  4</span>&#160;<span class="comment">*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">*  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*  Redistribution and us