a star算法+list，减少遍历的开销

最新推荐文章于 2021-08-16 12:02:36 发布
最新推荐文章于 2021-08-16 12:02:36 发布
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分类专栏： a-star算法 文章标签： a star
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本文链接：https://blog.csdn.net/nosources/article/details/39183627
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问题


上一节，已经把a-star基本思想实践了一下，但是有个问题，就是慢

这一篇，使用list存储openlist

原因

看上次的代码 
function loop(){
				if(findit==true){
				return ;
				}
				var fvalue=openlist[0].f;
				var currenttile=null;
				var openlistkey=0;
				for(var key in openlist){
					var tile=openlist[key];
					if(fvalue>=tile.f){
						fvalue=tile.f;
						currenttile=tile;
						openlistkey=key;
					}
				}
				closetile(currenttile);
				openlist.splice(openlistkey,1);
				
				checkNeighbourTile(currenttile);
			

			}

从openlist里面找到一个F值最小的tile，上次用的是数组，插入的时候也是随便插入的，所以，里面是乱序的，先找到最小的，必须遍历整个openlist，每一次loop都遍历，如果地图很大，开销也会很大， 所以优化点可以用list代替数组，然后插入的时候按照大小插入，这样整个list是按照F值从小到大的
每次loop就可以只要第一个节点，这样可以节省很多不必要的循环开销

代码

1.优化使用链表存储openlist
2.在tile身上存储是不是open，或者是不是close
3.修复一些bug 
<html>
	<head>
		<style>
			.tile{
				float:left;
				width:50px;
				height:50px;
				display:block;
				border:3px solid black;
			}
			.tileclose{
				float:left;
				width:50px;
				height:50px;
				display:block;
				border:3px solid blue;
			}
			.tileopen{
				float:left;
				width:50px;
				height:50px;
				display:block;
				border:3px solid green;
			}
			.tilepath{
				float:left;
				width:50px;
				height:50px;
				display:block;
				background-color:black;
			}
			.f{
				color:#E1E100;
				font-weight:bold;
				font-size:16px;
				line-height:25px;
				display:inline-block;
				width:50px;
				height:25px;
			}
			.g{
				font-weight:bold;
				font-size:10px;
				line-height:25px;
				text-align:left;
				display:inline-block;
				width:25px;
				height:25px;
			}
			.h{
				font-weight:bold;
				line-height:25px;
				font-size:8px;
				text-align:right;
				display:inline-block;
				width:15px;
				color:red;
				height:25px;
			}
		</style>
		<script>
			function keydown() {
				if((event.keyCode==65 ||event.keyCode==13)) {
					loop();	
				}
			}
			function  click(e){
				if(e.target.className=='tile'){
					var a=e.target.id;
					var arr=a.split('_');
					var x=arr[1];
					var y=arr[2];
					setblock(x,y);
				}
				if(e.target.nodeName=="SPAN"){
					var a=e.target.parentNode.id;
					var arr=a.split('_');
					var x=arr[1];
					var y=arr[2];
					setblock(x,y);
				}
			}
			document.οnmοusedοwn=click;
		</script>
	</head>
	<body οnkeydοwn="keydown();">
		<div class="controll">
			<input type="button" οnclick="loop();" value="go" />
		</div>
		<div id="tile_0_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_1_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_2_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_3_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_4_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_5_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_6_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_7_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_8_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_9_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_10_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_11_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_12_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_13_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_14_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_15_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_16_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_17_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_18_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_19_15" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div style="clear:both">
		</div>
		<div id="tile_0_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_1_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_2_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_3_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_4_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_5_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_6_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_7_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_8_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_9_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_10_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_11_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_12_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_13_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_14_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_15_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_16_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_17_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_18_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_19_14" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div style="clear:both">
		</div>
		<div id="tile_0_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_1_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_2_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_3_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_4_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_5_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_6_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_7_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_8_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_9_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_10_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_11_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_12_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_13_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_14_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_15_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_16_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_17_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_18_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_19_13" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div style="clear:both">
		</div>
		<div id="tile_0_12" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_1_12" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_2_12" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_3_12" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_4_12" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_5_12" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_6_12" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_7_12" class="tile">
			
			<span id="fvalue" class="f">
			</span>
			
			<span id="gvalue" class="g">
			</span>
			
			<span id="hvalue" class="h">
			</span>
			
		</div>
		
		<div id="tile_8_12" class="tile">
			
			<span id="fvalue" class="f">
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		this.insert = function(newData){
			newData.isInOpenList = true;
			this.size += 1;
			var newNode = new Node(newData);
			if(this.head == null){
				this.head = newNode;
				return;
			}
			var tempNode = this.head;
			if(tempNode.data.f > newData.f){
				newNode.next = this.head;
				this.head = newNode;
			}else{
				while(tempNode.next != null){
					if (tempNode.next.data.f > newData.f) {
						//找到了可插入点
						newNode.next = tempNode.next;
						tempNode.next = newNode;
						return;
					};
					tempNode = tempNode.next;
				}
				tempNode.next = newNode;
			}
			
		};
		
		this.getData = function(pos){
			if(pos >= this.size || pos < 0)
				return null;  
			else{
				tempNode = this.head;
				for(i = 0;i < pos;i++)  
					tempNode = tempNode.next;  
				return tempNode.data;  
			 }
		};
		
		//remove the element at pos
		this.remove = function(data){
			data.isInOpenList = false;
			var tempNode = this.head;
			if(tempNode.data.x == data.x && tempNode.data.y == data.y){
				this.head = tempNode.next;
			}else{
				while(tempNode.next != null){
					if (tempNode.next.data.x == data.x && tempNode.next.data.y == data.y) {
						tempNode.next = tempNode.next.next;
					};
				}
			}
				
		}
	};
	</script>
	<script>
			var maxY=14;
			var maxX=19;
			var tilelist=new Array();
			for(var i=0;i<=maxX;i++){
				tilelist[i] = new Array();
				for (var j=0; j<= maxY; j++){
					tilelist[i][j] = new tile();
				}
			}
			
			function setblock(x,y){
				tilelist[x][y]=1;
				var toblock=document.getElementById("tile_"+x+"_"+y);
				toblock.style.backgroundColor="blue";
			}
			function setStart(x,y){
				start = tilelist[x][y];
				start.x=x;
				start.y=y;
				start.parent=null;
				opentile(start);
				var toblock=document.getElementById("tile_"+x+"_"+y);
				toblock.style.backgroundColor="green";

			}
			function setDestination(x,y){
				destination = tilelist[x][y];
				destination.x=x;
				destination.y=y;

				var toblock=document.getElementById("tile_"+x+"_"+y);
				toblock.style.backgroundColor="red";
			}
			function isblock(x,y){
				if(tilelist[x][y]!=undefined && tilelist[x][y]!=null &&tilelist[x][y]==1){
					return true;
				}
				return false;
			}
			function closetile(tile){
				closelist.push(tile);
				tile.isInCloseList = true;
				updateValue(tile,"#9F4D95");

			}
			var findit=false;
			function opentile(tile){
				if(tile.x==destination.x && tile.y==destination.y){
					tile.style="tilepath";
					while(tile.parent){
						var tpath=document.getElementById("tile_"+tile.parent.x+"_"+tile.parent.y);
						tpath.style.backgroundColor="red";
						tile=tile.parent;
					}
					alert('find it');
					findit=true;
				}
				openlist.insert(tile);
				updateValue(tile,"#00EC00");
			}
			function updateValue(tile,color){
				var toblock=document.getElementById("tile_"+tile.x+"_"+tile.y);
				toblock.style.borderColor=color;
				var fspan=toblock.children[0];
				fspan.innerText=tile.f;
				var gspan=toblock.children[1];
				gspan.innerText=tile.g;
				var hspan=toblock.children[2];
				hspan.innerText=tile.h;
			}
			function tile(){
				this.x=0;
				this.y=0;
				this.g=0;
				this.h=0;
				this.f=0;
				this.isInOpenList = false;
				this.isInCloseList = false;
				this.parent=null;
			}
			var neighbour=[[-1,1],[0,1],[1,1],[-1,0],[1,0],[-1,-1],[0,-1],[1,-1]];
			function checkNeighbourTile(tilecurrent){
				
				for(var i=0;i<8;i++){
					var x=tilecurrent.x+neighbour[i][0];
					var y=tilecurrent.y+neighbour[i][1];
					var tilenew =tilelist[x][y];
					tilenew.x=x;
					tilenew.y=y;
					if(x<0 || y<0 || x>maxX || y>maxY){
						continue;
					}
					if( isblock(x,y) ){//if is block,continue;
						continue;
					}
					if( tilenew.isInCloseList ){
						continue;
					}
					if( tilenew.isInOpenList){
						var gbefore=tilenew.g;
						var gnow=0;
						if(Math.abs(neighbour[i][0])==Math.abs(neighbour[i][1])){
							gnow=tilecurrent.g+14;
						}else{
							gnow=tilecurrent.g+10;
						}
						if(gnow<gbefore){
							tilenew.parent=tilecurrent;
							tilenew.g=gnow;
							tilenew.f=tilenew.g+tilenew.h;
							updateValue(tilenew);
						}
						

					}else{
						tilenew.parent=tilecurrent;
						if(Math.abs(neighbour[i][0])==Math.abs(neighbour[i][1])){
							tilenew.g=tilecurrent.g+14;
						}else{
							tilenew.g=tilecurrent.g+10;
						}
						tilenew.h=50*(Math.abs(x-destination.x)+Math.abs(y-destination.y));
						tilenew.f=tilenew.g+tilenew.h;
						opentile(tilenew,"#00EC00");
					}
				}
			}
			var by = function(name){
				return function(o, p){
					if(parseInt(o[name])==parseInt(p[name])){
						return 0;
					}
					if(parseInt(o[name])>parseInt(p[name])){
						return -1;
					}else{
						return 1;
					}
				}
				
			}
			var openlist=new List();
			var closelist=[];
			var start=null;
			var destination=null;
			setDestination(13,6);
			setStart(1,6);
			function loop(){
				if(findit==true){
				return ;
				}
				currenttile = openlist.head.data;
				closetile(currenttile);
				openlist.remove(currenttile);
				
				checkNeighbourTile(currenttile);
			

			}
		</script>
</html>


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