{
 "metadata": {
  "name": "",
  "signature": "sha256:df9fb9c477b6a2610674b7ee0fbb91de2fede5f150497593d932da77a6f002ba"
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  {
   "cells": [
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [],
     "language": "python",
     "metadata": {},
     "outputs": []
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "Compare 1d kalman filter with full kalman filter with only 1 observed state variable."
     ]
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "from __future__ import division\n",
      "import numpy as np\n",
      "\n",
      "def predict(pos, variance, movement, movement_variance):\n",
      "    return (pos + movement, variance + movement_variance)\n",
      "    \n",
      "def update(mean, variance, measurement, measurement_variance):\n",
      "    return multiply(mean, variance, measurement, measurement_variance)\n",
      "    \n",
      "def multiply(mu1, var1, mu2, var2):\n",
      "    mean = (var1*mu2 + var2*mu1) / (var1+var2)\n",
      "    variance = 1 / (1/var1 + 1/var2)\n",
      "    return (mean, variance)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 1
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "%matplotlib inline\n",
      "from numpy.random import randn\n",
      "import numpy as np\n",
      "from filterpy.kalman import KalmanFilter\n",
      "from filterpy.leastsq import LeastSquaresFilter\n",
      "import matplotlib.pyplot as plt\n",
      "import matplotlib.pylab as pylab\n",
      "\n",
      "pylab.rcParams['figure.figsize'] = (16.0, 16.0)\n",
      "\n",
      "lsq = LeastSquaresFilter(dt=1, order=2, noise_variance = 5)\n",
      "\n",
      "f = KalmanFilter(dim_x=1, dim_z=1, dim_u=1)\n",
      "f.P = 500\n",
      "f.H = np.array([[1.]])\n",
      "f.F = np.array([[1.]])\n",
      "f.B = np.array([[1.]])\n",
      "f.Q = 3\n",
      "f.R = 5\n",
      "\n",
      "pos = (0., 500.)\n",
      "print (pos)\n",
      "plt.figure()\n",
      "for i in range(50):\n",
      "    z = i + randn()\n",
      "    pos = update(pos[0], pos[1], z, 5)\n",
      "    x = lsq(z)\n",
      "    f.update(z)\n",
      "    \n",
      "    plt.scatter(i, pos[0], c='b')\n",
      "    plt.scatter(i, x, c='g')\n",
      "    plt.scatter(i, f.x[0,0], c='r')\n",
      "    \n",
      "    assert abs(pos[0]- f.x[0,0]) < 1.e-12\n",
      "    \n",
      "    pos = predict(pos[0], pos[1], 1., 3.)\n",
      "    f.predict(u=1)\n",
      "    \n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "(0.0, 500.0)\n"
       ]
      },
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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yU1ABALrBjjvumJXPrEzmd154ImmoN2T06NGF5gIoMwUVAKAb7LDDDjnvK+dl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\nWvyfaHSDklyV5ONJnl/vc/q/sVVTn+Y9JMmvUh9NW5f+b0z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       "text": [
        "<matplotlib.figure.Figure at 0x7f6e93fff358>"
       ]
      }
     ],
     "prompt_number": 2
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "%matplotlib inline\n",
      "from numpy.random import randn\n",
      "import numpy as np\n",
      "from filterpy.kalman import KalmanFilter\n",
      "from filterpy.leastsq import LeastSquaresFilter\n",
      "import matplotlib.pyplot as plt\n",
      "import matplotlib.pylab as pylab\n",
      "\n",
      "pylab.rcParams['figure.figsize'] = (16.0, 16.0)\n",
      "\n",
      "lsq = LeastSquaresFilter(dt=1, order=2, noise_variance = 5)\n",
      "\n",
      "f = KalmanFilter(dim_x=1, dim_z=1, dim_u=1)\n",
      "f.P = 500\n",
      "f.H = np.array([[1.]])\n",
      "f.F = np.array([[1.]])\n",
      "f.B = np.array([[1.]])\n",
      "f.Q = .02\n",
      "f.R = 5\n",
      "\n",
      "kxs = []\n",
      "lxs = []\n",
      "kKs = []\n",
      "lKs = []\n",
      "zs = []\n",
      "\n",
      "for i in range(500):\n",
      "    z = i + randn()*5\n",
      "    zs.append(z)\n",
      "\n",
      "    lsq(z)\n",
      "    f.update(z)\n",
      "    \n",
      "    kxs.append(f.x[0,0])\n",
      "    lxs.append(lsq.x)\n",
      "    \n",
      "    kKs.append(f.K[0,0])\n",
      "    lKs.append(lsq.K2)\n",
      "\n",
      "    f.predict(u=1)\n",
      "    \n",
      "    \n",
      "plt.figure()\n",
      "plt.plot (kxs, c='b')\n",
      "plt.plot (lxs, c='g')\n",
      "plt.plot (zs, c='r')\n",
      "\n",
      "plt.figure()\n",
      "plt.plot (kKs, c='b')\n",
      "plt.plot (lKs, c='r')\n",
      "    \n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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NmhyGjmccQ6wkSZIkxYo/VmJXrIAZM8KCT8CSnjfS4NJzKbRmIjdc/AK9Wp0HF18M//tf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pgw4fD3D4VgxQq2bIHrrs5g6cA7eTr6av7XaBvf/Psq3v7lbQbvakuHgUMOfa4+fYJhxAeb1EmS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\nAAAAAElFTkSuQmCC\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f6e8f256ac8>"
       ]
      },
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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KAABAKWEKAABAKWEKAABAKWEKAABAKWEKAABAKWEKAABAKWEKAABAKWEKAABAKWEKAABA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\nJEmSJEkqf/8HBzN3mdu+U18AAAAASUVORK5CYII=\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f6e8f2af978>"
       ]
      }
     ],
     "prompt_number": 19
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "print(lKs[-1])\n",
      "print(kKs[-1])\n"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "0.00014299687477634373\n",
        "0.0612771680782\n"
       ]
      }
     ],
     "prompt_number": 18
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "# pos,vel filter\n",
      "\n",
      "%matplotlib inline\n",
      "from numpy.random import randn\n",
      "import numpy as np\n",
      "from filterpy.kalman import KalmanFilter\n",
      "from filterpy.leastsq import LeastSquaresFilter\n",
      "import matplotlib.pyplot as plt\n",
      "import matplotlib.pylab as pylab\n",
      "\n",
      "pylab.rcParams['figure.figsize'] = (16.0, 16.0)\n",
      "\n",
      "lsq = LeastSquaresFilter(dt=1, order=2, noise_variance = 5)\n",
      "\n",
      "f = KalmanFilter(dim_x=2, dim_z=1, dim_u=0)\n",
      "f.P *= 500\n",
      "f.F = np.array([[1., 1.],\n",
      "                [0., 1.]])\n",
      "f.H = np.array([[1., 0.]])\n",
      "f.Q *= .001\n",
      "f.R *= 5\n",
      "\n",
      "kxs = []\n",
      "lxs = []\n",
      "kKs = []\n",
      "lKs = []\n",
      "zs = []\n",
      "\n",
      "for i in range(100):\n",
      "    z = i + randn()*5\n",
      "    zs.append(z)\n",
      "\n",
      "    lsq(z)\n",
      "    f.update(z)\n",
      "    \n",
      "    kxs.append(f.x[0,0])\n",
      "    lxs.append(lsq.x)\n",
      "    \n",
      "    kKs.append(f.K[0,0])\n",
      "    lKs.append(lsq.K2)\n",
      "\n",
      "    f.predict(u=1)\n",
      "    \n",
      "    \n",
      "plt.figure()\n",
      "plt.plot (kxs, c='b')\n",
      "plt.plot (lxs, c='g')\n",
      "plt.plot (zs, c='r')\n",
      "\n",
      "plt.figure()\n",
      "plt.plot (kKs, c='b')\n",
      "plt.plot (lKs, c='r')\n",
      "    \n",
      "plt.show()\n",
      "\n",
      "#print(f.K)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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WVPv0gYcfhuLFQ0G1SRM48cxKlPiqHKu/TabssTEKl+npoTx7662xeZ/2YFiV\nJEmSCqNIBEaMgM6dC3om2RaJRPi/sf/HB7M+YMamGhQ/9fRdPh8+HJ54AiZMCLv37uLDxpRYOBNi\nFVb79IHt2+H882PzPu3Bo2skSZKkwmjZMjjnHFi6tKBnki0/r/6ZCwZfwEc/f8SYi0ZQfOEiOO64\nPz//5Re45hoYPHgvQRVyfXzNXiUmwmOPwfvvhxKu8oRhVZIkSSqMMnfHHTeuYOexH4vWL6LXp71o\n/057Tql5ChOum0DVX1fD0UdDyZIArF8PXbvC44/Dqadm8aJGjcJBqdH64w+45JJQWa1XL/r3KUuG\nVUmSJKkwSkyEChXg++8LeiZ7tfKPldw54k5O+M8J1Cxfk6Tbk/jrqX+lTPEyYe7NmgGQlgaXXQYd\nO8K11+7jhbGqrN55J7RuDZdeGv27tE+uWZUkSZIKo6lToVevcH5LHFm/dT3P/PAMfSf35cqmVzL7\nltlULVd115umTYPmzQF44AHYuhWee24/Lz7uOJgzJ6TbokVzN7kPP4TvvsvyzFbFlpVVSZIkqTBK\nTITrrgsBbuPGgp4Nazav4cnvn6ThSw1ZvnE5U2+Yygtnv7BnUIUw9+bNGTgQBg0Kf/a7dLR8eTjs\nMFi4MHcTXLgQbr8dBg6EcuVy9w7liJVVSZIkqbBZsyYs9Dz2WDjhhLB97hln5OsUIpEI01ZMY3jS\ncIbPG87MVTM5p8E5fNvzW46pckzWD6alwU8/kRg5njvugK++gipVsjloZivwUUflbLIpKaHX+O9/\nhxNPzNmzyjXDqiRJklTYZK75LFIk7Ej0/ff5ElZ/3/o7Xy74kuFJwxkxbwTlS5an81Gdebj9w7Sr\n046SxUru/yVJSaRWqcp5Vx3Ca69B06Y5mEDmJkvnnZeziT/yCFSsCHfdlbPnFBXDqiRJklTYTJ0a\nKqoAbdrAiy/m6XAj543kyXFPMnnZZNoc0YbOR3Xmvrb3cVSlHFY4gdRJiXz/RzOuuRV69Mjhw40b\nh8NYc2LMGOjXL/w3K+IqyvxkWJUkSZIKm8RE6NQpfN+6dWhxTU2FYrGNB0s2LKH3F72ZsmwKT5zx\nBOc0OIeyJcrm+n2RCHz17DR+O7w5//xnLl7QuDE89VT27//tN7jyyhBWq+5l7azylP/TgCRJklTY\n7FxZrVQJateGGTNi9vqUtBSe/eFZmr3WjOOqHMesW2ZxUaOLogqq8+bB1VdD+XmJdH+4We6KnMcc\nE16UkrJuBngzAAAgAElEQVT/eyORcBbOJZeEc3GU7wyrkiRJUmGycSMsWRKCW6bMdasx8P3i7znh\nPycwasEofrz2Rx75yyOULl461++bMycUN1u2hPr1IrQsPY0ypzbP3ctKlw7BPClp//c+9RQsXQqP\nPZa7sRQ1w6okSZJUmEyfHtphd275bdMGxo2L6rWrN62m56c9ueSjS3io3UOMvHwkDSo3yPX7Zs2C\nSy+Fdu3CpsXz58M/r19GkQSgRo3cTzRzR+CspKTArbdC//7wv/9BiRK5H0tRMaxKkiRJhUnGGaW7\nyKysRiI5ft2qTat4bfJrNHq1EZVKVeLnW3/mwkYXkpCQkKvpTZ8OF1wAp58epjl/Ptx/PxxyCDt2\nMc7lu4EdOwLvzZo1cNZZsGgRjB8PderkfhxFzQ2WJEmSpMJk6lRo1WrXa/XqQXp6CGl16+71sdWb\nVjNr9SxmrZoVvq6exezVs0lLT6NlrZZ8edWXNK2a/XNktmyBFStg+fIdX0ePDke+3ntvKGyW3X2J\n6+efw1/+krPfd3eNG8OgQXtenz0bunaF88+Hxx+HokWjG0dRM6xKkiRJhcnUqaHNdWcJCTuqqxlh\ndVvqNj6c9SHvTn+XGStnsD1tO40Ob0Sjw8Kf8489n0aHNaJauWr7raJ+93UKI56dzfgtx7N8eQim\nW7ZAtWpQvfqOP2efDQMHhqWle0hJgY8+gokTo/v9GzeGhx7a9drw4XDNNfD002EXJ8UFw6okSZJU\nWGzdGjYXatx4z88y1q2u7n4Wr01+jb6T+9L48MbcevKttKjZghrla+S4tXfZslAlLfvFZ/TZch0/\nfrSMw48oRfXqcOihOezmHT0aGjSAI4/M0Rz20KABLF4c/luULAnPPgvPPw+ffrpnxVkFyjWrkiRJ\n0oEmLS13z82cGcJaqVJ7fDT/2GosGfEhDV9uyKLfFzHqylGMunIU3Y/tTs0KNXMUVFNSQgZs2jQs\n+3z5mkmU2ryOv2wcSqNG4bScHC87HTgw7LgUrRIloH79sDi2Z08YMAB+/NGgGoesrEqSJEkHkk2b\nQmV02LCwWVBO7La5UnoknS/mfcHz45/n5+UzmLdqE3OvmMlhNXO/i++YMaHLuHZt+OEHaNgQOGMS\nXHYZ9OsHF12U85du3gyffQbPPJPree2icWM45xzo0CG0Pu+xOFbxwLAqSZIkHUj+8x9IToaPP855\nWJ06FU44AYB5a+fR/cPuFE0oSu+Wvbnk0s8oObITh82YBxlhdeNGmDYNDjsMatWCcuWyfvXSpXDP\nPaFI+fzzcN55GdXT9HSYPBlmzAg7+S5ZEl6WE8OGQYsWULVqzp7LygUXwPHHw9/+BkVsNo1XUez5\nHLVIJBdbY0uSJEmF1tatoYX13nvhvfdCCMyJli3h6af5+ZgqnPnfM3mg7QPcdNJNO1p8H3qIDevS\nGHDcYwwdGo5ePfZYWL8+5OOSJUPOrF17168rVoS235tuCsfMlCmz05i//BJ2Tlq4EG68MfQF339/\nzubdvXvYqbdnz5w9pwKV8fcq15nTsCpJkiQdKPr2Dce3DBkSttJNTAyJMTtSU+GQQ5g540s6DunB\n46c/ztXNriYSCdXToUNh9XtfcMmvj/P6JWPo2jUcOVqhQng8EoG1a0NhNDl5168ADz4YlsPu4b33\nwssHDQrn0lxxBcydm/1Fq+vXh4C7aBFUrJi9ZxQXog2rtgFLkiRJB4KUFHjyybDRULFiYc3l0KF7\nHkOTlV9+YWvVKpzxSXdePPtFuh11Mb17h9NgSpWCbt3gkhdacurFk2nz1vawEdFOEhKgcuXw5/jj\nczDvSZPg5JPD9y1aQPHiYZ1o27bZe/6TT+C00wyqhZAN2pIkSdKBYMCA0AKcuWttt27huJVsShr9\nISMqrOS1c1/jgmMv5oorQrFy9OhQ6HzmGWhzziEkHHVUqNjGys5hNSEBevUKGy1l1/vvh82ZVOjY\nBixJkiTFu7Q0OO44eO01+MtfwrVNm6B69XBm6H6qjmN/Hcvsq87mtFMupeFTb3P77TB7NowYEdah\n7uLWW6FePbj77ujnnZISDlRdvhzKlw/XVqwIC2GTk/e9Y1PmvcccE54vXTr6+ShfRdsGbGVVkiRJ\nincffRT6bzt02HGtbFlo3z4kzn0YNX8UFwy+gEu2H83RHS/l8cdDF+4nn+wlqAK0aRN2VoqFmTPD\netPMoAphrW3btjB48P6fHzwYunQxqBZShlVJkiQpnqWnw2OPhR2Mdt+UqFu3sNlSFobNHcYVH1/B\nJxf+j0Pn/MrAOc15442Qbw85JIuHTj01pNlYdEHu3AK8s1694O239//8wIFw6aXRz0MHJMOqJEmS\nFM+GDQsbKnXqtOdnXbrAqFGwbdseH300+yOuHXotwy4bRpu0mmwpUYHej1Vh5MjQPZylI44IOy7N\nmxf93LMKq+ecExbKJiVl/ezCheHzM8+Mfh46IBlWJUmSpHgViYSq6gMP7P2ol6pVw1rWMWP+vDRx\n6UTOef8cen/Rm5GXj6RFzRYkDUpkzO/NGTIEjj46G+NmVlejlVVYLV48HGHzzjtZP/vBB3DBBeFe\nFUqGVUmSJCleffklbNwI3btnfc9558GQIYxfMp5OAzrRY1APzmlwDkm3J9G8enPmzoURj02l3gUn\n0LJlNseNxbrVzZtDZTSrc2569oT+/cPmUXtjC3ChZ1iVJEmS4tW//gX33w9Fsv5n+9QWtfntw35c\nMugiuh3djXm3z+OWk2+hVLFSrFgBZ58N3Y9M5OiLm2d/3FhUVhMTQ9V3r7s4AY0bQ40a4eyc3c2c\nCevWhdCsQsuwKkmSJMWj776DJUvgkkv2/vGi7zjj3TPoMe0+ih5yKEmtBnLTSTdRslgIhxs2QOfO\n0KtnhNqrpsIJJ2R/7CZNwnExq1fnfv5ZtQDvrGfPvW+0NHBg+L33EdJ18PP/+pIkSVI8euwx+Pvf\nw+ZKO1m3ZR2dBnTi6iFXc2njS5l721wOveQaig8bDoRlrj/+COeeCy1bwgO9locdhWvWzP7YRYuG\nh3/4Iffzz05YvfTSsEHU2rU7rkUiYb2qLcCFnmFVkiRJijeTJ8OsWXDVVbtcXrZxGe3eaccxlY/h\nl9t+4doTrqV40eLQrRupH3/KCy+EoujVV4dTbV56CRISM6qqe9ugaV+iXbeanbBasWIo/77//o5r\nEyeGgN48B23LOigZViVJkqR489hjcO+9u6z3TFqTRJu323BZ48t47qznKF60OOnp8PXXcNkLLfjt\nlzUkj5nHK6/AL7/A3XeHAimJiTlrAc4UzbrVdetCG/Gxx+7/3t3PXB04EC67LOfhWgcdw6okSZIU\nT2bODH28113356XE5Ym0f6c997W5j/va3sfKlQk8/jg0bAh33QWtTi3CoVd15dm2n9K+/W45b+rU\n3FUpTzkFpk+HLVty/uzkySEgFy26/3tPOw3WrIFp08LOwB9+aAuwAMOqJEmSIISEq64KaxsLm5kz\nw594sGJFKIn27g1lygAw5tcxnPXeWbzc+WWuP/F6JkwIrb4LFsCAASFP3n47lLyoGwwZsuc7c1tZ\nLVs27OY7eXLOn81OC3CmIkVC33K/fuG82Bo1QgpXoReLsHofMAv4CXgfKAlUAkYDc4FRQMUYjCNJ\nkqS8kpwM//3vrhvdFBZvvgmPPlqwc5g/H266KYTDo48O6RMYMmcIFw2+iA8u+IDzjz2fKVOgS5eQ\n6954IxQ//6yinnYa/PTTrjv4rlkTWnLr1cvdvE49NXfrVnMSVgGuuSasW+3f36qq/hRtWK0LXA+c\nADQBigKXAH8nhNWGwFcZP0uSJCle/fJL+Lp8ecHOoyAsXw4jR8L27fk/9vTpYX3mKadAlSrh/w59\n+kCZMryd+DY3f34zIy4fwWlHnsb06XDOOfD662Gn3z2UKgVnngnDhu24lpgIzZrl/giYNm1yt241\np2G1Xr1w7uqAAVke1aPCJ9qwugFIAcoAxTK+LgO6Av0z7ukPnBflOJIkScpLc+eGr4U1rG7blvvN\nhHLj++9D8uzUKawnXbAA/vUvOOwwAJ4a9xSPfvsoY68Zy4k1TmT2bDj77JBju3ffx3vPO2/XVuDE\nxOh21W3TJhxf88cf2X9m2TLYuhWOPDJnY91yC3TsCLVq5ew5HbSiDatrgWeBxYSQup5QUa0KrMy4\nZ2XGz5IkSYpXhT2sXnDBrhXJvPLjj9C2bVij2bVrCKn33gsVKgCQmp7K//vi//Hu9Hf5vuf3NKzc\nkLlzQ8H06afhoov28/7OneGbb2Dz5vDz1Km5W6+aqVq10F688269+5NZVc3pbr4XXgiff56zZ3RQ\nizas1gfuIrQD1wDKAVfsdk8k448kSZLi1dy5oQ1z2bKCnkn+W74cbrgBPvsMInn8z9bevaFHj9Du\ne+ONoXU3w+pNqznrvbOYsXIG3/b8lpoVarJgAZxxRlhSe8Xu/8rem0MPDUFx1Kjwc7SVVYB77oHn\nn4fU1Ozdn9MW4J3ltl1ZB6ViUT5/EvADsCbj54+BVsAKoFrG1+rAqr09/PDDD//5fYcOHejQoUOU\n05EkSVKuzJ0b2lILW2V148YQUNu2DUe0zJ0bNjjKK3PnhjWqxXb9Z/jEpRO5cPCFXN7kch79y6MU\nLVKURYvg9NPhvvvCUaTZdt558OmnIeUmJ2fvrNN9adkytOZ+9FH21pNOmgS33RbdmDogjRkzhjFj\nxsTsfdGetHs8MAA4GdgKvANMBOoQAuyThM2VKrLnJkuRSF7/L1eSJEnav61boWJFeOutsN5x8OCC\nnlH+mTs3tM7Omxd24z3qqFBJzAtr1oSNhNav/7NFNhKJ8PqU13nom4d4o8sbdDumGwBLl0L79mFT\n4DvvzOE4ixbBSSeFcHnvvTBxYvRzHzoUHnkkHGOzr/beSAQqV4bZs0MLsQq1hPB3JdeZM9o6+3Tg\nXWAyMCPj2n+AJ4AzCUfXnJbxsyRJkuLR/PlhM5xateKnsrp9e6gK5rXly6F69fD9uefm7brVefOg\nQYM/w96WlC30/LQnr0x6hXG9xv0ZVFesCMtEb7wxF0EVoE4dqF0bXnkluvWqOzv3XNi0KZyDui/z\n50O5cgZVxUQsmsKfAhoRjq65mrA78FrgDMLRNR0JGy9JkiQpHv3yCzRsCDVqxE9Y/fTTbOwmFAM7\nh9XTTw8bEq1blzdjJSWFyi2wYN0CWr/dmpT0FMZfO54GlRv8eUuHDnDllaEommvduoUKebTrVTMV\nKQJ33x12edqXaNarSrtxBbMkSVJhN3duCKvVq4fwFg9LtX75BaZMCS3KeWnnsFq6dOi9HTkyb8ZK\nSoIGDRieNJxWb7WiV7NevNf9PcqWKAvA6NHhpJjeveHBB6Mcq1uo0sassgohQScmwsyZWd9jWFUM\nGVYlSZIKu8xNhcqVg6JFYcOGgp5RCHYpKaHSmZd2DqsAXbrkWStwJGkun6TO5IbPbuDjiz7m9lNu\nJyEhgUgknJ961VWhGHrjjTEY7PjjQw9x06YxeFmGUqXCxknPPpv1PYZVxZBhVZIkqbDLrKzCjupq\nQUtKgiZNwrmkeWn3sHrOOaGymt1jWrJp47aNzJ8wkhEJ85l8w2ROPeJUALZtg+uvD3tb/fgjtGsX\nowETEuCFF6BkyRi9MMNNN4UW7aVL9/wsNTVUXk86KbZjqtAyrEqSJBV2u4fVeDhrNSkplBrzO6zW\nrBk2KPrhh5gNsWDdAlq/1YoaKzfz0h0jqFYubD60alVYJrt2LYwbB3XrxmzIvFO5cjjwtU+fPT+b\nPTts0nXIIfk/Lx2UDKuSJEmF2bp1YV1o1arh53iorK5fH+bUvXsIq3m5hnb3sAoxbQX+asFXtHqr\nFXcddSWli5ehZNUaAEybBi1ahLD60UehA/uA0bs3vPnmnu3itgArxgyrkiRJhVlSUqiqZp6dGQ9h\nNXPX3Hr1wrrVJUvybqy9hdVzz4XPPovqtZFIhD4T+nD5x5fz4QUfcm35diQcdRQkJDB4MJx5ZthY\n95FHwka7B5Qjjwy/wJtv7nrdsKoYO9D+X0OSJEmxlHlsTaZ4OL4mY9dcEhKgVau8awXeujWcHVq5\n8q7XTzwxVHfnzcvVa7elbuO6odfxVuJb/Hjtj3So2wGSkog0aMDDD8M998CoUXDhhVH/BgXnnnvC\nmtiUlB3XDKuKMcOqJElSYbbzelWIn8pqg3DuKC1b5l1YXbEitD9nVpUzFSkSNlr6/PMcv3L5xuV0\n6N+B37f9zrhe4zjy0CMBSP05iSEzGzByJEycGLvjTwvMSSdB/frw4Yfh561b4eefoVmzgp2XDiqG\nVUmSpMIs3sNqXlZW99YCnCmbrcCRSIS1W9Yyc9VMPv75Y1q82YLOR3Vm0IWDKFciLERduxbGvpXE\n4lIN+OabHcuDD3j33gvPPBPWFE+bBsccE86qlWKkWEFPQJIkSQUo84zVTPESVm++OXx/8snw00+h\ncleqVGzH2VdYPeMMuPLKsIlQhQpMWjqJsYvGsnTDUpb9sYxlG3f8KVWsFDXK16Bm+Zq80vkVuh7d\n9c/XLFgAnTvD6CLz+MuLDShyMGW5Tp1CYP3yS5gzxxZgxZxhVZIkqbCKRHatYkJ8HF2z85zKlg1h\nOjExVFljaV9htVw5aNOGjUM/oneFHxgxbwQXHXcRtSrUokXNFtSsUJMa5WtQvVx1ypYou9dXjB8P\n558P/3gwQu37kuDoBnu974CVkBDWrj79NFSrFsNDYqXAsCpJklRYLVsG5ctDhQo7rlWsCNu3h42H\nyu49hOWpNWsgLQ0OO2zHtcxW4HwMq+mRdCYcX5nkF26lzKPXM/uW2RxSKvvnh/7vf6E4/M470Pmk\n1fCPYlCpUowmHkcuuwwefDBsrnT33QU9Gx1kXLMqSZJUWO2+XhVCtawgW4F33gk4U16tW80irM5c\nNZP277Tn8Yo/0X1hKV4883m+HX0Ib70VMtmWLVm/MhIJyzjvugu++CK0AP95FM/BqGRJuOMO2LYN\nGjUq6NnoIGNlVZIkqbDa/diaTJnH1xREwNq9LRnCjsB//3vsx9otrG7avolHxj5Cv2n9eKTDI9x4\n9Y1sfbM5tzafwMSirWnaFF56Kfxnq1MHjj8emjbd8bVGjZDbxo0L2bpWrX38TgeTW24J/0GKGS0U\nW/6NkiRJKqz2VlmF+Kis7qx+/VC5S06G2rVjN9ZOYfXTOZ9yx8g7aHtEW366+Sd+X1qNCy+A01Z3\n4fZ2wzhuSGuKFg2PpaSE/YRmzIDp0+Hll8P369ZB+/bw3Xe7dlYzb97BHVbLl4dLLinoWeggZFiV\nJEkqrObODelqdwUdVjt33vVaQkJoBR4/PuZhNVKtGrd+fgtfLfyKt7u+TaMyp/PIvfDRR/DXv8L1\nd5xLyTtuhKL//vOx4sWhSZPw5/LLd7xu7dqw5LfI7gvtkpKgW7fYzVsqJFyzKkmSVFjtfmxNpoIO\nq3urQsZ63WpqKqxZw0OzXmbSskmMuWwy3//3dBo1gjJlQuX03nuhZNsWsGIFLFq031dWqrSXoAoH\nfxuwlEcMq5IkSYVRSgosXgz16u35WUGF1Ugk65bZWIfVVavYVKE0g+d+Qu/DhnNi4/LMnQuTJ8Oz\nz0Llyhn3FS0aKr3DhuVunMzjgQ7WDZakPGRYlSRJKowWLgw7AJUosednBXXW6m+/hdLkn0lxJyef\nHBaGbtsWk6E+H/smC0tv5dlmo7jz+sMYNAgGDIAjj9zLzeeeC599lruBVq4MO+YeemhU85UKI8Oq\nJElSYZTV5kqwYzfg/LavdtmyZcN8p06NepjP537OB6Ofp0a9ltx82RG8+iq0abOPBzp2DFv8/vFH\nzgezBVjKNcOqJElSYZTVsTVQcG3A+wt2MWgFHrd4HD0/7clDDW5i3C8N6NkTLrxwPw9VqBCOzxk9\nOucDHuw7AUt5yLAqSZJUGO2rslq5MmzcGLOW22zLTlgdPz7Xr/9p5U+cP+h8/tv9PWYOLs3WQ6vz\nz39m8+GOHeGrr3I+qJVVKdcMq5IkSYXRvsJqkSJQtWrYBTc/5WFldeG6hXQa0Ik+Z/fh52EdSVm0\nnK43VN/77r170749jB2b84ENq1KuGVYlSZIKo6yOrclUEK3A+wt29evD1q2wZEmOXrvyj5V0fK8j\n97e9n0OXXcyTT8K5Jy6nZN3q2X/JCSeE42t++y1HYxtWpdwrVtATkCRJUj774w9Yvx5q1sz6nvwO\nq5lHvOwr2CUk7KiuXnghi9YvYsyvYyhetDglipageJGMrxk/lyhagiIJRbhx2I1c0eQKzjjkFtqe\nC4MHQ5l7l4ffMbuKFYPWreG776B79+z/TvPmeWyNlEuGVUmSpMIm89zPffXA5ndYXbkSSpWCihX3\nfV/LlqSO+457i8+mb2IfDvmtI0fUhmq1Ukgoup2U9BS2p20nJS183Z62nc5HdeaO4x+iVSv417+g\nXTvC75aTsAo7WoGzG1aXL4cyZeCQQ3I2jiTAsCpJklT47Gu9aqYaNfL3rNVstMtGIhGGlk6l2v/+\nwyu/deGGOlM5/Yw6DB4Mw58Ihc/LLoXzukP58jueS0sLR6WeeSZcfz2h4rlyJVSrlrM5tm8Pt96a\n/fvdCViKimFVkiSpsNnXsTWZqlePaufdHNtPWP1iyhx6Db6TP9YvZtXKBFY8/R6VqpcEQqFz0yYY\nOhTefx9uuw3OOgsuvRQ6dYIHH4Tt2+G55zJetmZNOLe1VKmczfGkk0IAXbcODj006t9J0r65wZIk\nSVJhk53Kan63AWcR7KbO2kij3vfSaXBbmpTuxLzHZlCy0TFUWpS4y31ly4Zw+tlnsHBhqKL26ROK\np0OGwKBBULx4xs25aQEGKFECTjkFvv8+qt9JUvYYViVJkgqbAyCsrloVofVN73HyO8dQ6tA1/HLH\nTEb+8y4Oq1x8v0fYVKoU2n2/+QZmz4aJE8PRsX/KbViFnB1hY1iVomJYlSRJKkwikbgPq+npcMr9\n9zO3ytOMuu5/THnobRrUqLrj3hyct1qjRgivu8jPsOpOwFKuGVYlSZIKk9WrwzEsu5Qa9+Lww8Pa\nztTUvJ9T5hEvGWH1sscHsqLKh8z861ecfnTLPe9v1Sq69bTRhNUWLeDnn2HDhn3fF4nA/PlWVqUo\nGFYlSZIKk+xUVWFHoF21Ku/ntGxZ2L63fHn6fTGFQRvv4NNLh1CtQpW931+/PmzZAkuX5m68aMJq\nqVJho6Vx4/Z9306/k6TcMaxKkiQVJtkNqxB6aPOjFTijBXjOkhVc/2V3/nrca3Q8vmnW9yckQMuW\n2W4F3kM0YRWgQ4f9twK7XlWKmmFVkiSpMMnOsTWZqlfPn7NWk5JIrXckbfr04MSiPXniqh77fyYH\n61b3EG1Yzc66VcOqFDXDqiRJUmGSk8pqPm2yFJk7l7dW/kzq71UZ8/A/s/dQtGG1Ro3cPQuhqvvT\nT+Fw16wYVqWoGVYlSZIKkzgMq7O/HcXXCSv55o53KV0qm/88PflkmD4dtm3L2WCRSKgWR1NZLV0a\nmjeHH37I+h7DqhQ1w6okSVJhkZYGCxZk/ziVfAirn//8NZEFszjnlFdp3qhc9h8sVy6E7mnTcjbg\nhg1QtGh4Phrt28OYMVl/Pm+ex9ZIUTKsSpIkFRaLF4cjacqUyd79eRxWF6xbwEXvX0qDdUW56p4O\nOX9BbjZZina9aqZ9rVtNTw/H1hhWpagYViVJkgqLnLQAQ56G1Y3bNtLhtW40/PFWih9WOXeVztys\nW41VWG3dOlR1N2/e87OlS6Fixeirt1IhZ1iVJEkqLHIaVvPo6Jr0SDo9BlzNqsRTGHRBa4o0zOXa\nzhYtYNKknD0Tq7Batiw0aQLjx+/5metVpZgwrEqSJBUWOTm2BqBaNVi5MrS1xkBaehofzPyA415u\nwoSpf/DvNq/QgHm5D3YNG8KaNfDbb9l/JlZhFbJuBTasSjFhWJUkSSosclpZLVECKlTIWRjci9T0\nVN6dNoC6Tzfmtv/2IfmN57g88gW9by8ZXbArUgROPBEmT87+M/kRVudFEcAl/cmwKkmSVFjkNKxC\nVOtWU9NTeWzYuxz28HFc99prlP/uJR6tO47kMWfx6isJJCQQfRXy5JNz1gocy7B66qkhKG/duuv1\npCQ3V5JioFhBT0CSJEn5YMsWWLEC6tTJ2XOZYfX447P9yNLlKdzz3//y8ep/k7CxFj2qvM4/7urA\nMcck7HlztGG1RQt4553s3x/LsFqhAhx7LEycCO3a7bhuG7AUE4ZVSZKkwmD+fKhXD4pl759/6emQ\nnAzFI9WZM2A5Q0eGwuyiRbB9O6Sm7vpne6lktlUdR2qNcaQfNYyqxevxeKu3uOu89hTJqpcvLQ0W\nLoT69XP/e518Mtx6K0QihFLtfsQyrMKOVuDMsJqenrOzbCVlybAqSZJUGOynBTg9HR5/HKZMCbcu\nWACVKsFTRapT5vfl1LoITjsN6taF4iVTmbdxBolrxjFl1TgmrxwH6dtoV+NUWtc+ldPrf0SLWifu\nf06LF8Nhh2X/3Ne9qV07BNUlS8L3+5MXYfXFF+Ef/wg/JydD5crR/U6SAMOqJElS4bCfsDp4MAwa\nBA8++P/Zu8/wKIs1jOP/pYTeQg299yqG3psK0kRAaVIEPdhAFCsqClIUewGkKyJKE5UqHQLSAtID\ngdB7L6Elez4MkQBJ2PJudjfcv+vigmzed2ZyPhy4fWaeMTtYixa9dU3oV7lh924O9TrEjB0z+GrT\nbNYeXku+TPmoma8mT5R7jE+bfkTRwKLYHKlsxmbFdlmbzVRX1669f1iNjDTnS7NkcW/O2GrXhg4d\nTLk5IEBbgEUspLAqIiIi8iDYtcs0BIpDVBR88AF88QU88sjtz/ef28+/FzeQfvWfPDnyZ1qUaMFL\nVV6idoHaBKYJdH9NVgW7mPtW27RJ+LmjR811PM6G6oRkzmyS/fr1UKOGOgGLWEhhVURERORBEBYG\n3Xvnzd0AACAASURBVLrF+a2ffzY7V5s0gfAz4UzbPo3pO6az79w+XktejV7ROTnabxMByQOsXZNV\nYTU4GD799P7PWb0FOEbMudUaNdQJWMRCurpGREREJKmz201lNY5twDdumKrqWx9coMa46tQYV4OI\ncxEMaTiEo/2O8kbbL8hyNtL6oArWhtUNG8zB24R4OqyCtgGLWEiVVREREZGk7sgRSJYMcua851sT\nJ5qmScvsgygaWJSV3VaSPFny2w8EBZkrbxzttusMq4JdtmzmHGpYGJQsGf9zngqrtWvDM8+YtsgK\nqyKWUWVVRERExBN69YI///T2KozQUKhU6Z6wee0afPQR9HwzjHGh4xjeaPidQRVMV9uAADh3zto1\n3bxpugEXLmzNeDHnVhPiqbCaLZu5v3bdOoiIcO8qHhH5j8KqiIiIiNWOHoXx42HuXG+vxIgJq3cZ\nOxZKl4afTr5K/5r9CcoQT5ALCjI/k5UiIkyzo9SprRkvONh7YRXMVuAffzRX8aRJ45k5RB4wCqsi\nIiIiVhs/3qTAf/7x9kqMOMJqZCQMHgyPvjiXXad38UrVV+J/P3du68Oq1dtlfSGsTp6sLcAiFlJY\nFREREbFSdDT88AN8+y1s325Sobdt2gQVK97x0ciRULnKdb7b14fPH/mcVClSxf++JyqrVofVypXh\n33/Nfafx8WRYrVMHLlxQJ2ARCymsioiIiFhp4UIIDIRatUx1deNG767n3Dk4efKOYHj5MgwbBsU6\nfU3hLIVpVqxZwmP4Q1hNnx4KFYKtW+N/xpNhNWdO09xJlVURyyisioiIiFhp1Ch47jnz52rVYM0a\n765n0yYoX950A77lm2+gSv3jTAwfwuePfI7tfl1+g4JMR2EreaJrbkJbgW/cgLNnzZlST3nzTXjk\nEc+NL/KAUVgVERERscrRo7BkCTz9tPm6alXvn1u967zqhQswYgSkfPRtulbsSslsCVz1EsMfKqtg\nwuratXF/7/hxE1STJ4/7+1Z45hkoV85z44s8YBRWRURERKwybhy0awcZMpivq1Xzfli967zqF1/A\nwy3WE3JqDgPqDHBsDKvD6vXrcOiQ2bZrpYSur/HkFmAR8QiFVRERERErREWZxkq9et3+rGhRuHTJ\n+qqkM2JVVs+ehS+/snOs0ssMbjCYTKkzOTaG1WF13z7Im9fc32ql8uUhPNwcyr2bwqqI31FYFRER\nEbHCwoWQLZvpShvDZvPuVuCrV8122zJlALP9t+zTk0kecIOuFbs6Po7VV9fMnw81alg3XoyAAPOz\nhobe+z2FVRG/o7AqIiIiYoXYjZViq1rVe02Wtm4150JTp+bUKfhuzCXC8r/JV49+RTKbE/8MzJDB\nXMlz6ZI165owAbp2tWasu8V3blVhVcTvKKyKiIiIuOvIEVi2DJ566t7vebOyumnTf1uAhw+Hgl0+\nplHR+lTPV925cWw267YCb94Mp09D/frujxWX+M6tKqyK+B2FVRERERF33d1YKbYqVWD9enOmNbHd\nOq+6aBGMmR5OROBohjUa5tpYVl1fM3EidOlyx1U6lorv+hqFVRG/o7AqIiIi4o6YxkpxbQEGCAw0\nZz63bUvcdQGEhrIlRSXaP2WnVN++vF6zH7kz5HZtLCsqqzduwOTJ5ooXTylRAk6cgDNn7vxcYVXE\n7yisioiIiLhj/nzIkeOOu0zv4Y0rbKKiiNr0L60+KE/NQa8QlfoEfav3dX08K8Lq3LlQvLjpkuwp\nyZPDQw/dW11VWBXxOwqrIiIiIu4YPTr+qmoMLzRZ2j13D4eu56D0wA85kmw18zrNI3WK1K4PaEVY\n9WRjpdjuPrcaHW2qrblyeX5uEbGMwqqIiIiIqw4fhuXL426sFFsiV1b37IHPumzkUJkUHEm5nAWd\nFpA5dWb3BnX3+pqTJ2HxYmjb1r11OOLuc6unTkHGjNbf6yoiHqWwKiIiIuKqceOgfXtInz7h58qV\ng4gIuHDB40s6cAAaNrLToMKXbCp4kYWdF5IlTRb3B3a3sjplCjRvbkKjp8VcX2O3m6+1BVjELyms\nioiIiLgiKgrGjLn/FmCAlCnNmda4utRa6NgxaNQISjz3PnmObaNTlxEEpgm0ZnB3w2pibQEGKFAA\nbt40lW9QWBXxUwqrIiIiIq6YN8+cgaxY0bHnPXzf6unT0Lgx5O34IUcyTqfaqdRkqlbXugncCaue\nvlv1bjbbnedWFVZF/JLCqoiIiIgrRo+GXr0cf96DTZYuXIBHH4XMLQZzNNsUljSeTDKbzZwztUpg\nIFy+DJGRzr/r6btV4xL73KrCqohfUlgVERERcdahQ7Bixf0bK8UW02Qp5hylBU6cMFe81q0LKeoO\n40TQJBZ3WUz2sENm27HNZtlc2GymknzsmHPvJcbdqnGJObcKCqsifkphVURERMRZEyeaoJounePv\n5M1r7gCNiHBr6ogI+PxzqFPHXFm6YNF1SvYczKkCY1jcZTFBGYIgNNTx7cnOcGUrcGLcrRqX4GBY\nv95cW6OwKuKXFFZFREREnLV+PTRo4Nw7NptLV9jY7bB9OwwaBJUrmwy2dSs89+oJXp7+IauCC3Iq\nw1KWPLOEPBnzmJc2bTKVVau5cn1NYjZWii1HDsic2dzjo7Aq4pcUVkVEREScFRZmqoXOcvDc6rFj\n8MsvptFw8eLwyCPmmtIRI2BOaChRzbvy4q4SHLtyiAWdF7Cw80LyZsx7e4DQUM+EVWcrq4l5t2pc\nYs6tKqyK+KUU3l6AiIiIiF+JioK9e13b1lqtGrz55j0fnzwJy5bBkiXm19GjZptv/frQuzeUKRvF\n7LDfef+fL9kbupcXgl9gRJMRZE2b9d45zp0zA3pi262zYTUx71aNS8y5VYVVEb+ksCoiIiLijAMH\nIHt2SJvW+XcrV4Z//4Vr17hwLRWffgqzZsH+/VCrlgmn3bub46bJk8PxS8eZtHkSLb/+ltwZcvNK\n1Vd4otQTpEyeMv45Nm2CcuXMAFYLCoJVqxx/fsIE+OQT69fhqOBgc744ZUrnzheLiE9QWBURERFx\nRlgYlCjh2rvp02MvWpQ/PtrMc2Or8Mgjpptv5cqQ4ta/yq5HXWd22F+M3zSe5fuX07pUa35t+ytV\n8lRxbA5PnVcF5yqriX23alwqV4YdO6BYMe+tQURcprAqIiIi4gxXz6sCISFw7Eg19k3+h9mzqxAc\nfPt7/x7/l/Gh45m8ZTIls5WkW8Vu/NzmZ9IHpHduktBQqF3bpfXdV1AQHDni2LPeuFv1bhkzQsmS\nptmSiPgdhVURERERZ7gQVg8dgjfeMOdSf2tdldaXF2ELfomzkWf5ecvPjNs0jhOXT/BMhWcI6RFC\n0UA3zpuGhsJLL7n+fkLy5YN9++Ddd6FTJxME4xJzt6ozW4Y9JTgYrl/39ipExAXqBiwiIiLiDCfC\namQkfPQRVKgAhQvDzp1QvY+5vmbsxrGU+KYEKw6sYEjDIUS8EsGgBoPcC6pXr8Lu3VC2rOtjJCRb\nNli50szToAE8/DB88YVpXxybt+5WjUurVqZblYj4HZsX57bb7XYvTi8iIiLigoIFYdEiKFIkwccW\nLIBevUxh75NPzGsAu0/uIqhAGVoNKsuIDhOpkKuCdWvbsAG6dTNNnDwtKsq0Lv7pJ/j9d3MtT6dO\nJhx26QLNmkGPHp5fh4j4LJvNBm5kToVVEREREUdFRkKWLHDp0u2OSHHYv98UHX/+GRo3Np/diLrB\npyGfMmL1CDZMy0reAZ+QvHkLa9c3ZgysWGHOiyamK1fgjz9McF2xAux2OHjQe1fWiIhPcDesahuw\niIiI+L6jR2HaNG+vAsLDoVChBINqdLQpKPbtezuorju8jod/eJhl+5exvtd6CjRpS/J1661fX2io\nufcmsaVNC+3bm8C6e7epPCuoioibFFZFRETE902bBv36mYqdNzlwXnXkSLh4Efr3h0vXL9F3Xl+a\nT2lO/xr9mdtxLgUzFzRbZtessX59oaGeu7bGUdmzm7KyiIibFFZFRETE94WEwIEDphOtN90nrO7d\nC++9BxMmwKpDyyj3fTlOR55ma++tdCzfMWZLnAmra9eaMqxVoqJgyxbvVFZFRDxAYVVERER83+rV\nULkyLF7s3XUkEFajo01vo7fegjRBEbT9rS3fPPYNk1pPIlvabHc+nCMHBAbCrl3WrW3PHlPVzJzZ\nujFFRLxIYVVERER82+HDpqHRc8+Z7rPelEBY/eorU9x88eWbdJzRkddrvE6z4s3iH6uaucLGMt46\nryoi4iEKqyIiIuLbVq+GGjXMvZ6LF3v33Go8YXXXLhg82Gz//XjlR6RLmY5+NfolPFbVqtaG1U2b\nvH9eVUTEQgqrIiIi4ttCQkxYLVwYAgKs3TrrjLNnzdU1uXLd8XFUFHTtCh98AEdTrmD0xtFMbDWR\nZLb7/DOrWjVrmyz5QnMlERELKayKiIiIb4sJqzYb1K/vvXOru3ebqqrtzisDP/3U3NzyVNezdJrZ\niTHNxxCUIej+41WsaCq1ly+7vza7XWFVRJIchVURERHxXZGRpsNtzFUoDRp479xqHFuAt241YXXs\nWDvP/dWTViVaJXxONbZUqaBcOWt+niNHTGDNndv9sUREfITCqoiIiPiuDRugTBlTugRTWV261Nor\nXxx1V1i9cQOeeQaGDIGFp8ew58wehjUe5tyY770HL7wAZ864t7aY86p3VX1FRPyZwqqIiIj4rpAQ\nqF799tf58kGmTKakmdjuCqtDhkDOnFCjxQ7eXvw2U9pMIXWK1M6N2bQpPPEE9OjhXuMobQEWkSRI\nYVVERER8V8x51di8tRU4VljdtAm++Qa+/v4qHWY8zccNPqZU9lKujTt0KOzfDyNHur42XVsjIkmQ\nN/eK2O3ebD0vIiIivs1uN6XLDRtMRTXGlCnwyy/w+++Ju5YMGeDQIc7bMlOlCrz/PqwN7MOhC4f4\nre1v2NzZghsWBjVrmuZR5co59+727VCnjrkGp0gR19cgImKxW/+/6PL/OaqyKiIiIr4pPNw0IYod\nVMGcW12+3NwZk1iOHoV06YjOmJlOneCRRyBz8Bxm7pzJD81/cC+ogqnYjhgB7dvDlSuOv7dhAzRs\nCF9+qaAqIkmOwqqIiIj4ptWr790CDOae06Ags/U1sdzaAjxwIJw/D68NPEqP2T34qfVPZEmTxZo5\nunSBypWhTx/Hnl+5Eh57DL7/Hjp2tGYNIiI+RGFVREREfFNc51VjJPa51bAw9qcqzvjxMPmX63T5\n/Wmeq/wctQvUtnae774zP9dvvyX83IIFpjHT5MnQqpW1axAR8REKqyIiIuKbEgqr9esnalg9vSaM\nSWuK89tvdgau703m1Jl5r+571k+UIYM5j/vCCxAREfczM2dCp07m98aNrV+DiIiPUIMlERER8T0X\nLkDu3HD2LKRMee/3T5+GQoXM73F93+KlrM/dguiu3fm3414mbZ7Eyu4rSR+Q3nOTfvaZqa4uX37n\nz/fTT/D66/DXX/DQQ56bX0TEAmqwJCIiIknPP/+YMBZfEM2aFQoXhvXrPbqM6GhzlLR0yjBSND3C\npyGfMvvp2Z4NqmDOrWbObFoOx/j+e3jrLVi0SEFVRB4IKby9ABEREZF7JLQFOEb9+uaql+rVPbaM\nwYPh7Mmb5Ijcx8Ob32d6p9nkz5TfY/P9J1kymDgRKlUy3X43bDD3sC5bZkK6iMgDQJVVERER8T2O\nhFUPN1n6808YPRp+GLSBQ+mjGdbsC6rn81wwvkeOHCawtmoFEybAihUKqiLyQNGZVREREfEtUVEQ\nGAh79kD27PE/d/485Mljzq2mSmXpEsLCoFYtmDbrGrN/rUSvkGsUXxtu6RwO++MPqFYt4f8tRER8\nkM6sioiISNKyfTvkzHn/cJYpE5QuDWvWWDr9xYvQujUMGmRn7IlelD6bkmJVm1o6h1OaN1dQFZEH\nksKqiIiI+BZHtgDHsOgKm7NnYepU00ypSBEz7Lkyn7Dl+BY6p66CrUQJt+cQERHnKKyKiIiIb1m9\n2vGw2qCBabLkJLsdtm6FYcOgTh0oUAB+/NH0alq3Dhq9OIuv/vmK2U/PJmX4Pihe3Ok5RETEPTqz\nKiIiIr6leHGYMQPKlr3/s5cuQa5ccOIEpE1738d37ICvvzbXlCZLBs2amV/16kGaNGC32/l77990\nmNGBvzr8RZU8VSB/fnPfacGCbv9oIiIPEnfPrOrqGhEREfEdJ0+a4Fm6tGPPp08PFSvCqlXQuHGC\nj/4x286h9v3oGJyKF+cOoVQpsN36J1TEuQgmrZ3EpM2TCEgewLgW40xQvXLFrClfPjd/MBERcZbC\nqoiIiPiO1auhalVT9nRUzLnVeMKq3Q6fDLeT/qM36Jrnb9JuPQQFB3DxehTTd0xnwqYJbD2xlafK\nPsWUNlN4OPfDMdUA2L3bHGJNntyCH05ERJyhsCoiIiK+w5nmSjHq14d33onzW1evQq9eUOPvD+mR\ndy7JVy7mVJtm/PZ2E97KtZW6BevyctWXaVasGalSxHH9TViYzquKiHiJwqqIiIj4jpAQGDDAuXeq\nV4ctW8ydMxky/PfxsWPmCpreVz6hY/qfuTBvNm3ndqB88eP0WZmKNsvCyJEuR8JjK6yKiHiNugGL\niIiIb7h+HTZuNNuAnZEmDQQHw4oV/30UGmqGGRD4LZ0ufs++aaOp8kdzyuUox7CvtpNv/1lynLh8\n/7EVVkVEvEZhVURERHzDpk3mfGjGjM6/G+sKm+nToUkTmN5sHE23DGPluA+osaAdb9R8g88e+YwU\nadJBhw4wYcL9x1VYFRHxGoVVERER8Q2unFeNUb8+9iVL+PBD6NsX1vb7hcqz3mXSp51pt+ENprWd\nRo+Hetx+vnt3GD8eoqISHldhVUTEa3RmVURERHxDSAg0b+7SqxdLVSH5v7tZlewMmwcuJ/Nbffjw\nndpMOz2bkO4hFMpS6M4XKlSA7NlNNTa+K29OnzZhNnt2l9YkIiLusaKymhmYBuwAtgNVgUBgIRAG\nLLj1jIiIiEj8QkJMsyQnhYVBtToB7MtZnTkPv0em/j15/rk8bMh2Le6gGqN7dxg3LuGBixe/fRmr\niIgkKivC6pfAHKAUUB7YCbyJCavFgUW3vhYRERGJ28GDpsFSkSJOvTZ7NtSqBX36QJmXGmCbOI6n\nOgYQWLsJM9vPJEOqDPG//PTTMHcunDkT9/e1BVhExKvcDauZgNpAzH+WvAmcB1oAE299NhFo5eY8\nIiIikpTFnFd1sIoZHQ3vvQcvvAB//AE9e8K8xoWo0zs1zbsNZUijISRPljzhQQID4bHHYMqUuL+v\nsCoi4lXuhtVCwElgPLAR+AFIB+QEjt965vitr0VERCQpiYiAhg3Bbnd/LCeaK509a462LlsG69dD\ncJVoPlj6AT2X9ePTPnPoXKGz4/MmtBVYYVVExKvcDaspgIeA7279fpl7t/zab/0SERGRpGTgQNOg\n6ORJ98dyMKxu2WKuVC1WDP7+G1JlOkfLX1qyeN9i1vVcR7W81Zybt2FDOHXKXJtzN4VVERGvcrcb\n8KFbv9bd+noa8BZwDMh16/cg4ERcL3/wwQf//blevXrUq1fPzeWIiIhIoti5E/78E8qUgV27IEcO\n18e6fBm2b4fKlRN8bOpUePFF+Pxz6NQJtp3YRuuprXm06KOMaDKClMlTOj93smTQrZu5xubLL29/\nHh0Ne/YorIqIOGHp0qUsXbrUsvGsaG+3HHgW0/n3AyDtrc9PA8MwldbMxFFxtVuxbUhEREQS31NP\nmetfdu0yHY6efdb1sVatMh2S1q2L95EpU+Ctt2DWLKhYEX7b9hu95/TmsyafObftNy4REaZce+gQ\npEplPjt4EKpVg8OH3RtbROQBZjN9CFzOnFbcs/oSMBkIAMKBbkBy4FegBxABtLNgHhEREdm2zVT7\nUrpQRbTK5s3mwOjYsfDVV6bK6o5t26Bs2Xi/ffo09O1rGimVLX+TNxa+w6/bf2V+p/k8FPSQe3MD\nFCxogvfvv0O7W/9k0RZgERGvs+Lqms1AMFABeALTDfgM0AhzdU0T4JwF84iIiEj79jBmjHfXMGAA\nvPkmpEsHJUua6qo7duyAUqXi/fbrr5sfu1CZUzw2+TE2HtvIup7rrAmqMe5utKSwKiLidVaEVRER\nEUkM0dEQHm4ObUZHe2cNa9ZAaCg895z5ukQJa8Jq6dJxfmvpUtNIqftr4QT/EMxDuR5ibse5ZEub\nzb0579a6tdmGfPCg+VphVUTE6xRWRURE/MXRo5ApE2TIAHPmeGcN775rKqupU5uvixSBAwfg+nXX\nx4ynsnr1qsnEX3wVxQsLn+HF4BcZ1ngYKZJZcYrpLmnSmPLtxFvXxCusioh4ncKqiIiIvwgPN+Hw\n1Vfhs88Sf/4lS0wzom7dbn+WKhXky2fW5opLl8zVNwUL3vOtIUNMs+GDub4hmS0Zfav3dW0OR3Xv\nbroCR0crrIqI+ACFVREREX8RE1bbtjVhKq67QT3FbjdV1Q8+uLe5kztbgXfuNKEwefI7Pt6xA777\nDl4dtIePln/E2BZjSWbz8D9bKlc253D//ttsBy5UyLPziYhIghRWRURE/MWePVC0KAQE3L5wNLHM\nnQvnzsHTT9/7PXfCahxbgKOjzfbfAe9F887aHrxT+x2KZS3m2vjOsNlMdXXAAFMtDgjw/JwiIhIv\nhVURERF/EVNZBejVy9zlcvSo5+eNjjZV1Q8/vKcCCpiw6ur1Ndu33xNWx427dQQ2+DtuRt/k5aov\nuza2Kzp2NA2ktAVYRMTrFFZFRET8ReywGhhoqpzffuv5eWfONFXHJ56I+/vuXF9zV2X1+HF4+214\n7/O9fLj8A8a1GEfyZHEEZE/Jnh1atFBYFRHxATYvzm232+1enF5ERMTPBAaaUJg9u/k6LAxq1TJN\nj9Km9cycUVFQrhyMGAGPPRb3M8ePm6tnTp92fvwSJWDGDNNJCejQAfLmi2Zd6YY0K9aM12q85sbi\nXXTokAnnefIk/twiIkmIzWYDNzKnKqsiIiL+4OxZuHkTssW6X7R4cahWDX780XPz/vyzCcmPPhr/\nMzlymFB76pRzY1+7Bvv3QzFzHnXePHONa+4WI7l68yp9q3m4+2988uZVUBUR8QEKqyIiIv4gPNw0\nV7Ld9R+oX30VvvjCnCu12o0bpvvvoEH3zhubzebaudXdu6FAAQgI4MoV6N0b3v88gsEh7yf+9l8R\nEfE5CqsiIiL+YM+e2+dVY6tbF1KnNmVJq40fD4ULQ71693/WlXOrO3aY7cPAwIFQtZqdSed78Fr1\n1yiVvdR9XhYRkaROYVVERMQfxG6uFJvNZqqrVl9jEx1tKqqDBjn2vCvX19xqrrRihcnFD/UczcVr\nF+lXo5/z6xURkSRHYVVERMQfxBdWAdq3h23b4N9/rZvv8GGzDbhqVceed2Ub8PbthAeUok0b+Gzs\nfoavf5fxLceTIlkK59crIiJJjsKqiIiIP0gorAYEwIsvmrOrVgkLMwHUUS5sA44M3cHzX5VmzBg7\nk871pG+1vpTJUcbJhYqISFKlsCoiIuIPEgqrAM89Z+5DPXbMmvnCwpy7a7RoUdPZ98YNhx7fsTUK\nwnbz/BclCEn7Fuevnad/zf4uLlZERJIihVURERFfFxlproXJmzf+Z7Jmhaeegu+/t2bOXbucq6ym\nSmWue9m7976PhodDr8b7iMqandC8Q5m7Zy5zOszR9l8REbmDwqqIiIiv27sXChaE5Pe5yqVPHxg5\n0oRbdzlbWQWHzq0ePAiNGsHbrXdwtEgAs3bO4u/Of5M1bVY3FisiIkmRwqqIiIivu98W4BglSkBw\nMEye7P6cu3Y5H1bvc2712DFo2BBeegkCor9lVbrTLOqyiOzpsru5WBERSYoUVkVERHydo2EVbl9j\nY7e7Pt+1a6YbcOHCzr2XwPU1p06ZimrnznCjyjDOh66mVeu3yZk+p+vrFBGRJE1hVURExNc5E1br\n14fr1927xiY8HPLnh5QpnXsvnm3A587BI4/A449DmoYjGBM6hsejCpP5oequr1FERJI8hVURERFf\n50xYtdmgcmXYssX1+Zy9tiZGrG3Aly9DaChMnQqPPgo1a0KuVl/y/frvWNJlMQG790KpUq6vUURE\nkjy13RMREfF1e/aYq2EcVbYsbN3q+nxOnFc9cMBMFRYGu3bm5JNzN6gWdJrwc1kpWtQM07YtpKr1\nLSPWfMHSZ5aS91IySJ0aAgNdX6OIiCR5qqyKiIj4sps3TQvdQoUcf8fdsOpgZXXOHKhYEb780hR/\nS5exEVWkBAu/2cWlS6a4O306ZKg3mk9WD2dxl8UUyFwAtm+H0qVdX5+IiDwQVFkVERHxZQcPQo4c\n5h5TR5Ur535ltXPn+y6re3eYPRtq1TKfRUVHcWlFLg5un8TXmf9k8/HNbD62mZTJU7K4y2IKZbkV\nuHfs0BZgERG5L4VVERERX+bMedUYhQqZ9rsXLkDGjM7PeZ/K6o0b0L49vNInih1pxjFx9lo2H9/M\ntpPb+PBKKgqvy0aq2h3p+VBPKuSsQIHMBUhmi7WZa8cOVVZFROS+FFZFRER8mSthNVkyU7ncvh2q\nVXPu3bNn4epVyJUr3kfeeQeyZIHLwR8wc+N8ulbsSteKXSmXsxwZiy+An36idb33459j+3Zo08a5\ndYmIyANHYVVERMSXOdtcKUbMuVVnw2pYmOmKZLPF+e0//4RffoGhM/7kjRUTWN9z/Z13pSZw1+p/\nVFkVEREHqMGSiIiIL3OlsgquN1mKCatx2L8fevSAEeP20mdJd6Y+OfXOoApQrBjs22f2Csfl1Cm4\ndg2Cgpxfm4iIPFAUVkVERHxZYofVXbviPK96/bo5p9rntUg+Dm/DgDoDqJGvxr3vp04NuXObwBqX\nmOZK8VRuRUREYiisioiI+Cq73Wcqq2+9Bdmy2wkr9gKlspXixSovxj9GQluBtQVYREQcpLAqoDnZ\nwwAAIABJREFUIiLiq06cMJXKTJmcfzd3brPd9uRJ597bteuesPr77+a+1Eavj2HtkX8Y3Xw0toQq\noyVKwM6dcX9P19aIiIiDFFZFRER8latVVTDbbMuWhW3bHH8nOhp2774jrEZEQK9e8P6o9Qz+521m\ntJtB+oD0CY9TsmTClVWFVRERcYDCqoiIiK9ytRNwDGe3Ah86BJkzQ4YMwO1zqi/2P82HO9vyfbPv\nKZEt/vtX/5PQNuDt27UNWEREHKKra0RERHyVO5VVMGF1yxbHnw8Lu6O5Uv/+kDNXFCE5O9EmRxue\nLP2kY+PEF1YvXTLdgAsUcHxNIiLywFJlVURExFdZEVadqazGOq86cSLMng2lnx/ElZtXGNpoqOPj\nBAXB1atw5sydn+/cacZPntzxsURE5IGlsCoiIuKr3A2rZcqYsGq3O/b8rcrq8uXw+uvwxph5/LTj\nB6Y+OZUUyZzYjGWzxV1d1RZgERFxgsKqiIiIr3I3rGbLBmnSwOHDjj0fFsaR9MVp1w6Gj9nNexuf\nYUqbKeRKn8v5ueMKq2quJCIiTlBYFRER8UUXLsDly5DLhaAYmxNbgaN27KLb0BL0e+8kg/c3ZXCD\nwdQuUNu1eeO6vkZhVUREnKCwKiIi4otiqqoJ3WfqCAfD6o1L14g6eISSj+dkZqqWtCvdjmcfetb1\neeO6vkbbgEVExAkKqyIiIr7I3S3AMRwIq3Y7DOq6h+NpCnKk1rMUyFyAjxp85N68d28DvnYNDhxw\n7yoeERF5oCisioiI+KJEDKsjRsCF9WGcL3OTY5ePMr7leJLZ3PwnQrFisHcv3Lxpvt69GwoWhIAA\n98YVEZEHhsKqiIiIL7IqrJYubc6KRkXF+e1Zs+Dzz6FFw0n8k/4Ms9rPInWK1O7PmyaNucJm3z7z\ntc6rioiIkxRWRUREfJFVYTVDBsiR43ZojGXjRujZE14bNYdjW+bTvHk/sqbN6v6cMWJvBdZ5VRER\ncZLCqoiIiC/as8e6851xbAU+fBhatoT+n4Xy8Y5naBZdlByValkzX4zYYVWVVRERcZLCqoiIiK+5\ndg2OHYP8+a0Z71ZYPXsW5s+HgQOhYUN4+vmDfHmyOd83+56M+4+acGml2NfXKKyKiIiTUnh7ASIi\nInKXiAjIlw9SuP7X9M2bsGUL/PMP2FaVJe+mP3hqGDz8MFStCh8Ou8CgI83oU6EPT+ZqYAJyzpzW\n/Qxgrq/55RdzXjYszHwtIiLiIFVWRUREfI0b51WvXYMnn4TMmaFjR1i7FgLrlqVBjq2cOh3F11O3\nUrz9OL463ZSa+WrSr3o/EyRLlHD/Tte7xWwD3rfPBOF06awdX0REkjRVVkVERHyNG2G1Tx9TyDx4\n0M6lZIdYe3gtG/atosWwHQQNy0S2zLmpkqcKHcp1oFflXthsNhMoixe3+IcAcueGK1cgJERbgEVE\nxGkKqyIiIr5mzx6XwuqECbBoyU2qDX6e0uP+ItoeTdU8VamSpwo38udh36M/kyk4jiZKMZVVq9ls\nZtxZs9QJWEREnKawKiIi4mvCw6FBA6deCQ2F11+Hpl/253jkIdb0WEP+TPlN5RSg0mbYcxCC43g5\nLAzatHF/3XEpUQJmzoSvvvLM+CIikmQprIqIiPgaJ7cBnzljsuZTg39mzqnfWddzHYFpAu98KI7r\na/6za5dnKqtgxo2M1DZgERFxmhosiYiI+JLoaNMNuHBhhx/v1AlqtP6XX86/wox2M+4NqhB/WI2O\nNtuOixVzb93xiQnBCqsiIuIkVVZFRER8yeHDkCULpE3r0OMffQRnIs+wK39rvmrwFRVyVYj7wfjC\n6sGDEBgI6dO7segElC4NQUFmDhERESeosioiIuJLnNgCPGcOjPohirSdO9KyZEueLvd0/A8XKQJH\nj8Lly3d+HhbmmU7AMcqVM/fniIiIOElhVURExJc42Al43z7o1g0aD36f6GSRDGs0LOEXUqSAkiVh\n+/Y7P/fUtTWx5c3r2fFFRCRJUlgVERHxJeHhULRogo9ERpqGSo+/NoslZybxa9tfSZk85f3Hjmsr\nsKeurREREXGTwqqIiIgvuc82YLsdeveGoHI7mU1PprWbRo50ORwbO66wmhiVVRERERcorIqISNJ0\n/TqcPOntVTjvPmH1hx9gTegFdlduxdCGQ6mSp4rjY6uyKiIifsTmxbntdrvdi9OLiEiS9vnnEBIC\nv/3m7ZU4zm43nYDDwyFr1nu+ffw4lCodzUPD2lA0V05GPj7SufEPHIDq1U3HYTD7ibNkgUuXzJlW\nERERC9lsNnAjc+pvJhERSZqmTYOoKG+vwjlnzpjf47nm5cMPoXTP4Vy2HePLR39xfvx8+UwwPXPG\nzBEeDoUKKaiKiIhP0jZgERFJeo4cgXXrzFUt/mTPHtNcyXbvf4TetQt+nhPB9syf8OuTv5IqRSrn\nx7fZoEwZ2LbNfO3pa2tERETcoLAqIiJJz8yZ0KqVCavR0d5ejeMSOK/69ttQqPsAXqz6Avky5XN9\njtjnVnft0nlVERHxWQqrIiKS9MyYAR07QoYMcPq0t1fjuHjCakgIrArfxOE0C3m9xuvuzRE7rKqy\nKiIiPkxhVUREkpZTp2DDBmjSBHLnNluC/UUcYdVuh9dfh+xPv8GAOu+SIVUG9+ZQZVVERPyEwqqI\niCQtv/9ugmqaNP4VVu12U0KtWPGOj2fNgqNp/uZqmr30qtzL/XliwqrdrsqqiIj4NIVVERFJWqZP\nhzZtzJ/9Kaxu3Wruhn3oof8+unED3ngzmmSP9Ofjhh8TkDzA/Xly5IDkyU2TpRs3zNciIiI+SGFV\nRESSjnPnYOVKaNrUfB0U5D8dgadPhyeeuKMT8JgxEFB5Clkzp+TJ0k9aN1fZsuZcb4kScXYeFhER\n8QUKqyIiknT89RfUq2caK4F/VVZjV4SBixdh4KBrnK30LsMbD4+5WN0aZcua+bQFWEREfJjCqoiI\nJB13BT6/Cau7dpmuxdWr//fRp59C3tbfUSlPGeoWrGvtfGXLwr//qrmSiIj4NIVVERFJGi5fhkWL\noEWL25/5S1iN2QKczPy1fPQofDX6HBH5hjC00VDr5ytb1vyuyqqIiPgwhVUREUka5s6FatUgS5bb\nn/lTWI1VER44EIp3H0bLks0pm6Os9fOVKWN+V2VVRER8WApvL0BERMQSM2bcuQUYIFcuOHECoqJM\nB1xftG8fHDwItWsDsGMH/Db/EPbnRzO9/mbPzJkpE7z2GpQs6ZnxRURELODNFoB2u93uxelFRCTJ\nuHbNBNOdOyFnzju/lz27uRbm7s+tdPo0pE4N6dI5/+6IEWbdP/wAQKtWcCS4Ow2r5mRIoyEWL1RE\nRCTx3GoO6HLm1DZgERHxfwsXQvnycQfSxNgK/Mor0Lu3a+/G2gK8YgWsjdhKRMCfvFHrDQsXKCIi\n4n8UVkVExP/d3QU4tsQIqytWmDXs2+fce4cPm6pqgwbs2AHdukGuTm/yVq23yJw6s2fWKiIi4icU\nVkVExL/duAF//AGtW8f9fU+H1QMHIDISXn4Zhg1z7t2ZM6F5c2bPC6BOHXjytWWcTbmN3sEuVmlF\nRESSEIVVERHxb8uWQZEikC9f3N/3dFhdtQpq1YJXX4Vff4VDhxx+1T5tGlNvtqF3b/hyylZ+vdaN\noQ2HkipFKs+tV0RExE8orIqIiH9LaAswmLB69Kjn5l+50oTVbNmge3f45BOHXru87wRXQjbx3Z4m\nfPjrTF4Jrc/AegNpX7a959YqIiLiRxRWRUTEf0VFma209wurnqysxoRVgH794Mcf4fjxBF/Zuxc+\nrT2LbXkfoe7Hw3n/n5eZ02EOnSt09tw6RURE/IzCqoiI+K+QEHNlTZEi8T8TFOS5sHruHISHQ6VK\nt+fq0AE++yzeV/7+G6pXh2cy/MrylhH8HTGPdT3XEZwn2DNrFBER8VMKqyIi4r/utwUYPFtZXbMG\ngoMhZcrbn/Xvb+5MPX36jkftdvj8c+jcGb75OpSsEUvYV60kS55ZQq70uTyzPhERET+msCoiIv7J\nbocZM+CJJxJ+LmdOOHkSbt60fg2xtwDHyJ/frOmrrwCIjjbV1ObNYdIkGDFjEctn1OVEtXJ8026C\nmimJiIjEI4W3FyAiIuKS9eshbVooXTrh51KmhKxZ4cQJU2W10sqV8NZb937+5ptEV63Gtylf5etJ\nmUidGp5/3s7lcl/x6qohbD1VjmzP9gabzdr1iIiIJCGqrIqIiH+K2QLsSODzREfg69dNYK5e/b+P\n7HZzjLbLh0X57eJj5Jz+HeMnRPPJjAXMzdKCn7aN4592C8m2dgs8/ri16xEREUliFFZFRMT/2O2O\nnVeN4Ylzqxs3QrFikDEjly7ByJFQsSI88wxUqAAPzelO0/2D6bmyEG8tepOmRZuyusdqCqzaCrVr\nQ6ZM1q5HREQkidE2YBER8T9bt5ozqDFdeO/HEx2Bb51XDQszRdIyZWD4pze5mm8uY0N/YPCGlSws\nnZP5l1uQr//nt99zJmSLiIg8wFRZFRER//P33/Doo46f+fREZXXlSrZkqkXt2vDca0cp9/J79NhS\nkKGrPqZVyVYc6HuAyt9MJ98PU+HqVfPOlSuwcCG0bGntWkRERJIghVUREfE/y5dD3bqOP291WLXb\nufr3SrqMqsn7P/zDiIuVORN5hrkd57K6x2q6V+pO+oD0Zl9w5cowbpx5b948c9VN1qzWrUVERCSJ\nUlgVERH/Eh0NK1ZAnTqOv2NhWI2KgqHddnHqWgZ6TF3L+7seZ9Tjo/im6TeUy1nu3hfeeQeGDTMN\nmaZPhyeftGQdIiIiSZ3CqoiI+Jft2yFLFueuobGoG/DFi2YHb4p/VnCmXiBDN73MvI7zaF6iefwv\nVasGxYvD2LEwZw60auX2OkRERB4EarAkIiL+Zfly56qqYElldf9+aN4cqla/SY3IT5mV/RKre6wh\nX6Z89395wAB45BGzBThXLrfWISIi8qBQZVVERPyLg2F161YYPBh27ABy5IDTp+HGDZemXLPGXKfa\nodtFDtdpQcGtB3n19RmOBVUw661WDZ56yqX5RUREHkQOtlH0CLvdbvfi9CIi4nfsdlMlXb0aChaM\n97Hz56HI099wo+K32Na8RoFznVkVXpCLf68lKDivQ1NdvmymWbwYxoyBT0Yd4rPjzWiSpjzD+/6F\n7dQpSObEf/O9dg0CAhzvYCwiIuLnbObvPJf/4lNlVURE/MeePZAyJRQoEO8jdju0f2krl4MHMqrD\n+wR3ncqxdsU4mDoFnRrvpV49+OEHOHPmzvfOnoU//4T+/U0RNGdOGDjQZMuRv4fybkR1OpXrxPC0\nLbDVrOlcUAVIlUpBVURExAk6syoiIv5j2TKzpTaB0PftqGssy9qJz5sO5amyT/FU2adYe3gtF39r\nQf5yLYmu8RZ//f0/XnstA/XqQf78prlweLgJqXXqmOa9pSpcZPu5DYQcDOG5lZ/zfbPvebL0k9Cn\nD9SsmXg/s4iIyANKYVVERPzHfe5X/fdf6D/nA2q0KMBzVbr/93mVPFUguBV5CmXjtayhrHq4MC90\nf5Hch14i8kwgX393nZR5thB6Yi1rj6xl6rZ17Fu1jwo5KxCcO5h5HedROXdlM9jKlfDFF57+SUVE\nRB54OrMqIiL+o2BBmD8fSpS451uXLkGZx1Zy/pG2hPXdTI50Oe584MMPTYOljz5i9+ndDF05lFm7\nZlE0sChbT2ylSJYiBOcOpkqeKlTJU4WyOcqSMnnKeyfJmdM0a0qd2nM/p4iISBLg7plVVVZFRMQ/\n7N8PV6+aO0vj8NxLFzlTtwuT2466N6jC7cZMQLGsxRjbcizvn3+f/ef2UymoEukD0t9/Df/8A5Uq\nKaiKiIgkAoVVERHxDzFX1sRxXnXiRPgrqi9tHmpAixIt4n4/KOieu1bzZ8pP/kz5HV/DypVQq5Yz\nqxYREREXqRuwiIj4h3juV925E1769ncylF/C180+j//93LnvCatOU1gVERFJNAqrIiLiH2I6AccS\nGQmtOx/H1vx5fmk3iQypMsT/vrth9eZNsw24Rg3XxxARERGHKayKiIjvO3rUNDUqW/aOj/v0tXOh\nbk96V+9Gzfz3uU4me3Y4fx6uX3dtDZs3m3tuAgNde19EREScorAqIiK+b8UKs/022e2/tqZOhZkR\nY8la+CAD639w/zGSJTOdfI8dc20N2gIsIiKSqBRWRUTE9921BXjnTuj9Tjg36r7FlCd/IiB5gGPj\nuLMVWGFVREQkUSmsioiI71u+HOrWBUxQbdj4JoHPdub9+u9QJkcZx8eJoyOwQ+x2hVUREZFEpqtr\nRETEt50+DQcOQMWK7NwJDRraKdXvZZJnT8/LVV92bixXK6t790Ly5FCggPPvioiIiEsUVkVExLet\nWAHVq7NjdwoaNYKHXn+L4+nWsajdIpLZnNwg5GpYjamqxnHHq4iIiHiGtgGLiIhvW76c46Xq0qgR\n1HxjCBEBfzKv4zwypsro/Fi5c5vOws7SFmAREZFEp7AqIiI+LXLBcnr9WIdGb3/DRsaysPNCsqbN\n6tpg7lZWRUREJNEorIqIiM/aseY8Udt3kfe9HSy+PoyFnRcSlCHI9QFdCasnT5p3ypVzfV4RERFx\nmsKqiIj4pK1bYVDTEI4UL8iMGwNY2HkhhbIUcm9QV7oBh4RAtWqmwZKIiIgkGoVVERFJPGfOwLff\nmqtgErB1KzRuDD2rTuD3fHuZ02EOJbOVdH/+rFnh4kW4etXxd1as0BZgERERL1BYFRGRxHH1KrRo\nAe+9Bx9+GOcj167BhAkmqPYatJJ0O2bwWPchVAqqZM0akiUz1VVnmiwtWQL161szv4iIiDhMYVVE\nRDwvOho6d4Z8+WDLFhg3Dn755b9vnzgBAweaa0x/+QUGjt7IhGOtqXQyBWVbPmvtWpzpCHzuHISF\nQXCwtWsQERGR+9I9qyIi4nmvvWYaFc2fD6lSwezZ0KgRe24WZMiSasyYAe3awV8LrrDp5hTeXfIu\nvwW9SIqKCyBtWmvX4kyTpeXLzXnVVKmsXYOIiIjclyqrIiLiWV98YULqzJmQKhXR0fDXoQq8m3sc\n6Z95gopZ9jNn7U7StO5Dk3n5mLVrFlPaTKHW/mioU8f69TgTVpcu1RZgERERL1FYFRHxZ23bmjOV\nvmraNPj0U5gzB7JkYdkyKF3aHFst+tqjHO3bmKZTy9Bpah3SpUzHxl4b+ePpP6hXsJ6patata/2a\nnAmrS5ZAvXrWr0FERETuy+bFue32+3SDFBGRBJw8CblyQeXK8M8/YPPm/6XHYeVKeOIJWLCAm2Ur\n8tFHMHo0DPn2EOGZRzM2dAzFAosy7q8UFLqahmS/z759Pcy1a6Zz75EjkDGjteuaMAEWL4ZJkxJ+\n7swZKFgQTp+GlCmtXYOIiMgDwGb+beLyP1CsqqwmB0KBP259HQgsBMKABUBmi+YREZEY8+dD8+am\ny+4ff9z/+cS0cye0aQM//cTBrBVp0ABWhUTTfdwwXt1dnrNXz7Cg8wKWdVtOkZ/nkexKJPTvf/v9\ndeugZEnrgyo43mBp+XKoXl1BVURExEusarD0CrAdyHDr6zcxYXU48Matr9+0aC4REQGztfbxxyF7\ndhgwwPw5mQ+c7jh2DJo2hWHD+D2yCb0ehuf6nGFjgWdYfOQUm5/fTL5M+W4/HxBgtgtXq2YCas+e\nntsCDI5vA9aVNSIiIl5lxb9q8gJNgTHcLvG2ACbe+vNEoJUF84iISIyoKFNZfewxc3dpTODztkuX\noFkzbnTuxovru9KnDwyZuJ4f01amWGBRlnVddmdQjREYCH/+Ce++a7boLlvmmeZK4HhYXbpU51VF\nRES8yIoDTr8BHwMZgdeA5sBZIEusOc7E+jqGzqyKiLgqJAR694ZNm8zX8+fDK6/A1q2Qwku3kkVH\nw+OPczZdHurtGk3xklDtxZEM/ec9RjYbSZvSbe4/xuLF8PTTcOUKRESYc6tWs9shTRpzJjW+a3FO\nnYIiRczv2gYsIiLiEm+fWX0cOIE5rxrfIuy3fomIiFX++ststY3RpAnkyAGTJ3ttSfZ16zm/cQ+l\nl3xHj96XSdm+I5O2jySke4hjQRWgQQMYPBgqVfJMUAXTiOp+51aXL4eaNRVURUREvMjd//xeA7Pl\ntymQGlNd/RE4DuQCjgFBmEB7jw8++OC/P9erV4962m4lIuKYOXPg669vf22zwaBB0LWrqUwGBABg\nt9tZf2Q95XOWJ1WKVB5bzqFDsLzzX1yLasXI2WG8GfokNVLUYE2PNaRJmca5wZ59Fnr08MxCYwQF\nma3ARYrE/X1dWSMiIuK0pUuXsnTpUsvGs/Keg7rc3gY8HDgNDMM0VsrMvQ2WtA1YRMQVhw9D+fJw\n/Pi9W36bNDFdeJ97jo1HN9J3fl+2HN/CQ0EPMaP9DDKmsra7rt0OY8fCW2/B5pSV2fzhY3Q5O4rh\njYbTrVI3S+eyVNu25le7dnF/v1w5GDcOgoMTd10iIiJJiLe3Ad8tJn0OBRpjrq5pcOtrERHPsNvh\n5k1vryLxzJtnQmlcZ1MHDSLqo4H0+q0LzX5uRsdyHVnR8hiFMxejzvg6HL3owJUtDtq3Dxo3hpEj\n4c+JW8l4cSv9Lv/Koi6LfDuoQsJNlk6ehIMHzVZkERER8Rorw+oyzJZgMA2VGgHFgSbAOQvnERG5\n04oV0LKlt1eReObMufO86i2RNyIZfHUhCzKdovniw4Q8vZOQr3tRs1oAC175jiLX2lJjbA12ntrp\n1vTR0WYHcnCwycwDfvyTaRNqEVa5IOt7b6J8zvJujZ8oEgqrS5dCrVrea1QlIiIigPWVVRGRxLd7\nt/n1ILh+HRYtgkce+e8ju93OL1t/odS3pQg9FkrZ72fSaMo2GlZMTubM5jzpj5NsnJrxDlfnv0+1\nkfVYuT/Epel37TI3ykydCvOWnGdXiR70WfASb5wry0M93yNtyni66/qa+4VVnVcVERHxOoVVEfF/\nR46YRPYgnINftQpKlDCdf4ENRzZQa3wthq8azsRWE/kkeBo9P27GcuqyrO03fPEFpE8PtWubDPZj\nv67kXDOeeqNa8s6k2Q79T3bjBmzebPo31awJ7dvD+xMX0WZReVIkS8G/XdeSbc2/8Oijnv3ZrZRQ\nWF2yBOrXT9z1iIiIyD0UVkXE/x0+DJGRcO4BOHEQ68qajUc38ujkR3m20rOs6b6e9dPrEhxsclaD\nFQPJ9+sIOH/+v1dtNmjUCHb+8RjDy89h+PbnKdR2FAsW3M75ly/D6tXw3XemKW/lypApk2kwHB4O\nS1ddZleRF+k+uyujHh/FqOajyLB6g2n45KmrZjwhphvw3Y4fN1faVKyY+GsSERGRO+hAjoj4v5jQ\ncegQZMni3bV42pw5MHEihy8cpuUvLfm+2fcUinySalUhMBDWrIGiRQFKQrNm8NlnMHDgHUPYbPDq\nU8E83mg5dUY/SocfDlPg7YFEXrEREQGlS5veQpUrm8BavjzYU1xm7eG1tPqjJzXy1eDf5/8lS5pb\n/1v/9ZeZy5/Ed8/q0qWmDJ08eaIvSURERO5k5dU1ztLVNSJijcqVTWvan3/2r62oztq3D6pW5fKB\ncGpPrEvb0u2IXPgmo0bB8OHQpYsJov/Zu9d0Qdq1C7Jli3PIE5dP0HRyMzLdKEHFXJVIluEkpyNP\ncOLyCU5eOcmJy+bP0fZo8mfKz9CGQ2ldqvXtAex2KFwYZs821734C7sd0qWDEyfMPukY//sfFC8O\nfft6b20iIiJJhLtX1yisioj/Cwoy5b+2bU0pMKn67jvs/6zhiaYXyZI6C3k3juXPP2zMm/ffEdZ7\n/e9/kDEjDBsW77CXrl9i4NKB3Iy+SY50Of77lT1d9v/+nC5lupi/cO60bZvZlhwRcVdS9gNFi8Lc\nuVCs2O3PSpaEKVN0bY2IiIgF3A2r2gYsIv7txg04dcpUVw8f9vZqPGvOHCZXTMbZyAvUPjaVkVNs\nrFyZQFAFeOcdE+T794/3TGn6gPR80uQT19YUswXY34Iq3G6yFBNWjxwxldYKFby7LhEREQHUYElE\n/N3x45A9OxQoYM6sJlWRkVxfuogvMmyjvW06X4wIYOHC+wRVgLx5TVjdtMkz6/rzT3j8cc+M7Wl3\ndwRetgzq1oVk+qtRRETEF+hvZBHxb4cPQ5485lcSDquhv3zBhhxR9Cwyl4FvZGXePJPPHVK8uDm3\narUzZ0wI9tdrXu7uCLxkie5XFRER8SEKqyLi344cMRWyvHmT7Dbgnad2smHsR0TXeoYBvYsze7bp\n2OuwEiUgLMz6hc2fbyqRadJYP3ZiuLsj8NKl/hu8RUREkiCdWRUR/xZTWc2bN0lWVk9dOcXjk5ux\ndk96ntj+Ej//ClWqODlI8eKwaJH1i/PnLcBgwmpoqPnz4cOmUly2rHfXJCIiIv9RZVVE/FtMZTVr\nVrhyxfxKIq7dvMYTU5/gaRpw9WQAL44qR6NGLgxUvLj1ldWbN2HePP+7XzW22GdWly7VeVUREREf\no7+VRcS/xVRWbTbzexLZCnz04lHa/taW9MmyEzCwFOdrNuXJti523C1UyFSdr12zboFr1kC+fKai\n7a9ih1WdVxUREfE5Cqsi4t9iKquQOGH16lXzy0NuRN1gRMgIyn1fjsIZyhAx4ic6Z51LqVebuj5o\nQADkzw9791q3UH/fAgy3w6rdbsKqzquKiIj4FIVVEfFvMZVVSJxzq++/D61amYBjsb/3/k2FkRVY\nuHcho6uG8PebQ2hdP4oCx9ZAw4buDW71VuCkEFYzZDAV+e3b4eJFKFPG2ysSERGRWNRgSUT8292V\nVU+H1YULYf9+mDED2rSxZMgD5w/Qb0E/1h9Zz/AGX7B+cgv+18/GZ59Bh3SLsG2raoKVO6wMqxER\ncOIEBAdbM543BQXBzz+b86o2F7dZi4iIiEeosioi/uvyZXMOM0sW87Wnr685cwb27IGV9Wv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38bxiqtsvr339C5M9SoYcMLK6HWreHbbyEiAnx9XT0bEREREUBhVUQqWm6usTtvWJj1+yWE1Sdm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\nAAAAAAAAwL7g/wEsHoVjfC8C1wAAAABJRU5ErkJggg==\n",
       "text": [
        "<matplotlib.figure.Figure at 0x7f6e8f947518>"
       ]
      },
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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ShTyBo7wAAACDsVaY/nPWN4f6uims5XuEKQAAwGBs5K68s2PGFAAAYDDqDFPPMQUAABiM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\n3Hhj8pKXJHfemd943VweeSS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       "text": [
        "<matplotlib.figure.Figure at 0x7f6e8f739710>"
       ]
      },
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "[[ 0.15538196]\n",
        " [ 0.01299707]]\n"
       ]
      }
     ],
     "prompt_number": 38
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "#testing a constant K gain filter implementation\n",
      "\n",
      "from numpy import dot\n",
      "class kf(object):\n",
      "    \n",
      "    def __init__ (self):\n",
      "        self.H  = 1\n",
      "        self.x  = 0\n",
      "        self.y = 0\n",
      "        self.F  = 1\n",
      "        self.B  = 0\n",
      "        self.K  = 1\n",
      "        \n",
      "    \n",
      "    def update(self, Z):\n",
      "        self.y = Z - dot(self.H, self.x)\n",
      "        \n",
      "        # x = x + Ky\n",
      "        # predict new x with residual scaled by the kalman gain\n",
      "        self.x = self.x + dot(self.K, self.y)\n",
      "\n",
      "\n",
      "    def predict(self, u=0):\n",
      "        # x = Fx + Bu\n",
      "        self._x = dot(self.F, self.x) + dot(self.B, u)  \n",
      "        \n",
      "        \n",
      "k = kf()\n",
      "k.x = np.array([[1., 0.]]).T\n",
      "k.F = np.array([[1., 1.],\n",
      "                [0., 1.]])\n",
      "k.H = np.array([[1., 0.]])\n",
      "k.K = np.array([[0.15538196, 0.01299707]]).T\n",
      "lsq = LeastSquaresFilter(dt=1, order=2, noise_variance = 5)\n",
      "\n",
      "\n",
      "kxs = []\n",
      "lxs = []\n",
      "zs = []\n",
      "for i in range(1,100):\n",
      "    z = i + randn()*5\n",
      "    zs.append(z)\n",
      "\n",
      "    lsq(z)\n",
      "    k.predict()\n",
      "    k.update(z)\n",
      "    \n",
      "    kxs.append(k.x[0,0])\n",
      "    lxs.append(lsq.x)\n",
      "    \n",
      "plt.figure()\n",
      "plt.plot (kxs, c='b')\n",
      "plt.plot (lxs, c='g')\n",
      "plt.plot (zs, c='r')\n",
      "plt.show()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "display_data",
       "png": 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ceQC+rQXVqoV24eWUBieJiIiIiESjnTuDMzQJGLdqHK9mzuXi7CZ0bNDRmoAK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\nyBHzkZRkwv7q1ea/Dx40ofWHH/w7j+IUsdzXbpe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JrVAh2DOxkM2Wt+TXgZAKhBxCKgAA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fAAAg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\nuHGwcGG1nv1H3mrOSD6jZmMobSa1FmcmDxyAr38d7rkHrryyh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       "text": [
        "<matplotlib.figure.Figure at 0x7f6e8f734f28>"
       ]
      }
     ],
     "prompt_number": 49
    }
   ],
   "metadata": {}
  }
 ]
}