map.xml

<!-- 
 There are 3 types of primitives:
 1. Points -> These are the basic building blocks
 2. Lines -> These are collections of points
 3. Relations -> These are sets containing points, lines or other relations and have other properties defined in the form of key-value tags
-->

<xml>

<point id="1" x="0.0" y="0.0" z="0.0" />
<point id="2" x="10.0" y="0.0" z="0.0" />
<point id="3" x="10.0" y="10.0" z="0.0" />
<point id="4" x="0.0" y="10.0" z="0.0" />
<point id="5" x="8.0" y="0.0" z="0.0" />
<point id="6" x="8.0" y="10.0" z="0.0" />

<point id="7" x="1.0" y="1.0" z="0.0" type="node"> <!-- Defines a docking point -->
 <tag k="name" v="Dock" />
 <tag k="description" v="Docking point for robot" />
</point>

<relation type="zone" id="8"> <!-- Defines a new zone for the meeting room-->
 <pr ref="1" />
 <pr ref="2" />
 <pr ref="3" />
 <pr ref="4" />
 <tag k="name" v="Meeting Room" />
 <tag k="description" v="Discussion place for important issues only" />
</relation>

<relation type="zone" id="9"> <!-- Defines a new zone for the keep out area inside the meeting room-->
 <pr ref="2" />
 <pr ref="3" />
 <pr ref="6" />
 <pr ref="5" />
 <tag k="type" v="KeepOut" />
 <tag k="visible" v="False" />
 <tag k="static" v="True" />
</relation>

<relation id="10"> <!-- Specifies zones (id=8) and (id=9) have some overlapping areas -->
  <rr ref="8" />
  <rr ref="9" />
  <tag k="overlap" v="True" />
</relation>

<relation id="11">  <!-- Specifies node (id=7) is inside zone (id=8) -->
  <rr ref="8" />
  <rr ref="7" />
  <tag k="inside" v="True" />
</relation>

<point id="12" x="0.0" y="0.5" z="0.0" />
<point id="13" x="4.0" y="5.0" z="0.0" />
<point id="14" x="4.0" y="10.0" z="0.0" />

<relation type="zone" id="15">
 <pr ref="12" />
 <pr ref="13" />
 <pr ref="14" />
 <pr ref="4" />
 <tag k="type" v="SlowDown" />
 <tag k="visible" v="False" />
 <tag k="static" v="True" />
</relation>

<relation id="16"> <!-- Specifies zones (id=8) and (id=9) have soverlapping areas -->
  <rr ref="8" />
  <rr ref="15" />
  <tag k="overlap" v="True" />
</relation>

</xml>