__init__.py [code] | |
AccelerationChecker.cpp [code] | Joint acceleration checker $Date$ |
AccelerationChecker.h [code] | Joint acceleration checker |
AccelerationCheckerComp.cpp [code] | Standalone component |
AccelerationFilter.cpp [code] | Acceleration Filter component * $Date$ |
AccelerationFilter.h [code] | Acceleration Filter component * |
AccelerationFilterComp.cpp [code] | Standalone component |
AccelerationFilterService_impl.cpp [code] | Service implementation code of ../AccelerationFilterService.idl |
AccelerationFilterService_impl.h [code] | Service implementation header of ../AccelerationFilterService.idl |
ApproximateVoxelGridFilter.cpp [code] | Moving Least Squares Filter $Date$ |
ApproximateVoxelGridFilter.h [code] | Moving Least Squares Filter |
ApproximateVoxelGridFilterComp.cpp [code] | Standalone component |
AutoBalancer.cpp [code] | Autobalancer component $Date$ |
AutoBalancer.h [code] | Autobalancer component |
AutoBalancerComp.cpp [code] | Standalone component |
AutoBalancerService_impl.cpp [code] | |
AutoBalancerService_impl.h [code] | |
AverageFilter.cpp [code] | Statistical Outlier Removal Filter $Date$ |
AverageFilter.h [code] | Average Filter |
AverageFilterComp.cpp [code] | Standalone component |
beep.cpp [code] | |
beep.h [code] | |
Beeper.cpp [code] | Beeper component $Date$ |
Beeper.h [code] | Beeper component |
BeeperComp.cpp [code] | Standalone component |
BodyRTC.cpp [code] | |
BodyRTC.h [code] | |
BodyState.cpp [code] | |
BodyState.h [code] | |
BVutil.cpp [code] | |
BVutil.h [code] | |
camera.cpp [code] | |
camera.h [code] | |
CaptureController/CameraCaptureService_impl.cpp [code] | |
VideoCapture/CameraCaptureService_impl.cpp [code] | |
CaptureController/CameraCaptureService_impl.h [code] | |
VideoCapture/CameraCaptureService_impl.h [code] | |
CameraImageLoader.cpp [code] | Camera image loader $Date$ |
CameraImageLoader.h [code] | Camera image loader |
CameraImageLoaderComp.cpp [code] | Standalone component |
CameraImageSaver.cpp [code] | Camera image saver $Date$ |
CameraImageSaver.h [code] | Camera image saver |
CameraImageSaverComp.cpp [code] | Standalone component |
CameraImageViewer.cpp [code] | Null component $Date$ |
CameraImageViewer.h [code] | Null component |
CameraImageViewerComp.cpp [code] | Standalone component |
CaptureController.cpp [code] | Capture controller $Date$ |
CaptureController.h [code] | Capture controller |
CaptureControllerComp.cpp [code] | Standalone component |
CollisionDetector.cpp [code] | Collisoin detector component $Date$ |
CollisionDetector.h [code] | |
CollisionDetectorComp.cpp [code] | Standalone component |
CollisionDetectorService_impl.cpp [code] | |
CollisionDetectorService_impl.h [code] | |
CollisionDetectorViewer.cpp [code] | |
Convolution.cpp [code] | Calculate Convolution |
Convolution.h [code] | Convolution Calculator |
DataLogger.cpp [code] | |
DataLogger.h [code] | Logger component |
DataLoggerComp.cpp [code] | Standalone component |
DataLoggerService_impl.cpp [code] | |
DataLoggerService_impl.h [code] | |
defs.h [code] | |
EKFilter.h [code] | |
EmergencyStopper.cpp [code] | Emergency stopper $Date$ |
EmergencyStopper.h [code] | Emergency stopper |
EmergencyStopperComp.cpp [code] | Standalone component |
EmergencyStopperService_impl.cpp [code] | |
EmergencyStopperService_impl.h [code] | |
ExtractCameraImage.cpp [code] | Null component $Date$ |
ExtractCameraImage.h [code] | Null component |
ExtractCameraImageComp.cpp [code] | Standalone component |
ForwardKinematics.cpp [code] | Null component $Date$ |
ForwardKinematics.h [code] | Null component |
ForwardKinematicsComp.cpp [code] | Standalone component |
ForwardKinematicsService_impl.cpp [code] | |
ForwardKinematicsService_impl.h [code] | |
GaitGenerator.cpp [code] | |
GaitGenerator.h [code] | |
GLbody.cpp [code] | |
GLbody.h [code] | |
GLbodyRTC.cpp [code] | |
GLbodyRTC.h [code] | |
GLcamera.cpp [code] | |
GLcamera.h [code] | |
GLcoordinates.cpp [code] | |
GLcoordinates.h [code] | |
GLlink.cpp [code] | |
GLlink.h [code] | |
GLmodel.cpp [code] | |
GLmodel.h [code] | |
rtc/CollisionDetector/GLscene.cpp [code] | |
rtc/Viewer/GLscene.cpp [code] | |
rtc/VirtualCamera/GLscene.cpp [code] | |
util/monitor/GLscene.cpp [code] | |
util/simulator/GLscene.cpp [code] | |
util/viewer/GLscene.cpp [code] | |
rtc/CollisionDetector/GLscene.h [code] | |
rtc/Viewer/GLscene.h [code] | |
rtc/VirtualCamera/GLscene.h [code] | |
util/monitor/GLscene.h [code] | |
util/simulator/GLscene.h [code] | |
util/viewer/GLscene.h [code] | |
GLsceneBase.cpp [code] | |
GLsceneBase.h [code] | |
GLshape.cpp [code] | |
GLshape.h [code] | |
GLtexture.h [code] | |
GLutil.cpp [code] | |
GLutil.h [code] | |
GraspController.cpp [code] | Soft error limiter $Date$ |
GraspController.h [code] | Null component |
GraspControllerComp.cpp [code] | Standalone component |
GraspControllerService_impl.cpp [code] | |
GraspControllerService_impl.h [code] | |
GrxRobotHardwareClientView.java [code] | |
GrxRobotHardwareClientViewPart.java [code] | |
HGcontroller.cpp [code] | High gain joint controller component for OpenHRP $Date$ |
HGcontroller.h [code] | High gain joint controller component for OpenHRP |
HGcontrollerComp.cpp [code] | Standalone component |
Hpaned.h [code] | |
HpanedUI.h [code] | |
hrp4c-motion.py [code] | |
HRP4C.py [code] | |
hrpEC-art.cpp [code] | |
hrpEC-common.cpp [code] | |
hrpEC.cpp [code] | |
hrpEC.h [code] | |
Hrpsys.h [code] | |
hrpsys_config.py [code] | |
TorqueFilter/IIRFilter.cpp [code] | |
VirtualForceSensor/IIRFilter.cpp [code] | |
TorqueFilter/IIRFilter.h [code] | |
VirtualForceSensor/IIRFilter.h [code] | |
ImageData2CameraImage.cpp [code] | Null component $Date$ |
ImageData2CameraImage.h [code] | Null component |
ImageData2CameraImageComp.cpp [code] | Standalone component |
ImpedanceController.cpp [code] | Impedance controller component $Date$ |
ImpedanceController.h [code] | Impedance control component |
ImpedanceControllerComp.cpp [code] | Standalone component |
ImpedanceControllerService_impl.cpp [code] | |
ImpedanceControllerService_impl.h [code] | |
ImpedanceOutputGenerator.h [code] | |
Integrator.cpp [code] | Calcurate Integration |
Integrator.h [code] | Calcurate Integration |
interpolator.cpp [code] | |
interpolator.h [code] | |
iob.cpp [code] | |
iob.h [code] | Abstract interface for the robot hardware |
IrrModel.cpp [code] | |
IrrModel.h [code] | |
JointLimitTable.cpp [code] | |
JointLimitTable.h [code] | |
JointPathEx.cpp [code] | |
JointPathEx.h [code] | |
JointPathExC.cpp [code] | Standalone component |
Joystick.cpp [code] | Access a joystick control device |
Joystick.h [code] | Access a joystick control device |
Joystick2PanTiltAngles.cpp [code] | Joystick output to velocity converter $Date$ |
Joystick2PanTiltAngles.h [code] | Joystick out to velocity converter |
Joystick2PanTiltAnglesComp.cpp [code] | Standalone component |
Joystick2Velocity2D.cpp [code] | Joystick output to velocity converter $Date$ |
Joystick2Velocity2D.h [code] | Joystick out to velocity converter |
Joystick2Velocity2DComp.cpp [code] | Standalone component |
Joystick2Velocity3D.cpp [code] | Joystick output to velocity converter $Date$ |
Joystick2Velocity3D.h [code] | Joystick out to velocity converter |
Joystick2Velocity3DComp.cpp [code] | Standalone component |
JoystickComp.cpp [code] | Standalone component |
JpegDecoder.cpp [code] | Null component $Date$ |
JpegDecoder.h [code] | Jpeg decoder component |
JpegDecoderComp.cpp [code] | Standalone component |
JpegEncoder.cpp [code] | Null component $Date$ |
JpegEncoder.h [code] | Jpeg encoder component |
JpegEncoderComp.cpp [code] | Standalone component |
js.cpp [code] | |
js.h [code] | |
js_mac.cpp [code] | |
KalmanFilter.cpp [code] | Kalman filter $Date$ |
KalmanFilter.h [code] | Null component |
KalmanFilterComp.cpp [code] | Standalone component |
KalmanFilterService_impl.cpp [code] | |
KalmanFilterService_impl.h [code] | |
LogManager.h [code] | |
LogManagerBase.h [code] | |
logSplitter.cpp [code] | |
monitor/main.cpp [code] | |
SelfCollisionChecker/main.cpp [code] | |
simulator/main.cpp [code] | |
viewer/main.cpp [code] | |
MLSFilter.cpp [code] | Moving Least Squares Filter $Date$ |
MLSFilter.h [code] | Moving Least Squares Filter |
MLSFilterComp.cpp [code] | Standalone component |
Monitor.cpp [code] | |
Monitor.h [code] | |
MotorHeatParam.h [code] | Motor heat parmaeter structure |
MotorTorqueController.cpp [code] | Torque controller for single motor |
MotorTorqueController.h [code] | Torque controller for single motor |
mv.h [code] | |
NullComponent.cpp [code] | Null component $Date$ |
NullComponent.h [code] | Null component |
NullComponentComp.cpp [code] | Standalone component |
NullService_impl.cpp [code] | |
NullService_impl.h [code] | |
ObjectContactTurnaroundDetector.cpp [code] | Object contact turnaround detector component $Date$ |
ObjectContactTurnaroundDetector.h [code] | Object contact turnaround detector component |
ObjectContactTurnaroundDetectorBase.h [code] | |
ObjectContactTurnaroundDetectorComp.cpp [code] | Standalone component |
ObjectContactTurnaroundDetectorService_impl.cpp [code] | |
ObjectContactTurnaroundDetectorService_impl.h [code] | |
ObjectTurnaroundDetector.h [code] | |
OccupancyGridMap3D.cpp [code] | 3d occupancy grid map $Date$ |
OccupancyGridMap3D.h [code] | Null component |
OccupancyGridMap3DComp.cpp [code] | Standalone component |
OGMap3DService_impl.cpp [code] | |
OGMap3DService_impl.h [code] | |
OGMap3DViewer.cpp [code] | Null component $Date$ |
OGMap3DViewer.h [code] | Null component |
OGMap3DViewerComp.cpp [code] | Standalone component |
ogmapTest1.py [code] | |
ogmapTest2.py [code] | |
OnlineViewer_impl.cpp [code] | |
OnlineViewer_impl.h [code] | |
OpenNIGrabber.cpp [code] | OpenNI grabber $Date$ |
OpenNIGrabber.h [code] | Moving Least Squares Filter |
OpenNIGrabberComp.cpp [code] | Standalone component |
OpenRTMUtil.cpp [code] | |
OpenRTMUtil.h [code] | |
pa10-jointangle.py [code] | |
PA10.py [code] | |
package.h [code] | |
PCDLoader.cpp [code] | PCD file loader $Date$ |
PCDLoader.h [code] | PCD file loader |
PCDLoaderComp.cpp [code] | Standalone component |
PDcontroller.cpp [code] | Sample PD component $Date$ |
PDcontroller.h [code] | Sample PD component |
PDcontrollerComp.cpp [code] | Standalone component |
PlaneRemover.cpp [code] | Plane remover $Date$ |
PlaneRemover.h [code] | Statistical Outlier Removal Filter |
PlaneRemoverComp.cpp [code] | Standalone component |
PointCloudLogViewer.cpp [code] | |
PointCloudViewer.cpp [code] | Point Cloud Viewer $Date$ |
PointCloudViewer.h [code] | Point Cloud Viewer |
PointCloudViewerComp.cpp [code] | Standalone component |
PortHandler.cpp [code] | |
PortHandler.h [code] | |
poseEditor.py [code] | |
PreviewController.cpp [code] | |
PreviewController.h [code] | |
Project.cpp [code] | |
Project.h [code] | |
ProjectGenerator.cpp [code] | |
ProjectUtil.cpp [code] | |
ProjectUtil.h [code] | |
PyBody.cpp [code] | |
PyBody.h [code] | |
PyLink.cpp [code] | |
PyLink.h [code] | |
PyShape.cpp [code] | |
PyShape.h [code] | |
PySimulator.cpp [code] | |
PySimulator.h [code] | |
PyUtil.h [code] | |
Range2PointCloud.cpp [code] | Range2pointcloud component $Date$ |
Range2PointCloud.h [code] | Range2pointcloud component |
Range2PointCloudComp.cpp [code] | Standalone component |
RangeDataViewer.cpp [code] | Null component $Date$ |
RangeDataViewer.h [code] | Null component |
RangeDataViewerComp.cpp [code] | Standalone component |
RangeNoiseMixer.cpp [code] | Plane remover $Date$ |
RangeNoiseMixer.h [code] | Noise mixer for range data |
RangeNoiseMixerComp.cpp [code] | Standalone component |
RatsMatrix.cpp [code] | |
RatsMatrix.h [code] | |
ReferenceForceUpdater.cpp [code] | Update ReferenceForce $Date$ |
ReferenceForceUpdater.h [code] | ReferenceForceUpdater |
ReferenceForceUpdaterComp.cpp [code] | Standalone component |
ReferenceForceUpdaterService_impl.cpp [code] | |
ReferenceForceUpdaterService_impl.h [code] | |
RemoveForceSensorLinkOffset.cpp [code] | Virtual force sensor component $Date$ |
RemoveForceSensorLinkOffset.h [code] | Null component |
RemoveForceSensorLinkOffsetComp.cpp [code] | Standalone component |
RemoveForceSensorLinkOffsetService_impl.cpp [code] | |
RemoveForceSensorLinkOffsetService_impl.h [code] | |
ResizeImage.cpp [code] | Resize image component $Date$ |
ResizeImage.h [code] | Resize image component |
ResizeImageComp.cpp [code] | Standalone component |
RGB2Gray.cpp [code] | Rgb2gray component $Date$ |
RGB2Gray.h [code] | Jpeg encoder component |
RGB2GrayComp.cpp [code] | Standalone component |
RobotHardware/robot.cpp [code] | |
SoftErrorLimiter/robot.cpp [code] | |
RobotHardware/robot.h [code] | |
SoftErrorLimiter/robot.h [code] | |
RobotHardware.cpp [code] | Null component $Date$ |
RobotHardware.h [code] | Robot hardware component |
RobotHardwareComp.cpp [code] | Standalone component |
RobotHardwareService_impl.cpp [code] | |
RobotHardwareService_impl.h [code] | |
RotateImage.cpp [code] | Rotate image component $Date$ |
RotateImage.h [code] | Rotate image component |
RotateImageComp.cpp [code] | Standalone component |
RPYKalmanFilter.h [code] | |
RTCBody.cpp [code] | |
RTCBody.h [code] | |
Viewer/RTCGLbody.cpp [code] | |
VirtualCamera/RTCGLbody.cpp [code] | |
Viewer/RTCGLbody.h [code] | |
VirtualCamera/RTCGLbody.h [code] | |
jython/rtm.py [code] | |
python/rtm.py [code] | |
jython/sample.py [code] | |
rtc/OccupancyGridMap3D/sample/sample.py [code] | |
sample4legrobot_auto_balancer.py [code] | |
sample4legrobot_stabilizer.py [code] | |
sample6dofrobot-kalman-filter.py [code] | |
SampleComponent.cpp [code] | Null component $Date$ |
SampleComponent.h [code] | Null component |
SampleComponent_impl.cpp [code] | |
SampleComponent_impl.h [code] | |
SampleComponentComp.cpp [code] | Standalone component |
samplerobot-terrain-walk.py [code] | |
samplerobot-walk.py [code] | |
samplerobot_auto_balancer.py [code] | |
samplerobot_carry_object.py [code] | |
samplerobot_collision_detector.py [code] | |
samplerobot_data_logger.py [code] | |
samplerobot_emergency_stopper.py [code] | |
samplerobot_impedance_controller.py [code] | |
samplerobot_kalman_filter.py [code] | |
samplerobot_reference_force_updater.py [code] | |
samplerobot_remove_force_offset.py [code] | |
samplerobot_sequence_player.py [code] | |
samplerobot_soft_error_limiter.py [code] | |
samplerobot_stabilizer.py [code] | |
samplerobot_terrain_walk.py [code] | |
samplerobot_virtual_force_sensor.py [code] | |
samplerobot_walk.py [code] | |
samplespecialjointrobot_auto_balancer.py [code] | |
scc.cpp [code] | |
scc.h [code] | |
SceneState.cpp [code] | |
SceneState.h [code] | |
SDLUtil.cpp [code] | |
SDLUtil.h [code] | |
seqplay.cpp [code] | |
seqplay.h [code] | |
SequencePlayer.cpp [code] | Sequence player component $Date$ |
SequencePlayer.h [code] | Sequence player component |
SequencePlayerComp.cpp [code] | Standalone component |
SequencePlayerService_impl.cpp [code] | |
SequencePlayerService_impl.h [code] | |
ServoController.cpp [code] | Servo controller component $Date$ |
ServoController.h [code] | Null component |
ServoControllerComp.cpp [code] | Standalone component |
ServoControllerService_impl.cpp [code] | |
ServoControllerService_impl.h [code] | |
ServoOnOff.java [code] | |
ServoSerial.h [code] | |
SetupCollisionPair.cpp [code] | Standalone component |
SimpleFullbodyInverseKinematicsSolver.h [code] | |
simTest1.py [code] | |
simTest2.py [code] | |
simTest3.py [code] | |
simTest4.py [code] | |
simTest5.py [code] | |
rtc/Simulator/Simulator.cpp [code] | |
util/simulator/Simulator.cpp [code] | |
rtc/Simulator/Simulator.h [code] | |
util/simulator/Simulator.h [code] | |
SimulatorComp.cpp [code] | Standalone component |
SimulatorUtil.h [code] | |
SoftErrorLimiter.cpp [code] | Soft error limiter $Date$ |
SoftErrorLimiter.h [code] | Null component |
SoftErrorLimiterComp.cpp [code] | |
SoftErrorLimiterService_impl.cpp [code] | |
SoftErrorLimiterService_impl.h [code] | |
SORFilter.cpp [code] | Statistical Outlier Removal Filter $Date$ |
SORFilter.h [code] | Statistical Outlier Removal Filter |
SORFilterComp.cpp [code] | Standalone component |
Stabilizer.cpp [code] | Stabilizer filter $Date$ |
Stabilizer.h [code] | Stabilizer component |
StabilizerComp.cpp [code] | Standalone component |
StabilizerService_impl.cpp [code] | |
StabilizerService_impl.h [code] | |
StateHolder.cpp [code] | State holder component $Date$ |
StateHolder.h [code] | State holder component |
StateHolderComp.cpp [code] | Standalone component |
StateHolderService_impl.cpp [code] | |
StateHolderService_impl.h [code] | |
test-colcheck.py [code] | |
test-hostname.py [code] | |
test-hrpsysconf.py [code] | |
test-jointangle.py [code] | |
test-pkgconfig.py [code] | |
test-robot-hardware.py [code] | |
test-samplerobot-abc.py [code] | |
test-samplerobot-collision.py [code] | |
test-samplerobot-datalogger.py [code] | |
test-samplerobot-el.py [code] | |
test-samplerobot-emergency.py [code] | |
test-samplerobot-impedance.py [code] | |
test-samplerobot-kf.py [code] | |
test-samplerobot-rfu.py [code] | |
test-samplerobot-rmfo.py [code] | |
test-samplerobot-sequence.py [code] | |
test-samplerobot-st.py [code] | |
test-samplerobot.py [code] | |
testCamera.cpp [code] | |
testGaitGenerator.cpp [code] | Test of gait generator |
testIIRFilter.cpp [code] | |
testImpedanceOutputGenerator.cpp [code] | |
testKalmanFilterEstimation.cpp [code] | Test program for KalmanFilter.cpp requires input log data files |
testKFilter.cpp [code] | |
testMotorTorqueController.cpp [code] | |
testObjectContactTurnaroundDetectorBase.cpp [code] | |
testObjectTurnaroundDetector.cpp [code] | |
testPreviewController.cpp [code] | |
testServoSerial.cpp [code] | |
testTwoDofController.cpp [code] | |
testZMPDistributor.cpp [code] | |
ThermoEstimator.cpp [code] | Motor thermo estimation component |
ThermoEstimator.h [code] | Null component |
ThermoEstimatorComp.cpp [code] | Standalone component |
ThermoLimiter.cpp [code] | Null component $Date$ |
ThermoLimiter.h [code] | Null component |
ThermoLimiterComp.cpp [code] | Standalone component |
ThermoLimiterService_impl.cpp [code] | |
ThermoLimiterService_impl.h [code] | |
ThreadedObject.cpp [code] | |
ThreadedObject.h [code] | |
TimedPosture.h [code] | |
TimedRobotState.h [code] | |
TimeKeeperService_impl.cpp [code] | |
TimeKeeperService_impl.h [code] | |
timeUtil.cpp [code] | |
timeUtil.h [code] | |
TorqueController.cpp [code] | Null component $Date$ |
TorqueController.h [code] | Null component |
TorqueControllerComp.cpp [code] | Standalone component |
TorqueControllerService_impl.cpp [code] | |
TorqueControllerService_impl.h [code] | |
TorqueFilter.cpp [code] | Null component $Date$ |
TorqueFilter.h [code] | Null component |
TorqueFilterComp.cpp [code] | Standalone component |
TwoDofController.cpp [code] | Feedback and Feedforward Controller |
TwoDofController.h [code] | Feedback and Feedforward Controller |
TwoDofControllerDynamicsModel.cpp [code] | Feedback and Feedforward Controller which use PDModel as motor model |
TwoDofControllerDynamicsModel.h [code] | Feedback and Feedforward Controller which use PDModel as motor model |
TwoDofControllerPDModel.cpp [code] | Feedback and Feedforward Controller which use PDModel as motor model |
TwoDofControllerPDModel.h [code] | Feedback and Feedforward Controller which use PDModel as motor model |
UndistortImage.cpp [code] | Null component $Date$ |
UndistortImage.h [code] | Null component |
UndistortImageComp.cpp [code] | Standalone component |
utilities.h [code] | |
vclip.h [code] | |
VclipLinkPair.cpp [code] | |
VclipLinkPair.h [code] | |
vcTest.py [code] | |
VectorConvert.h [code] | |
VideoCapture.cpp [code] | Video capture component $Date$ |
VideoCapture.h [code] | Video capture component |
VideoCaptureComp.cpp [code] | Standalone component |
Viewer.cpp [code] | Viewer component $Date$ |
Viewer.h [code] | Viewer component |
ViewerComp.cpp [code] | Standalone component |
VirtualCamera.cpp [code] | Virtual camera component $Date$ |
VirtualCamera.h [code] | Virtual camera component |
VirtualCameraComp.cpp [code] | Standalone component |
VirtualForceSensor.cpp [code] | Virtual force sensor component $Date$ |
VirtualForceSensor.h [code] | Null component |
VirtualForceSensorComp.cpp [code] | Standalone component |
VirtualForceSensorService_impl.cpp [code] | |
VirtualForceSensorService_impl.h [code] | |
visionTest.py [code] | |
VkwindowMainWindow.h [code] | |
VoxelGridFilter.cpp [code] | Moving Least Squares Filter $Date$ |
VoxelGridFilter.h [code] | Moving Least Squares Filter |
VoxelGridFilterComp.cpp [code] | Standalone component |
jython/waitInput.py [code] | |
python/waitInput.py [code] | |
WavPlayer.cpp [code] | |
WavPlayer.h [code] | Null component |
WavPlayerComp.cpp [code] | Standalone component |
WavPlayerService_impl.cpp [code] | |
WavPlayerService_impl.h [code] | |
ysjoyreader.cpp [code] | |
ysjoyreader.h [code] | |
ZMPDistributor.h [code] | ZMP distribution |