From b61df1140c15a982b2a288f840bde64509c918cb Mon Sep 17 00:00:00 2001
From: Daniela Genius <genius@debussy.soc.lip6.fr>
Date: Wed, 5 Jul 2017 15:53:17 +0200
Subject: [PATCH] redimensionner profondeur de scanaux
---
modeling/SoCLib/rover.xml | 3560 ++++++++++++++++++-------------------
1 file changed, 1775 insertions(+), 1785 deletions(-)
diff --git a/modeling/SoCLib/rover.xml b/modeling/SoCLib/rover.xml
index 7aff03ddda..ed22273f58 100644
--- a/modeling/SoCLib/rover.xml
+++ b/modeling/SoCLib/rover.xml
@@ -8,40 +8,40 @@
<cdparam x="480" y="262" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="480" y="236" id="52" />
-<P2 x="479" y="296" id="22" />
+<P1 x="480" y="236" id="66" />
+<P2 x="479" y="296" id="26" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="2" >
<cdparam x="601" y="181" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="672" y="166" id="66" />
-<P2 x="817" y="166" id="11" />
+<P1 x="672" y="166" id="52" />
+<P2 x="817" y="166" id="9" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="3" >
<cdparam x="601" y="205" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="672" y="217" id="56" />
-<P2 x="817" y="217" id="9" />
+<P1 x="672" y="217" id="62" />
+<P2 x="817" y="217" id="11" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="4" >
<cdparam x="375" y="154" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="388" y="151" id="64" />
-<P2 x="257" y="151" id="41" />
+<P1 x="388" y="151" id="54" />
+<P2 x="257" y="151" id="37" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="5" >
<cdparam x="445" y="153" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="388" y="180" id="62" />
-<P2 x="257" y="182" id="37" />
+<P1 x="388" y="180" id="56" />
+<P2 x="257" y="182" id="41" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="6" >
@@ -49,7 +49,7 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
<P1 x="257" y="212" id="39" />
-<P2 x="388" y="212" id="54" />
+<P2 x="388" y="212" id="64" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="7" >
@@ -57,15 +57,15 @@
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
<P1 x="418" y="296" id="24" />
-<P2 x="418" y="236" id="60" />
+<P2 x="418" y="236" id="58" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<CONNECTOR type="126" id="8" >
<cdparam x="547" y="288" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="Connector between ports" />
-<P1 x="549" y="236" id="58" />
-<P2 x="548" y="296" id="26" />
+<P1 x="549" y="236" id="60" />
+<P2 x="548" y="296" id="22" />
<AutomaticDrawing data="true" />
</CONNECTOR>
<COMPONENT type="1202" id="21" >
@@ -89,14 +89,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="10" >
<father id="21" num="0" />
-<cdparam x="804" y="217" />
+<cdparam x="804" y="166" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="229" minY="-13" maxY="117" />
-<infoparam name="Primitive port" value="Channel motorCommand" />
+<infoparam name="Primitive port" value="Event newCommand" />
<TGConnectingPoint num="0" id="9" />
<extraparam>
-<Prop commName="motorCommand" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="newCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -106,14 +106,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="12" >
<father id="21" num="1" />
-<cdparam x="804" y="166" />
+<cdparam x="804" y="217" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="229" minY="-13" maxY="117" />
-<infoparam name="Primitive port" value="Event newCommand" />
+<infoparam name="Primitive port" value="Channel motorCommand" />
<TGConnectingPoint num="0" id="11" />
<extraparam>
-<Prop commName="newCommand" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="motorCommand" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -143,14 +143,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="23" >
<father id="36" num="0" />
-<cdparam x="466" y="296" />
+<cdparam x="535" y="296" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="278" minY="-13" maxY="85" />
-<infoparam name="Primitive port" value="Event stopTemp" />
+<infoparam name="Primitive port" value="Event startTemp" />
<TGConnectingPoint num="0" id="22" />
<extraparam>
-<Prop commName="stopTemp" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="startTemp" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -177,14 +177,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="27" >
<father id="36" num="2" />
-<cdparam x="535" y="296" />
+<cdparam x="466" y="296" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="278" minY="-13" maxY="85" />
-<infoparam name="Primitive port" value="Event startTemp" />
+<infoparam name="Primitive port" value="Event stopTemp" />
<TGConnectingPoint num="0" id="26" />
<extraparam>
-<Prop commName="startTemp" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="stopTemp" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -213,14 +213,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="38" >
<father id="51" num="0" />
-<cdparam x="244" y="182" />
+<cdparam x="244" y="151" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="109" />
-<infoparam name="Primitive port" value="Channel samplingRate" />
+<infoparam name="Primitive port" value="Event changeRate" />
<TGConnectingPoint num="0" id="37" />
<extraparam>
-<Prop commName="samplingRate" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="changeRate" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -247,14 +247,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="42" >
<father id="51" num="2" />
-<cdparam x="244" y="151" />
+<cdparam x="244" y="182" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="187" minY="-13" maxY="109" />
-<infoparam name="Primitive port" value="Event changeRate" />
+<infoparam name="Primitive port" value="Channel samplingRate" />
<TGConnectingPoint num="0" id="41" />
<extraparam>
-<Prop commName="changeRate" commType="1" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="samplingRate" commType="0" origin="false" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -285,14 +285,14 @@
</COMPONENT>
<SUBCOMPONENT type="1203" id="53" >
<father id="76" num="0" />
-<cdparam x="467" y="236" />
+<cdparam x="659" y="166" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Event stopTemp" />
+<infoparam name="Primitive port" value="Event newCommand" />
<TGConnectingPoint num="0" id="52" />
<extraparam>
-<Prop commName="stopTemp" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="newCommand" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -302,14 +302,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="55" >
<father id="76" num="1" />
-<cdparam x="375" y="212" />
+<cdparam x="375" y="151" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Channel ultrasonicData" />
+<infoparam name="Primitive port" value="Event changeRate" />
<TGConnectingPoint num="0" id="54" />
<extraparam>
-<Prop commName="ultrasonicData" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="changeRate" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -319,14 +319,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="57" >
<father id="76" num="2" />
-<cdparam x="659" y="217" />
+<cdparam x="375" y="180" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Channel motorCommand" />
+<infoparam name="Primitive port" value="Channel samplingRate" />
<TGConnectingPoint num="0" id="56" />
<extraparam>
-<Prop commName="motorCommand" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="samplingRate" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -336,14 +336,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="59" >
<father id="76" num="3" />
-<cdparam x="536" y="236" />
+<cdparam x="405" y="236" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Event startTemp" />
+<infoparam name="Primitive port" value="Channel tempData" />
<TGConnectingPoint num="0" id="58" />
<extraparam>
-<Prop commName="startTemp" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="tempData" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -353,14 +353,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="61" >
<father id="76" num="4" />
-<cdparam x="405" y="236" />
+<cdparam x="536" y="236" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Channel tempData" />
+<infoparam name="Primitive port" value="Event startTemp" />
<TGConnectingPoint num="0" id="60" />
<extraparam>
-<Prop commName="tempData" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="startTemp" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -370,14 +370,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="63" >
<father id="76" num="5" />
-<cdparam x="375" y="180" />
+<cdparam x="659" y="217" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Channel samplingRate" />
+<infoparam name="Primitive port" value="Channel motorCommand" />
<TGConnectingPoint num="0" id="62" />
<extraparam>
-<Prop commName="samplingRate" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="motorCommand" commType="0" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -387,14 +387,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="65" >
<father id="76" num="6" />
-<cdparam x="375" y="151" />
+<cdparam x="375" y="212" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Event changeRate" />
+<infoparam name="Primitive port" value="Channel ultrasonicData" />
<TGConnectingPoint num="0" id="64" />
<extraparam>
-<Prop commName="changeRate" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="ultrasonicData" commType="0" origin="false" finite="false" blocking="true" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -404,14 +404,14 @@
</SUBCOMPONENT>
<SUBCOMPONENT type="1203" id="67" >
<father id="76" num="7" />
-<cdparam x="659" y="166" />
+<cdparam x="467" y="236" />
<sizeparam width="26" height="26" minWidth="1" minHeight="1" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="-13" maxX="271" minY="-13" maxY="111" />
-<infoparam name="Primitive port" value="Event newCommand" />
+<infoparam name="Primitive port" value="Event stopTemp" />
<TGConnectingPoint num="0" id="66" />
<extraparam>
-<Prop commName="newCommand" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
+<Prop commName="stopTemp" commType="1" origin="true" finite="false" blocking="false" maxSamples="8" widthSamples="4" isLossy="false" isPrex="false" isPostex="false" lossPercentage="0" maxNbOfLoss="0" dataFlowType="uint_16" associatedEvent="" checkConf="false" checkConfStatus="0" checkAuth="false" checkWeakAuthStatus="0" checkStrongAuthStatus="0" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
<Type type="0" typeOther="" />
@@ -2210,11 +2210,11 @@ state 2: obstacles in close proximity
</COMPONENT>
<SUBCOMPONENT type="1101" id="483" >
<father id="535" num="0" />
-<cdparam x="436" y="135" />
-<sizeparam width="151" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="435" y="179" />
+<sizeparam width="159" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="69" minY="0" maxY="175" />
-<infoparam name="TGComponent" value="Rover::MainControl" />
+<cdrectangleparam minX="0" maxX="61" minY="0" maxY="175" />
+<infoparam name="TGComponent" value="Rover::MotorControl" />
<TGConnectingPoint num="0" id="475" />
<TGConnectingPoint num="1" id="476" />
<TGConnectingPoint num="2" id="477" />
@@ -2224,16 +2224,16 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="6" id="481" />
<TGConnectingPoint num="7" id="482" />
<extraparam>
-<info value="Rover::MainControl" taskName="MainControl" referenceTaskName="Rover" priority="0" operation="MainControl" fatherComponentMECType="0" />
+<info value="Rover::MotorControl" taskName="MotorControl" referenceTaskName="Rover" priority="0" operation="MotorControl" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="492" >
<father id="535" num="1" />
-<cdparam x="435" y="223" />
-<sizeparam width="175" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="435" y="267" />
+<sizeparam width="201" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="45" minY="0" maxY="175" />
-<infoparam name="TGComponent" value="Rover::DistanceSensor" />
+<cdrectangleparam minX="0" maxX="19" minY="0" maxY="175" />
+<infoparam name="TGComponent" value="Rover::TemperatureSensor" />
<TGConnectingPoint num="0" id="484" />
<TGConnectingPoint num="1" id="485" />
<TGConnectingPoint num="2" id="486" />
@@ -2243,16 +2243,16 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="6" id="490" />
<TGConnectingPoint num="7" id="491" />
<extraparam>
-<info value="Rover::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Rover" priority="0" operation="DistanceSensor" fatherComponentMECType="0" />
+<info value="Rover::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Rover" priority="0" operation="TemperatureSensor" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="501" >
<father id="535" num="2" />
-<cdparam x="435" y="267" />
-<sizeparam width="201" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="435" y="223" />
+<sizeparam width="175" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="19" minY="0" maxY="175" />
-<infoparam name="TGComponent" value="Rover::TemperatureSensor" />
+<cdrectangleparam minX="0" maxX="45" minY="0" maxY="175" />
+<infoparam name="TGComponent" value="Rover::DistanceSensor" />
<TGConnectingPoint num="0" id="493" />
<TGConnectingPoint num="1" id="494" />
<TGConnectingPoint num="2" id="495" />
@@ -2262,16 +2262,16 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="6" id="499" />
<TGConnectingPoint num="7" id="500" />
<extraparam>
-<info value="Rover::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Rover" priority="0" operation="TemperatureSensor" fatherComponentMECType="0" />
+<info value="Rover::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Rover" priority="0" operation="DistanceSensor" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
<SUBCOMPONENT type="1101" id="510" >
<father id="535" num="3" />
-<cdparam x="435" y="179" />
-<sizeparam width="159" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="436" y="135" />
+<sizeparam width="151" height="40" minWidth="100" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="61" minY="0" maxY="175" />
-<infoparam name="TGComponent" value="Rover::MotorControl" />
+<cdrectangleparam minX="0" maxX="69" minY="0" maxY="175" />
+<infoparam name="TGComponent" value="Rover::MainControl" />
<TGConnectingPoint num="0" id="502" />
<TGConnectingPoint num="1" id="503" />
<TGConnectingPoint num="2" id="504" />
@@ -2281,7 +2281,7 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="6" id="508" />
<TGConnectingPoint num="7" id="509" />
<extraparam>
-<info value="Rover::MotorControl" taskName="MotorControl" referenceTaskName="Rover" priority="0" operation="MotorControl" fatherComponentMECType="0" />
+<info value="Rover::MainControl" taskName="MainControl" referenceTaskName="Rover" priority="0" operation="MainControl" fatherComponentMECType="0" />
</extraparam>
</SUBCOMPONENT>
@@ -2322,7 +2322,7 @@ state 2: obstacles in close proximity
<MainCode value="void __user_init() {"/>
<MainCode value="}"/>
<Optimized value="false" />
-<Validated value="MotorControl;TemperatureSensor;DistanceSensor;MainControl;" />
+<Validated value="" />
<Ignored value="" />
<CONNECTOR type="5002" id="539" >
@@ -2338,7 +2338,7 @@ state 2: obstacles in close proximity
<osd value="out sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
<isd value="in changeRate(int samplingRate)" />
<oso value="out changeRate(int samplingRate)" />
-<FIFOType asynchronous="true" size="1" blocking="false" private="false" broadcast="false" lossy="false" />
+<FIFOType asynchronous="true" size="8" blocking="false" private="false" broadcast="false" lossy="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="5002" id="541" >
@@ -2352,7 +2352,7 @@ state 2: obstacles in close proximity
<extraparam>
<isd value="in motorCommand(int leftCommand, int rightCommand)" />
<oso value="out motorCommand(int leftVelocity, int rightVelocity)" />
-<FIFOType asynchronous="true" size="1" blocking="false" private="false" broadcast="false" lossy="false" />
+<FIFOType asynchronous="true" size="8" blocking="false" private="false" broadcast="false" lossy="false" />
</extraparam>
</CONNECTOR>
<CONNECTOR type="5002" id="543" >
@@ -2368,15 +2368,16 @@ state 2: obstacles in close proximity
<osd value="out tempData(int temp)" />
<isd value="in control(bool sensorOn)" />
<oso value="out control(bool sensorOn)" />
-<FIFOType asynchronous="true" size="1" blocking="false" private="false" broadcast="false" lossy="false" />
+<FIFOType asynchronous="true" size="8" blocking="false" private="false" broadcast="false" lossy="false" />
</extraparam>
</CONNECTOR>
<COMPONENT type="302" id="560" >
<cdparam x="810" y="140" />
-<sizeparam width="255" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="257" height="58" minWidth="80" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
-<infoparam name="Proverif Pragma" value="" />
+<infoparam name="Proverif Pragma" value="
+" />
<TGConnectingPoint num="0" id="544" />
<TGConnectingPoint num="1" id="545" />
<TGConnectingPoint num="2" id="546" />
@@ -2394,7 +2395,6 @@ state 2: obstacles in close proximity
<TGConnectingPoint num="14" id="558" />
<TGConnectingPoint num="15" id="559" />
<extraparam>
-<Line value="" />
</extraparam>
</COMPONENT>
@@ -2470,7 +2470,6 @@ state 2: obstacles in close proximity
<CryptoBlock value="false" />
<Attribute access="0" id="sensorOn" value="false" type="4" typeOther="" />
<Attribute access="0" id="temp" value="0" type="8" typeOther="" />
-<Attribute access="0" id="timer1" value="" type="9" typeOther="" />
<Attribute access="0" id="samplingRate" value="5" type="8" typeOther="" />
<Signal value="in control(bool sensorOn)" attached="true" />
<Signal value="out tempData(int temp)" attached="true" />
@@ -2511,7 +2510,6 @@ state 2: obstacles in close proximity
<CryptoBlock value="false" />
<Attribute access="0" id="samplingRate" value="10" type="8" typeOther="" />
<Attribute access="0" id="distance" value="" type="8" typeOther="" />
-<Attribute access="0" id="timer1" value="" type="9" typeOther="" />
<Attribute access="0" id="distanceFront" value="" type="8" typeOther="" />
<Attribute access="0" id="distanceLeft" value="" type="8" typeOther="" />
<Attribute access="0" id="distanceRight" value="" type="8" typeOther="" />
@@ -2774,45 +2772,45 @@ state 2: obstacles in close proximity
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="TemperatureSensor" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="5102" id="2262" >
+<CONNECTOR type="5102" id="752" >
<cdparam x="332" y="571" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="2265" />
-<TGConnectingPoint num="1" id="2266" />
-<TGConnectingPoint num="2" id="2267" />
-<P1 x="405" y="357" id="900" />
-<P2 x="495" y="146" id="936" />
+<TGConnectingPoint num="0" id="749" />
+<TGConnectingPoint num="1" id="750" />
+<TGConnectingPoint num="2" id="751" />
+<P1 x="405" y="357" id="807" />
+<P2 x="495" y="146" id="843" />
<Point x="648" y="358" />
<Point x="652" y="146" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="2263" >
-<father id="2262" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="742" >
+<father id="752" num="0" />
<cdparam x="648" y="358" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2264" >
-<father id="2262" num="1" />
+<SUBCOMPONENT type="-1" id="743" >
+<father id="752" num="1" />
<cdparam x="652" y="146" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2268" >
-<father id="2262" num="2" />
+<SUBCOMPONENT type="-1" id="748" >
+<father id="752" num="2" />
<cdparam x="413" y="358" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="2269" />
-<TGConnectingPoint num="1" id="2270" />
-<TGConnectingPoint num="2" id="2271" />
-<TGConnectingPoint num="3" id="2272" />
+<TGConnectingPoint num="0" id="744" />
+<TGConnectingPoint num="1" id="745" />
+<TGConnectingPoint num="2" id="746" />
+<TGConnectingPoint num="3" id="747" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -2822,45 +2820,45 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="2251" >
+<CONNECTOR type="5102" id="763" >
<cdparam x="325" y="255" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="2254" />
-<TGConnectingPoint num="1" id="2255" />
-<TGConnectingPoint num="2" id="2256" />
-<P1 x="298" y="255" id="873" />
-<P2 x="319" y="152" id="922" />
+<TGConnectingPoint num="0" id="760" />
+<TGConnectingPoint num="1" id="761" />
+<TGConnectingPoint num="2" id="762" />
+<P1 x="298" y="255" id="796" />
+<P2 x="319" y="152" id="829" />
<Point x="190" y="255" />
<Point x="189" y="151" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="2252" >
-<father id="2251" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="753" >
+<father id="763" num="0" />
<cdparam x="190" y="255" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2253" >
-<father id="2251" num="1" />
+<SUBCOMPONENT type="-1" id="754" >
+<father id="763" num="1" />
<cdparam x="189" y="151" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="2257" >
-<father id="2251" num="2" />
+<SUBCOMPONENT type="-1" id="759" >
+<father id="763" num="2" />
<cdparam x="322" y="203" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="2258" />
-<TGConnectingPoint num="1" id="2259" />
-<TGConnectingPoint num="2" id="2260" />
-<TGConnectingPoint num="3" id="2261" />
+<TGConnectingPoint num="0" id="755" />
+<TGConnectingPoint num="1" id="756" />
+<TGConnectingPoint num="2" id="757" />
+<TGConnectingPoint num="3" id="758" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -2870,55 +2868,53 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="2237" >
+<CONNECTOR type="5102" id="770" >
<cdparam x="362" y="290" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="2238" />
-<P1 x="407" y="165" id="916" />
-<P2 x="407" y="276" id="869" />
+<TGConnectingPoint num="0" id="769" />
+<P1 x="407" y="165" id="823" />
+<P2 x="407" y="276" id="792" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="2239" >
-<father id="2237" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="768" >
+<father id="770" num="0" />
<cdparam x="419" y="226" />
-<sizeparam width="218" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="217" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="2240" />
-<TGConnectingPoint num="1" id="2241" />
-<TGConnectingPoint num="2" id="2242" />
-<TGConnectingPoint num="3" id="2243" />
+<TGConnectingPoint num="0" id="764" />
+<TGConnectingPoint num="1" id="765" />
+<TGConnectingPoint num="2" id="766" />
+<TGConnectingPoint num="3" id="767" />
<extraparam>
<guard value="[ sensorOn]" />
<afterMin value="samplingRate" />
<afterMax value="samplingRate" />
<computeMin value="" />
<computeMax value="" />
-<filesToIncludeLine value="" />
-<codeToIncludeLine value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="766" >
+<CONNECTOR type="5102" id="777" >
<cdparam x="538" y="298" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="765" />
-<P1 x="407" y="306" id="870" />
-<P2 x="405" y="327" id="899" />
+<TGConnectingPoint num="0" id="776" />
+<P1 x="407" y="306" id="793" />
+<P2 x="405" y="327" id="806" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="764" >
-<father id="766" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="775" >
+<father id="777" num="0" />
<cdparam x="471" y="312" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="760" />
-<TGConnectingPoint num="1" id="761" />
-<TGConnectingPoint num="2" id="762" />
-<TGConnectingPoint num="3" id="763" />
+<TGConnectingPoint num="0" id="771" />
+<TGConnectingPoint num="1" id="772" />
+<TGConnectingPoint num="2" id="773" />
+<TGConnectingPoint num="3" id="774" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -2928,25 +2924,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="802" >
+<CONNECTOR type="5102" id="784" >
<cdparam x="363" y="165" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="801" />
-<P1 x="363" y="165" id="924" />
-<P2 x="298" y="225" id="872" />
+<TGConnectingPoint num="0" id="783" />
+<P1 x="363" y="165" id="831" />
+<P2 x="298" y="225" id="795" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="800" >
-<father id="802" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="782" >
+<father id="784" num="0" />
<cdparam x="476" y="301" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="796" />
-<TGConnectingPoint num="1" id="797" />
-<TGConnectingPoint num="2" id="798" />
-<TGConnectingPoint num="3" id="799" />
+<TGConnectingPoint num="0" id="778" />
+<TGConnectingPoint num="1" id="779" />
+<TGConnectingPoint num="2" id="780" />
+<TGConnectingPoint num="3" id="781" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -2956,25 +2952,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="809" >
+<CONNECTOR type="5102" id="791" >
<cdparam x="407" y="60" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="808" />
-<P1 x="407" y="60" id="951" />
-<P2 x="407" y="115" id="911" />
+<TGConnectingPoint num="0" id="790" />
+<P1 x="407" y="60" id="858" />
+<P2 x="407" y="115" id="818" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="807" >
-<father id="809" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="789" >
+<father id="791" num="0" />
<cdparam x="447" y="100" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="803" />
-<TGConnectingPoint num="1" id="804" />
-<TGConnectingPoint num="2" id="805" />
-<TGConnectingPoint num="3" id="806" />
+<TGConnectingPoint num="0" id="785" />
+<TGConnectingPoint num="1" id="786" />
+<TGConnectingPoint num="2" id="787" />
+<TGConnectingPoint num="3" id="788" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -2984,167 +2980,165 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5108" id="871" >
+<COMPONENT type="5108" id="794" >
<cdparam x="326" y="281" />
<sizeparam width="163" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="869" />
-<TGConnectingPoint num="1" id="870" />
+<TGConnectingPoint num="0" id="792" />
+<TGConnectingPoint num="1" id="793" />
<extraparam>
<Data variable="temp" minValue="0" maxValue="10" functionId="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5104" id="882" >
-<cdparam x="232" y="230" />
-<sizeparam width="132" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5104" id="805" >
+<cdparam x="234" y="230" />
+<sizeparam width="129" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Receive signal" value="control(sensorOn)" />
-<TGConnectingPoint num="0" id="872" />
-<TGConnectingPoint num="1" id="873" />
-<TGConnectingPoint num="2" id="874" />
-<TGConnectingPoint num="3" id="875" />
-<TGConnectingPoint num="4" id="876" />
-<TGConnectingPoint num="5" id="877" />
-<TGConnectingPoint num="6" id="878" />
-<TGConnectingPoint num="7" id="879" />
-<TGConnectingPoint num="8" id="880" />
-<TGConnectingPoint num="9" id="881" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="909" >
+<TGConnectingPoint num="0" id="795" />
+<TGConnectingPoint num="1" id="796" />
+<TGConnectingPoint num="2" id="797" />
+<TGConnectingPoint num="3" id="798" />
+<TGConnectingPoint num="4" id="799" />
+<TGConnectingPoint num="5" id="800" />
+<TGConnectingPoint num="6" id="801" />
+<TGConnectingPoint num="7" id="802" />
+<TGConnectingPoint num="8" id="803" />
+<TGConnectingPoint num="9" id="804" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="816" >
<cdparam x="348" y="332" />
<sizeparam width="114" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Send signal" value="tempData(temp)" />
-<TGConnectingPoint num="0" id="899" />
-<TGConnectingPoint num="1" id="900" />
-<TGConnectingPoint num="2" id="901" />
-<TGConnectingPoint num="3" id="902" />
-<TGConnectingPoint num="4" id="903" />
-<TGConnectingPoint num="5" id="904" />
-<TGConnectingPoint num="6" id="905" />
-<TGConnectingPoint num="7" id="906" />
-<TGConnectingPoint num="8" id="907" />
-<TGConnectingPoint num="9" id="908" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="950" >
+<TGConnectingPoint num="0" id="806" />
+<TGConnectingPoint num="1" id="807" />
+<TGConnectingPoint num="2" id="808" />
+<TGConnectingPoint num="3" id="809" />
+<TGConnectingPoint num="4" id="810" />
+<TGConnectingPoint num="5" id="811" />
+<TGConnectingPoint num="6" id="812" />
+<TGConnectingPoint num="7" id="813" />
+<TGConnectingPoint num="8" id="814" />
+<TGConnectingPoint num="9" id="815" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="857" >
<cdparam x="319" y="115" />
<sizeparam width="176" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="State" value="start" />
-<TGConnectingPoint num="0" id="910" />
-<TGConnectingPoint num="1" id="911" />
-<TGConnectingPoint num="2" id="912" />
-<TGConnectingPoint num="3" id="913" />
-<TGConnectingPoint num="4" id="914" />
-<TGConnectingPoint num="5" id="915" />
-<TGConnectingPoint num="6" id="916" />
-<TGConnectingPoint num="7" id="917" />
-<TGConnectingPoint num="8" id="918" />
-<TGConnectingPoint num="9" id="919" />
-<TGConnectingPoint num="10" id="920" />
-<TGConnectingPoint num="11" id="921" />
-<TGConnectingPoint num="12" id="922" />
-<TGConnectingPoint num="13" id="923" />
-<TGConnectingPoint num="14" id="924" />
-<TGConnectingPoint num="15" id="925" />
-<TGConnectingPoint num="16" id="926" />
-<TGConnectingPoint num="17" id="927" />
-<TGConnectingPoint num="18" id="928" />
-<TGConnectingPoint num="19" id="929" />
-<TGConnectingPoint num="20" id="930" />
-<TGConnectingPoint num="21" id="931" />
-<TGConnectingPoint num="22" id="932" />
-<TGConnectingPoint num="23" id="933" />
-<TGConnectingPoint num="24" id="934" />
-<TGConnectingPoint num="25" id="935" />
-<TGConnectingPoint num="26" id="936" />
-<TGConnectingPoint num="27" id="937" />
-<TGConnectingPoint num="28" id="938" />
-<TGConnectingPoint num="29" id="939" />
-<TGConnectingPoint num="30" id="940" />
-<TGConnectingPoint num="31" id="941" />
-<TGConnectingPoint num="32" id="942" />
-<TGConnectingPoint num="33" id="943" />
-<TGConnectingPoint num="34" id="944" />
-<TGConnectingPoint num="35" id="945" />
-<TGConnectingPoint num="36" id="946" />
-<TGConnectingPoint num="37" id="947" />
-<TGConnectingPoint num="38" id="948" />
-<TGConnectingPoint num="39" id="949" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="952" >
+<TGConnectingPoint num="0" id="817" />
+<TGConnectingPoint num="1" id="818" />
+<TGConnectingPoint num="2" id="819" />
+<TGConnectingPoint num="3" id="820" />
+<TGConnectingPoint num="4" id="821" />
+<TGConnectingPoint num="5" id="822" />
+<TGConnectingPoint num="6" id="823" />
+<TGConnectingPoint num="7" id="824" />
+<TGConnectingPoint num="8" id="825" />
+<TGConnectingPoint num="9" id="826" />
+<TGConnectingPoint num="10" id="827" />
+<TGConnectingPoint num="11" id="828" />
+<TGConnectingPoint num="12" id="829" />
+<TGConnectingPoint num="13" id="830" />
+<TGConnectingPoint num="14" id="831" />
+<TGConnectingPoint num="15" id="832" />
+<TGConnectingPoint num="16" id="833" />
+<TGConnectingPoint num="17" id="834" />
+<TGConnectingPoint num="18" id="835" />
+<TGConnectingPoint num="19" id="836" />
+<TGConnectingPoint num="20" id="837" />
+<TGConnectingPoint num="21" id="838" />
+<TGConnectingPoint num="22" id="839" />
+<TGConnectingPoint num="23" id="840" />
+<TGConnectingPoint num="24" id="841" />
+<TGConnectingPoint num="25" id="842" />
+<TGConnectingPoint num="26" id="843" />
+<TGConnectingPoint num="27" id="844" />
+<TGConnectingPoint num="28" id="845" />
+<TGConnectingPoint num="29" id="846" />
+<TGConnectingPoint num="30" id="847" />
+<TGConnectingPoint num="31" id="848" />
+<TGConnectingPoint num="32" id="849" />
+<TGConnectingPoint num="33" id="850" />
+<TGConnectingPoint num="34" id="851" />
+<TGConnectingPoint num="35" id="852" />
+<TGConnectingPoint num="36" id="853" />
+<TGConnectingPoint num="37" id="854" />
+<TGConnectingPoint num="38" id="855" />
+<TGConnectingPoint num="39" id="856" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="859" >
<cdparam x="400" y="40" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="951" />
+<TGConnectingPoint num="0" id="858" />
</COMPONENT>
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="DistanceSensor" minX="10" maxX="2500" minY="10" maxY="1500" >
-<CONNECTOR type="5102" id="2244" >
+<CONNECTOR type="5102" id="866" >
<cdparam x="331" y="153" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="2245" />
-<P1 x="331" y="153" id="1107" />
-<P2 x="287" y="287" id="1128" />
+<TGConnectingPoint num="0" id="865" />
+<P1 x="331" y="153" id="978" />
+<P2 x="287" y="287" id="999" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="2246" >
-<father id="2244" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="864" >
+<father id="866" num="0" />
<cdparam x="144" y="204" />
-<sizeparam width="218" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="217" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="2247" />
-<TGConnectingPoint num="1" id="2248" />
-<TGConnectingPoint num="2" id="2249" />
-<TGConnectingPoint num="3" id="2250" />
+<TGConnectingPoint num="0" id="860" />
+<TGConnectingPoint num="1" id="861" />
+<TGConnectingPoint num="2" id="862" />
+<TGConnectingPoint num="3" id="863" />
<extraparam>
<guard value="[ ]" />
<afterMin value="samplingRate" />
<afterMax value="samplingRate" />
<computeMin value="" />
<computeMax value="" />
-<filesToIncludeLine value="" />
-<codeToIncludeLine value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="959" >
+<CONNECTOR type="5102" id="873" >
<cdparam x="287" y="454" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="958" />
-<P1 x="287" y="454" id="1123" />
-<P2 x="287" y="522" id="1035" />
+<TGConnectingPoint num="0" id="872" />
+<P1 x="287" y="454" id="994" />
+<P2 x="287" y="522" id="928" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="957" >
-<father id="959" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="871" >
+<father id="873" num="0" />
<cdparam x="302" y="488" />
-<sizeparam width="64" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="61" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="953" />
-<TGConnectingPoint num="1" id="954" />
-<TGConnectingPoint num="2" id="955" />
-<TGConnectingPoint num="3" id="956" />
+<TGConnectingPoint num="0" id="867" />
+<TGConnectingPoint num="1" id="868" />
+<TGConnectingPoint num="2" id="869" />
+<TGConnectingPoint num="3" id="870" />
<extraparam>
<guard value="[ ]" />
<afterMin value="1" />
@@ -3154,25 +3148,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="966" >
+<CONNECTOR type="5102" id="880" >
<cdparam x="287" y="380" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="965" />
-<P1 x="287" y="380" id="1126" />
-<P2 x="287" y="424" id="1122" />
+<TGConnectingPoint num="0" id="879" />
+<P1 x="287" y="380" id="997" />
+<P2 x="287" y="424" id="993" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="964" >
-<father id="966" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="878" >
+<father id="880" num="0" />
<cdparam x="298" y="399" />
-<sizeparam width="64" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="61" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="960" />
-<TGConnectingPoint num="1" id="961" />
-<TGConnectingPoint num="2" id="962" />
-<TGConnectingPoint num="3" id="963" />
+<TGConnectingPoint num="0" id="874" />
+<TGConnectingPoint num="1" id="875" />
+<TGConnectingPoint num="2" id="876" />
+<TGConnectingPoint num="3" id="877" />
<extraparam>
<guard value="[ ]" />
<afterMin value="1" />
@@ -3182,25 +3176,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="973" >
+<CONNECTOR type="5102" id="887" >
<cdparam x="287" y="317" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="972" />
-<P1 x="287" y="317" id="1129" />
-<P2 x="287" y="350" id="1125" />
+<TGConnectingPoint num="0" id="886" />
+<P1 x="287" y="317" id="1000" />
+<P2 x="287" y="350" id="996" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="971" >
-<father id="973" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="885" >
+<father id="887" num="0" />
<cdparam x="293" y="330" />
-<sizeparam width="64" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="61" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="967" />
-<TGConnectingPoint num="1" id="968" />
-<TGConnectingPoint num="2" id="969" />
-<TGConnectingPoint num="3" id="970" />
+<TGConnectingPoint num="0" id="881" />
+<TGConnectingPoint num="1" id="882" />
+<TGConnectingPoint num="2" id="883" />
+<TGConnectingPoint num="3" id="884" />
<extraparam>
<guard value="[ ]" />
<afterMin value="1" />
@@ -3210,55 +3204,55 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="986" >
+<CONNECTOR type="5102" id="900" >
<cdparam x="523" y="226" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="982" />
-<TGConnectingPoint num="1" id="983" />
-<TGConnectingPoint num="2" id="984" />
-<TGConnectingPoint num="3" id="985" />
-<P1 x="523" y="226" id="1047" />
-<P2 x="506" y="128" id="1083" />
+<TGConnectingPoint num="0" id="896" />
+<TGConnectingPoint num="1" id="897" />
+<TGConnectingPoint num="2" id="898" />
+<TGConnectingPoint num="3" id="899" />
+<P1 x="523" y="226" id="940" />
+<P2 x="506" y="128" id="954" />
<Point x="523" y="255" />
<Point x="674" y="255" />
<Point x="676" y="130" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="974" >
-<father id="986" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="888" >
+<father id="900" num="0" />
<cdparam x="523" y="255" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="975" >
-<father id="986" num="1" />
+<SUBCOMPONENT type="-1" id="889" >
+<father id="900" num="1" />
<cdparam x="674" y="255" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="976" >
-<father id="986" num="2" />
+<SUBCOMPONENT type="-1" id="890" >
+<father id="900" num="2" />
<cdparam x="676" y="130" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="981" >
-<father id="986" num="3" />
+<SUBCOMPONENT type="-1" id="895" >
+<father id="900" num="3" />
<cdparam x="514" y="177" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="977" />
-<TGConnectingPoint num="1" id="978" />
-<TGConnectingPoint num="2" id="979" />
-<TGConnectingPoint num="3" id="980" />
+<TGConnectingPoint num="0" id="891" />
+<TGConnectingPoint num="1" id="892" />
+<TGConnectingPoint num="2" id="893" />
+<TGConnectingPoint num="3" id="894" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3268,55 +3262,55 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="999" >
+<CONNECTOR type="5102" id="913" >
<cdparam x="262" y="358" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="995" />
-<TGConnectingPoint num="1" id="996" />
-<TGConnectingPoint num="2" id="997" />
-<TGConnectingPoint num="3" id="998" />
-<P1 x="287" y="552" id="1036" />
-<P2 x="308" y="134" id="1103" />
+<TGConnectingPoint num="0" id="909" />
+<TGConnectingPoint num="1" id="910" />
+<TGConnectingPoint num="2" id="911" />
+<TGConnectingPoint num="3" id="912" />
+<P1 x="287" y="552" id="929" />
+<P2 x="308" y="134" id="974" />
<Point x="287" y="568" />
<Point x="71" y="568" />
<Point x="71" y="133" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="987" >
-<father id="999" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="901" >
+<father id="913" num="0" />
<cdparam x="287" y="568" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="988" >
-<father id="999" num="1" />
+<SUBCOMPONENT type="-1" id="902" >
+<father id="913" num="1" />
<cdparam x="71" y="568" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="989" >
-<father id="999" num="2" />
+<SUBCOMPONENT type="-1" id="903" >
+<father id="913" num="2" />
<cdparam x="71" y="133" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="994" >
-<father id="999" num="3" />
+<SUBCOMPONENT type="-1" id="908" >
+<father id="913" num="3" />
<cdparam x="285" y="246" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="990" />
-<TGConnectingPoint num="1" id="991" />
-<TGConnectingPoint num="2" id="992" />
-<TGConnectingPoint num="3" id="993" />
+<TGConnectingPoint num="0" id="904" />
+<TGConnectingPoint num="1" id="905" />
+<TGConnectingPoint num="2" id="906" />
+<TGConnectingPoint num="3" id="907" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3326,25 +3320,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1013" >
+<CONNECTOR type="5102" id="920" >
<cdparam x="407" y="60" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1012" />
-<P1 x="407" y="60" id="1120" />
-<P2 x="407" y="103" id="1080" />
+<TGConnectingPoint num="0" id="919" />
+<P1 x="407" y="60" id="991" />
+<P2 x="407" y="103" id="951" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1011" >
-<father id="1013" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="918" >
+<father id="920" num="0" />
<cdparam x="453" y="100" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1007" />
-<TGConnectingPoint num="1" id="1008" />
-<TGConnectingPoint num="2" id="1009" />
-<TGConnectingPoint num="3" id="1010" />
+<TGConnectingPoint num="0" id="914" />
+<TGConnectingPoint num="1" id="915" />
+<TGConnectingPoint num="2" id="916" />
+<TGConnectingPoint num="3" id="917" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3354,25 +3348,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1034" >
+<CONNECTOR type="5102" id="927" >
<cdparam x="480" y="153" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1033" />
-<P1 x="480" y="153" id="1110" />
-<P2 x="523" y="196" id="1046" />
+<TGConnectingPoint num="0" id="926" />
+<P1 x="480" y="153" id="981" />
+<P2 x="523" y="196" id="939" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1032" >
-<father id="1034" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="925" >
+<father id="927" num="0" />
<cdparam x="480" y="172" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1028" />
-<TGConnectingPoint num="1" id="1029" />
-<TGConnectingPoint num="2" id="1030" />
-<TGConnectingPoint num="3" id="1031" />
+<TGConnectingPoint num="0" id="921" />
+<TGConnectingPoint num="1" id="922" />
+<TGConnectingPoint num="2" id="923" />
+<TGConnectingPoint num="3" id="924" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3382,135 +3376,135 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5103" id="1045" >
-<cdparam x="108" y="527" />
-<sizeparam width="359" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="938" >
+<cdparam x="111" y="527" />
+<sizeparam width="352" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Send signal" value="sensorData(distanceLeft, distanceFront, distanceRight)" />
-<TGConnectingPoint num="0" id="1035" />
-<TGConnectingPoint num="1" id="1036" />
-<TGConnectingPoint num="2" id="1037" />
-<TGConnectingPoint num="3" id="1038" />
-<TGConnectingPoint num="4" id="1039" />
-<TGConnectingPoint num="5" id="1040" />
-<TGConnectingPoint num="6" id="1041" />
-<TGConnectingPoint num="7" id="1042" />
-<TGConnectingPoint num="8" id="1043" />
-<TGConnectingPoint num="9" id="1044" />
+<TGConnectingPoint num="0" id="928" />
+<TGConnectingPoint num="1" id="929" />
+<TGConnectingPoint num="2" id="930" />
+<TGConnectingPoint num="3" id="931" />
+<TGConnectingPoint num="4" id="932" />
+<TGConnectingPoint num="5" id="933" />
+<TGConnectingPoint num="6" id="934" />
+<TGConnectingPoint num="7" id="935" />
+<TGConnectingPoint num="8" id="936" />
+<TGConnectingPoint num="9" id="937" />
</COMPONENT>
-<COMPONENT type="5104" id="1056" >
-<cdparam x="429" y="201" />
-<sizeparam width="189" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5104" id="949" >
+<cdparam x="430" y="201" />
+<sizeparam width="187" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Receive signal" value="changeRate(samplingRate)" />
-<TGConnectingPoint num="0" id="1046" />
-<TGConnectingPoint num="1" id="1047" />
-<TGConnectingPoint num="2" id="1048" />
-<TGConnectingPoint num="3" id="1049" />
-<TGConnectingPoint num="4" id="1050" />
-<TGConnectingPoint num="5" id="1051" />
-<TGConnectingPoint num="6" id="1052" />
-<TGConnectingPoint num="7" id="1053" />
-<TGConnectingPoint num="8" id="1054" />
-<TGConnectingPoint num="9" id="1055" />
-</COMPONENT>
-
-<COMPONENT type="5106" id="1119" >
+<TGConnectingPoint num="0" id="939" />
+<TGConnectingPoint num="1" id="940" />
+<TGConnectingPoint num="2" id="941" />
+<TGConnectingPoint num="3" id="942" />
+<TGConnectingPoint num="4" id="943" />
+<TGConnectingPoint num="5" id="944" />
+<TGConnectingPoint num="6" id="945" />
+<TGConnectingPoint num="7" id="946" />
+<TGConnectingPoint num="8" id="947" />
+<TGConnectingPoint num="9" id="948" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="990" >
<cdparam x="308" y="103" />
<sizeparam width="198" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="State" value="startSensor" />
-<TGConnectingPoint num="0" id="1079" />
-<TGConnectingPoint num="1" id="1080" />
-<TGConnectingPoint num="2" id="1081" />
-<TGConnectingPoint num="3" id="1082" />
-<TGConnectingPoint num="4" id="1083" />
-<TGConnectingPoint num="5" id="1084" />
-<TGConnectingPoint num="6" id="1085" />
-<TGConnectingPoint num="7" id="1086" />
-<TGConnectingPoint num="8" id="1087" />
-<TGConnectingPoint num="9" id="1088" />
-<TGConnectingPoint num="10" id="1089" />
-<TGConnectingPoint num="11" id="1090" />
-<TGConnectingPoint num="12" id="1091" />
-<TGConnectingPoint num="13" id="1092" />
-<TGConnectingPoint num="14" id="1093" />
-<TGConnectingPoint num="15" id="1094" />
-<TGConnectingPoint num="16" id="1095" />
-<TGConnectingPoint num="17" id="1096" />
-<TGConnectingPoint num="18" id="1097" />
-<TGConnectingPoint num="19" id="1098" />
-<TGConnectingPoint num="20" id="1099" />
-<TGConnectingPoint num="21" id="1100" />
-<TGConnectingPoint num="22" id="1101" />
-<TGConnectingPoint num="23" id="1102" />
-<TGConnectingPoint num="24" id="1103" />
-<TGConnectingPoint num="25" id="1104" />
-<TGConnectingPoint num="26" id="1105" />
-<TGConnectingPoint num="27" id="1106" />
-<TGConnectingPoint num="28" id="1107" />
-<TGConnectingPoint num="29" id="1108" />
-<TGConnectingPoint num="30" id="1109" />
-<TGConnectingPoint num="31" id="1110" />
-<TGConnectingPoint num="32" id="1111" />
-<TGConnectingPoint num="33" id="1112" />
-<TGConnectingPoint num="34" id="1113" />
-<TGConnectingPoint num="35" id="1114" />
-<TGConnectingPoint num="36" id="1115" />
-<TGConnectingPoint num="37" id="1116" />
-<TGConnectingPoint num="38" id="1117" />
-<TGConnectingPoint num="39" id="1118" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5100" id="1121" >
+<TGConnectingPoint num="0" id="950" />
+<TGConnectingPoint num="1" id="951" />
+<TGConnectingPoint num="2" id="952" />
+<TGConnectingPoint num="3" id="953" />
+<TGConnectingPoint num="4" id="954" />
+<TGConnectingPoint num="5" id="955" />
+<TGConnectingPoint num="6" id="956" />
+<TGConnectingPoint num="7" id="957" />
+<TGConnectingPoint num="8" id="958" />
+<TGConnectingPoint num="9" id="959" />
+<TGConnectingPoint num="10" id="960" />
+<TGConnectingPoint num="11" id="961" />
+<TGConnectingPoint num="12" id="962" />
+<TGConnectingPoint num="13" id="963" />
+<TGConnectingPoint num="14" id="964" />
+<TGConnectingPoint num="15" id="965" />
+<TGConnectingPoint num="16" id="966" />
+<TGConnectingPoint num="17" id="967" />
+<TGConnectingPoint num="18" id="968" />
+<TGConnectingPoint num="19" id="969" />
+<TGConnectingPoint num="20" id="970" />
+<TGConnectingPoint num="21" id="971" />
+<TGConnectingPoint num="22" id="972" />
+<TGConnectingPoint num="23" id="973" />
+<TGConnectingPoint num="24" id="974" />
+<TGConnectingPoint num="25" id="975" />
+<TGConnectingPoint num="26" id="976" />
+<TGConnectingPoint num="27" id="977" />
+<TGConnectingPoint num="28" id="978" />
+<TGConnectingPoint num="29" id="979" />
+<TGConnectingPoint num="30" id="980" />
+<TGConnectingPoint num="31" id="981" />
+<TGConnectingPoint num="32" id="982" />
+<TGConnectingPoint num="33" id="983" />
+<TGConnectingPoint num="34" id="984" />
+<TGConnectingPoint num="35" id="985" />
+<TGConnectingPoint num="36" id="986" />
+<TGConnectingPoint num="37" id="987" />
+<TGConnectingPoint num="38" id="988" />
+<TGConnectingPoint num="39" id="989" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="992" >
<cdparam x="400" y="40" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="1120" />
+<TGConnectingPoint num="0" id="991" />
</COMPONENT>
-<COMPONENT type="5108" id="1124" >
+<COMPONENT type="5108" id="995" >
<cdparam x="179" y="429" />
-<sizeparam width="217" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="216" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="1122" />
-<TGConnectingPoint num="1" id="1123" />
+<TGConnectingPoint num="0" id="993" />
+<TGConnectingPoint num="1" id="994" />
<extraparam>
<Data variable="distanceRight" minValue="0" maxValue="10" functionId="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5108" id="1127" >
-<cdparam x="178" y="355" />
-<sizeparam width="218" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="998" >
+<cdparam x="179" y="355" />
+<sizeparam width="216" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="1125" />
-<TGConnectingPoint num="1" id="1126" />
+<TGConnectingPoint num="0" id="996" />
+<TGConnectingPoint num="1" id="997" />
<extraparam>
<Data variable="distanceFront" minValue="0" maxValue="10" functionId="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5108" id="1130" >
-<cdparam x="183" y="292" />
-<sizeparam width="208" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5108" id="1001" >
+<cdparam x="184" y="292" />
+<sizeparam width="207" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TGComponent" value="null" />
-<TGConnectingPoint num="0" id="1128" />
-<TGConnectingPoint num="1" id="1129" />
+<TGConnectingPoint num="0" id="999" />
+<TGConnectingPoint num="1" id="1000" />
<extraparam>
<Data variable="distanceLeft" minValue="0" maxValue="10" functionId="0" />
</extraparam>
@@ -3520,25 +3514,25 @@ state 2: obstacles in close proximity
</AVATARStateMachineDiagramPanel>
<AVATARStateMachineDiagramPanel name="MainControl" minX="10" maxX="2500" minY="10" maxY="2500" >
-<CONNECTOR type="5102" id="1137" >
+<CONNECTOR type="5102" id="1008" >
<cdparam x="436" y="1655" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1136" />
-<P1 x="436" y="1655" id="1477" />
-<P2 x="436" y="1679" id="1569" />
+<TGConnectingPoint num="0" id="1007" />
+<P1 x="436" y="1655" id="1348" />
+<P2 x="436" y="1679" id="1440" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1135" >
-<father id="1137" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1006" >
+<father id="1008" num="0" />
<cdparam x="429" y="1710" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1131" />
-<TGConnectingPoint num="1" id="1132" />
-<TGConnectingPoint num="2" id="1133" />
-<TGConnectingPoint num="3" id="1134" />
+<TGConnectingPoint num="0" id="1002" />
+<TGConnectingPoint num="1" id="1003" />
+<TGConnectingPoint num="2" id="1004" />
+<TGConnectingPoint num="3" id="1005" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3548,25 +3542,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1144" >
+<CONNECTOR type="5102" id="1015" >
<cdparam x="463" y="1168" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1143" />
-<P1 x="463" y="1168" id="2049" />
-<P2 x="411" y="1209" id="1589" />
+<TGConnectingPoint num="0" id="1014" />
+<P1 x="463" y="1168" id="1920" />
+<P2 x="411" y="1209" id="1460" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1142" >
-<father id="1144" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1013" >
+<father id="1015" num="0" />
<cdparam x="433" y="1200" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1138" />
-<TGConnectingPoint num="1" id="1139" />
-<TGConnectingPoint num="2" id="1140" />
-<TGConnectingPoint num="3" id="1141" />
+<TGConnectingPoint num="0" id="1009" />
+<TGConnectingPoint num="1" id="1010" />
+<TGConnectingPoint num="2" id="1011" />
+<TGConnectingPoint num="3" id="1012" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3576,75 +3570,73 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1151" >
+<CONNECTOR type="5102" id="1022" >
<cdparam x="367" y="1100" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1150" />
-<P1 x="367" y="1100" id="1624" />
-<P2 x="367" y="1209" id="1581" />
+<TGConnectingPoint num="0" id="1021" />
+<P1 x="367" y="1100" id="1495" />
+<P2 x="367" y="1209" id="1452" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1149" >
-<father id="1151" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1020" >
+<father id="1022" num="0" />
<cdparam x="345" y="1144" />
<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1145" />
-<TGConnectingPoint num="1" id="1146" />
-<TGConnectingPoint num="2" id="1147" />
-<TGConnectingPoint num="3" id="1148" />
+<TGConnectingPoint num="0" id="1016" />
+<TGConnectingPoint num="1" id="1017" />
+<TGConnectingPoint num="2" id="1018" />
+<TGConnectingPoint num="3" id="1019" />
<extraparam>
<guard value="[else ]" />
<afterMin value="" />
<afterMax value="" />
<computeMin value="" />
<computeMax value="" />
-<filesToIncludeLine value="" />
-<codeToIncludeLine value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1162" >
+<CONNECTOR type="5102" id="1033" >
<cdparam x="360" y="1354" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1159" />
-<TGConnectingPoint num="1" id="1160" />
-<TGConnectingPoint num="2" id="1161" />
-<P1 x="436" y="1709" id="1570" />
-<P2 x="478" y="137" id="2009" />
+<TGConnectingPoint num="0" id="1030" />
+<TGConnectingPoint num="1" id="1031" />
+<TGConnectingPoint num="2" id="1032" />
+<P1 x="436" y="1709" id="1441" />
+<P2 x="478" y="137" id="1880" />
<Point x="863" y="1719" />
<Point x="875" y="140" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1152" >
-<father id="1162" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1023" >
+<father id="1033" num="0" />
<cdparam x="863" y="1719" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="1153" >
-<father id="1162" num="1" />
+<SUBCOMPONENT type="-1" id="1024" >
+<father id="1033" num="1" />
<cdparam x="875" y="140" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="point " value="null" />
</SUBCOMPONENT>
-<SUBCOMPONENT type="-1" id="1158" >
-<father id="1162" num="2" />
+<SUBCOMPONENT type="-1" id="1029" >
+<father id="1033" num="2" />
<cdparam x="419" y="745" />
-<sizeparam width="72" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="70" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1154" />
-<TGConnectingPoint num="1" id="1155" />
-<TGConnectingPoint num="2" id="1156" />
-<TGConnectingPoint num="3" id="1157" />
+<TGConnectingPoint num="0" id="1025" />
+<TGConnectingPoint num="1" id="1026" />
+<TGConnectingPoint num="2" id="1027" />
+<TGConnectingPoint num="3" id="1028" />
<extraparam>
<guard value="[ ]" />
<afterMin value="0" />
@@ -3654,25 +3646,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1169" >
+<CONNECTOR type="5102" id="1040" >
<cdparam x="392" y="1075" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1168" />
-<P1 x="392" y="1075" id="1623" />
-<P2 x="463" y="1138" id="2048" />
+<TGConnectingPoint num="0" id="1039" />
+<P1 x="392" y="1075" id="1494" />
+<P2 x="463" y="1138" id="1919" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1167" >
-<father id="1169" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1038" >
+<father id="1040" num="0" />
<cdparam x="436" y="1084" />
-<sizeparam width="100" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="99" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1163" />
-<TGConnectingPoint num="1" id="1164" />
-<TGConnectingPoint num="2" id="1165" />
-<TGConnectingPoint num="3" id="1166" />
+<TGConnectingPoint num="0" id="1034" />
+<TGConnectingPoint num="1" id="1035" />
+<TGConnectingPoint num="2" id="1036" />
+<TGConnectingPoint num="3" id="1037" />
<extraparam>
<guard value="[ state<2]" />
<afterMin value="" />
@@ -3683,25 +3675,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1176" >
+<CONNECTOR type="5102" id="1047" >
<cdparam x="464" y="950" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1175" />
-<P1 x="464" y="950" id="1679" />
-<P2 x="414" y="968" id="1646" />
+<TGConnectingPoint num="0" id="1046" />
+<P1 x="464" y="950" id="1550" />
+<P2 x="414" y="968" id="1517" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1174" >
-<father id="1176" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1045" >
+<father id="1047" num="0" />
<cdparam x="439" y="959" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1170" />
-<TGConnectingPoint num="1" id="1171" />
-<TGConnectingPoint num="2" id="1172" />
-<TGConnectingPoint num="3" id="1173" />
+<TGConnectingPoint num="0" id="1041" />
+<TGConnectingPoint num="1" id="1042" />
+<TGConnectingPoint num="2" id="1043" />
+<TGConnectingPoint num="3" id="1044" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3711,25 +3703,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1183" >
+<CONNECTOR type="5102" id="1054" >
<cdparam x="346" y="856" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1182" />
-<P1 x="346" y="856" id="1690" />
-<P2 x="320" y="968" id="1645" />
+<TGConnectingPoint num="0" id="1053" />
+<P1 x="346" y="856" id="1561" />
+<P2 x="320" y="968" id="1516" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1181" >
-<father id="1183" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1052" >
+<father id="1054" num="0" />
<cdparam x="345" y="948" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1177" />
-<TGConnectingPoint num="1" id="1178" />
-<TGConnectingPoint num="2" id="1179" />
-<TGConnectingPoint num="3" id="1180" />
+<TGConnectingPoint num="0" id="1048" />
+<TGConnectingPoint num="1" id="1049" />
+<TGConnectingPoint num="2" id="1050" />
+<TGConnectingPoint num="3" id="1051" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3739,25 +3731,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1190" >
+<CONNECTOR type="5102" id="1061" >
<cdparam x="530" y="603" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1189" />
-<P1 x="530" y="603" id="1861" />
-<P2 x="411" y="747" id="1724" />
+<TGConnectingPoint num="0" id="1060" />
+<P1 x="530" y="603" id="1732" />
+<P2 x="411" y="747" id="1595" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1188" >
-<father id="1190" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1059" >
+<father id="1061" num="0" />
<cdparam x="518" y="652" />
-<sizeparam width="149" height="60" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="150" height="60" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1184" />
-<TGConnectingPoint num="1" id="1185" />
-<TGConnectingPoint num="2" id="1186" />
-<TGConnectingPoint num="3" id="1187" />
+<TGConnectingPoint num="0" id="1055" />
+<TGConnectingPoint num="1" id="1056" />
+<TGConnectingPoint num="2" id="1057" />
+<TGConnectingPoint num="3" id="1058" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3771,25 +3763,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1197" >
+<CONNECTOR type="5102" id="1068" >
<cdparam x="233" y="608" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1196" />
-<P1 x="233" y="608" id="1943" />
-<P2 x="343" y="747" id="1713" />
+<TGConnectingPoint num="0" id="1067" />
+<P1 x="233" y="608" id="1814" />
+<P2 x="343" y="747" id="1584" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1195" >
-<father id="1197" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1066" >
+<father id="1068" num="0" />
<cdparam x="123" y="652" />
<sizeparam width="170" height="60" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1191" />
-<TGConnectingPoint num="1" id="1192" />
-<TGConnectingPoint num="2" id="1193" />
-<TGConnectingPoint num="3" id="1194" />
+<TGConnectingPoint num="0" id="1062" />
+<TGConnectingPoint num="1" id="1063" />
+<TGConnectingPoint num="2" id="1064" />
+<TGConnectingPoint num="3" id="1065" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3803,25 +3795,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1204" >
+<CONNECTOR type="5102" id="1075" >
<cdparam x="407" y="147" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1203" />
-<P1 x="395" y="162" id="2011" />
-<P2 x="395" y="187" id="1994" />
+<TGConnectingPoint num="0" id="1074" />
+<P1 x="395" y="162" id="1882" />
+<P2 x="395" y="187" id="1865" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1202" >
-<father id="1204" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1073" >
+<father id="1075" num="0" />
<cdparam x="401" y="167" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1198" />
-<TGConnectingPoint num="1" id="1199" />
-<TGConnectingPoint num="2" id="1200" />
-<TGConnectingPoint num="3" id="1201" />
+<TGConnectingPoint num="0" id="1069" />
+<TGConnectingPoint num="1" id="1070" />
+<TGConnectingPoint num="2" id="1071" />
+<TGConnectingPoint num="3" id="1072" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3831,25 +3823,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1211" >
+<CONNECTOR type="5102" id="1082" >
<cdparam x="484" y="399" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1210" />
-<P1 x="484" y="399" id="1845" />
-<P2 x="412" y="423" id="1755" />
+<TGConnectingPoint num="0" id="1081" />
+<P1 x="484" y="399" id="1716" />
+<P2 x="412" y="423" id="1626" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1209" >
-<father id="1211" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1080" >
+<father id="1082" num="0" />
<cdparam x="413" y="365" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1205" />
-<TGConnectingPoint num="1" id="1206" />
-<TGConnectingPoint num="2" id="1207" />
-<TGConnectingPoint num="3" id="1208" />
+<TGConnectingPoint num="0" id="1076" />
+<TGConnectingPoint num="1" id="1077" />
+<TGConnectingPoint num="2" id="1078" />
+<TGConnectingPoint num="3" id="1079" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3859,25 +3851,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1218" >
+<CONNECTOR type="5102" id="1089" >
<cdparam x="371" y="275" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1217" />
-<P1 x="371" y="275" id="1788" />
-<P2 x="371" y="423" id="1747" />
+<TGConnectingPoint num="0" id="1088" />
+<P1 x="371" y="275" id="1659" />
+<P2 x="371" y="423" id="1618" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1216" >
-<father id="1218" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1087" >
+<father id="1089" num="0" />
<cdparam x="354" y="356" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1212" />
-<TGConnectingPoint num="1" id="1213" />
-<TGConnectingPoint num="2" id="1214" />
-<TGConnectingPoint num="3" id="1215" />
+<TGConnectingPoint num="0" id="1083" />
+<TGConnectingPoint num="1" id="1084" />
+<TGConnectingPoint num="2" id="1085" />
+<TGConnectingPoint num="3" id="1086" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3887,25 +3879,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1225" >
+<CONNECTOR type="5102" id="1096" >
<cdparam x="421" y="275" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1224" />
-<P1 x="421" y="275" id="1789" />
-<P2 x="484" y="291" id="1804" />
+<TGConnectingPoint num="0" id="1095" />
+<P1 x="421" y="275" id="1660" />
+<P2 x="484" y="291" id="1675" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1223" >
-<father id="1225" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1094" >
+<father id="1096" num="0" />
<cdparam x="446" y="275" />
-<sizeparam width="75" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="74" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1219" />
-<TGConnectingPoint num="1" id="1220" />
-<TGConnectingPoint num="2" id="1221" />
-<TGConnectingPoint num="3" id="1222" />
+<TGConnectingPoint num="0" id="1090" />
+<TGConnectingPoint num="1" id="1091" />
+<TGConnectingPoint num="2" id="1092" />
+<TGConnectingPoint num="3" id="1093" />
<extraparam>
<guard value="[ state==2]" />
<afterMin value="" />
@@ -3915,25 +3907,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1232" >
+<CONNECTOR type="5102" id="1103" >
<cdparam x="395" y="75" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1231" />
-<P1 x="395" y="75" id="2046" />
-<P2 x="395" y="112" id="2006" />
+<TGConnectingPoint num="0" id="1102" />
+<P1 x="395" y="75" id="1917" />
+<P2 x="395" y="112" id="1877" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1230" >
-<father id="1232" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1101" >
+<father id="1103" num="0" />
<cdparam x="396" y="94" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1226" />
-<TGConnectingPoint num="1" id="1227" />
-<TGConnectingPoint num="2" id="1228" />
-<TGConnectingPoint num="3" id="1229" />
+<TGConnectingPoint num="0" id="1097" />
+<TGConnectingPoint num="1" id="1098" />
+<TGConnectingPoint num="2" id="1099" />
+<TGConnectingPoint num="3" id="1100" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3943,25 +3935,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1239" >
+<CONNECTOR type="5102" id="1110" >
<cdparam x="349" y="312" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1238" />
-<P1 x="395" y="217" id="1995" />
-<P2 x="396" y="250" id="1787" />
+<TGConnectingPoint num="0" id="1109" />
+<P1 x="395" y="217" id="1866" />
+<P2 x="396" y="250" id="1658" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1237" >
-<father id="1239" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1108" >
+<father id="1110" num="0" />
<cdparam x="251" y="233" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1233" />
-<TGConnectingPoint num="1" id="1234" />
-<TGConnectingPoint num="2" id="1235" />
-<TGConnectingPoint num="3" id="1236" />
+<TGConnectingPoint num="0" id="1104" />
+<TGConnectingPoint num="1" id="1105" />
+<TGConnectingPoint num="2" id="1106" />
+<TGConnectingPoint num="3" id="1107" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -3971,25 +3963,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1246" >
+<CONNECTOR type="5102" id="1117" >
<cdparam x="372" y="530" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1245" />
-<P1 x="346" y="524" id="1979" />
-<P2 x="233" y="558" id="1938" />
+<TGConnectingPoint num="0" id="1116" />
+<P1 x="346" y="524" id="1850" />
+<P2 x="233" y="558" id="1809" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1244" >
-<father id="1246" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1115" >
+<father id="1117" num="0" />
<cdparam x="208" y="524" />
-<sizeparam width="119" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="117" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1240" />
-<TGConnectingPoint num="1" id="1241" />
-<TGConnectingPoint num="2" id="1242" />
-<TGConnectingPoint num="3" id="1243" />
+<TGConnectingPoint num="0" id="1111" />
+<TGConnectingPoint num="1" id="1112" />
+<TGConnectingPoint num="2" id="1113" />
+<TGConnectingPoint num="3" id="1114" />
<extraparam>
<guard value="[ distanceFront>8]" />
<afterMin value="" />
@@ -3999,25 +3991,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1253" >
+<CONNECTOR type="5102" id="1124" >
<cdparam x="372" y="530" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1252" />
-<P1 x="371" y="549" id="1984" />
-<P2 x="371" y="587" id="1897" />
+<TGConnectingPoint num="0" id="1123" />
+<P1 x="371" y="549" id="1855" />
+<P2 x="371" y="587" id="1768" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1251" >
-<father id="1253" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1122" >
+<father id="1124" num="0" />
<cdparam x="327" y="565" />
-<sizeparam width="119" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="116" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1247" />
-<TGConnectingPoint num="1" id="1248" />
-<TGConnectingPoint num="2" id="1249" />
-<TGConnectingPoint num="3" id="1250" />
+<TGConnectingPoint num="0" id="1118" />
+<TGConnectingPoint num="1" id="1119" />
+<TGConnectingPoint num="2" id="1120" />
+<TGConnectingPoint num="3" id="1121" />
<extraparam>
<guard value="[distanceFront<3 ]" />
<afterMin value="" />
@@ -4027,25 +4019,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1260" >
+<CONNECTOR type="5102" id="1131" >
<cdparam x="422" y="594" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1259" />
-<P1 x="396" y="524" id="1980" />
-<P2 x="530" y="553" id="1856" />
+<TGConnectingPoint num="0" id="1130" />
+<P1 x="396" y="524" id="1851" />
+<P2 x="530" y="553" id="1727" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1258" >
-<father id="1260" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1129" >
+<father id="1131" num="0" />
<cdparam x="485" y="526" />
<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1254" />
-<TGConnectingPoint num="1" id="1255" />
-<TGConnectingPoint num="2" id="1256" />
-<TGConnectingPoint num="3" id="1257" />
+<TGConnectingPoint num="0" id="1125" />
+<TGConnectingPoint num="1" id="1126" />
+<TGConnectingPoint num="2" id="1127" />
+<TGConnectingPoint num="3" id="1128" />
<extraparam>
<guard value="[ else]" />
<afterMin value="" />
@@ -4055,25 +4047,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1267" >
+<CONNECTOR type="5102" id="1138" >
<cdparam x="451" y="428" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1266" />
-<P1 x="484" y="341" id="1809" />
-<P2 x="484" y="369" id="1844" />
+<TGConnectingPoint num="0" id="1137" />
+<P1 x="484" y="341" id="1680" />
+<P2 x="484" y="369" id="1715" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1265" >
-<father id="1267" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1136" >
+<father id="1138" num="0" />
<cdparam x="448" y="469" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1261" />
-<TGConnectingPoint num="1" id="1262" />
-<TGConnectingPoint num="2" id="1263" />
-<TGConnectingPoint num="3" id="1264" />
+<TGConnectingPoint num="0" id="1132" />
+<TGConnectingPoint num="1" id="1133" />
+<TGConnectingPoint num="2" id="1134" />
+<TGConnectingPoint num="3" id="1135" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4083,25 +4075,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1274" >
+<CONNECTOR type="5102" id="1145" >
<cdparam x="436" y="522" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1273" />
-<P1 x="371" y="473" id="1752" />
-<P2 x="371" y="499" id="1978" />
+<TGConnectingPoint num="0" id="1144" />
+<P1 x="371" y="473" id="1623" />
+<P2 x="371" y="499" id="1849" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1272" >
-<father id="1274" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1143" >
+<father id="1145" num="0" />
<cdparam x="437" y="543" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1268" />
-<TGConnectingPoint num="1" id="1269" />
-<TGConnectingPoint num="2" id="1270" />
-<TGConnectingPoint num="3" id="1271" />
+<TGConnectingPoint num="0" id="1139" />
+<TGConnectingPoint num="1" id="1140" />
+<TGConnectingPoint num="2" id="1141" />
+<TGConnectingPoint num="3" id="1142" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4111,25 +4103,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1281" >
+<CONNECTOR type="5102" id="1152" >
<cdparam x="383" y="637" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1280" />
-<P1 x="371" y="637" id="1902" />
-<P2 x="371" y="747" id="1706" />
+<TGConnectingPoint num="0" id="1151" />
+<P1 x="371" y="637" id="1773" />
+<P2 x="371" y="747" id="1577" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1279" >
-<father id="1281" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1150" >
+<father id="1152" num="0" />
<cdparam x="378" y="681" />
<sizeparam width="118" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1275" />
-<TGConnectingPoint num="1" id="1276" />
-<TGConnectingPoint num="2" id="1277" />
-<TGConnectingPoint num="3" id="1278" />
+<TGConnectingPoint num="0" id="1146" />
+<TGConnectingPoint num="1" id="1147" />
+<TGConnectingPoint num="2" id="1148" />
+<TGConnectingPoint num="3" id="1149" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4141,25 +4133,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1288" >
+<CONNECTOR type="5102" id="1159" >
<cdparam x="371" y="797" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1287" />
-<P1 x="371" y="797" id="1711" />
-<P2 x="371" y="831" id="1689" />
+<TGConnectingPoint num="0" id="1158" />
+<P1 x="371" y="797" id="1582" />
+<P2 x="371" y="831" id="1560" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1286" >
-<father id="1288" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1157" >
+<father id="1159" num="0" />
<cdparam x="368" y="815" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1282" />
-<TGConnectingPoint num="1" id="1283" />
-<TGConnectingPoint num="2" id="1284" />
-<TGConnectingPoint num="3" id="1285" />
+<TGConnectingPoint num="0" id="1153" />
+<TGConnectingPoint num="1" id="1154" />
+<TGConnectingPoint num="2" id="1155" />
+<TGConnectingPoint num="3" id="1156" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4169,25 +4161,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1295" >
+<CONNECTOR type="5102" id="1166" >
<cdparam x="397" y="857" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1294" />
-<P1 x="396" y="856" id="1694" />
-<P2 x="464" y="920" id="1678" />
+<TGConnectingPoint num="0" id="1165" />
+<P1 x="396" y="856" id="1565" />
+<P2 x="464" y="920" id="1549" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1293" >
-<father id="1295" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1164" >
+<father id="1166" num="0" />
<cdparam x="417" y="888" />
-<sizeparam width="168" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="169" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1289" />
-<TGConnectingPoint num="1" id="1290" />
-<TGConnectingPoint num="2" id="1291" />
-<TGConnectingPoint num="3" id="1292" />
+<TGConnectingPoint num="0" id="1160" />
+<TGConnectingPoint num="1" id="1161" />
+<TGConnectingPoint num="2" id="1162" />
+<TGConnectingPoint num="3" id="1163" />
<extraparam>
<guard value="[ samplingRate!=newRate]" />
<afterMin value="" />
@@ -4197,25 +4189,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1302" >
+<CONNECTOR type="5102" id="1173" >
<cdparam x="464" y="950" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1301" />
-<P1 x="367" y="1018" id="1643" />
-<P2 x="367" y="1050" id="1621" />
+<TGConnectingPoint num="0" id="1172" />
+<P1 x="367" y="1018" id="1514" />
+<P2 x="367" y="1050" id="1492" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1300" >
-<father id="1302" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1171" >
+<father id="1173" num="0" />
<cdparam x="437" y="988" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1296" />
-<TGConnectingPoint num="1" id="1297" />
-<TGConnectingPoint num="2" id="1298" />
-<TGConnectingPoint num="3" id="1299" />
+<TGConnectingPoint num="0" id="1167" />
+<TGConnectingPoint num="1" id="1168" />
+<TGConnectingPoint num="2" id="1169" />
+<TGConnectingPoint num="3" id="1170" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4225,25 +4217,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1309" >
+<CONNECTOR type="5102" id="1180" >
<cdparam x="342" y="1075" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1308" />
-<P1 x="342" y="1075" id="1625" />
-<P2 x="250" y="1142" id="2059" />
+<TGConnectingPoint num="0" id="1179" />
+<P1 x="342" y="1075" id="1496" />
+<P2 x="250" y="1142" id="1930" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1307" >
-<father id="1309" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1178" >
+<father id="1180" num="0" />
<cdparam x="116" y="1091" />
-<sizeparam width="96" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="94" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1303" />
-<TGConnectingPoint num="1" id="1304" />
-<TGConnectingPoint num="2" id="1305" />
-<TGConnectingPoint num="3" id="1306" />
+<TGConnectingPoint num="0" id="1174" />
+<TGConnectingPoint num="1" id="1175" />
+<TGConnectingPoint num="2" id="1176" />
+<TGConnectingPoint num="3" id="1177" />
<extraparam>
<guard value="[ state==2]" />
<afterMin value="" />
@@ -4251,30 +4243,28 @@ state 2: obstacles in close proximity
<computeMin value="" />
<computeMax value="" />
<actions value="sensorOn=true" />
-<filesToIncludeLine value="" />
-<codeToIncludeLine value="" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1316" >
+<CONNECTOR type="5102" id="1187" >
<cdparam x="250" y="1172" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1315" />
-<P1 x="250" y="1172" id="2060" />
-<P2 x="323" y="1209" id="1588" />
+<TGConnectingPoint num="0" id="1186" />
+<P1 x="250" y="1172" id="1931" />
+<P2 x="323" y="1209" id="1459" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1314" >
-<father id="1316" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1185" >
+<father id="1187" num="0" />
<cdparam x="275" y="1202" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1310" />
-<TGConnectingPoint num="1" id="1311" />
-<TGConnectingPoint num="2" id="1312" />
-<TGConnectingPoint num="3" id="1313" />
+<TGConnectingPoint num="0" id="1181" />
+<TGConnectingPoint num="1" id="1182" />
+<TGConnectingPoint num="2" id="1183" />
+<TGConnectingPoint num="3" id="1184" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4284,25 +4274,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1323" >
+<CONNECTOR type="5102" id="1194" >
<cdparam x="311" y="1280" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1322" />
-<P1 x="342" y="1327" id="1554" />
-<P2 x="320" y="1605" id="1487" />
+<TGConnectingPoint num="0" id="1193" />
+<P1 x="342" y="1327" id="1425" />
+<P2 x="320" y="1605" id="1358" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1321" >
-<father id="1323" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1192" >
+<father id="1194" num="0" />
<cdparam x="266" y="1316" />
-<sizeparam width="70" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="69" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1317" />
-<TGConnectingPoint num="1" id="1318" />
-<TGConnectingPoint num="2" id="1319" />
-<TGConnectingPoint num="3" id="1320" />
+<TGConnectingPoint num="0" id="1188" />
+<TGConnectingPoint num="1" id="1189" />
+<TGConnectingPoint num="2" id="1190" />
+<TGConnectingPoint num="3" id="1191" />
<extraparam>
<guard value="[ state!=2]" />
<afterMin value="" />
@@ -4312,25 +4302,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1330" >
+<CONNECTOR type="5102" id="1201" >
<cdparam x="432" y="1259" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1329" />
-<P1 x="367" y="1259" id="1586" />
-<P2 x="367" y="1302" id="1553" />
+<TGConnectingPoint num="0" id="1200" />
+<P1 x="367" y="1259" id="1457" />
+<P2 x="367" y="1302" id="1424" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1328" >
-<father id="1330" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1199" >
+<father id="1201" num="0" />
<cdparam x="375" y="1270" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1324" />
-<TGConnectingPoint num="1" id="1325" />
-<TGConnectingPoint num="2" id="1326" />
-<TGConnectingPoint num="3" id="1327" />
+<TGConnectingPoint num="0" id="1195" />
+<TGConnectingPoint num="1" id="1196" />
+<TGConnectingPoint num="2" id="1197" />
+<TGConnectingPoint num="3" id="1198" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4340,25 +4330,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1337" >
+<CONNECTOR type="5102" id="1208" >
<cdparam x="399" y="1295" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1336" />
-<P1 x="392" y="1327" id="1558" />
-<P2 x="436" y="1349" id="1512" />
+<TGConnectingPoint num="0" id="1207" />
+<P1 x="392" y="1327" id="1429" />
+<P2 x="436" y="1349" id="1383" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1335" >
-<father id="1337" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1206" >
+<father id="1208" num="0" />
<cdparam x="422" y="1300" />
<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1331" />
-<TGConnectingPoint num="1" id="1332" />
-<TGConnectingPoint num="2" id="1333" />
-<TGConnectingPoint num="3" id="1334" />
+<TGConnectingPoint num="0" id="1202" />
+<TGConnectingPoint num="1" id="1203" />
+<TGConnectingPoint num="2" id="1204" />
+<TGConnectingPoint num="3" id="1205" />
<extraparam>
<guard value="[else ]" />
<afterMin value="" />
@@ -4368,25 +4358,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1344" >
+<CONNECTOR type="5102" id="1215" >
<cdparam x="488" y="1399" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1343" />
-<P1 x="507" y="1399" id="1518" />
-<P2 x="507" y="1429" id="1455" />
+<TGConnectingPoint num="0" id="1214" />
+<P1 x="507" y="1399" id="1389" />
+<P2 x="507" y="1429" id="1326" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1342" >
-<father id="1344" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1213" >
+<father id="1215" num="0" />
<cdparam x="491" y="1447" />
<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1338" />
-<TGConnectingPoint num="1" id="1339" />
-<TGConnectingPoint num="2" id="1340" />
-<TGConnectingPoint num="3" id="1341" />
+<TGConnectingPoint num="0" id="1209" />
+<TGConnectingPoint num="1" id="1210" />
+<TGConnectingPoint num="2" id="1211" />
+<TGConnectingPoint num="3" id="1212" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4396,25 +4386,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1351" >
+<CONNECTOR type="5102" id="1222" >
<cdparam x="495" y="1546" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1350" />
-<P1 x="482" y="1454" id="1456" />
-<P2 x="412" y="1489" id="1415" />
+<TGConnectingPoint num="0" id="1221" />
+<P1 x="482" y="1454" id="1327" />
+<P2 x="412" y="1489" id="1286" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1349" >
-<father id="1351" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1220" >
+<father id="1222" num="0" />
<cdparam x="312" y="1453" />
-<sizeparam width="187" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="185" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1345" />
-<TGConnectingPoint num="1" id="1346" />
-<TGConnectingPoint num="2" id="1347" />
-<TGConnectingPoint num="3" id="1348" />
+<TGConnectingPoint num="0" id="1216" />
+<TGConnectingPoint num="1" id="1217" />
+<TGConnectingPoint num="2" id="1218" />
+<TGConnectingPoint num="3" id="1219" />
<extraparam>
<guard value="[ distanceLeft>distanceRight]" />
<afterMin value="" />
@@ -4424,25 +4414,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1358" >
+<CONNECTOR type="5102" id="1229" >
<cdparam x="487" y="1493" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1357" />
-<P1 x="532" y="1454" id="1457" />
-<P2 x="604" y="1496" id="1391" />
+<TGConnectingPoint num="0" id="1228" />
+<P1 x="532" y="1454" id="1328" />
+<P2 x="604" y="1496" id="1262" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1356" >
-<father id="1358" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1227" >
+<father id="1229" num="0" />
<cdparam x="571" y="1461" />
<sizeparam width="40" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1352" />
-<TGConnectingPoint num="1" id="1353" />
-<TGConnectingPoint num="2" id="1354" />
-<TGConnectingPoint num="3" id="1355" />
+<TGConnectingPoint num="0" id="1223" />
+<TGConnectingPoint num="1" id="1224" />
+<TGConnectingPoint num="2" id="1225" />
+<TGConnectingPoint num="3" id="1226" />
<extraparam>
<guard value="[ else]" />
<afterMin value="" />
@@ -4452,25 +4442,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1365" >
+<CONNECTOR type="5102" id="1236" >
<cdparam x="430" y="1540" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1364" />
-<P1 x="412" y="1539" id="1420" />
-<P2 x="472" y="1605" id="1489" />
+<TGConnectingPoint num="0" id="1235" />
+<P1 x="412" y="1539" id="1291" />
+<P2 x="472" y="1605" id="1360" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1363" >
-<father id="1365" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1234" >
+<father id="1236" num="0" />
<cdparam x="376" y="1565" />
-<sizeparam width="149" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="150" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1359" />
-<TGConnectingPoint num="1" id="1360" />
-<TGConnectingPoint num="2" id="1361" />
-<TGConnectingPoint num="3" id="1362" />
+<TGConnectingPoint num="0" id="1230" />
+<TGConnectingPoint num="1" id="1231" />
+<TGConnectingPoint num="2" id="1232" />
+<TGConnectingPoint num="3" id="1233" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4482,25 +4472,25 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5102" id="1372" >
+<CONNECTOR type="5102" id="1243" >
<cdparam x="531" y="1591" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="null" />
-<TGConnectingPoint num="0" id="1371" />
-<P1 x="592" y="1546" id="1379" />
-<P2 x="512" y="1605" id="1480" />
+<TGConnectingPoint num="0" id="1242" />
+<P1 x="592" y="1546" id="1250" />
+<P2 x="512" y="1605" id="1351" />
<AutomaticDrawing data="true" />
-</CONNECTOR><SUBCOMPONENT type="-1" id="1370" >
-<father id="1372" num="0" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="1241" >
+<father id="1243" num="0" />
<cdparam x="583" y="1574" />
-<sizeparam width="140" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="142" height="30" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
-<TGConnectingPoint num="0" id="1366" />
-<TGConnectingPoint num="1" id="1367" />
-<TGConnectingPoint num="2" id="1368" />
-<TGConnectingPoint num="3" id="1369" />
+<TGConnectingPoint num="0" id="1237" />
+<TGConnectingPoint num="1" id="1238" />
+<TGConnectingPoint num="2" id="1239" />
+<TGConnectingPoint num="3" id="1240" />
<extraparam>
<guard value="[ ]" />
<afterMin value="" />
@@ -4512,909 +4502,909 @@ state 2: obstacles in close proximity
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5106" id="1413" >
+<COMPONENT type="5106" id="1284" >
<cdparam x="542" y="1496" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="turnRight" />
-<TGConnectingPoint num="0" id="1373" />
-<TGConnectingPoint num="1" id="1374" />
-<TGConnectingPoint num="2" id="1375" />
-<TGConnectingPoint num="3" id="1376" />
-<TGConnectingPoint num="4" id="1377" />
-<TGConnectingPoint num="5" id="1378" />
-<TGConnectingPoint num="6" id="1379" />
-<TGConnectingPoint num="7" id="1380" />
-<TGConnectingPoint num="8" id="1381" />
-<TGConnectingPoint num="9" id="1382" />
-<TGConnectingPoint num="10" id="1383" />
-<TGConnectingPoint num="11" id="1384" />
-<TGConnectingPoint num="12" id="1385" />
-<TGConnectingPoint num="13" id="1386" />
-<TGConnectingPoint num="14" id="1387" />
-<TGConnectingPoint num="15" id="1388" />
-<TGConnectingPoint num="16" id="1389" />
-<TGConnectingPoint num="17" id="1390" />
-<TGConnectingPoint num="18" id="1391" />
-<TGConnectingPoint num="19" id="1392" />
-<TGConnectingPoint num="20" id="1393" />
-<TGConnectingPoint num="21" id="1394" />
-<TGConnectingPoint num="22" id="1395" />
-<TGConnectingPoint num="23" id="1396" />
-<TGConnectingPoint num="24" id="1397" />
-<TGConnectingPoint num="25" id="1398" />
-<TGConnectingPoint num="26" id="1399" />
-<TGConnectingPoint num="27" id="1400" />
-<TGConnectingPoint num="28" id="1401" />
-<TGConnectingPoint num="29" id="1402" />
-<TGConnectingPoint num="30" id="1403" />
-<TGConnectingPoint num="31" id="1404" />
-<TGConnectingPoint num="32" id="1405" />
-<TGConnectingPoint num="33" id="1406" />
-<TGConnectingPoint num="34" id="1407" />
-<TGConnectingPoint num="35" id="1408" />
-<TGConnectingPoint num="36" id="1409" />
-<TGConnectingPoint num="37" id="1410" />
-<TGConnectingPoint num="38" id="1411" />
-<TGConnectingPoint num="39" id="1412" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5106" id="1454" >
+<TGConnectingPoint num="0" id="1244" />
+<TGConnectingPoint num="1" id="1245" />
+<TGConnectingPoint num="2" id="1246" />
+<TGConnectingPoint num="3" id="1247" />
+<TGConnectingPoint num="4" id="1248" />
+<TGConnectingPoint num="5" id="1249" />
+<TGConnectingPoint num="6" id="1250" />
+<TGConnectingPoint num="7" id="1251" />
+<TGConnectingPoint num="8" id="1252" />
+<TGConnectingPoint num="9" id="1253" />
+<TGConnectingPoint num="10" id="1254" />
+<TGConnectingPoint num="11" id="1255" />
+<TGConnectingPoint num="12" id="1256" />
+<TGConnectingPoint num="13" id="1257" />
+<TGConnectingPoint num="14" id="1258" />
+<TGConnectingPoint num="15" id="1259" />
+<TGConnectingPoint num="16" id="1260" />
+<TGConnectingPoint num="17" id="1261" />
+<TGConnectingPoint num="18" id="1262" />
+<TGConnectingPoint num="19" id="1263" />
+<TGConnectingPoint num="20" id="1264" />
+<TGConnectingPoint num="21" id="1265" />
+<TGConnectingPoint num="22" id="1266" />
+<TGConnectingPoint num="23" id="1267" />
+<TGConnectingPoint num="24" id="1268" />
+<TGConnectingPoint num="25" id="1269" />
+<TGConnectingPoint num="26" id="1270" />
+<TGConnectingPoint num="27" id="1271" />
+<TGConnectingPoint num="28" id="1272" />
+<TGConnectingPoint num="29" id="1273" />
+<TGConnectingPoint num="30" id="1274" />
+<TGConnectingPoint num="31" id="1275" />
+<TGConnectingPoint num="32" id="1276" />
+<TGConnectingPoint num="33" id="1277" />
+<TGConnectingPoint num="34" id="1278" />
+<TGConnectingPoint num="35" id="1279" />
+<TGConnectingPoint num="36" id="1280" />
+<TGConnectingPoint num="37" id="1281" />
+<TGConnectingPoint num="38" id="1282" />
+<TGConnectingPoint num="39" id="1283" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5106" id="1325" >
<cdparam x="362" y="1489" />
<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="State" value="turnLeft" />
-<TGConnectingPoint num="0" id="1414" />
-<TGConnectingPoint num="1" id="1415" />
-<TGConnectingPoint num="2" id="1416" />
-<TGConnectingPoint num="3" id="1417" />
-<TGConnectingPoint num="4" id="1418" />
-<TGConnectingPoint num="5" id="1419" />
-<TGConnectingPoint num="6" id="1420" />
-<TGConnectingPoint num="7" id="1421" />
-<TGConnectingPoint num="8" id="1422" />
-<TGConnectingPoint num="9" id="1423" />
-<TGConnectingPoint num="10" id="1424" />
-<TGConnectingPoint num="11" id="1425" />
-<TGConnectingPoint num="12" id="1426" />
-<TGConnectingPoint num="13" id="1427" />
-<TGConnectingPoint num="14" id="1428" />
-<TGConnectingPoint num="15" id="1429" />
-<TGConnectingPoint num="16" id="1430" />
-<TGConnectingPoint num="17" id="1431" />
-<TGConnectingPoint num="18" id="1432" />
-<TGConnectingPoint num="19" id="1433" />
-<TGConnectingPoint num="20" id="1434" />
-<TGConnectingPoint num="21" id="1435" />
-<TGConnectingPoint num="22" id="1436" />
-<TGConnectingPoint num="23" id="1437" />
-<TGConnectingPoint num="24" id="1438" />
-<TGConnectingPoint num="25" id="1439" />
-<TGConnectingPoint num="26" id="1440" />
-<TGConnectingPoint num="27" id="1441" />
-<TGConnectingPoint num="28" id="1442" />
-<TGConnectingPoint num="29" id="1443" />
-<TGConnectingPoint num="30" id="1444" />
-<TGConnectingPoint num="31" id="1445" />
-<TGConnectingPoint num="32" id="1446" />
-<TGConnectingPoint num="33" id="1447" />
-<TGConnectingPoint num="34" id="1448" />
-<TGConnectingPoint num="35" id="1449" />
-<TGConnectingPoint num="36" id="1450" />
-<TGConnectingPoint num="37" id="1451" />
-<TGConnectingPoint num="38" id="1452" />
-<TGConnectingPoint num="39" id="1453" />
-<extraparam>
-</extraparam>
-</COMPONENT>
-
-<COMPONENT type="5107" id="1470" >
+<TGConnectingPoint num="0" id="1285" />
+<TGConnectingPoint num="1" id="1286" />
+<TGConnectingPoint num="2" id="1287" />
+<TGConnectingPoint num="3" id="1288" />
+<TGConnectingPoint num="4" id="1289" />
+<TGConnectingPoint num="5" id="1290" />
+<TGConnectingPoint num="6" id="1291" />
+<TGConnectingPoint num="7" id="1292" />
+<TGConnectingPoint num="8" id="1293" />
+<TGConnectingPoint num="9" id="1294" />
+<TGConnectingPoint num="10" id="1295" />
+<TGConnectingPoint num="11" id="1296" />
+<TGConnectingPoint num="12" id="1297" />
+<TGConnectingPoint num="13" id="1298" />
+<TGConnectingPoint num="14" id="1299" />
+<TGConnectingPoint num="15" id="1300" />
+<TGConnectingPoint num="16" id="1301" />
+<TGConnectingPoint num="17" id="1302" />
+<TGConnectingPoint num="18" id="1303" />
+<TGConnectingPoint num="19" id="1304" />
+<TGConnectingPoint num="20" id="1305" />
+<TGConnectingPoint num="21" id="1306" />
+<TGConnectingPoint num="22" id="1307" />
+<TGConnectingPoint num="23" id="1308" />
+<TGConnectingPoint num="24" id="1309" />
+<TGConnectingPoint num="25" id="1310" />
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+<TGConnectingPoint num="17" id="1893" />
+<TGConnectingPoint num="18" id="1894" />
+<TGConnectingPoint num="19" id="1895" />
+<TGConnectingPoint num="20" id="1896" />
+<TGConnectingPoint num="21" id="1897" />
+<TGConnectingPoint num="22" id="1898" />
+<TGConnectingPoint num="23" id="1899" />
+<TGConnectingPoint num="24" id="1900" />
+<TGConnectingPoint num="25" id="1901" />
+<TGConnectingPoint num="26" id="1902" />
+<TGConnectingPoint num="27" id="1903" />
+<TGConnectingPoint num="28" id="1904" />
+<TGConnectingPoint num="29" id="1905" />
+<TGConnectingPoint num="30" id="1906" />
+<TGConnectingPoint num="31" id="1907" />
+<TGConnectingPoint num="32" id="1908" />
+<TGConnectingPoint num="33" id="1909" />
+<TGConnectingPoint num="34" id="1910" />
+<TGConnectingPoint num="35" id="1911" />
+<TGConnectingPoint num="36" id="1912" />
+<TGConnectingPoint num="37" id="1913" />
+<TGConnectingPoint num="38" id="1914" />
+<TGConnectingPoint num="39" id="1915" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="1918" >
<cdparam x="388" y="55" />
<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="start state" value="null" />
-<TGConnectingPoint num="0" id="2046" />
+<TGConnectingPoint num="0" id="1917" />
</COMPONENT>
-<COMPONENT type="5103" id="2058" >
-<cdparam x="401" y="1143" />
-<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<COMPONENT type="5103" id="1929" >
+<cdparam x="402" y="1143" />
+<sizeparam width="122" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="Send signal" value="control(sensorOn)" />
-<TGConnectingPoint num="0" id="2048" />
-<TGConnectingPoint num="1" id="2049" />
-<TGConnectingPoint num="2" id="2050" />
-<TGConnectingPoint num="3" id="2051" />
-<TGConnectingPoint num="4" id="2052" />
-<TGConnectingPoint num="5" id="2053" />
-<TGConnectingPoint num="6" id="2054" />
-<TGConnectingPoint num="7" id="2055" />
-<TGConnectingPoint num="8" id="2056" />
-<TGConnectingPoint num="9" id="2057" />
-</COMPONENT>
-
-<COMPONENT type="5103" id="2069" >
-<cdparam x="188" y="1147" />
-<sizeparam width="124" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<TGConnectingPoint num="0" id="1919" />
+<TGConnectingPoint num="1" id="1920" />
+<TGConnectingPoint num="2" id="1921" />
+<TGConnectingPoint num="3" id="1922" />
+<TGConnectingPoint num="4" id="1923" />
+<TGConnectingPoint num="5" id="1924" />
+<TGConnectingPoint num="6" id="1925" />
+<TGConnectingPoint num="7" id="1926" />
+<TGConnectingPoint num="8" id="1927" />
+<TGConnectingPoint num="9" id="1928" />
+</COMPONENT>
+
+<COMPONENT type="5103" id="1940" >
+<cdparam x="189" y="1147" />
+<sizeparam width="122" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="2500" />
<infoparam name="Send signal" value="control(sensorOn)" />
-<TGConnectingPoint num="0" id="2059" />
-<TGConnectingPoint num="1" id="2060" />
-<TGConnectingPoint num="2" id="2061" />
-<TGConnectingPoint num="3" id="2062" />
-<TGConnectingPoint num="4" id="2063" />
-<TGConnectingPoint num="5" id="2064" />
-<TGConnectingPoint num="6" id="2065" />
-<TGConnectingPoint num="7" id="2066" />
-<TGConnectingPoint num="8" id="2067" />
-<TGConnectingPoint num="9" id="2068" />
+<TGConnectingPoint num="0" id="1930" />
+<TGConnectingPoint num="1" id="1931" />
+<TGConnectingPoint num="2" id="1932" />
+<TGConnectingPoint num="3" id="1933" />
+<TGConnectingPoint num="4" id="1934" />
+<TGConnectingPoint num="5" id="1935" />
+<TGConnectingPoint num="6" id="1936" />
+<TGConnectingPoint num="7" id="1937" />
+<TGConnectingPoint num="8" id="1938" />
+<TGConnectingPoint num="9" id="1939" />
</COMPONENT>
@@ -5427,311 +5417,311 @@ state 2: obstacles in close proximity
<Modeling type="ADD" nameTab="Deployment" >
<ADDDiagramPanel name="Deployment Diagram" minX="10" maxX="2500" minY="10" maxY="1500" attributes="0" masterClockFrequency="200" >
-<COMPONENT type="5353" id="2094" >
+<COMPONENT type="5353" id="1965" >
<cdparam x="460" y="187" />
<sizeparam width="250" height="50" minWidth="100" minHeight="50" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Bus0" value="name" />
-<TGConnectingPoint num="0" id="2070" />
-<TGConnectingPoint num="1" id="2071" />
-<TGConnectingPoint num="2" id="2072" />
-<TGConnectingPoint num="3" id="2073" />
-<TGConnectingPoint num="4" id="2074" />
-<TGConnectingPoint num="5" id="2075" />
-<TGConnectingPoint num="6" id="2076" />
-<TGConnectingPoint num="7" id="2077" />
-<TGConnectingPoint num="8" id="2078" />
-<TGConnectingPoint num="9" id="2079" />
-<TGConnectingPoint num="10" id="2080" />
-<TGConnectingPoint num="11" id="2081" />
-<TGConnectingPoint num="12" id="2082" />
-<TGConnectingPoint num="13" id="2083" />
-<TGConnectingPoint num="14" id="2084" />
-<TGConnectingPoint num="15" id="2085" />
-<TGConnectingPoint num="16" id="2086" />
-<TGConnectingPoint num="17" id="2087" />
-<TGConnectingPoint num="18" id="2088" />
-<TGConnectingPoint num="19" id="2089" />
-<TGConnectingPoint num="20" id="2090" />
-<TGConnectingPoint num="21" id="2091" />
-<TGConnectingPoint num="22" id="2092" />
-<TGConnectingPoint num="23" id="2093" />
+<TGConnectingPoint num="0" id="1941" />
+<TGConnectingPoint num="1" id="1942" />
+<TGConnectingPoint num="2" id="1943" />
+<TGConnectingPoint num="3" id="1944" />
+<TGConnectingPoint num="4" id="1945" />
+<TGConnectingPoint num="5" id="1946" />
+<TGConnectingPoint num="6" id="1947" />
+<TGConnectingPoint num="7" id="1948" />
+<TGConnectingPoint num="8" id="1949" />
+<TGConnectingPoint num="9" id="1950" />
+<TGConnectingPoint num="10" id="1951" />
+<TGConnectingPoint num="11" id="1952" />
+<TGConnectingPoint num="12" id="1953" />
+<TGConnectingPoint num="13" id="1954" />
+<TGConnectingPoint num="14" id="1955" />
+<TGConnectingPoint num="15" id="1956" />
+<TGConnectingPoint num="16" id="1957" />
+<TGConnectingPoint num="17" id="1958" />
+<TGConnectingPoint num="18" id="1959" />
+<TGConnectingPoint num="19" id="1960" />
+<TGConnectingPoint num="20" id="1961" />
+<TGConnectingPoint num="21" id="1962" />
+<TGConnectingPoint num="22" id="1963" />
+<TGConnectingPoint num="23" id="1964" />
<extraparam>
<info stereotype="VGSB" nodeName="Bus0" />
<attributes index="0" nbOfAttachedInitiators="0" nbOfAttachedTargets="0" minLatency="0" fifoDepth="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5355" id="2146" >
+<COMPONENT type="5355" id="2017" >
<cdparam x="797" y="112" />
<sizeparam width="323" height="200" minWidth="100" minHeight="35" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="Memory0" value="name" />
-<TGConnectingPoint num="0" id="2122" />
-<TGConnectingPoint num="1" id="2123" />
-<TGConnectingPoint num="2" id="2124" />
-<TGConnectingPoint num="3" id="2125" />
-<TGConnectingPoint num="4" id="2126" />
-<TGConnectingPoint num="5" id="2127" />
-<TGConnectingPoint num="6" id="2128" />
-<TGConnectingPoint num="7" id="2129" />
-<TGConnectingPoint num="8" id="2130" />
-<TGConnectingPoint num="9" id="2131" />
-<TGConnectingPoint num="10" id="2132" />
-<TGConnectingPoint num="11" id="2133" />
-<TGConnectingPoint num="12" id="2134" />
-<TGConnectingPoint num="13" id="2135" />
-<TGConnectingPoint num="14" id="2136" />
-<TGConnectingPoint num="15" id="2137" />
-<TGConnectingPoint num="16" id="2138" />
-<TGConnectingPoint num="17" id="2139" />
-<TGConnectingPoint num="18" id="2140" />
-<TGConnectingPoint num="19" id="2141" />
-<TGConnectingPoint num="20" id="2142" />
-<TGConnectingPoint num="21" id="2143" />
-<TGConnectingPoint num="22" id="2144" />
-<TGConnectingPoint num="23" id="2145" />
+<TGConnectingPoint num="0" id="1993" />
+<TGConnectingPoint num="1" id="1994" />
+<TGConnectingPoint num="2" id="1995" />
+<TGConnectingPoint num="3" id="1996" />
+<TGConnectingPoint num="4" id="1997" />
+<TGConnectingPoint num="5" id="1998" />
+<TGConnectingPoint num="6" id="1999" />
+<TGConnectingPoint num="7" id="2000" />
+<TGConnectingPoint num="8" id="2001" />
+<TGConnectingPoint num="9" id="2002" />
+<TGConnectingPoint num="10" id="2003" />
+<TGConnectingPoint num="11" id="2004" />
+<TGConnectingPoint num="12" id="2005" />
+<TGConnectingPoint num="13" id="2006" />
+<TGConnectingPoint num="14" id="2007" />
+<TGConnectingPoint num="15" id="2008" />
+<TGConnectingPoint num="16" id="2009" />
+<TGConnectingPoint num="17" id="2010" />
+<TGConnectingPoint num="18" id="2011" />
+<TGConnectingPoint num="19" id="2012" />
+<TGConnectingPoint num="20" id="2013" />
+<TGConnectingPoint num="21" id="2014" />
+<TGConnectingPoint num="22" id="2015" />
+<TGConnectingPoint num="23" id="2016" />
<extraparam>
<info stereotype="RAM" nodeName="Memory0" />
-<attributes byteDataSize="4096" index="0" />
+<attributes byteDataSize="1048576" index="0" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5362" id="2103" >
-<father id="2146" num="0" />
-<cdparam x="862" y="154" />
-<sizeparam width="201" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5362" id="1974" >
+<father id="2017" num="0" />
+<cdparam x="868" y="250" />
+<sizeparam width="188" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="122" minY="0" maxY="160" />
-<infoparam name="TGComponent" value="MainControl/in sensorData" />
-<TGConnectingPoint num="0" id="2095" />
-<TGConnectingPoint num="1" id="2096" />
-<TGConnectingPoint num="2" id="2097" />
-<TGConnectingPoint num="3" id="2098" />
-<TGConnectingPoint num="4" id="2099" />
-<TGConnectingPoint num="5" id="2100" />
-<TGConnectingPoint num="6" id="2101" />
-<TGConnectingPoint num="7" id="2102" />
+<cdrectangleparam minX="0" maxX="135" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="MainControl/in tempData" />
+<TGConnectingPoint num="0" id="1966" />
+<TGConnectingPoint num="1" id="1967" />
+<TGConnectingPoint num="2" id="1968" />
+<TGConnectingPoint num="3" id="1969" />
+<TGConnectingPoint num="4" id="1970" />
+<TGConnectingPoint num="5" id="1971" />
+<TGConnectingPoint num="6" id="1972" />
+<TGConnectingPoint num="7" id="1973" />
<extraparam>
-<info value="MainControl/in sensorData" channelName="MainControl/in sensorData(int distanceLeft, int distanceFront, int distanceRight) #--# DistanceSensor/out sensorData(int distanceLeft, int distanceFront, int distanceRight)" fullChannelName="Design::MainControl/in sensorData(int distanceLeft, int distanceFront, int distanceRight) #--# DistanceSensor/out sensorData(int distanceLeft, int distanceFront, int distanceRight)" referenceDiagram="Design" />
+<info value="MainControl/in tempData" channelName="MainControl/in tempData(int temp) #--# TemperatureSensor/out tempData(int temp)" fullChannelName="Design::MainControl/in tempData(int temp) #--# TemperatureSensor/out tempData(int temp)" referenceDiagram="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5362" id="2112" >
-<father id="2146" num="1" />
+<SUBCOMPONENT type="5362" id="1983" >
+<father id="2017" num="1" />
<cdparam x="845" y="201" />
-<sizeparam width="237" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="235" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="86" minY="0" maxY="160" />
+<cdrectangleparam minX="0" maxX="88" minY="0" maxY="160" />
<infoparam name="TGComponent" value="MainControl/out motorCommand" />
-<TGConnectingPoint num="0" id="2104" />
-<TGConnectingPoint num="1" id="2105" />
-<TGConnectingPoint num="2" id="2106" />
-<TGConnectingPoint num="3" id="2107" />
-<TGConnectingPoint num="4" id="2108" />
-<TGConnectingPoint num="5" id="2109" />
-<TGConnectingPoint num="6" id="2110" />
-<TGConnectingPoint num="7" id="2111" />
+<TGConnectingPoint num="0" id="1975" />
+<TGConnectingPoint num="1" id="1976" />
+<TGConnectingPoint num="2" id="1977" />
+<TGConnectingPoint num="3" id="1978" />
+<TGConnectingPoint num="4" id="1979" />
+<TGConnectingPoint num="5" id="1980" />
+<TGConnectingPoint num="6" id="1981" />
+<TGConnectingPoint num="7" id="1982" />
<extraparam>
<info value="MainControl/out motorCommand" channelName="MainControl/out motorCommand(int leftVelocity, int rightVelocity) #--# MotorControl/in motorCommand(int leftCommand, int rightCommand)" fullChannelName="Design::MainControl/out motorCommand(int leftVelocity, int rightVelocity) #--# MotorControl/in motorCommand(int leftCommand, int rightCommand)" referenceDiagram="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5362" id="2121" >
-<father id="2146" num="2" />
-<cdparam x="868" y="250" />
-<sizeparam width="190" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5362" id="1992" >
+<father id="2017" num="2" />
+<cdparam x="862" y="154" />
+<sizeparam width="198" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="133" minY="0" maxY="160" />
-<infoparam name="TGComponent" value="MainControl/in tempData" />
-<TGConnectingPoint num="0" id="2113" />
-<TGConnectingPoint num="1" id="2114" />
-<TGConnectingPoint num="2" id="2115" />
-<TGConnectingPoint num="3" id="2116" />
-<TGConnectingPoint num="4" id="2117" />
-<TGConnectingPoint num="5" id="2118" />
-<TGConnectingPoint num="6" id="2119" />
-<TGConnectingPoint num="7" id="2120" />
+<cdrectangleparam minX="0" maxX="125" minY="0" maxY="160" />
+<infoparam name="TGComponent" value="MainControl/in sensorData" />
+<TGConnectingPoint num="0" id="1984" />
+<TGConnectingPoint num="1" id="1985" />
+<TGConnectingPoint num="2" id="1986" />
+<TGConnectingPoint num="3" id="1987" />
+<TGConnectingPoint num="4" id="1988" />
+<TGConnectingPoint num="5" id="1989" />
+<TGConnectingPoint num="6" id="1990" />
+<TGConnectingPoint num="7" id="1991" />
<extraparam>
-<info value="MainControl/in tempData" channelName="MainControl/in tempData(int temp) #--# TemperatureSensor/out tempData(int temp)" fullChannelName="Design::MainControl/in tempData(int temp) #--# TemperatureSensor/out tempData(int temp)" referenceDiagram="Design" />
+<info value="MainControl/in sensorData" channelName="MainControl/in sensorData(int distanceLeft, int distanceFront, int distanceRight) #--# DistanceSensor/out sensorData(int distanceLeft, int distanceFront, int distanceRight)" fullChannelName="Design::MainControl/in sensorData(int distanceLeft, int distanceFront, int distanceRight) #--# DistanceSensor/out sensorData(int distanceLeft, int distanceFront, int distanceRight)" referenceDiagram="Design" />
</extraparam>
</SUBCOMPONENT>
-<COMPONENT type="5354" id="2171" >
+<COMPONENT type="5354" id="2042" >
<cdparam x="79" y="245" />
<sizeparam width="250" height="100" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="TTY0" value="name" />
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-<TGConnectingPoint num="21" id="2168" />
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-<TGConnectingPoint num="23" id="2170" />
+<TGConnectingPoint num="0" id="2018" />
+<TGConnectingPoint num="1" id="2019" />
+<TGConnectingPoint num="2" id="2020" />
+<TGConnectingPoint num="3" id="2021" />
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+<TGConnectingPoint num="7" id="2025" />
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+<TGConnectingPoint num="10" id="2028" />
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+<TGConnectingPoint num="12" id="2030" />
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+<TGConnectingPoint num="14" id="2032" />
+<TGConnectingPoint num="15" id="2033" />
+<TGConnectingPoint num="16" id="2034" />
+<TGConnectingPoint num="17" id="2035" />
+<TGConnectingPoint num="18" id="2036" />
+<TGConnectingPoint num="19" id="2037" />
+<TGConnectingPoint num="20" id="2038" />
+<TGConnectingPoint num="21" id="2039" />
+<TGConnectingPoint num="22" id="2040" />
+<TGConnectingPoint num="23" id="2041" />
<extraparam>
<info stereotype="TTY" nodeName="TTY0" />
<attributes index="0" />
</extraparam>
</COMPONENT>
-<COMPONENT type="5351" id="2232" >
+<COMPONENT type="5351" id="2103" >
<cdparam x="79" y="10" />
<sizeparam width="250" height="213" minWidth="150" minHeight="100" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
<infoparam name="CPU0" value="name" />
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-<TGConnectingPoint num="14" id="2222" />
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-<TGConnectingPoint num="21" id="2229" />
-<TGConnectingPoint num="22" id="2230" />
-<TGConnectingPoint num="23" id="2231" />
+<TGConnectingPoint num="0" id="2079" />
+<TGConnectingPoint num="1" id="2080" />
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+<TGConnectingPoint num="6" id="2085" />
+<TGConnectingPoint num="7" id="2086" />
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+<TGConnectingPoint num="9" id="2088" />
+<TGConnectingPoint num="10" id="2089" />
+<TGConnectingPoint num="11" id="2090" />
+<TGConnectingPoint num="12" id="2091" />
+<TGConnectingPoint num="13" id="2092" />
+<TGConnectingPoint num="14" id="2093" />
+<TGConnectingPoint num="15" id="2094" />
+<TGConnectingPoint num="16" id="2095" />
+<TGConnectingPoint num="17" id="2096" />
+<TGConnectingPoint num="18" id="2097" />
+<TGConnectingPoint num="19" id="2098" />
+<TGConnectingPoint num="20" id="2099" />
+<TGConnectingPoint num="21" id="2100" />
+<TGConnectingPoint num="22" id="2101" />
+<TGConnectingPoint num="23" id="2102" />
<extraparam>
<info stereotype="CPU" nodeName="CPU0" />
<attributes nbOfIrq="6" iCacheWays="8" iCacheSets="4" iCacheWords="4" dCacheWays="8" dCacheSets="4" dCacheWords="4" />
</extraparam>
</COMPONENT>
-<SUBCOMPONENT type="5352" id="2180" >
-<father id="2232" num="0" />
-<cdparam x="100" y="44" />
-<sizeparam width="167" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5352" id="2051" >
+<father id="2103" num="0" />
+<cdparam x="102" y="176" />
+<sizeparam width="156" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="83" minY="0" maxY="173" />
-<infoparam name="TGComponent" value="Design::MotorControl" />
-<TGConnectingPoint num="0" id="2172" />
-<TGConnectingPoint num="1" id="2173" />
-<TGConnectingPoint num="2" id="2174" />
-<TGConnectingPoint num="3" id="2175" />
-<TGConnectingPoint num="4" id="2176" />
-<TGConnectingPoint num="5" id="2177" />
-<TGConnectingPoint num="6" id="2178" />
-<TGConnectingPoint num="7" id="2179" />
+<cdrectangleparam minX="0" maxX="94" minY="0" maxY="173" />
+<infoparam name="TGComponent" value="Design::MainControl" />
+<TGConnectingPoint num="0" id="2043" />
+<TGConnectingPoint num="1" id="2044" />
+<TGConnectingPoint num="2" id="2045" />
+<TGConnectingPoint num="3" id="2046" />
+<TGConnectingPoint num="4" id="2047" />
+<TGConnectingPoint num="5" id="2048" />
+<TGConnectingPoint num="6" id="2049" />
+<TGConnectingPoint num="7" id="2050" />
<extraparam>
-<info value="Design::MotorControl" taskName="MotorControl" referenceTaskName="Design" />
+<info value="Design::MainControl" taskName="MainControl" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5352" id="2189" >
-<father id="2232" num="1" />
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-<sizeparam width="211" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5352" id="2060" >
+<father id="2103" num="1" />
+<cdparam x="101" y="133" />
+<sizeparam width="180" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="39" minY="0" maxY="173" />
-<infoparam name="TGComponent" value="Design::TemperatureSensor" />
-<TGConnectingPoint num="0" id="2181" />
-<TGConnectingPoint num="1" id="2182" />
-<TGConnectingPoint num="2" id="2183" />
-<TGConnectingPoint num="3" id="2184" />
-<TGConnectingPoint num="4" id="2185" />
-<TGConnectingPoint num="5" id="2186" />
-<TGConnectingPoint num="6" id="2187" />
-<TGConnectingPoint num="7" id="2188" />
+<cdrectangleparam minX="0" maxX="70" minY="0" maxY="173" />
+<infoparam name="TGComponent" value="Design::DistanceSensor" />
+<TGConnectingPoint num="0" id="2052" />
+<TGConnectingPoint num="1" id="2053" />
+<TGConnectingPoint num="2" id="2054" />
+<TGConnectingPoint num="3" id="2055" />
+<TGConnectingPoint num="4" id="2056" />
+<TGConnectingPoint num="5" id="2057" />
+<TGConnectingPoint num="6" id="2058" />
+<TGConnectingPoint num="7" id="2059" />
<extraparam>
-<info value="Design::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Design" />
+<info value="Design::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5352" id="2198" >
-<father id="2232" num="2" />
-<cdparam x="101" y="133" />
-<sizeparam width="185" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5352" id="2069" >
+<father id="2103" num="2" />
+<cdparam x="101" y="89" />
+<sizeparam width="206" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="65" minY="0" maxY="173" />
-<infoparam name="TGComponent" value="Design::DistanceSensor" />
-<TGConnectingPoint num="0" id="2190" />
-<TGConnectingPoint num="1" id="2191" />
-<TGConnectingPoint num="2" id="2192" />
-<TGConnectingPoint num="3" id="2193" />
-<TGConnectingPoint num="4" id="2194" />
-<TGConnectingPoint num="5" id="2195" />
-<TGConnectingPoint num="6" id="2196" />
-<TGConnectingPoint num="7" id="2197" />
+<cdrectangleparam minX="0" maxX="44" minY="0" maxY="173" />
+<infoparam name="TGComponent" value="Design::TemperatureSensor" />
+<TGConnectingPoint num="0" id="2061" />
+<TGConnectingPoint num="1" id="2062" />
+<TGConnectingPoint num="2" id="2063" />
+<TGConnectingPoint num="3" id="2064" />
+<TGConnectingPoint num="4" id="2065" />
+<TGConnectingPoint num="5" id="2066" />
+<TGConnectingPoint num="6" id="2067" />
+<TGConnectingPoint num="7" id="2068" />
<extraparam>
-<info value="Design::DistanceSensor" taskName="DistanceSensor" referenceTaskName="Design" />
+<info value="Design::TemperatureSensor" taskName="TemperatureSensor" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<SUBCOMPONENT type="5352" id="2207" >
-<father id="2232" num="3" />
-<cdparam x="102" y="176" />
-<sizeparam width="160" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<SUBCOMPONENT type="5352" id="2078" >
+<father id="2103" num="3" />
+<cdparam x="100" y="44" />
+<sizeparam width="164" height="40" minWidth="75" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<hidden value="false" />
-<cdrectangleparam minX="0" maxX="90" minY="0" maxY="173" />
-<infoparam name="TGComponent" value="Design::MainControl" />
-<TGConnectingPoint num="0" id="2199" />
-<TGConnectingPoint num="1" id="2200" />
-<TGConnectingPoint num="2" id="2201" />
-<TGConnectingPoint num="3" id="2202" />
-<TGConnectingPoint num="4" id="2203" />
-<TGConnectingPoint num="5" id="2204" />
-<TGConnectingPoint num="6" id="2205" />
-<TGConnectingPoint num="7" id="2206" />
+<cdrectangleparam minX="0" maxX="86" minY="0" maxY="173" />
+<infoparam name="TGComponent" value="Design::MotorControl" />
+<TGConnectingPoint num="0" id="2070" />
+<TGConnectingPoint num="1" id="2071" />
+<TGConnectingPoint num="2" id="2072" />
+<TGConnectingPoint num="3" id="2073" />
+<TGConnectingPoint num="4" id="2074" />
+<TGConnectingPoint num="5" id="2075" />
+<TGConnectingPoint num="6" id="2076" />
+<TGConnectingPoint num="7" id="2077" />
<extraparam>
-<info value="Design::MainControl" taskName="MainControl" referenceTaskName="Design" />
+<info value="Design::MotorControl" taskName="MotorControl" referenceTaskName="Design" />
</extraparam>
</SUBCOMPONENT>
-<CONNECTOR type="5350" id="2233" >
+<CONNECTOR type="5350" id="2104" >
<cdparam x="793" y="217" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="797" y="212" id="2125" />
-<P2 x="710" y="212" id="2074" />
+<P1 x="797" y="212" id="1996" />
+<P2 x="710" y="212" id="1945" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="true" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="2234" >
+<CONNECTOR type="5350" id="2105" >
<cdparam x="329" y="345" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="329" y="295" id="2151" />
-<P2 x="460" y="237" id="2075" />
+<P1 x="329" y="295" id="2022" />
+<P2 x="460" y="237" id="1946" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="false" />
</extraparam>
</CONNECTOR>
-<CONNECTOR type="5350" id="2235" >
+<CONNECTOR type="5350" id="2106" >
<cdparam x="329" y="123" />
<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
<infoparam name="connector" value="{info}" />
-<P1 x="329" y="116" id="2212" />
-<P2 x="460" y="187" id="2070" />
+<P1 x="329" y="116" id="2083" />
+<P2 x="460" y="187" id="1941" />
<AutomaticDrawing data="true" />
<extraparam>
<spy value="false" />
--
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