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/usr/bin/esd-config is in libesd0-dev 0.2.41-10build3.

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The actual contents of the file can be viewed below.

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#!/bin/sh

prefix=`pkg-config --variable prefix esound`
exec_prefix=`pkg-config --variable exec_prefix esound`
exec_prefix_set=no

usage="\
Usage: esd-config [--prefix[=DIR]] [--exec-prefix[=DIR]] [--version] [--libs] [--cflags]"

if test $# -eq 0; then
      echo "${usage}" 1>&2
      exit 1
fi

while test $# -gt 0; do
  case "$1" in
  -*=*) optarg=`echo "$1" | sed 's/[-_a-zA-Z0-9]*=//'` ;;
  *) optarg= ;;
  esac

  case $1 in
    --prefix=*)
      prefix=$optarg
      if test $exec_prefix_set = no ; then
        exec_prefix=$optarg
      fi
      ;;
    --prefix)
      echo $prefix
      ;;
    --exec-prefix=*)
      exec_prefix=$optarg
      exec_prefix_set=yes
      ;;
    --exec-prefix)
      echo $exec_prefix
      ;;
    --version)
      pkg-config --modversion esound
      ;;
    --cflags)
      pkg-config --cflags esound
      ;;
    --libs)
      pkg-config --libs esound
      ;;
    *)
      echo "${usage}" 1>&2
      exit 1
      ;;
  esac
  shift
done