372 lines
13 KiB
XML
372 lines
13 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<graphml xmlns="http://graphml.graphdrawing.org/xmlns">
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<data key="gFormat">Cyberiada-GraphML-1.0</data>
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<key id="gFormat" for="graphml" attr.name="format" attr.type="string"/>
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<key id="dName" for="graph" attr.name="name" attr.type="string"/>
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<key id="dName" for="node" attr.name="name" attr.type="string"/>
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<key id="dStateMachine" for="graph" attr.name="stateMachine" attr.type="string"/>
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<key id="dSubmachineState" for="node" attr.name="submachineState" attr.type="string"/>
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<key id="dGeometry" for="graph" attr.name="geometry"/>
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<key id="dGeometry" for="node" attr.name="geometry"/>
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<key id="dGeometry" for="edge" attr.name="geometry"/>
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<key id="dSourcePoint" for="edge" attr.name="sourcePoint"/>
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<key id="dTargetPoint" for="edge" attr.name="targetPoint"/>
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<key id="dLabelGeometry" for="edge" attr.name="labelGeometry"/>
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<key id="dNote" for="node" attr.name="note" attr.type="string"/>
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<key id="dVertex" for="node" attr.name="vertex" attr.type="string"/>
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<key id="dData" for="node" attr.name="data" attr.type="string"/>
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<key id="dData" for="edge" attr.name="data" attr.type="string"/>
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<key id="dMarkup" for="node" attr.name="markup" attr.type="string"/>
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<key id="dColor" for="node" attr.name="color" attr.type="string"/>
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<key id="dColor" for="edge" attr.name="color" attr.type="string"/>
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<key id="dPivot" for="edge" attr.name="pivot" attr.type="string"/>
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<key id="dChunk" for="edge" attr.name="chunk" attr.type="string"/>
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<graph id="G" edgedefault="directed">
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<data key="dStateMachine"/>
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<data key="dName">orientation</data>
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<node id="nMeta">
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<data key="dNote">formal</data>
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<data key="dName">CGML_META</data>
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<data key="dData">standardVersion/ 1.0
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name/ orientation
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transitionOrder/ transitionFirst
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eventPropagation/ block
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</data>
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</node>
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<node id="n0">
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<data key="dName">orientation</data>
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<data key="dData">entry/</data>
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<data key="dGeometry">
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<rect x="409.904572" y="50.595303" width="1149.475220" height="725.384277"/>
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</data>
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<graph id="n0:" edgedefault="directed">
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<node id="n0::n0">
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<data key="dName">turn</data>
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<data key="dData">entry/
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orientation.start_motor(AXIS_Z)
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exit/
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orientation.stop_motor(AXIS_Z)
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</data>
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<data key="dGeometry">
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<rect x="35.557465" y="47.118244" width="297.494720" height="506.212646"/>
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</data>
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<graph id="n0::n0:" edgedefault="directed">
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<node id="n0::n0::n0">
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<data key="dName">slow_down</data>
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<data key="dData">entry/
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reduce_speed()
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</data>
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<data key="dGeometry">
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<rect x="15.000000" y="188.739487" width="267.494720" height="69.211853"/>
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</data>
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</node>
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<node id="n0::n0::n1">
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<data key="dName">start_turn</data>
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<data key="dData">entry/
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calculate_turn()
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</data>
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<data key="dGeometry">
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<rect x="15.000000" y="298.670593" width="267.494720" height="69.211853"/>
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</data>
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</node>
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<node id="n0::n0::n2">
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<data key="dVertex">initial</data>
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<data key="dName"></data>
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<data key="dGeometry">
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<point x="148.747375" y="150.239471"/>
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</data>
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</node>
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<node id="n0::n0::n3">
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<data key="dName">finish_turn</data>
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<data key="dData">entry/
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complete_turn()
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</data>
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<data key="dGeometry">
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<rect x="15.000000" y="408.601746" width="267.494720" height="69.211853"/>
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</data>
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</node>
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</graph>
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</node>
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<node id="n0::n1">
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<data key="dName">idle</data>
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<data key="dData">entry/</data>
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<data key="dGeometry">
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<rect x="356.263458" y="53.367176" width="313.216827" height="117.952454"/>
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</data>
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</node>
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<node id="n0::n2">
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<data key="dName">wait</data>
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<data key="dData">entry/</data>
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<data key="dGeometry">
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<rect x="692.691528" y="56.341518" width="432.212921" height="640.662781"/>
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</data>
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<graph id="n0::n2:" edgedefault="directed">
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<node id="n0::n2::n0">
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<data key="dName">maintain</data>
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<data key="dData">entry/
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orientation.start_motor(AXIS_Z)
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exit/
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orientation.stop_motor(AXIS_Z)
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</data>
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<data key="dGeometry">
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<rect x="19.000000" y="213.807129" width="393.600128" height="400.073730"/>
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</data>
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<graph id="n0::n2::n0:" edgedefault="directed">
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<node id="n0::n2::n0::n0">
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<data key="dName">correct_cw</data>
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<data key="dData">entry/
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orientation.set_motor_moment(AXIS_Z, -M)
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</data>
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<data key="dGeometry">
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<rect x="18.753662" y="158.493500" width="358.315155" height="75.337151"/>
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</data>
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</node>
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<node id="n0::n2::n0::n1">
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<data key="dName">correct_ccw</data>
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<data key="dData">entry/
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orientation.set_motor_moment(AXIS_Z, M)
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</data>
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<data key="dGeometry">
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<rect x="18.753662" y="303.419373" width="358.315155" height="75.337151"/>
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</data>
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</node>
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<node id="n0::n2::n0::n2">
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<data key="dVertex">initial</data>
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<data key="dName"></data>
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<data key="dGeometry">
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<point x="197.911255" y="115.608673"/>
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</data>
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</node>
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</graph>
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</node>
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<node id="n0::n2::n1">
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<data key="dName">static</data>
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<data key="dData">entry/</data>
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<data key="dGeometry">
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<rect x="20.111206" y="94.501884" width="393.600128" height="75.337151"/>
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</data>
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</node>
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<node id="n0::n2::n2">
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<data key="dVertex">initial</data>
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<data key="dName"></data>
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<data key="dGeometry">
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<point x="216.911255" y="51.617043"/>
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</data>
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</node>
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</graph>
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</node>
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</graph>
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</node>
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<node id="n1">
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<data key="dVertex">initial</data>
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<data key="dName"></data>
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<data key="dGeometry">
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<point x="945.784363" y="-25.402416"/>
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</data>
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</node>
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<node id="n2">
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<data key="dNote">informal</data>
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<data key="dData">Init scripts:
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test3sm_constants.py
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test3sm_orient.py</data>
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<data key="dGeometry">
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<rect x="445.462036" y="652.554016" width="160.084412" height="95.045609"/>
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</data>
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</node>
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<edge id="e0" source="n1" target="n0::n1">
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<data key="dSourcePoint">
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<point x="0.000000" y="10.000000"/>
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</data>
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<data key="dTargetPoint">
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<point x="156.608414" y="0.000000"/>
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</data>
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</edge>
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<edge id="e1" source="n0" target="n0::n1">
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<data key="dData">STOP/</data>
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<data key="dGeometry">
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<point x="826.770386" y="-4.951387"/>
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<point x="918.657471" y="-4.951387"/>
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</data>
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<data key="dSourcePoint">
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<point x="574.737610" y="0.000000"/>
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</data>
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<data key="dTargetPoint">
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<point x="156.608414" y="0.000000"/>
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</data>
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<data key="dLabelGeometry">
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<point x="-50.904530" y="-43.776615"/>
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</data>
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</edge>
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<edge id="n0::e0" source="n0::n1" target="n0::n0">
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<data key="dData">TANGENT(target_a)/
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update_turn_parameters(target_a, 0.0)
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</data>
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<data key="dGeometry">
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<point x="1018.008484" y="374.381714"/>
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</data>
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<data key="dSourcePoint">
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<point x="156.608414" y="117.952454"/>
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</data>
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<point x="297.494720" y="276.668121"/>
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</data>
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<point x="-248.976791" y="112.880707"/>
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</data>
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</edge>
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<edge id="n0::e1" source="n0::n1" target="n0::n0">
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<data key="dData">BACK(target_a)/
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update_turn_parameters(target_a, 180.0)
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</data>
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<data key="dGeometry">
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<point x="1036.419922" y="468.787109"/>
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</data>
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<data key="dSourcePoint">
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<point x="156.608414" y="117.952454"/>
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</data>
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</edge>
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<edge id="n0::n0::e0" source="n0::n0::n2" target="n0::n0::n0">
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<data key="dSourcePoint">
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<point x="0.000000" y="10.000000"/>
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</data>
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<data key="dTargetPoint">
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<point x="133.747360" y="0.000000"/>
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</data>
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</edge>
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<edge id="n0::n0::e1" source="n0::n0::n0" target="n0::n0::n1">
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<data key="dData">[completed()]/</data>
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<data key="dSourcePoint">
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<point x="133.747360" y="69.211853"/>
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</data>
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<data key="dTargetPoint">
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<point x="133.747360" y="0.000000"/>
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<point x="1.574948" y="11.386170"/>
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</data>
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</edge>
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<edge id="n0::n0::e2" source="n0::n0::n1" target="n0::n0::n3">
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<data key="dData">[completed()]/</data>
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<data key="dSourcePoint">
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<point x="133.747360" y="69.211853"/>
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</data>
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</data>
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</edge>
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<edge id="n0::e2" source="n0::n2" target="n0::n1">
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<data key="dData">TIME_TICK [orientation_completed()]/
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DISPATCH(cpu, 'ORIENTED')
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DISPATCH(navigation, 'ORIENTED')
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</data>
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<data key="dGeometry">
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<point x="1050.996216" y="526.111328"/>
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</data>
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<data key="dSourcePoint">
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<point x="0.000000" y="419.174500"/>
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<point x="156.608414" y="117.952454"/>
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<point x="-237.115860" y="17.656166"/>
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</data>
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</edge>
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<edge id="n0::n2::n0::e0" source="n0::n2::n0::n0" target="n0::n2::n0::n1">
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<data key="dData">[orientation.get_angular_velocity(AXIS_Z) < DW]/</data>
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<data key="dSourcePoint">
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<point x="179.157578" y="75.337151"/>
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</data>
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<data key="dTargetPoint">
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<point x="179.157578" y="0.000000"/>
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<data key="dLabelGeometry">
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<point x="11.403487" y="9.562100"/>
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</data>
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</edge>
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<edge id="n0::n2::n0::e1" source="n0::n2::n0::n1" target="n0::n2::n0::n0">
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<data key="dData">[orientation.get_angular_velocity(AXIS_Z) > DW]/</data>
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<data key="dSourcePoint">
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<point x="179.157578" y="0.000000"/>
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</data>
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<data key="dTargetPoint">
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<point x="179.157578" y="75.337151"/>
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</edge>
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<edge id="n0::n2::n0::e2" source="n0::n2::n0::n2" target="n0::n2::n0::n0">
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</edge>
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<edge id="n0::n2::e0" source="n0::n2::n2" target="n0::n2::n1">
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<data key="dSourcePoint">
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<point x="0.000000" y="10.000000"/>
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<point x="196.800064" y="0.000000"/>
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</edge>
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<edge id="n0::e3" source="n0::n0::n3" target="n0::n2">
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<data key="dData">[completed()]/</data>
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<data key="dGeometry">
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<point x="665.626831" y="711.283508"/>
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</data>
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</edge>
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<edge id="n0::n2::e1" source="n0::n2::n0" target="n0::n2::n1">
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<data key="dData">[is_target_dw()]/</data>
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<data key="dSourcePoint">
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<point x="196.800064" y="0.000000"/>
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</edge>
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<edge id="n0::n2::e2" source="n0::n2::n1" target="n0::n2::n0">
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<data key="dData">[not is_target_dw()]/</data>
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<data key="dSourcePoint">
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<point x="196.800064" y="75.337151"/>
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</data>
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<data key="dTargetPoint">
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<point x="196.800064" y="0.000000"/>
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<point x="9.669483" y="13.809602"/>
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