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Finja Averhausmartingr
Finja Averhaus
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martingr
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Add envelopes to the demo model
New example vehicle envelopes have been added to the demo model. The new envelopes are used as an alternative to some of the blocks that were previously in the model. Merged-by: Martin Grzenia <martin.grzenia@iml.fraunhofer.de>
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-15
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‎opentcs-documentation/src/docs/release-notes/changelog.adoc‎

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@@ -22,6 +22,7 @@ This change log lists the most relevant changes for past releases in reverse chr
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** Reduce the time it takes to persist large plant models into the kernel.
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** Avoid re-setting the same processing vehicle of an order sequence, which triggers an entry in the log and one in the sequence's object history.
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And if in some way the same processing vehicle is indeed set again, at least don't add an object history entry.
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** Add example vehicle envelopes to the demo model.
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** Update web API specification and implementation to version 1.12.0:
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*** Extend the endpoint `POST /vehicles/NAME/routeComputationQuery` by an optional parameter which specifies the maximum number of routes to compute for one destination point.
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*** Add an endpoint `POST /vehicles/{NAME}/commAdapter/message`, which allows sending messages to the communication adapter that is attached to a vehicle.

‎opentcs-modeleditor/src/dist/data/Demo-01.xml‎

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@@ -85,13 +85,27 @@
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</point>
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<point name="Point-0016" positionX="-2000" positionY="-11000" positionZ="0" vehicleOrientationAngle="NaN" type="HALT_POSITION">
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<maxVehicleBoundingBox length="1000" width="1000" height="1000" referenceOffsetX="0" referenceOffsetY="0"/>
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<vehicleEnvelope key="envelope-a">
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<vertex x="-1000" y="-12000"/>
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<vertex x="-1000" y="-10000"/>
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<vertex x="-3000" y="-10000"/>
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<vertex x="-3000" y="-12000"/>
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<vertex x="-1000" y="-12000"/>
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</vehicleEnvelope>
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<outgoingPath name="Point-0016 --- Point-0017"/>
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<outgoingPath name="Point-0016 --- Point-0022"/>
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<outgoingPath name="Point-0016 --- Point-0046"/>
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<pointLayout positionX="-2000" positionY="-11000" labelOffsetX="-10" labelOffsetY="-20" layerId="0"/>
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</point>
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<point name="Point-0017" positionX="-12000" positionY="-15000" positionZ="0" vehicleOrientationAngle="NaN" type="HALT_POSITION">
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<maxVehicleBoundingBox length="1000" width="1000" height="1000" referenceOffsetX="0" referenceOffsetY="0"/>
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<vehicleEnvelope key="envelope-a">
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<vertex x="-11000" y="-16000"/>
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<vertex x="-11000" y="-14000"/>
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<vertex x="-13000" y="-14000"/>
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<vertex x="-13000" y="-16000"/>
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<vertex x="-11000" y="-16000"/>
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</vehicleEnvelope>
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<outgoingPath name="Point-0017 --- Point-0020"/>
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<pointLayout positionX="-12000" positionY="-15000" labelOffsetX="-10" labelOffsetY="-20" layerId="0"/>
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</point>
@@ -102,6 +116,13 @@
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</point>
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<point name="Point-0019" positionX="-2000" positionY="-15000" positionZ="0" vehicleOrientationAngle="NaN" type="HALT_POSITION">
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<maxVehicleBoundingBox length="1000" width="1000" height="1000" referenceOffsetX="0" referenceOffsetY="0"/>
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<vehicleEnvelope key="envelope-a">
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<vertex x="-1000" y="-14000"/>
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<vertex x="-3000" y="-14000"/>
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<vertex x="-3000" y="-16000"/>
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<vertex x="-1000" y="-16000"/>
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<vertex x="-1000" y="-14000"/>
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</vehicleEnvelope>
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<outgoingPath name="Point-0019 --- Point-0017"/>
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<outgoingPath name="Point-0019 --- Point-0022"/>
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<pointLayout positionX="-2000" positionY="-15000" labelOffsetX="-10" labelOffsetY="-20" layerId="0"/>
@@ -118,6 +139,13 @@
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</point>
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<point name="Point-0022" positionX="-12000" positionY="-11000" positionZ="0" vehicleOrientationAngle="NaN" type="HALT_POSITION">
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<maxVehicleBoundingBox length="1000" width="1000" height="1000" referenceOffsetX="0" referenceOffsetY="0"/>
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<vehicleEnvelope key="envelope-a">
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<vertex x="-11000" y="-10000"/>
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<vertex x="-13000" y="-10000"/>
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<vertex x="-13000" y="-12000"/>
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<vertex x="-11000" y="-12000"/>
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<vertex x="-11000" y="-10000"/>
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</vehicleEnvelope>
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<outgoingPath name="Point-0022 --- Point-0056"/>
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<pointLayout positionX="-12000" positionY="-11000" labelOffsetX="-10" labelOffsetY="-20" layerId="0"/>
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</point>
@@ -197,6 +225,13 @@
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</point>
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<point name="Point-0038" positionX="-2000" positionY="7000" positionZ="0" vehicleOrientationAngle="NaN" type="HALT_POSITION">
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<maxVehicleBoundingBox length="1000" width="1000" height="1000" referenceOffsetX="0" referenceOffsetY="0"/>
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<vehicleEnvelope key="envelope-a">
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<vertex x="-1000" y="6000"/>
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<vertex x="-1000" y="8000"/>
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<vertex x="-3000" y="8000"/>
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<vertex x="-3000" y="6000"/>
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<vertex x="-1000" y="6000"/>
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</vehicleEnvelope>
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<outgoingPath name="Point-0038 --- Point-0037"/>
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<pointLayout positionX="-2000" positionY="7000" labelOffsetX="-10" labelOffsetY="-20" layerId="0"/>
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</point>
@@ -227,6 +262,13 @@
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</point>
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<point name="Point-0044" positionX="7000" positionY="5000" positionZ="0" vehicleOrientationAngle="NaN" type="HALT_POSITION">
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<maxVehicleBoundingBox length="1000" width="1000" height="1000" referenceOffsetX="0" referenceOffsetY="0"/>
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<vehicleEnvelope key="envelope-a">
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<vertex x="8000" y="4000"/>
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<vertex x="8000" y="6000"/>
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<vertex x="6000" y="6000"/>
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<vertex x="6000" y="4000"/>
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<vertex x="8000" y="4000"/>
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</vehicleEnvelope>
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<outgoingPath name="Point-0044 --- Point-0047"/>
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<pointLayout positionX="7000" positionY="5000" labelOffsetX="-10" labelOffsetY="-20" layerId="0"/>
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</point>
@@ -253,6 +295,13 @@
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</point>
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<point name="Point-0049" positionX="2000" positionY="3000" positionZ="0" vehicleOrientationAngle="NaN" type="HALT_POSITION">
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<maxVehicleBoundingBox length="1000" width="1000" height="1000" referenceOffsetX="0" referenceOffsetY="0"/>
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<vehicleEnvelope key="envelope-a">
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<vertex x="1000" y="4000"/>
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<vertex x="3000" y="4000"/>
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<vertex x="3000" y="2000"/>
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<vertex x="1000" y="2000"/>
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<vertex x="1000" y="4000"/>
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</vehicleEnvelope>
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<outgoingPath name="Point-0049 --- Point-0038"/>
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<pointLayout positionX="2000" positionY="3000" labelOffsetX="-10" labelOffsetY="-20" layerId="0"/>
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</point>
@@ -268,6 +317,13 @@
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</point>
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<point name="Point-0052" positionX="-2000" positionY="5000" positionZ="0" vehicleOrientationAngle="NaN" type="HALT_POSITION">
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<maxVehicleBoundingBox length="1000" width="1000" height="1000" referenceOffsetX="0" referenceOffsetY="0"/>
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<vehicleEnvelope key="envelope-a">
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<vertex x="-1000" y="4000"/>
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<vertex x="-1000" y="6000"/>
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<vertex x="-3000" y="6000"/>
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<vertex x="-3000" y="4000"/>
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<vertex x="-1000" y="4000"/>
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</vehicleEnvelope>
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<outgoingPath name="Point-0052 --- Point-0044"/>
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<pointLayout positionX="-2000" positionY="5000" labelOffsetX="-10" labelOffsetY="-20" layerId="0"/>
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</point>
@@ -422,6 +478,13 @@
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</pathLayout>
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</path>
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<path name="Point-0016 --- Point-0017" sourcePoint="Point-0016" destinationPoint="Point-0017" length="11166" maxVelocity="1000" maxReverseVelocity="0" locked="false">
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<vehicleEnvelope key="envelope-a">
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<vertex x="-2000" y="-10500"/>
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<vertex x="-12000" y="-14500"/>
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<vertex x="-12000" y="-15500"/>
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<vertex x="-2000" y="-11500"/>
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<vertex x="-2000" y="-10500"/>
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</vehicleEnvelope>
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<pathLayout connectionType="BEZIER" layerId="0">
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<controlPoint x="-126" y="233"/>
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<controlPoint x="-175" y="288"/>
@@ -449,6 +512,13 @@
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<pathLayout connectionType="DIRECT" layerId="0"/>
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</path>
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<path name="Point-0019 --- Point-0022" sourcePoint="Point-0019" destinationPoint="Point-0022" length="11062" maxVelocity="1000" maxReverseVelocity="0" locked="false">
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<vehicleEnvelope key="envelope-a">
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<vertex x="-2000" y="-14500"/>
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<vertex x="-12000" y="-10500"/>
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<vertex x="-12000" y="-11500"/>
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<vertex x="-2000" y="-15500"/>
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<vertex x="-2000" y="-14500"/>
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</vehicleEnvelope>
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<pathLayout connectionType="BEZIER" layerId="0">
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<controlPoint x="-113" y="288"/>
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<controlPoint x="-169" y="233"/>
@@ -596,6 +666,15 @@
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</pathLayout>
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</path>
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<path name="Point-0049 --- Point-0038" sourcePoint="Point-0049" destinationPoint="Point-0038" length="6882" maxVelocity="1000" maxReverseVelocity="0" locked="false">
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<vehicleEnvelope key="envelope-a">
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<vertex x="2500" y="3000"/>
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<vertex x="1700" y="6800"/>
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<vertex x="-2000" y="7500"/>
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<vertex x="-2000" y="6500"/>
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<vertex x="700" y="5800"/>
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<vertex x="1500" y="3000"/>
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<vertex x="2500" y="3000"/>
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</vehicleEnvelope>
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<pathLayout connectionType="BEZIER" layerId="0">
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<controlPoint x="30" y="-127"/>
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<controlPoint x="30" y="-127"/>
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<pathLayout connectionType="DIRECT" layerId="0"/>
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</path>
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<path name="Point-0052 --- Point-0044" sourcePoint="Point-0052" destinationPoint="Point-0044" length="8443" maxVelocity="1000" maxReverseVelocity="0" locked="false">
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<vehicleEnvelope key="envelope-a">
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<vertex x="-2000" y="4500"/>
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<vertex x="7000" y="4500"/>
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<vertex x="7000" y="5500"/>
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<vertex x="-2000" y="5500"/>
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<vertex x="-2000" y="4500"/>
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</vehicleEnvelope>
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<pathLayout connectionType="DIRECT" layerId="0"/>
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</path>
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<path name="Point-0053 --- Point-0045" sourcePoint="Point-0053" destinationPoint="Point-0045" length="6922" maxVelocity="1000" maxReverseVelocity="0" locked="false">
@@ -648,25 +734,25 @@
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<path name="Point-0061 --- Point-0021" sourcePoint="Point-0061" destinationPoint="Point-0021" length="8000" maxVelocity="1000" maxReverseVelocity="0" locked="false">
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<pathLayout connectionType="DIRECT" layerId="0"/>
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</path>
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<vehicle name="Vehicle-01" energyLevelCritical="30" energyLevelGood="90" energyLevelFullyRecharged="95" energyLevelSufficientlyRecharged="45" maxVelocity="1000" maxReverseVelocity="1000">
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<vehicle name="Vehicle-01" energyLevelCritical="30" energyLevelGood="90" energyLevelFullyRecharged="95" energyLevelSufficientlyRecharged="45" maxVelocity="1000" maxReverseVelocity="1000" envelopeKey="envelope-a">
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<boundingBox length="1000" width="1000" height="1000" referenceOffsetX="0" referenceOffsetY="0"/>
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<property name="loopback:loadOperation" value="Load cargo"/>
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<property name="loopback:unloadOperation" value="Unload cargo"/>
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<vehicleLayout color="#FF0000"/>
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</vehicle>
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<vehicle name="Vehicle-02" energyLevelCritical="30" energyLevelGood="90" energyLevelFullyRecharged="95" energyLevelSufficientlyRecharged="45" maxVelocity="1000" maxReverseVelocity="1000">
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<vehicle name="Vehicle-02" energyLevelCritical="30" energyLevelGood="90" energyLevelFullyRecharged="95" energyLevelSufficientlyRecharged="45" maxVelocity="1000" maxReverseVelocity="1000" envelopeKey="envelope-a">
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<boundingBox length="1000" width="1000" height="1000" referenceOffsetX="0" referenceOffsetY="0"/>
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<property name="loopback:loadOperation" value="Load cargo"/>
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<property name="loopback:unloadOperation" value="Unload cargo"/>
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<vehicleLayout color="#33FF00"/>
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</vehicle>
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<vehicle name="Vehicle-03" energyLevelCritical="30" energyLevelGood="90" energyLevelFullyRecharged="95" energyLevelSufficientlyRecharged="45" maxVelocity="1000" maxReverseVelocity="1000">
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<vehicle name="Vehicle-03" energyLevelCritical="30" energyLevelGood="90" energyLevelFullyRecharged="95" energyLevelSufficientlyRecharged="45" maxVelocity="1000" maxReverseVelocity="1000" envelopeKey="envelope-a">
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<boundingBox length="1000" width="1000" height="1000" referenceOffsetX="0" referenceOffsetY="0"/>
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<property name="loopback:loadOperation" value="Load cargo"/>
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<property name="loopback:unloadOperation" value="Unload cargo"/>
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<vehicleLayout color="#00FFFF"/>
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</vehicle>
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<vehicle name="Vehicle-04" energyLevelCritical="30" energyLevelGood="90" energyLevelFullyRecharged="95" energyLevelSufficientlyRecharged="45" maxVelocity="1000" maxReverseVelocity="1000">
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<vehicle name="Vehicle-04" energyLevelCritical="30" energyLevelGood="90" energyLevelFullyRecharged="95" energyLevelSufficientlyRecharged="45" maxVelocity="1000" maxReverseVelocity="1000" envelopeKey="envelope-a">
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<boundingBox length="1000" width="1000" height="1000" referenceOffsetX="0" referenceOffsetY="0"/>
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<property name="loopback:loadOperation" value="Load cargo"/>
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<property name="loopback:unloadOperation" value="Unload cargo"/>
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<property name="tcs:defaultLocationSymbol" value="DEFAULT"/>
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<locationLayout positionX="15000" positionY="-3000" labelOffsetX="-10" labelOffsetY="-20" locationRepresentation="DEFAULT" layerId="0"/>
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</location>
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<block name="Block-0001" type="SINGLE_VEHICLE_ONLY">
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<member name="Point-0016 --- Point-0017"/>
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<member name="Point-0019 --- Point-0022"/>
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<blockLayout color="#FF0000"/>
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</block>
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<block name="Block-0002" type="SINGLE_VEHICLE_ONLY">
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<member name="Point-0037 --- Point-0028"/>
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<member name="Point-0039 --- Point-0040"/>
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<blockLayout color="#0000FF"/>
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</block>
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<block name="Block-0003" type="SINGLE_VEHICLE_ONLY">
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<member name="Point-0049 --- Point-0038"/>
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<member name="Point-0052 --- Point-0044"/>
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<blockLayout color="#00CC00"/>
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</block>
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<block name="Block-0004" type="SINGLE_VEHICLE_ONLY">
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<member name="Point-0015 --- Point-0050"/>
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<member name="Point-0045 --- Point-0016"/>
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<layer id="0" ordinal="0" visible="true" name="Default layer" groupId="0"/>
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<layerGroup id="0" name="Default layer group" visible="true"/>
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</visualLayout>
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<property name="tcs:modelFileLastModified" value="2024-09-12T12:01:37Z"/>
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<property name="tcs:modelFileLastModified" value="2025-08-05T09:22:30Z"/>
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</model>

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