ELF@P @8@@@888.ppp$$Ptd4 4 QtdRtd888GNUmEM ~:Mc1¢ p Co ; u2+rb  )0~;    F" E yf p6R I    - 9A1 o b J Q _x    C { P0b    Y  0 g s %= {Uvj J%   r_z A  UD 8  { na  hl  a!     &  {<  S  ]  M}0, [j ?    )j #]T+ KP 5  $__gmon_start___ITM_deregisterTMCloneTable_ITM_registerTMCloneTable__cxa_finalizePyTuple_NewPyDict_New_Py_TrueStructPyDict_SetItemPy_EnterRecursiveCallPy_LeaveRecursiveCall_Py_DeallocPyErr_OccurredPyObject_CallPyExc_SystemErrorPyErr_SetStringPyExc_AttributeError_PyDict_GetItem_KnownHashPyFloat_Type_Py_FalseStructPyExc_NameErrorPyErr_FormatPyObject_GetAttr__stack_chk_guardPyTuple_TypePyList_TypePyMethod_TypePyCFunction_TypePyType_IsSubtype_Py_NoneStructPyObject_IsTruePyObject_GetIterPyExc_ValueErrorPyGILState_EnsurePyGILState_ReleasePyExc_StopIterationPyErr_ExceptionMatchesPyErr_Clear__stack_chk_failPyLong_FromSsize_tPyNumber_AddPyObject_RichComparePyErr_SetExcInfoPyFloat_FromDoublePyObject_SizePyLong_TypePyLong_AsSsize_tPyUnicode_TypePyUnicode_New_PyUnicode_FastCopyCharactersmemcpyPyObject_GetItemPyNumber_IndexPyExc_OverflowErrorPyObject_FormatPyExc_TypeErrorPyDict_Size_PyObject_GC_New_PyType_LookupPyErr_SetObjectPyLong_FromLongPyLong_FromSize_tPySlice_Newsin_Py_BuildValue_SizeTPyExc_IndexErroratan2PyExc_ZeroDivisionErrorPyExc_UnboundLocalErrorhypotPyExc_AssertionErrorPyErr_SetNonePyErr_FetchPyBuffer_ReleasePyErr_RestorePyBaseObject_TypePyList_NewPyList_AppendPyNumber_InPlaceMultiplyPyObject_SetItemPyNumber_MultiplyPyNumber_SubtractPyNumber_FloorDividePyNumber_RemainderPyNumber_MatrixMultiplyPyNumber_NegativePyNumber_PowerPyErr_GetExcInfoPyNumber_TrueDividePyTuple_PackPyNumber_InPlaceAddPyExc_BufferErrorPyObject_SetAttrPyUnicode_FormatPyLong_AsLongPyMem_FreePyMem_MallocPyErr_NoMemoryPyBytes_FromStringAndSizePyBytes_FromStringstrlenPyBytes_TypePySequence_TuplePySequence_ContainsPyUnicode_DecodeASCIImemsetPyList_AsTuplePyObject_GC_IsFinalizedPyObject_CallFinalizerFromDeallocPyExc_NotImplementedErrorPyObject_InitPyObject_GC_TrackPyObject_GC_UnTrackPyObject_MallocmallocPyObject_GenericGetAttrPyObject_GetBufferPyThread_free_lockPyObject_GetAttrStringPyDict_SetItemStringPyThreadState_GetPyInterpreterState_GetIDPyExc_ImportErrorPyModule_NewObjectPyModule_GetDictPyExc_RuntimeErrorPy_GetVersionPyOS_snprintfPyErr_WarnExPyUnicode_FromStringAndSizePyObject_SelfIterPyImport_AddModulePyObject_SetAttrString_PyInterpreterState_GetConfigPyUnicode_InternFromStringPyUnicode_DecodePyObject_HashPyImport_GetModuleDictPyDict_GetItemStringPyType_ReadyPyWrapperDescr_TypePyImport_ImportModulePyErr_WriteUnraisablePyExc_RuntimeWarningPyCapsule_TypePyCapsule_GetPointerPyExc_ExceptionPyType_ModifiedPyDict_Type_PyDict_SetItem_KnownHashPyType_TypePyCMethod_New_PyDict_NewPresizedPyCapsule_NewPyThread_allocate_lockPySlice_TypePyIndex_Check_PyList_Extendfree__memcpy_chkPyObject_FreePyUnicode_JoinPyUnicode_AsASCIIStringPyObject_Str_PyBytes_JoinPyInit__rotationPyModuleDef_InitPyUnicode_FromStringPyObject_ClearWeakRefsPyObject_GC_DelPyMethod_NewPyUnicode_FromFormatPyTuple_GetSlicePyTuple_GetItemPyFrame_NewPyFloat_AsDouble_PyObject_CallFunction_SizeTPyExc_GeneratorExitPyErr_GivenExceptionMatches_PyObject_GenericGetAttrWithDictPyObject_RichCompareBoolPyErr_NormalizeExceptionPyException_SetTracebackPyImport_ImportModuleLevelObjectPyDict_DelItemPyMethodDescr_TypePyDescr_NewClassMethodPyClassMethod_New_PyObject_GetDictPtrPyObject_NotPyTraceBack_HerePyUnicode_AsUTF8PyCode_NewEmptymemmovePyMem_ReallocPyExc_DeprecationWarningPyErr_WarnFormatPyGen_TypePyCoro_TypePyFunction_TypePyIter_SendPyAsyncGen_Type_PyGen_SetStopIterationValuePyExc_StopAsyncIterationPyDescr_IsDatamemcmpPyRun_StringFlagsPyObject_IsSubclassPyTraceBack_TypePyObject_CallObjectPyObject_CallFunctionObjArgsPyArg_UnpackTuplePyUnicode_AsUTF8AndSize__vsnprintf_chk_Py_FatalErrorFuncacosPyErr_PrintExPyDict_NextPyUnicode_ComparePyThreadState_GetFrame__getauxvallibm.so.6libc.so.6ld-linux-aarch64.so.1GLIBC_2.17GLIBC_2.35' =0H==8@HPX`hp p           h  p  x    x  H  h  x 0 h 8 x P x `  h  x    H  P     0  @ ( H 0 P 8 ` h                     ( 0     ( 0 p 8 x @  @ H H  P  X " `  p @# x H# P#  `  H P x    H `   C   ( @  P c0 X 8  @    @  `I  h( @C0 F e( @ Pi CH 0f  jh Cp G fh @ j 0D 0g  tk D pG( g  lH D 0hH `       H (  h m h l( P PE G  p I 8  p H 0  J  ( E0 PHX @ h  ( @ 0  $F td P   H  X    @/     Ш0 p 8 x @  x x * x  t   t    0  8 @ X 0` h  @  P D  ` D  p 0 ( 0H P `p x `          8 @ PH `` h p     @  H P X 0h 0p x @ H h  x  ( 0    =  P Z X     @NP X Pp (x Q @ `  N  DT( H0 VP PX x ` R h S x  0 X@ H ` h @    @  pN ( O P0 08 @ @H 0` S   (   MH P  <h p 0 ( @    `  S@ H 0MX   p   (   8  0   ( p 0 8 d[H  P HX h P p `x   X    (  pz @ 6 0z h   q   ( d 0 h8 H \ P pX <h [ p x @M pH  y D   pB `  =    @8  x t( 3 0 `8  H 2 P  X h p* p x     (    `e  Sh i    " P (  $  $ ( H $ P Pp $ x  )  (  %  p$  8  @ ` @ h ` P  X   P   (  0 P  X  x `  H 0      X @ ( H @h  p    P P X    Я0 H 8 X  ` @  Ю 0 ` ) 0 #  ) ( H ( P  p ( x p   %    *  @8 % @ (` $ h  H(  X( @ ( | ((  @r( 8( 0 jP  X `jx  # 0j # j ( f % f  pf@  H Pfh (# p Hf ` e  e  e #  e0 ( 8 XX ( ` pQ h( H x( @A ( : ' 9 ) ( 9H ( P 9p ( x 9 ( `9 ( @9 (  9 p(  98 ( @ 8` P( h 8 0( 8 `( 8  ( `8 @(  @8( ( 0  8P ( X 8x ) 7  ) 7 # 7 $ p7 ' h7@ ( H X7h ) p H7 ' `-  X- (* P- 8$   -0 % 8 -X $ ` , % , ) ,  ,  , h ( ,H * P ,p  * x , 0* , 8* x, @* p,   h,8  @ `,`  h P, ' @,  0, % (, p   ,(  0 ,P  X ,x * , @ ,  +  +  +@  H +h  p + @ +  +  +   +0 $ 8 P+X " ` H+  H+  % 8+ H (+  +  ( *H * P *p * x * P *  * % * 8  *8 ( @ `*` x% h @* %  *   *  *   *(  0 )P x X )x P )  ) X )  ) ( )@  H )h  p ) P# )  ) h ) `  )0  8 x)X % ` h) P  `) x  P)   @)   8)  H# ( 0)H  P ()p # x  )    ) '  )   (   (8 X @ (` ' h ( '  ( `  (   (   (( * 0 (P * X `(x   X(   P(   H( %  @( @  0(@  H ((h x p ( p  ( *  ' *  ' %  '0 $ 8 'X # ` ' x  '   ' P  '   p'  x$ ( P'H  P H'p  x @' @  0' *  (' (   '   '8  @ '`  h ' +  &   & *  &   &(  0 &P + X &x " & ' &  &  &  x&@ 8 H p&h  p h& $ 0&   &  &   &0  8 &X ' ` % X$ % h$ % @# %  % ` ( %H  P x%p * x h% 8% P% x @% 0) 0% 0%  %8  @ %` p h $  $  $ * $ #  $( ( 0 $P  X $x h  $ '  x$   h$ %  `$   X$@ * H H$h * p 0$ x*   $   $ (  # $  #0 8 8 #X  ` # 0  # p*  # '  # 0  #  ($ ( P#H 0$ P #p  x #   # H*  " '  "   "8  @ "`   h " h*  " h  " `*  x" X*  `"( H 0 X"P  X P"x %  @"   8" $  (" h   " )  "@ * H "h ) p " X%  ! H%  ! h%  ! @%  !0 @ 8 !X p ` ! H  x! ()  h! P*  `! `  P!  ( ( H!H @$ P  !p $ x ! $    H    h    $   8 H @  `  h     x    p   $  @  #   (  0  P  X  x H  X `hpx%'+-=AGHIKLVY_mopqt v(y08@HPX`hpx     ( 0  8  @  H  P X ` h p x          ! " # $ % & ( ) * , . /  0( 10 28 3@ 4H 5P 6X 7` 8h 9p :x ; < > ? @ B C D E F J M N O P Q R S T U W  X( Z0 [8 \@ ]H ^P `X a` bh cp dx e f g h i j k l n p r s t u w x z { | } ~  ( 0 8 @ H P X ` h p x                       ( 0 8 @ H P X ` h p x                       ( 0 8 @ H P X `  {{_{0G?    0@ 0@" 0 @B 0@b 0@ 0@ 0@ 0@ 0"@ 0&@" 0*@B 0.@b 02@ 06@ 0:@ 0>@ 0B@ 0F@" 0J@B 0N@b 0R@ 0V@ 0Z@ 0^@ 0b@ 0f@" 0j@B 0n@b 0r@ 0v@ 0z@ 0~@ 0@ 0@" 0@B 0@b 0@ 0@ 0@ 0@ 0@ 0@" 0@B 0@b 0@ 0@ 0@ 0@ 0@ 0@" 0@B 0@b 0@ 0@ 0@ 0@ 0@ 0@" 0@B 0@b 0@ 0@ 0@ 0@ 0A 0A" 0 AB 0Ab 0A 0A 0A 0A 0"A 0&A" 0*AB 0.Ab 02A 06A 0:A 0>A 0BA 0FA" 0JAB 0NAb 0RA 0VA 0ZA 0^A 0bA 0fA" 0jAB 0nAb 0rA 0vA 0zA 0~A 0A 0A" 0AB 0Ab 0A 0A 0A 0A 0A 0A" 0AB 0Ab 0A 0A 0A 0A 0A 0A" 0AB 0Ab 0A 0A 0A 0A 0A 0A" 0AB 0Ab 0A 0A 0A 0A 0B 0B" 0 BB 0Bb 0B 0B 0B 0B 0"B 0&B" 0*BB 0.Bb 02B 06B 0:B 0>B 0BB 0FB" 0JBB 0NBb 0RB 0VB 0ZB 0^B 0bB 0fB" 0jBB 0nBb 0rB 0vB 0zB 0~B 0B 0B" 0BB 0Bb 0B 0B 0B 0B 0B 0B" 0BB 0Bb 0B ?#"BG{S[uc3~~` !D ~A@!!G A Ҹ @A Ҳ x@OE T~A`!!G X`OE қ `@҂D ~A@"BG u ҡA @ҡ~AE| X~A@҂Du `@ҡ~ADm dA g | @ҡ~A"_F_  "BG!_F ~A@P`OE`I `E`DDA `D`ED9 `D`҃DE1 `E`҃DD) `D`ED! `D`DE `A@ҡAA$RAD RAAR @A  A  |~A@OE A   #cG` \A  @A  A  "BGDt A Ҿ `ңAA!xG DA ү@A Ҫ ҁAA ҟ@A Қ&A ҕ:A Ґ @A Ҋ A ҄ A ~ A y ,`A s B m =z"_FA@!1@TA aA]`aA X` `aB S aA M`aA H```c BbB! @@```#GGG6 bA`_RaR`AD`B*A `cGg@eAc.BGaAbRbADa2BR@R& `6e:Bd>BC@>@:@bA5RDaBBtGR`R aFB `J`aNB `RaVB `Z a^B `bafB `je:Bd>BC@>@:@DbA@aBBR`R Z{BSC[DcE3@#_?#{S*[5 GT,*@7р`*  G@ 4CRSA[B{è#_?#{S[\@"AD?T@ T T G!@GB@1@T?!8Y@7!aM@Ђc B`$R`6ЂcB$R7ЂcB $R7Ђc@BRw7[BSA{è#_?#!!G{[ScksWlB"@җR DT TG! @D  B`!RcRxҀjb8ajb85!Q!?$qhTkTB_T$#RK39`ja8q!T4Є!CB "W"7 QB_$qiT#Rh!8!?TҔ @s4d s `B s!!XG`"BGlH  @o1@TJ @@1@TЀ`#n` @1@T#d t @1@TbD!#lBb` 7L@R@q hDs"t@t a@9b@9`@!*?rTa@9a4 a A!тa @!6a@ @`@@Tss:R6Rs:R6Rs:R6Rs:؍R6Rs:R6Rs:8R6Rs:XR6Rs:R6Rs:ؒR6Rs:R6RG ,7ҥ 6 Ҡ @6@қ 5`Җ L5ґ `4ޖ``3`) x25ҀE`@22ՠy` 1আ@t`0 &`o 0j \CDs! /vzB ~B~ @By tBt Bp"Bl@Bi Bd B_ > ?7 Gb@@!1@Tb@!1@@Tb@!1@@Tb@!1@@Tb@!1@@T B7! $:@8SGT@cc @%@` @!@$"@T@cc @%` @!`$ @T@cc` @%@-` @!$@@T@cc@ @)`s B`nBa&C`778@7B97!87B(97.8@7B59 7Ё!-;XbBb a*t 7@a A0 7@7Гs yHe@7x7B->bA@,PeХ!c9x(FD F`7`A>A 7U7>AbNsB B@0!2bx, 7`@NA7;@7c#jc#B$RsҌ @s:XR6RlBD**4@lB @_l7!aN T G!4@nBZ_s:XR6RnB6s:ҸR6R`@7``'$3@B%DR 7 B %DRI/ B`%DRF' DRB%   @B%$R @B%$R @B'$R @B&$R @B@&$R @B&$R @B&$R @B&$R @B '$R @B`'$R @B'DR @`@ 7`0s:XR6R1s:xR6R+s:XR6R%s:R6RF@5'`G"!(@s7 D!R@@7!Ak)x`" 4sss:R6RR`DM ,aDD!7@7`FR`E9 aED 7@7`3RpC%D!|D7@7` Ҥ#F`@1@T`@RtC@7`!FM!FD 7@7``@7`` r#WF`@1@T`d@"RxC`@7``!WF!WFDQ7`@7``@7`cCK@)@!)@7!aa@G?TTG!*@`@ 7`8a@@|7!aa~CTG!*@@3R r?kT~CTG!@@ ?**! +z~CLC?0qT~CTG!LC@ ?*!`,Rh~CHC?*5TG!1@\q`TTG!1@SsxRs:vRss:RRsRs:Rss:8RRsxRs:Rss:RRss:XRRRsRs:RsRs:ss:XRRRsRs:ss:XRRRsRs:ss:8RvR\G@g4â"3uRa;RNi7AB :#`@7``@RuR>RuR8@RuRA@@2@0@.â**"3ss:RRHx;RuR @ @@r?B$=$@=C,DD` Fc,B+ ҈$|J,|_e6=>=:A*@7`v` F!@!C)7@7`g` FX` FAcG(@)@7`U` FAcG@`(7@7`H` F9` FAG ''@7`6` FAG@&7@7`)` F!` F!C% &@7`` F!@!C %7@7` ` F!` F!C#@$@7`` F9@!Cy@#7@7`` F` F!F@"i"@7`` F!F@Z!7@7`` F` F!WF| J!@7`!WF` F@: 7@7`` F` F!F\*@7`` F!F@7@7`` F|` F!C<@ @7`x` F@!C7 @7 `j` F\` F!C  @7 `X` F@!C 7@7`J` F:{CyC\D`aC6@7 aC 7aC`7(ss:بR`Rss:8R`Rss:ҘRiRsثRs:hRs8Rs:iRss:R6|Rss:خR{Rss:8R6|Rss:ҘRRsرRs:Rs8Rs:R|ss:RRvss:شRVRpss:8RRiss:ҘRRbsطRs:vR\s8Rs:RWss:Rv*RQss:غRV*RKss:8Rv*RDss:ҘR6:R=sؽRs::R7s8Rs:6:R2ss:RV=R,ss:R6=R&ss:8RV=Rss:Ҙ”RVERss:ÔR6ERs8ĔRs:VER ss:R`Rss:ŔRURBDB  dD@cD"@@@МGBT# @@|S|Sss:ƔRv_Rss:8R6Rss:XR6R 5`@7``/  cD4BCBDz"@@0BT# @ |S|S ss:XȔRbRǔRsv_Rs:D5`@7```BD!C G҆a@7!aaY s*`DCg`*7`@7``@7`BD  @`(`D!tGK@(7@7` ҉`'bCaC:@'7bCaC5 '7bCaC0'7bCaC+&7bCaC&&7bCaC!&7bCaC&7bCaC`&7bCaC@&7bCaC &7bCaD&7bDa D%7bDaD%7bDaD%7bDa"D%7b&Da*D`%7b.Da2D@%7a6D D%7@7`TA3@#cJE8D`@`#7@7`=`JE.aJB`.C."`Bw@7!A,aRB`.C `Bw@7!AaZB`.C`Bw@7!AabB`.C`Bw@7!AkB/CB@7!As"7`C5`G3`K1`O/`S-`W+`[)`_c A3b@`As`Bb `j@a;DG@R 7@7`GA3`BThC8D`@<7@7`kCcD  D!@#7@*7 *Nss:ɔRUR%ʔRsURs:ssb8˔Rsx˔Rsbss:x̔Rsи̔Rs: s̔Rs: s̔Rs:s͔Rs:s8͔Rs:sX͔Rs:sx͔Rs:sИ͔Rs:sи͔Rs:s͔Rs:s͔Rs:sΔRs:s8ΔRs:sXΔRs:sxΔRs:sИΔRs:sиΔRs:sΔRs:ssbДRVRsXДRsbVRssbєR#RssbxӔR$Rssb8ՔR6$Rssb֔R$RssbؔR$RssbݔRDRsݔRsbDRssbXߔR|RsߔRsb|RssbRsRsbȔRsbRs:{!G@"@c@T{RSS[TcUkVsW#_?#{{# @@BGcH@T#Rҳ?#{ G@4@4n @{¨#_?#{SAGmR]BRU* 7 *SA{¨#_?#{S w @1@T`@b@T@ 7hG@! @(@@?ThG@! @G@4 `7@T7@1@T`@`7`Oҿ@SA{è#_?#{S^E[ck+w G>Eqk^EGi@TRu>E ! TGAGETAGEMBETBE: Q*5L@AGE{7@BE*6/T`Ra3EA/E2`5A/E@a3EZ7@A/E*6TG@! @[R[B*SAcCkD+@{ƨ#_?#{S(!HE@7`@7``RSA{¨#_?#{@cG_T@@`@`ҿTxdaT @TGT{# @!@!4G_T{# @ {# ?#{S G@4SA{¨#_SA{¨#_?#{S BG!``7!BE7! 7a!#BD7@ ! R0@7!A`@`7`kG"!`%@ 6@7р`SA{¨#_?#G{C[*Kg@'S*ck s @';"@ҭ~@a!`+B`5W!+8 5M!,.5~@C!`,$@59`!,5`/!,` 5@! - 5!@- 5!- 5!-` 5@!. 5 @!@.5@!. 5@@@X@!.@&Ҡ! }{ywusqo@`CG'@@B@T{ESF[GcHkIsJ#_?#CG{ CS[*@gҳ @T@@7hG!.@n%eB iT`G!/@\qEbTB`1.Ҟ6Gg@@B@Tb{MSN[O@C#_ {e S{ ,9_G@T_  Հ #! #?T!8Ga_ր #! #!"A !ABGb_ { `Bc9@7DGB9 R`B#9 @{¨_     ?#{ R{#_ ?#{S[ @ @!1@Tt` BG!pD7@@@ `85?7`@7`@7рSA[B{è#_@6SA[B{è#_`@5R7``@7р*BhRc`c:@:USA[B{è#_`@R65R`@7`ՇRb`ՇR,Ga!@9@?#{@5@@{è#_ր#S@@`@@@`8n`5?s`@7`SA}R@"`Rc`c:;{è#_Ga! ;@ARb`R},Ga!@9@ SA|R@"`R`  ?#{[#SA@l@1@T`a@#"H@@@?b@7Bbb @@Bc@B@RAARBCDE0=0=k @  #BW\R| ,Ga!@9@ @`67bRS\R}* @A@ 7!A!*7`GaB!=@+T]R3\Rc{x @7 x`GЃ!4c4@ca!> ^R3\R3YG@@4?#{{# ?#{Sx@5[v@b- @@@Ѐ#c$@!G@`T4 @ @68@`*(7@`8`5?:+@ks7Ѡ@ZG@G?$@,T@1@T@7TB4@#"H@ @z@?y@4G?oT@o@ @1@T`@1@T`@7 k@7!p`@v7`fD@`w`@7`gB5RR@A B`CcDa  E`2=c@a `2=|T g @_@T#@ @i7 R-k4Fa~bjaDbh`Ah`hch`Bb!a`)b)a)`a!`ATcT(A`#@ @qgT-q@mT!hfbT@sATAAAAL@6v @6v`@6gnGZG @n aTZGA@I7!A3RnS4#0@? "T@8@ABRAu[RXA?RAu[RSҶARu[R#RuYRC;R5[RBRu[R:BG?T!D@ ?$RuYR~&RUYRlAA60RZR"v;R5[RfB hGC+@e@c4d҉+ ?#{S[cks!ЄGO @7##`Ҁ`````K`2=2=2=:@@1:@T@@ @1@T @@1@T@ T@@7@ 6 hT#f@@@{@1@T@A@#"H@p@b@?@@[7@)`@!4G T@~МGlRR`@7`@7Ѡ,A\@T @ @qsT(q%T[A\@T @ @qmrTr(_q`%T[@\@T @ @quTd(q$T**C@c: @ @&7@ @7@@7%@ @7 # @7  "G7D@BT@!SA[BcCkDsE{ƨ#_,6 T# M@BH@@?;a@4G?aTs@3`@w @1@T`@1@T`@7``"@Ya@7!a @@7`#@H@`@7``@G @7 МGtfRRA@6"Ҁ#t@@1@T#@`@$ 1@T`@@@C Wg@8|r5?r@7@7р @ @7 @МG T!G @1@T G#f@@@@p@1@T`a@`#"H@p@q@?q`@7`O@@@rT@'B'@ tRRa^ @Z@A@@7!N[A@[a7!D@@@7!:{G`@1@T`G-*%"~sG\R@R1Tz"`#x@@1@T#@`@$ 1@T`@@@C f@8''@i5?'@7g@7@C@7@C@7A:T!G' @1@T ֦G{G@'@?q$[$\7T 5'@q[\AKTe4`#\@@m @Y 1@T `##P%Q`E!#0`@@7@ W++@`l@7Ѡ`U'@q[\aCTS@7XS@j5 @a!#@!@BH@@?W@@[T@[ @ @1@T @@1@T@@7@/Z/@#@7c#@%@@7@@W @@%7!!V`#@o@@/@BH@"@?/@#@7Ѡ@< / /@@ @1@T @ E@a!#Bg`#!P@  @7 RS,)4%"@TnRGR[o~,GA!@9TnRR@GOml @@"H@@?[GA!<@ҴpRR\tpRR;iMT++@D @ۍ`@@1@T`@1@T@7ѠE`''@^B!?'N'@ TvRR@ ,GA!@9@@ TvRRO//@C8`#l@|@Q@@AT@`@ @1@T`@1@T@7@"@@@@7Ѡ@`#H@Y@7@@7Ѡ@~RSRҶ@1@TZGERC@c: R@@7@.RRҠTRR4RsRz`#l@@`@@T@ӝ`@ @1@T`@1@T@7"@^@x@@7Ѡ`#H@@7`T@@7ѠԆRӖRQ`#@@ `@7```@@T@6@`@7`@@7`!@q@?뀑T@BTBRE@Z@7ѠO*y7`@7`N` 4#!@Z@7`xS` @G `GZFR;@5"@ @|7 Rj4H`@9C8X@" ACk;@5"@ @q {T''@qO@@T;@/@3@7@ ?@B3C;C/B#C7'C?vt T#@ @qTq`T? T!#@ @q~TqT@A B`CcDa  E`2=ca `2=-Ga @nG `G@ Dx-t@!@ja @`G `G:R3R;ZWZS@tR3RһI@D@R@Z<@-8}G1@!@'"&U#{RsRR3RۯG|G|RsRy̅RӛR[4~RSR#/@a3@?@[T@B\;8G RSR{@n{G `G{ c2 @`Ҵ̅RӛRƅRR{w @@tRRoRRlҴRRFԄRR[}ҹԺR3R{O79RSRJƅRRETͅRӛRқ84RӖRgRR/z @:?@@x@1@T@@1@T`@7` CTRSR5TDžRR*{Gy,.`#!@@tR3RtׅRSRR3R{TRRR3RһyR3R4مRSRҔمRSRwa @`G `G`TR3RvمRSRхRRRӘRҨ Z@1@TWNa3#BG!pD`M7a"@BGL7#@k@@`7@@'@'@hمRSR{tRӘRvt΅RӛRlj4΅RӛRlRRgR3RAO@!1@TH`@9'CV@D A#CrL'SM`RoN5R_@;{@\T"@ @q$T/q/@CT_D\`TA @ @q<TEq:T\`T"@ @q =T/q/@ ;T;@*#@c: CC@?΅RӛRυRӛR@!1@T:H`@9qCX@ ACLRSM6RoN;{@'_@@'@!1/@@T @9HO@_RB3C;C/B'#C7'C?Kg@`YR4R;'!@ ЂR@? ;@4R4R;tRR;URӘR[T;<|FȅR3Rҡ!@ R@?!@ R@?tυRӛRҋХG.SMLoNR{@x5R;'_@MSMLoNR{@5R;'_@A!@ ТR@?!@ "R@?!@ ЂR@?@4R3R]"tR3R[IN@@@@J7IKg@J@@~7`~'@O@@O7 O'@O@s!@ R@?g!@ ТR@?bTڅRSR!@ ТR@?Z@a @nХG `GtRR@b!@ bR@?:!@ R@?5 @L7  Lr^@@J7IjLRRХGR3RY@ԥR3RһPR3Rҹ`#an@`@ 1a6@@0`@@A1Tt@1@u @1@T@1@T`@7`0z`@@7``*$`@7`$`#H@ @`@7Ѡ`k`@7`tRSRh4RR]@h7@h?@@@ 7@//@!!@ R@?@7/@ !@ R@?RRRRҴRR ҰTхRR["@`7//@4ۅRSR'@ @<7 ;@!@ "R@?M4ӅRR;vԅRRyt…RR; @@[7 ZuÅRSRҾRRқRRtޅRRޅRR[RRқTR3R߅RR[߅RRF@߅RRМG_RSRR3Rҙ.T߅RRԬRSRҎ#'@@A@C@!1@TAC@C@.!@ R@? МGlRRSԱRR[ ^tRsRқ X@RRNRR;E@|RRAtRR;5@4RR@\ҔRsR{TRsR ҩ?#cG{S[a@cG u @ TTT#cDhGE"4B@!! )AARR# c: G@@BT{BSC[D#_c@aAG@@ T{BSC[D#D#dcc TTa Ta@x#@" @YT @ @cEx#!@" @Fu @cET`<a@ =mT!$!e 6cE?Ra!G{G֚G1֚GTRtR@7р @@7@ @@@7! @@"H@a@?G!!<@2֚GԕRtRF{֚GRtR֚GtRtRO !2=HTc bRRK16T@#BABC@DE2= B0=XAGA#AA;ARn@A B`CcDa  E`3=c@a `2=P@ #@@R*3AwP @@#A! B C#D! E 3=?A+7A[A0=_A@mT@aid  /G@ O   nC@Ҡ@ /@@ @@Akd3@"@@@(b(aB@!@0 b,T!AT qTan|V9` |@G@c|!jnR !(a6A|!(`|!!k#!jo@jnON#|6(a!|k !jc@jm(ak!imic8a7@`j9@ T"@ @*7 R''@+4ky@b@ccajydBb!a+@(c(b(aa `T`ky!`k9a@!`aajy ``j9@@AT @ @qm&T'Z'@q'T@;@C@)Z#@s?TOIJ@7@@&4ڄRR+@c@a E`J@BpFARg"B!ReCcDK`2=G# 3=i>܄R!R > | ?BG#rD57a"@BG@87 @>@7@8 @7  Bt"@`|@.!i| iw@8aj`@@@8ak9jwj|8a`@(hO֚GRtR!@ R@?!@ BR@?֚GҔRuR)`6B4R3vR!@ bR@?y!@ R@?s\ҴRuR`iF7 |KB ҔRsuR֚GTRuRO @a a`TG7RL{xR~,G!֚G!@9@tRtRԙRuR@ @`7 ZW=@ @`7 NK@`7C!@ BքR@?w* 6BҴR3uR!@ ׄR@?@'@!1@T''@"@@@7!'@@c@BRARABCDE0=3=>  VBG#rDw`7a"@BGq7 @` @7 `@7р`BLBҴR3vR0hG!B @! @lR3uRBR3vR@{#TR3uRp!ҔR3uRTRsuRB԰R3wRԝR3uRBTRwRBtR3uROOR3uRBRvRBҔRSvRBԩRSvR |xitB݄R3{RBtRs{RғUUTMQgNmB݄R3{RBRs{Rx@=BTRs{R9\BT܄R3{RB BҔRs{R`B܄R3{RB4Rs{R~B݄R3{RttRsuRnԤRSuRpBބR3{RfBҴRs{R@BC ?#{{#  ?#{cGOS[cksa@ a@`!1``````2=@TaU#A@j@1@T@#"H@@"n@?@zl7р B қm`@1@T`@m#B@?7G!<@RRURӄR0@?@T` aTДG:R  hk hj!8`!(hc&AX-ADj|@jy` l!a@)b)aaДG5RӄRR_6RӅRBBBB#B'BB,G!@9R@SRG@7R @ 7рS5RӄR@< @r[ouRӄRcДG*C!@R@?U!@bR@? @!1@T* 6ҕRӄRk3@i+Ag#Bc@eCcDBa ER`3=AR 0 ( 0=f` ! ~"BG#rD`7a"@BG7 @% @7 @7BURR<@q@4 @1@T@1@T @7 6@7Bт ZqQҕ RӅRBBBB#B'Bh RӅRBBBB#B'B>#ҕRӄR2nRӄRB`5RR5RӄR5RR&5RӄRFwRӆRuRӄR7|SRӄRRSRuRRҵRRXUp53RB3RBBB#B'B.RRҌC@=:1U3R.RRq-RR\RR2R3RTY[-RRhU2RU.RRO2R3RZuRRBBBB#B'B*U RRx RR,G!@9@*H.RR#u3R#'  ?#ѣcG{S[a@ҡ!Gv @BT ThG@mT%c4DB ! SaR"|Rc: G@@B! T{BSC[D#_b@a@G@@! T{BSC[D#ՊEc4$@T `T+A!dE" @ T @+@`<=T @+@!! 6aRa@+A!8`>5?vv`@7` \@@7@ [@7 Z@7р Y@#"H@,@q@?o#(@?FT#@BR R78R R>R Rw8R R@7;R R,}$;R R?#{"[$РGScOk #V|D@ң@```````2=@D4:@1@T@!!EH@"P@?@vP7р` @RG@?T!#@ @W7 RZ4@T@6@c@/R!R`@BcAa B`CcDa E`2=0=?R T!#@ @q DT*qET ҊU U!ТBG!D/@A7@@@X8hY5`?X@7J@7ѠI@7рIG!GqAX;T@5j '@1@T``@!!EH@"?@??`@7`` @@BТc@B@RAARBCDE0=0=@ "`C D!ТBG!Dǹ&7@@@V5855?MH@7р 9@7Ѡ 8`@7` 7G!GGqAXT5@1@T5 O!```````2=o>TccBRR1`GT`@c cA a B `C#cD!a E `2=#OA! 0=l@DSCT˴Ta"@ @:7 R`;4jw `dT `Tj| `T `!T@8 `DT( `T@8 `T Ta"@ @q7Tq=T9?T Ta"@ @q@Tq@TAAO R```````2=? "Tcc"RR1@<T`@c cAa B `C#cD!a E `2=#OA! 0=SAwA7$ hb `D*T `T @ `5T `aThc8 `8T( `T@8 `(TTa"@ @qm5TKqT`@@7`I6 6FRR`H D@"H@"1@?SG!;8CRR6RRegFd>a6G! ;ҘCR@RQG! ;4RX7R@@R 7MҸCRR>@=:G! @z?8RCRR&:R!@7R@?ҘDRR @`@a `@@a`@@a hb@a h"k!@!1@T!'{Ҹ:RR4RX;R!@BiR@?!@jR@?Pa@!1@Ta ,GDR!@9R@'n ;RR۶@,G;R!@9R@`@7`AAHRײR`>RWRxxu!@?R@?``!@BHR@?W`@@7`AA~Z ?#CуcG{&@Sd@҄G BT! @G@@ca T{BSCC#LfT ՀhG@&%c4$B! 0RRc:G@@BҁT{BSCC#_%c4! @ٴ@T @#@!Cw6!/R#Ĵ@T @#@!!E" @+@  #@#ڵ ?#уcG{S[cGa@Ww @T @ThG@mT%c4DB! MRc:рRKXu@x@7@-"H@@@?@4G? T3@9 @ @1@T @1@T@7р ґ yc3@B!@1@Ta@18 @T-`@ @1@T @`T@@ T8`5?`@7`@7G@@BaT{BSC[DcE#_%c4$҆3@`F@C"Ҷe;`@7Z  @7 3@!UROL T T!!4E" @P TW@\AQRc:؀RқYҺ @7``@7`VR3@!URVR!!@@@7!4m@6sRtˀRq*!@BR@?SW[!@bR@?SW[!@R@?SW[@ 7 1`@!DBH@B@?Y@7G@+AЇ#Bc@CЃDB ER3=ARD ( 0=#!@4G?T@7@ @7 @˪Ȫ@!EBH@b@?y@7 G@+AЇ#Bc@CЃDB ER3=ARD ( 0=!@4G?T@7 @7 A@@7@¯R!Re@A BCD  E2= 3=hebi_\YVSBWB[BӳRˀRSBWB[BsR4̀R ?RSBWBˀR[BRSBWB4̀R[BRR4@T@5 @1@T@1@T @7 h@7Bтb40SBWB[BR4̀RSBWB[BSRˀR@4@ @1@T@1@T@7@ 6@7Bтb֩SBWB[BҳRˀR]RSBWBˀR[BRSR!@ @: @1@T @@1@T@ @7  @SBWB[B3RˀR.SBWB[BғRˀR%x@SW[Q?#CуcG{&@Sd@҄G BT! @G@@cҁ T{BSCC#T ՀhG@&c4$B! RRc:G@@BҡT{BSCC#_c4! @Ѩ@T @#@!!@Cn6AR#@T @#@![BSAcC{Ũ#_!@T`GTa!G @1@T @7р#@ssG@_T @ @1@T `GB`!SR@'*c:Rt3RR5@7р`#@e#@aޙ@p@Y#@R3R ?#{c-SDK@l@[ks>`@1 @T`-ҁDp@>@ 1@T-E6t@sDWDtm!@&l@7р*wK`@7`(`GbBGa!GqB*AAT@7р'sR4|DD@U@1@T`a@-"H@|@B+@?`@Y7`1d` @`G@`@GG?$@!bT@1@TC-7`4G;`G?C@@4@G@CT_*5T@xz @1@T Z@7(|DD@:@1@T@7@H@!@"C@?A@7р@$ @7@H@!P@"D@?[C`@;@%Te@E%@x @1@T@1@T`@7`"@?@TA!GOO@@4 @ @6;@>(7@8O'O@ <5`?tO@Q@7Ѡ`@7` @;@AT?@`TA!Gݘ5@7р`F_@7a @`@? DT`@1@T`b@ [x!` `@7`_X*6RzRk@7!ҹ@7р` @7 `@7` @7р@ @7 @7@k@#:*La@7!aA@7Ѡ [BSAcCkDsE{ʨ#_ǖĖOmO@@7!ѡ!P:ćR  @7 $RkST @ @68@"(7@8I5?;@`7рs=pmjgXdaO]O@Y(Qs@G@!1@TUGRRk4@G@!1@TTGaR#:R@7р*RڶRkC@ ?A!G!@A%T̖@7"@7/@@4G?0T`@7` .@7р , ǖ 3@1@TG4BBG!pDh*7K@ӵ 3@7)@7рԖ #D@"H@#@?@G!<@R_RRk`@7`ҹ_JT @ @1`T @,G!@9@ڕ Հ@7р`:ƇR‡RG@7Ѡ`v:ćR z‡R1-tD{@`@@@8% 5?r ҹ`@7`@ zRRҹkLD@"H@ @?N@8 @O@1@TO@ @1@T @7`%O@v@7BbO@O@Rfϕ4ƇRW:ƇRMR |5R1@,GR!@9@ RzRkД7Օ7@@,G!@9:ćR@ 7@@6= @p@C@ aRRuܡ:RRk]@G!<@?RҺRkP R:̇RksRҚɇRk<@@ @1@T@1@T@7р@@7Bbf^bR:Rk RZˇRk RzRk RˇRk. RŻRk)::ƇR2~?#CcG{CS[cs UGa@'Ww @R%T T@hG@mKTc4DB! !هRңc:Rn@G'@@BT{ESF[GcHsJ#_`@k x@@1@T~DDb@`N@1@T  @!DH@U@?ZP @7  F@@W6GSTA!G`T`B4A @ @A63@I(7Y@8 e5`?ДSw@@7@D@7C`@!DH@\@?\R!DÓ]@7>@GA!GqdU*dA=T`@7`@<4,F!D@BH@@?`@!DH@@?;@aT@4@ @1@T@1@T@7@7!с`@7`@87р D?@7Ҡ`@7` uRR  @7  =@@7@;@7р@;@7<Р**c:w@79`@7` 7@7р@8`@7` 5kIk `@!DH@"z@?x@@A!G ETA!@G]T4@Xj@j@!; ?9@@?x@@7@ZLE>T@@T ;T7!$F" @xDTCk Ҳu D@"H@bg@?@G!<@ҕއRWR*އRWR!GkIEBF?"<%9623=0Y[@[`@Y @1@T` @1@T @@7@Emb@7Bbӫa  e@G@~z4@, @ @68@ 6(7@825?A@@@7@' 6URRF @a ``TXG9R*@6&̐>@XG*!URwRҐ6@ @Ѡ%@@xa@1TҕRwR@7рtӑ*6RwRRWRa @n `TZZG!R@ZZG@ @)@@@`@1T`kt;MbRN@@7@7@?q*$U$AA3T @7 ` 4!D0Fa@`@@!^TT@]@\ @1@T@1@T@@7@@[`@[C!`@19 @T`{ ]@7W@7рVDZ @7 Wr@7р W RR@@,G!@9@:C*@ @ @@@1Tlۏ->@"1BH@!@?@?@@7@4 @`ET`Ҝ#RRҔ@ @[@`@1T`RRҀo `<=ATA!`6!ׇRa@0RR$ Kӏ@A7!w@* 65 R7RBh+d+@}URwR@@7@`'5RRҫ!(F" @] P AuRR Џa@7!aa ҵRwRݐ0RRRwRRwRҵRR@G! ;@R7R'@@,G!@9@@@6җR5R)RWRқ*6URwRҏ5RwR RRҀBC"ҵ"1@@1@T@1& @T`@1X @T`s `"@7р @7@'@q?j`T#RR`@7 mhfe@1@T`@k6`F"ҵ"1@`@1@T`@1# @T`@1X @T`s 6 @7р@7`-I&]#\  RwRRwRQyuRWRURRҹҵRRҲ ҕRR,ҵRWRҡRRқQ5"RRҏw @@~@@ @1@T@@1@T@7{`fB!ҚG6@@7 @1@T@1@T @7  b cB!ҖuRRuRWRMҵRRFRR=cJ`B]%URR@-# N@KF5RRRRU RRҵRR0-k RwRҵRWR5RRwRR?#{BBGS[kCA@@a FY9GY+T@Y!,T @s, @@/@_j`T_aT@@@@F2@ 6@0@2R@JACBBc@CBDB ER2=ARPH@0=0 T#@ @qm3Tq3T@4@@4`@A!GTA!@G`/T4@ 7 @6@?uAa@7!a Հ@!DFH@b@?W- d`2`@1@T``2BBG!pD "7BBG!D`'7@@@V,87,5?v2@7-@7р,@7Ѡ+ a@7!aAAAA@G@@B=TCSA[BkD{ƨ#_@F!D@BH@"1@?71f1Tό@2_3TȌ#@@4G?+T@+`@ @1@T`@1@T@7(``*A {@`aU@@ < /8ȋ25?1`@7``%@7 %D`.@7р@&G`@7`$@RY R `@7` @7Ѡ`65#@ @q-Tq@T**c:!$^` @`@@@1TnPRB 4a FB R`5F@G! ;@:1R R6R΋AAAA.@G! ;@Қ2R R6RzKRY R@7р 6R@7!@7!с<@7!сLyIFCZCR R6RiKRY RzCR R`!@NR@?` @u@@1@TZJRY R6RL!@CR@?պ@7 ^KRY R8R RҚJRY R6R:KRY Rҋ :@7!Aފ?@7`֊܋ @,G!@9@ʊNJĊ@ҙ !Ҳ:=R RVvx7R RZ8R R=z8R R5ҚGR9 R6RҺ8R R&Қ>R R:@RY Rx@,G!@9@>Rҹ R&:=R R?#CcG{[c"1S'@3y @a@_b?T? T@hG@?- Tc4DB!! Ӌ᷉Rңc: "b*R@G@@BA T{BSC[DcE3@#_w@x@"10@ D@@1@T`@ڊ@1@T@1@TU@"1.@w7`@@@85?`@7`@7р@@@7ωc4$ҘƉÉ`@UR`7``@7р @7*c: ".R`@R6@7р`?T? T5+@" @ T_@y D@"H@" @?s@G!<@R`@7`URli"1!,@" @wmTA!!! 6ᵉR(URN@7р`URURC@ϊ@`@R6<`@,G!@9@u`<=Ȉa@Èsy @ ?#{ST|Dk D@[5@c1@T``@!EH@6@?`@557`%4 @5%CCBc@B@RAARBCDE0=0=4 ұ`4 54BBGADV 7@@@V7875?܉=@+7Ѡ (@7р@(`@7`@'[{GA5T@Ѐ"14@@1@T@8@-@,@?7"1!8@V:@7$@97`@7``@7`|"1<@@1@T@8@(@(@?s6"1!8@( 6`@7``_߇@&7@7Ѡ@(@7@'"1@@@1@T@8@,@,@?2"1!8@4@7 &37`@7`*@7@* @4@A!GTA!@G 2T4@ 6 @5@?7!:T@7   @"1H@"@b1@?/ ֈ0@1@TV0ADBBGx(7`@@@548`45?5`@7``ڇ@7`Ӈ@ 7р ̇+@/ȇҹRzWR`@7` @7Ѡ@7р`@7@7@**c:# @7!!SA[BcCkD{Ө#_SA[BcCkD{Ө#_}zwtqncCSA[BkD{Ө#_b+@fD@"H@@?cOҹRURM G:VR! ;@ҹRҁZVR;ҹRVRn:WR/+@R\Ru @@@@`@1T` ҹRWRDEc@`TD@@-T`ҁx`TaT hGB @! $@c @+@R:XR1+@RYR.ֆӆه ,G!@9RWR@+@RZR+@RzZR+@R\R +@RZ\R+@yReR+@RZ^R G!<@Gc:#RUR,+@R^R+@R^R @ @`@1T`rc:#bRadR+@@v+@yRdR+@yRZeR@7!ѡAZG c:#BRaRһ+@܇+@yReR!Ep5+@YRaRr:` ,G!@9yReR@o+@d ,G!#@g8@ T G뀭T&?#O{S[cks@7 G@       3=!7@# 5G@@AB C#D!E 0=#! 0=Ta"@ @ !7 R`,43A#OA3SAsAC/A'+A*+ +@Q@IAAB3SC1KD'C E%1=#@;!  3=`c @PH@0=@ T@8RgGkTa"@ @`7 R4C`D/@#R+$Ro7@@ @"j|#h``Bh`!`ccBb(c(ba (`@U@T @ @qMTjq@T3@ATGG@7@@4@ @w}RR@yRxRU@T @ @q$TDq@T@7р`@6@78 **c:$dU Ta"@ @qTq T;@U T @ @qTqT GA@Ba)TSA[BcCkDsE{ƨ#_!@vR@?aa@!1@Ta^!@bzR@?@@a7!~ G! ;5G@pRR(;@RsR!@pR@?6|DD@C@1@T@H@!D@?C@7рCP@CHAc@@BBCBDRE!R0=QIA 1=܆@!!4GT!!GT,5=@7 @7@~O`@1T`@@7!!o'@@ @1@T @1@T @7@@7BbOL @ @@64@ (7@8 5?X @7@4!@BR@?!@bR@?!@BR@?`@7`;@ @@7 C`D@"H@@?C G!<@@wRRҲ@RRC3@RR@7`@RR҉@`6@RRӃuC ,G!@9@ ?#{{#լ  ?##cG{&@S[cks5Gd@{"4AT4 @@1@T~DDb@ 4T@1@T  @!DH@@? @7 M@!!4G@T!!GT`5&ҡRR @7рR @7 R@7@O@@7@`O`@7`@wЀ*c:%`@u7`@K@7рJ@7@I@7Ѡr`@ 7`"ƀKT hG@=c4$҂B%! R҃Ѐc:%bRt G@@BT{PSQ[RcSkTsU#_ց @ @63@l(7@85`?@7р:@7р9`@!DH@u@?uD?8T"@  @`@@@T@  @!ƈRRc4! @n `T G4R* !@6e7/ ^<МG G *<*`6ឈRRҌ6 @= @@@1TT݀؀@@р@@ʀ@@gÀ@@f! @{[@ #T{@d`@7` S3sGҁRR95,Ӂ*6aRR  @7 `~@@w@) r @nj@4#`@1< @T`{ P{@7N@7ѠM~Ds@{@A#1 BH@!d@{@? @{`@7` c@@#1"H@h@@?U@7d@@pT@p@ @1@T`@1@T`@7Ѡ ig@@7! |`@7`@c@"B@G G?$@T @T@?끁T@@1@T@1@T@7рj@@#1"H@ @}@?}Z#1Ao@0~ Ұ~ 3@@"BG!pDS@`n7@ @7  v`@7`v@7u`@`6@6z|@!!!%6ARYh  @CҚgD@"H@bk@?e{*@6RvRgҁRR @ <@@1T%RRNk@y`@ @1@T`@@1@T@@7рMb@7Bb s,)RARRҴ~@T!hF" @!@@{NҟWNa@7!a!~^~9 G~:~aRR!DpF a!D`b@@WT@uW@ @1@T @1@T @7рT-`@7``K @_7 ODd@7р@Q@7ѠPaR6RҡRvR&S D@"H@b_@? G!<@3sGᔈRRᦈRvRg ,G!@9@~ `@7`R3sGRC~ARvRET3sG!RR 6 @XD@"H@BY@? @@V|VaRvRүRRvRң @j3sGҡRRғҡRvRg G! ;@vR*~aRy}}<@\@4 @1@T@1@T @7 <@7Bтb }ҁRvRI!DtFr@NADm`O#RR4P@7р@<~`ST3~S @@HT:@ZH@@4 @1@T@@1@T @7 `E`S~GE#zcex f`Q`@7`C@7рBDZ N @7 Eһ@7рBaRR?aRvR8@8y@5 @1@T@1@T @7 *@7Bb"}}%~BD@"H@bC@?@RRҢ}~ᵈRRҒARR҉~|ARRy~ @ҡRRl||@y @9Qa@ @1@T @ @1@T `@7`(@ "@N7B"N|qRR;RR-|y @j @u@1@T @1@T`@7`%`V}>C ҁLjRR aɈRR-~ @$ҡɈRRX|ՈRR G!<@}ҁRRᦈRvR}0|ʈRR}ˈRRҷ|[|u|{ S |@M|O|QT@͈RRn}ҡӈRR҆V@{ӈRRY!ԈRRT{ ,G!@9@|ARVRaԈRR:ҁRVR/{aRVR"(}@7р@5p@??@?Aҽ@ 7@7N}R6Rw{!ՈRR G!<@}@RvR #} @6W{T{EQ{N{K{@ |%RR8{aRR*{ҡRR `GB!=@|᪈RR G!<@|ҡRRҖ|ARRgaRRdRR|!RRNR6Re{z'ЈRRYz@1ҡψRR)5@7@ 4шRR8z@@шRR%I!ƈRR?#{{#m?#C#cG{S[c6֚Gd@4G[8@BQ `PT5TxO3:Tks8 @@1@T@1@T:T@QTй|D D@Z{`_@1@T@A@ 1"H@@„@?ۄ@@7@@M`@!!4G7렅T @" 1!!GT@@CT{C5ϚT`@7`Q @ 1"D@y7@BDy@7@BDy7:@@y7:@@~y7:@@yy 7T#D BD@/``@1@T`ؽ@<CG"BG?$BT@_AT @?AT@ @1@T @ @1@T @7 @@?$\!T@_T @?롩T@@ @1@T @ @1@T @7@@?$B!T@AT @?롼T@@ @1@T @ @1@T @7@T|D@ @BH@! 1!@b@?@@7@U|D@ @BH@! 1!@b@?@7ѠXy@@@7@@T(z@`R;R %R`@7`E@7 E@@7@@E@7 B @7 @b@*c:&Ҍ@7р>@7р`_/@ @7 @=`@7`< @7 Z@ @7 Y@ @7 Y@ @7 X@ @7 X@ @7 W@ @7 W+@ @7 V'@ @7 @Q#@ @7 P@7P@7@Pk[s\T @37@ksS hGcd@4B`&! FzR҃c:&"R G@@Ba]T{WSX[YcZC#_ hGc@T`@!DFH@\@?\| @asB#"c@B`@RAR`A`B`C`D`E`2=0=z`b 0yh yl"BG!pDy@P7"BG!Dy`U79`@7Ѡ ,`@7` +@@7@@+3@ G?q$T$Va$T&4`x@1@T@1hT1!/a @ @6:@@(7u@8w 5@?yyR#R /3ks7@3ks TTDTx T! @pw,iT@3_UksowСF!F@BH@@?}@ 4G?A[T@[@ @1@T@@1@T@@7р@7!сa+|@@7@`@7 Gw?wrСF!F@BH@B@?܂@4G?aZT@4Z@ @1@T@@1@T@@7р`gw`@7!с\w |@@7@`Sw@7!GQx D@"H@@?Ga!<@xR Җ#R/$w !ww3w3@' w'F G#; w#F;@#w#F?x6RV"R /@1@T/v]vvvrvmT 1 !p@" @wHv,vQvgD" @ 1@@1@T@@( 1@T @@1A @T @ @ 1@T @ Ҋ@@7р@B`@7` B|D @! 1!@C@@7V@7@뀐TEw ACR&R @7Ѡڢ@@7@ ' Qv'F G ' Jv'F GGCv@v=vu:vy7v{4vk[s\/v/,v3)v7&v;#v? vCvGvKv vw R Җ#R/z@zz@@u @1@T@@1@T`@7``F @ 1B@=B@7BBbuR#R /R6"R /XRuT <!@W=KuT!!!@C`&`6RRRR#R[w R 6"R/@|uR Җ#R/& R#RGa! ;@6"Ru`R /@R#RpR 6"R/ <W=t T @ 1!x@" @9v`v`R $RR 6"R/ R v%R`R 6"R/|f<LUT`G_!4c4@ca!>nv@ !Rv%R y'R Җ%R+l9@1HUT`G_!4c4@ca!>;v@(R%R +G @ 1!t@" @u@Kwt@st /R Ҷ%R)@@iG" @ 1@@1@T@@( 1@T@@@@$ 1@T@@@@@$ 1@T@ @# /@Z@7р``@7``v@[@@7@ @@7@`"|D?[ @! 1!@ؓ]@@7@3 @7@@_Tt@@!MR6&RTT @ 0R%R R 6"R/s@ R "R/usJs6R %Rp@@(u@`@7k@9p@ ?  ?  ?AҾ`p7@7Ѡ`xR "R/6R %R3u@R 6#R/u#RsC"Ms@"@7R %RR 6#R/,s@ t@@7 a@;p@`?`?@ ?A< i7@7Ѡ{fs7R %Rt hG" @ 1@@1@T@@$ 1@T @@1A @T @ @ 1@T @ Œ@N@7р`@7`t@ O@7Ѡ@@7@|DԒ@@N @! 1!@l@P@7Ѡ(@7@STmsC`VRV&RFU @&@C@1@T`@1@T`@@7@SOs@dB!ҕkr@as@@7P@:p@@?@?@?A}b7@7Ѡ`Ir=R %R R v"R/`GaB!=@s@]@?R &Rsr@P# rCF?R &RqCHq@H`GaB!=@s@[@o@ @1@T`@1@T`@7Ѡ@VrC gB!҈tDh" @ 1@@1@T@@' 1@T@@ @E 1@T A @ 1@T @ C9@7р `@7`  sC@; @7 @@7@|D@ : @! 1!@DC: @7 %@@7@JTEr@ @`Rv&RER&R#SqC`GaB!= @r @X@GR %RHR 6&R,Ga!@9@tq4(qC'#qC'@IR6&R qCq@: @ڠ@@# @1@T@`@1@T` @7 Pq@@gB!ҚgJ" @ 1 @ @1@T @1) @T@@@4 1@T@@ @@@% 1@T@@@ @ 1@T @ C`>@7р`@7`rC=@7@@7@`@7@`ATҔ @7р@@>`@7`|DC!EIA`@7``|D@W @#! 1!@8#@W@@7@`(@7@ ^T`#9q#@  lRҖ&R+ OR6&R Fp@BpPR&R@RRV&R*pCx'%pC'@mRRV&Rppsp$Rv%R o@W @U@ @1@T`@1@T`@7MpCdB!ҕo@aoyXRV&RsoBo<@,R%R +Y@ZR6&Rm[Rv&Rdo,\Rv&RXG%@@@1@T@D@ @@1@T@E@ 1@T# s#@ =@7р`@7`@@!D2`B#RR!##@B@7 @1p| @ 18@ @ 1@T @@7@wT@#p#@!tR Җ&R+kB3R%R ,o"(oCK##o#@I@ @C @1@T `@1@T`@@7@<'oC'@`҇jB!҉Ҡ@7Ѡ`+4%Rv%R #R v%Rnm@+R Җ%R+n#@WbR v&R^6Ҽ dR V&RpҠ@7Ѡ*Ő4@-R%R +C@fR %R+Nu@@z @1@T@@1@T@`@7`pҎ}6 sn@v hR Җ&R+"gR Җ&R+Yn2R Ҷ%RҠ@7Ѡ`$^4@4R%R !Ҁ#  $#@@7р`@7` @ @7 |D>@ @! 1!@ՍCb@7 |D*@a#!ECe@@7@  #oC@cTnCa@'nC'@_ @ 18@ @b1@T @a7@ OT@nC~R &R+j#m#@hR Җ&R+WhR Җ&R+M6Zksnnm'm'Dw#m#@}m@nR Җ&R+$#mC|mC|@4R3 @@@ @1@T@`@1@T`@7L 9n D{gE!҂Wm oR Җ&R+`oR Җ&R+@vRҖ&R+ xR&R '(mC'@#mR!@!1@T!}i C;@7р4@75 mC: _nC@< @! 1'BD!,@|nC'@67'+C'@i@@7@ 8@79@79@ n@mTqm@l+@n'@n@7Ѡ7@m@oT\m@@n+@;m#@;@o@7k @ 1!@m@pb*@n7@7Ѡm5'@@@]@7] @ 1!@M@UB*@V7@7ѠU5#@ș@W@7 Vl@ P~l@=@7Ѡ P`@4 @ 1! @@@ !E @@>@7@AT@A@@ @1@T@@1@T@7ѠA 7( @@7@ 7 @@7@;@7 <#RR  @@`?@7Ѡ? 7l @@7@; ^m @@?7BG!pD|m @@7@=77 @@7@`>@78@7Ѡ >@7@*@7р@*'@#RR _ @&@7Ѡ@'#@#RR P @+@7р+k3@ oq @+&T`!TTT` {l @@1@T'@ @1@T D @1@T #@nU@5@C @1@T`@1@T`@@7@ A`#Ql#DMA ҕ>oR Җ&R+'dkC'@U^kCU @@@ @1@T@@1@T@79`!lC9 R"R&R +R&R R&R 'kC'@:@R&R kC0 k@0k@Ak j D`xR&R xR&R yR&R yR&R y`yR&R ҐyR&R gRҶ)R z@1@T#@ @7 #@1@T'@ @7 @'@1@T{ j' @RҶ(R K'@j @ j @ }j @ R)R 4R6(R  dj# @R(R '#@ Sj @RҖ(R `RҖ(R `RҖ(R 8j @@  @@ 7&j @@7@ RҖ(R  j @@6RҖ(R Ҭ7 j @@7@R(R ҜRҖ(R ғ RҖ(R ҋ i @@ @R6(R Ҝi@}RҶ'R Ҏi@P R'R \i@LR'R oҮ@RҖ'R ai@R&R '5%;R %R" $|iC/ #qi#DR'R '&R'R 'R'R Ji@R6'R R6'R R6'R *i@Rv'R`Rv'R VRV&RtR Җ&R+?#{c@S[5@!DFBH@B"@?Ѐ5|DD@j !@1@T``@!DH@"&@?5&`@7` @'BCc@B@RAARBCDE0=0=j%@!4GT!G`TOj 4 @ @@ 64@@"(7@`8qh@'5?i'`@7` @7Ѡ@8@@B@?5#@7р _i@" i`#BG!pDj 7@@@#`8=h@5`?i3@7`fh@7р`_h@7Ѡ`Xh[BSAcC{Ҩ#_Ohw`@7`@ @"7WΉRҕ KR + OR3R^|`a!lFJ|G &`@7`=](T]@4 @@;TG@g}t@7р7G@@7!@G7рR\GM\{J\F\@AR +NR3>]a>RK@ +NR3 \w>R +NR3\%@nG `GUR +OR3]G]!URK@ +OR3[C!VRK@ +OR3kAMRK@ +!OR3Y[6[.@OR +`OR3a`!DGc{c`D]{K@g`DV{h@@DT@HD@ @1@T@1@T@7р=`L\G@@ CC%(%# i KZ{@ l @7 ;@G7:`DL|o`@7`Bҭ @@07  ?aaRK@ +OR3LRK@ +!OR3!9RK@ +NR3[LR + OR3\&ZZ9GMRK@ +!OR3{ZZZZK@{jRK@ +PR3WZjnRK@ +PR3BjRK@ +PR30ZlRK@ +PR3@G\@ @1@T`@1@T`@7рz_ZG@YZ&UZ@anRK@ +PR3=Z@8Z@C!tЀ70@@1@T"!@E 1< @T#Ku zG @7  @7`G|D4zzAFy@#@7`7 !4@y@& @7  @@!T7@@& @1@T@1@T @7 ,z@GEr@#@7`@B@G{G?$[ANT @ 2T@'?0TB'@@K @1@T @1@T@ @1@T @7 G`|DyK@0AFcy`1 @7 @7 !8@WyK@`9 @7 @'@{[4 @@#T!@A# @8 @1@T @1@T @K7 ` y@Gq@@7@K@?@7!aR!EzYK :@7G*E7 @7 K4#R*΅K`eXGb@7 D@K7T4@h@Ch@!c ?a@`?*X7@@7@ R{'@aFdGXK@@7@L'@aFGX7@7K`|DyGDa!Fx@B @7 +@G@ VT@RY@@SG@` G'@ @1@T }@'@ A@!1@TA@ xK@]@73 @7 2#RR!DK^#RRA<\}X@`G @7 ; @K7 `E#RR"@`7 <@XK@ @7 ARX@@7`[ @7 `[ K'~@*7 @7 ~4`ExKa!Ex @7 _@@K@ TK@7!@@=y@pK@V@7@@7@[`|DUx_7!D@wK@ ]@7X`|DCxG@Y7!H@wa @7 Y`|D2xG@]7!H@w@V @7 _aBG!DYG@ OaBG!DY@ Q@W C@N@ @7 W @G7 a X@; @ &YC@`9baBD!PFDY@_7@w G@ 1`@7`/ @7 1@ @7 `1 @WC@@ @ @7 A@G@:TG@x@o @G@7 `<C5`@7` 7`|DwC@17!H@1wG@q @7 2@C@@}TC@G@Qx@o@CCG@@7!D`D^WG@K@7L)Y@ G@7@H @7 DGW@BREWC@`?@7B|*@`o7 @7 pC{5@1@TG@7@@@@THwgoG@@7!aGK@@7!@K|qk TT#RRo #RR!gK@ VG@  @7   @7 #RR!MK#RRAEV@ @7  @K7 @V@@@ @7 @G7#RRA@#RRG@@NVK@@@7 @ @7  {VG@ @7  @7 #RRK G#RR!؂K @YV @ @7  @G7 #RR!K@#RRAҵ G@ @4V@@ @7  @ @K7  UG @@` @7 @7#RRA҅#RR } @ UK @@@7 @7 @U @ @7  @G7 ``K|Du7!L@~uK@  @7  W7bJ.W@ 7bS@ a[@'W@7a !DuG@  @7  @K7 `7@a_@@ac@K@@?T @"@@B1@T"b@B1@Tb@K7B´av@m;K@@7!`@K7`@ @7 GT`|Dou7!d@ uK@ @7 `@@뀂TK@-vGmK@@7!@:W+K~`@7`}`G|D?u`{7!h@t z@ @7 |`@@tT`LEuGom[q@ @7 `v @ Up`@7`o`G|DumbAFtCl@ @7 na!Ftj`@@`>T@ҤUARURK@#S_6mK#@2mC@0mC-m@+m@)mG@'mGS@#_@c:@*xC#3w97H`K@V5+t"@+@7B"b @7 ^[^Lza@*7!a]?q_T^T@lG@lC#@lKF?@VV rTK@ mTjTqgT@dToRK@ +PR3!CR +NR3a`!DpFt`DsG@ @@끔T @T@@1@T@1@T@7 ltl @7 @G@7`Du@`@7`a @ 7 tRK@ +PR3S@XSSDR +NR3xS@GvRK@ +!QR3USSS9wRK@ +!QR3:S-eRK@ +aPR3%K@ytxS@ztSRK@ +!RR3awRK@ +!QR3AeRK@ +aPR3@{AA9@6@3@VA@3tDF`@@@T8?5?;A҂m`@7` c:.8RۉR{c @ @a A @D@"H@"@?G!<@Ac:.b9R!RVc@,G!@9@(@ `@`7`?M?@@PA.G! ;@ @R<ARA8`@`7`?]?@"?Y%??x?IҐjAaR9RUR9RR@@,G!@9@?`@65!@R@?Fo?* @ @ 7 *(?@,G!@9@?c:."9Ra߉RbAi? @c:.8RAۉRb0@@Z@,G!@9@?APD?{ @ ?#{@{#@_?#{l@?qT<@{#@_{#_ ?#CѣcG{CS[a@v @!Ts@`@1@T` @@7!R !G@"@c! T{ASB[CC#_>ThG%Х4c@@B4! $ҍ@AlRc`/B#RKba@x>lT@С4!#}6jR#f>!!G" @?a#@v @#@#??#{!S 3tDG`@@@48n>`5??Sl`@7`GRBRc` 0aSA@{è#_>?`FR@FR,G!@9@>FR?#{!S 3tDG`@@@48*>`5?w?SҾk`@7`NRRc`0aSA@{è#_B>H?`MR?MR,G!@9@w>MR?#{@@!1@T{#_ ?#{S@B@@?`c @c@`?@7B!G @1@T SAG{¨#_=R@`_r@TB@`#R_j@TF@`"B6:@<6@`&@`a=`@1@T@7Ѡ@tTSAR[B{è#_֠G=tT@7р`=! 4DG@@@8_=5?>j@7рa֎Rc` 3BAR``@@7!![BSAq=o=SA[Bq>,G!@9@= ՎR>`ՎRHG!@2@=  ?#ѠG{S[@v @B  Tu@k`As @1@T @FT@XD@YTB`XTAx`aTH@ FG@?[cGւG_GqDV*DWHT@@7@`D3 4 #G`D\b`j@@7@cGUCR`RҶc zTlqT[<4<!@" @=Zv @cG hG%Х4c@@B4d! q>7Rc:3b_R.`G@@BT{DSE[F#_= ZT`T! 3|DDb@=`@1@T@!!DH@f@?f@7рB`@!4G  gT!G5T#>`554]y`@7`B@7рA`@4DH@g@?g D?<TB@@-[@ @7 @@ @!TV@@[ @1@T`@1@T`@@7@C\S|`@7`@~@`8@@<!@@@?L;@7р`@7`<!D@Z @7 @ @T@@ @1@T`@1@T`@7Ѡ[sS`@7`@<@@J@L@c`?A@77 @@1@TcGGQ:<a @ @63@&(7|@8: 5`?;; |cGGRV`Rҍ;*6U@R_R@@7@cG@7@@7р @7 `@7`**c:3]`@7` kHsIA @n `aTƀG*A@6+|:;*@@6cGIRv`R7k:h: @뀨TGT! 3tDG`@@@P8: 5?h;Sүg@@7@6=R_R@R_R ҂1:.:+:(:kHsIe#::@:@cGf:<R*ƤGTa@4Ш9<!@" @;Lє<@" @;El?TSB@ks cG999cGBR`RcG5AR_RҢ9=9Ly@Y @| @1@T @1@T`@7` eZ"@7B"b9U=R_Rv @  @@@@1`T@q:  D@"H@F@?G!<@7;cGҕERV`RR9XҕIRv`R:*6SRaR Հ@7р`cGn9cG @ :@@@1T@2+;ERV`RaT`<a@ =8^y@ @| @1@T @1@T`@7`*Y"@7B"b59:cGUIRv`R94v9@@a7!9`<4 =8 !G!D@BH@C@?BDXG@@ @6TU@u6@T @1@T@1@T@@7@`2>Y@XQ@@7.@A7р`- DY`D@@7@,1f @7 ,cGuOR`R҆cG`RaR~cGҵGRV`RwcGҵQRaRpm:^QRaRcGURRaR^cGuRRaRX8JRRaR88! !DGAXF9DT9CD4X@B#RRd@@D@7р8@@ @9T\@9@T @1@T@1@T@@7@6`9@;A |dg҆ 0X`@`@7``4@7р 6 D$Y>@7р<҅e`@7`;cGu^R6aR8@9 8LA9*6hRbRD!#!@4>v6cG!5R'77CcGaRaR7LUdRaR g9U=R_RhG%4c@@B4F! df9cG4RbRaRA~9cGcRaRx8,G!@9@7@8cGҕeRbRe$c*4YcG3RcGeRbRTQ9QRaRhGb @! @lRvbR9cG;o7l7i7f7,95fRbR]7Y7@j@9Q7UhRbRK7 BX@[ufRbR@zs @@@1@T@@ @1@T @7р!@}WD@7Dd@7@7mRvbR[X< D6@V@id@@7@cGjR6bRҾcGUKR`R8,G!@9@,766hGb @! @pRbR{8\6uMR`RҕKR`R sRbR@7EcGUnRbRzcGNR`Rt61X66@>666@G6\@a7@!CcGҕnRbRFz6NcGupRbR<qRbRcGusRbR3@b7vZRvaRcGҕqRbR$VRaRURaRURaRґcGuTRvaR UVRaR;686 ]R6aR5\RvaRwpRbRcGjR6bRcks 66cGlRvbR6ZRvaRX  ?#рG{CS[@'u @B* *T`Ack s 954DD@7=@1@T@@@!!DH@B0@?@@@7@ 7`@!4G@ET!G`Tm7)4a @ @`)64@@9(7v@85P5?6N`@7`5`@6DH@G@?E7RD5`G@7р'G!GGqdAd@A/T`@7`&g5`@DH@Bl@?{j<E??Tb@X`@7`` @7р @7 @7@ @7ѠcHkIsJPT OThG%4c@@B`5! DA6!Rc:4bRWG'@@BT{ESF[G#_1UeRنRv` @G `Gg4d4*6]4Z4W4T4Q4mN4pI4@@KB4@@J<4@K74@LTeRR#"4F[5*6 eRRF 4Q 4cHkIsJu4+75  D@"H@" @?G!<@5eRҹR3feRRn3! !<!@" @4 s @<@" @4sJL_TOCck s w5v@ֺ@t @1@T@1@T`@7`QS@7B 33G 3( eRyRA5u3;r33!eRҹRҠ@7ѠhZ3@eRYRQS4,G!@9@3 eRنR:"ҡ@1: @Ta@3@@ s@82@ D5`?64@A@7Ѡ` `@7``B@@fRYR@2@fRRAfRҹRS!#!`5o6}R0i0A*R@fR'ңz P@ :@7Ѡ' @7 '@@`;TxQ@H@@@7@8@7р')V*@<7`@7`( @S<5<@!@#PK]@L@7р,?2M`@7`- @<@!0@P@N]@N`@7``4E2@`N@7р3@7р2 @<@!@ONk] P`@7`C @< Fab@OR@ aJ@O @RR]@R@7ѠD!!E D]@ @R0@ @R@7 F@7Ѡ F@@IT @sI`@@1@T`@1@T@7рHP4H@@7@O@7Ѡ@C/O@7рE`@7``EeUqKTT#RR1\N@7Ѡ@@1@T@>7/@//`fR9Rt/AafRyR01hGХ4c@@B`5&! D1sJ}R`fRٝR\I/@D/@`fRR60@0/h-/`fRyR- /@0A`fRҙR@eRYR`fRٞR`fRR.Au @C.`fRYR.@ @ @@1@T @1@T @7+`/AAG#ҡ%`fRRz0`fRYR @`@@1@T`@1@T@7р)N.@[.i.aR`fRH0<D`^@AN@7@a@;N@@5#RR[@@1@7Ѡ ' @<@@&NA1#R* Z@ @@/@7Ѡ%@@'T @'@@1@T@1@T@7р@'` /@#8R8 N@@'@7р@"@7р` DO#`@7`@$t[@7Ѡ$fRYR gRҙR-gRٵR,G!@9@'.{gR9R -@ @gRҙRgRٶRgR9R-@-@@gRR-@ 6@gR9RN@-}-z-`gRҙRn-A`gRٺRv`gRRnck s %.`gRyR]`gRҹRUH-gRRO`gRٽRF@gR9R1)-AgR9‹R/-@ @-fRR -@@-@fRR,@fRҹR,fRR,fRRnfR9RffRRfRYRfRRRҤ  ?#{SN- [n@5!G @1@T ւG`k-@1@TtGv@@@ 8K,5?-`@7`[BSA{è#_ց!G @1@T ֦Gn-@`@7`@[BR@7Ѡ`V,@7[BaRRc`5OSA{è#_A,[BSA{è#_R- 0,-,,G!@9@n,?#{@[,HG!@2@*  ?#{@SA@bH@@?`@8@@@?`@7`SA{¨#_z*SA{¨#_wW7``!7RRc`7MSA{¨#_',6RY*?#{[c (+ @S @#1@T apG @T@`6@H@@? G T +@1@T)@7р@`@7`@<`D4@@)+@1@T `*` @ @1@T <@ @1@T @1@T`*`@1@T``@7`` @7Ѡ` SA[BcC#@{Ũ#_րG@Y*4G*@1@T< @@`D@T*`@1@T`Җ*`@ @1@T <@ @1@T `@1@T`@Ҁ*`@@7`))})u]+Y)SA[BcC#@{Ũ#_c` 8R}RLcC[B{Ũ#_RRc` 8L`@7``҄R9R@7р@7X @7@**c` 8L`@@7``K)SA#@D)A)>)G A*@ D@"H@B @?G!<@*RᏍRc` 8L`@6%* D@"H@"@?G!<@*R!R @ 7yRR9RRҷRًRRRyRR**zRRRᏍRtR!R**  ?#{#@ sGB@G?dBT,7@@7Bb`@1@T` @G{¨#_(!R"Rc`8(L @{¨#_րhGc @B -@!@-U*R  ?#{[!@k9Gc@GS?s$@&@/T@1@TҚZG@?TT@x{@1@T{`@7`@!T()Tn@"C @@5A@T Úeʿ$@˳TuVd@#?Y)!G!@?'T)@7  @7р SA[BcCkDsE{Ǩ#_@ CA @x|cx|$x|A@!x|s%T(&<@)@&`@7``(<!G@`@@T)5H@7Ѡ gU`@7``XtRʐR **cb;]KR2R@7 cb9QK'@ T)3(3@"@b7B"'T (@YT @@1`TA^(<@)``@7` <!G@`@`TD)4a @ @67@(7s@8f'`5?(@7Ѡ T`@7` tRАRGrR!@:R@'?A!T`GrR!:R@'zHtRАR<e'a!G@`@Ta @ @67@ (7s@8' 5?k(U( XtR7ʐR@@7ѠC'L?'<'Jco5'c@o@J0'-'ҊR2R9tRwϐR-tRϐR`@ 7`'#(@p@XM5R1Rc`91RRnJ&&(`,G!@9@:'ҘXtRɐRXtRɐRAR1R`,G!@9@&'_$?#{a@S_ Tan@ $ [v֚GT@_T@ @@1@T@1@T@7р`Ga!GqAVT`5b @B@@?b @B@@?@7@7Ѡ[B@SA{Ũ#_'63RRc`<IJ*3RRv&@1@T`SA{Ũ#_j&[BSA@{Ũ#_a&R"3Rc`'R3RR4RAR ?#bBG{S[@#x$``hG!>@#f#AA`,G!#@#YR7RP`,G!#@#k @_T`G_T0a\R@7р  ?# @\ 0@ @@a  ? @@?T6I@*a7!с&#m @_T`G_ T*!$E\R@ T`G!=@U#`@7` AA3 0@@@A ?@@@? THa@*7!aAAW#d T`G!=@(#@@@7@"T"AA"AA:#@`@6AA#`hG!>@##!>H@@#!>H@@ m#!>vH!>pH AA`hG!>@"?#{ccGS[C a@^+@`2@#T`@5c @c@`?֠@7B"bF@ dnD _TB TC@3D@`@@@8"5?]#ҤO`@7`@RyR;Rcb?"XRE#!C$coB@D7!#@@!AAAAAAcb**pE]#"lRA9RAbF@`@@z2@v֚Gn@4 CCF"**R+*!@*/@4"*$R*+*w!AAv֚G@1@T@7!a`@@z2@n@5*CC/!@1@TAAAA`Ga!GA"@c!TC SA[B{ƨ#_֗!7!]`G!4gRV9R"`,G!@9@!RLwR;RN"]# R93"  ?#bBG{[c<S@kA@RFD@*2@8!.c @@H@".@? 3-:@:"- @a!4G@_T @!@@!1@T!A@!1@TA@ 7!`!B!@13 @T @a@9@@ (8 (5 ?"s,@@7! @@7!:@ @ T@@a!GTa!@G@%T4@* @*@?&@@1@T@A@"@7!с!@7!ѡA@7!A`G@@Ba-T{DSE[FcGkH#_  `~!Rs @@7!" @@7! `@7`@ @7 @@7!#C!@<"H@@@?@aT@@7@7R b @@ 5sI=RA@4"@@7!aXI U@ @@@@`@1T`p< : J8 A@ !@"- f@#c*=RCB 7<D@`@@@685?&!SmM`@7`@sI6R8>RҥRX=R @@7!A@@7!#c**NC@7р3R=RҖRs ,!֖Rs %U!`s VR @@3@ @S@`@1T`psI6R>RTs R>RFs `,G!@9@ ' `@7!z@! sI6R>RFA@*A7!Aee  sIR8>R_  `,GR!@98>R@sIs  Rs ?#{SsmU<YV`hG!R@-S^RS^RR@t`#a@7!auR `@7`S^RaRS  ?#`G{S[@ u @ aTuAa@ c@"T@b(6 ,T @<`X<@*/7a@7!aA44<F!@@BH@9@?SS`@a!4G(Tt@(@v @1@T@1@T`@7`@;@7!сa4a@7!aA`GT@a!@GCT@5@7B&@1@T@7!ѡ!cE-c 4T0Tu(<!@" @7'u @ cE `hG4c@@B`d! ыRc`"Ru>`G@@BҁBT{BSC[D#_  D<@`@1@T`d@<R@=+`@7`&<!@)>@1@T@7Ѡ&@7р%w)<@(`@7`@1@T@a!4G 'Ta!GTL5\;@74R݋R5cE5< @ @ 63@@!(7@8Q%5`?)@7`@7`G@7р`݋Rc`R=n@7р`c`R؋R=cEQV!0@!@@ ?`@vֺG?)T T@@6Q`@7``=C`hG!>@| : -a!GT5:a @ @ 64@ (7v@8 5?.#RR ҖRt֋Rc@7cc**c`g=@7!ѡacEcEaTa@Є<!@" @<!@" @ T@6\JҪa!#!@`X@6cEϋR4z9RRAT`<a@ =BRc`"R=Y`<=*ҶR؋RڋRRڋRx@@ @1@T`@1@T`@7Ѡ@ 9@7BBa`,G!@9@@7R݋RLcEыRA 0@@@A ?@?! T@T@@6J@7р6<@7@,a!hG @B - @!@-Rc!RD`:cEAϋR $c*`{:cE΋R ``@`7`M?!>>@`,G!@9@6c!>>`hG!>@'c`RߋRD<cEc`R׋R;<cEc`R!֋R2<cE  ?#{@SA@bH@@?@T@@6`@H@@?`@7`SA{¨#_SA{¨#_]7``.RbRc`;SA{¨#_Ia.R{ ?#{{#ճ  ?#{S[cD #c^*@1@TbBG!X@7HE@@@8@5?N@7р `@7`#@@1@T@7 SA[BcC{Ũ#_ִ @ @1@TзHE@@@38@5`?v@7Ѡ@W[R@R#@7@7Ѡ@**c``4;SA[BcC{Ũ#_`@7#@`[RR@ 6SA[BcC{Ũ#_#@^RRҀ@7р`@ 7`Ҡ@6#@ZRR#@[RRD`@1`T`)URXRVRXR[R@W^R#@R 7рjp@,G!@9@WRXR #@_RRұWURXR@URXR6|Q @,G_R!@9R@#@D@1T2  ?#{$@l@GD@ qMT|@)@(@"@ x`!y x`y Dx`Ax T{#_  ?#{"qTB|@@B7dxbT"B(@_E$|@!Tbxa_mT! (@ڿR`RЁ{#_`R ?#{GK?qT#|@&QcDQa}$% L&#@! ф #$@,#D@L?Tq-T'$ $! (@#$aT{#|}@R9{#_ ?#{ @{#{#R_ ?#{S@?@5`@SA@{è#SA@{è#_ ?#{@{#{#R_ ?#{S@?@5`@SA@{è#SA@{è#_ ?#{@{#{#R_ ?#{S@?@5`@SA@{è#SA@{è#_ ?#{@{#{#R_ ?#{S @?ր5`@?5`@?@5`*@SA@{è#SA@{è#_?#{S`5b@"SA@{è#SA@{è#_  _$BBG @ A@!1@TAa@7!aaR_?#{{#R_  _$BBG@A@!1@TAa@7!aaR_?#{{#R_  _$BBG@A@!1@TAa@7!aaR_?#{{#R_  _$BBG@A@!1@TAa@7!aaR_?#{s{#R_  ?#{STG @t@!1@T@7!`@t@!1@T@7!A`@t@!1@T@7!`*@@*7!SAR{¨#_4SAR{¨#_.,*?#{T@"7@@?@|{#_CcG!Dc@`??#{T@7@@?BBGA@!1@TA{#_CcG!Dc@`??#{@S!GBH@b @?4@!DFH@ @?@3 7р`@!GH@B @?`@4 7`@ Ҧ@ t`@`@7`@SA{è#_@SA{è#_wR*BMRc`8@SA{è#_dUwR7р`YVwR`@7`@xR 6xR?#{@`? {#_ R"{R@c` 7{#_RzR ?#{@%?֠4A!G @1@T {#@G_`@B7BDR{Rc`` 7{#_AR{R?#{@4A!G @1@T {#@G_A!G @1@T {#@G_ ?#{@!@ ? @{¨#_R!Rc`` q7 @{¨#_  ?#{ @@!1@T{#_ ?#{@@!1@T{#_ ?#{S3tDd@`@@@48`5?S2A`@7`aRBRc` +7SA@{è#_`᪏RA᪏R@,G!@9@᪏R?#{S3tDh@`@@@48Z`5?S@`@7`aRRc` 6SA@{è#_rx`ᱏRᱏR@,G!@9@ᱏR?#{S3tDl@`@@@48`5?cSҪ@`@7`RBRc` 6SA@{è#_.4`RҹR@,G!@9@cR?#{S3tDp@`@@@48`5?Sf@`@7`RRc``_6SA@{è#_`RuR@,G!@9@R?#{l { @{¨#_"IR5Rc`@.6 @{¨#_?#{SU@@B8@B@@?a@7!aSA{¨#_SA{¨#_?#{{#  ?#{{#  ?#{0@ # @{¨#_֢IR=Rc`5 @{¨#_?#{S[@ u>@vn"T@ @@"?T`@1@T`@x! `@`7a"(T@@ 7р>;@R7р@ *c`FR5[BSA{è#_ 4@7р5R`@7` 5R5R@7р`RR?#{S@@[ uB@vn"T@ @@"?jT`@1@T`@x! `@`7a"(T` @7р@7р@5RGR*c``(5[BSA{è#_v@4@uR7р@`@7`5R3Dt@`@@@48\`5?>`@7`GRRGRuR{@7р`RRpGRRm@,G!@9@GRR ?#{c@GS@A T[D?@@#o1T?IT@@@7 @7!ѡ"b T@ARRKRңc` 4@7Ѡ`@7[B#@SAcC{Ũ#_?HT @7!@1@T` SR"KR@1TSAcC{Ũ#_[BSAcC#@{Ũ#_ր@1@@T  ?#{S[*ca@*!1@TaLҳ ~@Sz@7Ѡ @7р `@1@T``@A!4GTA!G`T$@4a @ @64@ (7u@8F 5? @7@7р=@7ѠARc`R3`@7`*SA[BcC{Ũ#_0@7uR)?`@1AT963Ұ.+1@,G!@9@j @7 R Հ@7р`OO@c`Rw3 RD@1@TX@7Ѡ@! R7Ѡa Ra Rx@X@t @1@T@1@T`@7``/0@7B! Re ?#{S[b@*B1@Tbt=RbRc`@3`@7` *QSA[B{Ĩ#_*GSA[B{Ĩ#_c.ҕ`@1@T``@A!4GTA!GT@5)0@7`@7рРc`@"RR2cCa @ @64@(7v@8"5?p@7@7р@Ҭ<@7cCaR"R9630-3@,G!@9@l @7`ҺcCR"RbD@1`Tx@@t @1@T@1@T`@7`L/@7Bbx  ?#{S@[l@4|@5|S@ڵ @A˿-TFu֢t@s""ѿ@T\`*@b*X` @b `J@D1T*c`wRAR2*ZSAR[B@{Ĩ#_@ RSA[B{Ĩ#_?#{@S"T@7a @tB@G?$@@T! @ @qTVq@T a@SA{¨#!@` @@ 7!!v!@bp6 54SA{¨#_!@ R@? >?#{STG`@t@!1@T@7!`V@uT@T @ @q-T Rk wk s  4 @@7р0`@ P R@ @S+A R@7рGA!GD@`T ,4 @ @,67@M(7@8 @,5? T`@7`@DS8@7рCWRtRҠ@@7Ѡ@7р@`@7` @7 sK**c` /.@7` kJk @@%7х kc : sK   @RR6 1T kJRRH@0EC@?Ba@@4G?;Tz@:@@| @1@T@@1@T`@7``$BA*B@7BB#@?7р6@75`@CcG!Dc@`?A=TTk :T 9TwA 9!D" @L @S!@E" @E Q6!D" @= #BkJ2TCk i@7Ѡ @.A/6q9T`TТG@@1@T@`*@@7!7b*b2@eCC|}_q<Th h` !|aT a@BR`ja4A 7BBGA!GqATa)T @7 ,@un"5@7 McIkJsK ` @7!A  0@hGc @B@Є @!a kJ@hGСB!@W kJ@hGWR!TR@ WRR yL*@D7WRԲRҴ @A5qk3T3TТG@@1@T@`*@@7!'b*b2@dCBQ@|@+7ax x`!|6{TA&T@+@#<@'= aTT!X@" @o +TС! G`6RbRpH E cItA > #DA@@@5!8`!5?H T"ҏ6@7р`RRWDA@@@85?* !q6@7Ѡ7RR@ 7RR5@hGR!@R@= sK+#A'A@@@58`5? U&F6@7ѠRRsKRR y@ ` 4"ךY7$@B_T@ D)!1!Zc'!T'@ 4SK!A)>WRR *1aT wRTnjRғ!A" @ `'&4R@WR`6tRWRtRx<=D@ 6sKRTR. җRR^<<@#=1\ `@,G!@9@KGBsKRR}DGkJRbRd@hGc@S@hGkJ@KsKwR4njRfҾ R4R]ҵ `7R4RT"! @,G!@9@ZbRDv)kJRbR, @,G!@9@Fҍ sKRR+sK7RTR'2A@ T @A!G@CT@dDAA T U D( @7Ѡ95 @7 RÌR sKRÌR#A;A'"5@7рsK7ŘR @,G!@9@bR$ )kJARbR @kJA!hG @B` @RԢR!@-1 sKc k s O @msKRŒRRŒRsK7RŤRWRԲRncIkJsK ?#{S@BH@!@"@?37`@7`SAR@{è#_G`@7``a?Rc`"R*@SA{è#_!?R- 0GB @! @  ?#{S@SA{è#_ G@4SA@{è#D?#$G{S[T@@a7@@?34Gc@@c``+RaR9)KA" @5 <=^Z9!@A" @ @3@3@dcR 0@@@ ? @?T+@*7!! T G!=@@7Ѡ9R$cB&3@!R~ hG!>@!>C+ @]nc3-!>6+   ?#{R"BG!AA@!1@TAT{#_ ?#!!G{@#@AT@ 7QC#`@`7`a@ G? T`*@ T`@ŠBqT|@ !TbxaaTQŠ?kT|@bxeb!`x%`@`7`@ @`@@7!`@@7!`@@7!A G@@BTa@{B@!@#`"@*!7!A@A+5X4 G@@BT{B@#_ւ ?#!!G{@S#@AT@7C#`@`7`aV@t G?$@@T! @ @qTLq@TV`@`7`@ @9`@@7! G@@BaT{BSC#*m`V@@V7!!cA@A54 G@@BaT{BSC#_!@R@?4?#{SD@@ [vnuF@"T@  @@"?T`@1@T`@x! `@`7aa"(T @7р[BSA{Ĩ#_`nA"@37р@,R@7р[BHRңc`['SA{Ĩ#_4`@7``!-R!-R??@HR!,R[BbHR(R7рbHR!)R-R  ?#{@S!GBH@@?2@M@`@u7`@7рSA@{è#_SA@{è#_ER"JRңc`&SA@{è#_D`@7`ER7`@7р`!FRf!FRb_ER?#{S*[ |@35!!G @1@T 7G`@1@TuGw@@@ 8 5?J`@7` @R1@T@7р[BSA@{Ĩ#_!!G @1@T 7G`@7`@R@7р`@7@RRR҃c`4\&[BSA{Ĩ#_[BSA@{Ĩ#_!Rk  ,G!@9@  ?#{S@[cT@ks)6@1@T:>E`@1@T`@6G @G?$@!@T@1@T 4Ru)R `GB!=@oo@5R^f 5R7RR"5RA.RO+j+ ,G!@9@ Ղ4R%R5R!4R8b5R1R5+@U1Rv5R!G5a4RT@ @ 0G! B @@H?#{c@S[ks**7@5G?,T*!`6@1@T@@~7 H@!Hx55@@RSA[BcCkDsE{ƨ#_T@@4*!6D1 Ts@` 5{@`5`ך~~`TP; @@6(9H6@[*!`7@{1ATRpR4s@5{@4т~5g?lT7 {@4т~5sR{@~5s3@`3@sҀ@sˠ5`TMT{@~5s˲s[RThRb**c`*8g!*cRiR{@R~5s˙ssRs@5{@5? {@b~5~Ҏ?T{@"|5҆{@|53˾{@RB|4v ?#{s@S;{G!T[c*k5!!G @1@T 7G`}%`@1@T`E @{1@T C@@@a^V$8W`!5?T `@7` @A BCD E2=0=#@ @#7 ReE $4@!GH@!@?V@@7!A#"@=C@AAS@R@#b@!B1 =n=@Tb@}pAF_"T ?T@F2@.T@.@;{G @7 `@ T T`@7`` ".T@ @7@.@ GR‚RU!!G @1@T 7GI8HRՂR7 Ѐ**c` 9K 4Ҁ@7р @7`[BcCkDSAsE{˨#_`@`Tp@7!сa@1@TaFRRЀc` 9 [BSAcCkDsE{˨#_.@ u8)R~R`@@7`y@7'R~RЀc` 9R-RҀ@6[BcCkD" ,G!@9@!@+R@?,@1TҀ@f1@TdЀc` 9~R'RHRՂR?#{"BGSOc cLD@o```````2=H5@@hC_`BTŬ@L@ 2T`@1Tx`_aT G[T@1@T3=@"BG+ @G?_=$@TT@1@T'@/ G G#'@B8GRR@@+@3T? T@xv@1@T@7Ѡ(5&T@/@H@!D;@?4CqdAdXT '5`@7`17@/@H@!D;@?#;CqdAdX'T'5`@7` /; Ձ@@"H@D@@??CqdAdX'T)5`@7`-C@@"H@DC@?րC@{7!1@@"H@D"B@? B@7!A/@@"H@D@@?@@7!.FC@@"@B@{@ R@*#*+1 BT{R7j7@ 6s3RU_R@ $6`@7`@(**c`93@3@ @7 @7р %AAAAAA GA@BLT SAcC{ƨ#_ց@ G?A'T@&T@"@*B@*#+G1&T'@9"'@7 ?7@@ !!G!@?DT@@7р3Z@CkCT@'D@-(TB``'TAx`aT3@=`@CcA*a B@`C3@cDa E`2=0=b@c@@8!!GT!G5IRuaR`@$(H{dz#z"az |# I3a@ G?,T;;@77@*T`@7`_;;@636Ru_R-a@ G?+T??@;;@@,T`@`7`B?z?@68R_R? T @@1`Tia@? G?TC?@C@`(T`@7` 7s;33RU_R@7р`@ G렿T ,G!#@:c`9ZRARWAAAAx%@l@q,T G@Hc`9ZRaR25Ru_R"`}`7j7@"@B7B"77@)R]R @_@T G_aT G렳T@_ T G_뀲T hGC @! $@ @08R_RzK@T G@T`N@C*qJAgBBeCcDa E@L`2=H@0=@!!G@T!G53NRbRKs;R_RF=R_RA>R`R<@p@' Y?@ GC"@7B"b.?@)@eҕ]RS!RS@RU`R@T`Tx`_aT77@`777@F7"@7B";@;;@G;"@7B""?@;;@;??@@Cs(R5^R!R]R3RU_Rc`9baRHR6@ GЁB@:! @ec`9aRFR#@bRLR6Ru_R?@5$R]Rs9R_Rxf բ?#{@ DCT@f@Tc`@TaxbBaT X@DA@BCDl@@ED0=@0= @{Ϩ#_@T GҟT≀RaRc`: @{Ϩ#_?#"BG { @ScJ #D@ 2@D 2n@@!7@@A B`CcDa  E`2=ca `2=RbPR!!G@"@cT{[S\@#_ARORc`@;s  ?#{{#հ  ?#{"BGS C@? @ #kq2@ n@@ Rd*!@< c@ca A`B#eC!cD a E%`2=#! 0=3RQR!!G?A"@cT SA{¨#_!RBQRc`;"~ ?#{{#ճ  ?#!!G#{S"@o o  ` GT`` 4`@1@T``@7` Go@@B! T{NSO#_vsb‡RpR`<ERNRR  ?#CBG#{SC@!@ccAa Bn@`CcDa E`2=a@0=!0@qMT# (@?T@ !|TH@!G @1@T sGG@@BT{[S\C#_!G @1@T sGc`>NRRb  ?#{{#գ  ?#{k9@S[c?T*qTtQ5 Z **@s?TSA[BcCkD{Ũ#_`@5@"a7B@s?T`@4@!1T@s?AT@saT?#{S*[*cks@BG0@ *C@ҀkTTkqRT4C~@@?*@x@ T T*`~@ ```;ЖE3@7р!GD@T 5``@7`@ҥ"@ 7рRR@ **cb;RuR`?*cb****!G@"@cҡWTSA[BcCkDsE{ƨ#_"B@s"T#@s}d! cT @"(@|_T! T @dj@*`D+1TT?RբR7р RR @ @ 65@(7@`8 5?4CXRR,pRR}RR@7`RRyXR@7H@7Ѡ`R`@7`b**R**@s! c?T @"(@ |_T! ?T @c0D T@5 @##A~@! B` Cc#Da ! E` 3=c @a `3=0@q-.T~}~@` $@?T@ !|'TD@#@! Ai'CBc%Ca #DgC! Eeca `3= (@!T@ !|? TH@ @qT@@5 @* @!CBB;_R @##A! B` Cc @a #D`! E 3=c0@a @`3=qTQqT|}R`  @?!T@B!|kT@@*~}#Cb_&T @s~_T@-@qT#~} >@#RJ@@q T"Q` !Q_?1aTt@?AT( AT @#A! B` Cc@a #D`! Ec 3=a 0@`3=@qTQ|}R`  @?!T@B!|k@ T@@ @*#!C;`@cAa B `C#cD! a E `2=#!  3= *cqT`45^RRs9BB*R*p*@ @* @!C:@ @*MTqTQbb*$RT*@sT*!@[R&R*@` A`Ba  C`Da @` E2=0@a `3= #(@aT#@! |?`T#H@@` A`Ba  C`Da @` E2=!0@a `3= $@?T@ !|TD@R%RS@%@ @u@@5#Ce @!@T d@B|TL@@4@4 @*MTq@ TQbb*$R*@sTb @ $aTstFRR,Ga!@9@t]RuRsz@*BBR**D"@#Ce @B0@Tb@A@!1TA*@sTM*@s!TGb@A@!1TA*@sT;*@s!T5MA1 T @@]'scbBRR*`*  ?#!G{@#@AT@7C#`@`7`a2@`@ ?`@`@`7`@ @`*@@*7!A`.@@.7!G@@BTa@{B@!@#`j@4`n@5`@HaCR`@c2@B@"ap6Y5`4G@@BT{B@#_ְ?#{Sck:@+[@q`T_MT7 [V uQ*s_T[BSAcCkD+@{ƨ#__ T(s_!TSAcCkD+@{ƨ#_ ?#{[֚G?`TS @5 @@!1@T @@7!A` @ T TrG @T@ 6@H@@?`@7! @rGH@"@?U@!4@H@b@?@4 7Ѡ ` @iTs@c`@1@T`@!4GT@@ @1@T@1@T@7р@7!`@7`5@7 @7ѠcC@1@TSA[BG{Ũ#_ր7Ѡ@SAӒRRcc`[B{Ũ#_~  cChG!@AΒRRc`B@7!SAΒRcCRSAђRRcCC!G@Tp5hG!@SAђRR @ @65@ (7@`8{5?`@7``okbYqcAӒRSAR}] Z& .@7!ѡc%~,Ga!@9@`@7`A֒RcC@@7рOdO@`ҨaԒR  ?#G{S[@ u @ TvAa@ @"T@'6K+Tc @WB*@/7a@7!a4!T@,C@BH@"8@?Q`@!4GA(Tt@(@u @1@T@1@T`@7`[@7!с4a@7!aGT@!@GBTE`4@7B&@1@T@7!cE) `3T/T't!8@" @`'u @ hGc4c@@Bad! caRcc`"R!G@@BҡAT{BSC[D#_ +@CJ@`@1@T`d@RL@`+`@7`@&J@@1@T@7`&@7р`%$(DJ (`@7`@1@T@!4G&T!GT5 @7Ѡ4RԼRLt5HcED:@A @ @ 63@ (7@`8%5`?LT)@7Ѡ`@7`҈@7р@aRcЀc`Rn@7р`cЀc`RRtcER !0@!@@ ?`@G?!)T T@6`@@7`hGa!>@)c!GTp5a @ @ 64@ (7u@`8 5?6"RtRҕR4Rc@7cccЀ**c`@7!acEcETa@2!<@" @`ѡ!@@" @ @T@;{x]uKҫa! !,@6Rdt)@RtRZT`<a@ =NKĒRcЀc`"Rү`?`<=ҵRTRaRRR{@W@ @1@T`@1@T`@7 n@7B,Ga!@9@R@7ѠRԼRORF 0@@@@ ?@? T@T@6@7р @7Ѡ`!hGb @B - @a!@-{aĒRc!RD6R$c*-AR``@7`a!> @,Ga!@9@cja!>shGa!>@cЀc`RRcEcЀc`RRcEcЀc`RᵒRcE ?#!G{S[ckspA9"@Lq! TL 5`b@@7@D@1@T @;@D @1@T y@@3@=<[aD . @@2@4`@7`'@7&aD3@7Ѡ& @@A&Ta@!1@Ta@Sx `@7`& A`64@7р#c @!9A9@q$TT qT$qT qTcA8T R R@ R!@D@1TR` R #9'9c@@y@@9y 9#yK9Z 5`Z@y q TG@%@?A&T@1@T``@7` @@?%T@1@T@ Tx! @7р@"?Ts`D4`Dr 4@7`04@7р/ 4_ 4@7р@.@7.@!LG T!hG @b @B`a!@-RR y@9@9GһRR@P@%Ҁ@1#TҀ@7р@@7@7` @7 `G@@B*T{BSC[DcEkFsG#_HqTTqATT`T`TRR aTavA9 R# R?qRRR7 @@AT1TRR5RT R RRқRR@7@7ѠcЀ**c` #@7р`oRR`@7`RzRRR@;RzRRRG4RzRқRRavA9 R R?qRGһRR@RzRRzR; ZAD. @7 G@LG$@ T@1aT`@7``R RWavA9@ RCR?qRP R@ RM;RzReһRںR_avA9 R# R?qR6|  {RRHRR;RR<{RR/RRE;RR{RhG# @@bRB`Ra!@-xs`@Ҡ6   ?#{qT$Հ`3{#_B` BH`8`"@֟$Հ3$Հ/$Հ@/$Հ.$?q2!1$?q0!0$?q`1!1$Հ@.$Հ@2$Հ@0$Հ2$Հ2$Հ/$Հ`/$Հ.$Հ.$Հ@3$Հ0$Հ .$Հ.  ?#{$@@!1@T{#_ ?#{4@!G@!1@T{#_ ?#{,@@!1@T{#_ _$!G?#{ @1@T {#G_ ?#{0@!G@!1@T{#_ ?#{$@@!1@T{#_ ?#{S4@[?֠5`@?5`@?`5`"@?5`&@? 5`*@?ր5`.@?5`2@?@5`:@?֠5`N@?5`R@?`5w>@b@_qmTzv?ր5b@_k T@RSA[B{Ĩ#_@?#{#qdT#*@?kkT4RT?kJT`K  @kT*?k T_kԀ{#_֤@R_kԀ$@T@T#@@`TpA9 qT!pA9R? qT_R_?#{S%,@,@<`T%X@@X@kT@pA9 qT!pA9R? q@TSA{è#_֟_ R_֟qT|@c c}TEh`$h` @TRCpA9 RLq!T#`@RD`@kT[V@5@@ҠjsjtjtTsb4jsbjs[B[B[BR[B?#{S @?5`"@?@5`&@?֠5`@?5`@s?@5` @SA@{è#SA@{è#_?#{(@!G@!1@T{#_ ?#{,@!G@!1@T{#_ ?#{B`G@@A9F@ @c`@@"@Ta_{#$@@!4@L{#Մ3!4B{#ՄЂ4B@3!46 ?#{S@@@@B@"*#|@B@?qTxdEx$T@hB @bBxdy$FxdEx$?k TDt RZ0*4SAR@{è#_ @$qDT@|@B@ @x$xd|6@1`T`G!5@~SA{è#__$BG?(@!"@B1@T"(a@7!aaR_?#{${#R_?#{"@BT@6"@ @B1@T" a@7!a{#R_hG!6@H{#_?#{"@BT@6"@$@B1@T"$a@7!a{#R_hG! 7@${#_?#{"@BT@6"@@B1@T"a@7!aR{#_hG!7@hG!8@ ?#{T@  ?  @A@bN!1@TA@A@bR!1@TA@7! @R{¨#_֎ @{¨#_?#{SL@S`@1@T`SA{¨#_T@7N@sG  ?#{SP@S`@1@T`SA{¨#_T@7R@sG?#{BG?T"@BT@6"@B1@T"L@LA@7!AR{#_!G4hG!`9@u  ?#{BG?T"@BT@6"@B1@T"P@PA@7!AR{#_!G hG! :@J_$BG?#{?$BT"@BT@6"@B1@T"X@XA@7!AR{#_hG!:@!  ?#{"@BT@6"@(@B1@T"(a@7!a{#R_hG!6@{#_?#{"@BT@6"@,@B1@T",a@7!a{#R_hG! 7@{#_A9)4?#{S @k@@ @ _qRX@DCz$Tf@?qe9#RA'T)4[!:c+?qT  @ ZT `9cB@_DqT_q TAQ $ҵ R T R_kT R_kT 2 R `A9@q[zT?q)T$`G!<@`A9q T! @ sA9?`T qTo[BcC+@[:cB@c+_DqT@QDqT!$D! ?T?TAQ RqT`G!<R@`@bA9cB@@AQ?qHTJa8`! ֟$! @8 sA9?TkT qT q`T"q!T`A @@c_TBAc@_!cc"bT@b"pA9_LqAT"@@D@ @@d! `@bA9cB@@AQ$Ґ$՘ҍ$XҊ$q$`G!=@`A9q!T`A9z-a@"B!!a`@`A9n-`i$qҀc_@`T`@Zaxd! ֟$S$8P$XM$qG$qҁA$q;!@!`@ @@@cc@B!@sc9R[BcC+@BSAkD{ƨ#_eA9R$՘AQ5 R`G!>@[BcC+@R_փ4AQuRAQU R`G!;@[BcC+@`G*!`<@  ?#{S[b@9_PqT_qT_q`T)T_qTT_q"T`@9sqT`@8qTsb@9_PqT _qTIT_q T_qT@k1 T9@Ԛ!ˠ`_(q`TT_qT_qT`G!@%SA[B{Ĩ#_TQ! Ҡ4 ԚT_Pq T_q T`G!@n@hQ\qT4҃"?!T6b@9sAQ_q! Az!TA9k@T"1T@A9!Ҡ9`@8B95A9`4@1T@[BSA{Ĩ#_1 TB"ҡA9s99 j_qTs9ec@@`@9qT1T~w 9K!TcCJR@ T1T@e(R@@ `X@ բ@9_qD@z T_4qT_q@TCQ`$qHT@9DQ$qHT@8c  DQ?$qIT1`TkT"yf_#T@9_qDHz T_qRs9 _ q T_ qTU_4qATsA9RkTB@kTA9A9?k!TA95B"s`G!@J%?"AQ $qTb@9sCQ`$qhT b@8! a CQ`$qIT?1T!|@qTcCkaT"4 R!ҳ9cC`G!@`G!@@r``G**!@f`G!@^`G!@cC`GB R!<@M?#{ (@ @!1@T @{¨#_` @ @ `*`!G @1@T G?#{  @ @!1@T @{¨#_` @@`"?#{ @ @!1@T @{¨#_`?#{ X@ @!1@T @{¨#_֭``Z ?#{S4@@67!a`@@7!`@@7! `"@@"7!! `&@@&7!a `*@@*7! `.@@.7! `2@@27!! `:@@:7!a `N@@N7!`R@@R7!`Z@@Z7!!u>@5c@qmTkTzt@"!7c@kTu>@f>SAR@{è#_  ?#{ `@`[U @{¨#ը?#{{#@1@T@{#_?#{{#Ձ `A$@ ?#{S@@ @qTTq`T qTSA@{Ĩ#֟ qT#@T! @SA@{Ĩ#,G! @SA@{Ĩ#_c#@Cb @hG!B@@@@@b @hG!` B@@@@b @hG!`B@@ ?#{SH@[!? T[BSA{è# @ @! cu@7![BSA{è#_@7@hGb&@! @~?#{ 8@ @!1@T @{¨#_`6@@a6@BD`:G?#{{#@Q?#{B  ?#{R{#_G@\`4  ?#{R{¨#_G@G4@7B`GA!=@`{¨#_@?#{@#5?Tì@#d@MTc`Tax`aT{# R_ @T!G R`T hGA @!@ @)R{#_,GA!#@ ?#cG{S#C[c`@ob@7@@@@1@T@ @@!1@Ta@!1@TaR!G@"@cҁT{BSC[DcE#_ @@7!!@@7!@@7!@  ?#{S[*BY*9a@7!aa[BSA@{Ĩ#_jB: *@7![BSA@{Ĩ#_@7`Ҷ?#{@SBH@"@?SSA{¨#_l3 G@`4Ga! @=?#CG{S*[*c@fBkcCsB@#@!gE" @G@ TGT` 5A@kGsHC,K@K**kTCc^ !gEBGB@A@C,@FK***kMTkGRsH||@kaThd`@1@T`bBD(`@7`@7р G@@BT{CSD[EcFC#_G!GT A@`@7``Ccg4 4*b`B _`T *@7!A@ AKC,@k*KC,*s%*?kT||` @kT@?k T#K |cQ@b!`B|.`@9 s1t TkGsH`@kGsH*A*@HC,@@?k! TA| C,K7kTkGsHV{b@7`s@@7!Ak@@7!Ac @@7!![GBy!gE@BH@B@?@ 5 @7GG @A>e#`aC, Ga@!1@ Ta7{ @7Ghah!@a7!kGsHks?#O{GS[*ck @O`@)2=@|@_qMTcBTaxva`Ga*!`@@A B C#D!  E 2=#G!  3=OA@BT SA[BcCkD{ƨ#_֟ zB{``{<T@{|X@ 7{AA`@7`{AA@ @8@, c@[C)cP@*9 *#R`7c@@`A*cB"*bC*`DcEb2=A0=  BCD! E 2=#! 0=7@7Ѡe;|{AAy@@6@`7Ѡ!N@7Ѡ@D_{ _$BG?#{cGBGqCBT{#*_{#e?#{ @T@ @6dGb!B`@ 5 @{¨#_hGbA@`@7` @{¨#_  ?#{@S"T@B6* T*SA{¨#_!0@!@@ ?`@!G_T@*a7!с`TGA!=@hGA!>@A!>   ?#{@S"T@B6@1@T`a@7!aSA{¨#_SA{¨#_!0@!!@@ ?@BG?aT T@7`hGA!>@A!>H@@?#{@BT@6T@b6"@BT@b6#T@#6T@#d@mTc`Tbx`?aT R{#_@?@TG?!@T!G`TT{#R_{#s6(@T"`TCxa!aT Dxg@!T@a6T@!6 T@@MT`Txa!aT?#!G{S[#cC @l@G@aT@ @@ T@T@7@@@_mT`c_Txc?aT@@@?`Tj4 @@7!@@7!@$@@!1@T@6 tG@@BҁT{BSC[DcE#_B@?TG? T  @@7!A@@7!!G @1@T G&@@1T@7р`xv @@7!@@7!a!G @1@T a @ T@@1@T@6@5@ @LJHF!G @1@T G  ?#BG{CS[A9D@$@c5U"R`b9E@TpG TG` TG?TJ@aGc84E_T@ ksF@ @1@T@!G! Tm'@;R' @1@T @@@1@T@ @7 @7!sFkE@4G?T@7 cDG֚GcV1@5@|G?T@T@@7!9`&@ @&7!a Ղ@s`@ 7`cDG@ cD@9G@@BT{ASB[C#_r@ ?cDp+`Ga! @ @7 5@?@7! kEsF@_=:cDG@xG@|@!T @@1@T@7 r@A7!cD7kEsF=@?W`6Yu@R!GTa$BT@#e@Tc`! TbxaaTW@;RG@a@!ykEsF$cckskEsF!@ T!GT@|l* 5@YS@R?#!G{CSA9#@$@ 5!R`a9E@?T!pGTp@ ?94 G@@Bҁ T{ASB#_!G@"@c T{ASB#!Gj[֚G5@|G?T@T(@@7!a9`&@@&7!0@;`@7`[C`Ga! @k!@[C[CxG@[G@ [?#iG{C@S[&GcK* @' *T@H @TaTygaTR@``5 *R}` l@ kaT`a=`~!`"sA9O =#_LqT @d@pA9Lq T$|@@% @@@'T @T@xc*zcd}? T@ 4%hdr T aT(6!hd?! T6#@ 7ckT**R?1!T `@7`!G'@"@caT{ESF[GcHK@#_@ TGTn@"kT`G*a!`@6#@hd@ `Ga!@@E5 7#@`Ga!@T`/778`Ga!@yQ?kT`Ga!@!hda`7`G$@a@!4fƀ4ð0a!`Ga*!`@`Ga!@`Ga!@x`Ga!@@q ?#OBG{!GS@@ R ```````2=TcC#"RR1T`@cAa B`CcD a E`2=G 2=@@BAT{PSQ#_y?#O!{!GSG"@```````2=TcC#BRR1T`@cAa B`CcD a E`2=G 2=@@BAT{PSQ#_5?#G{CS;*R@'ҟ1 T&@k!T`=`~aCpA9!`O =#LqaTC@cb@DpA9Lq T#|@ @@_T"@R!G'@"@cT{ESF;@#_"`Ga*!`@@"@?T`-!~"`G_Ba@!4fƀ4ð0a! "  ?#{S T@BG&@qD@zT@R @_ATa @ @?$AAT`@@S&SkT (7`@(7@q TqT@$@Rk!T3R_T*|q*SA{è#_G_qRTTq T`TBRBG!GqATT@7Ѡ @3R*SA{è#_@@y$@y*?r!rf`@9$@9@?#{ЄG@S@TЄ@GT4@@$_jATSA{è#!BRBB*b5d @$4` @Td @`@1@T`SA{è#_!BRBB*b5d @$4` @T`@xd`@1!Ts@7!с@@?@@!G@@4@@  ?#{@S@4@ @`!@G?!T?T#RSA*{Ĩ#vhGaB @!@&@SA{Ĩ#_@@7BѢ@@ `!G!@4x@aG!&B @@\@@?#{@8@@{#{# ?#CcG_{ЄGS[DDe@a T@T@"b@T6V@6@V@ 6` T5@T@6@1 ToG@@BҡThGa{B!`(SC[D@C#ՠ aC#`@1@T`@ @@7!A @7!aG@@BT{BSC[DC#-6G@@Bҁ T{BSC[DC#_A@tG? TG@@B! ThGa{B!'SC[D@C#LA6V@6ҍ@7!сV@`T@@63G@@BҡThGa{B!`*SC[D@C#  hGa!@)@o1T ?#{SG[eA9@t&@E 5c@1@TG@?T*@7!сA`&@@&7!7ҏcEG@@BҁT{BSC[D#_t`&@pX6tq cE`Ga! @@5!R`a9E@@ TH@`(E @?@8 [@79@7рU`&@ @&7! C# @.`@7`@G@cEP@7рG@~`4`&@@&7!a9e9b@9cE\c?#BG{#CSA@Ac!@ "*4 @ @!G@"@cT{BSC#_y?#{ecBS[4@1@T@u1@T@w1v.:@T@1@Tt2>F  [BSAcC{Ĩ#_  ?#{ @@1@T@Oz9``=@1@Td.`@1@T`c*@1@Te~: @{¨#_  ?#C)GC{W=-[=_=c=g=k=o=s=BRA?&@C+)AW  ?#{SGc@d@`T*a @ @q TqTSA{¨#_44`@@@7!SA{¨#!@ @?I*a@ @7 *SA{¨#Շ?#{S[cks'm;4O$@c #'cG0e@``# @`````3=ZG+ *    3=5@6(@7H@ @@o[_c1= 3=3=5 @ @@g7 R|4 #@?|?|dT#@c-bR1To@ 4'@+@5'@ @ @7 R_ 4$R# +RR 7T5'@ @ @qMTCq@TB'B++B|&#@+@!@@9!@_D?]@cA Bjv8CD  E2=D E2=lDC@A# B kv8CD  E2=D E[ c2=RDGE#*DEGEKEoE@"$h`)@hv@@h`ddahvIi `))d))`T"@ @qT;@q;@ Thvahv@E A`c-$hb %@cdHehb!b)c)aA`U @`aR*kGE@@A BCD  E2=E;EOE [1=EK뀇T @ @@7 Rgg@4@G;@K@CO@OK@go#R*RABCDE2=2= @ A B C D E 3=2=g@@e7@ @ @qT*g]qg@@TEJgGEu;@@g@뀑T @ @7 R/G/@u4;@[@/ @#RO@@K@?_*R A B C D E 3=2=@ABCDE3=2={/@`7@ @ @qpT*/ q/@T`T"@ @qT/q/@`T@@T@ @ @7 R//@@4;@/[@#R@G@!O@OK@KRo*ABCDE2=2= @ A B C D E 3=2=&/@`7@T@ @ @q-T/q/@T@U/|DD@/@@1@T@A/!DH@@?/@@7р@x@c@BRARABCDE1=2=/ @!4GW뀡T/@u/@ @7 W7@7р WTC @-?!@|DD@o@1@T@A!EH@@?<@7рX`@D @1@T @UAE @1QT#1A@T A`A A`3`Ү;E @1@T ;@ Aa @X3@3 A```ҘKE@@1@T@K@`ҡ@"3@"6O @;@@W@?TO@/O@ @7 /@@7р_@aRk@*dES@#A B`CcDa E`2=cE3EKE;a`0=EMTO[gos{S@RRⰂR!R[@K3@GOo@ @#A! B C#D ! E 3=|D 3=@A!FBH@@?`@7`o@+ `_`A @ 1T"1@T #@ww@@7Ѡ`@W@T@> #g@KR{R3; @-!o@4!@ BxR@?YRR; S BZ@T @ @q*T'q`+TZ T"@ @q6TqQTZ T#@ @q BTqUT#@ @7 @7р@7р@@73@ @7 ;@ @7 K@ @7 # c C [wAA? T AA?@TAA?T# gAkAoAv**#@c:4(3;K?@Z T @ @q-6Tq JTC@Z T @ @q5Tq`JTG@Z T @ @qM9TqST@Z T @ @q@TqT@7/@ @7 S@Z T @ @q-@TiqRTDZ@T @ @q@T]qTwDZ@T @ @q@TO{q TwO@ @7 #'@Z T @ @q @T:qWTK@t3@a;@a*Gu.F@BT4SA[BcCkDsE'Fm;@{Ȩ#_%"S?F" &'@ @1pT R;R; ҙR[R; SRR; S!@ "%R@?[QB@a7!9zRRGS#; CF@ @7 !Av@/@A@!1@TA/I/@OD @7!a1!@ bR@?HwD@w7!A09R{R#; S9!@ b%R@?(;@K@CO@OK@gG#Ro*RABCDE2=2= @ A B C D E 3=2=g@`{6RRSw!@ BR@?/'@A@!1@TA$R#+ RRz`X6 R[RGSK!@ %R@?!@ }R@?!@ ")R@?!@ R@?!@ B)R@?ҙRR#; SC@g@A@!1@TAgg@;//@;!@ bR@?!@ b)R@?;@/[@#R @O@@K@?_*R A B C D E 3=2=@ABCDE3=2=/@@q6@YRRS@`7Ѡm!@ "R@?C!@ )R@?>@T7T;y@;@ahvhv@!@ )R@?*@7gR!@ ␂R@?!@ *R@??@ @7 `T!@ "*R@? C@ @7 F!@ b*R@?'@ @>7 @>8@/@A@!1@TA/;@[@@R K@GK@oO@O#R*ABCDE2=2= @ A B C D E 3=2=]/@`g6 @ٕRRS8G@ @ 7 [!@ ’R@?@ @P7 @Pg@~!@ bR@?S@ @ 7 c/`@/@D@"H@{@?/@\cG!!<@dYRR#; Swv/@ ҙRR#; Sg!@ ╂R@?VRR#3; SU@ @`O7 O/@t'@ @ 7 {;@N7Ѡ@Ns/@n@^@ @1@T@1@T@7р</@@7BтbRٙRR#; S A!Eus4# BR1![T@@1@T@RR#G; Sw, t@D@"H@t@?@r@ @`K7 K/@TR;R#; SyR[R#; S u٠R{R#; SR{R#/; SKYR{R#/ SҹRR#/ S"@1@T  Q@7р @7рAUTAA?T# s TBR+@6 g@ O@ZlTC @-!_[A_AcA.R{R#3;K[_c3# AC @-O@@|DNA!FP@7A!FPA!F R@7р@@@W@!ET\ @D@E@1@T@1@T@@7@@D/@O{O@OO@6Q@7Ѡ4@W@ TT@ #g@;KOҹłRR3RR#/ S9RR#/ ҙR;R#S68@=@ @1@T@1@T@7рSO@!/@7BѢbҙR;R#3; S|g@yR{R#3;Ko9RR#3; cg@ҹR{R#3;KWV;g@R{R#3;KE{g@YR{R#3;K6OkO@+"`@1@T`O  QO@@@7р*@7)k@EBB@7*ǂR!R*k@n@Bc7D` ;DADAbCDjacEb a0=cb3=T~ a$!TOw@O@G@w@ bG@~* T0 b㷟[@@)`h5o@`85s@O#h|jvj|@@8`a(a[@R@O@C 4[@@+@[@@9c@ahu@9?k`#T@G0 bdT@G0 bTCa[@aGCbGCcG@ aT bT!!To@4s@[@@ @! 4;@[@o@B[s@oAs_@?@KTO(c8cB4@A)jG[@(bhu 8ch5s@@8b[@@)`0 bh5To@:5s@!h|jvj|@@(`a8a'[@Rg@ҹR{R#3;KS6ˀjcOwjv!@aO@[@!w@jajbs@"R~/#Rj!crX@E;A!E1`9@7р`1@@W@@5TAO!ETO@OO@<:@@7@1@`7рEu@e@ @1@T@1@T@7@, Rw`w@;B! hg@YR{R#3;K@j!G[@@)`h5m/@O O@OO@O@A!E.24A# A?`T# U//@!g@ҹRR#3;s ҟ8 `dT@G0 bTg@RR#3;s ҋg@YRR#3;KO|g@ҙRR#3;s m9RR#; S_g@yRR#3;s RG!<@+ٜR;R#; S?>Z@@ @1@T@1@T@7р ROw`7O@w@!B! g@ǂRR#3;s [@O#h|jvj|@@8`a(as@@4R?7gg@ҹǂRR#3;s O@BR1T[A_AcA`GA! 3@]S@b#RR#m K@#@3@;@`@cAaB``CccDa aE``0=cwAa `2=A?T AA?TAA?T# S@O!OO@rww@[@!h|jvj|@@(`a8aQ@as@RO@pT @@V@1@T@1@T@@7@ BBEHg@RR#3;s Wg@ҙRR#3;s I#g@ҹ RR3;KO:OwnO@w@6{@g@Tg@R{R#3;K Vg@#Kg@#;KO<@ ?#{JGSO[cks I@o GX       3=AAT @ @7 R 4@(R`3#+RRO`7XT"@(R @`7* 4@"R`#+RROB@7;@#_@@@AW7@X@T @ @qMT* ;qT7@X@T @ @q-T q Tb@@`jaej` Ac!bh/A@j(aK(b`bhbhd`jaj`bhf!c(a(b`k:iv#iu`jaj`bif!c(a(b@i:j`@`jac@ehbbhdcaiv!iuBe8c!d8b8a`i: T"@ @qTm q`TGoA@BT SA[BcCkDsE{ƨ#_7@X@T @ @qmTQ ;qT7@X@T @ @qMTC q TCc+@@!1@T/@"@B1@T"3@C@c1@TC R@5E3@D`@7`!@bR@?v@!1@T!@R@?j@!1@T!@ТR@?G7@@7!7!,@@7!A07@ @77!a@@A7!!@ЂR@?!@➃R@?@7@O!@R@?x!@"R@?s ?#ѥХG{S3 [Cc#k;@ 4b@@"Ō@@T@j&5!G@"@ca T{BSC[DcEkF;@#_ @T@@ 6@"@TB@@@TA@@@j!@qTT@_ @T@`6!T@"@@T{#T`@@ThGA!6@q+T@@T{#aThGA!8@hGA!`7@%@?#{S[ckЄGO@/       3=]`1~@[_0ҟ 1@ 7@Do`'7@7р-7A!@E` ,7@7р *BABDE!DT(7A@4HED@@@<8`=5@?T=@c7`4O !G```````2=`0TcCBRR1;T`@#hBAfB`dChCbDf`Edh2=bA `h3=@57р0cAC`@cDa B`C=a Eif`2= =c<N_A0=AA?TT?!T T @@+T @ @`27 RH@24 =S@ @K=@A @BC @D E0= 3=qT+q#T = @Q@=CABChCDfEd3=bqK@qK`qJhBfdb`s2=s3=MT~@@@~l`@Zh@ˀh `@h@s_!T @@T @ @ @7 R@4`@ @cA a B#`C!  @ cDa E`3=# @!  3=qTqT[B_BcBS @# = A@' B=! @ D ! C 3= ! EG 2=/B@B TSA[BcCkD{Ǩ#_@RUR7`@7р[B_Bs:**@8@2R9ڃR@RRҀ6}[B_Bx@RR6RR@7RRR@7`a`@7``@@7@[BR_BPM`@cAa B cB`C#cD! a E `3=#[B! _B 3=k!@bR@?UR!@R@?!@R@? @A@!1@TAξ8[@7RR6~ @ @7 \ @ @ 7 [B_BcB3S A =@K=@ B C D E0= 3=[BR_BRKu@7R5R3cBRR5@7R5R)׿,G!@9@@@6[BR_B5R'!@R@?x |" @@A@!1@TA\@a[_cv ?#{OS[cksCBG;A_A@X * R     1=@@{* @#A! B` Cc#Da! E` 3=c@@a`0=@G_TT T **5"@ @&7 RK'4*5a"@ @%7 R?'4Ta#@ @`&7 R7 (4A@?AGA85"@ @q%T%q'T75a"@ @q &Tq,T Ta#@ @qm%Tq&T@9CA@Z#@TD/@%Ta#@ @`57 R''B@54`@cAaB `C#a#@! cD  @aE#`0=!  1=q,T''Bq5T@!)@;G!-A@Bҡ9TCSA[BcCkDsE{ƨ#_֟ **5"@ @!7 R"4*5a"@ @!7 R"4Ta#@ @!7 R#4A@@?AGAd65"@ @qm!TqT75a"@ @q #Tq`+T Ta#@ @q #Tq +TCAZ@9,T'D+@s7*'+5"@ @7 Rg 43Ta"@ @7 R^4Ta#@ @7 RV@4A@?AGA75"@ @qTDq`$Td\ Ta"@ @qT9q$T Ta#@ @qT/q#T@9@ZLT c:`:0RaR@9!@BʃR@?!@˃R@?u@!1@T!@̓R@?ia@!1@Ta!@σR@?]a@!1@Ta!@bσR@?!@σR@?@ 7р`@7` ޼`@cAaB `C#cD! aE `0=#!  1=-@!1@TtZ@`7р%`@7` !@ⴃR@?n!@R@?i @!1@TS!@"R@?]a@!1@TaG!@"R@?Q!@R@?La@!1@Ta6!@ԃR@?@!@R@?;!@R@?6!@bÃR@?1!@bR@?,ϼa@!1@Ta!@ăR@? üa@!1@Ta !@уR@?!@BŃR@?a@'B!1@@Ta''B@G!@ŃR@?`@7`:'BQ`@7`@1`@7`)@7р@!`@7``@@7`ۼ  ?#{"S!S|D[ Db@$@1@T@!! FH@*@?@c7!с!@!!EH@*@?T*@7GT@u@ @1@T@1@T@7р@!G`Tc` 4 @ @ 64@%(7@8#5?Ӽ6+@7Ѡ@7р`@#T!GT?@5P@7&5`@7`@!!F8@`@"@?@A!A8@@B@?@S @7Ѡ@[BSAcC{Ĩ#_@7!ѡaawR7!сA c: ;$RARSA[B{Ĩ#_I^F@!GAT{>;8[BSAcC{Ĩ#_a @ @64@(7u@8`5?> @7@R7` `@@7%R` @7р **c: ;lcC7R *c: ;%R^xBWtX_  D@"H@b@?G!<@r c: ;$RR0q@ 7 wR,G!@9@@7wR`@$R6h@7Ѡ wRiRVt@t@w @1@T@1@T`@7``z@7BтbkhwRnc_e,G!@9@@ 6~ ?#O{GS[ckc@`R```````2=ko@ kwZ@#hwjc#@RAb!cZJBR8aBCJDBE2=s@2=@hwjc@@Gx!w8aj:kw8@@@!wx8a@h:?T!#@ @@7 R4@A B`Cc!#@a D` @ Ec2=a `2=q TqTGyVz*@@BҁTSA[BcCkD{Ũ#_ c:@<"RR3uZsRqJgBecb2=!@ R@?t!@ R@?o!@!1@T!Y @`7 o  _$գcGC T?#{S* @ @ 7 R@4SA{¨#__!@@?B4`@1T`߹a@!1@TaSA{¨##  ?#{S @@7!! `"@@"7!a `&@@&7! `VB~t@@7!@7Ѡ @7р`6@@67!!`:@@:7!a`*@@*7!`.@@.7!`2@@27!SA@{è#_SA@{è#  ?#{SG[cz@@# 41 T˹ta@ @c7 @ `@cEC#n`Bb@@`@` @`c @ R`9`?9!G@"@cT{BSC[D#_cx@@7B"@7b send 'arg' into generator, return next yielded value or raise StopIteration.throwthrow(typ[,val[,tb]]) -> raise exception in generator, return next yielded value or raise StopIteration.closeclose() -> raise GeneratorExit inside generator.base__reduce_cython____setstate_cython__Tstridessuboffsetsndimitemsizenbytesis_c_contigis_f_contigcopycopy_fortranmemview__getattr__Whether this instance represents a single rotation.__getstate____setstate__from_quatfrom_matrixfrom_mrpas_matrixas_mrpconcatenateinvmagnitudecython_function_or_methodgeneratorscipy.spatial.transform._rotation._memoryviewsliceInternal class for passing memoryview slices to Pythonscipy.spatial.transform._rotation.memoryviewscipy.spatial.transform._rotation.Enumscipy.spatial.transform._rotation.arrayscipy.spatial.transform._rotation.__pyx_scope_struct_5_genexprscipy.spatial.transform._rotation.__pyx_scope_struct_4_concatenatescipy.spatial.transform._rotation.__pyx_scope_struct_3_genexprscipy.spatial.transform._rotation.__pyx_scope_struct_2__compute_eulerscipy.spatial.transform._rotation.__pyx_scope_struct_1_genexprscipy.spatial.transform._rotation.__pyx_scope_struct__from_eulerscipy.spatial.transform._rotation.RotationRotation in 3 dimensions. This class provides an interface to initialize from and represent rotations with: - Quaternions - Rotation Matrices - Rotation Vectors - Modified Rodrigues Parameters - Euler Angles The following operations on rotations are supported: - Application on vectors - Rotation Composition - Rotation Inversion - Rotation Indexing Indexing within a rotation is supported since multiple rotation transforms can be stored within a single `Rotation` instance. To create `Rotation` objects use ``from_...`` methods (see examples below). ``Rotation(...)`` is not supposed to be instantiated directly. Attributes ---------- single Methods ------- __len__ from_quat from_matrix from_rotvec from_mrp from_euler as_quat as_matrix as_rotvec as_mrp as_euler concatenate apply __mul__ inv magnitude mean reduce create_group __getitem__ identity random align_vectors See Also -------- Slerp Notes ----- .. versionadded:: 1.2.0 Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np A `Rotation` instance can be initialized in any of the above formats and converted to any of the others. The underlying object is independent of the representation used for initialization. Consider a counter-clockwise rotation of 90 degrees about the z-axis. This corresponds to the following quaternion (in scalar-last format): >>> r = R.from_quat([0, 0, np.sin(np.pi/4), np.cos(np.pi/4)]) The rotation can be expressed in any of the other formats: >>> r.as_matrix() array([[ 2.22044605e-16, -1.00000000e+00, 0.00000000e+00], [ 1.00000000e+00, 2.22044605e-16, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) >>> r.as_rotvec() array([0. , 0. , 1.57079633]) >>> r.as_euler('zyx', degrees=True) array([90., 0., 0.]) The same rotation can be initialized using a rotation matrix: >>> r = R.from_matrix([[0, -1, 0], ... [1, 0, 0], ... [0, 0, 1]]) Representation in other formats: >>> r.as_quat() array([0. , 0. , 0.70710678, 0.70710678]) >>> r.as_rotvec() array([0. , 0. , 1.57079633]) >>> r.as_euler('zyx', degrees=True) array([90., 0., 0.]) The rotation vector corresponding to this rotation is given by: >>> r = R.from_rotvec(np.pi/2 * np.array([0, 0, 1])) Representation in other formats: >>> r.as_quat() array([0. , 0. , 0.70710678, 0.70710678]) >>> r.as_matrix() array([[ 2.22044605e-16, -1.00000000e+00, 0.00000000e+00], [ 1.00000000e+00, 2.22044605e-16, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) >>> r.as_euler('zyx', degrees=True) array([90., 0., 0.]) The ``from_euler`` method is quite flexible in the range of input formats it supports. Here we initialize a single rotation about a single axis: >>> r = R.from_euler('z', 90, degrees=True) Again, the object is representation independent and can be converted to any other format: >>> r.as_quat() array([0. , 0. , 0.70710678, 0.70710678]) >>> r.as_matrix() array([[ 2.22044605e-16, -1.00000000e+00, 0.00000000e+00], [ 1.00000000e+00, 2.22044605e-16, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) >>> r.as_rotvec() array([0. , 0. , 1.57079633]) It is also possible to initialize multiple rotations in a single instance using any of the ``from_...`` functions. Here we initialize a stack of 3 rotations using the ``from_euler`` method: >>> r = R.from_euler('zyx', [ ... [90, 0, 0], ... [0, 45, 0], ... [45, 60, 30]], degrees=True) The other representations also now return a stack of 3 rotations. For example: >>> r.as_quat() array([[0. , 0. , 0.70710678, 0.70710678], [0. , 0.38268343, 0. , 0.92387953], [0.39190384, 0.36042341, 0.43967974, 0.72331741]]) Applying the above rotations onto a vector: >>> v = [1, 2, 3] >>> r.apply(v) array([[-2. , 1. , 3. ], [ 2.82842712, 2. , 1.41421356], [ 2.24452282, 0.78093109, 2.89002836]]) A `Rotation` instance can be indexed and sliced as if it were a single 1D array or list: >>> r.as_quat() array([[0. , 0. , 0.70710678, 0.70710678], [0. , 0.38268343, 0. , 0.92387953], [0.39190384, 0.36042341, 0.43967974, 0.72331741]]) >>> p = r[0] >>> p.as_matrix() array([[ 2.22044605e-16, -1.00000000e+00, 0.00000000e+00], [ 1.00000000e+00, 2.22044605e-16, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) >>> q = r[1:3] >>> q.as_quat() array([[0. , 0.38268343, 0. , 0.92387953], [0.39190384, 0.36042341, 0.43967974, 0.72331741]]) In fact it can be converted to numpy.array: >>> r_array = np.asarray(r) >>> r_array.shape (3,) >>> r_array[0].as_matrix() array([[ 2.22044605e-16, -1.00000000e+00, 0.00000000e+00], [ 1.00000000e+00, 2.22044605e-16, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) Multiple rotations can be composed using the ``*`` operator: >>> r1 = R.from_euler('z', 90, degrees=True) >>> r2 = R.from_rotvec([np.pi/4, 0, 0]) >>> v = [1, 2, 3] >>> r2.apply(r1.apply(v)) array([-2. , -1.41421356, 2.82842712]) >>> r3 = r2 * r1 # Note the order >>> r3.apply(v) array([-2. , -1.41421356, 2.82842712]) Finally, it is also possible to invert rotations: >>> r1 = R.from_euler('z', [90, 45], degrees=True) >>> r2 = r1.inv() >>> r2.as_euler('zyx', degrees=True) array([[-90., 0., 0.], [-45., 0., 0.]]) The following function can be used to plot rotations with Matplotlib by showing how they transform the standard x, y, z coordinate axes: >>> import matplotlib.pyplot as plt >>> def plot_rotated_axes(ax, r, name=None, offset=(0, 0, 0), scale=1): ... colors = ("#FF6666", "#005533", "#1199EE") # Colorblind-safe RGB ... loc = np.array([offset, offset]) ... for i, (axis, c) in enumerate(zip((ax.xaxis, ax.yaxis, ax.zaxis), ... colors)): ... axlabel = axis.axis_name ... axis.set_label_text(axlabel) ... axis.label.set_color(c) ... axis.line.set_color(c) ... axis.set_tick_params(colors=c) ... line = np.zeros((2, 3)) ... line[1, i] = scale ... line_rot = r.apply(line) ... line_plot = line_rot + loc ... ax.plot(line_plot[:, 0], line_plot[:, 1], line_plot[:, 2], c) ... text_loc = line[1]*1.2 ... text_loc_rot = r.apply(text_loc) ... text_plot = text_loc_rot + loc[0] ... ax.text(*text_plot, axlabel.upper(), color=c, ... va="center", ha="center") ... ax.text(*offset, name, color="k", va="center", ha="center", ... bbox={"fc": "w", "alpha": 0.8, "boxstyle": "circle"}) Create three rotations - the identity and two Euler rotations using intrinsic and extrinsic conventions: >>> r0 = R.identity() >>> r1 = R.from_euler("ZYX", [90, -30, 0], degrees=True) # intrinsic >>> r2 = R.from_euler("zyx", [90, -30, 0], degrees=True) # extrinsic Add all three rotations to a single plot: >>> ax = plt.figure().add_subplot(projection="3d", proj_type="ortho") >>> plot_rotated_axes(ax, r0, name="r0", offset=(0, 0, 0)) >>> plot_rotated_axes(ax, r1, name="r1", offset=(3, 0, 0)) >>> plot_rotated_axes(ax, r2, name="r2", offset=(6, 0, 0)) >>> _ = ax.annotate( ... "r0: Identity Rotation\n" ... "r1: Intrinsic Euler Rotation (ZYX)\n" ... "r2: Extrinsic Euler Rotation (zyx)", ... xy=(0.6, 0.7), xycoords="axes fraction", ha="left" ... ) >>> ax.set(xlim=(-1.25, 7.25), ylim=(-1.25, 1.25), zlim=(-1.25, 1.25)) >>> ax.set(xticks=range(-1, 8), yticks=[-1, 0, 1], zticks=[-1, 0, 1]) >>> ax.set_aspect("equal", adjustable="box") >>> ax.figure.set_size_inches(6, 5) >>> plt.tight_layout() Show the plot: >>> plt.show() These examples serve as an overview into the `Rotation` class and highlight major functionalities. For more thorough examples of the range of input and output formats supported, consult the individual method's examples. 'bool''char''signed char''unsigned char''short''unsigned short''int''unsigned int''long''unsigned long''long long''unsigned long long''complex float''float''complex double''double''complex long double''long double'a structPython objecta pointera stringendunparseable format string'Buffer dtype mismatch, expected %s%s%s but got %sBuffer dtype mismatch, expected '%s' but got %s in '%s.%s'memviewslice is already initialized!__name__ must be set to a string object__qualname__ must be set to a string objectfunction's dictionary may not be deletedsetting function's dictionary to a non-dict__defaults__ must be set to a tuple object__kwdefaults__ must be set to a dict object__annotations__ must be set to a dict objectExpected a dimension of size %zu, got %zuExpected %d dimensions, got %dUnexpected format string character: '%c'Python does not define a standard format string size for long double ('g')..Buffer dtype mismatch; next field is at offset %zd but %zd expectedBig-endian buffer not supported on little-endian compilerBuffer acquisition: Expected '{' after 'T'Cannot handle repeated arrays in format stringDoes not understand character buffer dtype format string ('%c')Expected a dimension of size %zu, got %dExpected a comma in format string, got '%c'Expected %d dimension(s), got %dUnexpected end of format string, expected ')'%.200s() takes no arguments (%zd given)%.200s() takes exactly one argument (%zd given)Bad call flags in __Pyx_CyFunction_Call. METH_OLDARGS is no longer supported!%.200s() takes no keyword argumentsunbound method %.200S() needs an argumentgenerator already executinggenerator ignored GeneratorExit_cython_0_29_37Shared Cython type %.200s is not a type objectShared Cython type %.200s has the wrong size, try recompilingcannot import name %SUnable to initialize pickling for %sscipy/spatial/transform/_rotation.cpython-312-aarch64-linux-gnu.so.p/_rotation.c%s (%s:%d)Cannot copy memoryview slice with indirect dimensions (axis %d)__int__ returned non-int (type %.200s). The ability to return an instance of a strict subclass of int is deprecated, and may be removed in a future version of Python.__%.4s__ returned non-%.4s (type %.200s)'%.50s' object has no attribute '%U'Buffer has wrong number of dimensions (expected %d, got %d)buffer dtypeItem size of buffer (%zu byte%s) does not match size of '%s' (%zu byte%s)Buffer is not indirectly contiguous in dimension %d.Buffer and memoryview are not contiguous in the same dimension.C-contiguous buffer is not contiguous in dimension %dC-contiguous buffer is not indirect in dimension %dBuffer exposes suboffsets but no stridesBuffer not compatible with direct access in dimension %d.Buffer is not indirectly accessible in dimension %d.Item size of buffer (%zd byte%s) does not match size of '%s' (%zd byte%s)_cython_coroutine_type_cython_generator_type_moduleif _cython_generator_type is not None: try: Generator = _module.Generator except AttributeError: pass else: Generator.register(_cython_generator_type) if _cython_coroutine_type is not None: try: Coroutine = _module.Coroutine except AttributeError: pass else: Coroutine.register(_cython_coroutine_type) Cython module failed to patch module with custom type'%.200s' object is not subscriptablecannot fit '%.200s' into an index-sized integerraise: arg 3 must be a traceback or Noneinstance exception may not have a separate valuecalling %R should have returned an instance of BaseException, not %Rraise: exception class must be a subclass of BaseExceptionco_argcountco_posonlyargcountco_kwonlyargcountco_nlocalsco_stacksizeco_flagsco_codeco_constsco_namesco_varnamesco_freevarsco_cellvarsco_linetablereplace%.200s.%.200s is not a type object%.200s.%.200s size changed, may indicate binary incompatibility. Expected %zd from C header, got %zd from PyObject%s.%s size changed, may indicate binary incompatibility. Expected %zd from C header, got %zd from PyObjectBuffer acquisition failed on assignment; and then reacquiring the old buffer failed too!scipy.spatial.transform._rotation._compute_euler_from_matrixscipy.spatial.transform._rotation._compose_quat_single%s() got multiple values for keyword argument '%U'%.200s() keywords must be strings%s() got an unexpected keyword argument '%U'scipy.spatial.transform._rotation._zeros2scipy.spatial.transform._rotation._make_elementary_quatscipy.spatial.transform._rotation._compose_quatscipy.spatial.transform._rotation.Rotation.reduce.split_rotationscipy.spatial.transform._rotation._cross3can't send non-None value to a just-started generatorMbP?-DT! @-DT! -DT!@Hz>-DT!?ؗҜ<@-DT!??zerosxyz,ix,jy,kz^[xyz]{1,3}$`weights` must be non-negative.`weights` may not contain negative valuesweightswarningswarnvectorsvalue must be a Rotation objectupdateunpackunable to allocate shape and strides.unable to allocate array data.`times` must be at most 1-dimensional.timestimedeltathrow__test__svdsumstructstringsourcestopstepstartsqrtsplit_rotationsizesingle_timesingleshape__setstate_cython____setstate__seqsendselfsearchsortedscipy.spatial.transform._rotationscipy._lib._util(%s)rotvecsrotvec`rotations` must be a sequence of at least 2 rotations.`rotations` must be a `Rotation` instance.rotations_rotation_groups__rmatmul__rightreturn_sensitivityreturn_indicesresultreshapereduce..split_rotation__reduce_ex____reduce_cython____reduce__rerangerandom_staterandomrad2degquat__qualname__q__pyx_vtable____pyx_unpickle_Rotation__pyx_unpickle_Enum__pyx_type__pyx_state__pyx_result__pyx_getbuffer__pyx_checksum__pyx_PickleError__prepare__picklepackonesobjnumpy.core.umath failed to importnumpy.core.multiarray failed to importnumpynumnpnormalizenormalno default __reduce__ due to non-trivial __cinit____new__ndim__name__namemoveaxis__module__mode__metaclass__memviewmean__matmul__match__main__lowerlogical_orlinalgleftjoinji,jk->ikix,jx,kix,j,kxitemsize <= 0 for cython.arrayitemsizeinverseinvalidinvinput must contain Rotation objects only__init__ind__import____imatmul__ikj,ik->ijijk,ik->ijignoreidentityidi,jx,kxi,j,kgroupgot differing extents in dimension %d (got %d and %d)__getstate__genexprfrom_rotvecfrom_quatfrom_mrpfrom_matrixfrom_euler..genexprfrom_eulerfortranformatflagseye__exit__errstateerrorenumerate__enter__encodeeinsumeighdtype_is_objectdtypedot__doc__dividediff__dict__detdegreesdeg2raddcreate_groupcopyconcatenate..genexprconcatenatecompute_times_compute_euler..genexpr_compute_eulerclosecline_in_traceback__class__check_random_statecanonical__call__c/build/scipy-CRQwve/scipy-1.11.4/scipy/spatial/transform/_rotation.pyxbasebaxisatleast_2datleast_1dasarrayas_rotvecas_quatas_matrixarrayargsargmaxanyanglesalphaallocate_bufferalign_vectorsalgorithmabsa,}:^.Z^[XYZ]{1,3}$View.MemoryViewValueErrorUnable to convert item to objectTypeErrorTimes must be in strictly increasing order.T{TSpherical Linear Interpolation of Rotations. The interpolation between consecutive rotations is performed as a rotation around a fixed axis with a constant angular velocity [1]_. This ensures that the interpolated rotations follow the shortest path between initial and final orientations. Parameters ---------- times : array_like, shape (N,) Times of the known rotations. At least 2 times must be specified. rotations : `Rotation` instance Rotations to perform the interpolation between. Must contain N rotations. Methods ------- __call__ See Also -------- Rotation Notes ----- .. versionadded:: 1.2.0 References ---------- .. [1] https://en.wikipedia.org/wiki/Slerp#Quaternion_Slerp Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> from scipy.spatial.transform import Slerp Setup the fixed keyframe rotations and times: >>> key_rots = R.random(5, random_state=2342345) >>> key_times = [0, 1, 2, 3, 4] Create the interpolator object: >>> slerp = Slerp(key_times, key_rots) Interpolate the rotations at the given times: >>> times = [0, 0.5, 0.25, 1, 1.5, 2, 2.75, 3, 3.25, 3.60, 4] >>> interp_rots = slerp(times) The keyframe rotations expressed as Euler angles: >>> key_rots.as_euler('xyz', degrees=True) array([[ 14.31443779, -27.50095894, -3.7275787 ], [ -1.79924227, -24.69421529, 164.57701743], [146.15020772, 43.22849451, -31.34891088], [ 46.39959442, 11.62126073, -45.99719267], [-88.94647804, -49.64400082, -65.80546984]]) The interpolated rotations expressed as Euler angles. These agree with the keyframe rotations at both endpoints of the range of keyframe times. >>> interp_rots.as_euler('xyz', degrees=True) array([[ 14.31443779, -27.50095894, -3.7275787 ], [ 4.74588574, -32.44683966, 81.25139984], [ 10.71094749, -31.56690154, 38.06896408], [ -1.79924227, -24.69421529, 164.57701743], [ 11.72796022, 51.64207311, -171.7374683 ], [ 146.15020772, 43.22849451, -31.34891088], [ 68.10921869, 20.67625074, -48.74886034], [ 46.39959442, 11.62126073, -45.99719267], [ 12.35552615, 4.21525086, -64.89288124], [ -30.08117143, -19.90769513, -78.98121326], [ -88.94647804, -49.64400082, -65.80546984]]) Slerp.__init__Slerp.__call__SlerpSingle rotation is not subscriptable.Single rotation has no len().Rotation.random (line 2538)Rotation.mean (line 2235)Rotation.magnitude (line 2200)Rotation.inv (line 2157)Rotation.from_rotvec (line 993)Rotation.from_quat (line 775)Rotation.from_mrp (line 1261)Rotation.from_matrix (line 840)Rotation.from_euler (line 1101)Rotation.as_rotvec (line 1542)Rotation.as_quat (line 1360)Rotation.as_mrp (line 1820)Rotation.as_matrix (line 1437)Rotation.as_euler (line 1731)Rotation.apply (line 1924)Rotation.__mul__ (line 2076)Rotation.__getitem__ (line 2425)RotationRepresent as rotation vectors. A rotation vector is a 3 dimensional vector which is co-directional to the axis of rotation and whose norm gives the angle of rotation [1]_. Parameters ---------- degrees : boolean, optional Returned magnitudes are in degrees if this flag is True, else they are in radians. Default is False. .. versionadded:: 1.7.0 Returns ------- rotvec : ndarray, shape (3,) or (N, 3) Shape depends on shape of inputs used for initialization. References ---------- .. [1] https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation#Rotation_vector Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Represent a single rotation: >>> r = R.from_euler('z', 90, degrees=True) >>> r.as_rotvec() array([0. , 0. , 1.57079633]) >>> r.as_rotvec().shape (3,) Represent a rotation in degrees: >>> r = R.from_euler('YX', (-90, -90), degrees=True) >>> s = r.as_rotvec(degrees=True) >>> s array([-69.2820323, -69.2820323, -69.2820323]) >>> np.linalg.norm(s) 120.00000000000001 Represent a stack with a single rotation: >>> r = R.from_quat([[0, 0, 1, 1]]) >>> r.as_rotvec() array([[0. , 0. , 1.57079633]]) >>> r.as_rotvec().shape (1, 3) Represent multiple rotations in a single object: >>> r = R.from_quat([[0, 0, 1, 1], [1, 1, 0, 1]]) >>> r.as_rotvec() array([[0. , 0. , 1.57079633], [1.35102172, 1.35102172, 0. ]]) >>> r.as_rotvec().shape (2, 3) Represent as rotation matrix. 3D rotations can be represented using rotation matrices, which are 3 x 3 real orthogonal matrices with determinant equal to +1 [1]_. Returns ------- matrix : ndarray, shape (3, 3) or (N, 3, 3) Shape depends on shape of inputs used for initialization. References ---------- .. [1] https://en.wikipedia.org/wiki/Rotation_matrix#In_three_dimensions Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Represent a single rotation: >>> r = R.from_rotvec([0, 0, np.pi/2]) >>> r.as_matrix() array([[ 2.22044605e-16, -1.00000000e+00, 0.00000000e+00], [ 1.00000000e+00, 2.22044605e-16, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) >>> r.as_matrix().shape (3, 3) Represent a stack with a single rotation: >>> r = R.from_quat([[1, 1, 0, 0]]) >>> r.as_matrix() array([[[ 0., 1., 0.], [ 1., 0., 0.], [ 0., 0., -1.]]]) >>> r.as_matrix().shape (1, 3, 3) Represent multiple rotations: >>> r = R.from_rotvec([[np.pi/2, 0, 0], [0, 0, np.pi/2]]) >>> r.as_matrix() array([[[ 1.00000000e+00, 0.00000000e+00, 0.00000000e+00], [ 0.00000000e+00, 2.22044605e-16, -1.00000000e+00], [ 0.00000000e+00, 1.00000000e+00, 2.22044605e-16]], [[ 2.22044605e-16, -1.00000000e+00, 0.00000000e+00], [ 1.00000000e+00, 2.22044605e-16, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]]) >>> r.as_matrix().shape (2, 3, 3) Notes ----- This function was called as_dcm before. .. versionadded:: 1.4.0 Represent as quaternions. Active rotations in 3 dimensions can be represented using unit norm quaternions [1]_. The mapping from quaternions to rotations is two-to-one, i.e. quaternions ``q`` and ``-q``, where ``-q`` simply reverses the sign of each component, represent the same spatial rotation. The returned value is in scalar-last (x, y, z, w) format. Parameters ---------- canonical : `bool`, default False Whether to map the redundant double cover of rotation space to a unique "canonical" single cover. If True, then the quaternion is chosen from {q, -q} such that the w term is positive. If the w term is 0, then the quaternion is chosen such that the first nonzero term of the x, y, and z terms is positive. Returns ------- quat : `numpy.ndarray`, shape (4,) or (N, 4) Shape depends on shape of inputs used for initialization. References ---------- .. [1] https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Represent a single rotation: >>> r = R.from_matrix([[0, -1, 0], ... [1, 0, 0], ... [0, 0, 1]]) >>> r.as_quat() array([0. , 0. , 0.70710678, 0.70710678]) >>> r.as_quat().shape (4,) Represent a stack with a single rotation: >>> r = R.from_quat([[0, 0, 0, 1]]) >>> r.as_quat().shape (1, 4) Represent multiple rotations in a single object: >>> r = R.from_rotvec([[np.pi, 0, 0], [0, 0, np.pi/2]]) >>> r.as_quat().shape (2, 4) Quaternions can be mapped from a redundant double cover of the rotation space to a canonical representation with a positive w term. >>> r = R.from_quat([0, 0, 0, -1]) >>> r.as_quat() array([0. , 0. , 0. , -1.]) >>> r.as_quat(canonical=True) array([0. , 0. , 0. , 1.]) Represent as Modified Rodrigues Parameters (MRPs). MRPs are a 3 dimensional vector co-directional to the axis of rotation and whose magnitude is equal to ``tan(theta / 4)``, where ``theta`` is the angle of rotation (in radians) [1]_. MRPs have a singuarity at 360 degrees which can be avoided by ensuring the angle of rotation does not exceed 180 degrees, i.e. switching the direction of the rotation when it is past 180 degrees. This function will always return MRPs corresponding to a rotation of less than or equal to 180 degrees. Returns ------- mrps : ndarray, shape (3,) or (N, 3) Shape depends on shape of inputs used for initialization. References ---------- .. [1] Shuster, M. D. "A Survery of Attitude Representations", The Journal of Astronautical Sciences, Vol. 41, No.4, 1993, pp. 475-476 Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Represent a single rotation: >>> r = R.from_rotvec([0, 0, np.pi]) >>> r.as_mrp() array([0. , 0. , 1. ]) >>> r.as_mrp().shape (3,) Represent a stack with a single rotation: >>> r = R.from_euler('xyz', [[180, 0, 0]], degrees=True) >>> r.as_mrp() array([[1. , 0. , 0. ]]) >>> r.as_mrp().shape (1, 3) Represent multiple rotations: >>> r = R.from_rotvec([[np.pi/2, 0, 0], [0, 0, np.pi/2]]) >>> r.as_mrp() array([[0.41421356, 0. , 0. ], [0. , 0. , 0.41421356]]) >>> r.as_mrp().shape (2, 3) Notes ----- .. versionadded:: 1.6.0 Represent as Euler angles. Any orientation can be expressed as a composition of 3 elementary rotations. Once the axis sequence has been chosen, Euler angles define the angle of rotation around each respective axis [1]_. The algorithm from [2]_ has been used to calculate Euler angles for the rotation about a given sequence of axes. Euler angles suffer from the problem of gimbal lock [3]_, where the representation loses a degree of freedom and it is not possible to determine the first and third angles uniquely. In this case, a warning is raised, and the third angle is set to zero. Note however that the returned angles still represent the correct rotation. Parameters ---------- seq : string, length 3 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations [1]_. Adjacent axes cannot be the same. Extrinsic and intrinsic rotations cannot be mixed in one function call. degrees : boolean, optional Returned angles are in degrees if this flag is True, else they are in radians. Default is False. Returns ------- angles : ndarray, shape (3,) or (N, 3) Shape depends on shape of inputs used to initialize object. The returned angles are in the range: - First angle belongs to [-180, 180] degrees (both inclusive) - Third angle belongs to [-180, 180] degrees (both inclusive) - Second angle belongs to: - [-90, 90] degrees if all axes are different (like xyz) - [0, 180] degrees if first and third axes are the same (like zxz) References ---------- .. [1] https://en.wikipedia.org/wiki/Euler_angles#Definition_by_intrinsic_rotations .. [2] Bernardes E, Viollet S (2022) Quaternion to Euler angles conversion: A direct, general and computationally efficient method. PLoS ONE 17(11): e0276302. https://doi.org/10.1371/journal.pone.0276302 .. [3] https://en.wikipedia.org/wiki/Gimbal_lock#In_applied_mathematics Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Represent a single rotation: >>> r = R.from_rotvec([0, 0, np.pi/2]) >>> r.as_euler('zxy', degrees=True) array([90., 0., 0.]) >>> r.as_euler('zxy', degrees=True).shape (3,) Represent a stack of single rotation: >>> r = R.from_rotvec([[0, 0, np.pi/2]]) >>> r.as_euler('zxy', degrees=True) array([[90., 0., 0.]]) >>> r.as_euler('zxy', degrees=True).shape (1, 3) Represent multiple rotations in a single object: >>> r = R.from_rotvec([ ... [0, 0, np.pi/2], ... [0, -np.pi/3, 0], ... [np.pi/4, 0, 0]]) >>> r.as_euler('zxy', degrees=True) array([[ 90., 0., 0.], [ 0., 0., -60.], [ 0., 45., 0.]]) >>> r.as_euler('zxy', degrees=True).shape (3, 3) RPickleErrorOut of bounds on buffer access (axis %d)Optimal rotation is not uniquely or poorly defined for the given sets of vectors.OMemoryErrorInvert this rotation. Composition of a rotation with its inverse results in an identity transformation. Returns ------- inverse : `Rotation` instance Object containing inverse of the rotations in the current instance. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Inverting a single rotation: >>> p = R.from_euler('z', 45, degrees=True) >>> q = p.inv() >>> q.as_euler('zyx', degrees=True) array([-45., 0., 0.]) Inverting multiple rotations: >>> p = R.from_rotvec([[0, 0, np.pi/3], [-np.pi/4, 0, 0]]) >>> q = p.inv() >>> q.as_rotvec() array([[-0. , -0. , -1.04719755], [ 0.78539816, -0. , -0. ]]) Invalid shape in axis %d: %d.Invalid mode, expected 'c' or 'fortran', got %sInterpolation times must be within the range [{}, {}], both inclusive.Initialize from rotation vectors. A rotation vector is a 3 dimensional vector which is co-directional to the axis of rotation and whose norm gives the angle of rotation [1]_. Parameters ---------- rotvec : array_like, shape (N, 3) or (3,) A single vector or a stack of vectors, where `rot_vec[i]` gives the ith rotation vector. degrees : bool, optional If True, then the given magnitudes are assumed to be in degrees. Default is False. .. versionadded:: 1.7.0 Returns ------- rotation : `Rotation` instance Object containing the rotations represented by input rotation vectors. References ---------- .. [1] https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation#Rotation_vector Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Initialize a single rotation: >>> r = R.from_rotvec(np.pi/2 * np.array([0, 0, 1])) >>> r.as_rotvec() array([0. , 0. , 1.57079633]) >>> r.as_rotvec().shape (3,) Initialize a rotation in degrees, and view it in degrees: >>> r = R.from_rotvec(45 * np.array([0, 1, 0]), degrees=True) >>> r.as_rotvec(degrees=True) array([ 0., 45., 0.]) Initialize multiple rotations in one object: >>> r = R.from_rotvec([ ... [0, 0, np.pi/2], ... [np.pi/2, 0, 0]]) >>> r.as_rotvec() array([[0. , 0. , 1.57079633], [1.57079633, 0. , 0. ]]) >>> r.as_rotvec().shape (2, 3) It is also possible to have a stack of a single rotaton: >>> r = R.from_rotvec([[0, 0, np.pi/2]]) >>> r.as_rotvec().shape (1, 3) Initialize from rotation matrix. Rotations in 3 dimensions can be represented with 3 x 3 proper orthogonal matrices [1]_. If the input is not proper orthogonal, an approximation is created using the method described in [2]_. Parameters ---------- matrix : array_like, shape (N, 3, 3) or (3, 3) A single matrix or a stack of matrices, where ``matrix[i]`` is the i-th matrix. Returns ------- rotation : `Rotation` instance Object containing the rotations represented by the rotation matrices. References ---------- .. [1] https://en.wikipedia.org/wiki/Rotation_matrix#In_three_dimensions .. [2] F. Landis Markley, "Unit Quaternion from Rotation Matrix", Journal of guidance, control, and dynamics vol. 31.2, pp. 440-442, 2008. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Initialize a single rotation: >>> r = R.from_matrix([ ... [0, -1, 0], ... [1, 0, 0], ... [0, 0, 1]]) >>> r.as_matrix().shape (3, 3) Initialize multiple rotations in a single object: >>> r = R.from_matrix([ ... [ ... [0, -1, 0], ... [1, 0, 0], ... [0, 0, 1], ... ], ... [ ... [1, 0, 0], ... [0, 0, -1], ... [0, 1, 0], ... ]]) >>> r.as_matrix().shape (2, 3, 3) If input matrices are not special orthogonal (orthogonal with determinant equal to +1), then a special orthogonal estimate is stored: >>> a = np.array([ ... [0, -0.5, 0], ... [0.5, 0, 0], ... [0, 0, 0.5]]) >>> np.linalg.det(a) 0.12500000000000003 >>> r = R.from_matrix(a) >>> matrix = r.as_matrix() >>> matrix array([[-0.38461538, -0.92307692, 0. ], [ 0.92307692, -0.38461538, 0. ], [ 0. , 0. , 1. ]]) >>> np.linalg.det(matrix) 1.0000000000000002 It is also possible to have a stack containing a single rotation: >>> r = R.from_matrix([[ ... [0, -1, 0], ... [1, 0, 0], ... [0, 0, 1]]]) >>> r.as_matrix() array([[[ 0., -1., 0.], [ 1., 0., 0.], [ 0., 0., 1.]]]) >>> r.as_matrix().shape (1, 3, 3) Notes ----- This function was called from_dcm before. .. versionadded:: 1.4.0 Initialize from quaternions. 3D rotations can be represented using unit-norm quaternions [1]_. Parameters ---------- quat : array_like, shape (N, 4) or (4,) Each row is a (possibly non-unit norm) quaternion representing an active rotation, in scalar-last (x, y, z, w) format. Each quaternion will be normalized to unit norm. Returns ------- rotation : `Rotation` instance Object containing the rotations represented by input quaternions. References ---------- .. [1] https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation Examples -------- >>> from scipy.spatial.transform import Rotation as R Initialize a single rotation: >>> r = R.from_quat([1, 0, 0, 0]) >>> r.as_quat() array([1., 0., 0., 0.]) >>> r.as_quat().shape (4,) Initialize multiple rotations in a single object: >>> r = R.from_quat([ ... [1, 0, 0, 0], ... [0, 0, 0, 1] ... ]) >>> r.as_quat() array([[1., 0., 0., 0.], [0., 0., 0., 1.]]) >>> r.as_quat().shape (2, 4) It is also possible to have a stack of a single rotation: >>> r = R.from_quat([[0, 0, 0, 1]]) >>> r.as_quat() array([[0., 0., 0., 1.]]) >>> r.as_quat().shape (1, 4) Quaternions are normalized before initialization. >>> r = R.from_quat([0, 0, 1, 1]) >>> r.as_quat() array([0. , 0. , 0.70710678, 0.70710678]) Initialize from Modified Rodrigues Parameters (MRPs). MRPs are a 3 dimensional vector co-directional to the axis of rotation and whose magnitude is equal to ``tan(theta / 4)``, where ``theta`` is the angle of rotation (in radians) [1]_. MRPs have a singuarity at 360 degrees which can be avoided by ensuring the angle of rotation does not exceed 180 degrees, i.e. switching the direction of the rotation when it is past 180 degrees. Parameters ---------- mrp : array_like, shape (N, 3) or (3,) A single vector or a stack of vectors, where `mrp[i]` gives the ith set of MRPs. Returns ------- rotation : `Rotation` instance Object containing the rotations represented by input MRPs. References ---------- .. [1] Shuster, M. D. "A Survery of Attitude Representations", The Journal of Astronautical Sciences, Vol. 41, No.4, 1993, pp. 475-476 Notes ----- .. versionadded:: 1.6.0 Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Initialize a single rotation: >>> r = R.from_mrp([0, 0, 1]) >>> r.as_euler('xyz', degrees=True) array([0. , 0. , 180. ]) >>> r.as_euler('xyz').shape (3,) Initialize multiple rotations in one object: >>> r = R.from_mrp([ ... [0, 0, 1], ... [1, 0, 0]]) >>> r.as_euler('xyz', degrees=True) array([[0. , 0. , 180. ], [180.0 , 0. , 0. ]]) >>> r.as_euler('xyz').shape (2, 3) It is also possible to have a stack of a single rotation: >>> r = R.from_mrp([[0, 0, np.pi/2]]) >>> r.as_euler('xyz').shape (1, 3) Initialize from Euler angles. Rotations in 3-D can be represented by a sequence of 3 rotations around a sequence of axes. In theory, any three axes spanning the 3-D Euclidean space are enough. In practice, the axes of rotation are chosen to be the basis vectors. The three rotations can either be in a global frame of reference (extrinsic) or in a body centred frame of reference (intrinsic), which is attached to, and moves with, the object under rotation [1]_. Parameters ---------- seq : string Specifies sequence of axes for rotations. Up to 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations. Extrinsic and intrinsic rotations cannot be mixed in one function call. angles : float or array_like, shape (N,) or (N, [1 or 2 or 3]) Euler angles specified in radians (`degrees` is False) or degrees (`degrees` is True). For a single character `seq`, `angles` can be: - a single value - array_like with shape (N,), where each `angle[i]` corresponds to a single rotation - array_like with shape (N, 1), where each `angle[i, 0]` corresponds to a single rotation For 2- and 3-character wide `seq`, `angles` can be: - array_like with shape (W,) where `W` is the width of `seq`, which corresponds to a single rotation with `W` axes - array_like with shape (N, W) where each `angle[i]` corresponds to a sequence of Euler angles describing a single rotation degrees : bool, optional If True, then the given angles are assumed to be in degrees. Default is False. Returns ------- rotation : `Rotation` instance Object containing the rotation represented by the sequence of rotations around given axes with given angles. References ---------- .. [1] https://en.wikipedia.org/wiki/Euler_angles#Definition_by_intrinsic_rotations Examples -------- >>> from scipy.spatial.transform import Rotation as R Initialize a single rotation along a single axis: >>> r = R.from_euler('x', 90, degrees=True) >>> r.as_quat().shape (4,) Initialize a single rotation with a given axis sequence: >>> r = R.from_euler('zyx', [90, 45, 30], degrees=True) >>> r.as_quat().shape (4,) Initialize a stack with a single rotation around a single axis: >>> r = R.from_euler('x', [90], degrees=True) >>> r.as_quat().shape (1, 4) Initialize a stack with a single rotation with an axis sequence: >>> r = R.from_euler('zyx', [[90, 45, 30]], degrees=True) >>> r.as_quat().shape (1, 4) Initialize multiple elementary rotations in one object: >>> r = R.from_euler('x', [90, 45, 30], degrees=True) >>> r.as_quat().shape (3, 4) Initialize multiple rotations in one object: >>> r = R.from_euler('zyx', [[90, 45, 30], [35, 45, 90]], degrees=True) >>> r.as_quat().shape (2, 4) Indirect dimensions not supportedIndexErrorIncompatible checksums (0x%x vs (0xb068931, 0x82a3537, 0x6ae9995) = (name))Incompatible checksums (0x%x vs (0x14ed78b, 0x0fbb6f7, 0x22c69a8) = (_quat, _single))ImportErrorGimbal lock detected. Setting third angle to zero since it is not possible to uniquely determine all angles.Get the mean of the rotations. Parameters ---------- weights : array_like shape (N,), optional Weights describing the relative importance of the rotations. If None (default), then all values in `weights` are assumed to be equal. Returns ------- mean : `Rotation` instance Object containing the mean of the rotations in the current instance. Notes ----- The mean used is the chordal L2 mean (also called the projected or induced arithmetic mean). If ``p`` is a set of rotations with mean ``m``, then ``m`` is the rotation which minimizes ``(weights[:, None, None] * (p.as_matrix() - m.as_matrix())**2).sum()``. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> r = R.from_euler('zyx', [[0, 0, 0], ... [1, 0, 0], ... [0, 1, 0], ... [0, 0, 1]], degrees=True) >>> r.mean().as_euler('zyx', degrees=True) array([0.24945696, 0.25054542, 0.24945696]) Get the magnitude(s) of the rotation(s). Returns ------- magnitude : ndarray or float Angle(s) in radians, float if object contains a single rotation and ndarray if object contains multiple rotations. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np >>> r = R.from_quat(np.eye(4)) >>> r.magnitude() array([3.14159265, 3.14159265, 3.14159265, 0. ]) Magnitude of a single rotation: >>> r[0].magnitude() 3.141592653589793 Generate uniformly distributed rotations. Parameters ---------- num : int or None, optional Number of random rotations to generate. If None (default), then a single rotation is generated. random_state : {None, int, `numpy.random.Generator`, `numpy.random.RandomState`}, optional If `seed` is None (or `np.random`), the `numpy.random.RandomState` singleton is used. If `seed` is an int, a new ``RandomState`` instance is used, seeded with `seed`. If `seed` is already a ``Generator`` or ``RandomState`` instance then that instance is used. Returns ------- random_rotation : `Rotation` instance Contains a single rotation if `num` is None. Otherwise contains a stack of `num` rotations. Notes ----- This function is optimized for efficiently sampling random rotation matrices in three dimensions. For generating random rotation matrices in higher dimensions, see `scipy.stats.special_ortho_group`. Examples -------- >>> from scipy.spatial.transform import Rotation as R Sample a single rotation: >>> R.random().as_euler('zxy', degrees=True) array([-110.5976185 , 55.32758512, 76.3289269 ]) # random Sample a stack of rotations: >>> R.random(5).as_euler('zxy', degrees=True) array([[-110.5976185 , 55.32758512, 76.3289269 ], # random [ -91.59132005, -14.3629884 , -93.91933182], [ 25.23835501, 45.02035145, -121.67867086], [ -51.51414184, -15.29022692, -172.46870023], [ -81.63376847, -27.39521579, 2.60408416]]) See Also -------- scipy.stats.special_ortho_group Found zero norm quaternions in `quat`.Extract rotation(s) at given index(es) from object. Create a new `Rotation` instance containing a subset of rotations stored in this object. Parameters ---------- indexer : index, slice, or index array Specifies which rotation(s) to extract. A single indexer must be specified, i.e. as if indexing a 1 dimensional array or list. Returns ------- rotation : `Rotation` instance Contains - a single rotation, if `indexer` is a single index - a stack of rotation(s), if `indexer` is a slice, or and index array. Raises ------ TypeError if the instance was created as a single rotation. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> r = R.from_quat([ ... [1, 1, 0, 0], ... [0, 1, 0, 1], ... [1, 1, -1, 0]]) >>> r.as_quat() array([[ 0.70710678, 0.70710678, 0. , 0. ], [ 0. , 0.70710678, 0. , 0.70710678], [ 0.57735027, 0.57735027, -0.57735027, 0. ]]) Indexing using a single index: >>> p = r[0] >>> p.as_quat() array([0.70710678, 0.70710678, 0. , 0. ]) Array slicing: >>> q = r[1:3] >>> q.as_quat() array([[ 0. , 0.70710678, 0. , 0.70710678], [ 0.57735027, 0.57735027, -0.57735027, 0. ]]) Expected `weights` to have number of values equal to number of input vectors, got {} values and {} vectors.Expected `weights` to have number of values equal to number of rotations, got {} values and {} rotations.Expected `weights` to be 1 dimensional, got shape {}.Expected times to be specified in a 1 dimensional array, got {} dimensions.Expected `rot_vec` to have shape (3,) or (N, 3), got {}Expected `quat` to have shape (4,) or (N, 4), got Expected number of rotations to be equal to number of timestamps given, got {} rotations and {} timestamps.Expected `mrp` to have shape (3,) or (N, 3), got {}Expected `matrix` to have shape (3, 3) or (N, 3, 3), got {}Expected inputs `a` and `b` to have same shapes, got {} and {} respectively.Expected input of shape (3,) or (P, 3), got {}.Expected input `b` to have shape (N, 3), got {}.Expected input `a` to have shape (N, 3), got {}Expected float, 1D array, or 2D array for parameter `angles` corresponding to `seq`, got shape {}.Expected equal numbers of rotations and vectors , or a single rotation, or a single vector, got {} rotations and {} vectors.Expected equal number of rotations in both or a single rotation in either object, got {} rotations in first and {} rotations in second object.Expected consecutive axes to be different, got {}Expected axis specification to be a non-empty string of upto 3 characters, got {}Expected axes from `seq` to be from ['x', 'y', 'z'] or ['X', 'Y', 'Z'], got {}Expected angles to have shape (num_rotations, num_axes), got {}.Expected `angles` to be at most 2-dimensional with width equal to number of axes specified, got {} for shapeExpected `angles` parameter to have shape (N, 1), got {}.Expected 3 axes, got {}.Empty shape tuple for cython.arrayEllipsisCompose this rotation with the other. If `p` and `q` are two rotations, then the composition of 'q followed by p' is equivalent to `p * q`. In terms of rotation matrices, the composition can be expressed as ``p.as_matrix().dot(q.as_matrix())``. Parameters ---------- other : `Rotation` instance Object containing the rotations to be composed with this one. Note that rotation compositions are not commutative, so ``p * q`` is different from ``q * p``. Returns ------- composition : `Rotation` instance This function supports composition of multiple rotations at a time. The following cases are possible: - Either ``p`` or ``q`` contains a single rotation. In this case `composition` contains the result of composing each rotation in the other object with the single rotation. - Both ``p`` and ``q`` contain ``N`` rotations. In this case each rotation ``p[i]`` is composed with the corresponding rotation ``q[i]`` and `output` contains ``N`` rotations. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Composition of two single rotations: >>> p = R.from_quat([0, 0, 1, 1]) >>> q = R.from_quat([1, 0, 0, 1]) >>> p.as_matrix() array([[ 0., -1., 0.], [ 1., 0., 0.], [ 0., 0., 1.]]) >>> q.as_matrix() array([[ 1., 0., 0.], [ 0., 0., -1.], [ 0., 1., 0.]]) >>> r = p * q >>> r.as_matrix() array([[0., 0., 1.], [1., 0., 0.], [0., 1., 0.]]) Composition of two objects containing equal number of rotations: >>> p = R.from_quat([[0, 0, 1, 1], [1, 0, 0, 1]]) >>> q = R.from_rotvec([[np.pi/4, 0, 0], [-np.pi/4, 0, np.pi/4]]) >>> p.as_quat() array([[0. , 0. , 0.70710678, 0.70710678], [0.70710678, 0. , 0. , 0.70710678]]) >>> q.as_quat() array([[ 0.38268343, 0. , 0. , 0.92387953], [-0.37282173, 0. , 0.37282173, 0.84971049]]) >>> r = p * q >>> r.as_quat() array([[ 0.27059805, 0.27059805, 0.65328148, 0.65328148], [ 0.33721128, -0.26362477, 0.26362477, 0.86446082]]) Cannot index with type '%s'Cannot create writable memory view from read-only memoryviewCannot assign to read-only memoryviewCan only create a buffer that is contiguous in memory.Buffer view does not expose stridesApply this rotation to a set of vectors. If the original frame rotates to the final frame by this rotation, then its application to a vector can be seen in two ways: - As a projection of vector components expressed in the final frame to the original frame. - As the physical rotation of a vector being glued to the original frame as it rotates. In this case the vector components are expressed in the original frame before and after the rotation. In terms of rotation matricies, this application is the same as ``self.as_matrix().dot(vectors)``. Parameters ---------- vectors : array_like, shape (3,) or (N, 3) Each `vectors[i]` represents a vector in 3D space. A single vector can either be specified with shape `(3, )` or `(1, 3)`. The number of rotations and number of vectors given must follow standard numpy broadcasting rules: either one of them equals unity or they both equal each other. inverse : boolean, optional If True then the inverse of the rotation(s) is applied to the input vectors. Default is False. Returns ------- rotated_vectors : ndarray, shape (3,) or (N, 3) Result of applying rotation on input vectors. Shape depends on the following cases: - If object contains a single rotation (as opposed to a stack with a single rotation) and a single vector is specified with shape ``(3,)``, then `rotated_vectors` has shape ``(3,)``. - In all other cases, `rotated_vectors` has shape ``(N, 3)``, where ``N`` is either the number of rotations or vectors. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Single rotation applied on a single vector: >>> vector = np.array([1, 0, 0]) >>> r = R.from_rotvec([0, 0, np.pi/2]) >>> r.as_matrix() array([[ 2.22044605e-16, -1.00000000e+00, 0.00000000e+00], [ 1.00000000e+00, 2.22044605e-16, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) >>> r.apply(vector) array([2.22044605e-16, 1.00000000e+00, 0.00000000e+00]) >>> r.apply(vector).shape (3,) Single rotation applied on multiple vectors: >>> vectors = np.array([ ... [1, 0, 0], ... [1, 2, 3]]) >>> r = R.from_rotvec([0, 0, np.pi/4]) >>> r.as_matrix() array([[ 0.70710678, -0.70710678, 0. ], [ 0.70710678, 0.70710678, 0. ], [ 0. , 0. , 1. ]]) >>> r.apply(vectors) array([[ 0.70710678, 0.70710678, 0. ], [-0.70710678, 2.12132034, 3. ]]) >>> r.apply(vectors).shape (2, 3) Multiple rotations on a single vector: >>> r = R.from_rotvec([[0, 0, np.pi/4], [np.pi/2, 0, 0]]) >>> vector = np.array([1,2,3]) >>> r.as_matrix() array([[[ 7.07106781e-01, -7.07106781e-01, 0.00000000e+00], [ 7.07106781e-01, 7.07106781e-01, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]], [[ 1.00000000e+00, 0.00000000e+00, 0.00000000e+00], [ 0.00000000e+00, 2.22044605e-16, -1.00000000e+00], [ 0.00000000e+00, 1.00000000e+00, 2.22044605e-16]]]) >>> r.apply(vector) array([[-0.70710678, 2.12132034, 3. ], [ 1. , -3. , 2. ]]) >>> r.apply(vector).shape (2, 3) Multiple rotations on multiple vectors. Each rotation is applied on the corresponding vector: >>> r = R.from_euler('zxy', [ ... [0, 0, 90], ... [45, 30, 60]], degrees=True) >>> vectors = [ ... [1, 2, 3], ... [1, 0, -1]] >>> r.apply(vectors) array([[ 3. , 2. , -1. ], [-0.09026039, 1.11237244, -0.86860844]]) >>> r.apply(vectors).shape (2, 3) It is also possible to apply the inverse rotation: >>> r = R.from_euler('zxy', [ ... [0, 0, 90], ... [45, 30, 60]], degrees=True) >>> vectors = [ ... [1, 2, 3], ... [1, 0, -1]] >>> r.apply(vectors, inverse=True) array([[-3. , 2. , 1. ], [ 1.09533535, -0.8365163 , 0.3169873 ]]) ASCIILXHD@<840,(T  P<99666?`E<996LLLLLLL9LLLLLLLLLLLLLLLLLLLLL 9LLLLLL__pyx_fatalerror  ;0 % HHHLxHHP(LZtZ]<h^ ^h ^$ _ d e@fkTH \ p  $ D T l  $ $$ + T+$ A D,x40Tpx4 TDd Ttld  0 D4#4%@4)(bX"d"h8#x#$$$&4P&Tt&H&d&4%', (5x(=()4d)4 *@*Td+t++t+$,T,x,,-/ 000X11%(2&\2-20H3T63?4Cd54L6dS6Z7Df7dg7g8l8m8m9n09n\94o9to9o:$p,:ph:p:hq:q ;Dr0;rT;$sx;s;t;t;du<Twd<w<tx<x<Ty =yD=yh=z={=|=}(>X~X>~>>$>?DW>W(?WT?X@hXBXxBXBX$C,YDD\YFYGYGYdH ZHZ$IZI4[J`[L[4M[NL\Np\xO\TQ\Q]Q,]R\]tS]$U]tV<^V<_\`H`|```da`bac@a(exadhanb$qbu4cvdcwcyc{HdT}d~d~dT`eexff4ffA-A0DBc A-A ,4>A-A0DBc A-A ,4?dA-A CF A-A JA-4(5?A-A BT A-A E A-A `5L@A-ABA- 5H@A-ABA-,5D@dA-A CF A-A JA-05x@A-A0BCB A-A 0 6BA-A0BCC A-A @6lDXA-AP BDEDzADA-AP -bHA-AP -F DAA-A 86@FA-AP BCBh A-A T7IhA-A@BC] A-A H A-A Bo A e C f C @`7 M$A-A@BEPf AA-A ADA-47MA-A CX A-C T A-A ,7NA-A0BD` A-A 8`OLE-AJA-$08OJ-B CKA-$X8OJ-B CKA-$8p(A-A@BHgCA-A@-CRGJA-A@-TCCKBH>rA-A0DD[ A-A F A-A O A-A 8>ЉA-ApC DBCA-,?DA-A0BBfA-,H?̒A-A0BB_A-Dx?8)A-AC BG 7 A-l?rXA-A@BBFw AA-A Q B MLA-A@-F AA-A CBD0@tP A-ABG G A-A x@~TA-Ap C E LJLHCDA-Ap  -UBHDA-Ap  -MIAbCAFgwCFCTLG D GGJ DXAHhA-A` BB CCCd A-A Al4A-AB EBBB AADA-A -ZF L CABA-A s BAA @BhA-A` E DRCABVAAAAAAH`DA-A  -~DAyTAAAAQP]`gOpAAAAAA0C4B-AEi A-A XA-0HC$A-ADCCq A-A |CA-ABA-0CA-A Er  BA-A CxA-ABA-,Ct4A-ADCf A-A 0(DxC-A Cc A-A F A-A ,\D0XA-ADBz A-A ,D`XA-ADBz A-A DA-ABA-<DA-AP BD[ A-A L E`T A-A` B BBBC `FA-A 0pElA-A@CCx A-B c A-A PEܲA-A` B BBCGOE A-A PA-Et8A-AP BE@tE DA-A EJA-AP -JC A CIBNBBACD A SGC^F B UACQJEF A-A`CBGP_uA-A`-^ A @ A Ce} A C A C[KLMIRFw[URCUGAAMH A H A HDG A-AC B EL A-A G$A-ACA- G A-AH A-A H,A-AGA- 4H<A-AKA- XH,A-AGA- |H<D-AFA- H <A-AKA- H(,A-AGA-DH4`A-A@BDxPDA-A@-A 0ILA-A\ A-A LTIU-A0EOA-F0-]U C B B A B A8I(A-A0BDa A-A CA- I<A-AKA- J<A-AKA-4(JA-AS A-G A A-H AA-8`J|DA-A0BHd AA-A RJA- JpT-ADA-(JA-AR A-B JA-(J4A-AR A-B JA- KA-AS A-A ,>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Composition of two single rotations: >>> p = R.from_quat([0, 0, 1, 1]) >>> q = R.from_quat([1, 0, 0, 1]) >>> p.as_matrix() array([[ 0., -1., 0.], [ 1., 0., 0.], [ 0., 0., 1.]]) >>> q.as_matrix() array([[ 1., 0., 0.], [ 0., 0., -1.], [ 0., 1., 0.]]) >>> r = p * q >>> r.as_matrix() array([[0., 0., 1.], [1., 0., 0.], [0., 1., 0.]]) Composition of two objects containing equal number of rotations: >>> p = R.from_quat([[0, 0, 1, 1], [1, 0, 0, 1]]) >>> q = R.from_rotvec([[np.pi/4, 0, 0], [-np.pi/4, 0, np.pi/4]]) >>> p.as_quat() array([[0. , 0. , 0.70710678, 0.70710678], [0.70710678, 0. , 0. , 0.70710678]]) >>> q.as_quat() array([[ 0.38268343, 0. , 0. , 0.92387953], [-0.37282173, 0. , 0.37282173, 0.84971049]]) >>> r = p * q >>> r.as_quat() array([[ 0.27059805, 0.27059805, 0.65328148, 0.65328148], [ 0.33721128, -0.26362477, 0.26362477, 0.86446082]]) Extract rotation(s) at given index(es) from object. Create a new `Rotation` instance containing a subset of rotations stored in this object. Parameters ---------- indexer : index, slice, or index array Specifies which rotation(s) to extract. A single indexer must be specified, i.e. as if indexing a 1 dimensional array or list. Returns ------- rotation : `Rotation` instance Contains - a single rotation, if `indexer` is a single index - a stack of rotation(s), if `indexer` is a slice, or and index array. Raises ------ TypeError if the instance was created as a single rotation. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> r = R.from_quat([ ... [1, 1, 0, 0], ... [0, 1, 0, 1], ... [1, 1, -1, 0]]) >>> r.as_quat() array([[ 0.70710678, 0.70710678, 0. , 0. ], [ 0. , 0.70710678, 0. , 0.70710678], [ 0.57735027, 0.57735027, -0.57735027, 0. ]]) Indexing using a single index: >>> p = r[0] >>> p.as_quat() array([0.70710678, 0.70710678, 0. , 0. ]) Array slicing: >>> q = r[1:3] >>> q.as_quat() array([[ 0. , 0.70710678, 0. , 0.70710678], [ 0.57735027, 0.57735027, -0.57735027, 0. ]]) Set rotation(s) at given index(es) from object. Parameters ---------- indexer : index, slice, or index array Specifies which rotation(s) to replace. A single indexer must be specified, i.e. as if indexing a 1 dimensional array or list. value : `Rotation` instance The rotations to set. Raises ------ TypeError if the instance was created as a single rotation. Notes ----- .. versionadded:: 1.8.0 Rotation.align_vectors(type cls, a, b, weights=None, return_sensitivity=False) Estimate a rotation to optimally align two sets of vectors. Find a rotation between frames A and B which best aligns a set of vectors `a` and `b` observed in these frames. The following loss function is minimized to solve for the rotation matrix :math:`C`: .. math:: L(C) = \frac{1}{2} \sum_{i = 1}^{n} w_i \lVert \mathbf{a}_i - C \mathbf{b}_i \rVert^2 , where :math:`w_i`'s are the `weights` corresponding to each vector. The rotation is estimated with Kabsch algorithm [1]_. Parameters ---------- a : array_like, shape (N, 3) Vector components observed in initial frame A. Each row of `a` denotes a vector. b : array_like, shape (N, 3) Vector components observed in another frame B. Each row of `b` denotes a vector. weights : array_like shape (N,), optional Weights describing the relative importance of the vector observations. If None (default), then all values in `weights` are assumed to be 1. return_sensitivity : bool, optional Whether to return the sensitivity matrix. See Notes for details. Default is False. Returns ------- estimated_rotation : `Rotation` instance Best estimate of the rotation that transforms `b` to `a`. rssd : float Square root of the weighted sum of the squared distances between the given sets of vectors after alignment. It is equal to ``sqrt(2 * minimum_loss)``, where ``minimum_loss`` is the loss function evaluated for the found optimal rotation. sensitivity_matrix : ndarray, shape (3, 3) Sensitivity matrix of the estimated rotation estimate as explained in Notes. Returned only when `return_sensitivity` is True. Notes ----- This method can also compute the sensitivity of the estimated rotation to small perturbations of the vector measurements. Specifically we consider the rotation estimate error as a small rotation vector of frame A. The sensitivity matrix is proportional to the covariance of this rotation vector assuming that the vectors in `a` was measured with errors significantly less than their lengths. To get the true covariance matrix, the returned sensitivity matrix must be multiplied by harmonic mean [3]_ of variance in each observation. Note that `weights` are supposed to be inversely proportional to the observation variances to get consistent results. For example, if all vectors are measured with the same accuracy of 0.01 (`weights` must be all equal), then you should multiple the sensitivity matrix by 0.01**2 to get the covariance. Refer to [2]_ for more rigorous discussion of the covariance estimation. References ---------- .. [1] https://en.wikipedia.org/wiki/Kabsch_algorithm .. [2] F. Landis Markley, "Attitude determination using vector observations: a fast optimal matrix algorithm", Journal of Astronautical Sciences, Vol. 41, No.2, 1993, pp. 261-280. .. [3] https://en.wikipedia.org/wiki/Harmonic_mean Rotation.random(type cls, num=None, random_state=None) Generate uniformly distributed rotations. Parameters ---------- num : int or None, optional Number of random rotations to generate. If None (default), then a single rotation is generated. random_state : {None, int, `numpy.random.Generator`, `numpy.random.RandomState`}, optional If `seed` is None (or `np.random`), the `numpy.random.RandomState` singleton is used. If `seed` is an int, a new ``RandomState`` instance is used, seeded with `seed`. If `seed` is already a ``Generator`` or ``RandomState`` instance then that instance is used. Returns ------- random_rotation : `Rotation` instance Contains a single rotation if `num` is None. Otherwise contains a stack of `num` rotations. Notes ----- This function is optimized for efficiently sampling random rotation matrices in three dimensions. For generating random rotation matrices in higher dimensions, see `scipy.stats.special_ortho_group`. Examples -------- >>> from scipy.spatial.transform import Rotation as R Sample a single rotation: >>> R.random().as_euler('zxy', degrees=True) array([-110.5976185 , 55.32758512, 76.3289269 ]) # random Sample a stack of rotations: >>> R.random(5).as_euler('zxy', degrees=True) array([[-110.5976185 , 55.32758512, 76.3289269 ], # random [ -91.59132005, -14.3629884 , -93.91933182], [ 25.23835501, 45.02035145, -121.67867086], [ -51.51414184, -15.29022692, -172.46870023], [ -81.63376847, -27.39521579, 2.60408416]]) See Also -------- scipy.stats.special_ortho_group Rotation.identity(type cls, num=None) Get identity rotation(s). Composition with the identity rotation has no effect. Parameters ---------- num : int or None, optional Number of identity rotations to generate. If None (default), then a single rotation is generated. Returns ------- identity : Rotation object The identity rotation. Rotation.create_group(type cls, group, axis=u'Z') Create a 3D rotation group. Parameters ---------- group : string The name of the group. Must be one of 'I', 'O', 'T', 'Dn', 'Cn', where `n` is a positive integer. The groups are: * I: Icosahedral group * O: Octahedral group * T: Tetrahedral group * D: Dicyclic group * C: Cyclic group axis : integer The cyclic rotation axis. Must be one of ['X', 'Y', 'Z'] (or lowercase). Default is 'Z'. Ignored for groups 'I', 'O', and 'T'. Returns ------- rotation : `Rotation` instance Object containing the elements of the rotation group. Notes ----- This method generates rotation groups only. The full 3-dimensional point groups [PointGroups]_ also contain reflections. References ---------- .. [PointGroups] `Point groups `_ on Wikipedia. Rotation.reduce(self, left=None, right=None, return_indices=False) Reduce this rotation with the provided rotation groups. Reduction of a rotation ``p`` is a transformation of the form ``q = l * p * r``, where ``l`` and ``r`` are chosen from `left` and `right` respectively, such that rotation ``q`` has the smallest magnitude. If `left` and `right` are rotation groups representing symmetries of two objects rotated by ``p``, then ``q`` is the rotation of the smallest magnitude to align these objects considering their symmetries. Parameters ---------- left : `Rotation` instance, optional Object containing the left rotation(s). Default value (None) corresponds to the identity rotation. right : `Rotation` instance, optional Object containing the right rotation(s). Default value (None) corresponds to the identity rotation. return_indices : bool, optional Whether to return the indices of the rotations from `left` and `right` used for reduction. Returns ------- reduced : `Rotation` instance Object containing reduced rotations. left_best, right_best: integer ndarray Indices of elements from `left` and `right` used for reduction. Rotation.mean(self, weights=None) Get the mean of the rotations. Parameters ---------- weights : array_like shape (N,), optional Weights describing the relative importance of the rotations. If None (default), then all values in `weights` are assumed to be equal. Returns ------- mean : `Rotation` instance Object containing the mean of the rotations in the current instance. Notes ----- The mean used is the chordal L2 mean (also called the projected or induced arithmetic mean). If ``p`` is a set of rotations with mean ``m``, then ``m`` is the rotation which minimizes ``(weights[:, None, None] * (p.as_matrix() - m.as_matrix())**2).sum()``. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> r = R.from_euler('zyx', [[0, 0, 0], ... [1, 0, 0], ... [0, 1, 0], ... [0, 0, 1]], degrees=True) >>> r.mean().as_euler('zyx', degrees=True) array([0.24945696, 0.25054542, 0.24945696]) Rotation.magnitude(self) Get the magnitude(s) of the rotation(s). Returns ------- magnitude : ndarray or float Angle(s) in radians, float if object contains a single rotation and ndarray if object contains multiple rotations. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np >>> r = R.from_quat(np.eye(4)) >>> r.magnitude() array([3.14159265, 3.14159265, 3.14159265, 0. ]) Magnitude of a single rotation: >>> r[0].magnitude() 3.141592653589793 Rotation.inv(self) Invert this rotation. Composition of a rotation with its inverse results in an identity transformation. Returns ------- inverse : `Rotation` instance Object containing inverse of the rotations in the current instance. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Inverting a single rotation: >>> p = R.from_euler('z', 45, degrees=True) >>> q = p.inv() >>> q.as_euler('zyx', degrees=True) array([-45., 0., 0.]) Inverting multiple rotations: >>> p = R.from_rotvec([[0, 0, np.pi/3], [-np.pi/4, 0, 0]]) >>> q = p.inv() >>> q.as_rotvec() array([[-0. , -0. , -1.04719755], [ 0.78539816, -0. , -0. ]]) Rotation.apply(self, vectors, inverse=False) Apply this rotation to a set of vectors. If the original frame rotates to the final frame by this rotation, then its application to a vector can be seen in two ways: - As a projection of vector components expressed in the final frame to the original frame. - As the physical rotation of a vector being glued to the original frame as it rotates. In this case the vector components are expressed in the original frame before and after the rotation. In terms of rotation matricies, this application is the same as ``self.as_matrix().dot(vectors)``. Parameters ---------- vectors : array_like, shape (3,) or (N, 3) Each `vectors[i]` represents a vector in 3D space. A single vector can either be specified with shape `(3, )` or `(1, 3)`. The number of rotations and number of vectors given must follow standard numpy broadcasting rules: either one of them equals unity or they both equal each other. inverse : boolean, optional If True then the inverse of the rotation(s) is applied to the input vectors. Default is False. Returns ------- rotated_vectors : ndarray, shape (3,) or (N, 3) Result of applying rotation on input vectors. Shape depends on the following cases: - If object contains a single rotation (as opposed to a stack with a single rotation) and a single vector is specified with shape ``(3,)``, then `rotated_vectors` has shape ``(3,)``. - In all other cases, `rotated_vectors` has shape ``(N, 3)``, where ``N`` is either the number of rotations or vectors. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Single rotation applied on a single vector: >>> vector = np.array([1, 0, 0]) >>> r = R.from_rotvec([0, 0, np.pi/2]) >>> r.as_matrix() array([[ 2.22044605e-16, -1.00000000e+00, 0.00000000e+00], [ 1.00000000e+00, 2.22044605e-16, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) >>> r.apply(vector) array([2.22044605e-16, 1.00000000e+00, 0.00000000e+00]) >>> r.apply(vector).shape (3,) Single rotation applied on multiple vectors: >>> vectors = np.array([ ... [1, 0, 0], ... [1, 2, 3]]) >>> r = R.from_rotvec([0, 0, np.pi/4]) >>> r.as_matrix() array([[ 0.70710678, -0.70710678, 0. ], [ 0.70710678, 0.70710678, 0. ], [ 0. , 0. , 1. ]]) >>> r.apply(vectors) array([[ 0.70710678, 0.70710678, 0. ], [-0.70710678, 2.12132034, 3. ]]) >>> r.apply(vectors).shape (2, 3) Multiple rotations on a single vector: >>> r = R.from_rotvec([[0, 0, np.pi/4], [np.pi/2, 0, 0]]) >>> vector = np.array([1,2,3]) >>> r.as_matrix() array([[[ 7.07106781e-01, -7.07106781e-01, 0.00000000e+00], [ 7.07106781e-01, 7.07106781e-01, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]], [[ 1.00000000e+00, 0.00000000e+00, 0.00000000e+00], [ 0.00000000e+00, 2.22044605e-16, -1.00000000e+00], [ 0.00000000e+00, 1.00000000e+00, 2.22044605e-16]]]) >>> r.apply(vector) array([[-0.70710678, 2.12132034, 3. ], [ 1. , -3. , 2. ]]) >>> r.apply(vector).shape (2, 3) Multiple rotations on multiple vectors. Each rotation is applied on the corresponding vector: >>> r = R.from_euler('zxy', [ ... [0, 0, 90], ... [45, 30, 60]], degrees=True) >>> vectors = [ ... [1, 2, 3], ... [1, 0, -1]] >>> r.apply(vectors) array([[ 3. , 2. , -1. ], [-0.09026039, 1.11237244, -0.86860844]]) >>> r.apply(vectors).shape (2, 3) It is also possible to apply the inverse rotation: >>> r = R.from_euler('zxy', [ ... [0, 0, 90], ... [45, 30, 60]], degrees=True) >>> vectors = [ ... [1, 2, 3], ... [1, 0, -1]] >>> r.apply(vectors, inverse=True) array([[-3. , 2. , 1. ], [ 1.09533535, -0.8365163 , 0.3169873 ]]) Rotation.concatenate(type cls, rotations) Concatenate a sequence of `Rotation` objects. Parameters ---------- rotations : sequence of `Rotation` objects The rotations to concatenate. Returns ------- concatenated : `Rotation` instance The concatenated rotations. Notes ----- .. versionadded:: 1.8.0 Rotation.as_mrp(self) Represent as Modified Rodrigues Parameters (MRPs). MRPs are a 3 dimensional vector co-directional to the axis of rotation and whose magnitude is equal to ``tan(theta / 4)``, where ``theta`` is the angle of rotation (in radians) [1]_. MRPs have a singuarity at 360 degrees which can be avoided by ensuring the angle of rotation does not exceed 180 degrees, i.e. switching the direction of the rotation when it is past 180 degrees. This function will always return MRPs corresponding to a rotation of less than or equal to 180 degrees. Returns ------- mrps : ndarray, shape (3,) or (N, 3) Shape depends on shape of inputs used for initialization. References ---------- .. [1] Shuster, M. D. "A Survery of Attitude Representations", The Journal of Astronautical Sciences, Vol. 41, No.4, 1993, pp. 475-476 Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Represent a single rotation: >>> r = R.from_rotvec([0, 0, np.pi]) >>> r.as_mrp() array([0. , 0. , 1. ]) >>> r.as_mrp().shape (3,) Represent a stack with a single rotation: >>> r = R.from_euler('xyz', [[180, 0, 0]], degrees=True) >>> r.as_mrp() array([[1. , 0. , 0. ]]) >>> r.as_mrp().shape (1, 3) Represent multiple rotations: >>> r = R.from_rotvec([[np.pi/2, 0, 0], [0, 0, np.pi/2]]) >>> r.as_mrp() array([[0.41421356, 0. , 0. ], [0. , 0. , 0.41421356]]) >>> r.as_mrp().shape (2, 3) Notes ----- .. versionadded:: 1.6.0 Rotation.as_euler(self, seq, degrees=False) Represent as Euler angles. Any orientation can be expressed as a composition of 3 elementary rotations. Once the axis sequence has been chosen, Euler angles define the angle of rotation around each respective axis [1]_. The algorithm from [2]_ has been used to calculate Euler angles for the rotation about a given sequence of axes. Euler angles suffer from the problem of gimbal lock [3]_, where the representation loses a degree of freedom and it is not possible to determine the first and third angles uniquely. In this case, a warning is raised, and the third angle is set to zero. Note however that the returned angles still represent the correct rotation. Parameters ---------- seq : string, length 3 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations [1]_. Adjacent axes cannot be the same. Extrinsic and intrinsic rotations cannot be mixed in one function call. degrees : boolean, optional Returned angles are in degrees if this flag is True, else they are in radians. Default is False. Returns ------- angles : ndarray, shape (3,) or (N, 3) Shape depends on shape of inputs used to initialize object. The returned angles are in the range: - First angle belongs to [-180, 180] degrees (both inclusive) - Third angle belongs to [-180, 180] degrees (both inclusive) - Second angle belongs to: - [-90, 90] degrees if all axes are different (like xyz) - [0, 180] degrees if first and third axes are the same (like zxz) References ---------- .. [1] https://en.wikipedia.org/wiki/Euler_angles#Definition_by_intrinsic_rotations .. [2] Bernardes E, Viollet S (2022) Quaternion to Euler angles conversion: A direct, general and computationally efficient method. PLoS ONE 17(11): e0276302. https://doi.org/10.1371/journal.pone.0276302 .. [3] https://en.wikipedia.org/wiki/Gimbal_lock#In_applied_mathematics Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Represent a single rotation: >>> r = R.from_rotvec([0, 0, np.pi/2]) >>> r.as_euler('zxy', degrees=True) array([90., 0., 0.]) >>> r.as_euler('zxy', degrees=True).shape (3,) Represent a stack of single rotation: >>> r = R.from_rotvec([[0, 0, np.pi/2]]) >>> r.as_euler('zxy', degrees=True) array([[90., 0., 0.]]) >>> r.as_euler('zxy', degrees=True).shape (1, 3) Represent multiple rotations in a single object: >>> r = R.from_rotvec([ ... [0, 0, np.pi/2], ... [0, -np.pi/3, 0], ... [np.pi/4, 0, 0]]) >>> r.as_euler('zxy', degrees=True) array([[ 90., 0., 0.], [ 0., 0., -60.], [ 0., 45., 0.]]) >>> r.as_euler('zxy', degrees=True).shape (3, 3) Rotation._as_euler_from_matrix(self, seq, degrees=False) Represent as Euler angles. Any orientation can be expressed as a composition of 3 elementary rotations. Once the axis sequence has been chosen, Euler angles define the angle of rotation around each respective axis [1]_. The algorithm from [2]_ has been used to calculate Euler angles for the rotation about a given sequence of axes. Euler angles suffer from the problem of gimbal lock [3]_, where the representation loses a degree of freedom and it is not possible to determine the first and third angles uniquely. In this case, a warning is raised, and the third angle is set to zero. Note however that the returned angles still represent the correct rotation. Parameters ---------- seq : string, length 3 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations [1]_. Adjacent axes cannot be the same. Extrinsic and intrinsic rotations cannot be mixed in one function call. degrees : boolean, optional Returned angles are in degrees if this flag is True, else they are in radians. Default is False. Returns ------- angles : ndarray, shape (3,) or (N, 3) Shape depends on shape of inputs used to initialize object. The returned angles are in the range: - First angle belongs to [-180, 180] degrees (both inclusive) - Third angle belongs to [-180, 180] degrees (both inclusive) - Second angle belongs to: - [-90, 90] degrees if all axes are different (like xyz) - [0, 180] degrees if first and third axes are the same (like zxz) References ---------- .. [1] https://en.wikipedia.org/wiki/Euler_angles#Definition_by_intrinsic_rotations .. [2] Malcolm D. Shuster, F. Landis Markley, "General formula for extraction the Euler angles", Journal of guidance, control, and dynamics, vol. 29.1, pp. 215-221. 2006 .. [3] https://en.wikipedia.org/wiki/Gimbal_lock#In_applied_mathematics Rotation._compute_euler(self, seq, degrees, algorithm)Rotation.as_rotvec(self, degrees=False) Represent as rotation vectors. A rotation vector is a 3 dimensional vector which is co-directional to the axis of rotation and whose norm gives the angle of rotation [1]_. Parameters ---------- degrees : boolean, optional Returned magnitudes are in degrees if this flag is True, else they are in radians. Default is False. .. versionadded:: 1.7.0 Returns ------- rotvec : ndarray, shape (3,) or (N, 3) Shape depends on shape of inputs used for initialization. References ---------- .. [1] https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation#Rotation_vector Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Represent a single rotation: >>> r = R.from_euler('z', 90, degrees=True) >>> r.as_rotvec() array([0. , 0. , 1.57079633]) >>> r.as_rotvec().shape (3,) Represent a rotation in degrees: >>> r = R.from_euler('YX', (-90, -90), degrees=True) >>> s = r.as_rotvec(degrees=True) >>> s array([-69.2820323, -69.2820323, -69.2820323]) >>> np.linalg.norm(s) 120.00000000000001 Represent a stack with a single rotation: >>> r = R.from_quat([[0, 0, 1, 1]]) >>> r.as_rotvec() array([[0. , 0. , 1.57079633]]) >>> r.as_rotvec().shape (1, 3) Represent multiple rotations in a single object: >>> r = R.from_quat([[0, 0, 1, 1], [1, 1, 0, 1]]) >>> r.as_rotvec() array([[0. , 0. , 1.57079633], [1.35102172, 1.35102172, 0. ]]) >>> r.as_rotvec().shape (2, 3) Rotation.as_matrix(self) Represent as rotation matrix. 3D rotations can be represented using rotation matrices, which are 3 x 3 real orthogonal matrices with determinant equal to +1 [1]_. Returns ------- matrix : ndarray, shape (3, 3) or (N, 3, 3) Shape depends on shape of inputs used for initialization. References ---------- .. [1] https://en.wikipedia.org/wiki/Rotation_matrix#In_three_dimensions Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Represent a single rotation: >>> r = R.from_rotvec([0, 0, np.pi/2]) >>> r.as_matrix() array([[ 2.22044605e-16, -1.00000000e+00, 0.00000000e+00], [ 1.00000000e+00, 2.22044605e-16, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) >>> r.as_matrix().shape (3, 3) Represent a stack with a single rotation: >>> r = R.from_quat([[1, 1, 0, 0]]) >>> r.as_matrix() array([[[ 0., 1., 0.], [ 1., 0., 0.], [ 0., 0., -1.]]]) >>> r.as_matrix().shape (1, 3, 3) Represent multiple rotations: >>> r = R.from_rotvec([[np.pi/2, 0, 0], [0, 0, np.pi/2]]) >>> r.as_matrix() array([[[ 1.00000000e+00, 0.00000000e+00, 0.00000000e+00], [ 0.00000000e+00, 2.22044605e-16, -1.00000000e+00], [ 0.00000000e+00, 1.00000000e+00, 2.22044605e-16]], [[ 2.22044605e-16, -1.00000000e+00, 0.00000000e+00], [ 1.00000000e+00, 2.22044605e-16, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]]) >>> r.as_matrix().shape (2, 3, 3) Notes ----- This function was called as_dcm before. .. versionadded:: 1.4.0 Rotation.as_quat(self, canonical=False) Represent as quaternions. Active rotations in 3 dimensions can be represented using unit norm quaternions [1]_. The mapping from quaternions to rotations is two-to-one, i.e. quaternions ``q`` and ``-q``, where ``-q`` simply reverses the sign of each component, represent the same spatial rotation. The returned value is in scalar-last (x, y, z, w) format. Parameters ---------- canonical : `bool`, default False Whether to map the redundant double cover of rotation space to a unique "canonical" single cover. If True, then the quaternion is chosen from {q, -q} such that the w term is positive. If the w term is 0, then the quaternion is chosen such that the first nonzero term of the x, y, and z terms is positive. Returns ------- quat : `numpy.ndarray`, shape (4,) or (N, 4) Shape depends on shape of inputs used for initialization. References ---------- .. [1] https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Represent a single rotation: >>> r = R.from_matrix([[0, -1, 0], ... [1, 0, 0], ... [0, 0, 1]]) >>> r.as_quat() array([0. , 0. , 0.70710678, 0.70710678]) >>> r.as_quat().shape (4,) Represent a stack with a single rotation: >>> r = R.from_quat([[0, 0, 0, 1]]) >>> r.as_quat().shape (1, 4) Represent multiple rotations in a single object: >>> r = R.from_rotvec([[np.pi, 0, 0], [0, 0, np.pi/2]]) >>> r.as_quat().shape (2, 4) Quaternions can be mapped from a redundant double cover of the rotation space to a canonical representation with a positive w term. >>> r = R.from_quat([0, 0, 0, -1]) >>> r.as_quat() array([0. , 0. , 0. , -1.]) >>> r.as_quat(canonical=True) array([0. , 0. , 0. , 1.]) Rotation.from_mrp(type cls, mrp) Initialize from Modified Rodrigues Parameters (MRPs). MRPs are a 3 dimensional vector co-directional to the axis of rotation and whose magnitude is equal to ``tan(theta / 4)``, where ``theta`` is the angle of rotation (in radians) [1]_. MRPs have a singuarity at 360 degrees which can be avoided by ensuring the angle of rotation does not exceed 180 degrees, i.e. switching the direction of the rotation when it is past 180 degrees. Parameters ---------- mrp : array_like, shape (N, 3) or (3,) A single vector or a stack of vectors, where `mrp[i]` gives the ith set of MRPs. Returns ------- rotation : `Rotation` instance Object containing the rotations represented by input MRPs. References ---------- .. [1] Shuster, M. D. "A Survery of Attitude Representations", The Journal of Astronautical Sciences, Vol. 41, No.4, 1993, pp. 475-476 Notes ----- .. versionadded:: 1.6.0 Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Initialize a single rotation: >>> r = R.from_mrp([0, 0, 1]) >>> r.as_euler('xyz', degrees=True) array([0. , 0. , 180. ]) >>> r.as_euler('xyz').shape (3,) Initialize multiple rotations in one object: >>> r = R.from_mrp([ ... [0, 0, 1], ... [1, 0, 0]]) >>> r.as_euler('xyz', degrees=True) array([[0. , 0. , 180. ], [180.0 , 0. , 0. ]]) >>> r.as_euler('xyz').shape (2, 3) It is also possible to have a stack of a single rotation: >>> r = R.from_mrp([[0, 0, np.pi/2]]) >>> r.as_euler('xyz').shape (1, 3) Rotation.from_euler(type cls, seq, angles, degrees=False) Initialize from Euler angles. Rotations in 3-D can be represented by a sequence of 3 rotations around a sequence of axes. In theory, any three axes spanning the 3-D Euclidean space are enough. In practice, the axes of rotation are chosen to be the basis vectors. The three rotations can either be in a global frame of reference (extrinsic) or in a body centred frame of reference (intrinsic), which is attached to, and moves with, the object under rotation [1]_. Parameters ---------- seq : string Specifies sequence of axes for rotations. Up to 3 characters belonging to the set {'X', 'Y', 'Z'} for intrinsic rotations, or {'x', 'y', 'z'} for extrinsic rotations. Extrinsic and intrinsic rotations cannot be mixed in one function call. angles : float or array_like, shape (N,) or (N, [1 or 2 or 3]) Euler angles specified in radians (`degrees` is False) or degrees (`degrees` is True). For a single character `seq`, `angles` can be: - a single value - array_like with shape (N,), where each `angle[i]` corresponds to a single rotation - array_like with shape (N, 1), where each `angle[i, 0]` corresponds to a single rotation For 2- and 3-character wide `seq`, `angles` can be: - array_like with shape (W,) where `W` is the width of `seq`, which corresponds to a single rotation with `W` axes - array_like with shape (N, W) where each `angle[i]` corresponds to a sequence of Euler angles describing a single rotation degrees : bool, optional If True, then the given angles are assumed to be in degrees. Default is False. Returns ------- rotation : `Rotation` instance Object containing the rotation represented by the sequence of rotations around given axes with given angles. References ---------- .. [1] https://en.wikipedia.org/wiki/Euler_angles#Definition_by_intrinsic_rotations Examples -------- >>> from scipy.spatial.transform import Rotation as R Initialize a single rotation along a single axis: >>> r = R.from_euler('x', 90, degrees=True) >>> r.as_quat().shape (4,) Initialize a single rotation with a given axis sequence: >>> r = R.from_euler('zyx', [90, 45, 30], degrees=True) >>> r.as_quat().shape (4,) Initialize a stack with a single rotation around a single axis: >>> r = R.from_euler('x', [90], degrees=True) >>> r.as_quat().shape (1, 4) Initialize a stack with a single rotation with an axis sequence: >>> r = R.from_euler('zyx', [[90, 45, 30]], degrees=True) >>> r.as_quat().shape (1, 4) Initialize multiple elementary rotations in one object: >>> r = R.from_euler('x', [90, 45, 30], degrees=True) >>> r.as_quat().shape (3, 4) Initialize multiple rotations in one object: >>> r = R.from_euler('zyx', [[90, 45, 30], [35, 45, 90]], degrees=True) >>> r.as_quat().shape (2, 4) Rotation.from_rotvec(type cls, rotvec, degrees=False) Initialize from rotation vectors. A rotation vector is a 3 dimensional vector which is co-directional to the axis of rotation and whose norm gives the angle of rotation [1]_. Parameters ---------- rotvec : array_like, shape (N, 3) or (3,) A single vector or a stack of vectors, where `rot_vec[i]` gives the ith rotation vector. degrees : bool, optional If True, then the given magnitudes are assumed to be in degrees. Default is False. .. versionadded:: 1.7.0 Returns ------- rotation : `Rotation` instance Object containing the rotations represented by input rotation vectors. References ---------- .. [1] https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation#Rotation_vector Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Initialize a single rotation: >>> r = R.from_rotvec(np.pi/2 * np.array([0, 0, 1])) >>> r.as_rotvec() array([0. , 0. , 1.57079633]) >>> r.as_rotvec().shape (3,) Initialize a rotation in degrees, and view it in degrees: >>> r = R.from_rotvec(45 * np.array([0, 1, 0]), degrees=True) >>> r.as_rotvec(degrees=True) array([ 0., 45., 0.]) Initialize multiple rotations in one object: >>> r = R.from_rotvec([ ... [0, 0, np.pi/2], ... [np.pi/2, 0, 0]]) >>> r.as_rotvec() array([[0. , 0. , 1.57079633], [1.57079633, 0. , 0. ]]) >>> r.as_rotvec().shape (2, 3) It is also possible to have a stack of a single rotaton: >>> r = R.from_rotvec([[0, 0, np.pi/2]]) >>> r.as_rotvec().shape (1, 3) Rotation.from_matrix(type cls, matrix) Initialize from rotation matrix. Rotations in 3 dimensions can be represented with 3 x 3 proper orthogonal matrices [1]_. If the input is not proper orthogonal, an approximation is created using the method described in [2]_. Parameters ---------- matrix : array_like, shape (N, 3, 3) or (3, 3) A single matrix or a stack of matrices, where ``matrix[i]`` is the i-th matrix. Returns ------- rotation : `Rotation` instance Object containing the rotations represented by the rotation matrices. References ---------- .. [1] https://en.wikipedia.org/wiki/Rotation_matrix#In_three_dimensions .. [2] F. Landis Markley, "Unit Quaternion from Rotation Matrix", Journal of guidance, control, and dynamics vol. 31.2, pp. 440-442, 2008. Examples -------- >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np Initialize a single rotation: >>> r = R.from_matrix([ ... [0, -1, 0], ... [1, 0, 0], ... [0, 0, 1]]) >>> r.as_matrix().shape (3, 3) Initialize multiple rotations in a single object: >>> r = R.from_matrix([ ... [ ... [0, -1, 0], ... [1, 0, 0], ... [0, 0, 1], ... ], ... [ ... [1, 0, 0], ... [0, 0, -1], ... [0, 1, 0], ... ]]) >>> r.as_matrix().shape (2, 3, 3) If input matrices are not special orthogonal (orthogonal with determinant equal to +1), then a special orthogonal estimate is stored: >>> a = np.array([ ... [0, -0.5, 0], ... [0.5, 0, 0], ... [0, 0, 0.5]]) >>> np.linalg.det(a) 0.12500000000000003 >>> r = R.from_matrix(a) >>> matrix = r.as_matrix() >>> matrix array([[-0.38461538, -0.92307692, 0. ], [ 0.92307692, -0.38461538, 0. ], [ 0. , 0. , 1. ]]) >>> np.linalg.det(matrix) 1.0000000000000002 It is also possible to have a stack containing a single rotation: >>> r = R.from_matrix([[ ... [0, -1, 0], ... [1, 0, 0], ... [0, 0, 1]]]) >>> r.as_matrix() array([[[ 0., -1., 0.], [ 1., 0., 0.], [ 0., 0., 1.]]]) >>> r.as_matrix().shape (1, 3, 3) Notes ----- This function was called from_dcm before. .. versionadded:: 1.4.0 Rotation.from_quat(type cls, quat) Initialize from quaternions. 3D rotations can be represented using unit-norm quaternions [1]_. Parameters ---------- quat : array_like, shape (N, 4) or (4,) Each row is a (possibly non-unit norm) quaternion representing an active rotation, in scalar-last (x, y, z, w) format. Each quaternion will be normalized to unit norm. Returns ------- rotation : `Rotation` instance Object containing the rotations represented by input quaternions. References ---------- .. [1] https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation Examples -------- >>> from scipy.spatial.transform import Rotation as R Initialize a single rotation: >>> r = R.from_quat([1, 0, 0, 0]) >>> r.as_quat() array([1., 0., 0., 0.]) >>> r.as_quat().shape (4,) Initialize multiple rotations in a single object: >>> r = R.from_quat([ ... [1, 0, 0, 0], ... [0, 0, 0, 1] ... ]) >>> r.as_quat() array([[1., 0., 0., 0.], [0., 0., 0., 1.]]) >>> r.as_quat().shape (2, 4) It is also possible to have a stack of a single rotation: >>> r = R.from_quat([[0, 0, 0, 1]]) >>> r.as_quat() array([[0., 0., 0., 1.]]) >>> r.as_quat().shape (1, 4) Quaternions are normalized before initialization. >>> r = R.from_quat([0, 0, 1, 1]) >>> r.as_quat() array([0. , 0. , 0.70710678, 0.70710678]) Interpolate rotations. Compute the interpolated rotations at the given `times`. Parameters ---------- times : array_like Times to compute the interpolations at. Can be a scalar or 1-dimensional. Returns ------- interpolated_rotation : `Rotation` instance Object containing the rotations computed at given `times`. H   " @# H# P# `@( 8@8C @ PcX   @ `I h@@CFe Pi@C0fj@CGf@ j@0D0gtk@DpGg l@D0hp  H mhlPDPEG pI8pH 0 J DEPH@ 0D$FtdP X @/ Шp x x* x tt 0@PD`Dp00``P`   00@Hhx|Hh =PZX@NP(Q@`NDTHVP`RhSx0X@@pN(OP0@0S(M <H0(@`S0Mp( 80 p d[ HP ` X  (pz @60z h q d h\ p<[ @MpH yD pB `=  @8 xt3 ` 2 p*  (`eSi" P( [$ $$ 7$ P&$ =) (  %  p$ # @ `:P mX A PO R 2 ` }H 0c 0  1X 0( @M < 4P PlX 3 Я8H L @6 Юj0 `l) 0"# ') g( e( p m%   V* @L% ( $ "H(  X( @( |n(( @r 8( j `jG # 0j0# j( fi% f  pf Pf(# Hf` eR e) e # e( X ( pQOh( Hx( @A( :>' 9 ) 9!( 9( 9( `9( @9( 9p( 9( 8P( 8 0( 8 `( 8 ( `8@( @8 ( 8( 8) 7 ) 7# 7$ p7&' h7( X7) H7' `-  X-(* P-8$ -,% - $ ,!% , ) , ,  ,h ,* , * ,0* ,8* x,@* p, h, `, P, ' @, 0,% (,p , , ,* ,@ , +  + +  + + @ +  + + +$ P+G" H+ H+ % 8+ H (+  + * * ** *P * * % *8 * ( `*x% @*% *  * *  * )x )P ) ) X ) )( ) ) )P# ) )h )` ) x) % h) P `)x P)  @)  8)H# 0) ()# ) )' )  ( ( X ( ' ( ' ( ` (  (  (* ( * `(6 X( P( H(% @(@ 0(  ((x ( p ( * ' * ' % '$ ' # ')x ' 'P ' p' x$ P' H' @'@ 0' * ('( ' ' '  '+ &  &* &  & &+ &" &' &  &  & x& 8 p& h&$ 0&3 & &  & &' %X$ %'h$ %"@# % %` % x%* h% 8% P%x @%0) 0%0% %  % p $  $ $* $# $( $  $h $' x$ h$ % `$ X$* H$ * 0$x* $ $( #$ #8 # #0 #p* # ' #0 # ($ P#+0$ #8 # #H* "' " "" "   "h* "h "`* x" X* `"H X" P"% @"  8"$ ("h ") "* ") "X% !H% !!h% !@% ! @ !p !H x!() h! P* `!` P! ( H!@$ !'$ !$ &H h $  H   x   p  $ @ *#       H /usr/lib/debug/.dwz/aarch64-linux-gnu/python3-scipy.debug~\-ׇ!1\I!d6ead6d16d457fa84d0d7e1df03a4d63bbfde6.debug5O.shstrtab.note.gnu.build-id.gnu.hash.dynsym.dynstr.gnu.version.gnu.version_r.rela.dyn.rela.plt.init.text.fini.rodata.eh_frame_hdr.eh_frame.init_array.fini_array.data.rel.ro.dynamic.got.got.plt.data.bss.gnu_debugaltlink.gnu_debuglink $o$( 0S8ol&l&Eo0(0(pT((b^BXX8hc nttz004 b88HHPP ppPPp pX  X N 4L