3. Landmark Detection and Tracking.html

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<title>3. Landmark Detection and Tracking</title><script src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.1.10/require.min.js"></script>
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html {
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body {
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article,
aside,
details,
figcaption,
figure,
footer,
header,
hgroup,
main,
menu,
nav,
section,
summary {
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}
audio,
canvas,
progress,
video {
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audio:not([controls]) {
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[hidden],
template {
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a {
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a:active,
a:hover {
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abbr[title] {
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b,
strong {
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dfn {
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h1 {
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mark {
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small {
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sub,
sup {
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sup {
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sub {
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img {
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svg:not(:root) {
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figure {
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hr {
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pre {
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code,
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button,
input,
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textarea {
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button {
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button,
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button,
html input[type="button"],
input[type="reset"],
input[type="submit"] {
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button[disabled],
html input[disabled] {
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button::-moz-focus-inner,
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input {
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input[type="checkbox"],
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input[type="number"]::-webkit-inner-spin-button,
input[type="number"]::-webkit-outer-spin-button {
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input[type="search"]::-webkit-search-cancel-button,
input[type="search"]::-webkit-search-decoration {
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fieldset {
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legend {
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textarea {
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optgroup {
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table {
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td,
th {
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/*! Source: https://github.com/h5bp/html5-boilerplate/blob/master/src/css/main.css */
@media print {
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    color: #000 !important;
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@font-face {
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}
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}
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}
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}
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.glyphicon-arrow-up:before {
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}
.glyphicon-share-alt:before {
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}
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}
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}
.glyphicon-calendar:before {
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}
.glyphicon-random:before {
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}
.glyphicon-comment:before {
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}
.glyphicon-magnet:before {
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}
.glyphicon-chevron-up:before {
  content: "\e113";
}
.glyphicon-chevron-down:before {
  content: "\e114";
}
.glyphicon-retweet:before {
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}
.glyphicon-shopping-cart:before {
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}
.glyphicon-folder-close:before {
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}
.glyphicon-folder-open:before {
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}
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.glyphicon-hdd:before {
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}
.glyphicon-bullhorn:before {
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}
.glyphicon-certificate:before {
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}
.glyphicon-thumbs-up:before {
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}
.glyphicon-thumbs-down:before {
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}
.glyphicon-hand-right:before {
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}
.glyphicon-hand-left:before {
  content: "\e128";
}
.glyphicon-hand-up:before {
  content: "\e129";
}
.glyphicon-hand-down:before {
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}
.glyphicon-circle-arrow-right:before {
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}
.glyphicon-circle-arrow-left:before {
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}
.glyphicon-circle-arrow-up:before {
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}
.glyphicon-circle-arrow-down:before {
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}
.glyphicon-globe:before {
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}
.glyphicon-wrench:before {
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.glyphicon-tasks:before {
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.glyphicon-filter:before {
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.glyphicon-briefcase:before {
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.glyphicon-fullscreen:before {
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}
.glyphicon-dashboard:before {
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}
.glyphicon-paperclip:before {
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}
.glyphicon-heart-empty:before {
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}
.glyphicon-link:before {
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}
.glyphicon-phone:before {
  content: "\e145";
}
.glyphicon-pushpin:before {
  content: "\e146";
}
.glyphicon-usd:before {
  content: "\e148";
}
.glyphicon-gbp:before {
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}
.glyphicon-sort:before {
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.glyphicon-sort-by-alphabet:before {
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}
.glyphicon-sort-by-alphabet-alt:before {
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.glyphicon-sort-by-order:before {
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.glyphicon-sort-by-order-alt:before {
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.glyphicon-sort-by-attributes:before {
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.glyphicon-sort-by-attributes-alt:before {
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.glyphicon-unchecked:before {
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.glyphicon-collapse-down:before {
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}
.glyphicon-collapse-up:before {
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}
.glyphicon-log-in:before {
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}
.glyphicon-flash:before {
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}
.glyphicon-log-out:before {
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.glyphicon-new-window:before {
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.glyphicon-record:before {
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.glyphicon-save:before {
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.glyphicon-open:before {
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.glyphicon-saved:before {
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.glyphicon-import:before {
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.glyphicon-export:before {
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.glyphicon-send:before {
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.glyphicon-floppy-disk:before {
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.glyphicon-floppy-saved:before {
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}
.glyphicon-floppy-remove:before {
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.glyphicon-floppy-save:before {
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.glyphicon-floppy-open:before {
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.glyphicon-credit-card:before {
  content: "\e177";
}
.glyphicon-transfer:before {
  content: "\e178";
}
.glyphicon-cutlery:before {
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}
.glyphicon-header:before {
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.glyphicon-compressed:before {
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.glyphicon-earphone:before {
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.glyphicon-phone-alt:before {
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.glyphicon-tower:before {
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.glyphicon-stats:before {
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.glyphicon-sd-video:before {
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.glyphicon-hd-video:before {
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.glyphicon-sound-stereo:before {
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.glyphicon-sound-dolby:before {
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.glyphicon-sound-5-1:before {
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.glyphicon-queen:before {
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.glyphicon-lamp:before {
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.glyphicon-duplicate:before {
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.glyphicon-piggy-bank:before {
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}
.glyphicon-scissors:before {
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}
.glyphicon-bitcoin:before {
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}
.glyphicon-btc:before {
  content: "\e227";
}
.glyphicon-xbt:before {
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}
.glyphicon-yen:before {
  content: "\00a5";
}
.glyphicon-jpy:before {
  content: "\00a5";
}
.glyphicon-ruble:before {
  content: "\20bd";
}
.glyphicon-rub:before {
  content: "\20bd";
}
.glyphicon-scale:before {
  content: "\e230";
}
.glyphicon-ice-lolly:before {
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.glyphicon-ice-lolly-tasted:before {
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.glyphicon-education:before {
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.glyphicon-option-horizontal:before {
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.glyphicon-option-vertical:before {
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.glyphicon-menu-hamburger:before {
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.glyphicon-modal-window:before {
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.glyphicon-oil:before {
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.glyphicon-grain:before {
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.glyphicon-sunglasses:before {
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.glyphicon-text-size:before {
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.glyphicon-text-color:before {
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.glyphicon-text-background:before {
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.glyphicon-object-align-top:before {
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.glyphicon-object-align-bottom:before {
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.glyphicon-object-align-horizontal:before {
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.glyphicon-object-align-left:before {
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.glyphicon-object-align-vertical:before {
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.glyphicon-object-align-right:before {
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}
.glyphicon-triangle-right:before {
  content: "\e250";
}
.glyphicon-triangle-left:before {
  content: "\e251";
}
.glyphicon-triangle-bottom:before {
  content: "\e252";
}
.glyphicon-triangle-top:before {
  content: "\e253";
}
.glyphicon-console:before {
  content: "\e254";
}
.glyphicon-superscript:before {
  content: "\e255";
}
.glyphicon-subscript:before {
  content: "\e256";
}
.glyphicon-menu-left:before {
  content: "\e257";
}
.glyphicon-menu-right:before {
  content: "\e258";
}
.glyphicon-menu-down:before {
  content: "\e259";
}
.glyphicon-menu-up:before {
  content: "\e260";
}
* {
  -webkit-box-sizing: border-box;
  -moz-box-sizing: border-box;
  box-sizing: border-box;
}
*:before,
*:after {
  -webkit-box-sizing: border-box;
  -moz-box-sizing: border-box;
  box-sizing: border-box;
}
html {
  font-size: 10px;
  -webkit-tap-highlight-color: rgba(0, 0, 0, 0);
}
body {
  font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
  font-size: 13px;
  line-height: 1.42857143;
  color: #000;
  background-color: #fff;
}
input,
button,
select,
textarea {
  font-family: inherit;
  font-size: inherit;
  line-height: inherit;
}
a {
  color: #337ab7;
  text-decoration: none;
}
a:hover,
a:focus {
  color: #23527c;
  text-decoration: underline;
}
a:focus {
  outline: 5px auto -webkit-focus-ring-color;
  outline-offset: -2px;
}
figure {
  margin: 0;
}
img {
  vertical-align: middle;
}
.img-responsive,
.thumbnail > img,
.thumbnail a > img,
.carousel-inner > .item > img,
.carousel-inner > .item > a > img {
  display: block;
  max-width: 100%;
  height: auto;
}
.img-rounded {
  border-radius: 3px;
}
.img-thumbnail {
  padding: 4px;
  line-height: 1.42857143;
  background-color: #fff;
  border: 1px solid #ddd;
  border-radius: 2px;
  -webkit-transition: all 0.2s ease-in-out;
  -o-transition: all 0.2s ease-in-out;
  transition: all 0.2s ease-in-out;
  display: inline-block;
  max-width: 100%;
  height: auto;
}
.img-circle {
  border-radius: 50%;
}
hr {
  margin-top: 18px;
  margin-bottom: 18px;
  border: 0;
  border-top: 1px solid #eeeeee;
}
.sr-only {
  position: absolute;
  width: 1px;
  height: 1px;
  margin: -1px;
  padding: 0;
  overflow: hidden;
  clip: rect(0, 0, 0, 0);
  border: 0;
}
.sr-only-focusable:active,
.sr-only-focusable:focus {
  position: static;
  width: auto;
  height: auto;
  margin: 0;
  overflow: visible;
  clip: auto;
}
[role="button"] {
  cursor: pointer;
}
h1,
h2,
h3,
h4,
h5,
h6,
.h1,
.h2,
.h3,
.h4,
.h5,
.h6 {
  font-family: inherit;
  font-weight: 500;
  line-height: 1.1;
  color: inherit;
}
h1 small,
h2 small,
h3 small,
h4 small,
h5 small,
h6 small,
.h1 small,
.h2 small,
.h3 small,
.h4 small,
.h5 small,
.h6 small,
h1 .small,
h2 .small,
h3 .small,
h4 .small,
h5 .small,
h6 .small,
.h1 .small,
.h2 .small,
.h3 .small,
.h4 .small,
.h5 .small,
.h6 .small {
  font-weight: normal;
  line-height: 1;
  color: #777777;
}
h1,
.h1,
h2,
.h2,
h3,
.h3 {
  margin-top: 18px;
  margin-bottom: 9px;
}
h1 small,
.h1 small,
h2 small,
.h2 small,
h3 small,
.h3 small,
h1 .small,
.h1 .small,
h2 .small,
.h2 .small,
h3 .small,
.h3 .small {
  font-size: 65%;
}
h4,
.h4,
h5,
.h5,
h6,
.h6 {
  margin-top: 9px;
  margin-bottom: 9px;
}
h4 small,
.h4 small,
h5 small,
.h5 small,
h6 small,
.h6 small,
h4 .small,
.h4 .small,
h5 .small,
.h5 .small,
h6 .small,
.h6 .small {
  font-size: 75%;
}
h1,
.h1 {
  font-size: 33px;
}
h2,
.h2 {
  font-size: 27px;
}
h3,
.h3 {
  font-size: 23px;
}
h4,
.h4 {
  font-size: 17px;
}
h5,
.h5 {
  font-size: 13px;
}
h6,
.h6 {
  font-size: 12px;
}
p {
  margin: 0 0 9px;
}
.lead {
  margin-bottom: 18px;
  font-size: 14px;
  font-weight: 300;
  line-height: 1.4;
}
@media (min-width: 768px) {
  .lead {
    font-size: 19.5px;
  }
}
small,
.small {
  font-size: 92%;
}
mark,
.mark {
  background-color: #fcf8e3;
  padding: .2em;
}
.text-left {
  text-align: left;
}
.text-right {
  text-align: right;
}
.text-center {
  text-align: center;
}
.text-justify {
  text-align: justify;
}
.text-nowrap {
  white-space: nowrap;
}
.text-lowercase {
  text-transform: lowercase;
}
.text-uppercase {
  text-transform: uppercase;
}
.text-capitalize {
  text-transform: capitalize;
}
.text-muted {
  color: #777777;
}
.text-primary {
  color: #337ab7;
}
a.text-primary:hover,
a.text-primary:focus {
  color: #286090;
}
.text-success {
  color: #3c763d;
}
a.text-success:hover,
a.text-success:focus {
  color: #2b542c;
}
.text-info {
  color: #31708f;
}
a.text-info:hover,
a.text-info:focus {
  color: #245269;
}
.text-warning {
  color: #8a6d3b;
}
a.text-warning:hover,
a.text-warning:focus {
  color: #66512c;
}
.text-danger {
  color: #a94442;
}
a.text-danger:hover,
a.text-danger:focus {
  color: #843534;
}
.bg-primary {
  color: #fff;
  background-color: #337ab7;
}
a.bg-primary:hover,
a.bg-primary:focus {
  background-color: #286090;
}
.bg-success {
  background-color: #dff0d8;
}
a.bg-success:hover,
a.bg-success:focus {
  background-color: #c1e2b3;
}
.bg-info {
  background-color: #d9edf7;
}
a.bg-info:hover,
a.bg-info:focus {
  background-color: #afd9ee;
}
.bg-warning {
  background-color: #fcf8e3;
}
a.bg-warning:hover,
a.bg-warning:focus {
  background-color: #f7ecb5;
}
.bg-danger {
  background-color: #f2dede;
}
a.bg-danger:hover,
a.bg-danger:focus {
  background-color: #e4b9b9;
}
.page-header {
  padding-bottom: 8px;
  margin: 36px 0 18px;
  border-bottom: 1px solid #eeeeee;
}
ul,
ol {
  margin-top: 0;
  margin-bottom: 9px;
}
ul ul,
ol ul,
ul ol,
ol ol {
  margin-bottom: 0;
}
.list-unstyled {
  padding-left: 0;
  list-style: none;
}
.list-inline {
  padding-left: 0;
  list-style: none;
  margin-left: -5px;
}
.list-inline > li {
  display: inline-block;
  padding-left: 5px;
  padding-right: 5px;
}
dl {
  margin-top: 0;
  margin-bottom: 18px;
}
dt,
dd {
  line-height: 1.42857143;
}
dt {
  font-weight: bold;
}
dd {
  margin-left: 0;
}
@media (min-width: 541px) {
  .dl-horizontal dt {
    float: left;
    width: 160px;
    clear: left;
    text-align: right;
    overflow: hidden;
    text-overflow: ellipsis;
    white-space: nowrap;
  }
  .dl-horizontal dd {
    margin-left: 180px;
  }
}
abbr[title],
abbr[data-original-title] {
  cursor: help;
  border-bottom: 1px dotted #777777;
}
.initialism {
  font-size: 90%;
  text-transform: uppercase;
}
blockquote {
  padding: 9px 18px;
  margin: 0 0 18px;
  font-size: inherit;
  border-left: 5px solid #eeeeee;
}
blockquote p:last-child,
blockquote ul:last-child,
blockquote ol:last-child {
  margin-bottom: 0;
}
blockquote footer,
blockquote small,
blockquote .small {
  display: block;
  font-size: 80%;
  line-height: 1.42857143;
  color: #777777;
}
blockquote footer:before,
blockquote small:before,
blockquote .small:before {
  content: '\2014 \00A0';
}
.blockquote-reverse,
blockquote.pull-right {
  padding-right: 15px;
  padding-left: 0;
  border-right: 5px solid #eeeeee;
  border-left: 0;
  text-align: right;
}
.blockquote-reverse footer:before,
blockquote.pull-right footer:before,
.blockquote-reverse small:before,
blockquote.pull-right small:before,
.blockquote-reverse .small:before,
blockquote.pull-right .small:before {
  content: '';
}
.blockquote-reverse footer:after,
blockquote.pull-right footer:after,
.blockquote-reverse small:after,
blockquote.pull-right small:after,
.blockquote-reverse .small:after,
blockquote.pull-right .small:after {
  content: '\00A0 \2014';
}
address {
  margin-bottom: 18px;
  font-style: normal;
  line-height: 1.42857143;
}
code,
kbd,
pre,
samp {
  font-family: monospace;
}
code {
  padding: 2px 4px;
  font-size: 90%;
  color: #c7254e;
  background-color: #f9f2f4;
  border-radius: 2px;
}
kbd {
  padding: 2px 4px;
  font-size: 90%;
  color: #888;
  background-color: transparent;
  border-radius: 1px;
  box-shadow: inset 0 -1px 0 rgba(0, 0, 0, 0.25);
}
kbd kbd {
  padding: 0;
  font-size: 100%;
  font-weight: bold;
  box-shadow: none;
}
pre {
  display: block;
  padding: 8.5px;
  margin: 0 0 9px;
  font-size: 12px;
  line-height: 1.42857143;
  word-break: break-all;
  word-wrap: break-word;
  color: #333333;
  background-color: #f5f5f5;
  border: 1px solid #ccc;
  border-radius: 2px;
}
pre code {
  padding: 0;
  font-size: inherit;
  color: inherit;
  white-space: pre-wrap;
  background-color: transparent;
  border-radius: 0;
}
.pre-scrollable {
  max-height: 340px;
  overflow-y: scroll;
}
.container {
  margin-right: auto;
  margin-left: auto;
  padding-left: 0px;
  padding-right: 0px;
}
@media (min-width: 768px) {
  .container {
    width: 768px;
  }
}
@media (min-width: 992px) {
  .container {
    width: 940px;
  }
}
@media (min-width: 1200px) {
  .container {
    width: 1140px;
  }
}
.container-fluid {
  margin-right: auto;
  margin-left: auto;
  padding-left: 0px;
  padding-right: 0px;
}
.row {
  margin-left: 0px;
  margin-right: 0px;
}
.col-xs-1, .col-sm-1, .col-md-1, .col-lg-1, .col-xs-2, .col-sm-2, .col-md-2, .col-lg-2, .col-xs-3, .col-sm-3, .col-md-3, .col-lg-3, .col-xs-4, .col-sm-4, .col-md-4, .col-lg-4, .col-xs-5, .col-sm-5, .col-md-5, .col-lg-5, .col-xs-6, .col-sm-6, .col-md-6, .col-lg-6, .col-xs-7, .col-sm-7, .col-md-7, .col-lg-7, .col-xs-8, .col-sm-8, .col-md-8, .col-lg-8, .col-xs-9, .col-sm-9, .col-md-9, .col-lg-9, .col-xs-10, .col-sm-10, .col-md-10, .col-lg-10, .col-xs-11, .col-sm-11, .col-md-11, .col-lg-11, .col-xs-12, .col-sm-12, .col-md-12, .col-lg-12 {
  position: relative;
  min-height: 1px;
  padding-left: 0px;
  padding-right: 0px;
}
.col-xs-1, .col-xs-2, .col-xs-3, .col-xs-4, .col-xs-5, .col-xs-6, .col-xs-7, .col-xs-8, .col-xs-9, .col-xs-10, .col-xs-11, .col-xs-12 {
  float: left;
}
.col-xs-12 {
  width: 100%;
}
.col-xs-11 {
  width: 91.66666667%;
}
.col-xs-10 {
  width: 83.33333333%;
}
.col-xs-9 {
  width: 75%;
}
.col-xs-8 {
  width: 66.66666667%;
}
.col-xs-7 {
  width: 58.33333333%;
}
.col-xs-6 {
  width: 50%;
}
.col-xs-5 {
  width: 41.66666667%;
}
.col-xs-4 {
  width: 33.33333333%;
}
.col-xs-3 {
  width: 25%;
}
.col-xs-2 {
  width: 16.66666667%;
}
.col-xs-1 {
  width: 8.33333333%;
}
.col-xs-pull-12 {
  right: 100%;
}
.col-xs-pull-11 {
  right: 91.66666667%;
}
.col-xs-pull-10 {
  right: 83.33333333%;
}
.col-xs-pull-9 {
  right: 75%;
}
.col-xs-pull-8 {
  right: 66.66666667%;
}
.col-xs-pull-7 {
  right: 58.33333333%;
}
.col-xs-pull-6 {
  right: 50%;
}
.col-xs-pull-5 {
  right: 41.66666667%;
}
.col-xs-pull-4 {
  right: 33.33333333%;
}
.col-xs-pull-3 {
  right: 25%;
}
.col-xs-pull-2 {
  right: 16.66666667%;
}
.col-xs-pull-1 {
  right: 8.33333333%;
}
.col-xs-pull-0 {
  right: auto;
}
.col-xs-push-12 {
  left: 100%;
}
.col-xs-push-11 {
  left: 91.66666667%;
}
.col-xs-push-10 {
  left: 83.33333333%;
}
.col-xs-push-9 {
  left: 75%;
}
.col-xs-push-8 {
  left: 66.66666667%;
}
.col-xs-push-7 {
  left: 58.33333333%;
}
.col-xs-push-6 {
  left: 50%;
}
.col-xs-push-5 {
  left: 41.66666667%;
}
.col-xs-push-4 {
  left: 33.33333333%;
}
.col-xs-push-3 {
  left: 25%;
}
.col-xs-push-2 {
  left: 16.66666667%;
}
.col-xs-push-1 {
  left: 8.33333333%;
}
.col-xs-push-0 {
  left: auto;
}
.col-xs-offset-12 {
  margin-left: 100%;
}
.col-xs-offset-11 {
  margin-left: 91.66666667%;
}
.col-xs-offset-10 {
  margin-left: 83.33333333%;
}
.col-xs-offset-9 {
  margin-left: 75%;
}
.col-xs-offset-8 {
  margin-left: 66.66666667%;
}
.col-xs-offset-7 {
  margin-left: 58.33333333%;
}
.col-xs-offset-6 {
  margin-left: 50%;
}
.col-xs-offset-5 {
  margin-left: 41.66666667%;
}
.col-xs-offset-4 {
  margin-left: 33.33333333%;
}
.col-xs-offset-3 {
  margin-left: 25%;
}
.col-xs-offset-2 {
  margin-left: 16.66666667%;
}
.col-xs-offset-1 {
  margin-left: 8.33333333%;
}
.col-xs-offset-0 {
  margin-left: 0%;
}
@media (min-width: 768px) {
  .col-sm-1, .col-sm-2, .col-sm-3, .col-sm-4, .col-sm-5, .col-sm-6, .col-sm-7, .col-sm-8, .col-sm-9, .col-sm-10, .col-sm-11, .col-sm-12 {
    float: left;
  }
  .col-sm-12 {
    width: 100%;
  }
  .col-sm-11 {
    width: 91.66666667%;
  }
  .col-sm-10 {
    width: 83.33333333%;
  }
  .col-sm-9 {
    width: 75%;
  }
  .col-sm-8 {
    width: 66.66666667%;
  }
  .col-sm-7 {
    width: 58.33333333%;
  }
  .col-sm-6 {
    width: 50%;
  }
  .col-sm-5 {
    width: 41.66666667%;
  }
  .col-sm-4 {
    width: 33.33333333%;
  }
  .col-sm-3 {
    width: 25%;
  }
  .col-sm-2 {
    width: 16.66666667%;
  }
  .col-sm-1 {
    width: 8.33333333%;
  }
  .col-sm-pull-12 {
    right: 100%;
  }
  .col-sm-pull-11 {
    right: 91.66666667%;
  }
  .col-sm-pull-10 {
    right: 83.33333333%;
  }
  .col-sm-pull-9 {
    right: 75%;
  }
  .col-sm-pull-8 {
    right: 66.66666667%;
  }
  .col-sm-pull-7 {
    right: 58.33333333%;
  }
  .col-sm-pull-6 {
    right: 50%;
  }
  .col-sm-pull-5 {
    right: 41.66666667%;
  }
  .col-sm-pull-4 {
    right: 33.33333333%;
  }
  .col-sm-pull-3 {
    right: 25%;
  }
  .col-sm-pull-2 {
    right: 16.66666667%;
  }
  .col-sm-pull-1 {
    right: 8.33333333%;
  }
  .col-sm-pull-0 {
    right: auto;
  }
  .col-sm-push-12 {
    left: 100%;
  }
  .col-sm-push-11 {
    left: 91.66666667%;
  }
  .col-sm-push-10 {
    left: 83.33333333%;
  }
  .col-sm-push-9 {
    left: 75%;
  }
  .col-sm-push-8 {
    left: 66.66666667%;
  }
  .col-sm-push-7 {
    left: 58.33333333%;
  }
  .col-sm-push-6 {
    left: 50%;
  }
  .col-sm-push-5 {
    left: 41.66666667%;
  }
  .col-sm-push-4 {
    left: 33.33333333%;
  }
  .col-sm-push-3 {
    left: 25%;
  }
  .col-sm-push-2 {
    left: 16.66666667%;
  }
  .col-sm-push-1 {
    left: 8.33333333%;
  }
  .col-sm-push-0 {
    left: auto;
  }
  .col-sm-offset-12 {
    margin-left: 100%;
  }
  .col-sm-offset-11 {
    margin-left: 91.66666667%;
  }
  .col-sm-offset-10 {
    margin-left: 83.33333333%;
  }
  .col-sm-offset-9 {
    margin-left: 75%;
  }
  .col-sm-offset-8 {
    margin-left: 66.66666667%;
  }
  .col-sm-offset-7 {
    margin-left: 58.33333333%;
  }
  .col-sm-offset-6 {
    margin-left: 50%;
  }
  .col-sm-offset-5 {
    margin-left: 41.66666667%;
  }
  .col-sm-offset-4 {
    margin-left: 33.33333333%;
  }
  .col-sm-offset-3 {
    margin-left: 25%;
  }
  .col-sm-offset-2 {
    margin-left: 16.66666667%;
  }
  .col-sm-offset-1 {
    margin-left: 8.33333333%;
  }
  .col-sm-offset-0 {
    margin-left: 0%;
  }
}
@media (min-width: 992px) {
  .col-md-1, .col-md-2, .col-md-3, .col-md-4, .col-md-5, .col-md-6, .col-md-7, .col-md-8, .col-md-9, .col-md-10, .col-md-11, .col-md-12 {
    float: left;
  }
  .col-md-12 {
    width: 100%;
  }
  .col-md-11 {
    width: 91.66666667%;
  }
  .col-md-10 {
    width: 83.33333333%;
  }
  .col-md-9 {
    width: 75%;
  }
  .col-md-8 {
    width: 66.66666667%;
  }
  .col-md-7 {
    width: 58.33333333%;
  }
  .col-md-6 {
    width: 50%;
  }
  .col-md-5 {
    width: 41.66666667%;
  }
  .col-md-4 {
    width: 33.33333333%;
  }
  .col-md-3 {
    width: 25%;
  }
  .col-md-2 {
    width: 16.66666667%;
  }
  .col-md-1 {
    width: 8.33333333%;
  }
  .col-md-pull-12 {
    right: 100%;
  }
  .col-md-pull-11 {
    right: 91.66666667%;
  }
  .col-md-pull-10 {
    right: 83.33333333%;
  }
  .col-md-pull-9 {
    right: 75%;
  }
  .col-md-pull-8 {
    right: 66.66666667%;
  }
  .col-md-pull-7 {
    right: 58.33333333%;
  }
  .col-md-pull-6 {
    right: 50%;
  }
  .col-md-pull-5 {
    right: 41.66666667%;
  }
  .col-md-pull-4 {
    right: 33.33333333%;
  }
  .col-md-pull-3 {
    right: 25%;
  }
  .col-md-pull-2 {
    right: 16.66666667%;
  }
  .col-md-pull-1 {
    right: 8.33333333%;
  }
  .col-md-pull-0 {
    right: auto;
  }
  .col-md-push-12 {
    left: 100%;
  }
  .col-md-push-11 {
    left: 91.66666667%;
  }
  .col-md-push-10 {
    left: 83.33333333%;
  }
  .col-md-push-9 {
    left: 75%;
  }
  .col-md-push-8 {
    left: 66.66666667%;
  }
  .col-md-push-7 {
    left: 58.33333333%;
  }
  .col-md-push-6 {
    left: 50%;
  }
  .col-md-push-5 {
    left: 41.66666667%;
  }
  .col-md-push-4 {
    left: 33.33333333%;
  }
  .col-md-push-3 {
    left: 25%;
  }
  .col-md-push-2 {
    left: 16.66666667%;
  }
  .col-md-push-1 {
    left: 8.33333333%;
  }
  .col-md-push-0 {
    left: auto;
  }
  .col-md-offset-12 {
    margin-left: 100%;
  }
  .col-md-offset-11 {
    margin-left: 91.66666667%;
  }
  .col-md-offset-10 {
    margin-left: 83.33333333%;
  }
  .col-md-offset-9 {
    margin-left: 75%;
  }
  .col-md-offset-8 {
    margin-left: 66.66666667%;
  }
  .col-md-offset-7 {
    margin-left: 58.33333333%;
  }
  .col-md-offset-6 {
    margin-left: 50%;
  }
  .col-md-offset-5 {
    margin-left: 41.66666667%;
  }
  .col-md-offset-4 {
    margin-left: 33.33333333%;
  }
  .col-md-offset-3 {
    margin-left: 25%;
  }
  .col-md-offset-2 {
    margin-left: 16.66666667%;
  }
  .col-md-offset-1 {
    margin-left: 8.33333333%;
  }
  .col-md-offset-0 {
    margin-left: 0%;
  }
}
@media (min-width: 1200px) {
  .col-lg-1, .col-lg-2, .col-lg-3, .col-lg-4, .col-lg-5, .col-lg-6, .col-lg-7, .col-lg-8, .col-lg-9, .col-lg-10, .col-lg-11, .col-lg-12 {
    float: left;
  }
  .col-lg-12 {
    width: 100%;
  }
  .col-lg-11 {
    width: 91.66666667%;
  }
  .col-lg-10 {
    width: 83.33333333%;
  }
  .col-lg-9 {
    width: 75%;
  }
  .col-lg-8 {
    width: 66.66666667%;
  }
  .col-lg-7 {
    width: 58.33333333%;
  }
  .col-lg-6 {
    width: 50%;
  }
  .col-lg-5 {
    width: 41.66666667%;
  }
  .col-lg-4 {
    width: 33.33333333%;
  }
  .col-lg-3 {
    width: 25%;
  }
  .col-lg-2 {
    width: 16.66666667%;
  }
  .col-lg-1 {
    width: 8.33333333%;
  }
  .col-lg-pull-12 {
    right: 100%;
  }
  .col-lg-pull-11 {
    right: 91.66666667%;
  }
  .col-lg-pull-10 {
    right: 83.33333333%;
  }
  .col-lg-pull-9 {
    right: 75%;
  }
  .col-lg-pull-8 {
    right: 66.66666667%;
  }
  .col-lg-pull-7 {
    right: 58.33333333%;
  }
  .col-lg-pull-6 {
    right: 50%;
  }
  .col-lg-pull-5 {
    right: 41.66666667%;
  }
  .col-lg-pull-4 {
    right: 33.33333333%;
  }
  .col-lg-pull-3 {
    right: 25%;
  }
  .col-lg-pull-2 {
    right: 16.66666667%;
  }
  .col-lg-pull-1 {
    right: 8.33333333%;
  }
  .col-lg-pull-0 {
    right: auto;
  }
  .col-lg-push-12 {
    left: 100%;
  }
  .col-lg-push-11 {
    left: 91.66666667%;
  }
  .col-lg-push-10 {
    left: 83.33333333%;
  }
  .col-lg-push-9 {
    left: 75%;
  }
  .col-lg-push-8 {
    left: 66.66666667%;
  }
  .col-lg-push-7 {
    left: 58.33333333%;
  }
  .col-lg-push-6 {
    left: 50%;
  }
  .col-lg-push-5 {
    left: 41.66666667%;
  }
  .col-lg-push-4 {
    left: 33.33333333%;
  }
  .col-lg-push-3 {
    left: 25%;
  }
  .col-lg-push-2 {
    left: 16.66666667%;
  }
  .col-lg-push-1 {
    left: 8.33333333%;
  }
  .col-lg-push-0 {
    left: auto;
  }
  .col-lg-offset-12 {
    margin-left: 100%;
  }
  .col-lg-offset-11 {
    margin-left: 91.66666667%;
  }
  .col-lg-offset-10 {
    margin-left: 83.33333333%;
  }
  .col-lg-offset-9 {
    margin-left: 75%;
  }
  .col-lg-offset-8 {
    margin-left: 66.66666667%;
  }
  .col-lg-offset-7 {
    margin-left: 58.33333333%;
  }
  .col-lg-offset-6 {
    margin-left: 50%;
  }
  .col-lg-offset-5 {
    margin-left: 41.66666667%;
  }
  .col-lg-offset-4 {
    margin-left: 33.33333333%;
  }
  .col-lg-offset-3 {
    margin-left: 25%;
  }
  .col-lg-offset-2 {
    margin-left: 16.66666667%;
  }
  .col-lg-offset-1 {
    margin-left: 8.33333333%;
  }
  .col-lg-offset-0 {
    margin-left: 0%;
  }
}
table {
  background-color: transparent;
}
caption {
  padding-top: 8px;
  padding-bottom: 8px;
  color: #777777;
  text-align: left;
}
th {
  text-align: left;
}
.table {
  width: 100%;
  max-width: 100%;
  margin-bottom: 18px;
}
.table > thead > tr > th,
.table > tbody > tr > th,
.table > tfoot > tr > th,
.table > thead > tr > td,
.table > tbody > tr > td,
.table > tfoot > tr > td {
  padding: 8px;
  line-height: 1.42857143;
  vertical-align: top;
  border-top: 1px solid #ddd;
}
.table > thead > tr > th {
  vertical-align: bottom;
  border-bottom: 2px solid #ddd;
}
.table > caption + thead > tr:first-child > th,
.table > colgroup + thead > tr:first-child > th,
.table > thead:first-child > tr:first-child > th,
.table > caption + thead > tr:first-child > td,
.table > colgroup + thead > tr:first-child > td,
.table > thead:first-child > tr:first-child > td {
  border-top: 0;
}
.table > tbody + tbody {
  border-top: 2px solid #ddd;
}
.table .table {
  background-color: #fff;
}
.table-condensed > thead > tr > th,
.table-condensed > tbody > tr > th,
.table-condensed > tfoot > tr > th,
.table-condensed > thead > tr > td,
.table-condensed > tbody > tr > td,
.table-condensed > tfoot > tr > td {
  padding: 5px;
}
.table-bordered {
  border: 1px solid #ddd;
}
.table-bordered > thead > tr > th,
.table-bordered > tbody > tr > th,
.table-bordered > tfoot > tr > th,
.table-bordered > thead > tr > td,
.table-bordered > tbody > tr > td,
.table-bordered > tfoot > tr > td {
  border: 1px solid #ddd;
}
.table-bordered > thead > tr > th,
.table-bordered > thead > tr > td {
  border-bottom-width: 2px;
}
.table-striped > tbody > tr:nth-of-type(odd) {
  background-color: #f9f9f9;
}
.table-hover > tbody > tr:hover {
  background-color: #f5f5f5;
}
table col[class*="col-"] {
  position: static;
  float: none;
  display: table-column;
}
table td[class*="col-"],
table th[class*="col-"] {
  position: static;
  float: none;
  display: table-cell;
}
.table > thead > tr > td.active,
.table > tbody > tr > td.active,
.table > tfoot > tr > td.active,
.table > thead > tr > th.active,
.table > tbody > tr > th.active,
.table > tfoot > tr > th.active,
.table > thead > tr.active > td,
.table > tbody > tr.active > td,
.table > tfoot > tr.active > td,
.table > thead > tr.active > th,
.table > tbody > tr.active > th,
.table > tfoot > tr.active > th {
  background-color: #f5f5f5;
}
.table-hover > tbody > tr > td.active:hover,
.table-hover > tbody > tr > th.active:hover,
.table-hover > tbody > tr.active:hover > td,
.table-hover > tbody > tr:hover > .active,
.table-hover > tbody > tr.active:hover > th {
  background-color: #e8e8e8;
}
.table > thead > tr > td.success,
.table > tbody > tr > td.success,
.table > tfoot > tr > td.success,
.table > thead > tr > th.success,
.table > tbody > tr > th.success,
.table > tfoot > tr > th.success,
.table > thead > tr.success > td,
.table > tbody > tr.success > td,
.table > tfoot > tr.success > td,
.table > thead > tr.success > th,
.table > tbody > tr.success > th,
.table > tfoot > tr.success > th {
  background-color: #dff0d8;
}
.table-hover > tbody > tr > td.success:hover,
.table-hover > tbody > tr > th.success:hover,
.table-hover > tbody > tr.success:hover > td,
.table-hover > tbody > tr:hover > .success,
.table-hover > tbody > tr.success:hover > th {
  background-color: #d0e9c6;
}
.table > thead > tr > td.info,
.table > tbody > tr > td.info,
.table > tfoot > tr > td.info,
.table > thead > tr > th.info,
.table > tbody > tr > th.info,
.table > tfoot > tr > th.info,
.table > thead > tr.info > td,
.table > tbody > tr.info > td,
.table > tfoot > tr.info > td,
.table > thead > tr.info > th,
.table > tbody > tr.info > th,
.table > tfoot > tr.info > th {
  background-color: #d9edf7;
}
.table-hover > tbody > tr > td.info:hover,
.table-hover > tbody > tr > th.info:hover,
.table-hover > tbody > tr.info:hover > td,
.table-hover > tbody > tr:hover > .info,
.table-hover > tbody > tr.info:hover > th {
  background-color: #c4e3f3;
}
.table > thead > tr > td.warning,
.table > tbody > tr > td.warning,
.table > tfoot > tr > td.warning,
.table > thead > tr > th.warning,
.table > tbody > tr > th.warning,
.table > tfoot > tr > th.warning,
.table > thead > tr.warning > td,
.table > tbody > tr.warning > td,
.table > tfoot > tr.warning > td,
.table > thead > tr.warning > th,
.table > tbody > tr.warning > th,
.table > tfoot > tr.warning > th {
  background-color: #fcf8e3;
}
.table-hover > tbody > tr > td.warning:hover,
.table-hover > tbody > tr > th.warning:hover,
.table-hover > tbody > tr.warning:hover > td,
.table-hover > tbody > tr:hover > .warning,
.table-hover > tbody > tr.warning:hover > th {
  background-color: #faf2cc;
}
.table > thead > tr > td.danger,
.table > tbody > tr > td.danger,
.table > tfoot > tr > td.danger,
.table > thead > tr > th.danger,
.table > tbody > tr > th.danger,
.table > tfoot > tr > th.danger,
.table > thead > tr.danger > td,
.table > tbody > tr.danger > td,
.table > tfoot > tr.danger > td,
.table > thead > tr.danger > th,
.table > tbody > tr.danger > th,
.table > tfoot > tr.danger > th {
  background-color: #f2dede;
}
.table-hover > tbody > tr > td.danger:hover,
.table-hover > tbody > tr > th.danger:hover,
.table-hover > tbody > tr.danger:hover > td,
.table-hover > tbody > tr:hover > .danger,
.table-hover > tbody > tr.danger:hover > th {
  background-color: #ebcccc;
}
.table-responsive {
  overflow-x: auto;
  min-height: 0.01%;
}
@media screen and (max-width: 767px) {
  .table-responsive {
    width: 100%;
    margin-bottom: 13.5px;
    overflow-y: hidden;
    -ms-overflow-style: -ms-autohiding-scrollbar;
    border: 1px solid #ddd;
  }
  .table-responsive > .table {
    margin-bottom: 0;
  }
  .table-responsive > .table > thead > tr > th,
  .table-responsive > .table > tbody > tr > th,
  .table-responsive > .table > tfoot > tr > th,
  .table-responsive > .table > thead > tr > td,
  .table-responsive > .table > tbody > tr > td,
  .table-responsive > .table > tfoot > tr > td {
    white-space: nowrap;
  }
  .table-responsive > .table-bordered {
    border: 0;
  }
  .table-responsive > .table-bordered > thead > tr > th:first-child,
  .table-responsive > .table-bordered > tbody > tr > th:first-child,
  .table-responsive > .table-bordered > tfoot > tr > th:first-child,
  .table-responsive > .table-bordered > thead > tr > td:first-child,
  .table-responsive > .table-bordered > tbody > tr > td:first-child,
  .table-responsive > .table-bordered > tfoot > tr > td:first-child {
    border-left: 0;
  }
  .table-responsive > .table-bordered > thead > tr > th:last-child,
  .table-responsive > .table-bordered > tbody > tr > th:last-child,
  .table-responsive > .table-bordered > tfoot > tr > th:last-child,
  .table-responsive > .table-bordered > thead > tr > td:last-child,
  .table-responsive > .table-bordered > tbody > tr > td:last-child,
  .table-responsive > .table-bordered > tfoot > tr > td:last-child {
    border-right: 0;
  }
  .table-responsive > .table-bordered > tbody > tr:last-child > th,
  .table-responsive > .table-bordered > tfoot > tr:last-child > th,
  .table-responsive > .table-bordered > tbody > tr:last-child > td,
  .table-responsive > .table-bordered > tfoot > tr:last-child > td {
    border-bottom: 0;
  }
}
fieldset {
  padding: 0;
  margin: 0;
  border: 0;
  min-width: 0;
}
legend {
  display: block;
  width: 100%;
  padding: 0;
  margin-bottom: 18px;
  font-size: 19.5px;
  line-height: inherit;
  color: #333333;
  border: 0;
  border-bottom: 1px solid #e5e5e5;
}
label {
  display: inline-block;
  max-width: 100%;
  margin-bottom: 5px;
  font-weight: bold;
}
input[type="search"] {
  -webkit-box-sizing: border-box;
  -moz-box-sizing: border-box;
  box-sizing: border-box;
}
input[type="radio"],
input[type="checkbox"] {
  margin: 4px 0 0;
  margin-top: 1px \9;
  line-height: normal;
}
input[type="file"] {
  display: block;
}
input[type="range"] {
  display: block;
  width: 100%;
}
select[multiple],
select[size] {
  height: auto;
}
input[type="file"]:focus,
input[type="radio"]:focus,
input[type="checkbox"]:focus {
  outline: 5px auto -webkit-focus-ring-color;
  outline-offset: -2px;
}
output {
  display: block;
  padding-top: 7px;
  font-size: 13px;
  line-height: 1.42857143;
  color: #555555;
}
.form-control {
  display: block;
  width: 100%;
  height: 32px;
  padding: 6px 12px;
  font-size: 13px;
  line-height: 1.42857143;
  color: #555555;
  background-color: #fff;
  background-image: none;
  border: 1px solid #ccc;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  -webkit-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  -o-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
}
.form-control:focus {
  border-color: #66afe9;
  outline: 0;
  -webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
  box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
}
.form-control::-moz-placeholder {
  color: #999;
  opacity: 1;
}
.form-control:-ms-input-placeholder {
  color: #999;
}
.form-control::-webkit-input-placeholder {
  color: #999;
}
.form-control::-ms-expand {
  border: 0;
  background-color: transparent;
}
.form-control[disabled],
.form-control[readonly],
fieldset[disabled] .form-control {
  background-color: #eeeeee;
  opacity: 1;
}
.form-control[disabled],
fieldset[disabled] .form-control {
  cursor: not-allowed;
}
textarea.form-control {
  height: auto;
}
input[type="search"] {
  -webkit-appearance: none;
}
@media screen and (-webkit-min-device-pixel-ratio: 0) {
  input[type="date"].form-control,
  input[type="time"].form-control,
  input[type="datetime-local"].form-control,
  input[type="month"].form-control {
    line-height: 32px;
  }
  input[type="date"].input-sm,
  input[type="time"].input-sm,
  input[type="datetime-local"].input-sm,
  input[type="month"].input-sm,
  .input-group-sm input[type="date"],
  .input-group-sm input[type="time"],
  .input-group-sm input[type="datetime-local"],
  .input-group-sm input[type="month"] {
    line-height: 30px;
  }
  input[type="date"].input-lg,
  input[type="time"].input-lg,
  input[type="datetime-local"].input-lg,
  input[type="month"].input-lg,
  .input-group-lg input[type="date"],
  .input-group-lg input[type="time"],
  .input-group-lg input[type="datetime-local"],
  .input-group-lg input[type="month"] {
    line-height: 45px;
  }
}
.form-group {
  margin-bottom: 15px;
}
.radio,
.checkbox {
  position: relative;
  display: block;
  margin-top: 10px;
  margin-bottom: 10px;
}
.radio label,
.checkbox label {
  min-height: 18px;
  padding-left: 20px;
  margin-bottom: 0;
  font-weight: normal;
  cursor: pointer;
}
.radio input[type="radio"],
.radio-inline input[type="radio"],
.checkbox input[type="checkbox"],
.checkbox-inline input[type="checkbox"] {
  position: absolute;
  margin-left: -20px;
  margin-top: 4px \9;
}
.radio + .radio,
.checkbox + .checkbox {
  margin-top: -5px;
}
.radio-inline,
.checkbox-inline {
  position: relative;
  display: inline-block;
  padding-left: 20px;
  margin-bottom: 0;
  vertical-align: middle;
  font-weight: normal;
  cursor: pointer;
}
.radio-inline + .radio-inline,
.checkbox-inline + .checkbox-inline {
  margin-top: 0;
  margin-left: 10px;
}
input[type="radio"][disabled],
input[type="checkbox"][disabled],
input[type="radio"].disabled,
input[type="checkbox"].disabled,
fieldset[disabled] input[type="radio"],
fieldset[disabled] input[type="checkbox"] {
  cursor: not-allowed;
}
.radio-inline.disabled,
.checkbox-inline.disabled,
fieldset[disabled] .radio-inline,
fieldset[disabled] .checkbox-inline {
  cursor: not-allowed;
}
.radio.disabled label,
.checkbox.disabled label,
fieldset[disabled] .radio label,
fieldset[disabled] .checkbox label {
  cursor: not-allowed;
}
.form-control-static {
  padding-top: 7px;
  padding-bottom: 7px;
  margin-bottom: 0;
  min-height: 31px;
}
.form-control-static.input-lg,
.form-control-static.input-sm {
  padding-left: 0;
  padding-right: 0;
}
.input-sm {
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
select.input-sm {
  height: 30px;
  line-height: 30px;
}
textarea.input-sm,
select[multiple].input-sm {
  height: auto;
}
.form-group-sm .form-control {
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
.form-group-sm select.form-control {
  height: 30px;
  line-height: 30px;
}
.form-group-sm textarea.form-control,
.form-group-sm select[multiple].form-control {
  height: auto;
}
.form-group-sm .form-control-static {
  height: 30px;
  min-height: 30px;
  padding: 6px 10px;
  font-size: 12px;
  line-height: 1.5;
}
.input-lg {
  height: 45px;
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
  border-radius: 3px;
}
select.input-lg {
  height: 45px;
  line-height: 45px;
}
textarea.input-lg,
select[multiple].input-lg {
  height: auto;
}
.form-group-lg .form-control {
  height: 45px;
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
  border-radius: 3px;
}
.form-group-lg select.form-control {
  height: 45px;
  line-height: 45px;
}
.form-group-lg textarea.form-control,
.form-group-lg select[multiple].form-control {
  height: auto;
}
.form-group-lg .form-control-static {
  height: 45px;
  min-height: 35px;
  padding: 11px 16px;
  font-size: 17px;
  line-height: 1.3333333;
}
.has-feedback {
  position: relative;
}
.has-feedback .form-control {
  padding-right: 40px;
}
.form-control-feedback {
  position: absolute;
  top: 0;
  right: 0;
  z-index: 2;
  display: block;
  width: 32px;
  height: 32px;
  line-height: 32px;
  text-align: center;
  pointer-events: none;
}
.input-lg + .form-control-feedback,
.input-group-lg + .form-control-feedback,
.form-group-lg .form-control + .form-control-feedback {
  width: 45px;
  height: 45px;
  line-height: 45px;
}
.input-sm + .form-control-feedback,
.input-group-sm + .form-control-feedback,
.form-group-sm .form-control + .form-control-feedback {
  width: 30px;
  height: 30px;
  line-height: 30px;
}
.has-success .help-block,
.has-success .control-label,
.has-success .radio,
.has-success .checkbox,
.has-success .radio-inline,
.has-success .checkbox-inline,
.has-success.radio label,
.has-success.checkbox label,
.has-success.radio-inline label,
.has-success.checkbox-inline label {
  color: #3c763d;
}
.has-success .form-control {
  border-color: #3c763d;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
}
.has-success .form-control:focus {
  border-color: #2b542c;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #67b168;
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #67b168;
}
.has-success .input-group-addon {
  color: #3c763d;
  border-color: #3c763d;
  background-color: #dff0d8;
}
.has-success .form-control-feedback {
  color: #3c763d;
}
.has-warning .help-block,
.has-warning .control-label,
.has-warning .radio,
.has-warning .checkbox,
.has-warning .radio-inline,
.has-warning .checkbox-inline,
.has-warning.radio label,
.has-warning.checkbox label,
.has-warning.radio-inline label,
.has-warning.checkbox-inline label {
  color: #8a6d3b;
}
.has-warning .form-control {
  border-color: #8a6d3b;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
}
.has-warning .form-control:focus {
  border-color: #66512c;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #c0a16b;
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #c0a16b;
}
.has-warning .input-group-addon {
  color: #8a6d3b;
  border-color: #8a6d3b;
  background-color: #fcf8e3;
}
.has-warning .form-control-feedback {
  color: #8a6d3b;
}
.has-error .help-block,
.has-error .control-label,
.has-error .radio,
.has-error .checkbox,
.has-error .radio-inline,
.has-error .checkbox-inline,
.has-error.radio label,
.has-error.checkbox label,
.has-error.radio-inline label,
.has-error.checkbox-inline label {
  color: #a94442;
}
.has-error .form-control {
  border-color: #a94442;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
}
.has-error .form-control:focus {
  border-color: #843534;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #ce8483;
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #ce8483;
}
.has-error .input-group-addon {
  color: #a94442;
  border-color: #a94442;
  background-color: #f2dede;
}
.has-error .form-control-feedback {
  color: #a94442;
}
.has-feedback label ~ .form-control-feedback {
  top: 23px;
}
.has-feedback label.sr-only ~ .form-control-feedback {
  top: 0;
}
.help-block {
  display: block;
  margin-top: 5px;
  margin-bottom: 10px;
  color: #404040;
}
@media (min-width: 768px) {
  .form-inline .form-group {
    display: inline-block;
    margin-bottom: 0;
    vertical-align: middle;
  }
  .form-inline .form-control {
    display: inline-block;
    width: auto;
    vertical-align: middle;
  }
  .form-inline .form-control-static {
    display: inline-block;
  }
  .form-inline .input-group {
    display: inline-table;
    vertical-align: middle;
  }
  .form-inline .input-group .input-group-addon,
  .form-inline .input-group .input-group-btn,
  .form-inline .input-group .form-control {
    width: auto;
  }
  .form-inline .input-group > .form-control {
    width: 100%;
  }
  .form-inline .control-label {
    margin-bottom: 0;
    vertical-align: middle;
  }
  .form-inline .radio,
  .form-inline .checkbox {
    display: inline-block;
    margin-top: 0;
    margin-bottom: 0;
    vertical-align: middle;
  }
  .form-inline .radio label,
  .form-inline .checkbox label {
    padding-left: 0;
  }
  .form-inline .radio input[type="radio"],
  .form-inline .checkbox input[type="checkbox"] {
    position: relative;
    margin-left: 0;
  }
  .form-inline .has-feedback .form-control-feedback {
    top: 0;
  }
}
.form-horizontal .radio,
.form-horizontal .checkbox,
.form-horizontal .radio-inline,
.form-horizontal .checkbox-inline {
  margin-top: 0;
  margin-bottom: 0;
  padding-top: 7px;
}
.form-horizontal .radio,
.form-horizontal .checkbox {
  min-height: 25px;
}
.form-horizontal .form-group {
  margin-left: 0px;
  margin-right: 0px;
}
@media (min-width: 768px) {
  .form-horizontal .control-label {
    text-align: right;
    margin-bottom: 0;
    padding-top: 7px;
  }
}
.form-horizontal .has-feedback .form-control-feedback {
  right: 0px;
}
@media (min-width: 768px) {
  .form-horizontal .form-group-lg .control-label {
    padding-top: 11px;
    font-size: 17px;
  }
}
@media (min-width: 768px) {
  .form-horizontal .form-group-sm .control-label {
    padding-top: 6px;
    font-size: 12px;
  }
}
.btn {
  display: inline-block;
  margin-bottom: 0;
  font-weight: normal;
  text-align: center;
  vertical-align: middle;
  touch-action: manipulation;
  cursor: pointer;
  background-image: none;
  border: 1px solid transparent;
  white-space: nowrap;
  padding: 6px 12px;
  font-size: 13px;
  line-height: 1.42857143;
  border-radius: 2px;
  -webkit-user-select: none;
  -moz-user-select: none;
  -ms-user-select: none;
  user-select: none;
}
.btn:focus,
.btn:active:focus,
.btn.active:focus,
.btn.focus,
.btn:active.focus,
.btn.active.focus {
  outline: 5px auto -webkit-focus-ring-color;
  outline-offset: -2px;
}
.btn:hover,
.btn:focus,
.btn.focus {
  color: #333;
  text-decoration: none;
}
.btn:active,
.btn.active {
  outline: 0;
  background-image: none;
  -webkit-box-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);
  box-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);
}
.btn.disabled,
.btn[disabled],
fieldset[disabled] .btn {
  cursor: not-allowed;
  opacity: 0.65;
  filter: alpha(opacity=65);
  -webkit-box-shadow: none;
  box-shadow: none;
}
a.btn.disabled,
fieldset[disabled] a.btn {
  pointer-events: none;
}
.btn-default {
  color: #333;
  background-color: #fff;
  border-color: #ccc;
}
.btn-default:focus,
.btn-default.focus {
  color: #333;
  background-color: #e6e6e6;
  border-color: #8c8c8c;
}
.btn-default:hover {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
.btn-default:active,
.btn-default.active,
.open > .dropdown-toggle.btn-default {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
.btn-default:active:hover,
.btn-default.active:hover,
.open > .dropdown-toggle.btn-default:hover,
.btn-default:active:focus,
.btn-default.active:focus,
.open > .dropdown-toggle.btn-default:focus,
.btn-default:active.focus,
.btn-default.active.focus,
.open > .dropdown-toggle.btn-default.focus {
  color: #333;
  background-color: #d4d4d4;
  border-color: #8c8c8c;
}
.btn-default:active,
.btn-default.active,
.open > .dropdown-toggle.btn-default {
  background-image: none;
}
.btn-default.disabled:hover,
.btn-default[disabled]:hover,
fieldset[disabled] .btn-default:hover,
.btn-default.disabled:focus,
.btn-default[disabled]:focus,
fieldset[disabled] .btn-default:focus,
.btn-default.disabled.focus,
.btn-default[disabled].focus,
fieldset[disabled] .btn-default.focus {
  background-color: #fff;
  border-color: #ccc;
}
.btn-default .badge {
  color: #fff;
  background-color: #333;
}
.btn-primary {
  color: #fff;
  background-color: #337ab7;
  border-color: #2e6da4;
}
.btn-primary:focus,
.btn-primary.focus {
  color: #fff;
  background-color: #286090;
  border-color: #122b40;
}
.btn-primary:hover {
  color: #fff;
  background-color: #286090;
  border-color: #204d74;
}
.btn-primary:active,
.btn-primary.active,
.open > .dropdown-toggle.btn-primary {
  color: #fff;
  background-color: #286090;
  border-color: #204d74;
}
.btn-primary:active:hover,
.btn-primary.active:hover,
.open > .dropdown-toggle.btn-primary:hover,
.btn-primary:active:focus,
.btn-primary.active:focus,
.open > .dropdown-toggle.btn-primary:focus,
.btn-primary:active.focus,
.btn-primary.active.focus,
.open > .dropdown-toggle.btn-primary.focus {
  color: #fff;
  background-color: #204d74;
  border-color: #122b40;
}
.btn-primary:active,
.btn-primary.active,
.open > .dropdown-toggle.btn-primary {
  background-image: none;
}
.btn-primary.disabled:hover,
.btn-primary[disabled]:hover,
fieldset[disabled] .btn-primary:hover,
.btn-primary.disabled:focus,
.btn-primary[disabled]:focus,
fieldset[disabled] .btn-primary:focus,
.btn-primary.disabled.focus,
.btn-primary[disabled].focus,
fieldset[disabled] .btn-primary.focus {
  background-color: #337ab7;
  border-color: #2e6da4;
}
.btn-primary .badge {
  color: #337ab7;
  background-color: #fff;
}
.btn-success {
  color: #fff;
  background-color: #5cb85c;
  border-color: #4cae4c;
}
.btn-success:focus,
.btn-success.focus {
  color: #fff;
  background-color: #449d44;
  border-color: #255625;
}
.btn-success:hover {
  color: #fff;
  background-color: #449d44;
  border-color: #398439;
}
.btn-success:active,
.btn-success.active,
.open > .dropdown-toggle.btn-success {
  color: #fff;
  background-color: #449d44;
  border-color: #398439;
}
.btn-success:active:hover,
.btn-success.active:hover,
.open > .dropdown-toggle.btn-success:hover,
.btn-success:active:focus,
.btn-success.active:focus,
.open > .dropdown-toggle.btn-success:focus,
.btn-success:active.focus,
.btn-success.active.focus,
.open > .dropdown-toggle.btn-success.focus {
  color: #fff;
  background-color: #398439;
  border-color: #255625;
}
.btn-success:active,
.btn-success.active,
.open > .dropdown-toggle.btn-success {
  background-image: none;
}
.btn-success.disabled:hover,
.btn-success[disabled]:hover,
fieldset[disabled] .btn-success:hover,
.btn-success.disabled:focus,
.btn-success[disabled]:focus,
fieldset[disabled] .btn-success:focus,
.btn-success.disabled.focus,
.btn-success[disabled].focus,
fieldset[disabled] .btn-success.focus {
  background-color: #5cb85c;
  border-color: #4cae4c;
}
.btn-success .badge {
  color: #5cb85c;
  background-color: #fff;
}
.btn-info {
  color: #fff;
  background-color: #5bc0de;
  border-color: #46b8da;
}
.btn-info:focus,
.btn-info.focus {
  color: #fff;
  background-color: #31b0d5;
  border-color: #1b6d85;
}
.btn-info:hover {
  color: #fff;
  background-color: #31b0d5;
  border-color: #269abc;
}
.btn-info:active,
.btn-info.active,
.open > .dropdown-toggle.btn-info {
  color: #fff;
  background-color: #31b0d5;
  border-color: #269abc;
}
.btn-info:active:hover,
.btn-info.active:hover,
.open > .dropdown-toggle.btn-info:hover,
.btn-info:active:focus,
.btn-info.active:focus,
.open > .dropdown-toggle.btn-info:focus,
.btn-info:active.focus,
.btn-info.active.focus,
.open > .dropdown-toggle.btn-info.focus {
  color: #fff;
  background-color: #269abc;
  border-color: #1b6d85;
}
.btn-info:active,
.btn-info.active,
.open > .dropdown-toggle.btn-info {
  background-image: none;
}
.btn-info.disabled:hover,
.btn-info[disabled]:hover,
fieldset[disabled] .btn-info:hover,
.btn-info.disabled:focus,
.btn-info[disabled]:focus,
fieldset[disabled] .btn-info:focus,
.btn-info.disabled.focus,
.btn-info[disabled].focus,
fieldset[disabled] .btn-info.focus {
  background-color: #5bc0de;
  border-color: #46b8da;
}
.btn-info .badge {
  color: #5bc0de;
  background-color: #fff;
}
.btn-warning {
  color: #fff;
  background-color: #f0ad4e;
  border-color: #eea236;
}
.btn-warning:focus,
.btn-warning.focus {
  color: #fff;
  background-color: #ec971f;
  border-color: #985f0d;
}
.btn-warning:hover {
  color: #fff;
  background-color: #ec971f;
  border-color: #d58512;
}
.btn-warning:active,
.btn-warning.active,
.open > .dropdown-toggle.btn-warning {
  color: #fff;
  background-color: #ec971f;
  border-color: #d58512;
}
.btn-warning:active:hover,
.btn-warning.active:hover,
.open > .dropdown-toggle.btn-warning:hover,
.btn-warning:active:focus,
.btn-warning.active:focus,
.open > .dropdown-toggle.btn-warning:focus,
.btn-warning:active.focus,
.btn-warning.active.focus,
.open > .dropdown-toggle.btn-warning.focus {
  color: #fff;
  background-color: #d58512;
  border-color: #985f0d;
}
.btn-warning:active,
.btn-warning.active,
.open > .dropdown-toggle.btn-warning {
  background-image: none;
}
.btn-warning.disabled:hover,
.btn-warning[disabled]:hover,
fieldset[disabled] .btn-warning:hover,
.btn-warning.disabled:focus,
.btn-warning[disabled]:focus,
fieldset[disabled] .btn-warning:focus,
.btn-warning.disabled.focus,
.btn-warning[disabled].focus,
fieldset[disabled] .btn-warning.focus {
  background-color: #f0ad4e;
  border-color: #eea236;
}
.btn-warning .badge {
  color: #f0ad4e;
  background-color: #fff;
}
.btn-danger {
  color: #fff;
  background-color: #d9534f;
  border-color: #d43f3a;
}
.btn-danger:focus,
.btn-danger.focus {
  color: #fff;
  background-color: #c9302c;
  border-color: #761c19;
}
.btn-danger:hover {
  color: #fff;
  background-color: #c9302c;
  border-color: #ac2925;
}
.btn-danger:active,
.btn-danger.active,
.open > .dropdown-toggle.btn-danger {
  color: #fff;
  background-color: #c9302c;
  border-color: #ac2925;
}
.btn-danger:active:hover,
.btn-danger.active:hover,
.open > .dropdown-toggle.btn-danger:hover,
.btn-danger:active:focus,
.btn-danger.active:focus,
.open > .dropdown-toggle.btn-danger:focus,
.btn-danger:active.focus,
.btn-danger.active.focus,
.open > .dropdown-toggle.btn-danger.focus {
  color: #fff;
  background-color: #ac2925;
  border-color: #761c19;
}
.btn-danger:active,
.btn-danger.active,
.open > .dropdown-toggle.btn-danger {
  background-image: none;
}
.btn-danger.disabled:hover,
.btn-danger[disabled]:hover,
fieldset[disabled] .btn-danger:hover,
.btn-danger.disabled:focus,
.btn-danger[disabled]:focus,
fieldset[disabled] .btn-danger:focus,
.btn-danger.disabled.focus,
.btn-danger[disabled].focus,
fieldset[disabled] .btn-danger.focus {
  background-color: #d9534f;
  border-color: #d43f3a;
}
.btn-danger .badge {
  color: #d9534f;
  background-color: #fff;
}
.btn-link {
  color: #337ab7;
  font-weight: normal;
  border-radius: 0;
}
.btn-link,
.btn-link:active,
.btn-link.active,
.btn-link[disabled],
fieldset[disabled] .btn-link {
  background-color: transparent;
  -webkit-box-shadow: none;
  box-shadow: none;
}
.btn-link,
.btn-link:hover,
.btn-link:focus,
.btn-link:active {
  border-color: transparent;
}
.btn-link:hover,
.btn-link:focus {
  color: #23527c;
  text-decoration: underline;
  background-color: transparent;
}
.btn-link[disabled]:hover,
fieldset[disabled] .btn-link:hover,
.btn-link[disabled]:focus,
fieldset[disabled] .btn-link:focus {
  color: #777777;
  text-decoration: none;
}
.btn-lg,
.btn-group-lg > .btn {
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
  border-radius: 3px;
}
.btn-sm,
.btn-group-sm > .btn {
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
.btn-xs,
.btn-group-xs > .btn {
  padding: 1px 5px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
.btn-block {
  display: block;
  width: 100%;
}
.btn-block + .btn-block {
  margin-top: 5px;
}
input[type="submit"].btn-block,
input[type="reset"].btn-block,
input[type="button"].btn-block {
  width: 100%;
}
.fade {
  opacity: 0;
  -webkit-transition: opacity 0.15s linear;
  -o-transition: opacity 0.15s linear;
  transition: opacity 0.15s linear;
}
.fade.in {
  opacity: 1;
}
.collapse {
  display: none;
}
.collapse.in {
  display: block;
}
tr.collapse.in {
  display: table-row;
}
tbody.collapse.in {
  display: table-row-group;
}
.collapsing {
  position: relative;
  height: 0;
  overflow: hidden;
  -webkit-transition-property: height, visibility;
  transition-property: height, visibility;
  -webkit-transition-duration: 0.35s;
  transition-duration: 0.35s;
  -webkit-transition-timing-function: ease;
  transition-timing-function: ease;
}
.caret {
  display: inline-block;
  width: 0;
  height: 0;
  margin-left: 2px;
  vertical-align: middle;
  border-top: 4px dashed;
  border-top: 4px solid \9;
  border-right: 4px solid transparent;
  border-left: 4px solid transparent;
}
.dropup,
.dropdown {
  position: relative;
}
.dropdown-toggle:focus {
  outline: 0;
}
.dropdown-menu {
  position: absolute;
  top: 100%;
  left: 0;
  z-index: 1000;
  display: none;
  float: left;
  min-width: 160px;
  padding: 5px 0;
  margin: 2px 0 0;
  list-style: none;
  font-size: 13px;
  text-align: left;
  background-color: #fff;
  border: 1px solid #ccc;
  border: 1px solid rgba(0, 0, 0, 0.15);
  border-radius: 2px;
  -webkit-box-shadow: 0 6px 12px rgba(0, 0, 0, 0.175);
  box-shadow: 0 6px 12px rgba(0, 0, 0, 0.175);
  background-clip: padding-box;
}
.dropdown-menu.pull-right {
  right: 0;
  left: auto;
}
.dropdown-menu .divider {
  height: 1px;
  margin: 8px 0;
  overflow: hidden;
  background-color: #e5e5e5;
}
.dropdown-menu > li > a {
  display: block;
  padding: 3px 20px;
  clear: both;
  font-weight: normal;
  line-height: 1.42857143;
  color: #333333;
  white-space: nowrap;
}
.dropdown-menu > li > a:hover,
.dropdown-menu > li > a:focus {
  text-decoration: none;
  color: #262626;
  background-color: #f5f5f5;
}
.dropdown-menu > .active > a,
.dropdown-menu > .active > a:hover,
.dropdown-menu > .active > a:focus {
  color: #fff;
  text-decoration: none;
  outline: 0;
  background-color: #337ab7;
}
.dropdown-menu > .disabled > a,
.dropdown-menu > .disabled > a:hover,
.dropdown-menu > .disabled > a:focus {
  color: #777777;
}
.dropdown-menu > .disabled > a:hover,
.dropdown-menu > .disabled > a:focus {
  text-decoration: none;
  background-color: transparent;
  background-image: none;
  filter: progid:DXImageTransform.Microsoft.gradient(enabled = false);
  cursor: not-allowed;
}
.open > .dropdown-menu {
  display: block;
}
.open > a {
  outline: 0;
}
.dropdown-menu-right {
  left: auto;
  right: 0;
}
.dropdown-menu-left {
  left: 0;
  right: auto;
}
.dropdown-header {
  display: block;
  padding: 3px 20px;
  font-size: 12px;
  line-height: 1.42857143;
  color: #777777;
  white-space: nowrap;
}
.dropdown-backdrop {
  position: fixed;
  left: 0;
  right: 0;
  bottom: 0;
  top: 0;
  z-index: 990;
}
.pull-right > .dropdown-menu {
  right: 0;
  left: auto;
}
.dropup .caret,
.navbar-fixed-bottom .dropdown .caret {
  border-top: 0;
  border-bottom: 4px dashed;
  border-bottom: 4px solid \9;
  content: "";
}
.dropup .dropdown-menu,
.navbar-fixed-bottom .dropdown .dropdown-menu {
  top: auto;
  bottom: 100%;
  margin-bottom: 2px;
}
@media (min-width: 541px) {
  .navbar-right .dropdown-menu {
    left: auto;
    right: 0;
  }
  .navbar-right .dropdown-menu-left {
    left: 0;
    right: auto;
  }
}
.btn-group,
.btn-group-vertical {
  position: relative;
  display: inline-block;
  vertical-align: middle;
}
.btn-group > .btn,
.btn-group-vertical > .btn {
  position: relative;
  float: left;
}
.btn-group > .btn:hover,
.btn-group-vertical > .btn:hover,
.btn-group > .btn:focus,
.btn-group-vertical > .btn:focus,
.btn-group > .btn:active,
.btn-group-vertical > .btn:active,
.btn-group > .btn.active,
.btn-group-vertical > .btn.active {
  z-index: 2;
}
.btn-group .btn + .btn,
.btn-group .btn + .btn-group,
.btn-group .btn-group + .btn,
.btn-group .btn-group + .btn-group {
  margin-left: -1px;
}
.btn-toolbar {
  margin-left: -5px;
}
.btn-toolbar .btn,
.btn-toolbar .btn-group,
.btn-toolbar .input-group {
  float: left;
}
.btn-toolbar > .btn,
.btn-toolbar > .btn-group,
.btn-toolbar > .input-group {
  margin-left: 5px;
}
.btn-group > .btn:not(:first-child):not(:last-child):not(.dropdown-toggle) {
  border-radius: 0;
}
.btn-group > .btn:first-child {
  margin-left: 0;
}
.btn-group > .btn:first-child:not(:last-child):not(.dropdown-toggle) {
  border-bottom-right-radius: 0;
  border-top-right-radius: 0;
}
.btn-group > .btn:last-child:not(:first-child),
.btn-group > .dropdown-toggle:not(:first-child) {
  border-bottom-left-radius: 0;
  border-top-left-radius: 0;
}
.btn-group > .btn-group {
  float: left;
}
.btn-group > .btn-group:not(:first-child):not(:last-child) > .btn {
  border-radius: 0;
}
.btn-group > .btn-group:first-child:not(:last-child) > .btn:last-child,
.btn-group > .btn-group:first-child:not(:last-child) > .dropdown-toggle {
  border-bottom-right-radius: 0;
  border-top-right-radius: 0;
}
.btn-group > .btn-group:last-child:not(:first-child) > .btn:first-child {
  border-bottom-left-radius: 0;
  border-top-left-radius: 0;
}
.btn-group .dropdown-toggle:active,
.btn-group.open .dropdown-toggle {
  outline: 0;
}
.btn-group > .btn + .dropdown-toggle {
  padding-left: 8px;
  padding-right: 8px;
}
.btn-group > .btn-lg + .dropdown-toggle {
  padding-left: 12px;
  padding-right: 12px;
}
.btn-group.open .dropdown-toggle {
  -webkit-box-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);
  box-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);
}
.btn-group.open .dropdown-toggle.btn-link {
  -webkit-box-shadow: none;
  box-shadow: none;
}
.btn .caret {
  margin-left: 0;
}
.btn-lg .caret {
  border-width: 5px 5px 0;
  border-bottom-width: 0;
}
.dropup .btn-lg .caret {
  border-width: 0 5px 5px;
}
.btn-group-vertical > .btn,
.btn-group-vertical > .btn-group,
.btn-group-vertical > .btn-group > .btn {
  display: block;
  float: none;
  width: 100%;
  max-width: 100%;
}
.btn-group-vertical > .btn-group > .btn {
  float: none;
}
.btn-group-vertical > .btn + .btn,
.btn-group-vertical > .btn + .btn-group,
.btn-group-vertical > .btn-group + .btn,
.btn-group-vertical > .btn-group + .btn-group {
  margin-top: -1px;
  margin-left: 0;
}
.btn-group-vertical > .btn:not(:first-child):not(:last-child) {
  border-radius: 0;
}
.btn-group-vertical > .btn:first-child:not(:last-child) {
  border-top-right-radius: 2px;
  border-top-left-radius: 2px;
  border-bottom-right-radius: 0;
  border-bottom-left-radius: 0;
}
.btn-group-vertical > .btn:last-child:not(:first-child) {
  border-top-right-radius: 0;
  border-top-left-radius: 0;
  border-bottom-right-radius: 2px;
  border-bottom-left-radius: 2px;
}
.btn-group-vertical > .btn-group:not(:first-child):not(:last-child) > .btn {
  border-radius: 0;
}
.btn-group-vertical > .btn-group:first-child:not(:last-child) > .btn:last-child,
.btn-group-vertical > .btn-group:first-child:not(:last-child) > .dropdown-toggle {
  border-bottom-right-radius: 0;
  border-bottom-left-radius: 0;
}
.btn-group-vertical > .btn-group:last-child:not(:first-child) > .btn:first-child {
  border-top-right-radius: 0;
  border-top-left-radius: 0;
}
.btn-group-justified {
  display: table;
  width: 100%;
  table-layout: fixed;
  border-collapse: separate;
}
.btn-group-justified > .btn,
.btn-group-justified > .btn-group {
  float: none;
  display: table-cell;
  width: 1%;
}
.btn-group-justified > .btn-group .btn {
  width: 100%;
}
.btn-group-justified > .btn-group .dropdown-menu {
  left: auto;
}
[data-toggle="buttons"] > .btn input[type="radio"],
[data-toggle="buttons"] > .btn-group > .btn input[type="radio"],
[data-toggle="buttons"] > .btn input[type="checkbox"],
[data-toggle="buttons"] > .btn-group > .btn input[type="checkbox"] {
  position: absolute;
  clip: rect(0, 0, 0, 0);
  pointer-events: none;
}
.input-group {
  position: relative;
  display: table;
  border-collapse: separate;
}
.input-group[class*="col-"] {
  float: none;
  padding-left: 0;
  padding-right: 0;
}
.input-group .form-control {
  position: relative;
  z-index: 2;
  float: left;
  width: 100%;
  margin-bottom: 0;
}
.input-group .form-control:focus {
  z-index: 3;
}
.input-group-lg > .form-control,
.input-group-lg > .input-group-addon,
.input-group-lg > .input-group-btn > .btn {
  height: 45px;
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
  border-radius: 3px;
}
select.input-group-lg > .form-control,
select.input-group-lg > .input-group-addon,
select.input-group-lg > .input-group-btn > .btn {
  height: 45px;
  line-height: 45px;
}
textarea.input-group-lg > .form-control,
textarea.input-group-lg > .input-group-addon,
textarea.input-group-lg > .input-group-btn > .btn,
select[multiple].input-group-lg > .form-control,
select[multiple].input-group-lg > .input-group-addon,
select[multiple].input-group-lg > .input-group-btn > .btn {
  height: auto;
}
.input-group-sm > .form-control,
.input-group-sm > .input-group-addon,
.input-group-sm > .input-group-btn > .btn {
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
select.input-group-sm > .form-control,
select.input-group-sm > .input-group-addon,
select.input-group-sm > .input-group-btn > .btn {
  height: 30px;
  line-height: 30px;
}
textarea.input-group-sm > .form-control,
textarea.input-group-sm > .input-group-addon,
textarea.input-group-sm > .input-group-btn > .btn,
select[multiple].input-group-sm > .form-control,
select[multiple].input-group-sm > .input-group-addon,
select[multiple].input-group-sm > .input-group-btn > .btn {
  height: auto;
}
.input-group-addon,
.input-group-btn,
.input-group .form-control {
  display: table-cell;
}
.input-group-addon:not(:first-child):not(:last-child),
.input-group-btn:not(:first-child):not(:last-child),
.input-group .form-control:not(:first-child):not(:last-child) {
  border-radius: 0;
}
.input-group-addon,
.input-group-btn {
  width: 1%;
  white-space: nowrap;
  vertical-align: middle;
}
.input-group-addon {
  padding: 6px 12px;
  font-size: 13px;
  font-weight: normal;
  line-height: 1;
  color: #555555;
  text-align: center;
  background-color: #eeeeee;
  border: 1px solid #ccc;
  border-radius: 2px;
}
.input-group-addon.input-sm {
  padding: 5px 10px;
  font-size: 12px;
  border-radius: 1px;
}
.input-group-addon.input-lg {
  padding: 10px 16px;
  font-size: 17px;
  border-radius: 3px;
}
.input-group-addon input[type="radio"],
.input-group-addon input[type="checkbox"] {
  margin-top: 0;
}
.input-group .form-control:first-child,
.input-group-addon:first-child,
.input-group-btn:first-child > .btn,
.input-group-btn:first-child > .btn-group > .btn,
.input-group-btn:first-child > .dropdown-toggle,
.input-group-btn:last-child > .btn:not(:last-child):not(.dropdown-toggle),
.input-group-btn:last-child > .btn-group:not(:last-child) > .btn {
  border-bottom-right-radius: 0;
  border-top-right-radius: 0;
}
.input-group-addon:first-child {
  border-right: 0;
}
.input-group .form-control:last-child,
.input-group-addon:last-child,
.input-group-btn:last-child > .btn,
.input-group-btn:last-child > .btn-group > .btn,
.input-group-btn:last-child > .dropdown-toggle,
.input-group-btn:first-child > .btn:not(:first-child),
.input-group-btn:first-child > .btn-group:not(:first-child) > .btn {
  border-bottom-left-radius: 0;
  border-top-left-radius: 0;
}
.input-group-addon:last-child {
  border-left: 0;
}
.input-group-btn {
  position: relative;
  font-size: 0;
  white-space: nowrap;
}
.input-group-btn > .btn {
  position: relative;
}
.input-group-btn > .btn + .btn {
  margin-left: -1px;
}
.input-group-btn > .btn:hover,
.input-group-btn > .btn:focus,
.input-group-btn > .btn:active {
  z-index: 2;
}
.input-group-btn:first-child > .btn,
.input-group-btn:first-child > .btn-group {
  margin-right: -1px;
}
.input-group-btn:last-child > .btn,
.input-group-btn:last-child > .btn-group {
  z-index: 2;
  margin-left: -1px;
}
.nav {
  margin-bottom: 0;
  padding-left: 0;
  list-style: none;
}
.nav > li {
  position: relative;
  display: block;
}
.nav > li > a {
  position: relative;
  display: block;
  padding: 10px 15px;
}
.nav > li > a:hover,
.nav > li > a:focus {
  text-decoration: none;
  background-color: #eeeeee;
}
.nav > li.disabled > a {
  color: #777777;
}
.nav > li.disabled > a:hover,
.nav > li.disabled > a:focus {
  color: #777777;
  text-decoration: none;
  background-color: transparent;
  cursor: not-allowed;
}
.nav .open > a,
.nav .open > a:hover,
.nav .open > a:focus {
  background-color: #eeeeee;
  border-color: #337ab7;
}
.nav .nav-divider {
  height: 1px;
  margin: 8px 0;
  overflow: hidden;
  background-color: #e5e5e5;
}
.nav > li > a > img {
  max-width: none;
}
.nav-tabs {
  border-bottom: 1px solid #ddd;
}
.nav-tabs > li {
  float: left;
  margin-bottom: -1px;
}
.nav-tabs > li > a {
  margin-right: 2px;
  line-height: 1.42857143;
  border: 1px solid transparent;
  border-radius: 2px 2px 0 0;
}
.nav-tabs > li > a:hover {
  border-color: #eeeeee #eeeeee #ddd;
}
.nav-tabs > li.active > a,
.nav-tabs > li.active > a:hover,
.nav-tabs > li.active > a:focus {
  color: #555555;
  background-color: #fff;
  border: 1px solid #ddd;
  border-bottom-color: transparent;
  cursor: default;
}
.nav-tabs.nav-justified {
  width: 100%;
  border-bottom: 0;
}
.nav-tabs.nav-justified > li {
  float: none;
}
.nav-tabs.nav-justified > li > a {
  text-align: center;
  margin-bottom: 5px;
}
.nav-tabs.nav-justified > .dropdown .dropdown-menu {
  top: auto;
  left: auto;
}
@media (min-width: 768px) {
  .nav-tabs.nav-justified > li {
    display: table-cell;
    width: 1%;
  }
  .nav-tabs.nav-justified > li > a {
    margin-bottom: 0;
  }
}
.nav-tabs.nav-justified > li > a {
  margin-right: 0;
  border-radius: 2px;
}
.nav-tabs.nav-justified > .active > a,
.nav-tabs.nav-justified > .active > a:hover,
.nav-tabs.nav-justified > .active > a:focus {
  border: 1px solid #ddd;
}
@media (min-width: 768px) {
  .nav-tabs.nav-justified > li > a {
    border-bottom: 1px solid #ddd;
    border-radius: 2px 2px 0 0;
  }
  .nav-tabs.nav-justified > .active > a,
  .nav-tabs.nav-justified > .active > a:hover,
  .nav-tabs.nav-justified > .active > a:focus {
    border-bottom-color: #fff;
  }
}
.nav-pills > li {
  float: left;
}
.nav-pills > li > a {
  border-radius: 2px;
}
.nav-pills > li + li {
  margin-left: 2px;
}
.nav-pills > li.active > a,
.nav-pills > li.active > a:hover,
.nav-pills > li.active > a:focus {
  color: #fff;
  background-color: #337ab7;
}
.nav-stacked > li {
  float: none;
}
.nav-stacked > li + li {
  margin-top: 2px;
  margin-left: 0;
}
.nav-justified {
  width: 100%;
}
.nav-justified > li {
  float: none;
}
.nav-justified > li > a {
  text-align: center;
  margin-bottom: 5px;
}
.nav-justified > .dropdown .dropdown-menu {
  top: auto;
  left: auto;
}
@media (min-width: 768px) {
  .nav-justified > li {
    display: table-cell;
    width: 1%;
  }
  .nav-justified > li > a {
    margin-bottom: 0;
  }
}
.nav-tabs-justified {
  border-bottom: 0;
}
.nav-tabs-justified > li > a {
  margin-right: 0;
  border-radius: 2px;
}
.nav-tabs-justified > .active > a,
.nav-tabs-justified > .active > a:hover,
.nav-tabs-justified > .active > a:focus {
  border: 1px solid #ddd;
}
@media (min-width: 768px) {
  .nav-tabs-justified > li > a {
    border-bottom: 1px solid #ddd;
    border-radius: 2px 2px 0 0;
  }
  .nav-tabs-justified > .active > a,
  .nav-tabs-justified > .active > a:hover,
  .nav-tabs-justified > .active > a:focus {
    border-bottom-color: #fff;
  }
}
.tab-content > .tab-pane {
  display: none;
}
.tab-content > .active {
  display: block;
}
.nav-tabs .dropdown-menu {
  margin-top: -1px;
  border-top-right-radius: 0;
  border-top-left-radius: 0;
}
.navbar {
  position: relative;
  min-height: 30px;
  margin-bottom: 18px;
  border: 1px solid transparent;
}
@media (min-width: 541px) {
  .navbar {
    border-radius: 2px;
  }
}
@media (min-width: 541px) {
  .navbar-header {
    float: left;
  }
}
.navbar-collapse {
  overflow-x: visible;
  padding-right: 0px;
  padding-left: 0px;
  border-top: 1px solid transparent;
  box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.1);
  -webkit-overflow-scrolling: touch;
}
.navbar-collapse.in {
  overflow-y: auto;
}
@media (min-width: 541px) {
  .navbar-collapse {
    width: auto;
    border-top: 0;
    box-shadow: none;
  }
  .navbar-collapse.collapse {
    display: block !important;
    height: auto !important;
    padding-bottom: 0;
    overflow: visible !important;
  }
  .navbar-collapse.in {
    overflow-y: visible;
  }
  .navbar-fixed-top .navbar-collapse,
  .navbar-static-top .navbar-collapse,
  .navbar-fixed-bottom .navbar-collapse {
    padding-left: 0;
    padding-right: 0;
  }
}
.navbar-fixed-top .navbar-collapse,
.navbar-fixed-bottom .navbar-collapse {
  max-height: 340px;
}
@media (max-device-width: 540px) and (orientation: landscape) {
  .navbar-fixed-top .navbar-collapse,
  .navbar-fixed-bottom .navbar-collapse {
    max-height: 200px;
  }
}
.container > .navbar-header,
.container-fluid > .navbar-header,
.container > .navbar-collapse,
.container-fluid > .navbar-collapse {
  margin-right: 0px;
  margin-left: 0px;
}
@media (min-width: 541px) {
  .container > .navbar-header,
  .container-fluid > .navbar-header,
  .container > .navbar-collapse,
  .container-fluid > .navbar-collapse {
    margin-right: 0;
    margin-left: 0;
  }
}
.navbar-static-top {
  z-index: 1000;
  border-width: 0 0 1px;
}
@media (min-width: 541px) {
  .navbar-static-top {
    border-radius: 0;
  }
}
.navbar-fixed-top,
.navbar-fixed-bottom {
  position: fixed;
  right: 0;
  left: 0;
  z-index: 1030;
}
@media (min-width: 541px) {
  .navbar-fixed-top,
  .navbar-fixed-bottom {
    border-radius: 0;
  }
}
.navbar-fixed-top {
  top: 0;
  border-width: 0 0 1px;
}
.navbar-fixed-bottom {
  bottom: 0;
  margin-bottom: 0;
  border-width: 1px 0 0;
}
.navbar-brand {
  float: left;
  padding: 6px 0px;
  font-size: 17px;
  line-height: 18px;
  height: 30px;
}
.navbar-brand:hover,
.navbar-brand:focus {
  text-decoration: none;
}
.navbar-brand > img {
  display: block;
}
@media (min-width: 541px) {
  .navbar > .container .navbar-brand,
  .navbar > .container-fluid .navbar-brand {
    margin-left: 0px;
  }
}
.navbar-toggle {
  position: relative;
  float: right;
  margin-right: 0px;
  padding: 9px 10px;
  margin-top: -2px;
  margin-bottom: -2px;
  background-color: transparent;
  background-image: none;
  border: 1px solid transparent;
  border-radius: 2px;
}
.navbar-toggle:focus {
  outline: 0;
}
.navbar-toggle .icon-bar {
  display: block;
  width: 22px;
  height: 2px;
  border-radius: 1px;
}
.navbar-toggle .icon-bar + .icon-bar {
  margin-top: 4px;
}
@media (min-width: 541px) {
  .navbar-toggle {
    display: none;
  }
}
.navbar-nav {
  margin: 3px 0px;
}
.navbar-nav > li > a {
  padding-top: 10px;
  padding-bottom: 10px;
  line-height: 18px;
}
@media (max-width: 540px) {
  .navbar-nav .open .dropdown-menu {
    position: static;
    float: none;
    width: auto;
    margin-top: 0;
    background-color: transparent;
    border: 0;
    box-shadow: none;
  }
  .navbar-nav .open .dropdown-menu > li > a,
  .navbar-nav .open .dropdown-menu .dropdown-header {
    padding: 5px 15px 5px 25px;
  }
  .navbar-nav .open .dropdown-menu > li > a {
    line-height: 18px;
  }
  .navbar-nav .open .dropdown-menu > li > a:hover,
  .navbar-nav .open .dropdown-menu > li > a:focus {
    background-image: none;
  }
}
@media (min-width: 541px) {
  .navbar-nav {
    float: left;
    margin: 0;
  }
  .navbar-nav > li {
    float: left;
  }
  .navbar-nav > li > a {
    padding-top: 6px;
    padding-bottom: 6px;
  }
}
.navbar-form {
  margin-left: 0px;
  margin-right: 0px;
  padding: 10px 0px;
  border-top: 1px solid transparent;
  border-bottom: 1px solid transparent;
  -webkit-box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.1), 0 1px 0 rgba(255, 255, 255, 0.1);
  box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.1), 0 1px 0 rgba(255, 255, 255, 0.1);
  margin-top: -1px;
  margin-bottom: -1px;
}
@media (min-width: 768px) {
  .navbar-form .form-group {
    display: inline-block;
    margin-bottom: 0;
    vertical-align: middle;
  }
  .navbar-form .form-control {
    display: inline-block;
    width: auto;
    vertical-align: middle;
  }
  .navbar-form .form-control-static {
    display: inline-block;
  }
  .navbar-form .input-group {
    display: inline-table;
    vertical-align: middle;
  }
  .navbar-form .input-group .input-group-addon,
  .navbar-form .input-group .input-group-btn,
  .navbar-form .input-group .form-control {
    width: auto;
  }
  .navbar-form .input-group > .form-control {
    width: 100%;
  }
  .navbar-form .control-label {
    margin-bottom: 0;
    vertical-align: middle;
  }
  .navbar-form .radio,
  .navbar-form .checkbox {
    display: inline-block;
    margin-top: 0;
    margin-bottom: 0;
    vertical-align: middle;
  }
  .navbar-form .radio label,
  .navbar-form .checkbox label {
    padding-left: 0;
  }
  .navbar-form .radio input[type="radio"],
  .navbar-form .checkbox input[type="checkbox"] {
    position: relative;
    margin-left: 0;
  }
  .navbar-form .has-feedback .form-control-feedback {
    top: 0;
  }
}
@media (max-width: 540px) {
  .navbar-form .form-group {
    margin-bottom: 5px;
  }
  .navbar-form .form-group:last-child {
    margin-bottom: 0;
  }
}
@media (min-width: 541px) {
  .navbar-form {
    width: auto;
    border: 0;
    margin-left: 0;
    margin-right: 0;
    padding-top: 0;
    padding-bottom: 0;
    -webkit-box-shadow: none;
    box-shadow: none;
  }
}
.navbar-nav > li > .dropdown-menu {
  margin-top: 0;
  border-top-right-radius: 0;
  border-top-left-radius: 0;
}
.navbar-fixed-bottom .navbar-nav > li > .dropdown-menu {
  margin-bottom: 0;
  border-top-right-radius: 2px;
  border-top-left-radius: 2px;
  border-bottom-right-radius: 0;
  border-bottom-left-radius: 0;
}
.navbar-btn {
  margin-top: -1px;
  margin-bottom: -1px;
}
.navbar-btn.btn-sm {
  margin-top: 0px;
  margin-bottom: 0px;
}
.navbar-btn.btn-xs {
  margin-top: 4px;
  margin-bottom: 4px;
}
.navbar-text {
  margin-top: 6px;
  margin-bottom: 6px;
}
@media (min-width: 541px) {
  .navbar-text {
    float: left;
    margin-left: 0px;
    margin-right: 0px;
  }
}
@media (min-width: 541px) {
  .navbar-left {
    float: left !important;
    float: left;
  }
  .navbar-right {
    float: right !important;
    float: right;
    margin-right: 0px;
  }
  .navbar-right ~ .navbar-right {
    margin-right: 0;
  }
}
.navbar-default {
  background-color: #f8f8f8;
  border-color: #e7e7e7;
}
.navbar-default .navbar-brand {
  color: #777;
}
.navbar-default .navbar-brand:hover,
.navbar-default .navbar-brand:focus {
  color: #5e5e5e;
  background-color: transparent;
}
.navbar-default .navbar-text {
  color: #777;
}
.navbar-default .navbar-nav > li > a {
  color: #777;
}
.navbar-default .navbar-nav > li > a:hover,
.navbar-default .navbar-nav > li > a:focus {
  color: #333;
  background-color: transparent;
}
.navbar-default .navbar-nav > .active > a,
.navbar-default .navbar-nav > .active > a:hover,
.navbar-default .navbar-nav > .active > a:focus {
  color: #555;
  background-color: #e7e7e7;
}
.navbar-default .navbar-nav > .disabled > a,
.navbar-default .navbar-nav > .disabled > a:hover,
.navbar-default .navbar-nav > .disabled > a:focus {
  color: #ccc;
  background-color: transparent;
}
.navbar-default .navbar-toggle {
  border-color: #ddd;
}
.navbar-default .navbar-toggle:hover,
.navbar-default .navbar-toggle:focus {
  background-color: #ddd;
}
.navbar-default .navbar-toggle .icon-bar {
  background-color: #888;
}
.navbar-default .navbar-collapse,
.navbar-default .navbar-form {
  border-color: #e7e7e7;
}
.navbar-default .navbar-nav > .open > a,
.navbar-default .navbar-nav > .open > a:hover,
.navbar-default .navbar-nav > .open > a:focus {
  background-color: #e7e7e7;
  color: #555;
}
@media (max-width: 540px) {
  .navbar-default .navbar-nav .open .dropdown-menu > li > a {
    color: #777;
  }
  .navbar-default .navbar-nav .open .dropdown-menu > li > a:hover,
  .navbar-default .navbar-nav .open .dropdown-menu > li > a:focus {
    color: #333;
    background-color: transparent;
  }
  .navbar-default .navbar-nav .open .dropdown-menu > .active > a,
  .navbar-default .navbar-nav .open .dropdown-menu > .active > a:hover,
  .navbar-default .navbar-nav .open .dropdown-menu > .active > a:focus {
    color: #555;
    background-color: #e7e7e7;
  }
  .navbar-default .navbar-nav .open .dropdown-menu > .disabled > a,
  .navbar-default .navbar-nav .open .dropdown-menu > .disabled > a:hover,
  .navbar-default .navbar-nav .open .dropdown-menu > .disabled > a:focus {
    color: #ccc;
    background-color: transparent;
  }
}
.navbar-default .navbar-link {
  color: #777;
}
.navbar-default .navbar-link:hover {
  color: #333;
}
.navbar-default .btn-link {
  color: #777;
}
.navbar-default .btn-link:hover,
.navbar-default .btn-link:focus {
  color: #333;
}
.navbar-default .btn-link[disabled]:hover,
fieldset[disabled] .navbar-default .btn-link:hover,
.navbar-default .btn-link[disabled]:focus,
fieldset[disabled] .navbar-default .btn-link:focus {
  color: #ccc;
}
.navbar-inverse {
  background-color: #222;
  border-color: #080808;
}
.navbar-inverse .navbar-brand {
  color: #9d9d9d;
}
.navbar-inverse .navbar-brand:hover,
.navbar-inverse .navbar-brand:focus {
  color: #fff;
  background-color: transparent;
}
.navbar-inverse .navbar-text {
  color: #9d9d9d;
}
.navbar-inverse .navbar-nav > li > a {
  color: #9d9d9d;
}
.navbar-inverse .navbar-nav > li > a:hover,
.navbar-inverse .navbar-nav > li > a:focus {
  color: #fff;
  background-color: transparent;
}
.navbar-inverse .navbar-nav > .active > a,
.navbar-inverse .navbar-nav > .active > a:hover,
.navbar-inverse .navbar-nav > .active > a:focus {
  color: #fff;
  background-color: #080808;
}
.navbar-inverse .navbar-nav > .disabled > a,
.navbar-inverse .navbar-nav > .disabled > a:hover,
.navbar-inverse .navbar-nav > .disabled > a:focus {
  color: #444;
  background-color: transparent;
}
.navbar-inverse .navbar-toggle {
  border-color: #333;
}
.navbar-inverse .navbar-toggle:hover,
.navbar-inverse .navbar-toggle:focus {
  background-color: #333;
}
.navbar-inverse .navbar-toggle .icon-bar {
  background-color: #fff;
}
.navbar-inverse .navbar-collapse,
.navbar-inverse .navbar-form {
  border-color: #101010;
}
.navbar-inverse .navbar-nav > .open > a,
.navbar-inverse .navbar-nav > .open > a:hover,
.navbar-inverse .navbar-nav > .open > a:focus {
  background-color: #080808;
  color: #fff;
}
@media (max-width: 540px) {
  .navbar-inverse .navbar-nav .open .dropdown-menu > .dropdown-header {
    border-color: #080808;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu .divider {
    background-color: #080808;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu > li > a {
    color: #9d9d9d;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu > li > a:hover,
  .navbar-inverse .navbar-nav .open .dropdown-menu > li > a:focus {
    color: #fff;
    background-color: transparent;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu > .active > a,
  .navbar-inverse .navbar-nav .open .dropdown-menu > .active > a:hover,
  .navbar-inverse .navbar-nav .open .dropdown-menu > .active > a:focus {
    color: #fff;
    background-color: #080808;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu > .disabled > a,
  .navbar-inverse .navbar-nav .open .dropdown-menu > .disabled > a:hover,
  .navbar-inverse .navbar-nav .open .dropdown-menu > .disabled > a:focus {
    color: #444;
    background-color: transparent;
  }
}
.navbar-inverse .navbar-link {
  color: #9d9d9d;
}
.navbar-inverse .navbar-link:hover {
  color: #fff;
}
.navbar-inverse .btn-link {
  color: #9d9d9d;
}
.navbar-inverse .btn-link:hover,
.navbar-inverse .btn-link:focus {
  color: #fff;
}
.navbar-inverse .btn-link[disabled]:hover,
fieldset[disabled] .navbar-inverse .btn-link:hover,
.navbar-inverse .btn-link[disabled]:focus,
fieldset[disabled] .navbar-inverse .btn-link:focus {
  color: #444;
}
.breadcrumb {
  padding: 8px 15px;
  margin-bottom: 18px;
  list-style: none;
  background-color: #f5f5f5;
  border-radius: 2px;
}
.breadcrumb > li {
  display: inline-block;
}
.breadcrumb > li + li:before {
  content: "/\00a0";
  padding: 0 5px;
  color: #5e5e5e;
}
.breadcrumb > .active {
  color: #777777;
}
.pagination {
  display: inline-block;
  padding-left: 0;
  margin: 18px 0;
  border-radius: 2px;
}
.pagination > li {
  display: inline;
}
.pagination > li > a,
.pagination > li > span {
  position: relative;
  float: left;
  padding: 6px 12px;
  line-height: 1.42857143;
  text-decoration: none;
  color: #337ab7;
  background-color: #fff;
  border: 1px solid #ddd;
  margin-left: -1px;
}
.pagination > li:first-child > a,
.pagination > li:first-child > span {
  margin-left: 0;
  border-bottom-left-radius: 2px;
  border-top-left-radius: 2px;
}
.pagination > li:last-child > a,
.pagination > li:last-child > span {
  border-bottom-right-radius: 2px;
  border-top-right-radius: 2px;
}
.pagination > li > a:hover,
.pagination > li > span:hover,
.pagination > li > a:focus,
.pagination > li > span:focus {
  z-index: 2;
  color: #23527c;
  background-color: #eeeeee;
  border-color: #ddd;
}
.pagination > .active > a,
.pagination > .active > span,
.pagination > .active > a:hover,
.pagination > .active > span:hover,
.pagination > .active > a:focus,
.pagination > .active > span:focus {
  z-index: 3;
  color: #fff;
  background-color: #337ab7;
  border-color: #337ab7;
  cursor: default;
}
.pagination > .disabled > span,
.pagination > .disabled > span:hover,
.pagination > .disabled > span:focus,
.pagination > .disabled > a,
.pagination > .disabled > a:hover,
.pagination > .disabled > a:focus {
  color: #777777;
  background-color: #fff;
  border-color: #ddd;
  cursor: not-allowed;
}
.pagination-lg > li > a,
.pagination-lg > li > span {
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
}
.pagination-lg > li:first-child > a,
.pagination-lg > li:first-child > span {
  border-bottom-left-radius: 3px;
  border-top-left-radius: 3px;
}
.pagination-lg > li:last-child > a,
.pagination-lg > li:last-child > span {
  border-bottom-right-radius: 3px;
  border-top-right-radius: 3px;
}
.pagination-sm > li > a,
.pagination-sm > li > span {
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
}
.pagination-sm > li:first-child > a,
.pagination-sm > li:first-child > span {
  border-bottom-left-radius: 1px;
  border-top-left-radius: 1px;
}
.pagination-sm > li:last-child > a,
.pagination-sm > li:last-child > span {
  border-bottom-right-radius: 1px;
  border-top-right-radius: 1px;
}
.pager {
  padding-left: 0;
  margin: 18px 0;
  list-style: none;
  text-align: center;
}
.pager li {
  display: inline;
}
.pager li > a,
.pager li > span {
  display: inline-block;
  padding: 5px 14px;
  background-color: #fff;
  border: 1px solid #ddd;
  border-radius: 15px;
}
.pager li > a:hover,
.pager li > a:focus {
  text-decoration: none;
  background-color: #eeeeee;
}
.pager .next > a,
.pager .next > span {
  float: right;
}
.pager .previous > a,
.pager .previous > span {
  float: left;
}
.pager .disabled > a,
.pager .disabled > a:hover,
.pager .disabled > a:focus,
.pager .disabled > span {
  color: #777777;
  background-color: #fff;
  cursor: not-allowed;
}
.label {
  display: inline;
  padding: .2em .6em .3em;
  font-size: 75%;
  font-weight: bold;
  line-height: 1;
  color: #fff;
  text-align: center;
  white-space: nowrap;
  vertical-align: baseline;
  border-radius: .25em;
}
a.label:hover,
a.label:focus {
  color: #fff;
  text-decoration: none;
  cursor: pointer;
}
.label:empty {
  display: none;
}
.btn .label {
  position: relative;
  top: -1px;
}
.label-default {
  background-color: #777777;
}
.label-default[href]:hover,
.label-default[href]:focus {
  background-color: #5e5e5e;
}
.label-primary {
  background-color: #337ab7;
}
.label-primary[href]:hover,
.label-primary[href]:focus {
  background-color: #286090;
}
.label-success {
  background-color: #5cb85c;
}
.label-success[href]:hover,
.label-success[href]:focus {
  background-color: #449d44;
}
.label-info {
  background-color: #5bc0de;
}
.label-info[href]:hover,
.label-info[href]:focus {
  background-color: #31b0d5;
}
.label-warning {
  background-color: #f0ad4e;
}
.label-warning[href]:hover,
.label-warning[href]:focus {
  background-color: #ec971f;
}
.label-danger {
  background-color: #d9534f;
}
.label-danger[href]:hover,
.label-danger[href]:focus {
  background-color: #c9302c;
}
.badge {
  display: inline-block;
  min-width: 10px;
  padding: 3px 7px;
  font-size: 12px;
  font-weight: bold;
  color: #fff;
  line-height: 1;
  vertical-align: middle;
  white-space: nowrap;
  text-align: center;
  background-color: #777777;
  border-radius: 10px;
}
.badge:empty {
  display: none;
}
.btn .badge {
  position: relative;
  top: -1px;
}
.btn-xs .badge,
.btn-group-xs > .btn .badge {
  top: 0;
  padding: 1px 5px;
}
a.badge:hover,
a.badge:focus {
  color: #fff;
  text-decoration: none;
  cursor: pointer;
}
.list-group-item.active > .badge,
.nav-pills > .active > a > .badge {
  color: #337ab7;
  background-color: #fff;
}
.list-group-item > .badge {
  float: right;
}
.list-group-item > .badge + .badge {
  margin-right: 5px;
}
.nav-pills > li > a > .badge {
  margin-left: 3px;
}
.jumbotron {
  padding-top: 30px;
  padding-bottom: 30px;
  margin-bottom: 30px;
  color: inherit;
  background-color: #eeeeee;
}
.jumbotron h1,
.jumbotron .h1 {
  color: inherit;
}
.jumbotron p {
  margin-bottom: 15px;
  font-size: 20px;
  font-weight: 200;
}
.jumbotron > hr {
  border-top-color: #d5d5d5;
}
.container .jumbotron,
.container-fluid .jumbotron {
  border-radius: 3px;
  padding-left: 0px;
  padding-right: 0px;
}
.jumbotron .container {
  max-width: 100%;
}
@media screen and (min-width: 768px) {
  .jumbotron {
    padding-top: 48px;
    padding-bottom: 48px;
  }
  .container .jumbotron,
  .container-fluid .jumbotron {
    padding-left: 60px;
    padding-right: 60px;
  }
  .jumbotron h1,
  .jumbotron .h1 {
    font-size: 59px;
  }
}
.thumbnail {
  display: block;
  padding: 4px;
  margin-bottom: 18px;
  line-height: 1.42857143;
  background-color: #fff;
  border: 1px solid #ddd;
  border-radius: 2px;
  -webkit-transition: border 0.2s ease-in-out;
  -o-transition: border 0.2s ease-in-out;
  transition: border 0.2s ease-in-out;
}
.thumbnail > img,
.thumbnail a > img {
  margin-left: auto;
  margin-right: auto;
}
a.thumbnail:hover,
a.thumbnail:focus,
a.thumbnail.active {
  border-color: #337ab7;
}
.thumbnail .caption {
  padding: 9px;
  color: #000;
}
.alert {
  padding: 15px;
  margin-bottom: 18px;
  border: 1px solid transparent;
  border-radius: 2px;
}
.alert h4 {
  margin-top: 0;
  color: inherit;
}
.alert .alert-link {
  font-weight: bold;
}
.alert > p,
.alert > ul {
  margin-bottom: 0;
}
.alert > p + p {
  margin-top: 5px;
}
.alert-dismissable,
.alert-dismissible {
  padding-right: 35px;
}
.alert-dismissable .close,
.alert-dismissible .close {
  position: relative;
  top: -2px;
  right: -21px;
  color: inherit;
}
.alert-success {
  background-color: #dff0d8;
  border-color: #d6e9c6;
  color: #3c763d;
}
.alert-success hr {
  border-top-color: #c9e2b3;
}
.alert-success .alert-link {
  color: #2b542c;
}
.alert-info {
  background-color: #d9edf7;
  border-color: #bce8f1;
  color: #31708f;
}
.alert-info hr {
  border-top-color: #a6e1ec;
}
.alert-info .alert-link {
  color: #245269;
}
.alert-warning {
  background-color: #fcf8e3;
  border-color: #faebcc;
  color: #8a6d3b;
}
.alert-warning hr {
  border-top-color: #f7e1b5;
}
.alert-warning .alert-link {
  color: #66512c;
}
.alert-danger {
  background-color: #f2dede;
  border-color: #ebccd1;
  color: #a94442;
}
.alert-danger hr {
  border-top-color: #e4b9c0;
}
.alert-danger .alert-link {
  color: #843534;
}
@-webkit-keyframes progress-bar-stripes {
  from {
    background-position: 40px 0;
  }
  to {
    background-position: 0 0;
  }
}
@keyframes progress-bar-stripes {
  from {
    background-position: 40px 0;
  }
  to {
    background-position: 0 0;
  }
}
.progress {
  overflow: hidden;
  height: 18px;
  margin-bottom: 18px;
  background-color: #f5f5f5;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 2px rgba(0, 0, 0, 0.1);
  box-shadow: inset 0 1px 2px rgba(0, 0, 0, 0.1);
}
.progress-bar {
  float: left;
  width: 0%;
  height: 100%;
  font-size: 12px;
  line-height: 18px;
  color: #fff;
  text-align: center;
  background-color: #337ab7;
  -webkit-box-shadow: inset 0 -1px 0 rgba(0, 0, 0, 0.15);
  box-shadow: inset 0 -1px 0 rgba(0, 0, 0, 0.15);
  -webkit-transition: width 0.6s ease;
  -o-transition: width 0.6s ease;
  transition: width 0.6s ease;
}
.progress-striped .progress-bar,
.progress-bar-striped {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-size: 40px 40px;
}
.progress.active .progress-bar,
.progress-bar.active {
  -webkit-animation: progress-bar-stripes 2s linear infinite;
  -o-animation: progress-bar-stripes 2s linear infinite;
  animation: progress-bar-stripes 2s linear infinite;
}
.progress-bar-success {
  background-color: #5cb85c;
}
.progress-striped .progress-bar-success {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
}
.progress-bar-info {
  background-color: #5bc0de;
}
.progress-striped .progress-bar-info {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
}
.progress-bar-warning {
  background-color: #f0ad4e;
}
.progress-striped .progress-bar-warning {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
}
.progress-bar-danger {
  background-color: #d9534f;
}
.progress-striped .progress-bar-danger {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
}
.media {
  margin-top: 15px;
}
.media:first-child {
  margin-top: 0;
}
.media,
.media-body {
  zoom: 1;
  overflow: hidden;
}
.media-body {
  width: 10000px;
}
.media-object {
  display: block;
}
.media-object.img-thumbnail {
  max-width: none;
}
.media-right,
.media > .pull-right {
  padding-left: 10px;
}
.media-left,
.media > .pull-left {
  padding-right: 10px;
}
.media-left,
.media-right,
.media-body {
  display: table-cell;
  vertical-align: top;
}
.media-middle {
  vertical-align: middle;
}
.media-bottom {
  vertical-align: bottom;
}
.media-heading {
  margin-top: 0;
  margin-bottom: 5px;
}
.media-list {
  padding-left: 0;
  list-style: none;
}
.list-group {
  margin-bottom: 20px;
  padding-left: 0;
}
.list-group-item {
  position: relative;
  display: block;
  padding: 10px 15px;
  margin-bottom: -1px;
  background-color: #fff;
  border: 1px solid #ddd;
}
.list-group-item:first-child {
  border-top-right-radius: 2px;
  border-top-left-radius: 2px;
}
.list-group-item:last-child {
  margin-bottom: 0;
  border-bottom-right-radius: 2px;
  border-bottom-left-radius: 2px;
}
a.list-group-item,
button.list-group-item {
  color: #555;
}
a.list-group-item .list-group-item-heading,
button.list-group-item .list-group-item-heading {
  color: #333;
}
a.list-group-item:hover,
button.list-group-item:hover,
a.list-group-item:focus,
button.list-group-item:focus {
  text-decoration: none;
  color: #555;
  background-color: #f5f5f5;
}
button.list-group-item {
  width: 100%;
  text-align: left;
}
.list-group-item.disabled,
.list-group-item.disabled:hover,
.list-group-item.disabled:focus {
  background-color: #eeeeee;
  color: #777777;
  cursor: not-allowed;
}
.list-group-item.disabled .list-group-item-heading,
.list-group-item.disabled:hover .list-group-item-heading,
.list-group-item.disabled:focus .list-group-item-heading {
  color: inherit;
}
.list-group-item.disabled .list-group-item-text,
.list-group-item.disabled:hover .list-group-item-text,
.list-group-item.disabled:focus .list-group-item-text {
  color: #777777;
}
.list-group-item.active,
.list-group-item.active:hover,
.list-group-item.active:focus {
  z-index: 2;
  color: #fff;
  background-color: #337ab7;
  border-color: #337ab7;
}
.list-group-item.active .list-group-item-heading,
.list-group-item.active:hover .list-group-item-heading,
.list-group-item.active:focus .list-group-item-heading,
.list-group-item.active .list-group-item-heading > small,
.list-group-item.active:hover .list-group-item-heading > small,
.list-group-item.active:focus .list-group-item-heading > small,
.list-group-item.active .list-group-item-heading > .small,
.list-group-item.active:hover .list-group-item-heading > .small,
.list-group-item.active:focus .list-group-item-heading > .small {
  color: inherit;
}
.list-group-item.active .list-group-item-text,
.list-group-item.active:hover .list-group-item-text,
.list-group-item.active:focus .list-group-item-text {
  color: #c7ddef;
}
.list-group-item-success {
  color: #3c763d;
  background-color: #dff0d8;
}
a.list-group-item-success,
button.list-group-item-success {
  color: #3c763d;
}
a.list-group-item-success .list-group-item-heading,
button.list-group-item-success .list-group-item-heading {
  color: inherit;
}
a.list-group-item-success:hover,
button.list-group-item-success:hover,
a.list-group-item-success:focus,
button.list-group-item-success:focus {
  color: #3c763d;
  background-color: #d0e9c6;
}
a.list-group-item-success.active,
button.list-group-item-success.active,
a.list-group-item-success.active:hover,
button.list-group-item-success.active:hover,
a.list-group-item-success.active:focus,
button.list-group-item-success.active:focus {
  color: #fff;
  background-color: #3c763d;
  border-color: #3c763d;
}
.list-group-item-info {
  color: #31708f;
  background-color: #d9edf7;
}
a.list-group-item-info,
button.list-group-item-info {
  color: #31708f;
}
a.list-group-item-info .list-group-item-heading,
button.list-group-item-info .list-group-item-heading {
  color: inherit;
}
a.list-group-item-info:hover,
button.list-group-item-info:hover,
a.list-group-item-info:focus,
button.list-group-item-info:focus {
  color: #31708f;
  background-color: #c4e3f3;
}
a.list-group-item-info.active,
button.list-group-item-info.active,
a.list-group-item-info.active:hover,
button.list-group-item-info.active:hover,
a.list-group-item-info.active:focus,
button.list-group-item-info.active:focus {
  color: #fff;
  background-color: #31708f;
  border-color: #31708f;
}
.list-group-item-warning {
  color: #8a6d3b;
  background-color: #fcf8e3;
}
a.list-group-item-warning,
button.list-group-item-warning {
  color: #8a6d3b;
}
a.list-group-item-warning .list-group-item-heading,
button.list-group-item-warning .list-group-item-heading {
  color: inherit;
}
a.list-group-item-warning:hover,
button.list-group-item-warning:hover,
a.list-group-item-warning:focus,
button.list-group-item-warning:focus {
  color: #8a6d3b;
  background-color: #faf2cc;
}
a.list-group-item-warning.active,
button.list-group-item-warning.active,
a.list-group-item-warning.active:hover,
button.list-group-item-warning.active:hover,
a.list-group-item-warning.active:focus,
button.list-group-item-warning.active:focus {
  color: #fff;
  background-color: #8a6d3b;
  border-color: #8a6d3b;
}
.list-group-item-danger {
  color: #a94442;
  background-color: #f2dede;
}
a.list-group-item-danger,
button.list-group-item-danger {
  color: #a94442;
}
a.list-group-item-danger .list-group-item-heading,
button.list-group-item-danger .list-group-item-heading {
  color: inherit;
}
a.list-group-item-danger:hover,
button.list-group-item-danger:hover,
a.list-group-item-danger:focus,
button.list-group-item-danger:focus {
  color: #a94442;
  background-color: #ebcccc;
}
a.list-group-item-danger.active,
button.list-group-item-danger.active,
a.list-group-item-danger.active:hover,
button.list-group-item-danger.active:hover,
a.list-group-item-danger.active:focus,
button.list-group-item-danger.active:focus {
  color: #fff;
  background-color: #a94442;
  border-color: #a94442;
}
.list-group-item-heading {
  margin-top: 0;
  margin-bottom: 5px;
}
.list-group-item-text {
  margin-bottom: 0;
  line-height: 1.3;
}
.panel {
  margin-bottom: 18px;
  background-color: #fff;
  border: 1px solid transparent;
  border-radius: 2px;
  -webkit-box-shadow: 0 1px 1px rgba(0, 0, 0, 0.05);
  box-shadow: 0 1px 1px rgba(0, 0, 0, 0.05);
}
.panel-body {
  padding: 15px;
}
.panel-heading {
  padding: 10px 15px;
  border-bottom: 1px solid transparent;
  border-top-right-radius: 1px;
  border-top-left-radius: 1px;
}
.panel-heading > .dropdown .dropdown-toggle {
  color: inherit;
}
.panel-title {
  margin-top: 0;
  margin-bottom: 0;
  font-size: 15px;
  color: inherit;
}
.panel-title > a,
.panel-title > small,
.panel-title > .small,
.panel-title > small > a,
.panel-title > .small > a {
  color: inherit;
}
.panel-footer {
  padding: 10px 15px;
  background-color: #f5f5f5;
  border-top: 1px solid #ddd;
  border-bottom-right-radius: 1px;
  border-bottom-left-radius: 1px;
}
.panel > .list-group,
.panel > .panel-collapse > .list-group {
  margin-bottom: 0;
}
.panel > .list-group .list-group-item,
.panel > .panel-collapse > .list-group .list-group-item {
  border-width: 1px 0;
  border-radius: 0;
}
.panel > .list-group:first-child .list-group-item:first-child,
.panel > .panel-collapse > .list-group:first-child .list-group-item:first-child {
  border-top: 0;
  border-top-right-radius: 1px;
  border-top-left-radius: 1px;
}
.panel > .list-group:last-child .list-group-item:last-child,
.panel > .panel-collapse > .list-group:last-child .list-group-item:last-child {
  border-bottom: 0;
  border-bottom-right-radius: 1px;
  border-bottom-left-radius: 1px;
}
.panel > .panel-heading + .panel-collapse > .list-group .list-group-item:first-child {
  border-top-right-radius: 0;
  border-top-left-radius: 0;
}
.panel-heading + .list-group .list-group-item:first-child {
  border-top-width: 0;
}
.list-group + .panel-footer {
  border-top-width: 0;
}
.panel > .table,
.panel > .table-responsive > .table,
.panel > .panel-collapse > .table {
  margin-bottom: 0;
}
.panel > .table caption,
.panel > .table-responsive > .table caption,
.panel > .panel-collapse > .table caption {
  padding-left: 15px;
  padding-right: 15px;
}
.panel > .table:first-child,
.panel > .table-responsive:first-child > .table:first-child {
  border-top-right-radius: 1px;
  border-top-left-radius: 1px;
}
.panel > .table:first-child > thead:first-child > tr:first-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child,
.panel > .table:first-child > tbody:first-child > tr:first-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child {
  border-top-left-radius: 1px;
  border-top-right-radius: 1px;
}
.panel > .table:first-child > thead:first-child > tr:first-child td:first-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child td:first-child,
.panel > .table:first-child > tbody:first-child > tr:first-child td:first-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child td:first-child,
.panel > .table:first-child > thead:first-child > tr:first-child th:first-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child th:first-child,
.panel > .table:first-child > tbody:first-child > tr:first-child th:first-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child th:first-child {
  border-top-left-radius: 1px;
}
.panel > .table:first-child > thead:first-child > tr:first-child td:last-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child td:last-child,
.panel > .table:first-child > tbody:first-child > tr:first-child td:last-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child td:last-child,
.panel > .table:first-child > thead:first-child > tr:first-child th:last-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child th:last-child,
.panel > .table:first-child > tbody:first-child > tr:first-child th:last-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child th:last-child {
  border-top-right-radius: 1px;
}
.panel > .table:last-child,
.panel > .table-responsive:last-child > .table:last-child {
  border-bottom-right-radius: 1px;
  border-bottom-left-radius: 1px;
}
.panel > .table:last-child > tbody:last-child > tr:last-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child {
  border-bottom-left-radius: 1px;
  border-bottom-right-radius: 1px;
}
.panel > .table:last-child > tbody:last-child > tr:last-child td:first-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child td:first-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child td:first-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child td:first-child,
.panel > .table:last-child > tbody:last-child > tr:last-child th:first-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child th:first-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child th:first-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child th:first-child {
  border-bottom-left-radius: 1px;
}
.panel > .table:last-child > tbody:last-child > tr:last-child td:last-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child td:last-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child td:last-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child td:last-child,
.panel > .table:last-child > tbody:last-child > tr:last-child th:last-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child th:last-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child th:last-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child th:last-child {
  border-bottom-right-radius: 1px;
}
.panel > .panel-body + .table,
.panel > .panel-body + .table-responsive,
.panel > .table + .panel-body,
.panel > .table-responsive + .panel-body {
  border-top: 1px solid #ddd;
}
.panel > .table > tbody:first-child > tr:first-child th,
.panel > .table > tbody:first-child > tr:first-child td {
  border-top: 0;
}
.panel > .table-bordered,
.panel > .table-responsive > .table-bordered {
  border: 0;
}
.panel > .table-bordered > thead > tr > th:first-child,
.panel > .table-responsive > .table-bordered > thead > tr > th:first-child,
.panel > .table-bordered > tbody > tr > th:first-child,
.panel > .table-responsive > .table-bordered > tbody > tr > th:first-child,
.panel > .table-bordered > tfoot > tr > th:first-child,
.panel > .table-responsive > .table-bordered > tfoot > tr > th:first-child,
.panel > .table-bordered > thead > tr > td:first-child,
.panel > .table-responsive > .table-bordered > thead > tr > td:first-child,
.panel > .table-bordered > tbody > tr > td:first-child,
.panel > .table-responsive > .table-bordered > tbody > tr > td:first-child,
.panel > .table-bordered > tfoot > tr > td:first-child,
.panel > .table-responsive > .table-bordered > tfoot > tr > td:first-child {
  border-left: 0;
}
.panel > .table-bordered > thead > tr > th:last-child,
.panel > .table-responsive > .table-bordered > thead > tr > th:last-child,
.panel > .table-bordered > tbody > tr > th:last-child,
.panel > .table-responsive > .table-bordered > tbody > tr > th:last-child,
.panel > .table-bordered > tfoot > tr > th:last-child,
.panel > .table-responsive > .table-bordered > tfoot > tr > th:last-child,
.panel > .table-bordered > thead > tr > td:last-child,
.panel > .table-responsive > .table-bordered > thead > tr > td:last-child,
.panel > .table-bordered > tbody > tr > td:last-child,
.panel > .table-responsive > .table-bordered > tbody > tr > td:last-child,
.panel > .table-bordered > tfoot > tr > td:last-child,
.panel > .table-responsive > .table-bordered > tfoot > tr > td:last-child {
  border-right: 0;
}
.panel > .table-bordered > thead > tr:first-child > td,
.panel > .table-responsive > .table-bordered > thead > tr:first-child > td,
.panel > .table-bordered > tbody > tr:first-child > td,
.panel > .table-responsive > .table-bordered > tbody > tr:first-child > td,
.panel > .table-bordered > thead > tr:first-child > th,
.panel > .table-responsive > .table-bordered > thead > tr:first-child > th,
.panel > .table-bordered > tbody > tr:first-child > th,
.panel > .table-responsive > .table-bordered > tbody > tr:first-child > th {
  border-bottom: 0;
}
.panel > .table-bordered > tbody > tr:last-child > td,
.panel > .table-responsive > .table-bordered > tbody > tr:last-child > td,
.panel > .table-bordered > tfoot > tr:last-child > td,
.panel > .table-responsive > .table-bordered > tfoot > tr:last-child > td,
.panel > .table-bordered > tbody > tr:last-child > th,
.panel > .table-responsive > .table-bordered > tbody > tr:last-child > th,
.panel > .table-bordered > tfoot > tr:last-child > th,
.panel > .table-responsive > .table-bordered > tfoot > tr:last-child > th {
  border-bottom: 0;
}
.panel > .table-responsive {
  border: 0;
  margin-bottom: 0;
}
.panel-group {
  margin-bottom: 18px;
}
.panel-group .panel {
  margin-bottom: 0;
  border-radius: 2px;
}
.panel-group .panel + .panel {
  margin-top: 5px;
}
.panel-group .panel-heading {
  border-bottom: 0;
}
.panel-group .panel-heading + .panel-collapse > .panel-body,
.panel-group .panel-heading + .panel-collapse > .list-group {
  border-top: 1px solid #ddd;
}
.panel-group .panel-footer {
  border-top: 0;
}
.panel-group .panel-footer + .panel-collapse .panel-body {
  border-bottom: 1px solid #ddd;
}
.panel-default {
  border-color: #ddd;
}
.panel-default > .panel-heading {
  color: #333333;
  background-color: #f5f5f5;
  border-color: #ddd;
}
.panel-default > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #ddd;
}
.panel-default > .panel-heading .badge {
  color: #f5f5f5;
  background-color: #333333;
}
.panel-default > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #ddd;
}
.panel-primary {
  border-color: #337ab7;
}
.panel-primary > .panel-heading {
  color: #fff;
  background-color: #337ab7;
  border-color: #337ab7;
}
.panel-primary > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #337ab7;
}
.panel-primary > .panel-heading .badge {
  color: #337ab7;
  background-color: #fff;
}
.panel-primary > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #337ab7;
}
.panel-success {
  border-color: #d6e9c6;
}
.panel-success > .panel-heading {
  color: #3c763d;
  background-color: #dff0d8;
  border-color: #d6e9c6;
}
.panel-success > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #d6e9c6;
}
.panel-success > .panel-heading .badge {
  color: #dff0d8;
  background-color: #3c763d;
}
.panel-success > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #d6e9c6;
}
.panel-info {
  border-color: #bce8f1;
}
.panel-info > .panel-heading {
  color: #31708f;
  background-color: #d9edf7;
  border-color: #bce8f1;
}
.panel-info > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #bce8f1;
}
.panel-info > .panel-heading .badge {
  color: #d9edf7;
  background-color: #31708f;
}
.panel-info > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #bce8f1;
}
.panel-warning {
  border-color: #faebcc;
}
.panel-warning > .panel-heading {
  color: #8a6d3b;
  background-color: #fcf8e3;
  border-color: #faebcc;
}
.panel-warning > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #faebcc;
}
.panel-warning > .panel-heading .badge {
  color: #fcf8e3;
  background-color: #8a6d3b;
}
.panel-warning > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #faebcc;
}
.panel-danger {
  border-color: #ebccd1;
}
.panel-danger > .panel-heading {
  color: #a94442;
  background-color: #f2dede;
  border-color: #ebccd1;
}
.panel-danger > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #ebccd1;
}
.panel-danger > .panel-heading .badge {
  color: #f2dede;
  background-color: #a94442;
}
.panel-danger > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #ebccd1;
}
.embed-responsive {
  position: relative;
  display: block;
  height: 0;
  padding: 0;
  overflow: hidden;
}
.embed-responsive .embed-responsive-item,
.embed-responsive iframe,
.embed-responsive embed,
.embed-responsive object,
.embed-responsive video {
  position: absolute;
  top: 0;
  left: 0;
  bottom: 0;
  height: 100%;
  width: 100%;
  border: 0;
}
.embed-responsive-16by9 {
  padding-bottom: 56.25%;
}
.embed-responsive-4by3 {
  padding-bottom: 75%;
}
.well {
  min-height: 20px;
  padding: 19px;
  margin-bottom: 20px;
  background-color: #f5f5f5;
  border: 1px solid #e3e3e3;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.05);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.05);
}
.well blockquote {
  border-color: #ddd;
  border-color: rgba(0, 0, 0, 0.15);
}
.well-lg {
  padding: 24px;
  border-radius: 3px;
}
.well-sm {
  padding: 9px;
  border-radius: 1px;
}
.close {
  float: right;
  font-size: 19.5px;
  font-weight: bold;
  line-height: 1;
  color: #000;
  text-shadow: 0 1px 0 #fff;
  opacity: 0.2;
  filter: alpha(opacity=20);
}
.close:hover,
.close:focus {
  color: #000;
  text-decoration: none;
  cursor: pointer;
  opacity: 0.5;
  filter: alpha(opacity=50);
}
button.close {
  padding: 0;
  cursor: pointer;
  background: transparent;
  border: 0;
  -webkit-appearance: none;
}
.modal-open {
  overflow: hidden;
}
.modal {
  display: none;
  overflow: hidden;
  position: fixed;
  top: 0;
  right: 0;
  bottom: 0;
  left: 0;
  z-index: 1050;
  -webkit-overflow-scrolling: touch;
  outline: 0;
}
.modal.fade .modal-dialog {
  -webkit-transform: translate(0, -25%);
  -ms-transform: translate(0, -25%);
  -o-transform: translate(0, -25%);
  transform: translate(0, -25%);
  -webkit-transition: -webkit-transform 0.3s ease-out;
  -moz-transition: -moz-transform 0.3s ease-out;
  -o-transition: -o-transform 0.3s ease-out;
  transition: transform 0.3s ease-out;
}
.modal.in .modal-dialog {
  -webkit-transform: translate(0, 0);
  -ms-transform: translate(0, 0);
  -o-transform: translate(0, 0);
  transform: translate(0, 0);
}
.modal-open .modal {
  overflow-x: hidden;
  overflow-y: auto;
}
.modal-dialog {
  position: relative;
  width: auto;
  margin: 10px;
}
.modal-content {
  position: relative;
  background-color: #fff;
  border: 1px solid #999;
  border: 1px solid rgba(0, 0, 0, 0.2);
  border-radius: 3px;
  -webkit-box-shadow: 0 3px 9px rgba(0, 0, 0, 0.5);
  box-shadow: 0 3px 9px rgba(0, 0, 0, 0.5);
  background-clip: padding-box;
  outline: 0;
}
.modal-backdrop {
  position: fixed;
  top: 0;
  right: 0;
  bottom: 0;
  left: 0;
  z-index: 1040;
  background-color: #000;
}
.modal-backdrop.fade {
  opacity: 0;
  filter: alpha(opacity=0);
}
.modal-backdrop.in {
  opacity: 0.5;
  filter: alpha(opacity=50);
}
.modal-header {
  padding: 15px;
  border-bottom: 1px solid #e5e5e5;
}
.modal-header .close {
  margin-top: -2px;
}
.modal-title {
  margin: 0;
  line-height: 1.42857143;
}
.modal-body {
  position: relative;
  padding: 15px;
}
.modal-footer {
  padding: 15px;
  text-align: right;
  border-top: 1px solid #e5e5e5;
}
.modal-footer .btn + .btn {
  margin-left: 5px;
  margin-bottom: 0;
}
.modal-footer .btn-group .btn + .btn {
  margin-left: -1px;
}
.modal-footer .btn-block + .btn-block {
  margin-left: 0;
}
.modal-scrollbar-measure {
  position: absolute;
  top: -9999px;
  width: 50px;
  height: 50px;
  overflow: scroll;
}
@media (min-width: 768px) {
  .modal-dialog {
    width: 600px;
    margin: 30px auto;
  }
  .modal-content {
    -webkit-box-shadow: 0 5px 15px rgba(0, 0, 0, 0.5);
    box-shadow: 0 5px 15px rgba(0, 0, 0, 0.5);
  }
  .modal-sm {
    width: 300px;
  }
}
@media (min-width: 992px) {
  .modal-lg {
    width: 900px;
  }
}
.tooltip {
  position: absolute;
  z-index: 1070;
  display: block;
  font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
  font-style: normal;
  font-weight: normal;
  letter-spacing: normal;
  line-break: auto;
  line-height: 1.42857143;
  text-align: left;
  text-align: start;
  text-decoration: none;
  text-shadow: none;
  text-transform: none;
  white-space: normal;
  word-break: normal;
  word-spacing: normal;
  word-wrap: normal;
  font-size: 12px;
  opacity: 0;
  filter: alpha(opacity=0);
}
.tooltip.in {
  opacity: 0.9;
  filter: alpha(opacity=90);
}
.tooltip.top {
  margin-top: -3px;
  padding: 5px 0;
}
.tooltip.right {
  margin-left: 3px;
  padding: 0 5px;
}
.tooltip.bottom {
  margin-top: 3px;
  padding: 5px 0;
}
.tooltip.left {
  margin-left: -3px;
  padding: 0 5px;
}
.tooltip-inner {
  max-width: 200px;
  padding: 3px 8px;
  color: #fff;
  text-align: center;
  background-color: #000;
  border-radius: 2px;
}
.tooltip-arrow {
  position: absolute;
  width: 0;
  height: 0;
  border-color: transparent;
  border-style: solid;
}
.tooltip.top .tooltip-arrow {
  bottom: 0;
  left: 50%;
  margin-left: -5px;
  border-width: 5px 5px 0;
  border-top-color: #000;
}
.tooltip.top-left .tooltip-arrow {
  bottom: 0;
  right: 5px;
  margin-bottom: -5px;
  border-width: 5px 5px 0;
  border-top-color: #000;
}
.tooltip.top-right .tooltip-arrow {
  bottom: 0;
  left: 5px;
  margin-bottom: -5px;
  border-width: 5px 5px 0;
  border-top-color: #000;
}
.tooltip.right .tooltip-arrow {
  top: 50%;
  left: 0;
  margin-top: -5px;
  border-width: 5px 5px 5px 0;
  border-right-color: #000;
}
.tooltip.left .tooltip-arrow {
  top: 50%;
  right: 0;
  margin-top: -5px;
  border-width: 5px 0 5px 5px;
  border-left-color: #000;
}
.tooltip.bottom .tooltip-arrow {
  top: 0;
  left: 50%;
  margin-left: -5px;
  border-width: 0 5px 5px;
  border-bottom-color: #000;
}
.tooltip.bottom-left .tooltip-arrow {
  top: 0;
  right: 5px;
  margin-top: -5px;
  border-width: 0 5px 5px;
  border-bottom-color: #000;
}
.tooltip.bottom-right .tooltip-arrow {
  top: 0;
  left: 5px;
  margin-top: -5px;
  border-width: 0 5px 5px;
  border-bottom-color: #000;
}
.popover {
  position: absolute;
  top: 0;
  left: 0;
  z-index: 1060;
  display: none;
  max-width: 276px;
  padding: 1px;
  font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
  font-style: normal;
  font-weight: normal;
  letter-spacing: normal;
  line-break: auto;
  line-height: 1.42857143;
  text-align: left;
  text-align: start;
  text-decoration: none;
  text-shadow: none;
  text-transform: none;
  white-space: normal;
  word-break: normal;
  word-spacing: normal;
  word-wrap: normal;
  font-size: 13px;
  background-color: #fff;
  background-clip: padding-box;
  border: 1px solid #ccc;
  border: 1px solid rgba(0, 0, 0, 0.2);
  border-radius: 3px;
  -webkit-box-shadow: 0 5px 10px rgba(0, 0, 0, 0.2);
  box-shadow: 0 5px 10px rgba(0, 0, 0, 0.2);
}
.popover.top {
  margin-top: -10px;
}
.popover.right {
  margin-left: 10px;
}
.popover.bottom {
  margin-top: 10px;
}
.popover.left {
  margin-left: -10px;
}
.popover-title {
  margin: 0;
  padding: 8px 14px;
  font-size: 13px;
  background-color: #f7f7f7;
  border-bottom: 1px solid #ebebeb;
  border-radius: 2px 2px 0 0;
}
.popover-content {
  padding: 9px 14px;
}
.popover > .arrow,
.popover > .arrow:after {
  position: absolute;
  display: block;
  width: 0;
  height: 0;
  border-color: transparent;
  border-style: solid;
}
.popover > .arrow {
  border-width: 11px;
}
.popover > .arrow:after {
  border-width: 10px;
  content: "";
}
.popover.top > .arrow {
  left: 50%;
  margin-left: -11px;
  border-bottom-width: 0;
  border-top-color: #999999;
  border-top-color: rgba(0, 0, 0, 0.25);
  bottom: -11px;
}
.popover.top > .arrow:after {
  content: " ";
  bottom: 1px;
  margin-left: -10px;
  border-bottom-width: 0;
  border-top-color: #fff;
}
.popover.right > .arrow {
  top: 50%;
  left: -11px;
  margin-top: -11px;
  border-left-width: 0;
  border-right-color: #999999;
  border-right-color: rgba(0, 0, 0, 0.25);
}
.popover.right > .arrow:after {
  content: " ";
  left: 1px;
  bottom: -10px;
  border-left-width: 0;
  border-right-color: #fff;
}
.popover.bottom > .arrow {
  left: 50%;
  margin-left: -11px;
  border-top-width: 0;
  border-bottom-color: #999999;
  border-bottom-color: rgba(0, 0, 0, 0.25);
  top: -11px;
}
.popover.bottom > .arrow:after {
  content: " ";
  top: 1px;
  margin-left: -10px;
  border-top-width: 0;
  border-bottom-color: #fff;
}
.popover.left > .arrow {
  top: 50%;
  right: -11px;
  margin-top: -11px;
  border-right-width: 0;
  border-left-color: #999999;
  border-left-color: rgba(0, 0, 0, 0.25);
}
.popover.left > .arrow:after {
  content: " ";
  right: 1px;
  border-right-width: 0;
  border-left-color: #fff;
  bottom: -10px;
}
.carousel {
  position: relative;
}
.carousel-inner {
  position: relative;
  overflow: hidden;
  width: 100%;
}
.carousel-inner > .item {
  display: none;
  position: relative;
  -webkit-transition: 0.6s ease-in-out left;
  -o-transition: 0.6s ease-in-out left;
  transition: 0.6s ease-in-out left;
}
.carousel-inner > .item > img,
.carousel-inner > .item > a > img {
  line-height: 1;
}
@media all and (transform-3d), (-webkit-transform-3d) {
  .carousel-inner > .item {
    -webkit-transition: -webkit-transform 0.6s ease-in-out;
    -moz-transition: -moz-transform 0.6s ease-in-out;
    -o-transition: -o-transform 0.6s ease-in-out;
    transition: transform 0.6s ease-in-out;
    -webkit-backface-visibility: hidden;
    -moz-backface-visibility: hidden;
    backface-visibility: hidden;
    -webkit-perspective: 1000px;
    -moz-perspective: 1000px;
    perspective: 1000px;
  }
  .carousel-inner > .item.next,
  .carousel-inner > .item.active.right {
    -webkit-transform: translate3d(100%, 0, 0);
    transform: translate3d(100%, 0, 0);
    left: 0;
  }
  .carousel-inner > .item.prev,
  .carousel-inner > .item.active.left {
    -webkit-transform: translate3d(-100%, 0, 0);
    transform: translate3d(-100%, 0, 0);
    left: 0;
  }
  .carousel-inner > .item.next.left,
  .carousel-inner > .item.prev.right,
  .carousel-inner > .item.active {
    -webkit-transform: translate3d(0, 0, 0);
    transform: translate3d(0, 0, 0);
    left: 0;
  }
}
.carousel-inner > .active,
.carousel-inner > .next,
.carousel-inner > .prev {
  display: block;
}
.carousel-inner > .active {
  left: 0;
}
.carousel-inner > .next,
.carousel-inner > .prev {
  position: absolute;
  top: 0;
  width: 100%;
}
.carousel-inner > .next {
  left: 100%;
}
.carousel-inner > .prev {
  left: -100%;
}
.carousel-inner > .next.left,
.carousel-inner > .prev.right {
  left: 0;
}
.carousel-inner > .active.left {
  left: -100%;
}
.carousel-inner > .active.right {
  left: 100%;
}
.carousel-control {
  position: absolute;
  top: 0;
  left: 0;
  bottom: 0;
  width: 15%;
  opacity: 0.5;
  filter: alpha(opacity=50);
  font-size: 20px;
  color: #fff;
  text-align: center;
  text-shadow: 0 1px 2px rgba(0, 0, 0, 0.6);
  background-color: rgba(0, 0, 0, 0);
}
.carousel-control.left {
  background-image: -webkit-linear-gradient(left, rgba(0, 0, 0, 0.5) 0%, rgba(0, 0, 0, 0.0001) 100%);
  background-image: -o-linear-gradient(left, rgba(0, 0, 0, 0.5) 0%, rgba(0, 0, 0, 0.0001) 100%);
  background-image: linear-gradient(to right, rgba(0, 0, 0, 0.5) 0%, rgba(0, 0, 0, 0.0001) 100%);
  background-repeat: repeat-x;
  filter: progid:DXImageTransform.Microsoft.gradient(startColorstr='#80000000', endColorstr='#00000000', GradientType=1);
}
.carousel-control.right {
  left: auto;
  right: 0;
  background-image: -webkit-linear-gradient(left, rgba(0, 0, 0, 0.0001) 0%, rgba(0, 0, 0, 0.5) 100%);
  background-image: -o-linear-gradient(left, rgba(0, 0, 0, 0.0001) 0%, rgba(0, 0, 0, 0.5) 100%);
  background-image: linear-gradient(to right, rgba(0, 0, 0, 0.0001) 0%, rgba(0, 0, 0, 0.5) 100%);
  background-repeat: repeat-x;
  filter: progid:DXImageTransform.Microsoft.gradient(startColorstr='#00000000', endColorstr='#80000000', GradientType=1);
}
.carousel-control:hover,
.carousel-control:focus {
  outline: 0;
  color: #fff;
  text-decoration: none;
  opacity: 0.9;
  filter: alpha(opacity=90);
}
.carousel-control .icon-prev,
.carousel-control .icon-next,
.carousel-control .glyphicon-chevron-left,
.carousel-control .glyphicon-chevron-right {
  position: absolute;
  top: 50%;
  margin-top: -10px;
  z-index: 5;
  display: inline-block;
}
.carousel-control .icon-prev,
.carousel-control .glyphicon-chevron-left {
  left: 50%;
  margin-left: -10px;
}
.carousel-control .icon-next,
.carousel-control .glyphicon-chevron-right {
  right: 50%;
  margin-right: -10px;
}
.carousel-control .icon-prev,
.carousel-control .icon-next {
  width: 20px;
  height: 20px;
  line-height: 1;
  font-family: serif;
}
.carousel-control .icon-prev:before {
  content: '\2039';
}
.carousel-control .icon-next:before {
  content: '\203a';
}
.carousel-indicators {
  position: absolute;
  bottom: 10px;
  left: 50%;
  z-index: 15;
  width: 60%;
  margin-left: -30%;
  padding-left: 0;
  list-style: none;
  text-align: center;
}
.carousel-indicators li {
  display: inline-block;
  width: 10px;
  height: 10px;
  margin: 1px;
  text-indent: -999px;
  border: 1px solid #fff;
  border-radius: 10px;
  cursor: pointer;
  background-color: #000 \9;
  background-color: rgba(0, 0, 0, 0);
}
.carousel-indicators .active {
  margin: 0;
  width: 12px;
  height: 12px;
  background-color: #fff;
}
.carousel-caption {
  position: absolute;
  left: 15%;
  right: 15%;
  bottom: 20px;
  z-index: 10;
  padding-top: 20px;
  padding-bottom: 20px;
  color: #fff;
  text-align: center;
  text-shadow: 0 1px 2px rgba(0, 0, 0, 0.6);
}
.carousel-caption .btn {
  text-shadow: none;
}
@media screen and (min-width: 768px) {
  .carousel-control .glyphicon-chevron-left,
  .carousel-control .glyphicon-chevron-right,
  .carousel-control .icon-prev,
  .carousel-control .icon-next {
    width: 30px;
    height: 30px;
    margin-top: -10px;
    font-size: 30px;
  }
  .carousel-control .glyphicon-chevron-left,
  .carousel-control .icon-prev {
    margin-left: -10px;
  }
  .carousel-control .glyphicon-chevron-right,
  .carousel-control .icon-next {
    margin-right: -10px;
  }
  .carousel-caption {
    left: 20%;
    right: 20%;
    padding-bottom: 30px;
  }
  .carousel-indicators {
    bottom: 20px;
  }
}
.clearfix:before,
.clearfix:after,
.dl-horizontal dd:before,
.dl-horizontal dd:after,
.container:before,
.container:after,
.container-fluid:before,
.container-fluid:after,
.row:before,
.row:after,
.form-horizontal .form-group:before,
.form-horizontal .form-group:after,
.btn-toolbar:before,
.btn-toolbar:after,
.btn-group-vertical > .btn-group:before,
.btn-group-vertical > .btn-group:after,
.nav:before,
.nav:after,
.navbar:before,
.navbar:after,
.navbar-header:before,
.navbar-header:after,
.navbar-collapse:before,
.navbar-collapse:after,
.pager:before,
.pager:after,
.panel-body:before,
.panel-body:after,
.modal-header:before,
.modal-header:after,
.modal-footer:before,
.modal-footer:after,
.item_buttons:before,
.item_buttons:after {
  content: " ";
  display: table;
}
.clearfix:after,
.dl-horizontal dd:after,
.container:after,
.container-fluid:after,
.row:after,
.form-horizontal .form-group:after,
.btn-toolbar:after,
.btn-group-vertical > .btn-group:after,
.nav:after,
.navbar:after,
.navbar-header:after,
.navbar-collapse:after,
.pager:after,
.panel-body:after,
.modal-header:after,
.modal-footer:after,
.item_buttons:after {
  clear: both;
}
.center-block {
  display: block;
  margin-left: auto;
  margin-right: auto;
}
.pull-right {
  float: right !important;
}
.pull-left {
  float: left !important;
}
.hide {
  display: none !important;
}
.show {
  display: block !important;
}
.invisible {
  visibility: hidden;
}
.text-hide {
  font: 0/0 a;
  color: transparent;
  text-shadow: none;
  background-color: transparent;
  border: 0;
}
.hidden {
  display: none !important;
}
.affix {
  position: fixed;
}
@-ms-viewport {
  width: device-width;
}
.visible-xs,
.visible-sm,
.visible-md,
.visible-lg {
  display: none !important;
}
.visible-xs-block,
.visible-xs-inline,
.visible-xs-inline-block,
.visible-sm-block,
.visible-sm-inline,
.visible-sm-inline-block,
.visible-md-block,
.visible-md-inline,
.visible-md-inline-block,
.visible-lg-block,
.visible-lg-inline,
.visible-lg-inline-block {
  display: none !important;
}
@media (max-width: 767px) {
  .visible-xs {
    display: block !important;
  }
  table.visible-xs {
    display: table !important;
  }
  tr.visible-xs {
    display: table-row !important;
  }
  th.visible-xs,
  td.visible-xs {
    display: table-cell !important;
  }
}
@media (max-width: 767px) {
  .visible-xs-block {
    display: block !important;
  }
}
@media (max-width: 767px) {
  .visible-xs-inline {
    display: inline !important;
  }
}
@media (max-width: 767px) {
  .visible-xs-inline-block {
    display: inline-block !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .visible-sm {
    display: block !important;
  }
  table.visible-sm {
    display: table !important;
  }
  tr.visible-sm {
    display: table-row !important;
  }
  th.visible-sm,
  td.visible-sm {
    display: table-cell !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .visible-sm-block {
    display: block !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .visible-sm-inline {
    display: inline !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .visible-sm-inline-block {
    display: inline-block !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .visible-md {
    display: block !important;
  }
  table.visible-md {
    display: table !important;
  }
  tr.visible-md {
    display: table-row !important;
  }
  th.visible-md,
  td.visible-md {
    display: table-cell !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .visible-md-block {
    display: block !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .visible-md-inline {
    display: inline !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .visible-md-inline-block {
    display: inline-block !important;
  }
}
@media (min-width: 1200px) {
  .visible-lg {
    display: block !important;
  }
  table.visible-lg {
    display: table !important;
  }
  tr.visible-lg {
    display: table-row !important;
  }
  th.visible-lg,
  td.visible-lg {
    display: table-cell !important;
  }
}
@media (min-width: 1200px) {
  .visible-lg-block {
    display: block !important;
  }
}
@media (min-width: 1200px) {
  .visible-lg-inline {
    display: inline !important;
  }
}
@media (min-width: 1200px) {
  .visible-lg-inline-block {
    display: inline-block !important;
  }
}
@media (max-width: 767px) {
  .hidden-xs {
    display: none !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .hidden-sm {
    display: none !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .hidden-md {
    display: none !important;
  }
}
@media (min-width: 1200px) {
  .hidden-lg {
    display: none !important;
  }
}
.visible-print {
  display: none !important;
}
@media print {
  .visible-print {
    display: block !important;
  }
  table.visible-print {
    display: table !important;
  }
  tr.visible-print {
    display: table-row !important;
  }
  th.visible-print,
  td.visible-print {
    display: table-cell !important;
  }
}
.visible-print-block {
  display: none !important;
}
@media print {
  .visible-print-block {
    display: block !important;
  }
}
.visible-print-inline {
  display: none !important;
}
@media print {
  .visible-print-inline {
    display: inline !important;
  }
}
.visible-print-inline-block {
  display: none !important;
}
@media print {
  .visible-print-inline-block {
    display: inline-block !important;
  }
}
@media print {
  .hidden-print {
    display: none !important;
  }
}
/*!
*
* Font Awesome
*
*/
/*!
 *  Font Awesome 4.2.0 by @davegandy - http://fontawesome.io - @fontawesome
 *  License - http://fontawesome.io/license (Font: SIL OFL 1.1, CSS: MIT License)
 */
/* FONT PATH
 * -------------------------- */
@font-face {
  font-family: 'FontAwesome';
  src: url('../components/font-awesome/fonts/fontawesome-webfont.eot?v=4.2.0');
  src: url('../components/font-awesome/fonts/fontawesome-webfont.eot?#iefix&v=4.2.0') format('embedded-opentype'), url('../components/font-awesome/fonts/fontawesome-webfont.woff?v=4.2.0') format('woff'), url('../components/font-awesome/fonts/fontawesome-webfont.ttf?v=4.2.0') format('truetype'), url('../components/font-awesome/fonts/fontawesome-webfont.svg?v=4.2.0#fontawesomeregular') format('svg');
  font-weight: normal;
  font-style: normal;
}
.fa {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
}
/* makes the font 33% larger relative to the icon container */
.fa-lg {
  font-size: 1.33333333em;
  line-height: 0.75em;
  vertical-align: -15%;
}
.fa-2x {
  font-size: 2em;
}
.fa-3x {
  font-size: 3em;
}
.fa-4x {
  font-size: 4em;
}
.fa-5x {
  font-size: 5em;
}
.fa-fw {
  width: 1.28571429em;
  text-align: center;
}
.fa-ul {
  padding-left: 0;
  margin-left: 2.14285714em;
  list-style-type: none;
}
.fa-ul > li {
  position: relative;
}
.fa-li {
  position: absolute;
  left: -2.14285714em;
  width: 2.14285714em;
  top: 0.14285714em;
  text-align: center;
}
.fa-li.fa-lg {
  left: -1.85714286em;
}
.fa-border {
  padding: .2em .25em .15em;
  border: solid 0.08em #eee;
  border-radius: .1em;
}
.pull-right {
  float: right;
}
.pull-left {
  float: left;
}
.fa.pull-left {
  margin-right: .3em;
}
.fa.pull-right {
  margin-left: .3em;
}
.fa-spin {
  -webkit-animation: fa-spin 2s infinite linear;
  animation: fa-spin 2s infinite linear;
}
@-webkit-keyframes fa-spin {
  0% {
    -webkit-transform: rotate(0deg);
    transform: rotate(0deg);
  }
  100% {
    -webkit-transform: rotate(359deg);
    transform: rotate(359deg);
  }
}
@keyframes fa-spin {
  0% {
    -webkit-transform: rotate(0deg);
    transform: rotate(0deg);
  }
  100% {
    -webkit-transform: rotate(359deg);
    transform: rotate(359deg);
  }
}
.fa-rotate-90 {
  filter: progid:DXImageTransform.Microsoft.BasicImage(rotation=1);
  -webkit-transform: rotate(90deg);
  -ms-transform: rotate(90deg);
  transform: rotate(90deg);
}
.fa-rotate-180 {
  filter: progid:DXImageTransform.Microsoft.BasicImage(rotation=2);
  -webkit-transform: rotate(180deg);
  -ms-transform: rotate(180deg);
  transform: rotate(180deg);
}
.fa-rotate-270 {
  filter: progid:DXImageTransform.Microsoft.BasicImage(rotation=3);
  -webkit-transform: rotate(270deg);
  -ms-transform: rotate(270deg);
  transform: rotate(270deg);
}
.fa-flip-horizontal {
  filter: progid:DXImageTransform.Microsoft.BasicImage(rotation=0, mirror=1);
  -webkit-transform: scale(-1, 1);
  -ms-transform: scale(-1, 1);
  transform: scale(-1, 1);
}
.fa-flip-vertical {
  filter: progid:DXImageTransform.Microsoft.BasicImage(rotation=2, mirror=1);
  -webkit-transform: scale(1, -1);
  -ms-transform: scale(1, -1);
  transform: scale(1, -1);
}
:root .fa-rotate-90,
:root .fa-rotate-180,
:root .fa-rotate-270,
:root .fa-flip-horizontal,
:root .fa-flip-vertical {
  filter: none;
}
.fa-stack {
  position: relative;
  display: inline-block;
  width: 2em;
  height: 2em;
  line-height: 2em;
  vertical-align: middle;
}
.fa-stack-1x,
.fa-stack-2x {
  position: absolute;
  left: 0;
  width: 100%;
  text-align: center;
}
.fa-stack-1x {
  line-height: inherit;
}
.fa-stack-2x {
  font-size: 2em;
}
.fa-inverse {
  color: #fff;
}
/* Font Awesome uses the Unicode Private Use Area (PUA) to ensure screen
   readers do not read off random characters that represent icons */
.fa-glass:before {
  content: "\f000";
}
.fa-music:before {
  content: "\f001";
}
.fa-search:before {
  content: "\f002";
}
.fa-envelope-o:before {
  content: "\f003";
}
.fa-heart:before {
  content: "\f004";
}
.fa-star:before {
  content: "\f005";
}
.fa-star-o:before {
  content: "\f006";
}
.fa-user:before {
  content: "\f007";
}
.fa-film:before {
  content: "\f008";
}
.fa-th-large:before {
  content: "\f009";
}
.fa-th:before {
  content: "\f00a";
}
.fa-th-list:before {
  content: "\f00b";
}
.fa-check:before {
  content: "\f00c";
}
.fa-remove:before,
.fa-close:before,
.fa-times:before {
  content: "\f00d";
}
.fa-search-plus:before {
  content: "\f00e";
}
.fa-search-minus:before {
  content: "\f010";
}
.fa-power-off:before {
  content: "\f011";
}
.fa-signal:before {
  content: "\f012";
}
.fa-gear:before,
.fa-cog:before {
  content: "\f013";
}
.fa-trash-o:before {
  content: "\f014";
}
.fa-home:before {
  content: "\f015";
}
.fa-file-o:before {
  content: "\f016";
}
.fa-clock-o:before {
  content: "\f017";
}
.fa-road:before {
  content: "\f018";
}
.fa-download:before {
  content: "\f019";
}
.fa-arrow-circle-o-down:before {
  content: "\f01a";
}
.fa-arrow-circle-o-up:before {
  content: "\f01b";
}
.fa-inbox:before {
  content: "\f01c";
}
.fa-play-circle-o:before {
  content: "\f01d";
}
.fa-rotate-right:before,
.fa-repeat:before {
  content: "\f01e";
}
.fa-refresh:before {
  content: "\f021";
}
.fa-list-alt:before {
  content: "\f022";
}
.fa-lock:before {
  content: "\f023";
}
.fa-flag:before {
  content: "\f024";
}
.fa-headphones:before {
  content: "\f025";
}
.fa-volume-off:before {
  content: "\f026";
}
.fa-volume-down:before {
  content: "\f027";
}
.fa-volume-up:before {
  content: "\f028";
}
.fa-qrcode:before {
  content: "\f029";
}
.fa-barcode:before {
  content: "\f02a";
}
.fa-tag:before {
  content: "\f02b";
}
.fa-tags:before {
  content: "\f02c";
}
.fa-book:before {
  content: "\f02d";
}
.fa-bookmark:before {
  content: "\f02e";
}
.fa-print:before {
  content: "\f02f";
}
.fa-camera:before {
  content: "\f030";
}
.fa-font:before {
  content: "\f031";
}
.fa-bold:before {
  content: "\f032";
}
.fa-italic:before {
  content: "\f033";
}
.fa-text-height:before {
  content: "\f034";
}
.fa-text-width:before {
  content: "\f035";
}
.fa-align-left:before {
  content: "\f036";
}
.fa-align-center:before {
  content: "\f037";
}
.fa-align-right:before {
  content: "\f038";
}
.fa-align-justify:before {
  content: "\f039";
}
.fa-list:before {
  content: "\f03a";
}
.fa-dedent:before,
.fa-outdent:before {
  content: "\f03b";
}
.fa-indent:before {
  content: "\f03c";
}
.fa-video-camera:before {
  content: "\f03d";
}
.fa-photo:before,
.fa-image:before,
.fa-picture-o:before {
  content: "\f03e";
}
.fa-pencil:before {
  content: "\f040";
}
.fa-map-marker:before {
  content: "\f041";
}
.fa-adjust:before {
  content: "\f042";
}
.fa-tint:before {
  content: "\f043";
}
.fa-edit:before,
.fa-pencil-square-o:before {
  content: "\f044";
}
.fa-share-square-o:before {
  content: "\f045";
}
.fa-check-square-o:before {
  content: "\f046";
}
.fa-arrows:before {
  content: "\f047";
}
.fa-step-backward:before {
  content: "\f048";
}
.fa-fast-backward:before {
  content: "\f049";
}
.fa-backward:before {
  content: "\f04a";
}
.fa-play:before {
  content: "\f04b";
}
.fa-pause:before {
  content: "\f04c";
}
.fa-stop:before {
  content: "\f04d";
}
.fa-forward:before {
  content: "\f04e";
}
.fa-fast-forward:before {
  content: "\f050";
}
.fa-step-forward:before {
  content: "\f051";
}
.fa-eject:before {
  content: "\f052";
}
.fa-chevron-left:before {
  content: "\f053";
}
.fa-chevron-right:before {
  content: "\f054";
}
.fa-plus-circle:before {
  content: "\f055";
}
.fa-minus-circle:before {
  content: "\f056";
}
.fa-times-circle:before {
  content: "\f057";
}
.fa-check-circle:before {
  content: "\f058";
}
.fa-question-circle:before {
  content: "\f059";
}
.fa-info-circle:before {
  content: "\f05a";
}
.fa-crosshairs:before {
  content: "\f05b";
}
.fa-times-circle-o:before {
  content: "\f05c";
}
.fa-check-circle-o:before {
  content: "\f05d";
}
.fa-ban:before {
  content: "\f05e";
}
.fa-arrow-left:before {
  content: "\f060";
}
.fa-arrow-right:before {
  content: "\f061";
}
.fa-arrow-up:before {
  content: "\f062";
}
.fa-arrow-down:before {
  content: "\f063";
}
.fa-mail-forward:before,
.fa-share:before {
  content: "\f064";
}
.fa-expand:before {
  content: "\f065";
}
.fa-compress:before {
  content: "\f066";
}
.fa-plus:before {
  content: "\f067";
}
.fa-minus:before {
  content: "\f068";
}
.fa-asterisk:before {
  content: "\f069";
}
.fa-exclamation-circle:before {
  content: "\f06a";
}
.fa-gift:before {
  content: "\f06b";
}
.fa-leaf:before {
  content: "\f06c";
}
.fa-fire:before {
  content: "\f06d";
}
.fa-eye:before {
  content: "\f06e";
}
.fa-eye-slash:before {
  content: "\f070";
}
.fa-warning:before,
.fa-exclamation-triangle:before {
  content: "\f071";
}
.fa-plane:before {
  content: "\f072";
}
.fa-calendar:before {
  content: "\f073";
}
.fa-random:before {
  content: "\f074";
}
.fa-comment:before {
  content: "\f075";
}
.fa-magnet:before {
  content: "\f076";
}
.fa-chevron-up:before {
  content: "\f077";
}
.fa-chevron-down:before {
  content: "\f078";
}
.fa-retweet:before {
  content: "\f079";
}
.fa-shopping-cart:before {
  content: "\f07a";
}
.fa-folder:before {
  content: "\f07b";
}
.fa-folder-open:before {
  content: "\f07c";
}
.fa-arrows-v:before {
  content: "\f07d";
}
.fa-arrows-h:before {
  content: "\f07e";
}
.fa-bar-chart-o:before,
.fa-bar-chart:before {
  content: "\f080";
}
.fa-twitter-square:before {
  content: "\f081";
}
.fa-facebook-square:before {
  content: "\f082";
}
.fa-camera-retro:before {
  content: "\f083";
}
.fa-key:before {
  content: "\f084";
}
.fa-gears:before,
.fa-cogs:before {
  content: "\f085";
}
.fa-comments:before {
  content: "\f086";
}
.fa-thumbs-o-up:before {
  content: "\f087";
}
.fa-thumbs-o-down:before {
  content: "\f088";
}
.fa-star-half:before {
  content: "\f089";
}
.fa-heart-o:before {
  content: "\f08a";
}
.fa-sign-out:before {
  content: "\f08b";
}
.fa-linkedin-square:before {
  content: "\f08c";
}
.fa-thumb-tack:before {
  content: "\f08d";
}
.fa-external-link:before {
  content: "\f08e";
}
.fa-sign-in:before {
  content: "\f090";
}
.fa-trophy:before {
  content: "\f091";
}
.fa-github-square:before {
  content: "\f092";
}
.fa-upload:before {
  content: "\f093";
}
.fa-lemon-o:before {
  content: "\f094";
}
.fa-phone:before {
  content: "\f095";
}
.fa-square-o:before {
  content: "\f096";
}
.fa-bookmark-o:before {
  content: "\f097";
}
.fa-phone-square:before {
  content: "\f098";
}
.fa-twitter:before {
  content: "\f099";
}
.fa-facebook:before {
  content: "\f09a";
}
.fa-github:before {
  content: "\f09b";
}
.fa-unlock:before {
  content: "\f09c";
}
.fa-credit-card:before {
  content: "\f09d";
}
.fa-rss:before {
  content: "\f09e";
}
.fa-hdd-o:before {
  content: "\f0a0";
}
.fa-bullhorn:before {
  content: "\f0a1";
}
.fa-bell:before {
  content: "\f0f3";
}
.fa-certificate:before {
  content: "\f0a3";
}
.fa-hand-o-right:before {
  content: "\f0a4";
}
.fa-hand-o-left:before {
  content: "\f0a5";
}
.fa-hand-o-up:before {
  content: "\f0a6";
}
.fa-hand-o-down:before {
  content: "\f0a7";
}
.fa-arrow-circle-left:before {
  content: "\f0a8";
}
.fa-arrow-circle-right:before {
  content: "\f0a9";
}
.fa-arrow-circle-up:before {
  content: "\f0aa";
}
.fa-arrow-circle-down:before {
  content: "\f0ab";
}
.fa-globe:before {
  content: "\f0ac";
}
.fa-wrench:before {
  content: "\f0ad";
}
.fa-tasks:before {
  content: "\f0ae";
}
.fa-filter:before {
  content: "\f0b0";
}
.fa-briefcase:before {
  content: "\f0b1";
}
.fa-arrows-alt:before {
  content: "\f0b2";
}
.fa-group:before,
.fa-users:before {
  content: "\f0c0";
}
.fa-chain:before,
.fa-link:before {
  content: "\f0c1";
}
.fa-cloud:before {
  content: "\f0c2";
}
.fa-flask:before {
  content: "\f0c3";
}
.fa-cut:before,
.fa-scissors:before {
  content: "\f0c4";
}
.fa-copy:before,
.fa-files-o:before {
  content: "\f0c5";
}
.fa-paperclip:before {
  content: "\f0c6";
}
.fa-save:before,
.fa-floppy-o:before {
  content: "\f0c7";
}
.fa-square:before {
  content: "\f0c8";
}
.fa-navicon:before,
.fa-reorder:before,
.fa-bars:before {
  content: "\f0c9";
}
.fa-list-ul:before {
  content: "\f0ca";
}
.fa-list-ol:before {
  content: "\f0cb";
}
.fa-strikethrough:before {
  content: "\f0cc";
}
.fa-underline:before {
  content: "\f0cd";
}
.fa-table:before {
  content: "\f0ce";
}
.fa-magic:before {
  content: "\f0d0";
}
.fa-truck:before {
  content: "\f0d1";
}
.fa-pinterest:before {
  content: "\f0d2";
}
.fa-pinterest-square:before {
  content: "\f0d3";
}
.fa-google-plus-square:before {
  content: "\f0d4";
}
.fa-google-plus:before {
  content: "\f0d5";
}
.fa-money:before {
  content: "\f0d6";
}
.fa-caret-down:before {
  content: "\f0d7";
}
.fa-caret-up:before {
  content: "\f0d8";
}
.fa-caret-left:before {
  content: "\f0d9";
}
.fa-caret-right:before {
  content: "\f0da";
}
.fa-columns:before {
  content: "\f0db";
}
.fa-unsorted:before,
.fa-sort:before {
  content: "\f0dc";
}
.fa-sort-down:before,
.fa-sort-desc:before {
  content: "\f0dd";
}
.fa-sort-up:before,
.fa-sort-asc:before {
  content: "\f0de";
}
.fa-envelope:before {
  content: "\f0e0";
}
.fa-linkedin:before {
  content: "\f0e1";
}
.fa-rotate-left:before,
.fa-undo:before {
  content: "\f0e2";
}
.fa-legal:before,
.fa-gavel:before {
  content: "\f0e3";
}
.fa-dashboard:before,
.fa-tachometer:before {
  content: "\f0e4";
}
.fa-comment-o:before {
  content: "\f0e5";
}
.fa-comments-o:before {
  content: "\f0e6";
}
.fa-flash:before,
.fa-bolt:before {
  content: "\f0e7";
}
.fa-sitemap:before {
  content: "\f0e8";
}
.fa-umbrella:before {
  content: "\f0e9";
}
.fa-paste:before,
.fa-clipboard:before {
  content: "\f0ea";
}
.fa-lightbulb-o:before {
  content: "\f0eb";
}
.fa-exchange:before {
  content: "\f0ec";
}
.fa-cloud-download:before {
  content: "\f0ed";
}
.fa-cloud-upload:before {
  content: "\f0ee";
}
.fa-user-md:before {
  content: "\f0f0";
}
.fa-stethoscope:before {
  content: "\f0f1";
}
.fa-suitcase:before {
  content: "\f0f2";
}
.fa-bell-o:before {
  content: "\f0a2";
}
.fa-coffee:before {
  content: "\f0f4";
}
.fa-cutlery:before {
  content: "\f0f5";
}
.fa-file-text-o:before {
  content: "\f0f6";
}
.fa-building-o:before {
  content: "\f0f7";
}
.fa-hospital-o:before {
  content: "\f0f8";
}
.fa-ambulance:before {
  content: "\f0f9";
}
.fa-medkit:before {
  content: "\f0fa";
}
.fa-fighter-jet:before {
  content: "\f0fb";
}
.fa-beer:before {
  content: "\f0fc";
}
.fa-h-square:before {
  content: "\f0fd";
}
.fa-plus-square:before {
  content: "\f0fe";
}
.fa-angle-double-left:before {
  content: "\f100";
}
.fa-angle-double-right:before {
  content: "\f101";
}
.fa-angle-double-up:before {
  content: "\f102";
}
.fa-angle-double-down:before {
  content: "\f103";
}
.fa-angle-left:before {
  content: "\f104";
}
.fa-angle-right:before {
  content: "\f105";
}
.fa-angle-up:before {
  content: "\f106";
}
.fa-angle-down:before {
  content: "\f107";
}
.fa-desktop:before {
  content: "\f108";
}
.fa-laptop:before {
  content: "\f109";
}
.fa-tablet:before {
  content: "\f10a";
}
.fa-mobile-phone:before,
.fa-mobile:before {
  content: "\f10b";
}
.fa-circle-o:before {
  content: "\f10c";
}
.fa-quote-left:before {
  content: "\f10d";
}
.fa-quote-right:before {
  content: "\f10e";
}
.fa-spinner:before {
  content: "\f110";
}
.fa-circle:before {
  content: "\f111";
}
.fa-mail-reply:before,
.fa-reply:before {
  content: "\f112";
}
.fa-github-alt:before {
  content: "\f113";
}
.fa-folder-o:before {
  content: "\f114";
}
.fa-folder-open-o:before {
  content: "\f115";
}
.fa-smile-o:before {
  content: "\f118";
}
.fa-frown-o:before {
  content: "\f119";
}
.fa-meh-o:before {
  content: "\f11a";
}
.fa-gamepad:before {
  content: "\f11b";
}
.fa-keyboard-o:before {
  content: "\f11c";
}
.fa-flag-o:before {
  content: "\f11d";
}
.fa-flag-checkered:before {
  content: "\f11e";
}
.fa-terminal:before {
  content: "\f120";
}
.fa-code:before {
  content: "\f121";
}
.fa-mail-reply-all:before,
.fa-reply-all:before {
  content: "\f122";
}
.fa-star-half-empty:before,
.fa-star-half-full:before,
.fa-star-half-o:before {
  content: "\f123";
}
.fa-location-arrow:before {
  content: "\f124";
}
.fa-crop:before {
  content: "\f125";
}
.fa-code-fork:before {
  content: "\f126";
}
.fa-unlink:before,
.fa-chain-broken:before {
  content: "\f127";
}
.fa-question:before {
  content: "\f128";
}
.fa-info:before {
  content: "\f129";
}
.fa-exclamation:before {
  content: "\f12a";
}
.fa-superscript:before {
  content: "\f12b";
}
.fa-subscript:before {
  content: "\f12c";
}
.fa-eraser:before {
  content: "\f12d";
}
.fa-puzzle-piece:before {
  content: "\f12e";
}
.fa-microphone:before {
  content: "\f130";
}
.fa-microphone-slash:before {
  content: "\f131";
}
.fa-shield:before {
  content: "\f132";
}
.fa-calendar-o:before {
  content: "\f133";
}
.fa-fire-extinguisher:before {
  content: "\f134";
}
.fa-rocket:before {
  content: "\f135";
}
.fa-maxcdn:before {
  content: "\f136";
}
.fa-chevron-circle-left:before {
  content: "\f137";
}
.fa-chevron-circle-right:before {
  content: "\f138";
}
.fa-chevron-circle-up:before {
  content: "\f139";
}
.fa-chevron-circle-down:before {
  content: "\f13a";
}
.fa-html5:before {
  content: "\f13b";
}
.fa-css3:before {
  content: "\f13c";
}
.fa-anchor:before {
  content: "\f13d";
}
.fa-unlock-alt:before {
  content: "\f13e";
}
.fa-bullseye:before {
  content: "\f140";
}
.fa-ellipsis-h:before {
  content: "\f141";
}
.fa-ellipsis-v:before {
  content: "\f142";
}
.fa-rss-square:before {
  content: "\f143";
}
.fa-play-circle:before {
  content: "\f144";
}
.fa-ticket:before {
  content: "\f145";
}
.fa-minus-square:before {
  content: "\f146";
}
.fa-minus-square-o:before {
  content: "\f147";
}
.fa-level-up:before {
  content: "\f148";
}
.fa-level-down:before {
  content: "\f149";
}
.fa-check-square:before {
  content: "\f14a";
}
.fa-pencil-square:before {
  content: "\f14b";
}
.fa-external-link-square:before {
  content: "\f14c";
}
.fa-share-square:before {
  content: "\f14d";
}
.fa-compass:before {
  content: "\f14e";
}
.fa-toggle-down:before,
.fa-caret-square-o-down:before {
  content: "\f150";
}
.fa-toggle-up:before,
.fa-caret-square-o-up:before {
  content: "\f151";
}
.fa-toggle-right:before,
.fa-caret-square-o-right:before {
  content: "\f152";
}
.fa-euro:before,
.fa-eur:before {
  content: "\f153";
}
.fa-gbp:before {
  content: "\f154";
}
.fa-dollar:before,
.fa-usd:before {
  content: "\f155";
}
.fa-rupee:before,
.fa-inr:before {
  content: "\f156";
}
.fa-cny:before,
.fa-rmb:before,
.fa-yen:before,
.fa-jpy:before {
  content: "\f157";
}
.fa-ruble:before,
.fa-rouble:before,
.fa-rub:before {
  content: "\f158";
}
.fa-won:before,
.fa-krw:before {
  content: "\f159";
}
.fa-bitcoin:before,
.fa-btc:before {
  content: "\f15a";
}
.fa-file:before {
  content: "\f15b";
}
.fa-file-text:before {
  content: "\f15c";
}
.fa-sort-alpha-asc:before {
  content: "\f15d";
}
.fa-sort-alpha-desc:before {
  content: "\f15e";
}
.fa-sort-amount-asc:before {
  content: "\f160";
}
.fa-sort-amount-desc:before {
  content: "\f161";
}
.fa-sort-numeric-asc:before {
  content: "\f162";
}
.fa-sort-numeric-desc:before {
  content: "\f163";
}
.fa-thumbs-up:before {
  content: "\f164";
}
.fa-thumbs-down:before {
  content: "\f165";
}
.fa-youtube-square:before {
  content: "\f166";
}
.fa-youtube:before {
  content: "\f167";
}
.fa-xing:before {
  content: "\f168";
}
.fa-xing-square:before {
  content: "\f169";
}
.fa-youtube-play:before {
  content: "\f16a";
}
.fa-dropbox:before {
  content: "\f16b";
}
.fa-stack-overflow:before {
  content: "\f16c";
}
.fa-instagram:before {
  content: "\f16d";
}
.fa-flickr:before {
  content: "\f16e";
}
.fa-adn:before {
  content: "\f170";
}
.fa-bitbucket:before {
  content: "\f171";
}
.fa-bitbucket-square:before {
  content: "\f172";
}
.fa-tumblr:before {
  content: "\f173";
}
.fa-tumblr-square:before {
  content: "\f174";
}
.fa-long-arrow-down:before {
  content: "\f175";
}
.fa-long-arrow-up:before {
  content: "\f176";
}
.fa-long-arrow-left:before {
  content: "\f177";
}
.fa-long-arrow-right:before {
  content: "\f178";
}
.fa-apple:before {
  content: "\f179";
}
.fa-windows:before {
  content: "\f17a";
}
.fa-android:before {
  content: "\f17b";
}
.fa-linux:before {
  content: "\f17c";
}
.fa-dribbble:before {
  content: "\f17d";
}
.fa-skype:before {
  content: "\f17e";
}
.fa-foursquare:before {
  content: "\f180";
}
.fa-trello:before {
  content: "\f181";
}
.fa-female:before {
  content: "\f182";
}
.fa-male:before {
  content: "\f183";
}
.fa-gittip:before {
  content: "\f184";
}
.fa-sun-o:before {
  content: "\f185";
}
.fa-moon-o:before {
  content: "\f186";
}
.fa-archive:before {
  content: "\f187";
}
.fa-bug:before {
  content: "\f188";
}
.fa-vk:before {
  content: "\f189";
}
.fa-weibo:before {
  content: "\f18a";
}
.fa-renren:before {
  content: "\f18b";
}
.fa-pagelines:before {
  content: "\f18c";
}
.fa-stack-exchange:before {
  content: "\f18d";
}
.fa-arrow-circle-o-right:before {
  content: "\f18e";
}
.fa-arrow-circle-o-left:before {
  content: "\f190";
}
.fa-toggle-left:before,
.fa-caret-square-o-left:before {
  content: "\f191";
}
.fa-dot-circle-o:before {
  content: "\f192";
}
.fa-wheelchair:before {
  content: "\f193";
}
.fa-vimeo-square:before {
  content: "\f194";
}
.fa-turkish-lira:before,
.fa-try:before {
  content: "\f195";
}
.fa-plus-square-o:before {
  content: "\f196";
}
.fa-space-shuttle:before {
  content: "\f197";
}
.fa-slack:before {
  content: "\f198";
}
.fa-envelope-square:before {
  content: "\f199";
}
.fa-wordpress:before {
  content: "\f19a";
}
.fa-openid:before {
  content: "\f19b";
}
.fa-institution:before,
.fa-bank:before,
.fa-university:before {
  content: "\f19c";
}
.fa-mortar-board:before,
.fa-graduation-cap:before {
  content: "\f19d";
}
.fa-yahoo:before {
  content: "\f19e";
}
.fa-google:before {
  content: "\f1a0";
}
.fa-reddit:before {
  content: "\f1a1";
}
.fa-reddit-square:before {
  content: "\f1a2";
}
.fa-stumbleupon-circle:before {
  content: "\f1a3";
}
.fa-stumbleupon:before {
  content: "\f1a4";
}
.fa-delicious:before {
  content: "\f1a5";
}
.fa-digg:before {
  content: "\f1a6";
}
.fa-pied-piper:before {
  content: "\f1a7";
}
.fa-pied-piper-alt:before {
  content: "\f1a8";
}
.fa-drupal:before {
  content: "\f1a9";
}
.fa-joomla:before {
  content: "\f1aa";
}
.fa-language:before {
  content: "\f1ab";
}
.fa-fax:before {
  content: "\f1ac";
}
.fa-building:before {
  content: "\f1ad";
}
.fa-child:before {
  content: "\f1ae";
}
.fa-paw:before {
  content: "\f1b0";
}
.fa-spoon:before {
  content: "\f1b1";
}
.fa-cube:before {
  content: "\f1b2";
}
.fa-cubes:before {
  content: "\f1b3";
}
.fa-behance:before {
  content: "\f1b4";
}
.fa-behance-square:before {
  content: "\f1b5";
}
.fa-steam:before {
  content: "\f1b6";
}
.fa-steam-square:before {
  content: "\f1b7";
}
.fa-recycle:before {
  content: "\f1b8";
}
.fa-automobile:before,
.fa-car:before {
  content: "\f1b9";
}
.fa-cab:before,
.fa-taxi:before {
  content: "\f1ba";
}
.fa-tree:before {
  content: "\f1bb";
}
.fa-spotify:before {
  content: "\f1bc";
}
.fa-deviantart:before {
  content: "\f1bd";
}
.fa-soundcloud:before {
  content: "\f1be";
}
.fa-database:before {
  content: "\f1c0";
}
.fa-file-pdf-o:before {
  content: "\f1c1";
}
.fa-file-word-o:before {
  content: "\f1c2";
}
.fa-file-excel-o:before {
  content: "\f1c3";
}
.fa-file-powerpoint-o:before {
  content: "\f1c4";
}
.fa-file-photo-o:before,
.fa-file-picture-o:before,
.fa-file-image-o:before {
  content: "\f1c5";
}
.fa-file-zip-o:before,
.fa-file-archive-o:before {
  content: "\f1c6";
}
.fa-file-sound-o:before,
.fa-file-audio-o:before {
  content: "\f1c7";
}
.fa-file-movie-o:before,
.fa-file-video-o:before {
  content: "\f1c8";
}
.fa-file-code-o:before {
  content: "\f1c9";
}
.fa-vine:before {
  content: "\f1ca";
}
.fa-codepen:before {
  content: "\f1cb";
}
.fa-jsfiddle:before {
  content: "\f1cc";
}
.fa-life-bouy:before,
.fa-life-buoy:before,
.fa-life-saver:before,
.fa-support:before,
.fa-life-ring:before {
  content: "\f1cd";
}
.fa-circle-o-notch:before {
  content: "\f1ce";
}
.fa-ra:before,
.fa-rebel:before {
  content: "\f1d0";
}
.fa-ge:before,
.fa-empire:before {
  content: "\f1d1";
}
.fa-git-square:before {
  content: "\f1d2";
}
.fa-git:before {
  content: "\f1d3";
}
.fa-hacker-news:before {
  content: "\f1d4";
}
.fa-tencent-weibo:before {
  content: "\f1d5";
}
.fa-qq:before {
  content: "\f1d6";
}
.fa-wechat:before,
.fa-weixin:before {
  content: "\f1d7";
}
.fa-send:before,
.fa-paper-plane:before {
  content: "\f1d8";
}
.fa-send-o:before,
.fa-paper-plane-o:before {
  content: "\f1d9";
}
.fa-history:before {
  content: "\f1da";
}
.fa-circle-thin:before {
  content: "\f1db";
}
.fa-header:before {
  content: "\f1dc";
}
.fa-paragraph:before {
  content: "\f1dd";
}
.fa-sliders:before {
  content: "\f1de";
}
.fa-share-alt:before {
  content: "\f1e0";
}
.fa-share-alt-square:before {
  content: "\f1e1";
}
.fa-bomb:before {
  content: "\f1e2";
}
.fa-soccer-ball-o:before,
.fa-futbol-o:before {
  content: "\f1e3";
}
.fa-tty:before {
  content: "\f1e4";
}
.fa-binoculars:before {
  content: "\f1e5";
}
.fa-plug:before {
  content: "\f1e6";
}
.fa-slideshare:before {
  content: "\f1e7";
}
.fa-twitch:before {
  content: "\f1e8";
}
.fa-yelp:before {
  content: "\f1e9";
}
.fa-newspaper-o:before {
  content: "\f1ea";
}
.fa-wifi:before {
  content: "\f1eb";
}
.fa-calculator:before {
  content: "\f1ec";
}
.fa-paypal:before {
  content: "\f1ed";
}
.fa-google-wallet:before {
  content: "\f1ee";
}
.fa-cc-visa:before {
  content: "\f1f0";
}
.fa-cc-mastercard:before {
  content: "\f1f1";
}
.fa-cc-discover:before {
  content: "\f1f2";
}
.fa-cc-amex:before {
  content: "\f1f3";
}
.fa-cc-paypal:before {
  content: "\f1f4";
}
.fa-cc-stripe:before {
  content: "\f1f5";
}
.fa-bell-slash:before {
  content: "\f1f6";
}
.fa-bell-slash-o:before {
  content: "\f1f7";
}
.fa-trash:before {
  content: "\f1f8";
}
.fa-copyright:before {
  content: "\f1f9";
}
.fa-at:before {
  content: "\f1fa";
}
.fa-eyedropper:before {
  content: "\f1fb";
}
.fa-paint-brush:before {
  content: "\f1fc";
}
.fa-birthday-cake:before {
  content: "\f1fd";
}
.fa-area-chart:before {
  content: "\f1fe";
}
.fa-pie-chart:before {
  content: "\f200";
}
.fa-line-chart:before {
  content: "\f201";
}
.fa-lastfm:before {
  content: "\f202";
}
.fa-lastfm-square:before {
  content: "\f203";
}
.fa-toggle-off:before {
  content: "\f204";
}
.fa-toggle-on:before {
  content: "\f205";
}
.fa-bicycle:before {
  content: "\f206";
}
.fa-bus:before {
  content: "\f207";
}
.fa-ioxhost:before {
  content: "\f208";
}
.fa-angellist:before {
  content: "\f209";
}
.fa-cc:before {
  content: "\f20a";
}
.fa-shekel:before,
.fa-sheqel:before,
.fa-ils:before {
  content: "\f20b";
}
.fa-meanpath:before {
  content: "\f20c";
}
/*!
*
* IPython base
*
*/
.modal.fade .modal-dialog {
  -webkit-transform: translate(0, 0);
  -ms-transform: translate(0, 0);
  -o-transform: translate(0, 0);
  transform: translate(0, 0);
}
code {
  color: #000;
}
pre {
  font-size: inherit;
  line-height: inherit;
}
label {
  font-weight: normal;
}
/* Make the page background atleast 100% the height of the view port */
/* Make the page itself atleast 70% the height of the view port */
.border-box-sizing {
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
.corner-all {
  border-radius: 2px;
}
.no-padding {
  padding: 0px;
}
/* Flexible box model classes */
/* Taken from Alex Russell http://infrequently.org/2009/08/css-3-progress/ */
/* This file is a compatability layer.  It allows the usage of flexible box 
model layouts accross multiple browsers, including older browsers.  The newest,
universal implementation of the flexible box model is used when available (see
`Modern browsers` comments below).  Browsers that are known to implement this 
new spec completely include:

    Firefox 28.0+
    Chrome 29.0+
    Internet Explorer 11+ 
    Opera 17.0+

Browsers not listed, including Safari, are supported via the styling under the
`Old browsers` comments below.
*/
.hbox {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
.hbox > * {
  /* Old browsers */
  -webkit-box-flex: 0;
  -moz-box-flex: 0;
  box-flex: 0;
  /* Modern browsers */
  flex: none;
}
.vbox {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
}
.vbox > * {
  /* Old browsers */
  -webkit-box-flex: 0;
  -moz-box-flex: 0;
  box-flex: 0;
  /* Modern browsers */
  flex: none;
}
.hbox.reverse,
.vbox.reverse,
.reverse {
  /* Old browsers */
  -webkit-box-direction: reverse;
  -moz-box-direction: reverse;
  box-direction: reverse;
  /* Modern browsers */
  flex-direction: row-reverse;
}
.hbox.box-flex0,
.vbox.box-flex0,
.box-flex0 {
  /* Old browsers */
  -webkit-box-flex: 0;
  -moz-box-flex: 0;
  box-flex: 0;
  /* Modern browsers */
  flex: none;
  width: auto;
}
.hbox.box-flex1,
.vbox.box-flex1,
.box-flex1 {
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
}
.hbox.box-flex,
.vbox.box-flex,
.box-flex {
  /* Old browsers */
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
}
.hbox.box-flex2,
.vbox.box-flex2,
.box-flex2 {
  /* Old browsers */
  -webkit-box-flex: 2;
  -moz-box-flex: 2;
  box-flex: 2;
  /* Modern browsers */
  flex: 2;
}
.box-group1 {
  /*  Deprecated */
  -webkit-box-flex-group: 1;
  -moz-box-flex-group: 1;
  box-flex-group: 1;
}
.box-group2 {
  /* Deprecated */
  -webkit-box-flex-group: 2;
  -moz-box-flex-group: 2;
  box-flex-group: 2;
}
.hbox.start,
.vbox.start,
.start {
  /* Old browsers */
  -webkit-box-pack: start;
  -moz-box-pack: start;
  box-pack: start;
  /* Modern browsers */
  justify-content: flex-start;
}
.hbox.end,
.vbox.end,
.end {
  /* Old browsers */
  -webkit-box-pack: end;
  -moz-box-pack: end;
  box-pack: end;
  /* Modern browsers */
  justify-content: flex-end;
}
.hbox.center,
.vbox.center,
.center {
  /* Old browsers */
  -webkit-box-pack: center;
  -moz-box-pack: center;
  box-pack: center;
  /* Modern browsers */
  justify-content: center;
}
.hbox.baseline,
.vbox.baseline,
.baseline {
  /* Old browsers */
  -webkit-box-pack: baseline;
  -moz-box-pack: baseline;
  box-pack: baseline;
  /* Modern browsers */
  justify-content: baseline;
}
.hbox.stretch,
.vbox.stretch,
.stretch {
  /* Old browsers */
  -webkit-box-pack: stretch;
  -moz-box-pack: stretch;
  box-pack: stretch;
  /* Modern browsers */
  justify-content: stretch;
}
.hbox.align-start,
.vbox.align-start,
.align-start {
  /* Old browsers */
  -webkit-box-align: start;
  -moz-box-align: start;
  box-align: start;
  /* Modern browsers */
  align-items: flex-start;
}
.hbox.align-end,
.vbox.align-end,
.align-end {
  /* Old browsers */
  -webkit-box-align: end;
  -moz-box-align: end;
  box-align: end;
  /* Modern browsers */
  align-items: flex-end;
}
.hbox.align-center,
.vbox.align-center,
.align-center {
  /* Old browsers */
  -webkit-box-align: center;
  -moz-box-align: center;
  box-align: center;
  /* Modern browsers */
  align-items: center;
}
.hbox.align-baseline,
.vbox.align-baseline,
.align-baseline {
  /* Old browsers */
  -webkit-box-align: baseline;
  -moz-box-align: baseline;
  box-align: baseline;
  /* Modern browsers */
  align-items: baseline;
}
.hbox.align-stretch,
.vbox.align-stretch,
.align-stretch {
  /* Old browsers */
  -webkit-box-align: stretch;
  -moz-box-align: stretch;
  box-align: stretch;
  /* Modern browsers */
  align-items: stretch;
}
div.error {
  margin: 2em;
  text-align: center;
}
div.error > h1 {
  font-size: 500%;
  line-height: normal;
}
div.error > p {
  font-size: 200%;
  line-height: normal;
}
div.traceback-wrapper {
  text-align: left;
  max-width: 800px;
  margin: auto;
}
/**
 * Primary styles
 *
 * Author: Jupyter Development Team
 */
body {
  background-color: #fff;
  /* This makes sure that the body covers the entire window and needs to
       be in a different element than the display: box in wrapper below */
  position: absolute;
  left: 0px;
  right: 0px;
  top: 0px;
  bottom: 0px;
  overflow: visible;
}
body > #header {
  /* Initially hidden to prevent FLOUC */
  display: none;
  background-color: #fff;
  /* Display over codemirror */
  position: relative;
  z-index: 100;
}
body > #header #header-container {
  padding-bottom: 5px;
  padding-top: 5px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
body > #header .header-bar {
  width: 100%;
  height: 1px;
  background: #e7e7e7;
  margin-bottom: -1px;
}
@media print {
  body > #header {
    display: none !important;
  }
}
#header-spacer {
  width: 100%;
  visibility: hidden;
}
@media print {
  #header-spacer {
    display: none;
  }
}
#ipython_notebook {
  padding-left: 0px;
  padding-top: 1px;
  padding-bottom: 1px;
}
@media (max-width: 991px) {
  #ipython_notebook {
    margin-left: 10px;
  }
}
[dir="rtl"] #ipython_notebook {
  float: right !important;
}
#noscript {
  width: auto;
  padding-top: 16px;
  padding-bottom: 16px;
  text-align: center;
  font-size: 22px;
  color: red;
  font-weight: bold;
}
#ipython_notebook img {
  height: 28px;
}
#site {
  width: 100%;
  display: none;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  overflow: auto;
}
@media print {
  #site {
    height: auto !important;
  }
}
/* Smaller buttons */
.ui-button .ui-button-text {
  padding: 0.2em 0.8em;
  font-size: 77%;
}
input.ui-button {
  padding: 0.3em 0.9em;
}
span#login_widget {
  float: right;
}
span#login_widget > .button,
#logout {
  color: #333;
  background-color: #fff;
  border-color: #ccc;
}
span#login_widget > .button:focus,
#logout:focus,
span#login_widget > .button.focus,
#logout.focus {
  color: #333;
  background-color: #e6e6e6;
  border-color: #8c8c8c;
}
span#login_widget > .button:hover,
#logout:hover {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
span#login_widget > .button:active,
#logout:active,
span#login_widget > .button.active,
#logout.active,
.open > .dropdown-togglespan#login_widget > .button,
.open > .dropdown-toggle#logout {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
span#login_widget > .button:active:hover,
#logout:active:hover,
span#login_widget > .button.active:hover,
#logout.active:hover,
.open > .dropdown-togglespan#login_widget > .button:hover,
.open > .dropdown-toggle#logout:hover,
span#login_widget > .button:active:focus,
#logout:active:focus,
span#login_widget > .button.active:focus,
#logout.active:focus,
.open > .dropdown-togglespan#login_widget > .button:focus,
.open > .dropdown-toggle#logout:focus,
span#login_widget > .button:active.focus,
#logout:active.focus,
span#login_widget > .button.active.focus,
#logout.active.focus,
.open > .dropdown-togglespan#login_widget > .button.focus,
.open > .dropdown-toggle#logout.focus {
  color: #333;
  background-color: #d4d4d4;
  border-color: #8c8c8c;
}
span#login_widget > .button:active,
#logout:active,
span#login_widget > .button.active,
#logout.active,
.open > .dropdown-togglespan#login_widget > .button,
.open > .dropdown-toggle#logout {
  background-image: none;
}
span#login_widget > .button.disabled:hover,
#logout.disabled:hover,
span#login_widget > .button[disabled]:hover,
#logout[disabled]:hover,
fieldset[disabled] span#login_widget > .button:hover,
fieldset[disabled] #logout:hover,
span#login_widget > .button.disabled:focus,
#logout.disabled:focus,
span#login_widget > .button[disabled]:focus,
#logout[disabled]:focus,
fieldset[disabled] span#login_widget > .button:focus,
fieldset[disabled] #logout:focus,
span#login_widget > .button.disabled.focus,
#logout.disabled.focus,
span#login_widget > .button[disabled].focus,
#logout[disabled].focus,
fieldset[disabled] span#login_widget > .button.focus,
fieldset[disabled] #logout.focus {
  background-color: #fff;
  border-color: #ccc;
}
span#login_widget > .button .badge,
#logout .badge {
  color: #fff;
  background-color: #333;
}
.nav-header {
  text-transform: none;
}
#header > span {
  margin-top: 10px;
}
.modal_stretch .modal-dialog {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
  min-height: 80vh;
}
.modal_stretch .modal-dialog .modal-body {
  max-height: calc(100vh - 200px);
  overflow: auto;
  flex: 1;
}
@media (min-width: 768px) {
  .modal .modal-dialog {
    width: 700px;
  }
}
@media (min-width: 768px) {
  select.form-control {
    margin-left: 12px;
    margin-right: 12px;
  }
}
/*!
*
* IPython auth
*
*/
.center-nav {
  display: inline-block;
  margin-bottom: -4px;
}
/*!
*
* IPython tree view
*
*/
/* We need an invisible input field on top of the sentense*/
/* "Drag file onto the list ..." */
.alternate_upload {
  background-color: none;
  display: inline;
}
.alternate_upload.form {
  padding: 0;
  margin: 0;
}
.alternate_upload input.fileinput {
  text-align: center;
  vertical-align: middle;
  display: inline;
  opacity: 0;
  z-index: 2;
  width: 12ex;
  margin-right: -12ex;
}
.alternate_upload .btn-upload {
  height: 22px;
}
/**
 * Primary styles
 *
 * Author: Jupyter Development Team
 */
[dir="rtl"] #tabs li {
  float: right;
}
ul#tabs {
  margin-bottom: 4px;
}
[dir="rtl"] ul#tabs {
  margin-right: 0px;
}
ul#tabs a {
  padding-top: 6px;
  padding-bottom: 4px;
}
ul.breadcrumb a:focus,
ul.breadcrumb a:hover {
  text-decoration: none;
}
ul.breadcrumb i.icon-home {
  font-size: 16px;
  margin-right: 4px;
}
ul.breadcrumb span {
  color: #5e5e5e;
}
.list_toolbar {
  padding: 4px 0 4px 0;
  vertical-align: middle;
}
.list_toolbar .tree-buttons {
  padding-top: 1px;
}
[dir="rtl"] .list_toolbar .tree-buttons {
  float: left !important;
}
[dir="rtl"] .list_toolbar .pull-right {
  padding-top: 1px;
  float: left !important;
}
[dir="rtl"] .list_toolbar .pull-left {
  float: right !important;
}
.dynamic-buttons {
  padding-top: 3px;
  display: inline-block;
}
.list_toolbar [class*="span"] {
  min-height: 24px;
}
.list_header {
  font-weight: bold;
  background-color: #EEE;
}
.list_placeholder {
  font-weight: bold;
  padding-top: 4px;
  padding-bottom: 4px;
  padding-left: 7px;
  padding-right: 7px;
}
.list_container {
  margin-top: 4px;
  margin-bottom: 20px;
  border: 1px solid #ddd;
  border-radius: 2px;
}
.list_container > div {
  border-bottom: 1px solid #ddd;
}
.list_container > div:hover .list-item {
  background-color: red;
}
.list_container > div:last-child {
  border: none;
}
.list_item:hover .list_item {
  background-color: #ddd;
}
.list_item a {
  text-decoration: none;
}
.list_item:hover {
  background-color: #fafafa;
}
.list_header > div,
.list_item > div {
  padding-top: 4px;
  padding-bottom: 4px;
  padding-left: 7px;
  padding-right: 7px;
  line-height: 22px;
}
.list_header > div input,
.list_item > div input {
  margin-right: 7px;
  margin-left: 14px;
  vertical-align: baseline;
  line-height: 22px;
  position: relative;
  top: -1px;
}
.list_header > div .item_link,
.list_item > div .item_link {
  margin-left: -1px;
  vertical-align: baseline;
  line-height: 22px;
}
.new-file input[type=checkbox] {
  visibility: hidden;
}
.item_name {
  line-height: 22px;
  height: 24px;
}
.item_icon {
  font-size: 14px;
  color: #5e5e5e;
  margin-right: 7px;
  margin-left: 7px;
  line-height: 22px;
  vertical-align: baseline;
}
.item_buttons {
  line-height: 1em;
  margin-left: -5px;
}
.item_buttons .btn,
.item_buttons .btn-group,
.item_buttons .input-group {
  float: left;
}
.item_buttons > .btn,
.item_buttons > .btn-group,
.item_buttons > .input-group {
  margin-left: 5px;
}
.item_buttons .btn {
  min-width: 13ex;
}
.item_buttons .running-indicator {
  padding-top: 4px;
  color: #5cb85c;
}
.item_buttons .kernel-name {
  padding-top: 4px;
  color: #5bc0de;
  margin-right: 7px;
  float: left;
}
.toolbar_info {
  height: 24px;
  line-height: 24px;
}
.list_item input:not([type=checkbox]) {
  padding-top: 3px;
  padding-bottom: 3px;
  height: 22px;
  line-height: 14px;
  margin: 0px;
}
.highlight_text {
  color: blue;
}
#project_name {
  display: inline-block;
  padding-left: 7px;
  margin-left: -2px;
}
#project_name > .breadcrumb {
  padding: 0px;
  margin-bottom: 0px;
  background-color: transparent;
  font-weight: bold;
}
#tree-selector {
  padding-right: 0px;
}
[dir="rtl"] #tree-selector a {
  float: right;
}
#button-select-all {
  min-width: 50px;
}
#select-all {
  margin-left: 7px;
  margin-right: 2px;
}
.menu_icon {
  margin-right: 2px;
}
.tab-content .row {
  margin-left: 0px;
  margin-right: 0px;
}
.folder_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f114";
}
.folder_icon:before.pull-left {
  margin-right: .3em;
}
.folder_icon:before.pull-right {
  margin-left: .3em;
}
.notebook_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f02d";
  position: relative;
  top: -1px;
}
.notebook_icon:before.pull-left {
  margin-right: .3em;
}
.notebook_icon:before.pull-right {
  margin-left: .3em;
}
.running_notebook_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f02d";
  position: relative;
  top: -1px;
  color: #5cb85c;
}
.running_notebook_icon:before.pull-left {
  margin-right: .3em;
}
.running_notebook_icon:before.pull-right {
  margin-left: .3em;
}
.file_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f016";
  position: relative;
  top: -2px;
}
.file_icon:before.pull-left {
  margin-right: .3em;
}
.file_icon:before.pull-right {
  margin-left: .3em;
}
#notebook_toolbar .pull-right {
  padding-top: 0px;
  margin-right: -1px;
}
ul#new-menu {
  left: auto;
  right: 0;
}
[dir="rtl"] #new-menu {
  text-align: right;
}
.kernel-menu-icon {
  padding-right: 12px;
  width: 24px;
  content: "\f096";
}
.kernel-menu-icon:before {
  content: "\f096";
}
.kernel-menu-icon-current:before {
  content: "\f00c";
}
#tab_content {
  padding-top: 20px;
}
#running .panel-group .panel {
  margin-top: 3px;
  margin-bottom: 1em;
}
#running .panel-group .panel .panel-heading {
  background-color: #EEE;
  padding-top: 4px;
  padding-bottom: 4px;
  padding-left: 7px;
  padding-right: 7px;
  line-height: 22px;
}
#running .panel-group .panel .panel-heading a:focus,
#running .panel-group .panel .panel-heading a:hover {
  text-decoration: none;
}
#running .panel-group .panel .panel-body {
  padding: 0px;
}
#running .panel-group .panel .panel-body .list_container {
  margin-top: 0px;
  margin-bottom: 0px;
  border: 0px;
  border-radius: 0px;
}
#running .panel-group .panel .panel-body .list_container .list_item {
  border-bottom: 1px solid #ddd;
}
#running .panel-group .panel .panel-body .list_container .list_item:last-child {
  border-bottom: 0px;
}
[dir="rtl"] #running .col-sm-8 {
  float: right !important;
}
.delete-button {
  display: none;
}
.duplicate-button {
  display: none;
}
.rename-button {
  display: none;
}
.shutdown-button {
  display: none;
}
.dynamic-instructions {
  display: inline-block;
  padding-top: 4px;
}
/*!
*
* IPython text editor webapp
*
*/
.selected-keymap i.fa {
  padding: 0px 5px;
}
.selected-keymap i.fa:before {
  content: "\f00c";
}
#mode-menu {
  overflow: auto;
  max-height: 20em;
}
.edit_app #header {
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
}
.edit_app #menubar .navbar {
  /* Use a negative 1 bottom margin, so the border overlaps the border of the
    header */
  margin-bottom: -1px;
}
.dirty-indicator {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  width: 20px;
}
.dirty-indicator.pull-left {
  margin-right: .3em;
}
.dirty-indicator.pull-right {
  margin-left: .3em;
}
.dirty-indicator-dirty {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  width: 20px;
}
.dirty-indicator-dirty.pull-left {
  margin-right: .3em;
}
.dirty-indicator-dirty.pull-right {
  margin-left: .3em;
}
.dirty-indicator-clean {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  width: 20px;
}
.dirty-indicator-clean.pull-left {
  margin-right: .3em;
}
.dirty-indicator-clean.pull-right {
  margin-left: .3em;
}
.dirty-indicator-clean:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f00c";
}
.dirty-indicator-clean:before.pull-left {
  margin-right: .3em;
}
.dirty-indicator-clean:before.pull-right {
  margin-left: .3em;
}
#filename {
  font-size: 16pt;
  display: table;
  padding: 0px 5px;
}
#current-mode {
  padding-left: 5px;
  padding-right: 5px;
}
#texteditor-backdrop {
  padding-top: 20px;
  padding-bottom: 20px;
}
@media not print {
  #texteditor-backdrop {
    background-color: #EEE;
  }
}
@media print {
  #texteditor-backdrop #texteditor-container .CodeMirror-gutter,
  #texteditor-backdrop #texteditor-container .CodeMirror-gutters {
    background-color: #fff;
  }
}
@media not print {
  #texteditor-backdrop #texteditor-container .CodeMirror-gutter,
  #texteditor-backdrop #texteditor-container .CodeMirror-gutters {
    background-color: #fff;
  }
}
@media not print {
  #texteditor-backdrop #texteditor-container {
    padding: 0px;
    background-color: #fff;
    -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
    box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  }
}
/*!
*
* IPython notebook
*
*/
/* CSS font colors for translated ANSI colors. */
.ansibold {
  font-weight: bold;
}
/* use dark versions for foreground, to improve visibility */
.ansiblack {
  color: black;
}
.ansired {
  color: darkred;
}
.ansigreen {
  color: darkgreen;
}
.ansiyellow {
  color: #c4a000;
}
.ansiblue {
  color: darkblue;
}
.ansipurple {
  color: darkviolet;
}
.ansicyan {
  color: steelblue;
}
.ansigray {
  color: gray;
}
/* and light for background, for the same reason */
.ansibgblack {
  background-color: black;
}
.ansibgred {
  background-color: red;
}
.ansibggreen {
  background-color: green;
}
.ansibgyellow {
  background-color: yellow;
}
.ansibgblue {
  background-color: blue;
}
.ansibgpurple {
  background-color: magenta;
}
.ansibgcyan {
  background-color: cyan;
}
.ansibggray {
  background-color: gray;
}
div.cell {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
  border-radius: 2px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  border-width: 1px;
  border-style: solid;
  border-color: transparent;
  width: 100%;
  padding: 5px;
  /* This acts as a spacer between cells, that is outside the border */
  margin: 0px;
  outline: none;
  border-left-width: 1px;
  padding-left: 5px;
  background: linear-gradient(to right, transparent -40px, transparent 1px, transparent 1px, transparent 100%);
}
div.cell.jupyter-soft-selected {
  border-left-color: #90CAF9;
  border-left-color: #E3F2FD;
  border-left-width: 1px;
  padding-left: 5px;
  border-right-color: #E3F2FD;
  border-right-width: 1px;
  background: #E3F2FD;
}
@media print {
  div.cell.jupyter-soft-selected {
    border-color: transparent;
  }
}
div.cell.selected {
  border-color: #ababab;
  border-left-width: 0px;
  padding-left: 6px;
  background: linear-gradient(to right, #42A5F5 -40px, #42A5F5 5px, transparent 5px, transparent 100%);
}
@media print {
  div.cell.selected {
    border-color: transparent;
  }
}
div.cell.selected.jupyter-soft-selected {
  border-left-width: 0;
  padding-left: 6px;
  background: linear-gradient(to right, #42A5F5 -40px, #42A5F5 7px, #E3F2FD 7px, #E3F2FD 100%);
}
.edit_mode div.cell.selected {
  border-color: #66BB6A;
  border-left-width: 0px;
  padding-left: 6px;
  background: linear-gradient(to right, #66BB6A -40px, #66BB6A 5px, transparent 5px, transparent 100%);
}
@media print {
  .edit_mode div.cell.selected {
    border-color: transparent;
  }
}
.prompt {
  /* This needs to be wide enough for 3 digit prompt numbers: In[100]: */
  min-width: 14ex;
  /* This padding is tuned to match the padding on the CodeMirror editor. */
  padding: 0.4em;
  margin: 0px;
  font-family: monospace;
  text-align: right;
  /* This has to match that of the the CodeMirror class line-height below */
  line-height: 1.21429em;
  /* Don't highlight prompt number selection */
  -webkit-touch-callout: none;
  -webkit-user-select: none;
  -khtml-user-select: none;
  -moz-user-select: none;
  -ms-user-select: none;
  user-select: none;
  /* Use default cursor */
  cursor: default;
}
@media (max-width: 540px) {
  .prompt {
    text-align: left;
  }
}
div.inner_cell {
  min-width: 0;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
}
/* input_area and input_prompt must match in top border and margin for alignment */
div.input_area {
  border: 1px solid #cfcfcf;
  border-radius: 2px;
  background: #f7f7f7;
  line-height: 1.21429em;
}
/* This is needed so that empty prompt areas can collapse to zero height when there
   is no content in the output_subarea and the prompt. The main purpose of this is
   to make sure that empty JavaScript output_subareas have no height. */
div.prompt:empty {
  padding-top: 0;
  padding-bottom: 0;
}
div.unrecognized_cell {
  padding: 5px 5px 5px 0px;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
div.unrecognized_cell .inner_cell {
  border-radius: 2px;
  padding: 5px;
  font-weight: bold;
  color: red;
  border: 1px solid #cfcfcf;
  background: #eaeaea;
}
div.unrecognized_cell .inner_cell a {
  color: inherit;
  text-decoration: none;
}
div.unrecognized_cell .inner_cell a:hover {
  color: inherit;
  text-decoration: none;
}
@media (max-width: 540px) {
  div.unrecognized_cell > div.prompt {
    display: none;
  }
}
div.code_cell {
  /* avoid page breaking on code cells when printing */
}
@media print {
  div.code_cell {
    page-break-inside: avoid;
  }
}
/* any special styling for code cells that are currently running goes here */
div.input {
  page-break-inside: avoid;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
@media (max-width: 540px) {
  div.input {
    /* Old browsers */
    display: -webkit-box;
    -webkit-box-orient: vertical;
    -webkit-box-align: stretch;
    display: -moz-box;
    -moz-box-orient: vertical;
    -moz-box-align: stretch;
    display: box;
    box-orient: vertical;
    box-align: stretch;
    /* Modern browsers */
    display: flex;
    flex-direction: column;
    align-items: stretch;
  }
}
/* input_area and input_prompt must match in top border and margin for alignment */
div.input_prompt {
  color: #303F9F;
  border-top: 1px solid transparent;
}
div.input_area > div.highlight {
  margin: 0.4em;
  border: none;
  padding: 0px;
  background-color: transparent;
}
div.input_area > div.highlight > pre {
  margin: 0px;
  border: none;
  padding: 0px;
  background-color: transparent;
}
/* The following gets added to the <head> if it is detected that the user has a
 * monospace font with inconsistent normal/bold/italic height.  See
 * notebookmain.js.  Such fonts will have keywords vertically offset with
 * respect to the rest of the text.  The user should select a better font.
 * See: https://github.com/ipython/ipython/issues/1503
 *
 * .CodeMirror span {
 *      vertical-align: bottom;
 * }
 */
.CodeMirror {
  line-height: 1.21429em;
  /* Changed from 1em to our global default */
  font-size: 14px;
  height: auto;
  /* Changed to auto to autogrow */
  background: none;
  /* Changed from white to allow our bg to show through */
}
.CodeMirror-scroll {
  /*  The CodeMirror docs are a bit fuzzy on if overflow-y should be hidden or visible.*/
  /*  We have found that if it is visible, vertical scrollbars appear with font size changes.*/
  overflow-y: hidden;
  overflow-x: auto;
}
.CodeMirror-lines {
  /* In CM2, this used to be 0.4em, but in CM3 it went to 4px. We need the em value because */
  /* we have set a different line-height and want this to scale with that. */
  padding: 0.4em;
}
.CodeMirror-linenumber {
  padding: 0 8px 0 4px;
}
.CodeMirror-gutters {
  border-bottom-left-radius: 2px;
  border-top-left-radius: 2px;
}
.CodeMirror pre {
  /* In CM3 this went to 4px from 0 in CM2. We need the 0 value because of how we size */
  /* .CodeMirror-lines */
  padding: 0;
  border: 0;
  border-radius: 0;
}
/*

Original style from softwaremaniacs.org (c) Ivan Sagalaev <Maniac@SoftwareManiacs.Org>
Adapted from GitHub theme

*/
.highlight-base {
  color: #000;
}
.highlight-variable {
  color: #000;
}
.highlight-variable-2 {
  color: #1a1a1a;
}
.highlight-variable-3 {
  color: #333333;
}
.highlight-string {
  color: #BA2121;
}
.highlight-comment {
  color: #408080;
  font-style: italic;
}
.highlight-number {
  color: #080;
}
.highlight-atom {
  color: #88F;
}
.highlight-keyword {
  color: #008000;
  font-weight: bold;
}
.highlight-builtin {
  color: #008000;
}
.highlight-error {
  color: #f00;
}
.highlight-operator {
  color: #AA22FF;
  font-weight: bold;
}
.highlight-meta {
  color: #AA22FF;
}
/* previously not defined, copying from default codemirror */
.highlight-def {
  color: #00f;
}
.highlight-string-2 {
  color: #f50;
}
.highlight-qualifier {
  color: #555;
}
.highlight-bracket {
  color: #997;
}
.highlight-tag {
  color: #170;
}
.highlight-attribute {
  color: #00c;
}
.highlight-header {
  color: blue;
}
.highlight-quote {
  color: #090;
}
.highlight-link {
  color: #00c;
}
/* apply the same style to codemirror */
.cm-s-ipython span.cm-keyword {
  color: #008000;
  font-weight: bold;
}
.cm-s-ipython span.cm-atom {
  color: #88F;
}
.cm-s-ipython span.cm-number {
  color: #080;
}
.cm-s-ipython span.cm-def {
  color: #00f;
}
.cm-s-ipython span.cm-variable {
  color: #000;
}
.cm-s-ipython span.cm-operator {
  color: #AA22FF;
  font-weight: bold;
}
.cm-s-ipython span.cm-variable-2 {
  color: #1a1a1a;
}
.cm-s-ipython span.cm-variable-3 {
  color: #333333;
}
.cm-s-ipython span.cm-comment {
  color: #408080;
  font-style: italic;
}
.cm-s-ipython span.cm-string {
  color: #BA2121;
}
.cm-s-ipython span.cm-string-2 {
  color: #f50;
}
.cm-s-ipython span.cm-meta {
  color: #AA22FF;
}
.cm-s-ipython span.cm-qualifier {
  color: #555;
}
.cm-s-ipython span.cm-builtin {
  color: #008000;
}
.cm-s-ipython span.cm-bracket {
  color: #997;
}
.cm-s-ipython span.cm-tag {
  color: #170;
}
.cm-s-ipython span.cm-attribute {
  color: #00c;
}
.cm-s-ipython span.cm-header {
  color: blue;
}
.cm-s-ipython span.cm-quote {
  color: #090;
}
.cm-s-ipython span.cm-link {
  color: #00c;
}
.cm-s-ipython span.cm-error {
  color: #f00;
}
.cm-s-ipython span.cm-tab {
  background: url(data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAAMCAYAAAAkuj5RAAAAAXNSR0IArs4c6QAAAGFJREFUSMft1LsRQFAQheHPowAKoACx3IgEKtaEHujDjORSgWTH/ZOdnZOcM/sgk/kFFWY0qV8foQwS4MKBCS3qR6ixBJvElOobYAtivseIE120FaowJPN75GMu8j/LfMwNjh4HUpwg4LUAAAAASUVORK5CYII=);
  background-position: right;
  background-repeat: no-repeat;
}
div.output_wrapper {
  /* this position must be relative to enable descendents to be absolute within it */
  position: relative;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
  z-index: 1;
}
/* class for the output area when it should be height-limited */
div.output_scroll {
  /* ideally, this would be max-height, but FF barfs all over that */
  height: 24em;
  /* FF needs this *and the wrapper* to specify full width, or it will shrinkwrap */
  width: 100%;
  overflow: auto;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 2px 8px rgba(0, 0, 0, 0.8);
  box-shadow: inset 0 2px 8px rgba(0, 0, 0, 0.8);
  display: block;
}
/* output div while it is collapsed */
div.output_collapsed {
  margin: 0px;
  padding: 0px;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
}
div.out_prompt_overlay {
  height: 100%;
  padding: 0px 0.4em;
  position: absolute;
  border-radius: 2px;
}
div.out_prompt_overlay:hover {
  /* use inner shadow to get border that is computed the same on WebKit/FF */
  -webkit-box-shadow: inset 0 0 1px #000;
  box-shadow: inset 0 0 1px #000;
  background: rgba(240, 240, 240, 0.5);
}
div.output_prompt {
  color: #D84315;
}
/* This class is the outer container of all output sections. */
div.output_area {
  padding: 0px;
  page-break-inside: avoid;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
div.output_area .MathJax_Display {
  text-align: left !important;
}
div.output_area .rendered_html table {
  margin-left: 0;
  margin-right: 0;
}
div.output_area .rendered_html img {
  margin-left: 0;
  margin-right: 0;
}
div.output_area img,
div.output_area svg {
  max-width: 100%;
  height: auto;
}
div.output_area img.unconfined,
div.output_area svg.unconfined {
  max-width: none;
}
/* This is needed to protect the pre formating from global settings such
   as that of bootstrap */
.output {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
}
@media (max-width: 540px) {
  div.output_area {
    /* Old browsers */
    display: -webkit-box;
    -webkit-box-orient: vertical;
    -webkit-box-align: stretch;
    display: -moz-box;
    -moz-box-orient: vertical;
    -moz-box-align: stretch;
    display: box;
    box-orient: vertical;
    box-align: stretch;
    /* Modern browsers */
    display: flex;
    flex-direction: column;
    align-items: stretch;
  }
}
div.output_area pre {
  margin: 0;
  padding: 0;
  border: 0;
  vertical-align: baseline;
  color: black;
  background-color: transparent;
  border-radius: 0;
}
/* This class is for the output subarea inside the output_area and after
   the prompt div. */
div.output_subarea {
  overflow-x: auto;
  padding: 0.4em;
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
  max-width: calc(100% - 14ex);
}
div.output_scroll div.output_subarea {
  overflow-x: visible;
}
/* The rest of the output_* classes are for special styling of the different
   output types */
/* all text output has this class: */
div.output_text {
  text-align: left;
  color: #000;
  /* This has to match that of the the CodeMirror class line-height below */
  line-height: 1.21429em;
}
/* stdout/stderr are 'text' as well as 'stream', but execute_result/error are *not* streams */
div.output_stderr {
  background: #fdd;
  /* very light red background for stderr */
}
div.output_latex {
  text-align: left;
}
/* Empty output_javascript divs should have no height */
div.output_javascript:empty {
  padding: 0;
}
.js-error {
  color: darkred;
}
/* raw_input styles */
div.raw_input_container {
  line-height: 1.21429em;
  padding-top: 5px;
}
pre.raw_input_prompt {
  /* nothing needed here. */
}
input.raw_input {
  font-family: monospace;
  font-size: inherit;
  color: inherit;
  width: auto;
  /* make sure input baseline aligns with prompt */
  vertical-align: baseline;
  /* padding + margin = 0.5em between prompt and cursor */
  padding: 0em 0.25em;
  margin: 0em 0.25em;
}
input.raw_input:focus {
  box-shadow: none;
}
p.p-space {
  margin-bottom: 10px;
}
div.output_unrecognized {
  padding: 5px;
  font-weight: bold;
  color: red;
}
div.output_unrecognized a {
  color: inherit;
  text-decoration: none;
}
div.output_unrecognized a:hover {
  color: inherit;
  text-decoration: none;
}
.rendered_html {
  color: #000;
  /* any extras will just be numbers: */
}
.rendered_html em {
  font-style: italic;
}
.rendered_html strong {
  font-weight: bold;
}
.rendered_html u {
  text-decoration: underline;
}
.rendered_html :link {
  text-decoration: underline;
}
.rendered_html :visited {
  text-decoration: underline;
}
.rendered_html h1 {
  font-size: 185.7%;
  margin: 1.08em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
}
.rendered_html h2 {
  font-size: 157.1%;
  margin: 1.27em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
}
.rendered_html h3 {
  font-size: 128.6%;
  margin: 1.55em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
}
.rendered_html h4 {
  font-size: 100%;
  margin: 2em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
}
.rendered_html h5 {
  font-size: 100%;
  margin: 2em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
  font-style: italic;
}
.rendered_html h6 {
  font-size: 100%;
  margin: 2em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
  font-style: italic;
}
.rendered_html h1:first-child {
  margin-top: 0.538em;
}
.rendered_html h2:first-child {
  margin-top: 0.636em;
}
.rendered_html h3:first-child {
  margin-top: 0.777em;
}
.rendered_html h4:first-child {
  margin-top: 1em;
}
.rendered_html h5:first-child {
  margin-top: 1em;
}
.rendered_html h6:first-child {
  margin-top: 1em;
}
.rendered_html ul {
  list-style: disc;
  margin: 0em 2em;
  padding-left: 0px;
}
.rendered_html ul ul {
  list-style: square;
  margin: 0em 2em;
}
.rendered_html ul ul ul {
  list-style: circle;
  margin: 0em 2em;
}
.rendered_html ol {
  list-style: decimal;
  margin: 0em 2em;
  padding-left: 0px;
}
.rendered_html ol ol {
  list-style: upper-alpha;
  margin: 0em 2em;
}
.rendered_html ol ol ol {
  list-style: lower-alpha;
  margin: 0em 2em;
}
.rendered_html ol ol ol ol {
  list-style: lower-roman;
  margin: 0em 2em;
}
.rendered_html ol ol ol ol ol {
  list-style: decimal;
  margin: 0em 2em;
}
.rendered_html * + ul {
  margin-top: 1em;
}
.rendered_html * + ol {
  margin-top: 1em;
}
.rendered_html hr {
  color: black;
  background-color: black;
}
.rendered_html pre {
  margin: 1em 2em;
}
.rendered_html pre,
.rendered_html code {
  border: 0;
  background-color: #fff;
  color: #000;
  font-size: 100%;
  padding: 0px;
}
.rendered_html blockquote {
  margin: 1em 2em;
}
.rendered_html table {
  margin-left: auto;
  margin-right: auto;
  border: 1px solid black;
  border-collapse: collapse;
}
.rendered_html tr,
.rendered_html th,
.rendered_html td {
  border: 1px solid black;
  border-collapse: collapse;
  margin: 1em 2em;
}
.rendered_html td,
.rendered_html th {
  text-align: left;
  vertical-align: middle;
  padding: 4px;
}
.rendered_html th {
  font-weight: bold;
}
.rendered_html * + table {
  margin-top: 1em;
}
.rendered_html p {
  text-align: left;
}
.rendered_html * + p {
  margin-top: 1em;
}
.rendered_html img {
  display: block;
  margin-left: auto;
  margin-right: auto;
}
.rendered_html * + img {
  margin-top: 1em;
}
.rendered_html img,
.rendered_html svg {
  max-width: 100%;
  height: auto;
}
.rendered_html img.unconfined,
.rendered_html svg.unconfined {
  max-width: none;
}
div.text_cell {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
@media (max-width: 540px) {
  div.text_cell > div.prompt {
    display: none;
  }
}
div.text_cell_render {
  /*font-family: "Helvetica Neue", Arial, Helvetica, Geneva, sans-serif;*/
  outline: none;
  resize: none;
  width: inherit;
  border-style: none;
  padding: 0.5em 0.5em 0.5em 0.4em;
  color: #000;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
a.anchor-link:link {
  text-decoration: none;
  padding: 0px 20px;
  visibility: hidden;
}
h1:hover .anchor-link,
h2:hover .anchor-link,
h3:hover .anchor-link,
h4:hover .anchor-link,
h5:hover .anchor-link,
h6:hover .anchor-link {
  visibility: visible;
}
.text_cell.rendered .input_area {
  display: none;
}
.text_cell.rendered .rendered_html {
  overflow-x: auto;
  overflow-y: hidden;
}
.text_cell.unrendered .text_cell_render {
  display: none;
}
.cm-header-1,
.cm-header-2,
.cm-header-3,
.cm-header-4,
.cm-header-5,
.cm-header-6 {
  font-weight: bold;
  font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
}
.cm-header-1 {
  font-size: 185.7%;
}
.cm-header-2 {
  font-size: 157.1%;
}
.cm-header-3 {
  font-size: 128.6%;
}
.cm-header-4 {
  font-size: 110%;
}
.cm-header-5 {
  font-size: 100%;
  font-style: italic;
}
.cm-header-6 {
  font-size: 100%;
  font-style: italic;
}
/*!
*
* IPython notebook webapp
*
*/
@media (max-width: 767px) {
  .notebook_app {
    padding-left: 0px;
    padding-right: 0px;
  }
}
#ipython-main-app {
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  height: 100%;
}
div#notebook_panel {
  margin: 0px;
  padding: 0px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  height: 100%;
}
div#notebook {
  font-size: 14px;
  line-height: 20px;
  overflow-y: hidden;
  overflow-x: auto;
  width: 100%;
  /* This spaces the page away from the edge of the notebook area */
  padding-top: 20px;
  margin: 0px;
  outline: none;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  min-height: 100%;
}
@media not print {
  #notebook-container {
    padding: 15px;
    background-color: #fff;
    min-height: 0;
    -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
    box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  }
}
@media print {
  #notebook-container {
    width: 100%;
  }
}
div.ui-widget-content {
  border: 1px solid #ababab;
  outline: none;
}
pre.dialog {
  background-color: #f7f7f7;
  border: 1px solid #ddd;
  border-radius: 2px;
  padding: 0.4em;
  padding-left: 2em;
}
p.dialog {
  padding: 0.2em;
}
/* Word-wrap output correctly.  This is the CSS3 spelling, though Firefox seems
   to not honor it correctly.  Webkit browsers (Chrome, rekonq, Safari) do.
 */
pre,
code,
kbd,
samp {
  white-space: pre-wrap;
}
#fonttest {
  font-family: monospace;
}
p {
  margin-bottom: 0;
}
.end_space {
  min-height: 100px;
  transition: height .2s ease;
}
.notebook_app > #header {
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
}
@media not print {
  .notebook_app {
    background-color: #EEE;
  }
}
kbd {
  border-style: solid;
  border-width: 1px;
  box-shadow: none;
  margin: 2px;
  padding-left: 2px;
  padding-right: 2px;
  padding-top: 1px;
  padding-bottom: 1px;
}
/* CSS for the cell toolbar */
.celltoolbar {
  border: thin solid #CFCFCF;
  border-bottom: none;
  background: #EEE;
  border-radius: 2px 2px 0px 0px;
  width: 100%;
  height: 29px;
  padding-right: 4px;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
  /* Old browsers */
  -webkit-box-pack: end;
  -moz-box-pack: end;
  box-pack: end;
  /* Modern browsers */
  justify-content: flex-end;
  display: -webkit-flex;
}
@media print {
  .celltoolbar {
    display: none;
  }
}
.ctb_hideshow {
  display: none;
  vertical-align: bottom;
}
/* ctb_show is added to the ctb_hideshow div to show the cell toolbar.
   Cell toolbars are only shown when the ctb_global_show class is also set.
*/
.ctb_global_show .ctb_show.ctb_hideshow {
  display: block;
}
.ctb_global_show .ctb_show + .input_area,
.ctb_global_show .ctb_show + div.text_cell_input,
.ctb_global_show .ctb_show ~ div.text_cell_render {
  border-top-right-radius: 0px;
  border-top-left-radius: 0px;
}
.ctb_global_show .ctb_show ~ div.text_cell_render {
  border: 1px solid #cfcfcf;
}
.celltoolbar {
  font-size: 87%;
  padding-top: 3px;
}
.celltoolbar select {
  display: block;
  width: 100%;
  height: 32px;
  padding: 6px 12px;
  font-size: 13px;
  line-height: 1.42857143;
  color: #555555;
  background-color: #fff;
  background-image: none;
  border: 1px solid #ccc;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  -webkit-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  -o-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
  width: inherit;
  font-size: inherit;
  height: 22px;
  padding: 0px;
  display: inline-block;
}
.celltoolbar select:focus {
  border-color: #66afe9;
  outline: 0;
  -webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
  box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
}
.celltoolbar select::-moz-placeholder {
  color: #999;
  opacity: 1;
}
.celltoolbar select:-ms-input-placeholder {
  color: #999;
}
.celltoolbar select::-webkit-input-placeholder {
  color: #999;
}
.celltoolbar select::-ms-expand {
  border: 0;
  background-color: transparent;
}
.celltoolbar select[disabled],
.celltoolbar select[readonly],
fieldset[disabled] .celltoolbar select {
  background-color: #eeeeee;
  opacity: 1;
}
.celltoolbar select[disabled],
fieldset[disabled] .celltoolbar select {
  cursor: not-allowed;
}
textarea.celltoolbar select {
  height: auto;
}
select.celltoolbar select {
  height: 30px;
  line-height: 30px;
}
textarea.celltoolbar select,
select[multiple].celltoolbar select {
  height: auto;
}
.celltoolbar label {
  margin-left: 5px;
  margin-right: 5px;
}
.completions {
  position: absolute;
  z-index: 110;
  overflow: hidden;
  border: 1px solid #ababab;
  border-radius: 2px;
  -webkit-box-shadow: 0px 6px 10px -1px #adadad;
  box-shadow: 0px 6px 10px -1px #adadad;
  line-height: 1;
}
.completions select {
  background: white;
  outline: none;
  border: none;
  padding: 0px;
  margin: 0px;
  overflow: auto;
  font-family: monospace;
  font-size: 110%;
  color: #000;
  width: auto;
}
.completions select option.context {
  color: #286090;
}
#kernel_logo_widget {
  float: right !important;
  float: right;
}
#kernel_logo_widget .current_kernel_logo {
  display: none;
  margin-top: -1px;
  margin-bottom: -1px;
  width: 32px;
  height: 32px;
}
#menubar {
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  margin-top: 1px;
}
#menubar .navbar {
  border-top: 1px;
  border-radius: 0px 0px 2px 2px;
  margin-bottom: 0px;
}
#menubar .navbar-toggle {
  float: left;
  padding-top: 7px;
  padding-bottom: 7px;
  border: none;
}
#menubar .navbar-collapse {
  clear: left;
}
.nav-wrapper {
  border-bottom: 1px solid #e7e7e7;
}
i.menu-icon {
  padding-top: 4px;
}
ul#help_menu li a {
  overflow: hidden;
  padding-right: 2.2em;
}
ul#help_menu li a i {
  margin-right: -1.2em;
}
.dropdown-submenu {
  position: relative;
}
.dropdown-submenu > .dropdown-menu {
  top: 0;
  left: 100%;
  margin-top: -6px;
  margin-left: -1px;
}
.dropdown-submenu:hover > .dropdown-menu {
  display: block;
}
.dropdown-submenu > a:after {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  display: block;
  content: "\f0da";
  float: right;
  color: #333333;
  margin-top: 2px;
  margin-right: -10px;
}
.dropdown-submenu > a:after.pull-left {
  margin-right: .3em;
}
.dropdown-submenu > a:after.pull-right {
  margin-left: .3em;
}
.dropdown-submenu:hover > a:after {
  color: #262626;
}
.dropdown-submenu.pull-left {
  float: none;
}
.dropdown-submenu.pull-left > .dropdown-menu {
  left: -100%;
  margin-left: 10px;
}
#notification_area {
  float: right !important;
  float: right;
  z-index: 10;
}
.indicator_area {
  float: right !important;
  float: right;
  color: #777;
  margin-left: 5px;
  margin-right: 5px;
  width: 11px;
  z-index: 10;
  text-align: center;
  width: auto;
}
#kernel_indicator {
  float: right !important;
  float: right;
  color: #777;
  margin-left: 5px;
  margin-right: 5px;
  width: 11px;
  z-index: 10;
  text-align: center;
  width: auto;
  border-left: 1px solid;
}
#kernel_indicator .kernel_indicator_name {
  padding-left: 5px;
  padding-right: 5px;
}
#modal_indicator {
  float: right !important;
  float: right;
  color: #777;
  margin-left: 5px;
  margin-right: 5px;
  width: 11px;
  z-index: 10;
  text-align: center;
  width: auto;
}
#readonly-indicator {
  float: right !important;
  float: right;
  color: #777;
  margin-left: 5px;
  margin-right: 5px;
  width: 11px;
  z-index: 10;
  text-align: center;
  width: auto;
  margin-top: 2px;
  margin-bottom: 0px;
  margin-left: 0px;
  margin-right: 0px;
  display: none;
}
.modal_indicator:before {
  width: 1.28571429em;
  text-align: center;
}
.edit_mode .modal_indicator:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f040";
}
.edit_mode .modal_indicator:before.pull-left {
  margin-right: .3em;
}
.edit_mode .modal_indicator:before.pull-right {
  margin-left: .3em;
}
.command_mode .modal_indicator:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: ' ';
}
.command_mode .modal_indicator:before.pull-left {
  margin-right: .3em;
}
.command_mode .modal_indicator:before.pull-right {
  margin-left: .3em;
}
.kernel_idle_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f10c";
}
.kernel_idle_icon:before.pull-left {
  margin-right: .3em;
}
.kernel_idle_icon:before.pull-right {
  margin-left: .3em;
}
.kernel_busy_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f111";
}
.kernel_busy_icon:before.pull-left {
  margin-right: .3em;
}
.kernel_busy_icon:before.pull-right {
  margin-left: .3em;
}
.kernel_dead_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f1e2";
}
.kernel_dead_icon:before.pull-left {
  margin-right: .3em;
}
.kernel_dead_icon:before.pull-right {
  margin-left: .3em;
}
.kernel_disconnected_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f127";
}
.kernel_disconnected_icon:before.pull-left {
  margin-right: .3em;
}
.kernel_disconnected_icon:before.pull-right {
  margin-left: .3em;
}
.notification_widget {
  color: #777;
  z-index: 10;
  background: rgba(240, 240, 240, 0.5);
  margin-right: 4px;
  color: #333;
  background-color: #fff;
  border-color: #ccc;
}
.notification_widget:focus,
.notification_widget.focus {
  color: #333;
  background-color: #e6e6e6;
  border-color: #8c8c8c;
}
.notification_widget:hover {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
.notification_widget:active,
.notification_widget.active,
.open > .dropdown-toggle.notification_widget {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
.notification_widget:active:hover,
.notification_widget.active:hover,
.open > .dropdown-toggle.notification_widget:hover,
.notification_widget:active:focus,
.notification_widget.active:focus,
.open > .dropdown-toggle.notification_widget:focus,
.notification_widget:active.focus,
.notification_widget.active.focus,
.open > .dropdown-toggle.notification_widget.focus {
  color: #333;
  background-color: #d4d4d4;
  border-color: #8c8c8c;
}
.notification_widget:active,
.notification_widget.active,
.open > .dropdown-toggle.notification_widget {
  background-image: none;
}
.notification_widget.disabled:hover,
.notification_widget[disabled]:hover,
fieldset[disabled] .notification_widget:hover,
.notification_widget.disabled:focus,
.notification_widget[disabled]:focus,
fieldset[disabled] .notification_widget:focus,
.notification_widget.disabled.focus,
.notification_widget[disabled].focus,
fieldset[disabled] .notification_widget.focus {
  background-color: #fff;
  border-color: #ccc;
}
.notification_widget .badge {
  color: #fff;
  background-color: #333;
}
.notification_widget.warning {
  color: #fff;
  background-color: #f0ad4e;
  border-color: #eea236;
}
.notification_widget.warning:focus,
.notification_widget.warning.focus {
  color: #fff;
  background-color: #ec971f;
  border-color: #985f0d;
}
.notification_widget.warning:hover {
  color: #fff;
  background-color: #ec971f;
  border-color: #d58512;
}
.notification_widget.warning:active,
.notification_widget.warning.active,
.open > .dropdown-toggle.notification_widget.warning {
  color: #fff;
  background-color: #ec971f;
  border-color: #d58512;
}
.notification_widget.warning:active:hover,
.notification_widget.warning.active:hover,
.open > .dropdown-toggle.notification_widget.warning:hover,
.notification_widget.warning:active:focus,
.notification_widget.warning.active:focus,
.open > .dropdown-toggle.notification_widget.warning:focus,
.notification_widget.warning:active.focus,
.notification_widget.warning.active.focus,
.open > .dropdown-toggle.notification_widget.warning.focus {
  color: #fff;
  background-color: #d58512;
  border-color: #985f0d;
}
.notification_widget.warning:active,
.notification_widget.warning.active,
.open > .dropdown-toggle.notification_widget.warning {
  background-image: none;
}
.notification_widget.warning.disabled:hover,
.notification_widget.warning[disabled]:hover,
fieldset[disabled] .notification_widget.warning:hover,
.notification_widget.warning.disabled:focus,
.notification_widget.warning[disabled]:focus,
fieldset[disabled] .notification_widget.warning:focus,
.notification_widget.warning.disabled.focus,
.notification_widget.warning[disabled].focus,
fieldset[disabled] .notification_widget.warning.focus {
  background-color: #f0ad4e;
  border-color: #eea236;
}
.notification_widget.warning .badge {
  color: #f0ad4e;
  background-color: #fff;
}
.notification_widget.success {
  color: #fff;
  background-color: #5cb85c;
  border-color: #4cae4c;
}
.notification_widget.success:focus,
.notification_widget.success.focus {
  color: #fff;
  background-color: #449d44;
  border-color: #255625;
}
.notification_widget.success:hover {
  color: #fff;
  background-color: #449d44;
  border-color: #398439;
}
.notification_widget.success:active,
.notification_widget.success.active,
.open > .dropdown-toggle.notification_widget.success {
  color: #fff;
  background-color: #449d44;
  border-color: #398439;
}
.notification_widget.success:active:hover,
.notification_widget.success.active:hover,
.open > .dropdown-toggle.notification_widget.success:hover,
.notification_widget.success:active:focus,
.notification_widget.success.active:focus,
.open > .dropdown-toggle.notification_widget.success:focus,
.notification_widget.success:active.focus,
.notification_widget.success.active.focus,
.open > .dropdown-toggle.notification_widget.success.focus {
  color: #fff;
  background-color: #398439;
  border-color: #255625;
}
.notification_widget.success:active,
.notification_widget.success.active,
.open > .dropdown-toggle.notification_widget.success {
  background-image: none;
}
.notification_widget.success.disabled:hover,
.notification_widget.success[disabled]:hover,
fieldset[disabled] .notification_widget.success:hover,
.notification_widget.success.disabled:focus,
.notification_widget.success[disabled]:focus,
fieldset[disabled] .notification_widget.success:focus,
.notification_widget.success.disabled.focus,
.notification_widget.success[disabled].focus,
fieldset[disabled] .notification_widget.success.focus {
  background-color: #5cb85c;
  border-color: #4cae4c;
}
.notification_widget.success .badge {
  color: #5cb85c;
  background-color: #fff;
}
.notification_widget.info {
  color: #fff;
  background-color: #5bc0de;
  border-color: #46b8da;
}
.notification_widget.info:focus,
.notification_widget.info.focus {
  color: #fff;
  background-color: #31b0d5;
  border-color: #1b6d85;
}
.notification_widget.info:hover {
  color: #fff;
  background-color: #31b0d5;
  border-color: #269abc;
}
.notification_widget.info:active,
.notification_widget.info.active,
.open > .dropdown-toggle.notification_widget.info {
  color: #fff;
  background-color: #31b0d5;
  border-color: #269abc;
}
.notification_widget.info:active:hover,
.notification_widget.info.active:hover,
.open > .dropdown-toggle.notification_widget.info:hover,
.notification_widget.info:active:focus,
.notification_widget.info.active:focus,
.open > .dropdown-toggle.notification_widget.info:focus,
.notification_widget.info:active.focus,
.notification_widget.info.active.focus,
.open > .dropdown-toggle.notification_widget.info.focus {
  color: #fff;
  background-color: #269abc;
  border-color: #1b6d85;
}
.notification_widget.info:active,
.notification_widget.info.active,
.open > .dropdown-toggle.notification_widget.info {
  background-image: none;
}
.notification_widget.info.disabled:hover,
.notification_widget.info[disabled]:hover,
fieldset[disabled] .notification_widget.info:hover,
.notification_widget.info.disabled:focus,
.notification_widget.info[disabled]:focus,
fieldset[disabled] .notification_widget.info:focus,
.notification_widget.info.disabled.focus,
.notification_widget.info[disabled].focus,
fieldset[disabled] .notification_widget.info.focus {
  background-color: #5bc0de;
  border-color: #46b8da;
}
.notification_widget.info .badge {
  color: #5bc0de;
  background-color: #fff;
}
.notification_widget.danger {
  color: #fff;
  background-color: #d9534f;
  border-color: #d43f3a;
}
.notification_widget.danger:focus,
.notification_widget.danger.focus {
  color: #fff;
  background-color: #c9302c;
  border-color: #761c19;
}
.notification_widget.danger:hover {
  color: #fff;
  background-color: #c9302c;
  border-color: #ac2925;
}
.notification_widget.danger:active,
.notification_widget.danger.active,
.open > .dropdown-toggle.notification_widget.danger {
  color: #fff;
  background-color: #c9302c;
  border-color: #ac2925;
}
.notification_widget.danger:active:hover,
.notification_widget.danger.active:hover,
.open > .dropdown-toggle.notification_widget.danger:hover,
.notification_widget.danger:active:focus,
.notification_widget.danger.active:focus,
.open > .dropdown-toggle.notification_widget.danger:focus,
.notification_widget.danger:active.focus,
.notification_widget.danger.active.focus,
.open > .dropdown-toggle.notification_widget.danger.focus {
  color: #fff;
  background-color: #ac2925;
  border-color: #761c19;
}
.notification_widget.danger:active,
.notification_widget.danger.active,
.open > .dropdown-toggle.notification_widget.danger {
  background-image: none;
}
.notification_widget.danger.disabled:hover,
.notification_widget.danger[disabled]:hover,
fieldset[disabled] .notification_widget.danger:hover,
.notification_widget.danger.disabled:focus,
.notification_widget.danger[disabled]:focus,
fieldset[disabled] .notification_widget.danger:focus,
.notification_widget.danger.disabled.focus,
.notification_widget.danger[disabled].focus,
fieldset[disabled] .notification_widget.danger.focus {
  background-color: #d9534f;
  border-color: #d43f3a;
}
.notification_widget.danger .badge {
  color: #d9534f;
  background-color: #fff;
}
div#pager {
  background-color: #fff;
  font-size: 14px;
  line-height: 20px;
  overflow: hidden;
  display: none;
  position: fixed;
  bottom: 0px;
  width: 100%;
  max-height: 50%;
  padding-top: 8px;
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  /* Display over codemirror */
  z-index: 100;
  /* Hack which prevents jquery ui resizable from changing top. */
  top: auto !important;
}
div#pager pre {
  line-height: 1.21429em;
  color: #000;
  background-color: #f7f7f7;
  padding: 0.4em;
}
div#pager #pager-button-area {
  position: absolute;
  top: 8px;
  right: 20px;
}
div#pager #pager-contents {
  position: relative;
  overflow: auto;
  width: 100%;
  height: 100%;
}
div#pager #pager-contents #pager-container {
  position: relative;
  padding: 15px 0px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
div#pager .ui-resizable-handle {
  top: 0px;
  height: 8px;
  background: #f7f7f7;
  border-top: 1px solid #cfcfcf;
  border-bottom: 1px solid #cfcfcf;
  /* This injects handle bars (a short, wide = symbol) for 
        the resize handle. */
}
div#pager .ui-resizable-handle::after {
  content: '';
  top: 2px;
  left: 50%;
  height: 3px;
  width: 30px;
  margin-left: -15px;
  position: absolute;
  border-top: 1px solid #cfcfcf;
}
.quickhelp {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
  line-height: 1.8em;
}
.shortcut_key {
  display: inline-block;
  width: 21ex;
  text-align: right;
  font-family: monospace;
}
.shortcut_descr {
  display: inline-block;
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
}
span.save_widget {
  margin-top: 6px;
}
span.save_widget span.filename {
  height: 1em;
  line-height: 1em;
  padding: 3px;
  margin-left: 16px;
  border: none;
  font-size: 146.5%;
  border-radius: 2px;
}
span.save_widget span.filename:hover {
  background-color: #e6e6e6;
}
span.checkpoint_status,
span.autosave_status {
  font-size: small;
}
@media (max-width: 767px) {
  span.save_widget {
    font-size: small;
  }
  span.checkpoint_status,
  span.autosave_status {
    display: none;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  span.checkpoint_status {
    display: none;
  }
  span.autosave_status {
    font-size: x-small;
  }
}
.toolbar {
  padding: 0px;
  margin-left: -5px;
  margin-top: 2px;
  margin-bottom: 5px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
.toolbar select,
.toolbar label {
  width: auto;
  vertical-align: middle;
  margin-right: 2px;
  margin-bottom: 0px;
  display: inline;
  font-size: 92%;
  margin-left: 0.3em;
  margin-right: 0.3em;
  padding: 0px;
  padding-top: 3px;
}
.toolbar .btn {
  padding: 2px 8px;
}
.toolbar .btn-group {
  margin-top: 0px;
  margin-left: 5px;
}
#maintoolbar {
  margin-bottom: -3px;
  margin-top: -8px;
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<h1 id="Project-3:--Implement-SLAM">Project 3:  Implement SLAM<a class="anchor-link" href="#Project-3:--Implement-SLAM">&#182;</a></h1><hr>
<h2 id="Project-Overview">Project Overview<a class="anchor-link" href="#Project-Overview">&#182;</a></h2><p>In this project, you'll implement SLAM for robot that moves and senses in a 2 dimensional, grid world!</p>
<p>SLAM gives us a way to both localize a robot and build up a map of its environment as a robot moves and senses in real-time. This is an active area of research in the fields of robotics and autonomous systems. Since this localization and map-building relies on the visual sensing of landmarks, this is a computer vision problem.</p>
<p>Using what you've learned about robot motion, representations of uncertainty in motion and sensing, and localization techniques, you will be tasked with defining a function, <code>slam</code>, which takes in six parameters as input and returns the vector <code>mu</code>.</p>
<blockquote><p><code>mu</code> contains the (x,y) coordinate locations of the robot as it moves, and the positions of landmarks that it senses in the world</p>
</blockquote>
<p>You can implement helper functions as you see fit, but your function must return <code>mu</code>. The vector, <code>mu</code>, should have (x, y) coordinates interlaced, for example, if there were 2 poses and 2 landmarks, <code>mu</code> will look like the following, where <code>P</code> is the robot position and <code>L</code> the landmark position:</p>

<pre><code>mu =  matrix([[Px0],
              [Py0],
              [Px1],
              [Py1],
              [Lx0],
              [Ly0],
              [Lx1],
              [Ly1]])</code></pre>
<p>You can see that <code>mu</code> holds the poses first <code>(x0, y0), (x1, y1), ...,</code> then the landmark locations at the end of the matrix; we consider a <code>nx1</code> matrix to be a vector.</p>
<h2 id="Generating-an-environment">Generating an environment<a class="anchor-link" href="#Generating-an-environment">&#182;</a></h2><p>In a real SLAM problem, you may be given a map that contains information about landmark locations, and in this example, we will make our own data using the <code>make_data</code> function, which generates a world grid with landmarks in it and then generates data by placing a robot in that world and moving and sensing over some numer of time steps. The <code>make_data</code> function relies on a correct implementation of robot move/sense functions, which, at this point, should be complete and in the <code>robot_class.py</code> file. The data is collected as an instantiated robot moves and senses in a world. Your SLAM function will take in this data as input. So, let's first create this data and explore how it represents the movement and sensor measurements that our robot takes.</p>
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<h2 id="Create-the-world">Create the world<a class="anchor-link" href="#Create-the-world">&#182;</a></h2><p>Use the code below to generate a world of a specified size with randomly generated landmark locations. You can change these parameters and see how your implementation of SLAM responds!</p>
<p><code>data</code> holds the sensors measurements and motion of your robot over time. It stores the measurements as <code>data[i][0]</code> and the motion as <code>data[i][1]</code>.</p>
<h4 id="Helper-functions">Helper functions<a class="anchor-link" href="#Helper-functions">&#182;</a></h4><p>You will be working with the <code>robot</code> class that may look familiar from the first notebook,</p>
<p>In fact, in the <code>helpers.py</code> file, you can read the details of how data is made with the <code>make_data</code> function. It should look very similar to the robot move/sense cycle you've seen in the first notebook.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="kn">from</span> <span class="nn">helpers</span> <span class="k">import</span> <span class="n">make_data</span>

<span class="c1"># your implementation of slam should work with the following inputs</span>
<span class="c1"># feel free to change these input values and see how it responds!</span>

<span class="c1"># world parameters</span>
<span class="n">num_landmarks</span>      <span class="o">=</span> <span class="mi">3</span>        <span class="c1"># number of landmarks</span>
<span class="n">N</span>                  <span class="o">=</span> <span class="mi">20</span>       <span class="c1"># time steps</span>
<span class="n">world_size</span>         <span class="o">=</span> <span class="mf">100.0</span>    <span class="c1"># size of world (square)</span>

<span class="c1"># robot parameters</span>
<span class="n">measurement_range</span>  <span class="o">=</span> <span class="mf">50.0</span>     <span class="c1"># range at which we can sense landmarks</span>
<span class="n">motion_noise</span>       <span class="o">=</span> <span class="mf">2.0</span>      <span class="c1"># noise in robot motion</span>
<span class="n">measurement_noise</span>  <span class="o">=</span> <span class="mf">2.0</span>      <span class="c1"># noise in the measurements</span>
<span class="n">distance</span>           <span class="o">=</span> <span class="mf">20.0</span>     <span class="c1"># distance by which robot (intends to) move each iteratation </span>


<span class="c1"># make_data instantiates a robot, AND generates random landmarks for a given world size and number of landmarks</span>
<span class="n">data</span> <span class="o">=</span> <span class="n">make_data</span><span class="p">(</span><span class="n">N</span><span class="p">,</span> <span class="n">num_landmarks</span><span class="p">,</span> <span class="n">world_size</span><span class="p">,</span> <span class="n">measurement_range</span><span class="p">,</span> <span class="n">motion_noise</span><span class="p">,</span> <span class="n">measurement_noise</span><span class="p">,</span> <span class="n">distance</span><span class="p">)</span>
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<pre> 
Landmarks:  [[58, 89], [82, 23], [90, 44]]
Robot: [x=38.32732 y=97.31417]
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<h3 id="A-note-on-make_data">A note on <code>make_data</code><a class="anchor-link" href="#A-note-on-make_data">&#182;</a></h3><p>The function above, <code>make_data</code>, takes in so many world and robot motion/sensor parameters because it is responsible for:</p>
<ol>
<li>Instantiating a robot (using the robot class)</li>
<li>Creating a grid world with landmarks in it</li>
</ol>
<p><strong>This function also prints out the true location of landmarks and the <em>final</em> robot location, which you should refer back to when you test your implementation of SLAM.</strong></p>
<p>The <code>data</code> this returns is an array that holds information about <strong>robot sensor measurements</strong> and <strong>robot motion</strong> <code>(dx, dy)</code> that is collected over a number of time steps, <code>N</code>. You will have to use <em>only</em> these readings about motion and measurements to track a robot over time and find the determine the location of the landmarks using SLAM. We only print out the true landmark locations for comparison, later.</p>
<p>In <code>data</code> the measurement and motion data can be accessed from the first and second index in the columns of the data array. See the following code for an example, where <code>i</code> is the time step:</p>

<pre><code>measurement = data[i][0]
motion = data[i][1]</code></pre>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># print out some stats about the data</span>
<span class="n">time_step</span> <span class="o">=</span> <span class="mi">0</span>

<span class="nb">print</span><span class="p">(</span><span class="s1">&#39;Example measurements: </span><span class="se">\n</span><span class="s1">&#39;</span><span class="p">,</span> <span class="n">data</span><span class="p">[</span><span class="n">time_step</span><span class="p">][</span><span class="mi">0</span><span class="p">])</span>
<span class="nb">print</span><span class="p">(</span><span class="s1">&#39;</span><span class="se">\n</span><span class="s1">&#39;</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s1">&#39;Example motion: </span><span class="se">\n</span><span class="s1">&#39;</span><span class="p">,</span> <span class="n">data</span><span class="p">[</span><span class="n">time_step</span><span class="p">][</span><span class="mi">1</span><span class="p">])</span>
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<pre>Example measurements: 
 [(0, 6.289752149776841, 37.28975214977684), (1, 33.677427076706095, -25.322572923293905), (2, 38.565336204108995, -7.434663795891007)]


Example motion: 
 [12.289702310396528, 15.778568284918446]
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<p>Try changing the value of <code>time_step</code>, you should see that the list of measurements varies based on what in the world the robot sees after it moves. As you know from the first notebook, the robot can only sense so far and with a certain amount of accuracy in the measure of distance between its location and the location of landmarks. The motion of the robot always is a vector with two values: one for x and one for y displacement. This structure will be useful to keep in mind as you traverse this data in your implementation of slam.</p>

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<h2 id="Initialize-Constraints">Initialize Constraints<a class="anchor-link" href="#Initialize-Constraints">&#182;</a></h2><p>One of the most challenging tasks here will be to create and modify the constraint matrix and vector: omega and xi. In the second notebook, you saw an example of how omega and xi could hold all the values the define the relationships between robot poses <code>xi</code> and landmark positions <code>Li</code> in a 1D world, as seen below, where omega is the blue matrix and xi is the pink vector.</p>
<p><img src='images/motion_constraint.png' width=50% height=50% /></p>
<p>In <em>this</em> project, you are tasked with implementing constraints for a 2D world. We are referring to robot poses as <code>Px, Py</code> and landmark positions as <code>Lx, Ly</code>, and one way to approach this challenge is to add <em>both</em> x and y locations in the constraint matrices.</p>
<p><img src='images/constraints2D.png' width=50% height=50% /></p>
<p>You may also choose to create two of each omega and xi (one for x and one for y positions).</p>

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<h3 id="TODO:-Write-a-function-that-initializes-omega-and-xi">TODO: Write a function that initializes omega and xi<a class="anchor-link" href="#TODO:-Write-a-function-that-initializes-omega-and-xi">&#182;</a></h3><p>Complete the function <code>initialize_constraints</code> so that it returns <code>omega</code> and <code>xi</code> constraints for the starting position of the robot. Any values that we do not yet know should be initialized with the value <code>0</code>. You may assume that our robot starts out in exactly the middle of the world with 100% confidence (no motion or measurement noise at this point). The inputs <code>N</code> time steps, <code>num_landmarks</code>, and <code>world_size</code> should give you all the information you need to construct intial constraints of the correct size and starting values.</p>
<p><em>Depending on your approach you may choose to return one omega and one xi that hold all (x,y) positions </em>or<em> two of each (one for x values and one for y); choose whichever makes most sense to you!</em></p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="k">def</span> <span class="nf">initialize_constraints</span><span class="p">(</span><span class="n">N</span><span class="p">,</span> <span class="n">num_landmarks</span><span class="p">,</span> <span class="n">world_size</span><span class="p">):</span>
    <span class="sd">&#39;&#39;&#39; This function takes in a number of time steps N, number of landmarks, and a world_size,</span>
<span class="sd">        and returns initialized constraint matrices, omega and xi.&#39;&#39;&#39;</span>
    
    <span class="c1">## Recommended: Define and store the size (rows/cols) of the constraint matrix in a variable</span>
    <span class="n">rows</span><span class="p">,</span> <span class="n">cols</span> <span class="o">=</span> <span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span> <span class="o">+</span> <span class="mi">2</span><span class="o">*</span><span class="n">num_landmarks</span><span class="p">),</span> <span class="p">(</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span> <span class="o">+</span> <span class="mi">2</span><span class="o">*</span><span class="n">num_landmarks</span><span class="p">)</span>
    
    <span class="c1">## TODO: Define the constraint matrix, Omega, with two initial &quot;strength&quot; values</span>
    <span class="c1">## for the initial x, y location of our robot</span>
    <span class="n">omega</span> <span class="o">=</span> <span class="p">[</span><span class="mi">0</span><span class="p">]</span>
    <span class="n">omega</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">rows</span><span class="p">,</span> <span class="n">cols</span><span class="p">))</span>
    <span class="n">omega</span><span class="p">[</span><span class="mi">0</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span><span class="o">=</span><span class="mi">1</span> 
    <span class="n">omega</span><span class="p">[</span><span class="mi">1</span><span class="p">][</span><span class="mi">1</span><span class="p">]</span><span class="o">=</span><span class="mi">1</span>
    
    <span class="c1">## TODO: Define the constraint *vector*, xi</span>
    <span class="c1">## you can assume that the robot starts out in the middle of the world with 100% confidence</span>
    <span class="n">xi</span> <span class="o">=</span> <span class="p">[</span><span class="mi">0</span><span class="p">]</span>
    <span class="n">xi</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">rows</span><span class="p">,</span> <span class="mi">1</span><span class="p">))</span>
    
    <span class="n">xi</span><span class="p">[</span><span class="mi">0</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span><span class="o">=</span><span class="n">world_size</span> <span class="o">/</span> <span class="mi">2</span>
    <span class="n">xi</span><span class="p">[</span><span class="mi">1</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span><span class="o">=</span><span class="n">world_size</span> <span class="o">/</span> <span class="mi">2</span>
    <span class="k">return</span> <span class="n">omega</span><span class="p">,</span> <span class="n">xi</span>
    
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<h3 id="Test-as-you-go">Test as you go<a class="anchor-link" href="#Test-as-you-go">&#182;</a></h3><p>It's good practice to test out your code, as you go. Since <code>slam</code> relies on creating and updating constraint matrices, <code>omega</code> and <code>xi</code> to account for robot sensor measurements and motion, let's check that they initialize as expected for any given parameters.</p>
<p>Below, you'll find some test code that allows you to visualize the results of your function <code>initialize_constraints</code>. We are using the <a href="https://seaborn.pydata.org/">seaborn</a> library for visualization.</p>
<p><strong>Please change the test values of N, landmarks, and world_size and see the results</strong>. Be careful not to use these values as input into your final smal function.</p>
<p>This code assumes that you have created one of each constraint: <code>omega</code> and <code>xi</code>, but you can change and add to this code, accordingly. The constraints should vary in size with the number of time steps and landmarks as these values affect the number of poses a robot will take <code>(Px0,Py0,...Pxn,Pyn)</code> and landmark locations <code>(Lx0,Ly0,...Lxn,Lyn)</code> whose relationships should be tracked in the constraint matrices. Recall that <code>omega</code> holds the weights of each variable and <code>xi</code> holds the value of the sum of these variables, as seen in Notebook 2. You'll need the <code>world_size</code> to determine the starting pose of the robot in the world and fill in the initial values for <code>xi</code>.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># import data viz resources</span>
<span class="kn">import</span> <span class="nn">matplotlib.pyplot</span> <span class="k">as</span> <span class="nn">plt</span>
<span class="kn">from</span> <span class="nn">pandas</span> <span class="k">import</span> <span class="n">DataFrame</span>
<span class="kn">import</span> <span class="nn">seaborn</span> <span class="k">as</span> <span class="nn">sns</span>
<span class="o">%</span><span class="k">matplotlib</span> inline
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># define a small N and world_size (small for ease of visualization)</span>
<span class="n">N_test</span> <span class="o">=</span> <span class="mi">5</span>
<span class="n">num_landmarks_test</span> <span class="o">=</span> <span class="mi">2</span>
<span class="n">small_world</span> <span class="o">=</span> <span class="mi">10</span>

<span class="c1"># initialize the constraints</span>
<span class="n">initial_omega</span><span class="p">,</span> <span class="n">initial_xi</span> <span class="o">=</span> <span class="n">initialize_constraints</span><span class="p">(</span><span class="n">N_test</span><span class="p">,</span> <span class="n">num_landmarks_test</span><span class="p">,</span> <span class="n">small_world</span><span class="p">)</span>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># define figure size</span>
<span class="n">plt</span><span class="o">.</span><span class="n">rcParams</span><span class="p">[</span><span class="s2">&quot;figure.figsize&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mi">10</span><span class="p">,</span><span class="mi">7</span><span class="p">)</span>

<span class="c1"># display omega</span>
<span class="n">sns</span><span class="o">.</span><span class="n">heatmap</span><span class="p">(</span><span class="n">DataFrame</span><span class="p">(</span><span class="n">initial_omega</span><span class="p">),</span> <span class="n">cmap</span><span class="o">=</span><span class="s1">&#39;Blues&#39;</span><span class="p">,</span> <span class="n">annot</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">linewidths</span><span class="o">=.</span><span class="mi">5</span><span class="p">)</span>
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<pre>&lt;matplotlib.axes._subplots.AxesSubplot at 0x7fa93a7f17f0&gt;</pre>
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<div class="prompt input_prompt">In&nbsp;[7]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># define  figure size</span>
<span class="n">plt</span><span class="o">.</span><span class="n">rcParams</span><span class="p">[</span><span class="s2">&quot;figure.figsize&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">7</span><span class="p">)</span>

<span class="c1"># display xi</span>
<span class="n">sns</span><span class="o">.</span><span class="n">heatmap</span><span class="p">(</span><span class="n">DataFrame</span><span class="p">(</span><span class="n">initial_xi</span><span class="p">),</span> <span class="n">cmap</span><span class="o">=</span><span class="s1">&#39;Oranges&#39;</span><span class="p">,</span> <span class="n">annot</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">linewidths</span><span class="o">=.</span><span class="mi">5</span><span class="p">)</span>
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<div class="prompt output_prompt">Out[7]:</div>


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<pre>&lt;matplotlib.axes._subplots.AxesSubplot at 0x7fa9383f9d30&gt;</pre>
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<h2 id="SLAM-inputs">SLAM inputs<a class="anchor-link" href="#SLAM-inputs">&#182;</a></h2><p>In addition to <code>data</code>, your slam function will also take in:</p>
<ul>
<li>N -   The number of time steps that a robot will be moving and sensing</li>
<li>num_landmarks - The number of landmarks in the world</li>
<li>world_size - The size (w/h) of your world</li>
<li>motion_noise - The noise associated with motion; the update confidence for motion should be <code>1.0/motion_noise</code></li>
<li>measurement_noise - The noise associated with measurement/sensing; the update weight for measurement should be <code>1.0/measurement_noise</code></li>
</ul>
<h4 id="A-note-on-noise">A note on noise<a class="anchor-link" href="#A-note-on-noise">&#182;</a></h4><p>Recall that <code>omega</code> holds the relative "strengths" or weights for each position variable, and you can update these weights by accessing the correct index in omega <code>omega[row][col]</code> and <em>adding/subtracting</em> <code>1.0/noise</code> where <code>noise</code> is measurement or motion noise. <code>Xi</code> holds actual position values, and so to update <code>xi</code> you'll do a similar addition process only using the actual value of a motion or measurement. So for a vector index <code>xi[row][0]</code> you will end up adding/subtracting one measurement or motion divided by their respective <code>noise</code>.</p>
<h3 id="TODO:-Implement-Graph-SLAM">TODO: Implement Graph SLAM<a class="anchor-link" href="#TODO:-Implement-Graph-SLAM">&#182;</a></h3><p>Follow the TODO's below to help you complete this slam implementation (these TODO's are in the recommended order), then test out your implementation!</p>
<h4 id="Updating-with-motion-and-measurements">Updating with motion and measurements<a class="anchor-link" href="#Updating-with-motion-and-measurements">&#182;</a></h4><p>With a 2D omega and xi structure as shown above (in earlier cells), you'll have to be mindful about how you update the values in these constraint matrices to account for motion and measurement constraints in the x and y directions. Recall that the solution to these matrices (which holds all values for robot poses <code>P</code> and landmark locations <code>L</code>) is the vector, <code>mu</code>, which can be computed at the end of the construction of omega and xi as the inverse of omega times xi: $\mu = \Omega^{-1}\xi$</p>
<p><strong>You may also choose to return the values of <code>omega</code> and <code>xi</code> if you want to visualize their final state!</strong></p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1">## TODO: Complete the code to implement SLAM</span>

<span class="c1">## slam takes in 6 arguments and returns mu, </span>
<span class="c1">## mu is the entire path traversed by a robot (all x,y poses) *and* all landmarks locations</span>
<span class="k">def</span> <span class="nf">slam</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="n">N</span><span class="p">,</span> <span class="n">num_landmarks</span><span class="p">,</span> <span class="n">world_size</span><span class="p">,</span> <span class="n">motion_noise</span><span class="p">,</span> <span class="n">measurement_noise</span><span class="p">):</span>
    <span class="n">omega</span><span class="p">,</span> <span class="n">xi</span> <span class="o">=</span> <span class="n">initialize_constraints</span><span class="p">(</span><span class="n">N</span><span class="p">,</span> <span class="n">num_landmarks</span><span class="p">,</span> <span class="n">world_size</span><span class="p">)</span>
    <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">data</span><span class="p">)):</span>
        <span class="n">measurements</span><span class="p">,</span> <span class="n">motion</span> <span class="o">=</span> <span class="n">data</span><span class="p">[</span><span class="n">i</span><span class="p">][</span><span class="mi">0</span><span class="p">],</span> <span class="n">data</span><span class="p">[</span><span class="n">i</span><span class="p">][</span><span class="mi">1</span><span class="p">]</span>
        <span class="k">for</span> <span class="n">measure</span> <span class="ow">in</span> <span class="n">measurements</span><span class="p">:</span>
            <span class="n">idx_landmark</span> <span class="o">=</span> <span class="n">measure</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
            <span class="n">x</span><span class="p">,</span> <span class="n">y</span><span class="o">=</span> <span class="n">measure</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">measure</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span><span class="c1">#define x,y</span>
            
            
            <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">i</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span> <span class="o">/</span> <span class="n">measurement_noise</span>
            <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">N</span> <span class="o">+</span> <span class="mi">2</span><span class="o">*</span><span class="n">idx_landmark</span><span class="p">]</span> <span class="o">+=</span> <span class="o">-</span><span class="mi">1</span> <span class="o">/</span> <span class="n">measurement_noise</span>
            <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span> <span class="o">+</span> <span class="mi">2</span><span class="o">*</span><span class="n">idx_landmark</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">i</span><span class="p">]</span> <span class="o">+=</span> <span class="o">-</span><span class="mi">1</span> <span class="o">/</span> <span class="n">measurement_noise</span>
            <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span> <span class="o">+</span> <span class="mi">2</span><span class="o">*</span><span class="n">idx_landmark</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">N</span> <span class="o">+</span> <span class="mi">2</span><span class="o">*</span><span class="n">idx_landmark</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span> <span class="o">/</span> <span class="n">measurement_noise</span>
            
            <span class="n">xi</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">+=</span> <span class="o">-</span><span class="n">x</span> <span class="o">/</span> <span class="n">measurement_noise</span>
            <span class="n">xi</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span> <span class="o">+</span> <span class="mi">2</span><span class="o">*</span><span class="n">idx_landmark</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">+=</span> <span class="n">x</span> <span class="o">/</span> <span class="n">measurement_noise</span>
            <span class="c1">################################################</span>
            <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">1</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span> <span class="o">/</span> <span class="n">measurement_noise</span>
            <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">N</span> <span class="o">+</span> <span class="mi">2</span><span class="o">*</span><span class="n">idx_landmark</span> <span class="o">+</span> <span class="mi">1</span><span class="p">]</span> <span class="o">+=</span> <span class="o">-</span><span class="mi">1</span> <span class="o">/</span> <span class="n">measurement_noise</span>
            <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span> <span class="o">+</span> <span class="mi">2</span><span class="o">*</span><span class="n">idx_landmark</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">1</span><span class="p">]</span> <span class="o">+=</span> <span class="o">-</span><span class="mi">1</span> <span class="o">/</span> <span class="n">measurement_noise</span>
            <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span> <span class="o">+</span> <span class="mi">2</span><span class="o">*</span><span class="n">idx_landmark</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">N</span> <span class="o">+</span> <span class="mi">2</span><span class="o">*</span><span class="n">idx_landmark</span> <span class="o">+</span> <span class="mi">1</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span> <span class="o">/</span> <span class="n">measurement_noise</span>
            
            <span class="n">xi</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">+=</span> <span class="o">-</span><span class="n">y</span> <span class="o">/</span> <span class="n">measurement_noise</span>
            <span class="n">xi</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">N</span> <span class="o">+</span> <span class="mi">2</span><span class="o">*</span><span class="n">idx_landmark</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">+=</span> <span class="n">y</span> <span class="o">/</span> <span class="n">measurement_noise</span>            
        
        <span class="n">dx</span><span class="p">,</span> <span class="n">dy</span> <span class="o">=</span> <span class="n">motion</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">motion</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span>
        <span class="c1">##############################</span>
        <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">i</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span> <span class="o">/</span> <span class="n">motion_noise</span>
        <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">2</span><span class="p">]</span> <span class="o">+=</span> <span class="o">-</span><span class="mi">1</span> <span class="o">/</span> <span class="n">motion_noise</span>
        <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">i</span><span class="p">]</span> <span class="o">+=</span> <span class="o">-</span><span class="mi">1</span> <span class="o">/</span> <span class="n">motion_noise</span>
        <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">2</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span> <span class="o">/</span> <span class="n">motion_noise</span>
        
        
        <span class="n">xi</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">+=</span> <span class="o">-</span><span class="n">dx</span> <span class="o">/</span> <span class="n">motion_noise</span>
        <span class="n">xi</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">+=</span> <span class="n">dx</span> <span class="o">/</span> <span class="n">motion_noise</span>
        <span class="c1">###############################</span>
        <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">1</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span> <span class="o">/</span> <span class="n">motion_noise</span>
        <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="o">-</span><span class="mi">1</span> <span class="o">/</span> <span class="n">motion_noise</span>
        <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">1</span><span class="p">]</span> <span class="o">+=</span> <span class="o">-</span><span class="mi">1</span> <span class="o">/</span> <span class="n">motion_noise</span>
        <span class="n">omega</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span> <span class="o">/</span> <span class="n">motion_noise</span>

        <span class="n">xi</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">+=</span> <span class="o">-</span><span class="n">dy</span> <span class="o">/</span> <span class="n">motion_noise</span>
        <span class="n">xi</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span> <span class="o">+</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">+=</span> <span class="n">dy</span> <span class="o">/</span> <span class="n">motion_noise</span>             

    <span class="n">mu</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">dot</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">inv</span><span class="p">(</span><span class="n">omega</span><span class="p">),</span> <span class="n">xi</span><span class="p">)</span>
    <span class="k">return</span> <span class="n">mu</span>
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<h2 id="Helper-functions">Helper functions<a class="anchor-link" href="#Helper-functions">&#182;</a></h2><p>To check that your implementation of SLAM works for various inputs, we have provided two helper functions that will help display the estimated pose and landmark locations that your function has produced. First, given a result <code>mu</code> and number of time steps, <code>N</code>, we define a function that extracts the poses and landmarks locations and returns those as their own, separate lists.</p>
<p>Then, we define a function that nicely print out these lists; both of these we will call, in the next step.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># a helper function that creates a list of poses and of landmarks for ease of printing</span>
<span class="c1"># this only works for the suggested constraint architecture of interlaced x,y poses</span>
<span class="k">def</span> <span class="nf">get_poses_landmarks</span><span class="p">(</span><span class="n">mu</span><span class="p">,</span> <span class="n">N</span><span class="p">):</span>
    <span class="c1"># create a list of poses</span>
    <span class="n">poses</span> <span class="o">=</span> <span class="p">[]</span>
    <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">N</span><span class="p">):</span>
        <span class="n">poses</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">mu</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">(),</span> <span class="n">mu</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="n">i</span><span class="o">+</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">()))</span>

    <span class="c1"># create a list of landmarks</span>
    <span class="n">landmarks</span> <span class="o">=</span> <span class="p">[]</span>
    <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_landmarks</span><span class="p">):</span>
        <span class="n">landmarks</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">mu</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="p">(</span><span class="n">N</span><span class="o">+</span><span class="n">i</span><span class="p">)]</span><span class="o">.</span><span class="n">item</span><span class="p">(),</span> <span class="n">mu</span><span class="p">[</span><span class="mi">2</span><span class="o">*</span><span class="p">(</span><span class="n">N</span><span class="o">+</span><span class="n">i</span><span class="p">)</span><span class="o">+</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">()))</span>

    <span class="c1"># return completed lists</span>
    <span class="k">return</span> <span class="n">poses</span><span class="p">,</span> <span class="n">landmarks</span>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="k">def</span> <span class="nf">print_all</span><span class="p">(</span><span class="n">poses</span><span class="p">,</span> <span class="n">landmarks</span><span class="p">):</span>
    <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;</span><span class="se">\n</span><span class="s1">&#39;</span><span class="p">)</span>
    <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;Estimated Poses:&#39;</span><span class="p">)</span>
    <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">poses</span><span class="p">)):</span>
        <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;[&#39;</span><span class="o">+</span><span class="s1">&#39;, &#39;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="s1">&#39;</span><span class="si">%.3f</span><span class="s1">&#39;</span><span class="o">%</span><span class="k">p</span> for p in poses[i])+&#39;]&#39;)
    <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;</span><span class="se">\n</span><span class="s1">&#39;</span><span class="p">)</span>
    <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;Estimated Landmarks:&#39;</span><span class="p">)</span>
    <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">landmarks</span><span class="p">)):</span>
        <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;[&#39;</span><span class="o">+</span><span class="s1">&#39;, &#39;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="s1">&#39;</span><span class="si">%.3f</span><span class="s1">&#39;</span><span class="o">%</span><span class="k">l</span> for l in landmarks[i])+&#39;]&#39;)
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<h2 id="Run-SLAM">Run SLAM<a class="anchor-link" href="#Run-SLAM">&#182;</a></h2><p>Once you've completed your implementation of <code>slam</code>, see what <code>mu</code> it returns for different world sizes and different landmarks!</p>
<h3 id="What-to-Expect">What to Expect<a class="anchor-link" href="#What-to-Expect">&#182;</a></h3><p>The <code>data</code> that is generated is random, but you did specify the number, <code>N</code>, or time steps that the robot was expected to move and the <code>num_landmarks</code> in the world (which your implementation of <code>slam</code> should see and estimate a position for. Your robot should also start with an estimated pose in the very center of your square world, whose size is defined by <code>world_size</code>.</p>
<p>With these values in mind, you should expect to see a result that displays two lists:</p>
<ol>
<li><strong>Estimated poses</strong>, a list of (x, y) pairs that is exactly <code>N</code> in length since this is how many motions your robot has taken. The very first pose should be the center of your world, i.e. <code>[50.000, 50.000]</code> for a world that is 100.0 in square size.</li>
<li><strong>Estimated landmarks</strong>, a list of landmark positions (x, y) that is exactly <code>num_landmarks</code> in length. </li>
</ol>
<h4 id="Landmark-Locations">Landmark Locations<a class="anchor-link" href="#Landmark-Locations">&#182;</a></h4><p>If you refer back to the printout of <em>exact</em> landmark locations when this data was created, you should see values that are very similar to those coordinates, but not quite (since <code>slam</code> must account for noise in motion and measurement).</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># call your implementation of slam, passing in the necessary parameters</span>
<span class="n">mu</span> <span class="o">=</span> <span class="n">slam</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="n">N</span><span class="p">,</span> <span class="n">num_landmarks</span><span class="p">,</span> <span class="n">world_size</span><span class="p">,</span> <span class="n">motion_noise</span><span class="p">,</span> <span class="n">measurement_noise</span><span class="p">)</span>

<span class="c1"># print out the resulting landmarks and poses</span>
<span class="k">if</span><span class="p">(</span><span class="n">mu</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">):</span>
    <span class="c1"># get the lists of poses and landmarks</span>
    <span class="c1"># and print them out</span>
    <span class="n">poses</span><span class="p">,</span> <span class="n">landmarks</span> <span class="o">=</span> <span class="n">get_poses_landmarks</span><span class="p">(</span><span class="n">mu</span><span class="p">,</span> <span class="n">N</span><span class="p">)</span>
    <span class="n">print_all</span><span class="p">(</span><span class="n">poses</span><span class="p">,</span> <span class="n">landmarks</span><span class="p">)</span>
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<pre>

Estimated Poses:
[50.000, 50.000]
[62.045, 65.883]
[73.960, 80.785]
[86.984, 95.448]
[67.137, 94.487]
[47.795, 95.010]
[27.691, 94.757]
[8.473, 94.710]
[7.328, 73.283]
[6.277, 53.546]
[5.226, 33.809]
[4.175, 14.072]
[2.714, 34.187]
[1.253, 54.301]
[-0.208, 74.416]
[-1.670, 94.530]
[18.710, 96.441]
[39.590, 98.291]
[58.064, 98.624]
[38.064, 98.741]


Estimated Landmarks:
[56.931, 87.837]
[82.297, 23.201]
[89.549, 43.390]
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<h2 id="Visualize-the-constructed-world">Visualize the constructed world<a class="anchor-link" href="#Visualize-the-constructed-world">&#182;</a></h2><p>Finally, using the <code>display_world</code> code from the <code>helpers.py</code> file (which was also used in the first notebook), we can actually visualize what you have coded with <code>slam</code>: the final position of the robot and the positon of landmarks, created from only motion and measurement data!</p>
<p><strong>Note that these should be very similar to the printed <em>true</em> landmark locations and final pose from our call to <code>make_data</code> early in this notebook.</strong></p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># import the helper function</span>
<span class="kn">from</span> <span class="nn">helpers</span> <span class="k">import</span> <span class="n">display_world</span>

<span class="c1"># Display the final world!</span>

<span class="c1"># define figure size</span>
<span class="n">plt</span><span class="o">.</span><span class="n">rcParams</span><span class="p">[</span><span class="s2">&quot;figure.figsize&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mi">20</span><span class="p">,</span><span class="mi">20</span><span class="p">)</span>

<span class="c1"># check if poses has been created</span>
<span class="k">if</span> <span class="s1">&#39;poses&#39;</span> <span class="ow">in</span> <span class="nb">locals</span><span class="p">():</span>
    <span class="c1"># print out the last pose</span>
    <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;Last pose: &#39;</span><span class="p">,</span> <span class="n">poses</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">])</span>
    <span class="c1"># display the last position of the robot *and* the landmark positions</span>
    <span class="n">display_world</span><span class="p">(</span><span class="nb">int</span><span class="p">(</span><span class="n">world_size</span><span class="p">),</span> <span class="n">poses</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">],</span> <span class="n">landmarks</span><span class="p">)</span>
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<pre>Last pose:  (38.06399961116048, 98.74124300162069)
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<h3 id="Question:-How-far-away-is-your-final-pose-(as-estimated-by-slam)-compared-to-the-true-final-pose?-Why-do-you-think-these-poses-are-different?">Question: How far away is your final pose (as estimated by <code>slam</code>) compared to the <em>true</em> final pose? Why do you think these poses are different?<a class="anchor-link" href="#Question:-How-far-away-is-your-final-pose-(as-estimated-by-slam)-compared-to-the-true-final-pose?-Why-do-you-think-these-poses-are-different?">&#182;</a></h3><p>You can find the true value of the final pose in one of the first cells where <code>make_data</code> was called. You may also want to look at the true landmark locations and compare them to those that were estimated by <code>slam</code>. Ask yourself: what do you think would happen if we moved and sensed more (increased N)? Or if we had lower/higher noise parameters.</p>

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<p><strong>Answer</strong>:</p>
<p>Considering the coordinates of the landmark locations.
True Landmarks:  [[58, 89], [82, 23], [90, 44]]
Estimated Landmarks:[[56.931, 87.837],[82.297, 23.201],[89.549, 43.390]]</p>
<p>We see that the detected(sensed) location is very close to the actual location. Noise and Accuracy estimation can be understood inversely related. Lower noise parameters give a higher accuracy and higher noise parameters would give a lower accuracy.</p>
<p>If we sensed more(i.e., increased N), more loation data can be sensed, hence the accuracy would improve. However, it would also render the system to be more sensitive to noise.
I believe after a threshold value, incresing N would lower accuracy estimation due to higher sensing of noise.</p>

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<h2 id="Testing">Testing<a class="anchor-link" href="#Testing">&#182;</a></h2><p>To confirm that your slam code works before submitting your project, it is suggested that you run it on some test data and cases. A few such cases have been provided for you, in the cells below. When you are ready, uncomment the test cases in the next cells (there are two test cases, total); your output should be <strong>close-to or exactly</strong> identical to the given results. If there are minor discrepancies it could be a matter of floating point accuracy or in the calculation of the inverse matrix.</p>
<h3 id="Submit-your-project">Submit your project<a class="anchor-link" href="#Submit-your-project">&#182;</a></h3><p>If you pass these tests, it is a good indication that your project will pass all the specifications in the project rubric. Follow the submission instructions to officially submit!</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># Here is the data and estimated outputs for test case 1</span>

<span class="n">test_data1</span> <span class="o">=</span> <span class="p">[[[[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">19.457599255548065</span><span class="p">,</span> <span class="mf">23.8387362100849</span><span class="p">],</span> <span class="p">[</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mf">13.195807561967236</span><span class="p">,</span> <span class="mf">11.708840328458608</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mf">30.0954905279171</span><span class="p">,</span> <span class="mf">15.387879242505843</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">12.2607279422326</span><span class="p">,</span> <span class="o">-</span><span class="mf">15.801093326936487</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.4659930049620491</span><span class="p">,</span> <span class="mf">28.088559771215664</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="o">-</span><span class="mf">17.866382374890936</span><span class="p">,</span> <span class="o">-</span><span class="mf">16.384904503932</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">12.2607279422326</span><span class="p">,</span> <span class="o">-</span><span class="mf">15.801093326936487</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">4</span><span class="p">,</span> <span class="o">-</span><span class="mf">6.202512900833806</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.823403210274639</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">12.2607279422326</span><span class="p">,</span> <span class="o">-</span><span class="mf">15.801093326936487</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">4</span><span class="p">,</span> <span class="mf">7.412136480918645</span><span class="p">,</span> <span class="mf">15.388585962142429</span><span class="p">]],</span> <span class="p">[</span><span class="mf">14.008259661173426</span><span class="p">,</span> <span class="mf">14.274756084260822</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">4</span><span class="p">,</span> <span class="o">-</span><span class="mf">7.526138813444998</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.4563942429717849</span><span class="p">]],</span> <span class="p">[</span><span class="mf">14.008259661173426</span><span class="p">,</span> <span class="mf">14.274756084260822</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mf">6.299793150150058</span><span class="p">,</span> <span class="mf">29.047830407717623</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="o">-</span><span class="mf">21.93551130411791</span><span class="p">,</span> <span class="o">-</span><span class="mf">13.21956810989039</span><span class="p">]],</span> <span class="p">[</span><span class="mf">14.008259661173426</span><span class="p">,</span> <span class="mf">14.274756084260822</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">15.796300959032276</span><span class="p">,</span> <span class="mf">30.65769689694247</span><span class="p">],</span> <span class="p">[</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mf">18.64370821983482</span><span class="p">,</span> <span class="mf">17.380022987031367</span><span class="p">]],</span> <span class="p">[</span><span class="mf">14.008259661173426</span><span class="p">,</span> <span class="mf">14.274756084260822</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">0.40311325410337906</span><span class="p">,</span> <span class="mf">14.169429532679855</span><span class="p">],</span> <span class="p">[</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mf">35.069349468466235</span><span class="p">,</span> <span class="mf">2.4945558982439957</span><span class="p">]],</span> <span class="p">[</span><span class="mf">14.008259661173426</span><span class="p">,</span> <span class="mf">14.274756084260822</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mf">16.71340983241936</span><span class="p">,</span> <span class="o">-</span><span class="mf">2.777000269543834</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">11.006096015782283</span><span class="p">,</span> <span class="mf">16.699276945166858</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mf">3.611096830835776</span><span class="p">,</span> <span class="o">-</span><span class="mf">17.954019226763958</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">19.693482634035977</span><span class="p">,</span> <span class="mf">3.488085684573048</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">18.398273354362416</span><span class="p">,</span> <span class="o">-</span><span class="mf">22.705102332550947</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">19.693482634035977</span><span class="p">,</span> <span class="mf">3.488085684573048</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">2</span><span class="p">,</span> <span class="mf">2.789312482883833</span><span class="p">,</span> <span class="o">-</span><span class="mf">39.73720193121324</span><span class="p">]],</span> <span class="p">[</span><span class="mf">12.849049222879723</span><span class="p">,</span> <span class="o">-</span><span class="mf">15.326510824972983</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">21.26897046581808</span><span class="p">,</span> <span class="o">-</span><span class="mf">10.121029799040915</span><span class="p">],</span> <span class="p">[</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mf">11.917698965880655</span><span class="p">,</span> <span class="o">-</span><span class="mf">23.17711662602097</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mf">31.81167947898398</span><span class="p">,</span> <span class="o">-</span><span class="mf">16.7985673023331</span><span class="p">]],</span> <span class="p">[</span><span class="mf">12.849049222879723</span><span class="p">,</span> <span class="o">-</span><span class="mf">15.326510824972983</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">10.48157743234859</span><span class="p">,</span> <span class="mf">5.692957082575485</span><span class="p">],</span> <span class="p">[</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mf">22.31488473554935</span><span class="p">,</span> <span class="o">-</span><span class="mf">5.389184118551409</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mf">40.81803984305378</span><span class="p">,</span> <span class="o">-</span><span class="mf">2.4703329790238118</span><span class="p">]],</span> <span class="p">[</span><span class="mf">12.849049222879723</span><span class="p">,</span> <span class="o">-</span><span class="mf">15.326510824972983</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">10.591050242096598</span><span class="p">,</span> <span class="o">-</span><span class="mf">39.2051798967113</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mf">3.5675572049297553</span><span class="p">,</span> <span class="mf">22.849456408289125</span><span class="p">],</span> <span class="p">[</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mf">38.39251065320351</span><span class="p">,</span> <span class="mf">7.288990306029511</span><span class="p">]],</span> <span class="p">[</span><span class="mf">12.849049222879723</span><span class="p">,</span> <span class="o">-</span><span class="mf">15.326510824972983</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="o">-</span><span class="mf">3.6225556479370766</span><span class="p">,</span> <span class="o">-</span><span class="mf">25.58006865235512</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">7.8874682868419965</span><span class="p">,</span> <span class="o">-</span><span class="mf">18.379005523261092</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">1.9784503557879374</span><span class="p">,</span> <span class="o">-</span><span class="mf">6.5025974151499</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">7.8874682868419965</span><span class="p">,</span> <span class="o">-</span><span class="mf">18.379005523261092</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">10.050665232782423</span><span class="p">,</span> <span class="mf">11.026385307998742</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">17.82919359778298</span><span class="p">,</span> <span class="mf">9.062000642947142</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">26.526838150174818</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.22563393232425621</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="o">-</span><span class="mf">33.70303936886652</span><span class="p">,</span> <span class="mf">2.880339841013677</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">17.82919359778298</span><span class="p">,</span> <span class="mf">9.062000642947142</span><span class="p">]]]</span>

<span class="c1">##  Test Case 1</span>
<span class="c1">##</span>
<span class="c1"># Estimated Pose(s):</span>
<span class="c1">#     [50.000, 50.000]</span>
<span class="c1">#     [37.858, 33.921]</span>
<span class="c1">#     [25.905, 18.268]</span>
<span class="c1">#     [13.524, 2.224]</span>
<span class="c1">#     [27.912, 16.886]</span>
<span class="c1">#     [42.250, 30.994]</span>
<span class="c1">#     [55.992, 44.886]</span>
<span class="c1">#     [70.749, 59.867]</span>
<span class="c1">#     [85.371, 75.230]</span>
<span class="c1">#     [73.831, 92.354]</span>
<span class="c1">#     [53.406, 96.465]</span>
<span class="c1">#     [34.370, 100.134]</span>
<span class="c1">#     [48.346, 83.952]</span>
<span class="c1">#     [60.494, 68.338]</span>
<span class="c1">#     [73.648, 53.082]</span>
<span class="c1">#     [86.733, 38.197]</span>
<span class="c1">#     [79.983, 20.324]</span>
<span class="c1">#     [72.515, 2.837]</span>
<span class="c1">#     [54.993, 13.221]</span>
<span class="c1">#     [37.164, 22.283]</span>


<span class="c1"># Estimated Landmarks:</span>
<span class="c1">#     [82.679, 13.435]</span>
<span class="c1">#     [70.417, 74.203]</span>
<span class="c1">#     [36.688, 61.431]</span>
<span class="c1">#     [18.705, 66.136]</span>
<span class="c1">#     [20.437, 16.983]</span>


<span class="c1">### Uncomment the following three lines for test case 1 and compare the output to the values above ###</span>

<span class="n">mu_1</span> <span class="o">=</span> <span class="n">slam</span><span class="p">(</span><span class="n">test_data1</span><span class="p">,</span> <span class="mi">20</span><span class="p">,</span> <span class="mi">5</span><span class="p">,</span> <span class="mf">100.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">)</span>
<span class="n">poses</span><span class="p">,</span> <span class="n">landmarks</span> <span class="o">=</span> <span class="n">get_poses_landmarks</span><span class="p">(</span><span class="n">mu_1</span><span class="p">,</span> <span class="mi">20</span><span class="p">)</span>
<span class="n">print_all</span><span class="p">(</span><span class="n">poses</span><span class="p">,</span> <span class="n">landmarks</span><span class="p">)</span>
</pre></div>

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<pre>

Estimated Poses:
[50.000, 50.000]
[37.973, 33.652]
[26.185, 18.155]
[13.745, 2.116]
[28.097, 16.783]
[42.384, 30.902]
[55.831, 44.497]
[70.857, 59.699]
[85.697, 75.543]
[74.011, 92.434]
[53.544, 96.454]
[34.525, 100.080]
[48.623, 83.953]
[60.197, 68.107]
[73.778, 52.935]
[87.132, 38.538]
[80.303, 20.508]
[72.798, 2.945]
[55.245, 13.255]
[37.416, 22.317]


Estimated Landmarks:
[82.956, 13.539]
[70.495, 74.141]
[36.740, 61.281]
</pre>
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<div class="prompt input_prompt">In&nbsp;[18]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># Here is the data and estimated outputs for test case 2</span>

<span class="n">test_data2</span> <span class="o">=</span> <span class="p">[[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">26.543274387283322</span><span class="p">,</span> <span class="o">-</span><span class="mf">6.262538160312672</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="mf">9.937396825799755</span><span class="p">,</span> <span class="o">-</span><span class="mf">9.128540360867689</span><span class="p">]],</span> <span class="p">[</span><span class="mf">18.92765331253674</span><span class="p">,</span> <span class="o">-</span><span class="mf">6.460955043986683</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">7.706544739722961</span><span class="p">,</span> <span class="o">-</span><span class="mf">3.758467215445748</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">17.03954411948937</span><span class="p">,</span> <span class="mf">31.705489938553438</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mf">11.61731288777497</span><span class="p">,</span> <span class="o">-</span><span class="mf">6.64964096716416</span><span class="p">]],</span> <span class="p">[</span><span class="mf">18.92765331253674</span><span class="p">,</span> <span class="o">-</span><span class="mf">6.460955043986683</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="o">-</span><span class="mf">12.35130507136378</span><span class="p">,</span> <span class="mf">2.585119104239249</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mf">2.563534536165313</span><span class="p">,</span> <span class="mf">38.22159657838369</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mf">26.961236804740935</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.4802312626141525</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">11.167066095509824</span><span class="p">,</span> <span class="mf">16.592065417497455</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">1.4138633151721272</span><span class="p">,</span> <span class="o">-</span><span class="mf">13.912454837810632</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">8.087721200818589</span><span class="p">,</span> <span class="mf">20.51845934354381</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mf">17.091723454402302</span><span class="p">,</span> <span class="o">-</span><span class="mf">16.521500551709707</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="o">-</span><span class="mf">7.414211721400232</span><span class="p">,</span> <span class="mf">38.09191602674439</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">11.167066095509824</span><span class="p">,</span> <span class="mf">16.592065417497455</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">12.886743222179561</span><span class="p">,</span> <span class="o">-</span><span class="mf">28.703968411636318</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">21.660953298391387</span><span class="p">,</span> <span class="mf">3.4912891084614914</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mf">6.401401414569506</span><span class="p">,</span> <span class="o">-</span><span class="mf">32.321583037341625</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="mf">5.034079343639034</span><span class="p">,</span> <span class="mf">23.102207946092893</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">11.167066095509824</span><span class="p">,</span> <span class="mf">16.592065417497455</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">31.126317672358578</span><span class="p">,</span> <span class="o">-</span><span class="mf">10.036784369535214</span><span class="p">],</span> <span class="p">[</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mf">38.70878528420893</span><span class="p">,</span> <span class="mf">7.4987265861424595</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="mf">17.977218575473767</span><span class="p">,</span> <span class="mf">6.150889254289742</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">6.595520680493778</span><span class="p">,</span> <span class="o">-</span><span class="mf">18.88118393939265</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">41.82460922922086</span><span class="p">,</span> <span class="mf">7.847527392202475</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="mf">15.711709540417502</span><span class="p">,</span> <span class="o">-</span><span class="mf">30.34633659912818</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">6.595520680493778</span><span class="p">,</span> <span class="o">-</span><span class="mf">18.88118393939265</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">40.18454208294434</span><span class="p">,</span> <span class="o">-</span><span class="mf">6.710999804403755</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="mf">23.019508919299156</span><span class="p">,</span> <span class="o">-</span><span class="mf">10.12110867290604</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">6.595520680493778</span><span class="p">,</span> <span class="o">-</span><span class="mf">18.88118393939265</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">3</span><span class="p">,</span> <span class="mf">27.18579315312821</span><span class="p">,</span> <span class="mf">8.067219022708391</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">6.595520680493778</span><span class="p">,</span> <span class="o">-</span><span class="mf">18.88118393939265</span><span class="p">]],</span> <span class="p">[[],</span> <span class="p">[</span><span class="mf">11.492663265706092</span><span class="p">,</span> <span class="mf">16.36822198838621</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">3</span><span class="p">,</span> <span class="mf">24.57154567653098</span><span class="p">,</span> <span class="mf">13.461499960708197</span><span class="p">]],</span> <span class="p">[</span><span class="mf">11.492663265706092</span><span class="p">,</span> <span class="mf">16.36822198838621</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">31.61945290413707</span><span class="p">,</span> <span class="mf">0.4272295085799329</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="mf">16.97392299158991</span><span class="p">,</span> <span class="o">-</span><span class="mf">5.274596836133088</span><span class="p">]],</span> <span class="p">[</span><span class="mf">11.492663265706092</span><span class="p">,</span> <span class="mf">16.36822198838621</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">22.407381798735177</span><span class="p">,</span> <span class="o">-</span><span class="mf">18.03500068379259</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">29.642444125196995</span><span class="p">,</span> <span class="mf">17.3794951934614</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="mf">4.7969752441371645</span><span class="p">,</span> <span class="o">-</span><span class="mf">21.07505361639969</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="mf">14.726069092569372</span><span class="p">,</span> <span class="mf">32.75999422300078</span><span class="p">]],</span> <span class="p">[</span><span class="mf">11.492663265706092</span><span class="p">,</span> <span class="mf">16.36822198838621</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">10.705527984670137</span><span class="p">,</span> <span class="o">-</span><span class="mf">34.589764174299596</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">18.58772336795603</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.20109708164787765</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mf">4.839806195049413</span><span class="p">,</span> <span class="o">-</span><span class="mf">39.92208742305105</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="mf">4.18824810165454</span><span class="p">,</span> <span class="mf">14.146847823548889</span><span class="p">]],</span> <span class="p">[</span><span class="mf">11.492663265706092</span><span class="p">,</span> <span class="mf">16.36822198838621</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">5.878492140223764</span><span class="p">,</span> <span class="o">-</span><span class="mf">19.955352450942357</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="o">-</span><span class="mf">7.059505455306587</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.9740849280550585</span><span class="p">]],</span> <span class="p">[</span><span class="mf">19.628527845173146</span><span class="p">,</span> <span class="mf">3.83678180657467</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mf">11.150789592446378</span><span class="p">,</span> <span class="o">-</span><span class="mf">22.736641053247872</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="o">-</span><span class="mf">28.832815721158255</span><span class="p">,</span> <span class="o">-</span><span class="mf">3.9462962046291388</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">19.841703647091965</span><span class="p">,</span> <span class="mf">2.5113335861604362</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">8.64427397916182</span><span class="p">,</span> <span class="o">-</span><span class="mf">20.286336970889053</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="o">-</span><span class="mf">5.036917727942285</span><span class="p">,</span> <span class="o">-</span><span class="mf">6.311739993868336</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">5.946642674882207</span><span class="p">,</span> <span class="o">-</span><span class="mf">19.09548221169787</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">7.151866679283043</span><span class="p">,</span> <span class="o">-</span><span class="mf">39.56103232616369</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">16.01535401373368</span><span class="p">,</span> <span class="o">-</span><span class="mf">3.780995345194027</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="o">-</span><span class="mf">3.04801331832137</span><span class="p">,</span> <span class="mf">13.697362774960865</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">5.946642674882207</span><span class="p">,</span> <span class="o">-</span><span class="mf">19.09548221169787</span><span class="p">]],</span> <span class="p">[[[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">12.872879480504395</span><span class="p">,</span> <span class="o">-</span><span class="mf">19.707592098123207</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mf">22.236710716903136</span><span class="p">,</span> <span class="mf">16.331770792606406</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mf">4.841206109583004</span><span class="p">,</span> <span class="o">-</span><span class="mf">21.24604435851242</span><span class="p">],</span> <span class="p">[</span><span class="mi">4</span><span class="p">,</span> <span class="mf">4.27111163223552</span><span class="p">,</span> <span class="mf">32.25309748614184</span><span class="p">]],</span> <span class="p">[</span><span class="o">-</span><span class="mf">5.946642674882207</span><span class="p">,</span> <span class="o">-</span><span class="mf">19.09548221169787</span><span class="p">]]]</span> 


<span class="c1">##  Test Case 2</span>
<span class="c1">##</span>
<span class="c1"># Estimated Pose(s):</span>
<span class="c1">#     [50.000, 50.000]</span>
<span class="c1">#     [69.035, 45.061]</span>
<span class="c1">#     [87.655, 38.971]</span>
<span class="c1">#     [76.084, 55.541]</span>
<span class="c1">#     [64.283, 71.684]</span>
<span class="c1">#     [52.396, 87.887]</span>
<span class="c1">#     [44.674, 68.948]</span>
<span class="c1">#     [37.532, 49.680]</span>
<span class="c1">#     [31.392, 30.893]</span>
<span class="c1">#     [24.796, 12.012]</span>
<span class="c1">#     [33.641, 26.440]</span>
<span class="c1">#     [43.858, 43.560]</span>
<span class="c1">#     [54.735, 60.659]</span>
<span class="c1">#     [65.884, 77.791]</span>
<span class="c1">#     [77.413, 94.554]</span>
<span class="c1">#     [96.740, 98.020]</span>
<span class="c1">#     [76.149, 99.586]</span>
<span class="c1">#     [70.211, 80.580]</span>
<span class="c1">#     [64.130, 61.270]</span>
<span class="c1">#     [58.183, 42.175]</span>


<span class="c1"># Estimated Landmarks:</span>
<span class="c1">#     [76.777, 42.415]</span>
<span class="c1">#     [85.109, 76.850]</span>
<span class="c1">#     [13.687, 95.386]</span>
<span class="c1">#     [59.488, 39.149]</span>
<span class="c1">#     [69.283, 93.654]</span>


<span class="c1">### Uncomment the following three lines for test case 2 and compare to the values above ###</span>

<span class="n">mu_2</span> <span class="o">=</span> <span class="n">slam</span><span class="p">(</span><span class="n">test_data2</span><span class="p">,</span> <span class="mi">20</span><span class="p">,</span> <span class="mi">5</span><span class="p">,</span> <span class="mf">100.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">)</span>
<span class="n">poses</span><span class="p">,</span> <span class="n">landmarks</span> <span class="o">=</span> <span class="n">get_poses_landmarks</span><span class="p">(</span><span class="n">mu_2</span><span class="p">,</span> <span class="mi">20</span><span class="p">)</span>
<span class="n">print_all</span><span class="p">(</span><span class="n">poses</span><span class="p">,</span> <span class="n">landmarks</span><span class="p">)</span>
</pre></div>

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<pre>

Estimated Poses:
[50.000, 50.000]
[69.181, 45.665]
[87.743, 39.703]
[76.270, 56.311]
[64.317, 72.176]
[52.257, 88.154]
[44.059, 69.401]
[37.002, 49.918]
[30.924, 30.955]
[23.508, 11.419]
[34.180, 27.133]
[44.155, 43.846]
[54.806, 60.920]
[65.698, 78.546]
[77.468, 95.626]
[96.802, 98.821]
[75.957, 99.971]
[70.200, 81.181]
[64.054, 61.723]
[58.107, 42.628]


Estimated Landmarks:
[76.779, 42.887]
[85.065, 77.438]
[13.548, 95.652]
</pre>
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