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// Copyright 2019 Carnegie Mellon University. All rights reserved.
// 
// Redistribution and use in source and binary forms, with or without modification, are
// permitted provided that the following conditions are met:
// 
// 1. Redistributions of source code must retain the above copyright notice, this list of
//    conditions and the following disclaimer.
// 
// 2. Redistributions in binary form must reproduce the above copyright notice, this list
//    of conditions and the following disclaimer in the documentation and/or other materials
//    provided with the distribution.
// 
// THIS SOFTWARE IS PROVIDED BY CARNEGIE MELLON UNIVERSITY ''AS IS'' AND ANY EXPRESS OR IMPLIED
// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
// FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CARNEGIE MELLON UNIVERSITY OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
// ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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// 
// The views and conclusions contained in the software and documentation are those of the
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// or implied, of Carnegie Mellon University.