urbi-tutorial-1.0

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• Publié par: Udde
• Nombre de lectures: 24
• Langue: English

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URBI Tutorial for Urbi 1.0
(book compiled from 682M)
Jean-Christophe Baillie
Mathieu Nottale
Benoit PothierURBI Tutorial for Urbi 1.0: (book compiled from 682M)
by Jean-Christophe Baillie, Mathieu Nottale, and Benoit Pothier
Publication date
Copyright © 2006-2007 Gostai™
This document is released under the Attribution-NonCommercial-NoDerivs 2.0 Creative Commons licence (http://creativecommons.org/
licenses/by-nc-nd/2.0/deed.en).Table of Contents
1. Introduction .............................................................................................................. 1
2. Installing URBI ........................................................................................................ 2 the memorystick for Aibo ......................................................................... 2
3. First moves .............................................................................................................. 4
Setting and reading a motor value ............................................................................ 4 speed, time or sinusoidal movements ............................................................. 5
Discovering variables ............................................................................................ 5
General structure for variables ......................................................................... 6
Device values and .val alias ............................................................................ 6
Making "global" variables .............................................................................. 6
Expressions .................................................................................................. 6
Lists ................................................................................................................... 6
Running commands in parallel ................................................................................ 7
Conflicting assignments ......................................................................................... 8
Useful device variables and properties ...................................................................... 9 commands ................................................................................................. 9
4. More advanced features ............................................................................................ 10
Branching and looping ......................................................................................... 10
if .............................................................................................................. 10
while ......................................................................................................... 10
for, foreach ................................................................................................ 10
loop, loopn ................................................................................................. 11
Event catching mechanisms ................................................................................... 11
at .............................................................................................................. 11
whenever ................................................................................................... 12
wait, waituntil ............................................................................................. 12
timeout, stopif, freezeif ................................................................................ 12
Soft tests ................................................................................................... 13
Emit events ................................................................................................ 13
Command tags, flags and command control ............................................................. 14
Objects grouping ................................................................................................. 15
Function definition .............................................................................................. 16
Error messages and system messages ...................................................................... 16
5. Objects in URBI ...................................................................................................... 18
Defining a class .................................................................................................. 18
Virtual methods and attributes ............................................................................... 19
Groups .............................................................................................................. 20
Broadcasting ....................................................................................................... 21
6. The ball tracking example ......................................................................................... 23
Ball detection ..................................................................................................... 23
The main program ............................................................................................... 23
Programming as a behavior graph .......................................................................... 25
Controlling the execution of the behavior ................................................................ 26
7. Images and sounds ................................................................................................... 28
Reading binary values .......................................................................................... 28
Setting binary values ........................................................................................... 28
Associated attributes ............................................................................................ 29
Binary operation examples .................................................................................... 30
8. The liburbi in C++ ................................................................................................... 31
What is liburbi? .................................................................................................. 31
Components and liburbi ....................................................................................... 31
Getting started .................................................................................................... 32
Sending commands .............................................................................................. 32 binary data and sounds ............................................................................. 33
Receiving messages ............................................................................................. 33
ivURBI Tutorial for Urbi 1.0
Data types .......................................................................................................... 34
UMessage .................................................................................................. 34
UValue ...................................................................................................... 34
UBinary ..................................................................................................... 35
USound ..................................................................................................... 35
UImage ..................................................................................................... 35
Synchronous operations ........................................................................................ 35
Synchronous read of a device value ................................................................ 35
Getting an image synchronously .................................................................... 36
Getting sound ......................................................................... 36
Conversion functions ........................................................................................... 36
The "urbiimage" example ..................................................................................... 37
9. Create components: the UObject architecture ................................................................ 39
UObject ............................................................................................................. 39
The basics .................................................................................................. 39
Adding attributes ......................................................................................... 40
Binding functions and events ......................................................................... 42
Timers ....................................................................................................... 43
Advanced types for binaries .......................................................................... 43
The "load" attribute ..................................................................................... 44
The "remote" .................................................................................. 44
The colormap example ................................................................................. 44
The practical side: how to use create an UObject? ............................................. 48
10. Putting all together ................................................................................................. 54
Typical usages examples ..............................