# 2D lidar SLAM

2D lidar SLAM 示例应用程序基于 `Cartographer`，能够基于 2D LiDAR 传感器完成室内地图构建和定位。适用于机器人的室内导航。

![2D lidar SLAM](data:image/png;base64,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)

## 2D lidar SLAM pipeline 流

![2D lidar SLAM Pipeline](data:image/png;base64,UklGRg6HAABXRUJQVlA4WAoAAAAQAAAAqwgASwUAQUxQSAoDAAABRyAQSOEmFxERDBKRts3mX/gODyNiAjDjqSls4di2tay5OGU8GYCWLiUOI2BRxpPSk69Ev+/N+9cBnPUT0X8GkiTJyCZ6L17AB4AC8fcfRUSoqCUbvZdg2Mj/+LqcUzsYPOIOc63+GEAyLGVbGkIyzPRlEMlJhpZRhKum8xhhLtW9gSSNjAZJpTdKKrWJUi2DSWpxc5o4iQs04ZJzpEynPLEfWfDEKLGDlA0DSsrSGVFUpQ+iaEhTojiNPYmUB5dQsSKKieSJ4l0KROEkK05ha//577///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///vvvv//++++///7777///q/957///vvvv//+++8/wHiicFDxLq2IYiItiWIEFXfSjCgOpHuiqEstoqhIG0RRkuSR8pkMUh68i8x4ohk544lqZCPw5J/GWOY0cRrXQspc2vA0eWsiDzj5TSBZMGmkVD3NhkdKS22QvCWdPiniRBk2lgwxlDKvZ5LcGQ/g42VuR/my0X3x3PA/7pVU0BIBVlA4IN6DAACwEgWdASqsCEwFPwGAuFcrJ7IjoLK5UkAgCWlu/BgSgjP/+/X9az5TBtRjIZdB9CL77XPe7KHegXy/jjv0+oj+0bvjzK/s56tn/K/W/2i9+69AD+F/2v1pPWh/x+S2eTP8Z/iP2d+AXyL91/3v+I/br0j/H/sX9z+X3+E937LX6h/iea38v++X8X/Le03+R/4Phf86/9D7ZfkL/Lv6H/s/8F+RXq07SgAP6T/bP2R9Pj8TzM8QHv0vC89l9gX+iecD9c/7r1kfYfpGdecNcV8Viv8fpc0sboaDbCK+/6XNLG6Gg2wivv+lzSxuhoNsIr7/pc0sboaDbCK+/6XNLG6Gg2wivv+lzSxuhoNsIr7/pc0sboaDbCK+/6XNLG6Gg0dI17Trn2B6x59apQZ6ovafxY7b+Y7cTMDMcduJmBmOO3EzAzHHbiZgZjjtxMwMxx24mYGY47cTMDMcduJmBmOO3EzAzHHbiZgZjjtxMwMxx24mYGY47cTMDMcduJmBmOO3EzAzHHbiZgY8/3EF9RtEVquOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauR3qvRFarjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjvEhp3vPtEVquOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq464IdyVquOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs8aOiarjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNx45Z7+Q7z7RFarjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46za2yE/7RFarjrNq46zauOs2rjpxQSlP/MJR4LbrnzbYe3apyh4KsoeCrKHgqyh4KsoeCrKHgqyh4KsoeCrKHgqyh4KsoeCrKHgqyh4KsoeCrKHgqyh4KsoeCrKHgqyh4KsoeCrKHgqyh4KsoeCrKHgqyh4KsoeCrKHgqyh4KsoeCrKGVm7DSGrBwtTqAwJne8++1Wf5DvPtEVquOs2rjrNq46xqgEjSNMOEO8+0RWq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs3Wj4iR6K/FolXX6xPefaIrVcdZtXHWbVx1m0aJ2iOOiAeBcl1twKwm5Kxf8LUDX9wv6iIcq3ebjeZ1V3RPVLkcdEA8C5LrbgVhNyVi/sHCxQUIDoL8aJT3n2iK1XHWbVx1m1cE0OfDBDvPtEVquOs2rjrNq42V+JfcHMszawIsjtQBKD+lwpRtjZxsHk7P9fiXzYW+woc+le2VR8hicoDD2xntp1NMpRRoitVx1m1cdZtXHWbVx1mnshxe0VQhp3vPtEVquOs2rjrNq46zaNE7a06zauOs2rjrNq46zauOn9m8vn4B1wAG2x7C7U/AMp3hnpF4QZAq4TupBA54OqS3X5a9dc18ElAG/A9evUYZn8PRAnkxEPpJBRQWkxcKnOwGdbgMAoGRNnTLNoX5OcJyFknEGUaQfVnIFX0SnvPtEVquOs2rjrNq46zT2Q4vaKoQ073n2iK1XHWbVx1m1cdZtGimyCgwQ7z7RFarjrNq46zarZZqzGujsD6a9jRltGIRgrW8k/6Wr5IryopV3+fZSy2oFEtXP+HbtZJcm/gpZx+uZbShbueMVlwpCeBMvxcBffsVdc5H+LZ7rUjnZc3aUoeedmTmu2qvSBN5r7pUfzJmQVRFarjrNq46zauOs2rjrNo0QP9ojTDuStVx1m1cdZtXHWbVx1m1XZKqS0SnvPtEVquOs2rjrNq4CPFA8PLlZj4gRwhT0DxGsZT5n1cFuPePcEP1dVmRG2jjpAMQAGPQspuqBMDQ1qBGR16pXmerIdhZpz9qOzsB9uMDy2gsEE5Mqus2rjrNq46zauOs2rjrNo0QP9ojTDuSsUC74YAqjeTI+6VOUPBVlDwVZQ8FWUPBVlDwVZQ8EEMtor7OldaNmBgh3n2iK1XHWbVx1m1cdZtXHXQGmiLE34CgUGCHefaIrVcdZtXHWbVx1kDM/nv531hKmRwHCBpoxzgP9QJhncPaiPFG8mR90qcoeCrKHgqyh4KsobZI2+4Sgv6Dg/z5MLAnm1cdZtXHWbVx1m1cdZtXHWbVx1m1cdZtXHWbVx1m1cdZtXHWbVx1m1cbhw93vQP7AgvXkq01oDaqPYRvGrbpVQAVtngfvLIYWoMwt4J1Exx24mYGPoA0JIie0BSgoMEO8+0RWq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauCZx6IrYbcTaICBkFBPGWT28fGMlHdJQ2arhas1S2QiX0kkGPGmQshlU53wuH3P1sxBJ6lQ73wY2BghSVnDVx02rjp2LJV3T1RAf2hOeoSynsxEXA6b0tZ+cxDRbF3bgD1HhHd/zauOs2rjYpd2HktPa8I9mIi4HTelrPzmIaLcZJySq8ShJqFQYdQDoJ8pyHxomodTzT2Q4vaIBh/6+waPUL1qsxd2wF73WeM3AQAUFyWa4Uk6EO8+Ev15tpXAcCgpXav1yNjRo0aNGjQYgZymQchVQlnHpVbYjrXf6REXA6b0tZ+cxDRbjJIvH7zauOs2rgSSh/e0TQxeDFwL78pBi4F9+UgxcC+5I8cNY7HNo59oqhDTvTMz+e/jEjn67T2cQtW5CV6kZjk94sc08KLVAVUWCRin38h3nwyPfF3uHBSQWAI0kDUdOnTp0yvw9q+zm+PctTz3Nfz38h3n2iK1XHWbVdYVx1m1cdZp5kW6y0tEp7z7RFarjrNqusmYEvB8KChAdBfit6iM2rgH1HMQMLb88s1xCOY52egmBK9rswBpAc91aIvAwVgIMYzO4v2I2b+r+znOL7BuSgoMEKS3X+NyLqS0TtasTjMDBDvPtEVquOs2jQ5EOiK1XHWQH4StVx1m1cdZtXHWbVx1CBuQjVnDaWjsP2E/SrynvPhPJRzSkxYsWK4FTEyMQ7z7RAy3X+NwprLS0PZp3vPtEVquOs2rjrNo0ORDoitVx1kB5pT3n2iK1XHWbVx1m1cEzj0QMrOQUGXmS2BgqPRpa/uexgklsPaiPFG8mR9zGM4eCrKHgqyh4KsoeCrKGSpcOV/iAqFdlyqeszC7zauNw4e73n2iK1XHWbVx1mnshzPGiU959iNmex3CgoMEO8+0RWq46zT2Q4vFj8/kPC1ANJ4qjewegqyh4KsoeCrKHgqyh4KsoeCrKHgqyh4KsW+OpgR2znWgfyHebKJurRFarjrNq46zauNw4fDrLS0Snuza9KCgwQ7z7RFarjrNq43Dh7vTMz+e/nfWEqe9nf4/S5pY3Q0G2EV9/0ge30q8p7z7RAyoUFBQYId59oitVx1kDM//URWq46yA/CVquOs2rjrNq46zauOoSs5BCCN40Srr9Ynod2Bo2PpKPulTlDwVZQ8FWUPBVlDwVZQ8FWUPBVlDVrEbsl1XTpmaI3HWbVdj8/kO8+0RWq46zauOoRhPwsWJjl8Q23Sp8aTMW06y0V3Azn/ktJJMHwaS1Hb6Uus/8vc20pT8spa+04ppRXXULwZR55AnYgUZvNKfBJLRKe8+0RWq46zauOoSs5BCCN40Srr9YnoJWD330GhaEj02gTDO4e1EeKN5Mj7pU5Q8FWUPBVlDwVYod28kFh4HHpOkfoTkjfkO8+LHSkv/CoqXTsyoekbAQraCjtZuou8mUP3tyIsm5hMiIbcUByCDjvipohL2H160UYwLperE1GeFe7P4T87jWxY0WoS/GkLGJzPoUZRLxCbgTm0XzHYenDfUgRMftyzTDWASHZ9SLK1abYwNq+Bo0jpZAKWZfgILsyo89+RGB+D8HJ6JMq+vAwfP87cQ4QhvyrgkxXflTG5lgIIyUtxz0UWHhkWvgEkwf39GBfCW7xPcdPwzkOtlogI3jOgD4UFCA6C/FSditpCHxAxTQ40iWlhEkjdVCtyBYtb3LAMn2yTePY8s1Gznx+oitVwTMwJE0pJjrQqXiheuYNyDy2roHRuFzHXLoazrm4kHt8eM7WAP8FyPxxjVaeZukkT6N6uu8BwaiuBI8MM81fgYN/QHYeYB/vjqZYC77Iql2a6xe2QphDoq7pDJen8gFxSkdYV75exSfKIXkuoO3UqVB7Bo5ab9KJEnv3aJ7ymyfUfHbs6ogdpU1m6VGLXqB8lUIsV0oxI62/pdcRknz3we0CUrDKJVb/JrVDQJTucywlnpKW8DLmDW/sgmhVEK7IF9S7ZjdKdA+6mSAYQD3YITuukHFxkxD7wjVa85F7HbYMC94KIIUlZyCgy8yWwNFTzarPMjIO6fyRrqh8jh7DAwczV/NdxQgigJPm01+TsfwdihoItpT7FxLS26i49TGi7QAvB/GHy4hBAqSCiCq5cRzfylHK+3kVBoEw3L3L3TT3nxY/PPg/OQUF6hTMlj8/VqPAWXaiat3mhvi71Cy5gxUn9z8PJqaaA+lI8JPcculmMrQF23lhgQ6UEFKghFnwa1mTb0tp7ntdjhPM1B9mP0IumYBMiBWXcXOF43bwjMVuq10cbOFT5V0CI7u5T0zKmKsFBgh0PIHGbTSmIAOpTl3krUPhUTEPb3bcHXyZ6cKYpPQP41CxnE4yYdTLLEKfZZnt0xroiuqsPJNaLwGjj0BY5JgRN+WSVm1Eky9/nRhRFqVK65g2GW9NTdOe1kXiGe3Ca1PnbJobzq9+4d5so3L9eCiCHetvtmBLwfCgieo1S2J9iX1xLxlDvuQAUGtOUjA/4gmGAr5LFWLwvvLe8+kUb4AiEYNsIcwQo2yacCgvWEEVwtPOEfQUrtX64CD1QyQ7uUoOy8TMmyW0+odtxjLJ2F9/ylSYIUO1nksygUezN8nQe/pS7hExaf3k6dOnTp06dOnTp06XEvC6XcvB3IT3n2rVKmQDpMqu+PMhhtTBWCnUGCHTMz+eddPhgiBHxkrHshxe0XXNtuSeJRi11owqXrSNHTM8eBlKHVARzR23I63pSrCg46bNq42oeOvHHqgxx/xXBmo6dOUzpycZ0bGd2c3x7lqeaqErVWj1y6uT3MgWFYTrB+Fo4XldNGZPW6eK75DGl6rmjZHHmdMylwMcQdorM6CtciYeAt6VvcdY0ekOl0e7NbHC+jxN+QpKhQUFBgh0NzlB5a7F37Bo6MiqJG/9oAe7dHTpYtYInnoNliTPnld4mGPQTvyh6WsuCqQ4D18bNih2OJuxZqxHu1uEIR2cms/S3YZmmHFombZHw9VgHgcK+9ol6fyCJLZEn43Pj09oiQMtiV6exJK6Kx8oa+Od3l44WJ+lXlPegf2BBe8FEEO81Af5VWdg631iW69R4d3XS9WmTwNDjiMxKNJCwDpuArVrm8IbOcwqcfkFD/C9Fr1TJgp6ErVcEzkA8IlrRFargwn3RFD8qctyZScRhxtsNM1PLt9ZsOj7pxFGP7h8uUeM9/kfGj46+FBPk3owXucYulCg3ZinBbCfrTYsnwwlsBC3jOyqg3BLdoxb4aIrHsUoKDBDvPsRqKGaxJuOQjEyYAIhdbWiwsdphQcNwPb93i9WCw/d7g//vmZQbDuK9AVkDXBg7au86Ke8xLF96ZG0lme0E7x8hBhkYGNqbbb+TE6GAjkNLgfiF4ePrbwVFUE06AmHTvvSaolyA5Qu7UTF9Duv+60pOFHzLPXiVxCv/A9vB0ZCHLpW+N5l66RjduE93pmZ/PfzvrCVNJWcgoL2Ov1vkA/WvXr0epOR6wc2gM2rgmceJCJa0RWq4JobDKwRakgo0V+AHbROBHQG2f6NV8dgBI+0xiQTwA1D5UX81+Z8o7Jwsmt2bRw6IrHshxe0RWq46hCe94/LCPCQVjc9/VJVG1nrGJCl78gft3RhC/WGlgxzR2pJihGvc2RsdwUK9gUC8SEXGXYNK3sW0IRPjxPfVjFhKsIu6nRlWN5S6dE0TOuWRe8xyHYoHWAz4uM2Ep6sDaodKkuHcV7/+M6APhQUIDoL8UmXk46XDkTrSobpUfdKnKHgpzX+nsoeCrJf6dzh4KsoeCrCRJK4lMR9dxR+RqKKcH+0RWo0TtBQUGMod6s5BU4DBDpmZ/PfyHefaBHU8qJluUUgxxdAln7785hyCqciWgY3n+QpKzkFBl5ktgYoPMhIzYaBMM7h7UR4o3kyPulTlDwVZQ8FWUPBVi3x1LBXAI6oe73n2gR1PHcKCgwQ7z7lWwu809kOL2iK1XHUIVYitcbvefaIrVcdZtXHUJUKCNWcNpaOw/YUFBQYId59oitVx1m1e4xwjTWKarjrIGjgXklolPefaIrVhlb6VeU959oitVdarefaIrVcdZtXHWbVx1kBsUnynIfGibesJUysrhjjQ3Spyh4KsoeCrKHgqyh4KsoeCrKHgqyh4IH3OtjDZciArjeNEp7s6H7z7RFarjrNq6J579eCiCHefaIrUZrqQoKDBDvPtEVquOs2rgkz4XvBRBDvW32zAjOBj59I0j9AkkPdKnKHgqyh4KsoeCrKHgqyh4KsoeCrKG2SNvuEoOI29gnYb7ovxPfyHdnRestLRKe8+0RWq46zT2Q4vaIrVcdQluwoKCgwQ7z7RFarjrNqusmYEvB8KChAdBfit5V5DgdHpDZfW+Agk3RbQ4i49Edm3CLQy1ykSVqq/hDKt1ZJNv+uXej5LSf81nfHYsn8fi0QcJajKML2BJxGOM0t2OUOBbfdF+J7+Q7s6H9PJaJT3n2iK1XHWaeyHF7RFarjqEKsRWq46zauOs2rjrNq43BfhP0q8p70D+wIL3gOt9Xaq+pEGO+vRfU4W+tHhn98ipelnXXqGchcDI8oAvvG3VWjnCB3dTPtm0tafs0PLubtp50Ijzt24UxFY0wLYMFimAiA7JAmbpgqxyqexZCx6pfuOhBYQsMwyvUCP5qeuQhOUOsNh00rYna6wIUaJpbNMMvuI4G1Y8FD3hEtaIrUM9W9aGuOs2rjrNq46zauOoSs5BQYId59iNcYGCHefaIrVcdZtXHWaeVBtEBG8aJV1+sT0zL4H4MIFW7Cr17iqY4B2TGvG/f0dTrgKbath8Al/L+QPnaYGIJgmh3Br/7TktFI3I/SrCDntPdkdowXIEDDGKQxoJmPytmk9kKxDlqZ08gUV4erwCLndllYFYf9if7F59MwUnVKU2ful9kuStBey8EjxnWD8cAL+o3HWbVx1m1cdZtXHTqbsSfFEoMEO8+z+xv//3iK1XHWbVx1m1cdZtXGxjjQ+ighBG8aJV1+sT0zM/lyna0FfNwPyOjLF+Lkc7TFtgzoMN8rvus0TzokNx7lx2OlAh7q8JCu7n2VtpdAZ9l2I9JSmAI8PdiMGA3olv4O3CYX169evXp0jyPZq68yARin2WEitnjtAGT2DBgwYMGCoCGRLGWcBiShw4cOHDhwSNSus9+UligoKDBDohqzEwO8ZHI/c6dOnTp06dOnTp0vIQpgwYMGDBgwYMGDBgpswhlgcSA4d2c+J7+R6/WJ6Zmfy3wfob43lhLEvbvPanbav2Byeuc+/JwfGcbClRD8NSUMVd2QAmukUAzI+aNT5zhpqNboxwjG7CCX0MK9OvPRXcQ9FX6OfCymzhxcdAVzcMrt94y04Ph5EB+opCKaSs4asTVcdZtZVYvvyW8CVwaULUS621M6ihAh0RWq46zbjkUS6/VfJa4qfkKX+kBRxQlkGFQUEvB8KChAdBfit6iMdFc7GTG5zUz2thS22AQWZUJnTqrTUSEyuT/3HHinjMeAT3Zz4l/dZdWiK1XHWbVx1m0ZBOgoKDBDv8nKCgwQ7z7RFdbajpaWh6+iU959oitVx9KaSs5BQZeZLYGCo8/73/ov7Bq5ulTkv9PZQ7Tua/09lDtPZQ8FWUO09lDwPM27+nH4y1qmpzq/jcInS0tEp7z7SnJD0ZStSNEqZ1Et1lpaJT3n2iK1XRQa7hQT0l67hQUGCLOoxzJEBG8aJV1+sT0PcN3KCQ90qcoeCrKHgqyh4KsoeCrKHgqyh4KsobXZZTgZ9lG5fyHefaIrVcdZtV04Z9pBSgpD0tLRKe8+0RWq46zaubIctTBxf3C5LVcdZtXBM49EVseOWe/kO8+0RWq46zauOs2rjYPw1shjGHLqne8+0RWq46zayRhI3IqwUIIElolPefaIrVcdZtXIGvfxoZC5VolPefcq2BHdLMrqwIE6ne8++1Wf5DvPtEVquOs2rjrNq46xpMOJVCgzKuidh7UR4o3kyPulTlDwVZQ8FWUPBVlDwVZQ8D70VqN5Mj7pU5Q8FWUPBVlDwVZQ8FWUPBVlDwVZQ8FWUPBVlDwVZQ8FWUPBVlDwVZQ8D70XAIo3kyPulTlDwVZQ8FWUPBVlDwVYUhvGlPCfCxYtgh4WoBpQYId59oitVx1m1cdZtXHWt4MXAvvykGLgX35SDFwL7nxNNFuMk5JVelrPzmIaLcZJySq9LWfnMQ0W4yTklV6Ws/OYhoH7+LHbfzHbiZgZjjtxMxnnUSnwtQDSgwQ7z7RFarjrNq46zauOnlBj5YMGDBgwYMGDBgwYMGDBgwYMGDBUYSfrQrwkocOHDhw4cOHDhw4cOHDhw4O2Ko8hQUGCHefaIrVcElcdZtXHWbVx1nDMDBDwtQDSgwQ7z7RFarjrNq46zauOoQBFarjrNq46zauNmZBCEdH8h3n2iK1XHUIAitVx1m1cdZtXG4Kyskfu8KPnAfZ6dPNXHWbjxyz38h3n2iK1XHWbVx1m1cdZAZK1XHWbVx1m1cdQgCK1XHWbVx1m1XWFcdZtXHWbVx1m0ZigoKDBDvPtEVquOs2ruFWf5DvPtEVquOs2rjrNq46zaMxQUFBgh3n2iK1XBJXHWbVx1m1cdZp5K1XHWbVx1m1cdZAZK1XHWbVx1m1cdZtXHeJDTvefaIrVcdZtXHWbVx1m1cElcdZtXHWbVx1m1XWFcdZtXHWbVx1kBkrVcdZtXHWbVx1CAIrVcdZtXHWbVx1m1cjvVeiK1XHWbVx1m1cdZtXHWbRLRLAQC0AElcB0mf8aJT3n2iK1XAh5x9LR5xDuqvpLoGus2rjrNq46x452iGfaL1S3B9tn8GCHefaIrVcdY7JyoL3zgwbs0uD1qKCgoMEO8+0RWq46zceOWe/kO8+0RWq46zauOs2rjp56JfCPeE4AoMEO8+0RWq42gTNeO9oime8z0SnvPtEVquAwRNeO+iXIa9/aIrVcdZtXHWOX7U419Qgm+ZJaJT3n2iK1XHWbVyO9V6IrVcdZtXHWbVx1kO/r3axmLT5AByxbxb1ITSt7kDhw4cGIEMqlYXhBFXXJPf8GDBgwYMGC+n9GnT/bKYT2DBgwYKpU4UetsSq8be7dCxkAHK/6F1EYOykzljQBGaa9p15solPefYR2U/eX/yGDBfTw7OUGcFg+bDFixTDGBbHu0RWq46zauOs2ruFWf5DvPtEVquOs2rjp7qPkyK+/6XNLG6Gf32dNopmfF3UoMEO8+0RWq5JuV+wJRGTgPJVrthQKCPmjgK1XHWaWgfihz053Bn9n9YL+0RWq46zauOs3Hjlnv5DvPtEVquOs2rglCXv5DvPtEVjzIpm5FCE8h3n2iK1XHWQGSiHmlPefaIGAIrVcdZAeaU959oEOMGCHefaIrVcdZuPHLPfyHefaIrVcdZtXBKEvLRbb/dwAd9lbHpJz/RkpVqi9jZauyls7a92uL5Tj5eLDJOTwLMiJ4JATTIv9GATWrJ/IGDZp9JfW3E+ftDSVmwkC2ivXVeeBjYEFRFarjqEARWq46yA80p7z7QIcYMEO8+0RWq46zceOWe/kO8+0RWq46zauCUJeZajWnZ3RuYDfPm7u/L0hkFeZ+1xrRksEvfohuGi8s9vFZwsCOWfUrdw3D3BklP4LsSKUHoyE+Izi9JsFb5+0rNYDDb4bYYAXN/f+URSgLhgYRpQjsehKTpNFvrGyxtculQ+QaY+tWf/V/jggJxZ1p2uougSntkiDprDlHq/5VMn7ECKOr8/uarS5rht28vV9MpBxNsQCN0q8AWU8OTR727dmHLWUszbJaRpsVqrGIZvjrIDJWq46zTzIp7z7RAwjnkO8+0RWq46za2yE/7RFarjrNq46zauNwcYJR/k4W/HuZE9Fp5hRT9VolzGXU9G8UC6t5amqbm3rL+U8kM+xgFEPNJZryXD2jwLRDE+Rmi18G71KLJ8Tlt2Pe58pPGgWqvFkvi4MZVstOu55suUJ+UARReGMO7gooLIS9CgjxhqxoWCyOySW8hn19D2DGM3PTyUdsCsLJr2HoB913iGuc67LaIrVcbg4eoNDqJxSUVJiw0Y4WJe+2Ypx+MLGlU27PTjhU2BPdvidL/CHmlPefaIrVcdZtXcKs/yHefaIrVcdZtXHUIRzyEqqZdXZKjxszroTzJB3myFB0c6rowTciAPJ4FOR87e4xm2OFNr++yaSXTlnEcVYwiEaVsIBmfJxZ+IPBZwYT+TRL7DlyggnBZz0X8h3n2I1uO85OapUKdEK7/RyMGOWRfH5I59pSz+7yRn6ewdtxxUKo2ahK1XHWbVx1m1cd4kNO959oitVx1m1cdZp5kU919NIjJhXhUUkYBmA2t6LUEEJ+Q9lMMufFKARaIOYP2DHRFgBk20NkyVqM1CUGdV0Qh0ciCUpO/1L4W7C+BEKXbTI8Frx8kqEJouYLNjmw4LqqGUkungNyS466rd4IgCZQiAfRXnnHRkGhyekLGGBe7LaIrVcbg41hYq0AmRmhLAgqIrVcdZtXHWbV3CrP8h3n2iK1XHWbVx1CEc8Y9Ztueu2iE3rvuye2WEEwHMwBEdRu98HE7RVRqzPtAhxgklSW4E8dwr0StTV7KfkFZs8L173DlvKAacaW5ouoth0wf7vk8IcyNcaHr6HsGMaJT3nxWFcdZtXBKEvfyHebIUHefaIrVcdZtXHeJDTvefaIrVcdZtXHWaeZFPipPWPvDRJg5POLUluBQYJK+ApN4CgvdlsRrjAwQ7z4rCuOs2rglCXv5DvNkKDvPtEVquOs2rjvEhp3vPtEVquOs2rjrNJFmnymN1hKe8+0RWqsaHdB3od/0itNZtXHWbVx1m1WPPONXQw0DmVmy2qK1XHWN1WNAeL5DvPs/xLYhKoL2iK1CrYZ6Jq46zauOs2rjrNx45Z7+Q7z7RFarjrNq42lOcQoYMGDBgwYMGDBgwYMGCuZgHdRtDYWWVURNCShw4cOHDhw4cOHDhw4cOC6dpQuKvifhg5eyRk9gwYMGDBgrHmF6KBlT3n2h/wgNhRTFIAOWNGjRo0aCX4KCnxolPefaIrVcdcEO5K1XHWbVx1m1cdZtXJm2wivv+lzSxuNrNrpdBthFff9LmljdDQSF7RbrCK+/6WTcKCgwQ8Uq0RWq46zauOs2rjrNq46zceOWe/kO8+0RWq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2tshP+0RWq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq7hVn+Q7z7RFarjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauR3qvRFarjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjvEhp3vPtEVquOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq464IdyVquOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs8aOiarjrNq46zauOs2rjrNq46zauOs2rjrNIfr8VTA0yevwD+plhZ/XhNwYq+vaR/BaWiU95phDPRT/4mm/3USirUXEkPmV1klIQfvPtEVquOs0srxB3dvFIbl0RBf5qe8+wTK8+D9KJVAcwN61itjDnNLbP2PPfyHefaIrVcdZtbZCf9oitVx1m1cdZtXHWbVx1m1cdZtXHWbVYVzbk4mD16gojWGmjN+ewFMNlbRRG7wxjp3AR0rt0cDhaMcyaHJqm+NqYs52p3M9Ts2k7hwnmpVq/6PDKIiPAbXYbyodMYwQJMrgnPoyDezpBdMS/AFOHAHxkAhLEGzgFBWsrAPBDLPokiblUsMDu7veE9Q6lAUkpy14t3rSKBk+c1vPgDf7ZC9s/VHb6/eIrw7gsz2uJlvloRByn99VxKKFaNgXp6WKECbansZ4tHeJ8bc+s2E1UjAjh8O8QCJf8leR3hWTl8EJNUHAtQC0TpifjZYyvIPW0OxF5C3pcFqCGVa7zGJv/zxr/vnfQ8wMZruY6UffNaVgZOzfLfaIrY8cs9/Id59oitVx1m1cdZtXHWbVx1m1cdZtGjCI38ynSuZiDzpNtZK2fNFsvz8INYB9FmpfQIUFmJG8zNuwVdu/a49RoiagaWrUKMCO4hDs9JCeXw5tTJ3DoG3Xv21JgoPcNsFswdXiOwzx/284QlkEe52RipJmzSCHqBYVvQXF81faAtUUDvnZGwU8WP5fT9FpWltWG7voViudQZU3/FNge8KftMyaNLT9B91hgNMHRoFHoK4PVuJIsu+qApK+737T9f0zwwDAzwaY6ApCyAvg2UMTpnnPhfsAnzTE7gTLiUeoz4fTSKko7+7i0twgcOAiSW0RVonn0abzhATwsK5wlT7G/PnR4bjPwIFBBoR9bChJILhvFM0iA8KIUAudwrIoCLXYaN3T17B/8Eljd/iXvjNNnGaDhtk5mdNZLwY5JzhXtEWBo6JquOs2rjrNq46zauOs2rjrNq46zauOs0gStvaMUWGJ725hrFpfQwovreGbv5fHugbrgKgsGEgmhXZjyB5oi3E5HBYTY/EWIaHMctw67RRq2Gaji9Fz0br8xpvEKz7xdxfLNZpUp+9v02b9XuFtMfIATSBeCFWx+OTtDZoenhfN58VgJvew6AGe3I2gUvAUCqsK+8NEp71t9swMEO8+0RWq46zauOs2rjrNq46zauOs2h9NaJrUSN2in6kJ7yGWSgva4LsZylqBW2YMJ2SWiU959oitRrUzlANq46cVqf+9imFQYOzG8Ol3Z/tEVquOs2rjrNrbIT/tEVquOs2rjrNq46zauOs2rjrNq46zauUiuttPefaIrVcdof/Id59oitVx1m1cdZtXHg5ULwoKCgwQ7z7RFaruFWf5DvPtEVquOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrNq46zauOs2rjrWt5DvPtEVquOs2rjuv7Wcd9gAO5E+6IrVcdZtXHWbVx1m1cdZtXHWbVx1m1cdZtXHWbVx1m1cdZtXHWbVx1m1cdZtXHWbVx1m1cdZtXHWbVx1m1b/62YXWCmcGNvnsmJZzuhoNsIr7/pc0sboaDbCK+/6XNLG6Gg2wivv+lzSxuhoNsIr7/pc0sboaDbCK+/6XNLG6Gg2wivv+lzSxuhoNsIr7/pc0sboaDbCK+/5LrAlD7ICtwAA/v45X/70z/958P/95Wo9PbmyG8LoJ6r96OQQN2MB55lOSEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhISEhIR6UI4jBPsimb0uDfqwtgAAAAAAAi/8LDFY7K/8erathAAAAAAAFJDK5+vAAAAAAAHcrgAAAAAACUiDAAAAAAAAAAAAAAACHgYAAAAAABBFFgOM+iYlPY9gQV6/emFOo6OUU4SEJ2AL7/VO1m9Ff8SNlChnXlJv1OcTtvWTQuYnfOgtP2FJauz+eWO9a3elnulqS4jTSItQfgVauPdwUtjTkm/f1kHXIEStwujbjuWGHcsMO5YYdyww7lhh3LDDuWGHcsMO5YYdyww7lhh3LDDuWGHcsMO5YYdyww7lhh3LDDuWGHcsMO5YYdyww7lhh3LDDuWGHcsMO5YYdyww7lhh3LDDuWGHcsMO5YYdyww7lhh3LDDuWGHcsMO5YYdyww7lhh3LDDuWGHcrVjUp87d9YwlATvurHev5GNPToVhkokHJIOx3COpWyfXZKhJDYlp/VXbeAAnsgv3LyFsvl6OUkkvYZLnCi9fgZzBlSHNZtsf5VAXtOklg5orghe1+1rUj7/a1qR9/ta1I+/2takff7WtSPv9rWpH3+1rUj7/a1qR9/ta1I+/2takff7WtSPv9rWpH3+1rUj7/a1qR9/ta1I+/2takff7WtSPv9rWpH3+1rUj7/a1qR9/ta1I+/2takff7WtSPv9rWpH3+1rUj7/a1qR9/ta1I+/2takff7WtSPv9qxlM25AoD1n0VFwKBCPrUe6YACgbX22QBeunOpqjfswAP11GgJNABDpLwPyVbmzwAAAAAAAAKbsrl/hWDvfukvA8AAB2+gKsabHqaTx8yi3iWnz+1rRjV5X2IXXrYBZR0jnsQaKl3vTYSWg16c98gv20bgXo6hnzCb8pvSiXDSfKRcuWq8yEniy2uaNO2/86E80IclH8VMLXcyae+V0IIODNyLgZxuQlKUpsyPXKge6l0d33G5xdCSouxAvSNNkRg5CXp7rY0fHWCMezvojF98XG550rvGkMYkpZfMWuFi7AXvpMQkecxUoO1FvQT4xejC7OIKAusXDa49DttVkkWADL12AQDaxyinAPaAG+06+Z/PkWoBCXvI16oZYgjWDvkOkBlcvC/UqABVo4AA2OUAxgSYlbjKPxVMH/4zJDZTntq7joNDJVXIpqqFi8TIaH2UeALSRtjvEdQFeFfdWF3n6O3Mud8jTLXzdGHVfm29ThPTknu+UlkYq/uBaKg+SgwJs5P3z9wV5PdLKVlcUl/FDxLmXv48pi40cHr4Wn/gq5byEydz50NZ6x0YrG+CHYrkrc8vyDPeqIeSZtVnN2SsyGFb/K4nsLpJ83odmdb1eEMgQbiKkUvijsWAW7Jw9/BZdvTgrxXbbIsTVT3DD5oNmsyQmvO0XrXdSMx37Gf0nQyHSTnqSFHFLtSmsbrroF/aNVxK4UXxmV/XIOgwn1evAiMoiDJFuwUNZ4ZoRWreyKp7qaKeN4sDEjnJeTDarhrjXslxOtQz//jQ7OWflEMu80TZIXXYX9meuz6wr4x1oe51AB/Cm/5BJsx2XWSHyHpz1khKwsvjcJKjFxgUR0u4rjgO+OADG6UdONsKYEB59QRfTWmPLSyCLxIEqTyBNIUXJZ/AKqDvx2f3Xrr2suIftS9o3FNtMq7hXBLNORPamYCw9r+4nsGF8bNw0n1thIODD6QUqapXmNMvXIblKyqLRhuOB6oAAAAZeA5NuXjC0kw2Kq1e7QwiHmeBv1R3BljC3cokMeWl+BkItB7T+VJjCjnB/dA+7lbnMcPyYk9d/u4UQJsNimplE258atQytzm5X3wvAl5cpxfLdUHJB/i18lQBdfs/LU0PpX2SjmkfyLUbEqKLkjtaxYESM8AysBb+cpekXg/P6ah7sSajmQ0hEaEqVc0d3fhIHIwiGnjarG4LwcwTwYMUt1xhP2bMgITDWaIt7hvjRJy7ADoaoeUPxbxEv3wkMq5xt2+3X2YPkMpcbOFNocC2tmOyXnl7tnZamWyvdGEdN7Q19AiI4l/gY5omTtQwqMtxV9hpljpsvj2SUMvc8qS7jsnHps7TVCgnkXgI4YtuleebX0ajISpQh9V/niqvDcWsUJ3UlbJoxpboyKoUnxQIpvaPBNAQM+O6nSKWJthPcAl/JhQdDIYApGhpgX7Ra3wamMVx5l9K1yMX8iNrTDdybq2Tzy1WIFRtM7L+KXiBTXnswys8BC2tlu3MNpSlMnqtL9VCS83umF72m4NZj8iopImKpPAAAABphARJ+/M/c/osX+/tshtWctoPDj8ihZO0yDSQQpkAIyIP6cL2IsPZ0VayRVDWBUnF+tFUfQNE1qCYBM12dMYMKN0v/am7tmeCPU/BggdDDvbn4Vo4Gc5vk6hm0trXnbu0xSdEuFFoMK7usmgOhQ9ywmsv7CohiOTdUVHWcsu1hib2mHyBjcqBHKUHyCv9ggaVYuGyOKCFWahaO3kox1Tt/+Mi38LvniQE1hVvnnKiuWVfIFZFyO5uK893fGTLHiSqjl2ur9gKdes4Mio14IJPF+N5TOJFD1solN2tiistQiTznQT5ZlaV9TpOl4rpZ8mNv+Y3z9N9rahJMAAAXDC0gpFW/5Rj6scDu8OPtN5PrBF79hzzsxuC/2L3Re6L3Re6L3Re6L3Re6L3Re6Laqbu5faddUYrfpwA4wR2i10AEAAAAAJdu+LMj7rUMg6CL40OJPcq2PfUy/fwZVQClMqGl7M3dqEXNjbYc2Ucw+JnoiDU84HvT705VLIsbuxYFBQwUMFDBr4NLdbDoH4cmcOpHMiduIZZX4Q/mfDhUlQbkQ47JGQJUUEAAAAADObECwQoXaB54ngQgnDrbctrAQMhcOs2s/4k+k4j0FFIf/soTX7o3hD+z6Yc9L1vv3syA7BlP5WIJ/0OxD1J0ZjsmMRi0ImiQ94zMvZEevOkNcPuMI5PVATEowgj91ckSgSX93VJgvm5kpfAt0aWTGJxUBMrAvyNrt3aJv19yWRkg/GEDAi0V+yD++TLONzgrx/GSeL0iFvdnCz47MEIJw0hpwgAAAAI8LDgBeaA0rk6nol0SmZ4w/iSe1fx+KzICEQIUqQz61G1kv7+XlyAorvKTh07/UTFWKISPQx/RFvPK5SK8PBOHfp191jB+kUQq5M6TTnKl6dlBtD2wgPTeNMOrlFan1f1czuoIWL1S1G1Um6Z/zsv2AeW8/PPk69mTFkWotnCQsJ2jMoqEBtz5pJ/5AK6TKIK++wYeeDcxg72N9taDuwcsG/eqppjIDG6uxcxdbMKtDcXzb4plrdXTsRkVAIDj6Ao2DnLXHaGzTFTQTqfi+YXSx22IbBbvoNWlInQm1ccF5uN/X6PRzqzMraHsQeSmv6aEGDQkO/6/I8zGc6uAlBDpOWIAXaclB9fNJ22Li3KvfvERcuYDBaJb+rdQeBYX0DwWgbUkWodBYGRtUSn8zhIwigEUAigEUAigEUAigDqT0jEtBoly7BLRrt4hk20W4jHbGX5YLe+Jhu3sAVUsWbEoddlAIoBFAIoBFAIoBFAIoBFAIoBFAIn+Y/KWeH0Uoi3GInbA0M0AnpwuGj/kULpqjgpj5BxnLq0zQd0jnQdICDGARALo/r1u7EibodAX0fQsnhssaKe67GAEc4ESe43vlBNRUjCzZZDKsMMusnt+5OgA3Y3d11ujX/WA1SO3kHhFHCHUUgvs37FAzh7o5fM6jrToHLs9ZRs1Jkn7StqFF1AFaI9VMyK5owr2BiFZ5Hu5MEAADRXB7weevPWQqLwfwCgAAHH/VKQFcXfN1baf7W6XhHLXP+kjizyjkMM/LxI3j7o3SETF+6h/4tSKflherIcsYQoPnjYqQFNSxHkf4QG2RT/9eTbRwPS3mou5zHvGsT2tlIS+oGgO0Gv0b4qSWAb1jZbPLeRm+nAC2r1AlfB/5ML3cqsbkinoizBe1aGH64GZFuTZHKucR2z66tCnTRYLOlPtcncF9hmVSb1w8c2ILcyXhtDw/YxcHcJlM2zP4mv+pRSIlZYtZX0fWk2sqwufLEKLhTXplW5uvdHYT81r/ph6k5brFkjztyTtH0APsVNDMNOeEbiQqr/1LT6jLscbt6k9SDMuZMYJTbdce3wWgGam2r/vNo/6qjD6FpMF/pLDMuJSdxgkrRpgGwQa7sRyF4ALeURPB7LXpVR+WHtOTV9aEetpm2dJyqR8gw2vanUgAmBesksEvexrQJxFe2LZDm4JykKhilm2Kf8W43MdR36/glme5OhsQXTWsiyXDFljjFMqB8+d49OztZNkUp2fGtxyzo+b6TlNyxkGQYb4Z3YeLeJRbWGOnmZES7HPC7rIiXKQIYp9LCNGTlSZLY4kkfIHkop9svdD0kwbR+NcB8cywIaTc5Hc274LBqSYFEm92B2FP8vk1Yl2xyihQEOCI0Qjt01tsgHIfwT+BFzfMQE7Rg6zrRKn0zareMyd5pwEekDxPzocui2/Ed9ClAXk1rdZUOfxTgHFWPUGJiXYQq/blnDIFHNQZCKh9vpCc7xlBwW1ZwbS8ADYSPXoBO06/bbcCavc5vuvUfZGe5mqiwWlINyoIIoOBETz88AGyX6R7gPSvXGcfZHUTzu4dOK5KjUiUa4RWXEa1d1XQkWPF/yxyUCP5TuGRg3uDotHOYmRY7+HYQ2jDaPQsMAQAHOz77wAGaWn1Wg0VM0CxN4UNE8XA0z5r9dAbTEgVpBTy2lSnC5EKkyEY60XzIN/kGpYVhLN4ZvDN32GbwzeGbwzeGbwzeGQSqGNubiD7SeO1rcnmT5DQrWsUiVrbWZ/+8PQ2ey/xuD33oljwsBACUCACqibQimiV+txfqW6ZudvVs0RQNmpZ4brJ6yesnrJ6yesnq8D6jIFrKUok6J9W+WG0egwKggBAzAgAL14At9y2MAQAH4EAImHmZXa6vXog+zPVjgd23lQ4UOiE0jP/QxVKlcsrdF7ovdF7ovdF7ovdF7ovdF7ovci9ZPophsKAJW/TgBxgjtFruQgK6KCB9x0GD4indNppKzK69SXrUklOSDXOu1mHXge0jMV66Skj7m/iZ/3v5LMOSuAqwXtbIxFPNUQk+H9Pg9CyStFQHUkaW8Zr3pQJKtNR/uFUsuu2oTdzXrEbue3EJQWGloJD4PBqxt3SDWH4kvT1PUdjvkSs4vL7gPUsuAUsJXMs0yr/ck09T1laCfwvx26RZvl4NKvu5PZchjFyNM3LncS2Wm0FTzehsq89crnyjZXckmUIOQIDaugEmbaoIKk2jH+7pZrCoutjLXdPMSnNaDpR+hcj9a8ryzxfY3Mfadvf4GZ/0/6PC4drIOCSosiey6xsJ6FzyfgKYv9mmDZGy0KtFQG1ytgVrfIaZZSLNiQ/U1J19Omrr/T8wYJlRpTsBe7IweJ7e1SHxReT2058sm83NpB8oFy1UjbgBMSFFc2ZAOZnX5ZoGClA2udbWz8F4DkT1fgnDg+F+mMxwcZxEtxVJVlO0svq8bqXFeqikw/GLnnn+Hs4z0wkI8hBvg4M3XvfYbJHcCrjtMu+jgK8tO+pyiXqXeADZJ2WhybDVSAnyQC5do2c4B3SCu7O/1PNI6Ws+csOeZ9N41I9+dJ0vOQRkhvlZh+4b1Qa3rGvzop//zH3/5j7/8x9/+Y+//Mff/mLkm2ZXL3MU5iTAxjfL6sex1mm1FyrbOkV3scG0yEuzoX5hVKICubRnuiMgaxckEG4qWapTmnex9l9E6w4Ayz8V9l6SLWMD6Ssh5d2wxmZD/fCxDOAfRXV6bwemR+qyVTv+adVzkYvasMCWruULkZNLBGAZeZntdzqM1avvGZ426etW7rstU2xShwwLdR6Y79K5Y98RF9e1x5KRDnkxJbkXkjwCCzDOP0kOiHD6vsDJI8I+gIBIAxvy9+a+uIq59RcDM52yVqW1EPCVwC4RpEm6PHcQAxXf/jsTYHlj/c2xr4TLn/dCnI7seBlKMyliCq3IltewQI91DQ3Y9RD2D8s219LmoZuT/+wDSwUmRCC2uhDw1AX2P7noNoAuyq3u3ZpKagg2J41Ka9EtXK2oHzrWhthLjYXkJQ1znVnRCBwL4zPgwyBJKl1DWqzAU/4++r0mCkFYZjsqZqQR2fhHGCFkDJuMVUMjlheVTGK1nIU0sfBr/mh3zW8D8pSY+ueiOo133u9DT5GiER3hRUvu/KN4m/fcvWQa1KOxE0GfxAIyftmvw3m6t2FBkypZCqySIpcUlBbyLFsM02HMEW77vra8TTnQWblXJgoEMmeduI5phZ7YWXSEgNvBoS4fINPgBe2QjvQhddEJShAb9bha0NHxycW3n/rt52jR0FAJwnAOIy0oE3i7k1+cnF/QshvV5oahMO2bzBotxIfryr2NFgtoN6TTBxAMLFqyTvDRUcKvUlhfnyA5Ka2rmp1n9MGqiG8JbFI+lNwbj3nGc5vrUZdIe83fw8AKkGjyINQD9hFpfShdkR2Mif5TohCnKd2AHWXQQ/8JgWRdy0uM3/lBj7rGy2j5tcbdy1+JV1UHrOaOTNu7sfZpi2u8kYcbfWKKk/xHVQYSlhgToRT3A5MbWK6FsqBHVZ65uQibbVVkkcLKOEy3cXsLbzYaVbl7op+pI55IsplGwhUkWiWE0oZ8EoTZ9+t3R1ePDCJyVesbVvfMpGemmZ3ACYCtlXrDAFHD+xVLXezDT3gIavpKKhmTEfViJ7TPTDlBT8IE94MuJzGet0NOjXupOHYwKs8Yzek+5hK2bxxHLIsSy33g8ZESNNysZc9/YpjZsuLrwRla8YDL+fx+WssqKLmFBHJCCN6eDHjhZMNqMT3l7eTWR3jEqwIte2rCNU1kGuyJf1Q0iqLHNogXhjUHzld8rO51ztwo1bZhpFcMRAPdF2tP+hqMgNXM4RAdVPWOo2BdCnI7sZkJrc4fD6QDgrKw5HhpJovlbcxxIjcd0qs17TDqKyjEWRck0e4pCSruXBV6CXdzw+xD4o3FdaAvp2eze0CT+TwXOeW5dEKqDLjb4mTvxGXhBj1qv8TbN9bF0lg+bjQdrGDZFBZD2JvVoxIUiQI9iCEiUiEFTUjPi0iooflZw4t05NTAWbF2vo2siXxFiftzQuU3lWeg7bcEBF312cdbw3VWiASW+e08gpDQ/Zw8/65WaGuvsf0+f59SYWoomlx/MmPyxYs+OzA4bNoxVBmQfvnDGgwELYBm+9va9lWSar647LyjSF0ZSwCONS++wLPe4rdIRRxWJLHgW7te5MAB6G7dbIZd0bWqUQwXSk0BKCs1p+HaUXwdBThAy5ghMRW5DbNhYu5RN22XQ3XHMC2SKasRnJzk50L5yH9i3OOqsn2zrKDTdJeUPEvM4gtVVd+Rlb11zoGL5KwdNQftOQDGbhy4yY1zTlfjyO8QuWfnGUb9bvzzB+GlzCs1IUP2pv2VeVc3BMJ3u6ZtdZr9nizh0l9K1bnuNUK3jXHxoIuezigqw+wVibsiektxiGobfonCeJUXsRj58Lwq/bsHsnwQSWiUPFvwJugeTRNH3rpd4juc95mF+JaOm4fUscJdyn3kHT/CpgKSuQYXVzWB+4cH5Qj7AuvevsPIvGBf3I3qzjZ6BQqvSvSqXqQZj7YXTaWJPKRqwvrGWyVAKuKsSDLT5jF6V80NQ3xIYodacrrhA1qG6Mwq2i5iqyIe0VFVs+VoENtqD5nDB2Noz4WDw74y0od128dghxsqgO9G4+zmVa1NgpqL9m+O+OI+x6YyVJwV8jBIcKto449g+ysnXn7UXONE6ZwGWxVq+4huJu2/XbDsbKTUL2iTOxMh809irtYyBRiaVOwdBUwx/DbpyE8V55V/byZuSQUaeZkI4oXJrqjyYJwF5uyoBXzFGng3ZnR+oPKOWekiQkKhI/02QIwCQgSxvN4/ruLM3YRMSXxZANdzFEHTdIKmtY4V9YVKmIlxOLeDHtYVjLxM17Lpuh7JbbRrMbC+u1+hUjswyD0ljH4l/wwhzedX/aqdH/UMDZOCljFrcOHQlex53qU6yfObDQIN4HSjeG+sSKXFMMStlZanG1CRhM33MzS3ksi/128pr0GjJ1LTbJv2OItBb1U0k07m0AA+v1fhWDQgG/ErmFqJqy5M2KduSm9lXiP3Dc0QVIlTZkMcNDHhQlZTT1/LEf/sktPF547Y5VWZyBncbyYsYKqEqnmGrj+bYfSq367qbxZvszW8JQ72nffyKf9cuRj8RPn+rJ8z86FLdLV5u/Z/iD+sGvHsl/Kn9xJulj9POcFq1V+zEQjpPiqbB5fx7Mqwt/91V9Yh1N33Os73XEseAviWLMaEKah3LR6ZblqZV1wHyX4tL+VUQJ60krHR4z91/g4/vQFYOjQuLrBiJHhGB+A3Bmsdm6wnPYNDZpltVYuRS+yOfTL/4QMCk/wqN0nkmZz6tYorVHQhV3HKzEZviqubmLF25rEAfrBA/OeaLwwWR7zBm2XKVFrCq8O1vLhGkzr9lLSisED3ETmj/9AAyS/BtRgRYn6OnyGmspC6GQaWcRDOV425zpaH6A8GZXqX1ZiuWXumbHc6yWYvUJ5+y4tDE/QsU077OVLbheOomb1Aq5t8jPGNzWK51xFNv8npdLVFs4VcVtp9AjKbL0me8wH0XeleW46VFfQE7dRhFktWOXb4EGlEWirI23yQ8B2VAL9HQ21yMLwNlayTOoxQXqTpf9UDJPqIzRwh7m8B1R3Vq7/7T6LdN3uXme7HO1TT/FO633ur793KPG9TzysgSDCTqco6pp89ECziSleebxVEM3Fotu8rzSPAN/TlU0adytGESwMWicBJmsSyoSwN3d968Rv6c44pjbEBjgvoJUQ1Fvxb7/coFlbzzYdz3r8sX6Cd9urI2BX1pS3+aeoQknX8xoWBnaUkPZKlvrO6g9h2IWC/B4tULV0XtCiSviGEo5NLl5FmPulOjGb6Q1m+RrrwxNhA2EbnGBu8LV4PMQwymkWmJ0vZE3bW1npDj5BXAdbIa0qHLP4DsG7b+jGnZsADhixmeA/agGuyNg7KURIGY0skCbvdOv2hgykc/V2akReiBsJj0Eid3GME+YRepZCubSGmgNl2l5NSiMpwntrX3y97QdBipBR3WXJS7BY9HmDnVNqBafglXxU45ZLnvDstw5VQI0InZT3e0Fu//3HZ9gbJEVFe6cMT76CSV7+9JuX9sxYG7noFdtYLFS8y/JovioFAfeP+abJAnd+LPL8YmBuDVbuK1pLEMGtwVZyMVVgxK7RCqwB/sSILcpRV3pkxzwglw0tQxVCXs+RmuHwbqSgNEuVdTzbHsodVHWAqQvZPZxsVtYs9Ubmqb2ppixL78pv6SJV6GpzT8gCjLsxqFF+TmiCK125W/PKO4/ctXhTl9pQVOelbJ0ZmHsOQXUzfMQ3LV/JeKg83JIu5RLsZSrxPMlSVGihoHkvyn/6qJcEp7mi9HbLG3286OkKbA6S65SWGRzZ9aWZtpKP1J8qZksh4b5uV6OYucgYzCgEFz1jg+3vNb/LWUBKRTPLGgv2x5loHLy+Dodj2uhqyePGIYu5eXU7dxG4EmdU0L+M9hJ2CYsnqYL2wGfXz+po2ld/ijQcikGqCIBj8SLNeO2aoYLUgqALGG5Y/VcmJn7ZPox+teMpbjrqY4hGycsQAu05KD6+aS7/INyIVy+a8+l6rrfpM1HTVxizFc4/Q1U+WTpQied50dyRl1KBF9pFWUCr2dktiCigGkru99sdUaPk9XkaVsVVPrdoWaaq8SJG7Amwckj/AH4mbcGqfX8S+492tdPzdJHcfR7vYKMooGmC9gD6SHacEPfj6KLANeEpjxvD50x9MSYyJ32Ol4dRuYi7U6nDPaZ2uRtMBQc2eAuwUCqzaJcfOsshkCVa9UWPTic3hHadOD+3jTUvO7LL+w+aVlmy3ACNW1gChi9EM9Ah2e/yIWdrXTAaqWLYoV0EGGOSqUFUw+tX2QbcBsba7n94j82T0pS3dJWbrdqU4PeZFvYaMM23KHedFxr8Ahfd/twVDEjaUcP1nocAVbd/zwHrFRrtbs1yoJAb2goIYTNraqFx0V3xbAlnBeGmsHjKTvtYc8ijw079SYf10q0p1DUz2LmliEQDn1vb+P7JywMH1GYxrmyMHC8bwBcC5LdELMic0xUCbZRXAEAzlI6Zu0AXhvMWTD0D92WzPSHEMliHeE2Gf7Va64pfEyL8XssvGJSHTslaIl+ETS4VMS2Vs6ePrRI64ggB5tIOIScFyDzaAJ+7IZdXthUkqcY33XhC9Cfol3f2ChETb6mQCmt0BcNJZ9hmuQ94LpqeC4O+bD3pgSIDhX4B7U7rrAJWDxJeFTuDzpTxIGCKYNN9D+Q9aIQcZdeGAvqmCy020y2jVs9xEFFfjnDkcA06D1e3EaJ3zgDVMwQy+mVUTmlKh5+dgOfA/KxsgwCdQBHCqx0cxd8SIZ4efpC/uRW7k7rMPydxzXpFbwe80fKljTAoz2qYuBLTNYkqEIN19kUcMVx1eOZEe80An35FfN1VLkOC3N2N1JrzFfhEcDmwUforWhkg6k+g2uymjzXGOBH3iaZZaJLsRD6Fu3FYlB6gIFd0M9jL+o9ufrfDCIrrF0P3ypyfAq54aFgCwlN7XiZCUqDg7Ei4vb/xMq2DsBglTqxJWIwxp30gIdS8XUpBdfiPKDKkq2E0VuuPAxc8aLnkdhqTk4nlZ2GqzbgUcudFE/wWbm8v9d8RoYorU2bo1AyIrn4wyT69z8KZv0be+Z5xeaQZn+i7mfjmVHZkzzeu711G5zg3aQsBza9lVjllxjGt02/f5EPjW3OB1XY75PwZYcbRFSgnn6uRqOnwBotWUZJ1YcHLlhrGQj6EM52M93HeGM/V4ph64tVT34WORpbPh0W8kcn5AKFfANQeiQcxP1sTfIwpO3uZ4goPKaxY7elLe2vc80yvOndhIC6dPdcUfFS0LHhfV3fAoZ3XEx5kiM9OzGWmPy4056dmMtJ1UGRhBGVGIwuvJcOqseGeya9xB2oURoyAAyvByHIdtHAinXAOVaOYWwENtCUh/vFw0+dQ2WeI7C0CdJATOeHTkupXpyJYr5CFhlXig8tosdYJCU7At3Lnbvi56nIIruWDyurHpKAkvvE6C1EMtb8dcY5G7ZmO0soBUJOkZgp8eTHUysQ6VPHEGHg4q3u6pByHK9FZaXyHO6kBdVi3WsKevqQ6z1UYgHEPBCaus0s5KFWmEB8jjXBpWAzAxUymWS8c70TExxePeDURcuRqx6wxxv4b1A7Uepvh6q+/9C9uktZ3awned9T585pjSAkpXC405ar+F8TEmdM9U+d0shVBii5CL3MWb/mBQ9r7O/k3Wx6F/qD9IzWfoG7h6Ymowf7dWgWFxIjS3A83jqCVv6m1ooKPUBRC1CADT0mhJ+LrKGt5DXFpTplkzazK+/fUV1ucvensx6kb13F9oI/lk41xko5HPTa7Ey1Qkq7dQog2AR6xkU6O0Z/ny4XLVH1GvxkZ3TPOH0/O/+pock7yU/sgBLwJSkESsUXTL8ybu+CO0KPfqkUQD3fZIebW3IoIkONdgHEhgFOKeKMuTDA8YHhYEuqn+RPHICx/uq/53Nvs6ZqQqeUV4PnrRtT8tNmOkUJGT1HmzZ3hmPdgOOJjylr57k9Vjo1ao5+U9aSEQNR+L9ExHO/urYyK3u/GUjN1Ts63Ch6ZfeoCpaK5PBN/YApQgI8nFG/En234OjyAUN7nMwrEdL1VGEackylzhXpGDYN95eg9dHTLeOkrT3uQypAENlnNxXOS5BRo6Mc08CyglxHK/JMeZmWOW0I8vT1lmVEgHqAIewEA4JNSpeDv71nLifr5tfk+da6PNcNgD918JSXjBG8Vuhdr57+8VdujSrlJvkEbKE/k1zQV1qGWIuaDLafaR8EDtiNqccn217iVMXOxswiUSZvdRb5mnOL2CUbuWdOa/uKl1bDCVmau+utzTktbmYFNnJW3IiHIeLJ+Uqeqz1cikWQ7RDSBpN16xloo1fCtWYZx+kisq7b8EbNVdKfaeRwkzRi2rh2/p81kjksT6ouYkPAGbwTU+swi7H9barxY2+UclQXHZVAm1fBrF/Zf6txx9LGu/QQmpeFz/NQjpCJqcFYS9kYaLNDfo9tyRCDj9Dq4WjNj/D/RFU3vFswTzIb6ITtIDl9a5zJcESguNZIGj1PTbA4RKzwTgEPZQMYkrn51oaTlSteDClP6Mb133YAauGwpK6f0CG8aSMhkrw04UTDnYCqoeY7LAQW5ZjQuPT8zcr/wZjIGmlXAmYHw75eYIqrVqA5kNp3MSY4ayYP6zXXfMnKod+dH0jry50HYH3sY6RFoohO88LrWsFtrd+FL+C9aj5MOPW+fAU3Rlbk5etTAaYMp+GunIPo5tRSUDB0DzTw9oXoWEdeV9DX9nFdutFA4lgKizPKrbZPl3qGpvsQhcDabp7SxndykAAe3Qu1a8EQiVqblLSl8iECrASgbkITJqFU2wWPcBEyk4Qd3z1psWmOT6divWBQUMi0EXnPhHM8fxPBgCbZMW7yjSQLxbvvLBElKIt1ug0V+ajNHzB3B1QmoktfULYUSlOXjw50g9x64OmYa1YBDo0b/8AAHyq1cMP8xVtrrg1jecCNWBxeJm4RigxaGej5b3N7xtnhzkaIPclXeBOigTge9ZU8kM722G+cE5OikkCZwmGqFFHn9SsE5CCiikdAkXogIEpb/Iv9PF51+OfToOw2dC5Ub3dfZ4YsepkjUna6JoJFHVF5FP6iSqsYPhrRSRSNUcNUzZgVXligW4b8gBcGBtr4GdsbWtMblkKFfLkUd2ZG/CuqOOjaF1VxFpO5C0+bkyyXkOFfCFOEZ2mvOpqvxu8ZT5HnH/n2/OxvKG12mip/XHHIM0Z1PzZL2fVN5KVifT2f4jIALJ47X3CXRlactQGP0dWWKSfbyRAHq8G/SwfIiVvy8gRJwAbUcpfOBIyvo6DTI+Mt6gRQuZ2a+/tTVwj+6Vwc6CJgXB1QVXV8Ei84oBNGGdEaxd1/2TvPFwKSzwE2dvA0p2Tm9eEDx7f8sybZkMjhJ/mXTsLJGE1COmKlx7ElC1xTI9sE1CM9zslYNUYKe/LDionyBVx7YeXyumDTIufObdd+rerAwGM5g+lqc2X2V2Sxa+6yhE2i/g1pxVOQTkp+2FIr5+ssDMfE346PDQLyCC0XLgVfDkt56f6I2f4fLGYvpy3rq6dF7X3YjOkaIA1C8AoRL7Q0CSVOI4Dr0pj6O+hju48kyxPoiDLzWjPrmrFFqaijyMye1vsMQ7Lxwb5EGtnUqptNtc2Y6xUN0UKlCkVzfRKaSEmlJlG8RFN0nFQyEEiJ3eGfXOf6E4POFVKbX3OLw6FWgoyCDB7bziUa43c4GYbfUCQIyZqVr9pV2f3FFXb3LLEW9QIvGwkaCY7j0DfNhb4UHkeImZe7a7nGsR4WXc4WPE+KVs1Wf8mi0ufIO2Y5Zs92Db8H/j16YASlFU1eh9ouYwp48EwDBl7gubs24Xx5Pwuxk6DZsLFpqOc8gVtXycTCFaJSnQBZz0bNL7uY+BMQMqtaGbOfJyWEWtMppZqz4H1NiEwPn+zDL6chQY1y5mxtxOJnefUFbZnuPnvdl9W5pBKmYTRuWWPjLDBQQNHMfj8V5w4A9v1ab9rg48Cbe4CGcfNb65G1WCvmWTqoeoqRBt5wNV7UbiBSx+e06PyVCNqFXYLUDPni2saBXJEkCbsIaKEuCFAI94utRH1GXTf8F7BhSRot8oJE805a1N4OoMVP+o8NJ+GUj1svN8C9D2oubcK7m5dZmubZ1jskgEKnaRstSurG2PZTnmxI5LDk7kXy1H+B00MFgRz7cVvqWNQQ6jMSH6EpHIAMpDRCtVnq1V2H0gbprurE4+AX0lAZPCxhwbcZQXImfdgas4XsH9UwBRsbTIbcef7dRfj2yszDBtcJ6ZERcJFtDeYRerccIsR6DnS890j5OkuaHAm6+YmOSr08xyMnfElzELtUSkMBsugH3mwFET61kRVcEZ92Vma7OrP/NbuqJMheDuCTWLyQCuCU0QdbcsK9P/TrDNJeNPZ6HQR2enNAdt4cYXE4fLA6uQJCOhQEsUpNb0OD23z9eW1ee1J+sSzyKEwsqsCmROAlxpq6zA1OnipvUkGw/uBRLcAyinewe7KAb2/MDvnXcJK7zxW83p0Hb7lgdC8NMoLJJ98GyKn+hSChHiLvJj0apPmmht+pEm6pUGYOCrE/tYKXbAF8CifuoFS2H0nk9uBrtmo0YcB1j1fITvDaIKC6FQkgFVzc2Z7Ij8208lPoKUb8VVPEhleu2JPZBbnA8oSjc4jiFOwTAVh9Xt4X5llEwaPLiM2C//KKREeJOAGuiy7uGoaGaRMCSMPXhwPdnbRFMm0DOPvUDwbSds5CdghxSgPEL3OubG42AvfHuBJShKVuN3E5ZoG3lFrJXmlGMJ/n096qtVB0l/iFwtUAUzb7awYlA7Wc04GMCEgUzoxTPwiUIGFlt3OjvjOQa3jBeL6p1BoB9tEozhIJCBlT95dtgmEZjxq/7QuhP3l7JiDjn9p36dLyCK4d0eykRyxlDVFDy9v2c1I0ndKR70V5ovuMMq7vWRnLrBf/RwrbsINFW4NcTP1COAWSZNC0BPi3ZJ7c4wYrVcANI+aUSyv8LlIL17jKrULT2uiNGuw9hKxML9TITa0gj8Rd5VEYk5S3Kf1Y03lCNSAlBoXp+/4pUHVdpY1UKYwHIG0mCMwOb+6S6NYeKhCTtxxec2PdgZHBno5MrRBEHx8CpT322OK8k33viCTtQHwQNT+cGqKElWDTj4OxflNVABkC6EPAr47pFL1D4m+QuZAiDffd7u9xxRmdTOKLX6/kP+O8xOQosK/JyrSt7ZaLpD86d8Eih+yzmOZmDgWn1WeTz1/MuTJZkrjjI8z8L9G8o/v0WDvzev1CWSDq1yrhLY3PUnLSBET+Q1gp4M3hm8Mvt4ZvDN4ZvDN4ZvDN2rS/vVt7PtLjkj/10pgZ7GAVkhK23CjLK6XpK3xPG4OE6cswBAOX0ti3AAPALWETLn42piqQicHYNzbKsFYStT2588N1k9ZPWT1k9ZPWT1eB9RkC1k75XRvSWga2rGUUEjAipLcAKp4AcsoKgjm9U8zUCADgCKHhGZB7G/WBLo3gNg2ZIfwBVVxa2ytvjiVjZUtajTs+xFaLVa26L3Re6L3Re6L3Re6L3Re6L3Re5GYYu5jGFAErfPvOpHvgWaz+yyjAEAB0loHJ98J2OxS0mzxdM86NqssAEAMCNLSffwZVQClMqGl7M3dqEXNjbYc2Ucxx64e2zsdWf4Wi01+dFP/+Y+//Mff/mPv/zH3/5j7/8xbvGluth0Gw4jbVLSN9wSDPEka0p2mylz/6KAiOo+F3mmCnX2sZRQQAdEiA7vvhfg4+l7azVEeeJ4Dgkt4dnhGa8p9hZIKsjkTvATWdBSuokwE2SC4inQLxZRAwQwEHf00p8rNWwSQeUr/8exGs65OXB/vZkB3YFq23BeaCijpUUREzFI/QATDAHZi9Z+qEKvu/lbM2EnU1eDY7Ix8ubUe7fmfHr5sm3W7DfciPHhobuyBFNOnc+sZNwhVfZ+qnUJj9dXvuHSVTVe7WNzjewlxK6yP3wQHVdN9oj7nU57afL7bE8jp2+GDy/kQh/OdbpRq76KEFxsZ7gyrNwD4GtaYcXBAOdIiG8Z2wJk4/pSBP1iFiVDpCCscdOIwDLYCtp3Qsgf1mrDuzH3sYK21j4GmRC1YHl3d9CDVuaaPmlrLbR8OitPNnY++8e9M+IX3IziSQHxCjkDQL5vabd7Bw4qqx1hChrztpJ18kdL6MWzwjiD5YaLyeqGBGTEHJIr9kqcmG+K3kqI9QdXLujSSPI0dBgW2WEZBZ4lXPW5G1rWQgxkoUu7omj5obAY4u1roJkQ9q00oueFMRMhqUR0k/D8ePPBD0PUzUG55tnk+G+PHpmbmrvLEsziRX/bDKy6IEexA7LrO4KggA6JEB3ffAPKn7NfnMhWx8/E+naI5OpoN+boi9eM06Erb1MnmOEhvDMqHkoqw2dLiFmWeq3QJGA6HzMHtJ8Lm5u/iS4NeFIAK1jJ1pOzAnZOa4RhOyIoa7yJPVfsOY1sTjip4fyovFR8witPIT3XCEZUrcNyFM9qgq+XSc4uLUUN4m0otoZTvP/i9Au9SdzMuLvKJsI4BgrjHLt8hTFw8fcXVv4P7yxYh/yKAygyBboXKbteIQwU8uPeya2jvHGeyxGgI7XwxU4Y6qEei+fohmgtGadEw3RLiVXeYR0AA7PJF4qT0U6vlIlk0nDRYaJZN38GHSk77jnE8RjJwJr5lNCC2/69VT1FKXBPmhqu41L+kKBrJaDP7qTayg4BSF8Tf6rAgaARtxUAuXUeq3I4+pDWEPzGk+MhHaoblAxx/sWr8UzKG50lFO063HqlV6rLR3fJTn9rrwVe9jqpxC//UuYypo62/izDoFvTXqhUB0GMN68hf9E443h+VEjNcjuRKWSffvLNoozDM0/ev/CofGfmYPRT0Gq1xaT747E6d0gll1ZsXP2G2LFC7t78FupqsXXyCHdTf8kro9zFjXxeJXgKK8IWK7vbGLIDe8vXrXYAFzE0yD+WtRARF5FbGG5KjNkVTnJv0vosDGUs3JI9Uk+rl1ihw0X5eXMAXfnSUa8bfI3AYCvtaBdPFhWM+rUO/wuAMO2QXPdIncopk8LkXM2hD9Fgbd76JE2rBUfgrDVZo0vV6n5n08IBb9ad9S8O69cZpG0/wqEBW7d5aJrpQyOT2dj58t9ZFAAkIMa9DmGW+5pZyoAbJlOAUSEu+lXS9GdIRbDZ0aEFt7SgY9Ff/9YZ2GxnUQ7pzi142K/LquSa4oZx3/nVODkdOJxhhAguSM7Li5AEXcSjqvEDKCvWggHzUTe5vq8F+cs7EPcM4ba/R4kiJLJpEgG1OIXvdkjVcCYL4DT+Kcc+L4E0nvEooKkpeqK3R584/75yZ6IizBAKzsqjci1133wgqDbbGRHPFgCABhQRYQLx+SNa3WITqEoISsrNSo8t0sJzzkfqa5myAt3vw1lPsXsyZTR1Tg363OajGf/TYagQi2BauUeTUDIqT00yMddc17qKzrts9hL+ZclNs4VOBnP1bxsDsH03MTpj2L41UZ9LRt0LsIsLPnAQ/r9f3hVqC06izdmGwTA8u+yI6OTIaqCLFrmS6sWLHlbrjjpqDjRrRtN4xFML97/AUSSkk/YY1l8BY4LShqSWSdxkzqAyiK74MYuFikjowhgvsWqvWuP6FIrdBUW/VIiG0gmxjVxLrJe60mpFeqwCQieL0qyoK9mfSP+lTUR3B+bl7C92A+NKsIcb1nP5H3MyyeXtnwf8yfu6T4N/+hf61S0vIzfMF5ItGqXnTk+WfWtNeDLwy4J9MGQ8iz7WXT1hlzszjSKUPKJLsAPIqbxVgvVq5MfbLRCYMOFLoOBRJ14qHsJLMuBQac4ZzzAW7IO0OoC0MXpEV1qNwrx1lYCBYy/BKT4gC6mDgNlvzPYWjvD6IDAiv6XirRCgDd65cAIEyVxxMRI9YVAPZeteYgjBytmLMdr/7D6ohrXGImwmVhjoJAAbmmyvbw2rtdJ7VzI5QLEVejBr3OkZZWeH0fi7/h2moxnhv23BcTTQZiHSWV6s8YQSiwELrjoE5P7a2phXt1rCsFBnUI4g/gTVX1HO0HZ5Ik97U0SEPfvxNc0hl7WYshlbghBm8rCRg2D9b8OcvIDqZNSAYpq6bhHgjQpir0cTavTZRKiAOQ17iUz40R3aze0R9e4LrcGhYlaD7V6zp4zL4aVrMqcA+gNuJf4FDdLu3GVbp5bXlvKca3he+3eHWiNi2MRqopZt+YmCUlTYsxrzvtD5AQ4RIW2psEEQMzvqDfKCAYjuvD/ph2IocNIVqttBkbQJTRUNfOVvRmBb5mUkMwnuoH3DpKn7/yQqwJ486DaBn6b9iDkAC1p0TVOiQmkducKkKWHxqiYj6l5kqE60FDdKvAHCn4OCG6VeAN6ESh0xVYxOVL3hp4ZFRgwxadZfGtFtoenltNXRJKQq8Fy7We2fjJ+dJsjXvvwaXlIlEMujIOKmJMTbCVXBFCOKfgZx8AZq1QgDMEXt/10ln4oRQjioBKrgihGXp9PC6qhBqwhaW0KgEquCKEcVAJVa6NcuQLl3KRl4VY7YjioBKrgihHFQCUIEEUAsA1puUYnkY2AnX1EJ1X/ZdSn1H1UrdweeDQEFDZGCfG2kDteVhzV2ZeMQB8J+Ms9o2EgDfNR0orU0ODr8SvyNmOYXLkoi0VYWNKTAV4evIKgzt1Cl/w7rI9lMhkadQcigRYKbQm0RZMW/WW7mv5yaZBxNuNuRCg8jW9RvWsxAxZdhKw29itF5D12trp2BeipB4wgFdh3AlsoJGr84zIHxEYbXKV3ntWJCWzk40b5V1233qRTVoh9PCKgHouguwNDe/L/Y+bhUeYoCu89diQ/i6f0T3xYbzgxfCISYhlDM3WO2IjBbNRj4QfFDT3k8yh7w3sxe30VXTF3ikxpc00KM4le10Mu47Tifwl8PS+Zme85xkJr5UgblmVzuzrIrcQW5D26Nz4qOqY8hPL5KI1O1AnmcZzH5ATkbJdhhykbXMch6ZjIT3T4Hr/vGOIwZBRMnd3uhQZ2FsRmvSvlHxEgSA2SXsWSl80ksAJ41z0AgIHpZpQJ4Ihy8xjJiA8SVRdWl+EPXa2LY6hGYKE2Yr7MvnLnQ5M2SxN+q7Qv/Sh3L8S+aKYYaNhfBigapIeOGAJCEmWTibZzpgVW3jc5X7vGcQyAiQCMz2vtY0xSeh0GXzo+4xpFH/pKV7v5ilpShYoaSsnyhDUgsPOSRtmnCXSeaNh3QC99pDVchiZaqR08QjPv1UdUqDmPR9cKIUWlN6TC4DHQgyFuKhpVMQS9lw+9U/IQED9wb/xyUC1NXcaLCFH7lKzpoH5RHWoexZKXNEg2aBwOYZAcyR+Ghc4mTzJH4bCLF4n//OZPMkfh6mMkFtthPhsJ8NhO1g5SIXncnBdpE5cbmW+YeCGNZlEJqEIAPuCKj9vKOjOawiWM6K2NlAQxUub8pIE4cU+9sIdRlHPi0Rflm0j/Y6G8lgiQAJmd32j2n/OsEJ5LqnHNFGKupqereCMwlXIz1dmxT5XsOwqH+LT6rPK2a9yR+QbNtIBS/3n4+F+jeUf36LB35vX6hQ+pD0atueoDMKvcKKibsxxoEUAigEMFAIYKARQCKARQCGCgBTjU7kz9vu+K8z25PMnyGhWtH4L8XUYjT27L+Z6SuIr43B7unMw8aYYIF6A75cPAjsPzcZpy4efIXJQcvOfJIqR3LUTaTNzt6tmiKBZdr9Y/jOV+twtmtvWsRdM5lhGTwarfMSXyDkQAUTwC4D8WoQF08ASWf9/IFD3HbH/3vLOjrHc4HXOfx1l/3pMPrCfYda9AAAAzfSUxSisd3u24vTTlkeDiJdCumeDtOj/wyT0fF/Hi9AaJLKgOWF7BuXouLhn4EJVxi1mmjoQ/kOYazRVfo8Ccp2mxjUC18F+bMyYl0cJI7sZJFcgGl1SyCk89cNrUUbWs0Bndn/uf+wT0oA9SG3LUKkAEOHmxiz96J/3TTCJfMFGlbdArRVam/MaaL1To8mf1QGrSELGTNMAZCOczrh0B1vfhuJm+9gA3lsPKXwV2vkMdhHxV4F+JCAFNAHHXO/JQVG/0AAEEtPgIAB5vNsG82wbzbBvNsG82wbzbBvNsG82wbzbBCDvAErx6x7nWuqBgELya9sA8QHgAAACXeAOxOiAAAAAL14AAAAAAAd/oAAAAAABmegAAAAAAGZ6AsxqlEXM8plm/MsTqtZsKldV0n0mxKZ3mlvlDKNvz2Ghm3Fg8OGztwTAuuljL6jzV4sEUDHZVxb1C+OPzK3uQ6jbdTzlvyzgOfubDc4jrWoXoVJPKfisgBjxYG5NCEOSFnuLDsPcAL1EgVo2847xboZ+n+xKiUnM62N1ynalNrdgJO9E1uMqslkV8Jr/QL91c42zGkMwQGDcHGmYVOA2qKcuIVfS/5lb3IdRt+FBUI2sWmp4gCTvRNbgSnSfloq8ClO459ZGlECTGsmL8v2TviACveAL147ktyqE2x5mxSpWBFJxFg8OGzt8J5bj9wrjh+dmwRdiaOeKOkQ/N6dS9P+EQaSwAlrznjN/CD4RlIE8kpG6IWf1h+XE46dMC7CpRlmIW2E61ElzGS/0C1yIM2sAZ90dhbZwHP1cOTdSFmTL0+YtZ7iZSwZFUztsceEnx4cy9wC9RIBdB8iANm/zxtnwoKmti9pufSPvalNr2qB+Yj5L2dYIhi2lXW6e0MWJuSYXjVgAmHgLEabjDtmBnn4wr8xelcXvdqvfCgIklsUX1eFZwbcF0HB4OD3rN+nFj/7nttcCv+/iT/ZICWVYrrleGFQoIt9Yv68jQJfeSWU+PT8Y1ob8sTBjDD4E/yiIuRLdCeDMdwqW2xUnwvvZeNc4zWFdWuPQTmD6LUowZe/MFWJLzIeQtX9etZ6umegFyciIIWrA5L1GCCK94ESsRL5hU7Ksx7u4RCIJD3/ge7EQw4Q8dP7V55odQRAqQ66QTDSQzcv5zmhWsbrsFEgovSWGtY5CfDguZ+QGVxz0nFdYadnPUhxB21aVxe92q9vNKKjjP5G1sxb/WE12D6+/ej2JOPllNUk+c+gxhYiCNOdNHypYXBoFJYMz0LI+2+8ZdlhE2s4yzdRJbjI47AFMlumV6SZ2kkAbpxsp/2mhGKaxHsCNRRSQHuiQCn1Jq1IIoYGL9kJzUzNVye7nvR+9oObfNT8/8BF8ATbwAAAAKYGEZsBVPAJW7ZnTUG24OlIfIAzP43gyEQalrcbGu/U/t82IfGNtPOn0w0PSYAKBKHYvR3dNS7SuZupxoR/RA+t2V7FCWBW+NTpmyla9cPSKGKYL9oLYuj3UmtTJxfB1Fg8lKASOdGublUnQ0YneEal3ypVM24CfUOmoJ90XPqge4ovsjEmURIj5pY2npqwrW8bj7m2MDWnQSo5QlboKRusPPa4vHFOlYqOR2d7cFlVZVPkduDaHzoRNxQl29drsv40aH5eDMc6NXrEYpsHs4w0A9ny8asyRZsn/TLwOHXNBBcbUvfuzb9vSZEZXZsn/SbgfNBW2CjhEowdCFosH2goEKh1sRPf169RkV8u3cry1Vq2LPY6wmuNtuxB3r7D/3m/7ZU5dJ9Rj8FDDL28l+seDie+swRObEjKzhv5RfEfy6IVQNuCIhJtVVTAS3FFkcr4HH7kREU0q8LaN8yz2EzSl9DDTl/XDeIYHgk26QX5z3fSX9OW/b+Ep5yS2cWlNebBGTdAH2ztcXjciXAAAE88AxOJJQAfLuM2LbePKG2qbIU5wcOiqgykSYdlYePPNrtmLkuhMi8a7RjjohmiUT1easbSpj+JLyyVkFh+oLWOmhPsns+dJyi/k6oDfjtuDD1WenLfXKNi10DoKWXguduoNqr5yaxbFK6o7btrH7AV/IPtTXl8Ukjllhb24o/OvPTYkxRv2EalFr/EsVEsUgCo/jFYZDn8Cfkx5s9QugjtjMK7TowwAulj4iY0IiNBI85yGBylvFaakbyikxubM/2kBW+65JXqIdIqXJebRq/YNcx3feF9Wh1AeHm/29AMbDPGJnu6t4MlPS4D8uXIyYk1KcNO4rl4PPVGuQEukHipce4XHcgr3XiaZmesLgQVAZOfbxgEt9w6vMXJ5eOR9ijia3htUGwTrIdsRKsk6WJFHjFUive2F2Q1QIJAin2sVOMvQJ4UVgRUH/qQL8ARrkwGJhIkZd6a0LNgDtnvcZVVrXjxxI23zlfjwl9xfPGs6sFURTCjbi2E4nMQw361WpJJvckNlI1OFshn1RWlYWb+JAs1Dqku3W/yN2ZuJ7CfwUXXawbR/sX+DnEyYwILwuJ8Kzx43OUxVMp54eOShoUVyr49OKRRI/lX8DqiDR203z7MnbJmN+W2gzakIdEX9uVkB4T/TUxnNNRxHukqCiaf3peiihe+WtKKYMn7Fj3qeKc7tzutLQE0vmw7CQa+toepoHo+K2FSdKN/Pw9w0MdwoF/iGih7ZqyH4/mIUInaf4HK6Ozz82I87szx6CButP2KJZ02qjOk5gv5bsXaV48j4rXtRM02hiO1tE2lDjsy2Y1k66ue1i+mqLu1BNTfFbZegr+cUBRmnRqq7QSaVpvblrwItLqjDAhv6Lcr0wJtpRflCKoPn5N+0WOSVyvDXo5sjhn6aDM+OvfZaDU1IA09vNpbZ7DT+a55F8ZYrpOIrskUrjK4H8pZiePUdU3ZVKF67IwRI6lgV1v39yi2jnhGiaJm+QnuUM73KIAW+zzezSUjulypqjYzil+Ymj8xz0ZH3T9XptiUEtp40JXfbwZ3VDXPrAMMW3n2uUMQPCq8WnIbErs+IpkibNoi3Rn8aLpz0qaiKTznkEKGmteYESaexZPsklpaxftvtIkOS8AEscM5ENiEHjgC5vu1hy+wFDHciU3sDqy8We1nHsD+LcfjpP80pcRwiVWaHGKFGfRHebkuhmpIhmWUq0PwYjtVBeNqddiuvoJPGiPll9CuGNz6Ch5vjO1tVsx2ACxxvCWsBM0xRzSD8AP/cNNIlfGM470UTTEOxG7nvT0xp3e7nVoSk2o1TA8izchzrakXY9Q02/JcrLddbC2tRSLe5RBKVAdxuGBm/U9Srx5AcJR0I7r6fofH8V18zVk4E+udvcPtFbuhi2wl/dN5otvmrbDAAIB4DJjYyxnfixao5bIvh5eqPito8c85ZOVtDj+rIc7x7sPlZVdoEkKSvzNzT/2YYTGz2ytZhRXh6IBBCBekrbSTTAcVY0/3nrAMvucol6H3x932BiRhjbgI6dYHJUxV4JlaOJCctKtLue7QVsbCuMpK2NvehKvzEay6buJ/apF6kSGg7ddFHILOIwBJKP1WRzpqiGav740IHGO+xufgDPn+sSjv4ULvaVRpCmONeGbY6pSOGJdkSswoHnAKmCKUFLGHuGckQC9jF7lRHvAXVIFGZ6JffQk2OsWpExRm0REM/aBghO1gr7e6L8Rdhqycku9PjCwsQSST6/MQLMRff8RBePdTgGcwAcRLjydM/bR9S1KBnogYMZk/ZAktnpc7INVoTSkH07lC3V5lRgmnF5ZipBfOXGJTJasafwR+KcF3Bj8iab/7f8m4JQRyJGgO9f6kFuR2MhMM0owYpVccI6AEM+dqkRb1W6tF2W1RGpU34zIQEQS+pVvY5yZuL9N2ZH/h4CcCCBdoTiv1uILxxTJ9YDfvLLqHhB+UV5OODHaMGWqUYBbipUPuPOPy5hKTVWwNKC9aX1iZTRkpeY9omXAqBW07CSRYLc20A/OA6Agzka9W00FIPi7xEASPcLy1jK9WUhNieDPcBeWH39bEyGPw/wGLlrJQ/28PE0RJ1lXOLm6Uu4xoQIcGyXR1QkJ/EGbK7OQa4aFhmoRUci2iJfrCVSZq2AuDPUKpvR3YLRwCOqovUCPu5GdGoJpzwriK8SqLZUmFp9/zzkj4SW1hcjMQB13rav+8mXrDlrOwlWEo3gjsKINVVKKGsfSBmYF9IlBFhJwFgtQeUjZeZZnnb5E24IqipY8ExUylMeXb9ngQxJhVW9g32tjl/YWKrbDILK6YDuuWbhPpoHp7TAXpayh+qAL14Af3qjeWY/D4b14mrpM0kMo8aQ/P8k1NxzR7AoQcR23XuJ9I4XJMkekigPTgDNbmaMCpQhZL8IgeBhD+MapxJJ03Ere+Bl7pRIX8e2grmpoLytkbOe35gtx2plyoH/TqHcepe2c571zYUyGdTA353MuvKDE83cV0PQWOnaYu4CrKyqI4dTjbCDaEpC92smAD8GlTIyOb8FJ3oPDki6hHv+VN+OTGe9zFQ1dwED7grijJqqunWN0my54r7/SqYggNh0yQ1rDCN2gSoJRdAJouytUtg0zFnPu0yg5yQkya7Z0IT8QcbU18x4SO9N34eyqWFrIjNuyzxq45PPK9QE2j6KcH+jCdSc/aXu+luNavUqNX0KKVgYkSA63EuIVuQpo94/EDQHl1ED2AZWtVMrGPwTnSOddsH2KBHRzy2yzeGOBCd54KBuNio/W8dVCz4DYFdaVVxhA6PK2Z/5Y4V7r3z+9GyugPqBL0smZiWVzvTV3X6mRKDzcVS0hz6+ni34rzf0qJFVdOqcmf8Dv646nccOmRwt82XX+eCm8kRU7csqrKGyKFZXNhhQpMRDkVPDQ7ywJybeONxeLEBjm+0Ui4ABPPAIlIuJDPTEV4LpNZIhVs5BHgquyEGY+SVrQ3CMbIQ7xFZo8KlsqSvGgSlCFQMPq4xdZIyyMB0mGUyS+nJBYVEgJ2Unz1ESBYvNOtlMfNdqhq4Z2bp304py2C7noELP6u+tseKNzzCkes8wU+IKGHEUc2ilhXK73rylVXsb2hi7dp7kToiw8yEekINcxgGDqmFNcoVDm3B9kMw2T7aX3OE5fyFOf4zJFbPvPHi6KJG6wE2kCICqqxWi1KGL+7f7gTEYyLMtTvQF8RcSnmrlPpGdOXpLm9c3RVDPZzwW2WT/3kPZtvz7mnxbPuKvExGaTBKDskMQWdnVxmyRHEdPVYtvr4ZVBDaiTGXpqBM1osE/lA9PeDMA8pBxga9CnquXN9DIpndSI0ZOSWzU6fqUOwua/zGpYDrB6xhIUVXyu3kDE/VrSxTc8sRAw/tU/oPuC9DWzwGUGdxeRreAx4VsE4Um1fxV17qB+pUrS9SOIQGADn5TiejFpOt2hdH8zNODv8LStnbPiroLNcZ9XR4VNhou4ViNQTbbbW4izNwCEKGVqOmTDPtOM3Y98Eg0OaByP9ffPeuwBCYMBPrXGAkciUIyisHOJzQhTXS2ZJHD3oIZhEByai8xAg/ujsiFS2YJz28yJLx3oBivxlXUCIl2GsYqUZGA9LkoyiMdcxYRfbKwP0IHvbhQsMhwRsUqrP0vVeDQy83jIU7Z0lBJg0rpQAAAAHf6BBdCCZTSLxJ2cq7iD4TPSLDuNx4/2nZxQ5QSNFf9zl0ljG7krt3HWS35Y5jK6BT41w79NM4iyurkq6IqZX8kZWYj94Omo5LTEXM6LMw7yrPwgcXoHNDko839g9yLQFCk5kgCn3EZ7FiIC/pcLmvqcFRMQAyIUyKaCxHAEgLEu6o8yPVtguwQYTs26TZwwgH+OxT1omZ+0GcA3IxFDd+3dlLD1isbS5DpcEqFdPFBbTWUnzkaqeIN98arg1BU6UViXHPm3IQzj64FqOnwKkp+d/w480RIwHXL262tyGG2/LCm8DqJOAAAAZnoAAAAAAAbHoKuATN9PkoGjigT4X8eYFfl1qZiQIwRRS8zMUCKWbwsEpA8bjeVWbRtRZeHMAgCfC/jzArEiA/c6cmvau+B2ZPtHFCrgG3fTqPU65oDU9CMNSjY3Ffj5/ROSgpEiKIeq8K7MwSYPfxGe9iRUVrwp+UcV7es1JqL1fE4Bu18kEtX7BLmuWlcfHYlSyrl/s4oWyxhqjtCQjDLiOPf6cEl53qneVc5ALn693cWi27s1pmh6osLhoxQIBY9/g/wpUi4EMqp3kADo9AAAAAAAJJ4AAAAAAAnngAAAAAACeeAAAAAAAJ54AAAAAAAnngAAAAAACeeAAAAAAAJ54AA17TrSBESF0cgwEGFHruBcAkZAeXyLt3SYdjrQELLw1EHNbmGw4gGx/Ps2ac4nbjKIFL9T/oPKIxic83X5eIaMM5iTh6G/HOjzaPY6Y+Imbe+go/3Xm3cgYPKdGBchhnu8vD82ooLcqVF2ArPiHIJROibsrh5NzNUOyn/HlAuSDXHTdg9VwkTigQWyyDtarpLRRX+AYIUR5Jgtcr6PQuhCwCei+r0d8HeGX/veElUpn6O+lT8aeQmzr+fJI3qpEOOY5xO36J+5d1wz+M42Y0RWSkMZNJnrUyvqf8WEyTUhB6ea3IlUb5u4xRBJ/PLy3hFHkhWeGm0kcAZnoACVUKw1vfc7ptB5oSFmZWpr28FqcPc1iRpTHgWxNXJcOK7bJ+MQnK4egf0huH+jkds4jXw6iBc5JgXHREm7VyQlELq28adf925WBVqjwAwypwnSP6LCiEqCn98Ao0O6OTcC+8uVTfVRKdRFP1I24S8smLFqBDRS8RH6WhXcDeAtTRxsZj2APbl8t5a9j6ml80Msxo+Mi8/Jqzz7osWM15bybMk1I9BRil+DVFFYJv0f3g+0WZ11nba5+e44wPaQmap2n7qXkM5gY7V1XTsVH+MjZN52+BejdXypo4TEe6GouekpsbVxblZ0QoscSoCflCN0MKv2I/yAZi/RrcdFVO6P6jZQ+x3ircYkSYgK0/FLyDOvNee4p+7sWSvjCgpvvNNgE672n75AcgOLjRpmN6Weixnte9r3rq0npd5dyEqwcSya8QsV7r64yNOFDNnSW/g7/AXHF1hd3W4HclOSZ4Hu9B7s5tk11pt+LLbMxBbmP7Gpc2OM8D3I7hKpy3KmeEhktCZcRSJT0PcpcqnFc2ogs1Jl0OQStGDuWW7qfO2DoUff3qKYmBZbrbbpJ2u8EgAHPbTz+6MS2gz6ppZtaZsRa+XYFvspxyI+lyQlqhv3I9bYLY7Q9u+Tb7Wtf1GZk31Vum3+nCUKRH0Px0iVxh5yo7bcwD+wd89JbXRNFVKv8oAZrPijIB/aQqNH//1x+r1bR+8z00qtAbz0GphxFp6XVQcRuQrxZKMLhR3U5LuAOL9iAso2WldEUsCc/Rmm75AQAM5NIRHGhjFAMBakUxo/9SN0NqaCi6Dy6WaiDWhM9833ek0L5BeCWYZZN+V5BduIo/w5VSpqURz+XpWA/41ipcPq9Ye9GvJ5AdldIAdU8g0O0VuXh8gm0Hrafdg42YLiTWZxCx4H/wD6zctmKVMq4HHfQs8odEYMbMaLIIGBYmzL7hFSp1YtbZWfRY/LrLQHA5b01/Lkj1NgpSkuSGmXjD4m/RJ8HsVbWwD2t/zviySeuVO51lljqfyyxk+F0PgECo8G+g0eELe7Xld9ITnGDt/SzDV74j3hHskEb785h2w9MoPu3u4z4RSMCQXedApQcjqyoLzCSwBQ/sNi8Cs0ywDUkfrUbPQ08Zdf3PslwN1lP88Wd5cw0z/BOlBzENZOpizCl5Z6VFPLYpJrVVY9Sya3nClckYGAHZ+gmg7ZNy5l0wIw6h8VOA5YpaYQjlcuVozhfqGUJBcFf2zEBQ4S5ihLxeBU1OIZeftHEkOSg9v/PPnMorpB+kkVTsa1XPFXxpBtJbAbtdm+Nv+foHpyJwDrv4kiNoH4uzD6+fpC7oAo0tWo+YD5LecuOrhKb8RchY8m9kDE2H27f/GdQoWtjA6+iFFO6sN2jmA9OTfN03Q1T2kt1KPYzv6ICSgP6dLicWajToCR44omoaJu98WTnav9qVlaP0V3m3FDOOkFRf8KEl8V9+rmASiGXtv767Pvkp46+QYiAWjdMczyQYD8XL21kOuDk5+fm4qpxGBM9D3NoaopqtwbuqW9nNoBhOw/SIEESOsrC+Zb7S0k3IrI3LzJsA6zt5eGwloAfE3fN/FJBrWjFFUtp+ZscAGo4MGOAwyMUtKmhX5mw+DD83JwJeDPWOI+ryFKY5HbFttPgHAR6DA7/VXnLsSS99BsKf0Xz25vpCgrkHAX7sodo074KffOfIBd1rHbfJtvZ8wbKOFqi22rgUmh0OaJRiJmwuso1RvrAi5c4uisWKBlthzjgrLUVdRax2pQUn1k1vxmY9IJ1Y5SVR7ZrBE/vkyI3ZtRTeL3hStgh8qUanij86DJd/Ygf483TLsN/2LghRBcaACsPbY+tNthMBPHuqzc64Hvt3oEgCEa2KuHlZrvj6PVNeoRl7YJ2bvc9yggEKZPMqbyN9KLrzikvYSLYzyabBmkatcYw7jqHvg7wVjyoGVm8QJ977uEJcsK+ZOQq5nJon6Rkka8po5Jx9Z4QfQzi9r3SGR9DTk6qXBbT57fW4IoAhI94HTJcsGPAAIer97hiS0moSh829xKy7KBeh2hb1K9lG58FG0DFSNIEMHrb6TwU/PK0m449ZxKy04iprNzCnvISg4xcakQ0GkFkwBd9MjzNYAw/8QvfpxxixBxmTQnnQ2mCjDqn+Lj/Aoz7jRzKcBeAoZYywc45sZy+fwlseInd92FkWJbeP8UJV5hPdotqFM4z+aoA8Z8XxWI2Po+j4wEJH4y3HRsaBfXLFuF1rLkdZ0BBEl5cR/D+C0EeqQ7oRaj6a0hdRjF7NktGCv+jRaoPnkOhyR6UJXvpv+KcBtIBDR0rHKR8sWsXjDuAI6EFP0qQ/Ly0Fi7FTsaTYujX3VyKjwkp8HekNKk+0gqqOPOplhSXIFP05u3vqATCTpb0gGxX19U+xdqneoPN14FSEVWML4degmRNxu2GGwQvat/f0CCCFYcfMVqxULcflU7jWXr+K8qNDIBDXQFts/jVqC7MIkQBs6AVHjcZbXRdnENaFJxG/7r2sxI0JmFP3kVUWUjA1WUjLTyvvrSsY+jCierOXhsI8k2RQASV9+S6gjsRuwoJr984TbZvIDzqPloQr8Yr35SqhSVwbLmarL8xmaDWkyVFFAuzthv+GSd0E9PqWOCbUSd1ynag4OW+HqFFyDfXHToJu7gqJsCTq4CgWTOawmhzJ9d6Tx1v9IdyIpZXILHarvxt+85daciXGQl5rJ32Vf//IvHYF0uxZAtc2VmXZbttz7FZqNs9njuHT4M+NIygX/BynZon8OuMoiaYFmnaAH0D43A2zmeEwu+byZgQElJV9gs7HDZH0GJIBRSSpNNbELr+KFajhuBbxeOwJ82FzFq/tkJACNMRm3lZ+5RiYnClkrePwY1K/MVzKPlHHJEo34IfsHlcItFKUNVQO9eT68aHwwb8rb/JkJiTMkZI45sIJc2Y9zJqtLuizjA5TRu+7iYcy86P69ldfmtbmtN4n/yzyu/mCN/DJnRlFzcS8VPxt5IiMfqIK/vkCtXc1nEdWJus9OINFl401rZPVpUHYtOk33o+u7RBBpnHdig1Gaq7WhBalGEElSdRQvUNESp/YuGwSZIgktwZBgM+SES9CJxil+5CoF+oQM2jt6CuoiJZS2j9RXsTnnShHbM1yk3i6OY967ZBOYypJ398uQLd5BkSKD/SdVeqvVV+Ua//ecIdL+gkfl55QLFJGVOGnvitXB/txvckVc/L0BFk9JdCGpLFmvIbAd5vS7W0auihA7Dh/upuZdXodM+fGRtEIngxO+0YOC1oHjB8uIgV4XXPvhmnI742WDJUWiFnxpMOEPIT/SK+xWxw/pkmwFlG2FHXf6ektFNb2ckx9zZto/fv+zq4oHucAFWpNNVaVy5dDEWAeCaM+K59nQFnj4abmO7k0Zp3VURcNwNPVefBkEp2wmim/7809oXzVAQfO/gNkt/DT5G1jCyZ4FYrwmjeW37jKZKbGZcjCYIbTxKP1LHH/xASX6qzOq1mYmFtHY0ec85eNqpF7yu/y89TdqcKxA+BGOJKD1YQKSzQT8lbXO88iCJL9Qa0fjb1rA4Vrb/xU1kqztBHtwQTjD6WSiVF4CTU4itO3IHfufAR4zLCfD8yW0b4AhJT6+zsD4YuHeLJprpH2pFuo4j14o3bPZ/ZkgGiENZnFV+ifm9Ce5y2aOrpeflswe9zExIwVvuiCnFEskODyhE4jRge02savlFS2uuYzGnnNRiR9PUhbcrdRbDKpPw2oHIZDGJiCqqcfvD5G3d4JA7xhzX2Vla2mLwWpKSpmKjRy+dG7skVipEFYfap3cPbofSUYHmiX2gTvd7NMjMicy4kFyoA9+R/p/jPgU2afqrM246gUt6X76oz8FwEL/Evi5tEEWEL/XT1eVGBnIevoACl7sbIsqpCsQfiSOyXM2iva4iBDc/caeUf/znIYsbtn7/UI08u3ce8xs4szBOj9C8nfM235FxuM6Y/RuxS10gC1JO67sD1CiSS6v4kUkAZfJa1W3l2qGr10hDT4q/7CQOqCINy4ZvVseSbYYlSNGlBYoov6FKzRMnEs37RislwvN/UHbEJF4J0WmXQfBEJgYdPUO0y5X/CV+7FD6D5yki8HDK19U4rgdrJ+Xrc78dOgm7uComm7mhC+OxThO4BzxFnFkkDPNZyXJRZFXoKZGEV96Nq5gCpVPcwQhPIlArOoE31r8IrIpAB4daN3jwx8IKvJxEc2gZo3X5a6vyxXoLQR1NpsznkCmCICteeEexIjgSVA2l+LTsEAPI2ZrCdb7gAXXzwXqXnPBEeH08OAWgAnDpuB5rdezf1WTAEDteRGi6N2SztcGBbpEzGTcsBe1Hn7QmsOb22xp7H8ACAeAAHGFVb/ef558Zt+6RjHBNIl2TZq/kz+nKe/kh9TykTURVboUIIxvKX3H9prJ+TNsFU30kboFGcMCg9LEA8BBhzAbrRLn1rh9Ec8TOAWMddoTs0xBmISiLWj9F4daIxkkAZWfoZv6b69lduhBAPAAAAAAGp6UzwAAAAAABAPAAAAAAAAKoLOvAtchksUhxnybv/C5mi5SMPLZK5mS2L/gJav0uUUXaXKKLtLlFF2lyii7S5RRdpcoou0uUUXaXKKLtLlFF2lyii7S5RRdpcoou0uUUXaXKKLtLlFF2lyii7S5RRdpcoou0uUUXaXKKLtLlFF2lyii7S5RRdpcoou0uUUXaXKKLtLlFF2lyii7S5RRdpcoou0uUUXaXKKLtLlFF2lyii7S5RRdpcoou0uUUXaXKKLtLlFF2lyii7S5RRdpcoou0uUUXaXKKLtLlFF2lyii7S5RRdpcoou0uUUXaXKKLtLlFF2lyii7S5RRdpcoou0uUUXaXKKLtLlFF2lyii7S5RRdpcoou0uUUXaXKKLtLlFF2lyii7S5RRdpcoou0u+mM/7PR9AAA==)

## 2D lidar SLAM pipeline 中使用的 ROS 节点

| ROS 节点 | 说明 |
| --- | --- |
| `cartographer_node` | 接收 `/scan` 和 `/odom` 主题，执行建图、定位，并保存地图或查询重定位状态。该节点基于 ROS 服务 `qrb_slam_command`。 |
| `cartographer_occupancy_grid_node` | 接收 cartographer\_node 发送的地图相关主题，并发布 ROS 标准地图 (`/static_map`)。 |

## 2D lidar SLAM 中使用的 ROS topic/service

| ROS topic | 类型 | 发布方 |
| --- | --- | --- |
| `/tracked_pose` | `geometry_msgs.msg.PoseStamped` | `cartographer_node` |
| `/tf` | `tf2_msgs.msg.TFMessage` | `cartographer_node` |
| `/submap_list` | `cartographer_ros_msgs.msg.SubmapList` | `cartographer_node` |
| `/scan_matched_points2` | `sensor_msgs.msg.PointCloud2` | `cartographer_node` |
| `/map` | `nav_msgs.msg.OccupancyGrid` | `cartographer_occupancy_grid_node` |

| ROS 服务 | 类型 | 提供者 |
| --- | --- | --- |
| `/qrb_slam_command` | `qrb_ros_slam_msgs.srv.SlamCommand` | `cartographer_node` |

## 前提条件

您已在 [设置运行示例应用程序的环境](https://docs.qualcomm.com/doc/80-70020-265Y/topic/quick_start.html#setup-demo-qs) 中完成以下设置（跳过**设置主机 docker** 设置）。

- 设置设备
- 设置主机

## 运行开箱即用的 2D lidar SLAM

**步骤**

1. 设置机器人底座。

    1. 打开一个新终端连接到设备。

source /usr/share/qirp-setup.sh
            export ROS_DOMAIN_ID=124
            Copy to clipboard
    2. 选择机器人底座型号。

> 
> 
> - 0604 AMR：`robot_base`（默认）
>         - Mini AMR：`robot_base_mini`

export ROBOT_BASE_MODEL=robot_base_mini
            Copy to clipboard
    3. （可选）如果您未将超声波传感器连接到 MCB，请禁用超声波紧急停止。

mount -o remount rw, /usr
            vi /usr/share/qrb_ros_robot_base/config/[robot base model file]
            # modify ultra_enable: false
            Copy to clipboard
    4. 启动机器人底座 AMR。

ros2 launch qrb_ros_robot_base robot_base.launch.py
            Copy to clipboard
2. 在新终端中设置 2D LiDAR。

> 
> 
> source /usr/share/qirp-setup.sh
>         export ROS_DOMAIN_ID=124
>         export HOME=/data
>         ros2 launch rplidar_ros rplidar_a3_launch.py
>         Copy to clipboard
3. 在新终端中运行 2D lidar SLAM。

source /usr/share/qirp-setup.sh
        export ROS_DOMAIN_ID=124
        mount -o remount rw, /usr
        ros2 launch cartographer_ros qrb_2d_lidar_slam.launch.py
        Copy to clipboard
4. 在新终端中运行 `qrb_slam_service_request` 脚本终端。

ssh root@[IP address]
        source /usr/share/qirp-setup.sh
        export ROS_DOMAIN_ID=124
        
        chmod 777 /usr/share/cartographer_ros/scripts/qrb_slam_service_request.sh
        bash /usr/share/cartographer_ros/scripts/qrb_slam_service_request.sh
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5. 使用键盘发送控制命令，例如开始建图 `START_MAPPING`。

![../../../../_images/2d-slam-keyboard-cmds.png](data:image/png;base64,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)

Last Published: Oct 13, 2025

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