+
+
+
+
+
+
+
+
+ $projectname
+ $projectnumber
+
+ $projectbrief
+
+
+
+
+
+ $projectbrief
+
+
+
+
+
+ $searchbox
+
+
+
+
+
+
+
+
diff --git a/docs/doxygen/highlight.min.js b/docs/doxygen/highlight.min.js
new file mode 100644
index 00000000..483fd02d
--- /dev/null
+++ b/docs/doxygen/highlight.min.js
@@ -0,0 +1,611 @@
+/*!
+ Highlight.js v11.7.0 (git: 82688fad18)
+ (c) 2006-2022 undefined and other contributors
+ License: BSD-3-Clause
+ */
+var hljs=function(){"use strict";var e={exports:{}};function t(e){
+return e instanceof Map?e.clear=e.delete=e.set=()=>{
+throw Error("map is read-only")}:e instanceof Set&&(e.add=e.clear=e.delete=()=>{
+throw Error("set is read-only")
+}),Object.freeze(e),Object.getOwnPropertyNames(e).forEach((n=>{var i=e[n]
+;"object"!=typeof i||Object.isFrozen(i)||t(i)})),e}
+e.exports=t,e.exports.default=t;class n{constructor(e){
+void 0===e.data&&(e.data={}),this.data=e.data,this.isMatchIgnored=!1}
+ignoreMatch(){this.isMatchIgnored=!0}}function i(e){
+return e.replace(/&/g,"&").replace(//g,">").replace(/"/g,""").replace(/'/g,"'")
+}function r(e,...t){const n=Object.create(null);for(const t in e)n[t]=e[t]
+;return t.forEach((e=>{for(const t in e)n[t]=e[t]})),n}
+const s=e=>!!e.scope||e.sublanguage&&e.language;class o{constructor(e,t){
+this.buffer="",this.classPrefix=t.classPrefix,e.walk(this)}addText(e){
+this.buffer+=i(e)}openNode(e){if(!s(e))return;let t=""
+;t=e.sublanguage?"language-"+e.language:((e,{prefix:t})=>{if(e.includes(".")){
+const n=e.split(".")
+;return[`${t}${n.shift()}`,...n.map(((e,t)=>`${e}${"_".repeat(t+1)}`))].join(" ")
+}return`${t}${e}`})(e.scope,{prefix:this.classPrefix}),this.span(t)}
+closeNode(e){s(e)&&(this.buffer+="")}value(){return this.buffer}span(e){
+this.buffer+=`
`}}const a=(e={})=>{const t={children:[]}
+;return Object.assign(t,e),t};class c{constructor(){
+this.rootNode=a(),this.stack=[this.rootNode]}get top(){
+return this.stack[this.stack.length-1]}get root(){return this.rootNode}add(e){
+this.top.children.push(e)}openNode(e){const t=a({scope:e})
+;this.add(t),this.stack.push(t)}closeNode(){
+if(this.stack.length>1)return this.stack.pop()}closeAllNodes(){
+for(;this.closeNode(););}toJSON(){return JSON.stringify(this.rootNode,null,4)}
+walk(e){return this.constructor._walk(e,this.rootNode)}static _walk(e,t){
+return"string"==typeof t?e.addText(t):t.children&&(e.openNode(t),
+t.children.forEach((t=>this._walk(e,t))),e.closeNode(t)),e}static _collapse(e){
+"string"!=typeof e&&e.children&&(e.children.every((e=>"string"==typeof e))?e.children=[e.children.join("")]:e.children.forEach((e=>{
+c._collapse(e)})))}}class l extends c{constructor(e){super(),this.options=e}
+addKeyword(e,t){""!==e&&(this.openNode(t),this.addText(e),this.closeNode())}
+addText(e){""!==e&&this.add(e)}addSublanguage(e,t){const n=e.root
+;n.sublanguage=!0,n.language=t,this.add(n)}toHTML(){
+return new o(this,this.options).value()}finalize(){return!0}}function g(e){
+return e?"string"==typeof e?e:e.source:null}function d(e){return p("(?=",e,")")}
+function u(e){return p("(?:",e,")*")}function h(e){return p("(?:",e,")?")}
+function p(...e){return e.map((e=>g(e))).join("")}function f(...e){const t=(e=>{
+const t=e[e.length-1]
+;return"object"==typeof t&&t.constructor===Object?(e.splice(e.length-1,1),t):{}
+})(e);return"("+(t.capture?"":"?:")+e.map((e=>g(e))).join("|")+")"}
+function b(e){return RegExp(e.toString()+"|").exec("").length-1}
+const m=/\[(?:[^\\\]]|\\.)*\]|\(\??|\\([1-9][0-9]*)|\\./
+;function E(e,{joinWith:t}){let n=0;return e.map((e=>{n+=1;const t=n
+;let i=g(e),r="";for(;i.length>0;){const e=m.exec(i);if(!e){r+=i;break}
+r+=i.substring(0,e.index),
+i=i.substring(e.index+e[0].length),"\\"===e[0][0]&&e[1]?r+="\\"+(Number(e[1])+t):(r+=e[0],
+"("===e[0]&&n++)}return r})).map((e=>`(${e})`)).join(t)}
+const x="[a-zA-Z]\\w*",w="[a-zA-Z_]\\w*",y="\\b\\d+(\\.\\d+)?",_="(-?)(\\b0[xX][a-fA-F0-9]+|(\\b\\d+(\\.\\d*)?|\\.\\d+)([eE][-+]?\\d+)?)",O="\\b(0b[01]+)",v={
+begin:"\\\\[\\s\\S]",relevance:0},N={scope:"string",begin:"'",end:"'",
+illegal:"\\n",contains:[v]},k={scope:"string",begin:'"',end:'"',illegal:"\\n",
+contains:[v]},M=(e,t,n={})=>{const i=r({scope:"comment",begin:e,end:t,
+contains:[]},n);i.contains.push({scope:"doctag",
+begin:"[ ]*(?=(TODO|FIXME|NOTE|BUG|OPTIMIZE|HACK|XXX):)",
+end:/(TODO|FIXME|NOTE|BUG|OPTIMIZE|HACK|XXX):/,excludeBegin:!0,relevance:0})
+;const s=f("I","a","is","so","us","to","at","if","in","it","on",/[A-Za-z]+['](d|ve|re|ll|t|s|n)/,/[A-Za-z]+[-][a-z]+/,/[A-Za-z][a-z]{2,}/)
+;return i.contains.push({begin:p(/[ ]+/,"(",s,/[.]?[:]?([.][ ]|[ ])/,"){3}")}),i
+},S=M("//","$"),R=M("/\\*","\\*/"),j=M("#","$");var A=Object.freeze({
+__proto__:null,MATCH_NOTHING_RE:/\b\B/,IDENT_RE:x,UNDERSCORE_IDENT_RE:w,
+NUMBER_RE:y,C_NUMBER_RE:_,BINARY_NUMBER_RE:O,
+RE_STARTERS_RE:"!|!=|!==|%|%=|&|&&|&=|\\*|\\*=|\\+|\\+=|,|-|-=|/=|/|:|;|<<|<<=|<=|<|===|==|=|>>>=|>>=|>=|>>>|>>|>|\\?|\\[|\\{|\\(|\\^|\\^=|\\||\\|=|\\|\\||~",
+SHEBANG:(e={})=>{const t=/^#![ ]*\//
+;return e.binary&&(e.begin=p(t,/.*\b/,e.binary,/\b.*/)),r({scope:"meta",begin:t,
+end:/$/,relevance:0,"on:begin":(e,t)=>{0!==e.index&&t.ignoreMatch()}},e)},
+BACKSLASH_ESCAPE:v,APOS_STRING_MODE:N,QUOTE_STRING_MODE:k,PHRASAL_WORDS_MODE:{
+begin:/\b(a|an|the|are|I'm|isn't|don't|doesn't|won't|but|just|should|pretty|simply|enough|gonna|going|wtf|so|such|will|you|your|they|like|more)\b/
+},COMMENT:M,C_LINE_COMMENT_MODE:S,C_BLOCK_COMMENT_MODE:R,HASH_COMMENT_MODE:j,
+NUMBER_MODE:{scope:"number",begin:y,relevance:0},C_NUMBER_MODE:{scope:"number",
+begin:_,relevance:0},BINARY_NUMBER_MODE:{scope:"number",begin:O,relevance:0},
+REGEXP_MODE:{begin:/(?=\/[^/\n]*\/)/,contains:[{scope:"regexp",begin:/\//,
+end:/\/[gimuy]*/,illegal:/\n/,contains:[v,{begin:/\[/,end:/\]/,relevance:0,
+contains:[v]}]}]},TITLE_MODE:{scope:"title",begin:x,relevance:0},
+UNDERSCORE_TITLE_MODE:{scope:"title",begin:w,relevance:0},METHOD_GUARD:{
+begin:"\\.\\s*[a-zA-Z_]\\w*",relevance:0},END_SAME_AS_BEGIN:e=>Object.assign(e,{
+"on:begin":(e,t)=>{t.data._beginMatch=e[1]},"on:end":(e,t)=>{
+t.data._beginMatch!==e[1]&&t.ignoreMatch()}})});function I(e,t){
+"."===e.input[e.index-1]&&t.ignoreMatch()}function T(e,t){
+void 0!==e.className&&(e.scope=e.className,delete e.className)}function L(e,t){
+t&&e.beginKeywords&&(e.begin="\\b("+e.beginKeywords.split(" ").join("|")+")(?!\\.)(?=\\b|\\s)",
+e.__beforeBegin=I,e.keywords=e.keywords||e.beginKeywords,delete e.beginKeywords,
+void 0===e.relevance&&(e.relevance=0))}function B(e,t){
+Array.isArray(e.illegal)&&(e.illegal=f(...e.illegal))}function D(e,t){
+if(e.match){
+if(e.begin||e.end)throw Error("begin & end are not supported with match")
+;e.begin=e.match,delete e.match}}function H(e,t){
+void 0===e.relevance&&(e.relevance=1)}const P=(e,t)=>{if(!e.beforeMatch)return
+;if(e.starts)throw Error("beforeMatch cannot be used with starts")
+;const n=Object.assign({},e);Object.keys(e).forEach((t=>{delete e[t]
+})),e.keywords=n.keywords,e.begin=p(n.beforeMatch,d(n.begin)),e.starts={
+relevance:0,contains:[Object.assign(n,{endsParent:!0})]
+},e.relevance=0,delete n.beforeMatch
+},C=["of","and","for","in","not","or","if","then","parent","list","value"]
+;function $(e,t,n="keyword"){const i=Object.create(null)
+;return"string"==typeof e?r(n,e.split(" ")):Array.isArray(e)?r(n,e):Object.keys(e).forEach((n=>{
+Object.assign(i,$(e[n],t,n))})),i;function r(e,n){
+t&&(n=n.map((e=>e.toLowerCase()))),n.forEach((t=>{const n=t.split("|")
+;i[n[0]]=[e,U(n[0],n[1])]}))}}function U(e,t){
+return t?Number(t):(e=>C.includes(e.toLowerCase()))(e)?0:1}const z={},K=e=>{
+console.error(e)},W=(e,...t)=>{console.log("WARN: "+e,...t)},X=(e,t)=>{
+z[`${e}/${t}`]||(console.log(`Deprecated as of ${e}. ${t}`),z[`${e}/${t}`]=!0)
+},G=Error();function Z(e,t,{key:n}){let i=0;const r=e[n],s={},o={}
+;for(let e=1;e<=t.length;e++)o[e+i]=r[e],s[e+i]=!0,i+=b(t[e-1])
+;e[n]=o,e[n]._emit=s,e[n]._multi=!0}function F(e){(e=>{
+e.scope&&"object"==typeof e.scope&&null!==e.scope&&(e.beginScope=e.scope,
+delete e.scope)})(e),"string"==typeof e.beginScope&&(e.beginScope={
+_wrap:e.beginScope}),"string"==typeof e.endScope&&(e.endScope={_wrap:e.endScope
+}),(e=>{if(Array.isArray(e.begin)){
+if(e.skip||e.excludeBegin||e.returnBegin)throw K("skip, excludeBegin, returnBegin not compatible with beginScope: {}"),
+G
+;if("object"!=typeof e.beginScope||null===e.beginScope)throw K("beginScope must be object"),
+G;Z(e,e.begin,{key:"beginScope"}),e.begin=E(e.begin,{joinWith:""})}})(e),(e=>{
+if(Array.isArray(e.end)){
+if(e.skip||e.excludeEnd||e.returnEnd)throw K("skip, excludeEnd, returnEnd not compatible with endScope: {}"),
+G
+;if("object"!=typeof e.endScope||null===e.endScope)throw K("endScope must be object"),
+G;Z(e,e.end,{key:"endScope"}),e.end=E(e.end,{joinWith:""})}})(e)}function V(e){
+function t(t,n){
+return RegExp(g(t),"m"+(e.case_insensitive?"i":"")+(e.unicodeRegex?"u":"")+(n?"g":""))
+}class n{constructor(){
+this.matchIndexes={},this.regexes=[],this.matchAt=1,this.position=0}
+addRule(e,t){
+t.position=this.position++,this.matchIndexes[this.matchAt]=t,this.regexes.push([t,e]),
+this.matchAt+=b(e)+1}compile(){0===this.regexes.length&&(this.exec=()=>null)
+;const e=this.regexes.map((e=>e[1]));this.matcherRe=t(E(e,{joinWith:"|"
+}),!0),this.lastIndex=0}exec(e){this.matcherRe.lastIndex=this.lastIndex
+;const t=this.matcherRe.exec(e);if(!t)return null
+;const n=t.findIndex(((e,t)=>t>0&&void 0!==e)),i=this.matchIndexes[n]
+;return t.splice(0,n),Object.assign(t,i)}}class i{constructor(){
+this.rules=[],this.multiRegexes=[],
+this.count=0,this.lastIndex=0,this.regexIndex=0}getMatcher(e){
+if(this.multiRegexes[e])return this.multiRegexes[e];const t=new n
+;return this.rules.slice(e).forEach((([e,n])=>t.addRule(e,n))),
+t.compile(),this.multiRegexes[e]=t,t}resumingScanAtSamePosition(){
+return 0!==this.regexIndex}considerAll(){this.regexIndex=0}addRule(e,t){
+this.rules.push([e,t]),"begin"===t.type&&this.count++}exec(e){
+const t=this.getMatcher(this.regexIndex);t.lastIndex=this.lastIndex
+;let n=t.exec(e)
+;if(this.resumingScanAtSamePosition())if(n&&n.index===this.lastIndex);else{
+const t=this.getMatcher(0);t.lastIndex=this.lastIndex+1,n=t.exec(e)}
+return n&&(this.regexIndex+=n.position+1,
+this.regexIndex===this.count&&this.considerAll()),n}}
+if(e.compilerExtensions||(e.compilerExtensions=[]),
+e.contains&&e.contains.includes("self"))throw Error("ERR: contains `self` is not supported at the top-level of a language. See documentation.")
+;return e.classNameAliases=r(e.classNameAliases||{}),function n(s,o){const a=s
+;if(s.isCompiled)return a
+;[T,D,F,P].forEach((e=>e(s,o))),e.compilerExtensions.forEach((e=>e(s,o))),
+s.__beforeBegin=null,[L,B,H].forEach((e=>e(s,o))),s.isCompiled=!0;let c=null
+;return"object"==typeof s.keywords&&s.keywords.$pattern&&(s.keywords=Object.assign({},s.keywords),
+c=s.keywords.$pattern,
+delete s.keywords.$pattern),c=c||/\w+/,s.keywords&&(s.keywords=$(s.keywords,e.case_insensitive)),
+a.keywordPatternRe=t(c,!0),
+o&&(s.begin||(s.begin=/\B|\b/),a.beginRe=t(a.begin),s.end||s.endsWithParent||(s.end=/\B|\b/),
+s.end&&(a.endRe=t(a.end)),
+a.terminatorEnd=g(a.end)||"",s.endsWithParent&&o.terminatorEnd&&(a.terminatorEnd+=(s.end?"|":"")+o.terminatorEnd)),
+s.illegal&&(a.illegalRe=t(s.illegal)),
+s.contains||(s.contains=[]),s.contains=[].concat(...s.contains.map((e=>(e=>(e.variants&&!e.cachedVariants&&(e.cachedVariants=e.variants.map((t=>r(e,{
+variants:null},t)))),e.cachedVariants?e.cachedVariants:q(e)?r(e,{
+starts:e.starts?r(e.starts):null
+}):Object.isFrozen(e)?r(e):e))("self"===e?s:e)))),s.contains.forEach((e=>{n(e,a)
+})),s.starts&&n(s.starts,o),a.matcher=(e=>{const t=new i
+;return e.contains.forEach((e=>t.addRule(e.begin,{rule:e,type:"begin"
+}))),e.terminatorEnd&&t.addRule(e.terminatorEnd,{type:"end"
+}),e.illegal&&t.addRule(e.illegal,{type:"illegal"}),t})(a),a}(e)}function q(e){
+return!!e&&(e.endsWithParent||q(e.starts))}class J extends Error{
+constructor(e,t){super(e),this.name="HTMLInjectionError",this.html=t}}
+const Y=i,Q=r,ee=Symbol("nomatch");var te=(t=>{
+const i=Object.create(null),r=Object.create(null),s=[];let o=!0
+;const a="Could not find the language '{}', did you forget to load/include a language module?",c={
+disableAutodetect:!0,name:"Plain text",contains:[]};let g={
+ignoreUnescapedHTML:!1,throwUnescapedHTML:!1,noHighlightRe:/^(no-?highlight)$/i,
+languageDetectRe:/\blang(?:uage)?-([\w-]+)\b/i,classPrefix:"hljs-",
+cssSelector:"pre code",languages:null,__emitter:l};function b(e){
+return g.noHighlightRe.test(e)}function m(e,t,n){let i="",r=""
+;"object"==typeof t?(i=e,
+n=t.ignoreIllegals,r=t.language):(X("10.7.0","highlight(lang, code, ...args) has been deprecated."),
+X("10.7.0","Please use highlight(code, options) instead.\nhttps://github.com/highlightjs/highlight.js/issues/2277"),
+r=e,i=t),void 0===n&&(n=!0);const s={code:i,language:r};k("before:highlight",s)
+;const o=s.result?s.result:E(s.language,s.code,n)
+;return o.code=s.code,k("after:highlight",o),o}function E(e,t,r,s){
+const c=Object.create(null);function l(){if(!N.keywords)return void M.addText(S)
+;let e=0;N.keywordPatternRe.lastIndex=0;let t=N.keywordPatternRe.exec(S),n=""
+;for(;t;){n+=S.substring(e,t.index)
+;const r=y.case_insensitive?t[0].toLowerCase():t[0],s=(i=r,N.keywords[i]);if(s){
+const[e,i]=s
+;if(M.addText(n),n="",c[r]=(c[r]||0)+1,c[r]<=7&&(R+=i),e.startsWith("_"))n+=t[0];else{
+const n=y.classNameAliases[e]||e;M.addKeyword(t[0],n)}}else n+=t[0]
+;e=N.keywordPatternRe.lastIndex,t=N.keywordPatternRe.exec(S)}var i
+;n+=S.substring(e),M.addText(n)}function d(){null!=N.subLanguage?(()=>{
+if(""===S)return;let e=null;if("string"==typeof N.subLanguage){
+if(!i[N.subLanguage])return void M.addText(S)
+;e=E(N.subLanguage,S,!0,k[N.subLanguage]),k[N.subLanguage]=e._top
+}else e=x(S,N.subLanguage.length?N.subLanguage:null)
+;N.relevance>0&&(R+=e.relevance),M.addSublanguage(e._emitter,e.language)
+})():l(),S=""}function u(e,t){let n=1;const i=t.length-1;for(;n<=i;){
+if(!e._emit[n]){n++;continue}const i=y.classNameAliases[e[n]]||e[n],r=t[n]
+;i?M.addKeyword(r,i):(S=r,l(),S=""),n++}}function h(e,t){
+return e.scope&&"string"==typeof e.scope&&M.openNode(y.classNameAliases[e.scope]||e.scope),
+e.beginScope&&(e.beginScope._wrap?(M.addKeyword(S,y.classNameAliases[e.beginScope._wrap]||e.beginScope._wrap),
+S=""):e.beginScope._multi&&(u(e.beginScope,t),S="")),N=Object.create(e,{parent:{
+value:N}}),N}function p(e,t,i){let r=((e,t)=>{const n=e&&e.exec(t)
+;return n&&0===n.index})(e.endRe,i);if(r){if(e["on:end"]){const i=new n(e)
+;e["on:end"](t,i),i.isMatchIgnored&&(r=!1)}if(r){
+for(;e.endsParent&&e.parent;)e=e.parent;return e}}
+if(e.endsWithParent)return p(e.parent,t,i)}function f(e){
+return 0===N.matcher.regexIndex?(S+=e[0],1):(I=!0,0)}function b(e){
+const n=e[0],i=t.substring(e.index),r=p(N,e,i);if(!r)return ee;const s=N
+;N.endScope&&N.endScope._wrap?(d(),
+M.addKeyword(n,N.endScope._wrap)):N.endScope&&N.endScope._multi?(d(),
+u(N.endScope,e)):s.skip?S+=n:(s.returnEnd||s.excludeEnd||(S+=n),
+d(),s.excludeEnd&&(S=n));do{
+N.scope&&M.closeNode(),N.skip||N.subLanguage||(R+=N.relevance),N=N.parent
+}while(N!==r.parent);return r.starts&&h(r.starts,e),s.returnEnd?0:n.length}
+let m={};function w(i,s){const a=s&&s[0];if(S+=i,null==a)return d(),0
+;if("begin"===m.type&&"end"===s.type&&m.index===s.index&&""===a){
+if(S+=t.slice(s.index,s.index+1),!o){const t=Error(`0 width match regex (${e})`)
+;throw t.languageName=e,t.badRule=m.rule,t}return 1}
+if(m=s,"begin"===s.type)return(e=>{
+const t=e[0],i=e.rule,r=new n(i),s=[i.__beforeBegin,i["on:begin"]]
+;for(const n of s)if(n&&(n(e,r),r.isMatchIgnored))return f(t)
+;return i.skip?S+=t:(i.excludeBegin&&(S+=t),
+d(),i.returnBegin||i.excludeBegin||(S=t)),h(i,e),i.returnBegin?0:t.length})(s)
+;if("illegal"===s.type&&!r){
+const e=Error('Illegal lexeme "'+a+'" for mode "'+(N.scope||"")+'"')
+;throw e.mode=N,e}if("end"===s.type){const e=b(s);if(e!==ee)return e}
+if("illegal"===s.type&&""===a)return 1
+;if(A>1e5&&A>3*s.index)throw Error("potential infinite loop, way more iterations than matches")
+;return S+=a,a.length}const y=O(e)
+;if(!y)throw K(a.replace("{}",e)),Error('Unknown language: "'+e+'"')
+;const _=V(y);let v="",N=s||_;const k={},M=new g.__emitter(g);(()=>{const e=[]
+;for(let t=N;t!==y;t=t.parent)t.scope&&e.unshift(t.scope)
+;e.forEach((e=>M.openNode(e)))})();let S="",R=0,j=0,A=0,I=!1;try{
+for(N.matcher.considerAll();;){
+A++,I?I=!1:N.matcher.considerAll(),N.matcher.lastIndex=j
+;const e=N.matcher.exec(t);if(!e)break;const n=w(t.substring(j,e.index),e)
+;j=e.index+n}
+return w(t.substring(j)),M.closeAllNodes(),M.finalize(),v=M.toHTML(),{
+language:e,value:v,relevance:R,illegal:!1,_emitter:M,_top:N}}catch(n){
+if(n.message&&n.message.includes("Illegal"))return{language:e,value:Y(t),
+illegal:!0,relevance:0,_illegalBy:{message:n.message,index:j,
+context:t.slice(j-100,j+100),mode:n.mode,resultSoFar:v},_emitter:M};if(o)return{
+language:e,value:Y(t),illegal:!1,relevance:0,errorRaised:n,_emitter:M,_top:N}
+;throw n}}function x(e,t){t=t||g.languages||Object.keys(i);const n=(e=>{
+const t={value:Y(e),illegal:!1,relevance:0,_top:c,_emitter:new g.__emitter(g)}
+;return t._emitter.addText(e),t})(e),r=t.filter(O).filter(N).map((t=>E(t,e,!1)))
+;r.unshift(n);const s=r.sort(((e,t)=>{
+if(e.relevance!==t.relevance)return t.relevance-e.relevance
+;if(e.language&&t.language){if(O(e.language).supersetOf===t.language)return 1
+;if(O(t.language).supersetOf===e.language)return-1}return 0})),[o,a]=s,l=o
+;return l.secondBest=a,l}function w(e){let t=null;const n=(e=>{
+let t=e.className+" ";t+=e.parentNode?e.parentNode.className:""
+;const n=g.languageDetectRe.exec(t);if(n){const t=O(n[1])
+;return t||(W(a.replace("{}",n[1])),
+W("Falling back to no-highlight mode for this block.",e)),t?n[1]:"no-highlight"}
+return t.split(/\s+/).find((e=>b(e)||O(e)))})(e);if(b(n))return
+;if(k("before:highlightElement",{el:e,language:n
+}),e.children.length>0&&(g.ignoreUnescapedHTML||(console.warn("One of your code blocks includes unescaped HTML. This is a potentially serious security risk."),
+console.warn("https://github.com/highlightjs/highlight.js/wiki/security"),
+console.warn("The element with unescaped HTML:"),
+console.warn(e)),g.throwUnescapedHTML))throw new J("One of your code blocks includes unescaped HTML.",e.innerHTML)
+;t=e;const i=t.textContent,s=n?m(i,{language:n,ignoreIllegals:!0}):x(i)
+;e.innerHTML=s.value,((e,t,n)=>{const i=t&&r[t]||n
+;e.classList.add("hljs"),e.classList.add("language-"+i)
+})(e,n,s.language),e.result={language:s.language,re:s.relevance,
+relevance:s.relevance},s.secondBest&&(e.secondBest={
+language:s.secondBest.language,relevance:s.secondBest.relevance
+}),k("after:highlightElement",{el:e,result:s,text:i})}let y=!1;function _(){
+"loading"!==document.readyState?document.querySelectorAll(g.cssSelector).forEach(w):y=!0
+}function O(e){return e=(e||"").toLowerCase(),i[e]||i[r[e]]}
+function v(e,{languageName:t}){"string"==typeof e&&(e=[e]),e.forEach((e=>{
+r[e.toLowerCase()]=t}))}function N(e){const t=O(e)
+;return t&&!t.disableAutodetect}function k(e,t){const n=e;s.forEach((e=>{
+e[n]&&e[n](t)}))}
+"undefined"!=typeof window&&window.addEventListener&&window.addEventListener("DOMContentLoaded",(()=>{
+y&&_()}),!1),Object.assign(t,{highlight:m,highlightAuto:x,highlightAll:_,
+highlightElement:w,
+highlightBlock:e=>(X("10.7.0","highlightBlock will be removed entirely in v12.0"),
+X("10.7.0","Please use highlightElement now."),w(e)),configure:e=>{g=Q(g,e)},
+initHighlighting:()=>{
+_(),X("10.6.0","initHighlighting() deprecated. Use highlightAll() now.")},
+initHighlightingOnLoad:()=>{
+_(),X("10.6.0","initHighlightingOnLoad() deprecated. Use highlightAll() now.")
+},registerLanguage:(e,n)=>{let r=null;try{r=n(t)}catch(t){
+if(K("Language definition for '{}' could not be registered.".replace("{}",e)),
+!o)throw t;K(t),r=c}
+r.name||(r.name=e),i[e]=r,r.rawDefinition=n.bind(null,t),r.aliases&&v(r.aliases,{
+languageName:e})},unregisterLanguage:e=>{delete i[e]
+;for(const t of Object.keys(r))r[t]===e&&delete r[t]},
+listLanguages:()=>Object.keys(i),getLanguage:O,registerAliases:v,
+autoDetection:N,inherit:Q,addPlugin:e=>{(e=>{
+e["before:highlightBlock"]&&!e["before:highlightElement"]&&(e["before:highlightElement"]=t=>{
+e["before:highlightBlock"](Object.assign({block:t.el},t))
+}),e["after:highlightBlock"]&&!e["after:highlightElement"]&&(e["after:highlightElement"]=t=>{
+e["after:highlightBlock"](Object.assign({block:t.el},t))})})(e),s.push(e)}
+}),t.debugMode=()=>{o=!1},t.safeMode=()=>{o=!0
+},t.versionString="11.7.0",t.regex={concat:p,lookahead:d,either:f,optional:h,
+anyNumberOfTimes:u};for(const t in A)"object"==typeof A[t]&&e.exports(A[t])
+;return Object.assign(t,A),t})({});return te}()
+;"object"==typeof exports&&"undefined"!=typeof module&&(module.exports=hljs);/*! `json` grammar compiled for Highlight.js 11.7.0 */
+(()=>{var e=(()=>{"use strict";return e=>{const a=["true","false","null"],n={
+scope:"literal",beginKeywords:a.join(" ")};return{name:"JSON",keywords:{
+literal:a},contains:[{className:"attr",begin:/"(\\.|[^\\"\r\n])*"(?=\s*:)/,
+relevance:1.01},{match:/[{}[\],:]/,className:"punctuation",relevance:0
+},e.QUOTE_STRING_MODE,n,e.C_NUMBER_MODE,e.C_LINE_COMMENT_MODE,e.C_BLOCK_COMMENT_MODE],
+illegal:"\\S"}}})();hljs.registerLanguage("json",e)})();/*! `xml` grammar compiled for Highlight.js 11.7.0 */
+(()=>{var e=(()=>{"use strict";return e=>{
+const a=e.regex,n=a.concat(/[\p{L}_]/u,a.optional(/[\p{L}0-9_.-]*:/u),/[\p{L}0-9_.-]*/u),s={
+className:"symbol",begin:/&[a-z]+;|&#[0-9]+;|&#x[a-f0-9]+;/},t={begin:/\s/,
+contains:[{className:"keyword",begin:/#?[a-z_][a-z1-9_-]+/,illegal:/\n/}]
+},i=e.inherit(t,{begin:/\(/,end:/\)/}),c=e.inherit(e.APOS_STRING_MODE,{
+className:"string"}),l=e.inherit(e.QUOTE_STRING_MODE,{className:"string"}),r={
+endsWithParent:!0,illegal:/`]+/}]}]}]};return{
+name:"HTML, XML",
+aliases:["html","xhtml","rss","atom","xjb","xsd","xsl","plist","wsf","svg"],
+case_insensitive:!0,unicodeRegex:!0,contains:[{className:"meta",begin://,relevance:10,contains:[t,l,c,i,{begin:/\[/,end:/\]/,contains:[{
+className:"meta",begin://,contains:[t,i,l,c]}]}]
+},e.COMMENT(//,{relevance:10}),{begin://,
+relevance:10},s,{className:"meta",end:/\?>/,variants:[{begin:/<\?xml/,
+relevance:10,contains:[l]},{begin:/<\?[a-z][a-z0-9]+/}]},{className:"tag",
+begin:/)/,end:/>/,keywords:{name:"style"},contains:[r],starts:{
+end:/<\/style>/,returnEnd:!0,subLanguage:["css","xml"]}},{className:"tag",
+begin:/)/,end:/>/,keywords:{name:"script"},contains:[r],starts:{
+end:/<\/script>/,returnEnd:!0,subLanguage:["javascript","handlebars","xml"]}},{
+className:"tag",begin:/<>|<\/>/},{className:"tag",
+begin:a.concat(//,/>/,/\s/)))),
+end:/\/?>/,contains:[{className:"name",begin:n,relevance:0,starts:r}]},{
+className:"tag",begin:a.concat(/<\//,a.lookahead(a.concat(n,/>/))),contains:[{
+className:"name",begin:n,relevance:0},{begin:/>/,relevance:0,endsParent:!0}]}]}}
+})();hljs.registerLanguage("xml",e)})();/*! `markdown` grammar compiled for Highlight.js 11.7.0 */
+(()=>{var e=(()=>{"use strict";return e=>{const n={begin:/<\/?[A-Za-z_]/,
+end:">",subLanguage:"xml",relevance:0},a={variants:[{begin:/\[.+?\]\[.*?\]/,
+relevance:0},{
+begin:/\[.+?\]\(((data|javascript|mailto):|(?:http|ftp)s?:\/\/).*?\)/,
+relevance:2},{
+begin:e.regex.concat(/\[.+?\]\(/,/[A-Za-z][A-Za-z0-9+.-]*/,/:\/\/.*?\)/),
+relevance:2},{begin:/\[.+?\]\([./?&#].*?\)/,relevance:1},{
+begin:/\[.*?\]\(.*?\)/,relevance:0}],returnBegin:!0,contains:[{match:/\[(?=\])/
+},{className:"string",relevance:0,begin:"\\[",end:"\\]",excludeBegin:!0,
+returnEnd:!0},{className:"link",relevance:0,begin:"\\]\\(",end:"\\)",
+excludeBegin:!0,excludeEnd:!0},{className:"symbol",relevance:0,begin:"\\]\\[",
+end:"\\]",excludeBegin:!0,excludeEnd:!0}]},i={className:"strong",contains:[],
+variants:[{begin:/_{2}(?!\s)/,end:/_{2}/},{begin:/\*{2}(?!\s)/,end:/\*{2}/}]
+},s={className:"emphasis",contains:[],variants:[{begin:/\*(?![*\s])/,end:/\*/},{
+begin:/_(?![_\s])/,end:/_/,relevance:0}]},c=e.inherit(i,{contains:[]
+}),t=e.inherit(s,{contains:[]});i.contains.push(t),s.contains.push(c)
+;let g=[n,a];return[i,s,c,t].forEach((e=>{e.contains=e.contains.concat(g)
+})),g=g.concat(i,s),{name:"Markdown",aliases:["md","mkdown","mkd"],contains:[{
+className:"section",variants:[{begin:"^#{1,6}",end:"$",contains:g},{
+begin:"(?=^.+?\\n[=-]{2,}$)",contains:[{begin:"^[=-]*$"},{begin:"^",end:"\\n",
+contains:g}]}]},n,{className:"bullet",begin:"^[ \t]*([*+-]|(\\d+\\.))(?=\\s+)",
+end:"\\s+",excludeEnd:!0},i,s,{className:"quote",begin:"^>\\s+",contains:g,
+end:"$"},{className:"code",variants:[{begin:"(`{3,})[^`](.|\\n)*?\\1`*[ ]*"},{
+begin:"(~{3,})[^~](.|\\n)*?\\1~*[ ]*"},{begin:"```",end:"```+[ ]*$"},{
+begin:"~~~",end:"~~~+[ ]*$"},{begin:"`.+?`"},{begin:"(?=^( {4}|\\t))",
+contains:[{begin:"^( {4}|\\t)",end:"(\\n)$"}],relevance:0}]},{
+begin:"^[-\\*]{3,}",end:"$"},a,{begin:/^\[[^\n]+\]:/,returnBegin:!0,contains:[{
+className:"symbol",begin:/\[/,end:/\]/,excludeBegin:!0,excludeEnd:!0},{
+className:"link",begin:/:\s*/,end:/$/,excludeBegin:!0}]}]}}})()
+;hljs.registerLanguage("markdown",e)})();/*! `makefile` grammar compiled for Highlight.js 11.7.0 */
+(()=>{var e=(()=>{"use strict";return e=>{const i={className:"variable",
+variants:[{begin:"\\$\\("+e.UNDERSCORE_IDENT_RE+"\\)",
+contains:[e.BACKSLASH_ESCAPE]},{begin:/\$[@%{var t=(()=>{"use strict";return t=>({name:"Plain text",
+aliases:["text","txt"],disableAutodetect:!0})})()
+;hljs.registerLanguage("plaintext",t)})();/*! `bash` grammar compiled for Highlight.js 11.7.0 */
+(()=>{var e=(()=>{"use strict";return e=>{const s=e.regex,t={},n={begin:/\$\{/,
+end:/\}/,contains:["self",{begin:/:-/,contains:[t]}]};Object.assign(t,{
+className:"variable",variants:[{
+begin:s.concat(/\$[\w\d#@][\w\d_]*/,"(?![\\w\\d])(?![$])")},n]});const a={
+className:"subst",begin:/\$\(/,end:/\)/,contains:[e.BACKSLASH_ESCAPE]},i={
+begin:/<<-?\s*(?=\w+)/,starts:{contains:[e.END_SAME_AS_BEGIN({begin:/(\w+)/,
+end:/(\w+)/,className:"string"})]}},c={className:"string",begin:/"/,end:/"/,
+contains:[e.BACKSLASH_ESCAPE,t,a]};a.contains.push(c);const o={begin:/\$?\(\(/,
+end:/\)\)/,contains:[{begin:/\d+#[0-9a-f]+/,className:"number"},e.NUMBER_MODE,t]
+},r=e.SHEBANG({binary:"(fish|bash|zsh|sh|csh|ksh|tcsh|dash|scsh)",relevance:10
+}),l={className:"function",begin:/\w[\w\d_]*\s*\(\s*\)\s*\{/,returnBegin:!0,
+contains:[e.inherit(e.TITLE_MODE,{begin:/\w[\w\d_]*/})],relevance:0};return{
+name:"Bash",aliases:["sh"],keywords:{$pattern:/\b[a-z][a-z0-9._-]+\b/,
+keyword:["if","then","else","elif","fi","for","while","in","do","done","case","esac","function"],
+literal:["true","false"],
+built_in:["break","cd","continue","eval","exec","exit","export","getopts","hash","pwd","readonly","return","shift","test","times","trap","umask","unset","alias","bind","builtin","caller","command","declare","echo","enable","help","let","local","logout","mapfile","printf","read","readarray","source","type","typeset","ulimit","unalias","set","shopt","autoload","bg","bindkey","bye","cap","chdir","clone","comparguments","compcall","compctl","compdescribe","compfiles","compgroups","compquote","comptags","comptry","compvalues","dirs","disable","disown","echotc","echoti","emulate","fc","fg","float","functions","getcap","getln","history","integer","jobs","kill","limit","log","noglob","popd","print","pushd","pushln","rehash","sched","setcap","setopt","stat","suspend","ttyctl","unfunction","unhash","unlimit","unsetopt","vared","wait","whence","where","which","zcompile","zformat","zftp","zle","zmodload","zparseopts","zprof","zpty","zregexparse","zsocket","zstyle","ztcp","chcon","chgrp","chown","chmod","cp","dd","df","dir","dircolors","ln","ls","mkdir","mkfifo","mknod","mktemp","mv","realpath","rm","rmdir","shred","sync","touch","truncate","vdir","b2sum","base32","base64","cat","cksum","comm","csplit","cut","expand","fmt","fold","head","join","md5sum","nl","numfmt","od","paste","ptx","pr","sha1sum","sha224sum","sha256sum","sha384sum","sha512sum","shuf","sort","split","sum","tac","tail","tr","tsort","unexpand","uniq","wc","arch","basename","chroot","date","dirname","du","echo","env","expr","factor","groups","hostid","id","link","logname","nice","nohup","nproc","pathchk","pinky","printenv","printf","pwd","readlink","runcon","seq","sleep","stat","stdbuf","stty","tee","test","timeout","tty","uname","unlink","uptime","users","who","whoami","yes"]
+},contains:[r,e.SHEBANG(),l,o,e.HASH_COMMENT_MODE,i,{match:/(\/[a-z._-]+)+/},c,{
+className:"",begin:/\\"/},{className:"string",begin:/'/,end:/'/},t]}}})()
+;hljs.registerLanguage("bash",e)})();/*! `shell` grammar compiled for Highlight.js 11.7.0 */
+(()=>{var s=(()=>{"use strict";return s=>({name:"Shell Session",
+aliases:["console","shellsession"],contains:[{className:"meta.prompt",
+begin:/^\s{0,3}[/~\w\d[\]()@-]*[>%$#][ ]?/,starts:{end:/[^\\](?=\s*$)/,
+subLanguage:"bash"}}]})})();hljs.registerLanguage("shell",s)})();/*! `cpp` grammar compiled for Highlight.js 11.7.0 */
+(()=>{var e=(()=>{"use strict";return e=>{const t=e.regex,a=e.COMMENT("//","$",{
+contains:[{begin:/\\\n/}]
+}),n="[a-zA-Z_]\\w*::",r="(?!struct)(decltype\\(auto\\)|"+t.optional(n)+"[a-zA-Z_]\\w*"+t.optional("<[^<>]+>")+")",i={
+className:"type",begin:"\\b[a-z\\d_]*_t\\b"},s={className:"string",variants:[{
+begin:'(u8?|U|L)?"',end:'"',illegal:"\\n",contains:[e.BACKSLASH_ESCAPE]},{
+begin:"(u8?|U|L)?'(\\\\(x[0-9A-Fa-f]{2}|u[0-9A-Fa-f]{4,8}|[0-7]{3}|\\S)|.)",
+end:"'",illegal:"."},e.END_SAME_AS_BEGIN({
+begin:/(?:u8?|U|L)?R"([^()\\ ]{0,16})\(/,end:/\)([^()\\ ]{0,16})"/})]},c={
+className:"number",variants:[{begin:"\\b(0b[01']+)"},{
+begin:"(-?)\\b([\\d']+(\\.[\\d']*)?|\\.[\\d']+)((ll|LL|l|L)(u|U)?|(u|U)(ll|LL|l|L)?|f|F|b|B)"
+},{
+begin:"(-?)(\\b0[xX][a-fA-F0-9']+|(\\b[\\d']+(\\.[\\d']*)?|\\.[\\d']+)([eE][-+]?[\\d']+)?)"
+}],relevance:0},o={className:"meta",begin:/#\s*[a-z]+\b/,end:/$/,keywords:{
+keyword:"if else elif endif define undef warning error line pragma _Pragma ifdef ifndef include"
+},contains:[{begin:/\\\n/,relevance:0},e.inherit(s,{className:"string"}),{
+className:"string",begin:/<.*?>/},a,e.C_BLOCK_COMMENT_MODE]},l={
+className:"title",begin:t.optional(n)+e.IDENT_RE,relevance:0
+},d=t.optional(n)+e.IDENT_RE+"\\s*\\(",u={
+type:["bool","char","char16_t","char32_t","char8_t","double","float","int","long","short","void","wchar_t","unsigned","signed","const","static"],
+keyword:["alignas","alignof","and","and_eq","asm","atomic_cancel","atomic_commit","atomic_noexcept","auto","bitand","bitor","break","case","catch","class","co_await","co_return","co_yield","compl","concept","const_cast|10","consteval","constexpr","constinit","continue","decltype","default","delete","do","dynamic_cast|10","else","enum","explicit","export","extern","false","final","for","friend","goto","if","import","inline","module","mutable","namespace","new","noexcept","not","not_eq","nullptr","operator","or","or_eq","override","private","protected","public","reflexpr","register","reinterpret_cast|10","requires","return","sizeof","static_assert","static_cast|10","struct","switch","synchronized","template","this","thread_local","throw","transaction_safe","transaction_safe_dynamic","true","try","typedef","typeid","typename","union","using","virtual","volatile","while","xor","xor_eq"],
+literal:["NULL","false","nullopt","nullptr","true"],built_in:["_Pragma"],
+_type_hints:["any","auto_ptr","barrier","binary_semaphore","bitset","complex","condition_variable","condition_variable_any","counting_semaphore","deque","false_type","future","imaginary","initializer_list","istringstream","jthread","latch","lock_guard","multimap","multiset","mutex","optional","ostringstream","packaged_task","pair","promise","priority_queue","queue","recursive_mutex","recursive_timed_mutex","scoped_lock","set","shared_future","shared_lock","shared_mutex","shared_timed_mutex","shared_ptr","stack","string_view","stringstream","timed_mutex","thread","true_type","tuple","unique_lock","unique_ptr","unordered_map","unordered_multimap","unordered_multiset","unordered_set","variant","vector","weak_ptr","wstring","wstring_view"]
+},p={className:"function.dispatch",relevance:0,keywords:{
+_hint:["abort","abs","acos","apply","as_const","asin","atan","atan2","calloc","ceil","cerr","cin","clog","cos","cosh","cout","declval","endl","exchange","exit","exp","fabs","floor","fmod","forward","fprintf","fputs","free","frexp","fscanf","future","invoke","isalnum","isalpha","iscntrl","isdigit","isgraph","islower","isprint","ispunct","isspace","isupper","isxdigit","labs","launder","ldexp","log","log10","make_pair","make_shared","make_shared_for_overwrite","make_tuple","make_unique","malloc","memchr","memcmp","memcpy","memset","modf","move","pow","printf","putchar","puts","realloc","scanf","sin","sinh","snprintf","sprintf","sqrt","sscanf","std","stderr","stdin","stdout","strcat","strchr","strcmp","strcpy","strcspn","strlen","strncat","strncmp","strncpy","strpbrk","strrchr","strspn","strstr","swap","tan","tanh","terminate","to_underlying","tolower","toupper","vfprintf","visit","vprintf","vsprintf"]
+},
+begin:t.concat(/\b/,/(?!decltype)/,/(?!if)/,/(?!for)/,/(?!switch)/,/(?!while)/,e.IDENT_RE,t.lookahead(/(<[^<>]+>|)\s*\(/))
+},_=[p,o,i,a,e.C_BLOCK_COMMENT_MODE,c,s],m={variants:[{begin:/=/,end:/;/},{
+begin:/\(/,end:/\)/},{beginKeywords:"new throw return else",end:/;/}],
+keywords:u,contains:_.concat([{begin:/\(/,end:/\)/,keywords:u,
+contains:_.concat(["self"]),relevance:0}]),relevance:0},g={className:"function",
+begin:"("+r+"[\\*&\\s]+)+"+d,returnBegin:!0,end:/[{;=]/,excludeEnd:!0,
+keywords:u,illegal:/[^\w\s\*&:<>.]/,contains:[{begin:"decltype\\(auto\\)",
+keywords:u,relevance:0},{begin:d,returnBegin:!0,contains:[l],relevance:0},{
+begin:/::/,relevance:0},{begin:/:/,endsWithParent:!0,contains:[s,c]},{
+relevance:0,match:/,/},{className:"params",begin:/\(/,end:/\)/,keywords:u,
+relevance:0,contains:[a,e.C_BLOCK_COMMENT_MODE,s,c,i,{begin:/\(/,end:/\)/,
+keywords:u,relevance:0,contains:["self",a,e.C_BLOCK_COMMENT_MODE,s,c,i]}]
+},i,a,e.C_BLOCK_COMMENT_MODE,o]};return{name:"C++",
+aliases:["cc","c++","h++","hpp","hh","hxx","cxx"],keywords:u,illegal:"",keywords:u,contains:["self",i]},{begin:e.IDENT_RE+"::",keywords:u},{
+match:[/\b(?:enum(?:\s+(?:class|struct))?|class|struct|union)/,/\s+/,/\w+/],
+className:{1:"keyword",3:"title.class"}}])}}})();hljs.registerLanguage("cpp",e)
+})();/*! `python` grammar compiled for Highlight.js 11.7.0 */
+(()=>{var e=(()=>{"use strict";return e=>{
+const n=e.regex,a=/[\p{XID_Start}_]\p{XID_Continue}*/u,i=["and","as","assert","async","await","break","case","class","continue","def","del","elif","else","except","finally","for","from","global","if","import","in","is","lambda","match","nonlocal|10","not","or","pass","raise","return","try","while","with","yield"],s={
+$pattern:/[A-Za-z]\w+|__\w+__/,keyword:i,
+built_in:["__import__","abs","all","any","ascii","bin","bool","breakpoint","bytearray","bytes","callable","chr","classmethod","compile","complex","delattr","dict","dir","divmod","enumerate","eval","exec","filter","float","format","frozenset","getattr","globals","hasattr","hash","help","hex","id","input","int","isinstance","issubclass","iter","len","list","locals","map","max","memoryview","min","next","object","oct","open","ord","pow","print","property","range","repr","reversed","round","set","setattr","slice","sorted","staticmethod","str","sum","super","tuple","type","vars","zip"],
+literal:["__debug__","Ellipsis","False","None","NotImplemented","True"],
+type:["Any","Callable","Coroutine","Dict","List","Literal","Generic","Optional","Sequence","Set","Tuple","Type","Union"]
+},t={className:"meta",begin:/^(>>>|\.\.\.) /},r={className:"subst",begin:/\{/,
+end:/\}/,keywords:s,illegal:/#/},l={begin:/\{\{/,relevance:0},b={
+className:"string",contains:[e.BACKSLASH_ESCAPE],variants:[{
+begin:/([uU]|[bB]|[rR]|[bB][rR]|[rR][bB])?'''/,end:/'''/,
+contains:[e.BACKSLASH_ESCAPE,t],relevance:10},{
+begin:/([uU]|[bB]|[rR]|[bB][rR]|[rR][bB])?"""/,end:/"""/,
+contains:[e.BACKSLASH_ESCAPE,t],relevance:10},{
+begin:/([fF][rR]|[rR][fF]|[fF])'''/,end:/'''/,
+contains:[e.BACKSLASH_ESCAPE,t,l,r]},{begin:/([fF][rR]|[rR][fF]|[fF])"""/,
+end:/"""/,contains:[e.BACKSLASH_ESCAPE,t,l,r]},{begin:/([uU]|[rR])'/,end:/'/,
+relevance:10},{begin:/([uU]|[rR])"/,end:/"/,relevance:10},{
+begin:/([bB]|[bB][rR]|[rR][bB])'/,end:/'/},{begin:/([bB]|[bB][rR]|[rR][bB])"/,
+end:/"/},{begin:/([fF][rR]|[rR][fF]|[fF])'/,end:/'/,
+contains:[e.BACKSLASH_ESCAPE,l,r]},{begin:/([fF][rR]|[rR][fF]|[fF])"/,end:/"/,
+contains:[e.BACKSLASH_ESCAPE,l,r]},e.APOS_STRING_MODE,e.QUOTE_STRING_MODE]
+},o="[0-9](_?[0-9])*",c=`(\\b(${o}))?\\.(${o})|\\b(${o})\\.`,d="\\b|"+i.join("|"),g={
+className:"number",relevance:0,variants:[{
+begin:`(\\b(${o})|(${c}))[eE][+-]?(${o})[jJ]?(?=${d})`},{begin:`(${c})[jJ]?`},{
+begin:`\\b([1-9](_?[0-9])*|0+(_?0)*)[lLjJ]?(?=${d})`},{
+begin:`\\b0[bB](_?[01])+[lL]?(?=${d})`},{begin:`\\b0[oO](_?[0-7])+[lL]?(?=${d})`
+},{begin:`\\b0[xX](_?[0-9a-fA-F])+[lL]?(?=${d})`},{begin:`\\b(${o})[jJ](?=${d})`
+}]},p={className:"comment",begin:n.lookahead(/# type:/),end:/$/,keywords:s,
+contains:[{begin:/# type:/},{begin:/#/,end:/\b\B/,endsWithParent:!0}]},m={
+className:"params",variants:[{className:"",begin:/\(\s*\)/,skip:!0},{begin:/\(/,
+end:/\)/,excludeBegin:!0,excludeEnd:!0,keywords:s,
+contains:["self",t,g,b,e.HASH_COMMENT_MODE]}]};return r.contains=[b,g,t],{
+name:"Python",aliases:["py","gyp","ipython"],unicodeRegex:!0,keywords:s,
+illegal:/(<\/|->|\?)|=>/,contains:[t,g,{begin:/\bself\b/},{beginKeywords:"if",
+relevance:0},b,p,e.HASH_COMMENT_MODE,{match:[/\bdef/,/\s+/,a],scope:{
+1:"keyword",3:"title.function"},contains:[m]},{variants:[{
+match:[/\bclass/,/\s+/,a,/\s*/,/\(\s*/,a,/\s*\)/]},{match:[/\bclass/,/\s+/,a]}],
+scope:{1:"keyword",3:"title.class",6:"title.class.inherited"}},{
+className:"meta",begin:/^[\t ]*@/,end:/(?=#)|$/,contains:[g,m,b]}]}}})()
+;hljs.registerLanguage("python",e)})();/*! `c` grammar compiled for Highlight.js 11.7.0 */
+(()=>{var e=(()=>{"use strict";return e=>{const n=e.regex,t=e.COMMENT("//","$",{
+contains:[{begin:/\\\n/}]
+}),s="[a-zA-Z_]\\w*::",a="(decltype\\(auto\\)|"+n.optional(s)+"[a-zA-Z_]\\w*"+n.optional("<[^<>]+>")+")",r={
+className:"type",variants:[{begin:"\\b[a-z\\d_]*_t\\b"},{
+match:/\batomic_[a-z]{3,6}\b/}]},i={className:"string",variants:[{
+begin:'(u8?|U|L)?"',end:'"',illegal:"\\n",contains:[e.BACKSLASH_ESCAPE]},{
+begin:"(u8?|U|L)?'(\\\\(x[0-9A-Fa-f]{2}|u[0-9A-Fa-f]{4,8}|[0-7]{3}|\\S)|.)",
+end:"'",illegal:"."},e.END_SAME_AS_BEGIN({
+begin:/(?:u8?|U|L)?R"([^()\\ ]{0,16})\(/,end:/\)([^()\\ ]{0,16})"/})]},l={
+className:"number",variants:[{begin:"\\b(0b[01']+)"},{
+begin:"(-?)\\b([\\d']+(\\.[\\d']*)?|\\.[\\d']+)((ll|LL|l|L)(u|U)?|(u|U)(ll|LL|l|L)?|f|F|b|B)"
+},{
+begin:"(-?)(\\b0[xX][a-fA-F0-9']+|(\\b[\\d']+(\\.[\\d']*)?|\\.[\\d']+)([eE][-+]?[\\d']+)?)"
+}],relevance:0},o={className:"meta",begin:/#\s*[a-z]+\b/,end:/$/,keywords:{
+keyword:"if else elif endif define undef warning error line pragma _Pragma ifdef ifndef include"
+},contains:[{begin:/\\\n/,relevance:0},e.inherit(i,{className:"string"}),{
+className:"string",begin:/<.*?>/},t,e.C_BLOCK_COMMENT_MODE]},c={
+className:"title",begin:n.optional(s)+e.IDENT_RE,relevance:0
+},d=n.optional(s)+e.IDENT_RE+"\\s*\\(",u={
+keyword:["asm","auto","break","case","continue","default","do","else","enum","extern","for","fortran","goto","if","inline","register","restrict","return","sizeof","struct","switch","typedef","union","volatile","while","_Alignas","_Alignof","_Atomic","_Generic","_Noreturn","_Static_assert","_Thread_local","alignas","alignof","noreturn","static_assert","thread_local","_Pragma"],
+type:["float","double","signed","unsigned","int","short","long","char","void","_Bool","_Complex","_Imaginary","_Decimal32","_Decimal64","_Decimal128","const","static","complex","bool","imaginary"],
+literal:"true false NULL",
+built_in:"std string wstring cin cout cerr clog stdin stdout stderr stringstream istringstream ostringstream auto_ptr deque list queue stack vector map set pair bitset multiset multimap unordered_set unordered_map unordered_multiset unordered_multimap priority_queue make_pair array shared_ptr abort terminate abs acos asin atan2 atan calloc ceil cosh cos exit exp fabs floor fmod fprintf fputs free frexp fscanf future isalnum isalpha iscntrl isdigit isgraph islower isprint ispunct isspace isupper isxdigit tolower toupper labs ldexp log10 log malloc realloc memchr memcmp memcpy memset modf pow printf putchar puts scanf sinh sin snprintf sprintf sqrt sscanf strcat strchr strcmp strcpy strcspn strlen strncat strncmp strncpy strpbrk strrchr strspn strstr tanh tan vfprintf vprintf vsprintf endl initializer_list unique_ptr"
+},g=[o,r,t,e.C_BLOCK_COMMENT_MODE,l,i],m={variants:[{begin:/=/,end:/;/},{
+begin:/\(/,end:/\)/},{beginKeywords:"new throw return else",end:/;/}],
+keywords:u,contains:g.concat([{begin:/\(/,end:/\)/,keywords:u,
+contains:g.concat(["self"]),relevance:0}]),relevance:0},p={
+begin:"("+a+"[\\*&\\s]+)+"+d,returnBegin:!0,end:/[{;=]/,excludeEnd:!0,
+keywords:u,illegal:/[^\w\s\*&:<>.]/,contains:[{begin:"decltype\\(auto\\)",
+keywords:u,relevance:0},{begin:d,returnBegin:!0,contains:[e.inherit(c,{
+className:"title.function"})],relevance:0},{relevance:0,match:/,/},{
+className:"params",begin:/\(/,end:/\)/,keywords:u,relevance:0,
+contains:[t,e.C_BLOCK_COMMENT_MODE,i,l,r,{begin:/\(/,end:/\)/,keywords:u,
+relevance:0,contains:["self",t,e.C_BLOCK_COMMENT_MODE,i,l,r]}]
+},r,t,e.C_BLOCK_COMMENT_MODE,o]};return{name:"C",aliases:["h"],keywords:u,
+disableAutodetect:!0,illegal:"=]/,contains:[{
+beginKeywords:"final class struct"},e.TITLE_MODE]}]),exports:{preprocessor:o,
+strings:i,keywords:u}}}})();hljs.registerLanguage("c",e)})();/*! `ruby` grammar compiled for Highlight.js 11.7.0 */
+(()=>{var e=(()=>{"use strict";return e=>{
+const n=e.regex,a="([a-zA-Z_]\\w*[!?=]?|[-+~]@|<<|>>|=~|===?|<=>|[<>]=?|\\*\\*|[-/+%^&*~`|]|\\[\\]=?)",s=n.either(/\b([A-Z]+[a-z0-9]+)+/,/\b([A-Z]+[a-z0-9]+)+[A-Z]+/),i=n.concat(s,/(::\w+)*/),t={
+"variable.constant":["__FILE__","__LINE__","__ENCODING__"],
+"variable.language":["self","super"],
+keyword:["alias","and","begin","BEGIN","break","case","class","defined","do","else","elsif","end","END","ensure","for","if","in","module","next","not","or","redo","require","rescue","retry","return","then","undef","unless","until","when","while","yield","include","extend","prepend","public","private","protected","raise","throw"],
+built_in:["proc","lambda","attr_accessor","attr_reader","attr_writer","define_method","private_constant","module_function"],
+literal:["true","false","nil"]},c={className:"doctag",begin:"@[A-Za-z]+"},r={
+begin:"#<",end:">"},b=[e.COMMENT("#","$",{contains:[c]
+}),e.COMMENT("^=begin","^=end",{contains:[c],relevance:10
+}),e.COMMENT("^__END__",e.MATCH_NOTHING_RE)],l={className:"subst",begin:/#\{/,
+end:/\}/,keywords:t},d={className:"string",contains:[e.BACKSLASH_ESCAPE,l],
+variants:[{begin:/'/,end:/'/},{begin:/"/,end:/"/},{begin:/`/,end:/`/},{
+begin:/%[qQwWx]?\(/,end:/\)/},{begin:/%[qQwWx]?\[/,end:/\]/},{
+begin:/%[qQwWx]?\{/,end:/\}/},{begin:/%[qQwWx]?/},{begin:/%[qQwWx]?\//,
+end:/\//},{begin:/%[qQwWx]?%/,end:/%/},{begin:/%[qQwWx]?-/,end:/-/},{
+begin:/%[qQwWx]?\|/,end:/\|/},{begin:/\B\?(\\\d{1,3})/},{
+begin:/\B\?(\\x[A-Fa-f0-9]{1,2})/},{begin:/\B\?(\\u\{?[A-Fa-f0-9]{1,6}\}?)/},{
+begin:/\B\?(\\M-\\C-|\\M-\\c|\\c\\M-|\\M-|\\C-\\M-)[\x20-\x7e]/},{
+begin:/\B\?\\(c|C-)[\x20-\x7e]/},{begin:/\B\?\\?\S/},{
+begin:n.concat(/<<[-~]?'?/,n.lookahead(/(\w+)(?=\W)[^\n]*\n(?:[^\n]*\n)*?\s*\1\b/)),
+contains:[e.END_SAME_AS_BEGIN({begin:/(\w+)/,end:/(\w+)/,
+contains:[e.BACKSLASH_ESCAPE,l]})]}]},o="[0-9](_?[0-9])*",g={className:"number",
+relevance:0,variants:[{
+begin:`\\b([1-9](_?[0-9])*|0)(\\.(${o}))?([eE][+-]?(${o})|r)?i?\\b`},{
+begin:"\\b0[dD][0-9](_?[0-9])*r?i?\\b"},{begin:"\\b0[bB][0-1](_?[0-1])*r?i?\\b"
+},{begin:"\\b0[oO][0-7](_?[0-7])*r?i?\\b"},{
+begin:"\\b0[xX][0-9a-fA-F](_?[0-9a-fA-F])*r?i?\\b"},{
+begin:"\\b0(_?[0-7])+r?i?\\b"}]},_={variants:[{match:/\(\)/},{
+className:"params",begin:/\(/,end:/(?=\))/,excludeBegin:!0,endsParent:!0,
+keywords:t}]},u=[d,{variants:[{match:[/class\s+/,i,/\s+<\s+/,i]},{
+match:[/\b(class|module)\s+/,i]}],scope:{2:"title.class",
+4:"title.class.inherited"},keywords:t},{match:[/(include|extend)\s+/,i],scope:{
+2:"title.class"},keywords:t},{relevance:0,match:[i,/\.new[. (]/],scope:{
+1:"title.class"}},{relevance:0,match:/\b[A-Z][A-Z_0-9]+\b/,
+className:"variable.constant"},{relevance:0,match:s,scope:"title.class"},{
+match:[/def/,/\s+/,a],scope:{1:"keyword",3:"title.function"},contains:[_]},{
+begin:e.IDENT_RE+"::"},{className:"symbol",
+begin:e.UNDERSCORE_IDENT_RE+"(!|\\?)?:",relevance:0},{className:"symbol",
+begin:":(?!\\s)",contains:[d,{begin:a}],relevance:0},g,{className:"variable",
+begin:"(\\$\\W)|((\\$|@@?)(\\w+))(?=[^@$?])(?![A-Za-z])(?![@$?'])"},{
+className:"params",begin:/\|/,end:/\|/,excludeBegin:!0,excludeEnd:!0,
+relevance:0,keywords:t},{begin:"("+e.RE_STARTERS_RE+"|unless)\\s*",
+keywords:"unless",contains:[{className:"regexp",contains:[e.BACKSLASH_ESCAPE,l],
+illegal:/\n/,variants:[{begin:"/",end:"/[a-z]*"},{begin:/%r\{/,end:/\}[a-z]*/},{
+begin:"%r\\(",end:"\\)[a-z]*"},{begin:"%r!",end:"![a-z]*"},{begin:"%r\\[",
+end:"\\][a-z]*"}]}].concat(r,b),relevance:0}].concat(r,b)
+;l.contains=u,_.contains=u;const m=[{begin:/^\s*=>/,starts:{end:"$",contains:u}
+},{className:"meta.prompt",
+begin:"^([>?]>|[\\w#]+\\(\\w+\\):\\d+:\\d+[>*]|(\\w+-)?\\d+\\.\\d+\\.\\d+(p\\d+)?[^\\d][^>]+>)(?=[ ])",
+starts:{end:"$",keywords:t,contains:u}}];return b.unshift(r),{name:"Ruby",
+aliases:["rb","gemspec","podspec","thor","irb"],keywords:t,illegal:/\/\*/,
+contains:[e.SHEBANG({binary:"ruby"})].concat(m).concat(b).concat(u)}}})()
+;hljs.registerLanguage("ruby",e)})();/*! `yaml` grammar compiled for Highlight.js 11.7.0 */
+(()=>{var e=(()=>{"use strict";return e=>{
+const n="true false yes no null",a="[\\w#;/?:@&=+$,.~*'()[\\]]+",s={
+className:"string",relevance:0,variants:[{begin:/'/,end:/'/},{begin:/"/,end:/"/
+},{begin:/\S+/}],contains:[e.BACKSLASH_ESCAPE,{className:"template-variable",
+variants:[{begin:/\{\{/,end:/\}\}/},{begin:/%\{/,end:/\}/}]}]},i=e.inherit(s,{
+variants:[{begin:/'/,end:/'/},{begin:/"/,end:/"/},{begin:/[^\s,{}[\]]+/}]}),l={
+end:",",endsWithParent:!0,excludeEnd:!0,keywords:n,relevance:0},t={begin:/\{/,
+end:/\}/,contains:[l],illegal:"\\n",relevance:0},g={begin:"\\[",end:"\\]",
+contains:[l],illegal:"\\n",relevance:0},b=[{className:"attr",variants:[{
+begin:"\\w[\\w :\\/.-]*:(?=[ \t]|$)"},{begin:'"\\w[\\w :\\/.-]*":(?=[ \t]|$)'},{
+begin:"'\\w[\\w :\\/.-]*':(?=[ \t]|$)"}]},{className:"meta",begin:"^---\\s*$",
+relevance:10},{className:"string",
+begin:"[\\|>]([1-9]?[+-])?[ ]*\\n( +)[^ ][^\\n]*\\n(\\2[^\\n]+\\n?)*"},{
+begin:"<%[%=-]?",end:"[%-]?%>",subLanguage:"ruby",excludeBegin:!0,excludeEnd:!0,
+relevance:0},{className:"type",begin:"!\\w+!"+a},{className:"type",
+begin:"!<"+a+">"},{className:"type",begin:"!"+a},{className:"type",begin:"!!"+a
+},{className:"meta",begin:"&"+e.UNDERSCORE_IDENT_RE+"$"},{className:"meta",
+begin:"\\*"+e.UNDERSCORE_IDENT_RE+"$"},{className:"bullet",begin:"-(?=[ ]|$)",
+relevance:0},e.HASH_COMMENT_MODE,{beginKeywords:n,keywords:{literal:n}},{
+className:"number",
+begin:"\\b[0-9]{4}(-[0-9][0-9]){0,2}([Tt \\t][0-9][0-9]?(:[0-9][0-9]){2})?(\\.[0-9]*)?([ \\t])*(Z|[-+][0-9][0-9]?(:[0-9][0-9])?)?\\b"
+},{className:"number",begin:e.C_NUMBER_RE+"\\b",relevance:0},t,g,s],r=[...b]
+;return r.pop(),r.push(i),l.contains=r,{name:"YAML",case_insensitive:!0,
+aliases:["yml"],contains:b}}})();hljs.registerLanguage("yaml",e)})();
\ No newline at end of file
diff --git a/docs/doxygen/solarized-light.min.css b/docs/doxygen/solarized-light.min.css
new file mode 100644
index 00000000..67a590b3
--- /dev/null
+++ b/docs/doxygen/solarized-light.min.css
@@ -0,0 +1,7 @@
+/*!
+ Theme: Solarized Light
+ Author: Ethan Schoonover (modified by aramisgithub)
+ License: ~ MIT (or more permissive) [via base16-schemes-source]
+ Maintainer: @highlightjs/core-team
+ Version: 2021.09.0
+*/pre code.hljs{display:block;overflow-x:auto;padding:1em}code.hljs{padding:3px 5px}.hljs{color:#586e75;background:#fdf6e3}.hljs ::selection,.hljs::selection{background-color:#93a1a1;color:#586e75}.hljs-comment{color:#839496}.hljs-tag{color:#657b83}.hljs-operator,.hljs-punctuation,.hljs-subst{color:#586e75}.hljs-operator{opacity:.7}.hljs-bullet,.hljs-deletion,.hljs-name,.hljs-selector-tag,.hljs-template-variable,.hljs-variable{color:#dc322f}.hljs-attr,.hljs-link,.hljs-literal,.hljs-number,.hljs-symbol,.hljs-variable.constant_{color:#cb4b16}.hljs-class .hljs-title,.hljs-title,.hljs-title.class_{color:#b58900}.hljs-strong{font-weight:700;color:#b58900}.hljs-addition,.hljs-code,.hljs-string,.hljs-title.class_.inherited__{color:#859900}.hljs-built_in,.hljs-doctag,.hljs-keyword.hljs-atrule,.hljs-quote,.hljs-regexp{color:#2aa198}.hljs-attribute,.hljs-function .hljs-title,.hljs-section,.hljs-title.function_,.ruby .hljs-property{color:#268bd2}.diff .hljs-meta,.hljs-keyword,.hljs-template-tag,.hljs-type{color:#6c71c4}.hljs-emphasis{color:#6c71c4;font-style:italic}.hljs-meta,.hljs-meta .hljs-keyword,.hljs-meta .hljs-string{color:#d33682}.hljs-meta .hljs-keyword,.hljs-meta-keyword{font-weight:700}
\ No newline at end of file
diff --git a/thirdparty/doxygen-awesome-css/doxygen-awesome-fragment-copy-button.js b/thirdparty/doxygen-awesome-css/doxygen-awesome-fragment-copy-button.js
new file mode 100644
index 00000000..86c16fd9
--- /dev/null
+++ b/thirdparty/doxygen-awesome-css/doxygen-awesome-fragment-copy-button.js
@@ -0,0 +1,85 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2022 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+class DoxygenAwesomeFragmentCopyButton extends HTMLElement {
+ constructor() {
+ super();
+ this.onclick=this.copyContent
+ }
+ static title = "Copy to clipboard"
+ static copyIcon = `