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OpenUxAS-SoI/examples/05_AssignTasks/AssignTasks_Scenario.xml

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XML

<?xml version="1.0" ?>
<AMASE>
<ScenarioEventList>
<AirVehicleConfiguration Series="CMASI">
<MinimumSpeed>20.0</MinimumSpeed>
<MaximumSpeed>35.0</MaximumSpeed>
<NominalFlightProfile>
<FlightProfile Series="CMASI">
<Name/>
<Airspeed>22.0</Airspeed>
<PitchAngle>0.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>20.0</MaxBankAngle>
<EnergyRate>3.0E-4</EnergyRate>
</FlightProfile>
</NominalFlightProfile>
<AlternateFlightProfiles>
<FlightProfile Series="CMASI">
<Name/>
<Airspeed>22.0</Airspeed>
<PitchAngle>0.0</PitchAngle>
<VerticalSpeed>5.0</VerticalSpeed>
<MaxBankAngle>20.0</MaxBankAngle>
<EnergyRate>3.0E-4</EnergyRate>
</FlightProfile>
</AlternateFlightProfiles>
<AvailableLoiterTypes/>
<AvailableTurnTypes/>
<MinimumAltitude>0.0</MinimumAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaximumAltitude>1000000.0</MaximumAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<ID>1</ID>
<Affiliation>Unknown</Affiliation>
<EntityType/>
<Label/>
<NominalSpeed>22.0</NominalSpeed>
<NominalAltitude>500.0</NominalAltitude>
<NominalAltitudeType>AGL</NominalAltitudeType>
<PayloadConfigurationList>
<CameraConfiguration Series="CMASI">
<SupportedWavelengthBand>EO</SupportedWavelengthBand>
<FieldOfViewMode>Discrete</FieldOfViewMode>
<MinHorizontalFieldOfView>0.11</MinHorizontalFieldOfView>
<MaxHorizontalFieldOfView>45.0</MaxHorizontalFieldOfView>
<DiscreteHorizontalFieldOfViewList>
<real32>45.0</real32>
<real32>22.0</real32>
<real32>7.6</real32>
<real32>3.7</real32>
<real32>0.63</real32>
<real32>0.11</real32>
</DiscreteHorizontalFieldOfViewList>
<VideoStreamHorizontalResolution>1024</VideoStreamHorizontalResolution>
<VideoStreamVerticalResolution>768</VideoStreamVerticalResolution>
<PayloadID>1001</PayloadID>
<PayloadKind/>
<Parameters/>
</CameraConfiguration>
<GimbalConfiguration Series="CMASI">
<SupportedPointingModes/>
<MinAzimuth>-180.0</MinAzimuth>
<MaxAzimuth>180.0</MaxAzimuth>
<IsAzimuthClamped>true</IsAzimuthClamped>
<MinElevation>-130.0</MinElevation>
<MaxElevation>40.0</MaxElevation>
<IsElevationClamped>true</IsElevationClamped>
<MinRotation>0.0</MinRotation>
<MaxRotation>0.0</MaxRotation>
<IsRotationClamped>true</IsRotationClamped>
<MaxAzimuthSlewRate>115.0</MaxAzimuthSlewRate>
<MaxElevationSlewRate>115.0</MaxElevationSlewRate>
<MaxRotationRate>0.0</MaxRotationRate>
<ContainedPayloadList>
<int64>1001</int64>
</ContainedPayloadList>
<PayloadID>101</PayloadID>
<PayloadKind/>
<Parameters/>
</GimbalConfiguration>
</PayloadConfigurationList>
<Info/>
</AirVehicleConfiguration>
<AirVehicleState Series="CMASI">
<Airspeed>0.0</Airspeed>
<VerticalSpeed>0.0</VerticalSpeed>
<WindSpeed>0.0</WindSpeed>
<WindDirection>0.0</WindDirection>
<ID>1</ID>
<u>0.0</u>
<v>0.0</v>
<w>0.0</w>
<udot>0.0</udot>
<vdot>0.0</vdot>
<wdot>0.0</wdot>
<Heading>0.0</Heading>
<Pitch>0.0</Pitch>
<Roll>0.0</Roll>
<p>0.0</p>
<q>0.0</q>
<r>0.0</r>
<Course>0.0</Course>
<Groundspeed>0.0</Groundspeed>
<Location>
<Location3D Series="CMASI">
<Latitude>25.185516367326773</Latitude>
<Longitude>-80.86098443548511</Longitude>
<Altitude>100.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</Location>
<EnergyAvailable>100.0</EnergyAvailable>
<ActualEnergyRate>0.0</ActualEnergyRate>
<PayloadStateList/>
<CurrentWaypoint>0</CurrentWaypoint>
<CurrentCommand>0</CurrentCommand>
<Mode>Waypoint</Mode>
<AssociatedTasks/>
<Time>0</Time>
<Info/>
</AirVehicleState>
<AirVehicleConfiguration Series="CMASI">
<MinimumSpeed>20.0</MinimumSpeed>
<MaximumSpeed>35.0</MaximumSpeed>
<NominalFlightProfile>
<FlightProfile Series="CMASI">
<Name/>
<Airspeed>22.0</Airspeed>
<PitchAngle>0.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>20.0</MaxBankAngle>
<EnergyRate>3.0E-4</EnergyRate>
</FlightProfile>
</NominalFlightProfile>
<AlternateFlightProfiles>
<FlightProfile Series="CMASI">
<Name/>
<Airspeed>22.0</Airspeed>
<PitchAngle>0.0</PitchAngle>
<VerticalSpeed>5.0</VerticalSpeed>
<MaxBankAngle>20.0</MaxBankAngle>
<EnergyRate>3.0E-4</EnergyRate>
</FlightProfile>
</AlternateFlightProfiles>
<AvailableLoiterTypes/>
<AvailableTurnTypes/>
<MinimumAltitude>0.0</MinimumAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaximumAltitude>1000000.0</MaximumAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<ID>2</ID>
<Affiliation>Unknown</Affiliation>
<EntityType/>
<Label/>
<NominalSpeed>22.0</NominalSpeed>
<NominalAltitude>500.0</NominalAltitude>
<NominalAltitudeType>AGL</NominalAltitudeType>
<PayloadConfigurationList>
<CameraConfiguration Series="CMASI">
<SupportedWavelengthBand>EO</SupportedWavelengthBand>
<FieldOfViewMode>Discrete</FieldOfViewMode>
<MinHorizontalFieldOfView>0.11</MinHorizontalFieldOfView>
<MaxHorizontalFieldOfView>45.0</MaxHorizontalFieldOfView>
<DiscreteHorizontalFieldOfViewList>
<real32>45.0</real32>
<real32>22.0</real32>
<real32>7.6</real32>
<real32>3.7</real32>
<real32>0.63</real32>
<real32>0.11</real32>
</DiscreteHorizontalFieldOfViewList>
<VideoStreamHorizontalResolution>1024</VideoStreamHorizontalResolution>
<VideoStreamVerticalResolution>768</VideoStreamVerticalResolution>
<PayloadID>1002</PayloadID>
<PayloadKind/>
<Parameters/>
</CameraConfiguration>
<GimbalConfiguration Series="CMASI">
<SupportedPointingModes/>
<MinAzimuth>-180.0</MinAzimuth>
<MaxAzimuth>180.0</MaxAzimuth>
<IsAzimuthClamped>false</IsAzimuthClamped>
<MinElevation>-130.0</MinElevation>
<MaxElevation>40.0</MaxElevation>
<IsElevationClamped>true</IsElevationClamped>
<MinRotation>0.0</MinRotation>
<MaxRotation>0.0</MaxRotation>
<IsRotationClamped>true</IsRotationClamped>
<MaxAzimuthSlewRate>115.0</MaxAzimuthSlewRate>
<MaxElevationSlewRate>115.0</MaxElevationSlewRate>
<MaxRotationRate>0.0</MaxRotationRate>
<ContainedPayloadList>
<int64>1002</int64>
</ContainedPayloadList>
<PayloadID>102</PayloadID>
<PayloadKind/>
<Parameters/>
</GimbalConfiguration>
</PayloadConfigurationList>
<Info/>
</AirVehicleConfiguration>
<AirVehicleState Series="CMASI">
<Airspeed>0.0</Airspeed>
<VerticalSpeed>0.0</VerticalSpeed>
<WindSpeed>0.0</WindSpeed>
<WindDirection>0.0</WindDirection>
<ID>2</ID>
<u>0.0</u>
<v>0.0</v>
<w>0.0</w>
<udot>0.0</udot>
<vdot>0.0</vdot>
<wdot>0.0</wdot>
<Heading>0.0</Heading>
<Pitch>0.0</Pitch>
<Roll>0.0</Roll>
<p>0.0</p>
<q>0.0</q>
<r>0.0</r>
<Course>0.0</Course>
<Groundspeed>0.0</Groundspeed>
<Location>
<Location3D Series="CMASI">
<Latitude>25.44179557110271</Latitude>
<Longitude>-80.65038781016004</Longitude>
<Altitude>100.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</Location>
<EnergyAvailable>100.0</EnergyAvailable>
<ActualEnergyRate>0.0</ActualEnergyRate>
<PayloadStateList/>
<CurrentWaypoint>0</CurrentWaypoint>
<CurrentCommand>0</CurrentCommand>
<Mode>Waypoint</Mode>
<AssociatedTasks/>
<Time>0</Time>
<Info/>
</AirVehicleState>
<PointSearchTask Series="CMASI">
<SearchLocation>
<Location3D Series="CMASI">
<Latitude>25.533507526969014</Latitude>
<Longitude>-80.85624126824806</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</SearchLocation>
<StandoffDistance>0.0</StandoffDistance>
<ViewAngleList/>
<DesiredWavelengthBands/>
<DwellTime>0</DwellTime>
<GroundSampleDistance>0.0</GroundSampleDistance>
<TaskID>1</TaskID>
<Label/>
<EligibleEntities/>
<RevisitRate>0.0</RevisitRate>
<Parameters/>
<Priority>0</Priority>
<Required>true</Required>
</PointSearchTask>
<PointSearchTask Series="CMASI">
<SearchLocation>
<Location3D Series="CMASI">
<Latitude>25.330369830330564</Latitude>
<Longitude>-80.54224359715526</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</SearchLocation>
<StandoffDistance>0.0</StandoffDistance>
<ViewAngleList/>
<DesiredWavelengthBands/>
<DwellTime>0</DwellTime>
<GroundSampleDistance>0.0</GroundSampleDistance>
<TaskID>2</TaskID>
<Label/>
<EligibleEntities/>
<RevisitRate>0.0</RevisitRate>
<Parameters/>
<Priority>0</Priority>
<Required>true</Required>
</PointSearchTask>
<LineSearchTask Series="CMASI">
<PointList>
<Location3D Series="CMASI">
<Latitude>25.446938297599885</Latitude>
<Longitude>-80.85149810101102</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.456366629511372</Latitude>
<Longitude>-80.79078556037676</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.512079499897446</Latitude>
<Longitude>-80.76327519040186</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.548078585377677</Latitude>
<Longitude>-80.70540855010984</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.551507069709128</Latitude>
<Longitude>-80.64849054326521</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.551507069709128</Latitude>
<Longitude>-80.64849054326521</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</PointList>
<ViewAngleList/>
<UseInertialViewAngles>false</UseInertialViewAngles>
<DesiredWavelengthBands/>
<DwellTime>0</DwellTime>
<GroundSampleDistance>0.0</GroundSampleDistance>
<TaskID>3</TaskID>
<Label/>
<EligibleEntities/>
<RevisitRate>0.0</RevisitRate>
<Parameters/>
<Priority>0</Priority>
<Required>true</Required>
</LineSearchTask>
<LineSearchTask Series="CMASI">
<PointList>
<Location3D Series="CMASI">
<Latitude>25.176945156498146</Latitude>
<Longitude>-80.77371015832335</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.192373335989675</Latitude>
<Longitude>-80.69781948253053</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.22065833172414</Latitude>
<Longitude>-80.66177141152893</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.265228628033</Latitude>
<Longitude>-80.67220637945044</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.28837089727029</Latitude>
<Longitude>-80.73481618697953</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.327798467081973</Latitude>
<Longitude>-80.72627848595286</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.334655435744875</Latitude>
<Longitude>-80.64849054326518</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</PointList>
<ViewAngleList/>
<UseInertialViewAngles>false</UseInertialViewAngles>
<DesiredWavelengthBands/>
<DwellTime>0</DwellTime>
<GroundSampleDistance>0.0</GroundSampleDistance>
<TaskID>4</TaskID>
<Label/>
<EligibleEntities/>
<RevisitRate>0.0</RevisitRate>
<Parameters/>
<Priority>0</Priority>
<Required>true</Required>
</LineSearchTask>
<AreaSearchTask Series="CMASI">
<SearchArea>
<Polygon Series="CMASI">
<BoundaryPoints>
<Location3D Series="CMASI">
<Latitude>25.5223649528918</Latitude>
<Longitude>-80.56690806678793</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.549792827543403</Latitude>
<Longitude>-80.54319223060267</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.551507069709128</Latitude>
<Longitude>-80.49101739099511</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.515507984228897</Latitude>
<Longitude>-80.4710960885995</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.46836632467145</Latitude>
<Longitude>-80.4891201241003</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.47779465658294</Latitude>
<Longitude>-80.54414086405009</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</BoundaryPoints>
</Polygon>
</SearchArea>
<ViewAngleList/>
<DesiredWavelengthBands/>
<DwellTime>0</DwellTime>
<GroundSampleDistance>0.0</GroundSampleDistance>
<TaskID>5</TaskID>
<Label/>
<EligibleEntities/>
<RevisitRate>0.0</RevisitRate>
<Parameters/>
<Priority>0</Priority>
<Required>true</Required>
</AreaSearchTask>
<AreaSearchTask Series="CMASI">
<SearchArea>
<Circle Series="CMASI">
<CenterPoint>
<Location3D Series="CMASI">
<Latitude>25.377082929346578</Latitude>
<Longitude>-80.83489701568129</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</CenterPoint>
<Radius>3374.1794</Radius>
</Circle>
</SearchArea>
<ViewAngleList/>
<DesiredWavelengthBands/>
<DwellTime>0</DwellTime>
<GroundSampleDistance>0.0</GroundSampleDistance>
<TaskID>6</TaskID>
<Label/>
<EligibleEntities/>
<RevisitRate>0.0</RevisitRate>
<Parameters/>
<Priority>0</Priority>
<Required>true</Required>
</AreaSearchTask>
<KeepOutZone Series="CMASI">
<ZoneType>Physical</ZoneType>
<ZoneID>1</ZoneID>
<MinAltitude>0.0</MinAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaxAltitude>5000.0</MaxAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<AffectedAircraft/>
<StartTime>0</StartTime>
<EndTime>0</EndTime>
<Padding>0.0</Padding>
<Label/>
<Boundary>
<Rectangle Series="CMASI">
<CenterPoint>
<Location3D Series="CMASI">
<Latitude>25.401510880208175</Latitude>
<Longitude>-80.52232229475965</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</CenterPoint>
<Width>8981.193</Width>
<Height>4564.5303</Height>
<Rotation>0.0</Rotation>
</Rectangle>
</Boundary>
</KeepOutZone>
<KeepOutZone Series="CMASI">
<ZoneType>Physical</ZoneType>
<ZoneID>2</ZoneID>
<MinAltitude>0.0</MinAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaxAltitude>5000.0</MaxAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<AffectedAircraft/>
<StartTime>0</StartTime>
<EndTime>0</EndTime>
<Padding>0.0</Padding>
<Label/>
<Boundary>
<Polygon Series="CMASI">
<BoundaryPoints>
<Location3D Series="CMASI">
<Latitude>25.298656350264643</Latitude>
<Longitude>-80.88375163822296</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.298656350264643</Latitude>
<Longitude>-80.81829593035165</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.266942870198726</Latitude>
<Longitude>-80.78888829348193</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.24208635879571</Latitude>
<Longitude>-80.81165549621979</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.24208635879571</Latitude>
<Longitude>-80.88375163822296</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
<Location3D Series="CMASI">
<Latitude>25.26779999128159</Latitude>
<Longitude>-80.9065188409608</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</BoundaryPoints>
</Polygon>
</Boundary>
</KeepOutZone>
<KeepInZone Series="CMASI">
<ZoneID>3</ZoneID>
<MinAltitude>0.0</MinAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaxAltitude>5000.0</MaxAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<AffectedAircraft/>
<StartTime>0</StartTime>
<EndTime>0</EndTime>
<Padding>0.0</Padding>
<Label/>
<Boundary>
<Rectangle Series="CMASI">
<CenterPoint>
<Location3D Series="CMASI">
<Latitude>25.371511642307972</Latitude>
<Longitude>-80.68928178150387</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</CenterPoint>
<Width>54229.61</Width>
<Height>48688.32</Height>
<Rotation>0.0</Rotation>
</Rectangle>
</Boundary>
</KeepInZone>
<OperatingRegion Series="CMASI">
<ID>10</ID>
<KeepInAreas>
<int64>3</int64>
</KeepInAreas>
<KeepOutAreas>
<int64>1</int64>
<int64>2</int64>
</KeepOutAreas>
</OperatingRegion>
<AutomationRequest Series="CMASI">
<EntityList>
<int64>1</int64>
<int64>2</int64>
</EntityList>
<TaskList>
<int64>1</int64>
<int64>2</int64>
<int64>3</int64>
<int64>4</int64>
<int64>5</int64>
<int64>6</int64>
</TaskList>
<TaskRelationships>.(p1 p2 p3 p4 p5 p6)</TaskRelationships>
<OperatingRegion>10</OperatingRegion>
<RedoAllTasks>false</RedoAllTasks>
</AutomationRequest>
</ScenarioEventList>
<ScenarioData/>
</AMASE>