diff --git a/CMakeLists.txt b/CMakeLists.txt index cd3aead..5938ebc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,15 +1,92 @@ cmake_minimum_required(VERSION 3.8) project(simulation) + +# Find required packages find_package(ament_cmake REQUIRED) +find_package(ignition-plugin1 REQUIRED COMPONENTS register) +find_package(ignition-gazebo6 REQUIRED) +find_package(ignition-physics5 REQUIRED) +find_package(ignition-common4 REQUIRED) +find_package(ignition-rendering6 REQUIRED) + +# Set Gazebo plugin and sim versions +set(IGNITION_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR}) +set(IGNITION_SIM_VER ${ignition-gazebo6_VERSION_MAJOR}) +set(IGNITION_COMMON_VER ${ignition-common4_VERSION_MAJOR}) +set(IGNITION_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR}) +set(IGNITION_SENSORS_VER ${ignition-sensors6_VERSION_MAJOR}) + +# Add the plugins directory to the include path +include_directories(${CMAKE_CURRENT_SOURCE_DIR}/Plugins) + +# Add the SolarPanelPlugin library +add_library(SolarPanelPlugin SHARED + plugins/SolarPanelPlugin.cc +) + +# Link the SolarPanelPlugin library with required dependencies +target_link_libraries(SolarPanelPlugin + PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER} + PRIVATE ignition-common${IGNITION_COMMON_VER}::ignition-common${IGNITION_COMMON_VER} + PRIVATE ignition-rendering${IGNITION_RENDERING_VER}::ignition-rendering${IGNITION_RENDERING_VER} + PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core +) + +# Add the RadioisotopeThermalGeneratorPlugin library +add_library(RadioisotopeThermalGeneratorPlugin SHARED + plugins/RadioisotopeThermalGeneratorPlugin.cc +) +# Link the RadioisotopeThermalGeneratorPlugin library with required dependencies +target_link_libraries(RadioisotopeThermalGeneratorPlugin + PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER} + PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core +) + +# Add the RechargeableBatteryPlugin library +add_library(RechargeableBatteryPlugin SHARED + plugins/RechargeableBatteryPlugin.cc +) + +# Link the RechargeableBatteryPlugin library with required dependencies +target_link_libraries(RechargeableBatteryPlugin + PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER} + PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core + # PRIVATE ignition-common${IGN_COMMON_VER}::ignition-common${IGNITION_COMMON_VER} +) + + +# add the SensorPowerSystemPlugin library +add_library(SensorPowerSystemPlugin SHARED + plugins/SensorPowerSystemPlugin.cc +) + +# Link the SensorPowerSystemPlugin library with required dependencies +target_link_libraries(SensorPowerSystemPlugin + PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER} + PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core + PRIVATE ignition-gazebo${IGNITION_SIM_VER}::ignition-gazebo${IGNITION_SIM_VER} + PRIVATE ignition-sensors${IGNITION_SENSORS_VER}::ignition-sensors${IGNITION_SENSORS_VER} +) + + +# Create the models directory file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/models/curiosity_path) +# Install directories install(DIRECTORY models ${CMAKE_CURRENT_BINARY_DIR}/models DESTINATION share/${PROJECT_NAME}/ ) +# Install the plugin library +install(TARGETS SolarPanelPlugin RadioisotopeThermalGeneratorPlugin RechargeableBatteryPlugin SensorPowerSystemPlugin + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in") -ament_package() +ament_package() \ No newline at end of file diff --git a/README.md b/README.md index b0c965b..b5eb7e5 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,230 @@ # simulation Simulation assets of space-ros demos + +## Plugins +Custom Gazebo plugins are included in the package. + +### SolarPanelPlugin +The solar panel plugin allows to simulate solar panel power output depending on the panel orientation relative to the sun and LOS. + +* Required elements + * **link_name** (`str`) -- The solar panel link in the model + * **nominal_power** (`float`) -- The maximum power supplied by the solar panel when the sun is hitting perdendicular + +* Publications + * **/model///solar_panel_output** (`std_msgs::msg::Float`) -- Publishes the current solar panel output in watt. + +#### How to setup the plugin +The plugin needs to be attached to a model. The link specified by **** is the solar panel. + + +```XML + + rear_solar_panel + 150.0 + +``` + +- The solar panel link needs to have a visual element. The power output is calculated by using the Z-axis of the solar panel link (Z-axis is considered the normal axis to the solar panel). +- **Important**: Some URDF parsers lump together links with fixed joints. To ensure the plugin is working correctly, it might be necessary for the solar panel link to be joined with a dynamic type of joint (and by setting the limits to zero if no motion is required). Example below: + + ```XML + + + + + + + + ``` +- The plugin need a sun entity in the world. The sun needs to be a `light` entity of type `directional` with the name `sun`. The element `` and `` of the sun are used by the plugin and need to be set properly. Example below: + ```XML + + true + -2000 2000 100 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + 1.5 + + 100000000 + 1.0 + 0.0 + 0.001 + + 0.9 -0.9 -0.2 + + ``` +- **LOS (Line-Of-Sight)**: If the sun is occulted, no power is supplied by the solar panel plugin. To know if the panel is occulted, the plugin checks the line of sight between the `sun` (by using the `` element) and the link visual children. The panel solar link needs to have at least one visual element for the plugin to work. +- **Power computation**: The plugin computes the power generated by the panel by checking the angle between the Z-axis of the solar panel link and the `direction` vector of the sun. + +### RadioisotopeThermalGeneratorPlugin +The radioisotope thermal generator plugin allows to simulate an RTG power output. It provides a constant power supply. + +* Required elements + * **link_name** (`str`) -- The RTG link in the model + * **nominal_power** (`float`) -- The constant power in watt generated by the RTG. + +* Publications + * **/model///radioisotope_thermal_generator_output** (`std_msgs::msg::Float`) -- Publishes the current solar panel output in watt. + +#### How to setup the plugin +The plugin needs to be attached to a model. Example below: + +```XML + + chassis + 100.0 + +``` + +### RechargeableBatteryPlugin +The rechargeable battery plugin is a modified version of the stock LinearBatteryPlugin to allow recharge at a variable rate. It can be charged by any plugin providing a power output in watts on a Gazebo topic. In addition, by default, if no start draining topic is defined, the battery starts to drain as soon as the robot starts to move. + +* Required elements + * **battery_name** (`str`) -- Unique name for the battery (required) + * **voltage** (`double`) -- Initial voltage of the battery (required) + * **open_circuit_voltage** (`double`) -- + * **open_circuit_voltage_constant_coef** (`double`) -- Voltage at full charge + * **open_circuit_voltage_linear_coef** (`double`) -- Amount of voltage decrease when no charge + * **initial_charge** (`double`) -- Initial charge of the battery in Ah + * **capacity** (`double`) -- Total charge that the battery in Ah + * **resistance** (`double`) -- Internal resistance in Ohm + * **smooth_current_tau** (`double`) -- Coefficient for smoothing current [0, 1] + * **power_source** (`array[str]`) -- List of topic of power sources. + * **start_draining** (`boolean`) -- Whether to start draining the battery + * **power_draining_topic** (`str`) -- This is the topic to start draining the battery + * **stop_power_draining_topic** (`str`) -- This is to stop draining the battery + * **power_load** (`double`) -- Idle power load + + * Publications + * **/model/lunar_pole_exploration_rover/battery/rechargeable_battery/state** (`ìgnition_msgs::msg::BaterrySate`) -- Publishes the current state of the battery **rechargeable_battery** + +#### How to setup the plugin +The plugin needs to be attached to a model. Example below: + +```XML + + rechargeable_battery + 30.0 + 30.0 + 30.0 + -3.0 + 9.0 + 10.0 + 0.1 + 1.0 + + + left_solar_panel/solar_panel_output + right_solar_panel/solar_panel_output + rtg_body/radioisotope_thermal_generator_output + + 11.0 + /battery/discharge + +``` + +* The power source topic needs to be on the format `/`. As of now, the following plugins can provide power to charge the battery: + * **SolarPanelPlugin**: with topic `/solar_panel_output` + * **RadioisotopeThermalGeneratorPlugin**: with topic `/radioisotope_thermal_generator_output` + +### SensorPowerSystemPlugin +The sensor power system plugin pairs with the RechargeableBatteryPlugin allowing one to define for each sensor the power load it consumes from any battery in the model. Sensors can be deactivated to save power (as it is often the case on real space missions). When the battery is too low, the sensors managed by the plugin will also be deactivated. In addition, topics are exposed to disable the power load of each sensor consumption on demand. The topic uses the following format. + + * **/model/lunar_pole_exploration_rover/sensor/``/activate** (`ìgnition_msgs::msg::Boolean`) -- Topic available to activate/deactivate the power consumption of sensor. + +The model can have multiple batteries and each sensor consumes from any of those batteries. + +#### How to setup the plugin +The plugin needs to be attached to a model. Example below: + +```XML + + +``` + +In addition, you need to include in each of the sensors, the power load and the battery they consume from. Example below: + +```XML + + + 1 + 10.0 + 11.0 + rechargeable_battery + + 1.0 0 0 0 0 0 + 1.22173 + + 2048 + 2048 + L16 + + + 0.01 + 100 + + + gaussian + 0.007 + + + 1 + navcam_left/image_raw + + +``` + + +## Models + +### lunar_pole_exploration_rover +The lunar pole exploration rover is a lunar rover heavily inspired by the VIPER rover. The model can be loaded in Gazebo to fully simulate the rover. information on the rover was obtained from https://ntrs.nasa.gov/api/citations/20210015009/downloads/20210015009%20-%20Colaprete-VIPER%20PIP%20final.pdf. + + +#### Simulated power +The rover model includes a battery simulated by the RechargeableBatteryPlugin. +The battery is recharged by three solar panels of 150W each. The solar panels are simulated by the SolarPanelPlugin. + +#### Control +The model has four steerable powered wheels. Each wheels is attached to the rover body with a passive suspension. +In addition, the navigation cameras are mounted on a mast and can pan and tilt. + +#### Sensors +It features a similar sensor suit of the real VIPER rover: +- A pair of monochrome cameras for navigation, NavCam, mounted on the rover mast +- A pair of monochrome cameras for the aft blind spots, AftCam, facing back +- An IMU +- Odometry plugin + +#### Published Topics +* **/model/lunar_pole_exploration_rover/left_solar_panel/solar_panel_output** (`ignition_msgs::msg::Float32`) -- Publishes the current output of the left solar panel in watt +* **/model/lunar_pole_exploration_rover/right_solar_panel/solar_panel_output** (`ignition_msgs::msg::Float32`) -- Publishes the current output of the right solar panel in watt +* **/model/lunar_pole_exploration_rover/rear_solar_panel/solar_panel_output** (`ignition_msgs::msg::Float32`) -- Publishes the current output of the rear solar panel in watt +* **/model/lunar_pole_exploration_rover/odometry** (`ignition_msgs::msg::Odometry`) -- Robot odometry +* **/model/lunar_pole_exploration_rover/odometry_with_covariance**(`ignition_msgs::msg::OdometryWithCovariance`) -- Robot odometry +* **/model/lunar_pole_exploration_rover/pose**(`ignition_msgs::msg::Pose`) -- Robot estimated pose from odometry +* **/model/lunar_pole_exploration_rover/battery/rechargeable_battery/state** (`ìgnition_msgs::msg::BaterrySate`) -- Publishes the current state of the battery **rechargeable_battery** +* **aft_cam_left/camera_info** (`ignition_msgs::msg::CameraInfo`) -- AftCam left camera info +* **aft_cam_right/camera_info** (`ignition_msgs::msg::CameraInfo`) -- AftCam right camera info +* **nav_cam_left/camera_info** (`ignition_msgs::msg::CameraInfo`) -- NavCam left camera info +* **nav_cam_right/camera_info** (`ignition_msgs::msg::CameraInfo`) -- NavCam right camera info +* **aft_cam_left/image_raw** (`ignition_msgs::msg::Image`) -- AftCam left camera image +* **aft_cam_right/image_raw** (`ignition_msgs::msg::Image`) -- AftCam right camera image +* **nav_cam_left/image_raw** (`ignition_msgs::msg::Image`) -- NavCam left camera image +* **nav_cam_right/image_raw** (`ignition_msgs::msg::Image`) -- NavCam right camera image + +#### Controllable Joint Interfaces +* mast_head_pivot_joint (`revolute`) -- NavCam pan joint +* mast_camera_joint (`revolute`) -- NavCam tilt joint +* front_left_wheel_joint (`revolute`) -- front left wheel rotation joint +* rear_left_wheel_joint (`revolute`) -- rear left wheel rotation joint +* front_right_wheel_joint (`revolute`) -- front right wheel rotation joint +* rear_right_wheel_joint (`revolute`) -- rear right wheel rotation joint +* front_left_wheel_axle_joint (`revolute`) -- front left wheel steer joint +* rear_left_wheel_axle_joint (`revolute`) -- rear left wheel steer joint +* front_right_wheel_axle_joint (`revolute`) -- front right wheel steer joint +* rear_right_wheel_axle_joint (`revolute`) -- rear right wheel steer joint + +### moon_mons_mouton +A model for the terrain of the Mons Mouton mountain located near the lunar south pole (also formaly refered to as Liebnitz Beta). This model was generated by using DEM data (site20) from the NASA LRO mission: https://pgda.gsfc.nasa.gov/products/78 (Barker, M.K., et al. (2021), Improved LOLA Elevation Maps for South Pole Landing Sites: Error Estimates and Their Impact on Illumination Conditions, Planetary & Space Science, Volume 203, 1 September 2021, 105119, doi:10.1016/j.pss.2020.105119.). diff --git a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo index 883e8b2..735775c 100644 --- a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo +++ b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo @@ -148,6 +148,35 @@ ogre2 0.9 0.753 0.66 1 + + + arm_tools + 100.0 + + + chassis + 100.0 + + + rechargeable_battery + 30.0 + 30.0 + 30.0 + -3.0 + 9.0 + 10.0 + 0.1 + 1.0 + + + chassis/radioisotope_thermal_generator_output + + + + 11.0 + + + diff --git a/models/lunar_pole_exploration_rover/meshes/body.dae b/models/lunar_pole_exploration_rover/meshes/body.dae new file mode 100644 index 0000000..8ca2588 --- /dev/null +++ b/models/lunar_pole_exploration_rover/meshes/body.dae @@ -0,0 +1,307 @@ + + 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183 183 176 176 179 179 179 179 181 181 183 183 181 181 182 182 183 183 183 183 182 182 195 195 182 182 185 185 195 195 195 195 185 185 187 187 166 166 170 170 173 173 170 170 172 172 173 173 173 173 172 172 183 183 172 172 174 174 183 183 183 183 174 174 176 176 156 156 161 161 163 163 161 161 162 162 163 163 163 163 162 162 173 173 162 162 165 165 173 173 173 173 165 165 166 166 146 146 150 150 153 153 150 150 152 152 153 153 3631 3631 3632 3632 163 163 3633 3633 3634 3634 163 163 163 163 3635 3635 156 156 138 138 140 140 142 142 140 140 141 141 142 142 142 142 141 141 153 153 141 141 144 144 153 153 153 153 144 144 146 146 128 128 127 127 142 142 127 127 130 130 142 142 130 130 132 132 142 142 132 132 136 136 142 142 142 142 136 136 138 138 118 118 122 122 116 116 122 122 124 124 116 116 116 116 124 124 128 128 124 124 126 126 128 128 128 128 126 126 127 127 106 106 108 108 101 101 106 106 101 101 104 104 108 108 112 112 101 101 112 112 114 114 101 101 101 101 114 114 116 116 114 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68 66 66 70 70 70 70 66 66 64 64 49 49 52 52 56 56 52 52 54 54 56 56 56 56 54 54 70 70 59 59 71 71 57 57 71 71 55 55 57 57 57 57 55 55 53 53 82 82 94 94 80 80 94 94 78 78 80 80 78 78 76 76 80 80 76 76 73 73 80 80 80 80 73 73 72 72 82 82 84 84 94 94 84 84 86 86 94 94 94 94 86 86 88 88 91 91 89 89 95 95 89 89 87 87 95 95 88 88 90 90 94 94 90 90 92 92 94 94 94 94 92 92 95 95 92 92 93 93 95 95 95 95 93 93 91 91 81 81 74 74 75 75 87 87 85 85 95 95 85 85 83 83 95 95 95 95 83 83 79 79 83 83 81 81 79 79 79 79 81 81 77 77 81 81 75 75 77 77 96 96 97 97 98 98 97 97 99 99 98 98 100 100 101 101 102 102 101 101 103 103 102 102 104 104 105 105 106 106 105 105 107 107 106 106 108 108 109 109 110 110 109 109 111 111 110 110 112 112 113 113 114 114 113 113 115 115 114 114 116 116 117 117 118 118 117 117 119 119 118 118 151 151 153 153 152 152 153 153 154 154 152 152 152 152 154 154 143 143 145 145 147 147 151 151 147 147 149 149 151 151 151 151 149 149 153 153 133 133 129 129 125 125 145 145 151 151 142 142 151 151 144 144 142 142 142 142 144 144 121 121 123 123 140 140 136 136 136 136 132 132 123 123 132 132 128 128 123 123 123 123 128 128 124 124 140 140 123 123 146 146 123 123 150 150 146 146 146 146 150 150 148 148 131 131 135 135 127 127 135 135 122 122 127 127 135 135 139 139 122 122 139 139 143 143 122 122 122 122 143 143 123 123 143 143 154 154 123 123 123 123 154 154 150 150 133 133 125 125 137 137 126 126 130 130 134 134 121 121 144 144 125 125 144 144 141 141 125 125 125 125 141 141 137 137 121 121 120 120 142 142 120 120 126 126 142 142 142 142 126 126 138 138 126 126 134 134 138 138 185 185 189 189 158 158 186 186 188 188 184 184 188 188 186 186 189 189 186 186 187 187 189 189 189 189 187 187 158 158 187 187 178 178 158 158 158 158 178 178 157 157 184 184 182 182 186 186 182 182 180 180 186 186 186 186 180 180 177 177 186 186 156 156 179 179 156 156 160 160 179 179 178 178 174 174 157 157 174 174 170 170 157 157 157 157 170 170 162 162 170 170 166 166 162 162 159 159 163 163 158 158 163 163 167 167 158 158 158 158 167 167 171 171 171 171 175 175 158 158 175 175 181 181 158 158 158 158 181 181 185 185 181 181 183 183 185 185 160 160 164 164 168 168 177 177 173 173 186 186 173 173 169 169 186 186 186 186 169 169 165 165 165 165 161 161 186 186 161 161 155 155 186 186 186 186 155 155 156 156 168 168 172 172 160 160 172 172 176 176 160 160 160 160 176 176 179 179 190 190 191 191 192 192 191 191 193 193 192 192 192 192 193 193 194 194 193 193 195 195 194 194 194 194 195 195 196 196 195 195 197 197 196 196 198 198 199 199 200 200 199 199 201 201 200 200 202 202 203 203 204 204 203 203 205 205 204 204 204 204 205 205 206 206 205 205 207 207 206 206 206 206 207 207 208 208 207 207 209 209 208 208 210 210 211 211 212 212 211 211 213 213 212 212 212 212 213 213 214 214 213 213 215 215 214 214 214 214 215 215 216 216 215 215 217 217 216 216 218 218 219 219 220 220 219 219 221 221 220 220 222 222 223 223 224 224 223 223 225 225 224 224 224 224 225 225 226 226 225 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280 280 279 279 1453 1453 1454 1454 1455 1455 278 278 1456 1456 279 279 278 278 278 278 279 279 274 274 1457 1457 286 286 280 280 286 286 287 287 280 280 280 280 287 287 281 281 287 287 288 288 281 281 281 281 288 288 282 282 292 292 301 301 293 293 301 301 302 302 293 293 293 293 302 302 294 294 1458 1458 299 299 292 292 299 299 300 300 292 292 292 292 300 300 301 301 303 303 299 299 298 298 299 299 1459 1459 298 298 298 298 1460 1460 1461 1461 291 291 290 290 297 297 297 297 290 290 296 296 290 290 289 289 296 296 296 296 289 289 295 295 304 304 307 307 308 308 304 304 308 308 305 305 308 308 309 309 305 305 305 305 309 309 306 306 324 324 318 318 325 325 318 318 319 319 325 325 325 325 319 319 326 326 323 323 316 316 324 324 316 316 317 317 324 324 324 324 317 317 318 318 310 310 316 316 311 311 316 316 323 323 311 311 311 311 323 323 315 315 323 323 1462 1462 315 315 323 323 1463 1463 1464 1464 322 322 321 321 314 314 314 314 321 321 313 313 321 321 320 320 313 313 313 313 320 320 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2029 4944 642 2030 4943 643 2031 28573 632 2032 28574 631 2033 4943 643 2034 4942 644 2035 4755 620 2036 28573 632 2037 4942 644 2038 221 621 2039 4754 619 2040 28570 628 2041 28573 632 2042 4755 620 2043 4753 618 2044 28567 625 2045 28570 628 2046 4754 619 2047 28576 645 2048 28577 646 2049 28580 647 2050 28579 648 2051 28577 646 2052 28578 649 2053 28581 650 2054 28580 647 2055 28579 648 2056 28580 647 2057 28583 651 2058 28582 652 2059 28580 647 2060 28581 650 2061 28584 653 2062 28583 651 2063 159 637 2064 4570 654 2065 28576 645 2066 4756 638 2067 4570 654 2068 4571 655 2069 28577 646 2070 28576 645 2071 4571 655 2072 4572 656 2073 28578 649 2074 28577 646 2075 4572 656 2076 160 657 2077 4759 658 2078 28578 649 2079 28578 649 2080 4759 658 2081 4760 659 2082 28581 650 2083 28581 650 2084 4760 659 2085 4761 660 2086 28584 653 2087 28584 653 2088 4761 660 2089 223 661 2090 4947 662 2091 28583 651 2092 28584 653 2093 4947 662 2094 4946 663 2095 28582 652 2096 28583 651 2097 4946 663 2098 4945 664 2099 4758 640 2100 28582 652 2101 4945 664 2102 222 641 2103 4757 639 2104 28579 648 2105 28582 652 2106 4758 640 2107 4756 638 2108 28576 645 2109 28579 648 2110 4757 639 2111 28585 665 2112 28586 666 2113 28589 667 2114 28588 668 2115 28586 666 2116 28587 669 2117 28590 670 2118 28589 667 2119 28588 668 2120 28589 667 2121 28592 671 2122 28591 672 2123 28589 667 2124 28590 670 2125 28593 673 2126 28592 671 2127 160 657 2128 4573 674 2129 28585 665 2130 4759 658 2131 4573 674 2132 4574 675 2133 28586 666 2134 28585 665 2135 4574 675 2136 4575 676 2137 28587 669 2138 28586 666 2139 4575 676 2140 161 677 2141 4762 678 2142 28587 669 2143 28587 669 2144 4762 678 2145 4763 679 2146 28590 670 2147 28590 670 2148 4763 679 2149 4764 680 2150 28593 673 2151 28593 673 2152 4764 680 2153 224 681 2154 4950 682 2155 28592 671 2156 28593 673 2157 4950 682 2158 4949 683 2159 28591 672 2160 28592 671 2161 4949 683 2162 4948 684 2163 4761 660 2164 28591 672 2165 4948 684 2166 223 661 2167 4760 659 2168 28588 668 2169 28591 672 2170 4761 660 2171 4759 658 2172 28585 665 2173 28588 668 2174 4760 659 2175 28594 685 2176 28595 686 2177 28598 687 2178 28597 688 2179 28595 686 2180 28596 689 2181 28599 690 2182 28598 687 2183 28597 688 2184 28598 687 2185 28601 691 2186 28600 692 2187 28598 687 2188 28599 690 2189 28602 693 2190 28601 691 2191 161 677 2192 4576 694 2193 28594 685 2194 4762 678 2195 4576 694 2196 4577 695 2197 28595 686 2198 28594 685 2199 4577 695 2200 4578 696 2201 28596 689 2202 28595 686 2203 4578 696 2204 162 697 2205 4765 698 2206 28596 689 2207 28596 689 2208 4765 698 2209 4766 699 2210 28599 690 2211 28599 690 2212 4766 699 2213 4767 700 2214 28602 693 2215 28602 693 2216 4767 700 2217 225 701 2218 4953 702 2219 28601 691 2220 28602 693 2221 4953 702 2222 4952 703 2223 28600 692 2224 28601 691 2225 4952 703 2226 4951 704 2227 4764 680 2228 28600 692 2229 4951 704 2230 224 681 2231 4763 679 2232 28597 688 2233 28600 692 2234 4764 680 2235 4762 678 2236 28594 685 2237 28597 688 2238 4763 679 2239 28603 705 2240 28604 706 2241 28607 707 2242 28606 708 2243 28604 706 2244 28605 709 2245 28608 710 2246 28607 707 2247 28606 708 2248 28607 707 2249 28610 711 2250 28609 712 2251 28607 707 2252 28608 710 2253 28611 713 2254 28610 711 2255 162 697 2256 4579 714 2257 28603 705 2258 4765 698 2259 4579 714 2260 4580 715 2261 28604 706 2262 28603 705 2263 4580 715 2264 4581 716 2265 28605 709 2266 28604 706 2267 4581 716 2268 163 717 2269 4768 718 2270 28605 709 2271 28605 709 2272 4768 718 2273 4769 719 2274 28608 710 2275 28608 710 2276 4769 719 2277 4770 720 2278 28611 713 2279 28611 713 2280 4770 720 2281 226 721 2282 4956 722 2283 28610 711 2284 28611 713 2285 4956 722 2286 4955 723 2287 28609 712 2288 28610 711 2289 4955 723 2290 4954 724 2291 4767 700 2292 28609 712 2293 4954 724 2294 225 701 2295 4766 699 2296 28606 708 2297 28609 712 2298 4767 700 2299 4765 698 2300 28603 705 2301 28606 708 2302 4766 699 2303 28612 725 2304 28613 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814 2580 4595 815 2581 28649 806 2582 28648 805 2583 4595 815 2584 4596 816 2585 28650 809 2586 28649 806 2587 4596 816 2588 168 817 2589 4783 818 2590 28650 809 2591 28650 809 2592 4783 818 2593 4784 819 2594 28653 810 2595 28653 810 2596 4784 819 2597 4785 820 2598 28656 813 2599 28656 813 2600 4785 820 2601 231 821 2602 4971 822 2603 28655 811 2604 28656 813 2605 4971 822 2606 4970 823 2607 28654 812 2608 28655 811 2609 4970 823 2610 4969 824 2611 4782 800 2612 28654 812 2613 4969 824 2614 230 801 2615 4781 799 2616 28651 808 2617 28654 812 2618 4782 800 2619 4780 798 2620 28648 805 2621 28651 808 2622 4781 799 2623 28657 825 2624 28658 826 2625 28661 827 2626 28660 828 2627 28658 826 2628 28659 829 2629 28662 830 2630 28661 827 2631 28660 828 2632 28661 827 2633 28664 831 2634 28663 832 2635 28661 827 2636 28662 830 2637 28665 833 2638 28664 831 2639 168 817 2640 4597 834 2641 28657 825 2642 4783 818 2643 4597 834 2644 4598 835 2645 28658 826 2646 28657 825 2647 4598 835 2648 4599 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10958 29834 3003 10959 300 1997 10960 5365 2016 10961 29827 2997 10962 5551 2990 10963 5365 2016 10964 5366 2015 10965 29828 2998 10966 29827 2997 10967 5366 2015 10968 5367 2014 10969 29829 3001 10970 29828 2998 10971 5367 2014 10972 301 2013 10973 5554 3006 10974 29829 3001 10975 29829 3001 10976 5554 3006 10977 5555 3007 10978 29832 3002 10979 29832 3002 10980 5555 3007 10981 5556 3008 10982 29835 3005 10983 29835 3005 10984 5556 3008 10985 364 3009 10986 5742 3010 10987 29834 3003 10988 29835 3005 10989 5742 3010 10990 5741 3011 10991 29833 3004 10992 29834 3003 10993 5741 3011 10994 5740 3012 10995 5553 2992 10996 29833 3004 10997 5740 3012 10998 363 2993 10999 5552 2991 11000 29830 3000 11001 29833 3004 11002 5553 2992 11003 5551 2990 11004 29827 2997 11005 29830 3000 11006 5552 2991 11007 29836 3013 11008 29837 3014 11009 29840 3015 11010 29839 3016 11011 29837 3014 11012 29838 3017 11013 29841 3018 11014 29840 3015 11015 29839 3016 11016 29840 3015 11017 29843 3019 11018 29842 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11140 29856 3049 11141 29859 3050 11142 29858 3047 11143 29857 3048 11144 29858 3047 11145 29861 3051 11146 29860 3052 11147 29858 3047 11148 29859 3050 11149 29862 3053 11150 29861 3051 11151 303 2045 11152 5374 2064 11153 29854 3045 11154 5560 3038 11155 5374 2064 11156 5375 2063 11157 29855 3046 11158 29854 3045 11159 5375 2063 11160 5376 2062 11161 29856 3049 11162 29855 3046 11163 5376 2062 11164 304 2061 11165 5563 3054 11166 29856 3049 11167 29856 3049 11168 5563 3054 11169 5564 3055 11170 29859 3050 11171 29859 3050 11172 5564 3055 11173 5565 3056 11174 29862 3053 11175 29862 3053 11176 5565 3056 11177 367 3057 11178 5751 3058 11179 29861 3051 11180 29862 3053 11181 5751 3058 11182 5750 3059 11183 29860 3052 11184 29861 3051 11185 5750 3059 11186 5749 3060 11187 5562 3040 11188 29860 3052 11189 5749 3060 11190 366 3041 11191 5561 3039 11192 29857 3048 11193 29860 3052 11194 5562 3040 11195 5560 3038 11196 29854 3045 11197 29857 3048 11198 5561 3039 11199 29863 3061 11200 29864 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29866 3064 11262 5564 3055 11263 29872 3077 11264 29873 3078 11265 29876 3079 11266 29875 3080 11267 29873 3078 11268 29874 3081 11269 29877 3082 11270 29876 3079 11271 29875 3080 11272 29876 3079 11273 29879 3083 11274 29878 3084 11275 29876 3079 11276 29877 3082 11277 29880 3085 11278 29879 3083 11279 305 2077 11280 5380 2096 11281 29872 3077 11282 5566 3070 11283 5380 2096 11284 5381 2095 11285 29873 3078 11286 29872 3077 11287 5381 2095 11288 5382 2094 11289 29874 3081 11290 29873 3078 11291 5382 2094 11292 306 2093 11293 5569 3086 11294 29874 3081 11295 29874 3081 11296 5569 3086 11297 5570 3087 11298 29877 3082 11299 29877 3082 11300 5570 3087 11301 5571 3088 11302 29880 3085 11303 29880 3085 11304 5571 3088 11305 369 3089 11306 5757 3090 11307 29879 3083 11308 29880 3085 11309 5757 3090 11310 5756 3091 11311 29878 3084 11312 29879 3083 11313 5756 3091 11314 5755 3092 11315 5568 3072 11316 29878 3084 11317 5755 3092 11318 368 3073 11319 5567 3071 11320 29875 3080 11321 29878 3084 11322 5568 3072 11323 5566 3070 11324 29872 3077 11325 29875 3080 11326 5567 3071 11327 29881 3093 11328 29882 3094 11329 29885 3095 11330 29884 3096 11331 29882 3094 11332 29883 3097 11333 29886 3098 11334 29885 3095 11335 29884 3096 11336 29885 3095 11337 29888 3099 11338 29887 3100 11339 29885 3095 11340 29886 3098 11341 29889 3101 11342 29888 3099 11343 306 2093 11344 5383 2112 11345 29881 3093 11346 5569 3086 11347 5383 2112 11348 5384 2111 11349 29882 3094 11350 29881 3093 11351 5384 2111 11352 5385 2110 11353 29883 3097 11354 29882 3094 11355 5385 2110 11356 307 2109 11357 5572 3102 11358 29883 3097 11359 29883 3097 11360 5572 3102 11361 5573 3103 11362 29886 3098 11363 29886 3098 11364 5573 3103 11365 5574 3104 11366 29889 3101 11367 29889 3101 11368 5574 3104 11369 370 3105 11370 5760 3106 11371 29888 3099 11372 29889 3101 11373 5760 3106 11374 5759 3107 11375 29887 3100 11376 29888 3099 11377 5759 3107 11378 5758 3108 11379 5571 3088 11380 29887 3100 11381 5758 3108 11382 369 3089 11383 5570 3087 11384 29884 3096 11385 29887 3100 11386 5571 3088 11387 5569 3086 11388 29881 3093 11389 29884 3096 11390 5570 3087 11391 29890 3109 11392 29891 3110 11393 29894 3111 11394 29893 3112 11395 29891 3110 11396 29892 3113 11397 29895 3114 11398 29894 3111 11399 29893 3112 11400 29894 3111 11401 29897 3115 11402 29896 3116 11403 29894 3111 11404 29895 3114 11405 29898 3117 11406 29897 3115 11407 307 2109 11408 5386 2128 11409 29890 3109 11410 5572 3102 11411 5386 2128 11412 5387 2127 11413 29891 3110 11414 29890 3109 11415 5387 2127 11416 5388 2126 11417 29892 3113 11418 29891 3110 11419 5388 2126 11420 308 2125 11421 5575 3118 11422 29892 3113 11423 29892 3113 11424 5575 3118 11425 5576 3119 11426 29895 3114 11427 29895 3114 11428 5576 3119 11429 5577 3120 11430 29898 3117 11431 29898 3117 11432 5577 3120 11433 371 3121 11434 5763 3122 11435 29897 3115 11436 29898 3117 11437 5763 3122 11438 5762 3123 11439 29896 3116 11440 29897 3115 11441 5762 3123 11442 5761 3124 11443 5574 3104 11444 29896 3116 11445 5761 3124 11446 370 3105 11447 5573 3103 11448 29893 3112 11449 29896 3116 11450 5574 3104 11451 5572 3102 11452 29890 3109 11453 29893 3112 11454 5573 3103 11455 29899 3125 11456 29900 3126 11457 29903 3127 11458 29902 3128 11459 29900 3126 11460 29901 3129 11461 29904 3130 11462 29903 3127 11463 29902 3128 11464 29903 3127 11465 29906 3131 11466 29905 3132 11467 29903 3127 11468 29904 3130 11469 29907 3133 11470 29906 3131 11471 308 2125 11472 5389 2144 11473 29899 3125 11474 5575 3118 11475 5389 2144 11476 5390 2143 11477 29900 3126 11478 29899 3125 11479 5390 2143 11480 5391 2142 11481 29901 3129 11482 29900 3126 11483 5391 2142 11484 309 2141 11485 5578 3134 11486 29901 3129 11487 29901 3129 11488 5578 3134 11489 5579 3135 11490 29904 3130 11491 29904 3130 11492 5579 3135 11493 5580 3136 11494 29907 3133 11495 29907 3133 11496 5580 3136 11497 372 3137 11498 5766 3138 11499 29906 3131 11500 29907 3133 11501 5766 3138 11502 5765 3139 11503 29905 3132 11504 29906 3131 11505 5765 3139 11506 5764 3140 11507 5577 3120 11508 29905 3132 11509 5764 3140 11510 371 3121 11511 5576 3119 11512 29902 3128 11513 29905 3132 11514 5577 3120 11515 5575 3118 11516 29899 3125 11517 29902 3128 11518 5576 3119 11519 29908 3141 11520 29909 3142 11521 29912 3143 11522 29911 3144 11523 29909 3142 11524 29910 3145 11525 29913 3146 11526 29912 3143 11527 29911 3144 11528 29912 3143 11529 29915 3147 11530 29914 3148 11531 29912 3143 11532 29913 3146 11533 29916 3149 11534 29915 3147 11535 309 2141 11536 5392 2160 11537 29908 3141 11538 5578 3134 11539 5392 2160 11540 5393 2159 11541 29909 3142 11542 29908 3141 11543 5393 2159 11544 5394 2158 11545 29910 3145 11546 29909 3142 11547 5394 2158 11548 310 2157 11549 5581 3150 11550 29910 3145 11551 29910 3145 11552 5581 3150 11553 5582 3151 11554 29913 3146 11555 29913 3146 11556 5582 3151 11557 5583 3152 11558 29916 3149 11559 29916 3149 11560 5583 3152 11561 373 3153 11562 5769 3154 11563 29915 3147 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5586 3168 11625 374 3169 11626 5772 3170 11627 29924 3163 11628 29925 3165 11629 5772 3170 11630 5771 3171 11631 29923 3164 11632 29924 3163 11633 5771 3171 11634 5770 3172 11635 5583 3152 11636 29923 3164 11637 5770 3172 11638 373 3153 11639 5582 3151 11640 29920 3160 11641 29923 3164 11642 5583 3152 11643 5581 3150 11644 29917 3157 11645 29920 3160 11646 5582 3151 11647 29926 3173 11648 29927 3174 11649 29930 3175 11650 29929 3176 11651 29927 3174 11652 29928 3177 11653 29931 3178 11654 29930 3175 11655 29929 3176 11656 29930 3175 11657 29933 3179 11658 29932 3180 11659 29930 3175 11660 29931 3178 11661 29934 3181 11662 29933 3179 11663 311 2173 11664 5398 2192 11665 29926 3173 11666 5584 3166 11667 5398 2192 11668 5399 2191 11669 29927 3174 11670 29926 3173 11671 5399 2191 11672 5400 2190 11673 29928 3177 11674 29927 3174 11675 5400 2190 11676 312 2189 11677 5587 3182 11678 29928 3177 11679 29928 3177 11680 5587 3182 11681 5588 3183 11682 29931 3178 11683 29931 3178 11684 5588 3183 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3199 11746 29940 3194 11747 29940 3194 11748 5591 3199 11749 5592 3200 11750 29943 3197 11751 29943 3197 11752 5592 3200 11753 376 3201 11754 5778 3202 11755 29942 3195 11756 29943 3197 11757 5778 3202 11758 5777 3203 11759 29941 3196 11760 29942 3195 11761 5777 3203 11762 5776 3204 11763 5589 3184 11764 29941 3196 11765 5776 3204 11766 375 3185 11767 5588 3183 11768 29938 3192 11769 29941 3196 11770 5589 3184 11771 5587 3182 11772 29935 3189 11773 29938 3192 11774 5588 3183 11775 29944 3205 11776 29945 3206 11777 29948 3207 11778 29947 3208 11779 29945 3206 11780 29946 3209 11781 29949 3210 11782 29948 3207 11783 29947 3208 11784 29948 3207 11785 29951 3211 11786 29950 3212 11787 29948 3207 11788 29949 3210 11789 29952 3213 11790 29951 3211 11791 313 2205 11792 5404 2224 11793 29944 3205 11794 5590 3198 11795 5404 2224 11796 5405 2223 11797 29945 3206 11798 29944 3205 11799 5405 2223 11800 5406 2222 11801 29946 3209 11802 29945 3206 11803 5406 2222 11804 314 2221 11805 5593 3214 11806 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6105 23310 31571 6103 23311 496 5097 23312 6511 5116 23313 31564 6097 23314 6697 6090 23315 6511 5116 23316 6512 5115 23317 31565 6098 23318 31564 6097 23319 6512 5115 23320 6513 5114 23321 31566 6101 23322 31565 6098 23323 6513 5114 23324 497 5113 23325 6700 6106 23326 31566 6101 23327 31566 6101 23328 6700 6106 23329 6701 6107 23330 31569 6102 23331 31569 6102 23332 6701 6107 23333 6702 6108 23334 31572 6105 23335 31572 6105 23336 6702 6108 23337 560 6109 23338 6888 6110 23339 31571 6103 23340 31572 6105 23341 6888 6110 23342 6887 6111 23343 31570 6104 23344 31571 6103 23345 6887 6111 23346 6886 6112 23347 6699 6092 23348 31570 6104 23349 6886 6112 23350 559 6093 23351 6698 6091 23352 31567 6100 23353 31570 6104 23354 6699 6092 23355 6697 6090 23356 31564 6097 23357 31567 6100 23358 6698 6091 23359 31573 6113 23360 31574 6114 23361 31577 6115 23362 31576 6116 23363 31574 6114 23364 31575 6117 23365 31578 6118 23366 31577 6115 23367 31576 6116 23368 31577 6115 23369 31580 6119 23370 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90383 1561 21933 90384 12868 21952 90385 40996 22933 90386 13054 22926 90387 12868 21952 90388 12869 21951 90389 40997 22934 90390 40996 22933 90391 12869 21951 90392 12870 21950 90393 40998 22937 90394 40997 22934 90395 12870 21950 90396 1562 21949 90397 13057 22942 90398 40998 22937 90399 40998 22937 90400 13057 22942 90401 13058 22943 90402 41001 22938 90403 41001 22938 90404 13058 22943 90405 13059 22944 90406 41004 22941 90407 41004 22941 90408 13059 22944 90409 1625 22945 90410 13245 22946 90411 41003 22939 90412 41004 22941 90413 13245 22946 90414 13244 22947 90415 41002 22940 90416 41003 22939 90417 13244 22947 90418 13243 22948 90419 13056 22928 90420 41002 22940 90421 13243 22948 90422 1624 22929 90423 13055 22927 90424 40999 22936 90425 41002 22940 90426 13056 22928 90427 13054 22926 90428 40996 22933 90429 40999 22936 90430 13055 22927 90431 41005 22949 90432 41006 22950 90433 41009 22951 90434 41008 22952 90435 41006 22950 90436 41007 22953 90437 41010 22954 90438 41009 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13058 22943 90495 41014 22965 90496 41015 22966 90497 41018 22967 90498 41017 22968 90499 41015 22966 90500 41016 22969 90501 41019 22970 90502 41018 22967 90503 41017 22968 90504 41018 22967 90505 41021 22971 90506 41020 22972 90507 41018 22967 90508 41019 22970 90509 41022 22973 90510 41021 22971 90511 1563 21965 90512 12874 21984 90513 41014 22965 90514 13060 22958 90515 12874 21984 90516 12875 21983 90517 41015 22966 90518 41014 22965 90519 12875 21983 90520 12876 21982 90521 41016 22969 90522 41015 22966 90523 12876 21982 90524 1564 21981 90525 13063 22974 90526 41016 22969 90527 41016 22969 90528 13063 22974 90529 13064 22975 90530 41019 22970 90531 41019 22970 90532 13064 22975 90533 13065 22976 90534 41022 22973 90535 41022 22973 90536 13065 22976 90537 1627 22977 90538 13251 22978 90539 41021 22971 90540 41022 22973 90541 13251 22978 90542 13250 22979 90543 41020 22972 90544 41021 22971 90545 13250 22979 90546 13249 22980 90547 13062 22960 90548 41020 22972 90549 13249 22980 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110704 43856 28031 110705 15140 28039 110706 15139 28040 110707 14952 28020 110708 43855 28032 110709 15139 28040 110710 1946 28021 110711 14951 28019 110712 43852 28028 110713 43855 28032 110714 14952 28020 110715 14950 28018 110716 43849 28025 110717 43852 28028 110718 14951 28019 110719 43858 28041 110720 43859 28042 110721 43862 28043 110722 43861 28044 110723 43859 28042 110724 43860 28045 110725 43863 28046 110726 43862 28043 110727 43861 28044 110728 43862 28043 110729 43865 28047 110730 43864 28048 110731 43862 28043 110732 43863 28046 110733 43866 28049 110734 43865 28047 110735 1884 27041 110736 14767 27060 110737 43858 28041 110738 14953 28034 110739 14767 27060 110740 14768 27059 110741 43859 28042 110742 43858 28041 110743 14768 27059 110744 14769 27058 110745 43860 28045 110746 43859 28042 110747 14769 27058 110748 1885 27057 110749 14956 28050 110750 43860 28045 110751 43860 28045 110752 14956 28050 110753 14957 28051 110754 43863 28046 110755 43863 28046 110756 14957 28051 110757 14958 28052 110758 43866 28049 110759 43866 28049 110760 14958 28052 110761 1948 28053 110762 15144 28054 110763 43865 28047 110764 43866 28049 110765 15144 28054 110766 15143 28055 110767 43864 28048 110768 43865 28047 110769 15143 28055 110770 15142 28056 110771 14955 28036 110772 43864 28048 110773 15142 28056 110774 1947 28037 110775 14954 28035 110776 43861 28044 110777 43864 28048 110778 14955 28036 110779 14953 28034 110780 43858 28041 110781 43861 28044 110782 14954 28035 110783 43867 28057 110784 43868 28058 110785 43871 28059 110786 43870 28060 110787 43868 28058 110788 43869 28061 110789 43872 28062 110790 43871 28059 110791 43870 28060 110792 43871 28059 110793 43874 28063 110794 43873 28064 110795 43871 28059 110796 43872 28062 110797 43875 28065 110798 43874 28063 110799 1885 27057 110800 14770 27076 110801 43867 28057 110802 14956 28050 110803 14770 27076 110804 14771 27075 110805 43868 28058 110806 43867 28057 110807 14771 27075 110808 14772 27074 110809 43869 28061 110810 43868 28058 110811 14772 27074 110812 1886 27073 110813 14959 28066 110814 43869 28061 110815 43869 28061 110816 14959 28066 110817 14960 28067 110818 43872 28062 110819 43872 28062 110820 14960 28067 110821 14961 28068 110822 43875 28065 110823 43875 28065 110824 14961 28068 110825 1949 28069 110826 15147 28070 110827 43874 28063 110828 43875 28065 110829 15147 28070 110830 15146 28071 110831 43873 28064 110832 43874 28063 110833 15146 28071 110834 15145 28072 110835 14958 28052 110836 43873 28064 110837 15145 28072 110838 1948 28053 110839 14957 28051 110840 43870 28060 110841 43873 28064 110842 14958 28052 110843 14956 28050 110844 43867 28057 110845 43870 28060 110846 14957 28051 110847 43876 28073 110848 43877 28074 110849 43880 28075 110850 43879 28076 110851 43877 28074 110852 43878 28077 110853 43881 28078 110854 43880 28075 110855 43879 28076 110856 43880 28075 110857 43883 28079 110858 43882 28080 110859 43880 28075 110860 43881 28078 110861 43884 28081 110862 43883 28079 110863 1886 27073 110864 14773 27092 110865 43876 28073 110866 14959 28066 110867 14773 27092 110868 14774 27091 110869 43877 28074 110870 43876 28073 110871 14774 27091 110872 14775 27090 110873 43878 28077 110874 43877 28074 110875 14775 27090 110876 1887 27089 110877 14962 28082 110878 43878 28077 110879 43878 28077 110880 14962 28082 110881 14963 28083 110882 43881 28078 110883 43881 28078 110884 14963 28083 110885 14964 28084 110886 43884 28081 110887 43884 28081 110888 14964 28084 110889 1950 28085 110890 15150 28086 110891 43883 28079 110892 43884 28081 110893 15150 28086 110894 15149 28087 110895 43882 28080 110896 43883 28079 110897 15149 28087 110898 15148 28088 110899 14961 28068 110900 43882 28080 110901 15148 28088 110902 1949 28069 110903 14960 28067 110904 43879 28076 110905 43882 28080 110906 14961 28068 110907 14959 28066 110908 43876 28073 110909 43879 28076 110910 14960 28067 110911 43885 28089 110912 43886 28090 110913 43889 28091 110914 43888 28092 110915 43886 28090 110916 43887 28093 110917 43890 28094 110918 43889 28091 110919 43888 28092 110920 43889 28091 110921 43892 28095 110922 43891 28096 110923 43889 28091 110924 43890 28094 110925 43893 28097 110926 43892 28095 110927 1887 27089 110928 14776 27108 110929 43885 28089 110930 14962 28082 110931 14776 27108 110932 14777 27107 110933 43886 28090 110934 43885 28089 110935 14777 27107 110936 14778 27106 110937 43887 28093 110938 43886 28090 110939 14778 27106 110940 1888 27105 110941 14965 28098 110942 43887 28093 110943 43887 28093 110944 14965 28098 110945 14966 28099 110946 43890 28094 110947 43890 28094 110948 14966 28099 110949 14967 28100 110950 43893 28097 110951 43893 28097 110952 14967 28100 110953 1951 28101 110954 15153 28102 110955 43892 28095 110956 43893 28097 110957 15153 28102 110958 15152 28103 110959 43891 28096 110960 43892 28095 110961 15152 28103 110962 15151 28104 110963 14964 28084 110964 43891 28096 110965 15151 28104 110966 1950 28085 110967 14963 28083 110968 43888 28092 110969 43891 28096 110970 14964 28084 110971 14962 28082 110972 43885 28089 110973 43888 28092 110974 14963 28083 110975 43894 28105 110976 43895 28106 110977 43898 28107 110978 43897 28108 110979 43895 28106 110980 43896 28109 110981 43899 28110 110982 43898 28107 110983 43897 28108 110984 43898 28107 110985 43901 28111 110986 43900 28112 110987 43898 28107 110988 43899 28110 110989 43902 28113 110990 43901 28111 110991 1888 27105 110992 14779 27124 110993 43894 28105 110994 14965 28098 110995 14779 27124 110996 14780 27123 110997 43895 28106 110998 43894 28105 110999 14780 27123 111000 14781 27122 111001 43896 28109 111002 43895 28106 111003 14781 27122 111004 1889 27121 111005 14968 28114 111006 43896 28109 111007 43896 28109 111008 14968 28114 111009 14969 28115 111010 43899 28110 111011 43899 28110 111012 14969 28115 111013 14970 28116 111014 43902 28113 111015 43902 28113 111016 14970 28116 111017 1952 28117 111018 15156 28118 111019 43901 28111 111020 43902 28113 111021 15156 28118 111022 15155 28119 111023 43900 28112 111024 43901 28111 111025 15155 28119 111026 15154 28120 111027 14967 28100 111028 43900 28112 111029 15154 28120 111030 1951 28101 111031 14966 28099 111032 43897 28108 111033 43900 28112 111034 14967 28100 111035 14965 28098 111036 43894 28105 111037 43897 28108 111038 14966 28099 111039 43903 28121 111040 43904 28122 111041 43907 28123 111042 43906 28124 111043 43904 28122 111044 43905 28125 111045 43908 28126 111046 43907 28123 111047 43906 28124 111048 43907 28123 111049 43910 28127 111050 43909 28128 111051 43907 28123 111052 43908 28126 111053 43911 28129 111054 43910 28127 111055 1889 27121 111056 14782 27140 111057 43903 28121 111058 14968 28114 111059 14782 27140 111060 14783 27139 111061 43904 28122 111062 43903 28121 111063 14783 27139 111064 14784 27138 111065 43905 28125 111066 43904 28122 111067 14784 27138 111068 1890 27137 111069 14971 28130 111070 43905 28125 111071 43905 28125 111072 14971 28130 111073 14972 28131 111074 43908 28126 111075 43908 28126 111076 14972 28131 111077 14973 28132 111078 43911 28129 111079 43911 28129 111080 14973 28132 111081 1953 28133 111082 15159 28134 111083 43910 28127 111084 43911 28129 111085 15159 28134 111086 15158 28135 111087 43909 28128 111088 43910 28127 111089 15158 28135 111090 15157 28136 111091 14970 28116 111092 43909 28128 111093 15157 28136 111094 1952 28117 111095 14969 28115 111096 43906 28124 111097 43909 28128 111098 14970 28116 111099 14968 28114 111100 43903 28121 111101 43906 28124 111102 14969 28115 111103 43912 28137 111104 43913 28138 111105 43916 28139 111106 43915 28140 111107 43913 28138 111108 43914 28141 111109 43917 28142 111110 43916 28139 111111 43915 28140 111112 43916 28139 111113 43919 28143 111114 43918 28144 111115 43916 28139 111116 43917 28142 111117 43920 28145 111118 43919 28143 111119 1891 27159 111120 14974 27157 111121 43912 28137 111122 15160 28146 111123 14974 27157 111124 14975 27156 111125 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15168 28168 111284 43936 28180 111285 15355 28188 111286 1956 28169 111287 15167 28167 111288 43933 28176 111289 43936 28180 111290 15168 28168 111291 15166 28166 111292 43930 28173 111293 43933 28176 111294 15167 28167 111295 43939 28189 111296 43940 28190 111297 43943 28191 111298 43942 28192 111299 43940 28190 111300 43941 28193 111301 43944 28194 111302 43943 28191 111303 43942 28192 111304 43943 28191 111305 43946 28195 111306 43945 28196 111307 43943 28191 111308 43944 28194 111309 43947 28197 111310 43946 28195 111311 1894 27189 111312 14983 27208 111313 43939 28189 111314 15169 28182 111315 14983 27208 111316 14984 27207 111317 43940 28190 111318 43939 28189 111319 14984 27207 111320 14985 27206 111321 43941 28193 111322 43940 28190 111323 14985 27206 111324 1895 27205 111325 15172 28198 111326 43941 28193 111327 43941 28193 111328 15172 28198 111329 15173 28199 111330 43944 28194 111331 43944 28194 111332 15173 28199 111333 15174 28200 111334 43947 28197 111335 43947 28197 111336 15174 28200 111337 1958 28201 111338 15360 28202 111339 43946 28195 111340 43947 28197 111341 15360 28202 111342 15359 28203 111343 43945 28196 111344 43946 28195 111345 15359 28203 111346 15358 28204 111347 15171 28184 111348 43945 28196 111349 15358 28204 111350 1957 28185 111351 15170 28183 111352 43942 28192 111353 43945 28196 111354 15171 28184 111355 15169 28182 111356 43939 28189 111357 43942 28192 111358 15170 28183 111359 43948 28205 111360 43949 28206 111361 43952 28207 111362 43951 28208 111363 43949 28206 111364 43950 28209 111365 43953 28210 111366 43952 28207 111367 43951 28208 111368 43952 28207 111369 43955 28211 111370 43954 28212 111371 43952 28207 111372 43953 28210 111373 43956 28213 111374 43955 28211 111375 1895 27205 111376 14986 27224 111377 43948 28205 111378 15172 28198 111379 14986 27224 111380 14987 27223 111381 43949 28206 111382 43948 28205 111383 14987 27223 111384 14988 27222 111385 43950 28209 111386 43949 28206 111387 14988 27222 111388 1896 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112284 1910 27445 112285 15217 28438 112286 44076 28433 112287 44076 28433 112288 15217 28438 112289 15218 28439 112290 44079 28434 112291 44079 28434 112292 15218 28439 112293 15219 28440 112294 44082 28437 112295 44082 28437 112296 15219 28440 112297 1973 28441 112298 15405 28442 112299 44081 28435 112300 44082 28437 112301 15405 28442 112302 15404 28443 112303 44080 28436 112304 44081 28435 112305 15404 28443 112306 15403 28444 112307 15216 28424 112308 44080 28436 112309 15403 28444 112310 1972 28425 112311 15215 28423 112312 44077 28432 112313 44080 28436 112314 15216 28424 112315 15214 28422 112316 44074 28429 112317 44077 28432 112318 15215 28423 112319 44083 28445 112320 44084 28446 112321 44087 28447 112322 44086 28448 112323 44084 28446 112324 44085 28449 112325 44088 28450 112326 44087 28447 112327 44086 28448 112328 44087 28447 112329 44090 28451 112330 44089 28452 112331 44087 28447 112332 44088 28450 112333 44091 28453 112334 44090 28451 112335 1910 27445 112336 15031 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15466 28780 113654 1993 28761 113655 15278 28759 113656 44266 28768 113657 44269 28772 113658 15279 28760 113659 15277 28758 113660 44263 28765 113661 44266 28768 113662 15278 28759 113663 44272 28781 113664 44273 28782 113665 44276 28783 113666 44275 28784 113667 44273 28782 113668 44274 28785 113669 44277 28786 113670 44276 28783 113671 44275 28784 113672 44276 28783 113673 44279 28787 113674 44278 28788 113675 44276 28783 113676 44277 28786 113677 44280 28789 113678 44279 28787 113679 1931 27781 113680 15094 27800 113681 44272 28781 113682 15280 28774 113683 15094 27800 113684 15095 27799 113685 44273 28782 113686 44272 28781 113687 15095 27799 113688 15096 27798 113689 44274 28785 113690 44273 28782 113691 15096 27798 113692 1932 27797 113693 15283 28790 113694 44274 28785 113695 44274 28785 113696 15283 28790 113697 15284 28791 113698 44277 28786 113699 44277 28786 113700 15284 28791 113701 15285 28792 113702 44280 28789 113703 44280 28789 113704 15285 28792 113705 1995 28793 113706 15471 28794 113707 44279 28787 113708 44280 28789 113709 15471 28794 113710 15470 28795 113711 44278 28788 113712 44279 28787 113713 15470 28795 113714 15469 28796 113715 15282 28776 113716 44278 28788 113717 15469 28796 113718 1994 28777 113719 15281 28775 113720 44275 28784 113721 44278 28788 113722 15282 28776 113723 15280 28774 113724 44272 28781 113725 44275 28784 113726 15281 28775 113727 44281 28797 113728 44282 28798 113729 44285 28799 113730 44284 28800 113731 44282 28798 113732 44283 28801 113733 44286 28802 113734 44285 28799 113735 44284 28800 113736 44285 28799 113737 44288 28803 113738 44287 28804 113739 44285 28799 113740 44286 28802 113741 44289 28805 113742 44288 28803 113743 1932 27797 113744 15097 27816 113745 44281 28797 113746 15283 28790 113747 15097 27816 113748 15098 27815 113749 44282 28798 113750 44281 28797 113751 15098 27815 113752 15099 27814 113753 44283 28801 113754 44282 28798 113755 15099 27814 113756 1933 27813 113757 15286 28806 113758 44283 28801 113759 44283 28801 113760 15286 28806 113761 15287 28807 113762 44286 28802 113763 44286 28802 113764 15287 28807 113765 15288 28808 113766 44289 28805 113767 44289 28805 113768 15288 28808 113769 1996 28809 113770 15474 28810 113771 44288 28803 113772 44289 28805 113773 15474 28810 113774 15473 28811 113775 44287 28804 113776 44288 28803 113777 15473 28811 113778 15472 28812 113779 15285 28792 113780 44287 28804 113781 15472 28812 113782 1995 28793 113783 15284 28791 113784 44284 28800 113785 44287 28804 113786 15285 28792 113787 15283 28790 113788 44281 28797 113789 44284 28800 113790 15284 28791 113791 44290 28813 113792 44291 28814 113793 44294 28815 113794 44293 28816 113795 44291 28814 113796 44292 28817 113797 44295 28818 113798 44294 28815 113799 44293 28816 113800 44294 28815 113801 44297 28819 113802 44296 28820 113803 44294 28815 113804 44295 28818 113805 44298 28821 113806 44297 28819 113807 1933 27813 113808 15100 27832 113809 44290 28813 113810 15286 28806 113811 15100 27832 113812 15101 27831 113813 44291 28814 113814 44290 28813 113815 15101 27831 113816 15102 27830 113817 44292 28817 113818 44291 28814 113819 15102 27830 113820 1934 27829 113821 15289 28822 113822 44292 28817 113823 44292 28817 113824 15289 28822 113825 15290 28823 113826 44295 28818 113827 44295 28818 113828 15290 28823 113829 15291 28824 113830 44298 28821 113831 44298 28821 113832 15291 28824 113833 1997 28825 113834 15477 28826 113835 44297 28819 113836 44298 28821 113837 15477 28826 113838 15476 28827 113839 44296 28820 113840 44297 28819 113841 15476 28827 113842 15475 28828 113843 15288 28808 113844 44296 28820 113845 15475 28828 113846 1996 28809 113847 15287 28807 113848 44293 28816 113849 44296 28820 113850 15288 28808 113851 15286 28806 113852 44290 28813 113853 44293 28816 113854 15287 28807 113855 44299 28829 113856 44300 28830 113857 44303 28831 113858 44302 28832 113859 44300 28830 113860 44301 28833 113861 44304 28834 113862 44303 28831 113863 44302 28832 113864 44303 28831 113865 44306 28835 113866 44305 28836 113867 44303 28831 113868 44304 28834 113869 44307 28837 113870 44306 28835 113871 1934 27829 113872 15103 27848 113873 44299 28829 113874 15289 28822 113875 15103 27848 113876 15104 27847 113877 44300 28830 113878 44299 28829 113879 15104 27847 113880 15105 27846 113881 44301 28833 113882 44300 28830 113883 15105 27846 113884 1935 27845 113885 15292 28838 113886 44301 28833 113887 44301 28833 113888 15292 28838 113889 15293 28839 113890 44304 28834 113891 44304 28834 113892 15293 28839 113893 15294 28840 113894 44307 28837 113895 44307 28837 113896 15294 28840 113897 1998 28841 113898 15480 28842 113899 44306 28835 113900 44307 28837 113901 15480 28842 113902 15479 28843 113903 44305 28836 113904 44306 28835 113905 15479 28843 113906 15478 28844 113907 15291 28824 113908 44305 28836 113909 15478 28844 113910 1997 28825 113911 15290 28823 113912 44302 28832 113913 44305 28836 113914 15291 28824 113915 15289 28822 113916 44299 28829 113917 44302 28832 113918 15290 28823 113919 44308 28845 113920 44309 28846 113921 44312 28847 113922 44311 28848 113923 44309 28846 113924 44310 28849 113925 44313 28850 113926 44312 28847 113927 44311 28848 113928 44312 28847 113929 44315 28851 113930 44314 28852 113931 44312 28847 113932 44313 28850 113933 44316 28853 113934 44315 28851 113935 1935 27845 113936 15106 27864 113937 44308 28845 113938 15292 28838 113939 15106 27864 113940 15107 27863 113941 44309 28846 113942 44308 28845 113943 15107 27863 113944 15108 27862 113945 44310 28849 113946 44309 28846 113947 15108 27862 113948 1936 27861 113949 15295 28854 113950 44310 28849 113951 44310 28849 113952 15295 28854 113953 15296 28855 113954 44313 28850 113955 44313 28850 113956 15296 28855 113957 15297 28856 113958 44316 28853 113959 44316 28853 113960 15297 28856 113961 1999 28857 113962 15483 28858 113963 44315 28851 113964 44316 28853 113965 15483 28858 113966 15482 28859 113967 44314 28852 113968 44315 28851 113969 15482 28859 113970 15481 28860 113971 15294 28840 113972 44314 28852 113973 15481 28860 113974 1998 28841 113975 15293 28839 113976 44311 28848 113977 44314 28852 113978 15294 28840 113979 15292 28838 113980 44308 28845 113981 44311 28848 113982 15293 28839 113983 44317 28861 113984 44318 28862 113985 44321 28863 113986 44320 28864 113987 44318 28862 113988 44319 28865 113989 44322 28866 113990 44321 28863 113991 44320 28864 113992 44321 28863 113993 44324 28867 113994 44323 28868 113995 44321 28863 113996 44322 28866 113997 44325 28869 113998 44324 28867 113999 1936 27861 114000 15109 27880 114001 44317 28861 114002 15295 28854 114003 15109 27880 114004 15110 27879 114005 44318 28862 114006 44317 28861 114007 15110 27879 114008 15111 27878 114009 44319 28865 114010 44318 28862 114011 15111 27878 114012 1937 27877 114013 15298 28870 114014 44319 28865 114015 44319 28865 114016 15298 28870 114017 15299 28871 114018 44322 28866 114019 44322 28866 114020 15299 28871 114021 15300 28872 114022 44325 28869 114023 44325 28869 114024 15300 28872 114025 2000 28873 114026 15486 28874 114027 44324 28867 114028 44325 28869 114029 15486 28874 114030 15485 28875 114031 44323 28868 114032 44324 28867 114033 15485 28875 114034 15484 28876 114035 15297 28856 114036 44323 28868 114037 15484 28876 114038 1999 28857 114039 15296 28855 114040 44320 28864 114041 44323 28868 114042 15297 28856 114043 15295 28854 114044 44317 28861 114045 44320 28864 114046 15296 28855 114047 44326 28877 114048 44327 28878 114049 44330 28879 114050 44329 28880 114051 44327 28878 114052 44328 28881 114053 44331 28882 114054 44330 28879 114055 44329 28880 114056 44330 28879 114057 44333 28883 114058 44332 28884 114059 44330 28879 114060 44331 28882 114061 44334 28885 114062 44333 28883 114063 1937 27877 114064 15112 27896 114065 44326 28877 114066 15298 28870 114067 15112 27896 114068 15113 27895 114069 44327 28878 114070 44326 28877 114071 15113 27895 114072 15114 27894 114073 44328 28881 114074 44327 28878 114075 15114 27894 114076 1938 27893 114077 15301 28886 114078 44328 28881 114079 44328 28881 114080 15301 28886 114081 15302 28887 114082 44331 28882 114083 44331 28882 114084 15302 28887 114085 15303 28888 114086 44334 28885 114087 44334 28885 114088 15303 28888 114089 2001 28889 114090 15489 28890 114091 44333 28883 114092 44334 28885 114093 15489 28890 114094 15488 28891 114095 44332 28884 114096 44333 28883 114097 15488 28891 114098 15487 28892 114099 15300 28872 114100 44332 28884 114101 15487 28892 114102 2000 28873 114103 15299 28871 114104 44329 28880 114105 44332 28884 114106 15300 28872 114107 15298 28870 114108 44326 28877 114109 44329 28880 114110 15299 28871 114111 44335 28893 114112 44336 28894 114113 44339 28895 114114 44338 28896 114115 44336 28894 114116 44337 28897 114117 44340 28898 114118 44339 28895 114119 44338 28896 114120 44339 28895 114121 44342 28899 114122 44341 28900 114123 44339 28895 114124 44340 28898 114125 44343 28901 114126 44342 28899 114127 1938 27893 114128 15115 27912 114129 44335 28893 114130 15301 28886 114131 15115 27912 114132 15116 27911 114133 44336 28894 114134 44335 28893 114135 15116 27911 114136 15117 27910 114137 44337 28897 114138 44336 28894 114139 15117 27910 114140 1939 27909 114141 15304 28902 114142 44337 28897 114143 44337 28897 114144 15304 28902 114145 15305 28903 114146 44340 28898 114147 44340 28898 114148 15305 28903 114149 15306 28904 114150 44343 28901 114151 44343 28901 114152 15306 28904 114153 2002 28905 114154 15492 28906 114155 44342 28899 114156 44343 28901 114157 15492 28906 114158 15491 28907 114159 44341 28900 114160 44342 28899 114161 15491 28907 114162 15490 28908 114163 15303 28888 114164 44341 28900 114165 15490 28908 114166 2001 28889 114167 15302 28887 114168 44338 28896 114169 44341 28900 114170 15303 28888 114171 15301 28886 114172 44335 28893 114173 44338 28896 114174 15302 28887 114175 44344 28909 114176 44345 28910 114177 44348 28911 114178 44347 28912 114179 44345 28910 114180 44346 28913 114181 44349 28914 114182 44348 28911 114183 44347 28912 114184 44348 28911 114185 44351 28915 114186 44350 28916 114187 44348 28911 114188 44349 28914 114189 44352 28917 114190 44351 28915 114191 1939 27909 114192 15118 27928 114193 44344 28909 114194 15304 28902 114195 15118 27928 114196 15119 27927 114197 44345 28910 114198 44344 28909 114199 15119 27927 114200 15120 27926 114201 44346 28913 114202 44345 28910 114203 15120 27926 114204 1940 27925 114205 15307 28918 114206 44346 28913 114207 44346 28913 114208 15307 28918 114209 15308 28919 114210 44349 28914 114211 44349 28914 114212 15308 28919 114213 15309 28920 114214 44352 28917 114215 44352 28917 114216 15309 28920 114217 2003 28921 114218 15495 28922 114219 44351 28915 114220 44352 28917 114221 15495 28922 114222 15494 28923 114223 44350 28916 114224 44351 28915 114225 15494 28923 114226 15493 28924 114227 15306 28904 114228 44350 28916 114229 15493 28924 114230 2002 28905 114231 15305 28903 114232 44347 28912 114233 44350 28916 114234 15306 28904 114235 15304 28902 114236 44344 28909 114237 44347 28912 114238 15305 28903 114239 44353 28925 114240 44354 28926 114241 44357 28927 114242 44356 28928 114243 44354 28926 114244 44355 28929 114245 44358 28930 114246 44357 28927 114247 44356 28928 114248 44357 28927 114249 44360 28931 114250 44359 28932 114251 44357 28927 114252 44358 28930 114253 44361 28933 114254 44360 28931 114255 1940 27925 114256 15121 27944 114257 44353 28925 114258 15307 28918 114259 15121 27944 114260 15122 27943 114261 44354 28926 114262 44353 28925 114263 15122 27943 114264 15123 27942 114265 44355 28929 114266 44354 28926 114267 15123 27942 114268 1941 27941 114269 15310 28934 114270 44355 28929 114271 44355 28929 114272 15310 28934 114273 15311 28935 114274 44358 28930 114275 44358 28930 114276 15311 28935 114277 15312 28936 114278 44361 28933 114279 44361 28933 114280 15312 28936 114281 2004 28937 114282 15498 28938 114283 44360 28931 114284 44361 28933 114285 15498 28938 114286 15497 28939 114287 44359 28932 114288 44360 28931 114289 15497 28939 114290 15496 28940 114291 15309 28920 114292 44359 28932 114293 15496 28940 114294 2003 28921 114295 15308 28919 114296 44356 28928 114297 44359 28932 114298 15309 28920 114299 15307 28918 114300 44353 28925 114301 44356 28928 114302 15308 28919 114303 44362 28941 114304 44363 28942 114305 44366 28943 114306 44365 28944 114307 44363 28942 114308 44364 28945 114309 44367 28946 114310 44366 28943 114311 44365 28944 114312 44366 28943 114313 44369 28947 114314 44368 28948 114315 44366 28943 114316 44367 28946 114317 44370 28949 114318 44369 28947 114319 1941 27941 114320 15124 27960 114321 44362 28941 114322 15310 28934 114323 15124 27960 114324 15125 27959 114325 44363 28942 114326 44362 28941 114327 15125 27959 114328 15126 27958 114329 44364 28945 114330 44363 28942 114331 15126 27958 114332 1942 27957 114333 15313 28950 114334 44364 28945 114335 44364 28945 114336 15313 28950 114337 15314 28951 114338 44367 28946 114339 44367 28946 114340 15314 28951 114341 15315 28952 114342 44370 28949 114343 44370 28949 114344 15315 28952 114345 2005 28953 114346 15501 28954 114347 44369 28947 114348 44370 28949 114349 15501 28954 114350 15500 28955 114351 44368 28948 114352 44369 28947 114353 15500 28955 114354 15499 28956 114355 15312 28936 114356 44368 28948 114357 15499 28956 114358 2004 28937 114359 15311 28935 114360 44365 28944 114361 44368 28948 114362 15312 28936 114363 15310 28934 114364 44362 28941 114365 44365 28944 114366 15311 28935 114367 44371 28957 114368 44372 28958 114369 44375 28959 114370 44374 28960 114371 44372 28958 114372 44373 28961 114373 44376 28962 114374 44375 28959 114375 44374 28960 114376 44375 28959 114377 44378 28963 114378 44377 28964 114379 44375 28959 114380 44376 28962 114381 44379 28965 114382 44378 28963 114383 1942 27957 114384 15127 27976 114385 44371 28957 114386 15313 28950 114387 15127 27976 114388 15128 27975 114389 44372 28958 114390 44371 28957 114391 15128 27975 114392 15129 27974 114393 44373 28961 114394 44372 28958 114395 15129 27974 114396 1943 27973 114397 15316 28966 114398 44373 28961 114399 44373 28961 114400 15316 28966 114401 15317 28967 114402 44376 28962 114403 44376 28962 114404 15317 28967 114405 15318 28968 114406 44379 28965 114407 44379 28965 114408 15318 28968 114409 2006 28969 114410 15504 28970 114411 44378 28963 114412 44379 28965 114413 15504 28970 114414 15503 28971 114415 44377 28964 114416 44378 28963 114417 15503 28971 114418 15502 28972 114419 15315 28952 114420 44377 28964 114421 15502 28972 114422 2005 28953 114423 15314 28951 114424 44374 28960 114425 44377 28964 114426 15315 28952 114427 15313 28950 114428 44371 28957 114429 44374 28960 114430 15314 28951 114431 44380 28973 114432 44381 28974 114433 44384 28975 114434 44383 28976 114435 44381 28974 114436 44382 28977 114437 44385 28978 114438 44384 28975 114439 44383 28976 114440 44384 28975 114441 44387 28979 114442 44386 28980 114443 44384 28975 114444 44385 28978 114445 44388 28981 114446 44387 28979 114447 1943 27973 114448 15130 27992 114449 44380 28973 114450 15316 28966 114451 15130 27992 114452 15131 27991 114453 44381 28974 114454 44380 28973 114455 15131 27991 114456 15132 27990 114457 44382 28977 114458 44381 28974 114459 15132 27990 114460 1944 27989 114461 15319 28982 114462 44382 28977 114463 44382 28977 114464 15319 28982 114465 15320 28983 114466 44385 28978 114467 44385 28978 114468 15320 28983 114469 15321 28984 114470 44388 28981 114471 44388 28981 114472 15321 28984 114473 2007 28985 114474 15507 28986 114475 44387 28979 114476 44388 28981 114477 15507 28986 114478 15506 28987 114479 44386 28980 114480 44387 28979 114481 15506 28987 114482 15505 28988 114483 15318 28968 114484 44386 28980 114485 15505 28988 114486 2006 28969 114487 15317 28967 114488 44383 28976 114489 44386 28980 114490 15318 28968 114491 15316 28966 114492 44380 28973 114493 44383 28976 114494 15317 28967 114495 44389 28989 114496 44390 28990 114497 44393 28991 114498 44392 28992 114499 44390 28990 114500 44391 28993 114501 44394 28994 114502 44393 28991 114503 44392 28992 114504 44393 28991 114505 44396 28995 114506 44395 28996 114507 44393 28991 114508 44394 28994 114509 44397 28997 114510 44396 28995 114511 1944 27989 114512 15133 28008 114513 44389 28989 114514 15319 28982 114515 15133 28008 114516 15134 28007 114517 44390 28990 114518 44389 28989 114519 15134 28007 114520 15135 28006 114521 44391 28993 114522 44390 28990 114523 15135 28006 114524 1945 28005 114525 15322 28998 114526 44391 28993 114527 44391 28993 114528 15322 28998 114529 15323 28999 114530 44394 28994 114531 44394 28994 114532 15323 28999 114533 15324 29000 114534 44397 28997 114535 44397 28997 114536 15324 29000 114537 2008 29001 114538 15510 29002 114539 44396 28995 114540 44397 28997 114541 15510 29002 114542 15509 29003 114543 44395 28996 114544 44396 28995 114545 15509 29003 114546 15508 29004 114547 15321 28984 114548 44395 28996 114549 15508 29004 114550 2007 28985 114551 15320 28983 114552 44392 28992 114553 44395 28996 114554 15321 28984 114555 15319 28982 114556 44389 28989 114557 44392 28992 114558 15320 28983 114559 44398 29005 114560 44399 29006 114561 44402 29007 114562 44401 29008 114563 44399 29006 114564 44400 29009 114565 44403 29010 114566 44402 29007 114567 44401 29008 114568 44402 29007 114569 44405 29011 114570 44404 29012 114571 44402 29007 114572 44403 29010 114573 44406 29013 114574 44405 29011 114575 1945 28005 114576 15136 28024 114577 44398 29005 114578 15322 28998 114579 15136 28024 114580 15137 28023 114581 44399 29006 114582 44398 29005 114583 15137 28023 114584 15138 28022 114585 44400 29009 114586 44399 29006 114587 15138 28022 114588 1946 28021 114589 15325 29014 114590 44400 29009 114591 44400 29009 114592 15325 29014 114593 15326 29015 114594 44403 29010 114595 44403 29010 114596 15326 29015 114597 15327 29016 114598 44406 29013 114599 44406 29013 114600 15327 29016 114601 2009 29017 114602 15513 29018 114603 44405 29011 114604 44406 29013 114605 15513 29018 114606 15512 29019 114607 44404 29012 114608 44405 29011 114609 15512 29019 114610 15511 29020 114611 15324 29000 114612 44404 29012 114613 15511 29020 114614 2008 29001 114615 15323 28999 114616 44401 29008 114617 44404 29012 114618 15324 29000 114619 15322 28998 114620 44398 29005 114621 44401 29008 114622 15323 28999 114623 44407 29021 114624 44408 29022 114625 44411 29023 114626 44410 29024 114627 44408 29022 114628 44409 29025 114629 44412 29026 114630 44411 29023 114631 44410 29024 114632 44411 29023 114633 44414 29027 114634 44413 29028 114635 44411 29023 114636 44412 29026 114637 44415 29029 114638 44414 29027 114639 1946 28021 114640 15139 28040 114641 44407 29021 114642 15325 29014 114643 15139 28040 114644 15140 28039 114645 44408 29022 114646 44407 29021 114647 15140 28039 114648 15141 28038 114649 44409 29025 114650 44408 29022 114651 15141 28038 114652 1947 28037 114653 15328 29030 114654 44409 29025 114655 44409 29025 114656 15328 29030 114657 15329 29031 114658 44412 29026 114659 44412 29026 114660 15329 29031 114661 15330 29032 114662 44415 29029 114663 44415 29029 114664 15330 29032 114665 2010 29033 114666 15516 29034 114667 44414 29027 114668 44415 29029 114669 15516 29034 114670 15515 29035 114671 44413 29028 114672 44414 29027 114673 15515 29035 114674 15514 29036 114675 15327 29016 114676 44413 29028 114677 15514 29036 114678 2009 29017 114679 15326 29015 114680 44410 29024 114681 44413 29028 114682 15327 29016 114683 15325 29014 114684 44407 29021 114685 44410 29024 114686 15326 29015 114687 44416 29037 114688 44417 29038 114689 44420 29039 114690 44419 29040 114691 44417 29038 114692 44418 29041 114693 44421 29042 114694 44420 29039 114695 44419 29040 114696 44420 29039 114697 44423 29043 114698 44422 29044 114699 44420 29039 114700 44421 29042 114701 44424 29045 114702 44423 29043 114703 1947 28037 114704 15142 28056 114705 44416 29037 114706 15328 29030 114707 15142 28056 114708 15143 28055 114709 44417 29038 114710 44416 29037 114711 15143 28055 114712 15144 28054 114713 44418 29041 114714 44417 29038 114715 15144 28054 114716 1948 28053 114717 15331 29046 114718 44418 29041 114719 44418 29041 114720 15331 29046 114721 15332 29047 114722 44421 29042 114723 44421 29042 114724 15332 29047 114725 15333 29048 114726 44424 29045 114727 44424 29045 114728 15333 29048 114729 2011 29049 114730 15519 29050 114731 44423 29043 114732 44424 29045 114733 15519 29050 114734 15518 29051 114735 44422 29044 114736 44423 29043 114737 15518 29051 114738 15517 29052 114739 15330 29032 114740 44422 29044 114741 15517 29052 114742 2010 29033 114743 15329 29031 114744 44419 29040 114745 44422 29044 114746 15330 29032 114747 15328 29030 114748 44416 29037 114749 44419 29040 114750 15329 29031 114751 44425 29053 114752 44426 29054 114753 44429 29055 114754 44428 29056 114755 44426 29054 114756 44427 29057 114757 44430 29058 114758 44429 29055 114759 44428 29056 114760 44429 29055 114761 44432 29059 114762 44431 29060 114763 44429 29055 114764 44430 29058 114765 44433 29061 114766 44432 29059 114767 1948 28053 114768 15145 28072 114769 44425 29053 114770 15331 29046 114771 15145 28072 114772 15146 28071 114773 44426 29054 114774 44425 29053 114775 15146 28071 114776 15147 28070 114777 44427 29057 114778 44426 29054 114779 15147 28070 114780 1949 28069 114781 15334 29062 114782 44427 29057 114783 44427 29057 114784 15334 29062 114785 15335 29063 114786 44430 29058 114787 44430 29058 114788 15335 29063 114789 15336 29064 114790 44433 29061 114791 44433 29061 114792 15336 29064 114793 2012 29065 114794 15522 29066 114795 44432 29059 114796 44433 29061 114797 15522 29066 114798 15521 29067 114799 44431 29060 114800 44432 29059 114801 15521 29067 114802 15520 29068 114803 15333 29048 114804 44431 29060 114805 15520 29068 114806 2011 29049 114807 15332 29047 114808 44428 29056 114809 44431 29060 114810 15333 29048 114811 15331 29046 114812 44425 29053 114813 44428 29056 114814 15332 29047 114815 44434 29069 114816 44435 29070 114817 44438 29071 114818 44437 29072 114819 44435 29070 114820 44436 29073 114821 44439 29074 114822 44438 29071 114823 44437 29072 114824 44438 29071 114825 44441 29075 114826 44440 29076 114827 44438 29071 114828 44439 29074 114829 44442 29077 114830 44441 29075 114831 1949 28069 114832 15148 28088 114833 44434 29069 114834 15334 29062 114835 15148 28088 114836 15149 28087 114837 44435 29070 114838 44434 29069 114839 15149 28087 114840 15150 28086 114841 44436 29073 114842 44435 29070 114843 15150 28086 114844 1950 28085 114845 15337 29078 114846 44436 29073 114847 44436 29073 114848 15337 29078 114849 15338 29079 114850 44439 29074 114851 44439 29074 114852 15338 29079 114853 15339 29080 114854 44442 29077 114855 44442 29077 114856 15339 29080 114857 2013 29081 114858 15525 29082 114859 44441 29075 114860 44442 29077 114861 15525 29082 114862 15524 29083 114863 44440 29076 114864 44441 29075 114865 15524 29083 114866 15523 29084 114867 15336 29064 114868 44440 29076 114869 15523 29084 114870 2012 29065 114871 15335 29063 114872 44437 29072 114873 44440 29076 114874 15336 29064 114875 15334 29062 114876 44434 29069 114877 44437 29072 114878 15335 29063 114879 44443 29085 114880 44444 29086 114881 44447 29087 114882 44446 29088 114883 44444 29086 114884 44445 29089 114885 44448 29090 114886 44447 29087 114887 44446 29088 114888 44447 29087 114889 44450 29091 114890 44449 29092 114891 44447 29087 114892 44448 29090 114893 44451 29093 114894 44450 29091 114895 1950 28085 114896 15151 28104 114897 44443 29085 114898 15337 29078 114899 15151 28104 114900 15152 28103 114901 44444 29086 114902 44443 29085 114903 15152 28103 114904 15153 28102 114905 44445 29089 114906 44444 29086 114907 15153 28102 114908 1951 28101 114909 15340 29094 114910 44445 29089 114911 44445 29089 114912 15340 29094 114913 15341 29095 114914 44448 29090 114915 44448 29090 114916 15341 29095 114917 15342 29096 114918 44451 29093 114919 44451 29093 114920 15342 29096 114921 2014 29097 114922 15528 29098 114923 44450 29091 114924 44451 29093 114925 15528 29098 114926 15527 29099 114927 44449 29092 114928 44450 29091 114929 15527 29099 114930 15526 29100 114931 15339 29080 114932 44449 29092 114933 15526 29100 114934 2013 29081 114935 15338 29079 114936 44446 29088 114937 44449 29092 114938 15339 29080 114939 15337 29078 114940 44443 29085 114941 44446 29088 114942 15338 29079 114943 44452 29101 114944 44453 29102 114945 44456 29103 114946 44455 29104 114947 44453 29102 114948 44454 29105 114949 44457 29106 114950 44456 29103 114951 44455 29104 114952 44456 29103 114953 44459 29107 114954 44458 29108 114955 44456 29103 114956 44457 29106 114957 44460 29109 114958 44459 29107 114959 1951 28101 114960 15154 28120 114961 44452 29101 114962 15340 29094 114963 15154 28120 114964 15155 28119 114965 44453 29102 114966 44452 29101 114967 15155 28119 114968 15156 28118 114969 44454 29105 114970 44453 29102 114971 15156 28118 114972 1952 28117 114973 15343 29110 114974 44454 29105 114975 44454 29105 114976 15343 29110 114977 15344 29111 114978 44457 29106 114979 44457 29106 114980 15344 29111 114981 15345 29112 114982 44460 29109 114983 44460 29109 114984 15345 29112 114985 2015 29113 114986 15531 29114 114987 44459 29107 114988 44460 29109 114989 15531 29114 114990 15530 29115 114991 44458 29108 114992 44459 29107 114993 15530 29115 114994 15529 29116 114995 15342 29096 114996 44458 29108 114997 15529 29116 114998 2014 29097 114999 15341 29095 115000 44455 29104 115001 44458 29108 115002 15342 29096 115003 15340 29094 115004 44452 29101 115005 44455 29104 115006 15341 29095 115007 44461 29117 115008 44462 29118 115009 44465 29119 115010 44464 29120 115011 44462 29118 115012 44463 29121 115013 44466 29122 115014 44465 29119 115015 44464 29120 115016 44465 29119 115017 44468 29123 115018 44467 29124 115019 44465 29119 115020 44466 29122 115021 44469 29125 115022 44468 29123 115023 1952 28117 115024 15157 28136 115025 44461 29117 115026 15343 29110 115027 15157 28136 115028 15158 28135 115029 44462 29118 115030 44461 29117 115031 15158 28135 115032 15159 28134 115033 44463 29121 115034 44462 29118 115035 15159 28134 115036 1953 28133 115037 15346 29126 115038 44463 29121 115039 44463 29121 115040 15346 29126 115041 15347 29127 115042 44466 29122 115043 44466 29122 115044 15347 29127 115045 15348 29128 115046 44469 29125 115047 44469 29125 115048 15348 29128 115049 2016 29129 115050 15534 29130 115051 44468 29123 115052 44469 29125 115053 15534 29130 115054 15533 29131 115055 44467 29124 115056 44468 29123 115057 15533 29131 115058 15532 29132 115059 15345 29112 115060 44467 29124 115061 15532 29132 115062 2015 29113 115063 15344 29111 115064 44464 29120 115065 44467 29124 115066 15345 29112 115067 15343 29110 115068 44461 29117 115069 44464 29120 115070 15344 29111 115071 44470 29133 115072 44471 29134 115073 44474 29135 115074 44473 29136 115075 44471 29134 115076 44472 29137 115077 44475 29138 115078 44474 29135 115079 44473 29136 115080 44474 29135 115081 44477 29139 115082 44476 29140 115083 44474 29135 115084 44475 29138 115085 44478 29141 115086 44477 29139 115087 1954 28155 115088 15349 28153 115089 44470 29133 115090 15535 29142 115091 15349 28153 115092 15350 28152 115093 44471 29134 115094 44470 29133 115095 15350 28152 115096 15351 28151 115097 44472 29137 115098 44471 29134 115099 15351 28151 115100 1955 28150 115101 15538 29143 115102 44472 29137 115103 44472 29137 115104 15538 29143 115105 15539 29144 115106 44475 29138 115107 44475 29138 115108 15539 29144 115109 15540 29145 115110 44478 29141 115111 44478 29141 115112 15540 29145 115113 2018 29146 115114 15726 29147 115115 44477 29139 115116 44478 29141 115117 15726 29147 115118 15725 29148 115119 44476 29140 115120 44477 29139 115121 15725 29148 115122 15724 29149 115123 15537 29150 115124 44476 29140 115125 15724 29149 115126 2017 29151 115127 15536 29152 115128 44473 29136 115129 44476 29140 115130 15537 29150 115131 15535 29142 115132 44470 29133 115133 44473 29136 115134 15536 29152 115135 44479 29153 115136 44480 29154 115137 44483 29155 115138 44482 29156 115139 44480 29154 115140 44481 29157 115141 44484 29158 115142 44483 29155 115143 44482 29156 115144 44483 29155 115145 44486 29159 115146 44485 29160 115147 44483 29155 115148 44484 29158 115149 44487 29161 115150 44486 29159 115151 1955 28150 115152 15352 28172 115153 44479 29153 115154 15538 29143 115155 15352 28172 115156 15353 28171 115157 44480 29154 115158 44479 29153 115159 15353 28171 115160 15354 28170 115161 44481 29157 115162 44480 29154 115163 15354 28170 115164 1956 28169 115165 15541 29162 115166 44481 29157 115167 44481 29157 115168 15541 29162 115169 15542 29163 115170 44484 29158 115171 44484 29158 115172 15542 29163 115173 15543 29164 115174 44487 29161 115175 44487 29161 115176 15543 29164 115177 2019 29165 115178 15729 29166 115179 44486 29159 115180 44487 29161 115181 15729 29166 115182 15728 29167 115183 44485 29160 115184 44486 29159 115185 15728 29167 115186 15727 29168 115187 15540 29145 115188 44485 29160 115189 15727 29168 115190 2018 29146 115191 15539 29144 115192 44482 29156 115193 44485 29160 115194 15540 29145 115195 15538 29143 115196 44479 29153 115197 44482 29156 115198 15539 29144 115199 44488 29169 115200 44489 29170 115201 44492 29171 115202 44491 29172 115203 44489 29170 115204 44490 29173 115205 44493 29174 115206 44492 29171 115207 44491 29172 115208 44492 29171 115209 44495 29175 115210 44494 29176 115211 44492 29171 115212 44493 29174 115213 44496 29177 115214 44495 29175 115215 1956 28169 115216 15355 28188 115217 44488 29169 115218 15541 29162 115219 15355 28188 115220 15356 28187 115221 44489 29170 115222 44488 29169 115223 15356 28187 115224 15357 28186 115225 44490 29173 115226 44489 29170 115227 15357 28186 115228 1957 28185 115229 15544 29178 115230 44490 29173 115231 44490 29173 115232 15544 29178 115233 15545 29179 115234 44493 29174 115235 44493 29174 115236 15545 29179 115237 15546 29180 115238 44496 29177 115239 44496 29177 115240 15546 29180 115241 2020 29181 115242 15732 29182 115243 44495 29175 115244 44496 29177 115245 15732 29182 115246 15731 29183 115247 44494 29176 115248 44495 29175 115249 15731 29183 115250 15730 29184 115251 15543 29164 115252 44494 29176 115253 15730 29184 115254 2019 29165 115255 15542 29163 115256 44491 29172 115257 44494 29176 115258 15543 29164 115259 15541 29162 115260 44488 29169 115261 44491 29172 115262 15542 29163 115263 44497 29185 115264 44498 29186 115265 44501 29187 115266 44500 29188 115267 44498 29186 115268 44499 29189 115269 44502 29190 115270 44501 29187 115271 44500 29188 115272 44501 29187 115273 44504 29191 115274 44503 29192 115275 44501 29187 115276 44502 29190 115277 44505 29193 115278 44504 29191 115279 1957 28185 115280 15358 28204 115281 44497 29185 115282 15544 29178 115283 15358 28204 115284 15359 28203 115285 44498 29186 115286 44497 29185 115287 15359 28203 115288 15360 28202 115289 44499 29189 115290 44498 29186 115291 15360 28202 115292 1958 28201 115293 15547 29194 115294 44499 29189 115295 44499 29189 115296 15547 29194 115297 15548 29195 115298 44502 29190 115299 44502 29190 115300 15548 29195 115301 15549 29196 115302 44505 29193 115303 44505 29193 115304 15549 29196 115305 2021 29197 115306 15735 29198 115307 44504 29191 115308 44505 29193 115309 15735 29198 115310 15734 29199 115311 44503 29192 115312 44504 29191 115313 15734 29199 115314 15733 29200 115315 15546 29180 115316 44503 29192 115317 15733 29200 115318 2020 29181 115319 15545 29179 115320 44500 29188 115321 44503 29192 115322 15546 29180 115323 15544 29178 115324 44497 29185 115325 44500 29188 115326 15545 29179 115327 44506 29201 115328 44507 29202 115329 44510 29203 115330 44509 29204 115331 44507 29202 115332 44508 29205 115333 44511 29206 115334 44510 29203 115335 44509 29204 115336 44510 29203 115337 44513 29207 115338 44512 29208 115339 44510 29203 115340 44511 29206 115341 44514 29209 115342 44513 29207 115343 1958 28201 115344 15361 28220 115345 44506 29201 115346 15547 29194 115347 15361 28220 115348 15362 28219 115349 44507 29202 115350 44506 29201 115351 15362 28219 115352 15363 28218 115353 44508 29205 115354 44507 29202 115355 15363 28218 115356 1959 28217 115357 15550 29210 115358 44508 29205 115359 44508 29205 115360 15550 29210 115361 15551 29211 115362 44511 29206 115363 44511 29206 115364 15551 29211 115365 15552 29212 115366 44514 29209 115367 44514 29209 115368 15552 29212 115369 2022 29213 115370 15738 29214 115371 44513 29207 115372 44514 29209 115373 15738 29214 115374 15737 29215 115375 44512 29208 115376 44513 29207 115377 15737 29215 115378 15736 29216 115379 15549 29196 115380 44512 29208 115381 15736 29216 115382 2021 29197 115383 15548 29195 115384 44509 29204 115385 44512 29208 115386 15549 29196 115387 15547 29194 115388 44506 29201 115389 44509 29204 115390 15548 29195 115391 44515 29217 115392 44516 29218 115393 44519 29219 115394 44518 29220 115395 44516 29218 115396 44517 29221 115397 44520 29222 115398 44519 29219 115399 44518 29220 115400 44519 29219 115401 44522 29223 115402 44521 29224 115403 44519 29219 115404 44520 29222 115405 44523 29225 115406 44522 29223 115407 1959 28217 115408 15364 28236 115409 44515 29217 115410 15550 29210 115411 15364 28236 115412 15365 28235 115413 44516 29218 115414 44515 29217 115415 15365 28235 115416 15366 28234 115417 44517 29221 115418 44516 29218 115419 15366 28234 115420 1960 28233 115421 15553 29226 115422 44517 29221 115423 44517 29221 115424 15553 29226 115425 15554 29227 115426 44520 29222 115427 44520 29222 115428 15554 29227 115429 15555 29228 115430 44523 29225 115431 44523 29225 115432 15555 29228 115433 2023 29229 115434 15741 29230 115435 44522 29223 115436 44523 29225 115437 15741 29230 115438 15740 29231 115439 44521 29224 115440 44522 29223 115441 15740 29231 115442 15739 29232 115443 15552 29212 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29244 115497 2024 29245 115498 15744 29246 115499 44531 29239 115500 44532 29241 115501 15744 29246 115502 15743 29247 115503 44530 29240 115504 44531 29239 115505 15743 29247 115506 15742 29248 115507 15555 29228 115508 44530 29240 115509 15742 29248 115510 2023 29229 115511 15554 29227 115512 44527 29236 115513 44530 29240 115514 15555 29228 115515 15553 29226 115516 44524 29233 115517 44527 29236 115518 15554 29227 115519 44533 29249 115520 44534 29250 115521 44537 29251 115522 44536 29252 115523 44534 29250 115524 44535 29253 115525 44538 29254 115526 44537 29251 115527 44536 29252 115528 44537 29251 115529 44540 29255 115530 44539 29256 115531 44537 29251 115532 44538 29254 115533 44541 29257 115534 44540 29255 115535 1961 28249 115536 15370 28268 115537 44533 29249 115538 15556 29242 115539 15370 28268 115540 15371 28267 115541 44534 29250 115542 44533 29249 115543 15371 28267 115544 15372 28266 115545 44535 29253 115546 44534 29250 115547 15372 28266 115548 1962 28265 115549 15559 29258 115550 44535 29253 115551 44535 29253 115552 15559 29258 115553 15560 29259 115554 44538 29254 115555 44538 29254 115556 15560 29259 115557 15561 29260 115558 44541 29257 115559 44541 29257 115560 15561 29260 115561 2025 29261 115562 15747 29262 115563 44540 29255 115564 44541 29257 115565 15747 29262 115566 15746 29263 115567 44539 29256 115568 44540 29255 115569 15746 29263 115570 15745 29264 115571 15558 29244 115572 44539 29256 115573 15745 29264 115574 2024 29245 115575 15557 29243 115576 44536 29252 115577 44539 29256 115578 15558 29244 115579 15556 29242 115580 44533 29249 115581 44536 29252 115582 15557 29243 115583 44542 29265 115584 44543 29266 115585 44546 29267 115586 44545 29268 115587 44543 29266 115588 44544 29269 115589 44547 29270 115590 44546 29267 115591 44545 29268 115592 44546 29267 115593 44549 29271 115594 44548 29272 115595 44546 29267 115596 44547 29270 115597 44550 29273 115598 44549 29271 115599 1962 28265 115600 15373 28284 115601 44542 29265 115602 15559 29258 115603 15373 28284 115604 15374 28283 115605 44543 29266 115606 44542 29265 115607 15374 28283 115608 15375 28282 115609 44544 29269 115610 44543 29266 115611 15375 28282 115612 1963 28281 115613 15562 29274 115614 44544 29269 115615 44544 29269 115616 15562 29274 115617 15563 29275 115618 44547 29270 115619 44547 29270 115620 15563 29275 115621 15564 29276 115622 44550 29273 115623 44550 29273 115624 15564 29276 115625 2026 29277 115626 15750 29278 115627 44549 29271 115628 44550 29273 115629 15750 29278 115630 15749 29279 115631 44548 29272 115632 44549 29271 115633 15749 29279 115634 15748 29280 115635 15561 29260 115636 44548 29272 115637 15748 29280 115638 2025 29261 115639 15560 29259 115640 44545 29268 115641 44548 29272 115642 15561 29260 115643 15559 29258 115644 44542 29265 115645 44545 29268 115646 15560 29259 115647 44551 29281 115648 44552 29282 115649 44555 29283 115650 44554 29284 115651 44552 29282 115652 44553 29285 115653 44556 29286 115654 44555 29283 115655 44554 29284 115656 44555 29283 115657 44558 29287 115658 44557 29288 115659 44555 29283 115660 44556 29286 115661 44559 29289 115662 44558 29287 115663 1963 28281 115664 15376 28300 115665 44551 29281 115666 15562 29274 115667 15376 28300 115668 15377 28299 115669 44552 29282 115670 44551 29281 115671 15377 28299 115672 15378 28298 115673 44553 29285 115674 44552 29282 115675 15378 28298 115676 1964 28297 115677 15565 29290 115678 44553 29285 115679 44553 29285 115680 15565 29290 115681 15566 29291 115682 44556 29286 115683 44556 29286 115684 15566 29291 115685 15567 29292 115686 44559 29289 115687 44559 29289 115688 15567 29292 115689 2027 29293 115690 15753 29294 115691 44558 29287 115692 44559 29289 115693 15753 29294 115694 15752 29295 115695 44557 29288 115696 44558 29287 115697 15752 29295 115698 15751 29296 115699 15564 29276 115700 44557 29288 115701 15751 29296 115702 2026 29277 115703 15563 29275 115704 44554 29284 115705 44557 29288 115706 15564 29276 115707 15562 29274 115708 44551 29281 115709 44554 29284 115710 15563 29275 115711 44560 29297 115712 44561 29298 115713 44564 29299 115714 44563 29300 115715 44561 29298 115716 44562 29301 115717 44565 29302 115718 44564 29299 115719 44563 29300 115720 44564 29299 115721 44567 29303 115722 44566 29304 115723 44564 29299 115724 44565 29302 115725 44568 29305 115726 44567 29303 115727 1964 28297 115728 15379 28316 115729 44560 29297 115730 15565 29290 115731 15379 28316 115732 15380 28315 115733 44561 29298 115734 44560 29297 115735 15380 28315 115736 15381 28314 115737 44562 29301 115738 44561 29298 115739 15381 28314 115740 1965 28313 115741 15568 29306 115742 44562 29301 115743 44562 29301 115744 15568 29306 115745 15569 29307 115746 44565 29302 115747 44565 29302 115748 15569 29307 115749 15570 29308 115750 44568 29305 115751 44568 29305 115752 15570 29308 115753 2028 29309 115754 15756 29310 115755 44567 29303 115756 44568 29305 115757 15756 29310 115758 15755 29311 115759 44566 29304 115760 44567 29303 115761 15755 29311 115762 15754 29312 115763 15567 29292 115764 44566 29304 115765 15754 29312 115766 2027 29293 115767 15566 29291 115768 44563 29300 115769 44566 29304 115770 15567 29292 115771 15565 29290 115772 44560 29297 115773 44563 29300 115774 15566 29291 115775 44569 29313 115776 44570 29314 115777 44573 29315 115778 44572 29316 115779 44570 29314 115780 44571 29317 115781 44574 29318 115782 44573 29315 115783 44572 29316 115784 44573 29315 115785 44576 29319 115786 44575 29320 115787 44573 29315 115788 44574 29318 115789 44577 29321 115790 44576 29319 115791 1965 28313 115792 15382 28332 115793 44569 29313 115794 15568 29306 115795 15382 28332 115796 15383 28331 115797 44570 29314 115798 44569 29313 115799 15383 28331 115800 15384 28330 115801 44571 29317 115802 44570 29314 115803 15384 28330 115804 1966 28329 115805 15571 29322 115806 44571 29317 115807 44571 29317 115808 15571 29322 115809 15572 29323 115810 44574 29318 115811 44574 29318 115812 15572 29323 115813 15573 29324 115814 44577 29321 115815 44577 29321 115816 15573 29324 115817 2029 29325 115818 15759 29326 115819 44576 29319 115820 44577 29321 115821 15759 29326 115822 15758 29327 115823 44575 29320 115824 44576 29319 115825 15758 29327 115826 15757 29328 115827 15570 29308 115828 44575 29320 115829 15757 29328 115830 2028 29309 115831 15569 29307 115832 44572 29316 115833 44575 29320 115834 15570 29308 115835 15568 29306 115836 44569 29313 115837 44572 29316 115838 15569 29307 115839 44578 29329 115840 44579 29330 115841 44582 29331 115842 44581 29332 115843 44579 29330 115844 44580 29333 115845 44583 29334 115846 44582 29331 115847 44581 29332 115848 44582 29331 115849 44585 29335 115850 44584 29336 115851 44582 29331 115852 44583 29334 115853 44586 29337 115854 44585 29335 115855 1966 28329 115856 15385 28348 115857 44578 29329 115858 15571 29322 115859 15385 28348 115860 15386 28347 115861 44579 29330 115862 44578 29329 115863 15386 28347 115864 15387 28346 115865 44580 29333 115866 44579 29330 115867 15387 28346 115868 1967 28345 115869 15574 29338 115870 44580 29333 115871 44580 29333 115872 15574 29338 115873 15575 29339 115874 44583 29334 115875 44583 29334 115876 15575 29339 115877 15576 29340 115878 44586 29337 115879 44586 29337 115880 15576 29340 115881 2030 29341 115882 15762 29342 115883 44585 29335 115884 44586 29337 115885 15762 29342 115886 15761 29343 115887 44584 29336 115888 44585 29335 115889 15761 29343 115890 15760 29344 115891 15573 29324 115892 44584 29336 115893 15760 29344 115894 2029 29325 115895 15572 29323 115896 44581 29332 115897 44584 29336 115898 15573 29324 115899 15571 29322 115900 44578 29329 115901 44581 29332 115902 15572 29323 115903 44587 29345 115904 44588 29346 115905 44591 29347 115906 44590 29348 115907 44588 29346 115908 44589 29349 115909 44592 29350 115910 44591 29347 115911 44590 29348 115912 44591 29347 115913 44594 29351 115914 44593 29352 115915 44591 29347 115916 44592 29350 115917 44595 29353 115918 44594 29351 115919 1967 28345 115920 15388 28364 115921 44587 29345 115922 15574 29338 115923 15388 28364 115924 15389 28363 115925 44588 29346 115926 44587 29345 115927 15389 28363 115928 15390 28362 115929 44589 29349 115930 44588 29346 115931 15390 28362 115932 1968 28361 115933 15577 29354 115934 44589 29349 115935 44589 29349 115936 15577 29354 115937 15578 29355 115938 44592 29350 115939 44592 29350 115940 15578 29355 115941 15579 29356 115942 44595 29353 115943 44595 29353 115944 15579 29356 115945 2031 29357 115946 15765 29358 115947 44594 29351 115948 44595 29353 115949 15765 29358 115950 15764 29359 115951 44593 29352 115952 44594 29351 115953 15764 29359 115954 15763 29360 115955 15576 29340 115956 44593 29352 115957 15763 29360 115958 2030 29341 115959 15575 29339 115960 44590 29348 115961 44593 29352 115962 15576 29340 115963 15574 29338 115964 44587 29345 115965 44590 29348 115966 15575 29339 115967 44596 29361 115968 44597 29362 115969 44600 29363 115970 44599 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15578 29355 116024 44599 29364 116025 44602 29368 116026 15579 29356 116027 15577 29354 116028 44596 29361 116029 44599 29364 116030 15578 29355 116031 44605 29377 116032 44606 29378 116033 44609 29379 116034 44608 29380 116035 44606 29378 116036 44607 29381 116037 44610 29382 116038 44609 29379 116039 44608 29380 116040 44609 29379 116041 44612 29383 116042 44611 29384 116043 44609 29379 116044 44610 29382 116045 44613 29385 116046 44612 29383 116047 1969 28377 116048 15394 28396 116049 44605 29377 116050 15580 29370 116051 15394 28396 116052 15395 28395 116053 44606 29378 116054 44605 29377 116055 15395 28395 116056 15396 28394 116057 44607 29381 116058 44606 29378 116059 15396 28394 116060 1970 28393 116061 15583 29386 116062 44607 29381 116063 44607 29381 116064 15583 29386 116065 15584 29387 116066 44610 29382 116067 44610 29382 116068 15584 29387 116069 15585 29388 116070 44613 29385 116071 44613 29385 116072 15585 29388 116073 2033 29389 116074 15771 29390 116075 44612 29383 116076 44613 29385 116077 15771 29390 116078 15770 29391 116079 44611 29384 116080 44612 29383 116081 15770 29391 116082 15769 29392 116083 15582 29372 116084 44611 29384 116085 15769 29392 116086 2032 29373 116087 15581 29371 116088 44608 29380 116089 44611 29384 116090 15582 29372 116091 15580 29370 116092 44605 29377 116093 44608 29380 116094 15581 29371 116095 44614 29393 116096 44615 29394 116097 44618 29395 116098 44617 29396 116099 44615 29394 116100 44616 29397 116101 44619 29398 116102 44618 29395 116103 44617 29396 116104 44618 29395 116105 44621 29399 116106 44620 29400 116107 44618 29395 116108 44619 29398 116109 44622 29401 116110 44621 29399 116111 1970 28393 116112 15397 28412 116113 44614 29393 116114 15583 29386 116115 15397 28412 116116 15398 28411 116117 44615 29394 116118 44614 29393 116119 15398 28411 116120 15399 28410 116121 44616 29397 116122 44615 29394 116123 15399 28410 116124 1971 28409 116125 15586 29402 116126 44616 29397 116127 44616 29397 116128 15586 29402 116129 15587 29403 116130 44619 29398 116131 44619 29398 116132 15587 29403 116133 15588 29404 116134 44622 29401 116135 44622 29401 116136 15588 29404 116137 2034 29405 116138 15774 29406 116139 44621 29399 116140 44622 29401 116141 15774 29406 116142 15773 29407 116143 44620 29400 116144 44621 29399 116145 15773 29407 116146 15772 29408 116147 15585 29388 116148 44620 29400 116149 15772 29408 116150 2033 29389 116151 15584 29387 116152 44617 29396 116153 44620 29400 116154 15585 29388 116155 15583 29386 116156 44614 29393 116157 44617 29396 116158 15584 29387 116159 44623 29409 116160 44624 29410 116161 44627 29411 116162 44626 29412 116163 44624 29410 116164 44625 29413 116165 44628 29414 116166 44627 29411 116167 44626 29412 116168 44627 29411 116169 44630 29415 116170 44629 29416 116171 44627 29411 116172 44628 29414 116173 44631 29417 116174 44630 29415 116175 1971 28409 116176 15400 28428 116177 44623 29409 116178 15586 29402 116179 15400 28428 116180 15401 28427 116181 44624 29410 116182 44623 29409 116183 15401 28427 116184 15402 28426 116185 44625 29413 116186 44624 29410 116187 15402 28426 116188 1972 28425 116189 15589 29418 116190 44625 29413 116191 44625 29413 116192 15589 29418 116193 15590 29419 116194 44628 29414 116195 44628 29414 116196 15590 29419 116197 15591 29420 116198 44631 29417 116199 44631 29417 116200 15591 29420 116201 2035 29421 116202 15777 29422 116203 44630 29415 116204 44631 29417 116205 15777 29422 116206 15776 29423 116207 44629 29416 116208 44630 29415 116209 15776 29423 116210 15775 29424 116211 15588 29404 116212 44629 29416 116213 15775 29424 116214 2034 29405 116215 15587 29403 116216 44626 29412 116217 44629 29416 116218 15588 29404 116219 15586 29402 116220 44623 29409 116221 44626 29412 116222 15587 29403 116223 44632 29425 116224 44633 29426 116225 44636 29427 116226 44635 29428 116227 44633 29426 116228 44634 29429 116229 44637 29430 116230 44636 29427 116231 44635 29428 116232 44636 29427 116233 44639 29431 116234 44638 29432 116235 44636 29427 116236 44637 29430 116237 44640 29433 116238 44639 29431 116239 1972 28425 116240 15403 28444 116241 44632 29425 116242 15589 29418 116243 15403 28444 116244 15404 28443 116245 44633 29426 116246 44632 29425 116247 15404 28443 116248 15405 28442 116249 44634 29429 116250 44633 29426 116251 15405 28442 116252 1973 28441 116253 15592 29434 116254 44634 29429 116255 44634 29429 116256 15592 29434 116257 15593 29435 116258 44637 29430 116259 44637 29430 116260 15593 29435 116261 15594 29436 116262 44640 29433 116263 44640 29433 116264 15594 29436 116265 2036 29437 116266 15780 29438 116267 44639 29431 116268 44640 29433 116269 15780 29438 116270 15779 29439 116271 44638 29432 116272 44639 29431 116273 15779 29439 116274 15778 29440 116275 15591 29420 116276 44638 29432 116277 15778 29440 116278 2035 29421 116279 15590 29419 116280 44635 29428 116281 44638 29432 116282 15591 29420 116283 15589 29418 116284 44632 29425 116285 44635 29428 116286 15590 29419 116287 44641 29441 116288 44642 29442 116289 44645 29443 116290 44644 29444 116291 44642 29442 116292 44643 29445 116293 44646 29446 116294 44645 29443 116295 44644 29444 116296 44645 29443 116297 44648 29447 116298 44647 29448 116299 44645 29443 116300 44646 29446 116301 44649 29449 116302 44648 29447 116303 1973 28441 116304 15406 28460 116305 44641 29441 116306 15592 29434 116307 15406 28460 116308 15407 28459 116309 44642 29442 116310 44641 29441 116311 15407 28459 116312 15408 28458 116313 44643 29445 116314 44642 29442 116315 15408 28458 116316 1974 28457 116317 15595 29450 116318 44643 29445 116319 44643 29445 116320 15595 29450 116321 15596 29451 116322 44646 29446 116323 44646 29446 116324 15596 29451 116325 15597 29452 116326 44649 29449 116327 44649 29449 116328 15597 29452 116329 2037 29453 116330 15783 29454 116331 44648 29447 116332 44649 29449 116333 15783 29454 116334 15782 29455 116335 44647 29448 116336 44648 29447 116337 15782 29455 116338 15781 29456 116339 15594 29436 116340 44647 29448 116341 15781 29456 116342 2036 29437 116343 15593 29435 116344 44644 29444 116345 44647 29448 116346 15594 29436 116347 15592 29434 116348 44641 29441 116349 44644 29444 116350 15593 29435 116351 44650 29457 116352 44651 29458 116353 44654 29459 116354 44653 29460 116355 44651 29458 116356 44652 29461 116357 44655 29462 116358 44654 29459 116359 44653 29460 116360 44654 29459 116361 44657 29463 116362 44656 29464 116363 44654 29459 116364 44655 29462 116365 44658 29465 116366 44657 29463 116367 1974 28457 116368 15409 28476 116369 44650 29457 116370 15595 29450 116371 15409 28476 116372 15410 28475 116373 44651 29458 116374 44650 29457 116375 15410 28475 116376 15411 28474 116377 44652 29461 116378 44651 29458 116379 15411 28474 116380 1975 28473 116381 15598 29466 116382 44652 29461 116383 44652 29461 116384 15598 29466 116385 15599 29467 116386 44655 29462 116387 44655 29462 116388 15599 29467 116389 15600 29468 116390 44658 29465 116391 44658 29465 116392 15600 29468 116393 2038 29469 116394 15786 29470 116395 44657 29463 116396 44658 29465 116397 15786 29470 116398 15785 29471 116399 44656 29464 116400 44657 29463 116401 15785 29471 116402 15784 29472 116403 15597 29452 116404 44656 29464 116405 15784 29472 116406 2037 29453 116407 15596 29451 116408 44653 29460 116409 44656 29464 116410 15597 29452 116411 15595 29450 116412 44650 29457 116413 44653 29460 116414 15596 29451 116415 44659 29473 116416 44660 29474 116417 44663 29475 116418 44662 29476 116419 44660 29474 116420 44661 29477 116421 44664 29478 116422 44663 29475 116423 44662 29476 116424 44663 29475 116425 44666 29479 116426 44665 29480 116427 44663 29475 116428 44664 29478 116429 44667 29481 116430 44666 29479 116431 1975 28473 116432 15412 28492 116433 44659 29473 116434 15598 29466 116435 15412 28492 116436 15413 28491 116437 44660 29474 116438 44659 29473 116439 15413 28491 116440 15414 28490 116441 44661 29477 116442 44660 29474 116443 15414 28490 116444 1976 28489 116445 15601 29482 116446 44661 29477 116447 44661 29477 116448 15601 29482 116449 15602 29483 116450 44664 29478 116451 44664 29478 116452 15602 29483 116453 15603 29484 116454 44667 29481 116455 44667 29481 116456 15603 29484 116457 2039 29485 116458 15789 29486 116459 44666 29479 116460 44667 29481 116461 15789 29486 116462 15788 29487 116463 44665 29480 116464 44666 29479 116465 15788 29487 116466 15787 29488 116467 15600 29468 116468 44665 29480 116469 15787 29488 116470 2038 29469 116471 15599 29467 116472 44662 29476 116473 44665 29480 116474 15600 29468 116475 15598 29466 116476 44659 29473 116477 44662 29476 116478 15599 29467 116479 44668 29489 116480 44669 29490 116481 44672 29491 116482 44671 29492 116483 44669 29490 116484 44670 29493 116485 44673 29494 116486 44672 29491 116487 44671 29492 116488 44672 29491 116489 44675 29495 116490 44674 29496 116491 44672 29491 116492 44673 29494 116493 44676 29497 116494 44675 29495 116495 1976 28489 116496 15415 28508 116497 44668 29489 116498 15601 29482 116499 15415 28508 116500 15416 28507 116501 44669 29490 116502 44668 29489 116503 15416 28507 116504 15417 28506 116505 44670 29493 116506 44669 29490 116507 15417 28506 116508 1977 28505 116509 15604 29498 116510 44670 29493 116511 44670 29493 116512 15604 29498 116513 15605 29499 116514 44673 29494 116515 44673 29494 116516 15605 29499 116517 15606 29500 116518 44676 29497 116519 44676 29497 116520 15606 29500 116521 2040 29501 116522 15792 29502 116523 44675 29495 116524 44676 29497 116525 15792 29502 116526 15791 29503 116527 44674 29496 116528 44675 29495 116529 15791 29503 116530 15790 29504 116531 15603 29484 116532 44674 29496 116533 15790 29504 116534 2039 29485 116535 15602 29483 116536 44671 29492 116537 44674 29496 116538 15603 29484 116539 15601 29482 116540 44668 29489 116541 44671 29492 116542 15602 29483 116543 44677 29505 116544 44678 29506 116545 44681 29507 116546 44680 29508 116547 44678 29506 116548 44679 29509 116549 44682 29510 116550 44681 29507 116551 44680 29508 116552 44681 29507 116553 44684 29511 116554 44683 29512 116555 44681 29507 116556 44682 29510 116557 44685 29513 116558 44684 29511 116559 1977 28505 116560 15418 28524 116561 44677 29505 116562 15604 29498 116563 15418 28524 116564 15419 28523 116565 44678 29506 116566 44677 29505 116567 15419 28523 116568 15420 28522 116569 44679 29509 116570 44678 29506 116571 15420 28522 116572 1978 28521 116573 15607 29514 116574 44679 29509 116575 44679 29509 116576 15607 29514 116577 15608 29515 116578 44682 29510 116579 44682 29510 116580 15608 29515 116581 15609 29516 116582 44685 29513 116583 44685 29513 116584 15609 29516 116585 2041 29517 116586 15795 29518 116587 44684 29511 116588 44685 29513 116589 15795 29518 116590 15794 29519 116591 44683 29512 116592 44684 29511 116593 15794 29519 116594 15793 29520 116595 15606 29500 116596 44683 29512 116597 15793 29520 116598 2040 29501 116599 15605 29499 116600 44680 29508 116601 44683 29512 116602 15606 29500 116603 15604 29498 116604 44677 29505 116605 44680 29508 116606 15605 29499 116607 44686 29521 116608 44687 29522 116609 44690 29523 116610 44689 29524 116611 44687 29522 116612 44688 29525 116613 44691 29526 116614 44690 29523 116615 44689 29524 116616 44690 29523 116617 44693 29527 116618 44692 29528 116619 44690 29523 116620 44691 29526 116621 44694 29529 116622 44693 29527 116623 1978 28521 116624 15421 28540 116625 44686 29521 116626 15607 29514 116627 15421 28540 116628 15422 28539 116629 44687 29522 116630 44686 29521 116631 15422 28539 116632 15423 28538 116633 44688 29525 116634 44687 29522 116635 15423 28538 116636 1979 28537 116637 15610 29530 116638 44688 29525 116639 44688 29525 116640 15610 29530 116641 15611 29531 116642 44691 29526 116643 44691 29526 116644 15611 29531 116645 15612 29532 116646 44694 29529 116647 44694 29529 116648 15612 29532 116649 2042 29533 116650 15798 29534 116651 44693 29527 116652 44694 29529 116653 15798 29534 116654 15797 29535 116655 44692 29528 116656 44693 29527 116657 15797 29535 116658 15796 29536 116659 15609 29516 116660 44692 29528 116661 15796 29536 116662 2041 29517 116663 15608 29515 116664 44689 29524 116665 44692 29528 116666 15609 29516 116667 15607 29514 116668 44686 29521 116669 44689 29524 116670 15608 29515 116671 44695 29537 116672 44696 29538 116673 44699 29539 116674 44698 29540 116675 44696 29538 116676 44697 29541 116677 44700 29542 116678 44699 29539 116679 44698 29540 116680 44699 29539 116681 44702 29543 116682 44701 29544 116683 44699 29539 116684 44700 29542 116685 44703 29545 116686 44702 29543 116687 1979 28537 116688 15424 28556 116689 44695 29537 116690 15610 29530 116691 15424 28556 116692 15425 28555 116693 44696 29538 116694 44695 29537 116695 15425 28555 116696 15426 28554 116697 44697 29541 116698 44696 29538 116699 15426 28554 116700 1980 28553 116701 15613 29546 116702 44697 29541 116703 44697 29541 116704 15613 29546 116705 15614 29547 116706 44700 29542 116707 44700 29542 116708 15614 29547 116709 15615 29548 116710 44703 29545 116711 44703 29545 116712 15615 29548 116713 2043 29549 116714 15801 29550 116715 44702 29543 116716 44703 29545 116717 15801 29550 116718 15800 29551 116719 44701 29544 116720 44702 29543 116721 15800 29551 116722 15799 29552 116723 15612 29532 116724 44701 29544 116725 15799 29552 116726 2042 29533 116727 15611 29531 116728 44698 29540 116729 44701 29544 116730 15612 29532 116731 15610 29530 116732 44695 29537 116733 44698 29540 116734 15611 29531 116735 44704 29553 116736 44705 29554 116737 44708 29555 116738 44707 29556 116739 44705 29554 116740 44706 29557 116741 44709 29558 116742 44708 29555 116743 44707 29556 116744 44708 29555 116745 44711 29559 116746 44710 29560 116747 44708 29555 116748 44709 29558 116749 44712 29561 116750 44711 29559 116751 1980 28553 116752 15427 28572 116753 44704 29553 116754 15613 29546 116755 15427 28572 116756 15428 28571 116757 44705 29554 116758 44704 29553 116759 15428 28571 116760 15429 28570 116761 44706 29557 116762 44705 29554 116763 15429 28570 116764 1981 28569 116765 15616 29562 116766 44706 29557 116767 44706 29557 116768 15616 29562 116769 15617 29563 116770 44709 29558 116771 44709 29558 116772 15617 29563 116773 15618 29564 116774 44712 29561 116775 44712 29561 116776 15618 29564 116777 2044 29565 116778 15804 29566 116779 44711 29559 116780 44712 29561 116781 15804 29566 116782 15803 29567 116783 44710 29560 116784 44711 29559 116785 15803 29567 116786 15802 29568 116787 15615 29548 116788 44710 29560 116789 15802 29568 116790 2043 29549 116791 15614 29547 116792 44707 29556 116793 44710 29560 116794 15615 29548 116795 15613 29546 116796 44704 29553 116797 44707 29556 116798 15614 29547 116799 44713 29569 116800 44714 29570 116801 44717 29571 116802 44716 29572 116803 44714 29570 116804 44715 29573 116805 44718 29574 116806 44717 29571 116807 44716 29572 116808 44717 29571 116809 44720 29575 116810 44719 29576 116811 44717 29571 116812 44718 29574 116813 44721 29577 116814 44720 29575 116815 1981 28569 116816 15430 28588 116817 44713 29569 116818 15616 29562 116819 15430 28588 116820 15431 28587 116821 44714 29570 116822 44713 29569 116823 15431 28587 116824 15432 28586 116825 44715 29573 116826 44714 29570 116827 15432 28586 116828 1982 28585 116829 15619 29578 116830 44715 29573 116831 44715 29573 116832 15619 29578 116833 15620 29579 116834 44718 29574 116835 44718 29574 116836 15620 29579 116837 15621 29580 116838 44721 29577 116839 44721 29577 116840 15621 29580 116841 2045 29581 116842 15807 29582 116843 44720 29575 116844 44721 29577 116845 15807 29582 116846 15806 29583 116847 44719 29576 116848 44720 29575 116849 15806 29583 116850 15805 29584 116851 15618 29564 116852 44719 29576 116853 15805 29584 116854 2044 29565 116855 15617 29563 116856 44716 29572 116857 44719 29576 116858 15618 29564 116859 15616 29562 116860 44713 29569 116861 44716 29572 116862 15617 29563 116863 44722 29585 116864 44723 29586 116865 44726 29587 116866 44725 29588 116867 44723 29586 116868 44724 29589 116869 44727 29590 116870 44726 29587 116871 44725 29588 116872 44726 29587 116873 44729 29591 116874 44728 29592 116875 44726 29587 116876 44727 29590 116877 44730 29593 116878 44729 29591 116879 1982 28585 116880 15433 28604 116881 44722 29585 116882 15619 29578 116883 15433 28604 116884 15434 28603 116885 44723 29586 116886 44722 29585 116887 15434 28603 116888 15435 28602 116889 44724 29589 116890 44723 29586 116891 15435 28602 116892 1983 28601 116893 15622 29594 116894 44724 29589 116895 44724 29589 116896 15622 29594 116897 15623 29595 116898 44727 29590 116899 44727 29590 116900 15623 29595 116901 15624 29596 116902 44730 29593 116903 44730 29593 116904 15624 29596 116905 2046 29597 116906 15810 29598 116907 44729 29591 116908 44730 29593 116909 15810 29598 116910 15809 29599 116911 44728 29592 116912 44729 29591 116913 15809 29599 116914 15808 29600 116915 15621 29580 116916 44728 29592 116917 15808 29600 116918 2045 29581 116919 15620 29579 116920 44725 29588 116921 44728 29592 116922 15621 29580 116923 15619 29578 116924 44722 29585 116925 44725 29588 116926 15620 29579 116927 44731 29601 116928 44732 29602 116929 44735 29603 116930 44734 29604 116931 44732 29602 116932 44733 29605 116933 44736 29606 116934 44735 29603 116935 44734 29604 116936 44735 29603 116937 44738 29607 116938 44737 29608 116939 44735 29603 116940 44736 29606 116941 44739 29609 116942 44738 29607 116943 1983 28601 116944 15436 28620 116945 44731 29601 116946 15622 29594 116947 15436 28620 116948 15437 28619 116949 44732 29602 116950 44731 29601 116951 15437 28619 116952 15438 28618 116953 44733 29605 116954 44732 29602 116955 15438 28618 116956 1984 28617 116957 15625 29610 116958 44733 29605 116959 44733 29605 116960 15625 29610 116961 15626 29611 116962 44736 29606 116963 44736 29606 116964 15626 29611 116965 15627 29612 116966 44739 29609 116967 44739 29609 116968 15627 29612 116969 2047 29613 116970 15813 29614 116971 44738 29607 116972 44739 29609 116973 15813 29614 116974 15812 29615 116975 44737 29608 116976 44738 29607 116977 15812 29615 116978 15811 29616 116979 15624 29596 116980 44737 29608 116981 15811 29616 116982 2046 29597 116983 15623 29595 116984 44734 29604 116985 44737 29608 116986 15624 29596 116987 15622 29594 116988 44731 29601 116989 44734 29604 116990 15623 29595 116991 44740 29617 116992 44741 29618 116993 44744 29619 116994 44743 29620 116995 44741 29618 116996 44742 29621 116997 44745 29622 116998 44744 29619 116999 44743 29620 117000 44744 29619 117001 44747 29623 117002 44746 29624 117003 44744 29619 117004 44745 29622 117005 44748 29625 117006 44747 29623 117007 1984 28617 117008 15439 28636 117009 44740 29617 117010 15625 29610 117011 15439 28636 117012 15440 28635 117013 44741 29618 117014 44740 29617 117015 15440 28635 117016 15441 28634 117017 44742 29621 117018 44741 29618 117019 15441 28634 117020 1985 28633 117021 15628 29626 117022 44742 29621 117023 44742 29621 117024 15628 29626 117025 15629 29627 117026 44745 29622 117027 44745 29622 117028 15629 29627 117029 15630 29628 117030 44748 29625 117031 44748 29625 117032 15630 29628 117033 2048 29629 117034 15816 29630 117035 44747 29623 117036 44748 29625 117037 15816 29630 117038 15815 29631 117039 44746 29624 117040 44747 29623 117041 15815 29631 117042 15814 29632 117043 15627 29612 117044 44746 29624 117045 15814 29632 117046 2047 29613 117047 15626 29611 117048 44743 29620 117049 44746 29624 117050 15627 29612 117051 15625 29610 117052 44740 29617 117053 44743 29620 117054 15626 29611 117055 44749 29633 117056 44750 29634 117057 44753 29635 117058 44752 29636 117059 44750 29634 117060 44751 29637 117061 44754 29638 117062 44753 29635 117063 44752 29636 117064 44753 29635 117065 44756 29639 117066 44755 29640 117067 44753 29635 117068 44754 29638 117069 44757 29641 117070 44756 29639 117071 1985 28633 117072 15442 28652 117073 44749 29633 117074 15628 29626 117075 15442 28652 117076 15443 28651 117077 44750 29634 117078 44749 29633 117079 15443 28651 117080 15444 28650 117081 44751 29637 117082 44750 29634 117083 15444 28650 117084 1986 28649 117085 15631 29642 117086 44751 29637 117087 44751 29637 117088 15631 29642 117089 15632 29643 117090 44754 29638 117091 44754 29638 117092 15632 29643 117093 15633 29644 117094 44757 29641 117095 44757 29641 117096 15633 29644 117097 2049 29645 117098 15819 29646 117099 44756 29639 117100 44757 29641 117101 15819 29646 117102 15818 29647 117103 44755 29640 117104 44756 29639 117105 15818 29647 117106 15817 29648 117107 15630 29628 117108 44755 29640 117109 15817 29648 117110 2048 29629 117111 15629 29627 117112 44752 29636 117113 44755 29640 117114 15630 29628 117115 15628 29626 117116 44749 29633 117117 44752 29636 117118 15629 29627 117119 44758 29649 117120 44759 29650 117121 44762 29651 117122 44761 29652 117123 44759 29650 117124 44760 29653 117125 44763 29654 117126 44762 29651 117127 44761 29652 117128 44762 29651 117129 44765 29655 117130 44764 29656 117131 44762 29651 117132 44763 29654 117133 44766 29657 117134 44765 29655 117135 1986 28649 117136 15445 28668 117137 44758 29649 117138 15631 29642 117139 15445 28668 117140 15446 28667 117141 44759 29650 117142 44758 29649 117143 15446 28667 117144 15447 28666 117145 44760 29653 117146 44759 29650 117147 15447 28666 117148 1987 28665 117149 15634 29658 117150 44760 29653 117151 44760 29653 117152 15634 29658 117153 15635 29659 117154 44763 29654 117155 44763 29654 117156 15635 29659 117157 15636 29660 117158 44766 29657 117159 44766 29657 117160 15636 29660 117161 2050 29661 117162 15822 29662 117163 44765 29655 117164 44766 29657 117165 15822 29662 117166 15821 29663 117167 44764 29656 117168 44765 29655 117169 15821 29663 117170 15820 29664 117171 15633 29644 117172 44764 29656 117173 15820 29664 117174 2049 29645 117175 15632 29643 117176 44761 29652 117177 44764 29656 117178 15633 29644 117179 15631 29642 117180 44758 29649 117181 44761 29652 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117340 1990 28713 117341 15643 29706 117342 44787 29701 117343 44787 29701 117344 15643 29706 117345 15644 29707 117346 44790 29702 117347 44790 29702 117348 15644 29707 117349 15645 29708 117350 44793 29705 117351 44793 29705 117352 15645 29708 117353 2053 29709 117354 15831 29710 117355 44792 29703 117356 44793 29705 117357 15831 29710 117358 15830 29711 117359 44791 29704 117360 44792 29703 117361 15830 29711 117362 15829 29712 117363 15642 29692 117364 44791 29704 117365 15829 29712 117366 2052 29693 117367 15641 29691 117368 44788 29700 117369 44791 29704 117370 15642 29692 117371 15640 29690 117372 44785 29697 117373 44788 29700 117374 15641 29691 117375 44794 29713 117376 44795 29714 117377 44798 29715 117378 44797 29716 117379 44795 29714 117380 44796 29717 117381 44799 29718 117382 44798 29715 117383 44797 29716 117384 44798 29715 117385 44801 29719 117386 44800 29720 117387 44798 29715 117388 44799 29718 117389 44802 29721 117390 44801 29719 117391 1990 28713 117392 15457 28732 117393 44794 29713 117394 15643 29706 117395 15457 28732 117396 15458 28731 117397 44795 29714 117398 44794 29713 117399 15458 28731 117400 15459 28730 117401 44796 29717 117402 44795 29714 117403 15459 28730 117404 1991 28729 117405 15646 29722 117406 44796 29717 117407 44796 29717 117408 15646 29722 117409 15647 29723 117410 44799 29718 117411 44799 29718 117412 15647 29723 117413 15648 29724 117414 44802 29721 117415 44802 29721 117416 15648 29724 117417 2054 29725 117418 15834 29726 117419 44801 29719 117420 44802 29721 117421 15834 29726 117422 15833 29727 117423 44800 29720 117424 44801 29719 117425 15833 29727 117426 15832 29728 117427 15645 29708 117428 44800 29720 117429 15832 29728 117430 2053 29709 117431 15644 29707 117432 44797 29716 117433 44800 29720 117434 15645 29708 117435 15643 29706 117436 44794 29713 117437 44797 29716 117438 15644 29707 117439 44803 29729 117440 44804 29730 117441 44807 29731 117442 44806 29732 117443 44804 29730 117444 44805 29733 117445 44808 29734 117446 44807 29731 117447 44806 29732 117448 44807 29731 117449 44810 29735 117450 44809 29736 117451 44807 29731 117452 44808 29734 117453 44811 29737 117454 44810 29735 117455 1991 28729 117456 15460 28748 117457 44803 29729 117458 15646 29722 117459 15460 28748 117460 15461 28747 117461 44804 29730 117462 44803 29729 117463 15461 28747 117464 15462 28746 117465 44805 29733 117466 44804 29730 117467 15462 28746 117468 1992 28745 117469 15649 29738 117470 44805 29733 117471 44805 29733 117472 15649 29738 117473 15650 29739 117474 44808 29734 117475 44808 29734 117476 15650 29739 117477 15651 29740 117478 44811 29737 117479 44811 29737 117480 15651 29740 117481 2055 29741 117482 15837 29742 117483 44810 29735 117484 44811 29737 117485 15837 29742 117486 15836 29743 117487 44809 29736 117488 44810 29735 117489 15836 29743 117490 15835 29744 117491 15648 29724 117492 44809 29736 117493 15835 29744 117494 2054 29725 117495 15647 29723 117496 44806 29732 117497 44809 29736 117498 15648 29724 117499 15646 29722 117500 44803 29729 117501 44806 29732 117502 15647 29723 117503 44812 29745 117504 44813 29746 117505 44816 29747 117506 44815 29748 117507 44813 29746 117508 44814 29749 117509 44817 29750 117510 44816 29747 117511 44815 29748 117512 44816 29747 117513 44819 29751 117514 44818 29752 117515 44816 29747 117516 44817 29750 117517 44820 29753 117518 44819 29751 117519 1992 28745 117520 15463 28764 117521 44812 29745 117522 15649 29738 117523 15463 28764 117524 15464 28763 117525 44813 29746 117526 44812 29745 117527 15464 28763 117528 15465 28762 117529 44814 29749 117530 44813 29746 117531 15465 28762 117532 1993 28761 117533 15652 29754 117534 44814 29749 117535 44814 29749 117536 15652 29754 117537 15653 29755 117538 44817 29750 117539 44817 29750 117540 15653 29755 117541 15654 29756 117542 44820 29753 117543 44820 29753 117544 15654 29756 117545 2056 29757 117546 15840 29758 117547 44819 29751 117548 44820 29753 117549 15840 29758 117550 15839 29759 117551 44818 29752 117552 44819 29751 117553 15839 29759 117554 15838 29760 117555 15651 29740 117556 44818 29752 117557 15838 29760 117558 2055 29741 117559 15650 29739 117560 44815 29748 117561 44818 29752 117562 15651 29740 117563 15649 29738 117564 44812 29745 117565 44815 29748 117566 15650 29739 117567 44821 29761 117568 44822 29762 117569 44825 29763 117570 44824 29764 117571 44822 29762 117572 44823 29765 117573 44826 29766 117574 44825 29763 117575 44824 29764 117576 44825 29763 117577 44828 29767 117578 44827 29768 117579 44825 29763 117580 44826 29766 117581 44829 29769 117582 44828 29767 117583 1993 28761 117584 15466 28780 117585 44821 29761 117586 15652 29754 117587 15466 28780 117588 15467 28779 117589 44822 29762 117590 44821 29761 117591 15467 28779 117592 15468 28778 117593 44823 29765 117594 44822 29762 117595 15468 28778 117596 1994 28777 117597 15655 29770 117598 44823 29765 117599 44823 29765 117600 15655 29770 117601 15656 29771 117602 44826 29766 117603 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117656 15471 28794 117657 44832 29781 117658 44831 29778 117659 15471 28794 117660 1995 28793 117661 15658 29786 117662 44832 29781 117663 44832 29781 117664 15658 29786 117665 15659 29787 117666 44835 29782 117667 44835 29782 117668 15659 29787 117669 15660 29788 117670 44838 29785 117671 44838 29785 117672 15660 29788 117673 2058 29789 117674 15846 29790 117675 44837 29783 117676 44838 29785 117677 15846 29790 117678 15845 29791 117679 44836 29784 117680 44837 29783 117681 15845 29791 117682 15844 29792 117683 15657 29772 117684 44836 29784 117685 15844 29792 117686 2057 29773 117687 15656 29771 117688 44833 29780 117689 44836 29784 117690 15657 29772 117691 15655 29770 117692 44830 29777 117693 44833 29780 117694 15656 29771 117695 44839 29793 117696 44840 29794 117697 44843 29795 117698 44842 29796 117699 44840 29794 117700 44841 29797 117701 44844 29798 117702 44843 29795 117703 44842 29796 117704 44843 29795 117705 44846 29799 117706 44845 29800 117707 44843 29795 117708 44844 29798 117709 44847 29801 117710 44846 29799 117711 1995 28793 117712 15472 28812 117713 44839 29793 117714 15658 29786 117715 15472 28812 117716 15473 28811 117717 44840 29794 117718 44839 29793 117719 15473 28811 117720 15474 28810 117721 44841 29797 117722 44840 29794 117723 15474 28810 117724 1996 28809 117725 15661 29802 117726 44841 29797 117727 44841 29797 117728 15661 29802 117729 15662 29803 117730 44844 29798 117731 44844 29798 117732 15662 29803 117733 15663 29804 117734 44847 29801 117735 44847 29801 117736 15663 29804 117737 2059 29805 117738 15849 29806 117739 44846 29799 117740 44847 29801 117741 15849 29806 117742 15848 29807 117743 44845 29800 117744 44846 29799 117745 15848 29807 117746 15847 29808 117747 15660 29788 117748 44845 29800 117749 15847 29808 117750 2058 29789 117751 15659 29787 117752 44842 29796 117753 44845 29800 117754 15660 29788 117755 15658 29786 117756 44839 29793 117757 44842 29796 117758 15659 29787 117759 44848 29809 117760 44849 29810 117761 44852 29811 117762 44851 29812 117763 44849 29810 117764 44850 29813 117765 44853 29814 117766 44852 29811 117767 44851 29812 117768 44852 29811 117769 44855 29815 117770 44854 29816 117771 44852 29811 117772 44853 29814 117773 44856 29817 117774 44855 29815 117775 1996 28809 117776 15475 28828 117777 44848 29809 117778 15661 29802 117779 15475 28828 117780 15476 28827 117781 44849 29810 117782 44848 29809 117783 15476 28827 117784 15477 28826 117785 44850 29813 117786 44849 29810 117787 15477 28826 117788 1997 28825 117789 15664 29818 117790 44850 29813 117791 44850 29813 117792 15664 29818 117793 15665 29819 117794 44853 29814 117795 44853 29814 117796 15665 29819 117797 15666 29820 117798 44856 29817 117799 44856 29817 117800 15666 29820 117801 2060 29821 117802 15852 29822 117803 44855 29815 117804 44856 29817 117805 15852 29822 117806 15851 29823 117807 44854 29816 117808 44855 29815 117809 15851 29823 117810 15850 29824 117811 15663 29804 117812 44854 29816 117813 15850 29824 117814 2059 29805 117815 15662 29803 117816 44851 29812 117817 44854 29816 117818 15663 29804 117819 15661 29802 117820 44848 29809 117821 44851 29812 117822 15662 29803 117823 44857 29825 117824 44858 29826 117825 44861 29827 117826 44860 29828 117827 44858 29826 117828 44859 29829 117829 44862 29830 117830 44861 29827 117831 44860 29828 117832 44861 29827 117833 44864 29831 117834 44863 29832 117835 44861 29827 117836 44862 29830 117837 44865 29833 117838 44864 29831 117839 1997 28825 117840 15478 28844 117841 44857 29825 117842 15664 29818 117843 15478 28844 117844 15479 28843 117845 44858 29826 117846 44857 29825 117847 15479 28843 117848 15480 28842 117849 44859 29829 117850 44858 29826 117851 15480 28842 117852 1998 28841 117853 15667 29834 117854 44859 29829 117855 44859 29829 117856 15667 29834 117857 15668 29835 117858 44862 29830 117859 44862 29830 117860 15668 29835 117861 15669 29836 117862 44865 29833 117863 44865 29833 117864 15669 29836 117865 2061 29837 117866 15855 29838 117867 44864 29831 117868 44865 29833 117869 15855 29838 117870 15854 29839 117871 44863 29832 117872 44864 29831 117873 15854 29839 117874 15853 29840 117875 15666 29820 117876 44863 29832 117877 15853 29840 117878 2060 29821 117879 15665 29819 117880 44860 29828 117881 44863 29832 117882 15666 29820 117883 15664 29818 117884 44857 29825 117885 44860 29828 117886 15665 29819 117887 44866 29841 117888 44867 29842 117889 44870 29843 117890 44869 29844 117891 44867 29842 117892 44868 29845 117893 44871 29846 117894 44870 29843 117895 44869 29844 117896 44870 29843 117897 44873 29847 117898 44872 29848 117899 44870 29843 117900 44871 29846 117901 44874 29849 117902 44873 29847 117903 1998 28841 117904 15481 28860 117905 44866 29841 117906 15667 29834 117907 15481 28860 117908 15482 28859 117909 44867 29842 117910 44866 29841 117911 15482 28859 117912 15483 28858 117913 44868 29845 117914 44867 29842 117915 15483 28858 117916 1999 28857 117917 15670 29850 117918 44868 29845 117919 44868 29845 117920 15670 29850 117921 15671 29851 117922 44871 29846 117923 44871 29846 117924 15671 29851 117925 15672 29852 117926 44874 29849 117927 44874 29849 117928 15672 29852 117929 2062 29853 117930 15858 29854 117931 44873 29847 117932 44874 29849 117933 15858 29854 117934 15857 29855 117935 44872 29848 117936 44873 29847 117937 15857 29855 117938 15856 29856 117939 15669 29836 117940 44872 29848 117941 15856 29856 117942 2061 29837 117943 15668 29835 117944 44869 29844 117945 44872 29848 117946 15669 29836 117947 15667 29834 117948 44866 29841 117949 44869 29844 117950 15668 29835 117951 44875 29857 117952 44876 29858 117953 44879 29859 117954 44878 29860 117955 44876 29858 117956 44877 29861 117957 44880 29862 117958 44879 29859 117959 44878 29860 117960 44879 29859 117961 44882 29863 117962 44881 29864 117963 44879 29859 117964 44880 29862 117965 44883 29865 117966 44882 29863 117967 1999 28857 117968 15484 28876 117969 44875 29857 117970 15670 29850 117971 15484 28876 117972 15485 28875 117973 44876 29858 117974 44875 29857 117975 15485 28875 117976 15486 28874 117977 44877 29861 117978 44876 29858 117979 15486 28874 117980 2000 28873 117981 15673 29866 117982 44877 29861 117983 44877 29861 117984 15673 29866 117985 15674 29867 117986 44880 29862 117987 44880 29862 117988 15674 29867 117989 15675 29868 117990 44883 29865 117991 44883 29865 117992 15675 29868 117993 2063 29869 117994 15861 29870 117995 44882 29863 117996 44883 29865 117997 15861 29870 117998 15860 29871 117999 44881 29864 118000 44882 29863 118001 15860 29871 118002 15859 29872 118003 15672 29852 118004 44881 29864 118005 15859 29872 118006 2062 29853 118007 15671 29851 118008 44878 29860 118009 44881 29864 118010 15672 29852 118011 15670 29850 118012 44875 29857 118013 44878 29860 118014 15671 29851 118015 44884 29873 118016 44885 29874 118017 44888 29875 118018 44887 29876 118019 44885 29874 118020 44886 29877 118021 44889 29878 118022 44888 29875 118023 44887 29876 118024 44888 29875 118025 44891 29879 118026 44890 29880 118027 44888 29875 118028 44889 29878 118029 44892 29881 118030 44891 29879 118031 2000 28873 118032 15487 28892 118033 44884 29873 118034 15673 29866 118035 15487 28892 118036 15488 28891 118037 44885 29874 118038 44884 29873 118039 15488 28891 118040 15489 28890 118041 44886 29877 118042 44885 29874 118043 15489 28890 118044 2001 28889 118045 15676 29882 118046 44886 29877 118047 44886 29877 118048 15676 29882 118049 15677 29883 118050 44889 29878 118051 44889 29878 118052 15677 29883 118053 15678 29884 118054 44892 29881 118055 44892 29881 118056 15678 29884 118057 2064 29885 118058 15864 29886 118059 44891 29879 118060 44892 29881 118061 15864 29886 118062 15863 29887 118063 44890 29880 118064 44891 29879 118065 15863 29887 118066 15862 29888 118067 15675 29868 118068 44890 29880 118069 15862 29888 118070 2063 29869 118071 15674 29867 118072 44887 29876 118073 44890 29880 118074 15675 29868 118075 15673 29866 118076 44884 29873 118077 44887 29876 118078 15674 29867 118079 44893 29889 118080 44894 29890 118081 44897 29891 118082 44896 29892 118083 44894 29890 118084 44895 29893 118085 44898 29894 118086 44897 29891 118087 44896 29892 118088 44897 29891 118089 44900 29895 118090 44899 29896 118091 44897 29891 118092 44898 29894 118093 44901 29897 118094 44900 29895 118095 2001 28889 118096 15490 28908 118097 44893 29889 118098 15676 29882 118099 15490 28908 118100 15491 28907 118101 44894 29890 118102 44893 29889 118103 15491 28907 118104 15492 28906 118105 44895 29893 118106 44894 29890 118107 15492 28906 118108 2002 28905 118109 15679 29898 118110 44895 29893 118111 44895 29893 118112 15679 29898 118113 15680 29899 118114 44898 29894 118115 44898 29894 118116 15680 29899 118117 15681 29900 118118 44901 29897 118119 44901 29897 118120 15681 29900 118121 2065 29901 118122 15867 29902 118123 44900 29895 118124 44901 29897 118125 15867 29902 118126 15866 29903 118127 44899 29896 118128 44900 29895 118129 15866 29903 118130 15865 29904 118131 15678 29884 118132 44899 29896 118133 15865 29904 118134 2064 29885 118135 15677 29883 118136 44896 29892 118137 44899 29896 118138 15678 29884 118139 15676 29882 118140 44893 29889 118141 44896 29892 118142 15677 29883 118143 44902 29905 118144 44903 29906 118145 44906 29907 118146 44905 29908 118147 44903 29906 118148 44904 29909 118149 44907 29910 118150 44906 29907 118151 44905 29908 118152 44906 29907 118153 44909 29911 118154 44908 29912 118155 44906 29907 118156 44907 29910 118157 44910 29913 118158 44909 29911 118159 2002 28905 118160 15493 28924 118161 44902 29905 118162 15679 29898 118163 15493 28924 118164 15494 28923 118165 44903 29906 118166 44902 29905 118167 15494 28923 118168 15495 28922 118169 44904 29909 118170 44903 29906 118171 15495 28922 118172 2003 28921 118173 15682 29914 118174 44904 29909 118175 44904 29909 118176 15682 29914 118177 15683 29915 118178 44907 29910 118179 44907 29910 118180 15683 29915 118181 15684 29916 118182 44910 29913 118183 44910 29913 118184 15684 29916 118185 2066 29917 118186 15870 29918 118187 44909 29911 118188 44910 29913 118189 15870 29918 118190 15869 29919 118191 44908 29912 118192 44909 29911 118193 15869 29919 118194 15868 29920 118195 15681 29900 118196 44908 29912 118197 15868 29920 118198 2065 29901 118199 15680 29899 118200 44905 29908 118201 44908 29912 118202 15681 29900 118203 15679 29898 118204 44902 29905 118205 44905 29908 118206 15680 29899 118207 44911 29921 118208 44912 29922 118209 44915 29923 118210 44914 29924 118211 44912 29922 118212 44913 29925 118213 44916 29926 118214 44915 29923 118215 44914 29924 118216 44915 29923 118217 44918 29927 118218 44917 29928 118219 44915 29923 118220 44916 29926 118221 44919 29929 118222 44918 29927 118223 2003 28921 118224 15496 28940 118225 44911 29921 118226 15682 29914 118227 15496 28940 118228 15497 28939 118229 44912 29922 118230 44911 29921 118231 15497 28939 118232 15498 28938 118233 44913 29925 118234 44912 29922 118235 15498 28938 118236 2004 28937 118237 15685 29930 118238 44913 29925 118239 44913 29925 118240 15685 29930 118241 15686 29931 118242 44916 29926 118243 44916 29926 118244 15686 29931 118245 15687 29932 118246 44919 29929 118247 44919 29929 118248 15687 29932 118249 2067 29933 118250 15873 29934 118251 44918 29927 118252 44919 29929 118253 15873 29934 118254 15872 29935 118255 44917 29928 118256 44918 29927 118257 15872 29935 118258 15871 29936 118259 15684 29916 118260 44917 29928 118261 15871 29936 118262 2066 29917 118263 15683 29915 118264 44914 29924 118265 44917 29928 118266 15684 29916 118267 15682 29914 118268 44911 29921 118269 44914 29924 118270 15683 29915 118271 44920 29937 118272 44921 29938 118273 44924 29939 118274 44923 29940 118275 44921 29938 118276 44922 29941 118277 44925 29942 118278 44924 29939 118279 44923 29940 118280 44924 29939 118281 44927 29943 118282 44926 29944 118283 44924 29939 118284 44925 29942 118285 44928 29945 118286 44927 29943 118287 2004 28937 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29990 118499 44952 29990 118500 15698 29995 118501 15699 29996 118502 44955 29993 118503 44955 29993 118504 15699 29996 118505 2071 29997 118506 15885 29998 118507 44954 29991 118508 44955 29993 118509 15885 29998 118510 15884 29999 118511 44953 29992 118512 44954 29991 118513 15884 29999 118514 15883 30000 118515 15696 29980 118516 44953 29992 118517 15883 30000 118518 2070 29981 118519 15695 29979 118520 44950 29988 118521 44953 29992 118522 15696 29980 118523 15694 29978 118524 44947 29985 118525 44950 29988 118526 15695 29979 118527 44956 30001 118528 44957 30002 118529 44960 30003 118530 44959 30004 118531 44957 30002 118532 44958 30005 118533 44961 30006 118534 44960 30003 118535 44959 30004 118536 44960 30003 118537 44963 30007 118538 44962 30008 118539 44960 30003 118540 44961 30006 118541 44964 30009 118542 44963 30007 118543 2008 29001 118544 15511 29020 118545 44956 30001 118546 15697 29994 118547 15511 29020 118548 15512 29019 118549 44957 30002 118550 44956 30001 118551 15512 29019 118552 15513 29018 118553 44958 30005 118554 44957 30002 118555 15513 29018 118556 2009 29017 118557 15700 30010 118558 44958 30005 118559 44958 30005 118560 15700 30010 118561 15701 30011 118562 44961 30006 118563 44961 30006 118564 15701 30011 118565 15702 30012 118566 44964 30009 118567 44964 30009 118568 15702 30012 118569 2072 30013 118570 15888 30014 118571 44963 30007 118572 44964 30009 118573 15888 30014 118574 15887 30015 118575 44962 30008 118576 44963 30007 118577 15887 30015 118578 15886 30016 118579 15699 29996 118580 44962 30008 118581 15886 30016 118582 2071 29997 118583 15698 29995 118584 44959 30004 118585 44962 30008 118586 15699 29996 118587 15697 29994 118588 44956 30001 118589 44959 30004 118590 15698 29995 118591 44965 30017 118592 44966 30018 118593 44969 30019 118594 44968 30020 118595 44966 30018 118596 44967 30021 118597 44970 30022 118598 44969 30019 118599 44968 30020 118600 44969 30019 118601 44972 30023 118602 44971 30024 118603 44969 30019 118604 44970 30022 118605 44973 30025 118606 44972 30023 118607 2009 29017 118608 15514 29036 118609 44965 30017 118610 15700 30010 118611 15514 29036 118612 15515 29035 118613 44966 30018 118614 44965 30017 118615 15515 29035 118616 15516 29034 118617 44967 30021 118618 44966 30018 118619 15516 29034 118620 2010 29033 118621 15703 30026 118622 44967 30021 118623 44967 30021 118624 15703 30026 118625 15704 30027 118626 44970 30022 118627 44970 30022 118628 15704 30027 118629 15705 30028 118630 44973 30025 118631 44973 30025 118632 15705 30028 118633 2073 30029 118634 15891 30030 118635 44972 30023 118636 44973 30025 118637 15891 30030 118638 15890 30031 118639 44971 30024 118640 44972 30023 118641 15890 30031 118642 15889 30032 118643 15702 30012 118644 44971 30024 118645 15889 30032 118646 2072 30013 118647 15701 30011 118648 44968 30020 118649 44971 30024 118650 15702 30012 118651 15700 30010 118652 44965 30017 118653 44968 30020 118654 15701 30011 118655 44974 30033 118656 44975 30034 118657 44978 30035 118658 44977 30036 118659 44975 30034 118660 44976 30037 118661 44979 30038 118662 44978 30035 118663 44977 30036 118664 44978 30035 118665 44981 30039 118666 44980 30040 118667 44978 30035 118668 44979 30038 118669 44982 30041 118670 44981 30039 118671 2010 29033 118672 15517 29052 118673 44974 30033 118674 15703 30026 118675 15517 29052 118676 15518 29051 118677 44975 30034 118678 44974 30033 118679 15518 29051 118680 15519 29050 118681 44976 30037 118682 44975 30034 118683 15519 29050 118684 2011 29049 118685 15706 30042 118686 44976 30037 118687 44976 30037 118688 15706 30042 118689 15707 30043 118690 44979 30038 118691 44979 30038 118692 15707 30043 118693 15708 30044 118694 44982 30041 118695 44982 30041 118696 15708 30044 118697 2074 30045 118698 15894 30046 118699 44981 30039 118700 44982 30041 118701 15894 30046 118702 15893 30047 118703 44980 30040 118704 44981 30039 118705 15893 30047 118706 15892 30048 118707 15705 30028 118708 44980 30040 118709 15892 30048 118710 2073 30029 118711 15704 30027 118712 44977 30036 118713 44980 30040 118714 15705 30028 118715 15703 30026 118716 44974 30033 118717 44977 30036 118718 15704 30027 118719 44983 30049 118720 44984 30050 118721 44987 30051 118722 44986 30052 118723 44984 30050 118724 44985 30053 118725 44988 30054 118726 44987 30051 118727 44986 30052 118728 44987 30051 118729 44990 30055 118730 44989 30056 118731 44987 30051 118732 44988 30054 118733 44991 30057 118734 44990 30055 118735 2011 29049 118736 15520 29068 118737 44983 30049 118738 15706 30042 118739 15520 29068 118740 15521 29067 118741 44984 30050 118742 44983 30049 118743 15521 29067 118744 15522 29066 118745 44985 30053 118746 44984 30050 118747 15522 29066 118748 2012 29065 118749 15709 30058 118750 44985 30053 118751 44985 30053 118752 15709 30058 118753 15710 30059 118754 44988 30054 118755 44988 30054 118756 15710 30059 118757 15711 30060 118758 44991 30057 118759 44991 30057 118760 15711 30060 118761 2075 30061 118762 15897 30062 118763 44990 30055 118764 44991 30057 118765 15897 30062 118766 15896 30063 118767 44989 30056 118768 44990 30055 118769 15896 30063 118770 15895 30064 118771 15708 30044 118772 44989 30056 118773 15895 30064 118774 2074 30045 118775 15707 30043 118776 44986 30052 118777 44989 30056 118778 15708 30044 118779 15706 30042 118780 44983 30049 118781 44986 30052 118782 15707 30043 118783 44992 30065 118784 44993 30066 118785 44996 30067 118786 44995 30068 118787 44993 30066 118788 44994 30069 118789 44997 30070 118790 44996 30067 118791 44995 30068 118792 44996 30067 118793 44999 30071 118794 44998 30072 118795 44996 30067 118796 44997 30070 118797 45000 30073 118798 44999 30071 118799 2012 29065 118800 15523 29084 118801 44992 30065 118802 15709 30058 118803 15523 29084 118804 15524 29083 118805 44993 30066 118806 44992 30065 118807 15524 29083 118808 15525 29082 118809 44994 30069 118810 44993 30066 118811 15525 29082 118812 2013 29081 118813 15712 30074 118814 44994 30069 118815 44994 30069 118816 15712 30074 118817 15713 30075 118818 44997 30070 118819 44997 30070 118820 15713 30075 118821 15714 30076 118822 45000 30073 118823 45000 30073 118824 15714 30076 118825 2076 30077 118826 15900 30078 118827 44999 30071 118828 45000 30073 118829 15900 30078 118830 15899 30079 118831 44998 30072 118832 44999 30071 118833 15899 30079 118834 15898 30080 118835 15711 30060 118836 44998 30072 118837 15898 30080 118838 2075 30061 118839 15710 30059 118840 44995 30068 118841 44998 30072 118842 15711 30060 118843 15709 30058 118844 44992 30065 118845 44995 30068 118846 15710 30059 118847 45001 30081 118848 45002 30082 118849 45005 30083 118850 45004 30084 118851 45002 30082 118852 45003 30085 118853 45006 30086 118854 45005 30083 118855 45004 30084 118856 45005 30083 118857 45008 30087 118858 45007 30088 118859 45005 30083 118860 45006 30086 118861 45009 30089 118862 45008 30087 118863 2013 29081 118864 15526 29100 118865 45001 30081 118866 15712 30074 118867 15526 29100 118868 15527 29099 118869 45002 30082 118870 45001 30081 118871 15527 29099 118872 15528 29098 118873 45003 30085 118874 45002 30082 118875 15528 29098 118876 2014 29097 118877 15715 30090 118878 45003 30085 118879 45003 30085 118880 15715 30090 118881 15716 30091 118882 45006 30086 118883 45006 30086 118884 15716 30091 118885 15717 30092 118886 45009 30089 118887 45009 30089 118888 15717 30092 118889 2077 30093 118890 15903 30094 118891 45008 30087 118892 45009 30089 118893 15903 30094 118894 15902 30095 118895 45007 30088 118896 45008 30087 118897 15902 30095 118898 15901 30096 118899 15714 30076 118900 45007 30088 118901 15901 30096 118902 2076 30077 118903 15713 30075 118904 45004 30084 118905 45007 30088 118906 15714 30076 118907 15712 30074 118908 45001 30081 118909 45004 30084 118910 15713 30075 118911 45010 30097 118912 45011 30098 118913 45014 30099 118914 45013 30100 118915 45011 30098 118916 45012 30101 118917 45015 30102 118918 45014 30099 118919 45013 30100 118920 45014 30099 118921 45017 30103 118922 45016 30104 118923 45014 30099 118924 45015 30102 118925 45018 30105 118926 45017 30103 118927 2014 29097 118928 15529 29116 118929 45010 30097 118930 15715 30090 118931 15529 29116 118932 15530 29115 118933 45011 30098 118934 45010 30097 118935 15530 29115 118936 15531 29114 118937 45012 30101 118938 45011 30098 118939 15531 29114 118940 2015 29113 118941 15718 30106 118942 45012 30101 118943 45012 30101 118944 15718 30106 118945 15719 30107 118946 45015 30102 118947 45015 30102 118948 15719 30107 118949 15720 30108 118950 45018 30105 118951 45018 30105 118952 15720 30108 118953 2078 30109 118954 15906 30110 118955 45017 30103 118956 45018 30105 118957 15906 30110 118958 15905 30111 118959 45016 30104 118960 45017 30103 118961 15905 30111 118962 15904 30112 118963 15717 30092 118964 45016 30104 118965 15904 30112 118966 2077 30093 118967 15716 30091 118968 45013 30100 118969 45016 30104 118970 15717 30092 118971 15715 30090 118972 45010 30097 118973 45013 30100 118974 15716 30091 118975 45019 30113 118976 45020 30114 118977 45023 30115 118978 45022 30116 118979 45020 30114 118980 45021 30117 118981 45024 30118 118982 45023 30115 118983 45022 30116 118984 45023 30115 118985 45026 30119 118986 45025 30120 118987 45023 30115 118988 45024 30118 118989 45027 30121 118990 45026 30119 118991 2015 29113 118992 15532 29132 118993 45019 30113 118994 15718 30106 118995 15532 29132 118996 15533 29131 118997 45020 30114 118998 45019 30113 118999 15533 29131 119000 15534 29130 119001 45021 30117 119002 45020 30114 119003 15534 29130 119004 2016 29129 119005 15721 30122 119006 45021 30117 119007 45021 30117 119008 15721 30122 119009 15722 30123 119010 45024 30118 119011 45024 30118 119012 15722 30123 119013 15723 30124 119014 45027 30121 119015 45027 30121 119016 15723 30124 119017 2079 30125 119018 15909 30126 119019 45026 30119 119020 45027 30121 119021 15909 30126 119022 15908 30127 119023 45025 30120 119024 45026 30119 119025 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119078 45036 30137 119079 45036 30137 119080 15915 30141 119081 2081 30142 119082 16101 30143 119083 45035 30135 119084 45036 30137 119085 16101 30143 119086 16100 30144 119087 45034 30136 119088 45035 30135 119089 16100 30144 119090 16099 30145 119091 15912 30146 119092 45034 30136 119093 16099 30145 119094 2080 30147 119095 15911 30148 119096 45031 30132 119097 45034 30136 119098 15912 30146 119099 15910 30138 119100 45028 30129 119101 45031 30132 119102 15911 30148 119103 45037 30149 119104 45038 30150 119105 45041 30151 119106 45040 30152 119107 45038 30150 119108 45039 30153 119109 45042 30154 119110 45041 30151 119111 45040 30152 119112 45041 30151 119113 45044 30155 119114 45043 30156 119115 45041 30151 119116 45042 30154 119117 45045 30157 119118 45044 30155 119119 2018 29146 119120 15727 29168 119121 45037 30149 119122 15913 30139 119123 15727 29168 119124 15728 29167 119125 45038 30150 119126 45037 30149 119127 15728 29167 119128 15729 29166 119129 45039 30153 119130 45038 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40071 162581 51149 41054 162582 51148 41053 162583 19655 40071 162584 19656 40070 162585 51150 41057 162586 51149 41054 162587 19656 40070 162588 2708 40069 162589 19843 41062 162590 51150 41057 162591 51150 41057 162592 19843 41062 162593 19844 41063 162594 51153 41058 162595 51153 41058 162596 19844 41063 162597 19845 41064 162598 51156 41061 162599 51156 41061 162600 19845 41064 162601 2771 41065 162602 20031 41066 162603 51155 41059 162604 51156 41061 162605 20031 41066 162606 20030 41067 162607 51154 41060 162608 51155 41059 162609 20030 41067 162610 20029 41068 162611 19842 41048 162612 51154 41060 162613 20029 41068 162614 2770 41049 162615 19841 41047 162616 51151 41056 162617 51154 41060 162618 19842 41048 162619 19840 41046 162620 51148 41053 162621 51151 41056 162622 19841 41047 162623 51157 41069 162624 51158 41070 162625 51161 41071 162626 51160 41072 162627 51158 41070 162628 51159 41073 162629 51162 41074 162630 51161 41071 162631 51160 41072 162632 51161 41071 162633 51164 41075 162634 51163 41076 162635 51161 41071 162636 51162 41074 162637 51165 41077 162638 51164 41075 162639 2708 40069 162640 19657 40088 162641 51157 41069 162642 19843 41062 162643 19657 40088 162644 19658 40087 162645 51158 41070 162646 51157 41069 162647 19658 40087 162648 19659 40086 162649 51159 41073 162650 51158 41070 162651 19659 40086 162652 2709 40085 162653 19846 41078 162654 51159 41073 162655 51159 41073 162656 19846 41078 162657 19847 41079 162658 51162 41074 162659 51162 41074 162660 19847 41079 162661 19848 41080 162662 51165 41077 162663 51165 41077 162664 19848 41080 162665 2772 41081 162666 20034 41082 162667 51164 41075 162668 51165 41077 162669 20034 41082 162670 20033 41083 162671 51163 41076 162672 51164 41075 162673 20033 41083 162674 20032 41084 162675 19845 41064 162676 51163 41076 162677 20032 41084 162678 2771 41065 162679 19844 41063 162680 51160 41072 162681 51163 41076 162682 19845 41064 162683 19843 41062 162684 51157 41069 162685 51160 41072 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253906 4278 63992 253907 28282 63991 253908 28283 63993 253909 63992 63982 253910 63991 63981 253911 28283 63993 253912 28284 63994 253913 63993 63985 253914 63992 63982 253915 28284 63994 253916 190 23 253917 5035 1254 253918 63993 63985 253919 63993 63985 253920 5035 1254 253921 5036 1264 253922 63996 63986 253923 63996 63986 253924 5036 1264 253925 5037 1262 253926 63999 63989 253927 63999 63989 253928 5037 1262 253929 253 1263 253930 28281 63978 253931 63998 63987 253932 63999 63989 253933 28281 63978 253934 28280 63977 253935 63997 63988 253936 63998 63987 253937 28280 63977 253938 28279 63975 253939 4276 63995 253940 63997 63988 253941 28279 63975 253942 61 63974 253943 4277 63996 253944 63994 63984 253945 63997 63988 253946 4276 63995 253947 4278 63992 253948 63991 63981 253949 63994 63984 253950 4277 63996 253951 64000 63997 253952 64001 63998 253953 64004 63999 253954 64003 64000 253955 64001 63998 253956 64002 64001 253957 64005 64002 253958 64004 63999 253959 64003 64000 253960 64004 63999 253961 64007 64003 253962 64006 64004 253963 64004 63999 253964 64005 64002 253965 64008 64005 253966 64007 64003 253967 63 62023 253968 28285 62021 253969 64000 63997 253970 4281 64006 253971 28285 62021 253972 28286 62020 253973 64001 63998 253974 64000 63997 253975 28286 62020 253976 28287 62019 253977 64002 64001 253978 64001 63998 253979 28287 62019 253980 127 9 253981 4660 11 253982 64002 64001 253983 64002 64001 253984 4660 11 253985 4661 24 253986 64005 64002 253987 64005 64002 253988 4661 24 253989 4662 22 253990 64008 64005 253991 64008 64005 253992 4662 22 253993 190 23 253994 28284 63994 253995 64007 64003 253996 64008 64005 253997 28284 63994 253998 28283 63993 253999 64006 64004 254000 64007 64003 254001 28283 63993 254002 28282 63991 254003 4279 64007 254004 64006 64004 254005 28282 63991 254006 62 63990 254007 4280 64008 254008 64003 64000 254009 64006 64004 254010 4279 64007 254011 4281 64006 254012 64000 63997 254013 64003 64000 254014 4280 64008 254015

+ + + + + + + + 1 0 0 -56.04303 0 1 0 -905.0306 0 0 1 -6422.729 0 0 0 1 + + + + + + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/models/moon_mons_mouton/model.config b/models/moon_mons_mouton/model.config new file mode 100644 index 0000000..c134315 --- /dev/null +++ b/models/moon_mons_mouton/model.config @@ -0,0 +1,13 @@ + + + moon_mons_mouton + 0.1.0 + + Robin BARAN + r-baran@hotmail.fr + + model.sdf + + The Mons Mouton (also called Liebniz Beta) is located near the south pole of the moon and has been sighted as landing zone for assessing water ice deposits. This model was generated according to site20 by using DEM from the NASA LRO mission: https://pgda.gsfc.nasa.gov/products/78 (Barker, M.K., et al. (2021), Improved LOLA Elevation Maps for South Pole Landing Sites: Error Estimates and Their Impact on Illumination Conditions, Planetary & Space Science, Volume 203, 1 September 2021, 105119, doi:10.1016/j.pss.2020.105119.) + + diff --git a/models/moon_mons_mouton/model.sdf b/models/moon_mons_mouton/model.sdf new file mode 100644 index 0000000..69240ca --- /dev/null +++ b/models/moon_mons_mouton/model.sdf @@ -0,0 +1,64 @@ + + + + 1 + + + 0.25 + + 0.00015 + 0.000000 + 0.000000 + 0.00015 + 0.000000 + 0.00015 + + + + + + model://moon_mons_mouton/meshes/mons_mouton_textured_low.dae + 1 1 1 + + + + + + 30.0 + 30.0 + + + + + 1000000.0 + 100.0 + 1.0 + 0.002 + + + + + + true + + + model://moon_mons_mouton/meshes/mons_mouton_textured_low.dae + 1 1 1 + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/package.xml b/package.xml index 0d3db25..7e96866 100644 --- a/package.xml +++ b/package.xml @@ -9,9 +9,17 @@ ament_cmake + ign-cmake2 + ign-plugin1 + ign-common4 + ign-gazebo6 + ign-rendering6 + ign-sensors6 + xacro ament_cmake + diff --git a/plugins/RadioisotopeThermalGeneratorPlugin.cc b/plugins/RadioisotopeThermalGeneratorPlugin.cc new file mode 100644 index 0000000..ecb6e3c --- /dev/null +++ b/plugins/RadioisotopeThermalGeneratorPlugin.cc @@ -0,0 +1,121 @@ +#include "RadioisotopeThermalGeneratorPlugin.hh" + +#include +#include "ignition/gazebo/Model.hh" + +#include + +#include + +#include + +using namespace simulation; + +/// \brief Private data class for RadioisotopeThermalGeneratorPlugin +class simulation::RadioisotopeThermalGeneratorPluginPrivate +{ + /// \brief Name of the link +public: + std::string linkName; + + /// \brief Name of the model +public: + std::string modelName; + + /// \brief Name of the topic where the data will be published +public: + std::string topicName; + + /// \brief Power output of the radioisotope thermal generator +public: + double nominalPower; + + /// \brief Ignition communication node +public: + ignition::transport::Node node; + + /// \brief Publisher for the radioisotope thermal generator output +public: + ignition::transport::Node::Publisher nominalPowerPub; +}; + +////////////////////////////////////////////////// +RadioisotopeThermalGeneratorPlugin::RadioisotopeThermalGeneratorPlugin() + : dataPtr(std::make_unique()) +{ +} + +////////////////////////////////////////////////// +RadioisotopeThermalGeneratorPlugin::~RadioisotopeThermalGeneratorPlugin() = default; + +////////////////////////////////////////////////// +void RadioisotopeThermalGeneratorPlugin::Configure(const ignition::gazebo::Entity &_entity, + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &_ecm, + ignition::gazebo::EventManager &_eventMgr) +{ + // Store the pointer to the model the RTG is under + auto model = ignition::gazebo::Model(_entity); + if (!model.Valid(_ecm)) + { + ignerr << "Radioisotope Thermal Generator plugin should be attached to a model entity. " + << "Failed to initialize." << std::endl; + return; + } + + this->dataPtr->modelName = model.Name(_ecm); + + // Load params + if (_sdf->HasElement("link_name")) + { + this->dataPtr->linkName = _sdf->Get("link_name"); + this->dataPtr->topicName = "/model/" + this->dataPtr->modelName + "/" + this->dataPtr->linkName + "/radioisotope_thermal_generator_output"; + auto validTopic = ignition::transport::TopicUtils::AsValidTopic(this->dataPtr->topicName); + if (validTopic.empty()) + { + ignerr << "Failed to create valid topic [" << this->dataPtr->topicName << "]" << std::endl; + return; + } + // Advertise topic where data will be published + this->dataPtr->nominalPowerPub = this->dataPtr->node.Advertise(validTopic); + } + else + { + ignerr << "Radioisotope Thermal Generator plugin should have a element. " + << "Failed to initialize." << std::endl; + return; + } + + if (_sdf->HasElement("nominal_power")) + { + this->dataPtr->nominalPower = _sdf->Get("nominal_power"); + } + else + { + ignerr << "Radioisotope Thermal Generator plugin should have a element. " + << "Failed to initialize." << std::endl; + return; + } +} + +////////////////////////////////////////////////// +void RadioisotopeThermalGeneratorPlugin::PostUpdate(const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) +{ + IGN_PROFILE("RadioisotopeThermalGeneratorPlugin::PostUpdate"); + if (_info.paused) + { + return; + } + // Publish result + ignition::msgs::Float msg; + msg.set_data(this->dataPtr->nominalPower); + this->dataPtr->nominalPowerPub.Publish(msg); + igndbg << "Published RTG output: " << this->dataPtr->nominalPower << std::endl; +} + +IGNITION_ADD_PLUGIN(RadioisotopeThermalGeneratorPlugin, ignition::gazebo::System, + RadioisotopeThermalGeneratorPlugin::ISystemConfigure, + RadioisotopeThermalGeneratorPlugin::ISystemPostUpdate) + +IGNITION_ADD_PLUGIN_ALIAS(RadioisotopeThermalGeneratorPlugin, "simulation::RadioisotopeThermalGeneratorPlugin") diff --git a/plugins/RadioisotopeThermalGeneratorPlugin.hh b/plugins/RadioisotopeThermalGeneratorPlugin.hh new file mode 100644 index 0000000..065262c --- /dev/null +++ b/plugins/RadioisotopeThermalGeneratorPlugin.hh @@ -0,0 +1,50 @@ +#ifndef Radioisotope_Thermal_Generator_Plugin_HH_ +#define Radioisotope_Thermal_Generator_Plugin_HH_ + +#include +#include + +namespace simulation +{ + + // Forward declaration + class RadioisotopeThermalGeneratorPluginPrivate; + + /// \class RadioisotopeThermalGenerator RadioisotopeThermalGenerator.hh + /// \brief Radioisotope Thermal Generator plugin. plugin allows to simulate an radioisotope thermal generator power output. It provides a constant power supply. + + /// ## System Parameters + /// + /// - `link_name`: The name of the link where the radioisotope thermal generator is attached. + /// - `nominal_power`: The nominal power output of the radioisotope thermal generator. + class RadioisotopeThermalGeneratorPlugin : public ignition::gazebo::System, + public ignition::gazebo::ISystemConfigure, + public ignition::gazebo::ISystemPostUpdate + { + + /// \brief Constructor + public: + RadioisotopeThermalGeneratorPlugin(); + + /// \brief Destructor + public: + ~RadioisotopeThermalGeneratorPlugin() override; + + /// Documentation inherited + public: + void Configure(const ignition::gazebo::Entity &_entity, + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &_ecm, + ignition::gazebo::EventManager &_eventMgr) override; + + /// Documentation inherited + public: + void PostUpdate(const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) final; + + /// \brief Private data pointer + private: + std::unique_ptr dataPtr; + }; +} +#endif // Radioisotope_Thermal_Generator_Plugin_HH_ diff --git a/plugins/RechargeableBatteryPlugin.cc b/plugins/RechargeableBatteryPlugin.cc new file mode 100644 index 0000000..b92d309 --- /dev/null +++ b/plugins/RechargeableBatteryPlugin.cc @@ -0,0 +1,712 @@ +#include "RechargeableBatteryPlugin.hh" + +#include +#include +#include "ignition/gazebo/components/BatterySoC.hh" +#include +#include +#include +#include +#include +#include +#include +#include "gz/sim/Model.hh" +#include + +using namespace simulation; + +/// \brief Power Source Information +struct powerSourceInfo +{ + /// \brief Power source id + int id{0}; + + /// \brief Power source power + double nominalPower{0.0}; + + /// \brief Flag to check if the power source has been updated + bool dataUpdated{false}; + + /// \brief Mutex to protect the power source state + std::unique_ptr mutex_ptr = std::make_unique(); +}; + +class simulation::RechargeableBatteryPluginPrivate +{ + + /// \brief Reset the plugin +public: + void Reset(); + /// \brief Name that identifies a battery. + + /// \brief Get the current state of charge of the battery. + /// \return State of charge of the battery in range [0.0, 1.0]. +public: + double StateOfCharge() const; + + /// \brief Callback connected to additional topics that can start battery + /// draining. + /// \param[in] _data Message data. + /// \param[in] _size Message data size. + /// \param[in] _info Information about the message. +public: + void OnBatteryDrainingMsg( + const char *_data, const size_t _size, + const ignition::transport::MessageInfo &_info); + + /// \brief Callback connected to additional topics that can stop battery + /// draining. + /// \param[in] _data Message data. + /// \param[in] _size Message data size. + /// \param[in] _info Information about the message. +public: + void OnBatteryStopDrainingMsg( + const char *_data, const size_t _size, + const ignition::transport::MessageInfo &_info); + + /// \brief Callback connected to power source topics. + /// \param[in] _id The id of the power source. + /// \param[in] _msg The message containing the power source power. +public: + void OnPowerSourceMsg(int _id, + const ignition::msgs::Float &_msg); + + /// \brief Ignition communication node +public: + ignition::transport::Node node; + + /// \brief Battery state of charge message publisher +public: + ignition::transport::Node::Publisher statePub; + + /// \brief Battery consumer identifier. + /// Current implementation limits one consumer (Model) per battery. +public: + int32_t consumerId; + + /// \brief Name that identifies a battery. +public: + std::string batteryName; + + /// \brief Pointer to battery contained in link. +public: + gz::common::BatteryPtr battery; + + /// \brief Whether warning that battery has drained has been printed once. +public: + bool drainPrinted{false}; + + /// \brief Battery entity +public: + ignition::gazebo::Entity batteryEntity{ignition::gazebo::kNullEntity}; + + /// \brief modelName +public: + std::string modelName; + + /// \brief Model entity +public: + gz::sim::Model model{ignition::gazebo::kNullEntity}; + + /// \brief Open-circuit voltage. + /// E(t) = e0 + e1 * Q(t) / c +public: + double e0{0.0}; + +public: + double e1{0.0}; + + /// \brief Initial battery charge in Ah. +public: + double q0{0.0}; + + /// \brief Battery capacity in Ah. +public: + double c{0.0}; + + /// \brief Battery inner resistance in Ohm. +public: + double r{0.0}; + + /// \brief Current low-pass filter characteristic time in seconds [0, 1]. +public: + double tau{1.0}; + + /// \brief Raw battery current in A. +public: + double iraw{0.0}; + + /// \brief Smoothed battery current in A. +public: + double ismooth{0.0}; + + /// \brief Instantaneous battery charge in Ah. +public: + double q{0.0}; + + /// \brief State of charge [0, 1]. +public: + double soc{1.0}; + + /// \brief Simulation time handled during a single update. +public: + std::chrono::steady_clock::duration stepSize; + + /// \brief Flag on whether the battery should start draining +public: + bool startDraining = false; + + /// \brief The start time when battery starts draining in seconds +public: + int drainStartTime = -1; + + /// \brief Book keep the last time printed, so as to not pollute dbg messages + /// in minutes +public: + int lastPrintTime = -1; + + /// \brief Initial power load set trough config +public: + double initialPowerLoad = 0.0; + + /// \brief Total power supply +public: + double totalPowerSupply = 0.0; + + /// \brief Flag to check if the battery is charging +public: + bool isCharging = false; + + /// \brief Vector of power sources information +public: + std::vector powerSourcesInfo; +}; + +///////////////////////////////////////////////// +RechargeableBatteryPlugin::RechargeableBatteryPlugin() + : System(), dataPtr(std::make_unique()) +{ +} + +///////////////////////////////////////////////// +RechargeableBatteryPlugin::~RechargeableBatteryPlugin() +{ + this->dataPtr->Reset(); + + if (this->dataPtr->battery) + { + // consumer-specific + if (this->dataPtr->consumerId != -1) + { + this->dataPtr->battery->RemoveConsumer(this->dataPtr->consumerId); + } + + // This is needed so that common::Battery stops calling the update function + // of this object, when this object is destroyed. Else seg fault in test, + // though no seg fault in actual run. + this->dataPtr->battery->ResetUpdateFunc(); + } +} + +///////////////////////////////////////////////// +void RechargeableBatteryPlugin::Configure(const ignition::gazebo::Entity &_entity, + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &_ecm, + ignition::gazebo::EventManager &_eventMgr) +{ + // Store the pointer to the model this battery is under + auto model = ignition::gazebo::Model(_entity); + if (!model.Valid(_ecm)) + { + ignerr << "Battery plugin should be attached to a model entity. " + << "Failed to initialize." << std::endl; + return; + } + this->dataPtr->model = model; + this->dataPtr->modelName = model.Name(_ecm); + + if (_sdf->HasElement("open_circuit_voltage_constant_coef")) + this->dataPtr->e0 = _sdf->Get("open_circuit_voltage_constant_coef"); + + if (_sdf->HasElement("open_circuit_voltage_linear_coef")) + this->dataPtr->e1 = _sdf->Get("open_circuit_voltage_linear_coef"); + + if (_sdf->HasElement("capacity")) + this->dataPtr->c = _sdf->Get("capacity"); + + if (this->dataPtr->c <= 0) + { + ignerr << "No or incorrect value specified. Capacity should be " + << "greater than 0.\n"; + return; + } + + this->dataPtr->q0 = this->dataPtr->c; + if (_sdf->HasElement("initial_charge")) + { + this->dataPtr->q0 = _sdf->Get("initial_charge"); + if (this->dataPtr->q0 > this->dataPtr->c || this->dataPtr->q0 < 0) + { + ignerr << " value should be between [0, ]." + << std::endl; + this->dataPtr->q0 = + std::max(0.0, std::min(this->dataPtr->q0, this->dataPtr->c)); + ignerr << "Setting to [" << this->dataPtr->q0 + << "] instead." << std::endl; + } + } + + this->dataPtr->q = this->dataPtr->q0; + + if (_sdf->HasElement("resistance")) + this->dataPtr->r = _sdf->Get("resistance"); + + if (_sdf->HasElement("smooth_current_tau")) + { + this->dataPtr->tau = _sdf->Get("smooth_current_tau"); + if (this->dataPtr->tau <= 0) + { + ignerr << " value should be positive. " + << "Using [1] instead." << std::endl; + this->dataPtr->tau = 1; + } + } + + if (_sdf->HasElement("battery_name") && _sdf->HasElement("voltage")) + { + this->dataPtr->batteryName = _sdf->Get("battery_name"); + auto initVoltage = _sdf->Get("voltage"); + igndbg << "Battery name: " << this->dataPtr->batteryName << std::endl; + igndbg << "Initial voltage: " << initVoltage << std::endl; + + // Create battery entity and some components + this->dataPtr->batteryEntity = _ecm.CreateEntity(); + _ecm.CreateComponent(this->dataPtr->batteryEntity, ignition::gazebo::components::Name( + this->dataPtr->batteryName)); + _ecm.SetParentEntity(this->dataPtr->batteryEntity, _entity); + + // Create actual battery and assign update function + this->dataPtr->battery = std::make_shared( + this->dataPtr->batteryName, initVoltage); + this->dataPtr->battery->Init(); + // print battery voltage + igndbg << "Battery voltage: " << this->dataPtr->battery->Voltage() << std::endl; + this->dataPtr->battery->SetUpdateFunc( + std::bind(&RechargeableBatteryPlugin::OnUpdateVoltage, this, + std::placeholders::_1)); + } + else + { + ignerr << "No or specified. Both are required.\n"; + return; + } + + // Consumer-specific + if (_sdf->HasElement("power_load")) + { + this->dataPtr->initialPowerLoad = _sdf->Get("power_load"); + this->dataPtr->consumerId = this->dataPtr->battery->AddConsumer(); + bool success = this->dataPtr->battery->SetPowerLoad( + this->dataPtr->consumerId, this->dataPtr->initialPowerLoad); + if (!success) + ignerr << "Failed to set consumer power load." << std::endl; + } + else + { + ignwarn << "Required attribute power_load missing " + << "in BatteryPlugin SDF" << std::endl; + } + if (_sdf->HasElement("start_draining")) + this->dataPtr->startDraining = _sdf->Get("start_draining"); + + // Subscribe to power draining topics, if any. + if (_sdf->HasElement("power_draining_topic")) + { + sdf::ElementConstPtr sdfElem = _sdf->FindElement("power_draining_topic"); + while (sdfElem) + { + const auto &topic = sdfElem->Get(); + this->dataPtr->node.SubscribeRaw(topic, + std::bind(&RechargeableBatteryPluginPrivate::OnBatteryDrainingMsg, + this->dataPtr.get(), std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3)); + ignmsg << "RechargeableBatteryPlugin subscribes to power draining topic [" + << topic << "]." << std::endl; + sdfElem = sdfElem->GetNextElement("power_draining_topic"); + } + } + + // Subscribe to stop power draining topics, if any. + if (_sdf->HasElement("stop_power_draining_topic")) + { + sdf::ElementConstPtr sdfElem = + _sdf->FindElement("stop_power_draining_topic"); + while (sdfElem) + { + const auto &topic = sdfElem->Get(); + this->dataPtr->node.SubscribeRaw(topic, + std::bind(&RechargeableBatteryPluginPrivate::OnBatteryStopDrainingMsg, + this->dataPtr.get(), std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3)); + ignmsg << "RechargeableBatteryPlugin subscribes to stop power draining topic [" + << topic << "]." << std::endl; + sdfElem = sdfElem->GetNextElement("power_draining_topic"); + } + } + + // subscriber to all power sources topics + if (_sdf->HasElement("power_source")) + { + sdf::ElementConstPtr powerSourceElem = _sdf->FindElement("power_source"); + int id = 0; + while (powerSourceElem) + { + const auto &topic = powerSourceElem->Get(); + std::string stateTopic{"/model/" + this->dataPtr->model.Name(_ecm) + "/" + + topic}; + auto validPowerSourceTopic = ignition::transport::TopicUtils::AsValidTopic(stateTopic); + if (validPowerSourceTopic.empty()) + { + ignerr << "Failed to create valid topic. Not valid: [" + << topic << "]" << std::endl; + return; + } + powerSourceInfo powerSource; + powerSource.id = id; + powerSource.nominalPower = 0.0; + powerSource.dataUpdated = false; + std::function callback = std::bind(&RechargeableBatteryPluginPrivate::OnPowerSourceMsg, + this->dataPtr.get(), id, std::placeholders::_1); + this->dataPtr->node.Subscribe(validPowerSourceTopic, callback); + ignmsg << "RechargeableBatteryPlugin subscribes to power source topic [" + << validPowerSourceTopic << "]." << std::endl; + this->dataPtr->powerSourcesInfo.emplace_back(std::move(powerSource)); + powerSourceElem = powerSourceElem->GetNextElement("power_source"); + id++; + } + } + else + { + ignerr << "No power source topic specified." << std::endl; + } + + ignmsg << "RechargeableBatteryPlugin configured. Battery name: " + << this->dataPtr->battery->Name() << std::endl; + igndbg << "Battery initial voltage: " << this->dataPtr->battery->InitVoltage() + << std::endl; + + this->dataPtr->soc = this->dataPtr->q / this->dataPtr->c; + // Initialize battery with initial calculated state of charge + _ecm.CreateComponent(this->dataPtr->batteryEntity, + ignition::gazebo::components::BatterySoC(this->dataPtr->soc)); + + // Setup battery state topic + std::string stateTopic{"/model/" + this->dataPtr->model.Name(_ecm) + + "/battery/" + this->dataPtr->battery->Name() + "/state"}; + + auto validStateTopic = ignition::transport::TopicUtils::AsValidTopic(stateTopic); + if (validStateTopic.empty()) + { + ignerr << "Failed to create valid state topic [" + << stateTopic << "]" << std::endl; + return; + } + + ignition::transport::AdvertiseMessageOptions opts; + opts.SetMsgsPerSec(50); + this->dataPtr->statePub = this->dataPtr->node.Advertise( + validStateTopic, opts); +} + +///////////////////////////////////////////////// +void RechargeableBatteryPlugin::PreUpdate( + const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) +{ + IGN_PROFILE("RechargeableBatteryPlugin::PreUpdate"); + // Recalculate total power load among all consumers + double totalPowerLoad = this->dataPtr->initialPowerLoad; + _ecm.Each( + [&](const ignition::gazebo::Entity & /*_entity*/, + const ignition::gazebo::components::BatteryPowerLoad *_batteryPowerLoadInfo) -> bool + { + if (_batteryPowerLoadInfo->Data().batteryId == + this->dataPtr->batteryEntity) + { + totalPowerLoad = totalPowerLoad + + _batteryPowerLoadInfo->Data().batteryPowerLoad; + } + return true; + }); + + bool success = this->dataPtr->battery->SetPowerLoad( + this->dataPtr->consumerId, totalPowerLoad); + if (!success) + ignerr << "Failed to set consumer power load." << std::endl; + + // start draining the battery if the robot has started moving + if (!this->dataPtr->startDraining) + { + const std::vector &joints = + _ecm.ChildrenByComponents(this->dataPtr->model.Entity(), ignition::gazebo::components::Joint()); + + for (ignition::gazebo::Entity jointEntity : joints) + + { + const auto *jointVelocityCmd = + _ecm.Component(jointEntity); + if (jointVelocityCmd) + { + for (double jointVel : jointVelocityCmd->Data()) + { + if (fabs(static_cast(jointVel)) > 0.01) + { + this->dataPtr->startDraining = true; + break; + } + } + } + + const auto *jointForceCmd = + _ecm.Component(jointEntity); + if (jointForceCmd) + { + for (double jointForce : jointForceCmd->Data()) + { + if (fabs(static_cast(jointForce)) > 0.01) + { + this->dataPtr->startDraining = true; + break; + } + } + } + } + } +} + +/////////////////////////////////////////////// +void RechargeableBatteryPlugin::Update(const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) +{ + IGN_PROFILE("RechargeableBatteryPlugin::Update"); + if (_info.dt < std::chrono::steady_clock::duration::zero()) + { + ignwarn << "Detected jump back in time [" + << std::chrono::duration_cast(_info.dt).count() + << "s]. System may not work properly." << std::endl; + } + + if (_info.paused) + return; + + if (!this->dataPtr->startDraining) + return; + + // Find the time at which battery starts to drain + int simTime = static_cast( + std::chrono::duration_cast(_info.simTime).count()); + if (this->dataPtr->drainStartTime == -1) + this->dataPtr->drainStartTime = simTime; + + // Print drain time in minutes + int drainTime = (simTime - this->dataPtr->drainStartTime) / 60; + if (drainTime != this->dataPtr->lastPrintTime) + { + this->dataPtr->lastPrintTime = drainTime; + igndbg << "[Battery Plugin] Battery drain: " << drainTime << " minutes passed.\n"; + } + + // update step size + this->dataPtr->stepSize = _info.dt; + + // Sanity check: tau should be in the range [dt, +inf) + double dt = (std::chrono::duration_cast( + this->dataPtr->stepSize) + .count()) * + 1e-9; + if (this->dataPtr->tau < dt) + { + ignerr << " should be in the range [dt, +inf) but is " + << "configured with [" << this->dataPtr->tau << "]. We'll be using " + << "[" << dt << "] instead" << std::endl; + this->dataPtr->tau = dt; + } + + if (this->dataPtr->battery) + { + // Update battery component + this->dataPtr->battery->Update(); + auto *batteryComp = _ecm.Component( + this->dataPtr->batteryEntity); + + batteryComp->Data() = this->dataPtr->StateOfCharge(); + } +} + +///////////////////////////////////////////////// +void RechargeableBatteryPlugin::PostUpdate(const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) +{ + IGN_PROFILE("RechargeableBatteryPlugin::PostUpdate"); + // Nothing left to do if paused or the publisher wasn't created. + if (_info.paused || !this->dataPtr->statePub) + return; + + // Publish battery state + ignition::msgs::BatteryState msg; + msg.mutable_header()->mutable_stamp()->CopyFrom(ignition::gazebo::convert(_info.simTime)); + msg.set_voltage(this->dataPtr->battery->Voltage()); + msg.set_current(this->dataPtr->ismooth); + msg.set_charge(this->dataPtr->q); + msg.set_capacity(this->dataPtr->c); + msg.set_percentage(this->dataPtr->soc * 100); + + if (this->dataPtr->isCharging) + msg.set_power_supply_status(ignition::msgs::BatteryState::CHARGING); + else if (this->dataPtr->startDraining) + msg.set_power_supply_status(ignition::msgs::BatteryState::DISCHARGING); + else if (!this->dataPtr->StateOfCharge() > 0.9) + msg.set_power_supply_status(ignition::msgs::BatteryState::FULL); + else + msg.set_power_supply_status(ignition::msgs::BatteryState::NOT_CHARGING); + + this->dataPtr->statePub.Publish(msg); +} + +///////////////////////////////////////////////// +double RechargeableBatteryPlugin::OnUpdateVoltage(const ignition::common::Battery *_battery) +{ + IGN_ASSERT(_battery != nullptr, "Battery pointer is null"); + + if (fabs(_battery->Voltage()) < 1e-3) + return 0.0; + if (this->dataPtr->StateOfCharge() <= 0) + return _battery->Voltage(); + + auto prevSocInt = static_cast(this->dataPtr->StateOfCharge() * 100); + + // seconds + double dt = (std::chrono::duration_cast( + this->dataPtr->stepSize) + .count()) * + 1e-9; + double totalpower = 0.0; + double k = dt / this->dataPtr->tau; + + if (this->dataPtr->startDraining) + { + for (auto powerLoad : _battery->PowerLoads()) + totalpower += powerLoad.second; + } + + this->dataPtr->iraw = totalpower / _battery->Voltage(); + + // Update total power supply + for (auto &powerSource : this->dataPtr->powerSourcesInfo) + { + std::lock_guard lock(*(powerSource.mutex_ptr)); + if (powerSource.dataUpdated) + { + powerSource.dataUpdated = false; + this->dataPtr->totalPowerSupply += powerSource.nominalPower; + } + } + + // check if the total powersupply is not zero + this->dataPtr->isCharging = this->dataPtr->totalPowerSupply > 1e-9 && this->dataPtr->StateOfCharge() < 0.9; + + // compute current due to power sources + float powerSourceCurrent = 0.0; + if (this->dataPtr->isCharging) + { + powerSourceCurrent = this->dataPtr->totalPowerSupply / _battery->Voltage(); + this->dataPtr->iraw -= powerSourceCurrent; + } + // reset total power supply to zero + this->dataPtr->totalPowerSupply = 0.0; + + this->dataPtr->ismooth = this->dataPtr->ismooth + k * + (this->dataPtr->iraw - this->dataPtr->ismooth); + + // Convert dt to hours + this->dataPtr->q = this->dataPtr->q - ((dt * this->dataPtr->ismooth) / + 3600.0); + + // open circuit voltage + double voltage = this->dataPtr->e0 + this->dataPtr->e1 * (1 - this->dataPtr->q / this->dataPtr->c) - this->dataPtr->r * this->dataPtr->ismooth; + + // Estimate state of charge + this->dataPtr->soc = this->dataPtr->q / this->dataPtr->c; + + // Throttle debug messages + auto socInt = static_cast(this->dataPtr->StateOfCharge() * 100); + + if (socInt % 10 == 0 && socInt != prevSocInt) + { + igndbg << "Battery: " << this->dataPtr->battery->Name() << std::endl; + igndbg << "PowerLoads().size(): " << _battery->PowerLoads().size() + << std::endl; + igndbg << "charging current: " << powerSourceCurrent << std::endl; + igndbg << "voltage: " << voltage << std::endl; + igndbg << "state of charge: " << this->dataPtr->StateOfCharge() + << " (q " << this->dataPtr->q << ")" << std::endl + << std::endl; + } + if (this->dataPtr->StateOfCharge() < 0 && !this->dataPtr->drainPrinted) + { + ignwarn << "Model " << this->dataPtr->modelName << " out of battery.\n"; + this->dataPtr->drainPrinted = true; + } + + return voltage; +} + +///////////////////////////////////////////////// +void RechargeableBatteryPluginPrivate::Reset() +{ + this->totalPowerSupply = 0.0; + this->ismooth = 0.0; + this->iraw = 0.0; + this->q = this->q0; + this->startDraining = false; +} + +////////////////////////////////////////////////// +void RechargeableBatteryPluginPrivate::OnBatteryDrainingMsg( + const char *, const size_t, const ignition::transport::MessageInfo &) +{ + this->startDraining = true; +} + +////////////////////////////////////////////////// +void RechargeableBatteryPluginPrivate::OnBatteryStopDrainingMsg( + const char *, const size_t, const ignition::transport::MessageInfo &) +{ + this->startDraining = false; +} + +////////////////////////////////////////////////// +void RechargeableBatteryPluginPrivate::OnPowerSourceMsg(int _id, + const ignition::msgs::Float &_msg) +{ + std::lock_guard lock(*(this->powerSourcesInfo[_id].mutex_ptr)); + this->powerSourcesInfo[_id].nominalPower = _msg.data(); + this->powerSourcesInfo[_id].dataUpdated = true; +} + +////////////////////////////////////////////////// +double RechargeableBatteryPluginPrivate::StateOfCharge() const +{ + return this->soc; +} + +#include + +IGNITION_ADD_PLUGIN(RechargeableBatteryPlugin, + ignition::gazebo::System, + RechargeableBatteryPlugin::ISystemConfigure, + RechargeableBatteryPlugin::ISystemPreUpdate, + RechargeableBatteryPlugin::ISystemUpdate, + RechargeableBatteryPlugin::ISystemPostUpdate) + +IGNITION_ADD_PLUGIN_ALIAS(RechargeableBatteryPlugin, "simulation::RechargeableBatteryPlugin") diff --git a/plugins/RechargeableBatteryPlugin.hh b/plugins/RechargeableBatteryPlugin.hh new file mode 100644 index 0000000..9621884 --- /dev/null +++ b/plugins/RechargeableBatteryPlugin.hh @@ -0,0 +1,81 @@ +#ifndef RECHARGEABLE_BATTERY_PLUGIN_HH_ +#define RECHARGEABLE_BATTERY_PLUGIN_HH_ + +#include +#include +#include + + +namespace simulation +{ + // Forward declaration + class RechargeableBatteryPluginPrivate; + + /// \brief A plugin to simulate rechargeable batteries usage. + /// This was adapted from the LinearBatteryPlugin from Ignition Gazebo. + /// + /// This system processes the following sdf parameters: + /// - ``: The name of the battery(required) + /// - ``: The initial voltage of the battery(required) + /// - ``: Voltage at full charge + /// - ``: Amount of voltage drop when no charge + /// - ``: The initial charge of the battery (Ah) + /// - ``: Total charge that the battery can hold (Ah) + /// - ``: The internal resistance of the battery (Ohm) + /// - ``: Coefficient for smoothing the current [0, 1] + /// - ``: The power load on the battery (Watts) + /// - ``: Whether to start draining the battery + /// - ``: This is to start draining the battery + /// - ``: This is to stop draining the battery + /// - ``: This is to subscribe to power sources topics. Repeat as many times as needed with the same name + + class RechargeableBatteryPlugin + : public ignition::gazebo::System, + public ignition::gazebo::ISystemConfigure, + public ignition::gazebo::ISystemPreUpdate, + public ignition::gazebo::ISystemUpdate, + public ignition::gazebo::ISystemPostUpdate + { + /// \brief Constructor + public: + RechargeableBatteryPlugin(); + + /// \brief Destructor + public: + ~RechargeableBatteryPlugin() override; + + /// Documentation Inherited + public: + void Configure(const ignition::gazebo::Entity &_entity, + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &_ecm, + ignition::gazebo::EventManager &_eventMgr) final; + + /// Documentation Inherited + public: + void PreUpdate(const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) override; + + // Documentation Inherited + public: + void Update(const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) override; + + /// Documentation Inherited + public: + void PostUpdate(const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) override; + + /// \brief Callback for Battery Update events. + /// \param[in] _battery Pointer to the battery that is to be updated. + /// \return The new voltage. + private: + double OnUpdateVoltage(const ignition::common::Battery *_battery); + + /// \brief Private data pointer + private: + std::unique_ptr dataPtr; + }; + +} +#endif // RECHARGEABLE_BATTERY_PLUGIN_HH_ diff --git a/plugins/SensorPowerSystemPlugin.cc b/plugins/SensorPowerSystemPlugin.cc new file mode 100644 index 0000000..6d425d0 --- /dev/null +++ b/plugins/SensorPowerSystemPlugin.cc @@ -0,0 +1,333 @@ +#include "SensorPowerSystemPlugin.hh" +#include +#include +#include +#include +#include "gz/sim/components/BatterySoC.hh" +#include "gz/sim/components/BatteryPowerLoad.hh" +#include +#include +#include +#include "gz/sim/Model.hh" +#include +#include +#include "ignition/sensors/Sensor.hh" + +using namespace simulation; + +/// \brief Sensor information +struct SensorInfo +{ + /// \brief Sensor id + int id{0}; + + /// \brief Sensor name + std::string name{""}; + + /// \brief Keep track of the sensor state + bool enableSensor{false}; + + /// \brief Power load of the sensor + double powerLoad{0.0}; + + /// \brief Battery name + std::string batteryName{""}; + + /// \brief Battery entity + ignition::gazebo::Entity batteryEntity{ignition::gazebo::kNullEntity}; + + /// \brief Battery consumer entity + ignition::gazebo::Entity batteryConsumerEntity{ignition::gazebo::kNullEntity}; + + /// \brief Flag to check if the battery exists + bool batteryExist{false}; + + /// \brief Flag to check if it has enough battery + bool hasEnoughBattery{true}; + + /// \brief Mutex to protect the sensor state + std::unique_ptr mutex_ptr = std::make_unique(); + + /// \brief Flag to check if the sensor has been updated + bool dataUpdated{false}; +}; + +/// \brief Definition of the private data class +class simulation::SensorPowerSystemPrivate +{ + /// \brief Callback executed when a sensor is activated + /// \param[in] _id The id of the sensor + /// \param[in] _msg The message containing the activation state +public: + void OnActivateSensor(int _id, const ignition::msgs::Boolean &_msg); + + /// \brief Check if the battery has sufficient charge + /// \param[in] _ecm The entity component manager + /// \return True if the battery has sufficient charge +public: + void HasSufficientBattery(const ignition::gazebo::EntityComponentManager &_ecm); + + /// \brief Model name +public: + std::string modelName; + + /// \brief Model entity +public: + gz::sim::Model model{ignition::gazebo::kNullEntity}; + + /// \brief Ignition communication node +public: + ignition::transport::Node node; + + /// \brief Sensors information +public: + std::vector sensorsInfo; + + /// \brief Flag to check if the battery is initialized +public: + bool batteriesInitialized{false}; +}; + +///////////////////////////////////////////////// +SensorPowerSystemPlugin::SensorPowerSystemPlugin() + : System(), dataPtr(std::make_unique()) +{ +} + +///////////////////////////////////////////////// +SensorPowerSystemPlugin::~SensorPowerSystemPlugin() = default; + +///////////////////////////////////////////////// +void SensorPowerSystemPlugin::Configure(const ignition::gazebo::Entity &_entity, + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &_ecm, + ignition::gazebo::EventManager &_eventMgr) +{ + // Store the pointer to the model this battery is under + auto model = ignition::gazebo::Model(_entity); + if (!model.Valid(_ecm)) + { + ignerr << "SensorPowerSystemPlugin plugin should be attached to a model entity. " + << "Failed to initialize." << std::endl; + return; + } + + this->dataPtr->model = model; + this->dataPtr->modelName = model.Name(_ecm); + + // Read power load and battery name from the sensors + + // camera sensors + int sensorCount = 0; + + _ecm.Each( + [&](const ignition::gazebo::Entity &_entity, + const ignition::gazebo::components::Camera *_camera) -> bool + { + auto cameraName = _ecm.Component(_entity); + if (cameraName) + { + auto cameraPtr = _ecm.Component(_entity); + auto camera = cameraPtr->Data().CameraSensor(); + auto parent = camera->Element()->GetParent(); + if (parent->HasElement("power_load") && parent->HasElement("battery_name")) + { + SensorInfo sensorInfo; + sensorInfo.id = sensorCount; + sensorInfo.name = cameraName->Data(); + sensorInfo.powerLoad = parent->Get("power_load"); + sensorInfo.batteryName = parent->Get("battery_name"); + sensorInfo.enableSensor = true; + sensorInfo.dataUpdated = false; + igndbg << "CAMERA: " << sensorInfo.name << " id: " << sensorInfo.id << std::endl; + igndbg << "CAMERA: " << sensorInfo.name << " Power: " << sensorInfo.powerLoad << std::endl; + igndbg << "CAMERA: " << sensorInfo.name << " Battery name: " << sensorInfo.batteryName << std::endl; + igndbg << "CAMERA: " << sensorInfo.name << " is enabled: " << sensorInfo.enableSensor << std::endl; + igndbg << "CAMERA: " << sensorInfo.name << " data updated: " << sensorInfo.dataUpdated << std::endl; + igndbg << "CAMERA id: " << sensorInfo.id << std::endl; + this->dataPtr->sensorsInfo.emplace_back(std::move(sensorInfo)); + sensorCount++; + } + } + return true; + }); + + // imu sensors + _ecm.Each( + [&](const ignition::gazebo::Entity &_entity, + const ignition::gazebo::components::Imu *_imu) -> bool + { + // get the imu name + auto imuName = _ecm.Component(_entity); + if (imuName) + { + auto imuPtr = _ecm.Component(_entity); + auto imu = imuPtr->Data().ImuSensor(); + auto parent = imu->Element()->GetParent(); + if (parent->HasElement("power_load") && parent->HasElement("battery_name")) + { + SensorInfo sensorInfo; + sensorInfo.id = sensorCount; + sensorInfo.name = imuName->Data(); + sensorInfo.powerLoad = parent->Get("power_load"); + sensorInfo.batteryName = parent->Get("battery_name"); + sensorInfo.enableSensor = true; + sensorInfo.dataUpdated = false; + igndbg << "IMU: " << sensorInfo.name << " id: " << sensorInfo.id << std::endl; + igndbg << "IMU: " << sensorInfo.name << " Power: " << sensorInfo.powerLoad << std::endl; + igndbg << "IMU: " << sensorInfo.name << " Battery name: " << sensorInfo.batteryName << std::endl; + igndbg << "IMU: " << sensorInfo.name << " is enabled: " << sensorInfo.enableSensor << std::endl; + igndbg << "IMU: " << sensorInfo.name << " data updated: " << sensorInfo.dataUpdated << std::endl; + this->dataPtr->sensorsInfo.emplace_back(std::move(sensorInfo)); + sensorCount++; + } + } + return true; + }); + + // create a subscription to the sensor topic + for (auto &sensor : this->dataPtr->sensorsInfo) + { + std::string stateTopic{"/model/" + this->dataPtr->model.Name(_ecm) + "/sensor/" + sensor.name + "/activate"}; + auto validSensorTopic = ignition::transport::TopicUtils::AsValidTopic(stateTopic); + if (validSensorTopic.empty()) + { + ignerr << "Failed to create valid topic. Not valid: [" + << sensor.name << "]" << std::endl; + return; + } + std::function callback = std::bind(&SensorPowerSystemPrivate::OnActivateSensor, + this->dataPtr.get(), sensor.id, std::placeholders::_1); + this->dataPtr->node.Subscribe(validSensorTopic, callback); + } +} + +////////////////////////////////////////////////// +void SensorPowerSystemPlugin::PreUpdate(const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) + +{ + if (_info.paused) + { + return; + } + if (!this->dataPtr->batteriesInitialized) + { + this->dataPtr->batteriesInitialized = true; + _ecm.Each( + [&](const ignition::gazebo::Entity &_entity, + const ignition::gazebo::components::BatterySoC *_batterySoc, + const ignition::gazebo::components::Name *_name) -> bool + { + if (_name) + { + for (auto &sensor : this->dataPtr->sensorsInfo) + { + if (sensor.batteryName == _name->Data()) + { + igndbg << "Battery found for sensor: " << sensor.name << std::endl; + igndbg << "Battery name: " << _name->Data() << std::endl; + sensor.batteryExist = true; + sensor.batteryEntity = _entity; + } + } + } + return true; + }); + for (auto &sensor : this->dataPtr->sensorsInfo) + { + if (sensor.batteryExist) + { + sensor.batteryConsumerEntity = _ecm.CreateEntity(); + ignition::gazebo::components::BatteryPowerLoadInfo batteryPowerLoad{ + sensor.batteryEntity, sensor.powerLoad}; + _ecm.CreateComponent(sensor.batteryConsumerEntity, ignition::gazebo::components::BatteryPowerLoad(batteryPowerLoad)); + _ecm.SetParentEntity(sensor.batteryConsumerEntity, sensor.batteryEntity); + } + else + { + igndbg << "Sensor " << sensor.name << " battery does not exist" << std::endl; + } + } + } + else + { + for (auto &sensor : this->dataPtr->sensorsInfo) + { + if (sensor.batteryExist && sensor.hasEnoughBattery && sensor.dataUpdated) + { + float setPower = sensor.powerLoad; + if (!sensor.enableSensor) + { + setPower = 0.0; + } + std::lock_guard lock(*sensor.mutex_ptr); + sensor.dataUpdated = false; + ignition::gazebo::v6::components::BatteryPowerLoadInfo batteryPowerLoad{ + sensor.batteryConsumerEntity, setPower}; + _ecm.SetComponentData(sensor.batteryConsumerEntity, batteryPowerLoad); + } + } + } +} + +///////////////////////////////////////////////// +void SensorPowerSystemPlugin::PostUpdate(const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) + +{ + if(_info.paused) + { + return; + } + this->dataPtr->HasSufficientBattery(_ecm); +} + +///////////////////////////////////////////////// +void SensorPowerSystemPrivate::HasSufficientBattery( + const ignition::gazebo::EntityComponentManager &_ecm) +{ + _ecm.Each([&]( + const ignition::gazebo::Entity &_entity, + const ignition::gazebo::components::BatterySoC *_data + ){ + auto BatteryName = _ecm.Component(_entity); + if(!BatteryName) + { + return false; + } + for(auto &sensor : this->sensorsInfo) + { + if(sensor.batteryName == BatteryName->Data()) + { + if(_data->Data() <= 0.0) + { + sensor.hasEnoughBattery = false; + } + else + { + sensor.hasEnoughBattery = true; + } + } + } + return true; + }); +} + +///////////////////////////////////////////////// +void SensorPowerSystemPrivate::OnActivateSensor(int _id, const ignition::msgs::Boolean &_msg) +{ + std::lock_guard lock(*this->sensorsInfo[_id].mutex_ptr); + this->sensorsInfo[_id].enableSensor = _msg.data(); + this->sensorsInfo[_id].dataUpdated = true; +} + +#include + +IGNITION_ADD_PLUGIN(SensorPowerSystemPlugin, + ignition::gazebo::System, + SensorPowerSystemPlugin::ISystemConfigure, + SensorPowerSystemPlugin::ISystemPreUpdate, + SensorPowerSystemPlugin::ISystemPostUpdate) + +IGNITION_ADD_PLUGIN_ALIAS(SensorPowerSystemPlugin, "simulation::SensorPowerSystemPlugin") diff --git a/plugins/SensorPowerSystemPlugin.hh b/plugins/SensorPowerSystemPlugin.hh new file mode 100644 index 0000000..5053dc0 --- /dev/null +++ b/plugins/SensorPowerSystemPlugin.hh @@ -0,0 +1,64 @@ +#ifndef SENSOR_POWER_SYSTEM_PLUGIN_HH_ +#define SENSOR_POWER_SYSTEM_PLUGIN_HH_ + + + +#include + + +namespace simulation +{ + // Forward declaration + class SensorPowerSystemPrivate; + + /// \brief A plugin to manage the power of sensors. It reads the power load of each sensor + /// and the battery that powers it. It then adds it as a consumers to the battery. + /// In addition, a topic is exposed to activate or deactivate the sensors. + /// - `/model/{model_name}/sensor/{sensor_name}/activate`: A topic to activate or deactivate the sensor + /// + /// This system does not require any configuration. Although it requires the + /// presence of a Battery plugin in the entity and each sensors should contain the + /// following parameters: + /// - `battery_name`: The name of the battery that powers the sensor + /// - `power_load`: The power load of the sensor + /// TODO(@stevedanomodolor): Ideally this should be part of the sensors system plugin + /// This way not only can we manage the power load of the sensors but also desable the sensors + /// both for the rendering and the physics engine. Lack of public API to do this is the reason + /// why this is a separate plugin. + +class SensorPowerSystemPlugin + : public ignition::gazebo::System, + public ignition::gazebo::ISystemConfigure, + public ignition::gazebo::ISystemPreUpdate, + public ignition::gazebo::ISystemPostUpdate + { + // Constructor + public: + SensorPowerSystemPlugin(); + + // Destructor + public: + ~SensorPowerSystemPlugin() override; + + /// Documentation Inherited + public: + void Configure(const ignition::gazebo::Entity &_entity, + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &_ecm, + ignition::gazebo::EventManager &_eventMgr) final; + /// Documentation Inherited + public: + void PreUpdate(const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) override; + + /// Documentation Inherited + public: + void PostUpdate(const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) override; + /// \brief Private data pointer + private: + std::unique_ptr dataPtr; + }; +} + +#endif // SENSOR_POWER_SYSTEM_PLUGIN_HH_ diff --git a/plugins/SolarPanelPlugin.cc b/plugins/SolarPanelPlugin.cc new file mode 100644 index 0000000..bf97dc5 --- /dev/null +++ b/plugins/SolarPanelPlugin.cc @@ -0,0 +1,400 @@ +#include "SolarPanelPlugin.hh" + +#include + +#include +#include +#include +#include +#include +#include + +#include +#include "ignition/gazebo/Model.hh" +#include +#include + +#include +#include +#include +#include +#include +#include + +using namespace simulation; + +/// \brief Private data class for SolarPanelPlugin +class simulation::SolarPanelPluginPrivate +{ + /// \brief Get visual children of the link + /// \param[in] _ecm Entity component manager +public: + std::vector GetVisualChildren( + const ignition::gazebo::EntityComponentManager &_ecm); + + /// \brief Find the scene +public: + bool FindScene(); + + IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING + /// \brief Event that is used to trigger callbacks when the scene + /// is changed + /// \param[in] _scene The new scene +public: + static ignition::common::EventT + sceneEvent; + IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING + + /// \brief Pointer to rendering scene + /// \param[in] _scene Rendering scene +public: + ignition::rendering::ScenePtr scene{nullptr}; + + /// \brief Connection to the Manager's scene change event. +public: + ignition::common::ConnectionPtr sceneChangeConnection; + + /// \brief Just a mutex for thread safety +public: + std::mutex mutex; + + /// \brief Name of the link +public: + std::string linkName; + + /// \brief Name of the model +public: + std::string modelName; + + /// \brief Name of the topic where the data will be published +public: + std::string topicName; + + /// \brief Power output of the solar panel +public: + double nominalPower{0.0}; + + /// \brief Vector of strings containing the scoped names of the visual children +public: + std::vector scopedVisualChildren; + + /// \brief Model interface +public: + ignition::gazebo::Model model{ignition::gazebo::kNullEntity}; + + /// \brief Link entity +public: + ignition::gazebo::Entity linkEntity{ignition::gazebo::kNullEntity}; + + /// \brief Ignition communication node +public: + ignition::transport::Node node; + + /// \brief Publisher for the radioisotope thermal generator output +public: + ignition::transport::Node::Publisher nominalPowerPub; +}; + +////////////////////////////////////////////////// +SolarPanelPlugin::SolarPanelPlugin() + : dataPtr(std::make_unique()) +{ +} + +////////////////////////////////////////////////// +SolarPanelPlugin::~SolarPanelPlugin() = default; + +////////////////////////////////////////////////// +void SolarPanelPlugin::Configure(const ignition::gazebo::Entity &_entity, + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &_ecm, + ignition::gazebo::EventManager &_eventMgr) +{ + // Store the pointer to the model the solar panel is under + auto model = ignition::gazebo::Model(_entity); + if (!model.Valid(_ecm)) + { + ignerr << "Solar panel plugin should be attached to a model entity. " + << "Failed to initialize." << std::endl; + return; + } + + this->dataPtr->model = model; + this->dataPtr->modelName = model.Name(_ecm); + + // Load params + if (_sdf->HasElement("link_name")) + { + this->dataPtr->linkName = _sdf->Get("link_name"); + this->dataPtr->topicName = "/model/" + this->dataPtr->modelName + "/" + this->dataPtr->linkName + "/solar_panel_output"; + auto validTopic = ignition::transport::TopicUtils::AsValidTopic(this->dataPtr->topicName); + if (validTopic.empty()) + { + ignerr << "Failed to create valid topic [" << this->dataPtr->topicName << "]" << std::endl; + return; + } + // Advertise topic where data will be published + this->dataPtr->nominalPowerPub = this->dataPtr->node.Advertise(validTopic); + } + else + { + ignerr << "Solar panel plugin should have a element. " + << "Failed to initialize." << std::endl; + return; + } + + if (_sdf->HasElement("nominal_power")) + { + this->dataPtr->nominalPower = _sdf->Get("nominal_power"); + } + else + { + ignerr << "Solar panel plugin should have a element. " + << "Failed to initialize." << std::endl; + return; + } + + this->dataPtr->sceneChangeConnection = this->dataPtr->sceneEvent.Connect(std::bind(&SolarPanelPlugin::SetScene, this, std::placeholders::_1)); +} + +////////////////////////////////////////////////// +void SolarPanelPlugin::PostUpdate(const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) +{ + if (_info.paused) + { + return; + } + if (!this->dataPtr->scene) + { + if (!this->dataPtr->FindScene()) + { + ignwarn << "Rendering scene not available yet" << std::endl; + return; + } + } + + std::shared_ptr rayQuery = this->dataPtr->scene->CreateRayQuery(); + if (!rayQuery) + { + ignerr << "Failed to create RayQuery" << std::endl; + return; + } + + if (this->dataPtr->scopedVisualChildren.empty()) + { + this->dataPtr->scopedVisualChildren = this->dataPtr->GetVisualChildren(_ecm); + } + + // Get sun entity + ignition::gazebo::Entity sunEntity; + ignition::math::Pose3d sunPose; + _ecm.Each( + [&](const ignition::gazebo::Entity &_entity, + const ignition::gazebo::components::Name *_name, + const ignition::gazebo::components::Pose *_pose) -> bool + { + if (_name->Data() == "sun") + { + sunEntity = _entity; + sunPose = _pose->Data(); + return false; // Stop iteration + } + return true; + }); + + if (sunEntity == ignition::gazebo::v6::kNullEntity) + { + ignerr << "Sun entity not found" << std::endl; + return; + } + + // Check if sun entity is of type "light" and has a "direction" element + const auto *lightComp = _ecm.Component(sunEntity); + ignition::math::Vector3d direction; + if (lightComp) + { + const auto &light = lightComp->Data(); + direction = light.Direction(); + } + else + { + ignerr << "Sun entity is not a light!" << std::endl; + return; + } + + // Rotate sun direction according to sun pose orientation + ignition::math::Vector3d sunDirection = sunPose.Rot().RotateVector(direction); + + if (this->dataPtr->linkEntity == ignition::gazebo::v6::kNullEntity) + { + this->dataPtr->linkEntity = + this->dataPtr->model.LinkByName(_ecm, this->dataPtr->linkName); + } + + ignition::math::Pose3d linkPose = ignition::gazebo::worldPose(this->dataPtr->linkEntity, _ecm); + // Perform ray cast from link to sun + ignition::math::Vector3d start = linkPose.Pos(); + ignition::math::Vector3d end = sunPose.Pos(); + + rayQuery->SetOrigin(end); + rayQuery->SetDirection(start - end); + + // Check if ray intersects with any obstacles + auto result = rayQuery->ClosestPoint(); + bool isValid = result; + + std::string objectName = "unknown"; + bool isInLOS = false; + ignition::rendering::NodePtr node = this->dataPtr->scene->NodeById(result.objectId); + if (node) + { + objectName = node->Name(); + if (isValid) + { + isInLOS = (any_of(this->dataPtr->scopedVisualChildren.begin(), this->dataPtr->scopedVisualChildren.end(), [&](const std::string &elem) + { return elem == objectName; })); + } + } + + // Compute current power output + float currentPower = 0.0F; + + // Compute the angle between the link normal and sun direction + // Calculate dot product + ignition::math::Vector3d linkNormal = linkPose.Rot().RotateVector(ignition::math::Vector3d::UnitZ); + float dotProduct = linkNormal.Dot(-sunDirection); // Negate sunDirection because it points from sun to scene + + // Solar panel will not receive any power if angle is more than 90deg (sun rays hitting horizontally or below) + if ((dotProduct > 0.0F) && (isInLOS)) + { + // Calculate magnitudes + float magnitude1 = linkNormal.Length(); + float magnitude2 = sunDirection.Length(); + // Calculate cosine of the angle + float cosAngle; + if (ignition::math::equal(magnitude1, 0.0F) || + ignition::math::equal(magnitude2, 0.0F)) + { + cosAngle = 1.0F; + } + else + { + cosAngle = dotProduct / (magnitude1 * magnitude2); + } + + // Compute the effective area factor (cosine of the angle) + float effectiveAreaFactor = std::max(0.0F, cosAngle); + + // Compute current power based on the angle + currentPower = this->dataPtr->nominalPower * effectiveAreaFactor; + } + + // Publish result + ignition::msgs::Float msg; + msg.set_data(currentPower); + this->dataPtr->nominalPowerPub.Publish(msg); + + igndbg << "Solar Panel Plugin:: Current power output: " << currentPower << " watts" << std::endl; + igndbg << "Solar Panel Plugin:: In line of sight: " << (isInLOS ? "Yes" : "No") << std::endl; +} + +////////////////////////////////////////////////// +void SolarPanelPlugin::SetScene(ignition::rendering::ScenePtr _scene) +{ + std::lock_guard lock(this->dataPtr->mutex); + // APIs make it possible for the scene pointer to change + if (this->dataPtr->scene != _scene) + { + this->dataPtr->scene = _scene; + } +} + +////////////////////////////////////////////////// +bool SolarPanelPluginPrivate::FindScene() +{ + auto loadedEngNames = ignition::rendering::loadedEngines(); + if (loadedEngNames.empty()) + { + ignwarn << "No rendering engine is loaded yet" << std::endl; + return false; + } + + // assume there is only one engine loaded + auto engineName = loadedEngNames[0]; + if (loadedEngNames.size() > 1) + { + ignwarn << "More than one engine is available. " + << "Using engine [" << engineName << "]" << std::endl; + } + auto engine = ignition::rendering::engine(engineName); + if (!engine) + { + ignerr << "Internal error: failed to load engine [" << engineName + << "]. Solar panel plugin won't work." << std::endl; + return false; + } + + if (engine->SceneCount() == 0) + { + igndbg << "No scene has been created yet" << std::endl; + return false; + } + + // Get first scene + auto scenePtr = engine->SceneByIndex(0); + if (nullptr == scenePtr) + { + ignerr << "Internal error: scene is null." << std::endl; + return false; + } + + if (engine->SceneCount() > 1) + { + igndbg << "More than one scene is available. " + << "Using scene [" << scene->Name() << "]" << std::endl; + } + + if (!scenePtr->IsInitialized() || nullptr == scenePtr->RootVisual()) + { + return false; + } + + this->scene = scenePtr; + return true; +} + +////////////////////////////////////////////////// +std::vector SolarPanelPluginPrivate::GetVisualChildren( + const ignition::gazebo::EntityComponentManager &_ecm) +{ + // Build the prefix for the scoped name + std::string scopedPrefix = this->modelName + "::" + this->linkName + "::"; + + // Find all visual entities that are children of this link + std::vector scopedVisualChildren; + _ecm.Each( + [&](const ignition::gazebo::Entity &_entity, + const ignition::gazebo::components::Visual *, + const ignition::gazebo::components::Name *_name, + const ignition::gazebo::components::ParentEntity *_parent) -> bool + { + if (_parent->Data() == linkEntity) + { + std::string scopedName = scopedPrefix + _name->Data(); + scopedVisualChildren.push_back(scopedName); + } + return true; + }); + + return scopedVisualChildren; +} + +ignition::common::EventT + SolarPanelPluginPrivate::sceneEvent; + +IGNITION_ADD_PLUGIN(SolarPanelPlugin, ignition::gazebo::System, + SolarPanelPlugin::ISystemConfigure, + SolarPanelPlugin::ISystemPostUpdate) + +IGNITION_ADD_PLUGIN_ALIAS(SolarPanelPlugin, "simulation::SolarPanelPlugin") diff --git a/plugins/SolarPanelPlugin.hh b/plugins/SolarPanelPlugin.hh new file mode 100644 index 0000000..998282f --- /dev/null +++ b/plugins/SolarPanelPlugin.hh @@ -0,0 +1,52 @@ +#ifndef SOLAR_PANEL_PLUGIN_HH_ +#define SOLAR_PANEL_PLUGIN_HH_ + +#include +#include +#include + +#include +#include + +namespace simulation +{ + // Forward declaration + class SolarPanelPluginPrivate; + + /// \brief SolarPanelPlugin SolarPanelPlugin.hh + /// \brief A plugin that simulates a solar panel + class SolarPanelPlugin : public ignition::gazebo::System, + public ignition::gazebo::ISystemConfigure, + public ignition::gazebo::ISystemPostUpdate + { + + /// \brief Constructor + public: + SolarPanelPlugin(); + + /// \brief Destructor + public: + ~SolarPanelPlugin() override; + + /// Documentation inherited + public: + void Configure(const ignition::gazebo::Entity &_entity, + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &_ecm, + ignition::gazebo::EventManager &_eventMgr) override; + + /// Documentation inherited + public: + void PostUpdate(const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) final; + + /// \brief Set the scene + public: + void SetScene(ignition::rendering::ScenePtr _scene); + + /// \brief Private data pointer + private: + std::unique_ptr dataPtr; + }; +} +#endif // SOLAR_PANEL_PLUGIN_HH_