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/** Copyright (C) 2012-2013 Simon Lynen, ASL, ETH Zurich, Switzerland* You can contact the author at <slynen at ethz dot ch>* Copyright (C) 2011-2012 Stephan Weiss, ASL, ETH Zurich, Switzerland* You can contact the author at <stephan dot weiss at ieee dot org>* Copyright (c) 2012, Markus Achtelik, ASL, ETH Zurich, Switzerland* You can contact the author at <acmarkus at ethz dot ch>** Licensed under the Apache License, Version 2.0 (the "License");* you may not use this file except in compliance with the License.* You may obtain a copy of the License at** http://www.apache.org/licenses/LICENSE-2.0** Unless required by applicable law or agreed to in writing, software* distributed under the License is distributed on an "AS IS" BASIS,* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.* See the License for the specific language governing permissions and* limitations under the License.*/