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latest Releases : 2.0.0-RELESE
| 2.0.0-RELESE | Download page |
Number of Projects
| RT-Component | 153.5 |
| RT-Middleware | 35 |
| Tools | 22 |
| Documentation | 2 |
Choreonoid
Motion editor/Dynamics simulator
OpenHRP3
Dynamics simulator
OpenRTP
Integrated Development Platform
AIST RTC collection
RT-Components collection by AIST
TORK
Tokyo Opensource Robotics Association
DAQ-Middleware
Middleware for DAQ (Data Aquisition) by KEK
Describe operation of composite component.
(G)Create a composite component
Multiple components can be combined into a composite component. & br; Select the component you want to be a composite component, right click and select "Create Composite Component", the composite component generation dialog will be displayed.
The items of the dialog are as follows.
[PeriodicECShared]
Each RTC operates with sharing only ExecutionContext. Because the state of each RTC is independent, there can be multiple states within the composite component.
[PeriodicStateShared]
Each RTC shares the same ExecutionContext and also shares state.
[Grouping]
A composite component that each RTC does not share anything, each RTC holds its own ExecutionContext, state.
For the port selected here, a port for the proxy is created in the composite component.
When you create a composite component, the component you selected as a child component disappears from the system editor and a new composite component is drawn.
Double-click the diagram of the composite component, or right-click and choose Open in Editor, a new system diagram will open and the interior of the composite component will be displayed.
However, when saving the system configuration, the rendering information of the component can not be saved for only one component, so rendering information changed by the system diagram displaying inside the composite component will not be saved.
(G)Add a child of a composite component
Displaying inside the composite component Open the system editor and add the children of the composite component by dragging and dropping the RTC from the name service view. All added child RTC ports are set to private.
(G)Delete child of composite component
Displaying inside the composite component Open the system editor and remove the child components there, so that the children of the composite component are deleted.
The deleted child component disappears from within the composite component and appears in the original system diagram (the diagram in which the composite component itself is displayed).
(G)Delete complex component
If you right-click on a composite component and select "Delete", the composite component is deleted from the diagram.
If you open a composite component in another system diagram at the time of deletion, a confirmation dialog of exit of the editor will be displayed.
(G)Cancel composite component
If you right-click on the composite component and select "Decompose Composite Component", exist () is sent to the composite component and the component itself is terminated.
If you open a composite component in another system diagram at the time of release, a dialogue for confirmation of the exit of the editor will be displayed. & br; When the composite component is released, the child components are displayed in the original system diagram (the diagram in which the composite component was displayed).
(G)Switch public/private port
Displaying inside a composite component If the port of a component in the system editor is exposed on a composite component, it will be displayed as a separate icon as shown below.
If you right-click on a published port and select "Unexport", the port will change to a state that it is not published. Also, if you right-click on an unpublished port and select "Export", the port will be changed to the published state.
However, if the port is connected to a port of another component, it can not be "Unexport".