-
Notifications
You must be signed in to change notification settings - Fork 0
/
sim.drawio
118 lines (118 loc) · 9.08 KB
/
sim.drawio
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
<mxfile host="65bd71144e">
<diagram id="0__bEhaDfiX3BKfB0g8n" name="Page-1">
<mxGraphModel dx="885" dy="718" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
<root>
<mxCell id="0"/>
<mxCell id="1" parent="0"/>
<mxCell id="7" style="edgeStyle=none;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="3" target="4">
<mxGeometry relative="1" as="geometry"/>
</mxCell>
<mxCell id="30" style="edgeStyle=orthogonalEdgeStyle;curved=1;html=1;exitX=0;exitY=1;exitDx=0;exitDy=0;entryX=1;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="3" target="5">
<mxGeometry relative="1" as="geometry"/>
</mxCell>
<mxCell id="58" style="edgeStyle=orthogonalEdgeStyle;curved=1;html=1;entryX=0.979;entryY=0.524;entryDx=0;entryDy=0;entryPerimeter=0;exitX=0.499;exitY=-0.004;exitDx=0;exitDy=0;exitPerimeter=0;" edge="1" parent="1" source="3" target="17">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="452" y="250"/>
</Array>
</mxGeometry>
</mxCell>
<mxCell id="3" value="Assets" style="ellipse;whiteSpace=wrap;html=1;" parent="1" vertex="1">
<mxGeometry x="560" y="250" width="80" height="80" as="geometry"/>
</mxCell>
<mxCell id="26" style="edgeStyle=none;html=1;exitX=1;exitY=1;exitDx=0;exitDy=0;entryX=0;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="4" target="5">
<mxGeometry relative="1" as="geometry"/>
</mxCell>
<mxCell id="51" style="edgeStyle=orthogonalEdgeStyle;curved=1;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;exitX=0.5;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1" source="4" target="17">
<mxGeometry relative="1" as="geometry"/>
</mxCell>
<mxCell id="4" value="Worlds" style="ellipse;whiteSpace=wrap;html=1;" parent="1" vertex="1">
<mxGeometry x="180" y="250" width="80" height="80" as="geometry"/>
</mxCell>
<mxCell id="34" style="edgeStyle=orthogonalEdgeStyle;curved=1;html=1;exitX=1;exitY=0;exitDx=0;exitDy=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1" source="5" target="3">
<mxGeometry relative="1" as="geometry"/>
</mxCell>
<mxCell id="39" style="edgeStyle=orthogonalEdgeStyle;curved=1;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="5" target="6">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="370" y="530"/>
<mxPoint x="370" y="690"/>
</Array>
</mxGeometry>
</mxCell>
<mxCell id="5" value="Src<br>(bridge.py)" style="ellipse;whiteSpace=wrap;html=1;" parent="1" vertex="1">
<mxGeometry x="374" y="450" width="80" height="80" as="geometry"/>
</mxCell>
<mxCell id="40" style="edgeStyle=orthogonalEdgeStyle;curved=1;html=1;exitX=0.5;exitY=0;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1" source="6" target="5">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="460" y="690"/>
<mxPoint x="460" y="530"/>
</Array>
</mxGeometry>
</mxCell>
<mxCell id="6" value="Control, vision, and planner" style="ellipse;whiteSpace=wrap;html=1;" parent="1" vertex="1">
<mxGeometry x="374" y="690" width="80" height="80" as="geometry"/>
</mxCell>
<mxCell id="10" style="edgeStyle=none;html=1;entryX=1;entryY=0;entryDx=0;entryDy=0;exitX=0;exitY=1;exitDx=0;exitDy=0;" edge="1" parent="1" source="9" target="3">
<mxGeometry relative="1" as="geometry"/>
</mxCell>
<mxCell id="9" value="Props" style="whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="680" y="180" width="50" height="30" as="geometry"/>
</mxCell>
<mxCell id="13" style="edgeStyle=none;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="12" target="3">
<mxGeometry relative="1" as="geometry"/>
</mxCell>
<mxCell id="12" value="Meshes" style="whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="680" y="275" width="50" height="30" as="geometry"/>
</mxCell>
<mxCell id="15" value="Worlds are composed of many objects" style="text;strokeColor=none;align=center;fillColor=none;html=1;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
<mxGeometry x="300" y="260" width="220" height="30" as="geometry"/>
</mxCell>
<mxCell id="53" style="edgeStyle=orthogonalEdgeStyle;curved=1;html=1;exitX=0;exitY=0.5;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="17" target="4">
<mxGeometry relative="1" as="geometry">
<mxPoint x="220" y="240" as="targetPoint"/>
<Array as="points">
<mxPoint x="374" y="250"/>
</Array>
</mxGeometry>
</mxCell>
<mxCell id="57" style="edgeStyle=orthogonalEdgeStyle;curved=1;html=1;" edge="1" parent="1" source="17">
<mxGeometry relative="1" as="geometry">
<mxPoint x="600" y="250" as="targetPoint"/>
</mxGeometry>
</mxCell>
<mxCell id="17" value="Plugins" style="rhombus;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="374" y="120" width="80" height="80" as="geometry"/>
</mxCell>
<mxCell id="28" value="Sensor data" style="text;strokeColor=none;align=center;fillColor=none;html=1;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
<mxGeometry x="420" y="320" width="50" height="60" as="geometry"/>
</mxCell>
<mxCell id="29" value="World data" style="text;strokeColor=none;align=center;fillColor=none;html=1;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
<mxGeometry x="250" y="390" width="60" height="30" as="geometry"/>
</mxCell>
<mxCell id="37" value="Effort" style="text;strokeColor=none;align=center;fillColor=none;html=1;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
<mxGeometry x="550" y="390" width="50" height="60" as="geometry"/>
</mxCell>
<mxCell id="41" value="Publish (manipulated) data" style="text;strokeColor=none;align=center;fillColor=none;html=1;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
<mxGeometry x="280" y="585" width="80" height="45" as="geometry"/>
</mxCell>
<mxCell id="42" value="Effort" style="text;strokeColor=none;align=center;fillColor=none;html=1;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
<mxGeometry x="470" y="585" width="50" height="45" as="geometry"/>
</mxCell>
<mxCell id="54" value="Parameter values" style="text;strokeColor=none;align=center;fillColor=none;html=1;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
<mxGeometry x="220" y="140" width="60" height="30" as="geometry"/>
</mxCell>
<mxCell id="55" value="Special functionalities" style="text;strokeColor=none;align=center;fillColor=none;html=1;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
<mxGeometry x="330" y="230" width="56" height="30" as="geometry"/>
</mxCell>
<mxCell id="59" value="Special functionalities" style="text;strokeColor=none;align=center;fillColor=none;html=1;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
<mxGeometry x="560" y="140" width="56" height="30" as="geometry"/>
</mxCell>
<mxCell id="60" value="Parameter values" style="text;strokeColor=none;align=center;fillColor=none;html=1;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
<mxGeometry x="430" y="230" width="60" height="30" as="geometry"/>
</mxCell>
</root>
</mxGraphModel>
</diagram>
</mxfile>