calibrate.py
/home/rosbuild/hudson/workspace/doc-hydro-ros_ethercat/doc_stacks/2015-08-27_14-45-34.843929/ros_ethercat/ros_ethercat_model/src/
calibrate_8py
calibrate
def
calibrate
namespacecalibrate.html
aad3a494d3c8bb93af8b05e1088f31b22
def
calibrate_imu
namespacecalibrate.html
afcd5b7556909e0768824237f9da69d31
def
main
namespacecalibrate.html
acbb072d87013e28c7e15753cc5c517b0
cond
namespacecalibrate.html
a855d0c793bc18c8727efb04d4af3154b
is_calibrated
namespacecalibrate.html
adb5de4a9f90229d0cab5b1c8cf457682
tuple
load_controller
namespacecalibrate.html
a3653331a4dd3733f8601301c1932c6aa
sub
namespacecalibrate.html
a71c1d2d03d1a10519d8edf33752d79d7
tuple
switch_controller
namespacecalibrate.html
a47a81ab9336bde7fb3e39102e83f3892
tuple
unload_controller
namespacecalibrate.html
a76f06a297126f057036131a89f64026c
chain.hpp
/home/rosbuild/hudson/workspace/doc-hydro-ros_ethercat/doc_stacks/2015-08-27_14-45-34.843929/ros_ethercat/ros_ethercat_model/include/ros_ethercat_model/
chain_8hpp
ros_ethercat_model/robot_state.hpp
ros_ethercat_model::Chain
ros_ethercat_model
hardware_interface.hpp
/home/rosbuild/hudson/workspace/doc-hydro-ros_ethercat/doc_stacks/2015-08-27_14-45-34.843929/ros_ethercat/ros_ethercat_model/include/ros_ethercat_model/
hardware__interface_8hpp
ros_ethercat_model::Actuator
ros_ethercat_model::ActuatorCommand
ros_ethercat_model::ActuatorState
ros_ethercat_model::CustomHW
ros_ethercat_model
joint.hpp
/home/rosbuild/hudson/workspace/doc-hydro-ros_ethercat/doc_stacks/2015-08-27_14-45-34.843929/ros_ethercat/ros_ethercat_model/include/ros_ethercat_model/
joint_8hpp
ros_ethercat_model::JointState
ros_ethercat_model::JointStatistics
ros_ethercat_model
JOINT_NONE
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2ea3824d868efaaaff3cce7eebf842384e1
JOINT_ROTARY
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2ea2557ae3eb62a601f6b82ff0f3c116a67
JOINT_CONTINUOUS
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2ea34d0d76d3d0ec78e136aac882d444b0d
JOINT_PRISMATIC
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2eae20d8833e12e03c60cb22dc0a73bf354
JOINT_FIXED
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2ea4d85f9cefb20848c011f2427926f79cc
JOINT_PLANAR
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2ea5bd25315f1a46f4efd2e5b049e601ac1
JOINT_TYPES_MAX
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2eaf8d0aa317008de1951668c410d74e471
mech_stats_publisher.hpp
/home/rosbuild/hudson/workspace/doc-hydro-ros_ethercat/doc_stacks/2015-08-27_14-45-34.843929/ros_ethercat/ros_ethercat_model/include/ros_ethercat_model/
mech__stats__publisher_8hpp
ros_ethercat_model/robot_state.hpp
MechStatsPublisher
robot_state.hpp
/home/rosbuild/hudson/workspace/doc-hydro-ros_ethercat/doc_stacks/2015-08-27_14-45-34.843929/ros_ethercat/ros_ethercat_model/include/ros_ethercat_model/
robot__state_8hpp
ros_ethercat_model/joint.hpp
ros_ethercat_model/transmission.hpp
ros_ethercat_model/hardware_interface.hpp
ros_ethercat_model::RobotState
ros_ethercat_model
ros_ethercat.hpp
/home/rosbuild/hudson/workspace/doc-hydro-ros_ethercat/doc_stacks/2015-08-27_14-45-34.843929/ros_ethercat/ros_ethercat_model/include/ros_ethercat_model/
ros__ethercat_8hpp
ros_ethercat_model/robot_state.hpp
ros_ethercat_model/mech_stats_publisher.hpp
RosEthercat
static const string
name
ros__ethercat_8hpp.html
a1848ae81740c68c2502b2f176cfadcef
transmission.hpp
/home/rosbuild/hudson/workspace/doc-hydro-ros_ethercat/doc_stacks/2015-08-27_14-45-34.843929/ros_ethercat/ros_ethercat_model/include/ros_ethercat_model/
transmission_8hpp
ros_ethercat_model/joint.hpp
ros_ethercat_model/hardware_interface.hpp
ros_ethercat_model::Transmission
ros_ethercat_model
tree.hpp
/home/rosbuild/hudson/workspace/doc-hydro-ros_ethercat/doc_stacks/2015-08-27_14-45-34.843929/ros_ethercat/ros_ethercat_model/include/ros_ethercat_model/
tree_8hpp
ros_ethercat_model/robot_state.hpp
ros_ethercat_model::Tree
ros_ethercat_model
MechStatsPublisher
classMechStatsPublisher.html
MechStatsPublisher
classMechStatsPublisher.html
a4ddb3fadf51e416830b68bb35be5ddf5
(NodeHandle &nh, RobotState &state)
void
publish
classMechStatsPublisher.html
a877ce4d98673c28615479da05ef6dfe0
()
Time
last_published_mechanism_stats_
classMechStatsPublisher.html
a497dce7c9365c5b839d243ab3d82cc39
RealtimePublisher< MechanismStatistics >
pub_mech_stats_
classMechStatsPublisher.html
aaf1646bf027d5792f89db0d08788e42f
Duration
publish_period_mechanism_stats_
classMechStatsPublisher.html
a6af60c9f05b0ca9737aa59ba04251112
RobotState &
state_
classMechStatsPublisher.html
a69b55ccd8e900d9711141e092cc0512d
RosEthercat
classRosEthercat.html
hardware_interface::RobotHW
void
read
classRosEthercat.html
a83a16188fccfda7be80fd646d41bb136
()
RosEthercat
classRosEthercat.html
a3ea2dcedd6f1cb47d497eacdd480f36d
(ros::NodeHandle &nh, const string ð, bool allow, TiXmlElement *config)
void
shutdown
classRosEthercat.html
a15920d2d8da555d54a4e96862efd9014
()
void
write
classRosEthercat.html
af2678182066b3878c962280ea6f82ac5
()
virtual
~RosEthercat
classRosEthercat.html
af0307d7697b3646a441ce3e6eed223f3
()
ros::NodeHandle
cm_node_
classRosEthercat.html
a4b515a0976df5174e69c30cb459da66f
EthercatHardware
ec_
classRosEthercat.html
ad1b5dd64c8e83a056424bac0e0a4b670
hardware_interface::EffortJointInterface
effort_joint_interface_
classRosEthercat.html
a4ff89aa1f0a675af8b9ab751175683bc
hardware_interface::JointCommandInterface
joint_command_interface_
classRosEthercat.html
a84e7d078bc06fe93fc42f3fc48b25736
hardware_interface::JointStateInterface
joint_state_interface_
classRosEthercat.html
a63ff8eef7079055d7b61932d90ef5042
boost::scoped_ptr< MechStatsPublisher >
mech_stats_publisher_
classRosEthercat.html
ac20c00af06bfcf4c0f8e8b82024eb228
ros_ethercat_model::RobotState
model_
classRosEthercat.html
a16c677e3fff6d6ad44bc03bd9586bfd0
hardware_interface::PositionJointInterface
position_joint_interface_
classRosEthercat.html
ad09138b3743cfe3c2b7d46b97a425deb
calibrate
namespacecalibrate.html
def
calibrate
namespacecalibrate.html
aad3a494d3c8bb93af8b05e1088f31b22
def
calibrate_imu
namespacecalibrate.html
afcd5b7556909e0768824237f9da69d31
def
main
namespacecalibrate.html
acbb072d87013e28c7e15753cc5c517b0
cond
namespacecalibrate.html
a855d0c793bc18c8727efb04d4af3154b
is_calibrated
namespacecalibrate.html
adb5de4a9f90229d0cab5b1c8cf457682
tuple
load_controller
namespacecalibrate.html
a3653331a4dd3733f8601301c1932c6aa
sub
namespacecalibrate.html
a71c1d2d03d1a10519d8edf33752d79d7
tuple
switch_controller
namespacecalibrate.html
a47a81ab9336bde7fb3e39102e83f3892
tuple
unload_controller
namespacecalibrate.html
a76f06a297126f057036131a89f64026c
ros_ethercat_model
namespaceros__ethercat__model.html
ros_ethercat_model::Actuator
ros_ethercat_model::ActuatorCommand
ros_ethercat_model::ActuatorState
ros_ethercat_model::Chain
ros_ethercat_model::CustomHW
ros_ethercat_model::JointState
ros_ethercat_model::JointStatistics
ros_ethercat_model::RobotState
ros_ethercat_model::Transmission
ros_ethercat_model::Tree
JOINT_NONE
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2ea3824d868efaaaff3cce7eebf842384e1
JOINT_ROTARY
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2ea2557ae3eb62a601f6b82ff0f3c116a67
JOINT_CONTINUOUS
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2ea34d0d76d3d0ec78e136aac882d444b0d
JOINT_PRISMATIC
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2eae20d8833e12e03c60cb22dc0a73bf354
JOINT_FIXED
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2ea4d85f9cefb20848c011f2427926f79cc
JOINT_PLANAR
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2ea5bd25315f1a46f4efd2e5b049e601ac1
JOINT_TYPES_MAX
namespaceros__ethercat__model.html
a49ddd411be207da14187b6546c59aa2eaf8d0aa317008de1951668c410d74e471
ros_ethercat_model::Actuator
classros__ethercat__model_1_1Actuator.html
ActuatorCommand
command_
classros__ethercat__model_1_1Actuator.html
a85189605aa293363f4dfe6fe121534a2
std::string
name_
classros__ethercat__model_1_1Actuator.html
a458479012d8fabece4d513e1dcee21a9
ActuatorState
state_
classros__ethercat__model_1_1Actuator.html
add81578d65720651d4d81b217897f2ed
ros_ethercat_model::ActuatorCommand
classros__ethercat__model_1_1ActuatorCommand.html
ActuatorCommand
classros__ethercat__model_1_1ActuatorCommand.html
a168e2fb1df8923b69f31d930d7c6599d
()
double
effort_
classros__ethercat__model_1_1ActuatorCommand.html
a47c06092c62bdf11c7ddc99837b13ed8
bool
enable_
classros__ethercat__model_1_1ActuatorCommand.html
a5405b654387453108d92deb8b48e706b
ros_ethercat_model::ActuatorState
classros__ethercat__model_1_1ActuatorState.html
ActuatorState
classros__ethercat__model_1_1ActuatorState.html
a36ca76b5a2adc0c4d6458a5ed65679ae
()
int
device_id_
classros__ethercat__model_1_1ActuatorState.html
a48fcd97a8e734f4677f06e0ff51a2936
double
last_commanded_current_
classros__ethercat__model_1_1ActuatorState.html
abd005fe7e7d92f9caaea30e9def9335e
double
last_commanded_effort_
classros__ethercat__model_1_1ActuatorState.html
a591b000329265aed13c2cb4b93e73f8b
double
last_measured_current_
classros__ethercat__model_1_1ActuatorState.html
a5186d6cbcad5d6c40058eb9644c06be0
double
last_measured_effort_
classros__ethercat__model_1_1ActuatorState.html
aafe03ca5b9be51992baac2e48fc22d7e
double
max_effort_
classros__ethercat__model_1_1ActuatorState.html
a2c8cf5f9e79270f85dcc4c1594891240
double
motor_voltage_
classros__ethercat__model_1_1ActuatorState.html
a063fe8f162f15aec11e0ffddc0f5f045
double
position_
classros__ethercat__model_1_1ActuatorState.html
a4cffbf22f95cd29f46e9f2a4b9385980
double
velocity_
classros__ethercat__model_1_1ActuatorState.html
adb87ce7e5b5135465da795b8c775db24
ros_ethercat_model::Chain
classros__ethercat__model_1_1Chain.html
void
addEfforts
classros__ethercat__model_1_1Chain.html
ab9128c10c0966f77c47fa62b9ea7acc1
(KDL::JntArray &a)
void
addEfforts
classros__ethercat__model_1_1Chain.html
ad7c4fc8bc5442b658bb65345b28003e3
(const Vec &v)
bool
allCalibrated
classros__ethercat__model_1_1Chain.html
a816e7df2924bfcf078edc2fdd0067468
()
void
getEfforts
classros__ethercat__model_1_1Chain.html
ab5e377f41a7e773a4cc105d01baebf04
(std::vector< double > &efforts)
void
getEfforts
classros__ethercat__model_1_1Chain.html
a0f313ecd233909e8a6e86f450575f08a
(KDL::JntArray &a)
JointState *
getJoint
classros__ethercat__model_1_1Chain.html
aa858eb9cf233a598c250606fab45ab5f
(unsigned int actuated_joint_i)
void
getPositions
classros__ethercat__model_1_1Chain.html
ad763aef69d715993e90650be3ed9bbc4
(std::vector< double > &positions)
void
getPositions
classros__ethercat__model_1_1Chain.html
a4552d966a9d6d6d03b002b5eac584db3
(KDL::JntArray &a)
void
getPositions
classros__ethercat__model_1_1Chain.html
a98660d66f45de98040a19e8117751ea2
(Vec &v)
void
getVelocities
classros__ethercat__model_1_1Chain.html
a49e15b17e62d4830e6dcfca9e43ad6b8
(std::vector< double > &velocities)
void
getVelocities
classros__ethercat__model_1_1Chain.html
ad16bab4319fff105d7e94d0ae91f32f2
(KDL::JntArrayVel &a)
void
getVelocities
classros__ethercat__model_1_1Chain.html
aed91a168cefc2e081fc904db14ce7b3e
(Vec &v)
bool
init
classros__ethercat__model_1_1Chain.html
ae67c06b0a8e5d075a397bcd1d29a1e53
(RobotState *robot_state, const std::string &root, const std::string &tip)
void
setEfforts
classros__ethercat__model_1_1Chain.html
a5d654daad58c2affdeea9fc29c2c1f8f
(KDL::JntArray &a)
int
size
classros__ethercat__model_1_1Chain.html
ad4fc8c3dbabb2731cfc195fa9f77b69b
() const
void
toKDL
classros__ethercat__model_1_1Chain.html
a406d41aa399eb89211389aae47a986f2
(KDL::Chain &chain)
std::vector< JointState * >
joints_
classros__ethercat__model_1_1Chain.html
ac594a0dc3777b241e7241b651e76c993
KDL::Chain
kdl_chain_
classros__ethercat__model_1_1Chain.html
a1f1455b3f9e0b1e7bfc14db291221214
RobotState *
robot_state_
classros__ethercat__model_1_1Chain.html
a836eaaa261f033f8f1300494be38b13f
ros_ethercat_model::CustomHW
classros__ethercat__model_1_1CustomHW.html
ros_ethercat_model::JointState
classros__ethercat__model_1_1JointState.html
void
enforceLimits
classros__ethercat__model_1_1JointState.html
ac6e99d10fe3d71b25cace49f179485ff
()
void
getLimits
classros__ethercat__model_1_1JointState.html
a56440e8ca80461b6cdec4dacfc8a6383
(double &effort_low, double &effort_high)
JointState
classros__ethercat__model_1_1JointState.html
ac8a84614efe4d47229dc99f8d25707a0
()
bool
calibrated_
classros__ethercat__model_1_1JointState.html
aaa660d153dc685436c9ba979be31b3d0
double
commanded_effort_
classros__ethercat__model_1_1JointState.html
aef1cf291680726db11da2170ca1d9cff
boost::shared_ptr< const urdf::Joint >
joint_
classros__ethercat__model_1_1JointState.html
a68c5895c6e022eef41debd4f336d54a6
JointStatistics
joint_statistics_
classros__ethercat__model_1_1JointState.html
aac0583bac7d6a27050820aa17003b440
double
measured_effort_
classros__ethercat__model_1_1JointState.html
afebd490a2fde2819e01fe3630461d076
double
position_
classros__ethercat__model_1_1JointState.html
af220ad7ca75e150f687def84cc10fc88
double
reference_position_
classros__ethercat__model_1_1JointState.html
a18b5ead906e8199df1aa59ee83d7e416
double
velocity_
classros__ethercat__model_1_1JointState.html
a4dc5e7b5a6ac683013ccf165feb3103f
ros_ethercat_model::JointStatistics
classros__ethercat__model_1_1JointStatistics.html
JointStatistics
classros__ethercat__model_1_1JointStatistics.html
a7002bcb5d5b490440f6652179079a9da
()
void
reset
classros__ethercat__model_1_1JointStatistics.html
a0f2d18fdd7b2356e24df430acce19b70
()
void
update
classros__ethercat__model_1_1JointStatistics.html
acc9c1bce84a2614ea2c344d3c4c1e918
(JointState *jnt)
double
max_abs_effort_
classros__ethercat__model_1_1JointStatistics.html
adf9f15f1712e3cdf1a8f68a75e2162ec
double
max_abs_velocity_
classros__ethercat__model_1_1JointStatistics.html
a4b11ebc32d2e5a7f7943e2d8ec86ca76
double
max_position_
classros__ethercat__model_1_1JointStatistics.html
a8d6b5b091d1b66506393ea57a6251c53
double
min_position_
classros__ethercat__model_1_1JointStatistics.html
a7986a4ba84bd7117dd43c13b07e327b7
bool
violated_limits_
classros__ethercat__model_1_1JointStatistics.html
a3aad32dc1450c2e8ed7a43bf01cccf59
bool
initialized_
classros__ethercat__model_1_1JointStatistics.html
aa9a5549d621b47549a4a2e40bb400218
double
old_position_
classros__ethercat__model_1_1JointStatistics.html
aa3c3dcb28a0efb90e82fdd3c2d4f2570
ros_ethercat_model::RobotState
classros__ethercat__model_1_1RobotState.html
hardware_interface::HardwareInterface
Actuator *
getActuator
classros__ethercat__model_1_1RobotState.html
a3486900f455cfc197320d42e8d7a2eec
(const std::string &name)
CustomHW *
getCustomHW
classros__ethercat__model_1_1RobotState.html
a474ab88ec2760650c27f22508b7fc894
(const std::string &name)
JointState *
getJointState
classros__ethercat__model_1_1RobotState.html
acbd48a8ad1bdb79afb0862641f0522ad
(const std::string &name)
ros::Time
getTime
classros__ethercat__model_1_1RobotState.html
a1faa154c7f86b8bc1bc7f66cd9c82282
()
void
initXml
classros__ethercat__model_1_1RobotState.html
a644c4ce6d31c974ca6355b88ac8748bf
(TiXmlElement *root)
void
propagateActuatorPositionToJointPosition
classros__ethercat__model_1_1RobotState.html
ae61a179445be44bd247c46e287b8917c
()
void
propagateJointEffortToActuatorEffort
classros__ethercat__model_1_1RobotState.html
a9aada46ab9d9d225921fea9413bb2cba
()
RobotState
classros__ethercat__model_1_1RobotState.html
a2f3a6b310fcf805efe0aee47c88458ce
(TiXmlElement *root)
ros::Time
current_time_
classros__ethercat__model_1_1RobotState.html
ada01d5fde446259eb59e48e52ffa306f
boost::ptr_unordered_map< std::string, CustomHW >
custom_hws_
classros__ethercat__model_1_1RobotState.html
afe4960f582559e278598d3d7f8c18a43
boost::ptr_unordered_map< std::string, JointState >
joint_states_
classros__ethercat__model_1_1RobotState.html
a5226fbfc65a002eb91822d4d276d8cdb
urdf::Model
robot_model_
classros__ethercat__model_1_1RobotState.html
ab55f63eb09b3d741bc06ab4ec0dd6f99
pluginlib::ClassLoader< Transmission >
transmission_loader_
classros__ethercat__model_1_1RobotState.html
a320329ac973014766b499d259873dc29
boost::ptr_vector< Transmission >
transmissions_
classros__ethercat__model_1_1RobotState.html
a1c03aab312253f0f20b5a35475073add
ros_ethercat_model::Transmission
classros__ethercat__model_1_1Transmission.html
virtual bool
initXml
classros__ethercat__model_1_1Transmission.html
a7c96ce63cb999acf10f749601e2f6b7d
(TiXmlElement *config, RobotState *robot)
virtual void
propagateEffort
classros__ethercat__model_1_1Transmission.html
af3feca35e8d5dcaaa79827dfd0c78681
()
virtual void
propagatePosition
classros__ethercat__model_1_1Transmission.html
a3f2fd160e967e854f183130e8b52b305
()
virtual
~Transmission
classros__ethercat__model_1_1Transmission.html
a3cf00cc6f366ee86b3dc4ce52cb80314
()
Actuator *
actuator_
classros__ethercat__model_1_1Transmission.html
a53f99f2fba561a93d190c02a4192b159
JointState *
joint_
classros__ethercat__model_1_1Transmission.html
ac93a4d606c757ffe22937cb93abb00df
std::string
name_
classros__ethercat__model_1_1Transmission.html
a4dab7cb78905523986c906c1242733e9
ros_ethercat_model::Tree
classros__ethercat__model_1_1Tree.html
void
addEfforts
classros__ethercat__model_1_1Tree.html
a6fffbf30a0568fc044db56a385b9e6e0
(const KDL::JntArray &efforts)
void
addEfforts
classros__ethercat__model_1_1Tree.html
a2067de7fcd252621aadb09452881c5ed
(const Vec &v)
bool
allCalibrated
classros__ethercat__model_1_1Tree.html
ab0bd637311dd423add8a236e6c1e831a
() const
void
getEfforts
classros__ethercat__model_1_1Tree.html
ae5dedc345cff638c877bf591a0003280
(KDL::JntArray &efforts) const
void
getEfforts
classros__ethercat__model_1_1Tree.html
af54fe813edfe674e117345d50c3e39b4
(Vec &v) const
JointState *
getJoint
classros__ethercat__model_1_1Tree.html
ad5be2cd0e0198e267e5ea3e06f03b2d8
(unsigned int actuated_joint_i) const
void
getPositions
classros__ethercat__model_1_1Tree.html
a87406b7ba0c0fb2219aab8f365ee945b
(KDL::JntArray &positions) const
void
getPositions
classros__ethercat__model_1_1Tree.html
a210f1df666b9ee4f20117ad03f66a661
(Vec &v) const
void
getVelocities
classros__ethercat__model_1_1Tree.html
af57f34600082fc38bfb683c50779d41a
(KDL::JntArrayVel &velocities) const
void
getVelocities
classros__ethercat__model_1_1Tree.html
a5c9c4b46f2f893cc2a6f7087cf289dc6
(Vec &v) const
bool
init
classros__ethercat__model_1_1Tree.html
abd8f2f2fc314a78584459a4367ecdc8e
(RobotState *robot_state)
void
setEfforts
classros__ethercat__model_1_1Tree.html
a786822e576816c32ab1f5633d124816c
(const KDL::JntArray &efforts)
void
setEfforts
classros__ethercat__model_1_1Tree.html
a178d88391dd2460e5ea346e275b141af
(const Vec &v)
int
size
classros__ethercat__model_1_1Tree.html
a551e910466e0b5f651865d0796e805ec
() const
void
toKdl
classros__ethercat__model_1_1Tree.html
a93d8a06c337fea298f43a648ee85e0ee
(KDL::Tree &tree) const
Tree
classros__ethercat__model_1_1Tree.html
ac6bef8f80b0973ad2dcadf2a21b325b9
()
std::vector< JointState * >
joints_
classros__ethercat__model_1_1Tree.html
a122f4e9d0eb06654b2545bc6196da8c1
KDL::Tree
kdl_tree_
classros__ethercat__model_1_1Tree.html
a0adb3caf8d4843c7f5892921500607f5