fdi.dia

机器人开源项目orocos的源代码

      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="24.75,18.8;27.25,21"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#Device
Driver#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="arial" style="80" name="Helvetica-Bold"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="26,19.5"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="1"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Text" version="0" id="O15">
      <dia:attribute name="obj_pos">
        <dia:point val="38,19.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="36.75,18.8;39.25,21"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#Device
Driver#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="arial" style="80" name="Helvetica-Bold"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="38,19.5"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="1"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O16">
      <dia:attribute name="obj_pos">
        <dia:point val="27.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="27.45,7.45;29.6,9.55"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="27.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="2.0500099999999999"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="4"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O17">
      <dia:attribute name="obj_pos">
        <dia:point val="30.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="30.45,7.45;32.55,9.55"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="30.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="4"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O18">
      <dia:attribute name="obj_pos">
        <dia:point val="33.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="33.45,7.45;35.55,9.55"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="33.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="4"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O19">
      <dia:attribute name="obj_pos">
        <dia:point val="36.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="36.45,7.45;38.55,9.55"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="36.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="4"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O20">
      <dia:attribute name="obj_pos">
        <dia:point val="39.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="39.45,7.45;41.55,9.55"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="39.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="4"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O21">
      <dia:attribute name="obj_pos">
        <dia:point val="42.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="42.45,7.45;44.55,9.55"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="42.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="4"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O22">
      <dia:attribute name="obj_pos">
        <dia:point val="24.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="24.45,7.45;26.55,9.55"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="24.5,7.5"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="2"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="4"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Line" version="0" id="O23">
      <dia:attribute name="obj_pos">
        <dia:point val="24.5,9.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="23.9412,9.44117;24.5588,12.0588"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="24.5,9.5"/>
        <dia:point val="24,12"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="3"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O22" connection="5"/>
        <dia:connection handle="1" to="O4" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="Standard - Line" version="0" id="O24">
      <dia:attribute name="obj_pos">
        <dia:point val="32.5,9.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="32.45,9.45;32.55,12.05"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="32.5,9.5"/>
        <dia:point val="32.5,12"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="3"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O17" connection="7"/>
        <dia:connection handle="1" to="O4" connection="2"/>
      </dia:connections>
    </dia:object>
    <dia:object type="Standard - Line" version="0" id="O25">
      <dia:attribute name="obj_pos">
        <dia:point val="30.5,9.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="30.4303,9.43025;34.0697,12.0697"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="30.5,9.5"/>
        <dia:point val="34,12"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="3"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O17" connection="5"/>
        <dia:connection handle="1" to="O5" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="Standard - Line" version="0" id="O26">
      <dia:attribute name="obj_pos">
        <dia:point val="41.5,9.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="41.4412,9.44117;42.0588,12.0588"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="41.5,9.5"/>
        <dia:point val="42,12"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="3"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O20" connection="7"/>
        <dia:connection handle="1" to="O5" connection="2"/>
      </dia:connections>
    </dia:object>
    <dia:object type="UML - Note" version="0" id="O27">
      <dia:attribute name="obj_pos">
        <dia:point val="19,1"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="18.95,0.95;28.85,4.65"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="19,1"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="9.8000000000000007"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="3.6000000000000001"/>
      </dia:attribute>
      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
      </dia:attribute>
      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#Allows to query an
interface for all its available
implementations.#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="arial" style="80" name="Helvetica-Bold"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="0.90000000000000002"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="19.35,2.25"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="0"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Line" version="0" id="O28">
      <dia:attribute name="obj_pos">
        <dia:point val="19,4.6"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="18.9391,4.53915;20.0609,8.56085"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="19,4.6"/>
        <dia:point val="20,8.5"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O27" connection="5"/>
      </dia:connections>
    </dia:object>
    <dia:object type="UML - Note" version="0" id="O29">
      <dia:attribute name="obj_pos">
        <dia:point val="47,10.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="46.95,10.45;57.7,16.85"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="47,10.5"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="10.65"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="6.2999999999999998"/>
      </dia:attribute>
      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
      </dia:attribute>
      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#Implements and provides
some functionality
of the Orocos Device Interface.
Enforces policy.
Gathers and sends data
actively.#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="arial" style="80" name="Helvetica-Bold"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="0.90000000000000002"/>