<systems>
  <system>
    <id>0</id>
    <title>Follow Trajectory</title>
    <priority>0</priority>
    <components>
      <component>
        <id>0</id>
        <library>Algorithm_RouteControl</library>
        <title>Algorithm_RouteControl</title>
        <schedule>
          <priority>30</priority>
          <offset>0</offset>
          <cycle>10</cycle>
          <response>0</response>
        </schedule>
        <parameters>
          <parameter>
            <!--parameter's title: Driver aggressiveness-->
            <id>0</id>
            <type>double</type>
            <unit></unit>
            <value>1</value>
          </parameter>
          <parameter>
            <!--parameter's title: Max. engine power-->
            <id>1</id>
            <type>double</type>
            <unit>W</unit>
            <value>200000</value>
          </parameter>
          <parameter>
            <!--parameter's title: Min. brake torque-->
            <id>2</id>
            <type>double</type>
            <unit>Nm</unit>
            <value>-10000</value>
          </parameter>
          <parameter>
            <!--parameter's title: Kp of the pedals PID control-->
            <id>3</id>
            <type>double</type>
            <unit></unit>
            <value>15</value>
          </parameter>
          <parameter>
            <!--parameter's title: Ki of the pedals PID control-->
            <id>4</id>
            <type>double</type>
            <unit></unit>
            <value>-70</value>
          </parameter>
          <parameter>
            <!--parameter's title: Kd of the pedals PID control-->
            <id>5</id>
            <type>double</type>
            <unit></unit>
            <value>0.0</value>
          </parameter>
          <parameter>
            <!--parameter's title: Kp of the steering PID control-->
            <id>6</id>
            <type>double</type>
            <unit></unit>
            <value>-18</value>
          </parameter>
          <parameter>
            <!--parameter's title: Ki of the steering PID control-->
            <id>7</id>
            <type>double</type>
            <unit></unit>
            <value>-0.6</value>
          </parameter>
          <parameter>
            <!--parameter's title: Kd of the steering PID control-->
            <id>8</id>
            <type>double</type>
            <unit></unit>
            <value>0.0</value>
          </parameter>
        </parameters>
        <position>
          <x>399</x>
          <y>20</y>
        </position>
      </component>
      <component>
        <id>1</id>
        <library>Action_BrakeSystem</library>
        <title>Action_BrakeSystem</title>
        <schedule>
          <priority>400</priority>
          <offset>0</offset>
          <cycle>1</cycle>
          <response>0</response>
        </schedule>
        <parameters>
          <parameter>
            <!--parameter's title: FrontAxlePercentage-->
            <id>0</id>
            <type>double</type>
            <unit/>
            <value>0.6</value>
          </parameter>
          <parameter>
            <!--parameter's title: BrakeDecelerationInclineRate-->
            <id>1</id>
            <type>double</type>
            <unit>m/s^3</unit>
            <value>70</value>
          </parameter>
          <parameter>
            <!--parameter's title: BrakeDecelerationDeclineRate-->
            <id>2</id>
            <type>double</type>
            <unit>m/s^3</unit>
            <value>70</value>
          </parameter>
          <parameter>
            <!--parameter's title: BrakeResponseTimeMs-->
            <id>3</id>
            <type>double</type>
            <unit>ms</unit>
            <value>0</value>
          </parameter>
        </parameters>
        <position>
          <x>568</x>
          <y>20</y>
        </position>
      </component>
      <component>
        <id>2</id>
        <library>Action_Powertrain</library>
        <title>Action_Powertrain</title>
        <schedule>
          <priority>350</priority>
          <offset>0</offset>
          <cycle>1</cycle>
          <response>0</response>
        </schedule>
        <parameters>
          <parameter>
            <!--parameter's title: TypeDrivetrain-->
            <id>1</id>
            <type>string</type>
            <unit/>
            <value>FWD</value>
          </parameter>
          <parameter>
            <!--parameter's title: FrontRatioAWD-->
            <id>2</id>
            <type>double</type>
            <unit/>
            <value>0.5</value>
          </parameter>
        </parameters>
        <position>
          <x>592</x>
          <y>236</y>
        </position>
      </component>
      <component>
        <id>3</id>
        <library>Action_SteeringSystem</library>
        <title>Action_SteeringSystem</title>
        <schedule>
          <priority>300</priority>
          <offset>0</offset>
          <cycle>1</cycle>
          <response>0</response>
        </schedule>
        <parameters>
          <parameter>
            <!--parameter's title: Tire's toe-->
            <id>0</id>
            <type>doubleVector</type>
            <unit/>
            <value>0.0,0.0</value>
          </parameter>
		  <parameter>
            <!--parameter's title: Elasticity-->
            <id>1</id>
            <type>doubleVector</type>
            <unit/>
            <value>20000</value>
          </parameter>
		  <parameter>
            <!--parameter's title: Overall caster-->
            <id>2</id>
            <type>doubleVector</type>
            <unit/>
            <value>0.05</value>
          </parameter>
        </parameters>
        <position>
          <x>567</x>
          <y>404</y>
        </position>
      </component>
      <component>
        <id>4</id>
        <library>Dynamics_TireModel</library>
        <title>Dynamics_TireModel</title>
        <schedule>
          <priority>250</priority>
          <offset>0</offset>
          <cycle>1</cycle>
          <response>0</response>
        </schedule>
        <parameters>
          <parameter>
            <!--parameter's title: Tire's long. max. mu at reference Force -->
            <id>1</id>
            <type>doubleVector</type>
            <unit/>
            <value>1.1,1.1</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's long. max. mu at 2*reference Force -->
            <id>2</id>
            <type>doubleVector</type>
            <unit/>
            <value>1.1,1.1</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's long. slide mu at reference Force-->
            <id>3</id>
            <type>doubleVector</type>
            <unit/>
            <value>1.0,1.0</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's long. slide mu at 2*reference Force-->
            <id>4</id>
            <type>doubleVector</type>
            <unit/>
            <value>1.0,1.0</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's long. max slip at reference Force-->
            <id>5</id>
            <type>doubleVector</type>
            <unit/>
            <value>0.21,0.21</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's long. max slip at 2*reference Force-->
            <id>6</id>
            <type>doubleVector</type>
            <unit/>
            <value>0.21,0.21</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's long. slide slip at reference Force-->
            <id>7</id>
            <type>doubleVector</type>
            <unit/>
            <value>0.5,0.5</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's long. slide slip at 2*reference Force-->
            <id>8</id>
            <type>doubleVector</type>
            <unit/>
            <value>0.5,0.5</value>
          </parameter>
          <parameter>
            <!--parameter's title: Initial long inclination at reference Force-->
            <id>9</id>
            <type>doubleVector</type>
            <unit/>
            <value>15,15</value>
          </parameter>
          <parameter>
            <!--parameter's title: Initial long inclination at 2*reference Force-->
            <id>10</id>
            <type>doubleVector</type>
            <unit/>
            <value>15,15</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's lat. max. mu at reference Force-->
            <id>11</id>
            <type>doubleVector</type>
            <unit/>
            <value>1.1,1.1</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's lat. max. mu at 2*reference Force-->
            <id>12</id>
            <type>doubleVector</type>
            <unit/>
            <value>1.1,1.1</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's lat. slide mu at reference Force-->
            <id>13</id>
            <type>doubleVector</type>
            <unit/>
            <value>1,1</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's lat. slide mu at 2*reference Force-->
            <id>14</id>
            <type>doubleVector</type>
            <unit/>
            <value>1,1</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's lat. max slip at reference Force-->
            <id>15</id>
            <type>doubleVector</type>
            <unit/>
            <value>0.21,0.21</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's lat. max slip at 2*reference Force-->
            <id>16</id>
            <type>doubleVector</type>
            <unit/>
            <value>0.21,0.21</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's lat. slide slip at reference Force-->
            <id>17</id>
            <type>doubleVector</type>
            <unit/>
            <value>0.5,0.5</value>
          </parameter>
          <parameter>
            <!--parameter's title: Tire's lat. slide slip at 2*reference Force-->
            <id>18</id>
            <type>doubleVector</type>
            <unit/>
            <value>0.5,0.5</value>
          </parameter>
          <parameter>
            <!--parameter's title: Initial lat. inclination at reference Force-->
            <id>19</id>
            <type>doubleVector</type>
            <unit/>
            <value>15,15</value>
          </parameter>
          <parameter>
            <!--parameter's title: Initial lat. inclination at 2*reference Force-->
            <id>20</id>
            <type>doubleVector</type>
            <unit/>
            <value>15,15</value>
          </parameter>
          <parameter>
            <!--parameter's title: Vertical reference Force-->
            <id>21</id>
            <type>doubleVector</type>
            <unit/>
            <value>1,1</value>
          </parameter>
          <parameter>
            <!--parameter's title: Vertical reference Force Normalized-->
            <id>22</id>
            <type>boolVector</type>
            <unit/>
            <value>1,1</value>
          </parameter>
          <parameter>
            <!--parameter's title: Inertia-->
            <id>23</id>
            <type>doubleVector</type>
            <unit>kgm²</unit>
            <value>2,2</value>
          </parameter>
          <parameter>
            <!--parameter's title: Pneumatic trail-->
            <id>24</id>
            <type>doubleVector</type>
            <unit>m</unit>
            <value>0.03,0.03</value>
          </parameter>
        </parameters>
        <position>
          <x>938</x>
          <y>135</y>
        </position>
      </component>
      <component>
        <id>5</id>
        <library>Dynamics_MotionModel</library>
        <title>Dynamics_MotionModel</title>
        <schedule>
          <priority>200</priority>
          <offset>0</offset>
          <cycle>1</cycle>
          <response>0</response>
        </schedule>
        <parameters/>
        <position>
          <x>1252</x>
          <y>166</y>
        </position>
      </component>
      <component>
        <id>6</id>
        <library>Dynamics_Chassis</library>
        <title>Dynamics_Chassis</title>
        <schedule>
          <priority>10</priority>
          <offset>0</offset>
          <cycle>1</cycle>
          <response>0</response>
        </schedule>
        <parameters>
          <parameter>
            <!--parameter's title: Spring coefficient-->
            <id>0</id>
            <type>doubleVector</type>
            <unit/>
            <value>1600000,1600000</value>
          </parameter>
          <parameter>
            <!--parameter's title: Damper coefficient-->
            <id>1</id>
            <type>doubleVector</type>
            <unit/>
            <value>18000,18000</value>
          </parameter>
        </parameters>
        <position>
          <x>1569</x>
          <y>271</y>
        </position>
      </component>
	  <component>
		<id>7</id>
		<library>Sensor_Collision</library>
		<title>Sensor_Collision</title>
		<schedule>
		 <priority>450</priority>
		 <offset>0</offset>
		 <cycle>10</cycle>
		 <response>0</response>
		</schedule>
		<parameters>
		 <parameter>
		  <!--parameter's title: penetrationTime_ms-->
		  <id>0</id>
		  <type>int</type>
		  <unit>ms</unit>
		  <value>30</value>
		 </parameter>
		</parameters>
		<position>
		 <x>276</x>
		 <y>565</y>
		</position>
	  </component>
	  <component>
		<id>8</id>
		<library>Dynamics_CollisionPCM</library>
		<title>Dynamics_CollisionPCM</title>
		<schedule>
		 <priority>2</priority>
		 <offset>0</offset>
		 <cycle>1</cycle>
		 <response>0</response>
		</schedule>
		<parameters/>
		<position>
		 <x>663</x>
		 <y>587</y>
		</position>
	  </component>
	  <component>
		<id>9</id>
		<library>AgentUpdater</library>
		<title>AgentUpdater</title>
		<schedule>
		 <priority>1</priority>
		 <offset>0</offset>
		 <cycle>1</cycle>
		 <response>0</response>
		</schedule>
		<parameters/>
		<position>
		 <x>663</x>
		 <y>587</y>
		</position>
	  </component> 
    </components>
    <connections>
      <connection>
        <id>0</id>
        <source>
          <!--component title: Algorithm_RouteControl-->
          <component>0</component>
          <!--output title: ControlSteering-->
          <output>1</output>
        </source>
        <target>
          <!--component title: Action_SteeringSystem-->
          <component>3</component>
          <!--input title: ControlSteering-->
          <input>0</input>
        </target>
		<target>
          <!--component title: Dynamics_TwoTrackMotionModel-->
          <component>5</component>
          <!--input title: SteeringSignal-->
          <input>5</input>
        </target>
      </connection>
      <connection>
        <id>1</id>
        <source>
          <!--component title: Algorithm_RouteControl-->
          <component>0</component>
          <!--output title: ControlLongitudinal-->
          <output>0</output>
        </source>
        <target>
          <!--component title: Action_BrakeSystem-->
          <component>1</component>
          <!--input title: Control-->
          <input>1</input>
        </target>
        <target>
          <!--component title: Action_Powertrain-->
          <component>2</component>
          <!--input title: LongitudinalSignal-->
          <input>0</input>
        </target>
      </connection>
      <connection>
        <id>3</id>
        <source>
          <!--component title: Action_Powertrain-->
          <component>2</component>
          <!--output title: DriveTorqueTire-->
          <output>0</output>
        </source>
        <target>
          <!--component title: Dynamics_TireModel-->
          <component>4</component>
          <!--input title: Drive torque-->
          <input>0</input>
        </target>
      </connection>
      <connection>
        <id>4</id>
        <source>
          <!--component title: Action_BrakeSystem-->
          <component>1</component>
          <!--output title: WheelBrakeTorque-->
          <output>0</output>
        </source>
        <target>
          <!--component title: Dynamics_TireModel-->
          <component>4</component>
          <!--input title: brake torque-->
          <input>1</input>
        </target>
      </connection>
      <connection>
        <id>5</id>
        <source>
          <!--component title: Action_SteeringSystem-->
          <component>3</component>
          <!--output title: WheelAngle-->
          <output>0</output>
        </source>
        <target>
          <!--component title: Dynamics_TireModel-->
          <component>4</component>
          <!--input title: Wheel angle-->
          <input>2</input>
        </target>
        <target>
          <!--component title: Dynamics_TwoTrackMotionModel-->
          <component>5</component>
          <!--input title: Wheel angle-->
          <input>2</input>
        </target>
      </connection>
      <connection>
        <id>6</id>
        <source>
          <!--component title: Dynamics_TireModel-->
          <component>4</component>
          <!--output title: Wheel rotation rate-->
          <output>3</output>
        </source>
        <target>
          <!--component title: Action_Powertrain-->
          <component>2</component>
          <!--input title: WheelRotationRate-->
          <input>1</input>
        </target>
		<target>
          <!--component title: Dynamics_TwoTrackMotionModel-->
          <component>5</component>
          <!--input title: WheelRotationRate-->
          <input>4</input>
        </target>
      </connection>
      <connection>
        <id>7</id>
        <source>
          <!--component title: Dynamics_TireModel-->
          <component>4</component>
          <!--output title: Longitudinal tire force-->
          <output>0</output>
        </source>
        <target>
          <!--component title: Dynamics_TwoTrackMotionModel-->
          <component>5</component>
          <!--input title: Longitudinal tire forces-->
          <input>0</input>
        </target>
      </connection>
      <connection>
        <id>8</id>
        <source>
          <!--component title: Dynamics_TireModel-->
          <component>4</component>
          <!--output title: Lateral tire force-->
          <output>1</output>
        </source>
        <target>
          <!--component title: Dynamics_TwoTrackMotionModel-->
          <component>5</component>
          <!--input title: Lateral tire forces-->
          <input>1</input>
        </target>
		<target>
          <!--component title: Action_SteeringSystem-->
          <component>3</component>
          <!--input title: Lateral Tire forces-->
          <input>1</input>
        </target>
      </connection>
      <connection>
        <id>10</id>
        <source>
          <!--component title: Dynamics_TireModel-->
          <component>4</component>
          <!--output title: Self aligning torque-->
          <output>2</output>
        </source>
        <target>
          <!--component title: Dynamics_TwoTrackMotionModel-->
          <component>5</component>
          <!--input title: Wheel self aligning torque-->
          <input>3</input>
        </target>
      </connection>
      <connection>
        <id>11</id>
        <source>
          <!--component title: Dynamics_TwoTrackMotionModel-->
          <component>5</component>
          <!--output title: Inertia force vector-->
          <output>0</output>
        </source>
        <target>
          <!--component title: Dynamics_Chassis-->
          <component>6</component>
          <!--input title: InertiaForce-->
          <input>0</input>
        </target>
      </connection>
      <connection>
        <id>12</id>
        <source>
          <!--component title: Dynamics_Chassis-->
          <component>6</component>
          <!--output title: VerticalForce-->
          <output>0</output>
        </source>
        <target>
          <!--component title: Dynamics_TireModel-->
          <component>4</component>
          <!--input title: Vertical force on tires-->
          <input>3</input>
        </target>
      </connection>
	  <connection>
		<id>13</id>
		<source>
		 <!--component title: Sensor_Collision-->
		 <component>7</component>
		 <!--output title: CollisionOccured-->
		 <output>0</output>
		</source>
		<target>
		 <!--component title: Dynamics_CollisionPCM-->
		 <component>8</component>
		 <!--input title: CollisionOccured-->
		 <input>0</input>
		</target>
	  </connection>
	  <connection>
        <id>14</id>
        <source>
          <!--component title: Dynamics_TwoTrackMotionModel-->
          <component>5</component>
          <!--output title: DynamicsSignal-->
          <output>1</output>
        </source>
        <target>
          <!--component title: AgentUpdater-->
          <component>9</component>
          <!--input title: DynamicsSignal-->
          <input>0</input>
        </target>
      </connection>
    </connections>
  </system>
</systems>