diff --git a/.ci/deb_blacklist.yml b/.ci/deb_blacklist.yml index 42847d2..5dd6d94 100644 --- a/.ci/deb_blacklist.yml +++ b/.ci/deb_blacklist.yml @@ -1,3 +1,6 @@ --- +- base/cmake - knowledge_reasoning/owlapi - knowledge_reasoning/moreorg +- tools/graph_analysis +- tools/gecode diff --git a/.ci/prepare-docker.sh b/.ci/prepare-docker.sh new file mode 100755 index 0000000..b720454 --- /dev/null +++ b/.ci/prepare-docker.sh @@ -0,0 +1,23 @@ +#!/bin/bash + +apt update +apt upgrade -y + +export DEBIAN_FRONTEND=noninteractive +apt install -y ruby ruby-dev wget tzdata locales g++ autotools-dev make cmake sudo git python3 pkg-config vim + +echo "Europe/Berlin" > /etc/timezone +dpkg-reconfigure -f noninteractive tzdata + +export LANGUAGE=de_DE.UTF-8 +export LANG=de_DE.UTF-8 +export LC_ALL=de_DE.UTF-8 + +locale-gen de_DE.UTF-8 +dpkg-reconfigure locales + +useradd -ms /bin/bash docker +echo "docker ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers + +git config --global user.email "rock-users@dfki.de" +git config --global user.name "Rock CI" diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..65823d3 --- /dev/null +++ b/.clang-format @@ -0,0 +1,137 @@ +--- +Language: Cpp +# BasedOnStyle: LLVM +AccessModifierOffset: -2 +AlignAfterOpenBracket: Align +AlignConsecutiveMacros: false +AlignConsecutiveAssignments: false +AlignConsecutiveDeclarations: false +AlignEscapedNewlines: Right +AlignOperands: true +AlignTrailingComments: true +AllowAllArgumentsOnNextLine: true +AllowAllConstructorInitializersOnNextLine: true +AllowAllParametersOfDeclarationOnNextLine: true +AllowShortBlocksOnASingleLine: Never +AllowShortCaseLabelsOnASingleLine: false +AllowShortFunctionsOnASingleLine: All +AllowShortLambdasOnASingleLine: All +AllowShortIfStatementsOnASingleLine: Never +AllowShortLoopsOnASingleLine: false +AlwaysBreakAfterDefinitionReturnType: None +AlwaysBreakAfterReturnType: None +AlwaysBreakBeforeMultilineStrings: false +AlwaysBreakTemplateDeclarations: MultiLine +BinPackArguments: true +BinPackParameters: true +BraceWrapping: + AfterCaseLabel: true + AfterClass: true + AfterControlStatement: true + AfterEnum: false + AfterFunction: true + AfterNamespace: false + AfterObjCDeclaration: false + AfterStruct: true + AfterUnion: false + AfterExternBlock: false + BeforeCatch: false + BeforeElse: false + IndentBraces: false + SplitEmptyFunction: true + SplitEmptyRecord: true + SplitEmptyNamespace: true +BreakBeforeBinaryOperators: None +BreakBeforeBraces: Custom +BreakBeforeInheritanceComma: false +BreakInheritanceList: BeforeColon +BreakBeforeTernaryOperators: true +BreakConstructorInitializersBeforeComma: false +BreakConstructorInitializers: BeforeColon +BreakAfterJavaFieldAnnotations: false +BreakStringLiterals: true +ColumnLimit: 80 +CommentPragmas: '^ IWYU pragma:' +CompactNamespaces: false +ConstructorInitializerAllOnOneLineOrOnePerLine: false +ConstructorInitializerIndentWidth: 4 +ContinuationIndentWidth: 4 +Cpp11BracedListStyle: true +DeriveLineEnding: true +DerivePointerAlignment: false +DisableFormat: false +ExperimentalAutoDetectBinPacking: false +FixNamespaceComments: true +ForEachMacros: + - foreach + - Q_FOREACH + - BOOST_FOREACH +IncludeBlocks: Preserve +IncludeCategories: + - Regex: '^"(llvm|llvm-c|clang|clang-c)/' + Priority: 2 + SortPriority: 0 + - Regex: '^(<|"(gtest|gmock|isl|json)/)' + Priority: 3 + SortPriority: 0 + - Regex: '.*' + Priority: 1 + SortPriority: 0 +IncludeIsMainRegex: '(Test)?$' +IncludeIsMainSourceRegex: '' +IndentCaseLabels: false +IndentGotoLabels: true +IndentPPDirectives: None +IndentWidth: 2 +IndentWrappedFunctionNames: false +JavaScriptQuotes: Leave +JavaScriptWrapImports: true +KeepEmptyLinesAtTheStartOfBlocks: true +MacroBlockBegin: '' +MacroBlockEnd: '' +MaxEmptyLinesToKeep: 1 +NamespaceIndentation: None +ObjCBinPackProtocolList: Auto +ObjCBlockIndentWidth: 2 +ObjCSpaceAfterProperty: false +ObjCSpaceBeforeProtocolList: true +PenaltyBreakAssignment: 2 +PenaltyBreakBeforeFirstCallParameter: 19 +PenaltyBreakComment: 300 +PenaltyBreakFirstLessLess: 120 +PenaltyBreakString: 1000 +PenaltyBreakTemplateDeclaration: 10 +PenaltyExcessCharacter: 1000000 +PenaltyReturnTypeOnItsOwnLine: 60 +PointerAlignment: Left +ReflowComments: true +SortIncludes: true +SortUsingDeclarations: true +SpaceAfterCStyleCast: false +SpaceAfterLogicalNot: false +SpaceAfterTemplateKeyword: true +SpaceBeforeAssignmentOperators: true +SpaceBeforeCpp11BracedList: false +SpaceBeforeCtorInitializerColon: true +SpaceBeforeInheritanceColon: true +SpaceBeforeParens: ControlStatements +SpaceBeforeRangeBasedForLoopColon: true +SpaceInEmptyBlock: false +SpaceInEmptyParentheses: false +SpacesBeforeTrailingComments: 1 +SpacesInAngles: false +SpacesInConditionalStatement: false +SpacesInContainerLiterals: true +SpacesInCStyleCastParentheses: false +SpacesInParentheses: false +SpacesInSquareBrackets: false +SpaceBeforeSquareBrackets: false +Standard: Latest +StatementMacros: + - Q_UNUSED + - QT_REQUIRE_VERSION +TabWidth: 8 +UseCRLF: false +UseTab: Never +... + diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 35a2d25..97f8a77 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -2,18 +2,41 @@ name: test on: [push] jobs: unittests: - runs-on: ubuntu-18.04 + strategy: + matrix: + os: ["ubuntu:20.04", "ubuntu:22.04"] + package: ["planning/templ"] + seed_config: [".ci/autoproj-config.yml"] + runs-on: ubuntu-latest steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v4 - - name: Branch name - shell: bash - run: echo "##[set-output name=branch;]$(echo ${GITHUB_REF#refs/heads/})" - id: current_branch + - name: Checkout + uses: actions/checkout@v4 + with: + repository: 2maz/rock-github-workflow + path: rock-github-workflow + ref: test + + - name: Apply package / branch specific overrides + run: + if [ -d .ci/overrides.d/ ]; then + echo "Copying overrides from .ci/" + cp -R .ci/overrides.d/* rock-github-workflow/docker/overrides.d/; + fi + + - name: Build + run: docker build -t rock/${{ matrix.os }} -f rock-github-workflow/docker/Dockerfile . + --build-arg PKG_NAME=${{ matrix.package }} + --build-arg PKG_BRANCH=${{ github.ref_name }} + --build-arg BASE_IMAGE=${{ matrix.os }} + --build-arg SEED_CONFIG=${{ matrix.seed_config }} + --build-arg BUILDCONF_URL=https://github.com/2maz/templ-buildconf + --build-arg BUILDCONF_BRANCH=test - - name: Build 18.04 - run: docker build -t 2maz/templ -f Dockerfile . --build-arg PKG_BRANCH=${{ steps.current_branch.outputs.branch }} + - name: Test + run: docker run rock/${{ matrix.os }} + /bin/bash -c + "source /home/docker/rock_test/env.sh; BOOST_TEST_CATCH_SYSTEM_ERRORS=\"no\" /home/docker/rock_test/${{ matrix.package }}/build/test/templ-test --run_test='!solution_simulation*' --log_level=all" - - name: Test-on-ubuntu:18.04 - run: docker run 2maz/templ /bin/bash -c "source /home/docker/rock_test/env.sh; cd /home/docker/rock_test/planning/templ; ./build/test/templ-test --log_level=all" diff --git a/.gitignore b/.gitignore index ffcfac3..77eab87 100644 --- a/.gitignore +++ b/.gitignore @@ -1,2 +1,6 @@ build/ *.sw? +scripts/output/ +scripts/__pycache__ +scripts/analyse/__pycache__ +scripts/analyse/output diff --git a/CITATION.cff b/CITATION.cff new file mode 100644 index 0000000..2037154 --- /dev/null +++ b/CITATION.cff @@ -0,0 +1,25 @@ +ff-version: 1.2.0 +message: "If you use this software, please cite it as below." +authors: + - family-names: Roehr + given-names: Thomas M. + orcid: https://orcid.org/0000-0002-7715-7052 +title: "Active Exploitation of Redundancies in Reconfigurable Multirobot Systems" +version: 1.0.0 +doi: 10.1109/TRO.2021.3118284 +date-released: 2021-11-01 +preferred-citation: + type: article + authors: + - family-names: Roehr + given-names: Thomas M. + orcid: https://orcid.org/0000-0002-7715-7052 + doi: 10.1109/TRO.2021.3118284 + journal: "IEEE Transactions on Robotics" + month: 11 + start: 180 # First page number + end: 196 # Last page number + title: "Active Exploitation of Redundancies in Reconfigurable Multirobot Systems" + issue: 1 + volume: 38 + year: 2022 diff --git a/CMakeLists.txt b/CMakeLists.txt index ba9e4d4..5022c1f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,18 +1,17 @@ # CMakeLists.txt has to be located in the project folder and cmake has to be # executed from 'project/build' with 'cmake ../'. -cmake_minimum_required(VERSION 3.9) +cmake_minimum_required(VERSION 3.10) project(templ VERSION 0.1 DESCRIPTION "TemPl - Planning for Reconfigurable Multi-Robot Systems" ) set(CMAKE_COMPILE_EXPORT_COMMANDS on) -set(ROCK_TEST_ENABLED on) find_package(Rock) set(CMAKE_CXX_STANDARD 11) set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_EXTENSIONS OFF) add_definitions(-Wall) # -Wpedantic) -add_definitions(-DACCEPT_USE_OF_DEPRECATED_PROJ_API_H=1) +set(CMAKE_BUILD_TYPE Release) if(COVERAGE) if(CMAKE_BUILD_TYPE MATCHES Debug) @@ -34,5 +33,7 @@ if(COVERAGE) endif() rock_init() -rock_find_qt4() +rock_feature(NOCURDIR) +rock_find_qt4(OPTIONAL QtCore QtGui QtXml QtSvg) +rock_find_qt5(OPTIONAL Core Gui Xml Widgets PrintSupport Svg) rock_standard_layout() diff --git a/Dockerfile b/Dockerfile index e4ccdd4..31be906 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,4 +1,4 @@ -FROM ubuntu:18.04 +FROM ubuntu:20.04 MAINTAINER 2maz "https://github.com/2maz" @@ -8,6 +8,12 @@ MAINTAINER 2maz "https://github.com/2maz" ENV PKG_NAME="planning/templ" +# Github repos +ENV PKG_PROJECT="rock-planning" +ENV PKG_BUILDCONF="planning-templ-buildconf" +# Default buildconf branch +ENV PKG_BUILDCONF_BRANCH=main + # Optional arguments ARG PKG_BRANCH="main" ENV PKG_BRANCH=${PKG_BRANCH} @@ -16,14 +22,8 @@ ARG PKG_PULL_REQUEST="false" ENV PKG_PULL_REQUEST=${PKG_PULL_REQUEST} ## END ARGUMENTS -RUN apt update -RUN apt upgrade -y -RUN export DEBIAN_FRONTEND=noninteractive; apt install -y ruby ruby-dev wget tzdata locales g++ autotools-dev make cmake sudo git python3 pkg-config -RUN echo "Europe/Berlin" > /etc/timezone; dpkg-reconfigure -f noninteractive tzdata -RUN export LANGUAGE=de_DE.UTF-8; export LANG=de_DE.UTF-8; export LC_ALL=de_DE.UTF-8; locale-gen de_DE.UTF-8; DEBIAN_FRONTEND=noninteractive dpkg-reconfigure locales - -RUN useradd -ms /bin/bash docker -RUN echo "docker ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers +COPY .ci/prepare-docker.sh prepare-docker.sh +RUN ./prepare-docker.sh USER docker WORKDIR /home/docker @@ -40,17 +40,19 @@ RUN wget https://raw.githubusercontent.com/rock-core/autoproj/master/bin/autopro RUN mkdir -p /home/docker/rock_test WORKDIR /home/docker/rock_test + # Use the existing seed configuration COPY --chown=docker .ci/autoproj-config.yml seed-config.yml + ENV AUTOPROJ_BOOTSTRAP_IGNORE_NONEMPTY_DIR 1 ENV AUTOPROJ_NONINTERACTIVE 1 -RUN ruby /home/docker/autoproj_bootstrap git https://github.com/2maz/templ-buildconf.git branch=main --seed-config=seed-config.yml +RUN if git ls-remote --heads https://github.com/${PKG_PROJECT}/${PKG_BUILDCONF}.git | grep "${PKG_BRANCH}" > /dev/null; then export PKG_BUILDCONF_BRANCH="${PKG_BRANCH}"; fi; ruby /home/docker/autoproj_bootstrap git https://github.com/$PKG_PROJECT/$PKG_BUILDCONF.git branch=${PKG_BUILDCONF_BRANCH} --seed-config=seed-config.yml RUN sed -i "s#rock\.core#knowledge_reasoning/moreorg\n - ${PKG_NAME}#g" autoproj/manifest -RUN sed -i "s#testing#${PKG_BRANCH}#g" autoproj/overrides.yml +RUN sed -zi "s#planning/templ:\n\(\s\+\)branch:[^\n]\+#planning/templ:\n\1branch: ${PKG_BRANCH}#g" autoproj/overrides.yml COPY --chown=docker .ci/deb_blacklist.yml autoproj/deb_blacklist.yml -# Activate testing +### Activate testing RUN /bin/bash -c "source env.sh; autoproj test enable ${PKG_NAME}" -## Update +#### Update RUN /bin/bash -c "source env.sh; autoproj update; autoproj osdeps" RUN /bin/bash -c "source env.sh; autoproj osdeps; amake" diff --git a/README.md b/README.md index 11b5a90..d5afbb2 100644 --- a/README.md +++ b/README.md @@ -17,9 +17,9 @@ to deal with the XML format), and a mission generator to automatically generate simple as well as complex test missions. ## Installation -Please use autoproj to bootstrap and include the package-set -[rock](https://github.com/rock-planning/planning-templ) in your manifest. -Afterwards you can install TemPl via: +Please use autoproj to bootstrap clone and include this package as +[planning/templ](https://github.com/rock-planning/planning-templ) in your manifest. +Afterwards you can build and install TemPl via: ``` amake planning/templ ``` @@ -96,7 +96,7 @@ TemPl: ``` ### Templ GUI -The graphical user interface templ-gui allows you to load solutions, so that you can +The graphical user interface templ-gui-qt5 allows you to load solutions, so that you can inspect them and achieve a better understanding of the solutions. The graphical interface will also permit the creation of missions via the MissionEditor. @@ -328,19 +328,21 @@ All new features need to be accompanied by a corresponding unit test. If you use TemPl for a scientific publication, please cite the following paper: ```bibtex -@article{Roehr:2018:IBERAMIA, +@article{Roehr_Active_Exploitation_of_2022, author = {Roehr, Thomas M.}, -doi = {10.4114/intartif.vol21iss62pp25-39}, -journal = {Inteligencia Artificial, Revista Iberoamericana de Inteligencia Artificial}, -mendeley-groups = {all}, -number = {62}, -pages = {25--39}, -title = {{A Constraint-based Mission Planning Approach for Reconfigurable Multi-Robot Systems}}, -volume = {21}, -year = {2018} +doi = {10.1109/TRO.2021.3118284}, +journal = {IEEE Transactions on Robotics}, +month = nov, +number = {1}, +pages = {180--196}, +title = {{Active Exploitation of Redundancies in Reconfigurable Multirobot Systems}}, +volume = {38}, +year = {2022} } ``` # Copyright +Copyright (c) 2022- Thomas M. Roehr and Contributors, Simula Research Laboratory + Copyright (c) 2015-2021 Thomas M. Roehr, DFKI GmbH Robotics Innovation Center diff --git a/TODOS.md b/TODOS.md index 44eb536..766a27a 100644 --- a/TODOS.md +++ b/TODOS.md @@ -41,6 +41,10 @@ 0. optimizing a solution 0. executing a solution +## Modeling + - focus on edge-based constraint definition, e.g., + from [F,A]@[t0,t1), [F,A]@[t1,t2) [F,A]@[t1] + ## Search - general mechanism for additional constraints, e.g., meta constraints [ongoing] @@ -115,14 +119,14 @@ ## GUI - embed pictograms as icons: QGraphicsPixmapItem https://stackoverflow.com/questions/5960074/qimage-in-a-qgraphics-scene - - alternatively use color icons and allow customization + - alternatively use color icons and allow customization [Done] ## Organization model - functionality constraints, e.g., manipulation only available with maximum of n payloads or locomotion only available with mass maximum - functional property requirement - - hasTransportCapacity max 10 Actor - - mass max 100kg -- locomotion + - hasTransportCapacity max 10 Actor [DONE] + - mass max 100kg -- locomotion [DONE] - swrl rule --> how to define in owl - https://www.w3.org/2007/OWL/wiki/Data_Range_Extension:_Linear_Equations + MathML diff --git a/core b/core new file mode 100644 index 0000000..c774f8e Binary files /dev/null and b/core differ diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 88a4c94..256332b 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,7 +1,7 @@ find_package(Boost REQUIRED system regex filesystem serialization program_options) find_package(gecode REQUIRED) -# For adding the qt4 resources +# For adding the qt5 resources set(CMAKE_AUTORCC ON) rock_library(templ_core SOURCES @@ -52,19 +52,18 @@ rock_library(templ_core utils/CSVLogger.hpp utils/CartographicMapping.hpp utils/Logger.hpp - LIBS ${Boost_LIBRARIES} - proj + LIBS + ${Boost_LIBRARIES} gecode::kernel - gecode::driver gecode::set gecode::support - gecode::search - gecode::int + gecode::search + gecode::int gecode::float gecode::minimodel - gecode::flatzinc - gecode::gist - DEPS_PKGCONFIG graph_analysis + proj + DEPS_PKGCONFIG + graph_analysis numeric owlapi moreorg @@ -139,7 +138,6 @@ rock_library(templ_moft ${MOFT_EXTRA_HPP} DEPS templ_core - LIBS ${Boost_LIBRARIES} ) if(WITH_GQR) target_link_libraries(templ_moft ${GQR_LIBRARIES}) @@ -190,10 +188,12 @@ rock_library(templ solvers/csp/utils/Formatter.cpp solvers/Solution.cpp solvers/SolutionAnalysis.cpp + solvers/SolutionSimulation.cpp solvers/transshipment/Flaw.cpp solvers/transshipment/MinCostFlow.cpp solvers/transshipment/FlowNetwork.cpp utils/PathConstructor.cpp + utils/SolutionSimulationHelpers.cpp HEADERS CapacityLink.hpp DataPropertyAssignment.hpp @@ -206,6 +206,7 @@ rock_library(templ io/MissionWriter.hpp io/MissionRequirements.hpp solvers/Solver.hpp + solvers/StoppingCriteria.hpp solvers/Session.hpp solvers/FluentTimeResource.hpp solvers/agent_routing/Agent.hpp @@ -244,10 +245,11 @@ rock_library(templ solvers/transshipment/FlowNetwork.hpp solvers/Solution.hpp solvers/SolutionAnalysis.hpp + solvers/SolutionSimulation.hpp utils/PathConstructor.hpp + utils/SolutionSimulationHelpers.hpp DEPS templ_moft - LIBS ${Boost_LIBRARIES} ) rock_library(templ_benchmark @@ -261,7 +263,6 @@ rock_library(templ_benchmark benchmark/io/GoldenReader.hpp DEPS templ - LIBS ${Boost_LIBRARIES} ) rock_executable(templ_bin Main.cpp @@ -279,7 +280,7 @@ rock_executable(templ-transport_network_planner rock_executable(templ-tcn_reader utils/TemporalConstraintNetworkMain.cpp - DEPS templ templ_core + DEPS templ ) rock_executable(templ-solution_analysis @@ -305,8 +306,7 @@ rock_executable(templ-mission_generator rock_executable(templ-bm-tcn utils/TCNBenchmark.cpp DEPS templ) -rock_library(templ_gui - HEADERS +set(GUI_HEADERS gui/TemplGui.hpp gui/Utils.hpp gui/SpatioTemporalRequirementItem.hpp @@ -332,7 +332,9 @@ rock_library(templ_gui gui/widgets/SpatioTemporalRequirement.hpp gui/widgets/TemporalConstraintQualitative.hpp gui/widgets/TemporalConstraintQuantitative.hpp - SOURCES +) + +set(GUI_SOURCES gui/TemplGui.cpp gui/Utils.cpp gui/SpatioTemporalRequirementItem.cpp @@ -359,7 +361,9 @@ rock_library(templ_gui gui/widgets/TemporalConstraintQualitative.cpp gui/widgets/TemporalConstraintQuantitative.cpp ../resources.qrc - MOC +) + +set(GUI_MOC gui/TemplGui.hpp gui/SpatioTemporalRequirementItem.hpp gui/MissionEditor/MissionEditor.hpp @@ -383,12 +387,9 @@ rock_library(templ_gui gui/widgets/SpatioTemporalRequirement.hpp gui/widgets/TemporalConstraintQualitative.hpp gui/widgets/TemporalConstraintQuantitative.hpp - DEPS - templ - DEPS_PKGCONFIG - QtGui - QtXml - UI +) + +set(GUI_UI gui/TemplGui.ui gui/dialogs/AddLocation.ui gui/dialogs/EmptyDialog.ui @@ -403,9 +404,55 @@ rock_library(templ_gui gui/widgets/SpatioTemporalRequirement.ui gui/widgets/TemporalConstraintQualitative.ui gui/widgets/TemporalConstraintQuantitative.ui - LIBS ${Boost_LIBRARIES} ) -rock_executable(templ-gui gui/Main.cpp - DEPS templ_gui) +if(ROCK_QT_VERSION_4) + rock_library(templ_gui-qt4 + HEADERS + ${GUI_HEADERS} + SOURCES + ${GUI_SOURCES} + MOC + ${GUI_MOC} + UI + ${GUI_UI} + DEPS_PKGCONFIG + graph_analysis + DEPS + templ + Qt4::QtXml + Qt4::QtSvg + ) + rock_executable(templ-gui-qt4 gui/Main.cpp + DEPS templ_gui-qt4) +else() + message(WARNING "gui: not building for qt4") +endif(ROCK_QT_VERSION_4) + +if(ROCK_QT_VERSION_5) + rock_library(templ_gui-qt5 + HEADERS + ${GUI_HEADERS} + SOURCES + ${GUI_SOURCES} + MOC5 + ${GUI_MOC} + UI5 + ${GUI_UI} + DEPS_PKGCONFIG + graph_analysis-qt5 + DEPS + templ + Qt5::Widgets + Qt5::Xml + Qt5::PrintSupport + Qt5::Svg + ) + rock_executable(templ-gui-qt5 gui/Main.cpp + DEPS templ_gui-qt5 + ) +else() + message(WARNING "gui: not building for qt5") +endif(ROCK_QT_VERSION_5) + diff --git a/src/CapacityLink.cpp b/src/CapacityLink.cpp index 743841e..9d76cb8 100644 --- a/src/CapacityLink.cpp +++ b/src/CapacityLink.cpp @@ -47,7 +47,7 @@ std::string CapacityLink::toString(uint32_t indent) const ss << hspace << " providers: " << std::endl; ss << Role::toString(mProviders, indent + 8); ss << hspace << " consumers: " << mUsedCapacity.size() << std::endl; - for(const std::pair& consumer : mUsedCapacity) + for(const std::pair& consumer : mUsedCapacity) { ss << hspace << " - " << consumer.first.toString() << ": " << consumer.second << std::endl; } @@ -121,7 +121,7 @@ const Role::Set& CapacityLink::getAllRoles() const } } - for(const std::pair& p : mUsedCapacity) + for(const std::pair& p : mUsedCapacity) { mAllRoles.insert(p.first); } diff --git a/src/Mission.cpp b/src/Mission.cpp index ee41060..550ffe1 100644 --- a/src/Mission.cpp +++ b/src/Mission.cpp @@ -449,7 +449,7 @@ void Mission::save(const std::string& filename) const void Mission::validateAvailableResources() const { - for(const std::pair& pair : mModelPool) + for(const std::pair& pair : mModelPool) { if(pair.second > 0) return; @@ -519,7 +519,7 @@ std::vector Mission::getResourceRequirements(const } FluentTimeResource::List newRequirements; - for(const std::pair& p : requirementsPerLocation) + for(const std::pair& p : requirementsPerLocation) { FluentTimeResource::List requirementsNoOverlap = FluentTimeResource::createNonOverlappingRequirements(p.second, diff --git a/src/RoleInfo.cpp b/src/RoleInfo.cpp index 1902f07..ba4b1b3 100644 --- a/src/RoleInfo.cpp +++ b/src/RoleInfo.cpp @@ -207,7 +207,7 @@ std::set RoleInfo::getStati() const std::set RoleInfo::getTags(const Role& role) const { std::set tags; - for(const std::pair& p : mTaggedRoles) + for(const std::pair& p : mTaggedRoles) { const std::string& tag = p.first; const Role::Set& roles = p.second; @@ -222,7 +222,7 @@ std::set RoleInfo::getTags(const Role& role) const bool RoleInfo::hasTag(const Role& role) const { std::set tags; - for(const std::pair& p : mTaggedRoles) + for(const std::pair& p : mTaggedRoles) { const Role::Set& roles = p.second; if(roles.end() != std::find(roles.begin(), roles.end(), role)) diff --git a/src/SharedPtr.hpp b/src/SharedPtr.hpp index ff41ca8..da4326d 100644 --- a/src/SharedPtr.hpp +++ b/src/SharedPtr.hpp @@ -2,6 +2,7 @@ #define TEMPL_SHARED_PTR_HPP #include +#include #if __cplusplus <= 199711L #define USE_BOOST_SHARED_PTR diff --git a/src/benchmark/MissionGenerator.cpp b/src/benchmark/MissionGenerator.cpp index 27e7978..499f34f 100644 --- a/src/benchmark/MissionGenerator.cpp +++ b/src/benchmark/MissionGenerator.cpp @@ -267,7 +267,7 @@ Mission::Ptr MissionGenerator::convert(const VRPProblem& vrp) } // Limit to maximum 1 visit for each location - for(const std::pair& p : coordLocationMap) + for(const std::pair& p : coordLocationMap) { SpaceTime::SpaceIntervalTuple sit(p.second, solvers::temporal::Interval( SpaceTime::getHorizonStart(), @@ -365,7 +365,7 @@ Mission::Ptr MissionGenerator::sampleFromNetwork(const SpaceTime::Network& netwo network.tupleByKeys(location, timepoints[0]); moreorg::ModelPool agentPool = tuple->getModelPool({ RoleInfo::ASSIGNED, RoleInfo::AVAILABLE, RoleInfo::REQUIRED }); - for(const std::pair& v : agentPool) + for(const std::pair& v : agentPool) { mission->addResourceLocationCardinalityConstraint(location, timepoints[0], @@ -457,7 +457,7 @@ Mission::Ptr MissionGenerator::sampleFromNetwork(const SpaceTime::Network& netwo RoleInfo::ASSIGNED, RoleInfo::AVAILABLE, RoleInfo::REQUIRED }); try { - for(const std::pair& v : agentPool) + for(const std::pair& v : agentPool) { mission->addResourceLocationCardinalityConstraint(fromTuple->first(), fromTuple->second(), diff --git a/src/gui/Main.cpp b/src/gui/Main.cpp index 3ce9155..1c04c06 100644 --- a/src/gui/Main.cpp +++ b/src/gui/Main.cpp @@ -18,10 +18,6 @@ int main(int argc, char **argv) Q_INIT_RESOURCE(resources); - // provide seed for force-based layouting in the LayerViewWidget and - // ComponentEditorWidget - qsrand(QTime(0,0,0).secsTo(QTime::currentTime())); - TemplGui w; w.setWindowTitle("Templ: Temporal Planning for Reconfigurable Multi-Robot Systems"); w.show(); diff --git a/src/gui/MissionEditor/MissionEditor.cpp b/src/gui/MissionEditor/MissionEditor.cpp index a60813c..e2932e9 100644 --- a/src/gui/MissionEditor/MissionEditor.cpp +++ b/src/gui/MissionEditor/MissionEditor.cpp @@ -232,7 +232,7 @@ void MissionEditor::updateVisualization() // Resources { moreorg::ModelPool availableResources = mpMission->getAvailableResources(); - for(const moreorg::ModelPool::value_type pair : availableResources) + for(const moreorg::ModelPool::value_type& pair : availableResources) { io::ResourceRequirement r; r.model = pair.first; diff --git a/src/gui/models/AgentStyleModel.cpp b/src/gui/models/AgentStyleModel.cpp index 3b23be2..d9bd312 100644 --- a/src/gui/models/AgentStyleModel.cpp +++ b/src/gui/models/AgentStyleModel.cpp @@ -23,7 +23,7 @@ AgentStyleModel::AgentStyleModel(const moreorg::ModelPool& modelPool) , mModelPool(modelPool) { int row = 0; - for(const ModelPool::value_type p : mModelPool) + for(const ModelPool::value_type& p : mModelPool) { for(size_t i = 0; i < p.second; ++i, ++row) { diff --git a/src/gui/widgets/ModelConstraint.cpp b/src/gui/widgets/ModelConstraint.cpp index 8a47c8b..ceac780 100644 --- a/src/gui/widgets/ModelConstraint.cpp +++ b/src/gui/widgets/ModelConstraint.cpp @@ -48,7 +48,7 @@ void ModelConstraint::prepare(const moreorg::OrganizationModelAsk& ask) this, SLOT(typeChanged(QString))); owlapi::model::IRIList agentModels = ask.getAgentModels(); - for(const owlapi::model::IRI iri : agentModels) + for(const owlapi::model::IRI& iri : agentModels) { mpUi->comboBoxModels->addItem(QString::fromStdString( iri.toString() ) ); } @@ -57,7 +57,7 @@ void ModelConstraint::prepare(const moreorg::OrganizationModelAsk& ask) this, SLOT(modelChanged(QString))); owlapi::model::IRIList agentProperties = ask.getAgentProperties(); - for(const owlapi::model::IRI iri : agentProperties) + for(const owlapi::model::IRI& iri : agentProperties) { mpUi->comboBoxProperties->addItem(QString::fromStdString( iri.toString() ) ); } diff --git a/src/problems/Scheduling.cpp b/src/problems/Scheduling.cpp index ad0b9f5..c26e48c 100644 --- a/src/problems/Scheduling.cpp +++ b/src/problems/Scheduling.cpp @@ -1,5 +1,4 @@ #include "Scheduling.hpp" -#include using namespace Gecode; diff --git a/src/solvers/SolutionAnalysis.cpp b/src/solvers/SolutionAnalysis.cpp index 5fea410..23e2b57 100644 --- a/src/solvers/SolutionAnalysis.cpp +++ b/src/solvers/SolutionAnalysis.cpp @@ -19,40 +19,14 @@ namespace templ { namespace solvers { SolutionAnalysis::SolutionAnalysis() - : mAlpha(1.0) - , mBeta(1.0) - , mSigma(1.0) - , mCost(0.0) - , mTimeHorizonInS(0) - , mSafety(0.0) - , mEfficacy(0.0) - , mTraveledDistance(0) - , mReconfigurationCost(0) - , mTotalNumberOfAgents(0) - , mNumberOfMobileAgents(0) - , mAnalyser(moreorg::OrganizationModelAsk()) -{} - -SolutionAnalysis::SolutionAnalysis(const Mission::Ptr& mission, - const SpaceTime::Network& solution, - qxcfg::Configuration configuration) - : mpMission(mission) - , mSolutionNetwork(solution) - , mTimepointComparator(mission->getTemporalConstraintNetwork()) - , mAlpha(1.0) - , mBeta(1.0) - , mSigma(1.0) - , mCost(0.0) - , mTimeHorizonInS(0) - , mSafety(0.0) - , mEfficacy(0.0) - , mTraveledDistance(0) - , mReconfigurationCost(0) - , mTotalNumberOfAgents(0) - , mNumberOfMobileAgents(0) - , mAsk(mpMission->getOrganizationModelAsk()) - , mAnalyser(mAsk) - , mConfiguration(configuration) + : mAlpha(1.0), mBeta(1.0), mSigma(1.0), mCost(0.0), mTimeHorizonInS(0), mSafety(0.0), mEfficacy(0.0), mTraveledDistance(0), mReconfigurationCost(0), mTotalNumberOfAgents(0), mNumberOfMobileAgents(0), mAnalyser(moreorg::OrganizationModelAsk()) +{ +} + +SolutionAnalysis::SolutionAnalysis(const Mission::Ptr &mission, + const SpaceTime::Network &solution, + qxcfg::Configuration configuration) + : mpMission(mission), mSolutionNetwork(solution), mTimepointComparator(mission->getTemporalConstraintNetwork()), mAlpha(1.0), mBeta(1.0), mSigma(1.0), mCost(0.0), mTimeHorizonInS(0), mSafety(0.0), mEfficacy(0.0), mTraveledDistance(0), mReconfigurationCost(0), mTotalNumberOfAgents(0), mNumberOfMobileAgents(0), mAsk(mpMission->getOrganizationModelAsk()), mAnalyser(mAsk), mConfiguration(configuration) { mResourceRequirements = Mission::getResourceRequirements(mpMission); @@ -64,23 +38,10 @@ SolutionAnalysis::SolutionAnalysis(const Mission::Ptr& mission, mConfiguration.getValueAs("TransportNetwork/search/options/cost-function/safety/weight", 1.0); } -SolutionAnalysis::SolutionAnalysis(const Mission::Ptr& mission, - const BaseGraph::Ptr& graph, - qxcfg::Configuration configuration) - : mpMission(mission) - , mTimepointComparator(mission->getTemporalConstraintNetwork()) - , mAlpha(1.0) - , mBeta(1.0) - , mSigma(1.0) - , mCost(0.0) - , mTimeHorizonInS(0) - , mSafety(0.0) - , mEfficacy(0.0) - , mTraveledDistance(0) - , mReconfigurationCost(0) - , mAsk(mpMission->getOrganizationModelAsk()) - , mAnalyser(mAsk) - , mConfiguration(configuration) +SolutionAnalysis::SolutionAnalysis(const Mission::Ptr &mission, + const BaseGraph::Ptr &graph, + qxcfg::Configuration configuration) + : mpMission(mission), mTimepointComparator(mission->getTemporalConstraintNetwork()), mAlpha(1.0), mBeta(1.0), mSigma(1.0), mCost(0.0), mTimeHorizonInS(0), mSafety(0.0), mEfficacy(0.0), mTraveledDistance(0), mReconfigurationCost(0), mAsk(mpMission->getOrganizationModelAsk()), mAnalyser(mAsk), mConfiguration(configuration) { mSolutionNetwork = SpaceTime::Network::fromGraph(graph, mission->getLocations(), mission->getTimepoints()); @@ -99,18 +60,18 @@ void SolutionAnalysis::updateAnalyser() { // Adding requirements to analyser std::vector::const_iterator cit = mResourceRequirements.begin(); - for(; cit != mResourceRequirements.end(); ++cit) + for (; cit != mResourceRequirements.end(); ++cit) { - const solvers::FluentTimeResource& ftr = *cit; + const solvers::FluentTimeResource &ftr = *cit; Resource::Set resources = ftr.getRequiredResources(); ModelPool agentPool = mAsk.allowSubclasses(ftr.getMinCardinalities(), vocabulary::OM::Actor()); RequirementSample sample(resources, - agentPool, - ftr.getLocation()->getPosition(), - ftr.getLocation()->getPosition(), - mTimeAssignment[ ftr.getInterval().getFrom() ], - mTimeAssignment[ ftr.getInterval().getTo() ]); + agentPool, + ftr.getLocation()->getPosition(), + ftr.getLocation()->getPosition(), + mTimeAssignment[ftr.getInterval().getFrom()], + mTimeAssignment[ftr.getInterval().getTo()]); mAnalyser.add(sample); } @@ -118,13 +79,12 @@ void SolutionAnalysis::updateAnalyser() // Adding current solution information to analyser BaseGraph::Ptr graph = mSolutionNetwork.getGraph(); EdgeIterator::Ptr edgeIt = graph->getEdgeIterator(); - while(edgeIt->next()) + while (edgeIt->next()) { SpaceTime::Network::edge_t::Ptr edge = dynamic_pointer_cast(edgeIt->current()); - if(!edge) + if (!edge) { - throw std::invalid_argument("SolutionAnalysis: encountered edge type: " + edgeIt->current()->getClassName() - + " Are you loading final plan instead of the transport network solution?"); + throw std::invalid_argument("SolutionAnalysis: encountered edge type: " + edgeIt->current()->getClassName() + " Are you loading final plan instead of the transport network solution?"); } SpaceTime::Network::tuple_t::Ptr fromTuple = dynamic_pointer_cast(edge->getSourceVertex()); @@ -134,24 +94,26 @@ void SolutionAnalysis::updateAnalyser() Agent agent; Agent fromAgent(fromTuple->getRoles(RoleInfo::ASSIGNED)); - if(fromTuple->first()->getPosition() != toTuple->first()->getPosition()) + if (fromTuple->first()->getPosition() != toTuple->first()->getPosition()) { activityType = activity::TRANSPORT; // Identify the agent which performs the transition/or Agent toAgent(toTuple->getRoles(RoleInfo::ASSIGNED)); - agent = Agent( fromAgent.getIntersection(toAgent) ); - } else { + agent = Agent(fromAgent.getIntersection(toAgent)); + } + else + { agent = fromAgent; } StatusSample status(agent, - fromTuple->first()->getPosition(), - toTuple->first()->getPosition(), - mTimeAssignment[ fromTuple->second() ], - mTimeAssignment[ toTuple->second() ], - Agent::OPERATIVE, - activityType); + fromTuple->first()->getPosition(), + toTuple->first()->getPosition(), + mTimeAssignment[fromTuple->second()], + mTimeAssignment[toTuple->second()], + Agent::OPERATIVE, + activityType); mAnalyser.add(status); } } @@ -166,20 +128,20 @@ std::set SolutionAnalysis::getRequiredRoles(size_t minRequirement) const assert(mSolutionNetwork.getGraph()); VertexIterator::Ptr vertexIt = mSolutionNetwork.getGraph()->getVertexIterator(); - while(vertexIt->next()) + while (vertexIt->next()) { SpaceTime::Network::tuple_t::Ptr currentTuple = dynamic_pointer_cast(vertexIt->current()); assert(currentTuple); std::set involvedRoles = currentTuple->getAllRoles(); - for(const Role& role : involvedRoles) + for (const Role &role : involvedRoles) { mRoleUsage[role] += 1; } } - for(std::pair pair : mRoleUsage) + for (std::pair pair : mRoleUsage) { - if(pair.second >= minRequirement) + if (pair.second >= minRequirement) { requiredRoles.insert(pair.first); } @@ -187,115 +149,141 @@ std::set SolutionAnalysis::getRequiredRoles(size_t minRequirement) const return requiredRoles; } -double SolutionAnalysis::getSafety(const FluentTimeResource& ftr, const SpaceTime::Network::tuple_t::Ptr& tuple) const +double SolutionAnalysis::getSafety( + const FluentTimeResource& ftr, + const SpaceTime::Network::tuple_t::Ptr& tuple, + double start_time, + double end_time) const { using namespace moreorg; ModelPool minRequired = getMinResourceRequirements(ftr); - ModelPool minAvailable = getMinAvailableResources(tuple); + ResourceInstance::List minAvailable = getMinAvailableResources(tuple); double safety = 0.0; - try { - safety = getSafety(minRequired, minAvailable); - } catch(const std::exception& e) + try + { + safety = getSafety(minRequired, minAvailable, start_time, end_time); + } + catch (const std::exception &e) { - safety = getSafety(ModelPool(), minAvailable); + + safety = getSafety(ModelPool(), minAvailable, start_time, end_time); // is timeInterval here even available? LOG_WARN_S << "Failed to compute safety at: " - << tuple->toString(4) - << "Required: " - << minRequired.toString(4) - << "Available" - << minAvailable.toString(4) - << "Handling as no unfulfilled requirement with safety: " - << safety; + << tuple->toString(4) + << "Required: " + << minRequired.toString(4) + << "Available" + //<< minAvailable.toString(4) TODO: change so it works to print + << "Handling as no unfulfilled requirement with safety: " + << safety; } return safety; } -double SolutionAnalysis::getSafety(const FluentTimeResource& ftr) const +double SolutionAnalysis::getSafety(const FluentTimeResource &ftr) const { using namespace moreorg; ModelPool minRequired = getMinResourceRequirements(ftr); - ModelPool minAvailable = getMinAvailableResources(ftr); + ResourceInstance::List minAvailable = getMinAvailableResources(ftr); + double start_time = mTimeAssignment.find(ftr.getInterval().getFrom())->second; + double end_time = mTimeAssignment.find(ftr.getInterval().getTo())->second; - try { - double safety = getSafety(minRequired, minAvailable); + try + { + double safety = getSafety(minRequired, minAvailable, start_time, end_time); return safety; - } catch(const std::exception& e) + } + catch (const std::exception &e) { LOG_WARN_S << "Failed to compute safety at: " - << ftr.toString(4) - << "Required: " - << minRequired.toString(4) - << "Available" - << minAvailable.toString(4); + << ftr.toString(4) + << "Required: " + << minRequired.toString(4) + << "Available"; + //<< minAvailable.toString(4); return -1.0; } } -double SolutionAnalysis::getSafety(const ModelPool& minRequired, const ModelPool& minAvailable) const +double SolutionAnalysis::getSafety( + const ModelPool& minRequired, + const ResourceInstance::List& minAvailable, + double start_time, + double end_time) const { - return mAnalyser.getMetric()->computeSharedUse(minRequired, minAvailable); + try + { + double value = mAnalyser.getMetric()->computeSharedUse(minRequired, minAvailable, start_time, end_time); + return value; + } + catch(const std::exception& e) + { + LOG_WARN_S << "templ::solvers::SolutionAnalysis: could not compute metric. Maybe no requirements were found?"; + return 1.; + } + } -moreorg::ModelPool SolutionAnalysis::getMinAvailableResources(const FluentTimeResource& ftr) const +moreorg::ResourceInstance::List SolutionAnalysis::getMinAvailableResources(const FluentTimeResource &ftr) const { symbols::constants::Location::Ptr location = dynamic_pointer_cast(ftr.getFluent()); assert(location); - std::vector availableResources = getAvailableResources(location, ftr.getInterval()); - using namespace moreorg; - // return the minimum available resources - // ( min(M_0), min(M_1), ...) - ModelPool minAvailableResources = moreorg::Algebra::min( availableResources); - - // Infer functionality from this set of resources - ModelPool functionalities = mAsk.getSupportedFunctionalities(minAvailableResources); - ModelPool pool = moreorg::Algebra::max(minAvailableResources, functionalities); - return pool; + + ResourceInstance::List availableResources = getAvailableResources(location, ftr.getInterval()); + + + // // return the minimum available resources + // // ( min(M_0), min(M_1), ...) + // ModelPool minAvailableResources = moreorg::Algebra::min(availableResources); + + // // Infer functionality from this set of resources + // ModelPool functionalities = mAsk.getSupportedFunctionalities(minAvailableResources); + // ModelPool pool = moreorg::Algebra::max(minAvailableResources, functionalities); + return availableResources; } -moreorg::ModelPool SolutionAnalysis::getMinAvailableResources(const SpaceTime::Network::tuple_t::Ptr& tuple) const +moreorg::ResourceInstance::List SolutionAnalysis::getMinAvailableResources(const SpaceTime::Network::tuple_t::Ptr &tuple) const { using namespace moreorg; - ModelPool minAvailableResources = getAvailableResources(tuple->first(), tuple->second()); - -// // Infer functionality from this set of resources -// OrganizationModelAsk ask(mpMission->getOrganizationModel(), -// minAvailableResources, -// true); -// // Creating model pool from available functionalities -// ModelPool functionalities = ask.getSupportedFunctionalities(); -// return moreorg::Algebra::max(minAvailableResources, functionalities); + ResourceInstance::List minAvailableResources = getAvailableResources(tuple->first(), tuple->second()); + + // // Infer functionality from this set of resources + // OrganizationModelAsk ask(mpMission->getOrganizationModel(), + // minAvailableResources, + // true); + // // Creating model pool from available functionalities + // ModelPool functionalities = ask.getSupportedFunctionalities(); + // return moreorg::Algebra::max(minAvailableResources, functionalities); return minAvailableResources; } -moreorg::ModelPool SolutionAnalysis::getMaxAvailableResources(const FluentTimeResource& ftr) const -{ - symbols::constants::Location::Ptr location = dynamic_pointer_cast(ftr.getFluent()); - assert(location); +// moreorg::ModelPool SolutionAnalysis::getMaxAvailableResources(const FluentTimeResource &ftr) const +// { +// symbols::constants::Location::Ptr location = dynamic_pointer_cast(ftr.getFluent()); +// assert(location); - std::vector availableResources = getAvailableResources(location, ftr.getInterval()); +// ResourceInstance::List availableResources = getAvailableResources(location, ftr.getInterval()); - using namespace moreorg; - // return the minimum available resources of the - ModelPool maxAvailableResources = Algebra::max( availableResources ); - - // Infer functionality from this set of resources - OrganizationModelAsk ask(mpMission->getOrganizationModel(), - maxAvailableResources, - true); - // Creating model pool from available functionalities - ModelPool functionalities = ask.getSupportedFunctionalities(); - return moreorg::Algebra::max(maxAvailableResources, functionalities); -} +// using namespace moreorg; +// // return the minimum available resources of the +// ModelPool maxAvailableResources = Algebra::max(availableResources); -std::vector SolutionAnalysis::getAvailableResources(const symbols::constants::Location::Ptr& location, const solvers::temporal::Interval& interval) const +// // Infer functionality from this set of resources +// OrganizationModelAsk ask(mpMission->getOrganizationModel(), +// maxAvailableResources, +// true); +// // Creating model pool from available functionalities +// ModelPool functionalities = ask.getSupportedFunctionalities(); +// return moreorg::Algebra::max(maxAvailableResources, functionalities); +// } + +moreorg::ResourceInstance::List SolutionAnalysis::getAvailableResources(const symbols::constants::Location::Ptr &location, const solvers::temporal::Interval &interval) const { using namespace temporal::point_algebra; - std::vector modelPools; // Iterate over all known timepoints and check if the timepoint belongs to // the interval (the list of timepoints is sorted) @@ -304,22 +292,22 @@ std::vector SolutionAnalysis::getAvailableResources(const sy assert(!timepoints.empty()); Role::Set identifiedRoles; + moreorg::ResourceInstance::List availableResources; - for(TimePoint::Ptr timepoint : timepoints) + for (TimePoint::Ptr timepoint : timepoints) { - if( mTimepointComparator.inInterval(timepoint, interval.getFrom(), interval.getTo()) ) + if (mTimepointComparator.inInterval(timepoint, interval.getFrom(), interval.getTo())) { // identified relevant tuple - try { + try + { SpaceTime::Network::tuple_t::Ptr tuple = mSolutionNetwork.tupleByKeys(location, timepoint); Role::Set foundRoles = tuple->getRoles(RoleInfo::ASSIGNED); Role::List roles(foundRoles.begin(), foundRoles.end()); identifiedRoles.insert(foundRoles.begin(), foundRoles.end()); - - moreorg::ModelPool currentPool = Role::getModelPool(roles); - modelPools.push_back(currentPool); - } catch(const std::exception& e) + } + catch (const std::exception &e) { LOG_WARN_S << e.what(); } @@ -329,84 +317,89 @@ std::vector SolutionAnalysis::getAvailableResources(const sy // An completely empty model pool does not // correctly reflect the minimums, so // we have to expand the existing set - for(ModelPool& pool : modelPools) + + + for (const Role &role : identifiedRoles) { - for(const Role& role : identifiedRoles) - { - if(pool.end() == pool.find(role.getModel())) - { - pool.insert(ModelPool::value_type(role.getModel(), 0)); - } - } + moreorg::ResourceInstance::List available = mAsk.getRelated(role); + availableResources.insert(std::end(availableResources), std::begin(available), std::end(available)); } + - return modelPools; + return availableResources; } -moreorg::ModelPool SolutionAnalysis::getAvailableResources(const symbols::constants::Location::Ptr& location, - const solvers::temporal::point_algebra::TimePoint::Ptr& timepoint) const +moreorg::ResourceInstance::List SolutionAnalysis::getAvailableResources(const symbols::constants::Location::Ptr &location, + const solvers::temporal::point_algebra::TimePoint::Ptr &timepoint) const { - ModelPool modelPool; + using namespace moreorg; + ResourceInstance::List availableResources; // identified relevant tuple - try { + try + { SpaceTime::Network::tuple_t::Ptr tuple = mSolutionNetwork.tupleByKeys(location, timepoint); Role::Set foundRoles = tuple->getRoles(RoleInfo::ASSIGNED); Role::List roles(foundRoles.begin(), foundRoles.end()); - modelPool = Role::getModelPool(roles); - } catch(const std::exception& e) + for (const Role &role : roles) + { + ResourceInstance::List available = mAsk.getRelated(role); + availableResources.insert(std::end(availableResources), std::begin(available), std::end(available)); + } + } + catch (const std::exception &e) { LOG_WARN_S << e.what(); } - return modelPool; + return availableResources; } -SolutionAnalysis::MinMaxModelPools SolutionAnalysis::getRequiredResources(const symbols::constants::Location::Ptr& location, const solvers::temporal::Interval& interval) const +SolutionAnalysis::MinMaxModelPools SolutionAnalysis::getRequiredResources(const symbols::constants::Location::Ptr &location, const solvers::temporal::Interval &interval) const { using namespace temporal::point_algebra; MinMaxModelPools minMaxModelPools; std::vector::const_iterator cit = mResourceRequirements.begin(); - for(; cit != mResourceRequirements.end(); ++cit) + for (; cit != mResourceRequirements.end(); ++cit) { - const solvers::FluentTimeResource& ftr = *cit; + const solvers::FluentTimeResource &ftr = *cit; symbols::constants::Location::Ptr ftrLocation = ftr.getLocation(); - if(location != ftrLocation) + if (location != ftrLocation) { continue; } - if( mTimepointComparator.hasIntervalOverlap(ftr.getInterval().getFrom(), - ftr.getInterval().getTo(), - interval.getFrom(), - interval.getTo())) + if (mTimepointComparator.hasIntervalOverlap(ftr.getInterval().getFrom(), + ftr.getInterval().getTo(), + interval.getFrom(), + interval.getTo())) { - minMaxModelPools.first.push_back( ftr.getMinCardinalities() ); - minMaxModelPools.second.push_back( ftr.getMaxCardinalities() ); + minMaxModelPools.first.push_back(ftr.getMinCardinalities()); + minMaxModelPools.second.push_back(ftr.getMaxCardinalities()); } } return minMaxModelPools; } -SolutionAnalysis::MinMaxModelPools SolutionAnalysis::getRequiredResources(const FluentTimeResource& ftr) const +SolutionAnalysis::MinMaxModelPools SolutionAnalysis::getRequiredResources(const FluentTimeResource &ftr) const { using namespace temporal::point_algebra; MinMaxModelPools minMaxModelPools; std::vector::const_iterator cit = mResourceRequirements.begin(); - for(; cit != mResourceRequirements.end(); ++cit) + for (; cit != mResourceRequirements.end(); ++cit) { - const solvers::FluentTimeResource& requirementFtr = *cit; - if(ftr.getLocation() == requirementFtr.getLocation() && - ftr.getInterval() == requirementFtr.getInterval()) + const solvers::FluentTimeResource &requirementFtr = *cit; + if (ftr.getLocation() == requirementFtr.getLocation() && + ftr.getInterval() == requirementFtr.getInterval()) { ModelPool minCardinalities = ftr.getMinCardinalities(); - for(const moreorg::Resource& resource : ftr.getRequiredResources()) + for (const moreorg::Resource &resource : ftr.getRequiredResources()) { // Assuming the functionalities have max - if(mAsk.ontology().isSubClassOf(resource.getModel(), - vocabulary::OM::Functionality())) + if (mAsk.ontology().isSubClassOf(resource.getModel(), + vocabulary::OM::Functionality())) { minCardinalities[resource.getModel()] = 1; } @@ -437,34 +430,34 @@ void SolutionAnalysis::analyse() //updateAnalyser(); // a collect all requirements of the mission -- as translated from the // persistence conditions - if(mAlpha > 0) + if (mAlpha > 0) { computeEfficacy(); } - if(mBeta > 0) + if (mBeta > 0) { computeEfficiency(); } - if(mSigma > 0) + if (mSigma > 0) { computeSafety(); } computeAgentCount(); - mCost = mAlpha*mEfficacy + mBeta*mEfficiency + mSigma*mSafety; + mCost = mAlpha * mEfficacy + mBeta * mEfficiency + mSigma * mSafety; } -void SolutionAnalysis::save(const std::string& _filename) const +void SolutionAnalysis::save(const std::string &_filename) const { std::string planFilename = _filename; - if(planFilename.empty()) + if (planFilename.empty()) { planFilename = mpMission->getLogger()->filename("final_plan.gexf"); } graph_analysis::io::GraphIO::write(planFilename, mPlan.getGraph()); std::string solutionNetworkFilename = _filename; - if(solutionNetworkFilename.empty()) + if (solutionNetworkFilename.empty()) { solutionNetworkFilename = mpMission->getLogger()->filename("final_solution_network.gexf"); } @@ -472,39 +465,43 @@ void SolutionAnalysis::save(const std::string& _filename) const // stats to string std::string filename = mpMission->getLogger()->getBasePath() + - "solution_analysis.log"; + "solution_analysis.log"; std::ofstream outfile; - if(!boost::filesystem::exists(filename)) + if (!boost::filesystem::exists(filename)) { outfile.open(filename); outfile << getRowDescriptor() << std::endl; outfile << toRow() << std::endl; - } else { + } + else + { outfile.open(filename, std::ios_base::app); outfile << toRow() << std::endl; } } -void SolutionAnalysis::saveRow(const std::string& filename, size_t sessionId) const +void SolutionAnalysis::saveRow(const std::string &filename, size_t sessionId) const { std::ofstream outfile; - if(!boost::filesystem::exists(filename)) + if (!boost::filesystem::exists(filename)) { outfile.open(filename); outfile << getRowDescriptor() << std::endl; outfile << toRow(sessionId) << std::endl; - } else { + } + else + { outfile.open(filename, std::ios_base::app); outfile << toRow(sessionId) << std::endl; } } -void SolutionAnalysis::saveModelPool(const std::string& filename) const +void SolutionAnalysis::saveModelPool(const std::string &filename) const { std::ofstream outfile; outfile.open(filename); ModelPool modelPool = Role::getModelPool(mRoles); - for(const ModelPool::value_type& value : modelPool) + for (const ModelPool::value_type &value : modelPool) { outfile << value.first.toString(); outfile << " "; @@ -529,10 +526,12 @@ std::string SolutionAnalysis::getRowDescriptor() const std::string SolutionAnalysis::toRow(size_t sessionId) const { std::stringstream ss; - if(sessionId != 0) + if (sessionId != 0) { ss << sessionId << " "; - } else { + } + else + { ss << mpMission->getLogger()->getSessionId() << " "; } ss << mAlpha << " "; @@ -549,28 +548,27 @@ std::string SolutionAnalysis::toRow(size_t sessionId) const return ss.str(); } - -bool SolutionAnalysis::isStartDepotRequirement(const FluentTimeResource& ftr) const +bool SolutionAnalysis::isStartDepotRequirement(const FluentTimeResource &ftr) const { return ftr.getInterval().getFrom()->equals(mTimepoints.front()); } -double SolutionAnalysis::degreeOfFulfillment(const solvers::FluentTimeResource& ftr) +double SolutionAnalysis::degreeOfFulfillment(const solvers::FluentTimeResource &ftr) { // Ignore start requirements - if(isStartDepotRequirement(ftr)) + if (isStartDepotRequirement(ftr)) { return 1.0; } SpaceTime::Network::tuple_t::PtrList tuples = getTuples(ftr); - for(const SpaceTime::Network::tuple_t::Ptr& roleInfo : tuples) + for (const SpaceTime::Network::tuple_t::Ptr &roleInfo : tuples) { std::set assigned = roleInfo->getRoles(RoleInfo::ASSIGNED); std::set required = roleInfo->getRoles(RoleInfo::REQUIRED); - if(!std::includes(assigned.begin(), assigned.end(), required.begin(), - required.end())) + if (!std::includes(assigned.begin(), assigned.end(), required.begin(), + required.end())) { return 0.0; } @@ -578,63 +576,62 @@ double SolutionAnalysis::degreeOfFulfillment(const solvers::FluentTimeResource& return 1.0; } -moreorg::ModelPool SolutionAnalysis::getMinResourceRequirements(const FluentTimeResource& ftr) const +moreorg::ModelPool SolutionAnalysis::getMinResourceRequirements(const FluentTimeResource &ftr) const { using namespace moreorg; return getRequiredResources(ftr).first.front(); } -moreorg::ModelPool SolutionAnalysis::getMaxResourceRequirements(const FluentTimeResource& ftr) const +moreorg::ModelPool SolutionAnalysis::getMaxResourceRequirements(const FluentTimeResource &ftr) const { using namespace moreorg; return getRequiredResources(ftr).second.front(); } -SpaceTime::Network::tuple_t::Ptr SolutionAnalysis::getFromTuple(const FluentTimeResource& ftr) const +SpaceTime::Network::tuple_t::Ptr SolutionAnalysis::getFromTuple(const FluentTimeResource &ftr) const { return mSolutionNetwork.tupleByKeys(ftr.getLocation(), ftr.getInterval().getFrom()); } -SpaceTime::Network::tuple_t::Ptr SolutionAnalysis::getToTuple(const FluentTimeResource& ftr) const +SpaceTime::Network::tuple_t::Ptr SolutionAnalysis::getToTuple(const FluentTimeResource &ftr) const { return mSolutionNetwork.tupleByKeys(ftr.getLocation(), ftr.getInterval().getTo()); } -SpaceTime::Network::tuple_t::PtrList SolutionAnalysis::getTuples(const - FluentTimeResource& ftr) const +SpaceTime::Network::tuple_t::PtrList SolutionAnalysis::getTuples(const FluentTimeResource &ftr) const { return mSolutionNetwork.getTuples(ftr.getInterval().getFrom(), - ftr.getInterval().getTo(), ftr.getLocation()); + ftr.getInterval().getTo(), ftr.getLocation()); } -moreorg::ModelPoolDelta SolutionAnalysis::getMinMissingResourceRequirements(const solvers::FluentTimeResource& ftr) const -{ - ModelPool requiredResources = getMinResourceRequirements(ftr); - ModelPool maxAvailableResources = getMinAvailableResources(ftr); +// moreorg::ModelPoolDelta SolutionAnalysis::getMinMissingResourceRequirements(const solvers::FluentTimeResource &ftr) const +// { +// ModelPool requiredResources = getMinResourceRequirements(ftr); +// ModelPool maxAvailableResources = getMinAvailableResources(ftr); - // Creating model pool from available functionalities - ModelPool functionalities = mAsk.getSupportedFunctionalities(maxAvailableResources); - ModelPool availableResources = moreorg::Algebra::max(maxAvailableResources, functionalities); +// // Creating model pool from available functionalities +// ModelPool functionalities = mAsk.getSupportedFunctionalities(maxAvailableResources); +// ModelPool availableResources = moreorg::Algebra::max(maxAvailableResources, functionalities); - return Algebra::delta(requiredResources, availableResources); -} +// return Algebra::delta(requiredResources, availableResources); +// } -moreorg::ModelPoolDelta SolutionAnalysis::getMaxMissingResources(const solvers::FluentTimeResource& ftr) const -{ - using namespace moreorg; - ModelPool requiredResources = getMinResourceRequirements(ftr); - ModelPool minAvailableResources = getMinAvailableResources(ftr); - - // Infer functionality from this set of resources - OrganizationModelAsk ask(mpMission->getOrganizationModel(), - minAvailableResources, - true); - // Creating model pool from available functionalities - ModelPool functionalities = ask.getSupportedFunctionalities(); - ModelPool availableResources = moreorg::Algebra::min(minAvailableResources, functionalities); - - return Algebra::delta(requiredResources, availableResources); -} +// moreorg::ModelPoolDelta SolutionAnalysis::getMaxMissingResources(const solvers::FluentTimeResource &ftr) const +// { +// using namespace moreorg; +// ModelPool requiredResources = getMinResourceRequirements(ftr); +// ModelPool minAvailableResources = getMinAvailableResources(ftr); + +// // Infer functionality from this set of resources +// OrganizationModelAsk ask(mpMission->getOrganizationModel(), +// minAvailableResources, +// true); +// // Creating model pool from available functionalities +// ModelPool functionalities = ask.getSupportedFunctionalities(); +// ModelPool availableResources = moreorg::Algebra::min(minAvailableResources, functionalities); + +// return Algebra::delta(requiredResources, availableResources); +// } graph_analysis::BaseGraph::Ptr SolutionAnalysis::toHyperGraph() { @@ -647,7 +644,7 @@ graph_analysis::BaseGraph::Ptr SolutionAnalysis::toHyperGraph() // Create set of vertices that represents // each role std::map role2VertexMap; - for(const Role& role : roles) + for (const Role &role : roles) { RoleInfoVertex::Ptr roleInfo = make_shared(); roleInfo->addRole(role); @@ -655,19 +652,18 @@ graph_analysis::BaseGraph::Ptr SolutionAnalysis::toHyperGraph() hyperGraph->addVertex(roleInfo); } - // Iterate over the set of vertices in the solution and // create an edge to each RoleInfoVertex for a required role VertexIterator::Ptr vertexIt = mSolutionNetwork.getGraph()->getVertexIterator(); - while(vertexIt->next()) + while (vertexIt->next()) { SpaceTime::Network::tuple_t::Ptr roleInfo = dynamic_pointer_cast(vertexIt->current()); std::set roles = roleInfo->getRoles(RoleInfo::ASSIGNED); - if(roles.empty()) + if (roles.empty()) { continue; } - for(const Role& role : roles) + for (const Role &role : roles) { Edge::Ptr edge = make_shared("requires"); edge->setSourceVertex(roleInfo); @@ -681,11 +677,11 @@ graph_analysis::BaseGraph::Ptr SolutionAnalysis::toHyperGraph() // Iterate over the set of edges in the solution and // create and edge to each RoleInfoVertex for a required role EdgeIterator::Ptr edgeIt = mSolutionNetwork.getGraph()->getEdgeIterator(); - while(edgeIt->next()) + while (edgeIt->next()) { SpaceTime::Network::edge_t::Ptr roleInfo = dynamic_pointer_cast(edgeIt->current()); std::set roles = roleInfo->getRoles(RoleInfo::ASSIGNED); - if(roles.empty()) + if (roles.empty()) { continue; } @@ -696,15 +692,15 @@ graph_analysis::BaseGraph::Ptr SolutionAnalysis::toHyperGraph() std::stringstream edgeLabel; edgeLabel << "vertices: ["; - edgeLabel << hyperGraph->getVertexId( roleInfo->getSourceVertex() ); + edgeLabel << hyperGraph->getVertexId(roleInfo->getSourceVertex()); edgeLabel << ", "; - edgeLabel << hyperGraph->getVertexId( roleInfo->getTargetVertex() ); + edgeLabel << hyperGraph->getVertexId(roleInfo->getTargetVertex()); edgeLabel << "]"; HyperEdge::Ptr hyperEdge = make_shared(vertices, edgeLabel.str()); hyperGraph->addHyperEdge(hyperEdge); - for(const Role& role : roles) + for (const Role &role : roles) { Edge::Ptr edge = make_shared("requires"); edge->setSourceVertex(hyperEdge); @@ -723,32 +719,33 @@ void SolutionAnalysis::quantifyTime() Cost cost(mpMission->getOrganizationModelAsk()); double travelDistanceInM = 0.0; - double minTaskTime = mConfiguration.getValueAs("TransportNetwork/task-time/min", 1800.0); - for(const FluentTimeResource& ftr : mResourceRequirements) + // set min duration for requirements + for (const FluentTimeResource &ftr : mResourceRequirements) { - const Interval& i = ftr.getInterval(); - IntervalConstraint::Ptr intervalConstraint = - make_shared(i.getFrom(), i.getTo()); - - Bounds bounds(minTaskTime, std::numeric_limits::max()); + IntervalConstraint::Ptr intervalConstraint = make_shared(ftr.getInterval().getFrom(), ftr.getInterval().getTo()); + // TODO add reading these bounds from ontology (maybe) + Bounds bounds(1800, std::numeric_limits::max()); intervalConstraint->addInterval(bounds); - tcn.addIntervalConstraint(intervalConstraint); } - // Apply constraints from the current solution // TODO: space time network: iterator over all 'solution' edges using namespace graph_analysis; - graph_analysis::EdgeIterator::Ptr edgeIt = mSolutionNetwork.getGraph()->getEdgeIterator(); - while(edgeIt->next()) + graph_analysis::EdgeIterator::Ptr edgeIt = mSolutionNetwork.getGraph()->getEdgeIterator(); + while (edgeIt->next()) { - SpaceTime::Network::edge_t::Ptr edge = dynamic_pointer_cast( edgeIt->current() ); - if(!edge) + SpaceTime::Network::edge_t::Ptr edge = dynamic_pointer_cast(edgeIt->current()); + if (!edge) { - throw std::invalid_argument("SolutionAnalysis: encountered edge type: " + edgeIt->current()->getClassName() - + " Are you loading final plan instead of the transport network solution?"); + throw std::invalid_argument("SolutionAnalysis: encountered edge type: " + edgeIt->current()->getClassName() + " Are you loading final plan instead of the transport network solution?"); + } + + Role::Set roles = edge->getRoles(RoleInfo::ASSIGNED); + if (roles.empty()) + { + continue; } SpaceTime::Network::tuple_t::Ptr sourceTuple = dynamic_pointer_cast(edge->getSourceVertex()); @@ -757,69 +754,67 @@ void SolutionAnalysis::quantifyTime() symbols::constants::Location::Ptr sourceLocation = sourceTuple->first(); symbols::constants::Location::Ptr targetLocation = targetTuple->first(); + double distanceInM = cost.getTravelDistance({sourceLocation, targetLocation}); + double minTravelTime = cost.estimateTravelTime(sourceLocation, targetLocation, roles); + LOG_WARN_S << "Estimated travelTime: " << minTravelTime << " for " << Role::toString(roles) + << " from: " << sourceLocation->toString() << "/" << sourceTuple->second()->toString() << std::endl + << " to: " << targetLocation->toString() << "/" << targetTuple->second()->toString() << std::endl + << " estimated travelDistance in m: " << distanceInM; + + travelDistanceInM += distanceInM; + point_algebra::TimePoint::Ptr sourceTimepoint = sourceTuple->second(); point_algebra::TimePoint::Ptr targetTimepoint = targetTuple->second(); IntervalConstraint::Ptr intervalConstraint = make_shared(sourceTimepoint, targetTimepoint); - Role::Set roles = edge->getRoles(RoleInfo::ASSIGNED); - if(roles.empty()) + // Compute the required transition time + RoleInfo::Ptr roleInfo = dynamic_pointer_cast(sourceTuple); + double reconfigurationCost = 0; + try + { + reconfigurationCost = roleInfo->getAttribute(RoleInfo::RECONFIGURATION_COST); + } + catch (const std::exception &e) { - Bounds bounds(0, std::numeric_limits::max()); + LOG_WARN_S << "No reconfiguration cost for " << roleInfo->toString(4); + } + + // Ensure that we have minimum timedelta set + double requiredTime = std::max(1.0E-03, minTravelTime + reconfigurationCost); + if (requiredTime > 0) + { + Bounds bounds(requiredTime, std::numeric_limits::max()); intervalConstraint->addInterval(bounds); tcn.addIntervalConstraint(intervalConstraint); - continue; - } else { - double distanceInM = cost.getTravelDistance({sourceLocation, targetLocation}); - double minTravelTime = cost.estimateTravelTime(sourceLocation, targetLocation, roles); - LOG_INFO_S << "Estimated travelTime: " << minTravelTime << " for " << Role::toString(roles) - << " from: " << sourceLocation->toString() << "/" << sourceTuple->second()->toString() << std::endl - << " to: " << targetLocation->toString() << "/" << targetTuple->second()->toString() << std::endl - << " estimated travelDistance in m: " << distanceInM; - - travelDistanceInM += distanceInM; - - // Compute the required transition time - RoleInfo::Ptr roleInfo = dynamic_pointer_cast(sourceTuple); - double reconfigurationCost = 0; - try { - reconfigurationCost = roleInfo->getAttribute(RoleInfo::RECONFIGURATION_COST); - } catch(const std::exception& e) - { - LOG_WARN_S << "No reconfiguration cost for " << roleInfo->toString(4); - } - - double requiredTime = minTravelTime + reconfigurationCost; - if(requiredTime > 0) - { - Bounds bounds(requiredTime, std::numeric_limits::max()); - intervalConstraint->addInterval(bounds); - tcn.addIntervalConstraint(intervalConstraint); - LOG_INFO_S << "Interval constraint between: " << sourceTimepoint->toString() << " and " << targetTimepoint->toString() << " min travel time: " - << minTravelTime << ", requiredTime (inkl. reconfiguration) " << - requiredTime; - } + LOG_INFO_S << "Interval constraint between: " << sourceTimepoint->toString() << " and " << targetTimepoint->toString() << " min travel time: " + << minTravelTime << ", requiredTime (inkl. reconfiguration) " << requiredTime; } } - for(Constraint::Ptr c : mpMission->getConstraints()) + for (Constraint::Ptr c : mpMission->getConstraints()) { IntervalConstraint::Ptr ic = dynamic_pointer_cast(c); - if(ic) + if (ic) { Edge::PtrList edges = tcn.getDistanceGraph()->getEdges(ic->getSourceVertex(), ic->getTargetVertex()); - if(edges.empty()) + if (edges.empty()) { tcn.addIntervalConstraint(ic); - } else { + } + else + { IntervalConstraint::Ptr existingIc = dynamic_pointer_cast(edges.front()); existingIc->appendBounds(*ic); } } } + //graph_analysis::io::GraphIO::write("/tmp/distanceGraph", tcn.getDistanceGraph(), graph_analysis::representation::GEXF); + //graph_analysis::io::GraphIO::write("/tmp/distanceGraph", tcn.getDistanceGraph(), graph_analysis::representation::GRAPHVIZ); + tcn.stpWithConjunctiveIntervals(); tcn.stp(); tcn.minNetwork(); @@ -829,82 +824,124 @@ void SolutionAnalysis::quantifyTime() mTraveledDistance = travelDistanceInM; } -void SolutionAnalysis::computeSafety(bool ignoreStartDepot) +ResourceInstance::List SolutionAnalysis::filterResourcesByBlacklist(ResourceInstance::List &resources, const ResourceInstance::List& blacklist) { - mSafety = 1.0; - temporal::point_algebra::TimePoint::PtrList timepoints = mSolutionNetwork.getTimepoints(); - for(const FluentTimeResource& ftr : mResourceRequirements) + ResourceInstance::List returnList; + for (auto& r : resources) + { + auto it = std::find_if(blacklist.begin(), blacklist.end(), [&r](ResourceInstance assignment) + { return ((assignment.getName() == r.getName()) && (assignment.getAtomicAgent() == r.getAtomicAgent())); }); + if (it == blacklist.end()) + { + returnList.push_back(r); + } + } + return returnList; +} + +SolutionAnalysis::TupleResourceInstancesMap SolutionAnalysis::prepareSolutionAnalysis(const ResourceInstance::List& blacklist) +{ + using namespace solvers::temporal::point_algebra; + using namespace symbols::constants; + TupleResourceInstancesMap tupleResourceInstancesMap; + Location::PtrList locations = mpMission->getLocations(); + int is_start = 0; + + for (const TimePoint::Ptr& tp : mTimepoints) + { + if (is_start < 2) + { + // How to handle this properly? + ++is_start; + continue; + } + for (const Location::Ptr &location : locations) + { + SpaceTime::Network::tuple_t::Ptr vertexTuple = mSolutionNetwork.tupleByKeys(location, tp); + ResourceInstance::List availableUnfiltered = getMinAvailableResources(vertexTuple); + ResourceInstance::List available = filterResourcesByBlacklist(availableUnfiltered, blacklist); + tupleResourceInstancesMap.insert(std::make_pair(vertexTuple, available)); + } + } + return tupleResourceInstancesMap; +} + +void SolutionAnalysis::computeSafetyNew() +{ + std::map tupleFtrMap; + for (const FluentTimeResource &ftr : mResourceRequirements) { SpaceTime::Network::tuple_t::PtrList tuples = mSolutionNetwork.getTuples(ftr.getInterval().getFrom(), - ftr.getInterval().getTo(), - ftr.getLocation()); + ftr.getInterval().getTo(), + ftr.getLocation()); - for(const SpaceTime::Network::tuple_t::Ptr& tuple : tuples) + for (const SpaceTime::Network::tuple_t::Ptr &tuple : tuples) { - double value = 1.0; - // Ignore redundancy at starting depot - if(!isStartDepotRequirement(ftr) && ignoreStartDepot) - { - try { - value = getSafety(ftr, tuple); - mSafety = std::min(value, mSafety); - LOG_INFO_S << "Metric: " << value << std::endl - << " at: " << tuple->first()->toString() << std::endl; + tupleFtrMap[tuple].push_back(ftr); + } + + } - } catch(const std::exception& e) - { - if(isStartDepotRequirement(ftr)) - { - LOG_INFO_S << "Metric: not all resources from start depot used:" << std::endl - << " at: " << ftr.getLocation()->toString() << std::endl - << " over: " << std::endl - << ftr.getInterval().toString(8) << std::endl - << e.what(); - - ModelPool minAvailable = getMinAvailableResources(ftr); - ModelPool agentPool = mpMission->getOrganizationModelAsk().allowSubclasses(minAvailable, vocabulary::OM::Actor()); - if(!minAvailable.empty()) - { - value = getSafety(agentPool, agentPool); - } else { - value = 0; - } - - } else { - LOG_WARN_S << "Metric: requirements not fulfilled" << std::endl - << " at: " << ftr.getLocation()->toString() << std::endl - << " over: " << std::endl - << ftr.getInterval().toString(8) << std::endl - << ftr.toString(8) << std::endl - << tuple->toString() << std::endl - << e.what(); - value = 0.0; - } - } - } + // iterate + +} + +void SolutionAnalysis::computeSafety(bool ignoreStartDepot) +{ + mSafety = 1.0; + std::map tupleFtrMap; + for (const FluentTimeResource &ftr : mResourceRequirements) + { + SpaceTime::Network::tuple_t::PtrList tuples = mSolutionNetwork.getTuples(ftr.getInterval().getFrom(), + ftr.getInterval().getTo(), + ftr.getLocation()); - tuple->setAttribute(RoleInfo::SAFETY, value); + for (const SpaceTime::Network::tuple_t::Ptr &tuple : tuples) + { + tupleFtrMap[tuple].push_back(ftr); } + } VertexIterator::Ptr vertexIt = mSolutionNetwork.getGraph()->getVertexIterator(); - while(vertexIt->next()) + while (vertexIt->next()) { - RoleInfo::Ptr roleInfo = dynamic_pointer_cast(vertexIt->current()); - if(!roleInfo->hasAttribute(RoleInfo::SAFETY)) + SpaceTime::Network::tuple_t::Ptr vertexTuple = dynamic_pointer_cast(vertexIt->current()); + std::cout << "Processing Vertex with timepoint: " << vertexTuple->second()->getLabel() << std::endl; + std::vector inEdges= mSolutionNetwork.getGraph()->getInEdges(vertexIt->current()); + if (inEdges.empty()) { - ModelPool modelPool = Role::getModelPool( roleInfo->getAllRoles() ); - if(!modelPool.empty()) - { - double value = getSafety(modelPool, modelPool); - roleInfo->setAttribute(RoleInfo::SAFETY, value); - } + vertexTuple->setAttribute(RoleInfo::SAFETY, 1.); + std::cout << "no inEdges on timepoint: " << vertexTuple->second()->getLabel() << std::endl; + continue; + } + SpaceTime::Network::tuple_t::Ptr fromTuple = dynamic_pointer_cast(inEdges.front()->getSourceVertex()); // can I assume that all edges come from same timepoint? + double start_time = mTimeAssignment.find(fromTuple->second())->second; + double end_time = mTimeAssignment.find(vertexTuple->second())->second; + double value = 1.; + // auto tupleFtrMapIterator = std::find_if(tupleFtrMap.begin(), tupleFtrMap.end(), [&vertexTuple](const std::pair &pair) + // { + // return *vertexTuple == *pair.first; + // }); + // if (tupleFtrMapIterator == tupleFtrMap.end()) + // { + // std::cout << "could not find vertex tuple as key in tupleFtrMap" << std::endl; + // } else + // { + // std::cout << "found vertex tuple as key in tupleFtrMap" << std::endl; + // } + + for (const FluentTimeResource &ftr : tupleFtrMap[vertexTuple]) + { + double currSafety = getSafety(ftr, vertexTuple, start_time, end_time); + std::cout << "Safety Value of: " << currSafety << std::endl; + value = std::min(currSafety, value); } + vertexTuple->setAttribute(RoleInfo::SAFETY, value); + mSafety = std::min(value, mSafety); //placeholder } } - - Plan SolutionAnalysis::computePlan() const { Plan plan(mpMission); @@ -918,28 +955,30 @@ Plan SolutionAnalysis::computePlan() const point_algebra::TimePoint::Ptr startingTimepoint = timepoints.front(); std::set requiredRoles = getRequiredRoles(2); - for(const Role& role : requiredRoles) + for (const Role &role : requiredRoles) { SpaceTime::Network::tuple_t::Ptr startTuple; // Find the start point of a role - for(const Location::Ptr& location : locations) + for (const Location::Ptr &location : locations) { - try { + try + { SpaceTime::Network::tuple_t::Ptr tuple = mSolutionNetwork.tupleByKeys(location, startingTimepoint); Role::Set assignedRoles = tuple->getRoles(RoleInfo::ASSIGNED); - if( assignedRoles.find(role) != assignedRoles.end()) + if (assignedRoles.find(role) != assignedRoles.end()) { startTuple = tuple; break; } - } catch(const std::exception& e) + } + catch (const std::exception &e) { LOG_WARN_S << e.what() << " " << location->toString() << " " << startingTimepoint->toString(); } } - if(!startTuple) + if (!startTuple) { LOG_WARN_S << "Could not find start tuple for role " << role.toString() << " solution seems to be incomplete"; continue; @@ -952,25 +991,27 @@ Plan SolutionAnalysis::computePlan() const // foreach role -- find starting point and follow path PathConstructor::Ptr pathConstructor = make_shared(role, - RoleInfo::TagTxt[ RoleInfo::ASSIGNED ]); - Skipper skipper = boost::bind(&PathConstructor::isInvalidTransition, pathConstructor,_1); + RoleInfo::TagTxt[RoleInfo::ASSIGNED]); + Skipper skipper = boost::bind(&PathConstructor::isInvalidTransition, pathConstructor, _1); DFS dfs(mSolutionNetwork.getGraph(), pathConstructor, skipper); dfs.run(startTuple); std::vector path = pathConstructor->getPath(); path.insert(path.begin(), startTuple); - plan.add(role,path); + plan.add(role, path); } graph_analysis::Vertex::PtrList openRequirements; - for(const FluentTimeResource& ftr : mResourceRequirements) + for (const FluentTimeResource &ftr : mResourceRequirements) { - const Interval& i = ftr.getInterval(); - try { + const Interval &i = ftr.getInterval(); + try + { SpaceTime::Network::tuple_t::Ptr tuple = mSolutionNetwork.tupleByKeys(ftr.getLocation(), - i.getFrom()); + i.getFrom()); openRequirements.push_back(tuple); - } catch(const std::invalid_argument& e) + } + catch (const std::invalid_argument &e) { LOG_WARN_S << "Failed to retrieve key for: " << ftr.getLocation()->toString() << " and " << i.getFrom()->toString(); } @@ -982,12 +1023,12 @@ Plan SolutionAnalysis::computePlan() const void SolutionAnalysis::computeAgentCount() { std::set roles; - for(const solvers::FluentTimeResource& ftr : mResourceRequirements) + for (const solvers::FluentTimeResource &ftr : mResourceRequirements) { - if(isStartDepotRequirement(ftr)) + if (isStartDepotRequirement(ftr)) { SpaceTime::Network::tuple_t::PtrList tuples = getTuples(ftr); - for(const SpaceTime::Network::tuple_t::Ptr& roleInfo : tuples) + for (const SpaceTime::Network::tuple_t::Ptr &roleInfo : tuples) { std::set assigned = roleInfo->getRoles(RoleInfo::ASSIGNED); roles.insert(assigned.begin(), assigned.end()); @@ -999,10 +1040,10 @@ void SolutionAnalysis::computeAgentCount() mRoles = roles; mTotalNumberOfAgents = 0; mNumberOfMobileAgents = 0; - for(const Role& role : roles) + for (const Role &role : roles) { facades::Robot robot = facades::Robot::getInstance(role.getModel(), mpMission->getOrganizationModelAsk()); - if(robot.isMobile()) + if (robot.isMobile()) { ++mNumberOfMobileAgents; } @@ -1010,32 +1051,140 @@ void SolutionAnalysis::computeAgentCount() } } -void SolutionAnalysis::computeEfficacy() +ModelPool SolutionAnalysis::checkAndRemoveRequirements(ModelPool &available, ModelPool &required) { - double fulfillment = 0.0; - for(const solvers::FluentTimeResource& ftr : mResourceRequirements) + ModelPool returnModelPool; + for (auto &r : required) { - fulfillment += degreeOfFulfillment(ftr); + ModelPool tempModelPool; + tempModelPool.setResourceCount(r.first, r.second); + std::vector r_required = mAsk.getRequiredCardinalities(tempModelPool, vocabulary::OM::has()); + bool check = true; + for (auto &rr : r_required) + { + bool found = false; + owlapi::model::OWLObjectCardinalityRestriction::Ptr restriction = dynamic_pointer_cast(rr); + for (auto &a : available) + { + if ((a.first == restriction->getQualification()) || (mAsk.ontology().isSubClassOf(a.first, restriction->getQualification()))) + { + // TODO what about SuperClass Requirements and multiple Sublasses are available ? Make counter? + if (a.second < restriction->getCardinality()) + { + check = false; + break; + } + else + { + found = true; + break; + } + } + } + if (!found) + { + check = false; + break; + } + } + if (check) + { + returnModelPool.setResourceCount(r.first, r.second); + } } - mEfficacy = fulfillment*1.0/mResourceRequirements.size(); + return returnModelPool; +} + +double SolutionAnalysis::getEfficacyWithFailedComponents(const ResourceInstance::List& blacklist) +{ + TupleResourceInstancesMap tupleResourceInstancesMap = prepareSolutionAnalysis(blacklist); + double efficacy = computeEfficacyWithFailedComponents(tupleResourceInstancesMap); + return efficacy; +} + +void SolutionAnalysis::computeEfficacy(const ResourceInstance::List& blacklist) +{ + // double fulfillment = 0.0; + // for (const solvers::FluentTimeResource &ftr : mResourceRequirements) + // { + // fulfillment += degreeOfFulfillment(ftr); + // } + // mEfficacy = fulfillment * 1.0 / mResourceRequirements.size(); + TupleResourceInstancesMap tupleResourceInstancesMap = prepareSolutionAnalysis(blacklist); + mEfficacy = computeEfficacyWithFailedComponents(tupleResourceInstancesMap); +} + +double SolutionAnalysis::computeEfficacyWithFailedComponents(TupleResourceInstancesMap &tupleResourceInstancesMap) +{ + using namespace solvers::temporal::point_algebra; + using namespace symbols::constants; + int requirement_count = 0; + int requirements_success = 0; + std::map tupleFtrMap; + for (const solvers::FluentTimeResource &ftr : mResourceRequirements) + { + SpaceTime::Network::tuple_t::PtrList tuples = mSolutionNetwork.getTuples(ftr.getInterval().getFrom(), + ftr.getInterval().getTo(), + ftr.getLocation()); + + for (const SpaceTime::Network::tuple_t::Ptr &tuple : tuples) + { + tupleFtrMap[tuple].push_back(ftr); + } + } + + for (auto &a : tupleResourceInstancesMap) + { + ModelPool required; + // prepare required resources + for (const solvers::FluentTimeResource &ftr : tupleFtrMap[a.first]) + { + if (required.empty()) + { + required = getMinResourceRequirements(ftr); + } + else + { + ModelPool minRequired = getMinResourceRequirements(ftr); + Algebra::merge(minRequired, required); + } + } + // no requirements? Skip this tuple ... + if (required.empty()) + continue; + requirement_count += (int)required.size(); + + ModelPool availableModelPool = ResourceInstance::toModelPool(a.second); + ModelPool finalRequired = checkAndRemoveRequirements(availableModelPool, required); + ModelPoolDelta delta = Algebra::delta(finalRequired, required); + for (auto &r : required) + { + if ((delta[r.first]) <= 0) + { + ++requirements_success; + } + } + } + + double efficacy = (double) requirements_success / (double) requirement_count; + return efficacy; } void SolutionAnalysis::computeEfficiency() { mEfficiency = 0.0; - - const Plan::RoleBasedPlan& plan = mPlan.getRoleBasedPlan(); - for(const Plan::RoleBasedPlan::value_type& v : plan) + const Plan::RoleBasedPlan &plan = mPlan.getRoleBasedPlan(); + for (const Plan::RoleBasedPlan::value_type &v : plan) { - const Role& role = v.first; - if(role == Role()) + const Role &role = v.first; + if (role == Role()) { continue; } //const Vertex::PtrList& plan = v.second; facades::Robot robot = facades::Robot::getInstance(role.getModel(), mpMission->getOrganizationModelAsk()); - double efficiencyInkWh = robot.estimatedEnergyCostFromTime(mTimeHorizonInS)/(3600*1000.0); + double efficiencyInkWh = robot.estimatedEnergyCostFromTime(mTimeHorizonInS) / (3600 * 1000.0); mEfficiencyPerRole[role] = efficiencyInkWh; mEfficiency += efficiencyInkWh; @@ -1047,21 +1196,25 @@ void SolutionAnalysis::computeReconfigurationCost() double totalReconfigurationCost = 0.0; // TODO: Adapt to mSolutionNetwork -- after annotating the network VertexIterator::Ptr vertexIt = mPlan.getGraph()->getVertexIterator(); - while(vertexIt->next()) + while (vertexIt->next()) { Vertex::Ptr vertex = vertexIt->current(); double reconfigurationCost = 0; RoleInfo::Ptr roleInfo = dynamic_pointer_cast(vertex); - if(!roleInfo) + if (!roleInfo) { throw std::runtime_error("templ::solvers::SolutionAnalysis::computeReconfigurationCost: failed to cast to RoleInfo." - " Class of node is " + vertex->getClassName()); - } else if(!roleInfo->getAllRoles().empty()) + " Class of node is " + + vertex->getClassName()); + } + else if (!roleInfo->getAllRoles().empty()) { - try { + try + { reconfigurationCost = computeReconfigurationCost(vertex, mPlan.getGraph()); - } catch(const std::exception& e) + } + catch (const std::exception &e) { // handle unfulfilled requirements } @@ -1074,20 +1227,20 @@ void SolutionAnalysis::computeReconfigurationCost() mReconfigurationCost = totalReconfigurationCost; } -double SolutionAnalysis::computeReconfigurationCost(const Vertex::Ptr& vertex, const BaseGraph::Ptr& graph) +double SolutionAnalysis::computeReconfigurationCost(const Vertex::Ptr &vertex, const BaseGraph::Ptr &graph) { RoleInfo::Ptr tuple = dynamic_pointer_cast(vertex); Agent requirementAgent(tuple->getAllRoles()); - Agent::Set actualRequirement = { requirementAgent }; + Agent::Set actualRequirement = {requirementAgent}; Agent::Set in; EdgeIterator::Ptr inEdgeIt = graph->getInEdgeIterator(vertex); - while(inEdgeIt->next()) + while (inEdgeIt->next()) { Edge::Ptr edge = inEdgeIt->current(); CapacityLink::Ptr inAgents = dynamic_pointer_cast(edge); - if(inAgents) + if (inAgents) { Role::Set allRoles = inAgents->getAllRoles(); Agent inAgent(allRoles); @@ -1096,11 +1249,11 @@ double SolutionAnalysis::computeReconfigurationCost(const Vertex::Ptr& vertex, c } Agent::Set out; EdgeIterator::Ptr outEdgeIt = graph->getOutEdgeIterator(vertex); - while(outEdgeIt->next()) + while (outEdgeIt->next()) { Edge::Ptr edge = outEdgeIt->current(); CapacityLink::Ptr outAgents = dynamic_pointer_cast(edge); - if(outAgents) + if (outAgents) { Role::Set allRoles = outAgents->getAllRoles(); Agent outAgent(allRoles); @@ -1110,25 +1263,27 @@ double SolutionAnalysis::computeReconfigurationCost(const Vertex::Ptr& vertex, c double cost = 0.0; LOG_INFO_S << "Compute reconfiguration cost at " << vertex->toString() - << " from" << Agent::toString(in,4) - << " to" << Agent::toString(out,4) - << " requirement" << Agent::toString(actualRequirement,4); - try { - if(!in.empty()) + << " from" << Agent::toString(in, 4) + << " to" << Agent::toString(out, 4) + << " requirement" << Agent::toString(actualRequirement, 4); + try + { + if (!in.empty()) { cost += mAnalyser.getHeuristics().getReconfigurationCost(in, actualRequirement); - LOG_INFO_S << "Reconfiguration: from: " << Agent::toString(in,4) - << "to: " << Agent::toString(actualRequirement, 4) - << "with cost: " << cost; + LOG_INFO_S << "Reconfiguration: from: " << Agent::toString(in, 4) + << "to: " << Agent::toString(actualRequirement, 4) + << "with cost: " << cost; } - if(!out.empty()) + if (!out.empty()) { cost += mAnalyser.getHeuristics().getReconfigurationCost(actualRequirement, out); - LOG_INFO_S << "Reconfiguration: from: " << Agent::toString(actualRequirement,4) - << "to: " << Agent::toString(out, 4) - << "with cost: " << cost; + LOG_INFO_S << "Reconfiguration: from: " << Agent::toString(actualRequirement, 4) + << "to: " << Agent::toString(out, 4) + << "with cost: " << cost; } - } catch(const std::invalid_argument& e) + } + catch (const std::invalid_argument &e) { LOG_WARN_S << "Failed to compute reconfiguration cost at: " << vertex->toString() << e.what(); throw; @@ -1136,8 +1291,6 @@ double SolutionAnalysis::computeReconfigurationCost(const Vertex::Ptr& vertex, c return cost; } - - std::string SolutionAnalysis::toString(size_t indent) const { std::string hspace(indent, ' '); @@ -1146,7 +1299,7 @@ std::string SolutionAnalysis::toString(size_t indent) const ss << hspace << " Resulting plan:" << std::endl; ss << mPlan.toString(indent + 8); ss << hspace << " time horizon: " << mTimeHorizonInS << std::endl; - for(const temporal::point_algebra::TimePoint::Ptr& tp : mSolutionNetwork.getTimepoints()) + for (const temporal::point_algebra::TimePoint::Ptr &tp : mSolutionNetwork.getTimepoints()) { temporal::TemporalConstraintNetwork::Assignment::const_iterator cit = mTimeAssignment.find(tp); diff --git a/src/solvers/SolutionAnalysis.hpp b/src/solvers/SolutionAnalysis.hpp index c95554f..3376a51 100644 --- a/src/solvers/SolutionAnalysis.hpp +++ b/src/solvers/SolutionAnalysis.hpp @@ -8,6 +8,7 @@ #include "FluentTimeResource.hpp" #include "../Plan.hpp" #include "temporal/TemporalConstraintNetwork.hpp" +#include "temporal/Interval.hpp" #include namespace templ { @@ -23,6 +24,8 @@ class SolutionAnalysis typedef std::pair< moreorg::ModelPool::List, moreorg::ModelPool::List > MinMaxModelPools; + typedef std::map TupleResourceInstancesMap; + SolutionAnalysis(); /** @@ -67,6 +70,7 @@ class SolutionAnalysis double getCost() const { return mCost; } double getSafety() const { return mSafety; } double getEfficacy() const { return mEfficacy; } + double getEfficacyWithFailedComponents(const moreorg::ResourceInstance::List &blacklist); double getEfficiency() const { return mEfficiency; } double getReconfigurationCost() const { return mReconfigurationCost; } double getTravelledDistance() const { return mTraveledDistance; } @@ -77,15 +81,14 @@ class SolutionAnalysis */ double getSafety(const FluentTimeResource& ftr) const; - double getSafety(const FluentTimeResource& ftr, - const SpaceTime::Network::tuple_t::Ptr& tuple) const; + double getSafety(const FluentTimeResource& ftr, const SpaceTime::Network::tuple_t::Ptr& tuple, double start_time = 0, double end_time = 0) const; /** * Get the metric value for minimum requirement and minimum available * resources */ double getSafety(const moreorg::ModelPool& minRequired, - const moreorg::ModelPool& minAvailable) const; + const moreorg::ResourceInstance::List& minAvailable, double start_time = 0, double end_time = 0) const; /** * Retrieve the list of required roles / all roles that are involved in this @@ -143,23 +146,23 @@ class SolutionAnalysis */ moreorg::ModelPoolDelta getMaxMissingResourceRequirements(const FluentTimeResource& ftr) const; - /** - * Get the maximum number of missing resources, i.e. - * required (by transformed mission definition) resources - minimum available resources - * - * This takes into account resolution of functionality to actual agents to - * come to a particular solution - */ - moreorg::ModelPoolDelta getMaxMissingResources(const FluentTimeResource& ftr) const; - - /** - * Get the minimum number of missing resources, i.e. - * required resources - maximum available resources - * - * This takes into account resolution of functionality to actual agents to - * come to a particular solution - */ - moreorg::ModelPoolDelta getMinMissingResources(const FluentTimeResource& ftr) const; + // /** + // * Get the maximum number of missing resources, i.e. + // * required (by transformed mission definition) resources - minimum available resources + // * + // * This takes into account resolution of functionality to actual agents to + // * come to a particular solution + // */ + // moreorg::ModelPoolDelta getMaxMissingResources(const FluentTimeResource& ftr) const; + + // /** + // * Get the minimum number of missing resources, i.e. + // * required resources - maximum available resources + // * + // * This takes into account resolution of functionality to actual agents to + // * come to a particular solution + // */ + // moreorg::ModelPoolDelta getMinMissingResources(const FluentTimeResource& ftr) const; /** * Get the minimum number of available resources for the given fluent time @@ -167,19 +170,19 @@ class SolutionAnalysis * \return ModelPool containing the available resources (including inferred * functionalities) */ - moreorg::ModelPool getMinAvailableResources(const FluentTimeResource& ftr) const; + moreorg::ResourceInstance::List getMinAvailableResources(const FluentTimeResource& ftr) const; - moreorg::ModelPool getMinAvailableResources(const SpaceTime::Network::tuple_t::Ptr& tuple) const; + moreorg::ResourceInstance::List getMinAvailableResources(const SpaceTime::Network::tuple_t::Ptr& tuple) const; - /** - * Get the maximum number of available resources for the given fluent time - * resource definition - * - * This function includes all infered functionality - * \return ModelPool containing the available resources (including inferred - * functionalities) - */ - moreorg::ModelPool getMaxAvailableResources(const FluentTimeResource& ftr) const; + // /** + // * Get the maximum number of available resources for the given fluent time + // * resource definition + // * + // * This function includes all infered functionality + // * \return ModelPool containing the available resources (including inferred + // * functionalities) + // */ + // moreorg::ModelPool getMaxAvailableResources(const FluentTimeResource& ftr) const; /** * Get the required resources as a pair of two model pool list for min @@ -198,9 +201,9 @@ class SolutionAnalysis * Get the availability as list of model pools over the course of one interval * This accounts for all included (known) qualitative timepoints */ - std::vector getAvailableResources(const symbols::constants::Location::Ptr& location, const solvers::temporal::Interval& interval) const; + moreorg::ResourceInstance::List getAvailableResources(const symbols::constants::Location::Ptr& location, const solvers::temporal::Interval& interval) const; - moreorg::ModelPool getAvailableResources(const symbols::constants::Location::Ptr& location, const solvers::temporal::point_algebra::TimePoint::Ptr& timepoint) const; + moreorg::ResourceInstance::List getAvailableResources(const symbols::constants::Location::Ptr& location, const solvers::temporal::point_algebra::TimePoint::Ptr& timepoint) const; /** * Compute a hypergraph * The hypergaph contains a number of RoleInfoVertex (as HyperEdge) @@ -220,6 +223,8 @@ class SolutionAnalysis */ void quantifyTime(); + TupleResourceInstancesMap prepareSolutionAnalysis(const moreorg::ResourceInstance::List &blacklist); + // End annotation functions /** @@ -238,6 +243,10 @@ class SolutionAnalysis graph_analysis::BaseGraph::Ptr getTimeDistanceGraph() const { return mpTimeDistanceGraph; } + moreorg::ResourceInstance::List filterResourcesByBlacklist(moreorg::ResourceInstance::List &resources, const moreorg::ResourceInstance::List &blacklist); + + moreorg::ModelPool checkAndRemoveRequirements(moreorg::ModelPool &available, moreorg::ModelPool &required); + /** * Compute efficacy as function of satisfiability \f[ @@ -245,7 +254,9 @@ class SolutionAnalysis \f] * The resulting value can be retrieve with getEfficiency */ - void computeEfficacy(); + void computeEfficacy(const moreorg::ResourceInstance::List& blacklist = moreorg::ResourceInstance::List()); + + double computeEfficacyWithFailedComponents(TupleResourceInstancesMap &tupleResourceInstancesmap); /** * Compute efficiency as overall energy cost in kWh @@ -265,6 +276,8 @@ class SolutionAnalysis double computeReconfigurationCost(const graph_analysis::Vertex::Ptr& vertex, const graph_analysis::BaseGraph::Ptr& graph); + void computeSafetyNew(); + /** * Compute the safety of the plan * \param ignoreStartDepot if set to true, safety at the starting location diff --git a/src/solvers/SolutionSimulation.cpp b/src/solvers/SolutionSimulation.cpp new file mode 100644 index 0000000..6b4b0af --- /dev/null +++ b/src/solvers/SolutionSimulation.cpp @@ -0,0 +1,503 @@ +#include "SolutionSimulation.hpp" + +//#include "utils/SolutionModifier.hpp" +#include "Solution.hpp" +#include +#include "csp/TransportNetwork.hpp" +#include "../utils/CSVLogger.hpp" +#include + +using namespace moreorg; +using namespace graph_analysis; +using namespace templ::solvers::temporal::point_algebra; +using namespace templ::symbols::constants; + +namespace templ { +namespace solvers { + +MinMaxAvg::MinMaxAvg(double min, double max, double avg) + : min(min) + , max(max) + , avg(avg) +{} + +ComponentFailureResult::ComponentFailureResult(SpaceTime::Network::tuple_t::Ptr& tuple, + const reasoning::ModelBound& requiredModel, + const ResourceInstance& failedComponent) + : tupleOfFailure(tuple) + , requirement(requiredModel) + , component(failedComponent) +{} + + + +SolutionSimulation::SolutionSimulation(double numRuns, + std::vector metricsChainToAnalyze, + double efficacySuccessThreshold) + : mNumRuns(numRuns) + , mMetricsChainToAnalyze(metricsChainToAnalyze) + , mEfficacySuccessThreshold(efficacySuccessThreshold) +{} + +bool SolutionSimulation::run(const Mission::Ptr& mission, + const SpaceTime::Network& solution, + bool findAlternativeSolution) +{ + std::map tupleFtrMap; + FluentTimeResource::List resourceRequirements = Mission::getResourceRequirements(mission); + for (const solvers::FluentTimeResource &ftr : resourceRequirements) + { + SpaceTime::Network::tuple_t::PtrList tuples = solution.getTuples(ftr.getInterval().getFrom(), + ftr.getInterval().getTo(), + ftr.getLocation()); + + for (const SpaceTime::Network::tuple_t::Ptr &tuple : tuples) + { + tupleFtrMap[tuple].push_back(ftr); + } + } + + solvers::temporal::TemporalConstraintNetwork::Assignment timeAssignment = utils::quantifyTime(mission, solution, resourceRequirements); + + // init mission and solution relevant stuff + TimePoint::PtrList timepoints = mission->getTimepoints(); + Location::PtrList locations = mission->getLocations(); + OrganizationModelAsk omAsk = mission->getOrganizationModelAsk(); + SpaceTime::Network currentSolution(solution); + + if(mMetricsChainToAnalyze.empty()) + { + throw std::runtime_error("SolutionSimulation:: no metrics to analyze"); + } + + //init some used variables for results + int is_start = 0; + ResourceInstance::List failedComponentsList; + int requirement_count = 0; + int requirements_success = 0; + + SimulationRunResult runResult; + TimePoint::PtrList modifiedTimepoints(mission->getTimepoints()); + + // Start Simulation + // Iterate over all space-timepoints + for (const TimePoint::Ptr& tp : timepoints) + { + if (is_start < 2) + { + // How to handle this properly? + runResult.failedToEfficacyTripleList.push_back(std::make_pair(0, 1.)); + ++is_start; + continue; + } + + for (const Location::Ptr& location : locations) + { + // Get Space-TimePoint (stp) + SpaceTime::Network::tuple_t::Ptr vertexTuple = currentSolution.tupleByKeys(location, tp); + std::vector inEdges = currentSolution.getGraph()->getInEdges(vertexTuple); + + // If there are no inedges, this stp is irrelevant, since it is not part of the solution + if (inEdges.empty()) + { + continue; + } + + // TODO: For now, one can assume that all edges start at the same (previous) timepoint + SpaceTime::Network::tuple_t::Ptr fromTuple = dynamic_pointer_cast(inEdges.front()->getSourceVertex()); + + // Retrieve exact timeslot that the edge covers + double start_time = timeAssignment.find(fromTuple->second())->second; + double end_time = timeAssignment.find(vertexTuple->second())->second; + + std::map failedComponentsMap; + ModelPool required; + // prepare required resources + for (const FluentTimeResource& ftr : tupleFtrMap[vertexTuple]) + { + if (required.empty()) + { + required = utils::getMinResourceRequirements(ftr, resourceRequirements, omAsk); + } else + { + ModelPool minRequired = utils::getMinResourceRequirements(ftr, resourceRequirements, omAsk); + required = Algebra::merge(minRequired, required); + } + } + + // no requirements? Skip this tuple ... + if (required.empty()) + { + continue; + } + + // count requirements for efficacy calculation + requirement_count += (int) required.size(); + + ResourceInstance::List availableUnfiltered = utils::getMinAvailableResources(vertexTuple, currentSolution, omAsk); + // Remove the already failed components from the list of available + ResourceInstance::List available = utils::filterResourcesByBlacklist(availableUnfiltered, failedComponentsList); + + // Compute the Metric(s) + using namespace metrics; + std::vector metricList; + ModelPool availableModelPool = ResourceInstance::toModelPool(available); + ModelPool finalRequired = utils::checkAndRemoveRequirements(availableModelPool, required, omAsk); + ModelPoolDelta delta = Algebra::delta(finalRequired, required); + for (auto &r : required) + { + if ((delta[r.first]) > 0) + { + // std::cout << "Missing requirement: " << r.first.toString() << " in tuple: " << vertexTuple->toString() << std::endl << "available: " << availableModelPool.toString() << std::endl; + runResult.missedRequirements.push_back(std::make_pair(vertexTuple, r.first)); + } + } + + if (finalRequired.empty()) + { + continue; + } + + std::vector r_required = omAsk.getRequiredCardinalities(finalRequired, vocabulary::OM::has()); + for (const auto &mt : mMetricsChainToAnalyze) + { + try + { + // try to match available and required resources and init probabilities + metricList.push_back(utils::matchResourcesToProbability(mt, omAsk, r_required, available, start_time, end_time)); + } + catch (const std::exception &e) + { + // Requirements couldnt be fullfilled + // TODO handle properly + std::cout << "failed: " << e.what() << std::endl; + //std::cout << "Resource requirements were: " << finalRequired.toString() << " but only: " << availableModelPool.toString() << " were available." << std::endl; + } + } + + if (metricList.empty()) + { + continue; + } + + for (auto& probability : metricList[0]) + { + // assume that given Probability Function gives probability for something to fail + double p = probability.getProbabilityDensityFunction()->getConditional(start_time, end_time); + std::bernoulli_distribution d(p); + int cardinality = probability.getRequirement().min; + int sampledAndSurvived = 0; + for (auto &assignment : probability.getAssignments()) + { + if (sampledAndSurvived >= cardinality) + break; + if (d(mRandomEngine)) + { + std::cout << "Component: " << assignment.toString() << " failed with p: " << p << std::endl; + failedComponentsMap[probability.getRequirement()].push_back(assignment); + failedComponentsList.push_back(assignment); // rework needed + int count = utils::checkFutureImpactOfAssignment(currentSolution, mission, assignment, failedComponentsList, vertexTuple, tupleFtrMap, omAsk, resourceRequirements); + runResult.importanceFactors.push_back(std::make_pair(assignment, count)); + if ((count > 0) && findAlternativeSolution) + { + std::cout << count << std::endl; + // plan and analyse alternative solution + try + { + planAlternativeSolution(mission, modifiedTimepoints, failedComponentsList); + } + catch (const std::exception &e) + { + std::cout << "Exception during alternative solution planning: " << e.what() << '\n'; + } + } + } + else + { + sampledAndSurvived++; + } + } + } + + if (metricList.size() > 1) + { + // check other metrics for survival + } + ModelPool availableModelPoolAfterSurvival = ResourceInstance::toModelPool(available); + ModelPoolDelta deltaAfterSurvival = Algebra::delta(availableModelPoolAfterSurvival, required); + for (auto &r : required) + { + if ((delta[r.first]) >= 0) + { + ++requirements_success; + } + else + { + runResult.missedRequirements.push_back(std::make_pair(vertexTuple, r.first)); + } + } + for (const auto &failedPair : failedComponentsMap) + { + //failedComponentsList.insert(failedComponentsList.end(), failedPair.second.begin(), failedPair.second.end()); + for (auto &comp : failedPair.second) + { + ComponentFailureResult cfp(vertexTuple, failedPair.first, comp); + runResult.simulationFailureResult.push_back(cfp); + } + } + // modify available resources in solution + } + + + double tempEfficacy = requirements_success/(1.*requirement_count); + runResult.failedToEfficacyTripleList.push_back(std::make_pair((int)failedComponentsList.size(), tempEfficacy)); + modifiedTimepoints.erase(modifiedTimepoints.begin()); + } + + for (auto &a : failedComponentsList) + { + std::cout << "Failed Components: "; + std::cout << a.toString() << std::endl; + } + + double efficacy = (double)requirements_success / (double)requirement_count; + std::cout << "Requirement count: " << requirement_count << " and " << requirements_success << " succesful." << std::endl; + std::cout << "Efficacy: " << efficacy << std::endl; + + runResult.efficacy = efficacy; + mRunResults.push_back(runResult); + + + if (efficacy < mEfficacySuccessThreshold) + { + std::cout << "Failure" << std::endl; + return false; + } + else + { + std::cout << "Successful" << std::endl; + return true; + } +} + +ResultAnalysis SolutionSimulation::analyzeSimulationResults() +{ + ResultAnalysis resultAnalysis; + int run = 0; + // iterate through all results + for(SimulationRunResult&result : mRunResults) + { + // iterate through all failed components of the run + for (auto &componentFailure : result.simulationFailureResult) + { + auto it = std::find_if(resultAnalysis.individualComponentFailureCountList.begin(), resultAnalysis.individualComponentFailureCountList.end(), [&componentFailure](IndividualComponentFailureCount icfc) + { return ((componentFailure.component.getName() == icfc.first.getName()) && (componentFailure.component.getAtomicAgent() == icfc.first.getAtomicAgent())); }); + if (it == resultAnalysis.individualComponentFailureCountList.end()) + { + IndividualComponentFailureCount pair(componentFailure.component, 1); + resultAnalysis.individualComponentFailureCountList.push_back(pair); + } + else + { + it->second += 1; + } + } + + for (size_t i = 0; i < result.failedToEfficacyTripleList.size(); i++) + { + if (run < 1) + { + MinMaxAvg minMaxAvg(result.failedToEfficacyTripleList[i].second, result.failedToEfficacyTripleList[i].second, result.failedToEfficacyTripleList[i].second); + resultAnalysis.failedToEfficacyTripleList.push_back(std::make_pair(result.failedToEfficacyTripleList[i].first, minMaxAvg)); + } + else + { + resultAnalysis.failedToEfficacyTripleList[i].first += result.failedToEfficacyTripleList[i].first; + resultAnalysis.failedToEfficacyTripleList[i].second.avg += result.failedToEfficacyTripleList[i].second; + resultAnalysis.failedToEfficacyTripleList[i].second.avg = resultAnalysis.failedToEfficacyTripleList[i].second.avg / 2; + resultAnalysis.failedToEfficacyTripleList[i].second.min = std::min(resultAnalysis.failedToEfficacyTripleList[i].second.min, result.failedToEfficacyTripleList[i].second); + resultAnalysis.failedToEfficacyTripleList[i].second.max = std::max(resultAnalysis.failedToEfficacyTripleList[i].second.max, result.failedToEfficacyTripleList[i].second); + } + } + + if (resultAnalysis.efficacyCounts[result.efficacy]) + { + resultAnalysis.efficacyCounts[result.efficacy] += 1; + } + else + { + resultAnalysis.efficacyCounts[result.efficacy] = 1; + } + // Component Failures To Efficacy Metric: + int index = result.simulationFailureResult.size(); + if (resultAnalysis.componentFailuresToEfficacy.find(index) != resultAnalysis.componentFailuresToEfficacy.end()) + { + resultAnalysis.componentFailuresToEfficacy[index][0] += 1; + resultAnalysis.componentFailuresToEfficacy[index][1] += result.efficacy; + resultAnalysis.componentFailuresToEfficacy[index][1] = resultAnalysis.componentFailuresToEfficacy[index][1] / 2; + resultAnalysis.componentFailuresToEfficacy[index][2] = std::min(resultAnalysis.componentFailuresToEfficacy[index][2], result.efficacy); + resultAnalysis.componentFailuresToEfficacy[index][3] = std::max(resultAnalysis.componentFailuresToEfficacy[index][3], result.efficacy); + } + else + { + std::vector vec; + vec.push_back(1.); + vec.push_back(result.efficacy); + vec.push_back(result.efficacy); + vec.push_back(result.efficacy); + resultAnalysis.componentFailuresToEfficacy.insert(std::make_pair(index, vec)); + } + + for (auto &c : result.importanceFactors) + { + std::string keyName(c.first.getAtomicAgent().getName() + ":" + c.first.getName().toString().erase(0, 37)); + if (resultAnalysis.componentImportanceFactors[keyName]) + { + resultAnalysis.componentImportanceFactors[keyName] += c.second; + resultAnalysis.componentImportanceFactors[keyName] = resultAnalysis.componentImportanceFactors[keyName] / 2; + } + else + { + resultAnalysis.componentImportanceFactors[keyName] = c.second; + } + } + + resultAnalysis.avgEfficacy += result.efficacy; + + ++run; + } + + for (size_t i = 0; i < resultAnalysis.failedToEfficacyTripleList.size(); i++) + { + resultAnalysis.failedToEfficacyTripleList[i].first = resultAnalysis.failedToEfficacyTripleList[i].first / mRunResults.size(); // does this even make sense + } + + // for (size_t i = 0; i < resultAnalysis.componentFailuresToEfficacy.size(); i++) + // { + // resultAnalysis.componentFailuresToEfficacy[i].second = resultAnalysis.componentFailuresToEfficacy[i].second / resultAnalysis.componentFailuresToEfficacy[i].first; + // } + + resultAnalysis.avgEfficacy = resultAnalysis.avgEfficacy / mRunResults.size(); + + return resultAnalysis; +} + +SpaceTime::Network SolutionSimulation::planAlternativeSolution(const Mission::Ptr& mission, + temporal::point_algebra::TimePoint::PtrList& modifiedTimepoints, + const moreorg::ResourceInstance::List &componentBlacklist) +{ + using namespace temporal::point_algebra; + using namespace symbols::constants; + Mission newMission(mission->getOrganizationModel()); + TimePoint::PtrList timepoints = mission->getTimepoints(); + std::vector constraints = mission->getConstraints(); + + for (auto &c : constraints) + { + QualitativeTimePointConstraint::Ptr tc = dynamic_pointer_cast(c); + auto it = std::find_if(modifiedTimepoints.begin(), modifiedTimepoints.end(), [&tc](TimePoint::Ptr tp) + { return (tc->getSourceVariable()->getLabel() == tp->getLabel()); }); + if (it != modifiedTimepoints.end()) + { + newMission.addConstraint(tc); + } + } + std::vector resources = Mission::getResourceRequirements(mission); + for (auto &ftr : resources) + { + TimePoint::Ptr fromTp = ftr.getInterval().getFrom(); + TimePoint::Ptr toTp = ftr.getInterval().getTo(); + auto toIt = std::find_if(modifiedTimepoints.begin(), modifiedTimepoints.end(), [&toTp](TimePoint::Ptr tp) + { return (toTp->getLabel() == tp->getLabel()); }); + if (toIt == modifiedTimepoints.end()) + { + continue; // skip resource requirement, if outside of used timepoints + } + + auto it = std::find_if(modifiedTimepoints.begin(), modifiedTimepoints.end(), [&fromTp](TimePoint::Ptr tp) + { return (fromTp->getLabel() == tp->getLabel()); }); + if (it == modifiedTimepoints.end()) + { + fromTp = modifiedTimepoints[0]; + } + + for (auto &m : ftr.getMinCardinalities()) + { + newMission.addResourceLocationCardinalityConstraint(ftr.getLocation(), fromTp, toTp, m.first, m.second); + } + } + newMission.prepareTimeIntervals(); + Mission::Ptr pNewMission = make_shared(newMission); + moreorg::ModelPool modelPool = mission->getAvailableResources(); + pNewMission->setAvailableResources(modelPool); + qxcfg::Configuration config; + config.setValue("TransportNetwork/search/options/total_timeout_in_s", "60"); + std::vector solutions = csp::TransportNetwork::solve(pNewMission, 1, config, componentBlacklist); + + if (solutions.empty()) + { + std::cout << "No alternative solutions were found" << std::endl; + } + + return SpaceTime::Network(); +} + +void SolutionSimulation::saveSimulationResults(std::string filepath) +{ + ResultAnalysis resultAnalysis = analyzeSimulationResults(); + CSVLogger csvLoggerEfficacyTriple({"timepoint", "failedComponents", "avgEfficacy", "minEfficacy", "maxEfficacy"}); + + for (size_t i = 0; i < resultAnalysis.failedToEfficacyTripleList.size(); ++i) + { + csvLoggerEfficacyTriple.addToRow(i, "timepoint"); + csvLoggerEfficacyTriple.addToRow(resultAnalysis.failedToEfficacyTripleList[i].first, "failedComponents"); + csvLoggerEfficacyTriple.addToRow(resultAnalysis.failedToEfficacyTripleList[i].second.avg, "avgEfficacy"); + csvLoggerEfficacyTriple.addToRow(resultAnalysis.failedToEfficacyTripleList[i].second.min, "minEfficacy"); + csvLoggerEfficacyTriple.addToRow(resultAnalysis.failedToEfficacyTripleList[i].second.max, "maxEfficacy"); + csvLoggerEfficacyTriple.commitRow(); + } + csvLoggerEfficacyTriple.save(filepath + "failedToEfficacyTripleResult.log"); + + CSVLogger csvEfficacies({"efficacy", "count"}); + for (auto &e : resultAnalysis.efficacyCounts) + { + csvEfficacies.addToRow(e.first, "efficacy"); + csvEfficacies.addToRow(e.second, "count"); + csvEfficacies.commitRow(); + } + csvEfficacies.save(filepath + "efficacyCountsResult.log"); + std::string filename(filepath + "componentFailures.log"); + std::ofstream outfile(filename, std::ofstream::out); + outfile << "component count " << std::endl; + for (auto &a : resultAnalysis.individualComponentFailureCountList) + { + std::cout << "Component: " << a.first.getName().toString() << " failed " << a.second << " times out of " << mNumRuns << " runs." << std::endl; + outfile << a.first.getAtomicAgent().getName() << ":" << a.first.getName().toString().erase(0, 37) << " " << a.second << std::endl; + } + outfile.close(); + + CSVLogger csvComponentFailuresToEfficacy({"count", "avgEfficacy", "minEfficacy", "maxEfficacy"}); + for (auto &c : resultAnalysis.componentFailuresToEfficacy) + { + csvComponentFailuresToEfficacy.addToRow(c.first, "count"); + csvComponentFailuresToEfficacy.addToRow(c.second[1], "avgEfficacy"); + csvComponentFailuresToEfficacy.addToRow(c.second[2], "minEfficacy"); + csvComponentFailuresToEfficacy.addToRow(c.second[3], "maxEfficacy"); + csvComponentFailuresToEfficacy.commitRow(); + } + csvComponentFailuresToEfficacy.save(filepath + "componentFailuresToEfficacy.log"); + + std::ofstream importanceFactorOut(filepath + "importanceFactors.log", std::ofstream::out); + importanceFactorOut << "component importanceFactor " << std::endl; + for (auto &l : resultAnalysis.componentImportanceFactors) + { + importanceFactorOut << l.first << " " << l.second << std::endl; + } + importanceFactorOut.close(); + std::ofstream statsOut(filepath + "stats.log", std::ofstream::out); + statsOut << "Efficacy: " << resultAnalysis.avgEfficacy; + statsOut.close(); +} + +} // end namespace solvers +} // end namespace templ diff --git a/src/solvers/SolutionSimulation.hpp b/src/solvers/SolutionSimulation.hpp new file mode 100644 index 0000000..a67145e --- /dev/null +++ b/src/solvers/SolutionSimulation.hpp @@ -0,0 +1,124 @@ +#ifndef TEMPL_SOLVERS_SOLUTION_SIMULATION_HPP +#define TEMPL_SOLVERS_SOLUTION_SIMULATION_HPP + +#include "FluentTimeResource.hpp" +#include "SolutionAnalysis.hpp" +#include "../Mission.hpp" +#include "../SpaceTime.hpp" +#include "../utils/SolutionSimulationHelpers.hpp" +#include +#include +#include +#include +#include +#include +#include + +namespace templ { +namespace solvers { + +using IndividualComponentFailureCount = std::pair; +using MissedRequirement = std::pair; + +struct MinMaxAvg +{ + MinMaxAvg(double min, double max, double avg); + + double min; + double max; + double avg; +}; + +struct ComponentFailureResult +{ + ComponentFailureResult(SpaceTime::Network::tuple_t::Ptr& tuple, + const moreorg::reasoning::ModelBound& requiredModel, + const moreorg::ResourceInstance& failedComponent); + + SpaceTime::Network::tuple_t::Ptr tupleOfFailure; + moreorg::reasoning::ModelBound requirement; + moreorg::ResourceInstance component; + + typedef std::vector List; +}; + +struct ResultAnalysis // make this a class? +{ + // counts failures of specific components during all simulation runs + std::vector individualComponentFailureCountList; + + // includes average missed requirements per execution of components + std::map componentImportanceFactors; + + // list of timepoint-ordered (t_0 = [0]) failed-components-to-efficacy relations (pair), is this the way? + std::vector> failedToEfficacyTripleList; + + // map of exact efficacies and there occurrence count + std::map efficacyCounts; + + // avg Efficacy + double avgEfficacy; + + // relation of count of failed components and occuring efficacies + std::map> componentFailuresToEfficacy; +}; + +struct SimulationRunResult +{ + // TODO: Do I want / need all of these data or can I derive them from one / multiple others + // list of component failures with some additional information + ComponentFailureResult::List simulationFailureResult; + + // list of pair + std::vector importanceFactors; + + // list of all missed requirements + std::vector missedRequirements; + + // actual efficacy of this run + double efficacy; + + // ordered by timepoints ([0] = tp[0]), pair = + std::vector> failedToEfficacyTripleList; +}; + + +class SolutionSimulation +{ +private: + double mNumRuns; + + // ordered vector of metrics to apply -> e.g. first check if metric 1 is "successful", if not: check metric 2, ... + std::vector mMetricsChainToAnalyze; + std::mt19937 mRandomEngine; + std::vector mRunResults; + double mEfficacySuccessThreshold; + +public: + /** + * \param numRuns Number of simulation run + * \param metricsChainToAnalyze List of probability types to use for the analysis + */ + SolutionSimulation(double numRuns, + std::vector metricsChainToAnalyze, + double efficacySuccessThreshold); + + bool run(const Mission::Ptr& mission, + const SpaceTime::Network& solution, + bool findAlternativeSolution = false); + + std::vector getRunResults() const { return mRunResults; } + + ResultAnalysis analyzeSimulationResults(); + + void saveSimulationResults(std::string filepath = "/tmp/sim_result/"); + + SpaceTime::Network planAlternativeSolution(const Mission::Ptr& mission, + temporal::point_algebra::TimePoint::PtrList& modifiedTimepoints, + const moreorg::ResourceInstance::List& componentBlacklist); +}; + +} // end namespace solvers +} // end namespace templ + +#endif // TEMPL_SOLVERS_SOLUTION_SIMULATION diff --git a/src/solvers/agent_routing/AgentType.cpp b/src/solvers/agent_routing/AgentType.cpp index f4b9f23..306ff61 100644 --- a/src/solvers/agent_routing/AgentType.cpp +++ b/src/solvers/agent_routing/AgentType.cpp @@ -1,4 +1,4 @@ - +#include #include #include #include diff --git a/src/solvers/csp/RoleTimeline.cpp b/src/solvers/csp/RoleTimeline.cpp index 73f2952..44d1996 100644 --- a/src/solvers/csp/RoleTimeline.cpp +++ b/src/solvers/csp/RoleTimeline.cpp @@ -67,7 +67,7 @@ std::string RoleTimeline::toString(const std::map& timelines SpaceTime::Timelines RoleTimeline::collectTimelines(const std::map& timelines) { SpaceTime::Timelines spaceTimeTimelines; - for(const std::pair& p : timelines) + for(const std::pair& p : timelines) { spaceTimeTimelines[p.first] = p.second.getTimeline(); } diff --git a/src/solvers/csp/TransportNetwork.cpp b/src/solvers/csp/TransportNetwork.cpp index 7acb955..5050dc0 100644 --- a/src/solvers/csp/TransportNetwork.cpp +++ b/src/solvers/csp/TransportNetwork.cpp @@ -4,7 +4,6 @@ #include #include #include -#include #include #include @@ -1016,7 +1015,7 @@ Gecode::Space* TransportNetwork::copy() return new TransportNetwork(*this); } -std::vector TransportNetwork::solve(const templ::Mission::Ptr& mission, uint32_t minNumberOfSolutions, const qxcfg::Configuration& configuration) +std::vector TransportNetwork::solve(const templ::Mission::Ptr& mission, uint32_t minNumberOfSolutions, const qxcfg::Configuration& configuration, const moreorg::ResourceInstance::List& componentBlacklist) { SolutionList solutions; mission->prepareForPlanning(); @@ -1128,6 +1127,17 @@ std::vector TransportNetwork::solve(const templ::Mis using namespace moreorg; + if (!componentBlacklist.empty()) + { + double baseEfficacy = current->mSolutionAnalysis.getEfficacy(); + double efficacy = current->mSolutionAnalysis.getEfficacyWithFailedComponents(componentBlacklist); + if (baseEfficacy > efficacy) + { + std::cout << "Found solution is not valid as it would miss requirements with blacklisted components." << std::endl; + continue; + } + } + LOG_INFO_S << "#" << i << "/" << minNumberOfSolutions << " solution found:" << current->toString(); std::cout << "Solution found:" << std::endl; std::cout << " # session id " << current->mpMission->getLogger()->getSessionId() << std::endl; @@ -1467,7 +1477,6 @@ void TransportNetwork::postTemporalConstraints() double modelAfcDecay = mpContext->configuration().getValueAs("TransportNetwork/search/options/model-usage/afc-decay",0.95); modelUsageAfc.decay(*this, modelAfcDecay); branch(*this, mModelUsage, Gecode::INT_VAR_AFC_MIN(modelUsageAfc), Gecode::INT_VAL_SPLIT_MIN()); - //Gecode::Gist::stopBranch(*this); Gecode::Rnd modelUsageRnd; modelUsageRnd.hw(); @@ -1476,7 +1485,6 @@ void TransportNetwork::postTemporalConstraints() branch(*this, mModelUsage, Gecode::tiebreak(Gecode::INT_VAR_DEGREE_MAX(), Gecode::INT_VAR_SIZE_MIN()), Gecode::INT_VAL_SPLIT_MIN()); - //Gecode::Gist::stopBranch(*this); // Regarding the use of INT_VALUES_MIN() and INT_VALUES_MAX(): "This is // typically a poor choice, as none of the alternatives can benefit from @@ -1502,20 +1510,9 @@ void TransportNetwork::postTemporalConstraints() Gecode::INT_VAR_SIZE_MIN()), Gecode::INT_VAL_SPLIT_MIN()); - //Gecode::Gist::stopBranch(*this); // see 8.14 Executing code between branchers Gecode::branch(*this, &TransportNetwork::doPostRoleAssignments); - //Gecode::Gist::Print p("Print solution"); - //Gecode::Gist::Options options; - //options.threads = 1; - //Gecode::Search::Cutoff * c = Gecode::Search::Cutoff::constant(2); - //options.cutoff = c; - //options.inspect.click(&p); - ////Gecode::Gist::bab(this, o); - //Gecode::Gist::dfs(this, options); - - // General resource constraints // - identify overlapping fts, limit resources for these (TODO: better // identification of overlapping requirements) @@ -1842,7 +1839,6 @@ void TransportNetwork::postRoleAssignments() // to draw system by supply demand //branchTimelines(*this, mTimelines, mSupplyDemand); Gecode::branch(*this,&TransportNetwork::doPostMinCostFlow); - Gecode::Gist::stopBranch(*this); } @@ -1867,7 +1863,7 @@ void TransportNetwork::postMinCostFlow() namespace ga = graph_analysis::algorithms; ga::LPSolver::Type solverType = ga::LPSolver::UNKNOWN_LP_SOLVER; - for(const std::pair& p : + for(const std::pair& p : graph_analysis::algorithms::LPSolver::TypeTxt) { if(p.second == solver) diff --git a/src/solvers/csp/TransportNetwork.hpp b/src/solvers/csp/TransportNetwork.hpp index ee4b89e..186ea1a 100644 --- a/src/solvers/csp/TransportNetwork.hpp +++ b/src/solvers/csp/TransportNetwork.hpp @@ -20,6 +20,7 @@ #include "utils/FluentTimeIndex.hpp" #include "Context.hpp" #include "../SolutionAnalysis.hpp" +#include namespace templ { namespace solvers { @@ -400,7 +401,7 @@ class TransportNetwork : public Gecode::Space, public Solver * after given number of solutions has been found * \param configuration Configuration for this planning instance */ - static SolutionList solve(const templ::Mission::Ptr& mission, uint32_t minNumberOfSolutions = 1, const qxcfg::Configuration& configuration = qxcfg::Configuration()); + static SolutionList solve(const templ::Mission::Ptr& mission, uint32_t minNumberOfSolutions = 1, const qxcfg::Configuration& configuration = qxcfg::Configuration(), const moreorg::ResourceInstance::List& componentBlacklist = moreorg::ResourceInstance::List()); /** * Get the solution of this Gecode::Space instance diff --git a/src/solvers/csp/branchers/TimelineBrancher.cpp b/src/solvers/csp/branchers/TimelineBrancher.cpp index 2373904..1f035fb 100644 --- a/src/solvers/csp/branchers/TimelineBrancher.cpp +++ b/src/solvers/csp/branchers/TimelineBrancher.cpp @@ -397,7 +397,7 @@ bool TimelineBrancher::status(const Gecode::Space& home) const while(!mNextRoles.empty()) { // Pick role randomly from the remaining set of roles - size_t nextRoleIdx = mRandom((unsigned long long)(mNextRoles.size() - 1)); + size_t nextRoleIdx = mRandom(static_cast(mNextRoles.size() - 1)); size_t role = mNextRoles[nextRoleIdx]; LOG_DEBUG_S << "Brancher: " << id() << " trying role " << role; diff --git a/src/solvers/csp/propagators/InEdgesRestriction.cpp b/src/solvers/csp/propagators/InEdgesRestriction.cpp index 5611449..c217bdc 100644 --- a/src/solvers/csp/propagators/InEdgesRestriction.cpp +++ b/src/solvers/csp/propagators/InEdgesRestriction.cpp @@ -225,7 +225,7 @@ Gecode::ExecStatus InEdgesRestriction::propagate(Gecode::Space& home, const Geco // Allow to abort early when the maximum is exceeded size_t accumulatedInEdgesCount = 0; - for(const std::pair& p : mAssignedTimepoints) + for(const std::pair& p : mAssignedTimepoints) { accumulatedInEdgesCount += p.second; } diff --git a/src/solvers/transshipment/FlowNetwork.cpp b/src/solvers/transshipment/FlowNetwork.cpp index cc787ba..5dcf130 100644 --- a/src/solvers/transshipment/FlowNetwork.cpp +++ b/src/solvers/transshipment/FlowNetwork.cpp @@ -64,7 +64,7 @@ void FlowNetwork::initialize(const std::map& timelines, // Add capacity-weighted edges to the graph // ----------------------------------------- // Per Role --> add capacities (in terms of capability of carrying an immobile system) - for(const std::pair& p : timelines) + for(const std::pair& p : timelines) { // infer connections from timeline // sequentially ordered timeline diff --git a/src/solvers/transshipment/MinCostFlow.cpp b/src/solvers/transshipment/MinCostFlow.cpp index 468428e..79ad1bc 100644 --- a/src/solvers/transshipment/MinCostFlow.cpp +++ b/src/solvers/transshipment/MinCostFlow.cpp @@ -45,7 +45,7 @@ MinCostFlow::MinCostFlow( // current start and end vertices SpaceTime::injectVirtualStartAndEnd(mSpaceTimeNetwork); - for(const std::pair& p : mExpandedTimelines) + for(const std::pair& p : mExpandedTimelines) { const Role& role = p.first; const csp::RoleTimeline& timeline = p.second; @@ -56,7 +56,7 @@ MinCostFlow::MinCostFlow( } } - for(const std::pair& p : mMinRequiredTimelines) + for(const std::pair& p : mMinRequiredTimelines) { const Role& role = p.first; if(p.second.getTimeline().empty()) @@ -143,7 +143,7 @@ BaseGraph::Ptr MinCostFlow::createFlowGraph(uint32_t commodities) void MinCostFlow::setCommoditySupplyAndDemand() { - for(const std::pair& p : mMinRequiredTimelines) + for(const std::pair& p : mMinRequiredTimelines) { const Role& role = p.first; const csp::RoleTimeline& roleTimeline = p.second; diff --git a/src/templ_gui.pc.in b/src/templ_gui-qt4.pc.in similarity index 100% rename from src/templ_gui.pc.in rename to src/templ_gui-qt4.pc.in diff --git a/src/templ_gui-qt5.pc.in b/src/templ_gui-qt5.pc.in new file mode 100644 index 0000000..c1b44c1 --- /dev/null +++ b/src/templ_gui-qt5.pc.in @@ -0,0 +1,12 @@ +prefix=@CMAKE_INSTALL_PREFIX@ +exec_prefix=@CMAKE_INSTALL_PREFIX@ +libdir=${prefix}/lib +includedir=${prefix}/include + +Name: @TARGET_NAME@ +Description: TemPl Graphical User Interface Libraries +Version: @PROJECT_VERSION@ +Requires: templ +Libs: -L${libdir} -l@TARGET_NAME@ @PKGCONFIG_LIBS@ +Cflags: -I${includedir} @PKGCONFIG_CFLAGS@ + diff --git a/src/utils/CartographicMapping.cpp b/src/utils/CartographicMapping.cpp index 1b83c3e..5981229 100644 --- a/src/utils/CartographicMapping.cpp +++ b/src/utils/CartographicMapping.cpp @@ -1,5 +1,6 @@ #include "CartographicMapping.hpp" -#include + +#include #include #include #include @@ -28,24 +29,28 @@ CartographicMapping::CartographicMapping(Type type) base::Point CartographicMapping::latitudeLongitudeToMetric(const base::Point& point) const { - projPJ pj_merc, pj_latlong; + // https://proj.org/development/migration.html + + /* Create the context. */ + /* You may set C=PJ_DEFAULT_CTX if you are sure you will */ + /* use PJ objects from only one thread */ + PJ_CONTEXT* ctx = proj_context_create(); + + std::string pj_cart, pj_latlong; switch(mType) { + // https://proj.org/operations/projections/fahey.html case MOON: { { std::stringstream ss; - ss << "+proj=merc +ellps=sphere"; + ss << "+proj=fahey +ellps=sphere"; ss << " +a=" << RADIUS_MOON_IN_M; ss << " +b=" << RADIUS_MOON_IN_M; ss << " +units=m"; ss << " +lat_ts=" << point.x(); - if (!(pj_merc = pj_init_plus(ss.str().c_str())) ) - { - throw std::runtime_error("templ::utils::CartographMapping::latitudeLongitudeToMetric: " - " could not init mercator projection for moon"); - } + pj_cart = ss.str(); } { std::stringstream ss; @@ -53,39 +58,40 @@ base::Point CartographicMapping::latitudeLongitudeToMetric(const base::Point& po ss << " +a=" << RADIUS_MOON_IN_M; ss << " +b=" << RADIUS_MOON_IN_M; ss << " +units=m"; - if (!(pj_latlong = pj_init_plus(ss.str().c_str())) ) - { - throw std::runtime_error("templ::utils::CartographMapping::latitudeLongitudeToMetric: " - " could not init latitude/longitude projection for moon"); - } + pj_latlong = ss.str(); } break; } case EARTH: case UNKNOWN: { - if (!(pj_merc = pj_init_plus("+proj=merc +ellps=clrk66 +lat_ts=33")) ) - { - throw std::runtime_error("templ::utils::CartographMapping::latitudeLongitudeToMetric: " - " could not init mercator projection"); - } - if (!(pj_latlong = pj_init_plus("+proj=latlong +ellps=clrk66")) ) - { - throw std::runtime_error("templ::utils::CartographMapping::latitudeLongitudeToMetric: " - " could not init latitude/longitude projection"); - } + pj_cart= "+proj=fahey +ellps=clrk66 +lat_ts=33"; + pj_latlong = "+proj=latlong +ellps=clrk66"; } break; } - double x = point.x(); - double y = point.y(); + PJ* G = proj_create_crs_to_crs(ctx, pj_latlong.c_str(), pj_cart.c_str(), NULL); + + double lon = point.x(); + double lat = point.y(); + + /* Prepare the input */ + PJ_COORD c_in; + c_in.lpzt.z = 0.0; + c_in.lpzt.t = HUGE_VAL; // important only for time-dependent projections + c_in.lp.lam = lon; + c_in.lp.phi = lat; - x *= DEG_TO_RAD; - y *= DEG_TO_RAD; + // Compute cartesian coordinates + PJ_COORD c_out = proj_trans(G, PJ_FWD, c_in); - pj_transform(pj_latlong, pj_merc, 1, 1, &x, &y, NULL); - return base::Point(x,y,0.0); + LOG_DEBUG_S << "Input: longitude: " << lon << "(degrees)" + << "latitude: " << lat << "(degrees)" + << "Output: x: " << c_out.xy.x + << "y: " << c_out.xy.y; + proj_destroy(G); + return base::Point(c_out.xy.x, c_out.xy.y,0.0); } CartographicMapping::Type CartographicMapping::getTypeByName(const std::string& _name) diff --git a/src/utils/SolutionAnalyserMain.cpp b/src/utils/SolutionAnalyserMain.cpp index ebb2140..d5b2090 100644 --- a/src/utils/SolutionAnalyserMain.cpp +++ b/src/utils/SolutionAnalyserMain.cpp @@ -98,12 +98,12 @@ int main(int argc, char** argv) description.add_options() ("help","describe arguments") ("mission", po::value(), "Path to the mission specification") - ("log-dir", po::value(), "Path to the logdirectory containing the solution files") + ("log-dir", po::value(), "Path to the logdirectory containing the solution files (if no single solution is provided)") ("solution", po::value(), "Path to the solution file") ("om", po::value(), "IRI of the organization model (optional)") ("report", "show the report of the analysis") ("save", po::value(), "Save final path to a given filename") - ("save-row", po::value(), "Save generated row data to a given filename") + ("save-row", po::value(), "Save generated analysis data as row to a given filename") ("save-modelpool", po::value(), "Save generated modelpool to a given filename") ("session-id", po::value(), "The session id to use for writing row data") ; @@ -123,7 +123,7 @@ int main(int argc, char** argv) { missionFilename = vm["mission"].as(); } else { - printf("Please provide at least a mission to start the planning process\n"); + printf("Please provide a mission that should be analysed\n"); exit(2); } diff --git a/src/utils/SolutionSimulationHelpers.cpp b/src/utils/SolutionSimulationHelpers.cpp new file mode 100644 index 0000000..a03f62a --- /dev/null +++ b/src/utils/SolutionSimulationHelpers.cpp @@ -0,0 +1,496 @@ +#include "SolutionSimulationHelpers.hpp" +#include +#include +#include +#include +#include "../solvers/Cost.hpp" + +using namespace moreorg; + +namespace templ { +namespace utils { + +solvers::SolutionAnalysis::MinMaxModelPools getRequiredResources( + const solvers::FluentTimeResource& ftr, + const std::vector &resourceRequirements, + const OrganizationModelAsk& om) +{ + using namespace solvers::temporal::point_algebra; + solvers::SolutionAnalysis::MinMaxModelPools minMaxModelPools; + + std::vector::const_iterator cit = resourceRequirements.begin(); + for (; cit != resourceRequirements.end(); ++cit) + { + const solvers::FluentTimeResource &requirementFtr = *cit; + if (ftr.getLocation() == requirementFtr.getLocation() && + ftr.getInterval() == requirementFtr.getInterval()) + { + ModelPool minCardinalities = ftr.getMinCardinalities(); + for (const Resource &resource : ftr.getRequiredResources()) + { + // Assuming the functionalities have max + if (om.ontology().isSubClassOf(resource.getModel(), + vocabulary::OM::Functionality())) + { + minCardinalities[resource.getModel()] = 1; + } + } + + minMaxModelPools.first.push_back(minCardinalities); + minMaxModelPools.second.push_back(ftr.getMaxCardinalities()); + return minMaxModelPools; + } + } + + throw std::invalid_argument("templ::solvers::SolutionAnalysis::getRequiredResources: could not find the corrensponding requirement for an existing fluent time resource"); +} + +moreorg::ModelPool getMinResourceRequirements( + const solvers::FluentTimeResource& ftr, + const std::vector& resourceRequirements, + const moreorg::OrganizationModelAsk& om) +{ + return getRequiredResources(ftr, resourceRequirements, om).first.front(); +} + +moreorg::ResourceInstance::List getMinAvailableResources( + const SpaceTime::Network::tuple_t::Ptr& tuple, + const SpaceTime::Network& solutionNetwork, + const moreorg::OrganizationModelAsk& om) +{ + moreorg::ResourceInstance::List availableResources = getAvailableResources(tuple->first(), tuple->second(), solutionNetwork, om); + + // // Infer functionality from this set of resources + // OrganizationModelAsk ask(mpMission->getOrganizationModel(), + // minAvailableResources, + // true); + // // Creating model pool from available functionalities + // ModelPool functionalities = ask.getSupportedFunctionalities(); + // return moreorg::Algebra::max(minAvailableResources, functionalities); + return availableResources; +} + +ResourceInstance::List getAvailableResources( + const symbols::constants::Location::Ptr& location, + const solvers::temporal::point_algebra::TimePoint::Ptr& timepoint, + const SpaceTime::Network& solutionNetwork, + const moreorg::OrganizationModelAsk& om) +{ + ResourceInstance::List availableAgents; + // identified relevant tuple + try + { + SpaceTime::Network::tuple_t::Ptr tuple = solutionNetwork.tupleByKeys(location, timepoint); + Role::Set foundRoles = tuple->getRoles(RoleInfo::ASSIGNED); + Role::List roles(foundRoles.begin(), foundRoles.end()); + for (const auto& role : roles) + { + ResourceInstance::List available = om.getRelated(role, vocabulary::OM::Resource(), vocabulary::OM::has(), false); + availableAgents.insert(std::end(availableAgents), std::begin(available), std::end(available)); + } + } + catch (const std::exception &e) + { + LOG_WARN_S << e.what(); + } + return availableAgents; +} + +metrics::Probability::List initializeProbabilityList( + const ProbabilityType &type, + std::map& resourceAssignmentMap, + ResourceInstance::List& available, + const moreorg::OrganizationModelAsk& ask, + double t0, + double t1) +{ + using namespace moreorg::metrics; + switch (type) + { + case POF: + { + ProbabilityOfFailure::List pofList; + ProbabilityDensityFunction::Ptr defaultPDF = make_shared(144000., 1.); + for (const auto& reqAssignmentPair : resourceAssignmentMap) + { + ProbabilityDensityFunction::Ptr probabilityDensityFunction; + try + { + probabilityDensityFunction = ProbabilityDensityFunction::getInstance(ask, reqAssignmentPair.first.model); + } + catch (...) + { + probabilityDensityFunction = defaultPDF; + } + + ProbabilityOfFailure pof(reqAssignmentPair.first, reqAssignmentPair.second, probabilityDensityFunction); + pofList.push_back(pof); + } + + bool updated = false; + do + { + updated = false; + // Sort based on probability of survival -- try to maximize redundancy + std::sort( + pofList.begin(), pofList.end(), + [t0, t1](const Probability &a, const Probability &b) + { + return static_cast(a).getProbabilityOfSurvivalConditionalWithRedundancy(t0, t1) < + static_cast(b).getProbabilityOfSurvivalConditionalWithRedundancy(t0, t1); + }); + + ResourceInstance::List::iterator rit = available.begin(); + for (; rit != available.end(); ++rit) + { + ResourceInstance &remaining = *rit; + bool hasPossibleMatch = false; + + // Try to fit remaining resources + for (auto survivability : pofList) + { + // Check if model can be used to strengthen the survivability + if (survivability.getQualification() == remaining.getModel() || + ask.ontology().isSubClassOf( + remaining.getModel(), survivability.getQualification())) + { + hasPossibleMatch = true; + try + { + survivability.addAssignment(remaining); + available.erase(rit); + --rit; + updated = true; + break; + } + catch (...) + { + available.erase(rit); + --rit; + break; + } + } + } + if (!hasPossibleMatch) + { + available.erase(rit); + --rit; + } + } + } while (updated); + return pofList; + } + default: + { + throw std::invalid_argument("proactive_planning::utils::initializeProbabilityList: no valid probability Type was given!"); + break; + } + } +} + +metrics::Probability::List matchResourcesToProbability( + const ProbabilityType& type, + const moreorg::OrganizationModelAsk &ask, + const std::vector& required, + ResourceInstance::List& availableAgents, + double t0, + double t1) +{ + if (required.empty()) + { + throw std::invalid_argument("proactive_planning::utils::matchResourcesToProbability: set of cardinality restriction to " + "define requirements is empty"); + } + using namespace moreorg::metrics; + using namespace moreorg::reasoning; + ModelBound::List requiredModelBound = ResourceInstanceMatch::toModelBoundList(required); + ResourceInstance::List available(availableAgents); // ? + std::map assignments; + if (!ResourceMatch::hasMinRequirements(requiredModelBound)) + { + throw std::invalid_argument( + "moreorg::metrics::Redundancy: model bound requires minimum " + "requirements" + "to complete redundancy computation, but none are provided"); + } + ResourceInstanceMatch::Solution solution; + int fullModelRedundancy = 0; + try + { + while (true) + { + solution = ResourceInstanceMatch::solve(requiredModelBound, available, ask); + ++fullModelRedundancy; // use this to check whether all requierements got matches + for (ModelBound model : requiredModelBound) + { + ResourceInstance::List currentAssignments = solution.getAssignments(model.model); + assignments[model].insert(std::end(assignments[model]), std::begin(currentAssignments), std::end(currentAssignments)); + } + available = solution.removeAssignmentsFromList(available); + } + } + catch (const std::exception &e) + { + LOG_DEBUG_S << "ResourceInstanceMatch failed: " << e.what(); + } + + if (fullModelRedundancy == 0) + { + // LOG_WARN_S << "matchResourcesToProbaiblity: the minimal resource requirements have not been " + // "fulfilled. Cannot match" + // << "available: " << ModelBound::toString(modelBoundRemaining, 4) + // << "required: " << ModelBound::toString(requiredModelBound, 4); + LOG_WARN_S << "Could not assign available Resources to all requirements: " + << "required: " << ModelBound::toString(requiredModelBound, 4); + throw std::runtime_error("proactive_planning::utils::matchResourcesToProbability: minimal resource " + "requirement have not been fulfilled"); + } + metrics::Probability::List probabilityModels = initializeProbabilityList(type, assignments, available, ask, t0, t1); + + return probabilityModels; +} + +solvers::temporal::TemporalConstraintNetwork::Assignment quantifyTime( + const templ::Mission::Ptr& mission, + const SpaceTime::Network& solutionNetwork, + std::vector&resourceRequirements) +{ + using namespace solvers::temporal; + TemporalConstraintNetwork tcn; + solvers::Cost cost(mission->getOrganizationModelAsk()); + + // set min duration for requirements + for (const solvers::FluentTimeResource &ftr : resourceRequirements) + { + IntervalConstraint::Ptr intervalConstraint = make_shared(ftr.getInterval().getFrom(), ftr.getInterval().getTo()); + // TODO add reading these bounds from ontology (maybe) + Bounds bounds(1800, std::numeric_limits::max()); + intervalConstraint->addInterval(bounds); + tcn.addIntervalConstraint(intervalConstraint); + } + // Apply constraints from the current solution + // TODO: space time network: iterator over all 'solution' edges + using namespace graph_analysis; + graph_analysis::EdgeIterator::Ptr edgeIt = solutionNetwork.getGraph()->getEdgeIterator(); + while (edgeIt->next()) + { + + SpaceTime::Network::edge_t::Ptr edge = dynamic_pointer_cast(edgeIt->current()); + if (!edge) + { + throw std::invalid_argument("SolutionAnalysisFunctionalities: encountered edge type: " + edgeIt->current()->getClassName() + " Are you loading final plan instead of the transport network solution?"); + } + + Role::Set roles = edge->getRoles(RoleInfo::ASSIGNED); + if (roles.empty()) + { + continue; + } + + SpaceTime::Network::tuple_t::Ptr sourceTuple = dynamic_pointer_cast(edge->getSourceVertex()); + SpaceTime::Network::tuple_t::Ptr targetTuple = dynamic_pointer_cast(edge->getTargetVertex()); + + symbols::constants::Location::Ptr sourceLocation = sourceTuple->first(); + symbols::constants::Location::Ptr targetLocation = targetTuple->first(); + + double distanceInM = cost.getTravelDistance({sourceLocation, targetLocation}); + double minTravelTime = cost.estimateTravelTime(sourceLocation, targetLocation, roles); + LOG_WARN_S << "Estimated travelTime: " << minTravelTime << " for " << Role::toString(roles) + << " from: " << sourceLocation->toString() << "/" << sourceTuple->second()->toString() << std::endl + << " to: " << targetLocation->toString() << "/" << targetTuple->second()->toString() << std::endl + << " estimated travelDistance in m: " << distanceInM; + + point_algebra::TimePoint::Ptr sourceTimepoint = sourceTuple->second(); + point_algebra::TimePoint::Ptr targetTimepoint = targetTuple->second(); + + IntervalConstraint::Ptr intervalConstraint = + make_shared(sourceTimepoint, targetTimepoint); + + // Compute the required transition time + RoleInfo::Ptr roleInfo = dynamic_pointer_cast(sourceTuple); + double reconfigurationCost = 0; + try + { + reconfigurationCost = roleInfo->getAttribute(RoleInfo::RECONFIGURATION_COST); + } + catch (const std::exception &e) + { + LOG_WARN_S << "No reconfiguration cost for " << roleInfo->toString(4); + } + + double requiredTime = minTravelTime + reconfigurationCost; + if (requiredTime > 0) + { + Bounds bounds(requiredTime, std::numeric_limits::max()); + intervalConstraint->addInterval(bounds); + tcn.addIntervalConstraint(intervalConstraint); + + LOG_INFO_S << "Interval constraint between: " << sourceTimepoint->toString() << " and " << targetTimepoint->toString() << " min travel time: " + << minTravelTime << ", requiredTime (inkl. reconfiguration) " << requiredTime; + } + } + + for (Constraint::Ptr c : mission->getConstraints()) + { + IntervalConstraint::Ptr ic = dynamic_pointer_cast(c); + if (ic) + { + Edge::PtrList edges = tcn.getDistanceGraph()->getEdges(ic->getSourceVertex(), ic->getTargetVertex()); + if (edges.empty()) + { + tcn.addIntervalConstraint(ic); + } + else + { + IntervalConstraint::Ptr existingIc = dynamic_pointer_cast(edges.front()); + existingIc->appendBounds(*ic); + } + } + } + + //graph_analysis::io::GraphIO::write("/tmp/distanceGraph", tcn.getDistanceGraph(), graph_analysis::representation::GEXF); + //graph_analysis::io::GraphIO::write("/tmp/distanceGraph", tcn.getDistanceGraph(), graph_analysis::representation::GRAPHVIZ); + + tcn.stpWithConjunctiveIntervals(); + tcn.stp(); + tcn.minNetwork(); + + TemporalConstraintNetwork::Assignment timeAssignment = tcn.getAssignment(); + return timeAssignment; +} + +ResourceInstance::List filterResourcesByBlacklist( + ResourceInstance::List& resources, + ResourceInstance::List& blacklist) +{ + ResourceInstance::List returnList; + for (auto &r : resources) + { + auto it = std::find_if(blacklist.begin(), blacklist.end(), [&r](ResourceInstance assignment) + { return ((assignment.getName() == r.getName()) && (assignment.getAtomicAgent() == r.getAtomicAgent())); }); + if (it == blacklist.end()) + { + returnList.push_back(r); + } + } + return returnList; +} + +ModelPool checkAndRemoveRequirements( + ModelPool& available, + ModelPool& required, + const moreorg::OrganizationModelAsk& ask) +{ + ModelPool returnModelPool; + for (auto &r : required) + { + ModelPool tempModelPool; + tempModelPool.setResourceCount(r.first, r.second); + std::vector r_required = ask.getRequiredCardinalities(tempModelPool, vocabulary::OM::has()); + bool check = true; + for (auto &rr : r_required) + { + bool found = false; + owlapi::model::OWLObjectCardinalityRestriction::Ptr restriction = dynamic_pointer_cast(rr); + for (auto &a : available) + { + if ((a.first == restriction->getQualification()) || (ask.ontology().isSubClassOf(a.first, restriction->getQualification()))) + { + // TODO what about SuperClass Requirements and multiple Sublasses are available ? Make counter? + if (a.second < restriction->getCardinality()) + { + check = false; + break; + } + else + { + found = true; + break; + } + } + } + if (!found) + { + check = false; + break; + } + } + if (check) + { + returnModelPool.setResourceCount(r.first, r.second); + } + } + return returnModelPool; +} + +ResourceInstance::List filterSingleResource( + ResourceInstance::List& resources, + ResourceInstance& resourceToRemove) +{ + ResourceInstance::List returnList; + for (auto &r : resources) + { + if (resourceToRemove.getName() != r.getName()) + { + returnList.push_back(r); + } + } + return returnList; +} + +int checkFutureImpactOfAssignment( + SpaceTime::Network& solution, + const templ::Mission::Ptr& mission, + ResourceInstance& assignment, + ResourceInstance::List& previouslyFailed, + SpaceTime::Network::tuple_t::Ptr& vertexTuple, + std::map& tupleFtrMap, + OrganizationModelAsk& omAsk, + const std::vector& resourceRequirements) +{ + solvers::Solution newSolution(solution, mission->getOrganizationModel()); + SpaceTime::Route roleRoute = newSolution.getRoute(assignment.getAtomicAgent()); + bool foundTuple = false; + int missedRequirement = 0; + for (auto &tuple : roleRoute) + { + if ((tuple->first() == vertexTuple->first()) && (tuple->second() == vertexTuple->second()) && (!foundTuple)) + { + foundTuple = true; + continue; + } + + if (foundTuple) + { + ModelPool required; + for (const solvers::FluentTimeResource &ftr : tupleFtrMap[tuple]) + { + if (required.empty()) + { + required = getMinResourceRequirements(ftr, resourceRequirements, omAsk); + } + else + { + ModelPool minRequired = getMinResourceRequirements(ftr, resourceRequirements, omAsk); + Algebra::merge(minRequired, required); + } + } + if (required.empty()) + continue; + + ResourceInstance::List availableUnfiltered = getMinAvailableResources(tuple, solution, omAsk); + ResourceInstance::List available = utils::filterResourcesByBlacklist(availableUnfiltered, previouslyFailed); + ModelPool availableModelPool = ResourceInstance::toModelPool(available); + // std::cout << "required: " << required.toString() << std::endl; + // std::cout << "available: " << availableModelPool.toString() << std::endl; + + ModelPool required_filtered = checkAndRemoveRequirements(availableModelPool, required, omAsk); + + missedRequirement += ((int)required.size() - (int)required_filtered.size()); + } + } + return missedRequirement; +} + +} // end namespace utils +} // end namespace templ diff --git a/src/utils/SolutionSimulationHelpers.hpp b/src/utils/SolutionSimulationHelpers.hpp new file mode 100644 index 0000000..7fb2273 --- /dev/null +++ b/src/utils/SolutionSimulationHelpers.hpp @@ -0,0 +1,91 @@ +#ifndef TEMPL_UTILS_SOLUTION_SIMULATION_HELPERS_HPP +#define TEMPL_UTILS_SOLUTION_SIMULATION_HELPERS_HPP + +#include "../solvers/SolutionAnalysis.hpp" +#include +#include +#include "../solvers/temporal/TemporalConstraintNetwork.hpp" +#include + +namespace templ { +namespace utils { + +enum ProbabilityType +{ + UNKNOWN = 0, + /// Probability of Failure + POF, + /// FIXME: - not implemented + RES +}; + +solvers::SolutionAnalysis::MinMaxModelPools getRequiredResources( + const solvers::FluentTimeResource& ftr, + const std::vector &resourceRequirements, + const moreorg::OrganizationModelAsk& om); + +moreorg::ModelPool getMinResourceRequirements( + const solvers::FluentTimeResource& ftr, + const std::vector& resourceRequirements, + const moreorg::OrganizationModelAsk& om); + +moreorg::ResourceInstance::List getAvailableResources( + const symbols::constants::Location::Ptr& location, + const solvers::temporal::point_algebra::TimePoint::Ptr& timepoint, + const SpaceTime::Network& solutionNetwork, + const moreorg::OrganizationModelAsk& om); + +moreorg::ResourceInstance::List getMinAvailableResources( + const SpaceTime::Network::tuple_t::Ptr& tuple, + const SpaceTime::Network& solutionNetwork, + const moreorg::OrganizationModelAsk& om); + +moreorg::metrics::Probability::List initializeProbabilityList( + const ProbabilityType &type, + std::map& resourceAssignmentMap, + moreorg::ResourceInstance::List& available, + const moreorg::OrganizationModelAsk& ask, + double t0, + double t1); + +moreorg::metrics::Probability::List matchResourcesToProbability( + const ProbabilityType& type, + const moreorg::OrganizationModelAsk &ask, + const std::vector& required, + moreorg::ResourceInstance::List& availableAgents, + double t0, + double t1); + +solvers::temporal::TemporalConstraintNetwork::Assignment quantifyTime( + const templ::Mission::Ptr& mission, + const SpaceTime::Network& solutionNetwork, + std::vector&resourceRequirements); + +moreorg::ResourceInstance::List filterResourcesByBlacklist( + moreorg::ResourceInstance::List& resources, + moreorg::ResourceInstance::List& blacklist); + +moreorg::ModelPool checkAndRemoveRequirements( + moreorg::ModelPool& available, + moreorg::ModelPool& required, + const moreorg::OrganizationModelAsk& ask); + +moreorg::ResourceInstance::List filterSingleResource( + moreorg::ResourceInstance::List& resources, + moreorg::ResourceInstance& resourceToRemove); + +int checkFutureImpactOfAssignment( + SpaceTime::Network& solution, + const templ::Mission::Ptr& mission, + moreorg::ResourceInstance& assignment, + moreorg::ResourceInstance::List& previouslyFailed, + SpaceTime::Network::tuple_t::Ptr& vertexTuple, + std::map& tupleFtrMap, + moreorg::OrganizationModelAsk& omAsk, + const std::vector& resourceRequirements); + +} // end namespace utils +} // end namespace templ + +#endif // TEMPL_UTILS_SOLUTION_SIMULATION_HELPERS_HPP diff --git a/src/utils/SolverMain.cpp b/src/utils/SolverMain.cpp index 4975cae..d3b9d0c 100644 --- a/src/utils/SolverMain.cpp +++ b/src/utils/SolverMain.cpp @@ -62,7 +62,7 @@ int main(int argc, char** argv) solvers::Solver::SolverType solverType = solvers::Solver::UNKNOWN; if(vm.count("solver")) { - for(const std::pair& t : solvers::Solver::SolverTypeTxt) + for(const std::pair& t : solvers::Solver::SolverTypeTxt) { if(t.second == vm["solver"].as()) { @@ -72,7 +72,7 @@ int main(int argc, char** argv) } } else { std::cout << "Solver name required: one of" << std::endl; - for(const std::pair& t : solvers::Solver::SolverTypeTxt) + for(const std::pair& t : solvers::Solver::SolverTypeTxt) { std::cout << t.second << "," << std::endl; } diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index ee2d88d..5957f4b 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -10,6 +10,7 @@ rock_testsuite(templ-test suite.cpp solvers/test_TransportNetwork.cpp solvers/test_TemporallyExpandedGraph.cpp solvers/test_MissionConstraints.cpp + solvers/test_SolutionSimulation.cpp test_Constraints.cpp test_Benchmarks.cpp test_CartographicMapping.cpp @@ -33,4 +34,4 @@ rock_testsuite(templ-test suite.cpp templ templ_benchmark LIBS ${Boost_LIBRARIES} - ) + ) diff --git a/test/data/scenarios/should_succeed/4_test-complex-mission-1.xml b/test/data/scenarios/should_succeed/4_test-complex-mission-1.xml index 28fd201..334777b 100644 --- a/test/data/scenarios/should_succeed/4_test-complex-mission-1.xml +++ b/test/data/scenarios/should_succeed/4_test-complex-mission-1.xml @@ -92,7 +92,7 @@ - + @@ -135,7 +135,7 @@ - + @@ -155,7 +155,7 @@ - + @@ -181,7 +181,7 @@ - + @@ -201,7 +201,7 @@ - + @@ -229,7 +229,7 @@ - + b1 @@ -250,7 +250,7 @@ - + @@ -277,7 +277,7 @@ - + @@ -300,7 +300,7 @@ - + @@ -324,7 +324,7 @@ - + b6 @@ -343,7 +343,7 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + A composition inference rule permit to derive property values for +composite systems + + + + + + + + + + + + + + + + + A plain inference rule allows to derive a value from a given formula + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Describes whether a component is always running during mission execution or only when needed + + + + + + + + + determines rate of failure in faults/hr + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Degrees of freedom that can be associated with a physical entity + + + + + + + + + + + + in [Wh] + + + + + + + + + + For the specification of energy properties the following relationship serve as basis: + +energyCapacity[Wh] = supplyVoltage[V]*powerSourceCapacity[Ah] +timeOfOperation[h] = energyCapacity[Wh]/nominalPowerConsumption[W] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + in [kg] + + + + + + + + + + + in [m/s^2] + + + + + + + + + + + in [Wh] + + + + + + + + + + + in [m] + + + + + + + + + + + in [m] + + + + + + + + + + + Maximum mass of a payload that can be manipulation in [kg] + + + + + + + + + + + Maximum possible picking height (with respect to a robot's base reference frame) in [m] + + + + + + + + + + + in [m/s] + + + + + + + + + + + in [m] + + + + + + + + + + + in [m/s^2] + + + + + + + + + + + in [m] + + + + + + + + + + + in [m] + + + + + + + + + + + Minimum possible picking height (with respect to a robot's base reference frame) in [m] + + + + + + + + + + + in [m/s] + + + + + + + + + + + in [m] + + + + + + + + + + in [m/s^2] + + + + + + + + + + + in [m] + + + + + + + + + + + in [m] + + + + + + + + + + + in [W] + + + + + + + + + + + in [m/s] + + + + + + + + + + + in [m] + + + + + + + + + + + + + + + + + + The posititional accuracy (e.g. of a manipulator) in [m] + + + + + + + + + + + in [Ah] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + in [V] + + + + + + + + + + + + Type of a manipulator's suspension + + + + + + + + + + + unitless but depends upon selection of the relevant transport dimension: will typically refer to number of items, mass or volume + + + + + + + + + + + unitless depends upon selection of the relevant transport dimension: +will typically refer to number of items, mass or volume + +Can be inferred from other properties describing the corresponding dimensions + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Ampere + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + The distribution policy permits to compute the share of one individual in comparison to the full system. + +VAL(__individual, base::energyCapacity) / SUM(__all, base::energyCapacity) + +In this case __individual is a placeholder for the currently active agent, and __all for the complete set of agents + +Further description options include operators: +min, max, avg + +MIN(__all, base::energyCapacity) / MAX(__all, base::energyCapacity) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Composition inference will apply an operation (Average, Maximum, Mean, Minimum, Sum) to a given selection, where the selection is extracted by a SelectionPolicy. + + + + + + + + + + + + + + + + + + + + + + + + + + + Newton + + + + + + + + + Newton meter + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Pick an atomic agent based on a property constraint + + + + + + + + + Randomly pick a subset of atomic agents from a composite agent + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Volt + + + + + + + + + Watt + + + + + + + + + Watthour + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + kilogram + + + + + + + + + + + + + + + + + meter + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.01 + 1.0E-5 + + + + + + + + + 0.15 + 1.0 + + + + + + + + + 0.75 + 1.5 + + + + + + + + + + + + + + + 1.0 + + + + + + + + + 2.0 + + + + + + + + + <_0 rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#AllSelection"/> + + + + + + + + + + + + + + + + + + + + + + + + + <_a rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#powerSourceCapacity"/> + <_b rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#supplyVoltage"/> + OP_VALUE(_a)*OP_VALUE(_b) + + + + + + + + + + + + + + + <_a rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#AllAtomicAgents"/> + <_b rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#energyCapacity"/> + OP_SUM(_a,_b) + + + + + + + + + + + This distribution policy allows to compute the current share of an agent with respect to the energy that the full system requires. + +Note, that there might be agents involved that do not provide any energy. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 100.0 + + + + + + + + + 10.0 + + + + + + + + + 1000000000.0 + + + + + + + + + 1000.0 + + + + + + + + + 1000000.0 + + + + + + + + + 0.000001 + + + + + + + + + 0.001 + + + + + + + + + 0.000000001 + + + + + + + + An actor is a physical or logical entity that can act, i.e. perform actions which have an effect + + + Capabililties represent 'soft' resources that need to be available to provide services of perform actions + + + Pick agent or atomic agent based on functionality constraint + + + Randomly pick an atomic agent + + + A service is an offer to potential consumers. + +There is always only one instance of a service an actor can provide, e.g, +a StereoImageProvider service cannot depends upon two instances of ImageProvider but need to associated directly with two camera + + + + + + + diff --git a/test/data/solution_simulation/organization_model/om-project-transterra.owl b/test/data/solution_simulation/organization_model/om-project-transterra.owl new file mode 100644 index 0000000..abe1046 --- /dev/null +++ b/test/data/solution_simulation/organization_model/om-project-transterra.owl @@ -0,0 +1,114 @@ + + + + + + + + +]> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + + 2 + + + + + + + + + + + + 2 + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/organization_model/om-robot-basecamp.owl b/test/data/solution_simulation/organization_model/om-robot-basecamp.owl new file mode 100644 index 0000000..928d933 --- /dev/null +++ b/test/data/solution_simulation/organization_model/om-robot-basecamp.owl @@ -0,0 +1,163 @@ + + + + + v0.1 + * change base uri to om-schema + + + + + + + + + + + + + + + + + 1 + + + + + + + 6 + + + + + + + 0 + + + + + + + + + + + + + + + + + + + + + + + + 3.0 + 0.3 + 0.5 + 0.3 + 0.5 + 0.3 + 0.0 + 0.5 + 0.0 + 48.0 + 0.0 + 1.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/organization_model/om-robot-coyote-iii.owl b/test/data/solution_simulation/organization_model/om-robot-coyote-iii.owl new file mode 100644 index 0000000..d3f1121 --- /dev/null +++ b/test/data/solution_simulation/organization_model/om-robot-coyote-iii.owl @@ -0,0 +1,196 @@ + + + + + v0.2 + * change base uri to om-schema + + + + + + + + + + + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 2 + + + + + + + 4 + + + + + + + + + + + + + + + + + + + + + + + + + + 15.0 + 1.0 + 0.3 + 0.3 + 0.5 + 0.0 + 0.3 + 0.0 + 0.5 + 0.0 + 0.3 + 50.0 + 0.2 + 0.5 + 7.0 + 0.5 + 48.0 + 4.0 + 1.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/organization_model/om-robot-crex.owl b/test/data/solution_simulation/organization_model/om-robot-crex.owl new file mode 100644 index 0000000..5d45775 --- /dev/null +++ b/test/data/solution_simulation/organization_model/om-robot-crex.owl @@ -0,0 +1,186 @@ + + + + + * v0.1 + * change base uri to om-schema + + + + + + + + + + + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 2 + + + + + + + + + + + + + + + + + + + + + + + + + 27.0 + 0.1 + 4.0 + 0.3 + 1.5 + 0.0 + 0.25 + 0.0 + 1.0 + 0.0 + 0.5 + 100.0 + 0.1 + 1.0 + 2.4 + 0.5 + 48.0 + 2.0 + 1.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/organization_model/om-robot-payload.owl b/test/data/solution_simulation/organization_model/om-robot-payload.owl new file mode 100644 index 0000000..4b794f8 --- /dev/null +++ b/test/data/solution_simulation/organization_model/om-robot-payload.owl @@ -0,0 +1,242 @@ + + + + + * 0.2 + * adapt base uri to om-schema +* 0.1 + * Add PayloadCamera, PayloadBattery and PayloadSoilSampler as individuals + + + + + + + + + + + + + + + + + 1 + + + + + + + 1 + + + + + + + 0 + + + + + + + + + + + + + + + 1 + + + + + + + + + + + + + + + 1 + + + + + + + + + + + + + + + 1 + + + + + + + + + + + + + + + + + + + 3.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.15 + 0.15 + 25.0 + 0.0 + 0.15 + 0.0 + 48.0 + 0.0 + 1.0 + + + + + + + + + + + + 5.0 + 0.8 + 2.4 + 48.0 + 0.0 + 1.0 + + + + + + + + + + + + 4.0 + 50.0 + 0.0 + 48.0 + 0.0 + 1.0 + + + + + + + + + + + + 3.5 + 30.0 + 0.0 + 48.0 + 0.0 + 1.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/organization_model/om-robot-sherpa-tt.owl b/test/data/solution_simulation/organization_model/om-robot-sherpa-tt.owl new file mode 100644 index 0000000..c64b54e --- /dev/null +++ b/test/data/solution_simulation/organization_model/om-robot-sherpa-tt.owl @@ -0,0 +1,281 @@ + + + + + * v0.1 + * change base uri to om-schema + + + + + + + + + + + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 2 + + + + + + + 2 + + + + + + + 4 + + + + + + + 10 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 160.0 + 0.1 + 3.5 + 2.5 + 1.0 + 2.5 + -0.1 + 1.5 + 2.0 + 0.0 + 2.0 + 0.0 + 2.0 + 2.0 + 120.0 + 0.5 + 2.0 + 10.0 + 0.5 + 48.0 + 10.0 + 1.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/organization_model/om-robot-sherpa.owl b/test/data/solution_simulation/organization_model/om-robot-sherpa.owl new file mode 100644 index 0000000..4633435 --- /dev/null +++ b/test/data/solution_simulation/organization_model/om-robot-sherpa.owl @@ -0,0 +1,318 @@ + + + + + * v0.1 + * change base uri to om-schema + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 1 + + + + + + + 2 + + + + + + + 2 + + + + + + + 4 + + + + + + + 10 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 160.0 + 0.1 + 3.5 + 2.5 + 1.0 + 2.5 + -0.1 + 1.5 + 2.0 + 0.0 + 2.0 + 0.0 + 2.0 + 2.0 + 120.0 + 0.5 + 2.0 + 10.0 + 0.5 + 48.0 + 10.0 + 1.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.96 + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/organization_model/om-schema-v0.21.owl b/test/data/solution_simulation/organization_model/om-schema-v0.21.owl new file mode 100644 index 0000000..cfeb168 --- /dev/null +++ b/test/data/solution_simulation/organization_model/om-schema-v0.21.owl @@ -0,0 +1,1036 @@ + + + + + Changelog: +* 0.20 + * add MotionPlanning + * add AutonomousNavigation equivalentTo MoveTo +* 0.19 + * change to using om-base +* 0.18 + * change TransportService -> TransportProvider and LogisticHub -> LogisticHubProvider for consistency reasons +* 0.17 + * add property payloadTransportSupplyDemand +* 0.16 + * add soil sampler +* 0.15 + * introduce modularization, i.e. move robot specific entries to their own ontology and using import statements +* 0.14 + * add TransportService +* 0.13 + * add concept functionality +* 0.12 + * add payloadTransportCapacity +* 0.11 + * update CREX + * change explicit dependency on MoveTo to addition of sub requirement + * added CoyoteIII + * changed BaseCamps to BaseCamp + * added LogisticHub (Capability) and PayloadLogisticHub (Service) +* 0.10 + * added data properties such as mass etc. for Sherpa, CREX, Payload + * add PayloadBattery + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + + 1 + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + + 1 + + + + + 1 + + + + + 1 + + + + + 1 + + + + + + + + + + + + + + + + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + + 1 + + + + + + + + + + + + + + + + + + + 1 + + + + + 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + + + + 1 + + + + + + + + + + + + + + + + + + false + 0.1 + 0.5 + + + + + + + + + + + + + + + + + + + true + 0.01 + 0.8 + + + + + + + + + + + 1.0 + 0.1 + + + + + + + + + + 1.0 + 0.2 + + + + + + + + + + + + + + + + + + 0.01 + 0.8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + <_a rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#AllSelection"/> + OP_SUM(_a,_self) + + + + + + + + + <_a rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#TransportProviderSelection"/> + OP_SUM(_a, _self) + + + + + + + + + <_a rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#TransportProviderSelection"/> + <_b rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#transportCapacity"/> + <_c rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#transportDemand"/> + OP_SUM(_a,_b) - OP_SUM(NOT(_a),_c) + + + + + + + + + + true + 0.01 + 0.8 + + + + + + + + + + 0.001 + 0.0 + + + + + + + + + + + + + + + + + + true + 5.0 + 0.4 + + + + + + + + + + + + + + + + + + true + 0.1 + 0.5 + + + + + + + + + + + + + + + + + + false + 0.1 + 0.5 + + + + + + + + + + + + + + + + + + true + 0.05 + 0.3 + + + + + + + + + + true + 0.05 + 0.5 + + + + + + + + + <_0 rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#FunctionalityBasedSelection_AutonomousNavigation"/> + + + + + + + + + + false + 0.1 + 0.8 + + + + + + + + + 0.05 + + + + + + + + + 1.0E-4 + + + + + + + + + 1.0 + + + + + + + + + 10.0 + 720000.0 + + + + + + + + + 5.0 + 7200000.0 + + + + + + + + + 1.5 + 36000.0 + + + + + + + + + 5.0 + 144000.0 + + + + + + + + + 5.0 + 288000.0 + + + + + + + + + 5.0 + 360000.0 + + + + + + + + + + + + + + + + + + false + 1.0 + 0.9 + + + + + + + + + + true + 0.001 + 0.01 + + + + + + + + + + + + + + + + + + + + true + 0.5 + 0.5 + + + + + + + + + + true + 0.1 + 0.5 + + + + + + + + + + + + + + + + + + + + + + + + + + false + 0.1 + 0.9 + + + + + + + + + + true + 0.01 + 0.1 + + + + + + + + + + + + + + + + + <_0 rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#FunctionalityBasedSelection_TransportProvider"/> + <_1 rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#AgentSizeBasedSelection_equals_1"/> + <_2 rdf:resource="http://www.rock-robotics.org/2014/01/om-schema#PropertyBasedSelection_max_transportCapacity"/> + A TransportProvider in a composite system, is the atomic agent that offers locomotion capabilities and provides a maximum of transport capacities. + +This is a simplication, since multiple systems might also be able to form one TransportProvider. +This will not be analysed via ontological reasoning, but requires a 3D physical vstructure anaylsis/verification, to identify how exactly two systems are connected. + +Hence, for now the model remains limited. + +Examples of possible reasoning mechanisms: +- one atomic agent provides a locomotion platform, with transport capacity 1 +- another atomic agent (not mobile, thus has no TransportCapacity) provides the load area / additional interfaces extending the final load capacity to 8 + + + + + + + + Base Catastrophic Faults. Very unlikely, but makes recovery virtually impossible + + + Base Major Fault. Describes a major fault which is hard to recover from + + + Base Minor Fault. Describes a Minor Fault which is rather easy to recover from. + + + The capability to trail permits for instance trailers to follow trucks after being towed + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/0/20211116-11:49:21+0100-transport-network.status b/test/data/solution_simulation/sample_mission/actualTest/0/20211116-11:49:21+0100-transport-network.status new file mode 100644 index 0000000..cf669d0 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/0/20211116-11:49:21+0100-transport-network.status @@ -0,0 +1,45 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 4, 3, 5, 6} +Payload : 0 1 1 0 2 0 0 +Sherpa : 3 0 0 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 0 0 1 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 0 1 0 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 0 0 0 0 1 1 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 0 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 1 0 0 0 +AtomicAgent: Payload_0 (Payload) + l1 l0 base l2 + t0 {} {} {} {7} + t1 {} {} {} {}..{8..11}#(1) + t2 {}..{13}#(0,1) {}..{13}#(0,1) {}..{13}#(0,1) {}..{13}#(0,1) + t3 {} {17} {} {} + t4 {} {21} {} {} + t5 {} {}..{24..27}#(1) {} {} + t6 {} {} {} {} +AtomicAgent: Payload_1 (Payload) + l1 l0 base l2 + t0 {4} {} {} {} + t1 {}..{8..11}#(1) {} {} {} + t2 {}..{13}#(0,1) {}..{13}#(0,1) {}..{13}#(0,1) {}..{13}#(0,1) + t3 {} {17} {} {} + t4 {} {21} {} {} + t5 {} {}..{24..27}#(1) {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l1 l0 base l2 + t0 {} {} {6} {} + t1 {} {} {11} {} + t2 {} {} {} {15} + t3 {} {} {} {18} + t4 {} {} {22} {} + t5 {} {} {26} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_2 (Sherpa) + l1 l0 base l2 + t0 {} {} {6} {} + t1 {} {} {9} {} + t2 {} {13} {} {} + t3 {} {17} {} {} + t4 {} {22} {} {} + t5 {} {} {27} {} + t6 {} {} {} {} diff --git a/test/data/solution_simulation/sample_mission/actualTest/0/final_plan.gexf b/test/data/solution_simulation/sample_mission/actualTest/0/final_plan.gexf new file mode 100644 index 0000000..06c92d0 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/0/final_plan.gexf @@ -0,0 +1,433 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/0/final_solution_network.gexf b/test/data/solution_simulation/sample_mission/actualTest/0/final_solution_network.gexf new file mode 100644 index 0000000..09d67f2 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/0/final_solution_network.gexf @@ -0,0 +1,574 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow-final-flow.gexf b/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow-final-flow.gexf new file mode 100644 index 0000000..2c6ceab --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow-final-flow.gexf @@ -0,0 +1,502 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow-init.gexf b/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow-init.gexf new file mode 100644 index 0000000..74b00f4 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow-init.gexf @@ -0,0 +1,502 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow.gexf b/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow.gexf new file mode 100644 index 0000000..2c6ceab --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow.gexf @@ -0,0 +1,502 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow.problem b/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow.problem new file mode 100644 index 0000000..fee7e25 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow.problem @@ -0,0 +1,308 @@ +\* Problem: multicommodity_min_cost_flow-20211116-11:49:21:431459+0100 *\ +Minimize + obj: + x1 + x2 + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x15 + + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + + x28 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + x39 + x40 + x41 + + x42 + x43 + x44 + x45 + x46 + x49 + x50 + x51 + x52 + x53 + x54 + x55 + + x56 + x57 + x58 + x59 + x60 + x61 + x62 + x63 + x64 + x65 + x66 + x67 + + x68 + x69 + x70 + x71 + x72 + x73 + x74 + +Subject To + y1: + x1 + x2 - ~r_1 = 0 + y2: + x3 + x4 - ~r_2 = 0 + y3: + x5 + x6 - ~r_3 = 0 + y4: + x7 + x8 - ~r_4 = 0 + y5: + x9 + x10 - ~r_5 = 0 + y6: + x11 + x12 - ~r_6 = 0 + y7: + x13 + x14 - ~r_7 = 0 + y8: + x15 + x16 - ~r_8 = 0 + y9: + x17 + x18 - ~r_9 = 0 + y10: + x19 + x20 - ~r_10 = 0 + y11: + x21 + x22 - ~r_11 = 0 + y12: + x23 + x24 - ~r_12 = 0 + y13: + x25 + x26 - ~r_13 = 0 + y14: + x27 + x28 - ~r_14 = 0 + y15: + x29 + x30 - ~r_15 = 0 + y16: + x31 + x32 - ~r_16 = 0 + y17: + x33 + x34 - ~r_17 = 0 + y18: + x35 + x36 - ~r_18 = 0 + y19: + x37 + x38 - ~r_19 = 0 + y20: + x39 + x40 - ~r_20 = 0 + y21: + x41 + x42 - ~r_21 = 0 + y22: + x43 + x44 - ~r_22 = 0 + y23: + x45 + x46 - ~r_23 = 0 + y24: + x47 + x48 - ~r_24 = 0 + y25: + x49 + x50 - ~r_25 = 0 + y26: + x51 + x52 - ~r_26 = 0 + y27: + x53 + x54 - ~r_27 = 0 + y28: + x55 + x56 - ~r_28 = 0 + y29: + x57 + x58 - ~r_29 = 0 + y30: + x59 + x60 - ~r_30 = 0 + y31: + x61 + x62 - ~r_31 = 0 + y32: + x63 + x64 - ~r_32 = 0 + y33: + x65 + x66 - ~r_33 = 0 + y34: + x67 + x68 - ~r_34 = 0 + y35: + x69 + x70 - ~r_35 = 0 + y36: + x71 + x72 - ~r_36 = 0 + y37: + x73 + x74 - ~r_37 = 0 + y38: -1 x3 + x1 = 0 + y39: -1 x4 + x2 = 0 + y40: -1 x7 + x3 = 0 + y41: -1 x8 + x4 = 0 + y42: -1 x19 + x5 + x7 = 0 + y43: -1 x20 + x6 + x8 = 0 + y44: -1 x65 + x9 = 0 + y45: + x65 >= 1 + y46: -1 x66 + x10 = 0 + y47: -1 x1 -1 x31 + x11 = 0 + y48: -1 x2 -1 x32 + x12 = 0 + y49: -1 x33 + x13 = 0 + y50: -1 x34 + x14 = 0 + y51: -1 x5 -1 x17 + x15 = 0 + y52: -1 x6 -1 x18 + x16 = 0 + y53: -1 x21 + x17 = 0 + y54: -1 x22 + x18 = 0 + y55: -1 x9 -1 x25 + x19 = 0 + y56: -1 x10 -1 x26 + x20 = 0 + y57: -1 x27 + x21 = 0 + y58: -1 x28 + x22 = 0 + y59: -1 x63 + x23 + x25 + x27 = 0 + y60: -1 x64 + x24 + x26 + x28 = 0 + y61: -1 x35 + x29 = 0 + y62: -1 x36 + x30 = 0 + y63: -1 x15 -1 x37 + x31 + x33 = 0 + y64: -1 x16 -1 x38 + x32 + x34 = 0 + y65: -1 x39 + x35 = 0 + y66: + x39 >= 1 + y67: -1 x40 + x36 = 0 + y68: + x40 >= 1 + y69: -1 x41 + x37 + x39 = 0 + y70: + x41 >= 1 + y71: -1 x42 + x38 + x40 = 0 + y72: + x42 >= 1 + y73: -1 x43 + x41 = 0 + y74: + x43 >= 1 + y75: -1 x44 + x42 = 0 + y76: + x44 >= 1 + y77: -1 x23 -1 x45 + x43 = 0 + y78: -1 x24 -1 x46 + x44 = 0 + y79: -1 x61 + x45 = 0 + y80: -1 x62 + x46 = 0 + y81: -1 x11 -1 x13 -1 x29 -1 x47 = -1 + y82: -1 x12 -1 x14 -1 x30 -1 x48 = -1 + y83: -1 x49 + x47 = 0 + y84: -1 x50 + x48 = 0 + y85: -1 x51 + x49 = 0 + y86: -1 x52 + x50 = 0 + y87: -1 x53 + x51 = 0 + y88: -1 x54 + x52 = 0 + y89: -1 x55 + x53 = 0 + y90: -1 x56 + x54 = 0 + y91: -1 x57 + x55 = 0 + y92: -1 x58 + x56 = 0 + y93: -1 x59 + x57 = 0 + y94: -1 x60 + x58 = 0 + y95: + x60 >= 1 + y96: -1 x67 + x59 = 0 + y97: -1 x68 + x60 = 0 + y98: + x68 >= 1 + y99: -1 x69 + x61 = 0 + y100: -1 x70 + x62 = 0 + y101: -1 x71 + x63 = 0 + y102: -1 x72 + x64 = 0 + y103: -1 x73 + x65 = 0 + y104: + x73 >= 1 + y105: -1 x74 + x66 = 0 + y106: + x67 + x69 + x71 + x73 = 1 + y107: + x68 + x70 + x72 + x74 = 1 + +Bounds + 0 <= ~r_1 <= + inf + 0 <= ~r_2 <= + inf + 0 <= ~r_3 <= 10 + 0 <= ~r_4 <= + inf + 0 <= ~r_5 <= + inf + 0 <= ~r_6 <= + inf + 0 <= ~r_7 <= + inf + 0 <= ~r_8 <= + inf + 0 <= ~r_9 <= + inf + 0 <= ~r_10 <= + inf + 0 <= ~r_11 <= + inf + 0 <= ~r_12 <= 10 + 0 <= ~r_13 <= 10 + 0 <= ~r_14 <= + inf + 0 <= ~r_15 <= + inf + 0 <= ~r_16 <= 10 + 0 <= ~r_17 <= + inf + 0 <= ~r_18 <= + inf + 0 <= ~r_19 <= 10 + 0 <= ~r_20 <= + inf + 0 <= ~r_21 <= + inf + 0 <= ~r_22 <= + inf + 0 <= ~r_23 <= + inf + 0 <= ~r_24 <= + inf + 0 <= ~r_25 <= + inf + 0 <= ~r_26 <= + inf + 0 <= ~r_27 <= + inf + 0 <= ~r_28 <= + inf + 0 <= ~r_29 <= + inf + 0 <= ~r_30 <= + inf + 0 <= ~r_31 <= + inf + 0 <= ~r_32 <= + inf + 0 <= ~r_33 <= + inf + 0 <= ~r_34 <= + inf + 0 <= ~r_35 <= + inf + 0 <= ~r_36 <= + inf + 0 <= ~r_37 <= + inf + 0 <= x1 <= + inf + 0 <= x2 <= + inf + 0 <= x3 <= + inf + 0 <= x4 <= + inf + 0 <= x5 <= 10 + 0 <= x6 <= 10 + 0 <= x7 <= + inf + 0 <= x8 <= + inf + 0 <= x9 <= + inf + 0 <= x10 <= + inf + 0 <= x11 <= + inf + 0 <= x12 <= + inf + 0 <= x13 <= + inf + 0 <= x14 <= + inf + 0 <= x15 <= + inf + 0 <= x16 <= + inf + 0 <= x17 <= + inf + 0 <= x18 <= + inf + 0 <= x19 <= + inf + 0 <= x20 <= + inf + 0 <= x21 <= + inf + 0 <= x22 <= + inf + 0 <= x23 <= 10 + 0 <= x24 <= 10 + 0 <= x25 <= 10 + 0 <= x26 <= 10 + 0 <= x27 <= + inf + 0 <= x28 <= + inf + 0 <= x29 <= + inf + 0 <= x30 <= + inf + 0 <= x31 <= 10 + 0 <= x32 <= 10 + 0 <= x33 <= + inf + 0 <= x34 <= + inf + 0 <= x35 <= + inf + 0 <= x36 <= + inf + 0 <= x37 <= 10 + 0 <= x38 <= 10 + 0 <= x39 <= + inf + 0 <= x40 <= + inf + 0 <= x41 <= + inf + 0 <= x42 <= + inf + 0 <= x43 <= + inf + 0 <= x44 <= + inf + 0 <= x45 <= + inf + 0 <= x46 <= + inf + 0 <= x47 <= + inf + 0 <= x48 <= + inf + 0 <= x49 <= + inf + 0 <= x50 <= + inf + 0 <= x51 <= + inf + 0 <= x52 <= + inf + 0 <= x53 <= + inf + 0 <= x54 <= + inf + 0 <= x55 <= + inf + 0 <= x56 <= + inf + 0 <= x57 <= + inf + 0 <= x58 <= + inf + 0 <= x59 <= + inf + 0 <= x60 <= + inf + 0 <= x61 <= + inf + 0 <= x62 <= + inf + 0 <= x63 <= + inf + 0 <= x64 <= + inf + 0 <= x65 <= + inf + 0 <= x66 <= + inf + 0 <= x67 <= 0 + 0 <= x68 <= 1 + 0 <= x69 <= 0 + 0 <= x70 <= 0 + 0 <= x71 <= 0 + 0 <= x72 <= 0 + 0 <= x73 <= 1 + 0 <= x74 <= 0 + +Generals + x1 + x2 + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x13 + x14 + x15 + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + x39 + x40 + x41 + x42 + x43 + x44 + x45 + x46 + x47 + x48 + x49 + x50 + x51 + x52 + x53 + x54 + x55 + x56 + x57 + x58 + x59 + x60 + x61 + x62 + x63 + x64 + x65 + x66 + x67 + x68 + x69 + x70 + x71 + x72 + x73 + x74 + +End diff --git a/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow.solution b/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow.solution new file mode 100644 index 0000000..88138b4 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/0/multicommodity-min-cost-flow.solution @@ -0,0 +1,52 @@ +Infeasible - objective value 26.00000000 + 4 x5 1 0 + 8 x9 1 0 + 10 x15 1 0 + 14 x19 1 0 + 19 x24 1 0 + 26 x33 1 0 + 28 x35 1 0 + 29 x36 1 0 + 32 x39 1 0 + 33 x40 1 0 + 34 x41 1 0 + 35 x42 1 0 + 36 x43 1 0 + 37 x44 1 0 + 38 x45 1 0 + 41 x50 1 0 + 43 x52 1 0 + 45 x54 1 0 + 47 x56 1 0 + 49 x58 1 0 + 51 x60 1 0 + 52 x61 1 0 + 55 x64 1 0 + 56 x65 1 0 + 59 x68 1 0 + 64 x73 1 0 + 68 ~r_3 1 0 + 70 ~r_5 1 0 + 77 ~r_8 1 0 + 79 ~r_10 1 0 + 81 ~r_12 1 0 + 84 x29 1 0 + 85 x30 1 0 + 86 ~r_15 2 0 + 88 ~r_17 1 0 + 89 ~r_18 2 0 + 91 ~r_20 2 0 + 92 ~r_21 2 0 + 93 ~r_22 2 0 + 94 ~r_23 1 0 + 98 ~r_25 1 0 + 99 ~r_26 1 0 + 100 ~r_27 1 0 + 101 ~r_28 1 0 + 102 ~r_29 1 0 + 103 ~r_30 1 0 + 104 ~r_31 1 0 + 105 ~r_32 1 0 + 106 ~r_33 1 0 + 107 ~r_34 1 0 + 110 ~r_37 1 0 diff --git a/test/data/solution_simulation/sample_mission/actualTest/0/templ-mission-relations.dot b/test/data/solution_simulation/sample_mission/actualTest/0/templ-mission-relations.dot new file mode 100644 index 0000000..a73c03d --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/0/templ-mission-relations.dot @@ -0,0 +1,779 @@ +digraph GraphvizGraph { + graph [bb="0,0,5680,429", + concentrate=false, + dpi="96,0", + overlap=false, + pad="0,2", + root="PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 3 + \ +restriction: MIN + @[t0,t1) (v:20)", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 3 + \ +restriction: MIN + @[t0,t1) (v:20)" [height=2.4028, + pos="182.5,342.5", + width=5.0694]; + " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:19)" [height=2.8472, + pos="374.5,102.5", + width=4.8611]; + "PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 3 + \ +restriction: MIN + @[t0,t1) (v:20)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:19)" [key="inducedBy (e:13)", + label="inducedBy (e:13)", + lp="321,230.5", + pos="e,292.2,205.37 251.82,255.85 262.87,242.03 274.44,227.57 285.87,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:18)" [height=2.4028, + pos="565.5,342.5", + width=5.0694]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:18)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:19)" [key="inducedBy (e:12)", +label="inducedBy (e:12)", +lp="529,230.5", +pos="e,456.37,205.37 496.54,255.85 485.55,242.03 474.04,227.57 462.67,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:17)" [height=2.4028, +pos="951.5,342.5", +width=5.1528]; +" +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:16)" [height=2.8472, +pos="1145.5,102.5", +width=4.9444]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:17)" -> " +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:16)" [key="inducedBy (e:11)", +label="inducedBy (e:11)", +lp="1091,230.5", +pos="e,1062.3,205.37 1021.5,255.85 1032.7,242.03 1044.4,227.57 1055.9,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:15)" [height=2.4028, +pos="1340.5,342.5", +width=5.1528]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:15)" -> " +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:16)" [key="inducedBy (e:10)", +label="inducedBy (e:10)", +lp="1303,230.5", +pos="e,1229.1,205.37 1270.1,255.85 1258.9,242.03 1247.1,227.57 1235.5,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:14)" [height=2.4028, +pos="1729.5,342.5", +width=5.1528]; +" +SpatioTemporalRequirement (id:2) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:13)" [height=2.8472, +pos="1924.5,102.5", +width=4.9444]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:14)" -> " +SpatioTemporalRequirement (id:2) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:13)" [key="inducedBy (e:9)", +label="inducedBy (e:9)", +lp="1865.5,230.5", +pos="e,1840.9,205.37 1799.9,255.85 1811.1,242.03 1822.9,227.57 1834.5,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:12)" [height=2.4028, +pos="2118.5,342.5", +width=5.1528]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:12)" -> " +SpatioTemporalRequirement (id:2) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:13)" [key="inducedBy (e:8)", +label="inducedBy (e:8)", +lp="2077.5,230.5", +pos="e,2007.7,205.37 2048.5,255.85 2037.3,242.03 2025.6,227.57 2014.1,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 1 + restriction: \ +MIN + @[t2,t4) (v:11)" [height=2.4028, +pos="2526.5,342.5", +width=5.6806]; +" +SpatioTemporalRequirement (id:3) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t2 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:10)" [height=2.8472, +pos="2739.5,102.5", +width=5.4722]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 1 + restriction: \ +MIN + @[t2,t4) (v:11)" -> " +SpatioTemporalRequirement (id:3) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t2 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:10)" [key="inducedBy (e:7)", +label="inducedBy (e:7)", +lp="2671.5,230.5", +pos="e,2648.2,205.37 2603.4,255.85 2615.8,241.91 2628.7,227.3 2641.5,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t4) (v:9)" [height=2.4028, +pos="2953.5,342.5", +width=5.6806]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t4) (v:9)" -> " +SpatioTemporalRequirement (id:3) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t2 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:10)" [key="inducedBy (e:6)", +label="inducedBy (e:6)", +lp="2903.5,230.5", +pos="e,2831.2,205.37 2876.2,255.85 2863.8,241.91 2850.8,227.3 2837.9,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 2 + restriction: \ +MIN + @[t3,t5) (v:8)" [height=2.4028, +pos="3361.5,342.5", +width=5.1528]; +" +SpatioTemporalRequirement (id:4) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t3 + to: t5 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 2 + maxCardinality: 18446744073709551615 + + (\ +v:7)" [height=2.8472, +pos="3556.5,102.5", +width=4.9444]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 2 + restriction: \ +MIN + @[t3,t5) (v:8)" -> " +SpatioTemporalRequirement (id:4) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t3 + to: t5 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 2 + maxCardinality: 18446744073709551615 + + (\ +v:7)" [key="inducedBy (e:5)", +label="inducedBy (e:5)", +lp="3497.5,230.5", +pos="e,3472.9,205.37 3431.9,255.85 3443.1,242.03 3454.9,227.57 3466.5,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t3,t5) (v:6)" [height=2.4028, +pos="3750.5,342.5", +width=5.1528]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t3,t5) (v:6)" -> " +SpatioTemporalRequirement (id:4) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t3 + to: t5 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 2 + maxCardinality: 18446744073709551615 + + (\ +v:7)" [key="inducedBy (e:4)", +label="inducedBy (e:4)", +lp="3709.5,230.5", +pos="e,3639.7,205.37 3680.5,255.85 3669.3,242.03 3657.6,227.57 3646.1,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 1 + \ +restriction: MIN + @[t4,t6) (v:5)" [height=2.4028, +pos="4167.5,342.5", +width=5.9306]; +" +SpatioTemporalRequirement (id:5) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t4 + to: t6 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: \ +18446744073709551615 + + (v:4)" [height=2.8472, +pos="4389.5,102.5", +width=5.7222]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 1 + \ +restriction: MIN + @[t4,t6) (v:5)" -> " +SpatioTemporalRequirement (id:5) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t4 + to: t6 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: \ +18446744073709551615 + + (v:4)" [key="inducedBy (e:3)", +label="inducedBy (e:3)", +lp="4316.5,230.5", +pos="e,4294.3,205.37 4247.6,255.85 4260.6,241.91 4274.1,227.3 4287.4,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t4,t6) (v:3)" [height=2.4028, +pos="4612.5,342.5", +width=5.9306]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t4,t6) (v:3)" -> " +SpatioTemporalRequirement (id:5) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t4 + to: t6 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: \ +18446744073709551615 + + (v:4)" [key="inducedBy (e:2)", +label="inducedBy (e:2)", +lp="4558.5,230.5", +pos="e,4485.1,205.37 4532,255.85 4519,241.91 4505.5,227.3 4492.1,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 1 + restriction: \ +MIN + @[t2,t3) (v:2)" [height=2.4028, +pos="5048.5,342.5", +width=5.6806]; +" +SpatioTemporalRequirement (id:6) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t2 + to: t3 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:1)" [height=2.8472, +pos="5262.5,102.5", +width=5.4722]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 1 + restriction: \ +MIN + @[t2,t3) (v:2)" -> " +SpatioTemporalRequirement (id:6) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t2 + to: t3 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:1)" [key="inducedBy (e:1)", +label="inducedBy (e:1)", +lp="5193.5,230.5", +pos="e,5170.8,205.37 5125.8,255.85 5138.2,241.91 5151.2,227.3 5164.1,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t3) (v:0)" [height=2.4028, +pos="5475.5,342.5", +width=5.6806]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t3) (v:0)" -> " +SpatioTemporalRequirement (id:6) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t2 + to: t3 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:1)" [key="inducedBy (e:0)", +label="inducedBy (e:0)", +lp="5426.5,230.5", +pos="e,5353.8,205.37 5398.6,255.85 5386.2,241.91 5373.3,227.3 5360.5,212.89"]; +} diff --git a/test/data/solution_simulation/sample_mission/actualTest/0/transhipment-flow-network.gexf b/test/data/solution_simulation/sample_mission/actualTest/0/transhipment-flow-network.gexf new file mode 100644 index 0000000..56e09b0 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/0/transhipment-flow-network.gexf @@ -0,0 +1,574 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/0/transport-network-solution-0.dot b/test/data/solution_simulation/sample_mission/actualTest/0/transport-network-solution-0.dot new file mode 100644 index 0000000..ca2ffc8 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/0/transport-network-solution-0.dot @@ -0,0 +1,2117 @@ +digraph GraphvizGraph { + graph [bb="0,0,7490,2732", + concentrate=false, + dpi="96,0", + overlap=false, + pad="0,2", + root="Tuple: + a: + l2 + b: + t6 + roles (assigned): + Sherpa: + 2 + (v:27) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Sherpa: + 2 + (v:27) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [height=2.8194, + pos="1033.5,139", + width=12.153]; + "Tuple: + a: + l2 + b: + t5 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 \ +0 2" [height=2.1944, + pos="873.5,528", + width=12.111]; + "Tuple: + a: + l2 + b: + t5 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Sherpa: + 2 + (v:27) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:28)", + label="capacity: +inf + (e:28)", + lp="1006.5,333.5", + pos="e,991.69,240.65 906.07,448.81 929.63,391.54 961.77,313.39 987.88,249.91"]; +"Tuple: + a: + l2 + b: + t4 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 \ +0 2" [height=2.1944, + pos="873.5,932", + width=12.111]; +"Tuple: + a: + l2 + b: + t4 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t5 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:27)", +label="capacity: +inf + (e:27)", +lp="911.5,722.5", +pos="e,873.5,607.15 873.5,852.66 873.5,784.99 873.5,687.74 873.5,617.34"]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [height=3.8611, +pos="1049.5,1381", +width=25.361]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 \ +0 2" [key="capacity: +inf + (e:25)", +label="capacity: +inf + (e:25)", +lp="1015.5,1156.5", +pos="e,904.52,1011.1 994.9,1241.7 966.62,1169.6 932.95,1083.7 908.25,1020.6"]; +"Tuple: + a: + base + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563608437e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t4 0 0 2" [height=3.8611, +pos="2240.5,932", +width=25.361]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + base + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563608437e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (e:26)", +label="capacity: 10 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (e:26)", +lp="1805,1156.5", +pos="e,1871.7,1071 1418.6,1241.9 1559.5,1188.7 1720.2,1128.1 1862,1074.7"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [height=3.8611, +pos="1049.5,1785", +width=25.361]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:24)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:24)", +lp="1102,1590.5", +pos="e,1049.5,1520.3 1049.5,1646 1049.5,1608.7 1049.5,1568.2 1049.5,1530.4"]; +"Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t1 0 0 2" [height=3.4444, +pos="704.5,2204", +width=19.569]; +"Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:23)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:23)", +lp="971,1994.5", +pos="e,934.95,1924.1 806.61,2080 844.82,2033.6 888.59,1980.4 928.35,1932.1"]; +"Tuple: + a: + l2 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t0 0 0 2" [height=3.4444, +pos="704.5,2593", +width=19.569]; +"Tuple: + a: + l2 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t0 0 0 2" -> "Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:22)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:22)", +lp="757,2398.5", +pos="e,704.5,2328.3 704.5,2468.8 704.5,2427.3 704.5,2380.7 704.5,2338.4"]; +"Tuple: + a: + base + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563607993e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [height=3.8611, +pos="2455.5,139", +width=25.361]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0, \ +2 + roles (required): + Sherpa: + 0 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.85483142426527015e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [height=3.8611, +pos="2455.5,528", +width=31.333]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0, \ +2 + roles (required): + Sherpa: + 0 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.85483142426527015e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Sherpa: + 2 + (v:27) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:21)", +label="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:21)", +lp="1916,333.5", +pos="e,1397.6,240.52 1940.6,389 1807.9,353.01 1665.3,314.2 1533.5,278 1492.6,266.77 1449.9,254.97 1407.3,243.2"]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0, \ +2 + roles (required): + Sherpa: + 0 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.85483142426527015e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + base + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563607993e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:20)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:20)", +lp="2508,333.5", +pos="e,2455.5,278.21 2455.5,388.94 2455.5,356.32 2455.5,321.44 2455.5,288.4"]; +"Tuple: + a: + base + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563608437e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0, \ +2 + roles (required): + Sherpa: + 0 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.85483142426527015e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:19)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:19)", +lp="2420,722.5", +pos="e,2381.4,667.29 2314.5,792.97 2334.5,755.35 2356.2,714.5 2376.5,676.4"]; +"Tuple: + a: + base + b: + t3 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [height=2.1944, +pos="2549.5,1381", +width=12.292]; +"Tuple: + a: + base + b: + t3 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + base + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563608437e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:18)", +label="capacity: +inf + (e:18)", +lp="2461.5,1156.5", +pos="e,2336.3,1071.2 2495,1301.8 2452.8,1240.4 2393.1,1153.8 2342.2,1079.7"]; +"Tuple: + a: + base + b: + t2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=2.1944, +pos="2615.5,1785", +width=12.292]; +"Tuple: + a: + base + b: + t2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + base + b: + t3 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: +inf + (e:17)", +label="capacity: +inf + (e:17)", +lp="2626.5,1590.5", +pos="e,2562.4,1460.2 2602.5,1705.7 2591.5,1638 2575.6,1540.7 2564.1,1470.3"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +2 + roles (required): + Sherpa: + 0, 2 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 \ +reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_\ +roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/\ +om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+\ +00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [height=3.8611, +pos="2770.5,2204", +width=37.306]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +2 + roles (required): + Sherpa: + 0, 2 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 \ +reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_\ +roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/\ +om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+\ +00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:15)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:15)", +lp="2168,1994.5", +pos="e,1620.6,1924.1 2199.5,2065 2016.7,2020.5 1814.1,1971.1 1630.5,1926.4"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +2 + roles (required): + Sherpa: + 0, 2 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 \ +reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_\ +roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/\ +om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+\ +00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + base + b: + t2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + (e:14)", +label="capacity: +inf + (e:14)", +lp="2749.5,1994.5", +pos="e,2644.8,1864.2 2719,2064.8 2695.7,2001.7 2668.8,1929.1 2648.3,1873.6"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [height=3.8611, +pos="4576.5,1785", +width=31.5]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +2 + roles (required): + Sherpa: + 0, 2 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 \ +reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_\ +roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/\ +om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+\ +00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + (e:16)", +label="capacity: 10 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + (e:16)", +lp="3941,1994.5", +pos="e,3977.1,1924.1 3369.7,2065 3561.8,2020.4 3774.6,1971 3967.4,1926.3"]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +2 + roles (required): + Sherpa: + 0, 2 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 \ +reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_\ +roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/\ +om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+\ +00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" [height=3.8611, +pos="2770.5,2593", +width=37.306]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +2 + roles (required): + Sherpa: + 0, 2 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 \ +reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_\ +roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/\ +om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+\ +00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +2 + roles (required): + Sherpa: + 0, 2 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 \ +reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_\ +roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/\ +om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+\ +00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:13)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:13)", +lp="2823,2398.5", +pos="e,2770.5,2343.2 2770.5,2453.9 2770.5,2421.3 2770.5,2386.4 2770.5,2353.4"]; +"Tuple: + a: + l0 + b: + t6 + roles (assigned): + Payload: + 0, 1 + (v:13) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t6 0 0 2" [height=2.8194, +pos="4747.5,139", +width=18.444]; +"Tuple: + a: + l0 + b: + t5 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 8.00737402916807839e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 0 2" [height=3.4444, +pos="4747.5,528", +width=31.833]; +"Tuple: + a: + l0 + b: + t5 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 8.00737402916807839e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l0 + b: + t6 + roles (assigned): + Payload: + 0, 1 + (v:13) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:12)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:12)", +lp="4800,333.5", +pos="e,4747.5,240.53 4747.5,403.85 4747.5,354.65 4747.5,298.51 4747.5,250.62"]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:11) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [height=4.2778, +pos="4747.5,932", +width=43.778]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:11) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0, \ +2 + roles (required): + Sherpa: + 0 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.85483142426527015e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:11)", +label="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:11)", +lp="3792,722.5", +pos="e,3244.3,667.03 3873.6,777.97 3670.1,742.1 3454.5,704.08 3254.4,668.82"]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:11) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l0 + b: + t5 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 8.00737402916807839e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:10)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:10)", +lp="4800,722.5", +pos="e,4747.5,652.13 4747.5,777.82 4747.5,739.83 4747.5,699.44 4747.5,662.47"]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:10) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [height=4.2778, +pos="4677.5,1381", +width=43.778]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:10) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:11) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:9)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:9)", +lp="4772,1156.5", +pos="e,4723.5,1086.2 4701.5,1226.8 4708.1,1184.7 4715.3,1138.8 4721.9,1096.2"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l0 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:10) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:8)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:8)", +lp="4686,1590.5", +pos="e,4639,1535.2 4611.3,1646 4619.4,1613.5 4628.1,1578.5 4636.5,1545"]; +"Tuple: + a: + l0 + b: + t1 + roles (assigned): + Payload: + 0 + (v:8) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" [height=2.8194, +pos="4576.5,2204", +width=12.319]; +"Tuple: + a: + l0 + b: + t1 + roles (assigned): + Payload: + 0 + (v:8) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:7)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:7)", +lp="4629,1994.5", +pos="e,4576.5,1924.1 4576.5,2102.3 4576.5,2051.9 4576.5,1990.1 4576.5,1934.4"]; +"Tuple: + a: + l0 + b: + t0 + roles (assigned): + Payload: + 0 + (v:7) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t0 0 0 2" [height=2.8194, +pos="4576.5,2593", +width=12.319]; +"Tuple: + a: + l0 + b: + t0 + roles (assigned): + Payload: + 0 + (v:7) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l0 + b: + t1 + roles (assigned): + Payload: + 0 + (v:8) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:6)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:6)", +lp="4629,2398.5", +pos="e,4576.5,2305.8 4576.5,2491.3 4576.5,2437.5 4576.5,2371.3 4576.5,2316"]; +"Tuple: + a: + l1 + b: + t6 + roles (assigned): + Payload: + 1 + (v:6) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t6 0 0 2" [height=2.8194, +pos="6785.5,139", +width=12.319]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 1 + (v:5) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" [height=2.8194, +pos="6785.5,528", +width=12.319]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 1 + (v:5) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l1 + b: + t6 + roles (assigned): + Payload: + 1 + (v:6) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:5)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:5)", +lp="6838,333.5", +pos="e,6785.5,240.78 6785.5,426.3 6785.5,372.47 6785.5,306.26 6785.5,250.97"]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 1 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [height=2.8194, +pos="6785.5,932", +width=12.319]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 1 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 1 + (v:5) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:4)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:4)", +lp="6838,722.5", +pos="e,6785.5,629.69 6785.5,830.31 6785.5,772.31 6785.5,699.52 6785.5,639.9"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 1 + (v:3) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [height=2.8194, +pos="6785.5,1381", +width=12.319]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 1 + (v:3) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 1 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:3)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:3)", +lp="6838,1156.5", +pos="e,6785.5,1033.6 6785.5,1279.4 6785.5,1209.2 6785.5,1115.9 6785.5,1043.7"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 1 + (v:2) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="6785.5,1785", +width=12.319]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 1 + (v:2) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 1 + (v:3) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:2)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:2)", +lp="6838,1590.5", +pos="e,6785.5,1482.7 6785.5,1683.3 6785.5,1625.3 6785.5,1552.5 6785.5,1492.9"]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="6785.5,2204", +width=19.569]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 1 + (v:2) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:1)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:1)", +lp="6838,1994.5", +pos="e,6785.5,1886.5 6785.5,2080 6785.5,2021.8 6785.5,1953 6785.5,1896.5"]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="6785.5,2593", +width=19.569]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:0)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:0)", +lp="6838,2398.5", +pos="e,6785.5,2328.3 6785.5,2468.8 6785.5,2427.3 6785.5,2380.7 6785.5,2338.4"]; +} diff --git a/test/data/solution_simulation/sample_mission/actualTest/0/transport-network-solution-0.gexf b/test/data/solution_simulation/sample_mission/actualTest/0/transport-network-solution-0.gexf new file mode 100644 index 0000000..09d67f2 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/0/transport-network-solution-0.gexf @@ -0,0 +1,574 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/1/20211116-11:50:27+0100-transport-network.status b/test/data/solution_simulation/sample_mission/actualTest/1/20211116-11:50:27+0100-transport-network.status new file mode 100644 index 0000000..5790807 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/1/20211116-11:50:27+0100-transport-network.status @@ -0,0 +1,45 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 4, 3, 5, 6} +Payload : 0 1 1 0 2 0 0 +Sherpa : 3 0 0 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 0 1 0 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 0 0 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 0 0 1 0 0 0 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 0 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 0 0 1 1 +AtomicAgent: Payload_0 (Payload) + l1 l0 base l2 + t0 {4} {} {} {} + t1 {}..{8..11}#(1) {} {} {} + t2 {}..{13}#(0,1) {}..{13}#(0,1) {}..{13}#(0,1) {}..{13}#(0,1) + t3 {} {17} {} {} + t4 {} {21} {} {} + t5 {} {}..{24..27}#(1) {} {} + t6 {} {} {} {} +AtomicAgent: Payload_1 (Payload) + l1 l0 base l2 + t0 {} {} {} {7} + t1 {} {} {} {}..{8..11}#(1) + t2 {}..{13}#(0,1) {}..{13}#(0,1) {}..{13}#(0,1) {}..{13}#(0,1) + t3 {} {17} {} {} + t4 {} {21} {} {} + t5 {} {}..{24..27}#(1) {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l1 l0 base l2 + t0 {} {} {6} {} + t1 {} {} {9} {} + t2 {} {13} {} {} + t3 {} {17} {} {} + t4 {} {20} {} {} + t5 {25} {} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_2 (Sherpa) + l1 l0 base l2 + t0 {} {} {6} {} + t1 {} {} {11} {} + t2 {} {} {} {15} + t3 {} {} {} {18} + t4 {} {} {22} {} + t5 {} {} {26} {} + t6 {} {} {} {} diff --git a/test/data/solution_simulation/sample_mission/actualTest/1/final_plan.gexf b/test/data/solution_simulation/sample_mission/actualTest/1/final_plan.gexf new file mode 100644 index 0000000..21a5343 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/1/final_plan.gexf @@ -0,0 +1,413 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/1/final_solution_network.gexf b/test/data/solution_simulation/sample_mission/actualTest/1/final_solution_network.gexf new file mode 100644 index 0000000..faed3c1 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/1/final_solution_network.gexf @@ -0,0 +1,574 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/test/data/solution_simulation/sample_mission/actualTest/1/multicommodity-min-cost-flow-init.gexf new file mode 100644 index 0000000..7843a99 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/1/multicommodity-min-cost-flow-init.gexf @@ -0,0 +1,502 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/test/data/solution_simulation/sample_mission/actualTest/1/multicommodity-min-cost-flow.problem @@ -0,0 +1,308 @@ +\* Problem: multicommodity_min_cost_flow-20211116-11:50:27:444358+0100 *\ +Minimize + obj: + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x15 + + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + x39 + + x40 + x41 + x42 + x47 + x48 + x49 + x50 + x51 + x52 + x53 + x54 + x55 + + x56 + x57 + x58 + x59 + x60 + x61 + x62 + x63 + x64 + x65 + x66 + x67 + + x68 + x69 + x70 + x71 + x72 + x73 + x74 + +Subject To + y1: + x1 + x2 - ~r_1 = 0 + y2: + x3 + x4 - ~r_2 = 0 + y3: + x5 + x6 - ~r_3 = 0 + y4: + x7 + x8 - ~r_4 = 0 + y5: + x9 + x10 - ~r_5 = 0 + y6: + x11 + x12 - ~r_6 = 0 + y7: + x13 + x14 - ~r_7 = 0 + y8: + x15 + x16 - ~r_8 = 0 + y9: + x17 + x18 - ~r_9 = 0 + y10: + x19 + x20 - ~r_10 = 0 + y11: + x21 + x22 - ~r_11 = 0 + y12: + x23 + x24 - ~r_12 = 0 + y13: + x25 + x26 - ~r_13 = 0 + y14: + x27 + x28 - ~r_14 = 0 + y15: + x29 + x30 - ~r_15 = 0 + y16: + x31 + x32 - ~r_16 = 0 + y17: + x33 + x34 - ~r_17 = 0 + y18: + x35 + x36 - ~r_18 = 0 + y19: + x37 + x38 - ~r_19 = 0 + y20: + x39 + x40 - ~r_20 = 0 + y21: + x41 + x42 - ~r_21 = 0 + y22: + x43 + x44 - ~r_22 = 0 + y23: + x45 + x46 - ~r_23 = 0 + y24: + x47 + x48 - ~r_24 = 0 + y25: + x49 + x50 - ~r_25 = 0 + y26: + x51 + x52 - ~r_26 = 0 + y27: + x53 + x54 - ~r_27 = 0 + y28: + x55 + x56 - ~r_28 = 0 + y29: + x57 + x58 - ~r_29 = 0 + y30: + x59 + x60 - ~r_30 = 0 + y31: + x61 + x62 - ~r_31 = 0 + y32: + x63 + x64 - ~r_32 = 0 + y33: + x65 + x66 - ~r_33 = 0 + y34: + x67 + x68 - ~r_34 = 0 + y35: + x69 + x70 - ~r_35 = 0 + y36: + x71 + x72 - ~r_36 = 0 + y37: + x73 + x74 - ~r_37 = 0 + y38: -1 x3 + x1 = 0 + y39: -1 x4 + x2 = 0 + y40: -1 x5 + x3 = 0 + y41: -1 x6 + x4 = 0 + y42: -1 x9 + x5 = 0 + y43: -1 x10 + x6 = 0 + y44: -1 x21 + x7 + x9 = 0 + y45: -1 x22 + x8 + x10 = 0 + y46: -1 x65 + x11 = 0 + y47: -1 x66 + x12 = 0 + y48: + x66 >= 1 + y49: -1 x15 + x13 = 0 + y50: -1 x16 + x14 = 0 + y51: -1 x17 + x15 = 0 + y52: -1 x18 + x16 = 0 + y53: -1 x7 -1 x19 + x17 = 0 + y54: -1 x8 -1 x20 + x18 = 0 + y55: -1 x23 + x19 = 0 + y56: -1 x24 + x20 = 0 + y57: -1 x11 -1 x25 + x21 = 0 + y58: -1 x12 -1 x26 + x22 = 0 + y59: -1 x29 + x23 = 0 + y60: -1 x30 + x24 = 0 + y61: -1 x63 + x25 + x27 + x29 = 0 + y62: -1 x64 + x26 + x28 + x30 = 0 + y63: -1 x35 + x31 = 0 + y64: + x35 >= 1 + y65: -1 x36 + x32 = 0 + y66: + x36 >= 1 + y67: -1 x37 + x33 + x35 = 0 + y68: + x37 >= 1 + y69: -1 x38 + x34 + x36 = 0 + y70: + x38 >= 1 + y71: -1 x39 + x37 = 0 + y72: + x39 >= 1 + y73: -1 x40 + x38 = 0 + y74: + x40 >= 1 + y75: -1 x27 -1 x41 + x39 = 0 + y76: -1 x28 -1 x42 + x40 = 0 + y77: -1 x61 + x41 = 0 + y78: -1 x62 + x42 = 0 + y79: -1 x1 -1 x13 -1 x43 -1 x45 = -1 + y80: -1 x2 -1 x14 -1 x44 -1 x46 = -1 + y81: -1 x31 -1 x47 + x43 = 0 + y82: -1 x32 -1 x48 + x44 = 0 + y83: -1 x49 + x45 = 0 + y84: -1 x50 + x46 = 0 + y85: -1 x33 -1 x51 + x47 + x49 = 0 + y86: -1 x34 -1 x52 + x48 + x50 = 0 + y87: -1 x53 + x51 = 0 + y88: -1 x54 + x52 = 0 + y89: -1 x55 + x53 = 0 + y90: -1 x56 + x54 = 0 + y91: -1 x57 + x55 = 0 + y92: -1 x58 + x56 = 0 + y93: -1 x59 + x57 = 0 + y94: + x59 >= 1 + y95: -1 x60 + x58 = 0 + y96: -1 x67 + x59 = 0 + y97: + x67 >= 1 + y98: -1 x68 + x60 = 0 + y99: -1 x69 + x61 = 0 + y100: -1 x70 + x62 = 0 + y101: -1 x71 + x63 = 0 + y102: -1 x72 + x64 = 0 + y103: -1 x73 + x65 = 0 + y104: -1 x74 + x66 = 0 + y105: + x74 >= 1 + y106: + x67 + x69 + x71 + x73 = 1 + y107: + x68 + x70 + x72 + x74 = 1 + +Bounds + 0 <= ~r_1 <= + inf + 0 <= ~r_2 <= + inf + 0 <= ~r_3 <= + inf + 0 <= ~r_4 <= 10 + 0 <= ~r_5 <= + inf + 0 <= ~r_6 <= + inf + 0 <= ~r_7 <= + inf + 0 <= ~r_8 <= + inf + 0 <= ~r_9 <= + inf + 0 <= ~r_10 <= + inf + 0 <= ~r_11 <= + inf + 0 <= ~r_12 <= + inf + 0 <= ~r_13 <= 10 + 0 <= ~r_14 <= 10 + 0 <= ~r_15 <= + inf + 0 <= ~r_16 <= + inf + 0 <= ~r_17 <= 10 + 0 <= ~r_18 <= + inf + 0 <= ~r_19 <= + inf + 0 <= ~r_20 <= + inf + 0 <= ~r_21 <= + inf + 0 <= ~r_22 <= + inf + 0 <= ~r_23 <= + inf + 0 <= ~r_24 <= 10 + 0 <= ~r_25 <= + inf + 0 <= ~r_26 <= + inf + 0 <= ~r_27 <= + inf + 0 <= ~r_28 <= + inf + 0 <= ~r_29 <= + inf + 0 <= ~r_30 <= + inf + 0 <= ~r_31 <= + inf + 0 <= ~r_32 <= + inf + 0 <= ~r_33 <= + inf + 0 <= ~r_34 <= + inf + 0 <= ~r_35 <= + inf + 0 <= ~r_36 <= + inf + 0 <= ~r_37 <= + inf + 0 <= x1 <= + inf + 0 <= x2 <= + inf + 0 <= x3 <= + inf + 0 <= x4 <= + inf + 0 <= x5 <= + inf + 0 <= x6 <= + inf + 0 <= x7 <= 10 + 0 <= x8 <= 10 + 0 <= x9 <= + inf + 0 <= x10 <= + inf + 0 <= x11 <= + inf + 0 <= x12 <= + inf + 0 <= x13 <= + inf + 0 <= x14 <= + inf + 0 <= x15 <= + inf + 0 <= x16 <= + inf + 0 <= x17 <= + inf + 0 <= x18 <= + inf + 0 <= x19 <= + inf + 0 <= x20 <= + inf + 0 <= x21 <= + inf + 0 <= x22 <= + inf + 0 <= x23 <= + inf + 0 <= x24 <= + inf + 0 <= x25 <= 10 + 0 <= x26 <= 10 + 0 <= x27 <= 10 + 0 <= x28 <= 10 + 0 <= x29 <= + inf + 0 <= x30 <= + inf + 0 <= x31 <= + inf + 0 <= x32 <= + inf + 0 <= x33 <= 10 + 0 <= x34 <= 10 + 0 <= x35 <= + inf + 0 <= x36 <= + inf + 0 <= x37 <= + inf + 0 <= x38 <= + inf + 0 <= x39 <= + inf + 0 <= x40 <= + inf + 0 <= x41 <= + inf + 0 <= x42 <= + inf + 0 <= x43 <= + inf + 0 <= x44 <= + inf + 0 <= x45 <= + inf + 0 <= x46 <= + inf + 0 <= x47 <= 10 + 0 <= x48 <= 10 + 0 <= x49 <= + inf + 0 <= x50 <= + inf + 0 <= x51 <= + inf + 0 <= x52 <= + inf + 0 <= x53 <= + inf + 0 <= x54 <= + inf + 0 <= x55 <= + inf + 0 <= x56 <= + inf + 0 <= x57 <= + inf + 0 <= x58 <= + inf + 0 <= x59 <= + inf + 0 <= x60 <= + inf + 0 <= x61 <= + inf + 0 <= x62 <= + inf + 0 <= x63 <= + inf + 0 <= x64 <= + inf + 0 <= x65 <= + inf + 0 <= x66 <= + inf + 0 <= x67 <= 1 + 0 <= x68 <= 0 + 0 <= x69 <= 0 + 0 <= x70 <= 0 + 0 <= x71 <= 0 + 0 <= x72 <= 0 + 0 <= x73 <= 0 + 0 <= x74 <= 1 + +Generals + x1 + x2 + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x13 + x14 + x15 + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + x39 + x40 + x41 + x42 + x43 + x44 + x45 + x46 + x47 + x48 + x49 + x50 + x51 + x52 + x53 + x54 + x55 + x56 + x57 + x58 + x59 + x60 + x61 + x62 + x63 + x64 + x65 + x66 + x67 + x68 + x69 + x70 + x71 + x72 + x73 + x74 + +End diff --git a/test/data/solution_simulation/sample_mission/actualTest/1/multicommodity-min-cost-flow.solution b/test/data/solution_simulation/sample_mission/actualTest/1/multicommodity-min-cost-flow.solution new file mode 100644 index 0000000..70ade18 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/1/multicommodity-min-cost-flow.solution @@ -0,0 +1,51 @@ +Infeasible - objective value 26.00000000 + 5 x8 1 0 + 9 x12 1 0 + 11 x16 1 0 + 13 x18 1 0 + 17 x22 1 0 + 26 x31 1 0 + 27 x32 1 0 + 30 x35 1 0 + 31 x36 1 0 + 32 x37 1 0 + 33 x38 1 0 + 34 x39 1 0 + 35 x40 1 0 + 36 x41 1 0 + 37 x42 1 0 + 38 x47 1 0 + 42 x51 1 0 + 44 x53 1 0 + 46 x55 1 0 + 48 x57 1 0 + 50 x59 1 0 + 52 x61 1 0 + 53 x62 1 0 + 57 x66 1 0 + 58 x67 1 0 + 65 x74 1 0 + 71 ~r_4 1 0 + 73 ~r_6 1 0 +** 74 x13 -1 0 + 75 x14 1 0 + 77 ~r_8 1 0 + 78 ~r_9 1 0 + 80 ~r_11 1 0 + 85 ~r_16 2 0 + 87 ~r_18 2 0 + 88 ~r_19 2 0 + 89 ~r_20 2 0 + 90 ~r_21 2 0 + 91 x43 2 0 + 93 ~r_22 2 0 + 97 ~r_24 1 0 + 99 ~r_26 1 0 + 100 ~r_27 1 0 + 101 ~r_28 1 0 + 102 ~r_29 1 0 + 103 ~r_30 1 0 + 104 ~r_31 2 0 + 106 ~r_33 1 0 + 107 ~r_34 1 0 + 110 ~r_37 1 0 diff --git a/test/data/solution_simulation/sample_mission/actualTest/1/transhipment-flow-network.gexf b/test/data/solution_simulation/sample_mission/actualTest/1/transhipment-flow-network.gexf new file mode 100644 index 0000000..2f8fc3f --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/1/transhipment-flow-network.gexf @@ -0,0 +1,574 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t6 0 \ +0 2" [height=2.1944, + pos="706.5,139", + width=12.111]; + "Tuple: + a: + l2 + b: + t5 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 \ +0 2" [height=2.1944, + pos="706.5,558", + width=12.111]; + "Tuple: + a: + l2 + b: + t5 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t6 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t6 0 \ +0 2" [key="capacity: +inf + (e:28)", + label="capacity: +inf + (e:28)", + lp="744.5,348.5", + pos="e,706.5,218.33 706.5,478.7 706.5,407.43 706.5,302.87 706.5,228.61"]; +"Tuple: + a: + l2 + b: + t4 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 \ +0 2" [height=2.1944, + pos="706.5,962", + width=12.111]; +"Tuple: + a: + l2 + b: + t4 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t5 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:27)", +label="capacity: +inf + (e:27)", +lp="744.5,752.5", +pos="e,706.5,637.15 706.5,882.66 706.5,814.99 706.5,717.74 706.5,647.34"]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [height=3.8611, +pos="983.5,1411", +width=25.361]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 \ +0 2" [key="capacity: +inf + (e:25)", +label="capacity: +inf + (e:25)", +lp="908.5,1186.5", +pos="e,755.32,1041.1 897.56,1271.7 852.88,1199.3 799.63,1113 760.71,1049.9"]; +"Tuple: + a: + base + b: + t4 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563608437e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t4 0 0 2" [height=3.8611, +pos="2073.5,962", +width=25.361]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + base + b: + t4 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563608437e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + (e:26)", +label="capacity: 10 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + (e:26)", +lp="1679,1186.5", +pos="e,1736,1101 1321.3,1271.9 1450.1,1218.8 1597.1,1158.3 1726.7,1104.9"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [height=3.8611, +pos="983.5,1815", +width=25.361]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:24)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:24)", +lp="1036,1620.5", +pos="e,983.5,1550.3 983.5,1676 983.5,1638.7 983.5,1598.2 983.5,1560.4"]; +"Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t1 0 0 2" [height=3.4444, +pos="704.5,2189", +width=19.569]; +"Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:23)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:23)", +lp="914,2009.5", +pos="e,879.67,1954.2 797.02,2065 821.54,2032.1 848.26,1996.3 873.61,1962.3"]; +"Tuple: + a: + l2 + b: + t0 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t0 0 0 2" [height=3.4444, +pos="704.5,2548", +width=19.569]; +"Tuple: + a: + l2 + b: + t0 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t0 0 0 2" -> "Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:22)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:22)", +lp="757,2368.5", +pos="e,704.5,2313.1 704.5,2423.9 704.5,2391.4 704.5,2356.2 704.5,2323.2"]; +"Tuple: + a: + base + b: + t6 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 5.43620548081383048e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [height=3.8611, +pos="2073.5,139", +width=25.361]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563608437e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [height=3.8611, +pos="2073.5,558", +width=25.361]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563608437e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + base + b: + t6 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 5.43620548081383048e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:21)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:21)", +lp="2126,348.5", +pos="e,2073.5,278.09 2073.5,418.77 2073.5,376.88 2073.5,330.75 2073.5,288.24"]; +"Tuple: + a: + base + b: + t4 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563608437e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563608437e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:20)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:20)", +lp="2126,752.5", +pos="e,2073.5,697.29 2073.5,822.97 2073.5,785.67 2073.5,745.19 2073.5,707.36"]; +"Tuple: + a: + base + b: + t3 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [height=2.1944, +pos="2418.5,1411", +width=12.292]; +"Tuple: + a: + base + b: + t3 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + base + b: + t4 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563608437e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:19)", +label="capacity: +inf + (e:19)", +lp="2315.5,1186.5", +pos="e,2180.5,1101.2 2357.6,1331.8 2310.4,1270.3 2243.6,1183.4 2186.7,1109.3"]; +"Tuple: + a: + base + b: + t2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=2.1944, +pos="2476.5,1815", +width=12.292]; +"Tuple: + a: + base + b: + t2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + base + b: + t3 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: +inf + (e:18)", +label="capacity: +inf + (e:18)", +lp="2491.5,1620.5", +pos="e,2429.9,1490.2 2465.1,1735.7 2455.4,1668 2441.4,1570.7 2431.3,1500.3"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="2549.5,2189", +width=31.167]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 1 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:17)", +label="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:17)", +lp="2006,2009.5", +pos="e,1565.6,1954 2030.2,2065 1884.5,2030.2 1725,1992.1 1575.4,1956.4"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + base + b: + t2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + (e:15)", +label="capacity: +inf + (e:15)", +lp="2544.5,2009.5", +pos="e,2483.5,1894.2 2510.6,2064.6 2509.1,2058.7 2507.7,2052.8 2506.5,2047 2496.5,2000.3 2489.3,1947.6 2484.5,1904.2"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 \ +8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [height=3.8611, +pos="4393.5,1815", +width=31.5]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 \ +8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:16)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:16)", +lp="3634,2009.5", +pos="e,3708.1,1954 3161,2065 3333.1,2030.1 3521.5,1991.9 3698.1,1956"]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="2549.5,2548", +width=31.167]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:14)", +label="capacity: +inf + (e:14)", +lp="2587.5,2368.5", +pos="e,2549.5,2313.1 2549.5,2423.9 2549.5,2391.4 2549.5,2356.2 2549.5,2323.2"]; +"Tuple: + a: + l0 + b: + t6 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + (\ +v:13) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 0 2" [height=3.2361, +pos="4946.5,139", +width=24.417]; +"Tuple: + a: + l0 + b: + t5 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.30322047964723775e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 0 2" [height=3.4444, +pos="4580.5,558", +width=31.833]; +"Tuple: + a: + l0 + b: + t5 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.30322047964723775e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l0 + b: + t6 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + (\ +v:13) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:13)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:13)", +lp="4859,348.5", +pos="e,4844.7,255.52 4688.8,433.99 4735.9,380.06 4791,317 4838.1,263.07"]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 0 + (v:11) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [height=4.2778, +pos="4580.5,962", +width=43.778]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 0 + (v:11) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l0 + b: + t5 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.30322047964723775e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:11)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:11)", +lp="4633,752.5", +pos="e,4580.5,682.13 4580.5,807.82 4580.5,769.83 4580.5,729.44 4580.5,692.47"]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (\ +v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" [height=3.2361, +pos="6402.5,558", +width=18.278]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 0 + (v:11) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (\ +v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:12)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:12)", +lp="5707,752.5", +pos="e,5876.9,674.53 5275.2,807.97 5471.4,764.47 5681.7,717.82 5867,676.73"]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 0 + (v:10) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [height=4.2778, +pos="4511.5,1411", +width=43.778]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 0 + (v:10) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 0 + (v:11) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.19161778205152435e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:10)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:10)", +lp="4604,1186.5", +pos="e,4556.8,1116.2 4535.2,1256.8 4541.7,1214.7 4548.7,1168.8 4555.3,1126.2"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 \ +8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l0 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 0 + (v:10) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:9)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:9)", +lp="4512,1620.5", +pos="e,4466.5,1565.2 4434.1,1676 4443.6,1643.5 4453.8,1608.5 4463.6,1575"]; +"Tuple: + a: + l0 + b: + t1 + roles (assigned): + Payload: + 0, 1 + (v:8) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t1 0 0 2" [height=2.8194, +pos="4393.5,2189", +width=18.444]; +"Tuple: + a: + l0 + b: + t1 + roles (assigned): + Payload: + 0, 1 + (v:8) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 \ +8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:8)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:8)", +lp="4446,2009.5", +pos="e,4393.5,1954.2 4393.5,2087.3 4393.5,2049.4 4393.5,2005.6 4393.5,1964.4"]; +"Tuple: + a: + l0 + b: + t0 + roles (assigned): + Payload: + 0, 1 + (v:7) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t0 0 0 2" [height=2.8194, +pos="4393.5,2548", +width=18.444]; +"Tuple: + a: + l0 + b: + t0 + roles (assigned): + Payload: + 0, 1 + (v:7) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t0 0 0 2" -> "Tuple: + a: + l0 + b: + t1 + roles (assigned): + Payload: + 0, 1 + (v:8) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:7)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:7)", +lp="4446,2368.5", +pos="e,4393.5,2290.5 4393.5,2446.1 4393.5,2400.7 4393.5,2347.1 4393.5,2300.7"]; +"Tuple: + a: + l1 + b: + t6 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 \ +0 2" [height=2.1944, +pos="6402.5,139", +width=12.111]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (\ +v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l0 + b: + t6 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0 + (\ +v:13) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (e:6)", +label="capacity: 10 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (e:6)", +lp="5900,348.5", +pos="e,5351.4,255.53 5997.4,441.42 5799.1,384.36 5560.7,315.77 5361.2,258.34"]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (\ +v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l1 + b: + t6 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 \ +0 2" [key="capacity: +inf + (e:5)", +label="capacity: +inf + (e:5)", +lp="6440.5,348.5", +pos="e,6402.5,218.02 6402.5,441.29 6402.5,373.85 6402.5,290.34 6402.5,228.19"]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [height=2.8194, +pos="6618.5,962", +width=12.319]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (\ +v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:4)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:4)", +lp="6575,752.5", +pos="e,6464.9,674.72 6564.1,860.31 6535.5,806.73 6500.1,740.53 6469.7,683.75"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:3) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [height=2.8194, +pos="6618.5,1411", +width=12.319]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:3) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:3)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:3)", +lp="6671,1186.5", +pos="e,6618.5,1063.6 6618.5,1309.4 6618.5,1239.2 6618.5,1145.9 6618.5,1073.7"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:2) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="6618.5,1815", +width=12.319]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:2) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:3) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:2)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:2)", +lp="6671,1620.5", +pos="e,6618.5,1512.7 6618.5,1713.3 6618.5,1655.3 6618.5,1582.5 6618.5,1522.9"]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="6618.5,2189", +width=19.569]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:2) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:1)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:1)", +lp="6671,2009.5", +pos="e,6618.5,1916.6 6618.5,2065 6618.5,2020.3 6618.5,1970.2 6618.5,1926.6"]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="6618.5,2548", +width=19.569]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:0)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:0)", +lp="6671,2368.5", +pos="e,6618.5,2313.1 6618.5,2423.9 6618.5,2391.4 6618.5,2356.2 6618.5,2323.2"]; +} diff --git a/test/data/solution_simulation/sample_mission/actualTest/1/transport-network-solution-1.gexf b/test/data/solution_simulation/sample_mission/actualTest/1/transport-network-solution-1.gexf new file mode 100644 index 0000000..faed3c1 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/1/transport-network-solution-1.gexf @@ -0,0 +1,574 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/search-statistics.log b/test/data/solution_simulation/sample_mission/actualTest/search-statistics.log new file mode 100644 index 0000000..f6b4aca --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/search-statistics.log @@ -0,0 +1,3 @@ +# session alpha beta sigma efficacy efficiency safety timehorizon travel-distance reconfiguration-cost overall-runtime solution-runtime solution-runtime-mean solution-runtime-stdev solution-found solution-stopped propagate fail node depth restart nogood flaws cost +0 1 1 1 1 1.03086 0.169076 12796.9 4828.43 1740 52.7297 52.7296 52.7296 0 1 0 602 0 18 17 0 0 4 4 +1 1 1 1 1 1.26031 0.675139 15645.3 6242.64 3120 83.2328 30.4654 41.5975 11.1321 1 0 1187 0 36 17 1 0 4 4 diff --git a/test/data/solution_simulation/sample_mission/actualTest/solution_analysis.log b/test/data/solution_simulation/sample_mission/actualTest/solution_analysis.log new file mode 100644 index 0000000..0fa85eb --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/solution_analysis.log @@ -0,0 +1,3 @@ +# [session-id] [alpha] [beta] [sigma] [efficacy] [efficiency in kWh] [safety] [timehorizon in s] [travel-distance in m] [reconfiguration-cost in s] [number of agents] [number of mobile agents] +0 1 1 1 1 1.03086 0.169076 12796.9 4828.43 1740 4 2 +1 1 1 1 1 1.26031 0.675139 15645.3 6242.64 3120 4 2 diff --git a/test/data/solution_simulation/sample_mission/actualTest/spec/mission.xml b/test/data/solution_simulation/sample_mission/actualTest/spec/mission.xml new file mode 100644 index 0000000..aa24a9c --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/spec/mission.xml @@ -0,0 +1,175 @@ + + + Actual example mission + + http://www.rock-robotics.org/2015/12/projects/TransTerrA + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 2 + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 3 + + + + + + l1 + 0 + 1000 + 0 + + + l0 + 1000 + 0 + 0 + + + base + 0 + 0 + 0 + + + l2 + 1000 + 1000 + 0 + + + + + + + base + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 3 + + + + + + + l1 + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 1 + + + + + + + l2 + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 1 + + + + + + + l0 + + + + t2 + t4 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + l0 + + + + t3 + t5 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 2 + + + + + + + base + + + + t4 + t6 + + + + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + 1 + + + + + + + l2 + + + + t2 + t3 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/specs/configuration.xml b/test/data/solution_simulation/sample_mission/actualTest/specs/configuration.xml new file mode 100644 index 0000000..9a76430 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/specs/configuration.xml @@ -0,0 +1,6 @@ + + + + 2 + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/specs/mission.xml b/test/data/solution_simulation/sample_mission/actualTest/specs/mission.xml new file mode 100644 index 0000000..aa24a9c --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/specs/mission.xml @@ -0,0 +1,175 @@ + + + Actual example mission + + http://www.rock-robotics.org/2015/12/projects/TransTerrA + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 2 + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 3 + + + + + + l1 + 0 + 1000 + 0 + + + l0 + 1000 + 0 + 0 + + + base + 0 + 0 + 0 + + + l2 + 1000 + 1000 + 0 + + + + + + + base + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 3 + + + + + + + l1 + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 1 + + + + + + + l2 + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 1 + + + + + + + l0 + + + + t2 + t4 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + l0 + + + + t3 + t5 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 2 + + + + + + + base + + + + t4 + t6 + + + + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + 1 + + + + + + + l2 + + + + t2 + t3 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/actualTest/specs/moreorg.owl b/test/data/solution_simulation/sample_mission/actualTest/specs/moreorg.owl new file mode 100644 index 0000000..4ff9d86 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/actualTest/specs/moreorg.owl @@ -0,0 +1,5148 @@ + + + + + + + + + + + + + + + + + + + + + + + + + 0.01 + + + 0.15 + + + 0.75 + + + 1.0 + + + 1000000000.0 + + + 1.0 + + + 1.0E-5 + + + 100.0 + + + 1000000.0 + + + 1.5 + + + 0.000001 + + + 1000.0 + + + 0.001 + + + 0.000000001 + + + 10.0 + + + 2.0 + + + true + + + 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a/test/data/solution_simulation/sample_mission/test1/0/multicommodity-min-cost-flow-init.gexf b/test/data/solution_simulation/sample_mission/test1/0/multicommodity-min-cost-flow-init.gexf new file mode 100644 index 0000000..aea8515 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test1/0/multicommodity-min-cost-flow-init.gexf @@ -0,0 +1,517 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test1/0/multicommodity-min-cost-flow.gexf b/test/data/solution_simulation/sample_mission/test1/0/multicommodity-min-cost-flow.gexf new file mode 100644 index 0000000..aea8515 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test1/0/multicommodity-min-cost-flow.gexf @@ -0,0 +1,517 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test1/0/multicommodity-min-cost-flow.problem b/test/data/solution_simulation/sample_mission/test1/0/multicommodity-min-cost-flow.problem new file mode 100644 index 0000000..732439c --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test1/0/multicommodity-min-cost-flow.problem @@ -0,0 +1,91 @@ +\* Problem: multicommodity_min_cost_flow-20210823-14:20:09:467422+0200 *\ +Minimize + obj: + +Subject To + y1: - ~r_1 = 0 + y2: - ~r_2 = 0 + y3: - ~r_3 = 0 + y4: - ~r_4 = 0 + y5: - ~r_5 = 0 + y6: - ~r_6 = 0 + y7: - ~r_7 = 0 + y8: - ~r_8 = 0 + y9: - ~r_9 = 0 + y10: - ~r_10 = 0 + y11: - ~r_11 = 0 + y12: - ~r_12 = 0 + y13: - ~r_13 = 0 + y14: - ~r_14 = 0 + y15: - ~r_15 = 0 + y16: - ~r_16 = 0 + y17: - ~r_17 = 0 + y18: - ~r_18 = 0 + y19: - ~r_19 = 0 + y20: - ~r_20 = 0 + y21: - ~r_21 = 0 + y22: - ~r_22 = 0 + y23: - ~r_23 = 0 + y24: - ~r_24 = 0 + y25: - ~r_25 = 0 + y26: - ~r_26 = 0 + y27: - ~r_27 = 0 + y28: - ~r_28 = 0 + y29: - ~r_29 = 0 + y30: - ~r_30 = 0 + y31: - ~r_31 = 0 + y32: - ~r_32 = 0 + y33: - ~r_33 = 0 + y34: - ~r_34 = 0 + y35: - ~r_35 = 0 + y36: - ~r_36 = 0 + y37: - ~r_37 = 0 + y38: - ~r_38 = 0 + y39: - ~r_39 = 0 + y40: - ~r_40 = 0 + +Bounds + 0 <= ~r_1 <= 4 + 0 <= ~r_2 <= + inf + 0 <= ~r_3 <= + inf + 0 <= ~r_4 <= + inf + 0 <= ~r_5 <= + inf + 0 <= ~r_6 <= + inf + 0 <= ~r_7 <= + inf + 0 <= ~r_8 <= + inf + 0 <= ~r_9 <= + inf + 0 <= ~r_10 <= 10 + 0 <= ~r_11 <= 14 + 0 <= ~r_12 <= + inf + 0 <= ~r_13 <= + inf + 0 <= ~r_14 <= + inf + 0 <= ~r_15 <= + inf + 0 <= ~r_16 <= + inf + 0 <= ~r_17 <= + inf + 0 <= ~r_18 <= 14 + 0 <= ~r_19 <= + inf + 0 <= ~r_20 <= 4 + 0 <= ~r_21 <= + inf + 0 <= ~r_22 <= + inf + 0 <= ~r_23 <= + inf + 0 <= ~r_24 <= 24 + 0 <= ~r_25 <= 10 + 0 <= ~r_26 <= + inf + 0 <= ~r_27 <= + inf + 0 <= ~r_28 <= 24 + 0 <= ~r_29 <= + inf + 0 <= ~r_30 <= + inf + 0 <= ~r_31 <= + inf + 0 <= ~r_32 <= + inf + 0 <= ~r_33 <= + inf + 0 <= ~r_34 <= + inf + 0 <= ~r_35 <= + inf + 0 <= ~r_36 <= + inf + 0 <= ~r_37 <= + inf + 0 <= ~r_38 <= + inf + 0 <= ~r_39 <= + inf + 0 <= ~r_40 <= + inf + +Generals + +End diff --git a/test/data/solution_simulation/sample_mission/test1/0/multicommodity-min-cost-flow.solution b/test/data/solution_simulation/sample_mission/test1/0/multicommodity-min-cost-flow.solution new file mode 100644 index 0000000..2888d82 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test1/0/multicommodity-min-cost-flow.solution @@ -0,0 +1,41 @@ +Optimal - objective value 0.00000000 + 0 ~r_1 0 0 + 1 ~r_2 0 0 + 2 ~r_3 0 0 + 3 ~r_4 0 0 + 4 ~r_5 0 0 + 5 ~r_6 0 0 + 6 ~r_7 0 0 + 7 ~r_8 0 0 + 8 ~r_9 0 0 + 9 ~r_10 0 0 + 10 ~r_11 0 0 + 11 ~r_12 0 0 + 12 ~r_13 0 0 + 13 ~r_14 0 0 + 14 ~r_15 0 0 + 15 ~r_16 0 0 + 16 ~r_17 0 0 + 17 ~r_18 0 0 + 18 ~r_19 0 0 + 19 ~r_20 0 0 + 20 ~r_21 0 0 + 21 ~r_22 0 0 + 22 ~r_23 0 0 + 23 ~r_24 0 0 + 24 ~r_25 0 0 + 25 ~r_26 0 0 + 26 ~r_27 0 0 + 27 ~r_28 0 0 + 28 ~r_29 0 0 + 29 ~r_30 0 0 + 30 ~r_31 0 0 + 31 ~r_32 0 0 + 32 ~r_33 0 0 + 33 ~r_34 0 0 + 34 ~r_35 0 0 + 35 ~r_36 0 0 + 36 ~r_37 0 0 + 37 ~r_38 0 0 + 38 ~r_39 0 0 + 39 ~r_40 0 0 diff --git a/test/data/solution_simulation/sample_mission/test1/0/templ-mission-relations.dot b/test/data/solution_simulation/sample_mission/test1/0/templ-mission-relations.dot new file mode 100644 index 0000000..397e67d --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test1/0/templ-mission-relations.dot @@ -0,0 +1,573 @@ +digraph GraphvizGraph { + graph [bb="0,0,4221,490", + concentrate=false, + dpi="96,0", + overlap=false, + pad="0,2", + root="PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:13)", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:13)" [height=2.4028, + pos="190,403.5", + width=5.2778]; + " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII + minCardinality: 1 + maxCardinality: 18446744073709551615 + + \ +http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 2 + maxCardinality: 18446744073709551615 + + (\ +v:12)" [height=3.6944, + pos="784,133", + width=5.0694]; + "PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:13)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII + minCardinality: 1 + maxCardinality: 18446744073709551615 + + \ +http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 2 + maxCardinality: 18446744073709551615 + + (\ +v:12)" [key="inducedBy (e:9)", + label="inducedBy (e:9)", + lp="496,291.5", + pos="e,601.27,216.21 379.99,316.98 447.8,286.1 524.2,251.31 592.17,220.36"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:11)" [height=2.4028, + pos="588,403.5", + width=5.2778]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:11)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII + minCardinality: 1 + maxCardinality: 18446744073709551615 + + \ +http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 2 + maxCardinality: 18446744073709551615 + + (\ +v:12)" [key="inducedBy (e:8)", +label="inducedBy (e:8)", +lp="719,291.5", +pos="e,687.62,266.02 650.82,316.8 660.65,303.23 671.02,288.92 681.47,274.51"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 2 + restriction: \ +MIN + @[t0,t1) (v:10)" [height=2.4028, +pos="979,403.5", +width=5.0694]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 2 + restriction: \ +MIN + @[t0,t1) (v:10)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII + minCardinality: 1 + maxCardinality: 18446744073709551615 + + \ +http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 2 + maxCardinality: 18446744073709551615 + + (\ +v:12)" [key="inducedBy (e:7)", +label="inducedBy (e:7)", +lp="943,291.5", +pos="e,879.89,266.02 916.5,316.8 906.72,303.23 896.4,288.92 886.01,274.51"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:9)" [height=2.4028, +pos="1362,403.5", +width=5.0694]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:9)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII + minCardinality: 1 + maxCardinality: 18446744073709551615 + + \ +http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 2 + maxCardinality: 18446744073709551615 + + (\ +v:12)" [key="inducedBy (e:6)", +label="inducedBy (e:6)", +lp="1169,291.5", +pos="e,966.68,218.5 1179.1,317.91 1114.4,287.61 1041.4,253.44 975.87,222.79"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 1 + restriction: \ +MIN + @[t2,t4) (v:8)" [height=2.4028, +pos="1776,403.5", +width=5.9306]; +" +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t2 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:7)" [height=2.8472, +pos="1998,133", +width=5.7222]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 1 + restriction: \ +MIN + @[t2,t4) (v:8)" -> " +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t2 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:7)" [key="inducedBy (e:5)", +label="inducedBy (e:5)", +lp="1918,291.5", +pos="e,1913.7,235.74 1847.2,316.8 1866.3,293.51 1887.2,268.01 1907.2,243.62"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t4) (v:6)" [height=2.4028, +pos="2221,403.5", +width=5.9306]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t4) (v:6)" -> " +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t2 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:7)" [key="inducedBy (e:4)", +label="inducedBy (e:4)", +lp="2174,291.5", +pos="e,2082.7,235.74 2149.5,316.8 2130.3,293.51 2109.3,268.01 2089.2,243.62"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l3 + cardinality: 1 + restriction: \ +MIN + @[t3,t5) (v:5)" [height=2.4028, +pos="2657,403.5", +width=5.6806]; +" +SpatioTemporalRequirement (id:2) + SpatialRequirement: + Location: l3 +TemporalRequirement: + from: t3 + to: t5 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:4)" [height=2.8472, +pos="2870,133", +width=5.4722]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l3 + cardinality: 1 + restriction: \ +MIN + @[t3,t5) (v:5)" -> " +SpatioTemporalRequirement (id:2) + SpatialRequirement: + Location: l3 +TemporalRequirement: + from: t3 + to: t5 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:4)" [key="inducedBy (e:3)", +label="inducedBy (e:3)", +lp="2795,291.5", +pos="e,2789.1,235.74 2725.3,316.8 2743.6,293.51 2763.7,268.01 2782.9,243.62"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l3 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t3,t5) (v:3)" [height=2.4028, +pos="3084,403.5", +width=5.6806]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l3 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t3,t5) (v:3)" -> " +SpatioTemporalRequirement (id:2) + SpatialRequirement: + Location: l3 +TemporalRequirement: + from: t3 + to: t5 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:4)" [key="inducedBy (e:2)", +label="inducedBy (e:2)", +lp="3041,291.5", +pos="e,2951.3,235.74 3015.4,316.8 2997,293.51 2976.8,268.01 2957.5,243.62"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ManipulationProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 1 + restriction: \ +MIN + @[t2,t3) (v:2)" [height=2.4028, +pos="3531,403.5", +width=6.2222]; +" +SpatioTemporalRequirement (id:3) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t2 + to: t3 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ManipulationProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:1)" [height=2.8472, +pos="3764,133", +width=6.0139]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ManipulationProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 1 + restriction: \ +MIN + @[t2,t3) (v:2)" -> " +SpatioTemporalRequirement (id:3) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t2 + to: t3 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ManipulationProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:1)" [key="inducedBy (e:1)", +label="inducedBy (e:1)", +lp="3678,291.5", +pos="e,3675.5,235.74 3605.7,316.8 3625.7,293.51 3647.7,268.01 3668.7,243.62"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ManipulationProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t3) (v:0)" [height=2.4028, +pos="3997,403.5", +width=6.2222]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ManipulationProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t3) (v:0)" -> " +SpatioTemporalRequirement (id:3) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t2 + to: t3 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ManipulationProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:1)" [key="inducedBy (e:0)", +label="inducedBy (e:0)", +lp="3946,291.5", +pos="e,3852.5,235.74 3922.3,316.8 3902.3,293.51 3880.3,268.01 3859.3,243.62"]; +} diff --git a/test/data/solution_simulation/sample_mission/test1/0/transhipment-flow-network.gexf b/test/data/solution_simulation/sample_mission/test1/0/transhipment-flow-network.gexf new file mode 100644 index 0000000..e9211cb --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test1/0/transhipment-flow-network.gexf @@ -0,0 +1,595 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test1/0/transport-network-solution-0.dot b/test/data/solution_simulation/sample_mission/test1/0/transport-network-solution-0.dot new file mode 100644 index 0000000..abbe9f4 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test1/0/transport-network-solution-0.dot @@ -0,0 +1,1915 @@ +digraph GraphvizGraph { + graph [bb="0,0,6468.5,2492", + concentrate=false, + dpi="96,0", + overlap=false, + pad="0,2", + root="Tuple: + a: + l3 + b: + t6 + roles (assigned): + Sherpa: + 0 + (v:27) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+02 5.00000000000000000e+02 0.00000000000000000e+\ +00 2 l3 8 LOCATION 0 0 2 t6 0 0 2", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "Tuple: + a: + l3 + b: + t6 + roles (assigned): + Sherpa: + 0 + (v:27) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+02 5.00000000000000000e+02 0.00000000000000000e+\ +00 2 l3 8 LOCATION 0 0 2 t6 0 0 2" [height=2.8194, + pos="3319,101.5", + width=12.153]; + "Tuple: + a: + l3 + b: + t5 + roles (assigned): + CoyoteIII: + 0 + roles (required): + \ +CoyoteIII: + 0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.93824107038437599e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 8 required 1 0 5 \ +http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+\ +02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t5 0 0 2" [height=3.4444, + pos="2345,438", + width=20.25]; + "Tuple: + a: + l3 + b: + t5 + roles (assigned): + CoyoteIII: + 0 + roles (required): + \ +CoyoteIII: + 0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.93824107038437599e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 8 required 1 0 5 \ +http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+\ +02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l3 + b: + t6 + roles (assigned): + Sherpa: + 0 + (v:27) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+02 5.00000000000000000e+02 0.00000000000000000e+\ +00 2 l3 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:30)", + label="capacity: +inf + (e:30)", + lp="2986,258.5", + pos="e,3025,203.07 2704.2,313.89 2806.5,278.56 2916.9,240.42 3015.5,206.35"]; +"Tuple: + a: + l1 + b: + t6 + roles (assigned): + CoyoteIII: + 0 + (v:13) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //\ +www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 \ +1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 0 2" [height=2.8194, + pos="2372,101.5", + width=12.653]; +"Tuple: + a: + l3 + b: + t5 + roles (assigned): + CoyoteIII: + 0 + roles (required): + \ +CoyoteIII: + 0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.93824107038437599e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 8 required 1 0 5 \ +http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+\ +02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l1 + b: + t6 + roles (assigned): + CoyoteIII: + 0 + (v:13) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //\ +www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 \ +1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: 4 + roles (assigned): + CoyoteIII: + 0 + (e:31)", +label="capacity: 4 + roles (assigned): + CoyoteIII: + 0 + (e:31)", +lp="2414.5,258.5", +pos="e,2363.9,203.06 2355,313.66 2357.6,280.8 2360.4,245.54 2363,213.38"]; +"Tuple: + a: + l3 + b: + t4 + roles (assigned): + CoyoteIII: + 0 + roles (required): + \ +CoyoteIII: + 0 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.95979727015376071e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 8 required 1 0 5 \ +http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+\ +02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t4 0 0 2" [height=3.4444, +pos="729,797", +width=20.25]; +"Tuple: + a: + l3 + b: + t4 + roles (assigned): + CoyoteIII: + 0 + roles (required): + \ +CoyoteIII: + 0 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.95979727015376071e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 8 required 1 0 5 \ +http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+\ +02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l3 + b: + t5 + roles (assigned): + CoyoteIII: + 0 + roles (required): + \ +CoyoteIII: + 0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.93824107038437599e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 8 required 1 0 5 \ +http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+\ +02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + (e:29)", +label="capacity: +inf + (e:29)", +lp="1622,617.5", +pos="e,1668,562.02 1195,672.96 1320.9,641.04 1457.3,607.86 1584,580 1608.3,574.66 1633,569.36 1658,564.1"]; +"Tuple: + a: + l3 + b: + t3 + roles (assigned): + CoyoteIII: + 0 + roles (required): + \ +CoyoteIII: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.92848558704386264e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 8 required 1 0 5 \ +http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+\ +02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t3 0 0 2" [height=3.4444, +pos="729,1156", +width=20.25]; +"Tuple: + a: + l3 + b: + t3 + roles (assigned): + CoyoteIII: + 0 + roles (required): + \ +CoyoteIII: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.92848558704386264e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 8 required 1 0 5 \ +http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+\ +02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l3 + b: + t4 + roles (assigned): + CoyoteIII: + 0 + roles (required): + \ +CoyoteIII: + 0 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.95979727015376071e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 8 required 1 0 5 \ +http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+\ +02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:28)", +label="capacity: +inf + (e:28)", +lp="767,976.5", +pos="e,729,921.06 729,1031.9 729,999.44 729,964.24 729,931.23"]; +"Tuple: + a: + l3 + b: + t2 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 5.00000000000000000e+02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t2 0 \ +0 2" [height=2.1944, +pos="729,1530", +width=12.111]; +"Tuple: + a: + l3 + b: + t2 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 5.00000000000000000e+02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t2 0 \ +0 2" -> "Tuple: + a: + l3 + b: + t3 + roles (assigned): + CoyoteIII: + 0 + roles (required): + \ +CoyoteIII: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.92848558704386264e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 8 required 1 0 5 \ +http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+\ +02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:27)", +label="capacity: +inf + (e:27)", +lp="767,1335.5", +pos="e,729,1280.1 729,1450.7 729,1404.2 729,1344.1 729,1290.4"]; +"Tuple: + a: + l3 + b: + t1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 5.00000000000000000e+02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t1 0 \ +0 2" [height=2.1944, +pos="729,1964", +width=12.111]; +"Tuple: + a: + l3 + b: + t1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 5.00000000000000000e+02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t1 0 \ +0 2" -> "Tuple: + a: + l3 + b: + t2 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 5.00000000000000000e+02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t2 0 \ +0 2" [key="capacity: +inf + (e:26)", +label="capacity: +inf + (e:26)", +lp="767,1739.5", +pos="e,729,1609.3 729,1884.9 729,1810 729,1697.7 729,1619.6"]; +"Tuple: + a: + l3 + b: + t0 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 5.00000000000000000e+02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t0 0 \ +0 2" [height=2.1944, +pos="729,2338", +width=12.111]; +"Tuple: + a: + l3 + b: + t0 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 5.00000000000000000e+02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t0 0 \ +0 2" -> "Tuple: + a: + l3 + b: + t1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 5.00000000000000000e+02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t1 0 \ +0 2" [key="capacity: +inf + (e:25)", +label="capacity: +inf + (e:25)", +lp="767,2151", +pos="e,729,2043.2 729,2258.7 729,2198.6 729,2115.9 729,2053.4"]; +"Tuple: + a: + l0 + b: + t6 + roles (assigned): + Sherpa: + 1 + (v:20) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t6 0 0 2" [height=2.8194, +pos="4555,101.5", +width=12.153]; +"Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [height=2.1944, +pos="4871,438", +width=12.111]; +"Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t6 + roles (assigned): + Sherpa: + 1 + (v:20) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:24)", +label="capacity: +inf + (e:24)", +lp="4770,258.5", +pos="e,4650.6,203.27 4796.5,358.68 4755,314.51 4702.8,258.86 4657.5,210.64"]; +"Tuple: + a: + l0 + b: + t4 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t4 0 \ +0 2" [height=2.1944, +pos="4899,797", +width=12.111]; +"Tuple: + a: + l0 + b: + t4 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t4 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:23)", +label="capacity: +inf + (e:23)", +lp="4925,617.5", +pos="e,4877.2,517.03 4892.8,717.77 4888.4,661.36 4882.5,585.49 4877.9,527"]; +"Tuple: + a: + l0 + b: + t3 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t3 0 \ +0 2" [height=2.1944, +pos="4913,1156", +width=12.111]; +"Tuple: + a: + l0 + b: + t3 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t3 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t4 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t4 0 \ +0 2" [key="capacity: +inf + (e:22)", +label="capacity: +inf + (e:22)", +lp="4945,976.5", +pos="e,4902.1,876.03 4909.9,1076.8 4907.7,1020.5 4904.8,944.81 4902.5,886.36"]; +"Tuple: + a: + l0 + b: + t2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 \ +0 2" [height=2.1944, +pos="4922,1530", +width=12.111]; +"Tuple: + a: + l0 + b: + t2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t3 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t3 0 \ +0 2" [key="capacity: +inf + (e:21)", +label="capacity: +inf + (e:21)", +lp="4956,1335.5", +pos="e,4914.9,1235.2 4920.1,1450.7 4918.6,1390.6 4916.7,1307.9 4915.2,1245.4"]; +"Tuple: + a: + l0 + b: + t1 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 0, \ +1 + roles (required): + CoyoteIII: + 0 + Sherpa: + 0, 1 + (v:15) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/\ +2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#\ +CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" [height=4.2778, +pos="4880,1964", +width=44.125]; +"Tuple: + a: + l0 + b: + t1 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 0, \ +1 + roles (required): + CoyoteIII: + 0 + Sherpa: + 0, 1 + (v:15) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/\ +2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#\ +CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 \ +0 2" [key="capacity: +inf + (e:18)", +label="capacity: +inf + (e:18)", +lp="4943,1739.5", +pos="e,4914.3,1609.2 4894.9,1809.8 4901.1,1745.9 4908.1,1674.1 4913.4,1619.2"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.56000000000000000e+03 6 safety 6.56186808925193432e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_\ +0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/\ +01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [height=3.8611, +pos="3542,1530", +width=25.708]; +"Tuple: + a: + l0 + b: + t1 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 0, \ +1 + roles (required): + CoyoteIII: + 0 + Sherpa: + 0, 1 + (v:15) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/\ +2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#\ +CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.56000000000000000e+03 6 safety 6.56186808925193432e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_\ +0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/\ +01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 14 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 1 + (e:19)", +label="capacity: 14 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 1 + (e:19)", +lp="4383.5,1739.5", +pos="e,3970.6,1669 4405,1809.9 4266.7,1765.1 4116.3,1716.3 3980.3,1672.2"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.93227612041854846e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [height=3.4444, +pos="1906,1530", +width=19.236]; +"Tuple: + a: + l0 + b: + t1 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 0, \ +1 + roles (required): + CoyoteIII: + 0 + Sherpa: + 0, 1 + (v:15) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/\ +2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#\ +CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.93227612041854846e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:20)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:20)", +lp="3962.5,1739.5", +pos="e,2492.9,1654 4039,1810 3695.7,1747.3 3373.6,1689 3354,1687 3023.6,1653.2 2937.1,1705.4 2607,1669 2572.9,1665.2 2538,1660.7 2502.8,\ +1655.5"]; +"Tuple: + a: + l0 + b: + t0 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 0, \ +1 + roles (required): + CoyoteIII: + 0 + Sherpa: + 0, 1 + (v:14) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/\ +2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#\ +CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t0 0 0 2" [height=4.2778, +pos="4880,2338", +width=44.125]; +"Tuple: + a: + l0 + b: + t0 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 0, \ +1 + roles (required): + CoyoteIII: + 0 + Sherpa: + 0, 1 + (v:14) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/\ +2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#\ +CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l0 + b: + t1 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 0, \ +1 + roles (required): + CoyoteIII: + 0 + Sherpa: + 0, 1 + (v:15) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/\ +2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#\ +CoyoteIII 0 11 CoyoteIII_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:17)", +label="capacity: +inf + (e:17)", +lp="4918,2151", +pos="e,4880,2118.1 4880,2184 4880,2165.6 4880,2146.9 4880,2128.4"]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + (v:12) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t5 0 0 2" [height=2.8194, +pos="3744,438", +width=18.111]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + (v:12) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t5 0 0 2" -> "Tuple: + a: + l3 + b: + t6 + roles (assigned): + Sherpa: + 0 + (v:27) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+02 5.00000000000000000e+02 0.00000000000000000e+\ +00 2 l3 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:15)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:15)", +lp="3648.5,258.5", +pos="e,3483.6,203.04 3641.5,336.3 3601.3,298.41 3553.8,256.12 3508,221 3502.7,216.96 3497.3,212.92 3491.8,208.9"]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + (v:12) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t5 0 0 2" -> "Tuple: + a: + l0 + b: + t6 + roles (assigned): + Sherpa: + 1 + (v:20) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: 24 + roles (assigned): + Sherpa: + 1 + (e:16)", +label="capacity: 24 + roles (assigned): + Sherpa: + 1 + (e:16)", +lp="4298.5,258.5", +pos="e,4310.2,203.08 3988.7,336.47 4087.4,295.52 4201.3,248.27 4300.9,206.93"]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + (v:12) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t5 0 0 2" -> "Tuple: + a: + l1 + b: + t6 + roles (assigned): + CoyoteIII: + 0 + (v:13) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //\ +www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 \ +1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:14)", +label="capacity: +inf + (e:14)", +lp="3345,258.5", +pos="e,2827.8,195.71 3451.8,336.48 3323.2,295.18 3169.5,250.36 3028,221 2959.7,206.82 2940.9,213.95 2872,203 2860.8,201.21 2849.4,199.35 \ +2837.9,197.42"]; +"Tuple: + a: + l1 + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 \ +0 2" [height=2.1944, +pos="3744,797", +width=12.111]; +"Tuple: + a: + l1 + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 \ +0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + (v:12) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t5 0 0 2" [key="capacity: +inf + (e:13)", +label="capacity: +inf + (e:13)", +lp="3782,617.5", +pos="e,3744,539.57 3744,717.77 3744,668.4 3744,604.12 3744,549.63"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Sherpa: + 1 + roles (required): + Sherpa: + \ +1 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.48067284568475821e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [height=3.4444, +pos="3572,1156", +width=19.236]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Sherpa: + 1 + roles (required): + Sherpa: + \ +1 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.48067284568475821e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 \ +0 2" [key="capacity: +inf + (e:11)", +label="capacity: +inf + (e:11)", +lp="3712,976.5", +pos="e,3706.1,876.1 3631.4,1031.9 3654.6,983.7 3680.5,929.52 3701.7,885.36"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.18067246795692626e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 \ +0 0 2" [height=3.4444, +pos="2383,797", +width=25.194]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Sherpa: + 1 + roles (required): + Sherpa: + \ +1 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.48067284568475821e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.18067246795692626e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: 14 + roles (assigned): + Sherpa: + 1 + (e:12)", +label="capacity: 14 + roles (assigned): + Sherpa: + 1 + (e:12)", +lp="3136.5,976.5", +pos="e,2793.9,921.06 3161.1,1031.9 3045.6,997.06 2919.8,959.07 2803.6,924"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.56000000000000000e+03 6 safety 6.56186808925193432e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_\ +0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/\ +01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l3 + b: + t3 + roles (assigned): + CoyoteIII: + 0 + roles (required): + \ +CoyoteIII: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.92848558704386264e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 8 required 1 0 5 \ +http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_0 +tuple 22 serialization::archive 15 0 0 5.00000000000000000e+\ +02 5.00000000000000000e+02 0.00000000000000000e+00 2 l3 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: 4 + roles (assigned): + CoyoteIII: + 0 + (e:10)", +label="capacity: 4 + roles (assigned): + CoyoteIII: + 0 + (e:10)", +lp="2740.5,1335.5", +pos="e,1458.3,1279.1 2824.7,1391 2608.3,1354.4 2369.7,1319.2 2149,1298 1850.6,1269.3 1770.6,1308.3 1468.6,1280.1"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.56000000000000000e+03 6 safety 6.56186808925193432e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_\ +0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/\ +01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l1 + b: + t3 + roles (assigned): + Sherpa: + 1 + roles (required): + Sherpa: + \ +1 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.48067284568475821e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:9)", +label="capacity: +inf + (e:9)", +lp="3599,1335.5", +pos="e,3562,1280.3 3553.2,1390.7 3555.8,1357.9 3558.6,1322.9 3561.2,1290.3"]; +"Tuple: + a: + l1 + b: + t1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t1 0 \ +0 2" [height=2.1944, +pos="2837,1964", +width=12.111]; +"Tuple: + a: + l1 + b: + t1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t1 0 \ +0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + CoyoteIII: + 0 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.56000000000000000e+03 6 safety 6.56186808925193432e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 51 //www.rock-robotics.org/2014/01/om-schema#CoyoteIII 0 11 CoyoteIII_\ +0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/\ +01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:8)", +label="capacity: +inf + (e:8)", +lp="3312,1739.5", +pos="e,3316,1669.1 2965.5,1884.9 3060.8,1826.2 3193.4,1744.6 3307.5,1674.4"]; +"Tuple: + a: + l1 + b: + t0 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t0 0 \ +0 2" [height=2.1944, +pos="2837,2338", +width=12.111]; +"Tuple: + a: + l1 + b: + t0 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t0 0 \ +0 2" -> "Tuple: + a: + l1 + b: + t1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t1 0 \ +0 2" [key="capacity: +inf + (e:7)", +label="capacity: +inf + (e:7)", +lp="2875,2151", +pos="e,2837,2043.2 2837,2258.7 2837,2198.6 2837,2115.9 2837,2053.4"]; +"Tuple: + a: + l2 + b: + t6 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t6 0 \ +0 2" [height=2.1944, +pos="1162,101.5", +width=12.111]; +"Tuple: + a: + l2 + b: + t5 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 \ +0 2" [height=2.1944, +pos="1162,438", +width=12.111]; +"Tuple: + a: + l2 + b: + t5 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t6 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t6 0 \ +0 2" [key="capacity: +inf + (e:6)", +label="capacity: +inf + (e:6)", +lp="1200,258.5", +pos="e,1162,180.58 1162,358.68 1162,308.31 1162,243.02 1162,190.83"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.18067246795692626e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + (v:12) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t5 0 0 2" [key="capacity: 24 + roles (assigned): + Sherpa: + 0, 1 + (e:5)", +label="capacity: 24 + roles (assigned): + Sherpa: + 0, 1 + (e:5)", +lp="3238.5,617.5", +pos="e,3359.1,539.54 2853.3,672.95 3015,630.29 3194.3,583.01 3349.3,542.1"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.18067246795692626e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + l2 + b: + t5 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:4)", +label="capacity: +inf + (e:4)", +lp="1920,617.5", +pos="e,1431,517.1 1961.1,672.95 1788.9,622.33 1594.6,565.18 1440.6,519.93"]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +3.22244031560832478e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [height=3.4444, +pos="2169,1156", +width=19.236]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +3.22244031560832478e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.18067246795692626e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: +inf + (e:3)", +label="capacity: +inf + (e:3)", +lp="2334,976.5", +pos="e,2309.1,921.06 2242.9,1031.9 2262.6,999.02 2283.9,963.33 2303.8,929.95"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.93227612041854846e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +3.22244031560832478e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:2)", +label="capacity: +inf + (e:2)", +lp="2107,1335.5", +pos="e,2081.8,1280 1993.2,1406 2019.7,1368.3 2048.9,1326.8 2075.7,1288.6"]; +"Tuple: + a: + l2 + b: + t1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" [height=2.1944, +pos="1906,1964", +width=12.111]; +"Tuple: + a: + l2 + b: + t1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.93227612041854846e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:1)", +label="capacity: +inf + (e:1)", +lp="1944,1739.5", +pos="e,1906,1654.1 1906,1884.9 1906,1823.4 1906,1736.6 1906,1664.2"]; +"Tuple: + a: + l2 + b: + t0 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t0 0 \ +0 2" [height=2.1944, +pos="1906,2338", +width=12.111]; +"Tuple: + a: + l2 + b: + t0 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t0 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 2.00000000000000000e+03 2.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" [key="capacity: +inf + (e:0)", +label="capacity: +inf + (e:0)", +lp="1944,2151", +pos="e,1906,2043.2 1906,2258.7 1906,2198.6 1906,2115.9 1906,2053.4"]; +} diff --git a/test/data/solution_simulation/sample_mission/test1/0/transport-network-solution-0.gexf b/test/data/solution_simulation/sample_mission/test1/0/transport-network-solution-0.gexf new file mode 100644 index 0000000..c1fa557 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test1/0/transport-network-solution-0.gexf @@ -0,0 +1,595 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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a/test/data/solution_simulation/sample_mission/test1/specs/configuration.xml b/test/data/solution_simulation/sample_mission/test1/specs/configuration.xml new file mode 100644 index 0000000..659c701 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test1/specs/configuration.xml @@ -0,0 +1,2 @@ + + diff --git a/test/data/solution_simulation/sample_mission/test1/specs/moreorg.owl b/test/data/solution_simulation/sample_mission/test1/specs/moreorg.owl new file mode 100644 index 0000000..b446a70 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test1/specs/moreorg.owl @@ -0,0 +1,5013 @@ + + + + + + + + + + + + + + + + + + + + + + + + + 0.01 + + + 0.15 + + + 0.75 + + + 1.0 + + + 1000000000.0 + + + 1.0 + + + 1.0E-5 + + + 100.0 + + + 1000000.0 + + + 1.5 + + + 0.000001 + + + 1000.0 + + + 0.001 + + + 0.000000001 + + + 10.0 + + + 2.0 + + + 0.1 + + + 1.0 + + + 0.01 + + + 0.5 + + + 0.01 + + + 0.1 + + + 0.1 + + + 1.0 + + + 0.001 + + + 5.0 + + + 0.05 + + + 0.1 + + + 0.001 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solution analysis + http://www.rock-robotics.org/2015/12/projects/TransTerrA + + + http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII + 1 + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 2 + + + + + + l3 + 500 + 500 + 0 + + + l2 + 2000 + 2000 + 0 + + + l1 + 1000 + 1000 + 0 + + + l0 + 0 + 0 + 0 + + + + + + + l0 + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII + 1 + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 2 + + + + + + + l2 + + + + t2 + t4 + + + + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + 1 + + + + + + + l3 + + + + t3 + t5 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + l1 + + + + t2 + t3 + + + + http://www.rock-robotics.org/2014/01/om-schema#ManipulationProvider + 1 + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test2/4/20180825-22:54:17-transport-network.status b/test/data/solution_simulation/sample_mission/test2/4/20180825-22:54:17-transport-network.status new file mode 100644 index 0000000..842888f --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test2/4/20180825-22:54:17-transport-network.status @@ -0,0 +1,308 @@ +TransportNetwork: # + Timepoints: {0, 1, 5, 10, 2, 3, 14, 4, 7, 6, 8, 9, 12, 11, 13} +BaseCamp : 5 0 0 0 1 1 0 0 0 0 +CREX : 2 0 0 0 0 0 0 0 0 0 +CoyoteIII : 3 0 0 0 0 0 0 0 0 0 +Payload : 16 3 3 1 3 0 3 3 1 3 +SherpaTT : 3 0 1 0 1 0 1 0 0 0 +AtomicAgent: BaseCamp_0 (BaseCamp): 1 0 0 0 0 1 0 0 0 0 +AtomicAgent: BaseCamp_1 (BaseCamp): 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: BaseCamp_2 (BaseCamp): 1 0 0 0 1 0 0 0 0 0 +AtomicAgent: BaseCamp_3 (BaseCamp): 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: BaseCamp_4 (BaseCamp): 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: CREX_0 (CREX) : 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: CREX_1 (CREX) : 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: CoyoteIII_0 (CoyoteIII): 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: CoyoteIII_1 (CoyoteIII): 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: CoyoteIII_2 (CoyoteIII): 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: Payload_0 (Payload): 1 1 0 0 0 0 0 0 1 0 +AtomicAgent: Payload_1 (Payload): 1 0 0 0 0 0 1 0 0 0 +AtomicAgent: Payload_2 (Payload): 1 0 1 0 0 0 1 0 0 1 +AtomicAgent: Payload_3 (Payload): 1 0 0 0 1 0 0 1 0 0 +AtomicAgent: Payload_4 (Payload): 1 0 1 0 0 0 0 1 0 1 +AtomicAgent: Payload_5 (Payload): 1 0 1 0 0 0 0 0 0 1 +AtomicAgent: Payload_6 (Payload): 1 0 0 0 0 0 1 1 0 0 +AtomicAgent: Payload_7 (Payload): 1 1 0 0 0 0 0 0 0 0 +AtomicAgent: Payload_8 (Payload): 1 0 0 1 0 0 0 0 0 0 +AtomicAgent: Payload_9 (Payload): 1 0 0 0 1 0 0 0 0 0 +AtomicAgent: Payload_10 (Payload): 1 1 0 0 0 0 0 0 0 0 +AtomicAgent: Payload_11 (Payload): 1 0 0 0 1 0 0 0 0 0 +AtomicAgent: Payload_12 (Payload): 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: Payload_13 (Payload): 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: Payload_14 (Payload): 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: Payload_15 (Payload): 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: SherpaTT_0 (SherpaTT): 1 0 1 0 0 0 1 0 0 0 +AtomicAgent: SherpaTT_1 (SherpaTT): 1 0 0 0 1 0 0 0 0 0 +AtomicAgent: SherpaTT_2 (SherpaTT): 1 0 0 0 0 0 0 0 0 0 +AtomicAgent: BaseCamp_0 (BaseCamp) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {}..{12..17}#(1) {} {} {} + t2 {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) + t3 {}..{28}#(0,1) {}..{28}#(0,1) {}..{28}#(0,1) {}..{28}#(0,1) {}..{28}#(0,1) {}..{28}#(0,1) + t4 {} {} {} {} {34} {} + t5 {} {} {} {} {40} {} + t6 {} {} {} {} {46} {} + t7 {} {} {} {} {}..{48..53}#(1) {} + t8 {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) + t9 {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) + t10 {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) + t11 {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) + t12 {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) + t13 {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) + t14 {} {} {} {} {} {} +AtomicAgent: BaseCamp_2 (BaseCamp) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {12} {} {} {} + t2 {18} {} {} {} {} {} + t3 {}..{24..29}#(1) {} {} {} {} {} + t4 {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) + t5 {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) + t6 {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) + t7 {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) + t8 {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) + t9 {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) + t10 {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) + t11 {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) + t12 {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) + t13 {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) + t14 {} {} {} {} {} {} +AtomicAgent: Payload_0 (Payload) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {}..{12..17}#(1) {} {} {} + t2 {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) + t3 {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) + t4 {}..{32}#(0,1) {}..{32}#(0,1) {}..{32}#(0,1) {}..{32}#(0,1) {}..{32}#(0,1) {}..{32}#(0,1) + t5 {} {} {38} {} {} {} + t6 {} {} {44} {} {} {} + t7 {} {} {50} {} {} {} + t8 {} {} {56} {} {} {} + t9 {} {} {62} {} {} {} + t10 {} {} {71} {} {} {} + t11 {} {} {} {} {} {77} + t12 {} {} {} {} {} {83} + t13 {} {} {} {} {} {89} + t14 {} {} {} {} {} {} +AtomicAgent: Payload_1 (Payload) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {}..{12..17}#(1) {} {} {} + t2 {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) + t3 {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) + t4 {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) + t5 {}..{37}#(0,1) {}..{37}#(0,1) {}..{37}#(0,1) {}..{37}#(0,1) {}..{37}#(0,1) {}..{37}#(0,1) + t6 {} {43} {} {} {} {} + t7 {} {}..{48..53}#(1) {} {} {} {} + t8 {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) + t9 {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) + t10 {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) + t11 {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) + t12 {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) + t13 {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) + t14 {} {} {} {} {} {} +AtomicAgent: Payload_2 (Payload) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {16} {} {} {} + t2 {} {} {} {} {22} {} + t3 {} {} {} {} {}..{24..29}#(1) {} + t4 {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) + t5 {}..{37}#(0,1) {}..{37}#(0,1) {}..{37}#(0,1) {}..{37}#(0,1) {}..{37}#(0,1) {}..{37}#(0,1) + t6 {} {43} {} {} {} {} + t7 {} {}..{48..53}#(1) {} {} {} {} + t8 {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) + t9 {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) + t10 {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) + t11 {}..{75}#(0,1) {}..{75}#(0,1) {}..{75}#(0,1) {}..{75}#(0,1) {}..{75}#(0,1) {}..{75}#(0,1) + t12 {} {} {} {81} {} {} + t13 {} {} {} {87} {} {} + t14 {} {} {} {} {} {} +AtomicAgent: Payload_3 (Payload) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {12} {} {} {} + t2 {18} {} {} {} {} {} + t3 {}..{24..29}#(1) {} {} {} {} {} + t4 {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) + t5 {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) + t6 {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) + t7 {}..{49}#(0,1) {}..{49}#(0,1) {}..{49}#(0,1) {}..{49}#(0,1) {}..{49}#(0,1) {}..{49}#(0,1) + t8 {} {55} {} {} {} {} + t9 {} {}..{60..65}#(1) {} {} {} {} + t10 {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) + t11 {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) + t12 {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) + t13 {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) + t14 {} {} {} {} {} {} +AtomicAgent: Payload_4 (Payload) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {16} {} {} {} + t2 {} {} {} {} {22} {} + t3 {} {} {} {} {}..{24..29}#(1) {} + t4 {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) + t5 {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) + t6 {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) + t7 {}..{49}#(0,1) {}..{49}#(0,1) {}..{49}#(0,1) {}..{49}#(0,1) {}..{49}#(0,1) {}..{49}#(0,1) + t8 {} {55} {} {} {} {} + t9 {} {}..{60..65}#(1) {} {} {} {} + t10 {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) + t11 {}..{75}#(0,1) {}..{75}#(0,1) {}..{75}#(0,1) {}..{75}#(0,1) {}..{75}#(0,1) {}..{75}#(0,1) + t12 {} {} {} {81} {} {} + t13 {} {} {} {87} {} {} + t14 {} {} {} {} {} {} +AtomicAgent: Payload_5 (Payload) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {16} {} {} {} + t2 {} {} {} {} {22} {} + t3 {} {} {} {} {}..{24..29}#(1) {} + t4 {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) + t5 {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) + t6 {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) + t7 {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) + t8 {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) + t9 {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) + t10 {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) + t11 {}..{75}#(0,1) {}..{75}#(0,1) {}..{75}#(0,1) {}..{75}#(0,1) {}..{75}#(0,1) {}..{75}#(0,1) + t12 {} {} {} {81} {} {} + t13 {} {} {} {87} {} {} + t14 {} {} {} {} {} {} +AtomicAgent: Payload_6 (Payload) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {}..{12..17}#(1) {} {} {} + t2 {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) + t3 {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) + t4 {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) + t5 {}..{37}#(0,1) {}..{37}#(0,1) {}..{37}#(0,1) {}..{37}#(0,1) {}..{37}#(0,1) {}..{37}#(0,1) + t6 {} {43} {} {} {} {} + t7 {} {49} {} {} {} {} + t8 {} {55} {} {} {} {} + t9 {} {}..{60..65}#(1) {} {} {} {} + t10 {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) + t11 {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) + t12 {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) + t13 {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) + t14 {} {} {} {} {} {} +AtomicAgent: Payload_7 (Payload) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {}..{12..17}#(1) {} {} {} + t2 {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) + t3 {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) + t4 {}..{32}#(0,1) {}..{32}#(0,1) {}..{32}#(0,1) {}..{32}#(0,1) {}..{32}#(0,1) {}..{32}#(0,1) + t5 {} {} {38} {} {} {} + t6 {} {} {44} {} {} {} + t7 {} {} {50} {} {} {} + t8 {} {} {56} {} {} {} + t9 {} {} {62} {} {} {} + t10 {} {} {}..{66..71}#(1) {} {} {} + t11 {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) + t12 {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) + t13 {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) + t14 {} {} {} {} {} {} +AtomicAgent: Payload_8 (Payload) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {}..{12..17}#(1) {} {} {} + t2 {}..{22}#(0,1) {}..{22}#(0,1) {}..{22}#(0,1) {}..{22}#(0,1) {}..{22}#(0,1) {}..{22}#(0,1) + t3 {} {} {} {} {28} {} + t4 {} {} {} {} {34} {} + t5 {} {} {} {} {40} {} + t6 {} {} {} {} {46} {} + t7 {} {} {} {} {52} {} + t8 {} {} {} {} {58} {} + t9 {} {} {} {} {64} {} + t10 {} {} {} {} {70} {} + t11 {} {} {} {} {76} {} + t12 {} {} {} {} {82} {} + t13 {} {} {} {} {88} {} + t14 {} {} {} {} {} {} +AtomicAgent: Payload_9 (Payload) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {12} {} {} {} + t2 {18} {} {} {} {} {} + t3 {}..{24..29}#(1) {} {} {} {} {} + t4 {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) + t5 {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) + t6 {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) + t7 {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) + t8 {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) + t9 {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) + t10 {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) + t11 {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) + t12 {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) + t13 {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) + t14 {} {} {} {} {} {} +AtomicAgent: Payload_10 (Payload) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {}..{12..17}#(1) {} {} {} + t2 {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) {}..{18..23}#(0,1) + t3 {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) {}..{24..29}#(0,1) + t4 {}..{32}#(0,1) {}..{32}#(0,1) {}..{32}#(0,1) {}..{32}#(0,1) {}..{32}#(0,1) {}..{32}#(0,1) + t5 {} {} {38} {} {} {} + t6 {} {} {44} {} {} {} + t7 {} {} {50} {} {} {} + t8 {} {} {56} {} {} {} + t9 {} {} {62} {} {} {} + t10 {} {} {}..{66..71}#(1) {} {} {} + t11 {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) + t12 {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) + t13 {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) + t14 {} {} {} {} {} {} +AtomicAgent: Payload_11 (Payload) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {12} {} {} {} + t2 {18} {} {} {} {} {} + t3 {}..{24..29}#(1) {} {} {} {} {} + t4 {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) {}..{30..35}#(0,1) + t5 {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) {}..{36..41}#(0,1) + t6 {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) {}..{42..47}#(0,1) + t7 {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) {}..{48..53}#(0,1) + t8 {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) {}..{54..59}#(0,1) + t9 {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) {}..{60..65}#(0,1) + t10 {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) {}..{66..71}#(0,1) + t11 {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) {}..{72..77}#(0,1) + t12 {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) {}..{78..83}#(0,1) + t13 {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) {}..{84..89}#(0,1) + t14 {} {} {} {} {} {} +AtomicAgent: SherpaTT_0 (SherpaTT) + b2 b4 lander b7 b1 b6 + t0 {} {} {8} {} {} {} + t1 {} {} {16} {} {} {} + t2 {} {} {} {} {22} {} + t3 {} {} {} {} {29} {} + t4 {} {} {} {} {} {31} + t5 {} {37} {} {} {} {} + t6 {} {43} {} {} {} {} + t7 {} {50} {} {} {} {} + t8 {} {} {57} {} {} {} + t9 {} {} {} {63} {} {} + t10 {} {} {} {69} {} {} + 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+ x1332 + x1333 + x1334 + x1335 + x1336 + x1337 + x1338 + x1339 + x1340 + x1341 + + x1342 + x1343 + x1344 - ~r_96 = 0 + y97: + x1345 + x1346 + x1347 + x1348 + x1349 + x1350 + x1351 + x1352 + x1353 + x1354 + x1355 + + x1356 + x1357 + x1358 - ~r_97 = 0 + y98: + x1359 + x1360 + x1361 + x1362 + x1363 + x1364 + x1365 + x1366 + x1367 + x1368 + x1369 + + x1370 + x1371 + x1372 - ~r_98 = 0 + y99: + x1373 + x1374 + x1375 + x1376 + x1377 + x1378 + x1379 + x1380 + x1381 + x1382 + x1383 + + x1384 + x1385 + x1386 - ~r_99 = 0 + y100: + x1387 + x1388 + x1389 + x1390 + x1391 + x1392 + x1393 + x1394 + x1395 + x1396 + x1397 + + x1398 + x1399 + x1400 - ~r_100 = 0 + y101: + x1401 + x1402 + x1403 + x1404 + x1405 + x1406 + x1407 + x1408 + x1409 + x1410 + x1411 + + x1412 + x1413 + x1414 - ~r_101 = 0 + y102: + x1415 + x1416 + x1417 + x1418 + x1419 + x1420 + x1421 + x1422 + x1423 + x1424 + x1425 + + x1426 + x1427 + x1428 - ~r_102 = 0 + y103: + x1429 + x1430 + x1431 + x1432 + x1433 + x1434 + x1435 + x1436 + x1437 + x1438 + x1439 + + x1440 + x1441 + x1442 - ~r_103 = 0 + y104: + x1443 + x1444 + x1445 + x1446 + x1447 + x1448 + x1449 + x1450 + x1451 + x1452 + x1453 + + x1454 + x1455 + x1456 - ~r_104 = 0 + y105: + x1457 + x1458 + x1459 + x1460 + x1461 + x1462 + x1463 + x1464 + x1465 + x1466 + x1467 + + x1468 + x1469 + x1470 - ~r_105 = 0 + y106: + x1471 + x1472 + x1473 + x1474 + x1475 + x1476 + x1477 + x1478 + x1479 + x1480 + x1481 + + x1482 + x1483 + x1484 - ~r_106 = 0 + y107: + x1485 + x1486 + x1487 + x1488 + x1489 + x1490 + x1491 + x1492 + x1493 + x1494 + x1495 + + x1496 + x1497 + x1498 - ~r_107 = 0 + y108: + x1499 + x1500 + x1501 + x1502 + x1503 + x1504 + x1505 + x1506 + x1507 + x1508 + x1509 + + x1510 + x1511 + x1512 - ~r_108 = 0 + y109: + x1513 + x1514 + x1515 + x1516 + x1517 + x1518 + x1519 + x1520 + x1521 + x1522 + x1523 + + x1524 + x1525 + x1526 - ~r_109 = 0 + y110: + x1527 + x1528 + x1529 + x1530 + x1531 + x1532 + x1533 + x1534 + x1535 + x1536 + x1537 + + x1538 + x1539 + x1540 - ~r_110 = 0 + y111: + x1541 + x1542 + x1543 + x1544 + x1545 + x1546 + x1547 + x1548 + x1549 + x1550 + x1551 + + x1552 + x1553 + x1554 - ~r_111 = 0 + y112: + x1555 + x1556 + x1557 + x1558 + x1559 + x1560 + x1561 + x1562 + x1563 + x1564 + x1565 + + x1566 + x1567 + x1568 - ~r_112 = 0 + y113: + x1569 + x1570 + x1571 + x1572 + x1573 + x1574 + x1575 + x1576 + x1577 + x1578 + x1579 + + x1580 + x1581 + x1582 - ~r_113 = 0 + y114: -1 x393 + x1 = 0 + y115: -1 x394 + x2 = 0 + y116: -1 x395 + x3 = 0 + y117: + x395 >= 1 + y118: -1 x396 + x4 = 0 + y119: -1 x397 + x5 = 0 + y120: -1 x398 + x6 = 0 + y121: -1 x399 + x7 = 0 + y122: -1 x400 + x8 = 0 + y123: -1 x401 + x9 = 0 + y124: -1 x402 + x10 = 0 + y125: -1 x403 + x11 = 0 + y126: -1 x404 + x12 = 0 + y127: -1 x405 + x13 = 0 + y128: -1 x406 + x14 = 0 + y129: -1 x29 + x15 = 0 + y130: -1 x30 + x16 = 0 + y131: -1 x31 + x17 = 0 + y132: + x31 >= 1 + y133: -1 x32 + x18 = 0 + y134: -1 x33 + x19 = 0 + y135: -1 x34 + x20 = 0 + y136: -1 x35 + x21 = 0 + y137: -1 x36 + x22 = 0 + y138: -1 x37 + x23 = 0 + y139: -1 x38 + x24 = 0 + y140: -1 x39 + x25 = 0 + y141: -1 x40 + x26 = 0 + y142: -1 x41 + x27 = 0 + y143: -1 x42 + x28 = 0 + y144: -1 x43 + x29 = 0 + y145: -1 x44 + x30 = 0 + y146: -1 x45 + x31 = 0 + y147: -1 x46 + x32 = 0 + y148: -1 x47 + x33 = 0 + y149: -1 x48 + x34 = 0 + y150: -1 x49 + x35 = 0 + y151: -1 x50 + x36 = 0 + y152: -1 x51 + x37 = 0 + y153: -1 x52 + x38 = 0 + y154: -1 x53 + x39 = 0 + y155: -1 x54 + x40 = 0 + y156: -1 x55 + x41 = 0 + y157: -1 x56 + x42 = 0 + y158: -1 x57 + x43 = 0 + y159: -1 x58 + x44 = 0 + y160: -1 x59 + x45 = 0 + y161: -1 x60 + x46 = 0 + y162: -1 x61 + x47 = 0 + y163: -1 x62 + x48 = 0 + y164: -1 x63 + x49 = 0 + y165: -1 x64 + x50 = 0 + y166: -1 x65 + x51 = 0 + y167: -1 x66 + x52 = 0 + y168: -1 x67 + x53 = 0 + y169: -1 x68 + x54 = 0 + y170: -1 x69 + x55 = 0 + y171: -1 x70 + x56 = 0 + y172: -1 x71 + x57 = 0 + y173: -1 x72 + x58 = 0 + y174: -1 x73 + x59 = 0 + y175: -1 x74 + x60 = 0 + y176: -1 x75 + x61 = 0 + y177: -1 x76 + x62 = 0 + y178: -1 x77 + x63 = 0 + y179: -1 x78 + x64 = 0 + y180: -1 x79 + x65 = 0 + y181: -1 x80 + x66 = 0 + y182: -1 x81 + x67 = 0 + y183: -1 x82 + x68 = 0 + y184: -1 x83 + x69 = 0 + y185: -1 x84 + x70 = 0 + y186: -1 x85 + x71 = 0 + y187: -1 x86 + x72 = 0 + y188: -1 x87 + x73 = 0 + y189: -1 x88 + x74 = 0 + y190: -1 x89 + x75 = 0 + y191: -1 x90 + x76 = 0 + y192: -1 x91 + x77 = 0 + y193: -1 x92 + x78 = 0 + y194: -1 x93 + x79 = 0 + y195: -1 x94 + x80 = 0 + y196: -1 x95 + x81 = 0 + y197: -1 x96 + x82 = 0 + y198: -1 x97 + x83 = 0 + y199: -1 x98 + x84 = 0 + y200: -1 x99 + x85 = 0 + y201: -1 x100 + x86 = 0 + y202: -1 x101 + x87 = 0 + y203: -1 x102 + x88 = 0 + y204: -1 x103 + x89 = 0 + y205: -1 x104 + x90 = 0 + y206: -1 x105 + x91 = 0 + y207: -1 x106 + x92 = 0 + y208: -1 x107 + x93 = 0 + y209: -1 x108 + x94 = 0 + y210: -1 x109 + x95 = 0 + y211: -1 x110 + x96 = 0 + y212: -1 x111 + x97 = 0 + y213: -1 x112 + x98 = 0 + y214: -1 x1331 + x99 = 0 + y215: -1 x1332 + x100 = 0 + y216: -1 x1333 + x101 = 0 + y217: -1 x1334 + x102 = 0 + y218: -1 x1335 + x103 = 0 + y219: -1 x1336 + x104 = 0 + y220: -1 x1337 + x105 = 0 + y221: -1 x1338 + x106 = 0 + y222: -1 x1339 + x107 = 0 + y223: -1 x1340 + x108 = 0 + y224: -1 x1341 + x109 = 0 + y225: -1 x1342 + x110 = 0 + y226: -1 x1343 + x111 = 0 + y227: -1 x1344 + x112 = 0 + y228: -1 x127 + x113 = 0 + y229: -1 x128 + x114 = 0 + y230: -1 x129 + x115 = 0 + y231: -1 x130 + x116 = 0 + y232: -1 x131 + x117 = 0 + y233: -1 x132 + x118 = 0 + y234: -1 x133 + x119 = 0 + y235: -1 x134 + x120 = 0 + y236: -1 x135 + x121 = 0 + y237: -1 x136 + x122 = 0 + y238: -1 x137 + x123 = 0 + y239: -1 x138 + x124 = 0 + y240: -1 x139 + x125 = 0 + y241: -1 x140 + x126 = 0 + y242: -1 x141 + x127 = 0 + y243: -1 x142 + x128 = 0 + y244: -1 x143 + x129 = 0 + y245: -1 x144 + x130 = 0 + y246: -1 x145 + x131 = 0 + y247: -1 x146 + x132 = 0 + y248: -1 x147 + x133 = 0 + y249: -1 x148 + x134 = 0 + y250: -1 x149 + x135 = 0 + y251: -1 x150 + x136 = 0 + y252: -1 x151 + x137 = 0 + y253: -1 x152 + x138 = 0 + y254: -1 x153 + x139 = 0 + y255: -1 x154 + x140 = 0 + y256: -1 x1485 + x141 = 0 + y257: -1 x1486 + x142 = 0 + y258: -1 x1487 + x143 = 0 + y259: -1 x1488 + x144 = 0 + y260: -1 x1489 + x145 = 0 + y261: -1 x1490 + x146 = 0 + y262: -1 x1491 + x147 = 0 + y263: -1 x1492 + x148 = 0 + y264: -1 x1493 + x149 = 0 + y265: -1 x1494 + x150 = 0 + y266: -1 x1495 + x151 = 0 + y267: -1 x1496 + x152 = 0 + y268: -1 x1497 + x153 = 0 + y269: -1 x1498 + x154 = 0 + y270: -1 x169 + x155 = 0 + y271: -1 x170 + x156 = 0 + y272: -1 x171 + x157 = 0 + y273: -1 x172 + x158 = 0 + y274: -1 x173 + x159 = 0 + y275: -1 x174 + x160 = 0 + y276: -1 x175 + x161 = 0 + y277: -1 x176 + x162 = 0 + y278: -1 x177 + x163 = 0 + y279: -1 x178 + x164 = 0 + y280: -1 x179 + x165 = 0 + y281: + x179 >= 1 + y282: -1 x180 + x166 = 0 + y283: -1 x181 + x167 = 0 + y284: -1 x182 + x168 = 0 + y285: -1 x379 -1 x183 + x169 = 0 + y286: -1 x380 -1 x184 + x170 = 0 + y287: -1 x381 -1 x185 + x171 = 0 + y288: -1 x382 -1 x186 + x172 = 0 + y289: -1 x383 -1 x187 + x173 = 0 + y290: -1 x384 -1 x188 + x174 = 0 + y291: -1 x385 -1 x189 + x175 = 0 + y292: -1 x386 -1 x190 + x176 = 0 + y293: -1 x387 -1 x191 + x177 = 0 + y294: -1 x388 -1 x192 + x178 = 0 + y295: -1 x389 -1 x193 + x179 = 0 + y296: + x389 + x193 >= 1 + y297: -1 x390 -1 x194 + x180 = 0 + y298: -1 x391 -1 x195 + x181 = 0 + y299: -1 x392 -1 x196 + x182 = 0 + y300: -1 x197 + x183 = 0 + y301: -1 x198 + x184 = 0 + y302: -1 x199 + x185 = 0 + y303: -1 x200 + x186 = 0 + y304: -1 x201 + x187 = 0 + y305: -1 x202 + x188 = 0 + y306: -1 x203 + x189 = 0 + y307: -1 x204 + x190 = 0 + y308: -1 x205 + x191 = 0 + y309: -1 x206 + x192 = 0 + y310: -1 x207 + x193 = 0 + y311: + x207 >= 1 + y312: -1 x208 + x194 = 0 + y313: -1 x209 + x195 = 0 + y314: -1 x210 + x196 = 0 + y315: -1 x911 + x197 = 0 + y316: -1 x912 + x198 = 0 + y317: -1 x913 + x199 = 0 + y318: -1 x914 + x200 = 0 + y319: -1 x915 + x201 = 0 + y320: -1 x916 + x202 = 0 + y321: -1 x917 + x203 = 0 + y322: -1 x918 + x204 = 0 + y323: -1 x919 + x205 = 0 + y324: -1 x920 + x206 = 0 + y325: -1 x921 + x207 = 0 + y326: + x921 >= 1 + y327: -1 x922 + x208 = 0 + y328: -1 x923 + x209 = 0 + y329: -1 x924 + x210 = 0 + y330: -1 x225 + x211 = 0 + y331: -1 x226 + x212 = 0 + y332: -1 x227 + x213 = 0 + y333: -1 x228 + x214 = 0 + y334: -1 x229 + x215 = 0 + y335: -1 x230 + x216 = 0 + y336: -1 x231 + x217 = 0 + y337: -1 x232 + x218 = 0 + y338: -1 x233 + x219 = 0 + y339: -1 x234 + x220 = 0 + y340: -1 x235 + x221 = 0 + y341: + x235 >= 1 + y342: -1 x236 + x222 = 0 + y343: -1 x237 + x223 = 0 + y344: -1 x238 + x224 = 0 + y345: -1 x239 + x225 = 0 + y346: -1 x240 + x226 = 0 + y347: -1 x241 + x227 = 0 + y348: -1 x242 + x228 = 0 + y349: -1 x243 + x229 = 0 + y350: -1 x244 + x230 = 0 + y351: -1 x245 + x231 = 0 + y352: -1 x246 + x232 = 0 + y353: -1 x247 + x233 = 0 + y354: -1 x248 + x234 = 0 + y355: -1 x249 + x235 = 0 + y356: + x249 >= 1 + y357: -1 x250 + x236 = 0 + y358: -1 x251 + x237 = 0 + y359: -1 x252 + x238 = 0 + y360: -1 x267 + x239 = 0 + y361: + x267 >= 1 + y362: -1 x268 + x240 = 0 + y363: -1 x269 + x241 = 0 + y364: -1 x270 + x242 = 0 + y365: -1 x271 + x243 = 0 + y366: -1 x272 + x244 = 0 + y367: -1 x273 + x245 = 0 + y368: -1 x274 + x246 = 0 + y369: -1 x275 + x247 = 0 + y370: -1 x276 + x248 = 0 + y371: -1 x277 + x249 = 0 + y372: + x277 >= 1 + y373: -1 x278 + x250 = 0 + y374: -1 x279 + x251 = 0 + y375: -1 x280 + x252 = 0 + y376: -1 x281 + x253 + x267 = 0 + y377: + x281 >= 1 + y378: -1 x282 + x254 + x268 = 0 + y379: -1 x283 + x255 + x269 = 0 + y380: -1 x284 + x256 + x270 = 0 + y381: -1 x285 + x257 + x271 = 0 + y382: -1 x286 + x258 + x272 = 0 + y383: -1 x287 + x259 + x273 = 0 + y384: -1 x288 + x260 + x274 = 0 + y385: -1 x289 + x261 + x275 = 0 + y386: -1 x290 + x262 + x276 = 0 + y387: -1 x291 + x263 + x277 = 0 + y388: + x291 >= 1 + y389: -1 x292 + x264 + x278 = 0 + y390: -1 x293 + x265 + x279 = 0 + y391: -1 x294 + x266 + x280 = 0 + y392: -1 x1303 -1 x295 + x281 = 0 + y393: + x1303 + x295 >= 1 + y394: -1 x1304 -1 x296 + x282 = 0 + y395: -1 x1305 -1 x297 + x283 = 0 + y396: -1 x1306 -1 x298 + x284 = 0 + y397: -1 x1307 -1 x299 + x285 = 0 + y398: -1 x1308 -1 x300 + x286 = 0 + y399: -1 x1309 -1 x301 + x287 = 0 + y400: -1 x1310 -1 x302 + x288 = 0 + y401: -1 x1311 -1 x303 + x289 = 0 + y402: -1 x1312 -1 x304 + x290 = 0 + y403: -1 x1313 -1 x305 + x291 = 0 + y404: + x1313 + x305 >= 1 + y405: -1 x1314 -1 x306 + x292 = 0 + y406: -1 x1315 -1 x307 + x293 = 0 + y407: -1 x1316 -1 x308 + x294 = 0 + y408: -1 x323 + x295 = 0 + y409: + x323 >= 1 + y410: -1 x324 + x296 = 0 + y411: -1 x325 + x297 = 0 + y412: -1 x326 + x298 = 0 + y413: -1 x327 + x299 = 0 + y414: -1 x328 + x300 = 0 + y415: -1 x329 + x301 = 0 + y416: -1 x330 + x302 = 0 + y417: -1 x331 + x303 = 0 + y418: -1 x332 + x304 = 0 + y419: -1 x333 + x305 = 0 + y420: + x333 >= 1 + y421: -1 x334 + x306 = 0 + y422: -1 x335 + x307 = 0 + y423: -1 x336 + x308 = 0 + y424: -1 x771 + x309 + x323 = 0 + y425: -1 x772 + x310 + x324 = 0 + y426: -1 x773 + x311 + x325 = 0 + y427: -1 x774 + x312 + x326 = 0 + y428: -1 x775 + x313 + x327 = 0 + y429: + x775 >= 1 + y430: -1 x776 + x314 + x328 = 0 + y431: -1 x777 + x315 + x329 = 0 + y432: + x777 >= 1 + y433: -1 x778 + x316 + x330 = 0 + y434: + x778 >= 1 + y435: -1 x779 + x317 + x331 = 0 + y436: -1 x780 + x318 + x332 = 0 + y437: -1 x781 + x319 + x333 = 0 + y438: + x781 >= 1 + y439: -1 x782 + x320 + x334 = 0 + y440: -1 x783 + x321 + x335 = 0 + y441: -1 x784 + x322 + x336 = 0 + y442: -1 x1471 + x337 = 0 + y443: -1 x1472 + x338 = 0 + y444: -1 x1473 + x339 = 0 + y445: -1 x1474 + x340 = 0 + y446: -1 x1475 + x341 = 0 + y447: -1 x1476 + x342 = 0 + y448: -1 x1477 + x343 = 0 + y449: -1 x1478 + x344 = 0 + y450: -1 x1479 + x345 = 0 + y451: -1 x1480 + x346 = 0 + y452: -1 x1481 + x347 = 0 + y453: -1 x1482 + x348 = 0 + y454: -1 x1483 + x349 = 0 + y455: -1 x1484 + x350 = 0 + y456: -1 x365 + x351 = 0 + y457: -1 x366 + x352 = 0 + y458: -1 x367 + x353 = 0 + y459: -1 x368 + x354 = 0 + y460: -1 x369 + x355 = 0 + y461: + x369 >= 1 + y462: -1 x370 + x356 = 0 + y463: -1 x371 + x357 = 0 + y464: + x371 >= 1 + y465: -1 x372 + x358 = 0 + y466: + x372 >= 1 + y467: -1 x373 + x359 = 0 + y468: -1 x374 + x360 = 0 + y469: -1 x375 + x361 = 0 + y470: -1 x376 + x362 = 0 + y471: -1 x377 + x363 = 0 + y472: -1 x378 + x364 = 0 + y473: -1 x603 + x365 = 0 + y474: -1 x604 + x366 = 0 + y475: -1 x605 + x367 = 0 + y476: -1 x606 + x368 = 0 + y477: -1 x607 + x369 = 0 + y478: + x607 >= 1 + y479: -1 x608 + x370 = 0 + y480: -1 x609 + x371 = 0 + y481: + x609 >= 1 + y482: -1 x610 + x372 = 0 + y483: + x610 >= 1 + y484: -1 x611 + x373 = 0 + y485: -1 x612 + x374 = 0 + y486: -1 x613 + x375 = 0 + y487: -1 x614 + x376 = 0 + y488: -1 x615 + x377 = 0 + y489: -1 x616 + x378 = 0 + y490: -1 x15 -1 x407 + x379 + x393 = 0 + y491: -1 x16 -1 x408 + x380 + x394 = 0 + y492: -1 x17 -1 x409 + x381 + x395 = 0 + y493: + x17 + x409 >= 1 + y494: -1 x18 -1 x410 + x382 + x396 = 0 + y495: -1 x19 -1 x411 + x383 + x397 = 0 + y496: -1 x20 -1 x412 + x384 + x398 = 0 + y497: -1 x21 -1 x413 + x385 + x399 = 0 + y498: -1 x22 -1 x414 + x386 + x400 = 0 + y499: -1 x23 -1 x415 + x387 + x401 = 0 + y500: -1 x24 -1 x416 + x388 + x402 = 0 + y501: -1 x25 -1 x417 + x389 + x403 = 0 + y502: -1 x26 -1 x418 + x390 + x404 = 0 + y503: -1 x27 -1 x419 + x391 + x405 = 0 + y504: -1 x28 -1 x420 + x392 + x406 = 0 + y505: -1 x435 + x407 + x421 = 0 + y506: -1 x436 + x408 + x422 = 0 + y507: -1 x437 + x409 + x423 = 0 + y508: -1 x438 + x410 + x424 = 0 + y509: -1 x439 + x411 + x425 = 0 + y510: -1 x440 + x412 + x426 = 0 + y511: -1 x441 + x413 + x427 = 0 + y512: -1 x442 + x414 + x428 = 0 + y513: -1 x443 + x415 + x429 = 0 + y514: -1 x444 + x416 + x430 = 0 + y515: -1 x445 + x417 + x431 = 0 + y516: -1 x446 + x418 + x432 = 0 + y517: -1 x447 + x419 + x433 = 0 + y518: -1 x448 + x420 + x434 = 0 + y519: -1 x673 + x435 = 0 + y520: -1 x674 + x436 = 0 + y521: -1 x675 + x437 = 0 + y522: -1 x676 + x438 = 0 + y523: -1 x677 + x439 = 0 + y524: -1 x678 + x440 = 0 + y525: -1 x679 + x441 = 0 + y526: -1 x680 + x442 = 0 + y527: -1 x681 + x443 = 0 + y528: -1 x682 + x444 = 0 + y529: -1 x683 + x445 = 0 + y530: -1 x684 + x446 = 0 + y531: -1 x685 + x447 = 0 + y532: -1 x686 + x448 = 0 + y533: -1 x463 + x449 = 0 + y534: -1 x464 + x450 = 0 + y535: -1 x465 + x451 = 0 + y536: -1 x466 + x452 = 0 + y537: -1 x467 + x453 = 0 + y538: -1 x468 + x454 = 0 + y539: -1 x469 + x455 = 0 + y540: -1 x470 + x456 = 0 + y541: -1 x471 + x457 = 0 + y542: -1 x472 + x458 = 0 + y543: -1 x473 + x459 = 0 + y544: -1 x474 + x460 = 0 + y545: -1 x475 + x461 = 0 + y546: -1 x476 + x462 = 0 + y547: -1 x477 + x463 = 0 + y548: -1 x478 + x464 = 0 + y549: -1 x479 + x465 = 0 + y550: -1 x480 + x466 = 0 + y551: -1 x481 + x467 = 0 + y552: -1 x482 + x468 = 0 + y553: -1 x483 + x469 = 0 + y554: -1 x484 + x470 = 0 + y555: -1 x485 + x471 = 0 + y556: -1 x486 + x472 = 0 + y557: -1 x487 + x473 = 0 + y558: -1 x488 + x474 = 0 + y559: -1 x489 + x475 = 0 + y560: -1 x490 + x476 = 0 + y561: -1 x491 + x477 = 0 + y562: -1 x492 + x478 = 0 + y563: -1 x493 + x479 = 0 + y564: -1 x494 + x480 = 0 + y565: -1 x495 + x481 = 0 + y566: -1 x496 + x482 = 0 + y567: -1 x497 + x483 = 0 + y568: -1 x498 + x484 = 0 + y569: -1 x499 + x485 = 0 + y570: -1 x500 + x486 = 0 + y571: -1 x501 + x487 = 0 + y572: -1 x502 + x488 = 0 + y573: -1 x503 + x489 = 0 + y574: -1 x504 + x490 = 0 + y575: -1 x505 + x491 = 0 + y576: -1 x506 + x492 = 0 + y577: -1 x507 + x493 = 0 + y578: -1 x508 + x494 = 0 + y579: -1 x509 + x495 = 0 + y580: -1 x510 + x496 = 0 + y581: -1 x511 + x497 = 0 + y582: -1 x512 + x498 = 0 + y583: -1 x513 + x499 = 0 + y584: -1 x514 + x500 = 0 + y585: -1 x515 + x501 = 0 + y586: -1 x516 + x502 = 0 + y587: -1 x517 + x503 = 0 + y588: -1 x518 + x504 = 0 + y589: -1 x519 + x505 = 0 + y590: -1 x520 + x506 = 0 + y591: -1 x521 + x507 = 0 + y592: -1 x522 + x508 = 0 + y593: -1 x523 + x509 = 0 + y594: -1 x524 + x510 = 0 + y595: -1 x525 + x511 = 0 + y596: -1 x526 + x512 = 0 + y597: -1 x527 + x513 = 0 + y598: -1 x528 + x514 = 0 + y599: -1 x529 + x515 = 0 + y600: -1 x530 + x516 = 0 + y601: -1 x531 + x517 = 0 + y602: -1 x532 + x518 = 0 + y603: -1 x533 + x519 = 0 + y604: -1 x534 + x520 = 0 + y605: -1 x535 + x521 = 0 + y606: -1 x536 + x522 = 0 + y607: -1 x537 + x523 = 0 + y608: -1 x538 + x524 = 0 + y609: -1 x539 + x525 = 0 + y610: -1 x540 + x526 = 0 + y611: -1 x541 + x527 = 0 + y612: -1 x542 + x528 = 0 + y613: -1 x543 + x529 = 0 + y614: -1 x544 + x530 = 0 + y615: -1 x545 + x531 = 0 + y616: -1 x546 + x532 = 0 + y617: -1 x547 + x533 = 0 + y618: -1 x548 + x534 = 0 + y619: -1 x549 + x535 = 0 + y620: -1 x550 + x536 = 0 + y621: -1 x551 + x537 = 0 + y622: -1 x552 + x538 = 0 + y623: -1 x553 + x539 = 0 + y624: -1 x554 + x540 = 0 + y625: -1 x555 + x541 = 0 + y626: -1 x556 + x542 = 0 + y627: -1 x557 + x543 = 0 + y628: -1 x558 + x544 = 0 + y629: -1 x559 + x545 = 0 + y630: -1 x560 + x546 = 0 + y631: -1 x1457 + x547 = 0 + y632: -1 x1458 + x548 = 0 + y633: -1 x1459 + x549 = 0 + y634: -1 x1460 + x550 = 0 + y635: -1 x1461 + x551 = 0 + y636: -1 x1462 + x552 = 0 + y637: -1 x1463 + x553 = 0 + y638: -1 x1464 + x554 = 0 + y639: -1 x1465 + x555 = 0 + y640: -1 x1466 + x556 = 0 + y641: -1 x1467 + x557 = 0 + y642: -1 x1468 + x558 = 0 + y643: -1 x1469 + x559 = 0 + y644: -1 x1470 + x560 = 0 + y645: -1 x575 + x561 = 0 + y646: -1 x576 + x562 = 0 + y647: -1 x577 + x563 = 0 + y648: -1 x578 + x564 = 0 + y649: -1 x579 + x565 = 0 + y650: -1 x580 + x566 = 0 + y651: -1 x581 + x567 = 0 + y652: -1 x582 + x568 = 0 + y653: -1 x583 + x569 = 0 + y654: -1 x584 + x570 = 0 + y655: -1 x585 + x571 = 0 + y656: -1 x586 + x572 = 0 + y657: -1 x587 + x573 = 0 + y658: -1 x588 + x574 = 0 + y659: -1 x617 + x575 = 0 + y660: -1 x618 + x576 = 0 + y661: -1 x619 + x577 = 0 + y662: -1 x620 + x578 = 0 + y663: -1 x621 + x579 = 0 + y664: -1 x622 + x580 = 0 + y665: -1 x623 + x581 = 0 + y666: -1 x624 + x582 = 0 + y667: -1 x625 + x583 = 0 + y668: -1 x626 + x584 = 0 + y669: -1 x627 + x585 = 0 + y670: -1 x628 + x586 = 0 + y671: -1 x629 + x587 = 0 + y672: -1 x630 + x588 = 0 + y673: -1 x421 -1 x631 + x589 + x603 = 0 + y674: -1 x422 -1 x632 + x590 + x604 = 0 + y675: -1 x423 -1 x633 + x591 + x605 = 0 + y676: -1 x424 -1 x634 + x592 + x606 = 0 + y677: -1 x425 -1 x635 + x593 + x607 = 0 + y678: + x425 + x635 >= 1 + y679: -1 x426 -1 x636 + x594 + x608 = 0 + y680: -1 x427 -1 x637 + x595 + x609 = 0 + y681: + x427 + x637 >= 1 + y682: -1 x428 -1 x638 + x596 + x610 = 0 + y683: + x428 + x638 >= 1 + y684: -1 x429 -1 x639 + x597 + x611 = 0 + y685: -1 x430 -1 x640 + x598 + x612 = 0 + y686: -1 x431 -1 x641 + x599 + x613 = 0 + y687: -1 x432 -1 x642 + x600 + x614 = 0 + y688: -1 x433 -1 x643 + x601 + x615 = 0 + y689: -1 x434 -1 x644 + x602 + x616 = 0 + y690: -1 x645 + x617 = 0 + y691: -1 x646 + x618 = 0 + y692: -1 x647 + x619 = 0 + y693: -1 x648 + x620 = 0 + y694: -1 x649 + x621 = 0 + y695: -1 x650 + x622 = 0 + y696: -1 x651 + x623 = 0 + y697: -1 x652 + x624 = 0 + y698: -1 x653 + x625 = 0 + y699: -1 x654 + x626 = 0 + y700: -1 x655 + x627 = 0 + y701: -1 x656 + x628 = 0 + y702: -1 x657 + x629 = 0 + y703: -1 x658 + x630 = 0 + y704: -1 x897 -1 x659 + x631 + x645 = 0 + y705: -1 x898 -1 x660 + x632 + x646 = 0 + y706: -1 x899 -1 x661 + x633 + x647 = 0 + y707: -1 x900 -1 x662 + x634 + x648 = 0 + y708: -1 x901 -1 x663 + x635 + x649 = 0 + y709: -1 x902 -1 x664 + x636 + x650 = 0 + y710: -1 x903 -1 x665 + x637 + x651 = 0 + y711: -1 x904 -1 x666 + x638 + x652 = 0 + y712: -1 x905 -1 x667 + x639 + x653 = 0 + y713: -1 x906 -1 x668 + x640 + x654 = 0 + y714: -1 x907 -1 x669 + x641 + x655 = 0 + y715: -1 x908 -1 x670 + x642 + x656 = 0 + y716: -1 x909 -1 x671 + x643 + x657 = 0 + y717: -1 x910 -1 x672 + x644 + x658 = 0 + y718: -1 x687 + x659 = 0 + y719: -1 x688 + x660 = 0 + y720: -1 x689 + x661 = 0 + y721: + x689 >= 1 + y722: -1 x690 + x662 = 0 + y723: -1 x691 + x663 = 0 + y724: -1 x692 + x664 = 0 + y725: -1 x693 + x665 = 0 + y726: -1 x694 + x666 = 0 + y727: -1 x695 + x667 = 0 + y728: -1 x696 + x668 = 0 + y729: + x696 >= 1 + y730: -1 x697 + x669 = 0 + y731: -1 x698 + x670 = 0 + y732: -1 x699 + x671 = 0 + y733: + x699 >= 1 + y734: -1 x700 + x672 = 0 + y735: -1 x449 -1 x967 + x673 = 0 + y736: -1 x450 -1 x968 + x674 = 0 + y737: -1 x451 -1 x969 + x675 = 0 + y738: -1 x452 -1 x970 + x676 = 0 + y739: -1 x453 -1 x971 + x677 = 0 + y740: -1 x454 -1 x972 + x678 = 0 + y741: -1 x455 -1 x973 + x679 = 0 + y742: -1 x456 -1 x974 + x680 = 0 + y743: -1 x457 -1 x975 + x681 = 0 + y744: -1 x458 -1 x976 + x682 = 0 + y745: -1 x459 -1 x977 + x683 = 0 + y746: -1 x460 -1 x978 + x684 = 0 + y747: -1 x461 -1 x979 + x685 = 0 + y748: -1 x462 -1 x980 + x686 = 0 + y749: -1 x981 + x687 = 0 + y750: -1 x982 + x688 = 0 + y751: -1 x983 + x689 = 0 + y752: + x983 >= 1 + y753: -1 x984 + x690 = 0 + y754: -1 x985 + x691 = 0 + y755: -1 x986 + x692 = 0 + y756: -1 x987 + x693 = 0 + y757: -1 x988 + x694 = 0 + y758: -1 x989 + x695 = 0 + y759: -1 x990 + x696 = 0 + y760: + x990 >= 1 + y761: -1 x991 + x697 = 0 + y762: -1 x992 + x698 = 0 + y763: -1 x993 + x699 = 0 + y764: + x993 >= 1 + y765: -1 x994 + x700 = 0 + y766: -1 x715 + x701 = 0 + y767: -1 x716 + x702 = 0 + y768: -1 x717 + x703 = 0 + y769: + x717 >= 1 + y770: -1 x718 + x704 = 0 + y771: -1 x719 + x705 = 0 + y772: -1 x720 + x706 = 0 + y773: -1 x721 + x707 = 0 + y774: -1 x722 + x708 = 0 + y775: -1 x723 + x709 = 0 + y776: -1 x724 + x710 = 0 + y777: + x724 >= 1 + y778: -1 x725 + x711 = 0 + y779: -1 x726 + x712 = 0 + y780: -1 x727 + x713 = 0 + y781: + x727 >= 1 + y782: -1 x728 + x714 = 0 + y783: -1 x729 + x715 = 0 + y784: -1 x730 + x716 = 0 + y785: -1 x731 + x717 = 0 + y786: + x731 >= 1 + y787: -1 x732 + x718 = 0 + y788: -1 x733 + x719 = 0 + y789: -1 x734 + x720 = 0 + y790: -1 x735 + x721 = 0 + y791: -1 x736 + x722 = 0 + y792: -1 x737 + x723 = 0 + y793: -1 x738 + x724 = 0 + y794: + x738 >= 1 + y795: -1 x739 + x725 = 0 + y796: -1 x740 + x726 = 0 + y797: -1 x741 + x727 = 0 + y798: + x741 >= 1 + y799: -1 x742 + x728 = 0 + y800: -1 x743 + x729 = 0 + y801: -1 x744 + x730 = 0 + y802: -1 x745 + x731 = 0 + y803: + x745 >= 1 + y804: -1 x746 + x732 = 0 + y805: -1 x747 + x733 = 0 + y806: -1 x748 + x734 = 0 + y807: -1 x749 + x735 = 0 + y808: -1 x750 + x736 = 0 + y809: -1 x751 + x737 = 0 + y810: -1 x752 + x738 = 0 + y811: + x752 >= 1 + y812: -1 x753 + x739 = 0 + y813: -1 x754 + x740 = 0 + y814: -1 x755 + x741 = 0 + y815: + x755 >= 1 + y816: -1 x756 + x742 = 0 + y817: -1 x757 + x743 = 0 + y818: -1 x758 + x744 = 0 + y819: -1 x759 + x745 = 0 + y820: -1 x760 + x746 = 0 + y821: -1 x761 + x747 = 0 + y822: -1 x762 + x748 = 0 + y823: -1 x763 + x749 = 0 + y824: -1 x764 + x750 = 0 + y825: -1 x765 + x751 = 0 + y826: -1 x766 + x752 = 0 + y827: -1 x767 + x753 = 0 + y828: -1 x768 + x754 = 0 + y829: -1 x769 + x755 = 0 + y830: -1 x770 + x756 = 0 + y831: -1 x785 + x757 = 0 + y832: -1 x786 + x758 = 0 + y833: -1 x787 + x759 = 0 + y834: -1 x788 + x760 = 0 + y835: -1 x789 + x761 = 0 + y836: -1 x790 + x762 = 0 + y837: -1 x791 + x763 = 0 + y838: -1 x792 + x764 = 0 + y839: -1 x793 + x765 = 0 + y840: -1 x794 + x766 = 0 + y841: -1 x795 + x767 = 0 + y842: -1 x796 + x768 = 0 + y843: -1 x797 + x769 = 0 + y844: -1 x798 + x770 = 0 + y845: -1 x337 -1 x813 + x771 = 0 + y846: -1 x338 -1 x814 + x772 = 0 + y847: -1 x339 -1 x815 + x773 = 0 + y848: -1 x340 -1 x816 + x774 = 0 + y849: -1 x341 -1 x817 + x775 = 0 + y850: + x341 + x817 >= 1 + y851: -1 x342 -1 x818 + x776 = 0 + y852: -1 x343 -1 x819 + x777 = 0 + y853: + x343 + x819 >= 1 + y854: -1 x344 -1 x820 + x778 = 0 + y855: + x344 + x820 >= 1 + y856: -1 x345 -1 x821 + x779 = 0 + y857: -1 x346 -1 x822 + x780 = 0 + y858: -1 x347 -1 x823 + x781 = 0 + y859: -1 x348 -1 x824 + x782 = 0 + y860: -1 x349 -1 x825 + x783 = 0 + y861: -1 x350 -1 x826 + x784 = 0 + y862: -1 x827 + x785 = 0 + y863: -1 x828 + x786 = 0 + y864: -1 x829 + x787 = 0 + y865: -1 x830 + x788 = 0 + y866: -1 x831 + x789 = 0 + y867: -1 x832 + x790 = 0 + y868: -1 x833 + x791 = 0 + y869: -1 x834 + x792 = 0 + y870: -1 x835 + x793 = 0 + y871: -1 x836 + x794 = 0 + y872: -1 x837 + x795 = 0 + y873: -1 x838 + x796 = 0 + y874: -1 x839 + x797 = 0 + y875: -1 x840 + x798 = 0 + y876: -1 x1443 + x799 + x813 + x827 = 0 + y877: + x1443 >= 1 + y878: -1 x1444 + x800 + x814 + x828 = 0 + y879: + x1444 >= 1 + y880: -1 x1445 + x801 + x815 + x829 = 0 + y881: + x1445 >= 1 + y882: -1 x1446 + x802 + x816 + x830 = 0 + y883: + x1446 >= 1 + y884: -1 x1447 + x803 + x817 + x831 = 0 + y885: + x1447 >= 1 + y886: -1 x1448 + x804 + x818 + x832 = 0 + y887: + x1448 >= 1 + y888: -1 x1449 + x805 + x819 + x833 = 0 + y889: + x1449 >= 1 + y890: -1 x1450 + x806 + x820 + x834 = 0 + y891: + x1450 >= 1 + y892: -1 x1451 + x807 + x821 + x835 = 0 + y893: + x1451 >= 1 + y894: -1 x1452 + x808 + x822 + x836 = 0 + y895: + x1452 >= 1 + y896: -1 x1453 + x809 + x823 + x837 = 0 + y897: + x1453 >= 1 + y898: -1 x1454 + x810 + x824 + x838 = 0 + y899: + x1454 >= 1 + y900: -1 x1455 + x811 + x825 + x839 = 0 + y901: + x1455 >= 1 + y902: -1 x1456 + x812 + x826 + x840 = 0 + y903: + x1456 >= 1 + y904: -1 x855 + x841 = 0 + y905: -1 x856 + x842 = 0 + y906: -1 x857 + x843 = 0 + y907: -1 x858 + x844 = 0 + y908: -1 x859 + x845 = 0 + y909: -1 x860 + x846 = 0 + y910: -1 x861 + x847 = 0 + y911: -1 x862 + x848 = 0 + y912: -1 x863 + x849 = 0 + y913: -1 x864 + x850 = 0 + y914: -1 x865 + x851 = 0 + y915: -1 x866 + x852 = 0 + y916: -1 x867 + x853 = 0 + y917: -1 x868 + x854 = 0 + y918: -1 x869 + x855 = 0 + y919: -1 x870 + x856 = 0 + y920: -1 x871 + x857 = 0 + y921: -1 x872 + x858 = 0 + y922: -1 x873 + x859 = 0 + y923: -1 x874 + x860 = 0 + y924: -1 x875 + x861 = 0 + y925: -1 x876 + x862 = 0 + y926: -1 x877 + x863 = 0 + y927: -1 x878 + x864 = 0 + y928: -1 x879 + x865 = 0 + y929: -1 x880 + x866 = 0 + y930: -1 x881 + x867 = 0 + y931: -1 x882 + x868 = 0 + y932: -1 x883 + x869 = 0 + y933: -1 x884 + x870 = 0 + y934: -1 x885 + x871 = 0 + y935: -1 x886 + x872 = 0 + y936: -1 x887 + x873 = 0 + y937: -1 x888 + x874 = 0 + y938: -1 x889 + x875 = 0 + y939: -1 x890 + x876 = 0 + y940: -1 x891 + x877 = 0 + y941: -1 x892 + x878 = 0 + y942: -1 x893 + x879 = 0 + y943: -1 x894 + x880 = 0 + y944: -1 x895 + x881 = 0 + y945: -1 x896 + x882 = 0 + y946: -1 x925 + x883 = 0 + y947: -1 x926 + x884 = 0 + y948: -1 x927 + x885 = 0 + y949: -1 x928 + x886 = 0 + y950: -1 x929 + x887 = 0 + y951: -1 x930 + x888 = 0 + y952: -1 x931 + x889 = 0 + y953: -1 x932 + x890 = 0 + y954: -1 x933 + x891 = 0 + y955: -1 x934 + x892 = 0 + y956: -1 x935 + x893 = 0 + y957: -1 x936 + x894 = 0 + y958: -1 x937 + x895 = 0 + y959: -1 x938 + x896 = 0 + y960: -1 x211 -1 x939 + x897 + x911 = 0 + y961: -1 x212 -1 x940 + x898 + x912 = 0 + y962: -1 x213 -1 x941 + x899 + x913 = 0 + y963: -1 x214 -1 x942 + x900 + x914 = 0 + y964: -1 x215 -1 x943 + x901 + x915 = 0 + y965: -1 x216 -1 x944 + x902 + x916 = 0 + y966: -1 x217 -1 x945 + x903 + x917 = 0 + y967: -1 x218 -1 x946 + x904 + x918 = 0 + y968: -1 x219 -1 x947 + x905 + x919 = 0 + y969: -1 x220 -1 x948 + x906 + x920 = 0 + y970: -1 x221 -1 x949 + x907 + x921 = 0 + y971: + x221 + x949 >= 1 + y972: -1 x222 -1 x950 + x908 + x922 = 0 + y973: -1 x223 -1 x951 + x909 + x923 = 0 + y974: -1 x224 -1 x952 + x910 + x924 = 0 + y975: -1 x953 + x925 = 0 + y976: -1 x954 + x926 = 0 + y977: -1 x955 + x927 = 0 + y978: -1 x956 + x928 = 0 + y979: -1 x957 + x929 = 0 + y980: -1 x958 + x930 = 0 + y981: -1 x959 + x931 = 0 + y982: -1 x960 + x932 = 0 + y983: -1 x961 + x933 = 0 + y984: -1 x962 + x934 = 0 + y985: -1 x963 + x935 = 0 + y986: -1 x964 + x936 = 0 + y987: -1 x965 + x937 = 0 + y988: -1 x966 + x938 = 0 + y989: -1 x1219 + x939 + x953 = 0 + y990: -1 x1220 + x940 + x954 = 0 + y991: -1 x1221 + x941 + x955 = 0 + y992: -1 x1222 + x942 + x956 = 0 + y993: -1 x1223 + x943 + x957 = 0 + y994: -1 x1224 + x944 + x958 = 0 + y995: + x1224 >= 1 + y996: -1 x1225 + x945 + x959 = 0 + y997: + x1225 >= 1 + y998: -1 x1226 + x946 + x960 = 0 + y999: -1 x1227 + x947 + x961 = 0 + y1000: + x1227 >= 1 + y1001: -1 x1228 + x948 + x962 = 0 + y1002: -1 x1229 + x949 + x963 = 0 + y1003: -1 x1230 + x950 + x964 = 0 + y1004: -1 x1231 + x951 + x965 = 0 + y1005: -1 x1232 + x952 + x966 = 0 + y1006: -1 x701 -1 x995 + x967 + x981 = 0 + y1007: -1 x702 -1 x996 + x968 + x982 = 0 + y1008: -1 x703 -1 x997 + x969 + x983 = 0 + y1009: + x703 + x997 >= 1 + y1010: -1 x704 -1 x998 + x970 + x984 = 0 + y1011: -1 x705 -1 x999 + x971 + x985 = 0 + y1012: -1 x706 -1 x1000 + x972 + x986 = 0 + y1013: -1 x707 -1 x1001 + x973 + x987 = 0 + y1014: -1 x708 -1 x1002 + x974 + x988 = 0 + y1015: -1 x709 -1 x1003 + x975 + x989 = 0 + y1016: -1 x710 -1 x1004 + x976 + x990 = 0 + y1017: + x710 + x1004 >= 1 + y1018: -1 x711 -1 x1005 + x977 + x991 = 0 + y1019: -1 x712 -1 x1006 + x978 + x992 = 0 + y1020: -1 x713 -1 x1007 + x979 + x993 = 0 + y1021: + x713 + x1007 >= 1 + y1022: -1 x714 -1 x1008 + x980 + x994 = 0 + y1023: -1 x1023 + x995 + x1009 = 0 + y1024: -1 x1024 + x996 + x1010 = 0 + y1025: -1 x1025 + x997 + x1011 = 0 + y1026: -1 x1026 + x998 + x1012 = 0 + y1027: + x1026 >= 1 + y1028: -1 x1027 + x999 + x1013 = 0 + y1029: + x1027 >= 1 + y1030: -1 x1028 + x1000 + x1014 = 0 + y1031: -1 x1029 + x1001 + x1015 = 0 + y1032: -1 x1030 + x1002 + x1016 = 0 + y1033: -1 x1031 + x1003 + x1017 = 0 + y1034: + x1031 >= 1 + y1035: -1 x1032 + x1004 + x1018 = 0 + y1036: -1 x1033 + x1005 + x1019 = 0 + y1037: -1 x1034 + x1006 + x1020 = 0 + y1038: -1 x1035 + x1007 + x1021 = 0 + y1039: -1 x1036 + x1008 + x1022 = 0 + y1040: -1 x1037 + x1023 = 0 + y1041: -1 x1038 + x1024 = 0 + y1042: -1 x1039 + x1025 = 0 + y1043: -1 x1040 + x1026 = 0 + y1044: + x1040 >= 1 + y1045: -1 x1041 + x1027 = 0 + y1046: + x1041 >= 1 + y1047: -1 x1042 + x1028 = 0 + y1048: -1 x1043 + x1029 = 0 + y1049: -1 x1044 + x1030 = 0 + y1050: -1 x1045 + x1031 = 0 + y1051: + x1045 >= 1 + y1052: -1 x1046 + x1032 = 0 + y1053: -1 x1047 + x1033 = 0 + y1054: -1 x1048 + x1034 = 0 + y1055: -1 x1049 + x1035 = 0 + y1056: -1 x1050 + x1036 = 0 + y1057: -1 x1317 -1 x1051 + x1037 = 0 + y1058: -1 x1318 -1 x1052 + x1038 = 0 + y1059: -1 x1319 -1 x1053 + x1039 = 0 + y1060: -1 x1320 -1 x1054 + x1040 = 0 + y1061: -1 x1321 -1 x1055 + x1041 = 0 + y1062: -1 x1322 -1 x1056 + x1042 = 0 + y1063: -1 x1323 -1 x1057 + x1043 = 0 + y1064: -1 x1324 -1 x1058 + x1044 = 0 + y1065: -1 x1325 -1 x1059 + x1045 = 0 + y1066: -1 x1326 -1 x1060 + x1046 = 0 + y1067: -1 x1327 -1 x1061 + x1047 = 0 + y1068: -1 x1328 -1 x1062 + x1048 = 0 + y1069: -1 x1329 -1 x1063 + x1049 = 0 + y1070: -1 x1330 -1 x1064 + x1050 = 0 + y1071: -1 x1065 + x1051 = 0 + y1072: -1 x1066 + x1052 = 0 + y1073: -1 x1067 + x1053 = 0 + y1074: -1 x1068 + x1054 = 0 + y1075: -1 x1069 + x1055 = 0 + y1076: -1 x1070 + x1056 = 0 + y1077: -1 x1071 + x1057 = 0 + y1078: -1 x1072 + x1058 = 0 + y1079: -1 x1073 + x1059 = 0 + y1080: -1 x1074 + x1060 = 0 + y1081: -1 x1075 + x1061 = 0 + y1082: -1 x1076 + x1062 = 0 + y1083: -1 x1077 + x1063 = 0 + y1084: -1 x1078 + x1064 = 0 + y1085: -1 x1079 + x1065 = 0 + y1086: -1 x1080 + x1066 = 0 + y1087: -1 x1081 + x1067 = 0 + y1088: -1 x1082 + x1068 = 0 + y1089: -1 x1083 + x1069 = 0 + y1090: -1 x1084 + x1070 = 0 + y1091: -1 x1085 + x1071 = 0 + y1092: -1 x1086 + x1072 = 0 + y1093: -1 x1087 + x1073 = 0 + y1094: -1 x1088 + x1074 = 0 + y1095: -1 x1089 + x1075 = 0 + y1096: -1 x1090 + x1076 = 0 + y1097: -1 x1091 + x1077 = 0 + y1098: -1 x1092 + x1078 = 0 + y1099: -1 x1093 + x1079 = 0 + y1100: -1 x1094 + x1080 = 0 + y1101: -1 x1095 + x1081 = 0 + y1102: -1 x1096 + x1082 = 0 + y1103: -1 x1097 + x1083 = 0 + y1104: -1 x1098 + x1084 = 0 + y1105: -1 x1099 + x1085 = 0 + y1106: -1 x1100 + x1086 = 0 + y1107: -1 x1101 + x1087 = 0 + y1108: -1 x1102 + x1088 = 0 + y1109: -1 x1103 + x1089 = 0 + y1110: -1 x1104 + x1090 = 0 + y1111: -1 x1105 + x1091 = 0 + y1112: -1 x1106 + x1092 = 0 + y1113: -1 x1429 + x1093 = 0 + y1114: -1 x1430 + x1094 = 0 + y1115: -1 x1431 + x1095 = 0 + y1116: -1 x1432 + x1096 = 0 + y1117: -1 x1433 + x1097 = 0 + y1118: -1 x1434 + x1098 = 0 + y1119: -1 x1435 + x1099 = 0 + y1120: -1 x1436 + x1100 = 0 + y1121: -1 x1437 + x1101 = 0 + y1122: -1 x1438 + x1102 = 0 + y1123: -1 x1439 + x1103 = 0 + y1124: -1 x1440 + x1104 = 0 + y1125: -1 x1441 + x1105 = 0 + y1126: -1 x1442 + x1106 = 0 + y1127: -1 x1107 -1 x155 -1 x351 -1 x561 -1 x841 -1 x1121 = -1 + y1128: -1 x1108 -1 x156 -1 x352 -1 x562 -1 x842 -1 x1122 = -1 + y1129: -1 x1109 -1 x157 -1 x353 -1 x563 -1 x843 -1 x1123 = -1 + y1130: -1 x1110 -1 x158 -1 x354 -1 x564 -1 x844 -1 x1124 = -1 + y1131: -1 x1111 -1 x159 -1 x355 -1 x565 -1 x845 -1 x1125 = -1 + y1132: -1 x1112 -1 x160 -1 x356 -1 x566 -1 x846 -1 x1126 = -1 + y1133: -1 x1113 -1 x161 -1 x357 -1 x567 -1 x847 -1 x1127 = -1 + y1134: -1 x1114 -1 x162 -1 x358 -1 x568 -1 x848 -1 x1128 = -1 + y1135: -1 x1115 -1 x163 -1 x359 -1 x569 -1 x849 -1 x1129 = -1 + y1136: -1 x1116 -1 x164 -1 x360 -1 x570 -1 x850 -1 x1130 = -1 + y1137: -1 x1117 -1 x165 -1 x361 -1 x571 -1 x851 -1 x1131 = -1 + y1138: -1 x1118 -1 x166 -1 x362 -1 x572 -1 x852 -1 x1132 = -1 + y1139: -1 x1119 -1 x167 -1 x363 -1 x573 -1 x853 -1 x1133 = -1 + y1140: -1 x1120 -1 x168 -1 x364 -1 x574 -1 x854 -1 x1134 = -1 + y1141: -1 x1 -1 x1135 + x1107 = 0 + y1142: -1 x2 -1 x1136 + x1108 = 0 + y1143: -1 x3 -1 x1137 + x1109 = 0 + y1144: + x3 + x1137 >= 1 + y1145: -1 x4 -1 x1138 + x1110 = 0 + y1146: -1 x5 -1 x1139 + x1111 = 0 + y1147: -1 x6 -1 x1140 + x1112 = 0 + y1148: -1 x7 -1 x1141 + x1113 = 0 + y1149: -1 x8 -1 x1142 + x1114 = 0 + y1150: -1 x9 -1 x1143 + x1115 = 0 + y1151: -1 x10 -1 x1144 + x1116 = 0 + y1152: -1 x11 -1 x1145 + x1117 = 0 + y1153: -1 x12 -1 x1146 + x1118 = 0 + y1154: -1 x13 -1 x1147 + x1119 = 0 + y1155: -1 x14 -1 x1148 + x1120 = 0 + y1156: -1 x1149 + x1121 = 0 + y1157: -1 x1150 + x1122 = 0 + y1158: -1 x1151 + x1123 = 0 + y1159: -1 x1152 + x1124 = 0 + y1160: -1 x1153 + x1125 = 0 + y1161: -1 x1154 + x1126 = 0 + y1162: -1 x1155 + x1127 = 0 + y1163: -1 x1156 + x1128 = 0 + y1164: -1 x1157 + x1129 = 0 + y1165: -1 x1158 + x1130 = 0 + y1166: -1 x1159 + x1131 = 0 + y1167: -1 x1160 + x1132 = 0 + y1168: -1 x1161 + x1133 = 0 + y1169: -1 x1162 + x1134 = 0 + y1170: -1 x589 -1 x1163 + x1135 + x1149 = 0 + y1171: -1 x590 -1 x1164 + x1136 + x1150 = 0 + y1172: -1 x591 -1 x1165 + x1137 + x1151 = 0 + y1173: -1 x592 -1 x1166 + x1138 + x1152 = 0 + y1174: -1 x593 -1 x1167 + x1139 + x1153 = 0 + y1175: -1 x594 -1 x1168 + x1140 + x1154 = 0 + y1176: -1 x595 -1 x1169 + x1141 + x1155 = 0 + y1177: -1 x596 -1 x1170 + x1142 + x1156 = 0 + y1178: -1 x597 -1 x1171 + x1143 + x1157 = 0 + y1179: -1 x598 -1 x1172 + x1144 + x1158 = 0 + y1180: -1 x599 -1 x1173 + x1145 + x1159 = 0 + y1181: -1 x600 -1 x1174 + x1146 + x1160 = 0 + y1182: -1 x601 -1 x1175 + x1147 + x1161 = 0 + y1183: -1 x602 -1 x1176 + x1148 + x1162 = 0 + y1184: -1 x1177 + x1163 = 0 + y1185: -1 x1178 + x1164 = 0 + y1186: -1 x1179 + x1165 = 0 + y1187: -1 x1180 + x1166 = 0 + y1188: -1 x1181 + x1167 = 0 + y1189: -1 x1182 + x1168 = 0 + y1190: -1 x1183 + x1169 = 0 + y1191: -1 x1184 + x1170 = 0 + y1192: -1 x1185 + x1171 = 0 + y1193: -1 x1186 + x1172 = 0 + y1194: -1 x1187 + x1173 = 0 + y1195: -1 x1188 + x1174 = 0 + y1196: -1 x1189 + x1175 = 0 + y1197: -1 x1190 + x1176 = 0 + y1198: -1 x1191 + x1177 = 0 + y1199: -1 x1192 + x1178 = 0 + y1200: -1 x1193 + x1179 = 0 + y1201: -1 x1194 + x1180 = 0 + y1202: -1 x1195 + x1181 = 0 + y1203: -1 x1196 + x1182 = 0 + y1204: -1 x1197 + x1183 = 0 + y1205: -1 x1198 + x1184 = 0 + y1206: -1 x1199 + x1185 = 0 + y1207: -1 x1200 + x1186 = 0 + y1208: -1 x1201 + x1187 = 0 + y1209: -1 x1202 + x1188 = 0 + y1210: -1 x1203 + x1189 = 0 + y1211: -1 x1204 + x1190 = 0 + y1212: -1 x1205 + x1191 = 0 + y1213: -1 x1206 + x1192 = 0 + y1214: -1 x1207 + x1193 = 0 + y1215: -1 x1208 + x1194 = 0 + y1216: -1 x1209 + x1195 = 0 + y1217: -1 x1210 + x1196 = 0 + y1218: -1 x1211 + x1197 = 0 + y1219: -1 x1212 + x1198 = 0 + y1220: -1 x1213 + x1199 = 0 + y1221: -1 x1214 + x1200 = 0 + y1222: -1 x1215 + x1201 = 0 + y1223: -1 x1216 + x1202 = 0 + y1224: -1 x1217 + x1203 = 0 + y1225: -1 x1218 + x1204 = 0 + y1226: -1 x1233 + x1205 = 0 + y1227: -1 x1234 + x1206 = 0 + y1228: -1 x1235 + x1207 = 0 + y1229: -1 x1236 + x1208 = 0 + y1230: -1 x1237 + x1209 = 0 + y1231: -1 x1238 + x1210 = 0 + y1232: -1 x1239 + x1211 = 0 + y1233: -1 x1240 + x1212 = 0 + y1234: -1 x1241 + x1213 = 0 + y1235: -1 x1242 + x1214 = 0 + y1236: -1 x1243 + x1215 = 0 + y1237: -1 x1244 + x1216 = 0 + y1238: -1 x1245 + x1217 = 0 + y1239: -1 x1246 + x1218 = 0 + y1240: -1 x1009 -1 x1247 + x1219 = 0 + y1241: -1 x1010 -1 x1248 + x1220 = 0 + y1242: -1 x1011 -1 x1249 + x1221 = 0 + y1243: -1 x1012 -1 x1250 + x1222 = 0 + y1244: -1 x1013 -1 x1251 + x1223 = 0 + y1245: -1 x1014 -1 x1252 + x1224 = 0 + y1246: + x1014 + x1252 >= 1 + y1247: -1 x1015 -1 x1253 + x1225 = 0 + y1248: + x1015 + x1253 >= 1 + y1249: -1 x1016 -1 x1254 + x1226 = 0 + y1250: -1 x1017 -1 x1255 + x1227 = 0 + y1251: + x1017 + x1255 >= 1 + y1252: -1 x1018 -1 x1256 + x1228 = 0 + y1253: -1 x1019 -1 x1257 + x1229 = 0 + y1254: -1 x1020 -1 x1258 + x1230 = 0 + y1255: -1 x1021 -1 x1259 + x1231 = 0 + y1256: -1 x1022 -1 x1260 + x1232 = 0 + y1257: -1 x1261 + x1233 = 0 + y1258: -1 x1262 + x1234 = 0 + y1259: -1 x1263 + x1235 = 0 + y1260: -1 x1264 + x1236 = 0 + y1261: -1 x1265 + x1237 = 0 + y1262: -1 x1266 + x1238 = 0 + y1263: -1 x1267 + x1239 = 0 + y1264: -1 x1268 + x1240 = 0 + y1265: -1 x1269 + x1241 = 0 + y1266: -1 x1270 + x1242 = 0 + y1267: -1 x1271 + x1243 = 0 + y1268: -1 x1272 + x1244 = 0 + y1269: -1 x1273 + x1245 = 0 + y1270: -1 x1274 + x1246 = 0 + y1271: -1 x253 -1 x1275 + x1247 + x1261 = 0 + y1272: -1 x254 -1 x1276 + x1248 + x1262 = 0 + y1273: -1 x255 -1 x1277 + x1249 + x1263 = 0 + y1274: -1 x256 -1 x1278 + x1250 + x1264 = 0 + y1275: -1 x257 -1 x1279 + x1251 + x1265 = 0 + y1276: -1 x258 -1 x1280 + x1252 + x1266 = 0 + y1277: -1 x259 -1 x1281 + x1253 + x1267 = 0 + y1278: -1 x260 -1 x1282 + x1254 + x1268 = 0 + y1279: -1 x261 -1 x1283 + x1255 + x1269 = 0 + y1280: -1 x262 -1 x1284 + x1256 + x1270 = 0 + y1281: -1 x263 -1 x1285 + x1257 + x1271 = 0 + y1282: -1 x264 -1 x1286 + x1258 + x1272 = 0 + y1283: -1 x265 -1 x1287 + x1259 + x1273 = 0 + y1284: -1 x266 -1 x1288 + x1260 + x1274 = 0 + y1285: -1 x1289 + x1275 = 0 + y1286: -1 x1290 + x1276 = 0 + y1287: -1 x1291 + x1277 = 0 + y1288: -1 x1292 + x1278 = 0 + y1289: -1 x1293 + x1279 = 0 + y1290: -1 x1294 + x1280 = 0 + y1291: -1 x1295 + x1281 = 0 + y1292: -1 x1296 + x1282 = 0 + y1293: -1 x1297 + x1283 = 0 + y1294: -1 x1298 + x1284 = 0 + y1295: -1 x1299 + x1285 = 0 + y1296: -1 x1300 + x1286 = 0 + y1297: -1 x1301 + x1287 = 0 + y1298: -1 x1302 + x1288 = 0 + y1299: -1 x1345 + x1289 = 0 + y1300: -1 x1346 + x1290 = 0 + y1301: -1 x1347 + x1291 = 0 + y1302: -1 x1348 + x1292 = 0 + y1303: -1 x1349 + x1293 = 0 + y1304: -1 x1350 + x1294 = 0 + y1305: -1 x1351 + x1295 = 0 + y1306: -1 x1352 + x1296 = 0 + y1307: -1 x1353 + x1297 = 0 + y1308: -1 x1354 + x1298 = 0 + y1309: -1 x1355 + x1299 = 0 + y1310: -1 x1356 + x1300 = 0 + y1311: -1 x1357 + x1301 = 0 + y1312: -1 x1358 + x1302 = 0 + y1313: -1 x113 -1 x309 -1 x1359 + x1303 + x1317 + x1331 = 0 + y1314: -1 x114 -1 x310 -1 x1360 + x1304 + x1318 + x1332 = 0 + y1315: -1 x115 -1 x311 -1 x1361 + x1305 + x1319 + x1333 = 0 + y1316: -1 x116 -1 x312 -1 x1362 + x1306 + x1320 + x1334 = 0 + y1317: -1 x117 -1 x313 -1 x1363 + x1307 + x1321 + x1335 = 0 + y1318: -1 x118 -1 x314 -1 x1364 + x1308 + x1322 + x1336 = 0 + y1319: -1 x119 -1 x315 -1 x1365 + x1309 + x1323 + x1337 = 0 + y1320: -1 x120 -1 x316 -1 x1366 + x1310 + x1324 + x1338 = 0 + y1321: -1 x121 -1 x317 -1 x1367 + x1311 + x1325 + x1339 = 0 + y1322: -1 x122 -1 x318 -1 x1368 + x1312 + x1326 + x1340 = 0 + y1323: -1 x123 -1 x319 -1 x1369 + x1313 + x1327 + x1341 = 0 + y1324: -1 x124 -1 x320 -1 x1370 + x1314 + x1328 + x1342 = 0 + y1325: -1 x125 -1 x321 -1 x1371 + x1315 + x1329 + x1343 = 0 + y1326: -1 x126 -1 x322 -1 x1372 + x1316 + x1330 + x1344 = 0 + y1327: -1 x1373 + x1345 = 0 + y1328: -1 x1374 + x1346 = 0 + y1329: -1 x1375 + x1347 = 0 + y1330: -1 x1376 + x1348 = 0 + y1331: -1 x1377 + x1349 = 0 + y1332: -1 x1378 + x1350 = 0 + y1333: -1 x1379 + x1351 = 0 + y1334: -1 x1380 + x1352 = 0 + y1335: -1 x1381 + x1353 = 0 + y1336: -1 x1382 + x1354 = 0 + y1337: -1 x1383 + x1355 = 0 + y1338: -1 x1384 + x1356 = 0 + y1339: -1 x1385 + x1357 = 0 + y1340: -1 x1386 + x1358 = 0 + y1341: -1 x1387 + x1359 + x1373 = 0 + y1342: -1 x1388 + x1360 + x1374 = 0 + y1343: + x1388 >= 1 + y1344: -1 x1389 + x1361 + x1375 = 0 + y1345: -1 x1390 + x1362 + x1376 = 0 + y1346: -1 x1391 + x1363 + x1377 = 0 + y1347: -1 x1392 + x1364 + x1378 = 0 + y1348: + x1392 >= 1 + y1349: -1 x1393 + x1365 + x1379 = 0 + y1350: -1 x1394 + x1366 + x1380 = 0 + y1351: -1 x1395 + x1367 + x1381 = 0 + y1352: -1 x1396 + x1368 + x1382 = 0 + y1353: -1 x1397 + x1369 + x1383 = 0 + y1354: -1 x1398 + x1370 + x1384 = 0 + y1355: + x1398 >= 1 + y1356: -1 x1399 + x1371 + x1385 = 0 + y1357: -1 x1400 + x1372 + x1386 = 0 + y1358: + x1400 >= 1 + y1359: -1 x799 -1 x1401 + x1387 = 0 + y1360: -1 x800 -1 x1402 + x1388 = 0 + y1361: + x800 + x1402 >= 1 + y1362: -1 x801 -1 x1403 + x1389 = 0 + y1363: -1 x802 -1 x1404 + x1390 = 0 + y1364: -1 x803 -1 x1405 + x1391 = 0 + y1365: -1 x804 -1 x1406 + x1392 = 0 + y1366: + x804 + x1406 >= 1 + y1367: -1 x805 -1 x1407 + x1393 = 0 + y1368: -1 x806 -1 x1408 + x1394 = 0 + y1369: -1 x807 -1 x1409 + x1395 = 0 + y1370: -1 x808 -1 x1410 + x1396 = 0 + y1371: -1 x809 -1 x1411 + x1397 = 0 + y1372: -1 x810 -1 x1412 + x1398 = 0 + y1373: + x810 + x1412 >= 1 + y1374: -1 x811 -1 x1413 + x1399 = 0 + y1375: -1 x812 -1 x1414 + x1400 = 0 + y1376: + x812 + x1414 >= 1 + y1377: -1 x1415 + x1401 = 0 + y1378: -1 x1416 + x1402 = 0 + y1379: -1 x1417 + x1403 = 0 + y1380: -1 x1418 + x1404 = 0 + y1381: -1 x1419 + x1405 = 0 + y1382: -1 x1420 + x1406 = 0 + y1383: -1 x1421 + x1407 = 0 + y1384: -1 x1422 + x1408 = 0 + y1385: -1 x1423 + x1409 = 0 + y1386: -1 x1424 + x1410 = 0 + y1387: -1 x1425 + x1411 = 0 + y1388: -1 x1426 + x1412 = 0 + y1389: -1 x1427 + x1413 = 0 + y1390: -1 x1428 + x1414 = 0 + y1391: -1 x1499 + x1415 = 0 + y1392: -1 x1500 + x1416 = 0 + y1393: -1 x1501 + x1417 = 0 + y1394: -1 x1502 + x1418 = 0 + y1395: -1 x1503 + x1419 = 0 + y1396: -1 x1504 + x1420 = 0 + y1397: -1 x1505 + x1421 = 0 + y1398: -1 x1506 + x1422 = 0 + y1399: -1 x1507 + x1423 = 0 + y1400: -1 x1508 + x1424 = 0 + y1401: -1 x1509 + x1425 = 0 + y1402: -1 x1510 + x1426 = 0 + y1403: -1 x1511 + x1427 = 0 + y1404: -1 x1512 + x1428 = 0 + y1405: -1 x1513 + x1429 = 0 + y1406: -1 x1514 + x1430 = 0 + y1407: -1 x1515 + x1431 = 0 + y1408: -1 x1516 + x1432 = 0 + y1409: -1 x1517 + x1433 = 0 + y1410: -1 x1518 + x1434 = 0 + y1411: -1 x1519 + x1435 = 0 + y1412: -1 x1520 + x1436 = 0 + y1413: -1 x1521 + x1437 = 0 + y1414: -1 x1522 + x1438 = 0 + y1415: -1 x1523 + x1439 = 0 + y1416: -1 x1524 + x1440 = 0 + y1417: -1 x1525 + x1441 = 0 + y1418: -1 x1526 + x1442 = 0 + y1419: -1 x1527 + x1443 = 0 + y1420: + x1527 >= 1 + y1421: -1 x1528 + x1444 = 0 + y1422: + x1528 >= 1 + y1423: -1 x1529 + x1445 = 0 + y1424: + x1529 >= 1 + y1425: -1 x1530 + x1446 = 0 + y1426: + x1530 >= 1 + y1427: -1 x1531 + x1447 = 0 + y1428: + x1531 >= 1 + y1429: -1 x1532 + x1448 = 0 + y1430: + x1532 >= 1 + y1431: -1 x1533 + x1449 = 0 + y1432: + x1533 >= 1 + y1433: -1 x1534 + x1450 = 0 + y1434: + x1534 >= 1 + y1435: -1 x1535 + x1451 = 0 + y1436: + x1535 >= 1 + y1437: -1 x1536 + x1452 = 0 + y1438: + x1536 >= 1 + y1439: -1 x1537 + x1453 = 0 + y1440: + x1537 >= 1 + y1441: -1 x1538 + x1454 = 0 + y1442: + x1538 >= 1 + y1443: -1 x1539 + x1455 = 0 + y1444: + x1539 >= 1 + y1445: -1 x1540 + x1456 = 0 + y1446: + x1540 >= 1 + y1447: -1 x1541 + x1457 = 0 + y1448: -1 x1542 + x1458 = 0 + y1449: -1 x1543 + x1459 = 0 + y1450: -1 x1544 + x1460 = 0 + y1451: -1 x1545 + x1461 = 0 + y1452: -1 x1546 + x1462 = 0 + y1453: -1 x1547 + x1463 = 0 + y1454: -1 x1548 + x1464 = 0 + y1455: -1 x1549 + x1465 = 0 + y1456: -1 x1550 + x1466 = 0 + y1457: -1 x1551 + x1467 = 0 + y1458: -1 x1552 + x1468 = 0 + y1459: -1 x1553 + x1469 = 0 + y1460: -1 x1554 + x1470 = 0 + y1461: -1 x1555 + x1471 = 0 + y1462: -1 x1556 + x1472 = 0 + y1463: -1 x1557 + x1473 = 0 + y1464: -1 x1558 + x1474 = 0 + y1465: -1 x1559 + x1475 = 0 + y1466: -1 x1560 + x1476 = 0 + y1467: -1 x1561 + x1477 = 0 + y1468: -1 x1562 + x1478 = 0 + y1469: -1 x1563 + x1479 = 0 + y1470: -1 x1564 + x1480 = 0 + y1471: -1 x1565 + x1481 = 0 + y1472: -1 x1566 + x1482 = 0 + y1473: -1 x1567 + x1483 = 0 + y1474: -1 x1568 + x1484 = 0 + y1475: -1 x1569 + x1485 = 0 + y1476: -1 x1570 + x1486 = 0 + y1477: -1 x1571 + x1487 = 0 + y1478: -1 x1572 + x1488 = 0 + y1479: -1 x1573 + x1489 = 0 + y1480: -1 x1574 + x1490 = 0 + y1481: -1 x1575 + x1491 = 0 + y1482: -1 x1576 + x1492 = 0 + y1483: -1 x1577 + x1493 = 0 + y1484: -1 x1578 + x1494 = 0 + y1485: -1 x1579 + x1495 = 0 + y1486: -1 x1580 + x1496 = 0 + y1487: -1 x1581 + x1497 = 0 + y1488: -1 x1582 + x1498 = 0 + y1489: + x1499 + x1513 + x1527 + x1541 + x1555 + x1569 = 1 + y1490: + x1500 + x1514 + x1528 + x1542 + x1556 + x1570 = 1 + y1491: + x1501 + x1515 + x1529 + x1543 + x1557 + x1571 = 1 + y1492: + x1502 + x1516 + x1530 + x1544 + x1558 + x1572 = 1 + y1493: + x1503 + x1517 + x1531 + x1545 + x1559 + x1573 = 1 + y1494: + x1504 + x1518 + x1532 + x1546 + x1560 + x1574 = 1 + y1495: + x1505 + x1519 + x1533 + x1547 + x1561 + x1575 = 1 + y1496: + x1506 + x1520 + x1534 + x1548 + x1562 + x1576 = 1 + y1497: + x1507 + x1521 + x1535 + x1549 + x1563 + x1577 = 1 + y1498: + x1508 + x1522 + x1536 + x1550 + x1564 + x1578 = 1 + y1499: + x1509 + x1523 + x1537 + x1551 + x1565 + x1579 = 1 + y1500: + x1510 + x1524 + x1538 + x1552 + x1566 + x1580 = 1 + y1501: + x1511 + x1525 + x1539 + x1553 + x1567 + x1581 = 1 + y1502: + x1512 + x1526 + x1540 + x1554 + x1568 + x1582 = 1 + +Bounds + 0 <= ~r_1 <= + infinity + 0 <= ~r_2 <= + infinity + 0 <= ~r_3 <= + infinity + 0 <= ~r_4 <= + infinity + 0 <= ~r_5 <= + infinity + 0 <= ~r_6 <= + infinity + 0 <= ~r_7 <= + infinity + 0 <= ~r_8 <= + infinity + 0 <= ~r_9 <= + infinity + 0 <= ~r_10 <= + infinity + 0 <= ~r_11 <= + infinity + 0 <= ~r_12 <= + infinity + 0 <= ~r_13 <= + infinity + 0 <= ~r_14 <= + infinity + 0 <= ~r_15 <= + infinity + 0 <= ~r_16 <= + infinity + 0 <= ~r_17 <= + infinity + 0 <= ~r_18 <= + infinity + 0 <= ~r_19 <= 10 + 0 <= ~r_20 <= + infinity + 0 <= ~r_21 <= + infinity + 0 <= ~r_22 <= + infinity + 0 <= ~r_23 <= 10 + 0 <= ~r_24 <= + infinity + 0 <= ~r_25 <= + infinity + 0 <= ~r_26 <= + infinity + 0 <= ~r_27 <= + infinity + 0 <= ~r_28 <= 10 + 0 <= ~r_29 <= + infinity + 0 <= ~r_30 <= 10 + 0 <= ~r_31 <= + infinity + 0 <= ~r_32 <= + infinity + 0 <= ~r_33 <= + infinity + 0 <= ~r_34 <= + infinity + 0 <= ~r_35 <= + infinity + 0 <= ~r_36 <= + infinity + 0 <= ~r_37 <= + infinity + 0 <= ~r_38 <= + infinity + 0 <= ~r_39 <= + infinity + 0 <= ~r_40 <= + infinity + 0 <= ~r_41 <= + infinity + 0 <= ~r_42 <= + infinity + 0 <= ~r_43 <= 10 + 0 <= ~r_44 <= + infinity + 0 <= ~r_45 <= + infinity + 0 <= ~r_46 <= 10 + 0 <= ~r_47 <= + infinity + 0 <= ~r_48 <= + infinity + 0 <= ~r_49 <= + infinity + 0 <= ~r_50 <= + infinity + 0 <= ~r_51 <= + infinity + 0 <= ~r_52 <= + infinity + 0 <= ~r_53 <= + infinity + 0 <= ~r_54 <= + infinity + 0 <= ~r_55 <= + infinity + 0 <= ~r_56 <= + infinity + 0 <= ~r_57 <= + infinity + 0 <= ~r_58 <= 10 + 0 <= ~r_59 <= 10 + 0 <= ~r_60 <= + infinity + 0 <= ~r_61 <= + infinity + 0 <= ~r_62 <= + infinity + 0 <= ~r_63 <= + infinity + 0 <= ~r_64 <= + infinity + 0 <= ~r_65 <= 10 + 0 <= ~r_66 <= + infinity + 0 <= ~r_67 <= + infinity + 0 <= ~r_68 <= 10 + 0 <= ~r_69 <= + infinity + 0 <= ~r_70 <= 10 + 0 <= ~r_71 <= + infinity + 0 <= ~r_72 <= 10 + 0 <= ~r_73 <= + infinity + 0 <= ~r_74 <= + infinity + 0 <= ~r_75 <= + infinity + 0 <= ~r_76 <= + infinity + 0 <= ~r_77 <= + infinity + 0 <= ~r_78 <= + infinity + 0 <= ~r_79 <= + infinity + 0 <= ~r_80 <= + infinity + 0 <= ~r_81 <= + infinity + 0 <= ~r_82 <= 10 + 0 <= ~r_83 <= + infinity + 0 <= ~r_84 <= + infinity + 0 <= ~r_85 <= + infinity + 0 <= ~r_86 <= + infinity + 0 <= ~r_87 <= + infinity + 0 <= ~r_88 <= + infinity + 0 <= ~r_89 <= + infinity + 0 <= ~r_90 <= 10 + 0 <= ~r_91 <= + infinity + 0 <= ~r_92 <= + infinity + 0 <= ~r_93 <= + infinity + 0 <= ~r_94 <= 10 + 0 <= ~r_95 <= 10 + 0 <= ~r_96 <= + infinity + 0 <= ~r_97 <= + infinity + 0 <= ~r_98 <= 10 + 0 <= ~r_99 <= + infinity + 0 <= ~r_100 <= + infinity + 0 <= ~r_101 <= + infinity + 0 <= ~r_102 <= + infinity + 0 <= ~r_103 <= + infinity + 0 <= ~r_104 <= + infinity + 0 <= ~r_105 <= + infinity + 0 <= ~r_106 <= + infinity + 0 <= ~r_107 <= + infinity + 0 <= ~r_108 <= + infinity + 0 <= ~r_109 <= + infinity + 0 <= ~r_110 <= + infinity + 0 <= ~r_111 <= + infinity + 0 <= ~r_112 <= + infinity + 0 <= ~r_113 <= + infinity + 0 <= x1 <= + infinity + 0 <= x2 <= + infinity + 0 <= x3 <= + infinity + 0 <= x4 <= + infinity + 0 <= x5 <= + infinity + 0 <= x6 <= + infinity + 0 <= x7 <= + infinity + 0 <= x8 <= + infinity + 0 <= x9 <= + infinity + 0 <= x10 <= + infinity + 0 <= x11 <= + infinity + 0 <= x12 <= + infinity + 0 <= x13 <= + infinity + 0 <= x14 <= + infinity + 0 <= x15 <= + infinity + 0 <= x16 <= + infinity + 0 <= x17 <= + infinity + 0 <= x18 <= + infinity + 0 <= x19 <= + infinity + 0 <= x20 <= + infinity + 0 <= x21 <= + infinity + 0 <= x22 <= + infinity + 0 <= x23 <= + infinity + 0 <= x24 <= + infinity + 0 <= x25 <= + infinity + 0 <= x26 <= + infinity + 0 <= x27 <= + infinity + 0 <= x28 <= + infinity + 0 <= x29 <= + infinity + 0 <= x30 <= + infinity + 0 <= x31 <= + infinity + 0 <= x32 <= + infinity + 0 <= x33 <= + infinity + 0 <= x34 <= + infinity + 0 <= x35 <= + infinity + 0 <= x36 <= + infinity + 0 <= x37 <= + infinity + 0 <= x38 <= + infinity + 0 <= x39 <= + infinity + 0 <= x40 <= + infinity + 0 <= x41 <= + infinity + 0 <= x42 <= + infinity + 0 <= x43 <= + infinity + 0 <= x44 <= + infinity + 0 <= x45 <= + infinity + 0 <= x46 <= + infinity + 0 <= x47 <= + infinity + 0 <= x48 <= + infinity + 0 <= x49 <= + infinity + 0 <= x50 <= + infinity + 0 <= x51 <= + infinity + 0 <= x52 <= + infinity + 0 <= x53 <= + infinity + 0 <= x54 <= + infinity + 0 <= x55 <= + infinity + 0 <= x56 <= + infinity + 0 <= x57 <= + infinity + 0 <= x58 <= + infinity + 0 <= x59 <= + infinity + 0 <= x60 <= + infinity + 0 <= x61 <= + infinity + 0 <= x62 <= + infinity + 0 <= x63 <= + infinity + 0 <= x64 <= + infinity + 0 <= x65 <= + infinity + 0 <= x66 <= + infinity + 0 <= x67 <= + infinity + 0 <= x68 <= + infinity + 0 <= x69 <= + infinity + 0 <= x70 <= + infinity + 0 <= x71 <= + infinity + 0 <= x72 <= + infinity + 0 <= x73 <= + infinity + 0 <= x74 <= + infinity + 0 <= x75 <= + infinity + 0 <= x76 <= + infinity + 0 <= x77 <= + infinity + 0 <= x78 <= + infinity + 0 <= x79 <= + infinity + 0 <= x80 <= + infinity + 0 <= x81 <= + infinity + 0 <= x82 <= + infinity + 0 <= x83 <= + infinity + 0 <= x84 <= + infinity + 0 <= x85 <= + infinity + 0 <= x86 <= + infinity + 0 <= x87 <= + infinity + 0 <= x88 <= + infinity + 0 <= x89 <= + infinity + 0 <= x90 <= + infinity + 0 <= x91 <= + infinity + 0 <= x92 <= + infinity + 0 <= x93 <= + infinity + 0 <= x94 <= + infinity + 0 <= x95 <= + infinity + 0 <= x96 <= + infinity + 0 <= x97 <= + infinity + 0 <= x98 <= + infinity + 0 <= x99 <= + infinity + 0 <= x100 <= + infinity + 0 <= x101 <= + infinity + 0 <= x102 <= + infinity + 0 <= x103 <= + infinity + 0 <= x104 <= + infinity + 0 <= x105 <= + infinity + 0 <= x106 <= + infinity + 0 <= x107 <= + infinity + 0 <= x108 <= + infinity + 0 <= x109 <= + infinity + 0 <= x110 <= + infinity + 0 <= x111 <= + infinity + 0 <= x112 <= + infinity + 0 <= x113 <= + infinity + 0 <= x114 <= + infinity + 0 <= x115 <= + infinity + 0 <= x116 <= + infinity + 0 <= x117 <= + infinity + 0 <= x118 <= + infinity + 0 <= x119 <= + infinity + 0 <= x120 <= + infinity + 0 <= x121 <= + infinity + 0 <= x122 <= + infinity + 0 <= x123 <= + infinity + 0 <= x124 <= + infinity + 0 <= x125 <= + infinity + 0 <= x126 <= + infinity + 0 <= x127 <= + infinity + 0 <= x128 <= + infinity + 0 <= x129 <= + infinity + 0 <= x130 <= + infinity + 0 <= x131 <= + infinity + 0 <= x132 <= + infinity + 0 <= x133 <= + infinity + 0 <= x134 <= + infinity + 0 <= x135 <= + infinity + 0 <= x136 <= + infinity + 0 <= x137 <= + infinity + 0 <= x138 <= + infinity + 0 <= x139 <= + infinity + 0 <= x140 <= + infinity + 0 <= x141 <= + infinity + 0 <= x142 <= + infinity + 0 <= x143 <= + infinity + 0 <= x144 <= + infinity + 0 <= x145 <= + infinity + 0 <= x146 <= + infinity + 0 <= x147 <= + infinity + 0 <= x148 <= + infinity + 0 <= x149 <= + infinity + 0 <= x150 <= + infinity + 0 <= x151 <= + infinity + 0 <= x152 <= + infinity + 0 <= x153 <= + infinity + 0 <= x154 <= + infinity + 0 <= x155 <= + infinity + 0 <= x156 <= + infinity + 0 <= x157 <= + infinity + 0 <= x158 <= + infinity + 0 <= x159 <= + infinity + 0 <= x160 <= + infinity + 0 <= x161 <= + infinity + 0 <= x162 <= + infinity + 0 <= x163 <= + infinity + 0 <= x164 <= + infinity + 0 <= x165 <= + infinity + 0 <= x166 <= + infinity + 0 <= x167 <= + infinity + 0 <= x168 <= + infinity + 0 <= x169 <= + infinity + 0 <= x170 <= + infinity + 0 <= x171 <= + infinity + 0 <= x172 <= + infinity + 0 <= x173 <= + infinity + 0 <= x174 <= + infinity + 0 <= x175 <= + infinity + 0 <= x176 <= + infinity + 0 <= x177 <= + infinity + 0 <= x178 <= + infinity + 0 <= x179 <= + infinity + 0 <= x180 <= + infinity + 0 <= x181 <= + infinity + 0 <= x182 <= + infinity + 0 <= x183 <= + infinity + 0 <= x184 <= + infinity + 0 <= x185 <= + infinity + 0 <= x186 <= + infinity + 0 <= x187 <= + infinity + 0 <= x188 <= + infinity + 0 <= x189 <= + infinity + 0 <= x190 <= + infinity + 0 <= x191 <= + infinity + 0 <= x192 <= + infinity + 0 <= x193 <= + infinity + 0 <= x194 <= + infinity + 0 <= x195 <= + infinity + 0 <= x196 <= + infinity + 0 <= x197 <= + infinity + 0 <= x198 <= + infinity + 0 <= x199 <= + infinity + 0 <= x200 <= + infinity + 0 <= x201 <= + infinity + 0 <= x202 <= + infinity + 0 <= x203 <= + infinity + 0 <= x204 <= + infinity + 0 <= x205 <= + infinity + 0 <= x206 <= + infinity + 0 <= x207 <= + infinity + 0 <= x208 <= + infinity + 0 <= x209 <= + infinity + 0 <= x210 <= + infinity + 0 <= x211 <= + infinity + 0 <= x212 <= + infinity + 0 <= x213 <= + infinity + 0 <= x214 <= + infinity + 0 <= x215 <= + infinity + 0 <= x216 <= + infinity + 0 <= x217 <= + infinity + 0 <= x218 <= + infinity + 0 <= x219 <= + infinity + 0 <= x220 <= + infinity + 0 <= x221 <= + infinity + 0 <= x222 <= + infinity + 0 <= x223 <= + infinity + 0 <= x224 <= + infinity + 0 <= x225 <= + infinity + 0 <= x226 <= + infinity + 0 <= x227 <= + infinity + 0 <= x228 <= + infinity + 0 <= x229 <= + infinity + 0 <= x230 <= + infinity + 0 <= x231 <= + infinity + 0 <= x232 <= + infinity + 0 <= x233 <= + infinity + 0 <= x234 <= + infinity + 0 <= x235 <= + infinity + 0 <= x236 <= + infinity + 0 <= x237 <= + infinity + 0 <= x238 <= + infinity + 0 <= x239 <= + infinity + 0 <= x240 <= + infinity + 0 <= x241 <= + infinity + 0 <= x242 <= + infinity + 0 <= x243 <= + infinity + 0 <= x244 <= + infinity + 0 <= x245 <= + infinity + 0 <= x246 <= + infinity + 0 <= x247 <= + infinity + 0 <= x248 <= + infinity + 0 <= x249 <= + infinity + 0 <= x250 <= + infinity + 0 <= x251 <= + infinity + 0 <= x252 <= + infinity + 0 <= x253 <= 10 + 0 <= x254 <= 10 + 0 <= x255 <= 10 + 0 <= x256 <= 10 + 0 <= x257 <= 10 + 0 <= x258 <= 10 + 0 <= x259 <= 10 + 0 <= x260 <= 10 + 0 <= x261 <= 10 + 0 <= x262 <= 10 + 0 <= x263 <= 10 + 0 <= x264 <= 10 + 0 <= x265 <= 10 + 0 <= x266 <= 10 + 0 <= x267 <= + infinity + 0 <= x268 <= + infinity + 0 <= x269 <= + infinity + 0 <= x270 <= + infinity + 0 <= x271 <= + infinity + 0 <= x272 <= + infinity + 0 <= x273 <= + infinity + 0 <= x274 <= + infinity + 0 <= x275 <= + infinity + 0 <= x276 <= + infinity + 0 <= x277 <= + infinity + 0 <= x278 <= + infinity + 0 <= x279 <= + infinity + 0 <= x280 <= + infinity + 0 <= x281 <= + infinity + 0 <= x282 <= + infinity + 0 <= x283 <= + infinity + 0 <= x284 <= + infinity + 0 <= x285 <= + infinity + 0 <= x286 <= + infinity + 0 <= x287 <= + infinity + 0 <= x288 <= + infinity + 0 <= x289 <= + infinity + 0 <= x290 <= + infinity + 0 <= x291 <= + infinity + 0 <= x292 <= + infinity + 0 <= x293 <= + infinity + 0 <= x294 <= + infinity + 0 <= x295 <= + infinity + 0 <= x296 <= + infinity + 0 <= x297 <= + infinity + 0 <= x298 <= + infinity + 0 <= x299 <= + infinity + 0 <= x300 <= + infinity + 0 <= x301 <= + infinity + 0 <= x302 <= + infinity + 0 <= x303 <= + infinity + 0 <= x304 <= + infinity + 0 <= x305 <= + infinity + 0 <= x306 <= + infinity + 0 <= x307 <= + infinity + 0 <= x308 <= + infinity + 0 <= x309 <= 10 + 0 <= x310 <= 10 + 0 <= x311 <= 10 + 0 <= x312 <= 10 + 0 <= x313 <= 10 + 0 <= x314 <= 10 + 0 <= x315 <= 10 + 0 <= x316 <= 10 + 0 <= x317 <= 10 + 0 <= x318 <= 10 + 0 <= x319 <= 10 + 0 <= x320 <= 10 + 0 <= x321 <= 10 + 0 <= x322 <= 10 + 0 <= x323 <= + infinity + 0 <= x324 <= + infinity + 0 <= x325 <= + infinity + 0 <= x326 <= + infinity + 0 <= x327 <= + infinity + 0 <= x328 <= + infinity + 0 <= x329 <= + infinity + 0 <= x330 <= + infinity + 0 <= x331 <= + infinity + 0 <= x332 <= + infinity + 0 <= x333 <= + infinity + 0 <= x334 <= + infinity + 0 <= x335 <= + infinity + 0 <= x336 <= + infinity + 0 <= x337 <= + infinity + 0 <= x338 <= + infinity + 0 <= x339 <= + infinity + 0 <= x340 <= + infinity + 0 <= x341 <= + infinity + 0 <= x342 <= + infinity + 0 <= x343 <= + infinity + 0 <= x344 <= + infinity + 0 <= x345 <= + infinity + 0 <= x346 <= + infinity + 0 <= x347 <= + infinity + 0 <= x348 <= + infinity + 0 <= x349 <= + infinity + 0 <= x350 <= + infinity + 0 <= x351 <= + infinity + 0 <= x352 <= + infinity + 0 <= x353 <= + infinity + 0 <= x354 <= + infinity + 0 <= x355 <= + infinity + 0 <= x356 <= + infinity + 0 <= x357 <= + infinity + 0 <= x358 <= + infinity + 0 <= x359 <= + infinity + 0 <= x360 <= + infinity + 0 <= x361 <= + infinity + 0 <= x362 <= + infinity + 0 <= x363 <= + infinity + 0 <= x364 <= + infinity + 0 <= x365 <= + infinity + 0 <= x366 <= + infinity + 0 <= x367 <= + infinity + 0 <= x368 <= + infinity + 0 <= x369 <= + infinity + 0 <= x370 <= + infinity + 0 <= x371 <= + infinity + 0 <= x372 <= + infinity + 0 <= x373 <= + infinity + 0 <= x374 <= + infinity + 0 <= x375 <= + infinity + 0 <= x376 <= + infinity + 0 <= x377 <= + infinity + 0 <= x378 <= + infinity + 0 <= x379 <= 10 + 0 <= x380 <= 10 + 0 <= x381 <= 10 + 0 <= x382 <= 10 + 0 <= x383 <= 10 + 0 <= x384 <= 10 + 0 <= x385 <= 10 + 0 <= x386 <= 10 + 0 <= x387 <= 10 + 0 <= x388 <= 10 + 0 <= x389 <= 10 + 0 <= x390 <= 10 + 0 <= x391 <= 10 + 0 <= x392 <= 10 + 0 <= x393 <= + infinity + 0 <= x394 <= + infinity + 0 <= x395 <= + infinity + 0 <= x396 <= + infinity + 0 <= x397 <= + infinity + 0 <= x398 <= + infinity + 0 <= x399 <= + infinity + 0 <= x400 <= + infinity + 0 <= x401 <= + infinity + 0 <= x402 <= + infinity + 0 <= x403 <= + infinity + 0 <= x404 <= + infinity + 0 <= x405 <= + infinity + 0 <= x406 <= + infinity + 0 <= x407 <= 10 + 0 <= x408 <= 10 + 0 <= x409 <= 10 + 0 <= x410 <= 10 + 0 <= x411 <= 10 + 0 <= x412 <= 10 + 0 <= x413 <= 10 + 0 <= x414 <= 10 + 0 <= x415 <= 10 + 0 <= x416 <= 10 + 0 <= x417 <= 10 + 0 <= x418 <= 10 + 0 <= x419 <= 10 + 0 <= x420 <= 10 + 0 <= x421 <= + infinity + 0 <= x422 <= + infinity + 0 <= x423 <= + infinity + 0 <= x424 <= + infinity + 0 <= x425 <= + infinity + 0 <= x426 <= + infinity + 0 <= x427 <= + infinity + 0 <= x428 <= + infinity + 0 <= x429 <= + infinity + 0 <= x430 <= + infinity + 0 <= x431 <= + infinity + 0 <= x432 <= + infinity + 0 <= x433 <= + infinity + 0 <= x434 <= + infinity + 0 <= x435 <= + infinity + 0 <= x436 <= + infinity + 0 <= x437 <= + infinity + 0 <= x438 <= + infinity + 0 <= x439 <= + infinity + 0 <= x440 <= + infinity + 0 <= x441 <= + infinity + 0 <= x442 <= + infinity + 0 <= x443 <= + infinity + 0 <= x444 <= + infinity + 0 <= x445 <= + infinity + 0 <= x446 <= + infinity + 0 <= x447 <= + infinity + 0 <= x448 <= + infinity + 0 <= x449 <= + infinity + 0 <= x450 <= + infinity + 0 <= x451 <= + infinity + 0 <= x452 <= + infinity + 0 <= x453 <= + infinity + 0 <= x454 <= + infinity + 0 <= x455 <= + infinity + 0 <= x456 <= + infinity + 0 <= x457 <= + infinity + 0 <= x458 <= + infinity + 0 <= x459 <= + infinity + 0 <= x460 <= + infinity + 0 <= x461 <= + infinity + 0 <= x462 <= + infinity + 0 <= x463 <= + infinity + 0 <= x464 <= + infinity + 0 <= x465 <= + infinity + 0 <= x466 <= + infinity + 0 <= x467 <= + infinity + 0 <= x468 <= + infinity + 0 <= x469 <= + infinity + 0 <= x470 <= + infinity + 0 <= x471 <= + infinity + 0 <= x472 <= + infinity + 0 <= x473 <= + infinity + 0 <= x474 <= + infinity + 0 <= x475 <= + infinity + 0 <= x476 <= + infinity + 0 <= x477 <= + infinity + 0 <= x478 <= + infinity + 0 <= x479 <= + infinity + 0 <= x480 <= + infinity + 0 <= x481 <= + infinity + 0 <= x482 <= + infinity + 0 <= x483 <= + infinity + 0 <= x484 <= + infinity + 0 <= x485 <= + infinity + 0 <= x486 <= + infinity + 0 <= x487 <= + infinity + 0 <= x488 <= + infinity + 0 <= x489 <= + infinity + 0 <= x490 <= + infinity + 0 <= x491 <= + infinity + 0 <= x492 <= + infinity + 0 <= x493 <= + infinity + 0 <= x494 <= + infinity + 0 <= x495 <= + infinity + 0 <= x496 <= + infinity + 0 <= x497 <= + infinity + 0 <= x498 <= + infinity + 0 <= x499 <= + infinity + 0 <= x500 <= + infinity + 0 <= x501 <= + infinity + 0 <= x502 <= + infinity + 0 <= x503 <= + infinity + 0 <= x504 <= + infinity + 0 <= x505 <= + infinity + 0 <= x506 <= + infinity + 0 <= x507 <= + infinity + 0 <= x508 <= + infinity + 0 <= x509 <= + infinity + 0 <= x510 <= + infinity + 0 <= x511 <= + infinity + 0 <= x512 <= + infinity + 0 <= x513 <= + infinity + 0 <= x514 <= + infinity + 0 <= x515 <= + infinity + 0 <= x516 <= + infinity + 0 <= x517 <= + infinity + 0 <= x518 <= + infinity + 0 <= x519 <= + infinity + 0 <= x520 <= + infinity + 0 <= x521 <= + infinity + 0 <= x522 <= + infinity + 0 <= x523 <= + infinity + 0 <= x524 <= + infinity + 0 <= x525 <= + infinity + 0 <= x526 <= + infinity + 0 <= x527 <= + infinity + 0 <= x528 <= + infinity + 0 <= x529 <= + infinity + 0 <= x530 <= + infinity + 0 <= x531 <= + infinity + 0 <= x532 <= + infinity + 0 <= x533 <= + infinity + 0 <= x534 <= + infinity + 0 <= x535 <= + infinity + 0 <= x536 <= + infinity + 0 <= x537 <= + infinity + 0 <= x538 <= + infinity + 0 <= x539 <= + infinity + 0 <= x540 <= + infinity + 0 <= x541 <= + infinity + 0 <= x542 <= + infinity + 0 <= x543 <= + infinity + 0 <= x544 <= + infinity + 0 <= x545 <= + infinity + 0 <= x546 <= + infinity + 0 <= x547 <= + infinity + 0 <= x548 <= + infinity + 0 <= x549 <= + infinity + 0 <= x550 <= + infinity + 0 <= x551 <= + infinity + 0 <= x552 <= + infinity + 0 <= x553 <= + infinity + 0 <= x554 <= + infinity + 0 <= x555 <= + infinity + 0 <= x556 <= + infinity + 0 <= x557 <= + infinity + 0 <= x558 <= + infinity + 0 <= x559 <= + infinity + 0 <= x560 <= + infinity + 0 <= x561 <= + infinity + 0 <= x562 <= + infinity + 0 <= x563 <= + infinity + 0 <= x564 <= + infinity + 0 <= x565 <= + infinity + 0 <= x566 <= + infinity + 0 <= x567 <= + infinity + 0 <= x568 <= + infinity + 0 <= x569 <= + infinity + 0 <= x570 <= + infinity + 0 <= x571 <= + infinity + 0 <= x572 <= + infinity + 0 <= x573 <= + infinity + 0 <= x574 <= + infinity + 0 <= x575 <= + infinity + 0 <= x576 <= + infinity + 0 <= x577 <= + infinity + 0 <= x578 <= + infinity + 0 <= x579 <= + infinity + 0 <= x580 <= + infinity + 0 <= x581 <= + infinity + 0 <= x582 <= + infinity + 0 <= x583 <= + infinity + 0 <= x584 <= + infinity + 0 <= x585 <= + infinity + 0 <= x586 <= + infinity + 0 <= x587 <= + infinity + 0 <= x588 <= + infinity + 0 <= x589 <= 10 + 0 <= x590 <= 10 + 0 <= x591 <= 10 + 0 <= x592 <= 10 + 0 <= x593 <= 10 + 0 <= x594 <= 10 + 0 <= x595 <= 10 + 0 <= x596 <= 10 + 0 <= x597 <= 10 + 0 <= x598 <= 10 + 0 <= x599 <= 10 + 0 <= x600 <= 10 + 0 <= x601 <= 10 + 0 <= x602 <= 10 + 0 <= x603 <= + infinity + 0 <= x604 <= + infinity + 0 <= x605 <= + infinity + 0 <= x606 <= + infinity + 0 <= x607 <= + infinity + 0 <= x608 <= + infinity + 0 <= x609 <= + infinity + 0 <= x610 <= + infinity + 0 <= x611 <= + infinity + 0 <= x612 <= + infinity + 0 <= x613 <= + infinity + 0 <= x614 <= + infinity + 0 <= x615 <= + infinity + 0 <= x616 <= + infinity + 0 <= x617 <= + infinity + 0 <= x618 <= + infinity + 0 <= x619 <= + infinity + 0 <= x620 <= + infinity + 0 <= x621 <= + infinity + 0 <= x622 <= + infinity + 0 <= x623 <= + infinity + 0 <= x624 <= + infinity + 0 <= x625 <= + infinity + 0 <= x626 <= + infinity + 0 <= x627 <= + infinity + 0 <= x628 <= + infinity + 0 <= x629 <= + infinity + 0 <= x630 <= + infinity + 0 <= x631 <= 10 + 0 <= x632 <= 10 + 0 <= x633 <= 10 + 0 <= x634 <= 10 + 0 <= x635 <= 10 + 0 <= x636 <= 10 + 0 <= x637 <= 10 + 0 <= x638 <= 10 + 0 <= x639 <= 10 + 0 <= x640 <= 10 + 0 <= x641 <= 10 + 0 <= x642 <= 10 + 0 <= x643 <= 10 + 0 <= x644 <= 10 + 0 <= x645 <= + infinity + 0 <= x646 <= + infinity + 0 <= x647 <= + infinity + 0 <= x648 <= + infinity + 0 <= x649 <= + infinity + 0 <= x650 <= + infinity + 0 <= x651 <= + infinity + 0 <= x652 <= + infinity + 0 <= x653 <= + infinity + 0 <= x654 <= + infinity + 0 <= x655 <= + infinity + 0 <= x656 <= + infinity + 0 <= x657 <= + infinity + 0 <= x658 <= + infinity + 0 <= x659 <= + infinity + 0 <= x660 <= + infinity + 0 <= x661 <= + infinity + 0 <= x662 <= + infinity + 0 <= x663 <= + infinity + 0 <= x664 <= + infinity + 0 <= x665 <= + infinity + 0 <= x666 <= + infinity + 0 <= x667 <= + infinity + 0 <= x668 <= + infinity + 0 <= x669 <= + infinity + 0 <= x670 <= + infinity + 0 <= x671 <= + infinity + 0 <= x672 <= + infinity + 0 <= x673 <= + infinity + 0 <= x674 <= + infinity + 0 <= x675 <= + infinity + 0 <= x676 <= + infinity + 0 <= x677 <= + infinity + 0 <= x678 <= + infinity + 0 <= x679 <= + infinity + 0 <= x680 <= + infinity + 0 <= x681 <= + infinity + 0 <= x682 <= + infinity + 0 <= x683 <= + infinity + 0 <= x684 <= + infinity + 0 <= x685 <= + infinity + 0 <= x686 <= + infinity + 0 <= x687 <= + infinity + 0 <= x688 <= + infinity + 0 <= x689 <= + infinity + 0 <= x690 <= + infinity + 0 <= x691 <= + infinity + 0 <= x692 <= + infinity + 0 <= x693 <= + infinity + 0 <= x694 <= + infinity + 0 <= x695 <= + infinity + 0 <= x696 <= + infinity + 0 <= x697 <= + infinity + 0 <= x698 <= + infinity + 0 <= x699 <= + infinity + 0 <= x700 <= + infinity + 0 <= x701 <= + infinity + 0 <= x702 <= + infinity + 0 <= x703 <= + infinity + 0 <= x704 <= + infinity + 0 <= x705 <= + infinity + 0 <= x706 <= + infinity + 0 <= x707 <= + infinity + 0 <= x708 <= + infinity + 0 <= x709 <= + infinity + 0 <= x710 <= + infinity + 0 <= x711 <= + infinity + 0 <= x712 <= + infinity + 0 <= x713 <= + infinity + 0 <= x714 <= + infinity + 0 <= x715 <= + infinity + 0 <= x716 <= + infinity + 0 <= x717 <= + infinity + 0 <= x718 <= + infinity + 0 <= x719 <= + infinity + 0 <= x720 <= + infinity + 0 <= x721 <= + infinity + 0 <= x722 <= + infinity + 0 <= x723 <= + infinity + 0 <= x724 <= + infinity + 0 <= x725 <= + infinity + 0 <= x726 <= + infinity + 0 <= x727 <= + infinity + 0 <= x728 <= + infinity + 0 <= x729 <= + infinity + 0 <= x730 <= + infinity + 0 <= x731 <= + infinity + 0 <= x732 <= + infinity + 0 <= x733 <= + infinity + 0 <= x734 <= + infinity + 0 <= x735 <= + infinity + 0 <= x736 <= + infinity + 0 <= x737 <= + infinity + 0 <= x738 <= + infinity + 0 <= x739 <= + infinity + 0 <= x740 <= + infinity + 0 <= x741 <= + infinity + 0 <= x742 <= + infinity + 0 <= x743 <= + infinity + 0 <= x744 <= + infinity + 0 <= x745 <= + infinity + 0 <= x746 <= + infinity + 0 <= x747 <= + infinity + 0 <= x748 <= + infinity + 0 <= x749 <= + infinity + 0 <= x750 <= + infinity + 0 <= x751 <= + infinity + 0 <= x752 <= + infinity + 0 <= x753 <= + infinity + 0 <= x754 <= + infinity + 0 <= x755 <= + infinity + 0 <= x756 <= + infinity + 0 <= x757 <= + infinity + 0 <= x758 <= + infinity + 0 <= x759 <= + infinity + 0 <= x760 <= + infinity + 0 <= x761 <= + infinity + 0 <= x762 <= + infinity + 0 <= x763 <= + infinity + 0 <= x764 <= + infinity + 0 <= x765 <= + infinity + 0 <= x766 <= + infinity + 0 <= x767 <= + infinity + 0 <= x768 <= + infinity + 0 <= x769 <= + infinity + 0 <= x770 <= + infinity + 0 <= x771 <= + infinity + 0 <= x772 <= + infinity + 0 <= x773 <= + infinity + 0 <= x774 <= + infinity + 0 <= x775 <= + infinity + 0 <= x776 <= + infinity + 0 <= x777 <= + infinity + 0 <= x778 <= + infinity + 0 <= x779 <= + infinity + 0 <= x780 <= + infinity + 0 <= x781 <= + infinity + 0 <= x782 <= + infinity + 0 <= x783 <= + infinity + 0 <= x784 <= + infinity + 0 <= x785 <= + infinity + 0 <= x786 <= + infinity + 0 <= x787 <= + infinity + 0 <= x788 <= + infinity + 0 <= x789 <= + infinity + 0 <= x790 <= + infinity + 0 <= x791 <= + infinity + 0 <= x792 <= + infinity + 0 <= x793 <= + infinity + 0 <= x794 <= + infinity + 0 <= x795 <= + infinity + 0 <= x796 <= + infinity + 0 <= x797 <= + infinity + 0 <= x798 <= + infinity + 0 <= x799 <= 10 + 0 <= x800 <= 10 + 0 <= x801 <= 10 + 0 <= x802 <= 10 + 0 <= x803 <= 10 + 0 <= x804 <= 10 + 0 <= x805 <= 10 + 0 <= x806 <= 10 + 0 <= x807 <= 10 + 0 <= x808 <= 10 + 0 <= x809 <= 10 + 0 <= x810 <= 10 + 0 <= x811 <= 10 + 0 <= x812 <= 10 + 0 <= x813 <= 10 + 0 <= x814 <= 10 + 0 <= x815 <= 10 + 0 <= x816 <= 10 + 0 <= x817 <= 10 + 0 <= x818 <= 10 + 0 <= x819 <= 10 + 0 <= x820 <= 10 + 0 <= x821 <= 10 + 0 <= x822 <= 10 + 0 <= x823 <= 10 + 0 <= x824 <= 10 + 0 <= x825 <= 10 + 0 <= x826 <= 10 + 0 <= x827 <= + infinity + 0 <= x828 <= + infinity + 0 <= x829 <= + infinity + 0 <= x830 <= + infinity + 0 <= x831 <= + infinity + 0 <= x832 <= + infinity + 0 <= x833 <= + infinity + 0 <= x834 <= + infinity + 0 <= x835 <= + infinity + 0 <= x836 <= + infinity + 0 <= x837 <= + infinity + 0 <= x838 <= + infinity + 0 <= x839 <= + infinity + 0 <= x840 <= + infinity + 0 <= x841 <= + infinity + 0 <= x842 <= + infinity + 0 <= x843 <= + infinity + 0 <= x844 <= + infinity + 0 <= x845 <= + infinity + 0 <= x846 <= + infinity + 0 <= x847 <= + infinity + 0 <= x848 <= + infinity + 0 <= x849 <= + infinity + 0 <= x850 <= + infinity + 0 <= x851 <= + infinity + 0 <= x852 <= + infinity + 0 <= x853 <= + infinity + 0 <= x854 <= + infinity + 0 <= x855 <= + infinity + 0 <= x856 <= + infinity + 0 <= x857 <= + infinity + 0 <= x858 <= + infinity + 0 <= x859 <= + infinity + 0 <= x860 <= + infinity + 0 <= x861 <= + infinity + 0 <= x862 <= + infinity + 0 <= x863 <= + infinity + 0 <= x864 <= + infinity + 0 <= x865 <= + infinity + 0 <= x866 <= + infinity + 0 <= x867 <= + infinity + 0 <= x868 <= + infinity + 0 <= x869 <= + infinity + 0 <= x870 <= + infinity + 0 <= x871 <= + infinity + 0 <= x872 <= + infinity + 0 <= x873 <= + infinity + 0 <= x874 <= + infinity + 0 <= x875 <= + infinity + 0 <= x876 <= + infinity + 0 <= x877 <= + infinity + 0 <= x878 <= + infinity + 0 <= x879 <= + infinity + 0 <= x880 <= + infinity + 0 <= x881 <= + infinity + 0 <= x882 <= + infinity + 0 <= x883 <= + infinity + 0 <= x884 <= + infinity + 0 <= x885 <= + infinity + 0 <= x886 <= + infinity + 0 <= x887 <= + infinity + 0 <= x888 <= + infinity + 0 <= x889 <= + infinity + 0 <= x890 <= + infinity + 0 <= x891 <= + infinity + 0 <= x892 <= + infinity + 0 <= x893 <= + infinity + 0 <= x894 <= + infinity + 0 <= x895 <= + infinity + 0 <= x896 <= + infinity + 0 <= x897 <= 10 + 0 <= x898 <= 10 + 0 <= x899 <= 10 + 0 <= x900 <= 10 + 0 <= x901 <= 10 + 0 <= x902 <= 10 + 0 <= x903 <= 10 + 0 <= x904 <= 10 + 0 <= x905 <= 10 + 0 <= x906 <= 10 + 0 <= x907 <= 10 + 0 <= x908 <= 10 + 0 <= x909 <= 10 + 0 <= x910 <= 10 + 0 <= x911 <= + infinity + 0 <= x912 <= + infinity + 0 <= x913 <= + infinity + 0 <= x914 <= + infinity + 0 <= x915 <= + infinity + 0 <= x916 <= + infinity + 0 <= x917 <= + infinity + 0 <= x918 <= + infinity + 0 <= x919 <= + infinity + 0 <= x920 <= + infinity + 0 <= x921 <= + infinity + 0 <= x922 <= + infinity + 0 <= x923 <= + infinity + 0 <= x924 <= + infinity + 0 <= x925 <= + infinity + 0 <= x926 <= + infinity + 0 <= x927 <= + infinity + 0 <= x928 <= + infinity + 0 <= x929 <= + infinity + 0 <= x930 <= + infinity + 0 <= x931 <= + infinity + 0 <= x932 <= + infinity + 0 <= x933 <= + infinity + 0 <= x934 <= + infinity + 0 <= x935 <= + infinity + 0 <= x936 <= + infinity + 0 <= x937 <= + infinity + 0 <= x938 <= + infinity + 0 <= x939 <= 10 + 0 <= x940 <= 10 + 0 <= x941 <= 10 + 0 <= x942 <= 10 + 0 <= x943 <= 10 + 0 <= x944 <= 10 + 0 <= x945 <= 10 + 0 <= x946 <= 10 + 0 <= x947 <= 10 + 0 <= x948 <= 10 + 0 <= x949 <= 10 + 0 <= x950 <= 10 + 0 <= x951 <= 10 + 0 <= x952 <= 10 + 0 <= x953 <= + infinity + 0 <= x954 <= + infinity + 0 <= x955 <= + infinity + 0 <= x956 <= + infinity + 0 <= x957 <= + infinity + 0 <= x958 <= + infinity + 0 <= x959 <= + infinity + 0 <= x960 <= + infinity + 0 <= x961 <= + infinity + 0 <= x962 <= + infinity + 0 <= x963 <= + infinity + 0 <= x964 <= + infinity + 0 <= x965 <= + infinity + 0 <= x966 <= + infinity + 0 <= x967 <= 10 + 0 <= x968 <= 10 + 0 <= x969 <= 10 + 0 <= x970 <= 10 + 0 <= x971 <= 10 + 0 <= x972 <= 10 + 0 <= x973 <= 10 + 0 <= x974 <= 10 + 0 <= x975 <= 10 + 0 <= x976 <= 10 + 0 <= x977 <= 10 + 0 <= x978 <= 10 + 0 <= x979 <= 10 + 0 <= x980 <= 10 + 0 <= x981 <= + infinity + 0 <= x982 <= + infinity + 0 <= x983 <= + infinity + 0 <= x984 <= + infinity + 0 <= x985 <= + infinity + 0 <= x986 <= + infinity + 0 <= x987 <= + infinity + 0 <= x988 <= + infinity + 0 <= x989 <= + infinity + 0 <= x990 <= + infinity + 0 <= x991 <= + infinity + 0 <= x992 <= + infinity + 0 <= x993 <= + infinity + 0 <= x994 <= + infinity + 0 <= x995 <= 10 + 0 <= x996 <= 10 + 0 <= x997 <= 10 + 0 <= x998 <= 10 + 0 <= x999 <= 10 + 0 <= x1000 <= 10 + 0 <= x1001 <= 10 + 0 <= x1002 <= 10 + 0 <= x1003 <= 10 + 0 <= x1004 <= 10 + 0 <= x1005 <= 10 + 0 <= x1006 <= 10 + 0 <= x1007 <= 10 + 0 <= x1008 <= 10 + 0 <= x1009 <= + infinity + 0 <= x1010 <= + infinity + 0 <= x1011 <= + infinity + 0 <= x1012 <= + infinity + 0 <= x1013 <= + infinity + 0 <= x1014 <= + infinity + 0 <= x1015 <= + infinity + 0 <= x1016 <= + infinity + 0 <= x1017 <= + infinity + 0 <= x1018 <= + infinity + 0 <= x1019 <= + infinity + 0 <= x1020 <= + infinity + 0 <= x1021 <= + infinity + 0 <= x1022 <= + infinity + 0 <= x1023 <= + infinity + 0 <= x1024 <= + infinity + 0 <= x1025 <= + infinity + 0 <= x1026 <= + infinity + 0 <= x1027 <= + infinity + 0 <= x1028 <= + infinity + 0 <= x1029 <= + infinity + 0 <= x1030 <= + infinity + 0 <= x1031 <= + infinity + 0 <= x1032 <= + infinity + 0 <= x1033 <= + infinity + 0 <= x1034 <= + infinity + 0 <= x1035 <= + infinity + 0 <= x1036 <= + infinity + 0 <= x1037 <= + infinity + 0 <= x1038 <= + infinity + 0 <= x1039 <= + infinity + 0 <= x1040 <= + infinity + 0 <= x1041 <= + infinity + 0 <= x1042 <= + infinity + 0 <= x1043 <= + infinity + 0 <= x1044 <= + infinity + 0 <= x1045 <= + infinity + 0 <= x1046 <= + infinity + 0 <= x1047 <= + infinity + 0 <= x1048 <= + infinity + 0 <= x1049 <= + infinity + 0 <= x1050 <= + infinity + 0 <= x1051 <= + infinity + 0 <= x1052 <= + infinity + 0 <= x1053 <= + infinity + 0 <= x1054 <= + infinity + 0 <= x1055 <= + infinity + 0 <= x1056 <= + infinity + 0 <= x1057 <= + infinity + 0 <= x1058 <= + infinity + 0 <= x1059 <= + infinity + 0 <= x1060 <= + infinity + 0 <= x1061 <= + infinity + 0 <= x1062 <= + infinity + 0 <= x1063 <= + infinity + 0 <= x1064 <= + infinity + 0 <= x1065 <= + infinity + 0 <= x1066 <= + infinity + 0 <= x1067 <= + infinity + 0 <= x1068 <= + infinity + 0 <= x1069 <= + infinity + 0 <= x1070 <= + infinity + 0 <= x1071 <= + infinity + 0 <= x1072 <= + infinity + 0 <= x1073 <= + infinity + 0 <= x1074 <= + infinity + 0 <= x1075 <= + infinity + 0 <= x1076 <= + infinity + 0 <= x1077 <= + infinity + 0 <= x1078 <= + infinity + 0 <= x1079 <= + infinity + 0 <= x1080 <= + infinity + 0 <= x1081 <= + infinity + 0 <= x1082 <= + infinity + 0 <= x1083 <= + infinity + 0 <= x1084 <= + infinity + 0 <= x1085 <= + infinity + 0 <= x1086 <= + infinity + 0 <= x1087 <= + infinity + 0 <= x1088 <= + infinity + 0 <= x1089 <= + infinity + 0 <= x1090 <= + infinity + 0 <= x1091 <= + infinity + 0 <= x1092 <= + infinity + 0 <= x1093 <= + infinity + 0 <= x1094 <= + infinity + 0 <= x1095 <= + infinity + 0 <= x1096 <= + infinity + 0 <= x1097 <= + infinity + 0 <= x1098 <= + infinity + 0 <= x1099 <= + infinity + 0 <= x1100 <= + infinity + 0 <= x1101 <= + infinity + 0 <= x1102 <= + infinity + 0 <= x1103 <= + infinity + 0 <= x1104 <= + infinity + 0 <= x1105 <= + infinity + 0 <= x1106 <= + infinity + 0 <= x1107 <= + infinity + 0 <= x1108 <= + infinity + 0 <= x1109 <= + infinity + 0 <= x1110 <= + infinity + 0 <= x1111 <= + infinity + 0 <= x1112 <= + infinity + 0 <= x1113 <= + infinity + 0 <= x1114 <= + infinity + 0 <= x1115 <= + infinity + 0 <= x1116 <= + infinity + 0 <= x1117 <= + infinity + 0 <= x1118 <= + infinity + 0 <= x1119 <= + infinity + 0 <= x1120 <= + infinity + 0 <= x1121 <= + infinity + 0 <= x1122 <= + infinity + 0 <= x1123 <= + infinity + 0 <= x1124 <= + infinity + 0 <= x1125 <= + infinity + 0 <= x1126 <= + infinity + 0 <= x1127 <= + infinity + 0 <= x1128 <= + infinity + 0 <= x1129 <= + infinity + 0 <= x1130 <= + infinity + 0 <= x1131 <= + infinity + 0 <= x1132 <= + infinity + 0 <= x1133 <= + infinity + 0 <= x1134 <= + infinity + 0 <= x1135 <= 10 + 0 <= x1136 <= 10 + 0 <= x1137 <= 10 + 0 <= x1138 <= 10 + 0 <= x1139 <= 10 + 0 <= x1140 <= 10 + 0 <= x1141 <= 10 + 0 <= x1142 <= 10 + 0 <= x1143 <= 10 + 0 <= x1144 <= 10 + 0 <= x1145 <= 10 + 0 <= x1146 <= 10 + 0 <= x1147 <= 10 + 0 <= x1148 <= 10 + 0 <= x1149 <= + infinity + 0 <= x1150 <= + infinity + 0 <= x1151 <= + infinity + 0 <= x1152 <= + infinity + 0 <= x1153 <= + infinity + 0 <= x1154 <= + infinity + 0 <= x1155 <= + infinity + 0 <= x1156 <= + infinity + 0 <= x1157 <= + infinity + 0 <= x1158 <= + infinity + 0 <= x1159 <= + infinity + 0 <= x1160 <= + infinity + 0 <= x1161 <= + infinity + 0 <= x1162 <= + infinity + 0 <= x1163 <= + infinity + 0 <= x1164 <= + infinity + 0 <= x1165 <= + infinity + 0 <= x1166 <= + infinity + 0 <= x1167 <= + infinity + 0 <= x1168 <= + infinity + 0 <= x1169 <= + infinity + 0 <= x1170 <= + infinity + 0 <= x1171 <= + infinity + 0 <= x1172 <= + infinity + 0 <= x1173 <= + infinity + 0 <= x1174 <= + infinity + 0 <= x1175 <= + infinity + 0 <= x1176 <= + infinity + 0 <= x1177 <= + infinity + 0 <= x1178 <= + infinity + 0 <= x1179 <= + infinity + 0 <= x1180 <= + infinity + 0 <= x1181 <= + infinity + 0 <= x1182 <= + infinity + 0 <= x1183 <= + infinity + 0 <= x1184 <= + infinity + 0 <= x1185 <= + infinity + 0 <= x1186 <= + infinity + 0 <= x1187 <= + infinity + 0 <= x1188 <= + infinity + 0 <= x1189 <= + infinity + 0 <= x1190 <= + infinity + 0 <= x1191 <= + infinity + 0 <= x1192 <= + infinity + 0 <= x1193 <= + infinity + 0 <= x1194 <= + infinity + 0 <= x1195 <= + infinity + 0 <= x1196 <= + infinity + 0 <= x1197 <= + infinity + 0 <= x1198 <= + infinity + 0 <= x1199 <= + infinity + 0 <= x1200 <= + infinity + 0 <= x1201 <= + infinity + 0 <= x1202 <= + infinity + 0 <= x1203 <= + infinity + 0 <= x1204 <= + infinity + 0 <= x1205 <= + infinity + 0 <= x1206 <= + infinity + 0 <= x1207 <= + infinity + 0 <= x1208 <= + infinity + 0 <= x1209 <= + infinity + 0 <= x1210 <= + infinity + 0 <= x1211 <= + infinity + 0 <= x1212 <= + infinity + 0 <= x1213 <= + infinity + 0 <= x1214 <= + infinity + 0 <= x1215 <= + infinity + 0 <= x1216 <= + infinity + 0 <= x1217 <= + infinity + 0 <= x1218 <= + infinity + 0 <= x1219 <= + infinity + 0 <= x1220 <= + infinity + 0 <= x1221 <= + infinity + 0 <= x1222 <= + infinity + 0 <= x1223 <= + infinity + 0 <= x1224 <= + infinity + 0 <= x1225 <= + infinity + 0 <= x1226 <= + infinity + 0 <= x1227 <= + infinity + 0 <= x1228 <= + infinity + 0 <= x1229 <= + infinity + 0 <= x1230 <= + infinity + 0 <= x1231 <= + infinity + 0 <= x1232 <= + infinity + 0 <= x1233 <= + infinity + 0 <= x1234 <= + infinity + 0 <= x1235 <= + infinity + 0 <= x1236 <= + infinity + 0 <= x1237 <= + infinity + 0 <= x1238 <= + infinity + 0 <= x1239 <= + infinity + 0 <= x1240 <= + infinity + 0 <= x1241 <= + infinity + 0 <= x1242 <= + infinity + 0 <= x1243 <= + infinity + 0 <= x1244 <= + infinity + 0 <= x1245 <= + infinity + 0 <= x1246 <= + infinity + 0 <= x1247 <= 10 + 0 <= x1248 <= 10 + 0 <= x1249 <= 10 + 0 <= x1250 <= 10 + 0 <= x1251 <= 10 + 0 <= x1252 <= 10 + 0 <= x1253 <= 10 + 0 <= x1254 <= 10 + 0 <= x1255 <= 10 + 0 <= x1256 <= 10 + 0 <= x1257 <= 10 + 0 <= x1258 <= 10 + 0 <= x1259 <= 10 + 0 <= x1260 <= 10 + 0 <= x1261 <= + infinity + 0 <= x1262 <= + infinity + 0 <= x1263 <= + infinity + 0 <= x1264 <= + infinity + 0 <= x1265 <= + infinity + 0 <= x1266 <= + infinity + 0 <= x1267 <= + infinity + 0 <= x1268 <= + infinity + 0 <= x1269 <= + infinity + 0 <= x1270 <= + infinity + 0 <= x1271 <= + infinity + 0 <= x1272 <= + infinity + 0 <= x1273 <= + infinity + 0 <= x1274 <= + infinity + 0 <= x1275 <= + infinity + 0 <= x1276 <= + infinity + 0 <= x1277 <= + infinity + 0 <= x1278 <= + infinity + 0 <= x1279 <= + infinity + 0 <= x1280 <= + infinity + 0 <= x1281 <= + infinity + 0 <= x1282 <= + infinity + 0 <= x1283 <= + infinity + 0 <= x1284 <= + infinity + 0 <= x1285 <= + infinity + 0 <= x1286 <= + infinity + 0 <= x1287 <= + infinity + 0 <= x1288 <= + infinity + 0 <= x1289 <= + infinity + 0 <= x1290 <= + infinity + 0 <= x1291 <= + infinity + 0 <= x1292 <= + infinity + 0 <= x1293 <= + infinity + 0 <= x1294 <= + infinity + 0 <= x1295 <= + infinity + 0 <= x1296 <= + infinity + 0 <= x1297 <= + infinity + 0 <= x1298 <= + infinity + 0 <= x1299 <= + infinity + 0 <= x1300 <= + infinity + 0 <= x1301 <= + infinity + 0 <= x1302 <= + infinity + 0 <= x1303 <= 10 + 0 <= x1304 <= 10 + 0 <= x1305 <= 10 + 0 <= x1306 <= 10 + 0 <= x1307 <= 10 + 0 <= x1308 <= 10 + 0 <= x1309 <= 10 + 0 <= x1310 <= 10 + 0 <= x1311 <= 10 + 0 <= x1312 <= 10 + 0 <= x1313 <= 10 + 0 <= x1314 <= 10 + 0 <= x1315 <= 10 + 0 <= x1316 <= 10 + 0 <= x1317 <= 10 + 0 <= x1318 <= 10 + 0 <= x1319 <= 10 + 0 <= x1320 <= 10 + 0 <= x1321 <= 10 + 0 <= x1322 <= 10 + 0 <= x1323 <= 10 + 0 <= x1324 <= 10 + 0 <= x1325 <= 10 + 0 <= x1326 <= 10 + 0 <= x1327 <= 10 + 0 <= x1328 <= 10 + 0 <= x1329 <= 10 + 0 <= x1330 <= 10 + 0 <= x1331 <= + infinity + 0 <= x1332 <= + infinity + 0 <= x1333 <= + infinity + 0 <= x1334 <= + infinity + 0 <= x1335 <= + infinity + 0 <= x1336 <= + infinity + 0 <= x1337 <= + infinity + 0 <= x1338 <= + infinity + 0 <= x1339 <= + infinity + 0 <= x1340 <= + infinity + 0 <= x1341 <= + infinity + 0 <= x1342 <= + infinity + 0 <= x1343 <= + infinity + 0 <= x1344 <= + infinity + 0 <= x1345 <= + infinity + 0 <= x1346 <= + infinity + 0 <= x1347 <= + infinity + 0 <= x1348 <= + infinity + 0 <= x1349 <= + infinity + 0 <= x1350 <= + infinity + 0 <= x1351 <= + infinity + 0 <= x1352 <= + infinity + 0 <= x1353 <= + infinity + 0 <= x1354 <= + infinity + 0 <= x1355 <= + infinity + 0 <= x1356 <= + infinity + 0 <= x1357 <= + infinity + 0 <= x1358 <= + infinity + 0 <= x1359 <= 10 + 0 <= x1360 <= 10 + 0 <= x1361 <= 10 + 0 <= x1362 <= 10 + 0 <= x1363 <= 10 + 0 <= x1364 <= 10 + 0 <= x1365 <= 10 + 0 <= x1366 <= 10 + 0 <= x1367 <= 10 + 0 <= x1368 <= 10 + 0 <= x1369 <= 10 + 0 <= x1370 <= 10 + 0 <= x1371 <= 10 + 0 <= x1372 <= 10 + 0 <= x1373 <= + infinity + 0 <= x1374 <= + infinity + 0 <= x1375 <= + infinity + 0 <= x1376 <= + infinity + 0 <= x1377 <= + infinity + 0 <= x1378 <= + infinity + 0 <= x1379 <= + infinity + 0 <= x1380 <= + infinity + 0 <= x1381 <= + infinity + 0 <= x1382 <= + infinity + 0 <= x1383 <= + infinity + 0 <= x1384 <= + infinity + 0 <= x1385 <= + infinity + 0 <= x1386 <= + infinity + 0 <= x1387 <= + infinity + 0 <= x1388 <= + infinity + 0 <= x1389 <= + infinity + 0 <= x1390 <= + infinity + 0 <= x1391 <= + infinity + 0 <= x1392 <= + infinity + 0 <= x1393 <= + infinity + 0 <= x1394 <= + infinity + 0 <= x1395 <= + infinity + 0 <= x1396 <= + infinity + 0 <= x1397 <= + infinity + 0 <= x1398 <= + infinity + 0 <= x1399 <= + infinity + 0 <= x1400 <= + infinity + 0 <= x1401 <= + infinity + 0 <= x1402 <= + infinity + 0 <= x1403 <= + infinity + 0 <= x1404 <= + infinity + 0 <= x1405 <= + infinity + 0 <= x1406 <= + infinity + 0 <= x1407 <= + infinity + 0 <= x1408 <= + infinity + 0 <= x1409 <= + infinity + 0 <= x1410 <= + infinity + 0 <= x1411 <= + infinity + 0 <= x1412 <= + infinity + 0 <= x1413 <= + infinity + 0 <= x1414 <= + infinity + 0 <= x1415 <= + infinity + 0 <= x1416 <= + infinity + 0 <= x1417 <= + infinity + 0 <= x1418 <= + infinity + 0 <= x1419 <= + infinity + 0 <= x1420 <= + infinity + 0 <= x1421 <= + infinity + 0 <= x1422 <= + infinity + 0 <= x1423 <= + infinity + 0 <= x1424 <= + infinity + 0 <= x1425 <= + infinity + 0 <= x1426 <= + infinity + 0 <= x1427 <= + infinity + 0 <= x1428 <= + infinity + 0 <= x1429 <= + infinity + 0 <= x1430 <= + infinity + 0 <= x1431 <= + infinity + 0 <= x1432 <= + infinity + 0 <= x1433 <= + infinity + 0 <= x1434 <= + infinity + 0 <= x1435 <= + infinity + 0 <= x1436 <= + infinity + 0 <= x1437 <= + infinity + 0 <= x1438 <= + infinity + 0 <= x1439 <= + infinity + 0 <= x1440 <= + infinity + 0 <= x1441 <= + infinity + 0 <= x1442 <= + infinity + 0 <= x1443 <= + infinity + 0 <= x1444 <= + infinity + 0 <= x1445 <= + infinity + 0 <= x1446 <= + infinity + 0 <= x1447 <= + infinity + 0 <= x1448 <= + infinity + 0 <= x1449 <= + infinity + 0 <= x1450 <= + infinity + 0 <= x1451 <= + infinity + 0 <= x1452 <= + infinity + 0 <= x1453 <= + infinity + 0 <= x1454 <= + infinity + 0 <= x1455 <= + infinity + 0 <= x1456 <= + infinity + 0 <= x1457 <= + infinity + 0 <= x1458 <= + infinity + 0 <= x1459 <= + infinity + 0 <= x1460 <= + infinity + 0 <= x1461 <= + infinity + 0 <= x1462 <= + infinity + 0 <= x1463 <= + infinity + 0 <= x1464 <= + infinity + 0 <= x1465 <= + infinity + 0 <= x1466 <= + infinity + 0 <= x1467 <= + infinity + 0 <= x1468 <= + infinity + 0 <= x1469 <= + infinity + 0 <= x1470 <= + infinity + 0 <= x1471 <= + infinity + 0 <= x1472 <= + 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+serialization::archive 12 0 0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 3 t10 \ +0 0 2" -> "Tuple: + a: + b6 + b: + t11 + roles (required): + Payload: + 0 + (v:86) +role_info_attributes 22 \ +serialization::archive 12 0 0 1 0 0 0 6 safety 0.00000000000000000e+00 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 \ +serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 0 0 8 required 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+\ +00 2 b6 8 LOCATION 0 0 3 t11 0 0 2" [key="capacity: +inf + (e:96)", +label="capacity: +inf + (e:96)", +lp="15376,1665.5", +pos="e,14175,1557.5 15783,1810.9 15510,1746.2 15103,1657.7 14742,1613 14569,1591.4 14522,1622.7 14350,1595 14296,1586.4 14239,1573.9 \ +14185,1560"]; +"Tuple: + a: + b6 + b: + t9 + (v:84) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t9 0 0 2" [height=2.1944, +pos="16964,2324", +width=12.208]; +"Tuple: + a: + b6 + b: + t9 + (v:84) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t9 0 0 2" -> "Tuple: + a: + b6 + b: + t10 + (v:85) +role_info_attributes 22 serialization::archive 12 0 0 1 0 0 0 6 safety 0.00000000000000000e+\ +00 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 12 0 0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 3 t10 \ +0 0 2" [key="capacity: +inf + (e:95)", +label="capacity: +inf + (e:95)", +lp="16670,2114.5", +pos="e,16252,1969.1 16807,2244.9 16653,2168.3 16418,2051.9 16261,1973.7"]; +"Tuple: + a: + b6 + b: + t8 + (v:83) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t8 0 0 2" [height=2.1944, +pos="17054,2743", +width=12.208]; +"Tuple: + a: + b6 + b: + t8 + (v:83) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t8 0 0 2" -> "Tuple: + a: + b6 + b: + t9 + (v:84) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t9 0 0 2" [key="capacity: +inf + (e:94)", +label="capacity: +inf + (e:94)", +lp="17058,2533.5", +pos="e,16981,2403.1 17038,2663.6 17022,2592.2 16999,2487 16983,2412.9"]; +"Tuple: + a: + b6 + b: + t7 + (v:82) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t7 0 0 2" [height=2.1944, +pos="17202,3177", +width=12.208]; +"Tuple: + a: + b6 + b: + t7 + (v:82) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t7 0 0 2" -> "Tuple: + a: + b6 + b: + t8 + (v:83) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t8 0 0 2" [key="capacity: +inf + (e:93)", +label="capacity: +inf + (e:93)", +lp="17180,2952.5", +pos="e,17081,2822 17176,3097.8 17150,3022.8 17111,2909.8 17085,2831.8"]; +"Tuple: + a: + b6 + b: + t6 + (v:81) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t6 0 0 2" [height=2.1944, +pos="17320,3641", +width=12.208]; +"Tuple: + a: + b6 + b: + t6 + (v:81) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t6 0 0 2" -> "Tuple: + a: + b6 + b: + t7 + (v:82) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t7 0 0 2" [key="capacity: +inf + (e:92)", +label="capacity: +inf + (e:92)", +lp="17310,3401.5", +pos="e,17222,3256.1 17301,3561.9 17280,3480 17247,3351.5 17225,3266"]; +"Tuple: + a: + b6 + b: + t5 + (v:80) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t5 0 0 2" [height=2.1944, +pos="17320,4120", +width=12.208]; +"Tuple: + a: + b6 + b: + t5 + (v:80) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + b6 + b: + t6 + (v:81) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:91)", +label="capacity: +inf + (e:91)", +lp="17358,3880.5", +pos="e,17320,3720.3 17320,4040.8 17320,3955.5 17320,3819.4 17320,3730.4"]; +"Tuple: + a: + b6 + b: + t4 + roles (assigned): + BaseCamp: + 2 + Payload: + 1, \ +2, 3, 4, 5, 6, 9, 11 + SherpaTT: + 0, 1 + (v:79) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 \ +reconfiguration cost 6.36000000000000000e+03 6 safety 2.88466768837977672e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 11 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 \ +serialization::archive 12 0 0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t4 \ +0 0 2" [height=3.6528, +pos="15006,4614", +width=75.347]; +"Tuple: + a: + b6 + b: + t4 + roles (assigned): + BaseCamp: + 2 + Payload: + 1, \ +2, 3, 4, 5, 6, 9, 11 + SherpaTT: + 0, 1 + (v:79) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 \ +reconfiguration cost 6.36000000000000000e+03 6 safety 2.88466768837977672e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 11 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 \ +serialization::archive 12 0 0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + b6 + b: + t5 + (v:80) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + (e:88)", +label="capacity: +inf + (e:88)", +lp="16810,4374.5", +pos="e,17135,4199.1 15960,4482.5 16255,4432.7 16579,4368.5 16872,4289 16957,4265.9 17048,4233.2 17126,4202.8"]; +"Tuple: + a: + b1 + b: + t5 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 0 + Payload: + 8 + (\ +v:65) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.28000000000000000e+03 6 safety 9.82639005528239795e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: \ +50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp \ +2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 2 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t5 0 0 2" [height=4.6944, +pos="14752,4120", +width=58.639]; +"Tuple: + a: + b6 + b: + t4 + roles (assigned): + BaseCamp: + 2 + Payload: + 1, \ +2, 3, 4, 5, 6, 9, 11 + SherpaTT: + 0, 1 + (v:79) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 \ +reconfiguration cost 6.36000000000000000e+03 6 safety 2.88466768837977672e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 11 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 \ +serialization::archive 12 0 0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + b1 + b: + t5 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 0 + Payload: + 8 + (\ +v:65) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.28000000000000000e+03 6 safety 9.82639005528239795e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: \ +50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp \ +2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 2 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 10 + roles (assigned): + BaseCamp: + 2 + Payload: + 9, 11 + SherpaTT: + \ +1 + (e:90)", +label="capacity: 10 + roles (assigned): + BaseCamp: + 2 + Payload: + 9, 11 + SherpaTT: + \ +1 + (e:90)", +lp="14969,4374.5", +pos="e,14839,4289.3 14939,4482.4 14910,4426 14875,4359.1 14843,4298.3"]; +"Tuple: + a: + b4 + b: + t5 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + \ +0 + (v:20) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +4.65872484500925055e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 7 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 \ +SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 \ +8 LOCATION 0 0 2 t5 0 0 2" [height=3.2361, +pos="9902.5,4120", +width=49.514]; +"Tuple: + a: + b6 + b: + t4 + roles (assigned): + BaseCamp: + 2 + Payload: + 1, \ +2, 3, 4, 5, 6, 9, 11 + SherpaTT: + 0, 1 + (v:79) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 \ +reconfiguration cost 6.36000000000000000e+03 6 safety 2.88466768837977672e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 11 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 \ +serialization::archive 12 0 0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + b4 + b: + t5 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + \ +0 + (v:20) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +4.65872484500925055e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 7 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 \ +SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 \ +8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + 0 + (e:89)", +label="capacity: 10 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + 0 + (e:89)", +lp="12314,4374.5", +pos="e,10643,4236.5 12700,4482.5 12548,4470 12398,4456.5 12252,4442 11716,4388.8 11114,4306.1 10654,4238"]; +"Tuple: + a: + b6 + b: + t3 + (v:78) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t3 0 0 2" [height=2.1944, +pos="18452,5123", +width=12.208]; +"Tuple: + a: + b6 + b: + t3 + (v:78) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + b6 + b: + t4 + roles (assigned): + BaseCamp: + 2 + Payload: + 1, \ +2, 3, 4, 5, 6, 9, 11 + SherpaTT: + 0, 1 + (v:79) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 \ +reconfiguration cost 6.36000000000000000e+03 6 safety 2.88466768837977672e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 11 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 \ +serialization::archive 12 0 0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: +inf + (e:87)", +label="capacity: +inf + (e:87)", +lp="17934,4853.5", +pos="e,16877,4745.5 18280,5044 18191,5006.5 18078,4964.2 17974,4939 17626,4855.1 17250,4792.9 16887,4746.8"]; +"Tuple: + a: + b6 + b: + t2 + (v:77) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t2 0 0 2" [height=2.1944, +pos="18464,5632", +width=12.208]; +"Tuple: + a: + b6 + b: + t2 + (v:77) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + b6 + b: + t3 + (v:78) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:86)", +label="capacity: +inf + (e:86)", +lp="18498,5377.5", +pos="e,18454,5202.2 18463,5552.9 18460,5461 18457,5308.7 18455,5212.5"]; +"Tuple: + a: + b6 + b: + t1 + (v:76) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t1 0 0 2" [height=2.1944, +pos="19064,6171", +width=12.208]; +"Tuple: + a: + b6 + b: + t1 + (v:76) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + b6 + b: + t2 + (v:77) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:85)", +label="capacity: +inf + (e:85)", +lp="18874,5901.5", +pos="e,18552,5711.2 18977,6091.9 18866,5992.4 18675,5821 18560,5718.2"]; +"Tuple: + a: + b6 + b: + t0 + (v:75) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t0 0 0 2" [height=2.1944, +pos="19064,6680", +width=12.208]; +"Tuple: + a: + b6 + b: + t0 + (v:75) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + b6 + b: + t1 + (v:76) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:84)", +label="capacity: +inf + (e:84)", +lp="19102,6425.5", +pos="e,19064,6250.2 19064,6600.9 19064,6509 19064,6356.7 19064,6260.5"]; +"Tuple: + a: + b1 + b: + t14 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 6, 8, 9, 11 + SherpaTT: + 0 + roles (required): + Payload: + 8 + (v:74) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99999999960937469e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 9 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 \ +10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 \ +10 SherpaTT_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::\ +archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 3 t14 0 0 2" [height=4.2778, +pos="10682,154", +width=70.375]; +"Tuple: + a: + b1 + b: + t13 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 6, 8, 9, 11 + SherpaTT: + 0 + roles (required): + Payload: + 8 + (v:73) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.82000000000000000e+03 6 safety 9.99999999960937469e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 9 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 \ +10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 \ +10 SherpaTT_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::\ +archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 3 t13 0 0 2" -> "Tuple: + a: + b1 + b: + t14 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 6, 8, 9, 11 + SherpaTT: + 0 + roles (required): + Payload: + 8 + (v:74) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99999999960937469e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 9 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 \ +10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 \ +10 SherpaTT_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::\ +archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 3 t14 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 1, 3, 6, 8, 9, 11 + (e:83)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 1, 3, 6, 8, 9, 11 + (e:83)", +lp="10748,378.5", +pos="e,10682,308.01 10682,448.79 10682,406.68 10682,360.86 10682,318.2"]; +"Tuple: + a: + b1 + b: + t12 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 6, 8, 9, 11 + roles (required): + Payload: + 8 + (v:72) +role_info_attributes 22 serialization::archive 12 \ +0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99999984375000039e-01 +roles 22 serialization::archive 12 \ +0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 11 10 Payload_11 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION \ +0 0 3 t12 0 0 2" [height=3.8611, +pos="11376,1037", +width=63.861]; +"Tuple: + a: + b1 + b: + t12 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 6, 8, 9, 11 + roles (required): + Payload: + 8 + (v:72) +role_info_attributes 22 serialization::archive 12 \ +0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99999984375000039e-01 +roles 22 serialization::archive 12 \ +0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 11 10 Payload_11 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION \ +0 0 3 t12 0 0 2" -> "Tuple: + a: + b1 + b: + t13 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 6, 8, 9, 11 + SherpaTT: + 0 + roles (required): + Payload: + 8 + (v:73) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.82000000000000000e+03 6 safety 9.99999999960937469e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 9 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 \ +10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 \ +10 SherpaTT_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::\ +archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 3 t13 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 1, 3, 6, 8, 9, 11 + (e:82)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 1, 3, 6, 8, 9, 11 + (e:82)", +lp="11176,827.5", +pos="e,10928,757.04 11154,897.83 11085,854.71 11008,806.82 10937,762.43"]; +"Tuple: + a: + b1 + b: + t11 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 6, 8, 9, 11 + roles (required): + Payload: + 8 + (v:71) +role_info_attributes 22 serialization::archive 12 \ +0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99999984375000039e-01 +roles 22 serialization::archive 12 \ +0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 11 10 Payload_11 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION \ +0 0 3 t11 0 0 2" [height=3.8611, +pos="11056,1456", +width=63.861]; +"Tuple: + a: + b1 + b: + t11 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 6, 8, 9, 11 + roles (required): + Payload: + 8 + (v:71) +role_info_attributes 22 serialization::archive 12 \ +0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99999984375000039e-01 +roles 22 serialization::archive 12 \ +0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 11 10 Payload_11 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION \ +0 0 3 t11 0 0 2" -> "Tuple: + a: + b1 + b: + t12 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 6, 8, 9, 11 + roles (required): + Payload: + 8 + (v:72) +role_info_attributes 22 serialization::archive 12 \ +0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99999984375000039e-01 +roles 22 serialization::archive 12 \ +0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 11 10 Payload_11 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION \ +0 0 3 t12 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 1, 3, 6, 8, 9, 11 + (e:81)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 1, 3, 6, 8, 9, 11 + (e:81)", +lp="11318,1246.5", +pos="e,11269,1176.3 11162,1316.7 11194,1274.2 11230,1227.3 11263,1184.2"]; +"Tuple: + a: + b1 + b: + t10 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 4, 6, 8, 9, 11 + SherpaTT: + 1 + roles (required): + Payload: + 8 + (v:70) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 6.00000000000000000e+03 6 safety 9.99999999998046896e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 10 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 \ +10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 \ +Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 \ +0.00000000000000000e+00 2 b1 8 LOCATION 0 0 3 t10 0 0 2" [height=4.2778, +pos="11056,1890", +width=76.611]; +"Tuple: + a: + b1 + b: + t10 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 4, 6, 8, 9, 11 + SherpaTT: + 1 + roles (required): + Payload: + 8 + (v:70) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 6.00000000000000000e+03 6 safety 9.99999999998046896e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 10 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 \ +10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 \ +Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 \ +0.00000000000000000e+00 2 b1 8 LOCATION 0 0 3 t10 0 0 2" -> "Tuple: + a: + b1 + b: + t11 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 6, 8, 9, 11 + roles (required): + Payload: + 8 + (v:71) +role_info_attributes 22 serialization::archive 12 \ +0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99999984375000039e-01 +roles 22 serialization::archive 12 \ +0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 11 10 Payload_11 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION \ +0 0 3 t11 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 1, 3, 6, 8, 9, 11 + (e:79)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 1, 3, 6, 8, 9, 11 + (e:79)", +lp="11120,1665.5", +pos="e,11056,1595.1 11056,1735.8 11056,1693.3 11056,1647.3 11056,1605.2"]; +"Tuple: + a: + lander + b: + t11 + roles (assigned): + Payload: + 0, 4, 7, 10 + SherpaTT: + \ +1 + (v:41) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 4.20000000000000000e+03 6 safety \ +5.59945498870691782e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 10 10 Payload_10 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 \ +serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 3 \ +t11 0 0 2" [height=3.2361, +pos="6690.5,1456", +width=37.528]; +"Tuple: + a: + b1 + b: + t10 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 4, 6, 8, 9, 11 + SherpaTT: + 1 + roles (required): + Payload: + 8 + (v:70) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 6.00000000000000000e+03 6 safety 9.99999999998046896e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 10 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 \ +10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 \ +Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 \ +0.00000000000000000e+00 2 b1 8 LOCATION 0 0 3 t10 0 0 2" -> "Tuple: + a: + lander + b: + t11 + roles (assigned): + Payload: + 0, 4, 7, 10 + SherpaTT: + \ +1 + (v:41) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 4.20000000000000000e+03 6 safety \ +5.59945498870691782e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 10 10 Payload_10 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 \ +serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 3 \ +t11 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 4 + SherpaTT: + 1 + (e:80)", +label="capacity: 10 + roles (assigned): + Payload: + 4 + SherpaTT: + 1 + (e:80)", +lp="9316,1665.5", +pos="e,7857.7,1572.5 9509.3,1736 8969.4,1682.5 8372.6,1623.5 7867.7,1573.5"]; +"Tuple: + a: + b1 + b: + t9 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + roles (required): + Payload: + 8 + (v:69) +role_info_attributes 22 serialization::archive 12 0 0 2 0 \ +0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99874999999999958e-01 +roles 22 serialization::archive 12 0 0 0 0 +\ +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t9 0 0 2" [height=3.8611, +pos="14752,2324", +width=45.444]; +"Tuple: + a: + b1 + b: + t9 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + roles (required): + Payload: + 8 + (v:69) +role_info_attributes 22 serialization::archive 12 0 0 2 0 \ +0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99874999999999958e-01 +roles 22 serialization::archive 12 0 0 0 0 +\ +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t9 0 0 2" -> "Tuple: + a: + b1 + b: + t10 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 4, 6, 8, 9, 11 + SherpaTT: + 1 + roles (required): + Payload: + 8 + (v:70) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 6.00000000000000000e+03 6 safety 9.99999999998046896e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 10 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 \ +10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 \ +Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 \ +0.00000000000000000e+00 2 b1 8 LOCATION 0 0 3 t10 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 8, 9, 11 + (e:78)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 8, 9, 11 + (e:78)", +lp="14275,2114.5", +pos="e,13638,2044 14299,2185 14130,2138.5 13935,2091 13754,2062 13719,2056.3 13684,2050.8 13648,2045.5"]; +"Tuple: + a: + b1 + b: + t8 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + roles (required): + Payload: + 8 + (v:68) +role_info_attributes 22 serialization::archive 12 0 0 2 0 \ +0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99874999999999958e-01 +roles 22 serialization::archive 12 0 0 0 0 +\ +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t8 0 0 2" [height=3.8611, +pos="14752,2743", +width=45.444]; +"Tuple: + a: + b1 + b: + t8 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + roles (required): + Payload: + 8 + (v:68) +role_info_attributes 22 serialization::archive 12 0 0 2 0 \ +0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99874999999999958e-01 +roles 22 serialization::archive 12 0 0 0 0 +\ +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t8 0 0 2" -> "Tuple: + a: + b1 + b: + t9 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + roles (required): + Payload: + 8 + (v:69) +role_info_attributes 22 serialization::archive 12 0 0 2 0 \ +0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99874999999999958e-01 +roles 22 serialization::archive 12 0 0 0 0 +\ +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t9 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 8, 9, 11 + (e:77)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 8, 9, 11 + (e:77)", +lp="14804,2533.5", +pos="e,14752,2463.3 14752,2603.7 14752,2561.9 14752,2515.8 14752,2473.4"]; +"Tuple: + a: + b1 + b: + t7 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + roles (required): + BaseCamp: + 0 + Payload: + 8 + (v:67) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.61471097151192611e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 8 required 2 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::\ +archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t7 0 0 2" [height=4.2778, +pos="14752,3177", +width=52.111]; +"Tuple: + a: + b1 + b: + t7 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + roles (required): + BaseCamp: + 0 + Payload: + 8 + (v:67) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.61471097151192611e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 8 required 2 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::\ +archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t7 0 0 2" -> "Tuple: + a: + b1 + b: + t8 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + roles (required): + Payload: + 8 + (v:68) +role_info_attributes 22 serialization::archive 12 0 0 2 0 \ +0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.99874999999999958e-01 +roles 22 serialization::archive 12 0 0 0 0 +\ +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t8 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 8, 9, 11 + (e:76)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 8, 9, 11 + (e:76)", +lp="14804,2952.5", +pos="e,14752,2882.1 14752,3022.8 14752,2980.3 14752,2934.3 14752,2892.2"]; +"Tuple: + a: + b1 + b: + t6 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 0 + Payload: + 8 + (\ +v:66) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.28000000000000000e+03 6 safety 9.82639005528239795e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: \ +50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp \ +2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 2 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t6 0 0 2" [height=4.6944, +pos="14752,3641", +width=58.639]; +"Tuple: + a: + b1 + b: + t6 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 0 + Payload: + 8 + (\ +v:66) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.28000000000000000e+03 6 safety 9.82639005528239795e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: \ +50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp \ +2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 2 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t6 0 0 2" -> "Tuple: + a: + b1 + b: + t7 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + roles (required): + BaseCamp: + 0 + Payload: + 8 + (v:67) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.61471097151192611e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 8 required 2 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::\ +archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t7 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 8, 9, 11 + (e:74)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 8, 9, 11 + (e:74)", +lp="14804,3401.5", +pos="e,14752,3331 14752,3471.9 14752,3429.3 14752,3383.5 14752,3341.1"]; +"Tuple: + a: + b2 + b: + t7 + roles (assigned): + SherpaTT: + 1 + (v:7) +role_info_attributes 22 \ +serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 4.63291230159753042e-01 +roles 22 \ +serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 \ +6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t7 0 0 2" [height=2.8194, +pos="6741.5,3177", +width=12.694]; +"Tuple: + a: + b1 + b: + t6 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 0 + Payload: + 8 + (\ +v:66) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.28000000000000000e+03 6 safety 9.82639005528239795e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: \ +50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp \ +2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 2 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t6 0 0 2" -> "Tuple: + a: + b2 + b: + t7 + roles (assigned): + SherpaTT: + 1 + (v:7) +role_info_attributes 22 \ +serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 4.63291230159753042e-01 +roles 22 \ +serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 \ +6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t7 0 0 2" [key="capacity: 10 + roles (assigned): + SherpaTT: + 1 + (e:75)", +label="capacity: 10 + roles (assigned): + SherpaTT: + 1 + (e:75)", +lp="12364,3401.5", +pos="e,6999.8,3278.6 12640,3472.6 12637,3472.4 12634,3472.2 12632,3472 11486,3399.3 11199,3380 10052,3349 9893.6,3344.7 7363.4,3356.5 \ +7207.5,3331 7142.2,3320.3 7073.5,3302 7009.6,3281.7"]; +"Tuple: + a: + b1 + b: + t5 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 0 + Payload: + 8 + (\ +v:65) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.28000000000000000e+03 6 safety 9.82639005528239795e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: \ +50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp \ +2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 2 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + b1 + b: + t6 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 0 + Payload: + 8 + (\ +v:66) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.28000000000000000e+03 6 safety 9.82639005528239795e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: \ +50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp \ +2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 2 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 8, 9, 11 + (e:73)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 8, 9, 11 + (e:73)", +lp="14804,3880.5", +pos="e,14752,3810.3 14752,3950.8 14752,3908.6 14752,3863.2 14752,3820.5"]; +"Tuple: + a: + b1 + b: + t4 + roles (assigned): + BaseCamp: + 0 + Payload: + 8 + \ +roles (required): + BaseCamp: + 0 + Payload: + 8 + (v:64) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.48317569107709191e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 8 required \ +2 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t4 0 0 2" [height=4.2778, +pos="11092,4614", +width=32.903]; +"Tuple: + a: + b1 + b: + t4 + roles (assigned): + BaseCamp: + 0 + Payload: + 8 + \ +roles (required): + BaseCamp: + 0 + Payload: + 8 + (v:64) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.48317569107709191e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 8 required \ +2 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + b1 + b: + t5 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +8, 9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 0 + Payload: + 8 + (\ +v:65) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.28000000000000000e+03 6 safety 9.82639005528239795e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: \ +50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp \ +2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 2 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0 + Payload: + 8 + (e:72)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0 + Payload: + 8 + (e:72)", +lp="13409,4374.5", +pos="e,13501,4289 12230,4460 12630,4406.2 13082,4345.4 13491,4290.4"]; +"Tuple: + a: + b1 + b: + t3 + roles (assigned): + BaseCamp: + 0 + Payload: + 1, \ +2, 4, 5, 6, 8 + SherpaTT: + 0 + roles (required): + Payload: + 2, 4, 5, 8 + SherpaTT: + \ +0 + (v:63) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.64000000000000000e+03 6 safety \ +9.99999999960937469e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned \ +0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 5 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive \ +12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t3 0 0 2" [height=4.6944, +pos="14784,5123", +width=88.361]; +"Tuple: + a: + b1 + b: + t3 + roles (assigned): + BaseCamp: + 0 + Payload: + 1, \ +2, 4, 5, 6, 8 + SherpaTT: + 0 + roles (required): + Payload: + 2, 4, 5, 8 + SherpaTT: + \ +0 + (v:63) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.64000000000000000e+03 6 safety \ +9.99999999960937469e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned \ +0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 5 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive \ +12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + b6 + b: + t4 + roles (assigned): + BaseCamp: + 2 + Payload: + 1, \ +2, 3, 4, 5, 6, 9, 11 + SherpaTT: + 0, 1 + (v:79) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 \ +reconfiguration cost 6.36000000000000000e+03 6 safety 2.88466768837977672e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 11 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 \ +serialization::archive 12 0 0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 1, 2, 4, 5, 6 + SherpaTT: + 0 + (e:71)", +label="capacity: 10 + roles (assigned): + Payload: + 1, 2, 4, 5, 6 + SherpaTT: + 0 + (e:71)", +lp="14985,4853.5", +pos="e,14948,4745.7 14857,4954 14880,4900.3 14906,4840.6 14930,4786 14935,4775.9 14940,4765.4 14944,4754.9"]; +"Tuple: + a: + b1 + b: + t3 + roles (assigned): + BaseCamp: + 0 + Payload: + 1, \ +2, 4, 5, 6, 8 + SherpaTT: + 0 + roles (required): + Payload: + 2, 4, 5, 8 + SherpaTT: + \ +0 + (v:63) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.64000000000000000e+03 6 safety \ +9.99999999960937469e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned \ +0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 5 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive \ +12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + b1 + b: + t4 + roles (assigned): + BaseCamp: + 0 + Payload: + 8 + \ +roles (required): + BaseCamp: + 0 + Payload: + 8 + (v:64) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.48317569107709191e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 8 required \ +2 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0 + Payload: + 8 + (e:70)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0 + Payload: + 8 + (e:70)", +lp="13320,4853.5", +pos="e,12206,4768 13560,4954 13126,4894.4 12641,4827.8 12216,4769.4"]; +"Tuple: + a: + b1 + b: + t2 + roles (assigned): + BaseCamp: + 0 + Payload: + 1, \ +2, 4, 5, 6, 8 + SherpaTT: + 0 + roles (required): + Payload: + 2, 4, 5 + SherpaTT: + \ +0 + (v:62) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.93633570070102379e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned \ +0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 4 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t2 0 0 2" [height=4.6944, +pos="14784,5632", +width=82.222]; +"Tuple: + a: + b1 + b: + t2 + roles (assigned): + BaseCamp: + 0 + Payload: + 1, \ +2, 4, 5, 6, 8 + SherpaTT: + 0 + roles (required): + Payload: + 2, 4, 5 + SherpaTT: + \ +0 + (v:62) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.93633570070102379e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned \ +0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 4 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + b1 + b: + t3 + roles (assigned): + BaseCamp: + 0 + Payload: + 1, \ +2, 4, 5, 6, 8 + SherpaTT: + 0 + roles (required): + Payload: + 2, 4, 5, 8 + SherpaTT: + \ +0 + (v:63) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.64000000000000000e+03 6 safety \ +9.99999999960937469e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned \ +0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 5 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive \ +12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0 + Payload: + 1, 2, 4, 5, 6, 8 + (e:69)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0 + Payload: + 1, 2, 4, 5, 6, 8 + (e:69)", +lp="14846,5377.5", +pos="e,14784,5292.1 14784,5462.9 14784,5411.3 14784,5354.4 14784,5302.1"]; +"Tuple: + a: + b1 + b: + t1 + (v:61) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t1 0 0 2" [height=2.1944, +pos="18168,6171", +width=12.208]; +"Tuple: + a: + b1 + b: + t1 + (v:61) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + b1 + b: + t2 + roles (assigned): + BaseCamp: + 0 + Payload: + 1, \ +2, 4, 5, 6, 8 + SherpaTT: + 0 + roles (required): + Payload: + 2, 4, 5 + SherpaTT: + \ +0 + (v:62) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.93633570070102379e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned \ +0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 4 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:68)", +label="capacity: +inf + (e:68)", +lp="17680,5901.5", +pos="e,16782,5801 18006,6092 17923,6054.6 17818,6012.5 17720,5987 17423,5910.1 17106,5849.8 16793,5802.6"]; +"Tuple: + a: + b1 + b: + t0 + (v:60) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t0 0 0 2" [height=2.1944, +pos="18168,6680", +width=12.208]; +"Tuple: + a: + b1 + b: + t0 + (v:60) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + b1 + b: + t1 + (v:61) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+\ +06 6.71879052667169273e+06 0.00000000000000000e+00 2 b1 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:67)", +label="capacity: +inf + (e:67)", +lp="18206,6425.5", +pos="e,18168,6250.2 18168,6600.9 18168,6509 18168,6356.7 18168,6260.5"]; +"Tuple: + a: + b7 + b: + t14 + roles (assigned): + Payload: + 2, 4, 5 + roles (required): + \ +Payload: + 2, 4, 5 + (v:59) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 8 required 3 \ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 +tuple 22 serialization::archive \ +12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 3 t14 0 0 2" [height=3.4444, +pos="1909.5,154", +width=44.111]; +"Tuple: + a: + b7 + b: + t13 + roles (assigned): + Payload: + 2, 4, 5 + roles (required): + \ +Payload: + 2, 4, 5 + (v:58) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 8 required 3 \ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 +tuple 22 serialization::archive \ +12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 3 t13 0 0 2" [height=3.4444, +pos="1909.5,603", +width=44.111]; +"Tuple: + a: + b7 + b: + t13 + roles (assigned): + Payload: + 2, 4, 5 + roles (required): + \ +Payload: + 2, 4, 5 + (v:58) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 8 required 3 \ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 +tuple 22 serialization::archive \ +12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 3 t13 0 0 2" -> "Tuple: + a: + b7 + b: + t14 + roles (assigned): + Payload: + 2, 4, 5 + roles (required): + \ +Payload: + 2, 4, 5 + (v:59) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 8 required 3 \ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 +tuple 22 serialization::archive \ +12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 3 t14 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 2, 4, 5 + (e:66)", +label="capacity: +inf + roles (assigned): + Payload: + 2, 4, 5 + (e:66)", +lp="1962,378.5", +pos="e,1909.5,278.08 1909.5,478.97 1909.5,419.72 1909.5,348.59 1909.5,288.08"]; +"Tuple: + a: + b7 + b: + t12 + roles (assigned): + Payload: + 0, 2, 4, 5 + SherpaTT: + \ +1 + roles (required): + Payload: + 2, 4, 5 + (v:57) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 4.20000000000000000e+03 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_\ +2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 5 9 Payload_5 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+\ +00 2 b7 8 LOCATION 0 0 3 t12 0 0 2" [height=3.8611, +pos="4193.5,1037", +width=56.764]; +"Tuple: + a: + b7 + b: + t12 + roles (assigned): + Payload: + 0, 2, 4, 5 + SherpaTT: + \ +1 + roles (required): + Payload: + 2, 4, 5 + (v:57) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 4.20000000000000000e+03 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_\ +2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 5 9 Payload_5 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+\ +00 2 b7 8 LOCATION 0 0 3 t12 0 0 2" -> "Tuple: + a: + b7 + b: + t13 + roles (assigned): + Payload: + 2, 4, 5 + roles (required): + \ +Payload: + 2, 4, 5 + (v:58) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 8 required 3 \ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 +tuple 22 serialization::archive \ +12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 3 t13 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 2, 4, 5 + (e:64)", +label="capacity: +inf + roles (assigned): + Payload: + 2, 4, 5 + (e:64)", +lp="3376,827.5", +pos="e,2560.2,727.08 3463.8,897.98 3176.9,843.72 2849.9,781.87 2570.1,728.95"]; +"Tuple: + a: + b2 + b: + t13 + roles (assigned): + Payload: + 0 + SherpaTT: + 1 + (\ +v:13) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 5.36674911105282648e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT \ +1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 \ +2 b2 8 LOCATION 0 0 3 t13 0 0 2" [height=3.2361, +pos="4193.5,603", +width=18.833]; +"Tuple: + a: + b7 + b: + t12 + roles (assigned): + Payload: + 0, 2, 4, 5 + SherpaTT: + \ +1 + roles (required): + Payload: + 2, 4, 5 + (v:57) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 4.20000000000000000e+03 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_\ +2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 5 9 Payload_5 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+\ +00 2 b7 8 LOCATION 0 0 3 t12 0 0 2" -> "Tuple: + a: + b2 + b: + t13 + roles (assigned): + Payload: + 0 + SherpaTT: + 1 + (\ +v:13) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 5.36674911105282648e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT \ +1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 \ +2 b2 8 LOCATION 0 0 3 t13 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 0 + SherpaTT: + 1 + (e:65)", +label="capacity: 10 + roles (assigned): + Payload: + 0 + SherpaTT: + 1 + (e:65)", +lp="4246,827.5", +pos="e,4193.5,719.77 4193.5,897.83 4193.5,843.91 4193.5,782.52 4193.5,729.85"]; +"Tuple: + a: + b7 + b: + t11 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + \ +0 + (v:56) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety \ +5.74385949247151140e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::\ +archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 3 t11 0 0 2" [height=3.2361, +pos="4193.5,1456", +width=24.972]; +"Tuple: + a: + b7 + b: + t11 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + \ +0 + (v:56) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety \ +5.74385949247151140e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::\ +archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 3 t11 0 0 2" -> "Tuple: + a: + b6 + b: + t12 + roles (assigned): + SherpaTT: + 0 + roles (required): + \ +Payload: + 0 + (v:87) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.97493765624999917e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 1 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+\ +06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 3 t12 0 0 2" [key="capacity: 10 + roles (assigned): + SherpaTT: + 0 + (e:63)", +label="capacity: 10 + roles (assigned): + SherpaTT: + 0 + (e:63)", +lp="6726,1246.5", +pos="e,7733.7,1161 5084.2,1339.5 5167.4,1330.9 5250.5,1323.2 5330.5,1317 5560.2,1299.1 5618.9,1317.6 5848.5,1299 6216.9,1269.2 6304.9,\ +1220.9 6673.5,1194 7090.2,1163.6 7197.9,1219.1 7613.5,1176 7649.6,1172.3 7686.5,1167.7 7723.7,1162.5"]; +"Tuple: + a: + b7 + b: + t11 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + \ +0 + (v:56) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety \ +5.74385949247151140e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::\ +archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 3 t11 0 0 2" -> "Tuple: + a: + b7 + b: + t12 + roles (assigned): + Payload: + 0, 2, 4, 5 + SherpaTT: + \ +1 + roles (required): + Payload: + 2, 4, 5 + (v:57) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 4.20000000000000000e+03 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_\ +2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 5 9 Payload_5 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+\ +00 2 b7 8 LOCATION 0 0 3 t12 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 2, 5 + (e:62)", +label="capacity: +inf + roles (assigned): + Payload: + 2, 5 + (e:62)", +lp="4246,1246.5", +pos="e,4193.5,1176 4193.5,1339.4 4193.5,1291.9 4193.5,1236.4 4193.5,1186"]; +"Tuple: + a: + b7 + b: + t10 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + \ +0 + (v:55) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.74385949247151140e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::\ +archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 3 t10 0 0 2" [height=3.2361, +pos="4146.5,1890", +width=24.972]; +"Tuple: + a: + b7 + b: + t10 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + \ +0 + (v:55) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.74385949247151140e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::\ +archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 3 t10 0 0 2" -> "Tuple: + a: + b7 + b: + t11 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + \ +0 + (v:56) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety \ +5.74385949247151140e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::\ +archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 3 t11 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 2, 5 + (e:61)", +label="capacity: +inf + roles (assigned): + Payload: + 2, 5 + (e:61)", +lp="4229,1665.5", +pos="e,4180.9,1572.7 4159.1,1773.2 4165.5,1714.5 4173.3,1643.1 4179.8,1583"]; +"Tuple: + a: + b7 + b: + t9 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + \ +0 + (v:54) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.74385949247151140e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::\ +archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t9 0 0 2" [height=3.2361, +pos="4146.5,2324", +width=24.972]; +"Tuple: + a: + b7 + b: + t9 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + \ +0 + (v:54) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.74385949247151140e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::\ +archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t9 0 0 2" -> "Tuple: + a: + b7 + b: + t10 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + \ +0 + (v:55) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.74385949247151140e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::\ +archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 3 t10 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 2, 5 + (e:60)", +label="capacity: +inf + roles (assigned): + Payload: + 2, 5 + (e:60)", +lp="4199,2114.5", +pos="e,4146.5,2006.7 4146.5,2207.2 4146.5,2148.5 4146.5,2077.1 4146.5,2017"]; +"Tuple: + a: + b7 + b: + t8 + (v:53) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t8 0 0 2" [height=2.1944, +pos="2848.5,2743", +width=12.208]; +"Tuple: + a: + b7 + b: + t8 + (v:53) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t8 0 0 2" -> "Tuple: + a: + b7 + b: + t9 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + \ +0 + (v:54) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.74385949247151140e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::\ +archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t9 0 0 2" [key="capacity: +inf + (e:59)", +label="capacity: +inf + (e:59)", +lp="3690.5,2533.5", +pos="e,3787,2440.5 3091.5,2663.9 3284.4,2602 3557.3,2514.3 3777.2,2443.6"]; +"Tuple: + a: + b7 + b: + t7 + (v:52) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t7 0 0 2" [height=2.1944, +pos="2592.5,3177", +width=12.208]; +"Tuple: + a: + b7 + b: + t7 + (v:52) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t7 0 0 2" -> "Tuple: + a: + b7 + b: + t8 + (v:53) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t8 0 0 2" [key="capacity: +inf + (e:58)", +label="capacity: +inf + (e:58)", +lp="2789.5,2952.5", +pos="e,2802.3,2822 2638.9,3097.8 2683.5,3022.5 2750.8,2908.9 2797,2830.9"]; +"Tuple: + a: + b7 + b: + t6 + (v:51) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t6 0 0 2" [height=2.1944, +pos="2592.5,3641", +width=12.208]; +"Tuple: + a: + b7 + b: + t6 + (v:51) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t6 0 0 2" -> "Tuple: + a: + b7 + b: + t7 + (v:52) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t7 0 0 2" [key="capacity: +inf + (e:57)", +label="capacity: +inf + (e:57)", +lp="2630.5,3401.5", +pos="e,2592.5,3256.1 2592.5,3561.9 2592.5,3480 2592.5,3351.7 2592.5,3266.3"]; +"Tuple: + a: + b7 + b: + t5 + (v:50) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t5 0 0 2" [height=2.1944, +pos="1067.5,4120", +width=12.208]; +"Tuple: + a: + b7 + b: + t5 + (v:50) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + b7 + b: + t6 + (v:51) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:56)", +label="capacity: +inf + (e:56)", +lp="2005.5,3880.5", +pos="e,2343.1,3720 1317.2,4040.9 1597.3,3953.3 2049.5,3811.8 2333.4,3723"]; +"Tuple: + a: + b7 + b: + t4 + (v:49) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t4 0 0 2" [height=2.1944, +pos="749.5,4614", +width=12.208]; +"Tuple: + a: + b7 + b: + t4 + (v:49) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + b7 + b: + t5 + (v:50) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + (e:55)", +label="capacity: +inf + (e:55)", +lp="984.5,4374.5", +pos="e,1016.9,4199.3 800.06,4534.8 857.67,4445.6 951.55,4300.4 1011.4,4207.8"]; +"Tuple: + a: + b7 + b: + t3 + (v:48) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t3 0 0 2" [height=2.1944, +pos="656.5,5123", +width=12.208]; +"Tuple: + a: + b7 + b: + t3 + (v:48) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + b7 + b: + t4 + (v:49) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:54)", +label="capacity: +inf + (e:54)", +lp="755.5,4853.5", +pos="e,735.16,4693.2 670.83,5043.9 687.71,4951.9 715.68,4799.4 733.32,4703.2"]; +"Tuple: + a: + b7 + b: + t2 + (v:47) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t2 0 0 2" [height=2.1944, +pos="639.5,5632", +width=12.208]; +"Tuple: + a: + b7 + b: + t2 + (v:47) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + b7 + b: + t3 + (v:48) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:53)", +label="capacity: +inf + (e:53)", +lp="688.5,5377.5", +pos="e,653.88,5202.2 642.12,5552.9 645.2,5460.9 650.32,5308.4 653.54,5212.2"]; +"Tuple: + a: + b7 + b: + t1 + (v:46) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t1 0 0 2" [height=2.1944, +pos="439.5,6171", +width=12.208]; +"Tuple: + a: + b7 + b: + t1 + (v:46) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + b7 + b: + t2 + (v:47) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:52)", +label="capacity: +inf + (e:52)", +lp="601.5,5901.5", +pos="e,610.38,5711.2 468.58,6091.9 505.35,5993.2 568.48,5823.7 606.86,5720.6"]; +"Tuple: + a: + b7 + b: + t0 + (v:45) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t0 0 0 2" [height=2.1944, +pos="439.5,6680", +width=12.208]; +"Tuple: + a: + b7 + b: + t0 + (v:45) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + b7 + b: + t1 + (v:46) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+\ +06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:51)", +label="capacity: +inf + (e:51)", +lp="477.5,6425.5", +pos="e,439.5,6250.2 439.5,6600.9 439.5,6509 439.5,6356.7 439.5,6260.5"]; +"Tuple: + a: + lander + b: + t14 + roles (assigned): + Payload: + 7, 10 + (v:44) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.14506249999999987e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 \ +Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander \ +8 LOCATION 0 0 3 t14 0 0 2" [height=2.8194, +pos="7188.5,154", +width=18.736]; +"Tuple: + a: + lander + b: + t13 + roles (assigned): + Payload: + 7, 10 + (v:43) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.14506249999999987e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 \ +Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander \ +8 LOCATION 0 0 3 t13 0 0 2" [height=2.8194, +pos="7151.5,603", +width=18.736]; +"Tuple: + a: + lander + b: + t13 + roles (assigned): + Payload: + 7, 10 + (v:43) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.14506249999999987e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 \ +Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander \ +8 LOCATION 0 0 3 t13 0 0 2" -> "Tuple: + a: + lander + b: + t14 + roles (assigned): + Payload: + 7, 10 + (v:44) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.14506249999999987e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 \ +Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander \ +8 LOCATION 0 0 3 t14 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 7, 10 + (e:50)", +label="capacity: +inf + roles (assigned): + Payload: + 7, 10 + (e:50)", +lp="7226,378.5", +pos="e,7180.2,255.63 7159.8,501.41 7165.6,431.33 7173.4,337.86 7179.3,265.67"]; +"Tuple: + a: + lander + b: + t12 + roles (assigned): + Payload: + 7, 10 + (v:42) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.14506249999999987e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 \ +Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander \ +8 LOCATION 0 0 3 t12 0 0 2" [height=2.8194, +pos="6929.5,1037", +width=18.736]; +"Tuple: + a: + lander + b: + t12 + roles (assigned): + Payload: + 7, 10 + (v:42) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.14506249999999987e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 \ +Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander \ +8 LOCATION 0 0 3 t12 0 0 2" -> "Tuple: + a: + lander + b: + t13 + roles (assigned): + Payload: + 7, 10 + (v:43) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.14506249999999987e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 \ +Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander \ +8 LOCATION 0 0 3 t13 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 7, 10 + (e:49)", +label="capacity: +inf + roles (assigned): + Payload: + 7, 10 + (e:49)", +lp="7113,827.5", +pos="e,7099.8,704.53 6981.3,935.26 7015.4,868.81 7060.1,781.77 7095.2,713.59"]; +"Tuple: + a: + lander + b: + t11 + roles (assigned): + Payload: + 0, 4, 7, 10 + SherpaTT: + \ +1 + (v:41) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 4.20000000000000000e+03 6 safety \ +5.59945498870691782e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 10 10 Payload_10 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 \ +serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 3 \ +t11 0 0 2" -> "Tuple: + a: + b7 + b: + t12 + roles (assigned): + Payload: + 0, 2, 4, 5 + SherpaTT: + \ +1 + roles (required): + Payload: + 2, 4, 5 + (v:57) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 4.20000000000000000e+03 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_\ +2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 5 9 Payload_5 +tuple 22 serialization::archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+\ +00 2 b7 8 LOCATION 0 0 3 t12 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 0, 4 + SherpaTT: + 1 + (e:48)", +label="capacity: 10 + roles (assigned): + Payload: + 0, 4 + SherpaTT: + 1 + (e:48)", +lp="5792,1246.5", +pos="e,5020.1,1176 5998.7,1339.5 5698.7,1289.4 5344.9,1230.3 5030.3,1177.8"]; +"Tuple: + a: + lander + b: + t11 + roles (assigned): + Payload: + 0, 4, 7, 10 + SherpaTT: + \ +1 + (v:41) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 4.20000000000000000e+03 6 safety \ +5.59945498870691782e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 10 10 Payload_10 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 \ +serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 3 \ +t11 0 0 2" -> "Tuple: + a: + lander + b: + t12 + roles (assigned): + Payload: + 7, 10 + (v:42) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.14506249999999987e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 \ +Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander \ +8 LOCATION 0 0 3 t12 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 7, 10 + (e:47)", +label="capacity: +inf + roles (assigned): + Payload: + 7, 10 + (e:47)", +lp="6891,1246.5", +pos="e,6871.9,1138.6 6756.8,1339.4 6791.1,1279.4 6832.9,1206.6 6866.7,1147.6"]; +"Tuple: + a: + lander + b: + t10 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:40) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 3 t10 0 0 2" [height=3.4444, +pos="6671.5,1890", +width=44.667]; +"Tuple: + a: + lander + b: + t10 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:40) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 3 t10 0 0 2" -> "Tuple: + a: + lander + b: + t11 + roles (assigned): + Payload: + 0, 4, 7, 10 + SherpaTT: + \ +1 + (v:41) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 4.20000000000000000e+03 6 safety \ +5.59945498870691782e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 10 10 Payload_10 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 \ +serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 3 \ +t11 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:46)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:46)", +lp="6736,1665.5", +pos="e,6685.4,1572.6 6676.9,1765.8 6679.4,1708.5 6682.4,1640.5 6685,1582.8"]; +"Tuple: + a: + lander + b: + t9 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:39) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t9 0 0 2" [height=3.4444, +pos="6671.5,2324", +width=44.667]; +"Tuple: + a: + lander + b: + t9 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:39) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t9 0 0 2" -> "Tuple: + a: + lander + b: + t10 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:40) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 3 t10 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:45)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:45)", +lp="6724,2114.5", +pos="e,6671.5,2014 6671.5,2199.8 6671.5,2145 6671.5,2080.3 6671.5,2024.3"]; +"Tuple: + a: + lander + b: + t8 + roles (assigned): + Payload: + 0, 2, 5, 7, 10 + SherpaTT: + \ +0 + roles (required): + Payload: + 0, 7, 10 + (v:38) +role_info_attributes 22 serialization::archive 12 0 0 2 0 \ +0 0 20 reconfiguration cost 4.56000000000000000e+03 6 safety 9.86501450745223774e-01 +roles 22 serialization::archive 12 0 0 0 0 +\ +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 \ +10 SherpaTT_0 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::\ +archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t8 0 0 2" [height=3.8611, +pos="5590.5,2743", +width=63.458]; +"Tuple: + a: + lander + b: + t8 + roles (assigned): + Payload: + 0, 2, 5, 7, 10 + SherpaTT: + \ +0 + roles (required): + Payload: + 0, 7, 10 + (v:38) +role_info_attributes 22 serialization::archive 12 0 0 2 0 \ +0 0 20 reconfiguration cost 4.56000000000000000e+03 6 safety 9.86501450745223774e-01 +roles 22 serialization::archive 12 0 0 0 0 +\ +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 \ +10 SherpaTT_0 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::\ +archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t8 0 0 2" -> "Tuple: + a: + b7 + b: + t9 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + \ +0 + (v:54) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.74385949247151140e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::\ +archive 12 0 0 -2.52673682116401615e+06 5.31996155154357292e+06 0.00000000000000000e+00 2 b7 8 LOCATION 0 0 2 t9 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + 0 + (e:44)", +label="capacity: 10 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + 0 + (e:44)", +lp="5093,2533.5", +pos="e,4546.7,2440.6 5112.4,2603.9 4932.5,2552 4729.7,2493.4 4556.5,2443.4"]; +"Tuple: + a: + lander + b: + t8 + roles (assigned): + Payload: + 0, 2, 5, 7, 10 + SherpaTT: + \ +0 + roles (required): + Payload: + 0, 7, 10 + (v:38) +role_info_attributes 22 serialization::archive 12 0 0 2 0 \ +0 0 20 reconfiguration cost 4.56000000000000000e+03 6 safety 9.86501450745223774e-01 +roles 22 serialization::archive 12 0 0 0 0 +\ +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 \ +10 SherpaTT_0 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::\ +archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t8 0 0 2" -> "Tuple: + a: + lander + b: + t9 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:39) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t9 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:43)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:43)", +lp="6313,2533.5", +pos="e,6352.4,2448.1 5948.6,2603.9 6075.7,2554.8 6218.1,2499.9 6342.7,2451.8"]; +"Tuple: + a: + lander + b: + t7 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:37) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t7 0 0 2" [height=3.4444, +pos="4658.5,3177", +width=44.667]; +"Tuple: + a: + lander + b: + t7 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:37) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t7 0 0 2" -> "Tuple: + a: + lander + b: + t8 + roles (assigned): + Payload: + 0, 2, 5, 7, 10 + SherpaTT: + \ +0 + roles (required): + Payload: + 0, 7, 10 + (v:38) +role_info_attributes 22 serialization::archive 12 0 0 2 0 \ +0 0 20 reconfiguration cost 4.56000000000000000e+03 6 safety 9.86501450745223774e-01 +roles 22 serialization::archive 12 0 0 0 0 +\ +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 \ +10 SherpaTT_0 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::\ +archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t8 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:42)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:42)", +lp="5288,2952.5", +pos="e,5292.6,2882.1 4924,3052.9 5036,3001 5167.1,2940.3 5283.2,2886.4"]; +"Tuple: + a: + lander + b: + t6 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:36) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t6 0 0 2" [height=3.4444, +pos="4658.5,3641", +width=44.667]; +"Tuple: + a: + lander + b: + t6 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:36) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t6 0 0 2" -> "Tuple: + a: + lander + b: + t7 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:37) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t7 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:41)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:41)", +lp="4711,3401.5", +pos="e,4658.5,3301.3 4658.5,3516.8 4658.5,3453.5 4658.5,3376.3 4658.5,3311.5"]; +"Tuple: + a: + lander + b: + t5 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:35) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t5 0 0 2" [height=3.4444, +pos="5143.5,4120", +width=44.667]; +"Tuple: + a: + lander + b: + t5 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:35) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + lander + b: + t6 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:36) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:40)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:40)", +lp="4997,3880.5", +pos="e,4783.7,3765.1 5018.3,3995.9 4948.5,3927.3 4861.8,3841.9 4790.9,3772.2"]; +"Tuple: + a: + lander + b: + t4 + roles (assigned): + Payload: + 0, 7, 10 + (v:34) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.35091890624999800e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_\ +7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+\ +06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t4 0 0 2" [height=2.8194, +pos="5304.5,4614", +width=24.861]; +"Tuple: + a: + lander + b: + t4 + roles (assigned): + Payload: + 0, 7, 10 + (v:34) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.35091890624999800e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_\ +7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+\ +06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + lander + b: + t5 + roles (assigned): + Payload: + 0, 7, 10 + roles (required): + \ +Payload: + 0, 7, 10 + (v:35) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 7.35091890624999800e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 8 required \ +3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive \ +12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:39)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:39)", +lp="5301,4374.5", +pos="e,5183.8,4244.3 5271.5,4512.2 5247.1,4437.7 5213.7,4335.4 5187.1,4254.1"]; +"Tuple: + a: + lander + b: + t3 + roles (assigned): + Payload: + 0, 7, 10 + (v:33) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.35091890624999800e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_\ +7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+\ +06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t3 0 0 2" [height=2.8194, +pos="5526.5,5123", +width=24.861]; +"Tuple: + a: + lander + b: + t3 + roles (assigned): + Payload: + 0, 7, 10 + (v:33) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.35091890624999800e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_\ +7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+\ +06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + lander + b: + t4 + roles (assigned): + Payload: + 0, 7, 10 + (v:34) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.35091890624999800e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_\ +7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+\ +06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:38)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:38)", +lp="5488,4853.5", +pos="e,5348.5,4715.6 5482.4,5021.2 5444.9,4935.6 5391.2,4812.9 5352.6,4724.8"]; +"Tuple: + a: + lander + b: + t2 + roles (assigned): + Payload: + 0, 7, 10 + (v:32) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.35091890624999800e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_\ +7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+\ +06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="5547.5,5632", +width=24.861]; +"Tuple: + a: + lander + b: + t2 + roles (assigned): + Payload: + 0, 7, 10 + (v:32) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.35091890624999800e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_\ +7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+\ +06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + lander + b: + t3 + roles (assigned): + Payload: + 0, 7, 10 + (v:33) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.35091890624999800e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_\ +7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+\ +06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:37)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:37)", +lp="5592,5377.5", +pos="e,5530.7,5224.6 5543.3,5530.2 5539.8,5444.9 5534.7,5322.7 5531.1,5234.6"]; +"Tuple: + a: + lander + b: + t1 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + roles (required): + BaseCamp: + 0, 2 + \ +Payload: + 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + (v:31) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 4.68000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 16 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required \ +16 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 \ +10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+\ +00 6 lander 8 LOCATION 0 0 2 t1 0 0 2" [height=5.1111, +pos="10200,6171", +width=208.61]; +"Tuple: + a: + lander + b: + t1 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + roles (required): + BaseCamp: + 0, 2 + \ +Payload: + 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + (v:31) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 4.68000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 16 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required \ +16 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 \ +10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+\ +00 6 lander 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + b1 + b: + t2 + roles (assigned): + BaseCamp: + 0 + Payload: + 1, \ +2, 4, 5, 6, 8 + SherpaTT: + 0 + roles (required): + Payload: + 2, 4, 5 + SherpaTT: + \ +0 + (v:62) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.93633570070102379e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned \ +0 0 8 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 8 9 Payload_8 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 4 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 0.00000000000000000e+\ +00 2 b1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + BaseCamp: + 0 + Payload: + 1, 2, 4, 5, 6, 8 + SherpaTT: + \ +0 + (e:35)", +label="capacity: 10 + roles (assigned): + BaseCamp: + 0 + Payload: + 1, 2, 4, 5, 6, 8 + SherpaTT: + \ +0 + (e:35)", +lp="13098,5901.5", +pos="e,13349,5801 11762,5987 12273,5927.1 12838,5861 13339,5802.2"]; +"Tuple: + a: + lander + b: + t1 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + roles (required): + BaseCamp: + 0, 2 + \ +Payload: + 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + (v:31) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 4.68000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 16 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required \ +16 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 \ +10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+\ +00 6 lander 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + lander + b: + t2 + roles (assigned): + Payload: + 0, 7, 10 + (v:32) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.35091890624999800e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_\ +7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+\ +06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:34)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 7, 10 + (e:34)", +lp="7634,5901.5", +pos="e,5997.2,5733.5 7858.6,5987 7392,5939.8 6906.4,5882.9 6453.5,5816 6307.5,5794.4 6149.5,5764.7 6007,5735.6"]; +"Tuple: + a: + b2 + b: + t2 + roles (assigned): + BaseCamp: + 2 + Payload: + 3, \ +9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 2 + Payload: + 3, 9, 11 + \ +SherpaTT: + 1 + (v:2) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.74845266495741170e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 8 required 5 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 \ +b2 8 LOCATION 0 0 2 t2 0 0 2" [height=5.1111, +pos="9019.5,5632", +width=71.042]; +"Tuple: + a: + lander + b: + t1 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + roles (required): + BaseCamp: + 0, 2 + \ +Payload: + 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + (v:31) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 4.68000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 16 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required \ +16 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 \ +10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+\ +00 6 lander 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + b2 + b: + t2 + roles (assigned): + BaseCamp: + 2 + Payload: + 3, \ +9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 2 + Payload: + 3, 9, 11 + \ +SherpaTT: + 1 + (v:2) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.74845266495741170e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 8 required 5 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 \ +b2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + BaseCamp: + 2 + Payload: + 3, 9, 11 + SherpaTT: + \ +1 + (e:36)", +label="capacity: 10 + roles (assigned): + BaseCamp: + 2 + Payload: + 3, 9, 11 + SherpaTT: + \ +1 + (e:36)", +lp="9803,5901.5", +pos="e,9422.1,5816.1 9797.8,5986.9 9679.6,5933.1 9550.1,5874.3 9431.3,5820.3"]; +"Tuple: + a: + lander + b: + t0 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + roles (required): + BaseCamp: + 0, 2 + \ +Payload: + 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + (v:30) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 16 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required \ +16 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 \ +10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+\ +00 6 lander 8 LOCATION 0 0 2 t0 0 0 2" [height=5.1111, +pos="10200,6680", +width=208.61]; +"Tuple: + a: + lander + b: + t0 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + roles (required): + BaseCamp: + 0, 2 + \ +Payload: + 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + (v:30) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 16 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required \ +16 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 \ +10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+\ +00 6 lander 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + lander + b: + t1 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + roles (required): + BaseCamp: + 0, 2 + \ +Payload: + 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 + SherpaTT: + 0, 1 + (v:31) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 4.68000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 16 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_\ +8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required \ +16 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 \ +10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/\ +01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+\ +00 6 lander 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 0, 1, 2, 3, 4, 5, 6, 7, 8, \ +9, 10, 11 + (e:33)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 0, 2 + Payload: + 0, 1, 2, 3, 4, 5, 6, 7, 8, \ +9, 10, 11 + (e:33)", +lp="10312,6425.5", +pos="e,10200,6355.2 10200,6496 10200,6453.6 10200,6408.3 10200,6365.4"]; +"Tuple: + a: + b4 + b: + t14 + (v:29) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t14 0 0 2" [height=2.1944, +pos="14802,154", +width=12.306]; +"Tuple: + a: + b4 + b: + t13 + (v:28) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t13 0 0 2" [height=2.1944, +pos="14802,603", +width=12.306]; +"Tuple: + a: + b4 + b: + t13 + (v:28) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t13 0 0 2" -> "Tuple: + a: + b4 + b: + t14 + (v:29) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t14 0 0 2" [key="capacity: +inf + (e:32)", +label="capacity: +inf + (e:32)", +lp="14840,378.5", +pos="e,14802,233 14802,523.88 14802,445.44 14802,324.8 14802,243.02"]; +"Tuple: + a: + b4 + b: + t12 + (v:27) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t12 0 0 2" [height=2.1944, +pos="14802,1037", +width=12.306]; +"Tuple: + a: + b4 + b: + t12 + (v:27) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t12 0 0 2" -> "Tuple: + a: + b4 + b: + t13 + (v:28) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t13 0 0 2" [key="capacity: +inf + (e:31)", +label="capacity: +inf + (e:31)", +lp="14840,827.5", +pos="e,14802,682.01 14802,957.77 14802,882.96 14802,770.3 14802,692.3"]; +"Tuple: + a: + b4 + b: + t11 + (v:26) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t11 0 0 2" [height=2.1944, +pos="14802,1456", +width=12.306]; +"Tuple: + a: + b4 + b: + t11 + (v:26) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t11 0 0 2" -> "Tuple: + a: + b4 + b: + t12 + (v:27) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t12 0 0 2" [key="capacity: +inf + (e:30)", +label="capacity: +inf + (e:30)", +lp="14840,1246.5", +pos="e,14802,1116.1 14802,1376.6 14802,1305.4 14802,1200.5 14802,1126.3"]; +"Tuple: + a: + b4 + b: + t10 + (v:25) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t10 0 0 2" [height=2.1944, +pos="14438,1890", +width=12.306]; +"Tuple: + a: + b4 + b: + t10 + (v:25) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t10 0 0 2" -> "Tuple: + a: + b4 + b: + t11 + (v:26) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t11 0 0 2" [key="capacity: +inf + (e:29)", +label="capacity: +inf + (e:29)", +lp="14700,1665.5", +pos="e,14736,1535 14503,1810.8 14567,1735.2 14663,1621 14729,1542.9"]; +"Tuple: + a: + b4 + b: + t9 + roles (assigned): + Payload: + 1, 3, 4, 6 + SherpaTT: + \ +1 + roles (required): + Payload: + 3, 4, 6 + (v:24) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t9 0 0 2" [height=3.8611, +pos="11054,2324", +width=56.764]; +"Tuple: + a: + b4 + b: + t9 + roles (assigned): + Payload: + 1, 3, 4, 6 + SherpaTT: + \ +1 + roles (required): + Payload: + 3, 4, 6 + (v:24) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t9 0 0 2" -> "Tuple: + a: + b1 + b: + t10 + roles (assigned): + BaseCamp: + 0, 2 + Payload: + \ +1, 3, 4, 6, 8, 9, 11 + SherpaTT: + 1 + roles (required): + Payload: + 8 + (v:70) +role_info_attributes \ +22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 6.00000000000000000e+03 6 safety 9.99999999998046896e-01 +roles \ +22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 10 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#BaseCamp 0 10 BaseCamp_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 \ +10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 8 9 Payload_8 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 \ +Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 8 9 Payload_8 +tuple 22 serialization::archive 12 0 0 -2.55221525499292836e+06 6.71879052667169273e+06 \ +0.00000000000000000e+00 2 b1 8 LOCATION 0 0 3 t10 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 1, 3, 4, 6 + SherpaTT: + 1 + (e:28)", +label="capacity: 10 + roles (assigned): + Payload: + 1, 3, 4, 6 + SherpaTT: + 1 + (e:28)", +lp="11107,2114.5", +pos="e,11055,2044.2 11054,2184.8 11054,2143.3 11055,2097.4 11055,2054.5"]; +"Tuple: + a: + b4 + b: + t9 + roles (assigned): + Payload: + 1, 3, 4, 6 + SherpaTT: + \ +1 + roles (required): + Payload: + 3, 4, 6 + (v:24) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t9 0 0 2" -> "Tuple: + a: + b4 + b: + t10 + (v:25) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 3 t10 0 0 2" [key="capacity: +inf + (e:27)", +label="capacity: +inf + (e:27)", +lp="13712,2114.5", +pos="e,14160,1969 12804,2185 13143,2147.4 13495,2100.9 13822,2044 13930,2025.2 14047,1997.9 14150,1971.6"]; +"Tuple: + a: + b4 + b: + t8 + roles (assigned): + Payload: + 1, 3, 4, 6 + SherpaTT: + \ +1 + roles (required): + Payload: + 3, 4, 6 + (v:23) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t8 0 0 2" [height=3.8611, +pos="9936.5,2743", +width=56.764]; +"Tuple: + a: + b4 + b: + t8 + roles (assigned): + Payload: + 1, 3, 4, 6 + SherpaTT: + \ +1 + roles (required): + Payload: + 3, 4, 6 + (v:23) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t8 0 0 2" -> "Tuple: + a: + b4 + b: + t9 + roles (assigned): + Payload: + 1, 3, 4, 6 + SherpaTT: + \ +1 + roles (required): + Payload: + 3, 4, 6 + (v:24) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t9 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1, 3, 4, 6 + (e:26)", +label="capacity: +inf + roles (assigned): + Payload: + 1, 3, 4, 6 + (e:26)", +lp="10680,2533.5", +pos="e,10683,2463.2 10307,2603.9 10424,2559.8 10555,2511 10674,2466.8"]; +"Tuple: + a: + b4 + b: + t7 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + \ +0 + roles (required): + Payload: + 1, 2, 6 + SherpaTT: + 0 + (v:22) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.46000000000000000e+03 6 safety 8.06733667697362877e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 7 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 4 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_\ +2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t7 0 0 2" [height=4.2778, +pos="9936.5,3177", +width=75.556]; +"Tuple: + a: + b4 + b: + t7 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + \ +0 + roles (required): + Payload: + 1, 2, 6 + SherpaTT: + 0 + (v:22) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.46000000000000000e+03 6 safety 8.06733667697362877e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 7 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 4 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_\ +2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t7 0 0 2" -> "Tuple: + a: + lander + b: + t8 + roles (assigned): + Payload: + 0, 2, 5, 7, 10 + SherpaTT: + \ +0 + roles (required): + Payload: + 0, 7, 10 + (v:38) +role_info_attributes 22 serialization::archive 12 0 0 2 0 \ +0 0 20 reconfiguration cost 4.56000000000000000e+03 6 safety 9.86501450745223774e-01 +roles 22 serialization::archive 12 0 0 0 0 +\ +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 6 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 \ +10 SherpaTT_0 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 7 9 Payload_7 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 10 10 Payload_10 +tuple 22 serialization::\ +archive 12 0 0 -2.54126708068880206e+06 6.67182361261711083e+06 0.00000000000000000e+00 6 lander 8 LOCATION 0 0 2 t8 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + 0 + (e:25)", +label="capacity: 10 + roles (assigned): + Payload: + 2, 5 + SherpaTT: + 0 + (e:25)", +lp="8841,2952.5", +pos="e,7798.8,2882 8956.5,3023 8645.4,2978.3 8299.6,2932.8 7981.5,2900 7924.7,2894.1 7867,2888.5 7808.9,2883"]; +"Tuple: + a: + b4 + b: + t7 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + \ +0 + roles (required): + Payload: + 1, 2, 6 + SherpaTT: + 0 + (v:22) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.46000000000000000e+03 6 safety 8.06733667697362877e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 7 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 4 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_\ +2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t7 0 0 2" -> "Tuple: + a: + b4 + b: + t8 + roles (assigned): + Payload: + 1, 3, 4, 6 + SherpaTT: + \ +1 + roles (required): + Payload: + 3, 4, 6 + (v:23) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t8 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1, 3, 4, 6 + (e:24)", +label="capacity: +inf + roles (assigned): + Payload: + 1, 3, 4, 6 + (e:24)", +lp="9989,2952.5", +pos="e,9936.5,2882.1 9936.5,3022.8 9936.5,2980.3 9936.5,2934.3 9936.5,2892.2"]; +"Tuple: + a: + b4 + b: + t6 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + \ +0 + roles (required): + Payload: + 1, 2, 6 + SherpaTT: + 0 + (v:21) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.06733667697362877e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 7 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 4 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_\ +2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t6 0 0 2" [height=4.2778, +pos="9902.5,3641", +width=75.556]; +"Tuple: + a: + b4 + b: + t6 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + \ +0 + roles (required): + Payload: + 1, 2, 6 + SherpaTT: + 0 + (v:21) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.06733667697362877e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 7 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 4 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_\ +2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t6 0 0 2" -> "Tuple: + a: + b4 + b: + t7 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + \ +0 + roles (required): + Payload: + 1, 2, 6 + SherpaTT: + 0 + (v:22) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 2.46000000000000000e+03 6 safety 8.06733667697362877e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 7 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 4 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_\ +2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t7 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + (e:23)", +label="capacity: +inf + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + (e:23)", +lp="9985.5,3401.5", +pos="e,9925.2,3331.2 9913.8,3486.8 9917.2,3440.1 9921,3388.6 9924.5,3341.2"]; +"Tuple: + a: + b4 + b: + t5 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + \ +0 + (v:20) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +4.65872484500925055e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 7 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 \ +SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 \ +8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + b4 + b: + t6 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + \ +0 + roles (required): + Payload: + 1, 2, 6 + SherpaTT: + 0 + (v:21) +role_info_attributes 22 serialization::\ +archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.06733667697362877e-01 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 7 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_\ +4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 8 required 4 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 2 9 Payload_\ +2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +SherpaTT 0 10 SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + (e:22)", +label="capacity: +inf + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + (e:22)", +lp="9964.5,3880.5", +pos="e,9902.5,3795.4 9902.5,4003.2 9902.5,3943.9 9902.5,3870.8 9902.5,3805.8"]; +"Tuple: + a: + b4 + b: + t4 + (v:19) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t4 0 0 2" [height=2.1944, +pos="9301.5,4614", +width=12.208]; +"Tuple: + a: + b4 + b: + t4 + (v:19) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + b4 + b: + t5 + roles (assigned): + Payload: + 1, 2, 3, 4, 5, 6 + SherpaTT: + \ +0 + (v:20) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +4.65872484500925055e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned \ +0 0 7 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_5 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 0 10 \ +SherpaTT_0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 \ +8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + (e:21)", +label="capacity: +inf + (e:21)", +lp="9711.5,4374.5", +pos="e,9761.2,4236.7 9397.1,4534.8 9492.9,4456.3 9641.8,4334.4 9753.2,4243.2"]; +"Tuple: + a: + b4 + b: + t3 + (v:18) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t3 0 0 2" [height=2.1944, +pos="2856.5,5123", +width=12.208]; +"Tuple: + a: + b4 + b: + t3 + (v:18) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + b4 + b: + t4 + (v:19) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:20)", +label="capacity: +inf + (e:20)", +lp="5341.5,4853.5", +pos="e,8991.8,4693 3295.9,5044 3784.3,4961.4 4597.3,4836.2 5303.5,4786 5664.3,4760.3 8198.8,4805.7 8558.5,4768 8698.6,4753.3 8851.3,4724.2 \ +8981.7,4695.3"]; +"Tuple: + a: + b4 + b: + t2 + (v:17) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t2 0 0 2" [height=2.1944, +pos="1829.5,5632", +width=12.208]; +"Tuple: + a: + b4 + b: + t2 + (v:17) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + b4 + b: + t3 + (v:18) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:19)", +label="capacity: +inf + (e:19)", +lp="2473.5,5377.5", +pos="e,2698.1,5202.2 1987.7,5552.9 2177.7,5459.1 2494.9,5302.5 2689,5206.7"]; +"Tuple: + a: + b4 + b: + t1 + (v:16) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t1 0 0 2" [height=2.1944, +pos="1336.5,6171", +width=12.208]; +"Tuple: + a: + b4 + b: + t1 + (v:16) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + b4 + b: + t2 + (v:17) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:18)", +label="capacity: +inf + (e:18)", +lp="1680.5,5901.5", +pos="e,1757.7,5711.2 1408.2,6091.9 1499.4,5992.6 1656.3,5821.6 1750.8,5718.8"]; +"Tuple: + a: + b4 + b: + t0 + (v:15) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t0 0 0 2" [height=2.1944, +pos="1336.5,6680", +width=12.208]; +"Tuple: + a: + b4 + b: + t0 + (v:15) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + b4 + b: + t1 + (v:16) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+\ +06 6.38546844297656231e+06 0.00000000000000000e+00 2 b4 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:17)", +label="capacity: +inf + (e:17)", +lp="1374.5,6425.5", +pos="e,1336.5,6250.2 1336.5,6600.9 1336.5,6509 1336.5,6356.7 1336.5,6260.5"]; +"Tuple: + a: + b2 + b: + t14 + (v:14) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 3 t14 0 0 2" [height=2.1944, +pos="4156.5,154", +width=12.306]; +"Tuple: + a: + b2 + b: + t13 + roles (assigned): + Payload: + 0 + SherpaTT: + 1 + (\ +v:13) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 5.36674911105282648e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT \ +1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 \ +2 b2 8 LOCATION 0 0 3 t13 0 0 2" -> "Tuple: + a: + b6 + b: + t14 + roles (assigned): + Payload: + 0 + SherpaTT: + 1 + \ +roles (required): + Payload: + 0 + (v:89) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.99874687539062501e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::\ +archive 12 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/\ +om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 12 0 0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+\ +00 2 b6 8 LOCATION 0 0 3 t14 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 0 + SherpaTT: + 1 + (e:16)", +label="capacity: 10 + roles (assigned): + Payload: + 0 + SherpaTT: + 1 + (e:16)", +lp="5050,378.5", +pos="e,5135.5,293.06 4545.8,486.45 4722.9,428.38 4939,357.52 5125.8,296.25"]; +"Tuple: + a: + b2 + b: + t13 + roles (assigned): + Payload: + 0 + SherpaTT: + 1 + (\ +v:13) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 5.36674911105282648e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT \ +1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 \ +2 b2 8 LOCATION 0 0 3 t13 0 0 2" -> "Tuple: + a: + b2 + b: + t14 + (v:14) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 3 t14 0 0 2" [key="capacity: +inf + (e:15)", +label="capacity: +inf + (e:15)", +lp="4216.5,378.5", +pos="e,4163,233.27 4183.9,486.31 4177.6,410.49 4169.6,312.91 4163.8,243.33"]; +"Tuple: + a: + b2 + b: + t12 + (v:12) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 3 t12 0 0 2" [height=2.1944, +pos="1688.5,1037", +width=12.306]; +"Tuple: + a: + b2 + b: + t12 + (v:12) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 3 t12 0 0 2" -> "Tuple: + a: + b2 + b: + t13 + roles (assigned): + Payload: + 0 + SherpaTT: + 1 + (\ +v:13) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 5.36674911105282648e-01 +\ +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT \ +1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 \ +2 b2 8 LOCATION 0 0 3 t13 0 0 2" [key="capacity: +inf + (e:14)", +label="capacity: +inf + (e:14)", +lp="2805.5,827.5", +pos="e,3732.8,719.51 1927.7,957.98 1996,937.05 2070.9,915.41 2140.5,898 2416,829.11 2485.2,805.9 2767.5,775 3094.1,739.25 3180.4,796.9 \ +3506.5,757 3576.9,748.39 3650.6,735.82 3722.6,721.54"]; +"Tuple: + a: + b2 + b: + t11 + (v:11) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 3 t11 0 0 2" [height=2.1944, +pos="1904.5,1456", +width=12.306]; +"Tuple: + a: + b2 + b: + t11 + (v:11) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 3 t11 0 0 2" -> "Tuple: + a: + b2 + b: + t12 + (v:12) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 3 t12 0 0 2" [key="capacity: +inf + (e:13)", +label="capacity: +inf + (e:13)", +lp="1860.5,1246.5", +pos="e,1728.9,1116.1 1863.9,1376.6 1826.8,1304.9 1772,1199.2 1733.5,1125"]; +"Tuple: + a: + b2 + b: + t10 + (v:10) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 3 t10 0 0 2" [height=2.1944, +pos="1949.5,1890", +width=12.306]; +"Tuple: + a: + b2 + b: + t10 + (v:10) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 3 t10 0 0 2" -> "Tuple: + a: + b2 + b: + t11 + (v:11) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 3 t11 0 0 2" [key="capacity: +inf + (e:12)", +label="capacity: +inf + (e:12)", +lp="1969.5,1665.5", +pos="e,1912.6,1535 1941.4,1810.8 1933.6,1736 1921.8,1623.3 1913.7,1545.3"]; +"Tuple: + a: + b2 + b: + t9 + (v:9) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t9 0 0 2" [height=2.1944, +pos="1951.5,2324", +width=12.208]; +"Tuple: + a: + b2 + b: + t9 + (v:9) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t9 0 0 2" -> "Tuple: + a: + b2 + b: + t10 + (v:10) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 3 t10 0 0 2" [key="capacity: +inf + (e:11)", +label="capacity: +inf + (e:11)", +lp="1989.5,2114.5", +pos="e,1949.9,1969 1951.1,2244.8 1950.8,2170 1950.3,2057.3 1949.9,1979.3"]; +"Tuple: + a: + b2 + b: + t8 + (v:8) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t8 0 0 2" [height=2.1944, +pos="1951.5,2743", +width=12.208]; +"Tuple: + a: + b2 + b: + t8 + (v:8) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t8 0 0 2" -> "Tuple: + a: + b2 + b: + t9 + (v:9) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t9 0 0 2" [key="capacity: +inf + (e:10)", +label="capacity: +inf + (e:10)", +lp="1989.5,2533.5", +pos="e,1951.5,2403.1 1951.5,2663.6 1951.5,2592.4 1951.5,2487.5 1951.5,2413.3"]; +"Tuple: + a: + b2 + b: + t7 + roles (assigned): + SherpaTT: + 1 + (v:7) +role_info_attributes 22 \ +serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 4.63291230159753042e-01 +roles 22 \ +serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 \ +6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t7 0 0 2" -> "Tuple: + a: + b4 + b: + t8 + roles (assigned): + Payload: + 1, 3, 4, 6 + SherpaTT: + \ +1 + roles (required): + Payload: + 3, 4, 6 + (v:23) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 \ +0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 9.74218142052199809e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_\ +3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 6 9 Payload_6 +tuple 22 serialization::archive 12 0 0 -2.53294809326860029e+06 6.38546844297656231e+06 0.00000000000000000e+\ +00 2 b4 8 LOCATION 0 0 2 t8 0 0 2" [key="capacity: 10 + roles (assigned): + SherpaTT: + 1 + (e:9)", +label="capacity: 10 + roles (assigned): + SherpaTT: + 1 + (e:9)", +lp="7925,2952.5", +pos="e,8022,2882 7017.8,3075.5 7079.6,3055.7 7145.3,3036.9 7207.5,3023 7465.6,2965.4 7740.2,2919.7 8011.9,2883.4"]; +"Tuple: + a: + b2 + b: + t7 + roles (assigned): + SherpaTT: + 1 + (v:7) +role_info_attributes 22 \ +serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 4.63291230159753042e-01 +roles 22 \ +serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 \ +6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t7 0 0 2" -> "Tuple: + a: + b2 + b: + t8 + (v:8) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t8 0 0 2" [key="capacity: +inf + (e:8)", +label="capacity: +inf + (e:8)", +lp="6221.5,2952.5", +pos="e,2159.9,2822.1 6463.6,3075.4 6402.2,3055.8 6337.1,3037.1 6275.5,3023 5868.6,2930.2 5760.9,2928.7 5344.5,2900 5181.3,2888.8 2561.2,\ +2906.8 2399.5,2882 2323.1,2870.3 2241.7,2848.2 2169.6,2825.2"]; +"Tuple: + a: + b2 + b: + t6 + (v:6) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t6 0 0 2" [height=2.1944, +pos="6724.5,3641", +width=12.208]; +"Tuple: + a: + b2 + b: + t6 + (v:6) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t6 0 0 2" -> "Tuple: + a: + b2 + b: + t7 + roles (assigned): + SherpaTT: + 1 + (v:7) +role_info_attributes 22 \ +serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 4.63291230159753042e-01 +roles 22 \ +serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 50 //\ +www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 \ +6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t7 0 0 2" [key="capacity: +inf + (e:7)", +label="capacity: +inf + (e:7)", +lp="6773.5,3401.5", +pos="e,6737.8,3278.7 6727.4,3561.9 6730.1,3487 6734.3,3373.1 6737.4,3288.8"]; +"Tuple: + a: + b2 + b: + t5 + (v:5) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t5 0 0 2" [height=2.1944, +pos="7371.5,4120", +width=12.208]; +"Tuple: + a: + b2 + b: + t5 + (v:5) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + b2 + b: + t6 + (v:6) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:6)", +label="capacity: +inf + (e:6)", +lp="7144.5,3880.5", +pos="e,6830.4,3720.1 7265.4,4040.8 7147.9,3954.1 6959.2,3815 6838.6,3726.1"]; +"Tuple: + a: + b2 + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t4 0 0 2" [height=2.1944, +pos="8109.5,4614", +width=12.208]; +"Tuple: + a: + b2 + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + b2 + b: + t5 + (v:5) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 0 0 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+\ +06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + (e:5)", +label="capacity: +inf + (e:5)", +lp="7887.5,4374.5", +pos="e,7488.7,4199.1 7992.2,4534.8 7857,4444.7 7635.9,4297.2 7497.3,4204.8"]; +"Tuple: + a: + b2 + b: + t3 + roles (assigned): + BaseCamp: + 2 + Payload: + 3, \ +9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 2 + Payload: + 3, 9, 11 + \ +SherpaTT: + 1 + (v:3) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.74845266495741170e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 8 required 5 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 \ +b2 8 LOCATION 0 0 2 t3 0 0 2" [height=5.1111, +pos="9019.5,5123", +width=71.042]; +"Tuple: + a: + b2 + b: + t3 + roles (assigned): + BaseCamp: + 2 + Payload: + 3, \ +9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 2 + Payload: + 3, 9, 11 + \ +SherpaTT: + 1 + (v:3) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.74845266495741170e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 8 required 5 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 \ +b2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + b6 + b: + t4 + roles (assigned): + BaseCamp: + 2 + Payload: + 1, \ +2, 3, 4, 5, 6, 9, 11 + SherpaTT: + 0, 1 + (v:79) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 \ +reconfiguration cost 6.36000000000000000e+03 6 safety 2.88466768837977672e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_\ +roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 11 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#\ +BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 2 9 Payload_2 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 4 9 Payload_4 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 5 9 Payload_\ +5 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 6 9 Payload_6 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 9 9 Payload_9 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/\ +2014/01/om-schema#SherpaTT 0 10 SherpaTT_0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 10 SherpaTT_1 +tuple 22 \ +serialization::archive 12 0 0 -2.53986092654124228e+06 5.34118202353157662e+06 0.00000000000000000e+00 2 b6 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: 10 + roles (assigned): + BaseCamp: + 2 + Payload: + 3, 9, 11 + SherpaTT: + \ +1 + (e:4)", +label="capacity: 10 + roles (assigned): + BaseCamp: + 2 + Payload: + 3, 9, 11 + SherpaTT: + \ +1 + (e:4)", +lp="12334,4853.5", +pos="e,12806,4745.5 10670,4939 11186,4885.3 11757,4829.4 12282,4786 12449,4772.2 12622,4758.9 12796,4746.3"]; +"Tuple: + a: + b2 + b: + t3 + roles (assigned): + BaseCamp: + 2 + Payload: + 3, \ +9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 2 + Payload: + 3, 9, 11 + \ +SherpaTT: + 1 + (v:3) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.74845266495741170e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 8 required 5 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 \ +b2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + b2 + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 12 0 0 0 0 +roles 22 serialization::\ +archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 serialization::archive 12 0 \ +0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 b2 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:3)", +label="capacity: +inf + (e:3)", +lp="8683.5,4853.5", +pos="e,8249.5,4693 8691,4939 8543,4856.5 8375.6,4763.3 8258.6,4698.1"]; +"Tuple: + a: + b2 + b: + t2 + roles (assigned): + BaseCamp: + 2 + Payload: + 3, \ +9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 2 + Payload: + 3, 9, 11 + \ +SherpaTT: + 1 + (v:2) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.74845266495741170e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 8 required 5 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 \ +b2 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + b2 + b: + t3 + roles (assigned): + BaseCamp: + 2 + Payload: + 3, \ +9, 11 + SherpaTT: + 1 + roles (required): + BaseCamp: + 2 + Payload: + 3, 9, 11 + \ +SherpaTT: + 1 + (v:3) +role_info_attributes 22 serialization::archive 12 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.74845266495741170e-01 +roles 22 serialization::archive 12 0 0 0 0 +tagged_roles 22 serialization::archive 12 0 0 2 0 \ +0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 8 required 5 0 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#BaseCamp 2 10 BaseCamp_2 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 3 9 Payload_3 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 9 9 Payload_9 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 11 10 Payload_11 5 http: 50 //www.rock-robotics.org/2014/01/om-schema#SherpaTT 1 \ +10 SherpaTT_1 +tuple 22 serialization::archive 12 0 0 -2.54577962884151516e+06 6.19085421793726925e+06 0.00000000000000000e+00 2 \ +b2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + BaseCamp: + 2 + Payload: + 3, 9, 11 + (e:2)", +label="capacity: +inf + roles (assigned): + BaseCamp: + 2 + Payload: + 3, 9, 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+ + + + + + + + + + + 2 + + + + + + + + + + + + + + + 4 + + + + + + + + + + + + + + + 10 + + + + + + + + + + + + + + + 1 + + + + + + + + + + + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + + + 2 + + + + + + + + + + + + + + + 2 + + + + + diff --git a/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:07+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:07+0100-transport-network.status new file mode 100644 index 0000000..3c8aa3d --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:07+0100-transport-network.status @@ -0,0 +1,45 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 3, 4, 6, 5} +Payload : 2 0 2 0 0 +Sherpa : 3 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 1 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 1 0 0 1 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 1 0 +AtomicAgent: Payload_0 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Payload_1 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {6} {} + t2 {9} {} {} + t3 {12} {} {} + t4 {15} {} {} + t5 {20} {} {} + t6 {} {} {} +AtomicAgent: Sherpa_2 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {8} {} + t2 {} {} {11} + t3 {} {} {14} + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:17+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:17+0100-transport-network.status new file mode 100644 index 0000000..f9cd529 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:17+0100-transport-network.status @@ -0,0 +1,45 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 3, 4, 6, 5} +Payload : 2 0 2 0 0 +Sherpa : 3 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 1 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 1 0 0 1 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 1 0 +AtomicAgent: Payload_0 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Payload_1 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {6} {} + t2 {9} {} {} + t3 {12} {} {} + t4 {15} {} {} + t5 {20} {} {} + t6 {} {} {} +AtomicAgent: Sherpa_2 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {8} {} + t2 {} {} {11} + t3 {} {} {14} + t4 {} {} {17} + t5 {} {} {19} + t6 {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:18+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:18+0100-transport-network.status new file mode 100644 index 0000000..0a33f0b --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:18+0100-transport-network.status @@ -0,0 +1,45 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 3, 4, 6, 5} +Payload : 2 0 2 0 0 +Sherpa : 3 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 1 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 1 0 0 1 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 1 0 +AtomicAgent: Payload_0 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Payload_1 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {6} {} + t2 {9} {} {} + t3 {12} {} {} + t4 {15} {} {} + t5 {18} {} {} + t6 {} {} {} +AtomicAgent: Sherpa_2 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {8} {} + t2 {} {} {11} + t3 {} {} {14} + t4 {} {} {17} + t5 {} {} {19} + t6 {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:24+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:24+0100-transport-network.status new file mode 100644 index 0000000..80ae763 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:24+0100-transport-network.status @@ -0,0 +1,45 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 3, 4, 6, 5} +Payload : 2 0 2 0 0 +Sherpa : 3 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 1 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 1 0 0 1 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 1 0 +AtomicAgent: Payload_0 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Payload_1 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {6} {} + t2 {9} {} {} + t3 {12} {} {} + t4 {15} {} {} + t5 {19} {} {} + t6 {} {} {} +AtomicAgent: Sherpa_2 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {8} {} + t2 {} {} {11} + t3 {} {} {14} + t4 {} {} {17} + t5 {} {} {18} + t6 {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:28+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:28+0100-transport-network.status new file mode 100644 index 0000000..f2c5f24 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:28+0100-transport-network.status @@ -0,0 +1,45 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 3, 4, 6, 5} +Payload : 2 0 2 0 0 +Sherpa : 3 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 1 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 1 0 0 1 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 1 0 +AtomicAgent: Payload_0 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Payload_1 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {6} {} + t2 {9} {} {} + t3 {12} {} {} + t4 {15} {} {} + t5 {19} {} {} + t6 {} {} {} +AtomicAgent: Sherpa_2 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {8} {} + t2 {} {} {11} + t3 {} {} {14} + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:30+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:30+0100-transport-network.status new file mode 100644 index 0000000..06237c2 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/20211115-15:15:30+0100-transport-network.status @@ -0,0 +1,54 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 3, 4, 6, 5} +Payload : 2 0 2 0 0 +Sherpa : 3 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 1 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 1 0 0 0 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 0 1 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 1 0 +AtomicAgent: Payload_0 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Payload_1 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {6} {} + t2 {9} {} {} + t3 {14} {} {} + t4 {} {} {15} + t5 {18} {} {} + t6 {} {} {} +AtomicAgent: Sherpa_1 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {6} {} + t2 {11} {} {} + t3 {} {} {12} + t4 {15} {} {} + t5 {20} {} {} + t6 {} {} {} +AtomicAgent: Sherpa_2 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {8} {} + t2 {} {} {11} + t3 {} {} {14} + t4 {} {} {17} + t5 {} {} {18} + t6 {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test3/0/final_plan.gexf b/test/data/solution_simulation/sample_mission/test3/0/final_plan.gexf new file mode 100644 index 0000000..6ae7b3d --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/final_plan.gexf @@ -0,0 +1,297 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test3/0/final_solution_network.gexf b/test/data/solution_simulation/sample_mission/test3/0/final_solution_network.gexf new file mode 100644 index 0000000..671de41 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/final_solution_network.gexf @@ -0,0 +1,477 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow-final-flow.gexf b/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow-final-flow.gexf new file mode 100644 index 0000000..dc63728 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow-final-flow.gexf @@ -0,0 +1,418 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow-init.gexf b/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow-init.gexf new file mode 100644 index 0000000..cc659d0 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow-init.gexf @@ -0,0 +1,418 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow.gexf b/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow.gexf new file mode 100644 index 0000000..dc63728 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow.gexf @@ -0,0 +1,418 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow.problem b/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow.problem new file mode 100644 index 0000000..6fcee8d --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow.problem @@ -0,0 +1,263 @@ +\* Problem: multicommodity_min_cost_flow-20211115-15:15:30:323514+0100 *\ +Minimize + obj: + x1 + x2 + x3 + x4 + x5 + x6 + x9 + x10 + x11 + x12 + x13 + + x14 + x15 + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x29 + + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + x39 + x40 + x41 + + x42 + x43 + x44 + x45 + x46 + x47 + x48 + x49 + x50 + x51 + x52 + x53 + + x54 + x55 + x56 + x57 + x58 + x59 + x60 + x61 + x62 + x63 + x64 + +Subject To + y1: + x1 + x2 - ~r_1 = 0 + y2: + x3 + x4 - ~r_2 = 0 + y3: + x5 + x6 - ~r_3 = 0 + y4: + x7 + x8 - ~r_4 = 0 + y5: + x9 + x10 - ~r_5 = 0 + y6: + x11 + x12 - ~r_6 = 0 + y7: + x13 + x14 - ~r_7 = 0 + y8: + x15 + x16 - ~r_8 = 0 + y9: + x17 + x18 - ~r_9 = 0 + y10: + x19 + x20 - ~r_10 = 0 + y11: + x21 + x22 - ~r_11 = 0 + y12: + x23 + x24 - ~r_12 = 0 + y13: + x25 + x26 - ~r_13 = 0 + y14: + x27 + x28 - ~r_14 = 0 + y15: + x29 + x30 - ~r_15 = 0 + y16: + x31 + x32 - ~r_16 = 0 + y17: + x33 + x34 - ~r_17 = 0 + y18: + x35 + x36 - ~r_18 = 0 + y19: + x37 + x38 - ~r_19 = 0 + y20: + x39 + x40 - ~r_20 = 0 + y21: + x41 + x42 - ~r_21 = 0 + y22: + x43 + x44 - ~r_22 = 0 + y23: + x45 + x46 - ~r_23 = 0 + y24: + x47 + x48 - ~r_24 = 0 + y25: + x49 + x50 - ~r_25 = 0 + y26: + x51 + x52 - ~r_26 = 0 + y27: + x53 + x54 - ~r_27 = 0 + y28: + x55 + x56 - ~r_28 = 0 + y29: + x57 + x58 - ~r_29 = 0 + y30: + x59 + x60 - ~r_30 = 0 + y31: + x61 + x62 - ~r_31 = 0 + y32: + x63 + x64 - ~r_32 = 0 + y33: -1 x35 + x1 + x3 = 0 + y34: + x35 >= 1 + y35: -1 x36 + x2 + x4 = 0 + y36: + x36 >= 1 + y37: -1 x57 + x5 = 0 + y38: -1 x58 + x6 = 0 + y39: -1 x9 + x7 = 0 + y40: -1 x10 + x8 = 0 + y41: -1 x11 + x9 = 0 + y42: -1 x12 + x10 = 0 + y43: -1 x13 + x11 = 0 + y44: -1 x14 + x12 = 0 + y45: -1 x17 + x13 = 0 + y46: -1 x18 + x14 = 0 + y47: -1 x5 -1 x19 + x15 = 0 + y48: -1 x6 -1 x20 + x16 = 0 + y49: -1 x23 + x17 = 0 + y50: -1 x24 + x18 = 0 + y51: -1 x55 + x19 + x21 + x23 = 0 + y52: + x55 >= 1 + y53: -1 x56 + x20 + x22 + x24 = 0 + y54: + x56 >= 1 + y55: -1 x25 -1 x7 -1 x27 = -1 + y56: -1 x26 -1 x8 -1 x28 = -1 + y57: -1 x3 -1 x29 + x25 = 0 + y58: + x3 + x29 >= 1 + y59: -1 x4 -1 x30 + x26 = 0 + y60: + x4 + x30 >= 1 + y61: -1 x1 -1 x31 + x27 = 0 + y62: -1 x2 -1 x32 + x28 = 0 + y63: -1 x33 -1 x37 + x29 + x31 = 0 + y64: -1 x34 -1 x38 + x30 + x32 = 0 + y65: -1 x41 -1 x43 + x33 + x35 = 0 + y66: + x41 + x43 >= 1 + y67: -1 x42 -1 x44 + x34 + x36 = 0 + y68: + x42 + x44 >= 1 + y69: -1 x39 -1 x45 + x37 = 0 + y70: -1 x40 -1 x46 + x38 = 0 + y71: -1 x15 -1 x47 + x39 + x41 = 0 + y72: -1 x16 -1 x48 + x40 + x42 = 0 + y73: -1 x49 + x43 + x45 = 0 + y74: -1 x50 + x44 + x46 = 0 + y75: -1 x21 -1 x51 + x47 + x49 = 0 + y76: -1 x22 -1 x52 + x48 + x50 = 0 + y77: -1 x53 + x51 = 0 + y78: -1 x54 + x52 = 0 + y79: -1 x59 + x53 = 0 + y80: -1 x60 + x54 = 0 + y81: -1 x61 + x55 = 0 + y82: + x61 >= 1 + y83: -1 x62 + x56 = 0 + y84: + x62 >= 1 + y85: -1 x63 + x57 = 0 + y86: -1 x64 + x58 = 0 + y87: + x59 + x61 + x63 = 1 + y88: + x60 + x62 + x64 = 1 + +Bounds + 0 <= ~r_1 <= 10 + 0 <= ~r_2 <= + inf + 0 <= ~r_3 <= + inf + 0 <= ~r_4 <= + inf + 0 <= ~r_5 <= + inf + 0 <= ~r_6 <= + inf + 0 <= ~r_7 <= + inf + 0 <= ~r_8 <= + inf + 0 <= ~r_9 <= + inf + 0 <= ~r_10 <= 10 + 0 <= ~r_11 <= 20 + 0 <= ~r_12 <= + inf + 0 <= ~r_13 <= + inf + 0 <= ~r_14 <= + inf + 0 <= ~r_15 <= 20 + 0 <= ~r_16 <= + inf + 0 <= ~r_17 <= 10 + 0 <= ~r_18 <= + inf + 0 <= ~r_19 <= + inf + 0 <= ~r_20 <= 20 + 0 <= ~r_21 <= + inf + 0 <= ~r_22 <= 10 + 0 <= ~r_23 <= + inf + 0 <= ~r_24 <= 20 + 0 <= ~r_25 <= + inf + 0 <= ~r_26 <= + inf + 0 <= ~r_27 <= + inf + 0 <= ~r_28 <= + inf + 0 <= ~r_29 <= + inf + 0 <= ~r_30 <= + inf + 0 <= ~r_31 <= + inf + 0 <= ~r_32 <= + inf + 0 <= x1 <= 10 + 0 <= x2 <= 10 + 0 <= x3 <= + inf + 0 <= x4 <= + inf + 0 <= x5 <= + inf + 0 <= x6 <= + inf + 0 <= x7 <= + inf + 0 <= x8 <= + inf + 0 <= x9 <= + inf + 0 <= x10 <= + inf + 0 <= x11 <= + inf + 0 <= x12 <= + inf + 0 <= x13 <= + inf + 0 <= x14 <= + inf + 0 <= x15 <= + inf + 0 <= x16 <= + inf + 0 <= x17 <= + inf + 0 <= x18 <= + inf + 0 <= x19 <= 10 + 0 <= x20 <= 10 + 0 <= x21 <= 20 + 0 <= x22 <= 20 + 0 <= x23 <= + inf + 0 <= x24 <= + inf + 0 <= x25 <= + inf + 0 <= x26 <= + inf + 0 <= x27 <= + inf + 0 <= x28 <= + inf + 0 <= x29 <= 20 + 0 <= x30 <= 20 + 0 <= x31 <= + inf + 0 <= x32 <= + inf + 0 <= x33 <= 10 + 0 <= x34 <= 10 + 0 <= x35 <= + inf + 0 <= x36 <= + inf + 0 <= x37 <= + inf + 0 <= x38 <= + inf + 0 <= x39 <= 20 + 0 <= x40 <= 20 + 0 <= x41 <= + inf + 0 <= x42 <= + inf + 0 <= x43 <= 10 + 0 <= x44 <= 10 + 0 <= x45 <= + inf + 0 <= x46 <= + inf + 0 <= x47 <= 20 + 0 <= x48 <= 20 + 0 <= x49 <= + inf + 0 <= x50 <= + inf + 0 <= x51 <= + inf + 0 <= x52 <= + inf + 0 <= x53 <= + inf + 0 <= x54 <= + inf + 0 <= x55 <= + inf + 0 <= x56 <= + inf + 0 <= x57 <= + inf + 0 <= x58 <= + inf + 0 <= x59 <= 0 + 0 <= x60 <= 0 + 0 <= x61 <= 1 + 0 <= x62 <= 1 + 0 <= x63 <= 0 + 0 <= x64 <= 0 + +Generals + x1 + x2 + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x13 + x14 + x15 + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + x39 + x40 + x41 + x42 + x43 + x44 + x45 + x46 + x47 + x48 + x49 + x50 + x51 + x52 + x53 + x54 + x55 + x56 + x57 + x58 + x59 + x60 + x61 + x62 + x63 + x64 + +End diff --git a/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow.solution b/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow.solution new file mode 100644 index 0000000..691cda8 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/multicommodity-min-cost-flow.solution @@ -0,0 +1,25 @@ +Optimal - objective value 14.00000000 + 2 x3 1 1 + 3 x4 1 1 + 18 x21 1 1 + 19 x22 1 1 + 28 x35 1 1 + 29 x36 1 1 + 34 x41 1 1 + 35 x42 1 1 + 40 x47 1 1 + 41 x48 1 1 + 48 x55 1 1 + 49 x56 1 1 + 54 x61 1 1 + 55 x62 1 1 + 59 ~r_2 2 0 + 70 ~r_11 2 0 + 72 x25 1 0 + 73 x26 1 0 + 74 ~r_13 2 0 + 81 ~r_18 2 0 + 84 ~r_21 2 0 + 87 ~r_24 2 0 + 91 ~r_28 2 0 + 94 ~r_31 2 0 diff --git a/test/data/solution_simulation/sample_mission/test3/0/stats.png b/test/data/solution_simulation/sample_mission/test3/0/stats.png new file mode 100644 index 0000000..59eac3a Binary files /dev/null and b/test/data/solution_simulation/sample_mission/test3/0/stats.png differ diff --git a/test/data/solution_simulation/sample_mission/test3/0/templ-mission-relations.dot b/test/data/solution_simulation/sample_mission/test3/0/templ-mission-relations.dot new file mode 100644 index 0000000..dfb404d --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/templ-mission-relations.dot @@ -0,0 +1,680 @@ +digraph GraphvizGraph { + graph [bb="0,0,4902,490", + concentrate=false, + dpi="96,0", + overlap=false, + pad="0,2", + root="PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 2 + \ +restriction: MIN + @[t0,t1) (v:16)", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 2 + \ +restriction: MIN + @[t0,t1) (v:16)" [height=2.4028, + pos="185.5,403.5", + width=5.1528]; + " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 2 + maxCardinality: 18446744073709551615 + + \ +http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:15)" [height=3.6944, + pos="767.5,133", + width=4.9444]; + "PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 2 + \ +restriction: MIN + @[t0,t1) (v:16)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 2 + maxCardinality: 18446744073709551615 + + \ +http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:15)" [key="inducedBy (e:11)", + label="inducedBy (e:11)", + lp="490,291.5", + pos="e,589.46,215.75 371.25,317.17 437.97,286.16 513.22,251.18 580.09,220.11"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:14)" [height=2.4028, + pos="574.5,403.5", + width=5.1528]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:14)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 2 + maxCardinality: 18446744073709551615 + + \ +http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:15)" [key="inducedBy (e:10)", +label="inducedBy (e:10)", +lp="707,291.5", +pos="e,672.59,266.02 636.36,316.8 646.04,303.23 656.25,288.92 666.54,274.51"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 3 + \ +restriction: MIN + @[t0,t1) (v:13)" [height=2.4028, +pos="960.5,403.5", +width=5.0694]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 3 + \ +restriction: MIN + @[t0,t1) (v:13)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 2 + maxCardinality: 18446744073709551615 + + \ +http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:15)" [key="inducedBy (e:9)", +label="inducedBy (e:9)", +lp="925.5,291.5", +pos="e,862.41,266.02 898.64,316.8 888.96,303.23 878.75,288.92 868.46,274.51"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:12)" [height=2.4028, +pos="1343.5,403.5", +width=5.0694]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:12)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 2 + maxCardinality: 18446744073709551615 + + \ +http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:15)" [key="inducedBy (e:8)", +label="inducedBy (e:8)", +lp="1151.5,291.5", +pos="e,945.87,216.76 1160.9,317.73 1095.2,286.91 1021.2,252.12 955.13,221.11"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 1 + restriction: \ +MIN + @[t2,t3) (v:11)" [height=2.4028, +pos="1757.5,403.5", +width=5.9306]; +" +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t2 + to: t3 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:10)" [height=2.8472, +pos="1980.5,133", +width=5.7222]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 1 + restriction: \ +MIN + @[t2,t3) (v:11)" -> " +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t2 + to: t3 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:10)" [key="inducedBy (e:7)", +label="inducedBy (e:7)", +lp="1900.5,291.5", +pos="e,1895.8,235.74 1829,316.8 1848.2,293.51 1869.2,268.01 1889.3,243.62"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t3) (v:9)" [height=2.4028, +pos="2202.5,403.5", +width=5.9306]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t3) (v:9)" -> " +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t2 + to: t3 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + 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//www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Payload: + 0, 1 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 9.00285786368279717e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [height=3.8611, + pos="3321,139", + width=37.806]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:19) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 8.07152790990816271e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [height=4.2778, + pos="3409,543", + width=43.778]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:19) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 8.07152790990816271e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Payload: + 0, 1 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 9.00285786368279717e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:24)", + label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:24)", + lp="3423.5,333.5", + pos="e,3351.3,278.02 3375.4,388.82 3368.2,355.8 3360.6,320.97 3353.5,288.14"]; +"Tuple: + a: + l1 + b: + t6 + roles (assigned): + Sherpa: + 0, 2 + (v:6) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_\ +2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t6 0 0 2" [height=2.8194, + pos="1173,139", + width=18.111]; +"Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:19) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 8.07152790990816271e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l1 + b: + t6 + roles (assigned): + Sherpa: + 0, 2 + (v:6) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_\ +2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t6 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:25)", +label="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:25)", +lp="2477.5,333.5", +pos="e,1735.2,240.58 2556.5,388.97 2285.1,339.94 1991.6,286.91 1745,242.36"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +2 + roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:18) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.84000000000000000e+03 6 safety 9.67567743484969767e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_\ +2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::\ +archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [height=4.2778, +pos="3409,962", +width=49.736]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +2 + roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:18) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.84000000000000000e+03 6 safety 9.67567743484969767e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_\ +2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::\ +archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 2 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:19) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 8.07152790990816271e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:22)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:22)", +lp="3461.5,752.5", +pos="e,3409,697.26 3409,807.76 3409,775.09 3409,740.49 3409,707.46"]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.70614387763567565e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 \ +0 0 2" [height=3.4444, +pos="908,543", +width=25.194]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +2 + roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:18) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.84000000000000000e+03 6 safety 9.67567743484969767e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_\ +2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::\ +archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.70614387763567565e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 \ +0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:23)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:23)", +lp="2400.5,752.5", +pos="e,1645.4,667.04 2486.8,807.96 2269.4,771.61 2038.5,732.97 1824,697 1769.1,687.8 1712.4,678.28 1655.3,668.7"]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 2 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 3.84000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [height=3.8611, +pos="1349,1366", +width=37.472]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 2 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 3.84000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +2 + roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:18) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.84000000000000000e+03 6 safety 9.67567743484969767e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_\ +2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::\ +archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:20)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:20)", +lp="2319.5,1171.5", +pos="e,2359.3,1116 1861.9,1226.9 1993.4,1193.9 2135,1160.6 2267,1134 2294.1,1128.5 2321.7,1123.2 2349.5,1117.9"]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Sherpa: + 1 + roles (required): + Sherpa: + \ +1 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.07152790990816271e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [height=3.4444, +pos="908,962", +width=19.236]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 2 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 3.84000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + roles (assigned): + Sherpa: + 1 + roles (required): + Sherpa: + \ +1 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.07152790990816271e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: 20 + roles (assigned): + Sherpa: + 1 + (e:21)", +label="capacity: 20 + roles (assigned): + Sherpa: + 1 + (e:21)", +lp="1220.5,1171.5", +pos="e,1043.4,1086.1 1197.2,1227 1149.8,1183.5 1097.7,1135.8 1050.9,1092.9"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.82017365080714710e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [height=3.4444, +pos="1349,1785", +width=19.236]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.82017365080714710e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 2 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 3.84000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:19)", +label="capacity: +inf + (e:19)", +lp="1387,1575.5", +pos="e,1349,1505.1 1349,1661 1349,1615.3 1349,1563 1349,1515.2"]; +"Tuple: + a: + l2 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" [height=2.1944, +pos="519,2219", +width=12.111]; +"Tuple: + a: + l2 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.82017365080714710e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:18)", +label="capacity: +inf + (e:18)", +lp="1071,1994.5", +pos="e,1111.6,1909.1 670.27,2139.9 790.83,2076.9 962.09,1987.3 1102.4,1913.9"]; +"Tuple: + a: + l2 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t0 0 \ +0 2" [height=2.1944, +pos="519,2638", +width=12.111]; +"Tuple: + a: + l2 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t0 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" [key="capacity: +inf + (e:17)", +label="capacity: +inf + (e:17)", +lp="557,2428.5", +pos="e,519,2298.3 519,2558.7 519,2487.4 519,2382.9 519,2308.6"]; +"Tuple: + a: + base + b: + t6 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t6 \ +0 0 2" [height=2.1944, +pos="5660,139", +width=12.292]; +"Tuple: + a: + base + b: + t5 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 \ +0 0 2" [height=2.1944, +pos="5660,543", +width=12.292]; +"Tuple: + a: + base + b: + t5 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 \ +0 0 2" -> "Tuple: + a: + base + b: + t6 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t6 \ +0 0 2" [key="capacity: +inf + (e:16)", +label="capacity: +inf + (e:16)", +lp="5698,333.5", +pos="e,5660,218.15 5660,463.66 5660,395.99 5660,298.74 5660,228.34"]; +"Tuple: + a: + base + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [height=2.1944, +pos="5660,962", +width=12.292]; +"Tuple: + a: + base + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + base + b: + t5 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 \ +0 0 2" [key="capacity: +inf + (e:15)", +label="capacity: +inf + (e:15)", +lp="5698,752.5", +pos="e,5660,622.33 5660,882.7 5660,811.43 5660,706.87 5660,632.61"]; +"Tuple: + a: + base + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [height=2.1944, +pos="5604,1366", +width=12.292]; +"Tuple: + a: + base + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + base + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: +inf + (e:14)", +label="capacity: +inf + (e:14)", +lp="5674,1171.5", +pos="e,5649,1041.2 5615,1286.7 5624.4,1219 5637.9,1121.7 5647.6,1051.3"]; +"Tuple: + a: + base + b: + t2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=2.1944, +pos="5329,1785", +width=12.292]; +"Tuple: + a: + base + b: + t2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + base + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: +inf + (e:13)", +label="capacity: +inf + (e:13)", +lp="5538,1575.5", +pos="e,5551.9,1445.3 5381,1705.7 5428.2,1633.9 5497.6,1528.2 5546.4,1453.8"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:8) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [height=4.2778, +pos="3409,2219", +width=67.653]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:8) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.82017365080714710e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:12)", +label="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:12)", +lp="2616.5,1994.5", +pos="e,1937.9,1909.1 2678,2065 2438.8,2014.6 2176,1959.2 1947.8,1911.1"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:8) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + base + b: + t2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + (e:10)", +label="capacity: +inf + (e:10)", +lp="4696,1994.5", +pos="e,5016.1,1864.1 4136.7,2064.9 4340.9,2020.6 4562.8,1971.4 4767,1924 4844.6,1906 4928,1885.8 5006.1,1866.5"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.92000000000000000e+03 6 safety 9.43392149276056635e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 \ +8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [height=3.8611, +pos="3409,1785", +width=37.472]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:8) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.92000000000000000e+03 6 safety 9.43392149276056635e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 \ +8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 20 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, 1 + (e:11)", +label="capacity: 20 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, 1 + (e:11)", +lp="3461.5,1994.5", +pos="e,3409,1924.3 3409,2064.8 3409,2022.4 3409,1976.5 3409,1934.3"]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:7) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" [height=4.2778, +pos="3409,2638", +width=67.653]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:7) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:8) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:9)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:9)", +lp="3461.5,2428.5", +pos="e,3409,2373.3 3409,2483.8 3409,2451.1 3409,2416.5 3409,2383.5"]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.70614387763567565e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 \ +0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Payload: + 0, 1 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 9.00285786368279717e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: 20 + roles (assigned): + Sherpa: + 1 + (e:8)", +label="capacity: 20 + roles (assigned): + Sherpa: + 1 + (e:8)", +lp="2034.5,333.5", +pos="e,2090.3,278.03 1395.6,419 1578.6,375.59 1789,329.4 1982,296 2014.3,290.42 2047,284.97 2080.1,279.67"]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.70614387763567565e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 \ +0 0 2" -> "Tuple: + a: + l1 + b: + t6 + roles (assigned): + Sherpa: + 0, 2 + (v:6) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_\ +2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t6 0 0 2" [key="capacity: +inf + (e:7)", +label="capacity: +inf + (e:7)", +lp="1103,333.5", +pos="e,1106.4,240.55 989.49,418.77 1025,364.62 1066.3,301.67 1100.7,249.21"]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Sherpa: + 1 + roles (required): + Sherpa: + \ +1 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.07152790990816271e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.70614387763567565e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 \ +0 0 2" [key="capacity: +inf + (e:6)", +label="capacity: +inf + (e:6)", +lp="946,752.5", +pos="e,908,667.06 908,837.99 908,787.42 908,728.84 908,677.27"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.17106035453470669e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [height=3.4444, +pos="3409,1366", +width=19.236]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.17106035453470669e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +2 + roles (required): + Payload: + 0, 1 + Sherpa: + 2 + (v:18) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.84000000000000000e+03 6 safety 9.67567743484969767e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_\ +2 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::\ +archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:5)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:5)", +lp="3461.5,1171.5", +pos="e,3409,1116.2 3409,1241.8 3409,1205.4 3409,1165 3409,1126.5"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.17106035453470669e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + roles (assigned): + Sherpa: + 1 + roles (required): + Sherpa: + \ +1 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.07152790990816271e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:4)", +label="capacity: +inf + (e:4)", +lp="2813,1171.5", +pos="e,1418.1,1086 2945.9,1242 2767.8,1199.7 2561.8,1157.2 2372,1134 2035.3,1092.8 1945.8,1156.6 1609,1116 1550.1,1108.9 1488.9,1099.1 \ +1428.2,1087.9"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.92000000000000000e+03 6 safety 9.43392149276056635e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 \ +8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 2 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 3.84000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: 20 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + (e:3)", +label="capacity: 20 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + (e:3)", +lp="2677.5,1575.5", +pos="e,2032.7,1505.1 2725.6,1646 2506,1601.3 2262.7,1551.8 2042.5,1507"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.92000000000000000e+03 6 safety 9.43392149276056635e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 \ +8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l1 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.17106035453470669e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:2)", +label="capacity: +inf + (e:2)", +lp="3447,1575.5", +pos="e,3409,1490.3 3409,1645.8 3409,1599 3409,1546.9 3409,1500.4"]; +"Tuple: + a: + l1 + b: + t1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t1 0 \ +0 2" [height=2.1944, +pos="6299,2219", +width=12.111]; +"Tuple: + a: + l1 + b: + t1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t1 0 \ +0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.92000000000000000e+03 6 safety 9.43392149276056635e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 \ +8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:1)", +label="capacity: +inf + (e:1)", +lp="5781,1994.5", +pos="e,4758.3,1913.7 6100.2,2139.9 6024,2112.4 5935.5,2083.7 5853,2065 5640.7,2016.8 5210,1962.6 4768.4,1914.8"]; +"Tuple: + a: + l1 + b: + t0 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t0 0 \ +0 2" [height=2.1944, +pos="6299,2638", +width=12.111]; +"Tuple: + a: + l1 + b: + t0 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t0 0 \ +0 2" -> "Tuple: + a: + l1 + b: + t1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t1 0 \ +0 2" [key="capacity: +inf + (e:0)", +label="capacity: +inf + (e:0)", +lp="6337,2428.5", +pos="e,6299,2298.3 6299,2558.7 6299,2487.4 6299,2382.9 6299,2308.6"]; +} diff --git a/test/data/solution_simulation/sample_mission/test3/0/transport-network-solution-0.gexf b/test/data/solution_simulation/sample_mission/test3/0/transport-network-solution-0.gexf new file mode 100644 index 0000000..671de41 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/0/transport-network-solution-0.gexf @@ -0,0 +1,477 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test3/1/20211115-15:16:23+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test3/1/20211115-15:16:23+0100-transport-network.status new file mode 100644 index 0000000..8ad9f82 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/1/20211115-15:16:23+0100-transport-network.status @@ -0,0 +1,54 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 3, 4, 6, 5} +Payload : 2 0 2 0 0 +Sherpa : 3 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 1 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 1 0 0 0 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 1 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 0 1 +AtomicAgent: Payload_0 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Payload_1 (Payload) + l1 base l2 + t0 {} {4} {} + t1 {} {}..{6..8}#(1) {} + t2 {}..{9..11}#(0,1) {}..{9..11}#(0,1) {}..{9..11}#(0,1) + t3 {}..{14}#(0,1) {}..{14}#(0,1) {}..{14}#(0,1) + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {6} {} + t2 {9} {} {} + t3 {14} {} {} + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Sherpa_1 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {8} {} + t2 {} {} {11} + t3 {} {} {14} + t4 {} {} {17} + t5 {} {} {20} + t6 {} {} {} +AtomicAgent: Sherpa_2 (Sherpa) + l1 base l2 + t0 {} {4} {} + t1 {} {8} {} + t2 {} {} {11} + t3 {} {} {12} + t4 {15} {} {} + t5 {18} {} {} + t6 {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test3/1/final_plan.gexf b/test/data/solution_simulation/sample_mission/test3/1/final_plan.gexf new file mode 100644 index 0000000..683972e --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/1/final_plan.gexf @@ -0,0 +1,261 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test3/1/final_solution_network.gexf b/test/data/solution_simulation/sample_mission/test3/1/final_solution_network.gexf new file mode 100644 index 0000000..f14067b --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/1/final_solution_network.gexf @@ -0,0 +1,441 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test3/1/multicommodity-min-cost-flow-final-flow.gexf b/test/data/solution_simulation/sample_mission/test3/1/multicommodity-min-cost-flow-final-flow.gexf new file mode 100644 index 0000000..e111a71 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/1/multicommodity-min-cost-flow-final-flow.gexf @@ -0,0 +1,390 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test3/1/multicommodity-min-cost-flow-init.gexf b/test/data/solution_simulation/sample_mission/test3/1/multicommodity-min-cost-flow-init.gexf new file mode 100644 index 0000000..2186fc1 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/1/multicommodity-min-cost-flow-init.gexf @@ -0,0 +1,390 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test3/1/multicommodity-min-cost-flow.gexf b/test/data/solution_simulation/sample_mission/test3/1/multicommodity-min-cost-flow.gexf new file mode 100644 index 0000000..e111a71 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/1/multicommodity-min-cost-flow.gexf @@ -0,0 +1,390 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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//www.rock-robotics.org/2014/\ +01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t6 0 0 2" [height=3.8611, + pos="3464,139", + width=43.778]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:19) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::\ +archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [height=4.2778, + pos="3464,543", + width=49.736]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:19) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::\ +archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Payload: + 0, 1 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 \ +20 reconfiguration cost 0.00000000000000000e+00 6 safety 7.95534747292715894e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_\ +roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/\ +01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload \ +1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:21)", + label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:21)", + lp="3516.5,333.5", + pos="e,3464,278.02 3464,388.82 3464,355.8 3464,320.97 3464,288.14"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:18) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.92000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::\ +archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [height=4.2778, + pos="3464,962", + width=49.736]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:18) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.92000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::\ +archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:19) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::\ +archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:20)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:20)", +lp="3516.5,752.5", +pos="e,3464,697.26 3464,807.76 3464,775.09 3464,740.49 3464,707.46"]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 1 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.92000000000000000e+03 6 safety 9.97615786831786311e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [height=3.8611, +pos="1349,1366", +width=37.472]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 1 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.92000000000000000e+03 6 safety 9.97615786831786311e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:18) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.92000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::\ +archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:18)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:18)", +lp="2586.5,1171.5", +pos="e,2657.4,1116.1 2076.9,1227 2260.7,1191.8 2459.4,1153.9 2647.3,1118"]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.63044877905335905e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [height=3.4444, +pos="963,962", +width=19.236]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 1 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.92000000000000000e+03 6 safety 9.97615786831786311e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.63044877905335905e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: 20 + roles (assigned): + Sherpa: + 2 + (e:19)", +label="capacity: 20 + roles (assigned): + Sherpa: + 2 + (e:19)", +lp="1243.5,1171.5", +pos="e,1081.5,1086.1 1216.2,1227 1174.8,1183.7 1129.4,1136.2 1088.6,1093.4"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 1 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.88280303559203266e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [height=3.8611, +pos="1349,1755", +width=37.472]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 1 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.88280303559203266e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 1 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.92000000000000000e+03 6 safety 9.97615786831786311e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:17)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:17)", +lp="1401.5,1560.5", +pos="e,1349,1505.2 1349,1615.9 1349,1583.3 1349,1548.4 1349,1515.4"]; +"Tuple: + a: + l2 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" [height=2.1944, +pos="629,2189", +width=12.111]; +"Tuple: + a: + l2 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 1 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.88280303559203266e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:16)", +label="capacity: +inf + (e:16)", +lp="1113,1964.5", +pos="e,1118.2,1894.1 760.22,2109.9 857.57,2051.2 993.02,1969.6 1109.5,1899.4"]; +"Tuple: + a: + l2 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t0 0 \ +0 2" [height=2.1944, +pos="629,2608", +width=12.111]; +"Tuple: + a: + l2 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t0 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" [key="capacity: +inf + (e:15)", +label="capacity: +inf + (e:15)", +lp="667,2398.5", +pos="e,629,2268.3 629,2528.7 629,2457.4 629,2352.9 629,2278.6"]; +"Tuple: + a: + base + b: + t6 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t6 \ +0 0 2" [height=2.1944, +pos="5715,139", +width=12.292]; +"Tuple: + a: + base + b: + t5 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 \ +0 0 2" [height=2.1944, +pos="5715,543", +width=12.292]; +"Tuple: + a: + base + b: + t5 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 \ +0 0 2" -> "Tuple: + a: + base + b: + t6 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t6 \ +0 0 2" [key="capacity: +inf + (e:14)", +label="capacity: +inf + (e:14)", +lp="5753,333.5", +pos="e,5715,218.15 5715,463.66 5715,395.99 5715,298.74 5715,228.34"]; +"Tuple: + a: + base + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [height=2.1944, +pos="5715,962", +width=12.292]; +"Tuple: + a: + base + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + base + b: + t5 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 \ +0 0 2" [key="capacity: +inf + (e:13)", +label="capacity: +inf + (e:13)", +lp="5753,752.5", +pos="e,5715,622.33 5715,882.7 5715,811.43 5715,706.87 5715,632.61"]; +"Tuple: + a: + base + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [height=2.1944, +pos="5166,1366", +width=12.292]; +"Tuple: + a: + base + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + base + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: +inf + (e:12)", +label="capacity: +inf + (e:12)", +lp="5512,1171.5", +pos="e,5607.3,1041.2 5273.5,1286.9 5367.2,1217.9 5502.8,1118.1 5599,1047.4"]; +"Tuple: + a: + base + b: + t2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=2.1944, +pos="4946,1755", +width=12.292]; +"Tuple: + a: + base + b: + t2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + base + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: +inf + (e:11)", +label="capacity: +inf + (e:11)", +lp="5114,1560.5", +pos="e,5121.3,1445.1 4990.8,1675.8 5027.2,1611.4 5078.6,1520.6 5116.3,1453.9"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:8) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [height=4.2778, +pos="3519,2189", +width=67.653]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:8) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, \ +2 + roles (required): + Sherpa: + 1 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.88280303559203266e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 20 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, 2 + (e:10)", +label="capacity: 20 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1, 2 + (e:10)", +lp="2681.5,1964.5", +pos="e,2044.3,1894.1 2749,2035 2522.6,1989.7 2276.3,1940.5 2054.2,1896"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:8) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + base + b: + t2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + (e:8)", +label="capacity: +inf + (e:8)", +lp="4441,1964.5", +pos="e,4686,1834.1 4025.4,2035 4244.8,1968.3 4492.9,1892.8 4676.2,1837.1"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.65838826538039963e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [height=3.4444, +pos="3519,1755", +width=19.236]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:8) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.65838826538039963e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:9)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:9)", +lp="3571.5,1964.5", +pos="e,3519,1879.1 3519,2034.8 3519,1987.2 3519,1935.3 3519,1889.2"]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:7) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" [height=4.2778, +pos="3519,2608", +width=67.653]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:7) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0, 1 + Sherpa: + \ +0, 1, 2 + roles (required): + Payload: + 0, 1 + Sherpa: + 0, 1, 2 + (v:8) +role_info_attributes \ +22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 2.10000000000000000e+03 6 safety 1.00000000000000000e+00 +roles \ +22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 5 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 5 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:7)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:7)", +lp="3571.5,2398.5", +pos="e,3519,2343.3 3519,2453.8 3519,2421.1 3519,2386.5 3519,2353.5"]; +"Tuple: + a: + l1 + b: + t6 + roles (assigned): + Sherpa: + 2 + (v:6) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t6 0 0 2" [height=2.8194, +pos="963,139", +width=12.153]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" [height=3.4444, +pos="963,543", +width=19.236]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l1 + b: + t6 + roles (assigned): + Sherpa: + 2 + (v:6) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:6)", +label="capacity: +inf + (e:6)", +lp="1001,333.5", +pos="e,963,240.55 963,418.77 963,365.18 963,302.97 963,250.84"]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.63044877905335905e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + (e:5)", +label="capacity: +inf + (e:5)", +lp="1001,752.5", +pos="e,963,667.06 963,837.99 963,787.42 963,728.84 963,677.27"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.78800772591106250e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [height=3.4444, +pos="3464,1366", +width=19.236]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.78800772591106250e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 0, \ +1 + roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:18) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.92000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_\ +1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::\ +archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:4)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:4)", +lp="3516.5,1171.5", +pos="e,3464,1116.2 3464,1241.8 3464,1205.4 3464,1165 3464,1126.5"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.78800772591106250e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.63044877905335905e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:3)", +label="capacity: +inf + (e:3)", +lp="3024,1171.5", +pos="e,1471.6,1086.1 3101.8,1242 2960.4,1199.3 2795.8,1156.6 2643,1134 2427.8,1102.2 1880.1,1141.5 1664,1116 1604.7,1109 1542.9,1099.2 \ +1481.8,1088"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.65838826538039963e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l1 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.78800772591106250e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:2)", +label="capacity: +inf + (e:2)", +lp="3535,1560.5", +pos="e,3481.6,1490.3 3501.4,1630.8 3495.6,1589.3 3489,1542.7 3483,1500.4"]; +"Tuple: + a: + l1 + b: + t1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t1 0 \ +0 2" [height=2.1944, +pos="6409,2189", +width=12.111]; +"Tuple: + a: + l1 + b: + t1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t1 0 \ +0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +5.65838826538039963e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:1)", +label="capacity: +inf + (e:1)", +lp="5891,1964.5", +pos="e,4211.6,1857.7 6212.6,2109.9 6135.9,2082 6046.4,2053.1 5963,2035 5322.1,1895.7 5145.3,1971.6 4494,1894 4405.7,1883.5 4313.1,1871.5 \ +4221.6,1859.1"]; +"Tuple: + a: + l1 + b: + t0 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t0 0 \ +0 2" [height=2.1944, +pos="6409,2608", +width=12.111]; +"Tuple: + a: + l1 + b: + t0 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t0 0 \ +0 2" -> "Tuple: + a: + l1 + b: + t1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t1 0 \ +0 2" [key="capacity: +inf + (e:0)", +label="capacity: +inf + (e:0)", +lp="6447,2398.5", +pos="e,6409,2268.3 6409,2528.7 6409,2457.4 6409,2352.9 6409,2278.6"]; +} diff --git a/test/data/solution_simulation/sample_mission/test3/1/transport-network-solution-1.gexf b/test/data/solution_simulation/sample_mission/test3/1/transport-network-solution-1.gexf new file mode 100644 index 0000000..f14067b --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/1/transport-network-solution-1.gexf @@ -0,0 +1,441 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test3/spec/mission.xml b/test/data/solution_simulation/sample_mission/test3/spec/mission.xml new file mode 100644 index 0000000..a5cbfbb --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test3/spec/mission.xml @@ -0,0 +1,139 @@ + + + Example Mission 2 + + http://www.rock-robotics.org/2015/12/projects/TransTerrA + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 2 + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 3 + + + + + + l2 + 0 + 1000 + 0 + + + l1 + 1000 + 0 + 0 + + + base + 0 + 0 + 0 + + + + + + + base + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 2 + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 3 + + + + + + + l1 + + + + t2 + t3 + + + + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + 1 + + + + + + + l2 + + + + t4 + t6 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 2 + + + + + + + l2 + + + + t2 + t5 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + l1 + + + + t4 + t5 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test4/0/20211116-12:12:27+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test4/0/20211116-12:12:27+0100-transport-network.status new file mode 100644 index 0000000..6792f77 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/0/20211116-12:12:27+0100-transport-network.status @@ -0,0 +1,45 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 4, 6, 3, 5} +Payload : 0 1 1 0 2 0 0 +Sherpa : 3 0 0 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 0 1 0 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 0 0 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 0 0 0 0 1 0 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 1 0 0 1 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 0 0 0 0 +AtomicAgent: Payload_0 (Payload) + l2 base l1 l0 + t0 {} {} {6} {} + t1 {} {} {}..{8..11}#(1) {} + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) + t4 {20} {} {} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Payload_1 (Payload) + l2 base l1 l0 + t0 {} {} {} {7} + t1 {} {} {} {}..{8..11}#(1) + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) + t4 {20} {} {} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l2 base l1 l0 + t0 {} {5} {} {} + t1 {} {11} {} {} + t2 {} {} {} {15} + t3 {} {} {} {19} + t4 {} {} {} {21} + t5 {} {27} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_1 (Sherpa) + l2 base l1 l0 + t0 {} {5} {} {} + t1 {} {8} {} {} + t2 {12} {} {} {} + t3 {16} {} {} {} + t4 {21} {} {} {} + t5 {} {25} {} {} + t6 {} {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test4/0/20211116-12:12:41+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test4/0/20211116-12:12:41+0100-transport-network.status new file mode 100644 index 0000000..b215647 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/0/20211116-12:12:41+0100-transport-network.status @@ -0,0 +1,45 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 4, 6, 3, 5} +Payload : 0 1 1 0 2 0 0 +Sherpa : 3 0 0 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 0 1 0 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 0 0 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 0 0 0 0 1 0 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 1 0 0 1 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 0 0 0 0 +AtomicAgent: Payload_0 (Payload) + l2 base l1 l0 + t0 {} {} {6} {} + t1 {} {} {}..{8..11}#(1) {} + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) + t4 {20} {} {} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Payload_1 (Payload) + l2 base l1 l0 + t0 {} {} {} {7} + t1 {} {} {} {}..{8..11}#(1) + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) + t4 {20} {} {} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l2 base l1 l0 + t0 {} {5} {} {} + t1 {} {11} {} {} + t2 {} {} {} {15} + t3 {} {} {} {19} + t4 {} {} {} {21} + t5 {} {25} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_1 (Sherpa) + l2 base l1 l0 + t0 {} {5} {} {} + t1 {} {8} {} {} + t2 {12} {} {} {} + t3 {16} {} {} {} + t4 {21} {} {} {} + t5 {} {25} {} {} + t6 {} {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test4/0/final_plan.gexf b/test/data/solution_simulation/sample_mission/test4/0/final_plan.gexf new file mode 100644 index 0000000..b2f783c --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/0/final_plan.gexf @@ -0,0 +1,299 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test4/0/final_solution_network.gexf b/test/data/solution_simulation/sample_mission/test4/0/final_solution_network.gexf new file mode 100644 index 0000000..cc4e120 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/0/final_solution_network.gexf @@ -0,0 +1,565 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/test/data/solution_simulation/sample_mission/test4/0/multicommodity-min-cost-flow-final-flow.gexf new file mode 100644 index 0000000..9a0fdc8 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/0/multicommodity-min-cost-flow-final-flow.gexf @@ -0,0 +1,495 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test4/0/multicommodity-min-cost-flow.problem b/test/data/solution_simulation/sample_mission/test4/0/multicommodity-min-cost-flow.problem new file mode 100644 index 0000000..ff64885 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/0/multicommodity-min-cost-flow.problem @@ -0,0 +1,302 @@ +\* Problem: multicommodity_min_cost_flow-20211116-12:12:41:525307+0100 *\ +Minimize + obj: + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x15 + + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x27 + x28 + x29 + + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + x39 + x40 + x43 + + x44 + x45 + x46 + x47 + x48 + x49 + x50 + x51 + x52 + x53 + x54 + x55 + + x56 + x57 + x58 + x59 + x60 + x61 + x62 + x63 + x64 + x65 + x66 + x67 + + x68 + x69 + x70 + x71 + x72 + +Subject To + y1: + x1 + x2 - ~r_1 = 0 + y2: + x3 + x4 - ~r_2 = 0 + y3: + x5 + x6 - ~r_3 = 0 + y4: + x7 + x8 - ~r_4 = 0 + y5: + x9 + x10 - ~r_5 = 0 + y6: + x11 + x12 - ~r_6 = 0 + y7: + x13 + x14 - ~r_7 = 0 + y8: + x15 + x16 - ~r_8 = 0 + y9: + x17 + x18 - ~r_9 = 0 + y10: + x19 + x20 - ~r_10 = 0 + y11: + x21 + x22 - ~r_11 = 0 + y12: + x23 + x24 - ~r_12 = 0 + y13: + x25 + x26 - ~r_13 = 0 + y14: + x27 + x28 - ~r_14 = 0 + y15: + x29 + x30 - ~r_15 = 0 + y16: + x31 + x32 - ~r_16 = 0 + y17: + x33 + x34 - ~r_17 = 0 + y18: + x35 + x36 - ~r_18 = 0 + y19: + x37 + x38 - ~r_19 = 0 + y20: + x39 + x40 - ~r_20 = 0 + y21: + x41 + x42 - ~r_21 = 0 + y22: + x43 + x44 - ~r_22 = 0 + y23: + x45 + x46 - ~r_23 = 0 + y24: + x47 + x48 - ~r_24 = 0 + y25: + x49 + x50 - ~r_25 = 0 + y26: + x51 + x52 - ~r_26 = 0 + y27: + x53 + x54 - ~r_27 = 0 + y28: + x55 + x56 - ~r_28 = 0 + y29: + x57 + x58 - ~r_29 = 0 + y30: + x59 + x60 - ~r_30 = 0 + y31: + x61 + x62 - ~r_31 = 0 + y32: + x63 + x64 - ~r_32 = 0 + y33: + x65 + x66 - ~r_33 = 0 + y34: + x67 + x68 - ~r_34 = 0 + y35: + x69 + x70 - ~r_35 = 0 + y36: + x71 + x72 - ~r_36 = 0 + y37: -1 x3 + x1 = 0 + y38: -1 x4 + x2 = 0 + y39: -1 x7 + x3 = 0 + y40: -1 x8 + x4 = 0 + y41: -1 x9 + x5 + x7 = 0 + y42: -1 x10 + x6 + x8 = 0 + y43: -1 x31 + x9 = 0 + y44: -1 x32 + x10 = 0 + y45: -1 x63 + x11 = 0 + y46: -1 x64 + x12 = 0 + y47: + x64 >= 1 + y48: -1 x15 + x13 = 0 + y49: -1 x16 + x14 = 0 + y50: -1 x17 + x15 = 0 + y51: -1 x18 + x16 = 0 + y52: -1 x19 + x17 = 0 + y53: -1 x20 + x18 = 0 + y54: -1 x21 + x19 = 0 + y55: -1 x22 + x20 = 0 + y56: -1 x23 + x21 = 0 + y57: -1 x24 + x22 = 0 + y58: -1 x61 + x23 = 0 + y59: + x61 >= 1 + y60: -1 x62 + x24 = 0 + y61: -1 x43 + x25 = 0 + y62: -1 x44 + x26 = 0 + y63: -1 x29 + x27 = 0 + y64: -1 x30 + x28 = 0 + y65: -1 x33 + x29 = 0 + y66: -1 x34 + x30 = 0 + y67: -1 x11 -1 x37 + x31 = 0 + y68: -1 x12 -1 x38 + x32 = 0 + y69: -1 x39 + x33 = 0 + y70: -1 x40 + x34 = 0 + y71: -1 x59 + x35 + x37 + x39 = 0 + y72: -1 x60 + x36 + x38 + x40 = 0 + y73: -1 x1 -1 x13 -1 x25 -1 x41 = -1 + y74: -1 x2 -1 x14 -1 x26 -1 x42 = -1 + y75: -1 x45 + x41 = 0 + y76: + x45 >= 1 + y77: -1 x46 + x42 = 0 + y78: + x46 >= 1 + y79: -1 x5 -1 x27 -1 x47 + x43 = 0 + y80: -1 x6 -1 x28 -1 x48 + x44 = 0 + y81: -1 x49 + x45 = 0 + y82: + x49 >= 1 + y83: -1 x50 + x46 = 0 + y84: + x50 >= 1 + y85: -1 x51 + x47 + x49 = 0 + y86: + x51 >= 1 + y87: -1 x52 + x48 + x50 = 0 + y88: + x52 >= 1 + y89: -1 x53 + x51 = 0 + y90: -1 x54 + x52 = 0 + y91: -1 x35 -1 x55 + x53 = 0 + y92: -1 x36 -1 x56 + x54 = 0 + y93: -1 x57 + x55 = 0 + y94: -1 x58 + x56 = 0 + y95: -1 x65 + x57 = 0 + y96: -1 x66 + x58 = 0 + y97: -1 x67 + x59 = 0 + y98: -1 x68 + x60 = 0 + y99: -1 x69 + x61 = 0 + y100: + x69 >= 1 + y101: -1 x70 + x62 = 0 + y102: -1 x71 + x63 = 0 + y103: -1 x72 + x64 = 0 + y104: + x72 >= 1 + y105: + x65 + x67 + x69 + x71 = 1 + y106: + x66 + x68 + x70 + x72 = 1 + +Bounds + 0 <= ~r_1 <= + inf + 0 <= ~r_2 <= + inf + 0 <= ~r_3 <= 10 + 0 <= ~r_4 <= + inf + 0 <= ~r_5 <= + inf + 0 <= ~r_6 <= + inf + 0 <= ~r_7 <= + inf + 0 <= ~r_8 <= + inf + 0 <= ~r_9 <= + inf + 0 <= ~r_10 <= + inf + 0 <= ~r_11 <= + inf + 0 <= ~r_12 <= + inf + 0 <= ~r_13 <= + inf + 0 <= ~r_14 <= + inf + 0 <= ~r_15 <= + inf + 0 <= ~r_16 <= + inf + 0 <= ~r_17 <= + inf + 0 <= ~r_18 <= 10 + 0 <= ~r_19 <= 10 + 0 <= ~r_20 <= + inf + 0 <= ~r_21 <= + inf + 0 <= ~r_22 <= + inf + 0 <= ~r_23 <= + inf + 0 <= ~r_24 <= 10 + 0 <= ~r_25 <= + inf + 0 <= ~r_26 <= + inf + 0 <= ~r_27 <= + inf + 0 <= ~r_28 <= + inf + 0 <= ~r_29 <= + inf + 0 <= ~r_30 <= + inf + 0 <= ~r_31 <= + inf + 0 <= ~r_32 <= + inf + 0 <= ~r_33 <= + inf + 0 <= ~r_34 <= + inf + 0 <= ~r_35 <= + inf + 0 <= ~r_36 <= + inf + 0 <= x1 <= + inf + 0 <= x2 <= + inf + 0 <= x3 <= + inf + 0 <= x4 <= + inf + 0 <= x5 <= 10 + 0 <= x6 <= 10 + 0 <= x7 <= + inf + 0 <= x8 <= + inf + 0 <= x9 <= + inf + 0 <= x10 <= + inf + 0 <= x11 <= + inf + 0 <= x12 <= + inf + 0 <= x13 <= + inf + 0 <= x14 <= + inf + 0 <= x15 <= + inf + 0 <= x16 <= + inf + 0 <= x17 <= + inf + 0 <= x18 <= + inf + 0 <= x19 <= + inf + 0 <= x20 <= + inf + 0 <= x21 <= + inf + 0 <= x22 <= + inf + 0 <= x23 <= + inf + 0 <= x24 <= + inf + 0 <= x25 <= + inf + 0 <= x26 <= + inf + 0 <= x27 <= + inf + 0 <= x28 <= + inf + 0 <= x29 <= + inf + 0 <= x30 <= + inf + 0 <= x31 <= + inf + 0 <= x32 <= + inf + 0 <= x33 <= + inf + 0 <= x34 <= + inf + 0 <= x35 <= 10 + 0 <= x36 <= 10 + 0 <= x37 <= 10 + 0 <= x38 <= 10 + 0 <= x39 <= + inf + 0 <= x40 <= + inf + 0 <= x41 <= + inf + 0 <= x42 <= + inf + 0 <= x43 <= + inf + 0 <= x44 <= + inf + 0 <= x45 <= + inf + 0 <= x46 <= + inf + 0 <= x47 <= 10 + 0 <= x48 <= 10 + 0 <= x49 <= + inf + 0 <= x50 <= + inf + 0 <= x51 <= + inf + 0 <= x52 <= + inf + 0 <= x53 <= + inf + 0 <= x54 <= + inf + 0 <= x55 <= + inf + 0 <= x56 <= + inf + 0 <= x57 <= + inf + 0 <= x58 <= + inf + 0 <= x59 <= + inf + 0 <= x60 <= + inf + 0 <= x61 <= + inf + 0 <= x62 <= + inf + 0 <= x63 <= + inf + 0 <= x64 <= + inf + 0 <= x65 <= 0 + 0 <= x66 <= 0 + 0 <= x67 <= 0 + 0 <= x68 <= 0 + 0 <= x69 <= 1 + 0 <= x70 <= 0 + 0 <= x71 <= 0 + 0 <= x72 <= 1 + +Generals + x1 + x2 + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x13 + x14 + x15 + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + x39 + x40 + x41 + x42 + x43 + x44 + x45 + x46 + x47 + x48 + x49 + x50 + x51 + x52 + x53 + x54 + x55 + x56 + x57 + x58 + x59 + x60 + x61 + x62 + x63 + x64 + x65 + x66 + x67 + x68 + x69 + x70 + x71 + x72 + +End diff --git a/test/data/solution_simulation/sample_mission/test4/0/multicommodity-min-cost-flow.solution b/test/data/solution_simulation/sample_mission/test4/0/multicommodity-min-cost-flow.solution new file mode 100644 index 0000000..a0b4f54 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/0/multicommodity-min-cost-flow.solution @@ -0,0 +1,50 @@ +Infeasible - objective value 26.00000000 + 3 x6 1 0 + 7 x10 1 0 + 9 x12 1 0 + 10 x15 1 0 + 12 x17 1 0 + 14 x19 1 0 + 16 x21 1 0 + 18 x23 1 0 + 25 x32 1 0 + 35 x44 1 0 + 36 x45 1 0 + 37 x46 1 0 + 40 x49 1 0 + 41 x50 1 0 + 42 x51 1 0 + 43 x52 1 0 + 44 x53 1 0 + 45 x54 1 0 + 46 x55 1 0 + 47 x56 1 0 + 48 x57 1 0 + 49 x58 1 0 + 52 x61 1 0 + 55 x64 1 0 + 60 x69 1 0 + 63 x72 1 0 + 68 ~r_3 1 0 + 70 ~r_5 1 0 + 71 ~r_6 1 0 + 75 ~r_8 1 0 + 76 ~r_9 1 0 + 77 ~r_10 1 0 + 78 ~r_11 1 0 + 79 ~r_12 1 0 + 85 ~r_16 1 0 + 90 x41 1 0 + 91 x42 1 0 + 92 ~r_21 2 0 + 93 ~r_22 1 0 + 94 ~r_23 2 0 + 96 ~r_25 2 0 + 97 ~r_26 2 0 + 98 ~r_27 2 0 + 99 ~r_28 2 0 + 100 ~r_29 2 0 + 102 ~r_31 1 0 + 103 ~r_32 1 0 + 106 ~r_35 1 0 + 107 ~r_36 1 0 diff --git a/test/data/solution_simulation/sample_mission/test4/0/templ-mission-relations.dot b/test/data/solution_simulation/sample_mission/test4/0/templ-mission-relations.dot new file mode 100644 index 0000000..f61409e --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/0/templ-mission-relations.dot @@ -0,0 +1,779 @@ +digraph GraphvizGraph { + graph [bb="0,0,5680,429", + concentrate=false, + dpi="96,0", + overlap=false, + pad="0,2", + root="PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 3 + \ +restriction: MIN + @[t0,t1) (v:20)", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 3 + \ +restriction: MIN + @[t0,t1) (v:20)" [height=2.4028, + pos="182.5,342.5", + width=5.0694]; + " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:19)" [height=2.8472, + pos="374.5,102.5", + width=4.8611]; + "PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 3 + \ +restriction: MIN + @[t0,t1) (v:20)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:19)" [key="inducedBy (e:13)", + label="inducedBy (e:13)", + lp="321,230.5", + pos="e,292.2,205.37 251.82,255.85 262.87,242.03 274.44,227.57 285.87,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:18)" [height=2.4028, + pos="565.5,342.5", + width=5.0694]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:18)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:19)" [key="inducedBy (e:12)", +label="inducedBy (e:12)", +lp="529,230.5", +pos="e,456.37,205.37 496.54,255.85 485.55,242.03 474.04,227.57 462.67,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:17)" [height=2.4028, +pos="951.5,342.5", +width=5.1528]; +" +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:16)" [height=2.8472, +pos="1145.5,102.5", +width=4.9444]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:17)" -> " +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:16)" [key="inducedBy (e:11)", +label="inducedBy (e:11)", +lp="1091,230.5", +pos="e,1062.3,205.37 1021.5,255.85 1032.7,242.03 1044.4,227.57 1055.9,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:15)" [height=2.4028, +pos="1340.5,342.5", +width=5.1528]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:15)" -> " +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:16)" [key="inducedBy (e:10)", +label="inducedBy (e:10)", +lp="1303,230.5", +pos="e,1229.1,205.37 1270.1,255.85 1258.9,242.03 1247.1,227.57 1235.5,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:14)" [height=2.4028, +pos="1729.5,342.5", +width=5.1528]; +" +SpatioTemporalRequirement (id:2) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:13)" [height=2.8472, +pos="1924.5,102.5", +width=4.9444]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:14)" -> " +SpatioTemporalRequirement (id:2) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:13)" [key="inducedBy (e:9)", +label="inducedBy (e:9)", +lp="1865.5,230.5", +pos="e,1840.9,205.37 1799.9,255.85 1811.1,242.03 1822.9,227.57 1834.5,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:12)" [height=2.4028, +pos="2118.5,342.5", +width=5.1528]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:12)" -> " +SpatioTemporalRequirement (id:2) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:13)" [key="inducedBy (e:8)", +label="inducedBy (e:8)", +lp="2077.5,230.5", +pos="e,2007.7,205.37 2048.5,255.85 2037.3,242.03 2025.6,227.57 2014.1,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 1 + restriction: \ +MIN + @[t2,t4) (v:11)" [height=2.4028, +pos="2526.5,342.5", +width=5.6806]; +" +SpatioTemporalRequirement (id:3) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t2 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:10)" [height=2.8472, +pos="2739.5,102.5", +width=5.4722]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 1 + restriction: \ +MIN + @[t2,t4) (v:11)" -> " +SpatioTemporalRequirement (id:3) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t2 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:10)" [key="inducedBy (e:7)", +label="inducedBy (e:7)", +lp="2671.5,230.5", +pos="e,2648.2,205.37 2603.4,255.85 2615.8,241.91 2628.7,227.3 2641.5,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t4) (v:9)" [height=2.4028, +pos="2953.5,342.5", +width=5.6806]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t4) (v:9)" -> " +SpatioTemporalRequirement (id:3) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t2 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:10)" [key="inducedBy (e:6)", +label="inducedBy (e:6)", +lp="2903.5,230.5", +pos="e,2831.2,205.37 2876.2,255.85 2863.8,241.91 2850.8,227.3 2837.9,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 2 + restriction: \ +MIN + @[t4,t6) (v:8)" [height=2.4028, +pos="3361.5,342.5", +width=5.1528]; +" +SpatioTemporalRequirement (id:4) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t4 + to: t6 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 2 + maxCardinality: 18446744073709551615 + + (\ +v:7)" [height=2.8472, +pos="3556.5,102.5", +width=4.9444]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 2 + restriction: \ +MIN + @[t4,t6) (v:8)" -> " +SpatioTemporalRequirement (id:4) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t4 + to: t6 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 2 + maxCardinality: 18446744073709551615 + + (\ +v:7)" [key="inducedBy (e:5)", +label="inducedBy (e:5)", +lp="3497.5,230.5", +pos="e,3472.9,205.37 3431.9,255.85 3443.1,242.03 3454.9,227.57 3466.5,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t4,t6) (v:6)" [height=2.4028, +pos="3750.5,342.5", +width=5.1528]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t4,t6) (v:6)" -> " +SpatioTemporalRequirement (id:4) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t4 + to: t6 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 2 + maxCardinality: 18446744073709551615 + + (\ +v:7)" [key="inducedBy (e:4)", +label="inducedBy (e:4)", +lp="3709.5,230.5", +pos="e,3639.7,205.37 3680.5,255.85 3669.3,242.03 3657.6,227.57 3646.1,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 1 + restriction: \ +MIN + @[t3,t4) (v:5)" [height=2.4028, +pos="4158.5,342.5", +width=5.6806]; +" +SpatioTemporalRequirement (id:5) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t3 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:4)" [height=2.8472, +pos="4371.5,102.5", +width=5.4722]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 1 + restriction: \ +MIN + @[t3,t4) (v:5)" -> " +SpatioTemporalRequirement (id:5) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t3 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:4)" [key="inducedBy (e:3)", +label="inducedBy (e:3)", +lp="4303.5,230.5", +pos="e,4280.2,205.37 4235.4,255.85 4247.8,241.91 4260.7,227.3 4273.5,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t3,t4) (v:3)" [height=2.4028, +pos="4585.5,342.5", +width=5.6806]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t3,t4) (v:3)" -> " +SpatioTemporalRequirement (id:5) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t3 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:4)" [key="inducedBy (e:2)", +label="inducedBy (e:2)", +lp="4535.5,230.5", +pos="e,4463.2,205.37 4508.2,255.85 4495.8,241.91 4482.8,227.3 4469.9,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 1 + \ +restriction: MIN + @[t5,t6) (v:2)" [height=2.4028, +pos="5021.5,342.5", +width=5.9306]; +" +SpatioTemporalRequirement (id:6) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t5 + to: t6 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: \ +18446744073709551615 + + (v:1)" [height=2.8472, +pos="5244.5,102.5", +width=5.7222]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 1 + \ +restriction: MIN + @[t5,t6) (v:2)" -> " +SpatioTemporalRequirement (id:6) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t5 + to: t6 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: \ +18446744073709551615 + + (v:1)" [key="inducedBy (e:1)", +label="inducedBy (e:1)", +lp="5170.5,230.5", +pos="e,5148.9,205.37 5102,255.85 5115,241.91 5128.5,227.3 5141.9,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t5,t6) (v:0)" [height=2.4028, +pos="5466.5,342.5", +width=5.9306]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t5,t6) (v:0)" -> " +SpatioTemporalRequirement (id:6) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t5 + to: t6 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: \ +18446744073709551615 + + (v:1)" [key="inducedBy (e:0)", +label="inducedBy (e:0)", +lp="5413.5,230.5", +pos="e,5339.7,205.37 5386.4,255.85 5373.4,241.91 5359.9,227.3 5346.6,212.89"]; +} diff --git a/test/data/solution_simulation/sample_mission/test4/0/transhipment-flow-network.gexf b/test/data/solution_simulation/sample_mission/test4/0/transhipment-flow-network.gexf new file mode 100644 index 0000000..cc659c2 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/0/transhipment-flow-network.gexf @@ -0,0 +1,565 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/test/data/solution_simulation/sample_mission/test4/0/transport-network-solution-0.dot new file mode 100644 index 0000000..b9425cd --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/0/transport-network-solution-0.dot @@ -0,0 +1,2008 @@ +digraph GraphvizGraph { + graph [bb="0,0,7225,2612", + concentrate=false, + dpi="96,0", + overlap=false, + pad="0,2", + root="Tuple: + a: + l0 + b: + t6 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 \ +0 2", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "Tuple: + a: + l0 + b: + t6 + (v:27) +role_info_attributes 22 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serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l0 + b: + t5 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:25)", +label="capacity: +inf + (e:25)", +lp="977.5,737.5", +pos="e,886.87,607.25 950.47,822.89 930.56,755.37 907.22,676.24 889.74,616.96"]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 1 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.30970907630951361e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [height=3.8611, +pos="2445.5,528", +width=31.333]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 1 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.30970907630951361e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + (e:26)", +label="capacity: 10 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + (e:26)", +lp="1944,737.5", +pos="e,1979.7,667.02 1457.3,822.96 1621.1,774.07 1805.3,719.08 1969.9,669.95"]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.50694857343987620e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [height=3.8611, +pos="991.5,1366", +width=25.361]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.50694857343987620e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:24)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:24)", +lp="1044,1171.5", +pos="e,991.5,1101.3 991.5,1227 991.5,1189.7 991.5,1149.2 991.5,1111.4"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + (\ +v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 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Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.50694857343987620e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:23)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:23)", +lp="1044,1560.5", +pos="e,991.5,1505.3 991.5,1638.3 991.5,1599.6 991.5,1556.1 991.5,1515.3"]; +"Tuple: + a: + l0 + b: + t1 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t1 0 0 2" [height=3.4444, +pos="704.5,2129", +width=19.569]; +"Tuple: + a: + l0 + b: + t1 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + (\ +v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 \ +8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:22)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:22)", +lp="918,1949.5", +pos="e,901.93,1871.7 799.67,2005 830.57,1964.7 864.85,1920 895.79,1879.7"]; +"Tuple: + a: + l0 + b: + t0 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t0 0 0 2" [height=3.4444, +pos="704.5,2488", +width=19.569]; +"Tuple: + a: + l0 + b: + t0 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t0 0 0 2" -> "Tuple: + a: + l0 + b: + t1 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:21)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:21)", +lp="757,2308.5", +pos="e,704.5,2253.1 704.5,2363.9 704.5,2331.4 704.5,2296.2 704.5,2263.2"]; +"Tuple: + a: + l1 + b: + t6 + roles (assigned): + Payload: + 0 + (v:20) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t6 0 0 2" [height=2.8194, +pos="6520.5,139", +width=12.319]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + (v:19) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" [height=2.8194, +pos="6520.5,528", +width=12.319]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + (v:19) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l1 + b: + t6 + roles (assigned): + Payload: + 0 + (v:20) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:20)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:20)", +lp="6573,333.5", +pos="e,6520.5,240.78 6520.5,426.3 6520.5,372.47 6520.5,306.26 6520.5,250.97"]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:18) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t4 0 0 2" [height=2.8194, +pos="6520.5,962", +width=12.319]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:18) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + (v:19) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:19)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:19)", +lp="6573,737.5", +pos="e,6520.5,629.87 6520.5,860.25 6520.5,794.23 6520.5,708.18 6520.5,640.19"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:17) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" [height=2.8194, +pos="6520.5,1366", +width=12.319]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:17) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:18) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:18)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:18)", +lp="6573,1171.5", +pos="e,6520.5,1063.7 6520.5,1264.3 6520.5,1206.3 6520.5,1133.5 6520.5,1073.9"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:16) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="6520.5,1755", +width=12.319]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:16) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:17) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:17)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:17)", +lp="6573,1560.5", +pos="e,6520.5,1467.8 6520.5,1653.3 6520.5,1599.5 6520.5,1533.3 6520.5,1478"]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t1 0 0 2" [height=3.4444, +pos="6520.5,2129", +width=19.569]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:16) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:16)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:16)", +lp="6573,1949.5", +pos="e,6520.5,1856.6 6520.5,2005 6520.5,1960.3 6520.5,1910.2 6520.5,1866.6"]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t0 0 0 2" [height=3.4444, +pos="6520.5,2488", +width=19.569]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t0 0 0 2" -> "Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:15)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:15)", +lp="6573,2308.5", +pos="e,6520.5,2253.1 6520.5,2363.9 6520.5,2331.4 6520.5,2296.2 6520.5,2263.2"]; +"Tuple: + a: + base + b: + t6 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 1 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.88163596324128646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [height=3.8611, +pos="2445.5,139", +width=31.333]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 1 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.30970907630951361e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + base + b: + t6 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 1 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.88163596324128646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:14)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:14)", +lp="2498,333.5", +pos="e,2445.5,278.21 2445.5,388.94 2445.5,356.32 2445.5,321.44 2445.5,288.4"]; +"Tuple: + a: + base + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [height=2.1944, +pos="2445.5,962", +width=12.292]; +"Tuple: + a: + base + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 1 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.30970907630951361e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + (e:13)", +label="capacity: +inf + (e:13)", +lp="2483.5,737.5", +pos="e,2445.5,667.14 2445.5,882.9 2445.5,825.58 2445.5,746.33 2445.5,677.25"]; +"Tuple: + a: + base + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [height=2.1944, +pos="2464.5,1366", +width=12.292]; +"Tuple: + a: + base + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + base + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: +inf + (e:12)", +label="capacity: +inf + (e:12)", +lp="2495.5,1171.5", +pos="e,2449.2,1041.2 2460.8,1286.7 2457.6,1219 2453,1121.7 2449.7,1051.3"]; +"Tuple: + a: + base + b: + t2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=2.1944, +pos="2482.5,1755", +width=12.292]; +"Tuple: + a: + base + b: + t2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + base + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: +inf + (e:11)", +label="capacity: +inf + (e:11)", +lp="2513.5,1560.5", +pos="e,2468.2,1445.1 2478.8,1675.8 2475.9,1611.8 2471.7,1521.7 2468.6,1455.1"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="2549.5,2129", +width=31.167]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + (\ +v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 \ +8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:9)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:9)", +lp="2009,1949.5", +pos="e,1477.1,1871.6 2032.9,2005 1857,1962.8 1661,1915.7 1486.9,1873.9"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + base + b: + t2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + (e:8)", +label="capacity: +inf + (e:8)", +lp="2555.5,1949.5", +pos="e,2493,1834.2 2521,2004.8 2519.8,1998.8 2518.6,1992.8 2517.5,1987 2508.7,1940 2500.6,1887.4 2494.4,1844.1"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [height=3.8611, +pos="4420.5,1755", +width=31.5]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:10)", +label="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:10)", +lp="3650,1949.5", +pos="e,3725.1,1894 3169.9,2005 3344.6,1970.1 3535.9,1931.8 3715.2,1896"]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="2549.5,2488", +width=31.167]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:7)", +label="capacity: +inf + (e:7)", +lp="2587.5,2308.5", +pos="e,2549.5,2253.1 2549.5,2363.9 2549.5,2331.4 2549.5,2296.2 2549.5,2263.2"]; +"Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 8.18730753077981932e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [height=3.4444, +pos="4737.5,139", +width=31.833]; +"Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.01936684857009685e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [height=3.4444, +pos="4737.5,528", +width=31.833]; +"Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.01936684857009685e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 8.18730753077981932e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:6)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:6)", +lp="4790,333.5", +pos="e,4737.5,263.31 4737.5,403.85 4737.5,362.27 4737.5,315.73 4737.5,273.4"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [height=4.2778, +pos="4482.5,962", +width=43.778]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 1 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.30970907630951361e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:5)", +label="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:5)", +lp="3699,737.5", +pos="e,3098.2,667.06 3759.7,808 3547.4,762.77 3316.4,713.55 3108.1,669.17"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.01936684857009685e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:4)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:4)", +lp="4693,737.5", +pos="e,4664.6,652.12 4573.1,807.77 4601.3,759.81 4632.1,707.39 4659.3,661.01"]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.50694857343987620e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [height=3.8611, +pos="4461.5,1366", +width=31.5]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.50694857343987620e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:3)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:3)", +lp="4526,1171.5", +pos="e,4474.5,1116.2 4468.7,1227 4470.4,1194.6 4472.2,1159.8 4474,1126.5"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.50694857343987620e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:2)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:2)", +lp="4498,1560.5", +pos="e,4446.8,1505.2 4435.2,1615.9 4438.6,1583.3 4442.3,1548.4 4445.8,1515.4"]; +"Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0, 1 + (v:1) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t1 0 0 2" [height=2.8194, +pos="4420.5,2129", +width=18.444]; +"Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0, 1 + (v:1) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:1)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:1)", +lp="4473,1949.5", +pos="e,4420.5,1894.2 4420.5,2027.3 4420.5,1989.4 4420.5,1945.6 4420.5,1904.4"]; +"Tuple: + a: + l2 + b: + t0 + roles (assigned): + Payload: + 0, 1 + (v:0) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t0 0 0 2" [height=2.8194, +pos="4420.5,2488", +width=18.444]; +"Tuple: + a: + l2 + b: + t0 + roles (assigned): + Payload: + 0, 1 + (v:0) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t0 0 0 2" -> "Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0, 1 + (v:1) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:0)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:0)", +lp="4473,2308.5", +pos="e,4420.5,2230.5 4420.5,2386.1 4420.5,2340.7 4420.5,2287.1 4420.5,2240.7"]; +} diff --git a/test/data/solution_simulation/sample_mission/test4/0/transport-network-solution-0.gexf b/test/data/solution_simulation/sample_mission/test4/0/transport-network-solution-0.gexf new file mode 100644 index 0000000..cc4e120 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/0/transport-network-solution-0.gexf @@ -0,0 +1,565 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test4/1/20211116-12:13:06+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test4/1/20211116-12:13:06+0100-transport-network.status new file mode 100644 index 0000000..c93eb4b --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/1/20211116-12:13:06+0100-transport-network.status @@ -0,0 +1,45 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 4, 6, 3, 5} +Payload : 0 1 1 0 2 0 0 +Sherpa : 3 0 0 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 0 1 0 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 0 0 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 0 0 0 0 1 1 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 1 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 0 0 0 0 +AtomicAgent: Payload_0 (Payload) + l2 base l1 l0 + t0 {} {} {6} {} + t1 {} {} {}..{8..11}#(1) {} + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) + t4 {20} {} {} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Payload_1 (Payload) + l2 base l1 l0 + t0 {} {} {} {7} + t1 {} {} {} {}..{8..11}#(1) + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) + t4 {20} {} {} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l2 base l1 l0 + t0 {} {5} {} {} + t1 {} {11} {} {} + t2 {} {} {} {15} + t3 {} {} {} {19} + t4 {} {} {} {21} + t5 {} {25} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_1 (Sherpa) + l2 base l1 l0 + t0 {} {5} {} {} + t1 {} {8} {} {} + t2 {12} {} {} {} + t3 {16} {} {} {} + t4 {21} {} {} {} + t5 {} {24} {} {} + t6 {} {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test4/1/20211116-12:13:07+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test4/1/20211116-12:13:07+0100-transport-network.status new file mode 100644 index 0000000..ff13a32 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/1/20211116-12:13:07+0100-transport-network.status @@ -0,0 +1,45 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 4, 6, 3, 5} +Payload : 0 1 1 0 2 0 0 +Sherpa : 3 0 0 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 0 1 0 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 0 0 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 0 0 0 0 1 1 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 1 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 0 0 0 0 +AtomicAgent: Payload_0 (Payload) + l2 base l1 l0 + t0 {} {} {6} {} + t1 {} {} {}..{8..11}#(1) {} + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) + t4 {20} {} {} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Payload_1 (Payload) + l2 base l1 l0 + t0 {} {} {} {7} + t1 {} {} {} {}..{8..11}#(1) + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) + t4 {20} {} {} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l2 base l1 l0 + t0 {} {5} {} {} + t1 {} {11} {} {} + t2 {} {} {} {15} + t3 {} {} {} {19} + t4 {} {} {} {21} + t5 {} {25} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_1 (Sherpa) + l2 base l1 l0 + t0 {} {5} {} {} + t1 {} {8} {} {} + t2 {12} {} {} {} + t3 {16} {} {} {} + t4 {21} {} {} {} + t5 {} {27} {} {} + t6 {} {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test4/1/20211116-12:13:09+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test4/1/20211116-12:13:09+0100-transport-network.status new file mode 100644 index 0000000..c84f60f --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/1/20211116-12:13:09+0100-transport-network.status @@ -0,0 +1,45 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 4, 6, 3, 5} +Payload : 0 1 1 0 2 0 0 +Sherpa : 3 0 0 1 0 1 1 +AtomicAgent: Payload_0 (Payload): 0 1 0 0 1 0 0 +AtomicAgent: Payload_1 (Payload): 0 0 1 0 1 0 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 0 0 0 0 1 1 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 1 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 0 0 0 0 +AtomicAgent: Payload_0 (Payload) + l2 base l1 l0 + t0 {} {} {6} {} + t1 {} {} {}..{8..11}#(1) {} + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) + t4 {20} {} {} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Payload_1 (Payload) + l2 base l1 l0 + t0 {} {} {} {7} + t1 {} {} {} {}..{8..11}#(1) + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) {}..{16}#(0,1) + t4 {20} {} {} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + l2 base l1 l0 + t0 {} {5} {} {} + t1 {} {11} {} {} + t2 {} {} {} {15} + t3 {} {} {} {19} + t4 {} {} {} {21} + t5 {} {25} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_1 (Sherpa) + l2 base l1 l0 + t0 {} {5} {} {} + t1 {} {8} {} {} + t2 {12} {} {} {} + t3 {16} {} {} {} + t4 {21} {} {} {} + t5 {} {25} {} {} + t6 {} {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test4/1/final_plan.gexf b/test/data/solution_simulation/sample_mission/test4/1/final_plan.gexf new file mode 100644 index 0000000..41a8087 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/1/final_plan.gexf @@ -0,0 +1,299 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test4/1/final_solution_network.gexf b/test/data/solution_simulation/sample_mission/test4/1/final_solution_network.gexf new file mode 100644 index 0000000..1607837 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/1/final_solution_network.gexf @@ -0,0 +1,565 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow-final-flow.gexf b/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow-final-flow.gexf new file mode 100644 index 0000000..f11b95e --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow-final-flow.gexf @@ -0,0 +1,495 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow-init.gexf b/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow-init.gexf new file mode 100644 index 0000000..d6ee953 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow-init.gexf @@ -0,0 +1,495 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow.gexf b/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow.gexf new file mode 100644 index 0000000..f11b95e --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow.gexf @@ -0,0 +1,495 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow.problem b/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow.problem new file mode 100644 index 0000000..f52cced --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow.problem @@ -0,0 +1,302 @@ +\* Problem: multicommodity_min_cost_flow-20211116-12:13:09:695611+0100 *\ +Minimize + obj: + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x15 + + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x27 + x28 + x29 + + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + x39 + x40 + x43 + + x44 + x45 + x46 + x47 + x48 + x49 + x50 + x51 + x52 + x53 + x54 + x55 + + x56 + x57 + x58 + x59 + x60 + x61 + x62 + x63 + x64 + x65 + x66 + x67 + + x68 + x69 + x70 + x71 + x72 + +Subject To + y1: + x1 + x2 - ~r_1 = 0 + y2: + x3 + x4 - ~r_2 = 0 + y3: + x5 + x6 - ~r_3 = 0 + y4: + x7 + x8 - ~r_4 = 0 + y5: + x9 + x10 - ~r_5 = 0 + y6: + x11 + x12 - ~r_6 = 0 + y7: + x13 + x14 - ~r_7 = 0 + y8: + x15 + x16 - ~r_8 = 0 + y9: + x17 + x18 - ~r_9 = 0 + y10: + x19 + x20 - ~r_10 = 0 + y11: + x21 + x22 - ~r_11 = 0 + y12: + x23 + x24 - ~r_12 = 0 + y13: + x25 + x26 - ~r_13 = 0 + y14: + x27 + x28 - ~r_14 = 0 + y15: + x29 + x30 - ~r_15 = 0 + y16: + x31 + x32 - ~r_16 = 0 + y17: + x33 + x34 - ~r_17 = 0 + y18: + x35 + x36 - ~r_18 = 0 + y19: + x37 + x38 - ~r_19 = 0 + y20: + x39 + x40 - ~r_20 = 0 + y21: + x41 + x42 - ~r_21 = 0 + y22: + x43 + x44 - ~r_22 = 0 + y23: + x45 + x46 - ~r_23 = 0 + y24: + x47 + x48 - ~r_24 = 0 + y25: + x49 + x50 - ~r_25 = 0 + y26: + x51 + x52 - ~r_26 = 0 + y27: + x53 + x54 - ~r_27 = 0 + y28: + x55 + x56 - ~r_28 = 0 + y29: + x57 + x58 - ~r_29 = 0 + y30: + x59 + x60 - ~r_30 = 0 + y31: + x61 + x62 - ~r_31 = 0 + y32: + x63 + x64 - ~r_32 = 0 + y33: + x65 + x66 - ~r_33 = 0 + y34: + x67 + x68 - ~r_34 = 0 + y35: + x69 + x70 - ~r_35 = 0 + y36: + x71 + x72 - ~r_36 = 0 + y37: -1 x3 + x1 = 0 + y38: -1 x4 + x2 = 0 + y39: -1 x7 + x3 = 0 + y40: -1 x8 + x4 = 0 + y41: -1 x9 + x5 + x7 = 0 + y42: -1 x10 + x6 + x8 = 0 + y43: -1 x31 + x9 = 0 + y44: -1 x32 + x10 = 0 + y45: -1 x63 + x11 = 0 + y46: -1 x64 + x12 = 0 + y47: + x64 >= 1 + y48: -1 x15 + x13 = 0 + y49: -1 x16 + x14 = 0 + y50: -1 x17 + x15 = 0 + y51: -1 x18 + x16 = 0 + y52: -1 x19 + x17 = 0 + y53: -1 x20 + x18 = 0 + y54: -1 x21 + x19 = 0 + y55: -1 x22 + x20 = 0 + y56: -1 x23 + x21 = 0 + y57: -1 x24 + x22 = 0 + y58: -1 x61 + x23 = 0 + y59: + x61 >= 1 + y60: -1 x62 + x24 = 0 + y61: -1 x43 + x25 = 0 + y62: -1 x44 + x26 = 0 + y63: -1 x29 + x27 = 0 + y64: -1 x30 + x28 = 0 + y65: -1 x33 + x29 = 0 + y66: -1 x34 + x30 = 0 + y67: -1 x11 -1 x37 + x31 = 0 + y68: -1 x12 -1 x38 + x32 = 0 + y69: -1 x39 + x33 = 0 + y70: -1 x40 + x34 = 0 + y71: -1 x59 + x35 + x37 + x39 = 0 + y72: -1 x60 + x36 + x38 + x40 = 0 + y73: -1 x1 -1 x13 -1 x25 -1 x41 = -1 + y74: -1 x2 -1 x14 -1 x26 -1 x42 = -1 + y75: -1 x45 + x41 = 0 + y76: + x45 >= 1 + y77: -1 x46 + x42 = 0 + y78: + x46 >= 1 + y79: -1 x5 -1 x27 -1 x47 + x43 = 0 + y80: -1 x6 -1 x28 -1 x48 + x44 = 0 + y81: -1 x49 + x45 = 0 + y82: + x49 >= 1 + y83: -1 x50 + x46 = 0 + y84: + x50 >= 1 + y85: -1 x51 + x47 + x49 = 0 + y86: + x51 >= 1 + y87: -1 x52 + x48 + x50 = 0 + y88: + x52 >= 1 + y89: -1 x53 + x51 = 0 + y90: -1 x54 + x52 = 0 + y91: -1 x35 -1 x55 + x53 = 0 + y92: -1 x36 -1 x56 + x54 = 0 + y93: -1 x57 + x55 = 0 + y94: -1 x58 + x56 = 0 + y95: -1 x65 + x57 = 0 + y96: -1 x66 + x58 = 0 + y97: -1 x67 + x59 = 0 + y98: -1 x68 + x60 = 0 + y99: -1 x69 + x61 = 0 + y100: + x69 >= 1 + y101: -1 x70 + x62 = 0 + y102: -1 x71 + x63 = 0 + y103: -1 x72 + x64 = 0 + y104: + x72 >= 1 + y105: + x65 + x67 + x69 + x71 = 1 + y106: + x66 + x68 + x70 + x72 = 1 + +Bounds + 0 <= ~r_1 <= + inf + 0 <= ~r_2 <= + inf + 0 <= ~r_3 <= 10 + 0 <= ~r_4 <= + inf + 0 <= ~r_5 <= + inf + 0 <= ~r_6 <= + inf + 0 <= ~r_7 <= + inf + 0 <= ~r_8 <= + inf + 0 <= ~r_9 <= + inf + 0 <= ~r_10 <= + inf + 0 <= ~r_11 <= + inf + 0 <= ~r_12 <= + inf + 0 <= ~r_13 <= + inf + 0 <= ~r_14 <= + inf + 0 <= ~r_15 <= + inf + 0 <= ~r_16 <= + inf + 0 <= ~r_17 <= + inf + 0 <= ~r_18 <= 10 + 0 <= ~r_19 <= 10 + 0 <= ~r_20 <= + inf + 0 <= ~r_21 <= + inf + 0 <= ~r_22 <= + inf + 0 <= ~r_23 <= + inf + 0 <= ~r_24 <= 10 + 0 <= ~r_25 <= + inf + 0 <= ~r_26 <= + inf + 0 <= ~r_27 <= + inf + 0 <= ~r_28 <= + inf + 0 <= ~r_29 <= + inf + 0 <= ~r_30 <= + inf + 0 <= ~r_31 <= + inf + 0 <= ~r_32 <= + inf + 0 <= ~r_33 <= + inf + 0 <= ~r_34 <= + inf + 0 <= ~r_35 <= + inf + 0 <= ~r_36 <= + inf + 0 <= x1 <= + inf + 0 <= x2 <= + inf + 0 <= x3 <= + inf + 0 <= x4 <= + inf + 0 <= x5 <= 10 + 0 <= x6 <= 10 + 0 <= x7 <= + inf + 0 <= x8 <= + inf + 0 <= x9 <= + inf + 0 <= x10 <= + inf + 0 <= x11 <= + inf + 0 <= x12 <= + inf + 0 <= x13 <= + inf + 0 <= x14 <= + inf + 0 <= x15 <= + inf + 0 <= x16 <= + inf + 0 <= x17 <= + inf + 0 <= x18 <= + inf + 0 <= x19 <= + inf + 0 <= x20 <= + inf + 0 <= x21 <= + inf + 0 <= x22 <= + inf + 0 <= x23 <= + inf + 0 <= x24 <= + inf + 0 <= x25 <= + inf + 0 <= x26 <= + inf + 0 <= x27 <= + inf + 0 <= x28 <= + inf + 0 <= x29 <= + inf + 0 <= x30 <= + inf + 0 <= x31 <= + inf + 0 <= x32 <= + inf + 0 <= x33 <= + inf + 0 <= x34 <= + inf + 0 <= x35 <= 10 + 0 <= x36 <= 10 + 0 <= x37 <= 10 + 0 <= x38 <= 10 + 0 <= x39 <= + inf + 0 <= x40 <= + inf + 0 <= x41 <= + inf + 0 <= x42 <= + inf + 0 <= x43 <= + inf + 0 <= x44 <= + inf + 0 <= x45 <= + inf + 0 <= x46 <= + inf + 0 <= x47 <= 10 + 0 <= x48 <= 10 + 0 <= x49 <= + inf + 0 <= x50 <= + inf + 0 <= x51 <= + inf + 0 <= x52 <= + inf + 0 <= x53 <= + inf + 0 <= x54 <= + inf + 0 <= x55 <= + inf + 0 <= x56 <= + inf + 0 <= x57 <= + inf + 0 <= x58 <= + inf + 0 <= x59 <= + inf + 0 <= x60 <= + inf + 0 <= x61 <= + inf + 0 <= x62 <= + inf + 0 <= x63 <= + inf + 0 <= x64 <= + inf + 0 <= x65 <= 0 + 0 <= x66 <= 0 + 0 <= x67 <= 0 + 0 <= x68 <= 0 + 0 <= x69 <= 1 + 0 <= x70 <= 0 + 0 <= x71 <= 0 + 0 <= x72 <= 1 + +Generals + x1 + x2 + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x13 + x14 + x15 + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + x39 + x40 + x41 + x42 + x43 + x44 + x45 + x46 + x47 + x48 + x49 + x50 + x51 + x52 + x53 + x54 + x55 + x56 + x57 + x58 + x59 + x60 + x61 + x62 + x63 + x64 + x65 + x66 + x67 + x68 + x69 + x70 + x71 + x72 + +End diff --git a/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow.solution b/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow.solution new file mode 100644 index 0000000..a0b4f54 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/1/multicommodity-min-cost-flow.solution @@ -0,0 +1,50 @@ +Infeasible - objective value 26.00000000 + 3 x6 1 0 + 7 x10 1 0 + 9 x12 1 0 + 10 x15 1 0 + 12 x17 1 0 + 14 x19 1 0 + 16 x21 1 0 + 18 x23 1 0 + 25 x32 1 0 + 35 x44 1 0 + 36 x45 1 0 + 37 x46 1 0 + 40 x49 1 0 + 41 x50 1 0 + 42 x51 1 0 + 43 x52 1 0 + 44 x53 1 0 + 45 x54 1 0 + 46 x55 1 0 + 47 x56 1 0 + 48 x57 1 0 + 49 x58 1 0 + 52 x61 1 0 + 55 x64 1 0 + 60 x69 1 0 + 63 x72 1 0 + 68 ~r_3 1 0 + 70 ~r_5 1 0 + 71 ~r_6 1 0 + 75 ~r_8 1 0 + 76 ~r_9 1 0 + 77 ~r_10 1 0 + 78 ~r_11 1 0 + 79 ~r_12 1 0 + 85 ~r_16 1 0 + 90 x41 1 0 + 91 x42 1 0 + 92 ~r_21 2 0 + 93 ~r_22 1 0 + 94 ~r_23 2 0 + 96 ~r_25 2 0 + 97 ~r_26 2 0 + 98 ~r_27 2 0 + 99 ~r_28 2 0 + 100 ~r_29 2 0 + 102 ~r_31 1 0 + 103 ~r_32 1 0 + 106 ~r_35 1 0 + 107 ~r_36 1 0 diff --git a/test/data/solution_simulation/sample_mission/test4/1/transhipment-flow-network.gexf b/test/data/solution_simulation/sample_mission/test4/1/transhipment-flow-network.gexf new file mode 100644 index 0000000..a0384c3 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/1/transhipment-flow-network.gexf @@ -0,0 +1,565 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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overlap=false, + pad="0,2", + root="Tuple: + a: + l0 + b: + t6 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 \ +0 2", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "Tuple: + a: + l0 + b: + t6 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 \ +0 2" [height=2.1944, + pos="863.5,139", + width=12.111]; + "Tuple: + a: + l0 + b: + t5 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [height=2.1944, + pos="863.5,528", + width=12.111]; + "Tuple: + a: + l0 + b: + t5 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t6 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 \ +0 2" [key="capacity: +inf + (e:27)", + label="capacity: +inf + (e:27)", + lp="901.5,333.5", + pos="e,863.5,218.08 863.5,448.81 863.5,384.79 863.5,294.68 863.5,228.13"]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [height=3.8611, + pos="991.5,962", + width=25.361]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l0 + b: + t5 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:25)", +label="capacity: +inf + (e:25)", +lp="977.5,737.5", +pos="e,886.87,607.25 950.47,822.89 930.56,755.37 907.22,676.24 889.74,616.96"]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 0 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.30970907630951361e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [height=3.8611, +pos="2445.5,528", +width=31.333]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 0 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.30970907630951361e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + (e:26)", +label="capacity: 10 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + (e:26)", +lp="1944,737.5", +pos="e,1979.7,667.02 1457.3,822.96 1621.1,774.07 1805.3,719.08 1969.9,669.95"]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.50694857343987620e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [height=3.8611, +pos="991.5,1366", +width=25.361]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.50694857343987620e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l0 + b: + t4 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:25) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:24)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:24)", +lp="1044,1171.5", +pos="e,991.5,1101.3 991.5,1227 991.5,1189.7 991.5,1149.2 991.5,1111.4"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + (\ +v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 \ +8 LOCATION 0 0 2 t2 0 0 2" [height=3.2361, +pos="991.5,1755", +width=18.278]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + (\ +v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 \ +8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l0 + b: + t3 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.50694857343987620e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:23)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:23)", +lp="1044,1560.5", +pos="e,991.5,1505.3 991.5,1638.3 991.5,1599.6 991.5,1556.1 991.5,1515.3"]; +"Tuple: + a: + l0 + b: + t1 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t1 0 0 2" [height=3.4444, +pos="704.5,2129", +width=19.569]; +"Tuple: + a: + l0 + b: + t1 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + (\ +v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 \ +8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:22)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:22)", +lp="918,1949.5", +pos="e,901.93,1871.7 799.67,2005 830.57,1964.7 864.85,1920 895.79,1879.7"]; +"Tuple: + a: + l0 + b: + t0 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t0 0 0 2" [height=3.4444, +pos="704.5,2488", +width=19.569]; +"Tuple: + a: + l0 + b: + t0 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t0 0 0 2" -> "Tuple: + a: + l0 + b: + t1 + roles (assigned): + Payload: + 1 + roles (required): + Payload: + \ +1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION \ +0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:21)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:21)", +lp="757,2308.5", +pos="e,704.5,2253.1 704.5,2363.9 704.5,2331.4 704.5,2296.2 704.5,2263.2"]; +"Tuple: + a: + l1 + b: + t6 + roles (assigned): + Payload: + 0 + (v:20) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t6 0 0 2" [height=2.8194, +pos="6520.5,139", +width=12.319]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + (v:19) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" [height=2.8194, +pos="6520.5,528", +width=12.319]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + (v:19) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l1 + b: + t6 + roles (assigned): + Payload: + 0 + (v:20) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:20)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:20)", +lp="6573,333.5", +pos="e,6520.5,240.78 6520.5,426.3 6520.5,372.47 6520.5,306.26 6520.5,250.97"]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:18) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t4 0 0 2" [height=2.8194, +pos="6520.5,962", +width=12.319]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:18) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + (v:19) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:19)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:19)", +lp="6573,737.5", +pos="e,6520.5,629.87 6520.5,860.25 6520.5,794.23 6520.5,708.18 6520.5,640.19"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:17) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" [height=2.8194, +pos="6520.5,1366", +width=12.319]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:17) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:18) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:18)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:18)", +lp="6573,1171.5", +pos="e,6520.5,1063.7 6520.5,1264.3 6520.5,1206.3 6520.5,1133.5 6520.5,1073.9"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:16) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="6520.5,1755", +width=12.319]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:16) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:17) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:17)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:17)", +lp="6573,1560.5", +pos="e,6520.5,1467.8 6520.5,1653.3 6520.5,1599.5 6520.5,1533.3 6520.5,1478"]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t1 0 0 2" [height=3.4444, +pos="6520.5,2129", +width=19.569]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:16) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:16)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:16)", +lp="6573,1949.5", +pos="e,6520.5,1856.6 6520.5,2005 6520.5,1960.3 6520.5,1910.2 6520.5,1866.6"]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t0 0 0 2" [height=3.4444, +pos="6520.5,2488", +width=19.569]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t0 0 0 2" -> "Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:15)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:15)", +lp="6573,2308.5", +pos="e,6520.5,2253.1 6520.5,2363.9 6520.5,2331.4 6520.5,2296.2 6520.5,2263.2"]; +"Tuple: + a: + base + b: + t6 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 0 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.88163596324128646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [height=3.8611, +pos="2445.5,139", +width=31.333]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 0 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.30970907630951361e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + base + b: + t6 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 0 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.88163596324128646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 1 + (e:14)", +label="capacity: +inf + roles (assigned): + Payload: + 1 + (e:14)", +lp="2498,333.5", +pos="e,2445.5,278.21 2445.5,388.94 2445.5,356.32 2445.5,321.44 2445.5,288.4"]; +"Tuple: + a: + base + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [height=2.1944, +pos="2445.5,962", +width=12.292]; +"Tuple: + a: + base + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 0 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.30970907630951361e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + (e:13)", +label="capacity: +inf + (e:13)", +lp="2483.5,737.5", +pos="e,2445.5,667.14 2445.5,882.9 2445.5,825.58 2445.5,746.33 2445.5,677.25"]; +"Tuple: + a: + base + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [height=2.1944, +pos="2464.5,1366", +width=12.292]; +"Tuple: + a: + base + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + base + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: +inf + (e:12)", +label="capacity: +inf + (e:12)", +lp="2495.5,1171.5", +pos="e,2449.2,1041.2 2460.8,1286.7 2457.6,1219 2453,1121.7 2449.7,1051.3"]; +"Tuple: + a: + base + b: + t2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=2.1944, +pos="2482.5,1755", +width=12.292]; +"Tuple: + a: + base + b: + t2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + base + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: +inf + (e:11)", +label="capacity: +inf + (e:11)", +lp="2513.5,1560.5", +pos="e,2468.2,1445.1 2478.8,1675.8 2475.9,1611.8 2471.7,1521.7 2468.6,1455.1"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="2549.5,2129", +width=31.167]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 1 + Sherpa: + 0 + (\ +v:23) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 \ +8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:9)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:9)", +lp="2009,1949.5", +pos="e,1477.1,1871.6 2032.9,2005 1857,1962.8 1661,1915.7 1486.9,1873.9"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + base + b: + t2 + (v:9) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + (e:8)", +label="capacity: +inf + (e:8)", +lp="2555.5,1949.5", +pos="e,2493,1834.2 2521,2004.8 2519.8,1998.8 2518.6,1992.8 2517.5,1987 2508.7,1940 2500.6,1887.4 2494.4,1844.1"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [height=3.8611, +pos="4420.5,1755", +width=31.5]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:10)", +label="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:10)", +lp="3650,1949.5", +pos="e,3725.1,1894 3169.9,2005 3344.6,1970.1 3535.9,1931.8 3715.2,1896"]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="2549.5,2488", +width=31.167]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:7)", +label="capacity: +inf + (e:7)", +lp="2587.5,2308.5", +pos="e,2549.5,2253.1 2549.5,2363.9 2549.5,2331.4 2549.5,2296.2 2549.5,2263.2"]; +"Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 8.18730753077981932e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [height=3.4444, +pos="4737.5,139", +width=31.833]; +"Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.01936684857009685e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [height=3.4444, +pos="4737.5,528", +width=31.833]; +"Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.01936684857009685e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 8.18730753077981932e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:6)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:6)", +lp="4790,333.5", +pos="e,4737.5,263.31 4737.5,403.85 4737.5,362.27 4737.5,315.73 4737.5,273.4"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [height=4.2778, +pos="4482.5,962", +width=43.778]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 1 + Sherpa: + 0, \ +1 + roles (required): + Sherpa: + 0 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.30970907630951361e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 \ +Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive \ +15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:5)", +label="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:5)", +lp="3699,737.5", +pos="e,3098.2,667.06 3759.7,808 3547.4,762.77 3316.4,713.55 3108.1,669.17"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0, 1 + roles (required): + \ +Payload: + 0, 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 6.01936684857009685e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 1 9 Payload_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:4)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:4)", +lp="4693,737.5", +pos="e,4664.6,652.12 4573.1,807.77 4601.3,759.81 4632.1,707.39 4659.3,661.01"]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.50694857343987620e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [height=3.8611, +pos="4461.5,1366", +width=31.5]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.50694857343987620e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Payload: + 0, 1 + Sherpa: + 1 + (v:4) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+03 6 safety 9.48966859646861338e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 3 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:3)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:3)", +lp="4526,1171.5", +pos="e,4474.5,1116.2 4468.7,1227 4470.4,1194.6 4472.2,1159.8 4474,1126.5"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.50694857343987620e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:2)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:2)", +lp="4498,1560.5", +pos="e,4446.8,1505.2 4435.2,1615.9 4438.6,1583.3 4442.3,1548.4 4445.8,1515.4"]; +"Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0, 1 + (v:1) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t1 0 0 2" [height=2.8194, +pos="4420.5,2129", +width=18.444]; +"Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0, 1 + (v:1) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0, 1 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:1)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:1)", +lp="4473,1949.5", +pos="e,4420.5,1894.2 4420.5,2027.3 4420.5,1989.4 4420.5,1945.6 4420.5,1904.4"]; +"Tuple: + a: + l2 + b: + t0 + roles (assigned): + Payload: + 0, 1 + (v:0) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t0 0 0 2" [height=2.8194, +pos="4420.5,2488", +width=18.444]; +"Tuple: + a: + l2 + b: + t0 + roles (assigned): + Payload: + 0, 1 + (v:0) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t0 0 0 2" -> "Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0, 1 + (v:1) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 1 9 Payload_\ +1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:0)", +label="capacity: +inf + roles (assigned): + Payload: + 0, 1 + (e:0)", +lp="4473,2308.5", +pos="e,4420.5,2230.5 4420.5,2386.1 4420.5,2340.7 4420.5,2287.1 4420.5,2240.7"]; +} diff --git a/test/data/solution_simulation/sample_mission/test4/1/transport-network-solution-1.gexf b/test/data/solution_simulation/sample_mission/test4/1/transport-network-solution-1.gexf new file mode 100644 index 0000000..1607837 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/1/transport-network-solution-1.gexf @@ -0,0 +1,565 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test4/mission.xml b/test/data/solution_simulation/sample_mission/test4/mission.xml new file mode 100644 index 0000000..fb21c9b --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/mission.xml @@ -0,0 +1,175 @@ + + + Please be a working mission + + http://www.rock-robotics.org/2015/12/projects/TransTerrA + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 2 + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 3 + + + + + + l2 + 1000 + 1000 + 0 + + + base + 0 + 0 + 0 + + + l1 + 0 + 1000 + 0 + + + l0 + 1000 + 0 + 0 + + + + + + + base + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 3 + + + + + + + l1 + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 1 + + + + + + + l0 + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 1 + + + + + + + l2 + + + + t2 + t4 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + l2 + + + + t4 + t6 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 2 + + + + + + + l0 + + + + t3 + t4 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + base + + + + t5 + t6 + + + + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + 1 + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test4/search-statistics.log b/test/data/solution_simulation/sample_mission/test4/search-statistics.log new file mode 100644 index 0000000..1b24f5c --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/search-statistics.log @@ -0,0 +1,3 @@ +# session alpha beta sigma efficacy efficiency safety timehorizon travel-distance reconfiguration-cost overall-runtime solution-runtime solution-runtime-mean solution-runtime-stdev solution-found solution-stopped propagate fail node depth restart nogood flaws cost +0 1 1 1 1 1.29669 0.601937 16096.9 4828.43 5040 16.2286 16.2286 16.2286 0 1 0 594 3 28 20 0 0 4 4 +1 1 1 1 1 1.29669 0.601937 16096.9 4828.43 5040 44.2792 28.0136 22.1211 5.89253 1 0 1540 6 55 20 1 0 4 4 diff --git a/test/data/solution_simulation/sample_mission/test4/solution_analysis.log b/test/data/solution_simulation/sample_mission/test4/solution_analysis.log new file mode 100644 index 0000000..6354ac8 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test4/solution_analysis.log @@ -0,0 +1,3 @@ +# [session-id] [alpha] [beta] [sigma] [efficacy] [efficiency in kWh] [safety] [timehorizon in s] [travel-distance in m] [reconfiguration-cost in s] [number of agents] [number of mobile agents] +0 1 1 1 1 1.29669 0.601937 16096.9 4828.43 5040 4 2 +1 1 1 1 1 1.29669 0.601937 16096.9 4828.43 5040 4 2 diff --git a/test/data/solution_simulation/sample_mission/test4/specs/configuration.xml b/test/data/solution_simulation/sample_mission/test4/specs/configuration.xml new file mode 100644 index 0000000..9a76430 --- /dev/null +++ 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow-final-flow.gexf b/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow-final-flow.gexf new file mode 100644 index 0000000..2c241a0 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow-final-flow.gexf @@ -0,0 +1,509 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow-init.gexf b/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow-init.gexf new file mode 100644 index 0000000..b3d0681 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow-init.gexf @@ -0,0 +1,509 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow.gexf b/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow.gexf new file mode 100644 index 0000000..2c241a0 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow.gexf @@ -0,0 +1,509 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow.problem b/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow.problem new file mode 100644 index 0000000..df379dd --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow.problem @@ -0,0 +1,200 @@ +\* Problem: multicommodity_min_cost_flow-20211116-14:24:34:837568+0100 *\ +Minimize + obj: + x2 + x3 + x4 + x6 + x7 + x8 + x9 + x10 + x12 + x13 + x14 + + x15 + x16 + x17 + x18 + x19 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + +Subject To + y1: + x1 - ~r_1 = 0 + y2: + x2 - ~r_2 = 0 + y3: + x3 - ~r_3 = 0 + y4: + x4 - ~r_4 = 0 + y5: + x5 - ~r_5 = 0 + y6: + x6 - ~r_6 = 0 + y7: + x7 - ~r_7 = 0 + y8: + x8 - ~r_8 = 0 + y9: + x9 - ~r_9 = 0 + y10: + x10 - ~r_10 = 0 + y11: + x11 - ~r_11 = 0 + y12: + x12 - ~r_12 = 0 + y13: + x13 - ~r_13 = 0 + y14: + x14 - ~r_14 = 0 + y15: + x15 - ~r_15 = 0 + y16: + x16 - ~r_16 = 0 + y17: + x17 - ~r_17 = 0 + y18: + x18 - ~r_18 = 0 + y19: + x19 - ~r_19 = 0 + y20: + x20 - ~r_20 = 0 + y21: + x21 - ~r_21 = 0 + y22: + x22 - ~r_22 = 0 + y23: + x23 - ~r_23 = 0 + y24: + x24 - ~r_24 = 0 + y25: + x25 - ~r_25 = 0 + y26: + x26 - ~r_26 = 0 + y27: + x27 - ~r_27 = 0 + y28: + x28 - ~r_28 = 0 + y29: + x29 - ~r_29 = 0 + y30: + x30 - ~r_30 = 0 + y31: + x31 - ~r_31 = 0 + y32: + x32 - ~r_32 = 0 + y33: + x33 - ~r_33 = 0 + y34: + x34 - ~r_34 = 0 + y35: + x35 - ~r_35 = 0 + y36: + x36 - ~r_36 = 0 + y37: + x37 - ~r_37 = 0 + y38: + x38 - ~r_38 = 0 + y39: -1 x2 + x1 = 0 + y40: + x2 >= 1 + y41: -1 x14 + x2 = 0 + y42: + x14 >= 1 + y43: -1 x26 + x3 = 0 + y44: -1 x34 + x4 = 0 + y45: -1 x6 + x5 = 0 + y46: -1 x8 + x6 = 0 + y47: -1 x9 + x7 + x8 = 0 + y48: -1 x25 + x9 = 0 + y49: -1 x33 + x10 = 0 + y50: -1 x12 + x11 = 0 + y51: -1 x15 + x12 = 0 + y52: -1 x3 -1 x16 + x13 + x14 = 0 + y53: + x3 + x16 >= 1 + y54: -1 x17 + x15 = 0 + y55: -1 x24 -1 x18 + x16 + x17 = 0 + y56: -1 x19 + x18 = 0 + y57: -1 x32 + x19 = 0 + y58: + x32 >= 1 + y59: -1 x1 -1 x5 -1 x11 -1 x20 = -1 + y60: -1 x21 + x20 = 0 + y61: -1 x13 -1 x7 -1 x22 + x21 = 0 + y62: -1 x23 + x22 = 0 + y63: -1 x27 + x23 = 0 + y64: -1 x10 -1 x28 + x24 + x25 = 0 + y65: -1 x4 -1 x29 + x26 = 0 + y66: -1 x30 + x27 = 0 + y67: -1 x31 + x28 + x29 + x30 = 0 + y68: -1 x35 + x31 = 0 + y69: -1 x36 + x32 = 0 + y70: + x36 >= 1 + y71: -1 x37 + x33 = 0 + y72: -1 x38 + x34 = 0 + y73: + x35 + x36 + x37 + x38 = 1 + +Bounds + 0 <= ~r_1 <= + inf + 0 <= ~r_2 <= + inf + 0 <= ~r_3 <= + inf + 0 <= ~r_4 <= + inf + 0 <= ~r_5 <= + inf + 0 <= ~r_6 <= + inf + 0 <= ~r_7 <= 20 + 0 <= ~r_8 <= + inf + 0 <= ~r_9 <= + inf + 0 <= ~r_10 <= + inf + 0 <= ~r_11 <= + inf + 0 <= ~r_12 <= + inf + 0 <= ~r_13 <= 20 + 0 <= ~r_14 <= + inf + 0 <= ~r_15 <= + inf + 0 <= ~r_16 <= 10 + 0 <= ~r_17 <= + inf + 0 <= ~r_18 <= + inf + 0 <= ~r_19 <= + inf + 0 <= ~r_20 <= + inf + 0 <= ~r_21 <= + inf + 0 <= ~r_22 <= + inf + 0 <= ~r_23 <= + inf + 0 <= ~r_24 <= 10 + 0 <= ~r_25 <= + inf + 0 <= ~r_26 <= + inf + 0 <= ~r_27 <= + inf + 0 <= ~r_28 <= 20 + 0 <= ~r_29 <= 10 + 0 <= ~r_30 <= + inf + 0 <= ~r_31 <= + inf + 0 <= ~r_32 <= + inf + 0 <= ~r_33 <= + inf + 0 <= ~r_34 <= + inf + 0 <= ~r_35 <= + inf + 0 <= ~r_36 <= + inf + 0 <= ~r_37 <= + inf + 0 <= ~r_38 <= + inf + 0 <= x1 <= + inf + 0 <= x2 <= + inf + 0 <= x3 <= + inf + 0 <= x4 <= + inf + 0 <= x5 <= + inf + 0 <= x6 <= + inf + 0 <= x7 <= 20 + 0 <= x8 <= + inf + 0 <= x9 <= + inf + 0 <= x10 <= + inf + 0 <= x11 <= + inf + 0 <= x12 <= + inf + 0 <= x13 <= 20 + 0 <= x14 <= + inf + 0 <= x15 <= + inf + 0 <= x16 <= 10 + 0 <= x17 <= + inf + 0 <= x18 <= + inf + 0 <= x19 <= + inf + 0 <= x20 <= + inf + 0 <= x21 <= + inf + 0 <= x22 <= + inf + 0 <= x23 <= + inf + 0 <= x24 <= 10 + 0 <= x25 <= + inf + 0 <= x26 <= + inf + 0 <= x27 <= + inf + 0 <= x28 <= 20 + 0 <= x29 <= 10 + 0 <= x30 <= + inf + 0 <= x31 <= + inf + 0 <= x32 <= + inf + 0 <= x33 <= + inf + 0 <= x34 <= + inf + 0 <= x35 <= 0 + 0 <= x36 <= 1 + 0 <= x37 <= 0 + 0 <= x38 <= 0 + +Generals + x1 + x2 + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x13 + x14 + x15 + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + +End diff --git a/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow.solution b/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow.solution new file mode 100644 index 0000000..1c25a56 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/0/multicommodity-min-cost-flow.solution @@ -0,0 +1,17 @@ +Optimal - objective value 7.00000000 + 0 x2 1 1 + 10 x14 1 1 + 12 x16 1 1 + 14 x18 1 1 + 15 x19 1 1 + 27 x32 1 1 + 31 x36 1 1 + 34 x1 1 0 + 35 ~r_1 1 0 + 36 ~r_2 1 0 + 50 ~r_14 1 0 + 52 ~r_16 1 0 + 54 ~r_18 1 0 + 55 ~r_19 1 0 + 69 ~r_32 1 0 + 73 ~r_36 1 0 diff --git a/test/data/solution_simulation/sample_mission/test5/0/templ-mission-relations.dot b/test/data/solution_simulation/sample_mission/test5/0/templ-mission-relations.dot new file mode 100644 index 0000000..5273b2a --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/0/templ-mission-relations.dot @@ -0,0 +1,672 @@ +digraph GraphvizGraph { + graph [bb="0,0,4902,429", + concentrate=false, + dpi="96,0", + overlap=false, + pad="0,2", + root="PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 3 + \ +restriction: MIN + @[t0,t1) (v:17)", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 3 + \ +restriction: MIN + @[t0,t1) (v:17)" [height=2.4028, + pos="182.5,342.5", + width=5.0694]; + " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:16)" [height=2.8472, + pos="374.5,102.5", + width=4.8611]; + "PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 3 + \ +restriction: MIN + @[t0,t1) (v:17)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:16)" [key="inducedBy (e:11)", + label="inducedBy (e:11)", + lp="321,230.5", + pos="e,292.2,205.37 251.82,255.85 262.87,242.03 274.44,227.57 285.87,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:15)" [height=2.4028, + pos="565.5,342.5", + width=5.0694]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:15)" -> " +SpatioTemporalRequirement (id:0) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t0 + to: t1 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + minCardinality: 3 + maxCardinality: 18446744073709551615 + + (\ +v:16)" [key="inducedBy (e:10)", +label="inducedBy (e:10)", +lp="529,230.5", +pos="e,456.37,205.37 496.54,255.85 485.55,242.03 474.04,227.57 462.67,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:14)" [height=2.4028, +pos="951.5,342.5", +width=5.1528]; +" +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:13)" [height=2.8472, +pos="1145.5,102.5", +width=4.9444]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 1 + restriction: \ +MIN + @[t0,t1) (v:14)" -> " +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:13)" [key="inducedBy (e:9)", +label="inducedBy (e:9)", +lp="1087.5,230.5", +pos="e,1062.3,205.37 1021.5,255.85 1032.7,242.03 1044.4,227.57 1055.9,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:12)" [height=2.4028, +pos="1340.5,342.5", +width=5.1528]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l1 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t0,t1) (v:12)" -> " +SpatioTemporalRequirement (id:1) + SpatialRequirement: + Location: l1 +TemporalRequirement: + from: t0 + to: t1 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:13)" [key="inducedBy (e:8)", +label="inducedBy (e:8)", +lp="1299.5,230.5", +pos="e,1229.1,205.37 1270.1,255.85 1258.9,242.03 1247.1,227.57 1235.5,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 1 + restriction: \ +MIN + @[t2,t4) (v:11)" [height=2.4028, +pos="1748.5,342.5", +width=5.6806]; +" +SpatioTemporalRequirement (id:2) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t2 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:10)" [height=2.8472, +pos="1962.5,102.5", +width=5.4722]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 1 + restriction: \ +MIN + @[t2,t4) (v:11)" -> " +SpatioTemporalRequirement (id:2) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t2 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:10)" [key="inducedBy (e:7)", +label="inducedBy (e:7)", +lp="1893.5,230.5", +pos="e,1870.8,205.37 1825.8,255.85 1838.2,241.91 1851.2,227.3 1864.1,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t4) (v:9)" [height=2.4028, +pos="2175.5,342.5", +width=5.6806]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l0 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t2,t4) (v:9)" -> " +SpatioTemporalRequirement (id:2) + SpatialRequirement: + Location: l0 +TemporalRequirement: + from: t2 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:10)" [key="inducedBy (e:6)", +label="inducedBy (e:6)", +lp="2126.5,230.5", +pos="e,2053.8,205.37 2098.6,255.85 2086.2,241.91 2073.3,227.3 2060.5,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 1 + restriction: \ +MIN + @[t3,t4) (v:8)" [height=2.4028, +pos="2602.5,342.5", +width=5.6806]; +" +SpatioTemporalRequirement (id:3) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t3 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:7)" [height=2.8472, +pos="2816.5,102.5", +width=5.4722]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 1 + restriction: \ +MIN + @[t3,t4) (v:8)" -> " +SpatioTemporalRequirement (id:3) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t3 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:7)" [key="inducedBy (e:5)", +label="inducedBy (e:5)", +lp="2747.5,230.5", +pos="e,2724.8,205.37 2679.8,255.85 2692.2,241.91 2705.2,227.3 2718.1,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t3,t4) (v:6)" [height=2.4028, +pos="3029.5,342.5", +width=5.6806]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t3,t4) (v:6)" -> " +SpatioTemporalRequirement (id:3) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t3 + to: t4 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:7)" [key="inducedBy (e:4)", +label="inducedBy (e:4)", +lp="2980.5,230.5", +pos="e,2907.8,205.37 2952.6,255.85 2940.2,241.91 2927.3,227.3 2914.5,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 1 + restriction: \ +MIN + @[t4,t6) (v:5)" [height=2.4028, +pos="3437.5,342.5", +width=5.1528]; +" +SpatioTemporalRequirement (id:4) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t4 + to: t6 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:4)" [height=2.8472, +pos="3631.5,102.5", +width=4.9444]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 1 + restriction: \ +MIN + @[t4,t6) (v:5)" -> " +SpatioTemporalRequirement (id:4) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t4 + to: t6 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:4)" [key="inducedBy (e:3)", +label="inducedBy (e:3)", +lp="3573.5,230.5", +pos="e,3548.3,205.37 3507.5,255.85 3518.7,242.03 3530.4,227.57 3541.9,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t4,t6) (v:3)" [height=2.4028, +pos="3826.5,342.5", +width=5.1528]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#Payload + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: l2 + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t4,t6) (v:3)" -> " +SpatioTemporalRequirement (id:4) + SpatialRequirement: + Location: l2 +TemporalRequirement: + from: t4 + to: t6 +Resources: + \ +http://www.rock-robotics.org/2014/01/om-schema#Payload + minCardinality: 1 + maxCardinality: 18446744073709551615 + + (\ +v:4)" [key="inducedBy (e:2)", +label="inducedBy (e:2)", +lp="3785.5,230.5", +pos="e,3715.1,205.37 3756.1,255.85 3744.9,242.03 3733.1,227.57 3721.5,213.28"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 1 + \ +restriction: MIN + @[t5,t6) (v:2)" [height=2.4028, +pos="4243.5,342.5", +width=5.9306]; +" +SpatioTemporalRequirement (id:5) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t5 + to: t6 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: \ +18446744073709551615 + + (v:1)" [height=2.8472, +pos="4466.5,102.5", +width=5.7222]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 1 + \ +restriction: MIN + @[t5,t6) (v:2)" -> " +SpatioTemporalRequirement (id:5) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t5 + to: t6 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: \ +18446744073709551615 + + (v:1)" [key="inducedBy (e:1)", +label="inducedBy (e:1)", +lp="4392.5,230.5", +pos="e,4370.9,205.37 4324,255.85 4337,241.91 4350.5,227.3 4363.9,212.89"]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t5,t6) (v:0)" [height=2.4028, +pos="4688.5,342.5", +width=5.9306]; +"PERSISTENCE_CONDITION + STATE_VARIABLE + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + LocationCardinality + \ +OBJECT_VARIABLE + unknown + LocationCardinality + location: base + cardinality: 18446744073709551615 + \ +restriction: MAX + @[t5,t6) (v:0)" -> " +SpatioTemporalRequirement (id:5) + SpatialRequirement: + Location: base +TemporalRequirement: + from: t5 + to: t6 +\ +Resources: + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + minCardinality: 1 + maxCardinality: \ +18446744073709551615 + + (v:1)" [key="inducedBy (e:0)", +label="inducedBy (e:0)", +lp="4635.5,230.5", +pos="e,4561.7,205.37 4608.4,255.85 4595.4,241.91 4581.9,227.3 4568.6,212.89"]; +} diff --git a/test/data/solution_simulation/sample_mission/test5/0/transhipment-flow-network.gexf b/test/data/solution_simulation/sample_mission/test5/0/transhipment-flow-network.gexf new file mode 100644 index 0000000..f6c32ff --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/0/transhipment-flow-network.gexf @@ -0,0 +1,583 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/0/transport-network-solution-0.dot b/test/data/solution_simulation/sample_mission/test5/0/transport-network-solution-0.dot new file mode 100644 index 0000000..d48b330 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/0/transport-network-solution-0.dot @@ -0,0 +1,1901 @@ +digraph GraphvizGraph { + graph [bb="0,0,7004,2492", + concentrate=false, + dpi="96,0", + overlap=false, + pad="0,2", + root="Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959185e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959185e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [height=3.4444, + pos="2239,124", + width=19.569]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.04358250577992617e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [height=3.4444, + pos="2239,483", + width=19.569]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.04358250577992617e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959185e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:29)", + label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:29)", + lp="2291.5,303.5", + pos="e,2239,248.06 2239,358.95 2239,326.44 2239,291.24 2239,258.23"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0, 1 + \ +roles (required): + Payload: + 0 + Sherpa: + 0 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 3.48000000000000000e+03 6 safety 9.91056625739447417e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 \ +5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [height=4.2778, + pos="2239,872", + width=37.472]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0, 1 + \ +roles (required): + Payload: + 0 + Sherpa: + 0 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 3.48000000000000000e+03 6 safety 9.91056625739447417e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 \ +5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.04358250577992617e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:27)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:27)", +lp="2291.5,662.5", +pos="e,2239,607.03 2239,717.98 2239,684.61 2239,649.57 2239,617.04"]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+\ +03 6 safety 9.79406495937221733e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [height=3.4444, +pos="4191,483", +width=31.167]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0, 1 + \ +roles (required): + Payload: + 0 + Sherpa: + 0 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 3.48000000000000000e+03 6 safety 9.91056625739447417e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 \ +5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+\ +03 6 safety 9.79406495937221733e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 20 + roles (assigned): + Sherpa: + 0, 1 + (e:28)", +label="capacity: 20 + roles (assigned): + Sherpa: + 0, 1 + (e:28)", +lp="3500.5,662.5", +pos="e,3568.6,607.03 3011.9,717.98 3193.2,681.84 3384.4,643.74 3558.8,609"]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [height=3.4444, +pos="4116,1291", +width=19.236]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0, 1 + \ +roles (required): + Payload: + 0 + Sherpa: + 0 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 3.48000000000000000e+03 6 safety 9.91056625739447417e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 \ +5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:26)", +label="capacity: +inf + (e:26)", +lp="3941,1096.5", +pos="e,3573.3,1026 3935.2,1166.9 3859.8,1120.9 3769.3,1073 3681,1044 3670.5,1040.5 3635.6,1034.8 3583.3,1027.4"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="4116,1650", +width=12.153]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:25)", +label="capacity: +inf + (e:25)", +lp="4154,1470.5", +pos="e,4116,1415.2 4116,1548.1 4116,1510 4116,1466.1 4116,1425.4"]; +"Tuple: + a: + l2 + b: + t1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" [height=2.1944, +pos="3446,2009", +width=12.111]; +"Tuple: + a: + l2 + b: + t1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:24)", +label="capacity: +inf + (e:24)", +lp="3880,1829.5", +pos="e,3926.5,1751.5 3593.4,1930 3688.6,1879 3813.6,1812 3917.5,1756.4"]; +"Tuple: + a: + l2 + b: + t0 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t0 0 \ +0 2" [height=2.1944, +pos="3446,2368", +width=12.111]; +"Tuple: + a: + l2 + b: + t0 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t0 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" [key="capacity: +inf + (e:23)", +label="capacity: +inf + (e:23)", +lp="3484,2188.5", +pos="e,3446,2088 3446,2288.8 3446,2232.5 3446,2156.8 3446,2098.4"]; +"Tuple: + a: + l0 + b: + t6 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 \ +0 2" [height=2.1944, +pos="5767,124", +width=12.111]; +"Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [height=2.1944, +pos="5767,483", +width=12.111]; +"Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t6 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 \ +0 2" [key="capacity: +inf + (e:22)", +label="capacity: +inf + (e:22)", +lp="5805,303.5", +pos="e,5767,203.03 5767,403.77 5767,347.48 5767,271.81 5767,213.36"]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [height=3.4444, +pos="4299,872", +width=19.236]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:20)", +label="capacity: +inf + (e:20)", +lp="4670,662.5", +pos="e,5525.1,562.01 4427.4,747.81 4485.1,700.05 4557.1,650.82 4632,625 4704.5,599.99 5246.2,618.38 5322,607 5385.4,597.48 5452.7,581.81 \ +5515.1,564.76"]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+\ +03 6 safety 9.79406495937221733e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 20 + roles (assigned): + Sherpa: + 2 + (e:21)", +label="capacity: 20 + roles (assigned): + Sherpa: + 2 + (e:21)", +lp="4301.5,662.5", +pos="e,4225.5,607.31 4264.5,747.85 4253,706.18 4240,659.53 4228.2,617.13"]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [height=3.4444, +pos="2713,1291", +width=19.236]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:19)", +label="capacity: +inf + (e:19)", +lp="3639,1096.5", +pos="e,3829.4,996.06 3182.4,1167 3383.3,1113.9 3617.6,1052 3819.5,998.67"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 1, 2 + roles (required): + \ +Sherpa: + 2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.85597509466066057e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=3.4444, +pos="2713,1650", +width=25.194]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 1, 2 + roles (required): + \ +Sherpa: + 2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.85597509466066057e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.73577017926244315e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:17)", +label="capacity: +inf + (e:17)", +lp="2751,1470.5", +pos="e,2713,1415.1 2713,1525.9 2713,1493.4 2713,1458.2 2713,1425.2"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + (\ +v:10) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" [height=3.2361, +pos="1344,1291", +width=18.278]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 1, 2 + roles (required): + \ +Sherpa: + 2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.85597509466066057e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + (\ +v:10) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:18)", +label="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:18)", +lp="2204.5,1470.5", +pos="e,1788.3,1407.5 2240,1525.9 2096.8,1488.4 1939.9,1447.3 1798,1410.1"]; +"Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 \ +0 2" [height=2.1944, +pos="2556,2009", +width=12.111]; +"Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 1, 2 + roles (required): + \ +Sherpa: + 2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.85597509466066057e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + (e:16)", +label="capacity: +inf + (e:16)", +lp="2687,1829.5", +pos="e,2658.7,1774.2 2590.6,1929.8 2609.4,1886.9 2633.1,1832.8 2654.6,1783.6"]; +"Tuple: + a: + l0 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t0 0 \ +0 2" [height=2.1944, +pos="2556,2368", +width=12.111]; +"Tuple: + a: + l0 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t0 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 \ +0 2" [key="capacity: +inf + (e:15)", +label="capacity: +inf + (e:15)", +lp="2594,2188.5", +pos="e,2556,2088 2556,2288.8 2556,2232.5 2556,2156.8 2556,2098.4"]; +"Tuple: + a: + l1 + b: + t6 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 \ +0 2" [height=2.1944, +pos="436,124", +width=12.111]; +"Tuple: + a: + l1 + b: + t5 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 0 \ +0 2" [height=2.1944, +pos="436,483", +width=12.111]; +"Tuple: + a: + l1 + b: + t5 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 0 \ +0 2" -> "Tuple: + a: + l1 + b: + t6 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 \ +0 2" [key="capacity: +inf + (e:14)", +label="capacity: +inf + (e:14)", +lp="474,303.5", +pos="e,436,203.03 436,403.77 436,347.48 436,271.81 436,213.36"]; +"Tuple: + a: + l1 + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 \ +0 2" [height=2.1944, +pos="436,872", +width=12.111]; +"Tuple: + a: + l1 + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 \ +0 2" -> "Tuple: + a: + l1 + b: + t5 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:13)", +label="capacity: +inf + (e:13)", +lp="474,662.5", +pos="e,436,562.08 436,792.81 436,728.79 436,638.68 436,572.13"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + (\ +v:10) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0, 1 + \ +roles (required): + Payload: + 0 + Sherpa: + 0 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 3.48000000000000000e+03 6 safety 9.91056625739447417e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 \ +5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+\ +03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + (e:12)", +label="capacity: 10 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + (e:12)", +lp="1898.5,1096.5", +pos="e,1909.7,1026.2 1593,1174.4 1688.2,1129.9 1798.3,1078.3 1900.4,1030.5"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + (\ +v:10) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 \ +0 2" [key="capacity: +inf + (e:11)", +label="capacity: +inf + (e:11)", +lp="1063,1096.5", +pos="e,607.35,951.07 1091.4,1174.4 940.56,1104.8 752.56,1018.1 616.64,955.36"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:9) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="1344,1650", +width=12.319]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:9) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + (\ +v:10) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:10)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:10)", +lp="1396.5,1470.5", +pos="e,1344,1407.7 1344,1548.1 1344,1507.6 1344,1460.6 1344,1417.9"]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="1344,2009", +width=19.569]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:9) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:9)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:9)", +lp="1396.5,1829.5", +pos="e,1344,1751.8 1344,1884.9 1344,1845 1344,1801.1 1344,1762.1"]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="1344,2368", +width=19.569]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:8)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:8)", +lp="1396.5,2188.5", +pos="e,1344,2133.1 1344,2243.9 1344,2211.4 1344,2176.2 1344,2143.2"]; +"Tuple: + a: + base + b: + t6 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 1 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.99420113650695052e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [height=3.4444, +pos="4191,124", +width=31.167]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+\ +03 6 safety 9.79406495937221733e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + base + b: + t6 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 1 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 9.99420113650695052e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:7)", +label="capacity: +inf + (e:7)", +lp="4229,303.5", +pos="e,4191,248.06 4191,358.95 4191,326.44 4191,291.24 4191,258.23"]; +"Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [height=2.1944, +pos="5452,872", +width=12.292]; +"Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 1 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+\ +03 6 safety 9.79406495937221733e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + (e:6)", +label="capacity: +inf + (e:6)", +lp="4973,662.5", +pos="e,4631.6,607.04 5226.5,792.91 5154.4,768.22 5074,741.35 5000,718 4884.3,681.49 4758.5,643.96 4641.5,609.91"]; +"Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [height=2.1944, +pos="5452,1291", +width=12.292]; +"Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: +inf + (e:5)", +label="capacity: +inf + (e:5)", +lp="5490,1096.5", +pos="e,5452,951.33 5452,1211.7 5452,1140.4 5452,1035.9 5452,961.61"]; +"Tuple: + a: + base + b: + t2 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=2.1944, +pos="5452,1650", +width=12.292]; +"Tuple: + a: + base + b: + t2 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: +inf + (e:4)", +label="capacity: +inf + (e:4)", +lp="5490,1470.5", +pos="e,5452,1370 5452,1570.8 5452,1514.5 5452,1438.8 5452,1380.4"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 0, 1, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="5452,2009", +width=43.111]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 0, 1, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:2)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:2)", +lp="4956.5,1829.5", +pos="e,4493.9,1751.5 4990.4,1884.9 4831.8,1842.3 4656,1795.1 4503.9,1754.2"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 0, 1, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 1, 2 + roles (required): + \ +Sherpa: + 2 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.85597509466066057e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: 20 + roles (assigned): + Sherpa: + 1, 2 + (e:3)", +label="capacity: 20 + roles (assigned): + Sherpa: + 1, 2 + (e:3)", +lp="4565.5,1829.5", +pos="e,3620.2,1769 4653.3,1885 4418.1,1851.4 4160.1,1817.3 3922,1792 3809.9,1780.1 3781.2,1785.3 3669,1774 3656.1,1772.7 3643.2,1771.4 \ +3630.2,1770"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 0, 1, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + base + b: + t2 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + (e:1)", +label="capacity: +inf + (e:1)", +lp="5490,1829.5", +pos="e,5452,1729.1 5452,1884.9 5452,1837 5452,1783.2 5452,1739.2"]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 0, 1, 2 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="5452,2368", +width=43.111]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 0, 1, 2 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1, 2 + roles (required): + \ +Sherpa: + 0, 1, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.74000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:0)", +label="capacity: +inf + (e:0)", +lp="5490,2188.5", +pos="e,5452,2133.1 5452,2243.9 5452,2211.4 5452,2176.2 5452,2143.2"]; +} diff --git a/test/data/solution_simulation/sample_mission/test5/0/transport-network-solution-0.gexf b/test/data/solution_simulation/sample_mission/test5/0/transport-network-solution-0.gexf new file mode 100644 index 0000000..c8efcf0 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/0/transport-network-solution-0.gexf @@ -0,0 +1,583 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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a/test/data/solution_simulation/sample_mission/test5/1/20211116-14:27:01+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test5/1/20211116-14:27:01+0100-transport-network.status new file mode 100644 index 0000000..95d4def --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/1/20211116-14:27:01+0100-transport-network.status @@ -0,0 +1,35 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 4, 3, 6, 5} +Payload : 0 1 0 0 1 0 +Sherpa : 3 0 1 1 0 1 +AtomicAgent: Payload_0 (Payload): 0 1 0 0 1 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 0 1 0 0 1 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 1 0 0 +AtomicAgent: Payload_0 (Payload) + base l1 l0 l2 + t0 {} {5} {} {} + t1 {} {}..{8..11}#(1) {} {} + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{19}#(0,1) {}..{19}#(0,1) {}..{19}#(0,1) {}..{19}#(0,1) + t4 {} {} {} {23} + t5 {} {} {} {27} + t6 {} {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + base l1 l0 l2 + t0 {4} {} {} {} + t1 {10} {} {} {} + t2 {} {} {14} {} + t3 {} {} {18} {} + t4 {} {} {20} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_2 (Sherpa) + base l1 l0 l2 + t0 {4} {} {} {} + t1 {10} {} {} {} + t2 {} {} {15} {} + t3 {} {} {} {19} + t4 {} {} {} {21} + t5 {} {27} {} {} + t6 {} {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test5/1/final_plan.gexf b/test/data/solution_simulation/sample_mission/test5/1/final_plan.gexf new file mode 100644 index 0000000..745a2d0 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/1/final_plan.gexf @@ -0,0 +1,328 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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mode 100644 index 0000000..2ecdb90 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/1/multicommodity-min-cost-flow-final-flow.gexf @@ -0,0 +1,502 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/1/multicommodity-min-cost-flow.problem b/test/data/solution_simulation/sample_mission/test5/1/multicommodity-min-cost-flow.problem new file mode 100644 index 0000000..eb37e37 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/1/multicommodity-min-cost-flow.problem @@ -0,0 +1,196 @@ +\* Problem: multicommodity_min_cost_flow-20211116-14:27:01:117383+0100 *\ +Minimize + obj: + x1 + x2 + x3 + x4 + x5 + x7 + x8 + x9 + x10 + x11 + x12 + + x15 + x16 + x17 + x18 + x19 + x20 + x22 + x23 + x24 + x25 + x26 + x27 + + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + +Subject To + y1: + x1 - ~r_1 = 0 + y2: + x2 - ~r_2 = 0 + y3: + x3 - ~r_3 = 0 + y4: + x4 - ~r_4 = 0 + y5: + x5 - ~r_5 = 0 + y6: + x6 - ~r_6 = 0 + y7: + x7 - ~r_7 = 0 + y8: + x8 - ~r_8 = 0 + y9: + x9 - ~r_9 = 0 + y10: + x10 - ~r_10 = 0 + y11: + x11 - ~r_11 = 0 + y12: + x12 - ~r_12 = 0 + y13: + x13 - ~r_13 = 0 + y14: + x14 - ~r_14 = 0 + y15: + x15 - ~r_15 = 0 + y16: + x16 - ~r_16 = 0 + y17: + x17 - ~r_17 = 0 + y18: + x18 - ~r_18 = 0 + y19: + x19 - ~r_19 = 0 + y20: + x20 - ~r_20 = 0 + y21: + x21 - ~r_21 = 0 + y22: + x22 - ~r_22 = 0 + y23: + x23 - ~r_23 = 0 + y24: + x24 - ~r_24 = 0 + y25: + x25 - ~r_25 = 0 + y26: + x26 - ~r_26 = 0 + y27: + x27 - ~r_27 = 0 + y28: + x28 - ~r_28 = 0 + y29: + x29 - ~r_29 = 0 + y30: + x30 - ~r_30 = 0 + y31: + x31 - ~r_31 = 0 + y32: + x32 - ~r_32 = 0 + y33: + x33 - ~r_33 = 0 + y34: + x34 - ~r_34 = 0 + y35: + x35 - ~r_35 = 0 + y36: + x36 - ~r_36 = 0 + y37: + x37 - ~r_37 = 0 + y38: -1 x3 + x1 = 0 + y39: + x3 >= 1 + y40: -1 x10 + x2 + x3 = 0 + y41: + x10 >= 1 + y42: -1 x5 + x4 = 0 + y43: -1 x33 + x5 = 0 + y44: -1 x7 + x6 = 0 + y45: -1 x9 + x7 = 0 + y46: -1 x11 + x8 + x9 = 0 + y47: -1 x4 -1 x25 + x10 = 0 + y48: -1 x26 + x11 = 0 + y49: -1 x32 + x12 = 0 + y50: -1 x1 -1 x15 + x13 = 0 + y51: + x1 + x15 >= 1 + y52: -1 x16 + x14 = 0 + y53: -1 x2 -1 x17 + x15 + x16 = 0 + y54: -1 x18 + x17 = 0 + y55: -1 x19 + x18 = 0 + y56: -1 x20 + x19 = 0 + y57: -1 x31 + x20 = 0 + y58: + x31 >= 1 + y59: -1 x13 -1 x6 -1 x14 -1 x21 = -1 + y60: -1 x22 + x21 = 0 + y61: -1 x8 -1 x23 + x22 = 0 + y62: -1 x24 + x23 = 0 + y63: -1 x27 + x24 = 0 + y64: -1 x12 -1 x28 + x25 + x26 = 0 + y65: -1 x29 + x27 = 0 + y66: -1 x30 + x28 + x29 = 0 + y67: -1 x34 + x30 = 0 + y68: -1 x35 + x31 = 0 + y69: + x35 >= 1 + y70: -1 x36 + x32 = 0 + y71: -1 x37 + x33 = 0 + y72: + x34 + x35 + x36 + x37 = 1 + +Bounds + 0 <= ~r_1 <= + inf + 0 <= ~r_2 <= 20 + 0 <= ~r_3 <= + inf + 0 <= ~r_4 <= + inf + 0 <= ~r_5 <= + inf + 0 <= ~r_6 <= + inf + 0 <= ~r_7 <= + inf + 0 <= ~r_8 <= 10 + 0 <= ~r_9 <= + inf + 0 <= ~r_10 <= + inf + 0 <= ~r_11 <= + inf + 0 <= ~r_12 <= + inf + 0 <= ~r_13 <= + inf + 0 <= ~r_14 <= + inf + 0 <= ~r_15 <= 20 + 0 <= ~r_16 <= + inf + 0 <= ~r_17 <= + inf + 0 <= ~r_18 <= + inf + 0 <= ~r_19 <= + inf + 0 <= ~r_20 <= + inf + 0 <= ~r_21 <= + inf + 0 <= ~r_22 <= + inf + 0 <= ~r_23 <= + inf + 0 <= ~r_24 <= + inf + 0 <= ~r_25 <= 20 + 0 <= ~r_26 <= + inf + 0 <= ~r_27 <= + inf + 0 <= ~r_28 <= 20 + 0 <= ~r_29 <= + inf + 0 <= ~r_30 <= + inf + 0 <= ~r_31 <= + inf + 0 <= ~r_32 <= + inf + 0 <= ~r_33 <= + inf + 0 <= ~r_34 <= + inf + 0 <= ~r_35 <= + inf + 0 <= ~r_36 <= + inf + 0 <= ~r_37 <= + inf + 0 <= x1 <= + inf + 0 <= x2 <= 20 + 0 <= x3 <= + inf + 0 <= x4 <= + inf + 0 <= x5 <= + inf + 0 <= x6 <= + inf + 0 <= x7 <= + inf + 0 <= x8 <= 10 + 0 <= x9 <= + inf + 0 <= x10 <= + inf + 0 <= x11 <= + inf + 0 <= x12 <= + inf + 0 <= x13 <= + inf + 0 <= x14 <= + inf + 0 <= x15 <= 20 + 0 <= x16 <= + inf + 0 <= x17 <= + inf + 0 <= x18 <= + inf + 0 <= x19 <= + inf + 0 <= x20 <= + inf + 0 <= x21 <= + inf + 0 <= x22 <= + inf + 0 <= x23 <= + inf + 0 <= x24 <= + inf + 0 <= x25 <= 20 + 0 <= x26 <= + inf + 0 <= x27 <= + inf + 0 <= x28 <= 20 + 0 <= x29 <= + inf + 0 <= x30 <= + inf + 0 <= x31 <= + inf + 0 <= x32 <= + inf + 0 <= x33 <= + inf + 0 <= x34 <= 0 + 0 <= x35 <= 1 + 0 <= x36 <= 0 + 0 <= x37 <= 0 + +Generals + x1 + x2 + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x13 + x14 + x15 + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + +End diff --git a/test/data/solution_simulation/sample_mission/test5/1/multicommodity-min-cost-flow.solution b/test/data/solution_simulation/sample_mission/test5/1/multicommodity-min-cost-flow.solution new file mode 100644 index 0000000..62b0131 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/1/multicommodity-min-cost-flow.solution @@ -0,0 +1,32 @@ +Infeasible - objective value 13.00000000 + 0 x1 1 0 + 2 x3 1 0 + 3 x4 1 0 + 4 x5 1 0 + 8 x10 1 0 + 12 x16 1 0 + 13 x17 1 0 + 14 x18 1 0 + 15 x19 1 0 + 16 x20 1 0 + 26 x31 1 0 + 28 x33 1 0 + 30 x35 1 0 + 33 ~r_1 1 0 + 35 ~r_3 1 0 + 36 ~r_4 1 0 + 37 ~r_5 1 0 +** 38 x6 -1 0 + 43 ~r_10 1 0 + 46 x13 1 0 + 47 ~r_13 1 0 + 48 x14 1 0 + 49 ~r_14 1 0 + 51 ~r_16 1 0 + 52 ~r_17 1 0 + 53 ~r_18 1 0 + 54 ~r_19 1 0 + 55 ~r_20 1 0 + 67 ~r_31 1 0 + 69 ~r_33 1 0 + 71 ~r_35 1 0 diff --git a/test/data/solution_simulation/sample_mission/test5/1/transhipment-flow-network.gexf b/test/data/solution_simulation/sample_mission/test5/1/transhipment-flow-network.gexf new file mode 100644 index 0000000..c3bffcc --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/1/transhipment-flow-network.gexf @@ -0,0 +1,574 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+roles (required): + Payload: + 0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.99157862424486010e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [height=3.8611, + pos="4120,139", + width=25.528]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 8.94839316814369901e-01 +roles 22 serialization::\ 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serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.99157862424486010e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:28)", + 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0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" [height=4.2778, + pos="4120,902", + width=31.5]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + Sherpa: + 2 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" -> "Tuple: 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serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" [height=3.2361, +pos="5501,513", +width=18.278]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + Sherpa: + 2 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (\ +v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 20 + roles (assigned): + Sherpa: + 2 + (e:27)", +label="capacity: 20 + roles (assigned): + Sherpa: + 2 + (e:27)", +lp="5026.5,692.5", +pos="e,5087.3,629.54 4666.8,747.98 4803.4,709.49 4947.9,668.79 5077.6,632.27"]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [height=3.8611, +pos="4079,1306", +width=25.361]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + Sherpa: + 2 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:25)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:25)", +lp="4153.5,1111.5", +pos="e,4104.4,1056.2 4093.1,1167 4096.4,1134.6 4099.9,1099.8 4103.3,1066.5"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0 + (v:23) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="4079,1680", +width=12.319]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0 + (v:23) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:24)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:24)", +lp="4131.5,1500.5", +pos="e,4079,1445.2 4079,1578.3 4079,1540.4 4079,1496.6 4079,1455.4"]; +"Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0 + (v:22) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t1 0 0 2" [height=2.8194, +pos="4079,2039", +width=12.319]; +"Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0 + (v:22) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0 + (v:23) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:23)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:23)", +lp="4131.5,1859.5", +pos="e,4079,1781.5 4079,1937.1 4079,1891.7 4079,1838.1 4079,1791.7"]; +"Tuple: + a: + l2 + b: + t0 + roles (assigned): + Payload: + 0 + (v:21) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t0 0 0 2" [height=2.8194, +pos="4079,2398", +width=12.319]; +"Tuple: + a: + l2 + b: + t0 + roles (assigned): + Payload: + 0 + (v:21) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0 + (v:22) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:22)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:22)", +lp="4131.5,2218.5", +pos="e,4079,2140.5 4079,2296.1 4079,2250.7 4079,2197.1 4079,2150.7"]; +"Tuple: + a: + l0 + b: + t6 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 \ +0 2" [height=2.1944, +pos="1128,139", +width=12.111]; +"Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [height=2.1944, +pos="1128,513", +width=12.111]; +"Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t6 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 \ +0 2" [key="capacity: +inf + (e:21)", +label="capacity: +inf + (e:21)", +lp="1166,333.5", +pos="e,1128,218.2 1128,433.68 1128,373.56 1128,290.91 1128,228.44"]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [height=3.4444, +pos="2275,902", +width=19.236]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:19)", +label="capacity: +inf + (e:19)", +lp="1919,692.5", +pos="e,1394.2,592.03 2011.8,777.96 1909.7,733.84 1790.7,687.18 1679,655 1633.1,641.77 1619.6,647.43 1573,637 1518.1,624.72 1459.8,609.86 \ +1404.2,594.75"]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.57465109530946479e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [height=3.4444, +pos="2275,513", +width=19.236]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.57465109530946479e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:20)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:20)", +lp="2327.5,692.5", +pos="e,2275,637.31 2275,777.85 2275,736.27 2275,689.73 2275,647.4"]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [height=3.4444, +pos="2400,1306", +width=19.236]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:18)", +label="capacity: +inf + (e:18)", +lp="2387,1111.5", +pos="e,2313.4,1026.3 2361.6,1181.8 2347.3,1135.6 2331,1082.9 2316.4,1035.9"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.97071117292436360e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=3.4444, +pos="2546,1680", +width=25.194]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.97071117292436360e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: 20 + roles (assigned): + Sherpa: + 2 + (e:17)", +label="capacity: 20 + roles (assigned): + Sherpa: + 2 + (e:17)", +lp="3456.5,1500.5", +pos="e,3509.2,1445 3054.3,1556 3196.8,1521.2 3352.8,1483.2 3499.1,1447.5"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.97071117292436360e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:16)", +label="capacity: +inf + (e:16)", +lp="2529,1500.5", +pos="e,2448.4,1430 2497.6,1556 2483,1518.6 2467,1477.5 2452.1,1439.6"]; +"Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" [height=2.1944, +pos="2698,2039", +width=12.111]; +"Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.97071117292436360e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + (e:15)", +label="capacity: +inf + (e:15)", +lp="2674,1859.5", +pos="e,2598.6,1804.2 2664.5,1959.8 2646.3,1916.9 2623.4,1862.8 2602.6,1813.6"]; +"Tuple: + a: + l0 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t0 0 0 2" [height=2.1944, +pos="2698,2398", +width=12.111]; +"Tuple: + a: + l0 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:14)", +label="capacity: +inf + (e:14)", +lp="2736,2218.5", +pos="e,2698,2118 2698,2318.8 2698,2262.5 2698,2186.8 2698,2128.4"]; +"Tuple: + a: + l1 + b: + t6 + roles (assigned): + Payload: + 0 + (v:13) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t6 0 0 2" [height=2.8194, +pos="5501,139", +width=12.319]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (\ +v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.99157862424486010e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: 20 + roles (assigned): + Sherpa: + 2 + (e:13)", +label="capacity: 20 + roles (assigned): + Sherpa: + 2 + (e:13)", +lp="5026.5,333.5", +pos="e,4633.4,278.03 5070.7,396.46 4935.3,359.78 4784.2,318.88 4643.1,280.66"]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (\ +v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l1 + b: + t6 + roles (assigned): + Payload: + 0 + (v:13) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:12)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:12)", +lp="5553.5,333.5", +pos="e,5501,240.53 5501,396.46 5501,349.92 5501,296.57 5501,250.54"]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:11) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [height=2.8194, +pos="5716,902", +width=12.319]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:11) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (\ +v:12) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:11)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:11)", +lp="5666.5,692.5", +pos="e,5565.4,629.58 5659.8,800.3 5632.4,750.83 5599.3,690.89 5570.4,638.58"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:10) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [height=2.8194, +pos="5716,1306", +width=12.319]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:10) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:11) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:10)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:10)", +lp="5768.5,1111.5", +pos="e,5716,1003.7 5716,1204.3 5716,1146.3 5716,1073.5 5716,1013.9"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:9) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="5716,1680", +width=12.319]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:9) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:10) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:9)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:9)", +lp="5768.5,1500.5", +pos="e,5716,1407.7 5716,1578.3 5716,1528.6 5716,1468.7 5716,1417.7"]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="5716,2039", +width=19.569]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:9) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:8)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:8)", +lp="5768.5,1859.5", +pos="e,5716,1781.8 5716,1914.9 5716,1875 5716,1831.1 5716,1792.1"]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="5716,2398", +width=19.569]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:7)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:7)", +lp="5768.5,2218.5", +pos="e,5716,2163.1 5716,2273.9 5716,2241.4 5716,2206.2 5716,2173.2"]; +"Tuple: + a: + base + b: + t6 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +6.09909226904476132e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [height=3.4444, +pos="2275,139", +width=19.236]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.57465109530946479e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + base + b: + t6 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +6.09909226904476132e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:6)", +label="capacity: +inf + (e:6)", +lp="2313,333.5", +pos="e,2275,263 2275,388.98 2275,351.8 2275,310.85 2275,273.05"]; +"Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [height=2.1944, +pos="1122,902", +width=12.292]; +"Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.57465109530946479e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + (e:5)", +label="capacity: +inf + (e:5)", +lp="1637,692.5", +pos="e,1652.1,637.12 1251.1,822.96 1344.7,768.72 1475.9,698.88 1599,655 1613.2,649.92 1627.7,645 1642.4,640.23"]; +"Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [height=2.1944, +pos="1122,1306", +width=12.292]; +"Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: +inf + (e:4)", +label="capacity: +inf + (e:4)", +lp="1160,1111.5", +pos="e,1122,981.15 1122,1226.7 1122,1159 1122,1061.7 1122,991.34"]; +"Tuple: + a: + base + b: + t2 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=2.1944, +pos="1122,1680", +width=12.292]; +"Tuple: + a: + base + b: + t2 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: +inf + (e:3)", +label="capacity: +inf + (e:3)", +lp="1160,1500.5", +pos="e,1122,1385.2 1122,1600.7 1122,1540.6 1122,1457.9 1122,1395.4"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="1122,2039", +width=31.167]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 9.97071117292436360e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: 20 + roles (assigned): + Sherpa: + 0, 2 + (e:2)", +label="capacity: 20 + roles (assigned): + Sherpa: + 0, 2 + (e:2)", +lp="2014.5,1859.5", +pos="e,2053.9,1804.1 1614.1,1914.9 1753,1879.9 1904.4,1841.8 2043.9,1806.6"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + base + b: + t2 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + (e:1)", +label="capacity: +inf + (e:1)", +lp="1160,1859.5", +pos="e,1122,1759.1 1122,1914.9 1122,1867 1122,1813.2 1122,1769.2"]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="1122,2398", +width=31.167]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:0)", +label="capacity: +inf + (e:0)", +lp="1160,2218.5", +pos="e,1122,2163.1 1122,2273.9 1122,2241.4 1122,2206.2 1122,2173.2"]; +} diff --git a/test/data/solution_simulation/sample_mission/test5/1/transport-network-solution-1.gexf b/test/data/solution_simulation/sample_mission/test5/1/transport-network-solution-1.gexf new file mode 100644 index 0000000..3394b75 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/1/transport-network-solution-1.gexf @@ -0,0 +1,574 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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a/test/data/solution_simulation/sample_mission/test5/2/20211116-14:27:19+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test5/2/20211116-14:27:19+0100-transport-network.status new file mode 100644 index 0000000..0c3b880 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/2/20211116-14:27:19+0100-transport-network.status @@ -0,0 +1,44 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 4, 3, 6, 5} +Payload : 0 1 0 0 1 0 +Sherpa : 3 0 1 1 0 1 +AtomicAgent: Payload_0 (Payload): 0 1 0 0 1 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 0 0 0 0 1 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 1 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 1 0 0 +AtomicAgent: Payload_0 (Payload) + base l1 l0 l2 + t0 {} {5} {} {} + t1 {} {}..{8..11}#(1) {} {} + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{19}#(0,1) {}..{19}#(0,1) {}..{19}#(0,1) {}..{19}#(0,1) + t4 {} {} {} {23} + t5 {} {} {} {27} + t6 {} {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + base l1 l0 l2 + t0 {4} {} {} {} + t1 {11} {} {} {} + t2 {} {} {} {14} + t3 {} {} {17} {} + t4 {} {20} {} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_1 (Sherpa) + base l1 l0 l2 + t0 {4} {} {} {} + t1 {10} {} {} {} + t2 {} {} {14} {} + t3 {} {} {18} {} + t4 {} {} {21} {} + t5 {} {27} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_2 (Sherpa) + base l1 l0 l2 + t0 {4} {} {} {} + t1 {10} {} {} {} + t2 {} {} {15} {} + t3 {} {} {} {19} + t4 {} {} {} {23} + t5 {} {} {} {27} + t6 {} {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test5/2/final_plan.gexf b/test/data/solution_simulation/sample_mission/test5/2/final_plan.gexf new file mode 100644 index 0000000..7460589 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/2/final_plan.gexf @@ -0,0 +1,308 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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a/test/data/solution_simulation/sample_mission/test5/2/multicommodity-min-cost-flow-final-flow.gexf b/test/data/solution_simulation/sample_mission/test5/2/multicommodity-min-cost-flow-final-flow.gexf new file mode 100644 index 0000000..82fe16d --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/2/multicommodity-min-cost-flow-final-flow.gexf @@ -0,0 +1,523 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/test/data/solution_simulation/sample_mission/test5/2/multicommodity-min-cost-flow.gexf new file mode 100644 index 0000000..82fe16d --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/2/multicommodity-min-cost-flow.gexf @@ -0,0 +1,523 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/2/multicommodity-min-cost-flow.problem b/test/data/solution_simulation/sample_mission/test5/2/multicommodity-min-cost-flow.problem new file mode 100644 index 0000000..43d7489 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/2/multicommodity-min-cost-flow.problem @@ -0,0 +1,209 @@ +\* Problem: multicommodity_min_cost_flow-20211116-14:27:19:525919+0100 *\ +Minimize + obj: + x1 + x2 + x3 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x14 + + x15 + x16 + x17 + x18 + x19 + x20 + x22 + x23 + x24 + x25 + x26 + x27 + + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + x39 + + x40 + +Subject To + y1: + x1 - ~r_1 = 0 + y2: + x2 - ~r_2 = 0 + y3: + x3 - ~r_3 = 0 + y4: + x4 - ~r_4 = 0 + y5: + x5 - ~r_5 = 0 + y6: + x6 - ~r_6 = 0 + y7: + x7 - ~r_7 = 0 + y8: + x8 - ~r_8 = 0 + y9: + x9 - ~r_9 = 0 + y10: + x10 - ~r_10 = 0 + y11: + x11 - ~r_11 = 0 + y12: + x12 - ~r_12 = 0 + y13: + x13 - ~r_13 = 0 + y14: + x14 - ~r_14 = 0 + y15: + x15 - ~r_15 = 0 + y16: + x16 - ~r_16 = 0 + y17: + x17 - ~r_17 = 0 + y18: + x18 - ~r_18 = 0 + y19: + x19 - ~r_19 = 0 + y20: + x20 - ~r_20 = 0 + y21: + x21 - ~r_21 = 0 + y22: + x22 - ~r_22 = 0 + y23: + x23 - ~r_23 = 0 + y24: + x24 - ~r_24 = 0 + y25: + x25 - ~r_25 = 0 + y26: + x26 - ~r_26 = 0 + y27: + x27 - ~r_27 = 0 + y28: + x28 - ~r_28 = 0 + y29: + x29 - ~r_29 = 0 + y30: + x30 - ~r_30 = 0 + y31: + x31 - ~r_31 = 0 + y32: + x32 - ~r_32 = 0 + y33: + x33 - ~r_33 = 0 + y34: + x34 - ~r_34 = 0 + y35: + x35 - ~r_35 = 0 + y36: + x36 - ~r_36 = 0 + y37: + x37 - ~r_37 = 0 + y38: + x38 - ~r_38 = 0 + y39: + x39 - ~r_39 = 0 + y40: + x40 - ~r_40 = 0 + y41: -1 x2 + x1 = 0 + y42: + x2 >= 1 + y43: -1 x8 + x2 = 0 + y44: + x8 >= 1 + y45: -1 x36 + x3 = 0 + y46: -1 x5 + x4 = 0 + y47: -1 x7 + x5 = 0 + y48: -1 x10 + x6 + x7 = 0 + y49: -1 x28 -1 x25 + x8 = 0 + y50: -1 x27 -1 x26 + x9 + x10 = 0 + y51: -1 x35 + x11 = 0 + y52: -1 x1 -1 x14 + x12 = 0 + y53: + x1 + x14 >= 1 + y54: -1 x15 + x13 = 0 + y55: -1 x6 -1 x17 + x14 + x15 = 0 + y56: -1 x9 -1 x18 + x16 + x17 = 0 + y57: -1 x19 + x18 = 0 + y58: -1 x20 + x19 = 0 + y59: -1 x34 + x20 = 0 + y60: + x34 >= 1 + y61: -1 x12 -1 x4 -1 x13 -1 x21 = -1 + y62: -1 x22 + x21 = 0 + y63: -1 x16 -1 x23 + x22 = 0 + y64: -1 x24 + x23 = 0 + y65: -1 x29 + x24 = 0 + y66: -1 x11 -1 x30 + x25 + x26 = 0 + y67: -1 x3 -1 x31 + x27 + x28 = 0 + y68: -1 x32 + x29 = 0 + y69: -1 x33 + x30 + x31 + x32 = 0 + y70: -1 x37 + x33 = 0 + y71: -1 x38 + x34 = 0 + y72: + x38 >= 1 + y73: -1 x39 + x35 = 0 + y74: -1 x40 + x36 = 0 + y75: + x37 + x38 + x39 + x40 = 1 + +Bounds + 0 <= ~r_1 <= + inf + 0 <= ~r_2 <= + inf + 0 <= ~r_3 <= + inf + 0 <= ~r_4 <= + inf + 0 <= ~r_5 <= + inf + 0 <= ~r_6 <= 10 + 0 <= ~r_7 <= + inf + 0 <= ~r_8 <= + inf + 0 <= ~r_9 <= 10 + 0 <= ~r_10 <= + inf + 0 <= ~r_11 <= + inf + 0 <= ~r_12 <= + inf + 0 <= ~r_13 <= + inf + 0 <= ~r_14 <= 10 + 0 <= ~r_15 <= + inf + 0 <= ~r_16 <= 10 + 0 <= ~r_17 <= + inf + 0 <= ~r_18 <= + inf + 0 <= ~r_19 <= + inf + 0 <= ~r_20 <= + inf + 0 <= ~r_21 <= + inf + 0 <= ~r_22 <= + inf + 0 <= ~r_23 <= + inf + 0 <= ~r_24 <= + inf + 0 <= ~r_25 <= 20 + 0 <= ~r_26 <= + inf + 0 <= ~r_27 <= 10 + 0 <= ~r_28 <= + inf + 0 <= ~r_29 <= + inf + 0 <= ~r_30 <= 20 + 0 <= ~r_31 <= 10 + 0 <= ~r_32 <= + inf + 0 <= ~r_33 <= + inf + 0 <= ~r_34 <= + inf + 0 <= ~r_35 <= + inf + 0 <= ~r_36 <= + inf + 0 <= ~r_37 <= + inf + 0 <= ~r_38 <= + inf + 0 <= ~r_39 <= + inf + 0 <= ~r_40 <= + inf + 0 <= x1 <= + inf + 0 <= x2 <= + inf + 0 <= x3 <= + inf + 0 <= x4 <= + inf + 0 <= x5 <= + inf + 0 <= x6 <= 10 + 0 <= x7 <= + inf + 0 <= x8 <= + inf + 0 <= x9 <= 10 + 0 <= x10 <= + inf + 0 <= x11 <= + inf + 0 <= x12 <= + inf + 0 <= x13 <= + inf + 0 <= x14 <= 10 + 0 <= x15 <= + inf + 0 <= x16 <= 10 + 0 <= x17 <= + inf + 0 <= x18 <= + inf + 0 <= x19 <= + inf + 0 <= x20 <= + inf + 0 <= x21 <= + inf + 0 <= x22 <= + inf + 0 <= x23 <= + inf + 0 <= x24 <= + inf + 0 <= x25 <= 20 + 0 <= x26 <= + inf + 0 <= x27 <= 10 + 0 <= x28 <= + inf + 0 <= x29 <= + inf + 0 <= x30 <= 20 + 0 <= x31 <= 10 + 0 <= x32 <= + inf + 0 <= x33 <= + inf + 0 <= x34 <= + inf + 0 <= x35 <= + inf + 0 <= x36 <= + inf + 0 <= x37 <= 0 + 0 <= x38 <= 1 + 0 <= x39 <= 0 + 0 <= x40 <= 0 + +Generals + x1 + x2 + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x13 + x14 + x15 + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + x39 + x40 + +End diff --git a/test/data/solution_simulation/sample_mission/test5/2/multicommodity-min-cost-flow.solution b/test/data/solution_simulation/sample_mission/test5/2/multicommodity-min-cost-flow.solution new file mode 100644 index 0000000..167faf3 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/2/multicommodity-min-cost-flow.solution @@ -0,0 +1,29 @@ +Infeasible - objective value 13.00000000 + 0 x1 1 0 + 1 x2 1 0 + 6 x8 1 0 + 12 x16 1 0 + 14 x18 1 0 + 15 x19 1 0 + 16 x20 1 0 + 17 x22 1 0 + 20 x25 1 0 + 25 x30 1 0 + 28 x33 1 0 + 29 x34 1 0 + 33 x38 1 0 + 36 ~r_1 1 0 + 37 ~r_2 1 0 + 44 ~r_8 1 0 + 48 x12 1 0 + 49 ~r_12 1 0 + 54 ~r_16 1 0 + 56 ~r_18 1 0 + 57 ~r_19 1 0 + 58 ~r_20 1 0 + 61 ~r_22 1 0 + 64 ~r_25 1 0 + 69 ~r_30 1 0 + 72 ~r_33 1 0 + 73 ~r_34 1 0 + 77 ~r_38 1 0 diff --git a/test/data/solution_simulation/sample_mission/test5/2/transhipment-flow-network.gexf b/test/data/solution_simulation/sample_mission/test5/2/transhipment-flow-network.gexf new file mode 100644 index 0000000..9051090 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/2/transhipment-flow-network.gexf @@ -0,0 +1,601 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/2/transport-network-solution-2.dot b/test/data/solution_simulation/sample_mission/test5/2/transport-network-solution-2.dot new file mode 100644 index 0000000..ecedc9d --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/2/transport-network-solution-2.dot @@ -0,0 +1,2108 @@ +digraph GraphvizGraph { + graph [bb="0,0,7655,2732", + concentrate=false, + dpi="96,0", + overlap=false, + pad="0,2", + root="Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 1, 2 + \ +roles (required): + Payload: + 0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 9.99999539105265733e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t6 0 0 2", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 1, 2 + \ +roles (required): + Payload: + 0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 9.99999539105265733e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [height=3.8611, + pos="3447.5,139", + width=31.5]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.99566137719093195e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [height=3.8611, + pos="3573.5,528", + width=25.528]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.99566137719093195e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 1, 2 + \ +roles (required): + Payload: + 0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 9.99999539105265733e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:31)", + label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:31)", + lp="3574,333.5", + pos="e,3492.6,278.21 3528.5,388.94 3517.8,356.18 3506.5,321.14 3495.8,287.97"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + Sherpa: + 2 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.28031482131522334e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" [height=4.2778, + pos="3871.5,962", + width=31.5]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + Sherpa: + 2 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.28031482131522334e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.99566137719093195e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:30)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:30)", +lp="3801,737.5", +pos="e,3669.1,667.28 3765.6,807.77 3736.1,764.82 3704.2,718.29 3674.9,675.74"]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.92549531699829313e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [height=3.8611, +pos="3871.5,1366", +width=25.361]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.92549531699829313e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + Sherpa: + 2 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 8.28031482131522334e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:29)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:29)", +lp="3924,1171.5", +pos="e,3871.5,1116.2 3871.5,1227 3871.5,1194.6 3871.5,1159.8 3871.5,1126.5"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="3767.5,1785", +width=12.153]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.92549531699829313e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:27)", +label="capacity: +inf + (e:27)", +lp="3887.5,1575.5", +pos="e,3854.2,1505.2 3810.5,1683.4 3817.2,1665.2 3823.5,1646.2 3828.5,1628 3838.4,1591.9 3846.3,1552.3 3852.5,1515.1"]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 1 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.90169451377081677e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t3 \ +0 0 2" [height=3.4444, +pos="2033.5,1366", +width=25.194]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 1 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.90169451377081677e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:28)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:28)", +lp="3378,1575.5", +pos="e,2830.1,1490 3494.8,1683.4 3343.3,1629.8 3150.3,1566.4 2974.5,1523 2930.8,1512.2 2885.7,1501.9 2840.1,1492.2"]; +"Tuple: + a: + l2 + b: + t1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 0 2" [height=2.1944, +pos="2228.5,2204", +width=12.111]; +"Tuple: + a: + l2 + b: + t1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:26)", +label="capacity: +inf + (e:26)", +lp="3229.5,1994.5", +pos="e,3405.9,1886.6 2471.5,2125 2537.2,2104.6 2608.3,2083.2 2674.5,2065 2934.5,1993.5 3003.4,1991.2 3264.5,1924 3307.2,1913 3351.9,1901.2 \ +3396.2,1889.2"]; +"Tuple: + a: + l2 + b: + t0 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t0 0 0 2" [height=2.1944, +pos="2228.5,2593", +width=12.111]; +"Tuple: + a: + l2 + b: + t0 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l2 + b: + t1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:25)", +label="capacity: +inf + (e:25)", +lp="2266.5,2398.5", +pos="e,2228.5,2283.1 2228.5,2513.8 2228.5,2449.8 2228.5,2359.7 2228.5,2293.1"]; +"Tuple: + a: + l0 + b: + t6 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 \ +0 2" [height=2.1944, +pos="692.5,139", +width=12.111]; +"Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [height=2.1944, +pos="692.5,528", +width=12.111]; +"Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t6 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 \ +0 2" [key="capacity: +inf + (e:24)", +label="capacity: +inf + (e:24)", +lp="730.5,333.5", +pos="e,692.5,218.08 692.5,448.81 692.5,384.79 692.5,294.68 692.5,228.13"]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 1 + roles (required): + Sherpa: + \ +1 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.28031482131522334e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [height=3.4444, +pos="692.5,962", +width=19.236]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 1 + roles (required): + Sherpa: + \ +1 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.28031482131522334e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:22)", +label="capacity: +inf + (e:22)", +lp="730.5,737.5", +pos="e,692.5,607.02 692.5,837.92 692.5,767.42 692.5,680.78 692.5,617.05"]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 1 + (v:12) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" [height=2.8194, +pos="1905.5,528", +width=12.153]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 1 + roles (required): + Sherpa: + \ +1 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.28031482131522334e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 1 + (v:12) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:23)", +label="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:23)", +lp="1496,737.5", +pos="e,1621.8,629.5 1039.3,837.92 1220.4,773.11 1439.7,694.65 1612.3,632.9"]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 1 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.90169451377081677e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 1 + roles (required): + Sherpa: + \ +1 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.28031482131522334e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:20)", +label="capacity: +inf + (e:20)", +lp="1521.5,1171.5", +pos="e,1104.4,1086.1 1621.6,1241.9 1460.5,1193.4 1276,1137.8 1114,1089"]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (\ +v:11) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t4 0 0 2" [height=3.2361, +pos="2061.5,962", +width=18.278]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 1 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.90169451377081677e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (\ +v:11) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:21)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:21)", +lp="2102,1171.5", +pos="e,2053.4,1078.7 2042.1,1241.8 2045.5,1193.2 2049.3,1137.5 2052.7,1088.7"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 1, 2 + \ +roles (required): + Sherpa: + 1 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [height=3.8611, +pos="2127.5,1785", +width=31.333]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 1, 2 + \ +roles (required): + Sherpa: + 1 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.92549531699829313e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: 20 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (e:19)", +label="capacity: 20 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (e:19)", +lp="2918,1575.5", +pos="e,2958.6,1505.1 2476.7,1646 2598.3,1601.6 2736.5,1555.7 2865.5,1523 2880.3,1519.3 2909.3,1513.7 2948.4,1506.8"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 1, 2 + \ +roles (required): + Sherpa: + 1 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 1 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.90169451377081677e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple \ +22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: +inf + (e:18)", +label="capacity: +inf + (e:18)", +lp="2130.5,1575.5", +pos="e,2061.4,1490.3 2096.3,1645.8 2085.7,1598.9 2074,1546.6 2063.6,1500.1"]; +"Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" [height=2.1944, +pos="1338.5,2204", +width=12.111]; +"Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 1, 2 + \ +roles (required): + Sherpa: + 1 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:17)", +label="capacity: +inf + (e:17)", +lp="1865.5,1994.5", +pos="e,1865.4,1924.2 1487.4,2124.9 1591.3,2069.8 1732.9,1994.5 1856.6,1928.9"]; +"Tuple: + a: + l0 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t0 0 0 2" [height=2.1944, +pos="1338.5,2593", +width=12.111]; +"Tuple: + a: + l0 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:16)", +label="capacity: +inf + (e:16)", +lp="1376.5,2398.5", +pos="e,1338.5,2283.1 1338.5,2513.8 1338.5,2449.8 1338.5,2359.7 1338.5,2293.1"]; +"Tuple: + a: + l1 + b: + t6 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 \ +0 2" [height=2.1944, +pos="1859.5,139", +width=12.111]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 1 + (v:12) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 1, 2 + \ +roles (required): + Payload: + 0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 9.99999539105265733e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:15)", +label="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:15)", +lp="2867,333.5", +pos="e,2896.5,278 2307.9,426.49 2484.5,381.94 2694.9,328.86 2886.5,280.52"]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 1 + (v:12) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l1 + b: + t6 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 \ +0 2" [key="capacity: +inf + (e:14)", +label="capacity: +inf + (e:14)", +lp="1925.5,333.5", +pos="e,1868.8,218 1893.5,426.3 1886.2,364.8 1877,287.14 1870,228.06"]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (\ +v:11) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Sherpa: + 1 + (v:12) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + (e:12)", +label="capacity: +inf + (e:12)", +lp="2035.5,737.5", +pos="e,1942.1,629.71 2019.6,845.41 1996.6,781.41 1968.2,702.46 1945.5,639.31"]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563607993e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [height=3.8611, +pos="5466.5,528", +width=25.361]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (\ +v:11) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563607993e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (e:13)", +label="capacity: 10 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (e:13)", +lp="3630,737.5", +pos="e,4553.2,662.51 2544.6,845.49 2606.3,832.07 2668.8,819.2 2728.5,808 3103.2,737.72 3197.5,716.11 3577.5,685 3986.9,651.49 4092.1,\ +700.34 4501.5,667 4515.2,665.88 4529.1,664.69 4543,663.44"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:10) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" [height=2.8194, +pos="6259.5,1366", +width=12.319]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:10) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + (\ +v:11) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:11)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:11)", +lp="5868,1171.5", +pos="e,2504.5,1078.6 5994.6,1264.4 5850,1214.3 5666.6,1159.4 5497.5,1134 5193.2,1088.3 3034.1,1151.8 2728.5,1116 2658.7,1107.8 2585.7,\ +1095.2 2514.5,1080.7"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:9) +role_info_attributes 22 serialization::\ +archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=2.8194, +pos="6346.5,1785", +width=12.319]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:9) +role_info_attributes 22 serialization::\ +archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:10) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:10)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:10)", +lp="6365,1575.5", +pos="e,6280.6,1467.8 6325.4,1683.3 6312.5,1621.2 6296,1541.8 6282.7,1477.9"]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t1 0 0 2" [height=3.4444, +pos="6950.5,2204", +width=19.569]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:9) +role_info_attributes 22 serialization::\ +archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:9)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:9)", +lp="6772,1994.5", +pos="e,6492.8,1886.5 6771.7,2080 6685.8,2020.4 6583.8,1949.6 6501.3,1892.4"]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t0 0 0 2" [height=3.4444, +pos="6950.5,2593", +width=19.569]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t0 0 0 2" -> "Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 9.04837418035959629e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION \ +0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:8)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:8)", +lp="7003,2398.5", +pos="e,6950.5,2328.3 6950.5,2468.8 6950.5,2427.3 6950.5,2380.7 6950.5,2338.4"]; +"Tuple: + a: + base + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 7.57465128341870297e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [height=3.8611, +pos="5512.5,139", +width=25.361]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563607993e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + base + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 7.57465128341870297e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:7)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:7)", +lp="5546,333.5", +pos="e,5496,278.21 5482.9,388.94 5486.8,356.32 5490.9,321.44 5494.8,288.4"]; +"Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [height=2.1944, +pos="5466.5,962", +width=12.292]; +"Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Sherpa: + 0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 6.75138717563607993e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + (e:6)", +label="capacity: +inf + (e:6)", +lp="5504.5,737.5", +pos="e,5466.5,667.14 5466.5,882.9 5466.5,825.58 5466.5,746.33 5466.5,677.25"]; +"Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [height=2.1944, +pos="5355.5,1366", +width=12.292]; +"Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: +inf + (e:5)", +label="capacity: +inf + (e:5)", +lp="5455.5,1171.5", +pos="e,5444.8,1041.2 5377.3,1286.7 5395.9,1218.8 5422.7,1121.3 5442.1,1050.9"]; +"Tuple: + a: + base + b: + t2 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=2.1944, +pos="5097.5,1785", +width=12.292]; +"Tuple: + a: + base + b: + t2 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: +inf + (e:4)", +label="capacity: +inf + (e:4)", +lp="5294.5,1575.5", +pos="e,5306.6,1445.3 5146.3,1705.7 5190.5,1634 5255.4,1528.6 5301.2,1454.2"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0 + Sherpa: + 0, \ +1, 2 + roles (required): + Sherpa: + 0, 1, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 \ +0 0 20 reconfiguration cost 1.92000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +\ +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [height=3.8611, +pos="4455.5,2204", +width=49.236]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0 + Sherpa: + 0, \ +1, 2 + roles (required): + Sherpa: + 0, 1, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 \ +0 0 20 reconfiguration cost 1.92000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +\ +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Sherpa: + 0 + (v:23) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:2)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:2)", +lp="4245,1994.5", +pos="e,3934.4,1886.6 4226.9,2064.8 4134.4,2008.4 4029.2,1944.4 3942.9,1891.8"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0 + Sherpa: + 0, \ +1, 2 + roles (required): + Sherpa: + 0, 1, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 \ +0 0 20 reconfiguration cost 1.92000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +\ +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 1, 2 + \ +roles (required): + Sherpa: + 1 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.74000000000000000e+03 6 safety 9.84500340476448299e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 3 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 \ +Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 20 + roles (assigned): + Payload: + 0 + Sherpa: + 1, 2 + (e:3)", +label="capacity: 20 + roles (assigned): + Payload: + 0 + Sherpa: + 1, 2 + (e:3)", +lp="3813,1994.5", +pos="e,3167.8,1924.1 3871.7,2064.9 3681.1,2022.2 3467.9,1977.1 3271.5,1942 3240.8,1936.5 3209.6,1931.1 3178,1925.8"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0 + Sherpa: + 0, \ +1, 2 + roles (required): + Sherpa: + 0, 1, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 \ +0 0 20 reconfiguration cost 1.92000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +\ +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + base + b: + t2 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + (e:1)", +label="capacity: +inf + (e:1)", +lp="4890.5,1994.5", +pos="e,4976.1,1864.2 4668.8,2064.8 4767.7,2000.2 4882,1925.6 4967.7,1869.7"]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Payload: + 0 + Sherpa: + 0, \ +1, 2 + roles (required): + Sherpa: + 0, 1, 2 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 \ +0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +\ +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" [height=3.8611, +pos="4455.5,2593", +width=49.236]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Payload: + 0 + Sherpa: + 0, \ +1, 2 + roles (required): + Sherpa: + 0, 1, 2 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 \ +0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +\ +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + base + b: + t1 + roles (assigned): + Payload: + 0 + Sherpa: + 0, \ +1, 2 + roles (required): + Sherpa: + 0, 1, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 \ +0 0 20 reconfiguration cost 1.92000000000000000e+03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +\ +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 4 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 3 0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +1 8 Sherpa_1 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:0)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:0)", +lp="4508,2398.5", +pos="e,4455.5,2343.2 4455.5,2453.9 4455.5,2421.3 4455.5,2386.4 4455.5,2353.4"]; +} diff --git a/test/data/solution_simulation/sample_mission/test5/2/transport-network-solution-2.gexf b/test/data/solution_simulation/sample_mission/test5/2/transport-network-solution-2.gexf new file mode 100644 index 0000000..0148e2d --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/2/transport-network-solution-2.gexf @@ -0,0 +1,601 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/3/20211116-14:28:29+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test5/3/20211116-14:28:29+0100-transport-network.status new file mode 100644 index 0000000..f56fac4 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/3/20211116-14:28:29+0100-transport-network.status @@ -0,0 +1,35 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 4, 3, 6, 5} +Payload : 0 1 0 0 1 0 +Sherpa : 3 0 1 1 0 1 +AtomicAgent: Payload_0 (Payload): 0 1 0 0 1 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 0 1 0 0 0 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 0 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 1 0 1 +AtomicAgent: Payload_0 (Payload) + base l1 l0 l2 + t0 {} {5} {} {} + t1 {} {}..{8..11}#(1) {} {} + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{19}#(0,1) {}..{19}#(0,1) {}..{19}#(0,1) {}..{19}#(0,1) + t4 {} {} {} {23} + t5 {} {} {} {27} + t6 {} {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + base l1 l0 l2 + t0 {4} {} {} {} + t1 {10} {} {} {} + t2 {} {} {14} {} + t3 {} {} {18} {} + t4 {} {} {20} {} + t5 {27} {} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_2 (Sherpa) + base l1 l0 l2 + t0 {4} {} {} {} + t1 {9} {} {} {} + t2 {} {15} {} {} + t3 {} {} {} {19} + t4 {} {} {} {20} + t5 {24} {} {} {} + t6 {} {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test5/3/final_plan.gexf b/test/data/solution_simulation/sample_mission/test5/3/final_plan.gexf new file mode 100644 index 0000000..ef5f6a8 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/3/final_plan.gexf @@ -0,0 +1,308 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/3/final_solution_network.gexf b/test/data/solution_simulation/sample_mission/test5/3/final_solution_network.gexf new file mode 100644 index 0000000..9693e88 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/3/final_solution_network.gexf @@ -0,0 +1,583 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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0000000..d891275 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow-final-flow.gexf @@ -0,0 +1,509 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow-init.gexf b/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow-init.gexf new file mode 100644 index 0000000..12791f7 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow-init.gexf @@ -0,0 +1,509 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow.gexf b/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow.gexf new file mode 100644 index 0000000..d891275 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow.gexf @@ -0,0 +1,509 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow.problem b/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow.problem new file mode 100644 index 0000000..0859a45 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow.problem @@ -0,0 +1,200 @@ +\* Problem: multicommodity_min_cost_flow-20211116-14:28:29:361055+0100 *\ +Minimize + obj: + x1 + x2 + x3 + x4 + x5 + x7 + x8 + x9 + x10 + x11 + x13 + + x14 + x15 + x16 + x17 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + +Subject To + y1: + x1 - ~r_1 = 0 + y2: + x2 - ~r_2 = 0 + y3: + x3 - ~r_3 = 0 + y4: + x4 - ~r_4 = 0 + y5: + x5 - ~r_5 = 0 + y6: + x6 - ~r_6 = 0 + y7: + x7 - ~r_7 = 0 + y8: + x8 - ~r_8 = 0 + y9: + x9 - ~r_9 = 0 + y10: + x10 - ~r_10 = 0 + y11: + x11 - ~r_11 = 0 + y12: + x12 - ~r_12 = 0 + y13: + x13 - ~r_13 = 0 + y14: + x14 - ~r_14 = 0 + y15: + x15 - ~r_15 = 0 + y16: + x16 - ~r_16 = 0 + y17: + x17 - ~r_17 = 0 + y18: + x18 - ~r_18 = 0 + y19: + x19 - ~r_19 = 0 + y20: + x20 - ~r_20 = 0 + y21: + x21 - ~r_21 = 0 + y22: + x22 - ~r_22 = 0 + y23: + x23 - ~r_23 = 0 + y24: + x24 - ~r_24 = 0 + y25: + x25 - ~r_25 = 0 + y26: + x26 - ~r_26 = 0 + y27: + x27 - ~r_27 = 0 + y28: + x28 - ~r_28 = 0 + y29: + x29 - ~r_29 = 0 + y30: + x30 - ~r_30 = 0 + y31: + x31 - ~r_31 = 0 + y32: + x32 - ~r_32 = 0 + y33: + x33 - ~r_33 = 0 + y34: + x34 - ~r_34 = 0 + y35: + x35 - ~r_35 = 0 + y36: + x36 - ~r_36 = 0 + y37: + x37 - ~r_37 = 0 + y38: + x38 - ~r_38 = 0 + y39: -1 x3 + x1 = 0 + y40: + x3 >= 1 + y41: -1 x15 + x2 + x3 = 0 + y42: + x15 >= 1 + y43: -1 x5 + x4 = 0 + y44: -1 x34 + x5 = 0 + y45: -1 x7 + x6 = 0 + y46: -1 x9 + x7 = 0 + y47: -1 x10 + x8 + x9 = 0 + y48: -1 x26 + x10 = 0 + y49: -1 x33 + x11 = 0 + y50: -1 x13 + x12 = 0 + y51: -1 x14 + x13 = 0 + y52: -1 x16 + x14 = 0 + y53: -1 x4 -1 x24 + x15 = 0 + y54: -1 x25 + x16 = 0 + y55: -1 x32 + x17 = 0 + y56: + x32 >= 1 + y57: -1 x18 -1 x6 -1 x12 -1 x19 = -1 + y58: -1 x1 -1 x20 + x18 = 0 + y59: + x1 + x20 >= 1 + y60: -1 x21 + x19 = 0 + y61: -1 x2 -1 x8 -1 x22 + x20 + x21 = 0 + y62: -1 x23 + x22 = 0 + y63: -1 x27 + x23 = 0 + y64: -1 x17 -1 x28 + x24 + x25 = 0 + y65: -1 x11 -1 x29 + x26 = 0 + y66: -1 x30 + x27 = 0 + y67: -1 x31 + x28 + x29 + x30 = 0 + y68: -1 x35 + x31 = 0 + y69: -1 x36 + x32 = 0 + y70: + x36 >= 1 + y71: -1 x37 + x33 = 0 + y72: -1 x38 + x34 = 0 + y73: + x35 + x36 + x37 + x38 = 1 + +Bounds + 0 <= ~r_1 <= + inf + 0 <= ~r_2 <= 10 + 0 <= ~r_3 <= + inf + 0 <= ~r_4 <= + inf + 0 <= ~r_5 <= + inf + 0 <= ~r_6 <= + inf + 0 <= ~r_7 <= + inf + 0 <= ~r_8 <= 10 + 0 <= ~r_9 <= + inf + 0 <= ~r_10 <= + inf + 0 <= ~r_11 <= + inf + 0 <= ~r_12 <= + inf + 0 <= ~r_13 <= + inf + 0 <= ~r_14 <= + inf + 0 <= ~r_15 <= + inf + 0 <= ~r_16 <= + inf + 0 <= ~r_17 <= + inf + 0 <= ~r_18 <= + inf + 0 <= ~r_19 <= + inf + 0 <= ~r_20 <= 10 + 0 <= ~r_21 <= + inf + 0 <= ~r_22 <= + inf + 0 <= ~r_23 <= + inf + 0 <= ~r_24 <= 10 + 0 <= ~r_25 <= + inf + 0 <= ~r_26 <= + inf + 0 <= ~r_27 <= + inf + 0 <= ~r_28 <= 10 + 0 <= ~r_29 <= 10 + 0 <= ~r_30 <= + inf + 0 <= ~r_31 <= + inf + 0 <= ~r_32 <= + inf + 0 <= ~r_33 <= + inf + 0 <= ~r_34 <= + inf + 0 <= ~r_35 <= + inf + 0 <= ~r_36 <= + inf + 0 <= ~r_37 <= + inf + 0 <= ~r_38 <= + inf + 0 <= x1 <= + inf + 0 <= x2 <= 10 + 0 <= x3 <= + inf + 0 <= x4 <= + inf + 0 <= x5 <= + inf + 0 <= x6 <= + inf + 0 <= x7 <= + inf + 0 <= x8 <= 10 + 0 <= x9 <= + inf + 0 <= x10 <= + inf + 0 <= x11 <= + inf + 0 <= x12 <= + inf + 0 <= x13 <= + inf + 0 <= x14 <= + inf + 0 <= x15 <= + inf + 0 <= x16 <= + inf + 0 <= x17 <= + inf + 0 <= x18 <= + inf + 0 <= x19 <= + inf + 0 <= x20 <= 10 + 0 <= x21 <= + inf + 0 <= x22 <= + inf + 0 <= x23 <= + inf + 0 <= x24 <= 10 + 0 <= x25 <= + inf + 0 <= x26 <= + inf + 0 <= x27 <= + inf + 0 <= x28 <= 10 + 0 <= x29 <= 10 + 0 <= x30 <= + inf + 0 <= x31 <= + inf + 0 <= x32 <= + inf + 0 <= x33 <= + inf + 0 <= x34 <= + inf + 0 <= x35 <= 0 + 0 <= x36 <= 1 + 0 <= x37 <= 0 + 0 <= x38 <= 0 + +Generals + x1 + x2 + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x13 + x14 + x15 + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + x38 + +End diff --git a/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow.solution b/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow.solution new file mode 100644 index 0000000..a21aa71 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/3/multicommodity-min-cost-flow.solution @@ -0,0 +1,17 @@ +Optimal - objective value 7.00000000 + 0 x1 1 1 + 2 x3 1 1 + 12 x15 1 1 + 14 x17 1 1 + 19 x24 1 1 + 27 x32 1 1 + 31 x36 1 1 + 34 ~r_1 1 0 + 36 ~r_3 1 0 + 50 ~r_15 1 0 + 52 ~r_17 1 0 + 53 x18 1 0 + 54 ~r_18 1 0 + 61 ~r_24 1 0 + 69 ~r_32 1 0 + 73 ~r_36 1 0 diff --git a/test/data/solution_simulation/sample_mission/test5/3/transhipment-flow-network.gexf b/test/data/solution_simulation/sample_mission/test5/3/transhipment-flow-network.gexf new file mode 100644 index 0000000..bb6f3a8 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/3/transhipment-flow-network.gexf @@ -0,0 +1,583 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/3/transport-network-solution-3.dot b/test/data/solution_simulation/sample_mission/test5/3/transport-network-solution-3.dot new file mode 100644 index 0000000..378f144 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/3/transport-network-solution-3.dot @@ -0,0 +1,1885 @@ +digraph GraphvizGraph { + graph [bb="0,0,5614,2552", + concentrate=false, + dpi="96,0", + overlap=false, + pad="0,2", + root="Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Payload: + 0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.56000000000000000e+03 6 safety 9.96385362633102623e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Payload: + 0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.56000000000000000e+03 6 safety 9.96385362633102623e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [height=3.8611, + pos="3625,139", + width=25.528]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.83643166563956495e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [height=3.4444, + pos="3625,513", + width=19.569]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.83643166563956495e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Payload: + 0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.56000000000000000e+03 6 safety 9.96385362633102623e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:29)", + label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:29)", + lp="3677.5,333.5", + pos="e,3625,278.18 3625,388.98 3625,356.8 3625,321.8 3625,288.47"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + Sherpa: + 2 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" [height=4.2778, + pos="3590,902", + width=31.5]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + Sherpa: + 2 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +7.83643166563956495e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:27)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:27)", +lp="3663.5,692.5", +pos="e,3613.8,637.03 3603.9,747.98 3606.9,714.61 3610,679.57 3612.9,647.04"]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 2 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.35858357922640383e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 \ +t5 0 0 2" [height=3.4444, +pos="1995,513", +width=25.194]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + Sherpa: + 2 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 2 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.35858357922640383e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 \ +t5 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:28)", +label="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:28)", +lp="2892.5,692.5", +pos="e,2503.6,637.03 2958.5,747.98 2810.9,711.98 2655.3,674.05 2513.3,639.41"]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [height=3.8611, +pos="3590,1306", +width=25.361]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Payload: + 0 + Sherpa: + 2 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 \ +8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:26)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:26)", +lp="3642.5,1111.5", +pos="e,3590,1056.2 3590,1167 3590,1134.6 3590,1099.8 3590,1066.5"]; +"Tuple: + a: + l2 + b: + t2 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t2 0 \ +0 2" [height=2.1944, +pos="3589,1710", +width=12.111]; +"Tuple: + a: + l2 + b: + t2 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t2 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:25)", +label="capacity: +inf + (e:25)", +lp="3627,1515.5", +pos="e,3589.7,1445.3 3589.2,1630.7 3589.3,1580.8 3589.5,1514.9 3589.6,1455.5"]; +"Tuple: + a: + l2 + b: + t1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" [height=2.1944, +pos="3588,2069", +width=12.111]; +"Tuple: + a: + l2 + b: + t1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t2 + (v:23) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t2 0 \ +0 2" [key="capacity: +inf + (e:24)", +label="capacity: +inf + (e:24)", +lp="3626,1889.5", +pos="e,3588.8,1789 3588.2,1989.8 3588.4,1933.5 3588.6,1857.8 3588.8,1799.4"]; +"Tuple: + a: + l2 + b: + t0 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t0 0 \ +0 2" [height=2.1944, +pos="3588,2428", +width=12.111]; +"Tuple: + a: + l2 + b: + t0 + (v:21) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t0 0 \ +0 2" -> "Tuple: + a: + l2 + b: + t1 + (v:22) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION 0 0 2 t1 0 \ +0 2" [key="capacity: +inf + (e:23)", +label="capacity: +inf + (e:23)", +lp="3626,2248.5", +pos="e,3588,2148 3588,2348.8 3588,2292.5 3588,2216.8 3588,2158.4"]; +"Tuple: + a: + l0 + b: + t6 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 \ +0 2" [height=2.1944, +pos="634,139", +width=12.111]; +"Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [height=2.1944, +pos="634,513", +width=12.111]; +"Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t6 + (v:20) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t6 0 \ +0 2" [key="capacity: +inf + (e:22)", +label="capacity: +inf + (e:22)", +lp="672,333.5", +pos="e,634,218.2 634,433.68 634,373.56 634,290.91 634,228.44"]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [height=3.4444, +pos="790,902", +width=19.236]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:20)", +label="capacity: +inf + (e:20)", +lp="755,692.5", +pos="e,665.79,592.28 740.21,777.85 717.25,720.6 690.53,653.95 669.63,601.84"]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 2 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.35858357922640383e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 \ +t5 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:21)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:21)", +lp="1588.5,692.5", +pos="e,1610.7,637.05 1174.2,777.98 1310.4,734.01 1463.8,684.47 1600.9,640.23"]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [height=3.4444, +pos="790,1306", +width=19.236]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:19)", +label="capacity: +inf + (e:19)", +lp="828,1111.5", +pos="e,790,1026.3 790,1181.8 790,1135.7 790,1083.4 790,1036.5"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [height=3.4444, +pos="790,1710", +width=19.236]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:18)", +label="capacity: +inf + (e:18)", +lp="828,1515.5", +pos="e,790,1430.3 790,1585.8 790,1539.7 790,1487.4 790,1440.5"]; +"Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 \ +0 2" [height=2.1944, +pos="436,2069", +width=12.111]; +"Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:17)", +label="capacity: +inf + (e:17)", +lp="683,1889.5", +pos="e,667.56,1834.2 514.13,1989.8 557.01,1946.3 611.31,1891.2 660.36,1841.5"]; +"Tuple: + a: + l0 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t0 0 \ +0 2" [height=2.1944, +pos="436,2428", +width=12.111]; +"Tuple: + a: + l0 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t0 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 \ +0 2" [key="capacity: +inf + (e:16)", +label="capacity: +inf + (e:16)", +lp="474,2248.5", +pos="e,436,2148 436,2348.8 436,2292.5 436,2216.8 436,2158.4"]; +"Tuple: + a: + l1 + b: + t6 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 \ +0 2" [height=2.1944, +pos="5178,139", +width=12.111]; +"Tuple: + a: + l1 + b: + t5 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 0 \ +0 2" [height=2.1944, +pos="5178,513", +width=12.111]; +"Tuple: + a: + l1 + b: + t5 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 0 \ +0 2" -> "Tuple: + a: + l1 + b: + t6 + (v:13) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 \ +0 2" [key="capacity: +inf + (e:15)", +label="capacity: +inf + (e:15)", +lp="5216,333.5", +pos="e,5178,218.2 5178,433.68 5178,373.56 5178,290.91 5178,228.44"]; +"Tuple: + a: + l1 + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 \ +0 2" [height=2.1944, +pos="5178,902", +width=12.111]; +"Tuple: + a: + l1 + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 \ +0 2" -> "Tuple: + a: + l1 + b: + t5 + (v:12) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:14)", +label="capacity: +inf + (e:14)", +lp="5216,692.5", +pos="e,5178,592.08 5178,822.81 5178,758.79 5178,668.68 5178,602.13"]; +"Tuple: + a: + l1 + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t3 0 \ +0 2" [height=2.1944, +pos="5067,1306", +width=12.111]; +"Tuple: + a: + l1 + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t3 0 \ +0 2" -> "Tuple: + a: + l1 + b: + t4 + (v:11) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 \ +0 2" [key="capacity: +inf + (e:13)", +label="capacity: +inf + (e:13)", +lp="5167,1111.5", +pos="e,5156.3,981.15 5088.8,1226.7 5107.4,1158.8 5134.2,1061.3 5153.6,990.91"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (\ +v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t2 0 0 2" [height=3.2361, +pos="4724,1710", +width=18.278]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (\ +v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + \ +roles (required): + Sherpa: + 2 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: 10 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (e:12)", +label="capacity: 10 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (e:12)", +lp="4376.5,1515.5", +pos="e,3980.2,1445 4396.8,1593.4 4269.7,1548.2 4123,1495.9 3989.7,1448.4"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (\ +v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l1 + b: + t3 + (v:10) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t3 0 \ +0 2" [key="capacity: +inf + (e:11)", +label="capacity: +inf + (e:11)", +lp="4964,1515.5", +pos="e,4999.7,1385.3 4823,1593.4 4877.2,1529.5 4943.4,1451.6 4993.1,1393.1"]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="4747,2069", +width=19.569]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (\ +v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:10)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:10)", +lp="4789.5,1889.5", +pos="e,4731.5,1826.5 4739.1,1944.9 4736.8,1910 4734.4,1871.9 4732.1,1836.8"]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="4747,2428", +width=19.569]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:9)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:9)", +lp="4799.5,2248.5", +pos="e,4747,2193.1 4747,2303.9 4747,2271.4 4747,2236.2 4747,2203.2"]; +"Tuple: + a: + base + b: + t6 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +4.37716903781060984e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [height=3.4444, +pos="1995,139", +width=19.236]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 2 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.35858357922640383e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 \ +t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + Sherpa: + 0 + \ +roles (required): + Payload: + 0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 1.56000000000000000e+03 6 safety 9.96385362633102623e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#\ +Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:8)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:8)", +lp="2959.5,333.5", +pos="e,3019.1,278.01 2535.5,388.98 2687.3,354.15 2853.5,316.01 3009.4,280.26"]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 2 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.35858357922640383e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 \ +t5 0 0 2" -> "Tuple: + a: + base + b: + t6 + roles (assigned): + Sherpa: + 2 + roles (required): + Sherpa: + \ +2 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +4.37716903781060984e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:7)", +label="capacity: +inf + (e:7)", +lp="2033,333.5", +pos="e,1995,263 1995,388.98 1995,351.8 1995,310.85 1995,273.05"]; +"Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [height=2.1944, +pos="1995,902", +width=12.292]; +"Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 2 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.35858357922640383e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 \ +t5 0 0 2" [key="capacity: +inf + (e:6)", +label="capacity: +inf + (e:6)", +lp="2033,692.5", +pos="e,1995,637.27 1995,822.81 1995,772.41 1995,705.85 1995,647.34"]; +"Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [height=2.1944, +pos="2001,1306", +width=12.292]; +"Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: +inf + (e:5)", +label="capacity: +inf + (e:5)", +lp="2037,1111.5", +pos="e,1996.2,981.15 1999.8,1226.7 1998.8,1159 1997.4,1061.7 1996.3,991.34"]; +"Tuple: + a: + base + b: + t2 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [height=2.1944, +pos="2012,1710", +width=12.292]; +"Tuple: + a: + base + b: + t2 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" -> "Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: +inf + (e:4)", +label="capacity: +inf + (e:4)", +lp="2047,1515.5", +pos="e,2003.2,1385.2 2009.8,1630.7 2008,1563 2005.3,1465.7 2003.4,1395.3"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="2012,2069", +width=31.167]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:2)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:2)", +lp="1563.5,1889.5", +pos="e,1212.3,1834.1 1589.7,1944.9 1470.9,1910 1341.4,1872 1222,1836.9"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + Sherpa: + 2 + (\ +v:9) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+03 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 \ +http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa \ +2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+00 2 l1 \ +8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:3)", +label="capacity: 10 + roles (assigned): + Sherpa: + 2 + (e:3)", +lp="3531.5,1889.5", +pos="e,4098.4,1826.5 2737.1,1945 2973,1909.1 3236.5,1873.8 3479,1852 3724.8,1829.9 3788.6,1859.9 4034,1834 4051.9,1832.1 4070,1830 4088.2,\ +1827.8"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + base + b: + t2 + (v:2) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 \ +0 0 2" [key="capacity: +inf + (e:1)", +label="capacity: +inf + (e:1)", +lp="2050,1889.5", +pos="e,2012,1789.1 2012,1944.9 2012,1897 2012,1843.2 2012,1799.2"]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="2012,2428", +width=31.167]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 2 + roles (required): + \ +Sherpa: + 0, 2 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 2 8 Sherpa_2 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 2 8 Sherpa_2 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:0)", +label="capacity: +inf + (e:0)", +lp="2050,2248.5", +pos="e,2012,2193.1 2012,2303.9 2012,2271.4 2012,2236.2 2012,2203.2"]; +} diff --git a/test/data/solution_simulation/sample_mission/test5/3/transport-network-solution-3.gexf b/test/data/solution_simulation/sample_mission/test5/3/transport-network-solution-3.gexf new file mode 100644 index 0000000..9693e88 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/3/transport-network-solution-3.gexf @@ -0,0 +1,583 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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a/test/data/solution_simulation/sample_mission/test5/4/20211116-14:29:04+0100-transport-network.status b/test/data/solution_simulation/sample_mission/test5/4/20211116-14:29:04+0100-transport-network.status new file mode 100644 index 0000000..10b39fb --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/4/20211116-14:29:04+0100-transport-network.status @@ -0,0 +1,35 @@ +TransportNetwork: # + Timepoints: {0, 1, 2, 4, 3, 6, 5} +Payload : 0 1 0 0 1 0 +Sherpa : 3 0 1 1 0 1 +AtomicAgent: Payload_0 (Payload): 0 1 0 0 1 0 +AtomicAgent: Sherpa_0 (Sherpa): 1 0 1 0 0 1 +AtomicAgent: Sherpa_1 (Sherpa): 1 0 0 1 0 0 +AtomicAgent: Sherpa_2 (Sherpa): 1 0 0 0 0 0 +AtomicAgent: Payload_0 (Payload) + base l1 l0 l2 + t0 {} {5} {} {} + t1 {} {}..{8..11}#(1) {} {} + t2 {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) {}..{12..15}#(0,1) + t3 {}..{19}#(0,1) {}..{19}#(0,1) {}..{19}#(0,1) {}..{19}#(0,1) + t4 {} {} {} {23} + t5 {} {} {} {27} + t6 {} {} {} {} +AtomicAgent: Sherpa_0 (Sherpa) + base l1 l0 l2 + t0 {4} {} {} {} + t1 {10} {} {} {} + t2 {} {} {14} {} + t3 {} {} {18} {} + t4 {} {} {20} {} + t5 {24} {} {} {} + t6 {} {} {} {} +AtomicAgent: Sherpa_1 (Sherpa) + base l1 l0 l2 + t0 {4} {} {} {} + t1 {8} {} {} {} + t2 {15} {} {} {} + t3 {} {} {} {19} + t4 {} {} {} {20} + t5 {26} {} {} {} + t6 {} {} {} {} diff --git a/test/data/solution_simulation/sample_mission/test5/4/final_plan.gexf b/test/data/solution_simulation/sample_mission/test5/4/final_plan.gexf new file mode 100644 index 0000000..18569af --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/4/final_plan.gexf @@ -0,0 +1,366 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/test/data/solution_simulation/sample_mission/test5/4/multicommodity-min-cost-flow-final-flow.gexf new file mode 100644 index 0000000..e551996 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/4/multicommodity-min-cost-flow-final-flow.gexf @@ -0,0 +1,502 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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@@ -0,0 +1,502 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/4/multicommodity-min-cost-flow.problem b/test/data/solution_simulation/sample_mission/test5/4/multicommodity-min-cost-flow.problem new file mode 100644 index 0000000..01301cd --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/4/multicommodity-min-cost-flow.problem @@ -0,0 +1,196 @@ +\* Problem: multicommodity_min_cost_flow-20211116-14:29:04:338896+0100 *\ +Minimize + obj: + x2 + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x13 + + x14 + x15 + x16 + x17 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + +Subject To + y1: + x1 - ~r_1 = 0 + y2: + x2 - ~r_2 = 0 + y3: + x3 - ~r_3 = 0 + y4: + x4 - ~r_4 = 0 + y5: + x5 - ~r_5 = 0 + y6: + x6 - ~r_6 = 0 + y7: + x7 - ~r_7 = 0 + y8: + x8 - ~r_8 = 0 + y9: + x9 - ~r_9 = 0 + y10: + x10 - ~r_10 = 0 + y11: + x11 - ~r_11 = 0 + y12: + x12 - ~r_12 = 0 + y13: + x13 - ~r_13 = 0 + y14: + x14 - ~r_14 = 0 + y15: + x15 - ~r_15 = 0 + y16: + x16 - ~r_16 = 0 + y17: + x17 - ~r_17 = 0 + y18: + x18 - ~r_18 = 0 + y19: + x19 - ~r_19 = 0 + y20: + x20 - ~r_20 = 0 + y21: + x21 - ~r_21 = 0 + y22: + x22 - ~r_22 = 0 + y23: + x23 - ~r_23 = 0 + y24: + x24 - ~r_24 = 0 + y25: + x25 - ~r_25 = 0 + y26: + x26 - ~r_26 = 0 + y27: + x27 - ~r_27 = 0 + y28: + x28 - ~r_28 = 0 + y29: + x29 - ~r_29 = 0 + y30: + x30 - ~r_30 = 0 + y31: + x31 - ~r_31 = 0 + y32: + x32 - ~r_32 = 0 + y33: + x33 - ~r_33 = 0 + y34: + x34 - ~r_34 = 0 + y35: + x35 - ~r_35 = 0 + y36: + x36 - ~r_36 = 0 + y37: + x37 - ~r_37 = 0 + y38: -1 x2 + x1 = 0 + y39: + x2 >= 1 + y40: -1 x4 + x2 = 0 + y41: + x4 >= 1 + y42: -1 x23 + x3 + x4 = 0 + y43: + x23 >= 1 + y44: -1 x6 + x5 = 0 + y45: -1 x33 + x6 = 0 + y46: -1 x9 + x7 = 0 + y47: -1 x10 + x8 + x9 = 0 + y48: -1 x25 + x10 = 0 + y49: -1 x32 + x11 = 0 + y50: -1 x13 + x12 = 0 + y51: -1 x14 + x13 = 0 + y52: -1 x15 + x14 = 0 + y53: -1 x16 + x15 = 0 + y54: -1 x17 + x16 = 0 + y55: -1 x31 + x17 = 0 + y56: + x31 >= 1 + y57: -1 x1 -1 x18 -1 x12 -1 x19 = -1 + y58: -1 x7 -1 x20 + x18 = 0 + y59: -1 x21 + x19 = 0 + y60: -1 x3 -1 x8 -1 x22 + x20 + x21 = 0 + y61: -1 x24 + x22 = 0 + y62: -1 x5 -1 x26 + x23 = 0 + y63: -1 x27 + x24 = 0 + y64: -1 x11 -1 x28 + x25 = 0 + y65: -1 x29 + x26 + x27 = 0 + y66: -1 x30 + x28 + x29 = 0 + y67: -1 x34 + x30 = 0 + y68: -1 x35 + x31 = 0 + y69: + x35 >= 1 + y70: -1 x36 + x32 = 0 + y71: -1 x37 + x33 = 0 + y72: + x34 + x35 + x36 + x37 = 1 + +Bounds + 0 <= ~r_1 <= + inf + 0 <= ~r_2 <= + inf + 0 <= ~r_3 <= 10 + 0 <= ~r_4 <= + inf + 0 <= ~r_5 <= + inf + 0 <= ~r_6 <= + inf + 0 <= ~r_7 <= + inf + 0 <= ~r_8 <= 10 + 0 <= ~r_9 <= + inf + 0 <= ~r_10 <= + inf + 0 <= ~r_11 <= + inf + 0 <= ~r_12 <= + inf + 0 <= ~r_13 <= + inf + 0 <= ~r_14 <= + inf + 0 <= ~r_15 <= + inf + 0 <= ~r_16 <= + inf + 0 <= ~r_17 <= + inf + 0 <= ~r_18 <= + inf + 0 <= ~r_19 <= + inf + 0 <= ~r_20 <= 10 + 0 <= ~r_21 <= + inf + 0 <= ~r_22 <= + inf + 0 <= ~r_23 <= + inf + 0 <= ~r_24 <= + inf + 0 <= ~r_25 <= + inf + 0 <= ~r_26 <= 10 + 0 <= ~r_27 <= + inf + 0 <= ~r_28 <= 10 + 0 <= ~r_29 <= + inf + 0 <= ~r_30 <= + inf + 0 <= ~r_31 <= + inf + 0 <= ~r_32 <= + inf + 0 <= ~r_33 <= + inf + 0 <= ~r_34 <= + inf + 0 <= ~r_35 <= + inf + 0 <= ~r_36 <= + inf + 0 <= ~r_37 <= + inf + 0 <= x1 <= + inf + 0 <= x2 <= + inf + 0 <= x3 <= 10 + 0 <= x4 <= + inf + 0 <= x5 <= + inf + 0 <= x6 <= + inf + 0 <= x7 <= + inf + 0 <= x8 <= 10 + 0 <= x9 <= + inf + 0 <= x10 <= + inf + 0 <= x11 <= + inf + 0 <= x12 <= + inf + 0 <= x13 <= + inf + 0 <= x14 <= + inf + 0 <= x15 <= + inf + 0 <= x16 <= + inf + 0 <= x17 <= + inf + 0 <= x18 <= + inf + 0 <= x19 <= + inf + 0 <= x20 <= 10 + 0 <= x21 <= + inf + 0 <= x22 <= + inf + 0 <= x23 <= + inf + 0 <= x24 <= + inf + 0 <= x25 <= + inf + 0 <= x26 <= 10 + 0 <= x27 <= + inf + 0 <= x28 <= 10 + 0 <= x29 <= + inf + 0 <= x30 <= + inf + 0 <= x31 <= + inf + 0 <= x32 <= + inf + 0 <= x33 <= + inf + 0 <= x34 <= 0 + 0 <= x35 <= 1 + 0 <= x36 <= 0 + 0 <= x37 <= 0 + +Generals + x1 + x2 + x3 + x4 + x5 + x6 + x7 + x8 + x9 + x10 + x11 + x12 + x13 + x14 + x15 + x16 + x17 + x18 + x19 + x20 + x21 + x22 + x23 + x24 + x25 + x26 + x27 + x28 + x29 + x30 + x31 + x32 + x33 + x34 + x35 + x36 + x37 + +End diff --git a/test/data/solution_simulation/sample_mission/test5/4/multicommodity-min-cost-flow.solution b/test/data/solution_simulation/sample_mission/test5/4/multicommodity-min-cost-flow.solution new file mode 100644 index 0000000..7a85a1a --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/4/multicommodity-min-cost-flow.solution @@ -0,0 +1,29 @@ +Infeasible - objective value 13.00000000 + 0 x2 1 0 + 2 x4 1 0 + 3 x5 1 0 + 4 x6 1 0 + 10 x13 1 0 + 11 x14 1 0 + 12 x15 1 0 + 13 x16 1 0 + 14 x17 1 0 + 18 x23 1 0 + 26 x31 1 0 + 28 x33 1 0 + 30 x35 1 0 + 35 ~r_2 1 0 + 37 ~r_4 1 0 + 38 ~r_5 1 0 + 39 ~r_6 1 0 + 45 x12 1 0 + 46 ~r_12 1 0 + 47 ~r_13 1 0 + 48 ~r_14 1 0 + 49 ~r_15 1 0 + 50 ~r_16 1 0 + 51 ~r_17 1 0 + 59 ~r_23 1 0 + 67 ~r_31 1 0 + 69 ~r_33 1 0 + 71 ~r_35 1 0 diff --git a/test/data/solution_simulation/sample_mission/test5/4/transhipment-flow-network.gexf b/test/data/solution_simulation/sample_mission/test5/4/transhipment-flow-network.gexf new file mode 100644 index 0000000..15baa57 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/4/transhipment-flow-network.gexf @@ -0,0 +1,574 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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t6 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 7.52432156089303139e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t6 0 0 2", + splines=true + ]; + node [fixedsize=false, + label="\N", + pin=false, + pos="0,0", + shape=box, + width=0 + ]; + edge [label=o]; + "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 7.52432156089303139e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t6 0 0 2" [height=3.4444, + pos="1099,124", + width=19.569]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 8.54588818066749245e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t5 0 0 2" [height=3.4444, + pos="1099,483", + width=19.569]; + "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 8.54588818066749245e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t5 0 0 2" -> "Tuple: + a: + l2 + b: + t6 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:27) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 7.52432156089303139e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:28)", + label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:28)", + lp="1151.5,303.5", + pos="e,1099,248.06 1099,358.95 1099,326.44 1099,291.24 1099,258.23"]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + \ +roles (required): + Payload: + 0 + Sherpa: + 1 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" [height=4.2778, + pos="1134,872", + width=31.5]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + \ +roles (required): + Payload: + 0 + Sherpa: + 1 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l2 + b: + t5 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:26) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 8.54588818066749245e-01 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_\ +0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 LOCATION \ +0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:26)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:26)", +lp="1170.5,662.5", +pos="e,1110.2,607.03 1120.1,717.98 1117.1,684.61 1114,649.57 1111.1,617.04"]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.71777340972105441e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 \ +t5 0 0 2" [height=3.4444, +pos="2729,483", +width=25.194]; +"Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + \ +roles (required): + Payload: + 0 + Sherpa: + 1 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.71777340972105441e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 \ +t5 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:27)", +label="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:27)", +lp="2174.5,662.5", +pos="e,2220.4,607.03 1765.5,717.98 1913.1,681.98 2068.7,644.05 2210.7,609.41"]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.19161778205152324e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [height=3.8611, +pos="1138,1276", +width=25.361]; +"Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.19161778205152324e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l2 + b: + t4 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + \ +roles (required): + Payload: + 0 + Sherpa: + 1 + (v:25) +role_info_attributes 22 serialization::archive \ +15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 9.48966859646861338e-01 +roles 22 serialization::archive \ +15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/\ +01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: \ +49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 \ +8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 8 \ +LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:25)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:25)", +lp="1189.5,1081.5", +pos="e,1135.5,1026.2 1136.6,1137 1136.3,1104.6 1136,1069.8 1135.6,1036.5"]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0 + (v:23) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="1138,1650", +width=12.319]; +"Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0 + (v:23) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.19161778205152324e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:24)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:24)", +lp="1190.5,1470.5", +pos="e,1138,1415.2 1138,1548.3 1138,1510.4 1138,1466.6 1138,1425.4"]; +"Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0 + (v:22) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t1 0 0 2" [height=2.8194, +pos="1138,2009", +width=12.319]; +"Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0 + (v:22) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l2 + b: + t2 + roles (assigned): + Payload: + 0 + (v:23) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:23)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:23)", +lp="1190.5,1829.5", +pos="e,1138,1751.5 1138,1907.1 1138,1861.7 1138,1808.1 1138,1761.7"]; +"Tuple: + a: + l2 + b: + t0 + roles (assigned): + Payload: + 0 + (v:21) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t0 0 0 2" [height=2.8194, +pos="1138,2368", +width=12.319]; +"Tuple: + a: + l2 + b: + t0 + roles (assigned): + Payload: + 0 + (v:21) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l2 + b: + t1 + roles (assigned): + Payload: + 0 + (v:22) +role_info_attributes 22 \ +serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 \ +serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 \ +9 Payload_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+00 2 l2 \ +8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:22)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:22)", +lp="1190.5,2188.5", +pos="e,1138,2110.5 1138,2266.1 1138,2220.7 1138,2167.1 1138,2120.7"]; +"Tuple: + a: + l0 + b: + t6 + roles (assigned): + Sherpa: + 1 + (v:20) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t6 0 0 2" [height=2.8194, +pos="3931,124", +width=12.153]; +"Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [height=2.1944, +pos="4090,483", +width=12.111]; +"Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" -> "Tuple: + a: + l0 + b: + t6 + roles (assigned): + Sherpa: + 1 + (v:20) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:21)", +label="capacity: +inf + (e:21)", +lp="4063,303.5", +pos="e,3976,225.57 4054.9,403.77 4033,354.19 4004.3,289.59 3980.1,234.95"]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [height=3.4444, +pos="3934,872", +width=19.236]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l0 + b: + t5 + (v:19) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t5 0 \ +0 2" [key="capacity: +inf + (e:19)", +label="capacity: +inf + (e:19)", +lp="4069,662.5", +pos="e,4058.2,562.28 3983.8,747.85 4006.7,690.6 4033.5,623.95 4054.4,571.84"]; +"Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.71777340972105441e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 \ +t5 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:20)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:20)", +lp="3420.5,662.5", +pos="e,3113.3,607.05 3549.8,747.98 3413.6,704.01 3260.2,654.47 3123.1,610.23"]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.19161778205152324e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [height=3.4444, +pos="3934,1276", +width=19.236]; +"Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.19161778205152324e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l0 + b: + t4 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:18) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.48966859646861338e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + (e:18)", +label="capacity: +inf + (e:18)", +lp="3972,1081.5", +pos="e,3934,996.26 3934,1151.8 3934,1105.7 3934,1053.4 3934,1006.5"]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [height=3.4444, +pos="3934,1650", +width=19.236]; +"Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l0 + b: + t3 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:17) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.19161778205152324e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + (e:17)", +label="capacity: +inf + (e:17)", +lp="3972,1470.5", +pos="e,3934,1400 3934,1526 3934,1488.8 3934,1447.9 3934,1410.1"]; +"Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" [height=2.1944, +pos="4303,2009", +width=12.111]; +"Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:16)", +label="capacity: +inf + (e:16)", +lp="4190,1829.5", +pos="e,4061.6,1774.2 4221.6,1929.8 4176.8,1886.2 4120,1831 4068.8,1781.2"]; +"Tuple: + a: + l0 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t0 0 0 2" [height=2.1944, +pos="4303,2368", +width=12.111]; +"Tuple: + a: + l0 + b: + t0 + (v:14) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l0 + b: + t1 + (v:15) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 0 0 +tuple 22 serialization::archive \ +15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+00 2 l0 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:15)", +label="capacity: +inf + (e:15)", +lp="4341,2188.5", +pos="e,4303,2088 4303,2288.8 4303,2232.5 4303,2156.8 4303,2098.4"]; +"Tuple: + a: + l1 + b: + t6 + roles (assigned): + Payload: + 0 + (v:13) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 0 2" [height=2.8194, +pos="5462,124", +width=12.319]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + (v:12) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" [height=2.8194, +pos="5462,483", +width=12.319]; +"Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + (v:12) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" -> "Tuple: + a: + l1 + b: + t6 + roles (assigned): + Payload: + 0 + (v:13) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:14)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:14)", +lp="5514.5,303.5", +pos="e,5462,225.55 5462,381.09 5462,335.7 5462,282.12 5462,235.66"]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:11) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [height=2.8194, +pos="5462,872", +width=12.319]; +"Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:11) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" -> "Tuple: + a: + l1 + b: + t5 + roles (assigned): + Payload: + 0 + (v:12) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t5 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:13)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:13)", +lp="5514.5,662.5", +pos="e,5462,584.78 5462,770.3 5462,716.47 5462,650.26 5462,594.97"]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:10) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [height=2.8194, +pos="5462,1276", +width=12.319]; +"Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:10) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" -> "Tuple: + a: + l1 + b: + t4 + roles (assigned): + Payload: + 0 + (v:11) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t4 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:12)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:12)", +lp="5514.5,1081.5", +pos="e,5462,973.69 5462,1174.3 5462,1116.3 5462,1043.5 5462,983.9"]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:9) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="5462,1650", +width=12.319]; +"Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:9) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l1 + b: + t3 + roles (assigned): + Payload: + 0 + (v:10) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //\ +www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+\ +03 0.00000000000000000e+00 2 l1 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:11)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:11)", +lp="5514.5,1470.5", +pos="e,5462,1377.7 5462,1548.3 5462,1498.6 5462,1438.7 5462,1387.7"]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="5462,2009", +width=19.569]; +"Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l1 + b: + t2 + roles (assigned): + Payload: + 0 + (v:9) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:10)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:10)", +lp="5514.5,1829.5", +pos="e,5462,1751.8 5462,1884.9 5462,1845 5462,1801.1 5462,1762.1"]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="5462,2368", +width=19.569]; +"Tuple: + a: + l1 + b: + t0 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:7) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + l1 + b: + t1 + roles (assigned): + Payload: + 0 + roles (required): + Payload: + \ +0 + (v:8) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +9.04837418035959629e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 8 required 1 0 5 http: 49 //www.rock-robotics.org/\ +2014/01/om-schema#Payload 0 9 Payload_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l1 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + roles (assigned): + Payload: + 0 + (e:9)", +label="capacity: +inf + roles (assigned): + Payload: + 0 + (e:9)", +lp="5514.5,2188.5", +pos="e,5462,2133.1 5462,2243.9 5462,2211.4 5462,2176.2 5462,2143.2"]; +"Tuple: + a: + base + b: + t6 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +4.91095563442169258e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [height=3.4444, +pos="2729,124", +width=19.236]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.71777340972105441e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 \ +t5 0 0 2" -> "Tuple: + a: + l0 + b: + t6 + roles (assigned): + Sherpa: + 1 + (v:20) +role_info_attributes 22 serialization::\ +archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 serialization::\ +archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:8)", +label="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:8)", +lp="3490.5,303.5", +pos="e,3590.8,225.61 3144.3,358.95 3286.7,316.45 3444.4,269.34 3581,228.54"]; +"Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.71777340972105441e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 \ +t5 0 0 2" -> "Tuple: + a: + base + b: + t6 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:6) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +4.91095563442169258e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+\ +00 4 base 8 LOCATION 0 0 2 t6 0 0 2" [key="capacity: +inf + (e:7)", +label="capacity: +inf + (e:7)", +lp="2767,303.5", +pos="e,2729,248.06 2729,358.95 2729,326.44 2729,291.24 2729,258.23"]; +"Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [height=2.1944, +pos="2729,872", +width=12.292]; +"Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" -> "Tuple: + a: + base + b: + t5 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0 + (v:5) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 3.12000000000000000e+\ +03 6 safety 9.71777340972105441e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple \ +22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 \ +t5 0 0 2" [key="capacity: +inf + (e:6)", +label="capacity: +inf + (e:6)", +lp="2767,662.5", +pos="e,2729,607.27 2729,792.81 2729,742.41 2729,675.85 2729,617.34"]; +"Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [height=2.1944, +pos="2728,1276", +width=12.292]; +"Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" -> "Tuple: + a: + base + b: + t4 + (v:4) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t4 \ +0 0 2" [key="capacity: +inf + (e:5)", +label="capacity: +inf + (e:5)", +lp="2767,1081.5", +pos="e,2728.8,951.15 2728.2,1196.7 2728.4,1129 2728.6,1031.7 2728.8,961.34"]; +"Tuple: + a: + base + b: + t2 + roles (assigned): + Sherpa: + 1 + (v:2) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+\ +00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 0 0 2" [height=2.8194, +pos="2727,1650", +width=12.292]; +"Tuple: + a: + base + b: + t2 + roles (assigned): + Sherpa: + 1 + (v:2) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+\ +00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + l2 + b: + t3 + roles (assigned): + Payload: + 0 + Sherpa: + 1 + \ +roles (required): + Sherpa: + 1 + (v:24) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration \ +cost 0.00000000000000000e+00 6 safety 9.19161778205152324e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::\ +archive 15 0 0 2 0 0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 49 //www.rock-robotics.org/2014/01/om-schema#Payload 0 9 Payload_0 5 http: \ +48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 1 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#\ +Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 1.00000000000000000e+03 0.00000000000000000e+\ +00 2 l2 8 LOCATION 0 0 2 t3 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:4)", +label="capacity: 10 + roles (assigned): + Sherpa: + 1 + (e:4)", +lp="2174.5,1470.5", +pos="e,1728.9,1415.1 2295.7,1548.5 2124.2,1508.1 1924.1,1461 1738.8,1417.4"]; +"Tuple: + a: + base + b: + t2 + roles (assigned): + Sherpa: + 1 + (v:2) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+\ +00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 0 0 2" -> "Tuple: + a: + base + b: + t3 + (v:3) +role_info_attributes 22 serialization::archive 15 0 0 1 0 0 0 6 safety 1.00000000000000000e+\ +00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 0 0 +tuple 22 \ +serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t3 \ +0 0 2" [key="capacity: +inf + (e:3)", +label="capacity: +inf + (e:3)", +lp="2766,1470.5", +pos="e,2727.8,1355.2 2727.3,1548.3 2727.4,1491.1 2727.6,1420.3 2727.8,1365.2"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [height=3.4444, +pos="2727,2009", +width=31.167]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + l0 + b: + t2 + roles (assigned): + Sherpa: + 0 + roles (required): + Sherpa: + \ +0 + (v:16) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety \ +8.97812620630167646e-01 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 0 0 8 assigned \ +0 0 1 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 8 required 1 0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 0 8 Sherpa_0 +tuple 22 serialization::archive 15 0 0 1.00000000000000000e+03 0.00000000000000000e+00 0.00000000000000000e+\ +00 2 l0 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:2)", +label="capacity: 10 + roles (assigned): + Sherpa: + 0 + (e:2)", +lp="3491.5,1829.5", +pos="e,3516.9,1774.1 3144.1,1884.9 3261.4,1850.1 3389.1,1812.1 3507,1777"]; +"Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" -> "Tuple: + a: + base + b: + t2 + roles (assigned): + Sherpa: + 1 + (v:2) +role_info_attributes 22 \ +serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+00 6 safety 1.00000000000000000e+00 +roles 22 \ +serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 1 0 0 0 8 assigned 0 0 1 0 0 0 0 0 5 http: 48 //\ +www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+00 0.00000000000000000e+\ +00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t2 0 0 2" [key="capacity: +inf + (e:1)", +label="capacity: +inf + (e:1)", +lp="2765,1829.5", +pos="e,2727,1751.8 2727,1884.9 2727,1845 2727,1801.1 2727,1762.1"]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" [height=3.4444, +pos="2727,2368", +width=31.167]; +"Tuple: + a: + base + b: + t0 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:0) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 0.00000000000000000e+\ +00 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t0 0 0 2" -> "Tuple: + a: + base + b: + t1 + roles (assigned): + Sherpa: + 0, 1 + roles (required): + \ +Sherpa: + 0, 1 + (v:1) +role_info_attributes 22 serialization::archive 15 0 0 2 0 0 0 20 reconfiguration cost 1.56000000000000000e+\ +03 6 safety 1.00000000000000000e+00 +roles 22 serialization::archive 15 0 0 0 0 +tagged_roles 22 serialization::archive 15 0 0 2 0 \ +0 0 8 assigned 0 0 2 0 0 0 0 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 http: 48 //www.rock-robotics.org/\ +2014/01/om-schema#Sherpa 1 8 Sherpa_1 8 required 2 0 5 http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 0 8 Sherpa_0 5 \ +http: 48 //www.rock-robotics.org/2014/01/om-schema#Sherpa 1 8 Sherpa_1 +tuple 22 serialization::archive 15 0 0 0.00000000000000000e+\ +00 0.00000000000000000e+00 0.00000000000000000e+00 4 base 8 LOCATION 0 0 2 t1 0 0 2" [key="capacity: +inf + (e:0)", +label="capacity: +inf + (e:0)", +lp="2765,2188.5", +pos="e,2727,2133.1 2727,2243.9 2727,2211.4 2727,2176.2 2727,2143.2"]; +} diff --git a/test/data/solution_simulation/sample_mission/test5/4/transport-network-solution-4.gexf b/test/data/solution_simulation/sample_mission/test5/4/transport-network-solution-4.gexf new file mode 100644 index 0000000..655598a --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/4/transport-network-solution-4.gexf @@ -0,0 +1,574 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/mission.xml b/test/data/solution_simulation/sample_mission/test5/mission.xml new file mode 100644 index 0000000..0ca7f88 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/mission.xml @@ -0,0 +1,158 @@ + + + please do something + + http://www.rock-robotics.org/2015/12/projects/TransTerrA + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 1 + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 3 + + + + + + base + 0 + 0 + 0 + + + l1 + 0 + 1000 + 0 + + + l0 + 1000 + 0 + 0 + + + l2 + 1000 + 1000 + 0 + + + + + + + base + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 3 + + + + + + + l1 + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 1 + + + + + + + l0 + + + + t2 + t4 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + l2 + + + + t3 + t4 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + l2 + + + + t4 + t6 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 1 + + + + + + + base + + + + t5 + t6 + + + + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + 1 + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/search-statistics.log b/test/data/solution_simulation/sample_mission/test5/search-statistics.log new file mode 100644 index 0000000..d77ce1e --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/search-statistics.log @@ -0,0 +1,6 @@ +# session alpha beta sigma efficacy efficiency safety timehorizon travel-distance reconfiguration-cost overall-runtime solution-runtime solution-runtime-mean solution-runtime-stdev solution-found solution-stopped propagate fail node depth restart nogood flaws cost +0 1 1 1 1 2.39826 0.704358 22425.3 7242.64 10080 94.3932 94.3932 94.3932 0 1 0 594 0 36 35 0 0 0 0 +1 1 1 1 1 1.08356 0.609909 14720 5000 3120 167.045 72.6153 83.5042 10.889 1 0 1029 0 55 35 1 0 2 2 +2 1 1 1 1 2.25281 0.675139 21065.3 9242.64 8520 227.469 60.3845 75.7976 14.0652 1 0 1589 0 90 35 2 0 2 2 +3 1 1 1 1 1.55002 0.437717 21056.9 6828.43 9360 255.314 27.8034 63.7991 24.0887 1 0 2046 0 110 35 3 0 0 0 +4 1 1 1 1 1.32035 0.491096 17936.9 5828.43 4680 290.292 34.9401 58.0273 24.4432 1 0 2481 0 129 35 4 0 3 3 diff --git a/test/data/solution_simulation/sample_mission/test5/solution_analysis.log b/test/data/solution_simulation/sample_mission/test5/solution_analysis.log new file mode 100644 index 0000000..c3123c0 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/solution_analysis.log @@ -0,0 +1,6 @@ +# [session-id] [alpha] [beta] [sigma] [efficacy] [efficiency in kWh] [safety] [timehorizon in s] [travel-distance in m] [reconfiguration-cost in s] [number of agents] [number of mobile agents] +0 1 1 1 1 2.39826 0.704358 22425.3 7242.64 10080 4 3 +1 1 1 1 1 1.08356 0.609909 14720 5000 3120 3 2 +2 1 1 1 1 2.25281 0.675139 21065.3 9242.64 8520 4 3 +3 1 1 1 1 1.55002 0.437717 21056.9 6828.43 9360 3 2 +4 1 1 1 1 1.32035 0.491096 17936.9 5828.43 4680 3 2 diff --git a/test/data/solution_simulation/sample_mission/test5/specs/configuration.xml b/test/data/solution_simulation/sample_mission/test5/specs/configuration.xml new file mode 100644 index 0000000..9a76430 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/specs/configuration.xml @@ -0,0 +1,6 @@ + + + + 2 + + diff --git a/test/data/solution_simulation/sample_mission/test5/specs/mission.xml b/test/data/solution_simulation/sample_mission/test5/specs/mission.xml new file mode 100644 index 0000000..0ca7f88 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/specs/mission.xml @@ -0,0 +1,158 @@ + + + please do something + + http://www.rock-robotics.org/2015/12/projects/TransTerrA + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 1 + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 3 + + + + + + base + 0 + 0 + 0 + + + l1 + 0 + 1000 + 0 + + + l0 + 1000 + 0 + 0 + + + l2 + 1000 + 1000 + 0 + + + + + + + base + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Sherpa + 3 + + + + + + + l1 + + + + t0 + t1 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 1 + + + + + + + l0 + + + + t2 + t4 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + l2 + + + + t3 + t4 + + + + http://www.rock-robotics.org/2014/01/om-schema#ImageProvider + 1 + + + + + + + l2 + + + + t4 + t6 + + + + http://www.rock-robotics.org/2014/01/om-schema#Payload + 1 + + + + + + + base + + + + t5 + t6 + + + + http://www.rock-robotics.org/2014/01/om-schema#TransportProvider + 1 + + + + + + + + + + + + + + + + diff --git a/test/data/solution_simulation/sample_mission/test5/specs/moreorg.owl b/test/data/solution_simulation/sample_mission/test5/specs/moreorg.owl new file mode 100644 index 0000000..7cab919 --- /dev/null +++ b/test/data/solution_simulation/sample_mission/test5/specs/moreorg.owl @@ -0,0 +1,5148 @@ + + + + + + + + + + + + + + + + + + + + + + + + + 0.01 + + + 0.15 + + + 0.75 + + + 1.0 + + + 1000000000.0 + + + 1.0 + + + 1.0E-5 + + + 100.0 + + + 1000000.0 + + + 1.5 + + + 0.000001 + + + 1000.0 + + + 0.001 + + + 0.000000001 + + + 10.0 + + + 2.0 + + + true + + + true + + + false + + + true + + + true + + + false + + + true + + + false + + + true + + + true + + + true + + + true + + + false + + + false + + + true + + + 0.1 + + + 1.0 + + + 0.01 + + + 0.5 + + + 0.01 + + + 0.1 + + + 0.1 + + + 1.0 + + + 0.001 + + + 5.0 + + + 0.05 + + + 0.1 + + + 0.001 + + + 1.0 + + + 0.1 + + + 0.1 + + + 0.01 + + + 0.01 + + + 0.05 + + + 0.2 + + + 0.1 + + + 0.8 + + + 0.0 + + + 0.3 + + + 0.8 + + + 0.5 + + + 0.5 + + + 0.5 + + + 0.5 + + + 0.5 + + + 0.01 + + + 0.1 + + + 0.4 + + + 0.9 + + + 0.5 + + + 0.8 + + + 0.9 + + + 0.8 + + + 3.0 + + + 0.3 + + + 0.5 + + + 0.3 + + + 0.5 + + + 0.3 + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/solvers/test_SolutionSimulation.cpp b/test/solvers/test_SolutionSimulation.cpp new file mode 100644 index 0000000..7c41213 --- /dev/null +++ b/test/solvers/test_SolutionSimulation.cpp @@ -0,0 +1,146 @@ +#include +#include +#include +#include +#include +#include "../test_utils.hpp" +#include +#include +#include + +using namespace moreorg; +using namespace templ; + + +struct SimulationFixture1 +{ + SimulationFixture1() + { + organizationModel = OrganizationModel::getInstance(getRootDir() + "/test/data/solution_simulation/organization_model/om-project-transterra.owl"); + // todo: Verallgemeinern + Mission baseMission = io::MissionReader::fromFile(getRootDir() + "/test/data/solution_simulation/sample_mission/test1/specs/solution_analysis_test_mission.xml", organizationModel); + solution = SpaceTime::Network::fromFile(getRootDir() + "/test/data/solution_simulation/sample_mission/test1/0/final_solution_network.gexf"); + mission = make_shared(baseMission); + } + + Mission::Ptr mission; + OrganizationModel::Ptr organizationModel; + OrganizationModelAsk omAsk; + SpaceTime::Network solution; + +}; +struct SimulationFixture2 +{ + SimulationFixture2() + { + organizationModel = OrganizationModel::getInstance(getRootDir() + "/test/data/solution_simulation/organization_model/om-project-transterra.owl"); + // todo: Verallgemeinern + Mission baseMission = io::MissionReader::fromFile(getRootDir() + "/test/data/solution_simulation/sample_mission/test5/specs/mission.xml", organizationModel); + solution = SpaceTime::Network::fromFile(getRootDir() + "/test/data/solution_simulation/sample_mission/test5/2/final_solution_network.gexf"); + mission = make_shared(baseMission); + } + + Mission::Ptr mission; + OrganizationModel::Ptr organizationModel; + SpaceTime::Network solution; + +}; + +struct SimulationFixture3 +{ + SimulationFixture3() + { + organizationModel = OrganizationModel::getInstance(getRootDir() + "/test/data/solution_simulation/organization_model/om-project-transterra.owl"); + // todo: Verallgemeinern + Mission baseMission = io::MissionReader::fromFile(getRootDir() + "/test/data/solution_simulation/sample_mission/test2/specs/4_mission.xml", organizationModel); + solution = SpaceTime::Network::fromFile(getRootDir() + "/test/data/solution_simulation/sample_mission/test2/4/final_solution_network.gexf"); + mission = make_shared(baseMission); + } + + Mission::Ptr mission; + OrganizationModel::Ptr organizationModel; + OrganizationModelAsk omAsk; + SpaceTime::Network solution; +}; + + +BOOST_AUTO_TEST_SUITE(solution_simulation) + +BOOST_FIXTURE_TEST_CASE(simulation_1, SimulationFixture1) +{ + double n = 10000; + std::vector metricsList; + metricsList.push_back(utils::POF); + solvers::SolutionSimulation simulator(n, metricsList, 0.7); + double count = 0; + BOOST_TEST_MESSAGE("Starting simulation for " << n << " runs,"); + for (int i=0; i < n; ++i) + { + try + { + if (simulator.run(mission, solution, false)) ++count; + } + catch(const std::exception& e) + { + std::cout << "whyy?" << std::endl; + } + } + solvers::ResultAnalysis resultAnalysis = simulator.analyzeSimulationResults(); + simulator.saveSimulationResults("/tmp/sim_result_1_"); + double success_rate = count / n; + BOOST_TEST_MESSAGE("From " << n << " simulation runs, " << count << " succeeded. Success rate was: " << success_rate << "."); +} + +BOOST_FIXTURE_TEST_CASE(simulation_2, SimulationFixture2) +{ + double n = 10000; + std::vector metricsList; + metricsList.push_back(utils::POF); + solvers::SolutionSimulation simulator(n, metricsList, 0.7); + double count = 0; + BOOST_TEST_MESSAGE("Starting simulation for " << n << " runs,"); + for (int i=0; i < n; ++i) + { + std::cout << "Starting Simulation run " << i+1 << std::endl; + try + { + if (simulator.run(mission, solution, false)) ++count; + } + catch(const std::exception& e) + { + std::cout << "whyy?" << std::endl; + } + } + solvers::ResultAnalysis resultAnalysis = simulator.analyzeSimulationResults(); + simulator.saveSimulationResults("/tmp/sim_result_2_"); + double success_rate = count / n; + BOOST_TEST_MESSAGE("From " << n << " simulation runs, " << count << " succeeded. Success rate was: " << success_rate << "."); +} + +BOOST_FIXTURE_TEST_CASE(simulation_3, SimulationFixture3) +{ + double n = 10000; + std::vector metricsList; + metricsList.push_back(utils::POF); + solvers::SolutionSimulation simulator(n, metricsList, 0.7); + double count = 0; + BOOST_TEST_MESSAGE("Starting simulation for " << n << " runs,"); + for (int i=0; i < n; ++i) + { + std::cout << "Starting Simulation run " << i+1 << std::endl; + try + { + if (simulator.run(mission, solution, false)) ++count; + } + catch(const std::exception& e) + { + std::cout << "whyy?" << std::endl; + } + } + solvers::ResultAnalysis resultAnalysis = simulator.analyzeSimulationResults(); + simulator.saveSimulationResults("/tmp/sim_result_3_"); + double success_rate = count / n; + BOOST_TEST_MESSAGE("From " << n << " simulation runs, " << count << " succeeded. Success rate was: " << success_rate << ". " << "Efficacy was: " << resultAnalysis.avgEfficacy); +} + +BOOST_AUTO_TEST_SUITE_END() diff --git a/test/test_CartographicMapping.cpp b/test/test_CartographicMapping.cpp index acaafb7..8efa445 100644 --- a/test/test_CartographicMapping.cpp +++ b/test/test_CartographicMapping.cpp @@ -22,7 +22,7 @@ BOOST_AUTO_TEST_CASE(longitude_latitude_to_metric) double distance = (location0metric - location1metric).norm(); - BOOST_REQUIRE_MESSAGE(distance < 32E03 && distance > 30E03, "Distance around 30 km, but was " << distance); + BOOST_REQUIRE_MESSAGE(distance < 32E03 && distance > 28E03, "Distance around 30 km, but was " << distance); } // The mapping is not suited for computation of distance close to poles