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Refactor C++ sources: fix bugs, reduce duplication, improve consistency#423

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WillAyd wants to merge 1 commit into
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roborev
Open

Refactor C++ sources: fix bugs, reduce duplication, improve consistency#423
WillAyd wants to merge 1 commit into
mainfrom
roborev

Refactor C++ sources: fix bugs, reduce duplication, improve consistency

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