405 lines
25 KiB
JSON
405 lines
25 KiB
JSON
{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "LIF Layout Interchange Format",
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"type": "object",
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"properties": {
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"metaInformation": {
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"type": "object",
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"description": "Contains metadata about the project and the LIF file.",
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"properties": {
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"projectIdentification": {
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"type": "string",
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"description": "Human-readable name of the project (e.g., for display purposes)."
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},
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"creator": {
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"type": "string",
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"description": "Creator of the LIF file (e.g., name of company or person)."
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},
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"exportTimestamp": {
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"type": "string",
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"format": "date-time",
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"description": "The timestamp at which this LIF file was created/updated/modified. Format is ISO8601 in UTC."
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},
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"lifVersion": {
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"type": "string",
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"description": "Version of the LIF file format. Follows semantic versioning (Major.Minor.Patch)."
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}
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},
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"required": [
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"projectIdentification",
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"creator",
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"exportTimestamp",
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"lifVersion"
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]
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},
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"layouts": {
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"type": "array",
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"description": "Collection of layouts used in the facility by the driverless transport system. All layouts refer to the same global origin.",
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"items": {
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"type": "object",
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"properties": {
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"layoutId": {
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"type": "string",
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"description": "Unique identifier for the layout."
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},
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"layoutName": {
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"type": "string",
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"description": "Name of the layout."
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},
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"layoutVersion": {
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"type": "string",
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"description": "Version number of the layout. It is suggested that this be an integer, represented as a string, incremented with each change, starting at 1."
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},
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"layoutLevelId": {
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"type": "string",
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"description": "Unique identifier for the layout level."
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},
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"layoutDescription": {
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"type": "string",
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"description": "Description of the layout. *Optional*."
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},
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"nodes": {
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"type": "array",
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"description": "List of nodes in the layout. Nodes are locations where vehicles can navigate to.",
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"items": {
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"type": "object",
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"properties": {
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"nodeId": {
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"type": "string",
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"description": "Unique identifier for the node."
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},
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"nodeName": {
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"type": "string",
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"description": "Name of the node. *Optional*."
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},
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"nodeDescription": {
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"type": "string",
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"description": "Description of the node. *Optional*."
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},
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"mapId": {
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"type": "string",
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"description": "Identifier for the map that this node belongs to. *Optional*."
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},
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"nodePosition": {
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"type": "object",
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"description": "Position of the node on the map (in meters).",
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"properties": {
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"x": {
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"type": "number",
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"description": "X coordinate of the node in meters. Range: [float64.min ... float64.max]"
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},
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"y": {
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"type": "number",
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"description": "Y coordinate of the node in meters. Range: [float64.min... float64.max]"
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}
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},
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"required": [
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"x",
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"y"
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]
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},
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"vehicleTypeNodeProperties": {
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"type": "array",
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"description": "Vehicle-specific properties related to the node.",
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"items": {
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"type": "object",
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"properties": {
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"vehicleTypeId": {
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"type": "string",
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"description": "Identifier for the vehicle type."
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},
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"theta": {
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"type": "number",
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"description": "Absolute orientation of the vehicle on the node in reference to the global origin’s rotation. Range: [-Pi ... Pi]"
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},
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"actions": {
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"type": "array",
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"description": "List of actions that the vehicle can perform at the node. *Optional*.",
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"items": {
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"type": "object",
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"properties": {
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"actionType": {
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"type": "string",
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"description": "Type of action (e.g., move, load, unload)."
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},
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"actionDescription": {
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"type": "string",
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"description": "Description of the action. *Optional*."
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},
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"required": {
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"type": "boolean",
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"description": "Whether the action is mandatory."
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},
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"blockingType": {
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"type": "string",
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"description": "Specifies if the action is blocking (HARD or SOFT)."
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},
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"actionParameters": {
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"type": "array",
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"description": "Parameters associated with the action. *Optional*.",
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"items": {
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"type": "object",
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"properties": {
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"key": {
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"type": "string",
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"description": "Key of the action parameter."
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},
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"value": {
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"type": "string",
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"description": "Value of the action parameter."
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}
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},
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"required": [
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"key",
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"value"
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]
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}
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}
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},
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"required": [
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"actionType",
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"blockingType"
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]
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}
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}
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},
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"required": [
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"vehicleTypeId"
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]
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}
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}
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},
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"required": [
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"nodeId",
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"nodePosition",
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"vehicleTypeNodeProperties"
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]
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}
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},
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"edges": {
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"type": "array",
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"description": "List of edges in the layout. Edges represent paths between nodes.",
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"items": {
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"type": "object",
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"properties": {
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"edgeId": {
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"type": "string",
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"description": "Unique identifier for the edge."
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},
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"startNodeId": {
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"type": "string",
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"description": "ID of the starting node for this edge."
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},
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"endNodeId": {
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"type": "string",
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"description": "ID of the ending node for this edge."
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},
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"vehicleTypeEdgeProperties": {
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"type": "array",
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"description": "Vehicle-specific properties for the edge.",
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"items": {
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"type": "object",
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"properties": {
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"vehicleTypeId": {
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"type": "string",
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"description": "Identifier for the vehicle type."
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},
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"vehicleOrientation": {
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"type": "number",
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"description": "Orientation of the vehicle while traversing the edge, in degrees. Range: [0.0 ... 360.0]"
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},
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"orientationType": {
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"type": "string",
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"description": "Type of orientation (e.g., TANGENTIAL)."
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},
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"rotationAllowed": {
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"type": "boolean",
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"description": "Indicates if rotation is allowed while on the edge. *Optional*."
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},
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"rotationAtStartNodeAllowed": {
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"type": "string",
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"description": "Specifies if rotation is allowed at the start node. *Optional*."
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},
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"rotationAtEndNodeAllowed": {
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"type": "string",
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"description": "Specifies if rotation is allowed at the end node. *Optional*."
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},
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"maxSpeed": {
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"type": "number",
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"description": "Maximum speed allowed on this edge in meters per second. Range: [0.0 ... float64.max]"
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},
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"maxRotationSpeed": {
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"type": "number",
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"description": "Maximum rotation speed allowed on this edge in radians per second. *Optional*. Range: [0.0 ... float64.max]"
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},
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"minHeight": {
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"type": "number",
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"description": "Minimum height of the vehicle on this edge in meters. *Optional*. Range: [0.0 ... float64.max]"
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},
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"maxHeight": {
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"type": "number",
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"description": "Maximum height of the vehicle on this edge in meters. *Optional*. Range: [0.0 ... float64.max]"
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},
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"loadRestriction": {
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"type": "object",
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"description": "Load restrictions for this edge. *Optional*.",
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"properties": {
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"unloaded": {
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"type": "boolean",
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"description": "Indicates if the edge can be traversed without a load."
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},
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"loaded": {
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"type": "boolean",
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"description": "Indicates if the edge can be traversed with a load."
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},
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"loadSetNames": {
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"type": "array",
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"description": "Names of the load sets allowed on this edge. *Optional*.",
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"items": {
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"type": "string"
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}
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}
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},
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"required": [
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"unloaded",
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"loaded"
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]
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},
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"trajectory": {
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"type": "object",
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"description": "Trajectory information for this edge, if applicable. *Optional*.",
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"properties": {
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"degree": {
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"type": "integer",
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"description": "Degree of the trajectory curve. Default is 3. Range: [1 ... 3]",
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"default": 3
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},
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"knotVector": {
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"type": "array",
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"description": "Knot vector for the trajectory.",
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"items": {
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"type": "number"
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}
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},
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"controlPoints": {
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"type": "array",
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"description": "Control points defining the trajectory.",
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"items": {
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"type": "object",
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"properties": {
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"x": {
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"type": "number",
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"description": "X coordinate of the control point in meters."
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},
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"y": {
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"type": "number",
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"description": "Y coordinate of the control point in meters."
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},
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"weight": {
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"type": "number",
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"description": "The weight with which this control point pulls on the curve. When not defined, the default is 1.0. Range: [0.0 ... float64.max]",
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"default": 1.0
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}
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},
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"required": [
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"x",
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"y"
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]
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}
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}
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},
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"required": [
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"knotVector",
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"controlPoints"
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]
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}
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},
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"required": [
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"vehicleTypeId"
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]
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}
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}
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},
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"required": [
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"edgeId",
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"startNodeId",
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"endNodeId",
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"vehicleTypeEdgeProperties"
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]
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}
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},
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"stations": {
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"type": "array",
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"description": "List of stations in the layout where vehicles perform specific actions.",
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"items": {
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"type": "object",
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"properties": {
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"stationId": {
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"type": "string",
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"description": "Unique identifier for the station."
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},
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"interactionNodeIds": {
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"type": "array",
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"items": {
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"type": "string"
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},
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"description": "List of node IDs where the station interacts."
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},
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"stationName": {
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"type": "string",
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"description": "Name of the station. *Optional*."
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},
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"stationDescription": {
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"type": "string",
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"description": "Description of the station. *Optional*."
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},
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"stationHeight": {
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"type": "number",
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"description": "Height of the station, if applicable, in meters. *Optional*. Range: [0.0 ... float64.max]"
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},
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"stationPosition": {
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"type": "object",
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"description": "Position of the station on the map (in meters).",
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"properties": {
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"x": {
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"type": "number",
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"description": "X coordinate of the station in meters. Range: [float64.min ... float64.max]"
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},
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"y": {
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"type": "number",
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"description": "Y coordinate of the station in meters. Range: [float64.min ... float64.max]"
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},
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"theta": {
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"type": "number",
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"description": "Orientation of the station. Unit: radians. Range: [-Pi ... Pi]"
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}
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},
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"required": [
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"x",
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"y"
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]
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}
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},
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"required": [
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"stationId",
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"interactionNodeIds"
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]
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}
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}
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},
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"required": [
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"layoutId",
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"layoutVersion",
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"nodes",
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"edges",
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"stations"
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]
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}
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}
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},
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"required": [
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"metaInformation",
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"layouts"
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]
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}
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