LICENSE 
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Copyright (c) 2009 B-Human.  All rights reserved.

Parts of this distribution were not developed by B-Human. 
This licence doesn't apply to these parts, the rights of the 
copyright owners remain.

Redistribution and use in source and binary forms, with or without 
modification, are permitted provided that the following conditions 
are met:
1. Redistributions of source code must retain the above copyright
   notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above 
   copyright  notice, this list of conditions and the following 
   disclaimer in the documentation and/or other materials provided 
   with the distribution.

3. The end-user documentation included with the redistribution, if 
   any, must include the following acknowledgment:
   "This product includes software developed by B-Human 
    (http://www.b-human.de)."
   Alternately, this acknowledgment may appear in the software 
   itself, if and wherever such third-party acknowledgments 
   normally appear.

4. If the source code or parts of the source code shall be used 
   for a RoboCup competition, the competing program must differ in 
   at least several major parts from the original distribution.

THIS SOFTWARE IS PROVIDED BY B-HUMAN ``AS IS'' AND ANY 
EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 
PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL 
B-HUMAN NOR ITS MEMBERS BE LIABLE FOR ANY DIRECT, INDIRECT, 
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS 
OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF 
THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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