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GraphsExplained
Guava's common.graph
is a library for modeling
graph-structured
data, that is, entities and the relationships between them. Examples include
webpages and hyperlinks; scientists and the papers that they write; airports and
the routes between them; and people and their family ties (family trees). Its
purpose is to provide a common and extensible language for working with such
data.
A graph consists of a set of nodes (also called vertices) and a set of edges (also called links, or arcs); each edge connects nodes to each other. The nodes incident to an edge are called its endpoints.
(While we introduce an interface called Graph
below, we will use "graph"
(lower case "g") as a general term referring to this type of data structure.
When we want to refer to a specific type in this library, we capitalize it.)
An edge is directed if it has a defined start (its source) and end (its target, also called its destination). Otherwise, it is undirected. Directed edges are suitable for modeling asymmetric relations ("descended from", "links to", "authored by"), while undirected edges are suitable for modeling symmetric relations ("coauthored a paper with", "distance between", "sibling of").
A graph is directed if each of its edges are directed, and undirected if each of
its edges are undirected. (common.graph
does not support graphs that have both
directed and undirected edges.)
Given this example:
graph.addEdge(nodeU, nodeV, edgeUV);
-
nodeU
andnodeV
are mutually adjacent -
edgeUV
is incident tonodeU
and tonodeV
(and vice versa)
If graph
is directed, then:
-
nodeU
is a predecessor ofnodeV
-
nodeV
is a successor ofnodeU
-
edgeUV
is an outgoing edge (or out-edge) ofnodeU
-
edgeUV
is an incoming edge (or in-edge) ofnodeV
-
nodeU
is a source ofedgeUV
-
nodeV
is a target ofedgeUV
If graph
is undirected, then:
-
nodeU
is a predecessor and a successor ofnodeV
-
nodeV
is a predecessor and a successor ofnodeU
-
edgeUV
is both an incoming and an outgoing edge ofnodeU
-
edgeUV
is both an incoming and an outgoing edge ofnodeV
All of these relationships are with respect to graph
.
A self-loop is an edge that connects a node to itself; equivalently, it is an edge whose endpoints are the same node. If a self-loop is directed, it is both an outgoing and incoming edge of its incident node, and its incident node is both a source and a target of the self-loop edge.
Two edges are parallel if they connect the same nodes in the same order (if any), and antiparallel if they connect the same nodes in the opposite order. (Undirected edges cannot be antiparallel.)
Given this example:
directedGraph.addEdge(nodeU, nodeV, edgeUV_a);
directedGraph.addEdge(nodeU, nodeV, edgeUV_b);
directedGraph.addEdge(nodeV, nodeU, edgeVU);
undirectedGraph.addEdge(nodeU, nodeV, edgeUV_a);
undirectedGraph.addEdge(nodeU, nodeV, edgeUV_b);
undirectedGraph.addEdge(nodeV, nodeU, edgeVU);
In directedGraph
, edgeUV_a
and edgeUV_b
are mutually parallel, and each is
antiparallel with edgeVU
.
In undirectedGraph
, each of edgeUV_a
, edgeUV_b
, and edgeVU
is mutually
parallel with the other two.
common.graph
is focused on providing interfaces and classes to support working
with graphs. It does not provide functionality such as I/O or visualization
support, and it has a very limited selection of utilities. See the FAQ
for more on this topic.
As a whole, common.graph
supports graphs of the following varieties:
- directed graphs
- undirected graphs
- nodes and/or edges with associated values (weights, labels, etc.)
- graphs that do/don't allow self-loops
- graphs that do/don't allow parallel edges (graphs with parallel edges are sometimes called multigraphs)
- graphs whose nodes/edges are insertion-ordered, sorted, or unordered
The kinds of graphs supported by a particular common.graph
type are specified
in its Javadoc. The kinds of graphs supported by the built-in implementations of
each graph type are specified in the Javadoc for its associated Builder
type.
Specific implementations of the types in this library (especially third-party
implementations) are not required to support all of these varieties, and may
support others in addition.
The library is agnostic as to the choice of underlying data structures: relationships can be stored as matrices, adjacency lists, adjacency maps, etc. depending on what use cases the implementor wants to optimize for.
common.graph
does not (at this time) include explicit support for the
following graph variants, although they can be modeled using the existing types:
- trees, forests
- graphs with elements of the same kind (nodes or edges) that have different types (for example: bipartite/k-partite graphs, multimodal graphs)
- hypergraphs
common.graph
does not allow graphs with both directed and undirected edges.
The Graphs
class provides some basic utilities (for example, copying and
comparing graphs).
There are three top-level graph interfaces, that are distinguished by their
representation of edges: Graph
, ValueGraph
, and Network
. These are
sibling types, i.e., none is a subtype of any of the others.
Each of these "top-level" interfaces extends SuccessorsFunction
and
PredecessorsFunction
. These interfaces are meant to be used as the type of
a parameter to graph algorithms (such as breadth first traversal) that only need
a way of accessing the successors/predecessors of a node in a graph. This
is especially useful in cases where the owner of a graph already has a
representation that works for them and doesn't particularly want to serialize
their representation into a common.graph
type just to run one graph algorithm.
Graph
is the simplest and most fundamental graph type. It defines the
low-level operators for dealing with node-to-node relationships, such as
successors(node)
, adjacentNodes(node)
, and inDegree(node)
. Its nodes are
first-class unique objects; you can think of them as analogous to Map
keys
into the Graph
internal data structures.
The edges of a Graph
are completely anonymous; they are defined only
in terms of their endpoints.
Example use case: Graph<Airport>
, whose edges connect the airports between
which one can take a direct flight.
ValueGraph
has all the node-related methods that Graph
does, but adds
a couple of methods that retrieve a value for a specified edge.
The edges of a ValueGraph
each have an associated user-specified value.
These values need not be unique (as nodes are); the relationship between a
ValueGraph
and a Graph
is analogous to that between a Map
and a Set
;
a Graph
's edges are a set of pairs of endpoints, and a ValueGraph
's edges
are a map from pairs of endpoints to values.)
ValueGraph
provides an asGraph()
method which returns a Graph
view of
the ValueGraph
. This allows methods which operate on Graph
instances to
function for ValueGraph
instances as well.
Example use case: ValueGraph<Airport, Integer>
, whose edges values represent
the time required to travel between the two Airport
s that the edge connects.
Network
has all the node-related methods that Graph
does, but adds methods
that work with edges and node-to-edge relationships, such as outEdges(node)
,
incidentNodes(edge)
, and edgesConnecting(nodeU, nodeV)
.
The edges of a Network
are first-class (unique) objects, just as nodes are
in all graph types. The uniqueness constraint for edges allows
Network
to natively support parallel edges, as well as the methods relating
to edges and node-to-edge relationships.
Network
provides an asGraph()
method which returns a Graph
view of the
Network
. This allows methods which operate on Graph
instances to function
for Network
instances as well.
Example use case: Network<Airport, Flight>
, in which the edges represent the
specific flights that one can take to get from one airport to another.
The essential distinction between the three graph types is in their representation of edges.
Graph
has edges which are anonymous connections between nodes, with no
identity or properties of their own. You should use Graph
if each pair of
nodes is connected by at most one edge, and you don't need to associate any
information with edges.
ValueGraph
has edges which have values (e.g., edge weights or labels) that
may or may not be unique. You should use ValueGraph
if each pair of nodes is
connected by at most one edge, and you need to associate information with edges
that may be the same for different edges (for example, edge weights).
Network
has edges which are first-class unique objects, just as nodes are.
You should use Network
if your edge objects are unique, and you want to be
able to issue queries that reference them. (Note that this uniqueness allows
Network
to support parallel edges.)
The implementation classes that common.graph
provides are not public, by
design. This reduces the number of public types that users need to know about,
and makes it easier to navigate the various capabilities that the
built-implementations provide, without overwhelming users that just want to
create a graph.
To create an instance of one of the built-in implementations of a graph type,
use the corresponding Builder
class: GraphBuilder
, ValueGraphBuilder
,
or NetworkBuilder
. Examples:
MutableGraph<Integer> graph = GraphBuilder.undirected().build();
MutableValueGraph<City, Distance> roads = ValueGraphBuilder.directed().build();
MutableNetwork<Webpage, Link> webSnapshot = NetworkBuilder.directed()
.allowsParallelEdges(true)
.nodeOrder(ElementOrder.natural())
.expectedNodeCount(100000)
.expectedEdgeCount(1000000)
.build();
- You can get an instance of a graph
Builder
in one of two ways:- calling the static methods
directed()
orundirected()
. Each Graph instance that theBuilder
provides will be directed or undirected. - calling the static method
from()
, which gives you aBuilder
based on an existing graph instance.
- calling the static methods
- After you've created your
Builder
instance, you can optionally specify other characteristics and capabilities. - You can call
build()
on the sameBuilder
instance multiple times to build multiple graph instances. - You don't need to specify the node and edge types on the
Builder
; specifying them on the graph type itself is sufficient. - The
build()
method returns aMutable
subtype of the associated graph type, which provides mutation methods; more on this in "Mutable
andImmutable
graphs", below.
The Builder
types generally provide two types of options: constraints and
optimization hints.
Constraints specify behaviors and properties that graphs created by a given
Builder
instance must satisfy, such as:
- whether the graph is directed
- whether this graph allows self-loops
- whether this graph's edges are sorted
and so forth.
Optimization hints may optionally be used by the implementation class to increase efficiency, for example, to determine the type or initial size of internal data structures. They are not guaranteed to have any effect.
Each graph type provides accessors corresponding to its Builder
-specified
constraints, but does not provide accessors for optimization hints.
Each graph type has a corresponding Mutable*
subtype: MutableGraph
,
MutableValueGraph
, and MutableNetwork
. These subtypes define the
mutation methods:
- methods for adding and removing nodes:
-
addNode(node)
andremoveNode(node)
-
- methods for adding and removing edges:
-
MutableGraph
putEdge(nodeU, nodeV)
removeEdge(nodeU, nodeV)
-
MutableValueGraph
putEdgeValue(nodeU, nodeV, value)
removeEdge(nodeU, nodeV)
-
MutableNetwork
addEdge(nodeU, nodeV, edge)
removeEdge(edge)
-
This is a departure from the way that the Java Collections Framework--and
Guava's new collection types--have historically worked; each of those types
includes signatures for (optional) mutation methods. We chose to break out the
mutable methods into subtypes in part to encourage defensive programming:
generally speaking, if your code only examines or traverses a graph and does not
mutate it, its input should be specified as on Graph
, ValueGraph
, or
Network
rather than their mutable subtypes. On the other hand, if your code
does need to mutate an object, it's helpful for your code to have to call
attention to that fact by working with a type that labels itself "Mutable".
Since Graph
, etc. are interfaces, even though they don't include mutation
methods, providing an instance of this interface to a caller does not
guarantee that it will not be mutated by the caller, as (if it is in fact a
Mutable*
subtype) the caller could cast it to that subtype. If you want to
provide a contractual guarantee that a graph which is a method parameter or
return value cannot be modified, you should use the Immutable
implementations;
more on this below.
Each graph type also has a corresponding Immutable
implementation. These
classes are analogous to Guava's ImmutableSet
, ImmutableList
,
ImmutableMap
, etc.: once constructed, they cannot be modified, and they use
efficient immutable data structures internally.
Unlike the other Guava Immutable
types, however, these implementations do not
have any method signatures for mutation methods, so they don't need to throw
UnsupportedOperationException
for attempted mutates.
You create an instance of an ImmutableGraph
, etc. by calling its static
copyOf()
method:
ImmutableGraph<Integer> immutableGraph = ImmutableGraph.copyOf(graph);
Each Immutable*
type makes the following guarantees:
-
shallow immutability: elements can never be added, removed or replaced
(these classes do not implement the
Mutable*
interfaces) - deterministic iteration: the iteration orders are always the same as those of the input graph
- thread safety: it is safe to access this graph concurrently from multiple threads
- integrity: this type cannot be subclassed outside this package (which would allow these guarantees to be violated)
Each of the Immutable*
classes is a type offering meaningful behavioral
guarantees -- not merely a specific implementation. You should treat them as
interfaces in every important sense of the word.
Fields and method return values that store an Immutable*
instance (such as
ImmutableGraph
) should be declared to be of the Immutable*
type rather than
the corresponding interface type (such as Graph
). This communicates to callers
all of the semantic guarantees listed above, which is almost always very useful
information.
On the other hand, a parameter type of ImmutableGraph
is generally a nuisance
to callers. Instead, accept Graph
.
Warning: as noted elsewhere, it is almost
always a bad idea to modify an element (in a way that affects its equals()
behavior) while it is contained in a collection. Undefined behavior and bugs
will result. It's generally best to avoid using mutable objects as elements of
an Immutable*
instance at all, as many users may expect your "immutable"
object to be deeply immutable.
Nodes (and, in Network
, edges) must be useable as Map
keys. That is:
- they must be unique in a graph: nodes
nodeA
andnodeB
are considered different if and only ifnodeA.equals(nodeB) == false
. - they must have appropriate (and consistent) implementations of
equals()
andhashCode()
. - If elements are sorted (for example, via
GraphBuilder.orderNodes()
), the ordering must be consistent with equals (as defined by theComparator
andComparable
interfaces).
If graph elements have mutable state:
- the mutable state must not be reflected in the
equals()/hashCode()
methods (this is discussed in theMap
documentation in detail) - don't construct multiple elements that are equal to each other and expect
them to be interchangeable. In particular, when adding such elements to a
graph, you should create them once and store the reference if you will need
to refer to those elements more than once during creation (rather than
passing
new MyMutableNode(id)
to eachadd*()
call).
If you need to store mutable per-element state, one option is to use immutable elements and store the mutable state in a separate data structure (e.g. an element-to-state map).
Graph elements must be non-null.
This section discusses behaviors of the built-in implementations of the
common.graph
types.
You can add an edge whose incident nodes have not previously been added to the graph. If they're not already present, they're silently added to the graph:
Graph<Integer> graph = GraphBuilder.directed().build(); // graph is empty
graph.putEdge(1, 2); // this adds 1 and 2 as nodes of this graph, and puts
// an edge between them
if (graph.nodes().contains(1)) { // evaluates to "true"
...
}
As of Guava 22, common.graph
's graph types each define equals()
in a way
that makes sense for the particular type:
-
Graph.equals()
defines twoGraph
s to be equal if they have the same node and edge sets (that is, each edge has the same endpoints and same direction in both graphs). -
ValueGraph.equals()
defines twoValueGraph
s to be equal if they have the same node and edge sets, and equal edges have equal values. -
Network.equals()
defines twoNetwork
s to be equal if they have the same node and edge sets, and each edge object has connects the same nodes in the same direction (if any).
In addition, for each graph type, two graphs can be equal only if their edges have the same directedness (both graphs are directed or both are undirected).
Of course, hashCode()
is defined consistently with equals()
for each graph
type.
If you want to compare two Network
s or two ValueGraph
s based only on
connectivity, or to compare a Network
or a ValueGraph
to a Graph
, you
can use the Graph
view that Network
and ValueGraph
provide:
Graph<Integer> graph1, graph2;
ValueGraph<Integer, Double> valueGraph1, valueGraph2;
Network<Integer, MyEdge> network1, network2;
// compare based on nodes and node relationships only
if (graph1.equals(graph2)) { ... }
if (valueGraph1.asGraph().equals(valueGraph2.asGraph())) { ... }
if (network1.asGraph().equals(graph1.asGraph())) { ... }
// compare based on nodes, node relationships, and edge values
if (valueGraph1.equals(valueGraph2)) { ... }
// compare based on nodes, node relationships, and edge identities
if (network1.equals(network2)) { ... }
Accessors which return collections:
- may return views of the graph; modifications to the graph which affect a
view (for example, calling
addNode(n)
orremoveNode(n)
while iterating throughnodes()
) are not supported and may result in throwingConcurrentModificationException
. - will return empty collections if their inputs are valid but no elements
satisfy the request (for example:
adjacentNodes(node)
will return an empty collection ifnode
has no adjacent nodes).
Accessors will throw IllegalArgumentException
if passed an element that is not
in the graph.
While some Java Collection Framework methods such as contains()
take Object
parameters rather than the appropriate generic type specifier, as of Guava 22,
the common.graph
methods take the generic type specifiers to improve type
safety.
It is up to each graph implementation to determine its own synchronization policy. By default, undefined behavior may result from the invocation of any method on a graph that is being mutated by another thread.
Generally speaking, the built-in mutable implementations provide no
synchronization guarantees, but the Immutable*
classes (by virtue of being
immutable) are thread-safe.
The node, edge, and value objects that you add to your graphs are irrelevant to the built-in implementations; they're just used as keys to internal data structures. This means that nodes/edges may be shared among graph instances.
By default, node and edge objects are insertion-ordered (that is, are visited
by the Iterator
s for nodes()
and edges()
in the order in which they were
added to the graph, as with LinkedHashSet
).
common.graph
supports multiple mechanisms for storing the topology of a graph,
including:
- the graph implementation stores the topology (for example, by storing a
Map<N, Set<N>>
that maps nodes onto their adjacent nodes); this implies that the nodes are just keys, and can be shared among graphs - the nodes store the topology (for example, by storing a
List<E>
of adjacent nodes); this (usually) implies that nodes are graph-specific - a separate data repository (for example, a database) stores the topology
Note: Multimap
s are not sufficient internal data structures for Graph
implementations that support isolated nodes (nodes that have no incident edges),
due to their restriction that a key either maps to at least one value, or is not
present in the Multimap
.
For accessors that return a collection, there are several options for the semantics, including:
- Collection is an immutable copy (e.g.
ImmutableSet
): attempts to modify the collection in any way will throw an exception, and modifications to the graph will not be reflected in the collection. - Collection is an unmodifiable view (e.g.
Collections.unmodifiableSet()
): attempts to modify the collection in any way will throw an exception, and modifications to the graph will be reflected in the collection. - Collection is a mutable copy: it may be modified, but modifications to the collection will not be reflected in the graph, and vice versa.
- Collection is a modifiable view: it may be modified, and modifications to the collection will be reflected in the graph, and vice versa.
(In theory one could return a collection which passes through writes in one direction but not the other (collection-to-graph or vice-versa), but this is basically never going to be useful or clear, so please don't. :) )
(1) and (2) are generally preferred; as of this writing, the built-in implementations generally use (2).
(3) is a workable option, but may be confusing to users if they expect that modifications will affect the graph, or that modifications to the graph would be reflected in the set.
(4) is a hazardous design choice and should be used only with extreme caution, because keeping the internal data structures consistent can be tricky.
Each graph type has a corresponding Abstract
class: AbstractGraph
, etc.
Implementors of the graph interfaces should, if possible, extend the appropriate abstract class rather than implementing the interface directly. The abstract classes provide implementations of several key methods that can be tricky to do correctly, or for which it's helpful to have consistent implementations, such as:
*degree()
toString()
Graph.edges()
Network.asGraph()
graph.nodes().contains(node);
In the case where the graph is undirected, the ordering of the arguments u
and v
in the examples below is irrelevant.
// This is the preferred syntax since 23.0 for all graph types.
graphs.hasEdgeConnecting(u, v);
// These are equivalent (to each other and to the above expression).
graph.successors(u).contains(v);
graph.predecessors(v).contains(u);
// This is equivalent to the expressions above if the graph is undirected.
graph.adjacentNodes(u).contains(v);
// This works only for Networks.
!network.edgesConnecting(u, v).isEmpty();
// This works only if "network" has at most a single edge connecting u to v.
network.edgeConnecting(u, v).isPresent(); // Java 8 only
network.edgeConnectingOrNull(u, v) != null;
// These work only for ValueGraphs.
valueGraph.edgeValue(u, v).isPresent(); // Java 8 only
valueGraph.edgeValueOrDefault(u, v, null) != null;
MutableGraph<Integer> graph = GraphBuilder.directed().build();
graph.addNode(1);
graph.putEdge(2, 3); // also adds nodes 2 and 3 if not already present
Set<Integer> successorsOfTwo = graph.successors(2); // returns {3}
graph.putEdge(2, 3); // no effect; Graph does not support parallel edges
Basic ValueGraph
example
MutableValueGraph<Integer, Double> weightedGraph = ValueGraphBuilder.directed().build();
weightedGraph.addNode(1);
weightedGraph.putEdgeValue(2, 3, 1.5); // also adds nodes 2 and 3 if not already present
weightedGraph.putEdgeValue(3, 5, 1.5); // edge values (like Map values) need not be unique
...
weightedGraph.putEdgeValue(2, 3, 2.0); // updates the value for (2,3) to 2.0
Basic Network
example
MutableNetwork<Integer, String> network = NetworkBuilder.directed().build();
network.addNode(1);
network.addEdge("2->3", 2, 3); // also adds nodes 2 and 3 if not already present
Set<Integer> successorsOfTwo = network.successors(2); // returns {3}
Set<String> outEdgesOfTwo = network.outEdges(2); // returns {"2->3"}
network.addEdge("2->3 too", 2, 3); // throws; Network disallows parallel edges
// by default
network.addEdge("2->3", 2, 3); // no effect; this edge is already present
// and connecting these nodes in this order
Set<String> inEdgesOfFour = network.inEdges(4); // throws; node not in graph
// Return all nodes reachable by traversing 2 edges starting from "node"
// (ignoring edge direction and edge weights, if any, and not including "node").
Set<N> getTwoHopNeighbors(Graph<N> graph, N node) {
Set<N> twoHopNeighbors = new HashSet<>();
for (N neighbor : graph.adjacentNodes(node)) {
twoHopNeighbors.addAll(graph.adjacentNodes(neighbor));
}
twoHopNeighbors.remove(node);
return twoHopNeighbors;
}
// Update the shortest-path weighted distances of the successors to "node"
// in a directed Network (inner loop of Dijkstra's algorithm)
// given a known distance for {@code node} stored in a {@code Map<N, Double>},
// and a {@code Function<E, Double>} for retrieving a weight for an edge.
void updateDistancesFrom(Network<N, E> network, N node) {
double nodeDistance = distances.get(node);
for (E outEdge : network.outEdges(node)) {
N target = network.target(outEdge);
double targetDistance = nodeDistance + edgeWeights.apply(outEdge);
if (targetDistance < distances.getOrDefault(target, Double.MAX_VALUE)) {
distances.put(target, targetDistance);
}
}
}
The same arguments apply to graphs as to many other things that Guava does:
- code reuse/interoperability/unification of paradigms: lots of things relate to graph processing
- efficiency: how much code is using inefficient graph representations? too much space (e.g. matrix representations)?
- correctness: how much code is doing graph analysis wrong?
- promotion of use of graph as ADT: how many people would be working with graphs if it were easy?
- simplicity: code which deals with graphs is easier to understand if it’s explicitly using that metaphor.
This is answered in the "Capabilities" section, above.
Maybe. You can email us at [email protected]
or open an issue on
GitHub.
Our philosophy is that something should only be part of Guava if (a) it fits in with Guava’s core mission and (b) there is good reason to expect that it will be reasonably widely used.
common.graph
will probably never have capabilities like visualization and I/O;
those would be projects unto themselves and don’t fit well with Guava’s mission.
Capabilities like traversal, filtering, or transformation are better fits, and thus more likely to be included, although ultimately we expect that other graph libraries will provide most capabilities.
Not at this time. Graphs in the low millions of nodes should be workable, but
you should think of this library as analogous to the Java Collections Framework
types (Map
, List
, Set
, and so on).
tl;dr: you should use whatever works for you, but please let us know what you need if this library doesn't support it!
The main competitors to this library (for Java) are: JUNG and JGraphT.
JUNG
was co-created by Joshua O'Madadhain (the common.graph
lead) in 2003,
and he still maintains it. JUNG is fairly mature and full-featured and is widely
used, but has a lot of cruft and inefficiencies. Now that common.graph
has
been released externally, he plans to create a new version of JUNG
which uses
common.graph
for its data model.
JGraphT
is another third-party Java graph library that’s been around for a
while. We're not as familiar with it, so we can’t comment on it in detail, but
it has at least some things in common with JUNG
.
Rolling your own solution is sometimes the right answer if you have very
specific requirements. But just as you wouldn’t normally implement your own hash
table in Java (instead of using HashMap
or ImmutableMap
), you should
consider using common.graph
(or, if necessary, another existing graph library)
for all the reasons listed above.
common.graph
has been a team effort, and we've had help from a number of
people both inside and outside Google, but these are the people that have had
the greatest impact.
- Omar Darwish did a lot of the early implementations, and set the standard for the test coverage.
- James Sexton has been the single most prolific contributor to the project and has had a significant influence on its direction and its designs. He's responsible for some of the key features, and for the efficiency of the implementations that we provide.
-
Joshua O'Madadhain started the
common.graph
project after reflecting on the strengths and weaknesses of JUNG, which he also helped to create. He leads the project, and has reviewed or written virtually every aspect of the design and the code.
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