text: (function(f){if(typeof exports==="object"&&typeof module!=="undefined"){module.exports=f()}else if(typeof define==="function"&&define.amd){define([],f)}else{var g;if(typeof window!=="undefined"){g=window}else if(typeof global!=="undefined"){g=global}else if(typeof self!=="undefined"){g=self}else{g=this}g.Sdk3dRudder = f()}})(function(){var define,module,exports;return (function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);var f=new Error("Cannot find module '"+o+"'");throw f.code="MODULE_NOT_FOUND",f}var l=n[o]={exports:{}};t[o][0].call(l.exports,function(e){var n=t[o][1][e];return s(n?n:e)},l,l.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
  
  },{}],2:[function(require,module,exports){
  // shim for using process in browser
  var process = module.exports = {};
  
  // cached from whatever global is present so that test runners that stub it
  // don't break things.  But we need to wrap it in a try catch in case it is
  // wrapped in strict mode code which doesn't define any globals.  It's inside a
  // function because try/catches deoptimize in certain engines.
  
  var cachedSetTimeout;
  var cachedClearTimeout;
  
  function defaultSetTimout() {
      throw new Error('setTimeout has not been defined');
  }
  function defaultClearTimeout () {
      throw new Error('clearTimeout has not been defined');
  }
  (function () {
      try {
          if (typeof setTimeout === 'function') {
              cachedSetTimeout = setTimeout;
          } else {
              cachedSetTimeout = defaultSetTimout;
          }
      } catch (e) {
          cachedSetTimeout = defaultSetTimout;
      }
      try {
          if (typeof clearTimeout === 'function') {
              cachedClearTimeout = clearTimeout;
          } else {
              cachedClearTimeout = defaultClearTimeout;
          }
      } catch (e) {
          cachedClearTimeout = defaultClearTimeout;
      }
  } ())
  function runTimeout(fun) {
      if (cachedSetTimeout === setTimeout) {
          //normal enviroments in sane situations
          return setTimeout(fun, 0);
      }
      // if setTimeout wasn't available but was latter defined
      if ((cachedSetTimeout === defaultSetTimout || !cachedSetTimeout) && setTimeout) {
          cachedSetTimeout = setTimeout;
          return setTimeout(fun, 0);
      }
      try {
          // when when somebody has screwed with setTimeout but no I.E. maddness
          return cachedSetTimeout(fun, 0);
      } catch(e){
          try {
              // When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally
              return cachedSetTimeout.call(null, fun, 0);
          } catch(e){
              // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error
              return cachedSetTimeout.call(this, fun, 0);
          }
      }
  
  
  }
  function runClearTimeout(marker) {
      if (cachedClearTimeout === clearTimeout) {
          //normal enviroments in sane situations
          return clearTimeout(marker);
      }
      // if clearTimeout wasn't available but was latter defined
      if ((cachedClearTimeout === defaultClearTimeout || !cachedClearTimeout) && clearTimeout) {
          cachedClearTimeout = clearTimeout;
          return clearTimeout(marker);
      }
      try {
          // when when somebody has screwed with setTimeout but no I.E. maddness
          return cachedClearTimeout(marker);
      } catch (e){
          try {
              // When we are in I.E. but the script has been evaled so I.E. doesn't  trust the global object when called normally
              return cachedClearTimeout.call(null, marker);
          } catch (e){
              // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error.
              // Some versions of I.E. have different rules for clearTimeout vs setTimeout
              return cachedClearTimeout.call(this, marker);
          }
      }
  
  
  
  }
  var queue = [];
  var draining = false;
  var currentQueue;
  var queueIndex = -1;
  
  function cleanUpNextTick() {
      if (!draining || !currentQueue) {
          return;
      }
      draining = false;
      if (currentQueue.length) {
          queue = currentQueue.concat(queue);
      } else {
          queueIndex = -1;
      }
      if (queue.length) {
          drainQueue();
      }
  }
  
  function drainQueue() {
      if (draining) {
          return;
      }
      var timeout = runTimeout(cleanUpNextTick);
      draining = true;
  
      var len = queue.length;
      while(len) {
          currentQueue = queue;
          queue = [];
          while (++queueIndex < len) {
              if (currentQueue) {
                  currentQueue[queueIndex].run();
              }
          }
          queueIndex = -1;
          len = queue.length;
      }
      currentQueue = null;
      draining = false;
      runClearTimeout(timeout);
  }
  
  process.nextTick = function (fun) {
      var args = new Array(arguments.length - 1);
      if (arguments.length > 1) {
          for (var i = 1; i < arguments.length; i++) {
              args[i - 1] = arguments[i];
          }
      }
      queue.push(new Item(fun, args));
      if (queue.length === 1 && !draining) {
          runTimeout(drainQueue);
      }
  };
  
  // v8 likes predictible objects
  function Item(fun, array) {
      this.fun = fun;
      this.array = array;
  }
  Item.prototype.run = function () {
      this.fun.apply(null, this.array);
  };
  process.title = 'browser';
  process.browser = true;
  process.env = {};
  process.argv = [];
  process.version = ''; // empty string to avoid regexp issues
  process.versions = {};
  
  function noop() {}
  
  process.on = noop;
  process.addListener = noop;
  process.once = noop;
  process.off = noop;
  process.removeListener = noop;
  process.removeAllListeners = noop;
  process.emit = noop;
  process.prependListener = noop;
  process.prependOnceListener = noop;
  
  process.listeners = function (name) { return [] }
  
  process.binding = function (name) {
      throw new Error('process.binding is not supported');
  };
  
  process.cwd = function () { return '/' };
  process.chdir = function (dir) {
      throw new Error('process.chdir is not supported');
  };
  process.umask = function() { return 0; };
  
  },{}],3:[function(require,module,exports){
  // Copyright Joyent, Inc. and other Node contributors.
  //
  // 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.
  
  function EventEmitter() {
    this._events = this._events || {};
    this._maxListeners = this._maxListeners || undefined;
  }
  module.exports = EventEmitter;
  
  // Backwards-compat with node 0.10.x
  EventEmitter.EventEmitter = EventEmitter;
  
  EventEmitter.prototype._events = undefined;
  EventEmitter.prototype._maxListeners = undefined;
  
  // By default EventEmitters will print a warning if more than 10 listeners are
  // added to it. This is a useful default which helps finding memory leaks.
  EventEmitter.defaultMaxListeners = 10;
  
  // Obviously not all Emitters should be limited to 10. This function allows
  // that to be increased. Set to zero for unlimited.
  EventEmitter.prototype.setMaxListeners = function(n) {
    if (!isNumber(n) || n < 0 || isNaN(n))
      throw TypeError('n must be a positive number');
    this._maxListeners = n;
    return this;
  };
  
  EventEmitter.prototype.emit = function(type) {
    var er, handler, len, args, i, listeners;
  
    if (!this._events)
      this._events = {};
  
    // If there is no 'error' event listener then throw.
    if (type === 'error') {
      if (!this._events.error ||
          (isObject(this._events.error) && !this._events.error.length)) {
        er = arguments[1];
        if (er instanceof Error) {
          throw er; // Unhandled 'error' event
        } else {
          // At least give some kind of context to the user
          var err = new Error('Uncaught, unspecified "error" event. (' + er + ')');
          err.context = er;
          throw err;
        }
      }
    }
  
    handler = this._events[type];
  
    if (isUndefined(handler))
      return false;
  
    if (isFunction(handler)) {
      switch (arguments.length) {
        // fast cases
        case 1:
          handler.call(this);
          break;
        case 2:
          handler.call(this, arguments[1]);
          break;
        case 3:
          handler.call(this, arguments[1], arguments[2]);
          break;
        // slower
        default:
          args = Array.prototype.slice.call(arguments, 1);
          handler.apply(this, args);
      }
    } else if (isObject(handler)) {
      args = Array.prototype.slice.call(arguments, 1);
      listeners = handler.slice();
      len = listeners.length;
      for (i = 0; i < len; i++)
        listeners[i].apply(this, args);
    }
  
    return true;
  };
  
  EventEmitter.prototype.addListener = function(type, listener) {
    var m;
  
    if (!isFunction(listener))
      throw TypeError('listener must be a function');
  
    if (!this._events)
      this._events = {};
  
    // To avoid recursion in the case that type === "newListener"! Before
    // adding it to the listeners, first emit "newListener".
    if (this._events.newListener)
      this.emit('newListener', type,
                isFunction(listener.listener) ?
                listener.listener : listener);
  
    if (!this._events[type])
      // Optimize the case of one listener. Don't need the extra array object.
      this._events[type] = listener;
    else if (isObject(this._events[type]))
      // If we've already got an array, just append.
      this._events[type].push(listener);
    else
      // Adding the second element, need to change to array.
      this._events[type] = [this._events[type], listener];
  
    // Check for listener leak
    if (isObject(this._events[type]) && !this._events[type].warned) {
      if (!isUndefined(this._maxListeners)) {
        m = this._maxListeners;
      } else {
        m = EventEmitter.defaultMaxListeners;
      }
  
      if (m && m > 0 && this._events[type].length > m) {
        this._events[type].warned = true;
        console.error('(node) warning: possible EventEmitter memory ' +
                      'leak detected. %d listeners added. ' +
                      'Use emitter.setMaxListeners() to increase limit.',
                      this._events[type].length);
        if (typeof console.trace === 'function') {
          // not supported in IE 10
          console.trace();
        }
      }
    }
  
    return this;
  };
  
  EventEmitter.prototype.on = EventEmitter.prototype.addListener;
  
  EventEmitter.prototype.once = function(type, listener) {
    if (!isFunction(listener))
      throw TypeError('listener must be a function');
  
    var fired = false;
  
    function g() {
      this.removeListener(type, g);
  
      if (!fired) {
        fired = true;
        listener.apply(this, arguments);
      }
    }
  
    g.listener = listener;
    this.on(type, g);
  
    return this;
  };
  
  // emits a 'removeListener' event iff the listener was removed
  EventEmitter.prototype.removeListener = function(type, listener) {
    var list, position, length, i;
  
    if (!isFunction(listener))
      throw TypeError('listener must be a function');
  
    if (!this._events || !this._events[type])
      return this;
  
    list = this._events[type];
    length = list.length;
    position = -1;
  
    if (list === listener ||
        (isFunction(list.listener) && list.listener === listener)) {
      delete this._events[type];
      if (this._events.removeListener)
        this.emit('removeListener', type, listener);
  
    } else if (isObject(list)) {
      for (i = length; i-- > 0;) {
        if (list[i] === listener ||
            (list[i].listener && list[i].listener === listener)) {
          position = i;
          break;
        }
      }
  
      if (position < 0)
        return this;
  
      if (list.length === 1) {
        list.length = 0;
        delete this._events[type];
      } else {
        list.splice(position, 1);
      }
  
      if (this._events.removeListener)
        this.emit('removeListener', type, listener);
    }
  
    return this;
  };
  
  EventEmitter.prototype.removeAllListeners = function(type) {
    var key, listeners;
  
    if (!this._events)
      return this;
  
    // not listening for removeListener, no need to emit
    if (!this._events.removeListener) {
      if (arguments.length === 0)
        this._events = {};
      else if (this._events[type])
        delete this._events[type];
      return this;
    }
  
    // emit removeListener for all listeners on all events
    if (arguments.length === 0) {
      for (key in this._events) {
        if (key === 'removeListener') continue;
        this.removeAllListeners(key);
      }
      this.removeAllListeners('removeListener');
      this._events = {};
      return this;
    }
  
    listeners = this._events[type];
  
    if (isFunction(listeners)) {
      this.removeListener(type, listeners);
    } else if (listeners) {
      // LIFO order
      while (listeners.length)
        this.removeListener(type, listeners[listeners.length - 1]);
    }
    delete this._events[type];
  
    return this;
  };
  
  EventEmitter.prototype.listeners = function(type) {
    var ret;
    if (!this._events || !this._events[type])
      ret = [];
    else if (isFunction(this._events[type]))
      ret = [this._events[type]];
    else
      ret = this._events[type].slice();
    return ret;
  };
  
  EventEmitter.prototype.listenerCount = function(type) {
    if (this._events) {
      var evlistener = this._events[type];
  
      if (isFunction(evlistener))
        return 1;
      else if (evlistener)
        return evlistener.length;
    }
    return 0;
  };
  
  EventEmitter.listenerCount = function(emitter, type) {
    return emitter.listenerCount(type);
  };
  
  function isFunction(arg) {
    return typeof arg === 'function';
  }
  
  function isNumber(arg) {
    return typeof arg === 'number';
  }
  
  function isObject(arg) {
    return typeof arg === 'object' && arg !== null;
  }
  
  function isUndefined(arg) {
    return arg === void 0;
  }
  
  },{}],4:[function(require,module,exports){
  //     Underscore.js 1.8.3
  //     http://underscorejs.org
  //     (c) 2009-2015 Jeremy Ashkenas, DocumentCloud and Investigative Reporters & Editors
  //     Underscore may be freely distributed under the MIT license.
  
  (function() {
  
    // Baseline setup
    // --------------
  
    // Establish the root object, `window` in the browser, or `exports` on the server.
    var root = this;
  
    // Save the previous value of the `_` variable.
    var previousUnderscore = root._;
  
    // Save bytes in the minified (but not gzipped) version:
    var ArrayProto = Array.prototype, ObjProto = Object.prototype, FuncProto = Function.prototype;
  
    // Create quick reference variables for speed access to core prototypes.
    var
      push             = ArrayProto.push,
      slice            = ArrayProto.slice,
      toString         = ObjProto.toString,
      hasOwnProperty   = ObjProto.hasOwnProperty;
  
    // All **ECMAScript 5** native function implementations that we hope to use
    // are declared here.
    var
      nativeIsArray      = Array.isArray,
      nativeKeys         = Object.keys,
      nativeBind         = FuncProto.bind,
      nativeCreate       = Object.create;
  
    // Naked function reference for surrogate-prototype-swapping.
    var Ctor = function(){};
  
    // Create a safe reference to the Underscore object for use below.
    var _ = function(obj) {
      if (obj instanceof _) return obj;
      if (!(this instanceof _)) return new _(obj);
      this._wrapped = obj;
    };
  
    // Export the Underscore object for **Node.js**, with
    // backwards-compatibility for the old `require()` API. If we're in
    // the browser, add `_` as a global object.
    if (typeof exports !== 'undefined') {
      if (typeof module !== 'undefined' && module.exports) {
        exports = module.exports = _;
      }
      exports._ = _;
    } else {
      root._ = _;
    }
  
    // Current version.
    _.VERSION = '1.8.3';
  
    // Internal function that returns an efficient (for current engines) version
    // of the passed-in callback, to be repeatedly applied in other Underscore
    // functions.
    var optimizeCb = function(func, context, argCount) {
      if (context === void 0) return func;
      switch (argCount == null ? 3 : argCount) {
        case 1: return function(value) {
          return func.call(context, value);
        };
        case 2: return function(value, other) {
          return func.call(context, value, other);
        };
        case 3: return function(value, index, collection) {
          return func.call(context, value, index, collection);
        };
        case 4: return function(accumulator, value, index, collection) {
          return func.call(context, accumulator, value, index, collection);
        };
      }
      return function() {
        return func.apply(context, arguments);
      };
    };
  
    // A mostly-internal function to generate callbacks that can be applied
    // to each element in a collection, returning the desired result — either
    // identity, an arbitrary callback, a property matcher, or a property accessor.
    var cb = function(value, context, argCount) {
      if (value == null) return _.identity;
      if (_.isFunction(value)) return optimizeCb(value, context, argCount);
      if (_.isObject(value)) return _.matcher(value);
      return _.property(value);
    };
    _.iteratee = function(value, context) {
      return cb(value, context, Infinity);
    };
  
    // An internal function for creating assigner functions.
    var createAssigner = function(keysFunc, undefinedOnly) {
      return function(obj) {
        var length = arguments.length;
        if (length < 2 || obj == null) return obj;
        for (var index = 1; index < length; index++) {
          var source = arguments[index],
              keys = keysFunc(source),
              l = keys.length;
          for (var i = 0; i < l; i++) {
            var key = keys[i];
            if (!undefinedOnly || obj[key] === void 0) obj[key] = source[key];
          }
        }
        return obj;
      };
    };
  
    // An internal function for creating a new object that inherits from another.
    var baseCreate = function(prototype) {
      if (!_.isObject(prototype)) return {};
      if (nativeCreate) return nativeCreate(prototype);
      Ctor.prototype = prototype;
      var result = new Ctor;
      Ctor.prototype = null;
      return result;
    };
  
    var property = function(key) {
      return function(obj) {
        return obj == null ? void 0 : obj[key];
      };
    };
  
    // Helper for collection methods to determine whether a collection
    // should be iterated as an array or as an object
    // Related: http://people.mozilla.org/~jorendorff/es6-draft.html#sec-tolength
    // Avoids a very nasty iOS 8 JIT bug on ARM-64. #2094
    var MAX_ARRAY_INDEX = Math.pow(2, 53) - 1;
    var getLength = property('length');
    var isArrayLike = function(collection) {
      var length = getLength(collection);
      return typeof length == 'number' && length >= 0 && length <= MAX_ARRAY_INDEX;
    };
  
    // Collection Functions
    // --------------------
  
    // The cornerstone, an `each` implementation, aka `forEach`.
    // Handles raw objects in addition to array-likes. Treats all
    // sparse array-likes as if they were dense.
    _.each = _.forEach = function(obj, iteratee, context) {
      iteratee = optimizeCb(iteratee, context);
      var i, length;
      if (isArrayLike(obj)) {
        for (i = 0, length = obj.length; i < length; i++) {
          iteratee(obj[i], i, obj);
        }
      } else {
        var keys = _.keys(obj);
        for (i = 0, length = keys.length; i < length; i++) {
          iteratee(obj[keys[i]], keys[i], obj);
        }
      }
      return obj;
    };
  
    // Return the results of applying the iteratee to each element.
    _.map = _.collect = function(obj, iteratee, context) {
      iteratee = cb(iteratee, context);
      var keys = !isArrayLike(obj) && _.keys(obj),
          length = (keys || obj).length,
          results = Array(length);
      for (var index = 0; index < length; index++) {
        var currentKey = keys ? keys[index] : index;
        results[index] = iteratee(obj[currentKey], currentKey, obj);
      }
      return results;
    };
  
    // Create a reducing function iterating left or right.
    function createReduce(dir) {
      // Optimized iterator function as using arguments.length
      // in the main function will deoptimize the, see #1991.
      function iterator(obj, iteratee, memo, keys, index, length) {
        for (; index >= 0 && index < length; index += dir) {
          var currentKey = keys ? keys[index] : index;
          memo = iteratee(memo, obj[currentKey], currentKey, obj);
        }
        return memo;
      }
  
      return function(obj, iteratee, memo, context) {
        iteratee = optimizeCb(iteratee, context, 4);
        var keys = !isArrayLike(obj) && _.keys(obj),
            length = (keys || obj).length,
            index = dir > 0 ? 0 : length - 1;
        // Determine the initial value if none is provided.
        if (arguments.length < 3) {
          memo = obj[keys ? keys[index] : index];
          index += dir;
        }
        return iterator(obj, iteratee, memo, keys, index, length);
      };
    }
  
    // **Reduce** builds up a single result from a list of values, aka `inject`,
    // or `foldl`.
    _.reduce = _.foldl = _.inject = createReduce(1);
  
    // The right-associative version of reduce, also known as `foldr`.
    _.reduceRight = _.foldr = createReduce(-1);
  
    // Return the first value which passes a truth test. Aliased as `detect`.
    _.find = _.detect = function(obj, predicate, context) {
      var key;
      if (isArrayLike(obj)) {
        key = _.findIndex(obj, predicate, context);
      } else {
        key = _.findKey(obj, predicate, context);
      }
      if (key !== void 0 && key !== -1) return obj[key];
    };
  
    // Return all the elements that pass a truth test.
    // Aliased as `select`.
    _.filter = _.select = function(obj, predicate, context) {
      var results = [];
      predicate = cb(predicate, context);
      _.each(obj, function(value, index, list) {
        if (predicate(value, index, list)) results.push(value);
      });
      return results;
    };
  
    // Return all the elements for which a truth test fails.
    _.reject = function(obj, predicate, context) {
      return _.filter(obj, _.negate(cb(predicate)), context);
    };
  
    // Determine whether all of the elements match a truth test.
    // Aliased as `all`.
    _.every = _.all = function(obj, predicate, context) {
      predicate = cb(predicate, context);
      var keys = !isArrayLike(obj) && _.keys(obj),
          length = (keys || obj).length;
      for (var index = 0; index < length; index++) {
        var currentKey = keys ? keys[index] : index;
        if (!predicate(obj[currentKey], currentKey, obj)) return false;
      }
      return true;
    };
  
    // Determine if at least one element in the object matches a truth test.
    // Aliased as `any`.
    _.some = _.any = function(obj, predicate, context) {
      predicate = cb(predicate, context);
      var keys = !isArrayLike(obj) && _.keys(obj),
          length = (keys || obj).length;
      for (var index = 0; index < length; index++) {
        var currentKey = keys ? keys[index] : index;
        if (predicate(obj[currentKey], currentKey, obj)) return true;
      }
      return false;
    };
  
    // Determine if the array or object contains a given item (using `===`).
    // Aliased as `includes` and `include`.
    _.contains = _.includes = _.include = function(obj, item, fromIndex, guard) {
      if (!isArrayLike(obj)) obj = _.values(obj);
      if (typeof fromIndex != 'number' || guard) fromIndex = 0;
      return _.indexOf(obj, item, fromIndex) >= 0;
    };
  
    // Invoke a method (with arguments) on every item in a collection.
    _.invoke = function(obj, method) {
      var args = slice.call(arguments, 2);
      var isFunc = _.isFunction(method);
      return _.map(obj, function(value) {
        var func = isFunc ? method : value[method];
        return func == null ? func : func.apply(value, args);
      });
    };
  
    // Convenience version of a common use case of `map`: fetching a property.
    _.pluck = function(obj, key) {
      return _.map(obj, _.property(key));
    };
  
    // Convenience version of a common use case of `filter`: selecting only objects
    // containing specific `key:value` pairs.
    _.where = function(obj, attrs) {
      return _.filter(obj, _.matcher(attrs));
    };
  
    // Convenience version of a common use case of `find`: getting the first object
    // containing specific `key:value` pairs.
    _.findWhere = function(obj, attrs) {
      return _.find(obj, _.matcher(attrs));
    };
  
    // Return the maximum element (or element-based computation).
    _.max = function(obj, iteratee, context) {
      var result = -Infinity, lastComputed = -Infinity,
          value, computed;
      if (iteratee == null && obj != null) {
        obj = isArrayLike(obj) ? obj : _.values(obj);
        for (var i = 0, length = obj.length; i < length; i++) {
          value = obj[i];
          if (value > result) {
            result = value;
          }
        }
      } else {
        iteratee = cb(iteratee, context);
        _.each(obj, function(value, index, list) {
          computed = iteratee(value, index, list);
          if (computed > lastComputed || computed === -Infinity && result === -Infinity) {
            result = value;
            lastComputed = computed;
          }
        });
      }
      return result;
    };
  
    // Return the minimum element (or element-based computation).
    _.min = function(obj, iteratee, context) {
      var result = Infinity, lastComputed = Infinity,
          value, computed;
      if (iteratee == null && obj != null) {
        obj = isArrayLike(obj) ? obj : _.values(obj);
        for (var i = 0, length = obj.length; i < length; i++) {
          value = obj[i];
          if (value < result) {
            result = value;
          }
        }
      } else {
        iteratee = cb(iteratee, context);
        _.each(obj, function(value, index, list) {
          computed = iteratee(value, index, list);
          if (computed < lastComputed || computed === Infinity && result === Infinity) {
            result = value;
            lastComputed = computed;
          }
        });
      }
      return result;
    };
  
    // Shuffle a collection, using the modern version of the
    // [Fisher-Yates shuffle](http://en.wikipedia.org/wiki/Fisher–Yates_shuffle).
    _.shuffle = function(obj) {
      var set = isArrayLike(obj) ? obj : _.values(obj);
      var length = set.length;
      var shuffled = Array(length);
      for (var index = 0, rand; index < length; index++) {
        rand = _.random(0, index);
        if (rand !== index) shuffled[index] = shuffled[rand];
        shuffled[rand] = set[index];
      }
      return shuffled;
    };
  
    // Sample **n** random values from a collection.
    // If **n** is not specified, returns a single random element.
    // The internal `guard` argument allows it to work with `map`.
    _.sample = function(obj, n, guard) {
      if (n == null || guard) {
        if (!isArrayLike(obj)) obj = _.values(obj);
        return obj[_.random(obj.length - 1)];
      }
      return _.shuffle(obj).slice(0, Math.max(0, n));
    };
  
    // Sort the object's values by a criterion produced by an iteratee.
    _.sortBy = function(obj, iteratee, context) {
      iteratee = cb(iteratee, context);
      return _.pluck(_.map(obj, function(value, index, list) {
        return {
          value: value,
          index: index,
          criteria: iteratee(value, index, list)
        };
      }).sort(function(left, right) {
        var a = left.criteria;
        var b = right.criteria;
        if (a !== b) {
          if (a > b || a === void 0) return 1;
          if (a < b || b === void 0) return -1;
        }
        return left.index - right.index;
      }), 'value');
    };
  
    // An internal function used for aggregate "group by" operations.
    var group = function(behavior) {
      return function(obj, iteratee, context) {
        var result = {};
        iteratee = cb(iteratee, context);
        _.each(obj, function(value, index) {
          var key = iteratee(value, index, obj);
          behavior(result, value, key);
        });
        return result;
      };
    };
  
    // Groups the object's values by a criterion. Pass either a string attribute
    // to group by, or a function that returns the criterion.
    _.groupBy = group(function(result, value, key) {
      if (_.has(result, key)) result[key].push(value); else result[key] = [value];
    });
  
    // Indexes the object's values by a criterion, similar to `groupBy`, but for
    // when you know that your index values will be unique.
    _.indexBy = group(function(result, value, key) {
      result[key] = value;
    });
  
    // Counts instances of an object that group by a certain criterion. Pass
    // either a string attribute to count by, or a function that returns the
    // criterion.
    _.countBy = group(function(result, value, key) {
      if (_.has(result, key)) result[key]++; else result[key] = 1;
    });
  
    // Safely create a real, live array from anything iterable.
    _.toArray = function(obj) {
      if (!obj) return [];
      if (_.isArray(obj)) return slice.call(obj);
      if (isArrayLike(obj)) return _.map(obj, _.identity);
      return _.values(obj);
    };
  
    // Return the number of elements in an object.
    _.size = function(obj) {
      if (obj == null) return 0;
      return isArrayLike(obj) ? obj.length : _.keys(obj).length;
    };
  
    // Split a collection into two arrays: one whose elements all satisfy the given
    // predicate, and one whose elements all do not satisfy the predicate.
    _.partition = function(obj, predicate, context) {
      predicate = cb(predicate, context);
      var pass = [], fail = [];
      _.each(obj, function(value, key, obj) {
        (predicate(value, key, obj) ? pass : fail).push(value);
      });
      return [pass, fail];
    };
  
    // Array Functions
    // ---------------
  
    // Get the first element of an array. Passing **n** will return the first N
    // values in the array. Aliased as `head` and `take`. The **guard** check
    // allows it to work with `_.map`.
    _.first = _.head = _.take = function(array, n, guard) {
      if (array == null) return void 0;
      if (n == null || guard) return array[0];
      return _.initial(array, array.length - n);
    };
  
    // Returns everything but the last entry of the array. Especially useful on
    // the arguments object. Passing **n** will return all the values in
    // the array, excluding the last N.
    _.initial = function(array, n, guard) {
      return slice.call(array, 0, Math.max(0, array.length - (n == null || guard ? 1 : n)));
    };
  
    // Get the last element of an array. Passing **n** will return the last N
    // values in the array.
    _.last = function(array, n, guard) {
      if (array == null) return void 0;
      if (n == null || guard) return array[array.length - 1];
      return _.rest(array, Math.max(0, array.length - n));
    };
  
    // Returns everything but the first entry of the array. Aliased as `tail` and `drop`.
    // Especially useful on the arguments object. Passing an **n** will return
    // the rest N values in the array.
    _.rest = _.tail = _.drop = function(array, n, guard) {
      return slice.call(array, n == null || guard ? 1 : n);
    };
  
    // Trim out all falsy values from an array.
    _.compact = function(array) {
      return _.filter(array, _.identity);
    };
  
    // Internal implementation of a recursive `flatten` function.
    var flatten = function(input, shallow, strict, startIndex) {
      var output = [], idx = 0;
      for (var i = startIndex || 0, length = getLength(input); i < length; i++) {
        var value = input[i];
        if (isArrayLike(value) && (_.isArray(value) || _.isArguments(value))) {
          //flatten current level of array or arguments object
          if (!shallow) value = flatten(value, shallow, strict);
          var j = 0, len = value.length;
          output.length += len;
          while (j < len) {
            output[idx++] = value[j++];
          }
        } else if (!strict) {
          output[idx++] = value;
        }
      }
      return output;
    };
  
    // Flatten out an array, either recursively (by default), or just one level.
    _.flatten = function(array, shallow) {
      return flatten(array, shallow, false);
    };
  
    // Return a version of the array that does not contain the specified value(s).
    _.without = function(array) {
      return _.difference(array, slice.call(arguments, 1));
    };
  
    // Produce a duplicate-free version of the array. If the array has already
    // been sorted, you have the option of using a faster algorithm.
    // Aliased as `unique`.
    _.uniq = _.unique = function(array, isSorted, iteratee, context) {
      if (!_.isBoolean(isSorted)) {
        context = iteratee;
        iteratee = isSorted;
        isSorted = false;
      }
      if (iteratee != null) iteratee = cb(iteratee, context);
      var result = [];
      var seen = [];
      for (var i = 0, length = getLength(array); i < length; i++) {
        var value = array[i],
            computed = iteratee ? iteratee(value, i, array) : value;
        if (isSorted) {
          if (!i || seen !== computed) result.push(value);
          seen = computed;
        } else if (iteratee) {
          if (!_.contains(seen, computed)) {
            seen.push(computed);
            result.push(value);
          }
        } else if (!_.contains(result, value)) {
          result.push(value);
        }
      }
      return result;
    };
  
    // Produce an array that contains the union: each distinct element from all of
    // the passed-in arrays.
    _.union = function() {
      return _.uniq(flatten(arguments, true, true));
    };
  
    // Produce an array that contains every item shared between all the
    // passed-in arrays.
    _.intersection = function(array) {
      var result = [];
      var argsLength = arguments.length;
      for (var i = 0, length = getLength(array); i < length; i++) {
        var item = array[i];
        if (_.contains(result, item)) continue;
        for (var j = 1; j < argsLength; j++) {
          if (!_.contains(arguments[j], item)) break;
        }
        if (j === argsLength) result.push(item);
      }
      return result;
    };
  
    // Take the difference between one array and a number of other arrays.
    // Only the elements present in just the first array will remain.
    _.difference = function(array) {
      var rest = flatten(arguments, true, true, 1);
      return _.filter(array, function(value){
        return !_.contains(rest, value);
      });
    };
  
    // Zip together multiple lists into a single array -- elements that share
    // an index go together.
    _.zip = function() {
      return _.unzip(arguments);
    };
  
    // Complement of _.zip. Unzip accepts an array of arrays and groups
    // each array's elements on shared indices
    _.unzip = function(array) {
      var length = array && _.max(array, getLength).length || 0;
      var result = Array(length);
  
      for (var index = 0; index < length; index++) {
        result[index] = _.pluck(array, index);
      }
      return result;
    };
  
    // Converts lists into objects. Pass either a single array of `[key, value]`
    // pairs, or two parallel arrays of the same length -- one of keys, and one of
    // the corresponding values.
    _.object = function(list, values) {
      var result = {};
      for (var i = 0, length = getLength(list); i < length; i++) {
        if (values) {
          result[list[i]] = values[i];
        } else {
          result[list[i][0]] = list[i][1];
        }
      }
      return result;
    };
  
    // Generator function to create the findIndex and findLastIndex functions
    function createPredicateIndexFinder(dir) {
      return function(array, predicate, context) {
        predicate = cb(predicate, context);
        var length = getLength(array);
        var index = dir > 0 ? 0 : length - 1;
        for (; index >= 0 && index < length; index += dir) {
          if (predicate(array[index], index, array)) return index;
        }
        return -1;
      };
    }
  
    // Returns the first index on an array-like that passes a predicate test
    _.findIndex = createPredicateIndexFinder(1);
    _.findLastIndex = createPredicateIndexFinder(-1);
  
    // Use a comparator function to figure out the smallest index at which
    // an object should be inserted so as to maintain order. Uses binary search.
    _.sortedIndex = function(array, obj, iteratee, context) {
      iteratee = cb(iteratee, context, 1);
      var value = iteratee(obj);
      var low = 0, high = getLength(array);
      while (low < high) {
        var mid = Math.floor((low + high) / 2);
        if (iteratee(array[mid]) < value) low = mid + 1; else high = mid;
      }
      return low;
    };
  
    // Generator function to create the indexOf and lastIndexOf functions
    function createIndexFinder(dir, predicateFind, sortedIndex) {
      return function(array, item, idx) {
        var i = 0, length = getLength(array);
        if (typeof idx == 'number') {
          if (dir > 0) {
              i = idx >= 0 ? idx : Math.max(idx + length, i);
          } else {
              length = idx >= 0 ? Math.min(idx + 1, length) : idx + length + 1;
          }
        } else if (sortedIndex && idx && length) {
          idx = sortedIndex(array, item);
          return array[idx] === item ? idx : -1;
        }
        if (item !== item) {
          idx = predicateFind(slice.call(array, i, length), _.isNaN);
          return idx >= 0 ? idx + i : -1;
        }
        for (idx = dir > 0 ? i : length - 1; idx >= 0 && idx < length; idx += dir) {
          if (array[idx] === item) return idx;
        }
        return -1;
      };
    }
  
    // Return the position of the first occurrence of an item in an array,
    // or -1 if the item is not included in the array.
    // If the array is large and already in sort order, pass `true`
    // for **isSorted** to use binary search.
    _.indexOf = createIndexFinder(1, _.findIndex, _.sortedIndex);
    _.lastIndexOf = createIndexFinder(-1, _.findLastIndex);
  
    // Generate an integer Array containing an arithmetic progression. A port of
    // the native Python `range()` function. See
    // [the Python documentation](http://docs.python.org/library/functions.html#range).
    _.range = function(start, stop, step) {
      if (stop == null) {
        stop = start || 0;
        start = 0;
      }
      step = step || 1;
  
      var length = Math.max(Math.ceil((stop - start) / step), 0);
      var range = Array(length);
  
      for (var idx = 0; idx < length; idx++, start += step) {
        range[idx] = start;
      }
  
      return range;
    };
  
    // Function (ahem) Functions
    // ------------------
  
    // Determines whether to execute a function as a constructor
    // or a normal function with the provided arguments
    var executeBound = function(sourceFunc, boundFunc, context, callingContext, args) {
      if (!(callingContext instanceof boundFunc)) return sourceFunc.apply(context, args);
      var self = baseCreate(sourceFunc.prototype);
      var result = sourceFunc.apply(self, args);
      if (_.isObject(result)) return result;
      return self;
    };
  
    // Create a function bound to a given object (assigning `this`, and arguments,
    // optionally). Delegates to **ECMAScript 5**'s native `Function.bind` if
    // available.
    _.bind = function(func, context) {
      if (nativeBind && func.bind === nativeBind) return nativeBind.apply(func, slice.call(arguments, 1));
      if (!_.isFunction(func)) throw new TypeError('Bind must be called on a function');
      var args = slice.call(arguments, 2);
      var bound = function() {
        return executeBound(func, bound, context, this, args.concat(slice.call(arguments)));
      };
      return bound;
    };
  
    // Partially apply a function by creating a version that has had some of its
    // arguments pre-filled, without changing its dynamic `this` context. _ acts
    // as a placeholder, allowing any combination of arguments to be pre-filled.
    _.partial = function(func) {
      var boundArgs = slice.call(arguments, 1);
      var bound = function() {
        var position = 0, length = boundArgs.length;
        var args = Array(length);
        for (var i = 0; i < length; i++) {
          args[i] = boundArgs[i] === _ ? arguments[position++] : boundArgs[i];
        }
        while (position < arguments.length) args.push(arguments[position++]);
        return executeBound(func, bound, this, this, args);
      };
      return bound;
    };
  
    // Bind a number of an object's methods to that object. Remaining arguments
    // are the method names to be bound. Useful for ensuring that all callbacks
    // defined on an object belong to it.
    _.bindAll = function(obj) {
      var i, length = arguments.length, key;
      if (length <= 1) throw new Error('bindAll must be passed function names');
      for (i = 1; i < length; i++) {
        key = arguments[i];
        obj[key] = _.bind(obj[key], obj);
      }
      return obj;
    };
  
    // Memoize an expensive function by storing its results.
    _.memoize = function(func, hasher) {
      var memoize = function(key) {
        var cache = memoize.cache;
        var address = '' + (hasher ? hasher.apply(this, arguments) : key);
        if (!_.has(cache, address)) cache[address] = func.apply(this, arguments);
        return cache[address];
      };
      memoize.cache = {};
      return memoize;
    };
  
    // Delays a function for the given number of milliseconds, and then calls
    // it with the arguments supplied.
    _.delay = function(func, wait) {
      var args = slice.call(arguments, 2);
      return setTimeout(function(){
        return func.apply(null, args);
      }, wait);
    };
  
    // Defers a function, scheduling it to run after the current call stack has
    // cleared.
    _.defer = _.partial(_.delay, _, 1);
  
    // Returns a function, that, when invoked, will only be triggered at most once
    // during a given window of time. Normally, the throttled function will run
    // as much as it can, without ever going more than once per `wait` duration;
    // but if you'd like to disable the execution on the leading edge, pass
    // `{leading: false}`. To disable execution on the trailing edge, ditto.
    _.throttle = function(func, wait, options) {
      var context, args, result;
      var timeout = null;
      var previous = 0;
      if (!options) options = {};
      var later = function() {
        previous = options.leading === false ? 0 : _.now();
        timeout = null;
        result = func.apply(context, args);
        if (!timeout) context = args = null;
      };
      return function() {
        var now = _.now();
        if (!previous && options.leading === false) previous = now;
        var remaining = wait - (now - previous);
        context = this;
        args = arguments;
        if (remaining <= 0 || remaining > wait) {
          if (timeout) {
            clearTimeout(timeout);
            timeout = null;
          }
          previous = now;
          result = func.apply(context, args);
          if (!timeout) context = args = null;
        } else if (!timeout && options.trailing !== false) {
          timeout = setTimeout(later, remaining);
        }
        return result;
      };
    };
  
    // Returns a function, that, as long as it continues to be invoked, will not
    // be triggered. The function will be called after it stops being called for
    // N milliseconds. If `immediate` is passed, trigger the function on the
    // leading edge, instead of the trailing.
    _.debounce = function(func, wait, immediate) {
      var timeout, args, context, timestamp, result;
  
      var later = function() {
        var last = _.now() - timestamp;
  
        if (last < wait && last >= 0) {
          timeout = setTimeout(later, wait - last);
        } else {
          timeout = null;
          if (!immediate) {
            result = func.apply(context, args);
            if (!timeout) context = args = null;
          }
        }
      };
  
      return function() {
        context = this;
        args = arguments;
        timestamp = _.now();
        var callNow = immediate && !timeout;
        if (!timeout) timeout = setTimeout(later, wait);
        if (callNow) {
          result = func.apply(context, args);
          context = args = null;
        }
  
        return result;
      };
    };
  
    // Returns the first function passed as an argument to the second,
    // allowing you to adjust arguments, run code before and after, and
    // conditionally execute the original function.
    _.wrap = function(func, wrapper) {
      return _.partial(wrapper, func);
    };
  
    // Returns a negated version of the passed-in predicate.
    _.negate = function(predicate) {
      return function() {
        return !predicate.apply(this, arguments);
      };
    };
  
    // Returns a function that is the composition of a list of functions, each
    // consuming the return value of the function that follows.
    _.compose = function() {
      var args = arguments;
      var start = args.length - 1;
      return function() {
        var i = start;
        var result = args[start].apply(this, arguments);
        while (i--) result = args[i].call(this, result);
        return result;
      };
    };
  
    // Returns a function that will only be executed on and after the Nth call.
    _.after = function(times, func) {
      return function() {
        if (--times < 1) {
          return func.apply(this, arguments);
        }
      };
    };
  
    // Returns a function that will only be executed up to (but not including) the Nth call.
    _.before = function(times, func) {
      var memo;
      return function() {
        if (--times > 0) {
          memo = func.apply(this, arguments);
        }
        if (times <= 1) func = null;
        return memo;
      };
    };
  
    // Returns a function that will be executed at most one time, no matter how
    // often you call it. Useful for lazy initialization.
    _.once = _.partial(_.before, 2);
  
    // Object Functions
    // ----------------
  
    // Keys in IE < 9 that won't be iterated by `for key in ...` and thus missed.
    var hasEnumBug = !{toString: null}.propertyIsEnumerable('toString');
    var nonEnumerableProps = ['valueOf', 'isPrototypeOf', 'toString',
                        'propertyIsEnumerable', 'hasOwnProperty', 'toLocaleString'];
  
    function collectNonEnumProps(obj, keys) {
      var nonEnumIdx = nonEnumerableProps.length;
      var constructor = obj.constructor;
      var proto = (_.isFunction(constructor) && constructor.prototype) || ObjProto;
  
      // Constructor is a special case.
      var prop = 'constructor';
      if (_.has(obj, prop) && !_.contains(keys, prop)) keys.push(prop);
  
      while (nonEnumIdx--) {
        prop = nonEnumerableProps[nonEnumIdx];
        if (prop in obj && obj[prop] !== proto[prop] && !_.contains(keys, prop)) {
          keys.push(prop);
        }
      }
    }
  
    // Retrieve the names of an object's own properties.
    // Delegates to **ECMAScript 5**'s native `Object.keys`
    _.keys = function(obj) {
      if (!_.isObject(obj)) return [];
      if (nativeKeys) return nativeKeys(obj);
      var keys = [];
      for (var key in obj) if (_.has(obj, key)) keys.push(key);
      // Ahem, IE < 9.
      if (hasEnumBug) collectNonEnumProps(obj, keys);
      return keys;
    };
  
    // Retrieve all the property names of an object.
    _.allKeys = function(obj) {
      if (!_.isObject(obj)) return [];
      var keys = [];
      for (var key in obj) keys.push(key);
      // Ahem, IE < 9.
      if (hasEnumBug) collectNonEnumProps(obj, keys);
      return keys;
    };
  
    // Retrieve the values of an object's properties.
    _.values = function(obj) {
      var keys = _.keys(obj);
      var length = keys.length;
      var values = Array(length);
      for (var i = 0; i < length; i++) {
        values[i] = obj[keys[i]];
      }
      return values;
    };
  
    // Returns the results of applying the iteratee to each element of the object
    // In contrast to _.map it returns an object
    _.mapObject = function(obj, iteratee, context) {
      iteratee = cb(iteratee, context);
      var keys =  _.keys(obj),
            length = keys.length,
            results = {},
            currentKey;
        for (var index = 0; index < length; index++) {
          currentKey = keys[index];
          results[currentKey] = iteratee(obj[currentKey], currentKey, obj);
        }
        return results;
    };
  
    // Convert an object into a list of `[key, value]` pairs.
    _.pairs = function(obj) {
      var keys = _.keys(obj);
      var length = keys.length;
      var pairs = Array(length);
      for (var i = 0; i < length; i++) {
        pairs[i] = [keys[i], obj[keys[i]]];
      }
      return pairs;
    };
  
    // Invert the keys and values of an object. The values must be serializable.
    _.invert = function(obj) {
      var result = {};
      var keys = _.keys(obj);
      for (var i = 0, length = keys.length; i < length; i++) {
        result[obj[keys[i]]] = keys[i];
      }
      return result;
    };
  
    // Return a sorted list of the function names available on the object.
    // Aliased as `methods`
    _.functions = _.methods = function(obj) {
      var names = [];
      for (var key in obj) {
        if (_.isFunction(obj[key])) names.push(key);
      }
      return names.sort();
    };
  
    // Extend a given object with all the properties in passed-in object(s).
    _.extend = createAssigner(_.allKeys);
  
    // Assigns a given object with all the own properties in the passed-in object(s)
    // (https://developer.mozilla.org/docs/Web/JavaScript/Reference/Global_Objects/Object/assign)
    _.extendOwn = _.assign = createAssigner(_.keys);
  
    // Returns the first key on an object that passes a predicate test
    _.findKey = function(obj, predicate, context) {
      predicate = cb(predicate, context);
      var keys = _.keys(obj), key;
      for (var i = 0, length = keys.length; i < length; i++) {
        key = keys[i];
        if (predicate(obj[key], key, obj)) return key;
      }
    };
  
    // Return a copy of the object only containing the whitelisted properties.
    _.pick = function(object, oiteratee, context) {
      var result = {}, obj = object, iteratee, keys;
      if (obj == null) return result;
      if (_.isFunction(oiteratee)) {
        keys = _.allKeys(obj);
        iteratee = optimizeCb(oiteratee, context);
      } else {
        keys = flatten(arguments, false, false, 1);
        iteratee = function(value, key, obj) { return key in obj; };
        obj = Object(obj);
      }
      for (var i = 0, length = keys.length; i < length; i++) {
        var key = keys[i];
        var value = obj[key];
        if (iteratee(value, key, obj)) result[key] = value;
      }
      return result;
    };
  
     // Return a copy of the object without the blacklisted properties.
    _.omit = function(obj, iteratee, context) {
      if (_.isFunction(iteratee)) {
        iteratee = _.negate(iteratee);
      } else {
        var keys = _.map(flatten(arguments, false, false, 1), String);
        iteratee = function(value, key) {
          return !_.contains(keys, key);
        };
      }
      return _.pick(obj, iteratee, context);
    };
  
    // Fill in a given object with default properties.
    _.defaults = createAssigner(_.allKeys, true);
  
    // Creates an object that inherits from the given prototype object.
    // If additional properties are provided then they will be added to the
    // created object.
    _.create = function(prototype, props) {
      var result = baseCreate(prototype);
      if (props) _.extendOwn(result, props);
      return result;
    };
  
    // Create a (shallow-cloned) duplicate of an object.
    _.clone = function(obj) {
      if (!_.isObject(obj)) return obj;
      return _.isArray(obj) ? obj.slice() : _.extend({}, obj);
    };
  
    // Invokes interceptor with the obj, and then returns obj.
    // The primary purpose of this method is to "tap into" a method chain, in
    // order to perform operations on intermediate results within the chain.
    _.tap = function(obj, interceptor) {
      interceptor(obj);
      return obj;
    };
  
    // Returns whether an object has a given set of `key:value` pairs.
    _.isMatch = function(object, attrs) {
      var keys = _.keys(attrs), length = keys.length;
      if (object == null) return !length;
      var obj = Object(object);
      for (var i = 0; i < length; i++) {
        var key = keys[i];
        if (attrs[key] !== obj[key] || !(key in obj)) return false;
      }
      return true;
    };
  
  
    // Internal recursive comparison function for `isEqual`.
    var eq = function(a, b, aStack, bStack) {
      // Identical objects are equal. `0 === -0`, but they aren't identical.
      // See the [Harmony `egal` proposal](http://wiki.ecmascript.org/doku.php?id=harmony:egal).
      if (a === b) return a !== 0 || 1 / a === 1 / b;
      // A strict comparison is necessary because `null == undefined`.
      if (a == null || b == null) return a === b;
      // Unwrap any wrapped objects.
      if (a instanceof _) a = a._wrapped;
      if (b instanceof _) b = b._wrapped;
      // Compare `[[Class]]` names.
      var className = toString.call(a);
      if (className !== toString.call(b)) return false;
      switch (className) {
        // Strings, numbers, regular expressions, dates, and booleans are compared by value.
        case '[object RegExp]':
        // RegExps are coerced to strings for comparison (Note: '' + /a/i === '/a/i')
        case '[object String]':
          // Primitives and their corresponding object wrappers are equivalent; thus, `"5"` is
          // equivalent to `new String("5")`.
          return '' + a === '' + b;
        case '[object Number]':
          // `NaN`s are equivalent, but non-reflexive.
          // Object(NaN) is equivalent to NaN
          if (+a !== +a) return +b !== +b;
          // An `egal` comparison is performed for other numeric values.
          return +a === 0 ? 1 / +a === 1 / b : +a === +b;
        case '[object Date]':
        case '[object Boolean]':
          // Coerce dates and booleans to numeric primitive values. Dates are compared by their
          // millisecond representations. Note that invalid dates with millisecond representations
          // of `NaN` are not equivalent.
          return +a === +b;
      }
  
      var areArrays = className === '[object Array]';
      if (!areArrays) {
        if (typeof a != 'object' || typeof b != 'object') return false;
  
        // Objects with different constructors are not equivalent, but `Object`s or `Array`s
        // from different frames are.
        var aCtor = a.constructor, bCtor = b.constructor;
        if (aCtor !== bCtor && !(_.isFunction(aCtor) && aCtor instanceof aCtor &&
                                 _.isFunction(bCtor) && bCtor instanceof bCtor)
                            && ('constructor' in a && 'constructor' in b)) {
          return false;
        }
      }
      // Assume equality for cyclic structures. The algorithm for detecting cyclic
      // structures is adapted from ES 5.1 section 15.12.3, abstract operation `JO`.
  
      // Initializing stack of traversed objects.
      // It's done here since we only need them for objects and arrays comparison.
      aStack = aStack || [];
      bStack = bStack || [];
      var length = aStack.length;
      while (length--) {
        // Linear search. Performance is inversely proportional to the number of
        // unique nested structures.
        if (aStack[length] === a) return bStack[length] === b;
      }
  
      // Add the first object to the stack of traversed objects.
      aStack.push(a);
      bStack.push(b);
  
      // Recursively compare objects and arrays.
      if (areArrays) {
        // Compare array lengths to determine if a deep comparison is necessary.
        length = a.length;
        if (length !== b.length) return false;
        // Deep compare the contents, ignoring non-numeric properties.
        while (length--) {
          if (!eq(a[length], b[length], aStack, bStack)) return false;
        }
      } else {
        // Deep compare objects.
        var keys = _.keys(a), key;
        length = keys.length;
        // Ensure that both objects contain the same number of properties before comparing deep equality.
        if (_.keys(b).length !== length) return false;
        while (length--) {
          // Deep compare each member
          key = keys[length];
          if (!(_.has(b, key) && eq(a[key], b[key], aStack, bStack))) return false;
        }
      }
      // Remove the first object from the stack of traversed objects.
      aStack.pop();
      bStack.pop();
      return true;
    };
  
    // Perform a deep comparison to check if two objects are equal.
    _.isEqual = function(a, b) {
      return eq(a, b);
    };
  
    // Is a given array, string, or object empty?
    // An "empty" object has no enumerable own-properties.
    _.isEmpty = function(obj) {
      if (obj == null) return true;
      if (isArrayLike(obj) && (_.isArray(obj) || _.isString(obj) || _.isArguments(obj))) return obj.length === 0;
      return _.keys(obj).length === 0;
    };
  
    // Is a given value a DOM element?
    _.isElement = function(obj) {
      return !!(obj && obj.nodeType === 1);
    };
  
    // Is a given value an array?
    // Delegates to ECMA5's native Array.isArray
    _.isArray = nativeIsArray || function(obj) {
      return toString.call(obj) === '[object Array]';
    };
  
    // Is a given variable an object?
    _.isObject = function(obj) {
      var type = typeof obj;
      return type === 'function' || type === 'object' && !!obj;
    };
  
    // Add some isType methods: isArguments, isFunction, isString, isNumber, isDate, isRegExp, isError.
    _.each(['Arguments', 'Function', 'String', 'Number', 'Date', 'RegExp', 'Error'], function(name) {
      _['is' + name] = function(obj) {
        return toString.call(obj) === '[object ' + name + ']';
      };
    });
  
    // Define a fallback version of the method in browsers (ahem, IE < 9), where
    // there isn't any inspectable "Arguments" type.
    if (!_.isArguments(arguments)) {
      _.isArguments = function(obj) {
        return _.has(obj, 'callee');
      };
    }
  
    // Optimize `isFunction` if appropriate. Work around some typeof bugs in old v8,
    // IE 11 (#1621), and in Safari 8 (#1929).
    if (typeof /./ != 'function' && typeof Int8Array != 'object') {
      _.isFunction = function(obj) {
        return typeof obj == 'function' || false;
      };
    }
  
    // Is a given object a finite number?
    _.isFinite = function(obj) {
      return isFinite(obj) && !isNaN(parseFloat(obj));
    };
  
    // Is the given value `NaN`? (NaN is the only number which does not equal itself).
    _.isNaN = function(obj) {
      return _.isNumber(obj) && obj !== +obj;
    };
  
    // Is a given value a boolean?
    _.isBoolean = function(obj) {
      return obj === true || obj === false || toString.call(obj) === '[object Boolean]';
    };
  
    // Is a given value equal to null?
    _.isNull = function(obj) {
      return obj === null;
    };
  
    // Is a given variable undefined?
    _.isUndefined = function(obj) {
      return obj === void 0;
    };
  
    // Shortcut function for checking if an object has a given property directly
    // on itself (in other words, not on a prototype).
    _.has = function(obj, key) {
      return obj != null && hasOwnProperty.call(obj, key);
    };
  
    // Utility Functions
    // -----------------
  
    // Run Underscore.js in *noConflict* mode, returning the `_` variable to its
    // previous owner. Returns a reference to the Underscore object.
    _.noConflict = function() {
      root._ = previousUnderscore;
      return this;
    };
  
    // Keep the identity function around for default iteratees.
    _.identity = function(value) {
      return value;
    };
  
    // Predicate-generating functions. Often useful outside of Underscore.
    _.constant = function(value) {
      return function() {
        return value;
      };
    };
  
    _.noop = function(){};
  
    _.property = property;
  
    // Generates a function for a given object that returns a given property.
    _.propertyOf = function(obj) {
      return obj == null ? function(){} : function(key) {
        return obj[key];
      };
    };
  
    // Returns a predicate for checking whether an object has a given set of
    // `key:value` pairs.
    _.matcher = _.matches = function(attrs) {
      attrs = _.extendOwn({}, attrs);
      return function(obj) {
        return _.isMatch(obj, attrs);
      };
    };
  
    // Run a function **n** times.
    _.times = function(n, iteratee, context) {
      var accum = Array(Math.max(0, n));
      iteratee = optimizeCb(iteratee, context, 1);
      for (var i = 0; i < n; i++) accum[i] = iteratee(i);
      return accum;
    };
  
    // Return a random integer between min and max (inclusive).
    _.random = function(min, max) {
      if (max == null) {
        max = min;
        min = 0;
      }
      return min + Math.floor(Math.random() * (max - min + 1));
    };
  
    // A (possibly faster) way to get the current timestamp as an integer.
    _.now = Date.now || function() {
      return new Date().getTime();
    };
  
     // List of HTML entities for escaping.
    var escapeMap = {
      '&': '&amp;',
      '<': '&lt;',
      '>': '&gt;',
      '"': '&quot;',
      "'": '&#x27;',
      '`': '&#x60;'
    };
    var unescapeMap = _.invert(escapeMap);
  
    // Functions for escaping and unescaping strings to/from HTML interpolation.
    var createEscaper = function(map) {
      var escaper = function(match) {
        return map[match];
      };
      // Regexes for identifying a key that needs to be escaped
      var source = '(?:' + _.keys(map).join('|') + ')';
      var testRegexp = RegExp(source);
      var replaceRegexp = RegExp(source, 'g');
      return function(string) {
        string = string == null ? '' : '' + string;
        return testRegexp.test(string) ? string.replace(replaceRegexp, escaper) : string;
      };
    };
    _.escape = createEscaper(escapeMap);
    _.unescape = createEscaper(unescapeMap);
  
    // If the value of the named `property` is a function then invoke it with the
    // `object` as context; otherwise, return it.
    _.result = function(object, property, fallback) {
      var value = object == null ? void 0 : object[property];
      if (value === void 0) {
        value = fallback;
      }
      return _.isFunction(value) ? value.call(object) : value;
    };
  
    // Generate a unique integer id (unique within the entire client session).
    // Useful for temporary DOM ids.
    var idCounter = 0;
    _.uniqueId = function(prefix) {
      var id = ++idCounter + '';
      return prefix ? prefix + id : id;
    };
  
    // By default, Underscore uses ERB-style template delimiters, change the
    // following template settings to use alternative delimiters.
    _.templateSettings = {
      evaluate    : /<%([\s\S]+?)%>/g,
      interpolate : /<%=([\s\S]+?)%>/g,
      escape      : /<%-([\s\S]+?)%>/g
    };
  
    // When customizing `templateSettings`, if you don't want to define an
    // interpolation, evaluation or escaping regex, we need one that is
    // guaranteed not to match.
    var noMatch = /(.)^/;
  
    // Certain characters need to be escaped so that they can be put into a
    // string literal.
    var escapes = {
      "'":      "'",
      '\\':     '\\',
      '\r':     'r',
      '\n':     'n',
      '\u2028': 'u2028',
      '\u2029': 'u2029'
    };
  
    var escaper = /\\|'|\r|\n|\u2028|\u2029/g;
  
    var escapeChar = function(match) {
      return '\\' + escapes[match];
    };
  
    // JavaScript micro-templating, similar to John Resig's implementation.
    // Underscore templating handles arbitrary delimiters, preserves whitespace,
    // and correctly escapes quotes within interpolated code.
    // NB: `oldSettings` only exists for backwards compatibility.
    _.template = function(text, settings, oldSettings) {
      if (!settings && oldSettings) settings = oldSettings;
      settings = _.defaults({}, settings, _.templateSettings);
  
      // Combine delimiters into one regular expression via alternation.
      var matcher = RegExp([
        (settings.escape || noMatch).source,
        (settings.interpolate || noMatch).source,
        (settings.evaluate || noMatch).source
      ].join('|') + '|$', 'g');
  
      // Compile the template source, escaping string literals appropriately.
      var index = 0;
      var source = "__p+='";
      text.replace(matcher, function(match, escape, interpolate, evaluate, offset) {
        source += text.slice(index, offset).replace(escaper, escapeChar);
        index = offset + match.length;
  
        if (escape) {
          source += "'+\n((__t=(" + escape + "))==null?'':_.escape(__t))+\n'";
        } else if (interpolate) {
          source += "'+\n((__t=(" + interpolate + "))==null?'':__t)+\n'";
        } else if (evaluate) {
          source += "';\n" + evaluate + "\n__p+='";
        }
  
        // Adobe VMs need the match returned to produce the correct offest.
        return match;
      });
      source += "';\n";
  
      // If a variable is not specified, place data values in local scope.
      if (!settings.variable) source = 'with(obj||{}){\n' + source + '}\n';
  
      source = "var __t,__p='',__j=Array.prototype.join," +
        "print=function(){__p+=__j.call(arguments,'');};\n" +
        source + 'return __p;\n';
  
      try {
        var render = new Function(settings.variable || 'obj', '_', source);
      } catch (e) {
        e.source = source;
        throw e;
      }
  
      var template = function(data) {
        return render.call(this, data, _);
      };
  
      // Provide the compiled source as a convenience for precompilation.
      var argument = settings.variable || 'obj';
      template.source = 'function(' + argument + '){\n' + source + '}';
  
      return template;
    };
  
    // Add a "chain" function. Start chaining a wrapped Underscore object.
    _.chain = function(obj) {
      var instance = _(obj);
      instance._chain = true;
      return instance;
    };
  
    // OOP
    // ---------------
    // If Underscore is called as a function, it returns a wrapped object that
    // can be used OO-style. This wrapper holds altered versions of all the
    // underscore functions. Wrapped objects may be chained.
  
    // Helper function to continue chaining intermediate results.
    var result = function(instance, obj) {
      return instance._chain ? _(obj).chain() : obj;
    };
  
    // Add your own custom functions to the Underscore object.
    _.mixin = function(obj) {
      _.each(_.functions(obj), function(name) {
        var func = _[name] = obj[name];
        _.prototype[name] = function() {
          var args = [this._wrapped];
          push.apply(args, arguments);
          return result(this, func.apply(_, args));
        };
      });
    };
  
    // Add all of the Underscore functions to the wrapper object.
    _.mixin(_);
  
    // Add all mutator Array functions to the wrapper.
    _.each(['pop', 'push', 'reverse', 'shift', 'sort', 'splice', 'unshift'], function(name) {
      var method = ArrayProto[name];
      _.prototype[name] = function() {
        var obj = this._wrapped;
        method.apply(obj, arguments);
        if ((name === 'shift' || name === 'splice') && obj.length === 0) delete obj[0];
        return result(this, obj);
      };
    });
  
    // Add all accessor Array functions to the wrapper.
    _.each(['concat', 'join', 'slice'], function(name) {
      var method = ArrayProto[name];
      _.prototype[name] = function() {
        return result(this, method.apply(this._wrapped, arguments));
      };
    });
  
    // Extracts the result from a wrapped and chained object.
    _.prototype.value = function() {
      return this._wrapped;
    };
  
    // Provide unwrapping proxy for some methods used in engine operations
    // such as arithmetic and JSON stringification.
    _.prototype.valueOf = _.prototype.toJSON = _.prototype.value;
  
    _.prototype.toString = function() {
      return '' + this._wrapped;
    };
  
    // AMD registration happens at the end for compatibility with AMD loaders
    // that may not enforce next-turn semantics on modules. Even though general
    // practice for AMD registration is to be anonymous, underscore registers
    // as a named module because, like jQuery, it is a base library that is
    // popular enough to be bundled in a third party lib, but not be part of
    // an AMD load request. Those cases could generate an error when an
    // anonymous define() is called outside of a loader request.
    if (typeof define === 'function' && define.amd) {
      define('underscore', [], function() {
        return _;
      });
    }
  }.call(this));
  
  },{}],5:[function(require,module,exports){
  /*!
   * 
   * 3dRudder v1.0.0                                                  
   * https://github.com/3DRudder/3dRudderjs                                        
   *                                                                             
   * Copyright 2017 3dRudder, Inc. and other contributors                      
   * Released under the MIT license                                     
   * https://github.com/3DRudder/3dRudderjs/blob/master/LICENSE                 
   */
  
   /**
   * AxesParam object.
   * 
   * @namespace
   */
  var AxesParam = function() {  
      /**
       * Value for default curves by axis
       * @type {curves}
       * @prop {float} leftright
       *  Represent the right/left axis [-1,1]
       * @prop {float} forwardbackward
       *  Represent the forward/backward axis [-1,1]          
       * @prop {float} updown
       *  Represent the up/down axis [-1,1]
       * @prop {float} rotation
       *  Represent the rotation right/left axis [-1,1]
       * @prop {object} curve
       *      @prop {float} deadzone
       *      Represent the deadzone
       *      @prop {float} xSat
       *      Represent the saturation of X value
       *      @prop {float} yMax
       *      Represent the maximum of Y value
       *      @prop {float} exp
       *      Represent the exponentiel of curve
      */
     this.curves = {
          leftright: {deadzone: 0.15, xSat: 1.0, exp: 1.0},
          forwardbackward: {deadzone: 0.15, xSat: 1.0, exp: 1.0},                
          updown: {deadzone: 0.15, xSat: 1.0, exp: 1.0},
          rotation: {deadzone: 0.15, xSat: 1.0, exp: 1.0},
      }
  
     /**
       * Roll to Yaw compensation
       * @type {integer}
      */
     this.roll2YawCompensation = 0.0;
  
     /**
       * Non Symmetrical Pitch
       * @type {integer}
      */
     this.nonSymmetricalPitch = true;
  }
  
  //_.extend(Controller.prototype, EventEmitter.prototype);
  
  module.exports = AxesParam;
  },{}],6:[function(require,module,exports){
  /*!
   * 
   * 3dRudder v1.0.0                                                  
   * https://github.com/3DRudder/3dRudderjs                                        
   *                                                                             
   * Copyright 2017 3dRudder, Inc. and other contributors                      
   * Released under the MIT license                                     
   * https://github.com/3DRudder/3dRudderjs/blob/master/LICENSE                 
   */
  var _ = require('underscore')
  , EventEmitter = require('events').EventEmitter
  , AxesParam = require('./axesparam')
  
  /**
   * Controller object.
   * 
   * @namespace
   */
  var Controller = function() {    
      /**
       * Axes param
       * @type {AxesParam}
      */
      this.axesParam = new AxesParam();
  
      this.default();
  }
  
  /**
   * Init function.
   * @private
   * @param {SDK} SDK
   *   SDK object
   * @param {object} device
   *   All infos of connected device.
  */
  Controller.prototype.init = function(SDK, device) {
      if (device.connected) {
          this.SDK = SDK;
          this.port = device.port;
          this.firmware = device.firmware;
          this.connected = device.connected;
          //this.status = device.status;
          //this.freeze = device.freeze;
          //this.hide = device.hide;
          this.on('status', function(status) {            
              this.SDK.emit('statusDevice', status, this.port);
          });
  
          // on freeze
          this.on('frozen', function(code, freeze) {
              if (code == 0)
                  this.freeze = freeze;
              if (this.onFrozen)
                  this.onFrozen(code, this.freeze);
              this.onFrozen = null;
          });
  
          // on hide
          this.on('hidden', function(code, hide) {
              if (code == 0)
                  this.hide = hide;
              if (this.onHidden)
                  this.onHidden(code, this.hide);
              this.onHidden = null;
          });
          
          // on play sound
          this.on('playedSound', function(code) {        
              if (this.onPlayedSound)
                  this.onPlayedSound(code);
              this.onPlayedSound = null;
          });
  
          // on play sound with tones
          this.on('playedSoundTones', function(code) {        
              if (this.onPlayedSoundTones)
                  this.onPlayedSoundTones(code);
              this.onPlayedSoundTones = null;
          });
  
          // Set AxesParam
          this.setAxesParam(this.axesParam);        
          //this.setCurves(this.curves)
      } else {
          this.default();        
      }
  }
  
  /**
   * Update function.
   * @private
   * @param {SDK} SDK
   *   SDK object
   * @param {object} device
   *   All infos of connected device.
  */
  Controller.prototype.update = function(controller) {
      if (controller.error) {
          console.log("error update controller " + error);
      }
      else {
          this.sensors = controller.sensors;
          this.axis = controller.axis;
          if (controller.status != this.status) {
              this.emit('status', controller.status);
          }
          this.status = controller.status;
      }
  }
  
  /**
   * Controller constructor with default properties.
   * @private
   * @constructor
   */
  Controller.prototype.default = function () {
      /**
       * SDK object
       * @type {SDK}
      */
      this.SDK = null;
      /**
       * the port of controller
       * @type {integer}
      */
      this.port = -1;
      /**
       * firmware's version
       * @type {integer}
      */
      this.firmware = 0;
      /**
       * controller's status
       * @type {integer}
      */
      this.status = 0;
      /**
       * if controller is connected
       * @type {boolean}
      */
      this.connected = false;
      /**
       * if controller is frozen
       * @type {boolean}
      */
      this.freeze = false;
      /**
       * if controller is hidden
       * @type {boolean}
      */
      this.hide = false;
      /**
       * 6 sensor's value of controller
       * value is the force on the sensor (in grams)
       * @type {Array[integer]}
      */
      this.sensors = [0,0,0,0,0,0];
      /**
       * Value for each axis
       * @type {Axis}
       * @prop {float} forwardbackward
       *  Represent the forward/backward axis [-1,1]
       * @prop {float} leftright
       *  Represent the right/left axis [-1,1]     
       * @prop {float} updown
       *  Represent the up/down axis [-1,1]
       * @prop {float} rotation
       *  Represent the rotation right/left axis [-1,1]
      */
      this.axis = {        
          leftright: 0,
          forwardbackward: 0,        
          updown: 0,
          rotation: 0,
      };
      // events
      this.removeAllListeners('status');
      this.removeAllListeners('frozen');
      this.removeAllListeners('hidden');
      this.removeAllListeners('playedSound');
      this.removeAllListeners('playedSoundTones');
          
      this.onFrozen = null;
      this.onHidden = null;
      this.onPlayedSound = null;
      this.onPlayedSoundTones = null;
  }
  
  /**
   * Send message to server.
   * @private
   * @param {json} data
   */
  Controller.prototype.sendMessage = function(data) {
      if (this.SDK && this.SDK.connection) {        
          // send function to server
          this.SDK.connection.send(JSON.stringify(data));
          return true;
      }
      return false;
  }
  
  /**
   * Set Axes Param
   *
   * @param {AxesParam} axesParam
  */
  Controller.prototype.setAxesParam = function(axesParam) {
      var data = {
          message: "axesParam",
          port: this.port,
          value: axesParam            
      }
      if (this.sendMessage(data)) {        
          this.axesParam = axesParam;        
      }       
  }
  
  /**
   * Set curves
   *
   * @param {Object} curves
   *  Curves {pitch, roll, yaw, updown}
  */
  Controller.prototype.setCurves = function(curves) {
      var data = {
          message: "curves",
          port: this.port,
          value: curves            
      }
      if (this.sendMessage(data)) {        
          this.axesParam.curves = curves;        
      }        
  }
  
  /**
   * Set curve
   *
   * @param {string} axis
   *  Type [pitch, roll, yaw, updown]
   * @param {Object} curve
   *  Curve {deadzone, xSat, yMax, exp}
  */
  Controller.prototype.setCurve = function(axis, curve) {
      var data = {
          message: "curve",
          port: this.port,
          axis: axis,
          value: curve            
      }
      if (this.sendMessage(data)) {        
          this.axesParam.curves[axis] = curve;        
      }        
  }
  
  /**
   * Freeze/Unfreeze the 3dRudder.
   *
   * @param {boolean} freeze
   *   if true freeze, else unfreeze
   * @param {function} callback
   *  callback when the controller is frozen
   * @param code
   *  the error code of command 'freeze' (0=success)
   * @param freeze
   *  freeze's value
  */
  Controller.prototype.setFreeze = function(freeze, callback) {
      var data = {
          message: "freeze",
          port: this.port,
          value: freeze            
      }
      if (this.sendMessage(data)) {        
          this.onFrozen = callback;        
      } else {
          callback(1, false); // no connected
      }        
  }
  
  /**
   * Hide/Unhide the 3dRudder.
   *
   * @param {boolean} hide
   *   if true hide, else unhide
   * @param {function} callback
   *  callback when the controller is hidden
   * @param code
   *  the error code of command 'hide' (0=success)
   * @param freeze
   *  hide's value
  */
  Controller.prototype.setHide = function(hide, callback) {
      console.log('set hide =' + hide);
      var data = {
          message: "hide",
          port: this.port,
          value: hide            
      }
      if (this.sendMessage(data)) {
          this.onHidden = callback;        
      } else {
          callback(1, false); // no connected
      }  
  }
  
  /**
   * Play sound on 3dRudder.
   *
   * @param {integer} frequency
   *   frequency in Hz
   * @param {integer} duration
   *  duration in ms
   * @param {function} callback
   *  callback when the playsound command is launched
   * @param code
   *  the error code of command 'hide' (0=success)
  */
  Controller.prototype.playSound = function(frequency, duration, callback) {
      console.log('play sound ');
      var data = {
          message: "playsound",
          port: this.port,
          frequency: frequency,
          duration: duration
      }
      if (this.sendMessage(data)) {
          this.onPlayedSound = callback;
      } else {
          callback(1); // no connected
      }   
  }
  
  /**
   * Play sound with tones on 3dRudder.
   *
   * @param {string} tones
   *  tones "Note OctaveNumber (Duration of Tone, Pause after Tone)"
   * @param {function} callback
   *  callback when the playsound command is launched
   * @param code
   *  the error code of command 'hide' (0=success)
  */
  Controller.prototype.playSoundTones = function(tones, callback) {
      console.log('play sound tones');
      var data = {
          message: "playsoundtones",
          port: this.port,
          tones: tones
      }
      if (this.sendMessage(data)) {
          this.onPlayedSoundTones = callback;
      } else {
          callback(1); // no connected
      }     
  }
  
  _.extend(Controller.prototype, EventEmitter.prototype);
  
  module.exports = Controller;
  },{"./axesparam":5,"events":3,"underscore":4}],7:[function(require,module,exports){
  (function (process){
  /*!
   * 
   * 3dRudder v1.0.0                                                  
   * https://github.com/3DRudder/3dRudderjs                                        
   *                                                                             
   * Copyright 2017 3dRudder, Inc. and other contributors                      
   * Released under the MIT license                                     
   * https://github.com/3DRudder/3dRudderjs/blob/master/LICENSE                 
  */
  
  var isNode = (typeof(process) !== 'undefined' && process.versions && process.versions.node);
  // use Websocket for brower and ws for node.js
  var WebSocket = isNode ? require('ws') : (window.WebSocket || window.MozWebSocket)
      , _ = require('underscore')
      , EventEmitter = require('events').EventEmitter
      , Controller = require('./controller');
  
  /**
   * Sdk constructor.
   * 
   * @namespace
   * @constructor
  */
  var Sdk = function(opts) {
      opts = opts || {};
      /**
       * the host of server
       * @type {url}
      */
      this.host = opts.host || '127.51.100.82';
      /**
       * the port of server by default 15698
       * @type {integer}
      */
      this.port = opts.port || 15698;
      /**
       * the scheme for websocket protocol
       * @type {string}
      */
      this.schemeWs = opts.schemeWs || 'wss';
      /**
       * the scheme for http protocol
       * @type {string}
      */
      this.schemeHttp = opts.schemeHttp || 'http';
      /**
       * try to reconnect in ms
       * @type {bool}
      */
     this.autoReconnect = false;
      /**
       * the time to try to reconnect in ms
       * @type {integer}
      */
      this.autoReconnectInterval = 5*1000;
      // SDK params
      this.default();
  
      /**
       * Error code
       * @type {array[string]}
      */
      this.ERROR = ["Success", "Not connected", "Fail", "Incorrect command", "Timeout", "DeviceNotSupported", "DeviceInitError", "ValidationError",
       "ValidationTimeOut", "Not ready", "FirmwareNeedToBeUpdated", "NotInitialized", "NotSupported", "DashboardInstallError", "DashboardUpdateError"];
  
      /**
       * Status of 3dRudder
       * @type {array[string]}
      */
      this.STATUS = ["No status", "No foot stay still", "Initialisation", "Put your feet", "Put second foot", "Stay still", "In use", "Frozen"/*253*/, "IsNotConnected"/*254*/];
  
      /**
       * Axes of 3dRudder
       * @type {array[string]}
      */    
      this.AXES = {LeftRight: 0, ForwardBackward: 1, UpDown: 2, Rotation: 3};    
  
      /**
       * 4 controllers max
       * @type {array[Controller]}
      */
      this.controllers = [new Controller(), new Controller(), new Controller(), new Controller()];    
  
      /* List of events */
      // type: init
      this.on('init', function(e) {
          console.log(`uid client ${e.uid} version ${e.version} number connected ${e.numberConnected}`);
          this.uid = e.uid;
          this.version = e.version;
          // TODO: maybe refresh this counter
          this.numberConnected = e.numberConnected;
      });
  
      // type: connectedDevice
      this.on('connectedDevice', function(device) {
          console.log(`device port ${device.port} firmware ${device.firmware} connected ${device.connected}`);
          this.controllers[device.port].init(this, device);
      });
  
      // type: freeze
      this.on('frozen', function(device) {
          console.log(`device port ${device.port} freeze ${device.freeze}`);
          this.controllers[device.port].emit('frozen', device.code, device.freeze)
      });
  
      // type: hide
      this.on('hidden', function(device) {
          console.log(`device port ${device.port} hide ${device.hide}`);
          this.controllers[device.port].emit('hidden', device.code, device.hide)
      });
  
      // type: play sound
      this.on('playedSound', function(device) {
          console.log(`device port ${device.port} error ${this.getErrorString(device.code)}`);
          this.controllers[device.port].emit('playedSound', device.code)
      });
      this.on('playedSoundTones', function(device) {
          console.log(`device port ${device.port} error ${this.getErrorString(device.code)}`);
          this.controllers[device.port].emit('playedSoundTones', device.code)
      });
  
      // type: frame
      this.on('frame', function(frame) {
          //console.log(`frame ${JSON.stringify(frame)} controllers ${JSON.stringify(this.controllers)}`);
          var _this = this;
          frame.controllers.forEach( function(controller, index, array) {
              //console.log(`controllers ${JSON.stringify(_this.controllers[0])}`);
              if (controller.connected) {
                  _this.controllers[index].update(controller);
              }
          });        
      });
  
      this.on('error', function(error) {
          console.log(`error ${error.message}`);
      });
  
      this.on('end', function(device) {
          this.controllers.forEach( function(controller) {           
              controller.default();
          });
      });
  }
  
  /**
   * Sdk default
   * @private
  */
  Sdk.prototype.default = function () {
      this.uid = 0;
      this.version = 0;
      this.numberConnected = 0;
  }
  
  /**
   * Get the complete websocket url
   * @private
   * @return {url}
  */
  Sdk.prototype.getWsUrl = function () {
      return `${this.schemeWs}://${this.host}:${this.port}`;
  }
  
  /**
   * Get the complete http url
   * @private
   * @return {url}
  */
  Sdk.prototype.getHttpUrl = function () {
      return this.schemeHttp + "://" + this.host + ":" + this.port;
  }
  
  /**
   * Get the status in string format
   *
   * @return {string}
  */
  Sdk.prototype.getStatusString = function (code) {
      return this.STATUS[code];
  }
  
  /**
   * Get the error code in string format
   *
   * @return {string}
  */
  Sdk.prototype.getErrorString = function (code) {
      return this.ERROR[code];
  }
  
  /**
   * Setup the connection (websocket and http)
   * @private
   * @return {string}
  */
  // TODO: create connection object to manager websocket and http request
  Sdk.prototype.setupConnection = function () {
      // 2 tricks to get this in function
      // 1) save this in variable _this
      // 2) use .bind(this) like onMessage
      var _this = this;
      var connection = new WebSocket(this.getWsUrl());
      this.connection = connection;
      connection.onopen = function(event) { 
          console.log('onopen ' + event);
      };    
      connection.onmessage = this.onMessage.bind(this);
      connection.onclose = function(e) { 
          // TODO: maybe emit event connected device = false
          _this.default();
          _this.emit('end');
          console.log('onclose ' + e['code'] + ' reason ' + e['reason']);
          switch (e['code']) {
              case 1000:	// CLOSE_NORMAL
                  console.log("WebSocket: closed");
                  break;
              default:	// Abnormal closure
                  if (_this.autoReconnect)
                      _this.reconnect(e);
                  break;
          } 
      };
      connection.onerror = function(error) {        
          //_this.emit('error', new error);
          console.log('onerror ' + error );         
      };
  }
  
  /**
   * Try to reconnect
   * @private
   * @param {error} e
  */
  Sdk.prototype.reconnect = function(e) {
      this.connection = null;
      var that = this;
  	setTimeout(function() {
  		console.log("WebSocketClient: reconnecting...");
  		that.setupConnection();
  	},this.autoReconnectInterval);
  }
  
  /**
   * Event when the server sends a message
   * @private
   * @event
   * @param {object} message
   *  the message contains the json data
  */
  Sdk.prototype.onMessage = function (message) {
      //console.log(message.data);
      try {
          var msg = JSON.parse(message.data);
          // send event with type and json data        
          this.emit(msg.event, msg);
      } catch (e) {
          console.error("Parsing error:", e); 
      }
  }
  
  /**
   * Stop the connection
   * @private
  */
  Sdk.prototype.stopConnection = function () {
      if (this.connection) {
          this.connection.close();
      }
  }
  
  /**
   * Init the SDK
   * @function
   * this function must be call at first
  */
  Sdk.prototype.init = function () {
      console.log('init SDK');    
      this.setupConnection();
  }
  
  /**
   * Stop the SDK
   * @function
   * stop the connection with the server
  */
  Sdk.prototype.stop = function () {
      console.log('end SDK');
      this.stopConnection();
  }
  
  /**
   * Play sound on 3dRudder.
   *
   * @param {integer} port
   *   port's number
   * @param {integer} frequency
   *   frequency in Hz
   * @param {integer} duration
   *  duration in ms
   * @param {function} callback
   *  callback when the playsound command is launched
   * @param code
   *  the error code of command 'hide' (0=success)
  */
  Sdk.prototype.playSound = function (port, frequency, duration, callback) {
      console.log('play sound SDK');
      this.controllers[port].playSound(frequency, duration, callback);
  }
  
  /**
   * Play sound with tones on 3dRudder.
   * 
   * @param {integer} port
   *   port's number
   * @param {string} tones
   *  tones "Note OctaveNumber (Duration of Tone, Pause after Tone)"
   * @param {function} callback
   *  callback when the playsound command is launched
   * @param code
   *  the error code of command 'hide' (0=success)
  */
  Sdk.prototype.playSoundTones = function (port, tones, callback) {
      console.log('play sound tones SDK');
      this.controllers[port].playSoundTones(tones, callback);
  }
  
  /**
   * Freeze/Unfreeze the 3dRudder.
   *
   * @param {integer} port
   *   port's number
   * @param {boolean} freeze
   *   if true freeze, else unfreeze
   * @param {function} callback
   *  callback when the controller is frozen
   * @param code
   *  the error code of command 'freeze' (0=success)
   * @param freeze
   *  freeze's value
  */
  Sdk.prototype.freeze = function (port, freeze, callback) {
      console.log('freeze SDK');
      this.controllers[port].setFreeze(freeze, callback);
  }
  
  /**
   * Hide/Unhide the 3dRudder.
   *  
   * @param {integer} port
   *   port's number
   * @param {boolean} hide
   *   if true hide, else unhide
   * @param {function} callback
   *  callback when the controller is hidden
   * @param code
   *  the error code of command 'hide' (0=success)
   * @param freeze
   *  hide's value
  */
  Sdk.prototype.hide = function (port, hide, callback) {
      console.log('hide SDK');
      this.controllers[port].setHide(hide, callback);
  }
  
  _.extend(Sdk.prototype, EventEmitter.prototype);
  
  module.exports = Sdk;
  }).call(this,require('_process'))
  },{"./controller":6,"_process":2,"events":3,"underscore":4,"ws":1}]},{},[7])(7)
  });