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**
** Copyright (c) 2011, ETH Zurich
** All rights reserved.
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** Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
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**    * Redistributions of source code must retain the above copyright notice, this list of conditions and the following
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** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
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