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authorSaadia Dhouib2013-09-02 12:42:53 (EDT)
committerCamille Letavernier2013-09-03 03:49:19 (EDT)
commit615f22c2723fdcd2aa99a1838bd47494a38163ed (patch)
tree4bc5e73fab744549e1e4f7108c399abcf630de19
parentc52452225b5c6fae6d5b573433c19991daf1e8d6 (diff)
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Modifying RobotML profile: state machine transitions and states
reference UML bahaviors instead of Algorithms. The RobotML OARPS models were modified in order to be compliant with the new version of the profile.
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361 files changed, 18755 insertions, 28218 deletions
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 9a5f9fc..9fb07f4 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.di
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.di
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="ASCII"?>
+<?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>
@@ -107,6 +107,9 @@
<children>
<emfPageIdentifier href="RoboCab.notation#_OCVFkBwAEeGa5bH_RJFzBQ"/>
</children>
+ <children>
+ <emfPageIdentifier href="RoboCab.notation#_EKbpcEK6EeGv-54Wm4mRWQ"/>
+ </children>
</children>
</windows>
</sashModel>
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 3614ede..8c559b4 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
@@ -941,56 +941,6 @@
<element xmi:type="uml:Class" href="RoboCab.uml#_ypiFMDUpEeG5pL_fpN2DgQ"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_yp4DcTUpEeG5pL_fpN2DgQ" x="1930" y="30" width="166" height="121"/>
</children>
- <children xmi:type="notation:Shape" xmi:id="_g16zUGeiEeGWtaOO91qxRQ" type="2073" fontHeight="8" lineColor="0">
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g16zUmeiEeGWtaOO91qxRQ" source="ShadowFigure">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g16zU2eiEeGWtaOO91qxRQ" key="ShadowFigure_Value" value="false"/>
- </eAnnotations>
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g16zVGeiEeGWtaOO91qxRQ" source="displayNameLabelIcon">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g16zVWeiEeGWtaOO91qxRQ" key="displayNameLabelIcon_value" value="false"/>
- </eAnnotations>
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g16zVmeiEeGWtaOO91qxRQ" source="QualifiedName">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g16zV2eiEeGWtaOO91qxRQ" key="QualifiedNameDepth" value="1000"/>
- </eAnnotations>
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g2XfQGeiEeGWtaOO91qxRQ" source="Stereotype_Annotation">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g3jyEGeiEeGWtaOO91qxRQ" key="StereotypeWithQualifiedNameList" value=""/>
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g3jyEWeiEeGWtaOO91qxRQ" key="StereotypeList" value="RobotML::LidarSystem"/>
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g3jyEmeiEeGWtaOO91qxRQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g3jyE2eiEeGWtaOO91qxRQ" key="PropStereoDisplay" value=""/>
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g3jyFGeiEeGWtaOO91qxRQ" key="StereotypePropertyLocation" value="Compartment"/>
- </eAnnotations>
- <children xmi:type="notation:DecorationNode" xmi:id="_g16zWGeiEeGWtaOO91qxRQ" type="5156"/>
- <children xmi:type="notation:BasicCompartment" xmi:id="_g16zWWeiEeGWtaOO91qxRQ" type="7073">
- <styles xmi:type="notation:TitleStyle" xmi:id="_g16zWmeiEeGWtaOO91qxRQ"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g16zW2eiEeGWtaOO91qxRQ"/>
- </children>
- <element xmi:type="uml:Class" href="RoboCab.uml#_g1eucGeiEeGWtaOO91qxRQ"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g16zUWeiEeGWtaOO91qxRQ" x="338" y="313"/>
- </children>
- <children xmi:type="notation:Shape" xmi:id="_hfWK0GeiEeGWtaOO91qxRQ" type="2073" fontHeight="8" lineColor="0">
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hfWK0meiEeGWtaOO91qxRQ" source="ShadowFigure">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hfWK02eiEeGWtaOO91qxRQ" key="ShadowFigure_Value" value="false"/>
- </eAnnotations>
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hff70GeiEeGWtaOO91qxRQ" source="displayNameLabelIcon">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hff70WeiEeGWtaOO91qxRQ" key="displayNameLabelIcon_value" value="false"/>
- </eAnnotations>
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hff70meiEeGWtaOO91qxRQ" source="QualifiedName">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hff702eiEeGWtaOO91qxRQ" key="QualifiedNameDepth" value="1000"/>
- </eAnnotations>
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hfy2wGeiEeGWtaOO91qxRQ" source="Stereotype_Annotation">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hg1YkGeiEeGWtaOO91qxRQ" key="StereotypeWithQualifiedNameList" value=""/>
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hg1YkWeiEeGWtaOO91qxRQ" key="StereotypeList" value="RobotML::GPSSystem"/>
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hg1YkmeiEeGWtaOO91qxRQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hg1Yk2eiEeGWtaOO91qxRQ" key="PropStereoDisplay" value=""/>
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hg1YlGeiEeGWtaOO91qxRQ" key="StereotypePropertyLocation" value="Compartment"/>
- </eAnnotations>
- <children xmi:type="notation:DecorationNode" xmi:id="_hff71GeiEeGWtaOO91qxRQ" type="5156"/>
- <children xmi:type="notation:BasicCompartment" xmi:id="_hff71WeiEeGWtaOO91qxRQ" type="7073">
- <styles xmi:type="notation:TitleStyle" xmi:id="_hff71meiEeGWtaOO91qxRQ"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_hff712eiEeGWtaOO91qxRQ"/>
- </children>
- <element xmi:type="uml:Class" href="RoboCab.uml#_hfDP4GeiEeGWtaOO91qxRQ"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_hfWK0WeiEeGWtaOO91qxRQ" x="505" y="314"/>
- </children>
<styles xmi:type="notation:DiagramStyle" xmi:id="_feP4-6k_EeCXqcRV-18f6Q"/>
<element xmi:type="uml:Model" href="RoboCab.uml#_fdzJWak_EeCXqcRV-18f6Q"/>
</notation:Diagram>
@@ -5102,13 +5052,13 @@
<details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_13Le5EK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
</eAnnotations>
<children xmi:type="notation:DecorationNode" xmi:id="_M9y8hkK6EeGv-54Wm4mRWQ" type="6001">
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IX0lAEK8EeGv-54Wm4mRWQ" width="191" height="81"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IX0lAEK8EeGv-54Wm4mRWQ" width="191" height="73"/>
</children>
<children xmi:type="notation:DecorationNode" xmi:id="_M9y8h0K6EeGv-54Wm4mRWQ" type="6002">
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M9y8iEK6EeGv-54Wm4mRWQ" y="81" width="191" height="87"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M9y8iEK6EeGv-54Wm4mRWQ" y="73" width="191" height="87"/>
</children>
<element xmi:type="uml:State" href="RoboCab.uml#_M9id0EK6EeGv-54Wm4mRWQ"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M9yVcUK6EeGv-54Wm4mRWQ" x="35" y="262" width="191" height="168"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M9yVcUK6EeGv-54Wm4mRWQ" x="35" y="262" width="191" height="160"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_AsIEoEK8EeGv-54Wm4mRWQ" type="6000" fontName="UnBatang" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_AsIEokK8EeGv-54Wm4mRWQ" source="ShadowFigure">
@@ -5128,13 +5078,13 @@
<details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uHIC9EK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
</eAnnotations>
<children xmi:type="notation:DecorationNode" xmi:id="_AsIrtUK8EeGv-54Wm4mRWQ" type="6001">
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NsoGgEK8EeGv-54Wm4mRWQ" width="196" height="81"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NsoGgEK8EeGv-54Wm4mRWQ" width="196" height="73"/>
</children>
<children xmi:type="notation:DecorationNode" xmi:id="_AsIrtkK8EeGv-54Wm4mRWQ" type="6002">
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_AsIrt0K8EeGv-54Wm4mRWQ" y="81" width="196" height="84"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_AsIrt0K8EeGv-54Wm4mRWQ" y="73" width="196" height="84"/>
</children>
<element xmi:type="uml:State" href="RoboCab.uml#_Ar40EEK8EeGv-54Wm4mRWQ"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_AsIEoUK8EeGv-54Wm4mRWQ" x="295" y="17" width="196" height="165"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_AsIEoUK8EeGv-54Wm4mRWQ" x="295" y="17" width="196" height="157"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_Pv0GQEK8EeGv-54Wm4mRWQ" type="6000" fontName="Ubuntu" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Pv0GQkK8EeGv-54Wm4mRWQ" source="ShadowFigure">
@@ -5154,13 +5104,13 @@
<details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_s3hcREK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
</eAnnotations>
<children xmi:type="notation:DecorationNode" xmi:id="_Pv0GSEK8EeGv-54Wm4mRWQ" type="6001">
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_kYurAEK8EeGv-54Wm4mRWQ" width="191" height="81"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_kYurAEK8EeGv-54Wm4mRWQ" width="191" height="73"/>
</children>
<children xmi:type="notation:DecorationNode" xmi:id="_Pv0tUEK8EeGv-54Wm4mRWQ" type="6002">
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Pv0tUUK8EeGv-54Wm4mRWQ" y="81" width="191" height="91"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Pv0tUUK8EeGv-54Wm4mRWQ" y="73" width="191" height="91"/>
</children>
<element xmi:type="uml:State" href="RoboCab.uml#_PvjnkEK8EeGv-54Wm4mRWQ"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Pv0GQUK8EeGv-54Wm4mRWQ" x="545" y="262" width="191" height="172"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Pv0GQUK8EeGv-54Wm4mRWQ" x="545" y="262" width="191" height="164"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_exomkGLwEeGQvv5wJEmGUQ" type="8000" fontHeight="8" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_exomkmLwEeGQvv5wJEmGUQ" source="ShadowFigure">
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml
index 1ad731a..0940a60 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml
@@ -1,207 +1,207 @@
<?xml version="1.0" encoding="UTF-8"?>
<xmi:XMI xmi:version="2.1" xmlns:xmi="http://schema.omg.org/spec/XMI/2.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:Blocks="http://www.eclipse.org/papyrus/0.7.0/SysML/Blocks" 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" xsi:schemaLocation="http://www.eclipse.org/papyrus/0.7.0/SysML/Blocks http://www.eclipse.org/papyrus/0.7.0/SysML#//blocks">
<uml:Model xmi:id="_fdzI0Kk_EeCXqcRV-18f6Q" name="RoboCab">
- <packageImport xmi:id="__Xbz4Kk_EeCYaYi0hzq5kg">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
+ <packageImport xmi:type="uml:PackageImport" xmi:id="__Xbz4Kk_EeCYaYi0hzq5kg">
+ <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
</packageImport>
<packagedElement xmi:type="uml:Model" xmi:id="_fdzI0ak_EeCXqcRV-18f6Q" name="CoreModel">
<packagedElement xmi:type="uml:Class" xmi:id="_fdzI0qk_EeCXqcRV-18f6Q" name="RoboCab">
- <ownedAttribute xmi:id="_fdzI16k_EeCXqcRV-18f6Q" name="landis" visibility="public" type="_fdzJZ6k_EeCXqcRV-18f6Q" aggregation="composite">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzI16k_EeCXqcRV-18f6Q" name="landis" visibility="public" type="_fdzJZ6k_EeCXqcRV-18f6Q" aggregation="composite">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzI2ak_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzI2Kk_EeCXqcRV-18f6Q" value="1"/>
<defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzI2qk_EeCXqcRV-18f6Q">
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_BE-egKlmEeCLku4RFrI7uw" name="missionGenerator" type="_aG5SkKlgEeCYfbnxVSyZ9g"/>
- <ownedAttribute xmi:id="_bsDDwKlmEeCLku4RFrI7uw" name="organizeSpace" type="_fdzJyKk_EeCXqcRV-18f6Q"/>
- <ownedAttribute xmi:id="_kbbj0BwnEeGa5bH_RJFzBQ" name="challengerSpace" type="_fdzLHak_EeCXqcRV-18f6Q">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_BE-egKlmEeCLku4RFrI7uw" name="missionGenerator" type="_aG5SkKlgEeCYfbnxVSyZ9g"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_bsDDwKlmEeCLku4RFrI7uw" name="organizeSpace" type="_fdzJyKk_EeCXqcRV-18f6Q"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_kbbj0BwnEeGa5bH_RJFzBQ" name="challengerSpace" type="_fdzLHak_EeCXqcRV-18f6Q">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_kbfOMBwnEeGa5bH_RJFzBQ" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_kbgcUBwnEeGa5bH_RJFzBQ" value="1"/>
</ownedAttribute>
- <ownedAttribute xmi:id="_7PWh8B8kEeG4gPCEznVNOA" name="stereoPair" type="_fdzJgak_EeCXqcRV-18f6Q"/>
- <ownedAttribute xmi:id="_NJdXEB8lEeG4gPCEznVNOA" name="frontCamera" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
- <ownedAttribute xmi:id="_OENvIB8lEeG4gPCEznVNOA" name="rearCamera" type="_lHqboDUpEeG5pL_fpN2DgQ"/>
- <ownedAttribute xmi:id="_94cOoB8lEeG4gPCEznVNOA" name="wideCam" type="_ypiFMDUpEeG5pL_fpN2DgQ"/>
- <ownedAttribute xmi:id="_KdDxgB9BEeGetOLfkLNwfg" name="ublox" type="_fdzJdKk_EeCXqcRV-18f6Q"/>
- <ownedAttribute xmi:id="_YLTDIB9BEeGetOLfkLNwfg" name="odometry" type="_5rrL4B8oEeG4gPCEznVNOA"/>
- <ownedAttribute xmi:id="_A68QIB9DEeGetOLfkLNwfg" name="lms" type="_fdzJWqk_EeCXqcRV-18f6Q"/>
- <ownedConnector xmi:id="_k82NkB9CEeGetOLfkLNwfg" name="Connector1">
- <end xmi:id="_k82NkR9CEeGetOLfkLNwfg" partWithPort="_BE-egKlmEeCLku4RFrI7uw" role="_cPiaEKlgEeCYfbnxVSyZ9g">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_7PWh8B8kEeG4gPCEznVNOA" name="stereoPair" type="_fdzJgak_EeCXqcRV-18f6Q"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_NJdXEB8lEeG4gPCEznVNOA" name="frontCamera" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_OENvIB8lEeG4gPCEznVNOA" name="rearCamera" type="_lHqboDUpEeG5pL_fpN2DgQ"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_94cOoB8lEeG4gPCEznVNOA" name="wideCam" type="_ypiFMDUpEeG5pL_fpN2DgQ"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_KdDxgB9BEeGetOLfkLNwfg" name="ublox" type="_fdzJdKk_EeCXqcRV-18f6Q"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_YLTDIB9BEeGetOLfkLNwfg" name="odometry" type="_5rrL4B8oEeG4gPCEznVNOA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_A68QIB9DEeGetOLfkLNwfg" name="lms" type="_fdzJWqk_EeCXqcRV-18f6Q"/>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k82NkB9CEeGetOLfkLNwfg" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k82NkR9CEeGetOLfkLNwfg" partWithPort="_BE-egKlmEeCLku4RFrI7uw" role="_cPiaEKlgEeCYfbnxVSyZ9g">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k82Nkx9CEeGetOLfkLNwfg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k82Nkh9CEeGetOLfkLNwfg" value="1"/>
</end>
- <end xmi:id="_k820oB9CEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_fdzLNqk_EeCXqcRV-18f6Q">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k820oB9CEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_fdzLNqk_EeCXqcRV-18f6Q">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k820oh9CEeGetOLfkLNwfg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k820oR9CEeGetOLfkLNwfg" value="1"/>
</end>
</ownedConnector>
- <ownedConnector xmi:id="_myDbsB9CEeGetOLfkLNwfg" name="Connector2">
- <end xmi:id="_myDbsR9CEeGetOLfkLNwfg" partWithPort="_BE-egKlmEeCLku4RFrI7uw" role="_cPiaEKlgEeCYfbnxVSyZ9g">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_myDbsB9CEeGetOLfkLNwfg" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_myDbsR9CEeGetOLfkLNwfg" partWithPort="_BE-egKlmEeCLku4RFrI7uw" role="_cPiaEKlgEeCYfbnxVSyZ9g">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_myDbsx9CEeGetOLfkLNwfg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_myDbsh9CEeGetOLfkLNwfg" value="1"/>
</end>
- <end xmi:id="_myECwB9CEeGetOLfkLNwfg" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="_00caYB8sEeG4gPCEznVNOA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_myECwB9CEeGetOLfkLNwfg" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="_00caYB8sEeG4gPCEznVNOA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_myECwh9CEeGetOLfkLNwfg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_myECwR9CEeGetOLfkLNwfg" value="1"/>
</end>
</ownedConnector>
- <ownedConnector xmi:id="_qQmmMB9CEeGetOLfkLNwfg" name="Connector3">
- <end xmi:id="_qQmmMR9CEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_ImFDAKlnEeCLku4RFrI7uw">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_qQmmMB9CEeGetOLfkLNwfg" name="Connector3">
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+ <end xmi:type="uml:ConnectorEnd" xmi:id="_1kXgYEHnEeGGXpGscpkjdg" partWithPort="_OENvIB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1kXgYkHnEeGGXpGscpkjdg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1kXgYUHnEeGGXpGscpkjdg" value="1"/>
</end>
- <end xmi:id="_1kYHcEHnEeGGXpGscpkjdg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_WC5TkB8-EeGetOLfkLNwfg">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_1kYHcEHnEeGGXpGscpkjdg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_WC5TkB8-EeGetOLfkLNwfg">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1kYHckHnEeGGXpGscpkjdg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1kYHcUHnEeGGXpGscpkjdg" value="1"/>
</end>
</ownedConnector>
- <ownedConnector xmi:id="_3mcF0EHnEeGGXpGscpkjdg" name="Connector21">
- <end xmi:id="_3mcs4EHnEeGGXpGscpkjdg" partWithPort="_94cOoB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_3mcF0EHnEeGGXpGscpkjdg" name="Connector21">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_3mcs4EHnEeGGXpGscpkjdg" partWithPort="_94cOoB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_3mcs4kHnEeGGXpGscpkjdg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_3mcs4UHnEeGGXpGscpkjdg" value="1"/>
</end>
- <end xmi:id="_3mcs40HnEeGGXpGscpkjdg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_a8AXkB8-EeGetOLfkLNwfg">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_3mcs40HnEeGGXpGscpkjdg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_a8AXkB8-EeGetOLfkLNwfg">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_3mcs5UHnEeGGXpGscpkjdg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_3mcs5EHnEeGGXpGscpkjdg" value="1"/>
</end>
@@ -209,59 +209,59 @@
</packagedElement>
<packagedElement xmi:type="uml:Model" xmi:id="_fdzJQak_EeCXqcRV-18f6Q" name="RoboCab Datatypes">
<packagedElement xmi:type="uml:DataType" xmi:id="_pf4OwKlgEeCYfbnxVSyZ9g" name="Goal">
- <ownedAttribute xmi:id="_rg65cKlgEeCYfbnxVSyZ9g" name="position">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_rg65cKlgEeCYfbnxVSyZ9g" name="position">
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
</ownedAttribute>
- <ownedAttribute xmi:id="_YvxcsKliEeCLku4RFrI7uw" name="position_err">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_YvxcsKliEeCLku4RFrI7uw" name="position_err">
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotmlPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_0y-5sKlrEeCLku4RFrI7uw" name="PathDeviation">
- <ownedAttribute xmi:id="_36grUKlrEeCLku4RFrI7uw" name="lateral">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_36grUKlrEeCLku4RFrI7uw" name="lateral">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
</ownedAttribute>
- <ownedAttribute xmi:id="_8L9SYKlrEeCLku4RFrI7uw" name="angular">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_8L9SYKlrEeCLku4RFrI7uw" name="angular">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_m-wp8KltEeCLku4RFrI7uw" name="PathDefinition">
- <ownedAttribute xmi:id="_uMjGUKltEeCLku4RFrI7uw" name="origine">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_uMjGUKltEeCLku4RFrI7uw" name="origine">
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
</ownedAttribute>
- <ownedAttribute xmi:id="_5CNBQKltEeCLku4RFrI7uw" name="curvature">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_5CNBQKltEeCLku4RFrI7uw" name="curvature">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_rye5YB8mEeG4gPCEznVNOA" name="CarLikeOdometry">
- <ownedAttribute xmi:id="_9y7AAB8mEeG4gPCEznVNOA" name="rearLeftWheel">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_9y7AAB8mEeG4gPCEznVNOA" name="rearLeftWheel">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_9zBtsB8mEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_9zDi4B8mEeG4gPCEznVNOA" value="1"/>
</ownedAttribute>
- <ownedAttribute xmi:id="_LR0OEB8nEeG4gPCEznVNOA" name="rearRightWheel">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_LR0OEB8nEeG4gPCEznVNOA" name="rearRightWheel">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_LR2DQB8nEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_LR34cB8nEeG4gPCEznVNOA" value="1"/>
</ownedAttribute>
- <ownedAttribute xmi:id="_QKiQgB8nEeG4gPCEznVNOA" name="motorSpeed">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_QKiQgB8nEeG4gPCEznVNOA" name="motorSpeed">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_QKkswB8nEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_QKl64B8nEeG4gPCEznVNOA" value="1"/>
</ownedAttribute>
- <ownedAttribute xmi:id="_V1xVAB8nEeG4gPCEznVNOA" name="steeringAngle">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_V1xVAB8nEeG4gPCEznVNOA" name="steeringAngle">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_V1zxQB8nEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_V11mcB8nEeG4gPCEznVNOA" value="1"/>
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_n122UB8nEeG4gPCEznVNOA" name="CarLikeCommand">
- <ownedAttribute xmi:id="_uKPlgB8nEeG4gPCEznVNOA" name="velocity">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_uKPlgB8nEeG4gPCEznVNOA" name="velocity">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_uKSBwB8nEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_uKT28B8nEeG4gPCEznVNOA" value="1"/>
<defaultValue xmi:type="uml:LiteralInteger" xmi:id="_CpreIB8oEeG4gPCEznVNOA" name="defaultSpeed"/>
</ownedAttribute>
- <ownedAttribute xmi:id="_u0I3EB8nEeG4gPCEznVNOA" name="steeringAngle">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_u0I3EB8nEeG4gPCEznVNOA" name="steeringAngle">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_u0KsQB8nEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_u0MhcB8nEeG4gPCEznVNOA" value="1"/>
@@ -269,34 +269,34 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_TKz3sDUtEeG5pL_fpN2DgQ" name="MultiLayerLidarScan">
- <ownedAttribute xmi:id="_xUCqMDUvEeG5pL_fpN2DgQ" name="layers" type="_G0xAsDUwEeG5pL_fpN2DgQ"/>
- <ownedAttribute xmi:id="_Ku_6QDUzEeG5pL_fpN2DgQ" name="nbLayer">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_xUCqMDUvEeG5pL_fpN2DgQ" name="layers" type="_G0xAsDUwEeG5pL_fpN2DgQ"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_Ku_6QDUzEeG5pL_fpN2DgQ" name="nbLayer">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_6NJfkAKnEeCQReIOIWJ0nA"/>
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_G0xAsDUwEeG5pL_fpN2DgQ" name="ExtentedLidarScan">
- <ownedAttribute xmi:id="_K0p9sDUwEeG5pL_fpN2DgQ" name="scan">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_K0p9sDUwEeG5pL_fpN2DgQ" name="scan">
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
</ownedAttribute>
- <ownedAttribute xmi:id="_PcJGMDUwEeG5pL_fpN2DgQ" name="layerId">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_PcJGMDUwEeG5pL_fpN2DgQ" name="layerId">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_6NJfkAKnEeCQReIOIWJ0nA"/>
</ownedAttribute>
- <ownedAttribute xmi:id="_YIP6sDUwEeG5pL_fpN2DgQ" name="layerAngle">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_YIP6sDUwEeG5pL_fpN2DgQ" name="layerAngle">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_quXmAAH6EeC_ZLzLQhW-TQ"/>
</ownedAttribute>
</packagedElement>
</packagedElement>
<packagedElement xmi:type="uml:Model" xmi:id="_fdzJTKk_EeCXqcRV-18f6Q" name="RoboCab Internal Interfaces">
- <profileApplication xmi:id="_uh_Z4EHTEeGzzenJt5yQtw">
- <eAnnotations xmi:id="_uiz5QEHTEeGzzenJt5yQtw" source="http://www.eclipse.org/uml2/2.0.0/UML">
+ <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_uh_Z4EHTEeGzzenJt5yQtw">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uiz5QEHTEeGzzenJt5yQtw" 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"/>
+ <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
</profileApplication>
</packagedElement>
<packagedElement xmi:type="uml:Model" xmi:id="_fdzJWak_EeCXqcRV-18f6Q" name="RoboCab Sensors">
<packagedElement xmi:type="uml:Class" xmi:id="_fdzJWqk_EeCXqcRV-18f6Q" name="LIDAR3D">
- <ownedAttribute xmi:id="_fdzJW6k_EeCXqcRV-18f6Q" name="frequency" visibility="public">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJW6k_EeCXqcRV-18f6Q" name="frequency" visibility="public">
<type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJXak_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJXKk_EeCXqcRV-18f6Q" value="1"/>
@@ -304,7 +304,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_fdzJX6k_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJX6k_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
<type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJYak_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJYKk_EeCXqcRV-18f6Q" value="1"/>
@@ -321,7 +321,7 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_fdzJZ6k_EeCXqcRV-18f6Q" name="RTK_GPS_IMU">
- <ownedAttribute xmi:id="_fdzJaKk_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJaKk_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
<type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJaqk_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJaak_EeCXqcRV-18f6Q" value="1"/>
@@ -329,7 +329,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_fdzJbKk_EeCXqcRV-18f6Q" name="frequency" visibility="public">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJbKk_EeCXqcRV-18f6Q" name="frequency" visibility="public">
<type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJbqk_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJbak_EeCXqcRV-18f6Q" value="1"/>
@@ -353,10 +353,10 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_fdzJdKk_EeCXqcRV-18f6Q" name="MetricGPS">
- <ownedComment xmi:id="_ZM4u8KlAEeCYaYi0hzq5kg">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_ZM4u8KlAEeCYaYi0hzq5kg">
<body>Low Cost GPS</body>
</ownedComment>
- <ownedAttribute xmi:id="_fdzJdak_EeCXqcRV-18f6Q" name="frequency" visibility="public">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJdak_EeCXqcRV-18f6Q" name="frequency" visibility="public">
<type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJd6k_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJdqk_EeCXqcRV-18f6Q" value="1"/>
@@ -364,7 +364,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_fdzJeak_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJeak_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
<type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJe6k_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJeqk_EeCXqcRV-18f6Q" value="1"/>
@@ -385,7 +385,7 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_fdzJgak_EeCXqcRV-18f6Q" name="StereoVision">
- <ownedAttribute xmi:id="_fdzJgqk_EeCXqcRV-18f6Q" name="resolution" visibility="public">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJgqk_EeCXqcRV-18f6Q" name="resolution" visibility="public">
<type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJhKk_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJg6k_EeCXqcRV-18f6Q" value="1"/>
@@ -393,7 +393,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_fdzJhqk_EeCXqcRV-18f6Q" name="frequencyMax" visibility="public">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJhqk_EeCXqcRV-18f6Q" name="frequencyMax" visibility="public">
<type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJiKk_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJh6k_EeCXqcRV-18f6Q" value="1"/>
@@ -401,7 +401,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_fdzJiqk_EeCXqcRV-18f6Q" name="focal" visibility="public">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJiqk_EeCXqcRV-18f6Q" name="focal" visibility="public">
<type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJjKk_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJi6k_EeCXqcRV-18f6Q" value="1"/>
@@ -409,8 +409,8 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_ZBvoIDUoEeG5pL_fpN2DgQ" name="leftCam" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
- <ownedAttribute xmi:id="_Zo_1YDUoEeG5pL_fpN2DgQ" name="rightCam" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_ZBvoIDUoEeG5pL_fpN2DgQ" name="leftCam" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_Zo_1YDUoEeG5pL_fpN2DgQ" name="rightCam" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
<ownedAttribute xmi:type="uml:Port" xmi:id="_zEf_YDUoEeG5pL_fpN2DgQ" name="rightFrame" aggregation="composite">
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
</ownedAttribute>
@@ -437,8 +437,6 @@
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
</ownedAttribute>
</packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_g1eucGeiEeGWtaOO91qxRQ" name="LidarSystem1"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_hfDP4GeiEeGWtaOO91qxRQ" name="GPSSystem1"/>
</packagedElement>
<packagedElement xmi:type="uml:Model" xmi:id="_fdzJn6k_EeCXqcRV-18f6Q" name="RoboCab Actuators">
<packagedElement xmi:type="uml:Class" xmi:id="_fdzJoKk_EeCXqcRV-18f6Q" name="Brake">
@@ -461,25 +459,25 @@
</packagedElement>
</packagedElement>
<packagedElement xmi:type="uml:Model" xmi:id="_fdzJx6k_EeCXqcRV-18f6Q" name="RoboCab Subsystems">
- <packageImport xmi:id="_BOvG8GOAEeG9e5HjMGBgnQ">
+ <packageImport xmi:type="uml:PackageImport" xmi:id="_BOvG8GOAEeG9e5HjMGBgnQ">
<importedPackage xmi:type="uml:Model" href="pathmap://Papyrus_Alf_LIBRARIES/alflibrary.uml#_0bBI4Hy5EeCKy5kSqd4eVw"/>
</packageImport>
<packagedElement xmi:type="uml:Class" xmi:id="_fdzJyKk_EeCXqcRV-18f6Q" name="OrganizerSystem">
- <ownedComment xmi:id="_UJCjIKlXEeCYfbnxVSyZ9g">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_UJCjIKlXEeCYfbnxVSyZ9g">
<body></body>
</ownedComment>
- <ownedComment xmi:id="_WVHZIKlXEeCYfbnxVSyZ9g">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_WVHZIKlXEeCYfbnxVSyZ9g">
<body></body>
</ownedComment>
- <ownedAttribute xmi:id="_fdzJzak_EeCXqcRV-18f6Q" name="navigationSafety" visibility="public" type="_fdzKoKk_EeCXqcRV-18f6Q" aggregation="composite">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJzak_EeCXqcRV-18f6Q" name="navigationSafety" visibility="public" type="_fdzKoKk_EeCXqcRV-18f6Q" aggregation="composite">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJz6k_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJzqk_EeCXqcRV-18f6Q" value="1"/>
<defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJ0Kk_EeCXqcRV-18f6Q">
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_Gde_kB8rEeG4gPCEznVNOA" name="controller" type="_KqA8UB8pEeG4gPCEznVNOA"/>
- <ownedAttribute xmi:id="_qKrmYB8sEeG4gPCEznVNOA" name="challengerEvaluation" type="_kdlWIB8rEeG4gPCEznVNOA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_Gde_kB8rEeG4gPCEznVNOA" name="controller" type="_KqA8UB8pEeG4gPCEznVNOA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_qKrmYB8sEeG4gPCEznVNOA" name="challengerEvaluation" type="_kdlWIB8rEeG4gPCEznVNOA"/>
<ownedAttribute xmi:type="uml:Port" xmi:id="_tRMrYB8sEeG4gPCEznVNOA" name="ChallengerInput" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite"/>
<ownedAttribute xmi:type="uml:Port" xmi:id="_00caYB8sEeG4gPCEznVNOA" name="mission" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite"/>
<ownedAttribute xmi:type="uml:Port" xmi:id="_vP_roDUrEeG5pL_fpN2DgQ" name="rtk_pos" aggregation="composite">
@@ -491,89 +489,89 @@
<ownedAttribute xmi:type="uml:Port" xmi:id="__vhZIDUrEeG5pL_fpN2DgQ" name="rtk_vel" aggregation="composite">
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
</ownedAttribute>
- <ownedConnector xmi:id="_cbA78B8tEeG4gPCEznVNOA" name="Connector11">
- <end xmi:id="_cbA78R8tEeG4gPCEznVNOA" role="_00caYB8sEeG4gPCEznVNOA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_cbA78B8tEeG4gPCEznVNOA" name="Connector11">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_cbA78R8tEeG4gPCEznVNOA" role="_00caYB8sEeG4gPCEznVNOA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_cbA78x8tEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cbA78h8tEeG4gPCEznVNOA" value="1"/>
</end>
- <end xmi:id="_cbA79B8tEeG4gPCEznVNOA" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_01c8cB8rEeG4gPCEznVNOA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_cbA79B8tEeG4gPCEznVNOA" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_01c8cB8rEeG4gPCEznVNOA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_cbA79h8tEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cbA79R8tEeG4gPCEznVNOA" value="1"/>
</end>
</ownedConnector>
- <ownedConnector xmi:id="_UOGS8B8vEeG4gPCEznVNOA" name="Connector14">
- <end xmi:id="_UOGS8R8vEeG4gPCEznVNOA" role="_00caYB8sEeG4gPCEznVNOA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_UOGS8B8vEeG4gPCEznVNOA" name="Connector14">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_UOGS8R8vEeG4gPCEznVNOA" role="_00caYB8sEeG4gPCEznVNOA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_UOG6AR8vEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_UOG6AB8vEeG4gPCEznVNOA" value="1"/>
</end>
- <end xmi:id="_UOG6Ah8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_fdzK36k_EeCXqcRV-18f6Q">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_UOG6Ah8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_fdzK36k_EeCXqcRV-18f6Q">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_UOG6BB8vEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_UOG6Ax8vEeG4gPCEznVNOA" value="1"/>
</end>
</ownedConnector>
- <ownedConnector xmi:id="_VcOS8B8vEeG4gPCEznVNOA" name="Connector15">
- <end xmi:id="_VcOS8R8vEeG4gPCEznVNOA" role="_tRMrYB8sEeG4gPCEznVNOA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_VcOS8B8vEeG4gPCEznVNOA" name="Connector15">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_VcOS8R8vEeG4gPCEznVNOA" role="_tRMrYB8sEeG4gPCEznVNOA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VcOS8x8vEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VcOS8h8vEeG4gPCEznVNOA" value="1"/>
</end>
- <end xmi:id="_VcO6AB8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_6oOzYB8rEeG4gPCEznVNOA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_VcO6AB8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_6oOzYB8rEeG4gPCEznVNOA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VcO6Ah8vEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VcO6AR8vEeG4gPCEznVNOA" value="1"/>
</end>
</ownedConnector>
- <ownedConnector xmi:id="_XoXaYB8vEeG4gPCEznVNOA" name="Connector18">
- <end xmi:id="_XoXaYR8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_6VYv4B8rEeG4gPCEznVNOA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_XoXaYB8vEeG4gPCEznVNOA" name="Connector18">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_XoXaYR8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_6VYv4B8rEeG4gPCEznVNOA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_XoXaYx8vEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_XoXaYh8vEeG4gPCEznVNOA" value="1"/>
</end>
- <end xmi:id="_XoXaZB8vEeG4gPCEznVNOA" partWithPort="_Gde_kB8rEeG4gPCEznVNOA" role="_PhiE4B8pEeG4gPCEznVNOA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_XoXaZB8vEeG4gPCEznVNOA" partWithPort="_Gde_kB8rEeG4gPCEznVNOA" role="_PhiE4B8pEeG4gPCEznVNOA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_XoXaZh8vEeG4gPCEznVNOA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_XoXaZR8vEeG4gPCEznVNOA" value="1"/>
</end>
</ownedConnector>
- <ownedConnector xmi:id="_LtN6MDUsEeG5pL_fpN2DgQ" name="Connector19">
- <end xmi:id="_LtOhQDUsEeG5pL_fpN2DgQ" role="__UwIsDUrEeG5pL_fpN2DgQ">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_LtN6MDUsEeG5pL_fpN2DgQ" name="Connector19">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_LtOhQDUsEeG5pL_fpN2DgQ" role="__UwIsDUrEeG5pL_fpN2DgQ">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_LtOhQjUsEeG5pL_fpN2DgQ" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_LtOhQTUsEeG5pL_fpN2DgQ" value="1"/>
</end>
- <end xmi:id="_LtOhQzUsEeG5pL_fpN2DgQ" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_xHBi4B8rEeG4gPCEznVNOA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_LtOhQzUsEeG5pL_fpN2DgQ" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_xHBi4B8rEeG4gPCEznVNOA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_LtOhRTUsEeG5pL_fpN2DgQ" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_LtOhRDUsEeG5pL_fpN2DgQ" value="1"/>
</end>
</ownedConnector>
- <ownedConnector xmi:id="_RCtYMDUsEeG5pL_fpN2DgQ" name="Connector20">
- <end xmi:id="_RCtYMTUsEeG5pL_fpN2DgQ" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_vQPAYB8rEeG4gPCEznVNOA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_RCtYMDUsEeG5pL_fpN2DgQ" name="Connector20">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_RCtYMTUsEeG5pL_fpN2DgQ" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_vQPAYB8rEeG4gPCEznVNOA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RCtYMzUsEeG5pL_fpN2DgQ" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RCtYMjUsEeG5pL_fpN2DgQ" value="1"/>
</end>
- <end xmi:id="_RCtYNDUsEeG5pL_fpN2DgQ" role="_vP_roDUrEeG5pL_fpN2DgQ">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_RCtYNDUsEeG5pL_fpN2DgQ" role="_vP_roDUrEeG5pL_fpN2DgQ">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RCtYNjUsEeG5pL_fpN2DgQ" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RCtYNTUsEeG5pL_fpN2DgQ" value="1"/>
</end>
</ownedConnector>
- <ownedConnector xmi:id="_RxvBYDUsEeG5pL_fpN2DgQ" name="Connector21">
- <end xmi:id="_RxvocDUsEeG5pL_fpN2DgQ" role="__vhZIDUrEeG5pL_fpN2DgQ">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_RxvBYDUsEeG5pL_fpN2DgQ" name="Connector21">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_RxvocDUsEeG5pL_fpN2DgQ" role="__vhZIDUrEeG5pL_fpN2DgQ">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RxvocjUsEeG5pL_fpN2DgQ" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RxvocTUsEeG5pL_fpN2DgQ" value="1"/>
</end>
- <end xmi:id="_RxvoczUsEeG5pL_fpN2DgQ" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_GJzrUKlbEeCYfbnxVSyZ9g">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_RxvoczUsEeG5pL_fpN2DgQ" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_GJzrUKlbEeCYfbnxVSyZ9g">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RxvodTUsEeG5pL_fpN2DgQ" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RxvodDUsEeG5pL_fpN2DgQ" value="1"/>
</end>
</ownedConnector>
- <ownedConnector xmi:id="_SZiBMDUsEeG5pL_fpN2DgQ" name="Connector22">
- <end xmi:id="_SZioQDUsEeG5pL_fpN2DgQ" role="_vP_roDUrEeG5pL_fpN2DgQ">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_SZiBMDUsEeG5pL_fpN2DgQ" name="Connector22">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_SZioQDUsEeG5pL_fpN2DgQ" role="_vP_roDUrEeG5pL_fpN2DgQ">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_SZioQjUsEeG5pL_fpN2DgQ" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_SZioQTUsEeG5pL_fpN2DgQ" value="1"/>
</end>
- <end xmi:id="_SZioQzUsEeG5pL_fpN2DgQ" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_fdzK06k_EeCXqcRV-18f6Q">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_SZioQzUsEeG5pL_fpN2DgQ" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_fdzK06k_EeCXqcRV-18f6Q">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_SZioRTUsEeG5pL_fpN2DgQ" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_SZioRDUsEeG5pL_fpN2DgQ" value="1"/>
</end>
</ownedConnector>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_fdzKIqk_EeCXqcRV-18f6Q" name="PathPlannerModule">
- <ownedComment xmi:id="_X4PBoKlrEeCLku4RFrI7uw">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_X4PBoKlrEeCLku4RFrI7uw">
<body>Le pathplanner genere un chemin et une vitesse de consigne </body>
</ownedComment>
<ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKI6k_EeCXqcRV-18f6Q" name="mission" visibility="public" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite">
@@ -686,18 +684,18 @@
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
</ownedAttribute>
<ownedBehavior xmi:type="uml:StateMachine" xmi:id="_P2-PUEHZEeG8nvjGjD0Mrg" name="LocalisationFSM">
- <connectionPoint xmi:id="_QFIKoEHaEeG8nvjGjD0Mrg" name="EstimatedState" kind="exitPoint"/>
- <connectionPoint xmi:id="_YlaJoEHaEeG8nvjGjD0Mrg" name="Input" kind="entryPoint"/>
- <connectionPoint xmi:id="_a-YMIEHaEeG8nvjGjD0Mrg" name="Measurements" kind="entryPoint"/>
- <region xmi:id="_Qv-68EHZEeG8nvjGjD0Mrg" name="Region1">
- <transition xmi:id="_3JM4kEHZEeG8nvjGjD0Mrg" name="StateUpdate" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_thXboEHZEeG8nvjGjD0Mrg"/>
- <transition xmi:id="_ecobsEHaEeG8nvjGjD0Mrg" name="Transition0" source="_M4zYkEHaEeG8nvjGjD0Mrg" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
- <transition xmi:id="_ihyTMEHaEeG8nvjGjD0Mrg" name="Transition1" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_YlaJoEHaEeG8nvjGjD0Mrg"/>
- <transition xmi:id="_mejDsEHaEeG8nvjGjD0Mrg" name="Transition2" source="_thXboEHZEeG8nvjGjD0Mrg" target="_QFIKoEHaEeG8nvjGjD0Mrg"/>
- <transition xmi:id="_0QZ9EG6oEeGqrd__B0yUNA" name="Transition4" source="_todYsG6oEeGqrd__B0yUNA" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
- <transition xmi:id="_bziJEG6pEeGqrd__B0yUNA" name="Transition5" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
- <transition xmi:id="_RCtOUG6qEeGqrd__B0yUNA" name="Transition6" source="_thXboEHZEeG8nvjGjD0Mrg" target="_ubR8wG6oEeGqrd__B0yUNA"/>
- <transition xmi:id="_iWLPUG6sEeGqrd__B0yUNA" name="Transition7" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_ubR8wG6oEeGqrd__B0yUNA"/>
+ <connectionPoint xmi:type="uml:Pseudostate" xmi:id="_QFIKoEHaEeG8nvjGjD0Mrg" name="EstimatedState" kind="exitPoint"/>
+ <connectionPoint xmi:type="uml:Pseudostate" xmi:id="_YlaJoEHaEeG8nvjGjD0Mrg" name="Input" kind="entryPoint"/>
+ <connectionPoint xmi:type="uml:Pseudostate" xmi:id="_a-YMIEHaEeG8nvjGjD0Mrg" name="Measurements" kind="entryPoint"/>
+ <region xmi:type="uml:Region" xmi:id="_Qv-68EHZEeG8nvjGjD0Mrg" name="Region1">
+ <transition xmi:type="uml:Transition" xmi:id="_3JM4kEHZEeG8nvjGjD0Mrg" name="StateUpdate" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_thXboEHZEeG8nvjGjD0Mrg"/>
+ <transition xmi:type="uml:Transition" xmi:id="_ecobsEHaEeG8nvjGjD0Mrg" name="Transition0" source="_M4zYkEHaEeG8nvjGjD0Mrg" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
+ <transition xmi:type="uml:Transition" xmi:id="_ihyTMEHaEeG8nvjGjD0Mrg" name="Transition1" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_YlaJoEHaEeG8nvjGjD0Mrg"/>
+ <transition xmi:type="uml:Transition" xmi:id="_mejDsEHaEeG8nvjGjD0Mrg" name="Transition2" source="_thXboEHZEeG8nvjGjD0Mrg" target="_QFIKoEHaEeG8nvjGjD0Mrg"/>
+ <transition xmi:type="uml:Transition" xmi:id="_0QZ9EG6oEeGqrd__B0yUNA" name="Transition4" source="_todYsG6oEeGqrd__B0yUNA" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
+ <transition xmi:type="uml:Transition" xmi:id="_bziJEG6pEeGqrd__B0yUNA" name="Transition5" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
+ <transition xmi:type="uml:Transition" xmi:id="_RCtOUG6qEeGqrd__B0yUNA" name="Transition6" source="_thXboEHZEeG8nvjGjD0Mrg" target="_ubR8wG6oEeGqrd__B0yUNA"/>
+ <transition xmi:type="uml:Transition" xmi:id="_iWLPUG6sEeGqrd__B0yUNA" name="Transition7" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_ubR8wG6oEeGqrd__B0yUNA"/>
<subvertex xmi:type="uml:State" xmi:id="_lC9E4EHZEeG8nvjGjD0Mrg" name="KalmanFilter"/>
<subvertex xmi:type="uml:State" xmi:id="_thXboEHZEeG8nvjGjD0Mrg" name="ComputePathDeviation"/>
<subvertex xmi:type="uml:Pseudostate" xmi:id="_M4zYkEHaEeG8nvjGjD0Mrg" name="Initial0"/>
@@ -705,30 +703,30 @@
<subvertex xmi:type="uml:FinalState" xmi:id="_ubR8wG6oEeGqrd__B0yUNA" name="FinalState"/>
</region>
</ownedBehavior>
- <ownedOperation xmi:id="_5lDGgG6oEeGqrd__B0yUNA" name="allSensorsDataReceived">
- <ownedParameter xmi:id="_KbAXAG6pEeGqrd__B0yUNA" direction="out">
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_5lDGgG6oEeGqrd__B0yUNA" name="allSensorsDataReceived">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_KbAXAG6pEeGqrd__B0yUNA" direction="out">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
</ownedParameter>
</ownedOperation>
- <ownedOperation xmi:id="_5FqmYG6pEeGqrd__B0yUNA" name="positionChanged">
- <ownedParameter xmi:id="_AxZjAG6qEeGqrd__B0yUNA" direction="out">
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_5FqmYG6pEeGqrd__B0yUNA" name="positionChanged">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_AxZjAG6qEeGqrd__B0yUNA" direction="out">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
</ownedParameter>
</ownedOperation>
- <ownedOperation xmi:id="_cWKfkG6qEeGqrd__B0yUNA" name="sensorDataReceived">
- <ownedParameter xmi:id="_iyBvwG6qEeGqrd__B0yUNA" direction="out">
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_cWKfkG6qEeGqrd__B0yUNA" name="sensorDataReceived">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_iyBvwG6qEeGqrd__B0yUNA" direction="out">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
</ownedParameter>
</ownedOperation>
- <ownedOperation xmi:id="_1FtigG6qEeGqrd__B0yUNA" name="shutDownSignalReceived">
- <ownedParameter xmi:id="_ZuvfcG6sEeGqrd__B0yUNA" direction="out">
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_1FtigG6qEeGqrd__B0yUNA" name="shutDownSignalReceived">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_ZuvfcG6sEeGqrd__B0yUNA" direction="out">
<type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
</ownedParameter>
</ownedOperation>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_fdzLHak_EeCXqcRV-18f6Q" name="ChallengerSystem">
- <ownedAttribute xmi:id="_fdzLIqk_EeCXqcRV-18f6Q" name="mappingSystem" type="_07AcABwkEeGa5bH_RJFzBQ"/>
- <ownedAttribute xmi:id="_fdzLJ6k_EeCXqcRV-18f6Q" name="oDSystem" visibility="public" type="_MaVUkBwiEeGa5bH_RJFzBQ">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLIqk_EeCXqcRV-18f6Q" name="mappingSystem" type="_07AcABwkEeGa5bH_RJFzBQ"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLJ6k_EeCXqcRV-18f6Q" name="oDSystem" visibility="public" type="_MaVUkBwiEeGa5bH_RJFzBQ">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLKak_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLKKk_EeCXqcRV-18f6Q" value="1"/>
<defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLKqk_EeCXqcRV-18f6Q">
@@ -742,21 +740,21 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_fdzLQqk_EeCXqcRV-18f6Q" name="pathPlanner" visibility="public" type="_fdzKIqk_EeCXqcRV-18f6Q" aggregation="composite">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLQqk_EeCXqcRV-18f6Q" name="pathPlanner" visibility="public" type="_fdzKIqk_EeCXqcRV-18f6Q" aggregation="composite">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLRKk_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLQ6k_EeCXqcRV-18f6Q" value="1"/>
<defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLRak_EeCXqcRV-18f6Q">
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_fdzLRqk_EeCXqcRV-18f6Q" name="control" visibility="public" type="_fdzKVKk_EeCXqcRV-18f6Q" aggregation="composite">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLRqk_EeCXqcRV-18f6Q" name="control" visibility="public" type="_fdzKVKk_EeCXqcRV-18f6Q" aggregation="composite">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLSKk_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLR6k_EeCXqcRV-18f6Q" value="1"/>
<defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLSak_EeCXqcRV-18f6Q">
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_fdzLSqk_EeCXqcRV-18f6Q" name="localisation" visibility="public" type="_fdzK5Kk_EeCXqcRV-18f6Q" aggregation="composite">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLSqk_EeCXqcRV-18f6Q" name="localisation" visibility="public" type="_fdzK5Kk_EeCXqcRV-18f6Q" aggregation="composite">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLTKk_EeCXqcRV-18f6Q" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLS6k_EeCXqcRV-18f6Q" value="1"/>
<defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLTak_EeCXqcRV-18f6Q">
@@ -801,114 +799,114 @@
<ownedAttribute xmi:type="uml:Port" xmi:id="_3wKcQDUzEeG5pL_fpN2DgQ" name="rtk_acc" aggregation="composite">
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
</ownedAttribute>
- <ownedConnector xmi:id="_fdzLVqk_EeCXqcRV-18f6Q" name="Connector2">
- <end xmi:id="_fdzLV6k_EeCXqcRV-18f6Q" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKK6k_EeCXqcRV-18f6Q"/>
- <end xmi:id="_fdzLWKk_EeCXqcRV-18f6Q" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK9ak_EeCXqcRV-18f6Q"/>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_fdzLVqk_EeCXqcRV-18f6Q" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLV6k_EeCXqcRV-18f6Q" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKK6k_EeCXqcRV-18f6Q"/>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLWKk_EeCXqcRV-18f6Q" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK9ak_EeCXqcRV-18f6Q"/>
</ownedConnector>
- <ownedConnector xmi:id="_fdzLWak_EeCXqcRV-18f6Q" name="Connector7">
- <end xmi:id="_fdzLWqk_EeCXqcRV-18f6Q" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKZak_EeCXqcRV-18f6Q"/>
- <end xmi:id="_fdzLW6k_EeCXqcRV-18f6Q" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK-ak_EeCXqcRV-18f6Q"/>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_fdzLWak_EeCXqcRV-18f6Q" name="Connector7">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLWqk_EeCXqcRV-18f6Q" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKZak_EeCXqcRV-18f6Q"/>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLW6k_EeCXqcRV-18f6Q" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK-ak_EeCXqcRV-18f6Q"/>
</ownedConnector>
- <ownedConnector xmi:id="_fdzLfak_EeCXqcRV-18f6Q" name="Connector1">
- <end xmi:id="_fdzLfqk_EeCXqcRV-18f6Q" role="_fdzLNqk_EeCXqcRV-18f6Q"/>
- <end xmi:id="_fdzLf6k_EeCXqcRV-18f6Q" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKI6k_EeCXqcRV-18f6Q"/>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_fdzLfak_EeCXqcRV-18f6Q" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLfqk_EeCXqcRV-18f6Q" role="_fdzLNqk_EeCXqcRV-18f6Q"/>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLf6k_EeCXqcRV-18f6Q" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKI6k_EeCXqcRV-18f6Q"/>
</ownedConnector>
- <ownedConnector xmi:id="_R3I6gKluEeCLku4RFrI7uw" name="Connector11">
- <end xmi:id="_R3I6galuEeCLku4RFrI7uw" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKcak_EeCXqcRV-18f6Q">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_R3I6gKluEeCLku4RFrI7uw" name="Connector11">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_R3I6galuEeCLku4RFrI7uw" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKcak_EeCXqcRV-18f6Q">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_R3I6g6luEeCLku4RFrI7uw" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_R3I6gqluEeCLku4RFrI7uw" value="1"/>
</end>
- <end xmi:id="_R3I6hKluEeCLku4RFrI7uw" role="_ImFDAKlnEeCLku4RFrI7uw">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_R3I6hKluEeCLku4RFrI7uw" role="_ImFDAKlnEeCLku4RFrI7uw">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_R3I6hqluEeCLku4RFrI7uw" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_R3I6haluEeCLku4RFrI7uw" value="1"/>
</end>
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+ <ownedConnector xmi:type="uml:Connector" xmi:id="_6VbfMGbUEeGGNuX1IHg1zg" name="Connector12">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_6VbfMWbUEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKL6k_EeCXqcRV-18f6Q">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_6VbfM2bUEeGGNuX1IHg1zg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_6VbfMmbUEeGGNuX1IHg1zg" value="1"/>
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+ <end xmi:type="uml:ConnectorEnd" xmi:id="_6VbfNGbUEeGGNuX1IHg1zg" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_gFYxYB8sEeG4gPCEznVNOA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_6VbfNmbUEeGGNuX1IHg1zg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_6VbfNWbUEeGGNuX1IHg1zg" value="1"/>
</end>
</ownedConnector>
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- <end xmi:id="_YKRoAWbVEeGGNuX1IHg1zg" role="_0-eXwDUzEeG5pL_fpN2DgQ">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_YKRoAGbVEeGGNuX1IHg1zg" name="Connector13">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_YKRoAWbVEeGGNuX1IHg1zg" role="_0-eXwDUzEeG5pL_fpN2DgQ">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_YKRoA2bVEeGGNuX1IHg1zg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_YKRoAmbVEeGGNuX1IHg1zg" value="1"/>
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+ <end xmi:type="uml:ConnectorEnd" xmi:id="_YKRoBGbVEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKJ6k_EeCXqcRV-18f6Q">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_YKRoBmbVEeGGNuX1IHg1zg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_YKRoBWbVEeGGNuX1IHg1zg" value="1"/>
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- <end xmi:id="_39LY8WbVEeGGNuX1IHg1zg" role="_LA8qUKlkEeCLku4RFrI7uw">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_39LY8GbVEeGGNuX1IHg1zg" name="Connector14">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_39LY8WbVEeGGNuX1IHg1zg" role="_LA8qUKlkEeCLku4RFrI7uw">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_39LY82bVEeGGNuX1IHg1zg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_39LY8mbVEeGGNuX1IHg1zg" value="1"/>
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+ <end xmi:type="uml:ConnectorEnd" xmi:id="_39LY9GbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_UIObEKloEeCLku4RFrI7uw">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_39LY9WbVEeGGNuX1IHg1zg" value="1"/>
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- <end xmi:id="_56pLMWbVEeGGNuX1IHg1zg" role="_0-eXwDUzEeG5pL_fpN2DgQ">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_56pLMGbVEeGGNuX1IHg1zg" name="Connector15">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_56pLMWbVEeGGNuX1IHg1zg" role="_0-eXwDUzEeG5pL_fpN2DgQ">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_56pLM2bVEeGGNuX1IHg1zg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_56pLMmbVEeGGNuX1IHg1zg" value="1"/>
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+ <end xmi:type="uml:ConnectorEnd" xmi:id="_56pLNGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK6ak_EeCXqcRV-18f6Q">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_56pLNmbVEeGGNuX1IHg1zg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_56pLNWbVEeGGNuX1IHg1zg" value="1"/>
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- <end xmi:id="_70r2AWbVEeGGNuX1IHg1zg" role="_egSUcB8vEeG4gPCEznVNOA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_70r2AGbVEeGGNuX1IHg1zg" name="Connector16">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_70r2AWbVEeGGNuX1IHg1zg" role="_egSUcB8vEeG4gPCEznVNOA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_70r2A2bVEeGGNuX1IHg1zg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_70r2AmbVEeGGNuX1IHg1zg" value="1"/>
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+ <end xmi:type="uml:ConnectorEnd" xmi:id="_70r2BGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_UegmIDUrEeG5pL_fpN2DgQ">
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- <end xmi:id="_9A-qAWbVEeGGNuX1IHg1zg" role="_x9oBcB8wEeGetOLfkLNwfg">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_9A-qAGbVEeGGNuX1IHg1zg" name="Connector17">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_9A-qAWbVEeGGNuX1IHg1zg" role="_x9oBcB8wEeGetOLfkLNwfg">
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- <end xmi:id="_VhLCUWbWEeGGNuX1IHg1zg" role="_FgbvMB8wEeGetOLfkLNwfg">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_VhLCUGbWEeGGNuX1IHg1zg" name="Connector19">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_VhLCUWbWEeGGNuX1IHg1zg" role="_FgbvMB8wEeGetOLfkLNwfg">
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+ <end xmi:type="uml:ConnectorEnd" xmi:id="_aJQnwWbWEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKK6k_EeCXqcRV-18f6Q">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_aJQnw2bWEeGGNuX1IHg1zg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_aJQnwmbWEeGGNuX1IHg1zg" value="1"/>
</end>
- <end xmi:id="_aJQnxGbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_W2W8oBwkEeGa5bH_RJFzBQ">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_aJQnxGbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_W2W8oBwkEeGa5bH_RJFzBQ">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_aJQnxmbWEeGGNuX1IHg1zg" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_aJQnxWbWEeGGNuX1IHg1zg" value="1"/>
</end>
@@ -956,19 +954,19 @@
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_d90yMEK-EeGv-54Wm4mRWQ" value="1"/>
</ownedAttribute>
<ownedBehavior xmi:type="uml:StateMachine" xmi:id="_De5ZIEK6EeGv-54Wm4mRWQ" name="StateMachine1">
- <region xmi:id="_EKPcMEK6EeGv-54Wm4mRWQ" name="Region1">
- <transition xmi:id="_4nd1MEK8EeGv-54Wm4mRWQ" name="Trans_LM" source="_M9id0EK6EeGv-54Wm4mRWQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
- <transition xmi:id="_6CGnMEK8EeGv-54Wm4mRWQ" name="Trans_ML" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_M9id0EK6EeGv-54Wm4mRWQ"/>
- <transition xmi:id="_69reoEK8EeGv-54Wm4mRWQ" name="Trans_MR" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_PvjnkEK8EeGv-54Wm4mRWQ">
+ <region xmi:type="uml:Region" xmi:id="_EKPcMEK6EeGv-54Wm4mRWQ" name="Region1">
+ <transition xmi:type="uml:Transition" xmi:id="_4nd1MEK8EeGv-54Wm4mRWQ" name="Trans_LM" source="_M9id0EK6EeGv-54Wm4mRWQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
+ <transition xmi:type="uml:Transition" xmi:id="_6CGnMEK8EeGv-54Wm4mRWQ" name="Trans_ML" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_M9id0EK6EeGv-54Wm4mRWQ"/>
+ <transition xmi:type="uml:Transition" xmi:id="_69reoEK8EeGv-54Wm4mRWQ" name="Trans_MR" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_PvjnkEK8EeGv-54Wm4mRWQ">
<effect xmi:type="uml:Interaction" xmi:id="_Q34FEEK9EeGv-54Wm4mRWQ"/>
</transition>
- <transition xmi:id="_7irpIEK8EeGv-54Wm4mRWQ" name="Trans_RM" source="_PvjnkEK8EeGv-54Wm4mRWQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
- <transition xmi:id="_tUNfMGLwEeGQvv5wJEmGUQ" name="Transition1" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
- <transition xmi:id="_uQtjsGLwEeGQvv5wJEmGUQ" name="Transition2" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
- <transition xmi:id="_vO1_4GLwEeGQvv5wJEmGUQ" name="Transition3" source="_PvjnkEK8EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
- <transition xmi:id="_yOoKwGLwEeGQvv5wJEmGUQ" name="Transition4" source="_M9id0EK6EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
- <transition xmi:id="_1X8FEGLwEeGQvv5wJEmGUQ" name="Transition5" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_M9id0EK6EeGv-54Wm4mRWQ"/>
- <transition xmi:id="_2wTmMGLwEeGQvv5wJEmGUQ" name="Transition6" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_PvjnkEK8EeGv-54Wm4mRWQ"/>
+ <transition xmi:type="uml:Transition" xmi:id="_7irpIEK8EeGv-54Wm4mRWQ" name="Trans_RM" source="_PvjnkEK8EeGv-54Wm4mRWQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
+ <transition xmi:type="uml:Transition" xmi:id="_tUNfMGLwEeGQvv5wJEmGUQ" name="Transition1" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
+ <transition xmi:type="uml:Transition" xmi:id="_uQtjsGLwEeGQvv5wJEmGUQ" name="Transition2" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
+ <transition xmi:type="uml:Transition" xmi:id="_vO1_4GLwEeGQvv5wJEmGUQ" name="Transition3" source="_PvjnkEK8EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
+ <transition xmi:type="uml:Transition" xmi:id="_yOoKwGLwEeGQvv5wJEmGUQ" name="Transition4" source="_M9id0EK6EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
+ <transition xmi:type="uml:Transition" xmi:id="_1X8FEGLwEeGQvv5wJEmGUQ" name="Transition5" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_M9id0EK6EeGv-54Wm4mRWQ"/>
+ <transition xmi:type="uml:Transition" xmi:id="_2wTmMGLwEeGQvv5wJEmGUQ" name="Transition6" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_PvjnkEK8EeGv-54Wm4mRWQ"/>
<subvertex xmi:type="uml:State" xmi:id="_M9id0EK6EeGv-54Wm4mRWQ" name="Left"/>
<subvertex xmi:type="uml:State" xmi:id="_Ar40EEK8EeGv-54Wm4mRWQ" name="Middle"/>
<subvertex xmi:type="uml:State" xmi:id="_PvjnkEK8EeGv-54Wm4mRWQ" name="Right"/>
@@ -994,90 +992,93 @@ return (odometryMsg.steeringAngle &lt; -5 ) ? true :false;&#xD;
return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle &lt;= 5 ) ? true:false;&#xD;
</body>
</ownedBehavior>
- <ownedOperation xmi:id="_LJ25sEK6EeGv-54Wm4mRWQ" name="ShowLeftCamera">
- <ownedParameter xmi:id="_qXQiIELAEeGFx4iVEwo0kA" name="frame">
+ <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_IgJOgBFxEeOl1IrgVMUxOA" name="showLeftCamera"/>
+ <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_ZmSQEBFxEeOl1IrgVMUxOA" name="showRightCamera"/>
+ <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_eBwV0BFxEeOl1IrgVMUxOA" name="showMiddleCamera"/>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_LJ25sEK6EeGv-54Wm4mRWQ" name="ShowLeftCamera">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_qXQiIELAEeGFx4iVEwo0kA" name="frame">
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
</ownedParameter>
</ownedOperation>
- <ownedOperation xmi:id="_co9N0EK6EeGv-54Wm4mRWQ" name="ShowRightCamera">
- <ownedParameter xmi:id="_g8eCsELAEeGFx4iVEwo0kA" name="frame">
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_co9N0EK6EeGv-54Wm4mRWQ" name="ShowRightCamera">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_g8eCsELAEeGFx4iVEwo0kA" name="frame">
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
</ownedParameter>
</ownedOperation>
- <ownedOperation xmi:id="_lxCzsEK6EeGv-54Wm4mRWQ" name="ShowMiddleCamera">
- <ownedParameter xmi:id="_dybvoELAEeGFx4iVEwo0kA" name="frame">
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_lxCzsEK6EeGv-54Wm4mRWQ" name="ShowMiddleCamera">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_dybvoELAEeGFx4iVEwo0kA" name="frame">
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
</ownedParameter>
</ownedOperation>
- <ownedOperation xmi:id="_sD-KUEK6EeGv-54Wm4mRWQ" name="LeftSteering" method="_6qJJgEK6EeGv-54Wm4mRWQ">
- <ownedParameter xmi:id="_1kIR8EK6EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_sD-KUEK6EeGv-54Wm4mRWQ" name="LeftSteering" method="_6qJJgEK6EeGv-54Wm4mRWQ">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_1kIR8EK6EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
</ownedOperation>
- <ownedOperation xmi:id="_rnfNMEK7EeGv-54Wm4mRWQ" name="RightSteering" method="_MJ8oQEK7EeGv-54Wm4mRWQ">
- <ownedParameter xmi:id="_yB1acEK7EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_rnfNMEK7EeGv-54Wm4mRWQ" name="RightSteering" method="_MJ8oQEK7EeGv-54Wm4mRWQ">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_yB1acEK7EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
</ownedOperation>
- <ownedOperation xmi:id="_zsmTIEK7EeGv-54Wm4mRWQ" name="FrontSteering" method="_M-5TQEK7EeGv-54Wm4mRWQ">
- <ownedParameter xmi:id="_7mEw0EK7EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_zsmTIEK7EeGv-54Wm4mRWQ" name="FrontSteering" method="_M-5TQEK7EeGv-54Wm4mRWQ">
+ <ownedParameter xmi:type="uml:Parameter" xmi:id="_7mEw0EK7EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
</ownedOperation>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_irmXsEH0EeGwG_JKFhyhxw" name="ExternalAlgorithmTestModule">
<ownedAttribute xmi:type="uml:Port" xmi:id="_mJzj8EH0EeGwG_JKFhyhxw" name="inFrame" aggregation="composite">
<type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
</ownedAttribute>
- <ownedOperation xmi:id="_gDWe0EK_EeGFx4iVEwo0kA" name="opencv_imshow" visibility="public"/>
- <ownedOperation xmi:id="_4gEZAENGEeGaAsRpegEgPg" name="opencv_imread"/>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_gDWe0EK_EeGFx4iVEwo0kA" name="opencv_imshow" visibility="public"/>
+ <ownedOperation xmi:type="uml:Operation" xmi:id="_4gEZAENGEeGaAsRpegEgPg" name="opencv_imread"/>
</packagedElement>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_-9mt0KENEeKLUqX9IJq2Gg" name="Environment">
- <ownedAttribute xmi:id="_K9lG0KEOEeKLUqX9IJq2Gg" name="roboCab" type="_fdzI0qk_EeCXqcRV-18f6Q"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_K9lG0KEOEeKLUqX9IJq2Gg" name="roboCab" type="_fdzI0qk_EeCXqcRV-18f6Q"/>
</packagedElement>
</packagedElement>
<packagedElement xmi:type="uml:Package" xmi:id="_k5GOkGbWEeGGNuX1IHg1zg" name="DeploymentPlans">
<packagedElement xmi:type="uml:Package" xmi:id="_k6lcUGbWEeGGNuX1IHg1zg" name="RoboCabDepPlan">
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k7L5QGbWEeGGNuX1IHg1zg" name="mainInstance" classifier="_fdzI0qk_EeCXqcRV-18f6Q">
- <slot xmi:id="_k8YMEGbWEeGGNuX1IHg1zg" definingFeature="_fdzI16k_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_k8YMEGbWEeGGNuX1IHg1zg" definingFeature="_fdzI16k_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_k8h9EGbWEeGGNuX1IHg1zg" instance="_k8ObEGbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_k804AGbWEeGGNuX1IHg1zg" definingFeature="_BE-egKlmEeCLku4RFrI7uw">
+ <slot xmi:type="uml:Slot" xmi:id="_k804AGbWEeGGNuX1IHg1zg" definingFeature="_BE-egKlmEeCLku4RFrI7uw">
<value xmi:type="uml:InstanceValue" xmi:id="_k804AWbWEeGGNuX1IHg1zg" instance="_k8rHAGbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_k-UFwGbWEeGGNuX1IHg1zg" definingFeature="_bsDDwKlmEeCLku4RFrI7uw">
+ <slot xmi:type="uml:Slot" xmi:id="_k-UFwGbWEeGGNuX1IHg1zg" definingFeature="_bsDDwKlmEeCLku4RFrI7uw">
<value xmi:type="uml:InstanceValue" xmi:id="_k-UFwWbWEeGGNuX1IHg1zg" instance="_k8-B8GbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_lAZwcGbWEeGGNuX1IHg1zg" definingFeature="_kbbj0BwnEeGa5bH_RJFzBQ">
+ <slot xmi:type="uml:Slot" xmi:id="_lAZwcGbWEeGGNuX1IHg1zg" definingFeature="_kbbj0BwnEeGa5bH_RJFzBQ">
<value xmi:type="uml:InstanceValue" xmi:id="_lAZwcWbWEeGGNuX1IHg1zg" instance="_k-UFwmbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_lBcSQGbWEeGGNuX1IHg1zg" definingFeature="_7PWh8B8kEeG4gPCEznVNOA">
+ <slot xmi:type="uml:Slot" xmi:id="_lBcSQGbWEeGGNuX1IHg1zg" definingFeature="_7PWh8B8kEeG4gPCEznVNOA">
<value xmi:type="uml:InstanceValue" xmi:id="_lBmDQGbWEeGGNuX1IHg1zg" instance="_lAZwcmbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_lBvNMGbWEeGGNuX1IHg1zg" definingFeature="_NJdXEB8lEeG4gPCEznVNOA">
+ <slot xmi:type="uml:Slot" xmi:id="_lBvNMGbWEeGGNuX1IHg1zg" definingFeature="_NJdXEB8lEeG4gPCEznVNOA">
<value xmi:type="uml:InstanceValue" xmi:id="_lB4-MGbWEeGGNuX1IHg1zg" instance="_lBmDQWbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_lCCvMGbWEeGGNuX1IHg1zg" definingFeature="_OENvIB8lEeG4gPCEznVNOA">
+ <slot xmi:type="uml:Slot" xmi:id="_lCCvMGbWEeGGNuX1IHg1zg" definingFeature="_OENvIB8lEeG4gPCEznVNOA">
<value xmi:type="uml:InstanceValue" xmi:id="_lCCvMWbWEeGGNuX1IHg1zg" instance="_lB4-MWbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_lCL5IWbWEeGGNuX1IHg1zg" definingFeature="_94cOoB8lEeG4gPCEznVNOA">
+ <slot xmi:type="uml:Slot" xmi:id="_lCL5IWbWEeGGNuX1IHg1zg" definingFeature="_94cOoB8lEeG4gPCEznVNOA">
<value xmi:type="uml:InstanceValue" xmi:id="_lCL5ImbWEeGGNuX1IHg1zg" instance="_lCL5IGbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_lCVqIWbWEeGGNuX1IHg1zg" definingFeature="_KdDxgB9BEeGetOLfkLNwfg">
+ <slot xmi:type="uml:Slot" xmi:id="_lCVqIWbWEeGGNuX1IHg1zg" definingFeature="_KdDxgB9BEeGetOLfkLNwfg">
<value xmi:type="uml:InstanceValue" xmi:id="_lCfbIGbWEeGGNuX1IHg1zg" instance="_lCVqIGbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_lCfbImbWEeGGNuX1IHg1zg" definingFeature="_YLTDIB9BEeGetOLfkLNwfg">
+ <slot xmi:type="uml:Slot" xmi:id="_lCfbImbWEeGGNuX1IHg1zg" definingFeature="_YLTDIB9BEeGetOLfkLNwfg">
<value xmi:type="uml:InstanceValue" xmi:id="_lColEGbWEeGGNuX1IHg1zg" instance="_lCfbIWbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_lCyWEGbWEeGGNuX1IHg1zg" definingFeature="_A68QIB9DEeGetOLfkLNwfg">
+ <slot xmi:type="uml:Slot" xmi:id="_lCyWEGbWEeGGNuX1IHg1zg" definingFeature="_A68QIB9DEeGetOLfkLNwfg">
<value xmi:type="uml:InstanceValue" xmi:id="_lCyWEWbWEeGGNuX1IHg1zg" instance="_lColEWbWEeGGNuX1IHg1zg"/>
</slot>
</packagedElement>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k8ObEGbWEeGGNuX1IHg1zg" name="mainInstance.landis" classifier="_fdzJZ6k_EeCXqcRV-18f6Q"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k8rHAGbWEeGGNuX1IHg1zg" name="mainInstance.missionGenerator" classifier="_aG5SkKlgEeCYfbnxVSyZ9g"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k8-B8GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace" classifier="_fdzJyKk_EeCXqcRV-18f6Q">
- <slot xmi:id="_k9Rj8GbWEeGGNuX1IHg1zg" definingFeature="_fdzJzak_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_k9Rj8GbWEeGGNuX1IHg1zg" definingFeature="_fdzJzak_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_k9at4GbWEeGGNuX1IHg1zg" instance="_k9Hy8GbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_k9uP4GbWEeGGNuX1IHg1zg" definingFeature="_Gde_kB8rEeG4gPCEznVNOA">
+ <slot xmi:type="uml:Slot" xmi:id="_k9uP4GbWEeGGNuX1IHg1zg" definingFeature="_Gde_kB8rEeG4gPCEznVNOA">
<value xmi:type="uml:InstanceValue" xmi:id="_k9uP4WbWEeGGNuX1IHg1zg" instance="_k9ke4GbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_k-BK0GbWEeGGNuX1IHg1zg" definingFeature="_qKrmYB8sEeG4gPCEznVNOA">
+ <slot xmi:type="uml:Slot" xmi:id="_k-BK0GbWEeGGNuX1IHg1zg" definingFeature="_qKrmYB8sEeG4gPCEznVNOA">
<value xmi:type="uml:InstanceValue" xmi:id="_k-KUwGbWEeGGNuX1IHg1zg" instance="_k93Z0GbWEeGGNuX1IHg1zg"/>
</slot>
</packagedElement>
@@ -1085,19 +1086,19 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k9ke4GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace.controller" classifier="_KqA8UB8pEeG4gPCEznVNOA"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k93Z0GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace.challengerEvaluation" classifier="_kdlWIB8rEeG4gPCEznVNOA"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k-UFwmbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace" classifier="_fdzLHak_EeCXqcRV-18f6Q">
- <slot xmi:id="_k-nAsGbWEeGGNuX1IHg1zg" definingFeature="_fdzLIqk_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_k-nAsGbWEeGGNuX1IHg1zg" definingFeature="_fdzLIqk_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_k-wxsGbWEeGGNuX1IHg1zg" instance="_k-d2wGbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_k-wxsmbWEeGGNuX1IHg1zg" definingFeature="_fdzLJ6k_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_k-wxsmbWEeGGNuX1IHg1zg" definingFeature="_fdzLJ6k_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_k-6isGbWEeGGNuX1IHg1zg" instance="_k-wxsWbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_k_DsoGbWEeGGNuX1IHg1zg" definingFeature="_fdzLQqk_EeCXqcRV-18f6Q">
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<value xmi:type="uml:InstanceValue" xmi:id="_k_DsoWbWEeGGNuX1IHg1zg" instance="_k-6isWbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_k_zTgGbWEeGGNuX1IHg1zg" definingFeature="_fdzLRqk_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_k_zTgGbWEeGGNuX1IHg1zg" definingFeature="_fdzLRqk_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_k_9EgGbWEeGGNuX1IHg1zg" instance="_k_qJkGbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_lAG1gGbWEeGGNuX1IHg1zg" definingFeature="_fdzLSqk_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_lAG1gGbWEeGGNuX1IHg1zg" definingFeature="_fdzLSqk_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_lAP_cGbWEeGGNuX1IHg1zg" instance="_k_9EgWbWEeGGNuX1IHg1zg"/>
</slot>
</packagedElement>
@@ -1107,10 +1108,10 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k_qJkGbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.control" classifier="_fdzKVKk_EeCXqcRV-18f6Q"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k_9EgWbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.localisation" classifier="_fdzK5Kk_EeCXqcRV-18f6Q"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lAZwcmbWEeGGNuX1IHg1zg" name="mainInstance.stereoPair" classifier="_fdzJgak_EeCXqcRV-18f6Q">
- <slot xmi:id="_lAsrYGbWEeGGNuX1IHg1zg" definingFeature="_ZBvoIDUoEeG5pL_fpN2DgQ">
+ <slot xmi:type="uml:Slot" xmi:id="_lAsrYGbWEeGGNuX1IHg1zg" definingFeature="_ZBvoIDUoEeG5pL_fpN2DgQ">
<value xmi:type="uml:InstanceValue" xmi:id="_lA2cYGbWEeGGNuX1IHg1zg" instance="_lAi6YGbWEeGGNuX1IHg1zg"/>
</slot>
- <slot xmi:id="_lBJXUWbWEeGGNuX1IHg1zg" definingFeature="_Zo_1YDUoEeG5pL_fpN2DgQ">
+ <slot xmi:type="uml:Slot" xmi:id="_lBJXUWbWEeGGNuX1IHg1zg" definingFeature="_Zo_1YDUoEeG5pL_fpN2DgQ">
<value xmi:type="uml:InstanceValue" xmi:id="_lBTIUGbWEeGGNuX1IHg1zg" instance="_lBJXUGbWEeGGNuX1IHg1zg"/>
</slot>
</packagedElement>
@@ -1125,55 +1126,55 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
</packagedElement>
<packagedElement xmi:type="uml:Package" xmi:id="_nlUjUKEOEeKLUqX9IJq2Gg" name="EnvironmentDepPlan">
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nlneQKEOEeKLUqX9IJq2Gg" name="mainInstance" classifier="_-9mt0KENEeKLUqX9IJq2Gg">
- <slot xmi:id="_nmXFNKEOEeKLUqX9IJq2Gg" definingFeature="_K9lG0KEOEeKLUqX9IJq2Gg">
+ <slot xmi:type="uml:Slot" xmi:id="_nmXFNKEOEeKLUqX9IJq2Gg" definingFeature="_K9lG0KEOEeKLUqX9IJq2Gg">
<value xmi:type="uml:InstanceValue" xmi:id="_nmg2IKEOEeKLUqX9IJq2Gg" instance="_nl6ZMKEOEeKLUqX9IJq2Gg"/>
</slot>
</packagedElement>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nl6ZMKEOEeKLUqX9IJq2Gg" clientDependency="_ra4foKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab" classifier="_fdzI0qk_EeCXqcRV-18f6Q">
- <slot xmi:id="_nl6ZMqEOEeKLUqX9IJq2Gg" definingFeature="_fdzI16k_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_nl6ZMqEOEeKLUqX9IJq2Gg" definingFeature="_fdzI16k_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_nl6ZM6EOEeKLUqX9IJq2Gg" instance="_nl6ZMaEOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmEKMaEOEeKLUqX9IJq2Gg" definingFeature="_BE-egKlmEeCLku4RFrI7uw">
+ <slot xmi:type="uml:Slot" xmi:id="_nmEKMaEOEeKLUqX9IJq2Gg" definingFeature="_BE-egKlmEeCLku4RFrI7uw">
<value xmi:type="uml:InstanceValue" xmi:id="_nmEKMqEOEeKLUqX9IJq2Gg" instance="_nmEKMKEOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmEKPaEOEeKLUqX9IJq2Gg" definingFeature="_bsDDwKlmEeCLku4RFrI7uw">
+ <slot xmi:type="uml:Slot" xmi:id="_nmEKPaEOEeKLUqX9IJq2Gg" definingFeature="_bsDDwKlmEeCLku4RFrI7uw">
<value xmi:type="uml:InstanceValue" xmi:id="_nmEKPqEOEeKLUqX9IJq2Gg" instance="_nmEKM6EOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmN7O6EOEeKLUqX9IJq2Gg" definingFeature="_kbbj0BwnEeGa5bH_RJFzBQ">
+ <slot xmi:type="uml:Slot" xmi:id="_nmN7O6EOEeKLUqX9IJq2Gg" definingFeature="_kbbj0BwnEeGa5bH_RJFzBQ">
<value xmi:type="uml:InstanceValue" xmi:id="_nmN7PKEOEeKLUqX9IJq2Gg" instance="_nmEKP6EOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmXFIKEOEeKLUqX9IJq2Gg" definingFeature="_7PWh8B8kEeG4gPCEznVNOA">
+ <slot xmi:type="uml:Slot" xmi:id="_nmXFIKEOEeKLUqX9IJq2Gg" definingFeature="_7PWh8B8kEeG4gPCEznVNOA">
<value xmi:type="uml:InstanceValue" xmi:id="_nmXFIaEOEeKLUqX9IJq2Gg" instance="_nmN7PaEOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmXFI6EOEeKLUqX9IJq2Gg" definingFeature="_NJdXEB8lEeG4gPCEznVNOA">
+ <slot xmi:type="uml:Slot" xmi:id="_nmXFI6EOEeKLUqX9IJq2Gg" definingFeature="_NJdXEB8lEeG4gPCEznVNOA">
<value xmi:type="uml:InstanceValue" xmi:id="_nmXFJKEOEeKLUqX9IJq2Gg" instance="_nmXFIqEOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmXFJqEOEeKLUqX9IJq2Gg" definingFeature="_OENvIB8lEeG4gPCEznVNOA">
+ <slot xmi:type="uml:Slot" xmi:id="_nmXFJqEOEeKLUqX9IJq2Gg" definingFeature="_OENvIB8lEeG4gPCEznVNOA">
<value xmi:type="uml:InstanceValue" xmi:id="_nmXFJ6EOEeKLUqX9IJq2Gg" instance="_nmXFJaEOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmXFKaEOEeKLUqX9IJq2Gg" definingFeature="_94cOoB8lEeG4gPCEznVNOA">
+ <slot xmi:type="uml:Slot" xmi:id="_nmXFKaEOEeKLUqX9IJq2Gg" definingFeature="_94cOoB8lEeG4gPCEznVNOA">
<value xmi:type="uml:InstanceValue" xmi:id="_nmXFKqEOEeKLUqX9IJq2Gg" instance="_nmXFKKEOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmXFLKEOEeKLUqX9IJq2Gg" definingFeature="_KdDxgB9BEeGetOLfkLNwfg">
+ <slot xmi:type="uml:Slot" xmi:id="_nmXFLKEOEeKLUqX9IJq2Gg" definingFeature="_KdDxgB9BEeGetOLfkLNwfg">
<value xmi:type="uml:InstanceValue" xmi:id="_nmXFLaEOEeKLUqX9IJq2Gg" instance="_nmXFK6EOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmXFL6EOEeKLUqX9IJq2Gg" definingFeature="_YLTDIB9BEeGetOLfkLNwfg">
+ <slot xmi:type="uml:Slot" xmi:id="_nmXFL6EOEeKLUqX9IJq2Gg" definingFeature="_YLTDIB9BEeGetOLfkLNwfg">
<value xmi:type="uml:InstanceValue" xmi:id="_nmXFMKEOEeKLUqX9IJq2Gg" instance="_nmXFLqEOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmXFMqEOEeKLUqX9IJq2Gg" definingFeature="_A68QIB9DEeGetOLfkLNwfg">
+ <slot xmi:type="uml:Slot" xmi:id="_nmXFMqEOEeKLUqX9IJq2Gg" definingFeature="_A68QIB9DEeGetOLfkLNwfg">
<value xmi:type="uml:InstanceValue" xmi:id="_nmXFM6EOEeKLUqX9IJq2Gg" instance="_nmXFMaEOEeKLUqX9IJq2Gg"/>
</slot>
</packagedElement>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nl6ZMaEOEeKLUqX9IJq2Gg" clientDependency="_tdHdIKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.landis" classifier="_fdzJZ6k_EeCXqcRV-18f6Q"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKMKEOEeKLUqX9IJq2Gg" clientDependency="_t1GfUKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.missionGenerator" classifier="_aG5SkKlgEeCYfbnxVSyZ9g"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKM6EOEeKLUqX9IJq2Gg" clientDependency="_uUP5cKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace" classifier="_fdzJyKk_EeCXqcRV-18f6Q">
- <slot xmi:id="_nmEKNaEOEeKLUqX9IJq2Gg" definingFeature="_fdzJzak_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_nmEKNaEOEeKLUqX9IJq2Gg" definingFeature="_fdzJzak_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_nmEKNqEOEeKLUqX9IJq2Gg" instance="_nmEKNKEOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmEKOKEOEeKLUqX9IJq2Gg" definingFeature="_Gde_kB8rEeG4gPCEznVNOA">
+ <slot xmi:type="uml:Slot" xmi:id="_nmEKOKEOEeKLUqX9IJq2Gg" definingFeature="_Gde_kB8rEeG4gPCEznVNOA">
<value xmi:type="uml:InstanceValue" xmi:id="_nmEKOaEOEeKLUqX9IJq2Gg" instance="_nmEKN6EOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmEKO6EOEeKLUqX9IJq2Gg" definingFeature="_qKrmYB8sEeG4gPCEznVNOA">
+ <slot xmi:type="uml:Slot" xmi:id="_nmEKO6EOEeKLUqX9IJq2Gg" definingFeature="_qKrmYB8sEeG4gPCEznVNOA">
<value xmi:type="uml:InstanceValue" xmi:id="_nmEKPKEOEeKLUqX9IJq2Gg" instance="_nmEKOqEOEeKLUqX9IJq2Gg"/>
</slot>
</packagedElement>
@@ -1181,19 +1182,19 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKN6EOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace.controller" classifier="_KqA8UB8pEeG4gPCEznVNOA"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKOqEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace.challengerEvaluation" classifier="_kdlWIB8rEeG4gPCEznVNOA"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKP6EOEeKLUqX9IJq2Gg" clientDependency="_uqTB8KEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace" classifier="_fdzLHak_EeCXqcRV-18f6Q">
- <slot xmi:id="_nmEKQaEOEeKLUqX9IJq2Gg" definingFeature="_fdzLIqk_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_nmEKQaEOEeKLUqX9IJq2Gg" definingFeature="_fdzLIqk_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_nmEKQqEOEeKLUqX9IJq2Gg" instance="_nmEKQKEOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmN7MKEOEeKLUqX9IJq2Gg" definingFeature="_fdzLJ6k_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_nmN7MKEOEeKLUqX9IJq2Gg" definingFeature="_fdzLJ6k_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_nmN7MaEOEeKLUqX9IJq2Gg" instance="_nmEKQ6EOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmN7M6EOEeKLUqX9IJq2Gg" definingFeature="_fdzLQqk_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_nmN7M6EOEeKLUqX9IJq2Gg" definingFeature="_fdzLQqk_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_nmN7NKEOEeKLUqX9IJq2Gg" instance="_nmN7MqEOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmN7NqEOEeKLUqX9IJq2Gg" definingFeature="_fdzLRqk_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_nmN7NqEOEeKLUqX9IJq2Gg" definingFeature="_fdzLRqk_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_nmN7N6EOEeKLUqX9IJq2Gg" instance="_nmN7NaEOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmN7OaEOEeKLUqX9IJq2Gg" definingFeature="_fdzLSqk_EeCXqcRV-18f6Q">
+ <slot xmi:type="uml:Slot" xmi:id="_nmN7OaEOEeKLUqX9IJq2Gg" definingFeature="_fdzLSqk_EeCXqcRV-18f6Q">
<value xmi:type="uml:InstanceValue" xmi:id="_nmN7OqEOEeKLUqX9IJq2Gg" instance="_nmN7OKEOEeKLUqX9IJq2Gg"/>
</slot>
</packagedElement>
@@ -1203,10 +1204,10 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7NaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.control" classifier="_fdzKVKk_EeCXqcRV-18f6Q"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7OKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.localisation" classifier="_fdzK5Kk_EeCXqcRV-18f6Q"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7PaEOEeKLUqX9IJq2Gg" clientDependency="_vMuZkKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.stereoPair" classifier="_fdzJgak_EeCXqcRV-18f6Q">
- <slot xmi:id="_nmN7P6EOEeKLUqX9IJq2Gg" definingFeature="_ZBvoIDUoEeG5pL_fpN2DgQ">
+ <slot xmi:type="uml:Slot" xmi:id="_nmN7P6EOEeKLUqX9IJq2Gg" definingFeature="_ZBvoIDUoEeG5pL_fpN2DgQ">
<value xmi:type="uml:InstanceValue" xmi:id="_nmN7QKEOEeKLUqX9IJq2Gg" instance="_nmN7PqEOEeKLUqX9IJq2Gg"/>
</slot>
- <slot xmi:id="_nmN7QqEOEeKLUqX9IJq2Gg" definingFeature="_Zo_1YDUoEeG5pL_fpN2DgQ">
+ <slot xmi:type="uml:Slot" xmi:id="_nmN7QqEOEeKLUqX9IJq2Gg" definingFeature="_Zo_1YDUoEeG5pL_fpN2DgQ">
<value xmi:type="uml:InstanceValue" xmi:id="_nmN7Q6EOEeKLUqX9IJq2Gg" instance="_nmN7QaEOEeKLUqX9IJq2Gg"/>
</slot>
</packagedElement>
@@ -1234,8 +1235,8 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
</packagedElement>
<packagedElement xmi:type="uml:Package" xmi:id="_tR1bIGbWEeGGNuX1IHg1zg" name="PlatformModel">
<packagedElement xmi:type="uml:Class" xmi:id="_v8CiIGbXEeGjxc8c7ZBkPQ" name="Platform">
- <ownedAttribute xmi:id="_El_WwGbaEeGTV_735pzUXQ" name="cycabTK" type="_Oj3xoGbZEeGTV_735pzUXQ"/>
- <ownedAttribute xmi:id="_MaXSAGbaEeGTV_735pzUXQ" name="rtmaps" type="_jcp-YGbZEeGTV_735pzUXQ"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_El_WwGbaEeGTV_735pzUXQ" name="cycabTK" type="_Oj3xoGbZEeGTV_735pzUXQ"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_MaXSAGbaEeGTV_735pzUXQ" name="rtmaps" type="_jcp-YGbZEeGTV_735pzUXQ"/>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_Oj3xoGbZEeGTV_735pzUXQ" name="CyCabTK"/>
<packagedElement xmi:type="uml:Class" xmi:id="_jcp-YGbZEeGTV_735pzUXQ" name="RTMaps"/>
@@ -1243,20 +1244,20 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_vZa14GbaEeGTV_735pzUXQ" name="platform.cycabTK" classifier="_Oj3xoGbZEeGTV_735pzUXQ"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_vZj_0GbaEeGTV_735pzUXQ" name="platform.rtmaps" classifier="_jcp-YGbZEeGTV_735pzUXQ"/>
<packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_-PhHcGbaEeGTV_735pzUXQ" name="platform" classifier="_v8CiIGbXEeGjxc8c7ZBkPQ">
- <slot xmi:id="_HLRhgGbbEeGTV_735pzUXQ" definingFeature="_El_WwGbaEeGTV_735pzUXQ">
+ <slot xmi:type="uml:Slot" xmi:id="_HLRhgGbbEeGTV_735pzUXQ" definingFeature="_El_WwGbaEeGTV_735pzUXQ">
<value xmi:type="uml:InstanceValue" xmi:id="_iAD9MGbcEeGTV_735pzUXQ" name="platform.cycabtk" instance="_vZa14GbaEeGTV_735pzUXQ"/>
</slot>
- <slot xmi:id="_eSgi0GbbEeGTV_735pzUXQ" definingFeature="_MaXSAGbaEeGTV_735pzUXQ">
+ <slot xmi:type="uml:Slot" xmi:id="_eSgi0GbbEeGTV_735pzUXQ" definingFeature="_MaXSAGbaEeGTV_735pzUXQ">
<value xmi:type="uml:InstanceValue" xmi:id="_mVhhkGbcEeGTV_735pzUXQ" name="platform.rtmaps" instance="_vZj_0GbaEeGTV_735pzUXQ"/>
</slot>
</packagedElement>
</packagedElement>
</packagedElement>
- <profileApplication xmi:id="_fdzLgKk_EeCXqcRV-18f6Q">
- <eAnnotations xmi:id="_fdzLgak_EeCXqcRV-18f6Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+ <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_fdzLgKk_EeCXqcRV-18f6Q">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fdzLgak_EeCXqcRV-18f6Q" 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"/>
+ <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
</profileApplication>
</uml:Model>
<RobotML:SensorSystem xmi:id="_feGDzqk_EeCXqcRV-18f6Q" base_Class="_fdzJZ6k_EeCXqcRV-18f6Q"/>
@@ -1340,24 +1341,24 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
<RobotML:DataFlowPort xmi:id="_0-yg0DUzEeG5pL_fpN2DgQ" base_Port="_0-eXwDUzEeG5pL_fpN2DgQ"/>
<RobotML:DataFlowPort xmi:id="_2jIocDUzEeG5pL_fpN2DgQ" base_Port="_2izRQDUzEeG5pL_fpN2DgQ"/>
<RobotML:DataFlowPort xmi:id="_3wfMYDUzEeG5pL_fpN2DgQ" base_Port="_3wKcQDUzEeG5pL_fpN2DgQ"/>
- <RobotML:Transition xmi:id="_3J41EEHZEeG8nvjGjD0Mrg" base_Transition="_3JM4kEHZEeG8nvjGjD0Mrg" guard="_8gaO8G6pEeGqrd__B0yUNA"/>
+ <RobotML:Transition xmi:id="_3J41EEHZEeG8nvjGjD0Mrg" base_Transition="_3JM4kEHZEeG8nvjGjD0Mrg"/>
<RobotML:System xmi:id="_eYr5YEHmEeGGXpGscpkjdg" base_Class="_fdzLHak_EeCXqcRV-18f6Q"/>
<RobotML:DataFlowPort xmi:id="_mKL-cEH0EeGwG_JKFhyhxw" base_Port="_mJzj8EH0EeGwG_JKFhyhxw"/>
<RobotML:Software xmi:id="_MkTegEH2EeGwG_JKFhyhxw" base_Class="_irmXsEH0EeGwG_JKFhyhxw"/>
<RobotML:Software xmi:id="_OzYlMEH2EeGwG_JKFhyhxw" base_Class="_4R8VYEHxEeGGXpGscpkjdg" period="5.0"/>
- <RobotML:State xmi:id="_M-CNEEK6EeGv-54Wm4mRWQ" base_State="_M9id0EK6EeGv-54Wm4mRWQ" operation="_YsuBwEK6EeGv-54Wm4mRWQ"/>
+ <RobotML:State xmi:id="_M-CNEEK6EeGv-54Wm4mRWQ" base_State="_M9id0EK6EeGv-54Wm4mRWQ" behavior="_IgJOgBFxEeOl1IrgVMUxOA" operation="_YsuBwEK6EeGv-54Wm4mRWQ"/>
<RobotML:Algorithm xmi:id="_YsuBwEK6EeGv-54Wm4mRWQ" base_Operation="_LJ25sEK6EeGv-54Wm4mRWQ"/>
<RobotML:Algorithm xmi:id="_g2wD8EK6EeGv-54Wm4mRWQ" base_Operation="_co9N0EK6EeGv-54Wm4mRWQ"/>
<RobotML:Algorithm xmi:id="_mvhOIEK6EeGv-54Wm4mRWQ" base_Operation="_lxCzsEK6EeGv-54Wm4mRWQ"/>
<RobotML:Algorithm xmi:id="_5nYsAEK6EeGv-54Wm4mRWQ" base_Operation="_sD-KUEK6EeGv-54Wm4mRWQ"/>
<RobotML:Algorithm xmi:id="_zI1ewEK7EeGv-54Wm4mRWQ" base_Operation="_rnfNMEK7EeGv-54Wm4mRWQ"/>
<RobotML:Algorithm xmi:id="_0Yl2cEK7EeGv-54Wm4mRWQ" base_Operation="_zsmTIEK7EeGv-54Wm4mRWQ"/>
- <RobotML:State xmi:id="_AsLvAEK8EeGv-54Wm4mRWQ" base_State="_Ar40EEK8EeGv-54Wm4mRWQ" operation="_mvhOIEK6EeGv-54Wm4mRWQ"/>
- <RobotML:State xmi:id="_Pv3JkEK8EeGv-54Wm4mRWQ" base_State="_PvjnkEK8EeGv-54Wm4mRWQ" operation="_g2wD8EK6EeGv-54Wm4mRWQ"/>
- <RobotML:Transition xmi:id="_4pOvwEK8EeGv-54Wm4mRWQ" base_Transition="_4nd1MEK8EeGv-54Wm4mRWQ" guard="_0Yl2cEK7EeGv-54Wm4mRWQ"/>
- <RobotML:Transition xmi:id="_6CnkkEK8EeGv-54Wm4mRWQ" base_Transition="_6CGnMEK8EeGv-54Wm4mRWQ" guard="_5nYsAEK6EeGv-54Wm4mRWQ"/>
- <RobotML:Transition xmi:id="_6-L08EK8EeGv-54Wm4mRWQ" base_Transition="_69reoEK8EeGv-54Wm4mRWQ" guard="_zI1ewEK7EeGv-54Wm4mRWQ"/>
- <RobotML:Transition xmi:id="_7jObsEK8EeGv-54Wm4mRWQ" base_Transition="_7irpIEK8EeGv-54Wm4mRWQ" guard="_0Yl2cEK7EeGv-54Wm4mRWQ"/>
+ <RobotML:State xmi:id="_AsLvAEK8EeGv-54Wm4mRWQ" base_State="_Ar40EEK8EeGv-54Wm4mRWQ" behavior="_eBwV0BFxEeOl1IrgVMUxOA" operation="_mvhOIEK6EeGv-54Wm4mRWQ"/>
+ <RobotML:State xmi:id="_Pv3JkEK8EeGv-54Wm4mRWQ" base_State="_PvjnkEK8EeGv-54Wm4mRWQ" behavior="_ZmSQEBFxEeOl1IrgVMUxOA" operation="_g2wD8EK6EeGv-54Wm4mRWQ"/>
+ <RobotML:Transition xmi:id="_4pOvwEK8EeGv-54Wm4mRWQ" base_Transition="_4nd1MEK8EeGv-54Wm4mRWQ" guard="_M-5TQEK7EeGv-54Wm4mRWQ"/>
+ <RobotML:Transition xmi:id="_6CnkkEK8EeGv-54Wm4mRWQ" base_Transition="_6CGnMEK8EeGv-54Wm4mRWQ" guard="_6qJJgEK6EeGv-54Wm4mRWQ"/>
+ <RobotML:Transition xmi:id="_6-L08EK8EeGv-54Wm4mRWQ" base_Transition="_69reoEK8EeGv-54Wm4mRWQ" guard="_MJ8oQEK7EeGv-54Wm4mRWQ"/>
+ <RobotML:Transition xmi:id="_7jObsEK8EeGv-54Wm4mRWQ" base_Transition="_7irpIEK8EeGv-54Wm4mRWQ" guard="_M-5TQEK7EeGv-54Wm4mRWQ"/>
<RobotML:DataFlowPort xmi:id="_HrQvEEK-EeGv-54Wm4mRWQ" base_Port="_FpXIwEK-EeGv-54Wm4mRWQ"/>
<RobotML:DataFlowPort xmi:id="_UfDKoEK-EeGv-54Wm4mRWQ" base_Port="_TVYM0EK-EeGv-54Wm4mRWQ"/>
<RobotML:DataFlowPort xmi:id="_cjWYQEK-EeGv-54Wm4mRWQ" base_Port="_aL1HQEK-EeGv-54Wm4mRWQ"/>
@@ -1373,12 +1374,12 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
<RobotML:Robot xmi:id="_HZt_wF4gEeGua5Z-VEhs4w" base_Class="_fdzI0qk_EeCXqcRV-18f6Q"/>
<RobotML:CameraSystem xmi:id="_KlbGwF4gEeGua5Z-VEhs4w" base_Class="_fdzJgak_EeCXqcRV-18f6Q"/>
<RobotML:EngineSystem xmi:id="_RVtHwF4gEeGua5Z-VEhs4w" base_Class="_fdzJuqk_EeCXqcRV-18f6Q"/>
- <RobotML:Transition xmi:id="_tU9GEGLwEeGQvv5wJEmGUQ" base_Transition="_tUNfMGLwEeGQvv5wJEmGUQ"/>
+ <RobotML:Transition xmi:id="_tU9GEGLwEeGQvv5wJEmGUQ" base_Transition="_tUNfMGLwEeGQvv5wJEmGUQ" guard="_M-5TQEK7EeGv-54Wm4mRWQ"/>
<RobotML:Transition xmi:id="_uRTZkGLwEeGQvv5wJEmGUQ" base_Transition="_uQtjsGLwEeGQvv5wJEmGUQ"/>
<RobotML:Transition xmi:id="_vPcc0GLwEeGQvv5wJEmGUQ" base_Transition="_vO1_4GLwEeGQvv5wJEmGUQ"/>
<RobotML:Transition xmi:id="_yPXxoGLwEeGQvv5wJEmGUQ" base_Transition="_yOoKwGLwEeGQvv5wJEmGUQ"/>
- <RobotML:Transition xmi:id="_1YiiAGLwEeGQvv5wJEmGUQ" base_Transition="_1X8FEGLwEeGQvv5wJEmGUQ"/>
- <RobotML:Transition xmi:id="_2w5cEGLwEeGQvv5wJEmGUQ" base_Transition="_2wTmMGLwEeGQvv5wJEmGUQ"/>
+ <RobotML:Transition xmi:id="_1YiiAGLwEeGQvv5wJEmGUQ" base_Transition="_1X8FEGLwEeGQvv5wJEmGUQ" guard="_6qJJgEK6EeGv-54Wm4mRWQ"/>
+ <RobotML:Transition xmi:id="_2w5cEGLwEeGQvv5wJEmGUQ" base_Transition="_2wTmMGLwEeGQvv5wJEmGUQ" guard="_MJ8oQEK7EeGv-54Wm4mRWQ"/>
<RobotML:OnPort xmi:id="__yeKQGLwEeGQvv5wJEmGUQ" port="_UfDKoEK-EeGv-54Wm4mRWQ" base_Parameter="_qXQiIELAEeGFx4iVEwo0kA"/>
<RobotML:OnPort xmi:id="_FF7A4GLxEeGQvv5wJEmGUQ" port="_cjWYQEK-EeGv-54Wm4mRWQ" base_Parameter="_g8eCsELAEeGFx4iVEwo0kA"/>
<RobotML:OnPort xmi:id="_I_qSkGLxEeGQvv5wJEmGUQ" port="_iL8YcEK-EeGv-54Wm4mRWQ" base_Parameter="_dybvoELAEeGFx4iVEwo0kA"/>
@@ -1387,17 +1388,15 @@ return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle
<RobotML:OnPort xmi:id="_eRobYGLxEeGQvv5wJEmGUQ" port="_HrQvEEK-EeGv-54Wm4mRWQ" base_Parameter="_7mEw0EK7EeGv-54Wm4mRWQ"/>
<RobotML:Platform xmi:id="_5EKkQGbXEeGjxc8c7ZBkPQ" base_Class="_v8CiIGbXEeGjxc8c7ZBkPQ"/>
<RobotML:RoboticMiddleware xmi:id="_jdZlQGbZEeGTV_735pzUXQ" base_Class="_jcp-YGbZEeGTV_735pzUXQ"/>
- <RobotML:LidarSystem xmi:id="_g2EkUGeiEeGWtaOO91qxRQ" base_Class="_g1eucGeiEeGWtaOO91qxRQ"/>
- <RobotML:GPSSystem xmi:id="_hff72GeiEeGWtaOO91qxRQ" base_Class="_hfDP4GeiEeGWtaOO91qxRQ"/>
<RobotML:CycabTK xmi:id="_hNIBwGwpEeGmceXllYzFRQ" base_Class="_Oj3xoGbZEeGTV_735pzUXQ"/>
- <RobotML:Transition xmi:id="_0SMFwG6oEeGqrd__B0yUNA" base_Transition="_0QZ9EG6oEeGqrd__B0yUNA" guard="_7AGIMG6oEeGqrd__B0yUNA"/>
+ <RobotML:Transition xmi:id="_0SMFwG6oEeGqrd__B0yUNA" base_Transition="_0QZ9EG6oEeGqrd__B0yUNA"/>
<RobotML:Algorithm xmi:id="_7AGIMG6oEeGqrd__B0yUNA" base_Operation="_5lDGgG6oEeGqrd__B0yUNA"/>
- <RobotML:Transition xmi:id="_b1LH0G6pEeGqrd__B0yUNA" base_Transition="_bziJEG6pEeGqrd__B0yUNA" guard="_dkZNQG6qEeGqrd__B0yUNA"/>
+ <RobotML:Transition xmi:id="_b1LH0G6pEeGqrd__B0yUNA" base_Transition="_bziJEG6pEeGqrd__B0yUNA"/>
<RobotML:Algorithm xmi:id="_8gaO8G6pEeGqrd__B0yUNA" base_Operation="_5FqmYG6pEeGqrd__B0yUNA"/>
- <RobotML:Transition xmi:id="_REWNEG6qEeGqrd__B0yUNA" base_Transition="_RCtOUG6qEeGqrd__B0yUNA" guard="_Vx8SsG6sEeGqrd__B0yUNA"/>
+ <RobotML:Transition xmi:id="_REWNEG6qEeGqrd__B0yUNA" base_Transition="_RCtOUG6qEeGqrd__B0yUNA"/>
<RobotML:Algorithm xmi:id="_dkZNQG6qEeGqrd__B0yUNA" base_Operation="_cWKfkG6qEeGqrd__B0yUNA"/>
<RobotML:Algorithm xmi:id="_Vx8SsG6sEeGqrd__B0yUNA" base_Operation="_1FtigG6qEeGqrd__B0yUNA"/>
- <RobotML:Transition xmi:id="_iXznAG6sEeGqrd__B0yUNA" base_Transition="_iWLPUG6sEeGqrd__B0yUNA" guard="_Vx8SsG6sEeGqrd__B0yUNA"/>
+ <RobotML:Transition xmi:id="_iXznAG6sEeGqrd__B0yUNA" base_Transition="_iWLPUG6sEeGqrd__B0yUNA"/>
<RobotML:DeploymentPlan xmi:id="_487qAKD7EeKNa6EfGASSWw" base_Package="_k6lcUGbWEeGGNuX1IHg1zg" mainInstance="_k7L5QGbWEeGGNuX1IHg1zg"/>
<RobotML:Environment xmi:id="_--MjuKENEeKLUqX9IJq2Gg" base_Class="_-9mt0KENEeKLUqX9IJq2Gg"/>
<RobotML:DeploymentPlan xmi:id="_nlUjUaEOEeKLUqX9IJq2Gg" base_Package="_nlUjUKEOEeKLUqX9IJq2Gg" mainInstance="_nlneQKEOEeKLUqX9IJq2Gg"/>
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 ad97973..c2da6db 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.uml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/SearchLanding.uml
@@ -285,14 +285,14 @@ end</body>
<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" guard="_QGg3oDikEeK2K5cKvwDFDw"/>
+ <RobotML:Transition xmi:id="_Y4YOgDinEeK2K5cKvwDFDw" base_Transition="_Y4FTkDinEeK2K5cKvwDFDw" />
<RobotML:Algorithm xmi:id="__GlO8DinEeK2K5cKvwDFDw" base_Operation="__GcsEDinEeK2K5cKvwDFDw"/>
- <RobotML:Transition xmi:id="_MW0V8DioEeK2K5cKvwDFDw" base_Transition="_MWgM4DioEeK2K5cKvwDFDw" guard="__GlO8DinEeK2K5cKvwDFDw" effect="_y6MucDijEeK2K5cKvwDFDw"/>
- <RobotML:Transition xmi:id="_TAgU0DiqEeKSArdUqChi-A" base_Transition="_TAE3ADiqEeKSArdUqChi-A" guard="_qaG4gDiqEeKSArdUqChi-A" effect="_qwWdADikEeK2K5cKvwDFDw"/>
+ <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" guard="_qaG4gDiqEeKSArdUqChi-A" effect="_VBDpkDilEeK2K5cKvwDFDw"/>
- <RobotML:Transition xmi:id="_SqZakDitEeKSArdUqChi-A" base_Transition="_Sp6SYDitEeKSArdUqChi-A" guard="_QGg3oDikEeK2K5cKvwDFDw"/>
- <RobotML:Transition xmi:id="_jU5B8DitEeKSArdUqChi-A" base_Transition="_jUbH4DitEeKSArdUqChi-A" guard="__GlO8DinEeK2K5cKvwDFDw" effect="_y6MucDijEeK2K5cKvwDFDw"/>
+ <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"/>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml
index 57458bf..424a227 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/TALC-Challenge.uml
@@ -644,11 +644,11 @@
<RobotML:DataFlowPort xmi:id="_8CTXAJYDEeGTwaQpvIKq0Q" base_Port="_8B_1AJYDEeGTwaQpvIKq0Q"/>
<RobotML:DataFlowPort xmi:id="_Kx70MJYEEeGTwaQpvIKq0Q" base_Port="_KxmdAJYEEeGTwaQpvIKq0Q"/>
<RobotML:State xmi:id="_0qpToKNOEeGOdPdoEUDJtQ"/>
- <RobotML:Transition xmi:id="_DoOtQKNPEeGOdPdoEUDJtQ" guard="_CWOFAKQOEeGAwP2ngawvCw"/>
- <RobotML:Transition xmi:id="_JDTO0KNPEeGOdPdoEUDJtQ" guard="_Ks_qEKQLEeGAwP2ngawvCw"/>
- <RobotML:Transition xmi:id="_NvIr0KNPEeGOdPdoEUDJtQ" guard="_Ks_qEKQLEeGAwP2ngawvCw"/>
+ <RobotML:Transition xmi:id="_DoOtQKNPEeGOdPdoEUDJtQ" />
+ <RobotML:Transition xmi:id="_JDTO0KNPEeGOdPdoEUDJtQ" />
+ <RobotML:Transition xmi:id="_NvIr0KNPEeGOdPdoEUDJtQ" />
<RobotML:OnPort xmi:id="_qtb8QKNREeGOdPdoEUDJtQ" port="_Kx70MJYEEeGTwaQpvIKq0Q" base_Parameter="_gnGlcKNREeGOdPdoEUDJtQ"/>
- <RobotML:Transition xmi:id="_L3iFcKNZEeGOdPdoEUDJtQ" guard="_vE0NIKQKEeGAwP2ngawvCw" effect="_Pvq4wKQWEeGOjYafct30dQ"/>
+ <RobotML:Transition xmi:id="_L3iFcKNZEeGOdPdoEUDJtQ" />
<RobotML:Algorithm xmi:id="_vE0NIKQKEeGAwP2ngawvCw" base_Operation="_u44ecKNQEeGOdPdoEUDJtQ"/>
<RobotML:Algorithm xmi:id="_Ks_qEKQLEeGAwP2ngawvCw" base_Operation="_I4XDsKQLEeGAwP2ngawvCw"/>
<RobotML:OnPort xmi:id="_WrFXQKQMEeGAwP2ngawvCw" port="_8CTXAJYDEeGTwaQpvIKq0Q" base_Parameter="_iDoZUKQLEeGAwP2ngawvCw"/>
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 e5c8afe..615e070 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.di
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.di
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="ASCII"?>
+<?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>
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 dd75561..0800540 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
@@ -1,35 +1,35 @@
<?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:Blocks="http://www.eclipse.org/papyrus/0.7.0/SysML/Blocks" 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" xsi:schemaLocation="http://www.eclipse.org/papyrus/0.7.0/SysML/Blocks http://www.eclipse.org/papyrus/0.7.0/SysML#//blocks">
+<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:id="_k0Lj4TiAEeKDAMEjnOLmPA">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
+ <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:id="_k0Lj5DiAEeKDAMEjnOLmPA" name="Explore"/>
- <ownedLiteral xmi:id="_k0Lj5TiAEeKDAMEjnOLmPA" name="Search"/>
- <ownedLiteral xmi:id="_k0Lj5jiAEeKDAMEjnOLmPA" name="Reach"/>
- <ownedLiteral xmi:id="_k0Lj5ziAEeKDAMEjnOLmPA" name="Identify"/>
+ <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:id="_k0Lj6TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lj6DiAEeKDAMEjnOLmPA">
+ <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:id="_k0Lj6jiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
+ <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:id="_k0Lj7jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
+ <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:id="_k0Lj8jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
+ <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">
@@ -38,8 +38,8 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_k0Lj9jiAEeKDAMEjnOLmPA" name="Position">
- <ownedComment xmi:id="_k0Lj9ziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0Lj-DiAEeKDAMEjnOLmPA" name="x" visibility="public" isUnique="false">
+ <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"/>
@@ -47,7 +47,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0Lj_DiAEeKDAMEjnOLmPA" name="y" visibility="public" isUnique="false">
+ <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"/>
@@ -55,7 +55,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkADiAEeKDAMEjnOLmPA" name="alt" visibility="public" isUnique="false">
+ <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"/>
@@ -63,9 +63,9 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkBDiAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
- <ownedComment xmi:id="_k0LkBTiAEeKDAMEjnOLmPA" annotatedElement="_k0LkBTiAEeKDAMEjnOLmPA">
- <body>orientation en degr� [0;359] , entier positif, sens horaire 0 Nord </body>
+ <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"/>
@@ -76,7 +76,7 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_k0LkCTiAEeKDAMEjnOLmPA" name="Position_Error">
- <ownedAttribute xmi:id="_k0LkCjiAEeKDAMEjnOLmPA" name="x_err" visibility="public" isUnique="false">
+ <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"/>
@@ -84,7 +84,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkDjiAEeKDAMEjnOLmPA" name="y_err" visibility="public" isUnique="false">
+ <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"/>
@@ -92,7 +92,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkEjiAEeKDAMEjnOLmPA" name="alt_err" visibility="public" isUnique="false">
+ <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"/>
@@ -100,7 +100,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkFjiAEeKDAMEjnOLmPA" name="orientation_err" visibility="public" isUnique="false">
+ <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"/>
@@ -110,21 +110,21 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_k0LkGjiAEeKDAMEjnOLmPA" name="Path_Point">
- <ownedAttribute xmi:id="_k0LkGziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
+ <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:id="_k0LkHziAEeKDAMEjnOLmPA" name="pos_error" visibility="public" type="_k0LkCTiAEeKDAMEjnOLmPA">
+ <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:id="_k0LkIziAEeKDAMEjnOLmPA" name="velocity" visibility="public">
+ <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"/>
@@ -134,7 +134,7 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_k0LkLDiAEeKDAMEjnOLmPA" name="Trajectory">
- <ownedAttribute xmi:id="_k0LkLTiAEeKDAMEjnOLmPA" name="x_t" visibility="public" isUnique="false">
+ <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="*"/>
@@ -142,7 +142,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkMTiAEeKDAMEjnOLmPA" name="y_t" visibility="public" isUnique="false">
+ <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="*"/>
@@ -150,7 +150,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkNTiAEeKDAMEjnOLmPA" name="v_t" visibility="public" isUnique="false">
+ <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="*"/>
@@ -158,7 +158,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkOTiAEeKDAMEjnOLmPA" name="sample_time" visibility="public" isUnique="false">
+ <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"/>
@@ -166,7 +166,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkPTiAEeKDAMEjnOLmPA" name="sample_nb" visibility="public" type="_k0LkkjiAEeKDAMEjnOLmPA" isUnique="false">
+ <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">
@@ -175,14 +175,14 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_k0LkSjiAEeKDAMEjnOLmPA" name="Goal">
- <ownedAttribute xmi:id="_k0LkSziAEeKDAMEjnOLmPA" name="mission_type" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false">
+ <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:id="_k0LkTziAEeKDAMEjnOLmPA" name="position" visibility="public" isUnique="false">
+ <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"/>
@@ -190,7 +190,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkUziAEeKDAMEjnOLmPA" name="position_error" visibility="public" isUnique="false">
+ <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"/>
@@ -198,7 +198,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkVziAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
+ <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"/>
@@ -206,7 +206,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkWziAEeKDAMEjnOLmPA" name="angular_aperture" visibility="public" isUnique="false">
+ <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"/>
@@ -214,7 +214,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkXziAEeKDAMEjnOLmPA" name="distance" visibility="public">
+ <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"/>
@@ -222,7 +222,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkYziAEeKDAMEjnOLmPA" name="velocity_average" visibility="public">
+ <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"/>
@@ -230,7 +230,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LkZziAEeKDAMEjnOLmPA" name="amer_to_identify" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false">
+ <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">
@@ -239,19 +239,19 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:Enumeration" xmi:id="_k0LkejiAEeKDAMEjnOLmPA" name="Color">
- <ownedLiteral xmi:id="_k0LkeziAEeKDAMEjnOLmPA" name="White"/>
- <ownedLiteral xmi:id="_k0LkfDiAEeKDAMEjnOLmPA" name="Black"/>
- <ownedLiteral xmi:id="_k0LkfTiAEeKDAMEjnOLmPA" name="Red"/>
- <ownedLiteral xmi:id="_k0LkfjiAEeKDAMEjnOLmPA" name="Blue"/>
- <ownedLiteral xmi:id="_k0LkfziAEeKDAMEjnOLmPA" name="Green"/>
+ <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:id="_k0LkgTiAEeKDAMEjnOLmPA" name="Cube"/>
- <ownedLiteral xmi:id="_k0LkgjiAEeKDAMEjnOLmPA" name="Sphere"/>
- <ownedLiteral xmi:id="_k0LkgziAEeKDAMEjnOLmPA" name="Pyramid"/>
+ <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:id="_k0LkkziAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
+ <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"/>
@@ -261,7 +261,7 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_k0LkvDiAEeKDAMEjnOLmPA" name="Percent">
- <ownedAttribute xmi:id="_k0LkvTiAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
+ <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"/>
@@ -271,8 +271,8 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk4jiAEeKDAMEjnOLmPA" name="Velocity_Error">
- <ownedComment xmi:id="_k0Lk4ziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0Lk5DiAEeKDAMEjnOLmPA" name="velocity_linear_err" visibility="public" isUnique="false">
+ <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"/>
@@ -280,7 +280,7 @@
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0Lk6DiAEeKDAMEjnOLmPA" name="velocity_angular_err" visibility="public" isUnique="false">
+ <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"/>
@@ -290,25 +290,25 @@
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk7DiAEeKDAMEjnOLmPA" name="Amer_Relative">
- <ownedComment xmi:id="_k0Lk7TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lk7DiAEeKDAMEjnOLmPA">
- <body>Un amer correspond � une balise compos�e d'une clonne&#xD;
+ <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:id="_k0Lk7jiAEeKDAMEjnOLmPA" name="relative_polar" visibility="public" type="_k0Lk-jiAEeKDAMEjnOLmPA" isUnique="false">
+ <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:id="_k0Lk8jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
+ <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:id="_k0Lk9jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
+ <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">
@@ -317,8 +317,8 @@ et d'un solide d'une couleur </body>
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk-jiAEeKDAMEjnOLmPA" name="Relative_Polar">
- <ownedComment xmi:id="_k0Lk-ziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0Lk_DiAEeKDAMEjnOLmPA" name="distance" visibility="public" isUnique="false">
+ <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"/>
@@ -326,7 +326,7 @@ et d'un solide d'une couleur </body>
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LlADiAEeKDAMEjnOLmPA" name="angular" visibility="public" isUnique="false">
+ <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"/>
@@ -334,7 +334,7 @@ et d'un solide d'une couleur </body>
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LlBDiAEeKDAMEjnOLmPA" name="site" visibility="public" isUnique="false">
+ <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"/>
@@ -344,23 +344,23 @@ et d'un solide d'une couleur </body>
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:DataType" xmi:id="_k0LlCDiAEeKDAMEjnOLmPA" name="Map">
- <ownedAttribute xmi:id="_k0LlCTiAEeKDAMEjnOLmPA" name="map_meta_data">
+ <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:id="_k0LlCjiAEeKDAMEjnOLmPA" name="position">
+ <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:id="_k0LlDDiAEeKDAMEjnOLmPA" name="voie">
+ <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:id="_k0LlDjiAEeKDAMEjnOLmPA" name="empatement">
+ <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:id="_k0LlEDiAEeKDAMEjnOLmPA" name="diam_roue">
+ <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>
@@ -369,311 +369,311 @@ et d'un solide d'une couleur </body>
<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:id="_k0LlFTiAEeKDAMEjnOLmPA" name="pathPlanner" type="_k0LoFDiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LlFjiAEeKDAMEjnOLmPA" name="missionGenerator" type="_k0Ln9ziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LlFziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoVjiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LlGDiAEeKDAMEjnOLmPA" name="pilot" type="_k0LoqziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LlGTiAEeKDAMEjnOLmPA" name="servoing" type="_k0Lo-jiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LlGjiAEeKDAMEjnOLmPA" name="sensors" type="_k0LndTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LlGziAEeKDAMEjnOLmPA" name="proximetry" type="_k0LmxDiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LlHDiAEeKDAMEjnOLmPA" name="global_map" type="_k0LmBDiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LlHTiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmTjiAEeKDAMEjnOLmPA"/>
- <ownedConnector xmi:id="_k0LlHjiAEeKDAMEjnOLmPA" name="Connector0">
- <end xmi:id="_k0LlHziAEeKDAMEjnOLmPA" partWithPort="_k0LlFjiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
+ <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:id="_k0LlIjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
+ <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:id="_k0LlJTiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:id="_k0LlJjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoFTiAEeKDAMEjnOLmPA">
+ <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:id="_k0LlKTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
+ <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:id="_k0LlLDiAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:id="_k0LlLTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
+ <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:id="_k0LlMDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA">
+ <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:id="_k0LlMziAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:id="_k0LlNDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LosDiAEeKDAMEjnOLmPA">
+ <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:id="_k0LlNziAEeKDAMEjnOLmPA" partWithPort="_k0LlGTiAEeKDAMEjnOLmPA" role="_k0Lo-ziAEeKDAMEjnOLmPA">
+ <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:id="_k0LlOjiAEeKDAMEjnOLmPA" name="Connector4">
- <end xmi:id="_k0LlOziAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LndjiAEeKDAMEjnOLmPA">
+ <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:id="_k0LlPjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmxjiAEeKDAMEjnOLmPA">
+ <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:id="_k0LlQTiAEeKDAMEjnOLmPA" name="Connector5">
- <end xmi:id="_k0LlQjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnejiAEeKDAMEjnOLmPA">
+ <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:id="_k0LlRTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmyjiAEeKDAMEjnOLmPA">
+ <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:id="_k0LlSDiAEeKDAMEjnOLmPA" name="Connector6">
- <end xmi:id="_k0LlSTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnhjiAEeKDAMEjnOLmPA">
+ <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"/>
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+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlvDiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUTiAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0LlwDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4TiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlvziAEeKDAMEjnOLmPA" name="Connector23">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlwDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4TiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlwjiAEeKDAMEjnOLmPA" value="1"/>
</end>
- <end xmi:id="_k0LlwziAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlwziAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0LlxziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlxjiAEeKDAMEjnOLmPA" name="Connector24">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlxziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0LlyjiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmBziAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlyjiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmBziAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0LlzjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlzTiAEeKDAMEjnOLmPA" name="Connector25">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlzjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0Ll0TiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCDiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll0TiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCDiAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0Ll1TiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll1DiAEeKDAMEjnOLmPA" name="Connector26">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll1TiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll1ziAEeKDAMEjnOLmPA" value="1"/>
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- <end xmi:id="_k0Ll2DiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmBjiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll2DiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmBjiAEeKDAMEjnOLmPA">
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- <ownedConnector xmi:id="_k0Ll2ziAEeKDAMEjnOLmPA" name="Connector27">
- <end xmi:id="_k0Ll3DiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll2ziAEeKDAMEjnOLmPA" name="Connector27">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll3DiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll3jiAEeKDAMEjnOLmPA" value="1"/>
</end>
- <end xmi:id="_k0Ll3ziAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll3ziAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll4TiAEeKDAMEjnOLmPA" value="1"/>
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- <ownedConnector xmi:id="_k0Ll4jiAEeKDAMEjnOLmPA" name="Connector28">
- <end xmi:id="_k0Ll4ziAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll4jiAEeKDAMEjnOLmPA" name="Connector28">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll4ziAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll5TiAEeKDAMEjnOLmPA" value="1"/>
</end>
- <end xmi:id="_k0Ll5jiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
+ <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:id="_k0Ll6TiAEeKDAMEjnOLmPA" name="Connector29">
- <end xmi:id="_k0Ll6jiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnlTiAEeKDAMEjnOLmPA">
+ <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:id="_k0Ll7TiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
+ <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>
@@ -682,7 +682,7 @@ et d'un solide d'une couleur </body>
<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:id="_k0Ll8ziAEeKDAMEjnOLmPA" annotatedElement="_k0Ll8jiAEeKDAMEjnOLmPA">
+ <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>
@@ -717,49 +717,49 @@ the origine is the entry zone of the robot.</body>
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_k0LmBDiAEeKDAMEjnOLmPA" name="P4_Global">
- <ownedAttribute xmi:id="_k0LmBTiAEeKDAMEjnOLmPA" name="global_Map" type="_k0Ll8jiAEeKDAMEjnOLmPA"/>
+ <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"/>
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<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"/>
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<ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmCTiAEeKDAMEjnOLmPA" name="glob_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
- <ownedConnector xmi:id="_k0LmCjiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:id="_k0LmCziAEeKDAMEjnOLmPA" role="_k0LmBjiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmCjiAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmCziAEeKDAMEjnOLmPA" role="_k0LmBjiAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0LmDjiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll-DiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmDjiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll-DiAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0LmEjiAEeKDAMEjnOLmPA" role="_k0LmBziAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmETiAEeKDAMEjnOLmPA" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmEjiAEeKDAMEjnOLmPA" role="_k0LmBziAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0LmFTiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll_DiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmFTiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll_DiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmFziAEeKDAMEjnOLmPA" value="1"/>
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</ownedConnector>
- <ownedConnector xmi:id="_k0LmGDiAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:id="_k0LmGTiAEeKDAMEjnOLmPA" role="_k0LmCDiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmGDiAEeKDAMEjnOLmPA" name="Connector3">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmGTiAEeKDAMEjnOLmPA" role="_k0LmCDiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmGziAEeKDAMEjnOLmPA" value="1"/>
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- <end xmi:id="_k0LmHDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0LmADiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmHDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0LmADiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmHjiAEeKDAMEjnOLmPA" value="1"/>
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</ownedConnector>
- <ownedConnector xmi:id="_k0LmHziAEeKDAMEjnOLmPA" name="Connector4">
- <end xmi:id="_k0LmIDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll9DiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmHziAEeKDAMEjnOLmPA" name="Connector4">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmIDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll9DiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmIjiAEeKDAMEjnOLmPA" value="1"/>
</end>
- <end xmi:id="_k0LmIziAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmIziAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmJDiAEeKDAMEjnOLmPA" value="1"/>
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@@ -768,7 +768,7 @@ the origine is the entry zone of the robot.</body>
</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:id="_k0LmKDiAEeKDAMEjnOLmPA" annotatedElement="_k0LmJziAEeKDAMEjnOLmPA">
+ <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;
@@ -845,8 +845,8 @@ It place also all the amer on it map.</body>
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_k0LmTjiAEeKDAMEjnOLmPA" name="P3_Local">
- <ownedAttribute xmi:id="_k0LmTziAEeKDAMEjnOLmPA" name="amer_Loc" type="_k0LmRTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LmUDiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmJziAEeKDAMEjnOLmPA"/>
+ <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"/>
@@ -860,82 +860,82 @@ It place also all the amer on it map.</body>
<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:id="_k0LmWDiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:id="_k0LmWTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmSjiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmWDiAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmWTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmSjiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmWziAEeKDAMEjnOLmPA" value="1"/>
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- <end xmi:id="_k0LmXDiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmQTiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmXDiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmQTiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmXjiAEeKDAMEjnOLmPA" value="1"/>
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- <ownedConnector xmi:id="_k0LmXziAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:id="_k0LmYDiAEeKDAMEjnOLmPA" role="_k0LmUTiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmXziAEeKDAMEjnOLmPA" name="Connector2">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmYjiAEeKDAMEjnOLmPA" value="1"/>
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmZTiAEeKDAMEjnOLmPA" value="1"/>
</end>
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- <end xmi:id="_k0LmZziAEeKDAMEjnOLmPA" role="_k0LmVTiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmZjiAEeKDAMEjnOLmPA" name="Connector3">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmaTiAEeKDAMEjnOLmPA" value="1"/>
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+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmajiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmKTiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmbDiAEeKDAMEjnOLmPA" value="1"/>
</end>
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- <end xmi:id="_k0LmbjiAEeKDAMEjnOLmPA" role="_k0LmVDiAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0LmcTiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmLTiAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0LmdTiAEeKDAMEjnOLmPA" role="_k0LmUziAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmdDiAEeKDAMEjnOLmPA" name="Connector5">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmdziAEeKDAMEjnOLmPA" value="1"/>
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- <end xmi:id="_k0LmeDiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmMTiAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0LmfDiAEeKDAMEjnOLmPA" role="_k0LmUjiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmeziAEeKDAMEjnOLmPA" name="Connector6">
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<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmfTiAEeKDAMEjnOLmPA" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmfjiAEeKDAMEjnOLmPA" value="1"/>
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- <end xmi:id="_k0LmfziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmOTiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmfziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmOTiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmgTiAEeKDAMEjnOLmPA" value="1"/>
</end>
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- <end xmi:id="_k0LmgziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmNTiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmgjiAEeKDAMEjnOLmPA" name="Connector7">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmgziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmNTiAEeKDAMEjnOLmPA">
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</end>
- <end xmi:id="_k0LmhjiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
+ <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>
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- <ownedConnector xmi:id="_k0LmiTiAEeKDAMEjnOLmPA" name="Connector8">
- <end xmi:id="_k0LmijiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
+ <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:id="_k0LmjTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmRjiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmjTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmRjiAEeKDAMEjnOLmPA">
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</end>
@@ -944,9 +944,9 @@ It place also all the amer on it map.</body>
</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:id="_k0LmkjiAEeKDAMEjnOLmPA" annotatedElement="_k0LmkTiAEeKDAMEjnOLmPA">
+ <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 v�locity)&#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>
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<ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmkziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
@@ -996,13 +996,13 @@ we call it &quot;Super&quot;-DKM because we not only use odometry speed, but als
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LmqziAEeKDAMEjnOLmPA" name="attribute" type="_k0LlCziAEeKDAMEjnOLmPA">
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmqziAEeKDAMEjnOLmPA" name="attribute" type="_k0LlCziAEeKDAMEjnOLmPA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmrDiAEeKDAMEjnOLmPA" value="1"/>
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</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_k0LmrjiAEeKDAMEjnOLmPA" name="Proximetric_Map">
- <ownedComment xmi:id="_k0LmrziAEeKDAMEjnOLmPA" annotatedElement="_k0LmrjiAEeKDAMEjnOLmPA">
+ <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;
@@ -1028,7 +1028,7 @@ Only measures from sensors are directly print on this map : no memory !</body>
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_k0LmuTiAEeKDAMEjnOLmPA" name="Amer_Identif">
- <ownedComment xmi:id="_k0LmujiAEeKDAMEjnOLmPA" annotatedElement="_k0LmuTiAEeKDAMEjnOLmPA">
+ <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">
@@ -1051,7 +1051,7 @@ Only measures from sensors are directly print on this map : no memory !</body>
</ownedAttribute>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_k0LmxDiAEeKDAMEjnOLmPA" name="P2_Proximetry">
- <ownedComment xmi:id="_k0LmxTiAEeKDAMEjnOLmPA" annotatedElement="_k0LmxDiAEeKDAMEjnOLmPA">
+ <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">
@@ -1094,9 +1094,9 @@ Only measures from sensors are directly print on this map : no memory !</body>
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0Lm2jiAEeKDAMEjnOLmPA" name="superDKM" type="_k0LmkTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0Lm2ziAEeKDAMEjnOLmPA" name="proximetric_Map" type="_k0LmrjiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0Lm3DiAEeKDAMEjnOLmPA" name="amer_Identif" type="_k0LmuTiAEeKDAMEjnOLmPA"/>
+ <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>
@@ -1112,122 +1112,122 @@ Only measures from sensors are directly print on this map : no memory !</body>
<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"/>
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- <end xmi:id="_k0Lm5TiAEeKDAMEjnOLmPA" role="_k0Lm1jiAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0Lm7DiAEeKDAMEjnOLmPA" role="_k0Lm0jiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm6ziAEeKDAMEjnOLmPA" name="Connector2">
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- <end xmi:id="_k0Lm_TiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmnziAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0LnCDiAEeKDAMEjnOLmPA" role="_k0Lm3TiAEeKDAMEjnOLmPA">
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+ <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:id="_k0LnDjiAEeKDAMEjnOLmPA" name="Connector7">
- <end xmi:id="_k0LnDziAEeKDAMEjnOLmPA" role="_k0Lm3jiAEeKDAMEjnOLmPA">
+ <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"/>
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- <end xmi:id="_k0LnEjiAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmwziAEeKDAMEjnOLmPA">
+ <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:id="_k0LnFTiAEeKDAMEjnOLmPA" name="Connector8">
- <end xmi:id="_k0LnFjiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmkziAEeKDAMEjnOLmPA">
+ <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:id="_k0LnGTiAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+ <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:id="_k0LnHDiAEeKDAMEjnOLmPA" name="Connector9">
- <end xmi:id="_k0LnHTiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmlziAEeKDAMEjnOLmPA">
+ <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:id="_k0LnIDiAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
+ <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:id="_k0LnIziAEeKDAMEjnOLmPA" name="Connector10">
- <end xmi:id="_k0LnJDiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmsDiAEeKDAMEjnOLmPA">
+ <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:id="_k0LnJziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
+ <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:id="_k0LnKjiAEeKDAMEjnOLmPA" name="Connector11">
- <end xmi:id="_k0LnKziAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmvziAEeKDAMEjnOLmPA">
+ <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:id="_k0LnLjiAEeKDAMEjnOLmPA" role="_k0Lm4TiAEeKDAMEjnOLmPA">
+ <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:id="_k0LnMTiAEeKDAMEjnOLmPA" name="Connector12">
- <end xmi:id="_k0LnMjiAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
+ <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:id="_k0LnNTiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmuDiAEeKDAMEjnOLmPA">
+ <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>
@@ -1398,12 +1398,12 @@ Only measures from sensors are directly print on this map : no memory !</body>
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LnijiAEeKDAMEjnOLmPA" name="wifibot_Frame_Out" type="_k0LnOTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LniziAEeKDAMEjnOLmPA" name="GPS" type="_k0LnXziAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LnjDiAEeKDAMEjnOLmPA" name="Odometer" type="_k0LnTjiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LnjTiAEeKDAMEjnOLmPA" name="IMU" type="_k0LnZDiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LnjjiAEeKDAMEjnOLmPA" name="LaserRange" type="_k0LnaTiAEeKDAMEjnOLmPA"/>
- <ownedAttribute xmi:id="_k0LnjziAEeKDAMEjnOLmPA" name="camera_FireWire" type="_k0LnbziAEeKDAMEjnOLmPA"/>
+ <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>
@@ -1420,132 +1420,132 @@ Only measures from sensors are directly print on this map : no memory !</body>
<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:id="_k0LnljiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:id="_k0LnlziAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnWziAEeKDAMEjnOLmPA">
+ <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:id="_k0LnmjiAEeKDAMEjnOLmPA" role="_k0LnejiAEeKDAMEjnOLmPA">
+ <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:id="_k0LnnTiAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:id="_k0LnnjiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnVziAEeKDAMEjnOLmPA">
+ <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:id="_k0LnoTiAEeKDAMEjnOLmPA" role="_k0LndjiAEeKDAMEjnOLmPA">
+ <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:id="_k0LnpDiAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:id="_k0LnpTiAEeKDAMEjnOLmPA" partWithPort="_k0LniziAEeKDAMEjnOLmPA" role="_k0LnYDiAEeKDAMEjnOLmPA">
+ <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:id="_k0LnqDiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
+ <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:id="_k0LnqziAEeKDAMEjnOLmPA" name="Connector4">
- <end xmi:id="_k0LnrDiAEeKDAMEjnOLmPA" partWithPort="_k0LnjjiAEeKDAMEjnOLmPA" role="_k0LnajiAEeKDAMEjnOLmPA">
+ <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:id="_k0LnrziAEeKDAMEjnOLmPA" role="_k0LnhjiAEeKDAMEjnOLmPA">
+ <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"/>
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</ownedConnector>
- <ownedConnector xmi:id="_k0LnsjiAEeKDAMEjnOLmPA" name="Connector5">
- <end xmi:id="_k0LnsziAEeKDAMEjnOLmPA" partWithPort="_k0LnjziAEeKDAMEjnOLmPA" role="_k0LndDiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnsjiAEeKDAMEjnOLmPA" name="Connector5">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnsziAEeKDAMEjnOLmPA" partWithPort="_k0LnjziAEeKDAMEjnOLmPA" role="_k0LndDiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LntTiAEeKDAMEjnOLmPA" value="1"/>
</end>
- <end xmi:id="_k0LntjiAEeKDAMEjnOLmPA" role="_k0LnkDiAEeKDAMEjnOLmPA">
+ <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"/>
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</ownedConnector>
- <ownedConnector xmi:id="_k0LnuTiAEeKDAMEjnOLmPA" name="Connector6">
- <end xmi:id="_k0LnujiAEeKDAMEjnOLmPA" partWithPort="_k0LnjziAEeKDAMEjnOLmPA" role="_k0LncDiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnuTiAEeKDAMEjnOLmPA" name="Connector6">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnujiAEeKDAMEjnOLmPA" partWithPort="_k0LnjziAEeKDAMEjnOLmPA" role="_k0LncDiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnvDiAEeKDAMEjnOLmPA" value="1"/>
</end>
- <end xmi:id="_k0LnvTiAEeKDAMEjnOLmPA" role="_k0LnkTiAEeKDAMEjnOLmPA">
+ <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"/>
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</ownedConnector>
- <ownedConnector xmi:id="_k0LnwDiAEeKDAMEjnOLmPA" name="Connector7">
- <end xmi:id="_k0LnwTiAEeKDAMEjnOLmPA" partWithPort="_k0LnjTiAEeKDAMEjnOLmPA" role="_k0LnZTiAEeKDAMEjnOLmPA">
+ <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:id="_k0LnxDiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
+ <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"/>
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- <ownedConnector xmi:id="_k0LnxziAEeKDAMEjnOLmPA" name="Connector8">
- <end xmi:id="_k0LnyDiAEeKDAMEjnOLmPA" partWithPort="_k0LnjjiAEeKDAMEjnOLmPA" role="_k0LnbjiAEeKDAMEjnOLmPA">
+ <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:id="_k0LnyziAEeKDAMEjnOLmPA" role="_k0LnkjiAEeKDAMEjnOLmPA">
+ <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"/>
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- <end xmi:id="_k0LnzziAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnPjiAEeKDAMEjnOLmPA">
+ <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"/>
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+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln0jiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnUziAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln1DiAEeKDAMEjnOLmPA" value="1"/>
</end>
</ownedConnector>
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- <end xmi:id="_k0Ln1jiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnOjiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln1TiAEeKDAMEjnOLmPA" name="Connector10">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln1jiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnOjiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln2DiAEeKDAMEjnOLmPA" value="1"/>
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- <end xmi:id="_k0Ln2TiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnTziAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln2TiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnTziAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln2ziAEeKDAMEjnOLmPA" value="1"/>
</end>
</ownedConnector>
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- <end xmi:id="_k0Ln3TiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnQjiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln3DiAEeKDAMEjnOLmPA" name="Connector11">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln3TiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnQjiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln3ziAEeKDAMEjnOLmPA" value="1"/>
</end>
- <end xmi:id="_k0Ln4DiAEeKDAMEjnOLmPA" role="_k0LnlTiAEeKDAMEjnOLmPA">
+ <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:id="_k0Ln4ziAEeKDAMEjnOLmPA" name="Connector12">
- <end xmi:id="_k0Ln5DiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnSjiAEeKDAMEjnOLmPA">
+ <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:id="_k0Ln5ziAEeKDAMEjnOLmPA" role="_k0LnlDiAEeKDAMEjnOLmPA">
+ <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:id="_k0Ln6jiAEeKDAMEjnOLmPA" name="Connector13">
- <end xmi:id="_k0Ln6ziAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnRjiAEeKDAMEjnOLmPA">
+ <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:id="_k0Ln7jiAEeKDAMEjnOLmPA" role="_k0LnkziAEeKDAMEjnOLmPA">
+ <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>
@@ -1570,13 +1570,13 @@ Only measures from sensors are directly print on this map : no memory !</body>
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0Ln_DiAEeKDAMEjnOLmPA" name="mission" type="_k0Ln8jiAEeKDAMEjnOLmPA"/>
- <ownedConnector xmi:id="_k0Ln_TiAEeKDAMEjnOLmPA" name="Connector0">
- <end xmi:id="_k0Ln_jiAEeKDAMEjnOLmPA" partWithPort="_k0Ln_DiAEeKDAMEjnOLmPA" role="_k0Ln8ziAEeKDAMEjnOLmPA">
+ <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:id="_k0LoATiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
+ <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>
@@ -1585,7 +1585,7 @@ Only measures from sensors are directly print on this map : no memory !</body>
</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:id="_k0LoBjiAEeKDAMEjnOLmPA" annotatedElement="_k0LoBTiAEeKDAMEjnOLmPA">
+ <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">
@@ -1635,44 +1635,44 @@ Only measures from sensors are directly print on this map : no memory !</body>
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LoITiAEeKDAMEjnOLmPA" name="path_Planner" type="_k0LoBTiAEeKDAMEjnOLmPA"/>
+ <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:id="_k0LoIziAEeKDAMEjnOLmPA" name="Connector0">
- <end xmi:id="_k0LoJDiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
+ <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:id="_k0LoJziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoBziAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoJziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoBziAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoKTiAEeKDAMEjnOLmPA" value="1"/>
</end>
</ownedConnector>
- <ownedConnector xmi:id="_k0LoKjiAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:id="_k0LoKziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoCziAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoKjiAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoKziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoCziAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoLTiAEeKDAMEjnOLmPA" value="1"/>
</end>
- <end xmi:id="_k0LoLjiAEeKDAMEjnOLmPA" role="_k0LoFTiAEeKDAMEjnOLmPA">
+ <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:id="_k0LoMTiAEeKDAMEjnOLmPA" name="Connector2">
- <end xmi:id="_k0LoMjiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
+ <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:id="_k0LoNTiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoDziAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoNTiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoDziAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoNziAEeKDAMEjnOLmPA" value="1"/>
</end>
</ownedConnector>
- <ownedConnector xmi:id="_k0LoODiAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:id="_k0LoOTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
+ <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:id="_k0LoPDiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoEziAEeKDAMEjnOLmPA">
+ <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>
@@ -1681,7 +1681,7 @@ Only measures from sensors are directly print on this map : no memory !</body>
</packagedElement>
<packagedElement xmi:type="uml:Package" xmi:id="_k0LoPziAEeKDAMEjnOLmPA" name="A3_Navigator">
<packagedElement xmi:type="uml:Class" xmi:id="_k0LoQDiAEeKDAMEjnOLmPA" name="Navigator">
- <ownedComment xmi:id="_k0LoQTiAEeKDAMEjnOLmPA" annotatedElement="_k0LoQDiAEeKDAMEjnOLmPA">
+ <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>
@@ -1739,58 +1739,58 @@ It must reach the various waypoints, considering the obstacles placed in the loc
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:id="_k0LoXziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoQDiAEeKDAMEjnOLmPA"/>
+ <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:id="_k0LoYziAEeKDAMEjnOLmPA" name="Connector1">
- <end xmi:id="_k0LoZDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoRjiAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoYziAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoZDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoRjiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoZjiAEeKDAMEjnOLmPA" value="1"/>
</end>
- <end xmi:id="_k0LoZziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
+ <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"/>
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- <end xmi:id="_k0LoaziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
+ <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:id="_k0LobjiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoQjiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LobjiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoQjiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LocDiAEeKDAMEjnOLmPA" value="1"/>
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- <ownedConnector xmi:id="_k0LocTiAEeKDAMEjnOLmPA" name="Connector3">
- <end xmi:id="_k0LocjiAEeKDAMEjnOLmPA" role="_k0LoYDiAEeKDAMEjnOLmPA">
+ <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:id="_k0LodTiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoSjiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LodTiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoSjiAEeKDAMEjnOLmPA">
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</end>
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- <end xmi:id="_k0LoeTiAEeKDAMEjnOLmPA" role="_k0LoYTiAEeKDAMEjnOLmPA">
+ <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:id="_k0LofDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoTjiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LofDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoTjiAEeKDAMEjnOLmPA">
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<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LofjiAEeKDAMEjnOLmPA" value="1"/>
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- <end xmi:id="_k0LogDiAEeKDAMEjnOLmPA" role="_k0LoYjiAEeKDAMEjnOLmPA">
+ <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"/>
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- <end xmi:id="_k0LogziAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoUjiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogziAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoUjiAEeKDAMEjnOLmPA">
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@@ -1799,8 +1799,8 @@ It must reach the various waypoints, considering the obstacles placed in the loc
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- <body>The pilot must calculate the set points in op�rating space, following the trajectory delivered by the navigator. &#xD;
+ <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>
@@ -1851,8 +1851,8 @@ But the pilot must react to obstacles 'seen' in the proximetric map (prox_map),
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<packagedElement xmi:type="uml:Class" xmi:id="_k0LooTiAEeKDAMEjnOLmPA" name="IKM">
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- <body>Modele Cin�matique Inverse (MCI) - Invert Kinematic Model (IKM)&#xD;
+ <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">
@@ -1888,80 +1888,80 @@ transform the velocities from the operational space to the articular space (left
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- <ownedAttribute xmi:id="_k0LotTiAEeKDAMEjnOLmPA" name="IKM" type="_k0LooTiAEeKDAMEjnOLmPA"/>
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- <end xmi:id="_k0LowjiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0Lo1ziAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0Lo4TiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LomTiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo4TiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LomTiAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0Lo5TiAEeKDAMEjnOLmPA" role="_k0LouTiAEeKDAMEjnOLmPA">
+ <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:id="_k0Lo6DiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LonTiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo6DiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LonTiAEeKDAMEjnOLmPA">
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@@ -2006,24 +2006,24 @@ transform the velocities from the operational space to the articular space (left
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- <end xmi:id="_k0LpAjiAEeKDAMEjnOLmPA" partWithPort="_k0LpADiAEeKDAMEjnOLmPA" role="_k0Lo9jiAEeKDAMEjnOLmPA">
+ <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"/>
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- <end xmi:id="_k0LpBTiAEeKDAMEjnOLmPA" partWithPort="_k0Lo_ziAEeKDAMEjnOLmPA" role="_k0Lo8TiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpBTiAEeKDAMEjnOLmPA" partWithPort="_k0Lo_ziAEeKDAMEjnOLmPA" role="_k0Lo8TiAEeKDAMEjnOLmPA">
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- <end xmi:id="_k0LpCTiAEeKDAMEjnOLmPA" role="_k0Lo-ziAEeKDAMEjnOLmPA">
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LpCDiAEeKDAMEjnOLmPA" name="Connector2">
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- <end xmi:id="_k0LpDDiAEeKDAMEjnOLmPA" partWithPort="_k0Lo_ziAEeKDAMEjnOLmPA" role="_k0Lo7TiAEeKDAMEjnOLmPA">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpDDiAEeKDAMEjnOLmPA" partWithPort="_k0Lo_ziAEeKDAMEjnOLmPA" role="_k0Lo7TiAEeKDAMEjnOLmPA">
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@@ -2034,8 +2034,8 @@ transform the velocities from the operational space to the articular space (left
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<packagedElement xmi:type="uml:Class" xmi:id="_HR8psDivEeKFHpsdOC1X1Q" name="Platform1">
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- <ownedAttribute xmi:id="_yvakUDivEeKFHpsdOC1X1Q" name="Blender-Morse2" type="_rlJygDiuEeKFHpsdOC1X1Q"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_QAl00DivEeKFHpsdOC1X1Q" name="RTmaps1" type="_iBPzUDiuEeKFHpsdOC1X1Q"/>
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@@ -2047,89 +2047,89 @@ transform the velocities from the operational space to the articular space (left
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+ <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:id="_KuUNdDiwEeKFHpsdOC1X1Q" definingFeature="_k0Ln_DiAEeKDAMEjnOLmPA">
+ <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:id="_KudXZTiwEeKFHpsdOC1X1Q" definingFeature="_k0LoXziAEeKDAMEjnOLmPA">
+ <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:id="_KunIZDiwEeKFHpsdOC1X1Q" definingFeature="_k0LotDiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KunIZDiwEeKFHpsdOC1X1Q" definingFeature="_k0LotDiAEeKDAMEjnOLmPA">
<value xmi:type="uml:InstanceValue" xmi:id="_KunIZTiwEeKFHpsdOC1X1Q" instance="_KunIYziwEeKFHpsdOC1X1Q"/>
</slot>
- <slot xmi:id="_KunIZziwEeKFHpsdOC1X1Q" definingFeature="_k0LotTiAEeKDAMEjnOLmPA">
+ <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:id="_KuwSUjiwEeKFHpsdOC1X1Q" definingFeature="_k0Lo_ziAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KuwSUjiwEeKFHpsdOC1X1Q" definingFeature="_k0Lo_ziAEeKDAMEjnOLmPA">
<value xmi:type="uml:InstanceValue" xmi:id="_KuwSUziwEeKFHpsdOC1X1Q" instance="_KuwSUTiwEeKFHpsdOC1X1Q"/>
</slot>
- <slot xmi:id="_KuwSVTiwEeKFHpsdOC1X1Q" definingFeature="_k0LpADiAEeKDAMEjnOLmPA">
+ <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:id="_Ku6DUDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnijiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_Ku6DUDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnijiAEeKDAMEjnOLmPA">
<value xmi:type="uml:InstanceValue" xmi:id="_Ku6DUTiwEeKFHpsdOC1X1Q" instance="_KuwSWjiwEeKFHpsdOC1X1Q"/>
</slot>
- <slot xmi:id="_Ku6DUziwEeKFHpsdOC1X1Q" definingFeature="_k0LniziAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_Ku6DUziwEeKFHpsdOC1X1Q" definingFeature="_k0LniziAEeKDAMEjnOLmPA">
<value xmi:type="uml:InstanceValue" xmi:id="_Ku6DVDiwEeKFHpsdOC1X1Q" instance="_Ku6DUjiwEeKFHpsdOC1X1Q"/>
</slot>
- <slot xmi:id="_Ku6DVjiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjDiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_Ku6DVjiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjDiAEeKDAMEjnOLmPA">
<value xmi:type="uml:InstanceValue" xmi:id="_Ku6DVziwEeKFHpsdOC1X1Q" instance="_Ku6DVTiwEeKFHpsdOC1X1Q"/>
</slot>
- <slot xmi:id="_Ku6DWTiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjTiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_Ku6DWTiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjTiAEeKDAMEjnOLmPA">
<value xmi:type="uml:InstanceValue" xmi:id="_Ku6DWjiwEeKFHpsdOC1X1Q" instance="_Ku6DWDiwEeKFHpsdOC1X1Q"/>
</slot>
- <slot xmi:id="_Ku6DXDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjjiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_Ku6DXDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjjiAEeKDAMEjnOLmPA">
<value xmi:type="uml:InstanceValue" xmi:id="_Ku6DXTiwEeKFHpsdOC1X1Q" instance="_Ku6DWziwEeKFHpsdOC1X1Q"/>
</slot>
- <slot xmi:id="_KvD0UDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjziAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KvD0UDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjziAEeKDAMEjnOLmPA">
<value xmi:type="uml:InstanceValue" xmi:id="_KvD0UTiwEeKFHpsdOC1X1Q" instance="_Ku6DXjiwEeKFHpsdOC1X1Q"/>
</slot>
</packagedElement>
@@ -2140,13 +2140,13 @@ transform the velocities from the operational space to the articular space (left
<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:id="_KvD0VjiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm2jiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KvD0VjiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm2jiAEeKDAMEjnOLmPA">
<value xmi:type="uml:InstanceValue" xmi:id="_KvD0VziwEeKFHpsdOC1X1Q" instance="_KvD0VTiwEeKFHpsdOC1X1Q"/>
</slot>
- <slot xmi:id="_KvD0WTiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm2ziAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KvD0WTiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm2ziAEeKDAMEjnOLmPA">
<value xmi:type="uml:InstanceValue" xmi:id="_KvD0WjiwEeKFHpsdOC1X1Q" instance="_KvD0WDiwEeKFHpsdOC1X1Q"/>
</slot>
- <slot xmi:id="_KvD0XDiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm3DiAEeKDAMEjnOLmPA">
+ <slot xmi:type="uml:Slot" xmi:id="_KvD0XDiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm3DiAEeKDAMEjnOLmPA">
<value xmi:type="uml:InstanceValue" xmi:id="_KvD0XTiwEeKFHpsdOC1X1Q" instance="_KvD0WziwEeKFHpsdOC1X1Q"/>
</slot>
</packagedElement>
@@ -2154,16 +2154,16 @@ transform the velocities from the operational space to the articular space (left
<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:id="_KvM-QjiwEeKFHpsdOC1X1Q" definingFeature="_k0LmBTiAEeKDAMEjnOLmPA">
+ <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:id="_KvM-SDiwEeKFHpsdOC1X1Q" definingFeature="_k0LmTziAEeKDAMEjnOLmPA">
+ <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:id="_KvM-SziwEeKFHpsdOC1X1Q" definingFeature="_k0LmUDiAEeKDAMEjnOLmPA">
+ <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>
@@ -2181,19 +2181,13 @@ transform the velocities from the operational space to the articular space (left
</packagedElement>
</packagedElement>
<packagedElement xmi:type="uml:Class" xmi:id="_r_SxEKEKEeKLUqX9IJq2Gg" name="Environment">
- <ownedAttribute xmi:id="_wOk08KEKEeKLUqX9IJq2Gg" name="wifibot" type="_k0LlFDiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_wOk08KEKEeKLUqX9IJq2Gg" name="wifibot" type="_k0LlFDiAEeKDAMEjnOLmPA"/>
</packagedElement>
- <profileApplication xmi:id="_k0LpDziAEeKDAMEjnOLmPA">
- <eAnnotations xmi:id="_k0LpEDiAEeKDAMEjnOLmPA" source="http://www.eclipse.org/uml2/2.0.0/UML">
+ <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 href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
- </profileApplication>
- <profileApplication xmi:id="_JJJmcDiwEeKFHpsdOC1X1Q">
- <eAnnotations xmi:id="_JJvcUDiwEeKFHpsdOC1X1Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
- <references xmi:type="ecore:EPackage" href="http://papyrus/FCMProfile/1#/"/>
- </eAnnotations>
- <appliedProfile href="pathmap://FCM_PROFILES/FCM.profile.uml#_5mvT0MtjEd2H_o0jIC6qDQ"/>
+ <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"/>
@@ -2330,21 +2324,8 @@ transform the velocities from the operational space to the articular space (left
<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"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVCziAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0LlYTiAEeKDAMEjnOLmPA"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVDDiAEeKDAMEjnOLmPA" propertyPath="_k0LnijiAEeKDAMEjnOLmPA _k0LnOjiAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0Ln1jiAEeKDAMEjnOLmPA"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVDTiAEeKDAMEjnOLmPA" propertyPath="_k0LnijiAEeKDAMEjnOLmPA _k0LnPjiAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0LnzziAEeKDAMEjnOLmPA"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVDjiAEeKDAMEjnOLmPA" propertyPath="_k0LlHTiAEeKDAMEjnOLmPA _k0LmUziAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0LloDiAEeKDAMEjnOLmPA"/>
<RobotML:DataFlowPort xmi:id="_k0VVDziAEeKDAMEjnOLmPA" base_Port="_k0Lm4ziAEeKDAMEjnOLmPA" bufferSize="6"/>
<RobotML:DataFlowPort xmi:id="_k0VVEDiAEeKDAMEjnOLmPA" base_Port="_k0LmuDiAEeKDAMEjnOLmPA" bufferSize="6"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVETiAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0LoKziAEeKDAMEjnOLmPA"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVEjiAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0LlJjiAEeKDAMEjnOLmPA"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVEziAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0LobjiAEeKDAMEjnOLmPA"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVFDiAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0LlKTiAEeKDAMEjnOLmPA"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVFTiAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0LobjiAEeKDAMEjnOLmPA"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVFjiAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0LlKTiAEeKDAMEjnOLmPA"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVFziAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0LoKziAEeKDAMEjnOLmPA"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVGDiAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0LlJjiAEeKDAMEjnOLmPA"/>
- <Blocks:NestedConnectorEnd xmi:id="_k0VVGTiAEeKDAMEjnOLmPA" base_ConnectorEnd="_k0LnNTiAEeKDAMEjnOLmPA"/>
<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"/>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/META-INF/MANIFEST.MF b/extraplugins/robotml/org.eclipse.papyrus.robotml/META-INF/MANIFEST.MF
index ba82e3c..7d20d20 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml/META-INF/MANIFEST.MF
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/META-INF/MANIFEST.MF
@@ -1,10 +1,37 @@
Manifest-Version: 1.0
Require-Bundle: org.eclipse.papyrus.uml.diagram.common;bundle-version="0.10.1",
+ org.eclipse.core.runtime,
org.eclipse.emf.ecore,
+ org.eclipse.emf.ecore.xmi;visibility:=reexport,
+ org.eclipse.uml2.types;visibility:=reexport,
org.eclipse.uml2.uml
Export-Package: org.eclipse.papyrus.RobotML,
org.eclipse.papyrus.RobotML.impl,
- org.eclipse.papyrus.RobotML.util
+ org.eclipse.papyrus.RobotML.util,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.util,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.util,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.util,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.util,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.util,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.util,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.util,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl,
+ org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.util
Bundle-Vendor: %Bundle-Vendor
Bundle-ActivationPolicy: lazy
Bundle-ClassPath: .
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotML.ecore b/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotML.ecore
index 612a0d1..93d9a64 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotML.ecore
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotML.ecore
@@ -6,31 +6,40 @@
<details key="documentation" value="guard is typed with a boolean operation that have to be defined in the model before using it&#xD;&#xA;effect is typed by an operation that is owned by the component that is behaviored by the FSM&#xD;&#xA;"/>
</eAnnotations>
<eStructuralFeatures xsi:type="ecore:EReference" name="base_Transition" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//Transition"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Transition"/>
<eStructuralFeatures xsi:type="ecore:EReference" name="guard" ordered="false"
- lowerBound="1" eType="#//Algorithm"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Behavior"/>
<eStructuralFeatures xsi:type="ecore:EReference" name="effect" ordered="false"
- lowerBound="1" eType="#//Algorithm"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Behavior"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="Algorithm">
<eAnnotations source="http://www.eclipse.org/emf/2002/GenModel">
<details key="documentation" value="LibFileFormat can be elf, matlab, etc"/>
</eAnnotations>
<eStructuralFeatures xsi:type="ecore:EReference" name="base_Operation" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//Operation"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Operation"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="isExternal" ordered="false"
- lowerBound="1" eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="extFunctionName" ordered="false"
- lowerBound="1" eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//String"/>
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//String"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="libPath" ordered="false"
- lowerBound="1" eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//String"/>
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//String"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="libFileFormat" ordered="false"
- lowerBound="1" eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//String"
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//String"
defaultValueLiteral="elf"/>
</eClassifiers>
+ <eClassifiers xsi:type="ecore:EClass" name="State">
+ <eAnnotations source="http://www.eclipse.org/emf/2002/GenModel">
+ <details key="documentation" value="When a state is activated, a behavior is activated and executed.&#xD;&#xA;It is possible to associate more one behavior to the state. But the question is how to define the order of execution of the behaviors?"/>
+ </eAnnotations>
+ <eStructuralFeatures xsi:type="ecore:EReference" name="base_State" ordered="false"
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//State"/>
+ <eStructuralFeatures xsi:type="ecore:EReference" name="behavior" ordered="false"
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Behavior"/>
+ </eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="Robot" eSuperTypes="#//Agent #//System">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="kind" ordered="false" lowerBound="1"
- eType="#//RobotKind" defaultValueLiteral="UGV"/>
+ eType="#//RobotKind" defaultValueLiteral="UGVcar"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="mass" ordered="false" lowerBound="1"
eType="ecore:EDataType RobotMLLibraries.ecore#//RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Float32"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="width" ordered="false"
@@ -40,13 +49,13 @@
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="System">
<eStructuralFeatures xsi:type="ecore:EReference" name="base_Class" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//Class"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Class"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="native" ordered="false"
- lowerBound="1" eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="libraryPath" ordered="false"
- lowerBound="1" eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//String"/>
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//String"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="libraryComponentName" ordered="false"
- lowerBound="1" eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//String"/>
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//String"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="Agent" eSuperTypes="#//PhysicalObject">
<eStructuralFeatures xsi:type="ecore:EReference" name="movesOver" ordered="false"
@@ -76,12 +85,12 @@
<eStructuralFeatures xsi:type="ecore:EAttribute" name="direction" ordered="false"
lowerBound="1" eType="#//DataFlowDirectionKind"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="bufferSize" ordered="false"
- lowerBound="1" eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//Integer"
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//Integer"
defaultValueLiteral="0"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="Port" abstract="true">
<eStructuralFeatures xsi:type="ecore:EReference" name="base_Port" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//Port"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Port"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="synchronizationPolicy"
ordered="false" lowerBound="1" eType="#//SynchronizationKind"/>
</eClassifiers>
@@ -121,7 +130,7 @@
<eClassifiers xsi:type="ecore:EClass" name="Hardware" eSuperTypes="#//System"/>
<eClassifiers xsi:type="ecore:EClass" name="Software" eSuperTypes="#//System">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="isPeriodic" ordered="false"
- lowerBound="1" eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="period" ordered="false"
lowerBound="1" eType="ecore:EDataType RobotMLLibraries.ecore#//RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Float32"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="priority" ordered="false"
@@ -133,19 +142,19 @@
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="PrimitiveData" eSuperTypes="#//DataType">
<eStructuralFeatures xsi:type="ecore:EReference" name="base_PrimitiveType" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//PrimitiveType"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//PrimitiveType"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="DataType">
<eStructuralFeatures xsi:type="ecore:EReference" name="base_DataType" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//DataType"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//DataType"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="native" ordered="false"
- lowerBound="1" eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="libraryPath" ordered="false"
- lowerBound="1" eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//String"/>
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//String"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="EngineSystem" eSuperTypes="#//ActuatorSystem">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="vehicleTraction" ordered="false"
- lowerBound="1" eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//String"/>
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//String"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="maxEngineForce" ordered="false"
lowerBound="1" eType="ecore:EDataType RobotMLLibraries.ecore#//RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Float32"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="maxBreakingForce" ordered="false"
@@ -251,23 +260,15 @@
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="SimulatedSystem" eSuperTypes="#//Software">
<eStructuralFeatures xsi:type="ecore:EReference" name="base_Property" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//Property"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Property"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="mesh" ordered="false" upperBound="-1"
- eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//String"/>
+ eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//String"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="AlgorithmLibrary">
<eStructuralFeatures xsi:type="ecore:EReference" name="base_Class" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//Class"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Class"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="path" ordered="false" lowerBound="1"
- eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//String"/>
- </eClassifiers>
- <eClassifiers xsi:type="ecore:EClass" name="State">
- <eStructuralFeatures xsi:type="ecore:EReference" name="base_State" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//State"/>
- <eStructuralFeatures xsi:type="ecore:EReference" name="operation" ordered="false"
- lowerBound="1" eType="#//Algorithm"/>
- <eStructuralFeatures xsi:type="ecore:EReference" name="arguments" ordered="false"
- upperBound="-1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//Property"/>
+ eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//String"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="SensorDriver" eSuperTypes="#//Software"/>
<eClassifiers xsi:type="ecore:EClass" name="Building" eSuperTypes="#//PhysicalObject"/>
@@ -281,7 +282,18 @@
<eClassifiers xsi:type="ecore:EClass" name="Stairs" eSuperTypes="#//Ground"/>
<eClassifiers xsi:type="ecore:EClass" name="Platform" eSuperTypes="#//System">
<eStructuralFeatures xsi:type="ecore:EReference" name="base_Node" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//Node"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Node"/>
+ <eStructuralFeatures xsi:type="ecore:EReference" name="library" ordered="false"
+ upperBound="-1" eType="#//ExternalLibrary"/>
+ </eClassifiers>
+ <eClassifiers xsi:type="ecore:EClass" name="ExternalLibrary">
+ <eStructuralFeatures xsi:type="ecore:EAttribute" name="libPath" ordered="false"
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//String"/>
+ <eStructuralFeatures xsi:type="ecore:EAttribute" name="libFileFormat" ordered="false"
+ lowerBound="1" eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//String"
+ defaultValueLiteral="elf"/>
+ <eStructuralFeatures xsi:type="ecore:EReference" name="base_Interface" ordered="false"
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Interface"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="RoboticMiddleware" eSuperTypes="#//Platform">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="kind" ordered="false" lowerBound="1"
@@ -297,7 +309,7 @@
<eClassifiers xsi:type="ecore:EClass" name="RoboticSimulator" eSuperTypes="#//Platform"/>
<eClassifiers xsi:type="ecore:EClass" name="CycabTK" eSuperTypes="#//RoboticSimulator">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="useRealTime" ordered="false"
- eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
+ eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="timeStep" ordered="false"
eType="ecore:EDataType RobotMLLibraries.ecore#//RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Float32"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="timeFactor" ordered="false"
@@ -305,9 +317,9 @@
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="BlenderMorse" eSuperTypes="#//RoboticSimulator">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="debugMode" ordered="false"
- eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
+ eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="debugDisplay" ordered="false"
- eType="ecore:EDataType platform:/plugin/org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
+ eType="ecore:EDataType ../../org.eclipse.uml2.types/model/Types.ecore#//Boolean"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="gravity" ordered="false"
eType="ecore:EDataType RobotMLLibraries.ecore#//RobotML_ModelLibrary/RobotML_DataTypes/std_datatypes/Float32"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="_viewport_shade" ordered="false"
@@ -323,11 +335,11 @@
<eStructuralFeatures xsi:type="ecore:EReference" name="port" ordered="false" lowerBound="1"
eType="#//Port"/>
<eStructuralFeatures xsi:type="ecore:EReference" name="base_Parameter" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//Parameter"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Parameter"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="Allocate">
<eStructuralFeatures xsi:type="ecore:EReference" name="base_Abstraction" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//Abstraction"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Abstraction"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="InertialMeasurementUnitSystem" eSuperTypes="#//SensorSystem"/>
<eClassifiers xsi:type="ecore:EClass" name="InertialNavigationSystem" eSuperTypes="#//GPSSystem"/>
@@ -335,9 +347,15 @@
<eClassifiers xsi:type="ecore:EClass" name="InfraRedProximetrySystem" eSuperTypes="#//ObjectDetectionSensorSystem"/>
<eClassifiers xsi:type="ecore:EClass" name="DeploymentPlan">
<eStructuralFeatures xsi:type="ecore:EReference" name="base_Package" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//Package"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Package"/>
<eStructuralFeatures xsi:type="ecore:EReference" name="mainInstance" ordered="false"
- lowerBound="1" eType="ecore:EClass platform:/plugin/org.eclipse.uml2.uml/model/UML.ecore#//InstanceSpecification"/>
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//InstanceSpecification"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="Gyroscope" eSuperTypes="#//SensorSystem"/>
+ <eClassifiers xsi:type="ecore:EClass" name="OnProperty">
+ <eStructuralFeatures xsi:type="ecore:EReference" name="property" ordered="false"
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Property"/>
+ <eStructuralFeatures xsi:type="ecore:EReference" name="base_Parameter" ordered="false"
+ lowerBound="1" eType="ecore:EClass ../../org.eclipse.uml2.uml/model/UML.ecore#//Parameter"/>
+ </eClassifiers>
</ecore:EPackage>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotML.genmodel b/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotML.genmodel
index 5e0bf97..2c175a2 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotML.genmodel
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotML.genmodel
@@ -1,8 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<genmodel:GenModel xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore"
xmlns:genmodel="http://www.eclipse.org/emf/2002/GenModel" modelDirectory="/org.eclipse.papyrus.robotml/src" modelPluginID="org.eclipse.papyrus.robotml"
- modelName="RobotML" importerID="org.eclipse.emf.importer.ecore" complianceLevel="5.0"
- copyrightFields="false" usedGenPackages="platform:/plugin/org.eclipse.emf.ecore/model/Ecore.genmodel#//ecore platform:/plugin/org.eclipse.uml2.types/model/Types.genmodel#//types platform:/plugin/org.eclipse.uml2.uml/model/UML.genmodel#//uml">
+ modelName="RobotML" rootExtendsClass="org.eclipse.emf.ecore.impl.MinimalEObjectImpl$Container"
+ importerID="org.eclipse.emf.importer.ecore" complianceLevel="5.0" copyrightFields="false"
+ usedGenPackages="../../org.eclipse.emf.ecore/model/Ecore.genmodel#//ecore ../../org.eclipse.uml2.types/model/Types.genmodel#//types ../../org.eclipse.uml2.uml/model/UML.genmodel#//uml"
+ operationReflection="true" importOrganizing="true">
<foreignModel>RobotML.ecore</foreignModel>
<genPackages prefix="RobotML" basePackage="org.eclipse.papyrus" resource="XML" disposableProviderFactory="true"
ecorePackage="RobotML.ecore#/">
@@ -57,6 +59,10 @@
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute RobotML.ecore#//Algorithm/libPath"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute RobotML.ecore#//Algorithm/libFileFormat"/>
</genClasses>
+ <genClasses ecoreClass="RobotML.ecore#//State">
+ <genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference RobotML.ecore#//State/base_State"/>
+ <genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference RobotML.ecore#//State/behavior"/>
+ </genClasses>
<genClasses ecoreClass="RobotML.ecore#//Robot">
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute RobotML.ecore#//Robot/kind"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute RobotML.ecore#//Robot/mass"/>
@@ -180,11 +186,6 @@
<genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference RobotML.ecore#//AlgorithmLibrary/base_Class"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute RobotML.ecore#//AlgorithmLibrary/path"/>
</genClasses>
- <genClasses ecoreClass="RobotML.ecore#//State">
- <genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference RobotML.ecore#//State/base_State"/>
- <genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference RobotML.ecore#//State/operation"/>
- <genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference RobotML.ecore#//State/arguments"/>
- </genClasses>
<genClasses ecoreClass="RobotML.ecore#//SensorDriver"/>
<genClasses ecoreClass="RobotML.ecore#//Building"/>
<genClasses ecoreClass="RobotML.ecore#//Planet"/>
@@ -197,6 +198,12 @@
<genClasses ecoreClass="RobotML.ecore#//Stairs"/>
<genClasses ecoreClass="RobotML.ecore#//Platform">
<genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference RobotML.ecore#//Platform/base_Node"/>
+ <genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference RobotML.ecore#//Platform/library"/>
+ </genClasses>
+ <genClasses ecoreClass="RobotML.ecore#//ExternalLibrary">
+ <genFeatures createChild="false" ecoreFeature="ecore:EAttribute RobotML.ecore#//ExternalLibrary/libPath"/>
+ <genFeatures createChild="false" ecoreFeature="ecore:EAttribute RobotML.ecore#//ExternalLibrary/libFileFormat"/>
+ <genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference RobotML.ecore#//ExternalLibrary/base_Interface"/>
</genClasses>
<genClasses ecoreClass="RobotML.ecore#//RoboticMiddleware">
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute RobotML.ecore#//RoboticMiddleware/kind"/>
@@ -229,6 +236,10 @@
<genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference RobotML.ecore#//DeploymentPlan/mainInstance"/>
</genClasses>
<genClasses ecoreClass="RobotML.ecore#//Gyroscope"/>
+ <genClasses ecoreClass="RobotML.ecore#//OnProperty">
+ <genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference RobotML.ecore#//OnProperty/property"/>
+ <genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference RobotML.ecore#//OnProperty/base_Parameter"/>
+ </genClasses>
</genPackages>
<genPackages prefix="RobotMLLibraries" basePackage="org.eclipse.papyrus" disposableProviderFactory="true"
ecorePackage="RobotMLLibraries.ecore#/">
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotMLProfile.profile.di b/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotMLProfile.profile.di
index 37117ef..396aab9 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotMLProfile.profile.di
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotMLProfile.profile.di
@@ -4,6 +4,28 @@
<availablePage xmi:id="_3Q-VB_cEEd-J06U5HM_o-Q">
<emfPageIdentifier href="RobotMLProfile.profile.notation#_3Q-VAPcEEd-J06U5HM_o-Q"/>
</availablePage>
+ <availablePage/>
+ <availablePage>
+ <emfPageIdentifier href="RobotMLProfile.profile.notation#_QMgnAAHxEeCQQOKrhO_fIQ"/>
+ </availablePage>
+ <availablePage>
+ <emfPageIdentifier href="RobotMLProfile.profile.notation#_xW_8UAH5EeC_ZLzLQhW-TQ"/>
+ </availablePage>
+ <availablePage>
+ <emfPageIdentifier href="RobotMLProfile.profile.notation#_XJp18AIKEeC_ZLzLQhW-TQ"/>
+ </availablePage>
+ <availablePage>
+ <emfPageIdentifier href="RobotMLProfile.profile.notation#_t9m_0AITEeCVrLEBH5ejnQ"/>
+ </availablePage>
+ <availablePage>
+ <emfPageIdentifier href="RobotMLProfile.profile.notation#_C4EK0AK0EeCsG_V0R865wA"/>
+ </availablePage>
+ <availablePage>
+ <emfPageIdentifier href="RobotMLProfile.profile.notation#_9sFb4AK4EeCsG_V0R865wA"/>
+ </availablePage>
+ <availablePage>
+ <emfPageIdentifier href="RobotMLProfile.profile.notation#__RE4MALCEeCsG_V0R865wA"/>
+ </availablePage>
<availablePage>
<emfPageIdentifier href="RobotMLProfile.profile.notation#_r4USgGAyEeCUQf3vpAG6JA"/>
</availablePage>
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotMLProfile.profile.notation b/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotMLProfile.profile.notation
index 49d3ba9..89d0f88 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotMLProfile.profile.notation
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotMLProfile.profile.notation
@@ -433,6 +433,14 @@
<element xmi:type="uml:Property" href="RobotMLProfile.profile.uml#_MWdFwAB5EeGXJOJtWKn8jQ"/>
<layoutConstraint xmi:type="notation:Location" xmi:id="_MaeqIQB5EeGXJOJtWKn8jQ"/>
</children>
+ <children xmi:type="notation:Shape" xmi:id="_5kQ-IHwMEeKXhbwN3WXO6A" type="3002">
+ <element xmi:type="uml:Property" href="RobotMLProfile.profile.uml#_5ixwYHwMEeKXhbwN3WXO6A"/>
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_5kQ-IXwMEeKXhbwN3WXO6A"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_0C1gcHwNEeKXhbwN3WXO6A" type="3002">
+ <element xmi:type="uml:Property" href="RobotMLProfile.profile.uml#_0BWSsHwNEeKXhbwN3WXO6A"/>
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_0C1gcXwNEeKXhbwN3WXO6A"/>
+ </children>
<styles xmi:type="notation:TitleStyle" xmi:id="_fh_0-gB2EeGXJOJtWKn8jQ"/>
<styles xmi:type="notation:SortingStyle" xmi:id="_fh_0-wB2EeGXJOJtWKn8jQ"/>
<styles xmi:type="notation:FilteringStyle" xmi:id="_fh_0_AB2EeGXJOJtWKn8jQ"/>
@@ -1243,7 +1251,7 @@
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_ONWpEGAzEeCUQf3vpAG6JA"/>
</children>
<element xmi:type="uml:Stereotype" href="RobotMLProfile.profile.uml#_OMwzIGAzEeCUQf3vpAG6JA"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ONWpAWAzEeCUQf3vpAG6JA" x="445" y="335" width="190" height="71"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ONWpAWAzEeCUQf3vpAG6JA" x="455" y="350" width="190" height="71"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_yxhmkHwuEeKlDbCLaIz6tg" type="1026">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_3tVj1nwvEeKlDbCLaIz6tg" source="PapyrusCSSForceValue">
@@ -1533,32 +1541,6 @@
<element xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Parameter"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_qZMimWLPEeGyA8hK1MhgBQ" x="758" y="64"/>
</children>
- <children xmi:type="notation:Shape" xmi:id="_qu8wIGLPEeGyA8hK1MhgBQ" type="1026" fontHeight="8" lineColor="0">
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qu8wImLPEeGyA8hK1MhgBQ" source="ShadowFigure">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qu8wI2LPEeGyA8hK1MhgBQ" key="ShadowFigure_Value" value="false"/>
- </eAnnotations>
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qu8wJGLPEeGyA8hK1MhgBQ" source="displayNameLabelIcon">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qu8wJWLPEeGyA8hK1MhgBQ" key="displayNameLabelIcon_value" value="false"/>
- </eAnnotations>
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qu8wJmLPEeGyA8hK1MhgBQ" source="QualifiedName">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qu8wJ2LPEeGyA8hK1MhgBQ" key="QualifiedNameDepth" value="1000"/>
- </eAnnotations>
- <children xmi:type="notation:DecorationNode" xmi:id="_qu8wKGLPEeGyA8hK1MhgBQ" type="1034"/>
- <children xmi:type="notation:BasicCompartment" xmi:id="_qu8wKWLPEeGyA8hK1MhgBQ" type="1071">
- <styles xmi:type="notation:TitleStyle" xmi:id="_qu8wKmLPEeGyA8hK1MhgBQ"/>
- <styles xmi:type="notation:SortingStyle" xmi:id="_qu8wK2LPEeGyA8hK1MhgBQ"/>
- <styles xmi:type="notation:FilteringStyle" xmi:id="_qu8wLGLPEeGyA8hK1MhgBQ"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qu8wLWLPEeGyA8hK1MhgBQ"/>
- </children>
- <children xmi:type="notation:BasicCompartment" xmi:id="_qu8wLmLPEeGyA8hK1MhgBQ" visible="false" type="1019">
- <styles xmi:type="notation:TitleStyle" xmi:id="_qu8wL2LPEeGyA8hK1MhgBQ"/>
- <styles xmi:type="notation:SortingStyle" xmi:id="_qu8wMGLPEeGyA8hK1MhgBQ"/>
- <styles xmi:type="notation:FilteringStyle" xmi:id="_qu8wMWLPEeGyA8hK1MhgBQ"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qu8wMmLPEeGyA8hK1MhgBQ"/>
- </children>
- <element xmi:type="uml:Stereotype" href="RobotMLProfile.profile.uml#_qup1MGLPEeGyA8hK1MhgBQ"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qu8wIWLPEeGyA8hK1MhgBQ" x="756" y="162"/>
- </children>
<styles xmi:type="notation:DiagramStyle" xmi:id="_WFrusQB6EeGXJOJtWKn8jQ"/>
<element xmi:type="uml:Profile" href="RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
<edges xmi:type="notation:Connector" xmi:id="_ajCq3wB6EeGXJOJtWKn8jQ" type="1013" source="_ajMb0AB6EeGXJOJtWKn8jQ" target="_ajCq0AB6EeGXJOJtWKn8jQ" lineColor="0">
@@ -1587,36 +1569,6 @@
<sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ajCrAgB6EeGXJOJtWKn8jQ" id="(0.4689655172413793,0.15)"/>
<targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ajCrAwB6EeGXJOJtWKn8jQ" id="(0.7,0.81)"/>
</edges>
- <edges xmi:type="notation:Connector" xmi:id="_sLpXoGLPEeGyA8hK1MhgBQ" type="4001" source="_qu8wIGLPEeGyA8hK1MhgBQ" target="_ajMb0AB6EeGXJOJtWKn8jQ" lineColor="0">
- <children xmi:type="notation:DecorationNode" xmi:id="_sLpXo2LPEeGyA8hK1MhgBQ" visible="false" type="6001">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_sLpXpGLPEeGyA8hK1MhgBQ" y="60"/>
- </children>
- <children xmi:type="notation:DecorationNode" xmi:id="_sLpXpWLPEeGyA8hK1MhgBQ" visible="false" type="6002">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_sLpXpmLPEeGyA8hK1MhgBQ" y="20"/>
- </children>
- <children xmi:type="notation:DecorationNode" xmi:id="_sLpXp2LPEeGyA8hK1MhgBQ" type="6003">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_sLpXqGLPEeGyA8hK1MhgBQ" x="-24" y="18"/>
- </children>
- <children xmi:type="notation:DecorationNode" xmi:id="_sLpXqWLPEeGyA8hK1MhgBQ" visible="false" type="6005">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_sLpXqmLPEeGyA8hK1MhgBQ" y="-20"/>
- </children>
- <children xmi:type="notation:DecorationNode" xmi:id="_sLpXq2LPEeGyA8hK1MhgBQ" visible="false" type="6033">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_sLpXrGLPEeGyA8hK1MhgBQ" y="20"/>
- </children>
- <children xmi:type="notation:DecorationNode" xmi:id="_sLpXrWLPEeGyA8hK1MhgBQ" type="6034">
- <layoutConstraint xmi:type="notation:Location" xmi:id="_sLpXrmLPEeGyA8hK1MhgBQ" y="-20"/>
- </children>
- <styles xmi:type="notation:FontStyle" xmi:id="_sLpXoWLPEeGyA8hK1MhgBQ" fontHeight="8"/>
- <element xmi:type="uml:Association" href="RobotMLProfile.profile.uml#_sLMrs2LPEeGyA8hK1MhgBQ"/>
- <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_sLpXomLPEeGyA8hK1MhgBQ" points="[-50, -3, 113, 0]$[-144, -1, 19, 2]"/>
- <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_sL8SkGLPEeGyA8hK1MhgBQ" id="(0.9144144144144144,0.64)"/>
- </edges>
- <edges xmi:type="notation:Connector" xmi:id="_w5QWQGLPEeGyA8hK1MhgBQ" type="1013" source="_qu8wIGLPEeGyA8hK1MhgBQ" target="_qZMikGLPEeGyA8hK1MhgBQ" lineColor="0">
- <styles xmi:type="notation:FontStyle" xmi:id="_w5QWQWLPEeGyA8hK1MhgBQ" fontHeight="8"/>
- <element xmi:type="uml:Extension" href="RobotMLProfile.profile.uml#_w480QWLPEeGyA8hK1MhgBQ"/>
- <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_w5QWQmLPEeGyA8hK1MhgBQ" points="[3, -17, 2, 73]$[3, -115, 2, -25]"/>
- <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_w5jRMGLPEeGyA8hK1MhgBQ" id="(0.51,0.17)"/>
- </edges>
</notation:Diagram>
<notation:Diagram xmi:id="_30caQBtTEeGZBqQLK2tPRA" type="PapyrusUMLProfileDiagram" name="AlgorithmDiagram" measurementUnit="Pixel">
<children xmi:type="notation:Shape" xmi:id="_6hAHIBtTEeGZBqQLK2tPRA" type="1031" fontHeight="8" lineColor="0">
@@ -1638,7 +1590,7 @@
</eAnnotations>
<children xmi:type="notation:DecorationNode" xmi:id="_6hAHKBtTEeGZBqQLK2tPRA" type="1084"/>
<element xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Operation"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6hAHKRtTEeGZBqQLK2tPRA" x="210" y="60"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6hAHKRtTEeGZBqQLK2tPRA" x="175" y="85"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_9GaDIBtTEeGZBqQLK2tPRA" type="1026" fontHeight="8" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_9GaDIhtTEeGZBqQLK2tPRA" source="ShadowFigure">
@@ -1680,7 +1632,7 @@
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_9GjNHBtTEeGZBqQLK2tPRA"/>
</children>
<element xmi:type="uml:Stereotype" href="RobotMLProfile.profile.uml#_9EBdgBtTEeGZBqQLK2tPRA"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_9GaDIRtTEeGZBqQLK2tPRA" x="140" y="205" width="206" height="116"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_9GaDIRtTEeGZBqQLK2tPRA" x="110" y="205" width="206" height="116"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_LL3R8CDmEeGCc9sHkrvZbg" type="1026" fontHeight="8" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_LL3R8iDmEeGCc9sHkrvZbg" source="ShadowFigure">
@@ -1710,7 +1662,7 @@
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_LL3SAiDmEeGCc9sHkrvZbg"/>
</children>
<element xmi:type="uml:Stereotype" href="RobotMLProfile.profile.uml#_LKhOICDmEeGCc9sHkrvZbg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_LL3R8SDmEeGCc9sHkrvZbg" x="407" y="232" height="66"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_LL3R8SDmEeGCc9sHkrvZbg" x="370" y="240" height="66"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_5MffACJpEeGXbb453tP0yA" type="1031" fontHeight="8" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_5MffAiJpEeGXbb453tP0yA" source="ShadowFigure">
@@ -1731,7 +1683,7 @@
</eAnnotations>
<children xmi:type="notation:DecorationNode" xmi:id="_5MffCCJpEeGXbb453tP0yA" type="1084"/>
<element xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Class"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_5MffCSJpEeGXbb453tP0yA" x="410" y="110"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_5MffCSJpEeGXbb453tP0yA" x="365" y="145"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_d_yY8CJwEeGXbb453tP0yA" type="1002" fontHeight="8" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_d_yY8iJwEeGXbb453tP0yA" source="ShadowFigure">
@@ -1745,12 +1697,133 @@
</eAnnotations>
<children xmi:type="notation:DecorationNode" xmi:id="_d_yY-CJwEeGXbb453tP0yA" type="3"/>
<element xmi:type="uml:Comment" href="RobotMLProfile.profile.uml#_d7K-sCJwEeGXbb453tP0yA"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_d_yY8SJwEeGXbb453tP0yA" x="375" y="380"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_d_yY8SJwEeGXbb453tP0yA" x="325" y="415" width="146"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_4a_OQJ4AEeKNSMFdscX0rg" type="1002">
<children xmi:type="notation:DecorationNode" xmi:id="_4a_OQp4AEeKNSMFdscX0rg" type="3"/>
<element xmi:type="uml:Comment" href="RobotMLProfile.profile.uml#_4ZDUkJ4AEeKNSMFdscX0rg"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4a_OQZ4AEeKNSMFdscX0rg" x="135" y="340"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4a_OQZ4AEeKNSMFdscX0rg" x="170" y="330"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_D6MgQLvAEeKt_61TErRftw" type="1031">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_D6MgRLvAEeKt_61TErRftw" source="Stereotype_Annotation">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_D6MgRbvAEeKt_61TErRftw" key="StereotypeWithQualifiedNameList" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_D6MgRrvAEeKt_61TErRftw" key="StereotypeList" value="StandardProfileL2::Metaclass"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_D6MgR7vAEeKt_61TErRftw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_D6VqMLvAEeKt_61TErRftw" key="PropStereoDisplay" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_D6VqMbvAEeKt_61TErRftw" key="StereotypePropertyLocation" value="Compartment"/>
+ </eAnnotations>
+ <children xmi:type="notation:DecorationNode" xmi:id="_D6MgQrvAEeKt_61TErRftw" type="1084"/>
+ <element xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Interface"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_D6MgQ7vAEeKt_61TErRftw" x="530" y="30"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_ayPqgLvKEeKt_61TErRftw" type="1031">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ayPqhLvKEeKt_61TErRftw" source="Stereotype_Annotation">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ayPqhbvKEeKt_61TErRftw" key="StereotypeWithQualifiedNameList" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ayPqhrvKEeKt_61TErRftw" key="StereotypeList" value="StandardProfileL2::Metaclass"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ayPqh7vKEeKt_61TErRftw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ayPqiLvKEeKt_61TErRftw" key="PropStereoDisplay" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ayPqibvKEeKt_61TErRftw" key="StereotypePropertyLocation" value="Compartment"/>
+ </eAnnotations>
+ <children xmi:type="notation:DecorationNode" xmi:id="_ayPqgrvKEeKt_61TErRftw" type="1084"/>
+ <element xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Package"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ayPqg7vKEeKt_61TErRftw" x="375" y="35"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_w474ALvOEeKt_61TErRftw" type="1026">
+ <children xmi:type="notation:DecorationNode" xmi:id="_w474ArvOEeKt_61TErRftw" type="1034"/>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_w474A7vOEeKt_61TErRftw" type="1071">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_w474DbvOEeKt_61TErRftw" source="PapyrusCSSForceValue">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_w474DrvOEeKt_61TErRftw" key="showTitle" value="true"/>
+ </eAnnotations>
+ <children xmi:type="notation:Shape" xmi:id="_DTnqoLvPEeKt_61TErRftw" type="3002">
+ <element xmi:type="uml:Property" href="RobotMLProfile.profile.uml#_DTd5oLvPEeKt_61TErRftw"/>
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_DTnqobvPEeKt_61TErRftw"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_H69pMLvPEeKt_61TErRftw" type="3002">
+ <element xmi:type="uml:Property" href="RobotMLProfile.profile.uml#_H6z4MLvPEeKt_61TErRftw"/>
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_H69pMbvPEeKt_61TErRftw"/>
+ </children>
+ <styles xmi:type="notation:TitleStyle" xmi:id="_w474BLvOEeKt_61TErRftw"/>
+ <styles xmi:type="notation:SortingStyle" xmi:id="_w474BbvOEeKt_61TErRftw"/>
+ <styles xmi:type="notation:FilteringStyle" xmi:id="_w474BrvOEeKt_61TErRftw"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_w474B7vOEeKt_61TErRftw"/>
+ </children>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_w474CLvOEeKt_61TErRftw" visible="false" type="1019">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_w474D7vOEeKt_61TErRftw" source="PapyrusCSSForceValue">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_w474ELvOEeKt_61TErRftw" key="showTitle" value="true"/>
+ </eAnnotations>
+ <styles xmi:type="notation:TitleStyle" xmi:id="_w474CbvOEeKt_61TErRftw"/>
+ <styles xmi:type="notation:SortingStyle" xmi:id="_w474CrvOEeKt_61TErRftw"/>
+ <styles xmi:type="notation:FilteringStyle" xmi:id="_w474C7vOEeKt_61TErRftw"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_w474DLvOEeKt_61TErRftw"/>
+ </children>
+ <element xmi:type="uml:Stereotype" href="RobotMLProfile.profile.uml#_w4o9ELvOEeKt_61TErRftw"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_w474AbvOEeKt_61TErRftw" x="490" y="175"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_Q6OMwLvbEeKFjOiPICqYTA" type="1026">
+ <children xmi:type="notation:DecorationNode" xmi:id="_Q6OMwrvbEeKFjOiPICqYTA" type="1034"/>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_Q6OMw7vbEeKFjOiPICqYTA" type="1071">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Q6OMzbvbEeKFjOiPICqYTA" source="PapyrusCSSForceValue">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Q6OMzrvbEeKFjOiPICqYTA" key="showTitle" value="true"/>
+ </eAnnotations>
+ <styles xmi:type="notation:TitleStyle" xmi:id="_Q6OMxLvbEeKFjOiPICqYTA"/>
+ <styles xmi:type="notation:SortingStyle" xmi:id="_Q6OMxbvbEeKFjOiPICqYTA"/>
+ <styles xmi:type="notation:FilteringStyle" xmi:id="_Q6OMxrvbEeKFjOiPICqYTA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Q6OMx7vbEeKFjOiPICqYTA"/>
+ </children>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_Q6OMyLvbEeKFjOiPICqYTA" visible="false" type="1019">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Q6OMz7vbEeKFjOiPICqYTA" source="PapyrusCSSForceValue">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Q6OM0LvbEeKFjOiPICqYTA" key="showTitle" value="true"/>
+ </eAnnotations>
+ <styles xmi:type="notation:TitleStyle" xmi:id="_Q6OMybvbEeKFjOiPICqYTA"/>
+ <styles xmi:type="notation:SortingStyle" xmi:id="_Q6OMyrvbEeKFjOiPICqYTA"/>
+ <styles xmi:type="notation:FilteringStyle" xmi:id="_Q6OMy7vbEeKFjOiPICqYTA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Q6OMzLvbEeKFjOiPICqYTA"/>
+ </children>
+ <element xmi:type="uml:Stereotype" href="RobotMLProfile.profile.uml#_qup1MGLPEeGyA8hK1MhgBQ"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Q6OMwbvbEeKFjOiPICqYTA" x="-10" y="210"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_Sh7xdbvbEeKFjOiPICqYTA" type="1026">
+ <children xmi:type="notation:DecorationNode" xmi:id="_Sh7xdrvbEeKFjOiPICqYTA" type="1034"/>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_Sh7xd7vbEeKFjOiPICqYTA" type="1071">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Sh7xeLvbEeKFjOiPICqYTA" source="PapyrusCSSForceValue">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Sh7xebvbEeKFjOiPICqYTA" key="showTitle" value="true"/>
+ </eAnnotations>
+ <children xmi:type="notation:Shape" xmi:id="_AVI0YLvcEeKFjOiPICqYTA" type="3002">
+ <element xmi:type="uml:Property" href="RobotMLProfile.profile.uml#_Sh7xcbvbEeKFjOiPICqYTA"/>
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_AVI0YbvcEeKFjOiPICqYTA"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_AVI0YrvcEeKFjOiPICqYTA" type="3002">
+ <element xmi:type="uml:Property" href="RobotMLProfile.profile.uml#_Sh7xdLvbEeKFjOiPICqYTA"/>
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_AVI0Y7vcEeKFjOiPICqYTA"/>
+ </children>
+ <styles xmi:type="notation:TitleStyle" xmi:id="_Sh7xervbEeKFjOiPICqYTA"/>
+ <styles xmi:type="notation:SortingStyle" xmi:id="_Sh7xe7vbEeKFjOiPICqYTA"/>
+ <styles xmi:type="notation:FilteringStyle" xmi:id="_Sh7xfLvbEeKFjOiPICqYTA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Sh7xfbvbEeKFjOiPICqYTA"/>
+ </children>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_Sh7xfrvbEeKFjOiPICqYTA" visible="false" type="1019">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Sh7xf7vbEeKFjOiPICqYTA" source="PapyrusCSSForceValue">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Sh7xgLvbEeKFjOiPICqYTA" key="showTitle" value="true"/>
+ </eAnnotations>
+ <styles xmi:type="notation:TitleStyle" xmi:id="_Sh7xgbvbEeKFjOiPICqYTA"/>
+ <styles xmi:type="notation:SortingStyle" xmi:id="_Sh7xgrvbEeKFjOiPICqYTA"/>
+ <styles xmi:type="notation:FilteringStyle" xmi:id="_Sh7xg7vbEeKFjOiPICqYTA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Sh7xhLvbEeKFjOiPICqYTA"/>
+ </children>
+ <element xmi:type="uml:Stereotype" href="RobotMLProfile.profile.uml#_Sh7xcLvbEeKFjOiPICqYTA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Sh7xhbvbEeKFjOiPICqYTA" x="-10" y="330"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_CgiDALveEeKFjOiPICqYTA" type="1031">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_CgiDBLveEeKFjOiPICqYTA" source="Stereotype_Annotation">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_CgiDBbveEeKFjOiPICqYTA" key="StereotypeWithQualifiedNameList" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_CgiDBrveEeKFjOiPICqYTA" key="StereotypeList" value="StandardProfileL2::Metaclass"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_CgiDB7veEeKFjOiPICqYTA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_CgiDCLveEeKFjOiPICqYTA" key="PropStereoDisplay" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_CgiDCbveEeKFjOiPICqYTA" key="StereotypePropertyLocation" value="Compartment"/>
+ </eAnnotations>
+ <children xmi:type="notation:DecorationNode" xmi:id="_CgiDArveEeKFjOiPICqYTA" type="1084"/>
+ <element xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Property"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_CgiDA7veEeKFjOiPICqYTA" x="-5" y="45"/>
</children>
<styles xmi:type="notation:DiagramStyle" xmi:id="_30caQRtTEeGZBqQLK2tPRA"/>
<element xmi:type="uml:Profile" href="RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
@@ -1774,6 +1847,12 @@
<bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_9v7Sop4AEeKNSMFdscX0rg" points="[-7, -30, 9, 38]$[-30, -49, -14, 19]"/>
<targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_9wONkJ4AEeKNSMFdscX0rg" id="(0.3640776699029126,0.8362068965517241)"/>
</edges>
+ <edges xmi:type="notation:Connector" xmi:id="_W_wWsLvSEeKt_61TErRftw" type="1013" source="_w474ALvOEeKt_61TErRftw" target="_D6MgQLvAEeKt_61TErRftw">
+ <styles xmi:type="notation:FontStyle" xmi:id="_W_wWsbvSEeKt_61TErRftw"/>
+ <element xmi:type="uml:Extension" href="RobotMLProfile.profile.uml#_W_TqwbvSEeKt_61TErRftw"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_W_wWsrvSEeKt_61TErRftw" points="[-1, -15, 7, 120]$[-1, -110, 7, 25]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_XADRoLvSEeKt_61TErRftw" id="(0.6666666666666666,0.13636363636363635)"/>
+ </edges>
</notation:Diagram>
<notation:Diagram xmi:id="_GGKgICJqEeGXbb453tP0yA" type="PapyrusUMLProfileDiagram" name="StateMachine" measurementUnit="Pixel">
<children xmi:type="notation:Shape" xmi:id="_IOXiwSJqEeGXbb453tP0yA" type="1031" fontHeight="8" lineColor="0">
@@ -1795,7 +1874,7 @@
</eAnnotations>
<children xmi:type="notation:DecorationNode" xmi:id="_IOgstiJqEeGXbb453tP0yA" type="1084"/>
<element xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#State"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IOgstyJqEeGXbb453tP0yA" x="240" y="165"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IOgstyJqEeGXbb453tP0yA" x="225" y="125"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_KU6_kCJqEeGXbb453tP0yA" type="1031" fontHeight="8" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KU6_kiJqEeGXbb453tP0yA" source="ShadowFigure">
@@ -1834,10 +1913,6 @@
<element xmi:type="uml:Property" href="RobotMLProfile.profile.uml#_fNtzYCJqEeGXbb453tP0yA"/>
<layoutConstraint xmi:type="notation:Location" xmi:id="_fSVNoSJqEeGXbb453tP0yA"/>
</children>
- <children xmi:type="notation:Shape" xmi:id="_4ULLUCWoEeGy06XMF1Yb0w" type="3002" fontHeight="8" lineColor="0">
- <element xmi:type="uml:Property" href="RobotMLProfile.profile.uml#_4RfqwCWoEeGy06XMF1Yb0w"/>
- <layoutConstraint xmi:type="notation:Location" xmi:id="_4ULLUSWoEeGy06XMF1Yb0w"/>
- </children>
<styles xmi:type="notation:TitleStyle" xmi:id="_LxnACCJqEeGXbb453tP0yA"/>
<styles xmi:type="notation:SortingStyle" xmi:id="_LxnACSJqEeGXbb453tP0yA"/>
<styles xmi:type="notation:FilteringStyle" xmi:id="_LxnACiJqEeGXbb453tP0yA"/>
@@ -1850,7 +1925,7 @@
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_LxnAECJqEeGXbb453tP0yA"/>
</children>
<element xmi:type="uml:Stereotype" href="RobotMLProfile.profile.uml#_LwkeMCJqEeGXbb453tP0yA"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_LxdPASJqEeGXbb453tP0yA" x="210" y="285"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_LxdPASJqEeGXbb453tP0yA" x="195" y="235"/>
</children>
<children xmi:type="notation:Shape" xmi:id="_ShJaICJqEeGXbb453tP0yA" type="1026" fontHeight="8" lineColor="0">
<eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ShJaIiJqEeGXbb453tP0yA" source="ShadowFigure">
@@ -1898,7 +1973,24 @@
</eAnnotations>
<children xmi:type="notation:DecorationNode" xmi:id="_WAnYaCJvEeGXbb453tP0yA" type="3"/>
<element xmi:type="uml:Comment" href="RobotMLProfile.profile.uml#_V3Oy4CJvEeGXbb453tP0yA"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_WAnYYSJvEeGXbb453tP0yA" x="705" y="280" width="175"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_WAnYYSJvEeGXbb453tP0yA" x="420" y="420" width="175"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_qn_YALvGEeKt_61TErRftw" type="1031">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qn_YBLvGEeKt_61TErRftw" source="Stereotype_Annotation">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qn_YBbvGEeKt_61TErRftw" key="StereotypeWithQualifiedNameList" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qn_YBrvGEeKt_61TErRftw" key="StereotypeList" value="StandardProfileL2::Metaclass"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qn_YB7vGEeKt_61TErRftw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qn_YCLvGEeKt_61TErRftw" key="PropStereoDisplay" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qn_YCbvGEeKt_61TErRftw" key="StereotypePropertyLocation" value="Compartment"/>
+ </eAnnotations>
+ <children xmi:type="notation:DecorationNode" xmi:id="_qn_YArvGEeKt_61TErRftw" type="1084"/>
+ <element xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Behavior"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qn_YA7vGEeKt_61TErRftw" x="360" y="130"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_Yf-NQLvHEeKt_61TErRftw" type="1002">
+ <children xmi:type="notation:DecorationNode" xmi:id="_Yf-NQrvHEeKt_61TErRftw" type="3"/>
+ <element xmi:type="uml:Comment" href="RobotMLProfile.profile.uml#_Yc2AwLvHEeKt_61TErRftw"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Yf-NQbvHEeKt_61TErRftw" x="115" y="355" width="246"/>
</children>
<styles xmi:type="notation:DiagramStyle" xmi:id="_GGKgISJqEeGXbb453tP0yA"/>
<element xmi:type="uml:Profile" href="RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
@@ -1920,7 +2012,14 @@
<styles xmi:type="notation:FontStyle" xmi:id="_fUORwSJvEeGXbb453tP0yA" fontHeight="8"/>
<element xsi:nil="true"/>
<bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_fUORwiJvEeGXbb453tP0yA" points="[-26, -9, 164, 0]$[-128, -9, 62, 0]"/>
- <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_fgSX0CJvEeGXbb453tP0yA" id="(0.05664488017429194,0.4)"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_fgSX0CJvEeGXbb453tP0yA" id="(0.6514285714285715,0.036231884057971016)"/>
+ </edges>
+ <edges xmi:type="notation:Connector" xmi:id="_33dNgLvHEeKt_61TErRftw" type="1022" source="_Yf-NQLvHEeKt_61TErRftw" target="_LxdPACJqEeGXbb453tP0yA">
+ <styles xmi:type="notation:FontStyle" xmi:id="_33dNgbvHEeKt_61TErRftw"/>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_33dNgrvHEeKt_61TErRftw" points="[0, -5, 0, 38]$[8, -25, 8, 18]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_33wIcLvHEeKt_61TErRftw" id="(0.24847560975609756,0.08333333333333333)"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_33wIcbvHEeKt_61TErRftw" id="(0.6102941176470589,0.82)"/>
</edges>
</notation:Diagram>
<notation:Diagram xmi:id="_YOV8EEXNEeGe3M3N_846rw" type="PapyrusUMLProfileDiagram" name="Environment" measurementUnit="Pixel">
@@ -2552,6 +2651,10 @@
</eAnnotations>
<children xmi:type="notation:DecorationNode" xmi:id="_oovR6EaREeG1RvxKgcDZmw" type="1034"/>
<children xmi:type="notation:BasicCompartment" xmi:id="_oovR6UaREeG1RvxKgcDZmw" type="1071">
+ <children xmi:type="notation:Shape" xmi:id="_Yd3lYLvQEeKt_61TErRftw" type="3002">
+ <element xmi:type="uml:Property" href="RobotMLProfile.profile.uml#_Ydt0YLvQEeKt_61TErRftw"/>
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_Yd3lYbvQEeKt_61TErRftw"/>
+ </children>
<styles xmi:type="notation:TitleStyle" xmi:id="_oovR6kaREeG1RvxKgcDZmw"/>
<styles xmi:type="notation:SortingStyle" xmi:id="_oovR60aREeG1RvxKgcDZmw"/>
<styles xmi:type="notation:FilteringStyle" xmi:id="_oovR7EaREeG1RvxKgcDZmw"/>
@@ -2979,6 +3082,11 @@
<element xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#InstanceSpecification"/>
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_eAJL43w6EeKk3aX-P_okJw" x="880" y="225"/>
</children>
+ <children xmi:type="notation:Shape" xmi:id="_CuT2wLvSEeKt_61TErRftw" type="1002">
+ <children xmi:type="notation:DecorationNode" xmi:id="_CuT2wrvSEeKt_61TErRftw" type="3"/>
+ <element xmi:type="uml:Comment" href="RobotMLProfile.profile.uml#_CuKFwLvSEeKt_61TErRftw"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_CuT2wbvSEeKt_61TErRftw" x="462" y="344"/>
+ </children>
<styles xmi:type="notation:DiagramStyle" xmi:id="_tFd6AWwvEeGmceXllYzFRQ"/>
<element xmi:type="uml:Profile" href="RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
<edges xmi:type="notation:Connector" xmi:id="_nkGYAI6xEeGdCeFFJlx8kA" type="1013" source="_OwD2oI6xEeGdCeFFJlx8kA" target="_m3P5EI6xEeGdCeFFJlx8kA" lineColor="0">
diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotMLProfile.profile.uml b/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotMLProfile.profile.uml
index aefa89b..07bc486 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotMLProfile.profile.uml
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/model/RobotMLProfile.profile.uml
@@ -1,958 +1,1360 @@
<?xml version="1.0" encoding="UTF-8"?>
<xmi:XMI xmi:version="2.1" xmlns:xmi="http://schema.omg.org/spec/XMI/2.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:Ecore="http://www.eclipse.org/uml2/schemas/Ecore/5" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/4.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/uml2/schemas/Ecore/5 pathmap://UML_PROFILES/Ecore.profile.uml#_z1OFcHjqEdy8S4Cr8Rc_NA">
- <uml:Profile xmi:id="_3QOHEPcEEd-J06U5HM_o-Q" name="RobotML" metaclassReference="_7budMPcPEd-J06U5HM_o-Q _8_Y_UClXEeCiVZQ9o-1H2A _ubL34GAyEeCUQf3vpAG6JA _wuaewGAyEeCUQf3vpAG6JA _6eK1kBtTEeGZBqQLK2tPRA _NIDh0BtUEeGZBqQLK2tPRA _XUmMUBtqEeGZBqQLK2tPRA __HKUgCDmEeGCc9sHkrvZbg _IOXiwCJqEeGXbb453tP0yA _KUx1oCJqEeGXbb453tP0yA _rMqAIEaREeG1RvxKgcDZmw _qZCxkGLPEeGyA8hK1MhgBQ _m0angI6xEeGdCeFFJlx8kA _vy6V0HwtEeKlDbCLaIz6tg _eAAB8Hw6EeKk3aX-P_okJw">
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_SzZdsMn5EeKGiJxEmeM8Rw" source="http://www.eclipse.org/uml2/2.0.0/UML">
- <contents xmi:type="ecore:EPackage" xmi:id="_dlrUgMn5EeKGiJxEmeM8Rw" name="RobotML" nsURI="http://Papyrus/RobotML/1" nsPrefix="RobotML">
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dlrUgcn5EeKGiJxEmeM8Rw" source="http://www.eclipse.org/uml2/4.0.0/UML">
- <references xmi:type="uml:Package" href="RobotMLPlatformLibraries.uml#_wyS6gAH-EeC_ZLzLQhW-TQ"/>
+ <uml:Profile xmi:id="_3QOHEPcEEd-J06U5HM_o-Q" name="RobotML" metaclassReference="_7budMPcPEd-J06U5HM_o-Q _8_Y_UClXEeCiVZQ9o-1H2A _ubL34GAyEeCUQf3vpAG6JA _wuaewGAyEeCUQf3vpAG6JA _6eK1kBtTEeGZBqQLK2tPRA _NIDh0BtUEeGZBqQLK2tPRA _XUmMUBtqEeGZBqQLK2tPRA __HKUgCDmEeGCc9sHkrvZbg _IOXiwCJqEeGXbb453tP0yA _KUx1oCJqEeGXbb453tP0yA _rMqAIEaREeG1RvxKgcDZmw _qZCxkGLPEeGyA8hK1MhgBQ _m0angI6xEeGdCeFFJlx8kA _vy6V0HwtEeKlDbCLaIz6tg _eAAB8Hw6EeKk3aX-P_okJw _qnjTILvGEeKt_61TErRftw">
+ <eAnnotations xmi:id="_VoRqoR4VEeCKot0rXi6qrg" source="http://www.eclipse.org/uml2/2.0.0/UML">
+ <contents xmi:type="ecore:EPackage" xmi:id="_y9FUACpMEeG6s9S7mBw2fQ" name="RobotML" nsURI="http://Papyrus/RobotML/1" nsPrefix="RobotML">
+ <eAnnotations xmi:id="_0E53sCpMEeG6s9S7mBw2fQ" source="PapyrusVersion">
+ <details xmi:id="_0E53sSpMEeG6s9S7mBw2fQ" key="Version" value="0.0.37"/>
+ <details xmi:id="_0E53sipMEeG6s9S7mBw2fQ" key="Comment" value=""/>
+ <details xmi:id="_0E53sypMEeG6s9S7mBw2fQ" key="Copyright" value=""/>
+ <details xmi:id="_0E53tCpMEeG6s9S7mBw2fQ" key="Date" value="2011-12-19"/>
+ <details xmi:id="_0E53tSpMEeG6s9S7mBw2fQ" key="Author" value=""/>
</eAnnotations>
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</contents>
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- <ownedComment xmi:type="uml:Comment" xmi:id="_V3Oy4CJvEeGXbb453tP0yA" annotatedElement="_SgjkQCJqEeGXbb453tP0yA">
+ <ownedComment xmi:id="_V3Oy4CJvEeGXbb453tP0yA" annotatedElement="_SgjkQCJqEeGXbb453tP0yA">
<body>guard is typed with a boolean operation that have to be defined in the model before using it&#xD;
effect is typed by an operation that is owned by the component that is behaviored by the FSM&#xD;
</body>
</ownedComment>
- <ownedComment xmi:type="uml:Comment" xmi:id="_d7K-sCJwEeGXbb453tP0yA">
+ <ownedComment xmi:id="_d7K-sCJwEeGXbb453tP0yA">
<body>a component could inherit from an algorithm library &#xD;
to have access to the operation defined in the AlgorithmLibrary</body>
</ownedComment>
- <ownedComment xmi:type="uml:Comment" xmi:id="_4ZDUkJ4AEeKNSMFdscX0rg" annotatedElement="_9EBdgBtTEeGZBqQLK2tPRA">
+ <ownedComment xmi:id="_4ZDUkJ4AEeKNSMFdscX0rg" annotatedElement="_9EBdgBtTEeGZBqQLK2tPRA">
<body>LibFileFormat can be elf, matlab, etc</body>
</ownedComment>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_7budMPcPEd-J06U5HM_o-Q" alias="Class">
+ <ownedComment xmi:id="_Yc2AwLvHEeKt_61TErRftw" annotatedElement="_LwkeMCJqEeGXbb453tP0yA">
+ <body>When a state is activated, a behavior is activated and executed.&#xD;
+It is possible to associate more one behavior to the state. But the question is how to define the order of execution of the behaviors?</body>
+ </ownedComment>
+ <ownedComment xmi:id="_CuKFwLvSEeKt_61TErRftw">
+ <body>How to allocate an operation of component to an operation that is defined in an external library</body>
+ </ownedComment>
+ <elementImport xmi:id="_7budMPcPEd-J06U5HM_o-Q" alias="Class">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Class"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_8_Y_UClXEeCiVZQ9o-1H2A" alias="Port">
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<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Port"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_ubL34GAyEeCUQf3vpAG6JA" alias="DataType">
+ <elementImport xmi:id="_ubL34GAyEeCUQf3vpAG6JA" alias="DataType">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#DataType"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_wuaewGAyEeCUQf3vpAG6JA" alias="PrimitiveType">
+ <elementImport xmi:id="_wuaewGAyEeCUQf3vpAG6JA" alias="PrimitiveType">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#PrimitiveType"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_6eK1kBtTEeGZBqQLK2tPRA" alias="Operation">
+ <elementImport xmi:id="_6eK1kBtTEeGZBqQLK2tPRA" alias="Operation">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Operation"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_NIDh0BtUEeGZBqQLK2tPRA" alias="OpaqueBehavior">
+ <elementImport xmi:id="_NIDh0BtUEeGZBqQLK2tPRA" alias="OpaqueBehavior">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#OpaqueBehavior"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_XUmMUBtqEeGZBqQLK2tPRA" alias="Property">
+ <elementImport xmi:id="_XUmMUBtqEeGZBqQLK2tPRA" alias="Property">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Property"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="__HKUgCDmEeGCc9sHkrvZbg" alias="Interface">
+ <elementImport xmi:id="__HKUgCDmEeGCc9sHkrvZbg" alias="Interface">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Interface"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_IOXiwCJqEeGXbb453tP0yA" alias="State">
+ <elementImport xmi:id="_IOXiwCJqEeGXbb453tP0yA" alias="State">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#State"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_KUx1oCJqEeGXbb453tP0yA" alias="Transition">
+ <elementImport xmi:id="_KUx1oCJqEeGXbb453tP0yA" alias="Transition">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Transition"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_rMqAIEaREeG1RvxKgcDZmw" alias="Node">
+ <elementImport xmi:id="_rMqAIEaREeG1RvxKgcDZmw" alias="Node">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Node"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_qZCxkGLPEeGyA8hK1MhgBQ" alias="Parameter">
+ <elementImport xmi:id="_qZCxkGLPEeGyA8hK1MhgBQ" alias="Parameter">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Parameter"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_m0angI6xEeGdCeFFJlx8kA" alias="Abstraction">
+ <elementImport xmi:id="_m0angI6xEeGdCeFFJlx8kA" alias="Abstraction">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Abstraction"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_vy6V0HwtEeKlDbCLaIz6tg" alias="Package">
+ <elementImport xmi:id="_vy6V0HwtEeKlDbCLaIz6tg" alias="Package">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Package"/>
</elementImport>
- <elementImport xmi:type="uml:ElementImport" xmi:id="_eAAB8Hw6EeKk3aX-P_okJw" alias="InstanceSpecification">
+ <elementImport xmi:id="_eAAB8Hw6EeKk3aX-P_okJw" alias="InstanceSpecification">
<importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#InstanceSpecification"/>
</elementImport>
- <packageImport xmi:type="uml:PackageImport" xmi:id="_I8XAwGBEEeCUQf3vpAG6JA">
+ <elementImport xmi:id="_qnjTILvGEeKt_61TErRftw" alias="Behavior">
+ <importedElement xmi:type="uml:Class" href="pathmap://UML_METAMODELS/UML.metamodel.uml#Behavior"/>
+ </elementImport>
+ <packageImport xmi:id="_I8XAwGBEEeCUQf3vpAG6JA">
<importedPackage xmi:type="uml:Model" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#_0"/>
</packageImport>
- <packageImport xmi:type="uml:PackageImport" xmi:id="__-CpgAB2EeGXJOJtWKn8jQ">
- <importedPackage xmi:type="uml:Package" href="RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
+ <packageImport xmi:id="__-CpgAB2EeGXJOJtWKn8jQ">
+ <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
</packageImport>
<packagedElement xmi:type="uml:Stereotype" xmi:id="_EdnYoPcJEd-J06U5HM_o-Q" name="Robot">
- <generalization xmi:type="uml:Generalization" xmi:id="_qrbLcF7bEeCGhLTjEDkxfg" general="_GopFwPcJEd-J06U5HM_o-Q"/>
- <generalization xmi:type="uml:Generalization" xmi:id="_6Loy4FvEEeG3ZL8CQhitnQ" general="_-AQsUEXREeGe3M3N_846rw"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_yyrcsAHkEeCQQOKrhO_fIQ" name="kind" visibility="public" type="_deUHMAHkEeCQQOKrhO_fIQ">
+ <generalization xmi:id="_qrbLcF7bEeCGhLTjEDkxfg" general="_GopFwPcJEd-J06U5HM_o-Q"/>
+ <generalization xmi:id="_6Loy4FvEEeG3ZL8CQhitnQ" general="_-AQsUEXREeGe3M3N_846rw"/>
+ <ownedAttribute xmi:id="_yyrcsAHkEeCQQOKrhO_fIQ" name="kind" visibility="public" type="_deUHMAHkEeCQQOKrhO_fIQ">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_zm-ncAHkEeCQQOKrhO_fIQ" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_znIYcAHkEeCQQOKrhO_fIQ" value="1"/>
- <defaultValue xmi:type="uml:InstanceValue" xmi:id="_ODLP8Mn5EeKGiJxEmeM8Rw" type="_deUHMAHkEeCQQOKrhO_fIQ" instance="_3VQpkHwEEeKXhbwN3WXO6A"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_hwEK0BtYEeGZBqQLK2tPRA" name="UGV" value="UGV"/>
</ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_bffbsBEzEeGe5al0SANhXQ" name="mass" visibility="public">
- <type xmi:type="uml:PrimitiveType" href="RobotMLPlatformLibraries.uml#_quXmAAH6EeC_ZLzLQhW-TQ"/>
+ <ownedAttribute xmi:id="_bffbsBEzEeGe5al0SANhXQ" name="mass" visibility="public">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_quXmAAH6EeC_ZLzLQhW-TQ"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_eH3zMBEzEeGe5al0SANhXQ" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_eIKuIBEzEeGe5al0SANhXQ" value="1"/>
<defaultValue xmi:type="uml:LiteralString" xmi:id="_eInaEBEzEeGe5al0SANhXQ" name="">
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_ktjtwBEzEeGe5al0SANhXQ" name="width" visibility="public">
- <type xmi:type="uml:PrimitiveType" href="RobotMLPlatformLibraries.uml#_quXmAAH6EeC_ZLzLQhW-TQ"/>
+ <ownedAttribute xmi:id="_ktjtwBEzEeGe5al0SANhXQ" name="width" visibility="public">
+ <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_quXmAAH6EeC_ZLzLQhW-TQ"/>
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_m7Q7cBEzEeGe5al0SANhXQ" value="1"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_m7ascBEzEeGe5al0SANhXQ" value="1"/>
<defaultValue xmi:type="uml:LiteralString" xmi:id="_m8AiUBEzEeGe5al0SANhXQ">
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_syMfECpMEeG6s9S7mBw2fQ" name="ugvKind" visibility="public" type="_qeBukBtaEeGZBqQLK2tPRA">
+ <ownedAttribute xmi:id="_syMfECpMEeG6s9S7mBw2fQ" name="ugvKind" visibility="public" type="_qeBukBtaEeGZBqQLK2tPRA">
<lowerValue xmi:type="uml:LiteralInteger" xmi:id="_vqrIECpMEeG6s9S7mBw2fQ"/>
<upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_vrH0ACpMEeG6s9S7mBw2fQ" value="1"/>
<defaultValue xmi:type="uml:LiteralString" xmi:id="_vruQ8CpMEeG6s9S7mBw2fQ">
<value xsi:nil="true"/>
</defaultValue>
</ownedAttribute>
- <icon xmi:type="uml:Image" xmi:id="_3k_nMA1BEeKPVNsMgVLxnw" content="-119%80%78%71%13%10%26%10%0%0%0%13%73%72%68%82%0%0%0%16%0%0%0%16%8%2%0%0%0%-112%-111%104%54%0%0%0%25%116%69%88%116%83%111%102%116%119%97%114%101%0%65%100%111%98%101%32%73%109%97%103%101%82%101%97%100%121%113%-55%101%60%0%0%1%-77%73%68%65%84%120%-38%98%-20%61%117%-117%-123%-111%-15%-9%-65%-1%127%-1%-1%103%96%96%96%102%100%100%98%100%-4%-49%0%98%67%0%35%3%-29%-65%-1%-1%-127%-126%-97%127%-1%-71%-12%-28%41%75%-15%-54%-61%12%-84%44%12%76%-116%12%127%-1%65%-107%-4%-5%-49%-16%-17%31%3%54%96%-59%-12%-116%5%68%-1%-2%-61%64%28%120%122%-10%4%19%22%97%105%-31%119%-51%49%19%34%-20%48%101%-66%124%-7%-52%-126%46%-90%-93%-16%46%-36%70%-112%-109%45%-33%68%5%-56%43%-40%120%-126%-31%-5%47%-72%-28%47%38%22%20%27%116%-52%84%-1%39%56%1%85%67%-72%64%61%-89%50%-67%24%96%92%32%96%-30%-31%69%104%72%115%55%-70%28%102%-117%102%-97%-87%-108%16%72%-113%-76%48%-124%-5%-105%-115%29%-22%36%-96%-117%-43%-124%120%-74%-33%123%1%100%-85%9%-14%40%11%-14%-68%-1%-2%-21%-60%-13%119%16%-39%59%9%-50%42%11%-10%50%60%125%-53%-4%-25%47%72%-61%-110%68%-25%104%109%121%-58%-110%121%112%-85%102%-70%26%0%85%123%77%-37%6%17%-39%-106%-27%-11%46%-61%-45%110%-13%-55%59%-105%-128%-15%83%60%119%-62%-23%-37%-1%-63%96%-37%-35%-25%-1%81%1%92%-28%-35%-73%-97%12%-45%-74%-15%-69%5%-125%-4%80%-80%-30%80%-19%-31%107%120%-126%-1%-12%-77%119%66%51%-74%51%-36%125%-2%-15%-9%111%-88%31%90%54%-98%-40%-16%-4%-19%6%87%-61%-12%-35%23%-128%-36%99%-17%63%91%9%-14%2%25%90%-126%60%34%28%-17%-52%-90%111%-125%6%46%23%15%34%30%-82%-100%-70%29%-64%-64%112%-56%-41%28%24%-84%64%-33%123%42%73%0%5%39%-98%-71%99%-42%-73%1%97%23%27%43%74%60%0%-11%0%-83%6%-122%15%68%53%-48%54%-96%107%-111%21%8%48%50%96%36%-115%-89%111%-127%122%-128%-114%-42%93%117%120%-42%-50%115%104%-110%76%-65%127%-79%96%75%98%111%81%-100%-127%4%62%-1%-5%15%16%96%0%-59%11%-60%-14%-95%117%89%-102%0%0%0%0%73%69%78%68%-82%66%96%-126%" format="Papyrus" location="platform:/plugin/org.eclipse.papyrus.robotml/icons/16x16/03_robot_system.png">
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4VIDoA1BEeKPVNsMgVLxnw" source="image_papyrus">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4VIDoQ1BEeKPVNsMgVLxnw" key="image_kind_key" value="icon"/>
+ <icon xmi:id="_3k_nMA1BEeKPVNsMgVLxnw" content="-119%80%78%71%13%10%26%10%0%0%0%13%73%72%68%82%0%0%0%16%0%0%0%16%8%2%0%0%0%-112%-111%104%54%0%0%0%25%116%69%88%116%83%111%102%116%1