fdi.dia

机器人开源项目orocos的源代码

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        <dia:connection handle="0" to="O29" connection="3"/>
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      <dia:attribute name="obj_pos">
        <dia:point val="38,14"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="35.525,13.3;40.475,15.5"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#Orocos
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"/>
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          <dia:attribute name="pos">
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            <dia:color val="#000000"/>
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            <dia:enum val="1"/>
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    </dia:object>
    <dia:object type="UML - Note" version="0" id="O32">
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        <dia:point val="47,4.5"/>
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        <dia:rectangle val="46.95,4.45;57.6,9.05"/>
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      <dia:attribute name="elem_corner">
        <dia:point val="47,4.5"/>
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      <dia:attribute name="elem_width">
        <dia:real val="10.550000000000001"/>
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      <dia:attribute name="elem_height">
        <dia:real val="4.5"/>
      </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>#Hardware independent API
for reading sensors, driving
actuators and all interactions
possible with (robot) hardware#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="arial" style="80" name="Helvetica-Bold"/>
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          <dia:attribute name="height">
            <dia:real val="0.90000000000000002"/>
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          <dia:attribute name="pos">
            <dia:point val="47.35,5.75"/>
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          <dia:attribute name="color">
            <dia:color val="#000000"/>
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          <dia:attribute name="alignment">
            <dia:enum val="0"/>
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        <dia:point val="45,10"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="44.9329,8.93292;47.0671,10.0671"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="45,10"/>
        <dia:point val="47,9"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O6" connection="7"/>
        <dia:connection handle="1" to="O32" connection="5"/>
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    </dia:object>
    <dia:object type="UML - Note" version="0" id="O34">
      <dia:attribute name="obj_pos">
        <dia:point val="47,17.5"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="46.95,17.45;57,22.05"/>
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      <dia:attribute name="elem_corner">
        <dia:point val="47,17.5"/>
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      <dia:attribute name="elem_width">
        <dia:real val="9.9500000000000011"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="4.5"/>
      </dia:attribute>
      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
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      <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>#Custom made device driver.
Provides functionality but
enforces no policy.
(e.g. a Linux Kernel Module)#</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"/>
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          <dia:attribute name="pos">
            <dia:point val="47.35,18.75"/>
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          <dia:attribute name="color">
            <dia:color val="#000000"/>
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          <dia:attribute name="alignment">
            <dia:enum val="0"/>
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        <dia:point val="42,19.5"/>
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        <dia:rectangle val="41.9476,19.4476;47.0524,19.8024"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="42,19.5"/>
        <dia:point val="47,19.75"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O3" connection="4"/>
        <dia:connection handle="1" to="O34" connection="3"/>
      </dia:connections>
    </dia:object>
    <dia:object type="UML - Note" version="0" id="O36">
      <dia:attribute name="obj_pos">
        <dia:point val="47,-1.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="46.95,-1.55;56.55,3.95"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="47,-1.5"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="9.5"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="5.4000000000000004"/>
      </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>#Interface :
Collection of methods,
providing related services.
e.g. virtual sensor, camera,
end-effector,...#</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"/>
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          <dia:attribute name="pos">
            <dia:point val="47.35,-0.25"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
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          <dia:attribute name="alignment">
            <dia:enum val="0"/>
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        <dia:point val="43.5,8"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="43.4295,3.82951;47.0705,8.07049"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="43.5,8"/>
        <dia:point val="47,3.9"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="1" to="O36" connection="5"/>
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    </dia:object>
    <dia:object type="UML - Note" version="0" id="O38">
      <dia:attribute name="obj_pos">
        <dia:point val="18.5,18"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="18.45,17.95;22,20.75"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="18.5,18"/>
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      <dia:attribute name="elem_width">
        <dia:real val="3.4499999999999997"/>
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      <dia:attribute name="elem_height">
        <dia:real val="2.7000000000000002"/>
      </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>#Closely 
coupled#</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="18.85,19.25"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
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          <dia:attribute name="alignment">
            <dia:enum val="0"/>
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        </dia:composite>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Line" version="0" id="O39">
      <dia:attribute name="obj_pos">
        <dia:point val="21.95,20.7"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="21.8856,20.6356;23.0644,23.5644"/>
      </dia:attribute>
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        <dia:point val="21.95,20.7"/>
        <dia:point val="23,23.5"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O38" connection="7"/>
      </dia:connections>
    </dia:object>
    <dia:object type="Standard - Line" version="0" id="O40">
      <dia:attribute name="obj_pos">
        <dia:point val="22.05,8.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="22,8;24.05,9"/>
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        <dia:point val="24,8.5"/>
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        <dia:int val="1"/>
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        <dia:enum val="22"/>
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        <dia:real val="0.5"/>
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      <dia:connections>
        <dia:connection handle="1" to="O6" connection="3"/>
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    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O41">
      <dia:attribute name="obj_pos">
        <dia:point val="28.5,18"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="28.45,17.95;32.55,21.05"/>
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        <dia:real val="4"/>
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      <dia:attribute name="elem_height">
        <dia:real val="3"/>
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      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
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    <dia:object type="Standard - Text" version="0" id="O42">
      <dia:attribute name="obj_pos">
        <dia:point val="30.5,19.5"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="29.25,18.8;31.75,21"/>
      </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="30.5,19.5"/>
          </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>
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