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For the current version of the OSRM API provided by osrm-routed, see https://github.com/Project-OSRM/osrm-backend/blob/master/docs/http.md
For OSRM v4.x and earlier, see https://github.com/Project-OSRM/osrm-backend/wiki/Server-api/d3df08ef7fc4dbe4d1960bc6df92f441e1343b82#server-api-4x