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<div class="title">ControlSampler.h</div>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">*  Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">*  All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">*  Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">*  modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">*  are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">*   * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">*     notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">*   * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">*     copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">*     disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">*     with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">*   * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">*     contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">*     from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">*  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_CONTROL_CONTROL_SAMPLER_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_CONTROL_CONTROL_SAMPLER_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/base/State.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/control/Control.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/util/RandomNumbers.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &quot;ompl/util/ClassForward.h&quot;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include &lt;boost/function.hpp&gt;</span>
<a name="l00046"></a>00046 
<a name="l00047"></a>00047 <span class="keyword">namespace </span>ompl
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049     <span class="keyword">namespace </span>control
<a name="l00050"></a>00050     {
<a name="l00051"></a>00051 
<a name="l00052"></a>00052         <a class="code" href="namespaceompl_1_1control.html#ae088c975568ca449b3d53f626c491513" title="Forward declaration of ompl::control::ControlSpace.">ClassForward</a>(ControlSpace);
<a name="l00053"></a>00053 
<a name="l00055"></a>00055         <a class="code" href="namespaceompl_1_1control.html#ae088c975568ca449b3d53f626c491513" title="Forward declaration of ompl::control::ControlSpace.">ClassForward</a>(ControlSampler);
<a name="l00056"></a>00056 
<a name="l00065"></a><a class="code" href="classompl_1_1control_1_1ControlSampler.html">00065</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1ControlSampler.html" title="Abstract definition of a control sampler. Motion planners that need to sample controls will call func...">ControlSampler</a>
<a name="l00066"></a>00066         {
<a name="l00067"></a>00067         <span class="keyword">public</span>:
<a name="l00068"></a>00068 
<a name="l00070"></a><a class="code" href="classompl_1_1control_1_1ControlSampler.html#abec1f454396ca8e673384c85401b2681">00070</a>             <a class="code" href="classompl_1_1control_1_1ControlSampler.html#abec1f454396ca8e673384c85401b2681" title="Constructor takes the state space to construct samples for as argument.">ControlSampler</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls.">ControlSpace</a> *space) : <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a42eb7a87665ead1c77e3c986244bbcf7" title="The control space this sampler operates on.">space_</a>(space)
<a name="l00071"></a>00071             {
<a name="l00072"></a>00072             }
<a name="l00073"></a>00073 
<a name="l00074"></a>00074             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1control_1_1ControlSampler.html" title="Abstract definition of a control sampler. Motion planners that need to sample controls will call func...">ControlSampler</a>(<span class="keywordtype">void</span>)
<a name="l00075"></a>00075             {
<a name="l00076"></a>00076             }
<a name="l00077"></a>00077 
<a name="l00081"></a>00081             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a7a03d0a64571c397ef6fa3646c002614" title="Sample a control. All other control sampling functions default to this one, unless a user-specified i...">sample</a>(Control *control) = 0;
<a name="l00082"></a>00082 
<a name="l00091"></a>00091             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a7a03d0a64571c397ef6fa3646c002614" title="Sample a control. All other control sampling functions default to this one, unless a user-specified i...">sample</a>(Control *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state);
<a name="l00092"></a>00092 
<a name="l00100"></a>00100             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a0a57ad73f9db82b17d933cb504efdbf6" title="Sample a control, given the previously applied control. The default implementation calls the first de...">sampleNext</a>(Control *control, <span class="keyword">const</span> Control *previous);
<a name="l00101"></a>00101 
<a name="l00109"></a>00109             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a0a57ad73f9db82b17d933cb504efdbf6" title="Sample a control, given the previously applied control. The default implementation calls the first de...">sampleNext</a>(Control *control, <span class="keyword">const</span> Control *previous, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state);
<a name="l00110"></a>00110 
<a name="l00116"></a>00116             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#add9d8f0f757465fe7483bab618fd17ed" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">sampleTo</a>(Control *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target);
<a name="l00117"></a>00117 
<a name="l00126"></a>00126             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#add9d8f0f757465fe7483bab618fd17ed" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">sampleTo</a>(Control *control, <span class="keyword">const</span> Control *previous, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target);
<a name="l00127"></a>00127 
<a name="l00137"></a>00137             <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#add9d8f0f757465fe7483bab618fd17ed" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">sampleTo</a>(Control *control, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target);
<a name="l00138"></a>00138 
<a name="l00150"></a>00150             <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#add9d8f0f757465fe7483bab618fd17ed" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">sampleTo</a>(Control *control, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps, <span class="keyword">const</span> Control *previous, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target);
<a name="l00151"></a>00151 
<a name="l00153"></a>00153             <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a17b7122806113cad38db04340eab10ef" title="Sample a number of steps to execute a control for.">sampleStepCount</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps);
<a name="l00154"></a>00154 
<a name="l00155"></a>00155         <span class="keyword">protected</span>:
<a name="l00156"></a>00156 
<a name="l00158"></a><a class="code" href="classompl_1_1control_1_1ControlSampler.html#a42eb7a87665ead1c77e3c986244bbcf7">00158</a>             <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls.">ControlSpace</a>    *<a class="code" href="classompl_1_1control_1_1ControlSampler.html#a42eb7a87665ead1c77e3c986244bbcf7" title="The control space this sampler operates on.">space_</a>;
<a name="l00159"></a>00159 
<a name="l00161"></a><a class="code" href="classompl_1_1control_1_1ControlSampler.html#af00c73c0f92f0b8169945b557b1ca84a">00161</a>             <a class="code" href="classompl_1_1RNG.html" title="Random number generation. An instance of this class cannot be used by multiple threads at once (membe...">RNG</a>                    <a class="code" href="classompl_1_1control_1_1ControlSampler.html#af00c73c0f92f0b8169945b557b1ca84a" title="Instance of random number generator.">rng_</a>;
<a name="l00162"></a>00162         };
<a name="l00163"></a>00163 
<a name="l00165"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html">00165</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html" title="Definition of a compound control sampler. This is useful to construct samplers for compound controls...">CompoundControlSampler</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html" title="Abstract definition of a control sampler. Motion planners that need to sample controls will call func...">ControlSampler</a>
<a name="l00166"></a>00166         {
<a name="l00167"></a>00167         <span class="keyword">public</span>:
<a name="l00168"></a>00168 
<a name="l00170"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#ac54b1bec066cc5c008fa775862259b26">00170</a>             <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#ac54b1bec066cc5c008fa775862259b26" title="Constructor.">CompoundControlSampler</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls.">ControlSpace</a>* space) : <a class="code" href="classompl_1_1control_1_1ControlSampler.html" title="Abstract definition of a control sampler. Motion planners that need to sample controls will call func...">ControlSampler</a>(space)
<a name="l00171"></a>00171             {
<a name="l00172"></a>00172             }
<a name="l00173"></a>00173 
<a name="l00175"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a05f5cb008f8a6726c15eafaab43be96c">00175</a>             <span class="keyword">virtual</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a05f5cb008f8a6726c15eafaab43be96c" title="Destructor. This frees the added samplers as well.">~CompoundControlSampler</a>(<span class="keywordtype">void</span>)
<a name="l00176"></a>00176             {
<a name="l00177"></a>00177             }
<a name="l00178"></a>00178 
<a name="l00182"></a>00182             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a52d2e68db2f9b1531de74a35ff9a7e8b" title="Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compoun...">addSampler</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSampler.">ControlSamplerPtr</a> &amp;sampler);
<a name="l00183"></a>00183 
<a name="l00184"></a>00184 
<a name="l00185"></a>00185             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a6314112308482364122c771c7456fcaf" title="Sample a control. All other control sampling functions default to this one, unless a user-specified i...">sample</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control);
<a name="l00186"></a>00186             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a6314112308482364122c771c7456fcaf" title="Sample a control. All other control sampling functions default to this one, unless a user-specified i...">sample</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state);
<a name="l00187"></a>00187             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a0d33f40da510aad59525e4717e69c509" title="Sample a control, given the previously applied control. The default implementation calls the first de...">sampleNext</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *previous);
<a name="l00188"></a>00188             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a0d33f40da510aad59525e4717e69c509" title="Sample a control, given the previously applied control. The default implementation calls the first de...">sampleNext</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *previous, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state);
<a name="l00189"></a>00189             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a79a7d8e1c4dfc41179de2d728890e8a2" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">sampleTo</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target);
<a name="l00190"></a>00190             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a79a7d8e1c4dfc41179de2d728890e8a2" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">sampleTo</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *previous, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target);
<a name="l00191"></a>00191             <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a79a7d8e1c4dfc41179de2d728890e8a2" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">sampleTo</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target);
<a name="l00192"></a>00192             <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a79a7d8e1c4dfc41179de2d728890e8a2" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">sampleTo</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *previous, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target);
<a name="l00193"></a>00193 
<a name="l00194"></a>00194         <span class="keyword">protected</span>:
<a name="l00195"></a>00195 
<a name="l00197"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#ab2ac5717ef0a8cfd0b2641496d9218e8">00197</a>             std::vector&lt;ControlSamplerPtr&gt; <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#ab2ac5717ef0a8cfd0b2641496d9218e8" title="The instances of samplers used for compound sampler.">samplers_</a>;
<a name="l00198"></a>00198 
<a name="l00199"></a>00199         <span class="keyword">private</span>:
<a name="l00200"></a>00200 
<a name="l00202"></a>00202             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                   samplerCount_;
<a name="l00203"></a>00203 
<a name="l00204"></a>00204         };
<a name="l00205"></a>00205 
<a name="l00207"></a><a class="code" href="namespaceompl_1_1control.html#ac2c097fb2aee29a3fa5f67b1f5e2f160">00207</a>         <span class="keyword">typedef</span> boost::function1&lt;ControlSamplerPtr, const ControlSpace*&gt; <a class="code" href="namespaceompl_1_1control.html#ac2c097fb2aee29a3fa5f67b1f5e2f160" title="Definition of a function that can allocate a control sampler.">ControlSamplerAllocator</a>;
<a name="l00208"></a>00208     }
<a name="l00209"></a>00209 }
<a name="l00210"></a>00210 
<a name="l00211"></a>00211 
<a name="l00212"></a>00212 <span class="preprocessor">#endif</span>
</pre></div></div>
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