$$ \newcommand{\d}{\mathrm{d}} \newcommand{\bff}{\boldsymbol{f}} \newcommand{\bfg}{\boldsymbol{g}} \newcommand{\bfp}{\boldsymbol{p}} \newcommand{\bfq}{\boldsymbol{q}} \newcommand{\bfx}{\boldsymbol{x}} \newcommand{\bfu}{\boldsymbol{u}} \newcommand{\bfv}{\boldsymbol{v}} \newcommand{\bfA}{\boldsymbol{A}} \newcommand{\bfB}{\boldsymbol{B}} \newcommand{\bfC}{\boldsymbol{C}} \newcommand{\bfM}{\boldsymbol{M}} \newcommand{\bfJ}{\boldsymbol{J}} \newcommand{\bfR}{\boldsymbol{R}} \newcommand{\bfT}{\boldsymbol{T}} \newcommand{\bfomega}{\boldsymbol{\omega}} \newcommand{\bftau}{\boldsymbol{\tau}} $$

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