Manual

2
Developer’s guide - C++, Urbi, Flex, Java - V2.0
robopec
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Summary
1 General ............................................................................................................................................ 3
2 Reeti’s architecture ......................................................................................................................... 4
2.1 Hardware ................................................................................................................................. 4
2.2 Ubuntu ..................................................................................................................................... 4
2.3 Urbi .......................................................................................................................................... 5
2.4 URBI’s principles ...................................................................................................................... 5
2.5 Possible developments on Reeti ............................................................................................. 5
3 Reeti’s tree ...................................................................................................................................... 6
3.1 reetiDocuments ....................................................................................................................... 6
3.2 reetiPrograms .......................................................................................................................... 7
4 Flex Interface creation ..................................................................................................................... 8
4.1 Flex Development environment .............................................................................................. 8
4.2 Flex Reeti Application: RApplication ....................................................................................... 8
4.3 Flex Stand-alone Application ................................................................................................. 11
4.4 Useful functions of PublicGUITool ......................................................................................... 12
4.4.1 class Communication ..................................................................................................... 12
4.4.2 EventDataReception class ............................................................................................. 13
4.4.3 Translator class .............................................................................................................. 13
4.4.4 Header class ................................................................................................................... 13
5 C++ Standalone Applications (C++ liburbi) ................................................................................... 14
6 Java Standalone Applications : JAVA liburbi .................................................................................. 15
7 C++ URBI modules ......................................................................................................................... 16
7.1 Create a URBI module ........................................................................................................... 16
7.2 Load a module at Reeti Launch ............................................................................................. 19
8 The URBIscript ............................................................................................................................... 20
9 ROS compatibility .......................................................................................................................... 20
10 Main Reeti Functions and variables .......................................................................................... 21
11 Contacts and complementary Information ............................................................................... 23