diff options
Diffstat (limited to 'extraplugins/robotml/org.eclipse.papyrus.robotml.templaterepository')
7 files changed, 711 insertions, 778 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 9a5f9fcfab9..9fb07f4ec5d 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 3614ede3cd3..8c559b47f73 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 1ad731af7cc..0940a60e0af 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> - 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<end xmi:id="_nra7YzU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_2izRQDUzEeG5pL_fpN2DgQ"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_nra7YzU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_2izRQDUzEeG5pL_fpN2DgQ"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_nra7ZTU1EeG5pL_fpN2DgQ" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_nra7ZDU1EeG5pL_fpN2DgQ" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_ovKQUDU1EeG5pL_fpN2DgQ" name="Connector19"> - <end xmi:id="_ovKQUTU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_nCjE8KlFEeCniaMk5QUBRg"> + <ownedConnector xmi:type="uml:Connector" xmi:id="_ovKQUDU1EeG5pL_fpN2DgQ" name="Connector19"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_ovKQUTU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_nCjE8KlFEeCniaMk5QUBRg"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_ovKQUzU1EeG5pL_fpN2DgQ" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_ovKQUjU1EeG5pL_fpN2DgQ" value="1"/> </end> - <end xmi:id="_ovKQVDU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_3wKcQDUzEeG5pL_fpN2DgQ"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_ovKQVDU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_3wKcQDUzEeG5pL_fpN2DgQ"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_ovKQVjU1EeG5pL_fpN2DgQ" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_ovKQVTU1EeG5pL_fpN2DgQ" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_1kW5UEHnEeGGXpGscpkjdg" name="Connector20"> - <end xmi:id="_1kXgYEHnEeGGXpGscpkjdg" partWithPort="_OENvIB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg"> + <ownedConnector xmi:type="uml:Connector" xmi:id="_1kW5UEHnEeGGXpGscpkjdg" name="Connector20"> + <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> </ownedConnector> - <ownedConnector xmi:id="_6VbfMGbUEeGGNuX1IHg1zg" name="Connector12"> - <end xmi:id="_6VbfMWbUEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKL6k_EeCXqcRV-18f6Q"> + <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"/> </end> - <end xmi:id="_6VbfNGbUEeGGNuX1IHg1zg" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_gFYxYB8sEeG4gPCEznVNOA"> + <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> - <ownedConnector xmi:id="_YKRoAGbVEeGGNuX1IHg1zg" name="Connector13"> - <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"/> </end> - <end xmi:id="_YKRoBGbVEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKJ6k_EeCXqcRV-18f6Q"> + <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"/> </end> </ownedConnector> - <ownedConnector xmi:id="_39LY8GbVEeGGNuX1IHg1zg" name="Connector14"> - <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"/> </end> - <end xmi:id="_39LY9GbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_UIObEKloEeCLku4RFrI7uw"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_39LY9GbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_UIObEKloEeCLku4RFrI7uw"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_39LY9mbVEeGGNuX1IHg1zg" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_39LY9WbVEeGGNuX1IHg1zg" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_56pLMGbVEeGGNuX1IHg1zg" name="Connector15"> - <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"/> </end> - <end xmi:id="_56pLNGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK6ak_EeCXqcRV-18f6Q"> + <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"/> </end> </ownedConnector> - <ownedConnector xmi:id="_70r2AGbVEeGGNuX1IHg1zg" name="Connector16"> - <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"/> </end> - <end xmi:id="_70r2BGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_UegmIDUrEeG5pL_fpN2DgQ"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_70r2BGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_UegmIDUrEeG5pL_fpN2DgQ"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_70r2BmbVEeGGNuX1IHg1zg" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_70r2BWbVEeGGNuX1IHg1zg" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_9A-qAGbVEeGGNuX1IHg1zg" name="Connector17"> - <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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_9A-qA2bVEeGGNuX1IHg1zg" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_9A-qAmbVEeGGNuX1IHg1zg" value="1"/> </end> - <end xmi:id="_9A-qBGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_beSbsDUrEeG5pL_fpN2DgQ"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_9A-qBGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_beSbsDUrEeG5pL_fpN2DgQ"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_9A-qBmbVEeGGNuX1IHg1zg" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_9A-qBWbVEeGGNuX1IHg1zg" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_OCQZsGbWEeGGNuX1IHg1zg" name="Connector18"> - 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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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VhLCU2bWEeGGNuX1IHg1zg" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VhLCUmbWEeGGNuX1IHg1zg" value="1"/> </end> - <end xmi:id="_VhLCVGbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_Rsb1cBwkEeGa5bH_RJFzBQ"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_VhLCVGbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_Rsb1cBwkEeGa5bH_RJFzBQ"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VhLCVmbWEeGGNuX1IHg1zg" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VhLCVWbWEeGGNuX1IHg1zg" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_aJQnwGbWEeGGNuX1IHg1zg" name="Connector20"> - <end xmi:id="_aJQnwWbWEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKK6k_EeCXqcRV-18f6Q"> + <ownedConnector xmi:type="uml:Connector" xmi:id="_aJQnwGbWEeGGNuX1IHg1zg" name="Connector20"> + <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 < -5 ) ? true :false;
 return ( -5 <= odometryMsg.steeringAngle && odometryMsg.steeringAngle <= 5 ) ? true:false;
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<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 <= odometryMsg.steeringAngle && 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"> + <slot xmi:type="uml:Slot" xmi:id="_k_DsoGbWEeGGNuX1IHg1zg" definingFeature="_fdzLQqk_EeCXqcRV-18f6Q"> <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 <= odometryMsg.steeringAngle && 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 <= odometryMsg.steeringAngle && 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 <= odometryMsg.steeringAngle && 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 <= odometryMsg.steeringAngle && 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 <= odometryMsg.steeringAngle && 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 <= odometryMsg.steeringAngle && 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 <= odometryMsg.steeringAngle && 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 <= odometryMsg.steeringAngle && 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 <= odometryMsg.steeringAngle && 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 ad97973cb28..c2da6db6718 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 57458bfac42..424a2274732 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 e5c8afe918b..615e0705a43 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 dd75561570b..0800540edf4 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
 + <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk7TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lk7DiAEeKDAMEjnOLmPA"> + <body>Un amer correspond à une balise composée d'une clonne
 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> - 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<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).
 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"/> <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmBziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/> <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmCDiAEeKDAMEjnOLmPA" name="gps" aggregation="composite"> <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/> </ownedAttribute> <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmCTiAEeKDAMEjnOLmPA" name="glob_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/> - 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<end xmi:id="_k0LmHDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0LmADiAEeKDAMEjnOLmPA"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmHDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0LmADiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmHTiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmHjiAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <ownedConnector xmi: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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmITiAEeKDAMEjnOLmPA" value="1"/> <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"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmJTiAEeKDAMEjnOLmPA" value="1"/> </end> @@ -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) 
 The frame is centered on the robot (x <=> forward).
 it use proxi_map and all proprio and exteroceptive datas giving him the relative displacement.
 @@ -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"/> - 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<end xmi:id="_k0LmjTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmRjiAEeKDAMEjnOLmPA"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmjTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmRjiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmjjiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmjziAEeKDAMEjnOLmPA" value="1"/> </end> @@ -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)
 -Transformation from articular space (left and right wheels speed) to operational space (cartesian v�locity)
 +Transformation from articular space (left and right wheels speed) to operational space (cartesian velocity)
 we call it "Super"-DKM because we not only use odometry speed, but also IMU and GPS inputs, and we output also cartesian position</body> </ownedComment> <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmkziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite"> @@ -996,13 +996,13 @@ we call it "Super"-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"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmrTiAEeKDAMEjnOLmPA" value="1"/> </ownedAttribute> </packagedElement> <packagedElement xmi:type="uml:Class" xmi:id="_k0LmrjiAEeKDAMEjnOLmPA" name="Proximetric_Map"> - <ownedComment xmi: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.
 the polar 2D frame is linked to the robot (so relative). Origine x forward the robot, angle with trigonometric way/notation (unclocwise)
 this Polar bitmap map is digitalized in Nrange cell from 0 to MaxRange, and in Nangle, from 0 to 2Pi.
 @@ -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"/> </ownedAttribute> - <ownedConnector xmi:id="_k0Lm5DiAEeKDAMEjnOLmPA" name="Connector1"> - <end xmi:id="_k0Lm5TiAEeKDAMEjnOLmPA" role="_k0Lm1jiAEeKDAMEjnOLmPA"> + <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm5DiAEeKDAMEjnOLmPA" name="Connector1"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm5TiAEeKDAMEjnOLmPA" role="_k0Lm1jiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm5jiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm5ziAEeKDAMEjnOLmPA" value="1"/> </end> - <end xmi:id="_k0Lm6DiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmtDiAEeKDAMEjnOLmPA"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm6DiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmtDiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm6TiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm6jiAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0Lm6ziAEeKDAMEjnOLmPA" name="Connector2"> - <end xmi:id="_k0Lm7DiAEeKDAMEjnOLmPA" role="_k0Lm0jiAEeKDAMEjnOLmPA"> + <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm6ziAEeKDAMEjnOLmPA" name="Connector2"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm7DiAEeKDAMEjnOLmPA" role="_k0Lm0jiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm7TiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm7jiAEeKDAMEjnOLmPA" value="1"/> </end> - <end xmi:id="_k0Lm7ziAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmpziAEeKDAMEjnOLmPA"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm7ziAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmpziAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm8DiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm8TiAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0Lm8jiAEeKDAMEjnOLmPA" name="Connector3"> - <end xmi:id="_k0Lm8ziAEeKDAMEjnOLmPA" role="_k0LmzjiAEeKDAMEjnOLmPA"> + <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm8jiAEeKDAMEjnOLmPA" name="Connector3"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm8ziAEeKDAMEjnOLmPA" role="_k0LmzjiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm9DiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm9TiAEeKDAMEjnOLmPA" value="1"/> </end> - <end xmi:id="_k0Lm9jiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmoziAEeKDAMEjnOLmPA"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm9jiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmoziAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm9ziAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm-DiAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0Lm-TiAEeKDAMEjnOLmPA" name="Connector4"> - <end xmi:id="_k0Lm-jiAEeKDAMEjnOLmPA" role="_k0LmyjiAEeKDAMEjnOLmPA"> + <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm-TiAEeKDAMEjnOLmPA" name="Connector4"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm-jiAEeKDAMEjnOLmPA" role="_k0LmyjiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm-ziAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm_DiAEeKDAMEjnOLmPA" value="1"/> </end> - <end xmi:id="_k0Lm_TiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmnziAEeKDAMEjnOLmPA"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm_TiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmnziAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm_jiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm_ziAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0LnADiAEeKDAMEjnOLmPA" name="Connector5"> - <end xmi:id="_k0LnATiAEeKDAMEjnOLmPA" role="_k0LmxjiAEeKDAMEjnOLmPA"> + <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnADiAEeKDAMEjnOLmPA" name="Connector5"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnATiAEeKDAMEjnOLmPA" role="_k0LmxjiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnAjiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnAziAEeKDAMEjnOLmPA" value="1"/> </end> - <end xmi:id="_k0LnBDiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmmziAEeKDAMEjnOLmPA"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnBDiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmmziAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnBTiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnBjiAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0LnBziAEeKDAMEjnOLmPA" name="Connector6"> - <end xmi:id="_k0LnCDiAEeKDAMEjnOLmPA" role="_k0Lm3TiAEeKDAMEjnOLmPA"> + <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnBziAEeKDAMEjnOLmPA" name="Connector6"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnCDiAEeKDAMEjnOLmPA" role="_k0Lm3TiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnCTiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnCjiAEeKDAMEjnOLmPA" value="1"/> </end> - <end xmi:id="_k0LnCziAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmuziAEeKDAMEjnOLmPA"> + <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"/> </end> - <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> - 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<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"/> </end> </ownedConnector> - 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<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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnuziAEeKDAMEjnOLmPA" value="1"/> <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"/> </end> </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"/> </end> </ownedConnector> - <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"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0LnzjiAEeKDAMEjnOLmPA" name="Connector9"> - <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"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln0TiAEeKDAMEjnOLmPA" value="1"/> </end> - <end xmi:id="_k0Ln0jiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnUziAEeKDAMEjnOLmPA"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln0jiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnUziAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln0ziAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln1DiAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0Ln1TiAEeKDAMEjnOLmPA" name="Connector10"> - <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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln1ziAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln2DiAEeKDAMEjnOLmPA" value="1"/> </end> - <end xmi:id="_k0Ln2TiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnTziAEeKDAMEjnOLmPA"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln2TiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnTziAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln2jiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln2ziAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0Ln3DiAEeKDAMEjnOLmPA" name="Connector11"> - <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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln3jiAEeKDAMEjnOLmPA" value="1"/> <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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoKDiAEeKDAMEjnOLmPA" value="1"/> <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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoLDiAEeKDAMEjnOLmPA" value="1"/> <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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoNjiAEeKDAMEjnOLmPA" value="1"/> <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.
 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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoZTiAEeKDAMEjnOLmPA" value="1"/> <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"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0LoajiAEeKDAMEjnOLmPA" name="Connector2"> - <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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LobziAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LocDiAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LodjiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LodziAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0LoeDiAEeKDAMEjnOLmPA" name="Connector4"> - <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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LofTiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LofjiAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0LofziAEeKDAMEjnOLmPA" name="Connector5"> - <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"/> </end> - <end xmi:id="_k0LogziAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoUjiAEeKDAMEjnOLmPA"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogziAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoUjiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LohDiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LohTiAEeKDAMEjnOLmPA" value="1"/> </end> @@ -1799,8 +1799,8 @@ It must reach the various waypoints, considering the obstacles placed in the loc </packagedElement> <packagedElement xmi:type="uml:Package" xmi:id="_k0LohjiAEeKDAMEjnOLmPA" name="A2_Pilot"> <packagedElement xmi:type="uml:Class" xmi:id="_k0LohziAEeKDAMEjnOLmPA" name="Pilot"> - <ownedComment xmi:id="_k0LoiDiAEeKDAMEjnOLmPA" annotatedElement="_k0LohziAEeKDAMEjnOLmPA"> - <body>The pilot must calculate the set points in op�rating space, following the trajectory delivered by the navigator. 
 + <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. 
 But the pilot must react to obstacles 'seen' in the proximetric map (prox_map), avoiding them.
 </body> </ownedComment> @@ -1851,8 +1851,8 @@ But the pilot must react to obstacles 'seen' in the proximetric map (prox_map), </ownedAttribute> </packagedElement> <packagedElement xmi:type="uml:Class" xmi:id="_k0LooTiAEeKDAMEjnOLmPA" name="IKM"> - <ownedComment xmi:id="_k0LoojiAEeKDAMEjnOLmPA" annotatedElement="_k0LooTiAEeKDAMEjnOLmPA"> - <body>Modele Cin�matique Inverse (MCI) - Invert Kinematic Model (IKM)
 + <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoojiAEeKDAMEjnOLmPA" annotatedElement="_k0LooTiAEeKDAMEjnOLmPA"> + <body>Modele Cinématique Inverse (MCI) - Invert Kinematic Model (IKM)
 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 <value xsi:nil="true"/> </defaultValue> </ownedAttribute> - <ownedAttribute xmi:id="_k0LotDiAEeKDAMEjnOLmPA" name="Pilot" type="_k0LohziAEeKDAMEjnOLmPA"/> - <ownedAttribute xmi:id="_k0LotTiAEeKDAMEjnOLmPA" name="IKM" type="_k0LooTiAEeKDAMEjnOLmPA"/> + <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LotDiAEeKDAMEjnOLmPA" name="Pilot" type="_k0LohziAEeKDAMEjnOLmPA"/> + <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LotTiAEeKDAMEjnOLmPA" name="IKM" type="_k0LooTiAEeKDAMEjnOLmPA"/> <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LouDiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite"> <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/> </ownedAttribute> <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LouTiAEeKDAMEjnOLmPA" name="accel_girat" aggregation="composite"> <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/> </ownedAttribute> - <ownedConnector xmi:id="_k0LoujiAEeKDAMEjnOLmPA" name="Connector0"> - <end xmi:id="_k0LouziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LokTiAEeKDAMEjnOLmPA"> + <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoujiAEeKDAMEjnOLmPA" name="Connector0"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LouziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LokTiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LovDiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LovTiAEeKDAMEjnOLmPA" value="1"/> </end> - <end xmi:id="_k0LovjiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LopziAEeKDAMEjnOLmPA"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LovjiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LopziAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LovziAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LowDiAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0LowTiAEeKDAMEjnOLmPA" name="Connector1"> - <end xmi:id="_k0LowjiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA"> + <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LowTiAEeKDAMEjnOLmPA" name="Connector1"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LowjiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LowziAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoxDiAEeKDAMEjnOLmPA" value="1"/> </end> - <end xmi:id="_k0LoxTiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LoiTiAEeKDAMEjnOLmPA"> + <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoxTiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LoiTiAEeKDAMEjnOLmPA"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoxjiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoxziAEeKDAMEjnOLmPA" value="1"/> </end> </ownedConnector> - <ownedConnector xmi:id="_k0LoyDiAEeKDAMEjnOLmPA" name="Connector2"> - 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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"> <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo6TiAEeKDAMEjnOLmPA" value="1"/> <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo6jiAEeKDAMEjnOLmPA" value="1"/> </end> @@ -2006,24 +2006,24 @@ transform the velocities from the operational space to the articular space (left <value xsi:nil="true"/> </defaultValue> </ownedAttribute> - 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