--peng 1/14/2014

--TSS Result variables and parameters

--Definition here has highest precedence (can be specified here or via command line args)

TSS RESULT-VAR posR1

TSS RESULT-VAR oposR1

-- include atomic definitions

PARS INCLUDE atomic

-- include environment model

PARS INCLUDE empty_environment

CONST REAL Tstep=1.0 -- discrete time step of environment model

CONST REAL MaxSpeed=300.0 -- speed in mm per timestep

CONST REAL BaseSpeed=200.0 -- speed in mm per timestep

CONST REAL AngSpeed=0.29 -- angular velocity in radians per timestep; 0.29 rps is 17 dps, 0.17 rps is 10 dps

CONST REAL Tol=500.0

CONST REAL VelGain=1.5

CONST REAL DropOff=2000.0

-- include the CNL definitions

PARS INCLUDE newcnl

-- include robot 1 definitions

PARS INCLUDE robot1

-- constants for the mission

CONST NORM P01=(P01mean,P01var) --* Robot 1 initial position distribution

CONST VEC2F P01mean=(5500,500)

CONST VEC4F P01var=(500,0,0,500)

CONST VEC2F V0=(0,0) --* initial velocity

CONST VEC2F G1=(18000,500) -- 12m, 40 s at 0.3 m/s

CONST VEC2F G2=(17500,13000) -- 12m, 40 s at 0.3 ms/

CONST VEC2F Gr=(18000,13000)

CONST NORM Z0R1=(Z0mean,Z0var)

CONST NORM Z0R2=(Z0mean,Z0var)

CONST NORM H0=(H0R1mean,H0var)

CONST VEC2F H0R1mean=(1.0,0.0) --* initial heading unit vector

CONST VEC4F H0var=(0,0,0,0)

CONST NORM H0R1=(H0R1mean,H0var)

Mission (piM,obM,siM,hM,odM)(voM) =

Coop<1,1,1,G1,Z0,Z0,Tol,G1>(odM,cV101,cC101,cC102)(voM) |

Move_to<G1,DropOff,VelGain,Tol,G1>(odM)(cV101) |

Noise<Z0,G1,Tol,G1>(odM)(cC101) |

Avoid_Obstacles<Z0,G1,Tol,G1>(odM,obM)(cC102) |

(Is_at_goal<G1,Tol,G1>(odM); Spin(hM)(voM,alt)) |

(Is_at_goal<G1,Tol,G1>(odM); Spin_done(alt); Coop<1,1,1,G2,Z0,Z0,Tol,G2>(odM,cV201,cC201,cC202)(voM)) |

(Is_at_goal<G1,Tol,G1>(odM); Spin_done(alt); Move_to<G2,DropOff,VelGain,Tol,G2>(odM)(cV201)) |

(Is_at_goal<G1,Tol,G1>(odM); Spin_done(alt); Noise<Z0,G2,Tol,G2>(odM)(cC201)) |

(Is_at_goal<G1,Tol,G1>(odM); Spin_done(alt); Avoid_Obstacles<Z0,G2,Tol,G2>(odM,obM)(cC202)) .

--System is the concurrent composition of controller (Mission) and environment (Robots)

SYS = Mission (cPOS,cOB,cSEN,cHEAD,cOPOS)(cVEL) |

Robot1<P01,Z0R1,H0R1,Z0R1,H0R1mean,P01>(cVEL)(cPOS,cOB,cSEN,cHEAD,cOPOS) .

-- NO GOAL PROCESS NETWORK DEFINED - GOAL IS BY TERMINATION

-- (c) Fordham University Robotics and Computer Vision