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<div class="title">CObservationIMU.h</div> </div>
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<a href="_c_observation_i_m_u_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CObservationIMU_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CObservationIMU_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_matrix_d_8h.html">mrpt/math/CMatrixD.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_observation_8h.html">mrpt/slam/CObservation.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_pose2_d_8h.html">mrpt/poses/CPose2D.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>slam
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041
<a name="l00042"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_i_m_u_ptr.html#adff6c6a6c427e6879497dcbf79eb344b">00042</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html" title="This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimatio...">CObservationIMU</a> , <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a>,<a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> )
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="comment">/** Symbolic names for the indices of IMU data (refer to mrpt::slam::CObservationIMU)</span>
<a name="l00045"></a>00045 <span class="comment"> * \ingroup mrpt_obs_grp</span>
<a name="l00046"></a>00046 <span class="comment"> */</span>
<a name="l00047"></a><a class="code" href="group__mrpt__obs__grp.html#ga4f7d710325d4bb5b80b3d3d3df1fdfb2">00047</a> enum <a class="code" href="group__mrpt__obs__grp.html#ga4f7d710325d4bb5b80b3d3d3df1fdfb2" title="Symbolic names for the indices of IMU data (refer to mrpt::slam::CObservationIMU)">TIMUDataIndex</a>
<a name="l00048"></a>00048 {
<a name="l00049"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a9c77effd87245f3228f63210e5c525d5">00049</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a9c77effd87245f3228f63210e5c525d5">IMU_X_ACC</a> = 0,
<a name="l00050"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a751fbd3ceaa099e88d5bc31c45543453">00050</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a751fbd3ceaa099e88d5bc31c45543453">IMU_Y_ACC</a>,
<a name="l00051"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab9abe7e5055b4305a9088bbc0b8a669a">00051</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab9abe7e5055b4305a9088bbc0b8a669a">IMU_Z_ACC</a>,
<a name="l00052"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2afd2b088e5e8532e61db0414762242a80">00052</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2afd2b088e5e8532e61db0414762242a80">IMU_YAW_VEL</a>,
<a name="l00053"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2aa75f0ad60863eab953ee94346a6e02d7">00053</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2aa75f0ad60863eab953ee94346a6e02d7">IMU_PITCH_VEL</a>,
<a name="l00054"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ad2958b005e46433d8483b594ae3f6294">00054</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ad2958b005e46433d8483b594ae3f6294">IMU_ROLL_VEL</a>,
<a name="l00055"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab66fa3ba191da1b197112672165ff275">00055</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab66fa3ba191da1b197112672165ff275">IMU_X_VEL</a>,
<a name="l00056"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2af7b51469c81d7a48e60ce490be25ba1e">00056</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2af7b51469c81d7a48e60ce490be25ba1e">IMU_Y_VEL</a>,
<a name="l00057"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab0cdf5a6d20f2994ab49f4f4e42157a9">00057</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab0cdf5a6d20f2994ab49f4f4e42157a9">IMU_Z_VEL</a>,
<a name="l00058"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2abb184b9c8d7c35f7532cd60ed8e54b56">00058</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2abb184b9c8d7c35f7532cd60ed8e54b56">IMU_YAW</a>,
<a name="l00059"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ad4c40a7d0f1ff81b2a03597a508e4fd9">00059</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ad4c40a7d0f1ff81b2a03597a508e4fd9">IMU_PITCH</a>,
<a name="l00060"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2aea7528b5a166cd8b6e973cf3465d6165">00060</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2aea7528b5a166cd8b6e973cf3465d6165">IMU_ROLL</a>,
<a name="l00061"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2aec1bb21f46bb0a1b08757a9880d65bae">00061</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2aec1bb21f46bb0a1b08757a9880d65bae">IMU_X</a>,
<a name="l00062"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a913b6368bbed975c50c0ab70f62f3613">00062</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a913b6368bbed975c50c0ab70f62f3613">IMU_Y</a>,
<a name="l00063"></a><a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a9a4f502178514c22f7cf2213f6d817c0">00063</a> <a class="code" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a9a4f502178514c22f7cf2213f6d817c0">IMU_Z</a>
<a name="l00064"></a>00064 };
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimation (integration of raw measurements).</span>
<a name="l00067"></a>00067 <span class="comment"> *</span>
<a name="l00068"></a>00068 <span class="comment"> * The order of the 15 raw values in each entry of mrpt::slam::CObservationIMU::rawMeasurements is (you can use the TIMUDataIndex "enum" symbolic names):</span>
<a name="l00069"></a>00069 <span class="comment"> <table></span>
<a name="l00070"></a>00070 <span class="comment"> <tr> <td> 0 </td> <td>IMU_X_ACC</td> <td> x-axis acceleration (m/sec<sup>2</sup>)</td> </tr></span>
<a name="l00071"></a>00071 <span class="comment"> <tr> <td> 1 </td> <td>IMU_Y_ACC</td> <td> y-axis acceleration (m/sec<sup>2</sup>)</td> </tr></span>
<a name="l00072"></a>00072 <span class="comment"> <tr> <td> 2 </td> <td>IMU_Z_ACC</td> <td> z-axis acceleration (m/sec<sup>2</sup>)</td> </tr></span>
<a name="l00073"></a>00073 <span class="comment"> <tr> <td> 3 </td> <td>IMU_YAW_VEL</td> <td> yaw angular velocity (rad/sec)</td> </tr></span>
<a name="l00074"></a>00074 <span class="comment"> <tr> <td> 4 </td> <td>IMU_PITCH_VEL</td> <td> pitch angular velocity (rad/sec)</td> </tr></span>
<a name="l00075"></a>00075 <span class="comment"> <tr> <td> 5 </td> <td>IMU_ROLL_VEL</td> <td> roll angular velocity (rad/sec)</td> </tr></span>
<a name="l00076"></a>00076 <span class="comment"> <tr> <td> 6 </td> <td>IMU_X_VEL</td> <td> x-axis velocity (m/sec)</td> </tr></span>
<a name="l00077"></a>00077 <span class="comment"> <tr> <td> 7 </td> <td>IMU_Y_VEL</td> <td> y-axis velocity (m/sec)</td> </tr></span>
<a name="l00078"></a>00078 <span class="comment"> <tr> <td> 8 </td> <td>IMU_Z_VEL</td> <td> z-axis velocity (m/sec)</td> </tr></span>
<a name="l00079"></a>00079 <span class="comment"> <tr> <td> 9 </td> <td>IMU_YAW</td> <td> yaw absolute value (rad)</td> </tr></span>
<a name="l00080"></a>00080 <span class="comment"> <tr> <td> 10 </td> <td>IMU_PITCH</td> <td> pitch absolute value (rad)</td> </tr></span>
<a name="l00081"></a>00081 <span class="comment"> <tr> <td> 11 </td> <td>IMU_ROLL</td> <td> roll absolute value (rad)</td> </tr></span>
<a name="l00082"></a>00082 <span class="comment"> <tr> <td> 12 </td> <td>IMU_X</td> <td> x absolute value (meters)</td> </tr></span>
<a name="l00083"></a>00083 <span class="comment"> <tr> <td> 13 </td> <td>IMU_Y</td> <td> y absolute value (meters)</td> </tr></span>
<a name="l00084"></a>00084 <span class="comment"> <tr> <td> 14 </td> <td>IMU_Z</td> <td> z absolute value (meters)</td> </tr></span>
<a name="l00085"></a>00085 <span class="comment"> </table></span>
<a name="l00086"></a>00086 <span class="comment"> *</span>
<a name="l00087"></a>00087 <span class="comment"> * The first 6 values are directly measured by accelerometers & gyroscopes. The rest, if present, are estimates from the IMU unit.</span>
<a name="l00088"></a>00088 <span class="comment"> *</span>
<a name="l00089"></a>00089 <span class="comment"> * \sa CObservation</span>
<a name="l00090"></a>00090 <span class="comment"> * \ingroup mrpt_obs_grp</span>
<a name="l00091"></a>00091 <span class="comment"> */</span>
<a name="l00092"></a>00092 <span class="keyword">class </span><a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> CObservationIMU : <span class="keyword">public</span> CObservation
<a name="l00093"></a>00093 {
<a name="l00094"></a>00094 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00095"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#aa01ef54957ea58bb620dfb47d21ac016">00095</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html" title="This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimatio...">CObservationIMU</a> )
<a name="l00096"></a>00096
<a name="l00097"></a>00097 public:<span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** Constructor.</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#a7ab480d601c5252123816107bed9e8e4">00100</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html" title="This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimatio...">CObservationIMU</a>( ) :
<a name="l00101"></a>00101 sensorPose(),
<a name="l00102"></a>00102 dataIsPresent(15,false),
<a name="l00103"></a>00103 rawMeasurements(15,0)
<a name="l00104"></a>00104 { }
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** Destructor</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#a1ba415f77bd61124cdb8045a40a1b835">00108</a> <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html" title="This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimatio...">CObservationIMU</a>()
<a name="l00109"></a>00109 { }
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** The pose of the sensor on the robot.</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#a6dd7e52f38e6daab4ecccc3ec558a419">00113</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#a6dd7e52f38e6daab4ecccc3ec558a419" title="The pose of the sensor on the robot.">sensorPose</a>;
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** Each of the 15 entries of this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data).</span>
<a name="l00116"></a>00116 <span class="comment"> * See the top of this page for the meaning of the indices.</span>
<a name="l00117"></a>00117 <span class="comment"> */</span>
<a name="l00118"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#a1792c8b164cfcdf5b2e54fa8b2e483b6">00118</a> <a class="code" href="classstd_1_1vector.html" title="STL class.">vector_bool</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#a1792c8b164cfcdf5b2e54fa8b2e483b6" title="Each of the 15 entries of this vector is true if the corresponding data index contains valid data (th...">dataIsPresent</a>;
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.</span>
<a name="l00121"></a>00121 <span class="comment"> * \sa dataIsPresent, CObservation::timestamp</span>
<a name="l00122"></a>00122 <span class="comment"> */</span>
<a name="l00123"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#a2ad4aeed372f3a9a62e0372c34945fb4">00123</a> std<a class="code" href="classstd_1_1vector.html">::vector<double></a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#a2ad4aeed372f3a9a62e0372c34945fb4" title="The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.">rawMeasurements</a>;
<a name="l00124"></a>00124
<a name="l00125"></a>00125 <span class="comment"></span>
<a name="l00126"></a>00126 <span class="comment"> /** A general method to retrieve the sensor pose on the robot.</span>
<a name="l00127"></a>00127 <span class="comment"> * Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.</span>
<a name="l00128"></a>00128 <span class="comment"> * \sa setSensorPose</span>
<a name="l00129"></a>00129 <span class="comment"> */</span>
<a name="l00130"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#ab692622589a073d4d12669813c4e05f6">00130</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#ab692622589a073d4d12669813c4e05f6" title="A general method to retrieve the sensor pose on the robot.">getSensorPose</a>( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &out_sensorPose )<span class="keyword"> const </span>{ out_sensorPose = sensorPose; }
<a name="l00131"></a>00131
<a name="l00132"></a>00132 <span class="comment"></span>
<a name="l00133"></a>00133 <span class="comment"> /** A general method to change the sensor pose on the robot.</span>
<a name="l00134"></a>00134 <span class="comment"> * Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.</span>
<a name="l00135"></a>00135 <span class="comment"> * \sa getSensorPose</span>
<a name="l00136"></a>00136 <span class="comment"> */</span>
<a name="l00137"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#a9ae98651b0a540bb7da33c187be194ff">00137</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#a9ae98651b0a540bb7da33c187be194ff" title="A general method to change the sensor pose on the robot.">setSensorPose</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &newSensorPose ) { sensorPose = newSensorPose; }
<a name="l00138"></a>00138
<a name="l00139"></a>00139
<a name="l00140"></a>00140 }; <span class="comment">// End of class def.</span>
<a name="l00141"></a>00141
<a name="l00142"></a>00142
<a name="l00143"></a>00143 } <span class="comment">// End of namespace</span>
<a name="l00144"></a>00144 } <span class="comment">// End of namespace</span>
<a name="l00145"></a>00145
<a name="l00146"></a>00146 <span class="preprocessor">#endif</span>
</pre></div></div>
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