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Question about paper



Please excuse my ignorance. I've been going through the MimbleWimble paper (
https://scalingbitcoin.org/papers/mimblewimble.pdf) and line 151 has a
function e(G,S)=e(pk,H).

I don't see the function e defined anywhere and a similar ê is used around
line 165. Can someone tell me what that function is?


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