288 lines
11 KiB
XML
288 lines
11 KiB
XML
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<?xml version="1.0" encoding="UTF-8"?>
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<!--
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file : drivers/simplix_sc/sc-murasama-nsx/genetic-template
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created : 02/18/13
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last modified : 02/18/13
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copyright : (C) 2013 Wolf-Dieter Beelitz
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SVN version : $Id:$
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-->
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<!-- This program is free software; you can redistribute it and/or modify -->
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<!-- it under the terms of the GNU General Public License as published by -->
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<!-- the Free Software Foundation; either version 2 of the License, or -->
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<!-- (at your option) any later version. -->
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<!-- <!DOCTYPE params SYSTEM "params.dtd"> -->
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<!-- META DATA FOR GENETIC PARAMETER OPTIMIZATION -->
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<params name="Genetic Optimization">
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<!-- TABLE OF CONTENT -->
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<section name="Table of Content">
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<attnum name="major version" val="1"/>
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<attnum name="minor version" val="0"/>
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<attstr name="robot" val="simplix_sc"/>
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<attstr name="car type" val="sc-murasama-nsx"/>
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<attstr name="private" val="simplix private"/>
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<attnum name="weight of damages" val="10.0"/>
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<attnum name="get initial value" val="1"/>
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<attnum name="optimisation loops" val="1000"/>
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<attstr name="author" val="Wolf-Dieter Beelitz"/>
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</section>
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<!-- END OF TABLE OF CONTENT -->
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<!-- META DATA OF GLOBAL PARAMETERS -->
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<section name="Global">
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<!-- FIRST GROUP OF META DATA OF GLOBAL PARAMETERS -->
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<!-- THERE ARE NEARLY NO CAR PARAMETERS ALLOWED AT -->
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<!-- THE CAR TYPE SETUPS OF THE CAR SET SUPERCARS! -->
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<!-- META DATA OF FIRST GLOBAL PARAMETER -->
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<section name="Brake Balance">
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<attnum name="active" val="1"/>
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<attstr name="label" val="BrakeRepart."/>
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<attstr name="section" val="Brake System"/>
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<attstr name="parameter" val="front-rear brake repartition"/>
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<attnum name="range" min="0.5" max="0.65" val="0.54"/>
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<attnum name="weight" val="5"/>
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<attnum name="scale" val="0.1"/>
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<attnum name="round" val="10000"/>
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</section>
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<section name="Brake Pressure">
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<attnum name="active" val="1"/>
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<attstr name="label" val="MxBrakePress"/>
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<attstr name="section" val="Brake System"/>
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<attstr name="parameter" val="max pressure"/>
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<attstr name="unit" val="kPa"/>
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<attnum name="range" min="5000" max="20000" unit="kPa" val="20000"/>
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<attnum name="weight" val="1"/>
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<attnum name="scale" val="500"/>
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<attnum name="round" val="0.01"/>
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</section>
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<section name="Brake corr lr">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Brake Corr LF"/>
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<attstr name="section" val="Brake System"/>
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<attstr name="parameter" val="brake corr lr"/>
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<attnum name="range" min="0.00" max="0.50" val="0.30"/>
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<attnum name="weight" val="3"/>
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<attnum name="scale" val="0.01"/>
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<attnum name="round" val="100000"/>
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</section>
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<section name="Brake corr fr">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Brake Corr FR"/>
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<attstr name="section" val="Brake System"/>
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<attstr name="parameter" val="brake corr fr"/>
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<attnum name="range" min="0.00" max="0.50" val="0.14"/>
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<attnum name="weight" val="3"/>
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<attnum name="scale" val="0.01"/>
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<attnum name="round" val="100000"/>
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</section>
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<section name="Scale Braking">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Scale Brakes"/>
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<attstr name="section" val="simplix private"/>
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<attstr name="parameter" val="scale brake"/>
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<attnum name="range" min="0.5" max="1.5" val="0.65"/>
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<attnum name="weight" val="5"/>
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<attnum name="scale" val="0.1"/>
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<attnum name="round" val="100"/>
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</section>
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<section name="Brake controller P">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Brake cont.P"/>
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<attstr name="section" val="simplix private"/>
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<attstr name="parameter" val="BC_P"/>
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<attnum name="range" min="0.0" max="10.0" val="0.40"/>
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<attnum name="weight" val="2"/>
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<attnum name="scale" val="0.05"/>
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<attnum name="round" val="10000"/>
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</section>
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<section name="Brake controller I">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Brake cont.I"/>
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<attstr name="section" val="simplix private"/>
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<attstr name="parameter" val="BC_I"/>
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<attnum name="range" min="0.0001" max="1.0" val="0.001"/>
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<attnum name="weight" val="2"/>
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<attnum name="scale" val="0.001"/>
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<attnum name="round" val="10000"/>
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</section>
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<section name="Brake controller D">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Brake cont.D"/>
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<attstr name="section" val="simplix private"/>
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<attstr name="parameter" val="BC_D"/>
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<attnum name="range" min="0.0" max="10.0" val="0.86"/>
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<attnum name="weight" val="2"/>
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<attnum name="scale" val="0.05"/>
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<attnum name="round" val="10000"/>
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</section>
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<section name="Brake controller X">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Brake cont.X"/>
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<attstr name="section" val="simplix private"/>
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<attstr name="parameter" val="BC_MAX"/>
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<attnum name="range" min="0.0" max="100.0" val="2.0"/>
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<attnum name="weight" val="2"/>
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<attnum name="scale" val="0.1"/>
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<attnum name="round" val="100"/>
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</section>
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<section name="Brake controller N">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Brake cont.N"/>
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<attstr name="section" val="simplix private"/>
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<attstr name="parameter" val="BC_MIN"/>
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<attnum name="range" min="-100.0" max="0.0" val="-1.0"/>
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<attnum name="weight" val="2"/>
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<attnum name="scale" val="0.1"/>
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<attnum name="round" val="100"/>
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</section>
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<section name="Scale Cornering">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Scale Speed "/>
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<attstr name="section" val="simplix private"/>
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<attstr name="parameter" val="scale mu"/>
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<attnum name="range" min="0.5" max="1.5" val="0.90"/>
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<attnum name="weight" val="5"/>
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<attnum name="scale" val="0.1"/>
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<attnum name="round" val="100"/>
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</section>
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<section name="Scale Bumps">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Scale Bumps "/>
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<attstr name="section" val="simplix private"/>
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<attstr name="parameter" val="scale bump"/>
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<attnum name="range" min="0.001" max="0.6" val="0.4"/>
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<attnum name="weight" val="3"/>
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<attnum name="scale" val="0.05"/>
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<attnum name="round" val="1000"/>
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</section>
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<section name="Center of Corner">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Base Mode "/>
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<attstr name="section" val="simplix private"/>
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<attstr name="parameter" val="base mode"/>
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<attnum name="range" min="0.97" max="1.03" val="1.0"/>
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<attnum name="weight" val="3"/>
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<attnum name="scale" val="0.01"/>
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<attnum name="round" val="100000"/>
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</section>
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<section name="Curvature of Corner">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Base Scale "/>
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<attstr name="section" val="simplix private"/>
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<attstr name="parameter" val="base scale"/>
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<attnum name="range" min="1.0" max="1.050" val="1.016"/>
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<attnum name="weight" val="3"/>
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<attnum name="scale" val="0.01"/>
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<attnum name="round" val="100000"/>
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</section>
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<section name="Look ahead">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Look ahead "/>
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<attstr name="section" val="simplix private"/>
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<attstr name="parameter" val="lookaheadfactor"/>
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<attnum name="range" min="0.01" max="0.09" val="0.05"/>
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<attnum name="weight" val="1"/>
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<attnum name="scale" val="0.05"/>
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<attnum name="round" val="1000"/>
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</section>
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</section>
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<!-- END OF META DATA OF GLOBAL PARAMETERS -->
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<!-- FOR FUTURE USE BY SIMPLIX ROBOTS! -->
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<!-- OTHER ROBOTS USING TRACK SEGMENTS -->
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<!-- WITH SEPARATE LOCAL DEFINED PARA. -->
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<!-- START OF META DATA OF LOCAL PARAMETERS -->
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<section name="Local Groups">
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<!-- META DATA OF FIRST PART OF LOCAL PARAMETERS -->
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<section name="1">
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<!-- META DATA OF COUNTER OF PARAMETERS PER SECTION IN THIS PART -->
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<section name="Definition">
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<attnum name="active" val="0"/>
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<attstr name="name" val="Track param count"/>
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<attstr name="section" val="simplix private"/>
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<attstr name="subsection" val="param seg"/>
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<attstr name="parameter" val="track param count"/>
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</section>
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<!-- META DATA OF PARAMETERS IN THIS PART -->
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<section name="Parameter">
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<!-- META DATA OF FIRST PARAMETER IN THIS PART -->
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<section name="Local Center of corner">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Base Mode "/>
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<attstr name="section" val="simplix private/param seg"/>
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<attstr name="parameter" val="base mode"/>
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<attnum name="range" min="0.97" max="1.03" val="0.98"/>
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<attnum name="weight" val="1"/>
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<attnum name="scale" val="0.01"/>
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<attnum name="round" val="100000"/>
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</section>
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<!-- META DATA OF NEXT PARAMETER IN THIS PART -->
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<section name="Local Curvature of Corner">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Base Scale "/>
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<attstr name="section" val="simplix private/param seg"/>
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<attstr name="parameter" val="base scale"/>
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<attnum name="range" min="1" max="1.1" val="1.016"/>
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<attnum name="weight" val="1"/>
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<attnum name="scale" val="0.01"/>
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<attnum name="round" val="100000"/>
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</section>
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<section name="Local Grip">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Friction "/>
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<attstr name="section" val="simplix private/param seg"/>
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<attstr name="parameter" val="scale friction"/>
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<attnum name="range" min="0.8" max="1.2" val="1"/>
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<attnum name="weight" val="1"/>
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<attnum name="scale" val="0.1"/>
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<attnum name="round" val="1000"/>
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</section>
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<section name="Local Braking">
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<attnum name="active" val="1"/>
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<attstr name="label" val="Braking "/>
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<attstr name="section" val="simplix private/param seg"/>
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<attstr name="parameter" val="scale braking"/>
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<attnum name="range" min="0.8" max="1.2" val="1"/>
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<attnum name="weight" val="1"/>
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<attnum name="scale" val="0.1"/>
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<attnum name="round" val="1000"/>
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</section>
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</section>
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<!-- END OF PARAMETERS IN THIS PART -->
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</section>
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<!-- END OF META DATA FOR THIS PART -->
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<!-- META DATA OF NEXT PART OF LOCAL PARAMETERS -->
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<!-- ... -->
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<!-- END OF META DATA FOR THIS PART -->
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</section>
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<!-- END OF META DATA -->
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</params>
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