1 files changed, 3261 insertions, 2762 deletions

diff --git a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotMLPackageImpl.java b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotMLPackageImpl.java
index 7738811b0c5..1f41a08c1d4 100644
--- a/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotMLPackageImpl.java
+++ b/extraplugins/robotml/org.eclipse.papyrus.robotml/src/org/eclipse/papyrus/RobotML/impl/RobotMLPackageImpl.java
@@ -1,2762 +1,3261 @@
-/**

- */

-package org.eclipse.papyrus.RobotML.impl;

-

-import org.eclipse.emf.ecore.EAttribute;

-import org.eclipse.emf.ecore.EClass;

-import org.eclipse.emf.ecore.EEnum;

-import org.eclipse.emf.ecore.EPackage;

-import org.eclipse.emf.ecore.EReference;

-

-import org.eclipse.emf.ecore.impl.EPackageImpl;

-

-import org.eclipse.papyrus.RobotML.ActuatorSystem;

-import org.eclipse.papyrus.RobotML.Agent;

-import org.eclipse.papyrus.RobotML.Algorithm;

-import org.eclipse.papyrus.RobotML.AlgorithmLibrary;

-import org.eclipse.papyrus.RobotML.Allocate;

-import org.eclipse.papyrus.RobotML.BlenderMorse;

-import org.eclipse.papyrus.RobotML.Building;

-import org.eclipse.papyrus.RobotML.CameraSystem;

-import org.eclipse.papyrus.RobotML.CycabTK;

-import org.eclipse.papyrus.RobotML.DataFlowDirectionKind;

-import org.eclipse.papyrus.RobotML.DataFlowPort;

-import org.eclipse.papyrus.RobotML.DataType;

-import org.eclipse.papyrus.RobotML.DeploymentPlan;

-import org.eclipse.papyrus.RobotML.EngineSystem;

-import org.eclipse.papyrus.RobotML.Environment;

-import org.eclipse.papyrus.RobotML.ExternalLibrary;

-import org.eclipse.papyrus.RobotML.Floor;

-import org.eclipse.papyrus.RobotML.GPSSystem;

-import org.eclipse.papyrus.RobotML.Ground;

-import org.eclipse.papyrus.RobotML.Gyroscope;

-import org.eclipse.papyrus.RobotML.Hardware;

-import org.eclipse.papyrus.RobotML.Human;

-import org.eclipse.papyrus.RobotML.ImageSensorSystem;

-import org.eclipse.papyrus.RobotML.InertialMeasurementUnitSystem;

-import org.eclipse.papyrus.RobotML.InertialNavigationSystem;

-import org.eclipse.papyrus.RobotML.InfraRedProximetrySystem;

-import org.eclipse.papyrus.RobotML.LandSurface;

-import org.eclipse.papyrus.RobotML.LidarSystem;

-import org.eclipse.papyrus.RobotML.LocalizationSensorSystem;

-import org.eclipse.papyrus.RobotML.ObjectDetectionSensorSystem;

-import org.eclipse.papyrus.RobotML.ObjectTrackingSensorSystem;

-import org.eclipse.papyrus.RobotML.OdometrySystem;

-import org.eclipse.papyrus.RobotML.OnPort;

-import org.eclipse.papyrus.RobotML.OnProperty;

-import org.eclipse.papyrus.RobotML.Pedestrian;

-import org.eclipse.papyrus.RobotML.PhysicalObject;

-import org.eclipse.papyrus.RobotML.Planet;

-import org.eclipse.papyrus.RobotML.Platform;

-import org.eclipse.papyrus.RobotML.Port;

-import org.eclipse.papyrus.RobotML.PrimitiveData;

-import org.eclipse.papyrus.RobotML.Robot;

-import org.eclipse.papyrus.RobotML.RobotKind;

-import org.eclipse.papyrus.RobotML.RobotMLFactory;

-import org.eclipse.papyrus.RobotML.RobotMLPackage;

-import org.eclipse.papyrus.RobotML.RoboticMiddleware;

-import org.eclipse.papyrus.RobotML.RoboticMiddlewareKind;

-import org.eclipse.papyrus.RobotML.RoboticSimulator;

-import org.eclipse.papyrus.RobotML.RoboticSystem;

-import org.eclipse.papyrus.RobotML.SensorDriver;

-import org.eclipse.papyrus.RobotML.SensorSystem;

-import org.eclipse.papyrus.RobotML.ServiceFlowKind;

-import org.eclipse.papyrus.RobotML.ServicePort;

-import org.eclipse.papyrus.RobotML.Shade;

-import org.eclipse.papyrus.RobotML.SimulatedSystem;

-import org.eclipse.papyrus.RobotML.Software;

-import org.eclipse.papyrus.RobotML.Stairs;

-import org.eclipse.papyrus.RobotML.State;

-import org.eclipse.papyrus.RobotML.Surface;

-import org.eclipse.papyrus.RobotML.SynchronizationKind;

-import org.eclipse.papyrus.RobotML.Transition;

-import org.eclipse.papyrus.RobotML.UGVKind;

-import org.eclipse.papyrus.RobotML.WaterSurface;

-import org.eclipse.papyrus.RobotML.WheelSystem;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;

-

-import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl;

-

-import org.eclipse.uml2.types.TypesPackage;

-

-import org.eclipse.uml2.uml.UMLPackage;

-

-/**

- * <!-- begin-user-doc -->

- * An implementation of the model <b>Package</b>.

- * <!-- end-user-doc -->

- * @generated

- */

-public class RobotMLPackageImpl extends EPackageImpl implements RobotMLPackage {

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass transitionEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass algorithmEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass stateEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass robotEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass systemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass agentEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass physicalObjectEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass environmentEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass surfaceEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass dataFlowPortEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass portEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass servicePortEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass actuatorSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass roboticSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass sensorSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass hardwareEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass softwareEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass primitiveDataEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass dataTypeEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass engineSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass wheelSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass imageSensorSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass cameraSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass objectDetectionSensorSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass objectTrackingSensorSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass lidarSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass localizationSensorSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass gpsSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass simulatedSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass algorithmLibraryEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass sensorDriverEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass buildingEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass planetEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass landSurfaceEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass groundEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass floorEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass waterSurfaceEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass humanEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass pedestrianEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass stairsEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass platformEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass externalLibraryEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass roboticMiddlewareEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass roboticSimulatorEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass cycabTKEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass blenderMorseEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass onPortEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass allocateEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass inertialMeasurementUnitSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass inertialNavigationSystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass odometrySystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass infraRedProximetrySystemEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass deploymentPlanEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass gyroscopeEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EClass onPropertyEClass = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EEnum robotKindEEnum = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EEnum ugvKindEEnum = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EEnum synchronizationKindEEnum = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EEnum dataFlowDirectionKindEEnum = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EEnum serviceFlowKindEEnum = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EEnum roboticMiddlewareKindEEnum = null;

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private EEnum shadeEEnum = null;

-

-	/**

-	 * Creates an instance of the model <b>Package</b>, registered with

-	 * {@link org.eclipse.emf.ecore.EPackage.Registry EPackage.Registry} by the package

-	 * package URI value.

-	 * <p>Note: the correct way to create the package is via the static

-	 * factory method {@link #init init()}, which also performs

-	 * initialization of the package, or returns the registered package,

-	 * if one already exists.

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @see org.eclipse.emf.ecore.EPackage.Registry

-	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#eNS_URI

-	 * @see #init()

-	 * @generated

-	 */

-	private RobotMLPackageImpl() {

-		super(eNS_URI, RobotMLFactory.eINSTANCE);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private static boolean isInited = false;

-

-	/**

-	 * Creates, registers, and initializes the <b>Package</b> for this model, and for any others upon which it depends.

-	 * 

-	 * <p>This method is used to initialize {@link RobotMLPackage#eINSTANCE} when that field is accessed.

-	 * Clients should not invoke it directly. Instead, they should simply access that field to obtain the package.

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @see #eNS_URI

-	 * @see #createPackageContents()

-	 * @see #initializePackageContents()

-	 * @generated

-	 */

-	public static RobotMLPackage init() {

-		if (isInited) return (RobotMLPackage)EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI);

-

-		// Obtain or create and register package

-		RobotMLPackageImpl theRobotMLPackage = (RobotMLPackageImpl)(EPackage.Registry.INSTANCE.get(eNS_URI) instanceof RobotMLPackageImpl ? EPackage.Registry.INSTANCE.get(eNS_URI) : new RobotMLPackageImpl());

-

-		isInited = true;

-

-		// Initialize simple dependencies

-		UMLPackage.eINSTANCE.eClass();

-

-		// Obtain or create and register interdependencies

-		Diagnostic_datatypesPackageImpl theDiagnostic_datatypesPackage = (Diagnostic_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) instanceof Diagnostic_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) : Diagnostic_datatypesPackage.eINSTANCE);

-		Geometry_datatypesPackageImpl theGeometry_datatypesPackage = (Geometry_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) instanceof Geometry_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) : Geometry_datatypesPackage.eINSTANCE);

-		Nav_datatypesPackageImpl theNav_datatypesPackage = (Nav_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) instanceof Nav_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) : Nav_datatypesPackage.eINSTANCE);

-		Sensor_datatypesPackageImpl theSensor_datatypesPackage = (Sensor_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) instanceof Sensor_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) : Sensor_datatypesPackage.eINSTANCE);

-		Actionlib_datatypesPackageImpl theActionlib_datatypesPackage = (Actionlib_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) instanceof Actionlib_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) : Actionlib_datatypesPackage.eINSTANCE);

-		Oarp1_datatypesPackageImpl theOarp1_datatypesPackage = (Oarp1_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) instanceof Oarp1_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) : Oarp1_datatypesPackage.eINSTANCE);

-		Oarp4_datatypesPackageImpl theOarp4_datatypesPackage = (Oarp4_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) instanceof Oarp4_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) : Oarp4_datatypesPackage.eINSTANCE);

-		Std_datatypesPackageImpl theStd_datatypesPackage = (Std_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) instanceof Std_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) : Std_datatypesPackage.eINSTANCE);

-

-		// Create package meta-data objects

-		theRobotMLPackage.createPackageContents();

-		theDiagnostic_datatypesPackage.createPackageContents();

-		theGeometry_datatypesPackage.createPackageContents();

-		theNav_datatypesPackage.createPackageContents();

-		theSensor_datatypesPackage.createPackageContents();

-		theActionlib_datatypesPackage.createPackageContents();

-		theOarp1_datatypesPackage.createPackageContents();

-		theOarp4_datatypesPackage.createPackageContents();

-		theStd_datatypesPackage.createPackageContents();

-

-		// Initialize created meta-data

-		theRobotMLPackage.initializePackageContents();

-		theDiagnostic_datatypesPackage.initializePackageContents();

-		theGeometry_datatypesPackage.initializePackageContents();

-		theNav_datatypesPackage.initializePackageContents();

-		theSensor_datatypesPackage.initializePackageContents();

-		theActionlib_datatypesPackage.initializePackageContents();

-		theOarp1_datatypesPackage.initializePackageContents();

-		theOarp4_datatypesPackage.initializePackageContents();

-		theStd_datatypesPackage.initializePackageContents();

-

-		// Mark meta-data to indicate it can't be changed

-		theRobotMLPackage.freeze();

-

-  

-		// Update the registry and return the package

-		EPackage.Registry.INSTANCE.put(RobotMLPackage.eNS_URI, theRobotMLPackage);

-		return theRobotMLPackage;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getTransition() {

-		return transitionEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getTransition_Base_Transition() {

-		return (EReference)transitionEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getTransition_Guard() {

-		return (EReference)transitionEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getTransition_Effect() {

-		return (EReference)transitionEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getAlgorithm() {

-		return algorithmEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getAlgorithm_Base_Operation() {

-		return (EReference)algorithmEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getAlgorithm_IsExternal() {

-		return (EAttribute)algorithmEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getAlgorithm_ExtFunctionName() {

-		return (EAttribute)algorithmEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getAlgorithm_LibPath() {

-		return (EAttribute)algorithmEClass.getEStructuralFeatures().get(3);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getAlgorithm_LibFileFormat() {

-		return (EAttribute)algorithmEClass.getEStructuralFeatures().get(4);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getState() {

-		return stateEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getState_Base_State() {

-		return (EReference)stateEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getState_Behavior() {

-		return (EReference)stateEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getRobot() {

-		return robotEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getRobot_Kind() {

-		return (EAttribute)robotEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getRobot_Mass() {

-		return (EAttribute)robotEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getRobot_Width() {

-		return (EAttribute)robotEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getRobot_UgvKind() {

-		return (EAttribute)robotEClass.getEStructuralFeatures().get(3);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getSystem() {

-		return systemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getSystem_Base_Class() {

-		return (EReference)systemEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getSystem_Native() {

-		return (EAttribute)systemEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getSystem_LibraryPath() {

-		return (EAttribute)systemEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getSystem_LibraryComponentName() {

-		return (EAttribute)systemEClass.getEStructuralFeatures().get(3);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getAgent() {

-		return agentEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getAgent_MovesOver() {

-		return (EReference)agentEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getPhysicalObject() {

-		return physicalObjectEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getPhysicalObject_EvelovesIn() {

-		return (EReference)physicalObjectEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getPhysicalObject_HasSurface() {

-		return (EReference)physicalObjectEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getEnvironment() {

-		return environmentEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getSurface() {

-		return surfaceEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getDataFlowPort() {

-		return dataFlowPortEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getDataFlowPort_Direction() {

-		return (EAttribute)dataFlowPortEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getDataFlowPort_BufferSize() {

-		return (EAttribute)dataFlowPortEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getPort() {

-		return portEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getPort_Base_Port() {

-		return (EReference)portEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getPort_SynchronizationPolicy() {

-		return (EAttribute)portEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getServicePort() {

-		return servicePortEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getServicePort_Kind() {

-		return (EAttribute)servicePortEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getActuatorSystem() {

-		return actuatorSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getRoboticSystem() {

-		return roboticSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getRoboticSystem_LocalPosition() {

-		return (EReference)roboticSystemEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getRoboticSystem_LocalOrientation() {

-		return (EReference)roboticSystemEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getSensorSystem() {

-		return sensorSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getSensorSystem_Frequency() {

-		return (EAttribute)sensorSystemEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getSensorSystem_Identifier() {

-		return (EAttribute)sensorSystemEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getHardware() {

-		return hardwareEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getSoftware() {

-		return softwareEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getSoftware_IsPeriodic() {

-		return (EAttribute)softwareEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getSoftware_Period() {

-		return (EAttribute)softwareEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getSoftware_Priority() {

-		return (EAttribute)softwareEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getSoftware_Deadline() {

-		return (EAttribute)softwareEClass.getEStructuralFeatures().get(3);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getSoftware_Wcet() {

-		return (EAttribute)softwareEClass.getEStructuralFeatures().get(4);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getPrimitiveData() {

-		return primitiveDataEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getPrimitiveData_Base_PrimitiveType() {

-		return (EReference)primitiveDataEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getDataType() {

-		return dataTypeEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getDataType_Base_DataType() {

-		return (EReference)dataTypeEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getDataType_Native() {

-		return (EAttribute)dataTypeEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getDataType_LibraryPath() {

-		return (EAttribute)dataTypeEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getEngineSystem() {

-		return engineSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getEngineSystem_VehicleTraction() {

-		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getEngineSystem_MaxEngineForce() {

-		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getEngineSystem_MaxBreakingForce() {

-		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getEngineSystem_MaxAllowedSteering() {

-		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(3);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getEngineSystem_MaxAllowedVelocity() {

-		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(4);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getEngineSystem_Gear_ration() {

-		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(5);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getWheelSystem() {

-		return wheelSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_WheelRadius() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_WheelWidth() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_SuspensionRestLength() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_WheelConnectionHeight() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(3);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_TypeOfWheel() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(4);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_WheelVelocityPIDkp() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(5);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_WheelVelocityPIDki() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(6);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_WheelVelocityPIDkd() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(7);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_WheelSteeringPIDkp() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(8);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_WheelSteeringPIDkd() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(9);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_WheelFriction() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(10);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_SuspensionStiffness() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(11);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_SuspensionDamping() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(12);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_SuspensionCompression() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(13);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_WheelVelocityPIDmaxSum() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(14);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getWheelSystem_WheelVelocityPIDmaxVal() {

-		return (EAttribute)wheelSystemEClass.getEStructuralFeatures().get(15);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getImageSensorSystem() {

-		return imageSensorSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getCameraSystem() {

-		return cameraSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getCameraSystem_Width() {

-		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getCameraSystem_Height() {

-		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getCameraSystem_Alpha_u() {

-		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getCameraSystem_Alpha_v() {

-		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(3);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getCameraSystem_U0() {

-		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(4);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getCameraSystem_V0() {

-		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(5);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getCameraSystem_Color_format() {

-		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(6);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getCameraSystem_Translate() {

-		return (EReference)cameraSystemEClass.getEStructuralFeatures().get(7);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getCameraSystem_Rotate() {

-		return (EReference)cameraSystemEClass.getEStructuralFeatures().get(8);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getObjectDetectionSensorSystem() {

-		return objectDetectionSensorSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getObjectTrackingSensorSystem() {

-		return objectTrackingSensorSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getLidarSystem() {

-		return lidarSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getLidarSystem_NbLayers() {

-		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getLidarSystem_LayerAngleMin() {

-		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getLidarSystem_LayerAngleStep() {

-		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getLidarSystem_Noise() {

-		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(3);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getLidarSystem_SigmaNoise() {

-		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(4);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getLidarSystem_Angle_min() {

-		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(5);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getLidarSystem_Angle_max() {

-		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(6);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getLidarSystem_Time_increment() {

-		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(7);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getLidarSystem_Scan_time() {

-		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(8);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getLidarSystem_Range_min() {

-		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(9);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getLidarSystem_Range_max() {

-		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(10);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getLidarSystem_NbRays() {

-		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(11);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getLocalizationSensorSystem() {

-		return localizationSensorSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getGPSSystem() {

-		return gpsSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getGPSSystem_OriginPosition() {

-		return (EReference)gpsSystemEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getSimulatedSystem() {

-		return simulatedSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getSimulatedSystem_Base_Property() {

-		return (EReference)simulatedSystemEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getSimulatedSystem_Mesh() {

-		return (EAttribute)simulatedSystemEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getAlgorithmLibrary() {

-		return algorithmLibraryEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getAlgorithmLibrary_Base_Class() {

-		return (EReference)algorithmLibraryEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getAlgorithmLibrary_Path() {

-		return (EAttribute)algorithmLibraryEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getSensorDriver() {

-		return sensorDriverEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getBuilding() {

-		return buildingEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getPlanet() {

-		return planetEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getLandSurface() {

-		return landSurfaceEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getGround() {

-		return groundEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getFloor() {

-		return floorEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getWaterSurface() {

-		return waterSurfaceEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getHuman() {

-		return humanEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getPedestrian() {

-		return pedestrianEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getStairs() {

-		return stairsEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getPlatform() {

-		return platformEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getPlatform_Base_Node() {

-		return (EReference)platformEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getPlatform_Library() {

-		return (EReference)platformEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getExternalLibrary() {

-		return externalLibraryEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getExternalLibrary_LibPath() {

-		return (EAttribute)externalLibraryEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getExternalLibrary_LibFileFormat() {

-		return (EAttribute)externalLibraryEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getExternalLibrary_Base_Interface() {

-		return (EReference)externalLibraryEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getRoboticMiddleware() {

-		return roboticMiddlewareEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getRoboticMiddleware_Kind() {

-		return (EAttribute)roboticMiddlewareEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getRoboticSimulator() {

-		return roboticSimulatorEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getCycabTK() {

-		return cycabTKEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getCycabTK_UseRealTime() {

-		return (EAttribute)cycabTKEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getCycabTK_TimeStep() {

-		return (EAttribute)cycabTKEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getCycabTK_TimeFactor() {

-		return (EAttribute)cycabTKEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getBlenderMorse() {

-		return blenderMorseEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getBlenderMorse_DebugMode() {

-		return (EAttribute)blenderMorseEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getBlenderMorse_DebugDisplay() {

-		return (EAttribute)blenderMorseEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getBlenderMorse_Gravity() {

-		return (EAttribute)blenderMorseEClass.getEStructuralFeatures().get(2);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EAttribute getBlenderMorse__viewport_shade() {

-		return (EAttribute)blenderMorseEClass.getEStructuralFeatures().get(3);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getOnPort() {

-		return onPortEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getOnPort_Port() {

-		return (EReference)onPortEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getOnPort_Base_Parameter() {

-		return (EReference)onPortEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getAllocate() {

-		return allocateEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getAllocate_Base_Abstraction() {

-		return (EReference)allocateEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getInertialMeasurementUnitSystem() {

-		return inertialMeasurementUnitSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getInertialNavigationSystem() {

-		return inertialNavigationSystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getOdometrySystem() {

-		return odometrySystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getInfraRedProximetrySystem() {

-		return infraRedProximetrySystemEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getDeploymentPlan() {

-		return deploymentPlanEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getDeploymentPlan_Base_Package() {

-		return (EReference)deploymentPlanEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getDeploymentPlan_MainInstance() {

-		return (EReference)deploymentPlanEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getGyroscope() {

-		return gyroscopeEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EClass getOnProperty() {

-		return onPropertyEClass;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getOnProperty_Property() {

-		return (EReference)onPropertyEClass.getEStructuralFeatures().get(0);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EReference getOnProperty_Base_Parameter() {

-		return (EReference)onPropertyEClass.getEStructuralFeatures().get(1);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EEnum getRobotKind() {

-		return robotKindEEnum;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EEnum getUGVKind() {

-		return ugvKindEEnum;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EEnum getSynchronizationKind() {

-		return synchronizationKindEEnum;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EEnum getDataFlowDirectionKind() {

-		return dataFlowDirectionKindEEnum;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EEnum getServiceFlowKind() {

-		return serviceFlowKindEEnum;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EEnum getRoboticMiddlewareKind() {

-		return roboticMiddlewareKindEEnum;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public EEnum getShade() {

-		return shadeEEnum;

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public RobotMLFactory getRobotMLFactory() {

-		return (RobotMLFactory)getEFactoryInstance();

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private boolean isCreated = false;

-

-	/**

-	 * Creates the meta-model objects for the package.  This method is

-	 * guarded to have no affect on any invocation but its first.

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public void createPackageContents() {

-		if (isCreated) return;

-		isCreated = true;

-

-		// Create classes and their features

-		transitionEClass = createEClass(TRANSITION);

-		createEReference(transitionEClass, TRANSITION__BASE_TRANSITION);

-		createEReference(transitionEClass, TRANSITION__GUARD);

-		createEReference(transitionEClass, TRANSITION__EFFECT);

-

-		algorithmEClass = createEClass(ALGORITHM);

-		createEReference(algorithmEClass, ALGORITHM__BASE_OPERATION);

-		createEAttribute(algorithmEClass, ALGORITHM__IS_EXTERNAL);

-		createEAttribute(algorithmEClass, ALGORITHM__EXT_FUNCTION_NAME);

-		createEAttribute(algorithmEClass, ALGORITHM__LIB_PATH);

-		createEAttribute(algorithmEClass, ALGORITHM__LIB_FILE_FORMAT);

-

-		stateEClass = createEClass(STATE);

-		createEReference(stateEClass, STATE__BASE_STATE);

-		createEReference(stateEClass, STATE__BEHAVIOR);

-

-		robotEClass = createEClass(ROBOT);

-		createEAttribute(robotEClass, ROBOT__KIND);

-		createEAttribute(robotEClass, ROBOT__MASS);

-		createEAttribute(robotEClass, ROBOT__WIDTH);

-		createEAttribute(robotEClass, ROBOT__UGV_KIND);

-

-		systemEClass = createEClass(SYSTEM);

-		createEReference(systemEClass, SYSTEM__BASE_CLASS);

-		createEAttribute(systemEClass, SYSTEM__NATIVE);

-		createEAttribute(systemEClass, SYSTEM__LIBRARY_PATH);

-		createEAttribute(systemEClass, SYSTEM__LIBRARY_COMPONENT_NAME);

-

-		agentEClass = createEClass(AGENT);

-		createEReference(agentEClass, AGENT__MOVES_OVER);

-

-		physicalObjectEClass = createEClass(PHYSICAL_OBJECT);

-		createEReference(physicalObjectEClass, PHYSICAL_OBJECT__EVELOVES_IN);

-		createEReference(physicalObjectEClass, PHYSICAL_OBJECT__HAS_SURFACE);

-

-		environmentEClass = createEClass(ENVIRONMENT);

-

-		surfaceEClass = createEClass(SURFACE);

-

-		dataFlowPortEClass = createEClass(DATA_FLOW_PORT);

-		createEAttribute(dataFlowPortEClass, DATA_FLOW_PORT__DIRECTION);

-		createEAttribute(dataFlowPortEClass, DATA_FLOW_PORT__BUFFER_SIZE);

-

-		portEClass = createEClass(PORT);

-		createEReference(portEClass, PORT__BASE_PORT);

-		createEAttribute(portEClass, PORT__SYNCHRONIZATION_POLICY);

-

-		servicePortEClass = createEClass(SERVICE_PORT);

-		createEAttribute(servicePortEClass, SERVICE_PORT__KIND);

-

-		actuatorSystemEClass = createEClass(ACTUATOR_SYSTEM);

-

-		roboticSystemEClass = createEClass(ROBOTIC_SYSTEM);

-		createEReference(roboticSystemEClass, ROBOTIC_SYSTEM__LOCAL_POSITION);

-		createEReference(roboticSystemEClass, ROBOTIC_SYSTEM__LOCAL_ORIENTATION);

-

-		sensorSystemEClass = createEClass(SENSOR_SYSTEM);

-		createEAttribute(sensorSystemEClass, SENSOR_SYSTEM__FREQUENCY);

-		createEAttribute(sensorSystemEClass, SENSOR_SYSTEM__IDENTIFIER);

-

-		hardwareEClass = createEClass(HARDWARE);

-

-		softwareEClass = createEClass(SOFTWARE);

-		createEAttribute(softwareEClass, SOFTWARE__IS_PERIODIC);

-		createEAttribute(softwareEClass, SOFTWARE__PERIOD);

-		createEAttribute(softwareEClass, SOFTWARE__PRIORITY);

-		createEAttribute(softwareEClass, SOFTWARE__DEADLINE);

-		createEAttribute(softwareEClass, SOFTWARE__WCET);

-

-		primitiveDataEClass = createEClass(PRIMITIVE_DATA);

-		createEReference(primitiveDataEClass, PRIMITIVE_DATA__BASE_PRIMITIVE_TYPE);

-

-		dataTypeEClass = createEClass(DATA_TYPE);

-		createEReference(dataTypeEClass, DATA_TYPE__BASE_DATA_TYPE);

-		createEAttribute(dataTypeEClass, DATA_TYPE__NATIVE);

-		createEAttribute(dataTypeEClass, DATA_TYPE__LIBRARY_PATH);

-

-		engineSystemEClass = createEClass(ENGINE_SYSTEM);

-		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__VEHICLE_TRACTION);

-		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__MAX_ENGINE_FORCE);

-		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__MAX_BREAKING_FORCE);

-		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__MAX_ALLOWED_STEERING);

-		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__MAX_ALLOWED_VELOCITY);

-		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__GEAR_RATION);

-

-		wheelSystemEClass = createEClass(WHEEL_SYSTEM);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_RADIUS);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_WIDTH);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__SUSPENSION_REST_LENGTH);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__TYPE_OF_WHEEL);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_FRICTION);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__SUSPENSION_STIFFNESS);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__SUSPENSION_DAMPING);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__SUSPENSION_COMPRESSION);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM);

-		createEAttribute(wheelSystemEClass, WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL);

-

-		imageSensorSystemEClass = createEClass(IMAGE_SENSOR_SYSTEM);

-

-		cameraSystemEClass = createEClass(CAMERA_SYSTEM);

-		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__WIDTH);

-		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__HEIGHT);

-		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__ALPHA_U);

-		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__ALPHA_V);

-		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__U0);

-		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__V0);

-		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__COLOR_FORMAT);

-		createEReference(cameraSystemEClass, CAMERA_SYSTEM__TRANSLATE);

-		createEReference(cameraSystemEClass, CAMERA_SYSTEM__ROTATE);

-

-		objectDetectionSensorSystemEClass = createEClass(OBJECT_DETECTION_SENSOR_SYSTEM);

-

-		objectTrackingSensorSystemEClass = createEClass(OBJECT_TRACKING_SENSOR_SYSTEM);

-

-		lidarSystemEClass = createEClass(LIDAR_SYSTEM);

-		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__NB_LAYERS);

-		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__LAYER_ANGLE_MIN);

-		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__LAYER_ANGLE_STEP);

-		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__NOISE);

-		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__SIGMA_NOISE);

-		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__ANGLE_MIN);

-		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__ANGLE_MAX);

-		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__TIME_INCREMENT);

-		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__SCAN_TIME);

-		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__RANGE_MIN);

-		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__RANGE_MAX);

-		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__NB_RAYS);

-

-		localizationSensorSystemEClass = createEClass(LOCALIZATION_SENSOR_SYSTEM);

-

-		gpsSystemEClass = createEClass(GPS_SYSTEM);

-		createEReference(gpsSystemEClass, GPS_SYSTEM__ORIGIN_POSITION);

-

-		simulatedSystemEClass = createEClass(SIMULATED_SYSTEM);

-		createEReference(simulatedSystemEClass, SIMULATED_SYSTEM__BASE_PROPERTY);

-		createEAttribute(simulatedSystemEClass, SIMULATED_SYSTEM__MESH);

-

-		algorithmLibraryEClass = createEClass(ALGORITHM_LIBRARY);

-		createEReference(algorithmLibraryEClass, ALGORITHM_LIBRARY__BASE_CLASS);

-		createEAttribute(algorithmLibraryEClass, ALGORITHM_LIBRARY__PATH);

-

-		sensorDriverEClass = createEClass(SENSOR_DRIVER);

-

-		buildingEClass = createEClass(BUILDING);

-

-		planetEClass = createEClass(PLANET);

-

-		landSurfaceEClass = createEClass(LAND_SURFACE);

-

-		groundEClass = createEClass(GROUND);

-

-		floorEClass = createEClass(FLOOR);

-

-		waterSurfaceEClass = createEClass(WATER_SURFACE);

-

-		humanEClass = createEClass(HUMAN);

-

-		pedestrianEClass = createEClass(PEDESTRIAN);

-

-		stairsEClass = createEClass(STAIRS);

-

-		platformEClass = createEClass(PLATFORM);

-		createEReference(platformEClass, PLATFORM__BASE_NODE);

-		createEReference(platformEClass, PLATFORM__LIBRARY);

-

-		externalLibraryEClass = createEClass(EXTERNAL_LIBRARY);

-		createEAttribute(externalLibraryEClass, EXTERNAL_LIBRARY__LIB_PATH);

-		createEAttribute(externalLibraryEClass, EXTERNAL_LIBRARY__LIB_FILE_FORMAT);

-		createEReference(externalLibraryEClass, EXTERNAL_LIBRARY__BASE_INTERFACE);

-

-		roboticMiddlewareEClass = createEClass(ROBOTIC_MIDDLEWARE);

-		createEAttribute(roboticMiddlewareEClass, ROBOTIC_MIDDLEWARE__KIND);

-

-		roboticSimulatorEClass = createEClass(ROBOTIC_SIMULATOR);

-

-		cycabTKEClass = createEClass(CYCAB_TK);

-		createEAttribute(cycabTKEClass, CYCAB_TK__USE_REAL_TIME);

-		createEAttribute(cycabTKEClass, CYCAB_TK__TIME_STEP);

-		createEAttribute(cycabTKEClass, CYCAB_TK__TIME_FACTOR);

-

-		blenderMorseEClass = createEClass(BLENDER_MORSE);

-		createEAttribute(blenderMorseEClass, BLENDER_MORSE__DEBUG_MODE);

-		createEAttribute(blenderMorseEClass, BLENDER_MORSE__DEBUG_DISPLAY);

-		createEAttribute(blenderMorseEClass, BLENDER_MORSE__GRAVITY);

-		createEAttribute(blenderMorseEClass, BLENDER_MORSE__VIEWPORT_SHADE);

-

-		onPortEClass = createEClass(ON_PORT);

-		createEReference(onPortEClass, ON_PORT__PORT);

-		createEReference(onPortEClass, ON_PORT__BASE_PARAMETER);

-

-		allocateEClass = createEClass(ALLOCATE);

-		createEReference(allocateEClass, ALLOCATE__BASE_ABSTRACTION);

-

-		inertialMeasurementUnitSystemEClass = createEClass(INERTIAL_MEASUREMENT_UNIT_SYSTEM);

-

-		inertialNavigationSystemEClass = createEClass(INERTIAL_NAVIGATION_SYSTEM);

-

-		odometrySystemEClass = createEClass(ODOMETRY_SYSTEM);

-

-		infraRedProximetrySystemEClass = createEClass(INFRA_RED_PROXIMETRY_SYSTEM);

-

-		deploymentPlanEClass = createEClass(DEPLOYMENT_PLAN);

-		createEReference(deploymentPlanEClass, DEPLOYMENT_PLAN__BASE_PACKAGE);

-		createEReference(deploymentPlanEClass, DEPLOYMENT_PLAN__MAIN_INSTANCE);

-

-		gyroscopeEClass = createEClass(GYROSCOPE);

-

-		onPropertyEClass = createEClass(ON_PROPERTY);

-		createEReference(onPropertyEClass, ON_PROPERTY__PROPERTY);

-		createEReference(onPropertyEClass, ON_PROPERTY__BASE_PARAMETER);

-

-		// Create enums

-		robotKindEEnum = createEEnum(ROBOT_KIND);

-		ugvKindEEnum = createEEnum(UGV_KIND);

-		synchronizationKindEEnum = createEEnum(SYNCHRONIZATION_KIND);

-		dataFlowDirectionKindEEnum = createEEnum(DATA_FLOW_DIRECTION_KIND);

-		serviceFlowKindEEnum = createEEnum(SERVICE_FLOW_KIND);

-		roboticMiddlewareKindEEnum = createEEnum(ROBOTIC_MIDDLEWARE_KIND);

-		shadeEEnum = createEEnum(SHADE);

-	}

-

-	/**

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	private boolean isInitialized = false;

-

-	/**

-	 * Complete the initialization of the package and its meta-model.  This

-	 * method is guarded to have no affect on any invocation but its first.

-	 * <!-- begin-user-doc -->

-	 * <!-- end-user-doc -->

-	 * @generated

-	 */

-	public void initializePackageContents() {

-		if (isInitialized) return;

-		isInitialized = true;

-

-		// Initialize package

-		setName(eNAME);

-		setNsPrefix(eNS_PREFIX);

-		setNsURI(eNS_URI);

-

-		// Obtain other dependent packages

-		UMLPackage theUMLPackage = (UMLPackage)EPackage.Registry.INSTANCE.getEPackage(UMLPackage.eNS_URI);

-		TypesPackage theTypesPackage = (TypesPackage)EPackage.Registry.INSTANCE.getEPackage(TypesPackage.eNS_URI);

-		Std_datatypesPackage theStd_datatypesPackage = (Std_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI);

-		Geometry_datatypesPackage theGeometry_datatypesPackage = (Geometry_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI);

-

-		// Create type parameters

-

-		// Set bounds for type parameters

-

-		// Add supertypes to classes

-		robotEClass.getESuperTypes().add(this.getAgent());

-		robotEClass.getESuperTypes().add(this.getSystem());

-		agentEClass.getESuperTypes().add(this.getPhysicalObject());

-		physicalObjectEClass.getESuperTypes().add(this.getSystem());

-		environmentEClass.getESuperTypes().add(this.getSystem());

-		surfaceEClass.getESuperTypes().add(this.getPhysicalObject());

-		dataFlowPortEClass.getESuperTypes().add(this.getPort());

-		servicePortEClass.getESuperTypes().add(this.getPort());

-		actuatorSystemEClass.getESuperTypes().add(this.getRoboticSystem());

-		roboticSystemEClass.getESuperTypes().add(this.getSystem());

-		sensorSystemEClass.getESuperTypes().add(this.getRoboticSystem());

-		hardwareEClass.getESuperTypes().add(this.getSystem());

-		softwareEClass.getESuperTypes().add(this.getSystem());

-		primitiveDataEClass.getESuperTypes().add(this.getDataType());

-		engineSystemEClass.getESuperTypes().add(this.getActuatorSystem());

-		wheelSystemEClass.getESuperTypes().add(this.getActuatorSystem());

-		imageSensorSystemEClass.getESuperTypes().add(this.getSensorSystem());

-		cameraSystemEClass.getESuperTypes().add(this.getImageSensorSystem());

-		objectDetectionSensorSystemEClass.getESuperTypes().add(this.getSensorSystem());

-		objectTrackingSensorSystemEClass.getESuperTypes().add(this.getSensorSystem());

-		lidarSystemEClass.getESuperTypes().add(this.getObjectDetectionSensorSystem());

-		lidarSystemEClass.getESuperTypes().add(this.getObjectTrackingSensorSystem());

-		localizationSensorSystemEClass.getESuperTypes().add(this.getSensorSystem());

-		gpsSystemEClass.getESuperTypes().add(this.getLocalizationSensorSystem());

-		simulatedSystemEClass.getESuperTypes().add(this.getSoftware());

-		sensorDriverEClass.getESuperTypes().add(this.getSoftware());

-		buildingEClass.getESuperTypes().add(this.getPhysicalObject());

-		planetEClass.getESuperTypes().add(this.getPhysicalObject());

-		landSurfaceEClass.getESuperTypes().add(this.getGround());

-		groundEClass.getESuperTypes().add(this.getSurface());

-		floorEClass.getESuperTypes().add(this.getGround());

-		waterSurfaceEClass.getESuperTypes().add(this.getSurface());

-		humanEClass.getESuperTypes().add(this.getAgent());

-		pedestrianEClass.getESuperTypes().add(this.getHuman());

-		stairsEClass.getESuperTypes().add(this.getGround());

-		platformEClass.getESuperTypes().add(this.getSystem());

-		roboticMiddlewareEClass.getESuperTypes().add(this.getPlatform());

-		roboticSimulatorEClass.getESuperTypes().add(this.getPlatform());

-		cycabTKEClass.getESuperTypes().add(this.getRoboticSimulator());

-		blenderMorseEClass.getESuperTypes().add(this.getRoboticSimulator());

-		inertialMeasurementUnitSystemEClass.getESuperTypes().add(this.getSensorSystem());

-		inertialNavigationSystemEClass.getESuperTypes().add(this.getGPSSystem());

-		odometrySystemEClass.getESuperTypes().add(this.getLocalizationSensorSystem());

-		infraRedProximetrySystemEClass.getESuperTypes().add(this.getObjectDetectionSensorSystem());

-		gyroscopeEClass.getESuperTypes().add(this.getSensorSystem());

-

-		// Initialize classes, features, and operations; add parameters

-		initEClass(transitionEClass, Transition.class, "Transition", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getTransition_Base_Transition(), theUMLPackage.getTransition(), null, "base_Transition", null, 1, 1, Transition.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEReference(getTransition_Guard(), theUMLPackage.getBehavior(), null, "guard", null, 1, 1, Transition.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEReference(getTransition_Effect(), theUMLPackage.getBehavior(), null, "effect", null, 1, 1, Transition.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(algorithmEClass, Algorithm.class, "Algorithm", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getAlgorithm_Base_Operation(), theUMLPackage.getOperation(), null, "base_Operation", null, 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getAlgorithm_IsExternal(), theTypesPackage.getBoolean(), "isExternal", null, 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getAlgorithm_ExtFunctionName(), theTypesPackage.getString(), "extFunctionName", null, 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getAlgorithm_LibPath(), theTypesPackage.getString(), "libPath", null, 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getAlgorithm_LibFileFormat(), theTypesPackage.getString(), "libFileFormat", "elf", 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(stateEClass, State.class, "State", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getState_Base_State(), theUMLPackage.getState(), null, "base_State", null, 1, 1, State.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEReference(getState_Behavior(), theUMLPackage.getBehavior(), null, "behavior", null, 1, 1, State.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(robotEClass, Robot.class, "Robot", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getRobot_Kind(), this.getRobotKind(), "kind", "UGVcar", 1, 1, Robot.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getRobot_Mass(), theStd_datatypesPackage.getFloat32(), "mass", null, 1, 1, Robot.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getRobot_Width(), theStd_datatypesPackage.getFloat32(), "width", null, 1, 1, Robot.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getRobot_UgvKind(), this.getUGVKind(), "ugvKind", null, 0, 1, Robot.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(systemEClass, org.eclipse.papyrus.RobotML.System.class, "System", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getSystem_Base_Class(), theUMLPackage.getClass_(), null, "base_Class", null, 1, 1, org.eclipse.papyrus.RobotML.System.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getSystem_Native(), theTypesPackage.getBoolean(), "native", null, 1, 1, org.eclipse.papyrus.RobotML.System.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getSystem_LibraryPath(), theTypesPackage.getString(), "libraryPath", null, 1, 1, org.eclipse.papyrus.RobotML.System.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getSystem_LibraryComponentName(), theTypesPackage.getString(), "libraryComponentName", null, 1, 1, org.eclipse.papyrus.RobotML.System.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(agentEClass, Agent.class, "Agent", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getAgent_MovesOver(), this.getSurface(), null, "movesOver", null, 0, -1, Agent.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(physicalObjectEClass, PhysicalObject.class, "PhysicalObject", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getPhysicalObject_EvelovesIn(), this.getEnvironment(), null, "evelovesIn", null, 0, -1, PhysicalObject.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEReference(getPhysicalObject_HasSurface(), this.getSurface(), null, "hasSurface", null, 1, 1, PhysicalObject.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(environmentEClass, Environment.class, "Environment", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(surfaceEClass, Surface.class, "Surface", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(dataFlowPortEClass, DataFlowPort.class, "DataFlowPort", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getDataFlowPort_Direction(), this.getDataFlowDirectionKind(), "direction", null, 1, 1, DataFlowPort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getDataFlowPort_BufferSize(), theTypesPackage.getInteger(), "bufferSize", "0", 1, 1, DataFlowPort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(portEClass, Port.class, "Port", IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getPort_Base_Port(), theUMLPackage.getPort(), null, "base_Port", null, 1, 1, Port.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getPort_SynchronizationPolicy(), this.getSynchronizationKind(), "synchronizationPolicy", null, 1, 1, Port.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(servicePortEClass, ServicePort.class, "ServicePort", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getServicePort_Kind(), this.getServiceFlowKind(), "kind", null, 1, 1, ServicePort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(actuatorSystemEClass, ActuatorSystem.class, "ActuatorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(roboticSystemEClass, RoboticSystem.class, "RoboticSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getRoboticSystem_LocalPosition(), theGeometry_datatypesPackage.getPoint32(), null, "localPosition", null, 1, 1, RoboticSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEReference(getRoboticSystem_LocalOrientation(), theGeometry_datatypesPackage.getPoint32(), null, "localOrientation", null, 1, 1, RoboticSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(sensorSystemEClass, SensorSystem.class, "SensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getSensorSystem_Frequency(), theStd_datatypesPackage.getFloat32(), "frequency", null, 1, 1, SensorSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getSensorSystem_Identifier(), theStd_datatypesPackage.getString(), "identifier", null, 1, 1, SensorSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(hardwareEClass, Hardware.class, "Hardware", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(softwareEClass, Software.class, "Software", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getSoftware_IsPeriodic(), theTypesPackage.getBoolean(), "isPeriodic", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getSoftware_Period(), theStd_datatypesPackage.getFloat32(), "period", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getSoftware_Priority(), theStd_datatypesPackage.getUInt8(), "priority", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getSoftware_Deadline(), theStd_datatypesPackage.getFloat32(), "deadline", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getSoftware_Wcet(), theStd_datatypesPackage.getFloat32(), "wcet", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(primitiveDataEClass, PrimitiveData.class, "PrimitiveData", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getPrimitiveData_Base_PrimitiveType(), theUMLPackage.getPrimitiveType(), null, "base_PrimitiveType", null, 1, 1, PrimitiveData.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(dataTypeEClass, DataType.class, "DataType", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getDataType_Base_DataType(), theUMLPackage.getDataType(), null, "base_DataType", null, 1, 1, DataType.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getDataType_Native(), theTypesPackage.getBoolean(), "native", null, 1, 1, DataType.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getDataType_LibraryPath(), theTypesPackage.getString(), "libraryPath", null, 1, 1, DataType.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(engineSystemEClass, EngineSystem.class, "EngineSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getEngineSystem_VehicleTraction(), theTypesPackage.getString(), "vehicleTraction", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getEngineSystem_MaxEngineForce(), theStd_datatypesPackage.getFloat32(), "maxEngineForce", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getEngineSystem_MaxBreakingForce(), theStd_datatypesPackage.getFloat32(), "maxBreakingForce", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getEngineSystem_MaxAllowedSteering(), theStd_datatypesPackage.getFloat32(), "maxAllowedSteering", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getEngineSystem_MaxAllowedVelocity(), theStd_datatypesPackage.getFloat32(), "maxAllowedVelocity", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getEngineSystem_Gear_ration(), theStd_datatypesPackage.getFloat32(), "gear_ration", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(wheelSystemEClass, WheelSystem.class, "WheelSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getWheelSystem_WheelRadius(), theStd_datatypesPackage.getFloat32(), "wheelRadius", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_WheelWidth(), theStd_datatypesPackage.getFloat32(), "wheelWidth", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_SuspensionRestLength(), theStd_datatypesPackage.getFloat32(), "suspensionRestLength", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_WheelConnectionHeight(), theStd_datatypesPackage.getFloat32(), "wheelConnectionHeight", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_TypeOfWheel(), theStd_datatypesPackage.getString(), "typeOfWheel", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_WheelVelocityPIDkp(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDkp", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_WheelVelocityPIDki(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDki", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_WheelVelocityPIDkd(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDkd", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_WheelSteeringPIDkp(), theStd_datatypesPackage.getFloat32(), "wheelSteeringPIDkp", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_WheelSteeringPIDkd(), theStd_datatypesPackage.getFloat32(), "wheelSteeringPIDkd", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_WheelFriction(), theStd_datatypesPackage.getFloat32(), "wheelFriction", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_SuspensionStiffness(), theStd_datatypesPackage.getFloat32(), "suspensionStiffness", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_SuspensionDamping(), theStd_datatypesPackage.getFloat32(), "suspensionDamping", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_SuspensionCompression(), theStd_datatypesPackage.getFloat32(), "suspensionCompression", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_WheelVelocityPIDmaxSum(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDmaxSum", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getWheelSystem_WheelVelocityPIDmaxVal(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDmaxVal", null, 1, 1, WheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(imageSensorSystemEClass, ImageSensorSystem.class, "ImageSensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(cameraSystemEClass, CameraSystem.class, "CameraSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getCameraSystem_Width(), theStd_datatypesPackage.getUInt32(), "width", "0", 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getCameraSystem_Height(), theStd_datatypesPackage.getUInt32(), "height", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getCameraSystem_Alpha_u(), theStd_datatypesPackage.getFloat32(), "alpha_u", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getCameraSystem_Alpha_v(), theStd_datatypesPackage.getFloat32(), "alpha_v", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getCameraSystem_U0(), theStd_datatypesPackage.getFloat32(), "u0", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getCameraSystem_V0(), theStd_datatypesPackage.getFloat32(), "v0", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getCameraSystem_Color_format(), theStd_datatypesPackage.getString(), "color_format", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEReference(getCameraSystem_Translate(), theGeometry_datatypesPackage.getPoint32(), null, "translate", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEReference(getCameraSystem_Rotate(), theGeometry_datatypesPackage.getPoint32(), null, "rotate", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(objectDetectionSensorSystemEClass, ObjectDetectionSensorSystem.class, "ObjectDetectionSensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(objectTrackingSensorSystemEClass, ObjectTrackingSensorSystem.class, "ObjectTrackingSensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(lidarSystemEClass, LidarSystem.class, "LidarSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getLidarSystem_NbLayers(), theStd_datatypesPackage.getUInt32(), "nbLayers", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getLidarSystem_LayerAngleMin(), theStd_datatypesPackage.getFloat32(), "layerAngleMin", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getLidarSystem_LayerAngleStep(), theStd_datatypesPackage.getFloat32(), "layerAngleStep", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getLidarSystem_Noise(), theStd_datatypesPackage.getBool(), "noise", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getLidarSystem_SigmaNoise(), theStd_datatypesPackage.getFloat32(), "sigmaNoise", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getLidarSystem_Angle_min(), theStd_datatypesPackage.getFloat32(), "angle_min", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getLidarSystem_Angle_max(), theStd_datatypesPackage.getFloat32(), "angle_max", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getLidarSystem_Time_increment(), theStd_datatypesPackage.getFloat32(), "time_increment", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getLidarSystem_Scan_time(), theStd_datatypesPackage.getFloat32(), "scan_time", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getLidarSystem_Range_min(), theStd_datatypesPackage.getFloat32(), "range_min", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getLidarSystem_Range_max(), theStd_datatypesPackage.getFloat32(), "range_max", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getLidarSystem_NbRays(), theStd_datatypesPackage.getUInt32(), "nbRays", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(localizationSensorSystemEClass, LocalizationSensorSystem.class, "LocalizationSensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(gpsSystemEClass, GPSSystem.class, "GPSSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getGPSSystem_OriginPosition(), theGeometry_datatypesPackage.getPoint32(), null, "originPosition", null, 0, 1, GPSSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(simulatedSystemEClass, SimulatedSystem.class, "SimulatedSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getSimulatedSystem_Base_Property(), theUMLPackage.getProperty(), null, "base_Property", null, 1, 1, SimulatedSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getSimulatedSystem_Mesh(), theTypesPackage.getString(), "mesh", null, 0, -1, SimulatedSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(algorithmLibraryEClass, AlgorithmLibrary.class, "AlgorithmLibrary", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getAlgorithmLibrary_Base_Class(), theUMLPackage.getClass_(), null, "base_Class", null, 1, 1, AlgorithmLibrary.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getAlgorithmLibrary_Path(), theTypesPackage.getString(), "path", null, 1, 1, AlgorithmLibrary.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(sensorDriverEClass, SensorDriver.class, "SensorDriver", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(buildingEClass, Building.class, "Building", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(planetEClass, Planet.class, "Planet", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(landSurfaceEClass, LandSurface.class, "LandSurface", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(groundEClass, Ground.class, "Ground", IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(floorEClass, Floor.class, "Floor", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(waterSurfaceEClass, WaterSurface.class, "WaterSurface", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(humanEClass, Human.class, "Human", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(pedestrianEClass, Pedestrian.class, "Pedestrian", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(stairsEClass, Stairs.class, "Stairs", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(platformEClass, Platform.class, "Platform", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getPlatform_Base_Node(), theUMLPackage.getNode(), null, "base_Node", null, 1, 1, Platform.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEReference(getPlatform_Library(), this.getExternalLibrary(), null, "library", null, 0, -1, Platform.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(externalLibraryEClass, ExternalLibrary.class, "ExternalLibrary", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getExternalLibrary_LibPath(), theTypesPackage.getString(), "libPath", null, 1, 1, ExternalLibrary.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getExternalLibrary_LibFileFormat(), theTypesPackage.getString(), "libFileFormat", "elf", 1, 1, ExternalLibrary.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEReference(getExternalLibrary_Base_Interface(), theUMLPackage.getInterface(), null, "base_Interface", null, 1, 1, ExternalLibrary.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(roboticMiddlewareEClass, RoboticMiddleware.class, "RoboticMiddleware", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getRoboticMiddleware_Kind(), this.getRoboticMiddlewareKind(), "kind", null, 1, 1, RoboticMiddleware.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(roboticSimulatorEClass, RoboticSimulator.class, "RoboticSimulator", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(cycabTKEClass, CycabTK.class, "CycabTK", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getCycabTK_UseRealTime(), theTypesPackage.getBoolean(), "useRealTime", null, 0, 1, CycabTK.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getCycabTK_TimeStep(), theStd_datatypesPackage.getFloat32(), "timeStep", null, 0, 1, CycabTK.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getCycabTK_TimeFactor(), theStd_datatypesPackage.getFloat32(), "timeFactor", null, 0, 1, CycabTK.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(blenderMorseEClass, BlenderMorse.class, "BlenderMorse", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEAttribute(getBlenderMorse_DebugMode(), theTypesPackage.getBoolean(), "debugMode", null, 0, 1, BlenderMorse.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getBlenderMorse_DebugDisplay(), theTypesPackage.getBoolean(), "debugDisplay", null, 0, 1, BlenderMorse.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getBlenderMorse_Gravity(), theStd_datatypesPackage.getFloat32(), "gravity", null, 0, 1, BlenderMorse.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEAttribute(getBlenderMorse__viewport_shade(), this.getShade(), "_viewport_shade", "WIREFRAME", 0, 1, BlenderMorse.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(onPortEClass, OnPort.class, "OnPort", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getOnPort_Port(), this.getPort(), null, "port", null, 1, 1, OnPort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEReference(getOnPort_Base_Parameter(), theUMLPackage.getParameter(), null, "base_Parameter", null, 1, 1, OnPort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(allocateEClass, Allocate.class, "Allocate", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getAllocate_Base_Abstraction(), theUMLPackage.getAbstraction(), null, "base_Abstraction", null, 1, 1, Allocate.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(inertialMeasurementUnitSystemEClass, InertialMeasurementUnitSystem.class, "InertialMeasurementUnitSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(inertialNavigationSystemEClass, InertialNavigationSystem.class, "InertialNavigationSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(odometrySystemEClass, OdometrySystem.class, "OdometrySystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(infraRedProximetrySystemEClass, InfraRedProximetrySystem.class, "InfraRedProximetrySystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(deploymentPlanEClass, DeploymentPlan.class, "DeploymentPlan", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getDeploymentPlan_Base_Package(), theUMLPackage.getPackage(), null, "base_Package", null, 1, 1, DeploymentPlan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEReference(getDeploymentPlan_MainInstance(), theUMLPackage.getInstanceSpecification(), null, "mainInstance", null, 1, 1, DeploymentPlan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		initEClass(gyroscopeEClass, Gyroscope.class, "Gyroscope", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-

-		initEClass(onPropertyEClass, OnProperty.class, "OnProperty", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);

-		initEReference(getOnProperty_Property(), theUMLPackage.getProperty(), null, "property", null, 1, 1, OnProperty.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-		initEReference(getOnProperty_Base_Parameter(), theUMLPackage.getParameter(), null, "base_Parameter", null, 1, 1, OnProperty.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);

-

-		// Initialize enums and add enum literals

-		initEEnum(robotKindEEnum, RobotKind.class, "RobotKind");

-		addEEnumLiteral(robotKindEEnum, RobotKind.UUV);

-		addEEnumLiteral(robotKindEEnum, RobotKind.UG_VCAR);

-		addEEnumLiteral(robotKindEEnum, RobotKind.UG_VDIFFERENTIAL);

-		addEEnumLiteral(robotKindEEnum, RobotKind.UAV);

-		addEEnumLiteral(robotKindEEnum, RobotKind.USV);

-		addEEnumLiteral(robotKindEEnum, RobotKind.PILOTED);

-

-		initEEnum(ugvKindEEnum, UGVKind.class, "UGVKind");

-		addEEnumLiteral(ugvKindEEnum, UGVKind.DIFFERENTIAL);

-		addEEnumLiteral(ugvKindEEnum, UGVKind.CAR);

-

-		initEEnum(synchronizationKindEEnum, SynchronizationKind.class, "SynchronizationKind");

-		addEEnumLiteral(synchronizationKindEEnum, SynchronizationKind.SYNCH);

-		addEEnumLiteral(synchronizationKindEEnum, SynchronizationKind.ASYNCH);

-		addEEnumLiteral(synchronizationKindEEnum, SynchronizationKind.UNDEFINED);

-

-		initEEnum(dataFlowDirectionKindEEnum, DataFlowDirectionKind.class, "DataFlowDirectionKind");

-		addEEnumLiteral(dataFlowDirectionKindEEnum, DataFlowDirectionKind.IN);

-		addEEnumLiteral(dataFlowDirectionKindEEnum, DataFlowDirectionKind.OUT);

-		addEEnumLiteral(dataFlowDirectionKindEEnum, DataFlowDirectionKind.INOUT);

-

-		initEEnum(serviceFlowKindEEnum, ServiceFlowKind.class, "ServiceFlowKind");

-		addEEnumLiteral(serviceFlowKindEEnum, ServiceFlowKind.PROVIDED);

-		addEEnumLiteral(serviceFlowKindEEnum, ServiceFlowKind.REQUIRED);

-

-		initEEnum(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.class, "RoboticMiddlewareKind");

-		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.RT_MAPS);

-		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.AROCAM);

-		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.ROS);

-		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.OROCOS);

-		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.URBI);

-

-		initEEnum(shadeEEnum, Shade.class, "Shade");

-		addEEnumLiteral(shadeEEnum, Shade.WIREFRAME);

-		addEEnumLiteral(shadeEEnum, Shade.BOUNDBOX);

-		addEEnumLiteral(shadeEEnum, Shade.SOLID);

-		addEEnumLiteral(shadeEEnum, Shade.TEXTURED);

-

-		// Create resource

-		createResource(eNS_URI);

-	}

-

-} //RobotMLPackageImpl

+/**
+ */
+package org.eclipse.papyrus.RobotML.impl;
+
+import org.eclipse.emf.ecore.EAttribute;
+import org.eclipse.emf.ecore.EClass;
+import org.eclipse.emf.ecore.EEnum;
+import org.eclipse.emf.ecore.EPackage;
+import org.eclipse.emf.ecore.EReference;
+
+import org.eclipse.emf.ecore.impl.EPackageImpl;
+
+import org.eclipse.papyrus.RobotML.ActuatedJoint;
+import org.eclipse.papyrus.RobotML.ActuatorHardware;
+import org.eclipse.papyrus.RobotML.ActuatorSystem;
+import org.eclipse.papyrus.RobotML.Agent;
+import org.eclipse.papyrus.RobotML.Algorithm;
+import org.eclipse.papyrus.RobotML.AlgorithmLibrary;
+import org.eclipse.papyrus.RobotML.Allocate;
+import org.eclipse.papyrus.RobotML.Arm;
+import org.eclipse.papyrus.RobotML.BlenderMorse;
+import org.eclipse.papyrus.RobotML.Building;
+import org.eclipse.papyrus.RobotML.CameraSystem;
+import org.eclipse.papyrus.RobotML.Chassis;
+import org.eclipse.papyrus.RobotML.ClosedLoopControlSystem;
+import org.eclipse.papyrus.RobotML.CompleteBonding;
+import org.eclipse.papyrus.RobotML.CyberPhysicalSystem;
+import org.eclipse.papyrus.RobotML.CycabTK;
+import org.eclipse.papyrus.RobotML.DataFlowDirectionKind;
+import org.eclipse.papyrus.RobotML.DataFlowPort;
+import org.eclipse.papyrus.RobotML.DeploymentPlan;
+import org.eclipse.papyrus.RobotML.EngineSystem;
+import org.eclipse.papyrus.RobotML.Environment;
+import org.eclipse.papyrus.RobotML.ExternalLibrary;
+import org.eclipse.papyrus.RobotML.Floor;
+import org.eclipse.papyrus.RobotML.GPSSystem;
+import org.eclipse.papyrus.RobotML.GraspingHardware;
+import org.eclipse.papyrus.RobotML.GraspingSystem;
+import org.eclipse.papyrus.RobotML.Ground;
+import org.eclipse.papyrus.RobotML.Gyroscope;
+import org.eclipse.papyrus.RobotML.Hardware;
+import org.eclipse.papyrus.RobotML.Human;
+import org.eclipse.papyrus.RobotML.ImageSensorSystem;
+import org.eclipse.papyrus.RobotML.InertialMeasurementUnitSystem;
+import org.eclipse.papyrus.RobotML.InertialNavigationSystem;
+import org.eclipse.papyrus.RobotML.InfraRedProximetrySystem;
+import org.eclipse.papyrus.RobotML.Joint;
+import org.eclipse.papyrus.RobotML.JoysticNavigationSystem;
+import org.eclipse.papyrus.RobotML.LandSurface;
+import org.eclipse.papyrus.RobotML.Leg;
+import org.eclipse.papyrus.RobotML.LegSystem;
+import org.eclipse.papyrus.RobotML.LidarSystem;
+import org.eclipse.papyrus.RobotML.LocalizationSensorSystem;
+import org.eclipse.papyrus.RobotML.LocomotionHardware;
+import org.eclipse.papyrus.RobotML.LocomotionSystem;
+import org.eclipse.papyrus.RobotML.ManMachineInterfaceSystem;
+import org.eclipse.papyrus.RobotML.Manipulator;
+import org.eclipse.papyrus.RobotML.MechanicalLinkage;
+import org.eclipse.papyrus.RobotML.MobileRobot;
+import org.eclipse.papyrus.RobotML.MobileRobotKind;
+import org.eclipse.papyrus.RobotML.NavigationCommandSystem;
+import org.eclipse.papyrus.RobotML.ObjectDetectionSensorSystem;
+import org.eclipse.papyrus.RobotML.ObjectTrackingSensorSystem;
+import org.eclipse.papyrus.RobotML.OdometrySystem;
+import org.eclipse.papyrus.RobotML.OnPort;
+import org.eclipse.papyrus.RobotML.OnProperty;
+import org.eclipse.papyrus.RobotML.OpenLoopControlSystem;
+import org.eclipse.papyrus.RobotML.Pedestrian;
+import org.eclipse.papyrus.RobotML.PhysicalObject;
+import org.eclipse.papyrus.RobotML.PilotedSystem;
+import org.eclipse.papyrus.RobotML.Planet;
+import org.eclipse.papyrus.RobotML.Platform;
+import org.eclipse.papyrus.RobotML.Port;
+import org.eclipse.papyrus.RobotML.PowerHardware;
+import org.eclipse.papyrus.RobotML.Robot;
+import org.eclipse.papyrus.RobotML.RobotMLFactory;
+import org.eclipse.papyrus.RobotML.RobotMLPackage;
+import org.eclipse.papyrus.RobotML.RoboticHead;
+import org.eclipse.papyrus.RobotML.RoboticMiddleware;
+import org.eclipse.papyrus.RobotML.RoboticMiddlewareKind;
+import org.eclipse.papyrus.RobotML.RoboticSimulator;
+import org.eclipse.papyrus.RobotML.RoboticSystem;
+import org.eclipse.papyrus.RobotML.SensorDriver;
+import org.eclipse.papyrus.RobotML.SensorHardware;
+import org.eclipse.papyrus.RobotML.SensorSystem;
+import org.eclipse.papyrus.RobotML.ServiceFlowKind;
+import org.eclipse.papyrus.RobotML.ServicePort;
+import org.eclipse.papyrus.RobotML.Shade;
+import org.eclipse.papyrus.RobotML.Software;
+import org.eclipse.papyrus.RobotML.Stairs;
+import org.eclipse.papyrus.RobotML.State;
+import org.eclipse.papyrus.RobotML.SteeredWheelHardware;
+import org.eclipse.papyrus.RobotML.SteeredWheelSystem;
+import org.eclipse.papyrus.RobotML.SupportingStructure;
+import org.eclipse.papyrus.RobotML.Surface;
+import org.eclipse.papyrus.RobotML.SynchronizationKind;
+import org.eclipse.papyrus.RobotML.Transition;
+import org.eclipse.papyrus.RobotML.UGVKind;
+import org.eclipse.papyrus.RobotML.WaterSurface;
+import org.eclipse.papyrus.RobotML.WeaponSystem;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.Actionlib_datatypesPackage;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.actionlib_datatypes.impl.Actionlib_datatypesPackageImpl;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.Diagnostic_datatypesPackage;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.diagnostic_datatypes.impl.Diagnostic_datatypesPackageImpl;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.Geometry_datatypesPackage;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.geometry_datatypes.impl.Geometry_datatypesPackageImpl;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.Nav_datatypesPackage;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.nav_datatypes.impl.Nav_datatypesPackageImpl;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.Oarp1_datatypesPackage;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp1_datatypes.impl.Oarp1_datatypesPackageImpl;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.Oarp4_datatypesPackage;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.oarps_datatypes.oarp4_datatypes.impl.Oarp4_datatypesPackageImpl;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.Sensor_datatypesPackage;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.sensor_datatypes.impl.Sensor_datatypesPackageImpl;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Std_datatypesPackage;
+
+import org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.impl.Std_datatypesPackageImpl;
+
+import org.eclipse.uml2.types.TypesPackage;
+
+import org.eclipse.uml2.uml.UMLPackage;
+
+/**
+ * <!-- begin-user-doc -->
+ * An implementation of the model <b>Package</b>.
+ * <!-- end-user-doc -->
+ * @generated
+ */
+public class RobotMLPackageImpl extends EPackageImpl implements RobotMLPackage {
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass transitionEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass algorithmEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass stateEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass actuatedJointEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass jointEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass completeBondingEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass robotEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass systemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass agentEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass physicalObjectEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass environmentEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass surfaceEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass dataFlowPortEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass portEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass servicePortEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass actuatorSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass roboticSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass cyberPhysicalSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass sensorSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass hardwareEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass softwareEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass engineSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass steeredWheelSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass locomotionSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass imageSensorSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass cameraSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass objectDetectionSensorSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass objectTrackingSensorSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass lidarSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass localizationSensorSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass gpsSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass algorithmLibraryEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass sensorDriverEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass buildingEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass planetEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass landSurfaceEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass groundEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass floorEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass waterSurfaceEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass humanEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass pedestrianEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass stairsEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass platformEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass externalLibraryEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass roboticMiddlewareEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass roboticSimulatorEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass cycabTKEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass blenderMorseEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass onPortEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass allocateEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass inertialMeasurementUnitSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass inertialNavigationSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass odometrySystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass infraRedProximetrySystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass deploymentPlanEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass gyroscopeEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass onPropertyEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass chassisEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass supportingStructureEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass mechanicalLinkageEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass legEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass locomotionHardwareEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass actuatorHardwareEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass mobileRobotEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass manipulatorEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass pilotedSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass powerHardwareEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass sensorHardwareEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass graspingHardwareEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass steeredWheelHardwareEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass armEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass legSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass graspingSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass weaponSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass manMachineInterfaceSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass closedLoopControlSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass openLoopControlSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass roboticHeadEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass navigationCommandSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EClass joysticNavigationSystemEClass = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EEnum synchronizationKindEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EEnum dataFlowDirectionKindEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EEnum serviceFlowKindEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EEnum ugvKindEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EEnum roboticMiddlewareKindEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EEnum shadeEEnum = null;
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private EEnum mobileRobotKindEEnum = null;
+
+	/**
+	 * Creates an instance of the model <b>Package</b>, registered with
+	 * {@link org.eclipse.emf.ecore.EPackage.Registry EPackage.Registry} by the package
+	 * package URI value.
+	 * <p>Note: the correct way to create the package is via the static
+	 * factory method {@link #init init()}, which also performs
+	 * initialization of the package, or returns the registered package,
+	 * if one already exists.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @see org.eclipse.emf.ecore.EPackage.Registry
+	 * @see org.eclipse.papyrus.RobotML.RobotMLPackage#eNS_URI
+	 * @see #init()
+	 * @generated
+	 */
+	private RobotMLPackageImpl() {
+		super(eNS_URI, RobotMLFactory.eINSTANCE);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private static boolean isInited = false;
+
+	/**
+	 * Creates, registers, and initializes the <b>Package</b> for this model, and for any others upon which it depends.
+	 * 
+	 * <p>This method is used to initialize {@link RobotMLPackage#eINSTANCE} when that field is accessed.
+	 * Clients should not invoke it directly. Instead, they should simply access that field to obtain the package.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @see #eNS_URI
+	 * @see #createPackageContents()
+	 * @see #initializePackageContents()
+	 * @generated
+	 */
+	public static RobotMLPackage init() {
+		if (isInited) return (RobotMLPackage)EPackage.Registry.INSTANCE.getEPackage(RobotMLPackage.eNS_URI);
+
+		// Obtain or create and register package
+		RobotMLPackageImpl theRobotMLPackage = (RobotMLPackageImpl)(EPackage.Registry.INSTANCE.get(eNS_URI) instanceof RobotMLPackageImpl ? EPackage.Registry.INSTANCE.get(eNS_URI) : new RobotMLPackageImpl());
+
+		isInited = true;
+
+		// Initialize simple dependencies
+		UMLPackage.eINSTANCE.eClass();
+
+		// Obtain or create and register interdependencies
+		Diagnostic_datatypesPackageImpl theDiagnostic_datatypesPackage = (Diagnostic_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) instanceof Diagnostic_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Diagnostic_datatypesPackage.eNS_URI) : Diagnostic_datatypesPackage.eINSTANCE);
+		Geometry_datatypesPackageImpl theGeometry_datatypesPackage = (Geometry_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) instanceof Geometry_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI) : Geometry_datatypesPackage.eINSTANCE);
+		Nav_datatypesPackageImpl theNav_datatypesPackage = (Nav_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) instanceof Nav_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Nav_datatypesPackage.eNS_URI) : Nav_datatypesPackage.eINSTANCE);
+		Sensor_datatypesPackageImpl theSensor_datatypesPackage = (Sensor_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) instanceof Sensor_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Sensor_datatypesPackage.eNS_URI) : Sensor_datatypesPackage.eINSTANCE);
+		Actionlib_datatypesPackageImpl theActionlib_datatypesPackage = (Actionlib_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) instanceof Actionlib_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Actionlib_datatypesPackage.eNS_URI) : Actionlib_datatypesPackage.eINSTANCE);
+		Oarp1_datatypesPackageImpl theOarp1_datatypesPackage = (Oarp1_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) instanceof Oarp1_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp1_datatypesPackage.eNS_URI) : Oarp1_datatypesPackage.eINSTANCE);
+		Oarp4_datatypesPackageImpl theOarp4_datatypesPackage = (Oarp4_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) instanceof Oarp4_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Oarp4_datatypesPackage.eNS_URI) : Oarp4_datatypesPackage.eINSTANCE);
+		Std_datatypesPackageImpl theStd_datatypesPackage = (Std_datatypesPackageImpl)(EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) instanceof Std_datatypesPackageImpl ? EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI) : Std_datatypesPackage.eINSTANCE);
+
+		// Create package meta-data objects
+		theRobotMLPackage.createPackageContents();
+		theDiagnostic_datatypesPackage.createPackageContents();
+		theGeometry_datatypesPackage.createPackageContents();
+		theNav_datatypesPackage.createPackageContents();
+		theSensor_datatypesPackage.createPackageContents();
+		theActionlib_datatypesPackage.createPackageContents();
+		theOarp1_datatypesPackage.createPackageContents();
+		theOarp4_datatypesPackage.createPackageContents();
+		theStd_datatypesPackage.createPackageContents();
+
+		// Initialize created meta-data
+		theRobotMLPackage.initializePackageContents();
+		theDiagnostic_datatypesPackage.initializePackageContents();
+		theGeometry_datatypesPackage.initializePackageContents();
+		theNav_datatypesPackage.initializePackageContents();
+		theSensor_datatypesPackage.initializePackageContents();
+		theActionlib_datatypesPackage.initializePackageContents();
+		theOarp1_datatypesPackage.initializePackageContents();
+		theOarp4_datatypesPackage.initializePackageContents();
+		theStd_datatypesPackage.initializePackageContents();
+
+		// Mark meta-data to indicate it can't be changed
+		theRobotMLPackage.freeze();
+
+  
+		// Update the registry and return the package
+		EPackage.Registry.INSTANCE.put(RobotMLPackage.eNS_URI, theRobotMLPackage);
+		return theRobotMLPackage;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getTransition() {
+		return transitionEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getTransition_Base_Transition() {
+		return (EReference)transitionEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getTransition_Guard() {
+		return (EReference)transitionEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getTransition_Effect() {
+		return (EReference)transitionEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getAlgorithm() {
+		return algorithmEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getAlgorithm_Base_Operation() {
+		return (EReference)algorithmEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getAlgorithm_IsExternal() {
+		return (EAttribute)algorithmEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getAlgorithm_ExtFunctionName() {
+		return (EAttribute)algorithmEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getAlgorithm_LibPath() {
+		return (EAttribute)algorithmEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getAlgorithm_LibFileFormat() {
+		return (EAttribute)algorithmEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getState() {
+		return stateEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getState_Base_State() {
+		return (EReference)stateEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getState_Behavior() {
+		return (EReference)stateEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getActuatedJoint() {
+		return actuatedJointEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getJoint() {
+		return jointEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getJoint_Base_Connector() {
+		return (EReference)jointEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getCompleteBonding() {
+		return completeBondingEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getRobot() {
+		return robotEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getRobot_Width() {
+		return (EAttribute)robotEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getSystem() {
+		return systemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getSystem_Base_Class() {
+		return (EReference)systemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSystem_Native() {
+		return (EAttribute)systemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSystem_LibraryPath() {
+		return (EAttribute)systemEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSystem_LibraryComponentName() {
+		return (EAttribute)systemEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getAgent() {
+		return agentEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getAgent_MovesOver() {
+		return (EReference)agentEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getPhysicalObject() {
+		return physicalObjectEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getPhysicalObject_EvelovesIn() {
+		return (EReference)physicalObjectEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getPhysicalObject_HasSurface() {
+		return (EReference)physicalObjectEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getPhysicalObject_Height() {
+		return (EAttribute)physicalObjectEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getPhysicalObject_Mass() {
+		return (EAttribute)physicalObjectEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getEnvironment() {
+		return environmentEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getSurface() {
+		return surfaceEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getDataFlowPort() {
+		return dataFlowPortEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getDataFlowPort_Direction() {
+		return (EAttribute)dataFlowPortEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getDataFlowPort_BufferSize() {
+		return (EAttribute)dataFlowPortEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getPort() {
+		return portEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getPort_Base_Port() {
+		return (EReference)portEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getPort_SynchronizationPolicy() {
+		return (EAttribute)portEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getServicePort() {
+		return servicePortEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getServicePort_Kind() {
+		return (EAttribute)servicePortEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getActuatorSystem() {
+		return actuatorSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getRoboticSystem() {
+		return roboticSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getRoboticSystem_LocalPosition() {
+		return (EReference)roboticSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getRoboticSystem_LocalOrientation() {
+		return (EReference)roboticSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getCyberPhysicalSystem() {
+		return cyberPhysicalSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getSensorSystem() {
+		return sensorSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSensorSystem_Frequency() {
+		return (EAttribute)sensorSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSensorSystem_Identifier() {
+		return (EAttribute)sensorSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getHardware() {
+		return hardwareEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getSoftware() {
+		return softwareEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSoftware_IsPeriodic() {
+		return (EAttribute)softwareEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSoftware_Period() {
+		return (EAttribute)softwareEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSoftware_Priority() {
+		return (EAttribute)softwareEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSoftware_Deadline() {
+		return (EAttribute)softwareEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSoftware_Wcet() {
+		return (EAttribute)softwareEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getEngineSystem() {
+		return engineSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getEngineSystem_VehicleTraction() {
+		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getEngineSystem_MaxEngineForce() {
+		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getEngineSystem_MaxBreakingForce() {
+		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getEngineSystem_MaxAllowedSteering() {
+		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getEngineSystem_MaxAllowedVelocity() {
+		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getEngineSystem_Gear_ration() {
+		return (EAttribute)engineSystemEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getSteeredWheelSystem() {
+		return steeredWheelSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_WheelRadius() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_WheelWidth() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_SuspensionRestLength() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_WheelConnectionHeight() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_TypeOfWheel() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_WheelVelocityPIDkp() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_WheelVelocityPIDki() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_WheelVelocityPIDkd() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_WheelSteeringPIDkp() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(8);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_WheelSteeringPIDkd() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(9);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_WheelFriction() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(10);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_SuspensionStiffness() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(11);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_SuspensionDamping() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(12);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_SuspensionCompression() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(13);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_WheelVelocityPIDmaxSum() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(14);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getSteeredWheelSystem_WheelVelocityPIDmaxVal() {
+		return (EAttribute)steeredWheelSystemEClass.getEStructuralFeatures().get(15);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getLocomotionSystem() {
+		return locomotionSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getImageSensorSystem() {
+		return imageSensorSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getCameraSystem() {
+		return cameraSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_Width() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_Height() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_Alpha_u() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_Alpha_v() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_U0() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_V0() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getCameraSystem_Color_format() {
+		return (EAttribute)cameraSystemEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getCameraSystem_Translate() {
+		return (EReference)cameraSystemEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getCameraSystem_Rotate() {
+		return (EReference)cameraSystemEClass.getEStructuralFeatures().get(8);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getObjectDetectionSensorSystem() {
+		return objectDetectionSensorSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getObjectTrackingSensorSystem() {
+		return objectTrackingSensorSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getLidarSystem() {
+		return lidarSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_NbLayers() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_LayerAngleMin() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_LayerAngleStep() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Noise() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_SigmaNoise() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(4);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Angle_min() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(5);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Angle_max() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(6);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Time_increment() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(7);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Scan_time() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(8);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Range_min() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(9);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_Range_max() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(10);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getLidarSystem_NbRays() {
+		return (EAttribute)lidarSystemEClass.getEStructuralFeatures().get(11);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getLocalizationSensorSystem() {
+		return localizationSensorSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getGPSSystem() {
+		return gpsSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getGPSSystem_OriginPosition() {
+		return (EReference)gpsSystemEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getAlgorithmLibrary() {
+		return algorithmLibraryEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getAlgorithmLibrary_Base_Class() {
+		return (EReference)algorithmLibraryEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getAlgorithmLibrary_Path() {
+		return (EAttribute)algorithmLibraryEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getSensorDriver() {
+		return sensorDriverEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getBuilding() {
+		return buildingEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getPlanet() {
+		return planetEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getLandSurface() {
+		return landSurfaceEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getGround() {
+		return groundEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getFloor() {
+		return floorEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getWaterSurface() {
+		return waterSurfaceEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getHuman() {
+		return humanEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getPedestrian() {
+		return pedestrianEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getStairs() {
+		return stairsEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getPlatform() {
+		return platformEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getPlatform_Base_Node() {
+		return (EReference)platformEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getPlatform_Library() {
+		return (EReference)platformEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getExternalLibrary() {
+		return externalLibraryEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getExternalLibrary_LibPath() {
+		return (EAttribute)externalLibraryEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getExternalLibrary_LibFileFormat() {
+		return (EAttribute)externalLibraryEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getExternalLibrary_Base_Interface() {
+		return (EReference)externalLibraryEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getRoboticMiddleware() {
+		return roboticMiddlewareEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getRoboticMiddleware_Kind() {
+		return (EAttribute)roboticMiddlewareEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getRoboticSimulator() {
+		return roboticSimulatorEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getCycabTK() {
+		return cycabTKEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getCycabTK_UseRealTime() {
+		return (EAttribute)cycabTKEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getCycabTK_TimeStep() {
+		return (EAttribute)cycabTKEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getCycabTK_TimeFactor() {
+		return (EAttribute)cycabTKEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getBlenderMorse() {
+		return blenderMorseEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getBlenderMorse_DebugMode() {
+		return (EAttribute)blenderMorseEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getBlenderMorse_DebugDisplay() {
+		return (EAttribute)blenderMorseEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getBlenderMorse_Gravity() {
+		return (EAttribute)blenderMorseEClass.getEStructuralFeatures().get(2);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getBlenderMorse__viewport_shade() {
+		return (EAttribute)blenderMorseEClass.getEStructuralFeatures().get(3);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getOnPort() {
+		return onPortEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getOnPort_Port() {
+		return (EReference)onPortEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getOnPort_Base_Parameter() {
+		return (EReference)onPortEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getAllocate() {
+		return allocateEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getAllocate_Base_Abstraction() {
+		return (EReference)allocateEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getInertialMeasurementUnitSystem() {
+		return inertialMeasurementUnitSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getInertialNavigationSystem() {
+		return inertialNavigationSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getOdometrySystem() {
+		return odometrySystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getInfraRedProximetrySystem() {
+		return infraRedProximetrySystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getDeploymentPlan() {
+		return deploymentPlanEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getDeploymentPlan_Base_Package() {
+		return (EReference)deploymentPlanEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getDeploymentPlan_MainInstance() {
+		return (EReference)deploymentPlanEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getGyroscope() {
+		return gyroscopeEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getOnProperty() {
+		return onPropertyEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getOnProperty_Property() {
+		return (EReference)onPropertyEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EReference getOnProperty_Base_Parameter() {
+		return (EReference)onPropertyEClass.getEStructuralFeatures().get(1);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getChassis() {
+		return chassisEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getSupportingStructure() {
+		return supportingStructureEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getMechanicalLinkage() {
+		return mechanicalLinkageEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getLeg() {
+		return legEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getLocomotionHardware() {
+		return locomotionHardwareEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getActuatorHardware() {
+		return actuatorHardwareEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getMobileRobot() {
+		return mobileRobotEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EAttribute getMobileRobot_Kind() {
+		return (EAttribute)mobileRobotEClass.getEStructuralFeatures().get(0);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getManipulator() {
+		return manipulatorEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getPilotedSystem() {
+		return pilotedSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getPowerHardware() {
+		return powerHardwareEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getSensorHardware() {
+		return sensorHardwareEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getGraspingHardware() {
+		return graspingHardwareEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getSteeredWheelHardware() {
+		return steeredWheelHardwareEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getArm() {
+		return armEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getLegSystem() {
+		return legSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getGraspingSystem() {
+		return graspingSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getWeaponSystem() {
+		return weaponSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getManMachineInterfaceSystem() {
+		return manMachineInterfaceSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getClosedLoopControlSystem() {
+		return closedLoopControlSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getOpenLoopControlSystem() {
+		return openLoopControlSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getRoboticHead() {
+		return roboticHeadEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getNavigationCommandSystem() {
+		return navigationCommandSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EClass getJoysticNavigationSystem() {
+		return joysticNavigationSystemEClass;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EEnum getSynchronizationKind() {
+		return synchronizationKindEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EEnum getDataFlowDirectionKind() {
+		return dataFlowDirectionKindEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EEnum getServiceFlowKind() {
+		return serviceFlowKindEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EEnum getUGVKind() {
+		return ugvKindEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EEnum getRoboticMiddlewareKind() {
+		return roboticMiddlewareKindEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EEnum getShade() {
+		return shadeEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public EEnum getMobileRobotKind() {
+		return mobileRobotKindEEnum;
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public RobotMLFactory getRobotMLFactory() {
+		return (RobotMLFactory)getEFactoryInstance();
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private boolean isCreated = false;
+
+	/**
+	 * Creates the meta-model objects for the package.  This method is
+	 * guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public void createPackageContents() {
+		if (isCreated) return;
+		isCreated = true;
+
+		// Create classes and their features
+		transitionEClass = createEClass(TRANSITION);
+		createEReference(transitionEClass, TRANSITION__BASE_TRANSITION);
+		createEReference(transitionEClass, TRANSITION__GUARD);
+		createEReference(transitionEClass, TRANSITION__EFFECT);
+
+		algorithmEClass = createEClass(ALGORITHM);
+		createEReference(algorithmEClass, ALGORITHM__BASE_OPERATION);
+		createEAttribute(algorithmEClass, ALGORITHM__IS_EXTERNAL);
+		createEAttribute(algorithmEClass, ALGORITHM__EXT_FUNCTION_NAME);
+		createEAttribute(algorithmEClass, ALGORITHM__LIB_PATH);
+		createEAttribute(algorithmEClass, ALGORITHM__LIB_FILE_FORMAT);
+
+		stateEClass = createEClass(STATE);
+		createEReference(stateEClass, STATE__BASE_STATE);
+		createEReference(stateEClass, STATE__BEHAVIOR);
+
+		actuatedJointEClass = createEClass(ACTUATED_JOINT);
+
+		jointEClass = createEClass(JOINT);
+		createEReference(jointEClass, JOINT__BASE_CONNECTOR);
+
+		completeBondingEClass = createEClass(COMPLETE_BONDING);
+
+		robotEClass = createEClass(ROBOT);
+		createEAttribute(robotEClass, ROBOT__WIDTH);
+
+		systemEClass = createEClass(SYSTEM);
+		createEReference(systemEClass, SYSTEM__BASE_CLASS);
+		createEAttribute(systemEClass, SYSTEM__NATIVE);
+		createEAttribute(systemEClass, SYSTEM__LIBRARY_PATH);
+		createEAttribute(systemEClass, SYSTEM__LIBRARY_COMPONENT_NAME);
+
+		agentEClass = createEClass(AGENT);
+		createEReference(agentEClass, AGENT__MOVES_OVER);
+
+		physicalObjectEClass = createEClass(PHYSICAL_OBJECT);
+		createEReference(physicalObjectEClass, PHYSICAL_OBJECT__EVELOVES_IN);
+		createEReference(physicalObjectEClass, PHYSICAL_OBJECT__HAS_SURFACE);
+		createEAttribute(physicalObjectEClass, PHYSICAL_OBJECT__HEIGHT);
+		createEAttribute(physicalObjectEClass, PHYSICAL_OBJECT__MASS);
+
+		environmentEClass = createEClass(ENVIRONMENT);
+
+		surfaceEClass = createEClass(SURFACE);
+
+		dataFlowPortEClass = createEClass(DATA_FLOW_PORT);
+		createEAttribute(dataFlowPortEClass, DATA_FLOW_PORT__DIRECTION);
+		createEAttribute(dataFlowPortEClass, DATA_FLOW_PORT__BUFFER_SIZE);
+
+		portEClass = createEClass(PORT);
+		createEReference(portEClass, PORT__BASE_PORT);
+		createEAttribute(portEClass, PORT__SYNCHRONIZATION_POLICY);
+
+		servicePortEClass = createEClass(SERVICE_PORT);
+		createEAttribute(servicePortEClass, SERVICE_PORT__KIND);
+
+		actuatorSystemEClass = createEClass(ACTUATOR_SYSTEM);
+
+		roboticSystemEClass = createEClass(ROBOTIC_SYSTEM);
+		createEReference(roboticSystemEClass, ROBOTIC_SYSTEM__LOCAL_POSITION);
+		createEReference(roboticSystemEClass, ROBOTIC_SYSTEM__LOCAL_ORIENTATION);
+
+		cyberPhysicalSystemEClass = createEClass(CYBER_PHYSICAL_SYSTEM);
+
+		sensorSystemEClass = createEClass(SENSOR_SYSTEM);
+		createEAttribute(sensorSystemEClass, SENSOR_SYSTEM__FREQUENCY);
+		createEAttribute(sensorSystemEClass, SENSOR_SYSTEM__IDENTIFIER);
+
+		hardwareEClass = createEClass(HARDWARE);
+
+		softwareEClass = createEClass(SOFTWARE);
+		createEAttribute(softwareEClass, SOFTWARE__IS_PERIODIC);
+		createEAttribute(softwareEClass, SOFTWARE__PERIOD);
+		createEAttribute(softwareEClass, SOFTWARE__PRIORITY);
+		createEAttribute(softwareEClass, SOFTWARE__DEADLINE);
+		createEAttribute(softwareEClass, SOFTWARE__WCET);
+
+		engineSystemEClass = createEClass(ENGINE_SYSTEM);
+		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__VEHICLE_TRACTION);
+		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__MAX_ENGINE_FORCE);
+		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__MAX_BREAKING_FORCE);
+		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__MAX_ALLOWED_STEERING);
+		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__MAX_ALLOWED_VELOCITY);
+		createEAttribute(engineSystemEClass, ENGINE_SYSTEM__GEAR_RATION);
+
+		steeredWheelSystemEClass = createEClass(STEERED_WHEEL_SYSTEM);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__WHEEL_RADIUS);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__WHEEL_WIDTH);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__SUSPENSION_REST_LENGTH);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__TYPE_OF_WHEEL);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__WHEEL_FRICTION);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__SUSPENSION_STIFFNESS);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__SUSPENSION_DAMPING);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__SUSPENSION_COMPRESSION);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM);
+		createEAttribute(steeredWheelSystemEClass, STEERED_WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL);
+
+		locomotionSystemEClass = createEClass(LOCOMOTION_SYSTEM);
+
+		imageSensorSystemEClass = createEClass(IMAGE_SENSOR_SYSTEM);
+
+		cameraSystemEClass = createEClass(CAMERA_SYSTEM);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__WIDTH);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__HEIGHT);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__ALPHA_U);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__ALPHA_V);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__U0);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__V0);
+		createEAttribute(cameraSystemEClass, CAMERA_SYSTEM__COLOR_FORMAT);
+		createEReference(cameraSystemEClass, CAMERA_SYSTEM__TRANSLATE);
+		createEReference(cameraSystemEClass, CAMERA_SYSTEM__ROTATE);
+
+		objectDetectionSensorSystemEClass = createEClass(OBJECT_DETECTION_SENSOR_SYSTEM);
+
+		objectTrackingSensorSystemEClass = createEClass(OBJECT_TRACKING_SENSOR_SYSTEM);
+
+		lidarSystemEClass = createEClass(LIDAR_SYSTEM);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__NB_LAYERS);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__LAYER_ANGLE_MIN);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__LAYER_ANGLE_STEP);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__NOISE);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__SIGMA_NOISE);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__ANGLE_MIN);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__ANGLE_MAX);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__TIME_INCREMENT);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__SCAN_TIME);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__RANGE_MIN);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__RANGE_MAX);
+		createEAttribute(lidarSystemEClass, LIDAR_SYSTEM__NB_RAYS);
+
+		localizationSensorSystemEClass = createEClass(LOCALIZATION_SENSOR_SYSTEM);
+
+		gpsSystemEClass = createEClass(GPS_SYSTEM);
+		createEReference(gpsSystemEClass, GPS_SYSTEM__ORIGIN_POSITION);
+
+		algorithmLibraryEClass = createEClass(ALGORITHM_LIBRARY);
+		createEReference(algorithmLibraryEClass, ALGORITHM_LIBRARY__BASE_CLASS);
+		createEAttribute(algorithmLibraryEClass, ALGORITHM_LIBRARY__PATH);
+
+		sensorDriverEClass = createEClass(SENSOR_DRIVER);
+
+		buildingEClass = createEClass(BUILDING);
+
+		planetEClass = createEClass(PLANET);
+
+		landSurfaceEClass = createEClass(LAND_SURFACE);
+
+		groundEClass = createEClass(GROUND);
+
+		floorEClass = createEClass(FLOOR);
+
+		waterSurfaceEClass = createEClass(WATER_SURFACE);
+
+		humanEClass = createEClass(HUMAN);
+
+		pedestrianEClass = createEClass(PEDESTRIAN);
+
+		stairsEClass = createEClass(STAIRS);
+
+		platformEClass = createEClass(PLATFORM);
+		createEReference(platformEClass, PLATFORM__BASE_NODE);
+		createEReference(platformEClass, PLATFORM__LIBRARY);
+
+		externalLibraryEClass = createEClass(EXTERNAL_LIBRARY);
+		createEAttribute(externalLibraryEClass, EXTERNAL_LIBRARY__LIB_PATH);
+		createEAttribute(externalLibraryEClass, EXTERNAL_LIBRARY__LIB_FILE_FORMAT);
+		createEReference(externalLibraryEClass, EXTERNAL_LIBRARY__BASE_INTERFACE);
+
+		roboticMiddlewareEClass = createEClass(ROBOTIC_MIDDLEWARE);
+		createEAttribute(roboticMiddlewareEClass, ROBOTIC_MIDDLEWARE__KIND);
+
+		roboticSimulatorEClass = createEClass(ROBOTIC_SIMULATOR);
+
+		cycabTKEClass = createEClass(CYCAB_TK);
+		createEAttribute(cycabTKEClass, CYCAB_TK__USE_REAL_TIME);
+		createEAttribute(cycabTKEClass, CYCAB_TK__TIME_STEP);
+		createEAttribute(cycabTKEClass, CYCAB_TK__TIME_FACTOR);
+
+		blenderMorseEClass = createEClass(BLENDER_MORSE);
+		createEAttribute(blenderMorseEClass, BLENDER_MORSE__DEBUG_MODE);
+		createEAttribute(blenderMorseEClass, BLENDER_MORSE__DEBUG_DISPLAY);
+		createEAttribute(blenderMorseEClass, BLENDER_MORSE__GRAVITY);
+		createEAttribute(blenderMorseEClass, BLENDER_MORSE__VIEWPORT_SHADE);
+
+		onPortEClass = createEClass(ON_PORT);
+		createEReference(onPortEClass, ON_PORT__PORT);
+		createEReference(onPortEClass, ON_PORT__BASE_PARAMETER);
+
+		allocateEClass = createEClass(ALLOCATE);
+		createEReference(allocateEClass, ALLOCATE__BASE_ABSTRACTION);
+
+		inertialMeasurementUnitSystemEClass = createEClass(INERTIAL_MEASUREMENT_UNIT_SYSTEM);
+
+		inertialNavigationSystemEClass = createEClass(INERTIAL_NAVIGATION_SYSTEM);
+
+		odometrySystemEClass = createEClass(ODOMETRY_SYSTEM);
+
+		infraRedProximetrySystemEClass = createEClass(INFRA_RED_PROXIMETRY_SYSTEM);
+
+		deploymentPlanEClass = createEClass(DEPLOYMENT_PLAN);
+		createEReference(deploymentPlanEClass, DEPLOYMENT_PLAN__BASE_PACKAGE);
+		createEReference(deploymentPlanEClass, DEPLOYMENT_PLAN__MAIN_INSTANCE);
+
+		gyroscopeEClass = createEClass(GYROSCOPE);
+
+		onPropertyEClass = createEClass(ON_PROPERTY);
+		createEReference(onPropertyEClass, ON_PROPERTY__PROPERTY);
+		createEReference(onPropertyEClass, ON_PROPERTY__BASE_PARAMETER);
+
+		chassisEClass = createEClass(CHASSIS);
+
+		supportingStructureEClass = createEClass(SUPPORTING_STRUCTURE);
+
+		mechanicalLinkageEClass = createEClass(MECHANICAL_LINKAGE);
+
+		legEClass = createEClass(LEG);
+
+		locomotionHardwareEClass = createEClass(LOCOMOTION_HARDWARE);
+
+		actuatorHardwareEClass = createEClass(ACTUATOR_HARDWARE);
+
+		mobileRobotEClass = createEClass(MOBILE_ROBOT);
+		createEAttribute(mobileRobotEClass, MOBILE_ROBOT__KIND);
+
+		manipulatorEClass = createEClass(MANIPULATOR);
+
+		pilotedSystemEClass = createEClass(PILOTED_SYSTEM);
+
+		powerHardwareEClass = createEClass(POWER_HARDWARE);
+
+		sensorHardwareEClass = createEClass(SENSOR_HARDWARE);
+
+		graspingHardwareEClass = createEClass(GRASPING_HARDWARE);
+
+		steeredWheelHardwareEClass = createEClass(STEERED_WHEEL_HARDWARE);
+
+		armEClass = createEClass(ARM);
+
+		legSystemEClass = createEClass(LEG_SYSTEM);
+
+		graspingSystemEClass = createEClass(GRASPING_SYSTEM);
+
+		weaponSystemEClass = createEClass(WEAPON_SYSTEM);
+
+		manMachineInterfaceSystemEClass = createEClass(MAN_MACHINE_INTERFACE_SYSTEM);
+
+		closedLoopControlSystemEClass = createEClass(CLOSED_LOOP_CONTROL_SYSTEM);
+
+		openLoopControlSystemEClass = createEClass(OPEN_LOOP_CONTROL_SYSTEM);
+
+		roboticHeadEClass = createEClass(ROBOTIC_HEAD);
+
+		navigationCommandSystemEClass = createEClass(NAVIGATION_COMMAND_SYSTEM);
+
+		joysticNavigationSystemEClass = createEClass(JOYSTIC_NAVIGATION_SYSTEM);
+
+		// Create enums
+		synchronizationKindEEnum = createEEnum(SYNCHRONIZATION_KIND);
+		dataFlowDirectionKindEEnum = createEEnum(DATA_FLOW_DIRECTION_KIND);
+		serviceFlowKindEEnum = createEEnum(SERVICE_FLOW_KIND);
+		ugvKindEEnum = createEEnum(UGV_KIND);
+		roboticMiddlewareKindEEnum = createEEnum(ROBOTIC_MIDDLEWARE_KIND);
+		shadeEEnum = createEEnum(SHADE);
+		mobileRobotKindEEnum = createEEnum(MOBILE_ROBOT_KIND);
+	}
+
+	/**
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	private boolean isInitialized = false;
+
+	/**
+	 * Complete the initialization of the package and its meta-model.  This
+	 * method is guarded to have no affect on any invocation but its first.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	public void initializePackageContents() {
+		if (isInitialized) return;
+		isInitialized = true;
+
+		// Initialize package
+		setName(eNAME);
+		setNsPrefix(eNS_PREFIX);
+		setNsURI(eNS_URI);
+
+		// Obtain other dependent packages
+		UMLPackage theUMLPackage = (UMLPackage)EPackage.Registry.INSTANCE.getEPackage(UMLPackage.eNS_URI);
+		TypesPackage theTypesPackage = (TypesPackage)EPackage.Registry.INSTANCE.getEPackage(TypesPackage.eNS_URI);
+		Std_datatypesPackage theStd_datatypesPackage = (Std_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Std_datatypesPackage.eNS_URI);
+		Geometry_datatypesPackage theGeometry_datatypesPackage = (Geometry_datatypesPackage)EPackage.Registry.INSTANCE.getEPackage(Geometry_datatypesPackage.eNS_URI);
+
+		// Create type parameters
+
+		// Set bounds for type parameters
+
+		// Add supertypes to classes
+		actuatedJointEClass.getESuperTypes().add(this.getJoint());
+		completeBondingEClass.getESuperTypes().add(this.getJoint());
+		robotEClass.getESuperTypes().add(this.getAgent());
+		robotEClass.getESuperTypes().add(this.getSystem());
+		agentEClass.getESuperTypes().add(this.getPhysicalObject());
+		physicalObjectEClass.getESuperTypes().add(this.getSystem());
+		environmentEClass.getESuperTypes().add(this.getSystem());
+		surfaceEClass.getESuperTypes().add(this.getPhysicalObject());
+		dataFlowPortEClass.getESuperTypes().add(this.getPort());
+		servicePortEClass.getESuperTypes().add(this.getPort());
+		actuatorSystemEClass.getESuperTypes().add(this.getRoboticSystem());
+		actuatorSystemEClass.getESuperTypes().add(this.getCyberPhysicalSystem());
+		roboticSystemEClass.getESuperTypes().add(this.getSystem());
+		cyberPhysicalSystemEClass.getESuperTypes().add(this.getSystem());
+		sensorSystemEClass.getESuperTypes().add(this.getRoboticSystem());
+		sensorSystemEClass.getESuperTypes().add(this.getCyberPhysicalSystem());
+		hardwareEClass.getESuperTypes().add(this.getPhysicalObject());
+		hardwareEClass.getESuperTypes().add(this.getSystem());
+		softwareEClass.getESuperTypes().add(this.getSystem());
+		engineSystemEClass.getESuperTypes().add(this.getActuatorSystem());
+		steeredWheelSystemEClass.getESuperTypes().add(this.getLocomotionSystem());
+		locomotionSystemEClass.getESuperTypes().add(this.getActuatorSystem());
+		imageSensorSystemEClass.getESuperTypes().add(this.getSensorSystem());
+		cameraSystemEClass.getESuperTypes().add(this.getImageSensorSystem());
+		objectDetectionSensorSystemEClass.getESuperTypes().add(this.getSensorSystem());
+		objectTrackingSensorSystemEClass.getESuperTypes().add(this.getSensorSystem());
+		lidarSystemEClass.getESuperTypes().add(this.getObjectDetectionSensorSystem());
+		lidarSystemEClass.getESuperTypes().add(this.getObjectTrackingSensorSystem());
+		localizationSensorSystemEClass.getESuperTypes().add(this.getSensorSystem());
+		gpsSystemEClass.getESuperTypes().add(this.getLocalizationSensorSystem());
+		sensorDriverEClass.getESuperTypes().add(this.getSoftware());
+		buildingEClass.getESuperTypes().add(this.getPhysicalObject());
+		planetEClass.getESuperTypes().add(this.getPhysicalObject());
+		landSurfaceEClass.getESuperTypes().add(this.getGround());
+		groundEClass.getESuperTypes().add(this.getSurface());
+		floorEClass.getESuperTypes().add(this.getGround());
+		waterSurfaceEClass.getESuperTypes().add(this.getSurface());
+		humanEClass.getESuperTypes().add(this.getAgent());
+		pedestrianEClass.getESuperTypes().add(this.getHuman());
+		stairsEClass.getESuperTypes().add(this.getGround());
+		platformEClass.getESuperTypes().add(this.getSystem());
+		roboticMiddlewareEClass.getESuperTypes().add(this.getPlatform());
+		roboticSimulatorEClass.getESuperTypes().add(this.getPlatform());
+		cycabTKEClass.getESuperTypes().add(this.getRoboticSimulator());
+		blenderMorseEClass.getESuperTypes().add(this.getRoboticSimulator());
+		inertialMeasurementUnitSystemEClass.getESuperTypes().add(this.getSensorSystem());
+		inertialNavigationSystemEClass.getESuperTypes().add(this.getGPSSystem());
+		odometrySystemEClass.getESuperTypes().add(this.getLocalizationSensorSystem());
+		infraRedProximetrySystemEClass.getESuperTypes().add(this.getObjectDetectionSensorSystem());
+		gyroscopeEClass.getESuperTypes().add(this.getSensorSystem());
+		chassisEClass.getESuperTypes().add(this.getSupportingStructure());
+		supportingStructureEClass.getESuperTypes().add(this.getHardware());
+		mechanicalLinkageEClass.getESuperTypes().add(this.getHardware());
+		legEClass.getESuperTypes().add(this.getLocomotionHardware());
+		legEClass.getESuperTypes().add(this.getMechanicalLinkage());
+		locomotionHardwareEClass.getESuperTypes().add(this.getActuatorHardware());
+		actuatorHardwareEClass.getESuperTypes().add(this.getHardware());
+		mobileRobotEClass.getESuperTypes().add(this.getRobot());
+		manipulatorEClass.getESuperTypes().add(this.getRobot());
+		pilotedSystemEClass.getESuperTypes().add(this.getRobot());
+		powerHardwareEClass.getESuperTypes().add(this.getHardware());
+		sensorHardwareEClass.getESuperTypes().add(this.getHardware());
+		graspingHardwareEClass.getESuperTypes().add(this.getActuatorHardware());
+		steeredWheelHardwareEClass.getESuperTypes().add(this.getLocomotionHardware());
+		legSystemEClass.getESuperTypes().add(this.getLocomotionSystem());
+		graspingSystemEClass.getESuperTypes().add(this.getActuatorSystem());
+		weaponSystemEClass.getESuperTypes().add(this.getActuatorSystem());
+		manMachineInterfaceSystemEClass.getESuperTypes().add(this.getCyberPhysicalSystem());
+		closedLoopControlSystemEClass.getESuperTypes().add(this.getCyberPhysicalSystem());
+		openLoopControlSystemEClass.getESuperTypes().add(this.getCyberPhysicalSystem());
+		roboticHeadEClass.getESuperTypes().add(this.getManMachineInterfaceSystem());
+		navigationCommandSystemEClass.getESuperTypes().add(this.getManMachineInterfaceSystem());
+		joysticNavigationSystemEClass.getESuperTypes().add(this.getNavigationCommandSystem());
+
+		// Initialize classes, features, and operations; add parameters
+		initEClass(transitionEClass, Transition.class, "Transition", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getTransition_Base_Transition(), theUMLPackage.getTransition(), null, "base_Transition", null, 1, 1, Transition.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getTransition_Guard(), theUMLPackage.getBehavior(), null, "guard", null, 1, 1, Transition.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getTransition_Effect(), theUMLPackage.getBehavior(), null, "effect", null, 1, 1, Transition.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(algorithmEClass, Algorithm.class, "Algorithm", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getAlgorithm_Base_Operation(), theUMLPackage.getOperation(), null, "base_Operation", null, 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getAlgorithm_IsExternal(), theTypesPackage.getBoolean(), "isExternal", null, 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getAlgorithm_ExtFunctionName(), theTypesPackage.getString(), "extFunctionName", null, 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getAlgorithm_LibPath(), theTypesPackage.getString(), "libPath", null, 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getAlgorithm_LibFileFormat(), theTypesPackage.getString(), "libFileFormat", "elf", 1, 1, Algorithm.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(stateEClass, State.class, "State", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getState_Base_State(), theUMLPackage.getState(), null, "base_State", null, 1, 1, State.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getState_Behavior(), theUMLPackage.getBehavior(), null, "behavior", null, 1, 1, State.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(actuatedJointEClass, ActuatedJoint.class, "ActuatedJoint", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(jointEClass, Joint.class, "Joint", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getJoint_Base_Connector(), theUMLPackage.getConnector(), null, "base_Connector", null, 1, 1, Joint.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(completeBondingEClass, CompleteBonding.class, "CompleteBonding", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(robotEClass, Robot.class, "Robot", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getRobot_Width(), theStd_datatypesPackage.getFloat32(), "width", null, 1, 1, Robot.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(systemEClass, org.eclipse.papyrus.RobotML.System.class, "System", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getSystem_Base_Class(), theUMLPackage.getClass_(), null, "base_Class", null, 1, 1, org.eclipse.papyrus.RobotML.System.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSystem_Native(), theTypesPackage.getBoolean(), "native", null, 1, 1, org.eclipse.papyrus.RobotML.System.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSystem_LibraryPath(), theTypesPackage.getString(), "libraryPath", null, 1, 1, org.eclipse.papyrus.RobotML.System.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSystem_LibraryComponentName(), theTypesPackage.getString(), "libraryComponentName", null, 1, 1, org.eclipse.papyrus.RobotML.System.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(agentEClass, Agent.class, "Agent", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getAgent_MovesOver(), this.getSurface(), null, "movesOver", null, 0, -1, Agent.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(physicalObjectEClass, PhysicalObject.class, "PhysicalObject", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPhysicalObject_EvelovesIn(), this.getEnvironment(), null, "evelovesIn", null, 0, -1, PhysicalObject.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getPhysicalObject_HasSurface(), this.getSurface(), null, "hasSurface", null, 1, 1, PhysicalObject.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPhysicalObject_Height(), theStd_datatypesPackage.getFloat32(), "height", null, 1, 1, PhysicalObject.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPhysicalObject_Mass(), theStd_datatypesPackage.getFloat32(), "mass", null, 1, 1, PhysicalObject.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(environmentEClass, Environment.class, "Environment", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(surfaceEClass, Surface.class, "Surface", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(dataFlowPortEClass, DataFlowPort.class, "DataFlowPort", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getDataFlowPort_Direction(), this.getDataFlowDirectionKind(), "direction", null, 1, 1, DataFlowPort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getDataFlowPort_BufferSize(), theTypesPackage.getInteger(), "bufferSize", "0", 1, 1, DataFlowPort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(portEClass, Port.class, "Port", IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPort_Base_Port(), theUMLPackage.getPort(), null, "base_Port", null, 1, 1, Port.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getPort_SynchronizationPolicy(), this.getSynchronizationKind(), "synchronizationPolicy", null, 1, 1, Port.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(servicePortEClass, ServicePort.class, "ServicePort", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getServicePort_Kind(), this.getServiceFlowKind(), "kind", null, 1, 1, ServicePort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(actuatorSystemEClass, ActuatorSystem.class, "ActuatorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(roboticSystemEClass, RoboticSystem.class, "RoboticSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getRoboticSystem_LocalPosition(), theGeometry_datatypesPackage.getPoint32(), null, "localPosition", null, 1, 1, RoboticSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getRoboticSystem_LocalOrientation(), theGeometry_datatypesPackage.getPoint32(), null, "localOrientation", null, 1, 1, RoboticSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(cyberPhysicalSystemEClass, CyberPhysicalSystem.class, "CyberPhysicalSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(sensorSystemEClass, SensorSystem.class, "SensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getSensorSystem_Frequency(), theStd_datatypesPackage.getFloat32(), "frequency", null, 1, 1, SensorSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSensorSystem_Identifier(), theStd_datatypesPackage.getString(), "identifier", null, 1, 1, SensorSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(hardwareEClass, Hardware.class, "Hardware", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(softwareEClass, Software.class, "Software", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getSoftware_IsPeriodic(), theTypesPackage.getBoolean(), "isPeriodic", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSoftware_Period(), theStd_datatypesPackage.getFloat32(), "period", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSoftware_Priority(), theStd_datatypesPackage.getUInt8(), "priority", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSoftware_Deadline(), theStd_datatypesPackage.getFloat32(), "deadline", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSoftware_Wcet(), theStd_datatypesPackage.getFloat32(), "wcet", null, 1, 1, Software.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(engineSystemEClass, EngineSystem.class, "EngineSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getEngineSystem_VehicleTraction(), theTypesPackage.getString(), "vehicleTraction", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getEngineSystem_MaxEngineForce(), theStd_datatypesPackage.getFloat32(), "maxEngineForce", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getEngineSystem_MaxBreakingForce(), theStd_datatypesPackage.getFloat32(), "maxBreakingForce", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getEngineSystem_MaxAllowedSteering(), theStd_datatypesPackage.getFloat32(), "maxAllowedSteering", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getEngineSystem_MaxAllowedVelocity(), theStd_datatypesPackage.getFloat32(), "maxAllowedVelocity", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getEngineSystem_Gear_ration(), theStd_datatypesPackage.getFloat32(), "gear_ration", null, 1, 1, EngineSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(steeredWheelSystemEClass, SteeredWheelSystem.class, "SteeredWheelSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getSteeredWheelSystem_WheelRadius(), theStd_datatypesPackage.getFloat32(), "wheelRadius", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_WheelWidth(), theStd_datatypesPackage.getFloat32(), "wheelWidth", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_SuspensionRestLength(), theStd_datatypesPackage.getFloat32(), "suspensionRestLength", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_WheelConnectionHeight(), theStd_datatypesPackage.getFloat32(), "wheelConnectionHeight", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_TypeOfWheel(), theStd_datatypesPackage.getString(), "typeOfWheel", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_WheelVelocityPIDkp(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDkp", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_WheelVelocityPIDki(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDki", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_WheelVelocityPIDkd(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDkd", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_WheelSteeringPIDkp(), theStd_datatypesPackage.getFloat32(), "wheelSteeringPIDkp", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_WheelSteeringPIDkd(), theStd_datatypesPackage.getFloat32(), "wheelSteeringPIDkd", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_WheelFriction(), theStd_datatypesPackage.getFloat32(), "wheelFriction", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_SuspensionStiffness(), theStd_datatypesPackage.getFloat32(), "suspensionStiffness", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_SuspensionDamping(), theStd_datatypesPackage.getFloat32(), "suspensionDamping", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_SuspensionCompression(), theStd_datatypesPackage.getFloat32(), "suspensionCompression", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_WheelVelocityPIDmaxSum(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDmaxSum", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getSteeredWheelSystem_WheelVelocityPIDmaxVal(), theStd_datatypesPackage.getFloat32(), "wheelVelocityPIDmaxVal", null, 1, 1, SteeredWheelSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(locomotionSystemEClass, LocomotionSystem.class, "LocomotionSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(imageSensorSystemEClass, ImageSensorSystem.class, "ImageSensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(cameraSystemEClass, CameraSystem.class, "CameraSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getCameraSystem_Width(), theStd_datatypesPackage.getUInt32(), "width", "0", 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraSystem_Height(), theStd_datatypesPackage.getUInt32(), "height", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraSystem_Alpha_u(), theStd_datatypesPackage.getFloat32(), "alpha_u", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraSystem_Alpha_v(), theStd_datatypesPackage.getFloat32(), "alpha_v", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraSystem_U0(), theStd_datatypesPackage.getFloat32(), "u0", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraSystem_V0(), theStd_datatypesPackage.getFloat32(), "v0", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCameraSystem_Color_format(), theStd_datatypesPackage.getString(), "color_format", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getCameraSystem_Translate(), theGeometry_datatypesPackage.getPoint32(), null, "translate", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getCameraSystem_Rotate(), theGeometry_datatypesPackage.getPoint32(), null, "rotate", null, 1, 1, CameraSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(objectDetectionSensorSystemEClass, ObjectDetectionSensorSystem.class, "ObjectDetectionSensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(objectTrackingSensorSystemEClass, ObjectTrackingSensorSystem.class, "ObjectTrackingSensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(lidarSystemEClass, LidarSystem.class, "LidarSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getLidarSystem_NbLayers(), theStd_datatypesPackage.getUInt32(), "nbLayers", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_LayerAngleMin(), theStd_datatypesPackage.getFloat32(), "layerAngleMin", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_LayerAngleStep(), theStd_datatypesPackage.getFloat32(), "layerAngleStep", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Noise(), theStd_datatypesPackage.getBool(), "noise", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_SigmaNoise(), theStd_datatypesPackage.getFloat32(), "sigmaNoise", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Angle_min(), theStd_datatypesPackage.getFloat32(), "angle_min", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Angle_max(), theStd_datatypesPackage.getFloat32(), "angle_max", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Time_increment(), theStd_datatypesPackage.getFloat32(), "time_increment", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Scan_time(), theStd_datatypesPackage.getFloat32(), "scan_time", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Range_min(), theStd_datatypesPackage.getFloat32(), "range_min", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_Range_max(), theStd_datatypesPackage.getFloat32(), "range_max", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getLidarSystem_NbRays(), theStd_datatypesPackage.getUInt32(), "nbRays", null, 1, 1, LidarSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(localizationSensorSystemEClass, LocalizationSensorSystem.class, "LocalizationSensorSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(gpsSystemEClass, GPSSystem.class, "GPSSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getGPSSystem_OriginPosition(), theGeometry_datatypesPackage.getPoint32(), null, "originPosition", null, 0, 1, GPSSystem.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, IS_COMPOSITE, !IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(algorithmLibraryEClass, AlgorithmLibrary.class, "AlgorithmLibrary", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getAlgorithmLibrary_Base_Class(), theUMLPackage.getClass_(), null, "base_Class", null, 1, 1, AlgorithmLibrary.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getAlgorithmLibrary_Path(), theTypesPackage.getString(), "path", null, 1, 1, AlgorithmLibrary.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(sensorDriverEClass, SensorDriver.class, "SensorDriver", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(buildingEClass, Building.class, "Building", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(planetEClass, Planet.class, "Planet", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(landSurfaceEClass, LandSurface.class, "LandSurface", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(groundEClass, Ground.class, "Ground", IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(floorEClass, Floor.class, "Floor", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(waterSurfaceEClass, WaterSurface.class, "WaterSurface", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(humanEClass, Human.class, "Human", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(pedestrianEClass, Pedestrian.class, "Pedestrian", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(stairsEClass, Stairs.class, "Stairs", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(platformEClass, Platform.class, "Platform", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getPlatform_Base_Node(), theUMLPackage.getNode(), null, "base_Node", null, 1, 1, Platform.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getPlatform_Library(), this.getExternalLibrary(), null, "library", null, 0, -1, Platform.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(externalLibraryEClass, ExternalLibrary.class, "ExternalLibrary", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getExternalLibrary_LibPath(), theTypesPackage.getString(), "libPath", null, 1, 1, ExternalLibrary.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getExternalLibrary_LibFileFormat(), theTypesPackage.getString(), "libFileFormat", "elf", 1, 1, ExternalLibrary.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getExternalLibrary_Base_Interface(), theUMLPackage.getInterface(), null, "base_Interface", null, 1, 1, ExternalLibrary.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(roboticMiddlewareEClass, RoboticMiddleware.class, "RoboticMiddleware", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getRoboticMiddleware_Kind(), this.getRoboticMiddlewareKind(), "kind", null, 1, 1, RoboticMiddleware.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(roboticSimulatorEClass, RoboticSimulator.class, "RoboticSimulator", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(cycabTKEClass, CycabTK.class, "CycabTK", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getCycabTK_UseRealTime(), theTypesPackage.getBoolean(), "useRealTime", null, 0, 1, CycabTK.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCycabTK_TimeStep(), theStd_datatypesPackage.getFloat32(), "timeStep", null, 0, 1, CycabTK.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getCycabTK_TimeFactor(), theStd_datatypesPackage.getFloat32(), "timeFactor", null, 0, 1, CycabTK.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(blenderMorseEClass, BlenderMorse.class, "BlenderMorse", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getBlenderMorse_DebugMode(), theTypesPackage.getBoolean(), "debugMode", null, 0, 1, BlenderMorse.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getBlenderMorse_DebugDisplay(), theTypesPackage.getBoolean(), "debugDisplay", null, 0, 1, BlenderMorse.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getBlenderMorse_Gravity(), theStd_datatypesPackage.getFloat32(), "gravity", null, 0, 1, BlenderMorse.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEAttribute(getBlenderMorse__viewport_shade(), this.getShade(), "_viewport_shade", "WIREFRAME", 0, 1, BlenderMorse.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(onPortEClass, OnPort.class, "OnPort", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getOnPort_Port(), this.getPort(), null, "port", null, 1, 1, OnPort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getOnPort_Base_Parameter(), theUMLPackage.getParameter(), null, "base_Parameter", null, 1, 1, OnPort.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(allocateEClass, Allocate.class, "Allocate", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getAllocate_Base_Abstraction(), theUMLPackage.getAbstraction(), null, "base_Abstraction", null, 1, 1, Allocate.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(inertialMeasurementUnitSystemEClass, InertialMeasurementUnitSystem.class, "InertialMeasurementUnitSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(inertialNavigationSystemEClass, InertialNavigationSystem.class, "InertialNavigationSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(odometrySystemEClass, OdometrySystem.class, "OdometrySystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(infraRedProximetrySystemEClass, InfraRedProximetrySystem.class, "InfraRedProximetrySystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(deploymentPlanEClass, DeploymentPlan.class, "DeploymentPlan", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getDeploymentPlan_Base_Package(), theUMLPackage.getPackage(), null, "base_Package", null, 1, 1, DeploymentPlan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getDeploymentPlan_MainInstance(), theUMLPackage.getInstanceSpecification(), null, "mainInstance", null, 1, 1, DeploymentPlan.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(gyroscopeEClass, Gyroscope.class, "Gyroscope", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(onPropertyEClass, OnProperty.class, "OnProperty", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEReference(getOnProperty_Property(), theUMLPackage.getProperty(), null, "property", null, 1, 1, OnProperty.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+		initEReference(getOnProperty_Base_Parameter(), theUMLPackage.getParameter(), null, "base_Parameter", null, 1, 1, OnProperty.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_COMPOSITE, IS_RESOLVE_PROXIES, !IS_UNSETTABLE, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(chassisEClass, Chassis.class, "Chassis", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(supportingStructureEClass, SupportingStructure.class, "SupportingStructure", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(mechanicalLinkageEClass, MechanicalLinkage.class, "MechanicalLinkage", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(legEClass, Leg.class, "Leg", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(locomotionHardwareEClass, LocomotionHardware.class, "LocomotionHardware", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(actuatorHardwareEClass, ActuatorHardware.class, "ActuatorHardware", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(mobileRobotEClass, MobileRobot.class, "MobileRobot", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+		initEAttribute(getMobileRobot_Kind(), this.getMobileRobotKind(), "kind", null, 1, 1, MobileRobot.class, !IS_TRANSIENT, !IS_VOLATILE, IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, !IS_ORDERED);
+
+		initEClass(manipulatorEClass, Manipulator.class, "Manipulator", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(pilotedSystemEClass, PilotedSystem.class, "PilotedSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(powerHardwareEClass, PowerHardware.class, "PowerHardware", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(sensorHardwareEClass, SensorHardware.class, "SensorHardware", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(graspingHardwareEClass, GraspingHardware.class, "GraspingHardware", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(steeredWheelHardwareEClass, SteeredWheelHardware.class, "SteeredWheelHardware", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(armEClass, Arm.class, "Arm", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(legSystemEClass, LegSystem.class, "LegSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(graspingSystemEClass, GraspingSystem.class, "GraspingSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(weaponSystemEClass, WeaponSystem.class, "WeaponSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(manMachineInterfaceSystemEClass, ManMachineInterfaceSystem.class, "ManMachineInterfaceSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(closedLoopControlSystemEClass, ClosedLoopControlSystem.class, "ClosedLoopControlSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(openLoopControlSystemEClass, OpenLoopControlSystem.class, "OpenLoopControlSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(roboticHeadEClass, RoboticHead.class, "RoboticHead", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(navigationCommandSystemEClass, NavigationCommandSystem.class, "NavigationCommandSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		initEClass(joysticNavigationSystemEClass, JoysticNavigationSystem.class, "JoysticNavigationSystem", !IS_ABSTRACT, !IS_INTERFACE, IS_GENERATED_INSTANCE_CLASS);
+
+		// Initialize enums and add enum literals
+		initEEnum(synchronizationKindEEnum, SynchronizationKind.class, "SynchronizationKind");
+		addEEnumLiteral(synchronizationKindEEnum, SynchronizationKind.SYNCH);
+		addEEnumLiteral(synchronizationKindEEnum, SynchronizationKind.ASYNCH);
+		addEEnumLiteral(synchronizationKindEEnum, SynchronizationKind.UNDEFINED);
+
+		initEEnum(dataFlowDirectionKindEEnum, DataFlowDirectionKind.class, "DataFlowDirectionKind");
+		addEEnumLiteral(dataFlowDirectionKindEEnum, DataFlowDirectionKind.IN);
+		addEEnumLiteral(dataFlowDirectionKindEEnum, DataFlowDirectionKind.OUT);
+		addEEnumLiteral(dataFlowDirectionKindEEnum, DataFlowDirectionKind.INOUT);
+
+		initEEnum(serviceFlowKindEEnum, ServiceFlowKind.class, "ServiceFlowKind");
+		addEEnumLiteral(serviceFlowKindEEnum, ServiceFlowKind.PROVIDED);
+		addEEnumLiteral(serviceFlowKindEEnum, ServiceFlowKind.REQUIRED);
+
+		initEEnum(ugvKindEEnum, UGVKind.class, "UGVKind");
+		addEEnumLiteral(ugvKindEEnum, UGVKind.DIFFERENTIAL);
+		addEEnumLiteral(ugvKindEEnum, UGVKind.CAR);
+
+		initEEnum(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.class, "RoboticMiddlewareKind");
+		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.RT_MAPS);
+		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.AROCAM);
+		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.ROS);
+		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.OROCOS);
+		addEEnumLiteral(roboticMiddlewareKindEEnum, RoboticMiddlewareKind.URBI);
+
+		initEEnum(shadeEEnum, Shade.class, "Shade");
+		addEEnumLiteral(shadeEEnum, Shade.WIREFRAME);
+		addEEnumLiteral(shadeEEnum, Shade.BOUNDBOX);
+		addEEnumLiteral(shadeEEnum, Shade.SOLID);
+		addEEnumLiteral(shadeEEnum, Shade.TEXTURED);
+
+		initEEnum(mobileRobotKindEEnum, MobileRobotKind.class, "MobileRobotKind");
+		addEEnumLiteral(mobileRobotKindEEnum, MobileRobotKind.AIR_VEHICLE);
+		addEEnumLiteral(mobileRobotKindEEnum, MobileRobotKind.HYBRID_VEHICLE);
+		addEEnumLiteral(mobileRobotKindEEnum, MobileRobotKind.SURFACE_VEHICLE);
+		addEEnumLiteral(mobileRobotKindEEnum, MobileRobotKind.UNDERWATER_VEHICLE);
+		addEEnumLiteral(mobileRobotKindEEnum, MobileRobotKind.CAR_LIKE_VEHICLE);
+		addEEnumLiteral(mobileRobotKindEEnum, MobileRobotKind.DIFFERENTIAL_VEHICLE);
+		addEEnumLiteral(mobileRobotKindEEnum, MobileRobotKind.LEGGED_VEHICLE);
+
+		// Create resource
+		createResource(eNS_URI);
+	}
+
+} //RobotMLPackageImpl