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Unverified Commit 54f6cedf authored by Juon Kawakami's avatar Juon Kawakami 🥗
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init

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maps/test/config/comms/comms-05-medium.cfg 0 → 100644
View file @ 54f6cedf
comms.channels.count: 4
comms.channels.0.type: voice
# Range of a voice message in mm
comms.channels.0.range: 30000
# Maximum size of a voice message
comms.channels.0.messages.size: 256
# Maximum number of voice messages each agent can utter each timestep
comms.channels.0.messages.max: 1
comms.channels.0.noise.input.dropout.use: yes
comms.channels.0.noise.input.dropout.p: 0.1
# Create 3 medium-bandwidth, medium-reliability channels
comms.channels.1.type: radio
comms.channels.1.bandwidth: 1024
comms.channels.1.noise.input.failure.use: yes
comms.channels.1.noise.input.failure.p: 0.1
comms.channels.1.noise.output.dropout.use: yes
comms.channels.1.noise.output.dropout.p: 0.05
comms.channels.2.type: radio
comms.channels.2.bandwidth: 1024
comms.channels.2.noise.input.failure.use: yes
comms.channels.2.noise.input.failure.p: 0.1
comms.channels.2.noise.output.dropout.use: yes
comms.channels.2.noise.output.dropout.p: 0.05
comms.channels.3.type: radio
comms.channels.3.bandwidth: 1024
comms.channels.3.noise.input.failure.use: yes
comms.channels.3.noise.input.failure.p: 0.1
comms.channels.3.noise.output.dropout.use: yes
comms.channels.3.noise.output.dropout.p: 0.05
comms.channels.max.platoon: 1
comms.channels.max.centre: 2
\ No newline at end of file
maps/test/config/comms/comms-06-none.cfg 0 → 100644
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comms.channels.count: 1
comms.channels.0.type: voice
# Range of a voice message in mm
comms.channels.0.range: 30000
# Maximum size of a voice message
comms.channels.0.messages.size: 256
# Maximum number of voice messages each agent can utter each timestep
comms.channels.0.messages.max: 1
comms.channels.0.noise.output.dropout.use: yes
comms.channels.0.noise.output.dropout.p: 0.05
# No other channels
comms.channels.max.platoon: 0
comms.channels.max.centre: 0
\ No newline at end of file
maps/test/config/comms/very-limited.cfg 0 → 100644
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comms.channels.count: 2
comms.channels.0.type: voice
# Range of a voice message in mm
comms.channels.0.range: 30000
# Maximum size of a voice message
comms.channels.0.messages.size: 256
# Maximum number of voice messages each agent can utter each timestep
comms.channels.0.messages.max: 1
comms.channels.0.noise.output.dropout.use: yes
comms.channels.0.noise.output.dropout.p: 0.05
# One very low bandwidth channel
comms.channels.1.type: radio
comms.channels.1.bandwidth: 64
comms.channels.1.noise.input.failure.use: yes
comms.channels.1.noise.input.failure.p: 0.25
comms.channels.1.noise.output.dropout.use: yes
comms.channels.1.noise.output.dropout.p: 0.12
# No other channels
comms.channels.max.platoon: 1
comms.channels.max.centre: 1
maps/test/config/generator.cfg 0 → 100644
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generator.output: ../maps/gml/generated/map.gml
generator.manhattan.grid.width: 10
generator.manhattan.grid.height: 10
generator.manhattan.grid.size: 100
generator.manhattan.road.width: 7
generator.manhattan.building.width.min: 5
generator.manhattan.building.height.min: 5
generator.manhattan.building.separation.min: 1
generator.manhattan.building.separation.max: 5
generator.manhattan.building.split.min-size: 50
generator.manhattan.building.split.max-size: 1000
generator.manhattan.building.split.chance: 0.9
\ No newline at end of file
maps/test/config/gis.cfg 0 → 100644
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# The map directory to read
gis.map.dir : ../maps/gml/legacy/Kobe
# Optional: The map file to read. Defaults to map.gml
gis.map.file : map.gml
# Optional: The scenario file to read. Defaults to scenario.xml
gis.map.scenario : scenario.xml
gis.map.floor-placement.random=true
gis.map.floor-placement.random.floor-rate.1=2
gis.map.floor-placement.random.floor-rate.2=1
gis.map.floor-placement.random.floor-rate.3=1
gis.map.building-code-placement.random = true
gis.map.building-code-placement.random.code-rate.0=75
gis.map.building-code-placement.random.code-rate.1=20
gis.map.building-code-placement.random.code-rate.2=5
maps/test/config/ignition.cfg 0 → 100644
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!include common.cfg
# The lambda value of the Poisson distribution used to choose how many fires to ignite per timestep
ignition.random.lambda: 0.000001
ignition.gas_station.explosion.range:50000
maps/test/config/kernel-inline.cfg 0 → 100644
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!include common.cfg
!include gis.cfg
!include comms.cfg
!include perception.cfg
!include score.cfg
# Also include configs for simulators and agents
!include collapse.cfg
!include clear.cfg
!include misc.cfg
!include resq-fire.cfg
!include traffic3.cfg
!include ignition.cfg
!include civilian.cfg
!include sample-agents.cfg
!include viewer.cfg
# Name of the kernel log file
kernel.logname: ../logs/rescue.log
# Number of timesteps to run
kernel.timesteps: 300
# The simulation termination conditions
kernel.termination: kernel.TimestepTerminationCondition
#kernel.termination: kernel.TimestepTerminationCondition rescuecore2.standard.kernel.CiviliansDeadOrRescuedTerminationCondition
# The amount of time (ms) agents have to send commands each timestep
kernel.agents.think-time: 1000
# Number of timesteps that agents commands are ignored
kernel.agents.ignoreuntil: 3
# List of command collectors to use
kernel.commandcollectors: kernel.TimedCommandCollector
#kernel.commandcollectors: kernel.TimedCommandCollector rescuecore2.standard.kernel.StandardCommandCollector
# List of command filters to use
kernel.commandfilters +: kernel.WrongTimeCommandFilter
kernel.commandfilters +: kernel.FrozenAgentsCommandFilter
kernel.commandfilters +: rescuecore2.standard.kernel.DeadAgentsCommandFilter
kernel.commandfilters +: rescuecore2.standard.kernel.BuriedAgentsCommandFilter
kernel.commandfilters +: rescuecore2.standard.kernel.SingleCommandFilter
# The agent registrar
kernel.agents.registrar: rescuecore2.standard.kernel.StandardAgentRegistrar
# The amount of time agents have to start up
kernel.startup.connect-time: 300000 # 5 minute startup time
# kernel.startup.connect-time: 10000 # 10 second startup time
# Automatic choice of GIS
kernel.gis.auto: gis2.GMLWorldModelCreator
# Automatic choice of perception
kernel.perception.auto: rescuecore2.standard.kernel.LineOfSightPerception
# Automatic choice of communication model
kernel.communication.auto: rescuecore2.standard.kernel.comms.ChannelCommunicationModel
# Automatically start simulators/viewers/agents
kernel.simulators.auto +: collapse.CollapseSimulator
kernel.simulators.auto +: clear.ClearSimulator
kernel.simulators.auto +: misc.MiscSimulator
kernel.simulators.auto +: firesimulator.FireSimulatorWrapper
kernel.simulators.auto +: traffic3.simulator.TrafficSimulator
kernel.simulators.auto +: ignition.IgnitionSimulator
kernel.viewers.auto +: sample.SampleViewer
kernel.agents.auto +: sample.SampleFireBrigade*n
kernel.agents.auto +: sample.SamplePoliceForce*n
kernel.agents.auto +: sample.SampleAmbulanceTeam*n
kernel.agents.auto +: sample.SampleCentre*n
kernel.agents.auto +: sample.SampleCivilian*n
# Kernel UI components
kernel.ui.components: rescuecore2.standard.kernel.StandardWorldModelViewerComponent
maps/test/config/kernel.cfg 0 → 100644
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!include common.cfg
!include gis.cfg
!include comms.cfg
!include perception.cfg
!include score.cfg
# Also include configs for simulators and agents
!include collapse.cfg
!include clear.cfg
!include misc.cfg
!include resq-fire.cfg
!include traffic3.cfg
!include ignition.cfg
!include civilian.cfg
!include sample-agents.cfg
!include viewer.cfg
# Name of the kernel log file
kernel.logname: ../logs/rescue.log
# Number of timesteps to run
kernel.timesteps: 300
# The simulation termination conditions
kernel.termination: kernel.TimestepTerminationCondition
#kernel.termination: kernel.TimestepTerminationCondition rescuecore2.standard.kernel.CiviliansDeadOrRescuedTerminationCondition
# The amount of time (ms) agents have to send commands each timestep
kernel.agents.think-time: 1000
# Number of timesteps that agents commands are ignored
kernel.agents.ignoreuntil: 3
# List of command collectors to use
kernel.commandcollectors: kernel.TimedCommandCollector
#kernel.commandcollectors: kernel.TimedCommandCollector rescuecore2.standard.kernel.StandardCommandCollector
# List of command filters to use
kernel.commandfilters +: kernel.WrongTimeCommandFilter
kernel.commandfilters +: kernel.FrozenAgentsCommandFilter
kernel.commandfilters +: rescuecore2.standard.kernel.DeadAgentsCommandFilter
kernel.commandfilters +: rescuecore2.standard.kernel.BuriedAgentsCommandFilter
kernel.commandfilters +: rescuecore2.standard.kernel.SingleCommandFilter
# The agent registrar
kernel.agents.registrar: rescuecore2.standard.kernel.StandardAgentRegistrar
# The amount of time agents have to start up
kernel.startup.connect-time: 300000 # 5 minute startup time
# kernel.startup.connect-time: 10000 # 10 second startup time
# Automatic choice of GIS
kernel.gis.auto: gis2.GMLWorldModelCreator
# Automatic choice of perception
kernel.perception.auto: rescuecore2.standard.kernel.LineOfSightPerception
# Automatic choice of communication model
kernel.communication.auto: rescuecore2.standard.kernel.comms.ChannelCommunicationModel
# Kernel UI components
kernel.ui.components: rescuecore2.standard.kernel.StandardWorldModelViewerComponent
maps/test/config/logviewer.cfg 0 → 100644
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log.viewers : rescuecore2.standard.view.StandardWorldModelViewer
maps/test/config/misc.cfg 0 → 100644
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!include common.cfg
# Degrees of buriedness for building codes and levels of collapse
misc.buriedness.wood.none.value: 0
misc.buriedness.wood.partial.value: 20
misc.buriedness.wood.half.value: 30
misc.buriedness.wood.all.value: 60
misc.buriedness.steel.none.value: 0
misc.buriedness.steel.partial.value: 20
misc.buriedness.steel.half.value: 35
misc.buriedness.steel.all.value: 70
misc.buriedness.concrete.none.value: 0
misc.buriedness.concrete.partial.value: 35
misc.buriedness.concrete.half.value: 60
misc.buriedness.concrete.all.value: 80
# Buriedness rates for building codes and levels of collapse
misc.buriedness.wood.none.rate: 0
misc.buriedness.wood.partial.rate: 1
misc.buriedness.wood.half.rate: 1
misc.buriedness.wood.all.rate: 1
misc.buriedness.steel.none.rate: 0
misc.buriedness.steel.partial.rate: 0.008
misc.buriedness.steel.half.rate: 0.008
misc.buriedness.steel.all.rate: 0.008
misc.buriedness.concrete.none.rate: 0
misc.buriedness.concrete.partial.rate: 0.008
misc.buriedness.concrete.half.rate: 0.008
misc.buriedness.concrete.all.rate: 0.008
# Injury rates for collapse damage
misc.injury.collapse.wood.none.slight: 0
misc.injury.collapse.wood.none.serious: 0
misc.injury.collapse.wood.none.critical: 0
misc.injury.collapse.wood.partial.slight: 0.5
misc.injury.collapse.wood.partial.serious: 0.3
misc.injury.collapse.wood.partial.critical: 0.02
misc.injury.collapse.wood.half.slight: 0.5
misc.injury.collapse.wood.half.serious: 0.3
misc.injury.collapse.wood.half.critical: 0.02
misc.injury.collapse.wood.all.slight: 0.5
misc.injury.collapse.wood.all.serious: 0.3
misc.injury.collapse.wood.all.critical: 0.02
misc.injury.collapse.steel.none.slight: 0
misc.injury.collapse.steel.none.serious: 0
misc.injury.collapse.steel.none.critical: 0
misc.injury.collapse.steel.partial.slight: 0.1
misc.injury.collapse.steel.partial.serious: 0.03
misc.injury.collapse.steel.partial.critical: 0.005
misc.injury.collapse.steel.half.slight: 0.1
misc.injury.collapse.steel.half.serious: 0.03
misc.injury.collapse.steel.half.critical: 0.005
misc.injury.collapse.steel.all.slight: 0.1
misc.injury.collapse.steel.all.serious: 0.03
misc.injury.collapse.steel.all.critical: 0.005
misc.injury.collapse.concrete.none.slight: 0
misc.injury.collapse.concrete.none.serious: 0
misc.injury.collapse.concrete.none.critical: 0
misc.injury.collapse.concrete.partial.slight: 0.1
misc.injury.collapse.concrete.partial.serious: 0.03
misc.injury.collapse.concrete.partial.critical: 0.005
misc.injury.collapse.concrete.half.slight: 0.1
misc.injury.collapse.concrete.half.serious: 0.03
misc.injury.collapse.concrete.half.critical: 0.005
misc.injury.collapse.concrete.all.slight: 0.1
misc.injury.collapse.concrete.all.serious: 0.03
misc.injury.collapse.concrete.all.critical: 0.005
misc.injury.collapse.slight: 2
misc.injury.collapse.serious: 10
misc.injury.collapse.critical: 10000
misc.injury.collapse.multiplier.ambulance: 0.2
misc.injury.collapse.multiplier.police: 0.2
misc.injury.collapse.multiplier.fire: 0.2
# Injury rates for buriedness damage
misc.injury.bury.wood.none.slight: 0
misc.injury.bury.wood.none.serious: 0
misc.injury.bury.wood.none.critical: 0
misc.injury.bury.wood.partial.slight: 0.4
misc.injury.bury.wood.partial.serious: 0.5
misc.injury.bury.wood.partial.critical: 0.1
misc.injury.bury.wood.half.slight: 0.4
misc.injury.bury.wood.half.serious: 0.5
misc.injury.bury.wood.half.critical: 0.1
misc.injury.bury.wood.all.slight: 0.4
misc.injury.bury.wood.all.serious: 0.5
misc.injury.bury.wood.all.critical: 0.1
misc.injury.bury.steel.none.slight: 0
misc.injury.bury.steel.none.serious: 0
misc.injury.bury.steel.none.critical: 0
misc.injury.bury.steel.partial.slight: 0.4
misc.injury.bury.steel.partial.serious: 0.5
misc.injury.bury.steel.partial.critical: 0.1
misc.injury.bury.steel.half.slight: 0.4
misc.injury.bury.steel.half.serious: 0.5
misc.injury.bury.steel.half.critical: 0.1
misc.injury.bury.steel.all.slight: 0.4
misc.injury.bury.steel.all.serious: 0.5
misc.injury.bury.steel.all.critical: 0.1
misc.injury.bury.concrete.none.slight: 0
misc.injury.bury.concrete.none.serious: 0
misc.injury.bury.concrete.none.critical: 0
misc.injury.bury.concrete.partial.slight: 0.4
misc.injury.bury.concrete.partial.serious: 0.5
misc.injury.bury.concrete.partial.critical: 0.1
misc.injury.bury.concrete.half.slight: 0.4
misc.injury.bury.concrete.half.serious: 0.5
misc.injury.bury.concrete.half.critical: 0.1
misc.injury.bury.concrete.all.slight: 0.4
misc.injury.bury.concrete.all.serious: 0.5
misc.injury.bury.concrete.all.critical: 0.1
misc.injury.bury.slight: 3
misc.injury.bury.serious: 15
misc.injury.bury.critical: 100
misc.injury.bury.multiplier.ambulance: 0.2
misc.injury.bury.multiplier.police: 0.2
misc.injury.bury.multiplier.fire: 0.2
# Injury rates for fire damage
misc.injury.fire.wood.none.slight: 0.4
misc.injury.fire.wood.none.serious: 0.2
misc.injury.fire.wood.none.critical: 0.1
misc.injury.fire.wood.partial.slight: 0.4
misc.injury.fire.wood.partial.serious: 0.2
misc.injury.fire.wood.partial.critical: 0.1
misc.injury.fire.wood.half.slight: 0.4
misc.injury.fire.wood.half.serious: 0.2
misc.injury.fire.wood.half.critical: 0.1
misc.injury.fire.wood.all.slight: 0.4
misc.injury.fire.wood.all.serious: 0.2
misc.injury.fire.wood.all.critical: 0.1
misc.injury.fire.steel.none.slight: 0.4
misc.injury.fire.steel.none.serious: 0.2
misc.injury.fire.steel.none.critical: 0.1
misc.injury.fire.steel.partial.slight: 0.4
misc.injury.fire.steel.partial.serious: 0.2
misc.injury.fire.steel.partial.critical: 0.1
misc.injury.fire.steel.half.slight: 0.4
misc.injury.fire.steel.half.serious: 0.2
misc.injury.fire.steel.half.critical: 0.1
misc.injury.fire.steel.all.slight: 0.4
misc.injury.fire.steel.all.serious: 0.2
misc.injury.fire.steel.all.critical: 0.1
misc.injury.fire.concrete.none.slight: 0.4
misc.injury.fire.concrete.none.serious: 0.2
misc.injury.fire.concrete.none.critical: 0.1
misc.injury.fire.concrete.partial.slight: 0.4
misc.injury.fire.concrete.partial.serious: 0.2
misc.injury.fire.concrete.partial.critical: 0.1
misc.injury.fire.concrete.half.slight: 0.4
misc.injury.fire.concrete.half.serious: 0.2
misc.injury.fire.concrete.half.critical: 0.1
misc.injury.fire.concrete.all.slight: 0.4
misc.injury.fire.concrete.all.serious: 0.2
misc.injury.fire.concrete.all.critical: 0.1
misc.injury.fire.slight: 5
misc.injury.fire.serious: 20
misc.injury.fire.critical: 100
misc.injury.fire.multiplier.ambulance: 1
misc.injury.fire.multiplier.police: 1
misc.injury.fire.multiplier.fire: 0.2
# Damage progression
misc.injury.collapse.k: 0.00025
misc.injury.collapse.l: 0.01
misc.injury.collapse.noise.mean: 0.1
misc.injury.collapse.noise.sd: 0.01
misc.injury.bury.k: 0.000035
misc.injury.bury.l: 0.01
misc.injury.bury.noise.mean: 0.1
misc.injury.bury.noise.sd: 0.01
misc.injury.fire.k: 0.00025
misc.injury.fire.l: 0.03
misc.injury.fire.noise.mean: 0.1
misc.injury.fire.noise.sd: 0.01
maps/test/config/perception.cfg 0 → 100644
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# Legacy perception module parameters
perception.standard.view-distance: 10000
perception.standard.use-far-fires: true
perception.standard.far-fire-distance: 10000
perception.standard.hp-precision: 1000
perception.standard.damage-precision: 100
# Line of sight perception parameters
perception.los.max-distance: 30000
perception.los.ray-count: 72
perception.los.precision.hp: 1000
perception.los.precision.damage: 50
maps/test/config/resq-fire.cfg 0 → 100644
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!include common.cfg
# Synonyms
resq-fire.water_capacity:15000
fire.tank.maximum:15000
resq-fire.water_refill_rate:1500
fire.tank.refill_rate: 1500
#New Changes 2013
resq-fire.water_hydrant_refill_rate: 400
fire.tank.refill_hydrant_rate: 400
resq-fire.water_distance:50000
fire.extinguish.max-distance:50000
fire.extinguish.max-sum: 3000
resq-fire.max_extinguish_power_sum:3000
# Fire simulator options
resq-fire.rays.dir:rays
resq-fire.wind_speed:0
resq-fire.steel_capacity:1.0
resq-fire.wooden_energy:2400.0
resq-fire.cell_size:5000
resq-fire.air_cell_heat_capacity:0.004
resq-fire.wooden_ignition:47.0
resq-fire.water_thermal_capacity: 20
resq-fire.steel_burning:850.0
resq-fire.concrete_energy:350.0
resq-fire.air_to_air_flow:1.0
resq-fire.gamma:0.2
resq-fire.ambulancecenter_inflammable:false
resq-fire.steel_ignition:47.0
resq-fire.wind_random:1
resq-fire.radiation_coefficient: 0.011
resq-fire.steel_energy:800.0
resq-fire.wooden_burning:800.0
resq-fire.refuge_inflammable:false
resq-fire.policeoffice_inflammable:false
resq-fire.air_to_building_flow:0.0015
resq-fire.concrete_burning:800.0
resq-fire.wooden_capacity:1.1
resq-fire.concrete_ignition:47.0
resq-fire.wind_direction:100.0
resq-fire.concrete_speed:0.05
resq-fire.firestation_inflammable:false
resq-fire.steel_speed:0.05
resq-fire.randomseed:23
resq-fire.concrete_capacity:1.5
resq-fire.wooden_speed:0.05
resq-fire.energy_loss:0.86
resq-fire.ray_rate: 0.0025
resq-fire.max_ray_distance: 200000
resq-fire.burn-rate-average: 0.15
resq-fire.burn-rate-variance: 0.02
maps/test/config/sample-agents.cfg 0 → 100644
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!include common.cfg
\ No newline at end of file
maps/test/config/score.cfg 0 → 100644
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score.function: rescuecore2.standard.score.LegacyScoreFunction
score.standard.building-fire.heating: 0.66
score.standard.building-fire.burning: 0.33
score.standard.building-fire.inferno: 0.0
score.standard.building-fire.water-damage: 0.90
score.standard.building-fire.minor-damage: 0.75
score.standard.building-fire.moderate-damage: 0.5
score.standard.building-fire.severe-damage: 0.25
score.standard.building-fire.burnt-out: 0
score.standard.building-fire.absolute: false
score.standard.health.absolute: false
maps/test/config/types.cfg 0 → 100644
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# Where to look for jars that might contain factories, gis, perception, communication, agents, simulators, viewers.
loadabletypes.inspect.dir: ../jars
# Whether to inspect jars for likely-looking class names. If false (or "no") then only the manifest will be read. If true (or "yes") then all classes in the jar will be tested to see if they are implementations of the various interfaces.
loadabletypes.inspect.deep: yes
maps/test/config/viewer.cfg 0 → 100644
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!include common.cfg
!include score.cfg
view.standard.human.icons.size: 24
view.standard.human.icons.use: no
maps/test/map/map.gml 0 → 100644
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<?xml version="1.0" encoding="UTF-8"?>
<rcr:map xmlns:rcr="urn:roborescue:map:gml" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:gml="http://www.opengis.net/gml">
<rcr:nodelist>
<gml:Node gml:id="0">
<gml:pointProperty>
<gml:Point>
<gml:coordinates>83.160,43.160</gml:coordinates>
</gml:Point>
</gml:pointProperty>
</gml:Node>
<gml:Node gml:id="1">
<gml:pointProperty>
<gml:Point>
<gml:coordinates>76.840,36.840</gml:coordinates>
</gml:Point>
</gml:pointProperty>
</gml:Node>
<gml:Node gml:id="2">
<gml:pointProperty>
<gml:Point>
<gml:coordinates>76.840,3.160</gml:coordinates>
</gml:Point>
</gml:pointProperty>
</gml:Node>
<gml:Node gml:id="3">
<gml:pointProperty>
<gml:Point>
<gml:coordinates>83.160,3.160</gml:coordinates>
</gml:Point>
</gml:pointProperty>
</gml:Node>
<gml:Node gml:id="4">
<gml:pointProperty>
<gml:Point>
<gml:coordinates>3.160,3.160</gml:coordinates>
</gml:Point>
</gml:pointProperty>
</gml:Node>
<gml:Node gml:id="5">
<gml:pointProperty>
<gml:Point>
<gml:coordinates>-3.160,-3.160</gml:coordinates>
</gml:Point>
</gml:pointProperty>
</gml:Node>
<gml:Node gml:id="6">
<gml:pointProperty>
<gml:Point>
<gml:coordinates>80.000,-3.160</gml:coordinates>
</gml:Point>
</gml:pointProperty>
</gml:Node>
<gml:Node gml:id="7">
<gml:pointProperty>
<gml:Point>
<gml:coordinates>67.000,43.000</gml:coordinates>
</gml:Point>
</gml:pointProperty>
</gml:Node>
<gml:Node gml:id="8">
<gml:pointProperty>
<gml:Point>
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<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#103" rcr:neighbour="269"/>
<gml:directedEdge orientation="+" xlink:href="#106"/>
<gml:directedEdge orientation="+" xlink:href="#107" rcr:neighbour="279"/>
<gml:directedEdge orientation="+" xlink:href="#108"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="933">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#869"/>
<gml:directedEdge orientation="-" xlink:href="#629" rcr:neighbour="268"/>
<gml:directedEdge orientation="+" xlink:href="#870"/>
<gml:directedEdge orientation="+" xlink:href="#622" rcr:neighbour="937"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="932">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#818" rcr:neighbour="953"/>
<gml:directedEdge orientation="+" xlink:href="#931"/>
<gml:directedEdge orientation="+" xlink:href="#824" rcr:neighbour="269"/>
<gml:directedEdge orientation="+" xlink:href="#930"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="270">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#131" rcr:neighbour="263"/>
<gml:directedEdge orientation="+" xlink:href="#832"/>
<gml:directedEdge orientation="+" xlink:href="#833" rcr:neighbour="916"/>
<gml:directedEdge orientation="+" xlink:href="#830"/>
<gml:directedEdge orientation="-" xlink:href="#145" rcr:neighbour="257"/>
<gml:directedEdge orientation="+" xlink:href="#167"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="929">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#861"/>
<gml:directedEdge orientation="-" xlink:href="#793" rcr:neighbour="958"/>
<gml:directedEdge orientation="-" xlink:href="#862"/>
<gml:directedEdge orientation="-" xlink:href="#799" rcr:neighbour="976"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="271">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#175" rcr:neighbour="256"/>
<gml:directedEdge orientation="+" xlink:href="#619" rcr:neighbour="910"/>
<gml:directedEdge orientation="+" xlink:href="#620"/>
<gml:directedEdge orientation="+" xlink:href="#173" rcr:neighbour="278"/>
<gml:directedEdge orientation="+" xlink:href="#172"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="928">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#788" rcr:neighbour="957"/>
<gml:directedEdge orientation="+" xlink:href="#860"/>
<gml:directedEdge orientation="-" xlink:href="#784" rcr:neighbour="976"/>
<gml:directedEdge orientation="+" xlink:href="#859"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="268">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#170" rcr:neighbour="278"/>
<gml:directedEdge orientation="+" xlink:href="#628"/>
<gml:directedEdge orientation="+" xlink:href="#629" rcr:neighbour="933"/>
<gml:directedEdge orientation="+" xlink:href="#626"/>
<gml:directedEdge orientation="-" xlink:href="#136" rcr:neighbour="275"/>
<gml:directedEdge orientation="+" xlink:href="#169"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="269">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#112" rcr:neighbour="258"/>
<gml:directedEdge orientation="+" xlink:href="#116"/>
<gml:directedEdge orientation="-" xlink:href="#103" rcr:neighbour="266"/>
<gml:directedEdge orientation="+" xlink:href="#823"/>
<gml:directedEdge orientation="+" xlink:href="#824" rcr:neighbour="932"/>
<gml:directedEdge orientation="+" xlink:href="#821"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="926">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#855"/>
<gml:directedEdge orientation="-" xlink:href="#770" rcr:neighbour="955"/>
<gml:directedEdge orientation="+" xlink:href="#856"/>
<gml:directedEdge orientation="-" xlink:href="#766" rcr:neighbour="976"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="927">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#857"/>
<gml:directedEdge orientation="-" xlink:href="#772" rcr:neighbour="956"/>
<gml:directedEdge orientation="+" xlink:href="#858"/>
<gml:directedEdge orientation="-" xlink:href="#778" rcr:neighbour="976"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="924">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#851"/>
<gml:directedEdge orientation="-" xlink:href="#752" rcr:neighbour="952"/>
<gml:directedEdge orientation="+" xlink:href="#852"/>
<gml:directedEdge orientation="-" xlink:href="#748" rcr:neighbour="976"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="925">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#853"/>
<gml:directedEdge orientation="-" xlink:href="#754" rcr:neighbour="954"/>
<gml:directedEdge orientation="+" xlink:href="#854"/>
<gml:directedEdge orientation="-" xlink:href="#760" rcr:neighbour="976"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="922">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#847"/>
<gml:directedEdge orientation="-" xlink:href="#727" rcr:neighbour="950"/>
<gml:directedEdge orientation="+" xlink:href="#848"/>
<gml:directedEdge orientation="-" xlink:href="#733" rcr:neighbour="976"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="923">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#849"/>
<gml:directedEdge orientation="-" xlink:href="#743" rcr:neighbour="951"/>
<gml:directedEdge orientation="+" xlink:href="#850"/>
<gml:directedEdge orientation="-" xlink:href="#739" rcr:neighbour="976"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="920">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#709" rcr:neighbour="948"/>
<gml:directedEdge orientation="+" xlink:href="#844"/>
<gml:directedEdge orientation="-" xlink:href="#715" rcr:neighbour="975"/>
<gml:directedEdge orientation="+" xlink:href="#843"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="921">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#845"/>
<gml:directedEdge orientation="-" xlink:href="#725" rcr:neighbour="949"/>
<gml:directedEdge orientation="+" xlink:href="#846"/>
<gml:directedEdge orientation="-" xlink:href="#721" rcr:neighbour="976"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="918">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#839"/>
<gml:directedEdge orientation="-" xlink:href="#692" rcr:neighbour="946"/>
<gml:directedEdge orientation="+" xlink:href="#840"/>
<gml:directedEdge orientation="-" xlink:href="#698" rcr:neighbour="974"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="919">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#841"/>
<gml:directedEdge orientation="-" xlink:href="#701" rcr:neighbour="947"/>
<gml:directedEdge orientation="+" xlink:href="#842"/>
<gml:directedEdge orientation="-" xlink:href="#707" rcr:neighbour="975"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="916">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#826" rcr:neighbour="944"/>
<gml:directedEdge orientation="+" xlink:href="#835"/>
<gml:directedEdge orientation="-" xlink:href="#833" rcr:neighbour="270"/>
<gml:directedEdge orientation="-" xlink:href="#836"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="314">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#312"/>
<gml:directedEdge orientation="-" xlink:href="#303" rcr:neighbour="249"/>
<gml:directedEdge orientation="+" xlink:href="#313"/>
<gml:directedEdge orientation="-" xlink:href="#309" rcr:neighbour="273"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="917">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#837"/>
<gml:directedEdge orientation="-" xlink:href="#686" rcr:neighbour="262"/>
<gml:directedEdge orientation="+" xlink:href="#838"/>
<gml:directedEdge orientation="+" xlink:href="#679" rcr:neighbour="945"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="914">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#658" rcr:neighbour="942"/>
<gml:directedEdge orientation="+" xlink:href="#878"/>
<gml:directedEdge orientation="-" xlink:href="#664" rcr:neighbour="297"/>
<gml:directedEdge orientation="-" xlink:href="#877"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="915">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#668" rcr:neighbour="943"/>
<gml:directedEdge orientation="+" xlink:href="#880"/>
<gml:directedEdge orientation="-" xlink:href="#674" rcr:neighbour="297"/>
<gml:directedEdge orientation="-" xlink:href="#879"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="912">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#640" rcr:neighbour="940"/>
<gml:directedEdge orientation="-" xlink:href="#872"/>
<gml:directedEdge orientation="-" xlink:href="#643" rcr:neighbour="256"/>
<gml:directedEdge orientation="+" xlink:href="#871"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="913">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#875"/>
<gml:directedEdge orientation="+" xlink:href="#650" rcr:neighbour="941"/>
<gml:directedEdge orientation="+" xlink:href="#876"/>
<gml:directedEdge orientation="-" xlink:href="#652" rcr:neighbour="263"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="911">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#632" rcr:neighbour="938"/>
<gml:directedEdge orientation="+" xlink:href="#874"/>
<gml:directedEdge orientation="+" xlink:href="#638" rcr:neighbour="297"/>
<gml:directedEdge orientation="-" xlink:href="#873"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="910">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#388" rcr:neighbour="905"/>
<gml:directedEdge orientation="+" xlink:href="#868"/>
<gml:directedEdge orientation="+" xlink:href="#619" rcr:neighbour="271"/>
<gml:directedEdge orientation="+" xlink:href="#906"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="904">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#610" rcr:neighbour="936"/>
<gml:directedEdge orientation="+" xlink:href="#865"/>
<gml:directedEdge orientation="+" xlink:href="#617" rcr:neighbour="273"/>
<gml:directedEdge orientation="+" xlink:href="#866"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="903">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#595" rcr:neighbour="273"/>
<gml:directedEdge orientation="+" xlink:href="#605"/>
<gml:directedEdge orientation="-" xlink:href="#601" rcr:neighbour="935"/>
<gml:directedEdge orientation="+" xlink:href="#604"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="296">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#153"/>
<gml:directedEdge orientation="+" xlink:href="#294" rcr:neighbour="297"/>
<gml:directedEdge orientation="-" xlink:href="#292"/>
<gml:directedEdge orientation="+" xlink:href="#157" rcr:neighbour="281"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="297">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#294" rcr:neighbour="296"/>
<gml:directedEdge orientation="+" xlink:href="#637"/>
<gml:directedEdge orientation="+" xlink:href="#638" rcr:neighbour="911"/>
<gml:directedEdge orientation="+" xlink:href="#661"/>
<gml:directedEdge orientation="+" xlink:href="#664" rcr:neighbour="914"/>
<gml:directedEdge orientation="+" xlink:href="#673"/>
<gml:directedEdge orientation="+" xlink:href="#674" rcr:neighbour="915"/>
<gml:directedEdge orientation="+" xlink:href="#671"/>
<gml:directedEdge orientation="+" xlink:href="#146" rcr:neighbour="259"/>
<gml:directedEdge orientation="+" xlink:href="#117"/>
<gml:directedEdge orientation="-" xlink:href="#234" rcr:neighbour="253"/>
<gml:directedEdge orientation="-" xlink:href="#241" rcr:neighbour="253"/>
<gml:directedEdge orientation="+" xlink:href="#293"/>
<gml:directedEdge orientation="+" xlink:href="#289" rcr:neighbour="298"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="902">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#372" rcr:neighbour="934"/>
<gml:directedEdge orientation="+" xlink:href="#589"/>
<gml:directedEdge orientation="-" xlink:href="#583" rcr:neighbour="273"/>
<gml:directedEdge orientation="-" xlink:href="#587" rcr:neighbour="969"/>
<gml:directedEdge orientation="+" xlink:href="#590"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="899">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#806" rcr:neighbour="959"/>
<gml:directedEdge orientation="+" xlink:href="#864"/>
<gml:directedEdge orientation="-" xlink:href="#812" rcr:neighbour="971"/>
<gml:directedEdge orientation="+" xlink:href="#863"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="896">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#894"/>
<gml:directedEdge orientation="-" xlink:href="#886" rcr:neighbour="970"/>
<gml:directedEdge orientation="+" xlink:href="#895"/>
<gml:directedEdge orientation="-" xlink:href="#888" rcr:neighbour="960"/>
<gml:directedEdge orientation="-" xlink:href="#892" rcr:neighbour="960"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="336">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#332" rcr:neighbour="250"/>
<gml:directedEdge orientation="-" xlink:href="#240" rcr:neighbour="259"/>
<gml:directedEdge orientation="+" xlink:href="#335"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="349">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#348"/>
<gml:directedEdge orientation="-" xlink:href="#345" rcr:neighbour="969"/>
<gml:directedEdge orientation="+" xlink:href="#347"/>
<gml:directedEdge orientation="-" xlink:href="#339" rcr:neighbour="248"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="330">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#328"/>
<gml:directedEdge orientation="-" xlink:href="#319" rcr:neighbour="247"/>
<gml:directedEdge orientation="-" xlink:href="#317" rcr:neighbour="247"/>
<gml:directedEdge orientation="+" xlink:href="#329"/>
<gml:directedEdge orientation="-" xlink:href="#325" rcr:neighbour="273"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="976">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#973" rcr:neighbour="975"/>
<gml:directedEdge orientation="+" xlink:href="#228"/>
<gml:directedEdge orientation="-" xlink:href="#104"/>
<gml:directedEdge orientation="+" xlink:href="#128" rcr:neighbour="255"/>
<gml:directedEdge orientation="+" xlink:href="#230" rcr:neighbour="274"/>
<gml:directedEdge orientation="-" xlink:href="#800"/>
<gml:directedEdge orientation="-" xlink:href="#799" rcr:neighbour="929"/>
<gml:directedEdge orientation="-" xlink:href="#796"/>
<gml:directedEdge orientation="-" xlink:href="#784" rcr:neighbour="928"/>
<gml:directedEdge orientation="-" xlink:href="#781"/>
<gml:directedEdge orientation="-" xlink:href="#778" rcr:neighbour="927"/>
<gml:directedEdge orientation="-" xlink:href="#775"/>
<gml:directedEdge orientation="-" xlink:href="#766" rcr:neighbour="926"/>
<gml:directedEdge orientation="-" xlink:href="#763"/>
<gml:directedEdge orientation="-" xlink:href="#760" rcr:neighbour="925"/>
<gml:directedEdge orientation="-" xlink:href="#757"/>
<gml:directedEdge orientation="-" xlink:href="#748" rcr:neighbour="924"/>
<gml:directedEdge orientation="-" xlink:href="#745"/>
<gml:directedEdge orientation="-" xlink:href="#739" rcr:neighbour="923"/>
<gml:directedEdge orientation="-" xlink:href="#736"/>
<gml:directedEdge orientation="-" xlink:href="#733" rcr:neighbour="922"/>
<gml:directedEdge orientation="-" xlink:href="#730"/>
<gml:directedEdge orientation="-" xlink:href="#721" rcr:neighbour="921"/>
<gml:directedEdge orientation="-" xlink:href="#718"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="971">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#885"/>
<gml:directedEdge orientation="-" xlink:href="#961" rcr:neighbour="970"/>
<gml:directedEdge orientation="-" xlink:href="#122"/>
<gml:directedEdge orientation="+" xlink:href="#119"/>
<gml:directedEdge orientation="+" xlink:href="#110" rcr:neighbour="279"/>
<gml:directedEdge orientation="+" xlink:href="#811"/>
<gml:directedEdge orientation="+" xlink:href="#812" rcr:neighbour="899"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="970">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#961" rcr:neighbour="971"/>
<gml:directedEdge orientation="+" xlink:href="#886" rcr:neighbour="896"/>
<gml:directedEdge orientation="-" xlink:href="#962" rcr:neighbour="968"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="969">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#965"/>
<gml:directedEdge orientation="+" xlink:href="#587" rcr:neighbour="902"/>
<gml:directedEdge orientation="+" xlink:href="#109" rcr:neighbour="273"/>
<gml:directedEdge orientation="+" xlink:href="#344"/>
<gml:directedEdge orientation="+" xlink:href="#345" rcr:neighbour="349"/>
<gml:directedEdge orientation="+" xlink:href="#342"/>
<gml:directedEdge orientation="-" xlink:href="#221"/>
<gml:directedEdge orientation="+" xlink:href="#967" rcr:neighbour="968"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="968">
<gml:Face>
<gml:directedEdge orientation="-" xlink:href="#205" rcr:neighbour="251"/>
<gml:directedEdge orientation="+" xlink:href="#962" rcr:neighbour="970"/>
<gml:directedEdge orientation="+" xlink:href="#964"/>
<gml:directedEdge orientation="-" xlink:href="#967" rcr:neighbour="969"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="975">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#972" rcr:neighbour="974"/>
<gml:directedEdge orientation="+" xlink:href="#707" rcr:neighbour="919"/>
<gml:directedEdge orientation="+" xlink:href="#712"/>
<gml:directedEdge orientation="+" xlink:href="#715" rcr:neighbour="920"/>
<gml:directedEdge orientation="-" xlink:href="#973" rcr:neighbour="976"/>
<gml:directedEdge orientation="-" xlink:href="#223"/>
</gml:Face>
</rcr:road>
<rcr:road gml:id="974">
<gml:Face>
<gml:directedEdge orientation="+" xlink:href="#972" rcr:neighbour="975"/>
<gml:directedEdge orientation="-" xlink:href="#706"/>
<gml:directedEdge orientation="-" xlink:href="#698" rcr:neighbour="918"/>
<gml:directedEdge orientation="-" xlink:href="#697"/>
<gml:directedEdge orientation="-" xlink:href="#144" rcr:neighbour="262"/>
<gml:directedEdge orientation="-" xlink:href="#129"/>
<gml:directedEdge orientation="+" xlink:href="#123" rcr:neighbour="254"/>
</gml:Face>
</rcr:road>
</rcr:roadlist>
<rcr:spacelist/>
</rcr:map>
maps/test/map/scenario.xml 0 → 100755
View file @ 54f6cedf
<?xml version="1.0" encoding="UTF-8"?>
<scenario:scenario xmlns:scenario="urn:roborescue:map:scenario">
<scenario:refuge scenario:location="298" scenario:bedCapacity="2" />
<scenario:refuge scenario:location="255" scenario:bedCapacity="3" />
<scenario:civilian scenario:location="254" />
<scenario:civilian scenario:location="254" />
<scenario:civilian scenario:location="254" />
<scenario:civilian scenario:location="254" />
<scenario:civilian scenario:location="254" />
<scenario:firebrigade scenario:location="256" />
<scenario:policeforce scenario:location="279" />
<scenario:ambulanceteam scenario:location="976" />
</scenario:scenario>
maps/vc/config/civilian.cfg 0 → 100644
View file @ 54f6cedf
!include common.cfg
# The probability that a buried civilian will call for help
civilian.help.probability : 0.1
# The probability that a damaged civilian will call for help
civilian.ouch.probability : 0.1
# Civilians with HP less than this threshold will not call for help
civilian.conscious.threshold : 2500
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