mcdp {
# We implent XYZ by having a XY mechanism to which we attach a prismatic joint
implements `XYZInterface
XY = instance `XY_concrete
workspace provided by XY ≽ provided workspace
precision provided by XY ≽ provided precision
velocity provided by XY ≽ provided velocity
acceleration provided by XY ≽ provided acceleration
force provided by XY ≽ provided force
Z = instance `Joint
payload_mass provided by Z ≽ provided payload_mass
velocity provided by Z ≽ provided velocity
acceleration provided by Z ≽ provided acceleration
precision provided by Z ≽ provided precision
force provided by Z ≽ provided force
workspace provided by Z ≽ provided workspace
# Now XY must carry both Z and the payload
total_payload_mass = mass required by Z + provided payload_mass
payload_mass provided by XY ≽ total_payload_mass
required electric_power ≽ ∑ electric_power required by *
required mass ≽ ∑ mass required by *
required budget ≽ ∑ budget required by *
}
