Re: dynamic wiring
| Newsgroups | gmane.science.robotics.orocos.user |
|---|---|
| Organization | FAW Ulm |
| Message-ID | <[email protected]> |
[email protected] wrote: > The structure of Motion control core is predeterminated, components are linked togheter by a specific mediator. > Why introducing a dynamic wiring system? > Can you explain me with an example? > The SmartSoft framework explicitly addresses dynamic wiring of components, but is meant to be applied at a much higher abstraction level which should not be confused with the Leuven framework. The view explained here is very close or identical to the layered architecture of GenoM. Think of components like a mapping component, a path planning component and a motion control component on a mobile platform. Depending on the task to be executed one needs several data flow configurations between components. A first configuration might be mapper - planner - motion control to drive into a specific room. Another configuration might be vision (tracking) - motion control to approach or follow an object. Dynamic wiring now is the process of configuring these data flow dependencies at run-time to reuse components in different combinations for different behaviors. It is most needed in combination with a task execution mechanism. Regards Christian -- --------------------------------------------------------------------- Christian Schlegel FAW Ulm (Research Institute for Applied Knowledge Processing) PO Box 2060 D-89010 Ulm Germany Tel. : ++49 (731) 501 8949 Fax : ++49 (731) 501 999 email: [email protected] WWW : http://www.faw.uni-ulm.de/ ---------------------------------------------------------------------