[372] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2020/11/20
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| 6 | // filename: TwoWheelRobot.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: classe definissant un TwoWheelRobot
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| 14 | //
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| 15 | /*********************************************************************/
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| 16 |
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| 17 | #include "TwoWheelRobot.h"
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| 18 | #include <TabWidget.h>
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| 19 | #include <Tab.h>
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| 20 | #include <DoubleSpinBox.h>
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| 21 | #include <SpinBox.h>
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| 22 | #include <GroupBox.h>
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| 23 | #include <math.h>
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| 24 | #ifdef GL
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| 25 | #include <ISceneManager.h>
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| 26 | #include <IMeshManipulator.h>
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| 27 | #include "MeshSceneNode.h"
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| 28 | #include "Gui.h"
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| 29 | #include <Mutex.h>
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| 30 | #endif
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| 31 |
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| 32 | #define G (float)9.81 // gravity ( N/(m/s²) )
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| 33 |
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| 34 | #ifdef GL
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| 35 | using namespace irr::video;
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| 36 | using namespace irr::scene;
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| 37 | using namespace irr::core;
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| 38 | #endif
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| 39 | using namespace flair::core;
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| 40 | using namespace flair::gui;
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| 41 | using namespace flair::actuator;
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| 42 |
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| 43 | namespace flair {
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| 44 | namespace simulator {
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| 45 |
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| 46 | TwoWheelRobot::TwoWheelRobot(std::string name, uint32_t modelId)
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| 47 | : Model(name,modelId) {
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| 48 | Tab *setup_tab = new Tab(GetTabWidget(), "model");
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| 49 | m = new DoubleSpinBox(setup_tab->NewRow(), "mass (kg):", 0, 20, 0.1,1,0.2);
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| 50 | size = new DoubleSpinBox(setup_tab->NewRow(), "size (m):", 0, 20, 0.1,1,0.1);
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| 51 |
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| 52 |
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| 53 | Tab *visual_tab = new Tab(GetTabWidget(), "visual");
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| 54 | bodyColorR = new SpinBox(visual_tab->NewRow(), "arm color (R):", 0, 255, 1,255);
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| 55 | bodyColorG = new SpinBox(visual_tab->LastRowLastCol(), "arm color (G):", 0, 255, 1,0);
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| 56 | bodyColorB = new SpinBox(visual_tab->LastRowLastCol(), "arm color (B):", 0, 255, 1,0);
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| 57 |
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| 58 | SetIsReady(true);
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| 59 | }
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| 60 |
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| 61 | TwoWheelRobot::~TwoWheelRobot() {
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| 62 | // les objets irrlicht seront automatiquement detruits (moteurs, helices,
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| 63 | // pales) par parenté
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| 64 | }
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| 65 |
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| 66 | #ifdef GL
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| 67 |
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| 68 | void TwoWheelRobot::Draw(void) {
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| 69 | // create unite (1m=100cm) robot; scale will be adapted according to settings in gcs
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| 70 | // parameter
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| 71 | // note that the frame used is irrlicht one:
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| 72 | // left handed, North East Up
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| 73 | const IGeometryCreator *geo;
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| 74 | geo = getGui()->getSceneManager()->getGeometryCreator();
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| 75 |
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| 76 | colored_body = geo->createCubeMesh(vector3df(100,100,100));
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| 77 | MeshSceneNode* mesh= new MeshSceneNode(this, colored_body);
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| 78 |
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| 79 | IMesh *wheel = geo->createCylinderMesh(35, 10, 64, SColor(0, 0, 0, 0));
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| 80 | MeshSceneNode *l_wheel = new MeshSceneNode(this, wheel, vector3df(0, 50, -30),vector3df(0, 0, 0));
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| 81 | MeshSceneNode *r_wheel = new MeshSceneNode(this, wheel, vector3df(0, -50-10, -30),vector3df(0, 0, 0));
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| 82 | ExtraDraw();
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| 83 | }
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| 84 |
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| 85 | void TwoWheelRobot::AnimateModel(void) {
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| 86 | if (bodyColorR->ValueChanged() == true || bodyColorG->ValueChanged() == true || bodyColorB->ValueChanged() == true) {
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| 87 | getGui()->getSceneManager()->getMeshManipulator()->setVertexColors(colored_body, SColor(0,bodyColorR->Value(), bodyColorG->Value(), bodyColorB->Value()));
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| 88 | }
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| 89 |
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| 90 | // adapt robot size
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| 91 | if (size->ValueChanged() == true) {
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| 92 | setScale(size->Value());
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| 93 | }
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| 94 |
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| 95 | }
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| 96 |
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| 97 | size_t TwoWheelRobot::dbtSize(void) const {
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| 98 | return 3 * sizeof(float) + 2 * sizeof(float); // 3ddl+2motors
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| 99 | }
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| 100 |
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| 101 | void TwoWheelRobot::WritedbtBuf(
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| 102 | char *dbtbuf) { /*
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| 103 | float *buf=(float*)dbtbuf;
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| 104 | vector3df vect=getPosition();
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| 105 | memcpy(buf,&vect.X,sizeof(float));
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| 106 | buf++;
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| 107 | memcpy(buf,&vect.Y,sizeof(float));
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| 108 | buf++;
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| 109 | memcpy(buf,&vect.Z,sizeof(float));
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| 110 | buf++;
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| 111 | vect=getRotation();
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| 112 | memcpy(buf,&vect.X,sizeof(float));
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| 113 | buf++;
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| 114 | memcpy(buf,&vect.Y,sizeof(float));
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| 115 | buf++;
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| 116 | memcpy(buf,&vect.Z,sizeof(float));
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| 117 | buf++;
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| 118 | memcpy(buf,&motors,sizeof(rtsimu_motors));*/
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| 119 | }
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| 120 |
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| 121 | void TwoWheelRobot::ReaddbtBuf(
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| 122 | char *dbtbuf) { /*
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| 123 | float *buf=(float*)dbtbuf;
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| 124 | vector3df vect;
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| 125 | memcpy(&vect.X,buf,sizeof(float));
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| 126 | buf++;
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| 127 | memcpy(&vect.Y,buf,sizeof(float));
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| 128 | buf++;
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| 129 | memcpy(&vect.Z,buf,sizeof(float));
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| 130 | buf++;
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| 131 | setPosition(vect);
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| 132 | memcpy(&vect.X,buf,sizeof(float));
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| 133 | buf++;
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| 134 | memcpy(&vect.Y,buf,sizeof(float));
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| 135 | buf++;
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| 136 | memcpy(&vect.Z,buf,sizeof(float));
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| 137 | buf++;
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| 138 | ((ISceneNode*)(this))->setRotation(vect);
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| 139 | memcpy(&motors,buf,sizeof(rtsimu_motors));
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| 140 | AnimateModele();*/
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| 141 | }
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| 142 | #endif // GL
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| 143 |
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| 144 | // states are computed on fixed frame NED
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| 145 | // x north
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| 146 | // y east
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| 147 | // z down
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| 148 | void TwoWheelRobot::CalcModel(void) {
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| 149 | state[0].Pos.x=state[-1].Pos.x;
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| 150 | state[0].Pos.y=state[-1].Pos.y;
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| 151 | state[0].Vel.x = (state[0].Pos.x - state[-1].Pos.x) / dT();
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| 152 | state[0].Vel.y = (state[0].Pos.y - state[-1].Pos.y) / dT();
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| 153 |
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| 154 | //Printf("%f %f %f\n",state[0].Pos.x,state[-1].Pos.x,state[-2].Pos.x);
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| 155 | /*
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| 156 | ** ===================================================================
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| 157 | ** z double integrator
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| 158 | **
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| 159 | ** ===================================================================
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| 160 | */
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| 161 | state[0].Pos.z =
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| 162 | (dT() * dT() / m->Value()) * ( m->Value() * G) + 2 * state[-1].Pos.z - state[-2].Pos.z;
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| 163 | state[0].Vel.z = (state[0].Pos.z - state[-1].Pos.z) / dT();
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| 164 | //Printf("%f %f %f\n",state[0].Pos.z,state[-1].Pos.z,state[-2].Pos.z);
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| 165 | #ifndef GL
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| 166 | if (state[0].Pos.z < 0)
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| 167 | state[0].Pos.z = 0;
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| 168 | #endif
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| 169 | state[0].Vel.z = (state[0].Pos.z - state[-1].Pos.z) / dT();
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| 170 | }
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| 171 |
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| 172 | } // end namespace simulator
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| 173 | } // end namespace flair
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