#include <gtsam/base/debug.h>
#include <gtsam/base/timing.h>
#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam_unstable/discrete/Scheduler.h>
#include <boost/tokenizer.hpp>
#include <cmath>
#include <fstream>
#include <iomanip>
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