| <?xml version="1.0" encoding="UTF-8"?> |
| <core:ApogySystem xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:bindings="org.eclipse.apogy.common.topology.bindings" xmlns:bindings_1="org.eclipse.apogy.addons.sensors.fov.bindings" xmlns:core="org.eclipse.apogy.core" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:emf="org.eclipse.apogy.common.emf" xmlns:fov="org.eclipse.apogy.addons.sensors.fov" xmlns:topology="org.eclipse.apogy.common.topology" xmi:id="_1LPEwArOEeW4-_ONWXXiAw" name="PTUCameraApogySystem" description="A simulated camera mounted on a pan-tilt unit. "> |
| <interfaceClass href="org.eclipse.apogy.examples.camera#//PTUCamera"/> |
| <typeApiAdapterClass href="org.eclipse.apogy.examples.camera.apogy#//PTUCameraApogySystemApiAdapter"/> |
| <topologyRoot xmi:id="_1LPEwQrOEeW4-_ONWXXiAw"> |
| <originNode xsi:type="topology:AggregateGroupNode" xmi:id="_1LPEwgrOEeW4-_ONWXXiAw" description="The root node of the PTU Camera's topology" nodeId="PTU_CAMERA_SYM_SYS_ROOT"> |
| <aggregatedChildren xsi:type="topology:URLNode" xmi:id="_1LPEwwrOEeW4-_ONWXXiAw" parent="_1LPEwgrOEeW4-_ONWXXiAw" description="The CAD of the camera base" nodeId="PTU_CAMERA_SYM_SYS_BASE_CAD" url="platform:/plugin/org.eclipse.apogy.examples.camera.apogy/vrml/base.wrl"/> |
| <aggregatedChildren xsi:type="topology:TransformNode" xmi:id="_1LPExArOEeW4-_ONWXXiAw" parent="_1LPEwgrOEeW4-_ONWXXiAw" description="The transform from the camera base to the pan joint" nodeId="PTU_CAMERA_SYM_SYS_BASE_TO_PAN_JOINT"> |
| <aggregatedChildren xsi:type="topology:TransformNode" xmi:id="_1LPExQrOEeW4-_ONWXXiAw" parent="_1LPExArOEeW4-_ONWXXiAw" description="The rotation of the pan joint" nodeId="PTU_CAMERA_SYM_SYS_PAN_JOINT"> |
| <aggregatedChildren xsi:type="topology:URLNode" xmi:id="_1LPExgrOEeW4-_ONWXXiAw" parent="_1LPExQrOEeW4-_ONWXXiAw" description="The CAD of the pan joint" nodeId="PTU_CAMERA_SYM_SYS_PAN_JOINT_CAD" url="platform:/plugin/org.eclipse.apogy.examples.camera.apogy/vrml/pan.wrl"/> |
| <aggregatedChildren xsi:type="topology:TransformNode" xmi:id="_1LPExwrOEeW4-_ONWXXiAw" parent="_1LPExQrOEeW4-_ONWXXiAw" description="The transform from the pan joint to the tilt joint" nodeId="PTU_CAMERA_SYM_SYS_PAN_TO_TILT_JOINT"> |
| <aggregatedChildren xsi:type="topology:TransformNode" xmi:id="_1LPEyArOEeW4-_ONWXXiAw" parent="_1LPExwrOEeW4-_ONWXXiAw" description="The tilt joint rotation" nodeId="PTU_CAMERA_SYM_SYS_TILT_JOINT"> |
| <aggregatedChildren xsi:type="topology:URLNode" xmi:id="_1LPEyQrOEeW4-_ONWXXiAw" parent="_1LPEyArOEeW4-_ONWXXiAw" description="The CAD of the tilt joint" nodeId="PTU_CAMERA_SYM_SYS_TILT_JOINT_CAD" url="platform:/plugin/org.eclipse.apogy.examples.camera.apogy/vrml/tilt.wrl"/> |
| <aggregatedChildren xsi:type="topology:TransformNode" xmi:id="_1LQS4ArOEeW4-_ONWXXiAw" parent="_1LPEyArOEeW4-_ONWXXiAw" description="The transform from the tilt joint to the camera" nodeId="PTU_CAMERA_SYM_SYS_TILT_JOINT_TO_CAMERA"> |
| <aggregatedChildren xsi:type="topology:URLNode" xmi:id="_1LQS4QrOEeW4-_ONWXXiAw" parent="_1LQS4ArOEeW4-_ONWXXiAw" description="The CAD of the camera body" nodeId="PTU_CAMERA_SYM_SYS_CAMERA_CAD" url="platform:/plugin/org.eclipse.apogy.examples.camera.apogy/vrml/camera.wrl"/> |
| <aggregatedChildren xsi:type="topology:TransformNode" xmi:id="_1LQS4grOEeW4-_ONWXXiAw" parent="_1LQS4ArOEeW4-_ONWXXiAw" description="The transform from the camera proper to the lens (implicitly FOV)" nodeId="PTU_CAMERA_SYM_SYS_LENS"> |
| <aggregatedChildren xsi:type="topology:URLNode" xmi:id="_1LQ58ArOEeW4-_ONWXXiAw" parent="_1LQS4grOEeW4-_ONWXXiAw" description="The CAD for the camera lens" nodeId="PTU_CAMERA_SYM_SYS_LENS_CAD" url="platform:/plugin/org.eclipse.apogy.examples.camera.apogy/vrml/lens.wrl"/> |
| <aggregatedChildren xsi:type="fov:RectangularFrustrumFieldOfView" xmi:id="_1LQ58QrOEeW4-_ONWXXiAw" parent="_1LQS4grOEeW4-_ONWXXiAw" description="The camera's field of view (FOV)" nodeId="PTU_CAMERA_SYM_SYS_FOV" horizontalFieldOfViewAngle="1.9634954084936207" verticalFieldOfViewAngle="0.7853981633974483"> |
| <range xmi:id="_1LQ58wrOEeW4-_ONWXXiAw" maximumDistance="5.0"/> |
| </aggregatedChildren> |
| <position xmi:id="_1LQ59ArOEeW4-_ONWXXiAw" x="0.05" z="0.15"/> |
| <rotationMatrix xmi:id="_1LQ59QrOEeW4-_ONWXXiAw" m00="6.123233995736766E-17" m01="-1.0" m10="1.0" m11="6.123233995736766E-17"/> |
| </aggregatedChildren> |
| <position xmi:id="_1LQ59grOEeW4-_ONWXXiAw" x="0.05"/> |
| <rotationMatrix xmi:id="_1LQ59wrOEeW4-_ONWXXiAw"/> |
| </aggregatedChildren> |
| <position xmi:id="_1LQ5-ArOEeW4-_ONWXXiAw"/> |
| <rotationMatrix xmi:id="_1LQ5-QrOEeW4-_ONWXXiAw" m11="6.123233995736766E-17" m12="1.0" m21="-1.0" m22="6.123233995736766E-17"/> |
| </aggregatedChildren> |
| <position xmi:id="_1LQ5-grOEeW4-_ONWXXiAw" x="0.025" z="0.175"/> |
| <rotationMatrix xmi:id="_1LQ5-wrOEeW4-_ONWXXiAw" m11="6.123233995736766E-17" m12="1.0" m21="-1.0" m22="6.123233995736766E-17"/> |
| </aggregatedChildren> |
| <position xmi:id="_1LQ5_ArOEeW4-_ONWXXiAw"/> |
| <rotationMatrix xmi:id="_1LQ5_QrOEeW4-_ONWXXiAw"/> |
| </aggregatedChildren> |
| <position xmi:id="_1LQ5_grOEeW4-_ONWXXiAw" z="0.05"/> |
| <rotationMatrix xmi:id="_1LQ5_wrOEeW4-_ONWXXiAw" m00="6.123233995736766E-17" m01="1.0" m10="-1.0" m11="6.123233995736766E-17"/> |
| </aggregatedChildren> |
| </originNode> |
| </topologyRoot> |
| <bindingSet xmi:id="_1LQ6AArOEeW4-_ONWXXiAw"> |
| <featureRootsList xmi:id="_1LQ6AQrOEeW4-_ONWXXiAw"> |
| <featureRoots xmi:id="_1LQ6AgrOEeW4-_ONWXXiAw"> |
| <children xsi:type="emf:TreeFeatureNode" xmi:id="_1LQ6AwrOEeW4-_ONWXXiAw"> |
| <structuralFeature xsi:type="ecore:EAttribute" href="org.eclipse.apogy.addons.actuators#//PanTiltUnit/currentPanAngle"/> |
| </children> |
| <children xsi:type="emf:TreeFeatureNode" xmi:id="_1LQ6BArOEeW4-_ONWXXiAw"> |
| <structuralFeature xsi:type="ecore:EAttribute" href="org.eclipse.apogy.addons.actuators#//PanTiltUnit/currentTiltAngle"/> |
| </children> |
| <children xsi:type="emf:TreeFeatureNode" xmi:id="_IfYIgAJ5EeeA2t9JlYNdTA"> |
| <structuralFeature xsi:type="ecore:EReference" href="org.eclipse.apogy.examples.camera#//Camera/fov"/> |
| </children> |
| <sourceClass href="org.eclipse.apogy.examples.camera#//PTUCamera"/> |
| </featureRoots> |
| </featureRootsList> |
| <bindingsList xmi:id="_1LQ6BgrOEeW4-_ONWXXiAw"> |
| <bindings xsi:type="bindings:RotationBinding" xmi:id="_1LQ6BwrOEeW4-_ONWXXiAw" description="The binding for the PTU camera's pan joint" name="PTU_CAMERA_SYM_SYS_BIND_PAN_JOINT" featureNode="_1LQ6AwrOEeW4-_ONWXXiAw" rotationNode="_1LPExQrOEeW4-_ONWXXiAw" rotationAxis="Z_AXIS"/> |
| <bindings xsi:type="bindings:RotationBinding" xmi:id="_1LQ6CArOEeW4-_ONWXXiAw" description="The binding for the PTU camera's tilt joint" name="PTU_CAMERA_SYM_SYS_BIND_TILT_JOINT" featureNode="_1LQ6BArOEeW4-_ONWXXiAw" rotationNode="_1LPEyArOEeW4-_ONWXXiAw"/> |
| <bindings xsi:type="bindings_1:RectangularFrustrumFieldOfViewBinding" xmi:id="_1LQ6CQrOEeW4-_ONWXXiAw" description="The binding for the PTU camera's field of view (FOV)" name="PTU_CAMERA_SYM_SYS_BIND_FOV" featureNode="_IfYIgAJ5EeeA2t9JlYNdTA" fov="_1LQ58QrOEeW4-_ONWXXiAw"/> |
| </bindingsList> |
| </bindingSet> |
| </core:ApogySystem> |
