The Simple Camera is a basic camera simulator. It accepts a command to take an image and replies (after a specified time) with a success message. It does not currently store any data (such as an image).
The SimpleCameraFederate models a basic camera. It accepts a robot description (XML) file and instantiates a SimpleCamera using the first camera described in the file. It also requires a robot name on the command line and uses the robot name and the camera name (specified in the robot description file) to create a unique camera id. Upon receiving a cameraTakeImage command, this federate will generate a ReturnValue object and, after a time delay as specified in the camera attributes of the robot description file (with a default of 2.0 seconds), it will set the status of the ReturnValue object to successfule. It does not save any (image) data.
SimpleCameraFederate RobotDescriptionFile RobotName
RobotDescriptionFile: The XML description file of the robot that
contains the camera information.
RobotName: The name of the robot.
The SimpleCameraFederate publishes the following object classes:
A federate that wants to use the SimpleCamera must discover the following object instance:
- CameraInstance RobotName:CameraName
where RobotName is the name entered on the command line and CameraName is specified in the (XML) RobotDescriptionFile specified on the command line.
The SimpleCameraFederate subscribes to the following interaction:
- CameraCaptureImageInteraction
This component does not have a graphical user interface.
Files for the SimpleCameraFederate reside in the MSF/component/camera directory and include the following files:
SimpleCameraFederate.cpp // MSF Federate including one simple camera model
SimpleCamera.h // simple camera simulator header file
SimpleCamera.cpp // simple camera simulator code file
makefile // makefile
SimpleCameraFederate.dox // component documentation in doxygen format
Generated on Thu Apr 7 18:21:16 2005 for MST API by
1.4.1