Removing canonical attribute from css stylesheet
Modifying templates
Change-Id: I9ac32dad97e526516a0b2ca8043ffefa2fa28752
Signed-off-by: saadia dhouib <saadia.dhouib@cea.fr>
diff --git a/org.eclipse.papyrus.robotml.diagram.common/css/style.css b/org.eclipse.papyrus.robotml.diagram.common/css/style.css
index cfbad13..7405cc3 100644
--- a/org.eclipse.papyrus.robotml.diagram.common/css/style.css
+++ b/org.eclipse.papyrus.robotml.diagram.common/css/style.css
@@ -8,6 +8,8 @@
Connector > Label {
visible: false;
}
-Property, Port, Connector {
- canonical:true;
+Connector {
+ routing: Rectilinear;
+ roundedBendpointsRadius : 12;
+ smoothness : none;
}
diff --git a/org.eclipse.papyrus.robotml.templaterepository/resource/AirOARP.uml b/org.eclipse.papyrus.robotml.templaterepository/resource/AirOARP.uml
index d0c7d92..40270a7 100644
--- a/org.eclipse.papyrus.robotml.templaterepository/resource/AirOARP.uml
+++ b/org.eclipse.papyrus.robotml.templaterepository/resource/AirOARP.uml
@@ -1,640 +1,633 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="20110701" xmlns:xmi="http://www.omg.org/spec/XMI/20110701" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/4.0.0/UML">
- <uml:Model xmi:id="_GqCd8HUwEeKtkpd6W4BP5g" name="Talc">
- <ownedComment xmi:id="_GqCd8XUwEeKtkpd6W4BP5g">
- <body> RmaxSoftwareArchiteccture a implementer sous Orocos</body>
- </ownedComment>
- <ownedComment xmi:id="_GqCd8nUwEeKtkpd6W4BP5g">
- <body>Les connecteurs d'AvionicConnection et de CameraConnection a implementer sous Ros</body>
- </ownedComment>
- <ownedComment xmi:id="_GqCd83UwEeKtkpd6W4BP5g">
- <body>RMaxHardwareArchitecture et BigComponents a implementer sous Morse avec RMax.translate(x=5.0, y=0.0, z=9.0)</body>
- </ownedComment>
- <ownedComment xmi:id="_GqCd9HUwEeKtkpd6W4BP5g" annotatedElement="_GqCeAnUwEeKtkpd6W4BP5g">
- <body>'video_camera'
-.properties(capturing = True)
-.properties(cam_width = 512)
-.properties(cam_height = 512)
-.properties(cam_focal = 35.0000)</body>
- </ownedComment>
- <ownedComment xmi:id="_GqCd9XUwEeKtkpd6W4BP5g" annotatedElement="_GqCeDXUwEeKtkpd6W4BP5g">
- <body>'land-1/trees'
-.aim_camera([1.0470, 0, 0.7854])</body>
- </ownedComment>
- <ownedComment xmi:id="_GqCd9nUwEeKtkpd6W4BP5g" annotatedElement="_GqCeDnUwEeKtkpd6W4BP5g">
- <body>'rmax'
-.translate(x=5.0, y=0.0, z=9.0)</body>
- </ownedComment>
- <ownedComment xmi:id="_GqCd93UwEeKtkpd6W4BP5g" annotatedElement="_GqCeC3UwEeKtkpd6W4BP5g">
- <body>'destination'</body>
- </ownedComment>
- <ownedComment xmi:id="_GqCd-HUwEeKtkpd6W4BP5g" annotatedElement="_GqCeBnUwEeKtkpd6W4BP5g">
- <body>'gyroscope'</body>
- </ownedComment>
- <ownedComment xmi:id="_GqCd-XUwEeKtkpd6W4BP5g" annotatedElement="_GqCeCHUwEeKtkpd6W4BP5g">
- <body>'gps'</body>
- </ownedComment>
- <packageImport xmi:id="_GqCd-nUwEeKtkpd6W4BP5g">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_wyS6gAH-EeC_ZLzLQhW-TQ"/>
- </packageImport>
- <packageImport xmi:id="_GqCd-3UwEeKtkpd6W4BP5g">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#__xA6YAHvEeCQQOKrhO_fIQ"/>
- </packageImport>
- <packageImport xmi:id="_GqCd_HUwEeKtkpd6W4BP5g">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Df4_4AHwEeCQQOKrhO_fIQ"/>
- </packageImport>
- <packageImport xmi:id="_GqCd_XUwEeKtkpd6W4BP5g">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Go5_QAHwEeCQQOKrhO_fIQ"/>
- </packageImport>
- <packageImport xmi:id="_GqCd_nUwEeKtkpd6W4BP5g">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_JSoakAHwEeCQQOKrhO_fIQ"/>
- </packageImport>
- <packageImport xmi:id="_GqCd_3UwEeKtkpd6W4BP5g">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MlyNYAHwEeCQQOKrhO_fIQ"/>
- </packageImport>
- <packageImport xmi:id="_GqCeAHUwEeKtkpd6W4BP5g">
- <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_QJC2AKxYEeCJD46GtDsABA"/>
- </packageImport>
- <packageImport xmi:id="_ab_ckHdAEeKZYq0TRURVaw">
- <importedPackage xmi:type="uml:Model" href="pathmap://Papyrus_Alf_LIBRARIES/alflibrary.uml#_0bBI4Hy5EeCKy5kSqd4eVw"/>
- </packageImport>
- <packagedElement xmi:type="uml:Class" xmi:id="_GqCeAXUwEeKtkpd6W4BP5g" name="Orocos"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_GqCeAnUwEeKtkpd6W4BP5g" name="CameraMain_002">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeA3UwEeKtkpd6W4BP5g" name="Image" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
- </ownedAttribute>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeBHUwEeKtkpd6W4BP5g" name="Info" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_GqCeBXUwEeKtkpd6W4BP5g" name="Morse"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_GqCeBnUwEeKtkpd6W4BP5g" name="Gyroscope_001">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeB3UwEeKtkpd6W4BP5g" name="Angles" aggregation="composite">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_GqCeCHUwEeKtkpd6W4BP5g" name="GPS_001">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeCXUwEeKtkpd6W4BP5g" name="Position" aggregation="composite">
- <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_GqCeCnUwEeKtkpd6W4BP5g" name="ros"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_GqCeC3UwEeKtkpd6W4BP5g" name="Motion_Controller">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeDHUwEeKtkpd6W4BP5g" name="TargetPosition" aggregation="composite">
- <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
- </ownedAttribute>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_GqCeDXUwEeKtkpd6W4BP5g" name="env"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_GqCeDnUwEeKtkpd6W4BP5g" name="RMax"/>
- <packagedElement xmi:type="uml:Class" xmi:id="_GqCeHHUwEeKtkpd6W4BP5g" name="RMaxControlSystem">
- <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeHXUwEeKtkpd6W4BP5g" name="state" type="_GqCeonUwEeKtkpd6W4BP5g" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeHnUwEeKtkpd6W4BP5g" name="image" type="_GqDFC3UwEeKtkpd6W4BP5g" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeH3UwEeKtkpd6W4BP5g" name="RmaxControlReq" type="_GqDFGnUwEeKtkpd6W4BP5g" aggregation="composite"/>
- <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeIHUwEeKtkpd6W4BP5g" name="CameraControlReq" type="_GqDFXXUwEeKtkpd6W4BP5g" aggregation="composite"/>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_GqCeLXUwEeKtkpd6W4BP5g" name="AvionicSystem">
- <ownedAttribute xmi:id="_GqCeLnUwEeKtkpd6W4BP5g" name="m_gyro" type="_GqCeBnUwEeKtkpd6W4BP5g"/>
- <ownedAttribute xmi:id="_GqCeL3UwEeKtkpd6W4BP5g" name="m_obc" type="_GqCeD3UwEeKtkpd6W4BP5g"/>
- <ownedAttribute xmi:id="_GqCeMHUwEeKtkpd6W4BP5g" name="m_gps" type="_GqCeCHUwEeKtkpd6W4BP5g"/>
- <ownedAttribute xmi:id="_GqCeMXUwEeKtkpd6W4BP5g" name="m_motion" type="_GqCeC3UwEeKtkpd6W4BP5g"/>
- <ownedConnector xmi:id="_GqCeMnUwEeKtkpd6W4BP5g" name="Connector1">
- <end xmi:id="_GqCeM3UwEeKtkpd6W4BP5g" partWithPort="_GqCeLnUwEeKtkpd6W4BP5g" role="_GqCeB3UwEeKtkpd6W4BP5g">
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- </end>
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- </ownedConnector>
- <ownedConnector xmi:id="_GqCeOXUwEeKtkpd6W4BP5g" name="Connector2">
- <end xmi:id="_GqCeOnUwEeKtkpd6W4BP5g" partWithPort="_GqCeMHUwEeKtkpd6W4BP5g" role="_GqCeCXUwEeKtkpd6W4BP5g">
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- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCePHUwEeKtkpd6W4BP5g" value="1"/>
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- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeP3UwEeKtkpd6W4BP5g" value="1"/>
- </end>
- </ownedConnector>
- <ownedConnector xmi:id="_GqCeQHUwEeKtkpd6W4BP5g" name="Connector3">
- <end xmi:id="_GqCeQXUwEeKtkpd6W4BP5g" partWithPort="_GqCeL3UwEeKtkpd6W4BP5g" role="_GqCeEnUwEeKtkpd6W4BP5g">
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- </end>
- <end xmi:id="_GqCeRHUwEeKtkpd6W4BP5g" partWithPort="_GqCeMXUwEeKtkpd6W4BP5g" role="_GqCeDHUwEeKtkpd6W4BP5g">
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- </end>
- </ownedConnector>
- </packagedElement>
- <packagedElement xmi:type="uml:Class" xmi:id="_GqCeR3UwEeKtkpd6W4BP5g" name="CameraSystem">
- <ownedAttribute xmi:id="_GqCeSHUwEeKtkpd6W4BP5g" name="m_camera" type="_GqCeAnUwEeKtkpd6W4BP5g"/>
- <ownedAttribute xmi:id="_GqCeSXUwEeKtkpd6W4BP5g" name="m_talc_cam_driv" type="_GqCeFnUwEeKtkpd6W4BP5g"/>
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- <ownedComment xmi:id="_GqCeWXUwEeKtkpd6W4BP5g">
- <body></body>
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- <ownedComment xmi:id="_GqCeWnUwEeKtkpd6W4BP5g">
- <body></body>
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- <body></body>
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- <specification xmi:type="uml:LiteralString" xmi:id="_GqCeXXUwEeKtkpd6W4BP5g"/>
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-</xmi:XMI>
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+ <uml:Model xmi:id="_GqCd8HUwEeKtkpd6W4BP5g" name="Talc">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd8XUwEeKtkpd6W4BP5g">
+ <body> RmaxSoftwareArchiteccture a implementer sous Orocos</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd8nUwEeKtkpd6W4BP5g">
+ <body>Les connecteurs d'AvionicConnection et de CameraConnection a implementer sous Ros</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd83UwEeKtkpd6W4BP5g">
+ <body>RMaxHardwareArchitecture et BigComponents a implementer sous Morse avec RMax.translate(x=5.0, y=0.0, z=9.0)</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd9HUwEeKtkpd6W4BP5g" annotatedElement="_GqCeAnUwEeKtkpd6W4BP5g">
+ <body>'video_camera'
+.properties(capturing = True)
+.properties(cam_width = 512)
+.properties(cam_height = 512)
+.properties(cam_focal = 35.0000)</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd9XUwEeKtkpd6W4BP5g" annotatedElement="_GqCeDXUwEeKtkpd6W4BP5g">
+ <body>'land-1/trees'
+.aim_camera([1.0470, 0, 0.7854])</body>
+ </ownedComment>
+ <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd9nUwEeKtkpd6W4BP5g" annotatedElement="_GqCeDnUwEeKtkpd6W4BP5g">
+ <body>'rmax'
+.translate(x=5.0, y=0.0, z=9.0)</body>
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+ <RobotML:ServicePort xmi:id="_GqFhbnUwEeKtkpd6W4BP5g" base_Port="_GqCeIHUwEeKtkpd6W4BP5g" kind="required"/>
+ <RobotML:Software xmi:id="_tIooUHaEEeK3HpwXUW73BQ" base_Class="_GqCeHHUwEeKtkpd6W4BP5g"/>
+ <RobotML:Software xmi:id="_Tto_MHaFEeK3HpwXUW73BQ" base_Class="_GqCeFnUwEeKtkpd6W4BP5g"/>
+ <RobotML:Software xmi:id="_bEppAHaFEeK3HpwXUW73BQ" base_Class="_GqCeD3UwEeKtkpd6W4BP5g"/>
+</xmi:XMI>
diff --git a/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation b/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
index 3da2ccf..667a430 100644
--- a/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
+++ b/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
@@ -1,5827 +1,5877 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:configuration="http://www.eclipse.org/papyrus/infra/viewpoints/configuration" xmlns:css="http://www.eclipse.org/papyrus/infra/gmfdiag/css" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/viewpoints/policy/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
- <notation:Diagram xmi:id="_feP206k_EeCXqcRV-18f6Q" type="PapyrusUMLClassDiagram" name="DataTypesDiagram" measurementUnit="Pixel">
- <children xmi:type="notation:Shape" xmi:id="_feP21Kk_EeCXqcRV-18f6Q" type="2007" fontHeight="8" transparency="0" lineColor="0">
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP21ak_EeCXqcRV-18f6Q" source="ShadowFigure">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP21qk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
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- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP216k_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP22Kk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
- </eAnnotations>
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP22ak_EeCXqcRV-18f6Q" source="QualifiedName">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP22qk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
- </eAnnotations>
- <children xmi:type="notation:DecorationNode" xmi:id="_feP226k_EeCXqcRV-18f6Q" type="5026"/>
- <children xmi:type="notation:DecorationNode" xmi:id="_feP23Kk_EeCXqcRV-18f6Q" type="7016">
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP23ak_EeCXqcRV-18f6Q"/>
- </children>
- <element xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_8lO84GEQEeC2Epd4sWqg4w"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP23qk_EeCXqcRV-18f6Q" x="122" y="49" width="464" height="222"/>
- </children>
- <styles xmi:type="notation:DiagramStyle" xmi:id="_feP236k_EeCXqcRV-18f6Q"/>
- <styles xmi:type="style:PapyrusViewStyle" xmi:id="_kszlgH7LEeSFyNbnLYDCkw">
- <owner xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_8lO84GEQEeC2Epd4sWqg4w"/>
- <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWCvL_EeONXPQ2mbw9vA"/>
- </styles>
- <element xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_8lO84GEQEeC2Epd4sWqg4w"/>
- </notation:Diagram>
- <notation:Diagram xmi:id="_feP24Kk_EeCXqcRV-18f6Q" type="PapyrusUMLClassDiagram" name="InterfacesDiagram" measurementUnit="Pixel">
- <children xmi:type="notation:Shape" xmi:id="_feP24ak_EeCXqcRV-18f6Q" type="2007" fontHeight="8" transparency="0" lineColor="0">
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP24qk_EeCXqcRV-18f6Q" source="ShadowFigure">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP246k_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
- </eAnnotations>
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP25Kk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP25ak_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
- </eAnnotations>
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP25qk_EeCXqcRV-18f6Q" source="QualifiedName">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP256k_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
- </eAnnotations>
- <children xmi:type="notation:DecorationNode" xmi:id="_feP26Kk_EeCXqcRV-18f6Q" type="5026"/>
- <children xmi:type="notation:DecorationNode" xmi:id="_feP26ak_EeCXqcRV-18f6Q" type="7016">
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP26qk_EeCXqcRV-18f6Q"/>
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- </children>
- <styles xmi:type="notation:DiagramStyle" xmi:id="_feP27Kk_EeCXqcRV-18f6Q"/>
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- </notation:Diagram>
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- </eAnnotations>
- <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP286k_EeCXqcRV-18f6Q" source="QualifiedName">
- <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP29Kk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
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- <children xmi:type="notation:DecorationNode" xmi:id="_feP29ak_EeCXqcRV-18f6Q" type="5026"/>
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- <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJTKk_EeCXqcRV-18f6Q"/>
- <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP3XKk_EeCXqcRV-18f6Q" x="50" y="55" width="561" height="330"/>
- </children>
- <styles xmi:type="notation:DiagramStyle" xmi:id="_feP3Xak_EeCXqcRV-18f6Q"/>
- <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9WgX7LEeSFyNbnLYDCkw">
- <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJTKk_EeCXqcRV-18f6Q"/>
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- </styles>
- <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJTKk_EeCXqcRV-18f6Q"/>
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QhSG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QhiG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QhyG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
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+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OlEEe2bZEeGTV_735pzUXQ"/>
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdQbU2bZEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
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+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jdQbVGbZEeGTV_735pzUXQ" source="displayNameLabelIcon">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdQbVWbZEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jdQbVmbZEeGTV_735pzUXQ" source="QualifiedName">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdQbV2bZEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jdjWQGbZEeGTV_735pzUXQ" source="Stereotype_Annotation">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWQWbZEeGTV_735pzUXQ" key="StereotypeWithQualifiedNameList" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWQmbZEeGTV_735pzUXQ" key="StereotypeList" value="RobotML::RoboticMiddleware"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWQ2bZEeGTV_735pzUXQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWRGbZEeGTV_735pzUXQ" key="PropStereoDisplay" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWRWbZEeGTV_735pzUXQ" key="StereotypePropertyLocation" value="Compartment"/>
+ </eAnnotations>
+ <children xmi:type="notation:DecorationNode" xmi:id="_jdQbWGbZEeGTV_735pzUXQ" type="5156"/>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_jdQbWWbZEeGTV_735pzUXQ" type="7073">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_jdQbWmbZEeGTV_735pzUXQ"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jdQbW2bZEeGTV_735pzUXQ"/>
+ </children>
+ <element xmi:type="uml:Class" href="RoboCab.uml#_jcp-YGbZEeGTV_735pzUXQ"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jdQbUWbZEeGTV_735pzUXQ" x="160" y="300"/>
+ </children>
+ <styles xmi:type="notation:DiagramStyle" xmi:id="_zyLisWbWEeGGNuX1IHg1zg"/>
+ <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ktGgcH7LEeSFyNbnLYDCkw">
+ <owner xmi:type="uml:Package" href="RoboCab.uml#_tR1bIGbWEeGGNuX1IHg1zg"/>
+ <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+ </styles>
+ <element xmi:type="uml:Package" href="RoboCab.uml#_tR1bIGbWEeGGNuX1IHg1zg"/>
+ </notation:Diagram>
+ <notation:Diagram xmi:id="_Cwt3MGbaEeGTV_735pzUXQ" type="CompositeStructure" name="PlatformArchitectureDiagram" measurementUnit="Pixel">
+ <children xmi:type="notation:Shape" xmi:id="_DVXcYGbaEeGTV_735pzUXQ" type="2073" fontHeight="8" lineColor="0">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_DVhNYGbaEeGTV_735pzUXQ" source="ShadowFigure">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DVhNYWbaEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_DVhNYmbaEeGTV_735pzUXQ" source="displayNameLabelIcon">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DVhNY2baEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_DVhNZGbaEeGTV_735pzUXQ" source="QualifiedName">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DVhNZWbaEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
+ </eAnnotations>
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+ <children xmi:type="notation:BasicCompartment" xmi:id="_DVhNZ2baEeGTV_735pzUXQ" type="7073">
+ <children xmi:type="notation:Shape" xmi:id="_EmSRsGbaEeGTV_735pzUXQ" type="3070" fontHeight="8" lineColor="0">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EmSRsmbaEeGTV_735pzUXQ" source="ShadowFigure">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EmSRs2baEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EmSRtGbaEeGTV_735pzUXQ" source="displayNameLabelIcon">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EmSRtWbaEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EmSRtmbaEeGTV_735pzUXQ" source="QualifiedName">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EmSRt2baEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
+ </eAnnotations>
+ <children xmi:type="notation:DecorationNode" xmi:id="_EmSRuGbaEeGTV_735pzUXQ" type="5126"/>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_EmSRuWbaEeGTV_735pzUXQ" type="7077">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_EmSRumbaEeGTV_735pzUXQ"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EmSRu2baEeGTV_735pzUXQ"/>
+ </children>
+ <element xmi:type="uml:Property" href="RoboCab.uml#_El_WwGbaEeGTV_735pzUXQ"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EmSRsWbaEeGTV_735pzUXQ" x="261" y="32"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_Maq0AGbaEeGTV_735pzUXQ" type="3070" fontHeight="8" lineColor="0">
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Maq0A2baEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Maq0BGbaEeGTV_735pzUXQ" source="displayNameLabelIcon">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Maq0BWbaEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Maq0BmbaEeGTV_735pzUXQ" source="QualifiedName">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Maq0B2baEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
+ </eAnnotations>
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+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Maq0C2baEeGTV_735pzUXQ"/>
+ </children>
+ <element xmi:type="uml:Property" href="RoboCab.uml#_MaXSAGbaEeGTV_735pzUXQ"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Maq0AWbaEeGTV_735pzUXQ" x="21" y="37"/>
+ </children>
+ <styles xmi:type="notation:TitleStyle" xmi:id="_DVhNaGbaEeGTV_735pzUXQ"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_DVhNaWbaEeGTV_735pzUXQ"/>
+ </children>
+ <element xmi:type="uml:Class" href="RoboCab.uml#_v8CiIGbXEeGjxc8c7ZBkPQ"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_DVXcYWbaEeGTV_735pzUXQ" x="114" y="80" width="422" height="201"/>
+ </children>
+ <styles xmi:type="notation:DiagramStyle" xmi:id="_Cwt3MWbaEeGTV_735pzUXQ"/>
+ <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ktGgcX7LEeSFyNbnLYDCkw">
+ <owner xmi:type="uml:Package" href="RoboCab.uml#_tR1bIGbWEeGGNuX1IHg1zg"/>
+ <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+ </styles>
+ <element xmi:type="uml:Package" href="RoboCab.uml#_tR1bIGbWEeGGNuX1IHg1zg"/>
+ </notation:Diagram>
+ <notation:Diagram xmi:id="_-IQaMKENEeKLUqX9IJq2Gg" type="CompositeStructure" name="RoboCabEnvironmentDiagram" measurementUnit="Pixel">
+ <children xmi:type="notation:Shape" xmi:id="_--MjsKENEeKLUqX9IJq2Gg" type="2073" gradient="8905185, 16777215, 0">
+ <children xmi:type="notation:DecorationNode" xmi:id="_--MjsqENEeKLUqX9IJq2Gg" type="5156"/>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_--Mjs6ENEeKLUqX9IJq2Gg" type="7073">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_--MjtqENEeKLUqX9IJq2Gg" source="PapyrusCSSForceValue">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_--Mjt6ENEeKLUqX9IJq2Gg" key="showTitle" value="true"/>
+ </eAnnotations>
+ <children xmi:type="notation:Shape" xmi:id="_K94BwKEOEeKLUqX9IJq2Gg" type="3070" gradient="10265827, 16777215, 0">
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_aNbVIKEOEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_OCVFkBwAEeGa5bH_RJFzBQ">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aNbVIaEOEeKLUqX9IJq2Gg" key="tooltip_text" value="RobocabDefaultArchitecture"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aNbVIqEOEeKLUqX9IJq2Gg" key="diagram_name" value="RobocabDefaultArchitecture"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aNbVI6EOEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+ </eAnnotations>
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+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_VaLBgKEOEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_OCVFkBwAEeGa5bH_RJFzBQ">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_VaLBgaEOEeKLUqX9IJq2Gg" key="tooltip_text" value="RobocabDefaultArchitecture"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_VaLBgqEOEeKLUqX9IJq2Gg" key="diagram_name" value="RobocabDefaultArchitecture"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_VaLBg6EOEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+ </eAnnotations>
+ </children>
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K-BywaEOEeKLUqX9IJq2Gg" key="showTitle" value="true"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_R0svoKEOEeKLUqX9IJq2Gg" key="visible" value="true"/>
+ </eAnnotations>
+ <styles xmi:type="notation:TitleStyle" xmi:id="_K94BxKEOEeKLUqX9IJq2Gg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_K94BxaEOEeKLUqX9IJq2Gg"/>
+ </children>
+ <children xmi:type="notation:DecorationNode" xmi:id="_PPdjcLU4EeWmy72C-w00OQ" type="6054">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_PPdjcbU4EeWmy72C-w00OQ" y="5"/>
+ </children>
+ <element xmi:type="uml:Property" href="RoboCab.uml#_K9lG0KEOEeKLUqX9IJq2Gg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_K94BwaEOEeKLUqX9IJq2Gg" x="178" y="115" width="185"/>
+ </children>
+ <styles xmi:type="notation:TitleStyle" xmi:id="_--MjtKENEeKLUqX9IJq2Gg"/>
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+ </children>
+ <children xmi:type="notation:DecorationNode" xmi:id="_PPc8YLU4EeWmy72C-w00OQ" type="6089">
+ <layoutConstraint xmi:type="notation:Location" xmi:id="_PPc8YbU4EeWmy72C-w00OQ" y="5"/>
+ </children>
+ <element xmi:type="uml:Class" href="RoboCab.uml#_-9mt0KENEeKLUqX9IJq2Gg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_--MjsaENEeKLUqX9IJq2Gg" x="97" y="90" width="634" height="436"/>
+ </children>
+ <children xmi:type="notation:Shape" xmi:id="_PQrEYLU4EeWmy72C-w00OQ" type="StereotypeComment">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_PQrEYbU4EeWmy72C-w00OQ" showTitle="true"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_PQrrcLU4EeWmy72C-w00OQ" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="RoboCab.uml#_-9mt0KENEeKLUqX9IJq2Gg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_PQrEYrU4EeWmy72C-w00OQ" x="297" y="90"/>
+ </children>
+ <styles xmi:type="notation:DiagramStyle" xmi:id="_-IQaMaENEeKLUqX9IJq2Gg"/>
+ <styles xmi:type="style:PapyrusViewStyle" xmi:id="_bEBtYH7LEeSFyNbnLYDCkw">
+ <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzI0ak_EeCXqcRV-18f6Q"/>
+ <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+ </styles>
+ <styles xmi:type="notation:StringValueStyle" xmi:id="_bEBtYX7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.1.0"/>
+ <element xmi:type="uml:Model" href="RoboCab.uml#_fdzI0ak_EeCXqcRV-18f6Q"/>
+ <edges xmi:type="notation:Connector" xmi:id="_PQsSgLU4EeWmy72C-w00OQ" type="StereotypeCommentLink" source="_--MjsKENEeKLUqX9IJq2Gg" target="_PQrEYLU4EeWmy72C-w00OQ">
+ <styles xmi:type="notation:FontStyle" xmi:id="_PQsSgbU4EeWmy72C-w00OQ"/>
+ <styles xmi:type="notation:EObjectValueStyle" xmi:id="_PQsShbU4EeWmy72C-w00OQ" name="BASE_ELEMENT">
+ <eObjectValue xmi:type="uml:Class" href="RoboCab.uml#_-9mt0KENEeKLUqX9IJq2Gg"/>
+ </styles>
+ <element xsi:nil="true"/>
+ <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_PQsSgrU4EeWmy72C-w00OQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+ <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_PQsSg7U4EeWmy72C-w00OQ"/>
+ <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_PQsShLU4EeWmy72C-w00OQ"/>
+ </edges>
+ </notation:Diagram>
+ <css:ModelStyleSheets xmi:id="_1O5S4MyrEeSbw_7Zqs0KhQ"/>
+</xmi:XMI>
diff --git a/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml b/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml
index 7e1d026..06d4daa 100644
--- a/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml
+++ b/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml
@@ -1,1416 +1,1405 @@
-<?xml version="1.0" encoding="UTF-8"?>
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- <uml:Model xmi:id="_fdzI0Kk_EeCXqcRV-18f6Q" name="RoboCab">
- <packageImport xmi:type="uml:PackageImport" xmi:id="__Xbz4Kk_EeCYaYi0hzq5kg">
- <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
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- <packagedElement xmi:type="uml:Model" xmi:id="_fdzI0ak_EeCXqcRV-18f6Q" name="CoreModel">
- <packagedElement xmi:type="uml:Class" xmi:id="_fdzI0qk_EeCXqcRV-18f6Q" name="RoboCab">
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- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzI2Kk_EeCXqcRV-18f6Q" value="1"/>
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- <value xsi:nil="true"/>
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- <ownedAttribute xmi:type="uml:Property" xmi:id="_BE-egKlmEeCLku4RFrI7uw" name="missionGenerator" type="_aG5SkKlgEeCYfbnxVSyZ9g"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_bsDDwKlmEeCLku4RFrI7uw" name="organizeSpace" type="_fdzJyKk_EeCXqcRV-18f6Q"/>
- <ownedAttribute xmi:type="uml:Property" xmi:id="_kbbj0BwnEeGa5bH_RJFzBQ" name="challengerSpace" type="_fdzLHak_EeCXqcRV-18f6Q">
- <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_kbfOMBwnEeGa5bH_RJFzBQ" value="1"/>
- <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_kbgcUBwnEeGa5bH_RJFzBQ" value="1"/>
- </ownedAttribute>
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+ <RobotML:Allocate xmi:id="_xNA2UaEOEeKLUqX9IJq2Gg" base_Abstraction="_xNA2UKEOEeKLUqX9IJq2Gg"/>
+ <RobotML:Allocate xmi:id="_xfyoYaEOEeKLUqX9IJq2Gg" base_Abstraction="_xfyoYKEOEeKLUqX9IJq2Gg"/>
+</xmi:XMI>
diff --git a/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation b/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation
index 3a6e374..3cd54e3 100644
--- a/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation
+++ b/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation
@@ -1,8768 +1,8891 @@
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- <element xmi:type="uml:Enumeration" href="YouthChallenge.uml#_k0Lj4ziAEeKDAMEjnOLmPA"/>
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UiY9xXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
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+ <layoutConstraint xmi:type="notation:Location" xmi:id="_UiZk0XBiEeKpO-l0NGAU9Q" x="25" y="-10"/>
+ </children>
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+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_UiYWsXBiEeKpO-l0NGAU9Q" x="90" y="60"/>
+ </children>
+ <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnXziAEeKDAMEjnOLmPA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M74fYXBiEeKpO-l0NGAU9Q" x="350" y="225"/>
+ </children>
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+ </eAnnotations>
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NHDNk3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NHDNlHBiEeKpO-l0NGAU9Q" source="QualifiedName">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NHDNlXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
+ </eAnnotations>
+ <children xmi:type="notation:DecorationNode" xmi:id="_NHDNlnBiEeKpO-l0NGAU9Q" type="5156"/>
+ <children xmi:type="notation:BasicCompartment" xmi:id="_NHDNl3BiEeKpO-l0NGAU9Q" type="7073">
+ <styles xmi:type="notation:TitleStyle" xmi:id="_NHDNmHBiEeKpO-l0NGAU9Q"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NHDNmXBiEeKpO-l0NGAU9Q"/>
+ </children>
+ <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnZDiAEeKDAMEjnOLmPA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NHCmgXBiEeKpO-l0NGAU9Q" x="55" y="365"/>
+ </children>
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NaKW0XBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NaKW0nBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NaKW03BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NaKW1HBiEeKpO-l0NGAU9Q" source="QualifiedName">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NaKW1XBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
+ </eAnnotations>
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+ <styles xmi:type="notation:TitleStyle" xmi:id="_NaKW2HBiEeKpO-l0NGAU9Q"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NaKW2XBiEeKpO-l0NGAU9Q"/>
+ </children>
+ <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnaTiAEeKDAMEjnOLmPA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NaJvwXBiEeKpO-l0NGAU9Q" x="306" y="72"/>
+ </children>
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nq4TYXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Nq4TYnBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nq4TY3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
+ </eAnnotations>
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nq4TZXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
+ </eAnnotations>
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+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Nq4TaXBiEeKpO-l0NGAU9Q"/>
+ </children>
+ <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnbziAEeKDAMEjnOLmPA"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Nq3sUXBiEeKpO-l0NGAU9Q" x="525" y="397"/>
+ </children>
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+ <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdkX7bEeSFyNbnLYDCkw">
+ <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LnODiAEeKDAMEjnOLmPA"/>
+ <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+ </styles>
+ <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LnODiAEeKDAMEjnOLmPA"/>
+ </notation:Diagram>
+ <notation:Diagram xmi:id="_rc51sKEKEeKLUqX9IJq2Gg" type="CompositeStructure" name="WifibotEnvironmentDiagram" measurementUnit="Pixel">
+ <children xmi:type="notation:Shape" xmi:id="_sAx-0KEKEeKLUqX9IJq2Gg" type="2073" gradient="8905185, 16777215, 0">
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbcKEKEeKLUqX9IJq2Gg" key="StereotypeWithQualifiedNameList" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbcaEKEeKLUqX9IJq2Gg" key="StereotypeList" value="RobotML::Environment"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbcqEKEeKLUqX9IJq2Gg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbc6EKEeKLUqX9IJq2Gg" key="PropStereoDisplay" value=""/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbdKEKEeKLUqX9IJq2Gg" key="StereotypePropertyLocation" value="Compartment"/>
+ </eAnnotations>
+ <children xmi:type="notation:DecorationNode" xmi:id="_sA7v0KEKEeKLUqX9IJq2Gg" type="5156"/>
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sA7v1aEKEeKLUqX9IJq2Gg" key="showTitle" value="true"/>
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BBnUU6ELEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+ </eAnnotations>
+ <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Mym2IKELEeKLUqX9IJq2Gg" source="PapyrusCSSForceValue">
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MywnIKELEeKLUqX9IJq2Gg" key="gradient" value="true"/>
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+ <children xmi:type="notation:DecorationNode" xmi:id="_wPdlwqEKEeKLUqX9IJq2Gg" type="5126">
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-TL_MaEKEeKLUqX9IJq2Gg" key="tooltip_text" value="WifiBot"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-TL_MqEKEeKLUqX9IJq2Gg" key="diagram_name" value="WifiBot"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-TL_M6EKEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+ </eAnnotations>
+ </children>
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+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wPdlx6EKEeKLUqX9IJq2Gg" key="showTitle" value="true"/>
+ <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zroKoKEKEeKLUqX9IJq2Gg" key="visible" value="true"/>
+ </eAnnotations>
+ <styles xmi:type="notation:TitleStyle" xmi:id="_wPdlxKEKEeKLUqX9IJq2Gg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_wPdlxaEKEeKLUqX9IJq2Gg"/>
+ </children>
+ <element xmi:type="uml:Property" href="YouthChallenge.uml#_wOk08KEKEeKLUqX9IJq2Gg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_wPdlwaEKEeKLUqX9IJq2Gg" x="148" y="115"/>
+ </children>
+ <styles xmi:type="notation:TitleStyle" xmi:id="_sA7v0qEKEeKLUqX9IJq2Gg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_sA7v06EKEeKLUqX9IJq2Gg"/>
+ </children>
+ <element xmi:type="uml:Class" href="YouthChallenge.uml#_r_SxEKEKEeKLUqX9IJq2Gg"/>
+ <layoutConstraint xmi:type="notation:Bounds" xmi:id="_sAx-0aEKEeKLUqX9IJq2Gg" x="137" y="70" width="449" height="381"/>
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+ <styles xmi:type="notation:DiagramStyle" xmi:id="_rc51saEKEeKLUqX9IJq2Gg"/>
+ <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdkn7bEeSFyNbnLYDCkw">
+ <owner xmi:type="uml:Model" href="YouthChallenge.uml#_k0Lj4DiAEeKDAMEjnOLmPA"/>
+ <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+ </styles>
+ <element xmi:type="uml:Model" href="YouthChallenge.uml#_k0Lj4DiAEeKDAMEjnOLmPA"/>
+ </notation:Diagram>
+ <css:ModelStyleSheets xmi:id="_EmqHEMysEeSbw_7Zqs0KhQ"/>
+ <css:EmbeddedStyleSheet xmi:id="_xTxqcLVFEeWmy72C-w00OQ" label="port" content="Port Port {maskLabel:name type;displayIcon:true;}"/>
+</xmi:XMI>
diff --git a/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml b/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
index 7fedeec..271d2b6 100644
--- a/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
+++ b/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
@@ -1,2345 +1,2351 @@
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- <packageImport xmi:type="uml:PackageImport" xmi:id="_k0Lj4TiAEeKDAMEjnOLmPA">
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- <packagedElement xmi:type="uml:Package" xmi:id="_k0Lj4jiAEeKDAMEjnOLmPA" name="YouthChallenge DataTypes">
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- <body>Un amer correspond a une balise composee d'une clonne et d'un solide d'une couleur </body>
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+ <body>Un amer correspond a une balise composee d'une clonne et d'un solide d'une couleur </body>
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+ </packagedElement>
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+ <body>This module buid the absolute bitmap map (glob_map) of the scene, using the local map (loc-map).
+the origine is the entry zone of the robot.</body>
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+The frame is centered on the robot (x <=> forward).
+it use proxi_map and all proprio and exteroceptive datas giving him the relative displacement.
+This map have a MEMORY : the obstacles are placed and 'follow' the motion of the robot, either they are not directly seen by the robot.
+It place also all the amer on it map.</body>
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+ </packagedElement>
+ </packagedElement>
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+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmkjiAEeKDAMEjnOLmPA" annotatedElement="_k0LmkTiAEeKDAMEjnOLmPA">
+ <body>Modele Cinematique Direct (MCD) - Direct Kinematics Model (DKM)
+Transformation from articular space (left and right wheels speed) to operational space (cartesian velocity)
+we call it "Super"-DKM because we not only use odometry speed, but also IMU and GPS inputs, and we output also cartesian position</body>
+ </ownedComment>
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+ </packagedElement>
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+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmrziAEeKDAMEjnOLmPA" annotatedElement="_k0LmrjiAEeKDAMEjnOLmPA">
+ <body>Proximetric Map is a bitmap map, but in polar coordinate.
+the polar 2D frame is linked to the robot (so relative). Origine x forward the robot, angle with trigonometric way/notation (unclocwise)
+this Polar bitmap map is digitalized in Nrange cell from 0 to MaxRange, and in Nangle, from 0 to 2Pi.
+Only measures from sensors are directly print on this map : no memory !</body>
+ </ownedComment>
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+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LmuTiAEeKDAMEjnOLmPA" name="Amer_Identif">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmujiAEeKDAMEjnOLmPA" annotatedElement="_k0LmuTiAEeKDAMEjnOLmPA">
+ <body>This Module is able to find a amer in a image, and, using the CameraInfo of the cam, give a position of it, relatively from the robot. it delivers also the shape of the amer, and it color.</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmuziAEeKDAMEjnOLmPA" name="video" visibility="public" aggregation="composite">
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+ <body></body>
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+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm2jiAEeKDAMEjnOLmPA" name="superDKM" type="_k0LmkTiAEeKDAMEjnOLmPA"/>
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+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoNDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoNTiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoDziAEeKDAMEjnOLmPA">
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+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoNziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoODiAEeKDAMEjnOLmPA" name="Connector3">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoOTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoOjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoOziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoPDiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoEziAEeKDAMEjnOLmPA">
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+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoPjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ </packagedElement>
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+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LoQDiAEeKDAMEjnOLmPA" name="Navigator">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoQTiAEeKDAMEjnOLmPA" annotatedElement="_k0LoQDiAEeKDAMEjnOLmPA">
+ <body>Navigator deliver local trajectory for the pilot, taking into account local map.
+It must reach the various waypoints, considering the obstacles placed in the local map (loc_map)</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoQjiAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
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+ <value xsi:nil="true"/>
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+ </ownedAttribute>
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+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoUTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoUjiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
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+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoVTiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LoVjiAEeKDAMEjnOLmPA" name="A3_Navigator">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoVziAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
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+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoWTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoWjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
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+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoWziAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
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+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LoXziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoQDiAEeKDAMEjnOLmPA"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYDiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYTiAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYjiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+ </ownedAttribute>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoYziAEeKDAMEjnOLmPA" name="Connector1">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoZDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoRjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoZTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoZjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
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+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoajiAEeKDAMEjnOLmPA" name="Connector2">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoaziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LobDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LobTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LobjiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoQjiAEeKDAMEjnOLmPA">
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+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LocDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LocTiAEeKDAMEjnOLmPA" name="Connector3">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LocjiAEeKDAMEjnOLmPA" role="_k0LoYDiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LocziAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LodDiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LodTiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoSjiAEeKDAMEjnOLmPA">
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+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LodziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoeDiAEeKDAMEjnOLmPA" name="Connector4">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoeTiAEeKDAMEjnOLmPA" role="_k0LoYTiAEeKDAMEjnOLmPA">
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+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoeziAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LofDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoTjiAEeKDAMEjnOLmPA">
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+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LofjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LofziAEeKDAMEjnOLmPA" name="Connector5">
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogDiAEeKDAMEjnOLmPA" role="_k0LoYjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LogTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LogjiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogziAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoUjiAEeKDAMEjnOLmPA">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LohDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LohTiAEeKDAMEjnOLmPA" value="1"/>
+ </end>
+ </ownedConnector>
+ </packagedElement>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Package" xmi:id="_k0LohjiAEeKDAMEjnOLmPA" name="A2_Pilot">
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LohziAEeKDAMEjnOLmPA" name="Pilot">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoiDiAEeKDAMEjnOLmPA" annotatedElement="_k0LohziAEeKDAMEjnOLmPA">
+ <body>The pilot must calculate the set points in operating space, following the trajectory delivered by the navigator. 
+But the pilot must react to obstacles 'seen' in the proximetric map (prox_map), avoiding them.
+</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoiTiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoijiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoiziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LojDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LojTiAEeKDAMEjnOLmPA" name="prox_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LojjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LojziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LokDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LokTiAEeKDAMEjnOLmPA" name="op_set_point" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUVyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LokjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LokziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LolDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LolTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
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+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LomDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LomTiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
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+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LomziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LonDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LonTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LonjiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LonziAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LooDiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LooTiAEeKDAMEjnOLmPA" name="IKM">
+ <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoojiAEeKDAMEjnOLmPA" annotatedElement="_k0LooTiAEeKDAMEjnOLmPA">
+ <body>Modele Cinématique Inverse (MCI) - Invert Kinematic Model (IKM)
+transform the velocities from the operational space to the articular space (left and right wheels velocities)</body>
+ </ownedComment>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LooziAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
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+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LopTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LopjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LopziAEeKDAMEjnOLmPA" name="op_set_point" visibility="public" isUnique="false" aggregation="composite">
+ <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUVyN8EeKwed7FEEF-4Q"/>
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoqDiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoqTiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoqjiAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Class" xmi:id="_k0LoqziAEeKDAMEjnOLmPA" name="A2_Pilot">
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LorDiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+ <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LorTiAEeKDAMEjnOLmPA" value="1"/>
+ <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LorjiAEeKDAMEjnOLmPA" value="1"/>
+ <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LorziAEeKDAMEjnOLmPA">
+ <value xsi:nil="true"/>
+ </defaultValue>
+ </ownedAttribute>
+ <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LosDiAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
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