% function [] = residuals(subjectID)
% Purpose:  Reads the set of motion files output by Darryl's executables
%           corresponding to subjectID and generates plots of the
%           RRA Residuals
%
% Input:    subjectID is the prefix ('string') of the following input files, 
%           generated from the preprocessing step and Darryl's executables:
%               subjectID.mot
%               subjectIDik.mot
%               subjectIDrea.mot
%               subjectIDcmc.mot
%
% Called Functions:  read_motionfile.m
%                    
% ASA, 3-05


% Set flag for printing (1 = print to printer; 0 = print to screen only)
print_flag = 0;

% Set flag for pausing between figures (1 = pause, 0 = do not pause)
pause_flag = 1;

ic = 1.36;
ic2 = 2.55;
dur = 1.19;

% Read file subjectID.mot
% fname = strcat(subjectID, '_raw_all.mot');%changed file name from '.mot' to 'raw.mot'
% fname = strcat(subjectID, '_raw_presw2pk.mot');
% mot = read_motionfile('hpl_overground_slow_walk.trc');

% Read files subjectIDik.mot
% fname = strcat(subjectID, '_invkin.mot');
% fname = strcat(subjectID, '_invkin_presw2pk.mot');
% fname = strcat(subjectID, 'cmc_presw2pk_original.mot');
ik = read_motionfile2('quickhop6IK.mot');

% Read files subjectIDrea.mot
% fname = strcat(subjectID, '_rea.mot');
% fname = strcat(subjectID, '_rea_presw2pk.mot');
rea = read_motionfile2('quickhop_6_RRA_Kinematics_q.mot');
rra_act = read_motionfile3('quickhop_6_RRA_Actuation_force.sto');
% Read files subjectIDcmc.mot
% fname = strcat(subjectID, '_cmc.mot');
% fname = strcat(subjectID, '_cmc_presw2pk.mot');

% Generate plots
set(0, 'Units', 'pixels');
scnsize = get(0, 'ScreenSize');
scnwidth = scnsize(3);
scnheight = scnsize(4);
figpos_whole = [0.1*scnwidth, 0.1*scnheight, 0.8*scnwidth, 0.5*scnheight];
    

figure(1);   % Residuals from RRA
    clf
    set(gcf, 'Position', figpos_whole, 'Color', 'w');
    set(gcf, 'PaperOrientation', 'landscape');
    set(gcf, 'PaperPosition', [1 1 9 6.5]);
    
    subplot(1, 2, 1);
%     cid_motx = find(strcmpi(mot.labels, 'time'));
%     cid_moty = find(strcmpi(mot.labels, 'pelvis_tx'));
%     p = plot(mot.data(:, cid_motx), mot.data(:, cid_moty));
%     set(p, 'LineWidth', 1, 'Color', 'k');
%     hold on;
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_FX = find(strcmpi(rra_act.labels, 'FX'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_FX));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    hold on;
    cid_FY = find(strcmpi(rra_act.labels, 'FY'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_FY));
    set(p, 'LineWidth', 1, 'Color', [0.0 0.8 0.3]);
    hold on;
    cid_FZ = find(strcmpi(rra_act.labels, 'FZ'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_FZ));
    set(p, 'LineWidth', 1, 'Color', [0.0 0.0 0.8]);
    hold on;
    title_string = ['Residual Forces'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Force (N)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    ytickpositions = get(gca, 'Ytick');
    if length(ytickpositions) > 5
        new_ytickpositions = ytickpositions(1:2:length(ytickpositions));
        set(gca, 'Ytick', new_ytickpositions);
    end
    hlegend = legend('{\itFX}', '{\itFY}', '{\itFZ}', 0);
    set(hlegend, 'Box', 'off', 'XColor', 'w', 'YColor', 'w');
    
    subplot(1, 2, 2);
%     cid_motx = find(strcmpi(mot.labels, 'time'));
%     cid_moty = find(strcmpi(mot.labels, 'pelvis_tx'));
%     p = plot(mot.data(:, cid_motx), mot.data(:, cid_moty));
%     set(p, 'LineWidth', 1, 'Color', 'k');
%     hold on;
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_MX = find(strcmpi(rra_act.labels, 'MX'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_MX));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    hold on;
    cid_MY = find(strcmpi(rra_act.labels, 'MY'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_MY));
    set(p, 'LineWidth', 1, 'Color', [0.0 0.8 0.3]);
    hold on;
    cid_MZ = find(strcmpi(rra_act.labels, 'MZ'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_MZ));
    set(p, 'LineWidth', 1, 'Color', [0.0 0.0 0.8]);
    hold on;
    title_string = ['Residual Moments'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    ytickpositions = get(gca, 'Ytick');
    if length(ytickpositions) > 5
        new_ytickpositions = ytickpositions(1:2:length(ytickpositions));
        set(gca, 'Ytick', new_ytickpositions);
    end
    hlegend = legend('{\itMX}', '{\itMY}', '{\itMZ}', 0);
    set(hlegend, 'Box', 'off', 'XColor', 'w', 'YColor', 'w');
    
%  2nd orientation
figure(2);   % Residuals from RRA
    clf
    set(gcf, 'Position', figpos_whole, 'Color', 'w');
    set(gcf, 'PaperOrientation', 'landscape');
    set(gcf, 'PaperPosition', [1 1 9 6.5]);
    
    subplot(2, 1, 1);
%     cid_motx = find(strcmpi(mot.labels, 'time'));
%     cid_moty = find(strcmpi(mot.labels, 'pelvis_tx'));
%     p = plot(mot.data(:, cid_motx), mot.data(:, cid_moty));
%     set(p, 'LineWidth', 1, 'Color', 'k');
%     hold on;
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_FX = find(strcmpi(rra_act.labels, 'FX'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_FX));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    hold on;
    cid_FY = find(strcmpi(rra_act.labels, 'FY'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_FY));
    set(p, 'LineWidth', 1, 'Color', [0.0 0.8 0.3]);
    hold on;
    cid_FZ = find(strcmpi(rra_act.labels, 'FZ'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_FZ));
    set(p, 'LineWidth', 1, 'Color', [0.0 0.0 0.8]);
    hold on;
    title_string = ['Residual Forces'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Force (N)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    ytickpositions = get(gca, 'Ytick');
    if length(ytickpositions) > 5
        new_ytickpositions = ytickpositions(1:2:length(ytickpositions));
        set(gca, 'Ytick', new_ytickpositions);
    end
    hlegend = legend('{\itFX}', '{\itFY}', '{\itFZ}', 'Location', 'Best');
    set(hlegend, 'Box', 'off', 'XColor', 'w', 'YColor', 'w');
    
    subplot(2, 1, 2);
%     cid_motx = find(strcmpi(mot.labels, 'time'));
%     cid_moty = find(strcmpi(mot.labels, 'pelvis_tx'));
%     p = plot(mot.data(:, cid_motx), mot.data(:, cid_moty));
%     set(p, 'LineWidth', 1, 'Color', 'k');
%     hold on;
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_MX = find(strcmpi(rra_act.labels, 'MX'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_MX));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    hold on;
    cid_MY = find(strcmpi(rra_act.labels, 'MY'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_MY));
    set(p, 'LineWidth', 1, 'Color', [0.0 0.8 0.3]);
    hold on;
    cid_MZ = find(strcmpi(rra_act.labels, 'MZ'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_MZ));
    set(p, 'LineWidth', 1, 'Color', [0.0 0.0 0.8]);
    hold on;
    title_string = ['Residual Moments'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    ytickpositions = get(gca, 'Ytick');
    if length(ytickpositions) > 5
        new_ytickpositions = ytickpositions(1:2:length(ytickpositions));
        set(gca, 'Ytick', new_ytickpositions);
    end
    hlegend = legend('{\itMX}', '{\itMY}', '{\itMZ}', 'Location', 'Best');
    set(hlegend, 'Box', 'off', 'XColor', 'w', 'YColor', 'w');
    
    % Joint Torques
figure(3) %Right Leg
    clf
    set(gcf, 'Position', figpos_whole, 'Color', 'w');
    set(gcf, 'PaperOrientation', 'landscape');
    set(gcf, 'PaperPosition', [1 1 9 6.5]);
    
    subplot(2,3,1)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'hip_flexion_r'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['hip flexion r'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
    subplot(2,3,2)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'hip_adduction_r'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['hip adduction r'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
    subplot(2,3,3)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'hip_rotation_r'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['hip rotation r'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
    subplot(2,3,4)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'knee_angle_r'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['knee angle r'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
    subplot(2,3,5)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'ankle_angle_r'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['ankle angle r'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
    subplot(2,3,6)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'mtp_angle_r'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    hold on
    cid_y2 = find(strcmpi(rra_act.labels, 'subtalar_angle_r'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y2));
    set(p, 'LineWidth', 1, 'Color', [0.0 0.8 0.3]);
    title_string = ['subtalar angle r and mtp angle r'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
figure(4) %Left Leg
    clf
    set(gcf, 'Position', figpos_whole, 'Color', 'w');
    set(gcf, 'PaperOrientation', 'landscape');
    set(gcf, 'PaperPosition', [1 1 9 6.5]);
    
    subplot(2,3,1)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'hip_flexion_l'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['hip flexion l'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
    subplot(2,3,2)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'hip_adduction_l'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['hip adduction l'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
    subplot(2,3,3)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'hip_rotation_l'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['hip rotation l'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
    subplot(2,3,4)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'knee_angle_l'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['knee angle l'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
    subplot(2,3,5)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'ankle_angle_l'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['ankle angle l'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
    subplot(2,3,6)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'mtp_angle_l'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    hold on
    cid_y2 = find(strcmpi(rra_act.labels, 'subtalar_angle_l'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y2));
    set(p, 'LineWidth', 1, 'Color', [0.0 0.8 0.3]);
    title_string = ['subtalar angle l and mtp angle l'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
figure(5) %Back Joint
    clf
    set(gcf, 'Position', figpos_whole, 'Color', 'w');
    set(gcf, 'PaperOrientation', 'landscape');
    set(gcf, 'PaperPosition', [1 1 9 6.5]);
    
    subplot(2,3,1)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'lumbar_extension'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['lumbar extension'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
    subplot(2,3,2)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'lumbar_bending'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['lumbar bending'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);
    
    subplot(2,3,3)
    cid_time = find(strcmpi(rra_act.labels, 'time'));
    cid_y1 = find(strcmpi(rra_act.labels, 'lumbar_rotation'));
    p = plot(rra_act.data(:, cid_time), rra_act.data(:, cid_y1));
    set(p, 'LineWidth', 1, 'Color', [0.8 0.0 0.5]);
    title_string = ['lumbar rotation'];
    title(title_string, 'FontSize', 9, 'FontWeight', 'Bold');
    xlabel('time (s)', 'FontSize', 9, 'VerticalAlignment', 'top');
    ylabel('Torque (N-m)', 'FontSize', 9, 'VerticalAlignment', 'bottom');
%     set(gca, 'Xtick', [0 0.2 0.4 0.6 0.8 1.0]);
    set(gca, 'Box', 'off', 'FontSize', 8);