Skip to main content
aboutsummaryrefslogtreecommitdiffstats
diff options
context:
space:
mode:
authorSaadia Dhouib2015-03-17 10:31:23 -0400
committerSaadia Dhouib2015-03-17 10:31:23 -0400
commit442957d281332910fa0045d178243ccc74775761 (patch)
treec0e714dd4fd272fa2981228be839a97453a370c0
parent0a305f5d88d784a8604832e2ca94c006584009ed (diff)
downloadorg.eclipse.papyrus-442957d281332910fa0045d178243ccc74775761.tar.gz
org.eclipse.papyrus-442957d281332910fa0045d178243ccc74775761.tar.xz
org.eclipse.papyrus-442957d281332910fa0045d178243ccc74775761.zip
Modifying templates and resolving a bug about deployment plans creation
-rw-r--r--extraplugins/robotml/org.eclipse.papyrus.robotml.deployment/src/org/eclipse/papyrus/robotml/deployment/handlers/CreateDepPlanHandler.java2
-rw-r--r--extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/plugin.xml4
-rw-r--r--extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.di152
-rw-r--r--extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation33
-rw-r--r--extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.di87
-rw-r--r--extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.notation7
-rw-r--r--extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.uml619
-rw-r--r--extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.di130
-rw-r--r--extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation9
-rw-r--r--extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml4693
10 files changed, 2779 insertions, 2957 deletions
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.deployment/src/org/eclipse/papyrus/robotml/deployment/handlers/CreateDepPlanHandler.java b/extraplugins/robotml/org.eclipse.papyrus.robotml.deployment/src/org/eclipse/papyrus/robotml/deployment/handlers/CreateDepPlanHandler.java
index 7f9a0e8b4a6..1b92cfdd1b3 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.deployment/src/org/eclipse/papyrus/robotml/deployment/handlers/CreateDepPlanHandler.java
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.deployment/src/org/eclipse/papyrus/robotml/deployment/handlers/CreateDepPlanHandler.java
@@ -46,7 +46,7 @@ public class CreateDepPlanHandler extends CmdHandler {
public boolean isEnabled() {
updateSelectedEObject();
EObject selectedObj = getSelectedEObject();
- if ((selectedObj instanceof Class) && Utils.isCompImpl((Class) selectedObj) && isEnvironment((Class) selectedObj)) {
+ if (selectedObj instanceof Class && isEnvironment((Class) selectedObj)) {
return true;
}
return false;
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/plugin.xml b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/plugin.xml
index 0dfe88fdcea..6f4c28d9d42 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/plugin.xml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/plugin.xml
@@ -8,7 +8,7 @@
file="resource/RoboCab.uml"
id="org.eclipse.papyrus.templaterepository.ModelWithChallenge1BasicArchitecture"
language="robotML"
- name="A RobotML Model with Challenge1 basic architecture"
+ name="A RobotML Model with RoboCab basic architecture"
notation_file="resource/RoboCab.notation"
>
</template>
@@ -17,7 +17,7 @@
file="resource/YouthChallenge.uml"
id="org.eclipse.papyrus.templaterepository.ModelWithChallenge1BasicArchitecture"
language="robotML"
- name="A RobotML Model with YouthChallenge basic architecture"
+ name="A RobotML Model with Wifibot basic architecture"
notation_file="resource/YouthChallenge.notation"
>
</template>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.di b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.di
index 9fb07f4ec5d..6cff5869d2e 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.di
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.di
@@ -1,116 +1,36 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<di:SashWindowsMngr xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:di="http://www.eclipse.org/papyrus/0.7.0/sashdi">
- <pageList>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_feP206k_EeCXqcRV-18f6Q"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_feP24Kk_EeCXqcRV-18f6Q"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_feP27ak_EeCXqcRV-18f6Q"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_feP3Xqk_EeCXqcRV-18f6Q"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="../../plugin/org.eclipse.papyrus.robotml.templaterepository/resource/Vipalab.notation#_nWxxAGXEEeCdM_wuEfTOWw"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_feP4Tak_EeCXqcRV-18f6Q"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_feP4_Kk_EeCXqcRV-18f6Q"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_feP5bak_EeCXqcRV-18f6Q"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_feP5b6k_EeCXqcRV-18f6Q"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_OCVFkBwAEeGa5bH_RJFzBQ"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_glL5wBwhEeGa5bH_RJFzBQ"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_A0k2UB8rEeG4gPCEznVNOA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_O43JEB8uEeG4gPCEznVNOA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_QwFooEHZEeG8nvjGjD0Mrg"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_v-s3YEHyEeGGXpGscpkjdg"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_EKbpcEK6EeGv-54Wm4mRWQ"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_HdXyIELAEeGFx4iVEwo0kA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_zyLisGbWEeGGNuX1IHg1zg"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_Cwt3MGbaEeGTV_735pzUXQ"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="RoboCab.notation#_-IQaMKENEeKLUqX9IJq2Gg"/>
- </availablePage>
- </pageList>
- <sashModel currentSelection="//@sashModel/@windows.0/@children.0">
- <windows>
- <children xsi:type="di:TabFolder">
- <children>
- <emfPageIdentifier href="RoboCab.notation#_O43JEB8uEeG4gPCEznVNOA"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_feP4_Kk_EeCXqcRV-18f6Q"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_feP4Tak_EeCXqcRV-18f6Q"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_v-s3YEHyEeGGXpGscpkjdg"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_OCVFkBwAEeGa5bH_RJFzBQ"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_OCVFkBwAEeGa5bH_RJFzBQ"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_O43JEB8uEeG4gPCEznVNOA"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_OCVFkBwAEeGa5bH_RJFzBQ"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_O43JEB8uEeG4gPCEznVNOA"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_OCVFkBwAEeGa5bH_RJFzBQ"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_-IQaMKENEeKLUqX9IJq2Gg"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_OCVFkBwAEeGa5bH_RJFzBQ"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_-IQaMKENEeKLUqX9IJq2Gg"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_OCVFkBwAEeGa5bH_RJFzBQ"/>
- </children>
- <children>
- <emfPageIdentifier href="RoboCab.notation#_EKbpcEK6EeGv-54Wm4mRWQ"/>
- </children>
- </children>
- </windows>
- </sashModel>
-</di:SashWindowsMngr>
+<?xml version="1.0" encoding="UTF-8"?>
+<di:SashWindowsMngr xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:XMI="http://www.omg.org/XMI" xmlns:di="http://www.eclipse.org/papyrus/0.7.0/sashdi" XMI:version="2.0">
+ <pageList>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ </pageList>
+ <sashModel currentSelection="#//@sashModel/@windows.0/@children.0">
+ <windows>
+ <children xsi:type="di:TabFolder">
+ <children emfPageIdentifier="RoboCab.notation#_zyLisGbWEeGGNuX1IHg1zg"/>
+ <children emfPageIdentifier="RoboCab.notation#_Cwt3MGbaEeGTV_735pzUXQ"/>
+ <children emfPageIdentifier="RoboCab.notation#_OCVFkBwAEeGa5bH_RJFzBQ"/>
+ <children emfPageIdentifier="RoboCab.notation#_O43JEB8uEeG4gPCEznVNOA"/>
+ <children emfPageIdentifier="RoboCab.notation#_A0k2UB8rEeG4gPCEznVNOA"/>
+ </children>
+ </windows>
+ </sashModel>
+</di:SashWindowsMngr>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
index 6ac4bbd5791..eb58ee34de0 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:configuration="http://www.eclipse.org/papyrus/infra/viewpoints/configuration" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/viewpoints/policy/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:configuration="http://www.eclipse.org/papyrus/infra/viewpoints/configuration" xmlns:css="http://www.eclipse.org/papyrus/infra/gmfdiag/css" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/viewpoints/policy/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
<notation:Diagram xmi:id="_feP206k_EeCXqcRV-18f6Q" type="PapyrusUMLClassDiagram" name="DataTypesDiagram" measurementUnit="Pixel">
<children xmi:type="notation:Shape" xmi:id="_feP21Kk_EeCXqcRV-18f6Q" type="2007" fontHeight="8" transparency="0" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP21ak_EeCXqcRV-18f6Q" source="ShadowFigure">
@@ -1418,7 +1418,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_uTZuhhwnEeGa5bH_RJFzBQ" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_fdzLNqk_EeCXqcRV-18f6Q"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uTZHcRwnEeGa5bH_RJFzBQ" x="503" y="682"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uTZHcRwnEeGa5bH_RJFzBQ" x="503" y="667"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_uTaVkBwnEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTaVkhwnEeGa5bH_RJFzBQ" source="ShadowFigure">
@@ -1758,7 +1758,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_R--Uhh8lEeG4gPCEznVNOA" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_lpqYsKlAEeCYaYi0hzq5kg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_R-9tcR8lEeG4gPCEznVNOA" x="98" y="49"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_R-9tcR8lEeG4gPCEznVNOA" x="186" y="54"/>
</children>
<element xmi:type="uml:Property" href="RoboCab.uml#_NJdXEB8lEeG4gPCEznVNOA"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_NJ2YoR8lEeG4gPCEznVNOA" x="33" y="636" width="196" height="96"/>
@@ -1876,7 +1876,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_M3EV1x9BEeGetOLfkLNwfg" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_fdzJfak_EeCXqcRV-18f6Q"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M3DuwR9BEeGetOLfkLNwfg" x="106" y="34"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M3DuwR9BEeGetOLfkLNwfg" x="187" y="33"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_M3E84B9BEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3E84h9BEeGetOLfkLNwfg" source="ShadowFigure">
@@ -1895,7 +1895,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_M3Fj8h9BEeGetOLfkLNwfg" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_4xF7kKlLEeCYfbnxVSyZ9g"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M3E84R9BEeGetOLfkLNwfg" x="106" y="64"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M3E84R9BEeGetOLfkLNwfg" x="187" y="70"/>
</children>
<element xmi:type="uml:Property" href="RoboCab.uml#_KdDxgB9BEeGetOLfkLNwfg"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_KdZvwR9BEeGetOLfkLNwfg" x="32" y="398" width="197" height="109"/>
@@ -1926,13 +1926,13 @@
<details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dQIO8x9BEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
</eAnnotations>
<children xmi:type="notation:DecorationNode" xmi:id="_dQIO9B9BEeGetOLfkLNwfg" type="5125">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_dQIO9R9BEeGetOLfkLNwfg" x="-141" y="2"/>
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_dQIO9R9BEeGetOLfkLNwfg" x="-219" y="-11"/>
</children>
<children xmi:type="notation:DecorationNode" xmi:id="_dQIO9h9BEeGetOLfkLNwfg" visible="false" type="6029">
<layoutConstraint xmi:type="notation:Location" xmi:id="_dQIO9x9BEeGetOLfkLNwfg" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_9cOsYB8oEeG4gPCEznVNOA"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_dQHn4R9BEeGetOLfkLNwfg" x="99" y="46"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_dQHn4R9BEeGetOLfkLNwfg" x="187" y="46"/>
</children>
<element xmi:type="uml:Property" href="RoboCab.uml#_YLTDIB9BEeGetOLfkLNwfg"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_YLmlIR9BEeGetOLfkLNwfg" x="32" y="283" width="197" height="99"/>
@@ -1969,7 +1969,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_EOGC-B9DEeGetOLfkLNwfg" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_fdzJY6k_EeCXqcRV-18f6Q"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EOFb4R9DEeGetOLfkLNwfg" x="110" y="43"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EOFb4R9DEeGetOLfkLNwfg" x="185" y="30"/>
</children>
<element xmi:type="uml:Property" href="RoboCab.uml#_A68QIB9DEeGetOLfkLNwfg"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_A7RAQR9DEeGetOLfkLNwfg" x="32" y="163" width="195"/>
@@ -3371,7 +3371,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_MrnY-B8vEeG4gPCEznVNOA" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_fdzK36k_EeCXqcRV-18f6Q"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Mrmx6B8vEeG4gPCEznVNOA" x="-10" y="222"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Mrmx6B8vEeG4gPCEznVNOA" x="-11" y="238" width="20" height="20"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_MrnY-R8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MroAAB8vEeG4gPCEznVNOA" source="ShadowFigure">
@@ -3773,7 +3773,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOG2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_Rsb1cBwkEeGa5bH_RJFzBQ"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ChLOEWbUEeGGNuX1IHg1zg" x="-11" y="54" width="20" height="20"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ChLOEWbUEeGGNuX1IHg1zg" x="-11" y="68" width="20" height="20"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_ChLOHGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOHmbUEeGGNuX1IHg1zg" source="ShadowFigure">
@@ -3851,7 +3851,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPG2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_fdzKI6k_EeCXqcRV-18f6Q"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSgPEWbUEeGGNuX1IHg1zg" x="-11" y="70" width="20" height="20"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSgPEWbUEeGGNuX1IHg1zg" x="-11" y="84" width="20" height="20"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_HSgPHGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPHmbUEeGGNuX1IHg1zg" source="ShadowFigure">
@@ -3873,7 +3873,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPJ2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_fdzKJ6k_EeCXqcRV-18f6Q"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSgPHWbUEeGGNuX1IHg1zg" x="-11" y="34" width="20" height="20"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSgPHWbUEeGGNuX1IHg1zg" x="-11" y="49" width="20" height="20"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_HSgPKGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPKmbUEeGGNuX1IHg1zg" source="ShadowFigure">
@@ -3889,7 +3889,7 @@
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NdYc8GbUEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
<details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NoQ3QGbUEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
</eAnnotations>
- <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPMWbUEeGGNuX1IHg1zg" x="-101" y="1"/>
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPMWbUEeGGNuX1IHg1zg" x="-146" y="27"/>
</children>
<children xmi:type="notation:DecorationNode" xmi:id="_HSgPMmbUEeGGNuX1IHg1zg" type="6029">
<layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPM2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
@@ -4123,7 +4123,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6XWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_UIObEKloEeCLku4RFrI7uw"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6U2bTEeGGNuX1IHg1zg" x="-11" y="99" width="20" height="20"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6U2bTEeGGNuX1IHg1zg" x="-11" y="113" width="20" height="20"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_gVY6XmbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6YGbTEeGGNuX1IHg1zg" source="ShadowFigure">
@@ -4142,7 +4142,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6aWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_UegmIDUrEeG5pL_fpN2DgQ"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6X2bTEeGGNuX1IHg1zg" x="-11" y="29" width="20" height="20"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6X2bTEeGGNuX1IHg1zg" x="-11" y="43" width="20" height="20"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_gVY6ambTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6bGbTEeGGNuX1IHg1zg" source="ShadowFigure">
@@ -4226,7 +4226,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_REn2MR8uEeG4gPCEznVNOA" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="RoboCab.uml#_ImFDAKlnEeCLku4RFrI7uw"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REn2Mh8uEeG4gPCEznVNOA" x="1050" y="318" width="20" height="20"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REn2Mh8uEeG4gPCEznVNOA" x="1050" y="304" width="20" height="20"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_eguZUB8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_egvAYB8vEeG4gPCEznVNOA" source="ShadowFigure">
@@ -5823,4 +5823,5 @@
<styles xmi:type="notation:StringValueStyle" xmi:id="_bEBtYX7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.0.0"/>
<element xmi:type="uml:Model" href="RoboCab.uml#_fdzI0ak_EeCXqcRV-18f6Q"/>
</notation:Diagram>
+ <css:ModelStyleSheets xmi:id="_1O5S4MyrEeSbw_7Zqs0KhQ"/>
</xmi:XMI>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.di b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.di
index bb02ab09176..373a3e86cb3 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.di
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.di
@@ -1,65 +1,22 @@
-<?xml version="1.0" encoding="ASCII"?>
-<di:SashWindowsMngr xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:di="http://www.eclipse.org/papyrus/0.7.0/sashdi">
- <pageList>
- <availablePage>
- <emfPageIdentifier href="SearchLanding.notation#_mthk8DidEeK2K5cKvwDFDw"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="SearchLanding.notation#_mtjaIDidEeK2K5cKvwDFDw"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="SearchLanding.notation#_mtl2YDidEeK2K5cKvwDFDw"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="SearchLanding.notation#_-oZNMDieEeK2K5cKvwDFDw"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="SearchLanding.notation#_vWaeoDijEeK2K5cKvwDFDw"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="SearchLanding.notation#_mtsnUGZAEeK8vedwRu2M7w"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="SearchLanding.notation#_MdMdEGZCEeK8vedwRu2M7w"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="SearchLanding.notation#_0NNY0HCmEeKfLd758TNm-w"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="SearchLanding.notation#_P1cgIHCnEeKfLd758TNm-w"/>
- </availablePage>
- </pageList>
- <sashModel currentSelection="//@sashModel/@windows.0/@children.0">
- <windows>
- <children xsi:type="di:TabFolder">
- <children>
- <emfPageIdentifier href="SearchLanding.notation#_mtjaIDidEeK2K5cKvwDFDw"/>
- </children>
- <children>
- <emfPageIdentifier href="SearchLanding.notation#_mthk8DidEeK2K5cKvwDFDw"/>
- </children>
- <children>
- <emfPageIdentifier href="SearchLanding.notation#_mtsnUGZAEeK8vedwRu2M7w"/>
- </children>
- <children>
- <emfPageIdentifier href="SearchLanding.notation#_MdMdEGZCEeK8vedwRu2M7w"/>
- </children>
- <children>
- <emfPageIdentifier href="SearchLanding.notation#_mtl2YDidEeK2K5cKvwDFDw"/>
- </children>
- <children>
- <emfPageIdentifier href="SearchLanding.notation#_vWaeoDijEeK2K5cKvwDFDw"/>
- </children>
- <children>
- <emfPageIdentifier href="SearchLanding.notation#_P1cgIHCnEeKfLd758TNm-w"/>
- </children>
- <children>
- <emfPageIdentifier href="SearchLanding.notation#_0NNY0HCmEeKfLd758TNm-w"/>
- </children>
- <children>
- <emfPageIdentifier href="SearchLanding.notation#_-oZNMDieEeK2K5cKvwDFDw"/>
- </children>
- </children>
- </windows>
- </sashModel>
-</di:SashWindowsMngr>
+<?xml version="1.0" encoding="ASCII"?>
+<di:SashWindowsMngr xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:XMI="http://www.omg.org/XMI" xmlns:di="http://www.eclipse.org/papyrus/0.7.0/sashdi" XMI:version="2.0">
+ <pageList>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ </pageList>
+ <sashModel currentSelection="#//@sashModel/@windows.0/@children.0">
+ <windows>
+ <children xsi:type="di:TabFolder">
+ <children emfPageIdentifier="SearchLanding.notation#_0NNY0HCmEeKfLd758TNm-w"/>
+ <children emfPageIdentifier="SearchLanding.notation#_mtl2YDidEeK2K5cKvwDFDw"/>
+ </children>
+ </windows>
+ </sashModel>
+</di:SashWindowsMngr>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.notation b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.notation
index 8f51d3bcbd8..0660c80ad73 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.notation
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.notation
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:configuration="http://www.eclipse.org/papyrus/infra/viewpoints/configuration" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/viewpoints/policy/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:configuration="http://www.eclipse.org/papyrus/infra/viewpoints/configuration" xmlns:css="http://www.eclipse.org/papyrus/infra/gmfdiag/css" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/viewpoints/policy/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
<notation:Diagram xmi:id="_mthk8DidEeK2K5cKvwDFDw" type="PapyrusUMLClassDiagram" name="DataType" measurementUnit="Pixel">
<children xmi:type="notation:Shape" xmi:id="__FWZgDifEeK2K5cKvwDFDw" type="2009" fontName="Ubuntu" fontHeight="11" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__FXAkDifEeK2K5cKvwDFDw" source="ShadowFigure">
@@ -121,7 +121,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_PFfHMTieEeK2K5cKvwDFDw" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="SearchLanding.uml#_PFXLYDieEeK2K5cKvwDFDw"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_PFegITieEeK2K5cKvwDFDw" x="-10" y="75" width="20" height="20"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_PFegITieEeK2K5cKvwDFDw" x="-10" y="56" width="20" height="20"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_QBbLADieEeK2K5cKvwDFDw" type="3069" fontName="Ubuntu" fontHeight="11" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QBbLAjieEeK2K5cKvwDFDw" source="ShadowFigure">
@@ -932,7 +932,7 @@
<layoutConstraint xmi:type="notation:Location" xmi:id="_-I9QQ3CmEeKfLd758TNm-w" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="SearchLanding.uml#_zYby0EOJEeKE2858SxsX1g"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_-I8pNnCmEeKfLd758TNm-w" x="-10" y="24"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_-I8pNnCmEeKfLd758TNm-w" x="-10" y="2"/>
</children>
<element xmi:type="uml:Property" href="SearchLanding.uml#_8Pcw8HCmEeKfLd758TNm-w"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_8Pi3kXCmEeKfLd758TNm-w" x="491" y="77"/>
@@ -1232,4 +1232,5 @@
</styles>
<element xmi:type="uml:Model" href="SearchLanding.uml#_mtbeUDidEeK2K5cKvwDFDw"/>
</notation:Diagram>
+ <css:ModelStyleSheets xmi:id="_a_gVMMyoEeSbw_7Zqs0KhQ"/>
</xmi:XMI>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.uml b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.uml
index c2da6db6718..a5afca74a93 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.uml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.uml
@@ -1,310 +1,309 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="20110701" xmlns:xmi="http://www.omg.org/spec/XMI/20110701" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/4.0.0/UML">
- <uml:Model xmi:id="_mtbeUDidEeK2K5cKvwDFDw" name="RobotMLModel">
- <packageImport xmi:id="_yrYeEDidEeK2K5cKvwDFDw">
- <importedPackage xmi:type="uml:Model" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#__GIkwALIEeCtYMXppfqLMw"/>
- </packageImport>
- <packagedElement xmi:type="uml:PrimitiveType" xmi:id="__FNPkDifEeK2K5cKvwDFDw" name="int"/>
- <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_C4t9cDigEeK2K5cKvwDFDw" name="bool"/>
- <packagedElement xmi:type="uml:PrimitiveType" xmi:id="__kzjYDikEeK2K5cKvwDFDw" name="double"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_NPCJsGZCEeK8vedwRu2M7w" name="ActuatorSystem1">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_-I-7IGZCEeK8vedwRu2M7w" name="Target" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="__EZagGZCEeK8vedwRu2M7w" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="__EbPsGZCEeK8vedwRu2M7w" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="__Edr8GZCEeK8vedwRu2M7w">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_qGm8gGZDEeK8vedwRu2M7w" name="Robot">
- <ownedAttribute xmi:id="_Ac1iMGZFEeK8vedwRu2M7w" name="ActuatorSystem11" type="_NPCJsGZCEeK8vedwRu2M7w"/>
- <ownedAttribute xmi:id="_aFjo0GZFEeK8vedwRu2M7w" name="SearchLandingSite" type="_ImpbgDieEeK2K5cKvwDFDw"/>
- <nestedClassifier xmi:type="uml:Class" xmi:id="_oa4h4GZAEeK8vedwRu2M7w" name="Gyroscope">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_xrFh8GZAEeK8vedwRu2M7w" name="inport_gyro" visibility="public" aggregation="composite">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_x87f4GZAEeK8vedwRu2M7w" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_x87f4WZAEeK8vedwRu2M7w" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_x88uAGZAEeK8vedwRu2M7w">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </nestedClassifier>
- <nestedClassifier xmi:type="uml:Class" xmi:id="_6G9FkGZBEeK8vedwRu2M7w" name="CameraSystem">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_YfQrUGZDEeK8vedwRu2M7w" name="Camera" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_Y-vcoGZDEeK8vedwRu2M7w" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_Y-wDsGZDEeK8vedwRu2M7w" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_Y-wqwGZDEeK8vedwRu2M7w">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </nestedClassifier>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_ImpbgDieEeK2K5cKvwDFDw" name="SearchLandingSite" classifierBehavior="_9JQVsDieEeK2K5cKvwDFDw">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_PFXLYDieEeK2K5cKvwDFDw" name="GPS" visibility="public" aggregation="composite">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_PlqcEDieEeK2K5cKvwDFDw" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_PlsRQDieEeK2K5cKvwDFDw" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_PluGcDieEeK2K5cKvwDFDw">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_QBUdUDieEeK2K5cKvwDFDw" name="Camera" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_Qfr0UDieEeK2K5cKvwDFDw" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_QftpgDieEeK2K5cKvwDFDw" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_QfvesDieEeK2K5cKvwDFDw">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_SFc4QDieEeK2K5cKvwDFDw" name="Target" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_Sh3ugDieEeK2K5cKvwDFDw" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_Sh5jsDieEeK2K5cKvwDFDw" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_Sh6x0DieEeK2K5cKvwDFDw">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:id="_68nswDijEeK2K5cKvwDFDw" name="f" visibility="private" type="_C4t9cDigEeK2K5cKvwDFDw">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_8ytEoDijEeK2K5cKvwDFDw" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_8yuSwDijEeK2K5cKvwDFDw" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_8ywH8DijEeK2K5cKvwDFDw">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:id="_Bsk9oDikEeK2K5cKvwDFDw" name="r" visibility="private" type="_C4t9cDigEeK2K5cKvwDFDw"/>
- <ownedAttribute xmi:id="_G4H1cDikEeK2K5cKvwDFDw" name="wp" visibility="private" type="__FNPkDifEeK2K5cKvwDFDw">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_aTPlIEOLEeKE2858SxsX1g" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_aTPlIUOLEeKE2858SxsX1g" value="1"/>
- </ownedAttribute>
- <ownedAttribute xmi:id="_dFCjkDikEeK2K5cKvwDFDw" name="size" visibility="private" type="__FNPkDifEeK2K5cKvwDFDw">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fa8rADikEeK2K5cKvwDFDw" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fa95IDikEeK2K5cKvwDFDw" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_fa_uUDikEeK2K5cKvwDFDw">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:id="_tiEEwDimEeK2K5cKvwDFDw" name="route" visibility="private" isOrdered="true" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_2BGtoDimEeK2K5cKvwDFDw" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_2BHUsDimEeK2K5cKvwDFDw" value="*"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_zYby0EOJEeKE2858SxsX1g" name="inport_gyro" visibility="public" aggregation="composite">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1w-XgEOJEeKE2858SxsX1g" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1w--kEOJEeKE2858SxsX1g" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_1w_loEOJEeKE2858SxsX1g">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:id="_zNN58EOMEeKE2858SxsX1g" name="x" visibility="public" type="__kzjYDikEeK2K5cKvwDFDw">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_z4j9AEOMEeKE2858SxsX1g" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_z4j9AUOMEeKE2858SxsX1g" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_z4kkEEOMEeKE2858SxsX1g">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:id="_4zgNAEOMEeKE2858SxsX1g" name="y" visibility="public" type="__kzjYDikEeK2K5cKvwDFDw">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_5AhVUEOMEeKE2858SxsX1g" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_5AijcEOMEeKE2858SxsX1g" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_5AjxkEOMEeKE2858SxsX1g">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:id="_65paIEOMEeKE2858SxsX1g" name="z" visibility="public" type="__kzjYDikEeK2K5cKvwDFDw">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_8Y_tAEOMEeKE2858SxsX1g" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_8ZBiMEOMEeKE2858SxsX1g" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_8ZDXYEOMEeKE2858SxsX1g">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:id="_-HqOQEOMEeKE2858SxsX1g" name="argminx" visibility="public" type="__kzjYDikEeK2K5cKvwDFDw">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_-rIHsEOMEeKE2858SxsX1g" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_-rIuwEOMEeKE2858SxsX1g" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_-rKj8EOMEeKE2858SxsX1g">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:id="_AHPgYEONEeKE2858SxsX1g" name="argminy" visibility="public" type="__kzjYDikEeK2K5cKvwDFDw">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_A-XVoEONEeKE2858SxsX1g" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_A-X8sEONEeKE2858SxsX1g" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_A-ZK0EONEeKE2858SxsX1g">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:id="_FIE9AEONEeKE2858SxsX1g" name="landing_site_found" visibility="public" type="_C4t9cDigEeK2K5cKvwDFDw">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_FoY0wEONEeKE2858SxsX1g" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_FoaC4EONEeKE2858SxsX1g" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_FobRAEONEeKE2858SxsX1g">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedBehavior xmi:type="uml:StateMachine" xmi:id="_9JQVsDieEeK2K5cKvwDFDw" name="StateMachine1" isReentrant="false">
- <region xmi:id="_-oTGkDieEeK2K5cKvwDFDw" name="Region1">
- <transition xmi:id="_Y4FTkDinEeK2K5cKvwDFDw" name="Transition8" source="_RtEYADifEeK2K5cKvwDFDw" target="_PBjM8DifEeK2K5cKvwDFDw"/>
- <transition xmi:id="_MWgM4DioEeK2K5cKvwDFDw" name="Transition9" source="_PBjM8DifEeK2K5cKvwDFDw" target="_RtEYADifEeK2K5cKvwDFDw"/>
- <transition xmi:id="_TAE3ADiqEeKSArdUqChi-A" name="Transition10" source="_RtEYADifEeK2K5cKvwDFDw" target="_RtEYADifEeK2K5cKvwDFDw"/>
- <transition xmi:id="_uvaZ8DisEeKSArdUqChi-A" name="Transition11" source="_RtEYADifEeK2K5cKvwDFDw" target="_RFid8DifEeK2K5cKvwDFDw"/>
- <transition xmi:id="_Sp6SYDitEeKSArdUqChi-A" name="Transition12" source="_RFid8DifEeK2K5cKvwDFDw" target="_QayQwDifEeK2K5cKvwDFDw"/>
- <transition xmi:id="_jUbH4DitEeKSArdUqChi-A" name="Transition13" source="_QayQwDifEeK2K5cKvwDFDw" target="_RFid8DifEeK2K5cKvwDFDw"/>
- <subvertex xmi:type="uml:Pseudostate" xmi:id="_PBjM8DifEeK2K5cKvwDFDw" name="State1"/>
- <subvertex xmi:type="uml:State" xmi:id="_QayQwDifEeK2K5cKvwDFDw" name="State2"/>
- <subvertex xmi:type="uml:State" xmi:id="_RFid8DifEeK2K5cKvwDFDw" name="State3"/>
- <subvertex xmi:type="uml:State" xmi:id="_RtEYADifEeK2K5cKvwDFDw" name="NotRNotF"/>
- </region>
- </ownedBehavior>
- <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_5c1Q0DiqEeKSArdUqChi-A" name="IncWP" isReentrant="false" specification="_y55McDijEeK2K5cKvwDFDw">
- <language>C++</language>
- <body>wp=wp+1;</body>
- </ownedBehavior>
- <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_VPEr4DivEeKSArdUqChi-A" name="ChkClose" isReentrant="false" specification="_QGXtsDikEeK2K5cKvwDFDw">
- <language>C++</language>
- <body>
-if(((x-route[curent_wp].x)*(x-route[curent_wp].x) + (y-route[curent_wp].y)*(y-route[curent_wp].y) + (z-route[curent_wp].z)*(z-route[curent_wp].z)) &lt; 0.5) then return true
-else return false
-end</body>
- </ownedBehavior>
- <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_0xMO0DivEeKSArdUqChi-A" name="SizeEqual" isReentrant="false" specification="_leDc8DikEeK2K5cKvwDFDw">
- <language>C++</language>
- <body>if(wp == route.size()) then return true
-else return false
-end</body>
- </ownedBehavior>
- <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_VIV8UDiwEeKSArdUqChi-A" name="Write" isReentrant="false" specification="_qwK20DikEeK2K5cKvwDFDw">
- <language>C++</language>
- <body>outport.write(route[wp])</body>
- </ownedBehavior>
- <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_qBwbMDiwEeKSArdUqChi-A" name="AddRoutePlusWrite" isReentrant="false" specification="_VA4qcDilEeK2K5cKvwDFDw">
- <language>C++</language>
- <body> geometry_msgs::Point* pt = new geometry_msgs::Point()
- pt->x = argminx; pt->y = argminy; pt->z = 10.0
- route.push_back(*pt)
- pt->x = argminx pt->y = argminy; pt->z = 0.0
- route.push_back(*pt)
- delete pt
- outport.write(route[wp])
-</body>
- </ownedBehavior>
- <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_BR_ngDixEeKSArdUqChi-A" name="True" isReentrant="false" specification="__GcsEDinEeK2K5cKvwDFDw">
- <language>C++</language>
- <body>return true</body>
- </ownedBehavior>
- <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_tag0IEOPEeKE2858SxsX1g" name="noSize" isReentrant="false" specification="_qZ1ywDiqEeKSArdUqChi-A">
- <language>C++</language>
- <body>if(wp &lt; route.size()) then return true
-else return false
-end</body>
- </ownedBehavior>
- <ownedOperation xmi:id="_y55McDijEeK2K5cKvwDFDw" name="IncWP" visibility="public" method="_5c1Q0DiqEeKSArdUqChi-A"/>
- <ownedOperation xmi:id="_QGXtsDikEeK2K5cKvwDFDw" name="CheckCloseToWP" visibility="public" method="_VPEr4DivEeKSArdUqChi-A">
- <ownedParameter xmi:id="_8x598DikEeK2K5cKvwDFDw" type="_C4t9cDigEeK2K5cKvwDFDw" direction="return"/>
- </ownedOperation>
- <ownedOperation xmi:id="_leDc8DikEeK2K5cKvwDFDw" name="CheckSize" visibility="public" method="_0xMO0DivEeKSArdUqChi-A">
- <ownedParameter xmi:id="_e6o90DilEeK2K5cKvwDFDw" type="_C4t9cDigEeK2K5cKvwDFDw" direction="return"/>
- </ownedOperation>
- <ownedOperation xmi:id="_qwK20DikEeK2K5cKvwDFDw" name="SendToOutputPort" visibility="public" method="_VIV8UDiwEeKSArdUqChi-A"/>
- <ownedOperation xmi:id="_VA4qcDilEeK2K5cKvwDFDw" name="IncrementRouteAndSendToOutputPort" visibility="public" method="_qBwbMDiwEeKSArdUqChi-A"/>
- <ownedOperation xmi:id="__GcsEDinEeK2K5cKvwDFDw" name="AllwayTrue" visibility="public" method="_BR_ngDixEeKSArdUqChi-A">
- <ownedParameter xmi:id="_E7w5oDioEeK2K5cKvwDFDw" type="_C4t9cDigEeK2K5cKvwDFDw" direction="return"/>
- </ownedOperation>
- <ownedOperation xmi:id="_qZ1ywDiqEeKSArdUqChi-A" name="CheckNotSize" visibility="public" method="_tag0IEOPEeKE2858SxsX1g">
- <ownedParameter xmi:id="_jSYtkEOPEeKE2858SxsX1g" type="_C4t9cDigEeK2K5cKvwDFDw" direction="return"/>
- </ownedOperation>
- <nestedClassifier xmi:type="uml:Class" xmi:id="_lXc7IDijEeK2K5cKvwDFDw" name="Class1"/>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_14i5QHCmEeKfLd758TNm-w" name="Robot1">
- <ownedAttribute xmi:id="_8Pcw8HCmEeKfLd758TNm-w" name="SearchLandingSite1" type="_ImpbgDieEeK2K5cKvwDFDw"/>
- <ownedAttribute xmi:id="_AaP9cHCnEeKfLd758TNm-w" name="ActuatorSystem12" type="_NPCJsGZCEeK8vedwRu2M7w"/>
- <ownedAttribute xmi:id="_zoHSQHCnEeKfLd758TNm-w" name="Gyroscope3" type="_RH60oHCnEeKfLd758TNm-w"/>
- <ownedAttribute xmi:id="_0HxCsHCnEeKfLd758TNm-w" name="CameraSystem4" type="_XhpW0HCnEeKfLd758TNm-w"/>
- <ownedConnector xmi:id="_C45xMHCnEeKfLd758TNm-w" name="Connector1">
- <end xmi:id="_C47mYHCnEeKfLd758TNm-w" partWithPort="_8Pcw8HCmEeKfLd758TNm-w" role="_SFc4QDieEeK2K5cKvwDFDw">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_C47mYXCnEeKfLd758TNm-w" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_C47mYnCnEeKfLd758TNm-w" value="1"/>
- </end>
- <end xmi:id="_C47mY3CnEeKfLd758TNm-w" partWithPort="_AaP9cHCnEeKfLd758TNm-w" role="_-I-7IGZCEeK8vedwRu2M7w">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_C47mZHCnEeKfLd758TNm-w" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_C47mZXCnEeKfLd758TNm-w" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:id="_6uF2cHCnEeKfLd758TNm-w" name="Connector2">
- <end xmi:id="_6uGdgHCnEeKfLd758TNm-w" partWithPort="_zoHSQHCnEeKfLd758TNm-w" role="_dq1ioHCnEeKfLd758TNm-w">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_6uGdgXCnEeKfLd758TNm-w" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_6uGdgnCnEeKfLd758TNm-w" value="1"/>
- </end>
- <end xmi:id="_6uHEkHCnEeKfLd758TNm-w" partWithPort="_8Pcw8HCmEeKfLd758TNm-w" role="_zYby0EOJEeKE2858SxsX1g">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_6uHEkXCnEeKfLd758TNm-w" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_6uHEknCnEeKfLd758TNm-w" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:id="_-BgvAHCnEeKfLd758TNm-w" name="Connector3">
- <end xmi:id="_-Bh9IHCnEeKfLd758TNm-w" partWithPort="_0HxCsHCnEeKfLd758TNm-w" role="_ojOBcHCnEeKfLd758TNm-w">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_-Bh9IXCnEeKfLd758TNm-w" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_-Bh9InCnEeKfLd758TNm-w" value="1"/>
- </end>
- <end xmi:id="_-BikMHCnEeKfLd758TNm-w" partWithPort="_8Pcw8HCmEeKfLd758TNm-w" role="_QBUdUDieEeK2K5cKvwDFDw">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_-BikMXCnEeKfLd758TNm-w" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_-BikMnCnEeKfLd758TNm-w" value="1"/>
- </end>
- </ownedConnector>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_RH60oHCnEeKfLd758TNm-w" name="Gyroscope">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_dq1ioHCnEeKfLd758TNm-w" name="inport_gyro" visibility="public" aggregation="composite">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_es7RwHCnEeKfLd758TNm-w" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_es8f4HCnEeKfLd758TNm-w" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_etAxUHCnEeKfLd758TNm-w" value=""/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_XhpW0HCnEeKfLd758TNm-w" name="CameraSystem">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_ojOBcHCnEeKfLd758TNm-w" name="Camera" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_pPDzwHCnEeKfLd758TNm-w" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_pPFB4HCnEeKfLd758TNm-w" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_pPGQAHCnEeKfLd758TNm-w">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <profileApplication xmi:id="_GQ7hUDieEeK2K5cKvwDFDw">
- <eAnnotations xmi:id="_GSZg8DieEeK2K5cKvwDFDw" source="http://www.eclipse.org/uml2/2.0.0/UML">
- <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
- </eAnnotations>
- <appliedProfile href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
- </profileApplication>
- </uml:Model>
- <RobotML:RoboticSystem xmi:id="_InGHcDieEeK2K5cKvwDFDw" base_Class="_ImpbgDieEeK2K5cKvwDFDw"/>
- <RobotML:DataFlowPort xmi:id="_QBe1YDieEeK2K5cKvwDFDw" base_Port="_QBUdUDieEeK2K5cKvwDFDw"/>
- <RobotML:DataFlowPort xmi:id="_SFk0EDieEeK2K5cKvwDFDw" base_Port="_SFc4QDieEeK2K5cKvwDFDw" direction="out"/>
- <RobotML:State xmi:id="_QbCvcDifEeK2K5cKvwDFDw" base_State="_QayQwDifEeK2K5cKvwDFDw"/>
- <RobotML:State xmi:id="_RFqZwDifEeK2K5cKvwDFDw" base_State="_RFid8DifEeK2K5cKvwDFDw"/>
- <RobotML:State xmi:id="_RtPXIDifEeK2K5cKvwDFDw" base_State="_RtEYADifEeK2K5cKvwDFDw"/>
- <RobotML:Algorithm xmi:id="_y6MucDijEeK2K5cKvwDFDw" base_Operation="_y55McDijEeK2K5cKvwDFDw" path=""/>
- <RobotML:Algorithm xmi:id="_QGg3oDikEeK2K5cKvwDFDw" base_Operation="_QGXtsDikEeK2K5cKvwDFDw" path=""/>
- <RobotML:Algorithm xmi:id="_leMm4DikEeK2K5cKvwDFDw" base_Operation="_leDc8DikEeK2K5cKvwDFDw"/>
- <RobotML:Algorithm xmi:id="_qwWdADikEeK2K5cKvwDFDw" base_Operation="_qwK20DikEeK2K5cKvwDFDw"/>
- <RobotML:Algorithm xmi:id="_VBDpkDilEeK2K5cKvwDFDw" base_Operation="_VA4qcDilEeK2K5cKvwDFDw" path=""/>
- <RobotML:Transition xmi:id="_Y4YOgDinEeK2K5cKvwDFDw" base_Transition="_Y4FTkDinEeK2K5cKvwDFDw" />
- <RobotML:Algorithm xmi:id="__GlO8DinEeK2K5cKvwDFDw" base_Operation="__GcsEDinEeK2K5cKvwDFDw"/>
- <RobotML:Transition xmi:id="_MW0V8DioEeK2K5cKvwDFDw" base_Transition="_MWgM4DioEeK2K5cKvwDFDw" />
- <RobotML:Transition xmi:id="_TAgU0DiqEeKSArdUqChi-A" base_Transition="_TAE3ADiqEeKSArdUqChi-A" />
- <RobotML:Algorithm xmi:id="_qaG4gDiqEeKSArdUqChi-A" base_Operation="_qZ1ywDiqEeKSArdUqChi-A"/>
- <RobotML:Transition xmi:id="_uv4UADisEeKSArdUqChi-A" base_Transition="_uvaZ8DisEeKSArdUqChi-A" />
- <RobotML:Transition xmi:id="_SqZakDitEeKSArdUqChi-A" base_Transition="_Sp6SYDitEeKSArdUqChi-A" />
- <RobotML:Transition xmi:id="_jU5B8DitEeKSArdUqChi-A" base_Transition="_jUbH4DitEeKSArdUqChi-A" />
- <RobotML:DataFlowPort xmi:id="_zcCgcEOJEeKE2858SxsX1g" base_Port="_zYby0EOJEeKE2858SxsX1g"/>
- <RobotML:GPSSystem xmi:id="_QqilgEOLEeKE2858SxsX1g"/>
- <RobotML:SensorSystem xmi:id="_oe100GZAEeK8vedwRu2M7w" base_Class="_oa4h4GZAEeK8vedwRu2M7w"/>
- <RobotML:DataFlowPort xmi:id="_xrTkYGZAEeK8vedwRu2M7w" base_Port="_xrFh8GZAEeK8vedwRu2M7w" direction="out"/>
- <RobotML:CameraSystem xmi:id="_6HPZcGZBEeK8vedwRu2M7w" base_Class="_6G9FkGZBEeK8vedwRu2M7w"/>
- <RobotML:ActuatorSystem xmi:id="_NPW50GZCEeK8vedwRu2M7w" base_Class="_NPCJsGZCEeK8vedwRu2M7w"/>
- <RobotML:DataFlowPort xmi:id="_-JPZ0GZCEeK8vedwRu2M7w" base_Port="_-I-7IGZCEeK8vedwRu2M7w"/>
- <RobotML:DataFlowPort xmi:id="_YfbqcGZDEeK8vedwRu2M7w" base_Port="_YfQrUGZDEeK8vedwRu2M7w" direction="out"/>
- <RobotML:Robot xmi:id="_qG86wGZDEeK8vedwRu2M7w" base_Class="_qGm8gGZDEeK8vedwRu2M7w"/>
- <RobotML:Robot xmi:id="_1410MHCmEeKfLd758TNm-w" base_Class="_14i5QHCmEeKfLd758TNm-w"/>
- <RobotML:SensorSystem xmi:id="_RINvkHCnEeKfLd758TNm-w" base_Class="_RH60oHCnEeKfLd758TNm-w"/>
- <RobotML:SensorSystem xmi:id="_XiAjMHCnEeKfLd758TNm-w" base_Class="_XhpW0HCnEeKfLd758TNm-w"/>
- <RobotML:DataFlowPort xmi:id="_OIQXUJ3SEeKBXMKYRRb21w" base_Port="_dq1ioHCnEeKfLd758TNm-w" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_YHSMQJ3SEeKBXMKYRRb21w" base_Port="_ojOBcHCnEeKfLd758TNm-w" direction="out"/>
-</xmi:XMI>
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+ <uml:Model xmi:id="_mtbeUDidEeK2K5cKvwDFDw" name="RobotMLModel">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_yrYeEDidEeK2K5cKvwDFDw">
+ <importedPackage xmi:type="uml:Model" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#__GIkwALIEeCtYMXppfqLMw"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:PrimitiveType" xmi:id="__FNPkDifEeK2K5cKvwDFDw" name="int"/>
+ <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_C4t9cDigEeK2K5cKvwDFDw" name="bool"/>
+ <packagedElement xmi:type="uml:PrimitiveType" xmi:id="__kzjYDikEeK2K5cKvwDFDw" name="double"/>
+ <packagedElement xmi:type="uml:Class" xmi:id="_NPCJsGZCEeK8vedwRu2M7w" name="ActuatorSystem1">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_-I-7IGZCEeK8vedwRu2M7w" name="Target" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="__EZagGZCEeK8vedwRu2M7w" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="__EbPsGZCEeK8vedwRu2M7w" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="__Edr8GZCEeK8vedwRu2M7w">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_qGm8gGZDEeK8vedwRu2M7w" name="Robot">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_Ac1iMGZFEeK8vedwRu2M7w" name="ActuatorSystem11" type="_NPCJsGZCEeK8vedwRu2M7w"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_aFjo0GZFEeK8vedwRu2M7w" name="SearchLandingSite" type="_ImpbgDieEeK2K5cKvwDFDw"/>
+ <nestedClassifier xmi:type="uml:Class" xmi:id="_oa4h4GZAEeK8vedwRu2M7w" name="Gyroscope">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_xrFh8GZAEeK8vedwRu2M7w" name="inport_gyro" visibility="public" aggregation="composite">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_x87f4GZAEeK8vedwRu2M7w" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_x87f4WZAEeK8vedwRu2M7w" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_x88uAGZAEeK8vedwRu2M7w">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </nestedClassifier>
+ <nestedClassifier xmi:type="uml:Class" xmi:id="_6G9FkGZBEeK8vedwRu2M7w" name="CameraSystem">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_YfQrUGZDEeK8vedwRu2M7w" name="Camera" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_Y-vcoGZDEeK8vedwRu2M7w" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_Y-wDsGZDEeK8vedwRu2M7w" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_Y-wqwGZDEeK8vedwRu2M7w">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </nestedClassifier>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_ImpbgDieEeK2K5cKvwDFDw" name="SearchLandingSite" classifierBehavior="_9JQVsDieEeK2K5cKvwDFDw">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_PFXLYDieEeK2K5cKvwDFDw" name="GPS" visibility="public" aggregation="composite">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_PlqcEDieEeK2K5cKvwDFDw" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_PlsRQDieEeK2K5cKvwDFDw" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_PluGcDieEeK2K5cKvwDFDw">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_QBUdUDieEeK2K5cKvwDFDw" name="Camera" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_Qfr0UDieEeK2K5cKvwDFDw" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_QftpgDieEeK2K5cKvwDFDw" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_QfvesDieEeK2K5cKvwDFDw">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_SFc4QDieEeK2K5cKvwDFDw" name="Target" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_Sh3ugDieEeK2K5cKvwDFDw" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_Sh5jsDieEeK2K5cKvwDFDw" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_Sh6x0DieEeK2K5cKvwDFDw">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_68nswDijEeK2K5cKvwDFDw" name="f" visibility="private" type="_C4t9cDigEeK2K5cKvwDFDw">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_8ytEoDijEeK2K5cKvwDFDw" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_8yuSwDijEeK2K5cKvwDFDw" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_8ywH8DijEeK2K5cKvwDFDw">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_Bsk9oDikEeK2K5cKvwDFDw" name="r" visibility="private" type="_C4t9cDigEeK2K5cKvwDFDw"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_G4H1cDikEeK2K5cKvwDFDw" name="wp" visibility="private" type="__FNPkDifEeK2K5cKvwDFDw">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_aTPlIEOLEeKE2858SxsX1g" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_aTPlIUOLEeKE2858SxsX1g" value="1"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_dFCjkDikEeK2K5cKvwDFDw" name="size" visibility="private" type="__FNPkDifEeK2K5cKvwDFDw">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fa8rADikEeK2K5cKvwDFDw" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fa95IDikEeK2K5cKvwDFDw" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_fa_uUDikEeK2K5cKvwDFDw">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_tiEEwDimEeK2K5cKvwDFDw" name="route" visibility="private" isOrdered="true" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_2BGtoDimEeK2K5cKvwDFDw" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_2BHUsDimEeK2K5cKvwDFDw" value="*"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_zYby0EOJEeKE2858SxsX1g" name="inport_gyro" visibility="public" aggregation="composite">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1w-XgEOJEeKE2858SxsX1g" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1w--kEOJEeKE2858SxsX1g" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_1w_loEOJEeKE2858SxsX1g">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_zNN58EOMEeKE2858SxsX1g" name="x" visibility="public" type="__kzjYDikEeK2K5cKvwDFDw">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_z4j9AEOMEeKE2858SxsX1g" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_z4j9AUOMEeKE2858SxsX1g" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_z4kkEEOMEeKE2858SxsX1g">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_4zgNAEOMEeKE2858SxsX1g" name="y" visibility="public" type="__kzjYDikEeK2K5cKvwDFDw">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_5AhVUEOMEeKE2858SxsX1g" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_5AijcEOMEeKE2858SxsX1g" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_5AjxkEOMEeKE2858SxsX1g">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_65paIEOMEeKE2858SxsX1g" name="z" visibility="public" type="__kzjYDikEeK2K5cKvwDFDw">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_8Y_tAEOMEeKE2858SxsX1g" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_8ZBiMEOMEeKE2858SxsX1g" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_8ZDXYEOMEeKE2858SxsX1g">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_-HqOQEOMEeKE2858SxsX1g" name="argminx" visibility="public" type="__kzjYDikEeK2K5cKvwDFDw">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_-rIHsEOMEeKE2858SxsX1g" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_-rIuwEOMEeKE2858SxsX1g" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_-rKj8EOMEeKE2858SxsX1g">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_AHPgYEONEeKE2858SxsX1g" name="argminy" visibility="public" type="__kzjYDikEeK2K5cKvwDFDw">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_A-XVoEONEeKE2858SxsX1g" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_A-X8sEONEeKE2858SxsX1g" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_A-ZK0EONEeKE2858SxsX1g">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_FIE9AEONEeKE2858SxsX1g" name="landing_site_found" visibility="public" type="_C4t9cDigEeK2K5cKvwDFDw">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_FoY0wEONEeKE2858SxsX1g" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_FoaC4EONEeKE2858SxsX1g" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_FobRAEONEeKE2858SxsX1g">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedBehavior xmi:type="uml:StateMachine" xmi:id="_9JQVsDieEeK2K5cKvwDFDw" name="StateMachine1" isReentrant="false">
+ <region xmi:type="uml:Region" xmi:id="_-oTGkDieEeK2K5cKvwDFDw" name="Region1">
+ <transition xmi:type="uml:Transition" xmi:id="_Y4FTkDinEeK2K5cKvwDFDw" name="Transition8" source="_RtEYADifEeK2K5cKvwDFDw" target="_PBjM8DifEeK2K5cKvwDFDw"/>
+ <transition xmi:type="uml:Transition" xmi:id="_MWgM4DioEeK2K5cKvwDFDw" name="Transition9" source="_PBjM8DifEeK2K5cKvwDFDw" target="_RtEYADifEeK2K5cKvwDFDw"/>
+ <transition xmi:type="uml:Transition" xmi:id="_TAE3ADiqEeKSArdUqChi-A" name="Transition10" source="_RtEYADifEeK2K5cKvwDFDw" target="_RtEYADifEeK2K5cKvwDFDw"/>
+ <transition xmi:type="uml:Transition" xmi:id="_uvaZ8DisEeKSArdUqChi-A" name="Transition11" source="_RtEYADifEeK2K5cKvwDFDw" target="_RFid8DifEeK2K5cKvwDFDw"/>
+ <transition xmi:type="uml:Transition" xmi:id="_Sp6SYDitEeKSArdUqChi-A" name="Transition12" source="_RFid8DifEeK2K5cKvwDFDw" target="_QayQwDifEeK2K5cKvwDFDw"/>
+ <transition xmi:type="uml:Transition" xmi:id="_jUbH4DitEeKSArdUqChi-A" name="Transition13" source="_QayQwDifEeK2K5cKvwDFDw" target="_RFid8DifEeK2K5cKvwDFDw"/>
+ <subvertex xmi:type="uml:Pseudostate" xmi:id="_PBjM8DifEeK2K5cKvwDFDw" name="State1"/>
+ <subvertex xmi:type="uml:State" xmi:id="_QayQwDifEeK2K5cKvwDFDw" name="State2"/>
+ <subvertex xmi:type="uml:State" xmi:id="_RFid8DifEeK2K5cKvwDFDw" name="State3"/>
+ <subvertex xmi:type="uml:State" xmi:id="_RtEYADifEeK2K5cKvwDFDw" name="NotRNotF"/>
+ </region>
+ </ownedBehavior>
+ <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_5c1Q0DiqEeKSArdUqChi-A" name="IncWP" specification="_y55McDijEeK2K5cKvwDFDw" isReentrant="false">
+ <language>C++</language>
+ <body>wp=wp+1;</body>
+ </ownedBehavior>
+ <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_VPEr4DivEeKSArdUqChi-A" name="ChkClose" specification="_QGXtsDikEeK2K5cKvwDFDw" isReentrant="false">
+ <language>C++</language>
+ <body>
+if(((x-route[curent_wp].x)*(x-route[curent_wp].x) + (y-route[curent_wp].y)*(y-route[curent_wp].y) + (z-route[curent_wp].z)*(z-route[curent_wp].z)) &lt; 0.5) then return true
+else return false
+end</body>
+ </ownedBehavior>
+ <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_0xMO0DivEeKSArdUqChi-A" name="SizeEqual" specification="_leDc8DikEeK2K5cKvwDFDw" isReentrant="false">
+ <language>C++</language>
+ <body>if(wp == route.size()) then return true
+else return false
+end</body>
+ </ownedBehavior>
+ <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_VIV8UDiwEeKSArdUqChi-A" name="Write" specification="_qwK20DikEeK2K5cKvwDFDw" isReentrant="false">
+ <language>C++</language>
+ <body>outport.write(route[wp])</body>
+ </ownedBehavior>
+ <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_qBwbMDiwEeKSArdUqChi-A" name="AddRoutePlusWrite" specification="_VA4qcDilEeK2K5cKvwDFDw" isReentrant="false">
+ <language>C++</language>
+ <body> geometry_msgs::Point* pt = new geometry_msgs::Point()
+ pt->x = argminx; pt->y = argminy; pt->z = 10.0
+ route.push_back(*pt)
+ pt->x = argminx pt->y = argminy; pt->z = 0.0
+ route.push_back(*pt)
+ delete pt
+ outport.write(route[wp])
+</body>
+ </ownedBehavior>
+ <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_BR_ngDixEeKSArdUqChi-A" name="True" specification="__GcsEDinEeK2K5cKvwDFDw" isReentrant="false">
+ <language>C++</language>
+ <body>return true</body>
+ </ownedBehavior>
+ <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_tag0IEOPEeKE2858SxsX1g" name="noSize" specification="_qZ1ywDiqEeKSArdUqChi-A" isReentrant="false">
+ <language>C++</language>
+ <body>if(wp &lt; route.size()) then return true
+else return false
+end</body>
+ </ownedBehavior>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_y55McDijEeK2K5cKvwDFDw" name="IncWP" visibility="public" method="_5c1Q0DiqEeKSArdUqChi-A"/>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_QGXtsDikEeK2K5cKvwDFDw" name="CheckCloseToWP" visibility="public" method="_VPEr4DivEeKSArdUqChi-A">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_8x598DikEeK2K5cKvwDFDw" type="_C4t9cDigEeK2K5cKvwDFDw" direction="return"/>
+ </ownedOperation>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_leDc8DikEeK2K5cKvwDFDw" name="CheckSize" visibility="public" method="_0xMO0DivEeKSArdUqChi-A">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_e6o90DilEeK2K5cKvwDFDw" type="_C4t9cDigEeK2K5cKvwDFDw" direction="return"/>
+ </ownedOperation>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_qwK20DikEeK2K5cKvwDFDw" name="SendToOutputPort" visibility="public" method="_VIV8UDiwEeKSArdUqChi-A"/>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_VA4qcDilEeK2K5cKvwDFDw" name="IncrementRouteAndSendToOutputPort" visibility="public" method="_qBwbMDiwEeKSArdUqChi-A"/>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="__GcsEDinEeK2K5cKvwDFDw" name="AllwayTrue" visibility="public" method="_BR_ngDixEeKSArdUqChi-A">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_E7w5oDioEeK2K5cKvwDFDw" type="_C4t9cDigEeK2K5cKvwDFDw" direction="return"/>
+ </ownedOperation>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_qZ1ywDiqEeKSArdUqChi-A" name="CheckNotSize" visibility="public" method="_tag0IEOPEeKE2858SxsX1g">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_jSYtkEOPEeKE2858SxsX1g" type="_C4t9cDigEeK2K5cKvwDFDw" direction="return"/>
+ </ownedOperation>
+ <nestedClassifier xmi:type="uml:Class" xmi:id="_lXc7IDijEeK2K5cKvwDFDw" name="Class1"/>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_14i5QHCmEeKfLd758TNm-w" name="Robot1">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_8Pcw8HCmEeKfLd758TNm-w" name="SearchLandingSite1" type="_ImpbgDieEeK2K5cKvwDFDw"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_AaP9cHCnEeKfLd758TNm-w" name="ActuatorSystem12" type="_NPCJsGZCEeK8vedwRu2M7w"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_zoHSQHCnEeKfLd758TNm-w" name="Gyroscope3" type="_RH60oHCnEeKfLd758TNm-w"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_0HxCsHCnEeKfLd758TNm-w" name="CameraSystem4" type="_XhpW0HCnEeKfLd758TNm-w"/>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_C45xMHCnEeKfLd758TNm-w" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_C47mYHCnEeKfLd758TNm-w" partWithPort="_8Pcw8HCmEeKfLd758TNm-w" role="_SFc4QDieEeK2K5cKvwDFDw">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_C47mYXCnEeKfLd758TNm-w" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_C47mYnCnEeKfLd758TNm-w" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_C47mY3CnEeKfLd758TNm-w" partWithPort="_AaP9cHCnEeKfLd758TNm-w" role="_-I-7IGZCEeK8vedwRu2M7w">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_C47mZHCnEeKfLd758TNm-w" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_C47mZXCnEeKfLd758TNm-w" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_6uF2cHCnEeKfLd758TNm-w" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_6uGdgHCnEeKfLd758TNm-w" partWithPort="_zoHSQHCnEeKfLd758TNm-w" role="_dq1ioHCnEeKfLd758TNm-w">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_6uGdgXCnEeKfLd758TNm-w" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_6uGdgnCnEeKfLd758TNm-w" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_6uHEkHCnEeKfLd758TNm-w" partWithPort="_8Pcw8HCmEeKfLd758TNm-w" role="_zYby0EOJEeKE2858SxsX1g">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_6uHEkXCnEeKfLd758TNm-w" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_6uHEknCnEeKfLd758TNm-w" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_-BgvAHCnEeKfLd758TNm-w" name="Connector3">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_-Bh9IHCnEeKfLd758TNm-w" partWithPort="_0HxCsHCnEeKfLd758TNm-w" role="_ojOBcHCnEeKfLd758TNm-w">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_-Bh9IXCnEeKfLd758TNm-w" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_-Bh9InCnEeKfLd758TNm-w" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_-BikMHCnEeKfLd758TNm-w" partWithPort="_8Pcw8HCmEeKfLd758TNm-w" role="_QBUdUDieEeK2K5cKvwDFDw">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_-BikMXCnEeKfLd758TNm-w" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_-BikMnCnEeKfLd758TNm-w" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_RH60oHCnEeKfLd758TNm-w" name="Gyroscope">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_dq1ioHCnEeKfLd758TNm-w" name="inport_gyro" visibility="public" aggregation="composite">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_es7RwHCnEeKfLd758TNm-w" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_es8f4HCnEeKfLd758TNm-w" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_etAxUHCnEeKfLd758TNm-w" value=""/>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_XhpW0HCnEeKfLd758TNm-w" name="CameraSystem">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_ojOBcHCnEeKfLd758TNm-w" name="Camera" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_pPDzwHCnEeKfLd758TNm-w" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_pPFB4HCnEeKfLd758TNm-w" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_pPGQAHCnEeKfLd758TNm-w">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_GQ7hUDieEeK2K5cKvwDFDw">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_GSZg8DieEeK2K5cKvwDFDw" source="http://www.eclipse.org/uml2/2.0.0/UML">
+ <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
+ </eAnnotations>
+ <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
+ </profileApplication>
+ </uml:Model>
+ <RobotML:RoboticSystem xmi:id="_InGHcDieEeK2K5cKvwDFDw" base_Class="_ImpbgDieEeK2K5cKvwDFDw"/>
+ <RobotML:DataFlowPort xmi:id="_QBe1YDieEeK2K5cKvwDFDw" base_Port="_QBUdUDieEeK2K5cKvwDFDw"/>
+ <RobotML:DataFlowPort xmi:id="_SFk0EDieEeK2K5cKvwDFDw" base_Port="_SFc4QDieEeK2K5cKvwDFDw" direction="out"/>
+ <RobotML:State xmi:id="_QbCvcDifEeK2K5cKvwDFDw" base_State="_QayQwDifEeK2K5cKvwDFDw"/>
+ <RobotML:State xmi:id="_RFqZwDifEeK2K5cKvwDFDw" base_State="_RFid8DifEeK2K5cKvwDFDw"/>
+ <RobotML:State xmi:id="_RtPXIDifEeK2K5cKvwDFDw" base_State="_RtEYADifEeK2K5cKvwDFDw"/>
+ <RobotML:Algorithm xmi:id="_y6MucDijEeK2K5cKvwDFDw" base_Operation="_y55McDijEeK2K5cKvwDFDw" path=""/>
+ <RobotML:Algorithm xmi:id="_QGg3oDikEeK2K5cKvwDFDw" base_Operation="_QGXtsDikEeK2K5cKvwDFDw" path=""/>
+ <RobotML:Algorithm xmi:id="_leMm4DikEeK2K5cKvwDFDw" base_Operation="_leDc8DikEeK2K5cKvwDFDw"/>
+ <RobotML:Algorithm xmi:id="_qwWdADikEeK2K5cKvwDFDw" base_Operation="_qwK20DikEeK2K5cKvwDFDw"/>
+ <RobotML:Algorithm xmi:id="_VBDpkDilEeK2K5cKvwDFDw" base_Operation="_VA4qcDilEeK2K5cKvwDFDw" path=""/>
+ <RobotML:Transition xmi:id="_Y4YOgDinEeK2K5cKvwDFDw" base_Transition="_Y4FTkDinEeK2K5cKvwDFDw"/>
+ <RobotML:Algorithm xmi:id="__GlO8DinEeK2K5cKvwDFDw" base_Operation="__GcsEDinEeK2K5cKvwDFDw"/>
+ <RobotML:Transition xmi:id="_MW0V8DioEeK2K5cKvwDFDw" base_Transition="_MWgM4DioEeK2K5cKvwDFDw"/>
+ <RobotML:Transition xmi:id="_TAgU0DiqEeKSArdUqChi-A" base_Transition="_TAE3ADiqEeKSArdUqChi-A"/>
+ <RobotML:Algorithm xmi:id="_qaG4gDiqEeKSArdUqChi-A" base_Operation="_qZ1ywDiqEeKSArdUqChi-A"/>
+ <RobotML:Transition xmi:id="_uv4UADisEeKSArdUqChi-A" base_Transition="_uvaZ8DisEeKSArdUqChi-A"/>
+ <RobotML:Transition xmi:id="_SqZakDitEeKSArdUqChi-A" base_Transition="_Sp6SYDitEeKSArdUqChi-A"/>
+ <RobotML:Transition xmi:id="_jU5B8DitEeKSArdUqChi-A" base_Transition="_jUbH4DitEeKSArdUqChi-A"/>
+ <RobotML:DataFlowPort xmi:id="_zcCgcEOJEeKE2858SxsX1g" base_Port="_zYby0EOJEeKE2858SxsX1g"/>
+ <RobotML:SensorSystem xmi:id="_oe100GZAEeK8vedwRu2M7w" base_Class="_oa4h4GZAEeK8vedwRu2M7w"/>
+ <RobotML:DataFlowPort xmi:id="_xrTkYGZAEeK8vedwRu2M7w" base_Port="_xrFh8GZAEeK8vedwRu2M7w" direction="out"/>
+ <RobotML:CameraSystem xmi:id="_6HPZcGZBEeK8vedwRu2M7w" base_Class="_6G9FkGZBEeK8vedwRu2M7w"/>
+ <RobotML:ActuatorSystem xmi:id="_NPW50GZCEeK8vedwRu2M7w" base_Class="_NPCJsGZCEeK8vedwRu2M7w"/>
+ <RobotML:DataFlowPort xmi:id="_-JPZ0GZCEeK8vedwRu2M7w" base_Port="_-I-7IGZCEeK8vedwRu2M7w"/>
+ <RobotML:DataFlowPort xmi:id="_YfbqcGZDEeK8vedwRu2M7w" base_Port="_YfQrUGZDEeK8vedwRu2M7w" direction="out"/>
+ <RobotML:Robot xmi:id="_qG86wGZDEeK8vedwRu2M7w" base_Class="_qGm8gGZDEeK8vedwRu2M7w"/>
+ <RobotML:Robot xmi:id="_1410MHCmEeKfLd758TNm-w" base_Class="_14i5QHCmEeKfLd758TNm-w"/>
+ <RobotML:SensorSystem xmi:id="_RINvkHCnEeKfLd758TNm-w" base_Class="_RH60oHCnEeKfLd758TNm-w"/>
+ <RobotML:SensorSystem xmi:id="_XiAjMHCnEeKfLd758TNm-w" base_Class="_XhpW0HCnEeKfLd758TNm-w"/>
+ <RobotML:DataFlowPort xmi:id="_OIQXUJ3SEeKBXMKYRRb21w" base_Port="_dq1ioHCnEeKfLd758TNm-w" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_YHSMQJ3SEeKBXMKYRRb21w" base_Port="_ojOBcHCnEeKfLd758TNm-w" direction="out"/>
+</xmi:XMI>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.di b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.di
index 615e0705a43..cd995540c70 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.di
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.di
@@ -1,92 +1,38 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<di:SashWindowsMngr xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:di="http://www.eclipse.org/papyrus/0.7.0/sashdi">
- <pageList>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0VVHjiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0VYBDiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0VYBjiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0VYCDiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0VaYjiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0VfGDiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0VfojiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0VhEziAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0ee0DiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0efoDiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="../../plugin/org.eclipse.papyrus.robotml.templaterepository/Challenge4_2011-07-07/model.notation#_U3KFABwkEeGLkp-G70uDww"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0ef6TiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0ehlDiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0eicDiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0elMjiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0emyDiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0enODiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0enhDiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0eoEjiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_k0eoqDiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.uml#_k0LoBTiAEeKDAMEjnOLmPA"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_WaH_MDiuEeKFHpsdOC1X1Q"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_NzHQoDivEeKFHpsdOC1X1Q"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_LuVHIHBiEeKpO-l0NGAU9Q"/>
- </availablePage>
- <availablePage>
- <emfPageIdentifier href="YouthChallenge.notation#_rc51sKEKEeKLUqX9IJq2Gg"/>
- </availablePage>
- </pageList>
- <sashModel currentSelection="//@sashModel/@windows.0/@children.0">
- <windows>
- <children xsi:type="di:TabFolder">
- <children>
- <emfPageIdentifier href="YouthChallenge.notation#_k0VaYjiAEeKDAMEjnOLmPA"/>
- </children>
- <children>
- <emfPageIdentifier href="YouthChallenge.notation#_rc51sKEKEeKLUqX9IJq2Gg"/>
- </children>
- </children>
- </windows>
- </sashModel>
-</di:SashWindowsMngr>
+<?xml version="1.0" encoding="UTF-8"?>
+<di:SashWindowsMngr xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:XMI="http://www.omg.org/XMI" xmlns:di="http://www.eclipse.org/papyrus/0.7.0/sashdi" XMI:version="2.0">
+ <pageList>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ <availablePage/>
+ </pageList>
+ <sashModel currentSelection="#//@sashModel/@windows.0/@children.0">
+ <windows>
+ <children xsi:type="di:TabFolder">
+ <children emfPageIdentifier="YouthChallenge.notation#_rc51sKEKEeKLUqX9IJq2Gg"/>
+ <children emfPageIdentifier="YouthChallenge.notation#_k0VaYjiAEeKDAMEjnOLmPA"/>
+ </children>
+ </windows>
+ </sashModel>
+</di:SashWindowsMngr>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation
index 3595341811a..a9c64d04e0d 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:configuration="http://www.eclipse.org/papyrus/infra/viewpoints/configuration" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/viewpoints/policy/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:configuration="http://www.eclipse.org/papyrus/infra/viewpoints/configuration" xmlns:css="http://www.eclipse.org/papyrus/infra/gmfdiag/css" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/viewpoints/policy/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
<notation:Diagram xmi:id="_k0VVHjiAEeKDAMEjnOLmPA" type="PapyrusUMLClassDiagram" name="DataTypesDiagram" measurementUnit="Pixel">
<children xmi:type="notation:Shape" xmi:id="_k0VVHziAEeKDAMEjnOLmPA" type="2006" fontHeight="8" fillColor="8905185" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVIDiAEeKDAMEjnOLmPA" source="ShadowFigure">
@@ -2012,16 +2012,16 @@
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbnziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
<details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_SV9zQKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
</eAnnotations>
- <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VboTiAEeKDAMEjnOLmPA" x="-96" y="1"/>
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VboTiAEeKDAMEjnOLmPA" x="-176" y="-8"/>
</children>
<children xmi:type="notation:DecorationNode" xmi:id="_k0VbojiAEeKDAMEjnOLmPA" visible="false" type="6029">
<layoutConstraint xmi:type="notation:Location" xmi:id="_k0VboziAEeKDAMEjnOLmPA" x="25" y="-10"/>
</children>
<element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lo-ziAEeKDAMEjnOLmPA"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbpDiAEeKDAMEjnOLmPA" x="151" y="60"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbpDiAEeKDAMEjnOLmPA" x="151" y="28"/>
</children>
<element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlGTiAEeKDAMEjnOLmPA"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbpTiAEeKDAMEjnOLmPA" x="80" y="375" width="161"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbpTiAEeKDAMEjnOLmPA" x="80" y="410" width="161"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_k0VbpjiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" fillColor="8047085" gradient="16777215, 16777215, 0" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbpziAEeKDAMEjnOLmPA" source="ShadowFigure">
@@ -8764,4 +8764,5 @@
</styles>
<element xmi:type="uml:Model" href="YouthChallenge.uml#_k0Lj4DiAEeKDAMEjnOLmPA"/>
</notation:Diagram>
+ <css:ModelStyleSheets xmi:id="_EmqHEMysEeSbw_7Zqs0KhQ"/>
</xmi:XMI>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
index 0800540edf4..8c8de93ed25 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
@@ -1,2348 +1,2345 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="20110701" xmlns:xmi="http://www.omg.org/spec/XMI/20110701" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:FCM="http://papyrus/FCMProfile/1" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/4.0.0/UML">
- <uml:Model xmi:id="_k0Lj4DiAEeKDAMEjnOLmPA" name="YouthChallengeModel">
- <packageImport xmi:type="uml:PackageImport" xmi:id="_k0Lj4TiAEeKDAMEjnOLmPA">
- <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
- </packageImport>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0Lj4jiAEeKDAMEjnOLmPA" name="YouthChallenge DataTypes">
- <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0Lj4ziAEeKDAMEjnOLmPA" name="Mission_Type">
- <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5DiAEeKDAMEjnOLmPA" name="Explore"/>
- <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5TiAEeKDAMEjnOLmPA" name="Search"/>
- <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5jiAEeKDAMEjnOLmPA" name="Reach"/>
- <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5ziAEeKDAMEjnOLmPA" name="Identify"/>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lj6DiAEeKDAMEjnOLmPA" name="Amer">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lj6TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lj6DiAEeKDAMEjnOLmPA">
- <body>Un amer correspond a une balise composee d'une clonne et d'un solide d'une couleur </body>
- </ownedComment>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj6jiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj6ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj7DiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj7TiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj7jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj7ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj8DiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj8TiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj8jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj8ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj9DiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj9TiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lj9jiAEeKDAMEjnOLmPA" name="Position">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lj9ziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj-DiAEeKDAMEjnOLmPA" name="x" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj-TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj-jiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj-ziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj_DiAEeKDAMEjnOLmPA" name="y" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj_TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj_jiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj_ziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkADiAEeKDAMEjnOLmPA" name="alt" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkATiAEeKDAMEjnOLmPA"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkAjiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkAziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkBDiAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0LkBTiAEeKDAMEjnOLmPA" annotatedElement="_k0LkBTiAEeKDAMEjnOLmPA">
- <body>orientation en degrés [0;359] , entier positif, sens horaire 0 Nord </body>
- </ownedComment>
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkBjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkBziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkCDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkCTiAEeKDAMEjnOLmPA" name="Position_Error">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkCjiAEeKDAMEjnOLmPA" name="x_err" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkCziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkDDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkDTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkDjiAEeKDAMEjnOLmPA" name="y_err" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkDziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkEDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkETiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkEjiAEeKDAMEjnOLmPA" name="alt_err" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkEziAEeKDAMEjnOLmPA"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkFDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkFTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkFjiAEeKDAMEjnOLmPA" name="orientation_err" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkFziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkGDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkGTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkGjiAEeKDAMEjnOLmPA" name="Path_Point">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkGziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkHDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkHTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkHjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkHziAEeKDAMEjnOLmPA" name="pos_error" visibility="public" type="_k0LkCTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkIDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkITiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkIjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkIziAEeKDAMEjnOLmPA" name="velocity" visibility="public">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkJDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkJTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkJjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkLDiAEeKDAMEjnOLmPA" name="Trajectory">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkLTiAEeKDAMEjnOLmPA" name="x_t" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkLjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkLziAEeKDAMEjnOLmPA" value="*"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkMDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkMTiAEeKDAMEjnOLmPA" name="y_t" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkMjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkMziAEeKDAMEjnOLmPA" value="*"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkNDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkNTiAEeKDAMEjnOLmPA" name="v_t" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkNjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkNziAEeKDAMEjnOLmPA" value="*"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkODiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkOTiAEeKDAMEjnOLmPA" name="sample_time" visibility="public" isUnique="false">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_gyt4YAH-EeC_ZLzLQhW-TQ"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkOjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkOziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkPDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkPTiAEeKDAMEjnOLmPA" name="sample_nb" visibility="public" type="_k0LkkjiAEeKDAMEjnOLmPA" isUnique="false">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkPjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkPziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkQDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkSjiAEeKDAMEjnOLmPA" name="Goal">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkSziAEeKDAMEjnOLmPA" name="mission_type" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkTDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkTTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkTjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkTziAEeKDAMEjnOLmPA" name="position" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkUDiAEeKDAMEjnOLmPA"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkUTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkUjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkUziAEeKDAMEjnOLmPA" name="position_error" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkVDiAEeKDAMEjnOLmPA"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkVTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkVjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkVziAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkWDiAEeKDAMEjnOLmPA"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkWTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkWjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkWziAEeKDAMEjnOLmPA" name="angular_aperture" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkXDiAEeKDAMEjnOLmPA"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkXTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkXjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkXziAEeKDAMEjnOLmPA" name="distance" visibility="public">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUOSN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkYDiAEeKDAMEjnOLmPA"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkYTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkYjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkYziAEeKDAMEjnOLmPA" name="velocity_average" visibility="public">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkZDiAEeKDAMEjnOLmPA"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkZTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkZjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkZziAEeKDAMEjnOLmPA" name="amer_to_identify" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkaDiAEeKDAMEjnOLmPA"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkaTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkajiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0LkejiAEeKDAMEjnOLmPA" name="Color">
- <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkeziAEeKDAMEjnOLmPA" name="White"/>
- <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfDiAEeKDAMEjnOLmPA" name="Black"/>
- <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfTiAEeKDAMEjnOLmPA" name="Red"/>
- <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfjiAEeKDAMEjnOLmPA" name="Blue"/>
- <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfziAEeKDAMEjnOLmPA" name="Green"/>
- </packagedElement>
- <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0LkgDiAEeKDAMEjnOLmPA" name="Geometry">
- <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgTiAEeKDAMEjnOLmPA" name="Cube"/>
- <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgjiAEeKDAMEjnOLmPA" name="Sphere"/>
- <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgziAEeKDAMEjnOLmPA" name="Pyramid"/>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkkjiAEeKDAMEjnOLmPA" name="Nombre_Pos">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkkziAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LklDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LklTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkljiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkvDiAEeKDAMEjnOLmPA" name="Percent">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkvTiAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkvjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkvziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkwDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk4jiAEeKDAMEjnOLmPA" name="Velocity_Error">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk4ziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk5DiAEeKDAMEjnOLmPA" name="velocity_linear_err" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk5TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk5jiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk5ziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk6DiAEeKDAMEjnOLmPA" name="velocity_angular_err" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUUiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk6TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk6jiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk6ziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk7DiAEeKDAMEjnOLmPA" name="Amer_Relative">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk7TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lk7DiAEeKDAMEjnOLmPA">
- <body>Un amer correspond à une balise composée d'une clonne&#xD;
-et d'un solide d'une couleur </body>
- </ownedComment>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk7jiAEeKDAMEjnOLmPA" name="relative_polar" visibility="public" type="_k0Lk-jiAEeKDAMEjnOLmPA" isUnique="false">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk7ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk8DiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk8TiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk8jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk8ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk9DiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk9TiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk9jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk9ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk-DiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk-TiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk-jiAEeKDAMEjnOLmPA" name="Relative_Polar">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk-ziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk_DiAEeKDAMEjnOLmPA" name="distance" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUOSN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk_TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk_jiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk_ziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlADiAEeKDAMEjnOLmPA" name="angular" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlATiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlAjiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlAziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlBDiAEeKDAMEjnOLmPA" name="site" visibility="public" isUnique="false">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlBTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlBjiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlBziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0LlCDiAEeKDAMEjnOLmPA" name="Map">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlCTiAEeKDAMEjnOLmPA" name="map_meta_data">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_F5N8wAK2EeCsG_V0R865wA"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlCjiAEeKDAMEjnOLmPA" name="position">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_uUJZ4AH6EeC_ZLzLQhW-TQ"/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:DataType" xmi:id="_k0LlCziAEeKDAMEjnOLmPA" name="Attribute_robot">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlDDiAEeKDAMEjnOLmPA" name="voie">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlDTiAEeKDAMEjnOLmPA" name="voie" value="0.226"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlDjiAEeKDAMEjnOLmPA" name="empatement">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlDziAEeKDAMEjnOLmPA" name="empatement" value="0.17"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlEDiAEeKDAMEjnOLmPA" name="diam_roue">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlETiAEeKDAMEjnOLmPA" name="diam_roue" value="0.144"/>
- </ownedAttribute>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0LlEjiAEeKDAMEjnOLmPA" name="YouthChallenge Interfaces"/>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0LlEziAEeKDAMEjnOLmPA" name="YouthChallenge SubSystems"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LlFDiAEeKDAMEjnOLmPA" name="Wifibot">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFTiAEeKDAMEjnOLmPA" name="pathPlanner" type="_k0LoFDiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFjiAEeKDAMEjnOLmPA" name="missionGenerator" type="_k0Ln9ziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoVjiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGDiAEeKDAMEjnOLmPA" name="pilot" type="_k0LoqziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGTiAEeKDAMEjnOLmPA" name="servoing" type="_k0Lo-jiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGjiAEeKDAMEjnOLmPA" name="sensors" type="_k0LndTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGziAEeKDAMEjnOLmPA" name="proximetry" type="_k0LmxDiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlHDiAEeKDAMEjnOLmPA" name="global_map" type="_k0LmBDiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlHTiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmTjiAEeKDAMEjnOLmPA"/>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlHjiAEeKDAMEjnOLmPA" name="Connector0">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlHziAEeKDAMEjnOLmPA" partWithPort="_k0LlFjiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlIDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlITiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlIjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlIziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlJDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlJTiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlJjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoFTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlJziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlKDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlKTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlKjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlKziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlLDiAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlLTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlLjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlLziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlMDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlMTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlMjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlMziAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlNDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LosDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlNTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlNjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlNziAEeKDAMEjnOLmPA" partWithPort="_k0LlGTiAEeKDAMEjnOLmPA" role="_k0Lo-ziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlODiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlOTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlOjiAEeKDAMEjnOLmPA" name="Connector4">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlOziAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LndjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlPDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlPTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlPjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmxjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlPziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlQDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlQTiAEeKDAMEjnOLmPA" name="Connector5">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlQjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnejiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlQziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlRDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlRTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmyjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlRjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlRziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlSDiAEeKDAMEjnOLmPA" name="Connector6">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlSTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnhjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlSjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlSziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlTDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm1jiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlTTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlTjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlTziAEeKDAMEjnOLmPA" name="Connector7">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlUDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnkTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlUTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlUjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlUziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3TiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlVDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlVTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlVjiAEeKDAMEjnOLmPA" name="Connector8">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlVziAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnkDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlWDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlWTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlWjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3jiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlWziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlXDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlXTiAEeKDAMEjnOLmPA" name="Connector9">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlXjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlXziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlYDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlYTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmzjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlYjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlYziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlZDiAEeKDAMEjnOLmPA" name="Connector10">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlZTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlZjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlZziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlaDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm0jiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlaTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlajiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlaziAEeKDAMEjnOLmPA" name="Connector11">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlbDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlbTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlbjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlbziAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LouTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlcDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlcTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlcjiAEeKDAMEjnOLmPA" name="Connector12">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlcziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LldDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LldTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LldjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LouDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LldziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LleDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LleTiAEeKDAMEjnOLmPA" name="Connector13">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlejiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LleziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlfDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlfTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlfjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlfziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlgDiAEeKDAMEjnOLmPA" name="Connector14">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlgTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlgjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlgziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlhDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlhTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlhjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlhziAEeKDAMEjnOLmPA" name="Connector15">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LliDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LliTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlijiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LliziAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoYTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LljDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LljTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LljjiAEeKDAMEjnOLmPA" name="Connector16">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LljziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlkDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlkTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlkjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoYjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlkziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LllDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LllTiAEeKDAMEjnOLmPA" name="Connector17">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlljiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LllziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlmDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlmTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoYDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlmjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlmziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlnDiAEeKDAMEjnOLmPA" name="Connector18">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlnTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlnjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlnziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LloDiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LloTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlojiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LloziAEeKDAMEjnOLmPA" name="Connector19">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlpDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlpTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlpjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlpziAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlqDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlqTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlqjiAEeKDAMEjnOLmPA" name="Connector20">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlqziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlrDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlrTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlrjiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlrziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlsDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlsTiAEeKDAMEjnOLmPA" name="Connector21">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlsjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlsziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LltDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LltTiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LltjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LltziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LluDiAEeKDAMEjnOLmPA" name="Connector22">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LluTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlujiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LluziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlvDiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlvTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlvjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlvziAEeKDAMEjnOLmPA" name="Connector23">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlwDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4TiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlwTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlwjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlwziAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlxDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlxTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlxjiAEeKDAMEjnOLmPA" name="Connector24">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlxziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlyDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlyTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlyjiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmBziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlyziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlzDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlzTiAEeKDAMEjnOLmPA" name="Connector25">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlzjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlzziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll0DiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll0TiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll0jiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll0ziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll1DiAEeKDAMEjnOLmPA" name="Connector26">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll1TiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll1jiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll1ziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll2DiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmBjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll2TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll2jiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll2ziAEeKDAMEjnOLmPA" name="Connector27">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll3DiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll3TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll3jiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll3ziAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll4DiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll4TiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll4jiAEeKDAMEjnOLmPA" name="Connector28">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll4ziAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll5DiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll5TiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll5jiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll5ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll6DiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll6TiAEeKDAMEjnOLmPA" name="Connector29">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll6jiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnlTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll6ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll7DiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll7TiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll7jiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll7ziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0Ll8DiAEeKDAMEjnOLmPA" name="P5_Semantic"/>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0Ll8TiAEeKDAMEjnOLmPA" name="P4_Global">
- <packagedElement xmi:type="uml:Class" xmi:id="_k0Ll8jiAEeKDAMEjnOLmPA" name="Global_Map">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0Ll8ziAEeKDAMEjnOLmPA" annotatedElement="_k0Ll8jiAEeKDAMEjnOLmPA">
- <body>This module buid the absolute bitmap map (glob_map) of the scene, using the local map (loc-map).&#xD;
-the origine is the entry zone of the robot.</body>
- </ownedComment>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ll9DiAEeKDAMEjnOLmPA" name="glob_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll9TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll9jiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ll9ziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ll-DiAEeKDAMEjnOLmPA" name="loc_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll-TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll-jiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ll-ziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ll_DiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll_TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll_jiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ll_ziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmADiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmATiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmAjiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmAziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LmBDiAEeKDAMEjnOLmPA" name="P4_Global">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmBTiAEeKDAMEjnOLmPA" name="global_Map" type="_k0Ll8jiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmBjiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmBziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmCDiAEeKDAMEjnOLmPA" name="gps" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmCTiAEeKDAMEjnOLmPA" name="glob_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmCjiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmCziAEeKDAMEjnOLmPA" role="_k0LmBjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmDDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmDTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmDjiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll-DiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmDziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmEDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmETiAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmEjiAEeKDAMEjnOLmPA" role="_k0LmBziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmEziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmFDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmFTiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll_DiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmFjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmFziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmGDiAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmGTiAEeKDAMEjnOLmPA" role="_k0LmCDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmGjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmGziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmHDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0LmADiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmHTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmHjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmHziAEeKDAMEjnOLmPA" name="Connector4">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmIDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll9DiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmITiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmIjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmIziAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmJDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmJTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0LmJjiAEeKDAMEjnOLmPA" name="P3_Local">
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LmJziAEeKDAMEjnOLmPA" name="Local_Map">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmKDiAEeKDAMEjnOLmPA" annotatedElement="_k0LmJziAEeKDAMEjnOLmPA">
- <body>The Local Map module Build a Relative Cartesian 2D bitmap Map (loc_map) &#xD;
-The frame is centered on the robot (x &lt;=> forward).&#xD;
-it use proxi_map and all proprio and exteroceptive datas giving him the relative displacement.&#xD;
-This map have a MEMORY : the obstacles are placed and 'follow' the motion of the robot, either they are not directly seen by the robot.&#xD;
-It place also all the amer on it map.</body>
- </ownedComment>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmKTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmKjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmKziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmLDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmLTiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmLjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmLziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmMDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmMTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmMjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmMziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmNDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmNTiAEeKDAMEjnOLmPA" name="loc_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmNjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmNziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmODiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmOTiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmOjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmOziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmPDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmPTiAEeKDAMEjnOLmPA" name="proxi_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmPjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmPziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmQDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmQTiAEeKDAMEjnOLmPA" name="amer" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmQjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmQziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmRDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LmRTiAEeKDAMEjnOLmPA" name="Amer_Loc">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmRjiAEeKDAMEjnOLmPA" name="amer_relative" visibility="public" type="_k0Lk7DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmRziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmSDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmSTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmSjiAEeKDAMEjnOLmPA" name="amer" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmSziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmTDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmTTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LmTjiAEeKDAMEjnOLmPA" name="P3_Local">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmTziAEeKDAMEjnOLmPA" name="amer_Loc" type="_k0LmRTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmUDiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmJziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUTiAEeKDAMEjnOLmPA" name="proxi_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUjiAEeKDAMEjnOLmPA" name="gps" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUziAEeKDAMEjnOLmPA" name="accel_girat" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVDiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVTiAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVjiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVziAEeKDAMEjnOLmPA" name="amer_relative" type="_k0Lk7DiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmWDiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmWTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmSjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmWjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmWziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmXDiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmQTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmXTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmXjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmXziAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmYDiAEeKDAMEjnOLmPA" role="_k0LmUTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmYTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmYjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmYziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmPTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmZDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmZTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmZjiAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmZziAEeKDAMEjnOLmPA" role="_k0LmVTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmaDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmaTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmajiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmKTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmaziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmbDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmbTiAEeKDAMEjnOLmPA" name="Connector4">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmbjiAEeKDAMEjnOLmPA" role="_k0LmVDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmbziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmcDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmcTiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmLTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmcjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmcziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmdDiAEeKDAMEjnOLmPA" name="Connector5">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmdTiAEeKDAMEjnOLmPA" role="_k0LmUziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmdjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmdziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmeDiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmMTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmeTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmejiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmeziAEeKDAMEjnOLmPA" name="Connector6">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmfDiAEeKDAMEjnOLmPA" role="_k0LmUjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmfTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmfjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmfziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmOTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmgDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmgTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmgjiAEeKDAMEjnOLmPA" name="Connector7">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmgziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmNTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmhDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmhTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmhjiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmhziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmiDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmiTiAEeKDAMEjnOLmPA" name="Connector8">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmijiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmiziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmjDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmjTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmRjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmjjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmjziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0LmkDiAEeKDAMEjnOLmPA" name="P2_Proxymetry">
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LmkTiAEeKDAMEjnOLmPA" name="Super_DKM">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmkjiAEeKDAMEjnOLmPA" annotatedElement="_k0LmkTiAEeKDAMEjnOLmPA">
- <body>Modele Cinematique Direct (MCD) - Direct Kinematics Model (DKM)&#xD;
-Transformation from articular space (left and right wheels speed) to operational space (cartesian velocity)&#xD;
-we call it &quot;Super&quot;-DKM because we not only use odometry speed, but also IMU and GPS inputs, and we output also cartesian position</body>
- </ownedComment>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmkziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmlDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmlTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmljiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmlziAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmmDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmmTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmmjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmmziAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmnDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmnTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmnjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmnziAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmoDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmoTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmojiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmoziAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmpDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmpTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmpjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmpziAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmqDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmqTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmqjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmqziAEeKDAMEjnOLmPA" name="attribute" type="_k0LlCziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmrDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmrTiAEeKDAMEjnOLmPA" value="1"/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LmrjiAEeKDAMEjnOLmPA" name="Proximetric_Map">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmrziAEeKDAMEjnOLmPA" annotatedElement="_k0LmrjiAEeKDAMEjnOLmPA">
- <body>Proximetric Map is a bitmap map, but in polar coordinate.&#xD;
-the polar 2D frame is linked to the robot (so relative). Origine x forward the robot, angle with trigonometric way/notation (unclocwise)&#xD;
-this Polar bitmap map is digitalized in Nrange cell from 0 to MaxRange, and in Nangle, from 0 to 2Pi.&#xD;
-Only measures from sensors are directly print on this map : no memory !</body>
- </ownedComment>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmsDiAEeKDAMEjnOLmPA" name="proxi_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmsTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmsjiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmsziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmtDiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmtTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmtjiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmtziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmuDiAEeKDAMEjnOLmPA" name="proxy_left_right" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LmuTiAEeKDAMEjnOLmPA" name="Amer_Identif">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmujiAEeKDAMEjnOLmPA" annotatedElement="_k0LmuTiAEeKDAMEjnOLmPA">
- <body>This Module is able to find a amer in a image, and, using the CameraInfo of the cam, give a position of it, relatively from the robot. it delivers also the shape of the amer, and it color.</body>
- </ownedComment>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmuziAEeKDAMEjnOLmPA" name="video" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmvDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmvTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmvjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmvziAEeKDAMEjnOLmPA" name="amer_relative" visibility="public" type="_k0Lk7DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmwDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmwTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmwjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmwziAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LmxDiAEeKDAMEjnOLmPA" name="P2_Proximetry">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmxTiAEeKDAMEjnOLmPA" annotatedElement="_k0LmxDiAEeKDAMEjnOLmPA">
- <body></body>
- </ownedComment>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmxjiAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmxziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmyDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmyTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmyjiAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmyziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmzDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmzTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmzjiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmzziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm0DiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lm0TiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm0jiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm0ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm1DiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lm1TiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm1jiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm1ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm2DiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lm2TiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm2jiAEeKDAMEjnOLmPA" name="superDKM" type="_k0LmkTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm2ziAEeKDAMEjnOLmPA" name="proximetric_Map" type="_k0LmrjiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm3DiAEeKDAMEjnOLmPA" name="amer_Identif" type="_k0LmuTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm3TiAEeKDAMEjnOLmPA" name="video" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm3jiAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm3ziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4DiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4TiAEeKDAMEjnOLmPA" name="amer_Relative" type="_k0Lk7DiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4jiAEeKDAMEjnOLmPA" name="proxi_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4ziAEeKDAMEjnOLmPA" name="proxy_left_right" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
- </ownedAttribute>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm5DiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm5TiAEeKDAMEjnOLmPA" role="_k0Lm1jiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm5jiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm5ziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm6DiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmtDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm6TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm6jiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm6ziAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm7DiAEeKDAMEjnOLmPA" role="_k0Lm0jiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm7TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm7jiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm7ziAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmpziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm8DiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm8TiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm8jiAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm8ziAEeKDAMEjnOLmPA" role="_k0LmzjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm9DiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm9TiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm9jiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmoziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm9ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm-DiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm-TiAEeKDAMEjnOLmPA" name="Connector4">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm-jiAEeKDAMEjnOLmPA" role="_k0LmyjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm-ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm_DiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm_TiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmnziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm_jiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm_ziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnADiAEeKDAMEjnOLmPA" name="Connector5">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnATiAEeKDAMEjnOLmPA" role="_k0LmxjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnAjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnAziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnBDiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmmziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnBTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnBjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnBziAEeKDAMEjnOLmPA" name="Connector6">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnCDiAEeKDAMEjnOLmPA" role="_k0Lm3TiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnCTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnCjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnCziAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmuziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnDDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnDTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnDjiAEeKDAMEjnOLmPA" name="Connector7">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnDziAEeKDAMEjnOLmPA" role="_k0Lm3jiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnEDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnETiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnEjiAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmwziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnEziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnFDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnFTiAEeKDAMEjnOLmPA" name="Connector8">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnFjiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmkziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnFziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnGDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnGTiAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnGjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnGziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnHDiAEeKDAMEjnOLmPA" name="Connector9">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnHTiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmlziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnHjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnHziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnIDiAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnITiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnIjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnIziAEeKDAMEjnOLmPA" name="Connector10">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnJDiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmsDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnJTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnJjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnJziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnKDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnKTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnKjiAEeKDAMEjnOLmPA" name="Connector11">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnKziAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmvziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnLDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnLTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnLjiAEeKDAMEjnOLmPA" role="_k0Lm4TiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnLziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnMDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnMTiAEeKDAMEjnOLmPA" name="Connector12">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnMjiAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnMziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnNDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnNTiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmuDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnNjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnNziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0LnODiAEeKDAMEjnOLmPA" name="P1_Sensors">
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LnOTiAEeKDAMEjnOLmPA" name="WifiBot_Frame_Out">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnOjiAEeKDAMEjnOLmPA" name="velocity_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnOziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnPDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnPTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnPjiAEeKDAMEjnOLmPA" name="odometer_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUeCN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnPziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnQDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnQTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnQjiAEeKDAMEjnOLmPA" name="proxi_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnQziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnRDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnRTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnRjiAEeKDAMEjnOLmPA" name="batt_level" visibility="public" type="_k0LkvDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnRziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnSDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnSTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnSjiAEeKDAMEjnOLmPA" name="current_level" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUjyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnSziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnTDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnTTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LnTjiAEeKDAMEjnOLmPA" name="Odometer">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnTziAEeKDAMEjnOLmPA" name="velocity_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnUDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnUTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnUjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnUziAEeKDAMEjnOLmPA" name="odometer_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUeCN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnVDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnVTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnVjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnVziAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnWDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnWTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnWjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnWziAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnXDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnXTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnXjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LnXziAEeKDAMEjnOLmPA" name="GPS_Haicom204">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnYDiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnYTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnYjiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnYziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LnZDiAEeKDAMEjnOLmPA" name="IMU_VectorNav100">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnZTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnZjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnZziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnaDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LnaTiAEeKDAMEjnOLmPA" name="LaserRange_Hokuyo30">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnajiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnaziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnbDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnbTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnbjiAEeKDAMEjnOLmPA" name="status" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qG6UsAILEeC_ZLzLQhW-TQ"/>
- </ownedAttribute>
- <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_KxjZAHBmEeKpO-l0NGAU9Q" name="OpaqueBehavior1"/>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LnbziAEeKDAMEjnOLmPA" name="Camera_FireWire">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LncDiAEeKDAMEjnOLmPA" name="video" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LncTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LncjiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LncziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LndDiAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LndTiAEeKDAMEjnOLmPA" name="P1_Sensors">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LndjiAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LndziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LneDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LneTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnejiAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LneziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnfDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnfTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnfjiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnfziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LngDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LngTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LngjiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LngziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnhDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnhTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnhjiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnhziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LniDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LniTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnijiAEeKDAMEjnOLmPA" name="wifibot_Frame_Out" type="_k0LnOTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LniziAEeKDAMEjnOLmPA" name="GPS" type="_k0LnXziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjDiAEeKDAMEjnOLmPA" name="Odometer" type="_k0LnTjiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjTiAEeKDAMEjnOLmPA" name="IMU" type="_k0LnZDiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjjiAEeKDAMEjnOLmPA" name="LaserRange" type="_k0LnaTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjziAEeKDAMEjnOLmPA" name="camera_FireWire" type="_k0LnbziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkDiAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkTiAEeKDAMEjnOLmPA" name="video" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkjiAEeKDAMEjnOLmPA" name="status" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qG6UsAILEeC_ZLzLQhW-TQ"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkziAEeKDAMEjnOLmPA" name="batt_level" type="_k0LkvDiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnlDiAEeKDAMEjnOLmPA" name="current_level" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUjyN8EeKwed7FEEF-4Q"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnlTiAEeKDAMEjnOLmPA" name="proxi_Left_Right" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
- </ownedAttribute>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnljiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnlziAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnWziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnmDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnmTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnmjiAEeKDAMEjnOLmPA" role="_k0LnejiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnmziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnnDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnnTiAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnnjiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnVziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnnziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnoDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnoTiAEeKDAMEjnOLmPA" role="_k0LndjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnojiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnoziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnpDiAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnpTiAEeKDAMEjnOLmPA" partWithPort="_k0LniziAEeKDAMEjnOLmPA" role="_k0LnYDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnpjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnpziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnqDiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnqTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnqjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnqziAEeKDAMEjnOLmPA" name="Connector4">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnrDiAEeKDAMEjnOLmPA" partWithPort="_k0LnjjiAEeKDAMEjnOLmPA" role="_k0LnajiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnrTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnrjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnrziAEeKDAMEjnOLmPA" role="_k0LnhjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnsDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnsTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnsjiAEeKDAMEjnOLmPA" name="Connector5">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnsziAEeKDAMEjnOLmPA" partWithPort="_k0LnjziAEeKDAMEjnOLmPA" role="_k0LndDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LntDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LntTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LntjiAEeKDAMEjnOLmPA" role="_k0LnkDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LntziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnuDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnuTiAEeKDAMEjnOLmPA" name="Connector6">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnujiAEeKDAMEjnOLmPA" partWithPort="_k0LnjziAEeKDAMEjnOLmPA" role="_k0LncDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnuziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnvDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnvTiAEeKDAMEjnOLmPA" role="_k0LnkTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnvjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnvziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnwDiAEeKDAMEjnOLmPA" name="Connector7">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnwTiAEeKDAMEjnOLmPA" partWithPort="_k0LnjTiAEeKDAMEjnOLmPA" role="_k0LnZTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnwjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnwziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnxDiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnxTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnxjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnxziAEeKDAMEjnOLmPA" name="Connector8">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnyDiAEeKDAMEjnOLmPA" partWithPort="_k0LnjjiAEeKDAMEjnOLmPA" role="_k0LnbjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnyTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnyjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnyziAEeKDAMEjnOLmPA" role="_k0LnkjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnzDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnzTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnzjiAEeKDAMEjnOLmPA" name="Connector9">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnzziAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnPjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln0DiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln0TiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln0jiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnUziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln0ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln1DiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln1TiAEeKDAMEjnOLmPA" name="Connector10">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln1jiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnOjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln1ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln2DiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln2TiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnTziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln2jiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln2ziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln3DiAEeKDAMEjnOLmPA" name="Connector11">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln3TiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnQjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln3jiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln3ziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln4DiAEeKDAMEjnOLmPA" role="_k0LnlTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln4TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln4jiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln4ziAEeKDAMEjnOLmPA" name="Connector12">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln5DiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnSjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln5TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln5jiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln5ziAEeKDAMEjnOLmPA" role="_k0LnlDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln6DiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln6TiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln6jiAEeKDAMEjnOLmPA" name="Connector13">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln6ziAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnRjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln7DiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln7TiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln7jiAEeKDAMEjnOLmPA" role="_k0LnkziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln7ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln8DiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0Ln8TiAEeKDAMEjnOLmPA" name="A5_MissionGenerator">
- <packagedElement xmi:type="uml:Class" xmi:id="_k0Ln8jiAEeKDAMEjnOLmPA" name="Mission">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ln8ziAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln9DiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln9TiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ln9jiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0Ln9ziAEeKDAMEjnOLmPA" name="A5_MissionGenerator">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ln-DiAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln-TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln-jiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ln-ziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Ln_DiAEeKDAMEjnOLmPA" name="mission" type="_k0Ln8jiAEeKDAMEjnOLmPA"/>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln_TiAEeKDAMEjnOLmPA" name="Connector0">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln_jiAEeKDAMEjnOLmPA" partWithPort="_k0Ln_DiAEeKDAMEjnOLmPA" role="_k0Ln8ziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln_ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoADiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoATiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoAjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoAziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0LoBDiAEeKDAMEjnOLmPA" name="A4_PathPlanner">
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LoBTiAEeKDAMEjnOLmPA" name="Path_Planner">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoBjiAEeKDAMEjnOLmPA" annotatedElement="_k0LoBTiAEeKDAMEjnOLmPA">
- <body>this module deliver the path (waypoints) for the navigator. it use the global map to calculate these waypoints, taking into account the mission to do.</body>
- </ownedComment>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoBziAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoCDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoCTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoCjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoCziAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoDDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoDTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoDjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoDziAEeKDAMEjnOLmPA" name="glob_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoEDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoETiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoEjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoEziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LoFDiAEeKDAMEjnOLmPA" name="A4_PathPlanner">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoFTiAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoFjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoFziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoGDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoGTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoGjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoGziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoHDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoHTiAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoHjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoHziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoIDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LoITiAEeKDAMEjnOLmPA" name="path_Planner" type="_k0LoBTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoIjiAEeKDAMEjnOLmPA" name="glob_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoIziAEeKDAMEjnOLmPA" name="Connector0">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoJDiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoJTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoJjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoJziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoBziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoKDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoKTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoKjiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoKziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoCziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoLDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoLTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoLjiAEeKDAMEjnOLmPA" role="_k0LoFTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoLziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoMDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoMTiAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoMjiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoMziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoNDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoNTiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoDziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoNjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoNziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoODiAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoOTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoOjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoOziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoPDiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoEziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoPTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoPjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0LoPziAEeKDAMEjnOLmPA" name="A3_Navigator">
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LoQDiAEeKDAMEjnOLmPA" name="Navigator">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoQTiAEeKDAMEjnOLmPA" annotatedElement="_k0LoQDiAEeKDAMEjnOLmPA">
- <body>Navigator deliver local trajectory for the pilot, taking into account local map.&#xD;
-It must reach the various waypoints, considering the obstacles placed in the local map (loc_map)</body>
- </ownedComment>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoQjiAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoQziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoRDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoRTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoRjiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoRziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoSDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoSTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoSjiAEeKDAMEjnOLmPA" name="loc_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoSziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoTDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoTTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoTjiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoTziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoUDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoUTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoUjiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoUziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoVDiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoVTiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LoVjiAEeKDAMEjnOLmPA" name="A3_Navigator">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoVziAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoWDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoWTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoWjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoWziAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoXDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoXTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoXjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LoXziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoQDiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYDiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYTiAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYjiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
- </ownedAttribute>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoYziAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoZDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoRjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoZTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoZjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoZziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoaDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoaTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoajiAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoaziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LobDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LobTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LobjiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoQjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LobziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LocDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LocTiAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LocjiAEeKDAMEjnOLmPA" role="_k0LoYDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LocziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LodDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LodTiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoSjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LodjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LodziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoeDiAEeKDAMEjnOLmPA" name="Connector4">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoeTiAEeKDAMEjnOLmPA" role="_k0LoYTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoejiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoeziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LofDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoTjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LofTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LofjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LofziAEeKDAMEjnOLmPA" name="Connector5">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogDiAEeKDAMEjnOLmPA" role="_k0LoYjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LogTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LogjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogziAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoUjiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LohDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LohTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0LohjiAEeKDAMEjnOLmPA" name="A2_Pilot">
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LohziAEeKDAMEjnOLmPA" name="Pilot">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoiDiAEeKDAMEjnOLmPA" annotatedElement="_k0LohziAEeKDAMEjnOLmPA">
- <body>The pilot must calculate the set points in operating space, following the trajectory delivered by the navigator. &#xD;
-But the pilot must react to obstacles 'seen' in the proximetric map (prox_map), avoiding them.&#xD;
-</body>
- </ownedComment>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoiTiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoijiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoiziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LojDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LojTiAEeKDAMEjnOLmPA" name="prox_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LojjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LojziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LokDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LokTiAEeKDAMEjnOLmPA" name="op_set_point" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUVyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LokjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LokziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LolDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LolTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoljiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LolziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LomDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LomTiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LomjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LomziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LonDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LonTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LonjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LonziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LooDiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LooTiAEeKDAMEjnOLmPA" name="IKM">
- <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoojiAEeKDAMEjnOLmPA" annotatedElement="_k0LooTiAEeKDAMEjnOLmPA">
- <body>Modele Cinématique Inverse (MCI) - Invert Kinematic Model (IKM)&#xD;
-transform the velocities from the operational space to the articular space (left and right wheels velocities)</body>
- </ownedComment>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LooziAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LopDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LopTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LopjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LopziAEeKDAMEjnOLmPA" name="op_set_point" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUVyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoqDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoqTiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoqjiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0LoqziAEeKDAMEjnOLmPA" name="A2_Pilot">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LorDiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LorTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LorjiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LorziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LosDiAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LosTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LosjiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LosziAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LotDiAEeKDAMEjnOLmPA" name="Pilot" type="_k0LohziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LotTiAEeKDAMEjnOLmPA" name="IKM" type="_k0LooTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LouDiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LouTiAEeKDAMEjnOLmPA" name="accel_girat" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
- </ownedAttribute>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoujiAEeKDAMEjnOLmPA" name="Connector0">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LouziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LokTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LovDiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LovTiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LovjiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LopziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LovziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LowDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LowTiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LowjiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LowziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoxDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoxTiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LoiTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoxjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoxziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoyDiAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoyTiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LooziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoyjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoyziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LozDiAEeKDAMEjnOLmPA" role="_k0LosDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LozTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LozjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LozziAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo0DiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo0TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo0jiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo0ziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LojTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo1DiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo1TiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo1jiAEeKDAMEjnOLmPA" name="Connector4">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo1ziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo2DiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo2TiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo2jiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LolTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo2ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo3DiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo3TiAEeKDAMEjnOLmPA" name="Connector5">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo3jiAEeKDAMEjnOLmPA" role="_k0LouDiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo3ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo4DiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo4TiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LomTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo4jiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo4ziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo5DiAEeKDAMEjnOLmPA" name="Connector6">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo5TiAEeKDAMEjnOLmPA" role="_k0LouTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo5jiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo5ziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo6DiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LonTiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo6TiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo6jiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_k0Lo6ziAEeKDAMEjnOLmPA" name="A1_Servoings">
- <packagedElement xmi:type="uml:Class" xmi:id="_k0Lo7DiAEeKDAMEjnOLmPA" name="Servoings">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo7TiAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo7jiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo7ziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo8DiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo8TiAEeKDAMEjnOLmPA" name="speed_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo8jiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo8ziAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo9DiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0Lo9TiAEeKDAMEjnOLmPA" name="WifiBot_Frame_In">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo9jiAEeKDAMEjnOLmPA" name="speed_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo9ziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo-DiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo-TiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_k0Lo-jiAEeKDAMEjnOLmPA" name="A1_Servoings">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo-ziAEeKDAMEjnOLmPA" name="art_set_point" visibility="private" isUnique="false" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo_DiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo_TiAEeKDAMEjnOLmPA" value="1"/>
- <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo_jiAEeKDAMEjnOLmPA">
- <value xsi:nil="true"/>
- </defaultValue>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lo_ziAEeKDAMEjnOLmPA" name="Servoings" type="_k0Lo7DiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LpADiAEeKDAMEjnOLmPA" name="Frame_In" type="_k0Lo9TiAEeKDAMEjnOLmPA"/>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LpATiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpAjiAEeKDAMEjnOLmPA" partWithPort="_k0LpADiAEeKDAMEjnOLmPA" role="_k0Lo9jiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpAziAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpBDiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpBTiAEeKDAMEjnOLmPA" partWithPort="_k0Lo_ziAEeKDAMEjnOLmPA" role="_k0Lo8TiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpBjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpBziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LpCDiAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpCTiAEeKDAMEjnOLmPA" role="_k0Lo-ziAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpCjiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpCziAEeKDAMEjnOLmPA" value="1"/>
- </end>
- <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpDDiAEeKDAMEjnOLmPA" partWithPort="_k0Lo_ziAEeKDAMEjnOLmPA" role="_k0Lo7TiAEeKDAMEjnOLmPA">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpDTiAEeKDAMEjnOLmPA" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpDjiAEeKDAMEjnOLmPA" value="1"/>
- </end>
- </ownedConnector>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_O0YV0DiuEeKFHpsdOC1X1Q" name="ExecutionPlatform">
- <packagedElement xmi:type="uml:Class" xmi:id="_iBPzUDiuEeKFHpsdOC1X1Q" name="RTmaps"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_rlJygDiuEeKFHpsdOC1X1Q" name="Blender-Morse"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_HR8psDivEeKFHpsdOC1X1Q" name="Platform1">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_QAl00DivEeKFHpsdOC1X1Q" name="RTmaps1" type="_iBPzUDiuEeKFHpsdOC1X1Q"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_yvakUDivEeKFHpsdOC1X1Q" name="Blender-Morse2" type="_rlJygDiuEeKFHpsdOC1X1Q"/>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_1c43MDivEeKFHpsdOC1X1Q" name="PlatformModel">
- <packagedElement xmi:type="uml:Package" xmi:id="_1dVjIDivEeKFHpsdOC1X1Q" name="Platform1Platform">
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_1dVjITivEeKFHpsdOC1X1Q" name="RTmaps1" classifier="_iBPzUDiuEeKFHpsdOC1X1Q"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_1dVjIjivEeKFHpsdOC1X1Q" name="Blender-Morse2" classifier="_rlJygDiuEeKFHpsdOC1X1Q"/>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Package" xmi:id="_Fs0CcDiwEeKFHpsdOC1X1Q" name="DeploymentPlans">
- <packagedElement xmi:type="uml:Package" xmi:id="_Kta1kDiwEeKFHpsdOC1X1Q" name="WifibotDepPlan">
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KtkmkTiwEeKFHpsdOC1X1Q" name="mainInstance" classifier="_k0LlFDiAEeKDAMEjnOLmPA">
- <slot xmi:type="uml:Slot" xmi:id="_KuUNcDiwEeKFHpsdOC1X1Q" definingFeature="_k0LlFTiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KuUNcTiwEeKFHpsdOC1X1Q" instance="_KttwgDiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KudXYTiwEeKFHpsdOC1X1Q" definingFeature="_k0LlFjiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KudXYjiwEeKFHpsdOC1X1Q" instance="_KuUNcjiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KunIYDiwEeKFHpsdOC1X1Q" definingFeature="_k0LlFziAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KunIYTiwEeKFHpsdOC1X1Q" instance="_KudXYziwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KunIaTiwEeKFHpsdOC1X1Q" definingFeature="_k0LlGDiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KunIajiwEeKFHpsdOC1X1Q" instance="_KunIYjiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KuwSVziwEeKFHpsdOC1X1Q" definingFeature="_k0LlGTiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KuwSWDiwEeKFHpsdOC1X1Q" instance="_KuwSUDiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KvD0UjiwEeKFHpsdOC1X1Q" definingFeature="_k0LlGjiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KvD0UziwEeKFHpsdOC1X1Q" instance="_KuwSWTiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KvD0XjiwEeKFHpsdOC1X1Q" definingFeature="_k0LlGziAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KvD0XziwEeKFHpsdOC1X1Q" instance="_KvD0VDiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KvM-RDiwEeKFHpsdOC1X1Q" definingFeature="_k0LlHDiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KvM-RTiwEeKFHpsdOC1X1Q" instance="_KvM-QDiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KvM-TTiwEeKFHpsdOC1X1Q" definingFeature="_k0LlHTiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KvM-TjiwEeKFHpsdOC1X1Q" instance="_KvM-RjiwEeKFHpsdOC1X1Q"/>
- </slot>
- </packagedElement>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KttwgDiwEeKFHpsdOC1X1Q" clientDependency="_j6kagDiwEeKFHpsdOC1X1Q" name="mainInstance.pathPlanner" classifier="_k0LoFDiAEeKDAMEjnOLmPA">
- <slot xmi:type="uml:Slot" xmi:id="_KuKccDiwEeKFHpsdOC1X1Q" definingFeature="_k0LoITiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KuKccTiwEeKFHpsdOC1X1Q" instance="_KttwgTiwEeKFHpsdOC1X1Q"/>
- </slot>
- </packagedElement>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KttwgTiwEeKFHpsdOC1X1Q" name="mainInstance.pathPlanner.path_Planner" classifier="_k0LoBTiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuUNcjiwEeKFHpsdOC1X1Q" clientDependency="_kcVq0DiwEeKFHpsdOC1X1Q" name="mainInstance.missionGenerator" classifier="_k0Ln9ziAEeKDAMEjnOLmPA">
- <slot xmi:type="uml:Slot" xmi:id="_KuUNdDiwEeKFHpsdOC1X1Q" definingFeature="_k0Ln_DiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KudXYDiwEeKFHpsdOC1X1Q" instance="_KuUNcziwEeKFHpsdOC1X1Q"/>
- </slot>
- </packagedElement>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuUNcziwEeKFHpsdOC1X1Q" name="mainInstance.missionGenerator.mission" classifier="_k0Ln8jiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KudXYziwEeKFHpsdOC1X1Q" clientDependency="_k-HiMDiwEeKFHpsdOC1X1Q" name="mainInstance.navigator" classifier="_k0LoVjiAEeKDAMEjnOLmPA">
- <slot xmi:type="uml:Slot" xmi:id="_KudXZTiwEeKFHpsdOC1X1Q" definingFeature="_k0LoXziAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KudXZjiwEeKFHpsdOC1X1Q" instance="_KudXZDiwEeKFHpsdOC1X1Q"/>
- </slot>
- </packagedElement>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KudXZDiwEeKFHpsdOC1X1Q" name="mainInstance.navigator.navigator" classifier="_k0LoQDiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KunIYjiwEeKFHpsdOC1X1Q" clientDependency="_lnLGQDiwEeKFHpsdOC1X1Q" name="mainInstance.pilot" classifier="_k0LoqziAEeKDAMEjnOLmPA">
- <slot xmi:type="uml:Slot" xmi:id="_KunIZDiwEeKFHpsdOC1X1Q" definingFeature="_k0LotDiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KunIZTiwEeKFHpsdOC1X1Q" instance="_KunIYziwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KunIZziwEeKFHpsdOC1X1Q" definingFeature="_k0LotTiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KunIaDiwEeKFHpsdOC1X1Q" instance="_KunIZjiwEeKFHpsdOC1X1Q"/>
- </slot>
- </packagedElement>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KunIYziwEeKFHpsdOC1X1Q" name="mainInstance.pilot.Pilot" classifier="_k0LohziAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KunIZjiwEeKFHpsdOC1X1Q" name="mainInstance.pilot.IKM" classifier="_k0LooTiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSUDiwEeKFHpsdOC1X1Q" clientDependency="_Yxf0UDiwEeKFHpsdOC1X1Q" name="mainInstance.servoing" classifier="_k0Lo-jiAEeKDAMEjnOLmPA">
- <slot xmi:type="uml:Slot" xmi:id="_KuwSUjiwEeKFHpsdOC1X1Q" definingFeature="_k0Lo_ziAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KuwSUziwEeKFHpsdOC1X1Q" instance="_KuwSUTiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KuwSVTiwEeKFHpsdOC1X1Q" definingFeature="_k0LpADiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KuwSVjiwEeKFHpsdOC1X1Q" instance="_KuwSVDiwEeKFHpsdOC1X1Q"/>
- </slot>
- </packagedElement>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSUTiwEeKFHpsdOC1X1Q" name="mainInstance.servoing.Servoings" classifier="_k0Lo7DiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSVDiwEeKFHpsdOC1X1Q" name="mainInstance.servoing.Frame_In" classifier="_k0Lo9TiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSWTiwEeKFHpsdOC1X1Q" clientDependency="_WxjV0DiwEeKFHpsdOC1X1Q" name="mainInstance.sensors" classifier="_k0LndTiAEeKDAMEjnOLmPA">
- <slot xmi:type="uml:Slot" xmi:id="_Ku6DUDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnijiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DUTiwEeKFHpsdOC1X1Q" instance="_KuwSWjiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_Ku6DUziwEeKFHpsdOC1X1Q" definingFeature="_k0LniziAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DVDiwEeKFHpsdOC1X1Q" instance="_Ku6DUjiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_Ku6DVjiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjDiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DVziwEeKFHpsdOC1X1Q" instance="_Ku6DVTiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_Ku6DWTiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjTiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DWjiwEeKFHpsdOC1X1Q" instance="_Ku6DWDiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_Ku6DXDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjjiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DXTiwEeKFHpsdOC1X1Q" instance="_Ku6DWziwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KvD0UDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjziAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KvD0UTiwEeKFHpsdOC1X1Q" instance="_Ku6DXjiwEeKFHpsdOC1X1Q"/>
- </slot>
- </packagedElement>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSWjiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.wifibot_Frame_Out" classifier="_k0LnOTiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DUjiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.GPS" classifier="_k0LnXziAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DVTiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.Odometer" classifier="_k0LnTjiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DWDiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.IMU" classifier="_k0LnZDiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DWziwEeKFHpsdOC1X1Q" name="mainInstance.sensors.LaserRange" classifier="_k0LnaTiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DXjiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.camera_FireWire" classifier="_k0LnbziAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0VDiwEeKFHpsdOC1X1Q" clientDependency="_mELyYDiwEeKFHpsdOC1X1Q" name="mainInstance.proximetry" classifier="_k0LmxDiAEeKDAMEjnOLmPA">
- <slot xmi:type="uml:Slot" xmi:id="_KvD0VjiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm2jiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KvD0VziwEeKFHpsdOC1X1Q" instance="_KvD0VTiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KvD0WTiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm2ziAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KvD0WjiwEeKFHpsdOC1X1Q" instance="_KvD0WDiwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KvD0XDiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm3DiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KvD0XTiwEeKFHpsdOC1X1Q" instance="_KvD0WziwEeKFHpsdOC1X1Q"/>
- </slot>
- </packagedElement>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0VTiwEeKFHpsdOC1X1Q" name="mainInstance.proximetry.superDKM" classifier="_k0LmkTiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0WDiwEeKFHpsdOC1X1Q" name="mainInstance.proximetry.proximetric_Map" classifier="_k0LmrjiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0WziwEeKFHpsdOC1X1Q" name="mainInstance.proximetry.amer_Identif" classifier="_k0LmuTiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-QDiwEeKFHpsdOC1X1Q" clientDependency="_mhfZcDiwEeKFHpsdOC1X1Q" name="mainInstance.global_map" classifier="_k0LmBDiAEeKDAMEjnOLmPA">
- <slot xmi:type="uml:Slot" xmi:id="_KvM-QjiwEeKFHpsdOC1X1Q" definingFeature="_k0LmBTiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KvM-QziwEeKFHpsdOC1X1Q" instance="_KvM-QTiwEeKFHpsdOC1X1Q"/>
- </slot>
- </packagedElement>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-QTiwEeKFHpsdOC1X1Q" name="mainInstance.global_map.global_Map" classifier="_k0Ll8jiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-RjiwEeKFHpsdOC1X1Q" clientDependency="_nLJacDiwEeKFHpsdOC1X1Q" name="mainInstance.local_Map" classifier="_k0LmTjiAEeKDAMEjnOLmPA">
- <slot xmi:type="uml:Slot" xmi:id="_KvM-SDiwEeKFHpsdOC1X1Q" definingFeature="_k0LmTziAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KvM-STiwEeKFHpsdOC1X1Q" instance="_KvM-RziwEeKFHpsdOC1X1Q"/>
- </slot>
- <slot xmi:type="uml:Slot" xmi:id="_KvM-SziwEeKFHpsdOC1X1Q" definingFeature="_k0LmUDiAEeKDAMEjnOLmPA">
- <value xmi:type="uml:InstanceValue" xmi:id="_KvM-TDiwEeKFHpsdOC1X1Q" instance="_KvM-SjiwEeKFHpsdOC1X1Q"/>
- </slot>
- </packagedElement>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-RziwEeKFHpsdOC1X1Q" name="mainInstance.local_Map.amer_Loc" classifier="_k0LmRTiAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-SjiwEeKFHpsdOC1X1Q" name="mainInstance.local_Map.local_Map" classifier="_k0LmJziAEeKDAMEjnOLmPA"/>
- <packagedElement xmi:type="uml:Abstraction" xmi:id="_WxjV0DiwEeKFHpsdOC1X1Q" name="allocate to Blender-Morse2" client="_KuwSWTiwEeKFHpsdOC1X1Q" supplier="_1dVjIjivEeKFHpsdOC1X1Q"/>
- <packagedElement xmi:type="uml:Abstraction" xmi:id="_Yxf0UDiwEeKFHpsdOC1X1Q" name="allocate to Blender-Morse2" client="_KuwSUDiwEeKFHpsdOC1X1Q" supplier="_1dVjIjivEeKFHpsdOC1X1Q"/>
- <packagedElement xmi:type="uml:Abstraction" xmi:id="_j6kagDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KttwgDiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
- <packagedElement xmi:type="uml:Abstraction" xmi:id="_kcVq0DiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KuUNcjiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
- <packagedElement xmi:type="uml:Abstraction" xmi:id="_k-HiMDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KudXYziwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
- <packagedElement xmi:type="uml:Abstraction" xmi:id="_lnLGQDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KunIYjiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
- <packagedElement xmi:type="uml:Abstraction" xmi:id="_mELyYDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KvD0VDiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
- <packagedElement xmi:type="uml:Abstraction" xmi:id="_mhfZcDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KvM-QDiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
- <packagedElement xmi:type="uml:Abstraction" xmi:id="_nLJacDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KvM-RjiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
- </packagedElement>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_r_SxEKEKEeKLUqX9IJq2Gg" name="Environment">
- <ownedAttribute xmi:type="uml:Property" xmi:id="_wOk08KEKEeKLUqX9IJq2Gg" name="wifibot" type="_k0LlFDiAEeKDAMEjnOLmPA"/>
- </packagedElement>
- <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_k0LpDziAEeKDAMEjnOLmPA">
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0LpEDiAEeKDAMEjnOLmPA" source="http://www.eclipse.org/uml2/2.0.0/UML">
- <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
- </eAnnotations>
- <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
- </profileApplication>
- </uml:Model>
- <RobotML:Software xmi:id="_k0LpETiAEeKDAMEjnOLmPA" base_Class="_k0Ll8jiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpEjiAEeKDAMEjnOLmPA" base_Class="_k0LmBDiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpEziAEeKDAMEjnOLmPA" base_Class="_k0LmJziAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpFDiAEeKDAMEjnOLmPA" base_Class="_k0LmRTiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpFTiAEeKDAMEjnOLmPA" base_Class="_k0LmTjiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpFjiAEeKDAMEjnOLmPA" base_Class="_k0LmkTiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpFziAEeKDAMEjnOLmPA" base_Class="_k0LmrjiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpGDiAEeKDAMEjnOLmPA" base_Class="_k0LmuTiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpGTiAEeKDAMEjnOLmPA" base_Class="_k0LmxDiAEeKDAMEjnOLmPA"/>
- <RobotML:RoboticSystem xmi:id="_k0LpGjiAEeKDAMEjnOLmPA" base_Class="_k0LnOTiAEeKDAMEjnOLmPA"/>
- <RobotML:SensorSystem xmi:id="_k0LpGziAEeKDAMEjnOLmPA" base_Class="_k0LnTjiAEeKDAMEjnOLmPA"/>
- <RobotML:GPSSystem xmi:id="_k0LpHDiAEeKDAMEjnOLmPA" base_Class="_k0LnXziAEeKDAMEjnOLmPA"/>
- <RobotML:LidarSystem xmi:id="_k0LpHjiAEeKDAMEjnOLmPA" base_Class="_k0LnaTiAEeKDAMEjnOLmPA" libraryPath="" libraryComponentName=""/>
- <RobotML:CameraSystem xmi:id="_k0LpHziAEeKDAMEjnOLmPA" base_Class="_k0LnbziAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpIDiAEeKDAMEjnOLmPA" base_Class="_k0Ln8jiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpITiAEeKDAMEjnOLmPA" base_Class="_k0Ln9ziAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpIjiAEeKDAMEjnOLmPA" base_Class="_k0LoBTiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpIziAEeKDAMEjnOLmPA" base_Class="_k0LoFDiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpJDiAEeKDAMEjnOLmPA" base_Class="_k0LoQDiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpJTiAEeKDAMEjnOLmPA" base_Class="_k0LoVjiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpJjiAEeKDAMEjnOLmPA" base_Class="_k0LohziAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpJziAEeKDAMEjnOLmPA" base_Class="_k0LooTiAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpKDiAEeKDAMEjnOLmPA" base_Class="_k0LoqziAEeKDAMEjnOLmPA"/>
- <RobotML:Software xmi:id="_k0LpKTiAEeKDAMEjnOLmPA" base_Class="_k0Lo7DiAEeKDAMEjnOLmPA"/>
- <RobotML:RoboticSystem xmi:id="_k0LpKjiAEeKDAMEjnOLmPA" base_Class="_k0Lo9TiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpKziAEeKDAMEjnOLmPA" base_Port="_k0Lo-ziAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpLDiAEeKDAMEjnOLmPA" base_Port="_k0Lo7TiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpLTiAEeKDAMEjnOLmPA" base_Port="_k0Lo8TiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpLjiAEeKDAMEjnOLmPA" base_Port="_k0Lo9jiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpLziAEeKDAMEjnOLmPA" base_Port="_k0LorDiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpMDiAEeKDAMEjnOLmPA" base_Port="_k0LoiTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpMTiAEeKDAMEjnOLmPA" base_Port="_k0LojTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpMjiAEeKDAMEjnOLmPA" base_Port="_k0LolTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpMziAEeKDAMEjnOLmPA" base_Port="_k0LomTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpNDiAEeKDAMEjnOLmPA" base_Port="_k0LonTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpNTiAEeKDAMEjnOLmPA" base_Port="_k0LokTiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpNjiAEeKDAMEjnOLmPA" base_Port="_k0LopziAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpNziAEeKDAMEjnOLmPA" base_Port="_k0LooziAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpODiAEeKDAMEjnOLmPA" base_Port="_k0LosDiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpOTiAEeKDAMEjnOLmPA" base_Port="_k0LoVziAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpOjiAEeKDAMEjnOLmPA" base_Port="_k0LoQjiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpOziAEeKDAMEjnOLmPA" base_Port="_k0LoSjiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpPDiAEeKDAMEjnOLmPA" base_Port="_k0LoTjiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpPTiAEeKDAMEjnOLmPA" base_Port="_k0LoUjiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpPjiAEeKDAMEjnOLmPA" base_Port="_k0LoRjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpPziAEeKDAMEjnOLmPA" base_Port="_k0LoWziAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpQDiAEeKDAMEjnOLmPA" base_Port="_k0LoHTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpQTiAEeKDAMEjnOLmPA" base_Port="_k0LoGTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpQjiAEeKDAMEjnOLmPA" base_Port="_k0LoBziAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpQziAEeKDAMEjnOLmPA" base_Port="_k0LoDziAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpRDiAEeKDAMEjnOLmPA" base_Port="_k0LoCziAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpRTiAEeKDAMEjnOLmPA" base_Port="_k0LoFTiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpRjiAEeKDAMEjnOLmPA" base_Port="_k0Ln8ziAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpRziAEeKDAMEjnOLmPA" base_Port="_k0Ln-DiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpSDiAEeKDAMEjnOLmPA" base_Port="_k0LnUziAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpSTiAEeKDAMEjnOLmPA" base_Port="_k0LnTziAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpSjiAEeKDAMEjnOLmPA" base_Port="_k0LnOjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpSziAEeKDAMEjnOLmPA" base_Port="_k0LnPjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpTDiAEeKDAMEjnOLmPA" base_Port="_k0LnSjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpTTiAEeKDAMEjnOLmPA" base_Port="_k0LnQjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpTjiAEeKDAMEjnOLmPA" base_Port="_k0LnRjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpTziAEeKDAMEjnOLmPA" base_Port="_k0LnWziAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpUDiAEeKDAMEjnOLmPA" base_Port="_k0LnVziAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpUTiAEeKDAMEjnOLmPA" base_Port="_k0LnZTiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpUjiAEeKDAMEjnOLmPA" base_Port="_k0LnYDiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpUziAEeKDAMEjnOLmPA" base_Port="_k0LnajiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpVDiAEeKDAMEjnOLmPA" base_Port="_k0LncDiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpVTiAEeKDAMEjnOLmPA" base_Port="_k0LmxjiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpVjiAEeKDAMEjnOLmPA" base_Port="_k0LmyjiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpVziAEeKDAMEjnOLmPA" base_Port="_k0LmzjiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpWDiAEeKDAMEjnOLmPA" base_Port="_k0Lm0jiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpWTiAEeKDAMEjnOLmPA" base_Port="_k0Lm1jiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpWjiAEeKDAMEjnOLmPA" base_Port="_k0LmmziAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpWziAEeKDAMEjnOLmPA" base_Port="_k0LmnziAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpXDiAEeKDAMEjnOLmPA" base_Port="_k0LmoziAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpXTiAEeKDAMEjnOLmPA" base_Port="_k0LmpziAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpXjiAEeKDAMEjnOLmPA" base_Port="_k0LmkziAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpXziAEeKDAMEjnOLmPA" base_Port="_k0LmlziAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpYDiAEeKDAMEjnOLmPA" base_Port="_k0LmRjiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpYTiAEeKDAMEjnOLmPA" base_Port="_k0LmSjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpYjiAEeKDAMEjnOLmPA" base_Port="_k0LmKTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpYziAEeKDAMEjnOLmPA" base_Port="_k0LmLTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpZDiAEeKDAMEjnOLmPA" base_Port="_k0LmMTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpZTiAEeKDAMEjnOLmPA" base_Port="_k0LmOTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpZjiAEeKDAMEjnOLmPA" base_Port="_k0LmPTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpZziAEeKDAMEjnOLmPA" base_Port="_k0LmQTiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpaDiAEeKDAMEjnOLmPA" base_Port="_k0LmNTiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0LpaTiAEeKDAMEjnOLmPA" base_Port="_k0Ll-DiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpajiAEeKDAMEjnOLmPA" base_Port="_k0Ll_DiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpaziAEeKDAMEjnOLmPA" base_Port="_k0LmADiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0LpbDiAEeKDAMEjnOLmPA" base_Port="_k0Ll9DiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU4DiAEeKDAMEjnOLmPA" base_Port="_k0LnejiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU4TiAEeKDAMEjnOLmPA" base_Port="_k0LnfjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU4jiAEeKDAMEjnOLmPA" base_Port="_k0LnhjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU4ziAEeKDAMEjnOLmPA" base_Port="_k0LngjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU5DiAEeKDAMEjnOLmPA" base_Port="_k0LndjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU5TiAEeKDAMEjnOLmPA" base_Port="_k0LmsDiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU5jiAEeKDAMEjnOLmPA" base_Port="_k0LmtDiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0VU5ziAEeKDAMEjnOLmPA" base_Port="_k0LmvziAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU6DiAEeKDAMEjnOLmPA" base_Port="_k0LmuziAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0VU6TiAEeKDAMEjnOLmPA" base_Port="_k0LndDiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU6jiAEeKDAMEjnOLmPA" base_Port="_k0LnbjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU6ziAEeKDAMEjnOLmPA" base_Port="_k0LmwziAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VU7DiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VU7TiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VU7jiAEeKDAMEjnOLmPA" base_Port="_k0LouDiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VU7ziAEeKDAMEjnOLmPA" base_Port="_k0LouTiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VU8DiAEeKDAMEjnOLmPA" base_Port="_k0LoYDiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VU8TiAEeKDAMEjnOLmPA" base_Port="_k0LoYTiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VU8jiAEeKDAMEjnOLmPA" base_Port="_k0LoYjiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VU8ziAEeKDAMEjnOLmPA" base_Port="_k0LoIjiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VU9DiAEeKDAMEjnOLmPA" base_Port="_k0LnkDiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU9TiAEeKDAMEjnOLmPA" base_Port="_k0LnkTiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU9jiAEeKDAMEjnOLmPA" base_Port="_k0LnkjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU9ziAEeKDAMEjnOLmPA" base_Port="_k0LnkziAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU-DiAEeKDAMEjnOLmPA" base_Port="_k0LnlDiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU-TiAEeKDAMEjnOLmPA" base_Port="_k0LnlTiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU-jiAEeKDAMEjnOLmPA" base_Port="_k0Lm3TiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VU-ziAEeKDAMEjnOLmPA" base_Port="_k0Lm3jiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VU_DiAEeKDAMEjnOLmPA" base_Port="_k0Lm3ziAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU_TiAEeKDAMEjnOLmPA" base_Port="_k0Lm4DiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU_jiAEeKDAMEjnOLmPA" base_Port="_k0Lm4TiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VU_ziAEeKDAMEjnOLmPA" base_Port="_k0Lm4jiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VVADiAEeKDAMEjnOLmPA" base_Port="_k0LmUTiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VVATiAEeKDAMEjnOLmPA" base_Port="_k0LmUjiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VVAjiAEeKDAMEjnOLmPA" base_Port="_k0LmUziAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VVAziAEeKDAMEjnOLmPA" base_Port="_k0LmVDiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VVBDiAEeKDAMEjnOLmPA" base_Port="_k0LmVTiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VVBTiAEeKDAMEjnOLmPA" base_Port="_k0LmVjiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VVBjiAEeKDAMEjnOLmPA" base_Port="_k0LmVziAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VVBziAEeKDAMEjnOLmPA" base_Port="_k0LmBjiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VVCDiAEeKDAMEjnOLmPA" base_Port="_k0LmBziAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VVCTiAEeKDAMEjnOLmPA" base_Port="_k0LmCDiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VVCjiAEeKDAMEjnOLmPA" base_Port="_k0LmCTiAEeKDAMEjnOLmPA" direction="out"/>
- <RobotML:DataFlowPort xmi:id="_k0VVDziAEeKDAMEjnOLmPA" base_Port="_k0Lm4ziAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:DataFlowPort xmi:id="_k0VVEDiAEeKDAMEjnOLmPA" base_Port="_k0LmuDiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <RobotML:Robot xmi:id="_k0VVGjiAEeKDAMEjnOLmPA" base_Class="_k0LlFDiAEeKDAMEjnOLmPA"/>
- <RobotML:SensorSystem xmi:id="_k0VVGziAEeKDAMEjnOLmPA" base_Class="_k0LndTiAEeKDAMEjnOLmPA"/>
- <RobotML:ActuatorSystem xmi:id="_k0VVHDiAEeKDAMEjnOLmPA" base_Class="_k0Lo-jiAEeKDAMEjnOLmPA"/>
- <RobotML:DataFlowPort xmi:id="_k0VVHTiAEeKDAMEjnOLmPA" base_Port="_k0LoEziAEeKDAMEjnOLmPA"/>
- <RobotML:RoboticMiddleware xmi:id="_iFHmsDiuEeKFHpsdOC1X1Q" base_Class="_iBPzUDiuEeKFHpsdOC1X1Q"/>
- <RobotML:BlenderMorse xmi:id="_u55gwDiuEeKFHpsdOC1X1Q" base_Class="_rlJygDiuEeKFHpsdOC1X1Q" debugMode="true"/>
- <RobotML:Platform xmi:id="_HSZVrDivEeKFHpsdOC1X1Q" base_Class="_HR8psDivEeKFHpsdOC1X1Q"/>
- <FCM:DeploymentPlan xmi:id="_KtkmkDiwEeKFHpsdOC1X1Q" mainInstance="_KtkmkTiwEeKFHpsdOC1X1Q" base_Package="_Kta1kDiwEeKFHpsdOC1X1Q"/>
- <RobotML:Allocate xmi:id="_WxtG0DiwEeKFHpsdOC1X1Q" base_Abstraction="_WxjV0DiwEeKFHpsdOC1X1Q"/>
- <RobotML:Allocate xmi:id="_Yxf0UTiwEeKFHpsdOC1X1Q" base_Abstraction="_Yxf0UDiwEeKFHpsdOC1X1Q"/>
- <RobotML:Allocate xmi:id="_j6uLgDiwEeKFHpsdOC1X1Q" base_Abstraction="_j6kagDiwEeKFHpsdOC1X1Q"/>
- <RobotML:Allocate xmi:id="_kcfb0DiwEeKFHpsdOC1X1Q" base_Abstraction="_kcVq0DiwEeKFHpsdOC1X1Q"/>
- <RobotML:Allocate xmi:id="_k-HiMTiwEeKFHpsdOC1X1Q" base_Abstraction="_k-HiMDiwEeKFHpsdOC1X1Q"/>
- <RobotML:Allocate xmi:id="_lnU3QDiwEeKFHpsdOC1X1Q" base_Abstraction="_lnLGQDiwEeKFHpsdOC1X1Q"/>
- <RobotML:Allocate xmi:id="_mEVjYDiwEeKFHpsdOC1X1Q" base_Abstraction="_mELyYDiwEeKFHpsdOC1X1Q"/>
- <RobotML:Allocate xmi:id="_mhpKcDiwEeKFHpsdOC1X1Q" base_Abstraction="_mhfZcDiwEeKFHpsdOC1X1Q"/>
- <RobotML:Allocate xmi:id="_nLTLcDiwEeKFHpsdOC1X1Q" base_Abstraction="_nLJacDiwEeKFHpsdOC1X1Q"/>
- <RobotML:InertialMeasurementUnitSystem xmi:id="_HEDvQJ3nEeKaDJbg6baweA" base_Class="_k0LnZDiAEeKDAMEjnOLmPA"/>
- <RobotML:Environment xmi:id="_sGvc4KEKEeKLUqX9IJq2Gg" base_Class="_r_SxEKEKEeKLUqX9IJq2Gg"/>
-</xmi:XMI>
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+ <uml:Model xmi:id="_k0Lj4DiAEeKDAMEjnOLmPA" name="YouthChallengeModel">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_k0Lj4TiAEeKDAMEjnOLmPA">
+ <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0Lj4jiAEeKDAMEjnOLmPA" name="YouthChallenge DataTypes">
+ <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0Lj4ziAEeKDAMEjnOLmPA" name="Mission_Type">
+ <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5DiAEeKDAMEjnOLmPA" name="Explore"/>
+ <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5TiAEeKDAMEjnOLmPA" name="Search"/>
+ <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5jiAEeKDAMEjnOLmPA" name="Reach"/>
+ <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5ziAEeKDAMEjnOLmPA" name="Identify"/>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lj6DiAEeKDAMEjnOLmPA" name="Amer">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lj6TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lj6DiAEeKDAMEjnOLmPA">
+ <body>Un amer correspond a une balise composee d'une clonne et d'un solide d'une couleur </body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj6jiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj6ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj7DiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj7TiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj7jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj7ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj8DiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj8TiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj8jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj8ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj9DiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj9TiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lj9jiAEeKDAMEjnOLmPA" name="Position">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lj9ziAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj-DiAEeKDAMEjnOLmPA" name="x" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj-TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj-jiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj-ziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj_DiAEeKDAMEjnOLmPA" name="y" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj_TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj_jiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj_ziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkADiAEeKDAMEjnOLmPA" name="alt" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkATiAEeKDAMEjnOLmPA"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkAjiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkAziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkBDiAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LkBTiAEeKDAMEjnOLmPA" annotatedElement="_k0LkBTiAEeKDAMEjnOLmPA">
+ <body>orientation en degrés [0;359] , entier positif, sens horaire 0 Nord </body>
+ </ownedComment>
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkBjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkBziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkCDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkCTiAEeKDAMEjnOLmPA" name="Position_Error">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkCjiAEeKDAMEjnOLmPA" name="x_err" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkCziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkDDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkDTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkDjiAEeKDAMEjnOLmPA" name="y_err" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkDziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkEDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkETiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkEjiAEeKDAMEjnOLmPA" name="alt_err" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkEziAEeKDAMEjnOLmPA"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkFDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkFTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkFjiAEeKDAMEjnOLmPA" name="orientation_err" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkFziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkGDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkGTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkGjiAEeKDAMEjnOLmPA" name="Path_Point">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkGziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkHDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkHTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkHjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkHziAEeKDAMEjnOLmPA" name="pos_error" visibility="public" type="_k0LkCTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkIDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkITiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkIjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkIziAEeKDAMEjnOLmPA" name="velocity" visibility="public">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkJDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkJTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkJjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkLDiAEeKDAMEjnOLmPA" name="Trajectory">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkLTiAEeKDAMEjnOLmPA" name="x_t" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkLjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkLziAEeKDAMEjnOLmPA" value="*"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkMDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkMTiAEeKDAMEjnOLmPA" name="y_t" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkMjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkMziAEeKDAMEjnOLmPA" value="*"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkNDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkNTiAEeKDAMEjnOLmPA" name="v_t" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkNjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkNziAEeKDAMEjnOLmPA" value="*"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkODiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkOTiAEeKDAMEjnOLmPA" name="sample_time" visibility="public" isUnique="false">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_gyt4YAH-EeC_ZLzLQhW-TQ"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkOjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkOziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkPDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkPTiAEeKDAMEjnOLmPA" name="sample_nb" visibility="public" type="_k0LkkjiAEeKDAMEjnOLmPA" isUnique="false">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkPjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkPziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkQDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkSjiAEeKDAMEjnOLmPA" name="Goal">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkSziAEeKDAMEjnOLmPA" name="mission_type" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkTDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkTTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkTjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkTziAEeKDAMEjnOLmPA" name="position" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkUDiAEeKDAMEjnOLmPA"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkUTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkUjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkUziAEeKDAMEjnOLmPA" name="position_error" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkVDiAEeKDAMEjnOLmPA"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkVTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkVjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkVziAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkWDiAEeKDAMEjnOLmPA"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkWTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkWjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkWziAEeKDAMEjnOLmPA" name="angular_aperture" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkXDiAEeKDAMEjnOLmPA"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkXTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkXjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkXziAEeKDAMEjnOLmPA" name="distance" visibility="public">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUOSN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkYDiAEeKDAMEjnOLmPA"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkYTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkYjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkYziAEeKDAMEjnOLmPA" name="velocity_average" visibility="public">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkZDiAEeKDAMEjnOLmPA"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkZTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkZjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkZziAEeKDAMEjnOLmPA" name="amer_to_identify" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkaDiAEeKDAMEjnOLmPA"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkaTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkajiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0LkejiAEeKDAMEjnOLmPA" name="Color">
+ <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkeziAEeKDAMEjnOLmPA" name="White"/>
+ <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfDiAEeKDAMEjnOLmPA" name="Black"/>
+ <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfTiAEeKDAMEjnOLmPA" name="Red"/>
+ <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfjiAEeKDAMEjnOLmPA" name="Blue"/>
+ <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfziAEeKDAMEjnOLmPA" name="Green"/>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0LkgDiAEeKDAMEjnOLmPA" name="Geometry">
+ <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgTiAEeKDAMEjnOLmPA" name="Cube"/>
+ <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgjiAEeKDAMEjnOLmPA" name="Sphere"/>
+ <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgziAEeKDAMEjnOLmPA" name="Pyramid"/>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkkjiAEeKDAMEjnOLmPA" name="Nombre_Pos">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkkziAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LklDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LklTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkljiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkvDiAEeKDAMEjnOLmPA" name="Percent">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkvTiAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkvjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkvziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkwDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk4jiAEeKDAMEjnOLmPA" name="Velocity_Error">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk4ziAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk5DiAEeKDAMEjnOLmPA" name="velocity_linear_err" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk5TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk5jiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk5ziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk6DiAEeKDAMEjnOLmPA" name="velocity_angular_err" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUUiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk6TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk6jiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk6ziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk7DiAEeKDAMEjnOLmPA" name="Amer_Relative">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk7TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lk7DiAEeKDAMEjnOLmPA">
+ <body>Un amer correspond à une balise composée d'une clonne&#xD;
+et d'un solide d'une couleur </body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk7jiAEeKDAMEjnOLmPA" name="relative_polar" visibility="public" type="_k0Lk-jiAEeKDAMEjnOLmPA" isUnique="false">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk7ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk8DiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk8TiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk8jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk8ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk9DiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk9TiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk9jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk9ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk-DiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk-TiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk-jiAEeKDAMEjnOLmPA" name="Relative_Polar">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk-ziAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk_DiAEeKDAMEjnOLmPA" name="distance" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUOSN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk_TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk_jiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk_ziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlADiAEeKDAMEjnOLmPA" name="angular" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlATiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlAjiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlAziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlBDiAEeKDAMEjnOLmPA" name="site" visibility="public" isUnique="false">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlBTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlBjiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlBziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0LlCDiAEeKDAMEjnOLmPA" name="Map">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlCTiAEeKDAMEjnOLmPA" name="map_meta_data">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_F5N8wAK2EeCsG_V0R865wA"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlCjiAEeKDAMEjnOLmPA" name="position">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_uUJZ4AH6EeC_ZLzLQhW-TQ"/>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:DataType" xmi:id="_k0LlCziAEeKDAMEjnOLmPA" name="Attribute_robot">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlDDiAEeKDAMEjnOLmPA" name="voie">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlDTiAEeKDAMEjnOLmPA" name="voie" value="0.226"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlDjiAEeKDAMEjnOLmPA" name="empatement">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlDziAEeKDAMEjnOLmPA" name="empatement" value="0.17"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlEDiAEeKDAMEjnOLmPA" name="diam_roue">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlETiAEeKDAMEjnOLmPA" name="diam_roue" value="0.144"/>
+ </ownedAttribute>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0LlEjiAEeKDAMEjnOLmPA" name="YouthChallenge Interfaces"/>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0LlEziAEeKDAMEjnOLmPA" name="YouthChallenge SubSystems"/>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LlFDiAEeKDAMEjnOLmPA" name="Wifibot">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFTiAEeKDAMEjnOLmPA" name="pathPlanner" type="_k0LoFDiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFjiAEeKDAMEjnOLmPA" name="missionGenerator" type="_k0Ln9ziAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoVjiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGDiAEeKDAMEjnOLmPA" name="pilot" type="_k0LoqziAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGTiAEeKDAMEjnOLmPA" name="servoing" type="_k0Lo-jiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGjiAEeKDAMEjnOLmPA" name="sensors" type="_k0LndTiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGziAEeKDAMEjnOLmPA" name="proximetry" type="_k0LmxDiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlHDiAEeKDAMEjnOLmPA" name="global_map" type="_k0LmBDiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlHTiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmTjiAEeKDAMEjnOLmPA"/>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlHjiAEeKDAMEjnOLmPA" name="Connector0">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlHziAEeKDAMEjnOLmPA" partWithPort="_k0LlFjiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlIDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlITiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlIjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlIziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlJDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlJTiAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlJjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoFTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlJziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlKDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlKTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlKjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlKziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlLDiAEeKDAMEjnOLmPA" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlLTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlLjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlLziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlMDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlMTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlMjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlMziAEeKDAMEjnOLmPA" name="Connector3">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlNDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LosDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlNTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlNjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlNziAEeKDAMEjnOLmPA" partWithPort="_k0LlGTiAEeKDAMEjnOLmPA" role="_k0Lo-ziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlODiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlOTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlOjiAEeKDAMEjnOLmPA" name="Connector4">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlOziAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LndjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlPDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlPTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlPjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmxjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlPziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlQDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlQTiAEeKDAMEjnOLmPA" name="Connector5">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlQjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnejiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlQziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlRDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlRTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmyjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlRjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlRziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlSDiAEeKDAMEjnOLmPA" name="Connector6">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlSTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnhjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlSjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlSziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlTDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm1jiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlTTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlTjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlTziAEeKDAMEjnOLmPA" name="Connector7">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlUDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnkTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlUTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlUjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlUziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3TiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlVDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlVTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlVjiAEeKDAMEjnOLmPA" name="Connector8">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlVziAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnkDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlWDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlWTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlWjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3jiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlWziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlXDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlXTiAEeKDAMEjnOLmPA" name="Connector9">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlXjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlXziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlYDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlYTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmzjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlYjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlYziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlZDiAEeKDAMEjnOLmPA" name="Connector10">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlZTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlZjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlZziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlaDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm0jiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlaTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlajiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlaziAEeKDAMEjnOLmPA" name="Connector11">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlbDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlbTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlbjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlbziAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LouTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlcDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlcTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlcjiAEeKDAMEjnOLmPA" name="Connector12">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlcziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LldDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LldTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LldjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LouDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LldziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LleDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LleTiAEeKDAMEjnOLmPA" name="Connector13">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlejiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LleziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlfDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlfTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlfjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlfziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlgDiAEeKDAMEjnOLmPA" name="Connector14">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlgTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlgjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlgziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlhDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlhTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlhjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlhziAEeKDAMEjnOLmPA" name="Connector15">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LliDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LliTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlijiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LliziAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoYTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LljDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LljTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LljjiAEeKDAMEjnOLmPA" name="Connector16">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LljziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlkDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlkTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlkjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoYjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlkziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LllDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LllTiAEeKDAMEjnOLmPA" name="Connector17">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlljiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LllziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlmDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlmTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoYDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlmjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlmziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlnDiAEeKDAMEjnOLmPA" name="Connector18">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlnTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlnjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlnziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LloDiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LloTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlojiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LloziAEeKDAMEjnOLmPA" name="Connector19">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlpDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlpTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlpjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlpziAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlqDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlqTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlqjiAEeKDAMEjnOLmPA" name="Connector20">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlqziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlrDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlrTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlrjiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlrziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlsDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlsTiAEeKDAMEjnOLmPA" name="Connector21">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlsjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlsziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LltDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LltTiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LltjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LltziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LluDiAEeKDAMEjnOLmPA" name="Connector22">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LluTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlujiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LluziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlvDiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlvTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlvjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlvziAEeKDAMEjnOLmPA" name="Connector23">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlwDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4TiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlwTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlwjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlwziAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlxDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlxTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlxjiAEeKDAMEjnOLmPA" name="Connector24">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlxziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlyDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlyTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlyjiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmBziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlyziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlzDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlzTiAEeKDAMEjnOLmPA" name="Connector25">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlzjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlzziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll0DiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll0TiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll0jiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll0ziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll1DiAEeKDAMEjnOLmPA" name="Connector26">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll1TiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll1jiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll1ziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll2DiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmBjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll2TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll2jiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll2ziAEeKDAMEjnOLmPA" name="Connector27">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll3DiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll3TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll3jiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll3ziAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll4DiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll4TiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll4jiAEeKDAMEjnOLmPA" name="Connector28">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll4ziAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll5DiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll5TiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll5jiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll5ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll6DiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll6TiAEeKDAMEjnOLmPA" name="Connector29">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll6jiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnlTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll6ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll7DiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll7TiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll7jiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll7ziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0Ll8DiAEeKDAMEjnOLmPA" name="P5_Semantic"/>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0Ll8TiAEeKDAMEjnOLmPA" name="P4_Global">
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0Ll8jiAEeKDAMEjnOLmPA" name="Global_Map">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0Ll8ziAEeKDAMEjnOLmPA" annotatedElement="_k0Ll8jiAEeKDAMEjnOLmPA">
+ <body>This module buid the absolute bitmap map (glob_map) of the scene, using the local map (loc-map).&#xD;
+the origine is the entry zone of the robot.</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ll9DiAEeKDAMEjnOLmPA" name="glob_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll9TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll9jiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ll9ziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ll-DiAEeKDAMEjnOLmPA" name="loc_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll-TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll-jiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ll-ziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ll_DiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll_TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll_jiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ll_ziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmADiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmATiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmAjiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmAziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LmBDiAEeKDAMEjnOLmPA" name="P4_Global">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmBTiAEeKDAMEjnOLmPA" name="global_Map" type="_k0Ll8jiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmBjiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmBziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmCDiAEeKDAMEjnOLmPA" name="gps" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmCTiAEeKDAMEjnOLmPA" name="glob_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmCjiAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmCziAEeKDAMEjnOLmPA" role="_k0LmBjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmDDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmDTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmDjiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll-DiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmDziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmEDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmETiAEeKDAMEjnOLmPA" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmEjiAEeKDAMEjnOLmPA" role="_k0LmBziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmEziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmFDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmFTiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll_DiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmFjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmFziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmGDiAEeKDAMEjnOLmPA" name="Connector3">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmGTiAEeKDAMEjnOLmPA" role="_k0LmCDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmGjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmGziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmHDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0LmADiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmHTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmHjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmHziAEeKDAMEjnOLmPA" name="Connector4">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmIDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll9DiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmITiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmIjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmIziAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmJDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmJTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0LmJjiAEeKDAMEjnOLmPA" name="P3_Local">
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LmJziAEeKDAMEjnOLmPA" name="Local_Map">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmKDiAEeKDAMEjnOLmPA" annotatedElement="_k0LmJziAEeKDAMEjnOLmPA">
+ <body>The Local Map module Build a Relative Cartesian 2D bitmap Map (loc_map) &#xD;
+The frame is centered on the robot (x &lt;=> forward).&#xD;
+it use proxi_map and all proprio and exteroceptive datas giving him the relative displacement.&#xD;
+This map have a MEMORY : the obstacles are placed and 'follow' the motion of the robot, either they are not directly seen by the robot.&#xD;
+It place also all the amer on it map.</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmKTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmKjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmKziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmLDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmLTiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmLjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmLziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmMDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmMTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmMjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmMziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmNDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmNTiAEeKDAMEjnOLmPA" name="loc_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmNjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmNziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmODiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmOTiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmOjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmOziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmPDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmPTiAEeKDAMEjnOLmPA" name="proxi_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmPjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmPziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmQDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmQTiAEeKDAMEjnOLmPA" name="amer" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmQjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmQziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmRDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LmRTiAEeKDAMEjnOLmPA" name="Amer_Loc">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmRjiAEeKDAMEjnOLmPA" name="amer_relative" visibility="public" type="_k0Lk7DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmRziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmSDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmSTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmSjiAEeKDAMEjnOLmPA" name="amer" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmSziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmTDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmTTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LmTjiAEeKDAMEjnOLmPA" name="P3_Local">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmTziAEeKDAMEjnOLmPA" name="amer_Loc" type="_k0LmRTiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmUDiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmJziAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUTiAEeKDAMEjnOLmPA" name="proxi_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUjiAEeKDAMEjnOLmPA" name="gps" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUziAEeKDAMEjnOLmPA" name="accel_girat" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVDiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVTiAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVjiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVziAEeKDAMEjnOLmPA" name="amer_relative" type="_k0Lk7DiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmWDiAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmWTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmSjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmWjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmWziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmXDiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmQTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmXTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmXjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmXziAEeKDAMEjnOLmPA" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmYDiAEeKDAMEjnOLmPA" role="_k0LmUTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmYTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmYjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmYziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmPTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmZDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmZTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmZjiAEeKDAMEjnOLmPA" name="Connector3">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmZziAEeKDAMEjnOLmPA" role="_k0LmVTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmaDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmaTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmajiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmKTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmaziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmbDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmbTiAEeKDAMEjnOLmPA" name="Connector4">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmbjiAEeKDAMEjnOLmPA" role="_k0LmVDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmbziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmcDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmcTiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmLTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmcjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmcziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmdDiAEeKDAMEjnOLmPA" name="Connector5">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmdTiAEeKDAMEjnOLmPA" role="_k0LmUziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmdjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmdziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmeDiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmMTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmeTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmejiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmeziAEeKDAMEjnOLmPA" name="Connector6">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmfDiAEeKDAMEjnOLmPA" role="_k0LmUjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmfTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmfjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmfziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmOTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmgDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmgTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmgjiAEeKDAMEjnOLmPA" name="Connector7">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmgziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmNTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmhDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmhTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmhjiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmhziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmiDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmiTiAEeKDAMEjnOLmPA" name="Connector8">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmijiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmiziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmjDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmjTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmRjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmjjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmjziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0LmkDiAEeKDAMEjnOLmPA" name="P2_Proxymetry">
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LmkTiAEeKDAMEjnOLmPA" name="Super_DKM">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmkjiAEeKDAMEjnOLmPA" annotatedElement="_k0LmkTiAEeKDAMEjnOLmPA">
+ <body>Modele Cinematique Direct (MCD) - Direct Kinematics Model (DKM)&#xD;
+Transformation from articular space (left and right wheels speed) to operational space (cartesian velocity)&#xD;
+we call it &quot;Super&quot;-DKM because we not only use odometry speed, but also IMU and GPS inputs, and we output also cartesian position</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmkziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmlDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmlTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmljiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmlziAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmmDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmmTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmmjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmmziAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmnDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmnTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmnjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmnziAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmoDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmoTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmojiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmoziAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmpDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmpTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmpjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmpziAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmqDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmqTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmqjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmqziAEeKDAMEjnOLmPA" name="attribute" type="_k0LlCziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmrDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmrTiAEeKDAMEjnOLmPA" value="1"/>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LmrjiAEeKDAMEjnOLmPA" name="Proximetric_Map">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmrziAEeKDAMEjnOLmPA" annotatedElement="_k0LmrjiAEeKDAMEjnOLmPA">
+ <body>Proximetric Map is a bitmap map, but in polar coordinate.&#xD;
+the polar 2D frame is linked to the robot (so relative). Origine x forward the robot, angle with trigonometric way/notation (unclocwise)&#xD;
+this Polar bitmap map is digitalized in Nrange cell from 0 to MaxRange, and in Nangle, from 0 to 2Pi.&#xD;
+Only measures from sensors are directly print on this map : no memory !</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmsDiAEeKDAMEjnOLmPA" name="proxi_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmsTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmsjiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmsziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmtDiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmtTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmtjiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmtziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmuDiAEeKDAMEjnOLmPA" name="proxy_left_right" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LmuTiAEeKDAMEjnOLmPA" name="Amer_Identif">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmujiAEeKDAMEjnOLmPA" annotatedElement="_k0LmuTiAEeKDAMEjnOLmPA">
+ <body>This Module is able to find a amer in a image, and, using the CameraInfo of the cam, give a position of it, relatively from the robot. it delivers also the shape of the amer, and it color.</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmuziAEeKDAMEjnOLmPA" name="video" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmvDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmvTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmvjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmvziAEeKDAMEjnOLmPA" name="amer_relative" visibility="public" type="_k0Lk7DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmwDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmwTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmwjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmwziAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LmxDiAEeKDAMEjnOLmPA" name="P2_Proximetry">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmxTiAEeKDAMEjnOLmPA" annotatedElement="_k0LmxDiAEeKDAMEjnOLmPA">
+ <body></body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmxjiAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmxziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmyDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmyTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmyjiAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmyziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmzDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmzTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmzjiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmzziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm0DiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lm0TiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm0jiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm0ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm1DiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lm1TiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm1jiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm1ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm2DiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lm2TiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm2jiAEeKDAMEjnOLmPA" name="superDKM" type="_k0LmkTiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm2ziAEeKDAMEjnOLmPA" name="proximetric_Map" type="_k0LmrjiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm3DiAEeKDAMEjnOLmPA" name="amer_Identif" type="_k0LmuTiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm3TiAEeKDAMEjnOLmPA" name="video" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm3jiAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm3ziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4DiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4TiAEeKDAMEjnOLmPA" name="amer_Relative" type="_k0Lk7DiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4jiAEeKDAMEjnOLmPA" name="proxi_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4ziAEeKDAMEjnOLmPA" name="proxy_left_right" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
+ </ownedAttribute>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm5DiAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm5TiAEeKDAMEjnOLmPA" role="_k0Lm1jiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm5jiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm5ziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm6DiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmtDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm6TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm6jiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm6ziAEeKDAMEjnOLmPA" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm7DiAEeKDAMEjnOLmPA" role="_k0Lm0jiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm7TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm7jiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm7ziAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmpziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm8DiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm8TiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm8jiAEeKDAMEjnOLmPA" name="Connector3">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm8ziAEeKDAMEjnOLmPA" role="_k0LmzjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm9DiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm9TiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm9jiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmoziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm9ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm-DiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm-TiAEeKDAMEjnOLmPA" name="Connector4">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm-jiAEeKDAMEjnOLmPA" role="_k0LmyjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm-ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm_DiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm_TiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmnziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm_jiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm_ziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnADiAEeKDAMEjnOLmPA" name="Connector5">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnATiAEeKDAMEjnOLmPA" role="_k0LmxjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnAjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnAziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnBDiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmmziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnBTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnBjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnBziAEeKDAMEjnOLmPA" name="Connector6">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnCDiAEeKDAMEjnOLmPA" role="_k0Lm3TiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnCTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnCjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnCziAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmuziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnDDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnDTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnDjiAEeKDAMEjnOLmPA" name="Connector7">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnDziAEeKDAMEjnOLmPA" role="_k0Lm3jiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnEDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnETiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnEjiAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmwziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnEziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnFDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnFTiAEeKDAMEjnOLmPA" name="Connector8">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnFjiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmkziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnFziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnGDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnGTiAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnGjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnGziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnHDiAEeKDAMEjnOLmPA" name="Connector9">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnHTiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmlziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnHjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnHziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnIDiAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnITiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnIjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnIziAEeKDAMEjnOLmPA" name="Connector10">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnJDiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmsDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnJTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnJjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnJziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnKDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnKTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnKjiAEeKDAMEjnOLmPA" name="Connector11">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnKziAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmvziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnLDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnLTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnLjiAEeKDAMEjnOLmPA" role="_k0Lm4TiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnLziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnMDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnMTiAEeKDAMEjnOLmPA" name="Connector12">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnMjiAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnMziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnNDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnNTiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmuDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnNjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnNziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0LnODiAEeKDAMEjnOLmPA" name="P1_Sensors">
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LnOTiAEeKDAMEjnOLmPA" name="WifiBot_Frame_Out">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnOjiAEeKDAMEjnOLmPA" name="velocity_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnOziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnPDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnPTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnPjiAEeKDAMEjnOLmPA" name="odometer_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUeCN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnPziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnQDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnQTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnQjiAEeKDAMEjnOLmPA" name="proxi_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnQziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnRDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnRTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnRjiAEeKDAMEjnOLmPA" name="batt_level" visibility="public" type="_k0LkvDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnRziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnSDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnSTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnSjiAEeKDAMEjnOLmPA" name="current_level" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUjyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnSziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnTDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnTTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LnTjiAEeKDAMEjnOLmPA" name="Odometer">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnTziAEeKDAMEjnOLmPA" name="velocity_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnUDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnUTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnUjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnUziAEeKDAMEjnOLmPA" name="odometer_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUeCN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnVDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnVTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnVjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnVziAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnWDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnWTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnWjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnWziAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnXDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnXTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnXjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LnXziAEeKDAMEjnOLmPA" name="GPS_Haicom204">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnYDiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnYTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnYjiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnYziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LnZDiAEeKDAMEjnOLmPA" name="IMU_VectorNav100">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnZTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnZjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnZziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnaDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LnaTiAEeKDAMEjnOLmPA" name="LaserRange_Hokuyo30">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnajiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnaziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnbDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnbTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnbjiAEeKDAMEjnOLmPA" name="status" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qG6UsAILEeC_ZLzLQhW-TQ"/>
+ </ownedAttribute>
+ <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_KxjZAHBmEeKpO-l0NGAU9Q" name="OpaqueBehavior1"/>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LnbziAEeKDAMEjnOLmPA" name="Camera_FireWire">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LncDiAEeKDAMEjnOLmPA" name="video" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LncTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LncjiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LncziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LndDiAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LndTiAEeKDAMEjnOLmPA" name="P1_Sensors">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LndjiAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LndziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LneDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LneTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnejiAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LneziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnfDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnfTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnfjiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnfziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LngDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LngTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LngjiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LngziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnhDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnhTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnhjiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnhziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LniDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LniTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnijiAEeKDAMEjnOLmPA" name="wifibot_Frame_Out" type="_k0LnOTiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LniziAEeKDAMEjnOLmPA" name="GPS" type="_k0LnXziAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjDiAEeKDAMEjnOLmPA" name="Odometer" type="_k0LnTjiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjTiAEeKDAMEjnOLmPA" name="IMU" type="_k0LnZDiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjjiAEeKDAMEjnOLmPA" name="LaserRange" type="_k0LnaTiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjziAEeKDAMEjnOLmPA" name="camera_FireWire" type="_k0LnbziAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkDiAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkTiAEeKDAMEjnOLmPA" name="video" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkjiAEeKDAMEjnOLmPA" name="status" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qG6UsAILEeC_ZLzLQhW-TQ"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkziAEeKDAMEjnOLmPA" name="batt_level" type="_k0LkvDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnlDiAEeKDAMEjnOLmPA" name="current_level" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUjyN8EeKwed7FEEF-4Q"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnlTiAEeKDAMEjnOLmPA" name="proxi_Left_Right" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
+ </ownedAttribute>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnljiAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnlziAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnWziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnmDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnmTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnmjiAEeKDAMEjnOLmPA" role="_k0LnejiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnmziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnnDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnnTiAEeKDAMEjnOLmPA" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnnjiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnVziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnnziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnoDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnoTiAEeKDAMEjnOLmPA" role="_k0LndjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnojiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnoziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnpDiAEeKDAMEjnOLmPA" name="Connector3">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnpTiAEeKDAMEjnOLmPA" partWithPort="_k0LniziAEeKDAMEjnOLmPA" role="_k0LnYDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnpjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnpziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnqDiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnqTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnqjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnqziAEeKDAMEjnOLmPA" name="Connector4">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnrDiAEeKDAMEjnOLmPA" partWithPort="_k0LnjjiAEeKDAMEjnOLmPA" role="_k0LnajiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnrTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnrjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnrziAEeKDAMEjnOLmPA" role="_k0LnhjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnsDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnsTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnsjiAEeKDAMEjnOLmPA" name="Connector5">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnsziAEeKDAMEjnOLmPA" partWithPort="_k0LnjziAEeKDAMEjnOLmPA" role="_k0LndDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LntDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LntTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LntjiAEeKDAMEjnOLmPA" role="_k0LnkDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LntziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnuDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnuTiAEeKDAMEjnOLmPA" name="Connector6">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnujiAEeKDAMEjnOLmPA" partWithPort="_k0LnjziAEeKDAMEjnOLmPA" role="_k0LncDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnuziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnvDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnvTiAEeKDAMEjnOLmPA" role="_k0LnkTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnvjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnvziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnwDiAEeKDAMEjnOLmPA" name="Connector7">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnwTiAEeKDAMEjnOLmPA" partWithPort="_k0LnjTiAEeKDAMEjnOLmPA" role="_k0LnZTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnwjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnwziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnxDiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnxTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnxjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnxziAEeKDAMEjnOLmPA" name="Connector8">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnyDiAEeKDAMEjnOLmPA" partWithPort="_k0LnjjiAEeKDAMEjnOLmPA" role="_k0LnbjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnyTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnyjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnyziAEeKDAMEjnOLmPA" role="_k0LnkjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnzDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnzTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnzjiAEeKDAMEjnOLmPA" name="Connector9">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnzziAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnPjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln0DiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln0TiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln0jiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnUziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln0ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln1DiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln1TiAEeKDAMEjnOLmPA" name="Connector10">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln1jiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnOjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln1ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln2DiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln2TiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnTziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln2jiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln2ziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln3DiAEeKDAMEjnOLmPA" name="Connector11">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln3TiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnQjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln3jiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln3ziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln4DiAEeKDAMEjnOLmPA" role="_k0LnlTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln4TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln4jiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln4ziAEeKDAMEjnOLmPA" name="Connector12">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln5DiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnSjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln5TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln5jiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln5ziAEeKDAMEjnOLmPA" role="_k0LnlDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln6DiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln6TiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln6jiAEeKDAMEjnOLmPA" name="Connector13">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln6ziAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnRjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln7DiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln7TiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln7jiAEeKDAMEjnOLmPA" role="_k0LnkziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln7ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln8DiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0Ln8TiAEeKDAMEjnOLmPA" name="A5_MissionGenerator">
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0Ln8jiAEeKDAMEjnOLmPA" name="Mission">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ln8ziAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln9DiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln9TiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ln9jiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0Ln9ziAEeKDAMEjnOLmPA" name="A5_MissionGenerator">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ln-DiAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln-TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln-jiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ln-ziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Ln_DiAEeKDAMEjnOLmPA" name="mission" type="_k0Ln8jiAEeKDAMEjnOLmPA"/>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln_TiAEeKDAMEjnOLmPA" name="Connector0">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln_jiAEeKDAMEjnOLmPA" partWithPort="_k0Ln_DiAEeKDAMEjnOLmPA" role="_k0Ln8ziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln_ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoADiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoATiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoAjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoAziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0LoBDiAEeKDAMEjnOLmPA" name="A4_PathPlanner">
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LoBTiAEeKDAMEjnOLmPA" name="Path_Planner">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoBjiAEeKDAMEjnOLmPA" annotatedElement="_k0LoBTiAEeKDAMEjnOLmPA">
+ <body>this module deliver the path (waypoints) for the navigator. it use the global map to calculate these waypoints, taking into account the mission to do.</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoBziAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoCDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoCTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoCjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoCziAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoDDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoDTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoDjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoDziAEeKDAMEjnOLmPA" name="glob_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoEDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoETiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoEjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoEziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LoFDiAEeKDAMEjnOLmPA" name="A4_PathPlanner">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoFTiAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoFjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoFziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoGDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoGTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoGjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoGziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoHDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoHTiAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoHjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoHziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoIDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LoITiAEeKDAMEjnOLmPA" name="path_Planner" type="_k0LoBTiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoIjiAEeKDAMEjnOLmPA" name="glob_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoIziAEeKDAMEjnOLmPA" name="Connector0">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoJDiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoJTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoJjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoJziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoBziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoKDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoKTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoKjiAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoKziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoCziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoLDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoLTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoLjiAEeKDAMEjnOLmPA" role="_k0LoFTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoLziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoMDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoMTiAEeKDAMEjnOLmPA" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoMjiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoMziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoNDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoNTiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoDziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoNjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoNziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoODiAEeKDAMEjnOLmPA" name="Connector3">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoOTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoOjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoOziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoPDiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoEziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoPTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoPjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0LoPziAEeKDAMEjnOLmPA" name="A3_Navigator">
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LoQDiAEeKDAMEjnOLmPA" name="Navigator">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoQTiAEeKDAMEjnOLmPA" annotatedElement="_k0LoQDiAEeKDAMEjnOLmPA">
+ <body>Navigator deliver local trajectory for the pilot, taking into account local map.&#xD;
+It must reach the various waypoints, considering the obstacles placed in the local map (loc_map)</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoQjiAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoQziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoRDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoRTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoRjiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoRziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoSDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoSTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoSjiAEeKDAMEjnOLmPA" name="loc_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoSziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoTDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoTTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoTjiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoTziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoUDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoUTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoUjiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoUziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoVDiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoVTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LoVjiAEeKDAMEjnOLmPA" name="A3_Navigator">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoVziAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoWDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoWTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoWjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoWziAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoXDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoXTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoXjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LoXziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoQDiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYDiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYTiAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYjiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+ </ownedAttribute>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoYziAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoZDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoRjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoZTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoZjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoZziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoaDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoaTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoajiAEeKDAMEjnOLmPA" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoaziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LobDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LobTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LobjiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoQjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LobziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LocDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LocTiAEeKDAMEjnOLmPA" name="Connector3">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LocjiAEeKDAMEjnOLmPA" role="_k0LoYDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LocziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LodDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LodTiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoSjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LodjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LodziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoeDiAEeKDAMEjnOLmPA" name="Connector4">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoeTiAEeKDAMEjnOLmPA" role="_k0LoYTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoejiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoeziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LofDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoTjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LofTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LofjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LofziAEeKDAMEjnOLmPA" name="Connector5">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogDiAEeKDAMEjnOLmPA" role="_k0LoYjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LogTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LogjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogziAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoUjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LohDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LohTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0LohjiAEeKDAMEjnOLmPA" name="A2_Pilot">
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LohziAEeKDAMEjnOLmPA" name="Pilot">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoiDiAEeKDAMEjnOLmPA" annotatedElement="_k0LohziAEeKDAMEjnOLmPA">
+ <body>The pilot must calculate the set points in operating space, following the trajectory delivered by the navigator. &#xD;
+But the pilot must react to obstacles 'seen' in the proximetric map (prox_map), avoiding them.&#xD;
+</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoiTiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoijiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoiziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LojDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LojTiAEeKDAMEjnOLmPA" name="prox_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LojjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LojziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LokDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LokTiAEeKDAMEjnOLmPA" name="op_set_point" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUVyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LokjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LokziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LolDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LolTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoljiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LolziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LomDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LomTiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LomjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LomziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LonDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LonTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LonjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LonziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LooDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LooTiAEeKDAMEjnOLmPA" name="IKM">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoojiAEeKDAMEjnOLmPA" annotatedElement="_k0LooTiAEeKDAMEjnOLmPA">
+ <body>Modele Cinématique Inverse (MCI) - Invert Kinematic Model (IKM)&#xD;
+transform the velocities from the operational space to the articular space (left and right wheels velocities)</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LooziAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LopDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LopTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LopjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LopziAEeKDAMEjnOLmPA" name="op_set_point" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUVyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoqDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoqTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoqjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LoqziAEeKDAMEjnOLmPA" name="A2_Pilot">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LorDiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LorTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LorjiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LorziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LosDiAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LosTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LosjiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LosziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LotDiAEeKDAMEjnOLmPA" name="Pilot" type="_k0LohziAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LotTiAEeKDAMEjnOLmPA" name="IKM" type="_k0LooTiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LouDiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LouTiAEeKDAMEjnOLmPA" name="accel_girat" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+ </ownedAttribute>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoujiAEeKDAMEjnOLmPA" name="Connector0">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LouziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LokTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LovDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LovTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LovjiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LopziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LovziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LowDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LowTiAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LowjiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LowziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoxDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoxTiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LoiTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoxjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoxziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoyDiAEeKDAMEjnOLmPA" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoyTiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LooziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoyjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoyziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LozDiAEeKDAMEjnOLmPA" role="_k0LosDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LozTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LozjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LozziAEeKDAMEjnOLmPA" name="Connector3">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo0DiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo0TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo0jiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo0ziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LojTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo1DiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo1TiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo1jiAEeKDAMEjnOLmPA" name="Connector4">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo1ziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo2DiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo2TiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo2jiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LolTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo2ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo3DiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo3TiAEeKDAMEjnOLmPA" name="Connector5">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo3jiAEeKDAMEjnOLmPA" role="_k0LouDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo3ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo4DiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo4TiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LomTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo4jiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo4ziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo5DiAEeKDAMEjnOLmPA" name="Connector6">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo5TiAEeKDAMEjnOLmPA" role="_k0LouTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo5jiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo5ziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo6DiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LonTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo6TiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo6jiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0Lo6ziAEeKDAMEjnOLmPA" name="A1_Servoings">
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0Lo7DiAEeKDAMEjnOLmPA" name="Servoings">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo7TiAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo7jiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo7ziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo8DiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo8TiAEeKDAMEjnOLmPA" name="speed_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo8jiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo8ziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo9DiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0Lo9TiAEeKDAMEjnOLmPA" name="WifiBot_Frame_In">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo9jiAEeKDAMEjnOLmPA" name="speed_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo9ziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo-DiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo-TiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0Lo-jiAEeKDAMEjnOLmPA" name="A1_Servoings">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo-ziAEeKDAMEjnOLmPA" name="art_set_point" visibility="private" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo_DiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo_TiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo_jiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lo_ziAEeKDAMEjnOLmPA" name="Servoings" type="_k0Lo7DiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LpADiAEeKDAMEjnOLmPA" name="Frame_In" type="_k0Lo9TiAEeKDAMEjnOLmPA"/>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LpATiAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpAjiAEeKDAMEjnOLmPA" partWithPort="_k0LpADiAEeKDAMEjnOLmPA" role="_k0Lo9jiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpAziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpBDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpBTiAEeKDAMEjnOLmPA" partWithPort="_k0Lo_ziAEeKDAMEjnOLmPA" role="_k0Lo8TiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpBjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpBziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LpCDiAEeKDAMEjnOLmPA" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpCTiAEeKDAMEjnOLmPA" role="_k0Lo-ziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpCjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpCziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpDDiAEeKDAMEjnOLmPA" partWithPort="_k0Lo_ziAEeKDAMEjnOLmPA" role="_k0Lo7TiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpDTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpDjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_O0YV0DiuEeKFHpsdOC1X1Q" name="ExecutionPlatform">
+ <packagedElement xmi:type="uml:Class" xmi:id="_iBPzUDiuEeKFHpsdOC1X1Q" name="RTmaps"/>
+ <packagedElement xmi:type="uml:Class" xmi:id="_rlJygDiuEeKFHpsdOC1X1Q" name="Blender-Morse"/>
+ <packagedElement xmi:type="uml:Class" xmi:id="_HR8psDivEeKFHpsdOC1X1Q" name="Platform1">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_QAl00DivEeKFHpsdOC1X1Q" name="RTmaps1" type="_iBPzUDiuEeKFHpsdOC1X1Q"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_yvakUDivEeKFHpsdOC1X1Q" name="Blender-Morse2" type="_rlJygDiuEeKFHpsdOC1X1Q"/>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_1c43MDivEeKFHpsdOC1X1Q" name="PlatformModel">
+ <packagedElement xmi:type="uml:Package" xmi:id="_1dVjIDivEeKFHpsdOC1X1Q" name="Platform1Platform">
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_1dVjITivEeKFHpsdOC1X1Q" name="RTmaps1" classifier="_iBPzUDiuEeKFHpsdOC1X1Q"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_1dVjIjivEeKFHpsdOC1X1Q" name="Blender-Morse2" classifier="_rlJygDiuEeKFHpsdOC1X1Q"/>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_Fs0CcDiwEeKFHpsdOC1X1Q" name="DeploymentPlans">
+ <packagedElement xmi:type="uml:Package" xmi:id="_Kta1kDiwEeKFHpsdOC1X1Q" name="WifibotDepPlan">
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KtkmkTiwEeKFHpsdOC1X1Q" name="mainInstance" classifier="_k0LlFDiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KuUNcDiwEeKFHpsdOC1X1Q" definingFeature="_k0LlFTiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KuUNcTiwEeKFHpsdOC1X1Q" instance="_KttwgDiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KudXYTiwEeKFHpsdOC1X1Q" definingFeature="_k0LlFjiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KudXYjiwEeKFHpsdOC1X1Q" instance="_KuUNcjiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KunIYDiwEeKFHpsdOC1X1Q" definingFeature="_k0LlFziAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KunIYTiwEeKFHpsdOC1X1Q" instance="_KudXYziwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KunIaTiwEeKFHpsdOC1X1Q" definingFeature="_k0LlGDiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KunIajiwEeKFHpsdOC1X1Q" instance="_KunIYjiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KuwSVziwEeKFHpsdOC1X1Q" definingFeature="_k0LlGTiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KuwSWDiwEeKFHpsdOC1X1Q" instance="_KuwSUDiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KvD0UjiwEeKFHpsdOC1X1Q" definingFeature="_k0LlGjiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KvD0UziwEeKFHpsdOC1X1Q" instance="_KuwSWTiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KvD0XjiwEeKFHpsdOC1X1Q" definingFeature="_k0LlGziAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KvD0XziwEeKFHpsdOC1X1Q" instance="_KvD0VDiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KvM-RDiwEeKFHpsdOC1X1Q" definingFeature="_k0LlHDiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KvM-RTiwEeKFHpsdOC1X1Q" instance="_KvM-QDiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KvM-TTiwEeKFHpsdOC1X1Q" definingFeature="_k0LlHTiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KvM-TjiwEeKFHpsdOC1X1Q" instance="_KvM-RjiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ </packagedElement>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KttwgDiwEeKFHpsdOC1X1Q" name="mainInstance.pathPlanner" classifier="_k0LoFDiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KuKccDiwEeKFHpsdOC1X1Q" definingFeature="_k0LoITiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KuKccTiwEeKFHpsdOC1X1Q" instance="_KttwgTiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ </packagedElement>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KttwgTiwEeKFHpsdOC1X1Q" name="mainInstance.pathPlanner.path_Planner" classifier="_k0LoBTiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuUNcjiwEeKFHpsdOC1X1Q" name="mainInstance.missionGenerator" classifier="_k0Ln9ziAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KuUNdDiwEeKFHpsdOC1X1Q" definingFeature="_k0Ln_DiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KudXYDiwEeKFHpsdOC1X1Q" instance="_KuUNcziwEeKFHpsdOC1X1Q"/>
+ </slot>
+ </packagedElement>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuUNcziwEeKFHpsdOC1X1Q" name="mainInstance.missionGenerator.mission" classifier="_k0Ln8jiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KudXYziwEeKFHpsdOC1X1Q" name="mainInstance.navigator" classifier="_k0LoVjiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KudXZTiwEeKFHpsdOC1X1Q" definingFeature="_k0LoXziAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KudXZjiwEeKFHpsdOC1X1Q" instance="_KudXZDiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ </packagedElement>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KudXZDiwEeKFHpsdOC1X1Q" name="mainInstance.navigator.navigator" classifier="_k0LoQDiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KunIYjiwEeKFHpsdOC1X1Q" name="mainInstance.pilot" classifier="_k0LoqziAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KunIZDiwEeKFHpsdOC1X1Q" definingFeature="_k0LotDiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KunIZTiwEeKFHpsdOC1X1Q" instance="_KunIYziwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KunIZziwEeKFHpsdOC1X1Q" definingFeature="_k0LotTiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KunIaDiwEeKFHpsdOC1X1Q" instance="_KunIZjiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ </packagedElement>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KunIYziwEeKFHpsdOC1X1Q" name="mainInstance.pilot.Pilot" classifier="_k0LohziAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KunIZjiwEeKFHpsdOC1X1Q" name="mainInstance.pilot.IKM" classifier="_k0LooTiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSUDiwEeKFHpsdOC1X1Q" name="mainInstance.servoing" classifier="_k0Lo-jiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KuwSUjiwEeKFHpsdOC1X1Q" definingFeature="_k0Lo_ziAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KuwSUziwEeKFHpsdOC1X1Q" instance="_KuwSUTiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KuwSVTiwEeKFHpsdOC1X1Q" definingFeature="_k0LpADiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KuwSVjiwEeKFHpsdOC1X1Q" instance="_KuwSVDiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ </packagedElement>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSUTiwEeKFHpsdOC1X1Q" name="mainInstance.servoing.Servoings" classifier="_k0Lo7DiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSVDiwEeKFHpsdOC1X1Q" name="mainInstance.servoing.Frame_In" classifier="_k0Lo9TiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSWTiwEeKFHpsdOC1X1Q" name="mainInstance.sensors" classifier="_k0LndTiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_Ku6DUDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnijiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DUTiwEeKFHpsdOC1X1Q" instance="_KuwSWjiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_Ku6DUziwEeKFHpsdOC1X1Q" definingFeature="_k0LniziAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DVDiwEeKFHpsdOC1X1Q" instance="_Ku6DUjiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_Ku6DVjiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjDiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DVziwEeKFHpsdOC1X1Q" instance="_Ku6DVTiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_Ku6DWTiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjTiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DWjiwEeKFHpsdOC1X1Q" instance="_Ku6DWDiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_Ku6DXDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjjiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DXTiwEeKFHpsdOC1X1Q" instance="_Ku6DWziwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KvD0UDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjziAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KvD0UTiwEeKFHpsdOC1X1Q" instance="_Ku6DXjiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ </packagedElement>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSWjiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.wifibot_Frame_Out" classifier="_k0LnOTiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DUjiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.GPS" classifier="_k0LnXziAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DVTiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.Odometer" classifier="_k0LnTjiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DWDiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.IMU" classifier="_k0LnZDiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DWziwEeKFHpsdOC1X1Q" name="mainInstance.sensors.LaserRange" classifier="_k0LnaTiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DXjiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.camera_FireWire" classifier="_k0LnbziAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0VDiwEeKFHpsdOC1X1Q" name="mainInstance.proximetry" classifier="_k0LmxDiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KvD0VjiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm2jiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KvD0VziwEeKFHpsdOC1X1Q" instance="_KvD0VTiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KvD0WTiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm2ziAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KvD0WjiwEeKFHpsdOC1X1Q" instance="_KvD0WDiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KvD0XDiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm3DiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KvD0XTiwEeKFHpsdOC1X1Q" instance="_KvD0WziwEeKFHpsdOC1X1Q"/>
+ </slot>
+ </packagedElement>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0VTiwEeKFHpsdOC1X1Q" name="mainInstance.proximetry.superDKM" classifier="_k0LmkTiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0WDiwEeKFHpsdOC1X1Q" name="mainInstance.proximetry.proximetric_Map" classifier="_k0LmrjiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0WziwEeKFHpsdOC1X1Q" name="mainInstance.proximetry.amer_Identif" classifier="_k0LmuTiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-QDiwEeKFHpsdOC1X1Q" name="mainInstance.global_map" classifier="_k0LmBDiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KvM-QjiwEeKFHpsdOC1X1Q" definingFeature="_k0LmBTiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KvM-QziwEeKFHpsdOC1X1Q" instance="_KvM-QTiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ </packagedElement>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-QTiwEeKFHpsdOC1X1Q" name="mainInstance.global_map.global_Map" classifier="_k0Ll8jiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-RjiwEeKFHpsdOC1X1Q" name="mainInstance.local_Map" classifier="_k0LmTjiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KvM-SDiwEeKFHpsdOC1X1Q" definingFeature="_k0LmTziAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KvM-STiwEeKFHpsdOC1X1Q" instance="_KvM-RziwEeKFHpsdOC1X1Q"/>
+ </slot>
+ <slot xmi:type="uml:Slot" xmi:id="_KvM-SziwEeKFHpsdOC1X1Q" definingFeature="_k0LmUDiAEeKDAMEjnOLmPA">
+ <value xmi:type="uml:InstanceValue" xmi:id="_KvM-TDiwEeKFHpsdOC1X1Q" instance="_KvM-SjiwEeKFHpsdOC1X1Q"/>
+ </slot>
+ </packagedElement>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-RziwEeKFHpsdOC1X1Q" name="mainInstance.local_Map.amer_Loc" classifier="_k0LmRTiAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-SjiwEeKFHpsdOC1X1Q" name="mainInstance.local_Map.local_Map" classifier="_k0LmJziAEeKDAMEjnOLmPA"/>
+ <packagedElement xmi:type="uml:Abstraction" xmi:id="_WxjV0DiwEeKFHpsdOC1X1Q" name="allocate to Blender-Morse2" client="_KuwSWTiwEeKFHpsdOC1X1Q" supplier="_1dVjIjivEeKFHpsdOC1X1Q"/>
+ <packagedElement xmi:type="uml:Abstraction" xmi:id="_Yxf0UDiwEeKFHpsdOC1X1Q" name="allocate to Blender-Morse2" client="_KuwSUDiwEeKFHpsdOC1X1Q" supplier="_1dVjIjivEeKFHpsdOC1X1Q"/>
+ <packagedElement xmi:type="uml:Abstraction" xmi:id="_j6kagDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KttwgDiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+ <packagedElement xmi:type="uml:Abstraction" xmi:id="_kcVq0DiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KuUNcjiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+ <packagedElement xmi:type="uml:Abstraction" xmi:id="_k-HiMDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KudXYziwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+ <packagedElement xmi:type="uml:Abstraction" xmi:id="_lnLGQDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KunIYjiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+ <packagedElement xmi:type="uml:Abstraction" xmi:id="_mELyYDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KvD0VDiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+ <packagedElement xmi:type="uml:Abstraction" xmi:id="_mhfZcDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KvM-QDiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+ <packagedElement xmi:type="uml:Abstraction" xmi:id="_nLJacDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KvM-RjiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_r_SxEKEKEeKLUqX9IJq2Gg" name="Environment">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_wOk08KEKEeKLUqX9IJq2Gg" name="wifibot" type="_k0LlFDiAEeKDAMEjnOLmPA"/>
+ </packagedElement>
+ <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_k0LpDziAEeKDAMEjnOLmPA">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0LpEDiAEeKDAMEjnOLmPA" source="http://www.eclipse.org/uml2/2.0.0/UML">
+ <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
+ </eAnnotations>
+ <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
+ </profileApplication>
+ </uml:Model>
+ <RobotML:Software xmi:id="_k0LpETiAEeKDAMEjnOLmPA" base_Class="_k0Ll8jiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpEjiAEeKDAMEjnOLmPA" base_Class="_k0LmBDiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpEziAEeKDAMEjnOLmPA" base_Class="_k0LmJziAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpFDiAEeKDAMEjnOLmPA" base_Class="_k0LmRTiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpFTiAEeKDAMEjnOLmPA" base_Class="_k0LmTjiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpFjiAEeKDAMEjnOLmPA" base_Class="_k0LmkTiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpFziAEeKDAMEjnOLmPA" base_Class="_k0LmrjiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpGDiAEeKDAMEjnOLmPA" base_Class="_k0LmuTiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpGTiAEeKDAMEjnOLmPA" base_Class="_k0LmxDiAEeKDAMEjnOLmPA"/>
+ <RobotML:RoboticSystem xmi:id="_k0LpGjiAEeKDAMEjnOLmPA" base_Class="_k0LnOTiAEeKDAMEjnOLmPA"/>
+ <RobotML:SensorSystem xmi:id="_k0LpGziAEeKDAMEjnOLmPA" base_Class="_k0LnTjiAEeKDAMEjnOLmPA"/>
+ <RobotML:GPSSystem xmi:id="_k0LpHDiAEeKDAMEjnOLmPA" base_Class="_k0LnXziAEeKDAMEjnOLmPA"/>
+ <RobotML:LidarSystem xmi:id="_k0LpHjiAEeKDAMEjnOLmPA" base_Class="_k0LnaTiAEeKDAMEjnOLmPA" libraryPath="" libraryComponentName=""/>
+ <RobotML:CameraSystem xmi:id="_k0LpHziAEeKDAMEjnOLmPA" base_Class="_k0LnbziAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpIDiAEeKDAMEjnOLmPA" base_Class="_k0Ln8jiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpITiAEeKDAMEjnOLmPA" base_Class="_k0Ln9ziAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpIjiAEeKDAMEjnOLmPA" base_Class="_k0LoBTiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpIziAEeKDAMEjnOLmPA" base_Class="_k0LoFDiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpJDiAEeKDAMEjnOLmPA" base_Class="_k0LoQDiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpJTiAEeKDAMEjnOLmPA" base_Class="_k0LoVjiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpJjiAEeKDAMEjnOLmPA" base_Class="_k0LohziAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpJziAEeKDAMEjnOLmPA" base_Class="_k0LooTiAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpKDiAEeKDAMEjnOLmPA" base_Class="_k0LoqziAEeKDAMEjnOLmPA"/>
+ <RobotML:Software xmi:id="_k0LpKTiAEeKDAMEjnOLmPA" base_Class="_k0Lo7DiAEeKDAMEjnOLmPA"/>
+ <RobotML:RoboticSystem xmi:id="_k0LpKjiAEeKDAMEjnOLmPA" base_Class="_k0Lo9TiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpKziAEeKDAMEjnOLmPA" base_Port="_k0Lo-ziAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpLDiAEeKDAMEjnOLmPA" base_Port="_k0Lo7TiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpLTiAEeKDAMEjnOLmPA" base_Port="_k0Lo8TiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpLjiAEeKDAMEjnOLmPA" base_Port="_k0Lo9jiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpLziAEeKDAMEjnOLmPA" base_Port="_k0LorDiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpMDiAEeKDAMEjnOLmPA" base_Port="_k0LoiTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpMTiAEeKDAMEjnOLmPA" base_Port="_k0LojTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpMjiAEeKDAMEjnOLmPA" base_Port="_k0LolTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpMziAEeKDAMEjnOLmPA" base_Port="_k0LomTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpNDiAEeKDAMEjnOLmPA" base_Port="_k0LonTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpNTiAEeKDAMEjnOLmPA" base_Port="_k0LokTiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpNjiAEeKDAMEjnOLmPA" base_Port="_k0LopziAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpNziAEeKDAMEjnOLmPA" base_Port="_k0LooziAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpODiAEeKDAMEjnOLmPA" base_Port="_k0LosDiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpOTiAEeKDAMEjnOLmPA" base_Port="_k0LoVziAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpOjiAEeKDAMEjnOLmPA" base_Port="_k0LoQjiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpOziAEeKDAMEjnOLmPA" base_Port="_k0LoSjiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpPDiAEeKDAMEjnOLmPA" base_Port="_k0LoTjiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpPTiAEeKDAMEjnOLmPA" base_Port="_k0LoUjiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpPjiAEeKDAMEjnOLmPA" base_Port="_k0LoRjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpPziAEeKDAMEjnOLmPA" base_Port="_k0LoWziAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpQDiAEeKDAMEjnOLmPA" base_Port="_k0LoHTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpQTiAEeKDAMEjnOLmPA" base_Port="_k0LoGTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpQjiAEeKDAMEjnOLmPA" base_Port="_k0LoBziAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpQziAEeKDAMEjnOLmPA" base_Port="_k0LoDziAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpRDiAEeKDAMEjnOLmPA" base_Port="_k0LoCziAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpRTiAEeKDAMEjnOLmPA" base_Port="_k0LoFTiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpRjiAEeKDAMEjnOLmPA" base_Port="_k0Ln8ziAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpRziAEeKDAMEjnOLmPA" base_Port="_k0Ln-DiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpSDiAEeKDAMEjnOLmPA" base_Port="_k0LnUziAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpSTiAEeKDAMEjnOLmPA" base_Port="_k0LnTziAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpSjiAEeKDAMEjnOLmPA" base_Port="_k0LnOjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpSziAEeKDAMEjnOLmPA" base_Port="_k0LnPjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpTDiAEeKDAMEjnOLmPA" base_Port="_k0LnSjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpTTiAEeKDAMEjnOLmPA" base_Port="_k0LnQjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpTjiAEeKDAMEjnOLmPA" base_Port="_k0LnRjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpTziAEeKDAMEjnOLmPA" base_Port="_k0LnWziAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpUDiAEeKDAMEjnOLmPA" base_Port="_k0LnVziAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpUTiAEeKDAMEjnOLmPA" base_Port="_k0LnZTiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpUjiAEeKDAMEjnOLmPA" base_Port="_k0LnYDiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpUziAEeKDAMEjnOLmPA" base_Port="_k0LnajiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpVDiAEeKDAMEjnOLmPA" base_Port="_k0LncDiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpVTiAEeKDAMEjnOLmPA" base_Port="_k0LmxjiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpVjiAEeKDAMEjnOLmPA" base_Port="_k0LmyjiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpVziAEeKDAMEjnOLmPA" base_Port="_k0LmzjiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpWDiAEeKDAMEjnOLmPA" base_Port="_k0Lm0jiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpWTiAEeKDAMEjnOLmPA" base_Port="_k0Lm1jiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpWjiAEeKDAMEjnOLmPA" base_Port="_k0LmmziAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpWziAEeKDAMEjnOLmPA" base_Port="_k0LmnziAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpXDiAEeKDAMEjnOLmPA" base_Port="_k0LmoziAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpXTiAEeKDAMEjnOLmPA" base_Port="_k0LmpziAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpXjiAEeKDAMEjnOLmPA" base_Port="_k0LmkziAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpXziAEeKDAMEjnOLmPA" base_Port="_k0LmlziAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpYDiAEeKDAMEjnOLmPA" base_Port="_k0LmRjiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpYTiAEeKDAMEjnOLmPA" base_Port="_k0LmSjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpYjiAEeKDAMEjnOLmPA" base_Port="_k0LmKTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpYziAEeKDAMEjnOLmPA" base_Port="_k0LmLTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpZDiAEeKDAMEjnOLmPA" base_Port="_k0LmMTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpZTiAEeKDAMEjnOLmPA" base_Port="_k0LmOTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpZjiAEeKDAMEjnOLmPA" base_Port="_k0LmPTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpZziAEeKDAMEjnOLmPA" base_Port="_k0LmQTiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpaDiAEeKDAMEjnOLmPA" base_Port="_k0LmNTiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpaTiAEeKDAMEjnOLmPA" base_Port="_k0Ll-DiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpajiAEeKDAMEjnOLmPA" base_Port="_k0Ll_DiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpaziAEeKDAMEjnOLmPA" base_Port="_k0LmADiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0LpbDiAEeKDAMEjnOLmPA" base_Port="_k0Ll9DiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU4DiAEeKDAMEjnOLmPA" base_Port="_k0LnejiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU4TiAEeKDAMEjnOLmPA" base_Port="_k0LnfjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU4jiAEeKDAMEjnOLmPA" base_Port="_k0LnhjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU4ziAEeKDAMEjnOLmPA" base_Port="_k0LngjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU5DiAEeKDAMEjnOLmPA" base_Port="_k0LndjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU5TiAEeKDAMEjnOLmPA" base_Port="_k0LmsDiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU5jiAEeKDAMEjnOLmPA" base_Port="_k0LmtDiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU5ziAEeKDAMEjnOLmPA" base_Port="_k0LmvziAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU6DiAEeKDAMEjnOLmPA" base_Port="_k0LmuziAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU6TiAEeKDAMEjnOLmPA" base_Port="_k0LndDiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU6jiAEeKDAMEjnOLmPA" base_Port="_k0LnbjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU6ziAEeKDAMEjnOLmPA" base_Port="_k0LmwziAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU7jiAEeKDAMEjnOLmPA" base_Port="_k0LouDiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU7ziAEeKDAMEjnOLmPA" base_Port="_k0LouTiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU8DiAEeKDAMEjnOLmPA" base_Port="_k0LoYDiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU8TiAEeKDAMEjnOLmPA" base_Port="_k0LoYTiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU8jiAEeKDAMEjnOLmPA" base_Port="_k0LoYjiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU8ziAEeKDAMEjnOLmPA" base_Port="_k0LoIjiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU9DiAEeKDAMEjnOLmPA" base_Port="_k0LnkDiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU9TiAEeKDAMEjnOLmPA" base_Port="_k0LnkTiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU9jiAEeKDAMEjnOLmPA" base_Port="_k0LnkjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU9ziAEeKDAMEjnOLmPA" base_Port="_k0LnkziAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU-DiAEeKDAMEjnOLmPA" base_Port="_k0LnlDiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU-TiAEeKDAMEjnOLmPA" base_Port="_k0LnlTiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU-jiAEeKDAMEjnOLmPA" base_Port="_k0Lm3TiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU-ziAEeKDAMEjnOLmPA" base_Port="_k0Lm3jiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU_DiAEeKDAMEjnOLmPA" base_Port="_k0Lm3ziAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU_TiAEeKDAMEjnOLmPA" base_Port="_k0Lm4DiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU_jiAEeKDAMEjnOLmPA" base_Port="_k0Lm4TiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VU_ziAEeKDAMEjnOLmPA" base_Port="_k0Lm4jiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVADiAEeKDAMEjnOLmPA" base_Port="_k0LmUTiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVATiAEeKDAMEjnOLmPA" base_Port="_k0LmUjiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVAjiAEeKDAMEjnOLmPA" base_Port="_k0LmUziAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVAziAEeKDAMEjnOLmPA" base_Port="_k0LmVDiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVBDiAEeKDAMEjnOLmPA" base_Port="_k0LmVTiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVBTiAEeKDAMEjnOLmPA" base_Port="_k0LmVjiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVBjiAEeKDAMEjnOLmPA" base_Port="_k0LmVziAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVBziAEeKDAMEjnOLmPA" base_Port="_k0LmBjiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVCDiAEeKDAMEjnOLmPA" base_Port="_k0LmBziAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVCTiAEeKDAMEjnOLmPA" base_Port="_k0LmCDiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVCjiAEeKDAMEjnOLmPA" base_Port="_k0LmCTiAEeKDAMEjnOLmPA" direction="out"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVDziAEeKDAMEjnOLmPA" base_Port="_k0Lm4ziAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVEDiAEeKDAMEjnOLmPA" base_Port="_k0LmuDiAEeKDAMEjnOLmPA" bufferSize="6"/>
+ <RobotML:Robot xmi:id="_k0VVGjiAEeKDAMEjnOLmPA" base_Class="_k0LlFDiAEeKDAMEjnOLmPA"/>
+ <RobotML:SensorSystem xmi:id="_k0VVGziAEeKDAMEjnOLmPA" base_Class="_k0LndTiAEeKDAMEjnOLmPA"/>
+ <RobotML:ActuatorSystem xmi:id="_k0VVHDiAEeKDAMEjnOLmPA" base_Class="_k0Lo-jiAEeKDAMEjnOLmPA"/>
+ <RobotML:DataFlowPort xmi:id="_k0VVHTiAEeKDAMEjnOLmPA" base_Port="_k0LoEziAEeKDAMEjnOLmPA"/>
+ <RobotML:RoboticMiddleware xmi:id="_iFHmsDiuEeKFHpsdOC1X1Q" base_Class="_iBPzUDiuEeKFHpsdOC1X1Q"/>
+ <RobotML:BlenderMorse xmi:id="_u55gwDiuEeKFHpsdOC1X1Q" base_Class="_rlJygDiuEeKFHpsdOC1X1Q" debugMode="true"/>
+ <RobotML:Platform xmi:id="_HSZVrDivEeKFHpsdOC1X1Q" base_Class="_HR8psDivEeKFHpsdOC1X1Q"/>
+ <RobotML:Allocate xmi:id="_WxtG0DiwEeKFHpsdOC1X1Q" base_Abstraction="_WxjV0DiwEeKFHpsdOC1X1Q"/>
+ <RobotML:Allocate xmi:id="_Yxf0UTiwEeKFHpsdOC1X1Q" base_Abstraction="_Yxf0UDiwEeKFHpsdOC1X1Q"/>
+ <RobotML:Allocate xmi:id="_j6uLgDiwEeKFHpsdOC1X1Q" base_Abstraction="_j6kagDiwEeKFHpsdOC1X1Q"/>
+ <RobotML:Allocate xmi:id="_kcfb0DiwEeKFHpsdOC1X1Q" base_Abstraction="_kcVq0DiwEeKFHpsdOC1X1Q"/>
+ <RobotML:Allocate xmi:id="_k-HiMTiwEeKFHpsdOC1X1Q" base_Abstraction="_k-HiMDiwEeKFHpsdOC1X1Q"/>
+ <RobotML:Allocate xmi:id="_lnU3QDiwEeKFHpsdOC1X1Q" base_Abstraction="_lnLGQDiwEeKFHpsdOC1X1Q"/>
+ <RobotML:Allocate xmi:id="_mEVjYDiwEeKFHpsdOC1X1Q" base_Abstraction="_mELyYDiwEeKFHpsdOC1X1Q"/>
+ <RobotML:Allocate xmi:id="_mhpKcDiwEeKFHpsdOC1X1Q" base_Abstraction="_mhfZcDiwEeKFHpsdOC1X1Q"/>
+ <RobotML:Allocate xmi:id="_nLTLcDiwEeKFHpsdOC1X1Q" base_Abstraction="_nLJacDiwEeKFHpsdOC1X1Q"/>
+ <RobotML:InertialMeasurementUnitSystem xmi:id="_HEDvQJ3nEeKaDJbg6baweA" base_Class="_k0LnZDiAEeKDAMEjnOLmPA"/>
+ <RobotML:Environment xmi:id="_sGvc4KEKEeKLUqX9IJq2Gg" base_Class="_r_SxEKEKEeKLUqX9IJq2Gg"/>
+</xmi:XMI>

Back to the top