204 lines
1024 KiB
XML
204 lines
1024 KiB
XML
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<defs>
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<title>Canvas</title>
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<g transform="matrix(1.5, 0, 0, 1.5, -129.509186, 150.177505)">
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<title>Map</title>
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<g transform="matrix(1, 0, 0, 1, -0.20116, -0.106644)">
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<title>Content</title>
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<text style="font-family: "CMU Serif"; font-size: 20px; white-space: pre;" x="115.85" y="108.802"><title>Title</title>Map</text>
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<g transform="matrix(1, 0, 0, 1, 0.585829, -2.145175)">
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<title>Image</title>
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<g>
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<title>Road</title>
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<path d="M 94.134 129.839 L 187.081 136.966 L 178.044 162.459 L 85.055 155.811 L 94.134 129.839 Z" style="fill: rgb(255, 255, 255);" transform="matrix(0.94104, -0.338296, 0.338296, 0.94104, -41.342723, 54.634923)"/>
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<line style="stroke: rgb(0, 0, 0);" x1="180.916" y1="119.793" x2="91.02" y2="144.484"/>
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<line style="stroke: rgb(0, 0, 0);" x1="181.308" y1="147.758" x2="91.525" y2="172.957"/>
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<g transform="matrix(0.224187, 0.019142, -0.019142, 0.224187, 135.693649, 85.466484)">
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<title>Obstacle1</title>
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<rect x="123.573" y="57.602" width="15" height="3" style="stroke: rgb(0, 0, 0);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 32.229073, 148.331528)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="stroke: rgb(0, 0, 0);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 47.321148, 183.004654)"/>
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</g>
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<g transform="matrix(0.224187, 0.019142, -0.019142, 0.224187, 106.84967, 107.737289)">
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<title>Obstacle2</title>
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|||
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<rect x="151.445" y="128.995" width="75.589" height="34.674" style="stroke: rgb(0, 0, 0);" transform="matrix(0.935661, -0.3529, 0.3529, 0.935661, -67.183418, 112.837814)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="stroke: rgb(0, 0, 0);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 4.216176, 199.521759)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="stroke: rgb(0, 0, 0);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 32.229073, 148.331528)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="stroke: rgb(0, 0, 0);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 47.321148, 183.004654)"/>
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</g>
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</g>
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</g>
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</g>
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<g transform="matrix(1, 0, 0, 1, 513.004395, 191.785004)" bx:origin="0.5 0.499798">
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<title>Model</title>
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<rect style="stroke: rgb(123, 123, 123); fill: rgb(182, 182, 182);" x="86.529" y="83.215" width="150" height="150" rx="10" ry="10"/>
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<g transform="matrix(1, 0, 0, 1, -28.772003, 44.090492)">
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<title>Content</title>
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<text transform="matrix(1, 0, 0, 1, 74.896301, -41.792992)" style="font-family: "CMU Serif"; font-size: 20px; text-anchor: middle; white-space: pre;"><title>Title</title><tspan x="115.85" y="110.458">Spatial Bicycle</tspan><tspan x="115.85" dy="1em"></tspan><tspan>Model</tspan></text>
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<path style="stroke: rgb(0, 0, 0); fill: none; stroke-width: 3px; stroke-dasharray: 8px;" d="M 120.118 178.167 C 120.198 175.198 199.83 114.509 260.484 139.303">
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|||
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<title>Centerline</title>
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|||
|
|
</path>
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|||
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<g transform="matrix(1, 0, 0, 1, 29.211052, -44.164238)">
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|||
|
|
<title>Car</title>
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|||
|
|
<rect x="151.445" y="128.995" width="75.589" height="34.674" style="fill: rgb(241, 196, 15); stroke: rgb(183, 149, 11);" transform="matrix(0.935661, -0.3529, 0.3529, 0.935661, -67.183418, 112.837814)"/>
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|||
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<rect x="123.573" y="57.602" width="15" height="3" style="fill: rgb(183, 149, 11);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, -10.875901, 164.519867)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="fill: rgb(183, 149, 11);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 4.216176, 199.521759)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="fill: rgb(183, 149, 11);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 32.229073, 148.331528)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="fill: rgb(183, 149, 11);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 47.321148, 183.004654)"/>
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</g>
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<g>
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|||
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<title>CoordinateSystem</title>
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|||
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<circle style="fill: rgb(216, 216, 216);" cx="190.732" cy="138.808" r="2.514"/>
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<path d="M 703.983 397.868 H 751.809 L 751.809 397.021 L 755.879 398.368 L 751.809 399.715 L 751.809 398.868 H 703.983 V 397.868 Z" style="fill: rgb(216, 216, 216);" transform="matrix(0.931865, -0.362805, 0.362805, 0.931865, -609.689148, 23.114769)" bx:shape="arrow 703.983 397.021 51.896 2.694 1 4.07 0 1@636655cb"/>
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<path d="M 703.986 397.87 H 736.335 L 736.335 397.023 L 740.405 398.37 L 736.335 399.717 L 736.335 398.87 H 703.986 V 397.87 Z" style="fill: rgb(216, 216, 216);" transform="matrix(-0.363197, -0.931712, 0.931712, -0.363197, 75.533173, 940.29718)" bx:shape="arrow 703.986 397.023 36.419 2.694 1 4.07 0 1@c294119b"/>
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</g>
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</g>
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</g>
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|||
|
|
<g transform="matrix(2, 0, 0, 2, 101.942001, 83.570007)">
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|||
|
|
<title>MPC</title>
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|||
|
|
<rect style="stroke: rgb(123, 123, 123); fill: rgb(182, 182, 182);" x="86.529" y="83.215" width="100" height="100" rx="10" ry="10"/>
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<g transform="matrix(1, 0, 0, 1, 0, -2.138138)">
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<title>Content</title>
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|||
|
|
<text style="font-family: "CMU Serif"; font-size: 20px; white-space: pre;" x="112.215" y="112.804"><title>Title</title>MPC</text>
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|||
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|
<g transform="matrix(1, 0, 0, 1, 0.38467, -0.110068)">
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|||
|
|
<title>Image</title>
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|||
|
|
<g>
|
|||
|
|
<title>Road</title>
|
|||
|
|
<path d="M 94.134 129.839 L 187.081 136.966 L 178.044 162.459 L 85.055 155.811 L 94.134 129.839 Z" style="fill: rgb(255, 255, 255);" transform="matrix(0.94104, -0.338296, 0.338296, 0.94104, -41.342723, 54.634923)"/>
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|||
|
|
<line style="stroke: rgb(0, 0, 0);" x1="180.916" y1="119.793" x2="91.02" y2="144.484"/>
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|||
|
|
<line style="stroke: rgb(0, 0, 0);" x1="181.308" y1="147.758" x2="91.525" y2="172.957"/>
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|||
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|
<line style="stroke: rgb(0, 0, 0); stroke-dasharray: 4px;" x1="176.004" y1="134.198" x2="91.956" y2="157.692"/>
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</g>
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|||
|
|
<path style="fill: none; stroke: rgb(186, 74, 0);" d="M 110.184 160.325 C 110.184 160.325 115.233 159.232 119.24 154.961 C 124.349 149.516 122.28 142.129 135.068 138.593 C 151.626 134.014 149.427 144.388 163.679 144.388 C 170.411 144.388 178.271 141.222 178.271 141.222">
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|||
|
|
<title>Prediction</title>
|
|||
|
|
</path>
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|||
|
|
<g transform="matrix(0.224187, 0.019142, -0.019142, 0.224187, 69.93383, 118.310059)">
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|||
|
|
<title>EgoCar</title>
|
|||
|
|
<rect x="151.445" y="128.995" width="75.589" height="34.674" style="fill: rgb(241, 196, 15); stroke: rgb(183, 149, 11);" transform="matrix(0.935661, -0.3529, 0.3529, 0.935661, -67.183418, 112.837814)"/>
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|||
|
|
<rect x="123.573" y="57.602" width="15" height="3" style="fill: rgb(183, 149, 11);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, -10.875901, 164.519867)"/>
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|
|
<rect x="123.573" y="57.602" width="15" height="3" style="fill: rgb(183, 149, 11);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 4.216176, 199.521759)"/>
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|||
|
|
<rect x="123.573" y="57.602" width="15" height="3" style="fill: rgb(183, 149, 11);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 32.229073, 148.331528)"/>
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|||
|
|
<rect x="123.573" y="57.602" width="15" height="3" style="fill: rgb(183, 149, 11);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 47.321148, 183.004654)"/>
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</g>
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|||
|
|
<g transform="matrix(0.224187, 0.019142, -0.019142, 0.224187, 135.693649, 85.466484)">
|
|||
|
|
<title>Obstacle1</title>
|
|||
|
|
<rect x="151.445" y="128.995" width="75.589" height="34.674" style="fill: rgb(107, 107, 107); stroke: rgb(0, 0, 0);" transform="matrix(0.935661, -0.3529, 0.3529, 0.935661, -67.183418, 112.837814)"/>
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|
|
<rect x="123.573" y="57.602" width="15" height="3" style="fill: rgb(107, 107, 107); stroke: rgb(0, 0, 0);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, -10.875901, 164.519867)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="fill: rgb(107, 107, 107); stroke: rgb(0, 0, 0);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 32.229073, 148.331528)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="fill: rgb(107, 107, 107); stroke: rgb(0, 0, 0);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 47.321148, 183.004654)"/>
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</g>
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<g transform="matrix(0.224187, 0.019142, -0.019142, 0.224187, 106.84967, 107.737289)">
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<title>Obstacle2</title>
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|||
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<rect x="151.445" y="128.995" width="75.589" height="34.674" style="stroke: rgb(0, 0, 0); fill: rgb(107, 107, 107);" transform="matrix(0.935661, -0.3529, 0.3529, 0.935661, -67.183418, 112.837814)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="stroke: rgb(0, 0, 0); fill: rgb(107, 107, 107);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, -10.875901, 164.519867)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="stroke: rgb(0, 0, 0); fill: rgb(107, 107, 107);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 4.216176, 199.521759)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="stroke: rgb(0, 0, 0); fill: rgb(107, 107, 107);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 32.229073, 148.331528)"/>
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<rect x="123.573" y="57.602" width="15" height="3" style="stroke: rgb(0, 0, 0); fill: rgb(107, 107, 107);" rx="2.521" ry="2.521" transform="matrix(0.935444, -0.353475, 0.353475, 0.935444, 47.321148, 183.004654)"/>
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</g>
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</g>
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</g>
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</g>
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<g transform="matrix(1, 0, 0, 1, 213.471008, -104.214996)">
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<title>Path</title>
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<rect style="stroke: rgb(123, 123, 123); fill: rgb(182, 182, 182);" x="86.529" y="83.215" width="150" height="150" rx="10" ry="10"/>
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<g transform="matrix(1, 0, 0, 1, -1.405754, 0.447533)">
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<title>Content</title>
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<text style="font-family: "CMU Serif"; font-size: 20px; white-space: pre;" x="95.223" y="118.415"><title>Title</title>Reference Path</text>
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<g transform="matrix(1, 0, 0, 1, -1.675125, -3.871056)">
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|||
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<title>Image</title>
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|||
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|
<g transform="matrix(1.5, 0, 0, 1.5, -39.636116, -39.77951)">
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|||
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<title>Road</title>
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<path d="M 91.165 144.973 L 181.043 120.237 L 181.163 147.284 L 91.408 172.486 L 91.165 144.973 Z" style="fill: rgb(255, 255, 255);"/>
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<line style="stroke: rgb(0, 0, 0);" x1="180.916" y1="119.793" x2="91.02" y2="144.484"/>
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<line style="stroke: rgb(0, 0, 0);" x1="181.308" y1="147.758" x2="91.525" y2="172.957"/>
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</g>
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<g transform="matrix(1, 0, 0, 1, 1.947797, -0.315943)">
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|||
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<title>Waypoints</title>
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|||
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<g transform="matrix(1, 0, 0, 1, -83.436569, 56.840023)">
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|||
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<title>CoordinateSystem</title>
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<circle style="fill: rgb(85, 85, 85);" cx="190.732" cy="138.808" r="2.514"/>
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</g>
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<g transform="matrix(1, 0, 0, 1, -58.77124, 49.711796)">
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|
<title>CoordinateSystem</title>
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|||
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<path d="M 703.985 397.869 H 722.591 L 722.591 397.022 L 726.661 398.369 L 722.591 399.716 L 722.591 398.869 H 703.985 V 397.869 Z" style="fill: rgb(245, 176, 65);" transform="matrix(0.958043, -0.286625, 0.286625, 0.958043, -597.770508, -40.942646)" bx:shape="arrow 703.985 397.022 22.676 2.694 1 4.07 0 1@c3f45f3f"/>
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<path d="M 703.988 397.871 H 720.611 L 720.611 397.024 L 724.681 398.371 L 720.611 399.718 L 720.611 398.871 H 703.988 V 397.871 Z" style="fill: rgb(245, 176, 65);" transform="matrix(0.287349, 0.957826, -0.957826, 0.287349, 369.780029, -650.752136)" bx:shape="arrow 703.988 397.024 20.693 2.694 1 4.07 0 1@1dc77a8f"/>
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<path d="M 703.988 397.871 H 720.611 L 720.611 397.024 L 724.681 398.371 L 720.611 399.718 L 720.611 398.871 H 703.988 V 397.871 Z" style="fill: rgb(245, 176, 65);" transform="matrix(-0.286513, -0.958076, 0.958076, -0.286513, 11.02688, 928.449402)" bx:shape="arrow 703.988 397.024 20.693 2.694 1 4.07 0 1@1dc77a8f"/>
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<circle style="fill: rgb(85, 85, 85);" cx="190.732" cy="138.808" r="2.514"/>
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</g>
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<g transform="matrix(1, 0, 0, 1, 14.870872, 28.393618)">
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|||
|
|
<title>CoordinateSystem</title>
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|||
|
|
<path d="M 703.985 397.869 H 722.591 L 722.591 397.022 L 726.661 398.369 L 722.591 399.716 L 722.591 398.869 H 703.985 V 397.869 Z" style="fill: rgb(245, 176, 65);" transform="matrix(0.958043, -0.286625, 0.286625, 0.958043, -646.771912, -26.781851)" bx:shape="arrow 703.985 397.022 22.676 2.694 1 4.07 0 1@c3f45f3f"/>
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<path d="M 703.988 397.871 H 720.611 L 720.611 397.024 L 724.681 398.371 L 720.611 399.718 L 720.611 398.871 H 703.988 V 397.871 Z" style="fill: rgb(245, 176, 65);" transform="matrix(0.287349, 0.957826, -0.957826, 0.287349, 320.897675, -636.326416)" bx:shape="arrow 703.988 397.024 20.693 2.694 1 4.07 0 1@1dc77a8f"/>
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<path d="M 703.988 397.871 H 720.611 L 720.611 397.024 L 724.681 398.371 L 720.611 399.718 L 720.611 398.871 H 703.988 V 397.871 Z" style="fill: rgb(245, 176, 65);" transform="matrix(-0.286513, -0.958076, 0.958076, -0.286513, -37.88131, 942.855225)" bx:shape="arrow 703.988 397.024 20.693 2.694 1 4.07 0 1@1dc77a8f"/>
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<circle style="fill: rgb(85, 85, 85);" cx="141.731" cy="152.969" r="2.514"/>
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</g>
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<g transform="matrix(1, 0, 0, 1, -9.727713, 35.39743)">
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|||
|
|
<title>CoordinateSystem</title>
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|||
|
|
<path d="M 703.985 397.869 H 722.591 L 722.591 397.022 L 726.661 398.369 L 722.591 399.716 L 722.591 398.869 H 703.985 V 397.869 Z" style="fill: rgb(245, 176, 65);" transform="matrix(0.958043, -0.286625, 0.286625, 0.958043, -597.770508, -40.942646)" bx:shape="arrow 703.985 397.022 22.676 2.694 1 4.07 0 1@c3f45f3f"/>
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|
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|||
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<path d="M 703.988 397.871 H 720.611 L 720.611 397.024 L 724.681 398.371 L 720.611 399.718 L 720.611 398.871 H 703.988 V 397.871 Z" style="fill: rgb(245, 176, 65);" transform="matrix(-0.286513, -0.958076, 0.958076, -0.286513, 11.272656, 929.198242)" bx:shape="arrow 703.988 397.024 20.693 2.694 1 4.07 0 1@1dc77a8f"/>
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<circle style="fill: rgb(85, 85, 85);" cx="190.732" cy="138.808" r="2.514"/>
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|
</g>
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|||
|
|
<g transform="matrix(1, 0, 0, 1, -34.130524, 42.554413)">
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|||
|
|
<title>CoordinateSystem</title>
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|||
|
|
<path d="M 703.985 397.869 H 722.591 L 722.591 397.022 L 726.661 398.369 L 722.591 399.716 L 722.591 398.869 H 703.985 V 397.869 Z" style="fill: rgb(245, 176, 65);" transform="matrix(0.958043, -0.286625, 0.286625, 0.958043, -548.769104, -55.103439)" bx:shape="arrow 703.985 397.022 22.676 2.694 1 4.07 0 1@c3f45f3f"/>
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|
<path d="M 703.988 397.871 H 720.611 L 720.611 397.024 L 724.681 398.371 L 720.611 399.718 L 720.611 398.871 H 703.988 V 397.871 Z" style="fill: rgb(245, 176, 65);" transform="matrix(0.287349, 0.957826, -0.957826, 0.287349, 419.062714, -664.291565)" bx:shape="arrow 703.988 397.024 20.693 2.694 1 4.07 0 1@1dc77a8f"/>
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|||
|
|
<path d="M 703.989 397.871 H 719.914 L 719.914 397.024 L 723.984 398.371 L 719.914 399.718 L 719.914 398.871 H 703.989 V 397.871 Z" style="fill: rgb(245, 176, 65);" transform="matrix(-0.286613, -0.958046, 0.958046, -0.286613, 60.257553, 914.691589)" bx:shape="arrow 703.989 397.024 19.995 2.694 1 4.07 0 1@ef5c25a2"/>
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|
|
<circle style="fill: rgb(85, 85, 85);" cx="239.733" cy="124.647" r="2.514"/>
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|
</g>
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|
|
</g>
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|||
|
|
</g>
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|||
|
|
</g>
|
|||
|
|
</g>
|
|||
|
|
<g>
|
|||
|
|
<title>Annotations</title>
|
|||
|
|
<g transform="matrix(1, 0, 0, 1, -73.950676, -168.658707)">
|
|||
|
|
<title>MPC_Path</title>
|
|||
|
|
<g transform="matrix(1, 0, 0, 1, 0, 24)">
|
|||
|
|
<title>Path2MPC</title>
|
|||
|
|
<path d="M 618.011 272.502 H 695.815 L 695.815 267.432 L 717.956 274.919 L 695.815 282.407 L 695.815 277.337 H 618.011 V 272.502 Z" style="" transform="matrix(-0.005021, 0.999987, -0.999987, -0.005021, 727.22052, -332.314423)" bx:shape="arrow 618.011 267.432 99.945 14.975 4.835 22.141 0 1@d235ef07"/>
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|||
|
|
<text transform="matrix(1, 0, 0, 1, -162.615112, 61.787788)" style="font-family: "CMU Serif"; font-size: 11px; text-anchor: middle; text-transform: capitalize; white-space: pre;"><tspan x="533.619" y="270.13">State & Input Reference</tspan><tspan x="533.619" dy="1em"></tspan><tspan>State Constraints</tspan></text>
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|||
|
|
</g>
|
|||
|
|
</g>
|
|||
|
|
<g transform="matrix(1, 0, 0, -1, -43.774796, 260.681854)">
|
|||
|
|
<title>Path_Model</title>
|
|||
|
|
<path d="M -618.01 -262.362 H -344.613 L -344.613 -267.432 L -322.472 -259.945 L -344.613 -252.457 L -344.613 -257.527 H -618.01 V -262.362 Z" style="" transform="matrix(0.707153, -0.707061, -0.707061, -0.707153, 769.112737, -409.611124)" bx:shape="arrow -618.01 -267.432 295.538 14.975 4.835 22.141 0 1@ac251b6d"/>
|
|||
|
|
</g>
|
|||
|
|
<g>
|
|||
|
|
<title>Map_Path</title>
|
|||
|
|
<text transform="matrix(1, 0, 0, 1, -414.0271, -134.005188)" style="font-family: "CMU Serif"; font-size: 11px; text-transform: capitalize; white-space: pre; text-anchor: middle;" x="533.6190185546875" y="270.1300048828125">Dynamic Drivable<tspan x="533.6190185546875" dy="1em"></tspan>Area Information</text>
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|||
|
|
<path d="M -618.01 -262.362 H -344.613 L -344.613 -267.432 L -322.472 -259.945 L -344.613 -252.457 L -344.613 -257.527 H -618.01 V -262.362 Z" style="" transform="matrix(0.707153, -0.707061, -0.707061, -0.707153, 326.614446, -362.32609)" bx:shape="arrow -618.01 -267.432 295.538 14.975 4.835 22.141 0 1@ac251b6d"/>
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|||
|
|
<text style="font-family: "CMU Serif"; font-size: 11px; text-anchor: middle; text-transform: capitalize; white-space: pre;" x="619.846" y="136.203">State Reference</text>
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|||
|
|
</g>
|
|||
|
|
<g transform="matrix(1, 0, 0, 1, 0, -18.251724)">
|
|||
|
|
<title>MPC_Model</title>
|
|||
|
|
<g transform="matrix(1, 0, 0, 1, 1.999981, 24)">
|
|||
|
|
<title>Model2MPC</title>
|
|||
|
|
<path d="M 618.011 272.502 H 695.815 L 695.815 267.432 L 717.956 274.919 L 695.815 282.407 L 695.815 277.337 H 618.011 V 272.502 Z" style="" transform="matrix(-0.999987, -0.005021, 0.005021, -0.999987, 1202.250122, 610.024292)" bx:shape="arrow 618.011 267.432 99.945 14.975 4.835 22.141 0 1@d235ef07"/>
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|||
|
|
<text transform="matrix(1, 0, 0, 1, 2.05416, 33.753033)" style="font-family: "CMU Serif"; font-size: 11px; text-anchor: middle; text-transform: capitalize; white-space: pre;"><tspan x="533.619" y="270.13">Current State</tspan><tspan x="533.619" dy="1em"></tspan><tspan>LTV System Dynamics</tspan></text>
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|||
|
|
</g>
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|||
|
|
<g transform="matrix(1, 0, 0, 1, -2.848804, 79.335831)">
|
|||
|
|
<title>MPC2Model</title>
|
|||
|
|
<path d="M 618.011 272.502 H 695.815 L 695.815 267.432 L 717.956 274.919 L 695.815 282.407 L 695.815 277.337 H 618.011 V 272.502 Z" style="" transform="matrix(0.999987, -0.005021, -0.005021, -0.999987, -126.089845, 610.02429)" bx:shape="arrow 618.011 267.432 99.945 14.975 4.835 22.141 0 1@d235ef07"/>
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|||
|
|
<text transform="matrix(1, 0, 0, 1, 6.887368, 38.797359)" style="font-family: "CMU Serif"; font-size: 11px; text-anchor: middle; white-space: pre;"><tspan x="533.619" y="270.13">Velocity & Steering </tspan><tspan x="533.6190185546875" dy="1em"></tspan><tspan>Commands</tspan></text>
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|||
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|
</g>
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|||
|
|
</g>
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|||
|
|
</g>
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|||
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|
</g>
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|
</svg>
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