diff --git a/SLAM/GraphBasedSLAM/LaTeX/.gitignore b/SLAM/GraphBasedSLAM/LaTeX/.gitignore
new file mode 100644
index 00000000..b0b34340
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/LaTeX/.gitignore
@@ -0,0 +1,3 @@
+# Ignore LaTeX generated files
+graphSLAM_formulation.*
+!graphSLAM_formulation.tex
diff --git a/SLAM/GraphBasedSLAM/LaTeX/graphSLAM.bib b/SLAM/GraphBasedSLAM/LaTeX/graphSLAM.bib
new file mode 100644
index 00000000..4d3b71ae
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/LaTeX/graphSLAM.bib
@@ -0,0 +1,30 @@
+@article{blanco2010tutorial,
+  title={A tutorial on ${SE}(3)$ transformation parameterizations and on-manifold optimization},
+  author={Blanco, Jose-Luis},
+  journal={University of Malaga, Tech. Rep},
+  volume={3},
+  year={2010},
+  publisher={Citeseer}
+}
+
+@article{grisetti2010tutorial,
+  title={A tutorial on graph-based {SLAM}},
+  author={Grisetti, Giorgio and Kummerle, Rainer and Stachniss, Cyrill and Burgard, Wolfram},
+  journal={IEEE Intelligent Transportation Systems Magazine},
+  volume={2},
+  number={4},
+  pages={31--43},
+  year={2010},
+  publisher={IEEE}
+}
+
+@article{thrun2006graph,
+  title={The graph {SLAM} algorithm with applications to large-scale mapping of urban structures},
+  author={Thrun, Sebastian and Montemerlo, Michael},
+  journal={The International Journal of Robotics Research},
+  volume={25},
+  number={5-6},
+  pages={403--429},
+  year={2006},
+  publisher={SAGE Publications}
+}
diff --git a/SLAM/GraphBasedSLAM/LaTeX/graphSLAM_formulation.tex b/SLAM/GraphBasedSLAM/LaTeX/graphSLAM_formulation.tex
new file mode 100644
index 00000000..25f02cd3
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/LaTeX/graphSLAM_formulation.tex
@@ -0,0 +1,175 @@
+\documentclass{article}
+
+\usepackage{amsfonts}
+\usepackage{amsmath,amssymb,amsfonts}
+\usepackage{textcomp}
+\usepackage{fullpage}
+\usepackage{setspace}
+\usepackage{float}
+\usepackage{cite}
+\usepackage{graphicx}
+\usepackage{caption}
+\usepackage{subcaption}
+\usepackage[pdfborder={0 0 0}, pdfpagemode=UseNone, pdfstartview=FitH]{hyperref}
+
+\DeclareMathOperator*{\argmax}{arg\,max}
+\DeclareMathOperator*{\argmin}{arg\,min}
+
+\def\keyterm{\textit}
+
+\newcommand{\transp}{{\scriptstyle{\mathsf{T}}}}
+
+
+
+\begin{document}
+
+\title{Graph SLAM Formulation}
+\author{Jeff Irion}
+\date{}
+
+\maketitle
+\vspace{3em}
+
+
+\section{Problem Formulation}
+
+Let a robot's trajectory through its environment be represented by a sequence of $N$ poses: $\mathbf{p}_1, \mathbf{p}_2, \ldots, \mathbf{p}_N$.  Each pose lies on a manifold: $\mathbf{p}_i \in \mathcal{M}$.  Simple examples of manifolds used in Graph SLAM include 1-D, 2-D, and 3-D space, i.e., $\mathbb{R}$, $\mathbb{R}^2$, and $\mathbb{R}^3$.  These environments are \keyterm{rectilinear}, meaning that there is no concept of orientation.  By contrast, in $SE(2)$ problem settings a robot's pose consists of its location in $\mathbb{R}^2$ and its orientation $\theta$.  Similarly, in $SE(3)$ a robot's pose consists of its location in $\mathbb{R}^3$ and its orientation, which can be represented via Euler angles, quaternions, or $SO(3)$ rotation matrices.  
+
+As the robot explores its environment, it collects a set of $M$ measurements $\mathcal{Z} = \{\mathbf{z}_j\}$.  Examples of such measurements include odometry, GPS, and IMU data.  Given a set of poses $\mathbf{p}_1, \ldots, \mathbf{p}_N$, we can compute the estimated measurement $\hat{\mathbf{z}}_j(\mathbf{p}_1, \ldots, \mathbf{p}_N)$.  We can then compute the \keyterm{residual} $\mathbf{e}_j(\mathbf{z}_j, \hat{\mathbf{z}}_j)$ for measurement $j$.  The formula for the residual depends on the type of measurement.  As an example, let $\mathbf{z}_1$ be an odometry measurement that was collected when the robot traveled from $\mathbf{p}_1$ to $\mathbf{p}_2$.  The expected measurement and the residual are computed as
+%
+\begin{align*}
+    \hat{\mathbf{z}}_1(\mathbf{p}_1, \mathbf{p}_2) &= \mathbf{p}_2 \ominus \mathbf{p}_1 \\
+    \mathbf{e}_1(\mathbf{z}_1, \hat{\mathbf{z}}_1) &= \mathbf{z}_1 \ominus \hat{\mathbf{z}}_1 = \mathbf{z}_1 \ominus (\mathbf{p}_2 \ominus \mathbf{p}_1),
+\end{align*}
+%
+where the $\ominus$ operator indicates inverse pose composition.  We model measurement $\mathbf{z}_j$ as having independent Gaussian noise with zero mean and covariance matrix $\Omega_j^{-1}$; we refer to $\Omega_j$ as the \keyterm{information matrix} for measurement $j$.  That is,
+\begin{equation}
+    p(\mathbf{z}_j \ | \ \mathbf{p}_1, \ldots, \mathbf{p}_N) = \eta_j \exp \left( (-\mathbf{e}_j(\mathbf{z}_j, \hat{\mathbf{z}}_j))^\transp \Omega_j \mathbf{e}_j(\mathbf{z}_j, \hat{\mathbf{z}}_j) \right), \label{eq:observation_probability}
+\end{equation}
+where $\eta_j$ is the normalization constant.
+
+The objective of Graph SLAM is to find the maximum likelihood set of poses given the measurements $\mathcal{Z} = \{\mathbf{z}_j\}$; in other words, we want to find 
+%
+\begin{equation*}
+    \argmax_{\mathbf{p}_1, \ldots, \mathbf{p}_N} \ p(\mathbf{p}_1, \ldots, \mathbf{p}_N \ | \ \mathcal{Z}) 
+\end{equation*}
+%
+Using Bayes' rule, we can write this probability as
+%
+\begin{align}
+    p(\mathbf{p}_1, \ldots, \mathbf{p}_N \ | \ \mathcal{Z}) &= \frac{p( \mathcal{Z} \ | \ \mathbf{p}_1, \ldots, \mathbf{p}_N) p(\mathbf{p}_1, \ldots, \mathbf{p}_N) }{ p(\mathcal{Z}) } \notag \\
+    &\propto p( \mathcal{Z} \ | \ \mathbf{p}_1, \ldots, \mathbf{p}_N), \label{eq:bayes}
+\end{align}
+%
+since $p(\mathcal{Z})$ is a constant (albeit, an unknown constant) and we assume that $p(\mathbf{p}_1, \ldots, \mathbf{p}_N)$ is uniformly distributed \cite{thrun2006graph}.  Therefore, we can use \eqref{eq:observation_probability} and \eqref{eq:bayes} to simplify the Graph SLAM optimization as follows:
+%
+\begin{align*}
+    \argmax_{\mathbf{p}_1, \ldots, \mathbf{p}_N} \ p(\mathbf{p}_1, \ldots, \mathbf{p}_N \ | \ \mathcal{Z}) &= \argmax_{\mathbf{p}_1, \ldots, \mathbf{p}_N} \ p( \mathcal{Z} \ | \ \mathbf{p}_1, \ldots, \mathbf{p}_N) \\
+    &= \argmax_{\mathbf{p}_1, \ldots, \mathbf{p}_N} \prod_{j=1}^M p(\mathbf{z}_j \ | \ \mathbf{p}_1, \ldots, \mathbf{p}_N) \\
+    &= \argmax_{\mathbf{p}_1, \ldots, \mathbf{p}_N} \prod_{j=1}^M \exp \left( -(\mathbf{e}_j(\mathbf{z}_j, \hat{\mathbf{z}}_j))^\transp \Omega_j \mathbf{e}_j(\mathbf{z}_j, \hat{\mathbf{z}}_j) \right) \\
+    &= \argmin_{\mathbf{p}_1, \ldots, \mathbf{p}_N} \sum_{j=1}^M (\mathbf{e}_j(\mathbf{z}_j, \hat{\mathbf{z}}_j))^\transp \Omega_j \mathbf{e}_j(\mathbf{z}_j, \hat{\mathbf{z}}_j).
+\end{align*}
+%
+We define
+%
+\begin{equation*}
+    \chi^2 := \sum_{j=1}^M (\mathbf{e}_j(\mathbf{z}_j, \hat{\mathbf{z}}_j))^\transp \Omega_j \mathbf{e}_j(\mathbf{z}_j, \hat{\mathbf{z}}_j),
+\end{equation*}
+%
+and this is what we seek to minimize.
+
+
+\section{Dimensionality and Pose Representation}
+
+Before proceeding further, it is helpful to discuss the dimensionality of the problem.  We have:
+\begin{itemize}
+  \item A set of $N$ poses $\mathbf{p}_1, \mathbf{p}_2, \ldots, \mathbf{p}_N$, where each pose lies on the manifold $\mathcal{M}$
+  \begin{itemize}
+    \item Each pose $\mathbf{p}_i$ is represented as a vector in (a subset of) $\mathbb{R}^d$.  For example:
+    \begin{itemize}
+      \item[$\circ$] An $SE(2)$ pose is typically represented as $(x, y, \theta)$, and thus $d = 3$.
+      \item[$\circ$] An $SE(3)$ pose is typically represented as $(x, y, z, q_x, q_y, q_z, q_w)$, where $(x, y, z)$ is a point in $\mathbb{R}^3$ and $(q_x, q_y, q_z, q_w)$ is a \keyterm{quaternion}, and so $d = 7$.  For more information about $SE(3)$ parameterizations and pose transformations, see \cite{blanco2010tutorial}.
+    \end{itemize}
+    \item We also need to be able to represent each pose compactly as a vector in (a subset of) $\mathbb{R}^c$.
+    \begin{itemize}
+      \item[$\circ$] Since an $SE(2)$ pose has three degrees of freedom, the $(x, y, \theta)$ representation is again sufficient and $c=3$.  
+      \item[$\circ$] An $SE(3)$ pose only has six degrees of freedom, and we can represent it compactly as $(x, y, z, q_x, q_y, q_z)$, and thus $c=6$.
+    \end{itemize}
+    \item We use the $\boxplus$ operator to indicate pose composition when one or both of the poses are represented compactly.  The output can be a pose in $\mathcal{M}$ or a vector in $\mathbb{R}^c$, as required by context.
+  \end{itemize}
+  \item A set of $M$ measurements $\mathcal{Z} = \{\mathbf{z}_1, \mathbf{z}_2, \ldots, \mathbf{z}_M\}$
+  \begin{itemize}
+    \item Each measurement's dimensionality can be unique, and we will use $\bullet$ to denote a ``wildcard'' variable.
+    \item Measurement $\mathbf{z}_j \in \mathbb{R}^\bullet$ has an associated information matrix $\Omega_j \in \mathbb{R}^{\bullet \times \bullet}$ and residual function $\mathbf{e}_j(\mathbf{z}_j, \hat{\mathbf{z}}_j) = \mathbf{e}_j(\mathbf{z}_j, \mathbf{p}_1, \ldots, \mathbf{p}_N) \in \mathbb{R}^\bullet$.
+    \item A measurement could, in theory, constrain anywhere from 1 pose to all $N$ poses.  In practice, each measurement usually constrains only 1 or 2 poses.  
+  \end{itemize}
+\end{itemize}
+
+
+\section{Graph SLAM Algorithm}
+
+The ``Graph'' in Graph SLAM refers to the fact that we view the problem as a graph.  The graph has a set $\mathcal{V}$ of $N$ vertices, where each vertex $v_i$ has an associated pose $\mathbf{p}_i$.  Similarly, the graph has a set $\mathcal{E}$ of $M$ edges, where each edge $e_j$ has an associated measurement $\mathbf{z}_j$.  In practice, the edges in this graph are either unary (i.e., a loop) or binary.  (Note: $e_j$ refers to the edge in the graph associated with measurement $\mathbf{z}_j$, whereas $\mathbf{e}_j$ refers to the residual function associated with $\mathbf{z}_j$.)  For more information about the Graph SLAM algorithm, see \cite{grisetti2010tutorial}.
+
+We want to optimize
+%
+\begin{equation*}
+    \chi^2 = \sum_{e_j \in \mathcal{E}} \mathbf{e}_j^\transp \Omega_j \mathbf{e}_j.
+\end{equation*}
+%
+Let $\mathbf{x}_i \in \mathbb{R}^c$ be the compact representation of pose $\mathbf{p}_i \in \mathcal{M}$, and let
+%
+\begin{equation*}
+    \mathbf{x} := \begin{bmatrix} \mathbf{x}_1 \\ \mathbf{x}_2 \\ \vdots \\ \mathbf{x}_N \end{bmatrix} \in \mathbb{R}^{cN}
+\end{equation*}
+%
+We will solve this optimization problem iteratively.  Let
+%
+\begin{equation}
+    \mathbf{x}^{k+1} := \mathbf{x}^k \boxplus \Delta \mathbf{x}^k = \begin{bmatrix} \mathbf{x}_1 \boxplus \Delta \mathbf{x}_1 \\ \mathbf{x}_2 \boxplus \Delta \mathbf{x}_2 \\ \vdots \\ \mathbf{x}_N \boxplus \Delta \mathbf{x}_2 \end{bmatrix} \label{eq:update}
+\end{equation}
+%
+The $\chi^2$ error at iteration $k+1$ is
+\begin{equation}
+    \chi_{k+1}^2 = \sum_{e_j \in \mathcal{E}} \underbrace{\left[ \mathbf{e}_j(\mathbf{x}^{k+1}) \right]^\transp}_{1 \times \bullet} \underbrace{\Omega_j}_{\bullet \times \bullet} \underbrace{\mathbf{e}_j(\mathbf{x}^{k+1})}_{\bullet \times 1}.  \label{eq:chisq_at_kplusone}
+\end{equation}
+%
+We will linearize the residuals as:
+%
+\begin{align}
+    \mathbf{e}_j(\mathbf{x}^{k+1}) &= \mathbf{e}_j(\mathbf{x}^k \boxplus \Delta \mathbf{x}^k) \notag \\
+    &\approx \mathbf{e}_j(\mathbf{x}^{k}) + \frac{\partial}{\partial \Delta \mathbf{x}^k} \left[ \mathbf{e}_j(\mathbf{x}^k \boxplus \Delta \mathbf{x}^k) \right] \Delta \mathbf{x}^k \notag \\
+    &= \mathbf{e}_j(\mathbf{x}^{k}) + \left( \left. \frac{\partial \mathbf{e}_j(\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)} \right|_{\Delta \mathbf{x}^k = \mathbf{0}} \right) \frac{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial \Delta \mathbf{x}^k} \Delta \mathbf{x}^k.  \label{eq:linearization}
+\end{align}
+%
+Plugging \eqref{eq:linearization} into \eqref{eq:chisq_at_kplusone}, we get:
+%
+\small
+\begin{align}
+    \chi_{k+1}^2 &\approx \ \ \ \ \ \sum_{e_j \in \mathcal{E}} \underbrace{[ \mathbf{e}_j(\mathbf{x}^k)]^\transp}_{1 \times \bullet} \underbrace{\Omega_j}_{\bullet \times \bullet} \underbrace{\mathbf{e}_j(\mathbf{x}^k)}_{\bullet \times 1} \notag \\
+    &\hphantom{\approx} \ \ \ + \sum_{e_j \in \mathcal{E}} \underbrace{[ \mathbf{e}_j(\mathbf{x^k}) ]^\transp }_{1 \times \bullet} \underbrace{\Omega_j}_{\bullet \times \bullet} \underbrace{\left( \left. \frac{\partial \mathbf{e}_j(\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)} \right|_{\Delta \mathbf{x}^k = \mathbf{0}} \right)}_{\bullet \times dN} \underbrace{\frac{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial \Delta \mathbf{x}^k}}_{dN \times cN} \underbrace{\Delta \mathbf{x}^k}_{cN \times 1} \notag \\
+    &\hphantom{\approx} \ \ \ + \sum_{e_j \in \mathcal{E}} \underbrace{(\Delta \mathbf{x}^k)^\transp}_{1 \times cN} \underbrace{ \left( \frac{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial \Delta \mathbf{x}^k} \right)^\transp}_{cN \times dN} \underbrace{\left( \left. \frac{\partial \mathbf{e}_j(\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)} \right|_{\Delta \mathbf{x}^k = \mathbf{0}} \right)^\transp}_{dN \times \bullet} \underbrace{\Omega_j}_{\bullet \times \bullet} \underbrace{\left( \left. \frac{\partial \mathbf{e}_j(\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)} \right|_{\Delta \mathbf{x}^k = \mathbf{0}} \right)}_{\bullet \times dN} \underbrace{\frac{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial \Delta \mathbf{x}^k}}_{dN \times cN} \underbrace{\Delta \mathbf{x}^k}_{cN \times 1} \notag \\
+    &= \chi_k^2 + 2 \mathbf{b}^\transp \Delta \mathbf{x}^k + (\Delta \mathbf{x}^k)^\transp H \Delta \mathbf{x}^k,  \notag
+\end{align}
+\normalsize
+%
+where
+%
+\begin{align*}
+    \mathbf{b}^\transp &= \sum_{e_j \in \mathcal{E}} \underbrace{[ \mathbf{e}_j(\mathbf{x^k}) ]^\transp }_{1 \times \bullet} \underbrace{\Omega_j}_{\bullet \times \bullet} \underbrace{\left( \left. \frac{\partial \mathbf{e}_j(\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)} \right|_{\Delta \mathbf{x}^k = \mathbf{0}} \right)}_{\bullet \times dN} \underbrace{\frac{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial \Delta \mathbf{x}^k}}_{dN \times cN} \\
+    H &= \sum_{e_j \in \mathcal{E}} \underbrace{ \left( \frac{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial \Delta \mathbf{x}^k} \right)^\transp}_{cN \times dN} \underbrace{\left( \left. \frac{\partial \mathbf{e}_j(\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)} \right|_{\Delta \mathbf{x}^k = \mathbf{0}} \right)^\transp}_{dN \times \bullet} \underbrace{\Omega_j}_{\bullet \times \bullet} \underbrace{\left( \left. \frac{\partial \mathbf{e}_j(\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)} \right|_{\Delta \mathbf{x}^k = \mathbf{0}} \right)}_{\bullet \times dN} \underbrace{\frac{\partial (\mathbf{x}^k \boxplus \Delta \mathbf{x}^k)}{\partial \Delta \mathbf{x}^k}}_{dN \times cN}.
+\end{align*}
+%
+Using this notation, we obtain the optimal update as
+%
+\begin{equation}
+    \Delta \mathbf{x}^k = -H^{-1} \mathbf{b}.  \label{eq:deltax}
+\end{equation}
+%
+We apply this update to the poses via \eqref{eq:update} and repeat until convergence.
+
+
+
+\bibliographystyle{acm}
+\bibliography{graphSLAM}{}
+
+\end{document}
diff --git a/SLAM/GraphBasedSLAM/data/README.rst b/SLAM/GraphBasedSLAM/data/README.rst
new file mode 100644
index 00000000..c875cce7
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/data/README.rst
@@ -0,0 +1,6 @@
+Acknowledgments and References
+==============================
+
+Thanks to Luca Larlone for allowing inclusion of the `Intel dataset <https://lucacarlone.mit.edu/datasets/>`_ in this repo.
+
+1. Carlone, L. and Censi, A., 2014. `From angular manifolds to the integer lattice: Guaranteed orientation estimation with application to pose graph optimization <https://arxiv.org/pdf/1211.3063.pdf>`_. IEEE Transactions on Robotics, 30(2), pp.475-492.
diff --git a/SLAM/GraphBasedSLAM/data/input_INTEL.g2o b/SLAM/GraphBasedSLAM/data/input_INTEL.g2o
new file mode 100644
index 00000000..16f3a260
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/data/input_INTEL.g2o
@@ -0,0 +1,2711 @@
+VERTEX_SE2 0 0.000000 0.000000 0.000000
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+VERTEX_SE2 62 11.833006 -17.390733 -1.709239
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+VERTEX_SE2 64 11.649132 -18.607583 -1.685617
+VERTEX_SE2 65 11.563367 -19.214882 -1.740522
+VERTEX_SE2 66 11.460058 -19.848621 -1.752656
+VERTEX_SE2 67 11.343148 -20.481952 -1.756181
+VERTEX_SE2 68 11.257571 -20.955257 -1.774331
+VERTEX_SE2 69 11.255185 -20.964979 -1.932353
+VERTEX_SE2 70 11.251937 -20.972069 -2.613265
+VERTEX_SE2 71 11.258227 -20.971402 3.020985
+VERTEX_SE2 72 11.258227 -20.971402 3.009195
+VERTEX_SE2 73 11.254702 -20.970679 2.941681
+VERTEX_SE2 74 11.251643 -20.968771 2.313797
+VERTEX_SE2 75 11.250298 -20.968291 1.957266
+VERTEX_SE2 76 11.239515 -20.956998 2.644600
+VERTEX_SE2 77 11.227570 -20.952338 2.874132
+VERTEX_SE2 78 10.929861 -20.969392 -3.076000
+VERTEX_SE2 79 10.295660 -21.019100 -3.083625
+VERTEX_SE2 80 9.648073 -21.026221 3.122276
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+EDGE_SE2 220 528 -1.597199 -1.638814 1.311310 13.034804 3.414597 0.000000 17.172093 0.000000 467.976033
+EDGE_SE2 220 532 -0.939792 0.407621 1.225630 94.950637 -5.379789 0.000000 11.456320 0.000000 504.700895
+EDGE_SE2 220 564 -0.623480 0.251998 -0.012190 38.845567 71.101745 0.000000 193.391889 0.000000 2440.146629
+EDGE_SE2 220 567 -0.002013 0.298972 1.481540 21.284937 -105.664807 0.000000 1108.540123 0.000000 405.973278
+EDGE_SE2 220 570 -0.062402 1.946160 1.542860 11.165977 -0.913492 0.000000 26.320380 0.000000 386.629607
+EDGE_SE2 220 575 -0.123656 2.505837 -2.951275 15.792523 -0.664538 0.000000 11.205444 0.000000 160.127317
+EDGE_SE2 220 959 2.587973 -0.016000 2.926965 11.274656 -0.773198 0.000000 14.766597 0.000000 162.116000
+EDGE_SE2 220 965 -1.062787 0.305497 3.105010 15.212918 16.523642 0.000000 77.674651 0.000000 148.358205
+EDGE_SE2 226 231 1.660221 0.126920 -0.049820 11.505996 -3.114430 0.000000 35.674411 0.000000 2268.351350
+EDGE_SE2 226 588 -0.273207 -0.444423 -0.016160 274.806053 -156.291042 0.000000 103.744249 0.000000 2421.117227
+EDGE_SE2 226 597 2.185242 1.674700 1.403760 12.078039 1.038206 0.000000 12.225850 0.000000 432.671013
+EDGE_SE2 226 953 2.006857 -0.437847 3.116305 11.557944 2.329386 0.000000 23.254435 0.000000 147.545120
+EDGE_SE2 226 959 -1.129223 -0.150509 2.830935 23.235807 -25.544568 0.000000 64.928953 0.000000 170.345385
+EDGE_SE2 923 1175 0.749610 0.273000 0.106670 19.536607 -34.047517 0.000000 148.697481 0.000000 2041.285424
+EDGE_SE2 929 1175 -2.005899 0.102421 -0.392910 12.648561 -4.320259 0.000000 23.251108 0.000000 1288.528106
+EDGE_SE2 939 1188 0.696432 1.755817 -0.065270 26.430265 -4.946684 0.000000 12.708437 0.000000 2203.031036
+EDGE_SE2 1029 1217 1.008685 -0.037889 -3.114265 11.476877 5.630362 0.000000 97.781127 0.000000 147.691473
+EDGE_SE2 1044 1217 2.098504 -0.838430 0.479890 15.976239 4.188481 0.000000 14.717054 0.000000 1141.513725
+EDGE_SE2 1050 1210 -0.300235 -2.565672 1.536560 11.137270 0.317303 0.000000 14.960021 0.000000 388.552520
+EDGE_SE2 1050 1217 0.231465 1.668290 1.559140 11.493589 3.014437 0.000000 34.868922 0.000000 381.726156
+EDGE_SE2 1056 1217 2.128743 -0.472375 -0.931160 15.353750 -4.908186 0.000000 16.789250 0.000000 670.352902
+EDGE_SE2 1061 1210 1.269232 -1.441319 -2.909610 23.568115 6.644624 0.000000 14.655385 0.000000 163.558506
+EDGE_SE2 1075 1210 -1.662329 0.436026 -1.599840 32.701727 -4.997844 0.000000 12.268023 0.000000 369.868006
+EDGE_SE2 1084 1210 2.070374 1.896269 1.836205 12.355692 0.641825 0.000000 11.442098 0.000000 310.788312
+EDGE_SE2 1088 1210 0.609503 -1.485166 0.536770 38.204841 -4.021013 0.000000 11.707874 0.000000 1058.576530
+EDGE_SE2 1093 1210 -0.233452 -0.529583 1.494360 42.853783 90.090527 0.000000 266.801722 0.000000 401.810926
+EDGE_SE2 1098 1210 -0.378280 -0.172442 -2.937025 38.903093 -122.470929 0.000000 550.803768 0.000000 161.288572
+EDGE_SE2 1138 1188 0.583736 -1.006358 1.671805 21.764394 -23.563240 0.000000 63.228969 0.000000 350.211491
+EDGE_SE2 1147 1188 -2.232188 0.113982 2.992915 11.195782 -0.864255 0.000000 19.932721 0.000000 156.804966
+EDGE_SE2 1150 1188 -0.789302 2.834301 1.697150 11.120354 -0.063189 0.000000 11.543094 0.000000 343.660651
+EDGE_SE2 1158 1175 0.586855 -0.249767 2.829060 13.000858 20.975969 0.000000 243.941877 0.000000 170.512281
diff --git a/SLAM/GraphBasedSLAM/graphSLAM_SE2_example.ipynb b/SLAM/GraphBasedSLAM/graphSLAM_SE2_example.ipynb
new file mode 100644
index 00000000..cd3d9fd5
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/graphSLAM_SE2_example.ipynb
@@ -0,0 +1,332 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from graphslam.graph import Graph\n",
+    "from graphslam.load import load_g2o_se2"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Introduction\n",
+    "\n",
+    "For a complete derivation of the Graph SLAM algorithm, please see [graphSLAM_formulation.pdf](./graphSLAM_formulation.pdf).  \n",
+    "\n",
+    "This notebook illustrates the iterative optimization of a real-world $SE(2)$ dataset.  The code can be found in the `graphslam` folder.  For simplicity, numerical differentiation is used in lieu of analytic Jacobians.  This code originated from the [python-graphslam](https://github.com/JeffLIrion/python-graphslam) repo, which is a full-featured Graph SLAM solver.  The dataset in this example is used with permission from Luca Carlone and was downloaded from his [website](https://lucacarlone.mit.edu/datasets/).  "
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# The Dataset"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Number of edges:    1483\n",
+      "Number of vertices: 1228\n"
+     ]
+    }
+   ],
+   "source": [
+    "g = load_g2o_se2(\"data/input_INTEL.g2o\")\n",
+    "\n",
+    "print(\"Number of edges:    {}\".format(len(g._edges)))\n",
+    "print(\"Number of vertices: {}\".format(len(g._vertices)))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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UhqCA2z4y3LCB6O23Wbbq358ng1lHUvIaH2zCk+qcNM3/TjiEX4ux9HIl5xTD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RpstvfdV/V9PP00ricqbH1fJyPiOuzxcKkiC4aLDrx8uh4uDpJJeniy8JHG8+35PCRVD2fMJiaa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\naDSaNoI2+BqNRtNG0AZfo9Fo2gj/D1KYU/J75gHUAAAAAElFTkSuQmCC\n",
+      "text/plain": [
+       "<matplotlib.figure.Figure at 0x7f58b45e2438>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "g.plot(title=r\"Original ($\\chi^2 = {:.0f}$)\".format(g.calc_chi2()))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Each edge in this dataset is a constraint that compares the measured $SE(2)$ transformation between two poses to the expected $SE(2)$ transformation between them, as computed using the current pose estimates.  These edges can be classified into two categories:\n",
+    "\n",
+    "1. Odometry edges constrain two consecutive vertices, and the measurement for the $SE(2)$ transformation comes directly from odometry data.\n",
+    "2. Scan-matching edges constrain two non-consecutive vertices.  These scan matches can be computed using, for example, 2-D LiDAR data or landmarks; the details of how these contstraints are determined is beyond the scope of this example.  This is often referred to as *loop closure* in the Graph SLAM literature.\n",
+    "\n",
+    "We can easily parse out the two different types of edges present in this dataset and plot them."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def parse_edges(g):\n",
+    "    \"\"\"Split the graph `g` into two graphs, one with only odometry edges and the other with only scan-matching edges.\n",
+    "\n",
+    "    Parameters\n",
+    "    ----------\n",
+    "    g : graphslam.graph.Graph\n",
+    "        The input graph\n",
+    "\n",
+    "    Returns\n",
+    "    -------\n",
+    "    g_odom : graphslam.graph.Graph\n",
+    "        A graph consisting of the vertices and odometry edges from `g`\n",
+    "    g_scan : graphslam.graph.Graph\n",
+    "        A graph consisting of the vertices and scan-matching edges from `g`\n",
+    "\n",
+    "    \"\"\"\n",
+    "    edges_odom = []\n",
+    "    edges_scan = []\n",
+    "    \n",
+    "    for e in g._edges:\n",
+    "        if abs(e.vertex_ids[1] - e.vertex_ids[0]) == 1:\n",
+    "            edges_odom.append(e)\n",
+    "        else:\n",
+    "            edges_scan.append(e)\n",
+    "\n",
+    "    g_odom = Graph(edges_odom, g._vertices)\n",
+    "    g_scan = Graph(edges_scan, g._vertices)\n",
+    "\n",
+    "    return g_odom, g_scan"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Number of odometry edges:      1227\n",
+      "Number of scan-matching edges:  256\n",
+      "\n",
+      "χ^2 error from odometry edges:             0.232\n",
+      "χ^2 error from scan-matching edges:  7191686.151\n"
+     ]
+    }
+   ],
+   "source": [
+    "g_odom, g_scan = parse_edges(g)\n",
+    "\n",
+    "print(\"Number of odometry edges:      {:4d}\".format(len(g_odom._edges)))\n",
+    "print(\"Number of scan-matching edges: {:4d}\".format(len(g_scan._edges)))\n",
+    "\n",
+    "print(\"\\nχ^2 error from odometry edges:       {:11.3f}\".format(g_odom.calc_chi2()))\n",
+    "print(\"χ^2 error from scan-matching edges:  {:11.3f}\".format(g_scan.calc_chi2()))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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yZfp370hhD5BKYf1hEiidfD04ZxyJwZUESmcPaMmkcsGJF7CoYjtevettcsoh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\nAAAASUVORK5CYII=\n",
+      "text/plain": [
+       "<matplotlib.figure.Figure at 0x7f587b80bc50>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "g_odom.plot(title=\"Odometry edges\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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Jzn1WrGAcfP/+FC+rDMEgj9mtG7NgS0tFjjqKnHXffaw3q89br56lpVNdVFSI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\nFTs2RGNhsDdQwXa9ICp46ZiyZb7fH++ePWdmZ1MQUK/5nme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ILDMMDI1YvWlrqUU4hRsj\n++yDVPtt25LLxTUkGRlIGFq7FvcrpF07ZAyvXy9r8ObkILwwMxP1UFevRmk7Ijgx+/aFk7FtWzz3\nAw/I0o1uYhhIYpowgahfPzxHu3bIKh46lKh9e5Qk/f57UBKIbc0aeY7eveHXGzQIW7t2cB6KiNL9\n9wdlxdtvE91zj7zfnj0RctmjB0oHLlyIbFhRPvCUU3A/776L2rG/Preccj6voteicIbvtReulfbJ\ncjpwRxV9nFlCS3bA+Z7InnYUsxcyk66mK+gS8lCMYppBq4aeTnu/dz/pkTpiXaeq8fOpqteURNbs\nv/+NbcuWxr1TjwfvtHVrZMxqGvrwjz8ii1tIbi7ecXo63v22bWgD9RgiZAv36IEtNxf9cutW9JmV\nKyXNg6ahfzidwzk5+F4Ucr/vPtBD5ObKtj7gAMdDXH010SWXoCMZBl7irFmNa4C/iOzxxKtdsf3l\nNXxmfuYguQxnw+BNF2I5fcMN+P7II6VmU+w1eV5akD8+SGr7Md3gN6iY1/h78razKrlXL+YiMnkW\nBXmwtnPhmmNam3xXD+wTJpSGQg1F6J9zv2G47xebz4dkpbvugmnGeWx2NjS0gw+2V0AqzTT5np5B\nvny0yZePNvnu/GDCqS3O26mT1Ea7dGHu3j31fRDBTOX1Qqm78ELY9L/8Ehq8kF9+QQKU0PpVXna/\nH2X6jj3WvvIRRGJdu6Jwh2o+0jSsKB5+GOGOF1+M5xXtrmkwZ51zDgjGMjJgnrIsrEpuuUXeg6ZB\nm3b6RtR3fRtV2MplqivHCBn8WP8gX3cdiMx+/FGuhGpqQOE8ZEj9bej11v++xSaI+pyrsJwcmGAO\nOgjPecghYMzs2DH52EAAxxYU4Ji+fZNJ27p1Q/jolVeifdetA9vmccfJdurXD/6aX3+Nv+S/gWmH\nmk06e16i0biTT/clCiw8eT5Aa9UqUMs6wfHDD5lvPgFLd8swOKp7bFm51ePLE848t7j5iIsJoL59\nwzwmTx/o7jhsSrz/NVlBPqGbmRi0zuPatkX90drLgvzaFSYfeSQGpHqc1wswnDcakSdO30ad7ufl\n/Sv4/gozYQpwRiB17gxQdAMhYapyfu/mNB4+HGanLVtAHf344zA/DB8OUHY7f7t20kzSrp39OqJd\nDAM26wsugDN682Z7n5k/H8c9+KDcN358MshWVmISGTkSZhNbFjX5+TaqSLxvUbavhvw83Gef0HNy\n0OZnnsl8++1wgq5YAUZKQS2v1gpRJ7NWrWCSUyc/vx9tOXQomDVLS2HSad3a/ls3hSIQAKD36AFw\n798f9N4dOrhPcpmZOK+zD7Rrh0zlCy5AoRUR2+/1oi1feIE58tb/tmmnGfD/AFm6FAMx6kXyFfv9\nfF6Ryfn5cBQ6bevjx+N3JSXMp/ZG9Md6f0d79EVubpIDTtcb5+Sbpdn3RVyOswyDXx0R5HHtd24C\n+eBmk28/uf7jwp4A//yUybVvmBz1ocaoOE7THPQRcXoAJln0/TdCmONhhyEs8fMTg3z+YAlkDWmg\nubkIV33rLTgY58xB2++3X7LTOCMDK5MpU7AqW7wYtWSF1u10boqJRfWHtG8vQallSziGTdM9uiQa\nhfbbpg2ilH76ST5Pq1YALXHtoiLmV15BuOO6aTIBTnX+DtFNriFfovZCkTJRe724t44dk/0vXbqg\nQMsJJ0DrF+2SmSnBXyjJRJh0CgrQd/faS56nRQto8Vddhclk0yZQOb/zDlYvU6bgNz16NFy32TlB\niJoADUWMEeHYvDw5ceTlMb9YHEyMJbfC7n9laSzgN9Mj70J5/HGiUm8V6ZZMvkr/oIoOP7OIpkyR\nNl+RKNWpE2yYH31E1HtCEdGsInr8qi10Vt11kuZ29GjSnnqKKBymGPuoyiohy3JQLqSgZ3iDk/d9\n37mE1qxV9sV89EVeCc3vW0WB+WHSYqBcKKEqIrLTMLjtW3R2FWhy4wlRbsdFomG6aVwVdelCNDUS\nJp1iFDDC9NApVXRjWhF9/lAJhTfjfoQ/w0sR0onJIKY0PUxn9amix78gGv8iCOIuJx9t67uUHvl3\nEfXZgeSmNseU0AeeInr4Ybu/Y9MmossvJ7ryStjmL7sMbJOGAT/FDz+AofL882HTj0SInnwSv3PK\npk2gNKirk/ssC34S8f/PPxN16QJb8vbtSCoKhWCTPvlkopNOwvdEuIdQiOjAA4lmzoTdPxaD7TwW\ng81/wACcIxgEO2dhIdFdBa2ovaERWTp5fD7qN6WEBrxDNPzTKvJQjAxisihGh/qraKWviLZvx3Nt\n2IB7ZMb1W7WC/8DrRZLXmjWy7XQd7WNZ6LPqcxsG0Zdfwv9ChHvs1QvnXbmSaM4c7A8E4BcZPhzM\nB5Mny6QvItjvv/gChHIrV4Lme8UKu48hIwP3mZGBdrEs+Ab++1/83k1qa7EJ+fVXost/LaERZJCf\nkGdt3bOAjJNP/nslZDVmVthT219Zw49EoIldMkomfcQMD0+mEM+alaxNEWEJuno1/r/7bthVNY05\nSJUc7dET63hmZtPkmkuDPETfNZQLIirkYk+Qx7SGXb+QTK7RET0S9qamYWjMvkl7mzyqRf3H1egB\nXnyJyVu3xot7323yS8ODfHRH09U2ffYgk5cdITW0qGbwDW1USgSdw2Twc0YZT6YQPzkwyMd0km0w\nRLe3ga4zn9DN5OeKgrz4EpO/+ALhs4Vk8uuHBHn6QPf2U7V7sX+oIY89PNfkh/sG+cKhZsLHUBj3\nwajmlVP2MfmDcUGuXgqzwvnn47g5Bq7Tpg2K26jJWLW1CGV83V/KMULJzJjhZSseDWZZzL+9hhVm\nLG7SUftBWhr8IKrpSdft0TuaBpPKvvsicmavvezRVm6rKuEnEZ/T06HB9+4NP4v6e03D5w4dEGO/\n334I983Px7ho3x7aeFYW7tfj2bW5KbdRRYKCIqr978TmU3OUzp6VJUuISkuJnn6aqGzDnUTTppEV\niVEt+Wm0dym9FSlKRMsUFBC9/z4CBfr2JTrxRKJPP8V5+vdHJIJTu7z6ahBupadDu+nZE5EKv0fE\n/SxeTPT110Tv37Scuv5QRe/6S+jLrCLasYNoUBRRIq9bJfR21MG7r0SOiH0rW5XQN62LaPXq+o8T\n+/x+oiOOAHnW4YdDi/zqK7TjNw8sp/Zf49hP/EV0QJ2kirY8Pvry5qXUY00VZVx7MelskdqTY6RT\nmPxNopPWNaIlbN9n6ESv0UjycZjY56PYK0vJOqiI1j25nLqeNpL0SJgiuo8mtFtK69bFj43/fmz6\nUurUieiOb0eS1wpTRPPRkRlLadt2+7VP7bKUCguJpjwu9x2iLSW/n2hxLSK5IpqPytsupRO3zafx\n1Q8REVaAUSK6lIJ0rT6LLAvt+waVkJdQk2EEVblG9+xOUaPCNA2RWFlZeLe1tdDKt2+X34tVRvv2\noJBIS5PEc4KMThDSbd8OzX79eqJffsFq6pdf5PV0HSvnbt1Ay9CzJ0jhunTB9TNXLqduk0Hgp3sN\n0k49FcuuP1LLX74cdBAlJTt9H42N0mk26ewiefxxdOx//IOIbtxIbFmkk0VeCtPgSBW9oxdRcTFM\nB4JL3esF97rfT7TvvjgHEbjXVWEm+te/8L8Ic8vPTwb8zEw5kBojYpBcdFGc931GEb33XhH9ejfR\new+DqfGjjCL6zFNEtbVEZUdgYnv3tyJ6T5OcPUQKt89GItqIgdZh/yL6MlpEn79GRNWO4+JSVwdw\nX7QIS/bx4wH+F11E5JlTRD/8UERtnibyPk309tvg+znEU0VLYyVknllEpZlEi8kgDfXE0F5E5CGr\nXtOUz0vki9j3+b1EvrDDhGUReQhmqFg4TFueraLWw4oof20VUSxMxDHyU5ieOKsKppBLpWmroKaK\nsjcQeawwGRQji8M0YHsV6TqRz5LX6b6mitavsd9jMVcR1VKCsZQ5THv/UkXD6SUiktxMOhG9bZSQ\nFUPY5KScKvKuicEjosXohiOq6IuxReT14n1+8gkqUn3zjd3slZ2NfpeVBTD94gsZlpuTAyDdtEma\ngjp2BFCvW4cwTY8Hx+3YgesIYUZVr23b8LlHD4S6lpWhL7/9NsxWH30Ek47HA7Pb8OHYhgxBv65P\nwmGE9a5cKU1DK1fiOYWkp4OvqG/fIjpk6lIa8t0D1GnJAuK77iLt/vv/OO78O+8kqqiQDdu1K2yM\nu0saswzYU9tf1aQTDsOZN2FCfIdpcizNbs5YtAjL2OOPh5OOiPmKKxAFUlCAn82cif1nnWU//+uv\nc8KBlpODZe4RR2Cf3586iqQp20EH2cMVt20Dp4m6FCdCMtGsWU27psiebUx4n3AQtm6NSJJ33pGc\nLL/8wnznnYgGEREggQDzGZ4Qh8mwZZxG40lHx3Qy+cGzQI/g5lQOx/n/nY7mWiPAo7PdTVgeD/Ox\nnU2uM2ACi6UFOPaOnU+n1kCilPh9TDc46g/wS5fCyS2ikppiKiskk+8nO/vqYipNMvMJE5dIxMrN\nhXmlpAQhptOmwYk9fbrMslbP4fUi+W3GDISPisgg8X1eHkw1anKcptnfXWEhonfE924RO14vjjn1\nVERFPfIIxkBRkTzeMDA+LrwQ0TZbtjR+XG7bxvzuuwgRnjEDzyHMWc5ghmcLg3zHHcgYbso1mizO\nmgxu9qrevZt8WmqO0tlz8tJLaMnnnpP7Hjk4xC8RiLruvJP5669xzB13IJORCJEMmZkANmZ0SHGM\nKoMHy74wdy6iKAT3TnY2+ofaX158cedAPz0dUSBCduxAqF6PHghoENER6emwOc+YAVureg63cLpU\nMf2NBf8uXeDO+OQTGemyeTNCGcePB+gXkskho4Lv8VXwZArxTIJ/IiMD158/weTI5UHe9orJzz+P\niXe4z27Xb9VK0igUksnt2zOffTbzuYXSVt+mjYxwUW37gQDeyy0nmvzZ8UFe+7jJq1bh3YnjxrU3\n+bXX4o2rEMZ9/TX6zoNnwf5f1lZmW7v5ZO6nct5AuXw/lbu2GzJt7Vw6uo53Ewg0PXs7IwPPUV7O\nfPLJeE51ksjLgy2+V6/kCJrcXPRVUaCdCGGd+fnuEU+ZmTj/WWehSMopp2ACEPes6xg/552HDF7B\nv9QUWb+e+cNbTA57QVER1jw8zW8nmRNRS5WViOz65JP6KSAaLLgjPqsXKStL3fGbKM2Avwdl0iQA\nXyK925SaYp0H8b533onWXrUKzjAiaC1ESMBhlhWB3npLnnv9egwKrxcDb+NGJPMYBvaJlPn27WV/\n6d6d+cQTGw+ozm3MGDihmaFVicmpulpWWhJAPmoUkl6cYX71hc6luq5hyDZwThji/969ETP+zTey\njX77jfmZZwBGImXf5wOwqJplVhYSdv77X/nbF15Ipg9wbl4v89FHY5KIlzvgESOgKQ8fbndYqvea\nlYXcgWOOsVecGjoUla7qk1gMIaFjx8rzN3Y1Z9dedX6JShskUPP70V49ewK4O3RwJ7Bzbj4fJ9E2\npKXhPebkJL/r7Gy707h3b/SfQw6xJ72p7ahpmCCGDkUOwb77yutpGhKtzj4biXXqu21QQiGcSNfZ\ninMiPf8889VXY3Lbf3/7cxkG8hBmjzD5tZFBfiNo8urVzNG3TZl15ovXIHCCuwB/dV9Bgbsm1Kzh\n/3mlrg4De+JEua/mUiXbNh7ve8IJGASWBW2ICCYgIpBN7dgh37faaadNk6e58ELsW7oU+1q3lgOq\nRw+2gWn37jJ2uaFBmwoAhLY/fjzO8913+PzSS9DE0tPlsr51a/lc9W2NibjIyICGd9hhyaCj/n7g\nQOb/+z87iVY4DAK6M86Qk4fHg/sUv9U0aKzXXINIGMuC2UyNJ2/TRrahev2OHQH2AsAHDUJC1LJl\nUPBGjJCTna4DDFNNcMXFzO+91zD7Y3U186OPgjdGnGv//ZFkdN55mFTat5f3qpp1rDjoC00/OxuJ\nSf364Vmc92YY7vebKuM2IwMTxMCBiLbJytr5qJpWrWCuO+00vB9xnvR0GcGj3pvPh33t2tkn9v32\nQ/95/HEoTCmlESURI2+Z/Ms5SB685BLmi4pNrlXyHMTK0pY7U1GRDO5C03dOAqZpt3fuBNgzczPg\n7ykRGvDixXLfa1ci+SVRYcnv5yNamXz88fhesE6WlABIIxHmDz7AvqwseZ5oVGp0fj+ScpgBAD6f\nnZpANaVkZWFgCOBJtXJszDZwILTpjAwMRgFOq1ZhoHu9sAWXlbkDQiotsTGTkd+PJf1990FLTpWo\no2lQlu64wz5ZxmIYTxdcICdEFcDE/9274xleeQXvUT22Xz/mSy5JNpsRQYMVK4ouXZj/9S/YjWtq\nMCnPng3fiAAprxeas/M5AgGY82bNYl60CIlKqSaBdeuYr7tOTq5+PzTkF1+E8rFmDWzhV481eVlG\nKUcIF4+SxrdRRdIztGiBZzzmGNT0PflkTFpuKy1BEpdqAtM0APCoUbDFX3EFJqX6SPkaYoZNT0d/\nFoCuaZioCgpwnUGD7CsD0c7qebt2hZ/gkUfkGGJmO2++x5NU69i17kFFReLEFhF/VVLBy/Z3AXw3\ncGdONvPsImkG/D0kJ52Ega86PCdNYr7HV8FWXEWxDGRCCtu8oP3t2RPOLWbQyRJJBy4zuE5EJz/j\nDPt1i4vtGqxQUjQNg5dIAmog4E41nMrs4swI1jTpwH3sMXkPmzZJRWb6dHCYX3ONTNGv71piDNV3\nH+qWmQmzyrx5mFxS8ctoGlL0b7nFzrhoWcyffsp82WX2iTI7GxOwaKuMDHC1nHee/biBA1E/4KKL\n7A5Mt0lq3Dh7ge4tW2BvPvts+ypInSAFDYT43Lo12nzOHJgq1qyxTwKWBSVh2jS52mjfHqvAlSvj\nB4mSmwKgvF6+v8JM8NOkoj5o1QrXnjcPuHTvvfi/vBwA64zLb4xGn5ODlUVBAWz6TroLQb89bBgm\nYKefweNJTdes9rGcHLRddnbqY7OzYYq7+mrmDVeF7A+iUi+Uldkfrn9/G+AnwF0pbcp+v7Tj7yZw\nd5NmwN8DUlODzn/qqXJfLIbOfMkoadeLGFj6rVqFY0TdUL9fRuScfz72qcCu8s//+9/2a196qexz\nAqwGDsSx3brhnjRNDmoRGeTUuNV0eecAdUZv6DoGi8oHE4kwn3suvh81Cj4Gy2J+4gk7MKrmFPWc\n3bvbK2917pyssamgoALwCSfguVINbE3DpDpzpkOzY0RvqI5EItyHCkaaJs0U4piCAjjw7rkneRLN\nzLQ/X04OfClO2/LPP2MyP/VUqfkGqZJXU0++3qhM+EX69bM/W14ezDoXXwyfxdq1aOvaWqwMxo6V\n7/vAAzHp1R7mWN5VVHA0Coe36F9duwLbBg5Mverq3Bn3dPPNwLP//Ae+prvvhmNzzBhMkPVp/xkZ\naJNUjn1n/ysuhsPWbXXg8cgkLfFbnw99f//90XadOjWsTHxE/V0LybCuu3es0lJ3cHdz2u5BaQb8\nPSDPPIMWfPllue/997HvpUvlrB/WYdIRGpoKcAsWYF9JCT7Pn4/P33wjB8LJJydfWxRVUQfL/ffL\nfW+9hes42R9V8HeCndsgPOAA98GYiDaJy733YnD17AlGSmaEUaqheak2w4APpHNn+fmww6Qj2jnu\n/H67ozUvD8CgauRuINKqlTR//PYbwPKhhwDoIkRQXKtdO6y+VFOOeh8FBcxffYV2ENFVYmvThvm2\nlgDw+6k8EWXTpw808qVXmvzDVICDZTH/d3KlLdQySJVMBPCaMgWa6LXXwrzVt6/9Ptq2RVtdeilW\nEZ99huLg/fvj+zs0aW6w4oAvJBqF/2GffXDsfvvB7LFiBYC8vDy5TVU87N0bJpu77sLqKRLB9u23\nYCA97LBktkt1S0/HhH/QQYjM6dMndXlOXcfxqsIiMnHVz6r/ZPBgtNt77yFKbtkyEBjeeisUq8JC\n5i1ay2TAFyYet9krN/cPB3c3aQb8poqwj7Rr1+ifnHgiQEQt2zZ3LoBm+xzpEAqTwY/sLx1CKlh9\n/jn2iYHxxhv4PG6cBC0BoKrU1AD41A6/YoVcbs+Zg4nIbfAMGABt3Lm/Qwf3ZX7HjvYoILGVlKDI\niJBlywB2mZnSp7FxI8wAKmim0rry8mD2UEPw+vbFPbVsiftw/iY7G5OMeG7DgMbqBA7nNXUdk9nc\nuZi4//EP7B8yBGRpY8fKCbJVK5gaBg9O1k7z8zG5rloFcPb5oK2rAB6LE8AdHDB5mEc4VDWOaTrU\nY1HHL378auqZOL9quz7wQBz+7LNwMt9yCybKPn3s2NSuHfI0pk5lrhxmci15OUbEteRF/d9P7H0p\nGgXQi9rK++6Lz9Eovt+8Gf6Nyy6DKcRt5SbauKAA4boLF8q6tr/8AoXgiCNk+zmjcNQ29XjwrlXt\nXZgrU00eYkJI5edp3Rorwpdesptfubw8+WCvFw0dCCRftLy80fiwJ6UZ8JsiTg9Vbi72CyeNC392\ndTWWqKefbj/VoEFxu7xS0LyGfPx0pfy9WKL6fNCItmyRl16/Hkt0MdDHjUt92yUl9oH+6KOYhIS2\nallwxAltSn3EW29NXioL847boBGA4zaYxoyBZsmMpX7//jj+uutwD9u2ASjUc5WXS9OWc+vdG9q+\niHITwE4EkFYnEHXLyJC8LGJfixbJk5jT9CKevW9fGat+22247yeeAFCICSUjA+3ev79s+0Iy+S29\nmDe26MTfH1vJW1p2smvVhOSea7MFU6n9Oy4osN3M1iPL+fDD7QBYXIzJSEyGPh/a9PLLMdFu3oy/\nN92EFaFaNL6GfBwjjet0Hw/zIDxz//3BBvrLL7I/xWLw0Qjg790bKwAB/OpxX34Js9ZppyG6KRWA\nZ2TACXzRRcxPPgnuqBdfRO6JOoGrq5b27XEPPXu6m5jS0jBE6/PjpJoYxPd5ecznFZm8elIQZhp1\n6aAWqw/Gv8/N/dOCPTM3A36TxK1XhEL2HuXzYV8wyFxZyT/3Q1KVmkizbTaW7veebsIoqutsxUms\n/vOoBHxhZunZM/HTBBBZFpah4rIffpj6tufOlcfpcWXxiSfkvpUrMZkIp54aYWEY9uuoYFjfYMnJ\nSXbaiXOecAKWzjt2SMfxSSdhNfLbb1KLFsefeCLs4Wo4pLqJkM8BA+SqSIQNHnWUfcJwmlzT0jDp\nHXigBA03TdJpA1a/b9sW5pRvv8UzvPgiJtDR2UiGGuZBofE6R5ZvhDRH1i9xHYFI74KskK3egUXE\n4XZKZRdNS4QHvv663aSUmwtAX7wYztkBA+TPMjLACX/DDZh8YzE4rf89JcgxTYYe7rg4yLfeKidN\nw4Dm/eSTMo8kFkNIo3Aw77MPTF9O4FdlyxaEw86bB4ev2o+c2nnr1rjXyy7DKmXmTJh13N5Dq1ZQ\nembNgp9rwIDUK0Q3C0x2Nsx9Rx7JfFfrSv5G68lBqrRlVXMggLHtjMj5C0kz4DdF3GLQSkuTEcLr\nTexLDO7bQokEjpimQ5vy2EMMIqSzdZXUGEozzcQlmDmRlDVoED4Lzfvgg+u/7aeekpdp1w7JK9u3\ny3lq3jwc9+yz+CyckSLUMy0N2pRiUeD09MZVOUpVsFzXAYr/+Q+0TyIM5p9+AqCMHy+vQwRA27YN\nIFXfZNO9O8IehW1aTE7HHYdzicHu9+N51AQlw0Co5bBh7hFEYjJUu4H4vch0LWtr8imnML98GWgz\nLB1JdQ9kVHBMOZEK5jEi3kFpHCU9QfVwG1XY+P5Ri9bgOt3HlhoeGJdoFP1DjZzq2RPFVCwLzuAn\nn4RNWvWX5OWBRuHpSpNjPhcnIyP5q7JSTqa5udC8338f547FoECIgiJ77w1TjUjKq0/UVcDpp2Py\nUIeTUzvPZP4aAAAgAElEQVTv0gUTz9FHYyUjFG6Px55kNXgw+vWNN+J40U87d8bvBgxw70dOM1v1\noGLbRGjT6P9iYM/cDPhNFzUVUsz4aq9UMlJsy/WCApvNIBrX7lQAiFJc/Y6fL0o6B6mSrzsKHeyG\nY8CRss2fy+tLZbq8mnHrJvPmydvr2BGak2VJW2mfPvJY4ZgT5hphYhEDJhiUoCmW9E4wdwNKp/bm\n88lBes45sN2mpwNUPvgAYHHyyThWAE1mJpx+0SjCO1OBvq5D03v9dVnImgiT1ogRbJtIWrSAueG4\n45IrUXXqBLPMgQcmz+mFhLKTh+cmF3sZmW7aslijmsE/HlTGMc2u0bttTPDl3OuvALcOqeYenb/Q\n9uUwGZgcfHFuHkW2bIFWr9IFFxczf/SRvU+sXYu8hZNOQvsKk06UNA7rPn5lrmkz4zCj3V9+GZnE\nYiLv3Rshtj/+CPBetEhmiO+1F/MDDzQO+J3P8OqrUARGj7YXMndSLAsQ79XLfpxqbmzbFvd80kky\n4igQQP96/nlEYt16KxSrb/Wedudsy5borH9Rjd4pzYC/M+Kc4VUbvljyOQa3MN0IcI+QkZgA5HF2\nMpnEUt+AKi0yIsV2P5XbwDqViE4utDMiDPi775b7V6/GsUuWSHAVt92ihQw5POAADHoB+hMnJttl\nU1EQiCW2MyRR03CN00/H4E1Lg004FoNGSiRBRNclxcS779qJuZxbixaom/vxx/aarB07SjOPWCVl\nZMBk8MUXAMwePez3mZeHyW/YMHDrqACv1ocVVaWO76qWY/RxDfk5QjrHSOdt6Xlck56dZL+H45a4\nzgjwGf1NHqJLvn/x7qOOieGfrZG3UV1tf+fffisT6cS7Ki/HisoplsW8/lxp0lErY/XpAwf5s8/a\nycI2b8aKQvA36TpMNI88AlPdU08h5JEIK4377ms68AuJxRDpdO+9cHj37Wu3bGVkJNNWqL6otDTm\nqTo4q06nEB9wAFaTYlLIz0fy15o1DIVLaePEiud/pL5tM+DvDolPCE/1quTXfaUcvT2UyMaLaTrX\nkYc/qgihEymmnyQ0pOSlvwoO26gFv/RS/beyebMEP6EhEWEAb9ggwUBki1sWNNtCMnm2hmIcV16J\npe63BuyakyZJ0Nd1GXGk3r46KJ2bW4Fz4ZjLypJgPHs2tMr4GOThw+XvTjkF91tdLf0Aqba0NMmo\nqa5KcnIAFB6PfWVTWYm2qa6GrfvkvdAWgmfmMp+9ROQiKrORkE3VQco2mUJ8qTfIS3pWJMA0QgbP\n1oNJpgOxLaKyBMnaxIlYnV0yyuSXSWbDipKONeTjBWmoUdu6NWzdGzbY3/8bb8g8AsG1dNFFLkyP\nSlKQ5ffzl/eYfM01MP8JMDUMAOXs2cgQFiRhX3+NmH8RLpuVhcn7rbcA/MK8lp+P8OKdBX5Vtm6F\ncnL55QjrVBfefj8UAbHwnkwhWxs/o5cl3mVOjj2y7NBDmb8YW8kxlbEtBZ3CX1GaAX83yfbtGCjT\npik7TZNfHAY2xa1bOTEJRBXNXUXJRLiex8uWrtvA3yLin7R2DfKr3HwzTjdmDP4uowKuJQ+v6YBU\n3eJiaKy3dJArlvsr7Brsx/vZqXaDVMllZbAJC7rbww9PBvh27dxJvFRzg5hwNA2biOcWIHPEERjc\nV1whB6RYuvftCycvMyYwodWlmmh0HQB2001yZaBWj2rdWrJWXuoN8i0nmrzxBTNBZRzxBfisAWZC\nww/HtfdazQ82RfJykCqT6vYWe+XxdUaAzf8z+e3rTY5oRmISjxFxHXn5+K5mUvZomzbMwTH2il1v\nUHF81YDrHJZjSm12KieS95gxad59tz3XIicHfSMRKmy6EHvFpbYWE8fFF8OxKSbdtDTkFgSDiGEP\nhzERnHSSfBd77QVQvvtuydzaowe0dTVM+feKZeGZFyzAKmBCvsmz4pP0S1SatIpSKazVKmdiFTqq\nBaiyLdWU8xe23QtpBvzdJI88glZz2tf328/uZLWWmbzMU5yU1GHpOq+g3jyZQvz29SZvHFSa5MR7\n97SGU7HFsvqTT5hNKrCbmQoK+JGzJbjH0tCxt8y0a7BbKNM2YNZQRyaC8/immyTIpqVBAxSuCuFA\ndEvWUpfgagy5OI+ayNOxI0xON94oQV+AR1aWpAjYuNFus1c3TbPTHOfnM58/2L2oerUmC6jfaVQk\nioCzYWBVFgzyN5UhfnC/IN/js5tz3kwrTTLviIllXlowEe54dUtZXFy0bVQz+PrcoO2e1clKpTMO\na96Exh8mg2fFryPqIBAhR+DNNyXVwtat0O5VDpn8fGjh1lWKc0bX69Vot26F7fucc6SjVryLI4/E\nRPL++wB14QPSNPT7c86RGn/37pgIdiXwM7Ot3kDUH+C3h9pXU6LN5vqhfKl9QBRzF+Uzb6MKHtce\ntRKstL9udI6QZsDfTVJWBlu2KMrBDLIrIjA3Clm1ink19UwGfEOChfl/Jq8YVhF3qiGS45+eStu5\n3aS6GmM3Jwefw+Sx240NgzddaHcuCg2mRpcFNT6ifrbfvUHFPGkS+n337pKpU2yPPSadesJ/4ORE\nEZsauinwRqwKVIpcw4DJIhSKg/dwOFvFdwsX4hktC7Hxgq9e1JFVHavVcXBXHathMviqzCDP1u2U\nwV/nFCRq5oYNH1s+v33Qx4vYRDUUSJlMIVsxkqPama4rjpHpdqbKKGkci0fe/PADwPLEE+3t46Qz\nToB/PJRTnSR8PjmpDhqEdyJMKd99J6OgxORwTY+QvQ82gddl/XooOJMnc6I+LxFMJeXlCOs991xJ\nNpeRgYQ+ES3UrRuycH8X8Kvatxu7ZSjEVkEBxzwejulYaYlVgNoHZlEwyQkv+wo6aEzTOTql4i+p\n7TcD/m6QrVthP5wxw75//ny0pLrcvuMOTlQnUhEh4pMaZ9QPQKkhP99pwGZ73XUN38d99+F0osLW\nt63tGr4VH9g1miwYLjrwq/PMRHGQQjITk0WEDL7bW8Fj88xExmx2tj0jd++9ERUiwKRrV5gTBDe/\nE/zS0+Wx4q+uS1t+mzZyf6dOsLELe3IohP8nU4hXdipNMBnG0uxamxPcr80OcnkPu2nmDq2Cp2gh\nrtHtlMF1up9fza/g2xXnrKXadRWw2bSJ+e7TTP6/vCAP1uyFwZ3x3wJIHtTKOUI6R0jjGi3AD55l\nwoHImMA+/xwKhNBGcb9+foOKOUJGwndweK7pmgEt/Dddu0qmTmbmqiq5ApyjS0CzGtDwG5LvvweA\nH3+8faLv2ROrjoMPlvfUtq108nftCkewLcO1MeJkq6wvVt5hltmxRI6vWj3Ah7ZM7iszKcinO/wA\nteRFVJ0jPPbPLs2AvxvkwQfRYsuW2fcffji0HNXufvzxzMHMoB3wdZ1fPbCSZ1IQ8di6vfN5PI3T\nhgoLcbqPP5aff6BOiXjwmA7Quvs0M6HZrF2LY6ursUQXURiFZPJre1VwrWI3fmWuyd9/D4en14sB\nLTTM445jvv12CTiBgDTDCOXLCYAqOIjvOndmProjBmGJXwLo8V1NnqMHeUK+yasvsA/GyBjJwRzV\n7Fqb0LyFY3VmqxA/3b7CZg+fTCF+zSjFgI63+xw9yJcegsgbcY4bjzWTyNZUqasDFhx0UOrqUYVk\nch15baGXCTNQIVYrv/6K80UizA+cAV51EUKZMAeRxiFD0hqrSUfinQiNPysLpp0ff4R9/557mM/L\nDHEdeROTx03Hm7xxY+P7fCoRE5aIhxfRX5oGgFfzHcR3nTpBEWoQ+AV4V1Qka/RNsbcrx1oW85rH\nTI745KqtyKnhk8ZRxbzKRH/q7FpVmgF/N8iYMQAq1eRSXY0BN3263GdZcGzeOShkRz8d5dQicU0u\n6vXZ6pWqRVRSSSQiuWUsC+RdAmBqyM9R0jjiQYLNZ5/JS990kzxHRYWdanYmBW2Tz83tg2xZoD8W\nttqWLSXATJgA04HHIzM2Bw2yh8w5Sx8O98FhWkgmG4Y0xUQVU4xzyf2xr8BmcnrfKIA/Iq7hrVqA\nMoSFZPJsHdpawryjuYdVqhNEjR5ImIaG6CYv3DfIFxXj/tLSELa4bl3978OyUBPhH/+w+y9UIBEO\nxWVUYGsTQfB1333QzqNX2u3/Ca1T8/MQ3bSBvNsmnOZeL2LRv3nAZCsePFBHHp6qwzyUnQ3zY6JC\n2y6QSAT4esUVyHFQScxEu4h7z8vDqtj1+qpW7/fv+lh5ZRLYtg2lDkW9YygHjjwbIiw9/+TSDPi7\nWDZvRt877zz7/sWL0YoqY+ZXXwGEIt6ALa7R0rG8FwD03aEVtnqlIjKlPhHZtePHY+IZMACO0ENb\nygSbOt2X0Gp69IBttbhYnuPddzlhosnOjk8WeoCjCjAJErfaWlkuUZ27Dj0UWly3bggx9HiYL8gK\n8eu+Ur6fyvllKuVp/hD7fFyP7VSGNL40PMgXG8lhkSrwTaYQDzVQM1bY2cOXB/ny0aYCsvL3T+ZV\nJMxa1VqAZx+MmrRqnVjB8GmbnIbj+UQd2OnT7VW16hPTxMooUbzcAd6i6LhbfYDJ+0EDjelGPLaf\nEs+ycL8gL1wIc6Kaf5Fq03W0R1QxVT3YBysM4Yfp1g0+gIYiwnZGfvsNSVYXXQTaZbeJKj0dLJ91\nVfXY6Sv2gE09fl1rmcnRtBZJZtgEB8qfWJoBfxeLsJu/9559/1lnoeOqBY5vvx2DzYprzUl0DHH2\nxEdnmAnwOW3f1PZIdd9ZAwBuy5czvzIXv33pUpPv6SnBLkZaggb3vPPk+Pn5Z5zKsgBKwpaemYmw\nThWYlrUsTVzaWmbyqyPkxCSKht/YFs7T8eOZv5tpN7+IbYoW4n+2cjjQtGDCuSlWOEMNkx84w25a\nObqjyZMJiTW39gvxwjNlSN4Nx9jtu8tvMJPOWUgmHxwwedkRQT61t5kwJU2YIGPLnQAkNGUitJGo\nPuf3w4ndWOB/803mI9uYXOtwqG+nQNJ1s7PlNQvJ5Nu1Cq6Nm4OseJtNphDrOviK/vtfkJ498ohk\nbHUDfbXUYZi8vGwSuJ8GDLA/70EHMb/9dlNGQ9Nl0yYoK1On2hP4VGUglvYn4LRxY89s1vD/foB/\n2GHQaJ1Vh7p1g6lHlYtHmnx/egVbonqOIwY/RhpPphDfeGxy6KRrWTUlHO03CvCINJNr30CYYYQM\ntgIBfmdiiGvIL8E2ziGw5sTKRL+9/XZ5j9dcI/vzGWcwb6eADZjqSOdIi5YIuI4/R8SbbHoR5pg1\n+5YmLYUtokQBbaFpCyAmQkTLLGWFQ8Q8aW+TvzwpyGcHYIsf7jNtqwQRVqmaa4R9d9Mm5hkFUntX\n+X6mTIHpRfg/OndGZTI1tNTJEiqiivLyQMMgqJ3PPJMTztf6ZPt25hWdSm0T4NstSlMWCfF6sVpT\nE8BEf6nzBHi4z0w87oQJ9qIq338Px22fPnZtWg35FHH9wSBIywR3kDC5jBuHZKs9IT/+CDPjP1sr\nz/pn4bQpL5cV4/8CYM/cDPi7VDZuhAYmiogL+fLLZCC1lplcHQcm9vmgaTtiFy0inklBvm8fl87u\nFnqm7AuTwQt6Bfmdw4M2wItcEUyYQNTVhEXE/wpUcmYmkmmErFsHYMjOhtN5eU6pq4buRKWfCsuS\nTCeXeIJ8huGu4d/YO5TQ5K7JCvLEXmYS0KWn280sQw2Tw14J7sJGr15TcNKE1ckyLgsWSJOJalfP\ny4Oj+9VXJSVDx44AfkHFoGkwg6k5BOL1paWBY0YA/xlnNA74NxxYyr9RgBdTKc+eDXPHww8jt8CN\n+VGag6Tz1jIMDl8e5FmzpEnGMGCrdzphLQu87/vsk2zmEo7jtDR0zTPPBLZ5vdJcPn26dCjvNhGg\nHgqxFYAZ668cB/9HSzPg70K55x60lJOq+PrrsV/lMam9TNpNE4AdXybKJbqHC8nkCfkyLr5GjxNm\n1aPhCxv4m9eYXJqJ34rjfnwCCSVuWvb33p6JhYaaoj96tOQr+ekn5heplLdTgGMejyvYi/Ndq1fK\nDFNPgEszTdiMW4U4MrKUubycNw0Cv0khmfzgfsFExqjPhwLbc3SAu+BsT8VhI6JxROGQMBlcE4+w\nEDH5Q3STn37a/m7+8x8Zmkhk9z+ccQYiRV57TSZ0tW8PKgcRUeLxgBdPjZdv184ekmrEaZMqKty5\nbFTZsgW0EURIahJFSCwLYZRjx9qd3pMpxGGFdjlCxDHDYC4o4OpqKB+CYsAwMGlt2pR83boqkyMe\nP8fiNN3DfaaNE1DUKxZVu1q0wL7MTKwCnVw+u0Tcwi3/grHvfyZpBvxdKIcemhx2yYxohL59lR2C\nbE0thBy3SSIJh3hN634JE0ZGBvN1R5n88TEAv7vvVs7jYsO/1AsTR2UlBuXq+3Dcj0+Y3LkzcxGZ\niThzdYL5p1eadTIz4fC98UZwvYv9ixdLM8/LbcpTavoWES8xShMhlYWE+8nLA3Av6CXv+4nzTFvU\nzLmFps00U61Be3cmydxGFTZb/I3HmpyRwXxwQHLf9O8POgV1PjrnHPv7icUQNSLAXg2hbNNG+mPe\neEOWmGzTBv+r+QNDh9rNPenpEpxFHoLHA/v0Dz/U35eef15OHJdfnhyGu3o1KAzm+u1mHXX7uVsB\nb94MMrPzz5erBI8HSWs24FcK8US9Pr5giJmodSwiqYQJqHdvWTxG0Fx06YJw5IaSARsl9YVbNsvv\nkmbA30Xy66/ok7Nm2fdv2YJBc9FF8R2q1iJMOY6ogzAZ/MH4oA2k5s/HRDJ0KMDDTUtjBjgRIYwv\nLQ2gwAz2xM6dQTI1dX/T5uxjIubycq6uBkCJWrBunPAFBdA0BdnZmpJyriY/Rx2Th0XEn/6jkt/7\nFwBfpKxfd5QE9zoPViaxq+xAfqk3yM8cZI/OWTwUiUwqwBfF/QSqfb9fP/hLfD5J7aDr0MqFE5II\ngOWMdvrss9S1WU89VcaFv/kmkoeI4AhVo2FEuUUB7ir4i7/iu9NPTy46r8p//ysjnw48UFJI2MQ0\n2fL5kyZdJAd52OvFquCZZ2DSmTHDDvynnx4vNu9iIvz6axlsIJ5Vtfvn5sqVjmjrAQNAS73TsrvD\nLf/mskcAn4iuIKLPiehTInqViDrE92tEdDMRfRv/fkBjzvdnBHxRnMRZB1RUlkpw6igMmTatRbBp\nksYR0vmniZU2wKmqwmGffgpQOess9/sQzJEjR2Ks/PCDHew/+YT5/aPssd+WYSQG07HHyszXzZth\ne374YVnVSGwCzNLS4HwWQByNhwnGiNjy+djy+202djUEMEwGv3EoNP2YH7+vNUBQVkiSXvg3CvAw\nj4nknVaSMkFtRtUU4/FIVkwR6SHMDxMm2E0c//qXvUJTTQ00cPVZxXVat7ZHqbz9tlw9tGwptV1x\nL8LZ2battO+LdhP3bBigJPj++9R968kncW2fDzQF0SjbV3cO1lWxvW/Y4/nT0/H8S5ag/4iVjMfD\nfG0ZYvFZ1/GFkj26aROuKxzXOTnJRd7Ez4Rp64gj3GssNyh/RLjl30j2FOC3VP4/m4juiP9/GBG9\nFAf+QiJ6rzHn+zMC/siRsj6sKpMmAQgiEZaMhGKkOCoLcaWd5Gly3LY9k4K8+UV53LRpGGDOyYVZ\nhu5pGvMFFySDPTPzxhfs2Z2WUi5PkL4RoXiFELFyIELkxoUXglFQmGsKybTFwwvwEUAUJoPv7OHO\nU3LVVWibxUPx/ZtvMl91FZKcrssJ8tVjJbgff7zUegXQqqDmNMcQycLvglPfWb2ra1dowOq7W7rU\nXj1KnVDKy+3htaYpyzIKzPT7JSgKh/CIEYjUUh294q9hwHb/3Xcuncs0efvsIM8cjlXM6X1MW2IZ\nh0LJBXk7deJYDCRmF12UvHLJyUHfPP54+dOpeogjugfUCi4adTiM/iGS6AIBe+KceJ4WLSSVxNSp\nnFRIxVUU5+xfuYTgn132uEmHiGYR0e3x/0NEdILy3Woiat/QOf5sgL9+PTr3xRfb98di0O6OOy6+\nQ9VeNBkDn5BSe8jiciqw19OMd/5NmwBiQ4bYQeqrr+RgzskBn02nTgD7Tz+1X+pqBx+70Oi2bAFo\nZmTAFCDEWmbyP1sBkK+5hpP4ak7t7U5DK8IFqzWEC047EE7jO7QKPqIVAGwyhXhVt1KuvinEnTsj\nZDAcBjVF164ApBkzJOd5p07gahGmBhE94gb6grNfmB6mTAHFr6qBi62ggGXtYcYKZ+xY9wklJweT\ngirvvouwXFWT79hRTkqahtd42WUozOKs0SvYQidOxETNzDYThxUAncW8NJeorcpKO9e0S6r/11/D\nV+G8bps2WMGpPhKLiMNHlLn2d8tCbYHx4+Uqxa36Z3Y2vs/IwHVTJgw2O2f3mOwxwCeiq4hoLRGt\nJKK8+L4XiGiocsxSIhqY4vdTiOhDIvqwS5cuu71hmiKCM+bzz+37P/iApabs5qh1duhQKDFaLEIx\nDGcMudCEnptlJmnhEyfKwTZzZmqwZ2b+hfIS4BwjzeYQO+cgk+f6EfGybRsrxVsA7qfsk+xzuDY7\nyGf53EMuReaoWkavhnw81DB5qm7/zaoycAh9u1cpc24u1x5bzkcfjWcaOVLazg0DzuMDD7QDlwo4\nas1SXZeLq4sugplEAJ9a51Zo4uqreeghuwlD1fyPPjoZyD74ACYNFcSHDZMrDTFpvfIKEuMmTkwO\nuywikx/ZP8jbDylLMgFuujYUp97QuUYP8IarQsl1/4iSY8MVM9D69Yge23dfTnDFIBbfa3sfjx4c\nQu2GFPL992DCFG3dvn0yb5Borw4dwAKaMKE1O2f3uOwywCei1+Jg7tyOdBw3i4jmcRMBX912WsMv\nL5fllkRl8F0gJSWIXHCac0QlqE2LUzhq3SQUYi4t5Y3XhBLmD0vVfBRt79TeJh+WY3LNpRjEosBF\nhw7QLJ1gH4vB7vxjTu/k6BoBDiaoHoTm/uq8ZHCfRUHe+rI9yauQTB48GNr6JiM3KWInlpvLz3ey\nh4PeRhW8nOw8OFHSEjwlif3l5XznnXj0Nm0Q/y3wYdQoTkQjCQ1aBXq1cLm6nXUW6CDmz7cXBsnI\nkJ/HjIEjlxm+DGHKIILZQkTkZGUxv/hi8qv86COp8RNB0z/tNLs2PGgQzDg7lpj8RXEFP5xVkaBY\ndpa0ZJ9PRnPpOkcNL0/zh/hOTwVb5MJJkJtrL8PpZioxYbuPxYnCvqVuSatMnw+gLlg23WTrVkR0\nCXrkVq2SzW0iQW3//Zm/Oza+IhElBJuds3tE/giTThciWhn/f8+ZdNxSoTt1+t2d6+ef0Wcvuyz5\nu4ICpKO7JkmpUlkJo7KikX3/PQ4vJJM3VypZhcp51o9DWGJUQ1KRWratVSuAfSwG08iNx5oczIRJ\nRg3JTAByASpgcTCICSYO7g/2CdrAokbHdR56iBP39Ng5MknK65Ul5cS5mYi5vJw3H28H/JBewa9n\n25PAYs7fCeBi1JsVBTdOO02WpsvOhvO1dWsJ7s6iKyJhSt1OPhm+lW3bYI5TWTxPOAHn1TT8//XX\naMvrrrNbToRfgAjmHzdQ/OQTSS5HhJVFaJLJV7aQ/o9azWdLnooqTnWOT4TPtK/gDecGbYVKtpVX\nJH7rmgQnADRVH3Tsj+7T2/Y+3u9Ulricz4fwzvqAPxpFIfOhQ+XlnSuvCiX5LtGQzc7ZPSJ7ymm7\nl/L/dCJ6Mv7/4Q6n7fuNOd9OAb5a9FLdhOM0rlk3ldv6lltwmi++sO9fvx79+J7JDZhyRMFWscVB\nf9UquSvBy+LU0ipkNaZoPDtyiG7y5YEgm6eE+IUhQR6bZ49pj/gCHOnSNcm5um1Ume0aQsMv8Zsw\nWcRBY8nlcboDJRu3rg6hkF6vjFQ5v2WII+3aQQ0W9mTT5LAOps6Yz8+vzMW9RXQvxwiJZrXkS9Lw\nVXt0dTWyPolAt1xaKtvp9NNlYpDICFWBPjMz2XQydqwMt/zpJ0zQ4rvhw+GcFqGUkydD01+xwu4E\n7dtXarMZGZyU3CXabtUCk/v25YTpRNAY3EYVCbpdJpjYIronUfpSHFdIpq0+KxMxl5UlJugoafyp\n1p9rWigrLNUUmELDT7Kfq8kFpsm//AJHuWr6uvBCUELUJx98gN9do1XyaurJN6Uj8szp64mSzpuu\nbbbb7wnZU4C/KG7e+ZyInieijvH9GhHNJ6LviGhFY8w5vLOA76bhC+2irMy+L15EgysqGqxWP2wY\nnIxOuf9+aOcxfwOmHCcFY5xx79NP5S5BZsbM9nA8E2XXRAGPRVTGNeRLKt6xoUcBIi8UAIh0laBf\nR15ecrk9eevN0TK2fdEi+VVtLR7F57OHMz72mL1JidxXPeufMfliI8hXHIbrzZ6Ndnr7sCAf39VM\nkK29opfyRj2Xtx7pzjP+9NNYyWRkQNsXGNWrF8wPhiGdut262YNYnPkFBxxgzxR94AE7uN1wAyKj\nxHOfcw6AX0w8AugPOURSP5xzkIn4dtNk9vvjCU1+vrgtOGuk5q7zY7kVXEtSS68lP0/zh3iWhmLn\nL1FpoqKVSqccJZ03HleRAOxYWoAr+sVXDLqjHquz76ji3J/iuJ9+QgCCaJu0NPiK6gV+R+TZ/VTO\nz3vLkvaJlarVbNLZrfL3SrwqL0826Pr9sL2o+woKksMnReSAEkHw448At8svT77UsccyX5UhzSMp\nnVFODb+4mNk0E9TERHaaA2ZOAv3X965IcNwnmVJUBHaE241IAzgN1swk/9433+An6ekwaagitGqV\n6tmyYI8Wdm2PB8320yIzqd3OOw+38uWXMJOUleHzU09J+3mvXliUtW3rHn7KDNAVlAdjxkjbuIjq\n6dwZzZ6Rgb9q+b3MTLsjNivLzmm/YYPdFLHPPmBCPfVU3GuLFjDLfHmSLMxSSCbX6ZKeoMRv8jej\n7GasT/wFHNOUPuj1SlqMsjL0vfgq01oG+7oVB/N/P2zyZyHkJ0Q1mXx26SEmrz8HbRuLYYIa7sNK\n7zFmjT0AACAASURBVNV55i6nNf7xRzirRbdKS8PEvWNH/AC1fyoKjYjYipDBdeTl97SCxISm1uf9\nfEgFR69s1vZ3h/y9AF+IU3tXomPEMtmWUihyzNUiz4EALzk2xLdRBW86zq65h8MAkPuGhGTF6Po0\nl8pKGJ2FQzkQ4I/nS7v41pftAO9cmq+eZA+nswV4i5PoujRZxc8laor6fNBOndKnD0A0M9Med750\nKcDt3r3sg/Lj+ZhARqTh3ocaACdnu21aDDpi4R/Yvh228FEtTF5xIpKqdB3O5yNaIWLo4/nubReJ\nwDmu66C1EBW6iBC2evYg3NPYPNzTUe1MvsQjVy+dO9sJ2W6/Pe58N02OXRnkcwvjse8U4uVUwG+1\nLuPXrzL54pEoJAPzi5cXta1IIqVbRGVJvEXRI8vw3jQNN604y5NMLqns7vHvNi3GRC14bY4/XpoW\nV62S5qmjj3ZRGnaBrFnDfNRR9opaoUmmXclJsbKO6QY/26HC5pyOkM415EtUH4v4Amwtawb9XSl/\nT8B3E9WG70yQcqZyxsErEietSqwC4oC8bmwFf0T92RKaXGPqXqqDm4i39uiX0Both93etZybmo5e\nUYHrVVTYox8cSS0XFUse+RnpoQTQiXNefDEnSMu+PEmCu7XMTM4PiN+DmlWrFiqxtWVFBYfj1YNi\nfvz+p0VgD42QwWGv5KhXk7TeujaFycE0+fvTg3xhdohn60E+P84DU+SgSj43I5S4huDncUsEu7Rd\nCARkmsbs8/GyYXazRC15+L2OZQ47tGbrDxZJfvoa8nGMNIS/VlZKO7mqCLiBeyq7u0N+/RWmlYwM\n3PKxx8LPEImAB8nnw2rlqad20VhxyA8/MD+RDzv9D9TJvrosLpZBCeXlST4oUQsiQjq/RKW8iMoS\n/owwGXyZDyHIzfb9XSPNgJ9K1FWAAEpFU7U8XpujLRFp4EsRMeFMsnK7ngL4wrY5kxxmoYqK1M63\nhuyzDlBZ3cduS916RqXt3KsW2B2+KjhFnYk/jtDNa7LUrNp4VJAAuIqKxDOpv5eDH9TOcww7n85s\nLcgvzHFxMsbfjXAAikQwNUEpQgZXpZXaOHuuyQrGj6H4MQgVDTuAmzvZQSxGxO9pBUnmswjpNrNa\nhHS+s3uQn+ltnzBqRpc1HtxTvVcX+fVXcDmJ8MdjjgHwr1gh6wlPmJCah2mnJW6WdPZ7i4ijWdmp\n/QNqUllagJ853F6roYZ8HKTKBE9/c8jm75dmwG+siI6q2vJ9MpQuoVmnKibq8zU8iJUAcouIN1Bu\nsoYvBsrOaDwOUKnuawetbe172oDIuirI12S5F54QtmWnhs+GwXUGKlMZBieoiV8/IVSvWSqR3KVD\n077qCJPHtJbFW0Rlq5kU5JimgGVpqW2iFOaCi40gj87G7wXZ2vmZIUkzrQX4qHZmUgWvH6iTbSK3\niPiXfYqTNPwLs0Ncp8tC4lHSOeoL8IJ2EqBqDXAALfXao1LeowKOeJvgVG2i/Pe/zHPmyO509NHI\nCbjsMiwsOnRwzxvYaXEEHjhzPGKks+XzuwctOBQSNeJoEZXZKEBY15vDN3+nNAP+7xGnL0AxBSXF\nQzdmma7YO4WGT+So5bkr7lmAdsie5fr2kMqke7vhGIUYzd8AOMX3/fqcyenpEgfatIED1laAo57f\n33Ii7Obnnss8WDP50X5BvvQQ7BvfwbRHdLisvjgQ4G8Xmty7N8xRt3TAakOUXLyzB+ij27ZlrjHs\nFbyqyc81SsRMHXm5kEy+tmeId/Qp4NiRZTx9IO5luA+U1Tf3RdWtI9uYvGAB89IrTb6xDa7Zuzfz\nrNb2dhYcSbd2DPKGZ3cfcG3ciPwCAfzjxoELRxDhnXYa15tF22hx2umVlGJ7joXGVn2Jh6rGHwjw\n6oMr7PkIwmQp+Bz22gu+r79Itak/gzQD/q4WMQkUFyNv3eNpkiOOS0uZc3P568LyxPiJRHbj/YZC\n/O+9EfZXWspJQPzGGwDJiz1BDo5pPDhdeinuXaTZ18fw6ZRoFNW1DEPSRdx3H7RWItSAnUkI7UyQ\n0jkigZhBeXD66fhNfj5egRqq2a0b82JylBbMLOXBGvh+btcquNhrJix2moZJaOtW+XyahqiY119H\nEW4iOKAXL2ZeuFBGBlXmhPhlKuWLckJ8++0yaczrZb755t1TIFzIxo3Ml1wicwWOPBJEbbqOfAKV\nP2inJBi0BwoIs2N8ErY0R/SYyK5tSOOPTwCWoOIU4VxuK+hm0G+UNAP+7hYXB2Mqc4a67+lKsE8u\npwKO3dG0ZLCmymef4Q23apX8XSSC/V27ImSysZPPtm3Q7EXGa2YmxqqTbyiVbN2K+TI7G5GKLVog\n8uSuu3AekVA1dmzD1ZYefxxRUy1aAGh1HeCn67BtL6ZSrtYD/GXXUvZ6sRpRC2g7KQLatgWYL14s\nffvjxmGieuQRCfKjRoFlVAV4MeGcfTbi+AVO9uvXcDWs3yubNsGsIxgui4tlAtlZZylhlY0VdaJN\nZXZUggcsp7lTRL/VF9DgnACcrKBii+evNEv90gz4f4Q4JwEXDvCYJsvWMVGTM4CbIrGYBCK14LWQ\nSZPk906GyPrkttvkIxEhXnvEiMZrs999h8kmPx8g3K8fwkNfeQUTSFYWMKO4GCyf9cm//y1ZMrt1\nw9/OnfG3Rw88X6tW4NYR4Yx9+thpFATWiFXLsGGoeysmn/x8MGzW1oLqQSR3T5iAyer66+0J3/n5\nqDUgJkWPB9QNu6RqVD2yeTNCWQXw9+gh70fl+69XnEpKQwyXYuXr9yf7uUQwQmNMlqFQks+mWcNv\nvDQD/p9BnGGV3bol+wAE180ucuw5RXCfLFmS/N2zz+I7vx9aaWMlHEYCVVaWfYw++WTjz1FVBSAU\n1aqmTcP+Tz8FQVxaGr7v18+RkZzifmbP5oSZ2TCgyWdm4jyiite55wJ4AwG5KhD3LpK1NE1yvk+f\nLoudt2gBDnpmAOvMmTjO50N9gh9+ANiKCVTTkLl7zjkSB/fdV6FH3o2yeTPzvHmSDkPc03nn1bNq\nEv1vZxkuBfA7QTseAtso4Bfn6N+/2YbfRGkG/D+LiE7s5JYVW1nZLgndSyWibu3MmcnfidKHPXog\nEaspGuhTT8lHyMrCmO7SpWlFr0U1MRFaKLhq1q6FvVwUHMnPT1FAxCFLlwLEPR6AfXq6JGUTJg5R\nylHQMffsaTcfi/9FCGTbtvA7iO/mz5fXW7MGNnNNAx3EP/+Je582TeJe27bwUwjaB8MAh7xKX7G7\nZMsWXEulfe7aVdbyTYhTMfk9DJeheFKim5lHcFnvQkbbZoE0A/6fSSoq3MFe15uWnLMTE8CKFTjt\nQQe5fz9unNQEG73sZ5hvhgyx15glcqejqE/OPlsCUU6OtHdv3Yri8UR4/HbtJKVxffLrr5KzXphZ\nSkqAYxkZmASyslCi8q67YMf3++10C6q5R6wChJ+eCJmvqvnqs8+YR4+WE8vChZgMRo2S5xw5Es8q\nzt2r106WCtwJ2bqV+cor7fTSkyYpUWJOrf73hkgKJcfnSx3OLFa2zbJLpBnw/yximsmcPnl5UrMX\nxzSUft/UxKy4xGIYdy1but/ewoWcsF/PmNH0RxOPJGiC/X6AXWMlEoHC5/EAjIcMkQ7kcBhMlsIs\nkZWl1BCuRywLtnavV3IADRggKY9btcLfM8+EiUVUv+rYMZl5Q7wuUeVJ1CPZe+/k0MfXXpMmqgMO\ngBlt2TI5aXg8AFrha9B1RCjt1mgtRbZuRVSP38+J5LmYvgu0+lSi2vfdQL855n6XSTPg/xnEubwV\n9sxUscr1Rf00RL1QzyQgCn+78Z1v2gQg6tkTZtOmOhbHjQNw9eoFYNM0ZII2RTZvBoAKDXTOHPmd\nZeFRhKaflsb83HONO+/HH3OCV8jrhRZ/8sn20oj9+sHx+uijAHaPx75iUbX+QYPwfMI616IFrqFK\nLIZKWsKEc+ihIImbM0dq95mZ4DgS3aJ798ZHOe0K2bHE5M/bS2KzXaLV1yemKWdZdSstbQb9XSTN\ngP9HipsDS5CcNaWDp0hXbypPy5Qp0Og+P8F9QI8aJRkp3323aY+6erUEMgHMRI3TxFX5+msArShO\n4owhf+ghAG1aGh5twYLGnXf7dmjVYsIwDDhjRfJYWhqA+4EHYA4ShdTd8EmYnoTPQczhd92VfN3a\nWub/+z88k6hnW1Ulk6PEykGYkkRx+nC4ae3WZBH9I05Zkaqw+W65rtss2kyrsEukGfD/KHGSsotN\n0OX+HmlM7L/LJPD+zS68OYrMn88Jk8OFFzb9toSLYvBg0AwTIVmyqY7JJUtkcex27VBsRpU338SE\nIDTs669v/LkfegjnFb898khkpApzkbBr79jB/Pzz0rwjGCvVV2kYoDVQ4/iddn0hmzYh2MTvx3bB\nBYgoEjlHwtcgrtG5M/OHHzat3RoUB82BrQTYntSyhSJUUCC1hKZEAjVLSmkG/D9Cevd2B/vGsGru\nrDRiEohdpbBbqisBhf9fgHT37ini6f+/vXMPkqq+8vj3dPdMg8qWECS8ZER8TQIrUDwcI9RQIIIV\nCtBaEyWLK8ZhBHEhUmPQyoprGM1mdak1Bc5YPiAYs7vF+lijgaAhWexZQMANLsSF4AMJj3Vc2aAw\nj75n/zj31/fRtx/TzExfps+n6tb0vd1977k/mu/vd8/v/M7JUjns+HFnoVIi4eS+f/LJjt/OT37i\nmDljRrqLaf9+8YEbzaqryz/+/+BBZ9Uskbh71q6VSBpThrWyUtwrn3/OvHChfNZE7PgXg151FfPN\nNzv7Q4ZkTmnw0UfiTiISgV+2zHE3macJt6t7yRJ5SjhrguLq88jU2aVkS0OiFIQKfjEIWh6e78KT\nziSgE7B6Zf9PP2GC5JT/PqRknwd/XQEj+q7rrFghb82cKSN140IpJIPj3Xc7lwoaxR875i08vmBB\n/hOfLS1ObZpYTGxsbJQRu3kQi8flmGVJCooRI+Q9M6/p78uXLnUmh6NRWQGciT17nEIzFRVOdM/A\ngd7yioDMiTQ1dbz9Mo7oAzr7ohEGG3oQKvjFwD/Cr6gotkUOOURgXa2TP74l5ht1BVUO843Svnwz\nwT+OSu70k4vqUiPfW27puKmtrbJyl0hOnxY3zpJPZ/Zsx6TZs73FXHKxaZM8iRhXypIlMi9gqmgB\nUvbv5Em51vLlTqoY/2gckMlfs8gNkDj/bJ3dpk3yHUBG+gMGyPm/+U3vgjBA8gblvb4hjCN6pctR\nwS8WlZUy0q+sLLYlmQl4pD6+zJtj3lrl6hxMjgCzzZmT3mlM9qUaXlqXcoXs2tVxE5ubxXUTiYhf\nOyjFQnu7hJIasyZNyp2Kwc2xYxIt4+7HduyQuH3j9qmokKLdzNLxmEnXaFQmfP2j/XnzvCUCn3km\nc+RTMimTxSYVhFkRPHq0U/jEnLtfP5nDyEi2lbI6mu7xqOAr2Qlw+7hz1B/+mwYn6Ny9EQVHDQ0Z\n4k2ZG4vx7+fUMSCuikKyRu7b50yozp2b+RyrVzumjRwpQp4vyaS4jYwPv29fWbH7xBNOFctYTK5h\nWeISWrnSSZZqxNjdRCNHOnabjiRbp3f6tNhgIpRMWPxjjzHfd5/XjTR3bkBx8c5cKauck6jgKx1m\nzV8m+AGSfO9bptYHz0kMHep8wd1p2LnT/dWR1g+u42uQ4F/fUNgI8403nBHzU09l/txLLzkLOysq\nmA8d6th1duxwRtqRiIjt3r0i3ubWb7zRyf2/d68zAWxE3509IxZzHoxMCua77/bVDvDR3CwCX17u\nNP2kSbKS1/0kEo8z//KhLC46LSZScqjgKx1m+3ZO+ZTnXZrIP3thIpFyavtLQLYPHpqaG7AKTBHx\n+OOOiL73Xnb7Tdx7v375pWJwc/KkzDkY82fOdOrKmk5nwADmbdvk8+3tkj/HdDREaUWiUjVDzPv9\n+0vcfrYFbh984K09Eo+La2jHDrm+u15vspf66RUVfKUAkknxI48axfxdNMiiHLd6zZsX/MVMuYIA\n5smTU6ULk5HCUkRYFvOtt3LqAeOLLzLfwx/+4KQuOO+8juUHMtd6/nknzHTwYOlktm1zfOxEkjPI\niPaBA94J24oKb4y+qZsOOBOyEyfmjrfftctJ/Qwwr6po4DPV03l/5ZzUfEs7RTnpnm9RsS9JVPCV\ngli8WEr8tSDmjNRNtaNM+Cd1R4+WoW5dXcq/nKrz2pEUES5aWhz3yuzZ2e+hudkJLIrF8k/F4Ob9\n92VdgjnH889LagpTqQuQhWZmviCZdAba5tYmTfI2i+k/hw+X2H8iifUPqlVgsCzm115jvq+Pt5xi\nMhpNzbfUXp3gAwc6fo9Kz0EFX+k4iQQfWFDPGzGHk26lyrZK2ASVuzf/ZwtNEeEbsZ444RT3WLMm\n+62cOSN5fkx/9cwzHW+OM2ecUoqAFDxpaZE6AiYXT58+EmJpOHzYmyXz6quDF1/37Ssre6NRWXjV\n2JjdzZO83lswPUkRthbW8msPJnja+Qn+QayeX7w30S1pl5XwoYKvZCfDCl1TpzQ1uo9Gs68S9kfy\nxOMFXztn7HgiwUfuqedrKcGRSHZ/PrMI6PLljmmFruB/5RUnBHPECBH1EydkrYA59733Oou/LIt5\nwwZnMVY8Lk8G/hQNkYjMT5gngfHjnSIradgdq6eGbG2tVFErL+d2e7T/6KUN/Nm3ar0L/kx756pe\npZyzqOArXiZMEN9EZaWTstYtsK6Ret6uHOb0EX6hxS3yWR1qdwJtZb35GiR4ep8Et/1tbgEzJRkB\ncVkVEiJ65IgTgx+Pi5vIsiQ1g8mTf+WV0hkYTt1Tx6eiF/ApxHkd5vGUKd4VwmZbtkw6iIEDpclr\nanxunkQiPWLKxG+6epEkRWRy3Pwblpc7naf5vklYZmrSFmMluNLpqOArDv6Vsv5hZqYC0vkmfJs+\nXUSksyoZ5eH2+dVltalIlXwiU37xCyds8qabCstB394uaRT8ncehQ05enPJySdSWyt/g8ruvwzw+\n/3yZ8PWv1J04UUR+2TK5zX79JAy1vZ3l3v2PB5Mne6Oo7OK8FnwJ/adPT4+2ikS8x0zH4C5Orh3B\nOYUKvuKQSdBNcvegeHuiLi2wnpMcbh9rYW0qUiUZcWVczBKtsmeP43v/xjc6lorBzZYtzsKqr39d\nUii0t3vdRyd6DfGEp1oA/yn2Z6n358515hjM1qePhGTu3St6DjDfcVWCj91U6wTnRyKeyfDUYqva\nWvn3cvckmUb4sVh6pZeg30EspqJ/jqCCrzgEjfBNYWm/IJgtjAWkfZO/Vu/e3E6+EpA5Qj4PH5ZQ\nS+OCyZTdMheffSbBSIBc6q235Pj27czT+yS41Y5y8hStj0Q48XgiFbJ54YVSccxMRJtt40Z5cti0\nMsFf2k8xrZE4f3m7b9Qd1LmZFMTZfPj+jiEaDe70AUmjoYQeFXzFi9uHHyQS9fUi8hlSIIcSv+Dl\nWRDm5ElZWLYLV/MXiHPbgIEF3bNlMd9/v6ONT94m9rR9t1ZqD9iCn3QLa309nzrlTav8ne8wf+97\nXp2dMUPux7LvpxVRfrhXPa9d20kF0N0dQ6ZOH9Das+cIKvhK6dGBkE8rGvXEtVuACF8BC5h+8xvm\nKb2c1a+Wnc8mGYnyacT5NMqd466R96ZNzgKt/v3FVeSutLWB5rFlu16SvXrzojEJBqRubkcrk+XV\ndvX13iW+pk2U0KOCr5Qm+YR8BqwdsAA++bUJ6R1GXZ2ziCwLZx6q96x+Nfls/vf1BN82PMFrUMun\nIZ2A293kXi8AMNfPSvDO8bW8C6O9LqF589h6O8HvfqueZ/UX4b/zTgkP7XSyFLtRwokKvqIY3D7s\n3r3TIl6MsG7EHBFk8zRgZk5zzWsY90h5uqAbflkdUHXMxebNzFPPS/BpxNMS0KUeAUwt2liM/+X6\nBo7FmK+/IMF7r6vlZE1tQXmKlJ6BCr6i+KmvT/dTl5UxDxzIO+5q4GtJ3DJJMxFskueY7bLL0s8Z\nFC0TJLb2JHOqmG3A6LntkXpOwhd+aTZTHMBl95GVDXyGyp0OoqxMzm1i9FX0S4Z8BT8CRSkFGhuB\nl1/2HotEgIcfBo4exfjGGvx4WxVmxN7Eg/wI/qlqNTBihPfzN93kvG5qAh59FFi/HmhtBZJJoL0d\nGDYMqKpKv35VFWj1arlmMgksXSrncBGbWo1IWQzs/24sBqxYId81JJMYnNiIcrSBANna2oC2NukS\nWlrENnPv/fsD5eXADTd0oNGUnkas2AYoSpfT2AgsXOjsG+GMx4Hq6tTha68Fnvt9FRb+OfCDt6Yi\niVZEo1Fg0CDgttuAH/1IPtjUBEydKkIfiwHRqBwvL/ecL43mZhFjy5Lvbt3q7RyqqoA77wQ1NMjn\nIhFg2jRg5Urnc/fcIx1GPA7cfDNo61Y5l7kvy8p+75s3A1dcASxfLvZUVwd3UEqPRAVf6dlMnAjs\n3Ok9Nm4cMGdOoNiNGAH8231bUfZIK6JIghEFLVokI2yDEdlkUvbvuktG9rnEs7paOoWWFhHnr3wl\n/TNjxkgHYlki6m6xr6kBRo2S65trjRrljOTHjAGWLJFRflkZMH++fN/PgQPSCUQi0mEtWCCfVeHv\n+eTj98m1AbgPAAPob+8TgH8EcBDA7wCMzec86sNXOpVMKSVyRZ80NLAVK5N6AEELuM6m4EhDg6yH\n8J/bnD+Hnz8n/knbhobgNnBvRFo45RwHefrwz3qET0QXA5gO4GPX4ZkALre3iQDW2n8VpfvYvdu7\nTwQ89ZSMlDPR1AQsXQqykjICXr1aRr5uN055uRwvxCXiduucOSOjc/N98+RgWWJrc3NH71jO5bbH\n3OsDDwCff+6c2+36YQ52MSk9js6YtP0HAHWAZ65pNoD1dufzHwAuJKJBnXAtRcmfsWO9++PHZxd7\nwCu6zI7out04ra1yfMWKjgtkdbW4UQA5/7PPOpO31dXiziGSv9nmAzpCTQ3w6acyqfz228APfwg0\nNAC1teI2ikZzzz8oPYKzGuET0WwAR5j5P4nI/dYQAIdd+5/Yx44GnKMGQA0ADBs27GzMURQv27eL\nD3/3bhH/7duzf76pCfj4Y0eQYzHZb2py/O9mhF+oOFZVAXfcIYLLLB2Ie2Rt/h95/z91Hv4ngPnz\nvXMCSo8mp+AT0RYAAwPeehDAAxB3TsEwcyOARgAYN25cWkSaopwVuUTe4HbZRKPArFnA668DTz8N\nrFsHvPmmbJ0hjvPnyzn9k7cmxJNZRuPd4WLxdwBKjyan4DPztKDjRDQKwHAAZnQ/FMBuIpoA4AiA\ni10fH2ofU5Rw4nbZWBbwxz/Ka+PC2bq1MBdOEFVVMgeweLETkw8Azz0nYg90rktHUWwK9uEz815m\nHsDMlzDzJRC3zVhmPgbgVQDzSbgGwElmTnPnKEooMK4cE5/PDOzZI6LbVf5tf0z+xo0yqgfEnbNg\ngY68lU6nq+LwXwdwIyQs80sAd3TRdRTl7GhqAqZMEdElks0Icb7x9YXgj8m/6CK5diQiE6nz53fu\n9RQFnSj49ijfvGYAizvr3IrS6TQ1iZtmxw4RXUCE3r1qtisXI7ndOu3twAsviODHYk4oqKJ0MrrS\nVik9GhudFAX+aJhZs4AJE7onasW4dYzf3jxZFBJ/ryh5oIKvlBZNTRJ/bkQ2EnFSGZSVAXV13Te6\ndrt1zEIonaxVuhDNlqmUFosWOWIPyOs1a4BVq7p/palx67ifMlgjk5WuQ0f4Smlx6JB3v3fv3Ktv\nu5LmZm+ag7Y2TXGgdBk6wldKi1mzvPtz5xbHDkOQ+6ahodvNUEoDHeErpcWGDfL3jTeAmTOd/WIR\nNJI/fDj9mKJ0Air4SulRbJH3c9VVwP79zv6VVxbPFqVHoy4dRSk2+/YBlZUSMVRZKfuK0gXoCF9R\nwoCKvNIN6AhfURSlRFDBVxRFKRFU8BVFUUoEFXxFUZQSQQVfURSlRFDBVxRFKRGIQ5SsiYj+B8BH\nxbYDQH8AnxbbiCyE3T4g/DaqfWdP2G0Mu31A59lYwcwX5fpQqAQ/LBDRO8w8rth2ZCLs9gHht1Ht\nO3vCbmPY7QO630Z16SiKopQIKviKoiglggp+MI3FNiAHYbcPCL+Nat/ZE3Ybw24f0M02qg9fURSl\nRNARvqIoSomggq8oilIiqODbENFfENF/EZFFRON8760gooNE9D4R3VAsG90Q0UoiOkJE79rbjcW2\nCQCIaIbdTgeJ6PvFticIIvqQiPba7fZOCOx5lohOENF7rmP9iOhXRHTA/ts3hDaG5jdIRBcT0a+J\naJ/9//iv7eOhaMcs9nVrG6oP34aIKgFYABoALGfmd+zjXwPwIoAJAAYD2ALgCmZOFstW266VAE4x\n898X0w43RBQF8N8ArgfwCYCdAG5l5lAleyeiDwGMY+ZQLMohoskATgFYz8wj7WN/B+AzZn7M7jj7\nMvP9IbNxJULyGySiQQAGMfNuIuoDYBeAOQD+CiFoxyz23YJubEMd4dsw835mfj/grdkAfs7MLcz8\nAYCDEPFX0pkA4CAzH2LmVgA/h7SfkgVm/i2Az3yHZwNYZ79eBxGHopHBxtDAzEeZebf9+k8A9gMY\ngpC0Yxb7uhUV/NwMAeCuKv0JivAPlYF7iOh39uN2UR/5bcLcVm4YwGYi2kVENcU2JgNfZeaj9utj\nAL5aTGOyELbfIIjoEgBjAGxHCNvRZx/QjW1YUoJPRFuI6L2ALZSj0Bz2rgUwAsBoAEcBPF5UY88t\nrmPmsQBmAlhsuytCC4vfNYy+19D9BonoAgAbASxl5v9zvxeGdgywr1vbsKRq2jLztAK+dgTAxa79\nofaxLidfe4noaQCvdbE5+VC0tuoIzHzE/nuCiF6CuKJ+W1yr0jhORIOY+ajt/z1RbIP8MPNx8zoM\nv0EiKoOI6QvM/K/24dC0Y5B93d2GJTXCL5BXAXybiOJENBzA5QB2FNkmMwlkmAvgvUyf7UZ2mhRo\nUQAAAQdJREFUAriciIYTUTmAb0PaLzQQ0fn2pBmI6HwA0xGOtvPzKoDb7de3A3iliLYEEqbfIBER\ngGcA7GfmJ1xvhaIdM9nX3W2oUTo2RDQXwJMALgLwOYB3mfkG+70HASwA0A55FHujaIbaENFPIY+B\nDOBDAAtdvsqiYYeVrQYQBfAsM68qskkeiOhSAC/ZuzEAPyu2jUT0IoBqSKrc4wAeAvAygH8GMAyS\nMvwWZi7apGkGG6sRkt8gEV0H4N8B7IVE2wHAAxA/edHbMYt9t6Ib21AFX1EUpURQl46iKEqJoIKv\nKIpSIqjgK4qilAgq+IqiKCWCCr6iKEqJoIKvKIpSIqjgK4qilAj/D6FK9A79BbtaAAAAAElFTkSu\nQmCC\n",
+      "text/plain": [
+       "<matplotlib.figure.Figure at 0x7f587b80b668>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "g_scan.plot(title=\"Scan-matching edges\")"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Optimization\n",
+    "\n",
+    "Initially, the pose estimates are consistent with the collected odometry measurements, and the odometry edges contribute almost zero towards the $\\chi^2$ error.  However, there are large discrepancies between the scan-matching constraints and the initial pose estimates.  This is not surprising, since small errors in odometry readings that are propagated over time can lead to large errors in the robot's trajectory.  What makes Graph SLAM effective is that it allows incorporation of multiple different data sources into a single optimization problem."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "\n",
+      "Iteration                chi^2        rel. change\n",
+      "---------                -----        -----------\n",
+      "        0         7191686.3825\n",
+      "        1       320031728.8624          43.500234\n",
+      "        2       125083004.3299          -0.609154\n",
+      "        3          338155.9074          -0.997297\n",
+      "        4             735.1344          -0.997826\n",
+      "        5             215.8405          -0.706393\n",
+      "        6             215.8405          -0.000000\n"
+     ]
+    }
+   ],
+   "source": [
+    "g.optimize()"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "![Graph_SLAM_optimization.gif](images/Graph_SLAM_optimization.gif)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 9,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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+QwlrklvTY+kKDiCGkUoPMfvUmSSIMJAgXgdO5GmSgAF8bOzLPc553MVY0mm4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\nBL6Dg4NDK+H/A7aRY5b1tCw8AAAAAElFTkSuQmCC\n",
+      "text/plain": [
+       "<matplotlib.figure.Figure at 0x7f587c25a0b8>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "g.plot(title=\"Optimized\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 10,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "\n",
+      "χ^2 error from odometry edges:       142.189\n",
+      "χ^2 error from scan-matching edges:   73.652\n"
+     ]
+    }
+   ],
+   "source": [
+    "print(\"\\nχ^2 error from odometry edges:       {:7.3f}\".format(g_odom.calc_chi2()))\n",
+    "print(\"χ^2 error from scan-matching edges:  {:7.3f}\".format(g_scan.calc_chi2()))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 11,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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Wm4l+8IHIUUfpR+rEAbaeTZhm0Qyk3tCDryFDRP4T62Az4fXgG/y2Yl36ZnV1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\nRqPRVAj/D0Fj/txvoohWAAAAAElFTkSuQmCC\n",
+      "text/plain": [
+       "<matplotlib.figure.Figure at 0x7f587c00dba8>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "g_odom.plot(title=\"Odometry edges\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 12,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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kWku1JLBlLdUyAkd69hQ5q0dUPqFPXl1oqalpu0pZZQbtHWkLbO97\n/yvg7xv7TqcR+CIitbU6fQJIElv+s0utNAaqJekJxFIUkW4RBcXVXZAGFZKrahyZf7Ej6WAw19ZQ\nSAt2/zp/NS+vfF3h8QREBg3KP6/jSPryenl7tiO33KKrP/brp9MfZx74jMDPnmfgwPb5jQybjuMJ\ndWVLg10tPx/qyIABOkj2XHLlPRPYcln3ehk+XOTHPxY5+2yRe89y5LWJ9fLWXxx57jmR/ffXf//8\n3Wrz7q2GSbW5TiWjeHRQod9Sgd+WNvyrlVL7ok067wGntuG5Ko+hQyFgk0q5JFWQm9ZM5ONhQ4k8\n9wd2Tb+V2y+ZbN+h6HHHZROdZYITqyTB1w/EePw+OIxkdldpTNAwew7VyWT+MbzoV7Es0i6eKasg\nydnOO5NI6ASiTz0FixaFeeqpMKtW6c3bbgsjR8LIs8J82GMBAz+OYb22XFdJ97fVUF40V8TGM9tZ\nksZOJxiyKsbqg8IMGAD7pyKo64JIKkEgGOR38yP8Lu/2D5NOh5k+HX43Gbp3h3/8A47YeSKpkXei\n0gnSBFi8GEZOQZ/beHFpWtIrlGrpNBp+xmShlKSx5I+BOhmBru+axFfEuRw0fBFJfWffPM0piS1h\nHN1mgj7TVEgmE81b52ZMVNXVsuKiqJxLvTzMmPztIH/cIyrV1fnK+qRJInfcIfLmmxvIfVJXp3c2\n5pzSkElSBiL9++fW+80z0ag2z9XVFTepeCY/NxgUN1M4pzDRXRFzT4a33hI5+GD9te9/P7+Q/QO/\ndWQONZLEliSWpELV+bWjW7MmbhlBGWj4lcVGyum1Kl7gFSIohDNT19CVrwm4CZ1bRynYay8YNap9\nJm7j8VxhiYkTsW+ZoX+XRAJl2wRmzGDBT8O8/jo8cX+Mb/17Fl+ugpkNE7n/szCvyBAmor//AkPZ\nzlrJu9tHSN8JA4jxkb0rklbZvP//ooa7u01lyhStxR98sK762CKuumrLJpINLcerZ5zl/fdhwAD4\n299yGrRl6VEpaM8rpXQf7neX9fbNFqkBeO+93LGnTi2abtt1dUrjs8+Gqiq46y5dy9ifF6dPH/gu\nD2Gjc1KlGht11U3jxaVpSa9QqqXdNPwJE3KqZTOZ9loVf1ZHL2PmDGrzNOPmUry2OY6T0+D8I4wN\naFx+1q0TefFFkdmzRSZPFtltN32IjO09iS3rCUmDCkpK2ZIKVcs3j3ZMu2qHY8yY/NEn6HTEhWU7\nC+dv/Br+hvb1T9wX8P77IqNH53b58MPiTfzkF/XZUbIL0khA/vlrp7hzQQeC9p603ZylXQR+sXSr\nNTVtf95oVHculiWpYLVMJipxhmcncttt6Flfn1+fNvNAtwDXFXn1VZHp00W+9z2Rbt1yl3Jzv9xE\nnGvb+sHrwJNoHZLCegMZs47fq8qnyGQ9p/z/s3/fTDpj/1JQv8B1RW6/XWSrrUS6d9ebN5TaePUj\nWrFIK0vcqiq5ZlBURnd1ZM1Pa7Xm0UE9dloq8I1JZ+7cputWrGjbc8bjOtr2pptg5UpUr95cVzuN\nII0oBLGs9ittmAliyuQmqaraYDu++AIee0yP3h99FD76SK/ffXf42c9gzBj99R7LI6QPDZJqbMTC\nQg0d2iHzBHVoMv/XL36h74/+/bUpBvKT1i1bpstKji+SALAwwd199+kUlt26wR57wB/+AG+/DTU1\nfP3vGBc/EeGaeJhRo/Ruu+zCBs2vPcaG+bk9nWk7z2HP88Zzwmdw5u8Pxv5LQZWsTuqTr3TnUB4M\nGzZMlixZUtqTnnOOzp3tp64uV6O1tW36vsAh1w7g7DGJd96BE9bNJIBLCsXToSP4z4iL6DE2zH77\n6UDC3r1brwlF25QpPfjii7DvvvD113pbwRxCY6OuBTp/vl6WLtWqWc+e+rLGjIEjjtCm3cJzJC6/\nGvXQA9gIVnWoc3tLGPKD6CAvCC9tBRBXSBBk1sQFTLkjrLMhtyAKu/HACFUksaoCkEohItkaEwp0\nofYOdu8ppZ4XkWEb289o+FddBc88A08+qT8rpYVdG7hxJRLw4e0xBjR4XuTpNOFXouxPIOuqaCO8\nOWQ8934c5q3f5r67yy5a8A8bppfvflcL2S0m8wA1NOQm0ObP1/nGp05FBF5drrX3+fPhiSd0netA\nAA48EC65RAv5/fbLpSdv7hzBhgYEr3h5J9ayDB7+iOoCLDflCekE78+KsdsTYY48Es78JsbgREHh\nHH8k7l2zdGEdQJJJFPnuv+6OO2JdcEFuArmT3X9G4ANceWW+gIdWC8n+7DN45BE9cp03D/ZZH2EB\nQUI0YCFa21UpRLTXCpbFlONWMuU8rXC/8AIsWQLPP69f7703d+zddmvaCXzrWy1sWEar/+ADfY2+\nkZ4An9w4h986U3n00ZyFa8894ZRTtAYficBWW7XwXJkH29O0UMp4SxjycyBBnuBXgQAigl0V5IBf\nRHjjv/DXv8JLa/TzEySBWEHe3i7CHm4uf5qlyMuUWWi/eKr/BA6ZNq3T+uQbgQ9N7YrLluk7SCQn\nmFrotimirSIPPggPPaRzOonkvNPe3TbMrLELOCE1ix733gHpNClsJC0ESGH5bOZbbw2HHaaXDKtW\n5XcCixfDPffktu++uxb+mY5g6FDo0cPXwJkz4fbb9UFEwLaRQABcz6/B48Jl43ngYzj8cC3gjzhC\nm2w3i9Wr9bksS88JTJpUPnmCDO1H4XN3001aOxo3Dk4/HRWLoSIRasJhatDens88E2bWbQtIPRbj\n7hURnjk5TN9z9CjzyCPhqKMn0vPOO3EbE+hqEy4Bz/334x6Dee2ZrxlJAuV20vw6LZnZLdVSFoFX\nGS8Cy9JeBNHoBnO7iIh8843IffeJTJkissMOOYeDTIaBrl1FTj5ZZOkMR9zL8z0WUlNrZZF9iC5m\nvpmBVp9/LjJvnsjll4sce6xOQeB3stlzT+15Ov9H0bxgp0xah6hdK+dSL1eqOnm25xh56AdRee45\nnddkiyn07DABUgY//tQHm5j35n//E/nLX0ROPFGkb9/cLXbJzlF5afsxUk+dNNi5dCUprKxLsNvB\nvHUwbpmbid9PWCmdxKymJueq6LkUrvxNvfzz146MHZtzW+/SRWRsD0fOpV5G4MgRR2h/9LVrpXin\n4TiSDATzc8pYVqu4Y/7vfyIPPyxy6aUiP/iByE47icQZ3jQvDkG55keOPPigyJo1W/7zNaHQd7sw\nZ46h81LoounlWtocl+R0WuT550X+fGomYl0nV5tMVJ7dekzWNz+BLTOolaU/7lguwS0V+MakU0gk\nomck02ktogrybGNZJKJ30kNSHEWQxVtPZ8xWK7kvHSHZAP9qHE1IJSAUxPrhdPhgJbwU0Z5A6738\n742NOpL1nXewUon8nDKW1Sq27W220SPjceNy6xqO2gEe0e8zXguh2pP51c1tOKTdd18925vhtde0\nWcm4ZBr8k7aWpWf9N3N+x7L0HNZ3+8dAJYA0lpVgGEt5cc2ufIcAQpokQWYxkb/cAzekY+x3Fsak\n015LWWj4IjooqFgUoKfxZ9IYp5UljQQkiS2NdrV8emytHipmNPVAoPkAk0AgmyI4q+FbVpPAk1bF\ncfLbUoo8PfX1Ta+9mWhKQyfDr+EHg3okvaWRsP5jhkKStIM6r44dkv/sWiu/3iqajWpPYkuiqlrW\nPlb5mj4t1PBNicNiTJzYtLy9ZUGXLnDKKVhdgmDbqIBNQLkESBMkwbbbogOmbFsvrqu1l1Sq6TnS\nXkwtPrex7bfXNWzbinBYu5/W1uqlFBNWkYieqPUzfnzbntNQGWQmbadM0Zr9Aw/oBDlbeEx5bAGr\nxk/h0+32QaVTBEgj6RTvvAOXfTONU4kSIkGANCQT/OmYGBdfTDYza0fGmHSKEQ5rYZhJIDZ0qI6M\nzXjoDBkCsRiqd2+U38Vr4kS9xGI6UiqzTal8oW/biG3jJlJYnv89oP0fR49uW1exIkmp2pRly/Tv\n19ioSzaecoox5xg0Gc830M/HZrpBi8Crr+qvxWKw9jG4d/VdfMtzfU6hSBJkyLehy2sJVFp77bgo\nrFCQr78b4Y8X6SDfU0+FX/8adtyx1a+2PGjJMKBUS9mYdDaFDSUVK0wZm5kAdhxZcoNO41roNdOh\n0rcWeui0pbnKUFkUmnNCoRZ76KTTIsuWidxwg8gPf5jvobPTTiL/2Lde0spXbEcpuW+vOonatZKq\nCkoCWxqpkrf6DM/eky+/rD3ZMs2ZPFmn5a4UMF465c0JJ4g8Zo9pWuavDPLftxqFHjrGdm/I4PeG\n20gyPb+AHz9epE+f3C21884iEyfquglvv+0lVnOcJhk5XduWJEga5D12kgS2pNB1GvzVsN5+W+S0\n03T/Y1kixx8vsnRp6X+eTcUI/DJm1Spdm3PpLjX52j3oG7+jYDR8Q3MUi3fxSKe1xn399SLHHSfS\nu3fuFurXT+Skk7SAf+edDWTOrKnJv/cK3JGzz5xSunNQKk/Z+uQTkZtOdOTCoHaxHjdO5Mkn2/5n\n2VyMwC9j/vlrncLVVVbTuqwdTShmqh91tOsybDl1dSKWJa5Skg5Vyz+mOXLssfkCfsAALeDvvFPk\n3Xc34djRaE7L9zzT8gqc+8w9Ukzh8jok17IkZQVkWreogMhBB4k8+KCI+3TL6kOUipYKfDNpW2JE\n4OO/xgjRqEW9H8vSk8MdhZkzm0+Ta+jUfPNonC5/uAZbXBSQbmxk6fQYz+4QJhLR6UTGjtX5ojaZ\neFw7TIhoD7Ebb9T34fz5WQeJNOCqKqpGhnOJE/14VemU62Ljck3jGQyeNITzHwpz2dFxDmU0IRLY\n1ZWVj8cI/LamIAfP88/D3z+NcKaXWycTAAW0WtBVWeAvh5cJvDJC3+DhPh4DT9hrjxmbGBFWrNCy\nec4cvV/37joh4KYsu98bY/vGBMp1EaVQK1cioyLI/EexEFwUS9if1dU7MLYXUFWFpFJIVZDFe0zk\npSi4r0WYIhY2XoeUSvPOnTE+I8zJxAiSwCats8zOmtUkRXPJyqVuIiYf/pYydiwsWqSLsc6bp9dl\n/nC/a6aXme+0WWH+/GdY039v7DdezY+yHT4cnn229NfQFowdmx9hO2ZM7vcxGOJx3EgElUggts37\ndTN4+7CpfPUV2eXrr8n7XGxpaGh66BHEWcBoqkiQJMjRXRYQCsGcr/Q6VwVAXILo2rsJAtzBZGYx\nkWfQAtq24eytZ3LpqjNQksYNhJh/zgK+GhzmjilxHloXyaZhJhSChQu1cM+kG29s1ArcTTeVRNEx\n+fBLgV+ozZ+vP190US7VslI6+Mp1IZEgcdssxt11NWdtvYLAsKHIG69mtXsF2ke9ozB+fL7AN8FW\nBj8XXYTlpUVWIuxyzBB22QxlOJEo1hGEWXr/dHZ8Zg7L9hjP0N3DfDI3zl1fnYRlwdbfgh9+Gc0q\nWwHSfEC/rLAHHRJw5cqpPNd1CGOCMV7dJsJHz4R5/iZYlwqzeO+TOXh5FBDcZIqPZsVo7BNmh4dj\ndPVMQbgunHGGjtvJaPrxeC6+pz0yxrbE0F+qpeImbaur8yd8qqvz3c0sS9f4zIR5KzvPQ+Cr7XaX\nVOZzKYqnlxLH0Z4Sw4ebCVtDPhMmNPWgGTiw9Y5fkKgwOSMq69AJ1RrsapnWNSrrCeU8doJBWTHH\nkSVLRObPF/nb30RuuknkkktEfvlLkZ/+VOSoo3L+/lttJRJGO14kvCRtI3AEREbgSCOB7DOewpI7\n96iXE08UueZHjiRtX7LEUCibRDErS3r12qxLxkzaloCRI/O12JEj84s6BIMwfbqeiP3gA+xbbskz\n4Wz16X8BT7tPp5vaAiuVmTO1ZpNO6+FuW6aLMFQejzzSdN0HH7Te8f1J2RIJvrxtDj0zqRTSCbqs\nW8kpuyxk/LtXc+zwFahTTmH748Jsv4FD3norPPww/P73usqb64b55tEFrH80xqd7Rfj9DmFWrYKV\nK8M88uhNHP3IGeCmSVohnlARnn4aBq6IodLJnAxIJPQzf8stuROtWqVNwW3lvNGSXqFUS8Vp+CLa\n5bC6Oj+oqFj0reOIVFU18bvP+5zp8SuZwgRtrZTu2dCBKKbht2ZQXoGGf9sB0TxtfNzWjk6jTFDc\nAv/7YixerHcZM2YTakQ0IwPcYIGG31yixk0E44dfhjiOvPntGlnGIEkHApJStiSw83PtV7pwrK/P\n5TUHbdKq9E7M0Ppk8hjYdttEYHsCd/3jjnTrJnJMH0fOo17COPLyyyIvHVTbooDHzz/XwV79+4t8\n8UUrtau2NpcV1HGaCnulNvmwLRX4xqRTSsJhAv/+FxN3jXPN3rNYvRo+XtuDyV9dq4efHaHO6/Ll\n+rYFXVfgxhs7hpnK0LrMnq2XNmbRIhiyNs7ea2MsJMKh54UZMgRebYHkS6fhhBPg00/h6ae1pWWL\nKZa8cMIEuPvu3Oezz26FExXHCPwSk34qzkIOJfhSgrQKeF6+Ke3Rc+aZlS0czzkn/8Y9/njje28o\nPRnXyESCURJgIUKANAmCdD1mARDmw8hEdn3iTkIqoVOaT5zY5DAXXQSPPqrt98M26vC4BcyerdNz\nzp0Lxx0HV13VZqfaonz4SqkfKaWWK6VcpdSwgm3nKaXeUkq9oZQau2XN7Dj0fGAWIRqxEAKSpEoS\nWiN2Xbj2Wn2zVipz5+Z/7igxBYbKwjdpa7sJqkhma1Zk0jGv2yfMmVzPusH755eF83jwQbjsMjj5\nZJg8uQRtvuoq+O9/21TYwxYKfOAV4DggLzZZKTUY+AmwN3AkMEMpZW/huToEa9fmf84LvEqnc/nB\nK5HjjtvwZ4OhFHiecq5lkyRIkiqS2CQI8vbOEQC2fy/ODZxJ1+WL4b774NBDs8rW22/DiSfqMg43\n3th+l9EWbJHAF5HXROSNIpt+APxdRBpF5F3gLWD4lpyro/DSPhNxUQha2OcJ/FCosm34V10FdXUw\ncKB+bWNtxWAoSjgM06fjVI/mTK7nobE38Np2o/kl0zn3fm0y3fb1GFUUuEjGYqxbp2MELUund6iu\nbreraBPayoa/I/CM7/NH3romKKWmAlMB+vXr10bNKSNeWZaNrs2Lst19d13erZJt+PG4joc//HCo\nqWnv1hg6K/E4yTOmMSKZYBhPEFooSCrNdSxi9L1DWL48jD0iQnJmFVYmPUIwiIyKcNpp8PLL8NBD\nsMsu7X0hrc9GNXyl1GNKqVeKLD9ojQaIyEwRGSYiw/r27dsahyxf4nHGPXg6NpLVLLIaxnvvtU+b\nWot4XA+Lb7lFL5FIZc9HGCqXWAwrqQOtqkhAMonl6vej7RiXXgoyIsyZ3MDKXYdr5WThQqIvh5k1\nCy68sKhZv0OwUQ1fRA7fjON+DOzs+7yTt65zE4uhfBkC8V4V6JqepSgq3lZkJsoyJJOVfT2GyiUS\nwa4OklqfIEUARKhSaXqwdEMAACAASURBVFIE+e8OEf55D5x1YJzrmEaXdxrhA4t39hrHL/4UZtw4\nHU3bUWkrk86/gb8qpa4BdgB2Bxa30bkqh0iEhAoRlPVYFNjvbbuy7feZlBKNjfpzVVVlX4+hcgmH\nYcEC/nd3jB/eFGHXXaDfuzFe2ybCE2vCVFfDGzNjDKURCxdJuex85Rkcvd0QbpsdxtpSV5YyZkvd\nMo9VSn0EhIGHlFLzAERkOXAP8CrwH+B0EUlvaWM7AgsCY8mIevEWbFunUa1kbTgchuuvh8GDYdAg\nuOGGyr4eQ2UTDrPjhAgXDpjFYR/NYlBthAe+CLN6tXbRn7E8govlc55Ic8P4GL16tXfD25iWhOOW\naunQqRUcR9zqakn5Shq6mRpumTDrSsZxdMKRjpQXyFC5OI5IKJcRM2EHZWG9k81gEgyKTCYqCVUl\nSSxJVlVX9P1KC1MrdODBS5kRi0FjAjtX30rz/vs6u+To0ZU9yRmLabt9hkSismMKDJWNN6eUcX22\n0kn2Xxujf3+dIiGRgFcYwgPyPT7oO4zAjdM7xYjUCPxSEYngVgVJ+cw5+o0XZdvYWNkCMhLRdvsM\nHSEvkKFyycwpoZ+1JFXc9X6Eww7T/hGXHx1nIRGO5T52+Xwx/OIXla1wtRAj8EtFOMy/Rk1nhReO\noAq3V3o923BYd1g1NbpU4/XXdwqNyVCm+OaU1KBB/GX/Gzh7bpihQ3XK+b7Lc4FXCjrNiNQkTysV\n8TjHzD9T5/OAfMNOR5i0zZRue+QRrUItW5Zf2s1gKCXxuNbaPa+xU4Jn8ufkEF56Sd+Pd74b4afk\nB15VtMLVQozALxHfXHg1XTM3F+B6rwp0psxKrgqVyU7Y0JBLjZzRmIzAN7QHBXEhVjLJtKExJt4d\npnt3kG/gTk5meL9P2e+o7dqnvmw7YAR+KZg5k26P3gcUpFPIkEpVdnnDzMOVEfZKdRqNyVCmFIkL\nOfC8CMmfwNCGOI8xmiCN8JEFQyt8dL0JGIFfCm6/HSAvwtb/vuLx1/G1bZ1TtpNoTIYyJRyGhQu1\nIgUwcSI7hsN897sw6rkYQRoJ4CKuq+svdxLzoxH4pWCHHZqsyqZUyGjDRQowVATxuNbwp0+HpUv1\nOiPsDWVIIgGvvw42maArneYkm5a8E9yzRuCXgro60vc/gCXprFdAGoU9aC8YNapyBaSvshC2rTuv\nVEpn/VywoDKvydAxyCTzy5h07riDh6fFWLMmTM+t4cHVR3MMD2Arwar0tOSbgBH4JUIpC7zsEmnQ\nQd2vv66r3AwdWpnC0VdZCNebhhYxE7aG9qdg0laSSZbPiDEC+Pe60UCCNIqvd9uP3mef0mnuVeOH\nXwpmzcJyk9kfO/uji2iN+IwzKjPoI2O7t20ddJV5byZsDe2NL/AKIG1X8eA3EY7uHsNOJ7yShyl6\nvvUcTJtWmc/fZmAEfjvQJOiqUksbepWFGD1aJ0tbuBAuvdSYcwztTybwavhw3B/UcHzfGM8QZsBJ\nEdJ2kLT3FFpIpwm6AiPwS8PEiaQDQTLpQrPeOZall0q1IcbjWjtasEC/LlvW3i0yGDQzZ+qR85Il\nuI/MY8UnWuHv1g1uS5zE/fyAlBXqdCNSY8MvBeEwX192A9+cewk783HOJfP739dpCCKRytSI/Tb8\nxkb9gLmufoCMlm9oL+JxOP10bS4FVKKRCDEG7wZjrh5NkAQpbFYfeBR9v915gq7AaPilIR6n58XT\n2LGw6NeKFZUr7CHfhm9ZWvCn051qiGwoQ2KxrBOBAGlsYkTY5rUYQbT9PkSCPk/frz3KOhFG4JeC\nWAzV0IDtfcyadJYsqey0yF5lIS69VOcCCnW+IbKhDIlEIBRClMLF4hp+xTOEWdojQoJgxvseJZ3L\nfg9G4JcGT/hlg60yuG7HueGGDMlN4E7vHLnFDWWK50wgykIhTOM6xu8QJ/L1fag+vfmw1z400jmV\nE2PDLwXhMGy7LXz6af56y6rsG665wKtFizpNqLqhPJEXlqJc7YsTopHfrjiNobyE+gL68REP9pzA\nMWfvXdkm1c3AaPilIB6HL74Aclq+C7jDhlX25KZ/0jaZzL3vKKMWQ4dhF97J+3zIN490OmEPRuCX\nhlgM0umsOUfQP7z7wkvt16bWwAReGcoUddJEUp6/fYIgbw36PpCbP9sq+SVSyfNnm4kx6ZSC3r1B\nJKvdZ15VKlnZKQgygVdz5sD48dqME4t1Ss3JUF588w3Mdk9mGz5lh+3h7Y+24jUmMI5H6M2XWAjp\nhgTJ/8To0onuVSPwS8HKlaAUyhP6kNHyXVi9uj1btmVkAq8yJhyTFtlQDsTj2GNHM1kasXHhEzgA\nSNtBzpAbuMadRkglaJQgJ86M8JuxcOCB7d3o0mBMOqWgd2+wbVxUziXM27T+mRfbr11bit+Gn0hA\nNFrZbqaGjkEsRpUkCHh15TIZaq10khp3DnMPmY59+aW8HV3Ai9VhRo6Eiy/Oxml1aIzAb2sytTVT\nKZRSLGcvIGdLXNhrfPu1bUvJ2PCV1311Qr9mQxkSiZCygqSx8ubNFMLhPMaE56ZBJMKQqWFefBFO\nOAEuukjfzu+9126tLglG4Lc1s2blcnKLyxBey256qtsY3nRWIk6FasSZwKtTTzVBV4byIRzm/G7T\neXWHw6GuDmpreafPcNJYBHBRPqWkRw/4y19g9mx4+WXYZx/4+9/bt/ltiRH4GyIehz32gC5dYOzY\nptuuuGKTzBeq4PWgtY9yxme/Rw7rAGaQceNgypTKdjM1dAjWzI9zyZpp7P3JArj2WhqfeYF7v4iQ\nIIQ0o5RMmAAvvgiDB8P//R+cdBKsWdM+7W9LzKRtc8TjcNBBucLc8+droT9vXi4TXzqtNVu/kMuU\n/OvdW0/WDh2qNd90OnvoXF1bIUCadKUWDInH9YOTKTQRClVuqUZDh2HVv2LsSAJL0pBME3xxMXUs\n5o3tDmGvmsHNOhbsuquOGbzkErj8cnj6afjrX3V+w46CEfjNEYvlhH2GRYuaZOKjsTEnrDORp42N\nOm2CZWn/9CJk3DMFSBAkODKSzbVTMcRiOuAqQ6V2XIYOxcs9I/QliM16IPes7fnpk3DXc//f3pnH\nOVHef/zzzORguUQWqiICKrSCIlRxIRUxal1Ba11B8dh6FV1j1YpHF9C2Uo8oWq+KSFA8+Glr9Yf6\n80JakXhNKkVEEU/AC2/xQGHZHPP5/fFkkplsNht2s8nu5nm/XvNKMpOZPDOZ+T7f5/t8j5xKicsl\nBf7hhwO/+Y3U+f7yF2DGDKm3dXbaZNIRQhwvhFgrhDCFEGNs64cIIRqEEKuTy/y2N7XI+P3pyUiL\ngw5yZOIDIO8Ca3hoea1Y261cOTbt3j6JZPEQJ+ODe8Lta9ZphQmqRfx+Z4em7PeKDsCHHwL/EkeA\nO+8CwD6iBrBtm5xXa4GDDgJeew2YPBm47DKpx338cbs1uXiQbPUCYDiAnwEIAxhjWz8EwBvbe7z9\n99+fHQrDIIcNI71esro6va6igtQ00uUiQyHn961tgHzVdfnetpgZ7+PQGBe63NcwWt/e2lqyd29y\n9Gjncax26S38hmGQweD2tSEUIquqyJqatrVdoSgEhsFGzUsz+WzZl9Qz6PXK+9Z+rzdz75smeffd\nZI8e5I47kg89VPxTygcAK5mPzM7nSy0epKsK/ObIJRitbdYNFQqRHo9DwGfehAmZqJWmrst9WkNt\nrbNj0bR0+4LBdMcjBBkIZG93Pp1Ctn2s37Q6RYWiVASDqeep2UXTSLc7fa+HQs57P0tn8NVFQZ6x\nl0GAnDaN/PHH0p5mJh1B4G8B8CqA5wAclGPfOgArAawcNGhQe1+X0mAYUsiOHs3GPj/h2xjG9RjC\nrTsPJidMYNztYRQ6Y542aPh9+za9sa3OwzCkVmOt93ia/k4gIDsDQN74mR1PKCQFun1EEww2/c3a\n2ta1X6EoANuWG4xBSylTDu1e1+XicqVH4bou72tLIcrRGZgVFVw8McRZCHLqbgZXriz12aYpmMAH\n8AyAN7Isx9i+kynwvQAqk+/3B/AxgN4t/Van0fC3F8OQQlYImgBj0NgADxNur7yRvF7e0z3A+oPa\naM5pTsMncwt0q332Ia+1byhEDh/uPLYl9A2jqcDv27f156BQtJH3Fhlcg+EOgZ+6NwOB9Kg7U6O3\nPufRGSQ0nVtFBcfrBi850OB3M5KjgdaYRAtESTX87d1uLV1W4AcCqZsubcYBTaQF8JPjgxyvG/zh\nsjbcMM3Z8MncJpvmTD6hUFOBnmm6qapybhs8mBw6lKyvb905KBStxTAY81SkNPyE9bxpWtN7PlM4\n202xzXQGpstFU8jOIAqd8xDgFlQwDl0qTF6v8/kqYgeQr8BvF7dMIUR/AN+QTAgh9gAwDMhISF2m\n2LNlAkwVQekxuBJLXzwMnqujwI2tLAJ+333Nb7OiYrNls7RSJESj8tVyW1u8OPuxptjSQdTUACtW\npD9/+KF8ve46+Tpnzvadg0LRWsJhaLEoNJgwIbDGewD2/ds0GQ+Tec/7fM1/HjkS5vIw3h/kxzNb\nfPji4JGoeDmMd7+txC2YDjeiiMGDHt0B79YodCSAWNIzj8n0IosWyXq51jN1883AvHnAhg3Ar3+d\n+1ltT/LpFZpbABwLYCOARgBfAFiaXD8FwFoAqwGsAnB0Psfrshq+ZUNPmlQSlpYvNLK6mpEbDf7Z\nHWQMenaTS7HamKmNZGr4I0Y4bfjZvmNfhg4t7jkoypsMD5240Jrer83w44/ksmXkFVeQEyeSO+yQ\nvo179pReOgB5WHeDj/mCfP/vhnPUnKnhBwJOU5DImEgu8FwXiqHhk3wEwCNZ1i8G0Ix62IWJRMDl\nYYhD/E0jby+4ALj+ekdOfAqByK5T8MQlYXgHVCK60QMhotBL4c+eqfEAQF2dfLXy3Vuf7WzaJEcp\n9tgEi8mTC99OhaI5fD4s7zYJ1VsfldkxaQK/+13WcpsbN8pI2pdeAgxDplVIJGTozYgRwIQJwJdf\nAqtWydz6Bx4oU0Ydd5wPFRW2Y9lHzYDzvaXhW6U/7SxZ0j7XoAW6TqTtjBnAww9LIdOSGcESws0V\n6si1vbltkQiiEw6DFo/CdHnw+AXLMHAgcMCswyBiUQhNA0hH4FWDqzdG3T0dVYhC2+TBpZU34+e7\nbcLUec20qxTU1WUX9BZ+v0ypYEUXA/IGP/lkZc5RFI9IBOazYWzZml4lAMA0kXg2jNe7+RwC/qOP\n5He6dwfGjgVmzQL22QdYt04mU3v8caBPH+Ccc+Ttv/fezfxuNtOQhdUZVFbKjscWgIlJkwpz3ttL\nPsOAYi2tNunU1zuHS/X1ThNF5vtc/ua5trcw8RkXempCZyaCXIyalPkmDsE4hMMHPwbBONIeAbcO\nCPKoo1jS2f5WYRhyItfu3VBsk5SifEk+l6amSfdm6KlnbJvw8NAKIyUadt2VnDqVvOUWcuVKsrGR\nfP55aWGxPJd9PvKee8gtWwrcxlGjyF692sV1GaWctC06d93l/BwKAbfeKodTLpf8rxMJOXly2mnO\noh2LFjk19syiHvbcMLm2+f3Qu3lgNkYRMz0Y1v87HPvVowCQrG5F3P2Tehzy5T8xGB8mc1pIA48p\nNAiPB+/s4seAj5L5eKzJno6efdIa8UyZInMNWe1WKRYUxSIcBhobIUwTLsin6lWMxssYh/8MPRXD\nq30480BpltltNzkA/eYbqcmfcgrw1lsyTfKZZ0qzzciR7dBGn0/ajUpM1xD4PXsCX3+d/ixEWjCb\nGbPnQNojxeWSnYXVGSxb1tRjpbJS5qDx+5tu8/udJp5ly6CFw1jl8mPgjNmyKbZm/nZ6H7DyUuDs\ns0EAOgCCiNOFWxrPx4B3wxhofgRGoxCJhDSTzJ4tl44o9O3J4nQduPBCOQ5WNW0VxcTvB3QdNM3U\n8/ZzrMbwW87BOb9P34ekNOeEQsBDD8m0OlVVwMKFwAknAD16lKT1xSWfYUCxllabdDI9Rerr06YX\nr1fOoGfzj7XPpNvNEM355G6HeWjN70POFAouV2pfM2n6MFPmHo2NcDEGnQ3wyqCspPmHQmQ3LQUC\ncrHWV1XJdgwc2DQ0vJ348Y/BlF+yCTBhnaNCUUwMg98dWsN4ZqBVMl7k22/Jv/2N3GcfubpXL/no\nvPpqidtdQFDMwKtCLW1yy8wM/W/Ohm+nJXu+PSApm126he3vn1CftNODCSudgWHQrKhgDM6cOnGk\nXTZfwaiUvd9y3/z2xADNq5vm5qHXK4OdMl0irWCTbMJ/O+cI4nHy7bfJBx4gZ80ijzxS2kLHwWAj\n3I52Ktu9oqgkn+E4NMYzUiqsmxHi6aen0z2NGUPecQf5ww+lbnThKT+B31paSoTW2gleMqnNyw4h\nBp3f1kthGL895BDoMSCl0WcmVrOnYohBZxTuVOfAjP0yo3nj0BgTLsaFzkZXBW850eC8UwxGXRVM\nCI1xzc1/HR/i3LnkggUyK+D/XmzwycEBvvaLAK/5tcGqKmd+tLO1EF/sWc07x4Z4/fXkhqn18ncg\naLY126dCsb1kjJgTAL/eeThn7xpK+dDX1ZGvvFLqhrYvSuAXipa04Tw6DFPXuQUVPHZng+vXk7Ff\n1TgEejyLkLe/X4PhqaCsGLRU6LiZ9AjK3M/qJBrhZgzpUPCZCHImgql1JsBGuDgO0othHAw2IB24\n0gAPz93P4PTpsjP48I8h55C5vp7UrDB2kXeQi0JRMAyDceF8BqLQedpPDc6fT27eXOoGFgcl8DsK\nyQ7h7bsN9u0rTSFbR1Y5btBEFmHfCJ0JCMbdXl49OMQtqGBC0xl3exnXXUwATGg635tSz7inIrXf\n1t79ufrcEN88NcjV54YY98j9Yp4KLp1t8Mk/GozrbscoYPkRQV55JXnPXkHH6MEUwmmiqa5OC3vA\nofqbgIqsVRSdzz4jH0FNxghXSPNnGZGvwO8aXjodmWRgxs8AhPeXTi1//GAa/ooVqajbBCyPHUkE\nVbgYN+Oqw8LwTvTjsj/4MOS8kTh5QFhGjNxxh/yiAIbu3we4OB3tV+HzYZT992tHyhwjfj+qLc+Z\n3ebKMo2mCd3rhf9yP3q6gYuv8OMk4YHGRgBAFG6IX/jhsY41ZYqs7WsRjdryAiEdzaJQFImnpyzA\nXvgUCWjQIb10hNcDHOIvddM6Jvn0CsVauqSGn8Gbb5K/qjTYaAsOaYCXT6Ka36I3X8FojoPBcTB4\nb/cAF/UI8MTBBhsbkwdoTaGSbNhMUV99RQ4aJJdvn5IeQOsOD3AcDNbVZexnnxyvrnbOOagCKIoi\n8vbFTk+4b4aMdnqulRFQJp2Oy1cXpROlxSE4D1K4bkEFY9C5DZ6U94sJMKZ72uRlk4t4XMppj4dc\nscK5beZMeYfkMs1/tHc1f0AFfxyvhL2iuKwfVu00hWbWgCgj8hX4bSpirmgd/Y7zQ+vmQRw6GtEN\ni3Aq/AjDgyhcSMCFGFyIyeEpAN2MSZONhc8nk38UILhp9mxppZk7FzjgAOe2q64CjjgCOO+85muf\n33rkUlR6tsK7fGmb26JQbA+RhtEAkDIrCtL5nCiaoAR+KfD5oD27DD/WX4nTdl2GV9w+fI1KmBCI\nQ0MMbsThlhk1AUTpxub9/AVvxuOPS6H+29/KsPJMdB34+99lOPqUKcCnnzb9zltvAcOGyaBlhaJY\nfPZwBHtuDDuyz8LlUik9WkAJ/BLSpw9w++3AlAER3ILpycINOs7HrTgXc7Gh2wis9wzHebgVVRf4\n8MMPhfvtdetkHpH99pPavRDZv9e3L/Doo8DmzcBxx8ksCnbeegsYPrxw7VIoWiQSQf+pfozFinRB\nIV2XN7JK6ZGbfOw+xVrKwoZvpUWwFUdomFTj8LOPoMphw98GD8fB4JgxZEND25uwZQs5cqQsP/v+\n+/nt8+CDsrn2SdyGBhnQ+6c/tb1NCkW+mFdnuA8DZE1NqZtVUqBs+B0QK9nY/Pnp3NimiW5P/x90\nrwvxpGvZAfgv3DYbvkfEcGT3MFwrI7h/n2sQfyGLQT0SkUnemjO2JyFlRsA33gDuvx8YMiS/ph9/\nPDBzJrBggVwA4L33ZG46peErismbP/EjDj1l8gQAPPlki/e+oqtky+wsWOmVMyEhzjgD8bc2AM89\nAxdMx83cSDc+2lqJZTgMnvXbgAkC9w+8BJFj5mDsWGD/aAR7nZcstJItpbIto+e8VT7cdx9wxRXA\nxIlNt+caEl91FfDqq3ISd+RI4OOP5Xol8BXFZMkSYDz2QxVWpDXWeNyZrlyRnXyGAcVaupRJJ5vr\npOVDbxUKsRYry6Qh89xEoTMKjZvRg29jGBejhhFUMZYRjXsmZL4QmS4h7ea50Bvg3nuTxxxD3n6q\nwZg7GW3r8nC+CPDiXxhMJGxtcrmc7chxHps2kXvsQe6yC3nRRTKZ59atxbmkCkX0OYMN8DiKCaWS\nCJapSyaZv0lHyO92DMaMGcOVK1eWuhltJ5KjiImlTX/3nXwdMACor09vX7AAmy8NotemD5s9vDVR\n9TUq0R1bsQYjMRqr4YUcPcTgxhM4Cl9gZwDAWbgDLiRAACYEYvDgPtcZ2ObtjVMaFqC3+V3qmB/s\nNgFLZj6HfX6IYKixCDstuQtaPA7qGn645jaIujqsWydrfh6oRXCYHkb9U/78S0EqFG1gw8RzsPvS\n+an71Rw8GPqkScCpp5b1fSaEeIXkmBa/mE+vUKyl02r4mdp8S2mVm9vPGgFk5NZhhmafbfkAA1MT\nWfb1jXA7NKLM/D2Zidri0HgmZO6ezH0a4U5FAc9DgNvgYhyCDfCwupfBsWPJ2bPJVbfJFNA5s4x2\nphKOig5BQwP5TG9n4kGWcbCVHahcOkUimzZvr4zlcskcM5FIU7t65n4ZNn7aXq0JXFPX8VG//THg\ni1fgRiKl6eyEz9GIbvBiGzSki6XriGMhzgYATMNCuBEDIP1x7Xlw0r9hYhoWwoModDA1lyAA6Ejg\nJkzHaLwGNxqhJddriOLsH67Df1+uwsaXK/EFFiOBbXCBiDc0Yt7kMF6a4MNRfSM4dOMiDPjXXRCJ\nRPb5BuvaqNGBAtI0v3y5dDB44AHgpsadcWhym1WkXNnu80cJ/LaSrKcJ05Sv4bCMgl22TNbLvesu\nmezs3nudwi1bfVxbRyEAJHbaBY98czD2NN/D6Nh/IZJuVUMuqEHsjm+A99elmhHfdQjWXbYIu/x7\nEfo9die0RBwAIDweHPvAqXAd5ANmALg7JMcBcJZftN5rAMa5VgG6C4gDQtPkuZHQTBNVSd/nVLBL\nkhrtcRxjPpaMJUh3KDpMbPn8O/gfPAdTcTfciEIkO6R4QyMWH7UI8V3D2HHPSgzuuQm996jEwL9O\nh2iupm9znUEkIq830HR4n2tbrmMqSgIJrFghg/4eeAD48ksZJzKWEeyEz5GAgG4pNV6vCrbaHvIZ\nBhRr6fAmncyqWtY6+wSsfVsu005zSdAyzB0vvUSO1w1u02VefUepRWvyN3NYm60Eov03NU1O0NbW\nkiNGkMOHkxMmyBlYq62BgKNi2Gejqh159FOmJiHk9zMmolNVsKAxmjT9ZMvbvy2Zs9/K4R+FnjJN\nxQF+6hrIv40M8eyzyUePCjGuuWTxFreHXx0X4KeLDW5eatD0etNtcrnS524YckLP2ubxOKuAWduF\nkK/19XJGuls3cvToopWLVJBr15KXXSadAgDS7SZ33FG+P2mIwUa40veOpknfe/W/kMzfpFNyIW9f\nOrTAb06wB4NOwZuPULdvz0OY3HCDLE7ywpHBtAAKhbIL9Zaw/2YoJJ8qTcte+5fkd9+Rp5ySLI4i\nkp2OxyN/194Wu/eR1XFoWvr4WeYMEhCOeYdc8xRB1DvKKVpFV7aggvMQaBKI09y2BGSBjBhkUZpH\ntZoWf7tZAaPmItrMBx+Q115L7rtv+pbx+chRo+TnXXclFy4kv54acBbfyazVUOYogd9amtOOM4t/\nWKmACyTUc2GaUtaM1w3GvRXODqa1KZLt7pjWsexaPclwWKZM1nXyz38mY8+3UN0rmNEhZRaC93jk\niXi9qQLzpsdDM1k1yxTOUYBdgH/eeyjjWUYYcWi8r1eA22yVuqxtMWhcoAccVbzs26PQGUFVE4Gf\nbaSSHpF4eeowg+ftL0ddCWhMCI0/9ujP1ybV87HHyBdfJP99hcEvpgQYOzNA86Us90RznbVhyNHW\nrrvK0UY++5DcvDSP/6aQ29rAl1+St91Gjh+fvtTjxpF/+Qt50knyVtxhB/Kaa2RUOEm+tJOarM2F\nEvj5Ul8vKzXV18sbKLNAuHVT5TLdFEHT+/Zb8rod0/72qSWXF1Au7CMTa/ycbP+2beQf/iCVqKFD\nyUikjY3P5o2UWWDeGrF4vU3jFAD5/1RUpEcPme02DLKqKv9tQqSKvJt69jKR2TqABATvGhbk7YOC\nTTogaySSrVTkwR6D/fqRxw802CjS22JC5+KJIV5zjawnnNBcjuN9U1fP188PMaGl6yfEdA8XnGFw\n2jRy0iTy0v4hNsLFGDRu0ysYOt3gokXkf/5Dfv90DoUkl7JSYEVm82byf/5Htteyco4YQV51Ffnq\nq+SMGdKK5vHI+I6vv07vm3jRcHTMBMo+lUImRRH4AK4H8DaA1wE8AqCPbdssAOsAvAPgiHyOV3SB\nX1/vFAL9+zsFSuawMZsNv4i8fbeRdJfU0lpOWzR8uz0/FJK2+guCPGWorHFbV0f+8EPhz6PFdlkd\nQE2NFNTW9ba0XI/H2e5c55S5zW6SsnXmcc2dnEPQHC6rMaE5BHADvBwHgycMctZStQR/w8ChfOf0\noGN9AuDtCBCQQXKZ5ifL3XUmgk2O9yEGpmzX1nqrhsLlniAv2SHkMHXFoPFSEUwdbx4C6aA8oXP5\nEUEuXkyuWUNGrwg2P8fU0vyTfd6jmftv2zby0UfJqVPT1TAHDZLC/bXXpJvlDTfInE5CkL/5TTq3\nk2mS771H3huwQh8kzgAAEd9JREFUAq0yOmBVP9lBsQR+NQBX8v0cAHOS70cAeA2AF8DuANYD0Fs6\nXtEF/tChTTVJu8DvgNF7D/9B+sC/P3iCUxi2BpuZIDE/xKhbFmDZigq+cH3HOm8H7WCi2LzU4J1u\nKRxT2r5l5goEyJoaRs8McNVtBq+5hjz6aPJxd1P7/4sH1fP9E+ubmoa8Xm58yOAL1xuMubwO4RWD\nxpmQQjoKp4a/HBOaTJZbsRUx6GxMToinOw8X7+hXz6hwMw6NjcLLbUJ+twEeLkZNquCODwa3Cvmf\nN7oq+OCFBp9+Wgrd+As5NPxAwPnMBAKpTfE4uWwZOW0a2aeP3NyvH/m730lTVyIhl0WLyMGDmbKO\nGgb53HPSnn/44WT37nLbYmSYcgAmhMZtlyv7vZ18BX7BIm2FEMcCOI5krRBiVtID6JrktqUAZpPM\nmd2o6JG2M2YA113nXNe7N3DyyfJ9B4zeoxFB7CA/3Kb01xder3RUbk07bbEAJgTMhCnz+Og6xJVX\nSvfSMuLfh16DQ5b/MZXLKA4XPvn78xhyUvZrSyMCHnwwRFzGNiSg4SC8iMsxG0fgX+nUvQAoBMwx\nB2DTbvthrffn6PXiEoz++HEIEAnoOBdz8UhlHfzeCC76aiYGxtYjDD+2oBfOwF1wIQ5A4AlxND7j\nzjgLC+CCiTgEIFwQTIBCxz2VF+L0r2+AnozRiEPDHagD4IzDiMKFQ8XzEAI4mGH04ncYjdV4FaOx\nGX3wvPCjVy9gUkUYrp0rsecOm9Br90oM6bkJ/d5fAc9Tj6ZjOIYPxwc107H2uU0IvePHE5t86NkT\n+MP4CE7YKYw9p/nhcgFcHsbLFX4E7vWh4rUIju0Txjf7+vFsgw+rVqXzCY5DBH6EsQmVuB2BVFwJ\nARAC29ANNT2XYcz5Ppx/PrDLLu1yO3Qqih5pC+BxAL9Jvp9rvU9+XgjZGWTbrw7ASgArBw0a1H5d\nYHMMH+7UVmpri9+G7SEYpJnL7LSdx7KG7aamMaG7na6fZcb3T6dNZlG4eRZC3HFH8uWXc+wUCDjc\nWbf+KcjXzw85NPjMOYGGZLrrs5C2vW9BBcfBSE9i2kpeNsCb0soB8kw4a7kGUZ8aIcxDwPG7Ueg8\nUDN4mRZkIsOUNF8EqOvkWRnHiyU9nKyoanukdgwaG+Bh1FaTOb2fPI+Tdzd4kU9OaseFzqjuYQO8\nKc+oOhFKndsWVHB69xBnJc1QUwYYbNDktnjGNSRA9unDN+4weNxxaSewM84g33ijaLdJhwSFSo8s\nhHhGCPFGluUY23cuAxAHcP92dkwguYDkGJJj+vfvv727t5033wRqa2Wlj9pa4L77it+G7cHvh3C7\n00FPbanyYwV66TqE1wtt3lyp2WeLfu3qRCLovSqMpyfejAWow0eHT8N73pHYsgU45BDgmWea2e/U\nU4Fu3WR5MI8HFZP8GHnSSIgJExwaPpCOlvYghj8fFMaUgzdBF4QLJrwiimp3GADQvTvwxwPD6CZk\nyUuPFsdPDxsE13gfdB3oh00woSVHDhrGHd4Hfa+bhak3+vCLjL/tnWFHY9yFPlRO8YNCcwTLDRkC\nHHkkUFe5ONU+AHCB8CCKo3uGcZZnEbzJqGu5zYSOBF7B/o4IcGubG1EMej8MTyQMPRGFzgS0RAxu\nNMpzQSOOw+JUOU8PGnHd1vNwJf6EFzyH4dgfFsFlym124ZQKEvz+e+y9N/DQQ8C778pU3//8J7DP\nPvJcnn1W9gyKZsinV8i1ADgdQARAd9u6WQBm2T4vBeBr6Vgdwi2zM1Bfn9YqPZ62aeO5PGjKBduE\nrunxJjVanXFvBQ/UDPbsKeeAH3qomf3tk/n2yWG3W75mehZZ/5khcw7FhZ7SqKdOJWMxprYlNJ0N\nmtzWvTv5+9+Tn/xvC941zU2ohkLpidhcHmiWB5M1x5NtWyhE0+3OOTKQWryWCqyzj0js2+K2uYy7\nuwXYAE9q4rzJHBvQ5Jy//lp6++y0k9z885+T999PRqMFv1M6LCjSpO1EAG8C6J+xfm84J203oCNO\n2nZGsvnPFyIAxXq4LR/5cjLr2D1ShEibPnSdK6cEUw5cADl/fsa+me6L9mpm9ojlLIFya9eSR/eT\n3jSHdDO4ZIk8ZDQqBdZpP5XbjtzR4NVXy9TUjt8t5MS11WnV1zdVAKwOxO12ejcFAjST1yoB6cOb\nmB/imjXyENfuGWLUVrnNMs0sRg3PhPQuStjSHJsAX8PwrIn9miyjRqXPpbqa7NuXsRNreeed5F57\nya/stpv0Avr+++2+IzodxRL46wB8DGB1cplv23YZpHfOOwAm5XM8JfDzIIf/fKuxhJZdE22tf39n\nxC60s0QcX3mlvCR77ilfr75aug2SbOq+GAjk9l+n9FK59NL05T7kEOn+unkzeeON0nURkILrzjsL\nU9ayTTTXSSRHISkNXmS4CdvniGwC/7PBVfzHvumYkpT3TS4hny02I9u62lomEuQTT5AHHyznQmZ7\ng7z1ZIMff1z0K1c0iiLwC70ogZ8HuXzNW4tdaGUO6csFeyRrRv4c0yTPPltemgMOkK8XXigFd9YA\npRwa9oYNaW9gj4e8915y40apWO+wg1x/8MFSYKWK1HRkDIOf7WvLs2RXFJLXJpFZrMRm+rKirO1m\nH+YS/C0tffs62hb3VjCenBwerxs85RRy9erSXKr2RAn8rkwLYfatOp4ltFyutvv3dybsgV45NPNY\nTPreC0EedZR8ck45JWknzmMexDTJOXPS/eqoUTJ1xWmnpdMNnXACuWJF8U69UJgvSX/+KHTGPBnX\nLhRiVLikx42mNUkX8cl5QV7QPcQ5fYL8cUK1Q+Nn7965hXvm3EhSw7eOzerqdB4nXefjvwiyRw/5\ntcMPJ/9zk0Hz6q4xX6UEflfFMMiBA9M3eKE0cbsN3/J36+pCP3OC1TIRNGPO2rKFHDtWpgCoq5Nf\n/dWvkiUec3QcGzemk4EJQZ55JjlxovxsTcRu2FD80y8kT18u5xsm7mA4S14GbaabjOv66qtSIR80\nyHb+tbVyZW1tOtWJEOksp6NHy46gttbpEgvIbaRzFGyZfpL/xTffyOjdeypkjqWE6BpFepTA74oY\nRnatplC29sz5gWw1brsSdlOWZSJrYcL6q6/IYcOkTLr8cvl3nL2vrcKXPTuorvM/xwTpdsuf6NdP\n5o8BpEdJk4nYTkwsRg4YIG3mzx5uM4e9JL11otDlNUquX71aXsPddiPXr89x4JYmoLONyjL/VyuU\n17aPPVFf3qnLOzBK4HdFgsGmwh4o3A1pGExJJ+th6coTt5kPdp6579evJ3/yE5kaYP588jLNltQu\n2XGYetqdEiB79pSbhw/vIBOx7cAj9elgMbObFJSffCI7gb90S1/X118nKytlQtB169r4o9k6hFwC\nu6X5qgxTUNbOoANq/krgd0Uy/aUBaW8vJPX18mbvyhO39oe2lfMhK1eSPXpIK0L4mrSgS3i8/GhM\nDUOajIy1BmSdaiK2lcSuCDoStTEY5Ctzpann+IHy2q5ZI0c6AwbI5GjtRg7PomaT6OUwBTXZt4M9\nG0rgd0UyTS7DhhX2+PYbvqva8LNp9a18iJcskbv98pfk6tsNLvQEUknNtqCCPhicMqVzTsS2CsNg\n1C3NN1tQwY/+FGIsmZCvQavg+vsM9u8vC4q9+25p25m1M8hlCiKbpNFoMvotofafr8BXNW07E5WV\nMoQfkLU87723sMe31+cFgE2bCnv8jkBmLeHFi5vWFs4zrcTEicCddwJnnAEs2ARMNjfAhThcMAFE\n8cQlYfS9voxSVPh8iC1Zhr/+KoxPo5WYdttiDIg1QocJmFH84+ww9F4+LF8ODBtW2nZm/Y9tNaXh\n8QCzZ6e/F4nI+tSk/JyZ0mTBAuC884BYLL2uqgp4+eV2OonWoQR+ZyESAaZPl4JJ04Cbby58vpvK\nyrSwN035uatRWSmvHykf6ilTgBdeSD/k25mX6PTTgU8XRzD9icPgRaMs4i40uLp50Hfy9h2rK9D9\nMB8GnAxcctdh8Hwjr0ccGqLwwPD4sXw58LOflbqVzeDzyTxS2Qrah8PpdJ5CyF7e3hmcey4QjzuP\nt2IFMHZshxL6LSZPU3QQ7Nq3abaP9n3//bk/d3asTjOezN4ycKDsOA84ADjrrFYnjZvpC8MrotBh\nQmgatMN/WZ4J6JKcNCCcTI5mwoSGDdgDMzw3468v+bDXXqVuXQv4fDIteOZ/Z0s0iG7dZNI8i3A4\nrShlsmpVe7W0VSiB31kohva9YUPuz50dq9O0ZkHeew946y3g+eeBhQtbfVjtED/0bh45ctB1OWoo\nU2EPAD2O9MN0eRCHBg0m9sAG3MjpGP5dznIYHRtL+8+WTdbvlybWbOy3X1Galy9K4HcWNm2SAgWQ\nr+2h4VuFX5r73Nnx+9NzIJnEYrJDaA0+H3D++fJ9PC5HEZFOLNzais+H7xcvwzvYC0QypXIi2vrr\n21FoTvu3OoNgEKiuls+nEMqGr2gDlhbRSltzXsyZI18ffhiYPDn9uavg8wFz5wLnnNN0CO52t/6a\nRiLATTelj9nYuF2Tv12R/p+vQT+8CQDpHPztcc92FKyJ4A5eJU5p+J2FXEPKQjJnjjR1dDVhb1FX\nB/z61851w4cDzz3X+msaDju9M4To2sItH26+GYCt+IuZKF1bFCmUht+ZaM6dTJE/kQjw1FPpz16v\ntN+35bquXev8TGb/XjkhhKPSFwFg5kzZsSpKhtLwFeVFLve61pJppzXNzm+vbisXXAAAjpKKWL++\nJE1RpFECX1Fe5HKvay2TJzs/t6XOcFehrg6ornZo+aitLWGDFIAy6SjKjVzBNa3Fmu+4/35gzz2B\na69VpjcAWLoUmDGj6zoBdEIEO5C9ccyYMVy5cmWpm6FQKBSdCiHEKyTHtPQ9ZdJRKBSKMkEJfIVC\noSgTlMBXKBSKMkEJfIVCoSgTlMBXKBSKMkEJfIVCoSgTOpRbphDiKwAfFvln+wH4usi/WQrUeXY9\nyuVc1Xm2zGCS/Vv6UocS+KVACLEyH//Vzo46z65HuZyrOs/CoUw6CoVCUSYoga9QKBRlghL4wIJS\nN6BIqPPsepTLuarzLBBlb8NXKBSKckFp+AqFQlEmKIGvUCgUZUJZCnwhxPFCiLVCCFMIMSZj2ywh\nxDohxDtCiCNK1cb2QAgxWwjxiRBidXI5stRtKiRCiInJ/22dEGJmqdvTXgghPhBCrEn+h10qn7gQ\n4i4hxJdCiDds6/oKIf4thHgv+bpjKdtYCJo5z3Z/PstS4AN4A8BkAM/bVwohRgA4EcDeACYCmCeE\n0IvfvHblJpKjk8tTLX+9c5D8n24DMAnACAAnJf/Prsohyf+wq/mn3wP57NmZCWAZyWEAliU/d3bu\nQdPzBNr5+SxLgU/yLZLvZNl0DIAHSDaSfB/AOgBVxW2dopVUAVhHcgPJKIAHIP9PRSeC5PMAvslY\nfQyAe5Pv7wVQU9RGtQPNnGe7U5YCPwe7AvjY9nljcl1X4jwhxOvJIWWnHxrbKIf/zoIA/iWEeEUI\nUVfqxhSBnUh+lnz/OYCdStmYdqZdn88uK/CFEM8IId7IsnRpra+F874dwJ4ARgP4DMANJW2sorWM\nJ7kfpPnqXCHEhFI3qFhQ+pF3VV/ydn8+u2wRc5K/bMVunwDYzfZ5YHJdpyHf8xZC3AHgiXZuTjHp\n9P9dvpD8JPn6pRDiEUhz1vO59+rUfCGE2IXkZ0KIXQB8WeoGtQckv7Det9fz2WU1/FbyGIAThRBe\nIcTuAIYBWFHiNhWM5MNicSzk5HVX4b8AhgkhdhdCeCAn3x8rcZsKjhCihxCil/UeQDW61v+YjccA\nnJZ8fxqA/ythW9qNYjyfXVbDz4UQ4lgAtwLoD+BJIcRqkkeQXCuEeBDAmwDiAM4lmShlWwvMdUKI\n0ZBD4g8AnF3a5hQOknEhxHkAlgLQAdxFcm2Jm9Ue7ATgESEEIJ/fv5N8urRNKhxCiH8A8APoJ4TY\nCOByANcCeFAIMQ0yffrU0rWwMDRznv72fj5VagWFQqEoE5RJR6FQKMoEJfAVCoWiTFACX6FQKMoE\nJfAVCoWiTFACX6FQKMoEJfAVCoWiTFACX6FQKMqE/wd2Tu+/2Hq4AwAAAABJRU5ErkJggg==\n",
+      "text/plain": [
+       "<matplotlib.figure.Figure at 0x7f587c7e3cf8>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "g_scan.plot(title=\"Scan-matching edges\")"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.5.2"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/SLAM/GraphBasedSLAM/graphSLAM_formulation.pdf b/SLAM/GraphBasedSLAM/graphSLAM_formulation.pdf
new file mode 100644
index 00000000..65c86824
Binary files /dev/null and b/SLAM/GraphBasedSLAM/graphSLAM_formulation.pdf differ
diff --git a/SLAM/GraphBasedSLAM/graphslam/__init__.py b/SLAM/GraphBasedSLAM/graphslam/__init__.py
new file mode 100644
index 00000000..6aa2872e
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/graphslam/__init__.py
@@ -0,0 +1,9 @@
+# Copyright (c) 2020 Jeff Irion and contributors
+#
+# This file originated from the `graphslam` package:
+#
+#   https://github.com/JeffLIrion/python-graphslam
+
+"""Graph SLAM solver in Python.
+
+"""
diff --git a/SLAM/GraphBasedSLAM/graphslam/edge/__init__.py b/SLAM/GraphBasedSLAM/graphslam/edge/__init__.py
new file mode 100644
index 00000000..afb85490
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/graphslam/edge/__init__.py
@@ -0,0 +1,5 @@
+# Copyright (c) 2020 Jeff Irion and contributors
+#
+# This file originated from the `graphslam` package:
+#
+#   https://github.com/JeffLIrion/python-graphslam
diff --git a/SLAM/GraphBasedSLAM/graphslam/edge/edge_odometry.py b/SLAM/GraphBasedSLAM/graphslam/edge/edge_odometry.py
new file mode 100644
index 00000000..b247b97b
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/graphslam/edge/edge_odometry.py
@@ -0,0 +1,180 @@
+# Copyright (c) 2020 Jeff Irion and contributors
+#
+# This file originated from the `graphslam` package:
+#
+#   https://github.com/JeffLIrion/python-graphslam
+
+r"""A class for odometry edges.
+
+"""
+
+
+import numpy as np
+import matplotlib.pyplot as plt
+
+
+#: The difference that will be used for numerical differentiation
+EPSILON = 1e-6
+
+
+class EdgeOdometry:
+    r"""A class for representing odometry edges in Graph SLAM.
+
+    Parameters
+    ----------
+    vertices : list[graphslam.vertex.Vertex]
+        A list of the vertices constrained by the edge
+    information : np.ndarray
+        The information matrix :math:`\Omega_j` associated with the edge
+    estimate : graphslam.pose.se2.PoseSE2
+        The expected measurement :math:`\mathbf{z}_j`
+
+    Attributes
+    ----------
+    vertices : list[graphslam.vertex.Vertex]
+        A list of the vertices constrained by the edge
+    information : np.ndarray
+        The information matrix :math:`\Omega_j` associated with the edge
+    estimate : PoseSE2
+        The expected measurement :math:`\mathbf{z}_j`
+
+    """
+    def __init__(self, vertex_ids, information, estimate, vertices=None):
+        self.vertex_ids = vertex_ids
+        self.information = information
+        self.estimate = estimate
+        self.vertices = vertices
+
+    def calc_error(self):
+        r"""Calculate the error for the edge: :math:`\mathbf{e}_j \in \mathbb{R}^\bullet`.
+
+        .. math::
+
+           \mathbf{e}_j = \mathbf{z}_j - (p_2 \ominus p_1)
+
+
+        Returns
+        -------
+        np.ndarray
+            The error for the edge
+
+        """
+        return (self.estimate - (self.vertices[1].pose - self.vertices[0].pose)).to_compact()
+
+    def calc_chi2(self):
+        r"""Calculate the :math:`\chi^2` error for the edge.
+
+        .. math::
+
+           \mathbf{e}_j^T \Omega_j \mathbf{e}_j
+
+
+        Returns
+        -------
+        float
+            The :math:`\chi^2` error for the edge
+
+        """
+        err = self.calc_error()
+
+        return np.dot(np.dot(np.transpose(err), self.information), err)
+
+    def calc_chi2_gradient_hessian(self):
+        r"""Calculate the edge's contributions to the graph's :math:`\chi^2` error, gradient (:math:`\mathbf{b}`), and Hessian (:math:`H`).
+
+        Returns
+        -------
+        float
+            The :math:`\chi^2` error for the edge
+        dict
+            The edge's contribution(s) to the gradient
+        dict
+            The edge's contribution(s) to the Hessian
+
+        """
+        chi2 = self.calc_chi2()
+
+        err = self.calc_error()
+
+        jacobians = self.calc_jacobians()
+
+        return chi2, {v.index: np.dot(np.dot(np.transpose(err), self.information), jacobian) for v, jacobian in zip(self.vertices, jacobians)}, {(self.vertices[i].index, self.vertices[j].index): np.dot(np.dot(np.transpose(jacobians[i]), self.information), jacobians[j]) for i in range(len(jacobians)) for j in range(i, len(jacobians))}
+
+    def calc_jacobians(self):
+        r"""Calculate the Jacobian of the edge's error with respect to each constrained pose.
+
+        .. math::
+
+           \frac{\partial}{\partial \Delta \mathbf{x}^k} \left[ \mathbf{e}_j(\mathbf{x}^k \boxplus \Delta \mathbf{x}^k) \right]
+
+
+        Returns
+        -------
+        list[np.ndarray]
+            The Jacobian matrices for the edge with respect to each constrained pose
+
+        """
+        err = self.calc_error()
+
+        # The dimensionality of the compact pose representation
+        dim = len(self.vertices[0].pose.to_compact())
+
+        return [self._calc_jacobian(err, dim, i) for i in range(len(self.vertices))]
+
+    def _calc_jacobian(self, err, dim, vertex_index):
+        r"""Calculate the Jacobian of the edge with respect to the specified vertex's pose.
+
+        Parameters
+        ----------
+        err : np.ndarray
+            The current error for the edge (see :meth:`EdgeOdometry.calc_error`)
+        dim : int
+            The dimensionality of the compact pose representation
+        vertex_index : int
+            The index of the vertex (pose) for which we are computing the Jacobian
+
+        Returns
+        -------
+        np.ndarray
+            The Jacobian of the edge with respect to the specified vertex's pose
+
+        """
+        jacobian = np.zeros(err.shape + (dim,))
+        p0 = self.vertices[vertex_index].pose.copy()
+
+        for d in range(dim):
+            # update the pose
+            delta_pose = np.zeros(dim)
+            delta_pose[d] = EPSILON
+            self.vertices[vertex_index].pose += delta_pose
+
+            # compute the numerical derivative
+            jacobian[:, d] = (self.calc_error() - err) / EPSILON
+
+            # restore the pose
+            self.vertices[vertex_index].pose = p0.copy()
+
+        return jacobian
+
+    def to_g2o(self):
+        """Export the edge to the .g2o format.
+
+        Returns
+        -------
+        str
+            The edge in .g2o format
+
+        """
+        return "EDGE_SE2 {} {} {} {} {} ".format(self.vertex_ids[0], self.vertex_ids[1], self.estimate[0], self.estimate[1], self.estimate[2]) + " ".join([str(x) for x in self.information[np.triu_indices(3, 0)]]) + "\n"
+
+    def plot(self, color='b'):
+        """Plot the edge.
+
+        Parameters
+        ----------
+        color : str
+            The color that will be used to plot the edge
+
+        """
+        xy = np.array([v.pose.position for v in self.vertices])
+        plt.plot(xy[:, 0], xy[:, 1], color=color)
diff --git a/SLAM/GraphBasedSLAM/graphslam/graph.py b/SLAM/GraphBasedSLAM/graphslam/graph.py
new file mode 100644
index 00000000..83c181dc
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/graphslam/graph.py
@@ -0,0 +1,265 @@
+# Copyright (c) 2020 Jeff Irion and contributors
+#
+# This file originated from the `graphslam` package:
+#
+#   https://github.com/JeffLIrion/python-graphslam
+
+r"""A ``Graph`` class that stores the edges and vertices required for Graph SLAM.
+
+"""
+
+
+from collections import defaultdict
+from functools import reduce
+import warnings
+
+import numpy as np
+from scipy.sparse import SparseEfficiencyWarning, lil_matrix
+from scipy.sparse.linalg import spsolve
+import matplotlib.pyplot as plt
+
+
+warnings.simplefilter("ignore", SparseEfficiencyWarning)
+warnings.filterwarnings("ignore", category=SparseEfficiencyWarning)
+
+
+# pylint: disable=too-few-public-methods
+class _Chi2GradientHessian:
+    r"""A class that is used to aggregate the :math:`\chi^2` error, gradient, and Hessian.
+
+    Parameters
+    ----------
+    dim : int
+        The compact dimensionality of the poses
+
+    Attributes
+    ----------
+    chi2 : float
+        The :math:`\chi^2` error
+    dim : int
+        The compact dimensionality of the poses
+    gradient : defaultdict
+        The contributions to the gradient vector
+    hessian : defaultdict
+        The contributions to the Hessian matrix
+
+    """
+    def __init__(self, dim):
+        self.chi2 = 0.
+        self.dim = dim
+        self.gradient = defaultdict(lambda: np.zeros(dim))
+        self.hessian = defaultdict(lambda: np.zeros((dim, dim)))
+
+    @staticmethod
+    def update(chi2_grad_hess, incoming):
+        r"""Update the :math:`\chi^2` error and the gradient and Hessian dictionaries.
+
+        Parameters
+        ----------
+        chi2_grad_hess : _Chi2GradientHessian
+            The ``_Chi2GradientHessian`` that will be updated
+        incoming : tuple
+            TODO
+
+        """
+        chi2_grad_hess.chi2 += incoming[0]
+
+        for idx, contrib in incoming[1].items():
+            chi2_grad_hess.gradient[idx] += contrib
+
+        for (idx1, idx2), contrib in incoming[2].items():
+            if idx1 <= idx2:
+                chi2_grad_hess.hessian[idx1, idx2] += contrib
+            else:
+                chi2_grad_hess.hessian[idx2, idx1] += np.transpose(contrib)
+
+        return chi2_grad_hess
+
+
+class Graph(object):
+    r"""A graph that will be optimized via Graph SLAM.
+
+    Parameters
+    ----------
+    edges : list[graphslam.edge.edge_odometry.EdgeOdometry]
+        A list of the vertices in the graph
+    vertices : list[graphslam.vertex.Vertex]
+        A list of the vertices in the graph
+
+    Attributes
+    ----------
+    _chi2 : float, None
+        The current :math:`\chi^2` error, or ``None`` if it has not yet been computed
+    _edges : list[graphslam.edge.edge_odometry.EdgeOdometry]
+        A list of the edges (i.e., constraints) in the graph
+    _gradient : numpy.ndarray, None
+        The gradient :math:`\mathbf{b}` of the :math:`\chi^2` error, or ``None`` if it has not yet been computed
+    _hessian : scipy.sparse.lil_matrix, None
+        The Hessian matrix :math:`H`, or ``None`` if it has not yet been computed
+    _vertices : list[graphslam.vertex.Vertex]
+        A list of the vertices in the graph
+
+    """
+    def __init__(self, edges, vertices):
+        # The vertices and edges lists
+        self._edges = edges
+        self._vertices = vertices
+
+        # The chi^2 error, gradient, and Hessian
+        self._chi2 = None
+        self._gradient = None
+        self._hessian = None
+
+        self._link_edges()
+
+    def _link_edges(self):
+        """Fill in the ``vertices`` attributes for the graph's edges.
+
+        """
+        index_id_dict = {i: v.id for i, v in enumerate(self._vertices)}
+        id_index_dict = {v_id: v_index for v_index, v_id in index_id_dict.items()}
+
+        # Fill in the vertices' `index` attribute
+        for v in self._vertices:
+            v.index = id_index_dict[v.id]
+
+        for e in self._edges:
+            e.vertices = [self._vertices[id_index_dict[v_id]] for v_id in e.vertex_ids]
+
+    def calc_chi2(self):
+        r"""Calculate the :math:`\chi^2` error for the ``Graph``.
+
+        Returns
+        -------
+        float
+            The :math:`\chi^2` error
+
+        """
+        self._chi2 = sum((e.calc_chi2() for e in self._edges))
+        return self._chi2
+
+    def _calc_chi2_gradient_hessian(self):
+        r"""Calculate the :math:`\chi^2` error, the gradient :math:`\mathbf{b}`, and the Hessian :math:`H`.
+
+        """
+        n = len(self._vertices)
+        dim = len(self._vertices[0].pose.to_compact())
+        chi2_gradient_hessian = reduce(_Chi2GradientHessian.update, (e.calc_chi2_gradient_hessian() for e in self._edges), _Chi2GradientHessian(dim))
+
+        self._chi2 = chi2_gradient_hessian.chi2
+
+        # Fill in the gradient vector
+        self._gradient = np.zeros(n * dim, dtype=np.float64)
+        for idx, contrib in chi2_gradient_hessian.gradient.items():
+            self._gradient[idx * dim: (idx + 1) * dim] += contrib
+
+        # Fill in the Hessian matrix
+        self._hessian = lil_matrix((n * dim, n * dim), dtype=np.float64)
+        for (row_idx, col_idx), contrib in chi2_gradient_hessian.hessian.items():
+            self._hessian[row_idx * dim: (row_idx + 1) * dim, col_idx * dim: (col_idx + 1) * dim] = contrib
+
+            if row_idx != col_idx:
+                self._hessian[col_idx * dim: (col_idx + 1) * dim, row_idx * dim: (row_idx + 1) * dim] = np.transpose(contrib)
+
+    def optimize(self, tol=1e-4, max_iter=20, fix_first_pose=True):
+        r"""Optimize the :math:`\chi^2` error for the ``Graph``.
+
+        Parameters
+        ----------
+        tol : float
+            If the relative decrease in the :math:`\chi^2` error between iterations is less than ``tol``, we will stop
+        max_iter : int
+            The maximum number of iterations
+        fix_first_pose : bool
+            If ``True``, we will fix the first pose
+
+        """
+        n = len(self._vertices)
+        dim = len(self._vertices[0].pose.to_compact())
+
+        # Previous iteration's chi^2 error
+        chi2_prev = -1.
+
+        # For displaying the optimization progress
+        print("\nIteration                chi^2        rel. change")
+        print("---------                -----        -----------")
+
+        for i in range(max_iter):
+            self._calc_chi2_gradient_hessian()
+
+            # Check for convergence (from the previous iteration); this avoids having to calculate chi^2 twice
+            if i > 0:
+                rel_diff = (chi2_prev - self._chi2) / (chi2_prev + np.finfo(float).eps)
+                print("{:9d} {:20.4f} {:18.6f}".format(i, self._chi2, -rel_diff))
+                if self._chi2 < chi2_prev and rel_diff < tol:
+                    return
+            else:
+                print("{:9d} {:20.4f}".format(i, self._chi2))
+
+            # Update the previous iteration's chi^2 error
+            chi2_prev = self._chi2
+
+            # Hold the first pose fixed
+            if fix_first_pose:
+                self._hessian[:dim, :] = 0.
+                self._hessian[:, :dim] = 0.
+                self._hessian[:dim, :dim] += np.eye(dim)
+                self._gradient[:dim] = 0.
+
+            # Solve for the updates
+            dx = spsolve(self._hessian, -self._gradient)  # pylint: disable=invalid-unary-operand-type
+
+            # Apply the updates
+            for v, dx_i in zip(self._vertices, np.split(dx, n)):
+                v.pose += dx_i
+
+        # If we reached the maximum number of iterations, print out the final iteration's results
+        self.calc_chi2()
+        rel_diff = (chi2_prev - self._chi2) / (chi2_prev + np.finfo(float).eps)
+        print("{:9d} {:20.4f} {:18.6f}".format(max_iter, self._chi2, -rel_diff))
+
+    def to_g2o(self, outfile):
+        """Save the graph in .g2o format.
+
+        Parameters
+        ----------
+        outfile : str
+            The path where the graph will be saved
+
+        """
+        with open(outfile, 'w') as f:
+            for v in self._vertices:
+                f.write(v.to_g2o())
+
+            for e in self._edges:
+                f.write(e.to_g2o())
+
+    def plot(self, vertex_color='r', vertex_marker='o', vertex_markersize=3, edge_color='b', title=None):
+        """Plot the graph.
+
+        Parameters
+        ----------
+        vertex_color : str
+            The color that will be used to plot the vertices
+        vertex_marker : str
+            The marker that will be used to plot the vertices
+        vertex_markersize : int
+            The size of the plotted vertices
+        edge_color : str
+            The color that will be used to plot the edges
+        title : str, None
+            The title that will be used for the plot
+
+        """
+        plt.figure()
+
+        for e in self._edges:
+            e.plot(edge_color)
+
+        for v in self._vertices:
+            v.plot(vertex_color, vertex_marker, vertex_markersize)
+
+        if title:
+            plt.title(title)
+
+        plt.show()
diff --git a/SLAM/GraphBasedSLAM/graphslam/load.py b/SLAM/GraphBasedSLAM/graphslam/load.py
new file mode 100644
index 00000000..b0dd023d
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/graphslam/load.py
@@ -0,0 +1,66 @@
+# Copyright (c) 2020 Jeff Irion and contributors
+#
+# This file originated from the `graphslam` package:
+#
+#   https://github.com/JeffLIrion/python-graphslam
+
+"""Functions for loading graphs.
+
+"""
+
+
+import logging
+
+import numpy as np
+
+from .edge.edge_odometry import EdgeOdometry
+from .graph import Graph
+from .pose.se2 import PoseSE2
+from .util import upper_triangular_matrix_to_full_matrix
+from .vertex import Vertex
+
+
+_LOGGER = logging.getLogger(__name__)
+
+
+def load_g2o_se2(infile):
+    """Load an :math:`SE(2)` graph from a .g2o file.
+
+    Parameters
+    ----------
+    infile : str
+        The path to the .g2o file
+
+    Returns
+    -------
+    Graph
+        The loaded graph
+
+    """
+    edges = []
+    vertices = []
+
+    with open(infile) as f:
+        for line in f.readlines():
+            if line.startswith("VERTEX_SE2"):
+                numbers = line[10:].split()
+                arr = np.array([float(number) for number in numbers[1:]], dtype=np.float64)
+                p = PoseSE2(arr[:2], arr[2])
+                v = Vertex(int(numbers[0]), p)
+                vertices.append(v)
+                continue
+
+            if line.startswith("EDGE_SE2"):
+                numbers = line[9:].split()
+                arr = np.array([float(number) for number in numbers[2:]], dtype=np.float64)
+                vertex_ids = [int(numbers[0]), int(numbers[1])]
+                estimate = PoseSE2(arr[:2], arr[2])
+                information = upper_triangular_matrix_to_full_matrix(arr[3:], 3)
+                e = EdgeOdometry(vertex_ids, information, estimate)
+                edges.append(e)
+                continue
+
+            if line.strip():
+                _LOGGER.warning("Line not supported -- '%s'", line.rstrip())
+
+    return Graph(edges, vertices)
diff --git a/SLAM/GraphBasedSLAM/graphslam/pose/__init__.py b/SLAM/GraphBasedSLAM/graphslam/pose/__init__.py
new file mode 100644
index 00000000..afb85490
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/graphslam/pose/__init__.py
@@ -0,0 +1,5 @@
+# Copyright (c) 2020 Jeff Irion and contributors
+#
+# This file originated from the `graphslam` package:
+#
+#   https://github.com/JeffLIrion/python-graphslam
diff --git a/SLAM/GraphBasedSLAM/graphslam/pose/se2.py b/SLAM/GraphBasedSLAM/graphslam/pose/se2.py
new file mode 100644
index 00000000..88518510
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/graphslam/pose/se2.py
@@ -0,0 +1,171 @@
+# Copyright (c) 2020 Jeff Irion and contributors
+#
+# This file originated from the `graphslam` package:
+#
+#   https://github.com/JeffLIrion/python-graphslam
+
+r"""Representation of a pose in :math:`SE(2)`.
+
+"""
+
+import math
+
+import numpy as np
+
+from ..util import neg_pi_to_pi
+
+
+class PoseSE2(np.ndarray):
+    r"""A representation of a pose in :math:`SE(2)`.
+
+    Parameters
+    ----------
+    position : np.ndarray, list
+        The position in :math:`\mathbb{R}^2`
+    orientation : float
+        The angle of the pose (in radians)
+
+    """
+    def __new__(cls, position, orientation):
+        obj = np.array([position[0], position[1], neg_pi_to_pi(orientation)], dtype=np.float64).view(cls)
+        return obj
+
+    # pylint: disable=arguments-differ
+    def copy(self):
+        """Return a copy of the pose.
+
+        Returns
+        -------
+        PoseSE2
+            A copy of the pose
+
+        """
+        return PoseSE2(self[:2], self[2])
+
+    def to_array(self):
+        """Return the pose as a numpy array.
+
+        Returns
+        -------
+        np.ndarray
+            The pose as a numpy array
+
+        """
+        return np.array(self)
+
+    def to_compact(self):
+        """Return the pose as a compact numpy array.
+
+        Returns
+        -------
+        np.ndarray
+            The pose as a compact numpy array
+
+        """
+        return np.array(self)
+
+    def to_matrix(self):
+        """Return the pose as an :math:`SE(2)` matrix.
+
+        Returns
+        -------
+        np.ndarray
+            The pose as an :math:`SE(2)` matrix
+
+        """
+        return np.array([[np.cos(self[2]), -np.sin(self[2]), self[0]], [np.sin(self[2]), np.cos(self[2]), self[1]], [0., 0., 1.]], dtype=np.float64)
+
+    @classmethod
+    def from_matrix(cls, matrix):
+        """Return the pose as an :math:`SE(2)` matrix.
+
+        Parameters
+        ----------
+        matrix : np.ndarray
+            The :math:`SE(2)` matrix that will be converted to a `PoseSE2` instance
+
+        Returns
+        -------
+        PoseSE2
+            The matrix as a `PoseSE2` object
+
+        """
+        return cls([matrix[0, 2], matrix[1, 2]], math.atan2(matrix[1, 0], matrix[0, 0]))
+
+    # ======================================================================= #
+    #                                                                         #
+    #                                Properties                               #
+    #                                                                         #
+    # ======================================================================= #
+    @property
+    def position(self):
+        """Return the pose's position.
+
+        Returns
+        -------
+        np.ndarray
+            The position portion of the pose
+
+        """
+        return np.array(self[:2])
+
+    @property
+    def orientation(self):
+        """Return the pose's orientation.
+
+        Returns
+        -------
+        float
+            The angle of the pose
+
+        """
+        return self[2]
+
+    @property
+    def inverse(self):
+        """Return the pose's inverse.
+
+        Returns
+        -------
+        PoseSE2
+            The pose's inverse
+
+        """
+        return PoseSE2([-self[0] * np.cos(self[2]) - self[1] * np.sin(self[2]), self[0] * np.sin(self[2]) - self[1] * np.cos([self[2]])], -self[2])
+
+    # ======================================================================= #
+    #                                                                         #
+    #                              Magic Methods                              #
+    #                                                                         #
+    # ======================================================================= #
+    def __add__(self, other):
+        r"""Add poses (i.e., pose composition): :math:`p_1 \oplus p_2`.
+
+        Parameters
+        ----------
+        other : PoseSE2
+            The other pose
+
+        Returns
+        -------
+        PoseSE2
+            The result of pose composition
+
+        """
+        return PoseSE2([self[0] + other[0] * np.cos(self[2]) - other[1] * np.sin(self[2]), self[1] + other[0] * np.sin(self[2]) + other[1] * np.cos(self[2])], neg_pi_to_pi(self[2] + other[2]))
+
+    def __sub__(self, other):
+        r"""Subtract poses (i.e., inverse pose composition): :math:`p_1 \ominus p_2`.
+
+        Parameters
+        ----------
+        other : PoseSE2
+            The other pose
+
+        Returns
+        -------
+        PoseSE2
+            The result of inverse pose composition
+
+        """
+        return PoseSE2([(self[0] - other[0]) * np.cos(other[2]) + (self[1] - other[1]) * np.sin(other[2]), (other[0] - self[0]) * np.sin(other[2]) + (self[1] - other[1]) * np.cos(other[2])], neg_pi_to_pi(self[2] - other[2]))
diff --git a/SLAM/GraphBasedSLAM/graphslam/util.py b/SLAM/GraphBasedSLAM/graphslam/util.py
new file mode 100644
index 00000000..070dc1aa
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/graphslam/util.py
@@ -0,0 +1,78 @@
+# Copyright (c) 2020 Jeff Irion and contributors
+#
+# This file originated from the `graphslam` package:
+#
+#   https://github.com/JeffLIrion/python-graphslam
+
+"""Utility functions used throughout the package.
+
+"""
+
+import numpy as np
+
+
+TWO_PI = 2 * np.pi
+
+
+def neg_pi_to_pi(angle):
+    r"""Normalize ``angle`` to be in :math:`[-\pi, \pi)`.
+
+    Parameters
+    ----------
+    angle : float
+        An angle (in radians)
+
+    Returns
+    -------
+    float
+        The angle normalized to :math:`[-\pi, \pi)`
+
+    """
+    return (angle + np.pi) % (TWO_PI) - np.pi
+
+
+def solve_for_edge_dimensionality(n):
+    r"""Solve for the dimensionality of an edge.
+
+    In a .g2o file, an edge is specified as ``<estimate> <information matrix>``, where only the upper triangular portion of the matrix is provided.
+
+    This solves the problem:
+
+    .. math::
+
+       d + \frac{d (d + 1)}{2} = n
+
+    Returns
+    -------
+    int
+        The dimensionality of the edge
+
+    """
+    return int(round(np.sqrt(2 * n + 2.25) - 1.5))
+
+
+def upper_triangular_matrix_to_full_matrix(arr, n):
+    """Given an upper triangular matrix, return the full matrix.
+
+    Parameters
+    ----------
+    arr : np.ndarray
+        The upper triangular portion of the matrix
+    n : int
+        The size of the matrix
+
+    Returns
+    -------
+    mat : np.ndarray
+        The full matrix
+
+    """
+    triu0 = np.triu_indices(n, 0)
+    triu1 = np.triu_indices(n, 1)
+    tril1 = np.tril_indices(n, -1)
+
+    mat = np.zeros((n, n), dtype=np.float64)
+    mat[triu0] = arr
+    mat[tril1] = mat[triu1]
+
+    return mat
diff --git a/SLAM/GraphBasedSLAM/graphslam/vertex.py b/SLAM/GraphBasedSLAM/graphslam/vertex.py
new file mode 100644
index 00000000..6fb1f0d0
--- /dev/null
+++ b/SLAM/GraphBasedSLAM/graphslam/vertex.py
@@ -0,0 +1,67 @@
+# Copyright (c) 2020 Jeff Irion and contributors
+#
+# This file originated from the `graphslam` package:
+#
+#   https://github.com/JeffLIrion/python-graphslam
+
+"""A ``Vertex`` class.
+
+"""
+
+import matplotlib.pyplot as plt
+
+
+# pylint: disable=too-few-public-methods
+class Vertex:
+    """A class for representing a vertex in Graph SLAM.
+
+    Parameters
+    ----------
+    vertex_id : int
+        The vertex's unique ID
+    pose : graphslam.pose.se2.PoseSE2
+        The pose associated with the vertex
+    vertex_index : int, None
+        The vertex's index in the graph's ``vertices`` list
+
+    Attributes
+    ----------
+    id : int
+        The vertex's unique ID
+    index : int, None
+        The vertex's index in the graph's ``vertices`` list
+    pose : graphslam.pose.se2.PoseSE2
+        The pose associated with the vertex
+
+    """
+    def __init__(self, vertex_id, pose, vertex_index=None):
+        self.id = vertex_id
+        self.pose = pose
+        self.index = vertex_index
+
+    def to_g2o(self):
+        """Export the vertex to the .g2o format.
+
+        Returns
+        -------
+        str
+            The vertex in .g2o format
+
+        """
+        return "VERTEX_SE2 {} {} {} {}\n".format(self.id, self.pose[0], self.pose[1], self.pose[2])
+
+    def plot(self, color='r', marker='o', markersize=3):
+        """Plot the vertex.
+
+        Parameters
+        ----------
+        color : str
+            The color that will be used to plot the vertex
+        marker : str
+            The marker that will be used to plot the vertex
+        markersize : int
+            The size of the plotted vertex
+
+        """
+        x, y = self.pose.position
+        plt.plot(x, y, color=color, marker=marker, markersize=markersize)
diff --git a/SLAM/GraphBasedSLAM/images/Graph_SLAM_optimization.gif b/SLAM/GraphBasedSLAM/images/Graph_SLAM_optimization.gif
new file mode 100644
index 00000000..2fabeaaf
Binary files /dev/null and b/SLAM/GraphBasedSLAM/images/Graph_SLAM_optimization.gif differ