urbi-tutorial

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URBI Tutorial(book compiled from Revision 142)Jean-Christophe BaillieURBI Tutorial: (book compiled from Revision 142)by Jean-Christophe BailliePublishedCopyright © 2006 GostaiThis 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 Contents1. Introduction ............................................................................................................................ 12. Installing URBI ....................................................................................................................... 2 the memorystick for Aibo ........................................................................................ 23. First moves ............................................................................................................................. 5Setting and reading a motor value ........................................................................................... 5 speed, time or sinusoidal movements ............................................................................ 6Discovering variables ........................................................................................................... 7General structure for variables ....................................................................................... 7Device values and .val alias ................................................................. ...

Informations

• Publié par: Sioc
• Nombre de lectures: 79
• Langue: Slovak

Extrait

(book

URBI

compiled

Tutorial

from Revision

Jean-Christophe

Baillie

142)

URBI Tutorial: (book compiled from Revision 142) by Jean-Christophe Baillie

Published Copyright © 2006 Gostai

This document is released under the Attribution-NonCommercial-NoDerivs (http://creativecommons.org/licenses/by-nc-nd/2.0/deed.en).

2.0

Creative

Commons

licence

Table of Contents 1. Introduction ............................................................................................................................ 1 2. Installing URBI ....................................................................................................................... 2 InstallingthememorystickforAibo........................................................................................2 3.Firstmoves.............................................................................................................................5 Settingandreadingamotorvalue...........................................................................................5 Setting speed, time or sinusoidal movements ............................................................................ 6 Discoveringvariables...........................................................................................................7 General structure for variables ....................................................................................... 7 Devicevaluesand.valalias...........................................................................................7 Making"global"variables.............................................................................................7 Expressions................................................................................................................7 Lists.................................................................................................................................8 Runningcommandsinparallel...............................................................................................9 Conflictingassignments.......................................................................................................9 Usefuldevicevariablesandproperties...................................................................................10 Usefulcommands..............................................................................................................11 4.Moreadvancedfeatures..........................................................................................................12 Branching and looping ....................................................................................................... 12 if ............................................................................................................................ 12 while......................................................................................................................12 for,foreach..............................................................................................................13 loop, loopn .............................................................................................................. 13 Event catching mechanisms ................................................................................................ 13 at...........................................................................................................................13 whenever ................................................................................................................. 14 wait, waituntil .......................................................................................................... 14 timeout, stopif, freezeif .............................................................................................. 14 Softtests.................................................................................................................15 Emit events .............................................................................................................. 15 Commandtags,flagsandcommandcontrol............................................................................16 Objectsgrouping...............................................................................................................17 Functiondefinition............................................................................................................18 Error messages and system messages .................................................................................... 19 5. Objects in URBI .................................................................................................................... 20 Defining a class ................................................................................................................ 20 Virtualmethodsandattributes.............................................................................................21 Groups............................................................................................................................22 Broadcasting....................................................................................................................23 6.Theballtrackingexample.......................................................................................................25 Balldetection...................................................................................................................25 The main program ............................................................................................................. 25 Programming as a behavior graph ........................................................................................ 27 Controllingtheexecutionofthebehavior...............................................................................28 7.Imagesandsounds.................................................................................................................30 Reading binary values ........................................................................................................ 30 Settingbinaryvalues..........................................................................................................30 Associatedattributes..........................................................................................................31 Binaryoperationexamples..................................................................................................32 8.TheliburbiinC++.................................................................................................................33 What is liburbi? ................................................................................................................ 33 Components and liburbi ..................................................................................................... 33 Getting started .................................................................................................................. 34 Sending commands ........................................................................................................... 34 iv