Update documentation

Author: actions-user

2d_ellipse.html

@@ -124,7 +124,7 @@ <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

@@ -717,11 +717,11 @@ <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([0.5297, 0.84385, -0.65581, -1.2505, -2.2821, 1.4597])</span>
+<span class="go">Twist3([-0.42568, -0.57189, 0.5944, -1.5234, 1.3922, -0.83227])</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([-0.5297, -0.84385, 0.65581, 1.2505, 2.2821, -1.4597])</span>
+<span class="go">Twist3([0.42568, 0.57189, -0.5944, 1.5234, -1.3922, 0.83227])</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, -1.1102e-16, 0, 0, 0])</span>
+<span class="go">Twist3([4.1633e-17, -6.9389e-17, -2.2204e-16, 0, 0, 0])</span>
 </pre></div>
 </div>
 </dd></dl>

3d_orient_SO3.html

@@ -491,9 +491,9 @@ <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([[ 0.4761,  0.124 , -0.8706],</span>
-<span class="go">           [-0.863 , -0.1244, -0.4897],</span>
-<span class="go">           [-0.169 ,  0.9845,  0.0478]]))</span>
+<span class="go">SO3(array([[ 0.9301,  0.1995,  0.3085],</span>
+<span class="go">           [-0.0668, -0.7339,  0.676 ],</span>
+<span class="go">           [ 0.3612, -0.6493, -0.6692]]))</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

3d_orient_unitquaternion.html

@@ -464,11 +464,11 @@ <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"> 0.2145 &lt;&lt; -0.4880,  0.2601,  0.8051 &gt;&gt;</span>
+<span class="go"> 0.1440 &lt;&lt;  0.6841,  0.4119,  0.5844 &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"> 0.1814 &lt;&lt;  0.2830, -0.8305, -0.4442 &gt;&gt;</span>
-<span class="go"> 0.2988 &lt;&lt;  0.0812,  0.9086,  0.2803 &gt;&gt;</span>
-<span class="go"> 0.0028 &lt;&lt;  0.3432,  0.5924,  0.7289 &gt;&gt;</span>
+<span class="go"> 0.5836 &lt;&lt; -0.5874, -0.4605, -0.3199 &gt;&gt;</span>
+<span class="go"> 0.9820 &lt;&lt; -0.0069, -0.1881, -0.0127 &gt;&gt;</span>
+<span class="go"> 0.3772 &lt;&lt; -0.2017,  0.0630, -0.9017 &gt;&gt;</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

3d_pose_SE3.html

@@ -589,13 +589,13 @@ <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([[ 0.007 , -0.3593,  0.9332, -0.3227],</span>
-<span class="go">       [ 0.545 , -0.7811, -0.3048,  0.4605],</span>
-<span class="go">       [ 0.8384,  0.5107,  0.1904,  0.4503],</span>
+<span class="go">array([[ 0.9047, -0.3812, -0.1903,  0.5142],</span>
+<span class="go">       [ 0.0551,  0.5476, -0.835 , -0.913 ],</span>
+<span class="go">       [ 0.4225,  0.7449,  0.5164,  0.6894],</span>
 <span class="go">       [ 0.    ,  0.    ,  0.    ,  1.    ]]),</span>
-<span class="go">array([[ 0.9827, -0.0993,  0.1561, -0.6963],</span>
-<span class="go">       [ 0.0099, -0.8141, -0.5807, -0.5127],</span>
-<span class="go">       [ 0.1847,  0.5722, -0.799 ,  0.7331],</span>
+<span class="go">array([[-0.7504, -0.2955, -0.5912, -0.2867],</span>
+<span class="go">       [-0.6609,  0.35  ,  0.6639, -0.7099],</span>
+<span class="go">       [ 0.0108,  0.8889, -0.458 ,  0.4297],</span>
 <span class="go">       [ 0.    ,  0.    ,  0.    ,  1.    ]]) ])</span>
 </pre></div>
 </div>

3d_pose_dualquaternion.html

@@ -144,17 +144,17 @@ <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">  -0.01899   0.03996  -0.999    -0.4254    </span>
-<span class="go">  -0.1981    0.9792    0.04293  -0.4578    </span>
-<span class="go">   0.98      0.1988   -0.01068  -0.7674    </span>
+<span class="go">  -0.7446   -0.6645    0.06345   0.6014    </span>
+<span class="go">   0.4397   -0.5597   -0.7024    0.3075    </span>
+<span class="go">   0.5023   -0.4951    0.7089   -0.2621    </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">-0.6981 &lt;&lt; -0.0558,  0.7087,  0.0853 &gt;&gt; + ε  0.1830 &lt;  0.4009,  0.1993,  0.1044 &gt;</span>
+<span class="go"> 0.3181 &lt;&lt;  0.1630, -0.3449,  0.8679 &gt;&gt; + ε  0.1178 &lt;  0.1839, -0.2335, -0.1705 &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">  -0.01899   0.03996  -0.999    -0.4254    </span>
-<span class="go">  -0.1981    0.9792    0.04293  -0.4578    </span>
-<span class="go">   0.98      0.1988   -0.01068  -0.7674    </span>
+<span class="go">  -0.7446   -0.6645    0.06345   0.6014    </span>
+<span class="go">   0.4397   -0.5597   -0.7024    0.3075    </span>
+<span class="go">   0.5023   -0.4951    0.7089   -0.2621    </span>
 <span class="go">   0         0         0         1</span>
 </pre></div>
 </div>
@@ -201,13 +201,13 @@ <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">  -0.5247    0.8247    0.2111    0.9035    </span>
-<span class="go">  -0.4604   -0.06632  -0.8852    0.58      </span>
-<span class="go">  -0.7161   -0.5616    0.4145    0.8726    </span>
+<span class="go">   0.67     -0.6672    0.3255    0.4103    </span>
+<span class="go">   0.741     0.5739   -0.3488    0.6494    </span>
+<span class="go">   0.04589   0.4749    0.8788    0.9619    </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">-0.4537 &lt;&lt; -0.1783, -0.5108,  0.7081 &gt;&gt; + ε -0.0802 &lt;  0.2232, -0.5293, -0.3770 &gt;</span>
+<span class="go"> 0.8836 &lt;&lt;  0.2331,  0.0791,  0.3984 &gt;&gt; + ε -0.2651 &lt;  0.2726,  0.3172,  0.3655 &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

@@ -273,8 +273,8 @@ <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">  [0.53178, -0.2407, -0.69081, 1.0286, -1.6367, -1.1081],</span>
-<span class="go">  [0.67786, -0.46233, 1.056, 1.3449, 2.0765, 0.95347]</span>
+<span class="go">  [-0.76092, -0.10236, 0.6124, 0.80997, 1.3455, 2.1693],</span>
+<span class="go">  [-0.055666, -0.95701, 1.1936, 0.12666, 1.1058, 0.73739]</span>
 <span class="go">])</span>
 </pre></div>
 </div>
@@ -1067,11 +1067,11 @@ <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([-1.0072, -0.00092005, -1.2797, -0.62338, -2.972, -0.25942])</span>
+<span class="go">Twist3([-0.43594, 1.8581, -0.63791, 1.3596, -0.81886, -2.117])</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([1.0072, 0.00092005, 1.2797, 0.62338, 2.972, 0.25942])</span>
+<span class="go">Twist3([0.43594, -1.8581, 0.63791, -1.3596, 0.81886, 2.117])</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([-1.1102e-16, -5.5511e-17, 2.2204e-16, 0, 0, 0])</span>
+<span class="go">Twist3([-1.1102e-16, 1.1102e-16, -2.2204e-16, 0, 0, 0])</span>
 </pre></div>
 </div>
 </dd></dl>