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89 lines (89 loc) · 44.1 KB
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<Config>
<BasicConfig>
<LivRMDoor x="240" y="225" />
<DinRMDoor x="215" y="355" />
<LibDoor x="545" y="165" />
<BedRMDoor x="405" y="345" />
<LivRMCen x="140" y="100" />
<DinRMCen x="140" y="480" />
<LibCen x="480" y="110" />
<BedRMCen x="488" y="460" />
<ChrgDoor x="545" y="325" />
<ChrgCen x="560" y="325" />
<EndPosition x="92" y="267" />
</BasicConfig>
<StraConfig>
<Stra_Astar PathErrRange="35" AchieveErrRange="15" />
<Stra_Avoid StartAngle_du="-90" ScanLineSize="61" ScanLineScale_du="3" SafeRange="70" SafeArc_D="60" SafeArc_A="60" AvoidConfig1="1.2" AvoidForce_du="130" FixDirect="0" />
<Stra_PathPlan DetourConst="85" />
<Stra_VelocityControl dis_max="100" dis_min="10" spd_max="200" spd_min="30" sita_max="1.047197552" sita_min="0.05" w_max="21" w_min="9" />
<Stra_Task LivRM="0" DinRM="1" BedRM="3" Lib="2" />
</StraConfig>
<ColorModel>
<Blue HueMax="0.7277778" HueMin="0.6111111" SaturationMax="1" SaturationMin="0.49" BrightnessMax="1" BrightnessMin="0.36" />
<Green HueMax="0.8" HueMin="0" SaturationMax="0.4" SaturationMin="0" BrightnessMax="0.7" BrightnessMin="0" />
<Red HueMax="0.07777778" HueMin="1" SaturationMax="1" SaturationMin="0.6" BrightnessMax="1" BrightnessMin="0.44" />
</ColorModel>
<GridMap>
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