Update documentation

Author: actions-user

2d_ellipse.html

@@ -123,7 +123,7 @@ <h1>2D ellipse<a class="headerlink" href="#d-ellipse" title="Link to this headin
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">perim</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
 <span class="go">(2, 20)</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="2d_ellipse.html#spatialmath.geom2d.Ellipse.FromPerimeter" title="spatialmath.geom2d.Ellipse.FromPerimeter"><span class="n">Ellipse</span><span class="o">.</span><span class="n">FromPerimeter</span></a><span class="p">(</span><span class="n">perim</span><span class="p">)</span>
-<span class="go">Ellipse(radii=[1.+0.j 2.-0.j], centre=[3. 4.], theta=0.785398163397435)</span>
+<span class="go">Ellipse(radii=[1.+0.j 2.-0.j], centre=[3. 4.], theta=0.7853981633974343)</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

2d_pose_twist.html

@@ -716,11 +716,11 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Link to this head
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a><span class="p">(</span><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">())</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a>
-<span class="go">Twist3([-0.049077, 0.74883, -0.57515, 1.2958, -1.1632, 0.36528])</span>
+<span class="go">Twist3([0.51811, 0.78746, 0.26162, -1.6657, 0.81925, 0.24022])</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.inv" title="spatialmath.twist.Twist3.inv"><span class="n">S</span><span class="o">.</span><span class="n">inv</span></a><span class="p">()</span>
-<span class="go">Twist3([0.049077, -0.74883, 0.57515, -1.2958, 1.1632, -0.36528])</span>
+<span class="go">Twist3([-0.51811, -0.78746, -0.26162, 1.6657, -0.81925, -0.24022])</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a> <span class="o">*</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.inv" title="spatialmath.twist.Twist3.inv"><span class="n">S</span><span class="o">.</span><span class="n">inv</span></a><span class="p">()</span>
-<span class="go">Twist3([-5.5511e-17, 0, 4.1633e-17, 0, 0, 0])</span>
+<span class="go">Twist3([-5.5511e-17, 0, -1.1102e-16, 0, 0, 0])</span>
 </pre></div>
 </div>
 </dd></dl>

3d_orient_SO3.html

@@ -490,9 +490,9 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Link to this he
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><span class="n">SO3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><span class="n">x</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_orient_SO3.html#spatialmath.pose3d.SO3.Rand" title="spatialmath.pose3d.SO3.Rand"><span class="n">SO3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><span class="n">x</span></a>
-<span class="go">SO3(array([[-0.9686, -0.2487, -0.005 ],</span>
-<span class="go">           [-0.0431,  0.1479,  0.9881],</span>
-<span class="go">           [-0.245 ,  0.9572, -0.154 ]]))</span>
+<span class="go">SO3(array([[-0.786 ,  0.1365,  0.6029],</span>
+<span class="go">           [ 0.423 , -0.5924,  0.6857],</span>
+<span class="go">           [ 0.4508,  0.794 ,  0.4079]]))</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

3d_orient_unitquaternion.html

@@ -453,11 +453,11 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Link to
 <p>Example:</p>
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_orient_unitquaternion.html#spatialmath.quaternion.UnitQuaternion" title="spatialmath.quaternion.UnitQuaternion"><span class="n">UnitQuaternion</span></a> <span class="k">as</span> <span class="n">UQ</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_orient_unitquaternion.html#spatialmath.quaternion.UnitQuaternion.Rand" title="spatialmath.quaternion.UnitQuaternion.Rand"><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">())</span>
-<span class="go"> 0.8856 &lt;&lt;  0.2108, -0.0807,  0.4059 &gt;&gt;</span>
+<span class="go"> 0.5939 &lt;&lt; -0.6832, -0.2007,  0.3746 &gt;&gt;</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_orient_unitquaternion.html#spatialmath.quaternion.UnitQuaternion.Rand" title="spatialmath.quaternion.UnitQuaternion.Rand"><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">(</span><span class="mi">3</span><span class="p">))</span>
-<span class="go"> 0.3781 &lt;&lt; -0.2618,  0.3380,  0.8211 &gt;&gt;</span>
-<span class="go"> 0.7840 &lt;&lt; -0.1203,  0.1768, -0.5827 &gt;&gt;</span>
-<span class="go"> 0.4215 &lt;&lt; -0.7788,  0.4268, -0.1837 &gt;&gt;</span>
+<span class="go"> 0.8545 &lt;&lt;  0.1603, -0.2984, -0.3938 &gt;&gt;</span>
+<span class="go"> 0.3811 &lt;&lt;  0.2868,  0.6685, -0.5706 &gt;&gt;</span>
+<span class="go"> 0.5062 &lt;&lt;  0.2026,  0.3458, -0.7637 &gt;&gt;</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

3d_pose_SE3.html

@@ -588,13 +588,13 @@ <h1>SE(3) matrix<a class="headerlink" href="#se-3-matrix" title="Link to this he
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">SE3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3.Rand" title="spatialmath.pose3d.SE3.Rand"><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
 <span class="go">SE3([</span>
-<span class="go">array([[-0.0097, -0.941 ,  0.3383, -0.8768],</span>
-<span class="go">       [-0.5333,  0.2911,  0.7943,  0.7764],</span>
-<span class="go">       [-0.8459, -0.1727, -0.5047,  0.3678],</span>
+<span class="go">array([[ 0.0927,  0.9268, -0.364 , -0.3783],</span>
+<span class="go">       [-0.0568, -0.3601, -0.9312, -0.379 ],</span>
+<span class="go">       [-0.9941,  0.107 ,  0.0193,  0.8942],</span>
 <span class="go">       [ 0.    ,  0.    ,  0.    ,  1.    ]]),</span>
-<span class="go">array([[ 0.4516,  0.6883, -0.5678,  0.6014],</span>
-<span class="go">       [-0.4527,  0.7251,  0.5189, -0.5096],</span>
-<span class="go">       [ 0.7689,  0.0227,  0.639 ,  0.513 ],</span>
+<span class="go">array([[ 0.1363, -0.9606, -0.2421,  0.2519],</span>
+<span class="go">       [ 0.2562, -0.2019,  0.9453,  0.0838],</span>
+<span class="go">       [-0.957 , -0.1908,  0.2186, -0.3683],</span>
 <span class="go">       [ 0.    ,  0.    ,  0.    ,  1.    ]]) ])</span>
 </pre></div>
 </div>

3d_pose_dualquaternion.html

@@ -143,17 +143,17 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">UnitDualQuaternion</span></a><span class="p">,</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">SE3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3.Rand" title="spatialmath.pose3d.SE3.Rand"><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a><span class="p">)</span>
-<span class="go">  -0.4346   -0.4068    0.8035   -0.7615    </span>
-<span class="go">  -0.3555   -0.7422   -0.5681    0.401     </span>
-<span class="go">   0.8275   -0.5325    0.178    -0.9549    </span>
+<span class="go">   0.3089    0.8014   -0.5122    0.2695    </span>
+<span class="go">  -0.2856    0.5919    0.7538    0.4551    </span>
+<span class="go">   0.9072   -0.08655   0.4117    0.1137    </span>
 <span class="go">   0         0         0         1</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">UnitDualQuaternion</span></a><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a><span class="p">)</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a><span class="p">)</span>
-<span class="go"> 0.0167 &lt;&lt;  0.5314, -0.3586,  0.7673 &gt;&gt; + ε  0.6406 &lt; -0.0238,  0.0418,  0.0220 &gt;</span>
+<span class="go"> 0.7603 &lt;&lt; -0.2763, -0.4667, -0.3574 &gt;&gt; + ε  0.1638 &lt;  0.0477,  0.2055,  0.0432 &gt;</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion.SE3" title="spatialmath.DualQuaternion.UnitDualQuaternion.SE3"><span class="n">d</span><span class="o">.</span><span class="n">SE3</span></a><span class="p">())</span>
-<span class="go">  -0.4346   -0.4068    0.8035   -0.7615    </span>
-<span class="go">  -0.3555   -0.7422   -0.5681    0.401     </span>
-<span class="go">   0.8275   -0.5325    0.178    -0.9549    </span>
+<span class="go">   0.3089    0.8014   -0.5122    0.2695    </span>
+<span class="go">  -0.2856    0.5919    0.7538    0.4551    </span>
+<span class="go">   0.9072   -0.08655   0.4117    0.1137    </span>
 <span class="go">   0         0         0         1</span>
 </pre></div>
 </div>
@@ -200,13 +200,13 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">UnitDualQuaternion</span></a><span class="p">,</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">SE3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3.Rand" title="spatialmath.pose3d.SE3.Rand"><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a><span class="p">)</span>
-<span class="go">  -0.5759   -0.6051    0.5498   -0.8667    </span>
-<span class="go">   0.1555   -0.7413   -0.6529   -0.9667    </span>
-<span class="go">   0.8026   -0.2905    0.5209   -0.3519    </span>
+<span class="go">   0.6037    0.7946    0.06388  -0.8378    </span>
+<span class="go">   0.3311   -0.3228    0.8867    0.8238    </span>
+<span class="go">   0.7252   -0.5141   -0.458    -0.231     </span>
 <span class="go">   0         0         0         1</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">UnitDualQuaternion</span></a><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a><span class="p">)</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a><span class="p">)</span>
-<span class="go"> 0.2257 &lt;&lt;  0.4014, -0.2800,  0.8423 &gt;&gt; + ε  0.1868 &lt; -0.5542,  0.1853,  0.2756 &gt;</span>
+<span class="go">-0.4536 &lt;&lt;  0.7721,  0.3645,  0.2555 &gt;&gt; + ε  0.2028 &lt;  0.3373, -0.1690, -0.4183 &gt;</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">type</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a><span class="p">)</span>
 <span class="go">&lt;class 'spatialmath.DualQuaternion.UnitDualQuaternion'&gt;</span>
 </pre></div>

3d_pose_twist.html

@@ -272,8 +272,8 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Link to this head
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.Rand" title="spatialmath.twist.Twist3.Rand"><span class="n">Twist3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">(</span><span class="n">N</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
 <span class="go">Twist3([</span>
-<span class="go">  [-0.62985, -0.20704, -0.1916, -2.3849, -0.0065627, 1.0983],</span>
-<span class="go">  [-0.44499, 0.34137, 0.40959, 0.31682, -1.2484, -0.922]</span>
+<span class="go">  [0.40692, -0.49245, 0.030041, 0.60467, 0.17265, 0.024862],</span>
+<span class="go">  [0.45223, -0.89005, 0.35208, -0.6232, 1.69, 1.8282]</span>
 <span class="go">])</span>
 </pre></div>
 </div>
@@ -1066,11 +1066,11 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Link to this head
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a><span class="p">(</span><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">())</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a>
-<span class="go">Twist3([-0.99128, -0.29007, 0.42478, -0.029646, 1.1541, 0.32856])</span>
+<span class="go">Twist3([-0.91244, -0.64092, 0.057642, 1.7273, 1.6427, 0.85725])</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.inv" title="spatialmath.twist.Twist3.inv"><span class="n">S</span><span class="o">.</span><span class="n">inv</span></a><span class="p">()</span>
-<span class="go">Twist3([0.99128, 0.29007, -0.42478, 0.029646, -1.1541, -0.32856])</span>
+<span class="go">Twist3([0.91244, 0.64092, -0.057642, -1.7273, -1.6427, -0.85725])</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a> <span class="o">*</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.inv" title="spatialmath.twist.Twist3.inv"><span class="n">S</span><span class="o">.</span><span class="n">inv</span></a><span class="p">()</span>
-<span class="go">Twist3([0, 0, -2.2204e-16, 0, 0, 0])</span>
+<span class="go">Twist3([1.1102e-16, -9.5147e-34, 5.5511e-17, 1.6554e-17, 2.7756e-17, 2.5417e-17])</span>
 </pre></div>
 </div>
 </dd></dl>