(object Petal
    version    	45
    _written   	"Rose 7.6.0109.2314"
    charSet    	0)

(object Design "Logical View"
    is_unit    	TRUE
    is_loaded  	TRUE
    attributes 	(list Attribute_Set
	(object Attribute
	    tool       	"Java"
	    name       	"IDE"
	    value      	"Internal Editor")
	(object Attribute
	    tool       	"Java"
	    name       	"UserDefineTagName1"
	    value      	"")
	(object Attribute
	    tool       	"Java"
	    name       	"UserDefineTagText1"
	    value      	"")
	(object Attribute
	    tool       	"Java"
	    name       	"UserDefineTagApply1"
	    value      	"")
	(object Attribute
	    tool       	"Java"
	    name       	"UserDefineTagName2"
	    value      	"")
	(object Attribute
	    tool       	"Java"
	    name       	"UserDefineTagText2"
	    value      	"")
	(object Attribute
	    tool       	"Java"
	    name       	"UserDefineTagApply2"
	    value      	"")
	(object Attribute
	    tool       	"Java"
	    name       	"UserDefineTagName3"
	    value      	"")
	(object Attribute
	    tool       	"Java"
	    name       	"UserDefineTagText3"
	    value      	"")
	(object Attribute
	    tool       	"Java"
	    name       	"UserDefineTagApply3"
	    value      	""))
    quid       	"3C8C8E76026E"
    defaults   	(object defaults
	rightMargin 	0.250000
	leftMargin 	0.250000
	topMargin  	0.250000
	bottomMargin 	0.500000
	pageOverlap 	0.250000
	clipIconLabels 	TRUE
	autoResize 	TRUE
	snapToGrid 	TRUE
	gridX      	16
	gridY      	16
	defaultFont 	(object Font
	    size       	10
	    face       	"Arial"
	    bold       	FALSE
	    italics    	FALSE
	    underline  	FALSE
	    strike     	FALSE
	    color      	0
	    default_color 	TRUE)
	showMessageNum 	1
	showClassOfObject 	TRUE
	notation   	"Unified")
    root_usecase_package 	(object Class_Category "Use Case View"
	quid       	"3C8C8E760270"
	exportControl 	"Public"
	global     	TRUE
	logical_models 	(list unit_reference_list
	    (object Class "*Agent-03*"
		quid       	"3C8C8E810382"
		stereotype 	"Actor"
		statemachine 	(object State_Machine "State/Activity Model"
		    quid       	"3C8C8E9001D5"
		    states     	(list States
			(object State "Sense"
			    quid       	"3C8C8E930125"
			    transitions 	(list transition_list
				(object State_Transition
				    quid       	"3C8C8EA802F2"
				    supplier   	"Choose Action"
				    quidu      	"3C8C8EA200A4"
				    sendEvent  	(object sendEvent
					quid       	"3C8C8EA802F5")))
			    type       	"StartState")
			(object State "Act"
			    quid       	"3C8C8E96017A"
			    type       	"EndState")
			(object State "Choose Action"
			    quid       	"3C8C8EA200A4"
			    transitions 	(list transition_list
				(object State_Transition
				    quid       	"3C8C8EAA0377"
				    supplier   	"Act"
				    quidu      	"3C8C8E96017A"
				    sendEvent  	(object sendEvent
					quid       	"3C8C8EAA037A")))
			    statemachine 	(object State_Machine "Control Structure"
				quid       	"3C8C8EBE0087"
				stereotype 	"topology"
				states     	(list States
				    (object State "i_Start"
					quid       	"3C8C8EC203B8"
					transitions 	(list transition_list
					    (object State_Transition
						quid       	"3C8C8F1401C1"
						supplier   	":Choose Action:fork"
						quidu      	"3C8C8EE502D2"
						sendEvent  	(object sendEvent
						    quid       	"3C8C8F1401C4")))
					type       	"StartState")
				    (object State "i_Stop"
					quid       	"3C8C8EC60331"
					type       	"EndState")
				    (object SynchronizationState "fork"
					quid       	"3C8C8EE502D2"
					transitions 	(list transition_list
					    (object State_Transition
						quid       	"3C8C91CC00EF"
						supplier   	":Choose Action:3-assess-range"
						quidu      	"3C8C8F2D0004"
						sendEvent  	(object sendEvent
						    quid       	"3C8C91CC00F2"))
					    (object State_Transition
						quid       	"3C8C91CF0035"
						supplier   	":Choose Action:3-strafe/target"
						quidu      	"3C8C8F2F0057"
						sendEvent  	(object sendEvent
						    quid       	"3C8C91CF0038"))
					    (object State_Transition
						quid       	"3C8C91D10313"
						supplier   	":Choose Action:3-rotate/follow"
						quidu      	"3C8C8F310186"
						sendEvent  	(object sendEvent
						    quid       	"3C8C91D10316"))))
				    (object State "3-assess-range"
					quid       	"3C8C8F2D0004"
					stereotype 	"sensor"
					transitions 	(list transition_list
					    (object State_Transition
						quid       	"3CF4636800EB"
						supplier   	":Choose Action:3-in-range"
						quidu      	"3CF463430296"
						sendEvent  	(object sendEvent
						    quid       	"3CF4636800EE")))
					statemachine 	(object State_Machine "3-assess-range"
					    quid       	"3C8C921902BD"
					    documentation 	"If a target is <= 120 game units away, THEN assert that target is within range, ELSE assert that target is not within range."
					    stereotype 	"rule"
					    states     	(list States
						(object State "r1_Start"
						    quid       	"3C8C921F0207"
						    transitions 	(list transition_list
							(object State_Transition
							    quid       	"3C8C92AF0204"
							    label      	""
							    supplier   	":Choose Action:3-assess-range:Target Acquired"
							    quidu      	"3C8C92A302D9"
							    condition  	"(target ?target ?agent)"
							    sendEvent  	(object sendEvent
								quid       	"3C8C92AF0207")))
						    type       	"StartState")
						(object State "r1_Stop"
						    quid       	"3C8C92230267"
						    type       	"EndState")
						(object State "Target Acquired"
						    quid       	"3C8C92A302D9"
						    stereotype 	"if"
						    transitions 	(list transition_list
							(object State_Transition
							    quid       	"3C8C92B1012B"
							    label      	""
							    supplier   	":Choose Action:3-assess-range:Target Location Determined"
							    quidu      	"3C8C92A500B5"
							    condition  	"(location ?target ?tx ?ty ?tz)"
							    sendEvent  	(object sendEvent
								quid       	"3C8C92B1012E")))
						    type       	"Normal")
						(object State "Target Location Determined"
						    quid       	"3C8C92A500B5"
						    stereotype 	"if"
						    transitions 	(list transition_list
							(object State_Transition
							    quid       	"3C8C92B300E7"
							    label      	""
							    supplier   	":Choose Action:3-assess-range:Own Location Determined"
							    quidu      	"3C8C92A60324"
							    condition  	"(location ?agent ?ax ?ay ?az )"
							    sendEvent  	(object sendEvent
								quid       	"3C8C92B300EA")))
						    type       	"Normal")
						(object State "Own Location Determined"
						    quid       	"3C8C92A60324"
						    stereotype 	"if"
						    transitions 	(list transition_list
							(object State_Transition
							    quid       	"3CF4619D0195"
							    label      	""
							    supplier   	":Choose Action:3-assess-range:Range Checked"
							    quidu      	"3CF46194032D"
							    condition  	"(func within-n-units? ?ax ?ay ?tx ?ty 120 ?result)"
							    sendEvent  	(object sendEvent
								quid       	"3CF4619D0198")))
						    type       	"Normal")
						(object State "Assert Range Change Result"
						    quid       	"3C8C92A801E6"
						    stereotype 	"then"
						    transitions 	(list transition_list
							(object State_Transition
							    quid       	"3C8C92B702EC"
							    supplier   	":Choose Action:3-assess-range:r1_Stop"
							    quidu      	"3C8C92230267"
							    sendEvent  	(object sendEvent
								quid       	"3C8C92B702EF")))
						    actions    	(list action_list
							(object action "(within-range ?agent ?target ?result)"
							    quid       	"3C8C937D0355"
							    ActionTime 	(object ActionTime
								when       	"Entry")))
						    type       	"Normal")
						(object State "Range Checked"
						    quid       	"3CF46194032D"
						    stereotype 	"if"
						    transitions 	(list transition_list
							(object State_Transition
							    quid       	"3CF461A30356"
							    supplier   	":Choose Action:3-assess-range:Assert Range Change Result"
							    quidu      	"3C8C92A801E6"
							    sendEvent  	(object sendEvent
								quid       	"3CF461A30359")))
						    type       	"Normal"))
					    partitions 	(list Partitions)
					    objects    	(list Objects)
					    statediagrams 	(list StateDiagrams
						(object ActivityDiagram "Rule1"
						    quid       	"3C8C921902BE"
						    title      	"Rule1"
						    zoom       	100
						    max_height 	28350
						    max_width  	21600
						    origin_x   	0
						    origin_y   	507
						    items      	(list diagram_item_list
							(object Swimlane "" @1
							    line_color 	3342489
							    width      	450)
							(object StateView "StartState" "r1_Start" @2
							    Parent_View 	@1
							    location   	(688, 144)
							    font       	(object Font
								size       	10
								face       	"Arial"
								bold       	FALSE
								italics    	FALSE
								underline  	FALSE
								strike     	FALSE
								color      	0
								default_color 	TRUE)
							    label      	(object ItemLabel
								Parent_View 	@2
								location   	(730, 114)
								nlines     	2
								max_width  	600
								label      	"r1_Start")
							    icon_style 	"Icon"
							    line_color 	3342489
							    quidu      	"3C8C921F0207"
							    autoResize 	TRUE)
							(object StateView "EndState" "r1_Stop" @3
							    Parent_View 	@1
							    location   	(688, 2018)
							    font       	(object Font
								size       	10
								face       	"Arial"
								bold       	FALSE
								italics    	FALSE
								underline  	FALSE
								strike     	FALSE
								color      	0
								default_color 	TRUE)
							    label      	(object ItemLabel
								Parent_View 	@3
								location   	(742, 1976)
								nlines     	2
								max_width  	600
								label      	"r1_Stop")
							    icon_style 	"Icon"
							    line_color 	3342489
							    quidu      	"3C8C92230267"
							    autoResize 	TRUE)
							(object StateView "Normal" "Target Acquired" @4
							    Parent_View 	@1
							    location   	(688, 393)
							    font       	(object Font
								size       	10
								face       	"Arial"
								bold       	FALSE
								italics    	FALSE
								underline  	FALSE
								strike     	FALSE
								color      	0
								default_color 	TRUE)
							    label      	(object ItemLabel
								Parent_View 	@4
								location   	(688, 383)
								anchor_loc 	1
								nlines     	2
								max_width  	216
								justify    	0
								label      	"Target Acquired")
							    icon_style 	"None"
							    line_color 	3342489
							    quidu      	"3C8C92A302D9"
							    width      	313
							    height     	132
							    autoResize 	TRUE)
							(object TransView "" @5
							    font       	(object Font
								size       	10
								face       	"Arial"
								bold       	FALSE
								italics    	FALSE
								underline  	FALSE
								strike     	FALSE
								color      	0
								default_color 	TRUE)
							    label      	(object SegLabel @6
								Parent_View 	@5
								location   	(972, 244)
								font       	(object Font
								    size       	10
								    face       	"Arial"
								    bold       	FALSE
								    italics    	FALSE
								    underline  	FALSE
								    strike     	FALSE
								    color      	0
								    default_color 	TRUE)
								anchor_loc 	1
								nlines     	1
								max_width  	450
								justify    	0
								label      	"[ (target ?target ?agent) ]"
								pctDist    	0.457516
								height     	284
								orientation 	0)
							    stereotype 	TRUE
							    line_color 	3342489
							    quidu      	"3C8C92AF0204"
							    client     	@2
							    supplier   	@4
							    line_style 	0
							    x_offset   	FALSE)
							(object StateView "Normal" "Target Location Determined" @7
							    Parent_View 	@1
							    location   	(688, 701)
							    font       	(object Font
								size       	10
								face       	"Arial"
								bold       	FALSE
								italics    	FALSE
								underline  	FALSE
								strike     	FALSE
								color      	0
								default_color 	TRUE)
							    label      	(object ItemLabel
								Parent_View 	@7
								location   	(688, 681)
								anchor_loc 	1
								nlines     	2
								max_width  	306
								justify    	0
								label      	"Target Location Determined")
							    icon_style 	"None"
							    line_color 	3342489
							    quidu      	"3C8C92A500B5"
							    width      	402
							    height     	152
							    autoResize 	TRUE)
							(object TransView "" @8
							    font       	(object Font
								size       	10
								face       	"Arial"
								bold       	FALSE
								italics    	FALSE
								underline  	FALSE
								strike     	FALSE
								color      	0
								default_color 	TRUE)
							    label      	(object SegLabel @9
								Parent_View 	@8
								location   	(1018, 545)
								font       	(object Font
								    size       	10
								    face       	"Arial"
								    bold       	FALSE
								    italics    	FALSE
								    underline  	FALSE
								    strike     	FALSE
								    color      	0
								    default_color 	TRUE)
								anchor_loc 	1
								nlines     	1
								max_width  	570
								justify    	0
								label      	"[ (location ?target ?tx ?ty ?tz) ]"
								pctDist    	0.518072
								height     	330
								orientation 	0)
							    stereotype 	TRUE
							    line_color 	3342489
							    quidu      	"3C8C92B1012B"
							    client     	@4
							    supplier   	@7
							    line_style 	0
							    x_offset   	FALSE)
							(object StateView "Normal" "Own Location Determined" @10
							    Parent_View 	@1
							    location   	(688, 1015)
							    font       	(object Font
								size       	10
								face       	"Arial"
								bold       	FALSE
								italics    	FALSE
								underline  	FALSE
								strike     	FALSE
								color      	0
								default_color 	TRUE)
							    label      	(object ItemLabel
								Parent_View 	@10
								location   	(688, 995)
								anchor_loc 	1
								nlines     	2
								max_width  	306
								justify    	0
								label      	"Own Location Determined")
							    icon_style 	"None"
							    line_color 	3342489
							    quidu      	"3C8C92A60324"
							    width      	402
							    height     	152
							    autoResize 	TRUE)
							(object TransView "" @11
							    font       	(object Font
								size       	10
								face       	"Arial"
								bold       	FALSE
								italics    	FALSE
								underline  	FALSE
								strike     	FALSE
								color      	0
								default_color 	TRUE)
							    label      	(object SegLabel @12
								Parent_View 	@11
								location   	(1034, 846)
								font       	(object Font
								    size       	10
								    face       	"Arial"
								    bold       	FALSE
								    italics    	FALSE
								    underline  	FALSE
								    strike     	FALSE
								    color      	0
								    default_color 	TRUE)
								anchor_loc 	1
								nlines     	1
								max_width  	1405
								justify    	0
								label      	"[ (location ?agent ?ax ?ay ?az ) ]"
								pctDist    	0.425926
								height     	346
								orientation 	0)
							    stereotype 	TRUE
							    line_color 	3342489
							    quidu      	"3C8C92B300E7"
							    client     	@7
							    supplier   	@10
							    line_style 	0
							    x_offset   	FALSE)
							(object StateView "Normal" "Assert Range Change Result" @13
							    Parent_View 	@1
							    location   	(960, 1672)
							    font       	(object Font
								size       	10
								face       	"Arial"
								bold       	FALSE
								italics    	FALSE
								underline  	FALSE
								strike     	FALSE
								color      	0
								default_color 	TRUE)
							    label      	(object ItemLabel
								Parent_View 	@13
								location   	(960, 1613)
								anchor_loc 	1
								nlines     	2
								max_width  	804
								justify    	0
								label      	"Assert Range Change Result")
							    icon_style 	"None"
							    line_color 	3342489
							    quidu      	"3C8C92A801E6"
							    compartment 	(object Compartment
								Parent_View 	@13
								location   	(567, 1654)
								font       	(object Font
								    size       	10
								    face       	"Arial"
								    bold       	FALSE
								    italics    	FALSE
								    underline  	FALSE
								    strike     	FALSE
								    color      	0
								    default_color 	TRUE)
								icon_style 	"Icon"
								anchor     	2
								nlines     	1
								max_width  	12
								compartmentItems 	(list Compartment
								    "entry/ (within-range ?agent ?target ?result)"))
							    width      	900
							    height     	230
							    autoResize 	TRUE)
							(object TransView "" @14
							    stereotype 	TRUE
							    line_color 	3342489
							    quidu      	"3C8C92B702EC"
							    client     	@13
							    supplier   	@3
							    line_style 	0
							    x_offset   	FALSE)
							(object StateView "Normal" "Range Checked" @15
							    Parent_View 	@1
							    location   	(688, 1334)
							    font       	(object Font
								size       	10
								face       	"Arial"
								bold       	FALSE
								italics    	FALSE
								underline  	FALSE
								strike     	FALSE
								color      	0
								default_color 	TRUE)
							    label      	(object ItemLabel
								Parent_View 	@15
								location   	(688, 1323)
								anchor_loc 	1
								nlines     	2
								max_width  	204
								justify    	0
								label      	"Range Checked")
							    icon_style 	"None"
							    line_color 	3342489
							    quidu      	"3CF46194032D"
							    autoResize 	TRUE)
							(object TransView "" @16
							    font       	(object Font
								size       	10
								face       	"Arial"
								bold       	FALSE
								italics    	FALSE
								underline  	FALSE
								strike     	FALSE
								color      	0
								default_color 	TRUE)
							    label      	(object SegLabel @17
								Parent_View 	@16
								location   	(1203, 1172)
								font       	(object Font
								    size       	10
								    face       	"Arial"
								    bold       	FALSE
								    italics    	FALSE
								    underline  	FALSE
								    strike     	FALSE
								    color      	0
								    default_color 	TRUE)
								anchor_loc 	1
								nlines     	1
								max_width  	936
								justify    	0
								label      	"[ (func within-n-units? ?ax ?ay ?tx ?ty 120 ?result) ]"
								pctDist    	0.460227
								height     	515
								orientation 	0)
							    stereotype 	TRUE
							    line_color 	3342489
							    quidu      	"3CF4619D0195"
							    client     	@10
							    supplier   	@15
							    line_style 	0
							    x_offset   	FALSE)
							(object TransView "" @18
							    stereotype 	TRUE
							    line_color 	3342489
							    quidu      	"3CF461A30356"
							    client     	@15
							    supplier   	@13
							    line_style 	0
							    x_offset   	FALSE)))))
					type       	"Normal")
				    (object State "3-strafe/target"
					quid       	"3C8C8F2F0057"
					stereotype 	"sensor"
					transitions 	(list transition_list
					    (object State_Transition
						quid       	"3CF4633501D8"
						supplier   	":Choose Action:sr3"
						quidu      	"3CF462DF012A"
						sendEvent  	(object sendEvent
						    quid       	"3CF4633501DB")))
					statemachine 	(object State_Machine "3-strafe/target"
					    quid       	"3C8C93B90076"
					    documentation 	"IF target is visible, THEN strafe towards the target."
					    stereotype 	"rule"
					    states     	(list States
						(object State "r2_Start"
						    quid       	"3C8C93FD01F0"
						    transitions 	(list transition_list
							(object State_Transition
							    quid       	"3C8C947B001B"
							    label      	""
							    supplier   	":Choose Action:3-strafe/target:Target Acquired"
							    quidu      	"3C8C941A0333"
							    condition  	"(target ?target ?agent)"
							    sendEvent  	(object sendEvent
								quid       	"3C8C947B001E")))
						    type       	"StartState")
						(object State "r2_Stop"
						    quid       	"3C8C940000AA"
						    type       	"EndState")
						(object State "Target Acquired"
						    quid       	"3C8C941A0333"
						    stereotype 	"if"
						    transitions 	(list transition_list
							(object State_Transition
							    quid       	"3C8C947C03A2"
							    label      	""
							    supplier   	":Choose Action:3-strafe/target:Target Location Determined"
							    quidu      	"3C8C941C00AA"
							    condition  	"(location ?target ?tx ?ty ?tz)"
							    sendEvent  	(object sendEvent
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						    stereotype 	"then"
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								icon_style 	"Icon"
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							    width      	917
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				    (object State "3-rotate/follow"
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						supplier   	":Choose Action:sr1"
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						sendEvent  	(object sendEvent
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					    documentation 	"IF agent is stationary, AND IF a target can be located, THEN turn to face the target."
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								icon_style 	"Icon"
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								nlines     	1
								max_width  	12
								compartmentItems 	(list Compartment
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							    height     	208
							    autoResize 	TRUE)
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					type       	"Normal")
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						supplier   	":Choose Action:i_Stop"
						quidu      	"3C8C8EC60331"
						sendEvent  	(object sendEvent
						    quid       	"3C9FDBD10290")))
					statemachine 	(object State_Machine "3-stop-moving"
					    quid       	"3C9017CB024B"
					    documentation 	"Asserts an intention to execute a stop-moving action."
					    stereotype 	"rule"
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						    quid       	"3C90184202F7"
						    transitions 	(list transition_list
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							    quid       	"3C901863036C"
							    label      	""
							    supplier   	":Choose Action:3-stop-moving:Directive Found"
							    quidu      	"3C90185600BA"
							    condition  	"(stop-moving ?when)"
							    sendEvent  	(object sendEvent
								quid       	"3C901863036F")))
						    type       	"StartState")
						(object State "r4_Stop"
						    quid       	"3C9018450160"
						    type       	"EndState")
						(object State "Directive Found"
						    quid       	"3C90185600BA"
						    stereotype 	"if"
						    transitions 	(list transition_list
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							    quid       	"3C90186502F7"
							    supplier   	":Choose Action:3-stop-moving:Action Scheduled"
							    quidu      	"3C90185901EB"
							    sendEvent  	(object sendEvent
								quid       	"3C90186502FA")))
						    type       	"Normal")
						(object State "Action Scheduled"
						    quid       	"3C90185901EB"
						    stereotype 	"then"
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							(object State_Transition
							    quid       	"3C901868008E"
							    supplier   	":Choose Action:3-stop-moving:r4_Stop"
							    quidu      	"3C9018450160"
							    sendEvent  	(object sendEvent
								quid       	"3C9018680091")))
						    actions    	(list action_list
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							    quid       	"3C9018C00149"
							    ActionTime 	(object ActionTime
								when       	"Entry")))
						    type       	"Normal"))
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					    statediagrams 	(list StateDiagrams
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						    quid       	"3C9017CB024C"
						    title      	"Rule4"
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								icon_style 	"Icon"
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							    height     	208
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					type       	"Normal")
				    (object State "3-strafeto-target"
					quid       	"3C8C8F89013D"
					stereotype 	"effector"
					transitions 	(list transition_list
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						quid       	"3C9FDBD40039"
						supplier   	":Choose Action:i_Stop"
						quidu      	"3C8C8EC60331"
						sendEvent  	(object sendEvent
						    quid       	"3C9FDBD4003C")))
					statemachine 	(object State_Machine "3-strafeto-target"
					    quid       	"3C9017D6035F"
					    documentation 	"Asserts an intention to execute a strafeto-target action."
					    stereotype 	"rule"
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						    quid       	"3C9018E000EB"
						    transitions 	(list transition_list
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							    quid       	"3C9018EA0334"
							    label      	""
							    supplier   	":Choose Action:3-strafeto-target:Directive Found"
							    quidu      	"3C9018E600F4"
							    condition  	"(strafeto-target ?x ?y ?z ?priority ?target)"
							    sendEvent  	(object sendEvent
								quid       	"3C9018EA0337")))
						    type       	"StartState")
						(object State "r5_Stop"
						    quid       	"3C9018E40079"
						    type       	"EndState")
						(object State "Directive Found"
						    quid       	"3C9018E600F4"
						    stereotype 	"if"
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							(object State_Transition
							    quid       	"3C9018ED0035"
							    supplier   	":Choose Action:3-strafeto-target:Action Scheduled"
							    quidu      	"3C9018E70344"
							    sendEvent  	(object sendEvent
								quid       	"3C9018ED0038")))
						    type       	"Normal")
						(object State "Action Scheduled"
						    quid       	"3C9018E70344"
						    stereotype 	"then"
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							    supplier   	":Choose Action:3-strafeto-target:r5_Stop"
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							    sendEvent  	(object sendEvent
								quid       	"3C9018EF0081")))
						    actions    	(list action_list
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							    quid       	"3C9019400143"
							    ActionTime 	(object ActionTime
								when       	"Entry")))
						    type       	"Normal"))
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						    quid       	"3C9017D60369"
						    title      	"Rule5"
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								location   	(540, 258)
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					type       	"Normal")
				    (object State "3-turnto-location"
					quid       	"3C8C8F8A0397"
					stereotype 	"effector"
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						quid       	"3C9FDBD602E5"
						supplier   	":Choose Action:i_Stop"
						quidu      	"3C8C8EC60331"
						sendEvent  	(object sendEvent
						    quid       	"3C9FDBD602E8")))
					statemachine 	(object State_Machine "3-turnto-location"
					    quid       	"3C9017DC00E7"
					    documentation 	"Asserts an intention to execute a turnto-location action."
					    stereotype 	"rule"
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						    quid       	"3C9019640055"
						    transitions 	(list transition_list
							(object State_Transition
							    quid       	"3C90196D01E8"
							    label      	""
							    supplier   	":Choose Action:3-turnto-location:Directive Found"
							    quidu      	"3C9019680231"
							    condition  	"(turnto-location ?x ?y ?z ?w)"
							    sendEvent  	(object sendEvent
								quid       	"3C90196D01EB")))
						    type       	"StartState")
						(object State "r6_Stop"
						    quid       	"3C90196602B0"
						    type       	"EndState")
						(object State "Directive Found"
						    quid       	"3C9019680231"
						    stereotype 	"if"
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							    quid       	"3C90196F01A5"
							    supplier   	":Choose Action:3-turnto-location:Action Scheduled"
							    quidu      	"3C90196A0144"
							    sendEvent  	(object sendEvent
								quid       	"3C90196F01A8")))
						    type       	"Normal")
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						    quid       	"3C90196A0144"
						    stereotype 	"then"
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							    quid       	"3C90197203B2"
							    supplier   	":Choose Action:3-turnto-location:r6_Stop"
							    quidu      	"3C90196602B0"
							    sendEvent  	(object sendEvent
								quid       	"3C90197203B5")))
						    actions    	(list action_list
							(object action "(upload-cmd turnto-location)"
							    quid       	"3C9019CD00CE"
							    ActionTime 	(object ActionTime
								when       	"Entry")))
						    type       	"Normal"))
					    partitions 	(list Partitions)
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						    quid       	"3C9017DC00E8"
						    title      	"Rule6"
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							    label      	(object ItemLabel
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								location   	(515, 1272)
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							    height     	150
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							(object StateView "Normal" "Action Scheduled" @64
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							    height     	182
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							    quidu      	"3C90196D01E8"
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						supplier   	":Choose Action:td3"
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						supplier   	":Choose Action:td1"
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						supplier   	":Choose Action:3-turnto-location"
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					    documentation 	"IF target is found to be within range, THEN assert an intention to stop moving towards the target."
					    stereotype 	"rule"
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							    quidu      	"3CF46385038C"
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							    sendEvent  	(object sendEvent
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						    type       	"StartState")
						(object State "r7_Stop"
						    quid       	"3CF463740215"
						    type       	"EndState")
						(object State "Not Too Close"
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						    stereotype 	"if"
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							    supplier   	":Choose Action:3-in-range:Assert Desire To Stop"
							    quidu      	"3CF4638A0339"
							    sendEvent  	(object sendEvent
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						    type       	"Normal")
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						    stereotype 	"then"
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							    supplier   	":Choose Action:3-in-range:r7_Stop"
							    quidu      	"3CF463740215"
							    sendEvent  	(object sendEvent
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						    actions    	(list action_list
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							    quid       	"3CF4645E02F7"
							    ActionTime 	(object ActionTime
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						    type       	"Normal"))
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								icon_style 	"Icon"
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						    location   	(1023, 114)
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						width      	386
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						width      	424
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						width      	412
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						    type       	"EndState")
						(object State "Target Acquired"
						    quid       	"3C8C79DD001D"
						    stereotype 	"if"
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							(object State_Transition
							    quid       	"3C8C7A37026B"
							    label      	""
							    supplier   	":Choose Action:1-rotate/follow:Location Determined"
							    quidu      	"3C8C79EB037A"
							    condition  	"(location ?target ?x ?y ?z)"
							    sendEvent  	(object sendEvent
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						    type       	"Normal")
						(object State "Location Determined"
						    quid       	"3C8C79EB037A"
						    stereotype 	"if"
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							    quid       	"3C8C7A3B004A"
							    supplier   	":Choose Action:1-rotate/follow:Turnto Requested"
							    quidu      	"3C8C7A1B0301"
							    sendEvent  	(object sendEvent
								quid       	"3C8C7A3B004D")))
						    type       	"Normal")
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						    quid       	"3C8C7A1B0301"
						    stereotype 	"then"
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							    quid       	"3C8C7A3D0238"
							    supplier   	":Choose Action:1-rotate/follow:r1_Stop"
							    quidu      	"3C8C79DB00B0"
							    sendEvent  	(object sendEvent
								quid       	"3C8C7A3D023B")))
						    actions    	(list action_list
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							    quid       	"3C8C7A8302CF"
							    ActionTime 	(object ActionTime
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						    type       	"Normal"))
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					    statediagrams 	(list StateDiagrams
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						    title      	"Rule1"
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								    size       	10
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								icon_style 	"Icon"
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								max_width  	12
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							    width      	732
							    height     	229
							    autoResize 	TRUE)
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							    label      	(object SegLabel @134
								Parent_View 	@133
								location   	(662, 432)
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								anchor_loc 	1
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								pctDist    	0.448087
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							    quidu      	"3C8C7A3502E0"
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								    size       	10
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					type       	"Normal")
				    (object State "1-turnto-location"
					quid       	"3C8C7997021B"
					stereotype 	"effector"
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						quid       	"3C8C79B30059"
						supplier   	":Choose Action:i_Stop"
						quidu      	"3C8C797F01C6"
						sendEvent  	(object sendEvent
						    quid       	"3C8C79B3005C")))
					statemachine 	(object State_Machine "1-turnto-location"
					    quid       	"3C900F1D00C0"
					    documentation 	"Asserts an intention to execute a turnto-location action."
					    stereotype 	"rule"
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						    quid       	"3C900F270178"
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							    sendEvent  	(object sendEvent
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							    quidu      	"3C900F2A019B"
							    sendEvent  	(object sendEvent
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						    actions    	(list action_list
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							    quid       	"3C9010330340"
							    ActionTime 	(object ActionTime
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						    type       	"Normal")
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							    quidu      	"3C900F2E0146"
							    sendEvent  	(object sendEvent
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						    type       	"Normal"))
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						    quid       	"3C900F1D00C1"
						    title      	"Rule2"
						    zoom       	100
						    max_height 	28350
						    max_width  	21600
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								icon_style 	"Icon"
								anchor     	2
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								max_width  	12
								compartmentItems 	(list Compartment
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							    width      	784
							    height     	215
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					type       	"Normal"))
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					quid       	"3C8C7972029B"
					title      	"BLines"
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						label      	(object ItemLabel
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						    size       	10
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						    fill_color 	16777215
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						fill_color 	13434879
						quidu      	"3C8C798401F6"
						width      	383
						height     	180
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