@prefix slv:      <https://comp-rob2b.github.io/metamodels/task/solver-specification#> .
@prefix slv-ext:  <https://secorolab.github.io/metamodels/task/solver-specification#> .
@prefix rdfs:     <http://www.w3.org/2000/01/rdf-schema#> .
@prefix sh:       <http://www.w3.org/ns/shacl#> .
@prefix geom_coord: <https://comp-rob2b.github.io/metamodels/geometry/coordinates#> .
@prefix dyn_coord:  <https://comp-rob2b.github.io/metamodels/newtonian-rigid-body-dynamics/coordinates#> .

slv-ext:CommandForwardingSolver
    a rdfs:Class, sh:NodeShape ;
    sh:targetClass slv-ext:CommandForwardingSolver ;
    sh:message "A command-forwarding solver needs exactly one motion-driver set and may expose output quantities." ;
    sh:property [
        sh:path slv:motion-drivers ;
        sh:minCount 1 ;
        sh:maxCount 1 ;
        sh:nodeKind sh:BlankNodeOrIRI ;
        sh:class slv:MotionDrivers
    ] ;
    sh:property [
        sh:path slv:output ;
        sh:minCount 0 ;
        sh:nodeKind sh:BlankNodeOrIRI
    ] .

slv-ext:VelocityDistributionSolver
    a rdfs:Class, sh:NodeShape ;
    sh:targetClass slv-ext:VelocityDistributionSolver ;
    sh:message "A velocity-distribution solver needs exactly one velocity coordinate." ;
    sh:property [
        sh:path slv:velocity ;
        sh:minCount 1 ;
        sh:maxCount 1 ;
        sh:nodeKind sh:BlankNodeOrIRI ;
        sh:class geom_coord:VelocityTwistCoordinate
    ] .

slv-ext:ForceCompositionSolver
    a rdfs:Class, sh:NodeShape ;
    sh:targetClass slv-ext:ForceCompositionSolver ;
    sh:message "A force-composition solver needs exactly one force coordinate." ;
    sh:property [
        sh:path slv:force ;
        sh:minCount 1 ;
        sh:maxCount 1 ;
        sh:nodeKind sh:BlankNodeOrIRI ;
        sh:class dyn_coord:WrenchCoordinate
    ] .