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+\documentclass[varwidth=true, border=2pt]{standalone}
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+\usepackage{units}
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+\usepackage{ifthen}
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+\usepackage{tikz}
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+\usetikzlibrary{calc}
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+
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+\begin{document}
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+\tikzstyle{vertex}=[draw,black,fill=blue,circle,minimum size=10pt,inner sep=0pt]
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+\tikzstyle{edge}=[very thick]
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+\begin{tikzpicture}[scale=2.5]
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+ \node (a)[vertex,fill=gray!10,align=left] at (0,0) {first};
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+ \node (b)[vertex,fill=gray!10,align=left] at (1,0) {middle};
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+ \node (c)[vertex,fill=gray!10,align=left] at (2,0) {last};
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+
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+ \node (a1) at (0,-1) {$(x(t), y(t))$};
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+ \node (b1) at (1,-1) {$(x(t), y(t))$};
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+ \node (c1) at (2,-1) {$(x(t), y(t))$};
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+
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+ \path[thick,->] (a) edge node [anchor=center,above,sloped] {$p_{1,2}$} (b);
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+ \path[thick,->] (b) edge node [anchor=center,above,sloped] {$p_{2,3}$} (c);
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+ \path[thick,->] (a) edge[loop above, looseness=5] node [anchor=center,above,sloped] {$p_1$} (a);
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+ \path[thick,->] (b) edge[loop above, looseness=5] node [anchor=center,above,sloped] {$p_2$} (b);
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+ \path[thick,->] (c) edge[loop above, looseness=5] node [anchor=center,above,sloped] {$p_3$} (c);
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+
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+ \path[thick,->] (a) edge node [anchor=center,above,sloped] {} (a1);
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+ \path[thick,->] (b) edge node [anchor=center,above,sloped] {} (b1);
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+ \path[thick,->] (c) edge node [anchor=center,above,sloped] {} (c1);
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+\end{tikzpicture}
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+\end{document}
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