ?J;5Gw<%^|794_pep%LeW)l{IElCMO)?I$~N24ZD3pDj^u2f&eYjYl;`lK8l}8
zdjr7)><i6#0BPYyT@y*>%;PVD`oh%^CQ}x%<mh!rwv3WS`8$k~_NL{D>h54zJ(&f4
zJl{ueWAA7V^hb--w77IO;UP;0EV=O*z|__~v<K#y0LUB830H_}9i4l_EjFq%&jpV@
z2RHKxVLn<3=z7ESnizF)QBiF6Sveswza#1_MtrZ+b)4VKD$LR$J7qdiz@|c)V0WY$
z!`8_Ph8uk>bLL{$?mO1d<_&M~aPhk)XEA1t?i;X4*A0}I4i?~a>x0BI|L3H{MAL6L
zURy&FoDvmH&WoHx07DG#t9n7eXh50(kmj7~X@WIQ+7up^Q5m%<-CmKu<n`&u<E~fU
z6&cS1Yh^6?S`#ar(oD2x=_Y5)(nG4orkA@Teqpgyc6}Z_#=Vh$X&}T=j#lI5%zW6#
zyLU)18<PE5jln4yW4@MpR4i$=G1<+Hb;Y&?hgEdv^s7YxA3)&06PW(J{Y4>=mi8Db
zkgy{W$%vBAotq`_yCuPgApy&)r;ZH!&sDxf&>v|nnM*;WRDF2~l>DUWfq%M(Rj_gF
z^G(<(!2ok2*~Dv5!Y}Pxa~<4ZhP;51ok1!S-{4e`b;tK9xAi5Jmpr-0B@}`qA08Jc
zDx!3uzUVeo)475MdzDnoun&&XB-yygD2GsxEyBRl>y40>>NP9l@g@dTA-ElE46<pW
z#jUj(;a(FwV{IyCWwz6>PS5c>rgUonSY__;SS>caPoQUnpW$v7qCK=5r<@0&JY3`u
zE@Xzd%jC@hBq8PaHNt8)u?kk5WyZ5Df3kOC&TJC?M9h$cIw1iZE3F;UKh6pGW^aMB
zI!{S$!U=%H7Y4)o1_4KluHaHGVEcnl2PBD4TJ}{X2pUnUFi?<}su?-Y#%K2MX!Gl}
z)!N4zY$_5;;WyJy?k1&_`Yjl2mE<lie0vQHcV>gwm{(-1|LsrUKC`2GK?Uw%sh{#B
z@rAgd$pmSRIH9xy4V@_~MX1STcs*3P21LZPP{<9XS74Mp3h$-Yiby#ER5Y?{sfVAv
zA+!<or^R77Vyz!IIXq+LX`VHXF0MdKikS@6MdUTfw4=e&2iR{yL|f%S4VA`+xHoSP
zbDo>A%FoZNm5`G{mSl4)81q-i=+!iIQj8*9#aw+8=L97abE7FkK^Tyf&2zrL7zyaq
zr{8lN*#$Ip0{=$xW4Fj|ZXZGso5XKi=Rot2AO@o~EpM~dnFs3L6agkVyGIzxdu3F#
zEY4=U*SrV4t_kGFc0lwu>6nEa%dtghGEI~fx2^!dkauQi;;BWDCt!rmL3LynML;@8
zSaF@9m|;M7(;6O?D@0SHtA~H8q)OUg4HjC#>a44CN-D$<Mz1oUh?a51h+RfPeFc8_
zqeWyxLNzX5UNC<s6}KfhC!7(J9KdJBX6)1QDmxEphiQ^*F|V^r1g{5$fAN%-vO!?T
z&nW_;Hs-Oc0L^}cfPz(sAm{IsNSQQ#kB(`gPY)~Za_pg<z)L^}a3-j<YpbDjEAnJ`
z!%lB53p2o!$EZqf$ogkSdP)l~*tcro;`Tx6H^}V3^mat>A-F+@jl}}U@gljrA{H?Q
z8?3QY_ihNFCkA1|o6BLrhG#|UNj*I;oBinIp__|in*)r@t^Cd?I&4dD9Fypv07y9G
z-2lPLBUN<zbJ%FeuB7+9RT@~otf?mbEu-j?ozp4AZ=wq)j2_p7?9+fv<=BjcY>IQD
zj!Fq$tp1T1jgd_v!PY=%N-h?ZuVP%w(xNwQb03KNGQni)<2LwkWqegHyh)xhE;b#N
zuj`ZMAnS8*Bm`j5#g(VU?&U}OjjY*&-DF|?U|e#~Lz0)Or#zn@Pev$>J``3F;x;_O
zfpVi>(RFcaN!kyg7_81R!gY3@rVLp%X?Bhwn2qo78f@1;4G1}77YA7)awr0(v|vPa
zy0~m`iq5rO!j76U;7VI*by$R6$A>AJ6w`-CXAF8Ym=0>~WKBpnZ!#8P9q5ypDfd_j
z19}!0Wx%n^M2GVQN*B;!?YN&$4=#BL8<Zg_y2)<sCBH)t6Hu}KBo>GfJ~@2O4<SM#
z*#?qXG?M~@1f{De5<>82{^Z|K0tjSE>wIeTTlq6*b8a%^7!LUrA^0)B*2}0_Wu)n}
zr(E~d6t8j-LzF|C;b5-kq3Ai2@M9EGU=*Oq?h46<MIy4kvf+*bKpnClq(SPb50Zui
z{MsvULnR_Bl5sndRVE3ZaRXw7XfC+At=7uw`93;%4C(3g$bi{|oEu!sy*8}Ktl+{_
zD46atufW%3BO<N*X%{K)63AJ{dV9x?bS^RSYm7EdW@f{-Py~j=T{?~yanmO?ev*95
zteY89vhN4a0@Hy0oK`(TDQj=KI9H40sDaO~6@G56Xfg$+34N1@c-V6dG>q0#Ue@aZ
z`3t!F{Sv|4u))?I*3VS4dgLt<_n7B?rG;H)Kp(r{4hyRatc{312oWLkl5q!z>Th{3
zv+n0-o6?8~hSw9?JoQEmiJTT1Ho}MQn3$Ck@fV)p-~!D+EG0wNpuNT79fY^}1Lx__
z{M-s`Ve!oaY6SStUAW;Le~CI;jqQ+Z>M8Jr26OxkQ>siu^n`OO@fJL(kmT-fGXt$i
z`_1<q4nHl@&S1s(!0X+^Bm|-b!J;tS7I?gxysHuZ(aE3nh%-<)7FE*$4(L-ph|=U(
z&oRh0+)bv=B$4~Y#J~eLyYY$jCREfZ20QbodzBCm1gAhgKoY0vW<t50KCO}CG>Wz`
z=D9Ks{g!QJ_`U=>6A~PB&SOjBlOOjJ_7YC+KkF0L>6ikSQ+5t6A@@7@8M9O*<@3ew
zpk&BKVr0V7**-7K^Ya#JxML2?))9fL0TCN($7*oTiSYz&$_>c*!%-YjX1!Aac<jTV
zDIID@)angUudszH*ZLXokqAHa+DMcc*A4weeFFX@?Y^oQVe)*4$w2A1hmmFUUJKk3
z>AC&0p2dc`QnS!jt>(leLTDa0T)~+H4UQ%ei=aiYC?qEh*?sUIk2OU~>FGx2tg)l*
zNQ^W6A!`G5_ep{b0aKz<1X~o>_5q}=%7*YX1L_8Mqx~C>4GSnr%H;)w>__IZ0qXK=
z_7KF1Vi)-6T=I$rM={_J^g;1g1E~$K+fhTw0>)SmPd1<2oSwFjMwG8X_E(<W>_b0_
zOWfj>Nj?vD)%-<!i9XoggAPpw&j{mag`h5p39n<>fZjv7GXK_0&F+?!ck;!di$?<;
zJ*o__zCUV?MZ-kgDoV$Ac;Z%EjMJN{D3_OVkQp`K!ZjL4+7@+*n6S%>2WOgo^nb4C
zr)K}Z%d+)TakdL&OmqI6%t0-$6)2r^r)Weg+Sg-*D)5a#G|w)7<SETdC>apMta6~m
zgM|FL$;n=@BZzaW{Q%5?&j>Y<uZ(YeC%!(ijmMU*3yKWqj6+~Q__!e+O%#S6K^qlQ
z2_QZHiyk?V4r87%d~Sa!gYj?|p|>F4zG+2+rKAIHwNwh69(r{=)7fWi(3?6fHf3P5
zM>WHMfw%dQ5&(Bh3UEGkE@I3cHqZxP1-O6hkUy5_IgEj2{)Ah5$QY+Ttj3T-1;&@O
zCbux;&70|{!PLXh34wq$emB6|FB?c~HN5-Nk=MC)4CIi?)U1AZ-yhN>X&A!^VeXN~
z?v<*91S^~9e)IW<ye9i~PPud?@)EYfxoM*fLK2j8a$3OYXq=X*7t&q5Ijd=K7P!yt
zI7wpcX1w?%pC`jG<7B%Q>wP2t5^2!GNA8fr#d?wTxW7o>ktFm%V0mp0(x=~HxPS2(
z0$v*2&aM@Y&JUS1bGk`62xV4x(2uBmoCPDJ@|Gi5>ao5M_LI&AN_urh;_0#Ww)loB
zO~zJr1oVWaFf0!d@mfGF87ZeX8OoXspUqeWf;S7~nwE|hD&(Ew+9Z5az69vJ^!cM$
z6dl#`jE!2YIitJI90;uZixA3M8X}>c8*o=nkuDY76Ow<|L5^jRBxo|kNC1LAgOQ_?
zj<c`+PVTlQH>|{*l;%AZ(sCu=fdW9sARd7&eCvz=+%P}~P9Jxhx=((fP`;$IO2D+u
z*VeDJXcgMY8P$!n*I;^&e&h!C=OT|_%&N$m6-`O74~;U;Ld>y~QBg%$e~%9+JL0X;
zAH=xG>;W97OatZhGmG_WZq4%Oa)%xIRlGsbET(yZS>lH%AZ~G8hx||JWuo^ex#8Bh
zvCz_kWXg*GF|FyW)=nBd<7}ipuaZH?kY>Qkv`Ch!WB}PAP@Ayt_F+QcwT{4T(+0Fp
z5KwhCeREE01&=B3O_D3f7#!_I-u=O_Ano}~<XHH}V}gebaJy7fVni_+7b83kUpb1<
zVeZtr<|GFWKMCOeSn{~^IZ3^DEL!QNK8~ICp<;pz*wC*n9+0#T(8tnIaJkjFep)eW
zP9t^8RMChTLY5Tt)lob@#r4atXZS`7<YEfCj8vIyUSQ_9&NTeJfjBM5Qy#z_6pR6_
z=v-!-yhCp0ULI&uF?`lMxkZ69X&dD0EMJzwr+nc(i1@5uYF+kBlb&(t7lRIt*<Dyv
zc$ydo%O83X13M)&ezPp(Ro|mg8eb>%OErLbW>Bs(!kokt>eX9xXGTymP`{Bw!=2&+
zM-eFrSp6~Je2@-oj4||Pvb8IX!Tj}*vB6wB1F9eLs8l@%hLzcGGA=CuetjNKCKL9e
z=i+~%V;5PG@dszKa3MEqkz%P=M}dmY&^|CZR>FdZs=^uE3Wu5`{C88tAFy5d@vw$U
zoITFH0_j)M?})uBH9F<ep+0XI3X0>h)e2!sfdLgT><s!FU&rmXkTdu%meY2YJyHbC
z^@kg>T_X1Te8qFI>zfdL#-TppcNC4(4mb2SqlKfiNZJy(jj8B05cS1&75IqM4YkT!
z_{J%(PoI_@+1>Yx$XwT6rUe|Xj}d*A(aCg{pWwl)5WDU8ybR9I7^BO1G<+zcKeG6a
zLq#(=)H7Bf`>**FGz5K#*gWBvsgThF_!^n(dvuaIf?KaKHcyAY**hM6kQ;tcqY)Pg
z_kXU|Re(xmovOcIgm^x7TAvsbv;}@`_A>K?jybwV>UBwr!+juY$by9spB|CsJ*{>1
zO?nt8uZI|YLYnOn-we@K#A~%5k-*u4A9RCb4=LU9_K#CKc8ljL#yZ#M2J1Cv1=0y=
z>riE9c0Yhk=LNghnnSJZk(MPX2IPrQ!nS!7&@W_{c08M%e=ZXfd~%Iie%q9XN-;={
zbB?a|2I6#C`~`N-4fY~4%PkLt97GYl7R=t{sw2Kw#{!uyBEmf7^oPnjYWQUzoGn&l
z>sAq8*efaPU(nega}-K`fpC{NC^*K`04*(wVLAdxGRjUWYv8M-kz2}`L>38h)=$jm
z;6I<?LjSC|B;!g?xb8bdnl3wsd)@&@-q-}U$D1Zp-TiZ@)Uz8vn?J|bANN~Uv#-~G
zQVu?F;al}7Dd4Y!wk2)!Px*B@DOh2`Z}2Zpie|GUODZY6$kIs}ex5bSSm;Z<aTUn(
zL#7g{Ol3zHAH??<kcVR=S1=(jXe>b{!y%Onei0rX=S{@0evR;v1l7&kH(N62JXb;`
z^>IeXVL(7xn*TjV#&b9Wl9F3M8U+#R8-+p=9%ThUnEPydgP1ciE`%>(o_!0^0EUeP
zc%sL?F4s7vbNY4pJ2Ju{pD@Zw5%tYuZ&hqG(=l6MukS0OdHd2cP98sD$bZ6Dh77A?
zX0XhP$Hjs$L8+)J08_t~>5|Qw+0c_1G8i*FxRTu=A>MEKgZ=M)cawf!Xn<+*{L1-B
z_tKh2KlQuQnNG?D@eWkGipygp9!A(7#)mqkLO_%5I>zORVzdY<0F4W}_UWRzU2hAo
ztB~M2cMo}KDM8L-k*iFr8_h|_S?9Wj=P&}Eq;gdQU3ilhO&as=C-6yp2s!f4jEO#Y
zR+7N)dZ`N5+2F`KY}y243~nRq5GveANL;I>0#pz#IC5}%L<fCRoWyvv6m9XC3y+?g
zsCG>jm9yyzLKoYs<IBD9*1t?jZLakCaANg@Rn&}5O`oE2ZlJr{2Cx%{tjlHOf%pfq
z$B1l<@i;zzGI_Y<=M^a9me2jYj5W?2R_3v&?VcV2g@dQP;i_c$s8EW8f#gLJ;o==)
z`q?woewFXs_$P=gHm+Rpc1_lidOEnP0c#-<+AiHb@aDFS3#~IfMyc3`>SB}`bO2RA
zs=ooJgRw@GcHn4Zxw?fCUenGLO5zeB%%ID1@Gh$EW=8#)Y-!<#1;Sajbj9pRVTAvZ
z)~_h_I_@ZIi3XFmGrML7mJERsUu#{Ow<H4r7E)cgzr86zO9*^}q8`YKZ{fs&F`qjR
zMOn1-<2{-s=N;nlMYl$o5AEmkpJj~xE@R+*?K!*oV_AnIi81DIOD3m-U6FKVe|^@G
zOu#x=6t+|L<C~V%skO7Uovap0Q)GNE>WBQN9S1Sm{>HMGKy9k_FgA}E9@$&^P=$|h
zczslQg{^!}HObVkxm)O0RD$#k%3tC2@>Wj?Vaimk3<18XBidVf#xHp%mfG*(E^?~_
z!hjpt6cfQc`3H8;dMxHZW1OjSlKbX{V(!-=;Y@m%UdvM^jdC-?lvM}}8HJrJix+sm
zW^q@TNlYj00)pc*-7-q!o;kR31{f6b$Nij*O~E9T#H3CFuWRGU8v!Qa9hW&mbk}ac
z(PL5GW^K)$TT<vK32&%hq`6q96KZo|orFlo!6Mct&L;qf5)L+C*RwM-qvsGiFG-^w
zo&9AGluRxkYSjEX@C}z({($j%`cUUroZ>S7ARQ>uC=d1!)JxDfWdj_W&K0$Q>Efn*
zx;Wjbs-C*!4E9xCIVb@wi)7?iFzuz<7RtFmvw*gQL(%5({>b{1#~F^u^>nbfUn2Y3
z2LOzq6eH+YZwiQCwd7VsCrf;CZXIr}Q)+}8=I<}nB?L)hOej8Hh?Wg{Z;W#7(YCc~
zp)b1az#o^>#Gf1XRIPrnG{tnCGhSx-Nn{uvioRw6O3IGr{{$r;KbEwLyx+;vWE23b
zBY|b~>W|1Pb(|3V`q1s8sWVtA%2<~bQZJJRXGackA^)LC&}in}_uwnP(8}>XhPb|Y
zo3zCSd_FB*aG)S9rV;OYrt`Lyr4rf_dfgYk3|Tb%AF$E|cn~W1i$Jgi+YF^Cx+}+e
zmdAQ}J$6f3KzyX&@p<=D0pJFK!vm#%e?H4Qq*4rvwd{Pll$B7-pNH*wKTE;6P?rDo
z*FWxm{RI<$f&cOEVEG^ap5?{*AOD_q^<>0b^^ZFH*I$3$!02E9@$b{0ls7^9C-VQ|
z|MutUA1Y1%-<ve`XY=nb{2!Ztf8qH%kN@8FyZN7amH+sY^v^##|JPsp(*4i>@t+y~
zufP6L)Lr+lzlL$h|N6%`#c93$DeGVVShr<t^MC#IKZ?H}|DEv9t{(C<p8oY$vTxh}
zmD-H;@UOr6ddrvpo&NW`u6|$s^%wHLQ~&?@{PV1{KV^Fpwk00cVqE%nU-7oo*Z+k7
z4SN6JfBRF*_y2$WpUw1s^0o@~U(Yo84;A{aXXtH=ziao;W$)gK<VQY?S@zdIjy!!4
z`=5DHyc_>j_5bRbzyH^x{Ez?V{{v7<2MDf0LF9(;007%S0RT`-0|XQR2nYxOc!rBh
z0000000000000004FCWDRdi`=X>@62b1rjsXSDm*lI%d1BnbXWO3ur)ptBrs@ZQQA
z0p}cWkT-D7Ilg{zv$LwJXM1I3MS9{&xWN(TM%2#HqZ)zxum9K8cYitZWv$2I?|+5<
z1^nw@@*y3wdMN+?SI_1DM*Q{v`nP{wkMb{Poo&_M|N15V1;IhM@BjLjDzD3G`^PPa
zguZ`n9d&-v<MsEyf`0-30)gN68~W>C-Z_T#?|-efZTfGY&v~Bza>D;IF6HM7g5c*J
z{GVO^+tt-W`@iZ4ktF%~$4~$IZ~t2UrKr2^?|&V}A^+=N)@>Qv{O^BFx;SnB{q5iW
zx!QN~KYjnU?A_ZXKk{MBvj6Dxj+dwL^!LB6^Bynx|8&0@>lcvZ{YdwZDbuc={x-#b
z2L12z{^vD}Q=Hb@{g3(neLeqqb$|Ph4llmj5)W%JF8$yC+Q-{cU;iicU%~g^KVJXK
zJK3LE{*wLuuiE?mFY1fpzc(+Ke^J4IZ@|Ai|LffydAg0u-}0h(FaEiZ&%gcar~J2n
z&GKUXw}1V!7xT{~^*hU-H}HR+^>5$*`nT_&3BmtpN%Al1d;6cwd-wUrfd4+ud->l7
z{-0plm+t@kKmIZLfBAQ`{txgUU;kY8{{ZD*i2rREe*f$Df5MO?{wwm|(L??dh{(S;
zB>orm?efnC`QHaA^8YBL$p3(}_{Z1(9a8B3F+l$jlrL7`e*g#m^YwpYKob9XMi_gK
z>zx6?zW<|z-sAko5B}o<|Njp{;=la=&f))v*Z(_VB>T4gFX*DLw|x1J`~P^?)o=51
z<o_q?(Eoz0{=Xl?-{5!Ge}m9JXHoZYng0j<lK5Z$GA;R<FGo(T(+ja3Z}s@^`}*hL
z<eOqIFTY5=?H?ljZ`G0)fB$P1Z}ETo$AF({DF0tcyyh>M^^Z2}6I6t9q~0&x@hZ+M
z->brUUqq0h!nb8rXakf#9hiWY{6KrJ;Lo4_pHl?uMUmg@lHxkf`q{`}Tx14c-c>9>
zO3FAj+7w3945m~P7x}%yNM$wyWQN1=cR1h}C%^X3*@MdZk>OnaKJ8S?eyyl*U~y$x
zMs%Ki3itw$J|alN%(L}z@8W^c@3WpbPFxc~Jh<ERF@}*Ee_0++|KqzB2BBI;hAB%)
z_2+U4C3gPY>sT?XH#+M`)6loY?F?vL$)Cg3E)a!T1x^|)z6xoo>s|J=71%3NCr?aJ
zN#wv&sifYhAJ1HLMcFzxdp=v+X36dT!LK*7mdn^>mPTznMvaQKQ+8Ln=(kP0(vb;v
z?v)o$6X3ixYXguer+&1m%t|>^pBR`Ida=KM`_>==*#9!>7H$+8z<RfSylGpNf|Vy@
zo%S@IakkN4h3gA<?H{898Cf7ztzF748@~|4EgL0Rj^-+Wy;TFnTA6Yi?N0_JJi<f8
zMY$&M$EM}ex2ph-*84dMrP@?KB;%6%H~j5sy+Xt5^KMPo+u51lw@y6C**VESTY}yC
z^|x1U#o|5=pX1ZH>9`mNuea}dPiF^Hr(%9c>9q9p@ht^DAIU_Q3R?w{#~qY;Pqj0R
z-e-8s-a)msE&;Pjn{Blh+n_w}>>H|{Dh*4S!`5NDzPGkbc?Dro@=3ec6!D(r#tG7`
zZ^-#eri40SPS2}~LixMZXW=SSJBo`1(`E>^b3|#a?$6oS6va6k0#i$f4Ir>McF&`#
zyHN083z2xIEfcMWv)%9dQ-zZQhBreum%mqGD%)w;U@e@E$bi_LLs)o6Oh9q%9>qAa
zq<ktBf8yjU8(I<tm!=W_i~B;oH(S4fJ7a{7{#&A`E+{3CgPKNO{8LG@Z0UzKT;j;*
z4Om<I5YA%q)FU9nohb9k=%^4Xfh2<c9<Op{EfwtrBU5wCb<OaQTC9~*^k8(m;S*&T
zMBn`pj@z)1UnhWRz&Od)MtH5Z&pHn^4^{yG#!5wV71hiAEuX?S$G)KY#%qKtn5%=m
zD6(RzR8$KHhO;kX%p;s;@2zA>+|fqmkf@~shjD~o>XG@t0e(g~mYLs-$y8LHXr$$}
zC4}ahHN52bvTmB@53z_h5Gz+w1G}N%_89_M`Mx+a=b!xKIC|_FmTJ=XTC5p3N6WPc
zw##jPdk!Fy=75uz>RE>s6=<)I$qIC;=IYah1M2#-G=4?l^9v<0t7Zs%<4Z0_bpY<p
zHakSo8Oef@CYO7(93ybYe)k==0Inejp|frSfSm;Dn~>D9)w0?C!N(_U77?h^J43~j
zqfl%2SqvK12!R`}dRhRkDTJp3Lt+At=M{+;j&n;_;F^{ID0EpO8Y}WD%t<<&j0N8@
zO3(+70MZUD%xn{-ZR`hmSXuyCB~LAD315;yfX~nK_wGYMt5|Qd-!l++k3p@972C|~
z7w~=%bF#f(DNxCs@Y4Ic-Y=r>1QU<-Av{ccKiBsQB0v{!a7O0Qe}8THHCvpWY66!q
z0#8oc9F?x}k6#bgSBMi1R%`av3^1sSTXwq0$UrbH)3sku0CeKILNn(gd0TpwW6;Ef
zXJw7UE8oKpxAZ4vh@WV{e1(1bI)->isxeC!HM);rw4vtLp-bwz^SUqP!yAO$OpC3c
z=s7A8Q>uZ-IoB8|1yM-|;6sqD3}|H7X!JX_9{t|iZj#xaXr_EzakaF<>gyDY#1J~L
z%qDR%<%8+hYLldn;tSmG3+}4lUJHh?Vn^?LTza>1z)>z+S5zzkPA9;2w63<C+E)ak
zVWmc}pZj!jePk3jj~`T;0}QpZo5xg-ntOo<3^D}e9n`LE5I;A{N0kb+v>n7nR4Fj^
zr}`}`?6_FGTbDY6J1q<%?C+x96!+|#6XyBkz#sd5^xd%JiO^_)_uvC)+_7J^ZtlRb
zgAeId&<BV|hJ--t4Du>(cez85>laR*42qu9OvBMJ@|SjzKb&Zt41bT+xrx|Yn7gIX
zn?kU8wc-4iSM_h$c%~pVM9!M>b6^9FGr$ZKEwY<whocK*$pQi+12Uoe7w&_G)cTcZ
z8`RGU-4ap3DcU#4=jwWSj%BH@wjt#lbHAHQF|?A5<-TRZ7;i1&Z`>>0IV3H6GEqRU
zztcIe&rLGF5O(<iDvk`1Cxp~fn~)aJ6CVw#Bh0gr7B&N>;L{Y<<MNArqv4v5&W|Op
z&Zs{daJ5%+2+pN-ze^ywfp=&PRW#7V7Iu-ko)Cy-jD-#iQ<$?q+vA1&x>ZM{p2lMC
zhjf$|8-4LMbwjtLKz4^YjFVJhxdTlRnL5bPRlJK}U^6u>)~Ko4&H5^^VSHk9#-<B@
z3?PX~7F40RQ3|;xEcY2nY-qzwHPg*O6SyVvOug>AdlMlvVBa1d(6vA&1z_!}4wn)A
z@^;xK)^d-yT}302;^Xpm1+pm9gTfo92l%Bd<0lBMS13!0J9iXKS;?rye26sk`620A
zU>zGEoGkd|0}x*eA6Txk6N>Pwa}lTOL3ZcYE?mQ2Wbx@3R!CBx25orw;@4NbPXkc+
zqY5hwAN||kE+CpG^_3&O0r_eWb<3-ptR83>KCP$g^V#E8{(P{To=Cz+3MV~)D`-I$
zU%;6{KE)vQVgDxBPQ#p9>w|gDY7dK^5qjf-+XF1$90YvKYXpOcm0H)pZLwn*6o7em
zorW-Z^<jQ0dMnxav@r(FpgZgD5DAf9BYwqzI`4sQz=4+mqmB~MmFkLHZ#+$%QfX}U
zkl+|43f95{x`F{0Ctf`cgo5{iS**VCAk$P-8n*f7YS%m=CU%b9zh$knF`%sRTW!}X
zOZH|J8Dr?y!F8`5ha?c^E9li+97>5dywEtS-VH5Y2Z&+q6k-!|qgzNMCkPL}>f=|D
zp6;ItLO!BM-88~DTAAgal|`^$kOS%5=CMAJq!3<TDb4UZn^G;*yVxbm=gy>>c#vms
z9AO@*lEhjbT|=*j9xCS6jdPo}*M&!gh-u3fc_<#;*p-vRKX_m~qB`m;SY~D&g+rn+
z5q-au1}AcCny?Y38)lp0ii?W(!>1DO78`7uYnvffCIi!>Ldd;qDToVJMNtU1{hAIJ
zYrJBwgUInj#*%vmk?8ubJs^J88Vv)bA8(8n@!7emPD0n91%_r|og3UtUOru9p{drA
zav-bc4cCtBxesyfI$<dR1Jr}oAs}Gw5~q{d2;Y;S33oKUHfMkXMvVVppw!}1c4k}T
ziVlQOx7wp-m)aB?-Wrgbr0}Vhz@%T<+M$3^wT8N_lRV;0V-<uoXj@GfG<9}r0n8gF
zHTp@C73O)DMW-<6)2rvJb(|;{NKew5Y?SwCK%F4X0KUT}8=1W1Xd#*lCa)}1h8Y2u
z0~GXE+cFRKaIBewLVi44Q|2ZQWznL6fCMNcPXnYlx-5F`h^x5lLYd@vsMjJ$!>|k-
z9UlCLXy@rW#xPs0Zfcg`ep<D4v{g8!dzyhH5_!HPezcG6@mVj9(T;}E!M(a)Y`pSN
zY@o4NBJ!)shn|HN;q)1Q2e2>t6PGYic!xwRiWpTy;0k$hq|#f-T$$l@c!+7p<t*R>
z-_Zl+#r$$qv&aYvn+nd5o=#jLbUw4c>TWe2O-J=!^pUjSHv1GH5OHfN)3Jn{4n#~L
ztj4CeVByLSU4I+iP&>!BB)yFb$$FV}E0R4lqK7&hB0IO?qjFKV1qHb|%mnCx$sUp~
z`PP!VUb+lyeJ;oMyaWWzBPJH(SFO=Y^;8b``mo0{T^re5Imq1$;mWK>@;1nvk-7O=
z;%ZVV1=J592g`Xs{2FU?QC!oLZQ{G23M1jb>2`OY&nI)oIFzi@sUrpwKvjiy^8r3t
zm4pZ8&SFv{Ut(T^`N7REXdM)2CKh5h1M?oWg!4~eZdDb<kSN+tW#5*hV$?KWH+Lx4
zO|?PG^PR3e0UKC$LOym4Nk3f6Kc8Q=aR?vDJ{S*Q1L%zW7w)=?$&k2}>&nAsb}O%*
z@eE5Ex>#TWCD^u!b@O{YR2S}khGA{5C$p^}jVWvG2<&x0aRWJm=G=3Q`r?F>KZp=n
zcCg|fSWhGTMes!a=0^N&##-fln9D_}&iiZEC>TyRUwBJ78q;aq6Y4=0`1FYoBn?Vs
zF~C?xMUiAOH*(R*nG_pja^gl0iXG@Qh-@%i@H2-I59296U)@(M7(&Q=3RP}ZznmD3
z1QFw~u}q!)1?Rpy1bQEM{)kLgY~ib)rLA)dWp#fNRuY%Y5i(aallN=3>$Ai7IjI_z
zGdX{fn6;>ZTUuP64-u|KLno@*mW>@;=H@U3i|~lwx{*_|pzH_0q(jW5jOsY!C~N#t
zrl(vgmJ3GC5|tas19uX-V{rwouitX}mJN^p0@*?(;OCXL<Oed8F#TlZ*IpX1iQ@7G
zocGe;R#$^S7%&S~vGOMr(8p-$;ZOZBf)5n3`4RL~7NvF3@$UU~jO(?;Hv;H5D~Qmg
z1URr>!h@1;4|1Ym^H)!K${MwmZR(g{ps_HRr+dD+aMsbKCArk<b*lWpI$+tQV}A}O
z8jCF!mog&%09*vO&%$vJcYQmA$dME_9XOjQI4l+YO^npdYv(pdkm_I|ITx93q+5`c
zqSpNay#*ousZzoAI`0tW^?^^O?hT|s{EuEKSq!QVaqlN}96wAj*5-Va2NX!?j;ijp
z((Uga_jo9QU6{z2A3>eOnV|l|<q5}?C&K8RwK{7?Y5BWmgs<`Q?Am6-_<mX5W6iOM
zAA5KhTZlBMw5<b&MBdu))e(_Qg79cma;h9JKQ*J6mZd`cE_%5yGyP@<3I{3W5A@SB
z;UcmSoGu-~iFGzjI;O)(y<CKVSa0Cx6~M>J5R;pfXrYGcED?WOFwyw#F*v+ZF8!8)
z)ojd`i7R}_e@djbEl>=8@?A9{YS~l1dERaIbA!V@1x{2tCV5Lo^K2xL9Su_)3i$Kz
zogbM-ULl1LMzuyrnN>5{3~>lpmNzw+QI#P>*<(f5M5Vz6ykX4MNxbI0rFa?wN24yG
zKM{zgZvh<-cUvpS49ALIy)jIG3`1yXEGd>q$cM+-(mP%owe6#uD!B4HPZ?0afkKQY
z9zr%xw)3CYR7vk?OpkS=_mjr~d=*jz4nMud_LKYlidha2`{C;d@v3L@W0RJ&ET#KG
zv%m$05`SCi_W2Bm#bLyL=8KN*A=2>~s`{p!L9IDDzr7kPD0Gm2o<EJ&zuBOJ!*`V}
z)tGB?Uz`5N94u);4>T)UL*G%5e!!A01~u6wbhmU%6>$uY!z3W!)>puP0V_h=R|nNO
zFDLvJGS{meVqYU3DT1zm$EUN0O)-s2!3z+g%oYIXgWoewC^N=n8((lsI-=6);a&v{
zHPluI(sam%8W6>38X_nA7FVD>!CxH;eE~0odFwe(W72D(O!3tim%7*(I@>zyEq0}m
zEtRgxjNX7OiaE}s8?5(lz|gMA<pUAO7U<#+&>ywN`3JBL=q1x_!?H4f`u!HW_^mdt
zeifUi1xJEdqe@h;Gx{`=jQ~BDzxr#7D?7|#e71>du;<;MQZutHepsZ?p{G|p<C=w}
zTAf8K@)Ec2?Ys=WnqDEBRr|61lW{QSqn&<qUzN=UNG!kM58R|FUG6T?&Mt|+lKk)M
z4{5UStEpnk3PVBv!e{epZh<JP=?}Nn1ox1;=ugD7O0Y(K+9TZM@T-tWa^*Ys>ZDN}
zYTo1Cm8}((Yu%dSyn5&rg8;9<j2<_qCvf4L<di?BNJ*f+bSD(*e9BIIt>u>52Hqwi
z)F;W|iRu@9bbA7;e2`nld|`Ik>2s;xbbPTJ3200lpSC8dz$ZYp9Unpsy-JlBm*$5^
z;wwbpK0Ejq4omFc7_Km%<LtaGOQM%8R66x;taf~Tb>)=(M6h%WuRVgaxVMzg@*87$
ze_M!j6ya@%xZT|pf<=j(DNtgS`t7@4K%BvAZyv^4S_h*UuRlkxuZwWV=RFuYz6i2b
zOjAi+m@1y#6n9tfYM@2jM{BmqZ5`NJnTlcIQDdL;tkG{1y&7=u!48Guska78uOW9H
z69-9?8;Zr}Q=*Io5Z<U}wv8_}IOOZ->JmI*pBeznuUa*nBI2Q^$6~~+hR!;up@k%}
zfW8J})t2VwoSj5ntmSqTP-qj{$J;6eTRm*eE=PMyIZ-JWR9<-ZqNOUFWGZFVy6x2*
zbluAf5(Pv2NxP;4iSgBP1S*w9ntmaFDYt^TKq}tnbT?zWcuzG6t=0SU>v*y6xaUK1
zE?WE|oqmP1YJAdHWSZ(*H4_AZ&F*GU@B14sf*N2bu0FV(?PlJ2o%^GO!mRi>Ft9$;
zG)rybuX}FD=pV0GQ#$FL&Z=m{d#MMQ3vL!nDa<1C=CrvXw-Ht0gOb+=9f-Xj!tXd!
zcvdw^4Hy`#EDvnELwobp>u-MMbC^G{96^JSPjKW)eFtXxW2Uv`ntK=aHxDy$2V7f;
zHfp_abWp4pij!vn`+xSCkze3wu`MeM6-BTOB+*ZDIfu$AsnDgS@M=i<y1fp${c8Xx
z(r*bfehdoqeMqaXNGUPD==GR`p5i(?ZD8@0M2<}rC0};VJhzPl#%!#|;j{S~>L8H^
z*RI6!WAHK|tHUAX^ow8yQj20?4--XBUo6PKdv*&Va-Ca(A@-uM=Q>l{6BLM2hSaO4
zX=XCBxl>Fz{Wwn0S<{R@)+~x@$Xa>Zx;q;dE-+|0+odl7tu6pt*RO37MH%H!KE?sx
zfDT}7KT>Z95I@W)M~nBI&d0BATWpLp&4=s<sm*iVE$0m?lBGDXvqq~la;!(cu_PGe
z`JRT|j2v9ofhfVg5R^gkr?!MNRs9G|J)Ph4)~hATm7g20gZjO*TLmTb8g^N{v6+4z
z9?GajeW2UEZ+=t+9L5$~fL_-|+N;4H>6WpZXtqrhcG-JE?7c0m_=)xAL}%o|^u#X5
zS&bPdySQ2~O|jc3@EcHx+F<>B2mGJ>1xty2yp6T|wOA%ze9(t)y5E|}i9_EOr+1sR
zCK+M_ESyEKX(N&|&!o1?3iY}vy<V|z&M_Y?=+J%3wuVY#!5um;#;nmfE(R3<J#NTs
zU(#Ij&&l?x5ExzuVT^(jZ{Yq~%?B)pjZXBp&iw||_pI$!p^>BPegBrNI}D|h1LM1q
zb%Cn4$15MKZ_2s5`NPm<MYqDULb4*)bAnAA)ykxc8gx_-ewqZXKS;xVsIwyK{Bx!$
z_W_Ne4t2Vqnftilx{T7Y_=<kRbZ=yitfa}`25V*=FE8~laDzlt>jDm0V=rR%O2Xq6
zF=47W^1jXs-^I#Ldf<rXNxtp)VR)_<S3wbEqB@G%@{9)|37hr7gVXO<bxoYvT$6|~
zI{`vqVw?S|5CEFBU!tQw7bv-}$F{1d!YwQ`<2uVAh9^xdv1bI+YPrn*U`_F#KN*Hp
z<%(slhTp}5t+|)NI^#DgmuvpEPazK@!`rZP)0VE*Z`ENUuse4IUHNP_wdlFRDyemZ
z)`2+r;BcFhJNceXSY7dOZZ6FbFIBU#fbP`#!2lZA;VS>Mt~qJhm$b$TDz{fGn#uDj
z^5DvtIV@`#ye}FJ&0poY(tyS~BsA4M4adc4)j%tqv9L2ZwLuN2ZT>yigfQs^Ah<qh
zP#Zv`T{z(eh0qnAhvT6+sRWNR+V%K`Y5GJx6W4r)&jr#6KOb@?eHhjq|8_&JVAY7Y
z)H}_yT-i!`Tr4#dZ)p=9=e77Ij~hyxx6~;L4p^uUFd~8=dgpg*KZb{8VM8pR0l;w3
zS@g+5p8mGCdZl|DLaSv}$7N+FDqmbPql%YQrO|r1tA>an{lL;?9_RdFH+iu`OyY3M
z?mD4pw2blzV4i;Ft!3MJ+3jdGna<hx_HyfYH8s%bJa$gk<GBf7;-sF-q=jWEX^@Yd
z%XX^eKanO@sUgfX99Q31FgxeBifgxc`ERG8Y5^^7Dv!dYyg9``qUI9I2`MN0Yl%i-
z=me84_&cBKFx4WT=Q_8yTrJ0qMCm-HM6YG7qliL3d4w8sAR+2&Sao#HYz6^Ck7OJ2
zLae5@tH)2`kGL9yce><65YC_4eI1i$XlAh{p8hF=5ap$><ea~?%AVB!bd21?;FqDM
z0}#<7c+2~fH06{gKQ^MGY<K+erW8AGoYv?nVpv`=;N~~z|70|fZ&0g#z}OmJBXe>;
zmSE}FhukQrBddubS2V>B0?(3q(BCeT%K&IO^>J&9VoR?$b$fP64$z`@kXf}RqZka0
zp&DJPFo0D=ZOSHQaDV`7@hYmJR@I}V(`ocl-_=oPb9C_L6<)Q%sP!#i^=x7jfiFL<
z)s^GtY9_BP%HrTv#9SNf=1BY)8es&x&i7(q2K<RDs&{pMa6f39M_G>WyJfcYs|)j+
zhrUH%PVR9$%UAEkgeAu&iBod;+7ncahmMElTOS?Yf{-L4ndx1R!z-Lxf<e#IZKdrw
zA!%y2^62?mFXOd$e66=k8ypV_)Q-cHczTHHT+aj$aB}67;iP>TehBugCJC8{P{~uz
zg>4XV*mDq<8n(TGY}y73J*4v3)fi#J{mfp+9e){_dUf78C1JVU<mlN7B?VSZ%c3p_
zuHrhMXO@eGVSYn5v5WJxZ#5Nx9Q2(kheeY?g3u?=*Q&{Vn>={-p)C%^$@Ni7(n5HD
z%J((KenOzWRmb!ocfCGow0+fZDD*sD0qS$3khn|t*OKG*39&_iB$KJ-&+ua@&XH~u
zjc5f)n+v{er|>-Gr(46IXX|$G($h}YLZQyrY34Pig$vK>nC#hu<p_H3zr#3WJGz|`
z&KUbSE?RCJMX-Me3B&cF;AHXDd{apf2nG{}`$m8e17Uqh2e;=mxDTv7xcl{*b!2&d
z!<amb6*f@D-vo{ZDrC=tOJ*5^5`<cEuc*9KaRtkebSezI>>Cr?2#qUClIn~J>r%VA
z9LGJaZJ^1h?>=oHB*!x3{JP^U6~Rqx7kMA|z*dliY^fh~ZdTb}gJz)(JyXAH7-3C}
z{)v7T5IBg@=k~M-BdKzD3%jfK8Mc{KZ<)A%pG9D&&4>V-WufaQOFnKj5~m<F`J*Y$
z9e?~<r7_>eHF|Z%dHJ_YdNvq^xpd{aLjHrZtj)5Gk|kcTodJe|pBL^dt={SB@Yel(
zoCCcKz?R+jG)5uGVszxSD#T~M>Z7QrC?=q2R;pJ@wOrV%Agz2wmFv}vvRg*Ze=KTa
z%1?nQWU=b7;@%vvCa1kw#Qr^X@)4I_rlhkl!j9-<4@MH5k78lBx2hp96w5SHr-tvg
zyWRZ(oW#PL1@NRKzD8{4pB={(`2NsF8OsqyqD$o1T;a}i$v_F1TtrZDvG<1>&J|Kp
z#5^7OX?}umt(Dl``OhX*bH0tkl-e^Z!tG_{9r-q)>fy90pk!F5c`meOH-GnPGpE8q
zr3YC6!!abxkw3t!IUV_ZPB@jr&}~x5V<9t#=;ZvCy3qGgyV_)6&Wr)6uLE4}L`h?A
z&FGhdh+EHnE03Aup3KQ6sd`JDU<}bjg|;r^f;qYNILm_SMjM1M0<AE5mk$d?#$CD#
z*iADRF8lTw*5A88`me)LorZ1n{dFJ0wb!wemv}Sd9~!Vz;$=K~_<nC^Q{S?0RXWBX
zvWlwMnt-kbvm1zCkK9K2#?GiNeXOgBhPDRMr+b+W!l<QB^GeblH1(y?<k7I!yM)CA
zaq3xR7d@naPMihi44aIm4Z6p#bz_G^_rBLEi3yCw@63A-WO;XFe7Rr;onrC!)Y%vn
zvR?nZH|#2X^v@Fy0-llqMX^{W9V|c#vLKQxx5lQ!sqixhuUH=MNP9_(kI}+&_bO0O
z1!c=rZB7gYet;R6&h~te3I*}Vp_JT=!*mI=rb1mhalBrs64F^>6huDBqJLHG1JqGS
zwe)tRC8zg5%HvYIgsa=vj|lceFgq{N{P$-<g1X<cFIe==D;v(%IKU?r?tIOw57)Ha
zC>`A~<no6=M*F4wLFH8Ca^>z#w|!eSjP4XY`19l$PYsu_#>TC=6GA>a;Nn^Pu+Tn2
z;j7_ok59KyuRj~bprZTD3iKmW4$dAAzt*&AD7S1nqG?B5g&w@X<Z*Q;cCLVuE}=(G
z1X4Fd>!BkWzKA0sOQ?1ht#w}`DcM_|8Z;$qGqsZ|9iv{Xj)oDM5buivw0mPvj-2j`
z6q3~$KD^Qv;I>4^ffWraVKdjW%%TrLjc<~%&<dtehOb<eqNxg)`@;tnv>ea=V~;;Y
zQ-tf7An+cSNCvjyQ{6+NXmhF04MBfh?|t{+kWRVjN}tr`g7KBA_TyW|dw7}?8ihel
zhgD4kh;(}ly_HiJ$!B8i=?u6}io39z*i|`XvfQf}s}km?GrE^=<S&nhw(;ekq<U3g
zmK+B$l<kJHC}2}Fh8oo|+XH;?{u1a8$sRQTC=i<OR*z_au3I)rTR!jjrt=0MSzCM^
z8M{rKf-VXz_8Or1I>yP{^SZGWjCR!_*^7C3)~n3CXqBQZzve6Phz34z%}o0}zyOXP
zq{6%<ez##re6FeudTJ4+x=qYyo`#(%r&ea7Q4qIPS<Ciu^rS>j)0HLcWca!35o5MC
zNT{3%BRPR_zeq$OFQtZjgE8M1YVOakH+%D~)}U-15F+<1b@RC{PJ)`Q&LBMwXCF%0
zsW+=WT>iZ!xDp36DeiGpD3&6;e30ruHZY^GlF7+&lhr}!b@%IV+>rXbbAJ);YwsnY
z&4mP{jT0F))?BTHf3}pa_`Dp*WjJ=0r+kuoc)(`HzIiYFNV_>27~ltSKD}6xc}Yk|
zn#oxHIwmaRV{TDo`n(TL%bs;|hw2rRB=TEO$w;|2`_1I{j;D?MZUNqLb|gXfA<7~}
z-C!?UuaYE=!zZI(%EHqG3v`jLcELX6mo}foD}z%1sL`g!Hd}r^XbCf$|MH1FHUX#@
zsz2`g$gzwPMc%Gy6va@K<Jt62%Z6J8f^*vup?9RjVw!~CIyUfYcKcqLnvxsCGZQp4
zo9M>p&5P*viqOzx8q9sgIV@u8XFGNHqqGr8ffPVrF&*P5I#ZxNU1m9gx&G(5(^hA$
z!oCe``qbt^LkS!;Uxf*r1S80ruqF+&H8f(~kN`HCXF3=japw0(YSUn>d>Z_PkQ?N%
z?6xp4n*V&G`K3smc8WN%L1?(EO$7Xg-apTyS^D*5T@E3T*tXBN&gw6b)@Fw#j?;?@
zy=q>SPszurS)0Z%txZFJt}vX3veOiTB+T>&xLDGM@+L*mukQ)HG2G^>MN06}JT`E5
zo;+;JD@RBUAE~rA_3SV`h8dN+z9Sx4-LDPClFNNgtk9M%X^{mhE|IGuiBdHep<S>d
z6Gq$*iEV)WZ2m|x&iBc)uRT~F&eMo>*_N3tYseHLv0_YF5?;Tv!1kLfg2Ndn(fVF6
zmtGut$eFG3p*3k&vvBoBeMA?I$zt369G5Tzi<bS!`*VHhpL|v^EuUwXzNI6syZ9WH
z#je8+a4&!Cov~$bUX5F~9s<2n%%HWdG2ixKeQsUAutdiF>br1=R@QTo1BT?#-cyt{
zK#(HdTI;&dY-7l<2ooQl_yL0dgJm3M%EfNDuF+~<tLG?1ZihS_8?vh2|8`JZ{8~(^
zNZZ-#S|^F{Ne+80fq5bCD|E-J8GUE1<21`xV-SnPtxf`>+_xa8$ZekpB;6{$)r#}W
z_Y1)4eArBz<6bHi6(;I)P6AffR(9TKg>tje^i{p8|LS%x9cC}B#@|M^Oob(4MM(t2
zK!E8cC)psn3jqR6_f95&%mPcW`nlF(f=srz?_ey*aemD244E;e+^;^Y)LIYEq;=3S
z&ksf$ZMCBa*qaN_M!v&#vkJpP#Jgsy+O3zDI3TTn+5+=9O^3{QL<s2N@JCA0G5O^K
zg8gTE(`^t_+TTtD)9_TW?tKBADW*%hHw?Gc=XK5}e!?oZpIP7d{$hRat6POq&hWTo
zG)5<Ss6T77&ZU-aIdv}LlWR6B&tG;idogrX+n=~mUA0J6j(HI40etg&5r;)fl+B-s
zfO~;B3dHc}eZ87iWlpnRuHUPFDoC;NA}njGFCeaK??tp!_NsVtt7s>3Zt2{AkcFn?
zhuR0x<?UC7Bog!a<@g(?bWwdsAiGL-njgjiK1W5Ec6LP3ucOWqG7J*LBn`L@bvdH?
z3*tv7#=oDz33bWVQ(`F1adVE(sr>{An9e6PcF^}^pd;nCw%Pb*RoRX&3=1cyI9jkm
zrsiLRSa!UDJ?|~;3u#ZUySYP8^h+&m!5_~^rkJR8sy)<CBka)z-C+|A39OhwW>zFC
zeQz(O$gteOv4SbaVTGZ=_5m@(9=46Gav2c`^DCbj-@Iw$`UWf}AiiE`|5;X%#|H=J
zixkzLlyz5RJTcSy5Jljem@rL}%+Q9?B9CNqpjO8}I0TmxlTpGWvf)P`X6$=-0*8qR
zVg?0@o&=~RYC~B0k$ANBD!D#Ru|lk0jJ=zayM@r41R&YA&puz`B7cUk2*C?MfN!=B
zkgWpImS@uRjIUWGeli(6w+7W7Vr%cINA2yJOde5tpkAM{OfSbRL_lI=J5RoM1fBN}
zCxEHQ+Ytm<V=wBN<L9C(&s4AqD$6a0i&vqL!DPxf=qnUoGZbEq4FUIQzd_59stSHd
zf5Yt5d43WWM$eSbn#nn5<)8|rg{K9k)=l5iFm{)!JW(KNXmF4B52DT*QS&>m?fFYA
zK7-zGv`D<YP2Dmdfe5mza!6$u`?FiGd(|{{45K%vr!%vate<3hX=Pxu=r<TNhB`Cl
zsF108BxM$VFJr4An9xDH8Qe@Fx;e9}*Uq|V-1c{(&XRr(U5xhKIMnT)c)zDV&DS#=
zpV}LX;j8mEZo<N4{D#S3i{=|(U7Hi^7-DHkELtU0m4?(&g;n5SODzk+!v?7)AKLpU
z%M;_i%4#LWu8oMa1V2L7U5xfTZn{f1Xgn4YVAYz=$_D2LlFb5njx$b|#VELVlY^1$
z=SxXf#j&hH_EFPu>06n6HLKquxJm54g0DNZO(y#X(DIR}ab0}7$HwlYjjlP$PdFEA
zuuoPM_RG1A-nszc0h!d5qPeN=M|XgB#0;>OkhW*V&>>LP{34BgwhdXa2X2%-d-&!K
z9#?BO>0D=?_V0C93r2zsHJaC#B^vGAc|xF%NVl<Kl?A82ZVphFx`}ijda}y>8EX$H
za?BgpaoK2=n;$w~{J^3pOZ@YEyfoVm2k7<-#Oh|hP`wftto>_!t;CovB2(^3p;%dD
zBrCTkJ~1Q&wr?zXKJDa;Vb-S!ef<#iXFlOQ5JWOcr}oyTs;_^Upm+3($^9w|67cy}
zecj<J(MvsdAxCq{&xrU04g7{td2RU1yG(3l*w!PR)>?ngDXS76d3`qetI@4G7YMZ*
zG7c4pO_8#DXpB=#n6p=4kH(3y(c$zW@5lw*$)Jwd`O4ehT$b_aS6^F+=uOVkB0OXW
z&d$j9YNw+|bc24_Iqcyv5P`6*&$7yF1oOMOj2IVtbv8Qg=2lEW^(AX=wAoJ`HeQ;6
z7e25IQKCBneEqUO2~cJN0VpS>h2zrUvD<MO00Th$zpMBe5BFW+-&gJWL0JQF4HYu?
z!jEahO`UO>>s6Fsh|w+3{^x6dQ4xm|+wRmrJRKjR*Eopk2Vv<vR|u_#Q|OjSjT2d+
zVr+u&B^>rQP7<ui8wo;rz6`^{)N+Jn+q6`n&LguIS@35?oNF$1i;$_6x-_0JPOje`
zFZ8{D)pM^msU#0V!dj;M(^D7;Q8+1&&-Q?N_~F+n-sjh*lI%txvTruMMW2wQdG3g(
zNMi{(WZ`U)3$Fj?nT#(91X2{3b;FjPS$#f2OUJ;Antd(852%GD$Pw$c6ZKn>C*})1
zn?1q)O+VJE?jw^xCTwBvn(5oCAE8OFU3zIW&-<<Rp8G8u%RnU&I&#%=8!k|WB7cy6
zUHWQ`^QU9=3QNYx3?YdnOt)&hlT#m8#*^owoE#F<K+jp81dj{fbJ63qKnQda*)<U7
zKPi)Sk>=BwdOU^+Pbq%!4935{Hx$mj?OQh<i^D=Pm%N#Ekh{sVW_owJ@S}!qQ$Y!Z
z|6|Qr{Fc%>+x#^#3LXm+E8>WbZvzGM5AqXqy-6dzwEF!03ea_Sv#`r6&ZVB~vF}fs
zz5+IgA8l91a4rCJwO`ZdVw8KOS)DX;(`TBasYLh86b84{xFwKS3Y=J1L4LF1<MsLs
zf1(M3idrB)vy({5Xf<K4LH~#WKTii~b6w)1n;V&yuw(M;k*4ubXj=0b`Ti}n5eCIJ
zuQ`qD`0&|ONqcNwP$iLrUO9eNt4V@9F_<~Ja_nqr8}#|a0n<Eh0QLSNHK}`bpU+Gf
zhOxFdDwowBY_{!SaBXlP6Qs!e)*I?K!1{xH0D5`zt&Zx}JFA`C=b)Si9Y@0H$!B_z
zNeKJht+Ns4Cf3u<e_zrP6;NkmRK&XV998~`8i??5Vs9s1Dt(HHwVNpVh4$+p{MEhe
z4YQkqdtthe<es1XbeFA7zQ4`gw6AU*j1@2r<o+yY%_O$|jbsYJd&t4#8024C4)jr|
z62g<b=hac1b(ED^BLWD1_C`1i9Qnx?kRiuV^7dHRjH>S$zDYe+h|5;w73=LBMl|H-
zmnaYa;5AAR#xMWz4uo6K0UST&>av6NXu!oGo~e0f!LI$9FLVl;$vpEKZA?K&Un1X%
z<AJ5(HXc~){hfTMK2x_8_hM#)%@k(uh$2{^JW+5+sEFAG_QRvoZoYbTX$YLgB`jwm
z)!*fdF{9Tc)t($<qB;Z+JDkL?z%|j_-Q&LS@wE%FWa6&b5N5x8Tpoy|aHv{%wyiWK
z3MJ*12YPwM`?W;?%Wx;c2{SXCjPS>gW>&oJo+I?|kqQ*(i?{B;wKsWT<`Gyy(V;&I
z2`tHJFTQ_+s|<ocCsYK?y8YHS`6Ya>3R}FVH?1~_$o@VEu=sZXzocS>Mvw+(HzOMe
z?j^FD;KM%Pn=E+{8!{0Wke+Qz8ayj<Tws=Uu`n7SkmOW3VV7?{Wp_({7T9<&njWaY
z+KTI~!W)60M*tM1cxZtq-oJ!Cn<0Tm;=n!5tkLC1b<-3^UjZdIuc97+AUZfhx;0pG
zlsJ)lI4YR9Fm62R!4|&CLE8BxyJ?c}!#Yag9J+tQok4KMd!G!dv`Y(FSg4`sH;O~F
zf5hz}#qBDZ`?o)-{`m<7^IQh>J-nRiY+R@WESO)tI2!|}V4=z#%7*-oPx6rYC!sWE
z6=_T{W8|&l^!L^5Hk@%5H>6e~GZhch>X7!Hb!aHMzb5Ph0A48$*Cj#ms`!N`7vqTl
zmXRC4bR11T!4g4!5&LyO;U_{quBCqqa{ZZsLhd)F?5{sh)vqYRz97YXl7`R|X?h9E
zw^z)rQijsx!|a)w&2iDLEbxj|I@vBD%_IXpCSlI!6mt6#;6!xLkQM;<Mj?q9V#mO{
zDtL<-O#$Ri3yTi<Cw67LBQ*i2mtNFD7{&5cL@WNGn{s+v&**@dOq4uH>Utp464*w;
z4gulheYkm%4YXve&c?*)`%$MTA3~}_&7XQ931D3L%yT5vE`86TM51X9Y#_#PDG1R%
zq|CSH3fjg&&yINsV>4=ND2v0P^i6zeA2iiy@p&bLOciqmU{aWb!=Go9Z_IDY?PChz
z$?qH+AhRe`Hd;lPItCyf%c+onFJsj-jf7SN?lE0Gh#RiKWs=Dvm!rQAGJ7E@Os3iI
z4QkDI7|oN~5P1y*ij~)3)3xZaZ;V7ssrmr1&gj|Tuu5ZrUE!-t=7#%^zfsLPcEub$
zuVd^??$_$}i`2i?uyH{_tL-TbuQLfpM*%gVZ<y)3XS4oEuuGe=Eq;TY_!KYmw22I+
z+g@8;_!bzT7W*6D5fU>xZ)krbQ8~Fpge3x{>A~QJg{*+RBU#f~i^*0+3c!dd2IQ`t
z$JaihPVtF?_ekwTvEJZ2xC7lEt*-BK{NT5)bt<*yDw-@<N7jT??Rj^`nvbS|U7x7N
zi+;AcJDQkW7>i`tXZ4GH6dRuAf%0nprpM6!^M8;>n91hwDCk>P4QsH=!P+sR5LFJ|
zn)Xs|GXqRn$K!J1ZBk%DhsfY$cPn%gvPR5fPG8AOK+BT9<3Ao-Ux_-Eznf2&A*y|?
zeK|~vvr=X1A8vH?xtz|it>h-nOuh(MlPta#?4WeHmfaF?6;~40Yqb{KZS}4hX|1%6
zYP&kv6o89IBRG6DD7jPpn}Oa&F3nAYPuQ_YkdlR*Ons35eAp)|1o(+%>>_>Tt6(R{
z>c@uDugzuNKvJEiecgS=GWJ*9`G-pbMQW;!*6-B}a3^R0c;!;9$uQ^7vz>z3R}AiG
zUT3s23vom}a=;|*I}G$O7!a`)?xnv^@lS3P2mCEy6bC%=$@mH|e0Q~L4}QY_X+2h*
zuozm#OuM)`iIFI%s7Zk>i8{9|dw9(Ua-s(_Y>#1yGnO4fIZF=APl2VbAP#^$Ke0!x
zytc_M@?nX?(@)&;Ntos}sm^&LEgXlO5W=zTp?^l<EN_GR3LWbm#u^zbig1zA{=Z2&
zYb{xo0E&JP0d8UA?lh92jk|ySW9|zknKi2$sH$`JW{_Yf02tl8^)mEl1GIl*Jbncu
z{&YjCH09^C9&8nnQ$s<yQN+Mu+LNYL?h&gNs?6^5i}g*-KRAB}fn&}Sy*iYImSF$Z
z%Z+D(^{bw>;Tc1W5etDR%bDR-{ZX}XVah#?Ro1>B!>~Aq>U>`~hm7QMunw=&lE1WE
z4>Rd562w7_2unCm^YhX~jz1*wqT%XJpki{YH-fm1{0UE~DE;6VZT&&ehCc**YU_k<
z=v-morom<|F3R3TeiH!w6t4}I2ctOo7zXk8%Meq#={n{o?#YU6?xedt<csveuazL&
zU=T^#d2fG``hJ+l=WYQ_zfO<D*Gs#%)ifeVupH&2RXhTvfQPb1z0Jb^0)lUHE|C)!
z^sPpi?54l#z54vqR7^zF_B9C@%`debiwp1O#<3+$L050e5CB`nm78r<EX~_eICr6&
zrWA2UgX-_G+>mU>z1HTO-PBxok|_?!i>89$8asn^SHuEi;o-;{E4oTm*$YwQ=(K^?
zGQc$BpwGkiZ^^D@&|4*1Nf8&VUpIYcQv2qfylx7Ys-jmLv#qpGuj_S8q{tQPPusfh
z@dg~I){SOE<E~>Y+T~~cDlL>-6Dxx#sMUIz&I07p?bW2!>+?MqNpY}#xkj|-XvbVW
z<^!rmEZ*oRFtzWo9?NuRxONi3-n?9xj<g8-m+af)Iz_Nf$0EVkVH$fa;ZQ3kay4J)
zhN9H)xpvEA7_@rNFYd{3x;G)XR4Om1kxMunEpq)X9q-nkCLH3f-Wy~54CS}dPXuU#
zYn)8SP%6>kbRm{s2ue81DLep(Mv1r;Y>*>7Rp`IL8mz0g%oXq)9YkKIc>tnzbhG9q
zc9ys)*B{21+*%RN`C-cM__JJbU>y6m<;+kkYT&fp53Sk&u-+(<BmP#yo;NQ(`SX**
zihmlGngnmK<>vuN3}*llElkU^Tp+V`w$(xOx3`XUw=82|vyFY5yVFxq=(%A~RHXcd
znIgX{$|O-&U=UGP%18`bqgb?5DYz5~tP|5w`b3841^-_eMC&x-T6WRra6%EetW}e>
zpwo4(Bp;9s=4T~yw&MaWXYx-vRd(T?^umoQ(O590g~0IqD9Oo<<XSykPLYRVXYDS3
z=zfs0mzs<4-St=V+jtblUUjzDaJkI2G6xyy#F})b9a1gunm#B$6!uJgFV_*uMBrPS
zDp-n<g#>o*n{~^7sv_$~f-ek>jt`i#h3Gt>pY;1y1;sE)N3I)>ReWx=YXprYhDjGx
z==I&;Xbb`Egll3m%aVSl9k%4wg&3zr80ix@oX1>=9Qo6$qTg3$ixrR~h3$mqbJut_
zYoO@BeFMFV>QbJn8dN!tzaVtU@4-`kZec(umlQe?<srp7KfshXS2_bSD+b6jD48#S
zQFZ##;S(c%4P0vZJ~veD3Tod=kH!fI7Ksl=M&`g8Uv0LO+oaM4i+6&}DoJ_!S*d_m
zelT^;`m3|nA5{L-05N^yrq{;Vtsv~)aP0O1R_TXPZ%*{INVPToc_vZ58t6c}!Oogg
zF=2GxQg$G6gTUeJHie%m{=TOoa{1SC8&CVYmT9f7s#Xm|{F#<6iFgma<*5#QjXY@M
z6;(qwzczG6z}marX(9vfD-)D$=_<G!rwC>R3+r3`uxcMp8<N}1I6YRcKaM;Qy(U1w
zINJ-3fV`*S@f{|iGIX}6dZU`@n#A#D1g2Q8tYNd%iFKhbGqv&QqYeT2Z~EzvT)_~Q
z4h@}%T_8@%_Feibi5QO0i<)4mx1=Ti=wTZ8Ew`^#ZR{)^U%vacXtVdaEntp(ci-Cy
z?S9JJ@HpVX=YgrRD#d1PT4R22-3@XC;TwWBL`YwuOa%Sw{=rdnvk6Sii$)H`yV4ID
z$lW<Ok|gYScm_PU^1ZXhLbxaP(`eBp;}ENuNCJ&n2;*{)ppIhq#9ufb<m($O>Pvgp
zM0^uN+E8lAH-_ut*V5FC7qgR-<(ztM{(O`lX8zs|b5fiKJc9N~j#@#HjXyXF&2{j)
z%w_J)yB*5jHImt(EDz)nl{$kD+5=m!MBvFa<uaL$$vU0?Mh=trU;AjfyB~XzpNU25
zASZyIKGyF#^zDpa|6N}Z(b=0#Zw91^$mC|p=o$0EGG`;Dciml^q_eK>8a*j$rx)Kg
zX1ZYDU$}4c!jyJ&CocTg2$jL-Yk5CZ)*PK1BPICMu2I<V@o~wqeRaihb7|(?cf1v7
z4=PROD9`W|n6DM;J^nEaJ^as;hqytQqn#ux>DLD;taonaB1RN4P+9W#G1*%uZx3^t
zE#+CvRwK&)B8=mFw%mx6J4r6A_TCAP@G|g2=zw#GmH}jKg1z;_8K^VBTux=>7e7*N
zJUn6S-qp9;Se?bp_)c&~to_op0WOeTrMmK=Q43#&TuhUYRe})1HCn1nwD2q*7*Fi0
z&Y{S77tEAewedj`W_ggC<FXvmnK3v8F>t#J&{o&!?F6TkB#H3f`?*F27uP2MScBK@
zaF01luG_0xSMuKQxm4;ANn6w=W#D{Lj=#i-z>|yHcWy2-jKZ@_!MTJ(x;A95<8HH|
zk@O?*ZZV6;VS=A)pOzZ6#z!=S1h^V7>~^8KuZ2Y|Az#W8Ed+Qfo-|*(n>3x9YM#kL
z?|hZyMyI7A1NRG4sj*f*9!?z9;rfSzD8N97lxQbm8@N^n(-bZ2G|=MMf|g9P2;PtX
z<sU|m)GuuMp3x2;d4kwJB1HF-v$JAUie#05_Dz#R8WYUttwK})F+k40VAF{n37!}=
zDLa10@lm<X${J`vs%+Dxir*mj_{$*G$oRdh<B;AKhLZ7#p5b{dMe^TmQz8gj(>vr-
z6M9(aCiG`e(`xCDr;Yib!q+0O%|Rz+0!t)OCv*7PZO`HkZg=Yz`N^*69B$8g8Zp<3
zy+mB(QLJayHN$RP-q?8e2Uw||#HzkK%iu0U(p<i{R5Jivb^2?U9T^vX(yLk0noa?%
zCD*-be&_11|5|&KHSjxC2^4KEV7Xg;Kie!hc&V<>dyZo?9U%)i5|szE@j{+jfkkR`
zu$7JoD3G77^?#qYpJ=B<oHkA*mLRh$NTgW0&@oCn=&{ZU4hyyf#byf(UG4G==QVNV
zdLbg*2>)&^B^FbQ$owxb`)hu9SFw2(OzcgmgbI`F5A%KYj(n3BjSx7vl_u~nvx4ju
zC>UO_Y-cDRkpNz-T-xtUpKcrNwrQe3Jt?nt^#yGG&e}MSrmzWvnw7wOd%P~Yh;m++
zUvF*r-Sd~i4)1UwK)KKwTKpXNS!1c6>#tJd26nmPynVoL`0!@)i-S@%o){Wqq))!j
z(gk}SXo|I%iw5v(uE(A_M<8H5LSZ>~(`npmzum=b07;wIXv*`x<}Q6UiIMD^0@YeC
zT@C_yo!x`o^}~W-<$-tls`*v?o;exulf%P{v9))gAAFS~lxZimrH0+{MY2~x*~wXZ
z{oN3u30+V(<{n_=jPx<P+cPc|)^(9LKq#`ufjO+hmxUkGu`$?lApAbI>v7VY<JXS#
z#aW=ch%6}ZD#B6k7QTLW)=aP1m(U0HlE5gIs^kVme4iBEWr{BY8mlrG4TDvmal3ET
z>L;C;;y9RrEF_+j`vOugQ|d`;&scqMz?uZE0^eQ}+19G1RYpDKR3553u(&S@;gU)Y
z92hH`xzjKIuI&O$^&3{$O;hTgPrcs|ftHIjZdTQV{@oZ;bDv7b2}}yB@wLB~1NyPu
zcm;aF-w1b<;xY=n_SAs$w`d<rVSQ0vg%ygMcWrNqvjR3`SRE&d$5*7732+DK*DoAb
z1yZea?o&~vc9zW@!P!?eP;*CH%OR+r%%gsEVt=Q{Kh$<Bh0RZ?flQGJo>+dLL{58$
zmtZGBOS{PV5R;wAx3_`zVk#CGUEHyzJ0%!9`p84*IjY&Q$r~g!TUo^=ba^ynjwNfJ
zTwLkyK}xn;nC4sbV?ouYtTE*EoMdhEK!6--hB42f9ClABPmQ*0-uPw+*WGm_zkkzB
zZFALp5fGKWH6DNI1kV!eOXp)kJr;W&S$Oo~yakwEKljmaGR*n9svq2QA(k^j8&tkb
zsfh$A|B7(f#3HjGhH4<sRm{R=H<zmcv-Q(=e$LWIMk*1;_6UCf3wgw+?QVUUu)K&P
z{D!|&i!6&2*SBVa{<q0~5+i!@EjBQg{7SRWnfFhEChXr|RkYKZUpOkdyXb_h9cUjL
zq3S38-s8xlGw=LR0UJHZp$FVGjkdJdy=i)co3yb1tl_snHE&<C{Kj2aD4^E{7X<!M
zzcvQU#jwWOpi|d_cB`xwJE+8Q4bx}^uFr?X(Xe=B*3-)i7y9<h<-^xv-=j656~zz)
zvmwVKx)0WbvJ%gsw+}v_W;+X?c{#6zz;wdyo=JN<vTJk4f-a3B(#aaY+8Q}9Hm8=l
zaB3!EIfj?jvsh0&@?NLU2ZTRG6D!ZdO~b_wiQ9}Vmf|{;HL{2C5{c;_&|A95wZgsG
z<WRRJspncJa#b911mv?=_AACaRnaIg*5Lqyka#~Gv~%gMii-dgw-uzsA?-b6B;o}{
zK2z|&v{wS*7uK>`)P7~UgE-1t7!wAZ&SzN46b+tx(3z$#QWkh4<6%8Ne}joY0h=2#
zG0=sRcl|C_a)0=9y~76>ui3sqhmR9g7e;+{!9q-HM2TY3IkhnO1&99A3r^6=Hwcec
zSLg;{w{)DeHwdJ0{Yqdi*#*se*ds62=iF#D&h44%0`f5j&yhxYOrZc-9cvS9zKb(B
z+6c&b8w!5a4{_$FM8}VTT$}9!CG-UaI`-F7`K2T5`OF72U0r3Y|M%bcgq1APd?z~H
zxQ;f~exGA0jR%a2(Ace%N$m%x^pCflNZV>{G4`HWFa#eKCuL7jm$k&}PAtBu*@*J&
zJQH~ZO+d;$+jI<S-~8Z?m-2JOzWE@Xby0f5IeiAQpZl4lod$^i2%nsp6g@5ukis8{
z8Dy~8lv)hyz*O_jl|Jz~$PlTE=EoAI#R;ab;8C}Jo`^BlZDS^3UeJL~em<=#UGrrm
zN+%YgLUz9+i^~d#tRW#rA`P@0;d)@w3`M;FtAJ6!@1nM+5`+d&$}s6zTW>%~{J4-r
zz7b#>6@UPi3Mh_2x2x=$Vg_FID*I)uxP&s<ir1LWD!e#7k{2X=Wy9N8lU28h9ZmPa
zYH};p;A0p+gf9)Pw5nWR>F<lG_61YO^X71HAV84-B*_Axj$rV3y<3{=MgB$8TN3)S
z9*t>=juA5wCI6BEZ!>Inf2)XGs*q$F-=IFJ@x-+irhRkn6qKw8oyet~vtNWfoX_VY
ze;CE#1^>VV&Kq-#Giz^QEh7Frx(f-rH!9M3<P<*O-)cN|gi+mnT<U8)2+aCQ)fqU?
z=c}MjvY-sI&j=_Evz(9yo>n<Zq8eEL$Y7iU_-@fJot@iMpcI_@$T%Z(PgaH9F|~%P
zHg?xkpk~A6@`UR6aUwSp>haPr2p)ReWu|(o;6{D>yoW^zmsn{TF&w?@2chetC!ySy
zD=Tq#?{YBSN5j++G$(I>H8SIsg`SCUrj9~w&C~q5COF6VGD>jAYu{KetFJ5TKr<cT
zE`h<%&hy(2PjuI0-nRx1dsw#TTLU!Ko1dYe21fk0Nmc=s7qm4Hfh#{qT31X?SS?s%
zuVy>}UQN-tR3L-_9@q!0?Ihu}A;@1#ndu`F8Prb$b5*yrmJSrH$4vbkWnR*;=qI-a
zg@a_}U<VPCC_MHjZSmPlzE{82j<VW6{EowX!V>>x;W5XDh_~Bx(W+!l;^{iUk&bq<
zb)hJ7Y*@RXx076cfxM3jMZihmLPEHF?rf6r<Gjc-H%cJe1FN)~07*z1gqnnXD?#x6
zOuO|lc6zp3vnf3&VZ5QG{YIE;YLGcIr<+%O2HL)rb0tw0TP1ukL%j5{rG)Xg#*4{a
z3_5A{v}etC9BY;=Jyqn^YJWi_g&3X#$gkwj+6QKaon)_IUmNmv4KxU}f%hDtYa4fT
zHTZjUv=aJJS;l|o=thUMe;cAx;8CsZi=E~NMR+Zdarc}RsEMNV<{vj^WBB+kB~X(?
zWGI1e(p&?7lsOT?USe_CjYw%-QPJ0kLg4XkL9_s6*8?=i`a4s{3DA=ZYGLK;8<uyQ
zn5wr}E@&DR^{43xSE7H8eddsDWjhhbY9$sI1;`VTB=X>>!Ir07V|ZbzE}z;dsY;!b
zTcUUVGHS{+vybzG4JL#N3i}}#lMu;8Uamo3gYNzgG$-90>hF}Z%FYxV95c!(^CnRb
ze5z=I!z8b7tM`Sy?--u+6@;zXS1FsmLQxDoL2{M8AyWdpAk20bi}Gljw_Zw^G*w7e
zQJH=_Qb$drJlk?OY8mM&NEGZj?C>^eyYfBG9x$sVhj25Ttu?rq3;7`5irV^Ew@^v9
z40kCS&A=Z;)g((i+uYjMjL1CVRc1yG1)?!IEK;=i@IEDul~NbC$6So!My+U6g5a0s
zl@#0@3?+WkcO#4u=W@NLGZAXR?S~yw&IUN)E_!7sd*0?i<kVl?jpVRD&S02rAOo-+
zwKzLz?KxdmO1Qxcb<AKf+CWSVzA+-qJb$Dt#6-Zb#J6}M5Fx7u45D&htAzf#>j&Ye
z&Ah0E@>)f!)7-&h6H^dK>yM#BNOfQfoIWlT0MW=a5R8<EsAko~ZZAY~YY)1>*ro;v
zcT?0;y;_j@_?@c#g#^`EJ;mR(-<=C%-_HC=?!=Pr8q{A4EPJ7BRs?*7VAP!nC+v5F
z2D;7Hn~-&xlwObswbY!NF6FpfQnKvxswSspowB~5yOm>~-7af4n(LbfN?mWXJkSp<
z1dO2uG`#HEGdg155-J_gE3Hu<K(M5E=gNZzzmfS75hG)udZmt1dJOGXgh-q8r{xsx
zT|16>=Xri0xR%)aJn8Nm@)e~BBFDjW<~zo#S4SVY-{HiW?=WV&0tL4I%$x7=2?rst
z*V~JHScUKVV}1<jMt^ahD`(etw$t8%MnW$~!VuEgjb%x$tfQ`Cyq{O!Ifpt>IaG-y
zC8=mSot56j_;3Ewx^?>&Pn8fPbai-eau|D2lDNBf>1{!qtv9J?O?!AzmEd=rln#Vk
z-a(Vcaw5&5Th&@nH&^nYnkOco)QLX5fPf+Pg1#b+?!s@#=jF&P3Lrz;tBJN$pKq?5
zUYccsa2%F2`aa)L^b57iLsMa@1AV<@b0>-1+hw{h#FzKO7F~?2+V*zV-4c}7+QGGs
zR$#eJcP+%6=(MTAk}IKO{JRcmEj-!|>dmBH>cwhj68#0WugV8JHkH(jdxs=hZG}tw
zPi|u$&&Gcb8+3qZa3k2w>bDUoU5H<hDooZzNd6ZDoO;Y*_-pKU?5#Hq(APXo7ZaRN
zCJX?zTq1)Uz`MYb)gzr0-3t}5F7LQ&!t7r|XR*jYNwGQ3VvHfEzA#5&Z_XPZXx9fv
zgx1E0lkc-k{o2~P?X{%&qeXuzzw!yBY>wzVjg-6=h33FPg&T~^^0f^+^lp8YUo+5@
zSwXkUQ+KVSV*&RN><Mw?5hzkeM$0|rLm3@0Cgc{&V8{2a!ILV}B%-|eG-It$9>yvB
zA@V#$3G1NAr76qOmn&Q>G<xDVkIz%K3~i(J@tH<s^q}B)Eovz;B~z(5Qq+?x75BT0
z!r4Ty84-hWyL`I5<DY;73K~mhez}T*zh1^e#s`TkREMSs@Dp15YHixX>AMCkqSV5s
zA|ph-jWt60tiwvzD|So2L--<=s&M%s@bHoS(beQRftFg|YKQvV_Q!h?NtQ0jWKa+c
z&v}@Yigjox{RAh{n2c$6Y$*F}ocf?FYGMH!qeEI1C1+$ad`%!Y!CkKvBiuc(z&{mn
z7{r^9ph>0m&J9z!Y~8?P;h!d{IF98ms@~PHF6qTyEZ><nF*N%w=y!?!%Y>NywmF-q
ze7GJToY@tY_<JVcLxPn0E$OPK0nP-hT{+3!w)*4ie&FGCKFQ>rOzU|U;_>W)r1j2t
zV$ICFk_jup5b%3B#FU9rZ0h!`!BJG5{tK1wDhC40{X1@%dTkj&BKdb+GAqn)lDV6F
zYHXb^sgS>RQ={y#X}8_9d%{Qw2y25)y|fxzT?O`q>wpTsX>Fn9s`iQ-L*uY~y<Wp)
z;F_YupLMrCK7Nno52H8H`ddut%)jwVU!A@G=uq&?vWtO6aYvA0Ai9(3xYeAnrOYS)
zq2JaUb*lF=$ULOqLB};<c%bSj;i#$;5_Pde;2by(;MH1|1{vQi$m>OJ(ChjQMCJQb
z<HlrGyF{;u(kUiYOU8BBphRGede49Uo;jCn2>}0^S}oef^6eg=yA~=+)?@C+O5830
zzMpWw?x+HAYi}JOxS5>HNf15yYqsJ~c|-1qJWM4IlCd({Lt)&jr-XxDU^6uM0_^G<
z_$ms1%B$R}+?b%MZy`0cVbkNidsiu)e0N361Q}=;Ap03jB0^NdSrF-|tUbBZr(T=H
zF)INY?0|+~=3V9Vm!J%^E((zh1FVoHY14Nde$l^O^viQVp>+&89Bl;&6v;kP+^|JY
z8!~_|btQDl{*XL_t4cBK2sRE57AAfFj%p1qx$qp@2xS4zrrGscAJpo~uVIQs45!Uw
z1E{k)qWD>=*S(6Mtafr6MkGTY$NN1Iu-?nz{`MR&-c;IYU`gWLEolZ;-PH;SZ6Ht{
z#{iJ0Hsxh}4m-{V(uubqSbdHqTb7UQ$SclFVblCgmUXj4D!uOUJCXcu6|pZ(fH^tf
zAl0>bwGr#uenFKa@0=g-)*VGfe4U-)%bw}Nsss(7`>6$VgD{@~gQmgS4J6n{e}++)
ze({ALOK?Y_U+6|UrGPj?iYOx1c905DnrgLE1neb!1GFH6i)NL~l`ZY<NhO6*_<1M1
z&m!3e`d$XxxR3n$Z1AyVv;9C8vcrI?m-Fi6HL~BM4S&Dm2sRykD^_iKw2X_8)Le&L
z7-hlUp|4=JBiE&d9&zBo=c9hsI#juuih2RZ>G+`&0=iwj70zjUx^K@K*Qss!QZhLA
z^;V@X8Z6Pg7UZt4<$19?*t(^0C(b3yo2J7DNO+heJvz;d@oNE$JmpL0Q9`llv|25V
z6EP>tPr?8SChfaVE+5mF{bYi(sOzPvq7*;!6q401%mDN6`N_MEirHze{cpGtGMBh_
z){)<sL>-wQmN9hL1H}OY?a&5%fo0+ZIO<EiR~&7R^MYb_G#)d}cy5eeGK%_T8Ml9%
zFZn4$ZyyR@<`ejdn1CAQeC?c5v4p$Vs)cXXK{9a_(~m?D%1HM#>fC?LoBm7alJAEK
zr?BVvDo*~Fe5R9vEhmUoPl!z78Jtg;kPr&tiPKiM_PwZN8doRbPMOP|O2#0J&gD|K
zERM41U-eSP*`lK)uGDM5`In_CY<{Z_Op4R5bk+cHr_sUJl{x2m$hu<FOoH0``JEAp
zJlOndHOR)RvE|Yh_1Cw9RlLfyh9MH>oj0>c*QxwHq~@Fsa)eVQ+%KW#a*nY<KguW)
zJaMH{qQ85vRF=VX?XZlYVIl&>bYGes^T#5uY|!+P?j6R^A*}|X7$`pcEGKmA#2VTk
zTr%%IW$=U=Hoci%r8+bm&wez|K}pk0jl4bR6K+|dow1CYj3bM<8aDKNka{%^_H;4Z
zG9%*G+yi;s%zNbmxD^=tGc@M;N|8iX{9vgg^!Y%;tmsvQX*N+$C<%I5FbW1Dx5klJ
z(#%l7I9m!8$ni3Td-Jy2khln5DfpWqNCyppi|vP<+mxA-x>)0fLJ72<ll6JYLKOq3
z*t+w8u<iKyZ~zTp(ZD4;4^jYe&@fHRZ(oGo0^cf$;!d}8EXMHZObFCTz_Le&*5C+{
zOp)|w+GULmioH$q%bKA3qEE^NpCRnYEQ9It7P727FCuHU{=*K?8Av?(!9wZ%3Ay?F
z5r1zX3E2~qf)U7<K$LiZq=3N=gH56ENP6SD(nTB)GYB+J-Eq`6bD5|?VcIPS@`iEE
zh6ztwkfXO1$%*ATX?-x1ClnxNW*N{FFG<Gsb?G{VgNQ6lXyW{{@l&pyR0x6}_z{5f
zEpF&5$P5Ff>Q%1ocX0%_r(7GC`u3UB!6;sB1q8#jD;S$%N!zR!8Z=Dw=wEI-l<`15
zp?tpe)p`&r?Q_s#N$9F+O9Whe=#|7A^vURTW#}C}mL2}qqF{Mh7Q}u0+(LR|AQiD_
zEPig9`G8VMy&0fBOu*JHFCZ>UT7H<}u7eN9k!wS%2;}V(I8t4pb%ZbCb*lKJ#ozUt
zWdRnH<7xOVJ+pyE;v&@#vyq@bszV&-+Qzj6Q3g0H{A>j+7R8tB>%ttKT8@htApACg
z*jAV?BpP<vOuc80H9Y+6<*=R<0mXxUbL(X=)opA@qmP$K<d~~XS_FK9@TLa)D#0v!
zk-o1vEkbakNe#7#eNwhi@B5z*E2-BVfxa(z%Le?vo$Vss4+EmaZaWq#<5aL`_w4)o
z$FcYPOECI^nc;vFMPJ?Ao`JpGkmk_g=4NVu2p-E&@i>7#3=IVs0Su=U8?Odqkl}S7
z$sS#~T?-)7P=s@*_GXf8J`1~=7#grZ&ZM>|(+xcKP0-pkce(%!CELb8l>4HvpGt#s
z`)yjf>?C_Gc&t={0`J)+bnd!nrDq+*2rS1X5hquC$#OA!TKVoR|1lING)$EM;9@TG
z_G^zC=YV!8c|!B?jSoCCucTm+f~brS%JP$rp~hRD&i=p;Q53zdk0B<CGW>nnp6-Ms
zExz)dt?70lCDH-rBynUbo!W?~9Q(D-Dm|#V4S<72rA{#F#B{45NTD6W$qA@s<eP{U
z!~tF@!Rr@(8`l4OPN-2m3~y^_s-z-rL+~QRGmdp9rYJ5<gd|Rf)eaCeUolSVdm!A|
zRnVf{%?v5a??>{sI|{5$^m68wBiYR3tbX0_1O4nTvOD#_X%_@!tuOVDv@QyS<+{gM
zGlaYumir{LQLe{dxP_!*f%D#%+7era2og}g)pv9Jw^Qd^uQbQ1SLLNX4`Q*0k9s8w
zsy(0oc(?DBqW}TAW~MqC{_dqz*?F=%h|W*Oko`(_A@tKm2rB0(2`F;{Wkg!|m~x|!
zy7Av)>hFT%1MA{sq@zvYOme!x&=j@{kK|)9_}zU2fub23u5JyO@;a_(`s!24FpD{+
zj3}&CN0m#&PfS*GuK^g_mq6))<YtU^IM9$N64d+w8W{;O8h#oX{~Ds?%^=Bvwt${$
zy~>_#5_pnSAwVOlUOgbFkZ~e-*X2StG>HIlz2abZg--}@&@y_0t{DfZ^*#MPB}6z6
z<g2pJ4c7A+XL%*5oiB}l=d?;NjPRxc64oQ`b5|~%yUbQw!ad~ezdPlXXEY?3-b+$X
z-d<R7T^9JFAN6U3wR7o*N#t%S>SSm#$eRRpY6(7XQ|Pge$}zR5!b=bE5YiF##S$39
z0oqGGlJc|*vk*xqdy0!bGk_&$SOCa1tm>q`v_ZTBQ$knYG(fNa%3<?!c96<<zwbXU
z#G!UiDHnijd^#-LmXWkZxrGFeE1*GAH;)4VIeJ4RExxPI4+w`w=Sh-+;86Fq+1o`p
zr`Asj0t9dOWR#yplsho<y1uuE-*;Yl<rgPuFsvgtsMC|G&xbc{3cTLs-od$!&KbbI
zzPbe=FPjW4*oIGKJw{(%+i*C*+pU6(KlB1mE$kJ#`2G2D=qeMuVMjmVz5sIxmYFwh
zlEM_97D=merqL(LXnCIGPyfnPUXmun2<9F#GgJ(7mG}%Z+-GKx=X3oY>k9dT-|{-K
z@|?aXTi;4WZ)UFm^APiZa>=B%f%68x$Zwn4sqVd4I9%u!;1+$e-u`;pwvIcHK(a;>
zkFZgz=6D3sGqYP=rZ|}zM8)WdyedvG1N=BQ8r&Du9o@fsZeDLM?Hw(D3nJIBaMJGO
zhRrhiS360wGL%KejGp~`o4~1hZZXjYM;$j<%<kjn<>qW19>9;qxn%gN7x>um>~_~s
zHKt|TAI~?o!O=MnY?A_;=3l2->C*o_<Ec_0qC^<|9ok9&h_gMO1&6z}<QgO<03*|O
zPQugUBHLo2${`f#Z*<7ei?O354D>A*stniYBt5Syc70DupFAB7>PtO1`GTYlO2TQK
ztH%tbkmn`*p>Zok$~yhlQ*2pN;ryg<Hp9phmF4@*>-vqzFVb_-&X(TLnZ<^sNA5W?
zag(xWev#Iv+1hz*(1~+%nLYiN9S4Ht!a*i9>k1airS{>O8KIDywDeNg-PQ%uxkNI=
zl{up*ef_t$OXOpC9zZCOZHyr;vv^E!a+Q7bzU<{ZSd0v0)@r1{U9k#t=e{uk!=EY0
zN~pU4&Y13m^MK^<{O?q30C}9FryW1n1k-3Ezw_V!7+!~juLVLmUHz3^FBa7>%Yoay
zX3xf9v7Z9~sG7Syzop(y#5J_*be;u!h-S3PMEa<b78nU%@@oERtf|ptJr4ui(4O0N
zhP_Dnh_+#>gMX0B#lcD9r7|1Ob$h_!8QBJ6Ly4f|mv-vt`RdY^<pT6*C*WOZEam92
zcb1UQ9|^EHmba+1y>6p3@xiVQB0f+UF#((;q>0*5lPw*HPqgQP_?{s1zb8`1a9?IS
zj<%bcpi<W8z*)fbulYE}haw`FK~eNMqw6H6NCCd&pj3bNbxRz)xjr{987J!Y+d#$C
zfHCW^sz8FjFej@>9`X`{{HmM;{nt*kE6j$szO(Uj6I617K^mbi(9Z9Uq^v<&k}Dj;
z-#NSZ^Wd-+8?p6f9iXb&-#?cYiyZxZ5X_X0935uFFQ4a~y;T_79gli|X;lqtfUPuq
zl_V}C&WWE$LuD7u6T<ZE(3zS^R0Zg$kw6PU-Z5NN4A)PfFs+OCt3~wE2W~B1@%Nxd
zUloIEVyv&T`$j*xj>PxRo)~faB=~sd&Y<LJD?=(?jUlMf%H2y-``OYHxIX5C0`Mr1
zeK7_I^W8a22dwrNW29wl{7`dS<&0PgtuMb*n$_rH;H68nA0lA2a6l_WEOY)|<;VN7
z;JB$D^W;2fuIOAZZ)Q8N|8NwQSQZbC3_hf+r?%^i;BwS7)kKbT>dOyFk{G%cpfPzh
z_$D>|Ae{LH*GrSUgOZZR&qlgXL5Pa5Ef@5}WS~z2g7cT|A`X=L?KeI3Q}yi-*3=07
zEL$=gfjO}Q&2<x9!Li;DlL{$(w54g5#8|)QZ>EzmEIRulC$!Wrfd1j55_QC9XvRVb
zL5eE?T4$o6IUGQgl`nUt3It&IO!2BbbxS|8REkb)$=*eQ{BB`@A<<igUOP;-C-s2*
zDPWeGmqvj>kzJ8_5yJSqQ1l=OOP}Vblc|<>@%<GC(BIGl$M(Ar@mrW{_XVXGwZ*Wd
zVVOwAjB`<R(B5i^-_fP5?nUy{x}VTjy`}}E;21dS^B#V^y~j}>BqRCW_Ha2<?bw}n
z-bg4oTzzNF)XHAETs_a_Kwbym($jsoythwLFV+1XF#^8^B^uNpD|<305BJ1C1n7`d
z3nd)}z%KHZpd_imqOu>thj&XumWLsbV~eOf2j2acn2s&_2Mnaub7TLDe1$d1OWzEo
zqhz}WYGB%VD>FA;3GnvS;R&lc_aP?}qW=9pb8@QWIWim}^L3CK!LcCuZ@-W%Zor@-
zi(<A1e^ObP%oKwq;x|}h{0kDv8{Q|-dV8nA7ZuMvH(w%%k=dysnnzg=O@aK+dRB-9
zzPA?aF20VL(4nC5YqbF#aMo(oys2P^vWn~uIfg6KGEuu^M@O)k7Qnhe5EtGrPafnF
zrq}$({JOqxG}hb9hkE$(*Ehc@^wMV#19D?b!IB*%1~+w&Dn`1Gv1Wa_^{Gnow!TV3
zv#%=AyE7Ucg4tMDwb=|+v)`c$2r|s<z5Xo4(YB1@m3)m_^dLe}_3pwVeCuVVV3G!N
z7NN?*8hjO|b?Dz|q&b|_+eXkhJ6^IAp>IEZ9vaAg=DKS-`#HK-$J}?ND<w0>*6DCn
z{Hv3%>duD%6waRTx<wXL`uq^%7Z0A(^H8h9fM^(rdV`6sCXJn41Z9H0Fnnth&-KAw
zRGYgB2mvkxq~Z$=()U|qO*VpiJynj<exUr=1qE%b?T(Gt=6u5+DxkqSe%YC#jF)<0
zrf<6Z=qsTdpIh0<D}CcnC{B{wG`tYh3p2&h&)(ZJJ_g0$cDDLr%Smd7kn!n={tguV
zvL6MZ%G;zrY|J;9^kHw1nr(DSENg+E)^VfyiD)Q!1IMDN8!ZJvNb@Cp1^?z@E4;ZE
zTr8{6X|$=8G-z+0(9PvduZBK!7Q>>Oz4hhd?8J`A@`_2!FoEAE-LOy+7Ai;Xye1KP
zkegS)`XpRAl%nd0qWk4kjvD?(XFiP8f$sIEV{PLRGecIdfENY>`b>)5XYf$7gNypA
z`a!_I_XEbw+FKxARQ_?G<G^BTvm61Q<eWy}MEICbnI(W~V1uovT4^?sJ<RRKUNfzC
z)j4L<Ny&=^v89AsR=W+uusPVA{kpbQR<CXZ>&eOv|DlqK7{nI7pbc_M^2Ih38}H@#
zEkwor0&75NN4cJ0D57B1`mC3@tsQl%hp$##QlpXjnYY)M0F8}t4UbMfxDEH8hB-Yg
z|A2<Eb&8)@NHH|m?)<!O$*sKLKhsIecIf=BZMuy|Xq&0xDo3~o59h0!k$R^NIo&WK
z9D&e&;|bG&lXiqWe+0w{xYLGIJ5Dr<I{HLLWB<$I*uP1f<6!BCT2kr&6{U0RqP&;}
zfe;1D=3sV!b=RB0K6nT`cg1_9k0N)~O1SuU-wloKN!?+(q@14x$4|)W9g9nnust=&
zO<;dh6~OhjL+Lawi(QyU&~FJ2pFqmqNwmXEER}egljIEvT$c510pc(1-w;Nm*Fqev
z)ert|Z>$I)yYhSnn8JmQP^~%9;qprZeC8Sb>w;h4tZ<>Yc=94*Q>5olguRAl>Ga1#
zwOe<#@M{E?*QCQu7t9NpHKv%4Ed6*1@4q!jNS@VtJqi%!k?K*ioX*hVH&ThZsEDsw
zK7;IT*^g{m=7cm9l=PRC1%}Wr(UaZtiJgie#COd~-Go@-@r$$4$Pv(rL%_r&>7v3P
zh-zMIAp7Y7bl@QCaxv-!v38~o{319_7X(yzMR+bjVrhI7$ecLPr$^-j>k$cY%h0$d
z9z=!Len|m6P=VuZUoeOyhZ$c(E6n<PFx^3KGzLa9r@ZR$<z@tq&P|}$Zn?d`cLFa~
zYsjNxwx(~J+v`Goyj(yCQHSc>@{zFsm}_<mK5xD`2skxM74_xFbGRkpdm|4Y|DoNo
z)r-LFFu3VnFj63nWj;#R-JOPyp7}}5hHyd8bTf`5;rkc>T3~GI&jF0KU{MsaNM$$e
za!|<t3z<C?FmOjR`cvKH&tgAotIeviZn{#5m=wkR7FiX-_DW-T7vw)BWl7md4Py%g
znWiU+P7)`n_xjfMEYoPi9$zz_?Ju3$y<e*8p1+7^Nl^QK7$vEododP)ZIkA7);#50
zV7oDN7P%#$WzmTk0?*4fcA!<T7qCA%vCXFa66QWqLRnF6YjW!x(JCwK)x@;+A?L>!
z6<uV7RHQZ3<2={FbKJGdgfB2go6uWpYWtR5!!2mitfp$M13`BySJ&khD^56>urq-N
zF>Cw0<=KYFSzi-b-rSuxBi^r1c;uL-^m$Fah}{SDM_cn~6*KNPR}A%%`V2L`X>Z!J
z2mF|W79Lo^P44H$$CBi2o$LTduJaZn^yCk;<|b~2*lGhyt}7P!xrFPmR~_5bZ#J;#
zfu>jC4r|~Cd)dSgdZ_n<mPOv~2D>^AJS1Bur@V4WG?9l1sWa2fpS?*iLhorvTfytE
z*FT_78g1X(H(=@mX+hGA$qkHlN`*^Ql|*aoZqs-aujk+<0YAJgn}+gtF1o5BeNjG-
zuzSoKvvPp2M~ayRnA1E3#-w^fEAk773<EiqWYMLinkme?W-IxhTQr|F)8G-~iOhd1
z#Z%&ZCELDLe5aZLa>%KM#xocvre?x-Wu<f?#>I_gB#)>vS+7e$EC@jX0D8l*)fWn3
z8x_Yv{S$D>1&T)i^O}O;RzXH(^6DjJhf#Y+*35A=x%{+?u#9iGUzKqSrX<6L);~qy
zWHy?rQ6b!j>uUWkWI#<jQa7Ar$KMi6J+U^(KZ&U3jxzAvkDWMv;!?driO~a0F&X>i
zZm~}cR<DTQQjS~-gVZvh4L{mvoH;jFr@qrIZw)#w=!pD$KEDs&@%Gn#q(RMR3$)N7
zkQ`LZNU-!P*KYT{`sSZA%5>2bu_WT=gt$hsA!`>zBx$`^RCtA_4tI@T3p0@o{oQAl
zOEc!@L(lQ4g^&DsLz{F#3nC=?NO}?=^H-5doE(O{F90A&kf+>elzL34XNBg+usK9>
zwKdB~s1#fJTLaWPuu${i@e8a`SA?-;Prm-x#HcKAMue~n)<bEk?9mRf0j=B_H%Dnm
zDm8SBY075Pih;GhT9nbbl7Hk@ft<$Q?yuzTSnT<?d~F|w+#QWiot=*$82o!D;RY!K
zHuPr@OM&reSK{Mzm8uS9pxh;X%AbcLeedMB&vJxUU?mPEWY(u;W7=aJ7st}XDIB4(
z7uRSQ7!_G4i9<cnc5NCzjzE6*@B?xN&qH0+;aT|GatBg3@mDk%2*M7}71Z}pWXtHk
zcqEFt@@w*)_S;)`g?+kpCA6ucb>}Q0zNbm#MkrSp%-DGAoeoCvu6~p>kGQXwUHDCf
zykm;}pO+$gU#o${ss?G-`0SLce-2w&Zi<*la`+`tk8d@c(0`OjVm-H#jIKyavmT2K
z_(aT0<rW7hCe1(xV^(M<@AsCsJql`)6hNl<`Xpa25MP~ae87B1(UfLHeOtPboqqQ;
zSX?)T){&J>vH$dmb%ZGQK@*X%kCD_-D<JNtB?P7jSX*61i4MbBG`Tyoft4$sTtqrg
zf+FI3MR$m=P!(uYR2AD!XBW=ssI47kEVg?9kB>kD2D=l=;WXPP5Fm&FJ<Dwk$#}S<
zp)I1a>6On-cpPM~`MaZ$tq%aQ`;hZVNEtndbl+fU?oE%qiuHq9#_HmkHxWDr`@qZ{
zT*hRKo>&RTP10BIK??sZ=B??!6f3=WW9dUQx#uA%c^}31Mj=>bVCH`;oyT&lNDxIo
zhy~s)8xM{5u){Xq`>!ALVpfWfT8c86H}4TuiExR!{SKKSx}n8f5oC99_X$E8hfAt2
zdcBSPc>SH{>F4bOI>ejAJuQN9oIbmI<ms-GqLpS>n)-dHjw1I7a^lPbL%5`Y?&ApH
z-^rxhON2At!Mq$h>f`1P%2f=1#t`9GH#H3h!#66LN>GT%&C7d~z2}($b#lk6Y*ET~
z1rgSei$C0=lfcWV!NaQjbBKrvpGek0vGJWDiwTssirNTL7=@Ni$*S>%r9^4>7Lz>K
z)wxX}nG9w7e(fjvdpPDAN|P*uRnq93{p<AyM-)E}jfzos%r!h;c;jluUn-1e$JAo7
z9`xw%?q+&<I}h!p*2~UL@zXSiiBcR}SQuHE(wosadsI~OeUWV%_pzBH1+H_k{;Fe-
z>Aq7&B+i&gg=V*fjs#4>jb({|$xJtmoJ+ktDprfbz4JE*MO^r0TQDhlAe*!|6^5mh
zX8RD?-I?{_%5a{j#lF7S*-r1-b8E$WHCg^R+<fMGOXO=)4R*Kbf}nim3*}!iv9{Ir
zax&8gOIQ@WzJ71P**`)Fj=yyXiSh^|iFH}?N2to^P4pC1XtVIG9r-?De&D_e!7m)%
zfFe=^0+(*PNZ?g|)GA0r@erFR939L}QSPbr$7|MPJ4=MXnlX`z>6sH2R$iu-^w{Xn
z2N{C<?+Mx#ZG?hwzzid2>f>g}P*yzU%vWu#NV9`QtfO%xeg~<D&?QE=Vs#<a7DmsN
zTo8m_#&Yw!72aITIYETc#l!Q1Cx?4E^etCr71IUbHxDMbjX7oZXYLzgU<2`ZYvW?c
z*3o7yI(fv%X_tCFAAQpT7^1LP@)(WmY|I>$md4*wrr+!b`XU#<UmU@~#B@J6vJ}Hx
zbw18?HgN%zoftp64u47f$v!3x&cFPSYv({N?4A`}C3uL}A#{(t%2q55*oWc^N~H~e
zCBz@SCJ`lr(b8vVSHJib26uqSH+i~rPHRsS3A))TkU2lV;cKlmH-Y{7&RnS4>DgGd
ze5e*CadO(6J5|Nv2&x>SrQaDl(r-Y#kRJnNVT22`t<3ejLW$|7u_DljTh(~lw0u8?
zp)^27TTz=+^<v^|!Q=0ZL5hgDsafSg4Acw&8ByMwQAYu2zw$}H{Q6n#m$$EMfqO5<
z`ftO2fIJNJ#d?2H3yFuuzT=s2^ONk3Q3RN{&iJcKkS6L>4%re*KVjJmzoE|+4nz=F
z-Z%=dB0(vG@A67=(YU51m?#byNMSlW;|bPMW%-G%Y*I+f@#WK_C37iemzbdKd%p5c
zv*G@nFLOESPVl@wzjo@bd^&4aE2BQb`$0(wj%)HP5a6jzt@5g+nWnW}7>FKY5Mh92
z$fLCTQ`v{@aa&#<Fo+#n??In-z#<>8bFLrcL|;q=2SyIw#Vuo@Tm)d2eTV3azeqNU
z=Yp>LoUO~e?yxfb7T@(e1_Dfmd+bf!cdYJS2xZrW!e$Tq_h6M-HtYHRsQ?8)`oFVx
zTuF!F;7q_;n|%zWj?Mwz$6uQpNYrTSk#74L<6n9IxVFQlx$$^v0;vb$c!f)&;phEU
z%!v5hW?KYvw*UP(X0<aFgJ~%>dXHKjrNnP=4^3x0zkAw{smmL&;3p7i{eCXVg?7k@
zW^yJ_^I>b<@>TjH9wuy@k{Q0EILfWVeNQVLtbV0mC+Z<m{52(awD`KutN9z$tp5)u
z*3+}xoSy+?2G{fH^tuq;7&WFoA-MkCupPjG$<f1iMSMrw;_bUi{vj62BE(1iG2JaG
zy(PINkN2I%(mWMLvZXR=J@MqSG(^|1SkHfcWV^r8_ECln*ea$FtvqxONx&X7-QY(1
z8&COhi3GC7>o5d0`n)*Yz%fRlDH~w)pDaW1_i~m6D-d-)BymN$Ufs4kj8+xWI^VAz
z<0H}rR8i}kFfp;<Z&tU-lv$hIBG4@$Xqcj`e<oq;1y&M&F2eI+%gxnY7XJF)Xu42_
zXqk}AeO5^sYfAT4%aA(+3|rp9FY0qbxgsK#zd$gJayC8|P$BuQ21G+xe&oR@9@k`A
zbbzEhUu(?uNz$Feo#ayeia+Saf|HRVtT@Ts>aM^greAT4StG&~7{r}QD5BQi*;2}k
zl*|zsdO2EMI)Q^0W=cY7gBKKZ2Y>z8YUt3NdtO7a#5;SZ0+Vk~LOBY`EEKpR4<KIL
z*CUF=UaE_1qVLygR|ijb+089rpj(9PItp}dSJrH8$bc7jrD4)s#@a<X(q$;e$_F7g
zPodJ!Q@?0uOF&6qSuD!VK}u4(85o=c==VxsYR`Ajyh<^%`XA!5@h$g65-U%>j0KJM
zHQKD0wukw*q0EEa5q>8U*v?-#N+hF??Vj6{W46q~dh%E2O_C;`r!eeecYb>lU)KJs
z91r?EJ@r~C)`tUbtlTa5@Shu{sBu&yqUp{SV)%ti1tlZ!SlP`I`Jx;sy=oqTn^$oA
zQT@o(+RLQpk~4iqk?s+xCn5x|iqIET7#Q_vmt?b>Dg5_UYf4$H?>MOy`TF}Cn|R@t
ze1S1S{#6vQhLQ_0HE=NYtQ5l>Vp*6xnzF`bIq8}G$RNQYpSwQWoZG1Mty-J=iy@%A
z`Yd&N)Fx4<oz_Y#NRDMsT#{@>{3U@)wXPD<7CE8K%(+ThK9!LY3zumxly?n<<*=M0
zYy0)Tl5>Ga8e>iav@X-DL?w&kG7nsL?MAeVU(;_W#3$Ro6TIdu*#@4az-zjEh+r#q
zLY+bO#x$S!V(l^{j6`b=e<8Z9X7#vbV(ck^uFQv1E_zyf%Ye8G(qNW~r|8f`N8o1S
zv?XM=M`0{{{upXm#pL~<Ni)T5PJ7k)f@>5|ay11Sl8{4louuc;yKB`YoN}$S0QapO
z^fzpUn97>9Z+7CZ1Ny)j;wazC_XoFbkeX?da>%Z3kfYk(0C%3h81-7lw@WtTv{d9X
zj6ZiGwkt<XTvR(4Lc&{u<%GaqSDWVwuv(;H+)!OxRH+Ei`YTGI!}T;?4QiggppD_1
za1}-x>J-D#pQk${Eg0u-t(ggdRu!3A$?aZg6<#!0p&*#whk?s}IiS*p+lYnEQEctH
zu21AMiK(6H{BOi2<u&`*Wg93D*bS%4QkQ!qVP>HaNI#st!-v^^M^x+;Y>H3}JNenX
z@Y55yYi<I8M$I%PF$pSJ25vr}q76oHf9+l4_0E__iq#5ssp4uzl&b-(ybhGsY^sDP
zbIe}v!#E^zM>_a)RdXzC7oc5Xo>ZQ4(@VsAUFc$t7er~my~=)`9;2ustEJbx*(t&=
zqsvEK1AOfKkjjWlK>a95Lu|3s8h2#z&GVcL7qs;)fE>Ben@H5|!u<TeMTN|kN+B<o
z?NoCGyO)wc@y{LfWmjU8SD>bF$!2i^Oj#Pn?5Ix1<waK`S!xC{D(M{M7IkO;85@gl
zpjDd|m7b}W|8|m0hcVOx9Lm!JBqaprYtsH5<-+STlWajPUIkcI+}3ke=M=Pc(c8E?
z;#%0$PXP}j=M8EtepM!EkC*{pet|#ptBT=c0_~6y%au5iyUW8tZ9?P?Zc)Lyz)KIL
zz{b_8eqgXVg9d@gqk##ae)%k^L4wG=5m=ff9T#qh>k{5UCSXx~zJ#kX*M2LXT|#6<
z)S=g#(6fb!Zesx{FMmd>7(Ov@d{6#EM1Nhs;H4{#-)1k#$+7ev>A)ZK#~-sHDhLR|
zw*=N$$-aW)NP=_$sl)%^gt{Y}1T?s6qV0xDjkm|4x}`fX2*j^BRO(=H7D+iQ0opq7
zMJ_XtTQZu;DAgn#<>j|l)34KWBJo!T4WUWng)nQo1z^FALZLdylS(%uwmDJxV={B5
zumk%x;}k0NZgDG@Y(>2U9w;-mSF^v>IsmU*c%E8W?BO|CA05*2LT#r5z&)b|cDqkt
zuX)q7tOo^nf@l|P`E5@3U`6syDqz2XA?fNVy$(QO=DaceJc`0KpO@;1o6kTVlDUBz
zMRQzJ+w7_^nZtpwX4&Zeeqn?ehmTN+11=GzIdRQt%yPY$X7$I;bh@*>&;V+6of~86
znD`}83aiTNB^%*2Yyw@(Zbgkp8YHGB*UAOHdnZ5<Kjhr7un%XUpkYH|RiJ_wiR5&m
zjL=I9C9D(|sCF$9^PJFO8a;Y4aUrKWI=N#0O8ZL`?qw>W_~DUgpXIwgm|E~@8q>lH
zD!pzDUY49?=4yE0usVyvj7mJguSt$FHDnK;NIBEes_YG!ZJ*IkQy7xmM2NV5D+*xs
z5KlaR7r+{gq{+d2SG|FRs8jyK4t%<#G|1Zm|1EcN%(&-Df6^0vpF*$OWpMZDifqsr
z9FXe|pR_heQ(oYfY;sn*&y~~NU;hn^x=dBd#|}#rU@2JW_B*4$>@XmTYH4w9Q;h_7
zn#kEJ90!gIlgvR23z)$Dw2H>LquHFZV5Bfwwd-M+7QRR7?*pcfOU&jl6M-M|s34o>
z=63aTAI*&1He`ptPV`_3|DA5UNju0;Nvdvtcgwv<V?F35;sCo}XCkFYDW$Wp;UG(#
zsB#Mdb;DN>Yr|t{P|mYx)Nc_!L8!l>!;)O#phX3OgdSHgH8)C3=XB@(mJRdFR!!j4
zyIwEMG=(>|JMU=o^>bTW2IWLd8a(G_YVu=@6*0`sojuIh@H~XS?20PGLAJS6pd8)V
z$mR#5-P&GY06<pwbe<vRt_#gRmh=%vzKS<7`|$EBvR*P(FOKZj29akMz|vs9tpAB2
zV$)c^1EYJ+0w9B{%<F?RT}%v$8sty+B<!02MM185g=Z%T06XB`S_coaz}TN(%_xyu
z4EHEJUp1300B49j{=)Xw`7ra<a`ZTH7C-ZJqVOVa&;rOl3pbd>RD=GGCOWS>8j>Tf
zpaZCa*dn|%aMbhQI!Y5Q&@h*3pzbrJYQPmMcRbob<7oW2Nnq5w7pPEp?RIY5Jn&^<
zjok*0LTo~AQ_))ZBs9Z;FjX=x`MQrhNg}^(!+eSGV1-6-&w>LNH0_Pao!7I7ZW~h2
z=ip`=`bbA=7WjNF=Ll~o2FPg+h@4#x)rQR(e>CBP%BJa%ff8CI?^>oA)NXfOyI?Yq
zrq$8x=T^QG4oUEMAt|r^zRMjbqYfD}*7O%GJY+;WzRFXW&NR;P1Vrx5wtCeqK#1d|
z^!&1xNErke_R=zB4v7>t^Jd?fQ6EmcXOZit9GCWzSkyeZvMFqI;?L??mPxW>YP98@
z@0)vk&HVM;hJZs9_2MloQh=fI(U>{HN4z?kMUl^xaf0sr#yUfv(5*|W*h#b73tW@b
zLH@D##*=u1CI~gEY0(_dDD@*6d?(8{qAc&fLAXfX0*(U(X6ffz7#Dk3xgaZs+hi<g
z;E&jcm(FtMD(w(PWPOUx04QyoHMp>ST18)?2>+hrNzE}Wa>64$coB@;+#jDdMtMk@
zC|z16m5`De+LCMR7$aI_*59&igaB)2L#QMdc@K8;1F;~w!<SdmM%B5?gBh<YrVB9F
zqlxoPkHrrqc{k;wz23g7eojgbOMWVnMIRfTSKC_L&^IK|w4xE9uzL(3(O)JSfyc<9
z1v@(!wZCjw`d7r&CJesl2k?Agq#ygcbYk%|UhR28C_8GR;pX=2AVA<!QL@3T9=$@a
zFiz#)zlY1mGcT)Hr9W9{itIu^LtZ_apqCBT6Q!N!_Kuo!8qxLry_90U(~`Vml3+#$
zYfua<QGE^Q%b4SQK<cfiGAvJ0CmNwjk^m(9<nQog0M5E(+{0KdI?kr(8lmttU!dxm
z&uP<#js5c({2M1yn8@Y>-^GgK1^n_1scS(8{l)HO!tX!>G5cCCYk|IQkFTwWijKmF
zTHAVwazVdx>ZwcHK@LnDAya6ka|5y)wB5J0Ov}_2e-jjzl$0>zowW<Usmg!|BZga#
zFNgGtK8c0C*luIHgvzHzju5GDCr*Ac%U^3Ej!Ob6kC1A^gQP{?krEy~LlB2n&Em~y
zFD0vM<oN8btg9&szftoUv(TZ-1_Wp`iU$q~AB}PlB>N#MNq|ETDk3KxW{lCP7&!cP
zp}h)XQ9@;~H_i`ZG?Mv6)KYkh6uCVu9|1-^^d~nk^gdDWuA}Cfj|j}*DS43VaYd<+
z6H00Kt1`TV-B({}pvZNCw!c~y{`lsB_!b-df}3Cp{M|%D@7n7h4+d@^9~-^gV9eq(
zrkw=anr^ac04rxAbrQ;HG~@I8f^RH5wzoawk8xJS@ggFp=v&K1+ujsp4AKgz<LKR8
zWU3|WH`9`>b?6K+3UeJ^FOe-JFj&o213*tulzJ@CSIp1j__0GXceh~;qAMtmyOv(E
z%=@0g%nJLtmzdp^)dv4Gz-zTg`Akv&Vuh&!r|F*cFlm+;4jLB#LTf3xVvq?eBE~14
zc2QoG>rSXNR+)bBuCCk`9&k=bftL2>J*964vMGV2Ug8U>>?Guh-AE@CMgh9#x#l`}
z{%k_GSX2a{Ldh<Shq+N<y&)X~fk63N_PWzWDSaLAEmPT%S@Cel$n`xFf&5~H)}w%C
zM97nQ5f*bm`2%56_KO>^nzC1SehFv^f4$jtJQYPD0$G|D8=&@>0PBD_nq!lCEG?tS
z?QPbvf<3@}^9%PZ9xJKQTo{C~(gZVeBMtMi0p4U+O>rqY`Rfz5e+KQ0D-ti!NIPx=
z<Ua0=i}&L$gN&!skuqNjq#RX%S{Xh+=59cGtfbF`(S`o(W_Yz%Yz(SlSV%8xU16){
zv+RLSX+LZwqemj4>FKcBw}i-Oa*k8-dl$&i1kShM0amo+O0=^4HvU~|X*L80xL@o3
z#js_0K3_b_590VQpJpRT-@#<Rq*at}4V}y8DM}I39i)0VbilQ%>}>PWlCiN(<UwkM
zDXFBw=u!$$ELg;6pnbZ6VV1!-P_04n`s5F58iCCSS^9&a1`oiNfElu0(Xh7Ano=K-
z&b~Q~M0E$!x(%xExM2eXrGYCyXcYYN9i_-CD7XOuD)vFk$+hS6>$vTkwDB2%zyLqO
zFp^q#n&h~CF4XCta$T)oDlmO92Htu>>%%^aeNnj(feU6%Kj8QQ^W5)Ofl|e`Q$UR%
zWVQ(O0}rnc%ZGp|*#hWD8mSpRGSg^3Vbo<vZ%jV}D=ucpJsF2W_HZMk^@Lz)@&0i)
zJUn+u`FE>ft!IIZcz_PH&qU<WAV5u-M1Y6lWepyH+h8hx0!6&B66d9`oK=+Lajpd_
z{-=(hQfBw17VBcw6`pD*-uas56!nEUP(a~Kt7e1m;-<>)R=E2s4lHlih1<<QPFytd
zWe|}|Mk##%;^&hP`v^%~2S{D$Z&CfFYVP}a<GjOMuj48)0Pe5z=|1u{UjR}-t-t8)
zL+=j9e$*~0b%-$t&J{~;bZSqM-KC$h#o857f6+~Azn&D(PzW!2`r%faKO@Cv`R#Ks
z)I)0G%)-pSMUscf%yz<6-8)|!flwI9U=_nu3+zsKxNlWOm*$I+c?fl_XgKy<@&IMN
z3ggxbV70AFwsg2VWPLecNyVQ|Y|xhu?=yPA(o><-7$81h#NqRsfzGIBy(;18MWi1r
zqPxj*bt=a*M1DAt6E7&0PpP5F`132moGP~#pVR#LG~74r{*HP1h%fu$BM;?gpNj6v
zRb8B>-deCHyqyFvETTkRa<);_-h1CUacu1KV;x-6EjWf$p)kn+SD<3E`wCg1VfczG
z_X|z*ZeoIN;!Hq(9@=ymnGhn#7hc=2uTg1o1HCm^W@nlNumC>C68!6JpDxyBPR7Fh
z_SEf#u`d|{D6U{(MGDJ&(+_<2U1ILuj%4|m1&y<#0pUE#VDp`Hpi1V~!@)5JRIjZ-
zJg;>%k+KPechMGbVT71c-KG4Z4V5??1PN=T2q$7NLW&PAcYr|DEYXJMW%e;NY~KQF
z|IjZ0SV2BHK}Eye?S1)Ot8S5u{u+`_)|l=PEAQ$rcCQZO-?2**b5|TE=#+rne;ze?
z+!Qau6ow13(%v;l0`Yb!u!(@6I;ITBDT(_~G^<BH-}8S)L`l1Gh&pp+kZpkb0=;4S
zg}6m`EeRYKwb~E!{Mnx*!ZSp4s*Z4_V@iIGzh_O19<2_8z7+IheHf6h``4Ic5w+3;
zZs%p8bNvE~J-mD#8Go%}7JSDgH_!Gi4NUXQ_;X!fa1x8ASFerR<VpBUY%F0(SZ<nW
zR4#NDy>mwkTK(O(qZMO_xhLcq5rx{^DRe^Zb9Q2U;srMAor)B~xnGf!x-krDoW(i)
zJsuB=`~%BJXi*X7nUdjza!aWf28FxpPk1;%$j$fgX@>TdFw04h;D9~Z0hCLFNqogx
zuco)YAU8`ZEjC~l-wT+KJus_80NvG9x>#H#EI&3J*1h<_JDnr<4g;$Ga9IE8OfSLH
z3u-;t#vTtwD5BwX{Mli?ze6#~W&L+8NX`(%U!M*oz{~EHj;Ge=(^a#Q-RV-@3olL9
z{dJ9|Ng@NJW<X#S$<HKW24GLZa6Yu0JS><+31WPcmlZ|d%dQjjqvN1)yCHD=o9eLp
zOJMTvouHz2nb^+@ry_s>Q2==dD_Svi&w6#%^$~pDhUUU?>6hG`cYo)|w9Pdl@sI>L
zb<pgLM4r0P#HeoLF-B*|>zUu|?tUP49In8^$I`8PRV11n(nKGi)jE=>BH`0#e@m`=
zj7OPd&F@wS?~*IfYpq$BJTzv;GDt-{<MxFUb$yA~2nC18$4clRauU^qP#sbD0LDO&
zS9|P5Hr(KJswq814TwH%Yu@5w`GvJ)nzlM~q%;@#>x;-{KJ{cHJ*%wZkALo|{n7c9
zaHSD~-Un1p@<V=mBBubHpx=rRY7AB-Uyk9vfa58}Rv;C<E0xovrZ7B+no7H^J?AN@
z@RT>Sj^Keg5dmqB&+uWzq4d79I(o`_t4r9%Kn1<#-l_;J#|Ew;R7)+g+=K&e83y%8
zU&z>YY+~WvK}imlBpfIpnr$YpSp6;zr)d;zEP9>Kmliu**AdM)(3vih11QGN-&;6y
za%k|neeL-^n}p`_weZMD)85cF5V<_`rDWKSF!IW8kFa1ZOf2j{8N>bOTt$KW<2?B)
z7PKeSriZ(3oPCY4Cf1b6NM86fYK@fa#I~oe(bK?ko{3-Ks_OBuzrsRO&NmuG&p%yM
zkE{Hg{Fx@~B(h&aQ{P-oCCGc>neL-Kmja?JHSMRo_OM%)w&mVMqVu7?SOm>qz@f1~
z#fPv+Ht`cUCQO1FGD7?4?+h9hOO}P(UN$S~rXzGiNMicmm(l&0JsCV^>EnZe?U+fw
zPZ>|dPL1V~Pwwn2j}%JdZnyBxkb>C}x_mitHe)dQM6xlY$PtCH^Ll3Q%7wNl)=WT(
zB`NAFTVowitMfww7h>tZg*k1dgHnr=zHab35Knny|2K)X%h||I$2Dda-JuJ5UIQCd
zw`G+95=Z;>y&Wc|`6(F+wJh|GfKq*>$>_V(tu9nsp6^YH?POuvQwXtBN0x8B$v@O^
zsH+*6Nr(aHK6rwkr=(oGO5X#gnxS7lzEJj}hUGLx-*)jyy4i`~#Niu-o-KM~tj;ak
zbv>L{z_)HY)!{}?&5a}~UH{1V)+`KUddm{_{;b#zhoqhdYHcNeEpx%H+1$W)V=|lr
zLpc6HqJS=~K&Q<<0r?qy!vHZMyc7vZ51&URdSNEJbPe>#;Pp2jnsYUEVmZ@|+@Xdl
zJt#p>(xl-l2{`X^m+ghYZ6X?6{SX>70-O7&5iZ#as_L&F`ZPbHS6dB_3bnd}4M6Z-
z%`a}wKSb}^wT9@`2&h?#i?BXkHyXI#;kNbm2fP&nGau<wOUM<JVKjt>4xjr2jcT5q
z;3`m$&<Oxh2QRXDXSeKh_X~32uU(9FH2dYB`1auPm*ZSneHgZSgKQy!GO(x_J>|`L
zEoq+o)LS8o?_G^65S-@tV%bHUlXXd0%CJTSbpRuLQJ80ID;F>xg57?Dcbe2&^5|Y%
zC*<{n;LV=)azC^10FFl}SNuzDr30gv-y!f`{|Hv^5h%=3U0iI!`F5{0+)vCK$;LBe
z(ZpdS(v!;j({RO@s^E>=5BvEzp3V5&mO?Q0cjLPzMBe$#d^TdJ3Imsr#KTpigJGpB
z@=dEgW+{kozQWD<>^^bB7ya!YaI}V15?WE3qdb^K-oO_5EQS_`!K5_&Wm1oA)Lcsk
zC{M12VSW&$sF%6AuA5fP!rn1*gFZjcC&-V{owS~1HbEUBEG}f8IhZW{#08_RfeoW}
zYR;@C|4vc&@zVvr#&+2oep*s0%@{h9-(HOvd@}sRbKsh5#z@^Ui{DGvwQjxdg+ZSr
zD%pEii^|vAoLxYqwUIEA*oEe#0D^K*)0C{u#obJ*Q9G|&)`q^+@1kFpn-%t!qQAq9
zKTQN`Z7bX`rO1%XT5Iy;!Gh!2i>H>kqvsRtsZF3f2m{|vt3*%iVm(d{#Cgpk@H+wM
ziw$1cuDjD^8?J>c7#EO<b#7`Gw6BSES(1M#Ts%n=WcXSW>%|?<i@f;UDj#peI5j@K
z7;`i~=;6^}>;Z6jgF|+4C$!bvSvbk$*%|XD?<lBP$FG<xq8^M66pBHol+@N1zF-l=
z<;$i!p^j$Cybq;3S@G_61YMb{8f5mWXebl5Rws44ve!3U<>5OH>ZkOC*1K%lG9|}(
zYE{m3w;}{?<=r~6jd4O1*ozcdxtpEHp=TgZHGF0!ON(cy{q99-#R3Z0Ir!$r36*x@
z?sHUSr1+cw@=U)6?q3^i8#s8#=mZQDy|Bt-d#1tfU=}dIq-xX|F&)#HGlnUyturSO
zj_K;%YBB!yg=ZjvGfw}5`hXG_E~Rri+SRvF+kY=@zQ}P_``i3pRV{HGo@epb86g&f
zCWHM-Gk;i=eb%Wj7aPtN^VQ@QEHHkEEq@)_)kGK;t#7VqBg(04nDs}J`oP{pMf>eC
zs5Dc0GEd@TKX${lek<)MGikWmT!xvbxsJmE9lct4qm#P?8;v=8XR<|Km$s7^ETzpz
z?fqMse5dt+Qj=Z_j`3Q**-zUQWkPk=Y%%H=pFL<pOuXCe4TLw$#_y8s+4`k{r4Uz5
z%Fl1Sivzj$NbSFPuFtX3Hl5kfEF9Ub%<m!9*ZjC3*16J3d;c6H20c`rc}e_heogXO
zYOrv8>>=+xBL2y>vU>7w0vwD3u4KF4d#BeMe|)t|9s94(Zq`Y=hWvvQ;qO@euu(u_
z@(wyt5*UchD|4`89B`(KSbCEx@JR&HrK*!Be`YTQ_dRv;3f#Kz`pwX<vLE1=c)g5y
z&x=2Bw~mqeI2oo_y!t^{g5|8Zy?I=t>sjKt=|}4-+_K&pJvi5(Rx<jydW3dR#3OJo
zxTQc?tw?Il6s5Wr>2jX;OMB(|jZ8)vc%G~`5_iv+iNm2yIhhXpJid7DXL>J}PpN%W
z{m?<b4DAgWPtLTT-)yY74#+j;UAG>4y4$x4zYa>ZoSP^kBJq=bGWhSEUg^N6!l)2s
zBveAK?SNBbX`xz2`uT0|atqrMYUFbYG|~${6m?D~z6AVhZ>Hb0GP(gy;A2^R#cjEN
z8LcCczkdBn05o58II%F66zEL=N76R|qbAG?IcRm4Zz~#QOqrd>WfBQ5ap5Z_R(^As
zPUA_8bij<a3caMnSWxC9u|~<OXJ&q!Hce{zy<ayJqi!3jz!JyV&&J~ps`su5YeykR
zk1*6(&IoQ~#^cUxj|A6kv@&ir<W$zajDxAKlXY+nzu=DxWq}6;<r|BPI@Go_k85+?
zCRlC5CX%In{KD$2C*HPrP@4KrK}21YsXi6e3bR+@@^mu4jJ0TMWI`e%#|$pAYAzmg
z?%zR@3PP5f1dAEUp!{^I4^5l^_R+k}{e0JN;Ql@0fkoQxAnmiK-+&KaRw%FbEDc=o
zD=>-Hd+1K4kM-l%cy600x9Q`?)LX6F>0#%JEZ^2#mQXy_y}Dkgp#f&@Vjnz)lx{n)
zXl^)=8qn(X+pXQHA2|8}22k1HtJkX89c6EbZ5DFNz6@;kpkt?96f`Qd%CN&WwTG%@
zp^Ri1oNm<y=Won!Fh$L*b{C7iyCy3@SXbq_f@`t@H8msS%Y5IxvwvsmNH(5+IeYDu
zQB%N@O6=uq?QP$#%l5L5?%($B%=W+6NfRHOqzh;ML#@73*&w-mj;t2%5UXMjxbHnV
z!z|7pk0dDO$B-OpvgGKBJfSs4GrU1nPh2bEAC=w3A}qURVGJK6%Ev)I0B@xgwOY=P
zwI~1T=`pVDj`x|q%B#ki1j1a&$*{t{r@Y(d37CUG4yM6Dz6U|{xtCDQP;5c*NwQ(g
zN9og8$?;};|D{)%oB5^fh_Mz{Jpa;8is;FO#uuTt-N!5LFNAupF{aMf+*NE$NS>tx
zm<zF`qRDgWU&O5Xb0L2c=1UxmdOuy>e9+R!vy>Ws6junyPbX}O8zb@PSr>A@@fT+y
zKDJ`TtF81T?1*3#iXI!tO{#OxiU$zc=PV-ak!}4X$EWSX3AHpXGMIOp*koy+8Ve68
zG$dvx6x6F#L6%)%zrg0XpQanq0>f`qmaBUKAuj9dIPxJ!va;x<jw#{Mz9krU8ozBT
z5EDV>Oa{%bz+#4aWByAMfi{0eIt2-n>AzqaQ^ZRHA)_?P5C-~N(q!?MvrAs9s7CTk
zV@{ZHRFe?<a3kbdSh5z{jLAW+B<JNpzKZikYZskPJUwOT4{X*i=4NF~$XUD&GyXjU
z+KXCZi;4kF*B$ORK@4dl2l1Vqd{Vbbf~z1)mmE@>=SPbQ)FZ3(Ls}RPt1V0t&Kb*a
z1-}kfcX6eWKKW%Yn=P$Xwocp0X(W^Caci*CIDJ;!+Tw#n_sO4lyvFSbhm5uf64Qd6
z&}_RbJ;VgMe|uiwbLA2IbsE~SoH03}wxk$)8l>lSgs-$`H&A}Xk8E1Gjd*EldPeDg
zMa!D$QvE`puHL|QUVtuX5)J<XCqFYmB`@^moAI-CeB)>wJ87WIpZ&mI{NnnQ>~P3W
zDp}V+lbTm{6!%#}FCDo)l;5>F%y0W<PrG4Cb2E!_v3RXYvY~eD_1a!Z0i0MJs>$q+
zVcna<4Yag+oWab@6vFqR^h)RwKHy5!BZGpN;kbAPQ#L_xvh?M@`L{@+@gjc~eYmic
z+F)?vgO5nx-&veE$vg@ktVqmCL%FM&AeFwD<AnEh@77JO@9e@Y9t_S+M{4$rUqsKQ
zPR&<I+09p8+v?~cRS_JkNgNqXKdUXYT|p~A58<C(2u2iw-rtWOVzP!ZyfJj4m3+q`
zt~m<~T;vwz)<=kq-SyP9DoZganEZ1MxBp}wqoo!Zj2=lvP=FVjy2Tu!0yMF2Y@^h`
zO$#l#>M9BJp%@1+@#(E$`86$-&mSUlg|s^=0SK{u@WJbt<?)Q;n=CAZFs+9n>jAq5
zlb5UsI~-Tb)Yk}nww1xX{ssnMY~8^JF1`zC0{F4wudlP)$DCPyxb1g_@%-If1-s-o
zJ_9XmsQ8AjLiEf<A_ksFbhnLHPDJI0%-(Fh6g<~kpztW<h`s97Qz{1=);k-#+B!~^
ziw1E3E02x={)QDS6yJ>k!LkE~?Cbtr4Tt}ZHKO9>xi#`~&WPT`B}e|lS&~Rcuako;
zN%3g0s(-3w_l5csVtf!>Tyk#)qk>Tb{Pc8t!?G^Tmt?f;((T2^NBJ~S<=U~>=Da3h
zV=>i5Dz}EUY9H1=`d(_az>l>_5vQm&sssGq-2@#-1ZRhlQEp=J0QX!w5VujPz_-`H
zHQlQr0~E0a?6J<4@w$HS+H<iKOOUP7B4UTC7%02`HHjNgT<&B3_9M1m0}Ct{zUC5D
zJRInBRZ=t#qXD?j)Y&8eEoVjXlz&Lv2gWqAk*|C&@r@&N?_iK$!q&V7b^K|l&mK1t
zEJ|CR=G7cS^tgF^GNs8$IO!-L1Tz(E`2>pAP-GQx_&2p3zWZ8>@{|_{hKKl9%Aq&h
zy!)Y?*b?Ce+F4u}ev@l<O@MdHs%51{Sk+L+vB)}t9x;YkmbXK)omLp5o4@+a=iI8L
zAceBzU#}(L4GtYxT7X|gU+%xPrmk8S2{M_K8`3`G2#jcl<puDtp}{Ss**Eu?MJ1X1
z5Ow{yh@Gj0%Y8#R^c}<ZZs8HKgqsxHv*lo6sY(<4&^OEjBp06709vk1>JpAz(~kMz
z!LKz=PC7$21K~Q(!V=OB#n`{RXa+nP_q#z*1-uJ{5Gp8sS2F+iu6SGh0=X(r{G|Fo
zuXZFowlN>k(|}%XHMNC-4c7&zWbOGc=2%n^8zvBt%X9dTP2A5mWrs|OHfI&{kC1cY
z8EEps1d8N(%YJ$UVm09JSw{-|21j+MoKJ_zTiUYsIoF74v~ke1^Wvxu_%uy+kUGg`
zy0Z8gyRSFchAQlapt$4U>iWf==tF;AU$Q{+uSy1k{|2}Pm5P7+$U4aVTk5P$RQ%U0
z)nDE5OArQu(q0;}fg-qf_wzmuiB58T>WtdS4rt?**X3uTzevv9sf6uybr^}RggwNM
z>kaP7%p)N<&NgdLZxp1V0Ecy&m7%cFLQ8)T^`oSaR_Z%0nxEtswuPju{oh?ll?h1#
zaaT<RpGR&#)Rs<1cC|+@AdD_iq=|zcQAeh38wh3lRqX2nNW!ndxe|Yo*iJ!9cS0FN
zK(aQ4`3Qr`#-NsRXL32Jx!xV3X?198Kz%XTZ1^}ZR~_TQ1bYs7CL?+FRq>-b0pOf|
zuK{1zza9sgvzH^D=4TJuuPHq+{OanTIUCxoLf**VzjTTUG1D29P%8}bhD>`Hf=tU2
zHi#V4F<@vyI}+t7N<u-cr7yB}6S#1{*)Pd7)*fL}u&Nvgxt&9abj$UjN%i7~LSzIG
z*rW$=Wq$^3Sxkga?K;Q37MOuPNbTm#8vnJ;>**UXu0mR;ll-~gDX`DJ*)iQ1dam^f
z+rO3jCwT>!=JE8wFKsRm7j?>ZEw<qfxnF%%K(X&LZJszvW&HOy=zsralr-((e=YuP
z&iXgn2*n@T?)wPz6`8*tXV#)oeYAa<gC*w`6+{zjOf<@KHpZZ<Uqf6qmvs9UPG-P_
zl&rN&%uH)^Q&Qd2{83oB-!y}4KHP+v))w@}NmKOj)C7l*9nqI>c4C0WH>FLfUt7Zn
z8l1M*`pJE$bX+-i3bkLvlw;~>)%K{se<y}Ip!`9q;MfOJU6zJU*XATf;p>Q)FjfGp
ziqp8}x3i_*m4<m-Y<h8zseBieTg$Atj-fV|nCcB<>cDcQJBu(+g?DuG<(hS#?L(;?
zMNL21@x0>pRs<NQJG|$7{9`mGkC~s3#XB&tUTJk8ABsR9t{u9hq#gVVQ41{p`X*n8
zQ7)nwbS<MOs2xX#KJAv5Naw`Qu^c007chyY%G-$C#bAY5%CI~&^o#FES%Y0l-yDxa
zxHnN*a~}kods%eoA<6<mqw!9<eKy}GeBp7k`#PI41cm$hwV#xh$yQUK?HGeovmP!b
zCWAK%unI{j2g<-d_J=qh($w@^1^?RG7Ue`kVDWQxI52~?<t_9vpItekT>b07cXg<X
z-16>ERDJ)-x=e3M+I)&}i05T3lrW8ntxJ*A#E4V30r%a8nqEc@^-fOLoR1P|p!X>N
zCwmmN3-=+n$_H?)?TsaR^;R`m8ZmQ&0DN@78Y5Jihu(p@q4r7T>xJTW)Q+oR3%d>i
zq*eR%(CjBt1(f@7=COAf`J6MmRA|>o*)o<uAcf2C;krVa<iuLCXqaAQtmXEmM8}iS
zB$lGAl>Oz)nK~ZVfOc_+)SpR$B+Tb!!72O=+0_g@ZdAYP4Qy%R3usIV=oTjJmj}@+
zLyD;q`XuhrjzIK2LfTo-@`owZ;0J}Z*4l;v02*~eu%dk({lZMqD46V^Ca&x)obTZK
z8oOWU?VuxvCU8CJ?2c6hz?NDV)Eg*d4ULFFk=l0dEdjD~iCYxS=+!&jB33B~B$2Qp
zMRY2J3<_-1CyjG64wBbx$AY>J^>^m29K%ww3SSp$n-Hs*o9*sVKCd<hGXqE{vkGeD
zBA~3WBinDe7+;`Kn)1`&zT|XrpRF1MfBOLyJ-G1Vm|Sobq7FQ!qaW3P#J^|ZJ4uno
zOFX6T>s5BP<f&Dr<3_GY^l#m~1+l=HdnmDmBQ*rbu7EBc5xv9f_!@B8aalI~bp+1t
zEL)G)un2Ye6S2zM%L%926dJ-#o67z7cjhR(z)Q0t32mLk-j%+#CFjVx#QH(Mw&uBP
zL@b~F?0ZcoW2*TDt@A@oh@#gHv=O4uuAx?;is8i7f6p%)X`idKkP5YWwNRKiOEA-f
zhbXkyA(gR!JeF;>ThdWJq<9pEsGL{zA)gBUX7~>yJ+s*vIj@F6Tt39Nor~GRX7TG9
z5Jmkyz!<G^LhQq$1pt|8-umgeelqF0<vbZ^=!<sjS-54mbIjFyXZ>AEa~BH@aq?sw
zK=CLI%8?mm#>vzSVGx-^mBQS&_~I%0^n^6CO|ZN99^ju~ky!F<Eo66>cohXlGPVkf
zoeDq9IX3>z!*B-)0oBx{9m8k++#fR)?;xRMgHWtzCHfn2HJc*&!9~dS-8lV1?_T4+
z*%E$cWQpH63&PwIUxa=WYRUx}6?}QlbBiAS-r9ESph!8)l9?dLxs&Z1Qif>`8T`n-
z-`=_L>eiHry6!;UL+kUeCqAsQjig({WqAuNG7MrOWk%5rc9MfSK+(5;Fp_bDl<J3p
z*UCbH{MoBVqy4#)NIC&UXIOt9gqB>T&F4?C{tU}D2mX?@GuC*upOTC3V-X`@5nIPz
zQjkrL)+2%}1RS%%i2S}u>%-PHJ_274z}cU{`xXMi!#KbzF@VR`C4}h^K*2yE%LVY;
z5Hm*<o9q&!MSXMxqp`rJt;_idwbwvwf0nk$Hwxb7y`O&M<3A0GUD-#IbjPF_rKi6W
z|7o*EQpH@Kfy`ci;yIih!N<`l;hUOVI5U9Ik&QM<bz_)<Ao=|o$3t-s{cd!Yp&Xs&
zqKEm_vY<Qj{FZ5NDqKAQc=lKuI%B;q=sIs;iYm`om^}Cg+m(>&bXt90Un{S!#(oCp
z42BGG3l~nTy%P&xE?+x59}S>qW2l$E;0cvq7l!#acJ(iWp5b{bw1mxE3!rgqYvlXK
z7m69bRM-;2^YN7MSJ#sU1Yo8w0M5|&HmLp&9AWDU8?U*@iZNSDQNB&j$N!OZ7E979
zQ4oG07Pu{OX&kzd9q#Tt{bl|eG0O=8s?N#$vMH*1&b=^?C;eqJymWf%w&H}5>}Ke=
zl6UAPbR!&_qB1q_)Fk+>M8n@oHu!R}HeA<m_kle*_Z@S41IX-wpZV{-TJp+kbs0NL
zHG=1Dg<d;*wN@-zh34uUAHm#eklCF*cj!BRv|Jk%i1${jtM!hiNKef!PKvDrfffC0
z>}B8AGW%t*AS`3<5Yu!C1vxyl7?ev2AjTkc1|Co9v;gOUKHzXMIXjNNDnl&xJt@F9
zVs`KTWj^d{-Uo@$=}~$r<&O>U1NDwLj8i3k{lLhZxL#}X#d^JsB>b_?eiabLlfyQ%
zNW)@cQFJs!S0o^O?j7kp+{vVrm<>K2bVE-C36nimA~3ykxMfeQSY{vuY!z^Yl0x{3
zP)q@Z=qzGAfJjKxw`*W}6}$U*o8>@w!LfkbzQ7gCf4}X|j?xGE;D#_0#K!AY1r?{E
ze7;H$(ZUES=GWbb>G!B~>40^>qv=J>Ev5}MZJg-wG`+>cr7HP(Q3j&0UE2+dRA&7`
zIfID<25j;EwTPq;;gqU@fdvUuHzG7ciu1_a;qg$s?ZkFTYvIrs`sAqecfeM)ydg2V
zmht-*!Xy!D-Dt5wedkCga6Q@n&z_kj(W(6X2~1C1w7`id=PQ<^zB1v_oln(`K{(e%
zZ6euF3)%e|ANC+2W~ZB{izY3opn+klCGt6q!yQcOM3HkOQ(lr1$oI}2F;bxLX-;Z|
z?~$D+|8m}VhA?L<KG43*Wv~Hn55i<~VsZ4S3#DcUjr1-obfItHQfHHHB}U#bRDyO_
zT8H5EI>wp^KcYZNkJ8bn8_nX{E&{(j;e=c=w-y|4ORn`1jE}4)m<_p<wHhLq3u$MY
zCr{xuKz>CweB!~%y$V}cwIS)=!ZtOwXDn*FZ}r>y`!n6$cS&Q-I&-t`4LW46du~R^
zb17gG@x(Y5lpSPm&2J6Wt_A{boL|GK5FsIek(Qq=on=P%uF*t*e0SYblej&!4pobs
z+x8ZJopDW-Feo9eU|8{7)c749vxBL0nZUD~whc($JgE`(z7{}0=x7BNO(brhc_ls-
zsSSJz>hE{7ztdpsUDd6IjXtSHwY8adN*RvtBd%SjL*YKdRfY;YX4RA5JhU^^y85(H
z^V}c@?pDWgdqp+IwJ+_-iS~Gpe@8aj59s-BGE)HFX+wg33DUbJnISn$YnM7Z6-OBc
z5@3p4P*dE!ndI{&5J>G4gK2>;CEZshqA`7wM^3K|8n*DI8xi=!o~XG_6;$u1G!5zb
z86O>zkT*P{3?54;BfvFf&h@EKfN@2g=woXTKl7(v&l|D|42b;=z(w;87Z$ffI#K5d
z{O!&$3q|6W+2@Yu2g9n0eVZ*b6Tw0_&rl?&XiUdY1IDjIeN&#mTv`h4HovQBjK6!&
z++Ese@K>1V;`;`W{vmTAitDV>f6D_HgNOWBh`I=zIDrz@{GZX}-i&({1T9zGg^C%j
zV@rXr`riwFlid(wVYcUX^Wad2snqbT=Ws*d#U%*c1#;`>{6yEiN-islXlqfvs}-EG
z9kmi(?i<;a`Fo2wNNcCesk7)jZM)C$;}xs3K$s%;3kVCPKX?*cRm!qvwAuwe{8BI{
zIjfk9iM8QYh5j1i6LCBcn#aPm@<LN*fw=t^U;s&3A&vIM$2Y4Rl5MYZzIE|Uo=|vh
z8F@Z|8SE2`EKOcpD$_13t+NVRQ>^G_SFJQ@67H|$p3iNFFsoYTn+CypvjJ0KwF?{Q
zn@Sb(7=lqM5PJ5+LzvIH5XNF6E}1VPItgLY9=eI=5lH}f>^_5cdWv1d5>6}vSn5fT
zF49r^U=H#5+aD-)&6XO}FEp_NHIoE@u3GsS2pFYDx9uH+EFn@qR4QMOK{7<Zo!X|g
z6($d>fsLtWtHeQwuRL1mrRh8%{DrSoZh++K(GgG!YoZ3-RK2F?@Y!&n)<|Nhka_gh
zLPM}uXcUIskx`Z3!Al2phHl?|;H!5Y_Z*pVO~@-Kis7$I6)Nv{Z_24Yd1#tWL}gCk
z8|jHEbdPwc{yWQnBMq(h?umDcZwm=iTBXMXD-y`B9872=uMG4zqNqA$CwaJ{Ee|?L
zCTx0h+CEBOj9+w>E}q&1;@z;%8A^#qqo{2df?eZ`@!Qd@98-nerP{9X9pbmhRt*Qx
zvLLcPNY<=Rr-Jg1nmTuJ+Xv=9_o3kaRaPaDf9*=aZM?p&Y^iAAX!1_~wYlVOEJ5jN
z1mSr|v;+J_KiaJ0wtozdWMnZlRe+6WVMS2hg0naol|M-C$He<~l!aQ?C~gtppDF_0
zbS;STT{c+cE%t_wgFcPFF5<VKuW+fKlS%_9Kg<E=R-26oycDEuv(SXe!?dsOKn-W?
z_1fI-G}%ov?VrS2JrBiMHjDOKkv!cuIQFPot+kLwe&(KkERN$?2e3adMw93_Py);^
z{Y0xDiU6$#?LlX%1xSUPFr4@cWi#^7Y!9>;r9p+fkK5c4&F}nPbB^bPqow(@b~~HW
z?XF06q-cn!BGX9c&!>Nr2x=`%l%FrEV*FPMX3+{Z*9TlwBu=8-rWhx&H;Iecx;1Oo
z&`PVVb{X&X&ee{KoLU7`Ke8^Eq|u5srj&mfqjAJP9t?q#c1Zr1Wx~;!P4U&a$oVN`
zN9W^H4|~nP=0`v27#kE!1g851{%|ot#=1XP;?uy{ogPl3NK^+RezRxuP<C%ErKdh!
zb#v__(gjCj7JqY5#UVVD)M6c-;e{F1i|k67;z3$25iUKa2ET>S23_Wqz-T6!yHAD(
zeMKXx9}$*Y8Trtb(1<-SrpkD@v3CgZz}Jm~S5ox;Sw75UntRBiIAk~sGbI4q;&srg
zK#em|)tNt6>hLYjLm*O*yYbxrg$LMv2jz^g#~LH<d8pH}IF>mDMr%)A`1;1)S_aiG
z#G@BJZzt{^8D#V_B}2;e{!!>*->VUiknzNKqPcnS@DVk_<uSyAOFiVx`-Q1$hP#3?
z8F_8Y);pJ6w9U-{$8{T26C;wC>Ly}^eh8-PR(@9m=pnhK-&*ODkFgmEjpxM%C<?Lf
zTVZpXqZd#lp4Xumocrqkn?&PI=Ztm1T50TG))_W){9Kx^FkgLnqkn85B#2=r9q!f$
z1#)#MpY>zVcTz>ljjZzzX#UR63Nr4#=|!6qjFo^aKt6m7Y+QutkgeaAz*ryvQCvA^
zCYD4$jbCf{p|Fu6)o&Hh1g#V0c}HmS26wx%%{y{WkiVl6@aiCa_DPS-pZYg8(r77e
zvCj_o0*^b%t!MdSz@=9YdC>=-a_iF_LDMKm2A(eUMYMTfCcU^@^=IS|MNmTh6$efQ
z+VU-`DrC_$Kf!EXyBAMR7=@F1B!0W3k5g{$-iS6A`ZZWp_H)ZbDs20)pFJy#J%c`8
zL=ERUgj6g96EmcjU#pPhUkVyHxTX}vLgQkS7}Cc-A{xu`zs)BbiUcX3GK)MtLb-rG
zsz&DD7gXgH^&Q)xzxQtzD<QZ|D@b&9cs-Ld$H+LsMY?Ut|5e9cWM6CZR<qH7M>@ps
zz`AhRhJ-b?#czDHZ3&LY>R{y3$pPYRVtS(~uJMQ+&xT!)X&RIdfQ7^x$wGv@Zl(A2
zB$gGHDnq0Pza#R(1gMAd09OViOO=CZ@Z~kbMxl?StJ9F~pP61?%i{azf)K}elVJ+F
z0Z2rTU`9{@xb0A}EyO3o)_$I7v#4TxglgIt!v1x5p#01{LXkxXj$ZHcWAxzWulE}k
zSoIQe)1RgEK(9)#$s`W=0{FK!XnY9u@>Ts_IHOOHGZ@52gZ2jW;`^)$@W!^!$uJ7T
zs*WIjv!pGt1QKyj4(q@5b?y{VZ4)YbZV&@MxBBE&B-{{c6gt&36BvWyWL;%*Ua#|L
zwg4I7D)Ni*<;!|!f&~mwpSQlw&PJlRpEVLf@@0ZBm>j0DFwD$5EtACpxSosr=f&lu
z6T(YYs?N-|bh*wFt~UX%9o+QPVs)`#dypH>Bu|SF<sk8(lxT3~xt2P{&xqaQ>4vq2
zS3QK-n2cQM4Wp;ceDguAMob~qC%)#MS(8=<0I4^CwUp&_os71bjH+c$M;^@bJ~}KI
z&><(X44I3+J=2V;+to`#ba~KPzFfR0QOxWub1E|T9}u4Bcg?-_27#F@gbR$BZI-pm
zZX@fu+f?L#dp!w@veF7E;usoD;1vy^5(LvNivs|8yDK=^l7Ank3cpxBEBcSZ<G+&x
z+`7)>PtlARj+Z2Bv`F!D<6S-?1c#0OY3AG_&ek#&dwugcvFd;0NNYL~dUR>Ulkl?E
zmImN<=v1K5+uG3gTzL@5!r3kK=mM!?^fNL*2v@uTbGtKfYxcoDbQXav?CI;ZZq7Pj
zgS6UW1n|-LUf6P2xuT@FZRXxpr)UoIAp8;&JhvpPY_*NS6Gcma;|cYH122=`9f?V0
zmF?$Ns`}Ml)sADL04;X$&h^y5iPW1(Vnm<GcNLjgx92Wn#s(sxh#e3_HL{t!vT9az
z)SB<$7%jWJR@sqY#XF8aaciFu_&1E}lIS#8<xYN;@!~Uy!7(-29X9GV*Drpt`4Fk+
z2l0@d+ah$SEs7ot`C@NyP%IcQ2!y1ij;6btR*7ZWmN7eaA^RSI5ALPb4dz=L0AV-!
zE=`qjM?w`((Wz5E%bg7ZQ&pMFnEqE56au^3(DB*jU7+?!i}AfQ3l0N1!m5v{Fz#gd
z?}Neiuuz@5eq8Vcqq6IH$=bg0$x!=1oBiJ!UUl9N^tQZ4!eak?3e8<n4ezV7RH>g3
zS`DKrSl))FXN%$q7|d_;DZi$?3vX2;Y2vqF9r6>EbF*u<|9TTH6jr`7UbD2_v1{>~
zV<PN<WzJ5cDaUUg8au#J#G7#8RvUC={89x>8kO$!r1F^)wN1}Mt2)0}*CNuAwIg2Z
z>2SRP+#n1ui|(1XUehSvH@g>AIm7=B3zrjUT3lA5v|5Ir9VUb34X2%*<fmzYBq$4b
zDK)oT_y%4S1MSOcNc#%sMZjhUj-Jj`YGwjqoxqQOIp}tIWtZ^}Hx`H|ut$?p0&PzC
zY{|I6+)4Uxzsa$%0I>dBpMeqjuj+Xpcr}Y4X6hjV?8HaW?&{CLk^<0=Bm)d#VJb9h
z!MFhLke!GlBu1%`I7REv=;`&Y8bqE#7yCE+%;;rSRQ1*Hj=zkPNH+Z8r=dmm2*G%L
zStKmwZn8wI9STcd_&|>DDbC00pd1(L=6X0oj1jZ07|6En*$vPody@vS$4qL-(>cw0
zuA=;MkkG>y2)R{>=jDk%rW7MUTN(0Lg2Y(t*tl^45!*KG9XA3wr8a`+vmyQ+*fN1K
zW;vK;9n+GWH%ZxPYF=&r8*n4>;2qoo^uzt_NrpUo*%3s`Gght*d16vYg(&DUUtaei
zHsDMvtVnj$QLg#NlbrgrUtET@t-8|<!*7?)hN0VgWS^+8r@(&kcG-7G{D3;zTrX2@
zx~u_ydDqJ<+}7kTetTC>sT>iW(Hcv8o6fyCGbOnYk$y*A;sx8R5Q7!_A%DGP!R1n-
zdSKhd*P(SWi$W_Qoka{St-5VkkW05JX~k~e_K@_%{6-oEb{zBRQBOhH!zc($nUidm
zW~7w;y5wi#2~vu35K#@jn2~}v!U>SqO>-?`HrMLIiwM1;U2J*0?fh12cJC~a=1L3%
zor8UpxlpNR0#DB|PV6}3_49JaX~Gpdx3BohIEf0&!m!eY$UB@1qcCFGD)*4Ji^Rk#
zYU|iLE}WIFLYct<9v1ma<Cnk`W2P7R(}@LP>h0b)s72fYN?*+Ml`yxNx1GQ5(^`m&
zQi~pz%JLT3O`K$;nz@0b0^d*oCbA(lLGL;6kYhT_G8p-J$P^{lMijz;Po-xY|K9x!
zK%Q-gi16Vh`Rof;LULus8UJ|Xn%pS78vD~XVe;{KO-htNZmim}^qEc%3Ra-U`@;T!
z;Sr5sD`E`}+SRT{e3wIXE()+_W81cE+qP}nwsT@9C$?=nIk9b<e~iA}qc`bSYt^7;
zHQ2jqeYJ!Z3#;13P9^MiapVXCK?fOE=!I@h)?5&Nhs?G3_NIV+RO@@kJ$>tef?Z<j
zab01a>g*-@G=J7MSVPOMg9#x<4t@tTx|dnLlShfFIrC+O94h5ldA9gxYdz~mFgUuJ
z-Z>prl3_v#?8Bv`>tZ(0&FSe*+6Ut##)*|ucNNe18rt4oXZUfa3^q4z29_bEs-LOX
z(qqe&5gX4EUKt{nZ#Y<kUhVwuOo_m_JD)6fTSUKP!_JI)!a65v|8&E)e~{OQ{XOY9
z4vy|pQGEAQ+lKlKp3TKdnllNCIi8?jvzc#)pkl|mDQBQUTt5j4Rp<_rD<<0e5Nc0a
zOq)E}V!s{V<bf4rBW8E^(5%BzfB-udd~sEZ9e&1r4($Y2(3o6LbW)t^zu#Rnw}RyA
z@<~snEWoEJ2v^HD0jg6r>FWkRxxYFf39YDy9;7qY?`(vr2oa*&(QOnHPFEDR6vU6!
zJ3PG>b2)NvEN&T~=dW}~ZT~P0mGVoG?!X2RmIGtgbcttyHK9~z-7azg)zM^%Hn~SS
zAnnUkz|F?xlD*SeyUfu^sd2VNW9whhSuY$>h1`q}6=btyQ=N_%H*uuc-v}|;mTYtr
z5DHW7cbF|o^n>_k^xU|YHJY}=0v2d97cf1<qqEKH4gFlH@u!-&q^@xNF*b7F<wz);
z!gZECuRK;l1AQHM{q*6tUHSo0e%#U@mG25z5iY7#`^OlU3|LY(5cWIzv@TPPg2$YK
zyS$)JFURf52YFmuatPHEqz_E1XjF16*#Y3o8wyL+TRJew^_W!N_Q}!;OKP!e(NC7o
z&N+aDoM)8l%(XQWzxVkKZ`G?j<)?axHFa#4aXynw#04J7nZ_g|ZJ1<hei1W4hWzkA
zrI6!LwDqbxMY%q_z`7ZrXIwD#cMx&EhtP9QP~c$bj1wzKEWTskXK?hEF5Zn@TT4MN
zLYe_n*))ED2Bi=(+Vu$=I|~?Q-`;Abo)x3y?_ltW7-RoY3k2V~J`F(|xHmb=VX36Z
zR9%yAaa@8_nu2chdZ}&Ffn2Hr_xSVzJX|PC>A*dB<Vps#(o<8srT9rydcW37XFn4A
zH10F`k#LPL5ivc0OypiqQbka=0=rmend+pdMrnDo91fVx%_GAUnkD?53CR#;D3DD{
z9?QRk4C#<vQaQzIJLIAvEG{4Qh?Y0aMTYUo^a86n%K@)YJPGo`I>iUee_^If0xIVs
zD^U_BOXf}s<K;k;E-sOsN?A`c43atUAz^=#zd5i%kETy9|CSnikSe&l3kfGWs0xJg
zWl#J~c;o}MV~<|%ny80!H=dCIpO_lk@`!So$W*Rf33@(jA+}cT{ZsV2`X4H^@2!#m
z1TPU{YURm4E>i9V0PB3-U(MB=Y;fD;1v?nCa~?h@0khHu9^0C|m~fC0TS<EfaUE%7
zxWvdc#3Xx?JC%w8+4)C<*+KI$7npb-!WG#gfCycb05Td<P%k&O=IdU&+ufu{(ci;-
zh>N3+ywhbH7@xCWt?Zo-V<TmD1xmOmz-AsLdhJ{LI7DV^B}{5`PzG6oO?6Zy%eRU^
zyEj*$VESbNz&dtD^S+WN<&Hu+b;y>8>zoh-@{7M!tXD*9LpL3vTBvC&@p@ZBz$JJz
z75-x_#@rG&9j<(Nrls6A#QUw`pP}T{>Yk??#hr|svNe(T%BqMFqlZnkZ*cxi`uikU
zSE3fxz2#B<$nM=AVlY=vy1BE*gv-V25o&@u9z1VaE7dtvF-CV#K7-e4#(R50#k#5#
z1a1RyX7*SORjx6EjA5&LB!drLf}S#0B3titj1F>f`xSUfT$6C&$BEfzhFkWt_TLCs
z4=$XwH>1hm9fH>Al4UaP<pR)_i&Va?iNO-Mog)T9VH?DhN=9V3?(9}DNl~5k5#8HA
zJa?{&C=^IUaK>QqCP?3lL6E;eI{okT6@19@Zt*WjDi9{*KWf9xxm4O|U|jTtll)lN
z77<6ZK4D3$S2J871P0!bt%}`)Co!4_06XP+^7#GclF%K+rl4}@>}F4^&m2#of%l6&
z0r0(l0B8pN#MZxWp`6&9m`bI9wN@3;a<iSu5AH?8DG>N`d^p!)5Y^T;;lG3$LL_Ay
zd*Rl^1a=|9O&0hyvm&~40<0Lk(VCDzF(8~PZgOr+4_)O*PbpK+igVxddm;D%nNZ|t
zEu~bDO7eSMdnG@9;n?Y125DKd^_bO#=j2%RR8k{p7cPG%A*F>?Y6fO0;3F;{y|pY_
zHG9a*-oi@6mrI(+`XJZe=BoQ&`qTrsm1uv4x3^_92zTeVsCJhNvS3}&e2)*2=tn!Y
ziQ5>29q5!rP;vYhChB*b+|-I{Z3nmnP5A-e3#zw8zQOTLUBrl(aKn1+y6Lg=Q;gyr
z-U2BMsV04YT#_it0nwYW4w{d%kgySD>!sJMdYz%wXiT*Q!lAfN)NJ_JZ4pkI(7&Ip
z8jx5kJS{w08;e9STU%A2xzXm@GpE**SP^sL8GrB)mh3IcTBb&ssQ>g?kUw7eodug|
z%spq9NMF3o8O~dinzuRDw7%)q={t^5WK+<Rp>JXW<>@W$GY)9Ax(~jGjg-xSZ(K?u
z6}dPqqRP<za!LrdmfHWs)6?%{(W|)h@jlK`f&B5IVqL~Qax`?CzaYZ^Nipk==^ZHO
z+G!@u4UM;OmelEP?{vv-p4?+m#~92EsfIt#X%3>_%wre4Bh+HV?cIV(s%L}u4;KpE
zfFPk5rT9=vG|h$qQ%81{_<ehu)W8(Im#L1{A-Ehwg(jH(=6U1HYG5QK6C_6m3mgsp
z<#P8czwk<Vuz$h05Km>Hh(SJr6R@%*Emy29BTP+=YC>+gj$a+{{_&v+&8&bo;>@i5
zDuJPAckh!tk^fvMao^Z`(8YK08hC_;F?~5&`)ie1ve~z?StYLzLOF_$i^nbyhjWs<
z0z&MB^~BL=|0run+uBW{DQ34Pf4&)l-7?>6jiG~h_UDad*!pRpckGRYGI$P68Qcr>
zZX2<Ofm(`twxK6O@=nLjbKY#>u1$fxZ`qfk0{?vNto@&}1$%A0j4aJ@Mh@!>%iilc
z{h4`OLNEl}*wh;9O2E>M4$k}f(q5zE_%e*#a`m4fI`ph5Iw&~>3ye8UMIj)jLM2bx
zuR|cUAHDsYRlCWrqQ+<o6kmQ2>4`b(xPd&5bAT{)HFi8cR+QZGd2c5r+^=rxh)MNV
za|u(^yecA2xpOORLya7@L7dtJFJHm|P}JemVRb!uCVJ+yBRt<IrXmiBPa416-+lqU
znoax`X=symroY^<M#t7%a9-uX+2$diW2@cp-i91yjYY>3@<XNvSXdy--N<DlpZl7L
z{S`+)7Ix>PZ3!(#T!HHk0(uj;EPog8g6r{bn*+nEOXPOEYl|Osudy-ShpW=d2|h^3
zXMNUb&r~`j{Gfpn3SS(%qeP@onT+KpX_+!YpNg(YVtMo~G4j71{Z-;6E?Wb<30<Kl
z9STlv&_OR}9Ol?czneORjjYAksRl!7fprQ;p>^j|dqHteeEumPJ@mg)G)fO*pJqii
zz{J?2Q=-I90T2ud=0`g;7h{Nh585Ze6@%t8=K-po9GJpgga2mKX1%f#c#!CLo1M>@
zT4&yd->ufDzAb@*Cin}{{Ck?(U`e)3Yp`uuwHbr}{#>W+n{H?3^KFmm14rSM^F9)A
zt4WKiM-Pr$OWQpk#Z0B&j^AFFJ~%-`yJ7V*>L5H@n38Q6n{##u-7A1%Ak;VEG}F%*
zY=dVQD4P$``XqI7$~Aez?jd1N=Wy`szPkKetW`U>9F)VI=LCDu<!sC`eh@5m7odXh
z!m>|<W0eJAknUh4WRpP0sL@J*LTQ|2<^D>REnp$qQ|6HEDh51$jBNQ&Fw0Z1PZ@8i
z=!cIXCy{a-W+yt2QvxAMaKE%{Rl{@Nj|SPuWr}H3UE7q*U0#w%VRV6}QlWV0yX+2h
zKiR%u$m}Q^zxsRET4BJe;Qn37demS8#}fCHy3RqDdIf<Z@1HTa0h5E#CP1hyxzu8}
z@5^V>m0ZDE+#PLVr`c*L{NLrWNISpuH|6Oe+l?i5g-$nUho8dmH&uwVE7NuX3;hgk
zmF`>4!*YUlH<G3L$ZbEXrxCPc|ELiKcOo_OYVU=5j>ylnGD^Y#AX3cnsmv`>q&vZC
z9i{UF^Z;9O&Rh1ckYUc*_qAK)<QF^C^yvpn<i3rGtP4lFNeuye`f8r8(S~5~w|%9K
zHingM$O3kpi_|zb(8cw~@(n@#c{WmGBOn<`c}SQ0xGNWkPHMSX@{KU{3mZ?51mfPa
z3zrnEPoU5I`!-)2lJW^ZB}YB2MGp_EKEDNX2P`11Ee2RRD~eG1{0bZ^#3$;XwqZ_6
zWUS2Aifp!(d7Sb@_ycFJCNrvnQ)YMy6sp&ycmaXbJZrH~x3<`k%VD2KrrsilmeYXD
z4*q!U-`N9JAQzOU;i`a~+)EYs-J;11U_4)J*pd6u%~#1Z1gY`Cjh~yQ4|9VVtSUQ>
z=d}IV<|(T%602x9?}08W<ExW2aZj|B5;G0Fi~2HDk10T=K^pQ}bUs3`yWv=M{i%+m
zsoAhHl*8);r4nOuN8<K&v2l%{8o4%3+GVe$zgsD=DRAiEC=Wd-qhG0lI}Bp1h)9Ri
z097BO$S;Z|GWg`@h|kdtduCA1T<t#8$`W247E{ljGV#l*DvWe3*=lnJaC}nAL{*$8
z2VDEa@Iz<|d#!yewvOy|>yZXM2)jVm=AR(R3-^~xRG%c*6$o?yhyJIW&RR04Q(}iV
z3O~8L0#Klw&CZDty0PVBfGu3|lJfxJT}Bqq0UgOD4MH&zYAQRES07I>Nv%k*T&`0X
zsh1dbzA1wX=7F5wE#TG^n3mn!2tGdP(%q@s7we+I1Mb;-P?VWr;pusWjf?~Onm%kb
zxz8*>w4~-jY!~I6rPxEEnlIj9?*M6#3f}D}F<3icH}XKdn0(5vbAz|;)CEsGB{h}V
z+~Z7gdf?55Xetu<Obl2@sE7Q)b;QK30GUlZ^U#`*`^rd$)<4dQCVa8<D2HB9fANJ4
ze0<bh<#EID+s=`Z1IfGd-*Y=UQr}A4D(v{S7?fi}$RfhdzPT<?gkIVr4h5ylF?r3W
zCvP4B6}(-MC$rBwC~ch5JulW+soGPMwvj4Yq4tM2H8VVTz^YAMZ!hLkzYkm^R9|{U
z>VTkJuyI!=(1rXCPXMq7J)0e>llXsl;2}8U^n8@JKX%rWX%*i8vKx)%yub8_4wq|#
zFn1ehV=jVs9eAf0;FfFa<WT{57?~vZcH7%+u5D)yG6-c~%;vI_s^9U>?y=zg+YoP^
z#*|E%koYPzbZ2biA)X<PiII%wzBY9OIS!?0^7)la?!#Yi9N%wOzjEm!g}4Po#Q?3x
zLEm5s1c8}Ho$aJ-kE&A-4{MiEy{za2ouW@*cI6`a2V)MdVKKGwqk~jXs1D|9?#6(t
zWmw4!-nKv!7T}PyMA5uoIE#)3>t8j=51Y?dZ2x*~0I?z-F!az)m`br=yJ`XlNA-Ey
zgV9Iq!OkG;7N{S(ZD_!I?5<&<%mJb1D8~wz0vVPd@};k`GhC5LX;oilv$HKI6h6)z
z7s?-gpsChzwft!#So-u+CB>rC5z<j%v}1I4fx{*P=0QPxUF3Bb`%pX$ZH4J}MT3rO
z3n8YLYAW43DVd;(C|(R7P5e^B`kk?x0PlG$?LrdzvdJO5?afTn`cy4Tgq}~WR6*-8
zf<RrS`}5gzt;Trd=&q4}7}Ah?O)3KfPnp{oX*`5HR-;=Hl|#b#y2_~>`HD6-<bYo+
zeB5u+=|vIUE%$#{uJTEv0=qVEd%9vao%)lmdP^yr06Rd$zg}1=zL^*Oxbn<P4Qf@8
zMc9d!^+1c;4n8XBoPxsy=YB6!K_DeT1$`~v-Dw8_{_saOY9JOAF>-=R)3<=u?l-G%
z_WdNycaVs=r@x7xEk1!Ca5D<8tl};r&kYj_;v9nFu2i6`yz96WGzwJ(%}u!+KMXKF
zhTmuw@9}DaKKr+xb@g1iPM4$x$=i;o!jCz&h;v39vU-bm-+tS-hp8F<#TO6qkPZZ>
z1JszrSs?>~s6|K=?5+SElYYZ{PqCR%$$rkLM6!?Jfw`VB$62K#DR2wjKXR;p1%k~w
z#dJyoCZ@>nrz+@y!brQJDFp_LZ6KC!V@x>UYjbWA$Uo<(^%GGvw#2WlC9s6N83ggm
z-0d6}%$sO9*LjCd>)iS`C=BWd7XB{Y$_p=Kh>%BVb%~^Y-IOwj)^%jK)KBm;jvzsy
z|K0Jn?p&t=A{oUWKFbAW8RyXuIT8k)WD$gx2-J(mfgX9=4ysyBw=}MFSBS&s4WE}a
z!npxRvplHUzidr!G|+EFhZ9~IhYI7k44$yQV%%xSlAhbD0!=)sj2c;jbUQy;i}jf4
z!@5^?o#wcH*^o%l1oLG=WtlEO8m?onW2kcSPmf7jG8zU{REs?5I@MU=1dQM+az{%_
z`fAsH$!pc_wi(dw$FI#Kx#y+bu3M~hCkeWFk@@?{<c1dejI(W-msRQVV2SYGeuK(f
zDeD$nFfIhI3XB>*HyAjp>Hl~;Lyhr!c3m)V@laYGZCY&7B~?<p9L5$QT4XBLw%FJj
z9R;`i<snl_8k6a3SV>u3@r~o&ocT%w*i37-LV1ymPoxYl<(_yuaRf$fvkoP~&A{2T
ze2H$BYSvc1RRO5hEGo4U?Gt7-K&<2w;poW!l2%a(QsRBQ+i3!Ma=su$yjS!!{M25>
zwyaW1n4Qzt=>@tSo@WV{&uD94qes9b8=T8Z*61{T2Fr=S7}Rdrhoq=u7gitIJuLME
zklnljr{#wGQ(ZKZ&K0$mR-E`iYbhT$d<Ed*G?~Rw1{S%-bfsO$2;~uhZo9=&hg%7{
ztSCCC$rVzNB)c!}ATAtcG^~zM;1egneDe{Hv&%w^s6pZc4ma9kFi(OB%7Fo|**2Ec
zFD+-kSdjRPfnFKo9QdLgXA-Wiz}~FgU&CXJ<Q$h=<RaPt(zjJ0C0w_Ieiv`nG%4mR
zl1pMq*EV85;#nkt1OM#DnVWe3o9hud%ErC%l_?ltmiv0;XJjQQkY35=6J+Tqa7JJ2
zH}~m8SLLz~oW(z3GD<7)G!iK~x7e<0Q@TXEcblExk~P8LHdg>#XOe$ljosnSA46|u
z4uN2v{1?W@L7n`#SuHC4DomdBB%?Hd@$8AcvqB&_Y{Zqqx4h|-AuZWkQ8ZWPhm0el
z2_WYW$TuE}Lra4h2fw7C4edC-bwVBDtr$q%)UQIDaQLFPyu$-vb=LTCzH58kUt#`D
zSNGG(XI)29*nP<%CBr4>Wrz}lKH@|nQPVCjK<a7_?>B$ObGdm>l#YN)vOx!rZ<?h;
z?1r7qy#v?Z0L5t%vOlN^Xl<quYKBj&&yT+(C!`EmANz<Zf=_7v{7EB#rKzI!E#LsD
z0wuJ@Cbe*A)kF$S{=x6QyP>(`u_7&HfYpS=NDB0o#w4;AdlluiL{q$IFL5)T=$XU4
zXZu38yW-j9DG7m5h<hqzI7iXDt4KIfG{x#2>Cd#zJX1FxSj4%1wa6b-f?XmQUggk4
z&;zgeXD8**@JhhO)j1ziRDjW91^`5{GJ?09g;^pU>+fP<4>M-NC43PSUovddTWd(y
z6vhm$H9FJ+KGcOG4Xn{SI-7ZmlvO#a+Xg2%{%-CpELu|_UTGK|p|PY16alxM?7l%}
zgAOG}c>OZN?<8gcJuX9&>i$jLywaB;xZBh$*;TMlIf!UJ*v}Bd+<fL3TBCXDtNO({
zX;9t1ysSVzGLV2ixy!t4cOKCwVQ^`JedVQ1!Gm!jS*VX%%Z{zdF*gm?puGgcX?8nF
zdXzWQY=^W%?J?dm6u5|lB)(*ZiVZmHFO0+LsMNQbJSG@Ip;Q#LJuwRoKKE%hTVM0V
zhOn>jo2N^#MHM@_N-`TjgN@RPaHHpV8IGQZuHwy}@rbTQ6t`y|vl^e}%5Cga)bx+|
z_hIjoHP)1TN3MjM=%Ew-YXU=8z8slPP7;a5J~$|3$9_$p|1))1kK=(66O|Yqv6rBf
z)yjZtD<|-ZV1ytgIg|k47*OpbFTCUJF4B7M7Ff}3%C}9+0*ySkcjh-2H+i<P*3>pY
zl95-K$^bQZ+>_57scBBHeQ0qr9$c{K-6q^tZ&z1M`!dZ%1$<j)1hj(XLc7JM<Uq?+
zLMh{`V?`bA<tIMxM6(?oXp3~^tGh~~9Y*;6sw3UL`tg@HO?_SYC`rSX@cZX%Tn+fb
z3dN=o9&VNL5QER}z^nVrU`Enb;DBOHe-j~hs-%_|!FR1v=zPjcNtq@>ZIoCI>)jH1
z0$+U#I1Zuh%z5G&xg4wTm}O0VY7&%v)>24PGVMCEDh&rQ`jh=bf)kn%gY}T$2o+UB
zJ<Wf@^MXOJwNacScGZiY7?NByXd778l4rS%f->*75?~41N-h6!eJ64`ZJQSL;K9U|
zo@ict^Z|7Aj~6~Om};qV`{mX1LuHUqw!c(pSIyR?BVo?+jBGs_-PuakDC5>Ox|$gH
zuwQ2*BVN2?nDo+xZFVhm%Ke_$zX^ODOuk`fAMu%7w3n;o%)YmeMU8mZLvU3Jl;{yr
z39k^-_ba8wARO&|E=b^NGC*8tIz_{=S*hQLV|s*ziPn9mFIbC($5cOy!gibCh*WYW
zc%_O?h7hjFkPSH;nRIk1qJs`o$*+n=HXs_n4VU07L%+-gkmlzeX~Uor696u#yReV1
zL<iI7nPWHwJNo4*5Dx34(kSN{4^80LkXl?Eb{9!8EIW3fyfwG=x3pLsXpMqiRF70Y
zeQZ^0KF`gw$^k)_2bm_i60q<UF)xF-a6#*wh@Jp$tR0#n_LF)j@BOLYqTk}KpWLYD
zw>PDEMp5IR9Yy8zYr898<~3AY6zn<F6^NNl_Ac4asQU!%5}~wbS%%szv_eCDb9}KO
zC&tLYoa#ifA5Q@{r#xfZeYjnvS+(w2-DsVU*iWRe->w6s#xU%2Ha;^6UERLgJgUy7
z4E%}t1t<xnW$%5=w}-pENAsP*@aVlMXXQ=fGq%G^a7;TxTCv_<yh+2uPWsUMWs+G&
zlu2b;G_t_Y2mEAC<D2*PezgY{vAt$*IaG%T1z3iiO0su~Y{dsa_e$$pm*}0x-p0z_
zXk|N&0vvEzU_XRV&P+ip*6C4&@qcG%*DFU5ZfTB|-nmusAU^|`i?}<Jk1h|DE|#&v
zh$UGhrF|EqkdMYftb?M!&U4ZeOh8FA*j&7T0ZARtV7+;~YGk4jYU|Y7cC5j41w%Id
zs-vsx>l5Z_uQ~81{StX&SC>OxR@_YqD)EQNQlC@W(sq`6)+;A?P$w+#m6`tB)lKFm
z^VR|%B{43uZgFe@HR2eA$yA`8dTi%9QykjNL+Y8vUGG)Es<LtUW>F-#0KxJ?Vfq43
zltG=td<dq1`w1~*F%1j+ErUT08Eh#s%XDcamRLiOVKa3^C)9PDQpJPax!Fh4n%8{y
z-jQS_NsjH&F~=Be%a?OF3xZq3N@Xm7P_CtA9BmMssfn&!B`ZDjg5$8lMzgueBK!8I
zS%xY)vUd*sb}s?r{o)`yG~cm_Epiq#h6pU}XoGz5pWvuwkf-zWo_4&ANu7`MYyi&z
zvZAwl&Qaj7Zb&!Rauw%#Q9f6O)3jR22uEAH{Iwf(&dti$PCn|p<2Suw9Zn`tfdNS1
z76akHeR~=Oyd1Vu3RMZ@wj^EF9we&Wv?Wc4+TZ@U$<1^CAw{ZQuX0Zr-kX>SH8S(J
z23i(Wb==i;Y19V$K^3pVhyEpQY*T-5y^$G6Ci53F17ucXE3&Ty29q2r8#ercP$<&<
zCpM&$9Fz1eHy4>znd*gg$h)0BTc!wKSm;mzEQo3YQIv_pW-IG7`4xFu<*eF+dV#iB
z%Ad;<G@34UuS_?XI7J_Rh0#~<%S}lxW0exGQ!XQTeJS+%L$_(QXuxZkc|K|4%eNN8
zRPq<bNLB9w4#JWUb_ITI9y8hMcX`6#Rn7McO0i)k`#d%l_D@I=s65t5M#qhI_SXY;
zNKp|IWWR2+YAk-XMWZ|ypB0GWY^uRDkbW^}jcT@^UulHeeD#QAPZ*{YN@h*k&a%c8
zOg!<n{8OYN%GV@}{Gxq1<X`$${+)6(^ZL~`m;HPKJVaA;$^1<O@Dvd3`3c92{;OO*
z$3`XkMxBydc}yI?Z}5LCwjY!9U~j6y+($pcy9Tiqm0jdrcg^x2^bHtM;EP|!h>1+t
z#Y<5-QN*$btB|#gY@o6>qPxeNNLgbfB(eH-l!HQ|tD?QY%V(Ni=;<t2As8!P;x`YW
zA5{wUKjc|e7jOK1I9)MTzNTwoPLc?*shIKVBgvvC<I7(V(>4`c$V!ZCC`lJTkjC1K
z<d-5HWBlv><j80$i_s=|{k+vM%RtaDB$!wrGEcnosV&S|3V|{kaQnf`$tJu9?!}tP
zfBHlC{G8?vz-;?3u;2$j+|a|s#^d7A_nq4E@8uH{y8M~+p1Lm`W1YMy?*VsD$#5{b
zB2mL(b1tKLJ+h&bgs6`rm0Y?SE<A=7PohNfFDEeYM-4P0L{wVw%aH6G*7LU5P+dEi
zV0fkBS~;q3^xLcROwgHq9Kw6Yw2<OuQ!=9lHHd9EMS}%vVc8|yP|{ovWCZUdm!#vb
zO~gZhD=cU|Z(iNkv5N&dQAk#CPmjM|lDHuf?C$9XvHfnkR3wPwcrktO{Wym;2Lc2)
zK2&uHHhV4FHQXZI5j4r?yA3MF<477uq{ztX2b|c`!@!pNC2M?4m+JNlJ`Q%Idyx1`
z>mqV4JkPJmoexS4e=2qO712>9T-O!5u?|n`JHLw^^};s0{Z(;p!8N3r?`D|#2Xsxp
zQp|nW_0Vbv_^01n<}@{sJv=@#-Hu5_V$;aV2N!E~KaYYwb=k-eZ?@>>3)0?K_8%w3
z)BuZ)3D&JK9Nme}oGxi!wSVLP{^JUcq-CE&RGB~!fPCcC=aAa3o@9F9=}STs!i|Ng
z9nFH(dEt4@1{Paj<6b&G`1mG6UA=$Ip25Xm5aR$z*PFD^oz7LY`h!k<VnGtdY!jl4
zbt5yTzHyf_=J&_uZUH;DNM0GUeTIWg7phwTwS%wly}zli`pn&|`_Vr@{OD~I!V$4q
z3Zxy^XjXaJaawrV<OeW(_qN%<j3SoSMzva3rEgoWj#6pN2QMR1<MedZw|Xz>O0lQ^
zhpb@FqL6Tv?v4pUS|RAUUe}Y*s%l4gSFQ2QM_Ko}6BX~x1xPHWKCe|;dXNF51dh%a
zdwp@*dyo9Kca@~O=U6##m!1_oA>l+F-?~Oc88<cCH~rukJB{c1xY5Kl1^^~r_COxd
zhgz*I9`cp5C2t$?;-Kl<g|{|MtYv+74+3B8eqVWrT*mUx-JM+IYU&KhgHcpIoZ!Y@
zKZwB0=w;F6WgODon;q6#bOOa~?5$HE3G$RiiEC+WxMK>~y}#f)98aVH*2V@;jNi?g
z$#ER>aj@1F*{RMJ8grlnG(rszXS0d`j{PxJ_4`f<?vZi}@(_dmFpu?!tSM?zo>x71
zE5CAho!OvXc{J?ZMH;=TaSlwa=mA+*^O(x%&q*k_B>zRLw~10d#7T-8RBU(YI&NbY
zBxz`BDX;IV%&@%eTS+>C+omJP;d{^E)f~-uEUs`FMs3G))Wnxh-Jci1eiBa%>wMNL
zKao`5tfg}p9$*US^qX9L3o#MOE>sU^9+k9OU$e0c1jI?i7qbQ4dpDMl@*a@q(_2AD
zo4?Rx5SK{gKzY&sJVAgV;DU3<w;PJC@dk6L7<KZw7wQ}wU8)l?YV-}>YW$boc^VHP
z<lLQv6vU;~y7~>F|G^XXlBlirFXHYA2+^}$c*#oJ-M5>}!$IcO5ETT|r#d+9J{9j1
zwB$~*KM=Dqu!(Kkrhss^q!{32L%u^74C0OvC^;DD2;zV~QXeMYN5AowzkLhfK_o)_
z7L?%y2OlvVE|M82`xtV1CNF!MP|-e97%`dX@2YBsb8{NAxy3f>h+yDf+qS#dB|Q7Y
zc&8kM&KTq1cI?{P3PF|<Z`qpfzaZ%f>#dn>gMJp|o4K94$~*1M&}g)9Yb~Xr(TZ7y
zDRBV<e1rX=nAGy*tY=FxfqAbYyy}8y6Vq^~zh3TUV<a~g!rm1~-LWl%FG0QY35tkS
zk8%^amzWGA7x&5uH}B`kfc*L<HPibP7gYO@aP;fpxB_OAg^bV;BJ{3bsCVxZ-brK}
zzuy&;)!H(bjMbPhCWiK7u5BInuybs=g!a+0>9)&X(ufvd^7~1w1->BDM5<K8EqG<X
zQf;D!3!yQbo3@H`^tk`Vm{uR4kMCpn?C%h5N2NsMrX3pQ9~YKY>|t#ENuD+dU~*E&
z6w6-(2DKi!$?MelL%0mNMO`G<;{*R+u-_2EM9v!jlhpMF3@9+qa=!mZQuGHo!m8ZD
zE9v;wPgWJ}La`*to2Qd6L)9x};^-#1BK!4Uo4>-xU^|Y-?#bU}cDtka6N*a<74tkA
z&a6m(pSiBCqz><~3Sudh0t=+C0F{fanZ!}N(nPbZG5<#ld4QwW-N&R%O;M37WXuUn
ztO79ubyaxx>Kr|kgz2AIP$$8Om7Yni3GBN?#nlfHGOM%bu53*4o=0sG-hbdoo@(b3
zNu;F{37duU0i>IvQj?>jhf{Zbr2hbid2?zY?U=Oc3_FFL$~WHGKG-b+SeI6n#o4Wi
z-(ThX?<{;^PZ`lCa_G}qcw?ltccDGv&ZqD|@)X<CQ#xw{44#3&skpGsnNZ@QC>RCB
zw$N3Uo1Lc*PCHjDiC1#?_UDo9P%!c-EEob;G7HD42J|D`^CoT9Ga*w)f1o`1jSCoo
z+Y>AJek$Z*MLC6{p|IHJ18}SaKPA-e1#q6pXs+pu?GQXM_iLUnY1}-Z?*YB!B@6>b
zEuysV65_evZ=+vt0OTH*7;AT;X=Fh5=So+J*D90pIL$2`Ik<pdQep`g*#2Rftf1;u
zrHTCILOwcd_sc+XOQy!l{CW&YdtMK!Ac*Y11QvV7jMKlt_ZSiaJX_BNdWBSbxLeUN
zrz>qdWK7*CWwUdt^mN_}B3Udj6C6!kkE;)815+|g!zZ(pV#0{gR0}U)Y*O&)Wri?m
zA1dlhmBCVfxM{r{R!^MDIRDDeE?%?ORKr!+@@NemyUP5fh_Dicbsz^*2fs*a>i7X&
z9^y|UjJ1^V%9FQS49aYTAoTL81M4A)WC1o@Ig9eNw4&K$O($%XAQe{bwAF4hQ}2?l
zipnxkW=Ag9E!w}G@=KA-8?+&Px$xe}is!&K1&QFl_u-no^)*DOq=eZ+L=W2Beyk_h
z@JxL+{9+SAFuXe80UB`g7W$_bfAgoGlsS*PUuJZE^+u3^(u=^|=*%#Ho4@swDj+g*
z34c*@!=~m?Bv=n;6C*k*NvgtG=-Y1;vtOON*(G>TlxK_JznOQznrSDiXO@&l;Jv$5
zn!*KH0#cD<ZL37U5{jrB!Uk&jYRY3X5dbuL&NNw)u*$VSCt7d<A={-G0mr+u1WK$T
z8;V|DMjHx$)Vp?4dz*34Lm_K#&3`s)z5i~=Ov0saa6bM(5O$Y$5=l1J`{eLOI-^Y>
zVf^0Uh{(H~)a|6m<-qf)4xNs23bHlRu`drPWNwq-rXoNkGRVB<zN^U!Onh@}B}!AU
z`4cw|$X>a@TbJ7sJVx~ge+ux|XOf!*o#8cl{s8b70e?g`AV_?ZzLSF|Y02A|I3YP6
z?Of~>A~fdQDuB$Vy5J|<bzH<pB1*kAtPFOuCz+pZ(xVb^mzzoFt^KuqI&@5_WDZhu
zK;Zf~LWfInA39XvhKFh}2_IM~1R}aeOHqgkfx`p0Fmh*~;;WY%qNrvS2_V3BDGcwe
zG^n~u{59IoL43#$ki%f45rsVpXucl`6>Kd>ZjC%uLJ?E2*#MpbCY^jpFno**%VDHA
zqK)RrZZtcRg{DylZ^mfIhh4tgltR6iVoRnR4$JUnysk&cX?~n@ac}~o29IaK`JTGc
z;R+NgEmf4C4b<zEZ+$#UG_{%hm5w6sWS5=@b(u_Ch&+7+a&nvPZkwNgGC*4w<YV-*
z-GPry==faG#g2e2tx9z93OV*i;)-jvAJoNV{v5kgG{KC1Z!x?sh#kkr_e^n!37<@a
z8xv_4!%Y-QX5TvEozy%V%SbR>oR+t9zh-?h-pmELezg3N*j^|^ATrKw*NsL{nW_v5
zIP-!rA9Sm?5O*%aLoG>mm$sJ<LV1o2CP+FO16~gqH8gajbQ1r@FKM~??cP+U$_sy9
z1F=Dj?0wXjOsp-g<;x7?#F+srruH(0;DOrkDukt#5mP$1Bm-1eQ;A{e8pf%tXAg`>
z!XUo3Y>X>^Q+LGTz0Hv6)P<BtI&d-q;p91%d2WHN)n@Kc2|@<g>*Hm7ew$#2fd3!e
zG86&eRBmyrj$T{>`sAO?D@r8~=9iaGbB|`)aG*&)Dxq1jTP<pzMO`~==2;}j#V|AB
zUCAPwgcOd_*+6>#r%jJIhW_)=6(?(~lVaRQj@JzOEt`M+#|Pw;tK<?TdTtQ0G78SB
zl>E-dk@`~^TLMQPNCn^U;h6#7bRVgNFK|n>X%bAFW8Oy}I>K*>np@-P!WqGLdTJl1
zVSY;m)oq~9=vXn)l06UY4SWR_(hRgA+IfNH#L{geR7N{k*vtq@!7CD+BEA+8Xjqae
zjXwh@S<z><g2Y9v6&BfF(KI4bV9X{pvamP3`}W7>NO>T1nJ5ksW2IVi4b(;HtMj1t
zMJ_9gVcG37E;q##It5f^b}8Q~LLxr6!t9C4Zwls}qq%p&S<n*k_o4fHbO}+>hhM$<
zwXwOP<u9On(euE~%xuY+!-_I{g_)AW4PrjGBJH^R=}S!E)(*xBhT%=|PTq4v-~wVQ
z`l3$yC;YR>afa{?5*hv#mkLIhZiAFFBOs6lpgr0(Ud^^h7z_tfQPEK@J<YFg?-jlP
zrwShg$r^KDtn9Q=HjmDL5|y=LpZwb9lR*5zaMnhm2~9vm#^DPuR`-WKdLK-e<;FfU
z$=@h)I2GY_@*(WBL`g3W^MQo%y{6X}_L033RnjOlJ~Ch|`FI&CGi7@gn9vwcDsl_f
zZ7IBQ@3i_GFSLy)AqQNp!nX;GQBt*@^DbMky|cGIm}U0xx_gn4%3%US@7xeCo|6c3
zBvzI55%L~knY6$38|T;~Vz5+U*9uA|BsOg~cKh33j=degoDug1&3jX33({?IYtb4^
z@B<!-MCh(7Fqg@SGTy)+lGHTtl#3Wr!Pi>o!S|<!2h_8V3NJ6VriYgJHH>R2NGoKq
zupL53Rv&mU_MaxD94Y<vl>=q$BIDlFWKI|J!`g!AR3CZlS8e!8jl`rdf8-KC%v7vy
z#1Oc0ZwRK>SPjd;q~>bgv>9sJsBqmXt%L~r!l`f!Gj-A6Q%~28M+-)lg3dzI_wv+y
z*r6ge44<8dGZaMy?f8KlhdM7-1s3{HOX)pG99K4rj&_6#0t1ejO5AjfOYg{tSaYY&
zJqeMri4A=|vKxq(Ih2m)MF^?6_rk44#e_Ur5FKt+L7fZx0%k|nBjpisS<BdE|5cnC
zYeX)!HVtE0`aP12brFd$>8yEl>y18vXT-fMNbfRd2AdkH8H2r-G{T<JKMa)9h8-fp
z)SF8L^cBR1A&ib~!=5|at?I<c7S<c_bs`j(J{_&^L)<fj@(;z4K^9M6*1^yQAkkk;
zREPx=fu+lJU}khMHa~`&Kuu#PlGv&x#y}tinLwJzp8gfO!#gnEAJ3dmoo-JAYv=<)
zLMd~@J>jlc;7z8r7v&Day>}CVG)1+%tW&+fzOB~~U4mIQh`v@u3MN-}LUGnmGsGo&
zc?K<*iC;0EOwm)6mr`|i+)T`YKz2UT={(PNv9Kq3`kL%{BNsv5hzW&!lb~}BP2Cm2
z(gU*x((>?QPPCH8XWN}!7tQy?_-pCl5$(#a6%u2U4xp`2b`9T7Ec`sNK(kARc1I0$
z@N{DUF^5_-+t6~#|2UDWZ!)6KHzm^=shG^0S@W_Bvu#p^biI?j*V@9wuOCvu$f}xj
z`yG)j2ddxFk^jk6pHVPC2v$Y6Ep&KDw7JrocU4RP2&HhPud?v?+hhh+54X=QAffdX
zv=d?L)h9=Op+ctPMK?vR(TDil8gPrdP`nYSrt&RkizOoILx#E(a1ka?XE#NpFyEB+
zz2tU_Tg)?G*tYsWO*~ldS1hHwxJDaDnJPkc(J!W@9pW--v&+8LWEq&YM*d^V#&IpT
z4XELmy#4R*vhV1l&eMaTn2U|S<U8WrOIGED)e+SubRdsIom>7!WW9Eg{MC>tG6q2l
z)lKboTcf4PnRH_%%K5_2{TKQ*1r8ztN9y@@u<t&|%z1M-s6l{Vw}`__f4I<AQ`e`P
znqYf`jsS!caK0vtzaLvN;HlZcxyh5v;EpZj=n}fb<@;`V%`uzd=i>}3T#wK$U$jer
zSNP+uNNFzPj<QQ0bs^nBIm1HgONu)V_x@NtjJH7zh|QfJ)_|boPsWw{lr$*VA@!mb
z(#A?GHGx5!@1sM+1Tz@HBqgsQJtmxGz&AFlgfVNAozu$TFN8W5e&04J6tkkHQYU@0
zPim?ay{^+43yR=O%U1RjtG9F0rNKX)ybU&$=_Xi<sH(!b9st>PjDm5HRXiqS0S=*3
zDpWj#k4-7!QS(H-qhdjNh+W58B-?2Us~G3c8k@s2!riQUp`OFgN+9AoIj<w|j@}gO
ztgg-zM5_m~%$ofB!g{ai)snNopL#LFm6l@Jg-SxlcVp0nuqbV^?4peM7Xk5%3#Nez
z%SGzdm9nO{I2J@CdQEB4Hj&q_*Y4j(o$D_o28W%1_Km4-28YHB>D`0gpv0YyE+F_S
zhYd8a##}+<=0FOeN2sR8X)Rc75EY0R_#z|0wv02(Rq<<VU+kWuIAetfv#E~&e%AH0
z^l?NP*7c;2rEue@6+CgZSfQMAu4H$(VF_HMYkbfKwrX%65jr6;JdKy8hK&yvB#}2a
z?L)q6`>=(UBr9X3j_q_xzO7z6dGX<Sk`n)B4w>7wemLyc=1E%kmN}=QwsjK^yi9ts
z026K)2l3Qs6~r)Thy?2{D>+O0AB>7zy`d<?{atgvZ`kgc8kttcx;^JC>~4qMPi4rs
zN%<r!(MUU?cZ$tuU7n?)cd(Vo!o52RlK%x1I*n1-#Hk72Le)DEd)FSKL98zUZ#=aN
z7EIgjT=)=3!!xjUTVxY`qi3~cmyH*ttNU4#r6Ir3TR7SKW`PUs3%t75e7kwLL+eVs
zS#9e;2=h{B<McXeiDSGU7@rJ!`aYqNco0#%4+K#fAy0Qq^;yukpM17VNpl#x+VnDT
z7Me1XcVS@FJt`s}XzyZ!%3!d`o}kYG=~-6r^jmVR4!3AGL8gQUoM^vggpu4G0_0>Y
zJy0m+<uGw^o3@a}umj@S1xzT&_n8=5cbh<+ez)wCf3n`DK&|x>1>5MM-mp5pS5z;P
z8J;8mtIwZ0=<(6N*Ybf3U-DjlZN6n&?zfN|_)7aKTZ`|#(Pi$eO_KeQz|W0Guc+08
zF%vOUA;tn|S3}HN!584$xdulR8E7vA@$r%y?hm%Ft?>hu@XgNP6`8#?bK}fFj>Z7R
z&uM!pH9EQ4m*}#mNbZ_;p+)9mV^^;ppK?)xZ0aTZ4zS^$^!#o5(|HxH!ni3yk$pvh
zurWywMK{ta-#=)V5+PaoPR1K|mhsLE_fCnQ;DdAoP^p#ULxTm&OD4kaUVi85OT5`o
zs(l&Z*_}>S6FQ{Ja)Fu2waD-yxeg$u<Kri`lx5h!1Q#C|C7#98-}}gpSFTe(b<;&v
z+KtNfV@T7doEg-&O1^TtXfN2T8n!oD*l+j)Z_O1##O={-8f#CNZ<z+~cOAj0x;}!i
zf5e7wz<xhC)+IYnly~727Q;iNz7ExJidGs*1^RYKVLHnKpQo@F6)2EO`swmPdBO=X
z-#_jX)K2NcRKSB;=9-xVE03sPv$cxyXd^lHYsz<;=p1RMvgrmcfyBq*jo75bvZT&w
zq0}tbw7cr_Wo1~er=R?=G+TzbMo0s@w^61?O7y8c_snbCxlA?!U~ng!UGX_ds{Iu=
zQBZ0Id|0#t`xw~p(8h*t&%j~{#<E-XWfZaa=loHMgDhsH(cYSR&`Xe6HSvq5plyr3
zN6g%p;1CytXXFYJ-%(g@4Oc?d;SrBtTj{EA%)XAWN%1`T<9}w|S23y%<^3MNi#44b
zfIH+g8OIC2H<HrKjb6MZ$2~zrheEAq7JAHHX8IV=HLbbBs3V26y|Hnn%J^~+@f|$Y
zY=wg)4VyN*vorT!8y|)0&a=Kd{V?$>O-u>fcvdOCU5|JNzk4{lEjJ7U^#Z>`q7C==
ze!;5yf3q-8Uhe`e^jWnhb$%C)1HV7Kfs6Zpe$Jjvz2QFcCw@nNADZ7qiz|NhOD6IU
z@9=*lA6^k&?|6Q$<`o|Vud06Dn7`j$@B0JnWnb@pU-Hp^#_I+Dm0kUOu>TQ#xJq!A
zX|ni!0IU)2xnm2C8utIxe))eg4(IE$qG_{y188?v0fE|Ejo3dQE1b5CU+v$o)pg!^
zKOf;=?SS9<v$^8QKtEr&t7N!67rl=&t;sI7v;N`Vpgi8MgnSKwgx|OPo#&pXXPEbT
zdhxG9;onUWMawUTo&2d)et7B^6RfANHA3H{+M`EH<#fdZL;2seiLU^^*UP)#r(Yl?
zSxBg8#LEZ&Lm(hZ2H^i@P%tzgC@3f(&xlxAp#M=6|Fx%;qn){kqnWp=o3Wd@E2E^j
zn-B|=ki5CEtGkQ2y}5%MgR6(-in^g=4ii$~UU|cIh6aq0Xh9(e&5bc4Y6^w@ClDFd
z;mZCr7x7K`-Ue`Xi*mWm#xTn0>-hN2yQkpcaljr_i)qzSlRUFKv_y^mWOBQEOrYQI
zG2Oj?x?496plA6C4Khhq3XL6J!glPcRpDVM4z#O-y$;{<Te4G;Sr|-NP$D=1In}Bg
zt-f`4+uLC8)q$`>WhGA$>VfDL$)z2$$Da#R>WJ&*nqf8>M_n%pt-Z+{%Ux#@GX1cW
zN&~U@0&Ygd&J@2D9cjp;Ce551Tv(uuhJ*Sxz#eu~;Y*Mlk}v%}s)1ZH#PP4ZaWcUr
z!7CBxXv~$QuH*Gt2d^azkXI|sW?gcXw6m(!=<AxB#J=qsE|o=90n4c2fCP6CSImGU
zH?~Gd-fX`8xP}f*q&hm4D6T=emwS3@&1KWb-{WfP!NLgUkfUq_z;~7?Y3g45P|Yeo
zwZ+k-1%67f&qP4TvPSe3t?uFJT#!EUr#C-7dAq&01sD99oP2;SGy=)!kL~`2tj(LF
z{Grn(=CG4UYNQ2*8HNGO=Q)_K&?;wfU#=O@$pAmpeIM+LRmisua;kG9-ll-WiO4p<
z@`w9YVaO0`8{rDPQ+ATtyVCdu?_`i_+GZ!kgkv|HggkI~_eA3=HYKA^+5iXfc*U+>
z66DW!FNqMj?v0xGF!(yRA&a_I2i!d8gy6Nu7j(STq}8RQv360m2wY!42khw_)*q)V
z2A9><vInbMh$kc9z&C1-yf}$%_jwe)CgmDa8^{D<&S2cbYu5cz-e+}>?dLQvioLB8
zD8)S*&c9isNX$NkpN$Ll6G=9tyW>gszlTx$4Y)r`nyWwi9&-X;5dRl!{tkGUa1bCM
z3n-xf1#IH~KiG2C_SSB$|Bq=+d&f;Cq@O-R<4!}JXtFj@kV>dD9_xIS%EdN9q$uEe
zZ{v7x>%i|>3WY)<9ksSrBEJ{sx7j)VPS(&I_oQO-jMj>OSgILDBU8?4(JnYg`GS4i
z{(h`@%Tv@k(Q-2;*O3gw##(4tGaZ?;YJW&Glu^WWTG9O6b!$!Kkc3mkCtjIBFwOCg
zvQ(aI=X7f|ZvT1Gas#l4M?!mXQ?A?@{zZyLu*Hzf`Nc+tQfEi;B{*xR;T7vlUIveQ
zrIsH-cDrR8QFFA#>m3^nW%SfE)v$+rzj5V`cl`89k?$@1R)Os^hvXlRop52gTIOBK
za|X1VR-9gFRY)GqjWy%vF5v+6$dsA$SDGOok*KTGFj_|rZ2i&Pm-7|Y{&Qy(hXS+!
zvnL5{EfJE3kZ(UZUX_fHFK4tEb^s5#>&7+lRziUAEPdMw3oP(FwD)qMG{%E)Ra9ar
z9)?ofs#2Xlo##QD>F}~UXifYy1$(rA>E6K*<$ZG|p%Kf%o0u&^#h}}(eF7r(XG7rn
znVfmOk?&lz={8o43s?pu7kUwTHr%fx!Otv+vshwpW5gsWK><|YD{MgW7wFXr(sRb@
zI|!h2p$ha@8+bECDM4qM@go4Ew3y=BUTId1IS4nBMuN5gh|+`4bhMzGoRlo0aV{j-
z*HSj`pYBIp46_cEyT|ULsWp^#q)IN-=-R*2-H7&#Pib`;%VZ3aNOuwmy)u|C#t(!o
z&b`$`Xa%Wg{i^Y8Bry!@-E$53ryBuLqlHCfvYx-$9{3&i>q4R)R&zJtWlIKYNbp*7
z<n^6;LySa7gx3+T>hx}Opo(|Se?fQn5#}Sn;!5OSYL`EjtmePn*o+8MA&mDuK=U0k
z_gUK|Kfg6QoZiu2GSmZfOIf;oU`a!EJR}MWUX%_wNlm+AgPU@Le%J)S@?#NGC2~Ao
z9^QlwFbLnj%UD`sP5nAh9cf?>1fbo9{AqpUA8VH{m$dHdbZ35z2TwWPfvx8~Kl!%^
zufM3E7Xi3Z1LwEkQ}8@K^Pb7~quZ1|4svZ}V~1oK=R==aT7`<x`Tah=tb}jA{9lid
z|JS`L{tz&FP#~Z)#Q)7b{Qv2myrY@99iyzZgSox2o3-ix^RA^^Gi7)^jp9v{#>Suw
zG<jdYUIz6(;vPsC$?<;I_v=GEUCjny=V)gqhR8YrOX6tYddr<ZY4!sM%+>##%A1j8
zfA0T=`33&~WYj1|v|PsS1^D|O=2sg2uI>GFU5_$Krq!J|_7}|?TEPr<-L4t_tD*S^
z5Zu|UzBY<{YBwx2EHE^}`tknxm|~Ue|9Y|QtUKxt-FL<d<eu+`a|I?r0t=qo|2==a
zv(yF51g;>LS>t?tclZC?)Q>WHue9}lZzB4?Trp1ZAj-dN)jQ*o&k#EPekH63r2IaA
zKlQXKX4uVr5X=8=TwpWG7Cp2ZW?09bUJLHjM_xipeSJxNex^$6#sv}-=L`P|-1XNP
zV-=U^)bE{rn)3g4bqW4952Nn6$A6F$p5C?_c3b6EKLrj2hUC@n8UEg6U0bFbF75@a
z<iGY?DT4i41%Olu2eQpGz6SPo^UJOp|G1`~&5a6Tfc&?v(L;NGnRegTO}(IRV*o{E
zo_4@)!7tBMev;rfwl_uCd0^Yz6Xs3lujJ=;e<0ywLQ>vTKjL>jNbAha?-yZz!mnfC
z$W@?Fzu-^f{V&v%Va0D76-l7Tk1CpR)EDZ@E0D=AisW@Zyx7lm@>c@vbw6X%`tQMn
z$uIK8*X#H%f%e<4mfmk(u3|?)AT;5#<kMbe?sEUEj7XqJ00r4(U>nop^xO7tv3S96
zAalvj&2M-1Z&v#+uiMC0*AM2vg1Rlo@6*rS-R7lrz$f~9U<CdTqtVsxH{Q?x0Rce%
zzf4en`ZG-ZoJG||MfOh|ej@+tFXNmo*}P}WGCuKjqO}_S*w-I}|8#pGntXQiJEZ=5
zIcNEAzoyX|{rm4Df@5F&Uvac#1oo%OXHDmTUQ#hI&%<!vrSLAEtNiChhB@Z@b3a<Q
ztNgj(0#^A1`g4VXKmEZ&hN}6cKGy{!w1VwBSZ`i*N*;@WHUPL>8Jb$#mcyAyF=DL?
zkPQ?tTWEsv6&l)l)uqETD(6CPjSz&QXa#w$-mE$)3O^b)DT$K#(mnY*mUDt22temv
z3gpOXl1p^w+f+yKQjeq+Qa}j3tKHyDSDukQ=$eY*1qrbB9xe4fTLy?J6z=!u@(l=7
zh+|JK;3{1Xg$R4t@%w>e7-<#M?CTSRF0hREW@r)WHil=4*Tgo#Hw<4GH;>nwF&UkE
z2D3OLGMM)lLT|3Hb3tS#WsARtj$pP+kSJ%0%$t1zgsH<jSwnTwtIg&QI}tJ^87n7c
zP*v<ZZ}626!R;fOm^V{^7$+$uVVjZNY2HVDF@qqVtStza^7KDS0wKN|nnnv#(7dzE
zh+fyg95P!Ydt4-a=CN(y%*i<(drq?^^g0<@pHMPts#1X2)erp~FpaqTNInb77q+n_
zA6ZXJ7!OL2VOE=82kTO+pRO083itP(y%EpX8&<z}7HGxXZP|i<LbUk;en@_m7(7)F
zHYK_^42l56Lg*ANfO_!_Gb_I`5&WUsp#T&%!ZzG82R8=^JV-r(W15*wnG7Sh(?GOg
zY^<X>(s+@(U0P}R@Zh=gl_gV8F8PUr7L)h@`V3h}#<2|%_3FVO+6ajeaUsvt^$vWP
zsOn3?&ER{)-_Qj_8*Ow?smrB#;-A0y4a9M2_8q%WUM!S@!E2xaQ}?IUB2}^S*7I98
zcgGI85LJxB@kHUzbp@0JK&wb`**3(}Aoy{zAaL}>2h11x!Y1=A7#gFoEN#C+6t4Lg
zwa?=Xi7ZIED_@<b?+f>38|hmv3Sbapk|OiZRGp0dW;*~_VH>29aC>*z2R&<3q4o~=
z`<mH)u};1QM?&H`q}a55^hGQQB7%9bb<HB!>`In5d55W}ETvczg8;^e6F?zR==mgz
zywX`-G1NCW+iQVnC1sC|#Ta9%GBy#<r~IuPEJ}awSvh`jO=gg%S~;k~+s^`+70M_c
z>{*IfpL!u-=xtc#S>n=YHDM`TB*J-^`LlT*ysxUn%rfrfg5fF3R5pLm&xkmj6OW=@
z2dE4)&L=qHPaLH3IlZ1lh?~ddAH)%sS$9dwNq=Gnw^OyAyyXy}59mk6R9qDkg)rH%
zj=rUm1Zg8H?PF0~na`Y$L`0=(!^Vs`!jd=j<ayUq3+&5L_rT%7dYq5vj1IdoO{y<4
zre{1%?N`q=>@shTWneP3yB62veMzV=MUqeEIIR>wns<Vr$e_NsERhlG%9!H5m@={$
zmi=ljq8b{Mu`^e}$$sV1+`}bbV}+uN28$R8wJrytLIT3q@fbVM9i_GBFp9M>_p)2F
zstMXROcSx5uBUcG91GfHG}(&Fr%g@TG^7-k1q&{}scfe&_tKDec;)O@u{gahc9n*{
z@u6mKZdJnh36C|h@f??Tj}_`=Tkv;D-}QxKa1%S2qwTGcaK(#Lc?YG1E%GUm90vEz
zOcNlC9b_`R{E}@%32-{_C|n++j-;>$kQkeZ19F>7YTMiyBNWnwii5eHeA1V%XM)<|
zl&%KG70789W~x@jF~?F7Y8;`qWwT*XbU?xKFEt_@d${u~jDUUI=XRE<W;iVSE4;O`
zGr)<*CShLJ+bp&QD1@W{9uA82I_{0i!>|>QlKW<CA(>~q{2K5}69JZZ)*&zjU^Ai=
z!HK(3ud%Lc@R*y~uiiw|ZUTC*?NyBi<W-lc;c-Qi7ha(W9fY1K7uY!owI0N|Xj(4<
zUB5i3cWc7I8?N9P!zm0c$RAFybB1HFp-C&5ZMeL?QaoDSKFZ(pj*%Lue~9-e%>c0s
zd29ir4JZC_lwh)8D7yE`CdLuM?>EwwIFNtd!A?$93Dc?RJ;Z+lwu5&VFoe&MqhgU2
zJjn`*)v%12xLGNqxCyP_fFaVi8hn>po@c`!86ry%T^Us}Vjx-z=n~PXWSO_UK1Uy>
z07}{Ree=@npalaj-*HWxix>e?$smnc$@hK#oD)~L50mgw@y0Wvi9`Wt-lu_qb<Usj
zg-2~|F~<Gf5xK2ndU<0p(XYMy?0v<+(jsA59%FLH?!ixUYv<D7o=;$9FECRgG>1zK
z)tyMSzC$T!0KUFvFrWk?ss#S1zv2GfQYC1M+@cr~1ePNT$$jOFB~WV)6c3F;O&%o8
z8ar|-80_KGfM{aN=D<6c1lbJP*RE*d7*u*@W*pE~qs4a9;fZA6_KmHc+{_5g#Q3<I
zBN?aKpfiXv*BalsNe^#_qi0|+u>+*p4xu7u5m0fAyG;GzKQ<OY>C`T;bUt9(9|K8z
zop3j+JsybO0>8tpL(|%&U(2?WZPxOZk}dY^qFOry4KXLyyAQI19*o4--Lm$=p;KrH
z`hD)C8-;H^Oj9|jGu8(&xEM29b@0)Q3nnbQ+~Z^8{ID3i$US9mJ!lE}j%3=5A7n8A
z00xV>xpBB-k2eLti75sorWq1|&=?kk*CX~~5gWYzD_|my_WFw^>q<0k7!=E#-i96R
z=g$iS=Sdo{rHs?A>QfM8stmLkT-FTwA^*PO$<0l3A>kN1&vl#Auyf%(St9WIre>)z
zsvUW9H>94pw{5QhDk&1kk=+7_g#y_p1$}wL3-8B1wxZ{d*Q2FZ9ZSyOHf1BfH?2l-
zod2XiR(!yXKL^?yll-j*If$bG$bcb2%46|S4<(ly_TEyKL}7t>@Id)lkArC*^2B%9
z^%$TBDm_x*A?2v%uY&>wF{VS|%^8Si!XyfopCmJ%RdkoW$i7#Kd%7zh&qM0cs4{4g
zBt){beC1@0I-gp|5;`yEeD9ejIML__H-KuNgKh~{hLNkR7b>cA0Dr$@DlWiYFr@cM
zW%eT)nj75;x&vIh5G-0cj3kfEm2LYhW5fjm^0V3VZ8grxUshDN-K_GGO?YsGK?$wL
z-vLtX6r^hDjg)M-C6w|ed)DQsB*y^C6Q?|#zo<v9u|x+ek(qQjp>==4=}8GCHaYJ0
zb2b7DATmK?^d(c*bGq2>k$1*!D?k@G9KX^R5cXGY&`p;VLdz;vr8-|%FAM0~ZB|<G
zC~J`<TFCGzJ4`|<v$)19vB_b;18LSU7>K3C$D3DDBJwn~ryh+F<3nSM1qk^@m?C_i
zz1V~I$#xXw(LrKHy+3nQ*Y1mBYF9+A&-yYGGmzY56lT*6HIDBIarU!Qa+8-{N?-Ll
z$X{e$;{%18LaTr-K$DQd-}m4F<H8p#@R6$3*}lXVQDui$K`#yF%zQgA-uszm<pBF=
zCsU4}K$CQbmRkk_y|QTi=iCgB$6Cdr$&;?N9Ef8GDC*iY=^j5USzax^$jJD_4|>8b
z8I3ywF=u)N@iDdH8`<3*qu4ZnY}BKL5TmID#lE*3zqzRAK9yX)2$9P=Xs~6Aj+AlG
zB@1qf)ru3mul;7u7tG{1myQ;9y16ELXVxx>Xw)6Dy`+p4MAICPn>k5xO+t_4qzGl3
zKWb%B7Ei9AG_YuXIAFSe5!tM>b5DF*d%#sT;~Sei3oB7NKD*rd*!xE+;Ed8KnTmPx
zHu=wa1?kp}fV?%B6dQCclO(^+l=(8UspS~udNn&OWh`suVMznaiH?b-eqELpnYlyt
z*Fe0p5j|WVkugf`xFZRM`<!AcpcFUIGHqZ_Q0Phc5JHe1=Y>Z<uoao27vrSN-vCkY
z0Or%I?2GlzlpuhOiam67+@vS)7)=egO4WKaTV0fUyd93~QHRP95ye|FRJR(bsELwO
zzw0JRVsSCA-IdM{M13f^4Z)<Sc93FT@mkN}9?=MZbcq##al*^!U0GzfX;en!tb9`w
zv?_dZuwY&CgkpiX=B65N6f(<6r=)Au-NN51A@)c0n+^P=@IWMnv{(B_2euK9=o&Z_
zQ^Y$-i`zOIlMlS1BSwe4mRTs-f^yFTWKrv>fgKVU(jaYFcq#wR8%RQZzin>eNlqJV
zgDLa8trbWJ+1i~t$2aHlUNU-9P6BgeEowEW_~^`|f9uOnaC%&E`cY9lq;6n!`R=ug
z#*V>s#Dd?HV{dc&h>L9X0V35nOqcVPn#;Ib)d-=rdl0#^w2WEP*a!2By-$*dw+IO*
zX`IU!v)qRQtJ5GwCCh})*182v5q4;rgBvyus$nsVHSF+s+hDpBH;m!SXL{qofYo=h
z^zadN`$&Ce4U#?fyY17ZjU+sAL5hQtNMZhtAba6?09atN{-N|jPK#kc^SWB5MN%if
z%#b)Da}FfvlhTbokiT+q9#OSmyQ#i_D8lpB@z{GXAC3BL@7u)z2zMV7LImI(X$}bw
zLY~q{CnXssrm{D7*|9xfp5nRbz!Y5(FNZN95tzDemS2H_5bUPoKrC8SSN!B)c%4kG
zj-E76D_r6Dd4Rmedw|Cz45~4tCw%42H02ic&c;lVBe6_VQMA0ngBB+#iorH;w>fX7
z^G^OyBsZQ7=i0gO)k>7vN@}NFRQbvlFLBTQq60q97j#{|QNAW9<+l(^9G2z1Zxyf!
z^yuejf=njJ8hsyRt-B8|t3lAAdn%J#T|S7J92P(~%?&Jt_h_PI`{IxcuzYt=9q`bF
zV%1U6mB-yqB&=5HZ3)!kW|-F12jh_E_5n65AuJQS(L9NhmC$|W^8m4X17HpsLxy5S
zqMj!K>;a?Ghn0=Doq3>F6uSaPMJ=l)vacd1#1Fryf_D@`zdpb|r}kI3DCIHKx0C_c
zx3$bmSIBx|dt(LL&gzyp08yV;fV`zoaQY^+VMXqmV+Z2hbBU*N*W6b`)A#(NGuN+a
zxDGik`gKn9cl$7@o7q}eykigswnsNv8PLs7ntBNx+9UYrgb-wd8YiXW+0EI)n~8nW
z4`D6vKCo+|;}(3&)0d)aD+S^9igTKwkstqY{E&LxrGXKkBcrd)XYE$LW8Pqt^L+TQ
zC#w)|<SX3QRkO`ZZI>bMa)azCXJ^E$M_K!rB=nv?8|X*kz1+NacZ!1~`AV5`ukFS_
zMsA;AFmO*;N`d=#MsxJ*XJ8x<C&oE-1xcokKLSWtC_FsC9sDNbu#g|rj0urM>4y2z
z^cB6}62!1CO|emkl8Ff7tlnnS!P^oU?2@1mpKo}`+DEtp5sHAAcaUweD<1m{%$JIl
zE{i<=l8o0=XZ8EZ!)mQtgX!J=v#0n<TN}K@AxMDcqhHtuhfwo1h%E{3Vn+e5C;!w1
z)d0B;&MlYIS7%<Rev@zM90LG=nq>yjTwzY3V+(5_c{m<!e|7MW-<iv7MaQ;AGyF}n
zeV6#Xjvx1*>)6&=y%9?&Ih@CuXUiczvhBf9lfCb>nz1P28T$3HuE|rn%K@3Bk%d5D
z>;77@2i@ORRh|r*Yi{>?{Ly?K?=3K9g!mlF93Y}5YuP8}3DObB3CMK?Mt8|Gk%q&<
zk15n74#-oUrw3|fmS1Te?q$1KhbXtd@4SrrJgQjJ?30f<JMe<g8cRQQOd1d7CJJR>
zyc(Ujky7DIkRk){;s@@>?<Ye+fB3M6p<X<?qw@hj<mlCVz6T|hJ~pMv$VnC@ou)`f
z1*m1&(4DNz_c@-ulo~sq`4m~U;)Xngj%r!{%FgQ`0hZa$2sdLhmcOpn)UibluO0!W
z53)s{ru1#L&{+SNeRDM_b#ETfUhu`u!I{|9f`+vIe(@`Kr|}a455+O?ajhN-!b(5*
zjddq6v+dxv#@NzXCOe=eGDJYqM{L$mCIBhD7afm1xjZl5cPq(1dTQl8rdZ^S07F2$
zzX=?PA#a%?q(n|~c*_8kcqBMpwRDao2Dl?l_POJ!r**BbFWzLrjM`&W-8-7S>=kLF
z*vIF^ahgu;*U4tZf9ywlfzksob@zeE<n@g@EQ=ik3`xiUh`HZb%Zw$_0CB_WRf{rR
zIeno0g~Ug>Qv(gG7zY|2V2M46NuGxnw<ii6kS#>m!lAQuXe^QSk>_DmJTH&GC13O0
z?y^L~gi50zkxk23<RE=`^G1Un4?IX`Y>y5Dx;_+145ZLv9E_950K{Vt%$4e@{Pef1
zciJ~lvm)~}+p-e(+T>T<c>QjMD>q&ugo45*c^3>f$or0bs~Esds9`Vv8sKfrMh4#m
zO~K7Q%4-qh(^tY-!l1qYZ|>x2;7^4{0R2OdkP0LGfifBa4w#2q*7w}Ov|I+OBXlG@
z&&`4;@FC?Ml1~dA8k%P*JdX2eN_A@Fqq<2)t$YNkvW)MoZL+r@D#6hTiwMO+s6DYW
zKAY1i@<P?g81$N{^@xYT*8H72Q%N-Tpab(r!Ch-D>`hU*9QLCl*LZ-t<cprz<DnyJ
z9{q{wAT_^Vs`)@yN=(t|xk>aT;}v!HK|j47%!JHrQ<El$^eoISz7`W;B6bLnN0UAl
z6~O4&P^tEv+m`!;%Bw#TowIL+6{)BaaC38)6b={$Ec7#}aaXxL7pbI%b%gCaLDdYZ
z<}(100V1nRn^djj=}4d9Y<_%sBmrooEPTgTS5#y<=*hNgNXBgIB<kcCBnx%PFPf)i
z06)RcqG;$mHEH<L8SCyJ3_dGE?`pt#Bq#vWfK-qBz>E)^RB9a&ZD^LL`%PzvQr(<U
zDJ99d-fq0*yA**^E?k7aeC&$bYaS7I3`My$t>T+g!jAT}DB{Rjp<jZ8u=7F8&2D7=
zy6b&PK5zVEp{dMGZfaql416UtM}<(1VqVar4Ib<t>T`4@tnKK-Wlu^y#5jynJ8lUC
z${-QL0k%Xm5N6k&E#5?zsIEsc*o#^A$=6rL{dfRg1|L2b<r$YK0?|LioXlo?@f|)H
zZ1;lrzAp-#l@bz}Sli;n1LKwcjb2GPPFV<1%ZrhC-1hp<ml0lmE7y0`AKX)mb6vX>
zX*+%IJ*|*}<Y7Y$y?K_dkBDhMS<XEkLA7#BHPUo>yYt*<BsfnnN%kqk&845EiMxt3
zH$XBWcwwD@!erb84&0|j=K*<SAgJU%@SXdCv+~c|kbo?pR3exh=o8+9W9=Z4c{hZ-
z^J9Sad7+P+$HJRpc*Xk=6_ZJ?U{`q$-BJc8u&~9I{!-D$Wc90vXE$dt;-m3JY`QKD
zisl#|_!JX<^b1Jfcg28g=9wQ{^N-Z(k`n=i1SduQ_C7FTCUp9tGb@Pa<+bNz-uOkq
z%_tg#UI|4kyk}Xv?n$rnkLPeAjn&=wYrdd#-$?xer6>g<BnE`bw5;b0D@ZT}BPWpT
zXuEF(az2gRPjP@3$B{IdS01PlC0hW^8Yq115qB?Ol(9>fi1|lme_ZV_N`A&{$6|SM
znsK_R2`*4BT);<MQbIFmRhj?b4A>>4HsUK;uXFaff>+k5bE9yx_n-)QTr7;8#JUqc
zrm!7IVyutRHJwx~Zjn4c)23Oto;g52T1y7;tEJxdhN<X&vtoRY1vs=xx*(2MlegR?
z%MHt6G^lNxRvJU^T~>PfMst<Ao`<qE=}TE$3o=stR@Cv{%bFYgLqIsj+hyl+D%?-z
zt$0y&fHVUwEp=x|gtC0>2idp&aRmA@>U|wr861-h>DvN>^+B)4pmV&~HrxsV{EBfB
z?KSA_WS;RJ3~=F0mhU}l&8(**@TPz-g;*YG?BG2EgxUnyVCGvIms47oAPM(U4kE7{
zg05PQKVYp8K<;z{mnCr(%iel8_oz=!(O~xEKB^RK0NW~1JEJ=dXLhBqgwH<kwx8J$
z;bfJ4bk6mhpW7mitgw@T%Iv!i!2x|5+B+gpPr&_LWPW=e6+{~1yaw5_>(@QK3VBbm
zNV1jwZYVmhNE*DNW8vUZ+Eq^=`NJ827|v=X0kGqh0F*&z4xx!53Et3-5n>KKOe{Y+
z_Q)*yL++ZQtXy6ad6XXNq(aD8hsKOQb0gm4fx5iOg@Ym=4}!matXOd-RmivgxS$W2
zv?<aSU&(b-nvY7jwd)TB31S)6u|(ht@vMKLQHypgN|!D2t-Xl7YX=5ncM^R}+exeW
zQ+fB{Y>m#v_^_Kx?E`!joD?f?qU3_6mh9x4S{ou1YCr}-myhc~#L`zD;3v=DxAERF
zl+R)LGzc;<`Xr^uj6UGWRvUPEdEh(Ani~;xX&B`=4gJRpx*9&P+*1xT=a{G0XiIYh
zg(_cm;MjtVzuHD$+})!SnvP}laYNLHa*`b^kc_70{M*IREJ}Nd=!x9ddk=~|N7f{n
zLIlni(i|M!BhKz~#XjhV&|8vhMX-JW03D{jV87uB5ZTD-*OlHaiQccR`?4dHQJfdd
zlA@6(U7#<k0Kacad}>Ee(;h9p#t9`Jk?l5?iba{E*xUV@8|wsn^q5TIY!w{dON+ZC
zA9~M3g`)%`+8T>vUv&!?45B0xRS*i-T9);sqp@^Um2-x?zNkwr^mqYAo}(1~6ry~r
zbcL09P;?Zf!lPc#?Z|gjA4tOsobG8$srYz2l}O6?;1eG<Aclu??$!0Jj{L6QGY2>P
zI6gtO#Dip6vsi(3dERkB&v`>o_j!_!arJWpONBkCt~0fWV|^GhX<nb#0HUQ(iMrYi
zC7umqU?VC=Dei^T10BCuTt%Ij1#v-fZ~?=iQ@+Wlp<di0rzNY>Jvq4R+6l9d;mNB{
zB8tqgAazvZW{$2GWV(a68R(OEFZdw%D7_IqKwyS%ZyD;xE1mbfQgbQTEm+sz@ll8B
z-KDP@E)uVo1Q;O7*V|7+6km=Mri@#zw=AO*lhwC{JP_D;VZNj8o306y`RafwrpB*A
zw1BQNk8*Bs<pOZ^fOKK*HL7m<{awCZ)PN+BT|?alr_E@lpS^JW^9*d-%J!zpN(?4+
z8b}T#x7>sbh~>i1Y&~p?L9%=;M;xj!Ub8ut1oI<$EIbofTCBAsrh&6{&LmvMI!0&S
z*<laovQp>x+D$Mad4)zsmz){CUmb3g1R`2=2hAauGNqs$UaoSar*Ylg+i&H&pIZ=I
z<7RIcph`q!9ro#i5f`&aO6MoB19w8Bdj){=koUVm=41T^l2mG0oCO>t08CB^1~&#l
zaL14Ev<?=`XuS1%>us#5m6Eb6c;q?C<=&mc`fb~=;h)ns&&<N}blPy&l*;;>t)-Vm
zRrflKH^(@SmDSWd;Ff@S1((P-s`Emi%CSaYw?qb8;lV1Hj5TEVW^oGiGpL&>b(=G^
zE`pO}(ZYnx7KdR}!;SA&n0MnZS&Sz^Kd^=HR@(E<V@P`RFuYZMlEi4l^}(xh5egsz
zIMKe)847KZVH8ib8kU`|S&c?A5x3vWAVamJ?XuYGbX2mq)c3Z>I;!2>=CxkC2ZW(t
z)mq7D>HlEdiGOztKY-m-`*{c5)Ch0n)=dm=BH+NNx3Nzc%kEFGk@<nBP3d0w!a@qg
zn2f352l<78nY(}|HIJIh=$IAft^*Crgd7O1-!ko~n=cu-6R5%$OAvK~vb^~c0U@Yz
zyDc2o(Qo-;+(9VnRDv>lJ6&Nm4cQL#IxXn$cGV@eiKJGE@dKq97@Zvmo|#Og!41#8
zu#<z?%R6h9<lQs@h1km{$*e3}A**z^EpRTnAVxsSYBi@bz>luY&wyLW{{Fi^{)jyj
zq4C2#yL0jSxa&rid`nu1&zuZl0?Tu=dhfzoxt5X3@2%lO#c7k~I~4RWhWF^~17S}d
z>lg52_P&G-yvY(XMI!Iw8@Rz4D@8CnTy*OjjVH@lqLNeqBy4~e3>=Hk+5u{!OKlL`
zG$=pIrv!qpfT$s7_e$`Gvf%?rKbmQMkPg~k^;e#3n{!V@0OJ*b(o@{Qq<G2wWv#tR
zgGw*2J5Q+;S!fRUArUw?!Y9XlJQ>G`+7R30WCibza(nrZ;OJ^Vylv-6yhNX8R-b$Q
zv$xIUWApy8w*~zI+Donlrpzj0R(jWXyV2L%d}H)wt)<Q8l8K2GN$9nc8&cAAN`UD-
zw|-5NxF7OsDLC^5Cn_|(UW#)Z%shAHUfB6b@eenBl&4mA*17IJP4oc70v)Ui5suCf
zef+M6Xzr;v%JCxa9##OAuPUE=q^TQYV`W>spm466OOyl*U%O8lAbgV0-LU5F-`?g_
zA$~Px^n&szCRj58+17q#SUbpov}H~H%pc(1{rF1_w$al;``|h(S;z;z0mlj^vG0vm
zFjBM!1-%6S21u~L(cFf!ynOU-zo)x)n}CbqFx5SZta;ZGx2@14daHwK_QhTrGcDGm
z)=hhBF?y)9$Du}%?wfjhjYJckD-Dv9HGgKAdk<dzZeM7oUOxIrxWs_$7gK_iArp0%
zDuA|-1X#N??aY*iP0-{09&bg^Fg+F#yVdb-aiDeilCyI)-)>F|eC5WsORIqF5a%#w
zhVCs8j3Ts44O3!gGNilm^{n-=DW_lKfHp#KB+Cr587&2XB-IK?)oy0EeoNxDlx?qJ
zj`~6dfejsJ>bvt=Na55&vv^fi@F?ucJJb71#LLk&+(%vefDd6iz&w=F;LP|AQRQL%
z`^@FdExV3l+lkB=N<JZGrj8!g=k~g0UJ<&t`Y^$p$KMUnF4<Xd;5NTx8YkMmAu;So
zA?n4Fu#p+lqtom3A;3JVb?t2dhnS+ctk`}i2~}uW!BA%38S=7q*I_<K+UCg>okEu?
zRrF0aLuAI8W8`r?8mC8$Nq0EL$_tOKn4M`HJKc=Zt2EOKew`lG7)yxQ8SwngeIrFr
zOg`XqorqLBh)R2q`i{`4#qZBKPLvRE&WusZBzyH>s@5XTD7oqC4N%1e#Xy!HaG9G}
ziCfliX3y$KpurK_qSNcyp6k>##y{r1FeJX$9cRE7tTxKt1gax={K-w;hBtHXgjA?E
z@oDk%_IlKCI35%AD0wtmaES7GT5hy7<48c>k&?T|%p}=)YZ>>^Rr`9)$D|Ix4<Jgz
zp_^lKQvO5tEXh+2cA&uW63{axdqY&o>!dA=Qu7JFFKm^x6Y;-wGi9Gu5Eb?;*5O#1
z;Bg65i7^bvFz(x7eRk-!GlPoe9N6#~WVgklt?x$LzJ2w$nhcv7@=W|j&3d~A#!sH?
zqIzl6`ry5nIC*cZNbpp*G`*nYb3z%<Vk`=R$xC}2<s1?q**ABm(mo$>)8TWxdgMT$
z0o9WeGY)+4y#tRNtwN%qs18`=2TERWbqGa~*^^x@!jUrm?cz+=E5ZBPjVSdVfq!;O
zRj>v8{wy!2UIPpO0TPW1<g@l&?Hd?u_VIM#(km-x%6gGnzRQK10|#PA)N7p&ea|MJ
zAal@6wfG($!x5ts2C^4mtLbXJ6?>)~QF?%|`mjR71Kk%0Y3CeAjT)Yz0xhU*{1Jei
zj527@_fsBUd9}DPo*F0b0Ame~Q`{%o+t=O(@EzxC?Um7^WQ{NuWloK!SRAQGz8CBC
z`A0W!kk&1a#jo`7IhKcHqpVQ!ethd}SEbSb5o`TsK#a5g$A6*Xqk8wTI-uU<Mt*8v
z$&|lN-$&dc_OYM8a*lIzdi<0((ZvsVS;El!-uo<XPlyObmzoq9cxi=Ras_rBTOB4+
z4=`;E>lVt#y3^O60hrn|%4kA)Bk|{RJyv#w7c(Q)yxCh`*>2ZuX&qrGgv2gMsfV8a
zw4#qIB$T=zJRyvIG|drYY<&$v#~;xSh5c`^wdK$6^w!+3GzJ3!>h0{NX87l~>ZsSX
z8KQxB)F<1OT)k*Q@BnO6R;!=T3^c>A#%IY_U;=*pSlgyzN$N@{f|a{#{P#rFH;Pn^
zmIO^ho5q)POPde~ERix=?jJw@!F8h3T@n3Oe2Gg)E}KI%N3#Qwnp9?N4o=?(OG$8(
za18BQnUL+ulhf#@O^v}B>%}og_yeL9A=6(lo`RakKoUghi*m$A`pD&bqx)wCDY0Nv
z45i(&B$R;VkYQf^^xeR+STicaThQqE$C;0i4kBWc!4#K)=mS#w^v*cdRnP4GU2c8F
zd|&Oik;w`W_cY}EyraHS0XG8FRKCP?zv?~P+uB(#fcC}O%9hyOx$Xjlq1g<np$?_V
zKOd3SyKm5|y{i(7a|(SEnwtKkjuP`<a<IU3BytEPqZfK)FL`%-pfNh7>MoIp3&uVX
zt9M+ms<xE?3?_g<esMsv1Iz?S=kdd80E99+vL0!op09c_E<+U%u3?38p@=kax4Z@H
zQ7=O^sE8Ppg=qMkJd!{);0$4_Pu#5a6W+ngr9zcQgN-~r$%yOZ7`O9Py@WcBd7dl0
zDMS~Xo6Fldtnf9+)%#%CnjTxy9m>SiXjcG5@Fqt(m{Etm$UEF}|D?AyaPC2Ve?>A~
zx90WLUb;7j!@F-@IHWu85g4x#NTiVmnj3%j#;rOsJU!WI2h&0IP_?CDZoaM*r7Ynt
z@Jx9{bOL0bt1`2zw>&sWKg@Z;+6C-fhKt}{aqa?$h0RGday&J>WaPfzivhzFNo17h
zDja3rGOXueygNq5F<~fuRPRo9jn39?<fwOzl@s=)u?<z3GAH;Wf6p-h6T}|-VY{M+
z-)xvM9(2vwxYxe#2d;E6D5#*F*8G7tMq(ywaPauCN5^hYxoCli1L4)mJz2XK&2Cqr
zb0}yt1-NM$k+WM~UTvP3Gk41%RTMsM8ik>k!}%6Cnw`ud_#0JW{DoD%pI$08Wp0%~
zOH)ieFanSF88XwlsE}1{0u0b=0Xf=A@#cJv{(k&`1DqY=Ne7XepTx+(_@>A_HX0v8
zS@2T;QcyyBTgg$b2PT=V71_*}2%eAmVfp(Vx{tpkVcr!n=**UBxhmNbqDNOKFx&cJ
z0`p{Z5^Hx6wjBw@m!%ZCGeM!YF>d8&Jkc@XP!Q+6F^3cZPyCNJDO}b3s2|#nK-rqU
zU6>C&6>_I^;@4BA2k%xaZoa9xnbXi(a<%6Us4&^oK@EL;!|5BB$a*;Grrw&=ctx49
z<7wUL<l{cD_sSLorH2_z#>bZiax>pp2;5ETo`7QPci{KWBW^f$`98r)+_7ERUYt3=
ze{rqx1K6QvYHF(7?b`B-$HdCGHi+4t<$G6%s)FfJLHX*c^zspmC2~BSaJI^OxDP&`
zVl>k5Th>Y5xOAYy7qK?m#OyT92xKr~K>VhA3#Qk1P?=v~4TgOuk*`e2sG@Mkok#g#
z5K93#_E)~j*0gi*lhA}Vfv3~xN>HB`Keh*B&TYcF_=PrC@?L5hDh3Jt<mv!_@7APn
zSO6Nr^=k)sDUvaS<{&Zm^*MVt{uFqh_oJBQh&rO#kwszzJ+wh~eYEyY_DFV*aFoGS
z@tYexONULT+bPc~De$oE9SvtpnSC?;u*w@8t!`A_`l^fWl%MWKFw#>WdhIn<dsaF&
z#JgF|Ha!aSrL~W3^ZmzPugo320+#yS=k~JC=LdZ!w3L}cZC0PpOW8`cqXlX(54&kI
zIHK6}VIif5MVSDSvHpw{VDg;nV-PGvZ&(fi=bn;4@_TCZw)P8ev1uBDBi^^mfxT>F
zua&oq1E0;pyn=Vpa4|rCUjPF$em0|zemY)$05JGaVHhDI3I_=AcW%<`;}Rq3E;oj^
zj?dJ|ah|sAT4IKKdYy&5{n+7TD~ToE9Q}&TJjU}wJ`pJl<d4#z;}>rz)ySoNeghx2
z0HHnW1CiIQl&pPGAP6T2Qc}|vC!$ySEYgsw-{FglMXJ|AU-DgA0;3V#CVA`cCGiC4
zKCr&MCV5gF!PhTGpNdk#pW(-9J=v4dJ)gvb^TRy&ln@#FVPSo*cd0xab7zMH9~pxS
z45W!HhEFy=mvE98(Vj$UYxQZWvmX7fks$)3N)NJBo}hAGssac*F7LjP&yi?@2SQ+x
zTbGc3ZYf>y)a~-cXEQ^aEnGjGG(%OZ=&K)za*vF%1EsOUi`t`iXa)6pfe~<i{l{G2
z@<H-+c&vK1j+_eKU_S#^OTsEhklR)%S<~Cu<TdwW+X6QSnMS5EF^?uR>Tm3+GYr)&
zY|Fpk)>1MEj_T@m;ETIDL$0^ty06Einf7#z8i~NR42E8QSfA~C@bCC~qf%*RX~QQ2
zRCDI%?S5)CfN`%r0tkb8b*KyPoz|#X8A^ib+jnP0zSD48h3jw3j}T-=5Wf|}@r55*
z*yE5y_Q$m+U#x1s?DerDhOAf4k(gK=^S~p3a5Ku4(BVGcmD-{NjfZSWzQ*_w;732w
zH4i^J2Fg=Xf`rc4${w?L@+L*;@uk`OWy<*2xyoGlj-~{inyWfA#m<GidF742185fX
z=$SDPM#b{F{;EG&$1>jjcHCf#(=jkt_dVWyEm~a^`Oi^S^ihYP#EN9Y(?$iT7$sWf
zNDH)#E}mYd`I;x*^{$|uy0R$h8T#AZ$^smz`l=;5zqE|s!bTZsgqB+51$H6Jj3!`z
ztN4O%E7LR29n!b;q*pdSGR|rnz~!5YE%UCt^T%5i87d}$)^n993YPTY1;aR*qrl@Z
zXuQP>ZY|+$<^D9r#b*8NoTv!e208OdN!vxAai~CEAFGLm65PG*)DATVaGa2L!g`I9
z96-bRCEsP1vL|=>cr?AuO4_T?&s-S1^2X{h&Sf9Y%Xy!z=PXD=c?!;|e+h>8<r%0P
ztI9)N5h+=;7f+G2(%^MP=XAA28y5>knmnr;7f-lujLlC)?cd%a@@x)kn92z~Za<Xm
zEV-$^z&XM>BZBVhl-TOSkY{TS;Omiar@Av>Hp`C>X<3AByCG%AP*dfshpx>(%w7#@
zKl0q`q3tIlG_AQskBWjv)dG0{!mz~0$NZ2SI0+d@=(uPp&bkX@uBvgp5GA&4_yq2c
z9Esr16-Xp@GfSKKNPbYBPmf|^#x3A|oryoqNrP5XOcU-16XUekg2ubxg<aYkN50;0
z6hf@{Te#@fs2;)h(^ISKn6!3QR*RS!8f6_&t?`RcFj6CX_UE5_VBif_dfhl?ZO~$}
zw_6Jr@GG8OOL1#8w)9Wnf9gO4xDgP{kF^plP%~{txvK7TQj_4yRKK>wW8RRlEFOFe
zWlD6(fxvy76tw)I$1qk%QX6W&AFQNv7OK}p2PEmItUnkd7tuM~phNrLSG?1WZ6(J|
zxbF}6=4Uklk#p!li0s{7$=|23eymp_-fdzXKS`BBNE<pRIq9P#&YiaGZbr?@9r)qr
zh1dNHO1VM%#)w%0y>PzfuE7=5?ongDNe9?pM@C=43)fc>#9KQbfFhr&5I0)z+%eRX
zL&@yFwB^;EXZ3y-V8?kpS6k(u=!j0D>86Y84zGIh+oQwZVCw*B<zzq@y?PP^It}xs
zt98|VpiYh;tCTaG(iT9Vi9lYPh&oN?PG?7OVqy46sAs3@=XIaL?10J?T>iueEb9dN
zq_r~K0R~HT#^aw~A|~8-z>kcX18x^2!4bW^3wqR{xL)BkgsBhVrpmTNQl<3h_C1UU
zWB4f!KT!b;Gzh(p)e>qQ2&IVAFe!#V;M|&4|JoiM&qICtsAV^c8LY>a^=t!V=#(#R
z;DnXJ5HSK}9AU$$ptZ=|0Y2k*-y~N1FjV_>C!GuwtXWU^IUvmg-h8p%El!o>HGsf~
zyc6!dH?PLe3o^&wG3O7T;SRJLpdx4U-K~n3y)Da;iXW)(rp;v`DH{vWe>C!R!?7wM
zv<EtcYsp5oNqyG5T%)CoM`AgS*!sjH7A?McUV;sDDNzU@s=3bn23I$H$vCtNJvtN_
zgTkbDAoR3~&%QBO_UG<$c@hqYWUYX{$(#1<e-w{^om~G0Isak7r1<KvMN6ze8KmZ>
z@3=Bj#5J{!)7g(Ad&d#F@7N2}7cL6Y_Ri{DE89fuLL#{M21Z~>!u{#;JJD(HQ@<6X
z90W*H`rO7IJWuCUJhtR>EdBNvZ|~bYF`V&-CS)aqJYPp%9lX6!nASgEVgAv%Wl~+R
z)jq<sKzkUQDz)|F7QzKm(WP<Vo(k$;+vmxXbi7!Y*aO0s4o`>|*Em)$d%G#5s-O-$
zZa9apE!clP4)gO#yhYuxrbZn~%S6dzPyf@vlyEFd3sFC7xXh90fLbUs{mpBs4SA=4
z_?|SR>hSW^P%9g#ZjyO%Oi}<ti63Qx!UR9pQg6nX{D{Wb;-nNvA09zJ@w-JpFk|7F
z8we1i+P2#YmI@K9i650Z_0Vg4^>b^CMu1pp&lVeMZ-os%^#{%A2ZRr{uy@O5+&6t_
zEyTTlK9f}!;nF*XgGIA6h-$EuELrpru3$rCaei@mqrcB`Q}cI2>m+Z71JnUrbE0-|
zk?3^o_}a^_%7yhd_3rS&asMq}0Z%o>rIxRWnEKmId?IZK?&gt4Mi4`CDt*}m7=H%4
zd0CRXhlF}DSmPY2c!}XBZAN|KAgTGTL-Y`=jc?rStdVAIlw=SD&p1{UV}vRf%#+A4
zINxT<X$d}r*VfYaz}C3Z52lIBI)OU9b)MF_hxL>O&k_6VU9<^ha{*hGh=GNd5q$$^
z?|H)|l4)X1TtLMiQY+5F247OBVJfXU@{s1DfD+#xgPfx`4-Uh56-LOKcYU*M6)PiN
zU&}}uJ~ikLx+wLezRe6&b^RnnRcqaY)iXKMfSf>ILA$5%JA-z3&&F(@P4r+1Pj={|
zDf+^3Xkr>+w#U>UEB10vSH-QIipi+2UAQ1Cf_L#96*#I>t<XqZ&m$T&=cXyD1O^O=
z#DxZk-poZrJz<0<aB=nuWtsc%`vej$&=Uxt?#N1x%{TOIHTu6vI*%<mksykG5DUCp
z7OwD6c-Y~+_k8`(nyrr1ht7<McP}Q@K4)EKLlR9vCa_lV{fr1Y<fzZ%qR@@XkG6#|
zslc_OJD$q)pfY@d4%U0+tcZPCXn|-unkYG&b+aUg&bI4>2zc%Wi)9Pjs<3^pC6z+y
zM`Jwt-}j@#1`UcAM8+8f%T77{@-8s7{jf_1dah;KL`hyZ`AUrK9sQJ(Ue?PSB%v>L
zJB+x?1|_S$3Y%gH%pDOP2CBq=vgvFS)V48D9rLDs9vVH~*v;M{kaqdoth<UU^%rb2
zEwwhwDY9zu5y3tbZ2M+4gNg1VdvgA@jjiqXbQXFJ{f!>>ROI6}^PXDPmz+&X!1H9p
zMUT(l5mU!JX)aC3$e^HOE$0wM8G&H4fQ3&ZbyW-zHg+ZbaY3#am}>v&w)1l`l*s|{
zrT`sqvG!4AHnsq0i-N-+rN3PNja2Wuvp}Y_Dhm*+LF39f&hZ@tCa{bw^?$%!(W(<*
zOf4vCs5@8VV7S{Id<E$JsEH-N0VjS;{w16Mym}}IBRRzQJ8Z)-gn~a@p*k+)=7n;=
zXSYpxMLnCWkG9-~Y7Aqs7K?ApU`%_em`QPfnx+~=8kF4Lt=dOVInI)kdNGBVf1n=S
zTym)~Y4>596!L?{^6;x4gGVERO&B?xyR`k_!(nk;M*Q%vdG$+Jgc||Zeon*nW&YAd
zMZDk9;clHJeL5%?VbG7)7>p;Ra`!mvlU<<9;EVF$OP{5gD{eoS?aqO1x4Q#P^atRd
zN(;Kb`(ky7U1xN#7sN6hnFDZRv)&1ONZ4VUA*sD3z-@+T41OH+3@v}GFTV4jj%kyr
zmC5Y1v74wCLxpb%?9qo}l(C*Y(q^TKu!y~1I0=N_Sus|(yZdPWs>DJZxBDOmwwBpP
zPB>?Xy>T=4^%&w7B^_O?X&FVY?{FXTvqWczwl1BD7x63Fx{Gd98h>+OYXuy#-TjW&
z>z#CuOcUK)(Y{?skTld9@KbhL0X$iSKe$6EvnV{kJTBY${EjQuzN{+|#YSf8yEm@G
zSsr%13I&4^(HDpAt?2uU1?Qd<dKyowQ2c$@kCxi(fb*R#8W+n-a5lY-<G)RzXo7O)
zLZ+!e8F9KdmPp&i*L8bd1+v2Ir!S@dxN(<cDuU8?0P}Ybk3Yh<&T?(Chq<jarS^D@
z2W!V)kLrPOu?X+e=M_&Og#>;x8HRuC$8x|eUsC)AelI;e&;{UQnC(5*9AMH<oXiM!
zaQold{+Y)>o!K%ufuIv3ZFb?YLQC!kyH^z4khOy;Tl_ms%@6C7rpsR{g?SM%v$L^W
z+!9S&E*bJ*tz8L-NhjX=9poCqppsZdLJAu@gpgVjGwSPGAxW)-4Q^XZ0fRhoK@1US
z)QlF`)-pSMcJwwP&mP-bgo3V`hDkpVxS5wM($_2=(oJZ7b^fwatYUlfl0=Y1IXV|_
zGItDaXb4%O{bzX%>;}Gy6lDBcljBr>!~X3wyb^Jc<WE^77)o9d<^)GEM|W3KjI7l~
z12JqI94)1Ug+_|#@qUWh_<0vJiw2}1{QSoFL8PP)s@4ff!IsOe$YcDhNc|)qI}l~v
zY|OwX(014aE5I>g^DT|Fk({@u0O5M2tcIrhk^GM(-ogbTC;zd)$r{o4wh4|Tv^%r6
z#!?%9Z;!S8;i_qDi0taFfF-mcIR@(|K=@7XUpkfmBJ`?<e!um&D^_wqqG0@jQ9?-%
zCS0q1c0yY3jxXs5RDzoah4|NGH|I!N2YEV?x;U(nokf^Qe=KJB6_=6mV$QL%c*8MY
z<-W_*S(kwJu1T12JW=1ptXB2IrkRIHUz2_fcEE<R4~rTVNAUU9;IwO!=9!ine|9Oe
zhFm3>*Eo0%)9Ot;Ds<8SOMXXHP0gImfy60M9`?oEL58y@S&e(vHNRr2nc^74N?V7|
zINK^T)|x{i75rXv3M2Zxl=MbP#!v+!9@;xT)-SVLrGzwx7aQPfEP`Sbrj>-D>@Hx*
zhX!k=MZJiJB!Y!OCd5~<C+%f{s~|pZZGT8}(?Bvq_r@F*AOIk}a#flLS}l_8+$54(
z0v9Vj{6Q~3bM;+YWbT_56lpTa43Qkc^?tXuY)F?ktp*ERpUqTG6)Z7mwvK+@zEI9&
z`}wp2vC;Yc{l*vJEa`0XkC+sf4x&#Dbv*aLr`0xXn-b5D+npgNj+OcbI<R78vKy?l
zrv-xEK!~EEwuw#Pya9aJ&-q^45qKW%yiJNN%?0h<nNvjfPzi<azf|0T@j`azTS*lS
z`c8QH?S2+|4@_`!Kb$2)=~tEk78zgfszpJIdh@w1N2@El^W6(fYUjj}{dwhu0)%Hy
zQ-7;m>)_8Y@|$C84*w1W*HTa$ZQ4;8=^E|O%~R4ULlZu6i~Xa1TzF-IdgGB-qfR;a
zBt|@9Md8#{rBdcW00sh=F(oXRXC`nyN$56A&Q2WqXAZY`$VZogv!!gHwGjn5$L<NH
z$~iB;HzG5d=MI~r-qv~M@0K)RxZXS5_ET{~=}kgZ{@LGs8Oy2t9^eQ~-;-HzyOE!@
zU>LM)o|{&j;>S?r=Q}#)k6Tr-%#R+ZJ*0O1*Bd}kBhf%?mwZ*T!dDf151-yid|89`
zVZCc%=k}sj^q~3J!!|_m0DQo?%eWbz*Lfm9#*K6Pi#yAa?2|j)GHR?8w1;4=N-hrY
z3uDlOEbIFX%B{xnw``)XVA?MrS~F`BQ>lTdWGS>Q?v~mg*kKj&4Qc|2-Ck2Sq>C7W
zVNQt>WqJ|eiS7n{XqdE2*vk*A*D{w@s}-B<y*@NInq16R2#6Ly$EP>m#=a%@^dMyI
zJG_N!_+B+njqZxY?cyTD5?O5w<&Ou)bh>+fxn{1yK3R_~+hQJ5gJB~a)(A&>6H9d}
zG4$i=Qn-l+&TP&Q>e14b2gGY@xV4Q0<1LisujQ4?<K1jQXzTQj$8P?^EDnz$@{)18
zuv=R<*+YU)EHYZ|_??HWWY$8Jsdkx%+PyXy$3>Ah!kX*&Dx2gJUS3xqktTxx-(g5E
z&t{~i<%ce%+6wZNtT){)H=ye!O}v|bJzzomj<=x6fOlyJ6#z#QZd?RlI)I}PfW{Ov
zf(>lm5~vhwHqCBR3A9l3)%o$bD)<}G@{D_Gr<Q5Qlc(<gj>_6*(h+5sxt$k&_v`7E
zmO$oMyslv@QXc&<lcXR19OBS-7M-QD$I}BqnF^m^f%)J#j^csxjeN4EeXy4|mRyUM
z<tB(&@hj99G+H3Fl9$9tcca<u!PUhPqtfZ~T_Zv^{tmFx><DY!9&<z?pcwf~iRtf+
zasS4~@DaHxqMD!zCU3e_tN!-O^9AO}J@W8oOGB_e)X$&tP0TV;Qr0DRt<)VHlSf_e
z0N`opqe=59QL8eCTPZw~ScN#6x#$e`)k($wW!iu+U-DM!4=NY1J@oU!%;YncZy95p
zp3|Rc`&x`NY|EsMU-o$6G>aQSL%dQCRAB{;`U>8b;5#55naZ6K*RsPy`-*_8DA|Mg
z>s1(WyuY^Zo$**cX_h0lA^3mKda{u@m9)%1UFP-K7QtnJ4R2OjWpP2vN50%Az`$t4
z0Y%nn-e5PNG;z`BBKIA1?d^Rx18}DoiA7GtH8B6cyuVO$*Qwdg#)8=K&&jajt72*Q
z>OT+~qtLIjb0cEq%Y~!!)SH*;$7CpcsS_<{p|#pG?^$_K){ZvfZDk;a;V|##RUg91
zg8buirjrP^bsw>%f_asG%K@0s*_lhHFLo~mSX7{G?8jv0i4r-bcct88yqyI>_5M+4
zFQB5e<?Cj3P_K1wE=Ek_w~)j;^fFLojh|uqj8CDvs8my|9=k;PvO&w8u2ty87#}Q9
zZ&e#2vJ4KOMWzYgzAO0m?mqB&9zh_Xq6nxXpQmGGEnIc@x^VGWemvuWL*F6rG~IeB
zr|RGOYX{f&?9R)HZjq3VFog~R&!-MOdBlCLHK^q4cKFwZGO}Ae-tTciI}Ca64c(xY
zQdF5-)^m1W!l-*CwK`u{`1CWa7f`|~xiUcBPu$PnY>|7jRX)viWT(ZL>_KD(rFM?M
zmU&eH>$`B=U6fElyc(mt-@smc@DL6v5?^*HZODG(OA5P*Inv0d2H1Xb@K$Ddao2{l
zV5F6=>l>ckhMC*ZVewyXxf+_Jgoct1+q@`ErCu&tq0f&^=uG?de}`O!dI}UROBI2^
zdm~S$K8USWAB`VoGasJ9kH!1654?ynZ}o}oYMC8;(+%x|@+X`RHpA5XEw3dNI0b@9
z_+km2N{RQ!7uO0w$*Cq*?H!QJ0%BPM{$7J}SDekQ0)npaC~a+VWv)m{nW+-Rry8;}
z@y_lk8tb2<Zb3gMw<NjSS||W1->+NV3gW#D2>0$Umji&G>YqL=CEhiSkYYMsZ%@3#
zm*Mz-q8(XrQVpjPSJ9^dkLc*hw9HsGA?AtibH-b5XBX8^P%$S0>`QQ>KDHhbKo!53
zPaz>^5BLE+5|#&ULdh1gWcvNf$)THY!hOd6Edh(azCA?aQQLcx=e5@y6(7$kXA{FI
zFa9JP2~?aLd`px$C;)SJPrrdjd8L-xtPXH)$P5MHYKgK3iNHLS63RbZcnEr7(XgDr
zKY6EJC4e`}Rk7usQ$JC7Y_E9u9rY)&RJW#z3F#j+Jbr9erfPfmrFIxA^i02sNjkA{
z7h?2fElc6&_9!(^!eL`p`+IiP_U+ZQ$`8mQpV$*=;QNgNHIR(0k9gHw94y?OBO*3H
z^rAqBoPu*8%C$h<c8_nE+GfE8GR^Te=}fr!@BSFneQuR+ezvp+*d)h?2A6N%HQo=0
z*8?ekl7i-G$L?}~IMdfbjbSwEx=&a#HsGws18O!cJ&5tiJh}2%->eB--=Pq?k}Zas
z(mz0t&N`-=;tAdW20;10gt^$}3JB=zxQEAr4$R#8HanC3nV5CisQK!ZRSXyV(SOdg
zP)>BsMkY>ipqy!?`9DMPA31os7}ndPxxf2tpW&ej3N32J?fb_8HG<cAFRa)MjTGkY
zI!k_cb666TEuCn-x%z4Q`Hk{RuE&TutstW!8&XW?<i5e`gdHqfB=9A@?JJ(E6^5z)
z^Z|&P*X8bULkle~X_5eVLf^wjRp?b9^nNdebAJDL4HfKl^dRdv{to>+82>mKQHazK
za!$mzr(9LP<F6T=Z6R?18f?9qn=1u8$FwcC|9d!{-Fa@&TscD?scd5Dg=Jch$?b_E
z5py-@5eMVo1N5pBEFeDf)O+yqwneQD9A*98ibLG%PNWDAx#oO&+_glv*A;v|AL+xq
z!Y;TN56d;H*)M3RG2tLj#lM*rHLn-KgO9b@h{FM^%jXBlwbHGjfg3D!9NED<h1Z=t
z8)ml6x%GT6BuyVb%4YzT@Mz&Jhy3Auu`SbSK`lZpa7p9?i!H+q#fz}h!<!i=X4_d}
zgRR6;{tThe=XF#Od3r!qxsqSK*W*5{>mA6FoO%|2{h{(y3wMcm+L@?g+qZ!6qjOsK
z>%qSu4YNU~{tBb_cND@XxLGd55QIW8u+A}P3VmHC5FjUBgIUH?qC~x&wCoO41?z9D
zrg6PWv%H=I@5T-`#P}!Z-L&U7)oj*@lOtV;nW=A13Ci_gv|E0+4zrPG4VU86K!&w<
zo<Wnp_?>K{oEpC!M|hOHF@x(u?(|Z{xO4J0*x`foePq8H_*>&babr++!l(1&>32E!
zPh<@{OWb~(VL;X+<xr$R<0sDk^j2iPaG4w(p@$Q?rp*v&PWl#}GK%BG`2JiS_8K>;
zh&=6=N}AzNCrIQ`1h%;&0`gMJIJqVqz)~yauprglO>ud>Fb4TYbg;|_!zE>&j78Q?
zb3d}wc%}{3UDO9AZeD&-Lz-vU5|kKX=#P5<!D>;%d8d=t*Vqo3$gPIh&YXE`Kv`tF
zb!3P4hQa7bUc$M`|2D_oeY<(Of!ERJm@u1AQ4V2(jW40mD7AguDIb@2>{7pElTYbq
zr2>Bt3Sc&y6X-b2MdTb2rhCv9X}?Mr>Z%EuaF}`{C8Tcq3N9$)P@+cd^SI#Uyy>A)
zVq&so_2@RPc5<pwgE)WAUZvm?`m)_&>G+p>y)^HgO_A0;zW3?qto}tCIF^s`Z<6UR
za-j|fSkMx`!=Sy);0$T@P4*0}6NQmivOSBSLKbCw405IB@+;?Z3rk8=v~i#GDd|~M
zTY`cby|`0V-ZS{FDjAm8tV6_c?A%`Dh6};;ed`;b0HAv5pkJUPFCB{wD2L^pqM~&e
zV1vw>D9j_FQdP|qmd1$dU6mWb&3gL~KerBQg0zJ^0{Jb=?6c{fH1+4LUuhbJSi>YB
zC5UPcOyKI85k;0!3E`QzX5W`7H@eU3qPDz-kmu6`FwK+gLSg=P|J1i$v_^IYeE4=c
z&8|J(ATOG>7dy<;t`rA1sh~>-YwBGCL{ejyqEem?CoWoI|MwPkn=?9_I_;Tnd};;4
z^m$zNvAxc_Z%MeiVjdOANIMYDCi1P`uFxuFX@r@B*G$m1wZ#!wq9X+d7nw3NO4x+r
zU?@&tC#C^9sksF<>j@I(bxxHlAn`EchY2l->)k_%Hi(r=D$77PMLYmnHI7A06wCoz
zv=>J5vnorG&xqkX-Y!ecY6u4C=$@ZD^)SR;?!M64<cReT2#Ky5z}3FDo%@!RaRJ51
z24myzE3uUpAZ+xZ%R@~w9i5`J<`khMEliHV^PZPe>EB}Af2fMU(gQq0>+)YMdqBHl
z1wX>`UBL-y-be+L8yVIlB(PlJW${P8bwRga?Ys7u=n{)HqW+uvs@FPhg&<+Ru#RIg
zEWo^~m2uNH>3P)?w$jVAzV;0SQDaj1o;-EKF9tcmjDSg>-QWC4KxJSQrt(GOqN)SR
zX}cDbQ0-_nZrk+e6m9tdA*x_s{((_&DD6-~-(blIzn0|N;PR-(J1VjwN5O^{Sq!{C
zM5(aQDUkkn;hiQO_GJPilXIF)4(I3M;+$@`v60hHyI+bpkE~NDlC8n4($b(aH*b-a
zoi@O64J+C2FL#?<DxY7yAIJXg&96mW3G}+|a7(c<-ZQ8A=gmn21)Hi%M7vWx&SOqd
zz&5IPxro~Qy{CJLhGR(6^zrG%jasNr-snY7qKGPRxv)g&V=I`ZFX%nY9h>(!$sI%{
z2_D?oIum0$A2F$AJ>PM3%37IwxK;kvoBg89lDYxe-vhC~oTF5ymvq{B{Kj0_Vh*uZ
zPZuEEZ4CWK$2w7+v__yXP2dKHrNmv2Og%*O)oHZuH54VMmNP8202puslo_lq+%AQ_
zfDX%*lU|N~kXg$PQKzfd#6G!@KCSup32$qqoo`J}-GhqxxkS>h%;S9fF!bsyI&J%f
z74pR&X?F=~QZ`<$U&(yrN631VUdhe^0^JjnjG9a)K|2BRG@+9eods1tx|0L?2p6Zq
zc&lv>E;(+-Xf&h)X0c4VNo;IKwYpBu)m#6bS(ZuAE{Zh`UXaA+8@@7c3ySjtB-b0m
z!UpqeJaabv&Y6DGuEXHLv|#TtsMvujkz;ceoQMrqYmceLxf@LxYo{I@-M8}!_IEhG
zYf4Z-1*=i>j_#y)tb-6U@Dz|?o>`-|wP~Pq&1hIdLI%`%=PN_MleGr(T1U`9Uyokl
zSfzT>Etm@}mF6hmlK$Iyy*myzt$tS(PkRTNeXTw91~t#L6kO|Tg#cf{fmcNMXI}G^
z#k)1SXaN32Js9uU)(jz;0w5T`_)aTuo2}oj@$7{7_)ZO9902i88nWl|_fSDD>gq?t
z(||!ge6iLJTeu+v*-kXCd68np176jh#ZYkHUmcxlUlVc8vGA+I5qTK|%h!V}`E;7;
z?<qdV*(uS>;irzAZDJ;Ty+Jfugg66{GtbL6@~Ag3>-!e{&{%>BUcE#{;YqyP;lWjh
z6~I<Ub^NVM!)|FziyngSR@<>Nu{8pHgmI&P&h1Bmk0UIG!-KMH5N|?hr5g1v%RX{X
z69wv@>th-k_ub7R`j&g_U8o8zcjsgDjIlb#DO^p&$4p~zUM(bT1!y>zwfo!uicyx7
z6-f$C<Sw@uBSD`BNG$Cah6G!z9L4j5_~2qd)cpD&b9sSJXMqJi#gFO!Nzt{hO+*|H
zYTMpregtc?<*}3F1x1HsL%yUs+;b*hAA(OgJ7>+2xabw5FIohDFaCyy(VIqud(nP&
zkx9?|OZOAFPS*@LAME3a$4kH6>kVuYDhK^q9P+@46i)7-IjF_J?bgS7>mKsjaZRRs
z=D2GG^i9T!d0C}tYOK0lXXwe#$$b6g{r6Pr-f8ij?7qDDJ#co%jh9}Szf;2WLpnQe
zvJmWxQll41owL$kYwKwhN^&LI{+`rtG~|HetecJX9cn_2^P?~9B#&H+e>%69dR7jz
zD~@W~dujpptFD_^{}B=ozs$=tV4Wli0f|0Nk3iOV2ieR+xss3HFN<+})6=~iE+d3+
zSRu9478o?Xx%gLso8O1ldm{beahaq|$Z#ry0Kev{fQs;sO2XXU>+Iz2Pb-jHf5F;j
z6sp0vXCRFBOW#a2{yo^u>34j52y9ZEuPkGh42{;b_c2X-d8Aq>LttnoVK=f1aSqJu
zyDH4b2mBZCXf}e~JDOS?&>h*pL0bHjI&CdhKc1~qZ1_0Zuh^>|E``Kt@hGpjX+0JK
zN~W^A@=?_1b3w86OYBwNzk|bDqvtD$bV5C6q~bzHz}K)YU%loOC?iN_t~WGQl|^{z
zARPv&AC=9N#T9--6xrcEr<H|cDuIg@`RBQwzdY9#@;2s8U=pF*&2jZH-kz;?2fW*p
zt{VxZXmL|ohaEq$%0qMA!+D?-tx+v4)qJ+*p6M{EP%=W)-*c)`PGPgjdf{gNEQ40C
z89U|Reltr;O%d2uZoq`i$S+@8REs1G;a7;z&}lk~S^KtLxG$9JR#w=0+_SSI2wa|6
z5uyEB03MvAH)4(#fhjFwv{4XjIY1Ta)``=%52W!%xO0#JIOF(PWCG$4j!933)0$I!
zSM}73JNVE)wfO}>88Ie}{@7oFWN|$Q<s8#o>%2{7PWJ#2oXh(Pcb2zQRd4k#8-4G}
zmm@`LE~BhLB8aU^ZqAoF$lyHu`xTiqK5M7`0315(Me9dO3%j-QMUk28C|J^3{8Qsv
zP87g|0sp@*Ck|G6k>}BW7M~!Ra447FsJ-v2wIh&NqqHmrE|uOpL5=m2_L#HXz~>yK
z=o3E6(w&bD_a1nCoTE9p1wBm*O;R?wvnof7juaQv&97pHxVs>4e5YTBd{qX`RJ?Ll
z79$|#k?ics7l!<vuPM>L(8v6g2Qm4K0_X#Ox{ev#n^8V#^{Y%9i+<8>10DvfQh+D2
z;tqD2CY5?-U@uH);^g$2!J2$)&aH0gvkLrxQxXJxU!7t1i0!^BZdLnqafDr4gT4`?
zzbNt;C2>xtz})<TBxPx?sdffY=KcwNyR8zJT54#f3zFxs_NGDC(oqW8*-EEtdJ&p!
zH8Q_O8mz=xL$W)d`p6}n?E@K7?DlL&-!^MNGV7z!s`T=kcCz8|NmPHa@zn&pIfaUw
z6nJWCp0Tp(W3{Ex>a{&p-%M;$^ht*)GrQ|ub1GuzOhD;{{AgeG=;k!lALR7De7MA`
z<Nr>C*1tDrt7d1%MQG#uPXT96`p%l79@A@jZCY+ud=MM$-s7AeFHtCW7U+|SMf|UK
z)br@TsP#9D$|-fc0q;ZUw~kzLpY9VU4!K@?Igv-0J%;naN~?xV+~gRz*pVd2!XyOS
zUqz}eu*T6JSr(>!G6fEyc3f6q%|2E_Bll^G=Iwr$a)fukM)AvUh<AcdKlt^;NrjwW
z7{Lbj*;;Z?IEs|M-(0x|1Lp`KMPqzmFab%QyAhllS26-h5`Ly8v3X(W43)8w7i<xq
ztd<u=y>(aeG*J4KaUr@GJ~w(Vqmw42O^MT6A;4s)RY0wOKcTVvc>(E8!_6z~Z;X+9
zrh+SV1z89Re5^KLZ@;%br?Mxo*M;_BF6QksGC2JFcR45*PJ7#}Nap3L=af`G;fjhd
z*AqsN6gs|^od-WXJ$`9f%72%GC2LW>Krd00)QZ@!)_Id`_38RrLX77)?6_Ez^o6=P
zl1m6<%n?`n+>oRNGM`O<Xq-XEFLa#b4Ye}x_kVBTCjA6wvFF8|E_}iNsFfIegx*KI
zSdJsgDqi41W{o>Mo31EmV;zrtHVWSBp^7rsz6$`~Z?uG_-HTcvYg@3OxH%$Zi1e><
zC4@5Sjf)~wG6uE-vUZ)JL<N-(V^6G9sC3R_xYdLoRm^g`f9{X>0G}vM4XpTu+CASI
zNjOY@Nwsi?CMTTVk8p-EMV%Z0_Iau?tq?uiSRI3n$uRC#U`D)Mqa~x3%NGD^3}ka3
z-@L&ha5K8fHi==3uFs*I5IwVz{!V1)Npv@!P3ZFyRma+B>@c2qnUeuSDt=%f;L}b}
z=s-}Jre4VNLU6}oFQNxu|1eUFgF!nuEZqEfIt6HwA<-!o`d&O?1J(`2r!A2F*iM8$
ztC73^^`oxvBu}<mq{{)9vy-u9^ClZvQoU+-T(R|L+w41GBHoRo<gx=sj<}-GbqJ7F
zJ;x1I2*1L}smKR#g*=HJpIOengI&(OF}(IUXt8GX8AKx@<V(FOB`RB3&CEJ3G1lqi
zIT|%}*$O6yG!Wv@eZEcu>@so^G_w{&_+vd<plf|av#Ts;S}AGpWB5Nd8W8alt6J&z
ztf;4>xz^1pmzr;C#$*HlirFT$3VM0d5ZJ-Y))I|QdmrgdL=TSz3dc~zTH&$rr36H&
zz}~isfs-uQE9SC=5RLXQCR@qhGf~nIeff>4sl?_lKVX1W@1St5z8`gm5Pm(kCQ4?v
zQVFC%BX2T^V0ax7PRHu|We(Ae08l`$zlz0y3DOiremtFdhNYs~ea8dOh`A;JGNYq$
zL*nDs#P5z>BcxMOTKQnYmo=bNH=NRDY4gEH<c9?O{{CJ7X9+b$`uqcP0_C1QnEt-d
zK8X|9wKLz=&O?jFUXQEs4(!&bnKGB9b?p%_>Aw5t_3txEQLP<REr$4J)GT=-GrS2c
z_YR%6*|I|SKBt;6@>F1%z9uAld9pWeEMIJhbk(em_%!FW&c)I2it3A#d2js&`dU4d
zZeJCOO*9muRO6}Cx>3I_rn))PqV6uaM_Wsxuj8OH^=wR$w;9tF0c%uTtyZ04HR>M6
zu=TJyWZrZ__VRi0N2qT2uxx1?<creceO_TK1-Zb|lO6Jza3J(mavu5k<M==+ElE*C
zw~J(I7sSg(p7t5`hXYFdtS9j^pKYe7fdA=V-9h8FIk(;#wPIFg#;75I98kb}2OB9U
zJgBlgybXIgm)0ffPxZU#{(8N3x~cH85QGt9ak2FYDHT>-?u1yp6_xsBR7y1KP=&0b
zVMMOkmRC6wEPeR83Jt}VzYhA`^+DKm(16VLvHgZ80baTT7&Rr?hfTDIi3WDj)NX!$
zJ$mSF!OHtGea|9Uwln+g8FRtH*Uz2%^CJglGnosNXX|i4J9{e2*tGz0#M05Yy-9{b
zRj42&-kmpj78Hr`*x=tTtuX99gQC?QlNZyg7}$_AWd0j9bosIKQ-5&SZ<VR{YHHB#
zG(2uvvKKn9T&_Ib__w0ZWs22`!`R_%KE9FzJbFMiQJ-n}RW|c>Ro2BbL<o8}U^Mu;
zT#lm$9)=iM`#<6Dy4o4X6%Dw#mnooaKyp>5PV+^J@MU#sW!h8trKUzQ1WW+Rgv|}B
z>(C?fj6U?a{s9jDfqTEU`|%+}ZEJIpX3Co?loz_&jS&!rB{_M3T1d}=iQSu2HjmW2
z@Ft~xQRBoWqyF7Dzb=CQ<SpQGW+>uhOjkfZeW&H6w(sgudvxla@vt&}^0}D93bOVF
z8v-K_$W^nVl!2Oh-VlmWlal$RX%IxwlzI%j$78qh4fDOgA27-eUnPu%UNcqYvY)!e
zL6c|}->(}nMvCSx?~N2^IxgAJOOT!(1bITb0`2EUNEv`2LY3tx15^quE!{Vf`%{zK
z-)*6wd_KI!s^q5)C&!$_W^=AiSKtw!O@mbX$s)S0S76+nOrI26fHt$kPJgn($Rc^!
z8OeUqh^C{#FoG&v))vy9aRA2;0PqM+627L9Lv@XMQFY+8P;*iwwM&S|@b_o~sx8e&
z(dfwKf!c$s=xhudF4d2#D?L)oTBNo>)z2Gw5}Pp{FqSZsg+e$zc~PX#DZZT{UrD^h
z?DC^58X7MBA_Y+oipXU`3^%5pgD;&B=jv6dh{U{0rcLz4U#9|63NZatzE0}tJHNC1
z=FFZ0j+OAxn*KXgz$03<r0_Lvr|r~E?`+bx&0<}GL|DPX$m7gbs*nw<ZCBh8fLg6D
zGjiN6r4L2^Yk=oEsDUK0mjc-<qsXYkkloxHrJwc^b>&JUHzKDAv17Z(8(^A};zbFb
zwy#C1qlsMy#b-wn$EL|}_@K&7G}iB8P!KgPps9T^9^e7d(y*Pnyf>sLFx5w0X@^n2
zG{=*$I;Kf>rg-OlT>{gZBj%Ma?j&Xm*h5*rV-?jH5EOk2U|0Hqzix(o0=zEXDf63`
z&Uhx$&3wCP>^zr2;D&*ypTKV#JvV>QylgREPJaLlzmdE2NR1YL#M52}`_2uQs;7h@
zfKaUN%{1FcF3@Rp6)A0JG!>0aQt(#gbt5|ZF%lP9qgrrpV&X?p-{_F(BxKCy9j*kP
zj#?F1blGEHtBw3n{6Y>DdMq*UH1U{Fb~iDgh^qnik*EUf%S>Ut<aXG;u?%*pr$aOt
zR0{rGc@77MG>ClWLkUT|FzGHBxbZ`|3T2EE8aNQVNq>6o-}DX}s5o+a$|H1C3a~Ey
z`)HY>`GCSH#+@Yc2uZex@TIo_`<h5#n`AhW{eiVmA1!Wt2mt$cH-a^gtP*;#yAKU`
zZi<{{J**uR{oxe0p_Wso`$3#5m-1vJkRvyQJEXP9qZK5m?$aN-aNADfl-IBTjT<#s
z;%m0vYp7DvsK3^f=N+ZAOVVe$C#W50WGu+@ZUta3FGPLjqW4^=M)NZDp_6Dhq}0)1
zN*VgHG=2TsUZ4(KWWlkal>CCtGjT<L@eoaXcCo?pKu16>hLeu+*b7NmYJ?nm%bC%;
z?|!29u%AZO0jAsK9HMtv>dU?9-uNZ2fut)huLeog+3}<fuRv9Ng`^~N8jfLu40{#;
zaT;)3^(nWGG!5(T6UR<7t!EYUH0DIuf4Ba57a5VP3JY<ibGvtHkUcki9$a(blj@?A
zqA7eztJ*&t*c(sEaq189yngqKzJy~$xWpKsBB-yEZ+={ubO9AxERmk|P$K!{;E?Uz
z65AWlecoZN_pgRw>Vae&<?cAZd=*-Q7WJk$_knUZs<Y9PE3^$2yKj_2+7U`LY}L|7
z+LSad?0P5eWAhV17+bGj0TAW^)eS2`u<rt@y42weZB;n9uqsYwd$PjzPI4Xg0zJJ?
ztUD#oizE61RW>o=(D$kyVFZv$;O)@yGqV9n^7qDK|AXA`Jb%IpU1#+N;2Q;VDdUv)
zL}jy6_58LTx_CCHg5WI7Z60j=4&~xm*T(wXyb{x*e@!+ngypw}YyOJjWeo8l$5*Q1
zFK=-w`BW^uzz<1>pGdSau_SR^QlUhV$MoCW3HP+3D_|UDky<5l$D2cT$C8O^x!<St
z{XWazRx9y$3vXuY*)=FFwA=wOJn*z^ep0G`kq|<LnJ)%?S8^r%O^$F!8k|oqf<hS)
zR2Y`3A3SqoklU~$_wV6#!Ey60<Kr75S}WF%Zs*^NhPc}wLX62667-1ndiONW%bbg@
z@iVex(YSPT;Nm9L2ILCH>yAJ~`5=hPSLWnvV7u+t;C*hZYcK9{Smj3_%16glSEy4H
zrp01@Q%@<1Q1GE^Xb;fMrP<;OzPNAD)3oe)WV9$_6@`J$8C%zYO@}Qdq#?r5`q_Z}
z=|?4`j|EljBF?})NtZUOUMg)ACC}#KjLvWNWC!nAUt0ZuJa~z+4!uQB2fLNO;7<d0
zY$cn%WQkm+0pqsbG#-sK=NdSHib_!0xLwA$L(W?xPQl(5MM~nU#347B@W_Jt8RLqp
z=nWB#vl#IRFW%SR{WS%8`gxdhzYGU3FZp=rS|hFy3q+3=d>FYO&bk?}q@+V1%ma^l
z`?Tb6wcOwRn&yp&e8+<kb@y&BvM5dnF~mu#ys|MbhSbs1n&GEPP;@-Qm^02j>%AID
z%(FSYQ1o9kEuN_h%Fpspq*)TDW2M$^?ca`S_Ooeu%k1~Z0m&m1M{E_A50gVkMa?Q|
zg4CXjWjp2<p1(V?5n|ms+XG>O9Be%xj#u2&A_H6v+)Flon|$TMbVMX=&eJ`iF}eEF
zu@ib8{wALlPTZWXK<JP^s3ZlesNO8X84@P~ysBtj_li-u|4gwb47z+<6=3KE6AMkI
zhYDhZ0H!1;5US-sYL;+_n0)z_=i1?&J&*P!Suus#sdD9Zjm(ZCjJ6Kym-{JGSqnHV
zdm~pb@Jh9@Q!_q{q%Qnzm;9zeGU9=OlZDn6AoE+#H{olVKwsXXP1_X&>16$&L^9FP
z|2{MDQkB?&ZTGPsdNY|*8FY>GqA`5&GdazjVuN7Z@u{<GQWZs@D6$;W@uRO+L}u2E
zGd}HRPueHlg7$zsW_;QW01vq5&aIoOUvlJeRLiY-P7Sy5@a=up6o9GTLEE^Oukz?T
zO-bFd!5^4C^P{XEwdmM(aGp`k{nPg%KO#W(p^9XU@fhEJi}svdPV=)3M_;(vDlc?Z
z;BN820o5QFD5o!-i%y4gNk!993x-B%JAWNiK(?+2;_Vxs@d;;m-B!;2iH@P-Gnh8?
zyxMgjVw&Ihca9<fN^<J-Emrd4b0O-dLek!dABrG7NK_ge9j2RTo9lc6kL0uwGCT%{
ziajrJaCh10*22bC$73|0hm5xrM(_AmpwHi@(a@DL^-RyRh+~4AjC-4zy$4H8%FoV3
zJ~+9q;_K=KvL=p*t`N90Ku-(v9=$lW<U?21y7@$F&zWOyn!X?Oq|5PZJ7OXXt4SnH
zS1FRB>f>S$-)3sMaDJnTUf{nae8JcD@!o1p17{OS)rI+Z05}zpwS$B<l{Q>pE<A}U
zsW#*UH{N0)FskElI@eA;{Z=Ibx3pm|gDlp4E9TFNrEi;is(ZtQ18}_xp?J2RI4`1T
zcppXXAidlgBJorjm!%QpT6;~a%~Tsm1td}cC2d8g#~u@S#ZdDZXbSm^&Hdo|_I<mK
zAKFj$sKXH=fNfb2nQtnoU=jC)(MtFvYrf@|p7c|l*4<u5@AglNZ*oicDcU!_Qh-2W
z2IV~I?;DJ0(0<s@Ug0%g9#iK*M?+vR(`hd&kn427IMj(IA|TZO!+<h^Hq2ujR}UcI
zS{fINSMi=3)k%X0DA1<o!_fBx*F<_29cv0myBKPaMc&>?TD!mtad>$1HWCY>KweA+
z-AJ%Gp~WRt=98PEK$Qz%3d>I)eQ_R$9{-2Tw~gy&uq-`dSPO-hZg&2Cq_$=9-`P2V
z6$yjrU)UB$>l?)(nGFOaY~K~I8n5@Q@amV}SPoGFbH+L67r_R2b&Q_RzAn;R2sN6M
z#<p2d{;YHOIm;G&%#CT%6m#`=6U@etuq2ArATB;4SLO7JBb@wVp!d}F{N3nfLw%z4
zKPr;K1GZ;hj?LyXeT~GLxwK6<W&zP@A|VgFXUL;)&LHO+|Em2RPGnffzxZ<u@f`y0
zq>I%S(a(_#$zg`I2Rm;6>=rXq0x2KOn#uV*+*2@uzedLQ{!oJxqr8FH37@feu|G2<
zHyQ7kZNiIZY8|)a^`mBJg4G0=-ao+2OLr_S(%3v$`HONu6{b{2T-2kHdij0h$#G94
z77UI#Bpv+v!c6H9;xxf#lt7Sv5VbCk9Z$*&*vcCWOKO$WJvhB0CQQjlB?d~iu>B}1
zI@VA0BF<zC+R@v+g)=45$Ek-6Tg-Pyt<|-P!Q`_k$3tFJl57U14)$P?%2;Q3${232
zx_chtvUzn=0j8kh#5bIxF^6Xa%Nj+K2FK4&S-y}dSz$wtZWpZ;?Z>IjKC(o&#m?F%
za+}d5D3#xZarCcaYFXhmz1~sPMAaH}g@))YUj$v;!^J)x(xYseE>iKqCg=OA1cV;S
zzQ!S;2E8#S)A|iwCNx!Ce>^WyR*58#!PuNSf!fJWK073SKA-Z#cl^(@LTtmAt%;{a
zY+V6*&JW9p$J+;}e3?ZT%T8Ow#pGm<)G9FMSy*&wN)OHlc3HX3mC#eUcO&5q(P$4*
z@AH?!+1tT@jex|#M?S_c^@HO{fLc^-2)*EbwvV4&l<YP=lK`_(e7Ho<6%CQ?DE!ze
z7B>NA)T^B3_)tS3PQygSbl{is=Fk|V<0Kh_kn5e`p7m{9Rl&sah8WUr^5cG4C#}wa
zdd>==qBniSZ}2N5ithx(BO##aFyS&z8wTqe2S%3pQKa{AI1sU6iVvJHwoXiYx8zkn
zgMK%$r*!-i38)i)PBia@a^fO_Yxa5q;VV*1aoV_IM`voh0jqL>H~&7kk<I=Vu=8CI
z#Its;3xE9su`UYCnWLx28mfL;3B`YB4nkARIeno1`a_Qo<AhRLqp~O0FzrCb6+k^7
z^5QhKwwEOYVwcrKy=`z=U4|cT<g$6%zDeO5mNz9!|IQ~3`Gq;umy_rg1170;G;M;~
zz?tan+8Po<o8tx;&inBPdB!1yJbZjPc%$HJ$iC3JsV-)%#JJt~p>Rw`32Ys_)qBO#
zeQu1U(@<2$aV^YoLS9cKlPr?xfrN`s1}xMjq+i;>&0;miEl)}f7FCt8FyBHk_0{%o
zq_Y`5ed&x)ss;WDsPeI`PO}}%sC>#68jZGcgYqlr7ix#NnmBz~n$hP|Zf&&BC$Qjr
zdKFt40>J1eP|gqii;pk(m@=oG$sSi)-k^9J3g#)5XH*z$Lh?2x$mGF7`7m}3Y%%QP
z?&lp@*tEFaXp^N`1wSMy&ceNcpCOvEN$I+<V5ZsFQbztJK8YjwN!JU>@5YL&F}HXK
zFcix#HS?zcv<=v~U1joh@z(SF4uE7|ROY!-gA$;Ki23u;i)D21omn6_3xW>@G6L0{
zjUYPdl(vY13H9&o;BP7BSNqm@^7Y>YCX!goQW%$;?>n1TbX(VQdWop}DgTjl-r9~T
zQ4swg0=x?a2=Bef@ZNjA{&DAJ6U@>@-RD&8LT$F3>e2(EWZW$;Tps2&<n*Hc9G|iW
z_BYho3N>!JTZ}KBhFJ#GF)xHM;JT*Wk?{L)OdqYWju{(^%6ixwqjTu~xH!LKYJSc0
zw%D4SZ{Wel=B-zG2Yld)v0nsR@Geqxz6fCo)qtv?vlV>$^!D7AaV?vnLa&^E%xURn
zQ$xiUn5g+je76xG4^*sAs(B`6`HS?AshxSjL?&MpZitnt_#yfQ^M%Lmb#=E8fQ#QS
zF}?jgH{n@|)B)5bYfPxMSOxSAPW+P$Ry_HpplcbX$YxTXuk(V$bq8q%e_?o>S007(
zNX)~x*%y8}P+dAog5>q&_rc|Ub>&%l@frOX!Z*F2Gnyr}{5z8Zxl9H2CFGIwIJ6d=
zmGN0Xr6Jnp3C}?)+u^-?J(z5@=O|mCH&V{l-LPxTJ%Ql|RuT=5f`%RCLujLa>omJp
z@cMRLsz`?s_N7z<E6nBoPWh|c$t9QX?9(9D?TPq|3iUo42rl(oE*KFX+8y(n0ZY8W
zV4q#gU$w&)NO$~#Qb7tck{`#okRig|?Kb-kF#<(m@O}-NUI-9z{(4Ttl%vU`xqiM|
zh9P-IbLBfpK@AgwXC1Am9j!YD>Xei~D+lnQzYh@!(AyhS0l%!$qL6<CFZaRimV1&|
zbpb1yv^I_{py+5eaEcQe)2auspcmQ7U%#PpYF2D=4+Ht(q3eD`o~=rnMFICK$v{j5
zjJ_a$oXj9SZ&1}!2Jn));_DIE<-i%;Dw2^M;u2%Q8>i;eK$3b1ZH~$rfqv`AtB7ly
zUaOE8gZc`DdW=OKwZ<sC7UzJ%mZ#j6Q<&Olz&8v<%ko0or*dc`ngjZzpGI6polr`8
zI!J;@i~1Z_6Qcz4I4zL_x5S*Pm&FY_28Gx+08P9io;(zsC@#_%t}9K0lamdOj1Hd+
z%;I#^0psDeA&da!oR{!34(|u0CLXs)=3vTB0hy<gCUFuKyC%H9n<1<r73L&#Dmk^+
z%^}AP8eq2kUGxPzz|zH|6g4MaczV?L;ff>!{gaX(y#}h7=5J!Xn)>vo^o!PUBktzS
z^9gk1(w&i7f=}-39Z}McN#htrU8m?T+rg*%Vk8ob<f=7ow)<M2VFZ;^7wplUC)Co~
zO#5^?t5ob110rY~Zy7f|MAsa!^>vyXv0a+`7WaiWuYNJs-yuzpf5O!&K6iVZI&kGD
z1c@S-TT0YaVFuQ#S3D``?Se)!3Jr*?Euu9;br&LienFix_=4l<Hw(aW&sG`$LFoHJ
z>&r=WaFN8J_WrH>a-DIo1wBm$rdm(eFn_Jd4r2N2S<ctz9_M`93)%gkZKhy4<xh-w
zUhC`MMA7|OaAhoF@{%XH1fSi|wix8H-%48*$*d+A@$V@Zo-B0EltfHp_!e&%g#k&*
zn|?n+uyh)B%2V^}!&K^l`U<8D0u&ks(4SMB&)m$+{g?qp6xQsc0{F0!OK?)t4D?xy
zF88nBl@#|b$!vxI%pGjtPuDS8G4k;|&VDIq#5}8v8z(ImrXdu;L$ON}H#{Pv1C$iW
z=(zjn{mY$iA>Q|$qRBcjyt!(f!{S|vh~i*$jzc6j{tW)z(86IXG4DRLkbs}X1JbKN
z_oMBiL(|2*X;9F73*(3P9LyB8xtpZSgOqhp4>(No&oYl3ZvQToE-G|ZOdDM*Gq-{y
z>fr~x)X#Sx3Zr$qCsBI(LvgjYm^~(@BfbI5Z%@kgP6%c4?C#ZAH@$i#b1ql-jjh3C
zwN_S*tyg=>`hm25{Wx}pV=Wtx8g^>m11;)&pwV|#2PU#wI8-|FDQVxl#6=V2MHmsD
zQ`oxwaag92lA^8RpT)-5Be`QN7y1>R4S>dB78F0rNDHKrzlGop-%$&PHsz;8M83lg
zs4w^afY!5BF**R8vyj|ZhuAqc9ec{Z{qV&>Kc+CcN3epUGIB|+YS7ZO+C9*_Oq0=B
z1IeLv+uqOl+V2!R;W&n;)Zta~#ZW>}nr`8IhJkrOxJHt7nD*ppGtI#_CIhg?#<)}n
ziC1x1%DC5JeGpCM1NsUN<n<&>oVt%bK&TxluSdiBopUuoZfoD$x(4OxW9j?w^hT6H
zoocS^{p=4!xf-8HXLMpDelsZV17qGDcO-7wYZP*z=00vHXYuCnJdH!*JM}O$!eh-`
z*2B;g3MH!(*x&N*gt+TaMk8uDg`xM;2do_%VZHTVT5ymlKVMIViI0bq{gBz0ha(Dc
zd>$JoR@0_tNG)s@a1BVjKVK7K;|iVfcI=ojwm}&JmEYFV8iDv>Z~p)-b9^#n!}SIP
zD5QEUF&%fr&u)34*??dpmsc*G;6<UnP{-?lrhmf*7hWF;#y3o4u{VbWe0k1@ReNN%
zkbCM!ISvLreaUxpMNDIC+yLgYCuz?1OBNW0oz3i%+NoQ|J@JR9c#Og&*21DuZHfM&
zw4g!lIGJOy?`#%wBe;U720kM)Eq$_KRZQW00`wi|QCPP@VnqV$ZZLk&a)5T~94(X-
zBE3h5j1HlmU8gxtd;1NXa4Q|-PH4!8qbU&_HMI&67j^&6onvyNign5_7{ha2<iEaO
z!{+ud?!2})xBKP*ss8rXzxtb45r;*$h62fvhicT2mGwv-l2#VuK619s753fZ@PVH#
zT${TRS>!it;6;TpZE_~J9>blzJ;i(wAXl7>6qu6~l<3>?6Up(<z&!JP{h+^}U;<VW
zKb+|f8rjbwg~-iV^z`Y$E)aBaL?~FpYfF3eBXG(G&w%=+^640l_TS>*r}YiKg&!L-
zI^7Zdmwpl3Y+W24937#wOi3#s(-G*MGcPUvegZi^r<uLYJdo0AQ_wfc)TN&F85*+9
zK673C4&NxDS7;4@h(ph$wl)G3eAZ!VQo$GW#_tu2+=rjJYoe&29E9bp+IWU@84*+%
z9G<f1BrDBnb8x&xd)XgJfE<UzlYg~^;Z$@g-T=)nqi{4oz*&Hz_L}6CWM0U_w$495
z)4TW0PE?WFP?q++s!athirpi0RP4up=aRi}Q)O!Nt^A1!mST_yyt~N}MqVYHqBtdo
zUy~lT!XUyIx4KVqL~rh6Yn*1U@1dVVXk~(n7n9^+C+nje>Z))lqH-GI(EwfAZ~<G;
z46;b%J+N3ApBZWX$LLz9+}<UufA4NrmLr;fTZ#tsA&=|@7|?%9vRg|Z^S);Ne$f;_
zlZm6IslRx|1%X1bMx6Ka`8q#18)3?3QqkxG9`|j8VYiQpKxTVTqR>u#$@HXG`zWtG
z3SY64P{~%395*rMIa&STi9;uHRVFXo?vS0g=a7Aufqk=+{6!(7akntwaqAw-A*>sA
zFhC`6-_H-i8}2Wk1=->aF^q$cHJ+BYl)mNUrC~#kdv*Dji(M%h#l7ASB=u9=u;8Uv
zKSXV(^+bP^AwN^hIAPH`Y@p2PaPT-NQL3PpL|)Z()#5bQNa4F)q-$<>T<6;?V?CKp
zV}O%3;apmu`z(W`hrD|qL27}U5SPfXIQZ4m1fcORY+y9!W6vQtgk)#>GT2j>Ma<#0
zT;r&i>BR*nx_myES3E*6e#LA2vb)`_Pzy$#)T;#11B%xp@r*krv_55%o=nC@y>u(8
zDfblktsvS;|F3gNH}g)-lD8s8<Agl)5)_0ZAzr7y551cGwbrdA5B(c&zCYB*pTDy$
z0sW)3Zv%4~(5zuHLUaD3`QQT*ohqiwjH0NL)qslvAmfv2#91#HKd&9!I=Fbx47_tb
zQ;)5VdwJTqNt!Q|>R&ESWOQ+I;{Drz=7IZ1XO^$VFGGIq%Gi`FXw>Ry^mlhfsGt#;
z7?yl*s&<3@3KkD|;KzDDLVs9mZ_|hXU_Y4!C+fxm<Ar-q_dOq>9&g*F(@VPe<2V}t
zM@+TJgi<@7pvxpder``D{JNW(JJ)99uVJhDGW4O{mni<0;r{m4fo)Md-(WPVC7$cW
zaVFbH5#t%!CrBe;Z{-w$=php+T-7gmarhsK?mnrK^w#p}qBONziQdoTJ38>%o`;=f
zhIfjg*a}g1#U;BPX!NWvSk;BGXb2#iBKgz3ORvMcIigQmV*5-X%z%laI2m<rAX?aX
ze%*9y=aX%4NEK+f3Ur2evH!kVB)HJ)n%jhTXM|hz(>f4<lh(?e?qM11B(t(D)u>7Y
z+Ow3Jq69SSj@B>DhhmVkYM#7s%O_@M5|I$yc}gXaY-!{j+#w+VLg2AW*T3dWbaTq?
zZmhZA77<+`-rsQi^GClkvU+sEa10HR#Ux373prb?trlh};07-?X4-gOKBgh))5@EQ
z3nd4Qd7p(=NFx30zd6|Wxnz#_C*{AeC^W)m?dD~c;NdUdKyOd7Q#1_Jp(lYO_?w)~
zO7nW!H|@?$jV|OnPz}nx-cR~QnSQ&OXhoR>o~%Nsd&$%&%p74O(_Wk}`T(yvF)Z|H
zzIT!^l#jDjh|iqmPb4PSTxLzyqTsj{>eY-o6ze;u@3{8jvhJz5I-%$CB3H}iA^{Wl
z{&{J72x(Cq=Ez((bp)U_FEkP?u5o4ZG=3J093)X2qm=frpSBjc36U`u4TCL`J12wH
z3xKb^wh;+M`bjE)LVgaJAYzVzAv`oUMeWi2P}&x72Om|*d5}8|76LtQA6<m5ct*KC
zs0Y;=PQ>QDJp1@rZ-8xUtVQNG5|xtRp%cp?#v-Cj$fQN8<*3mY<$tWm^VSGVhVo+I
zrb2K@ANAM+u%#Ht8lj6@>}rnTk9M}17qD<Kp-OTg0{#3>*?)HNKs3L+o|oGl959jV
zp;8S)t7$+DwrzX*x2CUjOiaOX+GZ<IO19`Rkkc1?2L2G9!gDa=Xm{3B#pGI3aJ#C)
zK=;j0HgHuI!ek7Y>@?|q2vKs|OeeMO^3Dpt>7O+3P_=BdJAQs3YI<i3e<Nw6Su8|>
z(B{n_)NWZx6QXx|#vw+|X<qI8sd7fIwFT{^3s880kL=EiBEE}^#AybbG4-Onl+j52
zw|8Z#gVI)Qp>cVmTu-JFrBZZ|TwniWOps<zuqyt9CwYS{oDqON<2oRIqyi+DBp=%T
zH^Z>7Kb>?6?h}XKzqf_KU;sJB-^N~|eaA5O69&-l2zWD10VZ2y*YW~K-e#b5pDusW
zR1=z}{y6i>U>?~D$J*Uk@Kx_F&eJNn+pBJcJDcTZwNqV4)OAko%|^#m{A##gh9Q#M
zn(9G>DSzY%;JM6@#(spOOGvw+!Qu44ASFXP|BOwb(l*D<!YujW;ohT*xUrAwzU=xP
zj%#U0GlR0jPx4#%v?v78&dkr~vtX)}K1)TFc5c0CTD@NP88~EAik!z0;8fAk_0o!u
zrsz-&hxnD(i;M{CYEkLr*=lr>Sq^grdG`9wOwc^2)9*;AQ_AfsuL;)rSJD9(?ZAP(
z+j~-U`DN)6pPHe}KR+}Zb+e|K9OeeN<y_Py^1odMy4m+37+#r)T4;m|W?WVI#Vq&C
z{p?v?a!o(-dg@WB6RQ1(o^_G|f|1R?12t?sb>);M!m!hP=xOUH!ERmm$N9oNLg)>F
zJRg*YQ(KiRjOT^KlHuG;Kh}fm;D~HGvb((?d7|mFX`PXosenrlJ>=&d>|w#C*P?!6
zerb97jwc+3vtt9qSZB;mHQo*6wEAoIM#_!G`%$i~V4z%4_cY_*E~L15tMW7tU<8G^
zfQhFrWu!NO7G-}tuD9+XgBhQ&M4skIN*u-H@ZWoDW>ukAf|6j~o<iHfIIUe_V07L;
zRa4rcg3N3#ZdAT~+u_0OO6<`c#tWR?yR`1TY4&UwoCsZLoH>ezY4IrdZSgZ|+Xe)O
ze(z3KhZF4dbJ6K9!M_=$RoZVCxdnz$@xYWKr+vlMnV{~W_;J`Vwa0{PxL8pB<{;}I
z{25flQ1AOgqFQwoKyl=h(Gk`NqcnN0-Sp7i^YjrCMDd%%Pse3BCI+m!u7rav!kNTI
z+vh*mujSr{i?mrTPwA6bH8#qwRDY!QYklPp&reAf<!1CHGN7Oy$Q47FhQm=eL=AWz
z+Wpcf>=!=jhcNt7tq=S2E;>N@z$=P`P{ECBCK$=687fa(MVJcE^LwSlI-=H&sWeA<
zWNq4WYY>_9?m<H#;z(`6*cMq*hULl8+9ig=Oims6NFnyyh<xjuEuW|7z5u95Y#tO~
z>G?>{;Yv}$6jM6Q#E)2}o80PMZiB+9Yb%r$rFKO5>y`7s+KaKU409quijH-MH|25d
zUp$X2w+1P+>CS}EG_=HeAjo^#lRw#XPu=d%U)3uys^sIaW~Dx>=!aePaM#-o_<1jc
z%%`_?Q!y6&o?Z2~{TAza@1n$2jlI-d0VG4aC00(_+%rDOr_H&R1E#zX{fo?|AMFRm
zjfb3I?LX@H*#x)d)M`UBa*oFAWDAhs-|`uv)N+gIa}~%v1xza<vcW$n{^h<nty@=$
z<{}K_nfO!=sw<(weXdbQH%}3!qx2c|`MEn+%fhr@iAqzw$8=$y<mOCvx~+>+Y8o};
z8wtbG+_UlmskUyXD_!8@!tr>k7q}y?_ucsm9<-thSr!~p9odFUY5JjO7#x2$lo|Zd
z^%*J6)$GwJTF7RdgJa-YD?E)M4<*G%!@@5L9~+hf$wKZ^?w8D6{_U6Lqog7krT?B=
zWi+Vi+w-3lAm^?mDk{(x^Q`6T%{loMe<o)wE!Uw(5IZk$^~gJp<cLn_Sm@OA;V*5{
z5^x1t;0-)jDxml|7pgECTXhMGWlGb18uAGhF#I!i{Egf~V!o;CkN3F2`G5=_Ovm^|
zwm}*^J7Tslms9Vcn!vwqi7JTa%77`Rmi;uQW(;i^A!JV?O7J>&?M-oJYpCb;ap$BF
z-9x6n>{BGp9_DRFchV1JQ#q+*z()CUKO?SS+Tp@4L<y$*r;SgvO=<r#f$@ZL_Vo#X
zb$`AQi(8r(L~)-$I{i|;8+bxikUm~3b(o?rYr#dTH%G}1p7Vp1-OTQ>iUI?si^Sj#
zWy{WAA#l%E!o9@8+;J`Mo5?$B6!9M+6*@AU%8z6?(1xY9EcFSd4f_eHxL`kH|HBbo
zZwMVb6K~U%V98->hiP>!P5qR_2DdyY+R)0LoeRU@>6eL02eKXzrUc9*^XzjA9?Hw#
zxjN=!cvY_zg0_h+N^TLG;J=ao4H(w=RqS>n;$R7GAfjRmBuDl&u4kZ!LhN(~dn54h
zCBRki{(DG*ZecQLktzO3P>Fzqxjopm(OV?w<!Sw*I9E}y1ojMRZhE$~Qh+fyOW=O9
zygug^+uAh%GmyYF4L98c0;Zv=3(OLtXS-5ey6}~MM{(%+uw+;w+cL1XFe1v{cNimP
zgb!Z2xU)ER0x;u~UkD2TXM*Ja8pf1j2yzOB?dJ|~!mIFhHy=iG{-tvHvkeFcN5mz;
zr+v&Q4WEP&rNOKtzwgDl8~^smE^RAMT{$|MJs~Hr5(^{U6qN)3slcE?aG9L2>`yN`
zV-}Xjfqvu~8ac-DS-ZG&pI^9wl2nde&|n_;{_44G&?WQK2{9X@BT7Yhn9q;-l?~2R
zZ-oP92B4cAovsK8YI2{h86tGxh7wYh)Lqh{?AyuNQt>uh`5|WqToHkUIx714OfksC
zL_EI3AAN0)O@^}F<7kO3el<pcbHhQ#Q?(AppO&?1?GDzdLgPtuEkGA~&MKe6rQIll
z;oWF0;2w>swOO>}haT=fgN4$WBs6#S06zo@R%n7P`GA!I=iDDPJ4;Rk{T8#BwPYGu
zMA>IDT_W~qovpV>Na4i)x!2a?ZVQLi=;P?l4Y(@e*z|!wx`viSqQJtmoUDdU_{4-a
zRij1C!j>Q4q6XIklkQUBzP`=nZ|oGQ+61}N_GGcMJZ_|_O=;ojTfqlpuS6m8sj*P?
zI<-0Nfk9NeY?V-ntP}u3W4g&vLKhG4NKBLd17sO@-w&5j5jkLLB`^q=DqaHp=(5Q3
z$SW9<S%bpuTu<soo@OckyYFC5n?%#dR7OE}T-+>jql!T}nN$*yv;I7<V$47U1cvn?
zMvMK8;&_vIs+ou(;Z~eV_Sqji)RCsBAhSvc+*UAs_^mt)@%^Qisy3EdUol(Fq;1S+
zUp<42L(CJf&vPFc@OdSa!dMED5VJOr-<Xie^%!57UI+We>_PNDUA%JLQ{aaazKUkH
z6K4WkQ@VePA;vNOUI4$5<bk*Xs>^~)^vBu0ELfM<Vs3>hQE`u9VMCi1+`e|O>%__i
zuXXD9Q24o`BTr>fgLON!%rFjBb<jSS!Id^F`MT;MP72A;@DKX;U*G2PR~$z53td|H
z%AAi8qAB{I`b}m=OG24V%nl~}0PsWf`WbC`{hg>Z++yJv;+;!S&fwQ0AAEws8$Yv1
zIK5?`pqGobR-^sK4LAwG+V6Oplq`sieal*o0L4>Wi)=9EyHUdcs59l0;s}RevJ2_Q
z44}36d=NqBj^QGs)}JF@kdc)j+6mqSYLIGfq?c;Zv;kh?O`s#(J4joo;H9S=lMeWg
z>hn7Doz^`XYQAQ?9!eqJx8w~ncxgB%X1WVew`En$^JYrQa~rzjKDc2zVwGvZXK{|o
z#+*!<v=Ct(w_Xqi_=*qhFT$dB<}xpE`1O5q!7tJG%lLAy1A$|r`6Cx*Xb`PwzA+d~
z?$1b|eqQ55jUzVDQM438u}Zuv)+f)vT-M&g+NU(V5|CgHwOv2$;$~$}Rwy~-p1{ec
zrcU#L@Hm^0Q}a20M}B;8x-V^04V8u<7}2xTHW#L!vfx`j+!XM}qAW)q!k%5G-*XoM
zDe+gYr<c>+mT<8+OV?q!_cv{|2mNH&sKLZJ`?#gJ3=81N^A_zpSx?U{&l1H}?P18h
zSYNwT&~COdhE;Q!f(%x#>602{LM}!wi=|(~S1rPhpPr=1O<+Qy@)@|&+R54^SOzsJ
zO<~2$)s_et1tpS(Z!Mvx;2$lst7|06=DB}+nSRJs%--BI^rz`?zysoUgaH#1f)v@|
zznZ$O%bP~zV;e(oeev%8i9z=PQ2aU2(`zhn8c_Aow-<vhgauJbKqN~@p5^Gn&Q>R8
z5#i=J;yxH_w9na@mbF(l+C8lU?puGChiYTXoL`kkY~>zJ(wYpZhw;c#Q`wD%*(q5_
zsWbD}MW@)Ggy32MB8j(JZefD42@xGZz1%SL14qF)462UY=K6#z?HjcJB(RRG!~L@9
z1qM86lDZP(H4oQ)H!sP)Q{31f_DRoL=I@aH!<8VpVI1(6Y9tITIhQqCdIb7iDgF)Z
zQPsoM%_VUK?{<fk>=T&YKIoEp-k*i7(43fVKXwD&o+zOmwE%Sscal`bTl_)S>yMKA
zngtmJe_S{O_8Y8*L{#mc;YAN5kw5}X&oKrW&-4=j20;10aKB55=bf%5=dc>IY;v6F
zu9-`9#phsqir4Td@9sNt9D#W;<RzaA{!sx&d1OTvH1fTwwNbAb6lv(O=GvN*&uVt%
zQ-u&LDfy~l$Q#Cb*e6x)hzPIoY&E)m(JnaqQl$z4^c#BH;Ta)dW#zkNI6MhODmp;j
zj|90$srES6Cp_s17+p3~y0?>3@#fsN{*=Qti$GTLa^uH5`dl<|o!GcWR4v{EeS>Ry
zUM#ASwG%}qrto(#V4lv$HSM4m#%~}mN{zxrZ>}Rk9BNLI8gQ;(Y(v?%^S<d+r7U?k
zJg9ztEA*1Zn!94^@0jpmez3#NcJZT;kVMvC8(ZSg>OT6txs5t_2=%2TRmg0;QmUsV
z3&9VG!fHo})FG`P!{3~Y?Njtq1bFIsXvg52(PMmHh4$qeO^XgCn;rUyw{uVZxQLXq
zNt-F@mWOE&x@v0ACDZ*APwaXlp_+=GpdUUxPANRXayRbI#2_Z$qL>zPNoN+Ho$+t;
z;bIMDA%<n6fd<vTEN5>yg3wU|fMf1qhMAA3tusg9Ds)br8zrnb;)U~vS|Ch3g4r~?
zsQ=<D9?9;ce?A}f^Km?z@kO9%s4qH$(NE=>1xokQ(diytjtLW-h?=GKHR7tXI^c3t
zdL{g0>~fkg;in@b4orUtG8`#gPt=nk_)~(lBePSVryF(gov8zthJ*K8?Di`GXu`Z=
z*EdE@6IfB&+o*qh9ZAX1t}+>tLy!0HxNB4zIkXV$DbIVL$yRA~`ddAf$t{$n<vWHJ
z07;(q{Yu|O((_GRwa@(&CHWC94e{(EC6y=k^$cGSl~R!N#|B1UC!xO&R3lZ-L=MNj
zY~_T=E;Uya!ZJ#PWwHh&kik$F>ytprB`$6`E)tZqnH*=R2q9I~6K0eI-<?4D{dBXk
z2G1n`cHlLeSp(vlXBDioGd_$ZdC2q6ot<O4e%>%z@7KdabPnL2(;>umX!?s{-5F*9
z^rIp|h4cv^RST_*3?MKyq1q#JMRP~xLin^+q1#JiwnM!RX&U0)IuTJJ2$I?R2A7+T
zM#kgcsWQx#UtSP;X9?-O8P`u4Z}!3c9ZYj8x{PY^p{B>p^$<R^-@w|(D|k6<kdB5F
z+Z&ahA2fal`-+E$4Tb|QRw7C(c1%9XN!T*F8~gWV5Y#;j?(UG;Hpe!#iQWCtJ`Yuz
z6b|eJ>%!jy6$!DMHZ0m+ktROYV^gp{KLVOj*+G+XSZtilh^38VcTNdmHFSvOKh+C*
z(~WkM-%yf3T)%|l?1^~Ztmw)XV%tQsipzl9wPB1^@Ww*QNeSrrCZJC3$KN9KA9k6V
zIBa_cFj|>2X5>|%N(bS$$l5@BJU@C4<Ci*~dQ19r5w{y*{_f#!M5$BbpevNRCbyl?
z9{e)!L?S}jS`iDOA0&;0y~1)rKc0&pcsQJU>+e|$Nu*w9<dDxxV2hiUNAZi`JG9$d
zkCKUYek6ZQyia!s4xni8$@NCcNP5qB_jjHr`I8&*RX_;fL(10NeD+4}`(E2}=|VRv
zVYAA<bpQOUa|On*Hd)40YZOo&Z<iN}2!QZmuKh)s-6n!HWHHaG^J61gP{FnK#df{^
z-JMkQ;iv{kI`Vr<(jbFyF1(Qp_F<A~o>PBLtG4<Pgv3k9_LKH-@tJ8h*9MEL5?}UL
zOWc=4dz&?-KzmI6^Q$HbH9xWN>mwraOcx7eJa~qA^+;ciq`%!eH1+U)M!i<CL6)C!
ztxzxD@V<yPI21}tZSy0=1u)AyR)-kM#iqr=UX1u}4o4#>=lc=q+l~ZP<k;ZmN*)#p
zyrhsISgZ`_x2uty3F)0y$3#>>ci8!h=x@V>nCV2zP^PYcas3U44`pj8^bNd@=&#}H
z0-j7v4b~I_S0NwBWZ7kt=5+HRX<FuY6jQ#ukT{q74^EanuBY*9KTUf#UzJ+2*BK`s
zp=HIs0~e3|HyZ05Sx`lBRW4K_2$v=7?-LBh)lE)h=+RcQxOoqKI){SyI)DE4FRXq}
zs21DY(M<X2dM*;jX%RY}dPMo}EoR3g4MLAptjpa6MjJ)M!seHXS2tj2Kl`md6WSM>
z;pHL$&?AhDals0&-;G<nvu?1vf-He5TjxU~ByjmK)gJWrn@oq3rE>Cwi-<e+P~Mx^
zF*IaY$JB|keT4tsTc=yt=gvy?94J5WB0068Dh()D<0m=N7DTPkt1|}t;-eoG;%Adm
zJ)M~*!kq50_3FEc^=|dY9lO3EQ+s7xeZ%F<cmb3+puF&H)yQT6pScAn<Tt@9o#Xq8
zz;)GVp}_t`_0hC8Sx+i*v3HmXTCM%%-GM;kfQlE>6}Qk~SMBR{Hl8A0g0~QeJ6ii(
zy^)y+cbc+_XNyeR_uq<JZtxZeB}x?w9UZv=yX@Q9k^B^K$-<anqFam_$xC|T@O$oE
z&-bC5D4Hky_*}aq6hwgCZm|(YM2Z6ALb+Lu;_1rY&I)l^g82<wP|Xnb>zUO3>cR>q
z%Yt>Kh)r0D^-CSgp0*E&x~T92SZIqt?&vb*V&0^HZT#m|=rVRd;`?z|)8Od@0YS@m
zkF*JLVIxfGye_z4ykoT5YxSD}XPe7ROG!Ctq87U=cQ+Nt)Vv{<z=Bh79)>cs4$#1o
zpMz1aift6KoN$J=ut3*!UTr0zeNwXO$-s$z{L{*Pz=qG+_j$d!rg?9)JdyY0t&21X
zL}I*3QR)G|E(z$zY<%l9)KtODewlnzt@=_B$Y+D&RF7=Ud(xYJ%@i13)$|v~Jq)Zy
zI61&}7i}`EZ=OhEfUc{oZ0<TGOMY!dWIr?5Jaf#&oil>v?kVSX(iw~{P-xnLvY`E~
zMe=Y&Yp;z9zgy?<tTK?VI3EbPEx^1Zt<X}2MY>rVq01~jbD^*jEuX1q`V#UASAj6$
zo68<4x--&ppEh&Ps+8Q>$|iMksX%>H;qVYHp2s0nCr=6jIqZCHRI8Wg&s`R1LN#?8
zmd04j-SqE%Tgvf6CxY|ekoZk#6Hgo?$;ABx>3)gpFAEsc(PGUI5OfRD32g!w0+YLY
z|H!RFB&Ng@Q3^!E@D8MsUL(tvK}35gb@t|ih;Z!kbbjTqguvG3LKkby^f3utknuHT
z6-^RGkL~G(4@wxw==Z_!=P^UFv}GTAOCeis;2k|Wbq`>NTfnr|p+m@TR1OQQS4SKc
zbr)ea8I*s|-4i52wg&3d*`>zTPu{9%HGkLo9TKtb(Aj~WVXV0-RQ33k58kI{;EU%2
zi%+TW#nhLp9?H9TtDe)w#8aCT6_6?dy2hBld%{QxmY;1#i;A#P$lNTPmVbal;WVCr
zM}H!0QGr;FIua__43$|=UNw#!Ly3DR{Whj^GskcXwcR&Ii}9;6uw%jIri*dG94vz?
z&e`vxzTNg`<=x)*i_iB1Ci;m}?yu<0<v_;XqM)#|Na(2IF2&G1{?S+wI9~{`;E75X
z`c@+1m=&#Q9JY>dK&O!Tv~y){w8;|>bZ_AXYd^aIpK;&Rw@uQ}5gQF{HTm&{*S$in
zv%m~mbmjUMWlSH{9`!ER+yk=#JZ46}YoeES%`eh;FE0^JjR!l^?5#H8mbL?y_$GU-
zM-x+J-1C${MAp0w>5^FN!RXh_0fTE+q_g69xw7Dk1A^EFRyZ364<Mf^r-KE9%-uuJ
zB4%l%Ed{9xZ&QId{akOZMIWcs_xVK_6>fS-{SJ4Q;e6tCXe-yETL`L)?Ik8oyYW$4
ztIAXtXNPMJ#lN#SZ#VV_41V5$Z{EfRJlAwnhjyY|yfI_jr(gkhjA)N%jy|cGj)-Rg
z^H-jx)O+$2bbJQDo-X(ZZ7l5jw6l9EA59w_Qx)>$%w!)I_<l1_GnH>&W(+O~Zb|>z
z{O{^7aGbLSEpH#9eX6C2B;u>~RbQBFilsk8kr?sE=;BZ}lP!-Xy`zHI9gHJ1KYLGZ
zX++%V$<;I~s}q-)nFonU-Q(+9gFvaMe(?%u7cftE_}aG}I+INJyPMNc#@$=v^e}XF
z`WA-EUSg?-CeQp9e2Ft9`4#7Tz^EQroZ)6sSP$!WKvse$A}Y;YV{=vlt5J}9j=;&q
zdRuroHmJ(=pU_{AP&ZzZql*a|bg`~RiiT+}oZ~l<PwcKqT_=HJ<)%Jo5V>O00Mh)(
zC+<PVZBoRy1=)c&+*Oj#ONO!bcRhLnubx(21l&%Tq_ninoVK+W3f1XFEd*(3Fm#s7
zfe`z&Ss_EG3kapfH*@Pf)VYGoLz4vtNpy>A9WJ4f<ugv|L*CBX_jv;Wfl&P!NJTiV
z=?}=Yep$l>Y7%}t$JKYfcsmp_i+h8P%SB*hSFV%t^3L_&yWkIf%7!(i(9Z2JLF)Pm
z=O48KQ+i$yGdQzE5T@_*xco6-T_ti|8&_TXKr{|hj+v$)KWIFmR+IH+mmnv5gE;D@
zGdb_?=cC{i+wo<SUTS*%hYHpJqegR0#$y9TNY0gFf<b_3hnB-r3rge)BWs;j@MT>0
zt~CR>g;rfHl-VAbd^pwO_}W7_2{_5uLE;xKk!9gP_>C$~AQ)WR9uoYG8{=;;IP1#&
zu6>DUcIlbyH6I;}ii#e|3~70WF2TE^AJ!$`5$S$d?|y4_dWbRYNe7$zJgObhcsy_#
z2`0${4HKQg6b+guw`p@l%-V?J@)#d%%GON<ANZmZlLK&HMulqB;hdmD8CXet&gw<m
zUA%dakto$Md-`rr>vZ|6j=X+P#MGn^w1n0s$0&Y$zhCQ&@8CI{$uGJ^^IiI?qxQ{s
z`VZfb$xcK2GStrdVfcrdOxiQK0SwKh0`-X8vnlA$?8sE<X_t13qeFRh5tF-zcVf`j
z&5GvtybMqjU5>*E0lSZb&yh=H>W7K~p~-8YL!yG)lv=iiG`nByYP=(OB|x)bO73)4
zVG5#+l(HWAn#a>|1AM}>wGYN%ePEV<yQIOt>yN)HjwhaUDOJ07b_C*3bhFR!>zNIe
zqk2)b-z+KH7qEBDIoOycFu1Vd`iRJ6(@^vQ6eM8j=PIeFTF1GF-EqOjNg+QhVghA&
zg;ybNEri~_%4wqHLNwWBa)l8M>aa7i#I#_SR(vRzJ@20ewT=4QTr^)ldF-C|Hvuk)
zVRs8TC$!7=OCk0+qHu4aX6x({pt+HCJ0mkBKom6ZQ8A)NPZiBg$31;(Mk<_gU?jrm
zre(zk-yW61c|y9fc0yU+DV`*fFu~ZJF6vnW^*7A}(lePj`RB*;)$Jrc!j?e|&Mwu$
z2UJ~s4?ESBoDw<QddOr#^EtRYKKEG~62Cs3!zuD=zlW$5b<1kcY|0>h*I7xuDYrjw
zX4Ycn#Tid5^~n;aB0lPIrtgV_QD6b$Ds3sKtWvs2Ae`{urW^H_ggtO}@6;*hok}G;
z?v7$Bqd=uo(51&7I3&-Aan42|QIF5KA%$7)k$3|qf4N$MVTCbLV1#SAwuy{}MO0g|
z8mTSxO7quMZj?FAB(BvD>E6F<#IxvPC>)?xv#H3I@Yz|l#KP)FxzEet-XM1L$Hj2k
zo~VQ9etLc7BgkkpFvf3gWl|Qqmb>IC@$n2R`abbdWuV>uzCh~;ns7XV%EuQ5Oa${2
z5YNl8I9htx-{e=77T-X#a@;i-kQxh9hov9(K6*ApE;elHrT}5!I6pqT!(@3g-%~v%
zgh?Slpm*sf$Zm!HQnRKTXHpEGtANnSmpV^|lOMIWivJM)*0Q`p2<6537|Ja4;O!i<
z<Sm3WL{L>R?u0{nSQBlEByTjW$$f7l^DO}3>UgV1m-G?8rBKgc+6ZpysAtP9Y%@$R
zkD~gLm??h>#A8oi`bvQ%jBKm4E=r!`_cq~(z;#v*u#U^KQ1n-WN7sNYYe_XWx9T=o
zaYKh3g3#8okCR@E(0$-<PwSK2Y}pI}E)u>enz~Plkc<V<d&j`k>UFHTF9ANinaV89
zvUA5;H3zkF1$*<tIMFwC5(bF$Mj^{_2LYX&V?ZJJ?dbguO|xT7I<(j1A?~(y-h*1@
zcMymgO73CIiKIGIgYLQ>``aXk%S)>`N|D?c^*vIA|2wKxd0{b7LDzyPA3YYS1WYN-
zUox0Ik^nqF!@t(+K6*`0G+HAWlm=Nw$334|qgRr4Pb`W-&QpO85_#kUdEr=nyFz2Y
z#4_d?N9(bKcpkUr64=G5DaFH2L0s!gWtS%u$cizD0hXZ7&xm?ybpt*jo#=?QfcAN<
znYHFGN(K0rvh!c4HQ6j#%7#NRoliTkP8`g02NSNDVH<QB>|%nExy<Vn{N%o~3#5-C
z5GHj$!dO_;X=aC>U>eoHi1@}e0ZK8o&E45$^c=8}=Kow{gvp^!iH=NlxIouVr6=g4
zE6XrIAT>~v>IS+e&j?BPU<Bxq`_PM-7F9rX-{c9sUmWPs2O+Rv?6?pw$}^++(g8C@
zfL#`8Q%LYQD7!g`7s+LTjIYue^>6ki)i<)=CE8a7pw~SNE}Gd8>w7r8iD{W$2958$
z0|7ED(iGTaDyj9uwI2?i85R5B$Gm$}9gw|je%*Wd0D=%~pDzlz)Ub8+bW;3ANR$eI
zMvoQTrpGVy(PmyUS=7a2V$<8<7e`A{8~sD{BGVvBNL|w)Xl|$*TNaC%{#LhD%H;&w
zVkcy@Q(gNYStle)_32gzBz3bbHJvdr9_uCmgz=Xz%DzlD&rDNcSw9aiA2Z6xm{Bq_
z;LKtd2ZK^N{2d-0YiQl1lyr(ApSND9Z%9?7P&MlU!jBYMNw`M^=sgO10K^Lw8xkzj
zz9i7IcFh)g#rIOsne!2`)Ot>DFJjirum2GPoIhbdIM|AbZ^>Wwc;G<WBzXQy>lL=T
zQT$Df@U1_X*J$6uNO$)j{G-g&S{s6Uf0m>NhWSsP9Mi1oSlNC=%|ngv1?#s*MJ4W7
zo@mY#G(H8GcPz;?H@Ge{Y7k#{kAF8w(27@_-3^Do&zqnA?jaCS<!ZztqwWR4kY!Cx
z#N5QVPIwa8C1t2A$?ndk23=(qCu-`RS;Nq`rTpD@nRuG#Ez^hC$ioyOyEx$j`R?Qm
z_=Sh7Um#a)+0J8LsjB^O|MFO^3o>V*{pW_ck8Go7gwd~Q)fC7{h5&ERFzG*Vr%LyR
zf7Y2Xq|8a0%2)>vi<Y#z_`T9RFP41)*w?IPx9?j7s3GP7srU-WUogOr>y!m*hCYuh
z!{McR6_6;FOM9=o<|Rj9Ptu9+^WWTzMN(c6;7@wF)KUNuvO;)p6g1)mv&?Qh-zVq7
z#8ZbttRNaE%^@B3@flf3sTn+}YCOY#xI^{D4NYZG{e<4?t(!@n91_R%<*mF{z150i
z73g#E^gaMP8u75|*rA55Xn#>=ZPBqzisoaR$!)QOKYHF0ziv18^v5Ft=->N>JuTVO
z)?r>PXZ!|*r631H1?xo&Qxkk8zKnlJP!*zWd;%cu-ymUCUnRviF)zu|H9@fmupS0r
zw~no<kg=2ud<9r)Q`%71SE>;h-Qneo*{};96)~n4UO2}o4R4dyw48K=s$kEwux!qt
zsI3gp5yRQx${VI<(t}GTEqjN#EWAqb((6^9N%*AX;8bIS{#eA-Mxa)y-`ZEmvd+G$
zw0TcB51DYrujA1Y)U4@(6QZ&Z{clio*|$h^7|rXtV&uqc*V22{EZ2K`;1$B7qXrgR
zSq`~Ra`_2nTOiy011`kEvbzUEqgwz68C?e#c1fSdINeFg4JzNO*eVEpC4?g7$NK4(
z$!P^0X-l{<UR5Lik#rtOjsigxJrE1LTY~T&;o0GZ_xAKd#~h#uC^CP(7pSXPB(ZN~
zxw_9~*r9yGt|>U~20x8mxUgRkKA|ccXa~@D81g8Oadhn`=?$2nt`gPG*b|#R#kVK}
z8xq7!I-T<VHdLTw-2Of0H4dLeQg%to&`kx_QYjZ>yDK8PZJ<yKn<U#-#PTitdv~@)
zFngjbmr}z;!}3@pZ+5`*dX~T@eLnh!owTsY%0=x`LJ@%D3W(Rb=M-wc<zVL)@4VL+
z+d4LKPRPK&omCodIuBN&L3Tc(CfkB_YGC7Ji`P&gWO0eN$Qw9honrdd(+^2vW2~bK
z&!;t<u(|;W@;6J7C(e?XbO`5QjREh5MI)m!={$7bS@Pujt1xC>IvCgzP<VpukGg)H
z!e~BD@h1-9!WL9T&KHVJj;&)>lL4^2Oeo1z26cLxghI2&jkM9@<Z;@x%r=-~-K49;
z)J;qDb7G($R;x&IPaDe9R5@26Oo1VY(Rr@==C8rw_5x+EbbPN}v`pyH{1#QmLLGI*
z0e(0venZjtE^o>EznNRm;mbUZqL1*TF08UcX%CALw4`jFYCNN{;LuYrh{om3N);2v
zFwQYFB1_#p(OXdv83BCXx+S|oA2*i>mNXR*I<jg}$`knE3oa?%ez<sww%;HqR=Ebd
z5vh5`JH_TB7!o|b^JOoJr1=!n<Gox+lq0Pwa9`^U9cvXqYwO%stqSO8Y?9X_wf(lR
zlWCqSd`X|Di5LHNDg?7eZNDj%DQOoS<q{PoKYChelec=3Wa<zNk@8*C+_!X5iM#`(
zTQ-phcd7hK!7BZoSHpQVj|UXAhXty3`$`G^zMs80f)<Gm_|kK^h}+lYY&uokh4pU=
zZw@H!N>-nu0Vf^oefXtl(1(ejYp3+-K^!@n&sAGk$h-=egMd=S_alsCC>X4_Cu*P}
zU1nTCp!Yjpq>OgqVU7!0d?Z@8-Bb1}ox%t~Ul{q_%kC$%+$!`ZwaoK3^O|w%Fr+!`
zmT?ar%lWvH?lIGdSPxbY251fPI_En%hdi&m-bz1%8&WxEN+07FdV^BUZb=xpNaNEw
zmh#0Z*`oKnF|#i$SUon(Ie=5Kn8tI)Q3v|^d2G|A3~!7|0ZjUL9w#&iaRmVqsvGyr
zF&PjlQx-$K)}Wo)?t93QKJc<=TwJeoy0h7Ya2ilaZ8B_MHGYAN(fu@j#5mVl%2@Qb
zoeha)Zjy6PYxu&iw0^teTSEV}j0|^1uARIr&99mxfx*PS-XZG6q`?TEmj~K^4F0Q`
z#))NU|KijWWe=W7K)HzaNnI<CcVB^Xc|q%EcA|>?yVCd)y2sf#@d3I-Y23Y7)W0_3
zqWskfLd8L4>bWm>ZOLxOBPA+QRchTxP1ddpEzoy~GllDnHuKrE<he@3Z+cR@tDGE1
z!(DMo#W~g}%zxaSqz_!;X-#s)u`*aGc&JEH?nl?&8{EooWAEX&9m{Rj8<alz1r#gx
zk#8t^`|s&)jxq~W?nv2z18&ajB$x_{{?bmAehm?D+$ezSSf|B-wOzy19MnxDNd$p;
zoeEVdh832k&zz3g=M*A)88mIB4!9Lo^@mM)6;zs=S2r*M%@0<xeXYh+ppgD7%@@Df
zuBq0Pe(~~q0SJ<z(B4QG8m@xT)7k+GrCyWa@}`)yT!VEX=B^g+khBLU{*dq@nBW$~
zNFrq;sPMQgsb$7se#)2$#~A2Xf>C`L@aAD1pO}4p%4+;mW<2cXU{GM#j_dwesIX2q
zrG?&Jo!s;V(K|3ZnP9$?F6GvtG$)yoPK`!BbO<AwB;a;I;#ts(|Mt|hIF!Y73V4G-
zTs#^1R1y*rb1KJy8PBXhiMzemTs><RRoLOJH01ganTI^do^z^38FSYR(J3wg^3DbS
zK1BxHdGCJKBMOcPo84R3M5-R(dEk>JbkuN~^?u=MC2@TmSL&fSXTiiRqwm~)Df8*r
zL+GQErr{Oc>N$;U-y$L3M}&_eh*H;seY4|H-|2q?N8sIG2EAV=(K6LlAUVwQ*Jt?T
z!&b(K6Ae|D^w6zFNKR#?<M7&zo-9iULv!G$;Vuok){MbHX!gaNoFX+OUrR-RNcV5M
zbVu`hcK#dRDyVW&(PvFpVUb3V_I_Z8^N<9N3e)x749r3|n{~|jbmPo|sj~;#^c<Pe
zTLP5@CYAhjNcx!e)b(8fgQ+-_hI#vL8d_~ZlQfVBjBEKU;G|k?+P!4b?g#LNx(6l$
z%Wcg0&FzZcj&`ljfr@6y^q>6AZuA8HzGaPXzI>jcY(C_1LQ1MY%6?xqwWHXag3s`i
zbnvOTVA%(0JW~`yU5}(<=^-gA7YS<^VQgGG3rN}BR*mGl%aHp8+0M{R<@ibcX_ct3
zabXLUHO`Ztul6{H@8rbnf<e8{-=ttj?S&!vm&)YM-Yh&O?^;*0^Q%54#DBU#hQC1V
zMaQLN#DXrM1_jjCS%WL}f->G_r|5O@Wv6=+F}D+KoX?x3&B43yQ_4WKZFL+dJLLy6
z!pPCijUCe;6n~SlPJ_reSXn9Mp1RxH!7scuap3YMVD)ATm}0^#zLyoku3aLjXcl8i
zj4S^}SY_Ap;4vsaK3|PB4Zl+Q43J*U{7x8gJ^T3gPo!ejJ%bH&6=Vt>jiZO3JjvyG
zADGyfpdVHHg&8EB&b$eI=)^R-|NWn3!~&~5(Yl)i)$z@udWn^67HnR1X}WZ-A>7ZU
z<8PFr5Wod}Z2rL+bWTD^Hv-8JQa}BWLIm~2M=$K9glhA{)l)m%%;BgxtOD~61Z^ko
ztcZLXte_6F!kvV3w$vsWMI2<tZMf2gn+_0F)J{P2%rX<`o7X%N<ac*B4^c~RR*pzz
z&k1YrRdnI)f)IMlJbLnu_#Iw|bmC>6!3-x|K;<~U1b1&#bbytIewGndqgqZrf9y}(
z(8%FZ7llXv%+Zz;gNht<#wa?i_`Wh|qrgz*YOf#6h2Tma4~eG#@)yT(;+bnFLP&y0
zU+M+IUhIm}N%s<YZ_m97m;nX^`7uqAb6V=^*HzA?XZ)gJ4^X4_mr5O3Uo;*f6mT81
z3*v9*eyix?dGA<^Y&_CSJrMI-;Z)r1XBw*bEf*kV-tgx*8^!PZ7=?m6cM0I}K-goP
z5h@B9-?x90;9Nd;zhva@n*5iHKw<!3E!CkaHFM#P4D3PnqX=aL{1&rR+P!I;h75@u
z{(Wn+m|<kNzzrCuV_dJ@6mkZT@vc37uvt0;sC2{%bOFc&lPUETb{-3hKdER`yvEAc
zh_S_tI_ze4qjDm$2;jAg{ie1yZo)dtt*V8JaPczpWBF;r^-STEPdVs~*WP6YUfKO5
zy`2W^DFz}5Q~9u%%qvLXnr1}Qy)!;z$b7oeyodwbGU|&(EeHI9gRykQq{}bB#mH%w
z9OZqWvU9z#bPtAht#v^GeD^Rb-zqK~t7ulj{fLA*x&QJ{?6Pp6MQ6mwutkTT`6Cjy
z{kV_R4{y!)#gER$@2h>Ndt0$Ng(Ld;+xf&+-{;LC)c@YO6F+i#GkWK|PbFPcv3jJN
zW4dzeSL>$i1qs$hKcMi7rC?x<o?MT9i1ef9AwUp8cO70+)G{YD0O9WiCi2ULhlJ+-
zOKv6Gl4~DMW`Yk8)Z3BO3G{q;54;b<z78jxB6CrPy9ZtH;uP;-?8PZYEgv_1$f2f(
zP|yRZ-n9W?`dfaCj~aesdZ>CsaYQ=0gDI>?3ST(^FQzU%?8_*|2$ONh-DO=--<%ed
zC3c4h_qy_w*7_4=hVum0bx_=J2(NBcXBnM6x1RZc&=v@BHp9rw%OSkreH6c#g#?%y
z88bD|lSW8(o+T$@LYsT{UdetBJ)nyLgYqHyA`yv=Br}QGl?78+fH@nQe~(8I-0j7(
zsrJufZY^9@5vXqt`&2lN=$EvcI0-gcWq5?Ynl5P`T3rjV@r6ik+7K^Rq=sfsHUq3Z
zd7XXJy)9K16pCz~0~x`OxP5UJ@b4p+>n_Pvq4ol22kMj^pyoWne-&x_IOWINTzoHp
z`nr*ohc0?cO40R%G5k4-U3>TxkqO`AzLmt=V9cwu;OomETEN%Y0Eyt)MI?!&t+hj%
zEv=s%9k1AE(?bDOq<84Ex&6OiR!Sn8^b{YT&gTaVWglot?PIpFH=h-4aAq80RQa0K
z{7a!hiO)HkPp{(D%zPc(mlMSpVN)*WXG_>Drhnw1jo;NAY@R&jSvxfv%wUOPVIi{m
zn%$~CpG2aD@6#Qodq}-H2NrT_(OszBE!mWzBwES?)gQ<ecKH&4NpleUp=rwsn)OQy
z+!yqH78G6uMMibGYwL<EfA!i5RM(Gzlidzk#n6o6T{n<<C!Q6~3HMkzmzJND=)CQQ
z%oofIF9SY)19RkQgfa>b)Q{BbJkNfQ5@sU}d6>o@yE12l`33LrCNfR1j1Qd`-XkZA
zP0mpCHS<R1s}--!`pw2Deg{`4Ur$tF!WA^dNIWzGY8kyX&qTY+IN(@Lu*jEs4&J=D
zjdPgjbw<)$PX_KB%=nTkdL)&r;`tbCr$;HI<pxst)e?UvfrF7CE&^9G)vef?z@;E+
zLAtKds?cKBJKaAHrnw~Y)J+!U`x=jJj*ba2Vk8?^i2}i8vb!<g$K^7C=GPXf7Y6me
z9loo|WpM|jIBCP@fC~yv0na(K^*6?V4r&2~r^1aCWT|6lQVA$#=K33>3<UyD<pH)@
z&x*lB_Snn|Q}%PRIl`+|z=i<dp70>eQ_WAS6L$ZpCa{%{AD@v7TTyXEd?PGL@$$HD
z=kE{~?$d7^S;rqds-RY=PAQtG_WGd)F3{}@VvzBdouGQ5_6^(Xbm$v)sC}4prff&9
ze+l8C1j*jfn5*Cxw5p}U3ht9i2iFJ9NY-ODz*)%Ca-L-R#gRnpKNv$>k=N!{ykD!`
zq#sRUIS(_3E3a8k!92pHiGFZDcIsUBL{IZOV)327fICbyRi;?e{>l%!mPq(Clfi#j
z2DE?ijHUItZo73Q%ScSm?#2)7V}{%o$@uYHSrNT-FyHAUi7^$Grm?%x2N-tE;Cn}h
z7{)wRGlN-0KiVdS9q$4ndV$?b3#!7<Wq@KnXD+-h4&(;ao#bttL+o?Esidb?+x?3?
zd+-!Tl+qB%X|9b;1iTeBp1Z2UlXLhnG}P=&?-HR`{}p5!+TH!!E_b~51yew&JWZMm
zx95L~m`{UpcgBwuXfj<*^(f)EU*72cxN(@47Y&$V6aI9LYmhI;$eUyWsEC}>2>~ob
zMq?6A!Ib3sM{nwn(lc%T1b`>v6S6)s24DnBg1ues`k5W4h1p=<oj40KX^f{_zov~6
z4giQuHUv%Rqfc=8yS9*{4ZggLs67jvtJLog2`5?>uC}NRAQkKi&xec$2;<61XGtN9
zPAd~3E1HII0*^!KXwv;jtT@Mt#@l?lWD5Plp_xgtcpG!0xoM4}*HHBYcUFs^MUy3H
zeuu-tA7~Zl0gE+8tx>>w->kVZZ9MTO9tz*vr<Lw^U)`Qe{qpyn;M!1>L%c{Z>#yAw
zGBZSl)4k(;9`=j<&X}$Im>NoJ_chwwmeZ&OyvgQH?WI%gn%1|nabuxm*jlPC>+#k{
zH1f(T=4p$7I1iKgJOCi!jF!VOLdGOllFu1;7m5M+3kJ`jVv(Zn&ML+N)}A&Q^Nh%j
zpT4hl5X466^P9kDJN9Qxs|$<ByTRgMMsr)ef2-lpi{9sJM|}3b^PRsc&eJU1O>>6I
zVxVsliAhttH4rxM%yiIGF(zc?6h+(@`;@>AkqpfQrhLClWA^lJ3E@5$Li7!0zxvFq
z(P2fLt$Y0MH2Rm_(*%_mV#izD*BV$8bb=w|A&Qe`RJv8^k%oiME+s0kFn3&q(7#_x
z<<}siSrRY5K^}q*3_^9FDzYC&KDBpv?g1th%vl<<H*EHdkZM4yJ??%BYHHspIn|b8
zWA?((M&$`465ZBhm`zLSIuV(|$p-~pc73hCMfnts;*A@BZE=i6I8Fh8uNz!w$tky$
zYx3c+h6~BgTPW_1MY5FPNk2dJ(^;ivZ#Rs&{>!d%BN+K238*%sy?w6k!B0$9OJS3m
z<1btM6(?NBcNqJV{kZsjo|T~$JTvJWi_F-E`~WUC_}Q+i=!quThx%Q0@RW;TcY1s)
z11c~p46oMbw^FS~B2VD53yp+-;^TUM_gLaNR3Rr7#?R6e+;`3@D}-K)+wAA>kV&9?
zo#4+`4508#X55^EWoGjue8%ZlF1PWpoRZzHaq&ootKn&{Z3+bU%n2R<C7(w*wzC{=
z2Sy+)0|5>Ko4AXBlSTtM!hBO)Ai8j$!-6uWg|nv6u?6)UD2bT5=ujYGP6+xol>Hrz
zvY*75i==W3?_r%|RKjASUgB?KJ9}tdbNb-=QlEq6`;V)4-;;E08CIG8_p7QB8>Y#4
z-c%CeM3jdXw)Br{eI)J<T<aJ6U6+RVH%f5I%qhAdDS`%Eq+xEX!mbJP-JvOhUcG?4
zp5r?BOx3OQBB>&81bo)%>U$>%AD|y@0|m%S>-A1U{23hWw8|O!d24uVLVJTzbJNMq
zZ#y>)9257-0|BRF*txtuFP?iiITn7q%xdT^exSO*F%6?j+VKFk-J@}pzs*s6*r-yf
zF3ktb9tX*d1edBOo_j~Ok<kv&YG-()PKKSywSSIdz(TqKk>Yp;9?P%mBhbjgkok(%
z-x9b)EX!K~Eq$h`E~PB%86s~G0O@3Sb8s#xW}>eL2Kdh&<hxb?L|#wyi;{@zKicwz
z7Nb}%jv{ss&&3Kj2^fuoQVr8E%SpAV*@f56r)~BR+?rP}hvgi^9SW`5gSxLgW3p7O
z?g-+=(9!))Bv@0}-!9?1;_;1-!UA#(S$8XbuOca(c2{M-o*q2YEDz`5bQfCx9$5=S
zVdHopnBMg$rom0a+?Gl918GrdyOMIo4^U*DXCR-tW1{CY3VJ)Q(&AhZF$W($#$T(`
zO+dZz9Pfsb9fTu&j4x&evsacBs8$bA(j;4Zc0OXYEccSvZnc0C?&)S-`KT5E%VD0f
zkj^1#R_(UFrG$o#Ut5P$EX@|x9!qoeQC#_54BqIGi@G$bZ@J6Hi#Eek{4Q1qFhHb|
zg|n>@>pq!?Vh?uJL5euyr+Z-3P<ZJ6&6K;Cr=B50p48P{`Ia*80iDiNy}WYG3t$38
z1^roroRAo@T^Yh1S10XmEp<WG@I|7kkWZ+Eg?_t2wZ`3#eCGKK0_qZfX!oJy&&3ku
z1|_}l0N>c9f=Qt|m-S)Vnv**iL5;yr4()1f@pAA%VRttd%Y0Egfnyj0MTw?zQ-1Ds
zbd0Z*bmBLDps$LqtW4f$9BS)QGGAHxRu9%xGmS%%0i&%mQ$5%X;uY>(s<k54zif;2
zWZH70P3kdcw#4}~QI3Btmf3kOZkx-mi|J*fN5Bes0s@1)Zp>g|>*~sUj0oj0hKFuf
zbUhp=Bg;6|vyVOTNQ3j5iK-&!^AY^jNkP2GHIb*QP#_5`&MealI`DvR1k9`N<=H;R
z5Bo`#Fph=6JFZtN-ai+85VZ8!BL$1?x$freK+Dq|y|?=-7~MD|rEe#u+v|CI=i*L_
z9v_X?j|XUh%H6Aw4F|JM9b-A1lkl|=TLjfzbU;~YCRZ5k;`Kl<$tbd;3rZ{E09<)c
zhypT4Fbf*Yd*xQAU4Zl5xl%>wWB2@;eS0SClrb#xnei0G3IP31Ye7VdWI40d*pz~5
zU<?i$CJkKWOk_pUS9A_valV5iG$S(Sw07x;#yk$7MDoEr0MyI6T#C#PB&R6xSC_)w
zstj2($39=2;iKavv~~JIUhU&b39#Ha)C*gxGN`YzlL1}f#LXDlFOZC*rZ+$0Z>yO*
z$>}>C%IyBpFo_==Hz1(k;FJq*iNsbDhIgizm4dZFj&p>Q5F*|b9u&T3_-jn*4LyN+
zai|ysQnzlT{$Vl3Iu1l@9`gBG0p@4>orq+M0^mj?c~eFvqwe7x9T}izo)`4H=^n0H
z@Z;JN4$2!gNq71Wv1E&PcRHZCb!8}>mPn78i{N0lPxGX&;j~WRs)9e|zgRIc^T9;P
z+d+FWhON5_C(0FErx`&|({xCRU0DPoZ>A2QT@>7kv-_sgJ%8{+{s9a19S}}oa84XZ
z;5K<)C_HS&<H0xyFd|FF@u(GBI%{3BRtmmZ^^lDk$_$~+EBx|`G!`PR)&ys&K=pU5
z?vULLG^cT445y-!{Rjrv-{E5))~gIxR5d61S@R-iC*%mE8NrUjQFiyrft-cIELOMS
za=%^0NDc(kSt{;~CbHbbzQRb0MUlbk?|33T06|suEdNo5SZSQewKPfeC}84R|A3yz
z%e#>Ttz*_x8-x+R0^ACQ-}bVZNDC-eh2Y*#_TV{OBCBb^dMx#K8n%h8NOD|wRrY$u
zbEPO%pRpwRx6*k~gcThS{+3Uiin-vwT$Ih0F`(b}%}HKo&=Rc9!U0Me<mwnIQhmvZ
z0VT&eudencq~q@-201+}V361BL_YL<?f6}O9lfxIm?++<^BJN08{p$8GeU(99Y8fl
zN3Q+$w7lm}F{3pIlg;?EccIf{T2_GyHoZXBe+vG&DiZE2+d)nz<|!Vhx}xlX2+Dr#
zhYWRr#k&mK#PPY>EJgc~_!!zV!NjxvQk>N%VG+h$8#>2ZC6?u*Vha!swR@$0V1h-W
z<pbu_kQX0JrtbZF=96L74rAfC3&k$3#4r!~nN^pw8uX6w3~rK-s!R?GHR;SAmF<h8
z2dF9BlFm0`Oe6o?jK>Q%wUAyBhC~#1AN7q}N)Y6*FU08H4{<B~SOpcHmPU>N5M`Ch
ztjvp0LTT;Lit!}ZGm#dQ&0!<}I&-7|?vTW9enCLw-@~9m<IlYv$_lXtvH(LRcUtK5
zPcvORcNEEoKYS~0^#G_!0p$@sMk+Z)Z|x4{E=|9=ez$g(O~rFB-_o<p_G%<~cxN<^
zp1xBH^3QbQ&#XJsV<|j|USB=!c5hOQk27<c=6do<>IM_>PZBg{eBNW516KWJHz%s^
z7=ubdkfaTJaU#SWHElEyDI+KV(JQH8;8`nb0QJ01qTtrYNHR%wJ(vS|C-Ib-t*#it
z53@7{PqQANLMs@>{n;G^G5p^}kjYA1ahsVWc+tn)QOM95AO};?x{bAPFiJSX1F;kn
zXy!Uqv9a<F+<5)vp4ejd!t^vQJMNYPTT*gaQ0xAZ{bV-#Bo2XEd{GRpZux3aell?l
zZmLBbIfBEU6YG)YIn^^5%YF)Im^O`lku<90#8V!I3N)bJhPPP-{I-9BRfZ?a65w0S
z0a8E<_DIF>zBVnMPH2-iaIb>W99DmC77i@D_d!=LMxRq!AD!L(oLbsu4M;<l$P2*o
z^Q<?}CsE+#>wSJ(3&THrlK(83hn^J}=+F0t_8(9dRwfSCyc6V0DU9Jls2RP5W)|g`
z95VH|`@rWYbyfJWf7BxU*(Gg_+tVv!0GE(qzHZr9hLvkEJcQfwQmd@qu~UkWRK?0W
zH7jk;sIoy@HMJptQE@c2bnR<c?NlB?zg$#!f8Ll}N%S736~msRzw62#DCkf{V37wv
z#Z2sD9Hg$o0vP@t2b^F<CSRwFaO*~Mz&ua@<sv$b6Fg0Gimajf7~N12zu1U@<G`*(
z4F4VHn641R$l?q4h$x>_Ir}*HL|foP>V#qonRh~!oM;v4W9ob92oMxdd_4p#eBP3t
zt<D>q#*Gt{q^UPyzpAOAVvYj!U}V~qY;2N}fpGA}puOM$w9QZUkCe)STNVKTYc6`L
zheerOxx2@~TM}c_P_cLf`EU?F1*+S8JI7JZc@wfBZMDej&;Zb>;d04dbsulck2WDz
zP!!CqS#^-pNHD4&!z4VnSY!7%ZdF2IF#5q6jnL$SzA8#i49A{UNw9C}oE`&M6=@Kx
z&6uZ*MsW*0<7mp?(6VyrhrOO`7R7Fpcxh=n?H=gQvMz)#J1QN+p9Wk|qyyvF0bq&a
zpw*|P+Z>t?VF0$f*TLq4+piYIqPya<trHGP0LEp<<P5UnQ^-VJe#K(UwiVNBkx)1K
z^9|iS3z6z;*>zXdZ;s3PuHxDNC7il}ZIpCGStHMjvZ4BUp4}Ux{+;F}C&b|KUQPP)
zz|%4XK&kkCSazJR1nYy>Zob+*)bIQ$EaiN~{zduD(&_wEUVA&9rUSHWyO57^0aFhr
zA<OinEK88^kq-%2GSK9}ty~Sv5+$xKZ1Co&y<}$V9iv)(rreWo>^14MiY4XSw?7P^
zR{IFcbhW<3V_;MP4jEsj4~y~@o+4OYkIXMbJH1_8$lTq{tT59~J7fEPzjsHN>D1_h
zZx@LKKv%)WH{(lTnowRO#Y%uN<%_wk5BT4k+GjTRplc@d@;W5E@TeKoe1Oru*PeW5
zI|i@1&rMO@2AtUR*8(tIeF{*FPI9`yD}KNx--b1<*OV0zL4qg&w8S;ULz?34kAg8W
z%Y+bBq~LIXKD%%h>P3hR)Mxy+8Bj3wNG#pLNf_e~G(}?Zh3D%j$U0eH6gYkv0FGy4
zSn~}x^J9JA0W<yt$fb7>aUyEMnBySU7`UkoF44#=tbKU$kz}}QKivCo<I_~ox{nQz
zz=EX_Ue+r-<3&rGmb2qC*mSo~^^{v+NWz+wFv1MAD3k@ix#6j6%dr~OaqTU2zoE9;
z%FKlGeCJ{ck&#+~J)t5o=ST(#@CE^sLuE+J`XiZ{29Jsn{pBb45~osBJhK|D4(>e2
zklne781%&bOP=@X)QeXTi9=rDH|=DMK<0Lv8>!8V-lLyZHUUR{dFwn)!YG<;vx={6
zQ)LOQq1&`qz$P!;858jgQ1c9Y2)?T>h)HcgpmB*bztP0;UYfbZ;eAe{N)rXG>RDfF
z+D|YCh<?>F<=v;9_ODrxyJ?ZrBH(hizy46<>;VGab9^D(JE;ua*&vEVg6gCN0XXnD
z0vh|h*$5nIh>Br-2!{K&fBW2V-yGp;DgDmGb#ajGKEoKS60OO#&6g)*ec}x-!qtUG
zzdXC7qu+TZqTpPCUlS+kYR*90BgrqsNXrgr^jR<(=OPsfo8RPpc|mzIMI4iX(Qal3
zO;Wc}E&bWv`NIaD8qiY$DvYN_45oIs`R!FnEZoDMKK)s=IPigr+^uc(Ga!&5L74@)
z((F?v=NIvFKZ+Av3YxHA*Jpz!qm0S`!)C<%R;PcSt+8O`<fM{x+`zVE>e($13ukDG
zKUjNa)%0GldFv&0H0+O8p8<9S5C?XgWOCnX=?)1_ptRolb>GfGXAmTtpj{rcWr8;t
zs&Al~J1dfwir0zli~cBlKY7^H$KO%g+obaOXX3goYiafGnK>W&P@mEAlX=yqks7~x
z6|%xOC-={pwZ!K$ISLztVg03^IcQJ0F2F`S^LOyDMrKf^Ab|(0A5OdCLX@=ABS-Gv
zTmvzo{;=j-E^d;^qS`I!3heo#z?E19uO?y^+T=;>^-NVT0!a@HMiH(==)<_I9=ysn
zkO8G)qSB>E(6Ms}<O2qMK<w&zVYA8}4{~m?4auT;UE{2C(b^&Qz>(bGm_G@y^!bqh
z!GPcc&d}I}XPh*bA<}7uOQi9H21d*sNtu)+{%wof?OYDYPQTnoTds-DGMRT}a$?4J
z{`vd15+rSn&54~sStPYvIDi-R1`Z(sOcNi2BelwCcF{c`K6JRJaeA!@=z;}>{)2o<
z`ke+PiV(I(TW~qdd@U$36WqC}m{Ib4d`eppX_GCSxKA>4H7QCw=^Uzz0-cIGoizbj
zVWG&TvT`)aWUkmG5E1U;LS73YX;A{WRsC*Z(xuhUo>FU%FiP=u!Y5&)1rI)E`lHzB
zptJzh3OvQ$S&f8S#>Mww&_Gc+G7#lH8c$PLmBS?a{W}C4#mMC^{gU&VHE*lZqtWW*
zP`HooYJS}gNc;2g*aT7{>!i0vd>jy3iaFYegUkat*ElI2#6?ZdeP`nuN!H?h7qrm^
z`@^KY3h$3b<xrL<t=T7C37dvPW#BM~y_mZ)Z?LyVay`(Tw(;I;DK+CrZ9H5d6mbt4
zR&Y3tC0DTnK~lE)b%1E52;glGt)^h1DABT5z$d{Ix8Res3mXs@08oxRJ-5(XcLqWn
z;C}Y<Hz&9|x3frm()wC1FZVI}W7bpj%g;}wo}vo@9+evHo>|XA?;ow%C_Ht)K~5Oc
zEBCH|@nz9>>D#|SWsuzPn?syPh0G_BX=uEhTRf^WXrXR%!f(TgJHvA91@;F@{eaFU
zK#G@NX4v;T!1&+U0;tdL&wP)@(QB3Y*?1<I1n+wn3cG#9Z`0_%AykS@c_@IHZYJ8r
z@+H_i%fgHso_!JP)<=L%hzGo1$vz$`_%u!F%3ZLtKHWkdPibJLQ6ku-EnBVpE^2DQ
z%`Pw8GKn#qNO%?bV#VDAlS_pw^aUhi+BGc<<`8LVx~YI?Y{!oKd50eEdg;zc+#1<F
zMO)vOk2;V(WhU+u7Dj1Id*WT)MQ$Ojv}=Cb#<YMwtImt+gIr|fR<f%83XC6{<cF2P
z*cq*x=eNdq*oa3FaOupUbpbim>3Id-noPj#^UJxCC~4}d0Sb>Zh%xq7=O2jLINd^k
zR9QjcarCi-jr8Vx@;J`<1?4xgWIX5M?8bh>TJY8@F)oaqzP060LIG=pzf2aUtKlSY
zj*cWX{BW+*2BuKDB++DR7{DeFmgi|tK&0C=I{MW_!2@@P=fI!in!`fJNN?bfsl5Zc
zd~}OzsHZNH43s_`iuP|BJ}|m-Dml5KjAmKt?j%E}rH;*N38&<>`#^dQq?VySJg5ke
z>+6&dE%xlrGWb!k{Mo0jH1k>SI`ze5MGS77BH}|1-^Ha`Z=$pkfHtBa@7$+8O=Htx
zFb+R-F2j%6f8hN%@4&Ld%7!}equ>L?zQ9U+svdrBoPWD-(7CF}SkOw*>T6<5W<~><
zlmg&Z^{RX4x6oz)am4HUmG+e`57r;R9q4(jUrZC_I6xRmx^g>l_^B>MDkyi0HrSw5
z!3_mx9lb8I1T;fdw?>18QfdF}gLIawK!E9Jk(5`0IGHb_p8frfNjwvW#hs6H`KN%Z
zM<`fBGpW6$E15ve92sBuGMbefPQtUX)&5&34a7W`JObPPU@59QtO6|U)ajXY&tB9b
zN#<%ljMQx)=(6$D_gI{`WgWhJ)fkje3ZFhyK^id$;>gV2*TIHE=|{sgYym%TofdO~
z`VBdyU|zXJzTUmvRAp5u{!jCD2GGgQL=NyLJyLfK<_RA_er*6qmz66E;jlSchd(w$
zVlSEiX-nVix`FSSg4^k_#}Z!pbIOM)8kXF{qNLf1^%Jp{dp<PasB`V(B9M`O81deW
z^=Ig*s?^>6I^k0$m<Z&8_X7-HkU`O>muB0gVsa$?+*p95{+3fi0XD&KN@?24m*buQ
zBn~sWmFt!S1e3YeonAKkHG2OQ5GqqK{?Luv@kd|1O7cOVI-fOw$6-kJCX598RDL}X
zP-a(n9dKm9bM6n+?_JCXUr5xl!G{S{z(Eq738s;Pr3Ra}w=KIR*TX{z6R!nSLiPX$
zKR%5{($d4g*JKR|g9CO_K0Uy=6(C<E|J+A)R*t25KN8MN&ptIrdY^uml89Jf@i%T^
z`{mR_jNO$Z61t};j#Kgril3=pOB3v{3r(dwoU$>-aalTG5o4}*CTKtO)7KF$D0t+q
zygyhyk^Yny92rAat$GHjgj?=y(MZkm!rhc+HI&SJy|mqW&>iKpArNaMq<t14@b(=F
z7F``Cu+FJ>R%s;S{J;_4i&8EV+~|YLn;U0xgbmd9a#NGsR5rYK+F6<@8`^o9BZ;o_
zZ=kS!fdqznIoB!GPqkgSO?Dy0w*8ljo4Ri6yk5H!XfZ?-x3aJ&PRJIoJaiV&ze0)t
z7eMI0TJ-t(=J~Kb6d2<>O7&)vo|wJZ^>=!Gv24#f4b2(#0m5Z8;r?oraf>?CHBqNk
zrHyOQyhJh9sTBV?m$}<GiQnODx5BjQIzG8DQ4&m(ax>Z%OT1!Ot(CgCJ-~oL(*=71
z4m69w1G(;*VDx1GX9h<%S&F}Brndr$1~b~2IolSA?q%XAJa7{$w=~sCY*iJP+mD3H
zZ<9N*p*Mvt1eeJxy&<WMu>$$;Ixg0>CLTPy17FySBnnOML1Mq@Uis<MEdFpxNL#Um
zXC|29A+R&43bgiABk+C4d_k&KgBe6|CEgBg@+ff7A%SY3GwHMgbLs700BCqPjSo&b
zXdk%`<3fz_jj&&)(do*+s~~;{9ea?0Ymc&zmHb%Z?RyS~iPEGj;pl|r;gH+;ht2A2
z30>Y&+@!&87UQnSrVi5)qI3tdKv!_#4vxa8-$nRLr<}HGsdSE^V_FRgb#UJks2I4-
z>yWP-Udcp{*l>NAzl))QV6|<+q309u<zA5njL2K~#<}t^#G#wr#7EAfApMHk+>+2j
zfIa+8N_+VNA>bHtQfiO?o6(c{=(S(v50c1rw)sKe>!FRq`+N|7X2M1k%2M^o-n<Si
z9&DoEifhmoy7l#}^dyF(XY2z!M6Z4YE8C|*!>J{*t+H>)ZHIKO4Jd#ENZq|(F(9V_
zRyF*`h5f{3W%^84jQl<cR07%PZ96H0)9?;$)~&$v0^OljGS;O#-FlQDe8^r%BIUX1
z0jK>i?uzZBGe?t2R)(i9fg677zT67DUCVuff?=47;XB^;zwGYmabmFyl1bA+V?Y(`
z037AMgG_WFlW$rv9d__wmh-Rr{`j@UZp(-8*^{2+*FHvHA!tX!$<N-P6N!r>y!%e%
zN)QN@g<r0&0j+WCsOPi`0hr;)fu<@1L-csUM$N|)+Y-7OBm?1ijNH!@+<QvGG6tt#
zoj^P8dAXn`mD2%$-8zYpILd%OS`<)G!$0ZLBivJ#mhAZfpUlgwwoJx_9on9yZlJh^
zt&jp_B8cCZfS;+_8+hJR{NyUy79t&g6WU3m)xp?Nu<pXb1E4-5Rvw-+h)QCuw>>~J
z*|P9%N2RGN2rhgM^rJn<i5?gHRxXWk8(GUpkBcx2jK2fUrc}K-dsOZjh)H7T)X_4l
zd!8nW*<Z=>K&VbJ^C<#K_cg5Pnx#8u^5&#g+t>szOB|;6X+6#nOplNL%Z}t`jvhPE
zH%jjl2@!19%130aaOX(Sjn3!AJ_~Kvumn4{?o(d4X;dO=%HYAtE8Sl2BNQNwRUEik
zM%`%`8pk=_SYu4wq%DK!oE%Jogy1s{uVibvfk^dmN?Z!7`c_3j#kTzR<;pJ$`6UGy
z#Hq-!4l7raizIh4;@m(YD>A-c>_6Bmo_`QarZpySZ^ZrRtPN1LhWXwFQm;*K#p;lc
z1*}g?@+rj!%{OxAdGRb)W6jSgWM8B?84|)5;mSUG>L)vVi?Emyq4k>rX#+#=Aeo^Z
z{aM6=mx^I@X}Oh=q?~8$w+WUQ<&bky+$D=K6RBP7g=;@rNqbWlcz8%Buv8Z_>XfYO
zlZ_peykCSW^2Sndcd_b6r?(Ka(?O`lqF8=suPo;Fa3BWT7eJ|N44P8Spqv+ZuNE<f
z?#4MNmz>?SSoZfLrOYU4;{DSdT8kcZeq~Mhe|v$;>n2lu_krQ=Wnf%{s_(H9M&=9G
z16?-&QU|tda${e<BeUpONz731^V(7Lu_Kvkf(3trPDAg&`m^Z?@>ndHacKE!0K9Ai
zWoCb;K2>Z9;g)4$PtO8@m=R_H!kT7HnAcl(R3HLK7DBFLSkbJBR%~aGsplq{_o^3n
z<HN`DVhu3*H#`@}P>)0$elou|hE3k#H!HE;gSnRe(Xh=DY{l<w!l0|qfT&uPXMngT
z+}b<FK!#<Q`7m(@O(Jq^G5ydt)O(*6F7x;>j`yWFh=ADwCVyU<Lf|I$7#Jlz6auV+
z0G)$l)Tz^Gwx>+n{7BD0E!>0tq~){z!rV6ViM$h#PI>QpeBKrU%LYj2xCfR@7`P3%
zxYRH2qc!EB+A#JU?qn$NA#vsFnPN^{jUUK<G62=A2LA-jgS&RXneKI(5#id?#wgBk
z+a6HKc6+<+^5qAOS92%*Mg3uIRZzKLOKd%*?Vz$5a|1TkA_dimzTqOflNi!UI0{QT
z+oWU{tJ*8~x}C~x223-{uT49y53NYAP|I>sR^+0H_YJff_nzUq;~`oul1Sj$NtB=!
zL4N(*l<G>t@tNCaoJG3gsp9Q*zyf~IgkdNRN2|c>zs)8>23p;cdK&0cl3mBO#r8ny
zH~AV==rCcb3~lUceqWsQHzLjWLvwoGg&NfrRQal+3$aLl9(=lXP*7Y54>cpPX$JWG
zDrEQi7ERZzKH~QGTRFh8H<BZT^L}thJTt(rv|I`mH8>B}Mq6$dG+sNbJMU30PSL!9
zF*oLqpl^_e?H}9;z`GA#4ZPM>%B*<79hf-bnH+$$P+wF|&klt~I`YrjHGwUSEi8Z@
zi`h^NX)+p!pZT=+(8y0U1Q9-nQJDDD*&DcwKmxcJVt^#2s{rl=R}ec%(<nJI)h6L<
zca0gn2>tiGP?TLjB_)9LiJl6%Q(_<ab0J^;C6{7B9729s6)!)0?SO5?lr|SVGwUJo
zX9_7_p%l0@f8f#OxW2eJ@1CF6_eJ{qb?K&cslI^&8IQi5;!eI6T_p93a}&F0RB;PR
zf1Ytcosq_fV~p&S#2fxw0w{znnVLQNXLzvt&HaYl`jJ~4I9HD;91J%%BV|b10(1zw
zVOFOgvs50dbm<muq-i7|-*H?b>$+Jk1<9eME~5LuTX>upm#`BFBQC-&=mxoTf(@r3
zO1~i-X9Sd=HUba$NcYt|b_>I88Pw+UtI~kRO`qACLep62CnB0L?OW`l#>ZY5--pw%
zuO|>Gf@{>Kkk?i_>D3C|1$c34daA}ZwyS`Uw|H)QY6lqJw~9Lkr!QROJ2};f3vyC`
zq)?|{pZl8<zPF)XVICkk(?1G))GO?DEoN5t;VC?&5yZ6%kd*0NX)Agq>K`EjqZ}?s
zcl4RrD6hNFOD3J}&FZ)?G@qyt|2An&S9}-gfjBT8!8mLuVc?`v4aJkak6ZvSo7gJy
zMWb4{FRp)Oy;rZZ+`i>`-=AXZt(z)wc9WBI_Lj&wW6~WtgH47{-#l;CDOGnb%QkB+
zFT&(M#~4400N#e6n&_<J*-ty3*pB)bZs!^7q!PI0;MdAWyRT!*k-(*7^$Dl0O{+JM
zUbSJXz@CSN{Zju!;FP@h4|21wVc1Gjfl+@HJG47a%N~Kn(HegcmF}Rh?GxuL#?}xs
zX<4G;hV;B;fsPFx{E^R52c3lm?N`^4ZbhZ+@34^K&}6sTu;TFnkh^ivt)sI947f@T
zsV$(ZE`c!1w!R!D(1@$xNdIJeisZWu;-riE#npfT#~1!{%rZMEtQn)aMwdS-3VcL*
zWW3$3*K*HFoqh&Y7q7X4r^PcMAE!lB{`h&jCJS0`4!qLHyzsJLg;9jWud(RRw5v-o
z>=gIr|8zMV5WxdpVaQB)Hzzu^s<N9OM$_c80a~t~Rn#&iLz6hdNi^VPG}J_8&k;!h
zpeWWyyc`$6K-E7pZElhV3HU~uTfQbJw}J?m_}X5=n^Ir>toVUOv#ty)#{&h6M{6w6
zLE>eq69Zfnq2aCm0<xlXk%<T7yI0_w9V~mxaf}hiEF<seinCs@hVWcu{<(azz^Q^%
zbb&loezI%n)J9vMhTSt+-Y3<vVk*E?du%&wcyZCddn-_6hz!yQ_25thXvML{Xva>z
zkOIItP-YwUQL7(cDU_auPqpt0AiyZy8;9RVE>u=iQ)bx956Ol3tlXU!Rw7LX@I8fX
z7TX`fte=<(sRv2NeCFqSiCSCe^hWu^jo;d7ANkssVU@o2gxU-SWTu9ypB&$qrLdar
z16DVx;Ygndg%4s{?{hA#E5<}?p(tos1|=+N4GDW6;1pC`0)o|{EOHV@dm=wB9r&6Y
zBw0=W;*h|)EZ&DdXH;M47qJsz&^Zx$ogL_);b3?64f>S#dCW!!%`pY%OO<3u__BJP
zQ$Qv`-Lyd1%O$P5?Gt5wWqQ|n6o$EN^$_+Nos5=?P5SzMpQh4r^3L`;0^YB6*`}cN
z=MuT_QuL+QT}d!?SZoNCxye)hYYi<uj!-F9X;xPV&ib@DRqImvQe!A^n<4=MN9&=o
z3K~*w3j&gF%_vLPyDC3y_$g8Tr~ARdb;G?3O?;9DAmp^4R$;(#im)N)$dR}?>`9nK
z@JY8gNa@|PWz!R%K!0!}J!ydb(%5KSvLx@YoxLK9iu9Wd;YB8+6`Uv$7QwJls6^<d
z(~_*``7Ib{zn~d>8OV_73?X7>t`Om{P7&Iwan3!TIxXkh>ypwjP<M{N53&m7S7e|E
z{nkxG6u{#nAE<m1cocfNg{l0ZdWb%6*41b=`AI`>FohQrU}!u3!RB9wEXWFkhUHau
zib5|TuXEw$+|S5a*spw&tjk4z%?#b<$Bs4@azVdpf~L>bA(5k?AaCb=FgfHy0@Y!G
zc&+z*&7o+A$S8bf$6cZ|&-)oo1tD<;Nb{vm$~qcj)>6}HEm4BXm`&IZZA~DD&`{{F
zn+K(jBH`d0i)5uJmzW+*VB&(_G+!Ld2$P>6w3BbIu*}(SvbLn90?0cJ#w&uC4`-gv
z%ImuYrw;J<4lob}ah1QQJnxwc6@&@TyDv+d1i*?!yA`#KPDv}!baMXQj~-$21!>nt
zWe`NGWF5BYOP?tt;1`mOFXwqvmWmvpM@uQNJX%#U`5J&he7LW~0mYG;4cuob#ifmq
z2MAhruxXxD><61tzbHx3b`KHA*gin@Bhbh{5e%B2!Jw!&XjAA;ve~toBmNAtA5gmu
zn&*H!t@OqzzN3i~+`uD2<)J8FD(w_XmBW{N;i5|DJMyrqLh_vCvvmQkPk_Ppq*~-h
zO%(Ro7<snP3vi&^Afhxpcqct>L;@0U+p5Av3nZ>@a3WWs6tL^M!jl!`E6TNR^K8l7
ziuI;4A!Z)h@0~uhn<l_4J*)tvKlR=Ya5X$Uz+Z254C0J|o?!Uw=OvZ%5ba3ex~}P%
znXb@2lo2$|brA&tMtpz~s?O=Nqp>s-Qzczvo!CK0iYTFJEd#TQ9e2Mxl?jIZ)mX)=
zJ|xL>=pSGI>=)<b*18Tedc${}dpmf+B6w}u9n8Y)Ln_0QHaLj~KQ;8TI0y}?=JsQx
zKKr##*O-^-uN+ZdsuqN)b(FopfR&DNisj=#9_e$L9DZRLD<2htMC)~GY^vFi8797e
z#Ol$GHRNlKg+ztH`L|1ZHY*ttP{+67t}&S&pq}@@ESEGNV9#llbm6#%ZJ0O83ySZ3
z@4F6d{s9{$z`(lK^Ab-qP!h9;P#*N!1TtAYG+noB^AWFKW0^pek7ZkF>1=aWdnUpD
z^yKOXbY|yvKO>M<-$J{`uNp5+^$XX2t=<6<tpjP!9i`FaNja#k@;o((aPI|THnzTG
z4=GSBvtdK@ygbna0`3BXwk0OVv;l+zaHB=(RZQ~siDj<^N4wLI7${B!VDihpu#YqH
z1Gf8bpP~XcFWn<=hBQKcRao4sZyrC@%=t?wa(lvz139dM$uHZxaCzXB{-a?!A`44S
zCxVo_8^a)F$%FVdMO!K%JnLkV0>l^kO22atB^+<QKR)RW0O(v!+@~ccL%bm@jSg=|
z_!qw|(pIy5=Ht*+qG|AciY2_RYm8r*He&L-j>mdn4D7$8$+tKIU)U}Y#?Mt<owLA0
z$->jf!&2^6tAkY#AdVGqAA6K|0Bp(55?LJ<Zx-p~XAzJyE1G5i8!)m#SPIsuo6)j3
zNX%<n5n6J?l+hwBd{V#(q;B^EJ$ZftJ{Bo068l2nq8;+=+Y@OK>->te>4du{5Xt4O
zuT<kue>(axIr#jU@)kGx!>(VD6+mJ*{&3_|4t7c`yDAjewZCji^rAp^%|yE4VF^s?
z4N1Rx13^bu0S<)afIM?ybAZP)2}Y$Kc{%S?eU}kK@W><Jy_po5jt9cws)?-xvgqus
zdd}qn8;_BNiZ3BU!4#^Xyv&;q+C>0YK&ZbGUUlx3=dB?L0re%H&l+Ntb}Ud3CE)!#
zXOPV)cOn=@aQW8DEv;Z_<Jo!q0la!7Khd#UvH>>`CxgQe*k*E;Fo?lhH41*~chF^v
zDM<%>NfcckH(mSa=wZw1#+>y1QCp=0vC!8xAvvsybTSICMY~uoU-o<6tVV5EcI)4R
z`+UHnrmVV<WVH3W2REbbgsVthANV`>AY;*#^k;jesx|8f+$U7)J!I-&eQ39~RHMe4
z#_`QvWO=Cc(9$$@$VM)s%iMmF{_Z9;S9B6=9MjPZZy8LaFjk2a^tq5e*`aFAfZidH
z9`hkzFg(>2_=52G*#>!9^|R(riG=j^r)1q9O<U{i`03$-q6OqsZAQv$zD?Dmpby4?
zRZxMp*_|DQ5!iV;AXIi8#K`u92`f0Rar4lCxS{YZybfYwZ<+~tGMlAk`GR5(1CI)e
z)4lZGDsKlMPMLblh_Y(^<JhdX!}E4j16yd1QZ1Sph+3eS;Jt}FU?}(xfVlP<6(WF~
zk}NpVggB$>6+_yhF#)fyBv5a6i$<hqg<PrcyoK+g;EJ>2P(0=yVLjbj&m>8JjX@Wa
zf+8;~V&aU(H!6<FEM{bVE%UpQ{8?_={0c!6*A?R(1`>3G$pG7PSOknw=aRGO+aLYo
zPE$w!9Fm|E9Fs^8^i&Z?p8>yD7pq>QAH`Qx5X8wde$=6`k<{adh$yU|KOk?koW}Te
z@aOrs3AF6LCC$dF|ISTE9aixbvog&eOQP>C*3HrO4c4fH^O9Zct!0+62dgwup3;BP
z9S4KgM)koQ`vr_gR4WW%jmHK>T83829&i)jsPAY~lLvrMvvhXeN257Co7AI;;e=cC
zm=f=EPb<<CoMG{0RF`hLutt=9dD=${;3!tS9`T_(q6C(eutIvR8k$~kK?O#4yPs)0
zz(W3)o**g|%PKF0hw^v@)?S9i=Q9F1T^TcEM<Tzh)`!B>&s3xw2~p;BG{<_&=!8E8
zc4xfP)$oo&?W-g=MVPCA(yF7~Gy2U*P{@BDt7Xi&r?nacozXj>7{EEldP<fTzl!DI
zzt0bIaV85HvbRnPCCP@=UwdlTXeN!OIZ%Y4%zY^k-fryu^UJhn8kVLA>?$)_h5MQx
z43K_kaVWX9*08bb;PK6HkS`*{7s!F32u6;DXa9i+fca%nUzb3B<qc6~sCIG|Jc^LE
zoBQnB1d~02%GjmazYk(Ojbwl{jbFr@_3kTqQ+1hh!vs7cgi$NT7SV&nioGt+NAGqS
z5pV@F${mAO=+AKx;#v-TALqQC<s?jcVWueYdZS5czex{ks{O3N<D~Y|rcP1d(r7F2
zNsaPsRfV4oGJDLYgjwbMkKBJ++Wt9bQlq~&V)uKb(E@K;v}?JjasBcfo~c5;a2Nbs
zB#i*kJ?O29Zn~<kFZ6ih2POnL6Q0X-`~}~DgsLhYhV_m_RVpImVw%`_6l&BSe6Ra$
zz9s#+%*+V(!Ej(=6+PCQvuS>Tj|wgMCSQRici*AY#3c%YI{Ix27~2PV_<|iiQ7#4a
ze)#1VU^uvSrt^u0!)-*k=_#DHn8DzMYOnW>^z(4|lL*mCR>R4&70?-CvfxXtwm1nj
z^OAC!CPAP}ZixLX5s6{_QUC$Mln004$d{Y5ykhXUO`H9A7*9H?bfOA2eIjCc$1;#!
zA^1|7o@>rW7ojecKSfLb`EFiCEee+xy!vwtD>fk5Bg?ol1xQIw8ygl;$G6YoxX#0Z
zwj{0UQ=t#1_cVpnK|i*h9Z`UN&<M0+Z%r=aM5ix*=63ouy`vz{&Ms5(Et6#d8!4<x
zPfDbUAWUWi<X+rA+VbMNg~0e0v5X-;H7cNRE`Uf2IT%H|U5S0rwRD@-T2mwr73&+I
zXdNEdzHE1C36G1vm^rzGsrI;D;jLn93RPIn?~@GEcO!~@DB<s6a-tlfi!I#}V}0V0
z2K7Qn51zJNGF$?M9D0{xK^G~X)_~OX$RBrEuFl3PCu+!&2g_FckX=g*gW)p^MV0hZ
znutsTs=ClbM<*19*Ij9g)LdHas`9o&0P-RO?H5>WV~82>MZKIv46B7eZU<u}Z>?f}
zlHPpu^5v6i0GVZbbbvsQc-`%1;EXrX0Ka0-s^5&dG!^&2n;v4!kI;U71bIg<Rk0bh
zEgG{W`G7<@c_Ig|v@vXr?6U6j@nREC@b9-O<C7lAXmO=|5d<>~v*7%wXg}@vlu+vz
zisMRtY4?JVDfhUW9lQ9I$_dbY4dc744ry@TC%_{0Ghd6OLOcjq^A*E4h65+{p?H*r
z1Bqub=I`@JwwtKVmtE4{!%|4E8@}4}e7BS1qM?kFy@w2IYTw5-(*5?7hDD>nEymZ~
zJQpqFV`T^5<Psq}vL95%V@`>fRgD<4^b@LfVh$fWw8i~lkoXP7&)IKj7@Q`!0Ob`P
zcD#Z-$FHs%TQS0DyAeG`)4d%-t19{~1Jj9s5`}2^43ClQkhp4B+m_Lg^0<xkro8jh
z+0&MS8-Hs^fvXQ>)(s3xtb~x=W7`1RSs&M92><xmlv3doggnph;OMF#0LzX5kP{^F
zyS>SNLhWeVIYYB7YKu}4CVo`^*v2C6;hFXWl^&1Zm4fwvR`u!c!I#Zh0B@>+pX)?o
zu$-Q<DZ9XA*@f4MN1>{nt8=B*`l1itVXZFiczlat^<i7$x1)hh>q`wz`u!@Gj^7lh
zb>*iMbt0~3#0}ACgJ_^UU#jYXKHo>RiRBN*A!>v#W>tCi7Di;7e?Gleo`5`Ur@i<s
zs%D$A=@gZJy0_f$CLky}4d3o*s0ssQ0mq$-Kfn>d9UH}H(lzUvrraF(*&f7_Ivz6I
zO_>#LMUz{XeP8>3a^{RFn5%%NT_vFAzD@*BK@;6&*8*d48f{$JKUg3UcuwJ?NZO&L
ze%fJ!L9D*kiyxAL6!))Em7E%@IjTRjT%U-CW^u(dkD2!0g!^-SR*96N43AEL1f(`x
z;I%m|`{8KyAOaQpfKUAazx<l2jenm?RUt~S1t(hj@M~CiWf4Y3`a8-E0l1$)R`C`u
zPe9WEWH<sPl_z^Kzi8OM%yNK$VUP<3BI1y*w<gbYG9@@BBcpw0v0s}PDS*<oJIV87
zy5(obKF{pk(k2ASzy(S@`4$ktQzvbaNM(@0&E$jZ5};*kes`uH>xZR@zDYkYeWyFU
zR-y^hwu4y{XXAW?_bq%rHrJZ`ucP$zpoZ&Nn_4N6A!BD%EVqJOCsrb{1n+7e#ee&f
z)#3$Kb!Gr|9Dc{(SH7~azo@(Fl5A3AU9^b8mbRbTEJ2(7Ega++A{9j|t5^XTh3Czb
zs76*jAYJa7`P`lLzy-l>byl(UCe3u2;E;_D_8w4A(^1kErcMLs^~cN<@)hhe-9nn-
z=@Dc|5BZHhdheK#>2$G+zJl-Dzd?uIVMESrUHc#p*@MgjH1L}a$7aqt65P)6uGdQa
zbDE;(R*RgbS!1uZ8kUdOaP?yd#*eojlO#p*0+(LzgGO67Kn_@+R$^8zQjq1c_9s=S
zMvT!P@mTgDYpt0C@&2q)sUKPR=ls1PQ-Z7qq6Ri@bEWt{^?aV4l(8*O$Xh#FHBLPz
zGpim)lZMh`cn~#SUfDOJi|#Wr^>t^{{)w?3r}u@^3RhQaLb7m2BsUxeM}HK4WsjdH
zHc}Aw4o5G|u-#Qp(ArQ;_iS>F3mVUKK&1C+4VH%<`8Mx8aBBEbtF1_#`1!t&B;Max
z1a904D}epAzl{k_D1gN=kuxaR1Jl)OCjfsZ$U}}}YAZ;8rUqB9WZ3w7>-db_5P=<|
zjsj^(wP!-DrmuvZUI16BBUX$~7Vi02a<SVS|2k8{7z^9YhK>}kxV|vB+h58WOOl$V
z^kok4&!u-WkXrXU_-dtlpEkod_77+5PV2y`9baHgY+uo5@rXJ?L_un+EK2mLO$y-~
zx0Di{8WpOxop1n#v>_nGQo5&6zz%x$<tG6I-{PjKyx7kWpc1n#gWuo(cWmx<^{|(+
zCMBK3sn}mfxdZOC^-Ue2%OH$~Zvhe8pFxm=wFE*>naBqY0}SzP(n+MKj6az4I9eK*
z_&W7K<$u4U)eUQvt^?r>hUp((WC!2;`Vi|Cz@Sp}EJCs=foq@Ua|BQs9jQTDNjpV@
zmLN@vWQR3TPS<sZktg-SBrm5#n0z72cmT&az{hCtLh=lB&Q}D~L2%pMI*OVW0jVKf
zyl{a~<KBI`Q@Yg=OAcn4J__38L&qS&5vF+J6)>V-!Hl58PM_lV<)@M+(aiL0geJh!
zji2=nAW<8Gi)-g@h!Ng%<yw~1{xg&5Y;RB}C~W_V?G1v_B*U51t{aQTlG)7PO=*UM
zcg*ek3%rvt>GRE`?9KeSlmOA|!2M|cR4qi!0N^*?Z7bgdI#_rF@=J4{)I%ByWTTR%
z`IEcyqNmh?rmM3<GVkb~F0wGvB?&pW9_p=al2v2FYMK+o@S+wvvGA!kl<4^)mlFAL
zpGlNOo5|x9VU|BRluufPUEUa}lwu1SY>*!7`Y|`833qOO1%WHwJ>E75IO&tElOe13
zVIOnLCEPfUtlz{8br)EL@mU8}p9#lRC$T^zMLVf3E6!J8jv(p38Fx$EKz><YP-Iz#
zm0Hd<jddsxl*97`*Q&e8+RQ;S8X$^F>UKI%L7A}ri7k-Q)i){c*ee_uGQ(qZpumxJ
z*nnodIs*Q&%U}s%@-qQ)6j!abDxFQtFVFDhY9*$8BH@=3fajUPG!?gbq&g;V$CA?W
z@QLh~&_3VLcH0f#K>DZO-blm%3)75-H|*Ht7)K|b`tG%^e9*YLq$~(-e?F1gd+2#3
z5p7@StHWv0|F{$Gyl(dOWh{dspv%B&IuLJTosd5!-L-cIg$(t1+R>4S-sprcvyl%&
zLZv=6M?t5%CI%E8p@k*4VEnEfk*(uxqN!y)u^#bBP)Msb0A$AgNR>M23+NNfpirT-
z-`G<u7MQJK)HTRmo(1s>ixuOKBW&dT2ImF)Aa{nDjV9Q3q6rx?3kPyjVH>0&Zed1}
zS)mSN^2c%$Rd1<-*Jy2lot_1)iHJV2JHQCu-0a4{f|Tut((mhM6q=aD@s)J2J^VnW
z=TAfa)g%!__z?PHG&sSN8&3+^DP8cB@82O+l~|NLe8Pp2FGs`aaB9E=t&+fTQJVdf
zKNqI+W4Sw!q?L&Yeh^W}0Y+;0sdmrg<<U<xFAxntE~JR;vSz;kM9^O9H{8u5IDkOu
zC(Jbwg#V7@v7KIBcxeXxa}%_>ssuAC{39)YI$(uu=avE*m>y?2s(ulFj<o<OB#7T~
zG|fXKQBUq|fN}nOvsr$M_yI96B6DA2sk2|BDU-Fi559?}N?xIWSO}1vDj;5On%yzS
zK-PSX;+vs?0RGHmoiRLjUY^L?4x_2URilW9Gc<Sq+>;{jI^g%p0)5mwUqyk3df^(W
z4^Ka2T3>c$i6R^?+w?gH+d@Bf^+N0NNcQBSOh$rvOVE`$BVQ@y9!_@Qa<5lr{b)cA
z8q8+<%-8f!(=$%ffmW##PHO#e)UYCdZcrqfXb{2FF)d%y!s%7<sw#`4@9VeEQ1Q-V
zgH@oo@p<GZO-K3{mE3$@J29u$i(onhVi=}7y^qTVj5)!^uta_M7Tu;uuJ1C?+Kzk8
zV(bbc%4tv8$W3!uk{BNu=kH2Tvj@TtK9!f1*ZfJk6qs?rnD^gTgVH***if5IuKIqZ
z??G<n32zDYgX>Fxg0yN9vzRrFZWAz(t?*0B9f$`UFn-rHO@~}wEzo=M_QgeWW-^dW
zTc8AhSOxX{-VWL<D6+8=AiK26G8I~t(Jv#v>nB9$3al$Q))-FN<Zm2$YSlu)hapHV
zW^o}b1`-`mqOTLUE~}@qBEQJ<7%Y-f@W^D+*OVZ?a`!|DTOxYqbV?y4OGxP<!1UQj
zbni<xo*$JSuyW6Z0Am|C|NR6Ke7n5eT>Jx_rj4me*%*iy4LL6rFUQV6#FSsSta_Nj
zF3@hthm46=vJ2*@5Jy_0Bv?FIN7o29<)HxAlYVu0S>`Zkyi;Rtl&Xr2*Kv%EjwwH$
zV+#@Mi@?8~T)CS&7ZKix*La+Qu&d|9NXT?c{EvxbH+u$eaMV>G>?RVh4`9G=2Hgb;
zS<rP4UJHHflAySYWQGw&q6L%5U|&=14Ry&7HueFM3H;4icaV$<B&nxFOBmTm2W~#!
zjc|IJsbh!oY7v`1xl%h|E2u323hKOMZEzbfRu{s>X^P|2^M|!tChptDp=#|TpN=lF
z!hDKaq4DDKi)11lE`YRFe=m>(0$zE(M_^hlfQAYn0}lfv4}<F1M{MLA+J=P``&zV5
z>j<}=li~U<)+hF)us50~on|@xvN33zqs>br)ZSwmHWghmy<G1XAhQ5?$vXE%XB_?^
zijSAeSKY7gsu|co*_Zqw#orl1HRF|#62vo5%PCJL?S}$HROXEf&%=g@AI}0m1*Sb;
z!yYvw>a*c~;tC$2&}c6~k;+s0a9aE6hZbwZN{z43CL+Q%+wejHgK-~*c(R>N2J^J{
z13|^QhOCE3Quu*?t_{f)5U8h#l_L$S&U$-*8VB~v(~^&Fg=P$<&kd%nTD-(s#slz-
z`@^iy+AbN43iZ;Looz~Ogb%XXEVjhL3hh5S!0GFpmIh|vS3OC!;2?(_9g(0$8+g`B
z{`2bS%{LGh;-412#C~y!I>m9zWpCkAZ)Gtuw7t2Ehr0FaPh$axDyPn6hv3(2?K;1@
zF*x>=44FdVj2P0;3dOI~u}M7OtLE=MNBH2=KL<qk`^Y`aVBcl(kOr74_>sLiq-~Za
zBDcoV(a|@s*V-*bWMoJOqLz0i1bO$Cl*kIJPV=?{G`1jmHnl$m2%6M5jIehF^p~a*
zTpJ}{_pYRT(?2(3Vkd(6^(-vg%<PWdc{l*<4{yA#Af<UeTc9$&bWE1gXbIsS50VrX
zN=6<21PRW9Mrdej_NYRW@u{830$A9Nl<wbQ8gm7YgOQ3k*w8fm(9A7t)Com=TBh^@
zgc2l<jzZ_8aJ$B0^}3y5dTRE}fF@?&)}vv4QVNP#b;#m2FI7myvv8WLYC#?-;yahs
zsI2AB1C7De<umug{Rk>NTTP!|QJE-C5D~U{lP9Y5wklJQ2I!E2{v_{>ed*SP3rL?~
z^nvxT{lZo8DPei1my^=93W{JK2z<_?Hd)_7pX)K7^GQGZjQOWF1;6FWK;;Wc2gnZw
zksznBDir&`^l|r5LXF=Q7^UfBz>6X>y1s+kD)OobdioFyVEgkeIxu88IheaCcZDp*
z+uEA|%-5~V7pYKw+gpMouK+&Ncwk1^OT{Kv$|Y~U%U_O8?aomA2KejDlFBw4ot3Cu
zor^X9!b4oHvTrHL`055(E3vKLCRo%ffVu@~E@w2*qZ`*{+Xe|W|1JSjLjwDAUue~X
zgbImujlN{q#8sOYG(mM~#oNDTo$w=Woar6>In+(acg48w%Eo*N4dEFz5eaaBmuCi1
zN}7`RsP5Fk?PjAv(E!#|J_3K|#46ih5V_EmlnW{)Ln#HKY8R9#DVub^VetE#DH579
zs5n8q8l@l?C{i;^1QEb5&j{q#?+v@T&G@6sz{Ua<_}MW_1k95<p*(9c4_SV>&3(1c
z$f0@JJx#$+9H6H!cI=UL1$6SqHClIcVkHe;LvkM14ceVjMs*kGR%VWC(hqRGHMWtb
z&MMkX*G_JH)%x)ZWaw}%g1Wkm-P-F2yMOlLXKok=uXe+h`bV*LvgWJ__<jyRXcGAq
zSdB(vk%!p!m|ZvGEM&vJLe|_~b2{L>YQ*LOypXfFKT=_b>sd@-@u0b$Wbd$}8EvR|
zD*O6N9Zw7)`B8vOHp(@55UfQo!i}}CMGKyBn8$vIC;7#?_t7fDTa+Fk(Sr1Q5Xq(M
zWx}f?)4cUW`woSQ9y(f85-$}~c3~dZra{ToG9?;~heXV~Csu*z1f*Zbk+xPk!zIrP
zSM%xjHxg;)nPNyya3}c2hpnk<(b&iwam2mL%4iKSruyj;b(Jl8r%}`!gaTW^w}Q~W
z<wd2%_DH{gmd=o>loQJw<l}ZoKiDs|zqSS0ytxK-!mgZ#MR94yLVoJTtFmgb8Ot)V
zI9JA3MMrM}4f2Ngu^);>8&Arvz3ET8p(b25X01$|h~nDp;sm%Up1a}W{()h>6Z`Oa
z#Ex>$=Q&RIG;$eO_$9sG;Ev2w*<!MT_D%EmI>jM{H|hO*{qf8z`~W=Y&MzvdTzBX!
zKSf37#n64$k$K1LIlGxSklqJX_CYzCR~$3Q8M5CsSjADW8I&u}baF0s?Vt_wBjfpM
z`CZy8+QCOmLhzfTrg#(((`%iOfeecg_zq})>ogVV1z=9Yd-Mj`7{1gMiyt&#Z$H6;
z3Z?SPPm3WkSA3}TYa~>68>2VoR0kQOi#K+W5V=ZzZ>#*0f#>*XYV-}QgPJ))j00G&
z4%rwZFeeALjKeb=8%xcJl6)jE3VS-(H9DN$<l;}P{VZ+7R&Ag0jNo+ejp6O)T5J|p
zphg+Zf9Kcy8EO%!hLR^~f)koFEBla0PIT?`)}@l-PmQS6tRO4(>6MD?ig(S#js>_!
zqPdnJIIY8|wjlIusBqq{YHt&E0$H7tdNGO$<ge8(FfJ=Fj;n(hL-7<CZZP7FK^WF=
z^#60eg%2()y;|4xzy9^tKkk41g+PCS|Nc*~{`Y?tWwrkMKl7pe+UeH(qb>gR*PmZt
z^sj&a=l4&`+hF_?`M>f1`1A4)9fqj?&-CA~|Iq*b%>Oz4_h+8Jm-An<e<%Ov^6G#5
zY5M1%1^nx;eHs4yfBT;c{U3k*qiToYUw=(+5&rd$`J3kL_O37d*FV;6nfvlzfBiS;
z@1Or__~+10WuAWj^;foU+yASzo7?GMe~s-{F8{mz@85>@eS16Mf4Bbsm-ElFE&i<A
z+psO^v{v&nzVk}ArM><;{2$Q!fdAvqR=&^w@qc#J`<Fi*L;ly>`}~Iv{ns1xcF5mb
z_|Ih@-i;}ba+-_cuYVk6zRk-&%c^=O{@3RJuRZklb3N*R|6l(PP)i30KM}IVR__1+
zO+NtuP)h>@6aWYa2mp76i%S3i0000000000000~S004JrZ){~kZ)AB*Z)9a`FG^u!
zZ(?a-ZgVbkc4xHuR}b?*k|l`#l|t>y4%pT7ZnkR{^hOlD=-%kP_x$yjU$vQ@xwE*q
zz^nu*Nh+C<85t4h97+H3e_ws~mm^=+dK~`#SNNZyzy2j3(lM)t^6!8Bx#Hibzy9C<
z?O)cT{L5KqTlM$9qR>Cn6oU2rU;k3&by;oy!=<CnPj<Zi{#WQP&|hE}{`30lUtSx-
z`uD$9+cy1I5IoQGpHK9k$E5@j2!g<O@PF&_U$3qn+W%EYn5Jp)AD{m9zx_-3m!j^v
zzyEa@hy1U9S+`|u^S}Q!>Eg8g_tU@q+iYLsfBODy*}Jz(e&oZLW&hFX9WPJg>F<AC
z=RIEX|KWNw)~`d7_m=J-CeyB-{x-#b2K`sN|9KAM6sPre|HIzD&*wkS?r;Cm;q~vf
z#KT&QOaJ%3_VKpV*Z&Fs6ZAg+@%~?4V}GptCHwndzwh~9wAX|G-u!W>2K{>j{pI;z
zukOgxZCw7A7sY$<ZxaFk+rNP2fBTm#FV_F|FMrlz{xMR&R{orz|Jmx_kbn9c@*0Hb
z|7hRWU$po7zqjx8=O07<`$+HMzYhIBIBH+I|MUO&$N2x{-~IJ}K>v9B+r<C7TmG5)
z-{wW+pOF8-i!em~6ZWqT#Qu{XvHxfw^3N*C|9*h|@AEA7|FUPX|L)o1ACLdpv+)0G
ze*M?zeBA~8C-*`B-u!QjPU=5fMPTxukk=xLVE@s=$ZPV?2mf(^K>z=_k@_$HzZ3dD
zLic~J9?8CK|BKqu*IT~)$Mt`lb@ki){jbRXx98#iMdkW`-ip5=F#b<}gQ-9JQTK6~
z|3@u;z5mz0OiRAz%aJqd^!nJ2w|e~dh5h^Jf4aS8`t{Y@{;8|~wOaDx?|;qWE&i|n
z7!sU@^8ZTWH7Brtsy)`QPv|3+BlA9V=T`~8@;xf7_f3X4CVX37gE!#wrvn$TiXVL6
zBNY78A3SBKUOwu3Trxr@Se}gy#zkjj+1kkf__%JE!(rg%O_qvMrln{@ETFKWAbcHW
z9`$?~KWxpg9xJen=yEozb-4Ze3ASS?PNn!F>kFy_S7n%WnLa(biWMqY>`k=dKMyWe
zvh4;OMe;nENn+lQV<)F&$$@&c@nhRq=6p9-V0hlOEf}jj1Y;zre@zlS!i3QXFp92=
ztQNB@!JP1qmjo+|12t%acv?cJ)&Q2RXO^7>6cV^`<>WL!cmd2BMIft>jhU;2l%>X7
z$`J}u@s$KZzAYtg<+d-%nyI4fq*rO`))FX__{;eGPd!FP*fPfMobQLdlPQiqRO#V5
zNlhHUg}oNBV~auz|7rep+(3LgGa~LsBC=a8p&4KRx43Ztb7b&Io{wfLAr(_uaix<S
zZ$V)#Rm!9E7+8srsy)xwWE5mi_k6^YF>>5OF-s}yPKeVGR<=%n6E6*&Ut^)I%rt^(
zwf+&vjncJV8<yU|*;V*6r$6%#6^(CK&cj&*@h%K;io=T_mC%=kZU!w7G~|EkuT&bN
znCHEtYF5p8F0vH)t5OjIFowawgI)yr<c){<vjB!wxbb8F_xx-u**{L)<fwRa=~yPA
zPVVwIoib~^Sx&=QvP6IS^=?qhW#_~Ti`7$Bi|*S`bM%F~jKrDZ`TjPPc-iHjb*GYA
zhOZr*ksU#)!%QW)<oY%nA}AK({h%Hr^=U}_#mX_=<(Yr@NE%bti1O_G8sWKz!RCb%
zr^qSO(w;yCq$1Z9O=Bf}CbM|LTtYCC;KXVLHS1`r=#t{LNXfzo$K5w{d_piGSopPM
zA?Fg{=9Y|9R$l5b(|p`qt=x`!EGOuvX|H=FE0{xhq7?2YZQX%~8|JHbvOkL<Dqd%5
zx^!k<LmTbSy#iW>3c&HVm?axcP4OMk_&E#TX{Kev%@s40<}sB<H?!E#X0h#8Qp~KE
z3`Hk)J;JI52N{4r%$bx&>PGFd^D#h|`TUPLdMt;$ch$AGy1NeABoW^Fp!ll>n?!cq
z4WcAd7)@?C<Sf<7!;JTq?usUV6B3M*4DGQc%_JY*;M%2T`K}8;{9brjxh$al+Xx=_
zb3m2{_tUSGhn}kL;a@v*q!mkk=#SG!K_2<&r-kUygsOx+selF1^)bIk;(F)EeHSg~
zY2?@ld})`o%yqC$S|0hwI-I%wvyO^6YvY&U4u4xBj7bZ5%>W_Du<vo-PlTu1{1vBG
zg_dkbOlm8404LP9G7tc5<)>aLe|(r)!aAwAjH}1@6y#&h2|a)=#cUJTbkLArn<P@b
zG?>UWka9Ac%A;tucN>mSeiM*~*ivJvp<3$HrUiK&b3!#wE<zbO6yl9<lO{L@0bZ<w
z0gfPVjzQ!X7*<JkPNcqK%0GDzFg&+?AZiWuTh9X#xjtB>Wn~cw3u(*pJBgWUga|jt
zHqCdXSeTmH1=}DUbI7vxnI0{MM%`Q@>8zzcH7{f&&=xTxf$uK3!k#NK9g`$yzd$@)
zIg<~tpu=TVYGVBLOzf36O0c7a`z=HXFi(Gok2Su*_KqiqrZv(iGkpwZ8a<}qFsnb+
zb~~l0N%`>G^C$WO#G+3=+_2x;y_pQg5Me2<bKOKzi|#~KV?}Nycr$;Dx#5JH=tO&`
z+2Ihb0!}A?8gOYAqF@&s<>Wm>f6Y=Hb33($6BVLU!&Q~f_>b)~r-?$E<~UIhG-X7U
zPh(~fm=YbR4J-d$G1)jz!C`5IwmzY3G5Cm<hLUw39Aq1-c=D5S)VFd&KY@vD77QdU
zfl1#hM}yQRtbJ;)h(-bI6yc00k(DKmPDWgGueGVzU1#$4;j_)b3OM=IPb2-fQ`b36
zz`K*l<kPWOC=Qr(2ukxTTd`y|;}lgRa**t_R<pZ9V}nceYrq&LF}=YF!zlDG@_Y^b
ztLUqoXssj3C*yqJI%4Xr4Z@ULPhh}RGAZ3K=cSWOimKPei{tr8fw)$)FZx<bzW<?2
z*Y6Cfa3(GNdTJUQ%2jcEmdtXdWQnx~f6-72_}sfVR`fM?^xPFp9~GQo%Vh|GY%v`o
zo<^(F{gOi+2sxNtpNGY}xmYOBf|W}hq|Lhm%hLgY(oF>;BzQFY+bbVYF3m1rbfjRC
z1kgwxk4W2}e`+l^JZQ{3Z5B2`AaCI3X+tsjLp)G7WC0^x6l+fe;&N6Md4E#MN@z%~
z%LG0Lz{>8j!DLH9&>5cm&fvPyUJie<du1Av!jjb@WTMQ4lJoOCr%oh<)&((M3`DX>
z62C7P8|tX<dlSSoJUO6e%y^a7gXOJkOyXi!krXAcf(Q;%B^C)7Xhk^0KW1q_=C>hc
zDK1-wW!;n?Y@mhV{a~Ji`l{u&rX7<o2@KBP%#u$Z4C^>Ml25W=A4y(S=R>iB@^DX6
zT0OiFm!EP$nzEGL<w%yBOdA(p*Y&%#;fV@B=`^9+rP?TR(ou3VysI9w*)NB$FIY?d
z!@pmJhRmHwE+j<M;8Hx1RAHH6wu3#UouM%TcJK|rWM(;l7AM;({Qlm(v6HNs1cjI5
zzUn5Hh*R$SP(zpX$O$tf4KOhKdZXjIMhuCuGZ;X$O1*@~;-O9;(V6M{+xFd?N8_yq
zW)d)5=#Or(G5Z4;I*Wct9+4i>A)&=>DK$JjzhJGf;Ppc4{gnSw^j)2AoW&=FEVR*<
z9ATd17ZjvvIaj9JX|bnCuTFzObb{NN)HhMATwMmgoUyaUn436f5#wH-(Rg3-W2uM?
zsjUui3;!4a3}R1{GC^866fO;A6v&J~8o@|?-{55v6cpqrEZ8UpAtXh^Qnr(xmo`kE
zCcNO_fhrI)B*AA|I8~gbi<$A`{Js3ziIHx5*m&wv-Y1|Vpa`NJ20x7T!Ij8_e)$Sy
z^j#dI=rR*O6HQyLcaV?GSRK>9!0C%hqxvi+-geL~eLKA2a1pev%97gNRs}LR#ZTY!
zQ+PzCsR&ShZYn%Ui>}4n1sllq1q6%K73Fbpx(-@H9U^i^ox%=_d7hcuD$ZgbvsKC9
z1KBAhS{imD3%W59{{iV{`F+GrM(7ZHQ1)i;vdBZ)JU`NK*W#3=G6Z*g&({JvU=}2|
zp(Sa|V^I7~<7|(6>sk!MWT&uMAz>kX6ubJAWP;|{M-;KREC7q%28$nSnQSjN!IVMO
zF<%t0S>-&`*i<pMi%taAhBXR=;k3)FC^zy6B%_{ppyZrbqux0k9Y9u+;|%74*RLP}
z&4aP$dlL4Us_;{lB^o>+%<NGDe$a8Et{)=t81SJ#Fs+*`)cpSJIca6YiG>9R^|(c%
zx6&wywW&$*J5#I5?F`redYEntAZ<!Cz~-&-Kk%DxA|Ts^3M<+Q%O=baabVWcoE0C@
zGF4xwprn0Kr}w+=Wnih#y2gP#IZK?=YGI0If2^L~8X(gLY|YZv#6bk$BFv9o4RSDF
z+mt^s<<Wo>A?gB+!xuP`06Z}5J9>8<h2t4v5fR!*0aZ$X(CENdQ!Y#ofR{^DGc8A0
zc@49O;664AWFIf+C?d(`NOyXX0aOK$M{-xjNg(@4YAfplkG`UDkQoGvx+S5t)ji`{
zOT~Pxs>#iI39Hx+u>NAppOXKI+PFL_Ne~PFpm(q})Q7~WZNXCz^KE|A9|(2SA-VCb
zBU`%kWlveqEO*U4GI<OX+?}{yWx73-^5Rx*m?|H+=Fz1nR1q_@t0hrU6m%6qfep72
z`8xuLO#lLd&~ZGPSr`z}Rs&&CF5ZH7e~0zQ`d#@dG1jiF4^uAd5-p(@@8`~eTMB==
z4TbaJbHaPNwW>VBgcrPuwyTQRNFRga$#ns4{mXJDtkbAB;<?SD3wPd7%iI!CyjeS(
zf*k`x@GL-GphGKswUBy+2D_Brs2C)=mC1F?wejZSBaHl2)K~Dmv}Y{zYTAp>)KPBW
zPP7%%_~3@ZC(=Dpdr7SN<HJ1jnzlW@)gB#!Yr@ikdo58sWr9FM!;4-drC&5J(NOj1
z7EhkoCipK#6E^%&dU~zsjOIqrnR8g2_B@Hi+@ZgIbOvH{vN}heM(dy-G`sRQ2E`Y9
zv;d*JZy+dg%)xHHiyq@D$q*GAaC(7MJmg^K#(1<bXz{Q5vd_7pGF{{~h}H0Nyghko
z^*ybFF!UJXCAAdrL%&K(@r=4fipSUkg%}(v)cnVR<QsQXEC8&1zlm17K9{4%9HIr}
zY#Z2s1^o2R51)E=XM{Nw2+1qwkAswaW=zLnv&1Ir93PgvTFq63dCCOtv5F|*EZC26
zmX_w6Pk*=25f$R+q(3+#(P<2$8m21OlrZJ>*$2>pEmK)-#wk}?l62N;WvnUPw90VF
zd#G$$w3Z6iH%|Dl%VuQ-bujRKyD#31sgp*LK?XQKw{oG+u4@ZoY-KDodEIjEuY4<z
zQsh;oG>KUJ(E7}>hNs6vlsdQJluj~f1w+lz#<#pic>?2HTvFeWmJ$oyH~(S^NF(X1
zd~eL8(_g_)Q9ku4nIIl^rENfh=J~j0xbP}Sgr6Vq<4d2^4Pqh=JfKM>DWIWp5I5^m
zj#z#D0AA{$$SeYonk`Ci9780<>KdJCzprC`+{ieI@>zs86HD9JsC%__8j00xQ`-@6
zl@nya>(lnN_yjSR+j5~#%)t@_MwWq2b1yTgN^%9*4oGaxf+IA)E?nwL?DUxyaBDWv
zsN5^_JZf}ei*%w{=tCg%MfLzIaEVva24URs`|*hz8_%nI++HT?yx{Kxfi?3m);eUh
z1U5#v_zvR7?@7}M$R_=PTh~`RFMh@~n8F=mq8IhIj$6~dYrL0YVNzvdTxF9eeh~><
zLba<?r({J(f;|T7=Y=b-OUo^N+MY=cverpW4&Au^xBeZY{L<|9q2x@yOWjP#760wo
zRTqBtvYYICaMS^O!~MKI5lK5kz-Ms@<Y?aa+r4KnROh(K?48G}tyU|TW$fNgph2CB
zKSFUP5!Zip>a83cbf}emp0F0I{q8xO^ET=Tm9^^T$h=><D6{?vQ$L_WYx{tvcvp<H
zW^_Em-@VYHqd{oeq}6PEd1L+U#(shW=OewM63=T0x=VaHR_SX_+$RGuS*|Uz@FnEO
zLFb(6V~~OMMh1kY6G$w|j~V!!6Xq|8UfJ{pN>;%c=G>-bA9x3-hM~1zEdUV|8{sFr
zk$1QLM5d&@Xm^JdkW+@VK^~weJAKg|05C*k6lu_W_=8dUk8n6^_I~wpIw}AL?Mnjz
zM{_up1B9@25MAjFN<iq$>MG|JN+RP`G>*W4HHVt6JO)U=8SftadJ;TPQnJk7r@_;w
zo)qFbb`{j}dzHu!3p%Kyzeqy(v&CEc3<g!rX%QFnd2yIO<k;+4MGJg<MHjJAJ}t}s
zmlJ|nNXj2Z`YTgg+^cK3`1SogbANQMkrc0z7io-}WQs}500}_$zf%o<{*(tfns8+4
zm`(})KCVkx1p)F6#c~@;%ZuoEcNIMz!>4>%;=)_>lz>$SSDz{&@GLWl@>LOX*!^1i
z%dE4tR!}7=lk^q!0+*F~Bhz80bQ)zi`{^Li1-a(C*+y2Ef;)+GwH&ZI{`%r*e!c6r
z-)tB?kPQ;T1UR@P$^pHjuy((0sk0)UJBsZNQED|7^?pbbAdtk><0==MMuH!Hg@TY6
zMJOd{IBj3%#v#2TzQ&}SLWX#n5EdQ^cD<tuVkLh#$j8(I`(q$%CZ}b|iI5nzE;-$r
zev#)jW*0D@G9dGTSDI-gk64h+?9ctsp96Voz6`+S@gb!11}#tY%{IQ<x#*oaOOocJ
zk3#mX`X+--I2aG;qhW63_*rTQ4)R<tYh>;4i*=`dX@uO}YQamb<C_TnLkBp|+hN)T
zwYtO-a`U`m*{Kx?7ciewL_Yn!dLb^x#wgG^P+dsMaR|owN8ZDTaWJ112<c2X4v!d(
zqd8UU$n(5pD1Q7NAfhKgMs|nsmVyq9akdSjlIn|bSeX`|kmnhIbs2QEjCnXHQDcb<
zwvVF#aeR#45fvdES5$3(KTxGorCt_Ue6FJ@(msymBTU$H$(t!tb|ZEhEU|6(S<rnx
zExLRL^;rY;$j1T9(!3!=ek)uOekIJ(&k$XE?b1+3^lcmidh`YQB7Cj^&72<hZ_DiD
zj3PTJOuKjs<Xa5S3CA62E`Ew>5q50ph~Xil+@kq}X6$?dkVk{BB;-%SaZ61IjzDBN
z5&jX_2|);?nYp;pAOGuGaZI01O~yVprXP)r^TRaVp7zF?YFO12PENmrYLu)@-}*#<
z0c6^8YZqAw@~^`+nW{~WE07)g7!+p*=2QiL%Bq{5>Z)k^%C-QBVz~^a$TGK=6i5#L
zJ;8U=kPFj(0@mZDs#7#vHKn<#dOZwZcT7HBD8kTF$*}zEX?-`mH1YVN;z@9>J`qE4
z5(PpB?iN^r@cv#{9cD`k#00dp!Us$NF3!tT&h`}5jU83b&i<jM#GS}Qs8M7iu%sY*
z_DgE@ZvRT4e7EeeS|Ea1jz#}`=h%&PwpqZ7@4Kln0g6J>Kr+iC?yiPUL&lFc&C8am
z_lo*!34}{0)mmMe=4N4Ay}5{0fD6#rqoKpg$BhOFYHRCbOp8&KGi<Br@PL^FMS-04
z;*2rm7iR^8m{1u%Ik%~CSb0k0D}K`Tdb!p`u!qcelS2h<SZqzSTl=RCf)cNF+^ep5
z(<%0(C^~}au7zG0vk#$ta!=SlTA$<wG#B}=&6aoeJTzqN5;g{PO}o!(UcNwNbH9u<
z@;z$q;Zo?c?-sAGGI`uMU1$E1s;3|w?djtf=zXGTPD`65_hqg(`|yO&J#OExA^jW1
zr8wN#Z`ZB6UhSz-%0xNU3FbUagVA9oC10b!R~tF{R(@6Z^?d-4#p+ZZewx3Zl(t0l
zFb-viS7jc&A~Z?Qk}x4RzGDeGJ`PFh!76P~32%Jz^(onzwy1%w?FnMsVJp`=rJ;TA
z8#&%0HN$<x@Ulwb7n|iPQ4cu<afzI_e2*~%QG!6<zwK|+t3E6sv;yo`WHK-R`bJ|t
z9fE(QxPlM*`K_FUEGNJmhNd+V8u6MYT$=h97ZYfzC>WN9MJynBbuPjK2~fZMECqxW
z%N5&W3R@!<maYpWElLjWA#+DVe!<_uCDJD79uTqoqLpha0;{eM@xc)85j~;H%BVN5
zDAcDQ7NnQICEo9?b#fJ}9VI*qSpK$|JGbBW6r`2<lwT}PX1|0@3WzJLy(^~QU(V5%
zk5lQ8_;J@5=U%FOR!vhNJNF~X`rJooCGodxdJcesm~dG@v2m25jP`y~Y>jy+S5#wT
zGSP&jW8QgFbp(7sFf;U>x<9{Wc!!{ky;I~v$+ZJh+c~FTG9-3yVgc2wTl7rkUX3Tn
ziuZ7^mFNj*Ncb=27AFyOGUb_84Fq0SzfvbuuP0vKmJx1zuXztuF+1t-($E6?6Pyxl
z^Id_*5WAtFHpeEbwQ9Q))ps;ZsjOmo3DMwq>7%JC<_n1DmiTG6yJkUt%w+193kWK$
zsD6(&f^?=DM?J6J%FI9dh$=la+qyh7tmuqU<&ZsAQaa_;pSwCjU1e;L|2Yj2*!yg2
zkqye@GU$SrtExocN}g;vL29&3Tc>sb*?V6>_?rP|@k2PPqA5XUTGthOih022(Vh?v
z@~jnNaZ)%^yN<f!7xJMMeqkPJu)qVTY@n|V2PPTPG_v&|B=>i?X~B2jil@J^?&!C)
zn2?k6gJQ-vq;4-pF@6M!%_NexlY}}Yw2X6`fqO2+xZC<G?*#Sht!N+bRMryU&!tJ^
zYwfX;9OgzYgGB+XxUj-jR<s_9z>9W_DhWOUAOqb8XPHkdjDUyVRZ0kNDY|}RxeW%}
z_kxmM!E@ax^vj<jarnkO^O+Tlzmz;a-*@c$*$|4U`3FL$gCdY4cC!mK8=`Y}uM;s`
zf1~<=%M_;SQ-S1FgXDb4Xc#TZABD#iK7<IRac)(NJtfrkZsi<%>-(>e4pqX75bGTV
z<axL=zY`$gJ#Xs<`;vA-&R(`;pK)wuWa+<@tIVXK)fN(2uMZa9V)TVke}&11WiN-Q
z>k&qqsi;bpAz|u+I&V2ypqUl_vGxGj?cD(yJj^+mMi<@=HXLS#xu)5K#*Br$?vi=L
z+d2i$CU5xC<Sr9ADY&a;urK>wp4JieicTf&QAEzXf5USB4v7FLzjbzK?zH&o{BG}-
zsZoLGyDBOKX$O6sQ39VP%HEw`Jr-(3I8w@V&g!?`&q($N@d>Di;A;m{!Qyv!XF2`t
z`}YijoDy%W$z0rIUygp)=n^UH2BTk(u{Ninfc{<Rjj@Fd)zZV-HFn>m&I%qa1WU4$
za24K^4Aa~75z(-GEBTCRQ^$UY=6i~l77#UbvY%Q7-HrV0K+=gu=G!0g1L4*;NuDd6
z3@kVmv(L`O3{c(izT9)7o;kJ}mht{-o=OtVX2x0)bc%7>rO5r}{V@6l!a(wa!Lsxu
zybjRDU<rP2p<leSsVn5@fl!oy?5^0PZ}^dSRYt)N0}BHFAqWi%IrA{JB=*>mt16&A
zN_T8%<1MdW!&%NGFo0i6quv`TEEqjpcE0=>+bo%R6!}xQg@6gvWvWh)%usvSY`^7;
zyIT@2JzZs`RRY13rK!ju^U6@OBA1-GDGLeCtUUe7%6z|Vy^b6V9mu{Z3=2wDWkBvX
zWZpzY$XxWl<O%H*sObI9k>)D?>T*I74fSI}znkWk$1l3^No56?Yb;o6Fw&RhTnG`P
z1`2~B?E1AFq;0C_w~oe@D)!$)JQg$Zon6t>awg%ac7NaHxxUIwNwt?V2m`Ceeck#P
zyG+`e-g>@T$!B3YX;&Y2<!zN^b6F-T+dvDie?BjX$|w5WpU|AT60aN%%_Eu8;>_AA
z`Ci)}y&t=FUtg${u8mk8q?T+xG($ZjUS_RR9lL(nmwkEoXL|(|fd3ryHaM^}tYlz_
z95y5ayF|zmPhQ*J8d7|ZAvY~>3d`O+qupFO8>XR$4j={)HNUT<--yldCEc0|wU1i=
z)N8hZJGca<NlUHS9CusWA!ksQRf>_FsuC)S@M{DE_B4QZ;D>zQ)$JenAm4+BM>71i
za0>iliYeQT*jj~1={Ravl16N%(#Cm%f!`+MTnzYDm~R`{oMpM?D@Aj~tpFm!d#-KO
zYHpHwC)<#i#Shj`dj&osGt?s7p%6C|Vr1!GZo^SkOwU-d&~RK{qe;ufQYNW>;zN``
z9IeEBoIKDbXk85~Ig{(LL~_wN^$`<s!c{Nd!?<M7<DQ%IM}&xa=x<^zEy{*cA_S>u
z7An<FDwb4y=YOXgz&Kt_w>vi;TvkJBpv-wV_}kaksiDDqShFLcfO5sra+O~dnLF$^
zc+Qe52?RX>>&|!pr5ZB)(Xw9ojA8=RJi0q(VZVE)ea9<2BDIC);!o+sIg6pihtqbU
zQsj_By^vG6m(d)IU=rhF89qf3JlXvo@*sOK2Dz2k8)!65bTE7n-18%?zBiv6ejiC>
z)kV2}e@)~Xf?#bJ7j=U1PIm6%U@j@k7P*Z1-lVpq@&GS*jC$UXjuL(*jt8BC{Kj}T
zv~pCVmYQz8=#osP47PWjiOSjc*+Bqmy3{xN#!SqonPkxn8GDZ{(tg+#u!Wja-M^sI
zYUsk;Q+!PWxrklzE~3&k82adc@B`l=TmHG^cg;jlZk9hdk=5jf(N^+!uSDb#low1?
z1d+;iX6#c4ao6C3zEr)$h40p3=qhdZC;JuBI3)Muu~$^h|LcD|`mp-C9V=o6R^n_#
zv;K6d(pA0sK&4W$Bho9?we?L#Urr~UWjI-;1(XLO5s=%D(TRRv7P>O9x3Hu1qQVzP
z-iho@MoN(;q`X`!<egf(`t*jh$>^zEp|4QFP0GabgTpPKr?V@V)R(FWaf<>g&D$ts
z16!q?-<Jn{EECF)-puP#-&deJ%aa5(Ze$zlmm`ZysCudhWe)X4$wO0$O6={uS$Mhf
zkfm8$tR)qWZm#kW-nS~qngqp_9Tiaf(`zqYU5@T5%rXB|;H!(8TVW{1wok2q>~50;
z>ufQXQ$eFz!HaURqpKV6@)?f&f>oGR&u43%leHiYW0N+D@Pv2<{ngZ?TUw6`%|<$}
zNq16<6ycGdb88I*a|6DqK#YgQ_`ItI_7Onpxcm{w7{BT8I4ZJL&?(8kijH7N{@x8<
zr>S4iXE3@e^(E5K?e%YM_KytaGqeBx`5L00&z`fI1_+2nC~0f9bF&nZY20JRW7%fo
z<ZFT{gLAvDRRq%{8hw@Nhy!glPXSJ$=LSVuxBH}S1wrchu&py#30V){nAfiTBJib>
zeSXc8nTyuE(&grzGqWA1kQs>V=nP&Wecw$<^jNez2|4`U0nysc!%s=$bm-b>((?-D
z;0hZ^$aiDF3+V{F8yKw5c=qdtI(86gg)l;cGTd&m*(>8*XQmhlB0G>M#rmsZt3uXg
zlL8-uCah&*MWb-PYD**h(?r?yGpZ7)+DsO9*;OMX`IXD()z!Lw)y6uwea3CeO?_1O
zYtLM<xu)_EyjnP?2pUGEY4{mbDp~mBFCbT_D)#*5q-;$FkeZFB$vOX~9<?yxo+YxP
zU9D$<OJkvcp)}4HhBw~a@L~kBf*x)>p_nmn#Fe^f4S^K&xR9{0iQxw`h{z&c9H;!N
zs?3v0R8VevKFSA}Pj<&pp$2@l94O~;f5s-avwF{oz;F=+iR&I3E%}pYB#CM$CZOhg
z<-iPXX3C|*`PoQ93lxgtViK$y>TI;Y*>JN=6<#WU6nepnf3!LG>K8vZJu1-eS?ebc
zp%kXx4<_N;<A3PPnCwr>r{9IAp~fSA&u+wdNtfDo|F$l<S#33OBEg{*W-OpD9mAy1
zPxj!>8@wYq*-0`{_p{E+yz`hrfiWfKJHFt`xcm6P6RLk`A=xqv$1u*%W<6nm_@~E0
zSn$=0$}X}ioSA#jg2xT7Essdv?~9$vtaX-2!4wEcOe=NO&1CV_=p6E`X8`&=@Yr`?
z-I)5I?K)b6s!y4DbV-i@(+!0~s8W~7Q%p5JI&hT<6|inv-iTcJ8xKJjA}0};`?CTS
zW`exog#rE2epZEpFdNbzB2TpO**SM$EF2tmZoD+jGHN;Hs1GzJn{OdZw}B3w0xm(l
zMKfJ)GFaKbrbf+f!(gOWQ>aISMgR_{_J-0)+1Y{?lhyOP7I*s4Kipn#l+*Fn-6ynO
zWOIyykfij5e3_|ZiuJEg>#g5@i<>L`16jW$`p5yQpwR0)_9cQv(a$DBf_K+M)Ep|o
zdVNXfgVA}q<>q1Jjf%<!e;<T<-PhsXvL3m>+V4gUsnvzf3Itj}oznRS>k*}&tV7)$
zbvHF+l4~;6O#opqJ`(W)kp%#7r)+f-`jri`P#6pQYI<>FVFi78m*4a5^y9(9`p|3r
zU5Jf|7<8x0jzg3VrGfO56PL#%+C*-o@5#iToWTM+KqY1@q`4*~LFQDD123m`UK17!
zol&{Lw`O&7$;i&*0*=4{KSlqR-_pWpgB|Rr`zp%MR(MA=tNz1Qt>w_}Oa+Mo&lV8I
zzrE<H(B3gTAl2Z*Zz>7RjS~|vtD>sLG~ULSyS;HvD!0?;n9b&do<7Yb+>tsu@7W*N
z-l+|m#z(C0biRuRiX8w$K)k<xf$#KOfZ{i#kF2SMsAlwfw&as&V;)|{cx=b|Ftt|(
zDsZdFFBp+QSl!qP`{IhjOu5L?E`7vDf5Jr*tlj`Bb|3Pm`7O5$U*h#41tQiDij=$s
zXr|niywO*>ag?z`_CGS!FuEbMHLV7%5&f7<Kqp#X`iIZ}4gB*1z&4trLt6zO(Qz94
z5Dea4HdC@4-4<$-zy6IqMIFKPJoMLHc5NS)LrTHYs*<<oz#ZK_LQ%C^tQEyBm43ot
zo+cZdKkf<^uX}u(eJ~6Pbi20z-B`-$&mUi3Ay5P$K2l&$DWYp1(k5JA3@l0ktK%;8
z3C4VjdW_gbNdqC?FPq4FuTrt6Pk>Qoya)FU6s(re!$H<7P-7!lefPOC;@W@CtJ9#5
z)1s&cj;#oXx^g|YPY>l9cntC3I}va>IVoQaKG2-ze30rORo-5rs@2-bDAq28#1KiY
z+rKr`$)`?1#e|uu-&$<yd?%2bZS$P-kg!@_^mq-3zAAxYbe=!3NADV6OSnSuiHMmo
zS_xkayMI?s9SNU2@bPUde$rrk4dqilBG@8-vFiz@g?S%KBbS?bzKH|#x=CQ%ch&n(
zNxf30gYChob(I6Ug!%TfM%!fPi=U`<tN0SSOTanMxx<812c>DIqID1jO!55w;Wex+
zw8CC_1xaDW*cC4|R~X#$!exPU;|NK7G5)2j0Av<d7k*97kLcrEQ*bs@aw{neFq|ms
zT?5+!FSj4MafLPTF-+KS_2;WleJDLi7Wzg=4(<pGb3PviK*vl(qKjHJs`>60;@o^x
z*H+$0Um3kv4j{hKpqcHh2K}!(zhhkJO{{ZTqMD*)f5}1n9cIAoeZLIuZH=s)wtk5<
zg4e->mo#fZ%W7IASigMwp|x}W!U-;-Fii;`mk!NYpCL4r<>N6VJl;9)cfW+8#K2)|
zcFC}@=%KN0IkmFMM^HRl^xH44ozo+s9gXfuJ3&%w^U$|7_pseb@xfUVz{8BuSb6nl
z9aUyHgL9htbq83f+*H~^>?lCZ3ZZZtXoEE<kddd_z`b%r26Z$lPO!75C{gA-ls2Q)
zd~_;^30}LT(>;LZMML6_4~Ky()Giw$X(dL3D%PU#7(G1ELa8}+j`v(5Wp<Q${mRVl
z$VU)JlAHsR&F}rwp#(4{JTt1uNyo8%w_jBHx4BpE+~Z!u$FeF+9&eL7omMC-v&7j%
z8=kRD`<SknV(}N}V|*EE@8X(?B-^xFj)1j$p$?obvPP*@eZuDH#t_DfWRGQ#I2j!f
zTc*HK=~dn}@&d3*z<3khi75}w3jRzO`;>R%G~?*G*4w((6(@?xO~8-!eR<6}lysw{
zYmg6J7jzea687GHqIgn?kW2{Uxe^U___?5`*!N|kT!&WFW@zucsXjhVA=JO7SGupm
zAT>#pb=EO3D2a)qXp(uNK@=ho^eR-UG$Bu-5RX)kxLQU14I@`n;-^raAM5*Tf5RW+
zvGXlL?pFf-Vn=&a`tY%D^Gq0mN{yJc-D5c}QV#nbkI_zDE^y6}X7Uqx2iJgSP?3>r
zvOmlb8yFU<eJ1}xkjdYWab<lnrwEQ*^mh-t+8N1XghKz4wGhH-phN~e>f1J)#Zw{p
z+0a_b@0qc~Ge%0`A;)#P`S2Mh-n_ODaYH{+6gxRd+GvGTiY1M|)z+t10qP<O;(>r~
zB@~*4%$kCPm{<_%de@D1ia}N`jh&V-)fXKw1$j8VJtOt*iqKz1szMCViy@qlNFk(n
zy?flID2~x4ZIA-e2{k_q8HNuy&O{Y_o89c4XuXR#<4P%_R9hLhFd$Uai8J=sCb*Nk
zI#DU{3u3Kqqer@v8o9eu{%r>C`cQy`mr;*fInyPB5lJgA^hxM{_Bnh6dA!L4$;@24
zZNk35y5`eg!Iei5@v(%dUhvk<<>k{3v*mW84N4G7R9^ZR{>tU2Y*6l%DUvGVotq7X
z%HWtxAo%E<@c`v2dV+PbAMq;voM-`6^6NRg>w1fJfo}^(_H&!VQ|=dLbZy)N-6kEK
z^+M}KFLHG2T1YSi13Q@;{D}BtQ(eBM0oQIAm*CP*-F(juI%W8>fM3BgV&geIJiLf*
zx7XyI>cW+DiTFY&0cQ+qpd~Rb8dZGWDDUPAaWY1$m<F#<+B>D;ZUEqF=-P}xZGCZZ
z1LQRTmP%q;UpL$f8ir;UiUX<Gm^5dTYFQ+Oq2Vm5K<3#!%-R}_RY#nDQpPJyYCzV?
zs}lTs$wh#hl7o0k^Gob7{ScT?56aO3XVLt`OWQ1`w+&H~fW!SzV(;zxtoq&8y#{FN
zP2VW^Jx?1smUkSU+ZInB&Mw40b+w4`kvPDGA6Qer@|)+wx}3Q;=y6ACB}0Mmm`C8b
zih&9qKoou98c{~tE$~b5wrm?NiceSX`mjk+flN|ypG;GrQ499%)1__ni%TJ&?;PP8
z-JN0F4|z*5Eh(yj*LS!#g6otNKhwb$<@{tX6{D#1y<y!LZ&G%hQ_$8z#MfFi4{SDk
z>=FXubu@X4I>{56mRWdF(rw|AEFZY=(Gc4i4Zm}n*Gj#-<~t)fp~6W6E4DzYYMZqD
z6kEP1z+n_h-s<wfzh9>`JDmbhSpsaL(GtVF<A^2x%vKJ0oVyLT1sc1U&lrton-tWD
zGb~Sr-SOpQ<D+hdX~N%30UT!KL+MIAS-)ZJQi3WTIM(umuQzDqTC_OLzz6qM7eFs{
zsb9YEnXVo6Q!ivAk2aA9@1#n=Mf53{3yCC#ohCdg0!^tPR*zs<x1WI2L$RYq&Y@lM
z9dMw=p$diaBwxa$%4O^_SZRM-heEb6(`r2G2dCToF+ehMeb_@{H+Coe^u_cm%Q(v=
zH&zEAZw^!@OR1ZxpO*oLpXt%wvExFVMQ#5=RRr`PeHH1ukemv}m<zBjmFuscWy2aT
zGjZ5$&4JTJXC3`PlctIkZSO{5fxyHZ+9O3NIh|W1Kio{ch#1O*(~KzRTr=s|&_p`R
z%OD7Aty|n2f9aAOv;8VeJql)8HQxA0eDRk#+TaMuR2OET_X1~-UVcFJ;H=Tm&*Qh|
zjjPW!4!S;}`GYg=&kqsGO3I+{j1BzF4XWy_7yv4R*Tz?At4|sm1KpvEUGJclKzrOK
zmu^&g1ZAQFw=rPl<4zi!@T?5l|GumE%+U$6{xng8l=<>AS|YImyc&rQP3S8+<u=>N
zBc>alrAE1hzYZ@tU+M_I$fOj%GzzkoOA!Dw<%$<0jCOR=J7knS>CUSfsWdqNAC6wt
z<vlAVfHqaS-5B;kdsYHbFOg!4#qm&}_xkj3#$@;3<hLR1cPq&Kv>bAE@>-d%yYErA
zZfZl#pXitzhldIx%#Jwh){rv$a4JLscRq?E+`kRL({>}q0f$Wu*DCIXauQwx^;`z%
zjD_f>>02DHSrWRSsU^UiAS*$CLU3cW7$?1AF2KP?*(0T<zGG8fWwsH>-<l`}6h;0%
zUfQ*U)zC`b$Il!~yQZbe3;}Ck+;v4z)z8M}RbD7zUZ*0Ab6q6BUjmN|!oCG1T7vUd
z@6aXY_>xs|{3<Z}6MC13(1!VFod;AN1+Z>)lc=0U<*SQ2N7gtBFhe5x(SeD5aXDQo
zGEMvh8T|4EP4a-INhix{&k@MI5RQC<5N(zerxTi(xSxJb(M$h~Y#hG3Ji3Q7<Fd7q
z%126$vb+s1Hi>lW#;&+Wt9d-Ck5Lt@aSI%~;OKIG?PRj_THD}hnK+~X{Y=9MxF6f3
zs|ym0{)E+I@u2YV`xztALIHG+{k`Z~Y4cS0dr@9=I{e}@f=irdFkS?SW9biud3pH;
zj~nXgWr9N{2cJG=POq1p+iubMEpjPX#*>76Wd(Iz5n}oa7_ZI^><_qywyeZR{Q0g!
zxB*$U^~Y!Jw@j?K;sXIu+GV7?Ih2DF^u|>TF#Hr5g{G3?3}at98gjq*X0=kZwY6Yn
z05Bqgx09qtB({E6aot$0Ma_(HMIDtjPv1^XQMwBMeA#lRWdxuyTw7r%1vmhX;k6#|
zJ6PXs`}u2~;N;bWrPXA#0t9y=60T%#!E?FB<==NXGuUii5J~5y+6B)92hFz<Svx~t
z!tRKq6l=+F8l@w4`7|u5X)k#RK0wT<=|<5iu&j-Zi7E)j!b#2tf>fl5!Izp5n7mO0
z^?jC>STcC;EW!$LnkHPbErBFW4+01ypCXL<_9s*F1j1Tcc^-X5Rsz>G;mZgN9J|4L
zw)c>DGxCl~PgXu)8sh0(P`DrcJjSc)k^VGJP2ezzaU2nzFRyp`b4*g@1xl{iBM($U
zsfKxw95`4FdrW!EdCO*$P7X}J3h91AWkp^NUgO#bF3A>zBw{n^f^ghdM8%k^m*VMT
z4E?>q*h;grUkuI>%*nOnuyKU*Vq6v6+YpW_>m7%E=YeqyN{cGJp$4^K2D2YPxkN57
zB(a$=*U@IG)cbM@K=`2`;FzYTHQ>Oo1=w0CL@wR~e%62pZ1Zy3v6qPf|Ct>~;fqbL
zy#Z~Bsj(yCkVj8tSi^vU568Yk9IG&7-Eq+!Ah<H<UkE+7&B<-Rnf<Kpl&N1@?R27W
z!SB^2rWzN1M2MEPc-&@91fC7k!6aJ38y0SLi5Szyg!A5obfMpQSj5WO=Uk2U*E4*R
z+!DkBJEd^g)5IKv(Si8*+CUu@SQq^EIk1Ks$#$StHoDNn8qq-K*7l?DxcXp+DK7fi
zgn7OT(!1aKk=@V-vD_Sw)ZTm!=IW;8m<U~w>mY5Fw?N5Hlyl0tE${`*Y{rpK`R&bF
zjJv~T80HJIhmus8@UoW#v7FK1)Bg`i=ds+Z76jo3VnI$za?XgfBMXspc>0U~TjiC@
z7J`}S?oS*Yn!Ns80geh;Zf=R|p3vZ*o#SV~7oj3cDBy)8X15`%%}0xTI1D6eVm_<x
zuiu04?46Kl<0v09@l2zY@pB|hY2>taO=b0J@Qv_|3LBD^*M0@QQTgxt(E|OwlRSJD
zhUOmd!x2#!Hn}=xbw4Y_*~?g4reN?z-?&J$1@mh&8dr3zZ}dC=nlF>j0@w9$0g~fN
z_Re<EK@2Kw-5J2>;XOG}%@_GBy)a4@wSSRd#TO8fVZwidHJn146T<?1_kbuM=Z4(j
z`OrmNyu)zSaj|0@thacjk0%+24NHx=Io3|2EK;+&a_7pJ2T)!GCFhky*klgaJ}nxO
z&oPu*$SECQo9mWcppz>L8bEzocPB9TF*cQbm3I177W@Wrk$On=eHXqy%>BBNIQ&qB
zgYG&ik}~6w<cP#|SbnYIHSFpG+j3WdW{kW;O4kLK>+QB`>NE4}r|Or&I6JbkT5y(f
zyn#SgFetBUuW6tC&^2)hg~N3g$H8u5OR<}Jg=$SLZ}p7td0ADTsQ@l>CilkFdh?Mq
zZ;~J^)nmePsW+#^zT$}F*eIK(g_!_gc{V=KnKftS0YdcGhZEzqP@5NHIxtT;2inEX
zJP-ar)IrKJNpI&9($a6&i%s64K_WwWi#tIxaNv3NR?9Lb&+tM+JKxGc94G`l_XU;{
zLG;=N0K#f(@_Y@2QuuA<WlD|kr?DUqv5r(4eGK2AuR_z(3JE5^+5g(?B$1UK3of8e
z%TtVqgp8S=4F3>n+VITUBE9%F)X$bTh%iRDzY_TkT;M}pHJ2@5{dk12+M4g3`VjTn
zS#QvA@s(7^)rb@5Lm0+r`#~3c0wt;hs<);Hfqkl%G+B@8I_o{=*oDUmR9blUQG7jo
zrqgBU+T%8~5t>ak9@y30Q{saI+UkjS*uB%?(Px7|=>CAvZ~q`(NhDY)weeFz{Z{Kw
z^5t?s65$_BR`Pl^aGW~*4-P7{gGEMQ<N+flm>SiG<|<m55<tHlA0MJ5D=WIKb<nIe
ziJB991|2;|GRR7-H5Qb?sdP;HJQ7^8A_7cDre->iul5C^_ShF)TPg=k*^Nf(2C+5b
zDd-!{FT9o|RX0*o>X|on+_2G)WPPZ_o5$sfJb|!Wy7b2Bbx>V4qU09gz-NBQRKLY0
z5mc?g_}`1OzGUkA+U{3~uNrf(Z&cLW{R3g57HtMDpj~3OdLez)C=KkS1L?R{T&w3n
zrd~X04lm$SbGO*j0H2{`lV+5<#A2nVJO#C{6XkBnHxuJ6JDm!WYhk*0g`u?p{Cf@~
zyR;OgFJ*dR^P}+CoWKJ5%!UzubcaFF$rgbX?&Qg9%im|7C7&1TG6Lbjr&X+)eBhU1
zH|o>rK~9O=-FuqP<~(t@B0wpwHwaH$tN%4w8nioU^NH8fsUap7oy00Zh_?`KAp-9m
zi^+xC>ObNS7o%s-<x=TgJIP(e1OL9nyZ+)0$`LVS4MLtvx1;ZOIzU(nHZ%v9T-KH{
zevD3b@u)1l(TwEo$-TqnzTUWRl^7}=7|F%rE;}cS=rH7+4lIb8RW>qXJ7B;cJmp?-
zcrV+6TMy&~%8LRO-@bAizBZ!Iwg~&_m*_pZGCe}}5~Lr_F=&wp9A+J_#OCu&kc%3v
zqC(bm(~_wzqp32@w6gn^?bbydmdRL}pN-&3uAvhY_uh2^gsutlxN_4)ZTfP6a)Bm`
z)OGg<Z9xiA8DBdGu<_Xx139XXhUxlv{EoV--O}wBc-u3S$?=A)!sh&_I_#cSf3f9A
z8M^N|BnRLwFi60w10FiZyb_3E>mk8vPU&@d5`$W?2J#fX@kete3zwhr=SSh&c1T*@
zJx2MWkP`B}m#Fu})YpVT#Mv=+neg9_00Y?=IOULdGr{yJGlSg=Vm)Vw0qwvhWJxui
zfUY0qz2`_Q81D@GOeZ`ShtiGq$Dz86Vj-0xt!v3}2giKt)Fz4Tsa%GWD0yk(Ho`jz
z;bsFf?em!iZQoxnPf=gZSDC`f_)?-f{c&v7j<-1PBlvw2!PPs-=w)+P=imWW!m|wp
z2&W950mwOvggQu#!p&Kt4@S!cNJG=SP@B}7f(N)#mTmQXSV2<jcJIo*?ZFCh{`HOs
z)YAomeQ@qgR;-9+@~-6L9-pSyajN=JpDrNag?}>@=xW@n&sjQhUZXE-5cUq_^`zbj
z@G>8$=Ne;2E2w-D?OTzTO0&eu_hyD^{+k4;T*7u#s+hvjun=i{RLzHM1c5=d3ZqTt
zhsN&HOb$J8F(Mj5jxHz}`Fsm6q24sJx6z-5vG<^Ez%enE_u};^X%+9>P1G?Ef-`Z0
zIX#4<(>krJsw}nXq_t1_9o)6`9*aDN8e)~qck#3}oFxf29#9W>Zm%tYQWz6N$o>c#
z`q*z!H-la%exsRl7J0U7l%hJpLY$f)p5In&jb`I8rl*8M1K7op0yfS|5T;3d_Jo-&
zB6&qcs9A_@Tn*yMMXY?v8@RSb$V#jUYYXW0WMT>)iMnyW=A3U#tq?Oat1V%uEpI^=
zR~rI6^A4p6tr~i|{8i)5XNj-x)a80}h{teg#mO!x^gmj^mfkYG=N+&`_lk(IVU#I0
zkOw?p9J-szM{fV9?ek?dgV#_sOw3*u(k4NGM!o&drQ!aiqi)Htw~t0Hp1(NDdLzA)
zR$T-6s~Yn*n#CDiPZym}u67@-9qR4?hy0Ta*!IKR3s2A2f8zW(zDCAfVbUB*)XJ0V
z2V#U@5>!b~Qd4PX(k!acqp0$@auNwRgoLwIsO^}*#=LZ7L6-t0KIZz9L5&}BsMMq{
z-9)~5i=tsTS$YLyofg(d+py?+w7c!J885cjGPb_1qFXFDbS8&!VL@vtQTjH+xm*M^
z<@>wu_eAf&Y{etF^-9}VywPrx<Kh0$HPGeo-`hcrh$cqwq}g{lIxqM=P=l;<fKf3-
z*@pu^@z^V+3}J|Yk(ZC}JDRcAvjSw>LVXZ>P-+Ou3Zul*ay|{0%oSBI_?;Z{6nct(
zS<R3)q*rbwDW3Z4%U_85@e2#_B!F>Ohsot}zEFsF#rZvJsC{)w-);7e3pcj>>}3A-
z8t|6$w{o)ZbkLiDj$eLhk!7OXWI$>pBsWv>v(3sWFl_N!-Wc=!rYh~a>MDOg?;zCD
zcd>WwnC+l^TpY+mBTMar^a#aR61=z6qCv`c>*%R3dm={nGJ&<yr37++-5+BT+X1~v
zKB7rx2Y}i-xX7K+VL-CKq{{4X>!tfWUiAZ}ucFDF5c0~$;dGt&x@F%fPn`JuxlfSE
zT3SpFwNO*xz<|=uycTid;Z$QR#+0$JI`~|CPwRPVscDf0J<ah+nULv-HJzOTciZPh
z@eH=U=V!WAQ=K1L5te?WD1N!9ohGw{)@+*zX-Z=2T~xjIwbH)AY<<NuWzb$dR}W)L
z&DDQBIxSi(jAs2!$F&KPIVO&HEMUP@kI@ysd7a}Y6OS%CSPRfXSZXqGhJ7w{ZoEe}
zam+|b4Y70)$m~tN=l9j`vgFXW?4_5*_9pcioXQy3UQ$~dOyk(kQmajiiEwlSPMJwl
zSjig?Vp%A^a8{WLM?lV|Ke|SgH{@AMn;EI9RsKY6et>0>z0V57!DYn0Y}(-xOYR%s
z>LWdRX-9?%$o-uBB5RQ+5F)IcyOm>wo_H!h6EK#Qw`mM@(L6)yMCTLaGTZ4{VC5y0
zIt2ZS>k|IZ7Ucp<0JwAG2tm0?bE%l_q2c?y#Zq^4WRy-CK~<$Jmm)&)TA?VI{gkeq
zQ!OJglr`hP`*+{qE2S(3KFB?=h;N^Hi?3n=LPkw{neZE@SCAygH&MVv$HH^ir>Z9b
zS+09bMB>8^>=E<<p6FEibzx_(Q)9Pm=*^$~H}mjARh$X7XijT`TF$cj5g!mv;@q3C
z5rE}F+?CxT`v8UNWEsUtay&8VSLj#LHXg{hW_8LQDYYI<qU7zuQmX6SI1;-FHpDDZ
z3FOJn_W-f*>Ty^jSYtN$itcAY5C*eJp0ZJIW_E|}Yagf-kU$bXFUHeGY_+`?x?=Z0
zs<=#n|JK>`6x$Tt88231GFfGLGDH6;w$GJ&i(C9uuEVL$voHaGQ1^&<Y5QXhTxKji
z(x!#LPqohx*PZiFM$0<l=Is7ZW+9)>`J<&EJ+k~4I&#WIl-n^hQi*i^+uE1M4!Q0j
zRl=Q)h>yF)b5v-KeAen!L8hRx(6d07{<H#IA~cC+503Ioj1yKXLY<h;YdQY*0SM~(
zYS^1WgYWrMx$#2xKq1pe4MX!arh`K`sl@?N_q~B70n(VYJg}z0(}zhC!w5DZqOY7@
zF&WY1AhsXs@TLH;Rt%{%ye6aCu0{Y_gJD!=-uZBkLBF8}G~P%a?46Hzl_yp>`nkyu
zlS-MubNsKS7%0m;Gj6%a1^o%IfB9-M`Or?~I;nwLDDeDZv=H{+LG2XOP&`!uk>OH|
zWfRP<&m}nLTwc3rU0sIw=|{ZuOoHYo?Ukk7Wv>qZB#Sxim;s{r&ZAtCR80(;i0Wdh
zl}1Id@49)<w2#-62qwfLxtL~#7n&czZ<s=AOH!WJcPYekJL3mu`Jo@S$%dTyz0ACp
z@jA&uUE+2RM2EE~=$shW9?}*%*e%W_^^2gUKrWkn#snBY@+|{Y-el$rCaBlRSO4M3
zGfoIq&q4to^ulPA&Y>Ql1cYy5v^-)oCUh>o1`zoEfn_qk%53$tFi^@me9AbFVX~np
zlK*b|$^%e-Ex`fEOe)LO^BaR{&bo@lc*=~Nz|3uU>wna0!x@HNLszY{hsaJ1?`Sv#
zBYezUD5l*2FAH3-$nwCH7FC1L%v0;zPTZ-cWGta7H3j6@aKnj2DVinNo2^EhAUpdm
zl?Pvr#W;k%ez9tbS%J7aC5k#-j*5qeHr^WMmF&@-bfrfyU9OgA6y3-|dfw=GS$Uxp
zQIJ}hd)14ofBE|I7~(e`VUm7F2_!9*t5*udXMTDs1zv|Ly1CO1FyHj1t1o-t@4|Mj
zuYyH0@6l-t+t!c#eH`rfx98J+9is5;8g6uD?-P75n{L#pcZW`V7Kr_XP5zI!5r>+;
zd|2L=^VYAIoxO!mHCt-^);<EkkgArGk+U5L4TOU_a9}NdiYnm<j(@4!O2XBfK}PLc
z|8IlXC?a|ya3^2G#E&(iP-r<{+~B>8sKxA{bhvL#c>}*nppuSLSsiN<GEFKBh=M^t
zPWozcjGlz#wK-Q5p?D_lVDYgHI+ri5Vt|>SgBWeE^Bs9|)=#PUVnUm&MiL2bbOC-H
zHDj1B=(K&<)oZ#hLgEZ~CL;J#3sNwD<k{U)QR1Z5cySQkKqcdiN$|BrOHv^HzAVAm
zwyKVH(F21WYz+)`n861p!zc`^x`Ox-!+ju}x1)0OV1(MpB@a%WjiZH~fPQBOBwp~y
zpZ2CcNsB6QQ{3SjMV0798d;#d<z7(hEE&}U+q|@ku6m32tWZ6=RO~lvWaSFnqXS7$
z2uFQ9UF?!+RcatZZ2V1pGiD~x?H`S5{g_+(q4DL(gjdR^O^{gpGli*N1h>jlmlQtm
z@u9W_Lw(%X1)(2y30nq*+`?noCYJO|ynj;o1~efb(^f!+udAt0=Q%&;YbVoUS3lV^
zJJc|zFk(96R4+SKpzqMeI3nGjDtjII4nqf=vG{!137yZ~x83dUYyAhxCkK22GUm%Q
zLW0U|mz2hs&{HC)Eq%Q`Vdx&7c!yohc8?3p0ztS&ECP$jDh#bL@N<tYq@8p{i-y$^
zhP1<r5oD{Ub`V9accCOkt!bM?-qi@qrB1mInBEw%E1^={Ngc+xYheqk6jVLnSRD;I
zdUeS(?zg&UKEHajKK^PIZ;^0MAwbsCPB-yGb-Z=#tn9yA=vu;ENvLO%_?*YpuLykN
z=0?NvDgisS>-^t6${7;pp`3y*&zPf`L2%0DtqDopzP(JcuD>nGRFxTS{184@>w4a@
z-?TaKQq-FlUj%&SmjrMJW9^<_CLTlgMT#-=wQ3ygF@F(3E`&Y1GS`bWiuL0}NI&aQ
z)xVj)6P7$Hj7abnqy0Q3-&|Z49Ko)it)vTVJTnKWeo?`=6A+O06rHoymDSzVwf$vu
z7zMZQQ-)6}&K`$Fn6<@WllkPP99o+Zq>j;DMA6@ahr8}hC0+q+U;0Ejl&N-Aodi_R
z5Ge$z_15C1mbLgbKOJLR7&~BU4}Oyf-z%w6uCM0E%F{%^Py#Mm-3Mx-EEJ{J34~Mq
zK2s<}Ph%Ig`o@ST<q3)8+6eDXlDTD@f%~1s@@UWHjBzg+H$ENks1j`Zagds`_^Wl3
zuFaoLGdS5S<SUNjg$Fi74ku8`bDMPmAN=6gY`rg?g4wWGiqEMY>grx_iDd1xdvN3J
zH8B$w&^V}T*-(2*&R<_(l};>3&h#7PHSN5V>!F9rh{v(DE-Nz)kCPE|GH}xB{w4`6
zKYTo{_|j^jeR`H(^ei=7e>f#a<9R|^cwB_|ng7HG6)htW{+(;kC<RaG4RguR+r8S!
zvpYQ$!|L0**GFl;HBP{!byQThMf<IEuYKMCp7qI_H27I_^R2&y`_(+ll4=!CJ{ZM)
z9@>Ht$t((y{rl=EM9@AIHr&&=>HwW;P1OVAZ#j>E6qD)mI%zge2DqOekhWh<79P1g
zO@BN0RsB^~KFyf7vGTRj^G_0oA>$?6-|N8t*52pL{*f5d6oVnqmO2(>jyhcG7ku!p
z))SUcdNI29-(@^c7YkX-HsQMTPI3_rS`tal4f3{`Gc#lg2yO@^7(}I!NO7|EFA{)Y
zHoRXS-m920EU5~^QF5Lv<CF!&JP)$<cHi2@3H~g<=-5Z`+^SzQyhoWFBfq%wEybT^
z(HI5N75P>@zfRzTkr!)vw$Q5aBAm9<{U(_;1h{!aLNcA|rXv;E?oOp5VU_(Y;Xf-z
zhfv6wh4w}Z4{<!hUa8Tx`P2OBjz&aQ|9vV5TaNDr^0r@{&y}MNgP0>pD%h0@vU|ZF
z!4&+FKL~4VfMR1${;Aq-sYZ;?bf`q+$-I4Izxy14Hc)9Heh_kwieRHbt1**)0PqKg
znNFcUGf+7bB1<d9PqV%;4fg9yj0odMa-ZpdPbV`oda!0fH#fO5%&UkO5a)M$mMm~$
z?pb?yg%+$v)}Oz-sXyq0N&QgrP{g@_+<$&Kh=Cve0<m*ue6*XSt|g!>oaD`1qABkq
z7{;<M(*oHgOruW@>+c)9SV-)=V`ddd(L&z#(Ti3v{apg5ebo-q`?jVG>;2>Aix_t6
z(?h!hvVe4*(CtpSIC^5dpvoK4-{)3X_)uQhCn;W*HqRllK@uw@_QPo#`^XX}(FcyP
zm(gn7U^!D*!6nXN9aBuYKu>%4nbuSf$?w%&Cj2sJH%H-dMws&e{k?JzRQ$vVJ7TE>
z%MNdVCv?)NQV+zZthzo!kAa-;H}-1`=ACLJrhGA+PKdU?YV$d_@R0dt&q)rLrftAk
zI!<(bQ&OQHpUWViiug{)Z&S08n+|7LmD7uXKB)1nW1eSV`r~g;)y$KY&}W>uVz#vM
zs!ha5i$Q!!5}2r2fu5k~17xI!O5?%soJzq3;1euBMr$(HuRZKr={i{T*j{Cafv!%G
z+zCUCeP+RMvKOcm%IRl~&$u1U9qQD&?oxg)in_`m!lZ4yBJ8%;*Rx@1q!0dU-Somc
z9AdmxfkKoF;T<vo6xAIjv8u)EJplaBCw$P%h=CkZeILdC5OjL7Mk)^F?&1u@FUQJS
z#~DgsjjTZ9oV4&&ueIe*42TA82&-6_B7z@Qlzt%ygF(t#`H#ljUg1`Sh|F`fNSeIG
z(<<aCR(Hwy_2Ca|mfp92t}_gtuL)Y@X?q8RFatw8c!uy$n6(x-Mp<4XoBAQ?cpmy&
z(pNF=cV`s<vOJhgw8rlPp9B5teTFU`O@^Zn{~#Ez4yQoar)M0_weFO#At0>ohrl*;
zLZ?Pp$Gx|gU^<(scAmD@<H&u^+1WgEeYP?h0|Rr@^M#~Ed5JdHHM9~35<!M8mY2{w
zaUb*s#7`!3R}syK87hmt7E>vJ;=tf<A;RL3*mpv-uAo-3b&((L?s^Xv;YOZPlEe6<
z_2hv9;tD2k<nI}4eOpYrF#)NfqtJ1jdUmR4f=Wnpv9@A*mT~~(o0D>Nrz*&#5@g%O
zv1v*MM9daF$t(6$4|z|JiQwECKXQFX+K{3f^HoD+{42uxVbO!O@*lupau>)?RFA<C
zekDhw@LPYi(PG#QV3ZR$sbOjifn|5%rGTCI(dCMBhry=hQhvaB_}dGH{b3#4^eMlS
z%!U}*DZELBFHpBmu3M;Iu7;6`ElE0vbj07On8Zh{r?e4e{NA>sS=0$^cwqF7)#-HJ
z9!%w;{GLe<-a8ir#b>ew3^T?X$6w>cd1Txf6ljs)IXT--xk<X*L~ap)OkBX(-7>o6
z2h;p-wtQ`UCdt8PsBOO!`fI2BigLFjYaOOy8c3CEj&wd4Cl8Y`3n%Lp+pUP(&3}8I
zazKwQdbH)620k2LCJgrQYNk~Hj?rahPl>EaX}Swi!$OXLhGShBQ~6fZf>ABik7DKz
z8D@Y&?RV@`O_6P1j}yl~9Wt<l)|HiekN>NlBL<ri9wH1^X81S=`^{La1KJ)!J|2XE
zoKrZ4zI-m2S5eDqG<OQ@N&IR*Zz-5%W2MmL2;3wD>+`p^)am{*T3fc<-%W#~&dnpE
zj)rcdK*=E-ItQe}N@|yxJkSFBJ?<=!hYd2DDtE*j7AuXOU<6Q3pNznzdEE1ycA+H-
z19)EkOA5}{=6PKtrcF!M`;@=UHd`j|gH5NiNdrj?^=cAN7VgnJ@(ODO*l^lL0_fb*
zWYHDAP`jf;ksi-LZs>mgJOaIA1{tc@qn~{aCO>ha>|(B{fZpt^&c!Fca*pHedI<>Q
z8_<jBQ#eGK(7`ES-WRf8e=UC7IpCGyl<W%p2BkA7wyC-k*s<BvL;dq6fCTuM1$!(3
zFocsOe&LUEtaQKx{m6@VyeUlYpiX@6o#RE63P$Vl8#f@Or#%xJvL6my24VUW<`{T1
zx6KFJJko>vOLZ5{G!wB3vlb#7w-~JH^1%dtq5ih5dPxpamSh3f*{<$M6dI2(J(897
zu%c<xffz?qSdPW>TMF^F8D^131<<M`1u8E-0ZrDUf0HjiG1^111xv}Q3Dh+HsYL&@
zsR$X#O-%ji8x;Y=S7j}+o>Etf^&4{50?$q8+wBWRIY;<m&UbHYRs7DSFLJJJXv(`)
zwDz=M9(by&oyxOoZ(GANuE)JTTJbVIMZ2@bL+|J$)8`nzNwT1<+QI6?QVc~(_vI1k
zh#EyGu7&s&<ca?Tj&CWyoG}hfD876?^^oN+5Y`}%)oEWdPRXNJ?BEx5sNGFEy0i-H
zxd;HMK#Bu=2WS0S6??l^dm^>C7`6*h7RvB>NMraw*Jia?<(Ep6fZC_Kj77QR)zaB&
zROI3eiBmzMd&1T2zEZ!iNZf7;#bNHCWPd3YLWgB_%3`=5XZ5<(FeYy?rj`#v_zte<
zrK+BjwX$G;{zfWfT8>b=#5LsViEu=##GuaSc%`m!qz#0^;ad8%y`5G}0GV<=Im6Gg
zv6ybA981_n3^xsNp|WpG=Z)jK6jF4@()numsJz@2$D7N=M3+)L{c@O9a+MO`A&f6B
z2|rlXUacy0h0OWP)UK5EsS;9x7jzV_<e7*$DA#AGBWRyZ_h*U61%C35B2#uN_9|MP
zH!#BVDs4QRM<sX0h1QT++%>isqxX9lK38}iImA31|5k3i37O~dHP|pHzes`*RcyeK
zo@c2yz<q)ssYm`oj=-|%ac;c74|6`kr<JAt2VF_5iup&}eMeB<G)uWu$tDJ4eLoy5
zyoGAn3?&*v{F=$HBF~+i;om{X;^&7lWYDgsZ_xr<EaKi;idLjB>42~SCLDh8#FkCr
zI=+2>+;;u*;oD6fca{sbR}D^j|2vc;r@82|r^07}(@5t*0=#t%KjKaYeAha;54jj&
zPvf{C`lY`d14Z+`6+KIijT;&1^w)!f1}r>_RXFH?ubn+*#vmOGI}4+sa=C-{1*g%G
zVQYYY)8#lxRaKQQLjYUkZ8F<ghh`5h{Y|`Oa`E{#T%AU;WtyU|N}mg_jn!n5Ybq+=
zO|C86hKM*9M<XXHooE_k53=k8i<N;fnm;(__V=_oCyd;7a)5s*aY$<N5-?Kxc)0Ex
ze_Fl`jfau+e5?5ly<sXO3txHKr`5QVN5B-sdl|DvQvPg`TTJ_<5PoZmeekfHliy9>
zs!>$r3I~O-eWb`Y$%@V+4a_DnU6@`C5gtU-FG)KmL0FC31p^`czHK9X;$aLB=k@(>
zqFQ1dx+S$$JDU?;7^=hX8Z3;nnDnIKVY>|A<+aR*Tb2qtbk_7c{V8Esg9>ETOUsM^
zy?#Bz>Ix^EGOab{mLIz@#1@7tfsHQVk72)WY<9Z3xlT~~>n(GnY2%B`z^y`FP)pDH
zeS{5?I>+7#+b_ApuUw~se<e`)@f&?TbW3Jp@%GfK*UNTuCTg9$%PWlFADx&aZ%co9
zS#h)d&Q1UT2|)J0<iW2r?sDqs{Q!$AayD*pElSG8&{|*DJPTePLML8c6<xSfyInrq
zAz1{MP>N6BLj6NCzGl&QLe!+#m8CZV{F*T3wjURGUwE!G0}Pp`$vS9h%VZPj#cYgK
zLu8JPSQsaYwA{kz72xXkPB1kLCGzXfFGg#%mfh)^GCPP$E8rJ-NN?ZO>2C@RtXFiP
zxJOr=y7A7HShw~V;kG|)@1g1S>1PK>1O?d`d^c%WzbUn$C-AvIn_QrIaH((y9_4k?
zUzw&hXlil?;Fe<MeB|mfYMsZ@(;3Yn5UbE5GXJC_8!7a--2#QoD21#C@!+8#aP|34
zK!o?N_H5-d_0_SxTr84m`l<lVKUrnmq=yd)>Ww{z?A`53UnDiURqZ@9aN>`O#!QUJ
z*4z7$WCkl=i1`iEm)5%kdmIw0iuN?O&Wm5vQHl;5ZB7#&ZwOl4e#5ZQ58aPW)~gNR
z>0B6g|1p{6JJb4NLe!{1Zb#r;A}^k}N!S=vReiOkDw2?Ms%ZCHFw1|8Z@mEMGA0{?
zY%ktzX5yxRTc*MBDLoi>vWj^)_W2Y{7fvy}#f$!cPNq+YPxf~0yrB9tqj$#O@5D=6
zAvN&~&V-A+q+ReW6q!GJhi%#Q+ixUp=yw?{0&fO<PG?^Ki&9>4Qc*w`K%vE;+KURD
zyJL=STkCJ_i^BpN<mUGy$cVG=XY~c$kZ)FJR?y2gelf)((Z{;15Otip&}p>w7}o6J
zhcdgz*njVsBBL<gDFPV<8sN(%lJp_siCZ1+ls9(0<66*i?YG2CEY^9y3}K~;xH5H2
z!fxsiLBS!o7DfFOH2u2pdI+GQ0OT3A@F^#{J91(!exf!a%t7nRX6CuC_VUK;7|P?Q
zLtfr)(AZwgWASoF2@PE*T1MA$inBKz(GM!EpZ-|4hliUnHCi^eQU5V^!snHi(v^3#
z>wC=VooEEc%P_@Q&UkV|2xse@{o$lPr@h!$?ytuyd@ga+@wlcFgO3b*#ktUgu(Z7+
zg+eYhI^LV@-@41H*@`dOM?1*h1>YAng?+wNe|_TM+?MiniK_f0bqn3md|X{(=r=S5
z-)UI12AGX}t7s>i)6XE9@i$vF+4<SYX=Wvj&<HqO7_$ZF(%I60ADmBMk3FHQDdIw`
zAtyVNj6PytKCycO*qgiXy^!C*#KgyGNKC^fA6+#jbb6E2$L~EKpO&D#C{c<A@8(vy
z7M&EZA6&|AWEwI>W;n~vU8Im#{3G8x9F0hq-xX(@$=ck5%zkBRG|#K9B(8j8mWL_A
z+Cn-=j$8a1VRB?cihv1?ANCi1GGB9kEO)H9NnPotCsIMF6MAhg<4tqGy$tHxtrl@H
zXphiF@egiH^mEZmT>0X*^k}}2=92huNf6`?uT~chOM7?`9!Q5+Dh^oq7%YoojOip%
zyMAp&)wk+CY1`h2us>ucZXLx2ul7&*qxhREo8U3PBTHlJyn2Vn{dCmmroT;^6spTD
zahLpgCv@ln;zw!gpDyyq>g=3o5^$rDzNuen)nfiyVsc$5i=!l_v^6Zo=JM~iwe?+=
zODnl6bItPg>?cWqZ#oXR>Bt_Es1A>Xh7Q@$!qLqm&kn7i9@X4W-OO%KRB4I<dNL#y
zaW3~tzW{g1Cgi4ia-QP|_Bgdcusx=~K@ATbByK!npK_s|j1JbkVQFhC;FM0vZve0;
zZ66~TJ}42ME{;B<$zq?Fh^G2!f>MH9#47>x&>HG{kss^K*-sB(<6~rf6i|E>o)!A|
z`rsXur%J<Y=*k-kX)YpOOqmx&+FzTVWqr4%>Y#tWbL%dNc0`RViku2KcWX&NOO-uR
z7wrb&W{BVr<D~OiCzDNnwu10#+CPP0)mC0cJ)(9+GQ;?L-EadB2M%xHynOpp9l?@u
zN?(Nrpp_KR8V9$qdbm&kotZ8u50k%co?!TPl)|(%AnI`I=Ruh!Ci<7m)l>0IlX|U6
zPnf)>)jJb6hP_J@$ECijBdYxB&2Um7K}ZwkoYbQLkVsK;R-9H}U0Y0{U5#^X`a%jj
z+E5+a)8yDx!Pq)e|0uRTDXzcqA3SzvtqKDXCn-c?oX_`ebW|0VBLllU5I6irwhr-+
z`+e*MSG`(tr<%uI<(*|J!-#>$MU#DwhACb?c8#(fV@ujjbB!3%I9^lqG+b3==?fmv
z?i*m523KLHoWmMNhwYQ;Qcj3Uo49*s`sJnjf!#dp<88%qL+iYyl7F2>M16Rl2*>l3
zWE{65CjCJU;z{$BZ)OP}Is?*B-A5YLH=3z<aAWp$N@XR=(GSLQ@6%)1$7SggL$xLs
zP;hT~a;I^c$hevamQgWAxkFnK-WfM5eIBjSwBi5)VY99>mF1J76PmGhV%d`vF2#0;
zMt$ZTDno7{glVaOK{^blu!8K`Q8-pXZft=IE)DlqYzu9_Qw#Zaw4PAVx#Wu-#b6C{
z6)}oocZ&M^&}TMmUkry$i|Ix^r>No!65lJsH`L>_-)OOx4}1x#lf$`>Y@q+4%ku_f
zt&v0gi3C^^hLwCVsQCcmdbH}TKT8v&Qkob<7PmSj>+*~%&O1w*Xth3WL@#w~wq4gx
z>4K%Ytz7W~lE3FTOox8o+p!o8Uemvj1MP60_5cynuSh1Jj=r5$qG;ijv%xQ)t&mbI
zhRNAh6qzlqx#E1CrbR6s^Vebyh{c9uIA}w-&AaO4bW=s~Z?ANLnxLwfH*G1|Hq;R@
zCOmN&m!!JZQ|-QBVn2YgxQ4v^^uek8dX)C@|K~fD91x*bNYt>dpaOx6ko;?IjM8XA
zdT@M{m3TeunKwIf&x~ib1FQMqW_N{JYhRJX41=LrZ}TI+1J7aN$x*ljO58rlRds1+
zyHL8OlD7U^kHzlT0cT$mn6=M4mwcF@Rz7jKrvXBw1qjE~_$JDSZmSIS3!OSzHSEa@
z&+h|v!O_G`D)7@vCpdMewo6D4?*SpCmx$q?U$wh;DRiw&gZCqD8L>dJI)1wN^IOD8
zu}#3q4w4a;-gYY&A9%~0<sU?9LvdRXE=<;MV{hw`WxI@9a|^c{F;Q0iK2r7O*^aVw
zyn(V3_^yObkT)T^!BTj1(+9PYJ!3HVtW63T7mWKE7B8sFY!2M*Gct{iNE8LOmZR-;
zu?v9#_-GzOTc|XLys@YK@7~gH#CY0%955{w04Z1sv0T!zBzcUMZ&?$3|0_g_Bq)sk
z^pm;*=qi?OXh9)K80AO8!W;LS=XW%{`qMOrf}-AO0|eN96c+-OG9qq(;2bz6g1(KS
zUO>EYFh{Ek(PazTA}$AJ)em(1d^?Mh%OGANII<wEq4l*8SfoJ>qc<>Ha6$>t=Hdum
z_AVL!2~L>iOt9n<`c!M)Lm)R;$wjBURt?vACme~<$8vtMh=Fr0Cl91X4a*`=lWAfe
zdMpiwBP8xyiUSb0@Wzfr{V-wPkp-1E((wfi?&KOQQHO3MM2l~WzH~3Q#k$BS%JwI<
zXr#)EF4bsTBR><lWF6x@Buz;-HPaq6;59>n7x365(>_rB7&erh`neFFJ@T(e0X4!K
zxDFSO_+n4aI2>=aNdqck#ThMx-ejN$PyA(n0SgH%0q?K!My$rd*RWn6(n^@DUMz$%
zw3JrY>=)?KUA|a5viE(Q!QP_;jQwr<a|wjQ+$9gvYCuWQcVoWae_742%RfECcvQYX
zzAXSfM!OkV%oz-uV_N=d(XK(>=$JD6#MIR2-}h(mNiIkek)c09<);aImi&t*_}=d^
zBqHFCs*R)w1$#Qaq<zI38(2Do>@jEnWvx%y<!6+b&@hC76*c2-S+V*3mXMcf1&Saz
zQ;zQCNMEWc^p&B$qr@MNiV!c4IiG&;FOYpcI2zHzS#ABf)$BdLao=V<Ac8&v1TE|B
zV+eE1wula$XFj8L|4<=lvBxawgS(HMpIe}V>Mf<~BtaSG0Qgse%oK&!4>UH_OUETY
zMMQplciTzkb_-~(xFe^WjbBMdl!Vkoqg}UY3)LGPbCU3vM|LS@|4}?|Vsb)TK_LH`
zbe-vEm=u2I>@}ziEXWcSL=K+rZrrB)tyAa1X_b-(#>s^^<465`w_(<RCNW6;J?7hY
zWf#Bo)&-Q7$^!-6c8?NL28yCv!%IX2w>(DuJA%{^j+IGzqZ3HDP|3p+9x5lVc{xtA
zjn<UhLK`xP1iu0T)vDb99YY%BC9BFQ2ccBdil>O{nfnc!RIE95_z1oHiDc#!p^1t&
z_$vED@9sLneDQ6b)c-BjS>H5KFblJ{WC5RoBJ$YaZNR6k-osw#GsCc|okW>4jq|rW
z)a-{>G00CET^NBt*#}bx#NhiRqaLvAKiG~y4q}9S^ph$%UI)nJppoa!wYDqAu7;81
zepLx+IZhrr%_R4GZk0OTvL%wEnc34zpCA2{{i7SxN=<AiOhb^XyHJj=ev=2n^n^93
zHfoTQ@M&z{3HyqX;zD+&?9OFX1VjkUGt#k#_agbs^w$r@@ygaGv&PMOy$?zfgTnj7
z_LZa-9*{d=h2c1ySqZ|R0wSFjLrlG$bP0Db_E-a3;#R-o5JAsk9xG<);0<W|$Bgmi
zet`1x$pMn)haE@`YH6lpn-6+pe!}RM=y1O{U7n!@rg*HkjF-bh#cw%hU?=A$6R)Z#
zSGXs4Wh-vs3yl~pfAjt?%bIKb8Ok0Q_81dDXN=Kv@wY>cpj+qi6=rTO!I1RhF_E_a
zJ_4HhLiZ>E|K3IuK>+)t+LRD2h9AU2>4o_roq*)N(I<cQSXqtApE7|>K`fKRg}azz
zPs@2awX=eZqfIG(ana>KDsyG6H>b(0tN!iruW?>0_}AV}EcU4thgBh59!U0_NaBj6
z#B;0ZHinh}ef7;Y>?jpRw~9dg^V+6%dPo3!+et0GebZAx=$%BA-QDt^A1dk>hxo`s
zzK0P%2KAMR&=%0(7B6ArlfMm;PUe2mG*dH<+F|4fU54TvP3D6q=<@2N!n8cv&MOXi
zv3lY6LLd2qsL*{*6B{N|Ks9CFL;|3XcA)oUPmOS&K@q;fBl%7%dAp3Bw%hwIIS2Sv
z$u}V@#!HEYp^Tfr7|J7=h8p88&t%y-h6xuq<u`HqMKm$3Z1U{E=WtbBc*IPx^qZi@
zY_uWOHeUoOv9E|sXqsEuFUgq@rGB?)BIu*Of%xE^s?Sh4@W12Ti`vla?$Tp|4Nb)L
z@nmQ2K^!j2YGQsxQhWvZ>*E|_x%y1Y6RsiZ4+4%?wY>x%R8(?42d!8iv@O3J8Cgqa
zq(TnKOH1XZ1?I;ukx_fDKkqpGLg|Ohh&P}Vkln(=$Ol+B^XXQbt{3#gUAS#GmCTdi
z=M!E-35h}vpJu#2Plo*T^CjoYS%r%;R;iC|QmxO|R7$xIVcsE{HXmjRuMpffzgb96
zr~}ZG_EL|nPsk7n(@TcAzUS>lRa^pJvdXu|)<1J(tN#6o11{HGDVxmFwQK)kIykH<
zum5t)5ZaZ*Y6|7@3)N1CmUY9+h7COTZdnSXS4Wy=m@SD}9=n#Gx&|vuIc)I(f(sBU
zA25j^bc|a?`78`p%-npJ%mRAB!%G8CN<JDJc>S@A$aE3fBxUtMFRKrV<4SOL{Y_~a
zHR(x~*Y4t!pR-L%dQC~;lvnA9fBtDD{^x>Z^VjjeaeGs1L1GbDO)g3V)!#;QCRcoq
zvX$cQaA$b}C5B;YM(6}5@XfQG+GXJ*KyOECQxG#hJOa5rAvMN_<W*DvL}yCDxnY(|
ztD;W|<PmtJj1BXD52DcCFdia%0GW4eCP95XXuH*MhUVnFc#(aC-^dD~W-KSL5?d?2
z`+EAcP0Mav>JD+d5i6gabp2~Ol^S%;QkdGo4|~LUuSJhHt3Yv{l;!HsiiEeb$CwEM
z%9t17V_fCdve}w&>+zLtMuhG7M@ps{#g}AwaS0ovnOn|{z+r)~2dNdW)DPb@XF`Av
z=%41!)+XmH|J$t~Qadk>^4fi|<=?Y}+M-d8z$mtvp>CGCQ-rdUiG;!dLh#J#?CKs(
zUB)frt}o<1tPe1bs}0Cr)J7Yxn|DxY9s(xk1D|E(CQsw+et4%P6yjJO8X2R-xf7qc
zMz_lSUbDKj71tt2fx3TT(Pi8yR?X;O8SM~rh8WyvSzpMDTuCZFjUNhWw;+EHsQbQ2
zsv&T8Xg@di^D)7&JvJfpHvckgG_a9;f652KzVk2r8J`3d6KR>s;$zP~J)+iQ;qyL=
z!q$F6k!|b@T+ynG1Ld8@1AN=aU<ci@oIDWjsdrt`S+4eCp<4h&K)Syf#nPCSIzHX=
z{c)~XU=B`GIJUlO#|Ujz(O6k6Mc%gyx<cI@cvez&(c%NzB=?;5N>SFc1w}d&`*M`l
zTv$Uo#S^&Wg!dvz2NC$&oss`0!^}3for_6yF^#2n%`&tJ4F{L~BOIj^uwsaBLJ$Cz
z#fs`L2lLCwM11w1{BoifLu89Q7y_LA%h-+~kG{+xRWF+r>|C!6mkajtA4g}gB`FX@
z(GOyQ+p=(n!eNI~xZBqcJ*zoAEd`m8FYZNoWLoXaTkJ4OZQamX&j-JOLvMEJYacsK
z#Fqz=Ee+Ntn_9dq0=;sbI&0X57*hFZaYHgccC(zw<wAwQd$jQTeg|`gN2F!WNMH1q
z#l|Jw@23=}bj)PiN(S`m<Rqoi^E-k=)?{I+g^zPn)Lk$JZIGpesQS8e8PdB1LL(?C
zBG2Ug$`e!gd^g8B49MAB<DOYHXg|<uO~Mmc?8)OdQXtd%NupzWW90XRIOIDK`gF}=
zmXM?6wRm8{Ib8F*G`k4-Av9k;hlGzZVuIaKNQat^m4-19*|_3K9*oW=2Mp+qFDQdY
zUaA`qs|ox{*!>1xIRM7fqio1U#Jx;L=fNsE@jyndX;g1^UqTVcf6~dk;r{+=-PEiI
zJ&5y9HdIP&!(Y)`wa@+>uNN}Kw1rA32P4L40`Gn}@5FLwhKXCXU$-;w8(as{;zfWl
zKv1fZEhOz<pV|OAPD8sL9J0&^<@#%s?*YsxWHLR!c8HN5UetY0hRjkRfKthdYS}aL
zcS(vp(eT!4p=Lx7=RvLAUDAZb*#J5W69>vfiJu?C3VVswo=?E~bpiD1c1)X2r8R#~
zAGiU6@ugFS+z=tln3?#|vWopIjKk)J##A7wUS?2f5RxqtiZ_#KJFjBsWnAk#KNi!K
z?&^E~Uac_?7N`@ag4!QZ*}p}HX16c;5p(uTPo`V!w#b15snSOzaU9!E^YD=Fm}I`b
z_ZgF56?gS%Y~{xJ{iew@jRet+ze$~vPE?-Gi}IYxQlojzR!x2n^}d5+$zx>X+B$pb
zhPkrtrhp3x$YL86G~M{T1Jj%xsIc?UfX{AQ7yP#Ph4}!7=|<m@+Yv^_Mki&P(xLdr
z_u#-pC$UQ`{j6hx<zAP<_%*x{lxa=h`bADgyOxEnwC9u6m`+}*uJkl>IfLUF=(qRm
z;$9Zop~>a^do(G4(Amgq-y%jHvzO}Ov5NTEqtA?(Im(%zA4aQrth<8>?z<#DqWb;m
z5!gpSeRGHI3<w?8t$@`o_Euh0WdhE)gKYLbD=cHn6X3FGMK{CQo!_3rJY5cEkA*4F
zr5OHxwY%P{E;Y9LP<*9)JFYtA>7|zsnbw}gLg`Un1E-A(e&>Gxpm(hCRMu7)Lxbw5
zw{1R8pCS5c#6>IF6PK<F84UblU^cuZH{nBs?%MPCsZxNX0tQI(D!s+&2o_v5)Z*6H
zRIW+0WGr{yEe~?aHL2gUZS8~xy}m+HQaE#j-_K{vVvQkp&jTji0>d~@Q};tm4q8cS
z_T~dd9n&+eYxk<-`sN$%&cFWR@bK2|xaBSsZ3K8YBfz^ow99-QD5b(sk)?%IksFb_
zH4hOd)|iD7_Qg>-bI=6~@HA#j8cclKTM$zp1XRH(%NnaTsD3?x6FLMUj|k)&0Vr9=
zFKID3)G%2c3o<(}C_B9}$MW!K79*)dKBg<2zP-@!lx3fW#ozrOBNWg8pQw4{xz%Y{
z(}0-Oci-WHr$ZN!n>T<J>zC@CNeZw6%Yzvn>hO1XWZz!(THgg{vCMpmYbm-9R5b5O
z?-#H-JlZ!crH3r<)<OdtD-fIny${g)3~qM{X}_z7_`4fKRZ~M9AUW7*5-R>Z>fs0a
zhC8`PdQ@-qqKfg#waB-IXH_xU_yXJK&-QGQHlZ2nadA4Kv8kZQP9We5Gj=3V<lyqH
z_MviwQ$nZ9i&w#7yH)skh&lqzg~IW95Z#7!?~>~+TM8a7klm0qWQWct#_QN&6KHqP
zsq`QCGnLL*`3$zWn5JLzOH~lNXu7!H@XPX`>dJ%N#C`WCz<f<Kw6t21kIW}<(|W6)
zs(~CJh>Jc^3~LK_ML;EEvyW_{{80C;v?(>Xelu|^p7O-Iye^kQEG=8T6Ai22SIuF-
zr!^l!tOqaya`zLyyF+N0C|&**t&)>+t7ubq{>1NuOR4|t00<CA0OUInq;2W2J9?3h
zbih((;wiGP?%^+vrXlh<f}4?uV1BXPI0-Z0p;otcTnj3k+{_PvIw0WC%$i`4Sj!$p
zBSUK-)sQ1qPi(n~<F=ZIc&^|-2m*p&ign((a}`whL|t+uCUSIVFb!&laV8FZ*OBF8
zKDx0qLt55V_{P1QsU~LDnm4_^OHQ>#yXBBu`*)QG;^u)|&jEj%iV5!b5I%9>emdFZ
zaW1DVk)MMF7X+iBc9+j5d|aXyQ1KOP2~Q&upi`P8{8q#)`Ooy6ceMJ62IB?)YdGtP
zw=O#K^kM3G5<iNB+}ZctudB>*MKA}*Wa;o+G+8UbiKEue@o^2#ZNeZZ#pL!JI>)Sx
zui(juwp*DWn_mKs_rr)WR=BWMx=og(s-NO9;d+?F9p|R$_Xv~^k^9!WbwNOv*WpwD
zB0{pS+1ppOn!8(KVBhR^kB)LQ&P`(#%?2gg(pMB`3!o4;f?m8MrY(zCS&3OcX;dp+
zScu9hP!`~yzid_VU=#=wo<LLR&99MvN4Q?)5g?cCJKHwBuj_8L&X8CLhow<QYV|1+
z?B^}Azh})l0&(LksO&9rMyb()b{riqfgB!_mj}ohdhs!Hkdn6^do_(S+x8B=jRVuT
z2Mc~N)!cWAP%&~Lh}*VsMD?^OU$7G*gAVf0HnQJJFVPz`qu5;lMIut@LUiGvIXB=P
zkh~K3yw?0>SQ=6hHFoRd$aR}lkUamjGi}?l53nRP75$IgI9=hwwSO!QKgQ#FLBER`
z-COvW_u;;?oj`l3rh7<uWWqz)90$ks5fof(?LP0wX9rVM-MX`(B%`aO*6`19@0%R;
zCi##wpd(M@9ZP7|-3z11>XIZ3Mo$s0&-N=8Emr>C?&}s~5{g*4C5-gKV!go0uf#Pz
z3<6%T)tb3Jqddi!+Ly|-9hG~d{DU=<$s+3L!nOsX36d9T!*L<5SbY^6lScRSlW*#4
zWzK|S19o&52}XKJ;ZwT5H1X5hC3{hk*ybJjLV<~ZKGAC8<IEW)tv||8C`i^u(@RfB
zo>wL6nCyUu`w<-uey|%6gt5CfY-|z!1WVskP1OFIV{!2ve)lU+P)(~RRE~N(WutDl
z@3JnQlis`!+XypEQB0C$JMLnLX9za>{F*W2Er3(nX8Z=k%efqeuH>9cYX1!v0?<bq
zW#GOTGV({lJ{17ZJM&8gGn86<<#Q*B52Qe1F?p2x7NKHJ<otJzt0kcPM>Iks)K&9k
z2y(Azu4r(s*htn~8{8rC@0{Epew%JLPea*5;Up!%51gf}YkOD0Bnoo(#=3eHwO7PX
z#Dr>4$(ISg6qu$ALF+nO!`w0_(j)3Nw@NmH{IYCuMK;RkV<|}go2b7ZB%N=KDbW@<
z90>%6CRz8w*-2s-&yrvSU~VhKcQ{pG`}uz1-=7|LG+s7ZZpbqyc1&Dtqh)N^u<a1A
zf%L9Z6QBn+yzm!jqgi~n2-sCTu;-VS;Dv0%71~rUF_v5ryDf2kpvqCT+&ncc0^&ws
z_*n7%G!{tVo%7vcZ_UdB?~7TzrARm3l3_v{je_`dr{aUu#je1^KT*$ZCT1Qj`k3WY
zK1FO8a7*=>cqODs0_{MdbsJOSWre<J`qK&OLXuSFDVP$8-e1>xQk?i~uI}UXG%;j6
zNyHg$Qz!+!JJH3yAGJjZA6Z><UrM~SFSmYm@iG|dw<C9X-nzwfuamAZa|`Vt56##y
zS%DWPZ2m$;meOQ5a2swl-HfXhqv@=XFiPunHrA<mzf|4Vv$dauNUAf&0~%%oq*QEi
z({pW*#8vus^4VAw6^nKIGzFXEQn3r+{j|4h5K;OYg;<?HS&Qw%MleK@0QnjKQ($hW
zgHmpvLQhk`XsdLf7rmPbOqcOCk6hoTwLb{e>ck-3?KAlUVY#FK8Lmn<jn;U1z)RRQ
z=q@4>W}-}z4Dy{E-#-NpTb-V5XtuYqmzd;(5=mRtW0qNTkK?Fj8zQ9ydRmZer}5@d
zAZja(Ch228pw=w1t(+>;HuU%zOxq|kZIp}tc~nS_NTYL`0%_H2D1LIJtap*(684C+
z!JS3nb4fhYWjV=0g+c^dx}#c5E|tC;UVD(nfA-L!Hiw!A1s)z0RD6rv+ksAW6Ox*7
zZ$6vYmAiiTi}YoZ*L}fIbB7@uehZZQCIt0Ia_^W{oQOvipfcoWt~Kv`)-K@Ldkw`1
zG7M|c78~Do8M)=w-?Liu_F;*O<M`7mQ0x{f_1&1A6X-V-9ZOMDx>yk371jv!a=-&?
z_vx`K5trf;0%5O;DyW*Iz7R`L*FGJtA4NxlBF+V;GU`vSN;5L29a%p=`XX|Mdw2dw
zCq=DG^WtpP6D~%<Nf>Z1=Pe6iSyaVJp;nsnepJb&8ZS(0U<jPENco+G94f#M4bl-e
zf;+?+pFM>7iQL4XSqxbLAs_<To#oI%uBrQwn!TuVGI-Et<uydAMS;a^<Y#5jLgw>^
z+Q<L7YQ5*EVJRm|rZ>xdB<CaPsmSf;tN6$ltJZhph3)WjR*DFG<{7Uzc%|zqH;kQ8
zYKL#n+pdMGk)c2>*@L|~lTJ3*>snEmG`c_W2t0#D`Y`wfm`=bOE#`?(hsE2T$R!|g
zA3wJ}X<~&8n=d^GOc-QNfxOOPby|b|_*&dj7=-VLuTvl@HTb#XQhPX@><TV*kCme7
z+llMtL8Vs}uBX75g1N&@^nPI15!W&=on)3CH+qy4G?VIRP^>>&=D6FBW;Uv=+=n~Q
ztuye7stQGy59js|m&>sdkC|c8Vz?swZxJ!D-G4<M{v7!j+<CFFslTxM;#Kly!P{?$
zz=eou@@Tic(2x4<Kr`vr!x38yY|QPkOZ52D2nm=rzqghC;e4zhQpF&FDAnOmqOZjt
zt>fDB?}n#bna7JfSm^ZJOs7xQmvfk8?}|-0)Y30Q=s=)v%IC)~GpNYjX?yW7#ro=W
zn34U5(Y3^9STz0uPF%_Iuh))GY{gVdw_yKiP3I7~Tru#E6?Ajf!^z6B2Bo#JaSVF_
zPZffuqi-zVq715**hbNF+xQ!9zpjSXtfxu(SA43b2XNHT8sgdaK?hZp*MhmY0rL2M
z`p0E3szk;U;c2o*XlgvaBY{KfvU88wienUwt?gE!w}rj^8(-JdNEp^OWaGvm`gT+S
zNO8C3M=lc*DVw~IeCzg&@l5*^G4i7tH|A8+MtNQu2)Z|l!T!6evR~q=8($`bv?jtf
z!<`{PvezjW_u7jvI}$Mc3_uMpb#Uc>RPl1y6(If4F@j?~23MlcL60bR@MR67a5yQ?
zx&MT(ro6%}v>5m`wW73JAY~<QzV%(IVGJ!ypKFQ6nc*MoXt1GE0tcS(6@0)WIC_w{
zzlZCJk;%d{Pso_CliTxII8?~*;bVD;)&-4K<k5mStA`eXxJ=;k=3DO9IfR;|_cIV5
zfhGL3c~u-B`YbdW*rmSBiC*mCLC}O!55(?7_VKO3OMy3t3rE3ozfm5DHJk>XTaJk@
zPIST|HTg68EE%h44SMOu>}P55srhbJY(azPM?FgA#_%2NBc_2*eHW2sIfPCdNXmNH
zLV#kQ<<l{t&vA5ue*6GcT+um>WrdW;SI$7pUYfs)M9bfccJEXS)3)lCw|r62@y-R!
zD~x(;%*Gr-+Ik0GJ&pCJ`E|@fq>8T7JMECv^4nDJK7nhMvvey7pgCjl5tE6vJha)2
zR}`DLt70^dl}E{GBw%JUJ2~-UK+6o<a<)yh`FFND7ttj}&=o}khefahw?LqgvLLI;
zNu<Ai{IyHxNH#+lA-?uQqmi>41pG&t2EE^bJ3oba6_i2v2)A}SBrO8N_gh*>cYqDw
zNzzq!5*W;1NWg41gZQI4G%T?%vO*mPjJ{h|hJdG`v?GP%-M#;C28*XYCqw9tnI3&#
z&)<t!pjAxvI(s&lb8%1`b90HIM44C|z=VRIRxI{sq6WX!wtU{tdIoHE!p&%D)ybIx
zt=_RJHzY$da{3ODWRiPkp}{e*7IgORc%0;(+ti_LH<_<5VGkWdl;KY_5gtToP8&#^
z$%=ro2b3y-M<!W`k?*w^>DSB6CGv9dH$kN6zx|;3rlwf6DQv4gVa|JHeqO&7=NJ=9
zLx+0`+E?1Sa@TL6pGNr{4D=aHfj|^DPldP@Yla3`gx~G&9mR~7l;KONbgi=yZR%3j
zR+Gq3g_aZN-$4rY<joSM$S6;<F{|i9vh)5_@@~l-u%zKv<Ad7YgsUYhX>A0w{v|*8
z28v#eOUljHz^F>c)!ulH_zb;X0s^asmQQFytgU?=-UWR5#~?yG<h?x&SQgo3ht3Ae
zmLt-|4e;@6pax#mT~Sx7>5vnTvTm3>w?kzNZ!z=?af@6-T&u*GPh1378cSH^@CAED
z(*+)n-VICKGH_+0=@eExQu&e<)l%e(FCijn*Qg%hCg=3q_p$_JY?#KN)BR<+3sl>i
z-|h@kLwbcE){3R_>8wz-X*{&%A)G7zKx?W0S*WKx!eX@3UO1ZChyY8Q{zYQDC9Ow)
zir7wmPxKqas9H-?9lhmu?NQg`9HHUu%rJY&Y#Y>A9%&LbWTLVu2(Nebhqz#2_N-s@
zYddJR&dJL0iOm<i&#Ws!ZuOzTBn{gbE!9Y99}7r0FX-`lLeseVi2=uca9?JLEplSn
zs~2HQY64Fc5r{k%mLLtGBa7O_Du>{riPWaI;v1B2tVH9hr+{c+9_(mHh$6&EoNSZW
z+CJZ5cYqUXy?Zick3AQqL_6k`N@W|`fd~}2qFjcShywCZ^i{ILg6k~rlvcl3M+i3x
zt7J57!~xdy+MBDJh%)Sj`o69g#KxY-1?qnTE8*#W=g}gDE|{gg1E4%jRCIDFVl-{u
z6e6mz&ANMj3IeHBnkCo;R-pJ(3q*_$am+8F?#0kjV*v28w9id>EBN}6XhMDn)F&%P
zCMQ{W;dg33172pp+?77`FN4RvS6KR<m$(U|jkH9tgJ60GerrgD-$*Csptvq)?NSOm
z3oCmdOz*q%yzA_Cd2%XaO7boo3F|)=MO=@9$?^ka^$6qJZu!3<w8$hI-LG!G^F<|=
z)%P8lwA~9D{%E2X;#?_Gyq#{ooI&G8SOmhF0o|f)a+z743crw>8`9vGSH=ro=)o0H
zckq|06Fz24B!0PJm7M)I8Os|{`Jo7C)lonQ_TBS*86MQW3rmV2=neTXfs!*bS7M+(
zNPQuf+357*^YYTX>7<&Bn~{Y5kmI}vrGP=)UM)znQ%=#yiv2;cQXyaHGIZ-eO$WMA
z4dfyQ<K5!#_RQyAGny&rLsow~_jL$$MdDi5%9OLg5~=2VhxWm-4<reXLymRZ?bBq}
z*1@RT0j-}7)1EidWqV?VjN(xbdzze{R7@$vd^N_G^paMC(~v!n<t}(Y^cc&-5;>1?
zG7kNaYbM=Y-|YULP40XRR5jO^9vf&ObX|lGeyd^T;G6veJ2Wz?AxXVjqM`W^L_aUB
zA)gV;vd%f83wX%<JGQ_BQW(5hPM;}HYdr)A8BK~y$rbS#A7!uI0QjnIn_2KhjqSHM
z&?6&Vi@O~&AKt#ED7_^yXzxUNNVdvqL|8fvQjh_ye$vkF&Hx>nwiX^6R<(8zG#W)d
zf<*2xz^Q@cWw1~bJpDr3Z$=CJ?wjcQNF#utp0?=M%);#^L~Vccxc?n|&8J!Omxqq;
zWJS0wL&xSZV0R25kOrAblj^dl2=5*}RjJZEXI4wEC*a~ee?+(O@VDRUheM>5Q(!M`
zYCnK&qsUuB5hrF=eQxfy7h!}ky`c>m13c4;hI%r@)3(Be+FSC(Pr#v{6G2i-UnW<R
zEiTmFZu@RGUQ96j6yWeOh53Grs@6n}*_l`4=>>>KUM#V-VS}CjmL7Ci0{8Cl`x}t_
z>wV<H>deh$cjP=O;#ix~QnomA&K%ESYT}892KTZuTDK{`1XU`zBQN}3Fv6R^LEg^^
znpiuWG5v<Zo?mv&pc#00(3UL3*0*L2G<%VmK>qjvvLV5>u+{1RuITR)JsvnY<7;i2
z2=!x2Qqnxn8*FkP8VaK;M|x*tuSC>Twk<*%!*GO{M3=pKW%9+dedB$J51)Ov02^lR
zjr%zqh}4}l{B7N!Ba`CLQ%^I1LX~CyB+glmLDy%5sk1NXH#MpgDnoj2pPO(Wr7c&D
z*lg$klc4#Ak~Dv>h#;oFyRzL7EHYU#Yp1|1!hZW!C8EqzBQQYI;xG@Rzz3S*K#O`^
z9kw^i`rB)P%{_^?saZ(^n!V1OB%l@=hE1^THt_RCp}T3=cU(yJ_k)ek^BCtYU(DN4
zAN9tItXy?dIB?tSHgiFvq9OPF-c?nn&#-$y65UzW#9mkLBWAlzcwHXl&Jgj7Zlffb
z)iv-^0*wH3kEg3NNSF24c0z&n?%l1A6}7p)l_6NCET^U=-Zn-A@9%XmP`7u&t<vVq
z+z6H<yOyD)p}{(Qf)fcqz!X&3jNj}-S3Sj`f=s<UKf388EK|Ljl$VoU>$Ev1wBaG#
z55DzFmvyh3W$66r#yz>+8{s@0x0Jan;~{_1cZ6kH8>X5P0~_&a?%UoWWGWi63D9P(
z2n4TiuJsdH6;2kMTePxnKnnq0zxsW&;$znnnWLZLHpW-&wE^6fewz=XX0UgC(V!B8
zmW~eB2eYOSU!$q^R-5*q{`@7CPHaq3qVUtTDJ2n4oJwl}Aj$^Oa~{eLE$(~4ZU7q0
z__GWmNQ`%^g5E}CqGIPI%)j`1+a&wrWiSmxy}$DcWo9p5N=tlV1-^HqX#sNDbV_Ui
z`r-C~jG4a71yPzp;_v4j&0%aH=<Pe7sBga;-<Z|(Cyy9y)}X-jFvP$p4xgyDo{%8q
z51PKWGEIC{E43}hyl*UhkDv)(1GS-?m;x>#gpff}2V1LZ+ckhA(d*l+VaH~J41jr3
zIj`WmGm<+g8d}Y$b<?<lbiTK0L&ORu6VKn<fa!EPdZC1>1b#(i=xq#vW8;l@1m0_~
z=Tm^|8lt0I2y1s67K5&)Dkj;APfnGyA);ew0IxzUd+Bzv{Zxl)?iP^JS~uVPu|N>~
z?orZoC$#g)Kp}2wJiqDf&bN+;8<p@$E=56>AX3O7S{71tTimfi7CFkn%-SPl$gD12
zyag=syX~`$(}H1h_yk^3siEXIXFrdLA$iyrH2Xyh{{!vi`gW+2^?xDM9-txRsgisN
z**3*r`+aAz&Mjc-xZo$`x)mytl}-fz%tiV3AOc%sBP47sAK=@CY)ejH+sHCi6U`8Y
z`zF`JeSRI=wT@u@fBaMmaE1xt(i<lEV7|4K6BtZSF(#+Ld0xO=v*Sd{l^K4^GuhBO
zspH2*(S3za<Y2~oMGu#zlI-xAAOD>KSGSTu^{mAp)q;2_;q<3_<)2UE+b_>Fv2;Mi
zY2I<)L4dXmYu&o=T>zT0lYT*2bBHL(Ov>-D=PH;O-wF3M7d5%|{>%y4(Z=Rp;e93-
zFAh)ND$&HaCaBv@WI(pLEeJ)j&k`6RYPA3aDJ>3P<~qpBz14Z7pkErqNoHVZBiYJt
zV)#67X_G4y%f7R3uN%W5vE31$D(XAOz42RErPV%xDJAg*)z<!Z0RK{U(7NmI&0HLH
z_~{M2nf-Tu0+yIqoqq)jLZ;w7WH2mec@*Lef#F_`uixYg&KcsBSGMCwGzrL|h1XD$
zn0Qc~7ke@MSEa)>!m7bEoM=c<WTF*Xqc`AzH0OBUWqgL53&-Cso1_;-A(RzbS_gW@
z?<fgTP?3LrsjJ4!lY9X)U)^>m;OfL>;fEe8l~3voAkC1kjaeNQLBvlP61gUx#nM$T
z-vOM!L3dHCTa}Rb0)KH?!+8$Yf5L>2ftiS5LBlTI{`UPxZ{ffeP%2-C)R*qE2IN-U
z*%G#}$&1Mot9ImjsjWP>L9jXX{<2eO?L)z$J0kP%3Z-HQp~ZY6ONr`tfqYa^yv^GT
zbbzpLG+(cDnR+pVW2=xk!xV?}r{%O#F1JX|KK)CC4<V5{`R4aut%%&vbNkV}MGN-I
zdB&d-XCq6D8D;9??4sZQlW!cRho>Ca43D}`Es{kLc55Gcz&AS{<<&0-qarOY$6TFM
z)l-U)g8(`$IhG+}E@vrnQa~Mfyzt-_^*4h@UHO_KZ)_XrpAY-_IG)Y;YFR|q4_glB
z7xt)9Ya2(Z**6%%7{wL0hRS$X{Ewr-%7@|y43giW*fJUcHH9rf<I>!}%Y0$;mEz%f
zn`PXfvYJEUmf}b0Ky>TyExv-z{MuT6-gMa{Lmc+qr*(k3cx&h5R!pCtfxBNcOC$BZ
z;7ma+D-`nRR(sw_8Bq?38`%wd&-*zp<{%g^$`NBQq7~P0kwaX~kzph;5Pw~-UhQoT
zPaN#+?U^i!gm%||FzD7XCl|-<wqk}f-jUXAK-`OL)J&R}@KUQ^h9{Epk-<%kYiNP6
zM>sRA;=B|~?zBC7tbH&~__RPT!gulk4LbijHWg)g#EBi(_tAEW1v=Ecc3ml6nOcl4
zs3sfFa!&W0Y;X1~Y&ENq5m6Ownou?vS=tss^gWGM9HpunJSY+S9Pu9`RW?V!%$%%8
zl^+rWw>mx-3JkC#<Yb8A@yoYK*4`Z@M=r*f%qTy+wCn;Xn;^W7Aj5qcvoHQR&O`k;
znR~lu^aA~tdu{Jh{2}3-iNwj08-TqXFB~phPJ`~W|8SE;HJof$_t&(<SB_1~Y1gVV
zj?CD#0qsZsYZX#rKK@yvKk&kTg|qgA)(QZVdKdL*x+5r0pAI~v;20t6dm-5-UBP+j
ze7>*eH3FV$>Ebug$5!4&=n;#3C_N2Vn{h<wPRc$(bYtEX_HZ}(d__fjQye{;gRD=8
z8mpNUx5Co90PX?e2XCcc{)*SOYM3!!<XCEr)*=qoy1P04dX6w{Q;Kh2LM*a~&N54n
zBTqL3>farCLn*gvw;@jJhfFc3yFk_T7Lq-0Db6un<r~WR5vZU30+`aypSCI-IZEcW
zqVH_ZFV(1gN(oK(kJA74_=8>em40dp8}Ip^0DuErIWSe&x!kp`ZGc@PrAX9Mi-$S3
z{jaMfD~|%FF_-&Z3TNT&F#YWR=lm?b5!a;bXIB-oFjSFQj?HpAs841M(Ys)6mw1&g
z(()2Ga#>cws5z_NAMwJsTyJ5AzK1r~cU*$^H9_z@nDj_Hedj&&B9(n*HGvO0aC|r>
zSfMFGV`i7;a%8}2ojL@%zpN!%VtCW-ITjR<SyL}nKMi}u>Fq6<N-Q(~>rva$m_L8F
zj^}fA)&pqLK<11?8HSd#1=%bRycf@$bK{Hk5D<XB5RVD81$YDUu{>|(W@I+zb{ZR|
z_zS9D-W3YPXPBtE7Ty8DmP2H4j|TNncp0Szp0o>O$Fb?{UTPXo>r|V#6SnLo{vCg#
z@XHbaYG!I8^dFh1P$dzN82S}c+k3|f8_W5HLc;ojp;ZB&fFweFpclMWkzT(O;k42P
zk1*f_h<e0NIodK~$dwJGyZ#~d)_hW$l+7wZ3dcg-slkW9{Ss_tGl`L-{_MC^f-@K$
z(@W8!k7vIUb^LxDxk#E$&K^cotkFSnze7=u3Z1sI0pH)n2w`B1CR@{6VU8mFruHbO
zc+>|bW4BSjMT2zJkiO_SM8D!bpB-91{nytxIRd@Ca>(a)fBMGQZRdC??=wf}jR3@1
zkqym);p!5+>)XPTvzRNC_IGT-7VgBg@X%YnevS;Y_1%hkDmb=%?8F$Q5?nsNv<j4^
zhXex#TB_vU_}^f9O8~}O+n9#ewXX%9MHP;P0R&AVz(%rCaeL=SZoyd*o8}_3yBl0O
ziVJqCE1F9<aHtygVT?N`!{sV{mF!~EpYNi4+;Tynxi1JB3!);b9~P<L@7K1ls2j0h
z?m#azGTb~Ws`b$Pvl@R~zx;9iB_DP~hWCQe6AsHCciBjjq>dM<R_Yyx;#ZgZZ6>V@
zTwA3kJa%TG>fhjn#@=tbtJoP-l^UEWLMymkA)tPKE{s?&^9nSCiia2zruL>)s}gxg
z;!_E}-?EPqM6Z{89r2=2HB`{+tUg3u7ABbmhgDSWf+plJltAvb$e8Jq4lVkwI77m7
zXaVA*A=uM^cC?G8d1^x|PtXNm0;!SZAJO~X67%<r!-f<PJ$uqe$V20C`PBo9rXXr^
zLe7J9c1vJH;w4lv_}YEBhW%x-ij##INNQ@mP5LWqXokL1wtd6WG7_z6%^J7#{_V<S
z4+Hj&>kvh{5i+3;@D`rS{k#oAdv8=gf<U)rF+do-QBPAIZ0}^Me=CwZ!%=IvTFtV_
z7TYrc=3hJqd{G|<1H^G7L+~-6HN?LKG{fq$zeB+qikS{`EfWW1!Du~A(%SB9SsGe%
z#3>N0{Mpcj-NI@+i5x}za5A^vX0rv0yhusqC*}P1PFD$?BTotevXBVD(R+W#K;t^)
z3GsKnk_OjU?Ja}GGd*Vcs(d;b5JC8LUBM9Ao^SR=Kk3Bp{h8|-Iff~yzYI7Q^B`fz
zsL^J%B}Pl`x>7p=UsgC3I6z4aK#=9BasFoCa3S@qU*70UQTaQEHp3sZ1X&fQo<Uit
zb*`wZX;YHmfO9U)l^KE&Cx@==d*uem>h^Z>>mA(X-BMUi;4@M^zCn?XU7z-xae)vy
zAqiiH{5^yOU>&}wpG+{?LrZtStNjN1ntJvPFWF}5)XneT;T^uI4`*-G(MLfe06z-n
z@0?OH@5v_$bgc-A{?|i~M>Uxp#fCSdbG3sa4s+6(9_WU6eHkU=pzJ&J!8?+fT6A$3
zOm{h^ge>T(u@sOL!a3d5y2{<!gcj%?6+dJQ7Yn+6g73p!Qio1I0~ydq#DO#5#AP@s
zU$1@Ix-4Yv$|&X$<qlJJLoHtm8Tl+EG5yZpQQD{P(#yKOodM0X3*WV_w~L%XHkfSX
zJyFKq@javOUNKY93a!Kt#BgOP%>cv~mp=L!evfzq9aQQ>M|fqSrJ}C8&@MEpWkts{
z-?Z1!ca!7KCqziw(S-@$(-+V<h&qb`2HWus0r_=@eO8V#XR5B;;ZM6{`rhymL~LaG
z@;)}IW8yB@%Ey)z(cd5K>twZ3T4wy3wM=q(XZRatZl3H+*L92f0!l{qXuas)U|O^V
z$A-6dSz`SnErq|XMv&>5-U8t`hitl-0y?Yycg=gAU;Dcp1Sge3l}|=)cUcaiV})=z
zyL{Vy6ZwRZBKIO=Z1DQJ)Tyx|p%1%#5NBot#Ug%Lp$*M$Y$z(MHWpf2)xECH3|&x4
zpSG{t``%rMP~Gdc{5ThnVJmf*<?;_P!c1(6xo<$P2GJMlngaBJwc8Ge=s46?R^-g(
zxd|K71G};IXr+~qi(9+ZQ})Z>Pe1V{9Pr57Q`a%cq`#-hS7HW()FoP!Yu(>KXm+|}
z8-`eYxV=&G>kmWiW(OlMvso<A)N;Ewki@{iD%E~3?9@M6g$Ws`4;>lr;~<yB*C~KQ
z2}*{aOaQ*VH@*e(bwP#Fx`F(iz%OJ6mC(zYoAGnU;J6yJSQ_qp+qhWkfZI1|MrU8!
zeD@7dIgvU3dq}$!l5<|tIbH<ogMY*G7_fqcAlVuqq$lu=Eb=_NifE9;rpJ>)EfG8D
zS{w<v`e#oZvsci(=U+v)t{c`A2i9AOx)6GD4zsN`FDC5(<oG6?ju5Ny13Ju|6_Rzl
z?IcNWSq!?X*S>$(naY&;5NdZb;`$@Bz%EA9F~WqgZiHAw*oPm<{Ah-^=fO!I1_{y3
z#u}&vES)P&JoY%(%{kgb$oB7A$R5uh$>n$rcnb7FA_DM!IgZe1*d9j#K{os1ksH=d
z$s)eSuBdop)a__@J$RhJ09+n#_3bUn-ojr=383V6VxzKyEe$zQs28O*)3Nn{nhs*2
zZB9FZKfsHbdrP7uvtMa#y%x8yNQ+zt5+(dM>r~X&KFa+0fs`AqP8Vd0jXTq)=Go&%
zyGu32%NM->mVxG0+&fc`@F{Ks3BY+Z5tnU)*-CczyhO6LhiAG1<Gw<i^TzELSpo!)
zs+N}>pNY33U_j6t%`{$O0i4ce6@8i>w*a^aWa##7XMgPz?AC9M<SBE&t{sAM3^i-e
zfaQQRYWN+ujkDR4)4{<JI!{a&*pT@6@~?!`(((7CNTtCxuR->WXq(*jacbQ;AfX-9
z_ktfhh$9MTa*J<@!rahexN2hH?^LsJVBgKgxZ{U~q&fG5!z1)*p4endQCcOM`BI56
zhx<EMxcy6v(fHljOUZ1h)g|Bhd$#$j-WMu(@^PcCeLH+1iu1wNV=qauB0JklFpI5^
z!?(JvCqk#$lAIiwhRPjl9*fpe$xWbJAMEPg#y_%~dR^+Pi_vJ$TR;EMxG;iUOxC-2
z@cj(5>lS?YKI2kN#alo8TXdaVu@;Gxo+oP|xx!U<Sdwgi&DM)c!H)n>uk7H5JM-Bk
zoVPtR<c@#0PC3R4G9$wQueZmZjHXiktv-!}3wlFqbwmzi@F3`IDiIob=w{u}{RYaU
z5h((QoBVbPu&jwRDFwAXH<J_iO+f|5joAG}%2Ih$l7yF@?iL@5gjy~L>O1Fs9)fpX
zyKE!Ux-@NVwwldrus~G#gIaRW{^1vYmH6iN<0$`uKY9k}e#A39xvJ?}&-@ggMUwId
z;sNjWJM_35d&!Y`P)HgtWY%LO(Q&oenNduWNNO|CX{sTWHAhKL-9l=Os+3h-%bMnc
z1UTqa<i_`wMx85p2!%=bXXI$!>Owb0>OW8kZ>%q8?WRKCgADd%C0C&O2uLTKQs9?7
zz#arZVMRetmI@Zcu>d0+h161{Vm}yl;EWL<@9sj+^h3Co=13V@=hU!1LqbKU(t~EJ
zKLC_Cr>a!Ql~|!QszXXgbRDWW5TosUY<k{Q=_17p!|$yDBO{fA&%s#|4(e}q6Y@HT
z>@S1K&2rjUvD+jUBK=)px>-VWsO-mg=BE_V#F+^%dK6<g$fyXv;@WQIGNo0EMV16;
zeM{xZK5?3-fbF-3Y$*k*l;+c58>6l&l)|F|HwV2mD7*mkBGZMNWdgG@Z8ipUt>XGE
zW+>6EdFI6urQFg00XuE6yf7}E=lDV31pK>Q5oL6D^W4%*4Ro$7L&Y_gX$Bkm<rqFk
zqq4~g5r8uegt28Wue~~bji2h^LrJ>>{JL4lQ~dx5K=!}g5MC(?eo*ylZ&SItl02~k
zDUpWg5Dke|kiL2<Z^Mmz9G)IHf=&O(VIa}w)mr(jThqInwdbD*8{&V@1Hy?{?JVWe
z3V?g~?V@SF)&^bP$r@M*cVHs#QV`rPLyOG5`C>`G+?^}}T{jR|ULr1e@whL8X78?E
zuO`d;scP08qH2ehT`<31zr#vptbK-W2PzMeU*Yz+Q6s<tutq@#zpLqM^P{4TYeqT?
zBc(pJe{0;Y=R@_x;O|^UxKLjlr=qd57D2YzkN4rUtR#NS^IaFIsNL_&MZ-OnZKF6b
zaye)uH`}$prp1lTmvmihH|TCm)&^yD_csh*=t<zfe3IHA?ls`{`RRE{x`1>z*K@RA
z%$SI&W{Ldi;e_Jy3Nl}ae^3D=9`g3ABOp)eQiqR|kKdMB7jz@fP;U%lMm@!JwhP)1
z`e=VRKyli{gx=P*3j*%V4)enU%{;M*s|e!?62on`!He>0gK&A0Ja;tH@aP6Xb@Npy
zXR@(k^q)gWXzX|23etX!MCiH3F7UZsv)UzOD2ZVgtCi0ZD5Q=r-^mVtaKW1kj3245
zFRG=Hr->%@hdgN&jtA*2-9$e?D8Db2VO^nvp8}ydTET#~TU<v#b@B0xh`T0d1Zr>e
zl$*lgb1-(5_5Y?yOnN`!XV|;dDlODLP}9~wFYj7yN6l_UgyjKSo_y@}?Pyi{x+8sq
zx-_?xRd&$2iwJt+#7K_;>$bbV5~?TH1c#pP$Tb!Hp!!P%@csslqZv}>l*u`{PRtN&
zSU%rImUo&z7K28smagK0<OxYya8T+(eon9G^R)PGJXdn-GT071qmL3_brjf8!8-yk
z%8?3)>_@==u1xC&B)>jKDve5L8z)40M1&>6EC|L?U>kyP*m%b1f&9**HBQnOrIoy7
zK~1eLxgsuwNw&>27JGZcx2G9X{9@)RP-S+}3#=-+;x}*nrR;@~x0nk*yyXV2!Oo-!
zA0|G&qG`3vLx#ZT<s;z(PNQb+X=M<dmHgy&FEvAjfuWJfdtOW1AAkkxCUzQO;T0C|
z@9E%E!^DXQ6Vwv<y}~rho8$5u0MIAV|6Zaay8AiwCeKRn-tJl_4x_stWtIbUu{7Fj
zuE>_qU^8falabOyj?H<twByRh6(4AfTHdEjlk0d&*CT*uFII?u<z=$pKO9jRvdb?6
z5IQMX0JXH;FEiktQnm)2DK<S$m0;gi;{4^AR?_4E?V=Ubzh3c;Wp95*nG?rbVi<1d
z((r>*fy;NydXbGMG<#oYpmfPMW@uPG^+JDa=&&TsBzfvB8!fP&L6ivVOZ#fxVX(99
z?#2YhNSW2oSl<@CLbm(rTB54JJCsE#_-5GmM%Ktl;j~&=<)-nwrjv>xAvJF2;Z1~i
zmybgV{ksl6R2e75Vv5y|1`G)zgn35gyTZ|YRg{K`UVSu)AGlmIdZJinNcB~&8?5bV
z$MCa(2FZ$?nsX?6iToWuy&o8a$%KtZh<~Mb8PT4RCnWfU8zz^!6}Ow%u=^n=Xv&D7
zWtc<a&qkh+;X>qHKGGQ=E>`c5(J-UdS~*3e%x^8nE&LEnkY{3T#j5@_3s8xeT1~Rs
zJG5|>NKRorH{1mpbtD+N;5d}DnjYS;MdV;PYb;-M4I}o_jmwC1nfA+#!5C{2k>xXJ
zg4e2MV**=!&s=yAeJvcV>G(ILHyNB!6J)u9*s^JlQT41c*$l*bjRg`U*n)h4vH+a~
zr*Hn#Q*8M1H5E4Ub7NA?nXj@g=sO<InPY21tB}E=AHBxZr};c1_8PF5pJ)!@5xi&~
z&md1EFT=W2s@gWVpB$wP>3q`h7yu0ff-Hpacg>5q;A|hhkOWh)Y@@q4U(bbj^>>_}
z1`N`usH2L?`hE|Zz4L6+J%ic{PxN;wJCLwik7jX!hC$5cj1K~x;J_b8^(O(h>3235
z6VTzHpLvaWg9LC^D2tYDfeey<*Pcz%wBvmy(z}@;L;St@`Y7{vkARXCPvLpJo82=v
zEZc}$otP2K_D!=;|9}YrJ-oemYxs|)^H_3J*`nwNF~GZ_@WLZJGraenufJ5kH|U6}
z>Ig}sPVTc7CiAki%1fv_NVe95gKvt&8#ZW?$S1pL;d@g_(>g5671i?QoFZ%rh01|f
z-*$ZCD0NC#D!IPSF&(byZq{IZKYz=rsu#NFp5UWq&=O5PssVWp&+y9p7Qv|b7&!LD
z#shZ0T(2ihL~C_fiCr(m5jqW(<w_*r?i9e%jKFipv2Lv~a+WlG!PMcH+&rMU-&W4s
z2oJC|1W*R5i8s^~l&QRbsCowNcY;UWT19#|?M{k|`}S0MK7u`QM^lsI%?*tkMv~u_
zG<5FBZH9*d`W>F9rg%~#3@yJ8mKK3pH5W$~DH2x3eKy?3lWeQzf7Lyo-wq?=GvjIN
z`E3~Y5s}dYwgS#idoVacN)}a6>6ekr8@mm0c)|2*g8W(1jE#PMuHFl_<wZj@Qm}Rw
zpz1{$nC-{Oco%2T&^aVVvboN31o6V-fO^_HiHVv;hPEDbx=2k5jw>?!;(&LU3?L6(
zJ`v;A&cYDW7g5Kd+YOt{M*V@}SJ+j?eGc3KJIg@Bc@fE@JxuV+x{-GR22Llt9m4nR
z4AL$Z$uTw(Z0G6YrvR~r>`@GnA53q!n9e$F`lI5=TfsK5(S^M}km0Ln{`$4cGRE)*
z9<ZW5Jv?|Y<m5&QIQH6ZM_tXN4*pwX_!)33Di<~wHLKc9PLHInY+7C%NumG9fMsDC
zLGK<A^r}r>^C9iP^et@F*<vh5nJ-`m#NRa?XxVE}owPliTCHwtFVU$p;3d{00GDk3
zc33(wz_9Bdc<i&4bE_1_k1Nuhw2+j$sE%4-YLlD^qDL2SXnq_zL+r<NbY~Woh@>yu
zMtw+m|8pOgLhT~$A@eAKYuFE9Z$XPH&^0>lwwA90A&AF$wa6$l2+D^f_?)l|&}rNP
zZ_Y<0pi{H9N4&D%Ht@G5H0d3&V}G7HW97Y#`5vsUidpm8LtCUZ$6}vBdONKRe%3|t
ziqr-8h9u8$7|pE)gi;m*0>0pBnI)o2!5+Tw1pnzituM4&AIo>VfeY$$LqN)$sFnA7
zU#hmr1JGaE*V29mw+rk0StEx4HbJ?R2>Izu6V${;=E$~q`#ccG`1WLQOqdX%!k_Hr
zn|pq_$;2xaKOzh<2UPW+ohFvC8sxiJD%Smdwi$)=8eJh`kw>|296Q!83rYy*w<zKn
z<e-7xl8oGBv<dDFqB%#R*aMhJpolACn1u>{TR7H<5h_bsFQK{92Rw*E?A*G-5eQ(?
z3jwgif>R@sA7)sR8!{g8##4Q7zCDR!mmAY8ClJ6{Y#s=`KAZ!8(8$3^BxiF0I#AF~
zUNyz;sqKxGI-k7U^Ft7^e(D>hJY%&OS_DQUn5V#ZxIWq!iQ&w-K{C>`f#v7J7{YCD
zGn=zsLxX_|?VtFdVZ^sb->6lAoV+f5rC^Ms;ss2-IPP4;N&xc8;_uPlEL&Bmbwuh;
zRY3G#J$qv%eufA~?!TP&a3GP}!Bq2x1OS&dnZ24+LJ4m4<wI;U=Twhp(^v01Do5i9
zLkgLG%p~J*Y8%#2od>5o8-mS-3V`zvrh!2BRW1o_KD9yj;Y$Ee)9poJE4WJS0`y8j
z$qY4RHKhm#|5VZs%SOA*!M#LqR|8ECectX4^H7W-_)iA42!$#`%<)dfG6DhB8_N`u
z`-XHZb3?&Zt&u;ORd6zdh%e@Ek`4AvM-66nd@-QqvNk=LVK^VY{M(><D)8M?!JRf+
z81Ua78%D_&cc@r%Y4Y!iTeFTB2jw8;H-cG*aegb#zH)f(4ApAxJ>ldiidzxQ^nfXn
zpQp;$Wf()Fs}c$bG&~chEkMb?XY(213MWPjzf(;w_-D$cA6l;rK1V8kZ;6+K$8rA@
z!APRF>7s{K5;=Kj!oaq#EKKBqqJfnW&D%AJG?}YK{bYy`-sJD^1}ij}9+DpZ#&<ft
zK-z*^y&m@Vl}ae*iQk2m<gX7mn7PSN|AF1@&F{yHe-NF25IX2lhGeok_L|^W!62Ew
zX`%5(J<dzifdC!w8-r5O<4m95(eZ|HprN9*wwX^*|MqSx9*Z1$`E@VIVff`1GX1^g
zDw#G$%h5q5B^nm&-CICT;xdY?@1(6MyEV6cB3@GK+VNORC^_HqKX16#14Y8^SDo<9
zUp|GaLFQ2LLwYyW;GNG4_kb-t1zgjXqn>bGzJCyb?SXtVS=GPu)sN=BoH<M+#7EMC
z0SGQ>p9p_VP=5QY<5|Po2Ug-RCm_H+FAv@&m6Io^Pzrk7;ct;JGvTDizzm$lufgu}
zLWt!Bp>0Doy@jQ5(9ljm%7QsBWW5CSy(Z<Zr*dUpe#kOn(yP^ZK>^twOh|R+Vz<VT
z*ZRcGA-h)!1APe;7^#L_&{uYT)+-6K)WkAoH(u~5KQg|q7)TG$+gTKyntn&kwUdcd
zV}wy4_M*W;_$ir!0SDB!L`eIz#vSmyV*(UVCw++(+9X!DbI|eoRp<_(Nk>|3DLf}F
z29A+A&3QX4!BBzXI<NXJo_4Nnz(q^HDJB<^98hN6Md|~L-nv<W{`Vkt?A~$Glwk$l
z=m<w}&z(qpV@iv~<0nf2!SL}6g25#2@5;b4ct49#Y`K8V<Q&b<Z`lC5RvkO6fQ!!3
zN6rbxV~Im7|5P{2phW?(==?DaNCkjPd_+>O-ow<g8u_3vcU~d-VNb9dOoEu7L>9X6
ze47URlTt+Q_v*#j4DhjJLntDVUT4$rnI_wrPlv%V%#^M(nIFya;Kc+v#;lX-NO5>E
z#YlEMs*P~PKd$P{H&zWAoQdZfb>0IySAH#3a!wbpnA(`qJI1oKx#rtY0O<D#WAqxG
z2}x1<YoBXbAA9YnkMU%>a+!qAmpJ%>z1ZH=kF0m>8vB9USgH-|udi@HRIKpd!Yv9{
znoue~6kcOQru-Usa68uZvwbxd%QdCWsU?Wa$-Q()4BqqhDoH;nyNX1mmm%V#JLPvU
z=zb|dEu=PbaKj{h;g{;qfgS}CC@13<rF}cG%dc42uJ8&@j}*>69_!$ih+AR*+HzBy
zBn1Pu-rNRdIwrff$Sftc1o2z9iRapzdcF1fN>qrD>UH<C2E;C=#d=D9p(zKiYoWZ4
zds_`5gDm%n;s}Zh=IeCP-`u_+dfdcgA4GaF4=YiQ?(sa;<5R25T_zB@$V$zJA-Chi
z7GYB02b{HDOAs|_e?#k@Q&ti@mxXb$+<ReL+?xS!?#e&ZJhz%n)Y+h7A=CP0#3Anf
ze!QQNgvz;mkqbK(ar^;e#UR$15ghZaiSy<hv<eP~uSC2_m)FrM9pAOBcCMnXmKkRF
zVwV6#(MUBsh{I@VIb734|Jb3!?4<UU0g8-59059amOfvkDS}+0eNg1;!$JsV1q*49
zv66lf)r9*yWRnrRA%kyk4{DH>ZFOx_ex7G(0eF6+3mR@IKH=SK&qyNKI|8dUw<c3M
zQ5tLLN~6*RExU1rk)=4DJ$`U#6`O{`qj)&v*|MTv+Q`8}&VcPC5M+=_j2naEee0J9
zDqvrORBC)0Kmu(gFcW<8*d1|r_$e`8L#a=tDd=Uu0&ExH2fvAU7#woH*nt8v^w=o(
zC9G;*n?V3a@vwl`<d+duBAw(#`E_<Z#JIQlQ#3-lS%mHYuR-to=BPff*2*>~q${UW
z0KUEActZb#1N)tZbu4*;j0~sYq8gzOhZXxUV;OP@&h^Y_@nrLt=mJe4^i9<aNN$p}
z;F-ri(W67q<U_hZ@+t>;Co`{QJy%MgWN_;W@}^DW<JTddNevU0eFp_!?(q8cv;yoY
zNi7ofIoLrz%p$lzVuiDdXbE4*v2{5w`N+cQ$pkKgR+(=$^aB@Q<#ceJtAJr10Qd6P
zV_%QXSvD#BG3<1&AIP#kpYMl}f4ty2h=p@|nQTyL?4%toMc>ghlZXHT80)W_$kF_X
zuj%+UkS=}@-L3;PhJ(x2VItNC<;ZW4$Jhplc?Zi&vstiVxZ?{<lzknbo;+mlI}nTD
z{Ll>x@$JvzDj5FBg;)n!<UxwR%N<Tgzn%ImuO;ow-1Q>c`KCPq@*lb&FAM|myp!ux
zS5Wqwbsg*&1i_3eI2+xYRr5Kn&L)WaQ%qRtcei$DP&2wKw-Ng9ZR*SPch9$63AFbx
zpiVc>ZRQrxT-p|`oo-KxQ<pOcYpXCDBd@Dx<V5HK3+i*pI1sC-Sa>~XmJhQxpedR#
zo_6oMKk4qdDn}pR<hQ7M6T{2US{Ynj{(>D3;3T}l>dkNZe076&E?}fWys%uIIBMq*
zYXLW9Qq}-arH6g*05d?$zuF$U&qGKA;zOPn8vlr8@a*20ZVSu(a?lM(=xM8v!2-bN
z;rMuI(M{hREBZZ%O>{`)JU0|k<+=`O9CAkBWLWiYCO0~#NXC~s=lpLsVNKwF;$^&U
z=u!8Ke{5Dv=#YZN`}eXGsDLUVx7W^Qx%G4Z?uE@co=gsU`DG83f1O|==E4r>k;4#F
zDr+*?hG;8IW3LCctY4>H9gUzsrNs@bczxHAx)4$fCk6UCY?_T(JF~|1_2u`I{bHam
zF?;Ydgk`!k{_U;qe53yP;dwZ@rp~qtgUVmjjr008kPd9xTzoZj4I7|)93Ka)&Px__
zjQ?^p3_~O1aF?B*=RAwtU7M8gG1JzAAEZ%lH(I3yHShF8zb){BxN9Z~=que*QtDB0
zuYT_)lD4p}-SFm-v57f|f6jReIFJr`BOoU9d09tMFQl)A7LI;ebe_|<5fmC;VjXrV
zQ*^?7@zWkZ!k?IGx5{oLNE|j0ArUxrfSzt`%k`${j)IUycem)>oRi3k0R1LRaC9ae
z$n<H(fY|~>@~_6=mnn>Ok)Rnd++5jO$@>QOiEU1i`~H^#C%gyY74f4@3(zBd((bKh
zE1yiFT=wJHmG(<Ru*-H8CBcFt_ggwot~h0NTR-G&GU>Aq%l1j>Yt=HSl}0vGT-Jee
zrgr%NsT(@kn%kY76v4Jo4~R%4#if0XLwW}Sc<xUP$KSjookVC9&5d`5gKPVddQ&K$
zcs!2ARB%wY1zl3Nc)iQ;<;h*h!I9l5o#4v)463{s<baz~rA^gE7uD&yb@_VAo&7BR
z)D0@rf1Z;@e23Nfj&aLup2Xq&yLM&2@bUT0W*}2a;-C-fKnure?^IM+9y0a^X(w{H
zk=`f@FGG4aaKA-LsCwSGNH5$I<xM2sF@%V>+~svPb^M<CK6R;l)l>haJFzjvQw%6B
zM|#@P(%Xw8itZub0ahG7%=vf5uqp32>ZI&4Qd+u@A37-*+I5I<NY!&tSAC54KngyT
zDG^)_lBhYRRfwO`Fq+6a&rM#wC|M@zJ?q{qnJ}V8<yR=W)-U^>4?R4oe2j#$Ig@<t
zO_ZHXygg4=o=x**GB@(r5uT#;xBt$D4KT>Oier|~YS%zT3rWW*{H(pa*6};gT<zpZ
z3-P;iy?;YuKfHRW&$rdvkXyuQ4QG#I#<f}1Bb%r`*9|OGl!W+Aqb0wKKd%C|TPdkz
z>o7OeRxWeQ<jZ_D>AH(Wm4~Q^TENIi1s(hj`z{Vzm>Gr3Evg?~fov{}kM1BD?B7}?
z4jshdAt<>a>-U?(Yno}%s(uJa5Kmzul<?m(s}%??4&2j}$}GcIj-pB@fGJI;3kz}L
zsk5j=FH$TnQ2m?HoB5=(i&HaR$TVjy7qU?%e)0<H7?{VZu$wib9N4XKuuA0;$|ceV
zgMRV(2jz8YprN%91@5BU0$;3i(s-km(517?Gm#TQCY+t6-rp|TegG7O;)v8s#|YK;
zh40-+2LGCyuD|<PWgOkzl*$=<`pDi1xs6IPKt;EF@Uj`r8a9E8C?2sRt+(x6D3?aD
z_zUdpqS%aBm4v@F<fP#A4WP{gfPNxFobbbsD>T}DE_nHXpzCk_u<F_81|me^%N5B$
zJ!Ei`eeHI@SPR`fm|b9!6Q8^(Gd>P5wBdaVdv`lfyMQ($>C2tqXa<!sO<v)n>qq`b
z5oyl6w5ioe<u{@LuOc`&N%}U}YE7b-b)1o3Z7YIh7gCB+yY`^dx6K%5WjlnAbA(AM
za6B>^j=7sS^n*fSpQ9CA1@ISSoJaNZod&Gy9g90UvecETyVv*NSwpA<Y(8n##~`{%
z@3zD84&}6%5^FR%ri0ir8rwu-PP2<K<^th1@tR_WXx@QU9IHdkU&#NAA@>5_p7`m(
zJsR*wyxgcBzCS1e@Id?wt0zWiy*>ZxV(Z%PRYjc!-YN;De{0VE#x=%>OCx-NoQH=<
zoDfcN^aR!B8>N!L+eI!A+3@yH<qX5slk=m<JZ0i?GJLs1hIOEl-3xR(F2jGARC<7a
zR)-_!pxN%f&Aa=bVj0Ico)FK?Z;-ClLodYNdWwJNu~tcjwFX;=t@zF3Al_~<4-&ri
zdZK^XOqCZ8=Ht`Ru@v;zHw1A#n%DiW{sGYF=@YxjEAKm4RQ>1FhU|5~X;%-zmZ4R3
zVB!<G4w{je;nmUvwBt(~(r6i}IbX)E@2QhlDhR94B6=%zeFcrcv{a!gm(Qc*HAC6h
zK(gjS^BT!Va=qjOORqD?Qws%&eC}Cc_l|lh>-6ObF~Ihc(|-hRw$AG>BbvOjwj2G$
zGN4Ac#MkOdX#`55;v6gEh3`f_HbJNMCQ=ik?3^?Gt<QvSy1e)TVhbhNOI6t)MOAgA
zxc;a^aT*t}l@#!bqL*nnX^^j$cFpy6^BLoZMWgSxQ7S=S8<i;k3@S|3Pk*kiWcaf&
z3uFsQSmX1eB!kqrckgfHjgL=wY%oV?(w7owpQkx6Wh%OhnW?<(nEz-K7VkxveP1TE
zkCChGqSB8kt-cx|as>j@P<e9*l?e)avwzpJxqOwyE$4pk&rLpi#r(WUXZ>y#6HTxo
zB4XcaIBJ`U{=9E%cLZJdAouu>pLMql1%K<hN1jM<5)QS=IK?)=x(|9Y*30>|A(Cfv
z24b~lHO+Ewf0RurTKX7z3m7U>aeJuj0Ajd$|M%rAI^jw_0%I{gLmnr3AZ`$f4m$yt
zfTMB$*4C=0WYsP+M&Qf_<Gity*A8|+!gf{YCTim_mZ51rrb{xL`C=_P!#n9y9Ezcf
zSi%(gEC>Uu2JxgnneR!VkFbrY7V6F_(b-M246=d1=1A*{wU2Z}Rl0UynELWl=jjPl
z%&l{Wf5Q@2gXVbx7X4{IUx?yIH$vfR!B8DIji}uogqM0N(LekqmPf2tIh54%7|<JG
z;)g3-H`T!(ple)*4+j<`F-SD&UnSDu<`^4E&OExr(KX#c{3<)rf7*3dH8R<~+d=mo
z=cVe{qWT6X36WX|4Xb$wL95J06#AZY*sk%GSt?A2jD(1SYC;QSnc#)LUqvkDbWd#Y
z!?{+ReFkrqJHcaZ=LEW!*7U4|;Mha8zf&>ytiB&5dCdT58Ro)6zf98Q8%WY8p_FiS
z=R5pOZbqcMA2i-H)VC+~{4p;hv0YXT1U+%QMUA2kP?J|}v@ofP2T?xrUnEWq&Ylo3
z7&;n5R{z?xWSJ!PLsfbHREHU{ovE-|!9{<2CzCEi0_4~xeG`99KUJRB<{j2X-Lfe+
zQR5dBYXz&xR5UShBssWOd-HyPOwVp|aGz%cAxEcV2NXUieF4YexyDQQINy10Z1dI3
z-r24CO0O2TJ$p<1ZC`71u`$&`M4c>S=V(8Q&jduD_ufKigKWgvQS<qpAqAvnYYX6T
z;wZwV8W=4O<C)g8AJcDFZMx*|UcyPR6Q6W*pah&nN83(24oudjezI#$rsK#d`3gXm
z)cqdKPbXLxTrk1aZxHxB@^onCDwPBc>ig5s2HlIxyq|Gl!ZD+YS1vI#OawxUat``p
zI&51vE$koO6#xU8VwhNVwliK5%piy{&IzU7D&&L_@v7}4w*Q@T>t7P9vwB@}oPmty
z$A+OUm=-PQg>|@icwF7vNJwetZ9AqzD_H0xHKy~n2-xRw(*4T*8zsRo3s+WAv>Naq
zr8IG-;5_GyAN)Oxp$AVGpF(%*Id{A8D8$G<T-Wj)xzH;dh~dkc5HP{VGFt!tdA(<g
z$pnk@DMiW_$e$x_=>#SFRD?MwYQn)9;4|vPWY?<_-}<u?1A7=#sJd0J#!zld@qjL@
z&HflS76cN~=VWIdSgw+|C6j~DEjT5~c8YNcEXkDQML?hCU)x`QWIsim&6Y8o&3a3q
z$<jL?jd-x6Iy?~mvQ(iB#FH>UjW~3)?@ySRElGL^PUj?TWc#Fu1$={=_5S|kB~R#{
zTGzi&qN&O4VD6zG&X1H|;uF%%EvaU({bwPmxp3r#zgUitf#Uf>Vd!&a%q}!6{B0uK
zdo&c(*@~~<!fJ8Pd0l!p;OxZnw?5s82JV#tqNJtJ)`MUym-8mLVN_HukgX-@D(N$~
zYFandc(^u~(?8_W=KLy+xh!2rO1;2(ad$2TNJJfr^KG;H)-fW%fY$-YJ#P9Fg6iCB
zzsEaGZw%JB?_l#n(1@v-tbS2Tb_6nS1!@<$4x>lEsz7Gmz2>fbeg=wqM8_id#ps7I
zS#F6{|LzH~RyH~;ALWuSTOKvjnVh`gk!T(uNScOVJsg~d2yKw18GZm-9XiZfx)|i#
zok(Qn?pQ0twUk?h=|W2Fg`UR7_i|{w0T&VJ33}TJ1|Ox}L{^R$F7a1{fn9qC)p^qZ
zx252V%gvf!$DO$5@2D;}QHC$|&8?+Sww{=^9F>X9UPvbvi6|O&T$2EZxU#;R<iZJ2
zOzShQh~$83X83My4<$oZIEqWrXL>c~il}siYI{>>vrS%#Knr@|#I#jKK0Cdwe0qc4
z0J9PTJ_BdMzlF>|A+TxtLn8&Vt7%um`P{`__CZ2=p+)F8){@>C?6x)M>u4gnj&D|w
z8{@u~|H%~m;|YJy{M>~M$`arfCLSqtk9o-#e^8ls{HIno(ApQ5Z)nJxR;nVlkX3R~
zCp>A-pFx>sXd32b!^XGR&PdA>i}+jZ<oWS_Z*4DI7SOKK)P0k<I%^hS<-_0dj0>Ko
z`Pw1uxFIH_6uC(G7Z^dsQEKju&hQsd9Sw_kn?KA;`vy+uh`oi~NaqSrlqywq9x8wl
zrzcQa1m$9Uzqy9LpQ5Mq_KC|JZy4yvgI^u_$6%$y^=nyz*-{N=D&Uw%h#L)xjH0(t
zmO$R9Ll^o-%lK=BaqBo3L4HeMuVu|yVxlt7EH!AA_lTlj%i|i><Ph@-d5?R>l5$8y
zoYeK-*Sn8yJ&Z3Wdo9g0H?i7zf8h%$H%E2gJPQRY`DK@no`Ukjh}b^=+|SIA*6P;+
z9`TBsCOO|(@l^%%_gS#+T%!-&Fu_ugkW!~<xo##8KImKe1l2)xq9Ia86rUP4Z1gen
z_1P(!U|yo1?nm71i~hU4wDKKSK2S(KFCHQQ^mWzeUeTJ3s1R;}SHyPf&_oq*VBu2#
z)~bx4tcBj@x4qa2z}pSlrl5uC2KWHC-FIXeC2%MA3*(TKZv9c8bA%%dzD<R@VTFZe
zW3SAS0G5f9?HU9)YkSz(9BPIiF@!R=`X}>O`54Zr21kQ<?!J-@Q7B9&T#pL}T=GOL
zva(;3{o9M+qwme~x7o}0@bzGF2>NcC?VIYE_kIET;coFx4fa)M+KAZl_j(5_e#$vI
zJgOnjd3P>5AoqlJ>+Hj8MjJF+D-tq-pn}=Hb(BcVPSeSus&4ZRvJ?dE1PR}pGE<<P
z(2}nDBlb=kHh*3Hs<21zcV59n)we~<1iygrzd!Z6su7Q>0*RJ&CZVs7^o=%w7LR-A
z7qmkX9(_^YPYX^$t?2-ugYKsmybAl|2bXANhNNU(9*0PsaTvljNI#wL<ks5DKcH&&
zqIvr~wGmPtzTk3r8Ype8*3)8srrV5`O1AUm2?j8Wc1vMjKLI0p1j9N~-bk=c*_biG
zrx;)+RJrOdz?`Z8YN?s!M14As*Rp*rO`@Qf?OsmY&8lr8M&iN0wS!d&Z9WmzvaXoX
zU%1CL=XYcwQ~PlN1hO4TQq2B(!UR+)Tc<$630sJDJ;AV`aLlgJlJS}MP?l*RyF)JZ
zv@L5sYu$34$6FBXqNP!>h_pFD{{2=djLD74L%!ugZqLgs*{~)Gqs{X1GY=prxb2Ny
zQ83FhoKI4X4taLYj78+%v+=EPQ4#(tx?{{r&Ztbx__@SNfM!ZHt~dbtF4Bh-w9A&a
z%9To)1tY%sePw4WY3D`{K*7H)`k|dtYaQd`K>`n8MjjI8fz}-^cc}V>(<D{Aqrs<u
z2Txpst7dCV0E~(GBOQg0oxsumts0g^*M`UzLfZk#0P1T9-qt<8Q>U5553W?-0T~6w
zWgK}TX0z`-WGtL$*_OPV`fqQt;Op4GmznV;A|)Sz&;E2AOXSo<4kgv-EyEZj(+H(6
z0)&-h4(g4jJR?0lmlP_)hlrl0_;gbDcsvw@;popcru|8uT~+Hmy66ecJWmc$_aMlb
z>_-(iawIp!ZB}s8uo!FqzF*r5FJ3E}>Ml?hOhmX+6jb-Zb)vNiM4yQ0IhhZDE(Vt%
z0Izs`TQ7ZPl=CRK+|RMP>P!J(P#>#&`o*xcL0f?3<J(8g+lyAU#OS#iQ3-_2BGBQ=
zZQEwf^KHZ6VssM?@V}>R2EV>>A*i%3TnBjkrfX>WZGeMKdm+2HI}j|tDb{Zopyo;}
zysd<#mxiS)y@gvsEZV8C1h=FxAAO*=MtamQwzNrnwUlM#+*2lx+er&>ogc#J9y#Vn
zO6)mxobS;be;*GG$^Jsc;_SH{KVG#CxCPV|?)&Mi0h3gMd;;=i!*m=#0u-ba6rKmt
zByB%TVmcw>P1wJan){Pv6=GpKQ&?{)1*vNzAT^tJ5&syNJg??iJ{X9ys!{6aM=Dt4
z3eXo(!!Ovu{voW;>|G%CV#8KZX5!~h7J5DtQ7<OoXA(|i;&+z=1=r&A_4pw<N!81H
zFeKS*JDMV|4F<v3Y$cGsW@Y^?s;@-RPeD{U)wpec#cg?E_rkmkG<&W{dt18*V4s$Q
zRRUSwnOzDUMH&<K>%qy_^pOu+)lX9djdseANw>450l?C?Xvr{N8S_Tq=YGjnHUSN<
zI@qWmE}RpPoBSHY2t_&*Pad8~e=XipDa;te`)<kr5+3+0CYU<RWCw@a!l~uknh<rx
zMWbL*AK!Gh*c9(w@CFgc-OIU;A$XR9SWSXU9qLo>yvao~zcd@;VmJw^mEYIvopA{u
z>`Ls}8x#{+)rK;JjU;jgEO0R`1jHuq&<{J4e9}{dfgJ!=D<n=p#~Y+~54PYg)Hn!4
zK&%xyt8Zo+KL8N%Yia7sZcMu?qbKxt{`s0LIdu-<X}#$Od*<k$>iirC`Q!Kx7l(0I
zHNGW%)X{C_o3p=x>2AX{@i74C7?jM>$VQg_^9KgUX9v4(Bt|Qf3V#c~JZE>{Gz}bG
zc`Tn}m=P7}d5ub2vDl4Q%nc^5=zL}139i;16LGYBThW`B9bl7n>|ahq-y-Qd^p&OK
zXPDV5;f&;M#7DPp<8w2h^KgrX)9#0M`4vx%!clyjk_Dfy!(n5AIs%66NCNYM0)fb|
z15sx;)sYFMS5!X}v+n%ZR|zh7b8I&VUon%!9W2&i@~C9A3NIBb4#C2O&l=AuoW5TB
zB=Gf<S8t*EPxY#Z_r-6al7<P6e72(jQ`-$%`h3QK3gge|qC<t5T>K8jh;q{#p;3Az
z+s6UunB=@#+wi2M-f&8@ZAiy{9dd(yhC~w6q0Zx`V^57I*&h}szx@C}cw?puUjchQ
zpsjyyAZz^PPN?&Zd+MFb_!=YuHJ3}61t!Cm=n3wxkJZnisaA)XlaqvGWS^iWLoY>3
zlU&bPky6t=aObOd*^k;P)wY+qe68O1YLQ#kE;It5>`kOu%v@~3qR9O-R|YwODI+v+
zQzYPx0)Ma`Ua9+JYcdCn`9Xo!`HH^;C_c>tk;c(+M!jWiAAt=3^Rk#a)u(G4j#8mj
zhkJ$~9e2@s>+TLoqkrD|&PYr_-8PZvnx#Ps=k0s+w&9G>*Ac6_l5myM2T<0sw9g&1
z_a$@J*|B;eC*s<L4#nhIxG)!?$8`4u{lX48Og^+-HfQd)ouxil6eRr71pGq!0;8R1
zWiI%sG(f?qh|GfPZ<R=TSP$j>YQV!_wEoxKg%g9IdM4W5O-~ApCdpD5W@uRM)AQQ`
zCRmahkj3&R>B(xldZU_#?z7ihx_>XjJS@8<(*sgL!}@!!akTm%Q^G4I7p&OdX1Ty1
z<>W>aWpe;-_xO8;n+-}QNheb;%%8`n=1yA9Xdv*Mg0GCkVtv81Ol6G<1$h=Dw<yp!
z)M~64!&{8u44sz^f~HBoW4&E_T2l@q`B|pzOazk63Gx=B(tIrh1iMdqa6-GKV49|t
zamq9`qDj`j0k{z~ycNtRTV>`5J&?Nuq3*~~634mv=7;l$dUcFt(W}X`rYYhpQx$$}
z&+X_}z6rhaASIVZi8{`3qM5Hr`ow*gJ!2J+0LzXA@3g2lt@8-WBu8ls46&@rlrSqm
zM?ZAiGRhPFP_C649toU6)E`i0HT(zAlGWKzek^y4x`{yNbarXd-k1`nG)iX%*7<=T
z3Z~aDB<UD?a26jnZX#tbaIvxGr8hORUA5~iZhe5o`OetE<><Xdqb-Ew`t4S2s2;D2
zsB(V7?042AkO{DP=+jSdNVM0?Igd1^JtP^Mmj3oSTGotEJCk|o-zwEDYTtFULIKLd
z;T~oF9@z)DdZeBJLP3hl9;DLDgeTNiwW(axeoZ^3M@>o{tHOf`MqBlkTo?b18RrQZ
z;?DJf@Y$3j<Sir}Aw4>19?+13-kT8ARbTm~5;U@#8V4g%QGAz0QfHq8(o1j1;5@4h
zFtg^SbcW2v;NfPlEg6)3>HN8sk)1CcM+ZO2_htvd{==2hNBktCRe12nf$2tln!meg
z-mWRKz}prW^+%O&kWiZJJ;hUQB0)>v&j5$f-$hG|e7F-na;Qk#Jx_7+f&8e=3u%-|
z6&s&$tbu`RRZLdMwt2v5$twl4Be4-hw>f*ma6f0<O8y#u==E9J_Smzxi>g1!gunUD
zNqP1H>isbdq9qDWaw*b$e}44o_TFX?Crq>LPR=4Qg7S{3K~$>*Wz*FhktS-p6ugmO
z_yd^LA_K~4)4Kq6S#(+fg1V8wpwVeOwRuEOd$m~-3mx(RkV=^Ri@|U(=$bLljML<j
zjs$KwudRUGH+hy!WDuQ3AN~rW=q#QL0W4=D<7vgxAEu4Yzink;>rI+0YhX{-y5v1p
zLLt&>Cs^(x)=3HH-Z%y&`fd#}Ahr8-lQyN~rD;WZZ|H_ozaZ)x-|R`Ct;4OC_;p!)
z&>);gC3zmF0Ko<A0}fd%{Ag^tT-s0M4sI7nM2Z<~Hf}wTvn>TC@6f)M&%a=|buYT7
zT*?m|x&I<Ec?pGKz~9ZI28MD4bq@e}nbP;G{^*v)h;iIk10Zr=`k>SOfgk$XO=p(}
z!tBhn=?T@_ZZymjEyOSQccv^*?SOFe7cjq}vM%PTt<BvHfRPpusK;ERv%KA&btAd>
zife0OY}h^1hgm14sqaFWZ>*puC;seUUiXFcMqAQw?Gr6_<BQr8nDkj6d+rcEn)Ww{
z!;{D6X&w&}G)&QNYSIbI1<)o)VyE<aaq#Lob+}|8ln+ll_|=151or!yC)gZvWl$|f
z0^EX<n#05zx|J%H<3BXn6U<N=RgLlkybH>w9$8O;UUXIjBSn2qHk|JFeOAkdvrplX
zSCVT^`tQ0OKp$9vnj?X6y1JWtwJ@b~@P;%W#z!Z9KvVirFjbs1iEsZU4Cq6MJ(-rD
zjQ<WY_Oa1j1E~O)omVS$E{Y}n>F!!X!~Wh_leAECa4|qpN<#pz5AzO1VxqzIedwM5
z!M3~cscZufXgx*P>a*JpH7Tb?TfKd1ydw{kfD<2!C<@VxLpcO7v-(*lD8JJ#L@Kk-
z*!ov7G?-rIstTvZ;?Y;AaRf)tHTZm0VL8AHQLUNS%QqiJ$nuEnXF|k2<~eFjL0VHV
z_oKP(fnr%1f^thpngl`$SQfj)DEx!%$mNSF%e{fbp*Sv6+DB!7X9IzD_?n+BsouZ@
zV5GSbo&0_clhqk&qS^`uFEW4Vp32*!q{kmM`T}f$oX$R(V)@@lcGy_)D|P3cfL`Dt
zfuUYQ4rv+$R}-0ZlVwp<LwtEh_!VdL_1o;U$in|)l0hW3JWXc?z;Sdp$;y-1__n_w
z3}J9;3O}JNj)+S*9SA;XN-N1wLc~;#8FyJ3O;tAak%4nDj2Fd<Rk+zXim2NOOqr`|
zuTV2bi4??yJNq$A)-j&x?<w_56?X~WU^&e^>S3>VNj~R6(s;CLTCW93W@=%7B3F&S
zb-UM29ZGqXxn11t1a)x&5XB!cl4-;8#m~@SzFZ*7JYb(#Ej<7Dbui(QhKq?6y6-tr
z3qD9xJ4m#JCDDiqHw}j&#TRsToYvE=r{{z5weZsgR01II+ZMNol8K{;+Qv9+RPX_v
zGWSoN??bY%00wq;Vm65O9#v9Ds*_+d!G}m-l=JwS#B#v+`7)W$08~pT_odME4b6IB
z4i-iLQ49C@a9L&(u2UEioN!w?CJlQfCA<5%3?NII8>|u$bh5GV3&3<7h&OI54ew0H
z_6y5qgo>l@9yxiS1xoVb5snGNGN#O4(nXsYfK~lI%tc%J$w5&Os7%H(xNz}GP06&Q
z{No2uV>_|eV`*u{Ul?h}=2&la0q9%Y+^;`|1}@gW9lh);_M4IPB$>z<A<d>o54t@n
zkRBr4(E5Bn<%jQh%d?JShfmbij00VQr7EyQ-QcR;jqT4fNt1Nm>Gp6`N)A^n482JW
zUx^Mr=dAQ>k)%IKMTRTqfW-gVBK)Zdn`GWFviDQZQ*3XITo9>gicwMbn8G>KUt=K;
zijbGLA@F&;0s6LMiAL|#z;iKUsBI!x9xK!|tbo%Uk&VW3@ZR*^24MP|n(4FW5@t4V
zMMmBRcZ(3tu&3%#j>K{G!$m-f51&i;hW!9jM376Tv>((udiik4@5~L9Typ!drY1MH
zCDPz^!Uo`%d-|ao$`<omGvsJ<-ItyXo>Xq^J~!-w!;~|~tBV)ztA$ZRA>217bmnfH
zIVp*Pes;4hxK8hLfh<@vS=TTq?@C|yYJ1a7{fqP{ysme6F8{$Eh07Yf<UijGI_wY(
z-G-U+<VbC2B=`lzPZ)zifHXN8*Z!RYAjwk3Y_db8GCRGnQIjxK%aPsFEO!QJLapA{
zTi3VZmN8x3>k{tJ8__@;Q&j5JJ=Sm8hIUa5`YD^vq`s~j__gEZZC~4x!@`E%1{;2^
z3!s15Jn+&0lKvtJha5ataq0JE?7}Gy)svN?m^lq!2Iy0y`%fR~LP*F11FJ&{Lh^9E
z$9JFU^Fvb(B()Mj41~(4g57@=o8@WJbZMAPDQYFN5Ru}taGPBui3<FX1VZ#xgSls+
zK-ZOiSF#v!KOU)grXMEEEEmgLKuw&``dePHY};;>UZjmFvm;L$ZM$J-S07OOTm4AO
z(i0c#)@tBn=t}JowAxcU8M{+(5lDRdnQiG&$UJLG2`hj9Wf_4;R@UPXy29Ny>cO6n
z+EIt|YWs9m^3SpdGCK$$t(OAie)V2dxCQ2cqN7cFb8j5FYN8U+DqIJv2;BR+yBz*0
zpS*X4LxK;%-UU*c{j}#u{>^*xrg{l|n<2M+T3%#Dh)~yzobhH#_=5}YlR(X=tFP{)
z^OKCBT(QR+ons1yjv~i#<4Pnu(r=V7lB}h+z;k^5JY&KG-r2y5<M-{OR#UBPTw<fs
zZDDsoz4X+XT1+L6g5W$H^f4ZG6nYRrF&dj~e><L8Tu9u{ymdzpH7u2-ZEp0mV)oof
z)6Rn6`?lO3P)>fruq(uJBgzlf7HMQc$d3$(fia8pg5G2c2U|4EkFvJRt$nVfEIBXm
zXf9z2xjD#vo&haphv!*eoGdn~f~DWh#6=lKra5dBzbCm7a8$XI1L}PTPBU4b(n)j$
zZrelqlf1VIDa&VbfQ`wL6a&vWa++u<Yzo>alLaLo2bIdlQo2_P%R+}feh7zsa(KrW
zmH;1sFTi`~_5pH~B`~0p!Fj>+&SqXtt*pvj;22&Lttm6!tbm6-?pethppy*D=!PZs
zfxPiphOqd}2JcT7KCZMB1G6;!7{%BVMfh6-n$B!42?r_USuWIEfSgplD`sL;VLJe`
zIE(#iUcPM`kt;lQok5s**+=B(Z#C^86f*AVEZ?7jJtjUUPwVyy9pJ7ew~K@Oa<j{7
zlI(^7BsMGUx8GWz_|n5#i;2###ovAh{qRlpa^8$h@8tAOSM_m`^VA!uAd%!d<Ae({
z>PL`Bzq`<0MAGo(s5ZAL1UEGY#o(BsEfo#-ZS^n7gZxvS<L#Z$0hDD54(li>gEFmH
z9;6S_T>c_o{GrWe-Q8Z;Ulo*X6qVx7Fbh8d9@0XHHFKJs{gP$FP;Q|k!5>q&>&bjh
zonw-t0x{HEnZtEx1L+202Tok@a2H2bWd1Ay`rCN3j!g8pF5QQF{$qxhq-c}74=~hy
z8mqO@2{cGxQ!V-Ro=28SI+F=HYJJi9e5l-ox)F<|4^3a*?S=qE{Ae^gKJbtv$nT=v
z7Ab;FTwn3|(hoSU`XW7BTD(1$;sOoVuIR%QdGD*MLC$*K^hnte2~xeKbk~IAubQA<
z=SU#%&mfWMy7yw`9x1V+Q9k532DlgkjFrgxd7FL4eBic9^8RHgIw!I)Tz^8h8!Pkn
zAVrosRHhPa6TTH}JD8453ap>cbtWLR9?R!SXRZ6&XZuy>-0UZ_(KR7cL4vf*u{0^n
zsF_$EzuIqqngt>IU;d(RIGPh*m&dk_J-WWmo2lqAXjsTS?ADz-ics|D@x0ZT7<x?i
z@NX5S96(Hm@^M8akp-sAU~1?S>qe#i0MR?weoaCq6YK?g4gxAy6$R|!<$D1B&~0%b
zZTDLvI=Ajr_2-{`SK-|S25()zH~=bI2q2ejg-Wp6N!4Jna>Ku^pj#-;*IxKYbIS$-
zcDLv}0RWKloOx`xSjwan5=`>R%NED%{heIhdD&7x%ug`eP%tb(z6uEqC-x4nX8^72
z)|`mS>M0h)P!~P>kV`!1pKt$ys7S<F2>Cl-ocFnjI_XgL1!^nccqaR5hA$6~@cMb>
z?DQ&9-|gIggROjli`-xNPoA;A-n@Y~5C?~+q3B#qxxe-GYr-N)I>XW~zsGdtx%g{*
zD<%3QpDI5}mf^*F^!ZDW&e`~nrn6X*TZw|`2WcUurJw~ZX4r|<Vy3Tu8b`c^BOJEJ
zGpf2b^JEujTHYA1{ypms+pVQhgo-wk*pOW~VGi?m&%xJhnBNO;ibSe?P-{QGPF|kI
zvUNd3lBYxxdCHfk4wSEhh*X>i6C7fR;qtZkEd?ci=!x;iEW1ax53c;ZoAayg#0xwg
z0}KSihm&nk#n;r6-#!oE2Sia11NX@T*9Yb+wHH(QgGyJ>m<ZyhN6`DH3&;Km?w^a_
zAXsP?X=*OHl7Aft$a}!*{HNVZ1ZZyqL_m(Q;P&HjG|MyejFi4jeu10HAOp28I559s
zt{nkaYCHPYGd~_f+z~c&)xxED+!P_$x15@qqDXySlnJUN(vy1PS2tXuf8ZO{y=@Xy
zf%&F4rK{|#Kqoyk-<F_=OH{ZqdV6J(xccqRCs4ydVo{J*%d1i3ZhRFP^1)RNeM+}r
zz15@{2e%&3+6%sYXnoE=$J#2-0H+bh1L5?l5DVa!@~KLKZ`@)g+h12q$Tx%L-AooD
zV!h1(&oK&Xw`XTj%b#-0k94eoE1@=je9kP4^eb}&3^+i}t>OiQBf64FZBRI@{Ltq1
zrUKmNd9d)L7E5}w>6pg30s2=gRaB1Dsl_-zB~}8F>j?V+G>b@C5@S;R;I;a)q+!m~
zy|xs>1Wc=Q;9_5V2PrfFP~-qTDkx4=?UwPo&BND0`MD}^QCYoAfbUb(u|!3O#zV7%
zdIm89`c3~4Ln<%DEu<gJrbFTf;h<rqxAh6X;&8vd?VjoLq(YCdWnO;zLTWO-%-h_l
zreXH$DVrhIlReMBsbsbt5C2dkgF$}3?E7a+4Dk{+n7gDtwu>JEfIzNZC_^JQNg`v#
zlA?UsowB{c+K$-!#IdUs9Gw&%Lz##Vpv-jq5_xE*Ee}uRRVm&W%WxQ0<L-_9o=8bS
zEtT9T#)hj4f>yHmq50SBC8jIEAB%&w`4s^(<Nf9hQ=n?)NJkh<&`=^RyuLerC7&eL
z@>}j%3tFYIeeN+lSt;QFVI!~|SAoMjuJA?IaH9hus^>|mje@==NX9<9*qns?oeQms
zQIsX+bmYld(_*sbWrZ6Wz@wlCF)xTixs9>YEyBKNb<*XN252)5#F!(@0z-olr_D}Q
z1LQ}@4}4;F&CvUau?K8`y&J$N>`~27!$-AiBhfPuM%UsE(L7S9pcb_f6rUk-w%nFH
zXjYPve)an@(16+AJ~@0nEu4@_R|4vEFJ3%vxG;(Sw|}v>l($PA8`8!s;_o)yOXG@e
zW(YM*8NK>7Kk1KeUO*Q+@$^k!Uuol~mIeL#c)1Z{#P2>`EHb_hMW6k2<1YHW?DG?-
zT$28-<uOebL2i$_tr)74Me$K#L7jTu)bRCXeHevI&SZhw??PS;Tmg~b5UVRdfDGzE
z{lRm|XVydnaYqOgi7I6Kd0Ctq1Ng6+oJNTvv79$+bCqt)xHIe;ZB#M%iCf*(Y-fWt
zKX>IsfN5mlGy~vw#zZ-UHYP}47!)kDG=sOj_A(^z6AirJBvJkwRC;MWkFsMvM-!jW
zPw7MwWV+CXgZ-fA9VR{lo~bv?Z{k49T0W~%+hTu0eA$3?me-_MLzzY^ajMg8nd^N6
z3<n+wZ&WnxrD?MxZ+w!YVGz-47WBD=GLJIz4*m#0AHnby=fQ~7PgmQLIxDXn+({Bc
z$Mz(to%_|n%k*olz`0(Ly(!Ho;t}O$N5<guwJrDO_$$a?tI=NKb;d0Q@q}-%Srin8
z%a*oo>T{<P-E&(oaIe%m!rwZ|ZoW^E|7cBKB+S561yWIi$uSZ&Bm}2cVobAd;*KOm
z6Z5$iA`7Wu2$XIHZGY<_0t3<rA@1T57bv1WwB@9Wvqqj~U5>tUshe4;y0cGd;gsPl
z=|-YTBs>a8MJUdILLOUs=`aKYTu2!4N0B|{C9Ne)I3ZC8gb*aY@rYaK<P|>7q6DwQ
zM@RI-HKGTx{b27eN_l4gB()BADnPt5X_wv>$e9VS4E$$$;O>bL{miI6P(WbRuSOZj
znMpy$%8lsD<}%w@xw$aYIUKc;66ybJFI&R{`z#*L-F7O`ht|l9=H-jh=?)ORU9pi-
zlws+sunPz}BTmkvheCjJ{H9l9%_tX8*8gdr{)KBVDM$U=J2D{UT>O<nG{p`G<mgQT
z#`D$x2%S!M$9I6A(v^57Rzi&X@6~J6!fH3%Tlc8H9ktI}j7mZ=d?cFJu{d(H#m5ST
zamga19cvTuT$d`Pje%uC&*2h>x#=9Ri$;wQKh$?O$A0AYG^R}VB&wJ?41CC}$EE&W
z+yDVU{=dGLV%2<zLR3RX=l53->dCFQxvM|g{`@Z6gC&WTeD!2}37KweAaRLWf1u<L
zxB&%^4s2VcO&HHdk+Ri9`KA;5&8AJtO1a(WeU+QXo}Pe2w?D3oy-1}0J_tfCQyfI>
zNtOoC;3i?^{M8nhR>5~@L_E#(iPb!kbf{}Bk~A0no_3p2NSdgM^)+VeCB_4hnX4}(
zl^uYmGlNe!3NYQ(7T5BIKgPX4@L^vr`-&MecLJ*mFi-mD{eaxL6AJr#tyH(qo_Z};
zuz|zOs19)<Go9YxgGqmDK&a#c%@;zUYdu^dt;PlD3bQVm7+T%ZB<btB9x0|$-_`g)
zzN+7Acknu!?b+j2m6h9erJnc+2A=ezC5af04pY+6EPlVQPV2t@t8`V0A^~6f`1K?!
zL_@Y7j@;L$=KRiYa$khAgNcZ;%#4KzW#doKg6?#A&fS&>q6xY3V`VLaM%2Jdmdchk
zmn)jQ-!%7CBFpA!EvswTm!#Lj_B}DhBe>^jIpG6&vk4T4p@(n0wX|Yh*EWK&gztnD
z7|T(Bp<Y5Yy^1M~+Jg5P7Ye(D7AVhHq!=*k?`Hmy3PnF-s{_HWIxInygNL(yfhvyf
zI*fj&9+lyYg-096)U#8-UVfQ8??g8+U(4>ML0}K}4M6YT-_LF|w9!GB_)x#u@*|TW
zH??cgIQp1-UeLIgnHy3BN!U;E!h<L^x^V~lMJI9OFGO&G;m3$21NzrK{J1Z<SU%kA
zMqi7CWLwb9lV_tccr(w??${u3>4uW`g#l$W<4NQ?*Hj~bk@kG!Z_H=XZ!iyGeAC_Q
zE}~n9=?_m`)Zl<P;lwZVLL&`e*D<Cc_v5|K-{;zhh<Lv3nq~H812e~KDlap?au7aW
zQ<OQRj`#gczW}((cCy3|*&k4x%Zku&gwD6-(cpKR-J3CZz<PWFWGf(>j&~=KMNMSh
z5MQ-0RItCgt^`uyTWw-oNLy7DUcn}L(K>S~b&TGoAC=7&)&PifbY9KPbC_@dmuLG~
z?%&Q5#7>6a4?174c5B4mXOZtdd>{|uc5oB|AoxWNQ)xN`a8y)s{E%Z0k7qEj^tT+}
zfpw~5#>8|*hHd#_I{K;3I53+R;j2g*$S+pBqO;yng2XD73{hkh0E(4+G)PHhr@1j5
zewdG~VHSw+V((Z=#&+(J0MUJEqgfFUS?We7r;4hfe&;l5P}#oMTLt$UG3UP>Tx@4i
zm-Tk{fWGrtlCT%D9%hrl{Z8X~jOF0d>E9-JV*N4Z&?zl11<@sgpU86Ku}4bon12WX
z3nVcVxxeapKpc>sq7e1BS6@iK*)rTTZ4fz@bPGn@(^|ITsiWq!G(U3!^G$L$<>Ec<
zu_!VPkFatMGZsHMjYEIFi?|bioO}ukmXe8kw;aJq!%^@S!3HHjSd?&CE*VC=V=;iV
zrSfk}_m^7)ueKZy4J}Q899t(C$5d~>a0*f#F*J#t81pN8+|bbj^P%z8U9~7;3TB!*
z9es1KuP4@rDxD{~)McmM3JnoEGXO)VbNY$NM!~Fn0P4T}V2wZ^CaPJ0lI2lNn0XrI
zu$+~suhz2V^h*N$t}FCg9X)e1y!={-uo#!C?yX<7o%8Hx9-5r;qfhi(y%2D=pr~#|
z9xdHNE@kFkY_a{E>!^|PhKR}slle_m)6)64NloroQ1Z!zsZWZ~HTqL@0HIKg1B^#P
z&@CN+?%M#{%5zp18C5p3+)mxE<m!ySqZ+~U-uckv(BaJlF1J~5d(_c@Z*!JeHc%P-
zPGBNZ-nbtk&)EOh>dW>6#jyGPTU+YunkEtCH%J3eOj>6ATf-j)Bc&$)1qg{?%$Y;6
z@37GB?M{7!VTatN80sQ+?w(XEZ!aTlIyo;sPLB2=y%^fyB53ZcInt6TZ8sb<e}Q*D
z0cYV4y-w&I3PQSE*B`wX9seNScmQCqT%8R>!71<NgZJH<`b(P!JX)Y%%s(}`rNj(3
z>k5z9y}GD_^{FmkmY)U^Cdo7UmYUdp49@Ej&abMTwgPZ>f;DR4i9Pk5+^H!MT$*J)
zD#z|W=i3k1jugyW#5~E@M~X_@HRTH5yH~z$=J(02*i+sy3ooYh*_V^wIsgXOy5S{r
zOo}e#kA%V<RbL8QOoZSb{;85_z}|F+FkK6CGmk=`6ROR4V#g5x1O^|MVwsglfZI~3
zQNqD2PA*)`M+5t%!4x&)!+|L(MOo=9APi`7_+P$_@CO5KV$TGu$UG(|uMCkLo{jPQ
zLA@iz4=vpae@qMzF4J3VD6}moA=gdvA^xOrjGB|IKCl{IWJ0Yfgkwy`7h@#Fc}-uq
zmH@?<1a1C=_ail>Uo5U?sJ_&eb>m|~I70RIX95*#rDEodQQ@@@vG2gc8ORuAo}U4w
z%E=P85N0IdWKr~EpCC^J^yq-HIU(cji1u|AK+0~Oiq!1+?BA>L!iRey<fJT~y?+V^
zSPXBrU-tx%Tb*EnFK~K^ijPx)$2^LBF<a5g>+k>}A`yvLJ!1(WhjIR(Q*6AUNInf@
zZZs=yv&*Qix?(Y5eW9M+kcQu?)Z{7O1>fu!q7;My4fkYv`e`CC!G}+G0Sin<W&ZLK
z^kS*t^qL2?Si-11Ivf;qNn=+t;pd8>!qNf=Jult!bE9wZ38F(%1q-hSz$CEhH@#Xe
z%oDHrRUu09p3ep(4S=zxk|u~csXKfYqmJQxBshE|j89RZ1z+#vL;=KUjoOI#<iqIZ
z5VQ~G4m|0dJ)oPCGG+!>WWZjn#qn!&D9)e~B_<Ib&(D4zEFYphA(T5_N~ciWB9doH
zmq@c_xO3p*0NRcnJ6NDpLnhkh27CTU7jJ7Z>`!CAf!k$J4u1^%n>`o#&INZA4=;6?
z4~24H@S~lWVLgO*g&}Dgw<u~jAb)ovgFMp=Z>(|iK(!kvz2+H#doH2LlLmk}CeceN
z;tx@)Z-Xh?{3}OABzx-aax`bH=Z(TDq+WUF8mFoU0e^vkqrToEQ^m8W#SG(l--6EU
zaqHdOFflCv_niS_g@y7tvz(CoO{}yZB`dRtcAEhXezOXOU*Ld18<O26AO4zA6f($~
zUYi@a9_zHvv&=@0zzUzhZM^yU=`p3XWp@Y)4z1mgWQg)nSt7OG(wRqu9hE<LF3SrE
z<_qr5NcZ6Lt_A!E=*dm4{U3FJY8GF?9PtH#HgDUGpDZ+_6a7&-x)oJ&4Emv%=)D7f
z7vo+hS&uv$!i4?JeQuE3=ZhayvA$kZ7EU7}q~$(By#QOAu9KxgiKIx&ei5$;@Gir8
z%c!j4t~BtudVQjod;Au_b$s{pzR#$X969>-Qp=i_6E$(N07YX<4fvLTE@D7#c`ajN
z^oK1!>I`gk@cv`8z;RtO#{ztHlH$E}SZ?IEj0v5UR0C42QSQNL_>*LpR!%n&Heo6T
zkK}Yf=WQX6i_<RoNpRI;=wJ_Kr>QFg+Zy`DDW-#Ps8G6U?jJRI$wg|m_IAON%eeMq
zNbI5O@FHLouh27VN96B${R%6FBxXp}kJ+rYPd*{b`E%zQhxs0e*ZSVvB8C330C&Ms
zNJTC?&wcg9Ivd$vs=k0%^K!KnAyzK)i6WeaugAp3tn^tle3VpW?^~uw%_ElD&e;4L
z^$2Nhjx`DevMAr&o~Xb}c6Uh*U%W~Og*z;9Ts)cTPgXfkD&g7_I7Ky{uk*D_UCt$(
zB5oiC4`?ZX=lQZYHS{Tk$s3DAJYVLOp#nE(6IAt!)?dOqe84@((V!<V68=0NvZcu*
z^!gxULjy;8QfIxiC9^}U?@Khm=+1_^3xLpMEu-Y&N~8x(3<|^G4ddUH1OAG38f`4+
zH1umwGl&&P=+QvJ-|DYu(py5mNI<|1D&0ZRMCAF(nHx$oZ^cXccl~+FT{{Lmiz~iN
zb)$Thm%Yf>pI^OScaXl>-GtyW@=sQ@e%6`2a}11dTjwNa2>x8)OcNEt?@TYDT3S^N
ziBbt0@V?!nq{+{v({NTLA5Z9+!gZ69hg?meKX4CmeqV5vuMT1*g}gS=W_WUUWwt=6
zj)cI+5~sSgkPl>11WgnZ4rC=CR{PAA#LTxTiK+z?^`g>b9&_KJo2(*=hJuTwx3AM|
zi^d0pD})@-sTxeffWF5@8<V7X1T{^)=Wko6X|rd26L9#TL6(`T(enVhXGRSpNhEge
z8lcbXKb4-9t@HT?#81Pbp=8x*i(|J0$RzNXa}PNq+6C=O6J9{afS*;ZKcMUEK|RlH
z99utHsd7}K;|T@AhEm^;%c9D}zT=>bO`J`aAOmY}o5R_UipM9v6wdk415#^6S)#wd
zs^Bw`{IZZ!L4;pFHb?dh!B23h0wbp10$gTGsv0*S=%4%NaEa+t|Mn7xlE8hf@>tmH
zQv_S~YqjIfN5!{R>~5rW_-)JJd%{EG)|dthe9$yD@Q@Joj4S;*zS+^(s(|oKD{Oq-
zmF9l|xO)RUm3qFWs$%P@BEqrWR#CRfw!f6c-d`!LwJnj6H%Ro)m!IBwl23hM&+yKD
zD>Op^sC6XXb0`hc>KpiBB@5@5TXoD@@_d)vF2<p_A;9LDB`ZQ=7IXp6O`G!X^ZHQ!
zVkeLZEn_qjcF{8sPj7Jx{f>h4Na@K8R9*9m;qS7f5U9UIGV0>)$;3=#ot4SgNPHmz
zd4e4SU%0`DbpAv=h?=)Do^-kd@C8?WfXH59C;G<$%xSp&?6s=Ytcw0Y3*)t4mR@FO
zLOlB|auKdD6MxO>9ZO*B5Q7aEx+T4+!m7AhESUkdjmB;Jb#88f^r1{$g*3AtpnY);
z56Z7nsF;zuUr`+mC%0?*WB~}(bfCm*8ad-ifXqAWS#5AxP}2_Yx`@n`?iJ5mr(BRt
zYUZGU&Jt98K`aa>PT512)*N~(GlUV7ls|*Y9arQ_;_jYm^M&Uz(BT(<meC`JA;oBP
zb26$LEGPt^=n=MZQ(LIu0rH4>GGt603xiYxIBn&xUepVomw{4?yQ<)}grwxncI)rV
zp8y)e-m`ghzbPb0JG#!-NL}X_bnJ;CqVa00DQ$5oiuvQ@rbzYDOk-Pbcuglr0LdG#
zR*8mF6`(>zSrJ-KR#?xHc02S+HmdtAcm%*?xgiyG9RXbK%^w+yt;-wdGV6LG?7rC&
zx%zkJg4*rH9cwfkRZ+oJdF$)X6IvR<K~X`P#ZkE*;AR*7b|oa|k!RJYu&3$J?d<!I
z2HhfKhqjP6N}#C3kv4?cCjeXehes8#3@DIERi9F!i|#GZISqm>TAIAMr`B!d4N(QU
zKXpVf3B@zRl<V$=MyLNKQ)>i|U_VhI{5oF@ub~i@i$hMEll$&EJmLV4YT+qSK+ZO(
z8lI?EsywczR`KyNa8dZnX(fSAUb@G)-K2&3t$;pIS!}QG&8SRfk90FX>#6pV*H<Z>
z{2~!;S3^S*OwacO6S9@`ZARUg7V;~+LRm$GPA*G`go0mqYDMqQ^{bH}F1-)3F?}^*
zKqs}Osk~88B9tNdbiH*rE&dZ7==sz(r3yKjo~QoP0)oT<ezj(y{9vWHD0JOQZV(-y
z5uf)boU>FriE6WW<R?wk92Q4?@A^h>ixLUNrheb}36sESNG17n6rgyh`XvsHC3uF+
z(JF<@1*&GoZyZhrXj0-$>LlH`&SG0zgIh!4_mO^uA@&BhnvhhNQG-}peEbf0OYpst
z+)C&SSD~`zg5}{D!Uir%E3W3>5>gq~+&MpOQoZq9h5lORb92KD@ZE<EU5l1EnoeX+
z{RuDwI^N%!laZv^9f}F8TiOMK?!~QT!IiJ7?P2;O&28ra2T<2l6$n#mxcnr^A>L`7
zgXYc^#~2RNG&Iy1A|N7{ghiSj?s>!XYJlhv{=LWg^(Q36nhz#3=n96LP{PFb%RhI!
z>YGbAk?3BqEmOY;eW_*`24iS|tC~e#mstuSWn_h!i>Z%Y))}}n0v3qsQY8rPH@uu#
zbRNQR@$22-oGBZ6yx~@3N7=w@0NI2yRmwdqc*t@oP8XO=p>md@wXu`I3OD3ugx-A6
zE?0(X#fLoL1dq^TvQ{qA06BXzYx1Z-`PGM}Vbfl{m(Nx|+hu>fTtMiZ65)w%-tiG}
zA0&H2>xG<1vD}|7i#v-7M3BvGU`t-vBhkP&$M%IO*W~zN7>;2a&t`p*Th9wNC+Y%E
zQkJseHRL=zAJg-BVbd{uNW%EFVa$+Q`Z#0I5_LndJE9e+C}2Ig+R}o^abUe^3ioj*
zVMqr;4=?-MD4NVlB)=RAfc+~7yVM;WL9CZ!zd<ls7k>qMguwsyj2=~|30q)T3UMrt
zeNhpX_b;A|!xy>(a=`HsrJprT+@&(0O>K^#S?m({m|)g4Apg#%&3h9AoC7JY*DQb#
zPR65>KTjx6FXQCVq)*kVaOI9Z07F2$zwDuo&ahPdQ^maQPHWyE_nUrjgNS@HclPtj
zZ1!8m<Hm-90cHV>%@$3OJ|0K}(92jDjpED>%|Lc$9{^hCFbl075w;^uAt87;Oxh@n
zfE`*t>;nLu!et0<FW#~A3JW{}cB#!~@I~_AOIMkLFwgcfZj}p162uqPwi`O!!_v~z
z!$Y@!=Lv}%!%5Sr@T!ZnTvtD2a*%9Bm0EC4s5wb>wS4r3o*%60fm)5EzxNIZ68jGE
zN{qDohFoRhU#4RHJ|@qU6^-*3nWB%I>O@UHE;8E`c@7jJq$tS-Pbh%g&Mi0h$SP-}
zl5BzpA}Z?jK1NC{Fg3(2>*e!QA4rB&y{nDi*J#>Zw*dQ%bH?V_6-F5WbsXCIDRatV
z=^BGJaKNWJltD82tI5X~K6~Ko)67bt|B)#*UV-rWj!W;hX1o&q^F4=upHnsby%-C^
zpuTz<BKb1NSt|&v2N(jD%HJg-l4O$b&>Lr|(AcK6L{*#UN_V$yx`Y09+B;I%ug%M>
znj_--tEnn|dIL2Cx&!13Iv1$t3n%u+d9ihXwd-xBOMWaSkH&`|icwdGa)Uc>pd9LT
zyYJ642E`D2A%~f{OcR3e`O9L+jjrUJf$#69FIB+qN080Z#)-viCmN}o<?u6)rAgmg
z!}@Yxwj6e=#Xk#4+NH{NCsvkkc&75)C?+ikgXzs%B?~(6Zf<&yf2V%mv$ZnT!a1am
za=yl7z;#g(o8i^xIbgw#z<W|4@*6tcsU3{n4TT*Sf4qTO{UdpaHDJi;UwI953=sQ?
z%fEn@n(4tjAXc!2RhyP=)~0mkC%;O+=8T`;#zPo(^GnX(7N5V~#gC_nMWIjMKOGj=
zSLZ%}s@%@6a8!BJ&U1<FJ5shrJi6NJe$mluOtAsQ-+Pv4g&km8Zai(eHdxge^BmBp
zTD=VCQ+8_`y?g%y42iGTIf1+^L0qq~1L%6SIBTxYD-~l>NVoue%gQ%)O+EpfO9#cq
zVT?CmqnTcyE3>Cvk%QmC6_0x&w*~oC=t#JZLqYE(vB72QLbuL^rtrc*(3TlZ-$aCv
zH-CmU9OF)=ZbqX*3ZqmNGRVe47b5pt?$<5>+)8a*e*LpE<XgVP7?MD0loSgq7k^&-
zl&H|T6}Rn>@$E-P#0_W1Ub(I;gdkZ_ni#fADH`EJG`3;&N&?X{ggesT{t8hPn>UW9
zdd7o^?%oC$uq!~1(JK?0x$*VMLfb;X)bYfpD$sX~%^_Mf^F>-=3x#%B`igd<rOTAs
zD~Sn-MgdiKE!ij}Z^3cQNK{KP&GKQ~@pqj9#IUxjUeD)(fQS6>HNDsJhczW=b@GZ@
zc-nl~nwTJhU#6rqy>qp*s+C3j`*4Yoy9n8?AOP2KzCXsL>V9ydQH1OWU9Yq+XAl6v
zy!|Y@<MTA~Q7)S9EId~U(;45UL*OkdphY8uPUa#2z$IQNoi-o{7}Awu+=y*t{CNC)
zFZid01p+q;V1EJnOPP}PcYQ~o#qr;bCtqAQp-{5J<}zXE<Zp4&p)A^7E(IgtA`}TZ
zP^DVgg!TEiw?p5cC}7`n;kNG3yT~kyntn(QWd$5h(@*1T`B3^Mfns?*ZC!5V3yI)K
zu*N28f9D`RfptbEhzeN#j>Di0wwT!fx=eogiIUw`$ND&MA*Utj_BN5K<8NpVUyN`O
zDSyDfdyQskZlnn1JI<AWeLUj*_?G2VWQLOp7Yv{}&iMAcuQJ~Zp1kKe8G68-<B1{s
zcH=3&G5~seB@$8K00Dg>9lbsctjUm7r+hxS$|-?8=Kww>J&cb19?wpve*LKUO|AF?
zd>+PE%B+EMe;Ks${rMD8B&1tr3@l(G)@c6L>8r(5DzJ2<j@@AMjk*?SkPPAWidcXq
zNcU}R9Gs^^O`hDh!W1hay3ya+#JX$#_J0xmreZXL2o9VvGYw(~f6%Z(={Zr)X@3I9
zFse%fwsph9G#9q0T9JM3qGmlR{ob?~Nr#LmF256_VJ`h!PdxAvJx~TCfXHjH+0#Bn
zIqpN6LA!e3$nnAE>+hTyMxx&YXH==lO$l3zqylWrI(qYXHhe<g9-+TQNJ?YEo&~_t
z#e|n!W^UdKxD!STFVHM^WiXot4Hq~}_xiJbMp9aGa-ii9?f|jU01r(>h(cq)@KKzQ
zswg}Tks_!YBE}5KwCa3cyz`!H1#!xJzPX>ete5Gape6dZ(m_CO273D0C1^KD5r*&V
z!1vGKvlD@kAS+k%9Vx7wC69j4lA9c(+g^!IKg$bdSE->_<MnK}?B$+b=FSL$V^n$-
zJ`XQw6VU^*dhq!toQ%Is%vzD~Z0;<p?v7IS*17~eyd*nxd7Yz1;T(HNXn=cJ)*ws_
zBP_bP{@S~EnE}3~x+D_tdSxE2Q<?n<3zUsYNa&8LsgKX+yNXBdfAc^f`PtHJ<`Q<3
z`|>)*JABG016N2|MOiD2&fmnG*4sx-qj`|59hVNg?1HYdV!pQ{I+r%Gu7(IO3h2Ek
zD{2f=NpjZKrCGkyunj9Zy2qqtxfeJ@78W!YNaH%ZmiQVBeKfQ&_do}I);{8AqdA}?
z`@#w%V()a<?zOFaVt<@yxD1RtLaj=kZ#Kq=ILZV++%M`osR<iJA^*S>A~KF)QSI=7
zvY0+}BB|={`QUCJ@Y|FbV;}tJEtyv!{*nV#pP30d%eTtP)b#9&k!UtuH6hXK)!6bk
z;Kr-}dJ1D2_kIhnU0;K|v;dzki9Npn2sa}9`O42H>EiZVeZ9%=9{lOm$R$JQc@?|?
z2gBx01{toV9={-ZQHNAID;BkYE8UsL%#tht`bCn$ay&ok4bAX=b<ekrv#u}MeDyx`
zTj7avG{a*DtKm1aNd1!5=dQ6WhVQ`a*xAnXsXs2<vC?2L>KFNDT0-R7md5sr&J-|7
z^w);U)bQQtg9<u(zr!_Kzkg>Kg;(WTTl$H?HoQ1|X=I(<&^i#2Ldb_xxNmMhj)lca
z=<tT;w4>?o+`K)r3;8(n{?lH!wxfl%J&ok@D1U-i-in(LG)KM8x6Ol<r(AM!^%`(d
zzEU*9h2kJ-ur^-mcZQS)5(ad6BZat2b_c5&h2L(Am_R@2jie@v*)%!bI|^~(nw>W(
z8o3DvxNwRr3+*7gNe6uj(R2W>PNor?6TgV(Hy3@%iOqb>kX=IL9UgzC)EC@oV_XG%
z?;8A75FVo0v3xbF;Yc@tC({9Sukp&z3rgN7yC#?iBlcv7*QEoMb7_Nb9s@62ZALs8
zk2ff%yJ~ClKAQNa2@9M;oaak#y*sDcz+JI2JM(WBgg1x`fj<h{5GcKA$3P)($}Rtl
zo0#~E9UIgQN`|Y1-vMm4#lzAtx^4Kef863y?1<aq(lO4@t$)Ynpk~hf+TGZi4hTu;
zb?C2Xn1T4^01%~#XFCrXi;nO^^h-YFI2d~2N)IPZA{MrMNv?)N6*vL4seaemN{RU(
zU9wg$X<vkRshUP*d0|i0s|aM-JOW`Yi+cI~A%=4mE=phB!w1K|>{|;TmZ=fOL^fO1
z@sADhy=?OBertbyYt=H}mTi2Antf>cuUObO%r8y8!*Peh=->J&3)aUKxSTu4wE|k%
z(T*ce>JP2f{rm|k0T_NVUP{ho?H6e3)2U{H9#f8%4?amhh7=LBVsCY^fqWV1^p*w~
z86Y|yEDt;6Z_HBZnjON1EW*nuW~0BsMz?&b^C6-XKY43$Ksy{mIn3OvS1GS#GmR<u
z99^T&*^GMu`Uzmb@k!O2Y6jI>57aTGpqRO4kC7SiS^pP)#O=DWbbSgNuhz_*$M6CU
z!+pMcK?LQNl$AD66?O!NtJEhkgkRcAFO>KarNT80xjd;v26~fVcm?v4pKZU+Nr`gO
zS4gnPH~8j}DQ$fCh1Ofar8l8|pNZ_-h)-DUd|)`BlnJwjY_f`rEk6dg7<Hy-X4!eb
zV5?<$&)TGuYd9R+IHC+Gu!DP2AxVovL*1y~;$NRkx!>Gfc(LqACqqn+^4#T7kt}m#
zg;r}!oG=1YmjE(ifW1N9wj_8lP45um)4h7Kz@*lZ$}b$i=47fVYIvR_?uY!E1IYe(
zVBc^8TT`rXmv(vX$Zx2_tw75J3vzrAse`<2?37q3HmKG0I^uAe9F1PtFh5~jPp3kk
zX?h*NB1eYrY$f^EBS0fbyZP9^*^g!=O9Q2JF;Dy@AEUBJPFf11ogWAjw)TT4{Aga2
z$S@1~daOSvj*QQMRZM*HeT$Wlceo%z$FFwYaLwqV2ue&Tv69wU)jojuX*B!EX)c;3
zQwm|l2>GAx4dStx1qOI|3oHv}kWYl1xc5SL2Mh*uBW7{y=~ZlB-!D0b%>7l18Q&}U
z>@XgMG@07IRlO&7JokhQqGS03)NA`F8R!c%Mbaq)v53bq{uD?=$=O2K?w0G^_C<$g
zI#r4-GTI9crOf<Xxm4<k&FzwR=<G9OFj=SDROMb;dD;lWn9%y3xEkd5CkxKTEn-17
zHGcJpn-y>e;?XthJM5_+$7e3)W@9vn&)TuNq4^9q`aRUsJ!d_AwF{weUntp|5B-tD
zJ}JLwW1EF%d^D0gesQ)Zh}DV^<gT>DpySaZKdGJlUGDH968FPmAm~gnI&2<cjlJwW
zU9H2YC7~rw<gPSZjr&ceV^v0n#fX~G^WdYsUw=T~-~`rfQ5^~h<jb&v-Q8yZTc@Af
zkV3K<U_9huDxCzZWkZsqP!+<mMwpk-D$UlG%Y#wo68%E1%s~T%%v0TK(Ea;lsU-WV
z(2fq=ZwQ8?AfgC42|yFrpGENqP$`DER9+nH=k{`e9cr5;SiEHIrx6~#o00V9c{Z(?
z=-q<*cbek#p%2pli)*6!E*skSTVDdb5;Y-ng;~dRHoY<xSGt_euVZStHZuh@N>=H_
zMszKe2qWhM-cvcSbw$+o5de$$>t{=F$YCjDJO`S&G2H9Y5&cDEHfaV*+VG>uWB5`)
z8IP%-Mi6;ha-T$V4|B4qaB)jCPGUG@D?)FOp>@Jzu(15Md=|?aebE0qD^>cGaQH!t
z8DF|hy%ah|qqBG|11qJoTc3J!o<Nw-M@Wmg(Zc70cJqgKa1ir`==iC=@1oIO^0_$a
zZ=Nw*eqzZK>#m(my&sRlB9$8<UF|y_V|>o`AGX`eOu3Kt{pyP~Kh8O?3v?eQfD=*9
zO?P7|s2*zDW^)%VAa5#vobUDy`!|NlA)-IRWMD5=_vA4>SydM+_@Eh;@imY`FR6=A
ziiWj4z!c<<VM21`clXtaCq-n`Ee88cHF;w%H~hwe8hTF}Bmz*%>*>Ny>fp^_-yTF_
zTx`wnb8}#K5v2hCo?-cBSF+!B9;(zXx<j2ivsctA(D0x4yIwH56ubEQG#R?L=>A-F
zZ^Jb|zJ$%{z5YC~m==wLKk9l}^fJlcl`eaX^hnv=_Thp`eoi7qTH4>R65RLo=RLmO
z_KLGNjt<|{LH!)2%xE1J40gjS&v6(}gJ3*`E8Jh0h$EF;OV`EI!2xTB#Sza-Pz((=
zAoRNu25UZkJrVl1dw0a=T@6P1$~@-^voewQJ<P@N_tx$BMh<yqYuy~#vb3h}jd?(&
zVu&p`UsxSv?-rXD>LoJ$vhb#O9ALp@Ve@JSenO32ixH-%mHK<@JEndX40Yx^B?w8c
z)X}q@Y)>MVEon9B{ck|FANd$kqPEn>d`1_eS-r?67DGEa<e^#@Uf5y1@lEPEP`5e3
z0BgE=nT0%=(_8Hahgsr~(mDEoF1=ld6%&nIiR8%;17k?vL&?6Xr~JZUj!zXvY71C-
zFKgv?4jL75inP+ZyL&0~>V7pTqWtom(=@Annn{>5L__;Qkx1B#luNyWe1KzDm53mf
zS%e)LNvhL3nz2nuU#nRCdVBHNP``v~Y-DSdCc|S>c_SiPSIP5sR3ko2N3FImI8{>D
zXtr@<al6ibn2a(xO-#Z-T*=2NUavcX%)yFS#pWQy#_*=54q(Mk+17y7sbj6M!6;yQ
zm={$25b)e2r><k)36?mO!YJ9PwV8?odJq`8M*$E=`Dn8GL>J<R-?0NQN<H(_c|Ob8
z2Jn5Qd*b&?&3TZ~Fc$#wkt)@8wGn8HxPoR1#oVx7VVXPAhrgQAIF(i`vv_#@8E~<#
zI3h8TUyWL(iof`;r9%2A+~=YK8l{2D1oM@`bzj=|m@H!oFR7P?jg1=UhUanXIf&i|
z8kZ9Qy(BYo=+FvTHwXVD@*YTYKX<FFyE8ujdq1v`fsI;QZJ-kq4uDzkG8O%{G<^<$
z^tbk|Hkb3-MDADgfaD3-7V)vML1fcho?p1-k9Tciu<=uARO;>YR)crkbDPrY<%i%n
zmDJj`G5+ypQU}hB)-?Q2nbr!%y1t!EYtSB^P+m?&%k^{dC=?wR`D1|U8}CG)GTiTz
zGTUxAn-Pi{*uZB#mB@HwnzGY{c?@bq;^%8KZ~`3OOQJe$O3b&f*%NuXYyM6258kJ&
z=062e&><upzM0rR1HibDnsTO;J$ei#L6`jB(W$WM!nWUTH!ia3ZC*9veT1ISr=XIY
zUtM1$QeC|VP=jVfbb<m!Lbv+?0EQUqI$$MV>fsk+93E|7WJ+tHWQbHzdBT@ih5WUl
zZ`LI+k5bE$&Oc1M`OTJc8z~TS#I-90%7=WTjN}I#Y4&sB>Hp6CFC&J!%TR$6fFRSy
zn@=Lv{iN@?4j^%&kc{!xfv8Px%a}en=j$|A4@!b}Dx0P_o0dydAeTG5V-htBWa^(0
zCJ&NBrQ^9)DJ(l#X-a;7CsHR~*yx??W^fKqw3-T!N;k48%iA!W%g4vw5kJBTH}&55
zyUH)K(79PI2F1Inul5q7I=<BSIskF{LeX@VzE5keWeuN=ihX_K#He;FP2F8xpvyXR
zL6<0RKYv%zfLZ8Zk^6VnLmvi`je=<?oh8}DzdOxFAs?Cgb&rh*UXN@UXSVSH8-dTm
zqMVh5q?e2X=J^Z`c@HWTEjw$DJy_J*;)ZNSrhuV>>wPD5l)qR-nR4G+JzhgUqWluD
za$IHm{`tv}xaz$e<WSeB6sCO)d6_M=c=Uvq^Q55EF^t02lhRB!CuF+VGoSLV2lu%>
zHQ?WMV9L`xW*B2>sXRXH6(?I@B7D3*L?~;O8Gcl#dw@D{I_CI$3*&`>PVAwje2pLv
zh&%{lKco~}VTNL4^xfbTXyp8&q8M^SrNQ5o(?L3|D^qh-vHx%wpk=uV6xnKLb2saO
z+kI5$4S}*m5m!UIvmCAksewiQO?gOxYRyif<P(SVJKq%*VwEa!f!t>xcj)EB`(#u*
z%!_FqIvhaSPxab4xnTJb3o0>jhz}I%pt3P0SyWyPjWY3N%#f3+so1-K3@!Rm$GyoQ
z&~hGfbOi}w?{FrH-$CqekXdv-M~h&rU3C?O@$3%hqY*v#LG%q)i7Mw3)v+&(g-=zn
z*&m3LlV$~Sl5HuyyO;3hwN#{CK4wd9A(mx{b2HjL>C$Ab)nruLyIOR?;{&dSy&xnP
zznq#8RoPD#2(W5>9=l_zL}-U~c0KE}{s=XwY2j6*r7@d>dl>YcD3eVH(zpnWH;?*F
zunf_?n7F#*R(>I|_X?uxK7*>%eouaY@ijhHh7m+0Bp)i)E&k97Gr4E*V4-JzYru3K
z9M;O>^W9ZqLP^4Db6kzszgoNAjIsn{1n{i4oZgd;GTx9CBM`~(>KJsK;tb*I@~D*%
zZ?sy7=Ft_pd#sC^jz92m8WhNWC5@RaDm<h-mW74k8@tbn@k??>38~i9s^~*)*6$*^
zl(&jo{vtSPod*r5#b=<MV))yi7*XYi$mx_X<_B*(BCpV)C4+P#Go2ma6FxlUPQk+O
z`6A;NuL)%mtPY?n!-B0ofu~aNc$D9?RdSqr+7!vz8=>l=@hHf^Bsm>(LYpC9)f^4>
zTugRby7m!xCoFE70GWCWgQvmNpfaZ-$CjZmIpG>=`-TT|%sIw>FN*u=p!r66kCCf{
zA9_+}`IKg-=4oXhXOB49Z2o9N+)n7n8&lZ0gE5143zCEK?+0>Gn>d~iA>jF^Q+|8^
z=aBsrgfbhIO6NNh7Qn?6wh2J&T&^6=(zi*&SW|_b?0shrSY*QUKC~mH5kS~DS(U3>
z(!4Gaarq$Xb)aFCmTm`tir-Gj8Ud-VB=vqRo<;OOll&64IhJ9_29-JlmoWOyn^X9Y
z2;MLu4{d=(Jb4rmt<?o?1UFBF`>*&S(XV_U#T&P~i0vEX*GI1PnhZZ}uJ5J!9WS;{
zXx>5HO1qHVl8R-l`Gq+m)ZqikonCiFkxbWrF>QJ`!tb98i-S;s$a!lDqqO3`yGH8t
zH-%*a9icJ7n2}v1v|PZ*5>?DaT9HxoTmKl&d}n|na~Fn58813i&0pmVSCyhljuuz`
z+BCQlbk8dC?c*Y5Hhu~wl?CAM5KNN}cPS-}l^jzK3vB55Z%?~8`6kL)$A?Z2<@Z^J
zk<eJ(sJq+7$inOZA_?0rDrBjtr{UMq3dL~j7H=3NF@mG#He0qrR-D~BYidr)LPCgF
zLRa{8%}~)dOLly?BjYxoM?b5ILacGPUuK|Y1pbetv)GPSiNfduF~DtzG|;%)45x9o
zr@!RC8D_0?sN&T5_NIY4jO=ycd>dT=##vtV%^H8uZ{s+hH?kXuz|s2k8{^#FX7mLT
zY!doYKF=(9zaXFlaj*}|wz&{Ga;jt(cOJz8FHPt%pg}w_{^euMsX#Pr^<91oEL!Jo
zgh6_tN^+dH+~kUNYCqHi>gXF#YZ3QsXN5#wQ`r)xT+J24$9^j!`mE^^VI^X8Z=bvb
zL^@boCDx<m!({}gRc)%f?t+RUf7!YB1A1H1Am`Ot$RnRPYruQz!))*H9KeX-<DLNn
zaI?9n(GKlOf%&+{hc<BGa|4Ez;S>UFAe|qttfs8V_Z)MsH@rRJq9f%I2r3{DxF_D{
zLUuGS!XG6r`3!OcxOF@b-QZws807qRim^<n>#-wK(3?t7WtR~k7S6(BlhFqr<d1K5
z8M}C8|L9xt+^e)ds9>=x6w-^vU+L1VBshG6NzQpJEC~23@_M%iLre=P;k6qyq55(f
zo->gMD+Q+NByJNs2=HZ}u+sAQyK;yE6R{9t^6w22r-^d-5FTUce2$gD*I5jFqu)lw
z&)rL2!%}Jt4|i3bQ5STi=z7XD77|Sig9KGD6O6tmo-z#!V0L04{A~oKB?bwVWHON&
zBPJM?tv|{~b*OkUr3~D29FYylSg6UmAB*CdF`tiho;ckq2KER}Du;O>2{E8gJ9h^u
zh5NNqpG^~(bcoAuJnd;R$aB<}HCdT>X>j7&XMU{he5mck(RDeIn4*#c4fJ1K0cKO5
zAezjf%a)#R!9l<n0pMrCBjZa|0M0q%T*V?)GI%HoeZE6zjBex;9szdo=f)4p3(>!K
zH@~FO*fWmexjYMtn|hi;{(hW^*W`l+0B>t2PjJarDo0#U(L^ILBacIzb#MQjLU?jq
z<))7(9dgbY>DIdkF^+*Hb~?U8hUM{T^1|I8C0&mD7LNB(zF&ZgouJn%8G5YD%Q@&7
zCZmQ0IRd^(FKIOH(1{wnDIQ<+3SHFx`nW)w0<JAKN1jssmHP;fu|7V-8_*6rVL7PK
zbO!Zo@ctG!FEP5<x%vGS(bYK_L=1fQT^)7^liWx~W!i^f^W5N%*l4Xq`7zJuspY?V
zlw<D-i|tuJlt7Xwm{3&W(Rjv$CR0ezQpNF?N=5<b4(a=r)~${M;e{=wG(AB0e=l9?
zON9<GA*%ujZs&}-#`!W`h$^OUd5VBwct#KLWRD(Wq~i~g)&x0#54pH*{I#a2^g!|0
zLDFkDleTpU$h;4aGQfOZKfVfv@$ULNmO9y-&d<v+=+7?-HnLqBix4GTkTbs45B&8w
z1Hta5Yu=;YA40eIh;~wSp>wy!6!wtU;>e!*qJ|l)K7ZHyy6w^C;#IR_-?7X%=DPfd
zXWEM!7-C29;9FT44Xm1P=8&`)0z8V+^AbLLCW8{e4?l>-%Jc&ATtjFo8?5dW`eYmb
zwiTv4jg7f*3^U`yd2;SK&Mupl)|UR}JOt=o=-;<^?83JeT-{$EslMJjl}ZTFaU$=j
z{L;ELEWcrG8#P}+xBj64e^366CsDAE-BF5`{0)WSD32_`(wqLY6<L0|m*!7^y=Wj+
z$^p#rI%^@!LVpx`h~`Rjfd$^QTA7HFXIVn5JqUn{FsiTnY}Net>{We%R}-2#(-VaW
zSfX2q1_8|(Vp-7~|6b&q<l^;T@tJ=glr4>_7^lYP87Yx_ZIFJLK~ke`=gHK%@7nv~
z_(@E`hU6}Hy4=Fv_o<>rLh0FXLBoWUs3lP2Hu8j^K1ed}pODu#Mt8)1EcpxaBrG<8
zSTUm_*?<(nA-Y%4{wlj<{fKc5N{9WcBcv>lKxpP{F}Frr^ykxvOhHC5*B(HYi$U^t
z@wP4nB4tMXv`P;y72?G;o&Xn00(M(SNq8bmbYr$s1(D&K(x}%$ewH?n`1Ox(f3<Ki
zO?vPq7fwF8)KxzLZNdOkHGvkJ`ry>c)!G32=<>dDV*_)O<QFx8wfN+-c(4@NwIvgj
z;@rz1h-s*`<}VAXT04=5;>UrTB7mOMyZ-jprsRIGGGJ%awouE@rtY7Ty_0>o$e}PH
zQjn&bjJEcICc`x%8MLD52YwB7BboQ-%doQj5xlG6ttMwHo9#lLcIsK#s1j0JfKLga
z1juiGRi{GiHLn?ALj+R$6fv?H7eKiY7Kqe`a5rhk_!PY$=2q&BJkVUHQ4ofbcc%9@
z&+drQUJlJE$dBl>rJ{17Qss=hh6awqR$INbRUJW4-v}To8D!$>3!o9G6;s<zCz6IT
zCEF^Up6fn*oA7j>-VPf0nHF3YIOBvgG}h6<@Da2a4Ab{rQz#YN>P?D>aQ26cTg}>8
zX|#w{qN7U{&!2oe-jV{)W#Kwhi~yUZL-g;>Uc15<A9@1~e}51<D4O#n80$oHHp#M?
z7w$yL^uhwErR_`fBHk*O?v2x(a3k08#E<?1eUJ~uxO99W8U6&ZMTe|dnGf&r2if5C
zY&54`Ta=E!h<wgwI^L-}-B?61z$wE<*zv^oRK>AOR_&shOK!B(=`f^eJ9>vbDX;fd
zb~ZEvVND&)kE-7Sm`^0yuurPtk~~+)c?J6sUc-LF8m^dmk~J6v0@oA5oy1v9T~_={
z96TY#oQfW5*pqRt4(AgIPx0DfCC$*4H7-_$mZzIo5%VTaBN4Q<#A0@wwp_Z^4SS-T
zdJD(%_hKE6TCVUiq_64Rdr|P_J_suDX6v8dd%n@(>yBEexTnUe#hj=eC(4>SrY3Dv
zy=<aPc(AiT$3)e1Ls35Al<vZG&M#-<FZB7kO?in$$rEUP?2<9=HKlPde#hijGLt_r
z)Sk*&Buq1vbz7Msr~N50AebQ-a{gqefFo_eoYTOf!M@+!dGy~MLnaP(QT^$u6tm28
zbyoV$^F09}ZZe&*K_4~<-y>^&=eL3oCIjT}J`^mVanspe%7={+#7Tgh*FVdYZ*pQ{
zcnA>{n0TMuQNQx&hOZ2u{hk+hif8lM9cIgw-&04^*6hAwL$nS<q->EQIR0H{>-u}!
z0~~BekHss%jzRG<tEdrQI$IL%6n{+EA`79`YCm}jcB1z;)u2c<jGH6Kq7z%iZPcyP
zT`3HEr3@?VFm}j%T&kXYq}Ui)-erna=P1PCcZ8^xA@h~YhhYv)&O;#zlAt>ZLzs!v
z86;p^Vk8hi@-8`|hx`0$Vy#EV26_yT_|9*YRo^_j`4AY?gs-i+E=~}xaSRZUh-RQC
zTM^Lya8hx5N6C*m;HT5V&T-M*$URasJ`DhHIEa7LGu^XN?{R6l<SaMWWLrMuJ-`_)
zvv8C0x=Ro3YI$NdR%`|t=N-Rx)z_h?P<%UB90-(OfgzuM3z*QRd1E7-?U_^D$aK!o
z3Y<oJfYRiZ5Z52--g+PWf3KjhEEyNL;fJ;LK`E!IVd&Cgp-xe1=<hqS<jEl#B}UO;
zjE923k2|2OS8I2ir<%pv#OZ#xA**B@{K*@|*`}A^f-oN=rI$UwQ`fcB%V0Q9w1Lr+
z%|iNJNox+XVxX+!Z7$n83m3qk_g<Hf!Gs=JNtr>qv$!0aHKp4|R1<nqycF_m2{avb
zTmzN2DZxTy2e+t^ZzlNC%AWJoXRpz*>x!*g03k%b1?B<(3evF(6B|!3hvb#xjdwJu
z%F@1K9~bTzDMl|G`}WvN%n?8CqSR$!@#o5?3hh2h&SvP7WepPF+XRE7#>n`-lYU^S
zfdR>+rxtZ-b#$})SAbP~uAj)5?cPtagB{MJeHY7C`sgRHQ{Y$semXIH%PGg-f>vY0
zZXuj`mWG$8hsDd`MVMN969Ci}#Ial1|0q0(ysLn_+^6B4bJSKK(sP1t;t&y(^%pWk
z`Te+=z6Z#VJCedvS@G31vl0kZQ2`LlWI!4Y*Kx>pL(8&X3xcmxzFhqVT8D=ojwGDF
z)C|a*+2EM|{BZq&5b0{AIgVbq8%-Ta$Az0}n)6m;u7sZ?6AsH2UQ-D)zb!G<6}QFy
zK<WBi4Us^uuYqo6MDQb~;El~bg`mod&NQp;`mb4<&|au5DK)4wj&zhC9yVLp_Ix6z
z8k~o|Y^j_%gz=Sm8*E6C-!RyW)&UhldYYZ+<l^7lDH{SPDU2asBG29iuNVN>KW%x}
z+vWbAo8;9A?h3Q-6Z3#X*8<dG2v&rEBsKsR44@Z4l9-8nx?$LBv);H;+e#XRR)SfE
z8lUNc^Gnk0XB|78^~8hQ;&KZNrnyG}hKr|+M&;)dR#U<d?X%ObgYno--~hwlP4Gd-
zf;-V+Kd1wYFOB%LDf}^2=CFbfZK+fvb7I?-FSfyFLo#0hKg<Z&3JW=&19YUggr1d$
zA!Z=A%p1F_&?*ok<PIhpe&h$@%6QMwPMyv<s`4X+an;hK*~S6vOFJ7d7Z-_BIrL;6
z+pxVGM0s8tk2P#n!=dnt&1sNFpTR)-Azc)$)HSGB;1<?e2>IvgX~b>}qs;#J0R&1^
zXmWa{`0jIgiPm?{uRHSMD5l~<$*rf;ewCTk023bs9x+w~LeE@JrI7a0`8pVloo0o6
z2DYNY%{p%MQvk)19*<(<Nm<Gum_TKJ6I%x5=&VP@XUEcP8OreRGb7i^M<XpLr%t-~
zCAcD*-99`qjnSgyy^M$xdPt(o8VZM0vb4J{a*B^G3d(I^96dZ`zH)00l5}{647wG`
z_Iaa4pR(@>vc|t>K!jo2rl`IV)3+cCEbXqs2?r%jg{$>LQp)nhmc0|%N0;Vvv1w2Z
zu$c6$-8}?+XNw}iV)lVdcCrry0h0HG)gzD=1nvXaUH-00D;l|Mupem@!v-8T?ta#x
zRkt2ZRy2c#Ml43|7{|jG$`^!NW^d^x6++Ib!1ih1VjogMcEY7TF%~l(<1AEkG->_I
zjnu+)=JV)Zdt?gp1nA@lDRllR-49BWJdC-01oGO;mk-QJ5kxR$!UaxNH8iydIQYDw
zqgOo4_<yhMJnAbum(M<@LwqzYR~}*^zWR^wc=or67IW{0-_v!BkVgWe%&f^RQ)CMC
zskjfT18&GlEJwT4CL1?8m_`>vvnS*2J0q(E5B#p*TLJJo&!7Csd`vVL;NACBe+Ccl
z42~C-8uMPEHmn7o+K(lzsgZ$r!-Jy+Jsy!p(LNCt#0|%Y0awo1ZH!TVh)dlif0h7B
z({R1jc84w$kc0|lSOpd{{mqRE_whcK%r#%u7c$F^Eh}?{pF;j7qKeGcNBNkZa=+zg
z@~bN2m-@+7;5jaj7jL}-q&C<O0T3oJ2zm~tn7<!~HpoNz>K6V0{rpB8IxqV|Y=wWt
z0u4^}ue&u|&TuM6U8)q%Wi>kDP4%`zRy$0UZt{33A!g!(u8Rik@WpnQdk0eo2pm!I
zZ#<qL)AEu1yks4GrO%yoBcQf-4jqzJA0dkqTw%00ke?7Unl3?<U^P`Q&usV=obl2p
z>=k%_`&Q0e=X8a@;M|9lyEfIfoK_|FV-+<tutU*`^N*(+QiI@xH$kA5YYSCb?iXUe
zoPQUah!7>sxHV4ECR_u4i<e)STG-&|aP0S>MV>LW!=WyUnpq=#$^x%Jd?Q=RfEMH-
zJTd>MllRL2oHc5qbZZQ_5ykizx6g%pkqh)MJ4OHxS)uhH#($lnST=w}z1jiXy;aYG
z#MH(7B|WE|)cbLc=15RGmudGsu6rmu{2O$G6^~0fS6#U>SNciY`cTF1fb!F=-q^Qm
z#|yAX2HDITFxhZz^)yulsEYCho)#pzK~}{9IQ7DI-L?-dpV}A$m;>Xwgowk&ECr|?
zeA__ae8fLv(s9ItG}eLuU+-W1ADvKWd-yu@76-=<39(~X@kiF$k))7@LjM3kvPI!Q
z#9VkZ^FqHrJVr|^gUg?%>EA$3a&n;!)tH)2T|djO9wx1dO16pt9z=NPxhfPW!Vehc
zcV1hMua|=ZX!rZu+rb+5i%In9_7f+9(XRv^DR<8>uss5Zw>P|-vBj1*|A<1ZXu*mR
zf7g3*lUjJc{ZtxGKPS`6p}@(<JME^gtK~p#^=;R(hv4n)--KsuYrW(1CmUgs3`$2E
z6yZ6TQ{z)`R2P=r1k;;#$WPekrNF|qsF%;mz)YoOnr7!1w$IG%F#|qC2Av7VH%!K}
z)2l)zCdEIPHCD3gQ=;m1Nj{{h&SBfA07&YP+>jF#N3G+!<l%lZu>ayv&Ni^)FM0=h
zb9+9T^Vv7)_5DmI&vc6D?1IG5=ZR*DW%s(KB$;l#!a{}gW63~r5u1-_rm;@`;QjR_
z#0AaFSzV#GK1^=L&@V<?Ht)yb@maP{JMh{Uj&bA*&b6VsL?~Z`>8c$`Mqon1av=Ix
zR`MbVer9V|I3nD_B*f?ql^(Gkpx=?kYEH(X>r-7?csRbn+DjX>b;|jLoYRS<(q!3~
zWkfoejwnv&rx#9B_6=wJv&pfy)34vMT<n_gSJWY;5usph5@Aj&EKp5g;osQ#vG7RT
znXqEOgwXDn_lU&S$*BxkzhEm+aOgp<jxiI2g=)WO<ce%fl{>9^oh_{#Td)yMTKF#;
z;d7DKW+sa9P#Pe<2`MO>oS8+72aYO>fHO(gWoHf19tjaV<sphmZIr!C!J4#ymhhA(
zJN%Uplbdw;5iQcY|86Uu00}_$zpzvQN@xtR?@{z$VptxnO;F~egZ^o4;e^dF@w1kP
zn#fWz2wU2zac{4c=KI@WZnjZMq>WeKaE_hTd16TKTAegMhDycrWv^B)BKpA{^whDS
zvqb*#awmWpe#zJEpTOAFZC3zyFh8J1r}vmNP%I>ghxMPq=F=61AriNVTq11tsx!Go
zWZMmqn_U96%CU>CNx2N_9!9{e(aH7BS`-4z!D?|u8a-@TtO=5Ky>pFDo{~LZVZWSN
znoFPdrQ8fJv!`dGjG93Z&l?GMwX`rW-fny`-8!0hG8Z%QFkjZ~8&>3a&^yk2FnW%+
z)(B)Rc=MKUny`IOr+54MUU*dqoAHg1qDp6pnc(3W1w)*`P*waM(?~0c!$A09Y<0`N
z2Wm66UJ{^t=y$>26XX|gm|XWWi&WQTUpW@<sTo->4P=LW{_X=i(Nx+hlRmKN*uXw=
zJ^<G<7R8lg+;LJY!jMUtSTRl}4D&TiI3|P*oZLk4WY>@l9D;oig4BOhCU&gfV(eM;
zw`XX&1J2K3)-{Y|b+^kNu=RB)Rv_ccl=fodR36=N_O=VU*>o(Ri!Z}iEjY-;roWlZ
z^E?p=P0=?2xl4$mDBHHU+$~959>Ge^Fa{INawlwgH+Vsw`|3ug&=BDl%9Y~LSO#<%
z5k{kMq8KVud1o7Tdq4K+ghUCuZ*01h^+B5k`2}c!cs=766=LkPls8x5Ii+~{gCa0Z
zL`(}W_H#sA=I9#(aGp|s4Ii)?c}Rk5LutTrZqpFY@HzTQtC!qX-da&`lZHzA@~j6~
z$0*Kp?rN@<YsIFo+qP1UOQ<%UnOjiyi0RN}7u|NsBIXIv;fa3_#7P}Vj|b9q9!4wI
z5{8}ov7Ghq$w;9H6s~^>TIKf%)a<+mzqM{oPWcX2kr9ngFv_b<(B9&S{0v~<sCynm
z@z(U0i{C<<Svy>Ell!e6I9Lg>^m9#B<ei?jH1|wmEG-I$Z4>FxZzbs`;Q+%lm(qjq
zIZ$j3hol`qydxxiDm2{}fS`-CnkBRpt+?;3UgF&_=WC|>(DH|GyejKk)-TSXrNJZA
zw8ZfF4F?xXxf~kGA;Pj2GJJeN4zs*Z_Y2=>mL@nMOyasE)HD31tJzESPVEl~9?Wy_
zkgAP&$nulH$H%sN$O=aI@+#Ix62hE4PtZyVc2jyAO1vo-0esZAl6pm#3I~>)og!@T
z_8{#1abJ*?LE~6wBef)PYZr+wTEqYZBrgq?T>QExA&`9wSZ{cl^zFc(%O69UK&V50
zqcZ85l~fN{N=ErchCsu4ZLy3bD1TgqB%IZk&a_-UjRkDKnkAVEHu9o5zKzsGKPYSi
zMBr2WRLEtLs5c~D!~XXI`V#;!J>Tc&aHyCVBkXGskE-OwMZ@njR|XL&_KJE>%dI~p
zf`QEGDX4tyxg8{2WvOq<vFND)PcNA8FY-8wAC}*mH245JXC~T&IxE99-kS77`iTmY
ze6Rr5**w_94F{ODXEYYXn8PqGI_2D9f@#Z;Sq@M_9y6gM6UM1YmCUPTSVLK)@8NFf
zXbVkO5#PL*C;^gsV>S<hy!>YZmz~=VBgY2)(I@j08$(7RjCo7FZJ@ZY@z037oH$}1
zyrVY$Jt+_MEklRyu^s^JV!Zlr@!WHx0j)m^ptcbS>NHoy>3z0mjE%la+Sz;c@KavP
zJ|nFQJJ8&Ov}Ed07s}i-pz`nf2_fE%N-jVv`@r*(185u_to(Qi^h7#JDFF)y)E#8W
z*T-iL<8+eCDIo<CkSz}S#(O~Az}Lux7+{^os2=eAm{*Qo@)FQn$p>KkluU4p+xLU}
z#ffe<`RIE>BlwntqxdU`Ilz6iWq(<7<M6-<bH+avvzaYKi5?2V)iw_#428lVjml;u
z6oprg!$0Wa9tbCzqT$)cNczg(13C{$Ic7#wvNRMdqAtC1056UFT;ikygE0wNUMYO1
zL^>;Pk~e1<L5m8H%s#wCcf@au-3BTk_%RL47LIhh^GnfyFo6fpA9PerL<b-PAsN@;
zZ)ur(o2b<Wk}?Fz(Gl$L%vWK6GQCEg4pK5TMlvDe5t;hg0pP<o*c+TR9~$N6mGq`_
zl600y2n%q7V2V22Q9!oN-F(%hdMlsNS0Lu2S1#QjU1{I|fgdyAsL<#*lwPO1wyqs+
z;&8nJU{t|ph*S`x87^U08)c}KV)@{kIuf`{uf3MfVNw2q^$%{L5w!0@0g@MvB`DVZ
zB-CaB_C=88yJc(&c3pL_C9p5q7q~*az(kn|n+JW9F5PKR6DpHvHv}&2nQYLz{P5X~
zJYlB5+gfZ1wl2tG5yM=5?zKC;vj0qn_<A8Th6g{JE=rTUVYYEs%Z{v*<Pk_GTn?G(
z3Da+!1meVH90zg6$mad>H^3>KelK2+O1^^<ACE$*^$8eGylKT{;C&6oWf=JuA5o`1
z0l*x^3{fIsv+(FiG-BVGQxqWure3T%UJ#{q%R@_X4NiH5#gqh}26-?tJTTD;zP%dz
zYz=AR-&~@bi!BAsXfgMK9~At!Yn*~N0Vo-u<)thve;fGijGlnJ+x)~(=x_6TFfCB>
z13v8ZT$kN40vGn(vEvb}&#qBJ2yJCOeD?Va5m4aZ#LwvIJ5A<WTc)?0gR9OEjj&7>
z3sFff13=VJfT71cCg@OI2UPkD{tTxMpG}*#-UBvBr82C}QgSDxOn_plrhm*5G|4Lc
zZ0&GYZ>Kz@gYU!oYm9G(Nl_8ffqm}Ff-b_f$P|9*KMyr1(zy8pXPs*Q4KeF<jYSrs
zf6@L=)lmpER=#$h6DTvUaZLb>QXfii1hr3*Zr;YffP2509n}=R+~T2k##DIUsFcH*
z9#czQ0ZryeZ+j>xHqSlOF_)j)iOazY0Ma=Z1(IDUJkA@~q@y%wQ!qxHaYvYaPHbkU
z3&_%`UKlwox!;X*eht>1+I#iI^Kg-eL8fXwMR8JtG{NUy=&KCDz*^!M95uijPSxWH
z2}PX{Ngbeh{m7&55fSWWGHEK2WH0#`U}aIfn1d{#ZV&~VHQu{TZ1r%BVkx#$n2#YP
zNzNdlzY%L--aeYJ_b#K7k51}N@@5>S>Zg|XjL0`sM5eV~^_QvVY;I<Oo&z7&*sGX1
zAN67cIN>SSYYPsIg+*hsPzM$_8=(~?FdT+mSr5hFPX@YjvVa*SZ}dkTMp=U>3+U&}
zGi=wFUvg~aw{HWVi0Hi^7{h%FU`AM}Azsps^FSW@9>H4e+X%Db;yOJBu<y~}mC%9m
zP3q^XK#sgE&fDj#;)@4(hwCd-l--C>JInid*qyLT-`wHK9lAUG6vLR=7+~MtZ~gub
z4Fml7XO4Bw@DXrGbDrXSD~&?<5gl;Qwo_RSKP*HMJ->le)BwMDg8eLysXDV<Q;Wi=
zbGjQ7S<sTvkgPM6eak}%%9Anh$`u^mp03t-CQDz4FisuBhM8C08LpV2>>lw8-rAF8
zv_*T=jNns0=m$QHlz|1AQl*j(L?HlvcoehNR1GIy!iIrF-}<kKN5kS7o_09TKqloY
zsF(qd)L8*fdUI9gii(sO)Fomrb&4LNE)0)DE&Tpg->?nPyD?<Udxr}AUDGO=tX4oY
zg<qOA{T5KV03O073uR#{$svkDn?dTLrBe2MfVn8ooG77Wn82qTb!U4>#80O_^oq)W
z3B*=YWMB_pAk4RK?8oPZ8-gf)yCYoUt$NH%;(1uU(k%0%G!5efhVr9G^8EHTJELT_
zV{#ez+_RP-d7Oi*as3ulN!sN?N}xVE?@Yq&+rPvU)FegGAf7#pWKFuT7_*g_<{gb8
zV+#?le?IMZAIHa@{RLL@GoiX1CrS*bHzC0U_NlbpRDEDte2p!?_)U-q^qcH!^i+DM
z4tK&%Le{T)`0!9^Tflf{UWhs1h#fwqC*kR8d-mf1>AaXQm2F~qI!|twjX>Kvb+*GP
z$xCk0p*6n0YI_YsTtC>10jWY=N6PItCWq%iwM6|v-*j`!3)p?=_B63Vfn^!VAH=!3
zbu|YR>mct7;Fgudc77$Wy&<060*2T?hJQQXz#Gd+-`_3`_l*1T*d+5Lc3kU<f~es?
z`XC3js%+KtRA20|t!P#2RNb&i1vrTEQ8<(g2;J-9v`+!F<!3U;SXO1z8UoFDyENp=
z>T_Y@@ZjlwUgihoel{7CV8#C&=wsrl<X-{)-SAg%4xkv|a6e2g>s}8FPnIU$bF*5@
zw}NUAOPqqX%C9;(#415^nY23U=1|#Lsrn0rn|Oem{SW{TE&!-~or2Zpga{NJCz1;(
zKm&{A-*4-`ISz!CAT5mmZ)qmjH|yeJS#J}zUhw^3!0x%Rrt^P0(IcnngA7P9B^Eps
zo6;YBd{_1UR(8Pwml)ljrZej&1#YBm65yeK%+_GifDn$L>WuXkGyrtF&`>Z7y`UnN
z{Nm8g@4ou$v@EoDPmBTC{sCPxY@Mgomj#I!m4CuZ!Zle$g`6hkhqq6<Qd1*HX6mpR
zkw<lKAeGiA0=|KKnAoqm0<9V>dG~tsh5x%_pPbA#!eqW=mK{)ksnG<O6J5SupZiU?
zwJymK_Y-<Acrd5Yb8Hl|{6=h}<XC7qz2NvBR)n+1c+#q<L(Yd^F3M)*Pa9bEG#qa9
zMiYGifmE+Ysn}m(Sz=#B@pq<97U-Oi`yyjD$P@n+!vo9Qaf?GJKZ8x~9KI%2V*<MH
z=bNYdVn}n7qg-4;I@fm{!e{hIf<+Ti5b%$AQd`k#WnSV9A*S-1T!Cu(7rJ_I2;5R-
z;uaLMyL!JJtIbZGRiG}O45P|jk{m7Y=ya|ALHp+bbDWY&06OebZX)h+*6JO5t2e<G
zh@Hox)Z2ECFehXPAGEJM5@<kuxRB=H&j8eaPv5;5&bR$8=;(NZrC>v0)IRFmEu^y9
zS(nQYZJF-ft;h3vTl7N+?vO8>;^-c*=Nhc4{3Gm>d931Ufh4LHa!rPq-Azc=RTl8Y
z4hKdZXZFhPsN5yo8Q%=e(Nh<PN~I`=b-Mv<J{)>d1+y%*-NN#>@@FdAzdD%vFs+Cf
zALP4LY`X2o2G5@vE$Uy|4@i5)Wr6~YWiEbTNXokDtYsp#wsLIkO=?*1XS)fqJdo;p
zF%VBIpnOhNJ~s=FBh$s`y8?ap#+as1utu(n&}S=aFIE(=iV8i5{c}|b-3WB@2^~1N
zzGuYo_4chZy3bn(A$$+~@+GFey0J4&V^(>LDLRX3>5EEE^BpeZ!H$mN%an2~d_|<I
zAcR95?VXpqQ~ENv*%gEEf#tw&;Gi3%1|M0`S?I)VPt!>yJ4aQ{YD<78sD!`1ZcPo^
zI6(8uuvCx~WboGL%eo(pnqUTjIzI=&yg1rqY%uwV?n1)0GKoU${*9Z^7{Y}f0t|%K
zNJ(w0^{?9bPzvSWA?8^1i8Mlm`M+xi1u=p$VK_cBx9U({KA#|1024r*o^@65C7wD=
zHxC%@`#?#SBR`dv+7FJp_{Ht6HIC_mFu*~!n7kFGFb`c({0X*k(B{&*l032wfzJ33
z%@YbmsUszzHi3|U_>GOUIXm+yOv$ci5(&i(_LtTD#Ya0~%U2DY{FWa)kgJRtroE!+
z=asw!IhAW9oREQ%qIwF%t-0;7E?6PI8n~8dppTzR;;V_{!Ala-yW)PHuZoZk@XcBN
zj%-1K7FdDTjGjuYDCqKvc9Zl|BFni5ms^^9npZ^uHC<k|xZG!I?$frRggG29yS<tI
zHurI=gLaW5eZ1U<o*Ag=U*YM}6|~<0Gdub?7qwteRsf@_4KVA~zp79b;h|~~T9>#r
z0=zkW4xWZADkKTfX!s{Y0|ofy{oPzdCC>`|+@%sX<x)sIO!q{;pw)sVOq$%y#9_*=
zGgOOzp6-71>ineiAw27(MuC}L4tUPcZMpHGEdiR`+WzYX!KHtF?2m)RUf7A4reJ=#
zAZg!fcWSpH$Y<U%+B~21;RE^V8}Rtsk2K+ccxi_!*F!0h>v^KxX;0T|i6SH4vHrwZ
zY85q<>g~5tX%nY+&?<r-v9oi1GVI>lh_c!f|N5c|fYMxyQ8ebbZV|tKp7?*S!SQNh
zPb)ltPs$m_Uzh5v3^)UI<#pMLpgf>kaxQjC`EfPvyQ(NO9J0@p_&*oxJ|vXsGU9CU
zjPctWN6n0^e%M`YQo2bC_OOITu(T3}-zW~MT-crd6i5TQ<#4ihELL%yK7wy=&<Paz
zffNoi=u?G2zRJv<Rw8{EXg+o><{W6YI{Kdr?{XJ(y>_pS@cOV4&`?_xm1B?aZz{ol
z$$+X>;>&305@_coJgSmgThwIW*{D+x_0LAKlehczv}i-eI<0fC&c+iLpB*8;ef~0b
zp{2qL^!@>O$RK?|hG8n^(|s)8QqA~!jqynnBlSMu7XzI@1gQ7Fr^54F9bH18enS+K
zt9G^+0R*s9WecGA8#;Oxxjd>>S-QxuT_j0P|IVqI8x#lHoT5E4>&W3e08>D$zp0=0
zt0QMgLU`B!`^nW01l4-2#wF&T27V9-(*D@aAQ&Dz$M*E*bR8b|@dm69$aL~eynFMW
z;$U%7OaO-uCMHJ{<S6i&%5ZjumlSw~C5NmAXoA{KnQyQTCTxLT=I;Vt`#xcA6y~>L
z#%bmjod>E2CmN-P$=@fgi+Uq-4A5MEnsMYc;fT3e$&}1IBYns{dpn~GPnzsS{$acO
zx_K9@VLM%hHd2+l-HMb`=7!&r^fq&F3#d^ar<9EN+RQ(g%_Y29E}8zL6v}dT9WAwd
zleyGjAVwTqO?37VS?#q57S?e0x+p$xV${G01E+BE-2A{<PF99At8LWIMV`!OnF6Be
zYvED~*E;I#n;#UtwKeWjzA!<Z4J|Czy-vD*MZ2=BvDbmmfS^_nC^MDPl|px+gp<Na
z?$7k*L4}-CWN7(mQh^YS1S>>cdbAqC!+b?e`G$7xrT|?PNA3Md3-z$Sp`YOpop9U2
zb-FzC?(khVYtB{$14<gC#pTpMkq1JtJ!tx3U&#M`!o3pl1<oZYdXC8q9lL*OomYRR
zbo)NENcpNgR5g6dptmsNvZG2)V*k0D5LNrqsjRGurz=pf^*ehY<o`<DweWyOwKp{t
zloG~^N=%R(I12yUEuxp(Eu69`Am&$L4J0NFxelaj1!Rm1!BQ!)sxPeP6c!g>^(C~*
z>jBM^UR?g|>W8gT*l&tVv~Usd2Uw9krNWHfwFu}#s%mIgCeNDLMD0s;%WX=3@Mc(c
zvWNpdxy9_KFabKGdt@MHvyX_Q!4WgH&fHy-DkCe|BUA@tga(#U(MfcjeB8HBaOW@A
zSIyDdQ*UK<TJQFDY8e+?9D8l{9U{$r!An!qCyZ6&NbI%OZ5ohQ@H@pA&L5Rpw&S6_
zZR1TQg5s?&$f0E<j*7AqsTdCE=Pmh~!wtb3v5eUAdIj$sNH7U~d9HD}wK03)n;b64
z*pMaz+6nVnESCd0F<;x9R2}CD@_;A1hiyPJvuz=OPa~JWSoRh@#&(WfFHwqMPG(??
z=Stg>g^vN>Ayt0Jo4JKDmTV(p->3hg7r(`3r4>*<%#t(#?8`=<oi%@=?!w@W8tmWA
zXvRsl(E9<<#g;r(ljG_&h-)bjzrnDnZu|L){l2ylUHK1g!r5E&C}uAFP`tFL)k``B
zJ_Cc@PYTj9jN*40%7YQrvSh=<DQ*!vfFl?1WtpgI*doUhPL$tf4MyAx1Q&HJ3+qT4
z`6U3#a{-bLGSx1l4P!8yj*-8oD(5)SVj5U}b-SyDmI?JDJ?C^)_VWtLw}n;~9OPk5
z%)kuyJx%6rE2vyYN~m;2;|&1Ne&zG`axL-#C*H8By<*pR2}JWEQNT~$8(j}AJR&&l
z=Vst|i!O|lgm?8l3}7FH{2`i;%GuEOZ5t1htq3u>9`Y(+8t<hQg`VSoe<|C_Nb4G!
zR}n(+9nKm3hCvxVIhB^K92wBl3=M5ynu<0gU+07H%p!W3=mqmb4$SsPK(im~V|<x2
z_k2O%9Q4lJox3~(g8Yk5`3ITp*M;*^2*5@=^;jX`x!j_D>mx0O@ii9a4I&+08zR@e
z>}H+YPPyw!<r|`Nh@bS+GFw8E;!#*h+<vtA`oSc?be+4$AW(J&ngn>{4Twvi932}M
z%tng=0=Tsr#SUbTOkDmj5`M9n8%+g{cPZ-Si2kTVOhwtke-%tN3g{FJQ*wu=xv!HB
zdu&7q2?}CY-+%D~r_S=^y&8DSxJ*4?Y=W#^=MdwY7`ij|YYVroU(<AvSFo<MpMr$&
z=iveR$vknTkRLg1V^A*f*S+fa<oJQH3p(!OmH0JHT4Y|9+w3%%p0Qf(x8hfgRsiNC
z2$~`z8GsX9D?JlQrs5L6rjPHw56asRz6GP~ijzMcjJDCBBT*bVM$Ny<G!AzbzIf5Q
z#lUS+s6D>JcO{A>TXFb?eHcP~>q8p|3GqOAm|(!IuJWB?FRGORQ{`$y(3P0#MC`(K
z{raeIfxpa`lR5N%{8>`Xune=O-Q@YZ5W{ohsdU511DT(I5Y&MKqvv)cpi;+@vo1(D
z@zdj^4@Rz5`JGODdHgD-wl_IUbXnh<iakPMdIqDoDAv9Bz}YndUzrU$D+ePf0fC(3
zTSrm`QZfN=sB3loK8I$GscD>fmB3H~!cVOvE>}!Kocj;WA<`aIs`~-YDtQOfV9@$2
zSKV#MwTFK&A~zVKI{2o)%a*u=z;M2X9%=zaJVpgIKT^|HS#p_B+!c^)hg`QHA_xyW
zP+&L>@1*LQKm*3)>=hVk5n-5EH^9S0Xr3!vpv;qhM^gq0g^lA=v4#l(9@FB)(RU<#
zB^S$U{--J-@(RRK<l+IUQeyE%|K1mL+VmNI8iCNzr>lx3^jG{{iYlc5UW|Y5`y4Wa
z1HY0bJawxzhq7nmMKAHCij8yom4_=6Z6q*4!<}>fqB{S*%NO<t-0=Cyr{xWf78J9y
z!20Gw_8=JrzN_P~@zBQiLw|m<8am0$-oFmXVg#+XfgI)m?T~$H&QB65Bj|y?xMi=U
zF4N=0InX~H+jVI(59{Uc;A+yf&NX<?2EyAgH7Ys~h)@gVB)hNlg=pVsN1=9qTVBj@
z)_1Kk`B9j7z41(Rn1s3&dmXk1UvtYof;v|x?jN(EyNL8u7+eI9-u1|a!(Phr!@fVh
z361*W9vvz#)QH0~PRbA*m1FRskIvsckBq~L>6=hU_MmrnTU0_rF>Afo-}<zeat)W?
z+QuQ326?8vYu$LKa~h#dqQ-?kmS89N-L%55pHGhxw7sOK-IKSlmD-%|oBTszJKSy2
z`T&xz;&V?1+=SpPFyTaWA)BcU0jyKsLtWl@da0(Zq)TlfqJR64ZP;3o%RnHQXhIr@
z`DtT#?OYHUliZz=Y;+3eq*;59Me_5a<MsoK4{mI|wj_uVDt42c^ZdBJzt`V0siCzS
z2baAN;&qk&3drAf%jivAuL!~pjmi1Jmhu*?$nyMvn`lBhaahCq9a9~#fBJ|c^XIpQ
z!>+0KBO0XlwnnulWqRzw-J<}0Z3p4bY60iHdn|3aXybUWuM52Tc*01!(HRyvALh<F
zB;{YD@{zuh`HMj8jcfszh~Npo*T4JC2=qH!`<6}@>Z|nhyt%JRrj^m)_odO0Tt~O3
z2(2NMWi0pQ8qK!fG#<nP{zGdQ55x|T=72eF>j?Jy7TF5niNW^kW<ob3`64RSm*!l$
zh1uRCWQ`iC$&kbI3FwSdUgzXHOSP=e$ga0P5YeOxLN}gpM^l!>@R-1GIi_9MD3k7P
zR3)PF)1_V85-4PZdlnW%>}WOWkH8U!9GnCoq-2iTP<T2hb|7enw`l-JaYcFDlez~2
zVw_;E=$ZU;pCV8@6|`h=n8Z34)Gb~L+b^ymHi!=xyH-`&#i7KEm;#mJ_x&kWYW>-g
zlpA&J8^+;UX1oW+dD4!$9h?;Un;kE4G+a@inKa6#$>7ffBGz#m(gV|MSx(g}(*3&b
z+oUQ~=p4#uQqC$N?$y8%;C$(8MLQnW^IR;g>9a@gtPEK!{*J}glyT#ZE748<E*2on
z&EKmBv<9vh==$8@u!wRYki>OIg0GVyB=;a8^LH{iL!~}T7&4o^6}wF}Yq8EnHj8t+
z<5KxV@Xzq=4vId0Q3ubw)-ODy_yYLH0;f0r!vop%(H%t$<((ojSVA^6DTMs(zmb|2
z%GT$K{7Mjh7j&P^?d+U)IfYPm$X>Ad*xNamm=CW&3gsIXBBW0j+=NVs1jf9;Udlt3
zsrj(ePrKj0S3-AdM+CHJ@4BakQ}-`?UEh|Z43Jh_{&o$%^PTa|A|;jZWV6gTjI~jK
zXA?491aGCIwszXy$7T-9)+Ve|$lQ0aCO<8Nt8a>&{CMYmSAu-x4iw=_0HON{w*UAH
zZBipjOm3#ET=gVKNPtlOiKS!%_$Lc+I{B}x_iA<(+7>h4`&XPgez6PRCZ{UjTSZ2Q
zoZ*d}gUImfn|18#a(Ay)T9Vk>Vlo+XjPH|RA|wS8LBw4i0e+F?#vs(r>;Z*bgRk{%
z_m;t1ZGT(d9&U^LR-WfiCN=xduSv#{X2|EX6BloHU$Q>}rh{yk6!uhqW(<vRmt&Oi
z#dis%eRID}f*A{M4y{pm^8zMPS{`>6NJZyx>}V2gxIoyi!m<VTkT+JRK-*I1rZTn_
zeL5gM89^2LlAh<~W4N1Eh{FLf5F}@^Fa)9$jh9UPt6l8hXKlO-(df6e&h6vI7~hcP
z?dF=}>av$Ph%#jyhrQT~h{)GKrUsroXpaD|nGi+qzdUNVKz7uaP;q^)l@*2qAMb7R
zn*e|}zc_EAzL4^~sd6;f4X)TQ^m$=QHccT0n87@}N(@O2jio((RhYnN1$%}wcTz}u
zYRQE(v_J@4&nPF((`#(w`|M(lTx*sd1pG)Zwf_j`O=CZ4mCUJ6PU`^QnB5-gH*dX*
zOKPkHZa^E$Di!6Y(2WiumUiZRb%cKH^VSZtPHul7)wyfaR8x-A30uBBc|dx{A0QiU
zq51v44y2tG3i?dh8wkF#8o<kISQ}+Fb+XQ9j7MR~Pvy4n&nMjTw^3t6%sL@zc$?n8
z=JZ<%{ABHq$btE15XPx3ijp~U6xWyGE<u0ij?$0AL=@p$HEc&wQ9(nnZK21Q5^v%g
zf<552deRp7H{O5a2Li<)a@B*ruX;TG_1$fHg{}vW0fq7AsBaZ0S&|B1tjT>dbweu>
z^e?`bH`-Y9d)b&VNzbd<1p-^4IQG9Aaw#NzQTZ6fF+SRRGJiM|;-vEtxMD=wk7sYm
z;5x!}`^$I5!mQ`Ww3!;*?cCL6g8Buh6(Y*a{(5Btu-l1`q#FKRw4v`a6Y7=N86sUJ
z=Y(3YnliMv#P4=|$<iq<E6|bxMCZ^F;6m!9F1mzX7@_2;J%yS8s~%CQw*MeELna#i
zjL5ne)Z{#m+iI6<LFuIYwY7QM`ulu00UGqIOQ7N07IHNaY?j;@<a6h0aNwNvtq%;q
zA3uZ{!S#poJz453nK~PFkgRGQ3b2M2{dWVcDvk|?`KmjNhKUHQRPQOU#Mpu(Ssl@@
zJKsV!H~D>$XW6Vq=aaYx+7%9`$z^-sXC=SDbf2~hrNhtpv^kp~QuKRe61G_nAA{Rm
zG|cA%M4rBV&iU}BNX0kxhrjb6ygH{6K%@Fcn`Y|h4XEUO499$NQ;W`Ug}YVuBk{QB
z`00$y{LR^dTBv%s8evjjx2$I}H1|xBW^d`5>=(}abrWtWDL_9pF=**;H&TJ!jqP+>
zTgfT8_IvT8$*BRF$M#E25htsHZuJDbkbAgs(^}B*%?3*`39sV9*3kIdE9AGM427f9
zKp4^v3bjZ2x(;3ra6-I+IY*q^K0!Hu(xz13FqO}s(vN2g`%>et=cx!^X+9=AJ)aJb
zd7>u2{WIry{KuHOgpzU5>xR>Xz20f?y+Nvm6jU8#NdO_wv#Vy32C0^yj`O_A=-b6P
zUZYt%$A0l<(oxrq1IlO%Wysh%otmx1$vme-X0)|C9ks}DQ#u_Y)LT={{dA~YP_Ad0
zv^}(53^|5JrUfMPO8$Ic;bnK3fNd!EoW*K<p*wMTQk;VDbXLGi_`*~puOcI`j+|Sf
z*e%Pq(ajCkN=QnR`eD6L34l4G1Hv-{KOs{ULf!2PN<_ZqE*6q+lTI4w1sv`{7@|5i
zN&I9Lt_5zW71r+&5f2)*i<E|A^z`7cx2}$F1x4-LVLp!GtnXq6CHj|6*||$L$c8h%
zr2394z?UO)Jru!^uhVk$`_MOs=tOBD5VMdY=#CxY3sNLPPtGS~g-_@;dAw?m?d`w)
z({L3XOAJKB`Y*~1A|aWy#~PRGwO>kN<j5_6^3~?z+YM7T%G6%wP1l<a_IMoNkONp*
zyP*aQgD1U5+NSABrUqg6nAkzp1J>WM$>i**8d#+$h8iujyK}$is#pxi_t*K!#`ms2
z(ccQ|(?*w1^;-t5GL-Bi+k{5&EV2|ofam9~HZTFfE;*L%#cRtL25UVC_WV~_+0ys<
zn39G)E5VKl!lIR|5z=pK$_$9<*WuaRN3oixpR?cXmMD--K1kEJep)u-7w6f2v`k=6
za`#4|4-EFASFc|jK3XsDvBK4NB<Gc6$7U~i_0B1&P(3=whIX~Xkm`nRYb+$^OuJa=
z&*+ryM%%wI>*Ftn5N=BwxD%2DYC-z&MUl3PM=(K^v33Um!a6iLz7jG!`<rAh`+PY0
zHRVE9@2$4dV*ZiPGRR0t%cN?hFQI_yC@87DQ3<>9h+HcDFNoOt$&q$(iFU#e)8UL%
zS*Kv8OreiOJlZd?13n3VM(-{7HW<&D5_ij2n=;l3ek{yiGhCRb{;ogQ^@H2od`U1$
zj{srK!Q~fi^V6~{Kk0(#?-rJ}S5BF%=A`c7X9oAdJj<{GaJtDzjERg}6=h>);4o$3
zd+~x<Q9k1nMR3w%Y`OQ$shfJ)zSKn3^3sjwHeM3`4*5MEvu%u4(%zLoFu$pJBKDX3
z=ohAK3Z#ij#?4v4z$d4rRw->2PnOlHfh_4)*k`@@GFT;B!n@%tFOKj}cL<pa3Qr4?
z?~wv!vC4WT`-rkcNJ&LgB||q9BRmjNuO<jV>aP`_^~hn}s3&@+$5TH9lIZ3ACC6Mr
z_A_z=7j?Xx(cW>}8X2Ox2$-1|ZG#y<;B!*(`)gjqA~v0i(PhXco{X)(nhReV=h_2D
z)^W9F*(#h@KyTNt*3Vp0OJV#?0u?`t!4@SoaXL~8A0%yDxakJ7ojh)LvPP#*mOLtO
z1wP-&c(i+Y4z28z!>E-A?1G92xr&6#W-)M@#(Ed6xJnZNt28yWGDlG1)uUj5llB1y
z%>kqlSQ%y#E^idrSpgr`{j*JQyT*<;yfC?1;+^()%)4{6BX3cS{$_HO(+*^%aZ>j}
z_eK~3n?9h*v#t(dmGmCZPaqs5t$bktd>ZK2fL&U#WfX2fjr4Bukv2LFL{`KV7J7Z<
z^Fvo9i;QlxlZ~P{vBC+IIjUS-5MMN_3|bh62rE$AujkBGKGFx?r9B=rLnl)gv(z5N
z6jLLG^sV524<WZ4!Q?f?&@8yX1b|s=b@>H@4~9?xWmqfN)!kl2M-}w}G_Ssg!uZ0l
z{XmO^N(!0<#_0Z?6ws%}&&`B3v%#@44^!HLSxS#ry;YE4Oaj)gO^|Vrf7HjFpJzm=
zgHwN}Y~~!RdE*!D(RV!jO(E1D`A1s2Y=(jH9Us+2^e<7r&BxJ?PU)$-D#YtU)~cbR
zE+I0LtpNE<?U9Yu2R&GMK6Jv`KA<sQ#@W+G(pHRlFrO6Q+v^cqb~fU45+lA3Pl*Vd
zGTTW?P31dm6ZPgXg-QLx&iX2QMZMh$qB*J1oPBRh&sr@-=htQs#O1jE&;h_BAQWUw
z89RYwPn?TBzZZfIoC;&+`4AvQ9l9akaM^zI*V{ClUw>4-588#ToPB+&%u;C5a*QAw
zpX%*<qwFh2-`Q&p7zzLwyC!CK-jib-4NT(6OLDaXe#<)CTRM=}i#3CELUUK2Y2G&O
zMZwHz#$eC>cTt15d%9|GC=@+ejbzQ;uroFcfYXazzzuYMAB7H1-j`jCY<EQ9KBpVb
zdGLfmqG5x+0vf(yuwF|s2T@188zp1q-eY=2DxWMyndY<c0;*d~c~CzJ$(|m^11<jG
zS@YOCIV(Uwvjl0bCtj7`2jGxrFeJ^$W0JO?$+($aOese}nfS;P%}oHxM;S;5Ib(1M
zMFkWy<B$Oh!u~XZvY)hoRAvt(wx0I;7pY>Ws2}uJrK`*-^LggSPFn+$w~-i#9>tum
zv6wR(RodbNusUk)HhQAew&G2@i03*?rkeBgy&*L~CgNB{z92WDhYi?89`!rZ%uqnD
z;k>p-1!&j^lOD=G$o!o04hw4$cmEti=}mz5$+ox=w4(*|kuXlJAcTI3-#H&>$Olzb
zjp&*OV!X9rvvaGuX|Wj>b3TOkC43Mk4~8;K7K{kHM5Z5IMtjfE&;0%e474Z&Wu~K0
z2rLX4tOVq_eUvdH4U+oB3lgRo0Yd%PzIA3No~-SysXi&cZna#p(d-}&_$+=2=Gxv{
z`wVP!W(>|yJWC^ye7EsO*7>OqE7;xXWAV%d5;Kz_`lg*DN)L>^YK1o9wYu{nnz9lI
zKNx<FJV5&Nj9qVhVdXhu&8I6P6kk4yi=@WD?{V<OX4TRH+2IL!F@Kph+9G5-+bXOA
z{G(I{<c5l}zrf-8g|zWJ$*Cx8OFgARyqpv`0*d0BglInp^TaA1gk4qe+Oanq13?eK
zb{}mGL^pl>auXVDw+Th`w}v%Pd<)GL@7o;opHo+>o=t0f3QF10d<<%FYtfU7+td>Y
z9<w~jX>V)!*}wN?dab@1&Q={AxUI;yT#J!LRJ>GT;-lIt+TC<yWWRz}piR&VO|FM=
z+CT(aI3?svYyB)1RM;+hf)eV4TIuZVLL@JrW?B;Ph!8GnLny$!jhp;Q%AZfZj_VVy
zlTA`y6Jk^K3$3--JbvME)*A(JSJZLUV0FKFOK7DK1&6rX8tu*Xf&uO*4Mh=-{=t2m
zeYsL%K{H)m9(E&vNvx@NKjh&LoX~E}Qu6b1ZX7&$v%sH0h{n=1eeGNBdBlehP?L7T
z*Qd(GkcBdsNPXn8FWWXfB^vs;!sPy46+;-z->=6dyf?nc3q2M}={uE^75^4IDPM49
zICs$NwdkCrxZ5hj2dxe7I#RPYGTaHO5q{1+w0fPRpNUpbb-X_TA>Pq$6Q40g2$u>O
zkVkRA9CUtCm=G<FzA4e;SQ>$>Nd7TrP6T)x1CD?u6k44~6ZwRzaH6ti;Pd;Q`#7=F
zJ_Na!%4u->n6T9VhcSxX75YmADJ#7FkEMNpNyF!H(JODYj+-?O>PLB;5AhmM0`wbR
ze#Rc-l%o_^+iLQ}gj36R5ZHRQCVTcGw4+-C7IAtks`<g0RukTQ)}e##RttD$@6sPo
zaOo@fwzTRKpX}!zBVy_yf7Z|?G;!GCs!b^0dv2Kq?V3}85yD4*uUVzIKX5l2S1$+n
zWg%F_3(?NSXr>FWdVICgr9zEoG*S#}F#+H<$5|hoYIUWCkiAOKe0yVey6p%+XR}hE
zy?O;ShGFr1mHW*84icpMH~B(zbzOXUFDmQW>vm0xf0%(|eF9W7I~7$hz8JB-^rma)
z)LrE;xnULwT*HI2l<#(3+(kDAv;GcJV^|&%Z^|1_rt{Lg3?+j3QpXGx0S4T2(f-h@
z12#YyxE4CPeWKn19Diz#FJ7JR2(}!V+ccBnBbrBp2nPuvjPsrAUuCeM#N(e&D%tt%
zukO5~Vs-?n+NdGov!CD{r&f~OV@nyd32}tFsmo>BN}*T;B}>-Jha-}{+oYHRI0iqF
zuG8+~Sg5*T`?Gyc3fuHpXEn(F{=5+Z%KZmi!Ocy<8XS(W$O@6E#Y2oRSuew<Ge1Tx
z{^X{H7{DNdXx#Y<7-fl?z@tM>X>G6{#%D8i3w_ClF(%r8H4NAf6mW?o^v*Jza%^sY
z(GE3_mo-kNp9aa^^n6ev$WTc4gu%N|JNv=N#3x%`U_|8RRN&@sLUVxRrCup*W4~Qn
zmzvJ9e_w+``L{pE=`9s8gMRXpalxG5KHpsC*VbIUn@`<Y&*u50Cv8yduX#z5GoEjb
zpx;InOHj13B7fST{hM+mhcrDa0lTP+3T_&&sDcnTT#MpA5XDbL|0@*JHGU$s3SWCM
z6Jo#XV|_t3@cmwwx{lT@<TkxGXXUkTU=}H|PKa_H{@IXvQXB&Pz_-54LLmu-rl#?k
zBtpp_!eV%s7@AyrvRjH-TjiU;=Gd2#o`bF7`3_VUR`$qb1fnGq0HQ}QdSAo~TO~gc
zzA{>BMybj}dUjS1!~2FMWa^t`6u6}o%jG<9DD%<^-I9e-tU+QQT0aB0fvf<T4RSQp
z0}*;i<}5_&_qC!TKrrE%FTSP>m0u2Ghl%pbNe9JWmj0a&v;lR(qmU;__Tuih$LE1@
z2I%^txV5$6++&8P8PLgn#ltVf>ynUqKvoL~fd;+5MJIhBgZBEc&++(FN03A5R?t3b
z=j^or&0S~^{m<R?sBUL>Gg$mr@@S1m@}~=w55g!;&|IEzLKG7`m_VD<kbZ&lE1#)=
zt}qQX6%}w5o%zgp{cIm9118)+wMo+~sDNO+FrCFXo~LGFGwS1%0JISK^+KMW=4htn
zM`01uP?C(FZX@M+L<NygT|{sE7;8b(4;KfLs?J{A!UN5)42e7!u<<vM%7Gye#)<tY
zZwmGf8|{^$Z}^p6nm)M{ZJ=-4T@r6)+?T`zorT0!f^0UqPlj#NZ<E}q+SyaJzGj{f
z;uqf*d*7oMN#+Fn{zi7%{N3F#q<s3f2x6_$>}_vIR+k!Rx4*CsrzAfVjp%MnY1Ze8
z+p1o5^oRToj=@SrtbS8}1H_x}VmPDteZ|<fy@yl*e=)z4Cr2JlPpF0%=H9eaW*;)i
z0mylKGXWp!m?B-zx0<A<(lgmatft-=C8Da~I_U?~7fDZzj-f*70tB5QQHqslEKb|g
z$ETXcp3Pv+6ktEk!SHjz-4D=w>vBV}3^DtD2kTLLlg;F2<p;yr)UBCVCAaP5Q}fF6
zyEOnCJYQzZG8t_v7ZZB<%16*r*cUEXK)@eR)^;XN3!Zr?J#2}*_$*LOx%V>#N1ab^
z=bg|Oc)cRynUngCY2w=7SGa5#BY&vxkJqfF{A3{t2>epMO5Uzyq02gd{Iu)eXYs0h
z4L933i2zv=(cC&&IrA~4H;KEIaWUG87*jb>Q&Xq69-&yumf{rKZL#VD0c@L2&32W6
z9G&v@TF>ClQsaUW7=|4;$Fo^qJHj)hYjxop6ypN%tWl6enR?77-u9IkwD3sR;c3oK
zDl1qlDH!nBga#%>Kq00P`wb`d(*4~TFG(THj|a(Nj_&gn*u2KYjl~R;_kI~GELUX&
zvJu{zVagY<VoYn5%zXlFT-{zSMo1aL)HM(9jw$UonX6dv(*0Pi=Lk&lsMc|r;xoKk
zi~s~U!9P6e{rJAn1sFx`D3Id&(l2gA0oeFn6-NJ^drYzP2A8StnI=<FIWa_~|4dAu
zX5alYtCbRf+<sDUT%B;}_v5~^etV`r<}tJ%j7L7ZU}ENc`X#TD^8xk~Skka-2pqEl
zUz`viZ#0WsFwCU9?Sf?Kq=)7^JgFuql53SPgnd;D9A8$t<qdYM6nn#&dIQK#&5s{N
zSU^(??xYl8I*b5izxEp07e?!0b9(YH&o6j=44xU`QYp=2tb**X=tKV7>j;R?P`cwd
zt1+e^b>F4I9VvKIEtR+>{E8uv$z1%r;~x8veE)&OmsuSBb<s#{U1@B)!!_augk_H|
zysae<1I`LiMp$Ia`SG~)h-PG)I%K&Dy^uLJ-~}ZRM>htzcNQopCLd3>3m~WlDdVM;
zz8ZF>E+}4KFdi|ra?>t>C;7ul_$SxJZ7bNf<od!IjXFGUmg-f->$e<aLHz^{5v547
z`-9<c{5Vk=`un$DY8^JzFqOjn3JlyEbc<9TWWc4~w+Tw^G6m8UYgN4^7s?7dcPn7X
z?t*xbP2@t?JU9xU$&S@zcxc!BT<lc()OQU)YxpdM-GfgOR?`YXGyE+`V>#u&i%*4}
zO92?8rRdpZRNS1lEfbgsH09tyvL$4cVA}geW4sTTeAmKseyLXo%0$Mv>bau#sOr-X
zJ07g#F0rM`iHt3vQO$-kSm$aX(BEV61sRAIZ*=(F%1!Y4hOK7PpyqUC!TpX*-SiVG
z47mdspDD+(C1A;=bc`mr$cmw%{*8yX_x4+=i2&f%UlBEWQ<Iu#uPLXJVV{h${P>W9
ze$`aA+95*i8786@##BtB4|UZ8-O4eBB84k-?0xM!*=C5(l)VB%fQe-cBulr1;BNHp
z<ki&YtDJ8*yRnqWeWIdme?FBsF19G?z8+!(ZT!z%erOQ%XE_`eIssPqnq3_&JK7OE
zR#zaXA~bAj{7#_!R!Xl%A0?%eCXSfmLDSF|Y8ybQD=5+SC-Mh=1fNiz9GsTGOD#TN
zuT4qGF9-UL9KdV7Pmm0|whsxJl0E&7*=^dbolO0iRt1FPkITs+Ls<vY1%D*%<O_4O
z(Ap|Ueuqm)o;Mi?!DIb?AH)-WrEhnbD~=mx8^!1lnv+6~l))zA^D7}CgKyk#UQI`)
z`O(20Ubm>%km^}#kZ5J&<_t>1%?kmc{K3bZ)4+PeVR>T-S>-p6;yaClU3(PY+9urq
zzS(;ufS<#zHT^BRJG$ZcYd57URT$fc=R>CHiXRK2$gRvDs<ldMOfz8uh{L<LQ+^&1
z0UpTq>Qs)zsRBZk$ZUjee!Pq~UCKMGya(_g$jRYU0%Xg`$QzvgSd$eI-PI3p%V51(
zTH*=@H%IQ$$X|$5v~>m^jBfwXl<rD6KN~9zpX>!M{StEI&GrNGd#J6%bZy#_w^|a9
zxQr{j_RJ=8A$rfBbvkMA!q$ooqtC7xVE4kgmVbEgtcfOb80R5g>u$CqGwd$rPD-q4
zu-Y}xnWOOz2aXTRM2yHSB?Zuw&yipT51n>DuJE+v)o2GoXnOhFeHj?=AR$AU)i7Ve
z%wudnpa(5i(l~_U2LMQeuL06<B*m%dnSX}Hcs}OY4=)P(6lZS{|KRvx6=$Y-M~eV%
zl-Ek*1Ay(!$LbH4PqM<Tu=i&)t-mX0bro&4P@RN_h!AMIw@cDz3HHTau}Cs5KEk-(
z_T8{{Z2*Kh@ov>abiqoUI5JiB++Ps(%#&QdW>yU?*6lJU>1GM&09uycE0UJ7c3NW7
zc9#z;=E7G}2d)}d=Nj$5lJ?gZ)QyGfE%vENQ`vIdA_B#S3y!$I8v>~_3YNVYf%>HM
zbggz46|)oam{5fQq9V4DTGWkmN{!Y@tKCQzC3mUcDU*jp>C7;`qzaEtf*S69G(fXF
zWBcXMzYhDdtD&&8A`-dztw&DIDhxiKj{U8h^rI`yS^;+J(<lF$0#2Mh#r|X--xK)p
zbE{Sxs$!ws187n?0|PXx8RBLC=(TQIrjc+z5MM4p3+dm}Iq|or36=L<>!+4BP1DC5
zTg=&=WB$eZo_kbj+mse^$k*FMF`5eOh!^+oGJ19X)#pfhy$}IdLMjXIW)nds&5eaP
zoh7=qs(%k#(u@Vk6goNR(m6h!H8_B6O^jH04d>+Bb)+vMoaxSsu3wI<YPV|;!|2%2
z;_v#J3#NuCOQ!DR5EN#z#gv)enm-Tj@tGmDY1SJO`2O$OUM+)ahmdKLb}V}@TY0d1
zw^R{d;0VE?rvlV8N^B@p$3(G8h4;GdH9~}shE<QS9r<f=iP~yDW(3LL+P>N0gEOjA
zNOF1r1VX1(EhOZ#i4uEhyx8SmEh@Jf&}jC4Jp^>tNP5LClRxQlY0my;7jZhVW{ghy
z{HR%8CUYTLIfL~}Y`d`{9KNm<YrThe^eYa^CGDsKAd|!E<{1z*GL2p_u-k{1Pepgx
zgfb(aE!zIpBx=Hz@DnF<hJDm`r&uQ5wp`r;kmetLw`!rLl<qBcUX1dM!O`xOI{c(|
zzq!s`qFY$<!x43VOYkh`e{*&{a=<o>$;v<6Cp+@DbT?E>fUW1v577;0Q^M(7!Z;46
zz(7AE<i9m_UnXoftI6~cz;PAe`MG)>H+0-^WrSQho5^zPXiAkI((l&Gdy0F4z6sw3
z_*>g1^Y$>nd${vsvf;iaW_*lOtrC|=(%JXT{~hpZOcX~PyNu}@IkiF@9lZJ++h#4x
zCUDN(=fS5V_4>%@<8s8VQBZ>~u|gK5nemsy5~g}3Of7cMZ-UKJ-VlKLv{{`H$?EC1
z)mK8~b5Ow79fOyng!Q+j-%YgBlnbG&3$}Ap{Dyme^Rb!2{wKVeK#QJT9DTZI96ODF
z9=rqNivklD?Bp@XMV)KG;!ws8nCmNaZ+}EiahT5u(|4uRk$4;{e)4$!<DW-m%Lf7*
z8ItDd@B}FL<7?&kjGv(MY`C93d~MEmhs>I^U%V=ukJwv+z&3Hk&rv@fAFXZ@z9Bec
z^UbZLk$f}=N`|}NewY5aie-Rt{%pNA>qvP%dzxZJ1tmp4>{8SYWE5wbm*2sS_K*)P
z;zMl^-@$v;&dVh*ic0rQ#{~IISG^(<_12!_BM#lyw5q?4gbLrY#>~>vr12-@VhL=?
z(m2gw>t<0qW0mZtcOT=r+@nw8;$&%;rGAK_<nq0T>GMv&H4O9c7KneoS$qj9=O*xA
zTY41jH_b8RR>)wPQm08;@}+$<N}c7Mh659Er|6EIq7?yO0MiM<IP&M0xk-{$B7rlR
zrLP1iSeWaM3~9aV%<Gp0ShENvXwKF+(Dyt@z4cbr!Ie9g@cmw`s%&+1!mF1iQk>T{
z^BTM>*SLnPNh4h&Wf|!|RmQ35(T5Yu1T3|{6&tgE->zcMl{j!SjTg<XWL9?xz{7*R
z5xYuVnspQ((%D^MTprKk9$m#~!<tvXXYS!qJ(cDauRJaaPur_(FbZwRsaSW)mF7@B
zjY}g2n+|<~Jrp!dwZpp7YA74-3{!XJ9>*`}^CvfMY9VMEa4lpuy+W%AeRi)nHVb^2
zwtRTsW3QB({m?Nt$v$Nnq|>u$h(cpr((5OS3>iL^D1FME$yKNzRGfh|lRnOrAS;C+
zAr?bYM$XkUA>^rr)LL59y_8vZOo0bK+WJ-Z(Ml`m(!l(l@#t0zr11P>L=Z}<XZjQO
zx<p{3ZS9FUl>Xgj+%LtBy3#F6G_DAMY<Hh+dUVM)K1y@j+!54f<O3EzVpOd=*=kz~
zO)z>c#3UW7Tdsfxp4*SUBsOTsotA-N!FmVIsPRT>wR>*1E$EpI>?B=oAf;V_Blcru
zUn2#5<D~iFA#?d6McutJ8fMi;9l|=%NP7k9J<s{(!FRSA5L2oD=IV(I53Pa#_2ocy
zFpeirDJbiA&{S>&H2<3Gi$M^~5zcRjTFP|`s7)2gz_-RzCzwNeP6@=<E&qLnW021e
zAlVud@(^(QZ&>LS4{|lJ#{O7Z4fgCD<vG1dkf^S-HA54v_}mL@aY<T6u*-{!4?X0@
zh%PwT7$E-QqD-o-6mP1tl0fvaUo^&<o%|47y=0jwg)6!sk+#?X7eMI0x`X;#ezqUH
z`)Rfw<cR^&_JcC?b=M@)2GB7@jbZn_9=!#2_V1kW?M`{IWINx6(8zM1jjcIb_`U-b
z07#c~8pF0i23tX<eaLH{R}hRt21X7BNLDtS0p{~;3`721oE|MPZj(<0rK_wIIxTJx
zN-#Q%#Sh3`IYX4aeyNl(wrZMSzml6zPwLmdlT?x)A5!li=8_MHcew(ovKgJ3VM&<A
zl}(K%zFgy3k{rCU9v(-TkGeXNJZl+Pvoink3gW7k>@Pu8N@9EXSo_7c1YYhI^JSnI
z-=NFie#~bK(LN5IH)!@N=@cd91>71QLU=d9D@g?<SF4B^Q+0fE1R7n^YJL?Q)x%&O
ztetqOFbQEFCc*pu@KyRZ|AH)k!Nl|my5&w%)-_owWHixJlAWiF#$Kdyi^y(O5+(Rm
z?1t>*BJxWY4@pUZX_l5w9hC;5kcgsGi@sfNhEfm>Qv@E&7^^HHVs^sggWMo{LvhHY
zD#?PGsd^&C5$!dZxK}O-vlDQo_!c^)*WL=JKv7TWlUrm~YORbKfg;iE<f%v8s(nZ?
zCE5+W;2n$5AV-e37$i1FDfTXF-v`WmaTujx@L~?eM#c|m*?b~HBFmxN{!WGOx>qHj
z9EIA_z-a_J=3J@YV0l5;bA7bj+{id&GIZ!^Z=JM#v$DJ~G`!dyF*L*p*Bgb_L60k=
z0NT`LKDhDSDZ)%2Y9R;J0Yl>w4`872v0|rB_tpm7(0EOeZMH>C<tl7=-1TiL@8DGV
z`UjT<+ZL1~T=c4y#pb!dFF?iu&!rYj8cj_M><tdedy7ZXp{RyLKY_@;_1QmfSgJX2
zU0xoV=LUQ+MYEFrX<X_18eZC3lC}tuEZ;1k1iQ}Y42By!R(yGAc)oGwRv3d2VUX#X
zO@D=-QM&_kmPNS1*K!o&X)bD{!w(YHQ!W<x<Ykr=r>nvGlTn}1E7b6W5j(%WRD94S
z<Sr#ONOWSF&s8|cD;%fvr5K&XgFK=r<(lvPIG66J&|GBXK^+8hiMHcorY~!<d~mFE
zz8P#E0}gsA{@P~L(Z0bwKPNyaN1<e4-RCdIY|F*VEEucGSt_Vs**lFg%<IZ@o0gc8
z49KTWE4%vjSf#5ykv0=zwNSV#{h%Lev=|-Yc!;R})R2J7PjRop{@}@z;2-pocE~0>
z{h@~B=KcOGC*GjAJw4yjwmX>UQ;2@6->-Ix{BbE;7;erUG3Gm(9<t=gKkxl;2z`~z
z3KR`g9dWKySRbo=H&LvdWGq4Bjk1-T{N=|Q_)v8FcWfS3hN_8|Id7Dw%KaS^Vx6R0
zDR1^=-f`-iJ~_vni1JKYy7v4i_mgoAeHzQr&;_wt%xVh1{Q1b0NtXT>L_s^o@W1X8
zj-`1Gf4o$lAyJSG9^8_{+g{)F(rvb#YxZeOWfQ>l_+Sqzdx#P+zp=AhQn7S(z+F5^
z=21b28-YJ3uWE)7X9@9L6}WxxpAokg>9)-)0LCAx->>+MArcC64nNt4;vO6><*9$2
zmNNLgS;`w*U6ldx(P8NFdZHp($-y!iOaw*DnHbGHA<DRtNYBt8AoY0hZJF3)uHPXF
zOS?hqh39@oSgM=(=q0K=Oyd1rfe8K>#|&`E1r~I3yjb(2^E&thI=9j`x52QZpGY*M
zW_E+DYzuJ=grUtf*v6bBWu!bUZla^k#^_&eZr;$rvT^pMUcM9hibe}|aWfWsj^;|i
z1%+&N2f7awAZ~K$bHZ0lBCn!mQ1@hHNTi#vHIkDM@cHmY4|;tb6VAcEIU1FKg(|p8
zpm7KSZpTR!uh1-<$yi=nSrMmrVABOccK}-RW(Ht89p}+yF3EKI63$QDKGCdD^LC5<
zwP*DX6#$dB%B8^(JrOfR5=^`+qz7=3%Q2rHq%`PL8DFPv4PmUldBG7k=G%9R%7Zj~
zIfQ~^*7+G}b(uz6v!g3JdFUcpvQx*!W7+CaB!!7^^7kFWDS6_w6H9*4D5!9nXAwaC
zYKJuX_PQej<Q?a6FO}e-jYN`VStwMg4ihFD8OC2^@~u0><(Dg-xtuIOOumXDBCGuS
z`z^Z>08IhHd`L>wkc$+f%GZ&Xk4RIYDg%`5+-kQ)CQW0bHmoW8Rr^5m(w9J_=wu=W
ztgF9k7gP^gihGy&R}?a5y)*4re8$RSD6SM@h0DV$*#OrXPY0${l0VHtApmKts6xy6
zq!vC)&)47EZpg;hzFTXe{<W9&MHQnX@Y&kV_v#Hr`uLTbd)53RsjL~0)e?JYmp|Ax
zaE2N>YqzFD1yb^nyQeI#S&B_QYR8T40I|3Lcj6gykPZ7))EiBo;}y~}g<MlfLuv^m
zcrf{(R4lASk;X@z_}%bbS<0Byf%*i*HyG1-Ay)yBcR5^eQcW2u_(sTH_ZTg;LRn|<
zwV!p)a12X2l=VF?m4iZo+HO0Q*95F>%J)!^tIp$>AyAQ#mk|jQMN0}LUT@9|XP&s*
zS2Gfaxu!U;9pL^g%wc<EtR<mP$COe^Fy(y4tjC_IO_3e*8wpO7ke}?(0Fqq6ngkX4
zNd5duEB{&%e`C8SS>*Qmw#l2+m*;MI7jp=SYN?O-`i#{|hRVXQs_3i83u-c?$EK@d
z=JZOv>5LAL#~M!U*|P~`L|}(K7<tHuQ;ytwY6QBDMhAKj@J=#X!a3~s_0$7Ol1N#c
zr-V;cEwywTP&7yicT#Blo!Z<r$muR;q}{EfMq~G+Ot>XixGNv4EyaCS#3fG$#T2B)
z@)N9-VGip+?R-NyFlnaVf_)C5M4Al*TJBLOzaO~R>QIf_Uf^1a1>pm1+PY_k^6CO=
z@w(<kc_#m{CH`4S6xC&XzKo!W@z2bXJ0(!Rk|GT%2lOwu65E?(FcyQ?dUWk#P+??`
z&*h81nm+srkUOw^yr~cGZ>RX6xbhQbz3P|H(x7w0g`b?rgDU{F7kE4BCtKd%(HzF|
zSKHJ2OJU=pbU(svXrc6&{w*jsJBQZNNWYQ@2oLpU?=`B|zctztvf)Va<$>w#l^<Y1
z5F8$x++zr=ih<k^TAg`j#)%&}6qfZz?2G{hhHZQbVa;z-8R)NN&lwq0tDo54Z*?OJ
zT9@IfRD%0UWC9h>Ov;6@rl&v*w@+1S5}Nj}g$EIF>|jr;mD^n^G5$>}HUYik4we;9
z1!dlR=)#Z3+QrQpkSZ)c7_m(R!e}}}nwAXNw<!2u4E8_pw}l8q;bEU;`G;@TcuhvP
zxZc_(A@uyU3^teRdFJGnda2E!uD5i1I<&;<i5@0F5y*XY`7qFgQ$CgZ;baIoUw=_y
z?)Y-?(<|?201MHNM<*Ki7=ImW&m|rEwPF+ESG2)Giv1KVb%@13w%DcAY%aHYcot|a
z#VOiUzA!n_?$W3=_M4y{gQHsqTJ~3`?lBr5M|sX0Yp8M)3GWC9^2!IG6!X*I%gRVc
zro^Iew<`gL$>K<BB+rJ>yT{O2uz}&?630J(T7W^y4SOlLg@4TTiwu|)FFBOcv?5z)
z|C`k%59wdYg_7;<se+x=Qsy~KKu0}I_xPPXzOtB)GlS<X%z#aqYJ=hwLm#B(4zC7L
zuCQTge<~AssoNfM8p7%ayyd@Mcj5tY7YMX(+#kie<EbxTn5>V4cu~8ja!Q9HE@$u4
zEbxJ-1O>mLqzXZl@4<TP*xOf;r#ep%IIXOk^tHf>?hA{*^hO<oJSIg;X=t~U1<iB_
zcR-S4l}R9SA2=Qg>bU9&<e&uz(2jcJZiHAu_>&SZN^phrTI`V7;~?=?nR9X&O^+z!
zb<dh6Yboo2E8<bj>>X(|m&?Nn=KbFsGxVIzkmivE`HK`YBNFl(;l$83p~k@mtC9E&
zh0Q)zPprIV_i>8JBj1{>(L&m%fVgf>ZnFJa=MBfcf(Ok==GrbUSJ4kvU8r59s2_)q
z{NZ?*mlGwxSyB$qrENGr$Vq6E(t34y&HqV4G7q-CuMzkG1x>rocnXRsdm6`pc&*=a
zC@t?<<2=fLLsqj^W&XZIGHaIc%|MQ(*}5N;zj6I=Ocx|X5OsUb`*}C=NjwDphjcHf
z!_IaMvThuN;B%W0&ugBRRe2-G=iD+lDkhSnWCrc2K$9mcOe+3T^{Q#Ew1p*cg*}!=
zo!rbzsp&~!0etkhsqr8UizbWU()BtTwub{LKN@e?fBPti5@DtLxSI1VD<njlowZF*
z1$sQyoCdl!oI(g2iD&(;R`9xSOdStq#d*W3@<5bv5SSbYv=cTMczfzaUQ<fM5z#0s
z!ejC~6g2_ZkkJqXgbB&wOXd+dTR78h{dZ^`lul9^KiA(W@r&<0X{e%JDzmu>X9ZiC
zpx|uN!)S;#{i{#do^$wCJ)Cr${y3Twwzb=)H_ZB!?eUmus=xCjCHE6`StJ;FWe>C#
zlVk8=!VAlI+mDUNv$gl`!}23AJ3JVHA*HPFSn>Rzs@ZW8&%4SC<4o=6_OEZZaiZf-
zg)$Gc5?18={uST6s7V3xO}{z1)3FoqY<K^~;m0%ck7IuSp6`YUGVs;bNLc}Z)&E@=
zm=Su>?VQ~jIPRbSxc~j12=q_zKmG?;{m1{vi*o&s|B?00Y$jX%k0$^3fBrpz(SQEO
z|Cs-lybH8{L;i34zyJODhYCZ~|L5_){{BP#*K7XI$NzfG^RM;%=i9#z|L6LufBY@_
zx4#wq`#<-k|F8e$f3Ebu{qrAX)A#@W&v6=yfBs{dldRd^_QL=C$GR<3SN!`w{|of5
zpZ{F&Z+$ZsSu+3oKhu5N{$ESmsTu$MpF^`1%l}^fuV;Pp-o2ghznA|1*Yj^@lmE5t
zU9c_5xR%p0yziB4OLP5K_`gH%FZ|#Cw(`CGxBs)N-hcV)81g^w-rGM^=s)kEw?qE5
zh5xqf{kt*6EA&&I|MMS5k!{oRZ^cXE+4jFS|9|bFf8Exj`j7wX{{c`-2M8#0oBfSp
z0RSe}0RT`-0|XQR2nYxOc!rBh0000000000000008vp<RcW7^HWkPRcc};I*Wo$1*
zd2V5CX=8IPb9QI6x@VKaNMa@US2}vXtOC;m?{w3%0T051@c0IA2=9qsf2fvvG}_a}
z#YJdY!AcNJrg@q9Ocnq3zplRf<tUc58HeA0h5riu`b#lnW8Mta@4tGk_#5@>|N8si
z)}#96Z1S!C{Z|zFD@`F--~akcT{Km_{ij<;Q=II0{r)TT3-k*N!#~eoe|h>C*57}v
zw{7}Y5IoQGuP6G~aj8HAf*|l|{NJnm>(w>G=fA25(=-kK@$RpG|6BD-*>v6SzYgP2
z{QAqfE#s&7{nxZhvd^C{fBW~*KAr#6{cYL1r%G`Y!<gs)sPwc~WXbgVuj{-gOYxuX
zw`21Fl0F~l{^&C6n(4PG`Dygu`u*oIj8l>|+xL(D{v6LgkM6gBRCw^+mSkAVap`~m
zwNJLCx&9~o7wGx<<M+Qjo&EIkOaA+>`t$l1?LqL*;s;O-`m=z3x&Q0g9YwZ{%Wp+l
zJ{SK!5b*DR1FOIPEicOT?|=K5i}lk<^Yrrb0{!P+e?$KA8}f7r(f=r)=P%lG|IhNd
zfB(_spDjI?|JL+>0%~8n|M@@uX#ZdS#Or@Re?0zu;Qs;3U#b5#6p_Cm{|QAHBL9N@
z8-Un9;fVdCfXJU&lK*jm{r4e@{U1ga`wwKxKOX-(vhe>gT>ou%K5#+*1RwNg@!z;R
zsekSjC9uCBKkG)q|0rRE`bGPB;~y8#JO966r2ggq`#}F=>;CWTk?z~}UvNj?Y{l}A
z`+vOZny2{vSLFYRJp5lU*Z=!c{Du<GR)OiC^=SH}D*nO65Bk6UGA+egEJwkt(}VFl
z*_!dsiT&C7Pql}pAFQ78hgbi#UW)SfU-M*3{`HS0!D*=euQXYU2hPT4&G!kZQZ+Kq
z!*IM>@T%vkw4Yxx#4*uR@*2DW>Q4nOWM4t3KUXODQy)BKs999yxvm(Y6KwyD4d$0F
z(z6Tv@BpIqM#JG{B5pC5#k%P8IyTW5H?=x4POauZtNCk&)_Njpz8@TN3(+wUaXU2D
zbg6z{sx`67X^UO`d5zaJ%QrjUbF1EZv)<%=SuxfE7=B_gRj6B;7J^fnnFLBCsN*!0
zu84eWVr~Is^J!$O1ekZB2#v3HT>Ty^WOLOucNBa4c)01x;u?!4>H-Vcyj6I<)JlOC
zFP8;osY*4oC3;v+4C2bu#htPDW@c#Ww++~@@10%&5nyG)BcUYVUZMz@Q?bRY2zmCA
zP+nr8u_xmUP?!W>7#cXsxxECM8JyaYg{LW}w>yEX+RE@01e=b!ezf#83Z1PqtF2Zu
z$YHK>3iRva)V{#cf}=3wsGyx^zegY5A+BgfbHU~<Vv^<)Vd8;w`B9u2{(gNvipN?V
zQxTLnF>ola*ce>jB7RR8Y`+#BvhxZ_&n0u(F#tG>2NuqDPp%{^C18%X&=JC?Vpk^G
z&?fC7?U;nd8pA0c3Y;7aqvYuQ#Q^&|0q)*r0H_Ey)@&55GDJqJ{M0mOMrl25Wl+Y~
zLZ&Mn2@|dDIMzB6Ddwn!4$qvCE0g*)s?@7J`3>#T05d?$zl9yP6!Je!vSzuef3BTG
zU*R@ZXcER0V{LLb+wR!7iDJHLxlS2dUKSCJZuu7HPF1XEWIlJEe$p39J)amd0fCAi
zJhqoC+Wtqzu4kv8;SqoEC_xi(6iJ(KMi|yoL*d69H&^yBCzm;LL4tJ!VvS7~h4VUx
zb2ZQ^%QzVIkIU@9xy+Fz=P!6Pa(MSLwq!K)t!y%vGj3}0J_iaT^P)6#2$MCQa`f|#
zH`IC1zL!C(+jx8isdH(tQwsX@BXd6E(oWyhLo?b;!6vU7qB4o--g@4CeOlQz@Exb8
zp$X=?#<YgRY6=+`YhnsLQ4gTS{DOsxfVxK3Z46#&bE`!*Y$7MjYmqOa@jK5lVK<Sn
zfQ-bol|uB}=}-Zrov7Av7Ka^uM{zXdZsQNu{<!iRfn*Hnax)cT+E_64Au`1k<SCdk
z`VN(N%7~D7Fc7Vs*1jtqx`YuDo;><yJLcKH_V)P%p;;ZH%5o?hNHoP@8ktlygUaF-
zd6t1iIXsg)!Zj!UA}*e+GlwSo=w_T;`|SCJW~q~UijRI9e{O&FTi-OAb_B$WB@i(n
zzxFpzi&qgBQlZLZ+02|HuyMALs==UjdV2ejvpebZ^5G;O&?}lBylnwVT`5WAf_wH9
zn^wkQT01cUNeG`RgpO#P579V?oZVs&CP03tu;&KMj!QjwYvMy5#8~;yhgAVi$2TS?
z@F^5bU+@`+zEVsJJID=2pFrG{4iHtN2hTRJS0V0LhKg{;fUXh)jOB}MXEU^yo!?yD
z(mWX!W#vWG9xV=Js)3orNb0-V^n4N6a1qjZwRGX>WkbpU&W%*q#HlUCJ6{OI15Na0
z7R%=9c@!Q-GPB%WyCKKMZ}fCI7-tXe9RQTHGkO1|H{|P-ITd}9@qE@jP@U0V=~&vR
z{23(8pQjE3GbrBrt!+^-NLPleY7OR}OlDDO>DQ^wDnsXSwBke7!OiaAh2Fi*kgKaw
zn_oowak?qi0&%)lAA5=Gm<M*5zHckCriE>1cp}->h^%dtdW%m2``fMwsH#gG_&A&e
z{ajhn^xC7)!Ru1(#SP8;1pRmbdB#x>jVzc#6K^Hmb6}3n0?{euIt%vjtsfD(Toz8_
zP$q>ooE?~pjtK?)h`}Cu{t50*veI5?eReCe6ft+kcKR?&*QeUaQQqb%`GuqRvL75^
z?GX8)N(X<f$-p}l#>A}2*f|o1EOdaS<_}oRGsp;dquqVSh#w~rGlc;L<(!4%3+wE{
z`L2BlTvhjs`vo6r#RHUq9m@jT%-zGq;XXbGM7@+1tzku5+WJs<o$40_2WSkL>@m3#
z+vyPin3|SYvBJ&rI-VNl)!57w9CNsG0Hj^}L81jiM7yc8U76bv*2;vvKEMm}Lc6mC
z%JY)+%3SoNL0<x}oX|gHMI+E=m@FL8pcIWYj>2dZlf8qW>@?gY(aJX%QorI5_Io9P
z`HqdHwK!58cxF3D(0oA1^+}!G5~D}xD0uwvJ81-Bmj)q!12;bxre>ObI$$pqci$Ar
zqBRtg2H;->z6FWvPPJX{cwmfLmY-y9*chHJGGlRQJgeV65HLUd(X7X?%-9sCz2~8I
zMg!^F2cNC!gL+02-wLiFovGN}!b3jQaug%p;Bpnj_2S=_rS+ypfAMNEtR>br&lU<T
zM}WcaDI$)GP^LSU+~{<Xg!;nE6EFuD7S{J*Z|va1=Fk@68^ZFI4JGLHQoJMbs76ZG
z?vAwgdPIe^BMCYC!G1gIG}KnCo+9!3Y$B@-Z6tXHU^d`lvX-?Z`a}WnM|d$=_mM4>
zPGyuNQ`?I4cwzaAF3zjmLp_bT(-$g~Y2%p-14?<Uxy~$G6EY{KyH|N(lDQOSOrh-^
zA5!;)^8S5RsGPMmvT|mx+Je*w{(eRIbmRwP6?pJ?2;^;f3lok_MW}o!FXrXbR9uB1
zhCfIt^%M<OW^cV-0sBtsT#df_4@5?vW&z0XeYi|QfOBn<TkoA_ZY9m*?MBF$4(pcE
z@zkM##7rr^Ys{e%YP_|jmebT5A_4TI9}WE4qq^3vDerZ|gEWBn6d>!%!y6Mx?aOxW
zVo#9!`64!y(M#H9sAGDz&AwGAhOJwLzXLvL@{@aU&wQB#1JIX{wrJKQz*kz%5|S2n
z+JPFz_)yd#WL%LR?#ZPUNM@Kn)T8_Q`)!x_H_6n(pylr1CXGOvM{SMo$Rp(1Hb9n<
zkP*JWR&l{!U1m^dl8xE5kzyBpx?gd`_Gj#K6fTkOclrqev<Fauv%1$(7IyXmS~w;i
z-WT*gv|H82mkiE`qW}*=8elx<a9Rn-f%n+e&80n(%CX4oRD0<*3i*>vqQ(xz6_MMm
z-dJK1BC;wTZy=GFnHmXP(gooxk}`epl^##^Wpm2gxx9LGk5W7iBvr3u>4F7y<--*q
z4sjZQPjv9%C<tD+J{jz>jmsQ*A;rDa$=Qgn<mzAtrII%oBX8xZ<&WpQtY89$$=S`|
z;e`qrSfN3%^i8_LqrJ;+^wz%E3fVu7{qaco<B^W!?6<74UNI1Bh4o+z%EJKP(zC?<
zA)iE6;YHR#A$q-n*p|b<s#9aqG;^t&@GOY}KHjVYDAhb<Gs?TLk6`#Xna?4sUvEl^
z<%cLdXF=1Ev>M`6U=AD<j{#G~GZgN?VVJ^9OZ#JeTaL`+E;H85$_qYG?^UT!*lR0y
zOVl^YnD@gbR$*)ffGp4A!(|SO1~~=au_e*S7Qx*A<YC!gXG<&dk2iRh(-}oNfJVgS
zF3O!Fw=8msKo6o|-J77fbPmYU+jc<@2eEY#Z|(IaIWZ*HT?+ZE5{rfc&3&;E7LT-G
zAZt1vI|vrFd2`tl5^$EiZCs=djDb%Wz)1;X^HS~%=14Wi9&GJe@y9vm9G&o`lmN9{
zf<f44hYS~qp-_D3^jWrQ1<kv18Q${|N=C3@`U`4-d$yg{UqTVFqg07Ygo=sEq!U+q
z_7>{H^tLi@>P=2!LIx6vU8_h}?%ZLkGfFg37gym^FAywzA2b(IMA<2+3@eQ2cNn7`
z=i@1`pu-uU4B~$=`Y8I$4A{Gg&8}Lf?fizz_(;@Iey#CZu_#h`hOzjv4o)5x<{SDV
zB2<HfojwceKRRH{Kvl^&wPQsNJaSzEE1o>El|}m0%i8^AT_}<W$;I<g9(goZ{p;SJ
zq)psq)#pz1YSc6<d8r2v&69IueIm_W)mTr*B&$__a8%sS1CdHfH0k^{9=VeVR^eoJ
zxfKf26Ikia?4GdHnR&Sd-yANTZ>(jdh76!kSK6DnMN@cl%eS0Fh{UULJxU~F9cuSe
zJR;SSIy_7I6n+rQ$R`81>|MyB>&o*UO`C&#7TL~+9ZyQ&t!>WH5yi_Q+(WqK(VZY=
z^tI$|Y|7(rQP^qfC<`^?KH*5c7Y(FwIG{j{)-n3q@nw>1-((47_qyNI{^KvbtW?CA
z|E5R+G*W3k$yi6v1}q$8>nyG_f#R**9L%2!uD&>wYM>QWhK)&E7l64rl$)6auHqw)
zAOvoiPm9VX_8udnuERAMGs9m&XLte~D!HKJQ{2Gv#Fr<wgu@FCVEE3c$PjU6d*gKm
zadQoXar?q()uXQf*LgZ`?qohtEt%6#a~v}LwpUlMd28E<_7u^?C0}$lAGvoq=LcoV
zQ|~WI4Kxs+G*}!v+W^mT40w^cJ$Qh&8r87u()aKfZXImx7%x)7vU<q8I3WjU_n!9F
zE|50H@C{3S+KWANe{p3yn7zH>mPP7j@7kHyZA=2J0VU*|nI346AxoJ02b3^jHkUK?
zwKL<j`1BrZMub+ETBS&J)wVd5<+jJ78d;VC2@h3R<8WAHTkukbPBHO>Zen<B#Ab>%
z=)N`)Gn{y{>!}B%A*5+CQa{wN6WR#9AlBrUYB@ZckQ3;XPAK3)s?Jy7yC7(zY*(@&
z0s?zVkRLWQ(^OU)Qqw@D&JC2oxNLfV4~VSK-u*h_Oz+20E6I1QTg1#f!-uyAmv`1v
z6?)!u9Gcg$6a|~o-&4&$Iu|~P;(8VWb}}x-DIEj8^_h@s@a2FMD0s}j7Szs3)fANk
zMOw9ziMlr2-K_e<6+|ROEL@iFfOu9Vwit^cwjaI*DWQvkt&IX?(J5eyT=XG_&)W-_
zvbB!&a=%5<r5hD9jDMC@S_nn5(d)ij3mfjV0Avsz*%+&c<LmojfiZd?Sx-ln`7s{*
z0cKB1&hPKmbo%}E&K9<Y#|O8d>QQ~CS4740AU27dg^NrmX5gV*Bnp2d2g5Mq!&yy&
z!SoYQ&to;D2OX;-qPz4at^aH(@$MLwwy|om1Qq#Ka<$Y3ewb12J;we?p<e@fSyo3{
zm##?_m^v`OfQ8s<rKxSVe)=k?JBL&`0Ov9@z3R55v0-6`d9vlGgToh=u_hMG{U@U_
zU{9#Vn3jN!6puX;THwCtYQo=9u3mjC9HhHYbQL*0TO>MU_y+@oavsPb^<juMYgU?A
ztm(;?Ewbd_e%LH+HQ>6yA+2DI%m~@gE$U@?WkfAtE-LXuYFd2-m!&e69v*#`(l>tc
zWa?~$j_#WAoP7|3LyeJ85QtZ5RU>6@+3Q&pj&3j<?^-}avYRtX*cigy1k=vt86Ksm
zc#qV=nlqY=Ink-4^I7kVMh|gd(0uKFw0G$~M?1fXGec!R^<U_rBOmh}R-1UeA(SUO
zwaI_}B%x)VSH6TjuSbdEi?pIaT*h_`Bgl`RkcOxAetHPe$n*g3s~4+$!AV;K?bYpb
z#YU%(SwOj&+A6|(0VU^a-%$Q>3kR}mnw3-ObkR*+;pk{Oa>u0pX7z^=^m$A`RRE5$
z{TLwVBl3@Ek~`oRga`sF3WFTbelh5~i$crd#KCLrVTa7pJ1giT*;m!=0Lcy3WK(;<
ziDj&Zdz01r98TK66b{XdMSlkc62^Ob6rXcgzb)>8sE$lB^8yDJ|CGp>&PF{?$cH1z
zKk!IBTT{6T&X9nNlQnZB5#Yj>ERg6R03g~R)zyjQ%Ae3VCO1g<{yv4q5l8F612B-O
zOh_$tn5zCwZ$3Qj{>Fxx7BGHt8z(??GqUyUux}#YCbZnU?yw{Y2Y78u+JlEckpdYT
zcfa5rb{@+S@{e3xPp&Td&miB=iAo-);wv}T5}78L)g%I4g6KSuen-~KC$1ctqv=bl
z=mA35jO8qLX(!^Bg}&i~LDPMId2vXT44uCgt127lA(|4WXlYBR<WAnf<ClUjF*PJY
zyvFxspqAL}RyBu)2pU5fp!fOeMBd<g_d=}}8t*SWZ&A(*fS<Ikv$<-e1~j+-WXg^^
z)s^1^*9z#88FFa&XwGA}r3aQ-uK8l!GIHHPcSZy*VYy=ShnEyIDa>~40nK$zzD9%5
zz^h6>(s6y(kJk_P{6&x|*rxu8!SCo)-{dRAZ#_aoqYePwtXNF@fQpFFxlYI?`$)Xm
zQOGlo71<4*B4pC`m&{+R+KT*bNe=QIUZ4FTl&tgvwGs)3a<h{m=spvkC~+Hhzif<#
z<M6!zz<XWVkfA)gq79OeqPZ`e&Wm2J6x5uDpT0oC#XAy?p?0C6wh)*xv0;5zvfF8t
zfj$gT?<59Ej0{@Q>r{8=+HzP62-*D}y$zPudQ#4{!!mO`<6%SsqWp|970mQto(!2g
z@Ga~B@kZ+sOMra$*!cz<-Camyse<(bK7$^|#y8dP0*cP*lcx`XY8*pPgZ+FIa?w1+
z0k;^xDwu+kj^cJ-P-hV6fW%)Ge+4!Oe5ssy$uAk>=pcIX@Z?TUl&8<JCyI!XfrJ#E
zagYbR06Iy3U27l{Wzc{M2=j>m(j#{h4xwFO2NR^To|{Lhjzjo(0FG&ZD3SKl6RrZs
zbZHousb#cd;Ow|sc+|NuCm@Fw*|*>^^a-X}H3Qn-d3W!7n?4P_8X;FjNxW~3zY5&8
z&nE~P2fiz?<-bZZ^uK%n=68jNYytvl@NKF<(~K8!mD?d3YW>azZLM7XrEfZ}gp*t^
z4Y@qYWxBRudc{1m>|dGkYh`54JF&?VKr%AQNSloTeI|47$#AJQj5kvf$$Cz=RzdE&
zTRQYeT=xpkI-rK=A<0PzV4;bJT(guBW1yP(_RbuB6F6xl*TSVbgbwRG`dr2$#z4cn
zfxksqFHt$QOUCZ_6yhle1M*0JfM|_ZjilxrpY@V4RBT7QkGDNO%79(nedG9{eEB^c
zbHKbp0vr;bP$VM%X!BVa$+aQx`J?Hw)Z>Q+BezGS<J6)9+3$YfIlb(tJl9s1O2ZMt
zD=W$~=JI;-beVr2E!ERd$#*0IR__q;WR!^!0-<l%eifp7B<z(ad&I#Q5IPU=M>GSS
zQwUoAO*RTmz4a<$(?;IadypCfKH`S3J~NnFQL-*?<Aq?>1k-UITCAZj4lLT?4zmgB
zHiCA2uq@It+@0`^lH>;A=bML^a|r4Z4a+CDcmgrP4s$rtmwDehU-)<x`TN%TDD~Eb
zvdCO6<+sG@#dD8>Zyj}gUPtWLY8t;P7isL}RJU;5`gqd8-ykU)WqKywWpau!YsS8X
z2GYCosy<RrwVb)2tBSyL*iL5HHanl|W%dvf0eoH2y_`Xqd0CrDDV-MT-O&4I!DpXF
zcDxEQtD|*v8;Wa~c2w4=4f2y9HE2G#MCGV80MWA8Mb`Mr)m5I!-a)g;2Ik99W)`t{
zX1~{qA22Z1kP9ip_<FAi4D0XjszjFB(PLlEHF|mELmr*e!#2KZQ<q?GcAf#A-$Zl;
zE2WEP!9xpJ;PaAOkAlj-x(}y>wuNCzP=!|$n-Bpi;ncS>aoZ7!)vTKGywxukCA}vq
z3wz`1Mu%J{f#YC$3<H|&Kp9(Wp$oo*U<#A(CjKpR<4aqkc<sCH?82NPp4FNTG{ydE
zsJQC@r5L7)ekp2--{rExJJvOiG(&;zu;#hwi3dkqX~nM@;x9^uO5;VPNVaKXNIL@2
zVg+a=XkeVH@FBw4O{JP~ztX{!H|LF=;Ju`_9;9=mB5~(eRTO<}&F>DAA}w!%>^dy`
zLoAqGrV4fI&#>o|xhbe~nK!Xrien9~Zxt-krE4IVIa1KV7<<g|*oI16jTb6Se4vN>
zrS|Qs@Hui4$Yk!~a(dF%V_NcbHY=|a9eCCJW4?}h7pzxuvW2R3X&B0HBr_0L9WQTH
z+A7_)*$3!1*S*q}J5r{BbK{Nic}Fj@H)pyE!@(ySqhLaJ75rk1nAQ$hr3CE0SRH%>
zjXYf*1~^BZ7<bIG?p=16&BDl(dnjiQ&INo6l+n7iIECip1DZ;qV>VKIh8IuzqBELU
zcfKwy-fD5&ei0^W!ZdgCrdDfc`Kp5*o^$ehC>a=I$fYb{IGc3wea|qJc^}a=wuGkz
zkwh184{gXbGVz9(eA$4V2c7J|22P!NUl2b;FP5Bib~jbm>HCY}U4g82BkQK-4HMFX
z_9}|2Umv!!#0C|<(=rPZx};t^VmyZf3yz~$BuEX64Q4@739|{w;#V9~$1_jaT$q9b
zhq<4G?lvUQoNmU&+qU#`kims+^FYwc@I$X&w9DCE^R?gi$u2$lq!MU^pA23)x%pTz
zg3rbGB^#K8?DkY*DeJSZdf6Ii6)%}`x!zdXy_eS~CQ@&Tz+NS`UsynLOF6LBM3Pgy
z>MlsyH|E01<20vj4rxy}F`V|dQN^<Qbm!Iiutnd-r*T7pvOEE_E_+Gk_w&QCUc1q<
z_pv3KgwrKQNQ+TFfbN_<xN~b}4jXZDPr_LBP~P5@h9q^|-?dvCPI$VYqH)@`)E(Y+
zSM&{ejv$83Av`z6$|{eDhf<wUNu*AIS93}ANtRRc!l(S}w}dKwI8;x<D@4aCf~_Y$
zU+az+T|K<%<x{G!AVCI&p3uqHp$Re4dv9>`uCfHL7HxaN1du&4Jx*&OAuHT%eo=p^
z`C)<P++Znbb04*vq3}NYKJ{^-hADidZcs!fmjU>m_-Z;S*@-FLH$8)l;CSr2%*cl_
zY2~xOnHy7&CE0G~S;miND^NmvT84P^cc^jS{|-(y@sE1g2#hSz^c-dKE$CB6fC(S&
zL@|zL#tzipW48I~q#S0ZC*MMaqC!MJ(wxo#C&W{|^jWfid<h1}lg%`(%0i^!{ZbDC
z?cl_YsmI4jDkBkHKKl6LLDAPz=HNoRaC;+_RScREN465!lA!q~33(1%y4#UYKDiJr
zRG$X?h8O?D;rT+_1qGkbg~-T_eL4uTQ#YFl<Rf)SPbY-8h*gaHBt5@l%5>jG4SHtL
zCilo%BTJw{HAZmojZ{>ESE!_oPlCn@YmTL|5s<shDruVX^p?7;{!0Ef(N0uq%v8vM
z4HM--?)LodXH@&L2%RkL83}ulkiNSdtr}E%WERBnf-4^{l?VxdT-1PYBcavh4*07)
zS?@MkdYN5<FPtWDvE@B0`kAvPv@GSz)|o7u#FzPAq7R)KNLQ01Ezfq@N|7Mky*>y&
zdx;cH1g!wdl)995;<m;cM{R|2>v(-q8MFfk^sORLYvYM@k(_MSA=hC|6_T?)bwK9b
zsdj1F7`_SsnqqGbm3|hkfXpN|mrdm2-s>?v-1uJ2Z0f{aU(t^NL#*K@&Y1+$%$kSL
z`bqdkkT72mC{W)F@pk#`755h*IMq5qQ^D*C>L7_wscX3r-t1=5lYIt#%PFsik@-lc
znBup`#8Sz(dh;zoDc{~m2!!#hn%zPgBiwXRvwc6CB>ABJvtI+(<MCb`*3C*Xo_mas
zr4Ye209g(Qt_cyh6+j65BwK#z^kuo1z-L(<SSq7RG=^v1O!N@ZY|fxCzO8AV)-E%8
zZb*~t@F0)o*lE&4c(S)l7PkRyUm;MzcR$Fm$6J*^RH%J^Sf(G}HwO&|^f}q<UZr(Y
zO*|N{_cDIrs2}ov?mZY9RcdI^N_Eh2Q^91lRZ0exl$B)_H{`E-+YkNG7x0$8F#Ap4
zwJnhNSLgF~2FT&imzWI9%4i9AI6oCoq*BT#Fnes%>&g`{5sH+P*oHN2jv`-ik<XN~
z`B)pEiax6rZumKErSE+K^{tsGv*ZAVOE1ok4f7iuX(nV{puy<DQYg8SxU*%Cf7Ser
z6!4fgw^%(;1BZqa2qr)Xhg)<k-Y?$l*|{K_%5eYb&TSo{&tpq%!u3(V^y4GTe1B6U
zYi|A2v1e*lrbbIqy2U<41ez&&Uo`SPS9jEk<vpfex@(9B(+6x|IqDK|@ByJ`-@{l9
zuM*IC)bUO-Y&5nj4%4N7!W^tSG&g~~gdm0&%-iU&i>2d&P-dhtKMENW(xoAon2Y2$
zQP4~$(uOb?vyiLO_rX!|cl_s%Ca@|@2_c5>p#PHReMi#P(}!)y^xz3}bG?ZtC%|mq
z8u{qV02n@rBMi5c+e*HnH{C{QjzjOoAtKQ7Lrv_KwI6~fgF{w<NJ>cN97VVZL7E6C
z)Wp0Mgztwg2$zWSZ97<ope=f$4fUv|R(i8;#gsKDo&M&diQ1wkYq6|0OGrKR(U8Yx
z@eM>UzD&Fs>umbS%#9#q!lVw9Ex@A^jzMvO!L#8P$67h+uFyeNHiy67v1FN&w?UIm
zpXmwU*3Nu<W<DN9ZAJk+8WzT=%|1LS+`~0iTS!!+><h_Si_mt|fzE*|8+wpQ=#15E
zBmJ2#(g|7FZjsxQr9$L(%)BAjGdG(hEo@578Js%W)Gma_vs+uQFSr3^kD6^|UyCa}
zhYGs4FbgO?do&JtzbO706^cH`9kn=~4>c5@qTSk|&lU;zidt&Jgl{z5lVQscs6baV
zsNl^>dawFIJbKgs$_B<Prx;*uXbv7Nt38`0;i|{o5v#C1=|U{r;Khx0klADzIDS*<
z`(vEYkR=G_5pzVT$Yn3AF?(4lXD<j%&U8=QuN}yG@tu{6ti$4!r0)4XuhTyb41x4#
zHrLh`)=QMhL<h{FN&C1`Z}2Xo4$_I(*I!o^QmZs*nX65r9B<^aKC1l4Eg%QXn_Rmi
zqd7FS;&D>W4J|{ypm6@-gfx2mq#=^gYk0i5wC{G=WJeNFM0&%ZVWy;>D<5u%bbR**
zp}D=!EkhgAdV54suM7chbWKQbU88mILDSjZGCStP+_rLoBc4hOFZL*+O(!<0Z{-1e
zOip}|P}D!CLaltUvL{G<aSD2!M^0!Chj|P$&sZw=PRs=RM;of05A}>F$$&!xB$NX#
z^E<L`Uqt23%=gkp{AHuk9<QMu6+Tgk@$w>dUC1(xCAC+99<qS#=C1S&eiQe(XRj1A
zBceTIZ_{de#ir3~wGA}TEIZtqBj_bkJkVjq*)@6|RhZk7vND8|Ub%3JVK|0yyf^Dx
zHsNs7#I#oJ7X9en3rY0YX`e<$!0=FE&ltmr&*Kj}xW^lPdDiPq&@cPWN$JW|^T^nw
z3RvAKPf4dx1`fdmC6|1E@9S-*?Ka;h{t#v+Rs3XM9nG{h4!<TH37vOcMq~20VQ~LG
z);~SS^F`upe<m19yj&1ss|Hr(yqZ3$`ef^45&UC0s_u5hyQF*>@v^hr!q(%zmba%b
zlTz|h7%twPQ2M5O+LE1EEQb#+jYGgx;pZ*)vmUzVbSDoRrzd_#o~dMON~I||b=<2<
zCK4hGnn?@Qn<J*6uV(hMg&ksu)&s9#cb$;JJ1?y0(%)4Oun^{=FQ04>1cperNV=<f
znEag%HF8iU1dkuk@6dDFhAv9D9XT@rzR+36Gk`T5H>Th8K7N^Ws&X|`vNp3=nW?i>
z6zjW%h;zi`zDc%DE5W+~S65snE!JAb$cxPmHg+jKYcA}$>3ALW!DyzWZ)hfdzD2?w
z)4iK2L-m-r9o|Dhi2Ww63a6Fn+KS~%V-1U_DcsJtjGUomg}(9lAHEKv?;MSuSyIqP
z$Q2DYf{eu1u!H;JoOY+?&iE<<ZPq4_h!W&rVV+X(CF}^|p*nX1qUx*kGr$+%Vx#b3
zQS_rqUm~5`OPz3&C0Gq>Q&lXDfoce<d^=<3MtqBL7#>wBnI5gq?x!;{ENzfyg4%CU
zPFTf!qQ5;GNG|e2yYxFvvc=47-AqB*WWFz>;zIUe*o@IwfdVG<3FZ#Zqu>Fu3xG=7
zE`L<yHheK3_U%QqkDPwRg_8A>g*=o0N)G0euzFk!@U~wxPmk$R6T8dJAI3D8@l?5U
zO0@=)K-g`_Pfdl|oV@p4+=6|3O5V?lxs15di}|h@5#NTv8kRi5L4Y>{V}kpwK62F*
zSy<aCQ^ah58FWzI$_{3=7n+{ib{Ou#En&_&wIOY>vh#!)BtXldK&Hd%HI?#Xf}Hpb
z0ceS0<<!1Fw!E(w^>v|q_l|-CQpVj(=IdlDV)$)@%$rGx(5I)NZNac*C07tjn0-#O
zc+WhC$G0cd_O@7tDhP^XQ+Hv0_~Z9lq6C{NNoCEvGzhK4Jp{~}uAnoPQ=}Pq@Y$zQ
z?2PGVt5%@fkwzn9Q#wkQAq=ropYD66yzPj=&;zMc{H>w39>Xbe?3%;8wq;?o4Q`Vb
z&*V+{qACo>9nH1LMjoTdzC;wMR)rhhIN9GKtjst@c3zoVk1VBuQhE50e5O`iHSx67
zB>bFaHF{ES)jBd)XZ&3)^o3N{5S|@Lqk=Z9_(DVh0WJKARv1eX+51Y>SNx1oO@TD;
zMn;$EBfZE^1zLx0bKZ4v@|lg=x;)Za?r$STagLE%N=KEU6`doh!;>q#dO8<3AVN^n
zO%pTM>dV4i{Sc&3krTw{Jhf}CU|g10rZH?KN$TJmbQ8Awo#BNWRmKgqH!E@bPH`R`
zP7eip;>~)gf8FEN15}<CXNnCooDf&KU1#|)r6^q;12i_V4<`1Sc?OVNs6*?ri<Ddz
z=Wm}n#gnV@DUn&j4i2W?xB}0f6KfYe{X$ELYY~~zj)m9q9fI2rMl4I!m2HxRp{bBQ
zcNV_Zc6sh`WjEIHe2gc&HKgT)s#$;_qa5q^VBQwFy3U7~Q&!0Khi2JOoA54m*N_op
zm00)o03$SP3B>n4&6Divd%M2ShWH|GB=hI>?33j}r89$9G~dC|&X&0>Afk58elsLq
z0?U=qMQtD{zjRRtWy~-r?63MBzOQ}X9WuU*4*eeFD|7S%pXUT_L=X;1|NVsb$pS`z
zdr}3s%#MrQ7M!*YIM;wW2pm9Ar2Lr*tu8`Rr8T(gQY8c;LI-<@i}<~g3S<U`I<j#I
zFCVuf>wS3xc(J>?iR8*7Hsv0CRsTXuwvlNtTnKPAsyjcnulblEmSL#`$!CdFspVq{
zL?5kcBXQz;oj%^re9uCp%e+Aw@K~2qI<;Ewryi0JKE&B4hc*<&AXN=>A6~Hz30;zh
z6Im!GR%Z`L4T=F{`J7@7QIM0oU)f3!q8XRLRIjfyZR$wJn8Abt6{JDJ1B(^_izj9X
zSnPjg=}gJYDdZH5c2W;zx9eeb+ACupZX|XHbJ9m*y{pH)^UPBfXs5P1nkcdP$QZ0D
z#WMCdw1YtTFmJBKJ1}V4KHoFlL-xC~&hd#)7~ujN;wb{*^9rBU?d-y<4vs3D7{e9;
z?QN+F^JGxxIU^GRk8++)hw@frb0|Jot&X|Kl*Wu9Le9cru|bx-=w7s=)x-CU0g&Z|
z9eW7@ilTL<8C*C>6q+>=&v=hJQ4a$<-lIo;*1_ds-(e8K*QV=&@;QCOvB>&JmOP>#
z=W^h^Vp3ss`Y;T?<W)OkQG^cc8^K-P{`rDPctt$uesp>dZ8Q!hnTrjpAyCaDFaly#
zxL(b?-bV&ZHrj(!+G8yH<BSrB#xmPxiohKL5Hpj{m^xw5FG{7h9YBv#7r;GS1hUP#
zZ0{ih2v3MT!~=fx!d@sg0fh@wFgc#G?c=e>N<MW`Eiy^{GFMxBXIlG*r(OvvG1DB4
zpbcQF63c+$p@c;wg0Xcoj!<0xyXz7rAPnMj(qh33T;|A54^Pf-?F;5traM82Dpd~P
zBG!yNtX|ke>ZdFPv{<g)VQ{}&<u>a^YXE=YcyS&=34A5>vS9%DSg$ObO37Gpcto}n
zM@N#{n-v^^3_AoYRPS~R%Z@Ut@+=TucA!~1GPgU3jBe=hD##7Y8-PrA!9cq~cyVY|
zqYTQ@kYYL4llcPiSe|o#N)@Y#5fIq;GaDyQXJzfbN$(F7L=PJQOi=+Rs>r>#Tbhwv
zG7<CX?Ql0{(3yfCD<8|OoZ~+bwMVVF{P<Hj--%T=QiFW_zxP7U8{L&}<z2eYmdIOE
zphPmCY>8qb)EmPkl)AQ{8oLbv#zC3I_gYAIBt#c=@hVQg))IT7i=Lmfb2yJsDLafH
z#tj>3w<!!Yd19{y;Tw`2rJou8KzzX2xQ}I5kLWoxAM9AdwCIAaf){^Pu#r$6&mGg_
zYewkzBgSw80g^e98i=;yIcH!7ct$6~UZf)Z45ba!g>N6hUim45dZ}mJZ7mXXM)F?0
zbt!NGKol#j^BhyDZ%<9HuJE3Cd!^P8W7+wlKWKc?Cd1G>xL*MSmKi(^9Aojcw=vfb
ze^?g8Du<!ohP2<uWtpXcjgKdsd5K0DrgzH37Ilc0A#aw|(}23j(z-VxEmaMvpy))5
zAe|qysZXE47Z^2{YK-}n&(`X3<ykT!DlI{DH!=BpGAEk;SdE_IQl)K84M49&X4j0U
z*N9**W=t-5u-|gTlCKXC9YCgdy!@V|ClE|^$ubE>Ak0w-ZKBD{vnw^KgyHY?kU^fL
zi$54mW?#<1Jf76@hew<Oxk~Xh61OP8V9!M}$$(F~nRS^3M6W$R6Q<mZ{Xu=EE7a(T
z#KnO+r0whsW1veF?5R<3VE|1YPQ$`uJ!VkC;bjywIbf@?M{KT-4vybVp{<gZ_ZR|h
zK6M5qPFErC2r(UuE%7&vbKFk4VH6mn@Z;eQFYIq`TcvRenQ>|HdNuHQ1o0%e#XGe)
zBt^(#5jQ{IUOCDw5sT>-`LuyXD{cZ02Ie7gIFF{uv3Ti1Za9A{6NxW%uyPs9s9{q8
zd?~t2jd>)COh;&Y8jD7UbqD*L2jf*0%1k$KGQ(~G`kd^z#(U(5qP`~LI@q-M64Rho
za&t`2w3*cBs?YhVDD8_2IwjlnWI|(5Km{33DFG|g$ztqL4piJjRw&mfzpmDD^+EEO
ze)=ecePApdD_@so`B02nvueemHFrt=VJ%E)x{Gohn?HT*$NN;?Q7tw6c)$%IDuB)8
zz^wot)5_2q7k?*T+OtVf?4mt<=FJUJVs`M~*xOpU`3Ybowv<&IQT{zt>IeMnhKNZ}
zl?rAh#0*p#WFeUEQgTPFEftHJP*P??U3PDTtXgaEN&dZs<{Drke#D&40_yx8Ghzls
zZ5fZL_dTy^NTMLEkz7Ya&c9CHlZXAqL-oXV*CAVIwI9~KkjTmryn**8KKS0FCslgF
znCw5thDQ4)lk<t+jGhf4w6D762}h1HZ#N42(6A%~;x?mtaWHB05T7`CXxg+{-8;0b
z5Jbi`<P(P*U9D6s+mf2b!q`knJ-kzGgLu!^u)%EUVo0y2cMABXC9<fF@jDqQDteQN
zkyCQK$7#SQ5OqY7aJ97bcI!L#@xh)VzXw@1#M6lx{g&J9P1|_~uRdxW3S0-B#BQ~-
zKJ;XMTTh1ftMv>6R>6tl^i0bQL}F{Bi~?Tiwp;T^8M-<rCk8QxJw4~+$#f?47=nOB
z8=lr1yiFi9<#iB~U&4#Q&7JGW`K2bVuj&YAR{8s*ofP$?l>T0&Vb%0fDJd#fzBsi)
z!-O%<B%EM5UtUlz*ORb50Pn@|uCf`_rc-@`Q&;nCgVB^t8KW8a)f9ysS%H(`nz8|K
z0ntG+Ng#IctTAEAlL{~h#S>Cx`?L;Z2=<;*UGrm>RO>jm<aidhESE`{%7l?VrWyve
zlLL3TbP*9L8^lJz^4Kx=jX8wghH(mfY}K|WTrODt#Gzp4=4uYmnK^SLJzkHGNqVei
zn6<D6F17Y*&Rn{2MxS~$_8SH8<k{~@^lqD#-bj2e4FlUNb{I}5Y3XTA$uL!k3i`~v
zQpF6r>j<_xba4sY8MOr|)wX<VAIjia)N65)`}ue1N=gu64*0<x;k|1RkOlM2qqz?9
zAG|3-N1rB1kBpJ<u8Bs<6pAXXAK=vE00BV$zqIi@667B5<ujE_U9NVk-!pI*X}>oY
znC0JINU;cOM{Ay-*1s`ZA{*$?hT`D*j>_CNohvZgYUeXSkC6#qbhSIhQZ8m^AHo4~
z@$^_$oSw%o^+w;Myv&yL(MOALUbs72xwGmSvYIt)zwk0*0URvc??=UqkKAS^WJYD)
zG6THik-!gHj|tj&mC|#o)4FQWAItg%2o3{qD1uN{3k^Ioy9oWR?`kMEVO=Dm4U(W`
zyU#@3`36_zX1QV*?84&^Y+D-MXJ+22o?w9SKAJgj`y;!uz;o(z@k1Hwivvo89pr$+
zjH-v*;20nti}pcw%yMwn5f6!`AOsE>hhULIZgtD?+5MV&Mt;&8#)t(P-2Eppt_S|4
z#wN-lrY!MQW^I8CT-(aqFM_D2T~m4Fq@8s1_7l2?H}&M5w+!Tk4oCI?o(ebJdx^ky
z#O{yqR@$eA1OG9_-SuVsS?2SBYXqd#k22Q;2e#qcu$Q4cCo)Ift4NEt%oG?fPAqB>
zQt37j3?$b=aD@be(qs=ghIVyI*WZ#W{Bs4%vi1QyrHcw6_QiThW(O5#XvC^kVI?Xm
zC`-uvPNkQ!6~)D;?`2t}#RLILymplwLTJIAycp975GaE^Comn?WzK=m#Lig?UshY=
z87K+hRYlp2^V^$%;CGoQ-4J}EF>;9!Lcgs&A*z`sL`GTg@S6Am(hlX^U^RvzRIQFr
z1#XKCF}Xamk~U9e@u@<&AwGys%$^E7(h~IX#y*4>aHvtj?frODHY|q(#PfPfa95iK
zK25-~LgxMdrs*uUo@Le`dO-|u8{!1FU^ATHZdd>FerKI=5<<&URXgc!q*YUrx!*sS
zh099Ye|(KqsWrEz3!x~aFtIzdP>eiK8FG01&Q9au_L?sTy%4G5OQ1w&QN%$vH58v2
zbfDv^VfTS`1VuIBT1Z<dz{p1AwLd(A@o2D}MlO4BM#+T{$}?Xp(N4I!Bpgdg;KSS5
zha7Vw!O`SPTkcx%!1`fc`%+lWH*4~!0?7d4>~fj?m+ZlZbTXtOOMU4+*bpmCn$)JA
z5ga_Bpys~0lrzWAFsWir`k#6%O&-_5oYiJcwTZ|lEVrk;(g^F*dvbtEN@T22AHq@g
zK*3fVp7U@)E`mS{1C7$cHm#+Fa*g*WSVIhF77oQd7SOs(T0jKekF)9zIn#6W0pw;t
zSN*<MkyQyt;KsluD{OVI6}P#Lfnx){(DXNDKzV0DN0%?mQd9*BlWK$H!Qw<GzWgO!
z&Mh0)q&Y?V(Gyf@v8K-Dbp<=mUDc!`Gt1rJ6Sh*Zw-z{T++#QpGjAMy{IDC!mmLUn
zuIv&Ge&$My`7q~~b=pW;4@|s(5NH>`X3liLN5Zq*@90E*$Y8dLOU-<dok~_X${%6)
zO6Qb?hAcrkJSd2o28jshVSC$nx4IQt2bLUfaxzgltZ)+pC|L=#7ZyNGk+MA!dQX+n
z1%JXkYmj}{c#zw|jU28D9oQ?AMB3e78k5lqtVkeTww)E>o0KDtCub}(oAJIH8v%SQ
z3aJ!>xrGV~?3;7R%RB4?+}1W-d5a+PU`#*E4*{%Xe$-s61eW?2CQ>GH2FD6pMuR-f
zsb<>-UENe`7AJpqErVqrA)Sbzl?e+7paaCca{;DN(%lM?Z@uz^^Sq9PZVPLt$Yk^;
zg6}&kEs6I_&kB9X9A2U?(IC1+4NAcCBsv7k(<oq3%btxOV+aD4Yhi5|rstPAtW!j8
zLpOE<CfAQkILQEw=DIwEjH1iXc=a6#D@<-8Z_`y!D4wRUM3Eqy=;_ERnQB}WD|YJJ
zfsFprU~n)JsmG64hO#O@0AXokw8;enXKw^61Gvk);6QazPN^`Gdn-Qz<BgxYw;>RE
zyg3Xnv=I~D<WO$Eo;&4ArG?pQ)vuN1TxZ}@=00^ZZE~{VL^d78fngwCLx1ZLGkC}H
zaH0%|3=42UQCh|U0!FI3n9g$D<qi&a^xxuef0>U?--o$ch8jQkm|~-@7dAxpDwDG2
z^aA+|;FjHddfD%Xa_Ml2qD>TAC%%Hi(j1gm&Stt|vf@`zoyi|^G1>5bZBU{y-tkUR
zi4@8D$*$+w5H)!Q_j$2~v9Z1?LJxscb@!{60Yc#eJh<(-2QYR8DvM_#GuuKGvVZ|r
z=jR&kXPQa{YpNutrKobXX+?G(OK%`$jc7O8uM3-;TNevQ$8xLhaOMPa^YEeH7l*8X
z{QwZKfu;I^2n%tK3f5<4=4Jjjb@ezLU3wa*zsu50nZ6_^8~lc$H*CSL@VhRTdu<)Y
zg-n5KYFqsb<gyKRSlY`;i^eU$j20mxtkci-Ce2rA4Wq{kf>aa;w>nUD@w6Pp7~U$E
zDUdB2y4%A<+bvW6Qmw&}myqGu@*-frC-JDB@OBP-1A;1BadK!<aiqVo<*7igq*{r7
zsQIzJfLSpBZIDaL0T`ei))0hLGT*z!yUaWK)RtE`Tp{Iw5&TBu04swi;^xi$YVD(y
z)AWLi<Q&`8g8)`R5t3^i2bR#fm&a)qK*20xv_sda`4ksgPlDHFpy$LfI@D1;QmINp
zsbRu(_tq6;k6Ji)Qn<HTI#BEjYZvlurNd496+8XcQ$X*NYmg6=Yz_~MM<;I#_`?8O
z^eBY$_A~IWpY`FJ56(5xs5d~lR9-`Pm>3p@<d;F_>$ZscFlO_onazXCe@82<WP`n2
z74Pru@d)~xdffP%AF3E-wXoXem)lakX$qP3##7G&7F$`J+>W4{p0}5-ltg@g{@w`I
zWm-NKz1YzoOxtgu5YsqZe631kB9R;R2bcZMxd1)G_q`pi{Bf}Hdgz53Z5S0GYu0)m
z3@r0XGZ$g0SNO;vf?N$`0yF%ggEAX@sqQ&d&?Ujshp41DphlZLP1^b5D~?Qp#y6^=
z3KG@IA0JwEdQKVCfCHixK>a$<&t`$<{v=9VP}=E~meed%dUh=-$|-&LAo{^Uew_0z
zqK4xkPM}^f0|+|b|Jy7Joavb$04Wa;O)JN2MDX86;+zCqlN`wNv!^}$2;}h!_f}L7
zb!=ot|DN>%$Q<<Q{<q0%2%?n{%Z%BqkI4uAd%0~AZyE%%vz|<=A(Z+8((5zG$|Iq+
z2<*|l(NNC&eI`G{Q%K!&feMBdvZ$CnvVFo0w^b!RvHasc-CLBJ9*Pa~#E*4B4!PnP
zw99Il>8R0yH;<47u~~sO7H`FF=DqEdxTW%x03ojgK*C7JPqftSfEo+Ke6`H^1Uo)e
zDK9JqR?|h41Oao@6e50l3gw+vH;N13&^Aw;bMEc}remlt7HyJD4}0ibD;L_<Sq}-E
z(XVZ4<Bw+`pD}SzRq6)-UI86}m_Ya)^r?g4K*FOzp>)fJdDD>vCNo+#ItUgj)#fT=
zsv(Y>JP$qwmp;qk0Usp;!y_1vy2}36j01-RV8w3(u%IY>pa&MWD^*h@Y4~A$5{JbO
z#NmF(O7uekLMTi8n+-q6pMRS@L8i?n)#S)6U<%=fiTf<h8`Ht%I|VjR4HPFmJk*K8
za}p;?Yw}^(<TIGo-Bj*QJkhfD$u`)5vNENZ8l#OUe8ekvG@%#A6*38q)ki!*<3~67
z9V)L68a66N>VTETOEgt{#P~mk`7!+0EPi6`jh{?7k^C*EQ6-+}&Dh=xmWZqYJEUYN
zC<YOWo)yu4R=r5<4q{4WhoNoN34V@V+~3?D$y3_7vdhw8@BV^XU_CsG7(9>CJE}m~
zj)4_go~CkRFlGTH2;!_v;o(*^vXfXgk%cGLPjGQjL~KPoT!t8gbr9N=;H&M>6v*=L
z?O%H3Y4XOPY>6nR8^W6629Um^@_OevWJ+lt9C{8UyVdLrcz~Fivg`JoR%C9sah?T&
z$p<><c}~N?2!M?+I%xXRZGaFYM<sgmWp;8ZzLeZRaFgYx7l@PT0xdqyzg1$;N$nU#
z$qlTW7YF63-z?s2WQ$Ahq}4AsZb-_J=H>o;t_lA|S+%#+wZde;<o3$(PLfb;_RFNF
z0e|n6&cr7XfoWq8Tgu5mdoCN<=OceTu}!P3BFB(^P>QH<kZjV!;VcvlNy<FHLxb-n
z{-)qqRsskR_<;pxS=`D!ED#-}Plfbov?tIIX-8j=?`x*+946V9Hpk%c_up?H1I3ml
z_z{i)JnF2*FQS9)RanBsmKSsotyfJJK&I-*4|d9%>wZTt2R?Qu3a`4n5Vf5K8Qz(M
zJbxWdw#u%~2V2R&TjbvNK(Mx6=u%?Q$b|NhfC;sw;ywro{vOSqOW}QVsq!Q4(=1n4
zTc%s$&;=QT)J=rb@gewhTZvd4K5JM&FFC4`>2t4wO;Q0GZ~p`!n1cC_1YhqpKQ7)u
zTnz%_RW@&zJ=k{&_HoopV=W3~3@(_Y8$cnEJLtYAQRMXZ)6`^A4USrlcGp5fO?otJ
z1O$;*r!^=KQ$I8;Ody6+<@_qozVIWdFHJXv>tz_fj}JD|_jYw&4(t0PY=3h4!p`@^
z90dWLH@=f9CLjkI0l+Yxho#g-)hw|%w;Ecdvu6gC;`3pX6drAUu=2WW9E=8X#!)4I
z<D>AeA423=LXWwZo!E1RP;0{hh&;fwi~`VW{bY>w5k<0~aDT@r08?P~D9GOl0F;zc
z`5cnO)y4tge_`+)@~u3P;_Xg?)4e6D{jFU6ES-pq{E;P%%W_763}zjVB9P56e)pQ{
zfBrpLHQ!eQ>G=}fz6g4sm2yIS{KHmxVJun-uj#$i0^QNXaSh=HX9lw&hEUM_Hf9E6
zTe;cel4}C>(F2wNZ8@@kZ4?N83HBWJM(6R(W(k&Wg77ho8mExm?G8Frj&E-(^phx$
zB`h)SDEW=(Kr2ev0-zKz#K5IFuh6Sz3V^(Z0V7(+%J;oq41sNCrK`-AwjN1UZPx1=
zx&xE3I0zz}nXEaA_yKM4%X_VgBh2lnIo}1;H$5INhvwC{oX)jxqxpxAEKR`7fF8|U
z#y&2)5$3+_-0GghL{w}Hhfw4`RtAREzfx|mr<PRScf{_&#lH;fQvK3Z4#J)uZj20}
z&4KPCDC71DeBwFzg-Pp!OpDN1CwwrW3hAY#Ju&#wH3%1;aLWXy0@%th$8mxoX1r26
z!kxVtQ)a%(#4ja4Xn^@a#|K&l2*U}JR7XvJV`~V1w)FYigP$JH3+j}S?^@8Gl)6$|
zI{S;09nYvTDPdMxZ4Wly)Uvtt{D8qQnKCwN1;Da4kdE-(I2V2E&$gUbGO=jL=ga2l
zSS(=Nkfw7aot7SjnltsHWd+egOwOQ8ghL+~<Mw>tt_+3_rYN+20Z^owqk`TB{LrvV
z1B$CJ0nmPP-)rXdCXFeVi2t&)Nz*X+jimjtWudS$?Q<vwijoWR>A(lG&cFRe;CT7l
zzMroNF1p`7e`gq#N6GA>J#0|v`7a5-+R^V;njD_Hn`*U^Ca+@THih^(Q3|<2VnIz;
zX6zgA2sf<zjNrsJO-ECt_1OL+u{WR+I9E12y%N(wb+c^AUt3+DI?v%}m2>MG3G(*)
z!-gcq6JE9rPcn0k%fB3>;RL)4vUC}l8f+PiqNZtt5+!B$fbLkM0-2uU)=T3;P?Q0s
z#rPZ5O%gB<@6CaESli{}KJcyltpPMN{48Py<Lk1=w71YJx+qOON(a(OH>yd*f+lJM
zqeX{WupxJa5$8J+{9xIM=oB4YuSC^ZxRWUw71U0DzqnYl2%qmpzN&l~IGXaBCH>`a
zYL#Gh>jQPk*2;Gc35~PELF#m>+6i22zC({5{c+)EXP-*U5^nGeS+wfUk-<4RW}!J{
zKZEtbVADPB0KOp|$@fz)L-r<e+Cg}FuR+>iF)S!4;TVy*O@tklm*-Q0wSM==PSfix
zOAHPpu;`&V`m%s7vxjKZOZIAbUOk~)Z^76)(-Kg^ESn4--i`3LmR%kx>-&T|%)B9_
z63k2vm39K&imuz0k(f%_Gc#8;c8?(N#7;x$lo1l1Ps$ILdB_28`YOgfAWRyAgG0Pq
zgl|Yr!0iI5LAkG`XLtrbB2D(TFK|j4oDp{U3+AsGy=pn<=5tQGk)O2PU%pTH)TEEU
z4MTd0DsUVSuSbWL_I4K!k5Bpu;4vSK0tW4ZI#O+SYFSU8QYzga@O8sC6Ml~($9tVL
z<043W1)oa8ptj(P-&|8w4D(@F#Sz4>)3^GsL77?iYYLS=`3eD>z-(+Y(xw{mpAK!e
zDz{<!YsMWsgjcaI`>4tQ271Y%e)-mk5;B$XIiRRk$nb;8H9Ulxx_xPn6D&T<stE*k
znQZME!%RoiIP`T7V^OIRY%%ueN#b`UKI{qS=3?C^=;eI7mpq_v__Kbk>DLBf`O4LJ
z{M7)P8J}I#$7A!f$|+=5)pwwv?&niDH5>XllJVJziPY@C<!Ih1(XLgR*SDYQAU2$R
zKsid1xEiWBU_#r!QQFMKiY_Cr4po9f6ED6Y!@?!x8-G6v%=eawYAu${W$e8qg38Ec
zcc*8MF$O?T+*R1o06<sTn`f!Q=D6zX4o%etZ#pID%!Ctr!O<ti>2%gS*NeU-dmXUU
ziJ|H5eFB5(N<1EZMW>#AT}~=Bm5s)F*z4KnP}MbCy+xw8dd>%R06##$zjf1pJ72hf
zBH0NpyRu{CGq*2YsXHdTmzj8eb<NCoRxqf{RkQ9Brv`ksd*eF$HX2ljB1i5ML*s|2
zm-&errRu%tdGt+yjLJVW()_lt%ckoGW#0qTUgkOMs~wR#rbsi=ur4KQZ~3(bCYB*r
z|H_ad`t@%4$qHw+&t>;lc7eUWc~rctg*@;t_O&G*n1RlSBZtsnCe2<yoF!rm@ECqW
z9Sxu{2PCxip*tG_euc+scN!T%QSHpq^w_jTc#q-PM><8@E2K#!muu>_bM7|eI)v}{
zOwynC_wQaV>z9ExT;!s?3!-kx!02kI=<r%A&0GM$pA?{vonWNxPMJ*8U5xNE$&llQ
zP_kuerD!F@+(-4!E>ioY9-1Ug!}D(pFEvzRkJw=5d!S<mX>S;*X`HkT*cQ>3Rm2c<
zf$#XZ#xF%QhR2Tcv;?$Evvyeom;J@Mn;ZR7+5zK31RyGuk>DpIwpdcUEuwuGg2E4=
zvu13VEu9YRRQN065k=fvR%QuguI!V|D|$Iu(hUzFta-o<zW0TsS8)L!oHXYif`?~?
ze|badJ|JX27@+43))KJ&X)U$}<=h}Q@mBn<HCY*RX8h2Y)jV>P`x3`=!?+O;*LsKB
z8H4SYL7%JFipfv4>Q?&IoBTW&_{^nW(J!u}thG{jR_e&{Cr%zI9JiGCLejp+LZF2v
zpV5~DA45}L;h{0v^&_9~+<y1D*`?^1E1N0!n5Y#i_ZOQ5_~r~mT9X%D^gkK_WmMOS
z^3fL*hQH)9Esl7H1y?&aDW%5ODK~K)()Da`CEdePpuQ9w;)bP2IQ$Ls1KLq`H?u?A
zWe(6jz|vIOa9B=z4zuzh8YD}Tw!p;)rt@GP)^W1h)JzD%e4Mp2!fmiFNdY!x{l#=w
zcvqjLeQz;~mj{~75#+9Q*t}hRfEH{n*}sr=hw)Pm5_&O*Sm84&8Fpvp(42Ci*$bvA
znVOT648biST9H=U9hN6sm|mhrRt%4``8b3dbkU|{Mn*b-+QoqjKitra)CCeu4n2Y(
zzfVT|6yqV_=cZU%xl@L2iRu1Zi>?$UyN*UpF0;2aG7`DB>s(et9Lo^;#d-sC>LWz)
zD?eNsr^p{;Yz%C~rM-k!%0ORhVX(q($kpMW*&-oF;lWw<GW5*vmxagA!$LrFETt&|
ztb47L0cL>pky7-iUM76md>nN15F?euGW-oli^QSD8K_8?kk3r?yxQ&9I{w~UT(lSf
z*H43Aq2HT$X0b?{A9~%SsmO=EzF&O!9Pw=8t=!DMX091b4I^vqV-k6Jd$@67W!#fa
zN?61yzi5rUTPt6}jQt(`V`vA|TPu4eY)7SkZfUZ6uN#5%YNbrY!D9m&!Btl;lTQB2
z&uiS<4iFB2ff)4#On7=p$pC>SDo(gf<_8CgbL$cTgfHcQV&&-#T!{eD32^BcN`vT@
z*IXzVhIPhVFoV=SnyONM*WXL=b#qP4mJiU<le?8Zzj1}n!Lcux{Tsp4piw`{{w5&g
z-ugQPjV^mNqi1~h!60WIqEe|~(iWS7rRUVW(g6Qx2zPh8zi%&nIob-)AM#wV)2cF6
z?oa?~`i9;-XrChLl!J@82kJ?36BFPAEN=<aok@ki^By*HW1=MKpuF~)Dd|I5_-Ijn
zF(jhy+CFIV0Y1X_c~#WEx*iadrbcJu$Yu-$zkLA)7%;SGg=PLbn-YB-8i96;%)?J2
zs4@S>HTIE>{?{3oJVI6P{J(bUfXON#Twh7rv`2&M$=}O*35Yj1he`OU!ZS<l@$+)8
zcDANL(3|CetOsVa!L?5fIsnBYG)dFN_iP+T;!*r<%MuBQ+PC<TqDs$3{_oC|9(QJy
zm*d_Hnd95+FkXcIrzOhZc91<3;b8qO#KST_=jQiW-qTpyg9OvRC5Fzxk>ht}Y@n}r
z2}PEhZEe}<lEQ)n-=TY_qR*<lC;Ng`&PIykQ#WJX*^gUnm9iwku1x}}5?yLWHuY!w
z9Uu}Z?DNgTM5wR4#5EvnXOb>R5M<56THo?>e}poXfx78dW4#7&tq|sWbK(4=Nd@>V
zJ`X74OcL4UR2@~URByoFa|&HEyZyp)%#SV^8_6RxWiW;XI9ubCljQQuGnqWviONm}
z4<<Im_xAVK0oYd#L}cn0YfVhoYsG+|V$Fy&<ei`#CdXqlax0Jxsd1vQ!9=dKR4U-C
zN;n)zu6kKrgRu<v&cas{Ao#EVp1xTJ441q2>f+e-j|J=0dK0DwH|-tV8e3e@*Zr+n
z!Bh43yJ{-ZSaYq#j{1Iz*n^sw5#mEVRpi#V-nHhk7h9J2;QeiyHhft^G*4Vb8T8FY
z)CrlbIkUMrzKj*J4w0dp<wG6Pm*6jzlf)Q_Jzr_Cg6Q8T&^`~G*|k2TdQS@7F&y9_
zqm=g|)F=v6(X4>quQ;|E>q;{2_LvFU!<7-vI1hVPdt*Xz6Pf0(6r1Afx{8^VP%ynZ
zVlhIEwQxX?IWUl;ureIqY_CjhDc}&fs88QRrO<hj&nDzf2f$!3=(q$x9#HD{B|(;l
zzhGL5_On+<hBE-2NL3v}zoE=Mo)+#ku2oyio~hhS>IRcHdm|5^n;^gm?v><krVE8w
zGYfuW*w7%5z=G95aRa31IVa^(@FRl7$qHM6HeX;~BIyWI7ct`*|0HTH?`|P(l8QUw
zwG~D|s_St#?dr|P-NiBA1AMS{Z?%Rbm2k3W{DO`kUM`i8iK<JTKG(0|&}}x(f4_U0
z5#5UFMftF6e4;2L0R0n@8zsXWU}=CkfEaWr7aS#j%NG3R*>RjHHv(CK><bHBWFfj4
zNRIYRUP)vIJJCAOBQ5v`+V~B}sdyBv00yB*H;Njk_B13c5k7UJL!!A67kx+IxN&jj
zUx{lP^H4aWOuG?KpM<bbsGTc;C#M~(btnUkFo$(h`B*k5mY*k2{iob^y@xgccr(N`
z(nREvVx3u7Ag+fv${-oPMaH_(uh71@=AnhsY|ACNXG&l@M+!RFwrD~-!M?Qx8eHN)
zzj_BRfTMZ_nr{g}ZgtD$=(ZEo#6L)ytZjJ1WH_UmP>T9i_Prs(L|j2*92N>6V0DIl
zsr}P34w5P5+Kab`&2N+>gfXlK`?tr&X6oXVYyMM5Sdvcqp6PFdh`P5)*M2}Kz#NWL
zyaPc}3RqfntVpx2%ta_9WOH63kh%4kq9Q(oE!3umIoV3V{ac4y${%0W2!hb4J%42p
z(uNc!$h(cOdf78iI9igP%?_e^0!MAK>yxdHfyk<?CV}5rKt!4Og6OvzjXmR~ICcN(
zRwgq(_z*(&h@pmDl~m_s>HHSC%m(dnyewzU9@lp*y6wUuQ|yOdsoy%o&UYCV>Rtg7
z4FID$FuI>!r@J?P=Bi4YpNgDj^p_NZgAm({9UWkro{E3ZqNUg|;dZiI`m;xOB%AMt
zprt0s(_34X;rj~L@_9$bf%}Oh#?_s6+~3z5E)0hs>CcDR6RDMhS$><KEW6P9pw&{9
zweIvZ9lIhu9yuzjs9aQiws59#_m>jZo8EM;ECHK+IQU#n))3W_LJNX3MJ&A$U~z?L
z^9>+O*ICxyY}#x5o7n=_1A-E~j!A7!+?H8D1u5PGgilc(!5;1bIp$puaNJ4^YgB^E
zzF|0u)Y*kIhnriszs&Zw_8ZMajFml#Pbu50Z8p60Uv%9<7JgNTSqCF!^L?y0Ch5sp
zuP#dKYY8_!t`_Huiiek7C$!)+_Y5f{2Qw9TjlQX1J@L&(*4Gk?-uc-!KXs;I8u<<z
z;qAkoa5iP+K^UtU4dpPJm$n4G=G(iW=IZgcz{wB_{FgdL2oK$tWSMkXYBBF!;03|H
z%i!)po=~<A_bQw3hcHx;?bAHtG%@wYaA)2~NTIB2nlc?%SB}1MnrvMSR>Gaaj$o@_
z0{lCL5%HS|*jonWWSKv^izXSve4et=V?tA0-pb`78d5&#Vdx-7C)rXTqCU}?vy-mI
zAP666Tr8G7wgJKdBwozIK}PPJ=DM*Od#^0GM7*g<Z<)=*M^$-4sj<ZVe&6XX%?f~6
zmF+bGALf-(X>GOh9><$~zv%=HLfonM9H%_NHjVu=(~#inYr4-^Or}#~muMf^7*m3X
zQsdnC3V0eq67X6fDK~@OoZt@v#U!}t-{JE31ntWXWN_jd=xLjwGUb@bw@}&r#)M8q
zs-?mXkJu<nJwMH1M*B=P^bAkOnE?+<&TgE<V_RO?5At_KE#ae&N_+JEkZD$Se!=+#
z!s-KLX<_#7#0nGI&(Yd=zo433!=i5@^(M~_EYB}ur9Ou5!_9@+yb0RvoIzIdNS*43
z&>x#+;!kEYSt!v=H*5NL36u^(rr58>n+lWKYI^P7Mvjd5<BJ7!Lz>@_u<5Qf67YlE
zj?o%s$Jz3Mh{v=DdSLxQY(|C)lR%IF$=_x9yc4<$f!AkynO@&eqAW-=RGh})t517~
z;E^J{g{!I~#C}JGxckm|dyFg_&jWGa7ZI@jGD`=8?eDG>@Txk{j%^hTb}KXb=Mo(_
zB}u?9l$=o|@CLhVAJEBuXxu^@&1br-eOOC-`c0&1{j!7d*~VSFH^WixSn-pIzTVq5
zGhR!H@nf~cxC4z_xJ2)ROT`Q!b3|)7ILVr$0Q-G4E9pxri@eiTa3~~OuFXmNV(C);
z@ylj#3myy1QTEB8sDF!Jqq37lL}HDu(!*WNa(kg#cILx=dGd|{%6ym*F$%aJz{5-7
zEwHJEv2DPYQ<g^Gfwv{Watm01P$fQrCDN78ZBv!eZKd;qpRv<46Z~VL!alB4o~b;H
z7m>P{mwjDLpy%#2myfr9l+A1h_WFt4$GBYYqs1{9I4Pr$Y6+~n^(j{5aP6;1x4o{j
zFMnA@fXhPT+mM?|OerwK`WX^wx(Xl0=!9+<?fu-{n}Qy5r~~%<$_jLf?(~<<vzx-9
z2HM^j$G}ULcKcT;u7~#-M{h{+WkX-Q_zxx2^m=y}Tp~~z6_)9}GbIeOb7G7wi$3pl
z@63zmFsGOnkQo~<A6E_>LTCr-W{YCGJJlyQXuOUasv|X7ntd>|4c9(yB;!+5btPEF
zQxgEM1<U^SRXU?-#ayf-2O9XPEK=2pUzP-0!;5mq+@+f2a`!c>f|_6X>j4->==7`@
zhKScF8)A43yqJ3t&ubP?<8t}U2XS!&#(rsG0z+Zh&6L<@vRVp4M8hzzCE<vqB3sVb
zIJyIrDE$N)w<q}QKK4?Rt8d10wF=s-kDWT^H5>F}!;O`=U%As|VVN%wL^*x@@n#}C
zzKeGeQKw(yB^d#KgNQ#`)`(h4Zd%K?!H6D^YI$hbhLz`jSi5c5oL^mbUoS~Bgh;1O
zINo?ZIZsFmW$PFlf|x@ad_4()G{hUx$Z@^GCTDdARdD!vVJ_0add>0Xjp?p<AI?*u
znH|%>OxBl$(5!4n@n^!((4e~aoIve?IAkD6`CY!QfP66E1yx(50%L2V=~23-*|i)V
zB6|X?_luRclHqF<>9p!^Uo1@?7!$s2JA2Ed;~lB-GSpp%t*$p{d&3ENI`hD%CZUXW
zOJ{G%r*r+w<m`dz!Q1}Ja^k>vDqz|RE`Grfe&DtPk6Gx?wwqXvedEZiSle~?$`){Y
zUV{@tKD*IvD8z|(o>1OkIRZmtK>amF4qa^iiyb?7=xH3SpJt<991Pr1Bfx%5x$i;+
zjWsCt2C5q8=nK3|U7~YS0GC>lA-HgtpFW$+zD@5M9NXdCN?DfDP6LfC=wfz>&#b%q
zwA$ylcqFfh8;DibiP@y}Iu%envkcg%A`ium#9<*Q&4u7l6EpJ&Mk6CnlrXSzi6wRE
z?}<D_Xe#s?FY3GnQ?r;&4aXI34L;78J6vTd!v|+X>bz&ynGEo==Nde?OFWNrDfEEg
z?0?CI7D39GkyU&=tV<TBkEh(xl*IPdj3(x|Na;s6HVav&IHc|>K%)t4Yp6%nL7*vQ
zra-MdcCW9NTs-fktD#-~v6t>~NV6b?ji?H)?z{N~W$TBp+-NK?T)}|v6gXJ$NMED_
z^S69W`IPp80mv;`k;{UrnX64gk?iIcN)O6&@cgKq3yAVNT`Ex66bo9a)2QsJ4LC}O
zwq>&^Kcm$(=qLV@mOW8-K15MU2|@Brvnc^B&22M<DFdWHWkznw1jfNxK?v;NJhQDW
zzkP<92sUpnKR%)efFxuX7(P9T?ByPslYi^M%rr)$Erqn5N{Ch3SBcz_oG?Kj%(J<Y
z34Vk6sSJi4C~EHSfm(}-fcZOQNBmXCfCcMYVw*!dFwsoeVRdBsV4s#28y2k?8Xy^&
zqIMdPGyhkz`8oF0-1(3GsBjglzoANp=$sHx{u>jZS%{n$Ak5Y%!{>*5`eDsJRR$6x
zzF+ZV(1BLLZn!E7#q4VFXOD#3AhBMXzzYqz@5CT0!oRo4TfIVwfz<*&jvXIUV^-t}
zECo+CMWG@#U}*}*`5mbC!yKi(MhJ=u4(**kJ9_YDjLPV*RMUP=hu_fjC_e*$iHON`
zLC7kzXxh%$hbqZ6y-pay4)smPsmF>4+@0G=fK)v^_j>a56bCN)gO#=$`1yIGb770L
zwN)v$y5x#%gfRp<{r8`}Z&)+<7{ISwSxbfyp)AV5d`;2D)n(k{-3#A-L+jbI9=Jf_
zoSAv%g8W;~{mKBuVaL`xohhu+u%!ft0ByjKCOXR9ob~yl2R1vSkMoOG%^^8*KN>(@
z<7Lsn<(ZR>0CTF(077jPCekiY9FPue9c9&;>+K0*lau*`3SLNkS5773f?{6R*PCP1
z`RQCdi1{CwT4`#uL=;^UT586R;Ya?AV!fVs@hDO7br&^*25}tM!JEPQmm3S976<HO
zTfeS^DbE#e)lE%~%V>fUxWT#G6Epg}ganq$O#{Uxm&afa5}dSd97t0o6lJh-jd!D%
zQDFwIvCAv<B5nMe+p<Zf@JA^&MNYq^c@xK+4=^Z{7FwBFx7uz)gy(sP!Y>*8hrthf
zs<vg^I%o?6P~<BZ?rtk@sWL{(D=2~TYVh5(XZ6icaW)Tc2uui}xYYxpIdm5b1ch8U
zC6G^ea5!zMjrFL6Q)scB1MDH&`VD{DBbmQHjK#$7YXk^)R6r*Bnp(98{B*x0xfl)(
zsX*RFEzNyYtT6G&pVhl$$7E2iRO04KG~d@#3p^v_^Rrxy3~~P1k_@3x7L8=ZK&7(v
zU?H?5DSUi(S?)l|#z2xI&0=ZX-P~LegK{FX0w;U{XkzkE1_pMkCAd!Bh!y`m=0PgK
zRS~@chX&|AH3TS!?vUvh2jpQ|w|ePKhCtqe4VaW(ijzi~&~H-BmWk9BUR@=SVRS-p
zKvt>>6J4rVa!?*HgoPh&YH#j!tj>|^lKB(4vU#xkW7lP(1c`+0L|yKL^|d#fbGe1R
zcZ-g5VQ1W%`Q*BkLfgid0bYyA*KLLABD{VS;0B9?sjGTk^!DGLU%PW?-;MnJJ9ot0
zlM4b6#VPE1`{G5hKSY~BT9bgMGJ7+VR&;&XQ2JBckOZ4rKS&ECvuio0JopX2zf}!c
zS@OS=or~x+<6vhF;$y+^<NSdAc&|oaSXoj1=#*futoP5Kluc<_BU%-PhtKcsCFBp<
z?U`(#E3{E7_Dzgft00t1Ur;gH7(W|B4ztnHC^~$V7hSVQJWtWZ6uNP<fum$V*TMms
zDs)ZW$qTUHGHPFtlfBIBXrkB{ADTr@5;&4EQQJQl^!rM!s_oGie)W1ZtlwC9qg>KL
zDaNV0FAKO2@QT9;p*4^)pRs1ta3>&0M^FjWmrau3@?$5jjM)TFR4(yOVPa_Da65Ja
z0nxPUat$zs@)+4)OVhmGNcnX^V6O|gMbz+kQbsJx%Z-&6&=n@O#bF~U<L8ruKt5vP
zl&Dg>x`Ko@J*|E>0v%kmsc_aV3dv5MKDVMA+^yy5wpGUtiDDR;eP@qv4KWmY`iu8i
zRt^~x9*6Y3Hd<Kn)TQcCt=-SvXI#Ux{srTkK~P_0nOtO$@a;%={W5acEf!8XQJ6Zu
zFRA4T^Y%}&Mthx3NIRVp*hRMDrStG(WW~Qj4T8LF3iqiHW|6erks3;A8WCgrRud5a
zPBD$rA&0}t86F5T3en8i_V2&?L%RVGym`+IV@-mUc_Gr4vX1T$LD3`8F$xfnPzI9b
zFOr8zjC2Dv#@ro!hETpl+p(=Lwx3*4gb`bUr1Sb6EP_pO1f%7gzckoD3PIxD2W6*x
zDhH?a=;zGsUiK$iU?z|cQWGn3kwhdPzwvHNM1Wzm<3=!R*VAL>fM6TdUFFHL3Sc|i
zBKr<A;#J3&As7hVkdwUDy3=z6Qo%%z+W>umC81yh(WB=6a8~h{8Qi-SvB$hsu9x=|
zAenoK@P>k$1Za~squ1bJ^lO7yt3@D4V7JaxZ?lHgY8$aU3F+m?WsfG5Chsu3Hk`(H
zL&^KO$^8OH7AUVVhcxqn{e>Tg^X*v^it)*iRadz0IgOPPr)vWwQY!#-ejN9=lwx{5
z=E_X~v6Hy6b_XLM#oV$9qD-dMc%rYCy-<_^_ci9sLVgkyP<gGm2~mmz`O6K4r$jJ=
z;U>9kaft>4gjaC_(>=P%G-@~9341-9G_YunnJCj)nnF3i4CufxK=jt(g?+EZXh>-R
zu^P58+J1EC2kD*@8uZ`sDhw?fztDdnjt;sRC>mFlgv$=$J{^NAJ~#M>{(c&K;>%}W
zx(y2O*qeqU+rBW!b-nLws0`Gatfcm+`HBIa%h#ibt%?BrhOZMMPOCkj9{>W3Y8|Z@
zWjD&_UOHrn;e!PVF&4h_(@9w-DnmXRpD8-TjX?D?J2Bk@IrYvn8J35m6p~LvI1D0?
zezJm=w)u%<ezNY@Ugvi2P}gP4g0WrsB8eZmq_$oxr34q22!KJ-LGQ537wRkBN&#01
zX=iZh43YYVEJim|zaRh8of4Za=Jm!Ddz9wCjUL;ilt)%lBI>p1nvWEd>wD@bYo1+d
zG=y=^k|5z=NDMnf_?j~H_asedwttmIS1<TD2@w~f3}n7OvF7eqRssH6x1jw--#q3P
zoA{1N5LA;&c>UkwV<iU1Aqw9)KU6A}(uT|)%cbwz*=%{Vo%<{li`+&ViPqkW;Z<WN
zCymM?dMF2@mEDlWIrn?A<F4+@m6aWB@I^JuxugeZR74`pwN38L&<yRz9=IoOk|*V-
z3(!VD9%i--gYm%Ak2&q-jTmaVI49Si>%9n%+!}PCX&v^e82!`nOj<UCRuwxl<g$m1
z!=q!{n%0UuZKMRRM|lKV0s|ax-3{6`SE^=FXg=|4bo3F_+=DI<w5=eum`K=h1?8ud
zuH!4dMDbaDo@)pvf{$c~)ECKoj##=U07|_C#)t^~juQTL<%ONxY8U<(8Ng5YaSwg{
zdK>T=$dTz6cHegohs$pe+-iKwl1SYGU@qbFg_}>4ljVlShiH{#q@^$OWpHC{NU4$3
zQEDr_KZx%k{G6S1{bBzOQ;>MgW-xQ3Uwsk8sH0RNji;AZrs7fuZwn+Xf5$sSD3bx9
zTrwMNOtWDkdR>y1f&brrjrthNbicE%O>P`;zB&tIY=TPQoadRU{bU9_?z@?Y;#nvv
z*)3j{Dr|pb?r;4CXtf+F0lzWZV8zF-wv2bZj1qS7OLAOsM-L!H$?-`b{(fG%WPPwQ
zt#|U5m9ec6jrAdN+X##AP&F|7iG)II=J|Zv%VJDf`t4yImb`;}A3lKm#u*TnbULI|
z{70-<PRg0P!U3bv+s;_2(~Os;{GNp_F_8<LV^M5P>!UY29Ae8)+s6ck3e#ybI}rn5
z(V8R-ufiKpR^sw$jt45vEEmW`i-F)P5yk~i<N$tFIcKf-E*Nz5tcyutI5hQ0%pIJ9
zNCN_NWzmX>(izqbNL>4xdBGt&%46cTrm3ri&wwplPf)0(FXYvScK5>f7nALSNM9I&
zNGAYZTtHX*Zm-{oCLlUEn*5M}^BfmM((o}O_41ob4UnnJ53+--)QBPC?PEEZ{qL-Y
z-vh=wZRKx7scRLQ+Mf1T-|N>vwl9+eB&2NNK^M4eX`#QpKze$25(v{tOYv?|5P-2+
zFVw?%4r#fg!aHyc`(`X|T7^iSJdKa+x@1XE(AL-cmX#{l#!N-qhr_SWhY27&E3r%W
z$cnM6Gm*8Fw2Gr~LvQGh4_7hyJNLzRg$Yo>Z6HmlI(`-6CBOs+#4+LiY7SU%QNv89
zCiPi78_#1%=P-Sh<R5@1IkAI?e4z{^F+mCvu#VSdYH17BEB074zw@YOZM+ZcAiVWz
z)*I2Rr+-;AmzqPt;A%eKJS-$sf^5r`Ur~4}B9(+~*0(zEMRg(7UiBdPt#yy1z?Dja
z#N(NR1eVIhxJb|;+CDdbw|rg>Gy2D7sqC!bMV;BhmjQbriN6<t;cY{f#}hi%WH*8G
z8x)3NDn{r8+xNa73>jwZOJgK~HRK#juCTE*&8RfeQ?vDGz>TzgVo>+`@=&WIuN?`|
zbp)sIK?`J`N&ez08B$gL6jg*oV}P#cg4+MK!jv0dSkPg8%)fJfkRP=5BB(}XaGLxB
zA@8&=cq?5=T>^%`=RdADyF3mn+{x>$URQhq?gvU!99@>?nx5Co>EF{bond#LB)pyi
z$oWFl#v%0w!w+HTyhWa<gB=B!p6+5F;!{N(5KT2XV0M?2P$%aTh+B3+Z{69#kr&OC
zQ=*m93B2%rdaps>>EQa6vyWtJpDkucJOAG1kJiLz{K8wl=PeS5j4zR>3isP<G(v)K
znRT5CN@9d-VCS=!rw0w#@AnC2K%8vFv>HinAyALP-^oCkNlWtIzT*}e;|Bil!R~?j
zLBO_VzIEmP)z$As<*s{l0;Mng^DAy>?-GW<6djxI;fBTLyp|OYYm?i4XiWb~^l%F@
z{nhEHm`d?PqJKCjT*P>Wb5faX@iwU)yga0ZJA%?P_}!^04M~tB*GZ$}-lB@gAOyvU
zL)Ly!>-3$L00VR7`&pq6RTBiVY<{rqDQ*|~0;JVx*c9-PvZHAvynYP~x*^_~DYT#C
z9tL?DxYKKQf&2=gVVZa=!)a<$WMfU=ZvmNwe(n~4u5}!dpU2N)57R^^x4#n+fhh6c
z1R$=(op|Ra@)0Gx%}P6W_fQq(5LyRD^Tf}`4^v9f2J#N94{*3y5TrCrV?X=}-k2cy
zvm2iIFTlJs&1IRx>%0$<XUnKUP3sIx%pE1S1rA*b@}3nZ4~Xx!fDsk*Vn7_u<FK2L
z*Tfh?B2Qf*#<%%6mbZ1x%(h2e^=n`!NTF$yYyI`oebWBhmyNPx_)uAzh#dp0XO`C7
zq+K_@o!N1qe0I%;fItFW#t`=VqH?AMty}*`(s^vRszgEbgBXz0kRX!C8D``RB8RVk
z_`Z?XvSkUn&#Br4t>!SM$0=&b(Ky8Jl21YE6j}9`Q3jpcJ%j}>VU~8Sgv?6*YY2pw
z(i(Tbta;}lTodFb?5FX7o$5`u|JnY_<jZAhn*$D{6|Ss7U;|Ii`dS#o#g#sd%eDE-
z4#X--5IzYVXvP~HXKq_Plnz^AY8In>1r@p%pg9N(2$hk4nPB{>lcY1hkQ+B^eI4np
zjsUT%55CaNNWnoiP~LHrb}I0$%$w7U@MGEZ4wYFi$)4gsBEa?=osEeRwosMu1QMV)
zUpBgaB%kr4n%P&D2bQ$710do(B#AW0k4Je2{PDU?gQ=MPcTE&t9k_nMV?W0^WP&DC
zxxu^pEC+ogls1Yt2JdASud=@@$GGhM4SV?;b3rt;E99~A9&Oi~Em?sqq%RAvU!@+7
z1}J6k%kLS_x?EZ#YUvZbRe2aARm-G*F~<ZrbNHn(jxl;rh%7nOOn`@B>^bbRr0WpJ
zXrvF%33@VMqQq5EL1ymcxTc-Uh^e3c`+nhU=j#P2`BoY$wW?i~8Q;svFHjqY7aLQb
z5||?#+g7$too*Pa5h3pyqAhLS-dKstdi!0UIB$99QV5)_N|%<AOOyvhaYl=G)+qk;
zqlS)0j@NF2mAr4phEB5G=Mq}R*f^W-?D_5NXIo%uj$HCDk%$q9mG3Ee>}6VPxi%#u
z0+)9#AMXYjoBBaQSo-eXX)7DZgB>#qT99LOjEq4{FPlBFmc}42nW$F3_6rc+n1Mh$
z4BR7q<4woByjUykZ!7L^BK@u4-qi$b(e$}>Ymi#gjj=u0tK~dGNeB3s5+ymNLB9++
zw83d(M?A~LkVdsIE_LBoxEV=5!Is?*BpO)rn4>wj`$g6W7J>{@o%j5LqDDvMzw;(^
z3zQP>hZ1qH&sZaucI23=m6HXDi1Hvfllx{f@?oKt9Gm!l^^$=hp5Pbh0nsY~<G`Op
z6r`~SFxyd~5OVV*zw?fEOTd%+#o|Vh>X+CSHhl2m@424AkSpEeUHh_;nftW+3%V`R
zg5O<UY|p2pn?Qe<(J~JlZAVbfX&O?q%Ai|2<>Z?gP2lhhj5-*3t1jpr$1T{}t|aWh
z=sA%U7u65fmozJk7{SF~rcY^^Q{eG#>VKDTTR?v-$m>Cja2j1><|N6bOo)c|pNWD<
zc$nH}cc|`xp1}MTFqr!}>Z9EYjyZ{FO3HFpg33&<RNDC!EnBvxnv`G|`J_si2syG~
zHp2{qAmpdbv=Z}ZY!oj)5;=|=Jys(3p1no1S!)#vZv{Wk$&pA1_v6zP75H7eTxB8P
z=uVjZb8VqZFQ^IPKb8gYlg8ndG%~eWR10l$&_<@OUgnucdd8APave96<pLDY74C;5
zi!eq$dCwWF`+*xsM|3i7G;HH-LK&GdC#jzp1YH!+$Kv^UTBWMfak>$P^zN7_g3*VC
z_Osrv@f&n))z&J=$PEOledxR1C>N@DGW$<zBnULXUj^C=3#b_Djnh9&Q3>{;4-rRw
ze7N=v?lGX!iXcIEFu!sYhKbKS&aiMtQ=p-sjhXCcgwr(ukrhOvqy_HddNu&77D;K{
z;>|@Lyxu9=z-);G_A0Kv=_#rJ%RSLH!DF~rM|X6DCG<a$D|d6^#d==67p2!~a}I0A
z0;fCpL|p40Uy{LXP`;0%Ap!Ls_cw%?&+8~Fv`@VLYb757hY{zb4;kj6p?6B4&$0VF
z)34<0Qev&wIIMcoL&(z8Hw*~vV%`p&Pi^>%jJ6>(=tIzzIjuK^bD(pRyl_6r`5m(1
z>;@z<@1RaU8Dsf0GVY#%N)24k6!i<*-Sp(L<UiNSYbZAZAbna<E7|NF5dB)vg*Zjk
zt*Oc$`CVYX=Z_56Fnt)%y1o1Zngll_2o8wOzG&XpTly^`iH#d$S&?rV#x@j2fN+VB
zBfN*)hom1?qCG+tza*?*s*dDa$WuYC2enH=Eq!sjcNGf?UOM>LQuzG7xINtQCp=z=
z0k#0t+Q(bO`4_8LH?w^9LwEw22<T&iPxA?%DJG*SF83WK%VtdILr<B*yqYpt1y?=K
zI&v@b3I68u&UUvkW*T+z^*ujd|M-JB5%v+fhBrdd;UaDH!n8vx`%k|9mS9qAF~<O|
z$;#)P{=OTaz$+i|UBnmJC;4HXa_Fo1^#(_s4cyPlONgRZZ)%y6-qAFk3-^C<XC!U(
zRkZfT!qH=Uil-F4R26BzRDG|&@?uu^E)7b`yjOpmfHj5jAT<{SL1~~lc*{<oKe>96
zJrDrv0yHRaKfAIFUwHU}+<EZPXCyIb;T3lhve4M$YhFWrCq&a;ef$RTtq@HCQ^(&m
zq=RszV9wOau;=kKdPDdLggR<>9eZxCYwyV{jMzkbqA-1n7#6?PjXqJ451b4{dLKG0
zyZ%n+O51^P3gN$Ybg?2e`gnOg!>3vpP%E^>KT?!|^p?Br1JVFTlK}lVBK%7{@9*3&
zu(clK<QerDB0iYE6m0e@Bmq+tQ0Ap%BZA>;uGkD<s0Jr=lnID^{c&G0-!YfPlF<`9
z^sDSnR(CzIp=T2XI+kluoNmG|l*Ko(0-gHmDeXQmAGUkZ<U%eiza**?B92{qu%sa^
zdtes<d<=C1RQg-36V#fBFc4?*+7BCV4G43}Li|t)Y+XF?L0+aodl{@q5O$CPye1M^
zO(gf^iR_cvdCBPT111!M0~e9N!s$48=anDW7g!Mpf?vIuFCUc>P!!CE_%P%;Yv`A)
zWG@VVsDKwFyu~<Ov<c^Mj<E#DuRsN+&6)8BmnT@1gtsBOom`U2AxE?ohCY2hEl~U4
z=gPCO{Ho3S`)*s*<a~oQV9D*%u!f#!-mSuldENKEB;qjJ1FVa|XH4uBwmgi`qG|AZ
zEcv*DOv}G6VR@eO?vw0<FdQt?dT@7ZE*x$wu&*Aq2-MjATZxo4<)iCJ)0(hXehHc~
z{T{?N=vO!bN2jmj(S@@Z6q+1|#B+Wn*6Y2hQLWhDz3Erbz%T$h0Dab9j)ihRZOQ&f
zJfsL2SiW5li9@&*HXNK!@7G}ffo$-2BC;+)xjn62MsmdTnG*cCz<5Z-VTp(WJ*{S>
zOKo<dAxrQfGTuYm?B7uyjs=}$@uG7m%m8&{iJ}?8pb=N^Hv>Hcj}rTZ*J_o4*D~Ud
z7;@ei@#>V>_oP_b{ibzBzhxt|`!itwigMC!c*Dg0#&X|3PQ}CImyvukFl^;sl^)0@
zDiOLukp~sm-)<uJpRm(30msTQ1<H8fcxi&Ml}T%UPQgbWKU4~j0QP%r=#~1VxbhFT
z*$Ej&HI)pBn8ne7cW_r~UmDlfdKK18Z(kBfWhKEgX(@(Wr+0O5+`>zwW4fyRZ;M7=
z&JdRu)Qzxt<%b(5$=Rgrwr?c*zO3-o-;|m6wjM#wlmE7J;QE|?=-v_`{cRX?j9JC5
zGs^@p!z4Rjl}S{`z=fgossWEzLFVg&O;<!e8kM1+j5-e?EEt44Cg}xn^c_x`LELWX
z(zWv{4a3a`RNYt}U#c3*3RZh|JJBpCz-|j}PGU4dqlq|krh6J4N>d<A46H0#C%!sL
zb_4uH)wfUVw5s*vq|>bl;a6;p!{M0|ws(|wp29TCQ}i2w;DP`E6F}_0f-}C^!SDN0
z_E)~+&M(d57p{+CgEc2C9Q9dEf85o3lM#`62eV_xAv(~97s1ciKb$fzmMDI3r3^dr
z6}TjOjKyh_Nt8<=DLrS;di?2Gxn3i{pPIl**-i}WyDvgg2zw{o1R8lbrm*Pm?1n)E
z6c*GFsNg9cAhz0!e{vp{pod2s6bz|wp-P-0<VC!)zk|>M^w<DCdGXTMo&@v>Ok0M!
z#mRh8TU*1HK8`;RewFrcNhEa0vodFaVM?(qd3Vr;Mm0dZLQ!|!a$c|xQ2VWn4?PU8
zq@v|vB?`5tHZBt+-hPjgD>j?1rS5fG4~da(Nlr3rIS4l41S^EP5eRXlM#Z(uYz!$~
zKZuN%%25ov;jHCXTB-6;KJN2C4cFjmL$G<J>|~8UOf1N6PC+#v03%mqIjYUul3?fT
zLxqI3Z>Lz;*SUqOqoJnS99@ckkKAcW^%`YCA;k9s;N=yZc*u*NyC`E_4Bq73#;ZYL
z7COObg3wKi6M#xnsX22v6=9G08a7cQ0Inqx0jSAc3D>(A!6MOh=_a~z@ZZk#*qcDR
z!Eha{3R=j_SG6Xh(@`Bvc~jL4-9GF^?!xzY)C@|U$%YaqMKz63oln4#yIYL`scn2=
zL~xn#oO8mt+g41%{=OvLRoXDuWP=F(ytJabol&kg?D88%PUgz33kUj@@&X<Swu8@3
z5SvU09u{m!DYFnh17s5C)vkFw-_HU*q)<NR<p~t{47|{vHgTp`!6@T%l*A9_(l@cx
zWn{RQAs+|S=TP5TyOO0xY(ztk-}nu`Dl|XMdAUj1OxwX~oUexYFOeTKxJiW&{?;EB
zF>gY|@lH5}z+Vm5GD6Z9fKy1^xG3<qYRfIFB)*YFy`+QpNde#^Lp{W6X9G7^o|1Kz
z!lYnoD&h4x&Qqpm5<?LVTkSx{f+$o}kw%I?kLxN5np@&HJjCxY^wiS8vJW6h;dc75
zQ^I>Ko0J^yZAY7#I|PUDcEu{Sc*oTwiXqDJTwtg+F&8W6dvYmI#nRg2lp~WUdt+M{
zN~FQ;Ilj(Tj*po&dQGngmBiT_*F<Hh_^2)#y2Yas;XRUhF4(=HgH2*?GIod4ugby4
z1^cxh!1;iE^!r-;#}$)buf3F|%28*j++SG*md{e0X&UvIu8exjmjs`m!$gz9Tnwi_
z`)iLP{LX1$W62UA3KH@i(A<hCy(~!gtwu24NjRRDV#@L>#)EJLJ)hNilh=5kIzk_N
z6HvuiO-L3sTk--cewvB>M0=^)Q6P#zSdMJncSfCkv>kLVl`JBmc?+nE{3XOtznBBA
zo8&wU9_L{HJ*PIcFG^lap=TTN)W?f({9op)4vn}wMxYZD9%#e?XzssG>(^qIq53Yu
z&wF+<kRfvUMkXKbJ{S<`2eaOErfp3d;%3%IV=lQ7X3A*%h!Ms$u=Nnmjws*$mhd~N
zKgal@29B)M0_7j-D--V5Ut_WF_5DCtriDZYE<2p7$Z>&q*Snqy4bIg5axtv9>W_1o
zJzaPf3Qr<1lhml?ARl8N1J`w=^oblQ^j25-gZYf50I#^k``hf_yV4TzyIm*_;M72R
zyT%7krR(GVz!SvT$n0Qa%I;V(Lfv{QyvxN<FMrpEA@uto*DLsFyas;rbb+V|dre8C
z%3ck*phkD}_>Q+2!l3}!_Lk92JH2@JF~qL%u?DLXj5uK=Ss*|ljlS0!0lcb>N4*!X
z?Y0EUlP+|M+-n;ans`pmA2{_iUs`?v(kz=A`;=o2`o6ltR1!WC>-5R`+-<6jKx?qb
z#hQ)#gOV7j)?Wq7Zvot_&g@lj(ZXiQ)p4VhO$6H=g7Xv0eo@lVL>D3iuFa{$<v+yl
z8Uuayd<7G#^$7j}iv6OIA~>mHf7vx2_twx|HM#R0KXe(^;v{Zyt+bO?y0R=7$v0jo
z0JV3OyKl~u{V?n_*~-M4s6ZywdOv^yO)Q1$fw#{3)$0jyvUk!kVrdt36w<6fF~2PG
z8*Dgxw;$$nCjjjRsHU@1KCbHNJQ2VWXG4R9ai$6Po9&4GS-Mb|ywfxSY_Ot!wI9Nq
z4mqiwt6(2HV7^G|XdW+!v-+8Z@6o53LO{PBue+(0($do1uMQ?mqSP|l_kQ@ns^Mdu
zpHFpuW*!e)Z5=>!ZOC+b!T+1f=7owYbqva-OCJA=vgLMZ&#n+}_IqoTn7K!54u2=$
z8cEPEZm}HQHN(u-D{UhAN=#$8^-u@+g&8}jiOj=GbLyTs7drOA^dtpW3P>+;ac<g4
z2w(49gIqET3_GfTsl6jq4ypCA@=1MJtRhahU>Xz{AV-*ku^Oeuz%T51kKP$O%Va$F
z=;sX{2pMDBxI25Z&r?PwDE#H9!}5Im8~o<)##%leB#Br%^-qS*#dw>vK~s*crsPYp
z3<~!_z0976Ns{|TM*B^K{!9USo*!zHu&AOj8{>LVye)Qs(HtPOZr~G6qkM{_negBj
z(Q#}Oc;cH<le}rqevUi4-4}M?nj2d{5G6i#DEUH{S@?i$ulJ|}w2Sb(L!^GYv0M{(
z`n!B;)A(FYu>CkjwPth3seW1{@iBpKtr%NJ{6Gakt#wH;cDw=a%`vT6!{q19?7~3=
zb8HDm`R1Zz{(U<&1%s7>!nVSD;V1Sy?e)L1>QNF&m*?s{11m*njc|Hn9+dX3Dv`77
z>`-xh&NolWA&as*X$5R-N%{-2<VryN2sa7;7Vp}P6JfH9JgLJaZYv@7tn-=OPY}7r
z4o7wF4;Uf|Q%a!Xl4S&>zvvs;52yQnW9x6GE&BDW_A=`T1x5$q>pn62L0XWVLMQn=
zjbeLxwgyl&p8J6lyuvA<#!Fv!&N>S-Mx7y)^YvQi2Q3sEH%AKlzP?4Q&nZX{MWoHL
zHIgxP;23pxysd2f2>0s3DQ)+J=#DExz_Q8enOT8y{QT_}nY1q&Ov{<Z$bd{=C|AAP
z6KkM+@}X7(XoaN_t(e!KQS{X8lYk~d+_}l*HLR6BB(qK`u`_ef%id$Em5B^Hs=IzT
z5i!US!*YdE?y4LvK>7-{^-fPjvwlDN=KkFubUsa|Q_>fnyBZ_g+n-;%_`7i;YHoJc
z5<}GU^7TI70*nZ%qS;zQ`(G4lZ%JNy6i!3)rc?s9kz?vigv=%MjyaTgeFo^zcV3q^
z_JEM}sFEYDv$;&8q8j_NhdQ(Cg{uBCqwL}%NTDNF&AP<(zCppG>A4txXE)`&Ha$4e
za+gH=@Q)r*J<Z0K2Fl8-o@C(464P5$`@GEGF{QL~r^OV<lI1i_2CYHSI=0|1k+y^Q
z>gM>jYZ;m4-YPvkP-M!ThrJ&+1C(!eRRj?Cc3Di&3k&AwvF`yiN=px#0D+fI#{7--
zXWS5d(3_-|o`!hs7ul9?%g`(C{^E*`{`O7$qFlR?Og@(Z1Ls~;ys2MvceK%yz?f`K
zE-Kr&!LJ0%QdgCh`+<&V#B0_Kef&imTQ%i4{oxmf@WcLKIQ!jc?{1D6%k<puGa(gu
z7R^?FI@)SBdELoAkMu*Ps}n1NyYH9Il~A)j>BM(Irtxz=w?^O9;DVF_w6dp6EoE|)
zvVs;W1veqY7%LxL%sNIHGQ}EE376g|X1o%{Beo#9{SXXZ45p#W(fiaGic)xW6d-Wd
z$<X{x5<qg1?aRyLC#3ttKgVZD{VG~ujD^3whQ%}=2c9{92$~zxS%rz$<6#A(Ai#cp
zss&ZxiYq54ZRpl89ycgh%tlD1tB$5j$=q__Dyu%6xUJ{EbG8P(|5x*3nByzLAZgc!
z237pi;$m6mo!eQomHDLO&(G8~Z*B}Mo40&B?B_9_7~eHB9GZ#s3RUQ8qWArR>-Y1I
zWsxo@nB=DF<?g$EmCUfEaBi&WJM)%oj*QYkC+o=rvOCg)xV)wgd=bi=vI*mPVX|Z?
zl%>k#d7*qWyc)E)wOT`>?(tUE1pOIaOPlXDl9NhGqA1feQ287qj2FVHhTu+Y^SA%1
zeYSk9v2J%g{kx}7S6c{ExWu2)mP=v4#EGy*<N66~Jg_ShRaZ&!kC|Z@5RCA24QVsE
ze{WwR7gLGQmcK;~WqjSG<KOj_4>P^Gpky4i-x^<lOkV}T?>A>(c;rnH+sN;}5XZ+E
zrNK1Ri!~=vX&Kmz0Hkl{&q>T%?&}VW<r_n5kApXP04ba6_M-ra@d~jS1)NXNnp^u9
zzE{;Jo6&<~r`hH>n?44L2g9NJU+nrmDR8*=$hP?I&&^N1b{!oFsW-qdN$1=gm-vGw
z54X8|rXp7)oS$_0)qHigjlz5r(G3fS@$Q^ofK17pi^Hi-k(gvxON(Aih%V>KCefD8
z+Y8Jpg^#F1RzPxqFtEB5B%h2oNg-LDwg|%JIq?RW=lztG!{dHR5S;6ew+=tA*tPP!
z&^aYTdLOpf8`P#5f`e2Bi{qk?azpI*WvjC!e~Y$BnzY;43BFCz34xLb$Zz_>dLBd)
z1~B!C-0Sv*6bet_)tp}Trs@0QPw?+~9(if&QLy3wPx-{DKa@6;h4>MKBI?D2Mn13@
ze(n=67cDx?Ry2uyx_c#@c~*bZ`cx#i59;h9(K)WX_Q`H)(cQQl`1i-qM#_(xw#q^$
zr0$Pbu|IoVXFq!XPN>fhC$vWqd8aOD0RNqV(N>@P*6`l(7iL#Y{8Ns6n(yIR(Q2F-
zSj_>w&cc#{b|jS$-tlAxnzcez6z0?I<Kd)A_;dn73KvTD`NX>I7WlukJzlz=z9(8I
zNB+VOI5&rU()%@C;sjOMOA_$17-WWG2SMhu2<c4AoFj~q+MD~06$!p~!4u1<)QlWS
z+bGk&lxUfkWx<za&t7rf|JkytOBtK1ynka=djU;R%yv^UPhaF`Ow0ZHkvUnkbE+wi
z3Zrl_uPHnAALc;#4^(xZp*|MR1e_PQCIoIvNiO2R>*qHnJ@9Q2p+|Oxa*CPt(VyzB
ziSTXY7w0_W=R2S60Oezo1gHz}qHLWj@Es~d7<-$iHg;u7)>RhVA$N-Pnr+QY1BdJ7
ziwWUTGy7(FJ33HfKEFc>zjX|wn%LH7dZbhmNd_w2DC>y!s6BtrXk<&y4#~<d!S;Gt
zfrC|}Nf|g2j&x5}JKs>d$))pJ0YQ^lo`H`j*?2pM2Ag7hiO1mV9UJ9+om-~?Kym(&
zCYy-=Eb=HQa4QV=Q%<Vp<SVnyngk0@h*5lzuiUFA5x}3^v=Hzo^dRA04{n#(J`h(0
zJ;XK)+jUCxm)8)UwGO>?!%4*7@WIx{Oo4inic0Wrk9xLs5OW@afQN;UageRe#_479
zjdR^#3F!5hS-Jk+KU{M~xHct432hi=)t0F4yJI8Qu};Ww8pnlG3GxGLiTX?1c=$Ef
zW*9nkREjcj_5zHzq`t`|+p{ew49#*iB@6=5KsM3*ppz=g@K^}O0=-S=&Tad34E_fn
zT0_{Y$%i4?Xe|g{U%XB!5m>ib+<B%%bx|#saq;|L(fl|^rb&|iyYZ1WY7t-(T^U+Y
zju*iRAcnNP_7Dk*Gfo3pt`V}2@C%MM`0aSF6ap0mU{O&;2}1U+?FoK2ECpj&Nr9SL
z7_mU$wW0bVYNhAp0ARxc^sJ{Gx{+}$fMo6ER^W@@dzx-ja=|FI5Eu}D@eNj03}U@0
z(`l1H+ve8bxEj;#WM<<^uPt$JexEW0x^B_N{&M9TW~X1%h;C=R2bji+wS|kx<|5^F
zP;N(6mcKc8^>NRRovmmglI{swRH)ZEzCH13J3LlbFG`yX!>ASg;ysp-bu${Ooa$@4
z`XBBsS({RLlIt0rWlOx;5iNNjwe3B0iGZ*b)n`g|xp$)7gVgX9;UUqX`9sd3SYSh~
z5#>kAb^$EtSMWD1&p^Qb0-yoD`n^aJz3VFY;L%+j94S57#Sk}~h!Nrmf0_A&i(;3V
zu|!+mi%b3S%9HwaHP4W042tMRrxgo>^xvYgm!*uB!d*y5jU3{fC@zk+_zFEjSBkCj
zcQ<(>*g^*))S2Zqe;$DCT3Ob{JX4E}2yYI(FsfdcFVvmI_K+BtUKB8;kkn>vGOROI
zaEkmgyrWU)b0@#~`hps9152g8!j;vZFPnymv-0EcoSlz!dxt%h!4UIwO5;}Pz;C$$
zaX*>QfVra5C|1qc>FMs37R{CdD_%K9h1(hyd99s1W_Z}CCC~UwoilL^0Rm@rAWe7A
z)Elr@c1~zO=(OlSS3;|+0^FRiFKS3^ms>-=O`$EXB+g3(pH-g>@cpnam^`H$7Qp}*
zQ~U7x_Y8wbA^tA)Q79Io;Q3KMn=*lxQG}B$lp~2UQ}xv(1m#zc-w0sHP7Tkx`;QN$
zc%7l#weDbu@#6Z7;;~zRR2{9dk&x)3BrecWU~N(z9xKCe4C8n<>x+1I-fLQkt7;gw
zVVcEI56g<uhS<km6z_T939@sky$Z5ucg~;6JRTM%#NTSAsevCS@-Zb(h=P2pgAgth
z6$M*6d7(MFWJR9e0{G*uq(1m(W95-){Bkb(!p^dNUq04lriOeS^X#hy($<*EnRbdY
z`?{?0^|zlz>cIZ|#a~?k9*OY|`lk`89PNHxNk@lh6V&_PQiF@!h{?XE`8R!j+0c{(
z+=4T&&E?|>pgP+=Z^%a+9aK==%&++E3-|L>TCj&4#AQ)SgRUR#WeH~N#cD{{&Kvsk
za=r@B4W|J{06Rd$zXj<K0cvH7&he)SoC1ZF`YUnNr&G5#P<;^Y>Gu``P`DG)21N7w
zt^p8c=#+ebw*c`^^t$?&D)yyIsS_!SDhDaN+?Ai_I5_kz`88bXq1d{veS6jC2z?3a
zFS_MUwWyhBhRglEoDgBvp)B_@H`M0%TL+u(Do~ubBZTBlVj?Y-ZR4ZFhloec)R+Oq
zS^?YJUGm=cJ(2ml9(4+#Kb{t(36)-O1>S@{B*VPh?m)XRx!|*oJ!71?RNCm|fyIBk
z{R@|b6Z)UfJh?o5ebm*C=X;MfJMEd2Mv*gjFMhUk89;AFwbECr&LOqGjL%z5+0Lrf
z$zG+5p*L|iy6A-H{+I~$O49*&o)6>dZKo*X_iz2T2zQCV{WQE(dk=5KGMNwkzA)qx
zo!nQqHon%?j^`YSp=zu>pxvNhB!DAkC)b41XEMK)DtJeE(1tZksEJ430X-pu6i4>)
zGLkY%kjxMa_nT1>K!(h2_Cpa*Pax>u^{x8EUnolm{`1Zgu~%7HZUra~@Y_=~P2duh
zA4KyO`J5X!DO)^~UQ6-j>b;xfmzmBk1u@PdwkK&8$=ynZK@3TV)33*$FW0rd!2kZs
zcD7fjqMuqt$t%iDg%wvu`h%!Q%M_xevVfR2YyLFK%GsaTjqdhrAi`CH)t4LRhaY}H
zh%ZeQ>sVohR_qYGqKwq(<MykCi}lZ62TGd1rN&&Wc%fUuGTk@@pE``BF3=C3-}j-*
zhsLq=Y+Ml6Vhl8_DFM*Z$FR{ntbyFNlAYarQxIRmTQn3OaJ=Ubcve`V3S?Y%uJ2AQ
z8sO{mckPB;E?k6h@<GVI%tK1dcaVAlHOB0gG>XM+6JQV!kHDw0uk6j)Gpg_32Lv_V
zkbanmPiaE7Xb%$PrrzJD(aKAAA!b^tiI{I*rs$Ht1Y+W_bx=QX_*u;eG3fTUlE~E&
zhTFaLW4L>+|8~QiaGeN#>p~@oL{r~u_OIgFq+j_t$7_+q>D!Z01TP{4Xg3(uYU1j?
z+D~J;h~i?7y|t+|W?HUW_?|!TZePlR@uuli9ccUugBpD1mqDEDaH-NW5+O<5PjS5Q
z(4-3^81Usnm#jRMwM08%9cST7eC1nSUwdw#=5amphvcDG>x9lUAz?KN)s(wOTdlSG
zAXds&yP;rtYe}2DwR{-`s4vngZW8xUxdmindC)4LJ7rnHLZeGwAnTIUHew{EWPCv!
zJC&XtI6v`BS9B9Kc#r4r&n}v7aD_QEd!2duRFT!AM}0V>rR63Ypm~S=bvtLTAuyLZ
z7$X*i9rtyW#}t>~rk~!r+VS!oJ^Qrw>B=B*P&gfi_;jjJ<g|@NgTFXgk1tSt$O%g^
zti{>AZm`<W>Mhsjtcr-eF^?HdS?u$-(@Y775}+R@c=9EneI-c8gNJ1Gh%=b36ylsk
zX~DCa%Yo}SZ-B)LQ8etBJ5}3{yF{7WPd|SRGO;cVGNiv9`jroLsO4Tp#gDV#;SP@`
zm2unOhWkQCVd@kcppiJq7LR)_Gzb^N{f4<#7<M7qiZiU8?LzXMJYyX@3=vQ^{e`WD
z5JHfXaVIa>wI{^!mgVZ$$gv-<+hGDDx$3VqA~ek5V=OG<iii-cZwYa5Zc5UUmV$bl
z6Mz<<1cDm`G~P$a(rQi_Nb28&F{yoQfkqG!K#!ZFJ@WlE+s!zVei!|!r6cV!!~vMf
z3ut%To4RVpXa;+C=epVz%0y)dwA(4P&JJ;&P*q?RvJyO+KOZNh7|lb<vf)$2)w+h@
z>QD=dQKXC8hA(G*-WrEi`rIx<Rzh_`ti=(IqC#c=2k${%5SqD4BDF+xL@qz=rTtvo
zCf_mf*Atv9j2$3nXK6fJ#!V@-@r~(=gnX#4ha+BJTRn-1SdX7a_#Kc33PwPU2Buw~
zZK`18h*XgqNx6&E-b1=(!v*cfdx*}u5d}~&)FzSecpMJZ{KN~0u(ij)PzB@%lBuXL
zgjbh}yj*HZT4bjQSbrnCj{p&e7Z*eLf|_sbk|4pktR{QSrV_sY>VUdReE!`=N<%Cl
zG$Sb(qCcL~?oRYDKbV~YS|y=`T?N;N`N)Tqm8ws3I9V>P1A6Uf8z7^I@^yOycPvk9
z97`6t5WikkCNyv_xI_P1ui^*E!$KPDCL+43nsRgyJ6LQPpHh)%q^L17OG(|C_|j5*
zv)c?E%b5Vh+3+Gb8X})Z#YEeNld+ueztD`eJK77HtIa5j#_Zdi0<Q|uUyg^6L@5hc
z=?nw+!C7IjTsvT({J{(xNF_{IX{%-4IBz@bzTBF;PV=p<qSPov3{z7iN~P||yq^)n
ztw7`!CKOo#;}?NJ<c@C-tE`S3!<vp42J2xL-#&q6OKAHIRaeD8nKw26B!g7U&l~r?
zWPRq2Z02M0GoL4kK#PvSJ|4_(_9JJ7f5f_=C&BRppyOYv-@~oGNdL9}$->@`fe3#j
zpcxKuqfZ|?EfAUjMG{KI9&%ecUd<2AUpuW<sAI}Ti4#kj9~1f8x}RA*<Dp0}wT<?|
z5#M@hv~L$?U67Ppu+>>rB965DzI6n5=)}4_Y>q3zo#9fH=QyBg2mE@H#4+>r25ht_
zko?igaB|}_TCMOaG(R_GFU?5i^LM>g8RE4cml6l{d$&aa12p_X4e(M|7`J58n=yPn
z#g7}`4E-JsibQphq>)9BP5QaxZ)DW1K^_rg9=yvF!js?z@J0a7p;miTU*iHVc&82<
zb<0;Fb1{c~T^J?c9@_!dw2ta&q!e!mXw4K-K{VCwulC^(3AOgHn)A#Son2BrHHf|I
zn;iAsyn0cdZZ6NiZczHz`B3Uw7V*}YoyVN!n-Bat`}}Bggs4?b=qA;#iuqAI5`c<g
z%P&t)^iN?rmeO%$A`EzxFO{m0@Nz`#{>u|bcTG=F+GXM(ax+pZqzt_-*}7BPpy{MR
zYO+VZts_K&Z*P(uz0yOwtO#H5H>&|T*_FtZl*ZY)f^HpUFVZ{+j*}EGVt3?vKIO4c
z`|<I6^-mk56a-bxI=39YO%<-RotMFH<Eiw`JZ@}iEyZ6oL><`fuB*h5&F7-&8jE$i
zbfMN7MQDMr#3t-}$ZIY7_CG%a>0ska8Bl5&S<uqH_w&08<kzrvP76(sGPF;XvrwCx
zH=F8sCa1U;cs%P0E%e1{jtYN1Emt69k}MZKK!}o+M-wSS3X!CuGzNBvg*6wKe?)a8
zS>V}7pq#t#TUVp0aQ0U^yC*jkHwnIl`-PqLTL-5$iJrJyLE}~tE(+8mCMMF$#Q4nR
z=*%sCw?%Q00%>Ard4!y;!qn$O=SQnG0yVYQZTU^spEb?hx8@?`-#Yr(_3IkxaKuE@
zoOoKGy%tkBJdv6?y1D)q2S;itaJyGjt9tC~_DOtN!!>f3N%T2%lk8NIP<n{YX=->g
zV`)?NsHwzVz5KnRM0Bp{lw8!ae)eVgj!%$&1Zw=AfZ7A8{n^@@pa>v;yAj+1(4kW8
za=ucr$SUy(U+psP?6VS=v>;*R7AjccvG3ESqyIo$$Mji`+=oV)ATu^Yw?&06i(6>+
zBbU#BenUtENN4bJ3>X@Fe)R~Nem<we?-TKA)aE=Ve3A~QvG_6W#Uus~2se@%S}`{T
z5Vv{;ADnkg1xS^QKQ_9xCsB@wmFdzpC&H&%5`R5Ey7WRo2w%1|9sP-!X`ej=93x15
z^mcd}p@J%(!z>}iyM~ct$%EUS1cKt(=XHNPSN58p{!V?0u@|KrHvhhpAub}m1eBGy
zT-ppmku{N{-$f_1GHFJrP4TnYW>*!D9-Kc!%Ej%6(5K>R+z}`IpAfT%>RcbKh49va
zS6ax7DU;#E(y=*hSGN67+oU3}GSkRx@Hd_Hu=Tg9&=?yS?U35zXK?E+j6<Q;yE_7u
z3U2U*FMF8BXz3(K2p|>$r_+@r*EK!a7G@?_wDu+*&7nG)$!{+D5k^-?$|zyI?Dck7
ztNPGZom}0)U9SePG3IVHP0jISykWFa0(QECSO<Q8DsFTkh%s)H<=O=qmpKbp)N*W{
z3gG^?2I)5I=2)Rg?!c&&9YCrN(GHo*XbH)tL0k+U%7f|GI#WytUc=Yimh&!M1>BV9
z@KuDXsrkSI&Nk_nm5J&D$1p+xRzo)@z$?ESYzVnGv1K#EtU<qCh*jF~d&5%`O@wfH
z4dD7b2YlU9p*(-}aZ53+2CmVDvTT5cO|b4>6t)MgXmMu3YVPzLgL5H|8&tHdlaB>`
zdY~KxkcEZ}ykvu%2-rzT*E=^HHG7{Ga9ff7-ZT{1Cb_1e1O$@;-yaiM8He_FPawPq
z*_8e~)AM>DYG(B5`^7uqWI*;ahl`~fZy?wkSPue>&g<YXlU+)x>Fr;np(1Bcunkqr
zwOOk|uYp>4`U)++F;0LDKIMQ!0f4XHaq7ZV0A)|`Tb9hsau)ZKvoxO@ZuDz>GrKKs
zPwp|5x+L7s@$ad>|Lz|Jyo*xLD?Z&x*qql}#S<e5=f&fF8!`ci#X&q?IoZjjf`&hi
zRLs93|41wnc#%~iD*SL5-xZ~l8k=MEt(V$#aqPu5-@RamzZp*lV)nW@B;c4ZSeH3d
zc!|?|tl{5r(e)>@FIpp1h6|x~huek9iTjO-X^vQMeUvoNg0=sU$b!{kgCESoW{|!)
z)fV{MBju8hZ_eIddaLimm5#%a;9?paVc{fo3;-me0wWg$eM0Yot|#F{Tpx5>uYN0(
ztk|!#*M%qt()K!3L~B8#`sgBZr4d<R*3zJ~HS_DDxfL5Sn8|3;0pJIvs|vc`kzd(C
z=GYaz<}d~8$6KqT(nJa~<X+e%PZ{68d6-qnvx|?9H}Q9<GtWnX+mh|(%uJ^$&>LKq
zSlhRlN`@$Yr(KWa4~pbY?S*mj5Rt{{6DU5ZhQT;5yJs~?{0e;-){RgaijFWVb-skF
zjzR;uK7Mm9;#)R3g4GF<@MNY(>qP*xP5xAWHD0F6jGmup5<aXF=mZe>s2)0?4Tj}r
ziGhI7;<Vhp@!NH3#k$X`ew`ic<f3W3Vva4+WK6&bp{n^<ZPe{-U_4x&NaSnRyA9S=
zR=%y1N)2H4#EHIm6JQ{YwJ*DeNV|mry#8F9jvpISSW6E09p7xYi;Gjq_Dt5O&M}UI
zPTS${f!65Cg)F=k{@2*Q3ah88P5~dk@51{VJ4KO5d0ulWZiT+C8UOoZ$vkZG=!)cv
zJb8*Bz=a^WsaGhyqFP()rwYfT^n5#5R|;8RFZw-c3HE_urbprlsBWTp{>zV?o>30p
zk9Z|CTc-i2jt>#?<WN=wzun9qvjPn{-;HNnmQBp&H$X5HFh8}cBB`iIRo?8e7jdFZ
z>qd+!D?}{<Qrrit3Z#DiE%TZ`R$~=u>+%u$x2aVL+*e`h!xDL!U0bTUj{FfurG*H*
z-us_A*LOrO3Un5Q&_DM?oTqA@9iJ0moIJHh+uM23OgaZ3>o<e#XPF*1QYC`Ht}(}z
zJeO9vFZ5PCD-lg2F-0`X(Q>x=$Tl~+DJyhU%pThycu*0{sd!~1K5{t@;PqUTB$d7{
z4>FY4+&B1GM;}v|1C|wHNZX@q1(@{d^1h-3nC>luWdN5?90{m|N>*rF7!X0paCBjT
zG2PF=tAn7|XGe9y*tR&bG2+T@>gZ~P$kn6ho*l~b7kG~i`r&v{y09;Bk<4<asAQL@
zLf}W-W^j?cD90sC;IEZHo!=X1JIw3@)Q+poYJMN(W<%2&f!{Hr$_=&;2m*%t;E&`F
zJ>cRuVPdxr0x^D3RGVADE@waRPM-%*L-5F#D<Ba)yU3-5nKvNB0D|D-8P4<JT_ff;
zmd%|JNAAPdX~^a#^(U#!2-zI?6+S`jK47AcSz@Bmnu_~=t=dS>_V9~#1yR3DB(Nf(
zCTv*jIPR@Y@T9-zN1A2c%bW@`FT*{mujOw<s!|=Is1A5hHO?E)z0RD*nIA}_1TDu7
zorzgcg1YYlI%JyGSsCT{t1giI9wacr6tt<D>|r)%<!<1MN}bt*?dXoX%!ZUBD*B93
zALQYiK~2)wq|BFfIcEL#Lu!#2Z+31rnGn=MVRgjz$U{F4Q%q|{a<dgy5+psap?~Rt
z55HvgIJ|ZhqQ;BA5>c{~QTLtH)H7lP*p3sZdagFA6f?}9i2RoIjcNVj_iIp!&tv1s
zSA04Vb?#ck5tv&yt0r4L<;ACRw!yb9ZG<uIfoKh^mI5SW`~*zmUdajs@Dn_bu`KJc
z;tKsB&8Z08!~coB^YLLj><iPb5nL$z{^s&=0{Azx6*&J&MwI_x--8kM@43PmqHHt~
zG~n;+e7IBna_e%YiJ^@4nq=+=XK&G-lWYGrfDMkXkE7o2_IE5=$3yRoA%B@LZyt>t
z_yF!>QTki=Wtwdhy}^iVNX@Tl=F(0-$@(yL&oK4A6rR-tS}5@zN8g$Or(2s<YIeLj
zzCs&W`uS!Xr_f6@u1>KQ5GBl$H}mpPaIBKH?UG%%&)L2jwIg)$rBN=b+yl&g@Qge4
zyk5rA?`L_ko3GKRbA*Qx>uu@sC3~Pi_~jSjP35vdk=5Im35ID(4`!vs(MG@#k@*dg
zr&uuT*e~q@)q~(c*~)WoF_nu39P>8FK=L-}VzR`8&FGba+zIH=gwb5m0QvVFX8uY%
zS?#g>OoAnXD{uUo1=@f003)3YIw-67<l$lijVptYO20bs2_MZ_tS06bxH7}yl@INF
zSye*8uZ9dsdEvYsmT53@Jp3Y<pogk%`~DyXF!2ZkfG2iN091U^SyWwX{7%?g_%xz#
zeOe&A)8+{#*puQB1TgHC48NuFHZ3Gzm+=e=oL=kl{q`@_k?h97f&WXIV}>kgOM@jm
zn^FJKac~~Sv5eoQR<mreT%88JDks<^bWt}@khBV(jM`;e{7&-?|3}hUY&ot&QS^g6
zFw-z*W}X>ij+wsxx%v&NYxN+j66@-oy&XxGLTC-LaWfKPUPe0r&a_*{_bs`-iA5#4
zu=bnMIgT-uz0vBmx5$!K$z?!V8Y4rZ9vh=4uqyKX$mlR#Hl^}90n|J_mcto)HN3)@
zjKluz^ESp<;NPNIBSSLLY)^G-MHyABoBT4!Qbww-UsPO#iaP$1X;{7>U^2owxg>4t
z3|plr^-~;MmpKG(XXu@C>VVEq5+FF)Hi7i>?zLvwug%Ug;F9Q9Qas}C%g{H6B`b3p
z)p2#W^N?~qkPn3f`nD}45)KfF;EqVlw7K`EdyFj`OJqISSKvfYV$*pyOYX40Xr`$r
zIC+W;79k}-6jDY)&d$+zLh+jHW^sVu9yFUCTUxa20>kshuFs3K5@Dkbxy|GOYoim~
zMj`k+iywvMNpCnZ#!i|wcA>L57cMo2>3fDNgxfRCdMnTi7&ta-h5rmz+Ps<iakrj7
zTQ<vv4oPbtm57pZYc_grrcG6mLj2w-e6-rLx*Yh2`d!YQiyzj4kh<XaB>PZ(bqIfZ
z0zM82C<=*_SJBM!p<2VRIOZF@cLz9++Mm7MZ%dBobg88`9r$<x*VMUE0G)MzYhq><
zu04_Q=4jRbo}Q?4DSn$*B@06KqgAexkqtMJ<b^<{<nL33P6i$7@<Qp`E4~OtlnFb4
zC<PxNm>n3X6sCAhj-!g-eVX>HICu+=e#M6(G%6o)XMJlv^W8%`F?#DDRV+@+)j_>=
z?%&T1#7LZufaHVgf~K)17q+YpGOtHBoyH|4GOka4eZUUTOPqG?c?2#S;1?m>t0%WA
zzKD6P=Zz`Qo}ao>7PJtTKjGtP7e>Q2eP}dLwgAD>V9kNA{pS?H&W$fHW%QLF{#USK
zk4Gh_NR}deJc6dkH8e99@ueDEq*$C&8f`;i86GH>p#4B^SO|v=%kOZ1Z8lpOm4rRh
zqVV^lJQJEZ$uX%$994@`Zb8^dHc-^OSByR}_R57U{9Pt^n#Z{T)xYw=Wi1DN;)#~?
z8A{}hEob#=6&OblgJ}yReVX<jvy#8RAaQ-7BOLiQFj!B<Z2O^OwA}pcjF-O#rztlX
zH=t-L1Hefig@K7z6LnML*>Ip{;YGff85(pCle3&v`DuOf>R{FlcDTUz<HbjUnpr&Q
zdxPW}SPPc}HycF2_)hZq-+ggql|tIcGpXBxOOnld9bVQbodC41!<zV@!In2-CJoO^
zZl47O|2-#!lq6K>FW{mRB@3I%LOs3@#PK`UPJivqY+|&H=+{{k<OQ0kaB{4^jT0u9
z!A}NlI=>H&W(2|{rki||2AI4N`KdF|KG2?4lA4&2a#rfE;;?5A+Db8@N=~N|b7lGk
zpJhTCucRpPkV}j}RZ*tn^VWPNBI37?({U*&xO*QWg1sMnk{spx#qX=}UDkJ6YJhtJ
zSZ80@i&1RCOcfToR%GIgoB}`f0Y^OV{;leXHUuxxN*vyYjzVs(-FhP#z1q^L*pDEJ
zDRxsDMty_+Ctbdu2?lk=Z-GIIh2Op(!%5*p)&if61gRUZD;~poVc|eI1ilDjQeO{`
zBV4|+=!eT&6uf-lUNVgE+GK@$hCPz~{kPV(Hf@*vhGz*C55CNlp?l7JDsRC(IbAP1
za^&zHZ3hWC!tPY0BeKCuSZ_iN`-=35|7^xhy~V=?WAy!Pv~(lw=U~2%wMij2J%W#l
zT(3BaYw6UDe5(Q=lpU)i=w_e4vn@bdp`rfgTg}9sEn;=;hwgAf^?TX7Fl^!2;tPoF
zFFv0x>FebCD^MT)rFJ)bdblOT=NN#hd}k!1{8DI-WO(V1;53k|)^i@%<bGcJSAv5N
zX$H}!rCuAQsn*8F+LIvM(ip&s8bYeXjkE3{0}K-kw`ata(*hBs0BVt@CbA7H)@(M`
z&CQ{brh}ZmtbXLqoDHuxcaZ&!O>sxSwC?-M#nEbsq<1nsqcoo>_bHzW!hgAW7pvNI
zPFtDJW3U_kH2jgR&Z{h~U8=)}g0MW#k-A>E=zC{ASp5!8-~GZM?%RGKIK9>C8T3}C
zGhRV0{^A}Q{u$R@fRg7Xn0R_gxdVxa((Br4xIT`{Eu!ECj<Dnhltb8et1B;$u)@-_
zuZA#S0?UkZ<M3O4YsS$REnIXWI?jH}uu<VO<}Abs)yisSozQ;K^^v+G-uq~i1CAcQ
zy(HHU|9B;A0y7rt91BLpe&G<B-2q{0kN-`zlBo^a?7n1djBlN)(4ezXRLYR_p@e9Q
zu`EZ#6t#p!1cP~~rF{>l7~0ad)JuNkNK<{NgH=5snRYzWI#dHBt3ZyT1KSBD;o%JN
zG>{!2_P(|Aad*$87S7dwSV>a)G7<Q2*2ixiwRVx!dA{emL&CXeK>y#K$eVtpHnaUR
z$q;j~k>EMd5GdF_=O&f2TywcWCQFM`rYkAWfXGHL!v8#TGij<c6dXJngTpSAp~cWg
z&?cZu3qjsm*n50dATot@E5G{kSP%`2Xo!K>Lzw6&{eim1s242mQ$UuGzXB(ZGZY#F
zyTKi7wjKv^x0l;kQ<zX@reVw@refayX)kSP#R>;Ji@m0yLzT<Za1*&yI`o;xy>L02
zsFc(`m%5rv4g)`-2vx`ia9?zYc^%S!>@gBg2N8;1FRzjkva4o+ZbD%K)DPuc)OWe8
za4u^KYr@OqK(U>Oi|LLphTU<&^>2^bC~+f);tiu6%f*OAHM=psj2|NMoK`R5@9^&=
zu!3ZR08}h9QQ?au(1+H7S;$?`zVNFl9iLoF<7b+$)TO|0a|ac-sINMgkrtg*qyiOl
z%u``aMBcLI;jBe~#<5Ii$=^jEudaM^HERv9oPK|2wvHg6;FT3*{Tbi_DL9?{9akg1
ze-*7@%*UG&X~NdO8=X}9%XVSK)3rKZ9h{c3gUNBgQ<#*3bZfMq`Q2ShdFQ{<zuX)h
zX`GTo^iIw1WQ2z~7e{++R?QOz89mR~CZbScr7v`8;IM+Fx?A`d=zbj_>>CexIS=i7
z!oinob>GcABv%IWP3M`eb9G~zIqhAZ{3BW$L5>+3nn^B;r9=J@+O^dSfJJfUeoLkK
zWWY>j!{7Cr_yw(@ds%f78WrkwCUjpj?mKkP)c`kjn|(K?P*mH?V;E-91<B&XB5QSI
zN|4Y~>XbC%Y&i!Hf2|r!4kF&EN4<3Kd|SU%o33cx@{m3uZqP&zs%7S<<Xkx5DX_X=
zjfJHv8nL`Q7b7C}KFIJrYJM7uWISIY4euj>;93ddi#ZqLEnJyi50&BGP-h$0DnD1j
zQo0P{sdeE=)Z{?w31=8$geqV3BGO<6UMG>fG>Zdb=A4XpvB|>U84Q+iTO>(-X)_-E
z9j--GwBV9w8B*!3NsJes-^WABO`Nshw54`9-lM*sqQGR>VvV#P(aaP;xwGgDagy3m
zr7h-8rAFY{RU$Dwc&!vof3et$>-Mg`=LtiL^=Rp;i_0c@2FPYut>Za`q_&@vNURnL
zY#Q2xtJOB$lS4hYsf7houNAmEo+<5<`RU&*Rl0&%Dqy7}$Xp4H4}**E6T$0Cfur|q
z#FT_0QQ09!KEQx*FLuj6G~atJ{Nw8_wwPs687T4SfY`wVey{BWj`P=FSi;0LKhN>l
z*MzDR<H&s(Hyi7shM=+E-kvc$Y0Xz==fcnX*8<YNL2E%tV%FaJygK{u920AN0BeoA
zWLETt6CM2HjGSP9KJtfA9A5DKNVyx{ZFYkvukF*Ob};Tyv_n&KQn58IjiAzZEi2$h
z4G&?tzrh5CXfiwIY1i1!+W-Q*HSl~vKsWiVjcmY>FoPbI=*5z({R+xF$L4nfPr$YA
z%DLzzP_aUURP4=hVvmD06l#QG9u3A>jU^Xkd&45J?(gpw(jq^NmeA&K48?Mu6NM1q
zc4%ib0IF|f9mUx`w55?!T1U2Av`rI!0XE2l2%1yHCPwiN(x*ACHaWKf0-Cn_+W>4x
zUn`=bU&dW;oez&SzVU~+pk<iws)xPGnpC4BDi8<#A!)PO6k$zyilHjM!c(jWejTFI
z*POhkkp^O#j`5)+UHHWluDd)Uf>w);_F~%m>jcJc_L%+-e4yCIf@-JiwmLx0#>Cj!
zhh>}+PCm+b^3?^ihe{bYWERrczqi#E(HLZtgY;+b{yX-l*SlcV`Wv@?UfsDJ76S6%
znD#iNR4x9HIzv7#XoBJ<1-s7`3Tu|Q1QxdXa`UEYp`LCfHJfBq>19qzfMw<$Hhz)!
z-5rrw5{Zs%?%VW51^(c7bmKcRPo>ozAvRodH}v$VQdCwD$uc*XQ`XFSj3mB?dOmdv
zg$&-oIcqYkj;iQ`6WqbmB8v-r+7EhQverX6R>tkEPzFR?E~CxZ+(+`guqNJiA4Eip
za@WVNHR`~LBZ2g6Rh|^&nO{(V*7%kydUTU%Trth(f(L&des|;3r#`DZ_f`hG4{E4B
zvG{k^9zy@F-(<*bF5}$@7wwNsizpdetX?eJ>;P%>PI6Fw-w9r-RhaES-rj6@`<afl
zX%U1!QA<kYXZ@HuTp6p$*PCftEB|Bwfm%pPB;?aX;;dn3=NU($SN6~KMrldkc(uVC
zb_aO*wMI=_<9o5Jo1JLR)1XcFRLR3GGX@1Gj~TnoXq(JST@pK>>ehvFPW-FF-x$1+
z(F`i>w!51(kpkI?@0o0p@{0Lwj*oTItzADqHmZ~<o}TaI9ggc}mza9LV`3-9j*%7s
zB!^n(qTQ>d0@*UNAKD2oL}Q5^(`Q)rQ=O|~^!|xZkdWc*Xai@0%4R6jglFinu5-ml
zE_AzDa8r8h`mRqkoHv8%Er>shY?FDjgD{;Jct^24#h&<Yk(HrNNQpk0lpj1`+*|_W
zOhav-O<!Bb?nVf?>Hy<8BtK}DPg`Hit`GkXS#bn8s%wKV^jq6MhrspJGo{QMN#4pr
z!IxDiO4kq1T_QcioZ74xBLOxodapF9-W3{hc{;(pHJX+s?fAs9nJ~Z8zWRwyL}BAK
zkKLK>7^pW~QNA%UebiuarW9TSa@lE{7WbFoJbB`OPY=#8w0Dl_evqoF+Z~)n*#2@a
zbU0R=kqr!B`7g%nJho3Sr`4>R;C=7<bh%$jSP%p~w2W?!j4(#rtT)L*O}3yVbUW;u
z0*x96HiixEoBB>`>|p71aE+_87&AQI&s+oDEM4(FX(h%2AWhVt>Jl^2DGyFm@Fei}
znU6YU_PDmE^GKI?T)SDW4QP8=A$-p4yb}4=0V-mscs9eYw?Hws!rvYah`$@mJw6Ll
z!NddDWc#+0`4MVrNGBKf(l`IaatT`MmEb?S%P;NXRRwIes_6pnKiYcmT`D$iAG$qY
zT^E|ROV+z81UbWLULkY+ot<+rnfnGCkrUaTx8_<5va{V_f-3|i=p(-4(DP0-s{4C3
zv0!LgVd=6h*dS3P-YXbUD;UfTZb3w3HI4BrC#+iB$@xk5PATL)K{G=9^1w_JC$5?v
z-k6^S-^rY_99S)WKAsY2Zq^@;Jjqqp5m!||Dqc!dMp>F5<jTTtd1KKxPROYK3FV&G
zJsG)hE?TrArzunOZ$VL4+&r~pJEVI4DpIM!Lk#!3%S@ip-DVlmX*i?9R9q39rC%iv
zPdY4G0*<KyLtTnrN#oU<eDtf2GA@d4M5+zC%o^GKNC5{}T$f?E!HY|Z9rX#z|2Y6#
zmuUVK^rhBTMM#(s$x6#d9Ngf)760<nEmc+ve9IBg_B+oFeYE>0st`{9Tgn=v#zOTc
zxA80yVi6I3aF%&5zjD690`Ml!$b>-9To>2bT3-c&{dO{p-q%3oZ(FkF;UpBLtTmv%
zarz?tgCISM;e26X+*VawMMTFGXaY$}(Q_LBC{5w+HF`w73as4>O#oDW-QF43wx4v>
zrs3a@-RAylDd*NHQb!<NBeCmo>{#T183(55g3PIlPR{S}zQk|2a7KJ#@b5vFpE@<D
z$0tYI9gafJ+-Sp!)q$4ClIZV8)3c*cK1L|mv5S>PuUz~{+oHNQPIW5#ft5jh*A)|W
z*;nzen1%KjItV$Kb}1$^?_|QSB8~|5_P=sHy`G9sn5M|ZZc$DB$l#vkMZQT{+X76M
zmz5Ec#^?;}&t)-II1>RsOmsXj_W-G)e_AM73;d$G6O~&0a#*hJ?S|qj^h<r7G#q|5
z_stW+w#|JnUw%Nz?Qaus{LQMuiuV*Lwe%=n9uZh)*j2p%^q$TXes%R59(7QIPeS<C
zQ6E<~Y4kurQHnbABeTcFFs5yXhm;LYe8Ykt2y0vtMo3l8%^6J`fxrD)yZfy(do9cl
z;+e(Gy&7#3s4q^dVcS?6jIfn_qJe>?hA<6L!Cv*GxxeB@F)YcOJ0_BcI6wq?P>f3V
z_LX8C+gnCxFNj1_$PoOKe0Jw!k;4d)bpeuJ25+(e9zvgTh^x~_ZZ_%OwHxhrSD7fp
zkBMws(cniss1#=Dw^uukkD$*sc9F1o%~%42^I<=Qj3*brj0qX&-D=+@0#|sy*x%G|
z*{vGpD=9NgZl}g~jibKTav)jB^A8zu&wTM9ETPOB4J!4E5jA=TLYW4;tQ#?nywF=O
z=jN_&Vd6=_d|aMu?4@}7MVc#L-Z=}8auha!IheoPALw7KVKhW)Y}~~W(8lKz=1d9^
zSYb=7;73A1hr#n2a?Ki*posh7W;dSA`?;)c>Hhy-KoB6z{Js3}jWa@Bo*D~vwQGMH
zKZ3HvH^8=*R>m7i=+v(M&9TM5oRM#;Mt=&bs*2Tyq?ZqH4EeJ7B`<(iFf*IVUp!_M
zS8u#&iX|_zi%r7yZyQa?+p%uK{p~?g2FfJGo(b`}XH+>rRL5JdfCcCyIZ?AjyhtLm
zR2B5&RX^opDEjM5J6-7jN9&0kr3?ClG3U+=EKg3=3BJi1xwB?%%Dp;GUOlLVQs#Am
zZxKtnaSg*%S2pxeduOt!uwI?<>KTHi#rism&5)ovW#df8eSVF38c?{7IdQ~sk;App
z>#C_`t<cMs*XTSYMXTEvM1I0G7Npa^7~KfmZU)Uo<B9m%Q|#Gcf$89DA<hC}_q6si
zV}EC#ZbmvDxa7p*3R@NL7mP7xqBhMd6gE-7Ea=69TqDSXU?e@r2NvtH(-5`A4ljus
zH}2E6a#UQxhvDQ9!s)!hg1B~?a)Lc%<qfw*K;pekks-KN5<cLee(SaY#ad@0_xEP_
zcy~bezK^9_bj6G#s_?#VSGJmu0)=IVA%h^D>(bXFcl&Jbyp7USJXf`XC(F=ONFBGh
zNQbLQXEWGMYGaAXD*)GUlv{|`4Sk@1+AUt=*{G|57XkvXY#HQ#u6WqT%P+wSApR7+
z$?EL!KoeUzJ{a8;-s?7B)+aiI7_LE2u_)Xtr8AYkJiG!{P+@DgCLxxh23p2<epm;`
zmKYJnHAZFk?A8#kMs+&o4U0|sIVq)w5RF~%^&#yG&Jt)eMrsW(;WB`g81o0{ULfQ`
zJ9BUBhZ!}{ZpWV8Ldlg;ZcjcG2R)4Zwi{WcrUh<W+ZgTq$SUn1hM)eo(1Weq$JJGz
zlDs1*LjX+cu_y!K#Eg<aw^Cxq!MTv-{6Pes)1olu9PhB-1vs4Sjl{#7h_v$OL`)wN
zDj~y-9<Yl>#a!L;ndB)}?h@Fq@S`1o9vt$bq@*Yx@^9?>AjtQJZ@NlLKa=+BHai1-
z%X`r-8Jyi1X#GVOwA8Oc<Yn}}e$M27Aax)$rVE_9GT>jy^WoKeIjD@!zvGI@9UE>)
z5}c{aLl;{UXp%I%=N;=w(%YVRZ85z{V{fLkC&=Jk?hOS~AW}9X3J&)Bh$Xt6<Mpum
z%<E64=C`)KyjJ;UgQkdz$R}2yyxqhO3lp)eE-F#@{QVRjB-d#awBsGR%!7y9Sc*2>
z9!7N4^>w_)&NNU9PGo_(*NxLneN<V#eMldAvFL;oEQ39GN{x=r2$?|bLa9^~Y0CkI
zG>d*3B42V+$TJvhy$1$x1V;TFe0fOdCA?Gajpn%z_4eb8;WG|8G(LD1<u}UNt-L}c
zFvJGZr^!Of)RSMy&IcxZK^cE?0RKM#!27;R;bM8gr7@I)(jsi&cGRL8Qx^~Sh>(aZ
zy9l^}5!9y^q2m(DdO$>(s6NzhD}*6_e*5Nvaiiht_?)?=y`|-nIr%^@>AIBqoYr6l
za?ZgF$tGL2E$`fBgg;!D0Dt91AttzI;-7{oQx_<76u-+_(r#E#>rI=WRkS-8)`&B>
zj%;{Y(G+gL@JEv=vub{;7nM3L+#Om5naYpyN6y_l$Ef<jkPX@IdY?zt%=-IVMfHRq
zeFyll2}2B}O81ZPs3R(^->XhxG^(8mM>Zi5)K?<lu-w#Sw_afUN#*N4%l~Iv^Gi6D
zW!=oqghZ1p^eMd*U*w6ee!>>LuL1&ha5|TN*unFPUygX@QrXLR4w}ryA#sJdeitzO
z)@VM0B{3bHS@!dG;aXde#ZV;bB@?Q{$TPsQ`jJs>U=B*L7x01DpR4jrRLRo|QYY*r
z39G|FaW??8$6=74))a3}^Q?WMd6vqO1=RaxzOT%2xMs3Dr3x*NW?yza^DODLF^_P)
zT>5Dtgo=xZ0j*nzo+TWO%aO)YS;`4nQ&on9gZB?LJy_@OIR)-in_zRn^X`AKPDg0r
z__@3Fn;Qz3((HuX?vN{vfk<7*-75>ru%-^_%(O_+6~6sdA1BQ+*Q1}ZDbg1c|G&m~
zU4)Q<N<>2<_Uo6QNgN?;;WFb8PwNATIqMiVv$PZ@Ruwt}j>Nxd=xM|l?Uv78PrAX&
zpoc>A%2g8uQK==X`J7XO{)9tPK~<nvM+xkL`RNr0aKjh&mB`Q=Armpq#Uc{gp`EBT
zr*JOcY8YoUTOk-(KI7BapM8dr{|?K|h&LdzhHiCJ+G^bhR2UpW#&>r|@n)26<Le_g
z^TS(-POA3=?8T-Ib?X0?{;m?$>B-kqb=ay!vM8+Udk?E8^?_*U1k5onTvcYj)A&A?
z#@%2ABX_EQ6$;M4{NC;(p6~I-@^e<uzJg6M7C9F4oy5b<VuE_R-bHv#Nv7|gR-g}L
z?@+SuB)Yg(7f_C4GY>@_KQaM)_SC-J!~5aQtF+y7uOQkSUs|>u%$}J-(pXV*WVS9_
zZ^)|GRUiV7H476&y9fDAS@j|6BCXoZC`t+=)joW<qg-|vhWBJTLE#R2wD|Gd(td31
zn-L$j_LXm4Nc^=<9xbRht^UGs9^2SjJ`SgpBv!%lJcV{Q<~eYL@lud{aObc0d`rjg
z9TWG2XFbrO#VjFhb$2%G1b6kl6lNHG`w-crNAB|_EfM(r&efka^=zeSXp{hxgt~|7
z!+g{uIyS1#yrC>E4q*01?QI}?t&$Ox@Cil*A6~+}b;@C^1U(Kb#}Q4f3FjKon*Bag
z)yO;C#;;~fYWGAL`{QeKCnceon9YAe9S;G_qBmE#bwLO8r^^Sx%vTlBy${8{mUtd@
zdfpjRB@|%*zx<pz1+{`G$!R2T<d&kt^?N;2DTcjE$Fl-Scfm-#rmSdhSbNc96n<d_
z4J~%2ikUq`_^>-QP()kSsFj;0FIik9zv8+<3f|=ibyYO8hH`gQQxiY_oX>RA9fz9%
z=<IfE$q+fkaXEG4n*9*wZq}^+On{S?j+#46fodF}AXO(XN2F74JLT2MY%y`=)_MRF
z3z*CG)A1679Qq1_;i?M&fsoJ|z}6V8P-qUr+c#eC0A)CcmF{p^_Qe^>XH^ocPFWC<
zYYw-_tV1#hU%qt!puo30dV@pg^{2VM@hB?N)U4RzO`k1O0ykXSxL9LJ!2?L`S$w$`
zF&UON11hsEbc(r@t7bpc2`^k&o>0^JmeV_ZwzwSqzMd^N=nBi93l^k%K7|6+=uv%Y
zaOg~vyp6=qVE0oUUx~_%PMel+=(68P=KZzrVTZx2Y<2c50YSJQ79iAVJFC=|eT|G^
z=u!J(*oSmviTQZDja_SD8m$i1!f$<1vVD~ZNL0GGj5!%)vVBY3#FGPfo4_wPhHxv&
zT%>LA*$8HbCP;UH&0pqRpm7c+$2dTf>(=*cXRs?J*s0b`_jzF<%KEG{k1od7g6b?g
z^%b8ol~Dbmt&qaNfhw(7J|HBO7f6=*X=Q7(YKZ*Aq%!-y&UGN^nzmi*M~9kY!#W%H
zL-l-2uLF(2K27`Ack^$Pg>QfISJMhjcpS%WTzJ1MWn<Eug{NVnyN7fJaW!AYO*;yf
zqz1lF-DF4xJ;FUIi;b6I^SLGOy1B>p?OV%-;l}myUM}BwNQ7E@SOM>P>&k{z-zu6D
zMXRt_y^V_QC!3?`YojU9MDwf%jeJ!Wni(LMR3!2tA2cJWz|ln2!^&H*!)u#i(}!n7
z56TEj<3hwq_Lbzcj``2JJa-%A{D1~2!1<S{5e6E6l48t!eQn)@)${L2T}SWPP+_^L
z*8ARTRy#84Cg3fN`zchzF!Exj*i<Ufff7H^XJlo0NZpkAMut_(n|!Z6{Pt2r&Xv;+
z`dYNgUY<>Ndn4*)^=f<7`IFgV_$dAN#Y31QhO^H7cpPC|G(al*Tj%R+k<LLGR(_Y?
z_X}K2{{H_&8ZZsRpXf`FXLeV#v}>_(GN}I|W03;7Z1M{iJj1}Jd8=5B=rf}w%$I;m
zTklsgX*s42TeS)pXiA4*-f|qiYwa|c-h?-3-}2ShCnU#-4^*j;XhUk$xvaH+>gKa0
z9n|J^CP-e*=8gS2(Wh5>V*7k!H@(>Xe9}2u%#T4G@%Hz9AbEdlfU-_|9H$q4fJ*Z7
zwcjA_gDtW2>RX&J93f$j>2Kv)sz^tmP}?9dX)dhyDACar$o?B9#Xe09VV3anM=30^
zN2$U+uT3dK2=2$RqLZ);#Py{=lq`Z&1>3~k+e@>)z!OwqiFcH41An$>w@|6Q34dee
zr}Nqu+an8}#vq&h-R2t;7Z^cE_$WR@V5HWT#<Q<dfe>~aN43g-`*AV+*X68se-!Zo
z^2^G09@u{Btd({k3NBU*rbP<zXEC0eXcjH1R98F1+xrOmmgfdqBDG>-XuESuhy=5{
z3t;hka!+l94au(Ye5YOc>C=+6ybMSA`cBN@8cQjMm)^MC-Q6<zkueTIS^5zfnXn_g
zqfv9;H$-@T(r0!!v5DM-sBPR7@RYFCEOS;w)2=hEoeGTUva)=z+&+)41Nd>PD#aA^
z2R47j^%+{{ba(&ouhsMAPWl0^^9+ldQ-6EY$rjya<kSSx`lPUAFrulnKuQavt$2>R
z5DmQe%D#{MTA~iL&Weu0Mrp1%iJA3|BapLvF{@U{B^&dQO2b{UJxhL&&}+3+`6+t1
z4^+RX1=}ldWT^aus%B$Qh@_%WX*{g{N&_Yy6}d*yv6<Sh;Ct7@1;OOO@>>qM<=H`(
z>aHF2-~1}#b@<$6-;?Hi`#2rS$p<%499QDhS^W^&aLw!-x*)TYD&2C{3pLwxLJ+Cp
zM;eE@|7ia(r_K};LhY$&@TXN(xxH99R2z$rYb7dLIM5)^?a3Ny*PZzGwgqDGu%c9W
zJe6E`uO=77X}ml;@W3?~WP=P0no6CqL%n5CRFJG59_rqIi%W268g$VrDGj5_SNU=W
zyuC1h&>N(hcW}qqC8NNcEB2fI7Q{Euj3Z%33PByQp1HzVf<Boc$`p!jds!!HMzm)6
z=E-w9W+$+yNTPvsiQ_;T{_(qA$Cd|rrypDzc~vF6PO|JZu6<!-l|~_;J~^T9=gDD#
zqMV}uv<*CB^5wRMESS(KFpsk%7lH}l$eHB=%rx1a&uPk03YL(lM*bW^FU!6VxN6^g
zvcEKfc&1NLO{0aN|LBhVySR0Iwpr+rhHomsTxSc9TbUKitp0_!f-&uaH2Gud3Z*OO
zY;WM`+P6G@pJ@A9cJ*mrr#?BeCa_DQQ1{benUA|Jw0SPiNrh1!lWVkt`3npg+`F$0
z<h4vJr8|Pe<-IS-=<<R~@GlE{uX%_0=IyVrl1TfZe>kyeRVXtb88h9anr_filmkLl
z5%8m8ih;r5NqOfzJPpb=kB3~H2F?e2jb;biwBH;88ME1Sd!<uz^qd5loI?2#tXuzt
zZtz3ZT?-;^&qm?KM&smOCnWi%sR)gf(1;RWHm#_{R(bGv5e-R-R5~Ki9Mx6g&L>T$
zHIg*-N9gt%qa{H)z$sv+c1)bCJW{gX>kxnEZoYE*r7?Wy6&tgNjRWY{S*r;nCf08M
zK6~0U(}(7t+Kwg+*r_kR$b~s~+StTC+C}$}EVrN#oXp}1OS)L*sFTa$9w$Tl-tk#v
zrcNIQjgkq>DP;-L(5y0gcXD|9n=i(9;>ORLbSY{=!a2AO;QeqdI;Yod<Z1M^QDKlC
zYv0lR)QAegnRlY~27;%i<3;R1yYJiePYoybIM7YhGPs@M<;bNEd;9&*Ib)Gpp8kyQ
zU#XaRp(<=D2kF2kB@5$*=Q@bK0+1an3f*a&pw+zJ=tYBgnSVgb6tDD@d|b`d059Cr
zdR5tq!94pMXY(v_(zz3TEF$fJOL)iW;mchBTGgQdxPo;P<Iit|)S2#6xP@$~T=>Au
zRt1|0MZb<mLfEr0j-z1?E3`4%i`EC-Qpl)nH4)5e{zx>L)zsgOZy^y9Ex&kqIK%x5
z@NM@r*=&Zw#Un;H<X8Xq98=_PUC}v6s_(evd9#FY!emsX&#lLu=lqBzvO*nZPOh=d
z4j*)KJl2Ukb8B?*=|sP6*gY<naOq-~_OF;>@^PP$Z+>&3n0C1pM%J0Pc0}O9tB`+d
z5c^)|^em9vqjz|I+buq@0&}#6S?f9@8B0}9#>n*7CBB?4UX`NGRnCuH`g{k~oP4li
zokyxW0)xv|k3BB-<*0caoCpy{vZN@PLl5_PfQM2{<*4Z8_|h$KU9u<ho8z6S6o$qO
zCYQf$5&_SG9#VRJhkP2_MTv1YKEKfTk%xmQa@X;1rNF;5b4=;(U%^s>Ai@2uT>?YF
z1iPsFkWr9$&AFXExjlI!YW8<5j=F3C577XUasH02n{_><Ek&kgJP1s43d2UP;ezWH
zpl@=Rk^>@(0~I|lJ2QHK`!zEv_`%Ok^3t)SUAk#&iQyE_>Y02q$6IrEiy3HGUT-rN
z?e#D9)XUP_$J|i>!(k1eZXRmsOa^I`36h<5sh!q>j?`@feP$^>PL|4U1}8U>exCD)
zIao49rYatv=SuG{AH+Mtadyn@=J*ws3tP8BQqR>|gD?C3<iFr^3aOH%#mKsk-bCb9
zMloC)&cwN1D?_E<4#f_Qa>JucQ-plNMPWBL`PacJMEr7&06%t}?@zz2I6j%R`=*L~
zw?prflkXLg@*9xQF8xB5{ON8EVfLlRlI*hK705HPui$AKe_Nb?0!HX@P}!oPbGvcR
zvYF@(#hs7$CAL;uii&;!1nrUJ{j<O1t=_HAea@BKxTtMU@VF=mA=fP2k_L6@aFNm4
zPmLp6GgU+Q4Twc$i@*Gc?|N(R+J$TBx5M|il>`J=M)MkH$*Bvw50VN)w`fmXHE%^u
zIUWLembVE`!o}#&#4&xPP!_&|X<omj`ux;g0W{~$%Jf`6Dvz^kHy4u+i<E#jPJ1lz
z-#suOJ%lM7aa-yWQLfMp(5~wwYqH-_AKV=P%Ax)n<>mZ%ZvYAH#9w1o#n~-Kd>FgX
zV`-!2`GrF&(&r;OSL{qc-m!W)I-$Lr=q&)#VI<*f8k)V2BbiVz`<vkI%qB#`+UFiz
zfyz|rS;j$FEar@?qg&rDZLuQ5+}Xl!!afyx&~3dYz=I*<l8mnUe*St}mp=spyoID8
zB&Efuq$>+IfVC$j+KDFBo5Hksh|m@|Z3vZgm!k_4AsqC28Tn}V5i4HBE!CI!mieGi
z`6R|S#i=H<b<5mI_usAof;P`yFe9le_+9b`_!_^8_UzqdnBREYouV=(*`Yp_l?>$a
zhK5rv*-R2Yvoi3Q894)6GG-_l@!RTn+l(BvTAoX9<0>S1>fXik)53{NbuCkgGK;0h
zDcGOQq+)Y8Z$~Z>^38nbeMvYf97W#@yt1OLqNw3AXUQj*0BbWBi+G(kyMd8S0g=P}
zjqBd(z5|gELTMVq193Utpad>%Ezy&~1>eafF`~+vQm}u%1p?oE&hbpL-7kwqZtJR_
zr@PC86vHjQ5;;r;PH}5)stSeHF5%Vip98ty{yr;-F3XN;U2o*)Jnc@bw6P#TAZ<!^
zf2at*<r2*?S990tr6|<IH+CoANsTCrE3#D352n=q21&?6@bq`cGtYYV>nG|uDPH>d
zB<<08a?B0i`PSsM)?aH>LeUrE)b4tPXQP_ewOZ!Y`t$c&Ny6XJBJ>R;XiqX2_26;&
z#PIZ9SD#~qTOA>w4p8O|VxaylP|`bg=Pa4Lw)UfGQ^(yg{CD7DdL9DT#`d}-n<V@g
zDp*!iPb`A)+!a8iBEVERp2UXW#`JS+KL8#r*UT{0^sJ5=+eG_96^C!_n>vj?IVq51
zZj%%)^9ueu8#Ur}Mi+H$x;3)&by$YHlkhaQP~^XL(qh=!xU$220_SfL<t_gnwW$?<
zs)(?U{hJY{l>ga*tCWwoQ^uFD1y&B(RQ)av(hcats1Vpc+r^l~2-4rTH(_fBcsc+B
z9RPejpYMn7c{^~{M>Tc<FWyNX5$4}H$bKj00=+DdyU(k>K~H`*r$G*+APVe^;4!H~
zsCYzE`}uh=tg?UoT6uHsM!L#~_H-+z^n{vZA$#<TJaP}2ojZ3E;lHs{(bmD_o%51w
zfB^6jC4hv%jLW-JciS72okMCbcoFWS06jp$zuSs<yviccQ?%SAaD8O%CXoOqz8B1Z
zgt}^H!VG&SdSy)6A2kmLj5ie`*|<Uwbin1)a++_LOJN-rU(Mk^-}q3=(|2SO6XC;@
zZx8?!joHVDq3}Xn#ZvMS{b!?Iv!0dQ(QP`$0(GuVAe8EhkWC$ReSY%sQlLS~+@l6P
zUwY8D@7tEPMe7Pfoy-rvnn^N8`<C~7%I)%-yyR?~2*(y2aaeBY)J{xHkiR1BXu|$)
zJQ3tYtVrn*GWeh@Jn#_?g%T7!pZwGQET^8ObXvb6IR|7%keR<b5Wi{Pt#!iqC`@2-
zB6t<2P>hO?UuR6Xm~v0W4Yj?6(a-j8^Ai83o)CV;E&<3YDw*g9qQK&Ohpo-}Ja>Kf
zq{1bB>ifq+LD#KKfU{3l+2&(%=P{&0!P)gHI>DWso^rECj+bLD{vC?7sL&Q7*M6Zj
zt=9yyjJ-0tZle(z0whB>rT3JsTTUvKb)|Ec4gt<xY|zJBm*u;}Zi>00QkvbJ@NMJ{
z(94NYv5UAlEbV*3;MU)@p%^xM$0IuErYR*sFSc=%ln$WMyjp%Vd^OgMgH&FBlZ3m5
zdiUK&+}9-+>qAFgvG_*Wwx#=vUWE0m43%D$-qR?0ywc?7MhK3}2Y8uF&5)HVr^Ec-
z(3_O!(fagrk^&{Il6kColJ1eB;yfu}pSd!<Oo0JS;oHc!40gQ6&nI*kt1dt8<O3xu
z=ZBNhHbGO0VM*#J**(~~0ozmlmGwz~UX|B|seiCa35+hFerb0zI$gui=i||YM#C;*
zeC7I-v2~%8_5l#)1dIKGi_!DteC-X#{2_{)k)df<J_>JUjFstX0jQ7s?UB~Dj29$C
z6%ir2qs@G_3=03AEv9C{c(`)fmKKEvk`bs0KTc_I8HY*W1S9$w;k1aWKMD$x_-kIv
z!xG!sHHh^X1~c!$&z!g78@Yxti4L3#5IEn^B5q|lMWN}gORzjYspJxZffJ-}#LDPn
zlgb%T*&M`!rJwr_1ra_p`*RQT;3k;L>GOC8AKF-PJ*Hp+SN7BZGz+mCvB)*OzBfvN
z=~Vdg{m2z%n<X75zOQgQy_~s7KRK2_pK0n~5iynl1QMQ`Rc!6w*o@$tFn&azBtA`Q
zZ?h{M96_*~!C2u60^Kvj>?uBhMf9b^Fp$OXCMU#gezLNH+!Ss8;y4CmPwX;6z`9}j
z;*_xj<l1P-wZ1Wa+*6@-lN6Z9C;3!qp8`t-nv~_-tXfl)!ZT|7eNi5MVRep8cXQa(
z*PJd$yTeWAncb~pV45hQ<JqMDHfWT5v77L#nUm^++q7d#1gm1JLVE%VQ>pxW&I_6}
zqA7*_-=1ZyST6Q(O|r*Bk)o?mQlz(TDX(R-ix|hk{8VW19r^A1`>kH-O@(;;q@-b9
z3zZ-3;APZAq6Nzp$uHR_-DwK1<6#y$j96EwF3jB;rjOC?nrFmGTHUn$gZ8q=0@5Rb
zvGa_(g}V42xo?kCc$G-w5`c665&X{~17BWPruA3JCDrj;+n3ykEnpR)8_9VKYWaZ@
zeY<K$Ffu@knSC+G)A1Xa3I(m3kw+#bu>Z!qt?|`~jF$0BP+i2V1NUM>E-nBn5%s0L
z+^H@ZGH(f)vJ6A+7P~tkimb`)%hHn1rAhK=BwP(_A<4<fhG3a7VW8=z`-)tqY4wpY
zV7tebE`{*TsAGdZ_Q&|Lj7F7PezQxh6YTljiylr1;^U8r64L&$^tkCs@;f6@4ZN;R
z%tY$A_G3qXWT;qE%d<qkT%#x-uAQHz@Ybz!o5EY93Ni7@(v6LR-K2JsOJ4SGzluoU
z%u239T<LVZCvz0sydluD9yc<3A}E=nNL1WA&UO~ef!FYC$6uj?+z8@a$i-4c$yu2+
z4fN!Wjo;=mNW&Fr$|)9Sndsk^GUI7oD<{2Ccmjm^+u)kKjwJ6~U<jh>P=(PhEJQHO
zQct_I<(nC0rYenJ)`Ueiq}anR-8wgMhP~qRR4(L_+ih|E>AR7(lZz+#tfb}a<QMt;
zg=@8a$c_~;tvHrER7`U1%q>5dt{QZ1F3nER8_I!kspqv3kpAvHFu!cP+0ThWV4Xo-
zzQSVT?b&4AKq+<m)cFV-Lm#ZOk8jqnUZ3I!F>P-r6rn7AZtQr5vHy&Q@UykIVW-Tv
zhpyUK+S%SW3^BDh2l|y{@3f?4b?omj+j<?AVATN4sB{f<ufZJtvGyuMmuQAlaJN%8
zYPeo+fe+!9V@T1&%Lq#fTUp>Af(+pnOZ;aMQiA0s-kVIETy(zf@`#T|UW|C^yYqjW
z*iBbZ?@IsvL|A|L;F-of?LMT8W-HdJO1KyGd;@)9bI1`Kp#AU(`=A8;O!@c)8wRa;
zyu!&lc*d!AvI*C&j9&la=q%P;g@PdbKrC=uBEc=e+2QWa(_iM!GT+P)`gB+Ql>q1C
zBB{4bV@XwXk-yR4i(*{^#_AbliRFwueRfNw=BtN^cd7U}enMqjX~)7Fw}4LQ6~*7?
zDE7_Zn#EV{c<5-}u?W2+!a#<At^+n$Ruoy<NVbc<cKt2o+Wd*^?t1`ePHj9NBW<A%
zaoGd^J8v9Byr&Ut(qB-s63q^e2oI@%J2;j=i6x6_SdpLbk%)5s=LbN@MnF?<nd$om
zL>&)&`BO@gHvA>pnM5l9pU+94;X<R}Q%V7d;)(gEdq_MJS<ra5d_{T;Rgo_^6Gpry
z{wB(1`f|G|(S6-Z35{ho9;U+Y46yH>6ljQCH&Fl(O_RU2d(h(V8B(jY6feK!xX$bB
z2X8q}{xV<t$9{!Y`7)ehTTv#qlj0!_fk0@lABQ(ZaMvj|-TObc_ccX{{aQ0vh56Kf
z-!Zc-*DKe6u2+fg!558bC(EG%Edm0bkwhJSC><Tduvtfzq2x}yL<kT=(WKtmbo1d9
z%ON@K{Vu9g#=cQREkOCV9tqjp5ZLuYbuTT9*zWV2*0vz%w(&g1y&C~X0#T+Z(TCqq
z=!!58H<_pD_FgH>8{0girmVGnM9yshLM8ojQhtkKF2kA~Ahv0MI3%`YX*<gQxKf+J
zm#3efw2YWnX0X{yWEIc_H!LkX*vF5ekH}NH<1_kJn=RRX%$8V2w{D?bUxrh2#0Bp$
zQYit658~j~6KLM?+A?~oNhirK$k7$p3Qe}G@+*KCnwdojr@f4!HvPkQ^14Q(zR*u`
zVf4<WlJT`P@(NilH)Ir?FF}Z|I?O~wV*CD<SvD2RPn!F(36FF{5LV*h*4OShTKruP
zy_1}MbC{bJPn#+6@5csfu`~P9WruU7`Q8Hoq{bOt5G;4s-l7S!5VV4sJyK8cX~75&
zg|^t!3OkY_lIh;1&#Pw+P<mx%o=zo3lJ_I{_DiK%>PQ(L0ogqc3L+)#&>p0w!3N`C
znqm(0oCLp<Fv-P>g35C;&Z*U3V#u&MsYMh-0x}2wt|%@lLHGeSj)xsgY3%Cl{0N&k
zEgdT#UGAx7lYiU4HNs33M=ht~vzo}i<>H2ZT_%vET;CN8wG{Vh>1#P3;G=G0#AO?S
zuzT#$KOj60xM~q<Dz)-Es5E9<;gKeAPQGd3ck?og_%u^BM-t^Eiip}FiOp;d&Rt>~
zU>Z#mNW(PNpv&!Xwn^U@9S2qwXe7M3w{3MZJB|WSePe$KMtkT@B&x3=v3H?-WGsO5
zsxa9?r**7ESNz7?U6Q<rbHeD0F!vg0)l)`GDPW{w1bT&md!s;@S+@Gt)-o22q_Qe$
zIoI#`*u}3;PPqCyl~M8Ccc2y&14_SEgAbe1MT5`p;!qpU2tii|TuM_aGQ2|t48y=Q
zv4HZc)R#E)ET2Jx5g79A?&HDjVf4R4^PSl^WTTZ%$a3=<8L%6r!M&)bQAEm<DkeXL
zX5m_wW)Le~F|inAhH2403I|2Vr^jwk367|mPUFoCAr4_QMsD@eLojypta%(m8!N|<
z`4@X|dc!tLmepYLgw~a^;}LyUBTQusBR}7BLh+}2IFwm&ORI#8B(AsG3rC@K0>3eQ
zGvl=6uqS!OYzWg2tX@Q#9#x^F6{Qnwx1X-^ERk=;%q^RnadNkYQ~Fd>W%upwLt;ST
zRIW5oNwkG2+89|-p9XlaW|$@7eubNSO7empHQ4O1v6e1gW@ev@dqNXlWEr~!NA>GO
zOEPbPJli{;M+m(OX-JvVXBX-6GT@fqTVR3lQiJ}sEc~4OYrXtQl+>HC<G|SKwnXkX
z-+PcGR4kt55|3I7_$*jN@(}bOtwqFNwuufBby<-U4#8*@y#I~Sv8Yr^@SRUm_C*kM
zrbnPf9bxf7Uf88%uOZgdoN0`T>*6?z0!bxcIFg)79y!bd{$Q=V^JI6YXeR!|0gXxs
zWDpgd?_8C@+=KZL$cGa_r>~T9$D0$FBU$&8cc5QQytCUG<5m8i=jD$QqAZeCqr13y
ztvPI3lR=Vv8?`*=JIqZadzlbz&voohM6|wM75_F>fM(cr$LDSXoO(rPu8Lv5JhS2~
zCspF9PNz)<sFV?v0_e5bhM+C=dbsL)yv($fB!nyZK=ZKh4#D5AfB(S7UNp$7><c3(
zu?Rd<YBdnqbz)n#w-c^RjhftCIy<o!p-}`<t6Pcugycim?7c=8UxVWF_sJS<@1a_i
z!Ef`P9gQ;i=6?F|k>Xy=FDrZm=Th58o%VZEsD4`1aL~Jo^hyicuIEye`Fp<|5U!N-
zGau@7-MVshS_<5Rz^DdK9q=?6GwvhctC+(I*Q8$!VAzXy!wz}jQVJIC!4UCZHGoax
z$kO<Eot51=u}-)uu*?UPNjRcHx*E4{Gb#+Pgt*D6hnI7LV|NUOib<@C=Oh8XlNp~R
z6Q$nPr4S;7U(~FiG!I}#E{g_$VkY6BgfrLj=_D+QCdNTiy9AMX3aWf`$s{(f(hi8L
zmr3B59QWxEI<9h5quAgzZHE!aqKKj}Bk#M@+n3Na-TK7hPIFOoc=C%NH_$TOLr#X#
z6&$Xg_GkEHLEdBEfi$Y5g9nawQ;WyscImh-G?bsH#pyI5PLy91G~HZ>Zub63!R*a!
z9JG7rwpKfoO3U#5tnVCfS$C3LR|>q|ppFfsDGSV9i_npA-uB;<{Pk4i_8H@mCwfKn
zC`@cayts2u+f8!dlXWb~J}ulgcj?|;`5<dBB14ocZId%Uz`7oWg5@4X0hjj4hxY8r
zOU<X%*!cN<Pis;H*=LEqZYt#4*Th3nr#jX7;~U5^vXI(F*qLaMp|BsikWC738;El7
z+c{0C+dlG)S33`~(h@3(aivs8Ps}yM=nSJ|9U790)4?9jj7!AAa1394Cs7{$d;ZB5
ztez%deBmY}T-8L;J^7O8(J=N@81sj;{+ijR-}7EzzJ4mK;fq{E@GeEXbe%uJod;X^
zaZm1C=1cp0$WJ2tMB4hyy}5Ii8Gvp52@#Rm9myMlraaf^j2iIX__bgOsi8nd|C~A>
zhd&4kiut#HIpFpZbEz&*7CyA0-Dac`Ca%lcn>q#l1rOW%T#tU|=Iy4^v_5SrQ9%7p
zmfydl@<ROl=)?WvGu_b7Zh%&i!lFN&crf%4TWNS}@UFegZ<BXa8V6?7$_T6Z@>1}P
zoufxWS}|p69?q+SU2`HPkY3(Ks3`*ULCOf|Twg#yhj>+o6$~yWXR2Yz`W-Ht32Xke
zp^=qXT!D?lU*!=VS;@Ty#%G*Uq<MRy@60Ew_oklpc6_#0$GlO1{9BuANPg&_)Q8VE
zB`lvB6O#vizqjAM?kl?5V$Qv>gaSq{EIDwOo0@na>|xvSRyaVBUk{if<B(yMyOqs)
zGhd~;pDko*^yB>aD(?da;Of2m@$YNl`>T>#Qa5A%wFE;)I%Qb+966S4ngoHP<`4d%
z;yxh&CgrT930#Nc@tJJ1aoM7??nIn%QOana{ecqX7aScg_M5buO&ub|&hA%6?zpT-
z`R3DrYFIf$f~F!yvB|AK`k0c}Gaiz0g@Y(YFDg4w>NYoEkBNW&Je~QxfV$d0-l&m-
zjCi6V*b;vf`g<de{LaAf0YzDnAzi^<Dk~dBY0xAxfefRP1njgTS!Wy>hQcg0(lzmn
z@^09+`3q{J%mnMgHbvf8qrlAf42R~hhB*&jKSGwVdRg)>zJchSI4D+tAjuUU(Xj<@
z^coh~K6|DnO=DDIzVDFqJJzY}peeUL6Zc$v$b!4HY5MbowfB=GYquP|H$1GK_meb3
zM4l^51cbkP<C~%7fbVUh*)^4eu3h12M#$kz&(bi%j7WFbzAK|4JlK9OHH!2rwF%h{
z*pmsYeCLBhr#~o1enT7+AbGk}<5>=hlx#ytD<)as0aM3zDojR|U=)Bprng6OOJ_4s
z9GsehAN(Vs-=nlYMQ~#(!Tpvwh~Vq65>u0j?3q8Akm>Nkq6@Zu5v1D&B<rgrT9{j8
z2J1plQHVbhLZ^e2Jk>y?)^aci`x_#AcT_-<Yp-k9)~jb*oPMK`3Ib&q=jlMGE<8Hs
zwI*IV(dnGt(=vsoW@q+rFwt`_FQ_|TQs2`~eHN3M7b%EO*Pr&_az)@%j~zt<u8Wu-
z7{1me^w|HVj0Gl=3tyydesp;CJ}UqW^v>5|T{_lddTY?Q9pE3cr=<;h#$}`^AaAU5
zk%x22n}I(Rt56u=!43fY;!sAu7Pr|dM0R7ZW-jVlkuF^$bEwUcIeKmA&Qhy{<{%vr
zvIU4q1Htr^2T|sL6VgV5K;0muvVG?GCe|<IlG>e?z)9(JYtt1GU!mBfaHERYcWYx@
z(7D{xt_q_gI4UelNuLVO=02~QRdKoy+()zp?fkHuteg(3M3N!=gm}W2@aad3uW~;|
zpwWvn<dcTG0Tg*#${l%;2AJ`K0~>7^%_IfmKnyf~C<QQsH-8#2R0~KpeX0z7olXG6
zoQ;v(Fd>mD|Hj{B__{zLrfj=LWcy*!c>sozq%M?xdVr>o&KE;pJ4U;sNUD%htN9GN
ze0B!-{N1YywL%M=y#BEM8POEfOmsdQe|Of$WaPf(QEH9o>AF}%T_UNwPV?f;p{=38
znU4JJmL)u~my&@^5eXD#gyYzeKea<g<QlDnRm^MXPo}#b%6e>ivw?DvOoSeZwTe%q
zyukrD)Yg=e1JwY&Twke3Ds*-bu{<#S&1LQ}qrZryKSn|p8`<9Fj;%0|PJ*ARHTXR@
zn0=E&QFrVO@&tLjJXcR$(rbe}`wB&5fy)NosnTfiJ8&=+Te09vXOOf>-!SlLKfOwL
z6NKSZEgeVebh#_w%Sn-@7$s~gHAsH-yndQn&Hj`diocG|7Op<dTV@*3X0CflToM=g
zGxXh^y!C(-*K>4AKCP*LVzdZMM+d&pKpqRTi~G0^)G)N*7En~H?se35>gb?gJfvVc
z#xd<`OHYt3*S=ZdDSYo2U_;ULoB2B|^G6fQ42lk1?c{NwCkT(k_AoiN8xj>(p93_%
z`fz}X$wu383zoX)ehnJ-uGx#a>Sr39REdMzKnc{;I-ly4db&tNLl*dp)UfNK>C#GH
zzlw94t0Pt{w2Ok_`CIkLv1tg^6K`Kdr&Sj1-!<7ES<H0oqA5ZJ2L%rSqF$E^c}a~Z
zfKu#GliNp`<comdf(0aPYux(ew@qz7fri>d6pb<fhK2$iCIW*byI|f%&PlajI?wTa
zdv6cju90B~8#a)pS;53{lK>uEV{wo!e+Y@gpFMwr<7c@fg(J-gU{OV7k1*@gy!kNW
z*nM%XM;r!CJV^*k7epMyN*;<X1KnX=JXT3q-JvM|fIs{hR)#lFA3FMFVX5K13tRml
z9}I9aY38I^-!nnglODKtrH4!Rh&ipN2nUX%u~`^gvgsPsPzVgnx4j?94sEl<(i>3e
zFSd;a;A-p;<wyr+O!$z3CWzTva*WzU);E{EpS0ZlP0UO*6*OF5OrIL&Lc$du4Ki9u
z-9U@M2@5-1Ts2gj4|ZThGv$HZe}Lv7LpElBlf#9Gy@wXVP(zEnJA4>Dh78D?ZbE`r
zHQfYM^-vzWSgjY<F_he~?rlB^)A{0pCzTY2bOt_F0ZRVS)XPVcj$nTqvbe;_*kh{D
zD0hy%N#V%N_CvG<Y*t&p`VgSKyzgN1Z?|nT6s>FPO|?=5n<JT%+eRiv_UqCD-|}U)
zwXM(qOeDt|YW7->P9TAcFUP28tjh|8QpS`BRNm|NICu7n6+!qD?&uNCbAV@xR4i-t
zbqNSXf?f!`&=6ssmPOYhxXxlm<X%G(8TiQtc)<U1H*ph@lz1+C6YNNx0{!z$>!%hs
zc^`4T3|Z>PR!#5v;htp%J=x<31Qs)KZL$WNZ>Xn}rMSC($9!cGl4*Pyq%({Cidlh$
zvGW{zGje8%^-0?$Mzj_<fhn*+CLI``lb$|-&cnm=n+^#^fa1#sBs)Va7Rsdh!W+rH
z{R&Ejg~A`LQeZlFF5N7UrK1A14*|;ri*HeY`lmWHX^@zNaJTy0sx*O*UyYG(D`?Zi
zDA`V|g_tETT+-+RC>{v<za;6j_7{y}VjOluY$$Jw(JIGFS*p0kQFqWieJD_NPiH8c
z#RmkwMd^#%XQbQ^-wJqZeazHQjdYHNx)DFKoDTxQFxnJPIol^JOfr=;y*z+ZGEpn>
zxw&D*CL@E5_@3n>{Q+tyqxQRe>g-oao=*QFv>^tb&AuR@f+kjjz?xl~vWaioV8q|^
z1oisW8goH9Z`+sA-lZj2<(>K!t(0XJ3)eJ=H)@Z=?ff#HRBa_}zIC)BkTf<jgm8?u
zB*G=ers~&SO!GkuRx*$pN49@EES^;ck!)|s0X)Ak3OxAg^$NTI%vcc#YA-Vybp+F&
zsdK_8fygcbr_Q~AaO+Febb7OH3n;SdQ7+)Rs&<EWurSEr9E+55Ib)noqZnrF>H^%S
zU(hdfZAR##uvyoQ04#f>AoKCi9-Q}GaF4WdNp(ba@1Bgs3LZDmS0Z?@2zsd~3xzvT
zo?w|5=$B$Zg6}AZL9MH#1VdDSIqWxB{%+vq+*u5IDl_zJisfb{<~dYWA`K{Qf9)yk
zXW00aYxOWv32QBP94}fJI8l%vg!2S<*m=^GLp-o^P=7g9o)0>}@ODD_>swCH*SZ87
zjlV9A!rF91#HZ2r9~Wlx{aR=UJRf*?nSwe#PucCOw2IjJ3qTIi*VEA--A|0(OsHRm
zowus-PvWA^C8{qOEv=B_JEIbI2f}b@kHcmQ#RoPb(11YF3oxGB5{NW#%NlA^BJXDm
zVhGqdv!oUA@{-~pgmHYm?TTM#W2mm2Z=_&yq~YG;7qJ{0b$AqjW|7lv_o?+c%&IG{
zS{?}9Jec_`8tQ3Q-||X4{qV1w9hBM{<p&4PcpOA%r5v0#W%y99_K*NgpuZ8czl0cU
zX>nr35kt^k3^nw9ouzQ-@WGzRM4i~t9BK6>9%Y8=pu}j3>tv|*0)q;Dh!@CezkG?P
ztx%ZY<USP@ZdeZe>|<ck8lVsS`YFI`<T-vPcf)_ZUsW$hA@eCj08;}SN?(*0@s3h5
z1Om*A;*s2m)XBuWLq8c-@vB5}Xz-s!3qPlnRp<8w19mfqw$6?2td?kCq6}4_e84F8
zB35}R@j*n2<0Kes+tW^mU46KcZrlaJmSqTP`YhQ9dS~LTCjg{=^TQrY^VHj3Z<-){
zX_gci&V_Z{<msOzzmp49kD=8O&ouMo-a#$K=}$IYCj=6`+x%^Eb!$hMzD)@tFFu#<
z$lwr+eNrmHomEU>LvU=c>D@QLWHBk*AFx}VQ)y-*xKFsPOlXm%1Ubv?k*y!Y;^)Z*
z(z@ka#^wuD$AZlh6Ge`LvKFpF`x`>{yd-Rx^XTd;eQm7}u@|af5<T)fpIMt)Mf_14
zW{)Ro^lqV*RaN;K)`321h{OJ|;%`&(pA>lC)3~H4B*EGB%gFmAze%HT>Y-3u2=*$A
zzJ%zNU*Y+IBztBj@zk(K8Q=Ghn(Fzwu1!9<^AyXI_E4}U22p5A)@6Q!a!V8PCXmXV
zf?K2!tM~pG<{sj7(R*JU<Ks7{7lqI1G$n8|IpE{$EZt=dB5=(DP}yU6sgo^F4W5IX
z#j?hahe0kH*166<fEFMCkWE-<%Wquj>;=1X?6q6a;YrTb?!65)*V3Df-5I|3rs}5$
z0%gfLU0vBvmB$=+d$=OwS}e0i-_fc?JBlE>s8N7n=)YrP7#&b(pIWrIK}h!?ehq^W
zR7!o(bt8f)TVQ9(J98q<d0dlOvhJ)L;2%Amk_OlPR3&f1o4VR5x;sB->dR045L+JL
zSbf%hMllugoW`Q+CS}lqw^!W?HoaEAUxDn&ttU!<XYri%`eWG|`3_v4FdqJhps%Yr
zSXdsKhpAECp$Td?GnhGG!e_J&Oal}7MQuj}GxJJdl~a`rxo~6Lr6ft}>v08{CVvaO
z<r9WQPVmPXWH1JkqHhPzazVitGW|W!s1YjyTz|<nMH87D?@%Hk@~u!C$+gH3@=_P+
z?2Pb0Qm0hPhY#(g#ScX>lv&0^a98iJ5`-0S3OnU1DG_-=>9}rK6jxV2s>;53>lYTl
z@BNt)5~_41qmu@s`0G3{VY8lGT3Oylp1~u^t~#78_Y%=ccH+p~X=R6^KF|-$gT$*z
zmQ+6XR4~Hs(cw6Mz-Y}KOAVvw_rz4T)9CU6jJH2HbNJc2dbDJcXwheShWh09r4%gu
z?j?iTOd+qOW~GU@8CxnaBFiFIF*=EuKyemuhR&=BJQdR@UVUTPzUNNT9A1aoW~(um
z=uyNS@gpQxNf-WVFZ-j9-Mw<XVc@E(5N6nT(_-D-vl={bG7QHsw)<l}?bCtc*o=&I
zPv4Q!zr1Dc5ke<?4v|ckh(9Y@%#QjRFx+<0X@j{5jkL=-R6ljiQh5F+%}lNf(U8x7
z{;R?fB>D^t7NuAOzrs<q%2&3`p*-5{+bZ?yGRliV=QNVST@SFYC>Y<N%h~ex*l&Yk
zYokb3SUfQs>h<tMf7*uP^&Ucy^RvjNO3vj6S{P<1z;bmj<*{PLA!Mv9f!``Ax{puD
zn6oUp5Wo?^I`#l6Df?O>ZNIv(f+8VhT&P6yj4>%IXb9Lc)o8-WiY7SBvSWjB*?sg8
zGy<wI3Fe0xR;oaPh8b_a)C}~JGbe0pS?KCd6xfNHSf_82Jj@^h&OHh2s(MIFaCFR9
zlfysB3rIw{a;cA_-DIgepf>uqEPoKFBnf}Eq&P{k%^@52YWV@=*i@9u(w?C3-mM9j
zXwetg1y+h>`I7Jtpo=PqY{cQNR(uuuqk;m}T8KVC&a|uXckxHsn4*viz6LfBYS!cY
zAzFnxEeWaC!p}Q;zMP!2r_3d3Dg27DVnk{3s(Ns7xUVeJyGkq`41B&Oi;;mc%P?=o
zYj_TN9W;(%Nx<t208Z=L{sQZ7wWQ~7^O%InIPHi(X32oJU5Suo)^T_bJ0=jLq!(h*
z5~notGz6C;-sT`e!9I@qGsKwB`gZ;o3xnx*-uH=xLe3PAS)_fI?{`K1%7loV_~&U(
zU3^w)0C!C%(g+=vlCfHMs-LrWHeuFNtY`bBnGvh;q~|OuJWqXmd61i*+DY^%9yB!}
zctF7Q-xb92YtWn<)A1R;Z_SX<FBuPHA_P11Y;dk63SZ%pcyPJjeZm{}KNabkK`t$l
zv<odqFLy2i2$rM+k$?0Z53h5&zi+U%&C@GXnLxWXJ#1_}pIGiT?{#yG*SsM69$|g(
z9{hG>0Fp0m$ixp-n<=?j0mX<i0w^7W?Yc;i`eXRJVKKo~4}+vdmnt>>?<88+ibms5
zeyfpo8bv>i&1NU%QzkqJ&F6A&?H)NdF~CBrt;i-nTj5B^1V_QCfy!?(;>&hmpnU|z
z(aik2dSt-$<BvdYYX77$c3~G_Fth*1sE@R?i&~Bm=IA;);MZrr>pmu{HY9Uy%73Wm
zlA4Z438Bm)l#6ctsC-Tn_{*XiJCmVR*O{md4K!e>MIsD+;yQ4TN82F}1-bvfOF8bG
z9d<ItkZWrMM%dUbk=7^5-u%b@EJumIL?+pNCRf!>%}eSqLub=&YE~ca7dV$uz23Nd
ziElTf+C`TcDN4;!(gK!P5w@F0KW_RN5rLD<!O7E`bL<Et9~o-mh$(rQyM=<gt9pd~
z-42+)GeGXw?GeZTKeHO_+U%SgX#xw;zilL%B&M1fPAeZuC9@XO`ob}J*m4XiLE-4&
zxj@&_u8q^JbD`8yNFIycL+x)CdLs6muI|BHT*V;;dh9DlDHcVcz64slgchw_`tfg9
zz4!ybX2!7K+KC1=Ls9^7yZj;Ki}wA!ySFvstjw>lSR||Mv#V1$-=e)GJ#xI`M9XZj
z&NhyZe|s`N`M60KLlVXHVGJ-H79|)!bH2?A12>R@hBTEt(utK-xFEbwKhE=JNx&WQ
zLyj3nr0#S6;ohnb5wwKq&GCKF*%Z&BkJt=T<hxNcheK1GL!Q4Al7V9qc?JW%(K9gA
z3D~T}<4T?2X4c*O@sMrX6!!jEhxoP<zDq`e&3S)Ek(@N^K-kZih_Bv_wu}NXw883M
zy}pDjalux`T|(dfkp+Q75hi$?d62Lu;)!9uB`TpuFp-?faXddoTWg!~%H`ovL%SkX
zVW8|WC1tLERl;9yu~+(yQWnY*o%@P5tzqC{O`!1bkM<jWj;wALYuVpg4hf!6@2aC9
z2>y7)cspC|eHSVzs7L@77TvzuCWGb|?n9X~ANr-e+)ss67&~&tZql+tKO*O^2;c^W
zSK!|{Ze-$tU+0)0>!TM3PXYO8CMAxu+NB)5#5xT55WNKFqDoXeB&{z4h98K*-*c9f
z+SxkudG&2Teh(sX=T{lEC7|XHJ*N07%KhaHwG%E5saWz?1JLq?M_jEM6#^vfS50@K
zj=)x%egv=!Yc13x0p|N+oUw4o2@R&YD1LQa<pRnslLqmu)lfBkw5j26cF;4}S1-rE
zG5TT_1PZLSKfxPAF?GsHnuY1$e#c3}Iu8u1ZNTLXCziM0T{3p+*;Sj79$fqKbbd+Q
zVxujo@rDJyf7K~CsX1n=9@uw6<h^<hkYZF?$J5R0OOk+`E03{=ze=0<TaR{Q+H9;s
zBx&KXl9sVU*RFQ!^gZIQZRYHuIw5}6cnNNu%F@Fp;^9qQg@p9sf@rg(_50W3Xzm({
z87S3#g16e5YX0u5xz&#A&|sV=qABbnKk?;s4!(1<fLMwBT|o+>c6`S6vY8Up?$G%)
zCH*Mbn@&&Tt0w>@cwN(kE-40hIfp3-Xl5AXg%JxPzfUy|`NVurXQey(<x@OR_^C=(
z&<iD&1K;9EdifF*e@}}PGkyu?HMR1=YzNb|@prX4x*S8ock<fOOfK^c1-0^vuF4`v
z$HdncM~6F{Dko$^hUMN1O=T0M4#ZV|XM{hW8|yMy($E_7gZgL=A1jbSqJDHnTqtmP
zg1h~=X}pJE8W?gwADtU1Okk^_mrT<VKcrWAl`p><O08JdOcpmIn%8=vkJ%*Vq70!D
zRHpghwR)Hppf=i2m-F;Gc_PCrYfF8X3(4#mJmv75Yy0+%=!pzw>zInVSYBEy#9kW-
zY-mIXfPPOgBcD<|JV^P~0JJCtOX3ssy58cUsk$!;%~$RRQ6#$y@dkTlFDsCgR^ZFB
z=E)}6ExkcRnkFYG$KZw9KEg(<@G<2)4dw5e9FIFSyjDgP3$??e2cLV*^raxtgC{9&
z&8r<|5s0DR4Qn?@tbOdN{Dh4%K74gUIgF@pzfjQciBj_OiM>2zKj+p<@kS)YPjR&)
z`TRY|4!@YAf#H*HSB7uq-~PL33gQv1?kzi!w3LQ2@J!e7_>y6u0u=foB3%i5R?Dfm
zHkBlpEY|LfT}i*B_w2M(Aecrs;3I1!5|LR=5HFLX-7Aw5@CSGSPJW&fTgOgjNfQ!k
z1ISn!6yIE~-gHjUxz(`Aj-rhnu7IQO$jK}K^qyTG)NrHw4RWYxkq*XJr8j2N@Z^jK
z*lHI;(EAeyzRor~)}kEcD$eXAE`Q|xfca4l*X=uI6K`7)MiaVbw%TLsD{qRJT5n#r
z#(K@RC!56$%mW;ucHkDuQCzYUy^RHb6b}tjBQU?kL*Qss-dLFbU7J?n1AdFT<yV&T
ziyr*%W}6Atud9SMEo%*J802#9)S|_YB2bY=dR^&rEigOG>>jy2>-2_v;dyjuv~!(j
z%i)18$)!w&>7GgX1KIGKQBnvj?&b0rkCDu+H=LCY;k!!I9lm3tbg=w;wNb$f{gt>8
z#C%oDNr8ESe326iF|JCgx9RFc;KRkvfu8`<G+Ba*AJ;?r`=n@P6xm6}R*^Jzo_T4>
zXzhd9N$;ic^`Vi6gBWg!UjH$DCR8?@%FYoij`nXer%5w#A|Yo4ar0JIf75A3aO~am
zdS+Sd;nLjY$DkBG_=Wk`)1_%~72a}0Sq^da27grJM3Jbo&j(eX@@Gpa1DlA7k*u8Q
z0oo07x*(r7@&<=su;0mq*SKqnS6J`vrn^sOYj-y+^I<Jco&_Fs1^j;IulKSkxIC*j
zzrfP-gW@21Ukv6@W(xBu08ArX1LVKT8+{116X@imVA?DCF5uPg`IIqMuZIX7s7;$w
zQEnrkV_sUI<5GZPN~Q+neW9`op9)t-gG+Od_@?N~!g5qWVC!;sBC@#r*>avEs5E99
zorzg@8J2~^Th;7zqAmLcjQ7E?$KFtyZz95;jIgFeM~AM@V(sXG+Eh2va`Trm$_0o<
zbA;58t(ZlIq_NAf3LzAF9H)fd5Qop>EvXS|b67y2X^^@s{EYz%aPf%cD?J=liTsu1
zY6$o6^LD~R95$U+?@|g4J0Z98`N9NSD#US<1&k5NB9bpNX$GtPz6NMD9S`z`^v*N(
z62$2%KFvP3%}uJ({L*8F5|fM|WaOSsrONg(%h+WHyL{JUa4t-@Cg3>Pv2EM7cWm3X
zZQFKsY}>Yz9ox3^%=?}*b7rch>g%em>eWBH>%M9&*+{BQjlajjA-v64V3D|R1+=?I
z(rKvo)(5+bw_Bq<n=zl<MvrZq9A}6m@;-N=Z!&={fbN^uQnzIWloxV_jZF=g5Dave
zrz`&Yt<er{Y+QiqIA>W({(uKq4y2#HT>VHFHenpRnFjtO1j-C@+jJJski!0S)^-_(
z1hQZ@18z5S5I311Jo-OVd&~!LtOY-95w<dg^mm`#g(wiZA>oE@BnQw%YXRa>xNXOH
z$AXQj$zN(E*<frDO)9y$$v>yFoO7=njd-B9MY26Sr9Z`*Ou4ZyU0SE<D~$u0(?nv}
z>dJz+`C?nMW3-f_+XhK6Mlg{~mfK{(#0GNl8*GcgVRLLKh);RQ;x}@?mdbCzI!1F?
z4V&{TGYiAzL6M_;cB;ord}%{LtuvXNxyWv;Z&A8P0HVL-)bH(;NsF~2A#@~Qh7oX&
zCffE_7^OdGg&7Gm?3mm0l}A2t=l4-;%261kf=bUe)X_MFl*Q{>r0s9z)pX`Wk{|Wk
zQIEiv4lIu!cf_@Kgwv%PcZPZaKoMuWs-1!hXKmrV+%@4CgF(m*{`I>VJS`3H?ps72
zE*Z?yxkx9nokU#9HoXUij4<L?VZgpI&{s8Um&S#nr#nUFTp`Ei6)k&)4r^#EqeDBR
zVRKn;?a+u;J)+563Ln!>-D>yO<s6NM%Xn@aEN^4<z{3Yf1Fngz)E=C8`q=B$936Y>
zghAkrXqPnLs8OQ0&q+%rS$AT3q8<l?vYp7Gx+ew?>t)}u+IKUet<1uBYZ<+tOMOQe
zpwnhwQ9qWb-^|Z%>b)1^Nq(2eeH9%;FII)%znf`}_U|$iNTciiG=ZX0mlP0!f8Wg1
z%2H+`qFOe^@w|;j7?~0ez0N*aI}jjl<gfg-kGvC;C>!}34Am*&*CwB2Q4b~6(-jBs
z`usgPfM5HU8Nt4K;51OUo3*Sh<0SY6eE41m_#)z~cq5klM=wIMc>k$?2x(cukPo?w
zN`pG-jvfsBV_{m-FTQC9-oa0-CH4uO+WUY~Xus;KKwWIc^7~6CoKdmQEkyQp%A(CY
zak7Q-q4zO88p4K^qBij!A=2!CJgJenmeB_x-MFdil3M@@L203M@;>?TR~BD`*jF!x
z3Nxb*-5{gC3;m-+e>U~;m|u{dEXib4a#8}28c8I{9)jdlz!iu2Jpy>#)iDxGZa4@$
z9Jg9IgYPabQ?4rtJ?Qa*J*<{5E_!%VwV}=ScWX~l0(`GX*69aq)_$S_c>{MV*O_|c
z*LLYSdstO3mT4EiPKM^-sHa1pWr8oXO#uu7>}DT0!;s$fl$b$@2{V$P=a4I94c?>W
zD8?^XJ1Ap#Hog~+?`+BqhAZv3%n;EqXjMJ=+Vw2b3b?sSw*-Ow*XcDD&-i?_Ajm`)
zXv(cs4gzIoL%B|Xm`dD`lg)XBTgsCuGsL%vndn0)c&ah>9ud9)`83;slh390P`jyq
zs6#l|Q}+|%F_amzJcP!YkkO>LNExsC+*71^yga?p*lJnm;X89j5<!}Jb2aJ)cNpy)
zgJrUl#er0*{~7dd5SokM?l~aqd>ib1>TBJbV-MDQiR+_lUe*^kr}b`8=KNXXQNtKz
zYQ*|E2#Pr|852n|$!X<J2HlrUPNZay8CoGz03|IO+IHkGdkrwPD$)|1gWN`!IH2Sn
z&{Pr?Zb}($_#F4_cnHdG-cHfZa#(Vw&oQu@6X)#h*pkjPVJ|Z!!Pn*;E^MI}eC#+8
zrBOV!2m3WYvC6YlMT)fjhX-cM#cm>@#c49ikF%rgyi#-D6SW5t_-L&GGrx814GF$u
zp6p#N>nDaRn?3g{nQa1$&>(OfP+Uy{V9$NU2^3j$p<{-?b;=G*P5AhJV33}aEUmU+
zWUTo%P4f1$tF{*ubwV&iek|QHV{&TWx6{vjcg&hZvIlB$_fJySzB6>?d-+oL^^#Uq
zcwH87*!3!j7@{zO7F>OEKbP`}_ori$T99n!U0*5qroEuNIFOb4EK{ned~0r|xRk^+
zc*so7e#io^h}DgZM&TK(!m$n$HV<A*oR$pozp7_1Mnmy%xt*z3YxO|N-6&*;a(ZM-
z2BI28xs5;US$b(WP!u(5)o+mg2k5%!PBB#h1O4G5U0K59fG?q#D5w*kdZHUiebWHP
zxTc^W&~p>cCR2tmZ>p+y!UOQ6XpV^{c1`)9_xidW4}JXE)h}pW(UthKpAc<HJxWDm
z>sMzk$i8TB1bP$wANue4EGh`*j3*S2Q6fE1{XXcW!K~>)5O`~q8e$7QIZ6N4=)nb%
z7;|@_IGw%YrSp2s!xiwCn8Ds=n-$;hX*6Yi|NN2s(=Cnkb%`33f&LO>!NwzqkJZ8K
z4C-61#(}^G=RW(-dIE;<q4M|K-E!<rsH(6^k^W-v94V>n&BgCSFPKA>SajH<qFD0D
zOxmY@?(N|>5DPlbKp$H|Qu9Ti@o-i=1jHvBOwdn3916R*^sTlNmTp<*^9Q#0r)!hx
zsdaOas(fopx0UG-v85g0QQG}goX&WmBDY}#B2o2A*hNAiXkt&WY-fxEDfX#|OsaK#
zJ!%5F>_f&NxTW=SSl&U2@<t)lnnMcCWTeNZdl`EDLQT%UAYnH6Dq?>K{}P{@wxn-P
zN$W+!6b#JkiS5CmTZa2y5ecN5iMuj|YY+3obswSKWSg))B}RjZ{gryNIw!3nW2k6x
zPQ0O7oK4C0&cO7)9@2lcn{gn<DERT+#UTEZ@=_cn-v$-p9x2qAF5rKI6}<`Q1JKi5
zX>P{7!9-ptoT_pJquwNWTN=Yi2?mN_{mO1im~iu&ujb=DfFfTK{J}jjq{1lw3~WX3
zMX`=YuBg;@A3oJX(3M%r>t^JsB**9G_e@l|X{8m3J_aE%J!CkjZjPZOI*M#bOsM-5
z?ovRN&qb!RV-v<#!FgD`HLx<7Q6ITKk12pjBjibAZwM}-dEevoA9?de@YmTd4(YjH
zO&E?720e+MTFFi94S@yKZUwgQ2Y){%?CXQ30OAJ|YQJM*mXSNfe8x*_lJ-$_cKmL;
z(jSjw*$$2su4Gkf{Oo<&n+sBWFV=W{{rE&LSf>~y0DHm}bXWoB8p>g_E<K%*YG6+O
zg)J2)(_J}5ID9+*PRj+)&ddn7bpt-Km#@-~xGU%Z=|eCeU2j|bjA1<VQxNwmoNy@*
z-9q>+9`M%eem+CJY9pF0B`guPHBhvmY#?29eSz<{<v5O3b1(C(!ZA!)**A$v9>VLq
zsQx>n=e8g66M1BpyXKQY4pQo+%Mk)7QVca_)uHvHz$Ca`#-4Hh)GHW%jIBH!nrk`_
zr{|Psm;eoA^%8ag5x}Q5>!+5EfmMW=nmVSReR)qkB6cyltkUOKD#DemoVfc(X6%H^
zoH0n`2&iI}rDi}bs+4nFiSitw^{_GHl}^m^P3f2%W%P}dK3Num*xtr`fKvg7BTgE1
zZa6NYZ137S&j1m%dabV*TZ1hyEZ`a7?L|)AK&J_0P{y^-A6xa8?CgB$AZU+-Tpu4<
zP4aIF4>)AduWnn{cw`!o;Y6#kJLnes&8t&KP!ZBQNS5GBnBU3f7;P#E3E@43fo+1A
z;DUD6iPfvuK+|2vjDaDy&nbL$=055sl1j&KVQ>Iwbse5seOO>E0`YfbUw?s(Cnb_X
zI;Ow}{Ozxop@Aj*Se+I*AfFA0u>CT*(PUFd55@`kb6l>a$QNe$trrO97opd|i!b_@
z%s(e(KwEUSX3BL|(Q)v9&)Q@T5<E-HZZ1fC$4T#B25#UkBTY@ZDEY)1gn2=*WUHmY
z!#W;Uq@f8%epANnb3|QYg(phkg*!E4-PApP8%U@Ml`Fy>p4^cLr09DI^VerQinKxl
zlU=E$E@DG1goa{mee_H@ZM@P&Lq&j*=29oiKHapX#uu-b023C`Jt0hp`8Iq9m7qQh
z%pdsYCt8t$5B-uKkmK$B5%*DOM<{JVQTCq7c1rk6OiYV1bH)DCV+zhZ4HV;jw^2mo
zxmNI-<1O2CSq>YQ#iEZTnw!vXRm6)$NBiRnqfnas&d(h##yxdStYh<zOE7^X!aGvk
z90O+YX^kZq>)UrN1PRy*C;hpivgpipYDH8E=>@Os=vQX^&BicD^OJT>v6nwdrU8@2
z#}O}u#^6LQ?Qw6Gs=VNz9jU^{>1}Ct%CKx%0R((pJ^xn;FPh8#K9OtcXLWaeiLQ+=
z2evDaq#RD4O<I8ox92P7$7EVW@p+mKO!^Q_gB=~AR0NWgKYZprSLi|rWh6%Ty{3u_
zQKg6qP?}0pOSjJD3S0)(D;dPYR!X%b#8n5q1+w)fo}LTqA?idwK*p33@Ei(W7Y}(8
z=UkJK@2Jvh1u>@ViToj{1h_<Ciecq9Y+WVt7o8WRt)0eyItx8nyv5af8xR4TD!Kq7
zOf)*$2AOu`wsDfAcp3ze_lIp~U3O)(Ya*&P-%+5R0t5r90noeM4|jxu0|sKDDh+a+
z_M;avF3OIEu(}ea6*vt>Jax40Vj)$DIq2_#_+FSghd*Zh{S+7U19&5zveiT#rZ;Id
z>hzRwU=#V&H1n&I+>0kUg6zEv9-5mJ^Rkxf_P_LO`p*XF)uz6$@wKjXVyDWMS9s1{
z8@rIar^>KwP5jnA>Z)HaT+_7ISm!>~eLgP!NL{TQkzTiuGH1k0n48GVp09D-R&JDB
z*vT8-F(xPGIp`1K%RLkWM#Qj8#D0NrfwKpO<17r7K_*e)R1;b3NFR!1wjo{qfZE!p
zoo5bC^-*9Zgb3YbcC<5#!q9x*VWSos+n<TJgux|O;IO;4Q_b!}I`V)W3twi8qb_(o
zGfv9KAs<017+!^eeyzbFUXyQE%9x4Fmk@7*6Ilz5_xQvfVu8a5)*F)4geB7q7%BBs
zoQMS=&hGqS<NK5M=%inw$u3CdA!<;mUFSdujtM5kWt(?Nn82UFL4ig*UZ8&pjAvs?
zMYxVGE3mFOC7~e7q5aa4&^DO3fF}`#=61K$Wo#mOq<>82WXO$XUmgW(zLl?o4vVk#
zTY3aRcd91H6XX+f>_ke)W6JB=nYA+1;F=KLILNPI4LzHCXH{;&!@<1-js&ftwOSoY
zVFc123K)z7alkKI)ZUg~3|l{~@orLJ(=6YEYixjy7{W-JKsS@wB?UDDJlVLt2b{j5
zbXnWK6H0(Ayu#3&2vMX7?wOxzBq?nZD=OOl>y-X49takk<BHHvZF7w3FpU)v<**39
z`6yy`Lwd{SVj6R;nSyP~uzXQ3SS`_En#6h8Y_34`NB7{7fiC8rFJi&+B5@v4tsZ}2
zlyjc-Drx`niLx=gZ5#e$xftoqqL&tL#I;en=DCw7d4Y$UBX|4z@XICqGiPDL)fj$V
zCmAUvV{f~JA3xe}5??;4Pm5;%Rnb1-+oCI5b{PzS90fOq9IB|x`4x6N_wEQ-@`jKl
z)2+QwguepO3JvbFz!KcNrShd?hMRV(#s?Tg&z2T=MgP0Asql|!?-e!~ijxGoqP%UU
zJ$X#&Ovn@Fqi0$5QVm5(t@y9%sKN8@*`6?GzeNV1iWp5nOo&FBbX|6*hxZtsNUf_U
zv@c+M!DRy_9G|;4v8n~B6<9$uuWMYnHV$i|SD=>Of)XB?eV3I}L_Hh12zn_MY`}wO
zv1c7HWW)XsKMf7vyF?^JZ;sBe!WDvD2RBnMc#_U5B&V3uhaK)nNFTK#gLj8GJDpRM
zhM$M#PQL6csi7TEB%T1ttL%PU(xF?kfUjxLlb;(LO5G1juw8nciCW0`s8HA2;u5~{
zIhQu2e)-t_Q$8}RY0Sq&$GmA;)+#FeO_^-EJAN;9_0`@jf6g<@02Wm8?5a;kNTS_f
z6trl?XQPVhHorDP+1AA}N7?~_%PjSV_SjA3QB=BLbRIW&>J+%1OCQbZVqE&8{ZEPW
zsA2+JF0nv6?AK@2-MTldhwDMzOQ4uQxG!x^D~xp!_^h-t<2PFd$KJQS(k91{z~_BC
z;}}~Rk4Yd&7Ec1axD&T(RBH+i7*ZhX$<i>evhLY-A7|F$Zwc~Weg+ty2z|LFb*DlN
zlAeBv>q`ag@&iq@uThs^!n1e8SaPlfmrmoiXZVq#x5MyV-2=luoTLG6UlSAX=1}}h
z)45nCW5Qem8{xjet#DQ2#9{aQw6z*FD3LGrM!c9_KU^tt)!{W}J`)i`c<ic{wVmSX
z_n@redG6LqLGM){@r$wSZ}3y~;&|T!bg4$9Zjj}Y6zBmSx<`J$8_0LSuwGjR5~a1)
zXU2Ih2H)gh>+XG=)V;Do1{z2dHn%|wSKanVoqV-!K4Egt&97PmVDrK!Z;F@rOMoX=
zTCmbAV8T_J+{D#A47%#~VP%&DOR|DTQ9rC2H%}AXm5iGy1xGl<)qH}3-yuDZ-b+84
zmFJ*tr@&f^a;1J1ZN>-e(Ug{1Tkw2)aN?tjHLJ}A>F_OBhDidDfQU9Psb$qwIDekV
zR$YsvamesBfA|#*eGQ7*BD*#flxAY`gr66+JZZMIra5WXe0(=OeU?0!D%TN;IN|!c
zIq9cl@nVq?pppnGOm=>k_;)`#xC<(Jftg;{YT0F8Kh6?SOd`HO-U|P48=+SWmP-2J
zO8HqVMom9vW7x<CEKQ)&Z~is}De!T7dpnIw6MDhUCaeFj%v|OiO^8hN`TVmV;UTRa
z5{=$`L~*azq|B`EcSQB=>nd#uoJPQ_!$OKS0jD3;w=<Pi{ox3kbn^f;K+3<kfk885
z!STYnhigHw#J(XV{A+=Eb}4$t=hM7lDxi#7#`xk8L~s`^!!lnpYM!^gHjThKOrgQ-
z@{XKFQZ*we^YKL-C!mteuV`Z>b$V2P%7+%(I?pByN$CC%swmy-k3@|r3n@660mhwJ
z1)?r)rx+0~9P1-8YlYx1P%VEMzAsi|#TF0Ch4~16_)wD3;0rW$r!I#-`i|e0@!Y3}
zLc}PZ*t?x~+Zyh!gG;*;Ztu5ra6aEEU`2{d{^4@YwWRh?39o!hyBDn8JfE~Jk*so+
zPrfMW4V~(MbGu`5mHYtKRR(TlBq!{;<(SSL1%zMqXij`P>l;eb?@8fRV!zG$#W>#H
zg$-<uoaCIa=@>7_A-&l-5xu`olrQ(m3@Au0sCc;yWTql%hV4C!9VE4Syo<fP!qnM$
zCFXC?7!@xBuPb#pNxaw&>rXym-)^9*n;xU<jC+CP?cdzX=6Ke38J_>>bufoxFJu)f
z!N>icxz2_CoA!&}fC<`at?u*^#q>90*hV@lYn-K3eW+G(+0;0^wuzVFt1Xy{TDyUC
zf6aLx0cW6CDFuxMf|o<O-R|-$Z>JNNLXO06-66)&Q56&Jszz>Yjf}ZFDo+EL(V*Gy
zr|CaIB(86*SB4E8^2j|yK22RY_-iXJ%GA%&X}|>uN$PG+n7Q#aJh|CH=7pENK>@ER
z0!-}kNXpD0#b3xE5U9U+b{vdy*X8$NN|CV0`VLBaJhDZ-xpyPs&*O@7`h8Ntv3z`{
zh}jTp^_pgHrv{&Q@2om=3reOQ{UJVAdcnhz#E<YAV@GcsjyDyo>CByID8&P&5Rr{p
zFj00h($V4|$0NfM7FKM8=^%mFfIOR-OaRQZnh<{u#}`zxERKAEsLWpOtenY5Hp-c~
zoJZY2jE7PE(D~ado|+O~58qMm!6COp2Ty-bL%)LeHAEB=1kDmvlxKzmK+<5CCzzSw
zQJbAyK&M-aMx8-gL)gqGOJ4puu}1DHg>7Iq4Tz3M@oJ-?|4|E-ShUe*;TN-uif+-0
z>MfND^%{XKJ_(U^$=_1k+)r;2iem1m=4};tZJpD~2gVg-cQrPC3SqM~mr31^GG{r=
zdGX8-kOpzn>J4s~&9j+KtQz9}{&Y&<YDKi|pckhwHRQqHVYMSMRMAp1Qtn-0OLXB7
z$^U!}`?1~vt*eKqZk}e5mqBI03v8gCvyDg`;>1<wHNmM%g{KMw5z&PSZ>eB172I*l
z^gHm)H&-Qoo&XEjjpAhC?9yDfPp;PoS`E`#N-NIyNsgH^(VG#SRtN&b_>|tD+a+L|
zMm}O9Hiy;B{CQoUl~unMhn|&CXIkWG@Jg_L(7aLwx^53g6lEb%e{8v>jRTIJKvv&0
z{4(^FTJJl1sBRT`%0!TZ4>gx0t?a=?y+da?2Voo4?yIIQ(#6FV6a_Bck<&La%XIrY
zjJ*D&a#=r=icPEE(5U@Mv16stP&;0<#|9Cz;8;*qZ?!u`qS668S;*wke+W`P8pA~l
z`bOa(rVsP3Rmszji!h}1yNwYp#`f<<DDF!0>1x#7>phPL+AGLhNRqLrbn<EgEmX<o
zfNN`uop)S>?B7|FaMGd5W=v1bucv!w(|2)hU3CN;lNWKQLyC8^r}(Rkt$1-tg`lNF
z1K}xR=6pv(`)UsCb^;lqM)3Ljv0wRyZ7m?@%qR@R_V)sgIj@m82`xOQv+A6bpD5+t
z9{l;}Ft{s~{nPw7ri;ky8sF8ZL$uxXpeG7uZaiqQX|UQ7PW6vuIC}X|%$LjYZ!kCv
zoU)C{`7TBYH;{ty?{LLtszcbc^GGUWgnZO!P;d4hg8{w^gQIa~I=b>0sURl0TdC;Z
zhETH?D7bFv)i1<pE7QknooT!xAMn}iLHck4PMSV{u26IZtEOfSKypmAr=sHytoCL0
zW)uq7B4C24P6Fi0>U6viC@ZVA1B;?H4egk<8-Ly)KR(=-#}KmuXR(uc&D86hz_(D?
z=|R$|ZUWH{?a(T~ci5TmwI@H{G`pq{&VaSM&&xBC4S1<w?1I2*29e)69utm~FwKZ9
z@9#H{(H&EL`}&YGQmH2<+S-}1ij%~=jzo>+DGYyifG!k{(astKxM~u;e_2(ny8U{R
z#*3Q@%axoJ>Qez0(A<G8@a$c>ehI`FPIjf+=4#l=i!!Q@vhL+Pu=zu$US!`mi>^aR
z5!~;EKQ=a53!TDn6&<!o!djgeRqPEyD9gt_UnSkr6{@8HRYTyk0#YYBBU_Zgjt#p>
z(5EYUk#lTEqhV(;jd|Hy)u*g$+kaUsBxly0(DW6f+~Ifk1F2L$%eLt`?gIqt#aMWU
ziH#pD|9lE(bD1boO|<bS5rXTW6ypy*x?BtlV&a!#02LVkuNu&Qd3`LG-d&-4kgBJh
z7MgNjWN|+kO6fAmiol<O0trW|;p78Fq5-?!W|tVS!IB`<FLLb)&3zY(JMsXx_4jX{
z$a8if%`#ZK9=BqF)Kt3XBwPHXZNUB=Xp7PPt)f)G-hilEwDv7mooH#YLm-0-SSK;C
z%0aBHzSe78_vH%+m5;&Sb4lP{DHL{PN<)das2i|LvIqB09?47{{Et|AO}I~A?kFHF
z-!pl1wkMqn$$C{@2p}l|cNZtnEQ?oRz2b@oVo`M&d(6_ms0AmKg7iyL{U+SRc--|t
zb5lJ`$0iP@d||UT;Fv(83`Q5UyF|znZYG=LrR1fkDIZ$g%R^j?lUE6eU#|ln?AbB!
z+vtkjL*IEt#S+;qJH!q1PewO;?>Z~jEnvKm+Z_oxK{~V9zaKW6%>~n282*AGZYc$D
zWa&eBegdWL&f<s3_i4qkpL&8IWqVEBL-aVSFss^qpvyns;+mrR-&i?3Z>PJSzP~-1
z#tP&YPi-#F;eX(cApiytEzesQiBCd(gawd&!YDpS{ohx#x7~x3-Rc=sz^8JaKxG%=
zU}w=Ku#BR65*ZnMh9$gnnrPsaQ?h}l)ICyavS+RDqbS?LXj8=b*#xr}g1gM~&=C4*
zDcMvBsiZ4Td5_?H-<}6zKUX9_lVf_&+yvUzZvRj!i30ln`s8t#@egJ@y}c<T`hPrb
z)LXtWY#6V<c$byekptZof*CL?4BJR-g4N{pv|j&WCWG$eYt`R0>u=~KT5a&S8NYa8
zq)FYdhqjw3AkmjQ_u-jY$7Odp`&jJZ&3C^8jxh!M{hXK<wN^@z^1DYrZY&QsTul}m
zm%qTEEJXvbuXo2wpPTm0q2BK#^e`rei$UE72dBw6nEp!;D&%JRMvyWC9+2}o4zkgF
zG@F8rwR9*ZF5Rb}G-^i@mTbwRCOrP(88vI160Nc5%b#z%%N4qLNwPDBMIjbRXHZ*?
zvm6yVr>u=<=`peF(o{uBPKv!kZQ0eH%L8hF<hCG6I7D|wXh;S^-zcq|Sj;ghNEq8i
z+YrC8dctQX-jIlBUMq!PDW#?N;Wb)(iXD-!j$e$q9sE;H`bX7YL7MgvLh5MmFOxnl
zo&=+Ls!T~Liq<#1GEW$}6`H|VGb*oPidwp7F1(fVU+51U{==a8er7gW@Au*Ot`S6G
z?u10)uqkTk9)!>L*k>!~5kB-%gS%HNiGZar?G9h}JX!+bU#L5rB4FQlvg-4r2C|$e
zMemk64)+&~{>cuvgD7u&W065UT>FII7hO^&IvP7A@=q+wAuLGc>wHQN_LpSAa10(@
z>iLV@;mB{nu*z*c9V2}DaMgAxBMQ?lQ#=jTeNQt6nIhDpgxyM}&KYIV``^#&x*~5)
zqK={D$}vYcoE&}46Nnb1%mHVcXTwtolEeHD7jE;wZ>wfH%QWz_CYs38exYE3AG%#x
zcTo@B##`UANx!u=>$OQ;9Y07+>7}<qE{bIHh82%-6s;G3(Wt-Ev6fLq36i6ZbsJJ5
zq<30Upx{?)t-d1)aMMbrJ5ypNG#_5g)a;%J!o}X{4C_g|yVHaSKs(+5YWU=;j_lM1
z1W}cR7+uX+tJN>5R83Vs3w>8h-Xl+{UR9#9ZG#cZma4D!l^0C3r!!QEm14^k_x?UV
zd#J@<2Tp*Ww%Sp2HD=~gTM9)(C$kyGw*K57Ixj!pISv%?fQGcbF^%M%@EOLP?*~~x
z&RbH8^|2e|Ndyf8Mf75<gdnF>CII6I2B&@yL`JW@QFIERKnSNw=%LDJW(;kWoO9r2
zNkAhK<@?H}%S20~Qgi-!P1Uh-D6jwR^vUJg2i_P6_{isQ@1F!47TI*M8S<I!_u&RN
zEE;UYX2{lN$!<1z^JoGN57+l{ClqlT6}3MRwHOuU=GU-tBX0O5ST3TuIwyjO4V&a*
zNwj~AQ-b0FPwoXIHMH&(PB}&2Somcv;LO2qR<?JB;dOi@Iqmu^JkUaEoeG_@iO>L6
zy@)VJ27r|4-ksD?WThI8)3bR_M(YM1%IDkmXfg5J=7ax<IF41`dHyqeQ`})!<O5Mq
z;ZLD&8L_t9DQ1H%gbyuNACY4h{#cjrSWz`#??<*1>2Yl?FQxT-V`4H74@O6qSA3iz
z7_aDZQme!{=`;}`WEH3p`K(h0ht9R*Dwx+WtX9j&{3<|zf{=`7QSLy#5OC5e->d;f
z=swY8mfvxwyH-}MZ&u9vC{cy#3U{sg5rbP00L{e~;@Ia`Vzv}Y`{tET=I-Z;wGxuQ
zI%XAZMM)Z7&CYn$WO;m8_7!a^is{hot-N86)QE_0xIwaRK61xsPpd2Qb$&#&EO=+K
zS)M!Z9-=_q{6JpN&M&~X7u(_GYRan~_kzd@0|M3O7h^qrgut`l)y3#~%TZQ{yMaX}
zl+E7Y-p%hOl5OXMXkj2{ONodiUn}-lHO|9ABJMR31snf2p5FS3!R;c%T48u*-2_H`
zK~jNCmDE5Y&Na94+0=kdKkdkumc)C>PqZ0^3sj7l^Ng&Vfhdl4&vfa^X$DK;B)d0L
zC^1Y{74)<;X0k*OuEZ#u0kk5sF})?it*AGHwCE~f6fQ~TZ(VP^gF75czq@{7&8=CC
z*alC~)f;sln+zP@m^DKm`-w@KnE6%v;k2Vn<1Q(qXkuB0JNCC4hyvExFq~DpJvNls
z?61Z)t<ZpP9=>#z!d<KY|1{K+>j<jGn5i(nbc@mC_cl7bq^m8CQ;9J1jJXQXNlESE
zW4fE=TQM<jw?G|mU;8n4bwU*rn594P$_6h-b9Kq)+j8i%T7=V%$&`3!U_1q(1wUqZ
z;tx;?h8H`l*)M8ihl0X)TnJ0Cx0DUR44Ftd!|~0<=8siQo4?IbAu;hZQnJ0)GmnXM
zv3QokG4NYjFrLpFU1EYzhrHhC9@dLy7#NsJjS9n=Sdq>K8?COat9$3e6mwS!Kb^<T
zTI!m++g6P!k=+FAniOFr^M%GT1t>CAxuxD{l%#zhn4Hq48Br>Fh~+eU0tginewSjW
z*NXby#52vip+U?VYHXc~S==VPvwmK*wBD55mHhp_418!fVuqNw^ut<;z9t<=bj%i@
zMe4jrhjGr?Ve;XQ=JT)EQhb|ad7y&Nx4?|TGqVW*9h7HfSac9dhDF{Njo6LFpHS8y
z#E-M8<i-r-1Mj0DhFH>vjRfYJTPBERo_e@`AWD45)&W{BSpY#)@bp*Xe2-a#SYTjE
zFjRvD<F9P{ImQ35+Glh?@}_`lRxk~?PE;etitn|*i!|iflVL9x=S~1B)Ugp!9!*&m
z^dYU`fOmb+F$RUtKEN6<c15L+^9A+nnClq|!#_aKOu$&GLQfEO<*;n{vnoy#j?xI+
z#dc6bda!_LT0}Sd>LuV8D}O4)yo~w5Jxw~Rkw<%qgVB341BWz#0Gs3lmfF_+Jt5dq
zW~XV5P!>>u7nF7q^%B_r_)ZbZ4j<B><!J*#5!(9b@23sfse-xaO?asUZ8O4_c=k3a
z5RbCmjVB;#2y?vV&Kmu9;r63qA9s*SOZVd#wI#CGlTaPD8g@qDRchn!HQ1h+xF3U^
zsq|15ABR;1L96)sojZr@FbYg6dh1_dh}jyb7c@@;%}lyma%6~pf-YwPEv5)`8Z}S=
z>GB{JVMSt(YQ|i?cUZ)B4|zDPr<3g|$HpLo_$kP+z3nvX(Q6(iI#%Xe#u}dx{rHCC
zpN45T6`<9t^0d#$aA8H5=>l)0D~VUot!&-k@ZQ4p5nah*+=Vw^_)Jed0)kqc7D+zB
zb3LMJ44HCE!gM3bB~Y?L&*-XQDC*whGeh>bSFZ+zh#z{za^{Z(bC>GXe4wC63Jll1
zD-g8JlEjza?TO~NRguO#%5=PT74-Y&AYl_|w#79%KrLt?Y9KX#o(iQO8m@S5r5YF|
zb4rkp6#_&0z}*s}gh%7<X013U#&tGM=upD#_3TV!JvX=JUpbg?a%zi<qwhV(8ZCZF
zREew-1iu=iUU!j7WbAJZ!8xMSXMG<poQ?X_8X<67?-HE;){9u2H(|B5)*q1PsiBG#
zDUIK~bGE3t)X-^LhnEvOM-RDPC$l9ptQpE)zcB+_&O3M^DVK?IQnB;H?(>hy*7+`>
zHA5A3#%{_zg_fe&_h%EbJ4;B$hlw7V8_Wu`_!8Ka-S>l^ogLWcd9?Qgb9V~<{!N@w
z{TK82IZ5|QrNswGRdh_1OLIn88D<4Olt!u!8Uu$6xb8BkRD$OqE(~UGOi52F^oMS3
zAK~#gn1m|f<Vc?2S|ZS4q%qk*D=;AKj1JBLAD0@TFZex>zc5CAJ=ls*M2SUgsJMK0
z_%+Tjdf|aW^l$+>uN&1xy#ii%l#-?W;-oXSH}CEjs1vC>MWJFU_)Z<W4Rq_`VfDNK
z)K%hVr2Y1zmY~u0Jke{Brlrr$Jnq4Q*<?xYfGTP&+_UpmGCuwHZxN)=PHU_Ne_6v{
zJ?>+CVa0opQ+(WV4kC3&Xd#T!mthK8{nv`TY`A$(Uwgct(cwa%x;Qgllgu#zx(M;8
zU`e}P)Agnc-cM^kQ>ZnWD9j2X^u^A4{>2G%s`|M!{oU`1l48jmx19NQPGd}kw^w_p
zP;mF6UsEMEgG@dX%XW%PMMuMFyMON`BIx|;SjkD6d-|RgGS0UjfMi;-FsO~Dr$hs!
zO#|Oj{ee5c*78j+VR(OAQ*RaCAgt=Betv(CeD1`I%<ySXIGo>^<K4Xv+!}?OtqXt{
zeMORKm@)tf=>tD_?zRq|KwXmg)}wNFYJZUT?Ce}mA-xY%qi~Q!??`$6Y9Pwj5s*Gx
zybPKG4-VW%ibj!_!KcQ>qupooc10OeN?&~2$?tAxIYdrU?U1Kt^>0V4;H{WHNk`MC
z2kv1tV{ddi{PT-ksjV^}8AuR?<0rj{?;Om2EI)b0a=@zbw~JI5<}do{G9?@at`p(3
zC6}58lIl4kPSxhg(3ckF(hM(Ns(Q2=YN^;ZbyD-bo8wQRcdh{$Di#`w=m;SxiPuHb
zPw=j~kcRhGivi4lJ$z+Rr^hoE4m35rHDf_~Jrd~t<Moqu*f?wInR~WT1onyPVOVFH
zvziz3Qt%E#C$FVo&bpM0dwS0vr3?)^w%JSt8QT~KXb>-80bA#w5PLE$a;DHZm+^>9
z&eYeSttW~)&&h7PAoo#=2>%JlZ9=m%-gSb#3?B#`Q?TgG8Vrk(ad~u)ceK`Na{;W^
zIv1<9<w8yAWyS?`i#olry48?*CC6~w+Ji!+lB2!(@GNviw6fUJgL;aLX2mdcXWQ2g
zboVK=rr2ilCZ7CB@#W0S^5V)y36dlDGPTq}P0@r(^hJvtpQLiL=0TNuEjcZ%X0-V(
zZdFF$(L&PN*aLNKIOT;V9$F%VXYSKFg*ff{lIa>}5>+?KD%;gbv=%rkyElm6B_O(2
z6Jj`HKag_7Mx%+8FI>SkN_WO<r1|#t6liFxco8fdn}{(rG?_1vjoMAU>xL>0w6F><
zWM3_Om=iSY7Q-urD43ys(PM4#`ZMTEt7OP(>wWnL!BYsK8YtKe*Y5l)ca*?$##vK8
zU#O*o$Scb3cFeN&b9Hh^XzvPWL%Q{%nH0`~lOEx#1os~NH!3+~%somCe@VNa_?90U
z>a^)QUl9;qYJO7oxwR<BTj?J@Bl;$hY(gLW^obbXq~mv*ldny~g-MIAj29m@Jv%pF
zhcGVkty`BMr#LmkY83{(Id^Dy#?L@-T8a~-<Rwk{uA%)A7b_j5Tz`sfQ;Pu)tL`s9
zv^GfY7tn7|<8?H6hI&dKhXmR`%n?J8oZ9pJ(HNQCFUSF+slQPPKI7SK4;?uK-3Bgy
zX-P<{7YL$dYJ4rZu>mTfyX1D}!UmH3pvJoRMGJj01rS~iJ=*J=^D8TV-sk!Noq%@^
z5CGiIrNF?2J|Gk0_@fRm-MMQ*rv1If065+C*Xuvq1$@k%%TH(*06^dS?g4L)Pw5aM
z%Yf6j-8p|t0RJg~_ve*suJ7`_ZmKUF(A0ZTCm;rRQyvfi?4;lH0onkX=YY4*x`#Da
zz?U~>_`z-8DAk1D=BD1;ZQrUb*5*OJKY-(GHy%L!_WKnliZ=7--M!O(6HwKR<v%0<
zxbfF+__}@Y@4N83y}=6s=zaj|P6<vK086cH2HHu6bYms{b*VN}w;#86{(`pzUj+VM
z?{<Jg0B+@Lt^laW&)UuQ&td^!L+Cc(t1BF!@p5x5<A^$xaq16nMO|m72T)Ev@V)78
z1N2#*Zf*H0{lE1A2ny1WP%Zkc`m6ZBK=6LRKnl{JV5mS)P*6bbVbRh+|IcFiXS-Y2
z+n5U5n|R9Fo0!@#NL$*O+8Vl88ap$H+dH`%I++MEGYbCSTY6_V^A(LvyF+$F-&=LW
z=_z``2~t-CT88=XB1#>Dz*Yjn&6J^7dU`Q^cKux<*M?LuO&G_{)>w-$ku2Oi7M4HE
z-%gZH&4-QXs+k5Ch%p`=)oMjL6mR)`{!JubrtCHD*3B3+&j|)|?t}C3Q6R;T^s5Na
zerQ~dq8aShV7mY<JY*R}A=WzuL_;v?6xSevl#MNU^3U&`^)5NGH575E%>J$GgijIr
z$+0zvMb0>iQjED$>y$`dc?Zo@++wYXi$n^K#ImWeTFbUsC7aO=r|cob-b2$Ct><6^
z{$3f5U$ubk(j<hdU20$t+C7R6O{dK0*dEE}KQo<W{3_WlRLky7dZ%+0?rs7=d#cQI
zm(@vPLD4Fbj&GuLAo`DAu+itL^V9?W!Z<U)!*XCqS;;Sw^GlcBoA)J^e`cCsQ&wXq
zY`8V&N@?;|nksfC)O$h#*j$GAbeBr~EY@qoPkQF%jc?Gl?@i3E$w6B(eFK)&PV#T2
zk@Njw|Kc&_r(ca*Y1irzl_5q=?bvB`03{l{AbWi9vi{YUVeRr254$ezsOun1^QXEB
zULq5oiq;PC9w}`oEJ8BC5A}8+Y2SpqBYeV#Z2yFCPlo<Ec8CveUxL5UYv_S^6`xOR
zALEGN`4(^}vr(`CGJt5A5tt+d`p4~6#dhUYQ2+Ey`O7yddW_1|!V$fSRX>KkyKMJ4
z7&U8dN-Q^AA+}ZA2E8n1xEDFAPfpZbRd#gk5_<ferx`0*pD8vIN<RfWK(0T-+gzp6
zx~5hH?uK*29<!>$r;z`^m#sZro<X$Yn$oT_3Q42H<7%t@E&mQu5Io)Wa8A1Qq5D-r
zfY1l74C?^fX)lDj!Ik(!))Zb0hu+Lf>a_Y&<j?))SNPCj*2N(v^NOqYgbY$}oZbT8
zp)g^01EN9RaacM6u+$C#DAQIP9|t!H#Qg0km>?@GP^moCxX;N;Qf4%^%Tv@176#Bl
zEO@}B=8o$skT@<vR6o|2IWyfG7ZGE7?_WXQ(CIQg50z=~#p@9E_+o%AM@GIQn8p+6
zB7j;RNF3sdh4VeL*SY?z+=KhRuq?ULSOtjDNgKG|DB4%>L*MY*+$G~HODFe<m7BU&
z(tA~Un<>uEOZ%xy5RiJ}f7bp~{iXlsnQJ7!;dEpdX7gZ|ij`Hh4{d`t&c{vrNaWuB
z$I`*Kg8+#FzKGzY_wvo-1#<7td?PhW!w$P#E(-k6Yv6n!hWp7G_a5ZjQ~z2gmQzs{
z(&543s2=<iy<sxJN2}e>#kSYWl>fg{?64UzPk;geDPsWr2Pw$@e<`F4jqQyr4egx&
z=k$MU*yKd?-K`_cNJp<XNkn!1MT>DJqKK+z5V-vfv|fs8>vFI3RPz1-UlCnHDnU1F
zX^gV~%WwiamxHC0>C27Ewed^SToudEhzB#$NwublIrgp(;L`x|WyxRVPPJif?TTT@
zQQvWj0WR)NEPadmHQuDlK-g)W9{GKGfoKTH74b%YKqPKZSWV(nwtV8oy?y)olDD2J
zQ?~4wLq)qS*THwB=?T~pMGo6vjyZUz6_ZRmMWU}#GEkw>+>VA~c=T}HWvf|L51P@D
zwsX!Pb}Oo0z4Sw_rck>lAAAOEYD5VE{8b?wX!j{Pm^vn#Vp}4gi(<Ex2`Xi~Czsug
z>mE;+d8+b(&Zx1{U6m$?2gRyQ+};Gq;eBQvNidhx=D7#|!GR8FSndvyF6ZUEApG>T
z6@^AsQkwJ^Wev{KyG_=txpm_5W9H6;{)Q+7yGwBHMsvieJgxXb5ytXwn5AtRuf2il
z4LS&`rVpTsnrVS8OcVlt_`k8n{PM*lRkj^|<eXxqAy=QWG;@NY8T{aRyrmGnRLEY*
zG5pYBBMU*78iKI&p*`+agZb^vV(sd*2iXd&gLsi$?qu!S|C<Nr;4VpUKd!AIqMJX)
zZgm=V$sn--H;V1y>JdEm{=hdO@KJC;uy5Gi+7qroUWTzpJcWFB9FgzMarp;Mg;sFS
zcbQh#&p|kEoP7>0<U92`C{P4&gc85kmo1%&&JrC3dn=u2+oW`J`j19}WD5+kmy{!e
zFDU2VUqe77RjFwrqiMrmh_#`yXxae<eTLs|&9nFh(L(?7AcCSf?77)yUng+$-#iGX
zRNV74<HZX@;K3H|l{#w&(=fV|h|wLvpWxJ;d`g{MuB!mvOrhUIpyv_gOv2D(o|3X2
zK_R@v;$w;f{7q2}c0%r_lmj^HP6O;e@n6rda0Pc~i3Ax*ftJ*n$9*Tg)^Say1*pAD
zaDjtpNCGb9wq7+s%Z<BcHSgt3bRwK78QTXm5IsOL<=g#Lrty+oh27&}09Eu%eMDb(
z9>Guk=@dY&5DR6fgD{@*8V)KMaz2>nfABHIfG%_}fS)X1A<q3HKL|Dq_Zs(dJ^;@-
zcgcniA`TUDUf8&3W{Y_*N(eD90v)w?EKmTR8UJ0gqkotf{g;Wwv5{TZjenR3$*$am
z-sYo!d+H2A80mZO8~B|1?r#ubc(c4=$v%AN=$9;1RVCN#w9VlT|Az_S-7t4|E9Y<Q
z3%<pUGFO&kQ8t#*`@_lqX2Sks@E<00xdDfe|1!~@c6zb=4-=~YkqL_b#Du85i`2i(
zgq-VtL819SP^6@zCz$BD7#nm55}-#9!l0hrK#sE?TaZZWN%pb=R`t&~TqPo-j{j7E
zbw%2eWbKc1=Wwy$QXe9Gsz$XIQ6}@kz!@2XM%v^tB-vnL1AZRM&@c(e51qP1yG#_f
zL&Jt_ZxroYnCEjP(%e-o6n0-Qli4;!ulP?s=lh{Z4xEQO0u92dVPm^0wRYpgyS8U{
zn0Oe{NTQhV2j*qdH+{2AUgum%a~>0|*vJpbqLNwRVrl0>0w*iSZ^bO87cKniqSczz
zjLLh}8YBy&|3=a3({9Ky=4Jf8oTmiriiVyo1OEB`F<8H(N~%-K#@5wD+~&Mj2e^0c
zEQ%F%wtT(0{fp{W&;o5VMYU1S2IyE-6|{*TJSHZel}A1qa&w{R`8S+N3ur>C0j{ir
zlgNdkNAJxj&s2=G2xEmT(-`u@1t(^`i1wVAV>$jQD&!0i^uPN#==T+t9jLOtbhrev
zs;*VzVUTQ<_^``fPw-0F#J=vur5*t5e!Kb)-WIt;`^FKLQBAT`$_+17DHO#1v9kVT
zW2^aeS|X0~MG|8T`mD}H^uI21|B%5MY7c?Euht-88>J=qOt{rUGq7D52ubw%cVJt!
zokrbZE}ZA~V3u{O#>kWHro{l%@$?@syy3QfU4t;}t9rCWk;(2^@58~ehUgJJ;QPWI
zZPP!9g6>eODUj&HFr#|DLMKwx1^LW#82}qn&pB^M(Fe!Xg|eZ(6@dSctL2;RhqvcY
ziQLZ|iYS(n=T(8L-#NZcV?mc}qlS*7h6E&P(BS=U#KhJTYlQ_#%0uNb%dX_+37m+Q
zgx)Wm`ol-vP{#`X^pU4PINLNCRjisM?3pz!ilmzGSj@oax1>dmP%jqb+VGJ@orhXQ
zX?x)&J9*1%RIr~^l@VoA!5jY<9~@zWMp($rUwcrg;Ib33gtB#Bx5lb*oaV`rH>uAz
z6XdrhwR3+zeirkh)M&|ZVWFzY6eDy_N_j6ZIIdCWz&jOUP9X4KxBB1S3WW4Usb?a<
zWzxWF6+QV0YOAvda5c=l(46Yx!0|dZsO6wQExvQAGH+avz5bUX0dmmBLU#y94I<hV
zcCs=s<#=ZA$;=rX^}M`yVjukb>^B%c?w*PC9~r&Qimm0{m@JH)L-?tJ<c;%1B{rDi
z0m-#fb@D)yvYD>>MW@c$knk{Gj6mNjV_$x2k0p*Jb1X0AZ<CjnG^Rt0kDqI%extHp
zg+I5OF;5QwO_dk!kKn`cxh?W1>yaVqGY(-j1QtIB-O=zp{l5AR-d%+HnV!A$-Z>l2
zSpi@<w5(Ij99oX&qL2ANf~A2WIJ{<JOJKOzgq5K)hee!jjzW=d^z(<aJqWjX5==^N
zpAd(DR^pjsC2z#QeG06?I2bJ=S3!%AYW$ac7#~+rD0)`<_FmaNDNaIqSVQ4gyS>d?
zOGRy`ev04RuYYPgamy>m7_D^HeT8n2+26JG_bU3Fx^lkmLI3p&>cdOI8Vm?X6aPQ?
zMg9N#CF*HsX#4LtBx~sG{4Za!hAvK)9{)v{`h?vkBVx}h4b({z(5mn?G%e(KVfY|0
zNb|pqjtRS#PLy6!-ED%F&AJ^ni5((Ogc&EUW7utM_|u(Tvblwr=g1`SpeP4Z(MWSn
z199x#9D#ld&~9wl3bmLuJIW&zPZ~Z%T>2^I43+dL$PV;#z}sZAk&Cas9kC5D3euVo
z{{WOQs%proFs&V&agW}mwKjvNl}4#0cD>s_`b}uuyG$pB7+RET@?w`#8fv2N7tvCR
zr|uo2#NLrcm&so%SSN+<Evg?*!Rnkvp&#3<at(O7U^5WweCv(oyj=B3L3qgQrOJfn
znAsH48Fg6TxpRa&A<1WYsNHY)xHT<tLk6hdwU;L)og&Q|53HYL!OFZT&*4Ck7Z+%T
z5E#Ua0vXZx1dW<KvMx;B_tc!Jr05h&f=DHYF=1n$TW}UjvSCl=@=hYc8jT0`;3$*C
z3Cv#s#qt<#T2xQx5>x0cS6&+xtX91yXgyqgNQJh)a~P<Xe&99^O_?(B2+Pfa9p~!C
zGD8p#t`gmu^s!d2WhivPy^PQ6u)2|9ob>ZyyzJOP`R}ztxkrgxQCk6@Bs;v)gSpp0
z;D>A(Be<*Y*Y-l+ygML#woAL9ZRHk8LU0SoRlnYWI8qEi?#Wf_H30|Eo!QQ+c@ZJb
z|EkXm;c4LBt3!UaMBW`amf7AQ(D>civh-^%{cdHB#m#!r8Y>I#$P;n?r7a4E0!)Tg
zI7=S%URT$+5%u6|L|V^w)l9i7$WC<1FM9|0Q&JO(F48$|z+;*`Wento|BQ!rcUtWV
z+zqpp<UXeYdfzjLt<}}}(Xkb(*<gZnv{_<BcVcxvyGbz=j3Z|g`T=MRybSG_#vu%K
z@2MxACJKKl3LftL<?`wC^GP}j?Yo9}3Wyw=Xr^r8Rv-8KIr0Ad>~+7==F`3+z#b?`
zaH&y3qqCaDOPUVsJ3E^e1V^Jy+i(h=aOR(vm#Yff8>}2~%*x&@qk*KD&uztRzTUf4
zy+>3>^HTWq7Gcx)_U^75`ek=s%Nx_pw+-{BR>w`{*ip$*<F<3n-^X!WcaR)#*--Pd
z&vAV=MeuJ1DOm<>X#eRUbP)bi2ATgu21QKmT%7DJO$=@RD~a~D|J1Iw|2=ou+81*o
z{`B?@I`v&i1sVkZQXxw9TJ+^KEs^qm1+_3Luj@YQ_gw$^z{8Od$=Zgqs<l;OV__d<
z@jE#mnm?bRpPLU;Z=sBaLfIUMz=(FDieeoEe0`Up?Paew@BFc#NqZm~j9H&HCY@vQ
z+9UQ&a8Ngp$1N&j53;wP(hb2oB18@w&o=-gisBwbP^zsRJG^$Yw%6^dUSx8`HHY<X
zldg5oq{NS>3&|a9=#4U8LM0=fBGyR(A1hB&eIF<B$sdXS&C<MK@@v()#wvFJxp!Zz
zL&q)JK%h559jO+eJ%)BW1JH)<Kg742a2XdPS6ii4%Vu|cb*5Cm7aqUm&YLh7;HlCE
zx|^h?zxY%A0Cn0>J$%E0#dTNQ*C)t`22Mxvg*Ivd|C?hpzo28ukLT?CZJphRXln96
z5=1V0)Po(btm!<7;@PHB&Z$foDxwhL#&3FJoW#N|F@c{4{dvL12v$bm9B)Q^kDcdL
zK}&u8l&0r9eK*+k_-t-!QsuZ)1D{HUp0uvhlW!6%18OO~AX!9f-dMFhi#b5i{0c27
zmUcCO-<-sae(Rh6X4-!L1~(cp*4x;?3-RU${9yKrqo42UP!4V@*Vq&8CbkgN5rF~G
z{R6!nrIVmoXu~$8gsB!OXI2pdB2fM;w7{NKpI}WO!8ep&`HaV0H2>LB9(FX>xS<p?
zmI%}|uO3FoFaPz3&Lt0wZ>I{f!YglS_5%^MR2#HuC;;K#9DiG)?2aAF;6YQ4B*K#!
zjK0<0C~UE~Q#RM(-i$-5@@{CJ0K3#OG4enOeNZp7>q~pOoh0d7g)JegKjgBOaGdv0
z`YNF>N*(B!Fy=*j>y031`98t5+Sjcf{F1}WO8m;R^iuK6X>s0cU3twzVl=2AJ?WNE
z-N>^Z%Ab*Ig3|i9#C`|}t%_Rf-sm@y0N(gtl$>L9W^0(HW81dvq+%Nt+qP||V%tu|
zww+W|u~o6{WRi2b*UahZb$aISx7Pl%*LB_RgLi)ut1bJ7RTWQ873c5HXY2hdiq*7T
z_G{l$I$13|)Sh(b^SY#-G7j!SsXu~N^0>YQ1Ns7rBhii#As)4j9-`2>g=*PFAz*~E
zAx&ek@<c*!4BGd;q$>3ILHi(N{sg<s*8a&Yrw_<w1jrn&mnjOV!J{X1x22r*tKH7e
zTbf7j7hIZ@?0ldH0`%+qY7iPAMYko4^4?;+9*(m<2C~i_+#8%UMBlyfPQN@MgcZA!
zmkj8M`=z7kYcKSYG|euIH?1Q^#SO9=pwY?Q3R}bNoXO8AGVrd8<+knfc8|fD58JqL
zq92^3IM=>syLYyo5~evm0AJB?tf1rC{uvGWX#W-s^#2kK5;iWz4vxlOx$vLA{gn%;
z*0vd(D8rkZa{8^dY?KIAhIl_?B|K}<70I-Z&V2wRGZT~e!T#vK-EuWCLYmKml1e2g
z?cv}@dcWRu|7j_ZTNMde$glWK6vI%98!4QPGRu-9_V{t3TLIvU74!2B$NIPV8-_l6
zgHVh|1gK~XQ5N3<q6u#hj%vt4*^(Ds6QWCOU>H78A9ti)bVvB5p*H<RX#a$Xp>3*m
z;tk<vG(ZHhYo9l(r}K3#d>+;uO0HLKEMoO6<3yS0tv#hb$9E)z9|<E8$Y&eUtsqsr
zD;<&q&}-4$8MB(Q^tj^&#vxSsRP8A_ukb~n`0=*lq-D~Kj(%$lIeh22@PQj-lKuUh
zl0NmPJ|}D51)$3r^I*P$0v%Cjz&Xu^FV-KJ@Aw&!ETKNvJg8d$TgES+5dc{R#}McC
z_4#;#s4U_)QavVz3{n4;83%q$v4KjIm;>#{n1n*A2;0(o1=`h7&ovOsRaBfRstvCD
zu6mRO7_e&0hJGVeJ-n+$c#N;8%R%YX_#0(}GOxF>Cz?6!7+aNwIuu#oEvbhC1>Ez3
z&fz?sRp{VM(D=F?*sIoQ=Nsj#zb!;_^x&O}+3v%i^K}SUsX%bz#ii{@RM)%Vo~dD;
zQ-=dE*Aum_{VLdtQJxNg^H-$L?jisl_F|zn6|7oj37I>OU7WWA!hM5u3g&X5R!~L<
zdm)9pTj2VX=uaS>yCBR}mMP+d4mRcmIA4pvV~|z=FDdw~<|EfVn2%65xtF93;=9OF
zd)99x1V#1n-wR0lePoZ7!ESuFHWBYO#k?}dFGiC}IWNG^lHTX`h7bj9yd|bpQ|8mO
z(>&^a{e*s)#MM-5oY$g!vE-fncq-1`E|3ZA&`$JLP`4UZmc)Pwo6wNI!aJHwu81ab
zc_i?KF&FLjMLv2TC)TOFLr9T^Sx$7*eoM55)sr=uM|Ye@`}dO8r-pgaA)Bu42aPA#
z232Ys#;vQyB5~Kzh>(u4a)T{1V0Wc<qwh^6m5K^|n_M+GRH{NV^K(=1bvi&e>cKVK
zi}EqxDD(0LXXKbTIel)}dS*N2Ro1Y3CkU9bC!MY<9YAE#o6Lhrjq|q`?0kue+x8K2
zIoKEOsZs&~Y!;%2h(_vF-BMDepuAS+)IF+*o&o+g2h8rl@Y$YCV_=?_geLsVbe#e2
zR^YkpfrHo^?nYT4qBi<D4B?Ll)ypo(0JjKb776o!+$SM+>WUcPTO@c{Dx)=ga$|5v
z4C+D=JT2bKA#It<$h0O0MgFGypk0WdQ-<<7ZNfq@+>N|Lf|$nf4&CQ1&wdUy+~i;d
zC8o%JPm7c0>F7bQsPPSK?moH_C&N`pSHdX<scT~U)!NaWi5#3)Uz$xR$6NRAh&&FP
zOLIiIkLcriRQFBg<moYI^DBL7F_KsbKbwO@+<!|S#(zm4F=MB%<PkL2|Eot3wRJEw
z{*PVBy3HylOxLC&#PI~!K(vumwDtgIO@uZKCWGDqw_nCcnac2_)t;&MvwYp&fcZ3X
z!8hxKd{Pl+l)EcvA?H{3=3mpIiAglq7>X%+B-iSUDNjU0AMZEwkXHwzEh{wBDwFfx
zk!c5_gwV-Sk>|l$YvmZ8aVH5g;u&lTR^2G=7|6m1doc2Si~&5?R6`Gvl{TUMXD%l;
z-pv%~LNN$TL0eJdXLJcq{gh%@A~Vz6g9%qaMNH!cf2EIt@fCrAR|;u8c)L@&6(w7j
zZ0lr?h?TI;uY*eD0pxlk)ZOC;PD+vC_wrbP5!?<^X3a^aRtJ?Ia2gk$sY11qCJJwi
zFUwwV^^O|gJ*r6(Iz=L_kylLeMQh%Lz(9Qa7vxLQ7XkZ>?{JnZpeU693^R#p0@J%k
zv(^LBs71uTQ4-1GwvD*8q=y{iR1#`=$KgAF1Zm&)@vS+t<RWb5o$}igiRYo}`LG~b
z6MR1z!OdJSzP}m@`ncV+TSvI@(8#D$JGenEQkNthTd+|{0|E5%g5u&K3vvAkC#wyC
z@En<?aOpqm$GZpYL%9~%Piv9;jh%lnAOY+{Wd`0uA72ad{+?M+c07g`49l~smOQ1O
z_t=5A4x%|+=tN<Ti0I8OrV8XiXj1GCDu-Mr-KGB-W93dw+wvUIp@iG9HsN)zr4#m8
z`v~*+t%`j>`gNlo4`sFH{ygE7PVkL>$qaBGo>xJAXW>97(kbcEivWJp^k(7ye4$U+
zui)aunI102q8gR&f+v*0I&P9zoLT)>d47IqcVeETFo3+9P}b+51rPZf_RT8CJ0QhV
zKI-u%vhoHcR&UlGa>qGntq#A9D4Esd_Od9DK@ItyA-6M1lDvYDMO}*CjY5d`m`1Ty
zn=qf3@c^NdWeupVgImcStMFc7lk}RpD+%E3w370X_P{a;K~p)qNs{>a!X+a^pVy~S
zHu>nf@!9s8CATu#*ab6Ql0HNNk24axZFDcHUWr>sp9>r@E@Al<%vAoAX;qv=PHqEn
z?F;H@`YXS-fwO!*VDGPuiyrW>48>tb2+{A@4ye@voptbyW^0%R!dk2bs!~&cxS<sv
zT8HI#2PAa<!!ja=EAjcPBbVTO1i09PnG66N>O-Yo8>E?I`62jQ>Scb!EjELH?LOYy
zd1;R*UA>aseT3<AfHc)@BZX-`XCN#>1+!H<!>lLWV!ydvp`roW(7|_h-naKbk?IJ%
z=R~`a5BFI1?s*f&r%Uv&P-xx>lW6)ZNzDIIlDPesP+<9=LqW_z-^JX?{lDabs<rJ3
z!)L#utKX`t@q?rZ8KMj#=~+L4j7(YM0T_s5i*;a*k^ZcDbJ=~nsDhfR94c(>$?GaB
z$J2qaGvkg%NU92o@a8KN25#bTBD|1xbsu!I=(>&`!uLQb2h`*YaTwT-!LpWN3MkPN
z%Ay$~wEEf>8c@8PsTUc^!U$I25J&+<5s2vxxaU25&fLrA$F!fSl#pW(1-aEa99nfu
ziF`T!h!;>?pVFK^kWrwjqwQ+#;}i%|KlK=L|B9ax;&J+EMcLF9tzop)m%^R0YrhL}
zawX3cV}I2mj<Q+%kqiWY*+-iO`)zDsEsfk{hUwe|&LKN8$fxe=*sH1D5$iJ$%1P)I
z%1juuNi}}lky;}@uAHEPFw0MK4Dsnjg83QH0!XtEG!h&>U7ja<6&5+Tr3WaG?%a89
z6mDYQG#ozs(m9t#0F?jLvl)%m)Q13zgJnet2V9A$=hH;J0PU|))e$%=Xq<xX@>K5I
z?<{b7U~HYJ^=B8jC=GH#*|51l+7E!YD=6z6IS}_}pduPj(DJS<<qB<yb^xzg^GZoy
zXFYB{NZSO>bP<E9r40(RJ<5F+b8nXq*x33x4;a`>Q*U-A+>2StO+~Rs0f+wRlR^#g
zH~cKf^VLjK{9gAl7jfHkD5qvUVoFA%P4NTqA;krL-?$aIq-QoJ^5Z4HW&dbgmH;FL
z7b}OIXc<?{P<RS~%2IrrL<ACPrM}ddz$@)6!<OmiKOn``Y;X!!syB^QC%PpM`R`@F
z8WYHv<9gi)LbOP+qWKTWX>=#hb}(Hq=84}D)uT(*<CU9~odKZOAm;SaNWi#rmWUHB
z`ey5!lmZ+lodMnbcD1eo%1Jqdpf16>WT2wYje0$^TVL+3LtpmbPp%iCs84ht4SB0x
zx0jRnUNiULw+Bu`ZS{Lx0VE3Iekn4lCt`L6L$9wZ1`!HiKS$|8J2vi%G9nMx=6RY}
zK?EG5Tpb-w>)T*B6G?%aGCy)rca<4I{>b+%!$a?I113)GehGKpmYLL=MGu(FmW5;m
zKB=$N%qgJg+i)KHa0^fU8Xw%8tiEsI+kE^zKFGSpFsA<$(h~mPgrxXCg%mJ!a@KdU
zb#SCt{M$tZV-sTsW1Ih!P+8YDg8{*Jv!rG%MFmRlor47RyE(k)SfS(zF92kS8!HF1
ztoX~3tBW6*)LfayeNFD;<nYt^YkQ8&bxk$s3gf)Pa^aFIq-cfuXaKu%csHN7y~!h?
z)QWa6r_P~sc;IwYzWMh>j7rSv1uPZ$lmS52VqDX8(^fe~0gwqIVd6*vq1j@$%DerI
zo3<*)_UWXb*Fb_{;CY@YFP&QxH>6^|yg8otw3G2rNm^kj>~;DWjT)n-$vZ_Os#E=Q
zN0xWBcg}Mve$cD6qG*GMAXiINn}scJtrMtRwI8uKTWWns`ifN`n;aQyAUuC~sswDV
zQ5WgiHos5VJ5L@099kr?TT?1$?QkxJU)a7u`VU9D#{M!A5DD+@!=W{i=lcyoE6#^>
z>)~$7)%088TLq24QN(54KzUuEo^b}L34RP2U?_|U5}s)!xj-bE>?;{=K_t+SDz+^I
z@G;>zq@X6Ljjh#XJ0GyK(CI}7wWLkPj-aANRT|cr3mFGQ?*6x}_lrabI_I8m4FI3+
zNgy8%<bjW%I|)_?Ki_f$8(xCCi3tD$zZ3L45>A&8AF|iiq#lfS9U4kk4XE*-WY#jC
ziAmBJjwWHABp_c31|l?2WJdjlFvKsc^@R}3d4;u4(X6bV)cok=6_%INoVfQed;h+n
zej~MPR`Sb|POocAs@MUxneQ2F`=y!IHyHQXDD@a!A2a`0>$a(?`?Y`_0<1wA6?#Fb
z_&m1F&SEQY>#-JF(Q|&Y`8%weEsAB@N-q=z2}t*;eAC)oyc^lj3rlW^=}2$_R?GC2
zo5xRu&C-Q!@kTg&V$ip4aeWuajMq@`x%cgtEbnK~FQ_pGJcE6K006`w{tarne}!7w
z)>Ycr#rUt8*mnuxztL9Nw)sT+z55ewzDksyCDI_MQWlv6GGm288+iTzi4LI2NaWwV
zZ<AG{@uZrnWeF+>yqor2T)yudaU199Sk|q_K~~H-&mhDbbVigb#v$E4Plqy>*4Zwr
zq{kv<s+h%d<cL4g!3t2($CE;o<Kzr1WHftU9vo8i10ceYQM3&~FjwgMsVf)R1*RW5
zH<@*R8uLRE0tUIzvA1h9JRIQklSlx)pdB0`Dd$%)uZ<-e&Y6>5xQ84#*S6p*P0eE&
zoSc-&z|wh*YpN%El7|hW4|4XeKgi@g#=T{r01V?K&#~?0qgmQ&r{>DJ!&}Cl7!ckD
zPO#58s%1610ys5NtyIPT9JNz4BXvpH4(qWVrWQA;%Vp}%5fGc@us3vyDjtXe;mO`y
zPNr{A!mFlAZ6ONahD~<Yxc)h=SRa!nK|l~Fzoai36U_~^ydxk?&~pfafp6VH2qm4<
zhX>dof43JL<;}X~#Heqq@Jo9p)U6ZA#YuQd551L<2#xD{Y-vzzi7^nXP%oj=h#=BC
zcIcf5WViev%|+nUS@Psb^n|(4CTQQnwpoLgzo*0-%EN6x;rWfS#z^?=n_1Uv{|x+I
z7LGTm=9#hxvBh+W!K89t9&{cT#Knfo4x$T2yudts<6fvm_{y@!Vo;T@AVaS4&(v!d
z^J6?kUz||LhIANDnp@1Qpr(s8r|(EK>eL(djlss>VQ+{tH|?W}>%<giL4WrMzYyb+
zkvr){!^tX$1qxujL>w}>J38roP~zqf$c?1(&iDr))gBx&BxKcqPVjmkz6Zc<(^t;N
zh?@9?u<&M!=A~(b29`OyA#w@cHywU5KE-#sdhd@P`MUnsU9@s~EXdGL#1H=!@vqg3
zvXi-$xs$oEBfWz0-y>cnbL+oGI*RT#hGq`7Hs&724qtdTDzAUyjq=%6sh!JEgVy-R
z;sYkR)Rs%9FPsBHFb+i2GVca8$aNcn=NC?}DW4f_-}GO7%i)Wb@$fYRSz%sxAZ3>J
z4nRyO(y&)IeH`9Jw++9zX;@z@-KDOdv`c&pB9WNYYcT21!B!J_<A|;_ol<{L$7TAu
zd6t=%Y5;<2l(F5&xayAJq<!ETSM7uw6ch`f@IZJIxaHtT8#`%I-_tqhu2B#U9j9ML
z(qGD|VXYRDl25@Ncyy<h*AjJiE6WeD%3P*Wu88o*(71NO?!{8o%w_wdjAObsh_o+>
z26WS7wU3NvfoC|kNn~^)p`3l|o7h1Xke_w|^s<U1JEjd(!P9nfGz1L$rU0WRXeHAt
zs#OC35;&q_1Hqg0^vzx8nYwx6y_&NB?|z7DmeL!i!Jlk$XR=+(NH`X1#GKVf!Nl|p
zdt~I86VpIzod6g0QXGE(?@}KF3bW9f+38-^d*&w+muC8T4^9Igp~bdY--iOj$dX%k
zU;STY=pLo~h&V+eNH`@d(ttk*DnDd!WY6E%ZP_bob|)s@!VNt35Z=;mNbrKIEMd7)
z06Rd$zqf_pzw3A(N=oc1i}ZsoL3bIoG1y(?f{Sl<TR$<MhQ#->$n`k~+Ca^`w7swV
zfOKD`M;i<nUD+lx^ks|Mb{MT;hpWVE&oJ2lB2lZGuQ2w29|w^66J!6Lg$l%T9g-JH
zu3ps`?<ZQ~FY~g9m%F`3cs)$awcI78b2u}1O!r6H8PV1P3ahJxI+@F`>Q=ZPc9y)m
z9t1pY`?533z!h@JmnZMsA7AqQi2aLN@gOx<olk0)!2XR|@_$gPXm0In^%c$k1G1BU
zA<H5Gs<bj##bmC~4o;vKrfO(91Zke*GYnT~^o1<ae;|vW@#lORqQSInPqH}mGmgoi
zl^xVe9$)&=ZT&Cm3crvoS}x>Be_@2|FYYz#ck5(ih<LWg(VWVzKd<L3OeF{~Ln-(h
z*_|lH)m4JSw#f@3-6Kwj&p0kT7qWp57$27McWTuFJO8XSu#`V54JlGg(aM?QxFR>&
z>m7TBPCROq=GyEHNC<sTGG+Db00MmKYwPgUoOZ2x<`4Km|7cce#401g$A#5>wxil}
zjKGzBP<FYh4L{S!NiI-;cF}{n%0wH5wLhXa{is<;kL_1j;mcH|(pRcAGf?6<!qPM0
zx5NTdDT_^}!SXAH%Ak_)#3S*!lkxG&*2zmrUiG9Lb2XwYRY$>!pUCPMH3(B*ko3Hq
zBEh-y^N{fpo0kmE4;XjjwWKSZFZSa(-V3}2&t4+=k|R#gIu2g}KV{@xxiV*XIQgp(
zOVBzJo4?ua*!jF&_+<Q&;*k0CH?P}Yyk<PHIB8oh^}=BD@Vht8B*hPvUxz@~sCrE}
z*=%hHJj8bSu3np}!IB1=X9t~tt^dh?aDHn<?xu0o8_HK>ROebFxjr%gOpyxj#Jn>d
zH`}&JUqvJ6O{_Gbo%KuwGb8d1srTGC6^46>InObwosk5>$^v0K)AjTVIS3sI)eh;s
z$9<EDK~r%hB%T-PD5Erc%&t<qh-{rkhGmz|d7VVU5f1Nva0%BY<^H$}Y6It`ST521
zA{H<~zFPZ#Bo^x*#H#B%*!^7>>l^)DHmusLGQfCmszMw~K@U7g?ew|$^PG+XgIT=*
zkSF6-UK`gTnZ7;ChbNKA#L}6uIYH8dv&bkMj3n-c%1lhBUuHMS1mMmNg|S35<;o;&
zU2O7VGQY+Sy|oDf(+(hM5zWF9RaY@;AZgHorh3iZ0jZ`hB*NgY$^=*&6)*_;2O=7o
zJ%i8(AD+`%Vt_eb{z_I&wp?uj%@a#`fi0NWr4%C%Cz4tpG}p?DXG-2GwuTVx+&Uwc
zxXj#(5Ua#$Q>pNR?K0RBTqrb;FgO6Y8X>wsTKmx2%fwmoZ9v&d?I)Hl(qdS_)TRrx
zxjA2)c6ka2*QLs-GVSIxJODU^%4YXozUJ(8rsG&&<3z@Ox9A8oVuGeZdc|}~44&Zt
zgBv@wZ<v`qN~#<cY*-^OhD@l1ppL4fih@?SH>X*=5+Tct6`<Pi5hZpa582JL`WehF
zl-6KDIUz??7!5LOeFz+@lDWQ7`siA1=*&#3N4_*XaOpCSLhe>pM&M<tid8^>bc$zq
z-m!*y{tZblD*7P+jF?}Yz#QPUI@r@Ks6EK-XRz?*_r}PUz$c=${ttLp+k1Gs7&tp{
zJ#Dx4VvR?{o-+%;p$LW;m(<O~V|KJo_|YVfU@m*PTPU7q#UINq9R}5Qa2X;5?I5?r
za?tc3OFch}Sad;hZ;EZMB(Z(H133>6;PY!4A?gs*O|-`lCyZAi3VvCR@lPFQUTXC~
zMsx{2UfIay=&?puDqlsEb@rTOMm6bk>%AT9Sr{3iVwzLk83Y&eWQ``U^$yi5)W6_K
z28eOWdh{(`VkqsV0m^!6uzri6#oXsUct<>l*O7xB?f7~{DfZ{xmXpmgM{oA$z!N?g
z*57<pChh6WWIW;)*K?-d^X1Zeh2f^P`})iH5)}7p*p=Z@tOE~eSM|D(c8(9`mn#WX
zAs2P6`i=vtcW?V`zoZ~i@Nt{?l%fdw-=x6)Z>3OmFn2QkJG!N8KdtDx__U%3lt|O3
ziOvdrNuL}ZqXxD=T9$@OV{h1qRQBaWjM8PlLLfX}Js=iE=H@ESU?)_Yb~<@9yZKX!
z2!nxiWzEZC$;$`ZoDp0f@m(LyJb!cxShBc1usGGfyF@6ZE>w;#dFyZ3yiM&Oio)_3
zc|C&=L@eF`i;~U{O*}AxtZpjQ)T>2_D_b5ct(%Y=+}TV{`4n{%ikU;GRILb*HY*|e
zbJWYcbs+R2T^^ayMq{YhnndhC(o4y#*77)!J@}e?+5s<{8CrG3Z`H}bI8tsRsj<|(
zT)+2Lj(E?xLz~7`wRqCp6nSq>M|uIKm6>dx>yn%UPP8Pt+Fj64x<WSi8E`>SA>Uz4
zKa~&%MmKgUMB&M)vKm+UnG}>n3So%kg0-rQg<f$wtM+LG_!fcyeuw+OYA|+wWYD=k
zGVPiy%whc%dn=&*#REiM6w0FN(9^^TzxFyB1K6#xs!_XnII>JxtHE_HJ9)1^>5?~O
z%gu#&O9?0cJuN`7CAWoO4M8v7HH{ibiXcyBC;^u4VJ%lJK!Cr4QLY#A;WprH`EReG
z!h=*TGXua%WMnS+4_V;m67)>9P(1$wflV!ZW9BN%H2X?l<RCcjsjaR$S)CmD1DyR0
zmi+Luxw%8iB=jh{Rna)6>Q+C;p%m$TC^nvFsPo|x9^ViP98TQ%1cq6H6RpTLeXZN~
zO$Tx#Cp1h;s;p*wjjDr}nn`47ttkhyKN;&jn?jP8lH}@Bf6#OSt+=Usj;6F+4nu>a
za8_65pC-YF7l#7Ik2LIfgbvhhiD|I{)68Ht*uZ-|_w`!kk9S^9POT29@<u+~$S2_6
z>t^A7|5}!YS%dROd@{}XuLbpg&$N)0t)b=LOmBY8K72NH^;_vHm3m(7%&2l#@a_{O
z<`;NQ<3NNuure{p3*Sy$T?mP-6H6_U!?<2JHnX~4tm50PX{STVlE=vgyQCNlCIrzs
z$`oF2w#yv@zX}qi(%oR4Vh#u`LC8wW$mB>>DcEwNlxKM}Y3#{1dWQ^y&;GC^3=Bgc
zq*&%k;bgw@z*+miC68Kp4>Sk?UhsjgS+h4|SSb44iSzDMGn4d-YDycUeg=!i_!yc&
z$2fYt(6ZUZW5bh^(nbLECjBUy@GRs3!w9dWo%<<HRja9YO$R?iIH@3+Rs^rT3J2s{
z(u)?b)-iM~zGW{Vp55cjEa2R7<&B0SCFk%HE$Xh$+iJ+y%8mddGH5D=SJ-_sG&xTR
zU>4#|lEbIVNj9szA_q0~zFhjgair?8_<$tq<W%pq3=kZqR0)pB!-3vLWNCuU+(?!M
z0qmQ4*l)rC+fs)-u?vz~I!lkLCADo~(0V}bs~Dt<GWNOjtc%iTr!Hh16nY1mzup!r
zAfj1&&+nA6al%dJ8UQc((9aWi)?jM@T)8QrMthd18M>fvM&WKEe!oBG565QysP|g{
zoP=X)V@&NFVRl#`_uL9bK?t9=DvWXvU0K=$&6DHpTSZ16GY@|rW`N(#&QG_#n?B4-
zWRIdVF39>K`YCcMZH#s8?hriaVzcQL(`7e7|7T8+ao|tKnbo%UpE2*&uKYtvjD|AC
z$Dcj21cdrF^cKh*Y{BKw#(6VsB8Zeqc%!tn9;Om<8;WT+uWz>)e22*oQzBej?sY!a
zs-p_%66Wkv_<}M_jnJ8C&W;$cTVj^f>PFs|Gv`Dsla$NXVPbRqM-$VWcc3qz=>$d1
z!#;uL`d6Si{sFX%xy@&_ZT-cxq_KnLU(KR}zJ;;jXZiittX<65#@OMj82`V=?PZX)
zKadp=sbm!S7|k`B@ez6;b%gqGkj;GGCMTux2o_2!s0q9d#s^(}&VM+<*s@2UBx#`$
zO$ka{ffHxT+@y`fBYeEto5Eh6nW-g0YDA=^hc4Y&?;yL@_LxnIFsa(5m?jA1(iUx<
zOg)hez&RjX0S$ZtA5;NxrB${kQ{AjnedfG5Y5cn&diPfEXl2hNA^dbZmKZW1*R*P9
zhC!fKd=|mfeTb1N@fW^Z7`Zu%w^^}D7Ip8?VthG@mfL8(7n^049uIF+G9jH$HPNW+
zX}1HQo%B}nTu^4QfjKR4rx~g%SEv`JOt1&bRk~MGeZ2-azv?Ij^^O*uU`JRYN`{of
zS<hmmDuT3_Ks|zQ@HZ^ruqZuX7MJ500lClzmFu#xqQPB^M9!!Uvn46fe$1GNneP{W
zGT;aaLb7k04K)S|7L&1aYd0Y<A{*mYUX2#4l7SjEJi$wnr0MCU{mQ%howrk`e5{SS
z#!SE^>k-1o7i>(*01yq@;JMr-U_2_|JQ8d!^HI=*42!7&Q8`erH(Ve-(%B%I!$ryk
zl>%G_*13?^DxusEJYu+7m;>A05tfeZ;O{X%kPd-^4}-kz$d+s!v%A0#AlJdW`!*tN
z0^Q2haO22tVe)*@|185@r=LA{3TlpW`>ol6sI_lTYOK*4+>{}2hU^L3O1cTdcTi$l
zf;hrDod4KNG<w)N1QzXr6VE}V-4>*6XvGe*<zy$LE|Q(pc1UcO^|qksl9##5xV`_0
ze~?zUV@9Zu8Z#I)E-tY8<6Qsg*@7@zFLc1X_?VFuB`$)Z()y(B#3_f+Z2Gr)q<eBI
z?|eP(B6Myui%|gFO|hR=k1M5nuQB9%tmtOQ@D5i@Yfw`Pyr;*H0+QUxbHL(q`1$k2
zf^zEWs7eFpKLE~?k-#)9@3}a+U1ty4i*`L8**FD#o#J&A-mvf^yzpisL6XxU0F}R=
zICB5ImR`zF0Z-MZiK!0;AB-~6twE|&+y+a@3mWW|%YwH}K{XqQkYdp_WZJbm?8v-L
zd~6532z+BCK*f#Z_Mo~n&z|5^=-oVPwt8e1vM%<dy%sc;J{dBWV#Ql;+0H>{|N1)M
zqalU4J6~Ef=l!n}>D^SNL=zYQ;1ucK1V;adz-G2qM#c{O0{nmX9slPfo=OjiATK~^
zr9Yd={C5*Pe*mEl?ANr?=Q#^kS_s)VB3Z&R|M7IUg|B<lp2U4k8OOTJDz#Mcv>k+4
zgI;9vm}zjc+uNb|(LR}F6{(R%wHzfT3_DmrOBth*f?5^o9IM?P!+aun=DuL5=(9g2
z1BB|u1u4xysZP}3bJJOEvf*+Grs+f^8~~om8tsp+e?Cgg!ym5wbW>d+KfpeFM`I49
zKvd#NSg~Vk`Fa#Di%uCITT{%2BXyd#QY8C9bSs9g-Z?xYCqw$T|9hyO-w=?^Hrb!}
z`o{XnhFR~mew+bLO{P1moxe8Y9>DxUqZKw#gykrzY4KLBC!5HR>347eM-&utSEd{V
zPb7y62p~r)0Xnj(O+`|qg+dWPY}!a0G*@Hl@w549q;1jkoB)9k&kVeghr$V-rYM5k
z)VDtyRV?lz?9F+4T`oKTev4kOV()&OKd7xE+<YSw4VTHv*(x#!AJegw&Gh%%=N?+~
zT}3T$BuUlSoZjNU+J3|Pu-wMO4dIBo@e7XNkJ*4coWyfR5GxG@bH0HHS`^~Jb7~(#
zpD54)Q3U8l&+UM?Z2^BX!J;n~nIZKK8%-hu&2{FcBx(nX1GDMYu~&HPmuCd?8{(fV
zOwsUbL)P#_^m*5f3Lg|LD`&6tjRwha;we9rRo}Pv5c`FmuOb_#9NF(aiKb)%wb61&
z-EvXIb_z-rc_zW*IE!01=2l|a{$PC>?guJG&RF7HHVdcarsq-|x;6Mb&5xzmoZOJ-
z0NoS|Xtzv~-F3u$(Cg<Yb-x7F-&oYu?tyvK`$EJ6^{)E+Z5lTJXb$0`18?%uSL*z|
z5Om|0G&<SMNboX_NWV41jHaPo4J%kmqws5&hM+2>$a}xPmCq%g`~CJ`OX8c|5yFPg
zldI}q+Y6L`fN$*JVC(Q7L;6*RPwKrdRLv4ojE1y8fTV|7n7t1ZxMtIu@cp6)ELvI!
zbmOZph(OqSW%>tXcHQ!ml117%55&#x?Q@FE#>c|Z-Ti*p7z|u1BVKVsUdCMHG*Z5E
z<S4I#oVk&l16ifDoqXpTXJ|9zZbiOKu3YV6uhiC@bjb<#_LDIpiXq}0gkbuk>~|5Q
zwuv=l(>&|iq?7nVKdsojXO8NROV0J{yAr{b_hzizl~;0ZYKghu4Us8^az4$ux?hTU
zOPg(I`p+ai%<`lR6v3tBJrNXV0S0`{;1dAVZZ`c<kM|r<aE|0lNh-xEg|3AKeIE0K
zhn5fn+^QD0*ryeb=<?Y%0Djd(eVsv(G*Av`k<o`mBZEG<Cid8h$$)$SUw=joH>F0W
zaI|6znOipxW6dTck+NEjkZ7vD)Tu}#-Uv0V3DY~yt_4UAqf+pDdr?~h#fIs%z<CHK
zPT&o(Z@OHtP8sf=5Y}V2&yun}H?Fx=(ogJ0MKo;gP63IL&?+uI-z2|b#O@>5T`M6i
zP=Ymt05RNQd6IA-PnZ+vav&dQm9`I4l1#b;IvR!vb~mo5ZLLECb|rOj^{gkhaIv26
zKiNHixA4tB@V^z<J<!9uUZb@jm;3(8L~@gRFZfQr5ZvSAH5uE?VH!4z%uQgG7rcsj
z4D^}>c)+og1$R%4^~4gbygXc*d9->cQ?cDVW34H<*BqDqv?~5Q91J@EXcN7tjt$e2
zRMxo*;5Bbwy9QzJvK)UPPEf2+spmPvw3*DV$4lpsH>f|Ph(Z4tpOoh(MfMCfTV8_d
z8-)6NCeB@`fNP9aJl3qJD(%6a3tCQR(0g4-mvLNUe6Jv6m()?23lpZ9Qem)%W{?Ne
za(HSg`u4j%Q*&Q&(t5D9u8>eOZG|h`alC_L@=R*~b(=IZ0q@`ptXY%z!L@yTe%8J)
zVVr2a=)$=GIsZjblJsgt|MFM%qD~=zWiCLwJilR>L098$^ILfp#fJ#sh105Lwk&Q2
z3ls;;dxf86Y)_O;hd7wdM_XZk<*(n{I{R&Jbk4_BFdWBYe)e^jbW&({RQhormsDgQ
z<<?9em)Kw00Wmz1vVNX78UG*Wjgo`2jp2858<)T9LCw#45XEP+`s=(QLMJCn3IE#s
z8vHJF;Un+^)^XI2Zf)rH8IA@ntf?xs`YZ=e6OeOuFJ6o?de@6bX2O4@s~QLVI5QX+
zlVIK3qv_qm?@~kT!iGDZhpBv0nnXT*Vk`1jMZuWB%$XqV*jx3%5glvXv3hG=Az2ck
z3#Z6O6phWRK;}+yus`8Axm(eBaUnH{K4_}~R?LW9m6;qLHuNWnHWcF<?C*s!=AJ^<
zQX%axP0sf)g2X#G`csRmQLGZ+TtS-rEvN>Sy8Orq8|0=|qD|cH%`pvX;p(H5qlYm>
z)gj9v{wBCle7;a-;|=Sl2<P^-#DV3>a`og27(kmsp>dXSzPMeSWH0+-;X$8jGkdJG
zvA`^dZ!ja4$Xo-9An{@Yod<7M9cspiq#Dh5u3@-c2(T#|j<mW8Jh%n!rV<bw=3LL_
z6vn+*xTs1?J(~aIg5QJs)S@i#y2%Edpj4c$?$N02JIq{CIbUc+n1#A*Oss<4=)gj?
z*f((C-`pUX9f?7%k$~lS0FfGop+P=V$Lz5&&z<kB-{J2S%`!W|4u;&o-WI4HBznNn
zfxM`_I~UM*R9hZU&(ELiV%jap!8R8(eEJ0qM}FiEqXRv6t&Dbm=elZh0OtYj(i8#?
z_Oa}7M>-x@?ejqu(N8okKJ`|bY!C{Rgm*oxv8J5oV&S=glWEHchW~U;prw%)!w$Qk
zqXh7=YQmr+@%prmv^tJot3YFvt<JcM_QLO}f~qK~2y{xHd&iJW0a6v$34S)Cgw;0$
zb?8i-cTWR1U)*t5Ga~|Sop3s!C>*2Kp?C~#i>Lq<WHD_OE8MR%SdSH%IxOhbZfOG^
z=WgsIGL#<k0d{vNKE%Q>@quNiKf-YBBQ<iEEvgj1)8AEn&sLxJn4y~D!Oy6h^{4X2
z=c_QE6H5{C7M~d0>X*Mj<bul&@vvln>;%F?>(J^H0M6dzp|$2n<iU>KV>om%*L8O8
z(NP7@EQGw!UcCLtg;XP@xu(w^cn0^C4$bia{1Qs4I|vQtQz(Ley<36y521wht?mA|
zPiHotKE3_DZWiXv#E4f4lALYOmHydq1_;F1Yss5x$h%Uq*|-ZpSwT&;3I(D2vOo0j
zoJqV2bHOGOts*_wL1idyg-)y@Tb`Jr9@*{tVio*o!&0G&sd1w;Y53(6a5V)(I&=2l
zKA{Bt<x}m-z^6}8l=*~TJ{kVQC#GRX?M44GnUOQHgT4M*ek75&f}GFxN{Bi8fRU~|
zUSCN{o~H&w?%L>i8je<xx|eeSX&gszDLhFz-6l|vmrVwZvC5YYxtH@D9~GQ~>{7By
zQP#1m2JJ_B!)Uv%P@{OU7Voi_HP6eu`s(LF7G79knnYosMWS#y!FtqsIe!LAqNx5I
zYnPrubT>9VImGNVeL+NSShdMOQ5`a3!ep9JgrguYAu5D2W4<6yW4KeYhcFQ9@dYz5
zTW)3v%4LCQdKv4I_vmTGJa_fis(=~g^$9i4(?pJco5S5fEUG;1_$>q_Xo|Gen@6G}
z1Hpt)&#0q>+b~8A7F16utBd&ILxm6UQ_JQ_4)k5G4^&kB;?^3*RPLt69xvo$Z!o~7
zq;B<H+9T?@cW}EW?^;3C%8%aW#^lYKX$%LV!<k^eu4<QS`Z?K-sx^Trzl()wf5C3n
zEpABX9c%q=Nuiiq9>sfJD$|ubfuc|@r|G7|W8Cy?_fWF+i9YZhfM$W3|Ls%pghAb3
zKGFZvCv{~>%VZSp(5qCrRB;k5=V{f{4erV(<O&80v1`V~V+4_S?9CM|r$ab@G#cfB
z)TA`Jj1_rtN-fid=q&|DO(9Bzc7zHO1JJAQpg65Hg?R-!-f2%;-)_3}H`IQAw~4&Y
z9`drY|MhZ_;NF5F7RcZQdc!&u{)crf6!#qU2ygndS+sF%_4AEHy<XOhz?ZfXby!|k
zu5UeHJvvQ|&r`E(J*_*=hU_laZ~MW4t<#;ASHUfv9Q!4(Y<C{@z2mb0mIsNv4>GHN
zY|$Sd_S1j)<S4p$^5qlNzxss#PoHc>|GGSEX#4dkgVWzz!}%2Tm=y+u;msFHnrbC$
z()guGk)|MJcx&C#hGWvZGN>&OS0O=UN1B{2!vhLc*9b{fP~jmwuI#I+kEJ}<&h%ol
z-Ux+1>S1LP3_Hsd_z^UaR|j(JqUgF0o_j<BQjEz72wc(Tu8<kBjOli9(nevJj1pT<
zV~q%2Pn^2JpUqJzHbIU)2w@%505YYiYI36%-9(Y~zK8*%U>K<3qIQ)^*~mGZbD;o&
zS{v$vCuF!tdI-ljbF@5V#A|e@TdHV5d$Gmbs6xdH)*yE<omX$Y7q<;pubUUjgrL@Y
zsu<|zweJ+@B}N}@8QeF?!C$E&7SmMcCU8$QSdi}3yR1)ECZ-Lz0M#`46_GavSUct<
z(6w!axIntz-hjPIC@gSSo}~qV{8o`u(|&WR0SloAO<Tli=wLC16m#ZkZ`nz=o`!fS
zZ`tXil~9BPAwQQg7-5g=q6K(ZF0ps}l-pMWEYwcqGkSB?qPj#ZbP7|@IR_$!{k0L^
zmUXj;a!hxDBbZU+(JOTq6#&6NTH&+LB?EaHkSyZoR@GtpMSxW+L62HW3@*;<o2l=U
zYO()V3$Wr0Zg2_R-z(O@-!HeLzKl(Sxoduh6|04xjO~0uIi*~UyyD8T<pCG-FFBPS
z!AA99c&|FvmeIinI)@x>*Q^8Ylg^^6XyhFLcD3&D#Bpl|^+i09%X%bBLC#9?3B~20
z$8BcRQQa=DBIl+*x*yu6c7h9=v#H#raH(h<^TiqLUf~FFq?D`DdESx)!7U!7ev)Jx
z-z;oyeznh*AdW633V!B?aYvMJdlSaje{5?+u}mc-l~LX((I6gVk+j^b^LcUdAv7~9
zqXFZVQrhrYylq$N3=UbU0iJ~mE7@ePmK2AyNki@UGYDi8Xk~?r2Y+S4>xEwV#PHGA
z)yg9U`;be7v8))RNS)tQp(1FQ^g$uQ;NTK&_pT`77QJk&tw9}-26weY9RB!x+)vAt
zO@2-4k+GTROY|eldLd{%Gp%aH;7E2ET1nk?nc^64SYm*O`9}|pe*A|M^djG5=(6uU
z@|S1M*yan^pPn7V{lAaGg=}q1%uSsg^qtIY|NhSs<%#G|$GRRUX&lu_;+LMxAtdV*
zsPBY}Bv*O)0mxf8?2j?}u5WQYk)Z;bG|WBCzVFlTrd=Ie#q#1=`ol>(Yq4P#)Afe2
zTDES>ByHR3@_loBO)Xi^6Xe-Ev<~s!Bt`sjj8#CpJFjBOVc#G0-9j3C@)`a*_3x`v
zL0_Zr@k^Bxmu+|N&35lCNo99l!hyi)!0{alxBB)2@dT2qQ`O9puSq!O*ChP7A)YIF
zJBebUUEVoF<LeUc3bdU*_`=A<{wc`SQkxm`+S?L(xb||l6r5d!-j5o}#eim6&D30a
zcY4cM>)QS2<$dgv){4n*TmWqvs4}XO%BC%J4Lif&oWz&)PEe!LXbq#6rqeS_vS3(2
zW)fhM(?{=<a8{LHgYW<bl<mDT)xD#TB<<{UZ!gBr=8HknE^X$@G#Y++Cl0iyhl7D3
z+p2{TDvVyg8eoO`ilMf)gjhD=H?Po4id!e5%lohHKy8+3Kef{lY(sQieRKc|7Qt~n
zpZyTbmyxJ9Wr(5KZr7EdrGutQRnN)`7Uv08Mbq|q5O6Tn7c?i21If2{lmH`9Lr1uD
z+&i~hLw9yD-7!%vV|how=lJSWDi&$NTafM0YFxfvI7&?AHySJ7(l&&^O8k)TkI(^#
zw2FiAtVy_<j;?rMju@<%E@p=zyfUY2>R;ES%u!ELIeVB&$?S+TeG_Fy%jcN&-<QDW
zy1RsJSeQXHF5Vh3z7uPNLeFq^{G=`Y@VyIOChhpR3|T>cm%Mi6`>UQ(WB%Zk0|Ef}
z{ja<DuepGum9)8mgT8~ipo6We<7eo*SzDcHYdWsB#QQ8(^FQfZUyQ_;mRBaYku@dY
zm}W^WXJ>J;a<PKO#RjDkHFS(DJl(CX6Hvwzp&pyGH(eu$h4_gAAHKI?oAucGc&9H}
zk!i_M9h~{gTjDTmr;f!>9-awo!OO|Q`|wnE)b91{oo7b1x?Vs5vcjkKlV5JfM0ggR
z`g^p^D8r>vn<yl-TeC&pZ*6t-VR$mvBt2a=7tr*cS5<G|v0$$Uf_8>fC6z+VP2mrZ
zp`nkZZ$7P|Z)AAvv^zP^?q{n`p=k6m*BdLI$4u2rFG6$Xj~(4xP-Xr;D|2Y;yzQd+
z5WU<EezUU?MpZ1r3`rvQPMvftfDRUgf5)_bMs&oSAGtLWln<#*XU87&PX9p$Z}48K
zHO|%D-QuAb;~UYHO||&3s(?(FRiv&%Q#Nyk*=m`tz7W%AngjX(q$(Y>dq8VxVjPiv
zNT0H@)t9pwQ#5?&$`;@Zf@yl0AcLlqilq?8j#`W(sn6)ki`po;mvsP&{2kDxh}TW}
zI7F5K69Roz%>V@W_Hq}2x2HomQH%AvPou&U*5ho?h3b34dU&3lKvB@5=?AT}E+VMh
zyC%XFRq6N~DxO{78zSsgxBsQr7FjP9!(CK6g8*+N@R1JHuxru;Z~y7TGEW0@e>`O3
z+|r&Jr5wXvm|J46lf^DUnILJpV0w8GCQT99U4XL0&x!POMPa5g3DB`QwIb<n&vTq7
zept@@<(yzXoU}@%^PIsn9}8Bm$y;sW6FwE@gJUYXW~)%3+?I*TJ=ovkeCP`Ik968x
zBpNf?EXeX=2QJ#<bM4t?AW@M>H+FczX@O9Ykj6{TX@Ab-p+i3f?^F%)JNtBZKJ#B&
zE}}_-tz4$@-KAX#A9K!Xgd77fW0=ne@r_C_%)sbDAKfl<%1~`TdqlPeNQAbo#jjmi
zv?~<eqS%%TnOnRl<P_Uu{gkU;UzPP{>7UB`HV!)8HM%VDdr|!;g8*oCYAe0)S$&gP
zf_1af@VA8kWgGcKvVXROCGAuY#%jIc@9_s#W~pc0--yWPQuQ!23pZEvB`v?&7E)d|
zAOOR|k^uaYEVJuRJHb%cun!aR6<4%0Kk7Tq1s)uO^H$GMC4@u?cqtwbX{X>piHWhP
zu}ox4H9X=MW>LGS2WePx`eS#5r0thIaq|OP8egEm?p6r<J^JW49%E~=w+xzcR`d}4
zi%N`BoGZvINN`a3Rq2+5_0Zgv;IJV+<RL;Wwz~n5NO&<_X{Z8{8Von&mdLM>^`1f<
zP+EkGDh@I&P@;ak!qIQjW!CJ?A2D|Y0-C50`36z);ko6dQ^<OEN<UhTwAu7ldGALl
z1CW4?@)n-6Y$Kt%5n&U{cdA7)Z#6LTRvr=otAm!_5jT^9w`gdCREk3Lpuf&(2WuJk
zQe#21F%=P1qWr7`Y3c~el}?<tVi{NKms?W;zO~EQ#GrHT45rn}Zv<Cd8nDK!3$8Tr
zgx18kdA2I9S*0?EB3_Wh>an_$na~kFD5+hYTM}UoBddCudmB^`s<yM@OSQQ_l-vwO
z3~4%Oh0&ZbnJ=zUm<m5|*{?`Ff45qq)Tm;9oH1u-cs{qX>Q8R<wJA@6mnkvMJCc0L
zSxU(zVKTNz0Vh+G;V%-@N^cv3lIE+tMj}~5s><}2oixz@h?5nW-r9D7;3AstVX7P-
zwj#^*Jeum){+Sb-0`I=9m%pr$zpPzs8kjSrZIH-S&=WFsWfVGxzWc-dA^e46i%W_H
zyofeYlAIuxw>BSklvHwW(1vj4WK>slMaQ?L&aXPs<N|7z+2{f6D2sVT${)WI&ZgAG
z74T?;JA_0xKov8*q0Q7-Fs}UD>jTlM!*X^rgm7KqJwj+h8-jODaj#l?C|B*o?8HuN
z*t{vUkcP4Ko2i<?ecCT23D2BagIT?xU*s4P^bWbMc1j)iimy~eF$2E}w7J^)Mt0E`
zcueF*b;Cu|QxE1c&xWjoiFBsoV$NuWsm45+@h0HT%>AF68!#E!*zhRdkMuOhpUWYj
zCRa%PcNDf}Y8yC;#kbPD7$_kzs5Po^Y0TzNnDkGAkR1g)k$zV(odZh4^rDN9m+5{J
zXV43_^oQzM=18>z@0#|o>ycfW_q?A^l1=I~#7}yFa4tVR&p8!^c&xjoyG#Oh15^_r
zKgP3kUXs5lbk;H!UF2Z&SXafCeuW`ngC=n(Y=$QkA@Mts4z*)T4vxodT#8%;%;FO1
zkLVt-Z#v8{YnV|T<^nrFZEGQp)tTwv=xLKl6N9~+Zfl5|)lPC(LaIRDB^ZGVy{6)C
zU*x5QTv>!G&JTF3zJI6>)1I@kZXt7yC2S<QA98!}aMkqz+Q;(4totQ{>{qKtHCCHN
zQX7Al<c(UBBgPGWbCDE5S#W41X5+jK7hk4DkxDh3kF*}|AX^l19v&b&+!7U(Bp_4D
zG8#H8dfAu&5oWe)Hr%6I_?t`cjp*7l&}-!<`{ZN~-|$41iY55FI|szT3liW9^Nx3Y
zMMCtCaCD^CP53d^o0}KMEj&$c6u6NB*fzsG`6ZS<{9q&hV}LTaAIEagmmgC=BwNgc
zd_@FKiLsr6l*^2GXl7&4TQz>q?>Jjv+3IZR+egOb@~Mm(c(DB}1~_2v)neD2mo>NN
zWP};xrWDmD0tQPEgZ5k(&EhSzVW7R=a;e(tb2wVY$e~pWQF4WKmacIwfJLuCtwP1)
zH+wgF3Rin(nS>K{u(iuY4NdisqW|n&8YQ$tgKnsvuLrvp<J%#0AGBz+&MiK>VkC>7
z-r@nD<<0VhsJuA6dBQL{dUlV0PwmRq+U1%a7~Jb;dg!>;Ozb$>gXH5TiJ+W@+a{9!
zbM>lpj(EGTIEEvxqbZDCH-Z7M+rP{r$rpwMQQ97rc?r>mJ_?bdgcJ=B0+~$|RHyQr
z$=bn}Is3D4`Q_gewTQ5Irxaw^6r5z2x0}7Rj)Gw#wkcS~b<V7nj$)ljR*LLqR(!A$
z-tx-D$N?YaHbU*=iaQf-Gbd2ehwGqdgv{O4soFMg-J%wJ{8ZO6bMz7ucD`++g$^rU
zA4~?B5Rg$)F8$krL7;f%o#xS}cD$%lwyeWGa}WE@4OpOYqDxyhX$a43AX&3Af{*Qc
zEiu(If*~jpB8tB2uRm~<)QOgUTQtdKSY82=gj%J5$LdLtHqk<)1a?<m><r#x<v<M*
zY+|xzI9ShU6e2uwK=AcYUb!LMNZG+{NkFBPf+B?%40fsYX4$oY5E!%1nLDr4_LE)T
zpBKEzyrtkHc%n%e1ZVjNM~FzB5i@`@^=xPfP(V(5Gk{`yRQpS#$jK3A5<*YGqQR{Q
z0w4SyIW1}We4c-;Bhv6rfcTMA?7|U}sKUAW5w$u!0Fdx>{1oJOSUElg6DL}@Vy-+Z
zZ?U(`+%uFyQuBEzf;HSY;3AOHPP~^-(Kw%Do&TZjHeR@Ho$T{Uyl=ia<>MsjUf3M4
zdWu)Ce6b(>%_Rv~CsA{Vv%*GwLD0|G4?~lOQ$6x}y_FY6BKK0MML`|XwgKq;un&_5
z=<x<bx@ZsA@;m;>424%0ft8emG{g@@1}-l>Xca>Cq?c1Tu9Qh&bzIdg5N7yLFkBu<
z-(Q8@%h0%2@r$Zc%bXZ$$@_ShQ$77iAs6c`SB06*D!3Vc!g;SE)k3XyKO`n~&$FUs
zx8vN#l72HmO^&x=)wda|N2#;iHK^r_N05I900$w=6M$MLr9ZECD8%uc<h}Nd@XybM
zGXP1Yg*krxPR}3!sAMWdsmn7tQRu}w;mut%6JFS{er83s$2e6jHlSIQAM9)I3MGKq
zJSKkEy|L~irA$XT0?fGYHZa_22k*+%o3-8l&E*`ZvmdKm>lY(z40sd#VML~7wVNc6
zPgtuHgEw5uNGJyXNLpz~*R`-6`GB((AmcYP03a?(|0aT)qE#f0#?!+~Sx`ETsm)9F
z+j009=f_+LVq3lR+YIJybFaoeYtVfv74elwh_Z0<L%6%hjrng#jq*{AeyMgu8Z*)L
zCAYmihg<l&b_bbi@Y679@H!^HLUjc${VxL)!CYpVF6+RT=JlWqC;y=RiTSoM;E%Y(
z#_UgzFTG3Pw<Po}w1F!?TY)ZsIrRImzkt%l6X$Urg*ZK|b(19(LW<o>+!PNOQ}s^<
zi0@H@se<u%6;_~uFu~kUk823E!pwLQpxM#}k)%BIJ@#glKT@BOPu>ULg9a}@I4hK^
za3_+>s;wDq)C+6<V$!>*yhONoLbGuMuC@d8p?4`dr<IDam0-w_XM+O{p%ndk5It4`
zgm6M$=vxMqy->^YhOa3)VK?tIwnpMPZNT!RjPAFwx4QUFw!JNdWeQq(Er>Ea9D_CK
z51|v=fQ1yFL#ffr*!YCUl+LvINp(I@!;&OwZqcLclgww)K+%^Yj&O`-cJ;QURcnB!
zz;RN8Al*tAG&EVl{g#L&rknJU65){moMZo2XXgUW^!~^3-!?W@u8|bSHN&Y%7nd!T
z(H!?nlTPU}Qjs-6MEHj#h5EN7<&sN8!a<m1$w^9~v!hTeD!IgQDJwJ%|Nrx^-|yGv
zod0?DJbRu!&%UqE@3uX^=llJ<U%xJ5@!%q#-^AU1HW^0wci<{4U2L*lt5I3?HcYI|
zfYZsWe^(-7+R(c05>)ymkhA>}_IkT-QPMSa)$w@$T+FSu#^3c1WhLnm!rQF7^7fb=
zL!UaAe#!e4cgIs}&xu~XX*jcQ!VY^ho|Ce*i8_1^TaZY;mWWuktu)eVF=}}kDb3WG
zw#x6;CD%qPOZ$<_0mQL)y}bsUQjLpYuG$sOi@n*e+;?%#oS%-cHv2)bH?TyDQ((c+
z;LKJ0aMvaBd1A|val4|rv@c6JjN}?yoNCz1QI@}2hv4;SzgJKwl~QE4L{D${3_kP3
zNQEsXUeiH6ud4NCj*dZ$1&1+J%p1u+$ef-e?Zwi?GaYwMXyZb=F^-yHVQFsLKeptG
zH@<#1L$F2M-xl)6q$l$D>J06+yrh-K@bpqsaw#d1lT@!yiSujU{8YKOYGrxon=J(8
zI&Ed1LZRCM>x|0i>J4v_TCK^%$$n~_wBh8mx$`|^R^G!5qOaz04mR&@>49*)k7`Q!
z%qjf+7oP7f61Do-(b8J!RfJQf<oz=>nyHfO&sRDXmoJmPs>f{cKb}>_c=3rX$@1{#
zJe#SnyR)Zo2o;Hp@v-y>LS>Q`sqwgHM#qx8tklO+^q0}&vK8E4O9Q3&vuu-e^d0-2
z#wn|ko(CZwmaJRmVx;a}_i_37^nqN4)zNm;#tYR)j@==fk}DRCnDwlE@kBmssDFz8
zo)?h3VFe{-CnsvQE;9U6{Bm~JVU$zoE_p}QQt|f%etUQ>qh5p?%Dg`Y;-3uPy#C0<
z%*UwHom(Pz`_$FFnaYWmXzN=BJ6xnrA51@#AJAo}&w2IoV`s;wd_mYwEaJnSm{skg
zUJmRW!m8oDg;7uI!nwNz1J7sw)jHc<Y`!jRg?u)7;2v|B`_hL&EW+P-aM>c%XFPlp
z-)QBLkJ}T1H<YDBWcb8Kh=r&i=(>$DSEyMBR1DD5kIP-pcqAoDjq*vGWlXQO2{Nf6
z4ifjJYh!0`@Qx;K+S*OoA$ywFka!rq)Q+Xvwr{+kfXdfpDwHfw-=|QLk$gKX(|f!s
zgme4+*@=X^zt7|*NIqNLq}OcQF-?8!CVxbk#QAV-RMGyl^n+lh4Qtc0s*es4GpJht
zT%25jwPd!F0=>oXVR=J?FQGAh?a3zl@|=9uWWen;g0kGbdHJ+;Y<q5pb;pTR7A2o)
zkkqD{JW+4x5u1XnqZ9~O;Y!)*jNej|Wt-`0azEQYb}hMVQ!k$yagU@eL73^>B<pFk
z+i|IF4_C3;sTGgybTnqgu1b!mw);gr$Vf5vWV6zX2EB=tpLCyLKVOoRSYs<*JGt7n
zhC(A6Je1Y){2`Vc+M}5uqj;V><5;5-ou0a0{N?92vf+0Nxf+X(#Y8!21pjE!r`1n2
z?&`DRHmcqE>{3;s_V!Wkbrpd&5Er?IhzJ)<^WWclHqGJGPJc0H+2#dWHjos>E+|HC
zj$mjKx}&cI79;sh!IcM1w(@XNx{G(`I25JT<1p-D8_Eosel3Vy!KWomcqO5|ZfvP(
z_OGlPM3gK$`|D8M73mAeH_f?2=09ro@oQ6K-=6DIGGgUW81BZc4|T+rmQH=?jA9J-
zs4XGRlIACkywLgkKga<<gx~z65dx`z`X(ab=E@*-BoP3fh5(j;rjRO*&%b}ohHeR>
z1^qYM3<k{4I|;1)ZsMK;K%6!LkcR;F&taho17YKf$rf)<i~_*(O^E-j1AZId@)jW^
zoGOeFFEcn6@frYdcmyB?VO(rSew(3%51rqCvuY_U6A1wOBmh7MGSs;m1>gVwnHL<q
zX@S9qz2_})!kC3-(PFDn0MI7`02&ac-Yt<#dmp+_kkCye$(1#39RUCb5&}?#;I7u8
zM0@syp>zW;3litfw9ZompaMZrip4}4c7+{s@PhzWKuD^xXi?@0VVeZ@gs+2uHX305
z$x{U21;B>km5>7a)_qq%xO^Or1WP}05M-k90!XN+_`7ohvKZ<^pbi_qgDzkXg>%6Q
zw6zfK6Ow4IXd@z=50)GmK=?zJqWL1UYH&DMmSPBj`~D;vF4CF=zly=?hxHJAl>J}g
zh5A?E6~H-sT}TC4XUyLgO2Db$=rbNd?R8y<DlE|tXM+Q((Ce_t4fB6Qso`93j1c;x
ziQI<yyJ1&26dc1^4uP)OfmtAr2<L#KFVMfU&AWtgzDBs<AaLXW3R0#C1AWcSz(L^F
zXA=l$&<pdA^9t}P;676&NR{jRF`}BP;Sg}woB{-r>x&WEpb95|+k~K-vEmR$RIeQz
z0`84~-bwfcU_|s6!5QFnUo{A$HVE@qJr!^mc(D$8Eog^g7FsxlgTOa%&;wi>h7r2b
z=WHjAp8tmW+^bI#0LBt9bD#bMP)h>@6aWAK2mo}3i%T)Uib+Q%004z3000&M003=e
zbYWy+bYU-aXmxF3ZeeL`E^uyV<$7gMn_u{4aF<e?;M!sViWGM#R$AO4xJz+&_aAO8
z6n6>kUbIkL0~9Dw+>7nYe`ogde%zU5c=JMXbLZaYoadZ#CyDx~B8P)XjtK&Ra1`XF
zKLPiVmkS*gc&yT{&I4{3PVzdg!0XR17s6$9eG~{p15%KdQ1{F^%JumIp3B|qZZ6+A
z&{UkiH_>SdH6J^d8tRK5L>}2X^~dIdzvkY2r7DlBGa0&sjE?a`g`4(=8G3_Gy@Go>
zHU_N}n1Ga&0N2cv*zN&j23@MBv>QvdS6HlHe=I+4yC1G9Y16QQnf*xI*vqNc(`Y{F
z)Nt#*xoMxW012Q6k3_y(Aft)AAR|DR5D-VCMMsmTLEZ#mgwlX%g78C;81RFg0+A*0
zaTCSS`w;$r8|3uffQ^MEqsrGzMwm+O9r=XkQ7;;`v;a772dq3^2OU05$$wzjhD~Ji
z7j|{|r@6l4>hJHry>9N#br;1)@7X>Zmx$*sEPopw5n;)zEEkmX_g2djTJxI}h7A$F
zm+N^C!WEx*Gh}3E5F&Ka!LtoBhD37OdotXw8VLONnd+0HP|U{}yYq|T{G5+8TKdi?
zeDeW(5wiw?zY%Hrul27iM^ivr#bDb2IIY=Fv^@WR*81(-3pY~(y%~@1rXC;h>Jq+{
zUcY|7%ghf(p&MML!4pk2SI0JX2y6w(FFJXM8LqwJsWzP7>dSX$?%k+DZNa2LDUH4r
zQ#7qBuIv}2pZX}AspjhQoN3|^=+!6{(1jhyfSC`QnMUa&3LJJNh)I=a;10XN3;cmk
zRER7^Gt>(c_cqkvnbM&{tEitE!`@^`{F?|;@bPj&O2(?(pR)e;bW!4EJRxPwsuI}D
ziRy`I9K92!a$;@~fh|upGSLY)sQRed9Mgb1KVZZ4J(;QWQI7IL$aTvJAsH|6K@yxy
z^6!F3S?<TDW45q3W&~c;(@^{<a*>;<wAR?@=?9~+LW}*y^BWMzcSDlaCT(UkQ1M|Z
z1tRn12_h0i$~g&*3}s(Qe{a>GgRb+-<P@m_#EU?KQR;jqIVVtTs#YBO8!1EUHyNm6
zDQ#|{a%<BdaCJ3gHjljObP(M29_M=?Q*5ATSF&mYl|xmU`;r04Bm%=kFw@;&gF198
zZw~!yd~Qr^mZq}M;&~yR;*lbbVqY38+sMS97T1Zs+iu7Cw9~w}XNum1B=R>2p3ylu
zN&;_JE^%yg7>={HSi_JAoRVGlXcrZqgwrT)!YOXJ5pj3n{4H{U9=-yi|FZ*8b=M>4
z6IxB<F8Dk-y|-OA=*hj^JP|SQZ47Dzxm2~Nn;-!V8p0dAL_}?u34gF)TI=V&k)1kK
zTf}J_vpjsXn3#Kw&f?lng*@q6yY-Qpk)gble4PAlfz;Y5^Qf(dwtk*l)O$$!GVngX
z$RXZ}-VO*Gz3R9Um1Q6pnQjRy=Qm1*s&=BYHcHa_a$#E3Gzb=$VS+s)Dq`Rr?LDuD
zOaoo59{xJxGT-xdnc>62%Hc2a<XsV~jU+^nS)eUPDEZ(eRvz*QtvF`%?T)b792O^u
z)l-LqMB_DD43cm$ky)qORN(B$<%LaTAM~~SKXxzYon54+&tmrmVtKdMC@uTzQpEzG
zGY9n;y`k-2W82tVgU<N2_J0@jgM`J;w}0JqTVnlK=|hJJdi<yhuhIo?<0<?8Vq~vD
za8{XuYE_IxFs0RqEISaZys>J(ZdFay+nU=l-FM!N1ru72(kipif*-2TI;wsO*o-n(
z8XVW>N<D~(Pm)L`ox`Tmq-La<_p;AIl(TX%rbBx*uLG+DIF^aCC~n6KV~!-!?fS<Y
zvA@gJeL?fTIcT|PYv<S}c0^r&#)j}>na&RV+x%4-LDKDctgd@H9jPOA+62)(A)Uat
z1i`sOcZ{>lG}L}@@p^cSG2x2T7&<AM%v0=J_@_vo(hWD+CIoOrQy)?aj-$!z(tg%R
zQjM}rV@U5f*!sCz5$U9%<LbS6aG)`q8-USqr2O@^L3dLXRE`!%@zEfVO=lHM6n;`;
z;YpHW(xTz+7{q&wAhsB-cOoR*OVSXvf>zj-Ch*m!)7AB_gE=RDXN8)FMl2OEC(RvK
zO;1Qe$RvM*pJO;`%Wslm4Qla^t=0=JM{C9$4Sr_tTsq-xA9E7VrM-Pk`9l>&Aw*j;
z2O{z|n8xp8rQ{7KOn1n(Mi{V}wJ$(@y(cE8SBPI9#y|wchyCWYGODV+oc3W$#ip1H
zAwm;ri$Wr|N!iBn3xC$^x4i1wEP13)P;Gt3sD{@um0+x%#XmmLBo88cH_En7;iF~X
zJ^F~^Xx;}D|94A&Q!{7d#Wb3U4AMR7ZA4^dELqnxi_|$0cfuMou?_(hGr9R1rq6f5
zb%o3j8K?z77TO7f(iAii$2Nt2ztQMUlyty?Qib43FHpykkNBXLbWuO4d*>R~`dxFM
z>33OaDFaH><PdQid>t*(d3Q8@I9gUO`N~Z28GU}>AM;;6%a_%LYjmY>IsT~iinfi6
zX-+>L*DP1I#J|fl;VhS^tuTuwZ9=R{FZ2#}>~+4gkqe}o%7$T+*WZ@hgo}bi4tvNi
z5%_9$92G@l{vst%aI}gOY8S&o*cOLA#Ewdgv0k=J7}i(*Toc<xD>&I@!(|1Q`sc1`
zUUsx!rh<grnyu}xYMM&wrN?ffTE^N~J#AX&6#t6k89o2XSj5C2<z5;O=WUYSS@)BP
z#t@+le;q~m;%+3{XLp3;m3KAX2=iEVnx8LT8zEHi?XhXMdx+f`4-jw1h;5i%>;DmD
z{$-1mP)nusDxXoN1+rw^g5V%!tWOf9_Lax=jxmndMBw|dFi0`zf{;`ZgEb=5Q)M-^
zbE8tMd$E`7RRr!HDCGek)+EZ8JW%%<s*4bhv|0kwsJG(hB6-@rVyJ$U+#9f_Y8_;u
zuDrHvvZc1oO%QuJU`nEXq;$oA6Nq}~Ayq$Wzuz@_K;x;7j~PF9-3|7vc7@6?kwjJr
zslIz!MB$`JKWQ_^csjYM316QZ^Pxhh@Px2u89nwMd+WR2xlH4{LHMXq8z#nAjdRip
zrtQ`v<okj0y}nA~i`WthSJPHK2FiFy^Nq4T{>k0=@Pt@Ph&TgYAOi?R-z|h}zqQ2p
zOutxT40Pg!?48cZdZ)Atp|7DZm|=VV#N$(e*0Vx|Sl;#KSgO9oUp6c4<^UZjBh*&(
z0L_WXRW#m?&^}V8d))I;tl2GO?jeS(>(G$2I(<ORAW7_)qP|vL|JkV7xIvW|(HS8b
z8$z-;Lus9!e|se%e0CU8T9X?g)_uolqOcwSuDqlILG;=DltR0op{@``6zw_wUt8lw
zSLJ7!&72`z!_3(o<R}`#`nXl7GocqxIuXlj2mV~lF*{A*=#gw%rT6XWWqQAF^Lg~}
zpiikJv0SIl_5~4Lz9qFiua%yB9x?@vTc;QY#@QtkS3wK7Zoy|*dZLvV6*CG{ZLg5}
z!53LPG4%AwT9?`fM+8H?3BG++9SM#Jk#|0>4czoG>Vt3`+f}I0{lC{<Lze5rLq55d
zVLLxpIsJDPPM=DGP{fGjCRBUw^MkpvCRUA8@szU!ZI=@&u_%8TerG5m(VkE@a?=Uv
zukvP(^Fn*h(LwILY;0`QjhzKh9m)6aFA&_F;2zxF-QDdHTrYZYf_sA7;u<VKaCdii
zPjCwo?Bb98@2`Guck8`+ucxNEx~tA-PM<zKQ#JFQYWXWd3p$&@Ge$|DNpRQPnoUp0
zH_J#Vhpk)h>6<4p&M5bEpW@#}<WRp98rRcx9b!<K!So?5PPrbp!aP7F6js6?Eh`<r
zfO$7VM0{ZUg4Z4jBMWmJlnyLOf;b|y3wUi~bEPcCnlfGoilsHMQitM99$e9~pNy05
z;2&;dTy@+&d~Z+s1t(hH8ZexJXNu7Y=so)Wm0MJT`j(}p`#NxW!uR#((_TT0_Os#E
z)iZ1X)^@NFdtD-vJYS(`N2I-TPI>WtacN!<jjThEF{^>tixrXl`6Ak<R#DjJxwhjr
zGEDJ042<+-)tieZqVrrbWNrRVxkgPgcW<;Y0!AMuhhM0IT;*dghL+_FkdqML{hdXz
z`04%TgB56Jv+;IIMtym5M5y3`O}B>IQy*ogqLN;{-{Js{b!tAsd_L)ba;nXRTKR*5
z8o4okZN^-)WSfM1&$gUP(<?*1gG&r?nL7FD0S_mUXE3dlIdoBD7ZBg0pu+)9^)$$N
zm!W;tLO@3)^J2UkPZ)pxMU#rz0E3-9>H%gXN?&5hRm7ez-92QwA@az*ZzaSfnRxx4
zjT>hWSXExc;5+<*LcWo<db4P=RNULOaa8+yzFIcMQs$PvZybPf+*2X*b|2|p{ID9C
zyW~8AMQ256xrmnAt3n~ZU^{~&6PQd;OqWd~bfCtdxr^sy=tp{5B2##Ktg5+Dnc?et
z%uE!k2*l?PLFK+%A5Sm&HW^^bKYP9`L!+EBLaAWsIo!k7A`4+ydu$xzI=>K~3Qdhc
zi)}O+OES_c-&<q5C2M|;pG(i-og5RdTXGD8xANP?>@I95Q+CY*uHV4Qc<!kfEUt?t
z_gU4-1jZF$5z1EX5cuRyR$$@p7)<MR;RmD%em!jg@n6TjZE<gMnRd)+I;8Ah^-WY`
zDF2Y2tIg9qtSDo4G#x2mGL73fWxe1$l+UpL=x2ff9nPn@k>>4h+oQ?p(X&2@=)f#+
zTGgpZT*Ify>X%ApDyjxUttA6L@bR1)&FuEx?uU-!N{L|?Cu=X9L|jNoT_+8lEIRJa
zaf<@G1dK*nsbN+LPK>{1{kEqs+QcV5H<^*DKzyVTHrZx+SdN3?Y@?!wPp1v}5}06B
zYp!}XTFn!i68dCSPM_pQ-!1eIn*#8Za7Wd*=_!xF!5h&g;CG=>8^S|w6p6sEWjPO~
zF7B|_b@-X`klb$}BxK2hz<oMAx||yVDH|<hM^fLRq-1huQj$Y+5^JgFVP2(DKe~#=
zz2Q%yluk{SW#*BwVfal12M=drw0@6y5JvNmCjS<E+pXc2=r68cN1-3Ju46HQhf7U^
zs?xS9W5uWha|i07tr@oBr=5{0ssbe%N9v9A>H-zaB-sd^Q)DVTrjpW2&(Ce&<AwAx
z%yX`P2RIV?l<qig)whLBl0q^`<veM6gtstxD-}#}ET%V;r+maKE@auYYZ|P3bCxc!
zNM(`vmJ|7uW9y2HU_P3<IAa@wgOoBb+!kl&c^vlZOYIGNQCV2Oaku?g#PF<JF;5WH
zf;9Z-(8HkNE1D7GGrM>Sbum~bzW!8lQc(bMDHb)7E`NCFDn1i4P)bmN`qg&r;&9Gl
z<3@Y3nDn9NyGh0a1};%)k#Wca^<3OYC7SL$LR(qRE5^pjS2bPlc25NY@u!VLpcMd=
zx)1iq?c97RrI=8)T0g`vz*#S3a|uoLzr`J|P$4|!bErU)nGwxWyy@bmReC(cYejSL
zRiU3wgr0n7#*ik42gLxIy4f*KD)GqisVA#iwv8-aqJq2wE#cABy8NgaT31gbF)Y1%
zhfwvqCfv)vF=B$h&;r$*kt1KGBYYSqN^T`*5L?v(HAD)RAlsQ!7rqHcMOZFX+da+3
z9Th1vCZ}6?ZB>+vt5~%BKG7zZBuFfyQ|zJ$&rXU;0=rFtpta1O$w5ut>$KN6`2Dy5
zn9z0c*niH%Ut2=N;mXk8oBw5vaUg&vk-dTdk6Eu(zc(E&yfV`N^o1!)<IYLfOBICh
zaj5G-vd8Jxr2pYLkb>JiK2j*wa>krJu6djPE+#ONLfii>jo-@_$wk=mY$wOl-BC~K
zktI}T&9*)TOWJUXmIZw*7GWm8ht*u^n{#Bz8|^xY!FXw?JL@5;#W=4-;=5uu7{HGB
zDcOx4&AnJ+-YTY@<o^!lDOU-yPW|<}x>H(MQkLH%*|#tKJFJu%I3UT*Imchc^0w8#
z3@z;GIo)u3e$i)cvgzhH>EIDKZJ(<0Vp0@uQ*<1C(q17v*+BlX8>L=LVHNp6pOoo+
zc^Mw8Xx(be^XcrT^=Z>1_7UZwLQXrQ5{dM;*VSz0bF#T#*y;{A!myiod^1^_CXGXP
zD|=j<sH8m<utAEOTr0QKLIV>Ys@D+gHwWm&n!t1>1ZJwnC2Db%AD_}QX69e@R1@Ta
zGx<a6ZSVWMqB=q>uKgPLY8(dbQ9ow(+GrhSy3_X#dv(oB$YEVA)_JC~6oLM*ymerg
z(dv!Fh>G67W~4mt$71tUY>CZLs^kVX?)K5mqcZI)3N#*BadQUn+gH75stgWJFLv)^
z)-IE8NbZfcc5C(S!8MFr&p`0Lo{=)wkE)U0k}YFt7s|(Bf;F2!`l@+H)L^2%9B(v9
z_wW6|LW|{*FY)`r6<xTUhK#j&dwyxmbq8YDT~!`QmExovp1};xwc=$5=jOiMH8(yG
zAH<^*bLm*Zt%&6g*Fya+D}E^qN-H%tE%Dn?6@hOT`p{xz5k-Qd9Ge&y8J~}B<A=Gu
zF)w{KtIyJAzxo7y`}qa8qQiFRocd&SS=raxY2#{G{dDn#rR_^m{-;T|WKZSXR@wU}
z^yH%OSDGJlGH`}`Q-!d8pN9-03v(NK)ZpS7%}RLAib>>L$o=Vs;!t0Tn%h-pSK|i5
z^7<yHV9(SxQ_>SFMDJWJr<ojz##YHRki{*4G40&$<+~$1bqbn3Uc;?#{|H(kRqdt9
z*>Jn;V2(BO)O{v8$F1N#`ohzQcn5LQ8BRsVVR+YRQ^iftrff-o*wVkQ-Klv><v%}$
zbwQkZ(o-(Ad<a+mz!M0s-rQ%2XtcFW*d>jGUECm^U7kBH(@xw@$o2k<TW!yvp}kiN
z24j_CBN|vZUWD=jZpfbhc076yoywa@kLtI{LXBRB9p8q&|93)(_$h@jyb=lIeX?*l
zkgDmoMYyYw(Wrh8obj|O+O_yY#?;=02v4_(u7({8%UArQ!&^io`j<F(m=3I-%Nx^>
zggCWi%7EY%Nj&DhaQcZNb-LZ!RWC>T{YN#r!VF^8V18R)JPJqChlmy-!|hcbD#hAK
zn({Mb{hFOv7SPHyCmSyco_*nqz_=(ul!;#X$%+Q#iF;|BF5bSMK7m0;>3mBEL%fXa
zg{|f&nUvp#w@@gn;04R*clL(oFjL)6hqhv>9nm3ZhjoQ`Hz2}OyN-nJ6NZ<x#QK{1
zYYMuKjripVyP4U;SjL$57?IHow}L@h(CJ<VF$|{99!5J3<3`VxB1bVRa%D+Jx!W%c
ztT9uHg&kr}TD@q~u;+WR&PG<)-yX}}*{A(TP$H`{)X_y9mGGjyGZQ+3;^S>Y_rUeq
zG{?vOjmW`^JQDy9+1GE07|xDDk1$8%;kVeH_(tAG4ODuopr)s$S8-BM>#kUQ^{8sh
zhgM?UAy&y=<ay6qLuquuf{`I=an<Cl=wjWjG4+v8&R+;I6<0~>-Z3eq@0C-fL>U;o
zPZv$c+m)<)@0B2*(C(&Pw{MXQpOTS;m0WI|i35?@ad3bD(`A~H?q0upp@QA2q!dsb
zx2&xpO3_Pg?dMt6@G9p`m+KazQtIgw^1p{y+b<D)&+}2kPJr0!{+g$l8R(|D<`2eF
z@U8X5+ehsT3rxxxD+{JVYnZ)4Vff#HLka%D8L^Ek=mGqK=dGF_Zh9JcW=a*-RXNRD
zDVAdv9of7~W~&j7`{H(~SnBl+6N-Wj)YxodXgWqB`uqk>dOR#f=jUU>=<;&vcZ!L7
z<1c1zD5pz+G}sL6vW*BSJGki@4c!HLuz~^FH)z#c$|!JIiJ_o@!zY8rMuHK&d;fR^
z|EaTHE61-^mtrK(2LkA<$Ik&g-&;eT@834qqY~Wow;r_8Vx16Oafr6N$jq~P=^VJ@
zI1qkN-P7gXQdf4veyz*1G%SB;7ft^{9}V>^Rgz}QXiV=i!Jj%;Z>;|HD!=@FofyZC
z@$F<?Ge4Oo?z8^m`e#jZDyKebr71XXT@Mt^q&bJjVY<^lJlClQMIiy7OrMoeVS^(@
zXuRL&R^4j9BByF1nmW1_((OFFkak84e_=SIvv!9l_K8$L+J*uGTED^9UGFMz3v3K9
zaS{==75zcBcowa{23K=~OOK_>0C~prRh%h5^emOV8W0=&^mEP6M(|aoJ{iFeUZk@9
zvVH5k$5B_6-KF|d(!;^#{EIH#iAGod53NqJhT}Qi0`v5MR|)sulU<{;JiivTXYFdR
z6;+FfN2K-Zv8D=v7Fx%lt^o&6wXk=lMH9&6AU}kxd0zkZsQ}*HUvZY#o*zC-x>GMj
z25g%gj~o<YbWJ=8FZkkiMlkC^3mG4J^<T-UoNh60?a=fx<w!I*=VI@Df~QssJ`_zo
z_F#lBM!l*W5*U%`t7{wlLZ3k7++bWB6?xvC&Z02rXDIZmbF4XMZlDcJ%F8zT!O!m}
zLH0Otx#x_#`*&*%3|ra}CkV+2{<ItK^xI}jV`c5@<*c5VaXO2O?s3^?vaM_Q+7l;*
zX1bQ&tOw&!zF(HZ7M9i2)CgMD2!^#kJ$+)Kp~GoKS$h?h?yO02<T_fejcOGUe00?O
zs!_$?IauoZym$bzpI%*6QgeiON>M0SS$Ods@9pgs1k?`AaDZwSQqt2TMLELjzPLF!
zIMhr`c&wn#ySCvLTA5&Y*3Y7Fb4tocNSJwF$pj06^GdAOzb}=OMQlNiO(wytOFL9-
zqndpF1`c3P=QVE+Q&V5^V|QCi8V&@eeRMQrWJ8e0R~A;**Oq32mG-k3ZeHHIgF~BY
zx(&9BfWA9?7Z*b!Zw?q{m*^2a!nQ!hxd96~T4cdTlNwi^&^T5h#xGC5A6DJ+SH;=}
zqVP(!y`=iN*l^?ac9+f^?da+0e;Js+OEK!H{{6dYm;%eBhxKr84|Z=a?FO_)C4YTr
znplL3`z$VJh}j4`$8@FbW5Z!5y0qvlrc(Lv)ug(<l9@4uwLi|n=p%d@!gWJ4!NSy(
zYEDpKSc>-OaHK&RQXDywzM9-{VkLM4BDro!4BK_|qNKiiahtodlV3YUBO366l9i>E
zo}J0*{p2aFpunIK!s_TWHEG=yjUsS^<FEhYa9NMFY<_M2M-7QQT{7vr^S*6jNJ8&8
zEa>t_Hyjbs<4Kbff|nUOhQy$i=X<!|%^Xq;TD;V&zDn>Hk)g&RxP<6XfY<N=^(Y%R
zYn%d55{B+QvxtCl@$BM}Rlt}Imwn}0esOE@{$lP?@0{S4R5;n;+S#v6-n%&>A~Qks
z>?zf|pU|WM_#r;NG!l=>S+u-W?H^6U2Mn+VMxZ^L746M@1TrKz{FASz_Vx}<8OT6P
zSg~r2?5RyoG+|}C(9r#xoqmrTR*~~cvO3zhQ@Y6~n;RpDxrvFcHK~hLPd|};mc^dQ
z00=xCw4l7t7g@azKEc`9Bzaj>nwt0Wyb?YNNL=jwr-|Jl0CBjnpwz>e;ywWHa5%DL
zGyAZVLQK1lSA}wUFuXc(e8fKu6XL1KS-u-7C<w+JeOF05q98{OaJs=QdeM?0SXT^D
zq#<r;vlo|>x~@!r^=Hw!vYd^*I+T530h4Ia@vy;I57ATRD`h|XuLOUQ<Qy0{3r#Mh
zD#@S1tRnRy#R7^ERxd?_e#kl$k?(X_)35}plPdpQzC>CMI_O)e?m(>GXewLxHu5!z
zb*rE|>P!WwA*-n@%@7?Ci}Q}}YvVJy$Modnbl159XnD-&5o}d9V$>RE)7HaE*wP8G
z+H)qj{Xo-!A=KFvqb?0J^6cJ#o-!-bXp~kT*PRTubykTKXBoKGmMeE*w6veCiAbgS
z3XwMO@#o8YwkpcKL>;+weF^>OUYsJBTOpsqF|GryymR@EZH-QL12M(z?CidRek$so
z1x-v$K=B1i5Dob=GE0*w9_%)et47A)s#@8A>^S^<nu$IGl`R(-0LDz}6Y$jp#^Ec_
z)Cz3j?KnOrYg&w#RLHf_tFl0#Qg;1Odb&xTB9zF+`Ve<;b0e&#=rop;p96^cU2@rx
zVi96~bZ8VJbBM&nAmZz|U*$Wq;+8|$75&dE!Rmp-XIlQy-D%4Zuelx@$~>UqWH{Zi
zkP3>fA1iIWA&_7LYShCGq3a3RMq8d_nV|ceiULV&GAN(#b6r3L_Zt5F6p7LKR3a|F
z&+C&Z6d`M}I{O6V{)pXm8V3XWy|grwkwVWjZp1C3_gWN_G1QhJLT;bk?yYmLN2-H+
z)wDdk)=aG^u`JKd!|H}(M@WT4xmD?iKh0%dfB)GyX^UdEw3WszBTpeqbx;r#GSOQ1
zFhZ;3nn==y8FTNz=Dc%*c-tJk(e~}->JxlaCwB1n?~b6Rf&#Pb^K4`uQc_{H_|Ko&
z9UhAs8u&aqXm_$_w5BH5urk=sMzZcG0!aW!uHNpj<Q$2`h=&nb#H(Y2YpbhfcMXqF
z`ph6lTK+4XO+&&G8B#>jgPcZ6BerYPk9X^X-a|u8+=jO+SC@7{ieltgY4Th49~$Z_
zqU}ZC)QZTLAoX0^#HOslk0(@Lg{xD8h!PZH0m0#L)3*&eb8f?t2!Vk2Fxv~Rs}b&v
z#{xIOA7$Yohr>9`Bw~Kv`b|4ND~)@lwls|{9IDiCR&8q2s|tfF-tx}t9>Y+FEaY+)
zkKIgPX_aG%E*%_#m-+Z;KXzg$$X{lWpq;9JkS=_F7c{N^u@m`%<xxg&b$GF;HS=J^
z+LnAoC*I&WU>G?G(gk^XDDgoeMMi;xdFK^Lh4ikgxldLW?iitZygRVg3H$dCRvrNX
zq@Vj}aEs5rPI08sh6wSPbju41DS;;}xAz0m#5j7HHX@|cC;;iK)uoDx3UWN%$l_x-
z+x?<Fo;wLMvw6$oG&(xE-%9j>S<s>878dVFKlV$eeY+o)kp&9llq&lP^YS>RE)y}h
zS*Tf@W#rntBy`bWwe*62+`9#fn#S|VvBy+;mh~i_YzXe2#e`NeYXT1N>+JdIs=QoO
z6(~G++O9~tz4f7dKeO$`G9)YJ!DK`xVLQ!5B}YcewQZvGz4}`g0-S}IsYH#t;|~+3
z-{U+4Ud{#Thzdb!ZI^-pR!9(01gW9^PmBS+{{Cn|V$e_m*jU(I*R`goh~#0?($d}G
zuvty<4j>TL-g^=M2OJcF-tI<Dz5dMjhkFl5MeYM)fSDO|^+Y^$D*g%`>mOWPU!j@Q
zlnn)I=MDyOeyD$5*5#-hv5GsN4ncqmBmSP>5q0{rW=0*#hKZ0exOAtLZC+N9`r!DU
zscTf<+OA^rtfzZ=y2rG-;&4JwSa4{%J8C1}csybkN(T0<^62F`F!X@M*w?Uc4BHF~
zYw0ZJsh&u;tDnGFI`Hv2aEfMx^?NuT&NTa1x@*Q)@|;g`1n;100hQ3=5fmjASw@Li
zn#3wq2)M?CnJUh1T(m#n5%SQ<L;z2K#(S^_Pkp&!eYKaV?_yzPaXT^QXJAPTs-C8;
zEq%YRal;{Y_XjadsIJ6>1k;~C;$f-F`>L(30MnCBVp#w?cyg%W{iEld;blF9HG+#f
zwHxm4JPK{15_xXPJ}+-Lsk}0*@RA^@>4k+G#~yKlG^Mt_q?4_#fT;U>L@_laG?`GI
z=13vvG}JU#OWg}is8uX&qj9$r#)ppvgup~0<>Lsal$7Nfqi#-Ct#p=nilV$j`1xU5
z!Pu?&Q6ypLI0L*$S~48m5^L)O>~P85_rXD1A8EdY!NNvrA==EqZrg==*gHs_o}P9a
zhcno<76e%ZqVQ+G>Hx;KG}G)nJn%&1%(&tQ?2!?@ey6Z#!L+6Y0d~gzU={wr8wLbw
zQBY8bQ7R|O!dVb6Uz>%{<X9DXU?AbKSNAF}1O`-<uc2*1X98A9(WENz^R?BwF>r7~
z0T+VGIm$@c-G%z)Fvxo0#FF|2Ap^Ez9ClF(N_Jug060n6NZVT8^hXU+CnqP!gkSbn
zhaiT5i#Tf!`bFrkux&*$Ch~4=9W<qVq=gk`7i=u7M4fY}RpdZYRhr)g8Re6G$vFq2
zX-T{9vjXe6PJ6mM*RAVOh&P&+s@-Ot>n(D0hc}i4+XVm)(oJq(%+;2mTg4VVH<Q{*
zX-zf*<*CsDVMs*WlQs?Q6`;AXvGOBRPwR+NCavFwJAOcy**K%6nd_87U?4!b;Z@*u
zU9Ux1chjP)XDk}O<cNLg=bG!~B1e)~Np*JB=`Z9y=w`?)gPcwC#~?Rk8-#dhsK#{_
zzJ~~6ou(b=@w%+>1i<GT%3{`PZQUK{hxzB~zLq=HIp}nNFnyLdlyE_A@@FJ>)#mDO
zaI~QbdOSTjO+w<^*T(E}h-iW7Q=Hc9`K#ztWx*?F=?C{*sL!awNY2#>7r%X`O#H|p
z@*$;lbzn>@Mb~G~qwTeg^#kU~G?_x3tK|uA;h`San9n(Pn6OOed$Aj9m|`NlLm@(%
zy&7)y1u9#deL>V3WypQei98D%&`|9UqrqkRMMTBw`DNpym{~#GAwry-eH{~wweWBm
zfe~5yX2c7tBAD?5yaJbEWQz+fey`V7Uq$eS@p7`meclJ2$;ir{pBK&OS#%<6FeK(F
z5WsN>;{1>q%YYHvdd<$P+k?H`yfQXR)3LToRZmP(L<;PSXu`}}7F&a|LnW5;(ijNl
z6v5}D^+DR9MUf1<ofNvn4p-FJdWTF9gYbj44#rzt+a}FzoHI^_OXJ9aQVgJ|Kmr>^
z7PGDa@x`G}%P-|k*sxN%rBF$_#YB$aaCB@Z36C9X?`di<+Sj|;)a41I;bBz1^#!R}
zSgXsWH@6P<i?oEY+R8kC;RXl#1oClk$bIlBtLGwMHe9}ru34!1I$I`8bNh7h0^cYV
zyCdtbf*2%4`{@TUyH3D<eudBsWR*IV=O&~UL)$t08RcFCFfkpGGu}z^hZ7A=YV8_I
zf+E)_*Dul!rD|>YOJjlP{b-Co&MiBT?LvE$ihoN15@AsM$gl^)R@;N;+Oh7;aJ#R%
zXjiBQ?<?x=#b8yq0Tuw_z{6NC+adsbde=$z%2|7TL4#H3Ar>UE)#meSrlR<iSAGSo
z*Mz`W1o;nHaT)1WgIPXE0MtLFXL&^J5BqPDvmqz|fcmWl+d8;|Y#r@cKe}3iz^rB<
zCv$rXTT^RSQwJ6=2N27jy(!a*Dt&Aifj`Uj>V{P4B@h-W`wOtJHu9VUDbi_mo+7PK
zD4K?V7jk3aMZYeqrZ!JSf_2aPw>9dkXL0F1E8782ncC+c%LUaE*&7cvsgXGmOE)~O
zlt{rXR2@XpDRMZ-ev>;L?6cQ6YHoz|sY&MBfh|leoK!q89v0urj~6e_;g~XyYZ}O3
zMmjitKXuz;nW=HR%B}=2(y9&Oab{e-y}~L!_Wp{j?sBcUE$)^SjETS5{zY=8Vo`BI
z8fW}tXLNe3h_Yz)IWy4sg>`_UVOKRd6FjQ>J5c$YGMmoo@^wvBO%Vzj0QgI!=l&+r
z1HY4zuzrhD_ggQ~TcrLhZ_WRd|4R1Eom?%|T%DXPUEORg!GFf=-yoNQcF^FPne3Z2
z$$!lM0_D9`{{=aC{=ZQ%KT{mj-Vn2I=bL`;f68B|{5LQEuPA9RH%mvbt&`)w-TPCF
z$lYD0fME#$I7`C--v5K?2lKc5_;+Ufdz8L7L9=ae001S|Uz)~0Nq@Q4Z}T?{*v-_<
z(hB6{`EOUiZ?2rUMDMV_8Ku8n82cZt)HwkFhLTQ>Z{u+LsO9Z!2?qWf@aI^nk_56T
z-T?7$0OWrFa9sd^zf$~vQu^=Sd%YQo^9Gy7e}M;_rNaMrj{dU$==!(7f<a2QX0E2L
z-V&}(o?uH?7FTER-%<Z3ap!;Bc&iv*;Q#j={X^>cZ^pk@>7R_hf>}h3@c*@D)f8dh
UCIbLKdOIfHa$|x9;jQ(*05So(2LJ#7

literal 0
HcmV?d00001

diff --git a/toolbox/.setupForMatlabDebug.m.in b/toolbox/matlab/setupForMatlabDebug.m.in
similarity index 100%
rename from toolbox/.setupForMatlabDebug.m.in
rename to toolbox/matlab/setupForMatlabDebug.m.in
diff --git a/toolbox/matlab/slblocks.m b/toolbox/matlab/slblocks.m
new file mode 100644
index 000000000..7c348193b
--- /dev/null
+++ b/toolbox/matlab/slblocks.m
@@ -0,0 +1,8 @@
+function blkStruct = slblocks
+
+% Name of the .mdl file
+Browser.Library   = 'WBToolboxLibrary';
+Browser.Name      = 'Whole Body Toolbox';
+Browser.IsFlat    =  0;
+
+blkStruct.Browser =  Browser;
diff --git a/toolbox/.startup_wbitoolbox.m.in b/toolbox/matlab/startup_wbitoolbox.m.in
similarity index 100%
rename from toolbox/.startup_wbitoolbox.m.in
rename to toolbox/matlab/startup_wbitoolbox.m.in
diff --git a/toolbox/slblocks.m b/toolbox/slblocks.m
deleted file mode 100644
index 89a28e382..000000000
--- a/toolbox/slblocks.m
+++ /dev/null
@@ -1,54 +0,0 @@
-function blkStruct = slblocks
-
-%  Copyright (C) 2013 Robotics, Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
-%  Author: Jorhabib Eljaik Gomez
-%  email: jorhabib.eljaik@iit.it
-%  The development of this software was supported by the FP7 EU project
-%  CoDyCo (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics (b))
-%  http://www.codyco.eu
-%  Permission is granted to copy, distribute, and/or modify this program
-%  under the terms of the GNU General Public License, version 2 or any
-%  later version published by the Free Software Foundation.
-%  
-%  This program is distributed in the hope that it will be useful, but
-%  WITHOUT ANY WARRANTY; without even the implied warranty of
-%  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-%  Public License for more details
-%  Copyright (C) 2013 Robotics, Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
-%  Author: Jorhabib Eljaik Gomez
-%  email: jorhabib.eljaik@iit.it
-%  
-%  The development of this software was supported by the FP7 EU project
-%  CoDyCo (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics (b))
-%  http://www.codyco.eu
-%  
-%  Permission is granted to copy, distribute, and/or modify this program
-%  under the terms of the GNU General Public License, version 2 or any
-%  later version published by the Free Software Foundation.
-%  This program is distributed in the hope that it will be useful, but
-%  WITHOUT ANY WARRANTY; without even the implied warranty of
-%  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-%  Public License for more details
-
-Browser.Library   = 'WBToolboxLibrary';     %Name of the .mdl file
-Browser.Name      = 'Whole Body Toolbox';    
-Browser.IsFlat    =  0;
-
-if (~verLessThan('matlab', '8.4'))  % R2014b
-  % Add repository information if not yet done
-  % ???: is this part really needed?
-  try
-    load_system(Browser.Library);
-    if (strcmp(get_param(Browser.Library, 'EnableLBRepository'), 'off'))
-      set_param(Browser.Library, 'Lock', 'off');
-      set_param(Browser.Library, 'EnableLBRepository', 'on');
-      set_param(Browser.Library, 'Lock', 'on');
-      save_system(Browser.Library);
-    end;
-    close_system(Browser.Library);
-  catch ex;
-  end
-end;
-
-
-blkStruct.Browser =  Browser;

From 9daf9de46ccddf9f5eccba0b42df85b470bc3481 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 1 Dec 2017 07:57:05 +0000
Subject: [PATCH 75/89] Explicitly set the velocity representation in iDynTree

---
 toolbox/src/base/RobotInterface.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index 9755e4d7a..30662d2e4 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -410,6 +410,9 @@ bool RobotInterface::initializeModel()
     m_kinDynComp = std::make_shared<iDynTree::KinDynComputations>();
     if (!m_kinDynComp) return false;
 
+    // Explicitly set the velocity representation
+    m_kinDynComp->setFrameVelocityRepresentation(iDynTree::MIXED_REPRESENTATION);
+
     // Use RF to load the urdf file
     // ----------------------------
 

From e6b13476cdacd487d888277aead6bc3813bc32b9 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 6 Dec 2017 12:05:34 +0000
Subject: [PATCH 76/89] Fixed the generalized torques conversion of
 InverseDynamics block

---
 toolbox/src/InverseDynamics.cpp | 19 ++++++++++++++++---
 1 file changed, 16 insertions(+), 3 deletions(-)

diff --git a/toolbox/src/InverseDynamics.cpp b/toolbox/src/InverseDynamics.cpp
index 49b3e8386..d5d0ab1fa 100644
--- a/toolbox/src/InverseDynamics.cpp
+++ b/toolbox/src/InverseDynamics.cpp
@@ -7,6 +7,8 @@
 #include <memory>
 #include <iDynTree/Model/FreeFloatingState.h>
 #include <iDynTree/KinDynComputations.h>
+#include <iDynTree/Core/EigenHelpers.h>
+#include <Eigen/Core>
 
 using namespace wbt;
 
@@ -188,9 +190,20 @@ bool InverseDynamics::output(const BlockInformation* blockInfo)
                            iDynTree::LinkNetExternalWrenches(model->getNrOfLinks()),
                            *m_torques);
 
-    // Forward the output to Simulink
+    // Get the output signal
     Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_TORQUES);
-    output.setBuffer(m_torques->jointTorques().data(),
-                     blockInfo->getOutputPortWidth(OUTPUT_IDX_TORQUES));
+    double* outputBuffer = output.getBuffer<double>();
+    if (!outputBuffer) {
+        Log::getSingleton().error("Failed to get output buffer.");
+        return false;
+    }
+
+    // Convert generalized torques and forward the directly to Simulink
+    // mapping the memory through Eigen::Map
+    const auto& torquesSize = m_torques->jointTorques().size();
+    Eigen::Map<Eigen::VectorXd> generalizedOutputTrqs(outputBuffer, torquesSize + 6);
+    generalizedOutputTrqs.segment(0, 6) = toEigen(m_torques->baseWrench());
+    generalizedOutputTrqs.segment(6, torquesSize) = toEigen(m_torques->jointTorques());
+
     return true;
 }

From 41b2ec64fd043c9b6eae2b48a7b3176dbea031bc Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 6 Dec 2017 15:46:13 +0000
Subject: [PATCH 77/89] Updated README.md

---
 README.md | 132 +++++++++++++++++++++++++++++++-----------------------
 1 file changed, 76 insertions(+), 56 deletions(-)

diff --git a/README.md b/README.md
index 34b2187de..4478dee41 100644
--- a/README.md
+++ b/README.md
@@ -1,67 +1,76 @@
 ![](http://drive.google.com/uc?export=view&id=0B6zDGh11iY6oc0gtM0lMdDNweWM)
-Whole Body Toolbox - A Simulink Toolbox for Whole Body Control
--------------------------------------------------------------
+# Whole Body Toolbox
+<h3 style="text-align: center">A Simulink Toolbox for Whole Body Control</h3>
 
 [![GitPitch](https://gitpitch.com/assets/badge.svg)](https://gitpitch.com/robotology/WB-Toolbox?grs=github)
 
-### This toolbox is intended as a replacement (a 2.0 version) of the  [WBI-Toolbox](https://github.com/robotology-playground/WBI-Toolbox). If you are interested, see [the migration guide from WBI-Toolbox 1.0](doc/Migration.md). 
-
 ### Main Goal
-> The library should allow non-programming experts or those researchers just getting acquainted with Whole Body Control to more easily deploy controllers either on simulation or a real YARP-based robotic platform, as well as to analyze their performance and take advantage of the innumerable MATLAB and Simulink toolboxes. We like to call it "rapid controller prototyping" after which a proper YARP module should be made for hard real time performance and final deployment.
+
+> The library should allow non-programming experts or those researchers just getting acquainted with Whole Body Control to more easily deploy controllers either on simulation or real YARP-based robotic platforms, and to analyze their performance taking advantage of the innumerable MATLAB and Simulink toolboxes. We like to call it "rapid controller prototyping" after which a proper YARP module should be made for hard real time performance and final deployment.
 
 The following video shows CoDyCo's latest results on iCub in which the top level controller has been implemented with the [WB-Toolbox](https://github.com/robotology/WB-Toolbox) running at a 10ms rate!
 
 <p align="center">
 <a href="https://youtu.be/UXU3KSa201o
-" target="_blank"><img src="http://img.youtube.com/vi/VrPBSSQEr3A/0.jpg" 
+" target="_blank"><img src="http://img.youtube.com/vi/VrPBSSQEr3A/0.jpg"
 alt="iCub balancing on one foot via external force control and interacting with humans" width="480" height="360" border="10" /></a>
 </p>
 
-
 - [Installation](https://github.com/robotology/WB-Toolbox#Installation)
 - [Troubleshooting](https://github.com/robotology/WB-Toolbox#Troubleshooting)
-- [Using the Toolbox](https://github.com/robotology/WB-Toolbox#Using the Toolbox)
+- [Using the Toolbox](https://github.com/robotology/WB-Toolbox#using-the-toolbox)
+- [Migrating from WBI-Toolbox](https://github.com/robotology/WB-Toolbox#migrating-from-wbi-toolbox)
+- [Migrating from WB-Toolbox 2.0](https://github.com/robotology/WB-Toolbox#migrating-from-wbi-toolbox-2.0)
 - [Modifying the Toolbox](https://github.com/robotology/WB-Toolbox#modifyng-the-toolbox)
 - [Citing this work](https://github.com/robotology/WB-Toolbox#citing-this-work)
 
-### Installation
+## Installation
 
-#### Requirements
-* Matlab V. 7.1+ and Simulink (Tested with Matlab R2015b, R2014a/b, R2013a/b, R2012a/b)
-* YARP (https://github.com/robotology/yarp) **-IMPORTANT-** Please compile as shared library. Currently a default yarp configuration option.
-* (Optional. Needed for some blocks) iCub (https://github.com/robotology/icub-main)
-* yarpWholeBodyInterface (https://github.com/robotology/yarp-wholebodyinterface)
+### Requirements
+* Matlab V. 7.1+ and Simulink (Tested with Matlab `R2015b`, `R2014a/b`, `R2013a/b`, `R2012a/b`)
+* [`YARP`](https://github.com/robotology/yarp) (Compiled as **shared library**. Currently a default yarp configuration option)
+* [`iDynTree`](https://github.com/robotology/idyntree)
+* Supported Operating Systems: **Linux**, **macOS**,  **Windows**
 
 **Note:** You can install the dependencies either manually or by using the [codyco-superbuild](https://github.com/robotology/codyco-superbuild).
 
-###### Optional
+### Optional requirements
+* [`iCub`](https://github.com/robotology/icub-main) (needed for some blocks) 
 * Gazebo Simulator (http://gazebosim.org/)
 * gazebo_yarp_plugins (https://github.com/robotology/gazebo_yarp_plugins).
 
-**Operating Systems supported: macOS, Linux, Windows.**
-
 **Note: The following instructions are for *NIX systems, but it works similarly on the other operating systems.**
 
-#### Compiling the C++ Code (Mex File)
+### Compiling the C++ Code (Mex File)
+
+**Prerequisite: Check the [Matlab configuration](https://github.com/robotology/WB-Toolbox#matlab-configuration) section.**
 
-**Prerequisite: Check the Matlab configuration.** Before going ahead with the compilation of the library, make sure that you have MATLAB and Simulink properly installed and running. Then, check that the MEX compiler for MATLAB is setup and working. For this you can try compiling some of the MATLAB C code examples as described in [http://www.mathworks.com/help/matlab/ref/mex.html#btz1tb5-12]. **If you installed Matlab in a location different from the default one, please set an environmental variable called either `MATLABDIR` or `MATLAB_DIR` with the root of your Matlab installation**, e.g. add a line to your `~/.bashrc` such as: `export MATLAB_DIR=/usr/local/bin/matlab`
+Before going ahead with the compilation of the library, make sure that you have MATLAB and Simulink properly installed and running. Then, check that the MEX compiler for MATLAB is setup and working. For this you can try compiling some of the MATLAB C code examples as described in the [mex official documentation](https://www.mathworks.com/help/matlab/ref/mex.html).
 
+**If you installed Matlab in a location different from the default one, please set an environmental variable called either `MATLABDIR` or `MATLAB_DIR` with the root of your Matlab installation**, e.g. add a line to your `~/.bashrc` such as: `export MATLAB_DIR=/usr/local/bin/matlab`.
 
 If you used the [codyco-superbuild](https://github.com/robotology/codyco-superbuild) you can skip this step and go directly to the Matlab configuration step.
-Otherwise follow the following instructions.
 
-- Clone this repository: `git clone https://github.com/robotology/WB-Toolbox.git`
-- Create the build directory: `mkdir -p WB-Toolbox/build`
-- Move inside the build directory: `cd WB-Toolbox/build`
-- Configure the project: `cmake ..`
+Execute:
+
+```sh
+git clone https://github.com/robotology/WB-Toolbox.git
+mkdir -p WB-Toolbox/build
+cd WB-Toolbox/build
+cmake ..
+```
+
+**Note:** We suggest to install the project instead of using it from the build directory. You should thus change the default installation directory by configuring the `CMAKE_INSTALL_PREFIX` variable. You can do it before running the first `cmake` command by calling `cmake .. -DCMAKE_INSTALL_PREFIX=/your/new/path`, or by configuring the project with `ccmake .`
 
-**Note** We suggest to install the project instead of using it from the build directory. You should thus change the default installation directory by configuring the `CMAKE_INSTALL_PREFIX` variable. You can do it before running the first `cmake` command by calling `cmake .. -DCMAKE_INSTALL_PREFIX=/your/new/path`, or by configuring the project with `ccmake .`
+Compile and install the toolbox as follows:
 
-- Compile the project: `make`
-- *[Optional/Suggested]* Install the project: `make install`
+```sh
+make
+make install
+```
 
+### Matlab configuration
 
-#### Matlab configuration
 In the following section we assume the `install` folder is either the one you specified in the previous step by using `CMAKE_INSTALL_PREFIX` or if you used the `codyco-superbuild`, is `/path/to/superbuild/build_folder/install`.
 
 In order to use the WB-Toolbox in Matlab you have to add the `mex` and `share/WB-Toolbox` to the Matlab path.
@@ -72,10 +81,10 @@ In order to use the WB-Toolbox in Matlab you have to add the `mex` and `share/WB
 ```
 
 You can also use (only once after the installation) the script `startup_wbitoolbox.m` that you can find in the `share/WB-Toolbox` subdirectory of the install folder to properly configure Matlab.
-**Note** This script configures Matlab to alwasy add the WB-Toolbox to the path. This assumes Matlab is always launched from the `userpath` folder.
+**Note:** This script configures Matlab to always add the WB-Toolbox to the path. This assumes Matlab is always launched from the `userpath` folder.
 
 - **Launching Matlab** By default, Matlab has different startup behaviours depending on the Operating Systems and how it is launched. For Windows and macOS (if launched in the Finder) Matlab starts in the `userpath` folder. If this is your common workflow you can skip the rest of this note. Instead, if you launch Matlab from the command line (Linux and macOS users), Matlab starts in the folder where the command is typed, and thus the `path.m` file generated in the previous phase is no longer loaded. You thus have two options:
-  -  create a Bash alias, such that Matlab is always launched in the `userpath`, e.g. 
+  -  create a Bash alias, such that Matlab is always launched in the `userpath`, e.g.
   ```
      alias matlab='cd ~/Documents/MATLAB && /path/to/matlab
   ```
@@ -90,75 +99,86 @@ You can also use (only once after the installation) the script `startup_wbitoolb
 
 - **Robots' configuration files** Each robot that can be used through the Toolbox has its own configuration file. WB-Toolbox uses the Yarp [`ResourceFinder`](http://www.yarp.it/yarp_resource_finder_tutorials.html). You should thus follow the related instruction to properly configure your installation (e.g. set the `YARP_DATA_DIRS` variable)
 
-### Troubleshooting
-- **Problems finding libraries and libstdc++.** In case Matlab has trouble finding a specific library, a workaround is to launch it preloading the variable `LD_PRELOAD` (or `DYLD_INSERT_LIBRARIES` on macOS) with the full path of the missing library. On Linux you might also have trouble with libstdc++.so since Matlab comes with its own. To use your system's libstdc++ you would need to launch Matlab something like (replace with your system's libstdc++ library):
+## Troubleshooting
+- **Problems finding libraries and libstdc++.** In case Matlab has trouble finding a specific library, a workaround is to launch it preloading the variable `LD_PRELOAD` (or `DYLD_INSERT_LIBRARIES` on macOS) with the full path of the missing library. On Linux you might also have trouble with `libstdc++.so` since Matlab comes with its own. To use your system's `libstdc++` you would need to launch Matlab something like (replace with your system's `libstdc++` library):
 
-`LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.19   matlab`
+`LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6 matlab`
 
 You could additionally create an alias to launch Matlab this way:
 
-`alias matlab_codyco="cd ~/Documents/MATLAB && LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.19 matlab"`
+`alias matlab_codyco="cd ~/Documents/MATLAB && LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6 matlab"`
 
-A more permanent and scalable solution can be found in the answer of [this issue](https://github.com/robotology/codyco-superbuild/issues/141#issuecomment-257892256)
+A more permanent and scalable solution can be found in https://github.com/robotology/codyco-superbuild/issues/141#issuecomment-257892256.
+
+- In case you compiled `YARP` in a directory different from the system default one and you are not using RPATH, you need to tell to MATLAB the location in which to find the shared libraries for `YARP`. If you launch MATLAB from command line, this task is already done for you by `bash` (if you edited `.bashrc`). If you launch MATLAB from the UI (e.g. on macOS by double clicking the application icon) you need to further add the variables in `${MATLAB_ROOT}/bin/.matlab7rc.sh` by first doing
 
-- In case you have compiled YARP in a directory different from the system default one and you are not using RPATH, you need to tell to MATLAB the location in which to find the shared libraries for YARP. If you launch MATLAB from command line, this task is already done for you by `bash` (if you edited `.bashrc`). If you launch MATLAB from the UI (e.g. on macOS by double clicking the application icon) you need to further add the variables in `${MATLAB_ROOT}/bin/.matlab7rc.sh` by first doing
 ```bash
     chmod +w .matlab7rc.sh
 ```
+
 Then looking for the variable `LDPATH_SUFFIX` and assign to every instance the contents of your `DYLD_LIBRARY_PATH`. Finally do:
+
 ```bash
     chmod -w .matlab7rc.sh
 ```
 
 The error message you get in this case might look something like:
+
 ```bash
 Library not loaded: libyarpwholeBodyinterface.0.0.1.dylib
 Referenced from:
 ${CODYCO_SUPERBUILD_DIR}/install/mex/robotState.mexmaci64
 ```
 
-### Using the Toolbox
+## Using the Toolbox
+
 The Toolbox assumes the following information / variables to be defined:
-##### Environment variables
+
+#### Environment variables
+
 If you launch Matlab from command line, it inherits the configuration from the `.bashrc` or `.bash_profile` file. If you launch Matlab directly from the GUI you should define this variables with the Matlab function `setenv`.
 
 - `YARP_ROBOT_NAME`
 - `YARP_DATA_DIRS`
 
-##### Matlab variables
-
-- `WBT_robotName`: if not defined the robot name defined in the `yarpWholeBodyInterface.ini` file is taken.
-- `WBT_modelName`: if not defined by default is `WBT_simulink`.
-- `WBT_wbiFilename`: the name of the Yarp WholeBodyInterface file, by default `yarpWholeBodyInterface.ini`.
-- `WBT_wbiList`: the name of the robot list to be used in the Toolbox. By default `ROBOT_TORQUE_CONTROL_JOINTS`.
+#### Creating a model
 
-**Creating a model**
 Before using or creating a new model keep in mind that WB-Toolbox is discrete in principle and your simulation should be discrete as well. By going to `Simulation > Configuration Parameters > Solver` you should change the solver options to `Fixed Step` and use a `discrete (no continuous states)` solver.
+r
+In order to start dragging and dropping blocks from the Toolbox, open the Simulink Library Browser and search for `Whole Body Toolbox` in the tree view.
+
+## Migrating
 
-To start dragging and dropping blocks from the Toolbox open Simulink and search for `Whole Body Toolbox` in the libraries tree.
+#### From WBI-Toolbox (1.0)
 
-### Migrating from WBI-Toolbox
-Please see [here](doc/Migration.md).
+Please see [here](doc/Migration_from_WBI-Toolbox_1.0.md).
+
+#### Migrating from WB-Toolbox 2.0
+
+Please see [here](doc/Migration_from_WB-Toolbox_2.0.md).
+
+## Modifying the Toolbox
 
-### Modifying the Toolbox
 If you want to modify the toolbox, please check developers documentation:
 - [Add a new C++ block](doc/dev/create_new_block.md)
 - [Tip and tricks on creating simulink blocks](doc/dev/sim_tricks.md)
 
-### Citing this work
+## Citing this work
+
 Please cite the following publication if you are using WB-Toolbox for your own research and/or robot controllers
 
 > Romano, F., Traversaro, S., Pucci, D., Del Prete, A., Eljaik, J., Nori, F. "A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems", 1st IEEE International Conference on Robotic Computing, 2017.
 
 Bibtex citation:
 ```
-@INPROCEEDINGS{RomanoWBI17, 
-author={F. Romano and S. Traversaro and D. Pucci and A. Del Prete and J. Eljaik and F. Nori}, 
-booktitle={2017 IEEE 1st International Conference on Robotic Computing}, 
-title={A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems}, 
-year={2017}, 
+@INPROCEEDINGS{RomanoWBI17,
+author={F. Romano and S. Traversaro and D. Pucci and A. Del Prete and J. Eljaik and F. Nori},
+booktitle={2017 IEEE 1st International Conference on Robotic Computing},
+title={A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems},
+year={2017},
 }
 ```
 
 #### Tested OS
-macOS, Linux, Windows
+
+Linux, macOS, Windows.

From 022f464dd36fe1099624251e0c7f416876a31c15 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 6 Dec 2017 15:47:13 +0000
Subject: [PATCH 78/89] Added Migration How-To from 2.0 to 3.0

Also renamed Migration.md
---
 doc/Migration_from_WB-Toolbox_2.0.md          | 82 +++++++++++++++++++
 ...n.md => Migration_from_WBI-Toolbox_1.0.md} |  6 +-
 2 files changed, 85 insertions(+), 3 deletions(-)
 create mode 100644 doc/Migration_from_WB-Toolbox_2.0.md
 rename doc/{Migration.md => Migration_from_WBI-Toolbox_1.0.md} (96%)

diff --git a/doc/Migration_from_WB-Toolbox_2.0.md b/doc/Migration_from_WB-Toolbox_2.0.md
new file mode 100644
index 000000000..b194665b9
--- /dev/null
+++ b/doc/Migration_from_WB-Toolbox_2.0.md
@@ -0,0 +1,82 @@
+# Migration from WB-Toolbox 2.0 to WB-Toolbox 3.0
+
+Most of the major changes delivered with the `3.0` version of the `WB-Toolbox` don't affect directly the end-user. Under the hood the toolbox had an important polishing, and the small manual intervention required by this new release match the new features which have been developed.
+
+You can read [Release Notes](https://github.com/robotology/WB-Toolbox/issues/65) for a detailed overview. Below are described only the steps required to port Simulink models to this new release.
+
+## New toolbox configuration
+
+The `WB-Toolbox 2.0` was based on top of [`yarpWholeBodyInterface`](https://github.com/robotology/yarp-wholebodyinterface), which configuration was stored in a `yarpWholeBodyInterface.ini` file. This file was retrieved by `ResourceFinder` and its information was then loaded into the toolbox.
+
+### Store the configuration in the Simulink model
+
+`WB-Toolbox 3.0` deprecated the support of `yarpWholeBodyInterface`, and for reducing the complexity and sparsity of the information storage it allows configuring a Simulink model from the model itself.
+
+The new _Configuration_ block allows inserting information such as **Robot Name**, **URDF Name**, **Controlled Joints**, ... directly from the block's mask.
+
+### Load the configuration from the Workspace
+
+Sometimes it might be useful loading the model's configuration directly from the Workspace. For this purpose, a new `WBToolbox.WBToolboxConfig` class has been developed. The _Configuration_ block needs to know only the name of the variable which refers to the object. Its data is then read before the simulation runs.
+
+This snippet of code shows an example of how to initialize a configuration object:
+
+```matlab
+# Initialize a config object
+WBTConfigRobot = WBToolbox.WBToolboxConfig;
+
+# Insert robot data
+WBTConfigRobot.RobotName = 'icubSim';
+WBTConfigRobot.UrdfFile = 'model.urdf';
+WBTConfigRobot.ControlledJoints = {...
+    'torso_pitch','torso_roll','torso_yaw',...
+    'r_shoulder_pitch','r_shoulder_roll','r_shoulder_yaw','r_elbow',...
+    'l_shoulder_pitch','l_shoulder_roll','l_shoulder_yaw','l_elbow'};
+WBTConfigRobot.ControlBoardsNames = {'torso','left_arm','right_arm'};
+WBTConfigRobot.LocalName = 'WBT';
+```
+
+To check if the data has been read correctly, it is displayed as read-only in the block's mask.
+
+Furthermore, a good sign for a valid configuration is the `WBTConfigRobot.ValidConfiguration` property.
+
+### Multi-robot support
+
+The scope of the introduction of the _Configuration_ block goes beyond the need of a simpler toolbox configuration. One of the biggest limitation of the `2.0` version is the support of [controlling only one robot per model](https://github.com/robotology/WB-Toolbox/issues/37).
+
+`WB-Toolbox 3.0` is now capable of reading / sending data from / to multiple robots. Multiple _Configuration_ blocks can be present in the same model attaining to the following rules:
+
+* In the same hierarchical level of a Simulink model, only one _Configuration_
+ block should be present. In other words, you should never see in the display more than one _Configuration_ block.
+ * _Configuration_ blocks put deeper in the hierarchy (e.g. in a Subsystem) override the previous ones.
+ 
+ There are a few pitfalls which are worth to be highlighted:
+ 
+ * It is legit having two Subsystems with different _Configuration_ blocks which point to the same robot. They can have for instance a different joint list and use different control boards. Although, despite reading information never creates problems, sending data to the robot in such scenario can be disastrous. In fact, consider the case these two subsystems share one link, and configure it in two different control modes (e.g. Position and Torque). Sending references to this link causes unpredictable effects.
+ * In line of theory it would be possible to have two subsystems in which the first one refers to a Gazebo model and the second one to a real robot. However, this case causes unpredictable behaviour for what concerns the synchronization. In fact, two different blocks for such aim are present in the toolbox: _Simulator Synchronizer_ and _Real Time Syncronizer_. They should be always used exclusively.
+
+## Other manual edits
+
+* All the _Get Estimate_ blocks need to be replaced by the new _Get Measurement_ block. 
+* All the hardcoded digital filters (e.g. for the joints velocities) have been removed. A new `Discrete Filter` block has been developed, and it should be manually added if the read raw signal (e.g. from the _Get Measurement_ block) requires filtering.
+* The `C++` class used by the _DoFs Converter_ changed. All the blocks in the `YARP To WBI` configuration need to be connected again.
+* The gravity vector is stored is the `WBToolboxConfig` class. If an alternative value is needed, set it globally directly in the configuration object or scope the block which needs it in a Subsystem with its own _Configuration_ block.
+* In order to set the low level PIDs, loading in the Workspace a `WBToolbox.WBTPIDConfig` object should be configured as follows:
+
+```matlab
+# Initialize an empty object
+pids = WBToolbox.WBTPIDConfig;
+
+# Insert data
+pids.addPID(WBToolbox.PID('l_elbow', WBToolbox.PID(1, 1, 0)));
+pids.addPID(WBToolbox.PID('l_wrist_pitch', WBToolbox.PID(1.5, 0, 0.1)));
+pids.addPID(WBToolbox.PID('r_shoulder_pitch', WBToolbox.PID(0.2, 0, 0)));
+pids.addPID(WBToolbox.PID('torso_roll', WBToolbox.PID(0.1, 0.1, 0)));
+```
+
+If some of the controlled joints are not specified, the PIDs are kept in their default values. 
+
+
+## Deprecations
+
+* _Inverse Kinematics_ and _Remote Inverse Kinematics_ have been temporary deprecated. They will see a major release in the coming months. If you need them please do not upgrade to the `3.0` version.
+* _Set Low Level PID_ block lost the capability of switching between multiple configurations. Since they were stored in an external file, this change is aligned to the simplification process chosen for for the configuration. 
\ No newline at end of file
diff --git a/doc/Migration.md b/doc/Migration_from_WBI-Toolbox_1.0.md
similarity index 96%
rename from doc/Migration.md
rename to doc/Migration_from_WBI-Toolbox_1.0.md
index b73a4590b..a89c8c6b7 100644
--- a/doc/Migration.md
+++ b/doc/Migration_from_WBI-Toolbox_1.0.md
@@ -1,4 +1,4 @@
-## Migration from WB**I**-Toolbox to WB-Toolbox 2.0
+## Migration from WBI-Toolbox to WB-Toolbox 2.0
 Given a simulink model with some WBI-Toolbox blocks inside, the general procedure is to **substitute each block with the corresponding one from WB-Toolbox 2.0**. However, there are some things the user should take care while doing this operation. This guide points out the main differences between the two toolboxes. For more information about the WBI-Toolbox, please have a look at the [WBI-Toolbox README](https://github.com/robotology-playground/WBI-Toolbox/blob/master/README.md).
 
 This guide follows the WBI and WB Toolbox blocks partitioning in Simulink library. It is divided in the following sections:
@@ -24,7 +24,7 @@ They have already meaningful default values. Nevertheless you should take a look
 
 The world-to-base homogeneous transformation matrix is a 4x4 matrix that maps position and orientation of a rigid body from an initial frame of reference to another.
 
-For back-compatibility, the transformation happending under the hood in the WBI-Toolbox can be obtained using forward kinematics blocks as in the following example: 
+For back-compatibility, the transformation happending under the hood in the WBI-Toolbox can be obtained using forward kinematics blocks as in the following example:
 
 ![](https://cloud.githubusercontent.com/assets/12396934/12293044/3337da3c-b9f1-11e5-959f-b40418b5469d.png)
 
@@ -43,7 +43,7 @@ It is divided into three subsections. The `Joint Limits` block is now moved into
 
 #### Dynamics
 - the `dJdq` blocks have been moved into **jacobians** subsection;
-- for mass matrix, generalized bias forces and centroidal momentum computation is now required to calculate explicitly the world-to-base homogeneous transformation matrix and the base velocity. Furthermore, the base frame pose and velocity and the joint configuration are now separate inputs. 
+- for mass matrix, generalized bias forces and centroidal momentum computation is now required to calculate explicitly the world-to-base homogeneous transformation matrix and the base velocity. Furthermore, the base frame pose and velocity and the joint configuration are now separate inputs.
 
 #### Jacobians
 There is now only one generic block for jacobians and one for `dJdq` calculation. The link with respect to which the Jacobian is computed is determined by its frame name as specified in the **URDF model**. As for the dynamics, the base pose and velocity and the joint position and velocity are required as input.

From 3fea0700a3a4b09aa9ce7ecb9ef61fb8313fb6dc Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 11 Dec 2017 12:01:48 +0000
Subject: [PATCH 79/89] Clear the errors from logs once they are forwarded to
 Simulink

---
 toolbox/src/base/toolbox.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/toolbox/src/base/toolbox.cpp b/toolbox/src/base/toolbox.cpp
index 74468baa9..2af82a38b 100644
--- a/toolbox/src/base/toolbox.cpp
+++ b/toolbox/src/base/toolbox.cpp
@@ -90,6 +90,7 @@ static void catchLogMessages(bool status, SimStruct* S, std::string prefix)
         // Forward to Simulink
         sprintf(errorBuffer, "%s", errorMsg.c_str());
         ssSetErrorStatus(S, errorBuffer);
+        log.clearErrors();
         return;
     }
 }

From b0cdd644e5cdbdb8502807519fc586735465a4a0 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 11 Dec 2017 13:54:38 +0000
Subject: [PATCH 80/89] Fixed tuple initialization for C++11

---
 toolbox/src/SetLowLevelPID.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index 911b039d8..ad5998e53 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -120,7 +120,8 @@ bool SetLowLevelPID::readWBTPidConfigObject(const BlockInformation* blockInfo)
                                      std::end(controlledJoints),
                                      jointNamesFromParameters[i]);
         if (findElement != std::end(controlledJoints)) {
-            m_pidJointsFromParameters[jointNamesFromParameters[i]] = {Pvector[i], Ivector[i], Dvector[i]};
+            m_pidJointsFromParameters[jointNamesFromParameters[i]] =
+                std::tuple<double, double, double>(Pvector[i], Ivector[i], Dvector[i]);
         }
         else {
             Log::getSingleton().warning("Attempted to set PID of joint " + jointNamesFromParameters[i]);

From f658be29031d9689b22ba1f92d42a363f708f28e Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 12 Dec 2017 08:50:06 +0000
Subject: [PATCH 81/89] Initial support of DiscreteFilter Block

---
 toolbox/CMakeLists.txt         | 6 ++++++
 toolbox/include/base/toolbox.h | 1 +
 toolbox/src/base/factory.cpp   | 2 ++
 3 files changed, 9 insertions(+)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 62cf9590d..1059ffe59 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -82,6 +82,12 @@ if (WBT_USES_ICUB)
         SOURCES src/MinimumJerkTrajectoryGenerator.cpp
         HEADERS include/MinimumJerkTrajectoryGenerator.h)
 
+    configure_block(BLOCK_NAME "Discrete Filter"
+        GROUP "Utilities"
+        LIST_PREFIX WBT
+        SOURCES src/DiscreteFilter.cpp
+        HEADERS include/DiscreteFilter.h)
+
     # if (${ICUB_USE_IPOPT})
     #     find_package(iDynTree REQUIRED)
     #     add_definitions(-DWBT_USES_IPOPT)
diff --git a/toolbox/include/base/toolbox.h b/toolbox/include/base/toolbox.h
index 14f5a3778..979eb6b93 100644
--- a/toolbox/include/base/toolbox.h
+++ b/toolbox/include/base/toolbox.h
@@ -19,6 +19,7 @@
 #include "SetLowLevelPID.h"
 #ifdef WBT_USES_ICUB
 #include "MinimumJerkTrajectoryGenerator.h"
+#include "DiscreteFilter.h"
 #endif
 #ifdef WBT_USES_IPOPT
 // #include "InverseKinematics.h"
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index ab7d9f9be..e6caf80b0 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -42,6 +42,8 @@ Block* Block::instantiateBlockWithClassName(std::string blockClassName)
 #ifdef WBT_USES_ICUB
     else if (blockClassName == MinimumJerkTrajectoryGenerator::ClassName) {
         block = new MinimumJerkTrajectoryGenerator();
+    } else if (blockClassName == DiscreteFilter::ClassName) {
+        block = new wbt::DiscreteFilter();
     }
 #endif
 #ifdef WBT_USES_IPOPT

From 2a8397e5eff7bd538c63bf1d31e952e3e91dcfb8 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Thu, 10 Aug 2017 09:16:25 +0000
Subject: [PATCH 82/89] First working version of DiscreteFilter block with 1D
 I/O signal

---
 toolbox/include/DiscreteFilter.h |  44 ++++++
 toolbox/src/DiscreteFilter.cpp   | 230 +++++++++++++++++++++++++++++++
 2 files changed, 274 insertions(+)
 create mode 100644 toolbox/include/DiscreteFilter.h
 create mode 100644 toolbox/src/DiscreteFilter.cpp

diff --git a/toolbox/include/DiscreteFilter.h b/toolbox/include/DiscreteFilter.h
new file mode 100644
index 000000000..be47c7944
--- /dev/null
+++ b/toolbox/include/DiscreteFilter.h
@@ -0,0 +1,44 @@
+#include "Block.h"
+#include <string>
+
+#ifndef WBT_FILTER_H
+#define WBT_FILTER_H
+
+namespace wbt {
+    class DiscreteFilter;
+} // namespace wbt
+
+namespace iCub {
+    namespace ctrl {
+        class IFilter;
+    }
+} // namespace iCub
+
+namespace yarp {
+    namespace sig {
+        class Vector;
+    }
+} // namespace yarp
+
+class wbt::DiscreteFilter : public wbt::Block {
+private:
+    iCub::ctrl::IFilter* filter;
+    yarp::sig::Vector* num;
+    yarp::sig::Vector* den;
+
+    static void stringToYarpVector(const std::string s, yarp::sig::Vector* v);
+
+public:
+    static std::string ClassName;
+
+    DiscreteFilter();
+    ~DiscreteFilter() = default;
+
+    virtual unsigned numberOfParameters();
+    virtual bool configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error);
+    virtual bool initialize(BlockInformation* blockInfo, wbt::Error* error);
+    virtual bool terminate(BlockInformation* blockInfo, wbt::Error* error);
+    virtual bool output(BlockInformation* blockInfo, wbt::Error* error);
+};
+
+#endif // WBT_FILTER_H
diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
new file mode 100644
index 000000000..9045446e5
--- /dev/null
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -0,0 +1,230 @@
+#include "DiscreteFilter.h"
+#include "BlockInformation.h"
+#include "Error.h"
+#include "ForwardKinematics.h"
+#include "Signal.h"
+#include <algorithm>
+#include <cassert>
+#include <iCub/ctrl/filters.h>
+#include <sstream>
+#include <string>
+#include <yarp/sig/Vector.h>
+
+// Parameters
+#define PARAM_IDX_FLT_TYPE 1 // ::Filter type
+#define PARAM_IDX_NUMCOEFF 2 // ::Filter numerator coefficients
+#define PARAM_IDX_DENCOEFF 3 // ::Filter denominator coefficients
+#define PARAM_IDX_1LOWP_FC 4 // ::FirstOrderLowPassFilter cut frequency
+#define PARAM_IDX_1LOWP_TS 5 // ::FirstOrderLowPassFilter sampling time
+#define PARAM_IDX_MD_ORDER 6 // ::MedianFilter order
+// Inputs
+#define INPUT_IDX_SIGNAL 0
+// Outputs
+#define OUTPUT_IDX_SIGNAL 0
+// Other defines
+#define SIGNAL_DYNAMIC_SIZE -1
+
+using namespace wbt;
+
+std::string DiscreteFilter::ClassName = "DiscreteFilter";
+
+DiscreteFilter::DiscreteFilter() : filter(nullptr), num(nullptr), den(nullptr)
+{
+    num = new yarp::sig::Vector();
+    den = new yarp::sig::Vector();
+}
+
+unsigned DiscreteFilter::numberOfParameters()
+{
+    return 6;
+}
+
+bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error)
+{
+    // Memory allocation / Saving data not allowed here
+
+    // Specify I/O
+    // ===========
+
+    // INPUTS
+    // ------
+
+    // Number of input ports
+    int numberOfInputPorts = 1;
+    if (!blockInfo->setNumberOfInputPorts(numberOfInputPorts)) {
+        if (error) {
+            error->message = ClassName + " Failed to set input port number.";
+        }
+        return false;
+    }
+
+    // Input port sizes
+    blockInfo->setInputPortVectorSize(INPUT_IDX_SIGNAL, SIGNAL_DYNAMIC_SIZE);
+    blockInfo->setInputPortType(INPUT_IDX_SIGNAL, PortDataTypeDouble);
+
+    // OUTPUTS
+    // -------
+
+    // Number of output ports
+    int numberOfOutputPorts = 1;
+    if (!blockInfo->setNumberOfOuputPorts(numberOfOutputPorts)) {
+        if (error) {
+            error->message = ClassName + " Failed to set output port number.";
+        }
+        return false;
+    }
+
+    // Output port sizes
+    blockInfo->setOutputPortVectorSize(OUTPUT_IDX_SIGNAL, SIGNAL_DYNAMIC_SIZE);
+    blockInfo->setOutputPortType(OUTPUT_IDX_SIGNAL, PortDataTypeDouble);
+
+    return true;
+}
+
+bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
+{
+    // Handle the parameters
+    // =====================
+
+    // Variables for the filter parameters
+    std::string filter_type;
+    std::string num_coeff_str;
+    std::string den_coeff_str;
+    wbt::Data firstOrderLowPassFilter_fc;
+    wbt::Data firstOrderLowPassFilter_ts;
+    wbt::Data medianFilter_order;
+
+    // Get the scalar parameters
+    firstOrderLowPassFilter_fc = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1LOWP_FC);
+    firstOrderLowPassFilter_ts = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1LOWP_TS);
+    medianFilter_order         = blockInfo->getScalarParameterAtIndex(PARAM_IDX_MD_ORDER);
+
+    // Get the string parameter
+    if (!(blockInfo->getStringParameterAtIndex(PARAM_IDX_FLT_TYPE, filter_type)
+          && blockInfo->getStringParameterAtIndex(PARAM_IDX_NUMCOEFF, num_coeff_str)
+          && blockInfo->getStringParameterAtIndex(PARAM_IDX_DENCOEFF, den_coeff_str))) {
+        if (error) {
+            error->message = ClassName + " Failed to parse string parameters.";
+        }
+        return false;
+    }
+
+    // Convert the strings from the Matlab syntax ("[1.0 2 3.33]") to yarp::sig::Vector
+    stringToYarpVector(num_coeff_str, num);
+    stringToYarpVector(den_coeff_str, den);
+
+    // Create the filter object
+    // ========================
+
+    // Default
+    // -------
+    if (filter_type == "Default") {
+        if (num->length() == 0 || den->length() == 0) {
+            if (error) {
+                error->message = ClassName + " (Default) Wrong coefficients size";
+            }
+            return 1;
+        }
+        filter = new iCub::ctrl::Filter(*num, *den);
+    }
+    // FirstOrderLowPassFilter
+    // -----------------------
+    else if (filter_type == "FirstOrderLowPassFilter") {
+        if (firstOrderLowPassFilter_fc.floatData() == 0
+            || firstOrderLowPassFilter_ts.floatData() == 0) {
+            if (error) {
+                error->message = ClassName
+                                 + " (FirstOrderLowPassFilter) You need to "
+                                   "specify Fc and Ts";
+            }
+            return false;
+        }
+        filter = new iCub::ctrl::FirstOrderLowPassFilter(firstOrderLowPassFilter_fc.floatData(),
+                                                         firstOrderLowPassFilter_ts.floatData());
+    }
+    // MedianFilter
+    // ------------
+    else if (filter_type == "MedianFilter") {
+        if (medianFilter_order.int32Data() == 0) {
+            if (error) {
+                error->message = ClassName
+                                 + " (MedianFilter) You need to specify the "
+                                   "filter order.";
+            }
+            return false;
+        }
+        filter = new iCub::ctrl::MedianFilter(medianFilter_order.int32Data());
+    }
+    else {
+        if (error) error->message = ClassName + " Filter type not recognized.";
+        return false;
+    }
+
+    return true;
+}
+
+bool DiscreteFilter::terminate(BlockInformation* blockInfo, wbt::Error* error)
+{
+    if (filter) {
+        delete filter;
+        filter = nullptr;
+    }
+
+    if (num) {
+        delete num;
+        num = nullptr;
+    }
+
+    if (den) {
+        delete den;
+        den = nullptr;
+    }
+
+    return true;
+}
+
+bool DiscreteFilter::output(BlockInformation* blockInfo, wbt::Error* error)
+{
+    if (filter == nullptr) return false;
+
+    // Get the input signal
+    Signal inputSignal = blockInfo->getInputPortSignal(INPUT_IDX_SIGNAL);
+
+    unsigned index_element = 0;
+    yarp::sig::Vector inputSignalVector(1, inputSignal.get(index_element).doubleData());
+
+    // Filter the input signal
+    const yarp::sig::Vector& outputVector = filter->filt(inputSignalVector);
+
+    // Forward the filtered signal to the output port
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_SIGNAL);
+    output.setBuffer(outputVector.data(), outputVector.length());
+
+    return true;
+}
+
+void DiscreteFilter::stringToYarpVector(const std::string str, yarp::sig::Vector* v)
+{
+    assert(v != nullptr);
+
+    std::string s = str;
+
+    // Lambda expression used to remove "[]," carachters
+    // TODO: what about removing everything but digits and "."?
+    auto lambda_remove_chars = [](const char& c) {
+        if ((c == '[') || (c == ']') || c == ',')
+            return true;
+        else
+            return false;
+    };
+
+    // Apply the lambda expression the input parameters
+    s.erase(remove_if(s.begin(), s.end(), lambda_remove_chars), s.end());
+
+    // Convert the cleaned string to a yarp vector of floats
+    std::istringstream sstrm(s);
+    float f;
+
+    while (sstrm >> f)
+        v->push_back(f);
+}

From 4d6317bfdcdf3c25d3beb529b3bd9a4cadc3a810 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Thu, 10 Aug 2017 12:57:46 +0000
Subject: [PATCH 83/89] DiscreteFilter: Multidimesional signal support

---
 toolbox/include/DiscreteFilter.h |  3 ++
 toolbox/src/DiscreteFilter.cpp   | 66 ++++++++++++++++++++++----------
 2 files changed, 49 insertions(+), 20 deletions(-)

diff --git a/toolbox/include/DiscreteFilter.h b/toolbox/include/DiscreteFilter.h
index be47c7944..234af3da9 100644
--- a/toolbox/include/DiscreteFilter.h
+++ b/toolbox/include/DiscreteFilter.h
@@ -1,5 +1,6 @@
 #include "Block.h"
 #include <string>
+#include <vector>
 
 #ifndef WBT_FILTER_H
 #define WBT_FILTER_H
@@ -22,9 +23,11 @@ namespace yarp {
 
 class wbt::DiscreteFilter : public wbt::Block {
 private:
+    bool firstRun;
     iCub::ctrl::IFilter* filter;
     yarp::sig::Vector* num;
     yarp::sig::Vector* den;
+    yarp::sig::Vector* inputSignalVector;
 
     static void stringToYarpVector(const std::string s, yarp::sig::Vector* v);
 
diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
index 9045446e5..fb1b1874a 100644
--- a/toolbox/src/DiscreteFilter.cpp
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -25,13 +25,15 @@
 #define SIGNAL_DYNAMIC_SIZE -1
 
 using namespace wbt;
+using namespace iCub::ctrl;
+using namespace yarp::sig;
 
 std::string DiscreteFilter::ClassName = "DiscreteFilter";
 
-DiscreteFilter::DiscreteFilter() : filter(nullptr), num(nullptr), den(nullptr)
+DiscreteFilter::DiscreteFilter() : firstRun(true), filter(nullptr), inputSignalVector(nullptr)
 {
-    num = new yarp::sig::Vector();
-    den = new yarp::sig::Vector();
+    num = new Vector(0);
+    den = new Vector(0);
 }
 
 unsigned DiscreteFilter::numberOfParameters()
@@ -116,16 +118,16 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     // Create the filter object
     // ========================
 
-    // Default
+    // Generic
     // -------
-    if (filter_type == "Default") {
+    if (filter_type == "Generic") {
         if (num->length() == 0 || den->length() == 0) {
             if (error) {
-                error->message = ClassName + " (Default) Wrong coefficients size";
+                error->message = ClassName + " (Generic) Wrong coefficients size";
             }
             return 1;
         }
-        filter = new iCub::ctrl::Filter(*num, *den);
+        filter = new Filter(*num, *den);
     }
     // FirstOrderLowPassFilter
     // -----------------------
@@ -139,8 +141,8 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
             }
             return false;
         }
-        filter = new iCub::ctrl::FirstOrderLowPassFilter(firstOrderLowPassFilter_fc.floatData(),
-                                                         firstOrderLowPassFilter_ts.floatData());
+        filter = new FirstOrderLowPassFilter(firstOrderLowPassFilter_fc.floatData(),
+                                             firstOrderLowPassFilter_ts.floatData());
     }
     // MedianFilter
     // ------------
@@ -153,7 +155,7 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
             }
             return false;
         }
-        filter = new iCub::ctrl::MedianFilter(medianFilter_order.int32Data());
+        filter = new MedianFilter(medianFilter_order.int32Data());
     }
     else {
         if (error) error->message = ClassName + " Filter type not recognized.";
@@ -165,6 +167,9 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
 
 bool DiscreteFilter::terminate(BlockInformation* blockInfo, wbt::Error* error)
 {
+    // Deallocate all the memory
+    // -------------------------
+
     if (filter) {
         delete filter;
         filter = nullptr;
@@ -180,6 +185,11 @@ bool DiscreteFilter::terminate(BlockInformation* blockInfo, wbt::Error* error)
         den = nullptr;
     }
 
+    if (inputSignalVector) {
+        delete inputSignalVector;
+        inputSignalVector = nullptr;
+    }
+
     return true;
 }
 
@@ -187,23 +197,39 @@ bool DiscreteFilter::output(BlockInformation* blockInfo, wbt::Error* error)
 {
     if (filter == nullptr) return false;
 
-    // Get the input signal
-    Signal inputSignal = blockInfo->getInputPortSignal(INPUT_IDX_SIGNAL);
+    // Get the input and output signals
+    Signal inputSignal  = blockInfo->getInputPortSignal(INPUT_IDX_SIGNAL);
+    Signal outputSignal = blockInfo->getOutputPortSignal(OUTPUT_IDX_SIGNAL);
+
+    unsigned inputSignalWidth = blockInfo->getInputPortWidth(INPUT_IDX_SIGNAL);
+
+    // Allocate the memory for the input data
+    if (firstRun) {
+        // Allocate the input signal
+        inputSignalVector = new Vector(inputSignalWidth, 0.0);
 
-    unsigned index_element = 0;
-    yarp::sig::Vector inputSignalVector(1, inputSignal.get(index_element).doubleData());
+        // Initialize the filter. This is required because if the signal is not 1D,
+        // the default filter constructor initialize a wrongly sized y0
+        filter->init(Vector(inputSignalWidth));
+
+        firstRun = false;
+    }
+
+    // Copy the Signal to the data structure that the filter wants
+    for (unsigned i = 0; i < inputSignalWidth; ++i) {
+        (*inputSignalVector)[i] = inputSignal.get(i).doubleData();
+    }
 
-    // Filter the input signal
-    const yarp::sig::Vector& outputVector = filter->filt(inputSignalVector);
+    // Filter the current component of the input signal
+    const Vector& outputVector = filter->filt(*inputSignalVector);
 
-    // Forward the filtered signal to the output port
-    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_SIGNAL);
-    output.setBuffer(outputVector.data(), outputVector.length());
+    // Forward the filtered signals to the output port
+    outputSignal.setBuffer(outputVector.data(), outputVector.length());
 
     return true;
 }
 
-void DiscreteFilter::stringToYarpVector(const std::string str, yarp::sig::Vector* v)
+void DiscreteFilter::stringToYarpVector(const std::string str, Vector* v)
 {
     assert(v != nullptr);
 

From 1ff1fb0e78909b12f7dfc98076c71926bdeff65e Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 11 Aug 2017 11:54:49 +0000
Subject: [PATCH 84/89] DiscreteFilter: Included parameters for initializing
 input / output

Kept as private variables only what is strictly required
---
 toolbox/include/DiscreteFilter.h |   9 +--
 toolbox/src/DiscreteFilter.cpp   | 114 ++++++++++++++++++++++---------
 2 files changed, 85 insertions(+), 38 deletions(-)

diff --git a/toolbox/include/DiscreteFilter.h b/toolbox/include/DiscreteFilter.h
index 234af3da9..098ca3966 100644
--- a/toolbox/include/DiscreteFilter.h
+++ b/toolbox/include/DiscreteFilter.h
@@ -23,13 +23,13 @@ namespace yarp {
 
 class wbt::DiscreteFilter : public wbt::Block {
 private:
-    bool firstRun;
+    unsigned inputSignalWidth;
     iCub::ctrl::IFilter* filter;
-    yarp::sig::Vector* num;
-    yarp::sig::Vector* den;
+    yarp::sig::Vector* y0;
+    yarp::sig::Vector* u0;
     yarp::sig::Vector* inputSignalVector;
 
-    static void stringToYarpVector(const std::string s, yarp::sig::Vector* v);
+    static void stringToYarpVector(const std::string s, yarp::sig::Vector& v);
 
 public:
     static std::string ClassName;
@@ -40,6 +40,7 @@ class wbt::DiscreteFilter : public wbt::Block {
     virtual unsigned numberOfParameters();
     virtual bool configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error);
     virtual bool initialize(BlockInformation* blockInfo, wbt::Error* error);
+    virtual bool initializeInitialConditions(BlockInformation *blockInfo, wbt::Error *error);
     virtual bool terminate(BlockInformation* blockInfo, wbt::Error* error);
     virtual bool output(BlockInformation* blockInfo, wbt::Error* error);
 };
diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
index fb1b1874a..f48a8553a 100644
--- a/toolbox/src/DiscreteFilter.cpp
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -17,6 +17,9 @@
 #define PARAM_IDX_1LOWP_FC 4 // ::FirstOrderLowPassFilter cut frequency
 #define PARAM_IDX_1LOWP_TS 5 // ::FirstOrderLowPassFilter sampling time
 #define PARAM_IDX_MD_ORDER 6 // ::MedianFilter order
+#define PARAM_IDX_INIT_Y0 7  // Output initialization
+#define PARAM_IDX_INIT_U0 8  // ::Filter input initialization
+
 // Inputs
 #define INPUT_IDX_SIGNAL 0
 // Outputs
@@ -30,15 +33,15 @@ using namespace yarp::sig;
 
 std::string DiscreteFilter::ClassName = "DiscreteFilter";
 
-DiscreteFilter::DiscreteFilter() : firstRun(true), filter(nullptr), inputSignalVector(nullptr)
+DiscreteFilter::DiscreteFilter() : filter(nullptr), inputSignalVector(nullptr)
 {
-    num = new Vector(0);
-    den = new Vector(0);
+    y0 = new Vector(0);
+    u0 = new Vector(0);
 }
 
 unsigned DiscreteFilter::numberOfParameters()
 {
-    return 6;
+    return 8;
 }
 
 bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error)
@@ -92,6 +95,8 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     std::string filter_type;
     std::string num_coeff_str;
     std::string den_coeff_str;
+    std::string y0_str;
+    std::string u0_str;
     wbt::Data firstOrderLowPassFilter_fc;
     wbt::Data firstOrderLowPassFilter_ts;
     wbt::Data medianFilter_order;
@@ -104,7 +109,9 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     // Get the string parameter
     if (!(blockInfo->getStringParameterAtIndex(PARAM_IDX_FLT_TYPE, filter_type)
           && blockInfo->getStringParameterAtIndex(PARAM_IDX_NUMCOEFF, num_coeff_str)
-          && blockInfo->getStringParameterAtIndex(PARAM_IDX_DENCOEFF, den_coeff_str))) {
+          && blockInfo->getStringParameterAtIndex(PARAM_IDX_DENCOEFF, den_coeff_str)
+          && blockInfo->getStringParameterAtIndex(PARAM_IDX_INIT_Y0, y0_str)
+          && blockInfo->getStringParameterAtIndex(PARAM_IDX_INIT_U0, u0_str))) {
         if (error) {
             error->message = ClassName + " Failed to parse string parameters.";
         }
@@ -112,8 +119,12 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     }
 
     // Convert the strings from the Matlab syntax ("[1.0 2 3.33]") to yarp::sig::Vector
+    yarp::sig::Vector num(0);
+    yarp::sig::Vector den(0);
     stringToYarpVector(num_coeff_str, num);
     stringToYarpVector(den_coeff_str, den);
+    stringToYarpVector(y0_str, *y0);
+    stringToYarpVector(u0_str, *u0);
 
     // Create the filter object
     // ========================
@@ -121,13 +132,13 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     // Generic
     // -------
     if (filter_type == "Generic") {
-        if (num->length() == 0 || den->length() == 0) {
+        if (num.length() == 0 || den.length() == 0) {
             if (error) {
                 error->message = ClassName + " (Generic) Wrong coefficients size";
             }
             return 1;
         }
-        filter = new Filter(*num, *den);
+        filter = new Filter(num, den);
     }
     // FirstOrderLowPassFilter
     // -----------------------
@@ -162,6 +173,31 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
         return false;
     }
 
+    // Get the width of the input vector
+    inputSignalWidth = blockInfo->getInputPortWidth(INPUT_IDX_SIGNAL);
+
+    // Check the initial conditions are properly sized
+    unsigned outputSignalWidth = blockInfo->getInputPortWidth(OUTPUT_IDX_SIGNAL);
+    unsigned y0Width           = y0->length();
+    unsigned u0Width           = u0->length();
+
+    if (y0Width != outputSignalWidth) {
+        if (error) {
+            error->message = ClassName + " y0 and output signal sizes don't match";
+        }
+        return false;
+    }
+
+    if ((filter_type == "Generic") && (u0Width != inputSignalWidth)) {
+        if (error) {
+            error->message = ClassName + " (Generic) u0 and input signal sizes don't match";
+        }
+        return false;
+    }
+
+    // Allocate the input signal
+    inputSignalVector = new Vector(inputSignalWidth, 0.0);
+
     return true;
 }
 
@@ -175,19 +211,45 @@ bool DiscreteFilter::terminate(BlockInformation* blockInfo, wbt::Error* error)
         filter = nullptr;
     }
 
-    if (num) {
-        delete num;
-        num = nullptr;
+    if (inputSignalVector) {
+        delete inputSignalVector;
+        inputSignalVector = nullptr;
     }
 
-    if (den) {
-        delete den;
-        den = nullptr;
+    if (y0) {
+        delete y0;
+        y0 = nullptr;
     }
 
-    if (inputSignalVector) {
-        delete inputSignalVector;
-        inputSignalVector = nullptr;
+    if (u0) {
+        delete u0;
+        u0 = nullptr;
+    }
+
+    return true;
+}
+
+bool DiscreteFilter::initializeInitialConditions(BlockInformation* blockInfo, wbt::Error* error)
+{
+    // Reminder: this function is called when, during runtime, a block is disabled
+    // and enabled again. The method ::initialize instead is called just one time.
+
+    // If the initial conditions for the output are not set, allocate a properly
+    // sized vector
+    if (*y0 == Vector(1, 0.0)) {
+        y0 = new Vector(inputSignalWidth, 0.0);
+    }
+
+    // Initialize the filter. This is required because if the signal is not 1D,
+    // the default filter constructor initialize a wrongly sized y0
+    // Moreover, the Filter class has a different constructor that handles the
+    // zero-gain case
+    Filter* filter_c = dynamic_cast<Filter*>(filter);
+    if (filter_c != nullptr) {
+        filter_c->init(*y0, *u0);
+    }
+    else {
+        filter->init(*y0);
     }
 
     return true;
@@ -201,20 +263,6 @@ bool DiscreteFilter::output(BlockInformation* blockInfo, wbt::Error* error)
     Signal inputSignal  = blockInfo->getInputPortSignal(INPUT_IDX_SIGNAL);
     Signal outputSignal = blockInfo->getOutputPortSignal(OUTPUT_IDX_SIGNAL);
 
-    unsigned inputSignalWidth = blockInfo->getInputPortWidth(INPUT_IDX_SIGNAL);
-
-    // Allocate the memory for the input data
-    if (firstRun) {
-        // Allocate the input signal
-        inputSignalVector = new Vector(inputSignalWidth, 0.0);
-
-        // Initialize the filter. This is required because if the signal is not 1D,
-        // the default filter constructor initialize a wrongly sized y0
-        filter->init(Vector(inputSignalWidth));
-
-        firstRun = false;
-    }
-
     // Copy the Signal to the data structure that the filter wants
     for (unsigned i = 0; i < inputSignalWidth; ++i) {
         (*inputSignalVector)[i] = inputSignal.get(i).doubleData();
@@ -229,10 +277,8 @@ bool DiscreteFilter::output(BlockInformation* blockInfo, wbt::Error* error)
     return true;
 }
 
-void DiscreteFilter::stringToYarpVector(const std::string str, Vector* v)
+void DiscreteFilter::stringToYarpVector(const std::string str, Vector& v)
 {
-    assert(v != nullptr);
-
     std::string s = str;
 
     // Lambda expression used to remove "[]," carachters
@@ -252,5 +298,5 @@ void DiscreteFilter::stringToYarpVector(const std::string str, Vector* v)
     float f;
 
     while (sstrm >> f)
-        v->push_back(f);
+        v.push_back(f);
 }

From 2c54e8ebdf5cead2f09fea5f6119b849b83fe7b6 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 11 Aug 2017 12:54:42 +0000
Subject: [PATCH 85/89] DiscreteFilter: improved behavior of optional
 parameters

Now it works as expected when the initial state vector is set but is not enabled
---
 toolbox/src/DiscreteFilter.cpp | 20 +++++++++++++++-----
 1 file changed, 15 insertions(+), 5 deletions(-)

diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
index f48a8553a..589130787 100644
--- a/toolbox/src/DiscreteFilter.cpp
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -123,8 +123,15 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     yarp::sig::Vector den(0);
     stringToYarpVector(num_coeff_str, num);
     stringToYarpVector(den_coeff_str, den);
-    stringToYarpVector(y0_str, *y0);
-    stringToYarpVector(u0_str, *u0);
+
+    // y0 and u0 are none if they are not defined
+    if (y0_str != "none") {
+        stringToYarpVector(y0_str, *y0);
+    }
+
+    if (u0_str != "nome") {
+        stringToYarpVector(u0_str, *u0);
+    }
 
     // Create the filter object
     // ========================
@@ -173,6 +180,9 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
         return false;
     }
 
+    // Initialize the other data
+    // =========================
+
     // Get the width of the input vector
     inputSignalWidth = blockInfo->getInputPortWidth(INPUT_IDX_SIGNAL);
 
@@ -181,14 +191,14 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     unsigned y0Width           = y0->length();
     unsigned u0Width           = u0->length();
 
-    if (y0Width != outputSignalWidth) {
+    if ((y0_str != "none") && (y0Width != outputSignalWidth)) {
         if (error) {
             error->message = ClassName + " y0 and output signal sizes don't match";
         }
         return false;
     }
 
-    if ((filter_type == "Generic") && (u0Width != inputSignalWidth)) {
+    if ((u0_str != "none") && (filter_type == "Generic") && (u0Width != inputSignalWidth)) {
         if (error) {
             error->message = ClassName + " (Generic) u0 and input signal sizes don't match";
         }
@@ -236,7 +246,7 @@ bool DiscreteFilter::initializeInitialConditions(BlockInformation* blockInfo, wb
 
     // If the initial conditions for the output are not set, allocate a properly
     // sized vector
-    if (*y0 == Vector(1, 0.0)) {
+    if (*y0 == Vector(0)) {
         y0 = new Vector(inputSignalWidth, 0.0);
     }
 

From aae5cff8e3b130799f3c36c7b250b166274eea55 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 11 Aug 2017 13:49:33 +0000
Subject: [PATCH 86/89] Reduced memory allocations

---
 toolbox/src/DiscreteFilter.cpp | 27 +++++++++++++++++----------
 1 file changed, 17 insertions(+), 10 deletions(-)

diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
index 589130787..ee623f3ff 100644
--- a/toolbox/src/DiscreteFilter.cpp
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -33,10 +33,9 @@ using namespace yarp::sig;
 
 std::string DiscreteFilter::ClassName = "DiscreteFilter";
 
-DiscreteFilter::DiscreteFilter() : filter(nullptr), inputSignalVector(nullptr)
+DiscreteFilter::DiscreteFilter()
+    : filter(nullptr), y0(nullptr), u0(nullptr), inputSignalVector(nullptr)
 {
-    y0 = new Vector(0);
-    u0 = new Vector(0);
 }
 
 unsigned DiscreteFilter::numberOfParameters()
@@ -125,12 +124,18 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     stringToYarpVector(den_coeff_str, den);
 
     // y0 and u0 are none if they are not defined
+    unsigned y0Width, u0Width;
+
     if (y0_str != "none") {
+        y0 = new Vector(0);
         stringToYarpVector(y0_str, *y0);
+         y0Width = y0->length();
     }
 
-    if (u0_str != "nome") {
+    if (u0_str != "none") {
+        u0 = new Vector(0);
         stringToYarpVector(u0_str, *u0);
+        u0Width = u0->length();
     }
 
     // Create the filter object
@@ -188,17 +193,15 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
 
     // Check the initial conditions are properly sized
     unsigned outputSignalWidth = blockInfo->getInputPortWidth(OUTPUT_IDX_SIGNAL);
-    unsigned y0Width           = y0->length();
-    unsigned u0Width           = u0->length();
 
-    if ((y0_str != "none") && (y0Width != outputSignalWidth)) {
+    if ((y0 != nullptr) && (y0Width != outputSignalWidth)) {
         if (error) {
             error->message = ClassName + " y0 and output signal sizes don't match";
         }
         return false;
     }
 
-    if ((u0_str != "none") && (filter_type == "Generic") && (u0Width != inputSignalWidth)) {
+    if ((u0 != nullptr) && (filter_type == "Generic") && (u0Width != inputSignalWidth)) {
         if (error) {
             error->message = ClassName + " (Generic) u0 and input signal sizes don't match";
         }
@@ -246,8 +249,12 @@ bool DiscreteFilter::initializeInitialConditions(BlockInformation* blockInfo, wb
 
     // If the initial conditions for the output are not set, allocate a properly
     // sized vector
-    if (*y0 == Vector(0)) {
-        y0 = new Vector(inputSignalWidth, 0.0);
+    if (y0 == nullptr) {
+        unsigned outputSignalWidth = blockInfo->getInputPortWidth(OUTPUT_IDX_SIGNAL);
+        y0                         = new Vector(outputSignalWidth, 0.0);
+    }
+    if (u0 == nullptr) {
+        u0 = new Vector(inputSignalWidth, 0.0);
     }
 
     // Initialize the filter. This is required because if the signal is not 1D,

From bc51e1d22883cf7536fc8c0370b11aad81557186 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 12 Dec 2017 08:55:31 +0000
Subject: [PATCH 87/89] Rebased DiscreteFilter block on WB3.0

---
 toolbox/include/DiscreteFilter.h              |  43 +-
 .../library/WBToolboxLibrary_repository.mdl   | 583 ++++++++++++------
 .../library/exported/WBToolboxLibrary.slx     | Bin 534705 -> 537056 bytes
 toolbox/src/DiscreteFilter.cpp                | 177 +++---
 4 files changed, 497 insertions(+), 306 deletions(-)

diff --git a/toolbox/include/DiscreteFilter.h b/toolbox/include/DiscreteFilter.h
index 098ca3966..65915f3a1 100644
--- a/toolbox/include/DiscreteFilter.h
+++ b/toolbox/include/DiscreteFilter.h
@@ -1,6 +1,7 @@
 #include "Block.h"
 #include <string>
 #include <vector>
+#include <memory>
 
 #ifndef WBT_FILTER_H
 #define WBT_FILTER_H
@@ -24,25 +25,41 @@ namespace yarp {
 class wbt::DiscreteFilter : public wbt::Block {
 private:
     unsigned inputSignalWidth;
-    iCub::ctrl::IFilter* filter;
-    yarp::sig::Vector* y0;
-    yarp::sig::Vector* u0;
-    yarp::sig::Vector* inputSignalVector;
+    std::unique_ptr<iCub::ctrl::IFilter> filter;
+    std::unique_ptr<yarp::sig::Vector> y0;
+    std::unique_ptr<yarp::sig::Vector> u0;
+    std::unique_ptr<yarp::sig::Vector> inputSignalVector;
 
     static void stringToYarpVector(const std::string s, yarp::sig::Vector& v);
 
+    // Parameters
+    static const unsigned PARAM_IDX_FLT_TYPE;
+    static const unsigned PARAM_IDX_NUMCOEFF;
+    static const unsigned PARAM_IDX_DENCOEFF;
+    static const unsigned PARAM_IDX_1LOWP_FC;
+    static const unsigned PARAM_IDX_1LOWP_TS;
+    static const unsigned PARAM_IDX_MD_ORDER;
+    static const unsigned PARAM_IDX_INIT_Y0;
+    static const unsigned PARAM_IDX_INIT_U0;
+    // Inputs
+    static const unsigned INPUT_IDX_SIGNAL;
+    // Outputs
+    static const unsigned OUTPUT_IDX_SIGNAL;
+    // Other defines
+    static const int SIGNAL_DYNAMIC_SIZE;
+
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
 
     DiscreteFilter();
-    ~DiscreteFilter() = default;
-
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error);
-    virtual bool initialize(BlockInformation* blockInfo, wbt::Error* error);
-    virtual bool initializeInitialConditions(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation* blockInfo, wbt::Error* error);
-    virtual bool output(BlockInformation* blockInfo, wbt::Error* error);
+    ~DiscreteFilter() override = default;
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool initializeInitialConditions(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif // WBT_FILTER_H
diff --git a/toolbox/matlab/library/WBToolboxLibrary_repository.mdl b/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
index a122a1e37..26ffaba9b 100644
--- a/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
+++ b/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
@@ -49,9 +49,9 @@ Library {
 	IsActive		[1]
 	ViewObjType		"SimulinkSubsys"
 	LoadSaveID		"192"
-	Extents			[1557.0, 731.0]
-	ZoomFactor		[2.13]
-	Offset			[0.0, 0.0]
+	Extents			[1557.0, 698.0]
+	ZoomFactor		[2.1474358974358974]
+	Offset			[-7.52537313432839, 7.4805970149253653]
       }
       Object {
 	$PropName		"DockComponentsInfo"
@@ -71,7 +71,7 @@ Library {
       "AAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0Ac"
       "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAANQAAAooAAABbAP///wAAAAEAAAAAAAAAAPwCA"
       "AAAAfsAAABUAEcATABVAEUAMgA6AFAAcgBvAHAAZQByAHQAeQBJAG4AcwBwAGUAYwB0AG8AcgAvAFAAcgBvAHAAZQByAHQAeQAgAEkAbgBzAHAAZ"
-      "QBjAHQAbwByAAAAAAD/////AAAAKwD///8AAAY7AAADFwAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAP/////wAAAAAA/////wAAAAAAAAAA/"
+      "QBjAHQAbwByAAAAAAD/////AAAAKwD///8AAAY7AAAC9gAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAP/////wAAAAAA/////wAAAAAAAAAA/"
       "////wEAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
       "////wEAAAB6/////wAAAAAAAAAA/////wEAAADe/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
       "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAAEt/////wAAAAAAAAAA/"
@@ -85,9 +85,9 @@ Library {
   ModifiedByFormat	  "%<Auto>"
   LastModifiedBy	  "dferigo"
   ModifiedDateFormat	  "%<Auto>"
-  LastModifiedDate	  "Mon Dec 11 16:51:04 2017"
-  RTWModifiedTimeStamp	  434911818
-  ModelVersionFormat	  "1.%<AutoIncrement:477>"
+  LastModifiedDate	  "Mon Dec 11 16:56:10 2017"
+  RTWModifiedTimeStamp	  434912138
+  ModelVersionFormat	  "1.%<AutoIncrement:479>"
   ConfigurationManager	  "none"
   SampleTimeColors	  off
   SampleTimeAnnotations	  off
@@ -1068,7 +1068,7 @@ Library {
     ShowPageBoundaries	    off
     ZoomFactor		    "343"
     ReportName		    "simulink-default.rpt"
-    SIDHighWatermark	    "1789"
+    SIDHighWatermark	    "1790"
     Block {
       BlockType		      SubSystem
       Name		      "Utilities"
@@ -1101,7 +1101,7 @@ Library {
 	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 	TiledPageScale		1
 	ShowPageBoundaries	off
-	ZoomFactor		"213"
+	ZoomFactor		"215"
 	Block {
 	  BlockType		  SubSystem
 	  Name			  "Configuration"
@@ -1561,6 +1561,217 @@ Library {
 	    }
 	  }
 	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "DiscreteFilter"
+	  SID			  "1790"
+	  Ports			  [1, 1]
+	  Position		  [105, 260, 165, 290]
+	  ZOrder		  103
+	  BackgroundColor	  "yellow"
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'DiscreteFilter',filterType,numCoeffs,denCoeffs,Fc,Ts,orderMedianFilter,y0,u0"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  SFcnIsStateOwnerBlock	  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    46
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "Discrete Filter"
+	    Description		    "This block wraps the Filter, FirstOrderLowPassFilter, and MedianFilter from iCub::ctrl."
+	    Initialization	    "filterType = get_param(gcb, 'filterType');\nnumCoeffs  = mat2str(numCoeffs);\ndenCoeffs  = ma"
+	    "t2str(denCoeffs);\n\ninitStatus = get_param(gcb, 'initStatus');\n\nif (strcmp(initStatus,'on'))\n    y0 = mat2str"
+	    "(y0);\n    u0 = mat2str(u0);\nelse\n    y0 = 'none';\n    u0 = 'none';\nend\n\nclear initStatus"
+	    Display		    "disp('Filter')"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      9
+	      Object {
+		$ObjectID		47
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  3
+		  Cell			  "Generic"
+		  Cell			  "FirstOrderLowPassFilter"
+		  Cell			  "MedianFilter"
+		  PropName		  "TypeOptions"
+		}
+		Name			"filterType"
+		Prompt			"Type of the filter"
+		Value			"Generic"
+		Callback		"% From: https://it.mathworks.com/help/simulink/slref/simulink.mask-class.html\nfilterType = get_param(gcb"
+		", 'filterType');\ninitStatus = get_param(gcb, 'initStatus');\np = Simulink.Mask.get(gcbh);\nhowToCoeffs = p.getDialo"
+		"gControl('howToCoeffs');\n\n%set_param(gcb, 'initStatus','off');\nif (strcmp(initStatus,'on'))\n    vis_init = 'on';"
+		"\nelse\n    vis_init = 'off';\nend\n\nif(strcmp(filterType, 'Generic'))\n    set_param(gcb, 'MaskVisibilities',{'on'"
+		",'on','on','off','off','off','on',vis_init,vis_init});\n    howToCoeffs.Visible = 'on';\nelseif(strcmp(filterType, '"
+		"FirstOrderLowPassFilter'))\n    set_param(gcb, 'MaskVisibilities',{'on','off','off','on','on','off','on',vis_init,'o"
+		"ff'});\n    howToCoeffs.Visible = 'off';\nelseif(strcmp(filterType, 'MedianFilter'))\n    set_param(gcb, 'MaskVisibi"
+		"lities',{'on','off','off','off','off','on','on',vis_init,'off'});\n    howToCoeffs.Visible = 'off';\nend\n\nclear fi"
+		"lterType initStatus p howToCoeffs vis_init;"
+	      }
+	      Object {
+		$ObjectID		48
+		Type			"edit"
+		Name			"numCoeffs"
+		Prompt			"Numerator Coefficients*"
+		Value			"[0]"
+	      }
+	      Object {
+		$ObjectID		49
+		Type			"edit"
+		Name			"denCoeffs"
+		Prompt			"Denominator Coefficients*"
+		Value			"[0]"
+	      }
+	      Object {
+		$ObjectID		50
+		Type			"edit"
+		Name			"Fc"
+		Prompt			"Cut Frequency (Hz)"
+		Value			"0"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		51
+		Type			"edit"
+		Name			"Ts"
+		Prompt			"Sampling time (s)"
+		Value			"0"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		52
+		Type			"edit"
+		Name			"orderMedianFilter"
+		Prompt			"Order"
+		Value			"0"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		53
+		Type			"checkbox"
+		Name			"initStatus"
+		Prompt			"Define initial conditions"
+		Value			"off"
+		Callback		"initStatus   = get_param(gcb, 'initStatus');\nvisibilities = get_param(gcb, 'MaskVisibilities');\nfilterT"
+		"ype   = get_param(gcb, 'filterType');\n\nif (strcmp(initStatus,'off'))\n    visibilities{8} = 'off';\n    visibiliti"
+		"es{9} = 'off';\nelseif (strcmp(initStatus,'on'))\n    visibilities{8} = 'on';\n    if (strcmp(filterType,'Generic'))"
+		"\n        visibilities{9} = 'on';\n    end\nend\n\nset_param(gcb, 'MaskVisibilities', visibilities);\n\nclear initSt"
+		"atus visibilities filterType;"
+	      }
+	      Object {
+		$ObjectID		54
+		Type			"edit"
+		Name			"y0"
+		Prompt			"Output y0"
+		Value			"[0]"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		55
+		Type			"edit"
+		Name			"u0"
+		Prompt			"Input u0"
+		Value			"[0]"
+		Visible			"off"
+	      }
+	      PropName		      "Parameters"
+	    }
+	    Array {
+	      Type		      "Simulink.dialog.Group"
+	      Dimension		      2
+	      Object {
+		$ObjectID		56
+		Prompt			"%<MaskType>"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  57
+		  $ClassName		  "Simulink.dialog.Text"
+		  Prompt		  "%<MaskDescription>"
+		  Name			  "DescTextVar"
+		}
+		Name			"DescGroupVar"
+	      }
+	      Object {
+		$ObjectID		58
+		Prompt			"Simulink:studio:ToolBarParametersMenu"
+		Array {
+		  Type			  "Simulink.dialog.Control"
+		  Dimension		  8
+		  Object {
+		    $ObjectID		    59
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "filterType"
+		  }
+		  Object {
+		    $ObjectID		    60
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "numCoeffs"
+		  }
+		  Object {
+		    $ObjectID		    61
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "denCoeffs"
+		  }
+		  Object {
+		    $ObjectID		    62
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "* The coefficients are ordered in increasing power of z^-1"
+		    Name		    "howToCoeffs"
+		  }
+		  Object {
+		    $ObjectID		    63
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "Fc"
+		  }
+		  Object {
+		    $ObjectID		    64
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "Ts"
+		  }
+		  Object {
+		    $ObjectID		    65
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "orderMedianFilter"
+		  }
+		  Object {
+		    $ObjectID		    66
+		    $ClassName		    "Simulink.dialog.Group"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Control"
+		    Dimension		    3
+		    Object {
+		    $ObjectID		    67
+		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
+		    Name		    "initStatus"
+		    }
+		    Object {
+		    $ObjectID		    68
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "y0"
+		    }
+		    Object {
+		    $ObjectID		    69
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "u0"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container3"
+		  }
+		  PropName		  "DialogControls"
+		}
+		Name			"ParameterGroupVar"
+	      }
+	      PropName		      "DialogControls"
+	    }
+	  }
+	}
 	Block {
 	  BlockType		  S-Function
 	  Name			  "DoFs converter"
@@ -1575,7 +1786,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    46
+	    $ObjectID		    70
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "DoFs converter"
 	    Description		    "This block converts from a DoFs serialization to a YARP serialization or viceversa depending on"
@@ -1592,7 +1803,7 @@ Library {
 	    RunInitForIconRedraw    "off"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      47
+	      $ObjectID		      71
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "popup"
 	      Array {
@@ -1610,11 +1821,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		48
+		$ObjectID		72
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  49
+		  $ObjectID		  73
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -1622,22 +1833,22 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		50
+		$ObjectID		74
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Array {
 		  Type			  "Simulink.dialog.Control"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    51
+		    $ObjectID		    75
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "yarp2WBIOption"
 		  }
 		  Object {
-		    $ObjectID		    52
+		    $ObjectID		    76
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    53
+		    $ObjectID		    77
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -1671,7 +1882,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    54
+	    $ObjectID		    78
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Minimum Jerk Trajectory Generator"
 	    Description		    "This block wraps the minJerkTrajGen class from iCub::ctrl::minJerkTrajGen.\n\nThe Minimum Jerk "
@@ -1694,7 +1905,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      7
 	      Object {
-		$ObjectID		55
+		$ObjectID		79
 		Type			"checkbox"
 		Name			"externalSettlingTime"
 		Prompt			"External Settling Time"
@@ -1705,42 +1916,42 @@ Library {
 		"SettlingTime"
 	      }
 	      Object {
-		$ObjectID		56
+		$ObjectID		80
 		Type			"edit"
 		Name			"settlingTime"
 		Prompt			"Settling Time"
 		Value			"3"
 	      }
 	      Object {
-		$ObjectID		57
+		$ObjectID		81
 		Type			"edit"
 		Name			"sampleTime"
 		Prompt			"Sample Time"
 		Value			"0.01"
 	      }
 	      Object {
-		$ObjectID		58
+		$ObjectID		82
 		Type			"checkbox"
 		Name			"resetOnSettlingTime"
 		Prompt			"Reset on Settling Time Changes"
 		Value			"off"
 	      }
 	      Object {
-		$ObjectID		59
+		$ObjectID		83
 		Type			"checkbox"
 		Name			"firstDerivatives"
 		Prompt			"Output First Derivative"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		60
+		$ObjectID		84
 		Type			"checkbox"
 		Name			"secondDerivatives"
 		Prompt			"Output Second Derivative"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		61
+		$ObjectID		85
 		Type			"checkbox"
 		Name			"explicitInitialValue"
 		Prompt			"Explicit Initial Value"
@@ -1753,11 +1964,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		62
+		$ObjectID		86
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  63
+		  $ObjectID		  87
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -1765,38 +1976,38 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		64
+		$ObjectID		88
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  65
+		  $ObjectID		  89
 		  $ClassName		  "Simulink.dialog.TabContainer"
 		  Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    66
+		    $ObjectID		    90
 		    Prompt		    "Trajectory Parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    67
+		    $ObjectID		    91
 		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
 		    Name		    "externalSettlingTime"
 		    }
 		    Object {
-		    $ObjectID		    68
+		    $ObjectID		    92
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "settlingTime"
 		    }
 		    Object {
-		    $ObjectID		    69
+		    $ObjectID		    93
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "sampleTime"
 		    }
 		    Object {
-		    $ObjectID		    70
+		    $ObjectID		    94
 		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
 		    Name		    "resetOnSettlingTime"
 		    }
@@ -1805,21 +2016,21 @@ Library {
 		    Name		    "Tab1"
 		    }
 		    Object {
-		    $ObjectID		    71
+		    $ObjectID		    95
 		    Prompt		    "Input/Output"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.CheckBox"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    72
+		    $ObjectID		    96
 		    Name		    "firstDerivatives"
 		    }
 		    Object {
-		    $ObjectID		    73
+		    $ObjectID		    97
 		    Name		    "secondDerivatives"
 		    }
 		    Object {
-		    $ObjectID		    74
+		    $ObjectID		    98
 		    Name		    "explicitInitialValue"
 		    }
 		    PropName		    "DialogControls"
@@ -1853,7 +2064,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    75
+	    $ObjectID		    99
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Real Time Synchronizer"
 	    Description		    "This block slows down the simulation trying to match the period specified \nas parameter (in se"
@@ -1861,7 +2072,7 @@ Library {
 	    Display		    "disp('Real Time Synchronizer')"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      76
+	      $ObjectID		      100
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "period"
@@ -1886,7 +2097,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    77
+	    $ObjectID		    101
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Simulator Synchronizer"
 	    Description		    "This block synchronizes with the external simulation on a simulator \n(only Gazebo is supported"
@@ -1896,21 +2107,21 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      3
 	      Object {
-		$ObjectID		78
+		$ObjectID		102
 		Type			"edit"
 		Name			"period"
 		Prompt			"Controller Period (in seconds)"
 		Value			"0.01"
 	      }
 	      Object {
-		$ObjectID		79
+		$ObjectID		103
 		Type			"edit"
 		Name			"serverPortName"
 		Prompt			"Server Port Name"
 		Value			"'/clock/rpc'"
 	      }
 	      Object {
-		$ObjectID		80
+		$ObjectID		104
 		Type			"edit"
 		Name			"clientPortName"
 		Prompt			"Client Port Name"
@@ -1932,11 +2143,11 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    81
+	    $ObjectID		    105
 	    $ClassName		    "Simulink.Mask"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      82
+	      $ObjectID		      106
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "tol"
@@ -2153,7 +2364,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    83
+	    $ObjectID		    107
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Clock"
 	    Description		    "This block outputs the current YARP Time.\nIn a nutshell, this block outputs the equivalent of "
@@ -2177,7 +2388,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    84
+	    $ObjectID		    108
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Read"
 	    Description		    "This block behaves as the command 'yarp read'. \nBy default it has the option 'Autoconnect' act"
@@ -2195,35 +2406,35 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      6
 	      Object {
-		$ObjectID		85
+		$ObjectID		109
 		Type			"edit"
 		Name			"portName"
 		Prompt			"Source Port Name"
 		Value			"'/portname'"
 	      }
 	      Object {
-		$ObjectID		86
+		$ObjectID		110
 		Type			"edit"
 		Name			"signalSize"
 		Prompt			"Port Size"
 		Value			"1"
 	      }
 	      Object {
-		$ObjectID		87
+		$ObjectID		111
 		Type			"checkbox"
 		Name			"blocking"
 		Prompt			"Blocking Read"
 		Value			"off"
 	      }
 	      Object {
-		$ObjectID		88
+		$ObjectID		112
 		Type			"checkbox"
 		Name			"timestamp"
 		Prompt			"Read Timestamp"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		89
+		$ObjectID		113
 		Type			"checkbox"
 		Name			"autoconnect"
 		Prompt			"Autoconnect"
@@ -2235,7 +2446,7 @@ Library {
 		"t_string"
 	      }
 	      Object {
-		$ObjectID		90
+		$ObjectID		114
 		Type			"checkbox"
 		Name			"errorOnConnection"
 		Prompt			"Error on missing connection"
@@ -2260,7 +2471,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    91
+	    $ObjectID		    115
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Write"
 	    Description		    "This block behaves as the command 'yarp write'. \n\nBy default this block opens a port names as"
@@ -2273,14 +2484,14 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      3
 	      Object {
-		$ObjectID		92
+		$ObjectID		116
 		Type			"edit"
 		Name			"portName"
 		Prompt			"Opened Port Name"
 		Value			"'/portname'"
 	      }
 	      Object {
-		$ObjectID		93
+		$ObjectID		117
 		Type			"checkbox"
 		Name			"autoconnect"
 		Prompt			"Autoconnect"
@@ -2291,7 +2502,7 @@ Library {
 		"';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val prompt_string"
 	      }
 	      Object {
-		$ObjectID		94
+		$ObjectID		118
 		Type			"checkbox"
 		Name			"errorOnConnection"
 		Prompt			"Error on missing connection"
@@ -2314,7 +2525,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    95
+	    $ObjectID		    119
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Errors"
 	    Description		    "Computes two kinds of errors. The first is just the difference between x\nand y while the secon"
@@ -2458,7 +2669,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    96
+	    $ObjectID		    120
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Holder"
 	    Description		    "This block holds the first input value during the simulation."
@@ -2695,7 +2906,7 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		97
+	$ObjectID		121
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyActuators.png'),'center')"
       }
@@ -2727,7 +2938,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    98
+	    $ObjectID		    122
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Set Low Level PIDs"
 	    Description		    "This block sets the low level PID values for the robot actuators.\n\nThe PIDs can be stored in "
@@ -2749,7 +2960,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      2
 	      Object {
-		$ObjectID		99
+		$ObjectID		123
 		Type			"edit"
 		Name			"WBTPIDConfigObjectName"
 		Prompt			"WBTPIDConfig Object Name"
@@ -2757,7 +2968,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		100
+		$ObjectID		124
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -2783,11 +2994,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      3
 	      Object {
-		$ObjectID		101
+		$ObjectID		125
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  102
+		  $ObjectID		  126
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -2795,19 +3006,19 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		103
+		$ObjectID		127
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Array {
 		  Type			  "Simulink.dialog.parameter.Control"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    104
+		    $ObjectID		    128
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "WBTPIDConfigObjectName"
 		  }
 		  Object {
-		    $ObjectID		    105
+		    $ObjectID		    129
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "pidType"
 		  }
@@ -2816,10 +3027,10 @@ Library {
 		Name			"ParameterGroupVar"
 	      }
 	      Object {
-		$ObjectID		106
+		$ObjectID		130
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  107
+		  $ObjectID		  131
 		  $ClassName		  "Simulink.dialog.Button"
 		  Prompt		  "Toggle Config Block Highlighting"
 		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
@@ -2876,7 +3087,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    108
+	    $ObjectID		    132
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Set References"
 	    Description		    "This block sets the references for the robot actuators.\nThe type of control mode is specified "
@@ -2893,7 +3104,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      2
 	      Object {
-		$ObjectID		109
+		$ObjectID		133
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -2925,7 +3136,7 @@ Library {
 		" maskStr"
 	      }
 	      Object {
-		$ObjectID		110
+		$ObjectID		134
 		Type			"edit"
 		Name			"refSpeed"
 		Prompt			"Reference Speed"
@@ -2937,11 +3148,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      3
 	      Object {
-		$ObjectID		111
+		$ObjectID		135
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  112
+		  $ObjectID		  136
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -2949,18 +3160,18 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		113
+		$ObjectID		137
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Array {
 		  Type			  "Simulink.dialog.parameter.Control"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    114
+		    $ObjectID		    138
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "controlType"
 		  }
 		  Object {
-		    $ObjectID		    115
+		    $ObjectID		    139
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "refSpeed"
@@ -2970,10 +3181,10 @@ Library {
 		Name			"ParameterGroupVar"
 	      }
 	      Object {
-		$ObjectID		116
+		$ObjectID		140
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  117
+		  $ObjectID		  141
 		  $ClassName		  "Simulink.dialog.Button"
 		  Prompt		  "Toggle Config Block Highlighting"
 		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
@@ -3048,7 +3259,7 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		118
+	$ObjectID		142
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyModel.png'),'center')"
       }
@@ -3080,7 +3291,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    119
+	    $ObjectID		    143
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('Dynamics.png'))"
 	  }
@@ -3111,7 +3322,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		120
+		$ObjectID		144
 		$ClassName		"Simulink.Mask"
 		Type			"Centroidal Momentum"
 		Description		"This block computed the 6 element centroidal momentum, as defined in:\n\"Centroidal dynamics of a huma"
@@ -3127,24 +3338,24 @@ Library {
 		RunInitForIconRedraw	"on"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  121
+		  $ObjectID		  145
 		  $ClassName		  "Simulink.dialog.Group"
 		  Prompt		  "%<MaskType>"
 		  Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    122
+		    $ObjectID		    146
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
 		    }
 		    Object {
-		    $ObjectID		    123
+		    $ObjectID		    147
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    124
+		    $ObjectID		    148
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -3280,7 +3491,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		125
+		$ObjectID		149
 		$ClassName		"Simulink.Mask"
 		Type			"Get Generalized Bias Forces"
 		Description		"This block retrieves the generalied bias forces of the robot.\n\nAssuming DoFs is the number of degree"
@@ -3295,24 +3506,24 @@ Library {
 		RunInitForIconRedraw	"on"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  126
+		  $ObjectID		  150
 		  $ClassName		  "Simulink.dialog.Group"
 		  Prompt		  "%<MaskType>"
 		  Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    127
+		    $ObjectID		    151
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
 		    }
 		    Object {
-		    $ObjectID		    128
+		    $ObjectID		    152
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    129
+		    $ObjectID		    153
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -3493,7 +3704,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		130
+		$ObjectID		154
 		$ClassName		"Simulink.Mask"
 		Type			"Gravity bias"
 		Description		"This block compute the generalized bias forces due to the gravity\n\nAssuming DoFs is the number of de"
@@ -3506,24 +3717,24 @@ Library {
 		RunInitForIconRedraw	"off"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  131
+		  $ObjectID		  155
 		  $ClassName		  "Simulink.dialog.Group"
 		  Prompt		  "%<MaskType>"
 		  Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    132
+		    $ObjectID		    156
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
 		    }
 		    Object {
-		    $ObjectID		    133
+		    $ObjectID		    157
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    134
+		    $ObjectID		    158
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -3695,7 +3906,7 @@ Library {
 	      SFcnIsStateOwnerBlock   off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		135
+		$ObjectID		159
 		$ClassName		"Simulink.Mask"
 		Type			"Inverse Dynamics"
 		Description		"This block compute the inverse dynamics of the robot.\n\nAssuming DoFs is the number of degrees of fre"
@@ -3715,24 +3926,24 @@ Library {
 		RunInitForIconRedraw	"on"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  136
+		  $ObjectID		  160
 		  $ClassName		  "Simulink.dialog.Group"
 		  Prompt		  "%<MaskType>"
 		  Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    137
+		    $ObjectID		    161
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
 		    }
 		    Object {
-		    $ObjectID		    138
+		    $ObjectID		    162
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    139
+		    $ObjectID		    163
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -3760,7 +3971,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		140
+		$ObjectID		164
 		$ClassName		"Simulink.Mask"
 		Type			"Mass Matrix"
 		Description		"This block retrieves the robot mass matrix.\n\nAssuming DoFs is the number of degrees of freedom of th"
@@ -3773,24 +3984,24 @@ Library {
 		RunInitForIconRedraw	"on"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  141
+		  $ObjectID		  165
 		  $ClassName		  "Simulink.dialog.Group"
 		  Prompt		  "%<MaskType>"
 		  Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    142
+		    $ObjectID		    166
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
 		    }
 		    Object {
-		    $ObjectID		    143
+		    $ObjectID		    167
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    144
+		    $ObjectID		    168
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -3899,7 +4110,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    145
+	    $ObjectID		    169
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('jacobian.png'))"
 	  }
@@ -3930,7 +4141,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		146
+		$ObjectID		170
 		$ClassName		"Simulink.Mask"
 		Type			"DotJ Nu"
 		Description		"This block computes the product between the time derivative of the Jacobian of the specified frame and"
@@ -3951,7 +4162,7 @@ Library {
 		RunInitForIconRedraw	"on"
 		Object {
 		  $PropName		  "Parameters"
-		  $ObjectID		  147
+		  $ObjectID		  171
 		  $ClassName		  "Simulink.MaskParameter"
 		  Type			  "edit"
 		  Name			  "frameName"
@@ -3962,11 +4173,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    148
+		    $ObjectID		    172
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    149
+		    $ObjectID		    173
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -3974,22 +4185,22 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    150
+		    $ObjectID		    174
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    151
+		    $ObjectID		    175
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
 		    Object {
-		    $ObjectID		    152
+		    $ObjectID		    176
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    153
+		    $ObjectID		    177
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -4127,7 +4338,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		154
+		$ObjectID		178
 		$ClassName		"Simulink.Mask"
 		Type			"Jacobian"
 		Description		"This block retrieves the Jacobian of the specified frame.\n\nAssuming DoFs is the number of degrees of"
@@ -4144,7 +4355,7 @@ Library {
 		RunInitForIconRedraw	"on"
 		Object {
 		  $PropName		  "Parameters"
-		  $ObjectID		  155
+		  $ObjectID		  179
 		  $ClassName		  "Simulink.MaskParameter"
 		  Type			  "edit"
 		  Name			  "frameName"
@@ -4155,11 +4366,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    156
+		    $ObjectID		    180
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    157
+		    $ObjectID		    181
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4167,22 +4378,22 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    158
+		    $ObjectID		    182
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    159
+		    $ObjectID		    183
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
 		    Object {
-		    $ObjectID		    160
+		    $ObjectID		    184
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    161
+		    $ObjectID		    185
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -4293,7 +4504,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    162
+	    $ObjectID		    186
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('forwardKinematics.png'))"
 	  }
@@ -4324,7 +4535,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		163
+		$ObjectID		187
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4341,7 +4552,7 @@ Library {
 		"', 2, 'Joint configuration')\n\nclear escapedFrameName;"
 		Object {
 		  $PropName		  "Parameters"
-		  $ObjectID		  164
+		  $ObjectID		  188
 		  $ClassName		  "Simulink.MaskParameter"
 		  Type			  "edit"
 		  Name			  "frameName"
@@ -4352,11 +4563,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    165
+		    $ObjectID		    189
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    166
+		    $ObjectID		    190
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4364,22 +4575,22 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    167
+		    $ObjectID		    191
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    168
+		    $ObjectID		    192
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
 		    Object {
-		    $ObjectID		    169
+		    $ObjectID		    193
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    170
+		    $ObjectID		    194
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -4492,7 +4703,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		171
+		$ObjectID		195
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4516,21 +4727,21 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  7
 		  Object {
-		    $ObjectID		    172
+		    $ObjectID		    196
 		    Type		    "edit"
 		    Name		    "baseFrame"
 		    Prompt		    "Base Frame"
 		    Value		    "'root_link'"
 		  }
 		  Object {
-		    $ObjectID		    173
+		    $ObjectID		    197
 		    Type		    "edit"
 		    Name		    "endEffFrame"
 		    Prompt		    "End Effector frame"
 		    Value		    "'l_sole'"
 		  }
 		  Object {
-		    $ObjectID		    174
+		    $ObjectID		    198
 		    Type		    "popup"
 		    Array {
 		    Type		    "Cell"
@@ -4544,7 +4755,7 @@ Library {
 		    Value		    "Full Constraint (Position and Orientation)"
 		  }
 		  Object {
-		    $ObjectID		    175
+		    $ObjectID		    199
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
@@ -4552,7 +4763,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    176
+		    $ObjectID		    200
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
@@ -4560,7 +4771,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    177
+		    $ObjectID		    201
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
@@ -4568,7 +4779,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    178
+		    $ObjectID		    202
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
@@ -4581,11 +4792,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    179
+		    $ObjectID		    203
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    180
+		    $ObjectID		    204
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4593,34 +4804,34 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    181
+		    $ObjectID		    205
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    182
+		    $ObjectID		    206
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    183
+		    $ObjectID		    207
 		    Prompt		    "Block parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    184
+		    $ObjectID		    208
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "baseFrame"
 		    }
 		    Object {
-		    $ObjectID		    185
+		    $ObjectID		    209
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "endEffFrame"
 		    }
 		    Object {
-		    $ObjectID		    186
+		    $ObjectID		    210
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "optOption"
 		    }
@@ -4629,25 +4840,25 @@ Library {
 		    Name		    "Container8"
 		    }
 		    Object {
-		    $ObjectID		    187
+		    $ObjectID		    211
 		    Prompt		    "WBI parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    188
+		    $ObjectID		    212
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    189
+		    $ObjectID		    213
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    190
+		    $ObjectID		    214
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    191
+		    $ObjectID		    215
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"
@@ -4788,7 +4999,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		192
+		$ObjectID		216
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4814,14 +5025,14 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  3
 		  Object {
-		    $ObjectID		    193
+		    $ObjectID		    217
 		    Type		    "edit"
 		    Name		    "solverName"
 		    Prompt		    "Solver Name"
 		    Value		    "'/cartesianSolver'"
 		  }
 		  Object {
-		    $ObjectID		    194
+		    $ObjectID		    218
 		    Type		    "edit"
 		    Name		    "dofs"
 		    Prompt		    "#Dofs"
@@ -4829,7 +5040,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    195
+		    $ObjectID		    219
 		    Type		    "popup"
 		    Array {
 		    Type		    "Cell"
@@ -4848,11 +5059,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    196
+		    $ObjectID		    220
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    197
+		    $ObjectID		    221
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4860,33 +5071,33 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    198
+		    $ObjectID		    222
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    199
+		    $ObjectID		    223
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    200
+		    $ObjectID		    224
 		    $ClassName		    "Simulink.dialog.Tab"
 		    Prompt		    "Block parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    201
+		    $ObjectID		    225
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "solverName"
 		    }
 		    Object {
-		    $ObjectID		    202
+		    $ObjectID		    226
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "dofs"
 		    }
 		    Object {
-		    $ObjectID		    203
+		    $ObjectID		    227
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "optOption"
 		    }
@@ -4995,7 +5206,7 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		204
+	$ObjectID		228
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyStates.png'),'center');"
       }
@@ -5027,7 +5238,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    205
+	    $ObjectID		    229
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Get Limits"
 	    Description		    "This block provides the joint limits gathering data from either the Robot's Control Board or UR"
@@ -5051,7 +5262,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      2
 	      Object {
-		$ObjectID		206
+		$ObjectID		230
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -5071,7 +5282,7 @@ Library {
 		"imit blockParameters limitsTypeBlockParam"
 	      }
 	      Object {
-		$ObjectID		207
+		$ObjectID		231
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -5096,11 +5307,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      3
 	      Object {
-		$ObjectID		208
+		$ObjectID		232
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  209
+		  $ObjectID		  233
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -5108,17 +5319,17 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		210
+		$ObjectID		234
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Array {
 		  Type			  "Simulink.dialog.parameter.Popup"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    211
+		    $ObjectID		    235
 		    Name		    "limitsSource"
 		  }
 		  Object {
-		    $ObjectID		    212
+		    $ObjectID		    236
 		    Name		    "limitsType"
 		  }
 		  PropName		  "DialogControls"
@@ -5126,10 +5337,10 @@ Library {
 		Name			"ParameterGroupVar"
 	      }
 	      Object {
-		$ObjectID		213
+		$ObjectID		237
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  214
+		  $ObjectID		  238
 		  $ClassName		  "Simulink.dialog.Button"
 		  Prompt		  "Toggle Config Block Highlighting"
 		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
@@ -5218,7 +5429,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    215
+	    $ObjectID		    239
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Get Measurement"
 	    Description		    "This block gathers the measurement of the specified type.\n\nAssuming DoFs is the number of deg"
@@ -5231,7 +5442,7 @@ Library {
 	    RunInitForIconRedraw    "off"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      216
+	      $ObjectID		      240
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "popup"
 	      Array {
@@ -5258,11 +5469,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      3
 	      Object {
-		$ObjectID		217
+		$ObjectID		241
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  218
+		  $ObjectID		  242
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -5270,21 +5481,21 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		219
+		$ObjectID		243
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  220
+		  $ObjectID		  244
 		  $ClassName		  "Simulink.dialog.parameter.Popup"
 		  Name			  "measuredType"
 		}
 		Name			"ParameterGroupVar"
 	      }
 	      Object {
-		$ObjectID		221
+		$ObjectID		245
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  222
+		  $ObjectID		  246
 		  $ClassName		  "Simulink.dialog.Button"
 		  Prompt		  "Toggle Config Block Highlighting"
 		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
diff --git a/toolbox/matlab/library/exported/WBToolboxLibrary.slx b/toolbox/matlab/library/exported/WBToolboxLibrary.slx
index f02b5434bb5c2b45a8d92f1e16fd33edeb7522be..91441fdebcb348fee849dc01b487db5d5063b83c 100644
GIT binary patch
delta 80824
zcmV)9K*hhY(IDXCAQMna0|XQR000O87Ke*V2$g1zXps{$e-mfJSfXZ6TVfQW@vSR&
ztO_k@>llA8lnv*y_|~3tdhWTmH(4C2(%XYJLdiKIL5Mt%T;)O*bM%@m{TcF%Win@_
zk}yXt800O|gx8cS4NqFtpsfJobw<)qUeD3a+L~f)_zo&&f=(eja;tR3Y<JZKt{MMg
z1>h(QV_bn{e>t-Z_lABwI-;Xx&PU7oTbIrt=NL+;Kw5)IK=7}&61J`3>WdS3rnaCf
zb5-n^QF$<8R5eW#G!v)m@)P{NUcI<heIff%aX`a-n1w>=HeHF0X1Y!AIhY)aQ?8-I
za<3~vhv+BfZSwG#Em0bUWa@{JAI4c2(TLE=-A95iY2NpS!&&L{Q|TSsh)u5=!9G*T
zj9quXyA_b%w`slwEehq5T~K4b>WKXx@YW}hPe?{$dK1&>>@48Pzy;8-7yYiKB$&=Z
zS9pYa{<w<ibKmsF@h51Q-=C#Re*jQR0|XQR000O87Kf9p0sjIPhm)-W+7cCqi%Tyr
z1jaIJ002{M0{|HSm*FM|8-MM6YjfK;vgmjJ3YO1iE17i^y(N1xIps$@@!mN0wVcU4
zJ3A*uOOVA4MQTaPj%RB2x8H66d;=gr$&QkEYS*zPG#-scqtVZo|NVLHS~nyJ9pC$D
zyVYoJTf`gt6UV#$X?qz>pAWbH`_<OVQ-4C-6L0DVb31~j)-PF*SAScU_42KA71+TY
z{tkbgTkq^S`DuG(-;l}S%ns~vM1t46>+M(XN6+_1hbJd5Uz`^pct4kS3$p#{!1c$U
z_$Pv<^h@tkc<J*t+pm1D+-@}X7vzFW0}{?IojLT|Y&1K)X0ustdj`k|oCztzh<ZM9
zLi@@k`>spdhtO&|Eq^yVKEJ$JdieYHEBM7~m7AQ}pHGk89y>096_K~ZyN+htuUhTQ
z6wj{yMaGeJ9{39eb1?bfcoY9N#GTo;*!L$#uqoTtp=*aBU%oS6x`3v}!BMt7>s8dR
zq}R5%SJpb$WoBI`;r=*sZU~3{Y1{R$ow4o0+LDzOH<glD0)H^^mw@8!SHHG<gGO`5
z+U?=bR*(HV?DreZ-|}6R7DUPSAb>TIpt!1zcvU5kwExUxe{n(wCs$frGdH6w#Q@Eo
z`=OIt;usFd_N%vK8p*&uI1`|UxV_^=o%Z&to^+Hq#JQeD`t5=4;CL3>@8;3^f+0<X
z=+~bYt{;%#z<(~`xhuwV5yA}3E%O;poX8JKwB3`;j<%LhOqaTIYazEVF6D3e{f|c-
zEw946PzL|jw<pL|PmT)Ut=+Z^=Jn@@cu`nBQmr04Q~ljx@f2mi|Ka=dV_@KZQ0k%G
zXmtnOPH(sy|CDudHl2nfDo^40pwVmhI)hHD)9ti}oqydOYtZNpo4wsZv(?>&ull{t
zZ_0hn|6Ta&(D$a!^{MUI*CZH`D1!SZOd#Xgy<bf1h`ez^SR~vcxj)|#xDzrHNO?9~
zW>beu4(^WW#kl?I$zR>*$NgpG|MfchQ3Y}Y-D?9~Tz-h*@G2Tb_I$DZs@v)Aw%YCH
zP%;j2`F|xHkJD--Bb|8TfXsm=_5jnlVPC#bAnYYO4^k|SU}7%8IUf3Osteblu;ISv
z`4MIK^49!v$EzML+=Xky4o%q2I}x=9W=U^R#rQM-7F!&_47^Y|I5s`^g9vua#zU)a
zc|=0z+Pkp5>#EUxe-WN}uY&+iRaUmha+hllSbyVzGjRf-XPBk!RxfJ=8w5K?kD0RJ
zB?+T*A6Wg#n5|zp2ihep$#ySD=(|gtMkN69IJh>I%>bojau!TTAf4sw&tyyo1d@!%
zXFAc!EwuyZcS=ur%976Y)DAu^7qS*q0L5SF_B#vd@U-DM$hmU@H)*KV9EfEcI18NO
zD1QpzL{&ju`o4Q$OX&p|L$nMP4Y)kRP?el1IhpYGK&zkLd$3cdc35ov@`Z>eyrg#-
zMZTO_Bu$W6ZNKu6O}V0JoZHKgG7A{HCu;C+Ilm&o*>n_<MVP;P)8RaO5zhSRU^$%v
z3Y_0z$W~L;@&t%3xS^N1uw6XrTRV(mn13)Y`ej&HhB8mXYh12Jgo_RQse?D8WKSrK
zeei=%;ldu1k-rSa(D-!!^6maX@^NN+WIOQ^ZU?whn6O>Ga>&>ZCWk)Ue85bklYs^(
zi?El?*uQ~W)0VV5B|zficn-k8ZzT=!m*jq;k45?5Z=yNyr3LU3)=)_G&<?J^F@K?F
z?t)B~l$U}$q5yd9;q7v`WVpK_il&HwwBe<nY{D<{gUG=~Fl$#IBprpVS%n$a;>@FG
zN6{x06yTl97QFrHOxhy~kpbKTuTS5`jTKaJJoc(v9r#Oc0$gbS3ZC#TeU`(2;?tIC
zenH&0d8?Uy#pj#9XG|kK#)|1ic7G6Y)qu2#zbLkN`J#M?UdDJr%nGiw2tPltqw$Qf
zJ?Y&?8!{XoyS}ZWaNhVbaITr&WNv#)F)z(Dtzx^GrstH}gnTvA>a|PH?Di|$yQ^q=
zv<%oQ|5Zz}fr7><8f=hZD}dhk?u4H4%H9bTC@Y)ALfH1J0G^}Xbw&HP@PBG>)!ps~
z;~5-g9XjAb`<X}J@|GWb-WpoMbU)09w;#+ayPix&a3?ySFMY;-l&wDmPK5d{DysM&
z<g!Du#yQRdBsdSyS3$s|PtM}Vzx80BCwVC47;pV+m{CRFh(Y$OV`9=F-UfNC-iz|l
zeHrsd5)corTd6REl4Pzay?<@^3rs1r3cyazib9rZ8vKdN4+(si46`2u_FYE#QEV7)
zTgWed+J0ku6V$IH@1dWzTR*h2`aG^kNi`;e?W_{G)on-=X>3dwEU!T+Pi?*ciO8#%
z({8R8(Y%J5^BVas2sej^g%0!LbaE*)imJ0h%lK|+RkVz6x&i|$wSPNyK9dQGv(-&c
zJSTE&SFiD@{Tam8Q^(_?^7Epes@R&p(0Zz7{}^A+P)`mVw|WLZ4<UWl-H?AAhB%G*
zI&U?9Xtjqwz`QEvl<%T+g_J<xSO@mPXHqa<P*G2n17MQ<J8~PrV;5LL{EDnXmgXKX
z>}zdSW~m97aux|P$$#^Xl4L3Qv#V#nVjf%=_Py~k0R9st@A4vF6Kyt!xhy{&rL%%&
z6Vg?Z9Batl9h!~*Zjb#d$M)bMGV>>>QV4WT;%H_s$T^TV2$3X#N)12CgFyoSFz~}L
zfdiQo4IFOF!L^|G-D@AN-5Ffv?|jdm*bAfwC7W@t3B2!}F@LI=Vx(RM%P_hi*G}%9
zlwj)u7925DZNEB(7p@9~88mJHO%6`<PN>!?Pm;<sfY;~(Zsp6s_72=n)g+S9F?t~!
zYzHOI_ue@EE2k4If%5?`4;bmAl!5A9YXNvh8$$`UY*e71mhPQh&3gw0r;{_)y>mpy
z&ODZmEBG1}SAR~t#S(DvYqVo6i%R?)z_H`uMFH4mC+9Q$K<jb=7--M`R6)FT<_=Ys
zQr%)v^;T*QJTBX~ij|}Fqp<7>dO?W%Dk=%=hNOtnYL3E-OCk>D%nb(Ox_K%NDH~HA
zEJ(W7z&5gwR5C;q!goq`f<R}>h~Z4l0Z=uew}kAhs(-pY8l7skghRT3W0mw?eR2Ha
zgz(^XekXu^{Y91x`+{~CBw7YuqM>1(Yusdrzf?E&*<UI-D7EV(t)q(8Y!YevyNdR?
zZDJrUV6_4&-7f|*3Flh#I$JQ_1<w`W#_Thyy{!i2O5R_UTui(pTozDIkWER%R(08Y
ztEtK75q}GFuJ9Fc`{DzLOB56QBzXfJ5_s3<UqHiBSNH;ic6n>?f$zJ-_QL(}z=@^~
zaVLO&Y^DW$4!>WJWyq1cA6!F6tHCEv1cPo+0!rTGWbOxd`w@MWEf<EpP$l3>z3}}c
z@k<=<ltcL4po@1tJnI(Gk#lo!hm(S>j+jo#pnnsPAV<I)sWlj$1aN<ffnUC$6ec|i
zd2M(V7v$s=8$qj@gJ?E!n8nh)W6uRbuj@*A;KYN|L#UCXn#lq#0GSRqa=#<d$n_WW
zHeN<tfI6$}foc^`mu?JRIqDIa+DkX07O^niiWD=<v!P<p!WLGJ$<T7*-Pi#<Vff8h
zjenq+Xt`F2+lDJQo0`bz`K@aD+MC(lm`o1r@uy=r+yZ+|nK<n64BGwd`d4<U)2dz!
z12CA}C<>?_U6#t#L%jaH04~MoDPD}uxyZ8F%0c3m_$b8pO2Fu52@>$f%j$PHu(0vs
zu2Qb1tulI<zEa~MWcb^!0E2+JWk9ST-hU@O^c|5!G^0;}?N@Dd5gK;--GN$8hi5UR
z(^SM#3ueCSX4a?H0H8Dmcn^t&=!QpGw=Hx3qTRD;zxI}Me$3dmzM}>^3ooGSoEuT8
zFU4(Fg$u<MSIuyp=-7?IeQ$Df<%X9&_EouV`BheZ#->we><}-ajJFNbKD5K?cYj<0
zc4~vf^bX<pOqI)%UE9^~MrR6K+J^Nwp0Xj;`vLo7E(Isvj08?(O#^>!!46y#r9hf;
zGd$X{fwPjaIdi<^9G3)HF|+cv+aHgqSJ;&wl7pp#$3}z&ZCSXbtMedNOZt#dsXZ<(
z&w<G}a2FDEimK8fJ7EOu=<aYv#($qEqb@j9loyZU5XEq)55z9o6L0#?_DrEJ&<ji-
z=z`dj12XjkW@DpHA|~oWW|^A;6Ic}<XJQPVQ#n%TTRZUbc2dEfL})&DY_}FTzJNbC
z(JX#DQEw(w;KXSQ&aYVybZ<u^u3cjMpTeq7Z(eZZ(EJD=k%W!XgXE0Wmw!C)7X|_X
zY~&mTAPsxh^cD?K?5?Idx`v{o9UMe@dt{eXA=8PvxmbF@oQQreMMuM0YIEj^$2HNv
zINa=`yQkdBg3MeOgu1a#{<RDv^nMUIca=ve8nGx;CEr8;J2Lsl_{g!ZJwJ?`vDO5c
zAE`MUvjm(6bGo~_=-@XXnSWe{C*CL+YhxZM7|ldSqf<?E#1Q!0MB*FW=^`?Qj4cnE
zaNJ?51X#7-)cS?YW(0r6w5iRgoNIh8zV<>8#8dN!5tll(qrmx$(_gxFGI-UrxzLI+
zQB&8y)u(`{)4uend<R=|qYIaCV)OwSgHWiqDG69^p88;vA182CIDbjNfJu(2>fx;)
zYF`-%^yLyBbB+r;VFFHtZff^3n{*17!;wB%d9hWnbb_OzdPEb{BV%|+f+UP^(H-h^
zI2l#J{z5QLg^@b~G4WKB+Hc?<o*a+8L)&%H_ehVBIKYXwI03PALip`Rf!ULN-*xxH
z4_YT3_4M`?aZjCaPJf*Q^$<2@o>C}I#CNR*Ic4B7m$VrmdNylwGDH<TT;N7#w68~n
z0cDy#k_5gXN*z@0(0kAM_maBs<I`M^2oIJad+Fr1Lu;8AzE4FbKZq{Kzn4xxlFsy`
z;t*}rwS=F%pV-Nno-~pJqIV-ua)gS#chozS`sPtp5WP&oC4Z9$bS~Ol*Zi@V&^Dg&
zYhpS<Se0o9@4ZhR+$kuL%tlM?_eFkOZe+!GY%;KMC!@RhmG9y=_4}ayOz(U=gQy7(
zbp)5#=#Q_88L}cx(SzBtscva%k4e1$Ire1G(V08J_oYkhkm#LVd>@^7^zqJ2-r7TA
zyg>vfk1=8#hkyFyDqSj|IsUSbJ~rF05KsHw<bo`0M>$E@41nZX`OAR7N+<gve5Ao=
zm})*Nnpdh9j^BIBkX@=Uz1KJBHi;c*GU4|g`MjXa8`bteOH@N)&;h?G>0Lu7F-G2e
z;$fhFgd1ki*E^qHCb7AQ8&{}kO+PZ|Dg^@Wi#PE*JAYaRwhKZRV8{qTnHi<Mj%N16
zzcoV@h(XkG9B>`@_5`I`<NZo!uupXZOiPs5*tC1%;{1qW#pqF-V?T!@J^rh$Mr>=U
z5#QLs1ZGQAT11c&CI?P*PJ%;fE*+}Yl{OyDScF4gulWi3oOO!v){@3=eN_LMv}O<$
z7MlcuzJIgy2RP!9*Sg(P*DQ4Bs~+Gj>bt{eKl10!m{Z&KE8GYpNWP$VRWC7sJHc~(
zbAejjOCQ|;C)C43=>mvwui@<29>EaV_g<oltAhIA2NR~|ug1k_=1ijtOv3<k+(-A#
zD!m}Z1K)j7Oo$NR&4(j$<BYknsndRb<wVxc#D61!T6K6yO%vKDCEHx<tYiT+PD{4A
z&Uq=e*Eum+7_Bpt1<*S+SqRN@!$9ht909E6*<q08G|ERbp;87?=b$o3^P|e(bPp?Q
zeIAenJTXu0&uID`Il3g9hkLILmp`{7{bli|j23fv{ci>%+*R%CxubbK7o-HmCC%cn
z@_+5wOktBxrXanYO)*2pSr9uQ*e;v}@4DKQA?h>{Qz{=DOkIOYI@cv`Au<aMrqvz+
zVqp6GIP<vReD3?ja5c?-(l~EqtB%G=&%?i4&f}+jxbM3DEtzb;qA&gmT3XoGupz(L
zL2TxR4w;eridvg2$Ft@*l>S_(&xwz5_J8Q^ad4M>QR&-~M~UO@yVqzoJR7rM6CG!w
zWJwvFTSy6y_FiqOS}st(Q+V7vb4GE8%MiG++|NM!>~(dc*^bdCKo!h}4PK9Dl@1fw
zPZYR^8tv#kg~kMpwy_ec3Nv{qI0PZdfmDq{Pbs^X!s$mR&Ld#EAFuG63TP0VPJiYL
znwkU|GdxBml%(E3d{!?P+-)=2ql?QAutVA1?P=~VgDg$Ft_v}6^kQF@$kp`38@tO1
zc?10fIFA#LWfd^+R;7|CGnI`A=FzGPyV}SMdgQJMKV1#}^}NmmK9H*$huqeH#3RGf
zZiKbbhkXFB3yZ*WWZVyC4nU%erGGIKFY<T}r%o7>$*MDndwUHVdA#&Y{jLwGR&R9j
z_Wa~6)!Ef^yB^(z5#hJQG0pRG9Yl@DRX^6=9<rbc;6|!;KV!)Jgq(TqT_txtwLhV!
z^xXC)m@ncJ`4~jE6`ix)fVMnCO@#n6{sdB23`X~F-<wdEAA79fTX{+5uz%ax0RdGX
zCrm;3F`BFIcR!?leiS8ql{%{vXI3e1qkV&E2P)eE=jQ%)8gWLp<3amlLH3{W@>rH2
zAdG4>zCEP=cRCGa34cUwnUzWh12yh`28FVSJ`85Zg0t#)ETS1hD90FoV7Zu5lvuV0
zLMq6<AXQJSC~mB_1~}ABJAX}@z+z!R^kuIBwYF7!dscg%+Q6M=nvF~Rwc1sy$jGYS
z5QzT7xr>pWmZN_e3||lqOAAB_-&FOKj7tL<V|F-N!r>0?kmYH2fG?n6NyS1fk7dAB
z;=!t^?s#is(?bpVI9P^n95{5rcy@OZpMSb9$;YR5DJ5K~x00Y`27jSRZ9<`{7Syy3
z6bMk-U|ej{ZeJ3Xj37&bi4KRW<-?6|oF|r{E93*FA(^<$fW$q(E5;jv^n;f-)fz-0
z58lZHUbLERp-!}BhL^VJZBl+1_qEf{fYh;A2%b;EN$NhK+5=&K;%5|fzhs-1&CV&8
zg_Rv)-p&OLmp28cseccW%#*dC&wcl9gi*IBR1xzzjE>P>4EtDP22A&LJoak9#`I8s
z^dqXT1}XvSzgW7`xKHT>P|Z{uocaychGx-&K-6<)sW$}Yq)R<lMp3XDG>hW<#a^)+
zJejNYaEvi{D|RuKz96+b*blB(>*K)vbaJ*LGUtnxH{{eF2Y*uSj--nV@^ADSQAANo
z0OMG<lL_VsojPRI$)g%~<=uQAIZ_3WvIltT1eg9N!qWh+HjCHu&#NB}=tPMQiJF6c
z6-y2@=_+MhAi_Crd}GKYqa181TO~lEms$>nw;e@yt~{w#4nlr2>x@^tj<psBQh!F=
zKam@ha!{xC=YNw)Toj}u@?gs~kJDA*Ut0ZV0eDOlP2{NoiYW|VyC8vjsN|teesf*e
zvjuLlA1IQ*%aDlM%XK^2L?sXc^x%$7A#$RM?vi33c@wh0aFnE2OyvQQ+{D|j{&Mk`
zcYirGglDE}0KE9isW5O|1x#;W3T-+pU^SlbUyjXT;eWo}eicN2IjJ!;y=oEq>SG;z
z(Ob6Gn(5_QbDQv1qJxUG5jnu3h$~eL<)8|psUA>K9M*#>ykImBmhjzT#4zZHCRY(V
z|13GX(TH*0asI&92P{iO@a8~AEh2WZDFEl+2ivdSI+*s-6)8A#kf{WxHA|+`y<nHk
z1V2-(PJe7;rQay+tlR{jH?``ftNr=nGJ#*K#-Jri+(dhno2s~T5$uQ`WK!ywKm4ht
z@pR%|l7L;*=CUq#cz|QdsRe_1jGzC|31$eP?l3G5vtbXfFD}{XplVXv14Nm25o4Ey
zQbLEP)C^Fo50w6r;0V)+&{qdW8^`8I%%b7*aDO+9{h@gUG2f4=Fn@kd|7HSGtuD0f
zwler-K-@d-$ynos$H|RlR+OZ;ssi4>qJiWzTDI=+Sb}2dFT)yr#596_R%7!6cR}Vp
zR(c3Yg!Ey0PCh#!MvKMjTjLF2!*lMYo`B9{kXyXR-dpDi3j~DD$7t$)q%`(1n%_3&
zwtpy5il7hZfaR+f>beC0=K)O#25?Dj!AeNjJC+yBj%GZ*6K<+^XP4H=JL~=EwdPbo
zJ_jy`IbA^3Jsj@7INWVoPxs%APM%f2W^-1Bq`;+)oP;8u6W!siaU!IP)_D>mJ4AQD
zTR8XJ1qx0Bby~3GF1xud68QLG(r$J|&VS`agww-vymZ|+#Af+}E9ER9D>qUw<Qcf$
zt1Iv48Z%g(`GTwrw=lqR%d!C|Ha=TKG=$9%u#~sk2wp5bnCy;Bj7idHTedKdc5(ez
zNjg#HK#T&2){b#l_UK@lS*c&K<}08qwCKt57njFQ5JoIlb&7E<WdNcaMVupox_=cK
zN1%CpOX89CA`4fh&KAG*ui;ILzw-)(0X~mERx2*3^OHIqa2_HXm5i&@eR3SqdMNyW
zGoK_nB=FIIr`@uqi947Uk^uDB@tjBtLwP|)i%AqkCzB1#ODqNxEC}`nkg-e0h^Ajw
zCZ^1<lPVc!AmD_&Sk60tE=fq9-+xk@iZ;y4R}+T4$deb}u^*fsjo491Ebp1xAkzo~
z4cRS@Z^B$ltqVd+uGgbrfi$nPJ;*OYJ1`pz)|#9a6CNK6xki_7!M8wXy!RnFwQ(#x
z7R+k@n6yO(?~M0Nhd?<(;T}{mQe2L(*%ar$7mgT!6wO>sbU{wZXXaf<K7U6a$Nqe-
z2?rDrO!*m=#?a>g(Mx6j{KSMEa1eFsU*RBlp&LQasFO1zQr#czpSShI!`w}UG6Un`
zuO-1paz&T$U8Nm5Qc;j%HgU%=uVCpk@Yk`b9z{~7bo<qtqqi2WC$PqpC0gUGdnEkD
zoqSX-Ma(Rf^rYiF1dW*=CV!=0g_cb(vcan7yp6M98DB5$E77qNZH}PR0w!`EriDH;
zT74?RAGz1()IpaeXOp(3U7iPXY#*1KfAy=i+wbgHtxgYq47>2_px?8qifd=4A6JJi
z)*5>$cw|UxrD4f;XY539(jz*t65pi5sQY`#-lRNTM0t>NdqIM;z<)`dJY9H)hhuvo
zuDXiNV??nlLsnyuHsvXsLl-6`E)Gtcy$2~V#0;|IS+4v+swZ$zb&O3<LDq0k?)tUa
z=+S#%$5Q?Fo1(jGG8)@1kyXOQiq_DEXPb2t1*NGZ!>a)Q;)Fcul2-E%&V;@F#Wi-v
z0YP!b#p>5ru8rXo$$#dHw)Q2r`bf4L<T-L3;DUsGW?G`nAlLGC29ms}<q>cnmhwZo
zVElO=t7ufUG><{><7|(>xkb-(Su<5>V*LIC!GP_m!S>NItZIZ*z-FYVe0|}^r$;y)
z+UC^ZHOzAdSg>6$Q!~GGAK&<a^E>86clTY89T-~2#FHE{xPRcNlYgf1+?h;V;eLK0
z8ri(9r)3kug=^nkf*`mb9s)c5geuM}d;F=mk+MyDiHYA7=h1M{yZ5o?moLhbe2Ga^
zrSl#Ucgi#w%G$+PiJqpVlbs%HaJI1jy_B}NSb8+|x*uTM3o;38IStV!J}b#2EgX*N
z=6D+(Bqi&LUw=z@!-aTJWDr)y4n<g+np1|k*EhDiv`adX^lDnh<)DRMzr!kQ7}+7m
z0k?2V8(`XMQRrL2xIU3hfnIR(8De<RrIXL6&+sKd4!g4Cn4@1?^e2~RSu{>6iX~iz
zpH@fY&XtkVGj-!~JcMy$#lZXpE*kq6*w#|TqznVbbbp)d&DJ_9J>b)Gg$nvaXT#L>
z)|DL=tO-f`vt@LOn*2f~sNDBhHbwD$>`pa`f+Q{fo|Vhb|5tnAhd;)vw~&Gf`%K*H
zTfi8Xtfae;Cg?3!4oF!RO=$@e!Rm_AR+*}kbb^;<L9J?MkH~!aS+uQ5k&Ui|m>9{$
zwY*9RzJJoYav1{CWJ$|~m8`3#_%k)xlsjghOX!Y1vhf+g>7ADze}3zP<mvxu{IGl`
zK`BzIlCoF}6>ZTLV(P;5&X$eIFcyVEWcN?m8e{9w?}azPvY*?pj$OZ?ugK6i%^*iG
zp-C=7bOi(8$0ApBxRO3jJf`FlY(%LleTl$h4Sy_3H;P5y+oqJN%Np$krj2FwctU2d
zQnW>6B&v{dW#<e(54fT}nWo{6W!q5w9(xSSmzrn(3Y1_@!GpUa0*nWm^CXUJ48_VR
z7)>Gr!qhP#lPg+{MWT7k%M-LJbm_{kB1xXyw+>A{lGzt0Gv=0gHqF)T;9|}ZeBfWJ
zIDZOO432&NwqMPNE0JJwy%)B$lE5%|7u^R@zwF*_i-%QSjEx^8*CIS~U3(D{UJu-L
ztx2-SY6zeODY?_B;<a>iDZd!*{XU$c4SsF6BG#PRfJ<@oJiggPG!lQuUf>~Br%7fI
zH-(*Fx~K_c@~=t?KBs2pB{kTYk@aYK#eZ~rqDfP=By`PEae@2+5<32k4_3)U&>tn_
zj0j(Uw1knOZ4`&zpw1{QGeap}3`TP~?}se6;(MBKO-du0iO4eIy}v;1Hm?^DUw6x^
zkmE@H#-I&!IOoOX2iBO`ph_+z*@nksN-!YuhgB^dm*_N&i7T-vW1hq9S2w;h`G1H%
z)KIiu3R&2AsPKrZj_2ivQ$PqABP?=WbX6)8V=HH;6NB?|r8S^&k{M%mE%;Q+Q42iL
zHW-XQa^}A{gyyxTDJfMd2F_`bwFM4Rl(IO16mEY3R}={`6DS<Lcgs1ZtHlNqcvdAf
zW~hnVklx^l9!`32?eNo^xNwIs;C~{+FB5i#?x62pi<?z@zA3pvoNE!iHWDxu5NA_A
z2mW$FCMcrB-2hrd9Z5JU#{f(lb7!RbGP4)`Xengy$jC=C8!?9&(QQ_XNFh4FME~};
zjT2b*fw@bb|M7{tacs-s2iXdiuH;Vo%0!<{Q3%9tsA!lG!SFw1T3L1<CV!9_RB(~`
z*LH8PW9?EKd9Mw>^;<$?>)C>o+?|py|Ka=dV|z>|+39w~`fBQT$7D3_diI=a?i;~E
zsJ$PZ9KCU_XCDC9!Q2i$0Vxl5bGlxI(8c>;-r;EWwMNWSq%C{N7A3sg*NIm_r{4u!
z0nWO8Kv%2Pm4N)?ETDefGJj#EWS}dW-Lf}I*6=1FF)Y4A!YCtS@e^Wu%3F>zOhF6o
zWs~});MKt^`(%7?+D%D@WN4jpP${ZgxASf)&fLBxPn|h%_sLTxk}u=UYb?BL_R+J#
zqpswGQXu(yWM4`8c{<J7_siQTIVkN`v5K<>Ip_1UagrVkx&=?53V*tm(RLSoW!nAb
zj@4_ykM?d;0T&baZn+qBPA@?HBtxo(uzs?xN%Rq=-1*b%@zqXZlYm7rO$FcOAGfxg
zsTD@Sc)obbfOohB1M@+L7~RU7(vf{etE&DPp(Ony)Q1DKb6xqL8#%mQ`bfL91Ku&T
zC*EXhD+Rz7mwpZm0e^7fW0%-LJR>%DIfe|6Z4Op?bZINy<J;0azIl?*n~w7*S)Kb)
zeEKKw>C^0X@r@GoRP>k2yaTwiTy7P~*9G@EQH*NYwXiM9(Up}(Q991AW#KQD3&F&N
zlcz5Qp5RZBf=fT1HaQ=r0h)lS)xzHB?Oq7Z%p7eQMlz3q`F|o3b`X19;_I%e8>ZY8
ztxXM=_=My^pIASW$ckpfN)Su!;1=x8a%%=GCr4}zU_hJ^aG$;`3TiSyK~FmhX86P!
z-8#{DMrVDKc(Pgklz#H_`xA>WO=(Emhk_~LS`sHXxPjTHJAbf$eUJV7<AeSACuiBS
zMta(xcAhn2KYs|oYyqO&yld9HXV$!L)_h>rd|26>Z#~T-PxqPMKn~3bK_*zV06)&&
zhVW=2?u0_-Xzc8su2aDv9F|?0g74wxbwi?a7I2g=dkm)24LS$OWHb+gqP_4WDB25;
zf}*|fEGXIw4}+pT;D@VsG}(kf>z+~TzESIeQR|_qHGdUf*&&-*f-@w%9jlX)WaK1K
zodva=L?%vU7`#-bU?bO(De$Y93;0^yh-3<W0Uunl`CRx{ek8CYiBQ440}E1fb+k?F
zv}X(`m2EC(PH16h403vF%+iJ5&g>}k(MK^Wg8;-+P2uI4gd+zeS_U4Y#d<f@inmnV
z8){2_J%6o!aEg!jBDJjT;7}69&ug6;3T^3t%TJ3lUS28Ah!NU)4~4e(!DM<Y&e>j#
zH3YVFpyf!T)~v=7I$9U%`VYveF$5Tx%HMes=Xy^--if8xiwKomVsk$dIR3X>jEg@D
zXZ{jvHGf>7yqNnk@`KR-h{LnL|6CpW;%wUYhkyM8-wq~Jy|WVjE!K~v)sboo$Ta$B
z2lE`71B`npeM*tPHoS{-lHCK|shPGmpQX?%@>#g&*2OD!9|~(f2lfp-&zO^aEzI#A
zEWIv7*!#7))7*K!+ZdLt0cy<2Vrk3y^U&jtAE>gnazejuP|J3$N&%gwdbfmVd-7K|
zqJN?q&gQSz5|KuvQ7$egGZBeanXeE-v1A%ey}4%Mv=viUQylhzGx<eWcviLFIz7`}
zlyz-#1UnTPXd$9vjPHffa^m=VDEA)NLHb-gCEju!8!bsK8E>?Gg;2KRkwCWL^$rOJ
zrR(X)g*X)p-8z^(mg}HbTF@fing(yFy?;E(5_`&>NryW}bA__=m390{H;VJ5SV>=V
zC9fxrjIERw!uB??2<MlCGD^i#R@PDI<3wS5sh$a(lM0Hhnt)(KWCdYzlM$XC^x?VR
z(?f|Me{{s}9mV=&>1!oxye}%Mdax&b)H_yU(eA-lS@FJJZINBEMD*Z`)O-oAxPMqt
zMwl<R*y@Mpipy1Bi4V5is`uWCs}w8NAAFTM?=$_Cu6n0c+#~7<C<m_?I1y*p{A5TZ
z^IGo)lk8b#2f5tbGEQ>6UUSD9_IIpSe=yjw2JN2cSzPHTmupn%ESGDYb(rf5v&AXA
zMF+z6@`M1f)7qR#ZyEQxy}n4|5r4VRwb5@59q8!)C0c}{3*AthVy>X75N5tBI1tNM
znQ<hJRX3SWGAk9jMG01l&Xa9)plrd9u8=ZBOEp;pCN$CLvjTggV2qx_bQk~2Uq*Ws
z?T^AJZa@4l#}hVZ$ySQTP2hT3UYUlM=aD^MoIBo4yf4j4|4wv8Ht_Lm^?y1@p7`7D
zK*PuLc^L;un^OLuUz?3#cgXX1wc5jGcZk1r+RbK1Kqi~x3fb+NxI&gX&AK6GI+Z-b
z^PY(cax~GfsxFww7w3&tzt=8(mjt*0Ivgqw+9J<|wNk~m(yDhA^;ZUZ26}^=s@wgN
zH&sh~Q^~SD@E+!NlpJ`Gaeq^En&~wIXBijW7o6n$6y>Km*A8QsVlQ1<8^iLJ^DA-g
zO5N)xztqsVp4-V{MbC5DVt4ssTTSiNwkyb<CNZdJbRQ@YvVAhK&O@@C_|}Pc1FVE3
zSgMdfRQG@kp)I@tI=d*bAWGX+pb1Jv=Q?{VS^Wl{krmDZFn=`!&3_k5BL!%JTa2b^
z(44=Rv7!;hzg4VE8TOpAXG#6^EYB50LW{FCuX20k;B&#2EP=OmtV-3cclXhjVlJBB
zvXqmy+9=N<Jq&;}I)gz+Oct8_G`~t6o|=QG=BxPu$}wa8wwU<LIPzd`Po`awy#rd!
z7GM&8Y3<5TsL!5rZGR2;5rq@;Bpn>&Sv6om;&`J#L#NNt&=cOu5;U|l(4gYo4~8$6
zc8m{X(Z8%5+4S2Ql*9OUOUl2c7#^VH(}5oy`t}@19-U$wH#Lx)WKWYOLN~!yCYeW!
zvLr7@5p6QvZOW(Z>&%T|rG2Nq==?6S`g+vFFVVKyCbXDH5`XVRt8camGOm_sT*z`V
z{TNP{vibpqB_-)g+FHv>cH@XFT>lRJ<EzRFWG`~++KPGdSiOuYFlZvx;bj-`jviOl
zSuehRULD~RT0Zm(+1N(pTvn@C=|@F+mPT=j-su>I+3w;Eg2dJCnOq^Qru51)SzMg@
zE0#}lItf^k$$w2i*TZhaq4|}laeCLt;>CI=;mrCPGh+%UN&^c0Qvq?T$TkRLs7BF1
z71LV9j8mq!Vk?)e&uHNTlZCf?x+^cQLr%)8tV4@Olol;3?Ut3Kc}k~WH8(Cp9k^gb
zlZHT(qN(=)d%bJ83~f5k?RNYAS0XeCs8-UfwUSnym4Arz$Lw=Wg@Te@>#FtJsM8;G
z@Wz2(hT2+|au$GGyEQ0K)@coB_Vq0R&4G*yiFZ<Wq7^EUm<$ajYGkg^pJ+#GqACtA
z#OVFoRZ33{pullJA}lsY^8s+P*KYBlq4_S8>eOfsjaI*>n?s}3EaO;iV7VhMymsUO
z`L{yy5`R)mKa)s}`Hklh#hvn}^bf@C4jkS?pG>FW&IHvt^ta>j&Skjc<BCqn#IZdF
zymQywSqiEL)p~CjzB9BfKN1f^brKALWhTa(#n!Ge7-TC=6>KgTly^m``8Kc@Aq|G(
z$h2scO-eRzv9e7V#$VXp#LD8GrNVO#msfjx<9{e{8>-3h1g>#)!2EpDeJ{n@@i^18
zMG|V4P>2OUb31B>QSdbR5E>+elWmZENE0Byq*w`3*|=$oT-t=EJZ3TddM6(b`;5gS
z-Ze8r-!*w?^)mbE5<kTV^b~+~fl1=Cp}0%&SDCombT&$|s7jBLJ(BmC9!2CGDDX})
zkAG&mhx8~i7b#hxa>um7xa8ECrdY`w&$XvoNzY)Fj$CZ$#pBI`qNg(EmFq@i^G&d;
z29?GmqpR|sHH)G}xcB0P6Je$F*)1kHX^j2(iy3hjFXHrZFG4pU)8tQR8h&~{#{L?!
zXzp&+Vq3L%&O(+2W(Hr*{98;EMLFG1)_(%O%DFW2W1VT1^0FtP&J1Ga7H2@fW#}`(
z8z=mTZA3`}V!l^ylV)3>9L|}>!)1g7-j>ruZcyR6^pb7tX#E+_PxtQ_JYH$?OOkLS
z-Jb@J!<S%8g$oHESvPKUSE~nI!cC!_7K$<iQ-Px_mwaf%)I{96Fp~-k8RnH?Nq>uM
zPsyoVJ<7BDV6m}@1X$~mqREq~W}SB8jIrcp_(PqW>Q|X_rU}{}EI2lii)*3nh<JW%
zlGq5u^(x|2*N3>{N?Al4^S+Eg7D1N|Z+vGxee=6W(yl~RrMH4vLKh<pi%rh=fZ@w}
zG#M8#u_6%UL0I|f5L^+JyFLV$G=D0!@J)q|uMNlMIi<!kGX5k|c2(n9`97~k@DZ6h
z9=okUyvI`EJOh0lq}R{sl#v!JgD1>QMud`qiA5~{&Il{gF$Hfe^(!TL%_Ps1WZ*xB
zf6DT{<(lmZoAG>t2Ja*Bz`0CpnGQ1&t^5I`oNKOU6bh+eXd?dR`c4yAWq*hxx8doO
zSC=Jw50=mBu97v0IU)6DvZ|p?q@Rc3hYyzXN}#aUK`pH*VO0ZvQOs^ivX)*&8m<RR
z*3uh1CTm$&vX)-OOM3muTI!LlILC-A?}1>QyKBiVvXVkuz2%}=_a(I|%rc3rqTi@7
zXLTy2HO#q6xlm)y?YbPL>VK&GU|r4#2-m3+!?FWn(Kiyy9O`)EfY>2EEf@YR3DBtV
z`~NDO>ea}}DBRYE9(B?r(=A;k?!T7qq{fORp_Lo9VyP~p#)@^*FMZh+>nay&AV8h9
ziOEgUDc?^HEmbNF!3xxJQD!hyIvn_)6}_*hdeGSd$s&g9N}g5gDSx)Y#C0W%l_oBI
ztLRO<B8`b^<Rp=Z*uAc5^qO7*50qx4u793?jOoZR@-^$9Hz+EzMgDn$C`F-vYd4Oo
z=nOIXwJC^0DEa3J5_GK7+YbHRT=+PmlT7^WlHBqs#Lk$0K#{nAMUTeLogFON9}Z47
z+r@66TP7|y2a$_ij(<j0_ORnUh0I;fwrKYu2~ux3EArv<|JlDdFMRF?7M763Fm2nK
zkOlE3D0RX&PDH1eW|(hmq1YPG6zU#K&VunH`x9X$ji}QN@ot>J_i%Hp8w}}1BQcKp
z@#5^@?DFHg{nOWtt*w+6_O`a3V~+eA7G`Zt9IP}7zwKG!f`5#i=^bh%@BF28YeS!~
z3cgl0CS4GGh-34__M*jS7undV?L+v)`f$J)K)%`56YD48e_LBoa7TywRY3DrayEXm
ze##V{p^fq*Fm37eIDD3=lOs4<tRMC%I_bm|nzqPRs!5vuxCJ8Fcor8mC>~|q<!06$
zvZ^&gEqZ*`nSV<h*C?}T*&&IYOtRYxjoGKkw#9wGf}>zbeiVY^_W+H($ib(!8*+Fb
z$SAmVLV}1e_iqg1Ooz;T0B3=_MHLP}YCGU0J0dP4dPy0Gc(#5PVWQ$%Nk=;>Br;ql
zCoNIg(}vGcxkb-V$$_d2L5~`PNRiB4K&Fep@uDe5!GDwRpWZ*cCy8o5!PQRM?K6>5
zO*ci&Kv4p)Zi*VYljmA1;E7x{3md0!w3Gm6XkP{_mA;fha_;b|10`gc_+w^&6z{yc
z8<C>Dj37Z6hD82*XdU^W!pi<&I`Tn9p6f>)xxS9PRIXMBQ5&Npmj-c{*SVey+$*va
z_3lV!zJHSL#^hM3RV)X~D8g5p{C%$WY4@+M-MEevdwE)z9md6KBOt1)pZ*n&7Fn@$
z$NG<v9Gb|s8MlE{ddYUoF8w!Xs3-g0n1omph07v4#c-31Z^4X0d<<#ioS?_4<4qE2
z2mumNMF%=FWa^~A<Y4+2W^>}w%dbzuz0u6SJ%3C)*^4pyn{{kESl0(GqDA1t>f&b;
zf1Ke{Y0pYTA6lR*?dMs}V>a`J-o6TsQ$z_ylSC?YLn=ix9f*;4RYuwGP!DwKc)$tf
z*566+$+`^ef6=7FcNX=e$z?1p#UHJp8tP(#IShU7H(B~C4b9M?oDpEHnjwY=#6yaP
z1b++sScK?GNiH3H5ria)(5;gFHN|j)BY4l>01LVyA%2gJX}OQc=Y{Kxortq5Dl+1y
zFb~gmN7)Vo0{x$P+0Qmy>m<>B8*7~^DRPaWo^!{GHypaRXh>5rnsaY2->R`iHB6P$
zM8%W60A~ByncG-vaY-$uwzbs>Cd`a#y??ztu_kxGdohKc#V!GB>**Ar=YBw}2?2iP
zqN0dczqWpR*08qXQ?z5<5LgXXVZwM+dpstXKa{D_;_0Br85(WJaAhxH4vj5p)SUwp
zwCu@^4eaomShr3zvw+|hxX)Zqg?XAMHcWKkyLaf*4)fcBdCjRlZDvP!p<=^;On(Wy
z>c_;oL2|b4CKe#vyM~dsP*Xt_aGq~@gxx;ym|~O3#J}aN%z$55s&#Hhkv#?^?^y2}
zKU(i#F+0{V{$@wE3&-Xy{C*0@!``uehF?cE>I5D9W5@dIzn6aW<GzO{4h|q52$(;?
z8FF3Q6gI;10fk5dxRKBQg&R4xgMWyGj_u(k$I1u<7H-FEIk!FEnJ}F|xWh(3EBJ{Q
z!Nb+LMy(z#BN5UKVUhHq_4MT8Z1fBhKen3I$?MmzUtEm-PJ!Ue<6K~3cw=)U!rWkI
zeHRwt`S4@0XtetM;qz91&;?F8eBN$bXXB_r``eoM&Ysn3Hd?Lb?h72Kfqx%2di`E=
z*lTUQzj(_+{4m0g5M)0<RSo>L;Rn|*V3X$y_OtP?aPi;K;-|mD??2iBOBwMK?}&cr
zgvp29;b16AN>ibFig~2maW&6F6S*g0r83A8uT8`AGOSkWZY$!;Ne?3SOs@}lZ)Jc~
z9rlEJ?uA>(aZkJn`3&8(e}ANZesnRR&C}R(7@Eb3s8-zfMSR*~C0QEYm0Rgf!NHZw
ztLjmbDaFtnA66D2Nk8%A)8GGQwMs#XQtYi~hH<x62FY48e8O|>l@agLFG`pnIoGg^
zc!-4H&hy)tjkaUNth>(qu<cwJqm@#2c8$VG2tG_!oz5<4Rd0IbL4VQ>!EXc;rdStR
zHP#eGFU;Coes7xxlC2QvAfo<S?!K>iM^=vDA2!}Ww3u2vFmZ^#Gmd{yGZqOkr{n$6
zt`29o`=cug5XeSoi+b}kI?KnOnnW3-9Rd>AD_onlOcaL02MZSrS3MFdp9D#=B@=8t
zSm<B+@T?yKNNQuM*?*8^uQfuJc^KacoLA@ltb@4=><6Xt9JyJC?1{5Z25f}O2MyON
z%H^xX0u|+%S{Rg=;!F@|9y+xG0!z=6RWMkRu)Y)u%|oPClBCK{w3?C>>&VJIZth8v
z`nJNThMN*bHGB-CTAPV@_~2nwCL68xOy1O**QG3%`k2jVl7CZds;zAI<G`;f+bvwP
zZt#?r3;)`l)k$}?DuV8+qpRxG!>;!jT5%z3iG$KuNYy)K#bxLQH?4ul^j{GAYg)Ay
zt1`6CxVZSPtg1k6Ci3v}7fd3(XYLg5q<(ynaINaf<ZF2VC0*5{ZB?oFsu}9OFjkzR
zcD44^BzXN<u77%<ltoVNr?PQnG}4CGHLmGsazWs&MRg~mJ8wJ-e9!qk4Ls`iD!ofI
zlY(O|{Z@C!qSYyTs#M}hc6dcb@MAw9#gePLtwFy#z(T9V-xPzDQj1>$vK1a3Gyj%3
zvnX9S*5LPo`-0n&-4(8MM$@@p4l&p$x07AT3&Gg!M1M@5EBl&+u74X^6aUs@ZWTDc
z*h%A#CS~(61NL}Ezh)TcK}8OkSX*{zC3m6q)bY6KEqun}oUWYfYxp7qOWj(~cVrRx
zS2VI|EB4rkkz<W*&k6|j0ts=kFc9?taUylxQDw$#F%r2kW`($kR#Oqv_Mo+WC1)ak
z$RrU3v420wIoql1ZkopyNObc0HGgaJ@e!k7KalY8qKHtFk9Rtpk9V=QgB~9**Gg6L
z@$PQ3wcAJT-K77ezbOWLIL4eHTFRNx4j<ewBRux9V~t&Op^E?BY|h<kDuSVmShtuY
zS7+U6XCdQ{G<Y<&#AjGJ{Lha6hFNSq^*#5_`hVH}om~0o{uVNP0h<Lb%osGH9C-L@
z>{h&R1-o67tA*(CRemkBn&uY2n&wdjSH1_n{1DdCR@2<XSKAVwWg<0g@z{k$t4-;2
zB0?J@+ZSUzdoO|oPvW=+L_S!S#0u`KgUCbL#aa*vm(Irw3kwjZdwvb9uK8tHti^sA
zz<*toE1*_%(JF}$;@azSF{0POvdH+`u1=)EbCVKLAV~B&-9DDv1d(FUq@}!D)q+Hg
zD(0D8SJWZbzkek`bK?6~TT)jPczRGtJ@VZeV)~_zUi7d9<`Q{}JTFV2CK9<Ns~?{X
zo2ea-xmA$TsGeic71sMs;8a!PQ=w3&Vt;&kSSqW<SJgWo#RtA6GM9-?Ge!;JS;i&z
zwd*BT6v|sey~K)zMrd5)OBH#H$(Fjym)dG-ueGAmp{k1ey&^=+^=Vklc}SKM|AfZd
zlLSvfj|9DYK!#FUFR-(Vp%{qNb`@xXRMDx<9!ggC{1=ul08T@rQ-R^v7`1sk_J1-J
z)f<<<bwUv4Nh6AXt5_KpzmDEGz^;Pv3<HQRNa(vuw%U|CpTS#1-P2`2>}WsSkNmka
ze(#|HuqxX@joT{+KRQl`WBb+V{^i^K11o-$R&id%-A7xBd1!viQa;)OBI>drL?DgM
zU?2!#EI_NcX?~SD95n|~%~kUQoPQi)2<-<TmSAoNaBa8xEva3hf=$isC_R3Adt%>K
z@zH80701mBj%!r>U1Py<16JL}V%nxi==3=fdcqr7f`pb<p>jFzelTnuk@@m-j4X@(
zW#x#bFXY^%g~%(tDlt4jsiy-!I*4re(*(zoS9z{6j|!62Ha5goS$k?Fnt!(<+A5FR
zrG1^bFRZlhG#LWFi7btR@tG^MZMF$5CX&QE(dwIRf<{^Jyz(@hehjBeMaGTnk`Ccz
z#@3~^EF(Q=30hAdnu0+S@mGaKyraieb=He7pI4XofR+#aLN>M$IbWj0;jyFuoSf5-
ziu5ck6e=L8Za>Zx*+t@N_kT<-kXBQMC!@s`O1fWWH4?Zalbe99huw!m^9!;6pe$Zo
znOr!tzQ)X0iE>H<iYny=#5wHDwvegoa1&PBJZ7A-3g>L)vh^7)T!W#e3va9HvsbJ`
zPRgsSLyJe07G2J_QEK}ZBSb@{jnLV+40Ygw5ltEbO^T-81MKy#;eRsPwRXF6|0@}2
zT(yD?F<nW!&PraskZ8Je6$(Xmy~wg_p?yjuPquq34NV)phKAZ&mfpQ9P$XC@-F+3W
zY__{i#lDvIRJNPqoz$IZg+e4ILxYJ*57258l>~(rCaO9qLX3*mFPf<6T-0>b_#Zo1
zScljm&F)=17^UYx(|^peGU&&KmA2ryTSD%zd~nw9p|J+n3q&2ooWxqTVSW^nXeeVp
z3Yw|(P?FZo%y)vNiwJWmuW9$_9M;%6L5B$s8qA36?m#OcAo=&wxv^b@^;xo^!@vE_
zn#RxGvF*AvNAljDAMWj8&wG2GfBRJE`jBiHai_3H&XlJ8)_)0$)c40oRv0I}C~xZe
z9I@#6z99A_@xAI4RWG9BEqE47mE|<$P`@WpmY11)nageL@kYeO&Q!7cR7g|2jGW)e
z4kbp%yWYW?ximr2j=hY0xY#||y&al%@eK0`dXn708^$8mm7I-IIO1+)4sk_h_6?>d
z<4nSz&oOOQntw~&3X&~qSX&2o)`U#$r5jmJWX(7f%Qen{_R|ewA6WJnV<C2|+nF<-
zS#x50+!GdImmvwPEp&yY-db@YfBedWWyCB8v2VrxR{k;=lhiwdA9I#5jtzp72D)Ks
z*Cr%%0y5dzvR&W1PJPHiAhEcA%uqH)JJ`gIZ0jj$Tz@yL4s=GmxG&lalaczEl`SIA
z8e1Rm>tqp2j|NtUQarGK&}@PBw*2g^sYBd}70%F4dAR_L_yOjE^I3@no(`^r5&VT`
z({q3gV<E7JSX)=i$hwVlp+pv+2CeJh-2t2TV0Byj5##s^eE73{WTEY}t1DvJ?yY?n
zTECOP-+zJCMUI;;mUkHf8Eiqfp^p>8M00FjbSq+Fa<NSC)t%*p;Sv{<A+C64zaqeI
z)~~Qt(QlmE@Oq*Xq^bICOqIt94BIZB=?=YoNKCF_CO1^Nh{*)~swq{_&lu=dE6$up
z=ZlmakTC%|rQU%qu|v!^K`1@!U{Q!>n(|-mo`1det4%jIR(Ac*SS~ZB!?b?F)Ki#x
zH{qjceyOBM<`0^xDsG?{It7X6kPMI}Zey9qtf&9Uu<rXBKFk++reli`z9tV$Q8b&#
z_su-pRb3CvmD~ple02q{H=Ku;Ft^pc2Zg>V_kzJx`ly9NiaZ@?q3hBb5M`bVX@ztk
zv44D43snakSSH9+qH7%~d`z8Fa9~}utvj}Dt7CVZ?%1|%n>*}uY}>YN+fF*R?bH7`
zRkv={tlG2Y+Ry7@ePfI{z`*eIyC#TlsSlepjNiJUt))1K)v$A`(}2#&Vxe!fi@yV;
zk3~L?%_r3Z2wJYE8`PDM90*UZ+B3q2aOXyEeOU<*v3P;aAD@#lg?i0TEE++RS~-{H
z7)^c>Bca`X{d~XEpv1~?CNR|SB3nWMs7U?|L~#2yD6jUH(~L>z6t$`raiiV?4^PT`
zm(K9LPd7uDe>%Cl{r!n+_0$YG<+1Isp?q;qVow@3^sd5vZgrYaDg<+yu--1Clj+!Q
zoxZ7Fh$f<?aCXmrmZ&L80<Pjo5taodPq$gLK2y_FS5{a-iu>b-bD!?XbDlWhX<WK3
zg`Y(cBp1-wY%i}LIAAJ5WkF~a4)Y>i4qEMV-cjqqGD%afe)&4_FrhRVVxj$vD3=x8
ziavjRO)Fg~cXw)M^1vQT&?7Rn$icrX{ufJm551gLzw8?rpPd3m!kKrNTH5Y}B^&M%
zoO0q1Iyb(mEOt-zL1ERStm}LrGStgjWq))%M$IiYfb(RLek%AbQu4Kt)e%_C`&1Yc
zB~+K)5=QwviyNbL6!q;^^uRp*bnLETd`{Zs*pGY9xnG-e#=;uAWgCIbe^^_<Q)Rqu
zI`>X)KoQw;MMdf2H178K=cKQ6p`gzbrXPDKB4Ht_W05AF-+Eo58cqj-sF_#-%x72>
zq`Sad@ASrFR!;<j!r?G<Vvm!Mr(dNZHhIu#byVj=4`lUS^8ScODQd_G2y}Zr?pEa<
zARGATIn-pw?@`?{W4-F`<b|m7*$tmc?&6P`orMqgZc)Htq*V(`gZs#(^$3}(HZO4^
zL#EqreT<U-45@LB^m_ns!P_q%nfPI+A&TU1Pf4r#K4KTE)_fnDk8m$Uug_)+MVXFQ
zS-1m=sq@UyAyTvx>h}1;zYI5jaCBsQY-Q@7s0t57otwj0hh%uDn_i@Wn{kr&<j|bV
zE^i9_J&!;5L2^uXG?W@+j3=Tv8@4XqS<T%N-ID8b;Zp&v5%mPzgkYt2L}P93CkWSH
zs0~*!(!D(sd+A=Yg@n_s+Q+)+oSJQgeN2cf$_}=>fB7D&lovj^?updxH`$i`<`}wl
z4rwu#Udr*22o;JT%y6on{UTgxk7{<ug`kKo^zcCTi{Mt`=UE_p(ilbFocFgF?dSZ)
z6?Y>|Ns1uGScwl{es*k@!*?H{ZL?=TTjqjb@Fv<deSa=*3F`eAU{bC@;GgZnQF&bY
zl~@P;i<x;uC_FeNp(eOdzLpNOhSvdoEL}kJ$5+<ld&uFPUZm(iua5{W&MBHxyTz}G
zhdu2u+=$exzJSkHz3e9-0wL}~vF@qvry|c(Fn3?G=fw(u=Bq{=n0N&t@?FsZvK9mb
zAuaM}`{Efuk2A0qR?#8q8Num{rpEC>LLY=Pk6qtd+qMvIg8ZgfoXT_clPGpS{zM-)
zW-~Vi!n)}fsWg(};5Zu}Maw>ecuOTn7pDt_wnSB$SE9X#I6h~E@!sBA-z#L^!LH@o
z`<GDYfTAu?k-}vu%TxNEA-$Q+c<v`Z<#u9(;83wjSQuXFo~cY>fMSV}CVe7I_TXl6
zD`>H^E4Y7upMYk5p(?SoAQzDb#b<`I?Qyfz?K;%(`s$Bn)4Q5CCdTO9>(H3k8!!7s
z$A<yc)ZkCU`IvX-xA9{?sa0E=ZEG6D;bZWzJlhvg<iy(}Z_-mCZhXe>zV%67!5D4)
z{67b;ylGN(=2d0P9&OQ_Z2j&}4Ka(kOZ!3zsH@A|s<{Fc5>A0bk2lKOjz(%1Hj_5C
z$#JgkF~+zfnWU0mZ=NCj&CSb67@lZ&50*zB@!FuRO-RW{HYfB#ETd$<R7oVm{-m{T
z0c<Q;*4|Z|VYLXdj~ojlySEUIorC6DW_6sC3;ue<tLyS)fip%`oO{}KxdHL~#(B*t
zDMWPh>s9wz+9b1DD-+wGNJ&RBR7XceM;?2q13qS+QY(j)g`RuA0yU;8HY6`uSJT5J
z5|+H}Qn%&~aQ_`pImE|xQh>^Jer%Nh&UP<4%(~;E<lb=E|KtS`TAby+P{Ao%$ikBQ
z8(=!+4T723R?QlaW(!8AM^si<k_e?pF}Dcjl0aF_v>wxmmY3RiRCY$<TWVPpO4?=V
ziSlw<Zq-W3jG&O7JI~$EjYlfCw>|SvL$iuT^CNW3LMqu$VYux?zSkHKLcdFZrczZ5
zH11UfaR5PbHrQlRF6^{NFT(UO=#|W4m*aO^lch{*7lB+es$LtRfqD{abM>f_SyX7a
zySu6f5gy!Cn%JN78ekaQr%!lC%fu=}@QiBivC%7#08ZynQ;2Qz@=<CmM3O$c%T=yq
z@hqXi6IWS)H1=Vs+egawk5wj+jZab5_OqI$IX#QZYbJX8R%juxN#t>qWuAr=wUMiR
z5r?Vy-Jp7q;QlSp6quh}y>P)OFkUw=d~2z*;34OwAuS8sXwfrWN31NJw)_V5nMh=?
z#_GG!WFD)Z@vZVjs-M^2N`?*!jft|X0P-C&^4o>d(b_GIs4Jaev>7k(8(qoL!vLMm
zqKGBUh!!r26=!ciL&1>potT=yBWf1RB65%H>xc9$R~^bKss%UG@#ksO;0`F}UcDdK
zjA%{X!ftKz!^YTTh8<g;OSCAHyDKi_c+z0M9u4mC@Q=aYE~vE@x+DP?F#X8BK4(zb
zeZewdghkBKMfYYk_rFpANLgeUgJ_YBKD*#!tuUAgHBsTAe&x9Pzd37FckT4VAyhS*
zLqfNcO<C#!FkkCyVF5hc3)MzpB(R-;2#hzB!!Ytw`h$`wr$zodG#&JXCqBQ?jorN%
zXx1h4S%}Y?pUJQowN39|jReiP`{7FFIH>Wohk}}$+)K;xa!7MP6tzW{qd7=@j`29b
z{Ecb}BK3{aI{qS<^>_Y(bft*kua-P>v<a%Dvqy_FoQaSS$$Fj$DC@7qEJoh~0VZ4S
z)f-+mIt|b-X?T$Fk*ArhK>n=e=P6=XdRm>C=^&BIn*Q-9283|2zOdM!H&MUDAB5eF
z)#pr8N-;!{(E;j!{VzOblv^q732DdNoDB0gMlowyfm+rQVk~X+PrXr*L7ejp7{YNy
zKiYJxFOE=~%z_MT;y#gY@D{j7z7x0ifT!Fq?lW@u_=g}LeRI#Ee6!t|XLgZ-@N>oh
zzsbiyjCc&9+Onu1lysIQ-NjU1Ssj$DERmr(v_cwnu_;C%v{t1N2@a@DFx~jBh|-s>
zP$xBV9Me(-IXiP%W5ZmIACIrs)pOO*%kc3nh>I(RsjSft4#eR`Ni{re7q1QRp+H@}
zzf06%B5DciZ}#mK7n8qq84~4_K?)_bB;p|r4p`ZaWdmLM9Jn|U-5Q=TOAv%^`6zgE
zpB9t}JK`X4X(b&rra91}4^UXaLhxZ_K{8hxf8Cn>dKdqb4ZU#p&}_^S*Xy4ZNS@v+
z>2!SFw7ziV`lH~>wXHMB6R{gPCOYHTHWK<6sl-f@48|Y{aSCw>_cvh^)WUWP=kYx7
zHaS(Le@uR7&4P`9eCTHAT||eZOHf1d$*!7~wO<e9uxKz+QjrmUH$bCkas!{s1tw`*
zlNo1VKH6?rbBq)i^TP+emmL0(`#cq8GXdk%U5>rqrRkIlKO3DAR@6<czCq2JOoWs^
zFlMb*7|dAo#(nEa?Wxzcq>R~2TjZPf`6pL$B~U9!MWHG`px%bdKNz@ql0WCG2~_su
zq1XZxpZb>aH-fG>-K93+bZU$xD4*xV|5F~tNn%T)+j&U08h=M4DSuoQk5G<}$3}>Q
zho@l6$bVLegfcQH+=X6<k4DAS-bOhQza>h)u80!uoQU<Qi6C8&S^BG){Q1zBUJ{#P
z3r;|x^9+#7A!*aQn><kPECCVd<e{%1dcY{Jn&NkN6CP8n1H1_=;m1zqpOwlP7NNk&
zi!NPSVe~Oh@H4jJX6^sN6vt)vxC`<BSjy|WDJ<@*n&`LZ2Z<KWw3p@(3o0*WQJ_A`
z2Fht)jQ@}*U@>^<NBPxVN!q2v`)^TrQ_6TOA{M=cwpdb0YTN>aCqu)85pe(q$^XI~
zl`}Ju^#eMRxb?+kGfQie08V6mDF+60%U139vEty?`tXvDE$p6sFLrDyVO7pBUR)%V
zGgYHthVH?|`tJ3*l4PlCmL7@mra#I3$Cy*dVX?{>QJPxVEi0LP?<F)_r%B;@)TwLP
z6^q3=1C4Wtx}H7t_lvlm(gh%8iE+%w#La}yN|R{YhR%xqL1C%BC~*^^OT<dkEOV*B
z8Ex520xpjK;IV!@g57Mw7|#k(j5s+G1Fe4z=K!9QU=XtWgGqae`7uGW%U!c#L6n1J
zxkt8C!Wy<)+WZ5Tw{)DCUFZPbq=o@FUqMMdx3QT;r#FX@QfM&y_yxplD^egQ;r98v
z>343#pbYn#B7bvZ!-c9{z^#7nm+xJUSbpv<xicl>iDTF7392l<33YD@X-fCr{zGXV
zxPv)S2L+Ark2%3?X)F))6Z3JXy<d`FhD*iK=}jyU#^)U{+WO&#YP{9qEz}^IbrGRz
zN`^cUfHFEdbeji?u>u)=@Mg9axvogDzOh%5qQlSDXA-4dhzN^^&6?ptMd&_Xr9SKk
zGz3mUV|>)tgO=eg->>1qRE3V!McPcu{gI(5RL?4}7^T&ocNUO$V-{<*+f~S%1T8f<
z>LRXr8f=wQILFS-z+~|2E-7e&>0M-Z1UN_R>xvRh=E<;<9)at}lsCP3p>&VSf7f}s
zZhxL@NK3-~5tcgQ1|cnDfe0<NZ>muLRh^49WMv^s&QXz9bVp?icB2VP7aGLUC}j5L
z*pfu8pZVpE!u&j>uKN9pij*le@6PET1U?DSIGN@HSB{~ib&rOFs#*Dmk5xyWwx*3&
z(TUS$34}c>F<|-m)x>571OCyf_OI)*e(wdpracjTOEl(27|P{vz`E_85jyLY%Wt+q
z<LWO8nU>Bbrjka|?YI%>;&f{iw0y%7N==hSw9w`&0ps?p#kT6?q#HaIEv&`oHr2C;
z^V<B5@a~4rHBGx`{tWn!W1F1f#v>hFqkE3L?MSlbbU<US8l`pf)LDJswS9grY~%7z
z_m?YZb9)=dBL-;m38pXO&-MP@pL4{I`8+X!84lj{E|U0NrX{Zb<kX78`-*{>^!9~H
zf-)$jmBa@sBO1{K7PK~XmkSOAvy>O^{Vc*d9Q4%;%_@pch__jTO-)RTv5+oAs2#zX
zp^=cH9e_e@5C-FWC#|AuQc0&(LPxWd!f&p{SGHnJy*RCU;n%>hAlCAtx=LB`a+xh1
zu-mE0pE-P(=W>Z0YU47N6JubqB|c3^S8@TFT6@kdTtv1|AK8@PSrrR<7Ixu-jAoP^
zJ5Y!hO-<}tQ#MFl`V6AH>aVRX_iNm6_;$l<&4BM?zt*>vT2Z@-=AfQrE%pATyQ5E*
z1_orh25!DHi#LxWoH_9`F6dt_yp=6x$e9vLsi)s$D0*=IdaQqJ44y;y-?g6qWDmsA
zK|?YVsppdW(4V>m9XLQKCBt^*5K%}zq&%{K*noM1=PUb+>QV_^$GZ5r97+p?UQP9|
zm<PbM?oiGtW`8&Wf}srobkYltRmlwRgn`4I#b*+Sgk!@o6YVP&ya)72Nr|5Bi4tDZ
zrvlLuH@_oUP3>HwB3V2%<#;;4!98DY4k+|?xq0r>-5YPzNbT}Bm_40Q%LQi!=lV<i
zTOzA3{&{fDwJuoNL{CSv6!}IYL})b>zXKEejg=s#9N%hvo0~93^*`E@3bd0OD<m4A
z3PpZK1pl-_9eFGfv$bpwSH!Cdd|2bY`E?YXc4H^Xs=KnPa=+J69!A#0pwl{K4y&~q
zhG|?_D*YL$VG@eyf@)QdUCxh*U&`?IC|F3rtz)s-1{=(mh_|C5IyampVQQ^OWB{}n
zJ($1x23D+GFlyfuM??5)XYKYk=n7Z&U(Y5h52Nl0Sr1c3)PpRNg72e+KhumAM4h1~
zAaKDnriro@#CB)wNUNsbkE3W&_oR);7xihDPtsH_GLy1LE*!zz;IesSo6pzQKLj64
zOIj(M6&s72sxWJIWI2^vDSwKP9RMw%7xV(daUb+PLc?<AWMtY8F-U5vMv32%VCfG9
z)dT3Fmm(Ai;dT)JDR;50!f`Sg9eirF*BO<rf09A)vdTOrh88+~+u)^{4xBvfj+%JF
z<<#T#QE@Tty??viKR!$E8lpg#+pbvy&;I;aNR>Au$CA}c6x8AOu>iSglm_(n<cH?f
zQV$O1lXs4`zEdPf|G+kJ`MZ+qat@_|gm1vnr!vXepsI{UD8%QiddkMrc9<SU{*Gtd
z728t1#IpT&>s>l9M+aVZ<Z@nf;s;15XvhY#DO~FznE@RKB3mKYK?QLm=n~N+HJ-KT
zXv{*EiICX*%q!kR>bjhyjxJy}q992TJrr9#_+u^}-QtTOf{d?m@72u^|3qSA;IjYU
z^!bt(SBx-{EP4p#Znn#DPn>5dx#4#Th(R+MeeBEMrr4y4^W0h+V<x6rhz4_NC|ZKe
zH%c3_K>yG@qMO;HXKdV^J-oU|ct}c3U(bZ!4mgij%N#7&=H@R>>VQ?FQG-k5%wyw<
zC}OQF+9{VIGu2DFk+pf=g>Td$!o5+^Qh~p4GTDH-STR10IP%0$t_hvK2DI*nEU19@
z+O~xR-@P>QBdhjwXkNr8Az4|SxK~mGwT(hOGOAj;i6T{Jem=k{grPG^8%dvov_{5L
zhk}<6ZQ8$R>4o_<2(&p^Ck0Q}>(HvV;fm(gn>0M~i@63Z!*d0?ISE%u*t-e^luG5}
zEE%!Rg>B<Wg58IQ&HM7T8{*~jW23-;@xlGo8>w>N1$h)g4N>$?78Qw=^`VwUre>y8
zoX*A6MB}-)eVv*JwNHVc4DE-aE~vDT1+U$9er>cg+m7c#0SfLl=eLoaNW~`_i@He;
zg^_h!iUHYRJ+`Xe#T-;RM9_7-=>pH+b6knh^tc4s7Gbjx&q+yVhZlM!l-3=%tqo*k
z5D=9#MNNdiVrhuLr4?03b-I4wP*j<{;?9ZkeyCQSjBk}9S#f-E)!5CnskR&hTlh(V
z>aUMDZrK?!03Hd@=8vOM)SX_49JLv01#K(%;~sXI{?Ru}IiZg9MUI3wB@O<vN#wFI
zzLP@$TXOQm0nR$>HaUH}lW=@inEkuCO_h}mN8N_cw1RWzFg5o;ADHOu17ZF#A;Mtv
z?_DvWn<25;#*n$@gxW%P>M108PIaHXq}^Nz<(+0bfToILJJlUGClNc+jqhg@8$}m4
zH}^~=$5tvAvHX${*x|L<^oV<LzMT)-md&3V+5XYpS@$O$>?^|u6xzl(=D(@#3B0)1
z5jIRn$nwQ@J$SA%#R41TU|aG$8O-b?jZ0R);`TiGC<}T6(_$Ln4Y?HMXVxfFV;T?^
zX>u!)0ojHKC)$}&d6QdB&dd=ztJMi~v)8TB0+Sy320qZZ%D!>C%plV3es<KbJ{Z?d
zc#+S`1R0x7j+4d8Jc`;hxM)?93kR#2O7UYo3U#<(%L=cVwM_^RIKA4;C|l1r|CA_8
ziFqU%iRI)xEAg4v-|H^Fd9h&3FNU;2kYfJjFT7!IzuOFQ-qEb@F*}5UV|dO_x#niH
zIns^Zi)6x0?7yRwnNSkFfq2(kcfx!G;Z1_wUKOG-X@&7+adDngON)yOOiqzCRP9(X
zDjo1eoLfdd=SOyi$-&%BCx6d;b6(!FOs>q-9$j8(YHlp7h{+0|z^8^(?r${uAv@32
z1mrA>P;uVNRK40_ST{3u;5ajKIwlo7{Cx|a72#91xeW}yc<Mf?`S>(i;Wyj?>3@8S
zHh7EP!v0s=C7hx@ROb2#xh|61>=KrfZ`Z!I^=#ETbS7d(GA=}~s7eozo&rzHCm$KB
z$&DS^cOHE!_4-jpHJle?)rXmOm$MmwN0$i)Shl^~9_I$@nbRZEswAuX)Xw>hNYifk
z`A*Qo)v8O|*D-gby1U@=$!GrAeSXa+bp?>$*Y<$WD(mKD<&=5pCaqmOo6gD*sILmK
zW99JQ0Iu$yiyv~^7zDMl44DAo>7?wa9Dc9@`OOc@@Ct71K{EEe=QI0R7ciJkyqbGZ
zDw${cE)xi{wn<{20&>})K;E}}bq^CV!i3^0b~5-hBSOr*CYv3at^j4bco>a|fH<>q
z?!Nkg;D{M~*5|#N>ApJMh?;h=WRpfYG@>H0pgton)cfM*b*{(Ng!RVUm_9gccVan1
zyS-(Lz?2QPByc9F-7nSt0(5j_(l~af-Cp>h+2z9CwdQ!gbw5XK+Pyp?ZXKrB7dM8d
zx6tx`)4Xj+rK3;C=V{LaPr%*x*%t$vx9H=&WK*&$gm+BY1w5sVqT?vIPa5A)2{lNc
zx_*=&LY`hip;~#<Z}M%&yS#QX+q{!rQ%R}Is{SP8a&iWP&A`h!2k=m7Q;eFhz6cmb
zR#FWOVmeqd+aNXMO4A4gjMlEqO7$?El-9JX+r*~ZUK52V#Y?tOZE!!1&`QP9_*V<}
zZAAeH%k?$MZJHm`MzDR#x(TP(a$C$o@h+$uI}>_+S$ZZ=PAk^idiVrdPVS{G(WR!B
z!w87(shz}VZAvSMz#)n#NX*>4#k<0J<^%KNvf<a~olzcR<zt~xWDUWMoxgWwH}D<^
z=wyJXjeJ^s%xeu<8t{{Eu!+Ot#~>xP{5fem{J1&#`uw>%k-d~24g5|0VC`mkV4{rj
z)?13M2A_Bs6NwnF;CM2w9zW)DRBIh*hOfQ_FOb9`Zdn`!24Xd=7bW-iznOPT2rs22
zys5bL<XzugZ&dhq*62mDuQpajPkb*j^Fm+QfQ02aNSi48oz&{T7I~T85L{(SRN62J
z-K1j*UDBuDLEvT3kn!V_aH|-~HHIZjX?JwMaqX>tWo0m2wH=#omz_-)jA*X@V`*1p
zk%v;tZ%rl#7!$PhL|!~}M?ibw!y6@<+~2NB^{)Kwn7P-aYt#xkt%ftP7%!1>A^8;G
z47wex(An8Ers9+DZA>SE%1WAE$o*m&aVq*Uf=r|n6}`o2p}bt8y~rsk@tYdYJ^>+8
z{!s>_>J*QHI{&C@w06l7C-=gNM!WE!D>u7a%C<KKAW3brllMY0dB@A>g1dmaN)oNY
z<AId?UELoVcv`d*l3Z((T5y@ikKefxVszd4Vt-s5wJYl5(v~0cxWgo~vAA6_pyM;&
zVDS+mo?fKmQCyuZ`#t0Xp|oRudD<}{z3ZQWSS^;EBaH&T8bFG5C(s;3X6z-DF<xD4
zJaiiXn*UO2-cj73HCDXb6jcmnWFz&LGsW@aZqkz78Nw@~Jsy2-Q({L@X=x?OykeTO
z2VgknJJ_;6na5U5NZgpmeOgM-;iTI)n!K(zNZK_ysPD8ro8y0$MfA`8TGpHR!TXL_
zzsB3*pstzyqQ!xTv}g;JZii1O>1ebO?ciPlG!+Wqh7d*eM-T0Y?b#c2>4iG9kV!S#
z+Tvddh-x2A$bAg|u`-I+`C{J1-R{?JywAkD_<Q4P1%-C@)k6_z+0W+X-Tj5_S83C8
zoW7>_iihF136y+0{}hGLe<Gs$*8ar~p`Yy0o8xYhPzBowZ5<(ASj8IX@A}QP{G2f!
zFnlTx?ID!(u3Sd<=QFY9-E4hB7_@!T|8n)ZPlF;cXl6u5YXG-lCDEeRcjG3#l0x{U
zrtPaUd(d1)(46faX|TDVsz(}_#FeK0xgp4NDZjg~Hy)+6mE~1)d>e1%BMIrzaIw^Q
zk;DmK*-_3Yj~VtZ|F|XQbk%Hr>2qfeTrRRaooZT!z!GJNNnI?PlqSAh_%cgfRJA>i
z<rglwf9q|!YU&dDZ%{OTsAcK4Sait#-^X?5-~aiAkF$zz=B4x#PjB@LuvS-xqMu!K
zjXL@AHDXfql?J3vDeqNujl&|FkNKmjMU9uE;Ll?5HlxqWR=8=_UX?Nc%c^T57^WKA
zDrgqRi1GTS4|P1f)>CJibz_9GgM+KTN)y#BB<&_bjrZs(CT^*@XrPWhTqlPNfi^_?
zd2R|-K{PWE1)nHgpg_Xq^Lm4A3Km`Q6*Dc1ZDr?w02DMOxP{6_c3at=6EE2rs<r;U
z?lRi0%|5>%IZd;Cb7=!)aVd57ib()CH3TQG1N{EI(Rpm@c{ZHWDMU;nQ+{ps&;3hq
zCS2(YW{V$L`OMc^&%#FX)=BX04zBjDFE_X6yI)<v$IbQm=E30VdNd%w<Kf0N7V+Ge
zLhVLTbr?-K=2Z%lIy{KQq&Bv-i)1-OXS5@=&eojM4X3G`Fb0@jnHOKN5af-(1c5Tz
z`E|ERg%%j_QAD2oK8Q$Go5m%*j}iwzs~z!1+01=Gn7wBk56I5lGRKK?#waWedo9$S
z{?%kg;ay#`uJkuaoS(Y6-CN}dB(<-~10!6^(>}V@?T5y!;L2G@AR0I5dI0|Gj#38f
zsb7MrlfrU`*%;uwo!I7jWAvP<@I5cGY;$)jv|~MSqHg3Hc+qP4^Pc5A-PLg;rw3mq
zY#Zqb)?%g&-zvV8oyYel!_!J^(eb4>VZ-yyfNJ@WNtKm*eX#n_U49*w$T$!AGL0G~
zbT|lG?*{<`SaXB?e{m+paa5{}u^kN|FPY;CCUHz14ZQ$FS~%Y4)qrt6P*Hc%Of*oG
zT>$a*Gz{R}hlyhub~sxXSpAt*al&}<UrRN?c7b0fHZm5eH&|lL)n}RTBH5?^ttjT^
zUn_&jTN{8Bs9BxOq)p(S`!h1kaZP804+nHR1VNVYhgAd5ILF_un6y?;%X|#?2#8Fk
zSm!ow&rKkjWMju_xN-t9cj%%|j}D6x)9ZXMg5N5x-c4MaY@N4>k+(YO8O9k#k$uZS
z&PW6TBYFC7BseJ6=g0X0ToA`8@5%Vn22Th73-xK0YR$|`_#cB3j!}~546Q=?k1k<0
zvw*e6*}UIcv!2r)d0=Icw|#h}3~f%ZG?}st$qPV+JUK}sNuNE>noOiO{@EttGST{_
z<a%t^nd)k&FwjiHle^>IxRv=gY;f%@#s{Xl4h;w5sOUUcv@Ndj3WEPbZ4IuBT)p4)
zSk|}`FSkXx`wy6PJB{RCNj=un!MAnWvX4tb0{uuRWSe%nOhF7tHCI1&QV5sLB&oOW
z4x)fktZ-)_L?_<Jy&>IrwikDcDdqeCqnfFMhDTxPQT58S`V^_MRWi6liWeT7LgMo(
z#y$g!ii68fH+BpZ2?5-!L>71n)X&O@+%-!-cDk}cL_KjVm#C{t47I|$DK;&o!Te@V
zNf@EHMG5BAXy|T7kTxc+Qt*cu_~1C(taM<6wxl$v@~|_waM_!P>Z3yNbFstmA!LvH
zP@@yBoWFdDS*kT5k8d27Yuh^M%m~S```6}+@|1`bp(E$+;=oe%phWgte)C$2r|-;#
zZCHqJF@?)W`L#?4R3IAp7G`)v`Dc#VZrau^MswQ`Ml;(O1z$$_=MD?>A1sZ+o?zhT
zG<l(B`11NG?(+KFweu#lm=E(BdMsjKmc&CPW_8yhdsSB<!O3-Sx!s8{H@qiq>rh#T
zMj`cO9gCvPz1imG-|vbW^UdhTG0+w~q1X-m5RnAFiC4xOj&-)|i*o+ebk8KFd!St=
z==SXUoZ7`E_>K=XwMcEy2KXoPBeB3Mu7j}0!hHxnyHI`&^2MAh()hv^nJ>6{lEynU
z^6>|hqIt4*fYp}sYv3CrXOYe|EW@hieD`*M8ty)koE}dE1?R^b1!1eL=&v{2;uN`V
zJ=#C!AH8f?#+PCPiUSMxB5CA-?oudH7qtU+4P_)U??qZY<&3_pyh98B3Wz}nE465r
zuG2a^yvA0#`+pTVydeE|zBu<PV8wqj%VzdDyisJ0T&I$1={F>zwQNVEG4~UilM;K3
z>;gi14c+bUU=u;GkLUC<=nQhm;_t9jQT_ff$A{(KM%WcM1Fvm{-p9JuzcS=F1P?9l
zQc32xBtn;NgFyjb&2+qLGFGwhh)N{F^f+C#M!sKS4dIC!1*^Ip*kE#`B)n+q$yQOa
z7R{$3#T9-!6`b05)n6_JF!X&T3(l!}7av|fnoolbcz=US5P%X21)wT>i^y(W$drq%
z+X^h@cLG#bO`?9o$!@o{<@K+p+#Yxc8YqVPdMAYfx*@>wBi8LIW^8yHTV<}mt>#Cg
zS`w)Tr>Cqh=t2n?%4yz^wxyN}L0lO-duRRfUV7yLjLwC7D`d4bLh-m*w&bWcD}Q1?
zVdZ;Jlz1h>8kkmQq(eFW2tJgmefhbR2y-ZrcKTayYU`eLfmY#|Kn>#}zxZ{))DIma
zy$m}Vv|B*1_|oA*dgPdBCHe!*jdNKbhKq5e1AHD1816fB9DX&;{7UGu6~)L6;e~K4
zHpu|h=wCIP*IBtA?;5h@?L?6DhsTOIxo^iy7{k8w*PQ>l6)_HvghgQ6sIfItOII)!
zBX{lU>p7gD7MaQt$oM6@HJpcf4Sd&YY(xE1&;VGgy?@ja#aP8qbcQNtNj8h>`ZrZ&
z%Qga0O?t9g3UTzql(ZAe0b%vQ^b-r|2ZtHV+(m=F@*ea`8U>ht=15W6+AggN_bV8g
z;V2G#>(xnx12+K5e}FlaM<J~gXfE-hi}g~%J|-r8Lo_Vd>`T~mk8Et`c1e6Y;MAKt
z1bPU8F#^ATo@?E5)}Ar?$)TEM%ew8?K+3;D%qv*c?HjgId83Oi$q-A?&PWjN%M)le
zD9@ZzK|Fa1Na*8*d|Jz{LB}^$m7xTy*Cn?{m=4#hYe}z|wP+Zc+Px+O&&O&9P#$6h
zD|eP>P-hFD9cGREN=J=&hvzExWvT1g00^TK2V9V!)esBFDmR5|3%tIBtKiH!bq!UG
zM{bFu<rLXNdsSK(gP@>lM49ulL^AH{xV|(su{2qwz;C6aDUybH6r1FfMKa<uOJd7~
zKR<Z|9E;qlYw57R$=GlXY}D>lf?3tD%<D^uAPGZ`mByn|y^)iEA!bNZiV>wU0EUQa
z-=e>ysM3G58ADA9eNp4>V}YXo6?S`o92Gk1_2F%5mM!AYde<W?R;VGTA&(O=2y?F@
zf)8F8mJ4ow9nV9*lCHlvep*d)ir_wp$VtVBsRb^$y5k#mb&71YAJGd6GEZ~|eMAQ`
z`wTNn$yl1hvnDWD=A1zyc+zfz0bZD|6Fwi*Azfb0Vwu_RZZRT_zn!W$=@H?)wWrmJ
z3BXpex%|vOtQ@;gN+BR5U!qpHwU&hpCbwWfkNoM3<hkIX1#kY0|5X0%6s*fD#icT)
zpF0|*C+*4i2OstpTcKad(q*aRq$DS?z1*oF^oiZ|rXsepavsbh#t+Om7pN}2Fe~5k
z%k#&@@eKO;h0J_SFq`>cwswVPFzjrWGhU|fWqwn&;3l^@S`B0!l$UrXGPN;vNQW(u
zrN#cx7qz8DW%}VTl{aZ(f8&eG(ww4w723NqrfOiveNB3pWGIC2_6q5DA-<ho9Y!%H
z1_lHL<0QkvL6I8t=gG-D1KBo_4y@LaSf2@EkwFNW<pyy6VhTB5=;ED=T*p!JW5&#O
zxjEATnj}{!6Dshv0VJx7|02gk@0#y>`rd@Nqj~kTeF#55G=J-RmtD?e4}W4`%ifZJ
zxE$53Up`RFQZuAQszQygo=hLiA$@j|mrogrO9_LTLi)Vgb+4|{15==9;!3iXH#FD|
z;xKUP`9?V-r{8zS41c!}h6s|mRmcWIrEK8XPe%EbbAf!%WKebZWNo(|gxr5~de&O?
zk9@&hbhW)OFQ}`0GB3GZLXi>8x0K9;>nf6(=6(;ID3QY#HXK4+NHx;Hc-4gWPpmz9
zbT%ES+4`}}iuD=21GFqg{3I<kX0QE^$tqWea${9B6~Eg`K_pra|I4@EYmxnr$-<Bc
zK;Jb{Pd_OhNbtV>FOpS?{13?%GD3joFuS(Rq>^y4>BcBONPUfUDEs=LUPhXJUKp&6
z>PF0NR~W53XgHseUK_ZOxY6zoflm*uEK${BK^rmwtf}vKRCglurbG(AW{D%)c(WBq
z$qokW>|MBiZK&^dQPuIdmV8?g-6s7Wf)LX8t54I`%ap;(kZiwd1cvzHc^~@e7>t)Y
zpq0S;*S5d^2xG3P#_Q%G;rq;3JSm4EW?Ips7n`2q3+CXYs#5cP%>Yt)5>is%*Z11R
z>-r)Mz^`i;v-~R1<Qyo><ShQ{=5mV8saMjE!KL2l5isH^7fVui4yLRiwboNx_Lz1t
z9n20#gj~mt^xJ!~y-k?T!FbVeNt?=$Tvymr*A#-NI7NjTKND6~mf2?%zi~iUwk^J@
zCrf`01G!bgO`5Xuz@qR%r|;rwgcY@n0G+D=_`?I|ZBocUS*e@dp3?9;AfkuD`f1E<
zs`=P(PNO(n!jw$yk=0;}d}7i#>rqSAIcR8}eV<D*L)N#3VI%<@JlJ6qTnJ=cEJen&
zEZCY)fLxZ*o%vEDnT`bh1Drq)cWGzhNyyOuJhK9|N*D`E0`Cth94~jl03ywy=+!AY
zfJ}P8vb`fA+DXUuBUx5|X*Yw*Uq`|vvI9f2cPLVto*jW66+(Gc_tq^bzGQ8UG-Q#f
zRotL{?Tq_cdXFwJAw+{FD_Fy`6ge&^ShIg5wckkG_EZ7aQ}QhreQ>gZ&#LJ`eq45S
zOUd921z#+<vDhz)(dM2;{yn+r0~&D_Nag@Jm^vs@4=8v|hvIy8rk%J(GP^!$B0}J|
zQfhS@R7iR<zh+*ubSZ=A{BxIBHSzl9jPw{=wW4nFThWCjK<sTK-)FzPIa-<A+Fd<g
zygZZ>z}vgvrUr*!@AHO4GDW8mF`X@Xkj4*$g=m%pRL#>gIhndLB&D!jcuN8RZ}&Y>
z(I;cmotb}EK~*G~FL@DpPUTgxNR9k<v;?m4&wahVp;}dyPeBYD9pyhrOVx1IVcc6!
zyxE1tdps%C+^J^e)%+b?UT<sMKX_h=&Th}oFM3zM$|D$T=dnmcb6j0ZDO$)v8H+~q
z_}2Lv1FeSlA_BhTKpoG$DdRZ-a61GMK_;7r-c(^$6|%tNgE-93u|_yIJub^O3cTfT
zY+JD=EKM@hA9FaKvm-B==!%AY^oiEFmTK*{I(+w7ZXl$yb!(HVM_ljN>Qg(numwTP
zu;gx-OoTjtVs6gWsq7E)DZ~+}P)5|7j<nE*+sKWOVjM13w3J&>U+0ej%zj+Eix|uJ
z9qJ;Ospx5_rL!mMTt$h88G$w)-ukSrJ3LHn@j%sWZmy1j(T0DTRJg8g(a_7^>JceI
zX_~P^E`~4x#cIUBWS)8L)9&EKg^kg<+~tsOARYUkdI<7R)ihnJWKl36dtkMSv^6Vk
zw@w<8Yf(iXikP$0`{y3!u53pEbZ>d(7t;T~Ijnxh`~ngbJ*2+dP9FpmBcz_hK^z1T
z=id&ozrHPs8BtK*4ASD=99clILjubko68+RJYfFy&6M6C&g=g*8ET*#*Z(!1;$TSS
zKnw$Xh5mYz&HvR?=YP#slTErF-raP?mZ@%8-3UV>H&y8ZswQ29B_2;=&H4w07&bJw
zc=s<xXQ#TufNLJ(s=;PXi1U2SZJx^$EhO}FRHf)M*gIu2`q|>w`leo7O;-YGXlBQ2
zo}AgviQ7zGN#)5@Mp|Pfnqgq9evnV=OoKC^cXsi9>ZBwN9!*l8h=D>EtKQ#MR?cmX
zADfCrwj!ae+<j_!=JAocKbohozSV)X2A)RcL%K7GP^&6p#XaeI47t_2zZdu3^2p6h
z9Q?EMZq&J1<X(#9T)LX7!YS`jj@9}N%EM=6J3i^+?=b_$pqpHyO$jjlcU8NhfD5fU
z<pSoFJ^jWN`nzjIx;Nzafd{l|`QS^YR>Qnbq}<1X!G_UzipTXE8AA1+9EPrLNR!<7
z5YRP7y;y36D?4TzM>A1w5Rsz~!c>E$Q!kf!tr+BL$#UM`O+ff%L|ZhwVB|CFB(yl6
zM?V%pLhVHO?uj#Nea!$e>7Rd)H=}IxQ|#OFY6^*cE4Fq{8dJuTyo?;Ap!k47A<MTA
zi;@JrFlQ(ZzZ!h(_97`>xC)p;?lad|xRNMJrG`<yIS>oIB2ZfnhUD|isST4TS?L!m
zEw-jljLerl6qS+5XZfETQXGpX?hbd!=x=x=l;d%cwxGWZ#y$YVdXZ3H<gbV<yr(+R
zc~|uwP@6;0q7ZlICXdeCY+8y-Wwhi4j4FX4(aUyxm|&%rsk)=YVM+6xYOv~T{`V#+
z0phV}t=Ifp9T3_+kw(ie?7cV;sZ+>4U$N{ZlQM<t6eas)toxIL7M&O3Xe%kiT+e`e
ze+!IA$tViiZ{C21kU^=Z6clACVf@%Szl5fN1idT$>*(z&7anr<M}%W$ZIkKl6My$k
zrDtOCyE0O3QPc&?lv$jAOAi^>e2RGiLcH-Lqao!;3=v@ox+8vAldelK^>PT7Iw#nD
z1YFT4BI)H5vgZ^GEIxduuOUU~pxgNyeAL$5V0*2V6%BAKBF?J+J$(#mCI|hOXgj}w
zkr_z;`MTEROub>kI{`dDiqW}%rT<^8<zf<ZuqR40F1keY)H17E`cFK@#IhW`PF>4%
zcjDx{9zOogZ%9~Uirn@{gspLimG=wiW;DL2iA&WFbF0w<{E=_czU10u(!$b6#AvO{
z@yaL*l|42LOBzMoG-V2!TXZ2{rcQU_oWZ6rfY~n=VH{ZF`MBX*MiL?Jf4eqhAJ-6D
z&7t4YqdkSk(@#nJpN&2J7c)-$)TpzdJq$9>0}r~Hlqf+GePUCIL*r?jii2+)b0nTP
z{WB#s<XGY3xUNZjlkK0tXo0BMZ`moh>$iU#Q%97mbYMLBok*HgFF%y-+h2*kH(XW5
zeFJAiF_b(Q6<|=jg!p#mts8Y{>5AE6GZ#P*vC4%+l;Edf0TyjDsVn_s<WFTmXHZKN
z8;ka@eO$vlzR^rc5&!e|{ND4NmlQbZ45Xc~a}>cK2FY(Y2s9<hcv`@nOZDc3tzrT7
z5fjnwZVB0y^D5-f(YYF})lvV7c&d&+Dg$gys#vJ*+Y&!w?5rkCJSstgET)|jfy(G@
zCF#uNBnEYgtH!sQsLa`p>V1i>{1{oBI*MIxDscbzT|103jM=pr8KDwP%QeZCttDi8
z7(yBUFZFQd<^h>NT0J1kf~Fba-$V7Y8MQ}a+tG=r1Jz!UwG4Sz-FL%*V*{lNybK`z
zksoF$F-OG3&Lcsf&g&@z`yXtuy*y|Bm)-3dl$H|(HJ!dB>4K;dF-wpz{kJjgW-Cj+
zw(2{M|GHpCDxa!QqSXYk&&ny`=-<HPoZ^YZktH64{6OsuUkD%zb(viI*}?EJbtmbg
z;)AnqF%Zt|V$z(&JtT*{%{Vo}tMyyM0co(Em0=CI?a?29`4vd!);JWLDxPu-X+>o-
zAK|A*r0L9ZQdkI7lniF|44AnmL*#wC7}+l#9|)ql4y_HiIM^VVm*_QnCx%4V@7P#A
zJLCeGO(Fv*m2!YO>DeMY7PP;=n{m0}(_e{*Ly#WX)+}Dz?pAVVv09oEeD3nq`BT<)
zCG)=@hH~G$uZX^-{S?S$KcY`SOGi^GMXy;ZBh|ERVtwiD{PP0>6o^7P(uB`jTcgYn
zDj^Y8Y^uewm66uRBHb|d*JGv4<Du#a>&2^tfk6lBYuyDXkB07NRHE(^cpoZ$Jn?m7
z1rWu6h(s+ZN<x&9cP}@p-R@yUWe%Cdq;Y9QYv{PkMybeAu*Z4s#IeHA&{rt3GD(3D
zIlLTKn#`813h6##s*-kT&j~L<wSID_ZGO!a6ZTXJzp-|7(&ztd;prA>Y}bx~ISV`V
z^8O<%uvQDmYzz^f3l`G_gza@RDRl4c7pW>+@$^ubk0Cwl%6HP=B1Bo8l8O!l;Vl_0
z%Y<iU8=_xbV~U%KGoQTe#fd8*{@IFfneomD4vM7KV(c_sJcF+kH7cV=MjZ6XGwmO?
z4Y!{Q`uwn7^c&FJvDleiQzs8wT`L2fjO19(;%Wr42EtO%<h}w!YK-j^mRQ)wgg=U>
z1Kw}OuIN^zjV`&$g<p4VrtG)U7CI(tiymZ}Ww#w7NW%k?;C;~0sO9V|vK<7=7k#ez
ztP89Wz4sJROGgGRP*i?DCM*4FX<YcEipuh(iq{=1jDB*6g58fs!Z>4jjLpwoe}}+<
z6t4p`+@!Are=f_iTG*Or1lJe*W5vZ%s(1T@;oL*|qT=lD9<ENvAEt!ue+hCi$!xDM
zl@0muI)E1WV@PnALF&N}#Q+OT_!REC@`0=M^#aJE<4$Rp2E^V2;_qy|_ngysW~N|d
zG^xZ~-0FYLuNjlu^<IM2ZUaByhJxK;;Y0xVTa*mHL<);mLmM0eNl9fi$8nd9Q@^KZ
zBpGv2hz=Ap(F-*gc)oV8?ETR9qhFzKLtB9iUE#|;WNZ;9<FlGkDx#yN+heAQ9sJM-
z)cg#D?LB%K@f#S(hEx?)QKD~R8bWJJwx}}9?R+nHlgQ^uFS=In1OxQ~c69wqa$rEG
zksVz^uao)MU)>zH^*?;@3yK@{2z)1TZrrX}ccyS|Hn8VD<6Y<&&qr2f7hf6lD^`2P
z#uicY^%{EWkGjhz(-U7qP(nSCGL^Me;B=eEe><ufFW9-G82d-))xL1@gr+m{0^^iw
zdQ#?<(LoKrE8ix3aDywp&8|=DHl_pb-z_7W1aA(YVzW}}KY3z?9T1U=s)nNahr{Bu
z_^&Psg5DNoaF|O!Eg1|f)6_%;XxwZIZT{``;&?81?H$JgzM;E3JFDx+W%*|@UqDZD
zhL!#i+KnG$OrB@#QL7K#CPlERn@Z?MuyVGZgg8<m%rGIm<!V|(xUv~hSW*X^c}WC}
zJ^g|q>NX;^Ic{64Q)l!X?u`uGWY;ja4F@n<K8bTU{m0|#-LbTzfpvUrT^-WqJsqw0
z60gX}8-DFXRoUyGzxdDUWxa~#NOqtQ(Dj~oR|qIbgU5{N1SG~22w#<*Wl+cS-9lr(
zE{>~FsT@{u|H>T0@}0=rI|c%Xo?LrO!>X^F3pCco^h2`j*phG+N<UyLd9vr=!n}6x
z<X(<*zY_BlJdxknSnEJ2hX^xKDO_Rw^yQfZ)^c01h0eWZ_+hHB*|M3D<RA8X&@XY{
zIrBNr5;3L&g@@PAy{8tq?>OFV8$};%V9?om_5K`g&o4kq)!AqU+KdBblf>ZHN8C2s
z&OEHyc3#qWKVXY9o?`v9WVE&UJnc6$*DhbEO}~G*zCX6z_rl<=A(SU8K<%vdC0O^b
zWYh~C>w=(z<#xdor}+-)<MH+ju6oBTQI*9jRgL1gBEbZ5hXk5EEFK&gR<8A$<l|rR
z4zC9?m>ERf1nQTzf5QNRu#$X8@yqF;1D&DBNYcT%MI%)~(IvkmRWGZJ*FZ7z_)HL2
zs|<VghDMUU!0UN2-V$z-!hD~x9Z_k%2G50$9KxuCVJ?%CDlOeF-)4#NTBSK6%dFDl
zTF0f(X(AYAl)s}R`6O@pUsA1O!KV_K?5P1)nzZol7#rQR8qol*^<VYfEX8H6W5sG>
z`TY-8NKSo6rZsTrMv7$3^GBZ->5e#B^*1lE^cjmLP1x*uZA^=!<i{djKI8V<fvTAk
z$ct+w?9U?DSWlBR2L0UZsmeK@aSwIbnM=_+Wun##vj?^S*K;EFyuY#qrn(oM^3y0U
zshXk^*x!W1xcGs@T9GhkD)q{IXJ0=;eW@vr@lOnv39h#;*Yb>e!;mzN5B<=MX69Ir
z9dXW55`8(n$$9oQWcbgf>V?^%nmGiGo+zi-+hqi2hmTrsA$cGxa$yBpTvU;8?%?w(
z5l)z@af9wfH03oovRI7Q;c7Klie-sv#_ZE4y&6H{B?!ol%g<WM3xQI}-VSI5!;D$N
z1f$Eu5TW+*g^0q~MSGB2XQHBDQ5Cfk!CW8XmGuC9_peur|F_SJhLslrcJWLx!%t8$
zt5Ll~OY3~(pk|s($u3rC+(J+k3dnf8ItQVRfg78*R}pl*EQEcxoi*lW%3|a=ANlzA
z=5PExU;%jkJ2WjbAJW<jubN0O>~#8ReV3qu9jd~X@g$g>c(W)`)<U%=8JY^YCE|lq
zHjGZ(PmJL~&rL+KvT0w@_Ngp3w_vS~Gq&Rrpcu+rN@n2IzS1HpAE}K;^-#Aww_S<8
zg8swVJ|ToKVYXVimjIGkRk)zv!mlh^VIOM{73aJ6t<%8K@ozpdYOg9+B1;n(Mx^jk
zGr81f6BP{6wj}FDE`lEn%pQ5C)ycIW;MhWkhuOrVa8Jon%Gtup7|_n&LOzQ#rZiDY
zlzxS9!V0u@fXe4&OiqQOwACIM`O$07#oc||(eb351|b-wK={RsY6+VR4+>7Mz;H9S
zS-OsOme&h*x#}gKkZQ1V;t?Df0rr~4Z_QphO()n;aQMp_>mZ|WMJP9oaZ3N{n?(%l
z)&&)bI*%{stzbur_gIxvVDseygd8syMR2k|C^!MIH<K3gHYWai>8lz;=GpK>ful3$
za~BTp`MIQhZ14A8b0!%XRGiyU_mQh}L04jTdClIsp?nkqNjNmm+hLm^if3u~5A+0v
z;eGb(tPT%w<!e`wtO@?JoCYBA(xY}raxp8dAyRo3wo#y?G<ByJOx5Pp(~CL#)#op6
z?&}=zT@e!eARw}x#gAd%%^lQ_?|AiGK6Bu!9}KA%r}!wp<D<4dOS=5}GkMdT?(L&c
z%(+DyFQ|205YGvv<E)2g^;@&H7F9HCPyYycYxDY+t&<IpQ;aP2n;}PXqWVXan`<=0
z)%I`qGqxh*v7iC9+*}?bJg6IZ3+V`B-ls;O6mP_VS|onD+Srlk({u0HxBWFy3X5id
zp7=YYIUnLHq!Kao#E(;JDibf|Oiy?9_J~sx5vpT!AJBSQtXTnUCwqkO(nvglf`DHx
zOnOe7klOV9l0|n-5NS2vLJBDV9Dej^IJ2pLl}Y%ncy}4TEn9*8!MO3u4RP&L4ue<+
zRQ9-jluauUMerLUxk4H=3x3Sl2!U-Gxgo%rAVRZ?ajEv8kJNz2GWsND?u1E8mcO#3
zW!n7Ay>>Wkk^j5~lWB}9Kaj)goh$wqm4%rZ6%z%UPmtdZhtGk-gao^LMq1s!60&Py
zPAlC^i|eed1<l;4taP#^F$%6Cd}H_wnC~XzE?q@zg1b)}SzyJ@B+DS~*w~q-EESt;
zkluS+7D8)Aqkx~XY-UeqS+Nh1h`B|+_s9I+uu{Y!b{|_A5<ei>uf^RAE5Sz{T2_(W
z8BuF!C4qW3+}ZPumt_n)wr%}tcTAMS$5?6fSf9tJKUv6jUeuD@y6=;GoNPG;h7-+n
zE#=Dt==x-9DxfqsT(1=*_R#Sue>{1m!h+Jkd_T6jxs>IDz77$nQvj>Y`4fw#oYn==
z;M%R>Q-4Ke*%c@}!FNFJ-SiCZ+cQbsQ5V+!hnG{D`i~QISi7Qs-EGyL;taJi1{>#r
z<2zH&Gq!KOM#pd|%<K8K=hC7RaKNn-hf8k5lLsqcx=uQU<1lhczvc60vrSl3@P?(w
zJ0ir5oP#KDglhI19y|||M4_e~)LHr!;fin2RFvY4D<5@)|2Nd3=McVGVpKs7z4O;d
z?IARHx=Ywe0;IHb?2equ3|MfitB?{bJm$I}-S$w5eb2J#_CP!^rEo?C<d|EB>gh=7
z!+5Yl?<Tjdb1|fF&e~VqA!aVMKG?})FQCxv(`}8xF&2c!h*`LV7I<$au>4taDQI7i
zyJn3d{+WAp?ylulr34Ziv5S;_09qe$XZ{BtCQ$aDu~`cIbZ|#7y2A!arLsr^SFMfq
zeei!sI;ZGBx~^Ntwr$(CZQHifLB;CWPRF**j?qcFW7{^*`=9S}j$LDox~Pj9bFXL4
zW5j|C&Y@0FnP!2Cwf>BBC<qortM0(nM45SrdrJ|^?2JVy2xi3E8H%ps(ycoE8V_o?
z3}k2sVL(f*n_v`+RL_EDscmHij}Wr`;3kolGJfKLvxcI+?&a%nEB93nWJSTgP0Tkb
zPMHFk`7qyy-xWg2u^EYSU}j*o#Xs69-EK*%PZP9aiGi*a?PA}WQ>5kqedlD{U8cGM
zg7#Ku>yjf_fY%s>Y>WO4FVL>uOkb;#a(edk9C!fRM4Dp{pR#V@Y?voENk*8pq_p?I
z6AnF;FhQ_uzxZz%pb@?r`I0F82iUliQLwuE@Mk4cw(N0?o;<yh|F7261pGcQ7uW3R
zFEuEv&QXt2qj8u+)L^IX-)fQiuw6AYeC3mvYKat`%vU5#1ZCVc@v1xMW5fRUs0qze
zVi^iB5I8`uPU1^!uo3P)!AlXLHA-FGz*fzs@vwQU1#yPK0ofYJLYpQDr9pdWAhz=o
z2kj9<vYeUhGMAa~o(@GY`1i#(C-?0a_cFO#YPjD%y*kSP!}H_h+_;<?NpJFR>hT5D
zo!Gu5=c~o&x=Bl7o}a*wMXKJOErptgQ={Q>nFkQ<b<M@!PiY@A=vW8RF-!72fY&{o
zCmgXgjRQ6)@Oq6)4DEThZ`E4yP|f1IloGoDGTKc2G>Z^?(15B9w|!Tp9MWRpEIDtG
zMa&i-MHQ4QOtS4mgT#nvMevav!qu|>vIOfH)oe!MsooFgIJEn7>kbJy=%4QX*lXRT
zCjf-MavN?c(--&>%9=h?My5h!q-HS5p}a+*hf64S_kdJZ3-)Y(;Eo+0399meF-<@b
z3iR2gLp9=iaXlj$0N@YWDT$w=iX!&xX)5ggW&wd8l(a&=18*zR8mRta_s7a~pbUzb
zt<Ip(GMF@loLrUR;?-1YHVeps&zp!dgg^qOEiHHr6@`@9uX+xuq~4WkntICYJxRal
zoLh-Gf-Avw?5<7BIVNRUnAoB1a<K?^jNa~;7jjAUnysWSg!5Q-&--A>+;{DtAEJ~i
zlp(vCNQw}GH`#!f8WLhXgo8oeJ*y-n4x<%_2nId5&y;Q^<wD~Z6VwxnIhMf(HXwRS
zIn34D8sVX6I=!P;EY7$iZb-8*fY)2xoYgL)o7UXr=n_J1?QU&4pAB{^H+%vUN2&P>
zrsL7#8IcX%gNAnKJOek7niT!S6*pUho7(bT&NyPnNxj)Zdr;_=r0CT|*bu?}KFi!D
z?x?c<4Ewx9)bstW3G8)T1nljA3D|Gi^pz+M8!Ux=O3UEFMIH^eC={||q;I2I-{8;*
zeL_PhU%jNbRozl(CR{*j9rKw|*&#zqeo4lq<Jzg|zhTyrF75kwz&eNmS6WnY8LjJb
z)2ZCN`j*Yi6&4V_EnwKgShX^tS+oj*=a8xuhA%ia<?<llf$6*yEA7Eq1at_#Xa0L(
z&~`E}FDe5@`jPz#rW?yj_}wTsAdvHJjL~tr?heQO-I8S(o(4rp`Je3HJ_;&_e-I$Y
zW>$pVMD_ZVPHRCK=<^0^Ly$wzP89lpj0M?I`|c7tdnYaVwGYHNsrNbBQP~`H_OkbP
zc1$$KwU)JkCdc*+Y4BAH0{i*?qcV!_dY9rqb8dG+B(J%4+kSL+*_~zBGSTg<^9laK
zWWZiyWa7owt3#8+H72A#b72<V^`*|fJQ2|^p*P;tM7v}ede$a9efpQs-(!1rJ}E7W
z*A})d?6+?>fUQNtm3HG&of?Vb9|&!<X${4m+y(}XVgHr`)2U8b3iQDA*{6ves~gEp
za)8<ukJ#y4r~g5JIny6-g>kf=MV}i#)CnJBaKBSe`E}8pE|#2ZyPTzI%M&$Ua6ycg
z`zIEsCK5urq5|*C_6t298zH1NZjYd`+Gt}W@t{g{eV{2_V9F6A)we$lME;MK+-t%)
zf6|ogdP@Z~GF9D!1aQAsjQpz@=())n)R0eGXRgmDrppU!`YaXewrgWTgmq81wm6?S
znbm5N!fmgc|2Hxa`N;>5d%H(CT#~`$&}?6*e)T-^rMPo$a)-!&9yNDR)N4TL_tYD}
zU^miD6jH7BOCljk&L=#x&zP1HYS-r4T@*|^1$0krkrpq029Wy{B3LA6P-wa0cO2AX
z5GZ@o#b{eckS<AP-=dfFU<-3mjBps=9WN=CM<w*glnd14Xab!Faq57u#(lG73gQrc
zmcfTg%LH)|-3$-#r{v4znj;vdU72TA4tCL@PLt!E^RWTzkNCT{*U&8!W4hW1epuUC
z+h6*7PsASM0Vw)W@^)%ot#|M1l&^~f(<Ly@GM^R{ULWO)I}#4BcP#M$;bMOI2cxmz
zuek5E@+a0OmiOm@lwf}^?F@Si-uDF!UAf`9At-x&;a-u+Tw$Hav_q5kM4;5>n0*FJ
zsn8VLU#CJ$ytADBpNPDyQczaf)QO)ya2>q=;VD<cmjK;NmFL`<)VcpiAX)gQ7a<8}
zglR$ZZI<lG+0(xxRZp(cedTFp5m_2Wziab8!HrA7>}!Mw>1#z^dS|?XMna<y^EKRs
zn8&9*MLZ&}g~%=Dlxemi1-iweB*;La9cov+?Vk4MYQcu6OHRM3LOuza0k#W`<X&|P
zS|N}wZ9s3iOX6DKiA(EAihkV{V<%_|?42~M$r{eAQ7M5g_FG@P+h{e!Mc%#TVYW6I
z`t@|cU}O{5-@~`UqcIj!ib0la;<B40+@Ax>j1U9TD?cUQ1Wc}I@MsSbLFUW{>U?Hj
zlN>!xMZbKj%^b0e9;eAxo6ykExPV33ZzfpS7RVUK@9rYFYua;?Q-KwhNPo*+NN;Q2
zXf|3M4CONouAhE5u5)7J#%;%Xp@9Y1&#=a@RLJ8+GZi4uD#yI)*hdOy1WNL4Hy({3
zYv}MZoUtTB;87TuG0K>4Byj)oPDh%+brhh8W2rX|Y%ky*Bo3yNu`6b1nMHF#;Bu);
z0Ulz8?X;Q#D|tBq9JRhP-q(b(T4;wWM1;+8gKhr2k?f=$k~JEmU@(VzdZY7DgIU=p
zlbURcV$3{9^bQ<3ISfrsK(=K?5xL*-ALr*i)-7hFCb4_MoE0)_QS+z)wFItl>~Gk3
zJ1Ad1;cMHm)y%)IGILNj1SIr)-PXjA0MdDchdZOTYaRBXdnvzSby}=TOY4+zx2pAa
zP3+}CaUXx+BL32@1qdci5QGye3erY<x!S;#DL<upnuwG9g5{NH(VC+Ef=9*S!<?d1
z87K^`+QW}DzsZ}e5rvARtbWcvY=u?dMur(ujt#^bw|xF5#(Se&kI>8bS-}=80Km#F
zV#U=)_AY0_GEvxMI?N0cPPPe{iStdc%3iy<C+VhD8tFv#te-YpM%{#mBVi7NRB)k4
zX7M<*H7TVSCzWf>RtZ*M+x(>b?i3I$J~exubP0W}J{hiOc{>Z}q@A#=QQPyJw1lW<
z4mSc$xN5NweHhv2s1<!)m&`H&xwj#l$}__OQ603Qx`Fx`b1MB$rUc@is@FhKTCQo6
zg0az|FIZZzv@t%}>yG)^w;uyYv~*%27t4-Xalhx9Y*LT+n!!|a6<IT(7MP)GRcG$*
z>El##>WPvrV24x1CMsk%b(cCqqRF??ffx;m*X*z);}+(~=|bnjZCYu7z24Z-eRYm{
zK%7G|V|rTxL>X#6zraP|x_|P}-9e+s`7do}+SthLJJk1>**mK&@>3b!bif07k3EXL
z>Z;_H=Q6{$=ynh)WZ#QtZ010iVGqWCxmFB*4RE^a<4|<=<XwI}(W$&rVrbRQ(!4Yj
zU36>kJ^p2<;rXK>m?4e89cAD>%A0Db$hUaDuIKIOcH|<a`JsIm))7TCN=^uFxll62
z54OG!NLEMn!SI@q@rY!fTX5T&8JR%Z1=i92E9LmuvL+nI<mEYi#AXBtMDdVlNV5Bp
z|LnV=+)5OhX3%!x>0FB;za68RtcP;pu(>(gE0F27Z!q}4n_)yiP{HBDnc%HYUH_}s
zU(7#4IAu%yxzxNSh5Jx&=ZY2<NlKf-j>lovQlnm)%Oe@((X}L5UVAuv?9ZNTs?66R
z1k_hWuvA!-9K926a^CQdEiC-1|EL3mdJY46{l~aKKhJzvzTyONpX*F4wH^mKtG~aX
z8WGEF8cY}&sx9yVx$N`c*qywCWRH*5Xdf7taLC%@nd)~wuSOASxCy$e)1-aMXneB4
zt9&bz_3JWu$q=4+>_zD91a}>G5)qeuaZPOJ=H(*8Va5eQ(G-uq^<QQJ@g=SjF|jp)
z1JQzl2o9abO`~HTl}`OT`zF#|(9!)ZOk~GH_aE7RUw{1tZpzgnjZq0Lhdd1%@y~Bs
z`tG||RGA%`*Nricu?)nsU!5W<0g>eg`qhm{L*&|sAmFXnQb`?rb$FkA_%c(1f-9}Y
z-=$IO`JU!PJtGd`*6OEIAIW2Y<+rPv0%F4nj`Jqo@O<9Q^l9>&W)6DBeF8mCa(V!g
zswJ2x$XybkULbDQ|0DS{xSSbP6^0wD%!>nE>p1+F6JEz5IL`0%WoJJJ!SnHp)gJ1<
zpT$^k3PtAyF>gNYe`m;ix6zQYIL(StY)f&|nQx<pcbVJ7Io*&K8)Uwg(@(faT!s}+
zpnsA2hMvF5`p($Bo3Et5L2irNRbiw@tY{Ox42pGuL)$UiUE37mft$^BD{%H09XtGg
zc7|zvj=g+xrL4p~u`+Rsi<;YKy(RR&^S_9jLIi(`4QY1qQ^DAV|2qC*s4P}pMYwC&
zI?7FKxp}Un(Zh{R(wO<yqh)(43KfgS!)Jc+_}lhc@NRueGx;jt{BXeVht|!@3%aNO
zIUc4Zu#w8J-4bekp^<;SFNMC01Cr^p3hpaGY}eZ6Gp_xV-s3p(GqlVZduxrOG5v8<
z5XQgpJ>Zbk4R=b|+uJRvx{{p&SxWWQB?RB^lLU;tI72cc!&S!H*-OWM9u}j$v0W)x
zVq6`MvaYmoH=fqy`77kwMIZ@E2OnR6HIUmLpc-?X9vjrtw<zb+x0wz``UAr$kUK*M
z#`83W@$Z_SvO{{3aa<hXZCGH5ys4~0*4OB9r}pDNzt1Z4$KiZ~H@59V)hI7ZYZ0`C
z;fy(5xiEF%PVxtK?G}~XD+=|5ol4_o>3K(7R$@sZZD~(mJ=^eIn=_>?j8jfLN#wO4
z5UTCYvESG+WQo&CIH!tkEaV9oLA=Wfu-4q`)_+K-`Lk!tn)(FM{#tZ$dt@Aupy^f-
z%=Oh!vk#aVT|h;lMm3(s^10sB5u5ZA$yauUBy@E9H9^9ZG#-3c^z9o0B0d0l9PiAH
zVYrWYq{e!7;LiM)m#0gE+T`yEe$T%bfVumggGg+=lOL8gO1|3j5nt>(l=^~FRsYg>
zWD^~w$h!L`IjybRnL8^obh?(54yH`m)ny}qZj0JxBF_RKu`)M7UvE={+I5iS8kh+2
zk7U9bAtYCEWBG$R0vb>vq|lWRxX%c@V-1AL1idiQ48tP{neiD=u&X?=9y}-jdQTjM
zMFC|jW^D7@n*R`vk2tK{e>(m}9USOybM$Wf2|PvLDha{lv5pR2uC%sdhA>cWHF0hO
zq6?Ty`t0japA6&N?)=_q-fLNf^ESIndUBG*n9T_4dtgv6Q19Zbm4_3$bLnPa_ePRF
z{~+h6O7@h1-i?`287GFYUiw6!%UmDEIONAMItFSr(IJ%!Gb^qX(^VR})7D%H=<B1R
zUD+coQ^gbM?#c47E95j4EN&sG#ED_Q%JtS*f66#dU_U)oWve9vZZ)f^0>b5(!8+fS
zsr9-W>}9d#ykkax2^!<T!E=fZyuWB!j7DXY{>@}i>52p*wwO5&w<9LG^||ZuNTwF?
zuY_y!my2r@M`=pwgEAt#BVz1y%?ne9Puc7YYn=a#)ot^B(y-`U-Y@FLb3_~!ll)Wv
z?}U;QWVbNQ&T#F$+uDK}y0vgK*&=RbYU8dd?eUR$MK#H#^L{QMJYmp_AYn5l*V3!I
zxC1>#9v<^v0B?3$1}NyPs~bVOZiF+VO#_23sRv2>S(_E6+Oq)BT+8|`jo=$pyu3M9
zqM)dn0geknkHMgDn=kE%wgv3S<l7yiMVFMK-)4y6LXctW3av1L>11f7{no98-8Mda
zzh>|^Q9jM^!-XIcr|oE%!ByESqQQau-S$T_JtwamS&3hp0an}X<>@%-QibJif&m9i
zn+<-97V3d~<DSZKiJeqk8u%sf8V8RPypB$nv4IOA11ufOX-6;9rQGq%FcR{11R0x&
z!D6p`nO4>OI@2tT{x}p9;&XVO5>b<n7@hj~fgtN=gj_`ubuj>e<@Xl5*gyD;g9av`
zKL`0E9K)|ef1b6R-ci6pVUxzP*}bZTV+)>4mw^SHK+zzf8rcS1olRkwy7|CtC~6)9
zp4r4f4Y)bAj9{@PraMDO8&m^2Y<nHFlyfKhztRc}d#vhdBdQw?=kfTw(q83JO)25d
zMUcvn0+as!bp`Jd7%7m#v7b0hqjqk`N!5iBJvr2bUJ^%>1#{?d!#b?2lx&vGR$8GG
zrK{PftlqRJ+oCkYOtUPSjyI^&Z{f|mlTVt)$7>-C=)BpIjX56Rf`r}af8NdRedLs=
zC<)We5WxTMBjJ5rRG!Qo+hk_v>;FMME@CUW<K$t5GcdFL7LAF5+Zonh(P^sgPJ>nx
z*$j(Hm`0(w%kXf?9iv-6yLo{oKr`7ad9yv;Z8Fo6@{e79lKf_ClTL9rgaMRxys=G_
z%;Z+`FQO@Ut3T&qBQ6XGo}hKMf~?M=-Y;}Up5VkwH6S)<e^VEXQY#5jl9{;}F<kh}
zke{}9hUcU(v9<k3IHz@s7oRP~#TGv|K^P@$^Ds{$Iqp$twI^xT23-cHpPPs5j)~fn
zf5L6`#=lCuyf`<+VaDTPN*oS%ouY#lMg<mut-kZxt_ci%n?N6S0mI>IBo4eu+v#TM
zuni(X75E%10Q-2vJ+KnB_KC|E2KkU2AWlMrLE9d=F4>XQyW^r#l8Kk*$L0@*iQ{dD
zBe}0+dYSMd#J)|6QgcS658bShJ+jVesqoo2v|8}B2OJBK2-WGbLQ@@3I)vi??5b@<
zB4Kvy7UC%kL2JPUM_tXUVVH^S+zc?rZmgDf0B460G*!BiU@#4aaKnD|h*ei;K-`l%
z3h^EI0Sk_;glPg;_I0Efr2bTrKDlz5%7}#nS5SG7EHyD20x|ip8xC!}O)+m1{!F|@
zq3z$n99FzL(~N7bQkCn{m1Nq;VYVLJ`g2sbD&pe}W1e8u(6Qzne`Ui{7f86Ybh^no
z0P5^<vR#OXGJ6f-OHMk;yGdR-tP7!xQ6gUmjJI>ft9?dU1ou}h{2l9$)vJLqDi8m<
z6Eo?7bS=s*pKyYAa?{_fYshDNY(V@bZMKP2e>;v5_DKBxzF!&7NSHF!P+WA&&s{1w
z%3^22TP3^vI7<qgtNQeI_kODYw5@5#jK72s6xdoBZ5c>nzHNw9GI)64M##9F93CYe
zWEsdr5G-1F?G)e|+Un7!r+A~4HP*<nG9M&;Z4R;YfV%g{Uhhoe>EG~F89Wy>u-yaR
zbYG|7+J9D8DzIXFE9d)`27x&ykwM?Yn`{`MI~Y!`)$v9KU~eS_u^DMZ5H!GxMf}35
z$dB)G#e{x@&*MURr6nEe-yI1A^`{T|T;FdA$m6uy6O?if8zg3y7`d9XuX%CgkL3&P
z5b;8ZaDBVO>|lMTLTWI^JLz`nl$ktZJqbb{VcTdN?W2ofi=o#Ke}$BWKhoi<)<p{D
z8_kL+{fO4^U*H%@aBaj}?!kbm=+bqmide6PhAh<75N!$`Nq<JNKMfR`cmR|NTk)I&
zWb{uRdWNRHB3p@)flNg^3sdJG&zA{PNp~VAY$^m~qjIfBcojbvw2nnDe;R0E4L7Y>
z8#u+#dcajoUL^NxhDrFlgs-BfZevXUSHyT7#$HIdcP0M(e6m+ugxnAOxVJZVmz**d
zc`iB*&dFL$W{JeKe1c=Ah{PZ9camIleO*k?9I7RZ#Y7m+*~{%Yju?O((fBXG;X(Pu
zI_Vp4h+n4UUE6>T$FvJkZ8kPY1TW~xX4!{xoy?SlKtWPcy7Pgfzpq#O1uU1&ABDnx
zI=Hb(O?p*;4_r=TDJB58v(HfmyM-Rs#gC@q07X5GWbV<~Bz`*yU@=U`f1jq{RXuQ_
z8#+G_U#WymHX=9zzuos!tY^L;_oJ*TQMK{67|^+MWz({nd}3fJWX;z&z^YkS^V#33
zeB?H=!B-VS>M#g*M#m{Gu@gKtY%}q*b`D^fy4dx6CL>Q9hKNAl>LfK1phi8CsiCta
zKM)*ZtK`j?CV`*;faN02%pGU}jOagx+9pgX7?wT3!W5OZJG9uWB_Z{#e?qU7k^hUv
zBgQl`a!^EOytT(!)=1PEH#6lAORN#PF}V;{l;cf)Kc|PDT#+2@t(?eZI*M$CoUatR
zTd7~WNyCelHT@d@9hzCGvl&I|a=3+}P~V7`9x6NYug8`h_}iko+oh=oi~10*zKdgZ
zQZ!heTZf;370Upb7hZOGSozu@F6n?H#E)7|9|N~`3(kw=X;cHp@KBh(;Fri#=YU0c
z34;v*MZlicaf+9*m4w=Oq?G4}MrMhM|K@MOiNfqoLpb*nMa}&>Tt6-b*0+g-Z=))N
z5BmvnI=)64m?Yn8N^hL{s^;NbiZZZs#2amT@T0&zCqpw`(7iud!Vdsb{(f&F>7B|&
zb+D_jLU=M-fbo<2W>HbX_lkm1cV<HUqm6<c!NS*u=y&DNUWHDsuj4$j9IayT=F!rJ
z>^g@sDg2Ou(B$*hgcQLA68&XXB*u^l!=P9P&fXgeG`_NKK-l4lCyi(^l0t#ejzcU+
zJaI^$AYBjm00QPhmR*9NHHFA9u%*+8&tctW!Q9bHMydP=&s&NR3mE_Inv@>F-rJ1C
zJz%X?N#67@X)_I0VSnq2&!A+S9OAZ^P&xhfVbfJsHIn<c>B>%u54QR$Q+_Wn^?NA)
z;MBeeIF2)b@Fl0hxKj+7<>j!{hLA^|CX$&NPT(DsBPww8_A=zyMkgOz7$jdyGp45)
zr9u?ZFTB9(%TsyrH4C=NfVhmuJKH%O1u;WvwP`CnO#OBx)84j_C~%f5<5XkK;%+{&
z#I{;5fjj*{?OWd(9&IdK5|X6LdHTdprjMin^p}!<r&J3Sn*^cM#5n1n+$5T~mvUcM
z;UJ^P9m(li?%uXfz*G@A6&Q+$ozvP-4=q(I$9#x|D-8d1iZLigzU}1P!SXKjAy-k{
z)t^O^7g>lz@TA=#Q^=mRi}|k}iuTfP;u5Pp)4H$0@i92tr(vsJN6y_fjw_K(GwiHL
z*H}SOaK!SjRYpMV1P6;_+{ajY_`aSKzREDG@B8+q<@UUEUOBWlD>gnb;XTrsQ8Ni&
zO<omuEkYE@*ZvVV?te)(F`r1w1|<srPw~`CzqoWF-@}}8@+(7}0)mPL&Dk$39wZFi
zrH?AMpID!5r*d_$b0TGAC!X=}1g&f2@ZHIGhBfCZBZ&fnQ*kKmEtP|2h4irqYhhH5
zhBH_+=ek&Y1cDuBkb<(FRFEpya)6twI*ipmC2vvgm^q9OJ8+we7NfbSOpQ9AS=pfq
zv$t*$7d~c3VMZ+jof3iplqo}m5&{z-$QfoI+N|*_%pd*}L%qkxTTgxyzlCvLQ#Xq)
zQ4QTRojdJo+PnN<H(|7++?ly6r`UEOMp?Mu&3YoHlgg#*r8+t-Dk88SV*6{zE$N46
zY0W8PJS1wgk$QHE;?CoF>-)3n@f&>fpegmQ0Q0Jx*+N$FAJ4zIX<W;T;bHoKNh@%~
z8dhzTPToYZ6V$3oS3P(wd<jT0s6Ls5cE)`Kcg+vHb?okP8YN@WA%`>apaM@p#sC7<
z2v0#;3)&4HJ4j_6MlG7-T>4c)Cmk^CQ#|69;99&5>9BZZ80Ev#O4I#NNZFkk#m~g+
zH6e#W$_WMIN^}0aWasK-B|U$@C%<H*KTG_mt(F++z124vtIu+_uEKG11e`e~pJ5;j
ze^gX}QxB3A0gr63Yf51<^$WU~Oxu|T&J|eRxW;euE0Zcq>vNjph3{TBeOAY1b5aw6
zmFHMcI>~cj*UPZ3JRx+jY;w7d4><rp!<Ec2xLoaq+EpHrMz&fbZBT%7`2l?C%Mi%L
zHhyd&h=m)3noX=#iR}|z$5qRH$<wpIB@5ee=LamMr#{^sv3IcgE6!~vqN_h$Xx3Wm
zd?-Ube^+^W<MsA%j-f}XL-X5|Z77H&Fpj}RQ{~1N3DpCzIIgG*DAgATM(enG5ptu;
zrVk8pbUYJc#-Z1`SAGF(I1WwJC+;FY(s2bo(>1Dx8P^mONq0f1*PL-pDZC>=cyZ;C
zG30!C6%01Y7%f;Yf;zlF(c$g_s79AIsZ`3h8Q%{IO4?~v?0Y2!xqejqcVT;t`ESZ1
z;&}Y~?7kf7hd;-$o>1bh{MJ<cOuNI>Czczyv8}PC{cSII*K{7xD%&KC_R@KKg4vqQ
zVnt>}H=+Y_X&0qS{{rUEzq}JgMtB)c!ldLj{5km4%IWkAt#1{#hpf2W$|)Cjd>-f5
z3$G({sT8&LJDTAW#)RP_Q_Hx4!^PRZeRU?eM9E%@ZBVX{l=OZ@fUkZ?^Tj(x#ll#X
z#6e*}d_Jya@);ReE0vHb>r1&E&9ls9AMRBjqJAME1l5o`eEDNCc$XY~)19&1`G)3<
zm1<}F!$+$;<zE=mX_JA8lo}&jk4zo7%<0QZG@~Uh7t7#pXsKxH+lObNrv0?@zsj2)
zs%c)uZl5>{546^NkG0A58%%5PT-6bmaad3IUjzE?;V7<vpGVH<+Tx*p#NfN3v`b7~
z0?7q&<1T)~Hgde@#4P%uAy4@48<fg=an9VLv<S7}K0>w3*`|SG+6zfYxRT_+E`ODL
z7qRK*gm<4-^*0vGn_uajR#bzN<a8?xwM7DJGV!0;cX?EN(rc9rUBU7sx2`_qT(pe}
zmF{{poKu{@W!;;<F7DF#DYY=eOuA_u>cYU4W9n%VT7cc0;Qg8xQ%W2N&c=k5w!c!c
z9q?NbBQ+b880&IC2#QOfrLl0Gy+J3Wu_iqLSCZk27f9VB`KfE$(q2aNfM%hk__0T8
zvtD$K%Kl8rGXlAb+Zht(jghWDoTlRGGqS&|)pZ8oH`kLps0k!|brk46YsOZI`}U7r
zn<-L5?;!Cij^2XZ#EodU7h^k5xGJN}7pk0Rg%dSrWC=leDB54KoXL<nIy)Ftvh_Jg
z_(Laf>hF@s4wubb)x>@-k4hJI-A`XD2`hZap{oyZ<!i<`FOzQ#UK7naO(718^bTAn
z+6)7qy~Yh^U)u`PDa+j=@BvzvvU%I#`vcd=&O3Ww1qIF4>dqYrAJN<M+mT1!^LsJI
zpUKf5!~7q_6Or0s%l!ET)xN)>2dk?JxR0*Am*2lY{8pE{w=?`73T}T40+!ms#20`B
zaot{?Wi~?}F^GMb-_=S;am1%^tMOMs>@e{9R%5fqunn@7rz!I5NsIhxZVay6abNrW
z+1@kHduvYmMVo)8{mY@whwaZC_7xqh)12h>zJh(z&&wL%g_|bfnO?|PoaF175jgHV
zKE*xi%{Tg}R(bJOmzcksGNlIW(unilenXs}+Q<FjZhShKSL0Q@9Z>o5cHE;MxCS2Y
zuAWb^Wn{6?=<sgu2ES2YqLM*h`tdLj5Mkip;9%(4w6IP9h~L1e?V*h|)1J*y?U~hu
z)zu`8?G@F?5Cw&^)5Y19nUnL?&gjmWX=jnsN#;x#Mu+xRLtY)IIfb4IjF`K5Y*e;_
z={KxIgl9*S@QkFtdS5$e?!O`fC!m=%mhFvCsPF!Y*2jmS0s5brp66eRxeFvl)nehS
zzgI-)C(nKg-q!_3OL5>Qx_x4y3aM#g=8+i<gxz+UJ~(giYySp~BAs6uS1ZRE5Xu;6
zPze%p&Hlw{ZFhBFIyO9?iL4YhC6~iIiaf*|EX1$w&xO-^jy$@}u;hdl*8$k!OIsH4
zhjr|*SzbDFrNKJ>pxnh~)-l^L@f-)LDR#4nObmadhD8JLO_2GkZvNx#CNjK;|B2M$
z?q!lY=SsN9-pGyc;<-~+p8EtW4cfzkAN-SR*3HnMysWX~eCs-*YIN?7khfIT9ALBK
zAsHkb!DJ_yh^s|S=FV{zt^*3i(JSMXC}Zpsj}G(G)!bJ(lHCmy1$A%+3I1D80eP9l
zpj2G_iC?9ASl-5y-7=tz^pphyqq`K<SM*O%AP;^)`s?9n>_3C#xos!JI3)$SAzX?C
z_p@=cKe5%<JyqCaZG^xJO*Xn^fMu8^=v4sv9#ij-;cAK#oDX*=vJ1El4QPaWZ4*^;
zbsAa6NaR6Xh0^(Q*``ClHFG342=<;-QuEWs+uq4TP*YsLpvZB#h)79<M!L?oG5AeY
z{w#~XLqb%)@=reG<MoOXm2A0J6`dH$_?XK=wf!t8=QtOo=jkORJ|(-QE0tr3X%a2?
z9R4IoFmL#6KXqcKsp~&4)5H`0)&hdyMd~u?S=($qfGE6PwsZ6^6q`{dJI?b>wr79p
zv+kz(JMX`rX3o_Ra;^yx?9}cU(W~V*&8~xiWb+Xo-U7E@&nz+hpwHH_?vK{n=1M#8
zd*2~5+n~tkNMH~appXy!L5d&W(E77$TWd3q->kK^*BujK4~u}c&4z6Sy5bU5Oi_r!
zejklWm6{#1Oc;b6318TA%gcQdeE~VyhMK80{fAe;-$DA99}drhzNLh@W$k(rp>*ZM
zA=5OKvp33o6gS7053hk`1BprhW$lI=_60Z4Gh7TXnUPX@sm0|^f#+;=N*Q{oGzWxR
zqaf%iyeANo(xw7;bRI;Ae&6zQF*CAx#(rpa0!=X6pGpx%f;CMbMDo$>`PY?9+nswo
zSlK?~8vj_AVq&4lws%-ynZAFVqGdUl7r(orqS$RW`kv`B-mR-P8g6}!(aSa!95{2z
z{ozpyl9Li^9QUa6)~y>Z9L`!$a4%95klc!;WOnA|Pt*p^9)yW|WiL^trYX<?TcZZU
zpZO@{M43QEU}76Bi7K8m7~4V(&76}_d=nU5rIWLf%LK+v{Czz}A!ze{P{<GEj325M
z6=KuG$el9jn${^8(OJ<<bWZ>g3300QPa#rla}Wq#9Y;a%8snKaGw)s7^}sf&ywv9%
zV9_*Ekseq*8xga><^By9kwE&=QrKN)EGYvg`cuq)(22AT8lqj=bJ~?twL`FVDq})4
zDrDrDvmgrgHXqg=JtNVBt2AbS32R3yhV%nz^z-<7i}z-g@p5vbYF|VU<_h2l6Tx)q
z8QlvL^rS2~IO}EEiSY3x&e#uo*3uy}k+;Tt@CWR6qUuwtOyIXYxVYN$jU6D)EtI}E
ztkrN2M^VbHBN$BI#QSDj+JA)aRA-hLbFl?eaxLq0Y8Gs5!$jdRGT3E299R(C@(^-B
zg*stS?S&MiKP;i{a~(|Jb$CVK!X?4f3~y_l=bi@~^zs}BUEPpRO9y>2CPDvY0vL2>
z0HC`O7qv_T=h`pmh~MI(*$wOQYT?Y&fAAx-+S%ShY55vS61Nu)bB;c#%zs+J0wxyT
zkp>2G4<%wcPHd83CW@Fy5CVA~zUO69U(YnYpI7yY$sFOeI5*PYE^0#fgS(ls_MLA%
z%XoiKJ&xMs+*f;BB5>%OneK!Nr0(y)E5P`IA&@ZFW4-Ws!d03OYM{TmLYg)Dx?)|X
zRY>g-*q^{mznjDSy-t4ctyw=)CZCFg0ds<I3#cQ1169=5Hdan!H1?M!PR<urj&I*B
z_NPk<L`KS`K8q!dtTf<?Ys>W+qP+<n&}dR_J=>3;Zz#&@&7dp1Ypc<uO-cjF01sZr
zmfNv%_9qCK`=fCAot4FE!F#`H;Gi(bDQ65SV@9JN=vQClYg$CVy`Qk*a&c^Or6+a#
zr{sNv7E7pMyM4sBoy`|0gf~}peH>ZA8X`O*JVIPUU=JWvrbGGOZ{)y#9{(o(oOcV>
zdHlX>5G<QG5OVwk%n@HRc!IJ6!Sv&nOFYKgo1enmkHxWD^p2m~IZ<EC+Og^aQFqMx
zkFy;I>|yc!#<%of6a91B%7V2qr(W*FBX|Ay*ekJ3lE{}4r%R3H%OU)aNg03CjE&U_
z3TPL)0C3ot`)~mA>g_zXF-G3w?0Hs5@fGOqf&g+NRi8KZg~nl(o!0@x?pn9%0<cIh
z@w>BU1i+cCo^cTY`x#8@&iK6+V=%B5Or$CdeDw&|7~HS>)lxeSFj$;Dl7eIv`LbU=
zDeUc6=)OKLGy2oc8dSul%x}`ZlW|NZta^jLo<nva(BOCldtY|1edpf&U+*NV5UX<)
z@hv}biRaPL^Unt1uVsMM<$zA5!uY2A_6yr?vSF`1E`~zoKpJy~=M4Vw5Oe$hTk?*N
z*y!Sz@06bCsjHyT_Vd|f=m6Vy|J?H<L*)HZTmG7xS-Y{A1SR`M_s*7?+`ALdlA=(d
z2numvYlu5_eRF(o*Xh~ePV785K5FMb=WhPYSa!6iK8JQU5hdSD-+w+mzH+)>;M+m}
z6l4MWj+{R^d&a+(R-(Q62Kg2S8ED^RhxihP3Il->dF^lCb%%fyfpYnuxM==Ap$CF3
za?;=ad=Eju_<vwHCMo0#8k9N+tjJS;J30p>j0n`h{{*SW|B2223Femn6MZ0{B47RG
zf)D=<YWUxQI0w{!2VMW0s_FsNj`V+1;X<JdS)p3~_qbyVln7J^2)f8cf4lnw6q*Rs
z`~TkcCkOPGFret)VIIpgQ1pK=x_#^aXVW*U9oN0;|39bx{QM-u?R!nh&6}p7rU}qh
zTEtJQCIM|6%gSNmJ~@qpWVbu;HqY^v3x9|lke;!w+ob*4%=$Xw3f9_qW|L$v{jbHh
zEx)_Kx}3KsH!^TljA?PW+BpoxSy&AU>R->>0crjY*BcPK{oF&^SMYoj-o!7cyGL?E
z9tl^Nqil#2lnQnl$3<NM@fheuUH(IYWSWpw1fR`m(T#%;7@Y6Mr%dG?9r?gDG6GDw
ztOB8Tc~uew@*>4v8KhrROJF7YF5U6B@sRqQi=K9tohAgRwZeDqDU{aDx$e#caWB8T
z0ZBJO0n7g1dJ3J5^@eNKr}S~)S&JiPJa}{=KCfo$&E_o{Mf?%64WkW73R?UJgA@^W
zw>b_!2Tk1_DrDw-Y4+Oh{>Wo`n-CWB)=15~YG#G+!u_IA?d#?=FAHob{Kb`}z+`aH
z&gETUSOTJI;~NJJjoD;&DFb6DyJ9NQ1MEk)g<?u&DeIX^6(RT?J^804G55TJYpla*
zK%M?-x>rQ>P$I>=?ZU#1<o_=)jW_9lI@GJh{H9dAI;GsuHP3L@BWrZC&<I3jgtuO=
zd}qj4--p@Tk>|(+MNVAg(+EmgemHWBtFhc3s#$^QuF`;-H6zCHx)7DT=EW1I0We0G
z_Pkt6lPx@1bxMNN9*>r^oa#&3$K#ti`EzBnVzA`LkC5z{V8fQNciiIM{x+-#DP26z
z*2fP$^^PNWb3=L;q)$fQN=@AdIxB@JJ@y5qiqe7phKb0dmrAoGzmROZ)SKB?aZH+I
zKrL6XRk^z_^{QMm`x$FP-^}u*2S{Bnt8KGVowU4q|E<SdL%yHtmbyOlN&d!^GqxQ2
zQ|(FGA;CU#I~ZUErt4uSi%x^*X$y+_GIu#G%v+^E!BJhtlm9#qW6qvj*uH9wFD+Iw
z^O5EmIqt_gahLRHQlTXK%@s~D^@HX#zm6y9Ib-AiWU$}UN+L2lxVe956R0_K#4R7J
z-x)^k8puH1{+-i^(f@|3_8WTcQ+#|XS<0Wr5a6gxxjG#j5XLSm{n*d(LM8b8t!Gxi
zS`mO$8HQBV56>}TRTJ3fIgFe3wjqA7RmQN+fJUufLF8AkP)zEeOZ!bJL?V?<tVY4f
z_HF(kslaV}*0qNfB&K0R1LXM21cuD+*`vH){noIwdML%WKyWDqk}u}UgmCYX7c$86
zV&#<NK-8$?C^n^2v*CJ<8hk_`61s&%BW4hxMT3sD>P>Fehs`HF#Y>?DbzOoMpN5BF
zoU2%yHeYQoW#vRpFemul!>0ITG)ioCoDTVxqdvB1yG@X*uYPl#1AEIefA9z%-7cEt
zZbBOwgCxV&&%mv57W%W$*cmu2rJkPg+={Dy15J3p!y=j^*+fnD{T@Fi%GNA8mZGN+
zP!U5_7qws7lO(lZg|!d!NfN)gdPny#3lfMRvQFT{TYD!(EB4GNwqa4!<M7?udMiAX
zeYwmdURXJ?0~o-S0nWiyYATkJOe=nmr``ozJ8pIuPXuVct3WBfU^Z*5pg#uaZ21`2
zw8#H4{o-4qw106E=`$h=zL{LfkSQ$M)QPSiAQk7CH^_Ol38XT?^F*$~i+Mk8cY|0M
zUIZB`1USFATnxW5xCVI5Oug<Nwrnv^8ui!+*=GMzid*S{07O}-smw{`DS7KtE&c?o
zA4$kPW)@?!L8{F+6<$k-@!Nz{YNw>_5gl=Lje=4>2bCpPxv5XMkstV2jESp!-gw1$
zX$`3I0CB;a`CS&*Bk5jcuzor8@O_-uZo4qOXged(Gzojv!hAKaKQ;5p=~T-I1%%l2
z8NJZq8I@Ahfq;DC>w`4im%J+BWHJeR<ji;H69>7wyc>&a*Hr;_i`6SXgQ+VNvk0i*
z^N>ATR4_k68pU6erZ9OdADh3<1{TDkuA!k$WhWM#;H3uhofnI2g!`TRB>$0siSLaq
z@pBjcdh!!~pL`yuQltP%u%2JY+|T*PRD4xv?pJ6W0Zs8g=Ae=573s00NaPNK><u^G
zwV5wILZqM2$um92)Ny}Wh*Pnlo74&{pQ!1!BXVe&C|MCf*;1N`n+EvJJlTs?eW1Es
zYKBv1Qn2CMDMQT+FF*eI&=3i=vp@c*C6Xz{Pa}{uD)66B(P*Y=zs(So7e>U6Y4WN)
zB4pb^0mPAqdCT}*ehC|t(936n-7sRHLwcU+EBn)1nqZw^EMs6m{4kwdwHQS?x-WkV
zJwXwm%{DKJHk2nlDeiMxUJNqvdc>Df_MrUw;Fge<`!5V{<Y*=wzKI!+AZhFGPR5tD
z&^a=M`zU+WF-@aTg(&g#g2~bY2~0?w9b<H9AJC&AV*jucA`=@Psgis3HL)NmxHJ#<
zVn1!-+<Y0cJ;%`n2Z(&he66-wy+v3so{0dJ(I)$>BgbbZUQmyO+WQ0B(iuXL^*_WS
zZVF=(HhST587s~j=#sw7ZU}5oFKT}mkUOuC|I<O}*e}wFnNV0e4!p|S^+u8BtMBjg
z0wgT3ev0hx*1SZ?%(dzKG7jlTeR4frcPwYvbeqObaJZf0E?ZQ`$0Gap%B6Khzes8(
z-#t*=0$tsacPl1&H5@fkgs1KDQ$mb|!pLNmDKm26LLD^=;6iw)ggtFazzN;S;G)~{
zfu^L#3;$!6K*O7oRFF?>af%4n%Cjsw1USHI{FaMal4Y9KTWBw{cqlf7hdO%v{j|$k
zGxS*(4Y@G$doy#$Gval(J7M0rSy8tDy?AhBsdT%RdAw=@mrmaR&H0;Qw#?$)!US>y
z0k>y$jwjg!>*MXxG&!}T2TPi^MKs(;0*<o`9%92x+8Oi><iTTEPv7;rAt@uq8n7c6
zv}u<W(xPfu2mvG;3Y&A#s5W|!?O%M53u)3JfLo=wFB2{QPsiUUlC9Cwl{E{uI6{lk
ze^U%6&#ewBi%52kp5-)p9ZNBzg+NI;`OSE0Y~u^bgyJ1!6)N7*uGA#d$0ZA!tkJ1d
zeg_!zu(xpK&ExoXM9~H*lJCiy1I{o^rLQZ;2spmaq6mKkX^>8Rbrf;p(V+z6^7SSZ
zFA#&l|Jg!%oj`x{ke;1~7DDVnqucdco291-5C0fcwoks*baQ>P?dHNsFkgj@$E-8c
zbpALC*eZZmd!t$M_j~^sqFMPxKmp-5itb?mdW<(|+DyxzljLNg6fv3<52ReyWs~9c
z<$V7-6f?25g4pN;C+4Toz?ay-eh7LX#Y=W<VGR7uLi9=><A<%(p%vytE*Aye$L(h@
ztx~@hV<itSAK{3M!B~MaiLq&b_TtPRSG+7V-dEv<psx9-Xr>x=)5TyXWAU)@C>~fC
zd*Qkq_+NjeT)!8uD2QZCA@I9~uPqQO6RLfRk7c&N7n(e_QL|*&Me%s|Dfbouy(qNC
zXpoTv^yRPh=f6eP#-9yp>SG8^^+XlYBTUj6n(rS|5*<yNXwPyMV@jP2IH3~p!F1ZX
zcF+gKlRRT-l}sr533%*VCnGgmY05Mz(%Ta!DTgF71P+W)JeaP$dw|8CqlkU7$!BMW
zJA|Y^c1v$Dt{kgh5s-Z#{ynr6_$Mtv2veO%FXq+D6LZYzNTE-%v<NUNe@mCteFjKF
ze|2AO?5Wy_M4;D>U76|;wAIb!ib#%Mk?Mxjn@}b*vaD;MqYe4NeYe4y1;ekcQ!LeN
zfhc<Cv3wzR`pNEAHv>2SSklyle33(;2W(F6KG=i6m#8qlMQ-6yR{XW77)#9G-enr@
zKlwNsBv7i?$&e4aVNtzQn1r((piU=v3SEN7S}|THYZ^Y`20!Q?xO`p}zq57S^pIK<
zt*z_StO*Gt8v?he{4#em?E?K|&$yMIZunf_0Zdz~HOb%9O906<d<dg9IXKbMZ3`K=
zI0u<1ruP7<XE<R#O&synMr?ro^Mg4}C6z`Y1mN*QnJ&?6hjH4t;Fe+m4qPFyHoq$h
zycGp6ruTD|{jld%3L6m<R4QFQkKx&WJsr=uM-@&%L*hA>hxBOq23;fOiH8NiNi48Y
zgc5?NWg(ec2j1zgs#oH5mcpv`*wZd^Z_+X|u`I75)ECU5W(5#2_TBq+B`#XENCt27
z9orZZLdVQj$IxaJ5Bll$W{RrsedBa##9gniL5cU1x~P^KJ?AJhMeugfD@}u8yI*=n
z(PBUM+p$6r9O81m)O0mHuDDvs=;A(Ni~|w!aDi@K0Ab;yMqU4cP$b)SyyVq)TE3E(
zCrRFKA*ZyAM5l?~@P(t7d{_xHosl|7Ca9eFhU!$&{ogjVoA_tZ?jZAO>+9vX7h-bi
z@M*UsJ<INw+ssF*!cPhz<;7r0;v&nAYWma|nQXNo>v{J$(l8w*yN^HiWi2S05hXCC
zr2?%Uz_D84xTQ^VvM8HF?MFgt$y-CaNZr=oDSK0LiO?79@h~~GVDb6)J67kt5PP;e
za7C$JlF?YfBw>m)lmr|F+M2!e+G>s6ru*cY*2R*N=087wOB)oogTgkHRzZ`Dij@~T
zCOS&n;!`Wel#61#`fRw)n`?{qlYT88al`#p2ZC%~tU(?EuNT1^cM^joD)dso+CN{?
za(`A8lh)Lw+Cmzopc;escI(I}x*;8vlk{P?%{Gqo^cUPE2Z8`2@^uj%!xvn&TA}%H
zL=I#H*;av`$$qyS(uutpgX;D_-Hc}KhC%hV+rIsSi~`P%BShY%xV@_UeZ!B3Y8&BK
z0qZJ)_1V9`Wpmxp<pQIkb)4sw{P6RAlf>JP!_14a@K|1QtDzwcuP3v({W`nmhXtd-
zlYCZQ*136;M3JvX92T+&M>;6PA;{S;ZUS%93IeuhwDyP<H|--Cie|*uGwi>!q?csw
zE>#I=^#83^3N;t!>0+cG9TP#<u8iy&03)0TLY-(Co3)>F7oa8R$Sct|nxi~xA<yvp
zC1M1VtR+SBo;WAZcmfNEzm?KzI>-HKCy;m=<No+0IA5T0@zj{~qS`v@u+0QDx+x!4
z>X0m4IKko@%WkDKi&kQFlXR9>n5HS^k)!fpWpZQ~Zegl|0btOSd=oywgSaexK<z4V
z5h4O_Fk&gKtfVSZ-g10c+u#VK{{)N2^ZO;!e-S+9q3CYb<W3%uF*H0sFZ~S>c)%QC
zvrr{^E7wSv6Paro)on@VXs_|Hm#S2T@yQ@kNWLRDV;!zGHD4i>r4!VA)E*+1@DOQ!
zqmF~nn6My~fPOouLh}c*5`?yl0`IcHjQ9S^b&a5WXfWouV!aAh%NQ*PHx?;RL@sZW
zO_q5<N;IH%H*)0gW)w+OFW6tg<g&K<E2{HI+tv@~FC;5BO7vp=-`VDWBW!D;D<dRd
z7^RY$@E7#^uog4Fv*_1K5$G`<Lq5rc<WhQQ3T7~)zAlIaxc&~WJ&V)n07euO;$P)+
z#yE$`*3EKD{r**EAtuXGHyWf;Ufn0PGx)CNxpkhq405VFr&lAJU#uTL!f%FjS6l?8
zRF-9xq<*igGo8*QFo~XxQGZ&l5;V}QQTuCqIF2#>giS0z7)_N%_w4N$jXvJO2bJH#
zXfo?^M~Q(^p)e{O^h4DN0SemHI^8B+mSz8aK!l#GE<x2_e7mrse{r7o{)dlyrjMwo
zHB5Q@ilWVd^&S0jM^~>~Rm$*5jbw<<=`%05j()V)KMtaSTTB@RIWLn^H+J>$f;x;|
z8SokVg{VN%;ZPBK?)S~4)l1R~Mjdq(5K6s0YAXH#^>;yEWs=-)2k3H(C~>AI7G<uD
z0rz>Jd#VDDaNv14EHB)BPmB#anVBcl>XB->-myA^R9*-OJ-~4PY8k_aJuTKUyE#R%
zE_aV#czFK1Hj|M<$=(DVGlESLkis7&&*$chb;Az-<H<Wxy7t`?woSR7T@x9X81w9h
zu>qM%=gvYQTLq4v4=^ho%>MH=_au{Beo9YLyn``A{+Z;Yw61fje}B%`6n7v(F5mF+
z5=OR#I5q^e_QOs?bA5MNlwrHi;7Ep_!XvMA>o0D1EnmFcbHeOClyV-}viD`Nu3@Y^
z;P%4kiK{7RGDV4M6Z!sC)wg{UeDA?u<M&BVg>ogGvj}Ie4nPRe7Z1G*rw=xM@Bixg
z%}R0e_-B@9RBP7!Era7HHK^!DmOf(@XE+qXEA#p30!u^8)~gb+^-@t71!T*AT~XL(
z#!j}ISt_Ba8NlACnrQcs2>PY|U(C##3qjbn9{s_z`<G2#(UOx*7BTJTfd*!3-Cys|
zBM>2w7{ZGlOhDUdCd=}GRfn+)z5gSR?8-3crSOd2-*Ihdb0dap<2sDj>>EAz?dT{{
ze=p8zAa4&3`B%-JFA>+IDDgj%+n<dW*D&gjdoRM^9+jgOSBaQvsW`#;KgPb$5HY$<
zR-75ZquJK*+4lu9La*;!Jdyim@wRkH!4XSh^!a~<R|8k?7PEnC?ZyqA*jUT8!7jeL
zDeb@IKS~Eu=owdR(;IfH6tDL1@*@l%p<UeMLrQfAi){*);`FUyi6*ILG(yM;_RjhS
z2Z<An#)vHoX6W2iywy!=B|8`XNb27PzjIg~a-|Ch=jTG;n9ZCui+1_LYniHnSdi@1
z(%bPOY67#{)_0oiWVi-yV7119l;pz0MQ!7CjFN|0nF6~Rl8(&TgqOBTYn;aYjLh4V
z%4JoEBV<Z1UrtJIw7efW7!nl}Lvo9T(F;LW)Y8bJl+G;8Il$Ue7PoTqNNS2qeWLeJ
z|HddzTBxPkm(Rji`cKtG<<-nKxL|p7n+JU~DS!mB@9O&6+SOL9o@e#ou|O+pDz_Lm
zDZ0;?5*jt14UcplXJ#xF`Av~-8tQ8d2>jTvm=0Qm@%7Xl|3kflSoG#qzF;Smx0CEt
zz{P4C!N6;z`+Um)o3X-O8eWK<X`NBz9njB!R|Ym!X{pGRAOi9HhrQ;mwdlzA{JRu&
z4G5#<$~4|o|07dr31KPJ8?z6k)%g1V06##$zZY$;q)v|-O!?Bn*yP!UAqzbmK^3KY
zmq^x{v5<k28)DvzRU+x(b&3(=!LvT0uvQ8}gK7uJ@_n<KD7AQ6EzC#oBZQKU24A9U
zICnXg7&!e{#dDt>36Y?B;p}zZ?`V3s4KD3XxPRP#(ZT!vsDc$KF$ILnyZj?_fJ%7d
zTiUy1?dJKSZHZ)+uX^@FO>gMb09@FgP^jhyvaT|4s~|h$)Gfz!?kXZe*P}c0?QU!;
zPk$tZSBpuQ_lt47e+V1e9y`lB<Ipi)Qb78!b0YbCpQ>CPkQ-8xUjE_bGL)T)q#1Vb
zG;x%F((dso_VEtWVCR*bzeQ(Mx)i*r(&Z%eW;?1s{epYHg{f(Jimo&11yXQ$_b8v^
z+1O)vDbep>4#!!@Dpp2_lbE^5g<DU9<~L-5v0ke?yFxXSU<}(#XJw7EvaS!+E-s%M
zN6<0#HhQxIQ&n#_l<BX%=p*F(D^^BHV~Oa0?U-)AxBSN2>CB~=BRO1mgn4{i&4jnA
znftF+*1`jgrvc1(&|Knqx+I9y?Y;HdsG&mvrDw>usVj$IZN*iE`b8!UxF8`(!`&Gx
zH@=o9H#^9p@TxZ`@GV7viCqC%g&Cyy8wCUc4Vq`y(KvTQ;Q+P_8JoQCu&l>3Thxbt
zdoL2<BCa^6-!~N;+t+uBgbnGRe$(vT)ZokBy>(}9LFv>}0L0fyFL+pz_%VKC?C7oI
z$(EuGorN<Em3ZJ35{d~67V2I`I(i)Bcw|_@!iudh9V8GNkXJL4DS(+)3!>y`d_gtK
z^4JgPkNNApwF||_W(6~s%cwhu$uOFKKL&q$<#SWQ+tCNw132VP=-`>eG|U@#UqeJ8
zVbCmbWkqH<03;2Td4ib<0j=5D6?D3_Xw(IyHH6J#vh;P`nKg1xIcyWFX+U&5idP36
zqeMMaa?w_Yg<s4*D!N5Gs<%u!)O!T3_%uY$HGf-a>ma>FD2lnKhPPGVt#wX+J0BQN
zkloG1<T-@R&O$czAj*Q}DCgBHKTrn5UAs59VK&cpI<b0)`{&C!fvXkCu7h5j(#(j5
zV3*aN)JRoZ-B_h}g)PyQLnQy}E$r838?>$-qNaJ8ML`yg1^;gY^_*Qq;t(gE2Cpe@
zT`Iz#Fc1+v*zlH0CNsfZ_e}qPL%)0rHIkPJu)w`2P8QBCtqq6ddIO-<Fx{oJ;(Xua
zm?=~J8PRFQAV7?7*)4{B0*+ba6Bbf)SnW*7+s3S%#*H}4tfU6hB2R;Ng3Y7WwHnY(
zdpMFP3#rCa%N=bTaP$O<#+K2yk)QNN-}z%rtH^UEqC7&Vg%nv;4<6coJqF7K2-~Pm
zUk!DU9v+UMC~)zvyn(TKru+IZ%Eq(mRsB#Z4y{2$qs|xQuC->vzwx4dHi(!7r-JHw
z>%A#b)ehjvLMG4tBar&h7%mdfcS=Vw1K1DkDxQ8k#35~oHb(duyY<abyp`s&)u{Wo
z2OdxKH;}oIBok4Y<kbd$TBy>k0k_r`d!M)nx%FAoaI&GQW-KqQ@8<^>vk!4@Jq<)$
z(^qk*Bgzl+=lJW4?Rar2#h|4lL*XeB=6ok3hZ+u?c0yU=M)3KEG3b1wwib{JW>f|e
zhX(<toVQ5agchE&Sq)CAFVqSjPyT!iSiF_0{%L+(vqh8*&7T^7v?1E=deBovb9Wx}
z*fcmDN$2_}a$Nm<DCVo>_;*-b22Q!g<a}4-gj-0#_z(DEbG0EH+IeJEaw0xzbf|ZS
z&%r>yg~8D{b6q_J%v2Clz3o(tA0w#QOH@4f^qN<aw3X=-_0BY2kxztd_8<dz0cS1W
zl512w!Ro1*Ly#PQGo7jExI^m$+5H*C!nFw4;6JB<^5u29-iTCHH9CKbqP2|dnROa}
z-yuIgJ(kCivi{EEB=eeU)H#E1qq5V3r2o17i*aO+UJ1U-&P1Ry`Sq^VHHCN%tkZo_
zk&$f3`v=xO2&{Gx<%8oX;aC~VoW$zkVe16LDb=s94<#dim3m^Lt(_UWI7!U=Sky#;
z(nz8MbfIvJcGfV^O^f*B+q!zy9r{@YKW-{4S87(MPZd}|YZs=#t9R+<^)KddvK!qF
zSHpH*lyQBOO)ux6Z3&%5kwfDwhAt6haKAUf*x2Mhm=uQV=&&tP)|$kqVjmD9IX?FJ
zYMGX<P;E_rs9Hkj6_7g78M&eib{x1Z!ahCG%bXK?8clo4X{@W>>OK`cyZ)<UA$jxe
zgr@Hpl@9;=Ur6QpS+*^&abF-fZ^puVEF6Mhg_kpU+p9#88sg0-$q+n8<(L5Q(dA-b
z5L5pYL#W6=1hv5atD6(~^zKT%!&H5pw9u4?BFl$=$xtfSNmfMu6jVrfGEHY+C{j(h
zjW+wlz)h9}p?;AYHyG~wSiF%(`0e%eJdu~|LYif;c71N80_mxAuSvG}NxQ&<d(al+
zhdU+d!2JPH_h_9vt~$}OWXHb@u3()cz^aF_b_UvSaotz1Ab)%f*Ds`id!<p?Rj7<4
z-=l7S!LG<3Jvw=$GIa?)W9hZvzx=qPfVBP26)@PIbuXpr)p#L*qy;=&ok6oK--Pvx
zD<4TjHDn#I%GS{ePN@Xxm!$hmxk>Q3>x1T|dYDd39nJW{W^KW-fJPaNFKPFPQ6}6?
zw<yXe%Ft3iwYisvxE3d`6B57Q20q!dV-R+KFqFE7e)5WnC9_+0NgC##jc@lqbXRU#
zz<42dIude%bZ4_A9=Dn;1k+m>*1?drl><4l44}NefKvBn3BnZmwBy*%yg-n%y(b<Z
zdR$bQ)$Bhp6khJ|%+LaEtsP%>(%sHJ-k;231@eohwif3IKJms70Ru=@7p;pVr=h-o
z!U8D1VU(X_0Us+mJ03wQ?)40+;8QuzpmGawaI+Ya*v8R4iHr=s!;(HZO*9B9DcQhN
z8lEY&*|RneQB-YVv?=2JY=YSf!Ce-4=!pHaRBUQQe`G4pc#q-z-d_e{zgDEal4E+%
z-38j#?n<bXMFIWmzIhzx{Daxf@9!#qNCBTuoAp-j44Wn!uRi4!breANg<yuvio>>&
zTVS<$J*_v;%;Yege60ps=KT%5#H$USx8s+uj5Mj64lwpJ1*8V@7rs0*8+h!l=bwu`
zy!jsYz%gcE5-*8qQEO$CDH1&fabtOS;p%cYc>D#1<tdtg1O0nm`rNc14vl_)XQ9V2
zc|1(&K6rR7#=&%GL8y@1>03dn3<N;V+c?N(^YLs74))TKn7B-zLDHx_X;`uqkGk;q
zr&rXhNlLWlq91?0-5yuy))ndQ7&fI?B%R^E3f$$W&^Z+yd@Ik1W!I)^Dhe{36>6)l
z_FNuNLuB^_QKBKbb0Q;h5c)=c8I{Chj!{9P*e=?J_|4T*K6~+oL?nxU(gan~+WMc~
zqs3=95&0Sf#aKJRzZGO9Y5|Hev`-My$NTF{26*_Aj25Y~rKzaeKlCa*VHDQrhGWfW
zyhbVN>0Y@A)-LNXpSb)-LG%60Y_vWf!|`1sNW$C+iNax1)G|GYUmvl5FV-+4d>Cbh
z_ixscflFaJ9ey5pw1mRYXuF&uU_bYA8uO!ua-66|A6B}K50{Jq$&Pn}sPBAZkwHCN
z2Sh)YUDBqyn!BY6&n(L!EXWlbe9DgwSLDI)44z#Y`HS4)DDS~=Ds4R-BYXz%HTEeZ
ziqo!BJPkE{&ohRZBGjUPMBU0}E*a&~2R|<xdLr*lqE4X{Dlx~noE&}46G)b1%z@`y
z=fhJ8Qp5a@m+tex@2lpz%QOhHrdlY|{-I!kpL$(c_fe1CCfh%9NfO#y^*Us3PM@S^
z^fKEamql`U!%8Q(N;ZqoG#VdttmS{A1S!zQx{at1(>tvwQ3+~)v{yfn1h{FX(p{*q
z5}J>$XKMFO1>s}wb%*t3JUnPZ1Yn$Q0kwSc)yMYg1A=HOLX2+atTh@}f7Hy>z6$+T
zOFtq{tKU?kvh9MA%9m<x4pbIQb*3}aNR(qMl=jzOUOd&~Z~jhzpS9Xkb~R?^Qd<c{
z!z8mA#kT%F9JwrizuY?w6!3tCw7xTq<el;v#a$c(SwhZRQH%Al8|Fy{4Fg5=Vy=Xs
zq*NsU;|d0+eiBATuf0=t3ZOy=r%LLh$!cW`ZI@nf;AKg|AQ9*L$)(Fi%b-znmb|6v
zT02(MOE`aVx%GiJ{snyIb9nSmf(?sox!Ml-&i4CqgBulp4L0I1Wb3eGH=DkDHUWo+
z8+dyViMWr7I-H7Hj*4>gYg)ULG(Zbhh-j_OiD2QtCAnG=ADrNpqIx1wcmqifZFq-M
zP0=?Ne%lDRaPXU#@1J9OpBzg~yS)exv{2ck!lY~=Hh|SEBF>QmASJu^CN-5<{|v|J
z+rA{DcLNW9<@4=$wwQYD@FDz0oW!c^zLX5#7I)Ye`9c&_22dJUMXW7%irHca5x|Jm
zN95RtKh-5XRaOr;_>=EOdfr$lNNc~`nwridfYH(A6`!OC#w)p={!`|hbe@P1vi_?X
z`J!76kHNL;CYaYStp1OY`AvWj6)_p#vci#KA@H<+RiRlEjL2i6$vnT~UT>|u#=yLo
z_eruE%?<uW?K1|iAP|O&EyStMztnswl=j^_pWMUW4SOXde|5|{+M0?iyoR0ey2<L~
zsQf$HOccwp*+*s50l5*0z-W_n!(!x~(ScS^_WR<Pcv<k?bgLqF-Xlbjy7`f!pq*cU
zZ$Gww!`sb_S0nBfi4_(Es?R^hX8IVBXTiIR(d~|-ybx~_n_MWHy}_fK-(4iz-WSQz
zP~MIT30dKv*i-d54-2Wd_ed06{CYgS%{7DjWr&U9@XUrOtj2<rBDorwp=6v}Zq<vK
zA)7(ku^%m|&yv4rGb|UV7zyV&c?AP;9PPe;+0wQ147TKHc5kLoVwjv7=vi6JWT_y0
zsc|?1Xk}(&dP{_RQEvuW(RIQoe3I;XU2nXj2Ruu^he2ZPoq3GdCQs1yJ9QqLEIj_0
z4MQLMscD*+#dZ79w3BS(9vP!(VtIxK&W}2XBKG+(ymh++4wTp|bYq)#Xy6YIUph;F
z;U0EiKpI-<O~jwZn5i(nbj#7?k2X5|r0Z>tGs!TEjJZnCNhzJ;6S~{wJ25dI_rJQ}
zehy<E8bqq5uuCNfDu%Deb9KoUJMtK`+C<Y%$yE5~U_1q(1;6I_;*U^@Mwh#**{|wj
zM}orlT!>4tcT^3*44KF|!|~0<7EjfG&RY@|XpmU=nkm`d8<{7>de}Tm;g|$1EtoGC
zjjl04XhYubbdMWFGYkw&WyXc!OsvS~gN@eLHZ{HTVM@6xg<me?<}G#2-EFHTR4DF(
zbxlfeQu#t-nF5rVYTVNAG|Do5k4(;K(~PK<JtXp4J%L1u2@+*E>HkFiZsVDM=H1aD
zW{otr&%`Y65<XbJE?Zh}OYck9f3E&MHXJiUOkDY6FGb&w4J0~c3(z8WUZ%sk<m@u}
za!2z8RBkK1PqIAzLCCknio!Ry4FnxjU}acz6iS9eIS`H5izS#)(Ig^>v##RC`pXC2
zM?(U!WB?Zl%r&=67|lHOc=JeqocNfn3$$Fi0D`3G6`;=f5wi%fz`&GXqz(thU)A<|
zM(}BU!03qVLkZQaXcl;rs7`_%-|KK6X~eTH%U&VQod8s*Yb&BMnzAhDOIFK);P$9%
z0*a7*h&^E9hDIOf2kO-^*E1AGaEPdtfVotSks$2GVbxHwDozuQ+6df##dcUrcDR6L
zRzx@Z<}KhKt8ga7yo~k9Jxw;NnMZqui`jcS1CKm_2$$pxmfF_+Ga=YgZm(s7SRPo3
zACz_)_4>E{>4P$q9U-Ja+shV&GPLz6z+VTlQx$8`hv-Tf#&(1)@%(*KARcw68(%=w
z2=-*ngEe}6;qJ5Y0B`VrkG9_D30g~JuNRR9Tn*fez?<~u`VH8=xwt=ry_w8V79WRo
zC1I=h#=QrJ+%PI^Dn{$NFvM&v)GNA|p;ji{9R&(RKVg@PfHqSE28}u>fNXgXo2W9e
zM=fJ6-zO|$r-ve(*2~%MjAL_<LHrD4*uid^_4q9h3j;gzJ!6f3Pl$ee)2XCk8eSD>
z^|~VMD>7VI33j@`2l-m^4RkwOFF3rnaAQPIsu*wK-47wtOP`SNA8v~jAJK(AaSf(y
zg%we{G1U?%d7)Qy^)M85@5#9l`}>=BgJQ%ly;249=YoZ6&1ybSP$VU$+x|5O`c`S;
zt3-RE1zvTe36BbY9j|>Q{ecBY*aW&=ajh;;3wnq;NNve;q0D2$HP4-N1EW+<DawiB
z-;h3V_k<|n(YX6rYtD&r-OW=v)NluVds8{Dt?l_Y4kp~3f5pYo4_;%9me7*bBCCYK
zZzgCrU1X9O2irsNP8jrAKPL<4qrU%)5xH&l2+t(+BNpd>O<8Sh3<eZ<YX3xvl*RAe
zyI9s<Y3jCZAjpedV1(RkklT?P)edEE+?s<e=N-P1R>(#<tJ?eH^aaFZ>;9C|nxl!j
z;56l)!AMgc1h5I&pC=>}z(x<v4Q7Q|ehci$9rz>6&JG;#JUMuQc{m6ENRVXItYe+L
zB<WqNw)g^nsfmuMacRv6tH7=xgwjaY!C>N&1J_+8l}Yj(#)ZM|k16X*hyK#79UwkQ
zfJv$mO^)OVt|bB;MVgQgv;qUt&gtMC3Gk>9`+`6I@)yP^Yy?~Li72y(4HZ}H4Zp=1
zMK3&3iXJV%<aMLDYE&W!k5aL;U!Hcx_U7F~gF2Icc~BNArGoF)vD?D5E*{m)3qV~b
zenmR$JZTFW@5~dw6=_-d?#|;KE|^c2_713_{eypT*-j>)|B(<u{_3>BZU~Swg6{Dc
z;|nX^hn(W$mUk4XJ4O#-l(`C1)b77g;$_3jd;Z?%{fZ730@cHv@t$Ok3DiT3M*~aR
z^PaAMH(T&|Ui+OwtIb4ZRurKxcF_+gPMA|O$ffD;{!o$<OXj%a%(r(QV=BD6-baIi
ze-QniDzzPC@|{?=S7ItU9!}d^e~^rz^RHv2AZ_mHdr{1|*m(q!ZOOu<HlCgm4U{qa
z`<@yA+yS<hZ*~RCD`7*uU3iPQs;l<(^E2{)wHq@s!>2RhcyVumfB!LXXB=+6Apm0h
z9Z9Zf#sDN_0Q~5+*E)C#bw%!1kH+1p^GVUOyL&T*{4q?8%0U{vEA0i{K%B2DAalNW
z6*L7N{PzGk8dX7-fEo{<_JGaD4RuU8eer!azq_I32qj6aLxGw#pdG1_w{re89o>L`
z9=M0qoW0Tcs05lqxveT61xOH;<2SvC?*hzWEI)b0YQVZt!c{s93!1*BTp5>v>r^;x
z$+fnDv}TT&Q>}S2^tDB$EW?}kPd)lAwRCKo2AM_Q?a7zW2iJh?9~K(Q=m;Tc$+tzb
zFYvCqkcN*|%K@yweF7Cx=cjWP4s>;Y{WTLodVNxu{*#T<4Y)WP>X`?&QAGBM>0vk*
zn)BLMiZbvHBWLfWV9vUfj0bwJ9_0*8I=0zNMOnKTM;H)qU;#Uqpb!UgZ3?E)IoI)s
zOwQD|pzUYMI<LuY`yh`|%ZPvp$Q>f{bKVWY{S03ST{E!gty)aWk#PkK&kyu})@cg?
z?6*2s>$c@WEtzG;1q{nN{js{$ka=aNaJ+wqh03MJ`}5&h7)t2nv1Nz#lo`!RVHhrU
zZ=V<*Q|L{x%@$2O`IF+ynVA*ERgIFQ#|Y)>se@Xg2~`-2mN~vj73R%@s`c9P+S<+N
z^IhC(jKHIXWdC9hHFV%r7Mgf}Xo(SDxX<bo<8<mvr)ynE)!eD7?N%qzTi~tj-ytMQ
zLG-RC#Bj%cA>~PoM-!=Dxq@w#?@iXo@*Nx~(a~4&BUm`LkYZ|SGG8Mbb((rNj8q+I
z;S^uVzgzgQCTQ3#hgS+wu|oZ$$J*izW-ypm$x+ld`tlEhrw~ImQE?i7Zanx`?x}$1
zOtPkaztPHwP*zkt?3v{p=IZ2;(LWT?hxF=2GbvpJCq2Vg2_HQ9Z&h>1nR}EQ*2%h`
z`Ia9W>U8Kk-w+XBYkyM?xV0%MTInCZBKjtgZ9^aZ4Tu@vW#V_6lW)wzg~^JqO%|WD
zygIkuhA=PlZCaNgr#Q8L!u}}^`f%>j@Qj~>;I<SeNGnL0@!h}#AT3roNxS_P+ocu*
z9#=hHe`#%zJuYG1p~mZI@Qw79J&y==ewibNA~|*D`J*v2yI)ZPMN=iv2*2Xl?T(x{
z1l<R&ptU7sGztXKGc~`L+}QwCFkSMyb72EX{!n9G{Gx@vnF5G^uScHk_09QJRlgr|
zeSl8D2L}iM{`X2?;L-q)iFxu_2bk{MGbPvgSz`d4?FH!fpYH)a=Pnc`bP52VAAJvi
z_owG{2$5yL+56sHfE9rM48Z&Q#x>V>^-(v~7Y=CZy{r=u1H7vY2mp4|Z~Fjk0Idta
z`&ZrLnj7HT2P^!4@UCz4&xHThmj3%)->Mz<)?t1Cfa82G9zgvr@rD~koB8|U(dn=S
zsBXp%7!m;72Iw?=-#rHOUHaeM;)ekAJ^^)Sgl7zZrPek>og^c=vC@FLRNJY$&%65o
z!8^il!T|3Nd%zI@uj(yV09536?RMvPu>i0sbQk#D6%NpUe7(JqbwV4;I12!{p>43!
z1E?k+`Q8n700u12cXoVL0Y3%+L`4}$s1}1(gH-}xAOwG4AVnEaFf<@2C@3JT@MsyJ
z|KDKw&-Ac#ur(8QF!hpiFg3Gfkg>8ivomtFGI3!LcX0MFayAuYW)%GYPU&6TEmkzP
z?2p)y{O&Y=kfx{Ti6+S05NR3a!;7eN4ga<h5^bdn#nRJ@8L%7d5xX^{f@#4zb+!gu
zhKWSs<*~4olo=q1#kuRQ7Ez<h;s+r!q_0S)T!8_e-W=RR`licX>|<YzO9@b}Kjg7K
zm6Qyh`$s;726PfpB|@y0<nMp#R)`0{kVQce!I8y(>qWIF--Rk?eoPzp?s9vsRGs;Z
zLK2{-cMv)Rj*EPK?TBKJJdM2{Y&*p>$DhE`)h3v#Qfmmjf-t>0eXq0JuV_ciYv|gz
z;0}27)vMJ6piYmbT$A@d_w1-Y`hROt0>?n~CuWkSbZxKYswnMN`CbY)OJoXrvtPIa
z<a?TbzJP)1lB~2WQfX0iOQfTQD6Ns-S?1>IGxWi0QNAgg7w`nHMUe`*tn$J5dV1UN
z4XUI!d8Y)eb~2{Rl3#2)54HHRFLQlYWS}%fIJTGA>@LI8ZoDmbVSiXp^%w9J%vbH1
z6|*-WCGE_9FJ@^UKE?ufke_@e;%Zt?F43KTVG7%?Z^}|(k)X{P{+7>)1ow=HHf>p$
zuJdPoWx*PMq!03Q>X9^CZj)@&v|{2?;{cy3wL@|Qb?pEl3g0;eb~!k5RPGxfym>}+
ztqttZu-iF0gm9p|y+b&?{UUDv!9~Lb$`G=9if4uj4Ac*FL%U6R>EAOuUE}tTnhLFd
za<gpEsA}1R<@`R~c?w#|LXZx_mr#sllc-5AlMU`k-sDFZ@koswQLl`aVDM|wM%{CU
z$BrUY9Sb<ygZ*u)Qgu(mAPIlfrEQl*-}aw3U<}yOiKbjPUT#@_+a8XfUF>eT+3Je-
z2q_Se;bA&E*?h<6Au~+iheVZgoav~48$ieEO6)#$hCGVZX!0X}T5&Bh@XrP~dg`k9
z;fa)W+B0PSF`i$b>9o*=3gN&2nQq#?e<T*1_%b01+iExyw-^Tc{K)}|2m|haz5!y+
z@8~f-ErP)BDe@Tw7j!iN-uF)P$Yl#e9t$RMgaBm9!urcY!Tn=kM^Yeus>CFJKzB)W
z;whXtIuBTbKefOE#`p<*?wdpnOa%UdllL#X!=vS<&Xe~&zbLuILI;Z3RtKtIHzrK@
z)zAcB<5ToeXi)OS#zomI=DjF;#1!Z6V*Jq02b6vga?|tC05Glm<R2`qy&m2MTi-ok
z;N?~vLfPX<^LH>l6u-0M*RH02ej+%XkbW57^v1@T1b`?*)6_B}Us|0ma~!e!5knAs
z+gT*mfCW6uAbVG55>QuSurLWZUY!a&ptHZ{>)f6U?pB)&enJ0BinCf<)Co`^AQeoY
z|AiFf|2HY5jZ7Sjt&Hql{@>OAut9Unev1>yZ?BFhBORmOG!e}WnilhaTto>?-|+9w
z570&#nw{%|@^k6OCqiX(Etw?Uu$2k!0vy9B+*}T}a;6_Q8rLSYmW3L&kueWeq_bLW
z6Lai+AHcT(<lBnB+T+irg^e4g5l4N;878>62Z_ub+V^;q9s^OQO?u?d*(H(@Bv-^c
z{UNcqVPOraZ~5}6JNM3i-P>#4MyhQ2vQy3<+8y~0zGE#fz_ut#*uiql;RmglRN5Ib
zeYLWoDvj1oG!(;=r`sM|?W#u5jINBmO9qL1QO)X=KS~Xy`UAz_3t&q#N(d032H{A1
zK-t06G1(N`68TaTyQ4x_CD%Q<>|s*(bhgY>oey+Qjh*hMJV7#lC{|<Y{w_#?;5+j~
zinXLZ&pj9*j7tYJEPszgm-Bj25PtU7ib|s<B|`>HRg1gyVVgB;VUxK0l({=$uqg_`
z?i!rC*&K1EKr6mbgt;sMyR<{&y+2U1Ne5xw^a)g1J1ww{g-RHJupVo|uTV@{ZP(#X
z!6{Z2a{VPoGbbp2n!yjA$6E&B_Xov0Iffr5Y-AzmN>dPyKD5WfdN9AeS*%@y_ApzK
zbr3(Y%Y(dK2mYSunE<lgCAdop+@EWEi1@a|#Jx__J{cr7@K&ikTqA<#AprO`1R)9@
z2<{!HTW7)z$lECPn5U5Mo+I+3IWGUuxzHN^<v!E;<|PP!_nouPv4vu{UKbUL5S~a<
zVq@9Lx#&F6NwBxdnYK+@FQ@-_BuK8nFndWQGWe2e{^KnKL`sdCCNi2f{FOup2AifG
zP|#=e<K8?=U>Gg5ro87Of~qy_wbkZOCvb}#gg|#QESysLz|)K$FARYXSGZs1q7zKR
z=s_w*cZ_g<id%R3C4G9ep$d36gLxN$nMaa04a10ePRe=$h42=Ok0}leFheuk4SASS
z3FNFh3v~D*css|&6Wp667Gxv?TGC)1_nY+Iz%!i|p!PP!0}i4g4ZM=ye$xW2FzK4r
zdQdRcjc}o2Y#-1>@&w6LXb(`G#!qq+_K1fCRMRtm^$~yHdj>xTq*DU9K`fM`4Z?aU
zXgaE9$opblln`Kv0bS~10zX^5L0kkxeiCjP?Kke{d;(r_?vsrkMI0;Ty>al+%@^}t
zl@ViL1v>uSvp@lOW&-xik88dSMqju_@)yTO_S`lP_x^-rSM9;<@X^0NcLpJj^nLUV
zd`<m-^f!nwyj$I}WFLKS^h*`0sZnTk+U0PEBMiL(?}d4ISiAh-T=Fe;l)JH<h_bPa
zJ{(QzBRta^B|Cf$+W%haaRZJZ|BH$Cw6n|Q|6oGxf5iml|Aq-s2UqF;mI-;c{{e;8
zR$Q?-lHZ(0b4I!zw4*`$%eZH$Uqn$VshISCBk;OC7Bd!Je|m1f6vJ_LYiA+$QRa2f
z_4ImcSXFO3L%F<~2FsE{xLeqN!nsI-2ybix8tJQ5v&ah_D*$-kfQeCPvTBi;=hs_7
zEIe?`_F2}cgMTJkJT63lzuY1)X*5rd`Z+s9!oe~U^^N1?K$=d_D11;{%l?`$?c3Xb
z@-fFWV=lxxf`;31?+`Gx`hC}y805;YP&Z+hQ_L~fvOE@}hf`fKd!Q0FNfeus&}-go
zK@oXrnY4q@8<syFv0iZtdKhNj3=w~MW2Y9Y`>i7Z=ft>AmX+(6Ui=R(jtgeG$84zB
z7np1Nsy?2*<1{SX@PT$ZV;-sLC*3T6Yl=H%5eXwA532JBjhMM$wL?ei6vbVDlwfBU
z@Y)n&^7Qw%<Y}*pnnm$~7wJuyv*nXET*(iu*;9Ew<m3|v@f!Q%&YtCj7q&_G{nTsv
zC0q<(EBuv7FaHYKiQg7B(={P_Sii>$KwKeI&&f=sjIbN@7-zU?M>ke$l+uEK1MB)i
zb90q~`^~_pn?N8r$McD_mz}T|%;_!lpxy31pux}6s|j)pKInY&h_S~E?sg$xw?K}|
zbv_S6lfC{MCNMzo**)_uK)ywbW-YS>Q;i?Y-GjOv%R&6+*yk<u+s_>BQlYH_?nSmG
zyI*v2K=68{81M2s=EL9N88McB%lJ<VVO~ahgGhYaC7Dewz&r;wqMmcvl%nsrvoVSV
z=RXhZi(V<$duO7@oK*CEV&$A#9(HNjhvC1~=M*Vy4p2q$LPKFhxhgr5#1IiFA5T*f
zTx>EPGuBzdq-6ZKHIiz-V77|a#<P|K?&-xui-_)SJ+#a<SIjGiRT5`^JN`cR!0NNB
zU8Gzm8R*mum_bvRbW3S*`(i)w$YYv!oKTw<%cGhjZIu`ZMu<{O*xA#lM?3HQBSt=n
z@2XLqRU3ulmnnbj(5C>rS`OsW-%pUmvM4oLdQw=ZVmieMlapH03kr^B+&OUa2T3;&
zc-_5T0#cEPzPJTT7`R-20eH=-J3m35eHIZumzf`ilS3RhUe^xI5(KElZ%$42-2vhI
zYYqwISs4p9D1ay)e^V;8hlQ@dJ?CU@(r|a+@xEW<;wxm!Q}cZf)2tQ8`198+a}pK@
zw3z2w3)++fmQH&z%n6M1s`L95tYAAu>y6Euzs+mE-Vg|Mo<U@P`tFU-07v7K*JLiL
zt~<|NnLUQ3FF@ziV!K4+63{y{P6RLzT`4FQ;EesAwiD@7=dB6yr!jruJc4X9^M(4I
zu?fC<`T^S7hV?)HnhrbqhTT^!HcK3{YP7>(3qkl!K_IZdC_tBjwX_VaA&>}f+THJg
z#n1A<UXy_2s1F8z9uQnOU<m<jM%5xt=MIE|>l=r1)18O00ulbtCG7zH{cKWU$5N+(
z7dsG*L1ZT*IMh!M&^>p#=*=Whey)WMO1G60Nj1JvrK8bXSm*Tm3BU_@-e<M@#C5sD
ze=&wTU##Q|1_Y!<@V{Y<`v1n5sF%Hw-G8k}&d9~(zZ8>yGjesd^87zKG-1ERh}82&
z19h4Nv?_c9Lkl@x7(NIL(){1PW6G|r8>OFAcbA}TyJ3$*YLCPdVa|!?6m}OI{(Ntr
zY+)(pH8M#uD9XW9G}4^YKoWaDM`+Ljv=<w;LM>*)j`{?}lSTj$mwtvd^GD_kWEbWo
z@O`q`*wxQ}z@EgG1QmHrh<^Y|7)>qYOqkXl-lRwW%0`F5%UZL{3a8%v$hm7m^TBmG
zF~rESLW>utjLJw0<DiI^N<4M{1U2@aEV^9bM$slIbbnFfXbMjEJPPB)c9m<u+ZBg_
zME6I3H0SlYPa48gc0W}%G{@Ywkj}Wn65oR(+!<MaA=6X+Vbj;WX^9&$P~*P6A}Q$%
zdDdiL<1`CS_FZKT7mA{|Kr4jMFlH3Un8r6~)clEcVd|l$_FOeZw^#~9IysC92j{|)
zvsj7^XEK*}5(&<D{BIAg3Td3c{54Q4kI|N8&2%marT%i&jd8(h^;?4W<MpR>X!{3;
zp+?z%Ctl;wlo=C`u>368Nv>WjGX%-tD)GH(A8XB8hGG}|>-fAbt2;U7X+Iz4>#jXi
zz<w)~N0hiVwKec*vf~>)m`5!HLCCfVqKC%8zh0Qz4@bnWb{SXn?c5?M2yP+ynzwrp
zC&~fHefb*wCg4E2bGun}Z(^i*==!`6o(ArJ{W_EvE0n#F6WN_jLQRRzmL=%9^!t@L
z7I&LP8|*CjV=tun*S08FN-$Yg;VcEv2R%KLMzq805gC2ERdbcDAbZg%|Lk4hFDWf3
zx=5F_0ncfQlrfN7{&ODMy=nDpaCfX$(ubT%m;<jIwpKTnC#P1ZX2S`x(PqgNy@}O-
zgX|`yP%w_1Etp53G4OKq6B@@bwEgFvc$z4JsVD^akJqc`udipBEcBmRk|`hx9O9Ys
zg*yYhpO?gki}SaGD%&rI%0LI8B*CRdNzKk07H=6ku%GN~S`b{#HXWlW1frS$yu5sM
z*#2PEfKyiXRyhqM<$P`{Uh~cVo!SF`k_NiB;+KyIo92&Ccij-Q{l!1tm~Oru*ph#`
z?y4tF%1)YhoofNUPUCum6o9LS+TR0?oAW8c|7MViWzd%PKUG2(@qf!8^Z$}T5i@&N
zX9p`&BisK;qJ!Ok_HK6nM?ZGrvbm9Z1r&_D9JK#XtQ&$<CrI-tGgPToEx!VPuMeB<
zoKQmM<lipkHw>_vzFk9ax_XGDOnWlsJ#ZL={k;hH%PXv{u-3w0DvOIwq{28+#;C>u
zy#GdqybsxGJ7`!^reCs;=J0HvvCc7dqC2})?^n%dwl8P2Dqr)bePMNti?K#2G7doL
zqPfL5q-q<)k9F<LZg|OS)s9YoyX`R5{6{}_EgIW>Y)NX+VrR5?v;QelH_?uYX+gzU
ztEGC7jB;o-wl|3^LdY~^%2dfgs0^#4oj7mE1-%TDXpOc1S|qC$Spc-8`;Q>#Ct{|=
zDAr7K&&6>2!kJR8Oo>+*j^;*Pu<$P^fV!)sqqym+c}Km9s5=5AB<OvAr|*0m%X$jT
zV*2{AW{j@X!BAN}whS<L1bW+QH7goPNaTd9hOp+!j#g|t(X9T@-vm9``#k8~JY^v=
zE;57QQzSZpn2X6Rn&07WjWs4{i&jtga@pjr9yaD3fUurs4G*zNB{kdlL(<u~Qgmfw
zhANrJc$xr2A--}TZ!%<m!_F}UZg3&zO1GWVpZ+>n1Tz^KQ9FbuRMA>_0g4~#ZC}`t
z@_+2Z=fC#xL396fK=9&ZfpIHO>>unyx-Pg~3_G0L19qG8^7qY7>H=*rYjX*T5fLP>
z5mt1!oZ&C;9jOA{ey*@*urKMk;_(MKiGl&xN4-bz%J%A;%jyJwP)<+>x*<M<?>cZm
zYF07)H&Qx_8<iqC!G)r*z1V&x!U&H`_@K91uqP>sRX|PhHsm=kO+Po3&}&VRQ<Ku=
z^>nF%JEgshF8S+Z*>2by(TkN9RT4$Vv>|UgN0Brd>(@Ch?OtB(3EwqiBk2nb%X7se
znT=gn>&jaIso}tX|3k?;2S>ti>%OsVJDG_&v2EM7&57-a?PTI)V%xTD+d9d-d*5@u
zTc_TA@4sEu)m`1c=UMAnYjscajS5vy>%C+Gd#APOA=ch5{OAQlUP$;YR2Mje092cX
zAE%yOX+&LU;B`0C^bqAR@yh(9d_@#@uWWi#b<0!A;gxWI%kpr{lJpMgKxAVN1<VaB
z3Pn9klu#;#JVmZ~8QrwG#IK7wAMf+|1Ui~W^a0Qht3)6;O^EKxS#yAirGls%6tqhN
zG+PbCvS~%Xdc4b=yG^x>(NbHVjxqPnCS<$lOm+BUJ}QXkN@__&pIZ-Qx{RL+NM*S)
zFb3T<nOQo2zL0ve?e(q>iVy+=;j5jpzOQ(%EX40<pj2c@VnOZkY%t7EkYxaW?%b`w
z)!p}P*Gy)Jxh`>MY#)>u4HjFd-PK5@S^}irr?}TWPtMHm7dpO7AwUB=s_xSi^w9pz
z6lnj&6vV8ZjqDwaz8vAdAN%VF$yPSY>?i{p8!~!-O*YJ-0gF*LvWR47ecF<e&C_dd
z0A_Sd7NV+1c=IwH1{`n!%D9LTKuT-_-}<@VpL85nr;5&q1T5r~&0<B87vY47WWvl+
zCx~A^9%z+)cp^pS+@qL}YJWylVK3*1wDkeyiNucMpFl9;^G8t%oG4myqpv`44D$8D
zBkJLQ3Db#a3q4j>Bt7(O8P`;^jM5B0#jr;)26Uy-JgiWSWoe&?cGKaM6uEMy=BcF`
zA&!S@>VBmR5~A0bzM(iXb*Xxg(st#h;p}kL@YZDM6=}Lm(QTuE(yY=(l#It{B2WVO
z%UDUN6vLxw^?rL<u8W^=eGJmm&q=8hyER#V8FS76?M|2nb7kMr5w&}rQmlDme1Un6
z--sp2O!#IXy#1L|0fY<y$WmGRSr4D?=E{ZS(F;h88EsPqgLbBDx$&g>%CMq$)!!51
z^6A1YtKQV8w`Y9!Kux!?i8quQop$|Aew1LsXmYs+&y|dFuNISYzhf?C<Z07B6j3RE
zKiwvrspZ#wUuiTqB2R{xNje<LVLjCF$WigA!bKB7rg7=PymY93xG%Z{55VZ<m>_az
ztc|_WK5WD0voX8Zoh9NpZPKrNCwP2X4A#1D2V7@ITiC6;^6-PVL1^`cJP&a03J!8P
zQI+&xAUlQ3oWv%<*AC#k_;mp0dZOBYPF4wfA(6R3;Pw;ox~q$CBlD)kU_Je2jBg{!
z%hvyt)_z=J+GqmidcK-JQX6|dj+2x{G*c^}b%mVTmoA}>%8FW##?p5~J>)^)qW<v0
z_;@bAU1neMu8AkRa`pg^C5W!%#KC?4IUQ^bXe|zuRTC(g{#q+gLxlSf{5pSsW=BtH
z!6b>!t%moZyO6iCubvr+?x`)Nvux190*!VWW;yPbFWwH;Mf(;%VuQ1M+C-JePO|1b
zfjlEVoYg`<ZGZUW90Nm>Av|>OfWfZcO1iQ2NqBMj2ilSsD0!DiV!?00rl4p(=FuS9
zy$hiy2hx%$*{GX(40febP%MIf%vt<3HbM5wUe%}UEDUK1tqndH=^G(?FLhflZ09Tr
zYF2NAu7gG-Q#HkH2u!*IS+LQ;PS%|DxBfxf4$2k>2O?b+3O}Ef9CQ$o&`nC)63Td#
zC#sA}N9BP-Uz}rKY%Yv}1%A^An1`7jF{SaALtmX@JXc-tfa@Ljz`8+ysFY)R{_J4>
z%SeQXo;n~b;-0qv+v&S!t$<CPVgyce<b|te92l?sPPhUDEOLxsGgv0!pck>N{Ew6N
zaFlM!1V8-c2(aBpMnY+%*wCF0f>m^<oeEn^%7H>#CMSc9?${=lB5?ci1Or~Hi^bt;
zHtc8dT#tlHE4T-nw2?G_HnvMhgFiXXr!OTkJfW+LYy1^RXirHt@5c@569XTwU|$Z@
z-(rYJ`WX%4asSPM=>NrmM2sB2+=t&x?{7j7wy`%ba`>;V#CnAtrhP*J;&=?KH_A{V
zN~;&MDqIT&lTP=5(<g1PSb1RFa?ix;S?<qXuh}GW9-CEME~yZIBg)+sw1CsATf^w2
zaC`#QHHJcxF3GhTebN(A|Hu2y9OTu(P~$Syr1JQjS47HzFd=lJM8tWZ=4vU1N9;-5
zlxP~Wyk!SU3kI?v!XAuVH@zR%HAVk}c)4|O&zbXywO7M;bb)9DhJek;ku#dOryg<<
zETO4M&c3)SpaO<}5&d-Zrq18;Mpp#-o=K!N;4O}+mgLOs(oN%?LY9KsqX*^4y~s6&
zs5{3G?BqfN@1-#SgSf4vj2hz%P4>#6aOxKx$pY2l#`16UFH4?qH4f_Fohk`p+66*Q
z5myXy1*=~9z(73v7vB~oFZ}lD-{CBnKvBv8=%(UT`6hRNj%KWSB~c5Ar%~d`Vz&%A
zH6{BUVwK~nxkupJLIbpJyLncfn6eQza!z^eh(vQxb$>D;S`o;e4C1EG8{J>^2YlRa
z*sdYmxT~lAQ9ZapE>IIE9iF#VP5}Y*^n~KzA`5aUfs@vPKzNSGkiYbu@!{SB{z<;-
z-$QMl&BnriyWkfG_Mtol@2-ch33-3ds4G1Z%?*a-QBnOZsfYX6K2t3~qYv^}e%3Gc
zXQPOU-wWXZrW@$ELM61P;gvON@O<Y2(J>_FT?N9^p;F9&)-LeMnns_VQ(C3aWX;@R
zqMOqoc;(cA*`nF4PZjvap(QQ(RSt*;<o(adVCq|cmSVRb#rQ-HIpju6m(r5tWvKC!
z?&3M<newgD2ezKy39^OWrnDgid?p(B(>%Hk+kU&OmM1i``X1HjB<80m#4nO-c&Dw$
zJr@a8q%)}v!^|tVeH#|+T8#e5|F~~PioX>Qt5wXCvL)Ii`KQ0$D(GjuNT**xTymJF
zUIk=-dnvfL0BQ1>4doy(j>?y}0Gfyb7LL=3kxoYEBJJe-e7M<rh#t8JmU=2jdMrGT
zoZSDp=RKAEOtx3q@n=KpNyJv-R^)(g6Wb?$vTRVHNp%4;qX*P^G_bQCsPxeZ-ZX&u
zVF##%od)Eh2Gw?xA0g<#8Mx6FoqfVVwKH0O4PiM-7gfE%PuSFf2d&jK-whc}@S=v;
z_FQ<i=)gIk1RXx=d@2<HhvHnL%Mp2U|MPo#rr#1mKVs1ZG8p4}UX$~U)HE*MJVl?l
z1x-;rw2&JYbOOUBP&HX})+>C_tO%aj6fNqdikQf;_I!Q|57$QLx+UL=`M4pl`B^%D
zrhmOf`(+BRKjjeXKid+se{D;c{%2DVvDb4pb9DQE`GU%d^)}ttvZQJ?Ntr0r3W=YB
zzkvHxoKm@@b`2h46U4?LC#tDdr^Dc&yTG#Hx1|!VVgF93iRZqdJ{Zdhm5>CDgxoG+
zA#+#AL7YCtHA!#Bd55}}CnHY$2uOK<ui_a0DFer0OB+>>X}=JI0->?5l<G!uqF<$T
zxKjuuQHVQDZf_ri{;pAoiTGG0u1THxQfY<OV6R>P0ytWwR>eZ`AU+)1Gywz-V|cJX
zNFR}uKsq|xz;DGruA78-MN_*unCedTDA+m@H1f7v5}D{TW+xygS7J=?c2A9eAtW2s
zA2c8U3_%+5$o9X&ntnvz<|?h8;e@#{As!F)T3j!UkDKEH=#b{MMnI<ovWCZ_oJcGa
zUjA61gec6*HVg6Y#E1mw69z~&6~yA3yxCf#eiB5T-nN4g&j?|}VI8ui+p}ZCIc!@!
zA^^%g<a6OD5z^`~aD$0d&#CNxU!`#0UMgFr0yD3BhEs-4(bi5zQ27Wt^-G=@c^=e{
zm4T1{h8#9BZ!KI50GRFx$+h+k+@l<A&iY|k&&_oA$UG*>h2qp>h43}%VgaHdtj|*+
zOx)+``>KbDUyBmp*9sNfWn$AB5A4FR5xk|b2JBq9`W5Oyyo%TkejLGn<sPw7p?=1a
zsXC{n30o}GngQDkcggI#MNUV^Sdp|Bb_%kSW#=jHfU^c4WHCE4o83SmhgHupkhm=6
z@*PVUJQA6C&e%ZLW5qbV_ID?Hpcxfx=HjQ)NA(|fHq#z*AB}?vs3Iw%dYniGG{m4H
z1h>eEl_nBbFdQ(cvF_r3up)+N1$9<R_&%$!K(MOpp@<X64u;3em$zlG37hE-TKssM
ztVylA_K@Q-K&`$udB5^na(976Hs0Ky-rlZXq@J(?m7FRAnekPAew+?pc#mJd*y^7@
z+vs(=0Ep#?#SRduDPpz-Lcgueq>=f8zZI@Pc>Va4A@V?Vj<>OYrS01D?fuc=q(MFY
zEsy}X1>++JW&4mRWN7XSKR1o*6PR$-+D)rXPg?p?Gi_rVR|ZlEc)y7T3%7_|K-)>c
z#}&%okZ`cj@YKb#x|PK9rA9{x_~)<5fyKX04!-}NYUDF;bkcLQv3H<V_(zEHM#e_=
zM%MqWKqVcUG&%%-?~S4_1w!e*vy!07n!$Sv=Zl|k13(73{$OR47JWH#arPmTm@QVn
zugZQLA9y-{ZOM|luBrrGrk}H4%3pMW6fRR6@?%j7>)`RSGkzqLSk?+;*FJO#^Ph~&
zHIrSyD95av$5NI{>IM8!h-<QD(j-IA2Qo$^NE|^RFjMG%T7I{`e$!mx&@!1&at*{E
z0-ocM^wPFDc0(%S&7I|OPd)w%DnT;@h2@VPMxFYQN#b_Fpvpwg?2*M?^_|nKvJdo1
zwJ=)WA;{Gt#YTSPThkaSNA*Vx&ZcTNlAb~Z$OdcLDhSsuR|TK-HR=K_^M>q%ozwUs
zz@d2pixs(lQpPs>LfD1P8>H_*luOL0A)ioKM>h_&u^i7d1hps+(yhCj2}k|3JX;wR
z-%<GGpWf0x`MO4Fq{jHsWPrgi#z=T35#RVC(4=3<aPuO7`c<%PAb^hv&ms9WNUd!w
zFI#wkodixVS}Db?)3*5)%qvo`&Ya0uA+q<`Hs3FQ;vs09I@xLg0+x2fkPmxvzz5MC
z`6~mTZ&?EkE<s&I_<(`m2|6DMCyR&=S!$}14@TM#4J0diRe4X+tLe`~#HkF15-?BV
zkT3cD5o*7uM@~Z+;OAF+L-1$4!rCQilvj>xe6(>3%E@Sq-MgE<%dV^4NGzEajaty?
zwr@&*6xzc!@H~TUy);mJ2jV^(CLg2gVdfrd-qu%iyyme$fYnN(LeDD}p2sxXns54V
zK2~EZc+71y$ilkXpjf0VcR_t80qHoEt6!b{<x1B7!jxTPG8h<#)i`<O>Ruwh@q2zt
zv<?oR81$_}RL>bQ?KK#D_I>Lm!|NIJ3u?@NUXMU;AOHXnh<}5c=3k+fv~iI%ayI%q
z4wDrV{0D92E$dIT-#b3h<|#+%TqF&E`pqO2M`k3SZw=4uC)Nry9)Uc~{We}P^ovwO
zr8rI*fqTQQox}T`HFo_x70asWIKYw-=NW`}oyL%S*(j*v=hLCorB$Z$3hA*>u?l8?
z;p{iW&{VKIRP>RAAf;FteRC;|u9pY<Bt1WfFk}=h0}#w*njXsX1s1-^hqetyof0En
zNJ78>XBw6k_1cF6oE{P}pck}*BP6BV3dYspM1xr~(hIks1E=ane8q`5Ed7&{VkuY}
z&k+r^M2~MF1L%G1J!=nAIghb#X(#}H12~DZ%zL?L7B*VR*)neM7BMIKgtz`<EVB-(
z84WG~j&&5v6~9V`Y!ysNos+ggI;{pMMUDStGxTKfiOjIt88}83_C|tmWo|4b($*^C
zRZ=8368Uk$Cc3F#my9UXM5l-m5ctb2>Ip|jaY8L^^9d4k9)e)tTQw3wNoI9_;{n#n
z-R%WNdi~gRq}MZ&AJv))c5Op)b`+e@MQ@@fLgTm|UhETDr1!_l*Ntm4B#7{e>3=5z
z*(p6pappU95<htoK4Hwa4%j!hX;7!;?JV+wa(CU2dwwIYG88;xGi{&gnS$TT!0{s0
zI8zcLHlHlgA6LrBfzIK8xL9|8-bQrB_{BE|U$+-*9=5#Xz7SC1%}<wYRFZt{Y<7&N
z;EfXuS(^&uL3N9n5m0}z>L`murAE1KR~Kj`3wuMHzF`+x_(w!x26Vbp@P!zc?3<%*
z6r8lYh(90JOZXw3n}eh72RUwTugqXF_mr<6QuV<hU0g;L=oq)x;kzGy+!k&5T(q#U
zPY@G#rf^P*da!@7lPe+z|9$=8C*u=5rz`iq_z|ybf3ML>X|W)KKM_CtSH!=zE=rDO
zmS&D-Mh>*{M*mEA70s;v&U6&qtPM=<ZLH1QjqJbhu2Wk3#2e)^Q>mUyQG!<a#^3`c
zI9HcSrp})OLeTeyS2ON^1k}oO7=Y*Ik1;Eq8E)P5T(M>GL`k`On}RGeuGy0^N_zPr
z#ucdBshK<u?4a9(UEI{JE&Sf0tQohBe+(cIo6)T`Zq>$C6?$WhDmR%>dr-q=kVN2P
zO3z8w2SGJV+p42qaYJy_I&g`tbi@q^hyjp)AiVM4w0EG688@zf>1^wBQ_l;7j@2tB
z>G}Ob-AXkmDfc^z|IwXlPGjWVtu!yh3S+TysRF{Tfl>9C?Tdwqsq@xHG3#V?0BLsu
z73hZhN;etTJl8;Wz0lBDTq(;Yo5(>1kdIa#^pdhT3#K(x-qTiM6a);*1|Pi!XgR|x
zs%0$z5;&qlEy0_A<mAm=+nJhK{JpA@?{p8uHPi1K$G#F~nKSA3B_tekRbuwaqd;QX
z+C8#wm}8Sbt8D-mH4?15fOpA{e)$<_4J<S-Yn^jr@rzSE+y|%rkI*7pRh?6mX2H^?
z%eHOXHo9!v=(1h?m2KO$?dq~^+qS09od2J-CT}u#?1-I_7kRT+#QO+tfBX|~M9Fm1
z_cbWCBp~+*TMZtNS{<5H@e_m^7c6opn%P;g(HyUE8wLz-4?J$YAZ;t#N#26c(iw6m
zw1VxLHFqNn4Y?%+c?n_WZ@_1s*)TTri*xc+<zOiU{&8g<bK!l{5tZv^>tzfT>7bu0
zczT1Uw~xp6V3n|2LsYBpOFn2W!mb64FZ)iXWpxTA1ddyeZt<QG0^jdI7>E8YQCE7I
zkZ2p#I0u*kGkROc-g^0^nUw2^d^lJ=r<rTaL(dK4!BlpKvBVGN?W@;8x*h9Cz(aXl
zE}Q9u^uQhlacWGrGxofGAWvX67XVi<tmiH=1bit_BK~A*gR|07PB2=36UO2HMA9W<
zmF+tjfCr}gz;gN9g+=&F2^MKB&j7di3^JO=e*<8(KAW~4q{6flkNNKg4i$JQ0@WKd
zXuW*Sgj?^rUlV_VZTgi3tj}TjO%;q%f5%$m^6R}e;>Qe&nNNAbd;eka&!v{$796#c
zn6Iru!sCcFKsv*#7xh_p{BHMS@7fvl3#v6qq*#5kDD^LXT>C8<XAG07fIouKrfgup
zF$ZYgQz~FnwWtvlIrWUAE;oBe-c`}p39dG6wp?cV)A#cB>nl#Iiiyl8%V5nyph95e
z)?gdbEWTXxg*hDS1PI&`S>RQLz@EOhgVtvuFvI_G)hQUgMeI)JUb@%{MjA~*(TV0V
zCC#4Xcm6h+qTQMhv?^YX$F0WmYpsE_dN?2wI)}Zes!?q~7G1(0CU?{dcNs=mKhC8m
zi=@B(&MDpzH52`5>Iuhnm%W50hw*Wjd-I_iVp^BP6CjFL=!Vq>@<)22!^ue2+5J(C
z0;AB4h{L;at>x>@?T*z}H9*bkg;2k>$3xEB*lDpr^D^KcJKMD~Q~GtuzzZKtuNbh;
zeQep?KK+8UaNX@>TL2?-Zl8kf0MgQu`LX+`9=a)fRIrg-DP22UFYV-8gqTK#yd2_b
z!D8HDmfaEXYZl$WPL}^59?o3)5MTA6{tpe*3yN=!nI=CuLQpdBfKSQ69;yoxA66Cm
zqHF921$uPJrHCXS<)XH%-Fuo=z83&_jx8K+f+YQkCnks#Yx!XpuS9(O%@K1JZu-l&
zT=FDRvyZD?y80(xv+9RPU2bOkIk!i1<~Fy*h}<gu`l3z4m0yb1C7I*bna03_>D<aU
z9M<S`tyvdQ#B6=x7EpUhMBesd6@tqJ3<bkcL^b7`l7fGIN>%eHjl6qaN)Eu1E_Gei
z|M9L^xP&l-a;K)yI03T*hwS(49H4HIgoIg03nb2Fu)dl#{}%H1jGuEB!}I(L)S8?g
z(xmD&1N4A-EOJ#I1KxB-cTo3{7j4gAd3P><31`iqN`8CbJ?@6=KegR7lor-WBG2{I
zmwK|AgB4%T@jC6K@hd}~#}+^k#zM2m62hOFka~u=lWp|pd52QIbH$cIov`40HY^Kd
zHYp!?J4B2U`WzqMCTJE|b{^~{1fZBa)ZbSrcG#Jhr)SH{*!guFt`|OV)OlrbH%ym<
zTO}ENyT4wdCqgA!MIS<f&X<`1Aj7JlDDTOr@4{mSX()&U;c;e=(24+Ck9(xdc<*^9
zIvEgmC$goB{g>YS@yOR~<{gj-<rtj}s-6})RnF2pIg#y!g;uMt)4)ZJQomJA>C+zq
zka?E4N#Tw8DRPh`f#l_sEpXyUiU{yqqx#^`R&mj^-|}2T1(I?;H5&+b4sUafZchjv
z0^lA9iV#~$N>R_Ke_H_JTPG2gY>4i;#eMwBry_klLbftq=<OlB_j*db`jrXEEZq`_
zj<Y<owktNYNI*JI4_CpUTs5pp)+X1g4WDj)og{q&>QUiYrabYnEX7*L!%Xw)K+c!~
zP+UL_>fPd3G23mu!AaX%suEX{0uW0AbydMz!2Emt8pIR~_-Ft%s$mTdy&S3E?4m7)
zMW1s{@uK?~y@@|ls2mwL5){Ygw(-ikQ~QkFj-k#zycva^>uE~i^M8LUOa{KB_$nYy
zs^>V?UXs7^od<>+wK&c?F|S`7V;-7iD=`lr3eSo_uMG2|ekf;syzf;DP7+@%7;-{G
z(cmW^JPBtN<=g-^pvGTg8O{U=je5nHTT0$6E>+OLXMZSQE`KViR4=FSqQC3ypfk~V
z(w<?_!wx_cNuqO~*iud-y>@n)D-690ipsebUm)P5iVft&MzdcgUI(0(K8+QN>}rgk
zS_7NQC{aUMaEm@22A{lDlGzwwhZqTM8Xz125!auKqjvyt&QS8mEzn4{H%f95>XyQW
zmI<wTBj=S?KPsqkqeGWxVI*eHH~KJM{zd2h*B=M9k|JH|FoSIu3#)ZM-IGaEhsm#R
z3t8fB!sG&I;CU}@N&6J1@DD_&YQ;`(ucSRDnidFT*tkREeMDOBtT1_>Xny+M)M&OT
z!N2y&;e7xulp2vS<|IA51@8%o&6BMDCsLXWUFsT`P0rFlJ)lHsIF1<rO4g@5+t9jB
z)|}#c;IikL!;ka;nSg^d8rIe*Ghr}o<$#k|I~g&NKiUA$7`C-IG;H^!%P-eGX(%65
zf5hIUYIkxZUQUwTP0VyJHJszR<A`GD+3S5^5=sDynQ-yX@5>+!Yxrn{%Vo)-x*<9^
zt%^3OAD+x3om9rN0!-6`sbEVJWZoNocA<RmQf>gcFy=OUGL0mPpoSL{aLTk1y9B#m
zZf&<w3+4SD#;)yIlLg>gxS^z6z>u4TC3G{C%|R5|tHX*Z=LUEugrW!81l&AAubtBg
zC=0Oi*ZhO<_Z3|`Xx5i&$!1;S+M4J+*yE_er3p4orVrkGBH2rRT6<3ZG-O0uSKy@M
zs^iK2sX3H98)?Q9oBa;wWiK{QfswYNDcf$P240tHG^vc0{A%WPN%hwz5>hYPPYFkT
zWXaV}dGK^0wA{(yE)aB9@=<%K<E?-2pI$&bsjCjdKaEixV=KBJG?g@0^IL{k-z|#v
zgR9g;l?l;^tbW85dz0H6fcb7Wa8DXSJ;(|Ck7>r20q*$^?*d2)2L#3sQ}-SF$7_3j
z;fk0}&FY(#wRC)Ulsh3K2j`3{4lK!RL~_g<{m<3kq4c;_n(tOmW2h0>i(kJ+B98#I
z7_{eOdHa8n8+zQJdA^wcG%Xvytz=d!L;lo;h~2%&=eZHn22lu_zLhRWlu7obppf%V
zq)QveaxScwo&k;r3y_%Ldh$fdY2Omt??EZ6K~M0ci}`1Pz&ySoGa#aCnt=Vw+$Ekn
zRia(y87s!B;k{2MFaC(DJaPY>-v<X^&d}lEW@UZWfC|;FL>9qJ2wk&7y~wWi<Qi(!
zXL+pDy)gSFLd98$+-}k~O7xI-TY_2R{8~BGx<}hx=a!!Vnr2YbuBBIWf#IDiva#>1
z4)US5e_|yIEQtdIZ*htz-XVdSlh~1R`*h%0v`kXhX{cRHms}ADSKxggr5XZ~(=MAc
zAOZ&C=!SXztZt}<(n;0D<M*@8g!-z0PEee-k~@x~voh9{cfXb?t8U?eRKp&&1PFH!
znWf5om<ZorE~ZC4bzb`qpKgd?i!H|1Jn)j+WHBAAY4^zxJU(#MsIAffVNTyDie^V9
zxm?Y1iaK!aE!@nsgEF7xvkL$o{0<!8rXI&^1EZcFcKA3zm5>G~=pRV0f>SX$g`7>>
zIyK_vLZ=3DAWwJQS)5g>uPG3n_q9lVN8PjZg#C#~lf?e6_i~3KaHv=Mi8$**E!9Xs
zH#{`hXKJ4R)JOTUI~v%im9!@^bNNh<A0k?8$>S6@H+o?BSed~sI}iqtB@LdFRl6{w
z$7d?Z^0amHitXw|i^_#L*mA9S{87bA7RF>Y&lxyDH>rSBkZWlD6}W}MO0Kc&*qg;Y
zWP(kp*MoqRxhIH|Y1$3y3oJLtXoGPN%{I~tGWAX<B$KWMaNAHfkd4G$)A@vteD*s2
z1(AF8vLoCX7T+BIrNIjLRxmIzdstiPY6Z;K6zaoi;YZNLN)i|MiQ1QJ`^C;em($Ni
z2UeYbaR?yLPYC>UMkVw;7@9@~p5(XsUQBXvysSX|)M!hdrrX&^V{<m(%s&qedtw{%
zGT3l|=7M(*z>COqCY^A=;|yyio(e2}Y$p&0l!Lt;Gz#;YHVXn`3~7bf^O!)0$puRz
z+BYVp-U5P0v;#%QuWs<w8J5gXN{W3*5LfOrk$R+lrPD4P+AR4r#^Frk!>Qi+dQ5L~
zm8jZL1kc}rZQ(}}lT&3Z>#<)q@to0g(d{9Fxez3;>cx70QUIwpOcbs8J&O3UTJ3YF
zsA8rVD#(`iSrh`U2o*|)DO?={(0dP)yffKAb&<!$(i7cMeQB9#p%V%}qo8+;@Y4E_
z>N@*m6)YY;?;1GRLL#UVW((j=W79Vu9xa)T<hXtZfv@jdu7Ub6ZI*J9Od%CEvsd}P
z15hsJr(iR84$GIygr_oc9gAsMo0{i=)w>4i!EhWPSB3xrN=1&;MG)gw%e<`8ej!AY
zP;>~?rwTY+awXjF0NS#FKI6rJ&n+#y2OvzHAg}B=_)eXi$eY#fX<`SjqWs9%!rDO#
z(oLY%3RR3HXgiR*ih62aOZ<M56Hk9{tiE^?ki`lysGTeRODnuVmcBt@4_j>C=;9MK
z?(#_>g?hjkh-%BRiHL8w{udjrSG{d+W=PO(y@91>2-iF5mejDy-b$tr0pBnxZ$D13
zS8H!aIVkKuN>g!BgU2tgi)*91<;#i$3;lEE3FI1*8LmR59W;Od{vR$=<thXId+nL0
zEjU37PTkX}L*1jQDk3>MTi-XSp-G${Q#WDwVR!&~w?;U$1UOG^^coS=bq|_h;!N;o
z^A6NJt&u6Ojae>C4rmcN{r4ArLKv3)uug^_%%3ss;;@Jaj+S3LcSO66JQQseSD9?M
zwJYP|GD9f}dJyvZ?wO~#H~Mk6fkC$=BEb8J!azq03RP>JwY`kZlzx;}%3_P}ATw^v
zvoiqDGQ}Kk*dA1M16XumXKV;7)f1Bbf=U@qt9rd;KYX86H*fS}lfOaz&<BqB0xWV^
z2N?GHe3ncrJX1KFj7Vc#&nw#2Jha!c;>Nw5YtXtx%z|Scbz6!ExZ8GL(PQMSy_?B?
zz(Dfx-*O$NKg4<}xH6)o-ueRDfF$Y{1$@AJCphc{$r_wr!VhmCrq0_Ndm!YOPRKPE
zmj`%U_5kV-oiqVI<fZQRhD1h**Lpccq4W|Y^*by0Y3s>fSm#i9{T=ll=EuIBPyL;b
zXw54AU7GO7=d#iggHDAalRc|?e4x>^w0drec{Dl3Ad;itfe9KKUWr=Ux#hzKbxT0X
zzh<S3Sz{u7IQ+`^$9-|lf1>ck(a5TM=x#)qLqwq>21ctA2KQQFTpto)i)~rdlVsNw
z*OF80K6#uqe_^K>glY(=Q@n6@GK&;%F}uZq<;q)7I$+tAp1{*YiMJs6*}gQSsGJ+<
zHfUMgW5gMOWaUuNvPYAc+_6gjD%b+nkw87Q1xO|EEP=l)4i!^<oI{SXT^P80yzrf#
z>8ObI@#eCHH*hG;$54oKx!hRsde2FP!_M9bT2Yx<hsI&Is^vs-OSax@+7F6KFOUcN
zt+jDl0;0dXzWX{UJ_gLm*i4h-q%{2!v^(tdMs5yRr=dH}>qD9jfKWl<q?rH_(DEQ6
zQ9+`4pb4$z-<{@=Lw{p*>?19m!$Iq|1}4^G3u}=16bywS-}{$K!I7f1lb_KWo#8X&
zdHZbVb}30+l;M-bx!h-KJn&}8ydk91LsFUXCDNsN#ye_^;mCkc4Hb=WQD-f=w|riY
zraIes)B-!?Go^F_Pm9l_<<0@Y3x1{JJcn}9*bB3ao=G<A+Xlq}{PBBNpRq6Ii|IPR
zUg8qsThsk$j_t03(_QjBP!zt=1FDSFno;_@`mQ$@ft*hpG|q+$8a>v$i@+D35SDbL
z`j*{h0v<2z;XLRczncBL-8ooE-s}ATu)XJ#J_E5CDkq9$ti5j?&+7p8_xTA`y=750
zJ6dttD2lzT1!$W$!(FxbJ;bs{RYJ8Da9Cd1u{_RBmPf8tZg)oILTU6D9<|zNzS;Hi
zJ|Vw;JwJ0i|F9Pt)GK`8w#XeM!i}*B`;mR%Vs|4PaG5Kg-}#d8PT}H0yZlkp4-<uZ
zR5wi2GJz*bT~Vf=sc#0HBJOfRiBF|!b<#jnQnJFP7FP<*FAMqb^)MRQh>xr-MJYh|
z{?nVsHGGahK)KJp?`$C3EYf$loFi9iz_OU8sfVd!nS3BNz6sflN`(<RDecH>DAST2
z)~DhnXl~UlUumvuu*Y(Cejtd3o@J$Ha5BS6#qZg><WM#a`$v^h@yt7~*_+&Sh)2Rg
zs(pVr(1ebebh1eknbc~75wtY~3n&&{vzz?lhDFa>dR6Wcao)_&rmpvDey#yG$Ya<S
zN_^;S#W<Njqkv?p9k1F_?ny{7Gzpv492~gzQN&1*vly@5VT7{ZAuKnHn2P}pe)3Rn
zt*H&cm^_tMSCa+!=R0hbBOj%}%~wn$e64WtfcH6gbZ%KAmc;5E>D;Hn#tC^gPT!Ni
zI)_`&yQssT^fZ%mQYN_)n&2)?0ggGK&a%&`_QQ0P*eW+8RiziceC4^l7q}_&5EO}Q
zgA>~xIv6M|4$?4imose$cWrx>a#J_HHD|&EkF9;AV2%L}f%;c>B7}9kwIzXV-G?V;
zO1Vda%r?{sYD(d5dpYpg(0_EQGVL6}E)wKJucs`7`Br))!QuMMI-KvkAztI2>qofs
zLOV-k;SCd<w0+*P|1<^Ej}vqeZ~DvCG!b9+*o*oU1!I71!CF@9p-X@gTMKKhfbMdi
zh}Q!Db~gaXXp>1R3f63^<yy}o`0hQZ${=HHAoApoG>??=0VUCR!s_%A1%4si!IzNt
zyDE-(s#9$l%e4`|Va#L3z%+6S5Q9_DtEC8&3L7f>d_jV&k~9zbB=g$vgAk#9NVAtC
zd?+RY&-9<`b_A!r=XRu-^|-`*2y{BzhJbpkS3d%DmSM}58vPO?BbGX`yFc5I3z`ce
zJESDv3H}B!t>CkEZhlF+kP?Ps30<)DIRz|I{^nZ8OzyZLEb6;3m%-~X)|F~bOKpxt
zFw6i^tQ>pTTL24%M=_20r4*-6jfp7U=m_&mjZWH-e?ctTteIIH803b3Ji(rhGG*ll
zEh`Mbx5xiJ6Oj1)Q@BgD&Z~txnxVz}v$7Wab^lYy!-Owti63$}w}FQ}BJztlN1hPN
zc_vFRnv4e*T6L63wr+GnIHdjWB8J7t*{>s}lSvV!@r1@|w9$l=)4${M<cCcZaW^-q
zzDB9mEe*-TB_`s}=^d!>hjrEM*(C?DDQr4`L);f$m;2x{3QAOGQ$4n4r+~0{mp@3q
zuruZE_HaP0l3`ya;FBH^vS8)gA}69Nm!H=+JrKy;xbS9RvbYKxzBse=3@TVD8Ih$n
zn<kQmb*PydDAjzGRut|+m&?8rX|{;I$~!(C;=pr?jP*8CPnisLK{XP<2kdQlD)u4(
z>J#18Cfw(5qik9+)stG*rDjKcYDpsJ4^~A+M5jYkIS9(vY_%gAhJS{3<Wx9mD}x?H
zlud%=+*L}0C?HJFpW>H@2BVqC$>WD@IVA!=$0TA}Jy_l5^LU`Y772BbCeGxSZiDX2
z02AfEsjf4du$zfwN|K%96k)#}X*^B=9>%Il<sKHI$m)3Y?wGRoiA0s|cDUxCihM+T
zOqY3<dPrGpT9Fq#(}@e%>;F)3tH;_w;$1J7_0STmDr{GW;oVz@n6`ZxkXb{ARNk+S
z_p;n$fdJ#w!=heGe%EOJSh?FP#2keFu^RbgmrB<xM)=vvW=73bT<ucYd8r$~_@ja<
zakmF)11tT}-C7nN2HwdajqW}7=HeuUKiAnjjRF{##;M)81(4qHWdq6I5g2PPTgTQ9
z!J_2+t_&F0-YPg5{)J`V+NGqw)Z}@r-kaW#WDoH)tB7~!S`Ehr%*D(&RJr>KF~~v6
z^%^Pc_=x%b<x5l|$kcLF(?FI0tc)*?HGDR(IF1XX@u(+ZR^;2}3qn8fwwlb=*7eqn
zBX#J>`+tS~cnZ9}AHG8IjoY%fS4b_MK?A&>+VX#+o1n8!k9q~x(?2b7!cWo`6Nh%&
zT#YU8`bRh3;;$eVCn~18O;!mrEwn||YYqt}tHb%%@WAy2k9WDyrfrS@#k!0c4*~%y
zzGxlLf-MWGf*l?(-lja?F(^qqR`^7MOJcXRoamN6`4qzZv>QM4B|oeh!7UB*iD;r^
zXc=bYv>DZXqK^Tp9cSY0>AuGmRKTMZ5j!bKM<bw{Y*(C|T&D~*@Q2UM@9iJbX%O%9
zSWD06;MIlixmTIcX0<Ya9Q}=3Q>%FXoc_`@2R%U<&G#ii<8e~OPZX6$JguM7G%;kO
zGr^&t&IdpQbqf7M5%%=F^g>2(G=^Zr)yfM~7N--R=C2Zb&aP}hw11!$D(AjE4KkMC
zTZ;uaIY~49#ic?$|Dy^kaEXVw7YNpnFy0wRxG*yaLMOL12%$MZ=VhlX<Sa&gZ}B{i
z&MMj<eCW%40mifSJj;0&P!_CM=vK05_<L}e5GUIKOFr+Wj;||q-d}iq;S)K>L+nyy
zl4h(-#8`sRBzkJ9r;1d=(NQ9~G`t_#Iqao2R%!ya3ZMp<aS`vv!-4>Z=)?4ufbYCI
zD8fHe_H{0Itd))cm}y3=s;Vwui@R+>f}8{BYXoKuS~N#8d$z?^O)5FaW7mPk)E>sG
zXC%<OjFSPngJCa8zxtZT5-mu3;>U?5&!!BLh@b%9&*#WaWTOtgQRu#M!t1}*Rd4v`
zZpMAS%T%C+`i0NzrwBGoO|oFVabM8gaP3Y*OuTq`qNKQhwj0VO28*(VmSnBaHlas)
zjZJ>|;<39!G7h}Z15?#c=B&lPRxz6K2{fEw9<)_EKNu?c?A_}I%yZwRX;#wvC*`Ah
zd-A7^r^e#Av5mBq>p500W;UGwYj}9e3NXM=a|c&%E^S=!Zyqv6jQkWQRh=kYteq>e
zF2AzhcDBR-nDg*!PD-ui@ShQhV2F{++t#ocmY0HYo(U!nsY3?MPyB@(K-)lv`?7-q
zFs*tYhM7-sCX3V&+DrNG;$6^M#}UEYI*apz6eX&jD$wqcftF#h*I^Nh_)xdt7QEZ{
z_id|Lk!UGIHr@~uC0nz-h8!vA8W-rpVAa8`P`U;{HP=N=%t<S1j)Y6;2K^%=b3Wpx
zm~VLazQIt?L#{E4GgBR>6B`OgqYK-6tx~YqV`<Skp{nYN1P#c(rrCGcPkiXhXfoqJ
zz?;zPavH=nSm8_Eu5oyhG&)GKU+6Nf(LfwapK+X<Wl5qT4-r?w@V20icqu@G<*;Ju
zgX<PxIKV_i%HfT`?oF;`WLS>uGFMbuq+z{T!4rUt7gSB4z>KNpe65J8hc6jC&t>^S
zO+|T`-SNs6pT2N>Cz{3gSBN!QjI=lLNsl-C;-uR}WHo0@3!9g0@dol&8t>Fl+Q1Q&
z$?Tp6fK1KuOFWl-?BoKRp8WKYD@kiHE8P#!MUPtbq_L9<`&DG;S+{2+h#K!xXC6=r
z<XqqF4K?C1tt>zu9iu{Pl#=~WL*19}aoM%x1ts2#0)9F?EDKW>gC-#Cl(s_%XD=jc
zl^0S_=D=o#eXeuzEZBx4Isg?8sTS(!;uxsf+k@Ly44opTrVIoo8n*FF8nPcN(uV@5
zaxb8w|4`m8=5B0%zjEF3KTHMmwv~NBT{AhbaAz>FB2`h>8a>k3v2A{L6A2z}9Ho^r
zb`ztXs==-C-587em0oLu@CvR6czsW=U!;7?RU(hy4em(bTyru(?yOJVpq@{$xAE$P
zu;z|SHoa)JO!sT<SVxQz?2BSf$hHH*AGr8HKf1UI4vP!y{rMV5SVnp-Qs35CJ-3|n
zzb)gV-$S~gZ_tn=_^>TWkM8KSaIS}L4_uylr=KYdpf~oP5sS)(Sdw*wH#-spU}Kw?
z=`YU%qlS60D!RZ2a>VaAg~c0-6OUhhmm=zSTm}eMs7)m@noO2-fkdA}B<uh*6guW(
z`L8QM4>(atT+8FRb&Y;j`}+Wymf-bd%9d99L0#O&=CjpW5GLB*R0&WF)P}=(H5X1!
zc|VG-qtwtu@2mZp2cCT4FFxO$3hC#6A0)qI`L^PIhPl20EOw-yFJ#+&#}^VjKhd5E
z>zK!&xQvIY$r0*Bk|~g4I9mYn{->shbNAjHbYa^s?N!;Q!e?_`dB<Nc%TA@qKqi%r
za#05M90f5hG^N62dPf6X`DcHGV4RH!iAJ7*djxNu2<@_OT`iw85)#);&T5!a56;qq
z<%U8#m4RYI!aNzMB!%6{*EXr%giwO(oDEE%NRgC4oGDg$XR_zWq__ZS#cjkLhA79P
zt+}&hNiaAaV2u;@d`)}{yIVMUK?y?Z6dAjRV}<;C0|tLW@f_kaKJYd2-v7aQ;UzET
zW)8<3*0D!7P%ZEzANbj^Tn0Z$!Mzf<6~LfZ1o+8<33!Y`_BXMv!(kxTtDR0p5{v7l
z=oy5_)!eoIvLjc~FEarE*wI=Jr4ca*g!nXNXtT8Y_0(V>&j|deV|pUbTk7mjh39_^
zH3-0xP?vEGAUQr+S@Z({yvvH*XvD&b;Z``lI*a;t2!z+&blLlH;8Di|4gCmWnghVi
zukcDL7l-W#n3v%@dw)Nu#!)SB<eeG{%G|EBoJqj&g?m@>3t<53XJqKZc!{xD{Z=$$
z@xZj_w$oABE<5WuQCYRDL#84KmlD1$?D9K2nD<{;NmacERw0VdBobJdxHX~f%Q{0u
ze8~pe`;lY29lV>qpIQpY=NC-0ms2awLXF={#}lUDEh|ua7OdOc7s)%wyUg@{<r1I<
zi+1xU-RPwDm+OEN0W`W(|60nW8ACQScp7@5)&+vC8~b=(7Q*SwR2?Or)TQLE`Vh~R
zcJa#z3#*nb`C?rs$&gB2N=*#6u(egb6USlbLNt^&fr(#jBoU3@li8~__A5{y$jA?s
zar+?cd?`>IHEYuJksok)U@1KLjKf7<9!F&2yd7fwi;w`fpkSWLyY?lyaDz{$I-A5K
zj4PDES)$^I#@3@V#XLvB8}tveixx8vdPdn5MTog}KGU~Y9@C=vbf|U%n`n_f9Sm{z
zEv)UaB%Xas+f&IBn;TG>6xU01QRAb36r(-bhShR2cr6~I@j3f{m&1cT8?3Zwbkn)h
zrQc<kD+~ZdR!5l*vB3$rF$Fv#^f6ZBmw(*t1C|p_+J0`l34n2}O;}MWz4;|rGXdWT
z62Ixr?YW6dofJvmnqN&J?zH5oZopvwYP5L*_pmpt<D0k`?Cg6HiM}mWW_qTLUoTu2
z>Ei1SIUH!c4oLC*W--B-cM1Nivs_P*UTv7$GXgk!$T4V7?47K0HNo7k6N$s|504ja
zr>k%nHD5r-v8RF&0z!J_zfTaDcCBYvoyvXoyN-^V=k}YaYYvCyRxbq41RK7#noEv^
z*kTUPRmr<gt)~Ltnvc0_zJ}u4l5c%`#HXnxv%7lut+3bC5q<tR*!-X!TGg*5IX>AU
z^8;k9%SAz^TVy$#B7FL5g|$h!Gnb>6Nro%Dems8@eiW74WJQDKY2m9$i|dXR#h18w
z17&5uHVh+MNupG{oz9y&MF``-(e|mr$@<)%`r=JDd|FQ&NQ5>tYg9G3qb21fr=K55
zA&yx|Qrcy*xSFAW_cr0fuCI+rOQil@lLR25i&Sbr*U5T{Yv}2T(cyDW(K96<u7{j{
z3aszd4zZmTdhvwW`qdPMA{b8p6)gC07KC~*W4f1vE&!AansFQ6<@M+e6@CVc{k{wh
zkea}Q;z}Eb%_#ivf8F4X$jz_w2i2vy&c3Mj$Bhh|u44*~&jQ_js2w+jp^zHTi33#c
zO6%q@a5>2qbJED%>`Xy@AH51U#LoT+TZHlL{X@2E#nra!&u#eG=fc4cx1YkJr}ohS
z%qGe&WqxD&DrYW}b&b!+uF5k}_R<3-urbGAIrSH+;Ln|UD6vcx0UZC(wzkOE$KVHp
zLwM8E0gEN}m)_@k@CjpTMHJyCOD=%j@ZA7WuBSvFAtk~5{n_i;?(><00U>wz#>&jI
z#C5-JKI~O#4mjywff$DSi}RdMr<sy=k0ej`dgYbm!f*!A8D@Y;pF`b|-qBFIL62qH
z{!LM1p&l@vED@XKR%l3yd|oamCu{e6luq=$3<qiav27u+`VM-^15Ol2-5sD|zq_4!
zqr#oHb$Ed^laGN22oM!@O)98g!`D1E^WgM5TM_Fjv}p2LyL1cMd(=r~{-t(M5!<mR
zLy1PUIVpzi61(-cr9w(hnMUYcPxgB9KWX(S0W&xU+h)v{W*MqR#ca+M>f<<T6l><2
zYC+{_Ze>j5)FK^q47Y_Ub7g>!PP_+HZw=7U%%UG>c-8!j*?DCHBT%kmrr_bq1n5s+
zgV(=y<1EZ>*284jN`}2YjQfEKiog}XPc-Y`(!j!AInp<32Wg`5uGuf-^y4Zaxy*4o
z`=Nolfl1wHNSbw6+b4unf_j1Snkp`%Ns?C4g-ycsjdaR*3VRc1V*<b&Q@2crmYn*G
zuIi~S^5D1kuHr>vL4laR%uqNS<Ee4~1BEE_^L-~Va7?i<7RjWkK~o=TAACaB7hSDR
zz^BrWsL=<=mCk^+W(>W(a9_k2q_m<^7~v75Ss3kU)f_XJm&uB^<g5u>HHD9fC3{lQ
z3PF}B+$(}T>-#N#j1u4pY%4OA^;1i%g&3(kfwlXdsp1d?Sshp*gs0LnoK96~vZoyz
z%cUNxIefmwQ*Q6u&L$|>2W>D5rd<TdJ)2FUh3VQfoQ+9gm|>{O69Q1sy4LlNwfrmo
zZdjzcREgTPT8&8Y*oSM#T(5(QzQHG&v|3x{xdH7umP>2y3KBqFFSUFtid3dZhWlX&
zU^Ac^RU{pPY-%5z9`)0Z>jWOOd5&?t$^}z!C7&(oQ;#jwnlaM|7`bFU7ajqM!a8;a
z<`d25Q(@|uHAj@WRNmK{nL@_<WBl8u@~(2anEw8)lZvAl#Q2!;UTc__tU+s-9v*w9
zL|6+1A$&Gm-x0w2TnTF>@f%DC2Q{;tY{m*V%2*cn2x8&b=WuFgILW_#|9FX&`0PRs
z;y!Vj4hGf!u5>PLX6T-%?D$7_?wB2cV}`P)N)$*xG!NvJOw&|7x23+2DHm_}h=$JE
z%4f1E=YgLI;<zg7CLB5p)d3(VRFvZYOinRW@|PxwB_80ulanj_@1J^M!NmF98U|96
z&VAq1lYN!9KS(Do#f2jwzJ+&G`S|8y?Tq%a_#-_Pi?kCBDJy0DCaR*p4%(u)vx@0(
zNLyT>B<s#OkQm9{uuWXStxOrYcC7xpTXfY2noaKnvF7au(H0sx%_Dk@SuRAWx&3um
z{T5-JVme@y6et05hMn@Mvq>ZKuu$Bh(NzQd<c}%{AM`4^`#1N3z<drZGDkgLvwYBi
zIX%Do8!>Vj&c+RI4TSRUFIW0FCwEJR#}%z=A-Q}8X}mD=5TO94paiG5_l7u|xz{n4
z6o(~(bTzGAosBAZIGoZJA*-oP9*5u|ecDMu|0BRK!7L7z#!O1E8ZBChBFKZHW_FCb
zvdMY@Wd9OvW2Ao+u_-!ZqrGSZ2pvNTF7@(DXaVYXnBfzo923sPuye55J<1;B^oOd}
z$xTXR+&MZ-tcp48<IG7)3V*oV_Hr?Fo$^kQQ_SI31I8RL6c)_nT>ltYkq4|Fo61_K
zy%FGdWNo~px>CWsZ}CX@qX0`WC?#iWHZhkZ1uyovgc#je1Aol$XS4LJNrK^4hf8Pb
zqH}5!jGRy7yW`V=Mi}QOMG0KL#hkl{o}QgPL@QTOnjdV@{*Xq`kOS*WA3}V@%aazW
zd^X%!7^Af}=l5NC6lafLh7ywx5bwC6W(weT$Ud;~`|1+JgKZRBtl*&{09$=Sm+UVg
z@4)lBP?IqrX$^>&D;p4tq`MKdt7dj-a0Pc$ko!zu9UE8Y0zzNLVe{r$Q1Oz)T)cXd
z!&_Th2TLLza-I4_d^2=xuaPq#K`z{Njuww$u`;^~oX!%vJ$V(gB}s7{uGo@1N)CX^
zUltSjL~o`leuXrdR^2?p&f~>p9X=Zp*GL#40nnZ&N*CNzsh<)V&GwLhE_9BG^-!$b
zyn%I?mB>x2tw|@70)vmvBj;HdchPS}&$>Jk@lavE2}U}?@faQZEBabhc($bRJ6|_Q
z6sA1$Wx0##bgWbshIWHwC}k7sW&z5D`Ia^j`9k`&fyW!-vlGr&6)HE?*JLV!a4*#n
zvt6oAYr;%0%8emRmfJxUoq$HM9KTXj=l*76K4Dkq;>{@STIR+>q&V4jlm@ss%rMQX
zA+#2HYz6P~`zfSF-yU~>$(N)T>m@xOy;d}lenN9Gg~$L;HyPYR%etl{3<C06cvCn{
z!?K&L&s&r&-uld2G3#5G<(Ip1fD-9}qIj`24T0VlB70wWOJ5>pDmN(~KgBu&u&)&T
zX`@D?2W@k#_mSWmW|ryeqfp(Gu*_xrtV@E7N4AW9DMNh3vra`Q1a39&%8JL~ria2_
zW>fzGc64X;0QR<3U$;9!cmhnD`|4LtJ96*MNYuq3)Tae|#8V{gQI(ITH@)4daL{m=
zkiy;?-Eq}MAjW#3q%wDPBHexQ0ymMgl_i!Hv{uYOBC-Yih~3jh>=b1kcKiD8`B^&=
zaEBToPTxfa&V*OiXTWPJDYtjJ_Lk$LPP&BQ51T-4&q`S+xXWn!kppzq<*mUzs0f+I
z`?M|~PB2)BaYp?W#`a!krsN{%XqGhp5R$ofBZsPcL=iX9=#ns7I3VtFS?i`FgK@jl
zj@%z~!Wl4k7)bFuDxa`**6>g>oL;1*qx#gQ^B#NO^HAb?RfsLI5->IQ&m&@;TR6I7
zJ_Zz8*t3Bw&s^ukV*<KHPo-}6Dme$2ol?=IlBzSARolDpfcISLNjPDqND_au93p@T
zRwGqIgu?-m?8=#+ZbOklH_W78b%G-_ONFtU4W0Tijp_~}g{WNpvI^ZEmh}hvb=L2%
z+2qfTiH1a)68BGQxN!4H56vaf5ioF^`;$}0E?UtnGZoV@DhC*A%G>N|I@>xd+JLC?
z(N#eywn+w^@ngXbicap)?OG8~wp%3;p=ZWf!(ixGC9*@Xt6wli!4s7sj}K~?rZYjJ
zy#kR!{!_l@b5<zTVS(6n-6~U+webeb68gM<T@<nxA6;goC-G1-z5%J`Lxto|LqmmI
z_v@xN!GJ;s_!OW)s;%h+Ed^|q3HrPNmRuE2z_4A~c!OYZaPLjNNVdj<pc9jQmj8=m
z9RDPFnQEvQak;sSc0Hd((Ty0)O5R(cblam<M-Z>K=CD3+2maZuLu1<ZEpp$PgdhVl
zCdf`G-(IsS?v)vtmCJgig5t(KOdNoq2(mLy#BYQCI{>h0e=DP*ej3?ji0P*x|4>0}
z-%5@5w<4!J4#>CywC$fvE7u8-2%N-;U%_>aw7)>-o3l(EGq4#i#W^jF8}E}_dHkYV
zhk~=CC9<6srhuxvQzVJ@u^bF+#7<Ug*+CZWB0+6|XhfHXe#xl2$x41zCI7GFjd}HV
z%%e2DqapyZLPbXOVID9l@Du%wY~*Pu{&Vh`WI)Hi8sg}8ozgg*hdenuWDZKjGZYy9
z`?oGAv2P8F6W~R$_2D~sTWV<}>H;J<d_L(Q)c9E$gkqc`((WJ}qDN3Tr~ywusDW@2
zd}Ji#I5%bRdLaQMSh<LRM@9OuzVaO(3l7Y#4?6%$V*2Fa7k}p3mgz&!%unl^$;BM^
zd;wKan9;>2iqay9(Q1;9j_0;H(ly?w!sdqAU~g_6#ax&)zGE`EWiFR(^*)D%y?p}q
z_WWd!Wa@`!J(aLeLzPvF0a$0s?((0>w>~$gzLXyl|J~fpo>o5kEil0QTjNfSRPM{^
zcqc$<y}#Tfm}35k(Dc`p05`pgeS%)ukum-)gV}};CZ-8ds6%9G;2oL?R(vq~N!ruh
zla?T1{g^V|TeE3F`rpHV*vu|dC&{9S*)X)!$I^#!&EtR6&UNw)`>`9ohfj7kq`NYC
zBQ+Kk4?P-K&s4*eD<B8$zD1|w6EfXV2YP_^mfZkF7wAO0*p3<&tIASE;W~(ALX&tZ
zL%0ND|9JN5KB3jD^W#OmDyx2qZ~C^=;1M3yCsiA{%SGz3Zl|PAKmV*DfXdgP|5OcQ
za3xgCm+WX#g)O(usxnu^8Vs|uIyuoPGEsUQYhwn6&j`N9N(YM4+D{2m=&1ZT#1yas
zN$gRTXoX*eZezlFc(LNS`Hf{{-$VUYIZu88OJl$J643FSq9=r^%@D6Yi+oM8Dr$}}
zUup4Yq?X#jZ;Z^ws^nF7yZ=}4x&J-xIfpGLb49-o;&n<Bp6XBhNcdA}NQCs9UTC{I
z#V}~oI(MfiS(_*VW!^k=OF(veFbQC~vEK}LHw0*=J9>p%9X?r5dxU+-WpVG{EmV10
zP0-%g*F30wus8);+lTuzWw7v9|C#w;FJdRjU~%-C#7NxY!pPW<v>jK4T9Z%JW2sQG
z%Vg9{=sl)O+GFXT`^gp&wOgg#uM%>fIqlU0$z$Cf%_Dg6hmNOHiYHw&?qI-xIr$G-
ztl9?1S1D;!N$vJJGW}~GYESpaBqQM+M}H~XFfI)_35Cg#?Z&F@u7|gLe7!EM!i_#O
z&xk2<bUv4$NxFRAp;fQb8yoI5^kve~9JrTHuSavr7~>ly?WwcQ6PDJKdDOnMv-PR5
zR~i{hnq2XUzfUE@vU1~mLmOZ}aGMtTH9$(ool@dj`#?T~F8Q~Sy$!fXvi?cFk^A<3
z)MM7|RqQve25zW^V8rmYEw&l&VHRc)@`ozsS|M%Q1tctcKG*6suyBG#J)XilH9vGI
zi|O3QHP7|!QnJQM;|KSn8X0#r**;AuCgM_zF@Y_|mRO&L#<@XJR14r_Q6I}})Cvwi
z)lwhISw$a{y^%Fa7r&a{P9@DtZ0IF$Tj|xO$Y2x)COQShiy*Tv`5D1^nu=nzf=P*2
zJgU&%(rT70*`3xx6?u#ML*PmN@wjwou%3PH*Gl35!?if$T;z?C5;1-%g0uI)?ja`f
zke<tMxh%IPxVX(8^FF|3#LbDA#pC@g{wp%vN{U|D@uZ94jPE3~>Z%N8Y=q#TlXie}
zKrP`qrd=IXuk^8_1hufdOTZSUp>UZKX&67ETs)Q~lrJc3DoflJ{ncTNTzLDUp3saZ
zH2da<gN#oPkfO&`>2{k6EZ16XBC?{1Hb2jNr1r528(&Yx#|&t_U%s`%r&}7%U$go6
zqY~M@$mdI@2PZ!mQpc+k4gcN1==qy_OzLCT3F1QFhSpOzP2*B1crw^4oUR1p>+XZF
z**=<)cHMG_iWF;cSl;AsZKK6h*sIlw0Z$Z{5vyO_%#j2FOHXge32A5JDnu|?2qai0
zk4xxL;<!Xc;U(aY{pPIv;Y$r=M4_2h#Og=kPR70JE8e@`I1BG>!sqPGL$9QB<O-@Q
z=yZhRae-06YG_4{f()uFXXOEy{8kNa7IX&s%zU;dGh3+_kx$WjjVj{r*w;Ogd{xu*
zq|D#4Mk(JLKa(^NfGXvv)!naKsdzs6Tmx89>EgGv=Ssk|Y4y@(rtL)6gnNoc6}HRs
z5Rb8)t7aN(=!?9b{LRQN@5|#~ZW<=S6Z0!ww<;`gnOgp|raCa6R;fKivhc&Q3;3K2
ziNN7&z`Y)kCktK-5@AeBn#60-n1-flO*VIem8qg;bUYnY`$A--PR`Jifc{9hcyJHE
zCt&DaeH@T1+z+?-szgqXi6`UX=J<8Tk=|8q2<EQBb`9N-<8$B<&lhU^>u<Lz;&MH7
zd*g%?jy1IBmUKtHxd&|EbRmMQH^V`I0Me`#d7`)*-)}us7=2@GuMf_&&_fU!Z^wg^
zU}&sVs85ERy8+f#`A&O<D5R}Y>B=pvjjvFqbw0pqMX7TQC2f=5RmvXSoRpFT*YvQv
zMbWU;AELUrkBVt)jz`x>B6wY}F-q~YMmVf^RNBNClNhDR14`Wept%XL5jx@$QT=L6
z_?*TM2nZ&FGe^Mh9Re@ZIoZ^Pza@TC=9|)fYx=SgWz`&5NCfN{i6iuUF~0lbRyv;$
zD>4A8U%4%Vlsnh;-bvPl0>{*D?Dj|ZLi+Mh3j=k!veG{M5@Q#ucptWM@WtTl^&_Lc
zYhKzW;U#3gX{B@RtTLUgIEfqf_hw_qCQ4kwLDiQSLi@0M^^RxR-}MqR(UZ3ehRHfZ
zu<Ql~35=c}3oxFpgH2?)rV~BM!}uuaWUYW@4_jy^6T&*JT!r+9j8;Z#rgeMWxzRI~
zvkn=xC;!$tL-N{C3=@rh{I<;S^?2cr2B9fK`$5d(bCb<S`+b9Z0ox_A=Cf5WGeKuB
zCPJE-d&R?;OR9KM=f5^d#P0U#R;sg?=#|CtEWa-*qq$ON0~L?JfPi-x9~78)7~TQ)
ztct$i4m`{lSVRXvpwG&aztm8B`F_&#hf(mLeq4bRK{=T9-T#IH?Pfv2?FIpD3Yg^Q
zAZi~>u(MO_rvMpB;y=4?eQtQngGK!c%fuiB7U;ygg8}+$X4q#3b<k?zvP0qh8(yt^
zV+uzG5~yYphzJ7PN>@VR>+PqMlGy>^2nF@%{zjr)G*oqGIr~ncpB4ZLgffuy=_^qp
zFpVpb*B)-=O>>h;58~&K1Bc|d3zKo`-a`sbpCs0oJoR_RTl<px@}lFMGfAF%FowZO
zn`~Ui9M3QAl{?LCzH=5t3FqmEn8-})c4yN*umh+#QU^`BPyCw^+|v5JJU$7auj>eP
zuQ7B(lrMeLdx;A(SBeG}A^rpYj^EF~o;r{2fi>Wp-@@u{@tcZ0cOHxac5lY|YI3Jv
zP!hhB4JMz+Avf18<faUxa9D*#8I9-_>#KKYAqh=MBkxg7Qi$e~8RDnjBRE6494gLV
zaVP7OAUWkNAVUuOFoYl!QQ;qQBh<++Lk7DwIEPIMV^<J9SVffjAmW2qF^T;(dy|1Z
zl!XN1i)VpfF7m-*F&;+@d&)oHnRgcCE1j_rLJ0yqMnuS2ez$k}Nl_!;X7o5%mD&l^
zJ%UJ4luAdoohS|jG0vQllik0e8leNbOJG+%x_l97+>PWkIVh5_O;k{WfIYB55A+>W
zOA4rWBScKDKsO2_C~iKmzt{RXFGQ(^NF<h~!{OGua&3`lTt@h`W;_b$H-jKfuA%As
zJ;LD$WW>{hmK*Tr=Q*OH3@8{H5D*X)5PE1U$2X)W1<1ceJsA`gFf>MJqzqKDd5mT1
zJ~@;S;eQ?-3%YEE|G7&50|DXxoBuQZE&q-DRACAzIuMM|RC@|2Jm7-VC<-WcLiB$z
zjErEzEY?6kDz>0N*#Fn}e`Efn?ovQe{U-*75(*FG#4d5y5-U}R5(*9kEi_gBKelDp
z#2I^Z1VtHO5FnucO*A$3Kd-plQ>!VVu!*q$?Xml(O*tzD638e6^8e-a->m{X61|-W
z>Hq%^M9MJtMMz0d009M40RdtBPg4J#v>>5US*V~$iT;y&9&XqB@jv^>zeAG!kK2FG
TyGWnvN(IFM@yP)7&;EY^K>Kk6

delta 78508
zcmV(~K+nJ6;~=roAQMna0|XQR000O8b%u*ea|A|0XOR;#e{<6YSfXZ6TVfQW@vW3Q
zR)v<db&S6k7~otM-`aCd&pr3{hO1*)I0w*1C>bH*`N#puRVHK}q1R;X-Xh0XCNowj
z2@z_*AZHbayrNubc+#o@Z3P&oHIjz%Dnff}D~hq<dnlRlT7_)Mozf+<?N#TvV*HEc
zfCJxO;1Vp$f0$*sGjyxT5e=3ZpDe3yUGxSS$522C(i%)Wf`7H8uuTP5UyS6L+JY|4
zRdLTu%A*mJs;+CVp7pvmKf&+Y%}d{^D`Yn+4(K!=W+7L)i8mtEOgAAu2g9K_<r-Qn
zbJ`O06n$jgW)F|a8pVN6=B^*O{vz=M8W1|W`v~#HX#39abXGe4RC>=+k#?#H>@pS1
z*lqi}I|12!6K6ZnB3FH~3u?+&4%q(zmo5ohLK3o|H-yfYX8}ipK7fXU=yok8-h6r6
z7oMPwA67Ab?wU?}euPf*`?GZM4^T@31QY-O00;nehLf!U{{nS}ldb~V5_E=(OEti$
zN)TlL0B}VE02u(65HJWEf9<_#ciTp?F#KJ=0!Me8W6#Jm!CkVWd$h*NV_AAdIezbC
z^7ueRlSB*x3;=3LPVR4is=6C{H_!knnYNiTBTHmgFV)r6)wRC)@B5jp-4f5YT<6Da
zz0us(h%<6c%bEPRy$HrH2iyO>zxC$aHHm%Zj9qVL1khCbB?+>>f2C<}-dQ)E;XUB*
z@YkjG-k6aew}-|pF^{H(XN&^ko$#)=_dg6@9t@Ap&fdJb%s}vdt{>)Pd;idON1yp8
zf~NFK=d*w9@;2N1u9I&!9JzCHMaCZSr`OgD`fWCv?QXN#%(uM&WO$ZI@-U*Fk1gN0
zvB`mL)Al~J8jthMe@-v2uNDsezP%5>XnMZMxp9Af{O;7U39N{`BhDn4Ztv@@#1t=X
zekY?qyY$>SgE=%mT8`=7`M5LN8vFk27&c{FJF*Sm=gYTd3meeXI6O|aXT6I0mGs&Y
z_sUwQx=gI=%s&_f)-B<%KW^LZ#2OhktSwquc2g;dMF6I|e*hG3@BiBB_8ZL|ZMTa*
z^)CB&(Camtzoom%Er^oup$BUsUUpS&@v3qlasP?Q{$lwSPA<2&W@<)BiUFFvbbTwe
z#1R~j?frLT9LT^vS|-p#*xqu2c58dTD;?!6u_n_%y*<z!9M5d~-85QXF{BkC`s99Y
zyB_fljU1jke_}jmA*!KSuRcT53S2Ko+g-`*XlwbzRH-|)7IFvUQvR0S|8Ugd;>LgQ
zW$^D@!$huncANp%cUv-;lly=;fuBE8dY7H4ep}C;q6GNAU3Yd04BYi{J+vBnTLyM9
z9{VK758A{Lo4He)*}U}MnZJ%)XKYQ*4ab-eZ%Bdwe=Ze2f($3{VQv}$d29JFbGRB(
zf4(Qc=o1r&88O^YV~d!F52y6D+uncngB`p+SOo45li+m`$T4)U40Lt<F@(eWWf&N<
z`SyON-PzUk-DY1h4zc;o8;+wlqLI#=kw<2*(R-c#AT{ipR|N=r!-!mp#UV`0COF3<
z7mjM?e~uG2Ja8O0pj=$un%~%Xf5R<0w++}KlU=8#s6B8%dNme|KXvc0#WBpl@e2pX
zrkAc4z>XPs5{p|N6W^LRSB5hw8{Kv1{)Kbmd2m#c0z;BzOdQ~Mhn8u1K+iBs!!BRe
z5H<*Qj-I5#hS$UoE?wZ?XCt<L;T&j}uq4C2e<HqXFK`;A0LZxDE-Y*YC?)2FXA)03
z%aeODq5}d+2IQVjv~)`i&-#<nQ<}1*b3He_&x^UN1(hoCSGxVyTsk~$cnQMmjKKBi
zD>VmV8F|(mr#K8eI8kL#*RE?H8d7=z#t<z0f(BejVW^7El$=a>d!W_N9~{`JbHmTJ
ze}3~y#1r1o3yLCN&McxP$gH;a9b{9sXd0Ks!l%pv#_oz5ykE?2h<7m_24wE1FVuKA
z$C&$5H#l63$AALsPZ&~f7PUMBqVsO)4J~XJj{45<gAm3~%X0}9mY~dYe}c<(h;Xr<
zJGSuhlk5qlv5&6z*`FIDGIST-2pXRse_X#iIE+3{Y>#Xw-oWhuR|=D$^H&ZTxt@9C
z!p#TFL^>I0fC2`4u8iDUxHSz)yK@30J__dm4E#>g5Pym8C;9@E5B@fo0biN}FJTRZ
zR1fXo3LFu7=B|jjpu7}Bjsk!a2XB|71;gDfDQJoah#OwJ(I)&NKZqP`2(z};e?j6=
z*qVzl!&+Q8^z0P$Nd*OXys`yv?_WrJM9I*Dd*I~!UD&vQDo#gEd8<Qr;h4aM4sPIG
zZqv6m{3kwbiRM?t4x8)E<kLLe`~zbe@i8u#ZeVx;fA341xbtj_H?Q)C=uL<x#H`>-
z3-I$pBN$B?+mqgXv?0UcsqGp?e-zFeUwhVsDMMz4vk>#rMAI_1n`nATsZGdN6Rl2c
zdS<ux4d<bx>G8s2PxpOYvVnreF&YezVM~DCy0%Hrcxms13Y4YILLqE>--9=%Gbw5R
z4qgp*akmHFXbOi}g$}sTe&G<fyyXX<w}zH5-H%h^9C)+Ru1#|YccOKFf9*2%Q`q{W
zX9cLlqN0lXQ7$_~Yn<UcK!S4seI*1u{A|sS-8%>N*-S$fj`7Z&z>G@zMhvoN9TSs|
z@HR-R>R#oK?wgQ55|21=-AaWSlq6G4>21SbV1+`f0PO4{D`XW-gFkWkA%X9rVGcac
zct~h8vJK&xkNo1t?YD+wf1=VPdJp}$t^ZR`D(Sd(Bvym;x09M(z0;6r$Jm%KSXwQT
zpW18=5|L9fr`=R9qInGz=QVU~5N?i+G99MH>F82uWc6X0mf_u?m$VFTx(ox$wL7)$
ziHYKDdDAn;3M|7`YkY3pgV=g*Ib2kJnN>bzTk{uMx2V~_N7qwSe|`hUEuR6<gHNAz
zx8&bPK29UN&h_R$_155@Ft3t1rMt*oAvq8@)}AqUnH0<y)F}dBlKp#f7r<i|SVH)U
zEJK#!9x&`HZB}Bb5m@0YB4m=6S#4XY9V35s^&FJUgA2p1Gg^4Se}d>;p5<$z&E_!I
z`KP0FR?y5OokEghe+}8YL$UGC#>l;~3<n+}Q`bb5f~Rs4hf`xtE`hv3h$InIY|SY=
z7{qgrJlFRlIFL!vYGH>QTnYNXp15%BPT?wl?>dHQ%#j`n*^E6Q@V>W3sAdY0dhIRz
z;EGJF)IBM|))g!`V5r*OKZO@=5eTzV+ya^`oalp4t&^W5f0bzfufY}E%GaLZ9NM4D
zNhG0TbbL727D}8SoKg5!N+*~D=L23JGSWvW1J%3Q9Po^WgB)z$Qb0e=-8;LA_YMk9
zXBS2H&M_HTvrsxN;cHY}IdkR<z`?J<j<(2Z=2HNtmV*}sV4Izsd-{RW<pMC!p8r_{
z@y?oAR9Q-Oe~VewTdq0qxMbrpR*oi(%(6@91tHR_C?&945+h2fISMZ}2{@QFt1uAP
z%~Nrxurbxaf}}eEwvmLSk|ClHzAI!W2z0Rs7|x100IDX`mXMrPS+~c-bH$c$Nat{@
zqTb6dj$bSv9=z6{1hB8Z$egua(C&%^3(tu(G^}%lf13>P7wg9E-9;e>rFNaDbx_ip
zO(JgpP|`lNO$@{atd>B<`^7*^f2K6Ai#g+6@LU0I%s!*q+j3B@<o&gfi-~uH%L2s{
zWK$BcRaG{xHx>CjVqwM=z9Md)eE@NZ!o*LaH_#D*cWwFwG{|*@FF<IQHt`<1u1yTb
zKkyH&e_(78+XVDuGbQLt`2C73e2&}$Zvq`H2Om8VDs+PqQ1m7zGuL}K2<WS9F|XJQ
zRRS*63*S!?zQplPIfCCSbn)JWXWcwFwr&p}a8j_<0n;f}=maFlAuva34TdKH+@E6L
zH?Js#NsmHW8(zi*IXQ(!(6Z(rnwb`}SlSQlf4M;DbzLeCoH=lM2sLt)Gg-g|Ak*ST
z?)M}Z+U}g*#*2UpP#2{=P_5$m!VbYpM?EHEV_^r>BIbu%5o3lqFO&?L*}~E>8CuSq
zTf>7V48Ix65fl<F*D7(_aOq}K6B#|fWlc|<so{)>d1#D2pTgl5*lY5{VT`8G?kC&5
ze=%a6R{3HWK!wQ-1CKh#C8@l4h?Dy{a4AMl;bK(IMUu^y4idJ+M<KpfJVrMQkbpm3
zm%qb-g^lJ9rE)cGmC(!d3N;==hQGZJ7zE5MJfeBwKB=Man9PGIeF|*vxAacGGidiZ
z{UTWUET(iCi&({inQPmL^%ZLXP#OcgfBQs1bi<>p+Lrlr(eBx_Pn^Y!A2YVC@2SB~
z!wYDVawE$1RdCyt;iBM*D`&V?aB2tsfny%u*#5PPeU+|TewCG<vGLd%S;Pq_<88sT
zj|{*39T$O}8z3>gM>syy!sW@X?ece{H3lwiz<MmFup!m^0sCVv1!vBbcvhf|e?51m
z!46DFp+FjQGd$X%fwPpcSu?!kESq>qF|+ixI~a|qSJ;i~lf#9D$3}z&Wm#BP)p?Mc
z1${^qsXeZ)FM-Kea2FDEiYn6~TYdoS=;3HeMxQC8&Nx)$7mwl)#jvjq#4g%1XZ+r9
zszP0%7nnNG6*0_1GIl*?W1~(Ye^u0l%rZ9yCa^3#&ZIJUO65qQ?+njL+erm`5}^6q
zGVEI5_yYcD1=H~DM7^1+0!L0;aDJ=xK=*by<k}_1|0!(o=}ilc9GV~DV-m4ZdXTJ9
z@g)!Zg@J$o8(7C4NW;#A-l9H=-Q`qA*N}CzgM&zKkK~d{WI9ndR|^N2e-lyfCF^Kd
zOKr|P@wg`X7mJ&HRQHryS&*5lf>1YB^Y?`xp!b8wxhp?P)`&%+O8Fl8-x2fQqhrgM
zIIbU9Bc%y4Kho-O%o1?v&FJo`qJ!Un#Ju*;oS`>T#ynCmnu(5w=ZfeEA@I40#5a6U
zMPvvWS{@YPxWiTsux!7nfAtHQ%@F<!X;Ya|SrdFNo;W@T;<5Ro5|=tR0?)d~=`U;}
z8oX@UTxi8Wr?KtcsZ&7EZe6=nzJsl~RfUT<G5UavKqyq(ln5*}PjxWLk0ZD;oJ3&2
zBu7;B@Xqy>uZ#%#dI66)%Z8n(0#1c)YWJ!(=@>4BBXzL+V#{FZe*}kF^@t*<Lq_n9
z1W6d-f(O*;a55@`{e@ug2_ts|V&bVHwco-$Y@UvsBg3}Q_ehP9IKY`RKLfGUB>eWH
z!0gF>VA}`&N2QaFdV1rA*yol%qfUZq2pcg^DHJEdyH<gm5^#x2x*8yQHY;;7L=`+-
z;6`S&uSSI)WtuLMe+0fEavhZJ&<Dr*V?kZ`@oBC`gog{Cy>wFBp|s2^*QKJ9>jhWj
zkA>xts53RG*hd?6E#W8aCw6wBCXJ+k=-mjE9H3(FJ@pQyzIjv?L@yJ6!6X8ei#F9Y
ze=J6{jc0s9s!kAARkec;&SwYi6qHD&!-ewuB0VlQvf?{7e;T-QC&P!?jcemK_4}ay
zOz&MhgQyAiRRovN=#Q_8DY7C((SzBtscva(j7YfuDfU#MqYK-__oYn?pQxQ(d>@@T
z^zqJ2-pWH_yg>jbk1=8#hx+6ex>P`O{N(_BY_|6iPX~^9MdpT8I7!$HfaF^FYmdN6
z%>y4kQs6U8e>I;J%}dn_ryrb!&n{J%-pMVxO=1U%O!$LC?&p+wquL&5iE1b+bii*)
zde_iNjF2~<IT*bk;D%M`>%B`alh9nmjVn~NrXN-4Dh2}Xi#PFmBUpHb4MG=Ss1kw_
zGm3j1P7Tw&tA;8NgQ(*;;M#Ky6Q$b9`xVdNfa(UAf0ih+u_^b&#rYw{N~K3}iv1i7
z)%dTn8nLCQMto~{Cd`%;X%RtAFb}QZl6XhdTskO}#-ql=DT{FEsWm@CpR;y0h+5M4
zor~(fDy<nriNz*@pzkd80gicawQBd&H4EMO$_IFd`ffis2;7-9;?%aij~h`5k}v3e
z*-H%If6nk+-(I0s_u54_K$CiS6uJN++zFf=!yy<V`@xBHab-{+UC(4{{&HLlr`9;Q
z!rTfl#{+cVEYk~8Jn-EY#e@g}-hMnLx7LUoo7%0HH&&qiL>%H3s}8TJX+rs=B%3Rp
zl_Y?|X-PI$IWO7vDkmlhqjYAH0BWZu388pye;7!;lOuptJUa}sI*sxXt57KesdG>n
zWc8!U;8YJQYkldFIXp4Xje9ix4lPxZO~ZXqhD)E@q587;Q$~q7oczIHguAMIJ+~FF
z=Zut4a7nW`taN)eQ`qFQF-UJ0W6Y3o;e`$eh7D)InUtF{M4d)rO6g;RscTS4XWPWi
ze?(@X!L-~XKnzTu9~TZ6oG)EB8?L6<PaNlsY}HaY>1p`)i&^-z_YZ8_y(8xKK7H|*
z(9+zPz=r%{c%hjaI%G!f8)|LREJvH+Q0jA`J|`~5*`vG1;Y0LAsc%afC6;qwPta_5
zF=D|cD$YdFk`g*MpAsJJz1&o_n4^9tfAhGvW{l#F7Cvxexu1dZ+3ToAvz?+(Kv6Io
zHaHngOC2V#pTM(^6xz{y3XKU0Z9^qi8D`Q@a0q;o0x27Zo>F!%`QuMkm`A{{Ki%Lr
zCD0%^oz3PnH3>3ic#KLYsdxkNS-qHZx6NpeuC71A4kdTDtGK%iGB@$MF2ummf3tmQ
zB3IKhXJju-@)r8>a2{t4%PLU8Ta`+p%v3fam>jDv>~bSB=%KwN{CGL|lUbb!d?Yuw
z7P+ediARQ|-SBIp5BmUM8y11*sB%A;IRJ?=l*X!fk%x0Qw|t+N%g!Y1?F2URbm3I>
zyFQ{?z2Vur%d>Y>XIIbddidZ6e}vx>r!>#Y#0wgMUHn*kcf^7!fEyLH`w2tlO>*Jb
z52f7o-1v;1(lf&`F<-=I^2rPCN;+q|0d0APni2tK^ckeC5RC5Mfn!paA7iB8TX{`p
zu-nN20ac$&rXc(j%!==K*Qb7d6eWC>DytJ`R>^Opaf@jOO4|YF=KgjHe{n{J<v{yW
zLH3{g@>rH2AdGS}zB{7+cPb5K34cUwnUzWf12yh`28FVSIt*sVg0pHlETS1hC`TB7
zpxKxwlxT(nLMq6<AXS@M5H>Eh23XWhJ5HLwVqrn_Wv_u^ZL9e9EcZM$fICeU8|V0I
zxvN%|k(Iw85dD#J7b86-e@Fj37``AZmKKO)zA5V|8kYt#hU{>-fWz%QAj?zk0AE1f
zf{KMo9?O8M$b(f;-SN)Arbi0&ak%i`T5#yR(e&XgJpXiGqL0swTuQiHZ#hA$8iXRX
z35BX!P~$pKAV4XDaj{9ceNI@a1ep^|R5)BMA8v%>JTVVlA|Egfe~D=`0}}TDFBxwL
z(hpwVRBI6UJa{J&c%e62LY-*M3@<Iw+a&)m?kT6A0jXm?7d)SYlT>{|wfe&T#Lp<|
ze#tg1nVnNE3m0~Tc{}GcT)rweO??n$o~#9Z>DmuNjJidkid3J&@D%OEu#Yunz;s`y
zBc}#zNDuW#Kc@O>f1nbe{;P#8jr){N0M$&j!KvS1ZD<xf2t++&mimg|oOG$@$}sSj
zgJw~DzZgq)gC}#j9!@a^Z^<r3(ifz12M69{xjqi<&u14)B6BuhdPB~QktfyeNV>Qp
zf1uY$K@_zFFpPCOGciZ#*dohL9@V%@@8*ZVk}7x#dw{2oe|PPECOi%Ba<e#@-7kMQ
zpp!y$NYotkt59;FNmnW30uj!#!y7{;8Kq!j*(w4Oz0^`LyzMY}u;oduQV{Z+S!KNJ
zb*!{7kopti{+ZmMl!7`p?$6Ay(nnk5!Io+srmMogl=@Es@R%r?$Ws9nQy8AuAb~ol
z<e^S}Gga7&e>rZl>lGw{mmv|im+N+viAo>@sKK39g-D4is!Ixe<g1VchNDCkU`h{&
z<R;$U|Hsuo-v8sgB0Mu)1K`y^&V_;NMZom-rO;J}1+0b>{>N!`Sh#Pu_r2gBXElbV
zS1m%{e5!*lddt>YGre4EZWG>0bWo8tA_bTgaixl(e-u<kG*tu2io<G9nHP-W!4ke(
zDlrT?VwJ0ioqv{`z0!zb-f{lGR|m{XMDXT7M=c_DvdI9a-v`_K?<`DvX^Rw`DacrY
zQ<^2y>0YtR#>CGGRwuTx(r*gwtlR{jHnpmztNrQfI)Y!R#y}S(ZlXQPO;y~v2zJEv
z5-D}6e?R=Grt#dguZhPl>guvCcX)tf%Bcl|c`85up%csyLfv6l9_ETYoLpVA(?Qjw
zh69MI+C_+67D@>no>MbGtv*oti-IGnPK3TXFxogYM`9KYmxsGy><`T=i1~i13iFqj
z^lv60)#^goZYzUdc*K6-o{TkKc%0l=W<^Pgf2%U!gBu!1PNQY(4v!@$7Vg5Y(ML!l
z=w~&me&DXi%*9F%J_(RMs-Ba3%g1Q3P<>l@1K9AKyA@AB<uS-D-XrIob%O;0eCty%
zwm(rC`xMOX8Z$$bC`Hf*bine}3w7NBfJ=|21OvFJU|=aE>>bMsW&~3n-w8L>`-^Ms
zf9$>XVR)iARglkt%VACzkadp+yRVLRo7(e(_rtRn<*(V4RUxWcsUjz#$Y%u)xNDpU
z>7rGh#K;cO9q<m$J$HeE(?FdTG`Y)es*4Cde3-PF9g%Z+7UA@;oGxtpEiqXB;8HnD
z$jU1z7}5+}?bVg`a}61+%6vgqhFch5f4OD30w^}Vm<Ke3ts-D9Z+9hlvGh=7cVuEr
zltx=Kgn6{H>%WQ8i82Rb6hM@AjKi`=2g}S#{fZS|0ePWCO_sm9KD9hQV7aPej4LSv
z5alT1923;7&^Q9c<C_zYloy$~GF7(tojZXyE&k3c6ngkP{#35Gpw3Ul>44J^f61t1
zT&3!h<A~Nn;Rl@gB+(&(k9s`qmNt&u!IY2$pr@8&1xgr73o=SfA}cyo*}$~KQelD_
z!M*}y=+ZHy>6Z%=Q>NERm5fsmaC}}Y=e;|VBqUF7sX;{>=H;sh!(Qaki|^F+&X0%e
zs6>|cL~W39fPseW7RNVXs-@Bef1xDTt5L8(npfE#<QKl-RT~V}8l9FZJU$e1D_y=B
z-vX8KKKSI^z_HX=FsuDjr7bdeYjjX`2$UlV+=EI+3d<2To8tWU!Vx`?qM56SD#$sx
zXWoV6KKL|pXEQ}Opa^fw&!{wpJ_U$gDhHQmRoDRsDNg+>90V`)N)R;af8?SPsU8du
zE?a8iVd|zrnSt@}6G`xqT+t<bS1E^%loX_xn)V3h<t?lR{yHkEM-i1N-QItD{7%F5
zc-n}vL~WFGkA%OtlTVRL5i?6gJ*hYkL1X5JN$Iyh%cd6Dpw)BU##yk8uh+(n=-7!i
zN6={o6DbeVOrHs@K9%8*f9=U7b<kzW*`%#$mzUlQ+lMve_kY!Pd+i-fZ+GFxpaZ}5
zdtI%pxOQUtVRh(it+6+PM~1Xk8rE^QMpghPJ)jfI@l85Raer^vo0O-E$PaR9%!zm5
zS+SF+4exM&WX#1?SFw4BD0XGYY7Ek*JY}<Q!=%K;!D+J(ASL>ke?fLMO_e{0^#m5G
zj<M-E$Ql;PUB5OPU3w2-<#YLOzZG;hA;Xbj6Imr(tY{5wc(z%qprACBWOx<eUo4*|
zT~ccP(K6ZFUtD8%<Pj8SY^;8LV;dMw5pBL`Yu|9Ik7T<+o+A?v7bNU6(GqP2sg`$B
zkmN-zkAeHJlpoRsf8)=~P(@QzOY;;2KhE|DoLlrvmo+OYO^n}vBp9$=HrN4LhKm{@
z6|fl<RKC7)!_y<24sCO8@fzl-11#9CH?f&tx{q&N&-xSdqT2^H$PNsxBjQL78C-DG
z$v@F}W|^if+|MsWBkQ;Iv}}Suw~dEu5CjkWBVfm$QN?*<e~dn7H&V7~Z!qy&!FjB>
z=-tOy^P5-sNxs1(s?vE6i9KeTjKbQ*Sc#sdrIVc=Y;Z9*{#Zy`TrC`$dfoM~?G-US
zLrz1qiOWhdNehQ#x;fs42T94g;@1-1a6VoX354abLlG9I=9FRX<kqkkMouRZUrmd!
z9JKK3_gIAue<M5OIN%m;X#-4KEed_h7}rhN6zByfpCN`9U0dmV`V3zZ<ghDCjyd|Z
zMt^d7mPO;lqFBUb_-VC7?pz5uJyAC<#X}f3E*O}<z(r&K0^6Fan3Q0^m~NB3+4SSw
z13o@isGyH@HcVZw-57qxnh>?WSOn*&$<I`RN_~%Ie^Uy+58bJTffuFa-_uh0`F}9x
zuKzk*y@nJ_*k|Hi-vP$BWF_5&I6-f|azM<oXi7_%2v%2=wn|i;q!YZ(3u<LMdrW4F
zd(pN=MK(GTVqzp0*7C|F_=@k!g%3=VB`p_LvM!tAPt;_S@0fiqp*#A>#%BblcV2q@
z<(=h|f9L<F@z2Ez2}+St3n`1WD55ReLQGwl-dQs+8OA(Qi0ttxTVZS!`n_^YEc>~=
ze`>oKeMN%CX$Coh2~AQNqDvS6KNhK?!=?0b<}f9fU?Xx>>2m}gYG6^iDOmKQZAz}X
zY^A-xw6UxnkIxKN1#J--kt!r#**U?_J+7#af2LV+$C7QRevdtd<x5R7{{oa?PQk;6
zV*-o^n)4)%Y>a}HQ!tuD285|oLd+XljYXn)Ov@9rDs=A3FC$5w+_w%*ZpiG5lNoc%
zycnnIc5pH07(Q?(MH~ey28TX>+xt^uOC*?7@0l$vB`{3hMfX9}FT1x};$aIf#>PJ-
zf7c>Bb8Tbp6J8J8wly=_<6;P)1u41Hsp7SCd@a8i9{oNXqYZv#w<6Y@T7ye*_%giN
zL^Kk9$6nw*Ri{a25H^LKU)ZP#Wb$v36nsg|%nNF;t47wt#SPQ#i6%|elF&6v#Rc*Q
zNa*-CK3F9aL4OpVGa`Kb(Go@lZG$lMe+G3%ahVxP@nSHV%lW`(xfMUqglke7QA|XZ
z5bxbNYPWg4fbhCo-1r<v@;3%;pu#z?u0OKI%m$TnAxSno9Z`Y-k>4+CY1u@jX-Hg=
zMH%xPZtvf^miY;P6hqN^DP(Top~53xbUd#=o&!S22w{=)qN`G-7+XF&ofw>#e=Ds4
zjgw3mvunY}T8>)ak+z}2_(N;<i$!Q&Ynqa>NX5W8EwVPxLW(LZP9TLln8OuCe9Qz2
zNALY&hUsdtfdrmaNevll<Tj)>c%+Au9$dr!{5CAyAq==k@XLsup*!gN6LGV0&$mLZ
z5awD$uZ;+-2#B+(pFDRlCnkz0e_=O(7EwnMj><6r)5hExvA(R@i+;EeGI(U<!>NIo
z!;I(#t3^~GI>1E#^{=%PSPp=>OP>GXiMzE7&Ef}H^A@(`PWsA3pLJ0Pgl?#4m=VG7
zKV({2b{|HN2~=>A`PWvrzoYF^8+o?{zx8yXvGrn3a_&yim;ZL%*{Lz2f0Jx?+G2e*
z^}Ay-8h1T=$u;*4Z!Xl{56_O@T9fHVz_m9syw5<&{XxohQXq8kKA3knntin)^Au^x
zUb0yUFZFfgRnYEr09SysP7lzf>m3Qmzb`!M*DVuPat6Ar*)4gaBn@v862sy<#19fO
z7C#||Q+Ug9hAC*ly=-E?e-ykrcx9i2?@g;I$&d`KQw}Owb?bK8O~slS6Y|`e0e3f_
zGm(4|ZeC;VOxQ;+GLO2P4@!pQ>ydpa>8I&5Y2VLpqvW8p^mevcIXS2EvvHE{_d6L+
zpc1;4(RK%YWm>)Fj@H%TM{BoP02dPYZoU|GN-seDBz>xe(0<e=e<b*XQts^eWOTC=
z*(6|5OjE&k`SsS8HP-yV8_nj=8SoCbU|>FIAER4&Q#!KCXtk(+MkrDL2=(z0?OZqR
zeItd}YZqykcECG^_QWx_wqgKmaqXtS5CA7WvWek^Gh%a>W2oY>O~Fc!E^VcHe09a+
zn<n|R={S9oi*rAUe^0*&pFU4+7vCsRPg#Gt#5;gH%cWKkeVuWi6UC_JT?<>H99>Ci
z6s6<zTITM2F&9i+IC=U~;0gW;QgErq(?;i`YJeu7YPqmCdb?+WGZRN!hLOZ$U^Wkg
z9fTg2__{0WhAB5iYb%C}d_vNo&$ORNpaoN+MTn(#a1C~6f3Y<MmXjj31~4Gb2)IvQ
z5(PCGprEIn0%rJ38{S#LXi8^&8+o#6?wEe^(}y#SFiojX+xvnk;aVamIJkk?r#pYK
ze_e<D`})cL{F}4vX(K-E&)Y8=p&tZbHUp7w-l^8STdjGoTJwIj=7ZAaeCufzdAiU1
z2C`^Q2x4N<e**kCc^kr`iP$EEOwriIBVDJ0K{zbCGzH(o&1?Ha<t*SRU-lS`$7^&B
zqRA*8go5_MlTgrJcoYiS3(rD9d*NXyXb<?|>K#QkQK5CWQtMu&*8NJY2Su%^_{t91
zR1=&b;q6$Slq4Z1iRvsA%SptvO2go#G6fsCmP~<Pe}!DYRq940Q}7G;@S4r%%Dr&|
zfh9?V3ho`4k($e+Z9=EL%79YY=6Y)R8ivLor`JX-UHIM92z(cP6q7OtKs;9zUS3Ez
zvPXi2=P+8VcT+8SOVz!hw&d5-@&_mTc+XPH$_@@CQT)8tsiDxC3b_2VSfj;F!5OK9
zw(e7*f9->3j!(ro+sm<rz?urQ9BI^=)mT7Bt3qAx30XCU00UF`nJ00s_XOmfXllKP
zP{}1W`xAlVf5*kR@H2nvF0fYfr#Z@tsV@W9^W9H4Jp23a<*_f$ru}%>KXeVxr0Sie
z@UO9cG^LJ;wt$R-Plh*3q1nT@huo(W`76V_e>f-EBjBByX>0RY3cVzsg?nyQykhsM
zu=bN@+`{vWIoa339PdF>>q3ORUz<D4otL|fLCzXbj5%2>Z9ab<dff2?mDg69^y>z-
zY}cw3&~6s*mJn^vey{^7s^M&Ym`Fq#kw!VYoWw*VT4laM48@XZG}Y#sh|?~ZaxukW
ze;+uLUxbBci}qWkXS$2BuB#luc8LaBh^P?bdw#GmEq4#)-b2HSpNr?jS*&8CC8;ID
zjW%u&%CH>b$u_*+A;F+@H66JSr(&U71+%Ae9rRKQnulA{;4PJxCs|^*aA)G-F40_3
z*!j{r{-~RR^Hi{sp5jVQOiRXAatmR5e;ZkZ(@R1brDQ2f>nPN5Qeb;2p9!3k5{fOG
zfM7#p1z}Q?5uP6O;d$KCLx~`Lbj0tSg7wML*Gks-SX5N@V2}E!cdW#s-IK4f<bA!|
zB0FM<=*btU_!3@nv7(GHUv9DG56>l+TYM!x*>cO?drPiTtXO~YRjRzt)K|Lff1Orx
zj}%X!aPX3WBXM@cPliY`uk~)Il07T$AeWk3!bz^%ZSH7;-j1gC`u!cP-|C8<#ifpN
zsYa#Fa;eryhq<0GTU>#+XkXY~o)92(TAMNHE#Y3b*Aq!RA{V+A`puyO9sR#Vi;#7p
z8;DcPWmFZy%y$_FV)-f)j>Mtre<txsVx>a2D8Wk6d9sBLlsf$A2q{Cf)GCX>geD4o
zmSAt_jnH$L?&5#Bi(s#${jnc}?Fav5Il|^F*-G}f30zO}D^u|DJT_+YOUt<p_oZ3t
z--)is6?{DPZX3xHf7|UV_;|j|;~;92%OCV>voYulc>XTEHE4DQ_*=Wxe{8k|WU@Z4
zkeyBySIAtaNjJnqr;=xQ+B30$9II$pi!PYJ73YmDey?4-Ht}!+R5(-`R3|TmwNk~m
z(z16I^;ZUZ26}^=s?+(BH<d2Fsbtw6cn>ophz`8SxG6f#^qPUQjEn9GPI7vR^3$AZ
zhp|hcmoBZ1p*f4$jW~Cuf9my<UaD_RW=6DF(eqrk*j>I@y{Wv~RteeDBnBmo9s?yp
zwogp$(kBbk)y|w-U?n8NQi%jobPvc7s^bmN-bIN8QQ9g4jZi8&*U4ka>NoI=tZ*KH
z`4>abe6ciAfF`)bXsQOy`HLAV8bSD5$;t}Do@4ebsh^(Yxq?V&e{r_vWp1w&d@9(I
zCGgfxi&C|#-F>vBn2V;jEas$o3*|Yahdz)-yWek%$wHBzrdO%LQ&SM-d^J5lK4z@f
z5))rFj@;kdlWA9E?*P52119koeOHD;b@rTUTY(=@I5AIB!9ki;0~REXHw9>D_c$85
z!dqE_23-LSMZEjTfAGc9j`4vs`j?g>n_f$Sav1;CrTklp;XX<}ZTQiqZ_mEu(J97p
zQvu0Q_B3fC^eWg&B=ZPS7Ukv0qD`i|jrp`ON!%D(+;{AY&hH|vr$$Zu5^Yu61f7W_
z;ZEqiYMUVAYKg{~EGOen{&*p)ACOs6l)j{;w5(`1j>+71e;?34zO1Z3@*=0Mt(Yf|
z)ypUYgC<fPUUCud>2WPO>)F@O{xLqG<wL)cja`YH^J*0>{wPb&(kL#`I~~I?TOGVX
zkhogiDp!c!lwNsN78j=e3gy$3P6C!x<tCu(VK?HS`jx0~dRNHe#d;^<%z6qlV+trr
z0|ol04B}Xke{B%PP>rI1DyFpx8K+Ed#a1p`U!{fjt1P_LRb6?09dc4$W*tgABDZK+
zX}6>#%~Lx4s<?3p>c9mfniK?@7){+L*z4Vj%TT8C)NZ#Pe<ebbK+#H?wN|3nS&2x0
z%sy9CC={}5RkeN#b^84_-Z=2fKv~O@&jOHYw*m#qe=4m3&7Qg?pxKvkA@NSCPP9ZN
z5|UwsiB>XKs82MTr$Ri@A`UOa=;PZ}a!-w8_Y}jOP_st!0fc6+?E6ggE)!@$gy*Ld
z%5CidYS)?qIY-3+D3Sc5cTK@$5^2$R92Q29L=|X=$DQn>*tHm9hgCSDNIbZqHjAAH
z!<)B0e;%I6N38T@sQ6S+Hr_~_1dH=n2#hOf8YxowCu>DztR@&%cSGrs_vEw8bcRN|
z_laj2Hm|U!1ulI4KL=Nrna|+?fhp=x4Qyy8nG?sfoQVeCSb?9eMb+54o)XQYAzBVh
zPJ{6S<1=9?6KFIYac(WorG-PZTVBPGj{529f8y}s`qTS^^OMHbR!j?fTU#$N2Je=s
zaW&KOSmyIR&7YHzHGa^nvG(9Dv^z{F53As7Wn<C>!G}0D51bP%KDo%oRuQ^+lG(6=
zVK$WU;~`@J>1JEcv>%24ZEXeK10CvD0nKaC+4xQSF%j5K8>L5Jd159b|3xAWUvRWo
ze?RO~%n}h&Xxt(h2_H3my*0v=&tcGH_9&|^H?eM?Ma8FsCV9Ycc-C1)l4R`W$nXho
zbeh~=Xv{v1wk_-f794mB@>&Rv-vc!EA_pHEw$I^RAR`a+`XV9<52Y}@j2C)RvS?8_
z3q09O<^aUmH#o^g>HZ~Qrr~VeB*H|=e><X%c8ZY5a2=hrD3F^re2I|`^bAE&-GCnn
z1U+gDB1STg10T;lcwUY<3ZD7@asJ~x3v(N25w3RPZeNHZER;>){neYm<vDg%nqfzf
zCnvjc1vzshzzN!y0ZTp9iY)x;!&}4HpJ4XK;m%jL`{xm)=mQ|wyT=Zg>XZZpe?D2j
zRA+Y+Ftw_HscxMpxTON7>XB`=I3K|}i-YV`BYc)*DaE@ZnR%;l=IlI6=Ud@eb&JE(
z4i`a?$|^6#jl?->GO@!v73}4yq4n9uXl4-A3v3mMt|iGil49wO_P>?n&`7ogG2}Uy
zLt^PA*)hBH-(q?ra)3G9G3J`fe<J)#EQb^(_J~$9r4XN3_I5#!W6Lp9$)O@qMFl!B
zB!>pEg~`G6FZ34S(#x;U{5{O3e-wAJ7h?1`?bN^`p?DGT)YSah#2;t)RNB)b(T64g
ziTinxN}H4TLTz6K$0?u$qevp9aajceG0J4*UFNY~!nNxq{(B;K_L_R2e{;(LPB7Dc
zCf;Z5+B1HqK@ATYPi3C)i0)+Fu9i>@b<lwgRja)wbFWd*4E6IChm~rE7$Oi4F&ZK)
z@MGae*{gRjNm_t)XV_mf=k_tY=Wh)x6z${pa8AtBM}(I^=In}!jQA-_89q#Qh&AAX
z3n%&6dTX7!m0X4k-ZP~Xf4Q_G>drIfKGnv|EGOJ>=w2Hk0Mpr6M~j=iy;0!Vdwc0t
zjV-ESDxD@Oo{Tv#+j}g}2&{MEqt43Ew%VSlxk%L7yX!N}d;s2yE_xcf1hlQ^V}PEy
z9??t!{K`f}5z&6te|yo;w!%}iquml%4Q6>T98)t!BZB_POpO*!f5##)2j~auvoBx{
zjV%r5J_9DG8Ro44>~KP~J1dxKKyY*1XRfEhI1tl-iOya7!Et9muG$vNYew~HQzO6&
z6&reFOlZv$R!32LFf~B9Gl7w}P*Xt_aE_}vgxx;ym|~Nm&|}LEu&BIC#$z}cn1K-R
z3rp25jUX^afaD$Re?#N7_8u0qqn+Y!Mqt=*Y~I1|=WslX9qlLhb!ebY(851<v>*Oh
zxWVfK2TvRvKs*pIf5K{&QeE2^Ho|cMg-8RqkuQJ8jT{+XKzz%<lJ-1I(bI4{ri+>3
zxR%Lu0{#vg0rPWV>U$e5G1ThOFjb#!2-DR2+Viuki{T4&e=OCT+S$p;$*Zg3&l<1y
z!RkU#v56xQ<_0_K+OP=6g&*^IL+|wlFZEs@v#k$awp!Z7C}`0BwoKRB)AVLT*PFYq
zaG(Z$-01eY%|Tb+`f&AbPn!n8eDBpOix6Z#KvfO=wc&b`SFp*mIs4i8-Jkz=F#quf
z`2DrvF_YAff4n35q2)&(b_V@{$mm_7dJ1`DPJyI_l2V$7MsiQYN@b8aUK@d030CXN
zz(ssH>OsVw>GdJ+Ee{Z@!=AAk7hA}2&m5E7LpQD0^v_Q=8qB#gN6R;aiYPto`zkzb
zp_0rRhf-~7r8}9lhg@DQ9wnMm2+i@KB@q(!6HY$<fBj#Y&gH~-R#NP(W`<$6S^~*R
zGknH<`SOT&=@&W7vto4N5D~#$rnfO(cu35u>r4;Z3c*fkEsvP8lWP=CLhxa<>Uefh
zt9sMR4-#((ej}JL#k$a{v7#jA!l;1!d%JqFywQ}5K8vKu45&c%7g2v%H^TSz3GYZt
z5qw!!e<Gb^{T!L1#nj?~i44RNaB;HX7q3egi-eft@&0Q4ElZP|Xw>;zlr}bewM%+)
z6grDX#M9ubuY4!&5YwsCSGY25RZ<u}SwcjA*(0&^Nsu^mRKeDhB`}O1p7n6WDzDeY
zRI?%Rj<1BQ>RAVu;JhmDXBEs{VLvF9r^rn^e_~IZRWjg8xU8Owa0y&y<?>pHWb&4l
zm1k;UP-2R!fWTgfVPv%k%so$*!C+3p`cfzqhw?m{B$a=n)s&=IM_TG}^GK3ZwKV1H
zo>Q||C;j4Mn238NsTMaT;tI#OB<cDW&8gWd&fK`JIW>DlY4%DCsj((G#%8gV?QxQ9
ze-@<$6|Pz0+LRv-FM&h%eu+Gr6`s{mceOH(^#+fSZ?oQGXvu{XJJqaiA!YBB<(AQx
zRM>nBB2#}ssIO_+TyOH|8wDeI9-Bo;5{uasRbszl66qszr*J3J?5Q{vpkS@a84~M1
zfTFJI(YA7S!zErAOHQ%)QdpS;uRhCVe-Bh)5cT6^PK+cLvHq#PSh(JfCRYUBT2yy3
zd~iln&vmRn<G`a{PL-DPE>ZI=(J@v}@9bza`&G9n6<id3mfwiju_RlY`qyS-SMT>a
zeN5z*{jFfITyD4tAiKb$W9r^9XO==2jurU5;J)CtBzJ`?ozZme=0gnD%I&0Ie~?tJ
zlG}-xK9}}2@oo3c*G%`074o75-$N&j2UI5pt~N8m+Kde2JgCSbrnY7HT67m`&n<_W
z-uxFV&gsUQOyG+IEOl!^-;ufJ-q6UVt<Ym5M2<Ex9L*!t3&h98Vx=?m0kMMOxTDg7
z#bP9KW6Tn96a9jawkJ&;C^-`8e=}BCy2;Zn*+wNdvwCQOL?y4DQm`f)A2I@VJqa7n
zD*0=&@phZD@lLO+%Et4l*b3QrXSb>E_K<lu>3{KW1%o{uUycwhWz1-X_imXD9(&o*
zMmBm-g@3O(<1Pq=s>Ha(6uCU(jyv-icch`Cp&dTK$l-rR_&3aA>$!{7e^`Gq{v<ap
zI=}f0UBG0GfU{@BIB@Xgn5}r>1<ZCujuxVKir}sAWJSgbc=97~<)<)}_MfcOSek>>
zw8LW;8qH*((uurQ+p7_tyjR|Qw4#!2gX&hkns_YXyefD+qFt;6k8t69O7JfaQM%{W
zK<bJgh1oQ(*B;zMsoX4Cf5Oj+59;Z?+fjP&PKET|1#dx7dhc$#)5A<&AWrm~G)t&n
zE<}9s^xgwWxZG0dy$6y=woQ8P($k}TU+KMv;c?eR{8@CCztZI10b14gQboFU*;2pd
z)ZUcm(|8z`-8+-qTNk<_sNDiGlx~uHOM2QQ_x_fWd+Snzf_idqf4%jcCihOV>eeQ;
zccs+clxTWF&YfGxCbf4KZKcPpLTYb?OthQS-jy|=Ip{S??R~vIsl7Qp%iI`5B(;XA
zy|0t{2wc)8wReTo-joI&JGFPnIM*q)HxnAFrASV$<1tfvm+*+(q8}}_ceLP2slDkT
zT&L9Dp}bRTx7+KKf7&~>AyrpWD@pmPQ+r>}lk8e(ni9#A-$iO~y(ndSZciU4W42Oi
z@4};$ov8ExJwa;k!jmGzsA{tG6{hz7AH$n#N7y1x>zzFqx#vK$nq8&e3(YDm!E-l<
z+(G`}tll?c1x^=;I*K`ot!%A4C<c-!sLCD`G(+i;B%NC|f3FFaCc;mpx~AQuQ&?l`
z3|%E0XfP$Vy#uX;faH&bb!*rN>#`(6NB{blHV$9CBg3|7Zsff^*WcU2p7-_~_wKpS
z=^@%NVvk{qtT9dZtr8BY?uiktFidul-_zB3VA11!MGP}?x@u=NFQU^ecoj=^<uuh$
zuPf1&=Xrddf61-w=|;qbUR0sqluuK;46Q%O4kbp*nd}6xn=~=fj<E<_xYr%ny&alv
z@dEP*I+C2g>%}2fm6MGUIHGQ82602C#w}(g<2=Hh%`jV5oI+glq8(~zTZa#tNyf&)
z4m2y!rW}f;80SC-@&2$6G-HGz5Ifr4)EZ5-88IC0e*lZH3!iw}7J9%^H?1&#KYr!F
zGD41n$k#$gD|g|INbH%xPdQ5z#|FVk1KF@_YbNn6kC;1KhV43&*m=wc3Jd$k#AGA1
zf|*8OXwOMw($Lz_8F9kCXfw<~>S8jsfV^mIeZ;S$MJyZ|Pwh+b!2Us_1zOwEv)9HJ
zu}#gNf1-QxVh$K_Jxl@TvdRiP3tSE(_zO>>X8{);p#h0#TQ`e9y9-mG1R9?PE$84o
z0GD@Qbz27kWB7A?_OpFt5$&|A8=@KZo$=sne-h8#fz<_;9WR!5=>r*TLASn(6T|#+
zY+iILLSh0Mhgm*omhUfcF$v-dXZ9-s{HFa1e_Iv&#;FZ&Cptlzq2Is^d8WlPw6U4)
z(7T6(<mx9<LdA<PO?0QGR6##upj&#FFptg`DcK_<0(45<0&QaWm}Y`ddf35Q5Y0H#
zf3a8g%5OH+lvv62zhEiMm<Ch(5i?F<#@&dG#%ZOZCW$|2hN`eZ!O$^CIEQF}IA0q}
ze?X=^|K9}Xeyri~WG?*l*dm0l$n{cKA3X2&Rz1g6UDwN{90xOObqR+zoQD(fw&nc>
zpDqhhBzn|BA;p~vw9sv7c|29mf3!pjkWe<Og{eahER$kNv9*e{J%cArffTXES_nft
z(Kn4!7mt)<X7HqWjuQ7pEtDOo!&kspe*#L9m@hH!Pw;M*CDqFbh<Inyb$s#z56?zH
zHa@msQ6j#~=(2>8$$|dT<D__E;hJ5?RWjuLmC3`mx<CJZk;wihU58lAUW;{vX$Sv)
zQIdEtwaGi_wMKadv(%Pqwe*SKebU5S<?nfwb5FhcFbrr0FAh9MBjx^9z&9T|e{h@X
zn?8D0K;kIBQa61?T{3kfL0xidx2dX2Zsl#VYpZRdXv?abzG8*aZl%D1GKCVw&J$>q
z?&4i&Xj@60Qc?j8{2Mx9&vSfBL_M-p?>YX?62M2n*;_a$FhOFlB9k<4wZ`OorcQxp
zK6c*NIvc07SS(k4;&SGx<^4Dge|(20%g5Y_aX9!5rqZW*^tY0Vn!xbj8t3{Nm#ZT1
z3#w`g^%O8wfPtR3sP4(OK8Gufai%pI4eb@`NGz7C9#_vAJ*`F}scVne(Yi!B?v|v*
zTa)K@mVnpixxFiP8T&@1{Mz}qziKi6IA$VGEF-U@`2JN%<Ru9rzh8+we+l(?iC$M1
zZcB0Nb1A;BXZKanMO-My)4(c>&}&f-ShZN&yu)48Migt?j>Pxwfc^G0#M<tzDnSvY
zX;EG`1#$U^m0SXO_RiHlTaM|Yu*m44K}$k0*%D;V-xoeJ&Vl$A7A3kN!5txvc29-e
z2NWr7R=<g*N?<jih(^m#e`(L}Up~Be_0Ujqg3!LN(AWFu^oeXVLU$`%^Z+a6?PwiI
zXhZ&JeeuxOhiIWfo0W)%pub5ISP0GFrhfyGuMy)tFwF=Z!ZI}i&RZeAb+?NlQFtye
zSJFTgaU~v)tWMST{=Z%-v>U>&$JYw+pBIbZ7@nbsqG8}+B2mhXfA=*0i*{=n@OI`|
zcD#jM5)3;uf(5W0a^YY}wF&VqZi$C+QqrTZx_`jf&BZ7p=ws{FGD)<JB1_Ja+ekgG
z+PIInp*`h&EQwMM_wk>v)_EVV9P^w6)9w9J+ZC30e3CuSIG4jk7Hzo55+!vl*F)EG
zQDsx{E<V0%dD&{|f4$v!6)m}?nw_DA;X9oHE*bMPC|^?IsG=w5+$(gs2llSwARY%k
z$-`&f9C{$4P77Zh#ZLA~$q+r#foaJjHUK%2@v2Nj8iAf$IV}8Tt6Lgz&nLcHed5bS
z1C;PozS%|bUfCt|A17>~gl+JN_Nq~3cO_IQ3mOy?gFKp8e~3v5TUZGd%Yy#$6Gx%E
z`C7yIca`Tqs6PMYXha;(m!*+`Ix)AJRfxHMXiHXsF?DTN&=3E0fABiAMYeXc?~A-G
zQaQARI=}1PR_Oh{E0DqR_d-G5QE|$!J{1j`jebk-_P&yoVY>wxcq^$f-qJl>+Ukd-
z;3uqN%-qIGe^8qXFZ7>|({w(9IwHy-)5gRfy8|HySZ{rVAD^R=hiQCBaLFAIaP>Yu
zH&q2(Np_k?6>xbF9Ji_@BjQ@SB@ehbq#xg6{Qm=qz>;6Am^Ug;J1X)VP2HW%4UbU9
zckN=ia4gRr#EU6;oRp<q5h@j$Oy@*n^LJ(9KyKmUf6(Lj^yE`!?Uo7F)Ip4*2mNIk
z-+A@UomeAUX#LO%w%}}0-J|2b;<(yM;7O%_mXL}AYs$cs89TwHM{X^0$DA!ph3B(J
zY<IrB|KpFv%|<wh?fnv@X5ZpBu4@ycB%Rj3iRT`9uJ6k%^0hO(WwLsORN8KqyeI4E
zOj>QOe=}+0)jd$vndl{A^Cq*~H<8&*r_|AusnQfL=kzMSNM<)#Y6|7+9S+~#UQ1TK
zM{Lroo!L!t38dOSU1qn1v+#+TMue<BpA-=_v%4weI9dDbZWLo{oZfAqkhkRvWOobE
zw#xKwipc`MKzg@<Le8K~cDKse-TVSh`jn~Ne?nq@vfOUF(tC1=)NXz=eG5EUW;c~A
zpX;94jY|-Zo!c#9o9mR^jSCIcvSg)J@|fw}ikL)h&5xGbEnaS=<Zk>Vu2XuqNZ_fr
z-)oiNExjw1*RmEV-u&my7ct{j&7<E&A*MS3krFv~U)3lr(B`Mwt(UzS^_c1z$y&Qo
ze>>_EBzXe>S3s!0no^%C?DH2)^VZr`GUG>Q<#DE}VuPl8T6L-`%}JMSlxd)#FT9(&
zAa1+n!@($6px7B|Em|psMed1{KGDK=WtTo=fCr#=imtaMAhFwIU)&%USD4rQ#HjY%
z`EY8O)E&tYx2dRWE7z1MoAFeu?#0Uy24q<?V}C-PTQkg6!~?VP+t`>p6CNG1!~Pu+
z^av9LZsm<}0;Qiw+1Kj!cQkaE(+6m{-R<Rc52Z>zb>*H=sn^aa^%RJHNCNGhd-smq
z5?i}GJB~DU{cdSCH#K8+zZX8`2dD;ZiOiFEo|ESz#l~#C-Df`egRaiK^LzbfZ_SO_
zgMU@ko@BeI#oM^FVcRD>3nD6m?66;E+4i-u%ZmMa?u{E@qBDNdwrDkAoB%EEOXE9%
zXPKIX85bi(QUiX2Mu7FPHPKv(kR6Q}qbUy_#UxseA9xFzn~Y}FN`m7|MmTX+eVB<p
z2uequVdy|y%=p+n^`iuiY(%z1ng9&CzkhjP0l0w0@F?H_v=OW*ws-7pz0^`O=lhIk
z-J{_PjuFSdvSsnOSBeJuF;20eods-~H;7=vWEjG)?_BS*KR0N!!#IRVRQdE4jt|qo
z2_hlvu~1w1EfaQ2F@YJ%h{$vp%aIP8Q^U6YGz8@E3|7lnNV?h9Gwny=e_LCD_kTc#
z`gKGxM4=CED1q-F?ik{J(|%0sCT)}+fyJLqM*a&H`bK|5;PH;Ie%PlCSax`X;uZ{^
z1*k<$UvG_&JXoHrXPJ%nRacu|H9#|x!1c1ZMZ^++L8nC9Khv(r%)MosY|O0@94%|C
z%{}774Mm$^2C-DP&-E8DA08vku75Bdsr`d7o4=+%Fkm{`@ia6nSpxq;3<1kX_t4sd
zK3?j4XAp&&7BA>0!oqgg;bljc#=|3Fg-F7EBfv^5hhN$^h9Bl9NRP%xK`dClftc|5
z9WG`jsVGoRG|`tsHm4ui87v?dTonGlkc*0Q)>$SV%Uo<Ln-~8!3TriEPJav#{@eqG
zG!C;pCVBdQoM%3rbrgZgdcr<1COy&73vo>RibByv))zsn=93kU6`!!Oj)cLQGR|Js
znLI$fATB+LjD;ggPq2bKU%JrMp?DwW?tCFlvy~+xgukFv7g5m>v26vKq1|EIY$7=(
zH@<m=-zkG#yB>&gav)(qYkvk80^;I_tQIwe7jzx!iLp=&dxFxK5v(q>KW5)E-~ovg
zA584S5KWMiEX+?b0#w7zsA&eJ2@pP5oHvMM2n(!Mkq2)1cNU6j9Ex4nnE8~o2ywyw
ziq_-{dd@ryLRQKC<&T8$i4Z;zsMqUn(PSip13i0D9)qRk(B5sesDIDxU_k$Ece;A<
z9DX4n9$CS|3K7ujQ@4~x6um4RoE@wc3_WP|sjqRj-=qKbn(bY|&{3+{XfPTa%&)}o
zOlb~0I$%TG36_;M(`iqcs27q`B_1ka6FIhb48oy1;YHi?_oqp}Zu|u3nAghWq6@Xl
zWgO?(4|YJ4HPGWV34f#)PwsV^T~Bf*l4{C)jo0vKF1213PB!rvEtqpLpT<6LCh#bi
z+6ZK~W_izaA7x!vyN*i|%!t#|a+L4+!NRoMJ(PM64KJ48&WW>7y|C3NH{$yZ-ct2K
z7c5zl`aL(&iD}6wDTkp*?Uu%rO~x`2vTUC#iIK(RBu0ZI`+q_X4VNf>mE)nZuu^ga
z>d8kD4X*HrNKzhG;#m^qGDr5|A_!13S%Yg`yOW6>X_1&}1id6}_<tZz30y9CCDkQ6
z+W%J4k3`xBd?fQMNwMIS?3i7YZ!uF4IdDb<l~Q4jCH|%3I-zJ5zoDlT;*(D`$ATWm
zmSd)_@hH!c3V(EB$oTcm^fUCYgaGjCGk<S5b?=ViPWD2K{-&K87AD0HT+BQKtMj!{
zQr+iJE#0&535^&`OeQTpB)+J1BL$RD6iB1)#l$F)kun|v!*V1(I!h<{5t=|!^Go_X
z>zy49MO(e!1OaciBlLMz@^`N0>nt>h^b~`U@}88*Pk%y#NJ&*UnNcLuEOvBk@pAC`
z0BhZ-R)d!~VN2W_<tanc)5@g{P3uJYnGtAUcLa*wyv}W>=ys~_FIm}FQs@h@y1-D>
z*+o%Pu_>*WjcLpKDy!MjdiZW*$!e*CvYIU|?`!Z4+S2sqDvfFJCa%tq=0$zV&1csM
zW6p@lHh<a-jzB64D<*_B63Q8FISTDn2fn|UVc;n>eDRc6v5Cwi6JV#*A~uF!Oj@u8
zPwK*ptxzdD8LZ14Sw=w2y{#>po&^nIF^cxIUkLJBsszH?LOAdate4v{!XVfL0^p8D
z+aQ)!<0XC=D)^f58vmVoZZ?u5X~Q{8SbH9xh<_J*Xu3)Fjc9^47;C`{dw@{S_?=Gh
zL7NZ<BlOr@@w>CIFD^;4Trp!~M6!mzumN%;X6#FDP(wSKx~@-X?Ht~>54_06{h|#v
zR=5HyTy;YWHG7Eki+ooSI>r}U&vFHIXq+~`)pQOSQ}pAf^i{K?=*{Yelt)nDi_5F5
zQh$M;QM6Ws4ppQpwi*b5P-4~Ix$eB`3O}A#gg9b#D_3sSNF0z_mW?DM{0^-fCFYGh
z`&mO1hpc-^GGVPaoABRjWH?#T%94qZGfR7Vd(7jn>8Z^;kH4abO|M{4y8~QG{PPPe
z2X2q07oyXWiC^Z>@Vjgkn?Xyc^y#_jJbxl@%PywaG8x{90_$Xh&u(e!q)<TAt9y9V
z^t6E&7JYuzk{L2jxH@7(SCV~X-EFy&$m=g)%hflw+|?PXBr(X}vMpCvwdK|~VwS&6
zY8YR2RpaZIwLzCK*ssNcD@?Rrl~ZjjxEl-Z#)4Zi!sA$QTP=KyV%oj-faa6z_J6*l
z3Afu4MzoeBTM`-JR5LANQdEr7M60ZF67kmK$7|QKTKCj)GJZp5>#Q1I)oPuPJ$4H3
z;xBEl)>a$44<|!CbQ|bt<vEvE7`lz<x5KdQl<}lS*tXtov#{+}TUQF(Zi~PFW}>!r
zUDd|EMA$an!tW(ydyqXy3dDZ=0Dp3jH41OGc8<f>4AgG-IzZ}}S*owo;#MlP(+c9W
z3rKkxa#ka0+De(Mck8&0D3f-$VF{wno0gZC+e)c91^LKgTT7VdNP)VK2;Rb$X`q1-
zZ&WN_#p`_wOF-tRy;CW3Z-=4`6RP!SLbaYGv1X3+`z6_Cmd#^Zo{d(OynkEG3gn%d
zgFt&M*q<_Ou9BP7h?NF3seQHw?@xlAYomC$86R#3{hv$%Pgd%$w712=mlG2+`GG^b
zt)Wd9GsA%|n2QmQm42xmpJ*4J<?Lt&+E1>32LL<T@U8Za5cqNntJga2%w71}6@vL%
zyQ@8Ky==cg8qr^ZAXLZGihp|s(U~NjsSeRp0-OP!x1IYACNJ=;`@9F$6lOFb4$g|E
zavr<hjHLw#OCwT8FzjrMqApEL&a(>GCi@IMs(wb_s>tn&_Mqy-l>!Ra6Z>k>h1_xz
zX|B&+zCWNuT00gdYB-aH4ZnxrVej#JqPhF>F(mWOb{bB3i{)gc9)DhW(%#d0FGEti
zW#f$4Tb*MgPoCQIHn0DHUVeOe(U-W+HvJ}CZTOYQ+bDI6HcnzC2)bH0I5iNr@wI(L
zOwYJeuAo~*J=xL=)sxIvw3H>K#Ozbs8c@v!Ak^=+YFm*itY6iVl<KmUHHr36Xi*Sj
zp<SB<l0B-CTe01xP=6b)g7w-u@l59%&G<K?8PDwOGWv1eRml-sm9AW6v;te%k{0Ab
zQ<?mmYGozb)Jd$xVyt>tZKS;9+Y{B5Xm_MF>q->%RBnW48HpczRnlV9;s}EstxI$F
zS4fH7`oa|t(pV74<uN|07K`Y%89sWF(pX}Ai0v4ean_(zgnxj1LJ>bknbdJzg0cZ8
zA-!3Nh7^*QGn~oll72a2^95KF8On;V2Eq_WTe}jeDdat8Xj7oc$3&ZoovkNHc~wb2
zB||bRiJ|ja&U&X(?H7f7<5g^L={e@?Z}A&Cd_q?;!j%vCbTu`WDe+LC#q3Lxa!Hi(
zSOmA<#?--BSbwb2`4SfwOSSzn)gBb`zcbThuQ0203V@p@<w>yF{8y3oUg72or(aZ=
zSup*cJTv<0rmt`bh10KCYJyMyaf(b7rz00mzbJdUeEQPj;VYTG!l4YOUu2e-PhW<g
zM=O(%GvQ#A)uCnh+NtX$J#d6|-<CDs&_Yp7cno#XS%0bBY^$1YN;2@Tk@-gAzFNzC
zgM0H64T82YI3c-DD>37EB=9V9OPDQW!biebY#eAz2TEB%Y6Yxs%qVMYMoEy=o@PKt
zV_*9h%$eIya$Qam<S3<*jdA3wF^)(ow0|GQkz&X7@5MMGaT9wK<A}s}XJZ`M7)Lh7
zk?Ny;<$uPJR;Vx02bck2w=J!Y`Q)|{T~_n3vTdZ_uVM?(X($J)8{PdTZ6p1D6-7Vd
zqsQ?vsDzJi$TrgNSJCp*qcjL>uz$a{k$zu6%b&s;$U+=#ol0o?T5KanSf&Z}9HE#K
z{mn5psG{wDiRKOTW2V-mzC@QJ#8_LU7AZ&&%zwtAWGrA=2=@OZp6fsF?dVbuy($R%
z39jczQAU3c5mj2DJxN-Wwy0SMiL0eoDU#k+(Z5$i6<x``!WPg6?XeLUh>c+Yv*BvB
zJ&pgO-C73A!si&a<}GXmqtL}7Sb3jABfx8hT)?|IAQR$U+!AkW(`bg(*o>6o_Xg4c
z{eP_Dv{%or*utm}Mnu9u&kXn%vMZiBfPJ5Yp%mYxQBkB*ABfXXNQ{Zpb4W*PVw>Jg
z-<dfP4pT*Q;@}CYXe*l&LF}(O{aS^yAIY2uQhKfFuZcMkB<5PvUlVg8h_0&Bzof!1
z8rR@zC=x6VJ;NDIrFw?kIhBts8Xcc$1%IOp@GY&?&D*~!nsDXS$fX?_DHPCJ!PHhm
zC^F@PfJqkBN0%>7Mv1GLzJjz7PG7Gzec3zpY0c(8dB!bT*D|+!TdDLwtCHos*Th`%
zC=t-?lWkFY_Y`boIWI|du|Agb_9_D(!>vIR<w{KDJmRs?25K%ym>_+^#^0FBbARUY
zgzcGcl9Jsyph-_fINn&B>sp(uSnk^2a}-^B6Gewuc)}>U_9lvMV<_GjiZ_PhwU44}
z4Ww_W%9i4R$mcdS^7mya9#n}c{Pr!y<>tF8o(5<oM&n&qkS(ncUu_i~=vo`^syQG~
z)<Xm4@JF|j@lHkGx-s6ZiSbUs$$w&Fy!$SUccJ=-m0C#{@Tz!}Yz%mnZ7@#|P^WId
z8+58pf3Qvlyn%8!V{AgwS8GC&<9anFr2dndkdzE!DN-n)wRJKfDI2O|LRl@HC>iIL
zpp!w7$!pbgBEPL=Gb=dLk4`3f1%{&R5fE(^UVf`26!{*mkWdPoU{}jf<bUr@+0<5R
zlV08`niH$J@Tg_d9_#&1NkacJ!CEL(W8DLNcNYXKe8slgs_E_fVmhiNO+Te1U0;f>
zAwjDfZdV!doF$-@8*eQ>Kr-#@CcgRGif`sqHbx_26A3ERrk(7faO#C)Nv1FATwo^W
zk5DBu`N;L)gSqRN^b>A0_kYMA3(I4+6k{~CZrM>ViBCUG&coLx@U@eu^6m#lxkh|r
zV=v=V!u<2OO6M-!^|0EdzLP5X8rt@@whAkx$6yf$3IU7ZS|J>#=@eT~>!O_+`ZiU4
zw+yzE8NM2HH#KsSq}AYinbAc(lx^~ph3&V$=dk_uCTt(E@PuLe?SD<!{>B?)<Bjo+
zdSldgf(AzEYv=S`6Q$OC4DaU_OY_>nQg$@fRP~`RF;%aj_j6~J-p`4BS;_l3ohOVv
z3uZV5d($rcYTo(g9?gm8TVgZt3HLmF!@bb%lYhuon!s}kXPXz<k}t9+6V^N5v+Hzc
z<2sF4ctY3d&c=0mBY&)Kg!OM!Sl7NG*Xd4oWv<h`b`{rY^yUo9AXKY@@U^&3_u5qp
zvh+AU`rl*$5~ZpTZ3Xw~vgfM|#jFr}pBG~93Ci_Kk^IE|pZH#3&z0}e^;4+Rs8pH;
z1GGB>;4ppM=}M6ZU%%5Q9HNSe@Y{u6d{12jqOI)o8Mzs?;eS?bzSd}PfWl^n%kHg_
zvnX5_)tB84m;F*Hp;>C(Rnx>&a#a#F7Bo~)aQ<wJ+#AbqLO-TfGyC|>T@7mG+go}c
z^EqJsvyQ|yJhz)K^V=CC_p2%2-l^g(RAN3ClyCo?@7Uv(Z*SvmjtO`4UEIW7@c~eh
zr>n`*LOHs<D}PErsX*SxZt%1Aei7Ys!u(`83a?i4qsuh*C|RPDUaKeJkvVejiL+|1
zqwZc}jjyG<=X<hBzc;3hpL?#kfaN3=<bgFqHz3ct1<Jl9p@KPNd*R>yoQ$k776wTx
z)2VBa_MEEO@iV6Vei8d+F*l|4^{U%=*43{ZVj`hB3xBj}^j?}$k2H0%i^;tj{bi_a
zYb$=I;5<($2vd1cs>45d#|%x{S)ln-cL95TlN`)qv;A;&e5%dhrDAVV%{-199Plz@
zPE5K}*be652Of~p^Ktl5=$-W`^w(nl{^wJqFD>__LyfQz@Na>9wVyxz#lOzZfGcGG
z*8bxxLVvX|9};dFBnA%1hl*UpR9*A_`uqR>McK^X+S^Zm;hFtAy|UtAsyOm}SwFrU
zFxM+*F)p*(Jd(XGq4!8#<r3dAyviexGG&0^Rwt$<v)C3Zk)s2k@G=uwYhvzK-T{lk
zPs4Mw2KK^!t*pteZGB``F*Vzx$mS*s=U$yzwSTH*uGo$4o3w>4XCEoG&E&VeD@$Qt
zhQV+<_WWRBTJ9d+r-z0YGm3NK$i#Bm`_tIi#fvU>F_?#IXq*5aQnUTm;zi{<CR;$U
zn?RX?yy8LZ7MtT0OyrMjB;T0Hzg;u=N)6>I$8EL7as{4WWH2wDOvG%Lx)-Dq_%4j<
zt$&qOuIg3FN5)blF(Y!dR3~4JQN2<=GQ>xR<D>gc8r2mlSM@5TBtw+-Im!l=Q1(p~
zuIg1vP)5&PlVeTSE1~UcDO{!GzM-DKOK!oCA(^^wP<sz${A--P3+)H*7nNK$b}A?t
zz78i2s+)!%PQtcTC3P3|;pm1w9R2Ujhkrvobrd)17pFUVY9EfOiMx7hmAI={HEmk&
zDbl7XSKjHVr;|!ye@!ay^whH)rKT^#&(l>T35{kE$Ll>pBwm|VF~m!-OA}dkRIT}K
z@h!N9*8Hv{exjB&Kirg+nDf(NcqK;CjnTa{GB3m+HDTZP{$*k?o@{MpHt9Q{)qen1
z$c@IS)jXm_x-=)n#w7jKn4}Xn;d0CLw`rALYvXXYz;$tB9R8||!(EwL>WdkNyWe3}
zo2NGp*Yyebs*S_NZU^gc9PUYSV?2&=xL0gT-x!BC#^H@|cw-#S%=arX4!32g)~g$b
zdz*;sl=-Q*iMXz8vg>UkuJJw0Reww0xzP?D?{|i0YX1i=8B`m_+2eb?O#rsC0i##d
z{?c2k0PNmV1z`8qDge9pWC7T{uPFdK&kOq5D<gMRs6}97L@ITi>Gzcbu=TvZOpM*H
zCIY)B@wHx21ooJ*@p$JRHx#?oh5g&@(rX@sgx#J{Oi&WEs|ndc0lVE6d4FFj5PHGo
z*AZQQ%i3{!k=Gd3P1So688pw)#Pa7F+HrdlC;wV@-2C=Df<>2~9PM*7$i}u?*S4GA
zFtqY6zd%_i@>AJ+H|E}N(cJrXWA0Tl_o`ZIdj&o`8%yn1WvP{_)xMaewpUzyWn-zW
zJb-B1Wg4Gv*;3mpuIcg>Sbu7ZP0cH|)b@+*!W&EN#!|bn)NU-bnfZQymRe~hl<(A1
z+o==^wz1SwDO{FT<-4-fo@RC18<VX}Yu(j1CR<hGU$<G&WZTu($z<D64p>~$WD9s&
zBa>}s_o+;_Y~7D)vQ;utg~izgR@tt|8!UG>!15($TWF-B84Y%UEq`=dG<9$pY_x}B
zo)ACA+!-=dVoIYzQu_4M5zGc2S^rD!EkD%W0?YqIZ7J^~of?1F+!|h}-^8v`4dH#q
zzGFYx+e6ef)%L4&9W{))#!r3z7A_m+?#4QW$CINlP@-ux)Pv#8KTch^YFzW-3^3}A
zjS*>Bj-@d0JNQIlP=9O|4S02Ncyayd`r_*U`*8B<=;HnL)y2C{KVO`^zaAz={8~(u
zeTl32#zgrjH6hcu_yXoi*<1Wc&6s&Cd}*8J7W8*Ti;7a&>^<%DeWF7YIe}2%<qhyR
z4>6H6wCAKTX=v7Har2@fLhq0SupW)f=D`D+-w;jDlPvfJ>VJ(EK8aV6o2sZ^%Jnp4
zds@WzGP^wnZi(cBa=Xn}b?K2Y?3z=uxP=4vnEim06%B;Femp#*Bd{$<p&vfQsh|$1
z&}=U1n)ghZ?)zNVHhv7hGfG9YQMFsxJCS$0lvx%TfWS0+6MkH7n&lmxIOfTCEa-~F
zUzB&Y^=y4Cy?^<sJc_BeWEdq|?=y+9cMHBk9X3~C(}NAnCJ6hq$vBASL8)fWPEjZn
z*x}Xxj47anjl4u7kV&3t<wo+{9;SCLMU_#)@Z1JxXfAB{f6Xcz{kqJi-+B_8ev}sc
zk59i>=oOJJ#CY!5NY@aetL7@w1GN&%sMIlRgN%`7&3}eT&xDN0Fztnqwirqs-Sft_
zzTCQ4+lQf8uOBg76?maRjf!&0UC2EdJlBN{jvhFxvpe@iNpl_*sfnwnHd=wlXwV50
zNyp2h*Z$<g9lmnh$|A;!aXWYCi+L4`J@#=ypEc3hJ0f-^+dQ_<Jg*k`33LfkHQsU0
zLq!D@mwzwdjRXQ0{{7<3D}=7pdDNHd*bjJp@==PrTEar-&I5*_+9ZeIGj5gE)cX?A
zTou%=j20E#idK8hBOOp}lxN;Zb<v$tNU3yky`biVED04EA}Vi(LOzbwZinrT411~V
zh~IU~>_nu$TbG?saJ*XWPH@Fy?R`kTgqPWggnxo_UG_pDUCGM#0-yd%?FCg5tY9-#
zC$id&D7aL=j00?6=B-e+7mwxuJ1F+M+c>~h9zd||1DXB241-HMz*ZuK;<_!@#!cjm
zRzwo@4i@xYL8cdDS^nHp!8J3PMt-?6i_6k0jXi(Ge#T|15U*VlBvIYlScs~~&n_c(
zk$-U!R~K|wQxOsMqu^O7!;mE5-_jVWtp-@dqKd;8;zeEJyL-u1sk}3*t*PYETRx?T
zA<62bRGE(mzj6UOGdZaQ^^^>Sl5U!t$kjAO%a+Tkf~D7dA4mNxLH=@aN^PDh562bE
zb5~x+PHmp$&#G0-QZA(^&$2|$uQtoov401-U!m%JO6Q_954juha$@V(;-t_0(e)Ol
zp6_=$>*Ar`)};=4CBEtKV6eQ%+hU$@)$ez!xTfp8;#Q|}#Vv($Nl)jhf3)yC;sjbQ
zaG~F=l2T3Q^|m^d>uo7`x~_$zz8Gx<kq&)nnqwIP`y7GQs&6SrI(*^kTPl$b{eP}P
zuCX$2Rw;@*tc+9({aJU{xQZ0_^vwl2L_*q5BnItpL1Tws<vR(toTOV#`BUI43w{XM
zxPWg}3b-2Z8?LQa4!L^T*auaFFphL2<VZb*IHELadIOG{L8Y(|<<fRf%hVquegs%n
zwfGSr(8mv?P%gOy*L>CK_aDF9n16D?E4XB9P5*HVUMY}&IDO?Xmelkgmw4p5842wx
zoMJxxUacUa)d$mDk(nD1tsthRCwg30h_@86)GkZ>Myndq#BZtvyn5m{!zQL?6H`Oh
zDW+z(N_NZC95yjEo0ytSOwA^y<{OWxG2zqazH5Wnfz4iQ(fEs%McPDNt$!xgh6WC-
zPrQv}I*$``Q#O!F)D4@kEb@khWk3V<_?xl_oG1pTED9%#!+{B?=Bs>LF<9f7_I1Vh
z(7jlPIG<#I%=6}pib&@qC0ffD3i#32H{eI+x+5~SK6z|Pd`;B$2p!TcmU5G3d+}-n
zJc;=5OkiEEIyz;yUUbS5*nh=(!?p4HU&o5jB8*B+m+93$zK8Q}y)cYTNRZSaU=tD)
zq2eoY^4?v$dbGQndbE%4<h}dF>d{srh2pHfs!rY&hHN!ULJW)>we-iU@Y?=DKHGV6
zX*G*W(^m9HUa7zK(o!VvM$O4jfSTe!gu1AyF10PY4oTITn%>!~@qf)$@`NsTyj+1-
zwt~~;#-~y;--J))pi3)1p(B#sL3^OyUK_W{zRYo83Af6gR1}l=!L_&_Ts3!`wREd2
z@(=7uwGR@!pfgUVvM<iJlnJ@7QunxaCS>#v?1lb;yX)&8$eb5sUV`z3zoX%Gxubov
z&VPlzZj~xR4|odXwtrqZ1+s#(&$_#?sh52X-FUidlmZzpn5xt7tWhdsxCd%Y|H~JV
z%{Iz3P;kS#3ter7ff10<`Kr}SDr9n;J$*QZoV<rcCE)*5zS27qh^Vw|NBsS%>yZh_
zl8z~rr{b-VSD>xyr&I2qqw1H_Y8I4aOR>ok^R=MjY-S4+^?zo$IcJ29X`vrfTFaCd
zsRg36NQ5r0J6kF_t4qv6Nx9d|mIzTG_n%0hy|ZRk5NGPoMH=SFy(tWI5RrWwG1Ag8
zWj9`9t&U1v<zD{H7qvMwMxRp$;MZoOtGD}Dxuw|{boD0tt=De?J_-i=;&qo>O-VF)
zaouHs^&{Rx0e}Ck=7~1<+*`}!j%d^aMYCzo+QbMDJ<dckjlh6Ml{?djg`d&3)VGM8
zC|~0WF741ozbe;DJ0gXiS6lzo&W-y$O~0qkYq!kVE8|o%GwuN|Gd2r^fNMsp0<v{Z
z41eLlk_?Zaw~=R<uz9|ya%##W^}DW`iY`DvR*b4t*MCWu>bnbXL?|FkBd$M&Q|Hbh
zw9_GN7n#)qAnS4<YSaip95=AW4<}d_41mUl?PKm(|IUInXo+dCrJ@HS1Lf37iIaU2
zkpTyeCX=F%L>D24%YcXf#gmO3U6O;Qp<l}e`Go)lSiwWRLDJA^a2Jp5ot3D~7XFvU
zY2YnL41bAak(nZ%>nB4Y_3<mhUHxTIinqqecJ%vX%{fM$bVkrj^T^1ZIM$yeu6UQI
z8<#u<F=;2dFXBE!Vvk|5*4Pr6+eJ_25*cYc2gV(Y`9hxg|8br_^FuElrPEf>Ds_-W
zwT4r!H#&y}KCb4g(+UBMdk!F4|B9S%L~22iQh#1-ovrJkuww57f%8C;F%&rr2te_O
z%R!0^=LLH4B;}MTgM}tLele-_AaW>3W26{fQmeD(O-BW-)Loq-O}wwMix-XLZ5<!T
z!w4K8Gkra8y;$}J6b;l!&?5}`mxzJyi0-Vv<9?qBJEl7WU6zgdm(IH?zI*CUe)aRr
zUw=jUtAx=-#mgj1J)#+j17_s5A_0RF$GopEgA4bwB6ADL^^q7Hu520hrUEZwZZS5B
zVNY%W*a*};`pQ@$eKhb#n4fT|&~PB)H#GXxg#Q`Z2sgu^bm5M9)QI1pwHme%co=x<
zPl4E5orCTOrA!v{<_r4Fs1?#4!Cb`<Dt{P4^}>#(H=4i22NvER(s`u$;_~z8_0ci}
z<5P8q`aBLsfOnD(38*`l-B!0taYAv?Z0Kz)XQw`wYuEc@L6)7xfR=~^%=CNo-(Iu5
zo1F#Lk*1tf<5Q@_Atfweg^qzDtE-4Bi@n2E;}BTQ9jn9xOzsT0Vn@K`oB#`*E`OGB
z{;PD^>f#g_kLU2Wv;!OSHLB~}+R_zL+17hBlzHojCL?$9Uh0Cc>C&?bf1+yCCwBR$
z#18c0%(1KreJzH-%Gh&zIx}QwZ>`DHhW}$YZaHI+NGeH9?2h)ol~k{hIv1|C=lpJq
z1(jsS><W5o*;YUfoDuN@*Ynf1D1XOwV&zFV`zeL^<Wp0PpvST0#4iN|pfPr;(1{^A
zG+vNY^-KRsyi|UD=I;%s?%h$`$zF)j-?UT1vRQQM+;d@dK6fkP#stT}*w$yE7YJf7
zF`4umC-FrsW*<;OQ6P=FJfBe_Bjw0%aCtdG+*sniC$c-XsQ}nQ-y$l94Sxp0Lc&UJ
zd(~X_#74+nkrP1N@!2u%(MNc6cr(NMjJ^YXkzYd1vh=&nJ@}!NCq-<;%ruSd_h`PP
z@-2#+dQ-LZu*46mmJe2e|5aqG;b%>;0DZ|VR^JD!vj3HG-kglz)wz}3e4!3k<Y3j}
z2_jqFf((&)AE1(2(iI%5YJacUxX-Lv_<)eDxj*1*-c==Hi6g6$v*s!hBk>|q^D@i$
zIEAdDz|kq=<P_4E%u!41<)k|466^^kT>_Dsbi2x=l{~GKy-T?L9eGAXwf!uI7I9~R
zudLL?MDO;vi-|rEWCYG(yPLmrzC{-keU&aIiH%&^&xCoCFgKG~+<$LA(GeO?SCHo@
zayt2^c16a-BPfikCK&SAKEiAgQ_W=S`Df(xf*0eScFhvP&`;3urJ)^7UDqcX$llQ^
z;Yze|k+gv*vB1V5C3HxsZuBls0U=T@^Bp!5>Sdw9Id=k+7U$#%lvLM9TcHcscqLOy
zO+$+~f<a&}`I+S;Du1`O$YB*sE>hT}_PP!{(>Ti@<zZF@&%z|Vln6<}Lalya&EPR4
zH}w=6dUE?wD2i9J_N>^}LoGXbdryh2M{pbqtUVcYd}*UkhT^}p?MHBkzO)G_buQP%
z5+v2%Jh{O~FEPVEoxw*RYz#iDQ@M+adOV`Rr^;5hic>A9MSq+xb!FDyr$?}lw8X}$
zYA7vEMzFDuZ0sXny?vx4VZ+lJMf4`#{4I>PYoib_XbJNfJeg4>7nwzy)-!SROBCEi
z`m;>a*t&u7<y2b2sN;Sa<kK5B61t~q77q3I+4|Zz!bf6E0?PV+S_BLA{g|Xd7DWCf
zY#b|9<@bxCt$(u$@&4*{;bl?B2ae;i^mKd&(_R;8wz~iE?Zvwj?eOCGf3)k1i+6_?
z|9@$8af`kPF#@%{OD(}|NqjL)7VQ}Jx#3MLhcgQPKMBaGbx+K<1aFOkfMD9{qh$uu
zqDB>>mvdV98{5d-efg+qT{f;0Fx(Ce$Jd6$v!pY0f`6g)C&{G5gj*`w!lGU6$anR~
zoj-VpL``co_4Z5n(bue_#SKUaBNRv;G+;c27a-%=(azw^2MdrK&H|9J49C?>OS>i`
z2aqwbj4i5M@!fH7hhdF(hEKK0a1`SN=cku_?c@VWs8muta*rR5F0|+G-G&AiQeW?B
zXGhmK8GpUeYUuF&1SPs#qA_CjX=+6p*NG(vp5K7{H4TFK-m6!4cXy4EYd(zJ23aT&
zrw$~ER+_H9OQV6mPvUHqkzBWs;*v}TIn|A4cpx{uc}3&m&YY+S!T#3&15ir?1QY-O
z00;nehKoyk6oJya1^@seGynh=0001UX>E0EX|oG&)dm7{hO^>zU;zSjhO<O>NC6Ib
zhKox<H-cf1iw6MimXn%zG6HvogU)!j&UgWN2?BVAw@HElblU=WhPS_60^INdc!sx~
zP6H3Ce{?Piux4Z1wr$(CZQHhUVkalIZ96%!ZJU3LzTKlY=~rvjpk_7LyJ~&4gcb{{
z+Qv>L>~?YF2m?U}8CU3qZcf%*5PpZuwfOd?fPGZ!d&fO}>w$t@V(M{SVV>&jCHgdf
z);3r}%dUe7Aw~{<2Q<2uS-z7;iK;pCWrZ9nf8|(tw)kgjJ?lm=IJ%nNIUQA!VL}P)
z!=<F_Vm8pt>FG||2je8hiIq}!70>w^+TLDg_;IHUHaBhtmLa98pQ+c<W6PBh8_yD6
z86uZ&I9P*T?fmXciNLr!pDcG<M89Oi&Ww7(IwxxXbi=lPkk^O(J?S|Pj_y)XeD_q_
ze}?)Dp3TKdnllNCIi8?jvzc#)pkl|mDQBQUTt5j4Rp<_rD<<0e5Nc0aOq)E}V!s{V
z<bf4rBW8E^(5%BzfB-udd~sEZ9e&1r4($Y2(3o6LbW)t^zu#Rnw}RyA@<~snEWoEJ
z2v^HD0jg6r>FWkRxxYFf39YDy9;7qYfA4IBsR$9G+tF<l6HZqYwiLvV)jK@B7IQgr
zZ!B&Zpy#i2NNxWx4VCgsk?z0-5S9aD*K~<zfi<C2XWcGx0oBoDiZ;1NIw0-KRKU%~
z<&wSAS-Z^9NvUzRMPut<(OEAXQH9)$4;5syWK*4v7dLUF*xv{-*_Lc{6A%hhf9`jf
zElTu*_-FLoxR*7Ww!;DzXfqcuJ;bB4&Fc;QT&eM=nz*E{aQ!hha^K}hD4fD|mOZaL
zRzd@P9eDlp;kRA-0a1S3(jS%Y3Rn>?s#W{P7?%uKQa2FxJNmRPQ;mYhoPxW&pieKy
z?aBvvTw8Jo)f1!-Osi;AaxB>af8fg-3QN^nIxxxgm{i{O$<hi-YO!n4PnOTlIe>(m
zXO!#AwKWsJ_xTNP)vG+^r+SDrb!?Y$K9fwu1s=(n#v~(cm}F~y5i>!C{O~}fkmFFa
z^{P8XxjwwWx*4EnTrl-_5OKeU&~r{u;9%&C6Dvt9zGL5KaP*cg-i=*be@j6xLYe_n
z*))ED2Bi=(+Vu$=I|~?Q-`;Abo)x3y?_ltW7-RoY3k2V~J`F(|xHmb=VX36ZR9%yA
zaa@8_nu2chdZ}&Ffn2Hr_xSVzJX|PC>A*dB<Vps#(o<8srT9rydcW37XFn4AH10F`
zk#LPL5ivc0OypiqQbka=e*(K$XPN4xs77gdvm6eX&CMgj6q+Ucoe9YhWhjtMOCHO=
zgbeABT~ay4YdhqkAuKK*^@x@?%|(Xs$@BuNIm-dBP&^6p!aBtV%YR{}OadzBA}di6
zCrjo|3*+TLlP)fiol03xGYpbB@F8J;lD|2yLXW0TF8`Jqdyp!)m!tgy8WWz80H2r|
z+wzEVnaEVGT?u+VYnRad0~CL1<;g!TQtkx+>wMl{&DET2aNFbsI~cQb9zG}mv(g40
z+nT+YaF7vONqY%#9cg5^#K<+oBzuxOm5Kt{`A37<LGv*en0Oz;71<+z2wju_G8$4)
zFE_U4>t4It-K0p--@|-}i=&Rb(`6eNpR-@B?41u|BV~34O1LP%W*&bfdhJ{LI7DV^
zB}{5`PzG6oO?6Zy%eRU^yEj*$VESbNz&dtD^S+WN<&Hu+b;y>8>zoh-@{7M!tXD*9
zLpL3vTBvC&@p@ZBz$JJz75-x_#@rG&9j<(Nrls6A#QUw`pP}T{>Yk??#hr|svNe(T
z%BqMFqlZnkZ*cxi`ul$*SXZJJ)xG6W{>bj#A7U_9PrA9Y$Artp>k(>#IvzZ4S}WB#
zR53<(P(Fj#YQ}qeLdCkO6a;Pqac1^d4OOl&gN$LTdnAJoUV@%7S0Y>Qbc_yiar+f`
zN?en0;m3*DXNFt$v-aNzR}U_nwKt>5;2nb2=#phJ?&Si|mWzK>zO9MD61bfs20~#Q
z#FR=#WVr6^Rxn9Xo%Ipj+dn*au8JrWNJMbPVDTnM--|(zzd<_v@AMUX$ntLSFGwm7
zCgeYA!_B!=+G${1^o5iBSlAX3N3=d+Nvu~hTp$Dn-jS_}-Ge7Fng;+o<$Ch?{pOO;
z9mS@ga_H=4Ppf~=98aNv_lrFN@V$QkXa@bn*1vC|oY<V0N~M6cRu$25vz^Hg?nT5Y
z5cqR^IM-qj)z&uQzl0h>BxM_W;nu_ib|Jz|7Wg%@BD!+|tQfq}nvg&-Ae<|1a&Aly
zUFAqmDO1mibKmoOA@~8AP~>PWrBskg@_Su-B|m=Q*y(><25DKd^_bO#=j2%RR8k{p
z7cPG%A*F>?Y6fO0;3F;{y|pY_HG9a*-oi@6mrI(+`XJZe=BoQ&`qTrsm1uv4x3^_9
z2zTeVsCJhNvS3}&e2)*2=tn!YiQ5>29q5!rP;vYhChB*b+|-I{Z3nmnP5A-e3#zw8
zzQOTLUBrKgm~g{-?7Hc(^HYrC9o_;d45=o4e_WC%$^p@vu@0J#vyiY6W$UHata_cH
z)o4t$1;U}YPt<Jq*liI`n$W+Wts0P6D?BYcS{sW*F<V<zpt;fJ+B2utlUNaR;u(MN
z5SHvM%37vInW+EtS&%<o`JDxuY0N!mmq=f{%^82rTa%i%Io7nk>DK8xj!|S&(2}8V
zVglvqE$uT7XtlZzzK4yJ&4F)RN+K1xI4z>e(Ef5t2)CBn|HRYN?_|-dxb*Qp&QXE<
z@u6Z}#y)a1beq2*!vIM!>yGIiDCpX0Ce00vw{Vu!>2B|I$!?z9V^PN#%nYf9KhJ3n
zqTheaV;8(5)MCW#-GWN0XM^_-7Yf~gAfXtg_)tnT&4vL}M|PF?eS4eKz!bfgsgBkm
zxEw@<CYb)_dE?A#U?e3IBu57e91Z^Ea`!90@Je~Gf5EsAPi3KqK|X>Lu(BjASF9}~
zOihhyLT<T^UmfuN@u3OLtbjM-%&h$?fuVnAckh!tk^fvMao^Z`(8YK08hC_;F?~5&
z`)ie1ve~z?StYLzLOF_$i^nbyhjWs<0z&MB^~BL=|0run+uBW{DQ34Pf4&)l-7?>6
zjiG~h_UDad*!pRpckGRYGI$P68Qcr>ZX2<Ofm(`twxK6O@=nLjbKY#>u1$fxZ`psB
zq5}VX?X3Nuvjux?yo@Z(aYhd73(MZ?I{le>TtYAe+}P9_>q@}VjSkNH`qEyb<M=X+
z+;a7wAv*M|DLN=Q1q+NhO+_Ifra~o8*{?$&wI99xoK?HYucF3i3lv{|5b23I>$rhD
zj&p!8bv1T8K30_6@_BD3CETxW>WF_y^;dHVQ`5XEB2Kw;D{VuK9JN85+66CP!U0g!
z;nQJtJ$WX2=CmU`-zcUc4v9}1zuez`0lu0|{1$0wlXa%Q+^|N+)?9F2<-ytJA)jNb
z-SFOq9A%9~#}o2HrUzJ9Aj{pzWh0;anu+}tM?V&J=cH{3Ek;~{>kk5Y6S#jYe;4n9
z>+x@!1H-FJ<aWGkiyw8bu`%9<tJ2E}K1j%Ceb#BuR5~R5pn(z!UmUxmM5IuejO8b3
znKDA3impjwdGszZ^1mJZRpKQsTLZiaU7;r(3Qlg&K`&<<=GaQVn>vM!ti{-=2199q
zbqYtJb>~xiL2*xf{wW_l^uK>nG)fO*pJqiiz{J?2Q=-I90T2ud=0`g;7h{Nh585Ze
z6@%t8=K-po9GJpgga2mKX1%f#c#!CLo1M>@T4&yd->ufDzAb@*Cin}{{Ck?(U`e)3
zYp`uuwHbr}{#>W+n{H?3^KFmm14rSM^F9)At4WKiM-Pr$OWQpk#Y}&t-;Up2mp(W_
zL%U)1GU^~aTbPn<7@Ko;2;D1yVj$Ev;WX3F7;J-Q7$}<$()uKIa>_M%!|owrQ0H*)
z?7q7ET&z_)xEz$jo#zC5(B*8*F@6v%br+z5@WQfBgkzNjVUX@%BxI97$EeXtfI?}U
zWaa)!mMvf*+EeC`?J9o;JbsL9`A;y*Q?XAOZ>i{qk0B?KavWwSI*(HVAxdz+v}{$w
zbKj2!*~n#zX;fX?l+0aTl1O26fu>TSc<8(A4s<`+zF^4gC>y`}d)HcFz^mZ?UCDaX
zU<1bz_msNML6>?3fg<mpF}MMfgV82Hs4cnFVz=+hXVR5i!CHUZ9c^N#*=i~L-{rDM
zJHPZd<>?{YjU{%4PB&<WpTh7rRfx1J({=$1{S0oE?pw~oa)Nd@lBN2{Z9l805wv6f
zs1XHsA~o}B?}d7f$j`JgO2PmjQq1wG%q>!+JHculrSk*y09$g-TlTMzVb0n2wOi%n
z7dzDS=?6>XzKws0tP4lFNeuye`f8r8(S~5~w|%9KHingM$O3kpi_|zb(8cw~@(n@#
zc{WmGBOn<`c}SQ0xGNWkPHMSX@{KU{3mZ?51mfPa3zrnEPoU5I`!-)2lJW^ZB}YB2
zMGp_EKEDNX2P`11Ee2RRD~eG1{0bZ^#3$;XwqZ_6WUPP8){1Plm3f@<MEC<|uO>69
zf>UOA3KXi>rFa2>)I4jkP`9?&k;`G9N2cB)hnCZT%ntr|?cdo0Rv;IYr{SuAoZL$l
z_}!w(3}8H8Y}k?e(al%MGz6*f!Hu7rrVn$28LTQhj_0)f+2$#$FcPb1IPZZjE90w^
zG;vR~l@fn54ZMr`GE|Q#K&C+&@>+C0La@8xSatoWj-;vCuridx>jb3|V{%90_I9yx
zji4I2Hcr}Qucg0RDX=MU=-?<1Jt(7Jse(HUVyuWrhtmL6AEU@GiX}4m<mZUb(G7cM
zP|jTKKGez*ULF=x&z>^z%c?4jbS>Fxa|UpHQp#RLRh%aWT>HfELud<ot$i%Ej_h^o
zkp?{oyFk|FpCHK#_m@jlpCs262y_64{->PIS~93pVuv>hKe@aDP@tU6&WRDavE^fc
zEnM=F^8n#pMi$Qj9mypPLNO9*Dwi$@1SEex>C)Y)+ZXGi!2|Budr*{_Vd3d{g^i2@
z`kFp$HM!3$K(wUhLTnf1oTb=9p_(t=VDA8FkP6=ICoxz%VK?$XyqJ8-u5*L8?$iZO
zJS8=i+1%qya(dv+hG;4h`AiI0N2rJV!F9yMt^k=$JoC_+ko(F=hSopMiY9!q^eBIa
zUQmDWg$;as)LrFq!|~hBk&y$*yYt_3J33O|O57^!__i37V?)Ry!p^?AE>MJC+9D1G
zrOPpS&8H`C9sw1+U6CiV&pIe=oYFln)>x_9Q<JulDq5lThc`7dJb1vWO<iv<=2O29
zTq9IpdPVAhpj@zVS0>Pf{0>h5um^uVn;oi?_<wldAvojoe3Z98cGi<=72f}{8;#|>
zzx0R>murJCcN=J9E`oO*c&8ZPmTT+eQ2}@unI!ji+uLofZD$TL2xVW)=CYHj-|^1w
zvEcpN5O1BvluVhB_$oAXXKdpko*|8ik&NfQHgy9z4y9=F`ISuW!(VS4-*10czjEm!
zg}4Po#Q?3xLEm5s1c8}Ho$aJ-kE&A-4{MiEy{za2ouW@*cI6`a2V)MdVKKGwqk~jX
zs1D|9?#6(tWmw4!-nKv!7T}PyMA5uoIE#)3>t8j=51Y?dZ2x*~0I?z-F!az)m`br=
zyJ`XlNA-EygV9Iq!OkG;7N~z8x@~B{d+e@Zq09lH<|xMsm;xD=Ao8WJvNK$fNoiGI
zX0x*`C=@=<92d$TexRw=akczuBUt+MQzgZs(-G29VYFj(cY(tu1Li?Nd|l*q82eB>
z4Q++#c144ZYYQQ!muf2AJ1Lo<iYQ(TA5HvH!}^`En*i^5EbT%P`m%q?A-wI)Ow;;Q
zElY%+Ppwoz>oI~rU8ei<*>kPNc;x7=k$)J{kb6xk0|ZZ*+Zbs)ggjQGTM?B*!uYz%
zsT}!=HaFyeUo3pwZ_?>S5#25Ke^;*ZNuvV0Hg9{nVm6)nldgJ8DVttcDZZH({kZbX
zOATsOkVV*umi0i3+YWy|D(Rep!vyDkFH=DvB|!y!E#BQ}2Lb-@M>c9878EgZf=bi3
zfY$Cet8e!GB+Yk_h`Fb~iJvV#fgf-)3a_l<E+Wqj6AI!Sg5s`Jpsc*>xD+%BRRzsW
zxg0+XFg}LgXcq7BYJxudx1M$NT)9q{qz1{`j;O+qIkt#%MjU^#dW(18e%rT)sTuyo
z7Z37~4g{zJ)R@FsAp?P^MMxCvt^ggAe#3iDv6)fHe$J>wvX9|`xt=k{S*0T>a0}f(
za;$#^g3UU`bV>szrpWN8D(Hd2NV}ma1qO?4AeL`qOgP|cb8ZsIKj*0R6Hzp_#ILR;
zu!OuB1o6w<?Hphi%$sO9*LjCd>)iS`C=BWd7XB{Y$_p=Kh>%BVb%~^Y-IOwj)^%jK
z)KBm;jvzsy|K0Jn?p&t=A{oUWKFbAW8RyXuIT8k)WD$gx2-J(mfgX9=4ysyBw=}MF
zSBS%xstg1^4d%Fh*^o%l1oLG=Wto@t3<NI?ugxU6=cV1QTdZ^^370Vq1V4XOQo9_+
z79m<>D%Q5x*cu%LxBTTHQ%V|>>1$X?SzYms<KCS4N(9(UYqmmpk&REJ3@_!Lcsp?f
zMs2eWCBn_X*|dC#ZkB4+R=!mMsMahhwG!<UW;H;p<P+iO$p4a7Q3+DweZ1Rg0(o-2
zAVj=Z^fmm{Ud6VoQcIYf)7O9L1-c!cX9<_jXlr1jN5CW-oXbkq=rn!?%Zb1k)Na{_
zq^M&TRv+3uEcFDC-Mj*)<%auHT{M%<6}6UDocKU%DIYg{1>oW|nZ;2C7P-cBrCrDf
z<q?5yyTww6TM4?XC_1Of6;hBSyD#n_E*xewtd3FO6DPoY^AV4;%R-lK4g?r~zgUp?
zjDcPm;~e;+9cL1*uE5@`-Cx6FjN}}bT;w9!0MfTrASGP4gMJrp)-);RERsuNN!K=F
zKjK*=fdl{S$C;aW|C{R(Im*Vp@s%kUV3zxO<!59iDUe>t<`ZP;C~!t!>o@o5L|5gq
z51hq6VKPc9@iY=CI=9%aYg4*^M7wvJo!^o*!QeJm09<F1e_)N>;m#jJZ)OgGV4nOJ
z#>YXO{J2>yD*Y-<p7kW7G=TB!iM_KzAUSNrmBP2Y>60NX*;`RGSLTO|Bccf)=MTs?
z9*RRtgBb_Eq@WG$IKFj49pbGRNZr)0LYr{-qPM)m17LO5_;J2#d);4uVg5~5_tVN}
zT}M*beaRsu!zJfsh!TW8;zS`)(=IPS>S_<~H-E-+xp_~Nj(|(DK?jd-nx#YRhMmp5
z1J~aG#c2|<Kd1?4ZKe@whEJ@|kG~`*qzqUe`-m!nPiX%9Nh5%zsiO8R-~g!tCA7vS
zwQy+FL<&v*!SBAip}FIKu_7&HfYpS=NDB0o#w4;AdlluiL{q$IFL5)T=$XU4XZu38
zyW-j9DG7m5h<hqzI7iXDt4KIfG{x#2>Cd#zJX1FxSj4%1wa6b-f?XmQUggk4&;zge
zXD8**@JhhO)j1ziRDjW91^`5{GJ?09g;^pU>+fP<4>M-NC43Qo6kjrI(_3pu*A&JK
zt~EN;0zTA*A`Pt3J35<ri<DJ4tJ?-AIR0+#EG$}6AYN%09ig$L2^0ahp6tFsW`hnT
zM|k}*!|x<!0X;55lj{CW-MrG5A-LPrEZJ4CPdSKaKG@F?!`yu47+Rxw>Z|(2I%!bd
zzPzkJJ~EJiKDo<(yli(K(I{bXX@Y&_rA@(uaUof#k6O!)t;sPr4c4H&1jA`|J4t$!
zH`8o~v_tJN-ZB)ph=e4*WQK|jIO{Kr!|JHix0*aA7($^`6tz7u3l2W_X*OG5^Tmd+
zukf3vORz;1JGn|S8$g4N(u#1S=Xe>8o`<gD&7Sdyu0|Apw`U)-8lUCLZR}Lk^pE)W
zVegYQ)|7llu7sQDp%eaV0z+569GOo}5{bn=I4ESteodeMGj&*x<AD(ql^7nem!Oo@
z%7AMtC-913gdin3lmOruQ0*iyyyNXI(t7U}SkZ0Dw@u3ejXbw^<~J8NdA70E)HXnp
zkyn_?05y1j+>_57scBBHeQ0qr9$c{K-6q^tZ&z1M`!dZ%1$<j)1hj(XLc7JM<Uq?+
zLMh{`V?`bA<tIMxM6(?oXp3~^tGh~~9Y*;6sw3UL`tg@HO?_SYC`rSX@cZX%Tn+fb
z3dN=o9&VNL5QER}z^nVrU`Enb;DBOHe-j~hs-%{G7r}R}Qs{ijOG%j~LT!{-4eQ+!
zdIDd43pfs;?aX=N8Mz#*@R(&yerghweb!P)QZns2vnmY-G5VAJLxK~U5rg%R;0P5}
zLp{xZ!t;Vbu(eT~BX-q`pBR!{HE0`H){<wrje;`ow-R6p+Da||aeXIpIc=L3_29t(
zi9mM0#Fd_Ce_nj_0d(|_7d|tXYN>Mj<<;{;Wsp#|zf@>f&DNzOVb1c5Y&{v>*-F+Z
z<JL90ni%-7UuPpDUc6(N^wNcGb}e+u{hrvr349$)zF}t{@tIt-m#gH=zPFD>jd<5X
za8(MF=n+u~uMpGsE2YLD9PNEBNZ@KRKwM}#MZ>XKf2rSxV|s*ziPn9mFIbC($5cOy
z!gibCh*WYWc%_O?h7hjFkPSH;nRIk1qJs`o$*+n=HXs_n4VU07L%+-gkmlzeX~Uor
z696u#yReV1L<iI7nPWHwJNo4*5Dx34(kSN{4^80LkXl?Eb{9!8EIW3fyfwG=x3pLs
zXpMqie^ifDKYeUfYd+7-v&sQMmj{_9x)QMP6)`V^xNt%1oQR$PZmb=eBKDJdDDVBL
z-=g2*uAkhf=eIYdc}7v=pB+Wz^lQ5-VCFScTomj%)D?)CP4+I?&#3zZ?GmB1XIX~Y
zEwn;IeRF)VAt%Pjz?|wtvL8<YH>W&f+kLoQf2CQq?pfVvosZa0q_E$v1Ej_<>~l6g
zGYMVYzS=yh&ZZ3fiTMR638iK4eayFqyS+#Aox$+vy(wqqP2)4R!%J{XJ40Hr-d?;(
z!^2Mc(EDYQSw@seWm+_{z|RN#WKQFo_x66Z2NtotW^XxEhX@5&hMh{XcZzJq2SE2q
zf9qP8=$*&j#>(DkWjl@n9B^4+KZH=uOhGKx=~0F8e`jddD@PD+X^xiOxmEHYKLePH
zxI2@NE)SJ1ma)Q!C0Qh;eHWyVkH$i*gQCFBbJ7z`KuI*%T)cn*NgdB%y?MN9WTFvj
z>(twJtif~zLpJ@YqpR!d6Xt2JIq)a_e-e3PSC>OxR@_YqD)EQNQlC@W(sq`6)+;A?
zP$w+#m6`tB)lKFm^VR|%B{43uZgFe@HR2eA$yA`8dTi%9QykjNL+Y8vUGG)Es<LtU
zW>F-#0KxJ?Vfq43ltG=td<dq1`w1~*F%1j+ErUT08Eh#s%XDcamRLiOVKa3^e<##+
zn^MJt-MQIE)0)?O_ui3YB}tC$(J{vuY|EE(I17SX#7bo>fKaZbWgKk~oT-VfTqP?#
z^n&BC!bY>X$s+sqr&)$7I<j{T{dO+_<Ne|wJ2c<1i7j##G=>N)?P!C1@t@$RW{{`z
z^PYCRjY*x4^lSjn0kWdAd(Khdf3R*yH`j6%=Xy~-SBBHHTFD4UTf6+V8+Fdj%Ggdm
z>bv7Ny<r_rCQyL^NZ=L&;lO=+8U?%@wo?jK3FNjUUDh5Xs@=3DO^4dw{<+D`bO0em
zs$Q>hPZ{2um<cs9^S1_C7F2cI)pcpq2Kzx3ufvD_C2nj}e{j8#8AvAce-|?YWL9G<
zvabXNlN>4=HvEE6DAN5WHl&jrlk_e(7nxO=>V<X4yPZB;rU+kH=uiPHh-w2-l!?P;
zE9*4*6?t0atlEQmfwox6pUV?8nl5&)OgES~MIU~J(O2)wO-U|el@hO0E+cq-DfIe7
zw`sL#z-yU#K5631w-&=xfASZ`NLB9w4#JWUb_ITI9y8hMcX`6#Rn7McO0i)k`#d%l
z_D@I=s65t5M#qhI_SXY;NKp|IWWR2+YAk-XMWZ|ypB0GWY^uRDkbW^}jcT@^UulHe
zeD#QAPZ*{YN@h*k&a%c8Og!<n{8OYN%GV@}{Gxq1<X`$${+)6(fAjj)HkbW;0z5=h
zbjkcp1n?9P?fD7EjQ*=!KF3BS`bM3STX{?zzi;q=EVdt$^k8qQ!Q4kb!n+2s7L{G(
zU3bm$AM_0vQQ(VT$B2nc*u_gxI#I;32dj{^jclN@Hln-7n@Cw>BqXu=c9ercqN}34
zz{_WvUg+s8SRoiIe_!G^51}7b3iLnZSydNr{CzlGF;>2&Yhg~32(hV{@#-VVq9^0a
zUl7wa6<o+ljBF@L7eA23+Kl9vA{}G=>;B}(Xex`*CVBn5)iBFI&@d#JSRgV_yz{9o
z%vlP7G8=IF!OY1fya(>Zn#q6qL-_oh<_^GY`!BHI2S41<f5XJa<Kofxo!av6<r5RS
z{F(Hgx-T7LoxCaU0e4Tya4@<eQNv+#E~9!qvZ0fNsE;F+T)G-AJcbreqD1m9Cou3w
z4KyM|R9f-Nkn9}R^S0PfT|1ayc%|W5IjV2;+pF_T(3yQ4!h6TGkm6-iGNT4Hh;2AU
zg9U40*(KXhf6`nJWCZUdm!#vbO~gZhD=cU|Z(iNkv5N&dQAk#CPmjM|lDHuf?C$9X
zvHfnkR3wPwcrktO{Wym;2Lc2)K2&uHHhV4FHQXZI5j4r?yA3MF<477uq{ztX2b|c`
z!@!pNC2M?4m+JNlJ`Q%Idyx1`>mqV4JkPJmoexS4e}5`<_!ZGnCS2DQyRi;W>pQ=T
z9reOCyZu#hZoxIAneS$p`UiAPzf#P7*!9qA2>7SpTjn%1kUcy;GTn|zL}Js($_E!~
zbw7`SK6Tm15O22V<_pr^SN0z##nb?cjtSPSF&y2A&zvr4U$uYZ|Ni3&j-+LuLsXeS
z5P*E-f7IuY+OM8udf@3xLKMP{g{d9Qg4KE9dCdkETVUf}IzIULCPQ7lf6Si2#a|HP
z07=)Iw9uW-RkiwqPJCiP62@#3qKtJTGp4?Amonz}$L4MUJGV$)8MA$cgH0EzTL86#
zukgLUsjvFX-K_i3KS2EGZ4|;0u~`bF9oJ}9e|g$*T6o&z2QYm1w%NdpB9_)hwOUuD
zZ(Fa9QfbTwFC$Xp^mNs?dN1ipv8VrstYFWgkZ_gmjtN3qA?UeY*OSnyYDaiit?|uA
zS@*gV74OXjNGzs4uT@%lkO89vj?Nf+eR0}*kNmcGm884pSUGT)o)tVH;Y1zZx<*AA
ze>XMTH~rukJB{c1xY5Kl1^^~r_COxdhgz*I9`cp5C2t$?;-Kl<g|{|MtYv+74+3B8
zeqVWrT*mUx-JM+IYU&KhgHcpIoZ!Y@KZwB0=w;F6WgODon;q6#bOOa~?5$HE3G$Ri
ziEC+WxMK>~y}#f)98aVH*2V@;jNi?gf5~wi^Kr1&7TKxJ78-M)12jSn4`;KA0FM1J
zRrUK$3GR_{3-S<y{xFaAh^#4UQl3{mcq_khc%9jxUU@X^-9;L`s&NiXt>^(+SM!+4
z>CZ_hxFr8YtG9_#KEz3i8dPj|={jy>79?qCYALVptIV*x?ORDYg4?De$l-g>f8f;|
z&3G)Xa2ZBz$8*%gmrvcF7r}lKPYmmP)+;}eRNt(na~K|A3h4BkTzv~M5y~!94`&{g
zv|3-Yu?z&nNyHbk1>So%mXPuukmu7|K}Vav&}0yoNaR3y(f>R_fFa<5bH}$Eimven
zbEz10^0^o492{M$6ESM^4c=<}f0x~P8V@1l+?|9J#HH1``VFD~!4vk9sIB%d;_e9u
z(X(B6$x7SZx0}qvLFU#F6$I0#Iymk=74H+Y<W90b5VJ9`iEZ1afN-{?7~o_>zC#xb
z;*Jq0IT+{&;($I<A12>Nzwws8eGA}0BtrZal;H&jA2A&+k{Kxb7;<_he=mEQP|-e9
z7%`dX@2YBsb8{NAxy3f>h+yDf+qS#dB|Q7Yc&8kM&KTq1cI?{P3PF|<Z`qpfzaZ%f
z>#dn>gMJp|o4K94$~*1M&}g)9Yb~Xr(TZ7yDRBV<e1rX=nAGy*tY=FxfqAbYyy}8y
z6Vq^~zh3TUV<a~g!rm1~f8DVygfBt8^9hQGRgZELxtEv>BNz9|2{-TO$$<R&CN<Oh
z6c<$ckZ|<t;kW{3lZA}X5F+%hU#NHQ6W&Q=9KYWclhxWXmyFezFeZlfW3Fu-_pozp
zxrFx7vgx+VU($#cVDkG(tOdRx(?qIN#4UJbz*23Zh6|xFoSU|aBXjh)|HhbBAE1x#
zWBBav5N$`LMC7I&8s;AtmR0OwZ2d`|mx&$(9e-c2-w?t?&Km!d)b$1oC@{}*zW+y3
z^anY@s@%dW>G;-9Ru%0+u_Vcxr;{&3)hlG;=q9-$`}JR&zrx30JC4Wh$=_vmyQBCM
zic1R>^E?{PtVn;Kxvs9H4)3uFVkwmZ3#6|Am5Z&J#8JG`M6<0i|3?gYfTP#l$D~Y6
zQI{nj1S=G5O!1yaZ4%yp;7Fco=MqVzr4tF4WFG_~7ui18Edp4VR+Yust%=`X<@@g}
zd|*!*mz^I39z&_Pu+5oJ;-V-R1;w_|RhFBbrw>j$S1gHFa`^V=k?l}0@+mAB0#`B%
z$EgPNBi!>QZPqg(Q%8TGJo$|a7=hapE0_Ks1W14O=So+J*D90pIL$2`Ik<pdQep`g
z*#2Rftf1;urHTCILOwcd_sc+XOQy!l{CW&YdtMK!Ac*Y11QvV7jMKlt_ZSiaJX_BN
zdWBSbxLeUNrz>qdWK7*CWwUdt^mN_}B3Udj6C6!kkE;)815+|g!zZ(pV#0{gR0}U)
zY*K&l>1Bp6X&)-;OqIb>f4FJA99B=9$~gbZ&n{lG*Hpt**z#x%9lOf>rHHT+g>@hY
zQwP6DYU=m_T^{03BaF3_^2(F9TMWu<gdp_tssrmGiDUsbTse#Kw6vnxWKAb*l^_*X
z?zGizGE?u8u8PVsQD#Rj*Dcz=o$^bO%o`fCA$_^<-pPvRz%~Vm;J^3bn!WWkM5v^M
z*_U1+1RZ~W^QWJbIgh(vW^{h_Mv#Hhi@@FJ%rJnPzx9(UATo0ae^GP8rshy2SPy3t
zBRVQcs=`_5+iw)JU!A+zC3sMjXN%y!nRmgOX(y{^mXt@}y}MPK!Ub6ZQjueAt3<#O
zil`gH25R|g%40JT05p2eG+C0c%C$fzT5tj(+ogXP0mr+u1WK$T8;V|DMjHx$)Vp?4
zdz*34Lm_K#&3`s)z5i~=Ov0saa6bM(5O$Y$5=l1J`{eLOI-^Y>Vf^0Uh{(H~)a|6m
z<-qf)4xNs23bHlRu`drPWNwq-rXoNkGRVB<zN^U!Onh@}B}!AU`4cw|$X>a@TbJ7s
zJVt-@2Y(9i*JqNO1)bqFdj0_L7Xg1nHXulRlfILKCuzysm^dLh9_?K06e2X{+$w;~
zr@G)L+jU&TM<PnSHLMJFvnQFKZPKF>aF?4&=dJy<eL8eZsbmgPb3owwI6{X@aUVKV
z;D(24FbN-6DFh<AM@vzN34y}{w=i;NpW=V3mm8v}W)%q_z;-DN@2xbbx=Z{u+Rs6J
z$PbXiV5AX+Jql>P9|{$0Ek|yRJXJywQ?S_po&qMFd`K{Sj10?Rq&T9D=E!a|JCcQ_
zQ3r3vXvl|MzT1>Sy_aH3rW_8-@MgTON62Y@oO5w-0;2|xXTkZNy3*ka6e=xMl%IbM
z)a#XReLPAuwVC{tjw0`5m!1f9nM_-VJbeUma+~dLo1cI(KwB5&WAw7!fsak-_*~J&
zj({z#N_6oGIrc~5ifgqW)Wv1~9J^CA!Hj-yF}yB_9mmJ_OmT<_pG<@s6KNO2O%zII
z-#X%*)I1x@NHAQSmbY`iW_>c=%mtVBBLpNDc9*u74nld34JJrB8UtPr88tL?q;wLO
zF(d>qRywyN15{U2iDBs)#;L4l4~$5{AilP2j4OXrcf{ho&5-HTg_KA-a54hn<T;jk
zZh@`UX6{f4LI&9D<7Iq)n_!24{~z5l6anB=ZgH!QUR(nD<e$u!w<H88e}oi{(%C?I
z|EEolIEMc7&=n_ZtdnBgM~>GF`YoG({l^F7l&j<tC3<cUu`&wIs+9cB#*z9{8CwEJ
zA4mn?@Zp&O-*g|TgfDPQwP_MeoMYZcA3DNsiJDvE>B1SocY10cr(u3e1=Ve!&*)e&
z(ULt6?G1bd7Sar~A=-I?f91r|Z6j1hJ6PDv2ui^#5}YEw77=Jzk}8cq11MS1XSRaG
zMXVJT*<aB#B2r+?CN;9KH@*Az$K^<QAat214iRIeT5}E5Md_>ap!P*BD~n;-?K3Vn
z#S}UPRAqK4-zq{PKDff{iOO#Z=AEOtcfwiF67lz;`+IZ=QPGEAf4%v&vALq<FQ9wT
z^T5r_Y{{6ziZXkJnUcc|Vm`Mb?YR8uOHAR`4#o<G;Z5;Q-g86X0%9uqqE7lJ{Ike$
zhVTv&8U7WQ3PzZ2gOoEPAdm*2J=!&1&9+Dw3<pzD(NQiv&986o6}|wc3LgZ?8gpQ*
z?6grfkIsM+m9=7@fBf3!lR*5zaMnhm2~9vm#^DPuR`-WKdLK-e<;FfU$=@h)I2GY_
z@*(WBL`g3W^MQo%y{6X}_L033RnjOlJ~Ch|`FI&CGi7@gn9vwcDsl_fZ7IBQ@3i_G
zFSLy)AqQNp!nX;GQBt*@^DbMky|cGIm}U0xx_gn4%3%US6Yty*FP@VKb0k)k^bztN
zVVShQm+mG6B!6*h(Hczf10IS*=&ma;m&uAU-oPJ{)HLvvix^VD*IMYo_os&k)U%HY
zFE6&HhnDy?jB6@LD`c^-9YRP}A9yhKpC+XoDgE`817++Y<KEO{P8ajT+Jfj*A9?Io
zZTL!!#H28P<Pt#4RIF~q5V&%02&UIq4a>o#=4#%w8GmZpsBqmXt%L~r!l`f!Gj-A6
zQ%~28M+-)lg3dzI_wv+y*r6ge44<8dGZaMy?f8KlhdM7-1s3{HOX)pG99K4rj&_6#
z0t1ejO5AjfOYg{tSaYY&JqeMri4A=|vKxq(Ih2m)MF^?6_rk44#e_Ur5FKt+L7fZx
z0%k|nBY)))aaqgQW&c&28f!!@wKff7S^7PajCB!-FzKv$bnA^ifoH_MEJ*J%X9k-Z
zsu_d5mo&nj(mxE8(}o=)!ql5f1oRceharrPZNr{B+pX%v$QITc@pU2;mp&b>??c=(
zgz^u?kwF$uU)I6U1|ZR2OjL*k6M?16bzo+6Fn=~bhMPc5V<?i?swKuiAO)E~n#i91
z6}rPaFy0@}oKKx@PXue|142S6bHhF1u2|qrrnML44#T~76M-~EwY;oTy}-V$*AQKT
zSvH8iRz(UXS9U^i)=)FVC3<-VEtrX4F`i7(Q<Rrdb$8rM%z;35KGNwt&vvn}Cwcms
z?0<P97eU^L359%<pmPpQ-4(&o1G5Lx^6+C$w35eX+nrq(&G*FkYw6$-?aHqe5@VAN
zpsi4L4c|^I{5-KhvrC3{M-6rGbYlQ9hgvk-&~nQEIFYMwGNR8nCDR(In9Q45^Rf%G
zZBm7Fy_3Ax+QP)IA5y`{s+x5B9g!^us(;_ok^jk6pHVPC2v$Y6Ep&KDw7JrocU4RP
z2&HhPud?v?+hhh+54X=QAffdXv=d?L)h9=Op+ctPMK?vR(TDil8gPrdP`nYSrt&Rk
zizOoILx#E(a1ka?XE#NpFyEB+z2tU_Tg)?G*tYsWO*~ldS1hHwxJDaDnJPkc(OEC1
zr5)ljYO~9})?^u&wnqMA%f@jnw+*P_n7sY(@3Qacqt4TVp_q$}zvMgO+)GyFh1C(&
zCUhW=L!DdxMr6Hqk^I$=DKZ8@3)M~Sc3Y#R$(eLxCCd4iWhw+FD4Jk<gpL4&6L7vJ
zjK3dSGT^D%!MVwk%;1hK<>(T+#O3>LdCf7K;g_>21T_!FmHL!4DA*zOq88G|N-UT6
zDg+)N%HS`AIv0N5HYpUdqNY+OeX~z$sujJi(-{kj;7rR_mo+N{EPpBDQS(H-qhdjN
zh+W58B-?2Us~G3c8k@s2!riQUp`OFgN+9AoIj<w|j@}gOtgg-zM5_m~%$ofB!g{ai
z)snNopL#LFm6l@Jg-SxlcVp0nuqbV^?4peM7Xk5%3#Nez%SGzdm9nO{I2J@CdQEB4
zHj&q_*Y4j(o$D_o27ia0fcA~4ZU%?O4C&p2-k`*tjxHehDu)d;u*O_L<mNyMp+~5u
z#%V2BZ4ecR82BP1!M2Pu%vJGgY+vl2qBvuP2(zh=0Dji>wDfUA8P@frkfm_rs1-bM
zwOFB?bFO4}xM2xgq-%W82DWN&9}zksF+7czriP6V79^23H-GIzzH9rig_a~MW2KJm
zbV|OhUORd5;dzo0|7H%E+qQl<?APW=TKJYZr=qrX6A!#hda?i$ZWssg)MypNFldMb
z>n<xfOZp#-id?;+D8&6;bH8uc?wJ~yR>rzL=Pc}Qhuu$Q$hb-QBrMTLJE3=q&1hYo
zrJ{GRmC3@rJAVq2{{<8}jZxUdsR`dg)jJS-*B+ultS<p?JhclJOxx~U_z+0LGq84B
zWD|X(XSHRQjTfb>`&pBvA-~aEINAGVfeY;myt>zXyLq@n>q@*?ZR<b?^HOKy^g3#Z
zW4s?2pA35XKB19#5K+7j1W_6xPj^i9S<twje6~zUbAK4S+VnDT7Me1XcVS@FJt`s}
zXzyZ!%3!d`o}kYG=~-6r^jmVR4!3AGL8gQUoM^vggpu4G0_0>YJy0m+<uGw^o3@a}
zumj@S1xzT&_n8=5cbh<+ez)wCf3n`DK&|x>1>5MM-mp5pS5z;P8J;8mtIwZ0=<(6N
z*Ybf3Uw`smer>*GTkf}z8~955DqD;1z0qavtWA>rk-*Q5N3W>WgfSB_Qz6CzXjenb
zTEQ3K+qniu6d7nQ1o82b8}1LbudVR|mGI5Z;1!v@HFM+4K#s-$#m{MbDK$E|+L!3E
zr%3LacA-V)Vq;gY9-neif^6y~`wp<-pY;4~`hU}T6|Ta#DMFEbMS-v}Ne@Lg(kkCS
zXqOTpS^7@K8+VrR&J6cXiJ#zubOcbTmE%K$1<Ok&!tY*w=juzm*-)x|8R6NTPF52-
zq|0)FnaQ=t@FKYmAf@BuC$^Mj*uVrA9~dQ`#na#W$c|U8Q$KanMOE63%JpMN)2Eyn
z)PJ{1zH+;0FW9Uawl`YXZ}<am%@sn#?a^%-YfqPNnFjB79l@!(K7z1+#D;Icem^+Y
zB|A@)ci|Kk!$YLL4%KjqRvJnL`gTZRI?Do|r?3|lD3D6}>GDB&!U-|oKkgIMPU*u`
zz=K-mnwbPEkEmd?wTkj+BRTeK%6FRR9Dix2vgrmcfyBq*jo75bvZT&wq0}tbw7cr_
zWo1~er=R?=G+TzbMo0s@w^61?O7y8c_snbCxlA?!U~ng!UGX_ds{Iu=QBZ0Id|0#t
z`xw~p(8h*t&%j~{#<E-XWfZaa=loHMgDhsH(cYSR&`Xe6HSvq5plyr3N6g%p;C~Po
zglFUm65ml+ZVgvL)!`A3Ut8&_Z_K`quu1Ve`s06Q-B&TH4(0tGzl$}U9DqCIG#SSW
zz&Dc8%#B{WCC5EMM2AAHXBK+QUS|3j&^4{O!>A*Lw7s!$rONnn5b+&6)@+4?Bn_K3
zyR$R*UmG8V>dv#iJN+>6D@{xZ+kbdgDZX8gcn80GIJ+%33<LE7zeA!8_xFCms{4Pl
zFi&3Z0xk4ewI_9c7mfqJKfHm9`+t7Uo=v^sKJq7iM}Hrh-$jcne)UTx@(=Iue<UAX
z5nk_jey-*f9|W(ee%_eB-(Bzf1MFpA?|xtM(SOG41^<;@{d}<h5q-EyaDSF*viN=g
ztP$?HV+)QN_W#s=`F}DF=j*egX|sF-Xm?ftf!bS**gqdDoVJZ$?ccA}b>4YDAK_o^
zfZzJFx#Gz{KVP`3WVk&Sy^k}k$u73D{^8%CJl?N_d<}tw-?#jo=boo$nD=^m@vlPR
z-%Sxk%P)tW{Haxbc<L7utbeDkHA3H{+M`EH<#fdZL;2seiLU^^*UP)#r(Yl?SxBg8
z#LEZ&Lm(hZ2H^i@P%tzgC@3f(&xlxAp#M=6|Fx%;qn){kqnWp=o3Wd@E2E^jn-B|=
zki5CEtGkQ2y}5%MgR6(-in^g=4ii$~UU|cIh6aq0Xh9(e&5bc4YJUoa{U;C^*5S(j
zG#Bwr`Q8R_c8hYk&Bidw=<E3S&bz1J;c>toREufVQIkBgJG4ZN{$z5ydrY9;?=juI
zf4W;Y4xnfG3Jo$zRtk+BUcz?ls#W1(C=Rr%gS`&l@>{Y~ky#i_Sx_Q40XfyG8?C-|
zciY=w@6~~@LuDmT5r67|=oQJO9ka)u3sdTd>*bnZHW^1<FAA-_$sEgFXA&~~u#`#z
zvG@XRM#at)zZD&6$fG9BoEuzNppAxu`ZmBGc2wa@kQ|aP{XVLJTr<S+ue@<G!6m^f
z5$9;km87oY^;rk6B@B>PE6rwIa+S2Rs@3T0nw!MF?HVqXMSoQR%c$Xi1a}Zu%zz{}
zwnj+aY`*=th7L`nIy#jou0gt&dwOckWz)#t<7(=`!U*P&qih7gca|t=>R$X%%_={&
z#nGe%eoC;<L_o;0M)Vb}?&0ZNkUsLKH$OgkyS=vs7yO!>e1I)90?Fu)?f!+V&6}hA
zq0=Vju#-q?q<;m58HNGO=Q)_K&?;wfU#=O@$pAmpeIM+LRmisua;kG9-ll-WiO4p<
z@`w9YVaO0`8{rDPQ+ATtyVCdu?_`i_+GZ!kgkv|HggkI~_eA3=HYKA^+5iXfc*U+>
z66DW!FNqMj?v0xGF!(yRA&a_I2i!d8gy6Nu7j(STq<__=q_K8Uwg_BbKnLvU9M&JF
zEC!d=)v^bxTZktk;J`O(kGwdEZTEQ;z9!`wQya(xVa{OO!)w<4Qr>5EkL~9)FN(db
z5-7zz8qU92qe#p?g`bTJ_7h1qq`Tuu_rHfx{0+E2OPZ@c`yO)wUl9KnZ2k^-m~apv
zAPXp<|9=H+;{QL`a@O|NZm$22X-#{_O(vwDK11V9L!D@{Hc^mDs5Bnye3i<@HbSH*
z;CgT4cyH^#?^z0kLLwctwpJp)7w5OxIsQ)8&>Z)qV)BgEiho$D8Ac;h&S}vuI7j({
zecb+jta!^))H=~}GbY!O48+D-Xjn5HnX_ttNPjbwQN(px(fr(XYfa^lgj2;QUYS8K
z&GC=2RGw_-bZa$k|9R4K1F(okLVIyjuG|^^MT$nS#gNST#YTowXGifRIBTcj73)l1
z29JBCmLEZOyJZ_ubF{_l9UBd0^wc!fu!nrVapjJ8{PaqZ?=AdRf$cMg<R6cnaACSy
z=6_wva|X1VR-9gFRY)GqjWy%vF5v+6$dsA$SDGOok*KTGFj_|rZ2i&Pm-7|Y{&Qy(
zhXS+!vnL5{EfJE3kZ(UZUX_fHFK4tEb^s5#>&7+lRziUAEPdMw3oP(FwD)qMG{%E)
zRa9ar9)?ofs#2Xlo##QD>F}~UXifYy1%G?Af9c-A5aoSyCZQ3_!kd^aLdBrlt9=3@
z_Gd%j`k9=0y^-%+wCOfhjSE-?Bo}%SdN$mzBf-xsh_hH?Z)3zHDM0~L;45rE@)zjU
z3et1N>N^OabD;|KR~vXUMJYjNneih4qqLaf+Fof^jX4N6l175I0Ep6q&vdk)n}3{?
zETVBPB-qzdHt(PAM_mlF4wbvd?xLwRly;;_F4XASzti1__KZ(ybsEcL43bE95(&LB
zm@dW-ge}g!)kA0nsc8MG@ogkA4C~!<4f&@V0a2rcMP;&{zu6x69rx=(q8?UrH{fMU
z25U(0T65&}oq9uzL`a0!5wGg>Zhv&3ig(U`L3j8O<|Dx3O5|T^mp_)Q=D*$8j0jU9
zjQ2f2^BpqxS=%K)zco9Y-qBw&)B|)&S-O2-Nkeu#Bnk^&lnyybO}k=)n{tDG*aX1x
zV-Zs&ay(uh-h>V?2;aZUSXyFD{W?$`X<!copxuW2X?^4$YnLyVwC?M4XMcW;2TwWP
zfvx8~Kl!%^ufM3E7Xi3Z1LwEkQ}8@K^Pb7~quZ1|4svZ}V~1oK=R==aT7`<x`Tah=
ztb}jA{9lid|JS`L{tz&FP#~Z)#Q)7b{Qv2myrY@99iyzZgSox2o3-ix^RA^^Gi7)^
zjp9v{#>SuwG<jdYUIz6(;(s1U7|HQ|*Z1o~JYCHOVCQIOCx*y60ZZa&;CjoQKWX*@
z2+Y<0oXVS#Wq<DfhWQ2m0A$oCMzmbU?gjY!9_CjX{;uu)bX|`!N~YDFIQAFK8(P5(
zcHOQS{;Q$+2N2xZtiCpid}=o=G%PSQ!us+4`Iusr?EiYP?W{ZM4}aZv#tY=0?}u{*
zCP4xVp4<ODf4sBQ1<VAlAeUL=e0_KK|J>A%GJ3DH^?z?7`oCN;PVpehziibz<C4!1
zI{tnotO%t1K7T*;v?^xU&3zEd|887hGs+e{v>Rqv$DUpb?$k$KLQ8#pNqv5%O6$f2
z5)|hP{|emo*BN6Kmw)Kg@11>`^8a>q3H~+@qwcxKe~=TN-nJWdTjf?i1r7y<<kjyP
z{@!F=Tc#T>?ggymzxG=xg8f<rfK&+wvduHT2KILI%dQ&#xTc@YjS6Cb{I{;rLwkRj
zcHh@cy`XPn07Ye<cEE1IFV9telHfPCH$~WaVB6di=1u3X<bUUOe<0ywLQ>vTKjL>j
zNbAha?-yZz!mnfC$W@?Fzu-^f{V&v%Va0D76-l7Tk1CpR)EDZ@E0D=AisW@Zyx7lm
z@>c@vbw6X%`tQMn$uIK8*X#H%f%e<4mfmk(u3|?)AT;5#<kMbe?sEUEj7XqJ00r4(
zU>nop^xO7tu{(IdZy<BY&&_Xl_HS1EFR$CkR@V>az=FCh$M4h6-QDJ;b-*Y3dte0q
z52Ml5?>FAh{{aC&{=ZC6f4BWP1pYq;00uz$zl65|dISYP1^@;?`M+?t47vmbKn4I8
zK<K|(w-@>Z94!KOhPO2*1^5yM00}_$zf-p}It2(o1^@{__P^w}L3#xUKn4H_K=!}g
zw@<nS2tWn^0YLu0zNcOK1waM>2|)J0u(xA61_(d~02e^$zq+?^dIq-+0(geEDv1VN
zF$MquK>ok9r;WM>Kn4I4K<vMQx0Ct?5<mt3|33i0`?sq)2mU{QeAi=eE=;#3;5gZ_
zZQHhYY}>YN+je$r+qRP(+qUz}`<^p%W~!#@>#DBm)jzxIzG^MmNUBYZzsJHMyv<l(
zk+^ULw7W;rX{h(s2fK^6TcbUjF`wK<k8PVAXNV;7K6jySGJ!6D?wi+Aw`B&D7jlM;
zO%0b240M;LEB^X_t<er{Y+QiqIA>W({(uKq4y2#HT>VHFHenpRnFjtO1j-C@+jJJs
zki!0S)^-_(1hQZ@18z5S5I311Jo-OVd&~!LtOY-95w<dg^mm`#g(wiZA>oE@BnQw%
zYXRa>xNXOH$AXQj$zN(E*<frDO)9y$$v>yFoO7=njd-Acw?(o&Jf%OynoPN|FI`%v
z=_`!`nbSmK*y_rHxcOpRvtzWBqT2>ZFh($uOqSbZ!Ndk~@f&Q5!C`Z3D2Pva$l^D0
zzn02x!8%5BSPh%=D>Dnj<w237e0HkGOnhlWL9H{HoVmzutZz}eNC2Y0<kau&l}U@W
zA|Z4nV1^NYaE~V1_E#9CKWK#+2{Y`N+w+x2K5^&wQEbXl7^H$q&o<Q2IE9qO>sqAk
zZ{^i==0uVo_1jU8z?Tjzj~{o$wReQmr5ksKdI3NYXS}MNf(vJD;l127;TVHK$PNDW
zyBRz!4e#z-L>?{~%+k3?C$gPHT*@}R2ZoF=;#XmRz`iliS2b&w#)YD%J4NPPA;;zw
zEqjIzYiKN^Lp!5kb6Icg(1=z&qRCteAJb0VYWLUW9F2y{cy1glZ)5bp!v{zMu8FMF
z9-Mgk*z46C9eeA9LEw&Pmo(t0QKGodNlPYKcVc>?9tVW7oyeiOCk7AeW#6&dcQc}`
z%))qoYZ<+tOMOQepwnhwQ9qWb-^|Z%>b)1^Nq(2eeH9%;FII)%znf`}_U|$iNTcii
zG=ZX0mlP0!f8Wg1%2H+`qFOe^@w|;j7?~0ez0N*aI}jjl<gfg-kGvC;C>!}34Am*&
z*CwB2Q4b~6(-jBs`usgPfM5HU8Nt4K;51NwxSO@CE#oBk1$_8k2lyi5t9T=p{6{ZB
zvUvZge+X$=!jKQSi%Nq!>5d)@{9|ES(l5Sg2j0O?tR?mdo!a|=QfR;Gt3X|B#`611
zC!A5S&n-mub;_d6JaMvx@}c)JJsQG>m7+HB9wE}~fIO*@xt7rfA>FvC>yldl3PEXq
zp>*;-`SDj4UxV0JFNO*;qYvF6qrVINqeOo;_3@Zrke)2bWK?oe0+1R>B*`9v<W#^F
zhxt7Mc-+-75=?G52s|9OS~-L7E-q89D+)d6@q#_9mM<=PcvH2Z&GvU|Pf`MWuSnME
z2W-}Uq5^pXcPrPKdgRx3={b8?RWFu*X&1jvhUVa?r$e7*f-kg90Sp4{W*<1iklyu_
zm_dmNGm@X@kSk>k-lOFx#xGbqC}Vgwz88=0Y|0IWEA6<<5YaGbRXzFI^(@i~xVcKV
z1cCh5=`|M5_<Xb=$V3-t%B@un0%d1IxlVwXO5Bi>&3T1e%9ANG#J7o==tC)gc&ah>
z9ud9)`83;slh390P`jyqs6#l|Q}+|%F_amzJcP!YkkO>LNExsC+*71^yga?p*lJnm
z;X89j5<!}Jb2aJ)cNpy)gJrUl#er0*{~7dd5SokM?l~aqd>ib1>TBJbV-MDQiR+_l
zUe*^kr}b`8=KNXXQNtKzYQ*|~IS7h5F&Ps{GRbM>PX^tWO-`g_j~QAaQvf9`8`^f{
zFMACzwJOpQoP*p(mpGv09?(=06>dryZulJc?05*uZ{AMP&T?3Cr_V94n-k~k?bwpe
zG+{3@CBfI`9WHF47kunE5v5T)wFmn(Ke5WQR7Hxk{f7r;%f)UYp~Y!`GRlv$qwTy>
zbKeuS2NL*btpPK?b?prazGI&3T`ub<hAf*s_bZug0*ufga2-%wO#)!geZ>hBS#+Ue
zhQM{o4opq>_<mrJo|G)DwqRte`8G}R_Oq+D7Zi0uFhqVV-7{lyYTvih&wO{xnnbb(
zYH{~ZQrEsSbme>bQup<Ll2%oCT^4ZI^(u)NqA-FMTzzvtm-31Cr(=>@kZk5%Un%&e
zy`a1}kd^u@Q>v(ZYi_2vl*BZ6$V|?D$O5m3)s2is;Tf#Lu?`b94_-{1mJIU0s%I}o
zL-BCAovBxA^+3wqC}fCodSpumq8dfHjX&&JdTBUN6g6wrZ;<|f2k5%!PBB#h1O4G5
zU0K59fG?q#D5w*kdZHUiebWHPxTc^W&~p>cCR2tmZ>p+y!UOQ6XpV^{c1`)9_xidW
z4}JXE)h}pW(UthKpAc<HJxWDm>sMzk$i8TB1bP$wANue4EGh`*j3*S2Q6fE1{XXcW
z!K~>)5O`~q8e$87JvmAL*66_nkr;D#p*Wqr<E8U@%)=G%mzcrcW}6k??`bq;e*gTD
z{L?Ls^mU0El!5*dW5LEFh>z95><sE#uEv4D2j@Qf&w2ue@S*be+}(2QO{l7{N|F9z
z@Ej?r?9IjRLob*^l~{DxqoP>y$xPa(e(vqzHxLUt&p;o4TS8LvMWFF;Ry+j6CmT%A
zPeB|CySVhNwiA|aS?2Qxw)m%Olj*5-bCIfiYfHD4=@7A{9pF*g{Z*XKc%dS<VFV&k
z^-I`ALLq2kPq1ufi~}k5sfbLfb$vZ*0=n!&#vr(*^>SF=L5cE4A=H{f3eIGt$ESN4
zdi_F8&c7gkVK(?GVt)w#5}%v4q;F11>qWy949x3^?ZKg2hWlO-38b5eyE27q5A(xy
zAEDi3o3K75MuUm{m3p%}C#@o5sAzFcyrEj0P09Ao!1TW!(tov^aUjMh`0?GvApVo`
zQXD1U1{LBSDb$!Q;D3V^y$R?8(9>OMZpOXAL|!O=oT_pJquwNWTN=Yi2?mN_{mO1i
zm~iu&ujb=DfFfTK{J}jjq{1lw3~WX3MX`=YuBg;@A3oJX(3M%r>t^JsB**9G_e@l|
zX{8m3J_aE%J!CkjZjPZOI*M#bOsM-5?ovRN&qb!RV-v<#!FgD`HLx<7Q6ITKk12pj
zBjibcV{Zs9p?Tlq^dEWiM)23!FAnLsUriW}69zqro?6LG><xhh)oum0?+1TBChY5j
zrU2px6KcO>VwRCR#eBv~Ym)X+bawo1yV4(zW7!Ul6|Q7eYy9ke+M5efd@t5`ef{`E
zFIcA-BmjHD6?9ku=Nigkvo1ZIk!oO0{)H`n6(`eOIYl^pJO5701<%gR2)K0vKC+ju
z(vP?+=mF_NFd$uTTl|b+JoHl#_bQxlDG%L3_$?mr*6e;hL%nJvnk^+P5w<l@w4iJt
zU37hc@3-YRj#hIo^Q^)#Oj+4CiAf&9>%6G`JEP~eAMz7<WS6_<lR*wr>ZQvO0w_{{
z3^iueq4lG{B)DD1o^k%vD;R!^tvnr?YdR07=agrd01agI5_SO*z^69rr<RU^RfL(E
zI;Nj}c~3neb}_oF(&twy!j-L@xcf(D?1amlF-YVHsA83+W<V~glyh8(@*JV{urcG6
zPR#O6>6jd4^o^80Sr&rW-o|`@Qvrv6BTgE1Za6NYZ137S&j1m%dabV*TZ1hyEZ`a7
z?L|)AK&J_0P{y^-A6xa8?CgB$AZU+-Tpu4<P4aIF4>)AduWnn{cw`!o;Y6#kJLnes
z&8t&KP!ZBQNS5GBnBU3f7;P#E3E@43fo+1A;DUD6iPfvuK+|2vjDaDy&nbL=b>=?m
zCX!0WZ((o%XmuT)T76hxEdud(WM6-QjVC3NLOQ0v2mI}?m!W|r{8*h9IUt`6h_L-K
zxzS`(NDsyd`Ey*ZrN|d%`K=cS<`<#Y!HX~Ym&`vWWk6eWwr0w8R?%_rf6v-v4iY>|
z%x*47e8)-eUj}aAE+b7%x+wX7#2SQoL9k@2rNP5G9#^EH2}gcY#_e-NU1EhNO5ue&
zHDle>J$@TVs0x)U!X2L6kqD&ddkOQ`XFQ6uLIaassiiJrLoI}cVr_l&OgU}5(nUi>
zfRW}>C(AzFw57%uua^K57STN+Oo;h5d<T`FJ`Bts_~$2Dk%ABXk{^(N<L&(s_fcp^
zC~ZPf_MXaiO887nOp7ve#s1S{3eG$Y6ytrjQAFgqR`8qSE!%Wi4jY%nqK_q-o6v7n
z#EV5o`{N3uP@4SC&mAttJ#|g2WAlznFo7h(J5t>o17`7QjU^cC+jlJl3D^oJ{kfvD
z=*)F$MN|su1+VPrS7!Ww&BicD^OJT>v6nwdrU8@2#}O}u#^6LQ?Qw6Gs=VNz9jU^{
z>1}Ct%CKx%0R((pJ^xn;FPh8#K9OtcXLWaeiLQ+=2evDaq#RD4O<I8ox92P7$7EVW
z@p+mKO!^Q_gB=~AR0NWgKYZprSLi|rWh6%Ty{3u_QKg6qP?}1AQ%kqb<qBK|)+-sr
z!&XYQB*aw*y#=!MCZ3)P>mlkyKS0Km67U=fUKbB}6X#r$k?*L|Y6UT-?1}s#sRX!0
zV2WYoH*8%c@)w;Kq^+ICe>w|2S-i#7dm9h|n<}~hB1|+o+6I|+<hF5=q<9(xk@tsf
zXI*w>v}+=&Hs4Wypq>H*1F8YgyWJ0Wgn|PGVxcMxa-8;~7cwr&j)t(h5~dY64Mse5
zwC-XdRf#$1?}GSVm^z0)X8rvX7xV*oBc8I=L>;C#X*KHflyG1Z`P4M?tCQS|Cpm)b
zy$l|jn-uf1mh1Mv^lbXi2I$qMzOV7Mu61Ik%9dAn&RrXSyO6x6%CKxr{MJ6|s$VZ$
z)3n!E=RVbaJ}&-9U9B9EUbm1kXT(gHo5;+buW{T~Zj@Zu$s67=CMV`O=nvw{Jrn~*
z#IQ`net~d-vj>LbEDV)FCQ;y26Itv?ABtqQAzl7}+S;d`XAVyFQD7#72;F6Nv@?ss
z(0t!vqZS)~+n<TJgux|O;IO;4Q_b!}I`V)W3twi8qb_(oGfv9KAs<017+!^eeyzbF
zUXyQE%9x4Fmk@7*6Ilz5_xQvfVu8a5)*F)4geB7q7%BBsoQMS=&hGqS<NK5M=%inw
z$u3CdA!<;mUFSdujtM5kWt(?Nn82UFL4ig*UZ8(}3XErCN=3MiE-SFEI3=MV%Ax(z
zk<d1nxPT`ShURv+)n#lVd8B_#=48l?W?vo!Yrd7QgAR+Y^;>!bL3gSq$P?rfbL>P)
z$YaXu+L^U7)Zm&B-Z;pwVGTW-duLT{!NbA51dar)p|x5aN?`=j9|{<Z198AFTh!i`
zUkqD+Kdtd@Qee|8--ByxfQ}f#NSZ)5li4K&H3K}^xV;CQzM^zl+rJY^fGoVi(3}WS
zqzUespK2s2Z4)ah+Wza5{x2Q~7M$aX&`)i1jOs9r6%pmI2*3F#Vs=A%%jaSmbFG<z
zZOX8GQ7>36(P5gzdD(2PK=eoV;E{nY=AJKqV!`qvaUN2w9)Dq!bDs4oY5($xvN61E
z8~$Ut80pQTmlkitwNbj}xsxb)frpzTcl-PB%O(6XXJNzD7=B$R87U=WZ@YvaKiY2+
zUp}c%i)Q~-(LUkZqAOc=84Q3N1viEqs;JBP6?Q!L?g&`&hL9!Gt-Vl$zXH(;4eqml
zz!KcNrShd?hMRV(#s?Tg&z2T=MgP0Asql|!?-e!~ijxGoqP%UUJ$X#&Ovn@Fqi0$5
zQVm5(t@y9%sKN8@*`6?GzeNV1iWp5nOo&FBbX|6*hxZtsNUf_Uv@c+M!DRy_9G|;4
zv8n~B6<9$uuWMYnHV$i|SD=>Of)XBonSGa)Q$#%*xd?hG6>PwRXR&7;Fl5924?hhJ
z-@8O4L~oAHu)-CBT?aQ)FL;v9D<r3w(}x}INJt;GB7=8_I6IwFl!l*&=1#usEUBR#
zP$ZrJ$*b&sT+*Rivw*K@(377V97^2}OR!yforzk=_^43V+u{<w@;R3_rGEK;*!@#J
zGOTIL$3(}xX<F7QD*R2EY`QysFLm|R-YtL5Gs^%LRPyYqPe(|i-Cz{7XvJrvit0AM
zHbU9f#WF|Q0fEab^@jG?P32Kkx?gl2H+bq4xSmTN&FW%Y`lJ0%iSwvp0$VPzKs)T$
zXVu-hH>`*2LETHBm_WEMZB8qHjCB$Cth6%YH(LhB-nYHdCdZJ#=Y2cl7+V>SNgzoU
zPXfHS6SrzqYYGh*QXuQe(lD^H?%8%9XV&6x3G!cl1{j|ReYqudr$P;qo_>kzO9k!n
z15LEAQI}xCvv<T;a;^oJPUE*{_>rQw!|+|*1H(R?qycVU6BF>}Q2b1P)45nCW5Qem
z8{xjet#DQ2#9{aQw6z*FD3LGrM!c9_KU^tt)!{W}J`)i`c<ic{wVmSX_n@redG6Lq
zLGM){@r$wSZ}3y~;&|T!bg4$9Zjj}Y6zBmSx<`J$8_0LSuwGjR5~a1)XU2Ih2H)gh
z>+XG=)V;Do1{z2dHn%~43s>FtNS%DOZa!gh&&{t|17P#QCvS?E_)CB%S6Z;rEMUS_
zn%u<IJq)_)_hDt11WU4lM^Qhl8aGc9+?9-*DFsJ3#MOL)gWn-NkKRi^nw96EZl}On
zi*luY6>Y``?9r5#SzGXYdvM~Ti#4mw2I=rEScXXgkbsCbFR5jJ)m1oup2${Ri==VL
z@HKz<6%Bn2irON(HWid+V)BHa7qvWTwzZ}?Y1e#wH$8opJeVri5sEnB`nx&lr)2SB
zkrAMh2r5i=ewX-nKRUPzDtdvLUe{{bWnMqd5>ZSdzChjz|8N_jR}7X)`r%6XSu93P
zKW1at$OkM<pwe%D{x$?D@Ns*4JB>>ddcn>ntN*afT;?22h)neP{Ieh7A*~(~joy4j
zaj(~;%&hNsMD^|KDs2j!M!>7XLW(v4rytd~GnH2T;Ru^_^SFUQGi1T>!n%iRL9oQW
zAtn54fq8Z*ddKI}ykRP!j9SL{;t)h|7cIjwUo&c+x4t%ijleogp~39(j+{nPH6tkV
z@kJabppwn6Xk#UHdQ^YPhZfp8&n65>=>8C@DBbIiM2#s6DL9z{#+_INqAqTy7!fWU
z>mxF2h2SqxEq@ulFIHp477xpX`3QdaP?FK$3p917E{8w*j^CE?+^2^^#3-KFyPbF2
z8t$%xOS=<)Ztu5ra6aEEU`2{d{^4@YwWRh?39o!hyBDn8JfE~Jk*so+PrfMW4V~(M
zbGu`5mHYtKRR(TlBq!{;<(SSL1%zMqXij`P>l;eb?@8fRV!zG$#W>#Hg$-<uoaCIa
z=@>7_A-&l-5xu`olrQ(m3@Au0sCc;yWTql%hV4Cnj2$Gkdc2Fhy~5Plc_rp=&=?gj
z1g|S~I7z(N4(m@oVc%|`tD7F9>x_GW<n7<w%jS62cNw1l=yfoMV=rVCE5XP8p1ID2
z{hRiS-+&3)YOU_{62<g4W7tMID{GvkReh*daoN;3ytav#;j1l}idwsYbbrlx9|32e
zSSba6jRk_2L%QAW@+)tr6PH4c#Bkjq#?es~6Yi=;Zf%W>xjQOP1DMgE+3%<6KS3m}
zZ>?8`4IT2xJwrZCT{-w`D=x~^&(dkY1qn&&ZcdoF@ijcT*+J%om%Tv&uPFjd?D9y;
z%pk>I$RH4?zj$^WjB?lI_hCwru*mujN_#wivPHeQcO&7?<BD_oeNw@(e0-*e*$`{>
znr3gO2A_BDtU7ZGN~RwDAwE}n!NZcokMJ5}M{gXCHx;bu%$;Z`#RH}gk&Rg}QFb%Z
z(c&P-Bf}CFR&0dnAc5F`Je!$J0L-+S5PuHG7gVw=j(mZr%wF!SoXJNv%9**GN8Lbw
zjE7PE(D~ado|+O~58qMm!6COp2Ty-bL%)LeHAEB=1kDmvlxKzmK+<5CCzzSwQJbAy
zK&M-aMx8-gL)gqGOJ4puu}1DHg>7Iq4Tz3M@oJ-?|4|E-ShUe*;TN-uif+-0>MfND
z^%{XKJ_(U^$=_1k+)r;2iem1m=4};!cx|22$_K_3WOp?-ehOi;HJ3@<k1}UD%z5$5
z50D0N)9MXwn9Z}9POKW@{{D1I;A%y*?VuN@Fg4`C-(j^QF;vk~Gg9tdVM}!35Xt|1
z4g0a)0<EiusBWHSk(WVb!3%7lp0kZe9OA@P=QY8pONFNj0};`M32&)jG8No^am(~O
z@Xa?@C4Qa&3)qd~WZ~@6T(?iI*9Te+(^*O@&i6@<nKIFv5uH{D0>t=~-k{qhV4Frh
zVj?z&)y({PU7wXzzZQp{l~89|<Z19quzt|IQU$th4@VSbAyI#9xuuN*j-EhP-!%L(
z^p#rgJA0^Z6?w`;kb@63mn5x!?7>C7LuWY$VH?%%tEMi}#l;pB1uou^(>F59bo)Du
zy#AzeSwEDDO{?F~sQpQ?W2MnhJ6^QM1`)I1SWs1OwL3+k(g8eK$mG#~2vR>9!$l1G
zM&Tf)5A&{7$<vREFr@XnjS()!_U}e0?n?9NYSi89J&y<4E67|(lCh|Nbn<EgEmX<o
zfNN`uop)S>?B7|FaMGd5W=v1bucv!w(|2)hU3CN;lNWKQLyC8^r}(Rkt$1-tg`lNF
z1K}xR=6pv(`)UsCb^;lqM)3Ljv0wRyZ7m?@%qR@R_V)sgIj@m82`xOQv+A6bpD5+t
z9{l;}Ft{s~{nPw7ri;jb>l)wHs6({f^`IvTW^O!av1zc{5>EAxWH@^HP|TOh@oz9V
z44kr!$@wlu2{({}@$YcOW~xKjwDU+RWQ2UwXi#tVAA<qD3xlI^W;(j^7^xs8x?8E}
z--b}L7bv)H>D4d9X)DvmYMp7kA|LSC>_Pf)0#2Gff38q;1*@iiW)47dOtq(?;|{F$
zW%gzi3fCfFf~igd<jU%FybvfWtF;4*qBRZen6(>!-XK3d+?U4?vjS(alX=b5>zu&1
zP}u1~(y49&(GTs=D!_NxneeqIKi@RFrV!46wY$&DGm;H>sbK7azyL!)yuWG&k>5EU
z6ONQH&4?}U?>CRp9aDY#fBKL!QmH2<+S-}1ij%~=jzo>+DGYyifG!k{(astKxM~u;
ze_2(ny8U{R#*3Q@%axoJ>Qez0(A<G8@a$c>ehI`FPIjf+=4#l=i!!Q@vhL+Pu=zu$
zUS!`mi>^aR5!~;EKQ=a53!TDn6&<!o!djgeRqPEyD9gt_UnSkre-)~w0aZibv;tBm
zIwM<@!Hx~PNzkV&dXaN%N26h9F^zfITh*tmYukTWEF@>vozV0Zquk+l_XDX^Kg+i1
zIqm}l>%~}jhl!0JEdP88XLFe-Qcbk+C=r6|pcLZ|KDt~C3}WJ!VgMBx0IwR*e|dc@
zm)>2WdyuN9ofevMe_v#AKN(8tGRca-pMnAjN2=lE14W_%yWVD(7_h;TAk;5%?F!9(
z7mGXc0Jrt`Z=T3=b|K9&Si2s#Vu93Dy5}TY{G@Hb{vBwG(fzHWRKVVVs9Uu5Emxgr
zX|h8gg9}(EF|f)(tgXJ*Yh3r`3ka2u!QXR9;9e;dc4bOKe~GuK8?Z~V2lq}M$xI#m
zk63z5xKCg1C?GB0GkJ8jC!Gt)dR1NsASnTN7bnmxi&tU2;)(}iQFR%6%+kN81t*k(
z^h;9xCfvk$-1R|oQ$0+_CJv^2VY4>im_VZpMi;cZM933vCY$7?<fW)7A6neYLtKlK
zR|$z<uLB?Kf7vnc+vtkjL*IEt#S+;qJH!q1PewO;?>Z~jEnvKm+Z_oxK{~V9zaKW6
z%>~n282*AGZYc$DWa&eBegdWL&f<s3_i4qkpL&8IWqVEBL-aVSFss^qpvyns;+mrR
z-&i?3Z>PJSzP~-1#tP&YPi-#F;eX(cApiytEzesQe~C{*eS`&&eZnX{Nd4bew71=Z
zl-=qXRKTZlo<L<6;$UadC9sU5dlDHLe1;{wbDC)2l~b~Tr_?=CYO-go@1rQ&!e~>(
z`Pl@s7lOOY^Ux6bX(`!M38|zjPI-^ueBYi2Vn0_TKa*p6(A)&t)^7h$Dv1L6|N7){
znDGy0e>=UsDI@xSJZ{umzA<bVufKSgmDiC2-4%ivFe?n(NNj@D<n^>(|6(SC?&NFL
z-!$uQ=p|Zh@VFVjcwwYT-LQwYn<*gCmpk|2nOVnWcRBl5?BUIKzXOgj1^fM+m=?8G
zN|ExrM?Y>X4>w#*78{qpz@RKe1F)}m$4j4^fA-Cx-tQ#zFeZnKLEQ%jr^z^&{!0)l
z<YxLtkTL@vkn=hYveA4rn}UtCbSNe+-KU>4YDW^5Y{{c0JpSPsHEWy_t+D9KpKrU%
z6}ovzvNMK7Ar?tzP+N|(92GjJtc_>sF|q8@R7FWnioHT@+0~xQ18RWewjfG4M0ZAL
ze@F&G-zcq|Sj;ghNEq8i+YrC8dctQX-jIlBUMq!PDW#?N;Wb)(iXD-!j$e$q9sE;H
z`bX7YL7MgvLh5MmFOxnlo&=+Ls!T~Liq<#1GEW$}6`H|VGb*oPidwp7F1(fVU+51U
z{==a8er7gW@Au*Ot`S6G?u10)uqkTke;$O-_t<AE=n+2jQiHo!D~W)mFzpUs_dHqx
z;a{jboFZV~ce3j9qXx2^C`Ip<Iu7?2jQ+_Ew}U8ed}EP8JzV>Q-xpm{COR5BCGt-!
z%ONaC<?DP(5B8U2!Eg*7UF!LZ+~LS?!LZ70Jsl%_`f$~DDI*HgE>k=W)qPJhe+HQ%
z)S`slN~X>kWzqZJ&+ED(Z%v|(q2$UjM>w1uea#by7NpDpXPalkQwfs8{0|py^T2Pb
zW;)9>@UteG$kTqIV1ggIU0HWg58cLF-?B-+wKnUuNnIU3NKEOaw?Zz8Wb=j<k8u>O
z7k|;HztgdnQAG)oqmFeOQX-^xe_B$Y;8$y{z9R~7(@Lg0Q(`7GA70JW?4Ah1#op-*
z>q)!2(}V~>JKg|l_~fdN?9>JXQI&-lUCmgl)i0@3O;tY&eOF7~BTuScRid(OgAvP?
zs;~Ez7fiILGgOI{V#^ix{ysl@sKs9gPJo}b+EH{hX68~`3PnRFvl+&=fBxJbIxj!p
zISv%?fQGcbF^%M%@EOLP?*~~x&RbH8^|2e|Ndyf8Mf75<gdnF>CII6I2B&@yL`JW@
zQFIERKnSNw=%LDJW(;kWoO9r2NkAhK<@?H}%S20~Qgi-!P1Uh-D6jwR^vUJg2i_P6
z_{isQ@1F!47TI*M8S<I!fA`@AH!K=##Ae9WX31_gdGlxj4iDG&awimV8x^%b5w#c<
z<>uG0awBf|C0H(^xjH9;i4B|NVo9`rj8lT*0Z;A)BsH||6;3%t-&pu%E#S<-Z&tQ<
zhT(O5BsuN+EIiOcX`Kq4vWd_DR=tQYM+ShD=-!>wP-LYVj?=Swe@;g01|G`i+xBQN
z@!aNv|A{z`Ro;32GkjCrVOQh>QBdJep>G+nw%jRZgD!**Emj|qV;BBdm+)9oHDK>Y
zwiD@bZ7wgR^?YMuG7k?%N0(Q8oFW*n=yFo4#5w6S5g}w1s1f<BQwE35wc{$7*D$PB
z%gFpHK!AdfjAv2qe?YzvaMCK@tN}*oKG9^B-*KnAR#vTVR?Pb-QHAOXcdhyngIf>)
z&BYet*ymSbwiHVH=9N$8?&pfN5|Y0<W)*EkNg7_w&Un>id3;#*6>Tbt>Co)0ykU>j
zh=^~vL9%W>a>r;-t1I($enhk^cxSR%o;&XzqCnmJKwi+!e=oqd7u(_GYRan~_kzd@
z0|M3O7h^qrgut`l)y3#~%TZQ{yMaX}l+E7Y-p%hOl5OXMXkj2{ONodiUn}-lHO|9A
zBJMR31snf2p5FS3!R;c%T48u*-2_H`K~jNCmDE5Y&Na94+0=kdKkdkumc)C>PqZ0^
z3sj7l^Ng&Ve}O2DcF%O_%4r5m;v~B_Qz$V^Ru%NLG-k3y5U#{1oB^~VvoXCT!mX$`
zgS6->VH7S&=5JkZyn{O&OTW8*V$H2tjMxTG(A67t9-9mt-k3E*ANz?(nwa@j`{A^s
zOye#oqiAAThCBAR8i)ec*)W_{yFE6P*zB*yHm%Tre{UYXbe6(htN{Ns)ROB6s>Yb9
zFurt)(d73wI=rN-Esj%(F!PML3eZVO?c!s)o8?<EF>kj(9dKX!F?V%B6%&}HKk&*1
zFGq8A$>!T~=(Jjd(~ilMcxPZd1)&8$W_aQcPzr_@JFD3*YGa3j!gpK<OR=|<4Z#eV
zNIAptf6c|_k5x{azs*r0G4V7~vc1+bkBM}#c$UI3@LO6ip3fUyVuDbIyx!;@){ABs
z7??_p3d5OLk<JDit*)%Ad*{Oxb5{yKoyW~u>YBUTR*fl<-305J6k#Rvg~l=kC^A*K
zrQT?iq<tTloYJNlQ7U?f<urQ&2o(~3mtv>ae~S9v#52vip+U?VYHXc~S==VPvwmK*
zwBD55mHhp_418!fVuqNw^ut<;z9t<=bj%i@Me4jrhjGr?Ve;XQ=JT)EQhb|ad7y&N
zx4?|TGqVW*9h7HfSac9dhDF{Njo6LFpHS8y#E-M8<i-r-1Mj0DhFH>vjRfYJTPBER
zf1Y}{ejrMG$kqW`E?EFURPgjy<9v@<gjir;N-$J|1>>)5`#Ht`u-a#IK=P)5YF01}
zxK30f#)|K?zl${F*^^-}7w1j@D%7zNQ65cM7W5&l;edC2&@l#u&pyB!Fm^?ykMjlf
z?3n8r3d27@&`iKsszOf?cIB{a__Hcbe-n<<2;9YXP(ymKfN5GpH~Z=(;1?@@D#W~u
z`N2I+I;)XKdy0e6dou%vG=Kn`<OG)5*8M#p*ivSvX^l`8P=Obeb`tdx*#7uV5y}o9
z(xByO140qn`snYc4cV!Jx#&%JsRV5^!j^dUHYpH~vfYg*AZiG6yyngt{deK^f1_d_
zcaTa;_v09~C9>C(P#v}!c1GY;YUA%U*q)iVAA_B#^iUQbhgAhZtN8kzJBREr3QQ_`
z>tA7r*&3)9G*1J~OuAcgWQcx(E@uHPrU-NzHBbQQ@*oyrMPiR?#$3L4Sj2V@c{r`7
zlkF+T#vp_EDaf$B?KJDrYaS*#e^%yO#u}dx{rHCCpN45T6`<9t^0d#$aA8H5=>l)0
zD~VUot!&-k@ZQ4p5nah*+=Vw^_)Jed0)kqc7D+zBb3LMJ44HCE!gM3bB~Y?L&*-XQ
zDC*whGeh>bSFZ+zh#z{za^{Z(bC>GXe4wC63Jll1D-g8JlEjza?TO~Ne^rsjJj!&u
zb`|vd<{)7cXtu>QIzTOGA!;Bsf1V1Z9~!QBZlxL+C38xUj}-z#`oP^1qJ&4|?q;nx
zC&qO)PUuj=?e*+TWIZ>x=3hCOaB^yki=*#7#~LkuNmPlf5(K{*qh5EBN@VPB4Z%60
z(`S7jFPx3~)EXghTkjH_fBx2sSe!RuwYJtDkmsqPiWDi0-@S9TsJYb8X<LVv6FWx_
zxn3u;B{QrU%3i-Q16$5Jcp)j5iE>i0^TY1*kIB~gE}=C;6?MjL$~}daqS*Im6S6x?
zNXCbW9-14>3bXhU*p=P)gP)xp*ynk)_XKly3jY30oKgK3^Y}SQfA>nI#Ro`LbWD{?
zb4FMhW(7W!Myd`P1BVQ_?lP%Vg6AME3}$akNlz;Dhi+{j;qf<^geu|WNS@$YBG6%^
zG1)*XFd*%W4$c7|ml~lj_&t!nFh+ho*osd?iA8LvxO{i`HO?@4;ekT*Z~;268`VX<
z0$zBOlBNCPq%*cRfA8)Ws1vC>MWJFU_)Z<W4Rq_`VfDNK)K%hVr2Y1zmY~u0Jke{B
zrlrr$Jnq4Q*<?xYfGTP&+_UpmGCuwHZxN)=PHU_Ne_6v{J?>+CVa0opQ+(WV4kC3&
zXd#T!mthK8{nv`TY`A$(Uwgct(cwa%x;Qgllgu#zx(M;8e_%<wUeooa3*Jv_KU1hR
znJCN(BJ{=1dj7=;bE^8eH2vN0ijrc<9JieLc1~kVg|}CGs8DeCqF+-bHiJw)6U%mr
zOhre-X}f>#B_inj>R8E1ntS@56*A7ZAAn?9vM{KPrl&*$q)h|gQvHEDz}E6jFJX9p
zTT^cp-XN^%f2e+be~*0b#Ei`FX-_zu-<jjxy${?Pg`2GlfEay6l4+PS014>>KX~r8
z4xT_=lKIx7a(8NfkoWBDTu&jr4^yLXkVNlDdH!l3%GVK)K3lvDngS0F+((K=k(a@z
z#>J!EXY+PN8B<DMeA~(IZfH3~PEzfVr)KqUN37tjf0#c>N7JVV?qM}!Z*)5R^NU=m
ztuh}ONDzhNC%uU89L#<!KY7J+z^d`Li&PlqFZ${-B^(B>6XCQamzoBW>Nz4#)#l02
zmloyH3@=`)dbAsAsn|AkQuDr><4>V?t^pY;78;7^2q7tn*G1D$@UFU$hWA#B0nC6s
zd}UFmf5$Tx4m35rHDf_~Jrd~t<Moqu*f?wInR~WT1onyPVOVFHvziz3Qt%E#C$FVo
z&bpM0dwS0vr3?)^w%JSt8QT~KXb>-80bA#w5PLE$a;DHZm+^>9&eYeSttW~)&&h7P
zAoo#=2>%JlZ9=m%-gSb#3?B#`Q?TgG8Vrk(e{p$qk9V}zX>$Rr*E$!gw&g-i>1D<R
zbc;H@vAWfec_qhi+}eXerIMq)`S2`sMYOWm(t~=6jAq3!bZ6Vw4|Mk_w5Hf*^Cq7B
zN%7^(%<|&OMhTK5_%gNBK~2$wO7umG9G|3ev*tmSdM!CEt!A|OE^bvu;L$?T+Smhi
ze{DGBg(e<aB7|q|(>jGX?fR1G8fOw!H_9s8)k(A#I4iq1h~Fh3x>ploIAcGMa>PcX
ziIgu~!8S^F#%rYc_VyHLXsdV;EF7DNF*P)qFOiMfO}*=eDh{-;3NK_|Eqs_0H0&0`
zD}^YSp?=Y0ZSndu=uE3*$ZG3-`3J#Me+Z!(DA*0x?))ovl)!VwSyMk>sHKF+E6VP6
z%(C`#b#h2(?+R!`y7i)&6wZQ^9^tD5_a6K=Dmi4#JxUFKNxPr;mLD4GwCOuv5fEN#
zep2?iwJ6A2=^s8L`X-TVLLdC}i5TCc<9C{quT8^+NsF(H7auh}J2zj4FfQ_~e_NLz
zr#LmkY83{(Id^Dy#?L@-T8a~-<Rwk{uA%)A7b_j5Tz`sfQ;Pu)tL`s9v^GfY7tn7|
z<8?H6hI&dKhXmR`%n?J8oZ9pJ(HNQCFUSF+slQPPKI7SK4;?uK-3BgyX-P<{7YL$d
zYJ4rZu>mTfyX1D}!UmH3pvJoRe?<#@G6fJ`4n5lIoAWCxf8OW%0G)t$4iEs`&!xb?
zg+3q?<M^WvFx|OpLZ<z_#sE0o_1Eh^+XZ~goy$*X7XU!t`|bg6k5B0kBFli&x7|5^
zO91~VfcNK>Yp(C|y>6;69MIHzQ70e<cvBt_0PLjS^a0ucn&*JG&$@>-e^<blH)i<3
zZQm%>gx}_--rH^8sx8*$LB2nL<7_t`K>han6(@=|^XJ{Y(|!|B)r{poBmlVa*KYW_
zeemzQ@VmXi3jyeU0P0Q&P8k48t!)O{NrrS|CH{4(HdD7Bw|D-6w*+4V{$B5PfI|Ro
z<!i10sL0RS&Gye?0boPue>UK&D;%Kla&s-?h&q&U>JM;5U1z5UP)<JZz3FcQ^jV&6
zZTTwwzx4qK3eu2JE&8qctN6e`@P5ER3euops6bFqP(bcs(b7Qw&tmy!yIa`Xm<rpQ
zc*@$FnA$K%TiTi08oF2-J2QyeJGmP=nFum73jW_)dS^HD6^%{1e?xXe-&=LW=_z``
z2~t-CT88=XB1#>Dz*Yjn&6J^7dU`Q^cKux<*M?LuO&G_{)>w-$ku2Oi7M4HE-%gZH
z&4-QXs+k5Ch%p`=)oMjL6mR)`{!JubrtCHD*3B3+&j|)|?t}C3Q6R;T^s5NaerQ~d
zq8aShV7mY<JY*R}e<9X81w=zI=@i!>f|QLddGgQio%Jp`vNaTOsLcMY>x54c`pL01
zh(*pgic*ZZQtOmRUU>)2RNP{%iHk%EkHoU6v0BTvStXm%4X5lO#NI>G7Om%C1O8qa
zj$gHa?b0NKt6gef586G74o#=b=-3{~=RY%@W&A4HE>z3ze@%L)a~1Ax0ziAJ%ygI4
zNn%0KDw2+GqI4kok6*CS=c@D61OCD|Gr+@gU`ScXFOu_1m)@KAC6#|>nqX5_V<&95
zHRnoc@>ZHEb|%z&LIT)ahWK=sO8qR>Yr{`^=H-oV(6;YQ%&y5nTQYqEmeo%3Z>Ev+
z{bB#&G3BRUe~nvd*Xj|KAx2H@*lBeDB^taSdwlS+{?(RY?eY~5yDsji>mW??r@9JW
zA`_m9)(-I=DQze$LNdS)^>!d>--Np(e8Pup|AcT)hW<Hrh!1aHg1^yg=z(|@pHFNb
z<A~t-7H}xDQLq6rfM}T!m?Q-H$L&?ccI8!2|MX1xf6F&2dW_1|!V$fSRX>KkyKMJ4
z7&U8dN-Q^AA+}ZA2E8n1xEDFAPfpZbRd#gk5_<ferx`0*pD8vIN<RfWK(0T-+gzp6
zx~5hH?uK*29<!>$r;z`^m#sZro<X$Yn$oT_3Q42H<7%t@E&mQu5Io)Wa8A1Qq5D-r
zfY1l7e+=sY+i5R^y1|wBL)H{t42Ry#OX{@xQsmG5=2!U8Vb;YVCi9A`_k;{maGc%(
z-=Q#JcLSn9-f>tu0<hE$0VvZ}93KZa3B>&EDVQKDEKsRD)ws{eOHyVuw#!r04HgE_
zLM(W|rRI+7Dv&rXLR3H2mpL=t8y68{d+%RCf8NmPGCdEKY4FAC5cc?DfG$Tyz9X2%
z6X+s<S{_Io;);dyJ+s%j{;b@C`@XO&xzkt$h|x(KxZfz+SMWpM@Y~!a<10%i_lcF8
zx>nMAReGB#&d*ExsY?)$dg6c9{#5;?|L2)&B){QwWEW=hV3&%ORkaUogE!8{P5VgX
zf8PGb(!sZb0Eq&=h~T96^3CG~a_`T4BQ;CI4!c|~3jEM(;Cvv4`^g#i9^~9p|5_)O
zQ&ASu;lbgk9{dx%VKTu-tKHAVw%5y)|G!e~uo*E=fC2$2V*vdJDaihRDWnXI?TsuA
z?VSJT^nYyF<V5t{ts~4xN3S<YM0Nc|e~WP@qKK+z5V-vfv|fs8>vFI3RPz1-UlCnH
zDnU1FX^gV~%WwiamxHC0>C27Ewed^SToudEhzB#$NwublIrgp(;L`x|WyxRVPPJif
z?TTT@QQvWj0WR)NEPadmHQuDlK-g)W9{GKGfoKTH74b%YKqPKZSWV(nwtV8of4zPC
z`jWSvDpR)Xm_tRoE!V+!r0EIR5=9Q%UyeC=rxlY-J4K?eQZi7X(cF%PVtDj$-DRs;
zRS%lck+yTrAa*ONUcK}~uBK4CCm(zUY-&Ua0sK`V9BB6`I+!{pn_^ocpNnF*l?f_k
zyC;|3jq4symwBr4fzGJ0(p{A%e~1Ugs!iP91j*rjW*$i}m(=FD2mir=4ro~J4v{YB
z<-8#L^tBa*MpaUp^cQ6f&eFS0)~va8;__qW&V>GkC<MDpaPCHP#Hl>3_(BoJ@^6@>
zZ5pq=f$9x92&<+Kpo*Glfh|lF0)P0wvBv!J#Uxd>9e(7TVx=KhpRzP_e}bYJ{NQ=K
zr4YVU$X>}Y{Lo<|3qh9}g0S?VJ?>V6`R&bO?dr4#*$S+Kc#&Q1WbNAjn+NCME=h1d
zuB{=Wn?J^GbsBcbAh7{AitXX*5j^+)z&9cAQE))8Z`j@16RtpBhOtLHg?x7$k?+lM
z`3FvgR&dXEnO4`&K{#)me|-)u<U92`C{P4&gc85kmo1%&&JrC3dn=u2+oW`J`j19}
zWD5+kmy{!eFDU2VUqe77RjFwrqiMrmh_#`yXxae<eTLs|&9nFh(L(?7AcCSf?77)y
zUng+$-#iGXRNV74<HZX@;K3H|l{#w&(=fV|h|wLvpWxJ;d`g{Mf3B+l-b|t2M4;yp
z<xIlRW1f<-9zh|z#NuO$1N==<4R%8Ar<4OY>rMmgKk;ABuy6%;XNd$ENr9Hsna6!6
zz1DF}rUj_IOmKmNXh;Gs<+ffmLCcN1W;O5SO>`ohDH+=bG!Q*NGUeO-Ri^QhT!r1^
zVE|S1OnpROcOJn{fBxwdK&}uAWvGKNp7I(FDj9M<nCE}+F~xu`bTELQEMFnc{UbjJ
zHVpR~_i{b}&pCI=h7TeR6>?tKxM*gJc`r%`F)#uhwRbE~0G=8DU9+Qqm>B(+iN&#z
zUDu6&m<Y+P+=breqkntq3_=*`d+!_gociu>5Mg+;ykW^ce|+cYmn>9OCD-h<&EXFJ
zhY8@_Fn4z==Wpx_zQv9*SC(T@HkQ%*!^!_<!v16MA0~9U0f&(PGSQxPda?Wu6RQ7_
z35x&3gs8oX)W6Myoa=u<q4_^hq@<%KnCQ6}8*~T~phpkFpq|}8j<X+IkVxxE_Ob$2
z_0Kq5B_gAafB#f~bw%2eWbKc1=Wwy$QXe9Gsz$XIQ6}@kz!@2XM%v^tB-vnL1AZRM
z&@c(e51qP1yG#_fL&Jt_ZxroYnCEjP(%e-o6n0-Qli4;!ulP?s=lh{Z4xEQO0u92d
zVPm^0wRYpgyS8U{n0Oe{NTQhV2j*qdH+{2AUgum%e{&uat=Py9$)b{3;bLj$LINi%
z$8W_frWY;z>Y~+})Qrk|)fyxVqyI+H>eFt>G3I6bzMQ87?23k-Ed&1f{xMj;q)Mt&
z%f{B#MBL`QR|mLv?ktKGb+&xHx&4dkR?q@%G)1*h&j#pNRTZ>}A3P=|pOr^G8FF)>
z==nFCe@P2yLaPC;tb>!tg`r39%_z@QjI;=2g)Gw;^1}ruX1$2^oS0)d{wXTt3=#Cd
z`#I?M6_y>Svc7b<1hT5GRpVihY?b)1%U)0LO4-D|?!~1Z0PB9c`VZa~xkUTM5tdO+
zvQ)|qFI6cN#Qw3e{$yjT`E*($j`KwlV-5POf6hhpzb<qCkii*h4}ra})*xXUr6u@G
zxYa{5uw5AlN%Z=6U|Y4FM%`g9oagpnmUXMf$dm1+#Q@at^dB(1;kJHVgD~u?dbCB6
z$?jS2!@;tK=n*~O`@$V<(?5uU?og{Kkm$oOqk6tVCsNb}`OI?}02@-zId4eO2glWg
zf3l&z6@dSctL2;RhqvcYiQLZ|iYS(n=T(8L-#NZcV?mc}qlS*7h6E&P(BS=U#KhJT
zYlQ_#%0uNb%dX_+37m+Qgx)Wm`ol-vP{#`X^pU4PINLNCRjisM?3pz!ilmzGSj@oa
zx1>dmP%jqb+VGJ@orhXQX?x)&J9*1%e^juaRFx5BQ^6bm7ats9gGN}$&0l*^so=5`
zv4pa9Ubn`oah&GKk~gW(HxuNyCbe^aKYkYTqSR=~abcmV$rK}WPD*(%FgUJJ=fFD^
zVoo6NU$^?--U@{DMX6^Zz-7|FYZX2D32Lje2yivbywIHL;=u7bHmK#GKrOy=f2uNX
zT#&u~mm&dj(8fY{2uBSf+7))PGBD+MX79<&865Szymw+B{QK-T7(ecwiS!>Cz0QiQ
z<=vPpjGaUHse<H<^F<{#nBoD+wNrKSK$EhWuKGo%&e@RgFkXy6-z#HZert~<jwN#}
zFXeBOmzFf9LyV7~Yo>mqvR;Khf47@4PY(c1l^5=h;KT8`E%GPpks<0c4q-I}7C#5w
z(eOR}zWNT{U4;6Xp1t(mIUCMd0bn__tW(V#T8`(UkNH4?rGX(hyk=rcV7S<Xm7z0-
zMVxMqLXmIu^M|uN2)B6>OiFH_5Ql(P;+bP5Z^XcT3ar977%d`KL5q-TfBctx7#~+r
zD0)`<_FmaNDNaIqSVQ4gyS>d?OGRy`ev04RuYYPgamy>m7_D^HeT8n2+26JG_bU3F
zx^lkmLI3p&>cdOI8Vm?X6aPQ?Mg9N#CF*HsX#4LtBx~sG{4Za!hAvK)9{)v{`h?vk
zBVx}h4b({z(5mn?G%e(Ke_{9_Fi7*ijgASsmQIvjQr&HWmd&~yHi;b~PlOpKu4CA3
zZ1~fiU9!1_nCHkO@t`ONQ_)CsP6Ki5-5h~_3(#(C*b23nH9N{96i*sHL|pnQ<_wke
zDaa1=bHLkVvyqFhz8$d*F$&U}5dQ#_Fsf?EsW7b_oN<rdrL{JLf2Wm3sU>#3+dukE
zXxzI@Cx#eWlxy;0mr@#PqVE^cQi`YU9iznFkw%xvUn^KAh3+k?A5OvQoJFA@+pKa8
zc)4IR5bJ#Fjpn>u^+`c^$n2%cgyxvp6w(=WSm3#HggYV0XL_jJZ}_-1EpbBzsNc1h
zCncRC%^DA^pJc(xf4nKr;XsiW7ifkM7{rVM8PWIzjha2OE==9`)SRiL=oCwWNF|3c
zVPl_La289lVNd4rP9nk@jR*GND3inq%wGY;@)&MfR8Qv;Q|K*MUK<sxR=p-@JzRZA
zg|@$Q7^s(i;5H6TnKJPR%gurv=jz5XLl6(H65W~fu~x5Te<*apy^PQ6u)2|9ob>Zy
zyzJOP`R}ztxkrgxQCk6@Bs;v)gSpp0;D>A(Be<*Y*Y-l+ygML#woAL9ZRHk8LU0So
zRlnYWI8qEi?#Wf_H30|Eo!QQ+c@ZJb|EkXm;c4LBt3!UaMBW`amf7AQ(D>civh-^%
z{cdHB#m#!re;O+b?#L5y{-rGnh5}56RX9r?^j=rjxDoZ>YD8MkcGXO|E67fC$}f8d
z_)}67iZ0SQZNOuiJY@{zhX0I*c6VCs3fv8|mE=CB0(##whppAs`O&czs@Y(IbhKGw
zMR#I#Kf6gW6pSNh6Z!#Y47?2On8qOtb?>Pso+b)^e<}(d?)~NR>GShRIt%T)hIk5y
z9GhsSY~fZP_xm~V{`~B9ztZN@z9PULC`oXsQ9`4$n#D_+4(vNSn-&B|qfOgz3Z8K0
zpO=@b3fmj39B|Ca-Ylbmq?pfb#cjUcyH&kMR7dkt`1BTG)A;u8t{eJgcV5dI)6KUH
z^QTtFe@*4sQOQx`wsXzj$8lVDkQ{K?Q1i3TaeX#L@NWhwSq5!r|LGxg5dKpJng2ru
zMNI8noa`-43~l}^iT1Yt)ULMwJ$KmJ7jq*1^!5!p^<7B?8U+7RAxiaH^yM@yk@9{8
zwJ<8L>ptrDT>tsN!;ulm+J>{LwN+wcVIO7je>*uJnm?bRpPLU;Z=sBaLfIUMz=(FD
zieeoEe0`Up?Paew@BFc#NqZm~j9H&HCY@vQ+9UQ&a8Ngp$1N&j53;wP(hb2oB18@w
z&o=-gisBwbP^zsRJG^$Yw%6^dUSx8`HHY<Xldg5oq{NS>3&|a9=#4U8LM0=fBGyR(
ze;+GPQ+*#N@yQ>F{>{?7Ve)I$y2dJZ0J(QxtV72w+CZQ;LLI3Vpgo3mI|I;$?mxu0
zn{XKyBUf9cR?B90e08Q&zZV|A<<6Th7vQPV2D+Q1roZ@8{Qz~^P(6IZg2i=L+}9__
zhz3qa@`W~P0sot0G{2x@$&csk{B51xe}`yl@<0+qE_>929j~nEJc;7jrc%zSOc*Mn
z5aPyfdSaZ!!Y(m^p9lSU!N&+zM&KN8MtqN*=T$*Vef^ZC=R18j*!B2qZfa8HxKjh4
zN`{`auG5om5-bC1DZL<BL~GtywLXhEK+*gPEhv_DHGtoo#EpLIoBw9oe*XqHe;P5?
z+t|Ph@#Y8oVD^inpYQ5W4sI*g*c0w1wh+`2fdSF|1HB!klb~2=!#1UasTL_`RuKat
zQ2s2mz@Al~U`-&wH<VxbjK^Fw|JhO=b~M+xp%gQg2-GyM9!AJ7|MiH@B@c{mrwX#d
zD{pD`0}-`U8?<RC0O8*pe_NvLe~ul?;6YQ4B*K#!jK0<0C~UE~Q#RM(-i$-5@@{CJ
z0K3#OG4enOeNZp7>q~pOoh0d7g)JegKjgBOaGdv0`YNF>N*(B!Fy=*j>y031`98t5
z+Sjcf{F1}WO8m;R^iuK6X>s0cU3twzVl=2AJ?WNE-N>^Z%Ab*Ig3|i9f5d(W2(5}*
z>)z-$k^tWLUzD6<bY^RqreoW-?WAHG72CFLr()Yq#kQSPRIydD?PQX3y4TF<>2-SM
z@3+?ev)6Uq?}K-L6RR!zhgB6%P8H|x&S&fWD~i>$UG{6=Q#x5KJk*|a=kvOxo-z*Z
zLa9H3R`R&M1q1p5iX+jEe-R-bwT&L4(7A<b*+n5>gt8$`W3lo?LT?P(_r9bm^!P#h
zAY}doyUf=9$t|Z3$Ylh`9Ilrs3aP=PCv>-^ob{{S&d*z#NADM0nw0E(pa%l<>-%aD
z8X!ftC5-akV!R%Xvpxp0&K=wvoHRt=z41=JJRyV?yOWm;=!yHKf1~JYFZ7Z$%`S{L
zts_Ro4YC@b(aGHkTf^;~$<HY=@UDyHw(awFkHMM`+qiL}ADpB(*S=@Fceb4pra3+U
zU(s-^pyS&984dbq{}v7O{}K%nHZH~vj>ccP@Snf^l?$oXwi%o#!<(CO`mMHXln7Ra
zct2w$JZsSv$+VBoe|-QXGZT~e!T#vK-EuWCLYmKml1e2g?cv}@dcWRu|7j_ZTNMde
z$glWK6vI%98!4QPGRu-9_V{t3TLIvU74!2B$NIPV8-_l6gHVh|1gK~XQ5N3<q6u#h
zj%vt4*^(Ds6QWCOU>H78A9ti)bVvB5p*H<RX#a$Xp>3*mf8q_{XEZ<rvTL6=tEcmI
zE_@!=97?WNZY*N;EaOC(=&e1aKgV|@gdYhb63Ay8(ybs>yel1&1kh{I+!?c)vh=v)
z2F4*&`Bd#GIj`_Vp!o5&;-qELjE;V53^{z~x$uD-WRm^;oRU8Er#>fZ-UXn`8S`Mi
zf&v{;XTUkle}*sCADHj>8IdfZKG!^`TL4?eFP{+rSq8@t=l1pac!8)a;x|$~CWj1B
z|CJdBeoV1}N|cxb?Z=peLaGSc(t8Ek)ltti5X)6moGPjfuKTWflm!^DYRrayBUL@T
zt3`N>uc*sG>D2feWrQ-Xx3MRhIqeu*m4-SLS>G+Ge}@AF-1CCY;XIyI=-^Dy__`g~
ztJZ1f8|ACNEktwl;GK%u?!%w+bqH6fKyc#4rR_;n*Sq1KsbQW|hXXLz6Sc1WD%gur
zo(_TYSESGGA^;xtVxcw_tXgIXnLCeNoVNqQeS>rg=5nD{P(}xPA%(kJ;QEy4PavJU
zAk0;ke<|XG4mRcmIA4pvV~|z=FDdw~<|EfVn2%65xtF93;=9OFd)99x1V#1n-wR0l
zePoZ7!ESuFHWBYO#k?}dFGiC}IWNG^lHTX`h7bj9yd|bpQ|8mO(>&^a{e*s)#MM-5
zoY$g!vE-fncq-1`E|3ZA&`$JLP`4UZmc)Pwf1A*dzrs73Os<F~a(N{1g)tZH_C-E=
zA1BtSyhBKlhFMN@(|${|hSifbnMZe=NBj4Z)~AMf(IK0z?FWq~*alT<8^*1x#v*ao
z(TI?av2uegGhlb6cBAi2C6$T_eVbf0I8>@aGxKv(@O3&sIO@SQ+>7!t;3)I*2501$
ze>gdPZrFNeJLOf@uzM#6n6f9Gt}7itWYU|=gGr6^w-@YuiHh6y5py}%7w)N20s(9m
zqKAk^>Q&uRQl+50R_D|`s)(Ke{x%29?!oZco=sz5o|l9s{LFNn0q$1dx$J?1*c<Lf
zSs<b|`Z)~Yj|bJuF31442xS%t^MKqZe<612iWuNqBzRdWqcwbTV{k|e>Ov7bE#Au^
zZJEo+v?d2d{-*n&U5KDlhVnXX!a^|Ijl4sGn8xuA-RCXOehxL<<X{CQrpSIzi<9Q*
z=s~ck@eOS5KDrVo!&OLE!YKx+YhwG=+R>ef9Gq8QnoTLkTlemWJPw;nb40n1f9T_S
zRQFBg<moYI^DBL7F_KsbKbwO@+<!|S#(zm4F=MB%<PkL2|Eot3wRJEw{*PVBy3Hyl
zOxLC&#PI~!K(vumwDtgIO@uZKCWGDqw_nCcnac2_)t;&MvwYp&fcZ3X!8hxKd{Pl+
zl)EcvA?H{3=3mpIiAglq7>X%+e<auHj44k<Lm%%q^N?2uqb(~m(<+nm-jQhsqJ+@N
zQjzDuT5IJPo^dA$GvXO+3Rc}H?HI_y2zxN{eT)G-*Hl9fl9e{0{bw#GHr~w?=t40F
zOhH>w<7adUPyLi)SRymi+=B^MKt)XB27jfGg7FoBfmaG?J$SoQx)mi`f0u0QWRHlI
zu+Fc8O5_3LdLz``;|ESkk>U69Sb!1S4pL^#Nv2i@l^<{#7oMp?wUQ<ZZ;UU?UU2n}
z8sI&uNfJ6mBCU~EO!7r*-i5$GeES#VOVSqs`;6~!mMowsl>iJgiE0AVyGOIu1JbBP
z#J^Dz$>O$+xV5B*9OG0He`<Nh;X8i>Y2WtotvR#gB5dZJ^4k-M=b`HPupn9!d_Nh%
z&0H|PzZweqxZSi{N4W9O$f#30xIr#bmn0oquu(|^0rc{M;^H9-as3G=s||th9GRtX
z=|Ahoy9ew;xfa+@YmxhnoqsVP0qjF%2Hry-Ukmd7o>@<JJcbtxf6KF~mOQ1O_t=5A
z4x%|+=tN<Ti0I8OrV8XiXj1GCDu-Mr-KGB-W93dw+wvUIp@iG9HsN)zr4#m8`v~*+
zt%`j>`gNlo4`sFH{ygE7PVkL>$qaBGo>xJAXW>97(kbcEivWJp^k(7ye4$U+ui)au
znI102q8gR&f+v*0e>!fGSDab>S9yMZXm?_sq%eTIn^4y0pal>48}`jA$2%a!Q$FhP
zCbIGdC01|N9&*PyXsr&vjVPJb<o2>CkU<Uko*}n0N|L;SkVRdJ-i<<t_n1bpR+})N
zm+=6hlVuI4u7g|29;@(PVUzTlx+@9b?X;5ek@mnc2|-gif4fPN`1!&mBSW9pr&2cg
z=(_RQ_L?QPGTPV$GhUKDL;{a961#15FREUNTS%V^95F6o`4!Am{*-A|oJ3A;199yO
z>S_8bzqWz1d_G|BuZ@cy@URTUVMhqj@7NBg)dHP$@Qr3`m<GaHtOlx5Q-HXk6(3rM
z<#z`pbpFFKe<Ft~@%gMHm*9K^xY&c43;-PJL#19Dq?u#+A^2PBWq!mhHiLidKHl4T
zX^$vfy^`I1gz0mDG}Ub*g=s!#AS^-!vsF98tS8-KzqwtZq5;~_!FP7vxA#Gj>Il5&
zM7xm>_gMDsc@xH`OZ2Z$Xx<5vX!<Nk%>Pl6xc!$<e_;8aLqW_z-^JX?{lDabs<rJ3
z!)L#utKX`t@q?rZ8KMj#=~+L4j7(YM0T_s5i*;a*k^ZcDbJ=~nsDhfR94c(>$?GaB
z$J2qaGvkg%NU92o@a8KN25#bTBD|1xbsu!I=(>&`!uLQb2h`*YaTwT-!LpWN3MkPN
z%Ay$~f3*7A78+2zoT(QX$-)R$;1EawMG=VU4Y=n$e9qj<=f||4s+5pp5Cyr_IviSc
zOo@Cs{)iV)T%XdMKaf$Ns-x{{?c)>(Qa|+=a{r2-5#n+BX+_!86|G^k)tADZvTMH!
za&jfl6k~tYB95|I`;iO;fZ0cz2K#MnU@eW@e`JQ~+y%}dJ2J?p?&{d9sooLmGZ4y2
z=oQLL7_&(=e%z5-BR;O2pn@>VPjd|M=|zJ18PEbqvk){A96nv1CwmnZIk=?<D3I>l
zd2SSLV&60zKK#--mqq}T|JAb@jn&kL0E>fVMF|I7iKyq(M7;p*uTj+zI4fwJg6{HE
zf9~7wEO2^YY@Mj}XBW6A4RS)+u(?3m4}iBTDC-<K5cg-GA{tQ8@~$l93T=sY0Iyl|
zN=aX5J#Ico+XT&Y5re9w4GOb8%6%4dZ<i0)*!npS7}!fwZ+0f!i&@G|MX^T#hyLi3
zLJjdZ{4B`x)l5_TUiUE<aocn#r)E83e@aH9P4NTqA;krL-?$aIq-QoJ^5Z4HW&dbg
zmH;FL7b}OIXc<?{P<RS~%2IrrL<ACPrM}ddz$@)6!<OmiKOn``Y;X!!syB^QC%PpM
z`R`@F8WYHv<9gi)LbOP+qWKTWX>=#hb}(Hq=84}D)uT(*<CU9~odKZOAm;Sae@MW%
zbC!q`F8XHco0I|^C!GP^{dTpk0?J7_grF|Lx@4fD&y9LLvs+*8u0vn;;7_g>p{P%E
zAPsq|UbmN%_+B&j;I{`(Lv8hYTmd8s;(jSIswZN021Bo}D+Un?U_VFcLOV9@i!ve)
z*XDVeSV06Fqg)*wPV3uXI1@>Mf15Hta#44c8A1NY_bkIh?{EVqPVIgPcixtn)S5*P
zn9P=iWCcE{uhh&bpy=Ch9{X?$PyHGn+?=ewZ{gc~{5?L%y2dc3{}j>^{@;Y8_&<dd
zFm!U(cd~VGq*wggMFnFMV+UiK|CCT!*EWLz!FRKyW-UbpO7ES61ogW)f4t{dq2viK
z0Az?8D+jZz_{)*2iyxWPT$#pwP4465@YDHgdydR?O*QBW<GjOi;gTz)XodP{0K0N{
zH=nn?$s?iEigqxk&Y^R7;B-{J`S(SPO3dm7EEV~b0YKJbT+?;aRyjrikO?AT;z$Ca
z*<!cKyZw!uwkpT=>7<|6e?Wp^;CY@YFP&QxH>6^|yg8otw3G2rNm^kj>~;DWjT)n-
z$vZ_Os#E=QN0xWBcg}Mve$cD6qG*GMAXiINn}scJtrMtRwI8uKTWWns`ifN`n;aQy
zAUuC~sswDVQ5WgiHos5VJ5L@099kr?TT?1$?QkxJU)a7u`VU9Df5!eY5)cXR?!%!q
zk>~pjK`YLObnD@6%GLB+;adfbz){3y-9UL=p`LLDsR@1z8DJ=k2@;-ZB)LE&n(QkX
zZb2l_kSew<1n@E8Ii#Q_sg14GWji0Rv(V{92eqV4#*Uz(MO7NsnF|>QMDG5#t@n#W
z2s-DUZw&yS?nxjYe-7k<kDxmVRtG=das(S*g1U(b00X}h^gI$ymk=Ma*Vm*TjCUOx
zN>>f2@t<VYGM<S^(in~=VV)!)UkU~yG*Dzl{f02aFRb;25X^anwNKHkte({T=;Rfa
zm(!fM_b_|^zM+02wQN@M%aTs7YfGxw0k)a%8EpHdnbtQLfA`ra^%z|rGyhoYwyCQ7
zwSXN0tU($TdO@l9JhsiwVk>a#u@+m=bAGe=JFJ^6ie=hLFBAm{NcX9H)7o6T8`;nc
zOKyqjNN@sH%k-6-$4`aL(uHmDMmT(8(6?@JeHX}#*HG}e_wAP~?`P02s4)jTgMEPj
z0K_2v4Qjf7e}!7w)>Ycr#rUt8*mnuxztL9Nw)sT+z55ewzDksyCDI_MQWlv6GGm28
z8+iTzi4LI2NaWwVZ<AG{@uZrnWeF+>yqor2T)yudaU199Sk|q_K~~H-&mhDbbVigb
z#v$E4Plqy>*4Zwrq{kv<s+h%d<cL4g!3t2($CE;of8*o~EMzo$UmhG%^aCKmkx{e_
zK`>Y7`l%}y*#)K_Iyaehe;V^c5&{Of(6P5`G&~&O^pi*cy`UW&At~oqF|Um!8_t=N
zUbu%GIM=q|D^1N~8JwJy$-vTijcckWdy<C@qYrZSuRqA-J;uFdpa2ZxB+s$!<)c~J
zYNzJPf4Re3#-11u-Ud#v&pE1PHM;^hHBzlq#s3_&Q#2!WN!bqTu^y%tH>t~I>dz4n
zo8_=Kbc!k-hyvls-ds+mZ&1Rkrb=xg3gCuKcGtN6Ij&eAlO{nx5GcQ-FB%ig4Yj-@
zAWYD62!erc-9iW@ozsU0*dTwm7aZlyy5+>Ee{ZbtOM52NtrN+`Nq9;Ry_Jy&jq7@B
zX;5s5F%YXzFQL<jAksT_=$!~;xBMW@Mc~v~^5jYMgt^crXy3xNS%a3pr^Fk|!)-s|
z`Hiy1NcilVS=Vg;4E$aejyI|1nX(A6#dL|mq;g&!bRHMP#fHlcq6<d6z&w28UZ_R*
zf6B7QVo;T@AVaS4&(v!d^J6?kUz||LhIANDnp@1Qpr(s8r|(EK>eL(djlss>VQ+{t
zH|?W}>%<giL4WrMzYyb+kvr){!^tX$1qxujL>w}>J38roP~zqf$c?1(&iDr))gBx&
zBxKcqPVjmkz6Zc<(^t;Nh?@9?u<&M!f99oWga(#5yCHH3-Zve7GCsw3x_a-AANjie
z*Il%7dMwD$Ps9)Z74fgti?WlsmAR9-u_L{L@!um}C3EY)Mmmb_Hil*nwl?M-#tvV2
zH!81x;*IjzR;iuKP=nU^$KnGfxzv_Rr!SlXLNE?Q)H3e|HOO@vg69`buqmGze{J9N
zUwzBri<a^5H3L~;UUwj6mi7)nOeoT@S2uke-bJ?!zqn~wUo73FuAj6^d<-IynAK}A
z>CnMe6M5r^t~8xee^AF|`nq|RnU`t+f@+kp-N?A=j^Lzy;2Kx$gc}qT3!v~ocoVqg
z;7A)gX;R<QIq0rY5Dp!uUq;ejf6A(1trn7!Pr)8|bf=cr5_NYg%MY>2T&7a4i15eI
zxOT$s#ZuMGW&5LyW4bnov@eMUbkk$CkBn!5XE?V>WOO2-oPFz?*g+PMpLPNCvWg@-
zrVUiV({^$+1PuG80HY>oCDSXaRRaJLIHF<$!JG8-&0Xi2x_RQgnzH}ze}0H-meL!i
z!Jlk$XR=+(NH`X1#GKVf!Nl|pdt~I86VpIzod6g0QXGE(?@}KF3bW9f+38-^d*&w+
zmuC8T4^9Igp~bdY--iOj$dX%kU;STY=pLo~h&V+eNH`@d(ttk*DnDd!WY6E%ZP_bo
zb|)s@!VNt35Z=;mNbrKIe=K3SQn!WRzw3A(N=oc1i}ZsoL3bIoG1y(?f{Sl<TR$<M
zhQ#->$n`k~+Ca^`w7swVfOKD`M;i<nUD+lx^ks|Mb{MT;hpWVE&oJ2lB2lZGuQ2w2
z9|w^66J!6Lg$l%T9g-JHu3ps`?<ZQ~FY~g9m%F`3cs)$awcI78e{(o9cTD$3+8NQ-
z0t&0EggTkau<BO0A9j|!yB-8QZu_z`%fJ<K%9kha+#g@^{fPaGTJaz?SDjC4m%#pw
zTJnETt7vZRZ1ok*{{ym<e<8~v0jjhzSjA+n&<;+Z7p7`xIs|E+<1-9bX!M0F(tjX}
zpYi8>8lu6pZBMc|fAuqt$)J@T)Jq;;`q6FuFX{@vkS$s+<Vb&EgzPWwHS2flWMqhV
zw#U(&%C0}J=PXPm2rxq__#4@sD8|)Qg2T4S3nJYkPKeJqE<6{qfe#oTmhyLM)dD;J
ztTeEcKPwF>QcTgxnd7)3H`?nRdxlOtYLw>M><vf=eNQrFfA#DD0(|Og>+sc_cCC8m
z5BNd<XjW;&DkH+jh1GqwquO(fz?FSacDbqzKhwxbE>M7W(Sy3mL>q;*KcYANs98vl
z?N?ag%T%S(SE@BLP~tek(lg<=!~#<(i%q7%@+*eQppx*!Bk{SD@$t&m$xBII^`sng
zHKHt4N5P7pf5_?>H3(B*ko3HqBEh-y^N{fpo0kmE4;XjjwWKSZFZSa(-V3}2&t4+=
zk|R#gIu2g}KV{@xxiV*XIQgp(OVBzJo4?ua*!jF&_+<Q&;*k0CH?P}Yyk<PHIB8oh
z^}=BD@Vht8B*hPvUxz@~sCrE}*=%hHJj8bSu3np}f5DOlnr8={fUW<@e{g<lMDC_>
z)f>uJV^rr_Be^~@08Ehz@5H<_9XH#yNnb@H=uNCNp`G<i1v4Y^4XO9sI2DF_i8;?P
zs-2Mp!pZ_+JJa>_3pofK3Dpkiy~ll%i9u6wB_y5~=_sQ#d(5s<yNGO^MuugV&Uu|g
z!VwPde}8ZZ*CyruxC?3n=cQOK(fuM8FhRar`+p=B>mS6b>pR%}T^H*c{arS!+N?6b
zcyFpg97{nDJV@>Ix%l&(jsk;Oy#SCW<5pf9*CCm{J<EqDk;%l;nXx%R(uA|fC>)F=
z?uN=tOs8LFH^~Ix&JKmKL^S2fByC-6@?tW-f5r~IwFv^#4j^d}&B78@S21cJY0!eE
zdd=PesirR^!r-sU1XvptFbMhwA{v=JgU|;bp3_=lfH_|NN>)v_Tx|l)6H9r4EtuG)
z6eABOl3E`$*UF1$O5Q5Ah7j%CIwO|2%-o9*tHf$ksqljBGT0JaC^U~SH~_gCA-X_X
zfBVqd%fwmoZ9v&d?I)Hl(qdS_)TRrxxjA2)c6ka2*QLs-GVSIxJODU^%4YXozUJ(8
zrsG&&<3z@Ox9A8oVuGeZdc|}~44&ZtgBv@wZ<v`qN~#<cY*-^OhD@l1ppL4fih@?S
zH>X*=5+Tct6`<Pi5hZpa582JL`WehFf0Wi>K{+8uRTvF2YkdeDtCG3CQTpgwZRpHQ
zt4F>xJaFkUk3#NNRz~1us)|)WfOLvyc;2ywdj1VbFDm*W0F0PloxmL6wK~|-EvP-n
z?Psv?=J&?PmcS>Xwf+xySKE7dyBIh-a6N6e_F|1k#GW$?z@Z3+7?;$|#A9}}e@^((
zB#&S&d%0UEo@d1$%Pt)T)pl?hA_VOqx5RSL^dL(;KZ{s&L2_@3ZLTD-eZ2!Y4-nw<
zYZ)Qx5YtVx#}FrsS0M_1S&s2f9cEr?^*}~+2|ixg$mQs<Mpr6dMU-{+oMc8d>2vG7
z9qd^c8KGjDQ{5Q^7xQF|Cb0Dmf7L70zu-v*h;hn#^etXuDD9>J%6e+Bev6>R+~+=c
zM?8qvk%J!X_<BVt_Fa8tP#wY6?ZF`s+#$FHcXxMpcXzjNa1Ra#cXxMpcXxLW5HvjQ
zyWjVIy#CX@XL{DGu9~Xpn%R4;ldY7*DP{?Wr;}bZe(dEPUp0!Wvq@9leasb?;+;Q7
z^FASa#Z7Oo6VIsVf2~)O_mnFkkgPNw+vD70kd8q#aB9R@ZdI=_5ak{YZ+1O}M9Q~7
zr;O*MeAw5W!rp%lMT%~W9?buE+KX%js!rRV8}nh4zD#i<roa7?%E2cnfNmDhP6?GU
zaaavkeL512o;T|eCgL^VBf=CrKBk^Fq*Tpt=k{Xlcu|Rj4GM5Io0>2ln}FHKMA0R@
z(<7YX1-im(*0=K2axV3Bh*A~NtH#g+y)GP9JLRs3BKz;Lz4(HVMQOLeq7tT&<aika
zD($Hk7c0afXmki@t1{y7HrHh3U(nsqBGW`lRjXj**lCDgT^1)g-H0AY^a#@C#7#<9
z(?u@@=Vit!m+v{_`JU5#*1;GuaJ1b99hSy=IhE~6%IX%obbJ1)$9T@PiDV1|)tWr#
zH_^Qu<R!epij&i9b1o7xA><p$+Sm1F72Ac`pK%<8l!$kXWCfCuVZ=GysYUn3%Ia}7
zUeeH$M86q@9|ks+M~CP;aaTN9K|W&!0{p_>daW7V{Y+=u1emYVX(x?7FnnloKZYPg
z_0h-k&u13~;d-9FJR?`D>dKXX9bTOEvRV~=ZuC4}H3DY|9HtXfA)YdDl%ITbf_3CA
zA%@?D7`EAd<4Q&nDVS4%rCb})Y0wG!_XH_bW8Lqu@7ldM)a3OCsnW4P^h%qW(!U^S
z?H;2($TlhRenJGu(fOJjQ%|zKNgEszao&_wRdZ`);lDs+etb`Pzins(wuy|BJy5l)
z&2bi=s|$?ep`ZPtV$ZfH{j-Nku!9VbFTeQ$8LAbCRyE50t7_w~9E>w5C9AAVd8N7U
z@A4o}x|FF^)lZlP0h|l|4B-S&!r{3JaMl&Ps<q4~rnpfTQ6#9)QC;IWhoUbGD-3)%
zmi5vz7;(`)!m18@VbYKtxZ3N(_xDlzDAq$?UcL&k>|UIIbChy-=fZsN*XP&MrWN!@
z!k2mKr3UH|IMW!HT$OjUBkSNd#qZ1R_Na44lkBa3HCgJcaeIwMevIWQe;^plUCYcg
z2EQY(s|OoVg(gFnFwm;c$==XzP`STRWmO_Fo-i^7-BE~*Kmj=i<Q_-YcW9pY0nzgf
zwP=3JFv}PbmQH9?dSdiYQtjuebAFPA7mL;97`t~ELeR{=S~3I#5u!rPW9dE9?)zS?
zw_fsCZ7(ENSTOzDfNHG<4iinP*R6;@*QzXu4^h_Acm;mYQNz#J=|Ur%-kr1cYeOaj
ziHY;#fCq{Xs`Oi0;33!mY)xU-+fRA5iZTy57y%K^GNLqf$eONiFo!zxQJA&MOs;g@
zW(>sHTL+W0yPM8Oze7pLPj1oZ&a0<4tVdVIV*sSgmee5{tG`%SxfI|GG56&Y21+KR
z*eg0oVAvkJbzi%k3eW4F{mCv4Rd1RQknxLE;bO)H0=C6XfmVT2o02I|V3!%*s}B8O
z8_Hq4b?^z=+%mD{<V|))v)+Q&71)JQ%uj6(l~MB+CG@8F=-x2tJ=>TxMEP1iGdD?f
zPW^JnxB!Ni*%>s?WkVZ)ZrjgXai5e@oc3G?@jZJIzaD`Tq!IIfrGIq*nZYL3CbC!f
zM(&zKe>cC01BGC7nyI6mk@d9JA*T`#u5`r230aVU1m^xbQ_~79-5LCoGN!TlEcBzV
zB(Fc6sqLcOuC9@JPmLSSFc!=>gg!0g<D7OCM$(p=|K>2=ELXpaNJob<50B*V)k6lq
zvOi#s;@kEe%?^99*pY-MNqZJFHW3t~I^#uJanv}p0I_|;#*kD<bak%X_?OEIzMY~T
zU#dI@GRyv+O|zPg!LHRYPFXw`-v+Uqh|(q|O{^FhySz)FEo6G+GUT2?icJmh2OPg@
z<Z}H3Ym9E2vS_mV7-}r63pz5G$`9%esoS%7`B<scn_L}U-K)U<>>0T-i)#{y!$2-G
zMSsDb0<xvwp?DLy1;0ARP5JInP!`?8VoKAL!gV4J!|45*26FbV)=T7)S>>U~!Aa``
zpjk|87XBV2_3d2G=-1CqD<c=S7A-6aqu<iHA?jFuN|lRbEL$&1rGP!0$F$3m<%|E`
z%SEIM_T3kpP!-InNUfPtWvf!<*KsG8)q4k#H}J3ejiuQP8S%R-PYO0O(MqGWMW|4&
zx-Vwm;;-;{>N~7%9qcx)s1~g{X-v19Sz}+W$dnDsF02f*6apj%Rc7KW1-7};3#%50
z+^h%ndtF8Ix&SUZrxKiU8jVt{V%b`l3AJ_&m0w-ZoIU4MP>(T~S%wmtB+{Wt16ni2
zg+S`S##BMRK!;ln+TB_zK0{2<0S;K(EKKr6eO-Q^UbN_R>GuZmpL2ebso`liSU~1o
zSUBN&hm7xR(BCi<>s)L&h#5)nzP4Y#F)I@SaM^hKWD*L`&Wb+9JKnNdR7!j+f42|I
z_L5(q^p9ZK%8mn&zpwAMZIT=EQt$Gj+5+kSD9r{VM3sRlaVget=o0bIuMwpWh>b%f
zgMW#lw#BVb=WQbM8n<evLTqfIq{LkA-Y^NoAqE5?1$ADHrr7>y=;%cvTIuU}V<)i#
z-x^<XJQ#H_y7!&?q#e*J$>H<(W*y`FR<#yb+T@^MT{(xhnMCXmdI`57-3~Y4p$IhA
z4&?0T&iq`JW%XX=hQz!IM4J&R+QKZfvm8QfI5MRypijtJbeFURJvQf_CV<)|TDv|Y
zfN|<ACgP=WxGdPL^z^l_2fCkUYk`b946ePM&#Cbk<n)30^RI<hgFnM&ZC_iw3w@la
zZ+!W#NnGt&qLcuea&<ZCu{1?KH9)3ApUPA7(OX0fSsO)_Z=EG0vET`tV=le>&d)D@
zh60_>&r78tP6PnciSfOxbT@6BZF&|+>rw7}1Z$j7zq0n-(6?)ENjq=NNrVy>hylqx
zIh@X)ohka`3SbILB@tyv(1g*<^HoCSDx1(UWAM0_$rFJsazbo);c>=uY(UfXCZ5aD
zPB~v&m@Zgf6EeY}--l1R?W{A|yQ-&Kyf)3=rkM5gPla8WtjYX1%qhl0Iu2{oLKdH|
z+`9$DA#FSc+N>uZHE3sBszst`*nnO1vmHqB&#+$eW_9sl#CPy_;NKsgCuG^uND)K~
zf>uQW8DsArXuLo`9^&OnBXItN3tmGTc8!xntDpJv&b1|^#%CdW@RuCUNc$vplj>dL
zk6_Ipebf6?E60Y7jlAbM{xma;vUu?(d~yl|9!)_RoPvZvZH#mLiY<ZxUlOn5Zo{(E
z1_26);PWA<pHqTm@{7AJ3tD#dd(LphXQE{Ifb4PHtJrEFzx3n)A+Y+xRYi|jpqJlA
z!UVBMP<3Bgv(Cik#T%U=N*;$$M`bdU)GfVPne0u-l_s=$n~Rr}QslMe)2B3h2RUwv
zeJ$ttb@+8GRO_b6FB42&u9&AHtB3u7p!Z$40E1mI_=u|9>Q23yGGjFM%)=2(0v+91
zqZl7bfh-IjmPmpc49HzyE+?j37$S@!XuB?n$Esm+e%J6~RcJT&kO>Gto<Zo059^1^
zE~X0HTx=1*Q=`2mxt#Ly)}!YI_(kd07~lA13Y1onZu*j<eFu$=uTe9@5-!vwPd)tI
zI3dvfqbEk^NG7$knz_B-v+g(WR=YVo@O>}5{SH26H+IdR7nnKdB92V+9m=IU09G4)
zzt6>*P&kKb7EB59RD9;jzts*5$kLb3fSE@8h=?ag0x{)wTuf#S69v(5wp^#-c?q(B
z{DZfjLn}LXYa_CJEBfHI^7|VhIvtHg&BJf#F{k~X0!eB+El<dAA=xz~cqRC2H~bOB
zrr=F;&XQZsO28raZ_*fE6nzJrQ92yQ>c(sT41eKV!%&M&Ywqi^!<QTtpD5$Evpw@p
z#TKn(ZpNJew$R}%TVxZq+y;NmUYt<5^*}D|Xf7^Y2Y4;M2@gU%R=>X4;j({PBJSlw
zINZ-`oWFM=yB>g8x!0y7Z<%8xd)Nk|i}Uop(`ZT;+yZStp}EwBqdq-7$us0RZy!$v
zGW!`@DE*-`i52Gt8}La$e}~Im!;4!&kyo`ah4U^3)hSe!=+H(%|H3fs)Gj2nR`Z4Q
z+mC!$T5WAu*Mka%aKTk?vsV~X_pSTH1hI84q`|4{E0@U0;gSBitq;FdYy@2zQhg^8
z{bAihR-kgX%OO=wU}jr<CWKZ|Q<m=uo`ogLp}knQY_;x{an0g#rt28o-={<-l1Sox
z{9wb^f=dsS!sZAz(*@p(^}@tw5rL}JPK%iHSefa^iw@Mj<iF;Xo5>o^_SO+?JKy7f
zhC1_4wY3{WddXziS-#GY@lD<rBB1vb9rB@|TL8hJeW!NO0894lA4;)*@f96o4rQdM
zhp0oUL!f>U{0R<AL5A2Y$81?G!H7M*Ut<UOEs6fh5{hS4M6`^b3lk#^;%}pPT8$j@
z_XQXL#lLeDiI+Gw8pEgQa3GmXQIN&gYsbV{mUl0fNs?~EvQ@z?@Jv@jNg@^~-}?9{
z=>Q>yLeH9dy<jQjcfZ#;wCmQ&<6LJWFPpT?B-HbBRJW<kD_n|;vD#kCgGI#8Qq%MA
zko6c1UX!ls(Gb%q2C@YMm^O{P5*&#XQqfMGi3lx|n~_u!WZNORaYNzUIjT$Tsze~%
z$=#eDD=C{D>#}bI*7*EeZl?rpdoWh{W`P48`UOoyptpbHqRxpv4A1i2$eRZTY&aW}
zM!4)zlX8a1Se=nx2oLE{p1pNRP#y}u9|uvZI(c=|y&Ao#RO+^PO{#vjt>A+`8ma&B
z;v?_?EYZ43W4<pWs4lm`@3J`<bU+*3)Z+t*<P|Fw%TBlk8q+4LM`TXoI7$Ty!+}Dd
z*f~ijlwwZ^>^k~^=Xk-dz7*4XrT#Y2>b%R9rPNn_Iq=%@7PCHjk{~Bt6W<ylQ_!MP
z8a!HYnzB)Cn0Xw`qO+$p_3Kjyzlw{2)4X?WQ+1poi(LrKrc-B-$-S)gr&|Uq3)syr
zLZ#MMo?FweUw+Hoj7FK3U8ntR03g?=m{P)nwb<vq##6pLvA-F;U<YrHQL2!}f&CvH
zFN~ou*xitYa`R?dduVucm`R_I95Y*mB)Kro)M*JFBj8cZ&Ib3JorCN2h#DjQh>72m
z8^~4J(nIyti4de}N_ey^O9)yuSO;U`O{n+F=D_(RJo%jv)bM-H!{tj040s_lHRFvu
zWYO??(Mc>!Nht&Ox&Ds(PVc%$dJD1av>0n|clv}A15IC9M&0yE3!{J*=i<(wAI<E&
z5+z~Y4=k*}g?Z;>!NyKB+}bEO+Zw!47P;&X<;e~!^Hok4<^N?&bFU%Rm)bj-Ms&5R
z^Vo;-!)CM2+eVLA3pEeE1UM>z{(GuI@L1ldR$z~_O=r%_iI^>d-?9Q+eKK4xISrqX
z{ed!q9sL0B@+O4oI9qsGnfQu9Zu&1{;2;m@t4dUbQYGrHu2A|rT`6>O`}-&y-eIwN
zzTD>Z6w`O>z4L;kf-ol0CE^L<e-y1szTJxE2j4GBU{9W!1_O@9oPm#r->?NUg!7zI
zoV#1~GEEuYjQ50ctXX_28|!*$!yOn&Q$}?mqKNK{A+lf`G=5kQhZo{bc~%>>>cQ6j
z#EWTc|Hj)2bzO{#jDM^<bBsRRrO{d{EyI`oc^J48^tzZ&d)qz+otdkeS$#cMdc`xT
ztITC!DV7@2ZYx_ExCK1z6>eJPaNOP5Bue`cAyggjf8+&-#|_OB;#V2DtYezVx~baP
zyTO=Z=IKKW-R#}QEF~cG?wt$hEbZdKn)OiCAyAx|$+<LMryK2K$71z;h59bxcZgU3
z!RJvG?G8L?w{`)XfL+g{gCjoGT{=l{6KG!j5yF^LV5R4OR0pQpB7aK?_Ta0mE6zMI
z-fIg;w3>ho{dASfEsDqbDgn(cfV{1<?$0H?du@zq<c=|@5Hv}unr@AH>c1%qET<}i
zb(PNX8HtkxQ^r_<^J6avUgCgsJC)7!P=Met*mTlhAqBV3a^%jX!Y^3P^F*+ZDg|Je
zGTC9!Y}T-9#sV?YxM@$9?5!XOPV6tqn3D+pfVq26@elSh-UXPI3iLZ(k+M0b(v_q4
zEbOTLno-aBo0^xt-#1g5@mO*{d{V)fgC>J=hna)Dc@F9kJPe#bx~nw>UPAVZT+E)M
z1E#kR^O}w&5Bp-aO*mbdR@~gL=aiskXoEXv^*cXCLx8HJMQz111fI};lM$!xz}``%
z%XwhGAFEIW0=skqo{;i_AFHnZwJ2Dy=kRxZblGDbPYs4^d`rl*n@#?=<_HZtxN0+&
zVLjTRT))-|FQ_FX*Ypi4@2y_o;WksM^P5W_1!@%u--?hKm0gH@C5cXUYCgf*)tfQK
zyXAm#UL>&0sesk$`3TLC4N8RD<!OgM5Ax$k<!ZdQL_sm>CD?!;=idNjv5~};*e7#Z
zJWG90*FSAPviR1(%$X<YaIQE1_-bB#11ah35@?a@^;0k081?vekPDa<zJ%jXUMa3E
z3dLBE9Q5zHaS&n~=+6&AjLe`*<$7tQ<+=*!D+!?YfMrLuVu5EJ=1m=lZDykL_54H#
zQ(x04UDPO7EZ>o<&wJ6E3kWTfU;6Kd4Jcd4m4ls+Yw(iwmyoEvX49CU(hp|ie$#ZN
z-~u8BV(MUKlWrmflU9}bFh=ByJ17=L9eZ=QakBtRZ=8#Szo%A1ydIA$<^DKFk8o@=
z3!=anV8+0f5N$c{)iWI=xn*SIQieo6DMVke;!J5l@CKv!cT81<pA}Khdm<r7w<;6I
zQiu<FHAt$eAN$L=!>ZTC!vqY6CJv0f#fA2ddh4X;Z61ytlsDQ!OXIQI$HRwH=~f6Z
z`2%T&J=NAAn^&&2m~ys&pFL3_R=_^{Wjdg}<jD`44|}P+R2_mLAARbDWZr;$Mf#Gn
z;z5(m2iw1j^^Xz!w?F*N1JXaQRPKU>whZ{^J{Kt6%%mnv(XVGKRNGXYQ0Y#rmKMKX
zk5e9ggNCoO86Gl$jQ6~p!k{Y=;RLec9tA8GvbINKcsWVaErg!ZK}pCFO9#6Le?tR8
z%vRjwa#pd0ctLS*TPf)5*tb7$EcyXkB08rD?&}*qAD!cOw*yHqM|YvT2e>i*g}Kq8
z|HXfVb$D&mYIL%F{PSD1OMm%yFQ^&SO;cZ^+JVoIk6Z5dj7ozoUlq@E=q3G%!&_fK
z)k0RXMju@k{u_C%tp~wl*Fggy1ttR6iNst1w4Ea)d|Cj$98$G=-XEbY^}GguD&*LT
zeYW%3TE0F03|iRH8F)c|OvQi>-kZXbPPZnvnSU;liZ3QI^R(HT4>g(ZU@oOY)*u!#
zl}OK|AAtC#wgM}qrnpDUTYXtk7F)!-GW}rOunij`aBgIVioi30{*1!<m2U}jzRW*u
zN6PjQ1y_z9gM-zbJFbqysgFK$cbXSBN{vR<Q84)ptFMsR-j_3_^pjmEh9B1G#{z)4
zsLa~A0CP(;{;@k8tiTYvbT8jMS$b`hE7K(p5U7oJ9z<!{D(MY7!s*h;Yc^=(TB=iS
zDdbZ(v{@=V1iwt=!I-7t(1itT`L0oufi)hSyX;ereR|w<gMLabPH2a-$uZVvP)35e
zpn5{#sKBZjcfHh6si00#{Jj;h#QK5}&jGE;b4)hdWEavZ*uK5(-z7~&>!^`k1m*v(
z9<Q?C=TZ&^p9dqSGiY^c$P|k1a%}CeCe@N1>iN@Q?W`bKF&L6q0K^Q$Hj2H-hw{{<
zuk(0I+R%WYU6em$@pf6tZx^L?{iZU@1w#`0(S)*{;?@xEEb9?KnyPd#N8^Tt0q7Id
z-fNg4hw#FUquoDIUov_X^H-x0iq)1zpr1a^D7#6tuKU!4uiZzmcZA#8p;_+TVQ4An
zj+P5*v+)bVs0hi4zVZbMaTV$Q?%W@*KLW%0!@!kH&?o+A=vl+PoHEx3!ySfiw^9jl
zlQ^AUVR`ri;NEn7H|S&o{V2v8KjBR#BQ!022RC$-J7Q<PsI*02Lvm6q&`!8s>>dc8
z(NMNo<XC2j|7Qs2QhyKDsW7Qx-fKGnvX73S&@aIhZ->^_-meKblR^|jPw~y~ILt{R
z$<YUGcm-%{BU&d*PL`~+O*KbEU>e`JS^3Ay>7JOCg{A=PAVqooR;$xa;~W7|s~jvl
z1fFKiv?c{TtWiqj>X`-B6wT5sBpL>2)_)PA|1x+xx3V-&3iTEz6I@q`T_~Bgqnbxz
znff3^+`qevYX28lO|_5NWm{P#^dk=1qe&G1-?Q(g!bFmspWJzTUD~P41L=e}u_Yf%
zmG#iBq&tqb)RtS?KDL9Vv47Z$1k!K6_b{{vk{y%N`WwD`kj3=sG5l&y_K$&&p4k2n
zTRYiFxvU=#S(A33|7K8+B2E=X+6kzv@Ry|aLD`eUWEbeb(wpEYG7Ya6uu&b(%UGt@
zY6mC2_&o4*)=9pp?wf_1V!a=_L-+eyuLDv%Hg!gr3y-07+RgS8WOf_p_rF|x<><6#
z&<@vl8xile$;95BqSXXDcxsHtjdlnhwuEtg?{WTdKi*U*3mFvL-pM4Rf$ThPrrdAn
zq`u0)`U84_XT5hnzO}qQLEJ$mRH!UXCe%oA9<PwSw-RU5c=1FS=jm;8i5^^_UVm%M
z;(zWR9sKumbV)e_=g;~Es(0&?a|?Q=UdVPV?)Z?uxz^O8uD6HxgyzNi$H~#J%f#i#
zF$Z0M9d0RedBS)xo$Gg=f!)kO(4)L!!Mx@70#NY+kVUrMP*cbp)i7Z};wI5iJ=q}W
z766@e)y2HjRS-vZb?NHBFg$Y{B{WZOcRbFD>*qy@*jN%46hORD9)dz0t>1%d81fpK
z*W4Ve$-c)?Gb<aZLzzGER&y<AmtrN*w18qO;;Q${6#$Rf=fs!ufjkL{FXb=`&s(!!
zNzN?-1{F)I&5Xlip1`S#Ej)Q4J2Ea|u~NoDjJ0?q0Z5fZBwAfJd0KQtJlvVKn3U*E
zyd-*0p3haOF|GP_;;v?`b-VRBrDcyeaA|ht*@Jtf-{Wp#XTic7BZKZLrCQTtsyz*3
zuq#vP&BKU0nM-WW4Zds?loXV?d{U*yF2h-XztGIYCr(lycR;--?H$2(nyEsp^xL>h
z-Doz!!ZVKU?}c<9w_Wi16j#r!2wFlwP^bIRTSd0A$-muX2ynpjM@`3bO`Cr~a${RS
zP<K#AZctUlfyHTumQI$H4R>|(;2W*_AAvI+gXlp}iUvh%JRA9Ls<{-Mg@seSb6p^C
zcnG=(mCZGpmUpYF8clH+Esr3hkwcF(Jmfh7oUpsaDC2SU)w6^_E8c2M=||?vgw8&r
zZAr|K0zo#MZQsOL|J$vq$Kv(lWtN3_Q@g$(SbcxVQ=)<Wh^QxK)~iqB6xBeHat0My
zqfUd^wu7D9gOMlm3K^dsJJ#$&wuTzeVYkk(1}4xwRFyngcv5Z;DK;-Jw#b3MD$l{x
z^RkhLYv$UbLO##(foTPgCVND7Nrpk#<v8}omX4y?KYkh)%Ztvd{Ac8@O+>$j1{85M
z+I|EnlE3m<uC)G$m?6NCMn7@a!A!z7Hq<1fGC7M8f(Q9eA!vtN{c^VHrL8UCejfG#
z-dwU=({o+9zbr_tuv$cg-6eF*I<2}JdBGwb;uTOx{iD%G(8kIbKi*F=r@np()PSSH
z>U%nlxr-2J<()<pRGbu9ggg?X9Zgy`b2<^VPSpl-14O?6m@Nulk$dG7O#wp#|D`qs
zfP8*(#tLZp+7u{7J$5J*^rHcn4{T>b&VBm5J+rd}m1gtLV5%DFNlG_6DEcwf&Ytn9
zv-NiING{b{K8sc`wHPo4^i+9*01jlg@rX;cHuI1UpJxNi3J@+pUeo=}`E1-G`~m$`
z9pjqBA$p-SBCB>oZ!Z)IIg~X$|N6n1hzD0Oqhe;b**dN!k~4=HmrNj~pXT)YQKlh(
zW}|e`pUgg1LU{F>F&(>oG=7ZZAQS3#^9se>&6J37zSW(5-_vh@V_nyE$#7ZLX-Dsk
zVd&QnT&~v4iIn0cIov(_tO69{<A!Bstbo&pc_IQ(H>%(7dEQ(-`2QH_(C149R_PYs
zZ58Rk5xPuU2jfF9nxq0}VD5fPGk#U*3lVP7yNoN^3HXRM!$<}<R}a<bX*JTIZ|AS3
ze0|O6q&h_3F!@NTFfd4dG(XE3e`81F-ezm3z4cN0pbGl(ZnLK8y4CuXs1@keFn`+;
z0x-jS5v>O{2a{i^A`e@4?cLnLsGFBrZ0&@Po+v*uvchv{JdgwFde$+O_1TF40|N<w
z_XOI83k9A&#noCQw0jJVMpl7yo@poo{GdPTGfL#aqHvx+36QNyc7-A$>dNY5O=a15
z_p!{CI!a-zG@V~fJc0|aKzvSrAarmIa(l1UVc+;(PdN!pZ0cJO(w)^GkUyfNqg66#
zMrkD-6<^fOQi6exvzy7gwZ!~~#KLsV9boa2o=kdHrQiv;2poqgqc!o5*}^{*wS%Lm
z5t-=}^Zh#e=NuNymM^CWnLMDt(@T+Gpq1|T+K!4;M!h|x1+-%t*B;cpZX|v}#QFce
z$INc9CCzI`F+!X0C>LXPU}L;jCqM<O2uj&T;YbW@v9tsRsYVL_$?ci8g0aE*t860F
z$b^BSn*Ux2X>|@eku0CtY>cCE0n$+c?{1n{8_adNMkrnycYxH;#jPE#gs*133tk><
z^=hWB)+%BSBhil=Jg;j{Oq)gFrz+FS(m^#sB(3mH^TAU^E^ltwmuYGfNZLdYL$Knu
z44KPhN@D<4E2VxDa9pdA<O8;7=P#BT`(-j&Sa|Zc)SoNZKQ{eT2n79Pn&wIH9oLc`
zBR67hmIR|zN!nvTU6gjf3raYy=oBZ>5-A^l0A;bxeugJvq;0Re2kerhUmKO<6E>4f
zJo2WWul!3x%K*RWt^)N`#`jd}+2W?M6xzj&s?7q?nBC0Kxx>2O20n=2LyV(jBB46N
z*_9G9iBekF3Eh)aogHRF9gj^_HC)9;T8gG?xaSYSty9)c!7izyyu`){d(ftf7l$xz
zErWT2ML7g9SUU5j7Bv~G-#0EG=E?`0-C2Si_4fFLEk*DGJ>;Bfw0)>Ft_Cj$<!x6x
ze>MW+LhBwg%F_FOtuv6r&17nQrPJgZ9AcwBAhuPzOaFL|tWgzZ`uaKB*tY&E?mma*
zDSIgHHXyd3f^^J06IvM@;aa?JJZ%|THq4uLN3lCS`H_=>$B47GdP}tv`@lMqGeMk7
zp&|L<f!=IxjmH@|)H2_RO-0O9%2w`ZHF*qFNPSQUjQat_8}FyVlm#I@@Q@!B2RidZ
zvzUc%eh53)I+kpLxJiGiy@=OK|J#|PkRW%?I;i07??^AeH^YSy;#t{I+#w6@4xx%h
zBrx3Is-MvF({-5{Q}595K~rNW#V>@|D2T#|$~Ke|o%oI?0kO$M1~F#DPB&5)YH}Zl
zdKP<1Q0u@w$!L?R^y3(uN6^lOIA$sBZ0FP}Q3@@nE7RU4Jbg*tSwpy7aEBZ_0KThu
z-@)LpC`4B)m}VNuv$7jlinNg3P;XD{5<_lF)<)>;bL+VD2(~_QKT!Eb9(1WuA;G4e
zA*PH61Reg?P9z=v?&lJZE~MpXNoEc_==_dlP%IWN&6XM4NN_`>gYHB?K*Y0&ijhP{
zq%zKo%T4ROmI^>IZ?<9IEYNw*kh%SRy3R6db42-eXo|FRE1D8X{@lR>GuR7{x(oj&
z#^aZm@I$PlYvGFAGt+WL2G$52ubcyVYdrWW`vBhyc?$o#A?c@yKXWVLi1REEM5rQ2
zrZXArD+VbaQI{2%G!gA-X>Ky7!{#@0!>MDqc5ZvNAu)V(Ulxt)S^Gf?&1rbEWW16I
zVrw}u4aPYrMqi=?hn7JOdeX(3+NWzY%I(^5E?Yl$;nW@;%~OL{at?7zsdl3G7poDf
z5*|9>@Zs?Orr~3r7L4Xr+cW_b`!4qwm;ZUGhfCfl5@cVRT?5mBd9Xq3O4w-GI8Ddj
zVN4d4v%L?Nb2N1yT-wRm<<-x~?d={5RJa;nUO!4Fz}~#D@IGx_mc8U$3pzZYh{(+h
z-JnSL=ki$Y8sphf!x>6iUGOtnk0TJQcB5yKWDF}5QfZwa*$Zwil>ZwrK0g@!J2H5h
z9J*@Bea6^&ABgL%!SUtj%MLlb*0TiNbQL|*6x5Q@)ff|KMAH0IbJ%UVGC9ULOG-WR
z(p=rQ7Ipi6d}tJm@Q7Xb>L8K_&7Or)aX#!K*D`o=Yq4yd-C-*q)AwC<h1ul+70tcd
zt{?=F#(+>3It@8aNtqt_u@NYg>v^1YJXhl0S*p@pIl%9N^fvunGuJ6!Mu)=+cE*-S
ztARN%_R5EjX^AC}m<p97viqV&z%gktBE?UKb<9jtA1onQyU2g!Tq=%zPPh=#T|@s8
zVcX<L@H?ulalJXG=8Ppe39qx@?W3Z88}X*(TA!ViU{O*aNeC7Y!M*I!e61+}8M|R7
zji+YuDN%1H2di_evuKypGhYe^(&7b1B3v>Hg~gxc(bf`9QBdB8#oyRR^-ZQ=bPUBD
zRal`fzpn}woba81i_YrRHyc<*I)5wg{~WJ+*^iP?+TZqy(!|XNh`V)tM?dt?<l=`y
zqttFSuI8n2sA~aEZn7kOSrB_s1+r~&?vljK%Xfkl<~VaqvOe>!*!5fOvo8NgcRF-)
z9UYLJ>969~dPi#1_|_4AOp(KBQYyKGH}rogt<TP^B8eo1sqo!<cO_$qll)aK6BGI|
z-wby8UW=3nb9x6Y+HQ%oa?kT`6d^<dD<C;3m~{|I>`R=JfzJ{{_^A-2!daapW$326
zM2BqttjMTKAhlx<vNbW=s&N<fC9jl;Z9Vqp2~y$vkR-;spw$RTo2G8X0rq><kSqyT
zxeJg{xXm==o3$Kl4k!4r2+75?7%jEnR7jLHY_gReMM=Z~VE{11lW6|hltltH9#n&O
znTK6ZzrU<mXF^y2Qbi$LejoBPM1WFLYO%5j7A~dJA@02?JytaR)jB_OvE~s@H9GcO
ztt7%ro11Us{%gDxek)yd*Q7<V5?tVutvBq9n^rJ4<BJ(hTc1-$_@xbm6}lH#q_zm2
zXzxa%#b!+zWN`|b6=*>mx)YLA(4UgpR+1}CwLgF_{tXyJ2OKN_B6{ghiolF~HL{rD
zg#j5YMedlgDVe7Yr)TVw5nVWAovw!sgkw9GnqhvM*<aKccgd3B^^W%<tsSGkUmPTV
z-z)w0D{~jcWtn><Z|UL<(|PW2he@-(U0}4j<)-Knc7vk-V1PjH(=|`0zvu-WKjtD(
ze&zx{B3_!Ac4J!yhc6Xk8M<V4TgV>h8Uttqbpq)9xgOqXd;I5z(N3HQLOA&<-4e+$
zgd?|PHqnu=RUQ?f!*7&=$^!2^G1PMd82dIAVr^iX`X@b6bJymf;|qBo_@2y@1e9~)
z6}Dk^f}j}$IBAk994Qkf%Byhf7U69^jOT$JWu2m}p27`Ikk!o)4|yIxxl58G>yiye
z<1B(85cAMKypj3T!Gj%z^-p!6le!cq?n7&SavO2nur`bDe@U_27e-&V)U~uf%Qtt?
zg_wQQ_M!`C=EV<UJ44Dt+wc!T&k-q`n^=7g9!Z*Re35eFR~$$nv$mfrxJ;b1m=grf
zfk<N<qs`qPn~T(J{7ZVBl!J)2q_J38wfa9&!pVy>9^z5=;sKc^pBfe?;L{KPM(%dl
z+10D#(MQ+@%A~MBbSZQAe`ONo&zP0t*@Q)(!^lHkTgZ+QWJLRgQccICr1KgI6ltj2
z2AzJ=up)kb{;AoySvk)9^m^j;$>syjbl1$>H1qYGynS>U^w1mM?ULl|3~u?c<A}d_
z>{8R}+1Be-C}};i%T`YLFN{?JHAqa>XWOq)RbR>C8a_~-ygM9}=Gokq?mRzrC##x=
zcOH?<$j?yvH!3^spHhE_<Zy%h#@;YIMpSHOBJ{hhI2#=L5q(&*6YHBIxP5_$Uy^Ly
zDdC#URjl*YOx9jFKc^Pcn#XUJ$ydZ_WZvQ@zy|9)y1Jk<m48PWRj*@AM|G{$Y<f6N
zXXeDzvcCz{any=NsTlUn?oO(`JFbx5dl^r}J9Xr@H!{d@MIYkoWLmFID5dmhhwVOE
z_Gl<lB`ce@h$=WdBk=zjlnepVQRpuS@zs<+n#aTlMMH%#sZHXI35;fDlU)tX53&64
zkheS#?qG^ZH!`xa-w<d%jO6I{;}EG8+uXstA1S1~e?CXJYVIsd9=Ux`R&oCMGd@wZ
z=F9ccX6IeCt;O2R>okK7@`&5cEL%8l1MDJt{Pg_0LxOhI*x;C-b!H=Q@367$51)zp
z_5ebD&9M_A`;GlsfMZvzwe-v6&-V|k>>GO2rq{K(dF?Z`V3p#-4;HrcvV@Bn4Q>n&
zLt=ONi0z#~w%V}gT?F0O{p~StMp;cqLy03SMnv>o-2<$!SpsI+U8{xoNJ3}j;)wDC
zXzrjMW79weqUgE7HqjOM@Z&9e_-92zHViRAN~O-RapASzU#FMnhXCEsr8)P-VfZD9
zm@VRr1RBiWsgISv?nL=*OM#J}*;sL%Mo{GDl$6%Z^vv%n@6PTkMoB8C^j;E6%6EUE
z{Cqs=3-p8W#ybU|_j3?-I{%FhPL7l=Wa*H2ye%$urHw~`EH89`&^)?@@`SPiNrbaz
zr88cS_a+u2CB8zd^0fN{*{Nz*1^S4W`2FR3T_H*e7yWG=P!KZ~pG({udbZv4wjsXk
zUb_S?sc-XPLbUxmo{noIix#}TXgiii@v$3dfgDLiqNdM-65%1GM5pb)nKVkZU{n!i
z7h)&$W<1HrWq#iSr83N9YntJh%ZL$C{}$PpSUB9qP}r}p%dHXnq_4zzVs|aZ6s<Qq
zbmsbxub5FM(JJheC?>@F^3W~#bW#VqyuGhQ1b6hz98yT~>ueRS*lsY%{ko(8ilz;|
zINGVs{cC&(GA#LSv(Qi;i-^MVC9t8JsT<g2+MEd9HFRqP^b!eT$Yb)m8l!l-&-7h3
z?Y&|Ptl#YNdTDgC^|23g8;MZGB+s#mTP#lJRdP5*$q1}0K!?@blU_TE-ce38%Q&-k
z7T6GQr)#rSVaUOCiY=rQN<G^oyRd59a4NGy(x_W6!-&0dWi=nFmX0ZHeiP#xm1KG{
zZJ3XO?utkP=D6k<2^b_KX`0aJ^R%ruhYFM8@+K|azZ0k6uNR~d6?kUz9B3AxW@WeQ
zzaO1&)bDw~x8X*`42g1CL4I1!l`JW+U7t7XvzKqZTq>*OJv}L1yI};dBV)CNhQngX
z{@K~_VV~Mtlm{|dtQ|vXv&W$i(Nl>##28wlwina@Au&l`<oc3f<eKjtmD{5{PB_tv
zmJS#%jqt`1(){Sc_4-Q4Wj)FBy6kPste$Er@kEnodEPD*w=mA&M>(e2M2-clpYCi_
zOm?y_l$ni>6tS;|tB~9VQ&QxAokbfXJeATBPbVBx{_dQ8c@r1~6Aa#YFGK+^^M9ov
z+54)0BXT1{0c3{)Qv8eKsAFb&fK#FNaQRRl92*GGlQTSUl^^!|*${%6?BH=>fTtOw
zyl)Uj2T@~~4hqrWy?^AwKPw^p@OJJoiODjlqfr=GI5F>V0gj%KL{LV$wi13Bc_Bzy
zJHQ6(pR{OjfHyLLAPn<j8!pt&=Vuxgey0^Mpf9ZJgwClyHN<?*xIzgqO9=tMMK0c^
zi<k8wY*&bzl_MKVX0!hR27o~YR}9&$Ud|Ksc?!vMg<yb3J(+HtR)Nd~7gCBG62)~7
z`QdyU1W*^0EU&jzI{s#q0r?bM6Xeg1Yxr+W1#%avH*_yK4*YHTmxf@gFMbT9jDQmm
z*);zST(Y$Exx)pb9{XG*7ZI-~h~5w>#HH_BV-xZ<T7qS@B`HZJQVKqf;Il|d{tHQ?
zwIioyiZN`!+dnc~`uTLop2)uQut#Lyqz{ArkXMaej9xBZJxM4ni^&~K>E5#4Qx*c@
zD>uDxYT7xZueWOX>_zR^_dh_<vOQg(V>I$>LBwY0ONWsLCp!LsHex{aT7VW&EbNJY
z0mE!h!&FDGQ@42QE|KFQ;G1$W9K^4wsa~PoWeYS|%USq8v46hZQt$GskV__CyfNjc
zm+v7vu4IBkCR{|Jtml5C^xp{1&8XW)7FVtLfe(KD+kac?8Ol)f0jm#Z*Uf-U7`A{N
z_KyZ1h9kCT9ilg#WtcIhHfLy1FNfnSgf3nvO8fkYEoDshXXxu@g#s#I7?sf_=O3h^
z3<M-P004jmxQ4cv!N7V^fPW2k>0qhA;M_u^WLzM{g)KlR46uTP{|TM)J8g%*rb~bU
z06)I^|Fo~+SIY%CGQiS;yM=<X8DR0j^T0t)46t~KYvA8$6lK7`0f7I#OOy;-Z<#c*
z835oY1_8kNzZd^6$S)8QBP`W_K)4vcKn5*A8jP@H;4Yz{U;l|496%Y2u*6>sLEZm}
zF`Ph~jIcOFo?py_I0B90qF?~mDKP(!*?+MOoD;J>3F-cS7EHa7QW6vZKnN88fcZZx
z{@YRig8>;a!IBcYe&Ocgb-o^d9Uu8xCfWZ?`|pa2$Y4Qtbg<;0aVA(~=qYm8ue1LL
DzN)HI

diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
index ee623f3ff..03ea176f6 100644
--- a/toolbox/src/DiscreteFilter.cpp
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -1,7 +1,6 @@
 #include "DiscreteFilter.h"
 #include "BlockInformation.h"
-#include "Error.h"
-#include "ForwardKinematics.h"
+#include "Log.h"
 #include "Signal.h"
 #include <algorithm>
 #include <cassert>
@@ -10,40 +9,38 @@
 #include <string>
 #include <yarp/sig/Vector.h>
 
+using namespace wbt;
+using namespace iCub::ctrl;
+using namespace yarp::sig;
+
+const std::string DiscreteFilter::ClassName = "DiscreteFilter";
+
 // Parameters
-#define PARAM_IDX_FLT_TYPE 1 // ::Filter type
-#define PARAM_IDX_NUMCOEFF 2 // ::Filter numerator coefficients
-#define PARAM_IDX_DENCOEFF 3 // ::Filter denominator coefficients
-#define PARAM_IDX_1LOWP_FC 4 // ::FirstOrderLowPassFilter cut frequency
-#define PARAM_IDX_1LOWP_TS 5 // ::FirstOrderLowPassFilter sampling time
-#define PARAM_IDX_MD_ORDER 6 // ::MedianFilter order
-#define PARAM_IDX_INIT_Y0 7  // Output initialization
-#define PARAM_IDX_INIT_U0 8  // ::Filter input initialization
+const unsigned DiscreteFilter::PARAM_IDX_FLT_TYPE = 1; // ::Filter type
+const unsigned DiscreteFilter::PARAM_IDX_NUMCOEFF = 2; // ::Filter numerator coefficients
+const unsigned DiscreteFilter::PARAM_IDX_DENCOEFF = 3; // ::Filter denominator coefficients
+const unsigned DiscreteFilter::PARAM_IDX_1LOWP_FC = 4; // ::FirstOrderLowPassFilter cut frequency
+const unsigned DiscreteFilter::PARAM_IDX_1LOWP_TS = 5; // ::FirstOrderLowPassFilter sampling time
+const unsigned DiscreteFilter::PARAM_IDX_MD_ORDER = 6; // ::MedianFilter order
+const unsigned DiscreteFilter::PARAM_IDX_INIT_Y0 = 7;  // Output initialization
+const unsigned DiscreteFilter::PARAM_IDX_INIT_U0 = 8;  // ::Filter input initialization
 
 // Inputs
-#define INPUT_IDX_SIGNAL 0
+const unsigned DiscreteFilter::INPUT_IDX_SIGNAL = 0;
 // Outputs
-#define OUTPUT_IDX_SIGNAL 0
+const unsigned DiscreteFilter::OUTPUT_IDX_SIGNAL = 0;
 // Other defines
-#define SIGNAL_DYNAMIC_SIZE -1
-
-using namespace wbt;
-using namespace iCub::ctrl;
-using namespace yarp::sig;
-
-std::string DiscreteFilter::ClassName = "DiscreteFilter";
+const int DiscreteFilter::SIGNAL_DYNAMIC_SIZE = -1;
 
 DiscreteFilter::DiscreteFilter()
-    : filter(nullptr), y0(nullptr), u0(nullptr), inputSignalVector(nullptr)
-{
-}
+{}
 
 unsigned DiscreteFilter::numberOfParameters()
 {
     return 8;
 }
 
-bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error)
+bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo)
 {
     // Memory allocation / Saving data not allowed here
 
@@ -56,9 +53,7 @@ bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo, wbt::Err
     // Number of input ports
     int numberOfInputPorts = 1;
     if (!blockInfo->setNumberOfInputPorts(numberOfInputPorts)) {
-        if (error) {
-            error->message = ClassName + " Failed to set input port number.";
-        }
+        Log::getSingleton().error("Failed to set input port number.");
         return false;
     }
 
@@ -71,10 +66,8 @@ bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo, wbt::Err
 
     // Number of output ports
     int numberOfOutputPorts = 1;
-    if (!blockInfo->setNumberOfOuputPorts(numberOfOutputPorts)) {
-        if (error) {
-            error->message = ClassName + " Failed to set output port number.";
-        }
+    if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
+        Log::getSingleton().error("Failed to set output port number.");
         return false;
     }
 
@@ -85,7 +78,7 @@ bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo, wbt::Err
     return true;
 }
 
-bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
+bool DiscreteFilter::initialize(const BlockInformation* blockInfo)
 {
     // Handle the parameters
     // =====================
@@ -96,24 +89,29 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     std::string den_coeff_str;
     std::string y0_str;
     std::string u0_str;
-    wbt::Data firstOrderLowPassFilter_fc;
-    wbt::Data firstOrderLowPassFilter_ts;
-    wbt::Data medianFilter_order;
+    double firstOrderLowPassFilter_fc;
+    double firstOrderLowPassFilter_ts;
+    double medianFilter_order;
 
     // Get the scalar parameters
-    firstOrderLowPassFilter_fc = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1LOWP_FC);
-    firstOrderLowPassFilter_ts = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1LOWP_TS);
-    medianFilter_order         = blockInfo->getScalarParameterAtIndex(PARAM_IDX_MD_ORDER);
+    bool ok = true;
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_1LOWP_FC,
+                                                    firstOrderLowPassFilter_fc);
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_1LOWP_TS,
+                                                    firstOrderLowPassFilter_ts);
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_MD_ORDER,
+                                                    medianFilter_order);
 
     // Get the string parameter
-    if (!(blockInfo->getStringParameterAtIndex(PARAM_IDX_FLT_TYPE, filter_type)
-          && blockInfo->getStringParameterAtIndex(PARAM_IDX_NUMCOEFF, num_coeff_str)
-          && blockInfo->getStringParameterAtIndex(PARAM_IDX_DENCOEFF, den_coeff_str)
-          && blockInfo->getStringParameterAtIndex(PARAM_IDX_INIT_Y0, y0_str)
-          && blockInfo->getStringParameterAtIndex(PARAM_IDX_INIT_U0, u0_str))) {
-        if (error) {
-            error->message = ClassName + " Failed to parse string parameters.";
-        }
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_IDX_FLT_TYPE, filter_type);
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_IDX_NUMCOEFF, num_coeff_str);
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_IDX_DENCOEFF, den_coeff_str);
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_IDX_INIT_Y0, y0_str);
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_IDX_INIT_U0, u0_str);
+
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to parse parameters.");
         return false;
     }
 
@@ -127,13 +125,13 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     unsigned y0Width, u0Width;
 
     if (y0_str != "none") {
-        y0 = new Vector(0);
+        y0 = std::unique_ptr<yarp::sig::Vector>(new Vector(0));
         stringToYarpVector(y0_str, *y0);
-         y0Width = y0->length();
+        y0Width = y0->length();
     }
 
     if (u0_str != "none") {
-        u0 = new Vector(0);
+        u0 = std::unique_ptr<yarp::sig::Vector>(new Vector(0));
         stringToYarpVector(u0_str, *u0);
         u0Width = u0->length();
     }
@@ -145,43 +143,35 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     // -------
     if (filter_type == "Generic") {
         if (num.length() == 0 || den.length() == 0) {
-            if (error) {
-                error->message = ClassName + " (Generic) Wrong coefficients size";
-            }
-            return 1;
+            Log::getSingleton().error("(Generic) Wrong coefficients size.");
+            return false;
         }
-        filter = new Filter(num, den);
+        filter = std::unique_ptr<Filter>(new Filter(num, den));
     }
     // FirstOrderLowPassFilter
     // -----------------------
     else if (filter_type == "FirstOrderLowPassFilter") {
-        if (firstOrderLowPassFilter_fc.floatData() == 0
-            || firstOrderLowPassFilter_ts.floatData() == 0) {
-            if (error) {
-                error->message = ClassName
-                                 + " (FirstOrderLowPassFilter) You need to "
-                                   "specify Fc and Ts";
-            }
+        if (firstOrderLowPassFilter_fc == 0 || firstOrderLowPassFilter_ts == 0) {
+            Log::getSingleton().error("(FirstOrderLowPassFilter) You need to "
+                                      "specify Fc and Ts.");
             return false;
         }
-        filter = new FirstOrderLowPassFilter(firstOrderLowPassFilter_fc.floatData(),
-                                             firstOrderLowPassFilter_ts.floatData());
+        filter =  std::unique_ptr<FirstOrderLowPassFilter>(
+            new FirstOrderLowPassFilter(firstOrderLowPassFilter_fc,
+                                        firstOrderLowPassFilter_ts));
     }
     // MedianFilter
     // ------------
     else if (filter_type == "MedianFilter") {
-        if (medianFilter_order.int32Data() == 0) {
-            if (error) {
-                error->message = ClassName
-                                 + " (MedianFilter) You need to specify the "
-                                   "filter order.";
-            }
+        if (static_cast<int>(medianFilter_order) == 0) {
+            Log::getSingleton().error("(MedianFilter) You need to specify the "
+                                      "filter order.");
             return false;
         }
-        filter = new MedianFilter(medianFilter_order.int32Data());
+        filter = std::unique_ptr<MedianFilter>(new MedianFilter(static_cast<int>(medianFilter_order)));
     }
     else {
-        if (error) error->message = ClassName + " Filter type not recognized.";
+        Log::getSingleton().error("Filter type not recognized.");
         return false;
     }
 
@@ -195,54 +185,27 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     unsigned outputSignalWidth = blockInfo->getInputPortWidth(OUTPUT_IDX_SIGNAL);
 
     if ((y0 != nullptr) && (y0Width != outputSignalWidth)) {
-        if (error) {
-            error->message = ClassName + " y0 and output signal sizes don't match";
-        }
+        Log::getSingleton().error("y0 and output signal sizes don't match.");
         return false;
     }
 
     if ((u0 != nullptr) && (filter_type == "Generic") && (u0Width != inputSignalWidth)) {
-        if (error) {
-            error->message = ClassName + " (Generic) u0 and input signal sizes don't match";
-        }
+        Log::getSingleton().error("(Generic) u0 and input signal sizes don't match.");
         return false;
     }
 
     // Allocate the input signal
-    inputSignalVector = new Vector(inputSignalWidth, 0.0);
+    inputSignalVector = std::unique_ptr<Vector>(new Vector(inputSignalWidth, 0.0));
 
     return true;
 }
 
-bool DiscreteFilter::terminate(BlockInformation* blockInfo, wbt::Error* error)
+bool DiscreteFilter::terminate(const BlockInformation* blockInfo)
 {
-    // Deallocate all the memory
-    // -------------------------
-
-    if (filter) {
-        delete filter;
-        filter = nullptr;
-    }
-
-    if (inputSignalVector) {
-        delete inputSignalVector;
-        inputSignalVector = nullptr;
-    }
-
-    if (y0) {
-        delete y0;
-        y0 = nullptr;
-    }
-
-    if (u0) {
-        delete u0;
-        u0 = nullptr;
-    }
-
     return true;
 }
 
-bool DiscreteFilter::initializeInitialConditions(BlockInformation* blockInfo, wbt::Error* error)
+bool DiscreteFilter::initializeInitialConditions(const BlockInformation* blockInfo)
 {
     // Reminder: this function is called when, during runtime, a block is disabled
     // and enabled again. The method ::initialize instead is called just one time.
@@ -251,17 +214,17 @@ bool DiscreteFilter::initializeInitialConditions(BlockInformation* blockInfo, wb
     // sized vector
     if (y0 == nullptr) {
         unsigned outputSignalWidth = blockInfo->getInputPortWidth(OUTPUT_IDX_SIGNAL);
-        y0                         = new Vector(outputSignalWidth, 0.0);
+        y0 = std::unique_ptr<Vector>(new Vector(outputSignalWidth, 0.0));
     }
     if (u0 == nullptr) {
-        u0 = new Vector(inputSignalWidth, 0.0);
+        u0 = std::unique_ptr<Vector>(new Vector(inputSignalWidth, 0.0));
     }
 
     // Initialize the filter. This is required because if the signal is not 1D,
     // the default filter constructor initialize a wrongly sized y0
     // Moreover, the Filter class has a different constructor that handles the
     // zero-gain case
-    Filter* filter_c = dynamic_cast<Filter*>(filter);
+    Filter* filter_c = dynamic_cast<Filter*>(filter.get());
     if (filter_c != nullptr) {
         filter_c->init(*y0, *u0);
     }
@@ -272,7 +235,7 @@ bool DiscreteFilter::initializeInitialConditions(BlockInformation* blockInfo, wb
     return true;
 }
 
-bool DiscreteFilter::output(BlockInformation* blockInfo, wbt::Error* error)
+bool DiscreteFilter::output(const BlockInformation* blockInfo)
 {
     if (filter == nullptr) return false;
 
@@ -282,7 +245,7 @@ bool DiscreteFilter::output(BlockInformation* blockInfo, wbt::Error* error)
 
     // Copy the Signal to the data structure that the filter wants
     for (unsigned i = 0; i < inputSignalWidth; ++i) {
-        (*inputSignalVector)[i] = inputSignal.get(i).doubleData();
+        (*inputSignalVector)[i] = inputSignal.get<double>(i);
     }
 
     // Filter the current component of the input signal

From ae4234fb3abf96d61a67744c0c31a3792e42e701 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Thu, 25 Jan 2018 16:53:54 +0000
Subject: [PATCH 88/89] Disabled size initialization of matlab class'
 properties

It is still not clear what is the Matlab version which introduced this feature. For now I am reverting it, addressing https://github.com/robotology/WB-Toolbox/issues/66.
---
 toolbox/matlab/+WBToolbox/Configuration.m    | 16 ++++++++--------
 toolbox/matlab/+WBToolbox/PID.m              |  8 ++++----
 toolbox/matlab/+WBToolbox/PIDConfiguration.m |  8 ++++----
 3 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/toolbox/matlab/+WBToolbox/Configuration.m b/toolbox/matlab/+WBToolbox/Configuration.m
index 6bb679ec4..6e460b44e 100644
--- a/toolbox/matlab/+WBToolbox/Configuration.m
+++ b/toolbox/matlab/+WBToolbox/Configuration.m
@@ -7,21 +7,21 @@
 
     properties
         % Robot state
-        RobotName          (1,:) char
-        UrdfFile           (1,:) char
-        ControlledJoints   (1,:) cell
-        ControlBoardsNames (1,:) cell
-        LocalName          (1,:) char
+        RobotName          char
+        UrdfFile           char
+        ControlledJoints   cell
+        ControlBoardsNames cell
+        LocalName          char
         % Other Variables
-        GravityVector      (1,3) double = [0, 0, -9.81]
+        GravityVector      double = [0, 0, -9.81]
     end
 
     properties (Dependent)
-        ValidConfiguration (1,1) logical
+        ValidConfiguration logical
     end
 
     properties (Hidden, Dependent)
-        SimulinkParameters (1,1) struct
+        SimulinkParameters struct
     end
 
     % METHODS
diff --git a/toolbox/matlab/+WBToolbox/PID.m b/toolbox/matlab/+WBToolbox/PID.m
index 8b1541ed0..b9eb812b6 100644
--- a/toolbox/matlab/+WBToolbox/PID.m
+++ b/toolbox/matlab/+WBToolbox/PID.m
@@ -15,10 +15,10 @@
     % See also: WBTOOLBOX.PIDCONFIGURATION
 
     properties
-        P     (1,1) double = 0
-        I     (1,1) double = 0
-        D     (1,1) double = 0
-        joint (1,:) char
+        P     double = 0
+        I     double = 0
+        D     double = 0
+        joint char
     end
 
     methods
diff --git a/toolbox/matlab/+WBToolbox/PIDConfiguration.m b/toolbox/matlab/+WBToolbox/PIDConfiguration.m
index 0fa0f707f..dd5e6a766 100644
--- a/toolbox/matlab/+WBToolbox/PIDConfiguration.m
+++ b/toolbox/matlab/+WBToolbox/PIDConfiguration.m
@@ -17,10 +17,10 @@
 
     % Read-Only properties
     properties (SetAccess = private)
-        P         (1,:) double
-        I         (1,:) double
-        D         (1,:) double
-        jointList (1,:) cell
+        P         double
+        I         double
+        D         double
+        jointList cell
     end
 
     methods

From 198e44b8159a8c3577761ba4248ffd4b33ad3dd5 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Thu, 25 Jan 2018 17:02:35 +0000
Subject: [PATCH 89/89] Small edits to README.md

---
 README.md | 15 ++++++++++-----
 1 file changed, 10 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index 4478dee41..bce25f6f8 100644
--- a/README.md
+++ b/README.md
@@ -35,9 +35,9 @@ alt="iCub balancing on one foot via external force control and interacting with
 **Note:** You can install the dependencies either manually or by using the [codyco-superbuild](https://github.com/robotology/codyco-superbuild).
 
 ### Optional requirements
-* [`iCub`](https://github.com/robotology/icub-main) (needed for some blocks) 
-* Gazebo Simulator (http://gazebosim.org/)
-* gazebo_yarp_plugins (https://github.com/robotology/gazebo_yarp_plugins).
+* [`iCub`](https://github.com/robotology/icub-main) (needed for some blocks)
+* [Gazebo Simulator](http://gazebosim.org/)
+* [`gazebo_yarp_plugins`](https://github.com/robotology/gazebo_yarp_plugins).
 
 **Note: The following instructions are for *NIX systems, but it works similarly on the other operating systems.**
 
@@ -100,7 +100,10 @@ You can also use (only once after the installation) the script `startup_wbitoolb
 - **Robots' configuration files** Each robot that can be used through the Toolbox has its own configuration file. WB-Toolbox uses the Yarp [`ResourceFinder`](http://www.yarp.it/yarp_resource_finder_tutorials.html). You should thus follow the related instruction to properly configure your installation (e.g. set the `YARP_DATA_DIRS` variable)
 
 ## Troubleshooting
-- **Problems finding libraries and libstdc++.** In case Matlab has trouble finding a specific library, a workaround is to launch it preloading the variable `LD_PRELOAD` (or `DYLD_INSERT_LIBRARIES` on macOS) with the full path of the missing library. On Linux you might also have trouble with `libstdc++.so` since Matlab comes with its own. To use your system's `libstdc++` you would need to launch Matlab something like (replace with your system's `libstdc++` library):
+
+### Problems finding libraries and libstdc++
+
+In case Matlab has trouble finding a specific library, a workaround is to launch it preloading the variable `LD_PRELOAD` (or `DYLD_INSERT_LIBRARIES` on macOS) with the full path of the missing library. On Linux you might also have trouble with `libstdc++.so` since Matlab comes with its own. To use your system's `libstdc++` you would need to launch Matlab something like (replace with your system's `libstdc++` library):
 
 `LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6 matlab`
 
@@ -110,7 +113,9 @@ You could additionally create an alias to launch Matlab this way:
 
 A more permanent and scalable solution can be found in https://github.com/robotology/codyco-superbuild/issues/141#issuecomment-257892256.
 
-- In case you compiled `YARP` in a directory different from the system default one and you are not using RPATH, you need to tell to MATLAB the location in which to find the shared libraries for `YARP`. If you launch MATLAB from command line, this task is already done for you by `bash` (if you edited `.bashrc`). If you launch MATLAB from the UI (e.g. on macOS by double clicking the application icon) you need to further add the variables in `${MATLAB_ROOT}/bin/.matlab7rc.sh` by first doing
+### `YARP` not installed in the system default directory
+
+In case you compiled `YARP` in a directory different from the system default one and you are not using RPATH, you need to tell to MATLAB the location in which to find the shared libraries for `YARP`. If you launch MATLAB from command line, this task is already done for you by `bash` (if you edited `.bashrc`). If you launch MATLAB from the UI (e.g. on macOS by double clicking the application icon) you need to further add the variables in `${MATLAB_ROOT}/bin/.matlab7rc.sh` by first doing
 
 ```bash
     chmod +w .matlab7rc.sh