Copyright (c) 1995 - 2007 Kungliga Tekniska Högskolan
(Royal Institute of Technology, Stockholm, Sweden). 
All rights reserved. 

Redistribution and use in source and binary forms, with or without 
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   notice, this list of conditions and the following disclaimer. 

2. Redistributions in binary form must reproduce the above copyright 
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   documentation and/or other materials provided with the distribution. 

3. Neither the name of the Institute nor the names of its contributors 
   may be used to endorse or promote products derived from this software 
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