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Difference between revisions of "Apogy/Examples"

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|  style="width: 12em;" |'''System Name:''' || RoverApogySystem
 
|  style="width: 12em;" |'''System Name:''' || RoverApogySystem
 
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| '''Description:''' || A simulated rover that is build on a skid-steered platform and includes a robotic arm (equipped with a Pan and Tilt camera) and a rover mounted Pan and Tilt camera. This is an example of a composite system.
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| '''Description:''' || A simulated rover that is built on a skid-steered platform and includes a robotic arm (equipped with a Pan and Tilt camera) and a rover mounted Pan and Tilt camera. This is an example of a composite system.
 
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|-
 
| '''Interface Class:''' || ''org.eclipse.apogy.examples.rover.Rover''
 
| '''Interface Class:''' || ''org.eclipse.apogy.examples.rover.Rover''

Revision as of 09:43, 27 August 2018

Overview

Apogy provides a series of built-in example Systems to illustrate and highlight its capabilities and features. These examples:

  • Provide simple examples of simulated Systems.
  • As recommended in the Apogy System Developer Guidelines, System EMF models are separate from their Apogy plugins.
  • Include articulated and composites systems.
  • Some Systems make use of the Environment attributes for simulation.
  • Show various modeling patterns for integrating systems in Apogy.


These Systems, while fairly basic simulations of their real-world counterparts, show at a high level how to design a System and integrate it into Apogy. There are a large amount of variety in the examples, which include articulated and composite Systems. In addition, the examples leverage their respective Environment to facilitate the simulation. As suggested in the guidelines, each of the example Systems have their EMF meta-models separate and distinct from their Apogy (System) plug-ins. More than anything else, the examples highlight the recommended way to integrate new System into Apogy.

The Example Systems

PTUDishAntennaApogySystem

System Name: PTUDishAntennaApogySystem
Description: A simulated antenna dish mounted on a pan-tilt unit. The antenna is made to track the Sun based on the worksite sky.
Interface Class: org.eclipse.apogy.examples.antenna.PTUDishAntenna
Apogy System File: org.eclipse.apogy.examples.antenna.apogy/model/PTUDishAntennaApogySystem.ss
Subsystems: - None -
Apogy PTU Dish Example.png

Simple Camera

System Name: CameraApogySystem
Description: A simple camera that can take snapshots. The simulated implementation return a different image (from a list of image file) every time a takeShapshot is commanded.
Interface Class: org.eclipse.apogy.examples.camera.Camera
Apogy System File: org.eclipse.apogy.examples.camera.apogy/model/CameraApogySystem.ss
Subsystems: - None -
Apogy Simple Camera Example.png

Pan & Tilt Camera

System Name: PTUCameraApogySystem
Description: A camera mounted on a pan-tilt unit. The simulated implementation return a different image (from a list of image files) every time a takeShapshot is commanded. The pointing of the camera is also simulated and has the camera move when commanded in pan and tilt angles.
Interface Class: org.eclipse.apogy.examples.camera.PTUCamera
Apogy System File: org.eclipse.apogy.examples.camera.apogy/model/PTUCameraApogySystem.ss
Subsystems: - None -
The example Pan-Tilt Camera.

Flying Lander Vehicle

System Name: LanderApogySystem
Description: A simulated lander that can fly. The user can control the pitch and roll angular rates and control the engine throttle. Fuel usage is modeled (which changes the vehicle mass) and engine shuts off when empty. When used with a pose corrector, the lander legs will follow the surface of DEMs. Use it with hand controllers mapping to fly around !
Interface Class: org.eclipse.apogy.examples.lander.Lander
Apogy System File: org.eclipse.apogy.examples.lander.apogy/model/LanderApogySystem.ss
Subsystems: - None -
The Lander in flight.

Skid-Steered Wheeled Mobile Platform

System Name: MobilePlateformApogySystem
Description: A simulated four wheeled, skid-steered mobile platform. The simulated implementation has the wheels turning when motion is commanded, and the vehicle moves around. When used with a pose corrector, the vehicle's wheels will follow the surface of DEMs.
Interface Class: org.eclipse.apogy.examples.lander.MobilePlateform
Apogy System File: org.eclipse.apogy.examples.lander.apogy/model/MobilePlateformApogySystem.ss
Subsystems: - None -
The Mobile Platform.

4 Degrees of Freedom Robotic Arm

System Name: RoboticArmApogySystem
Description: A robotic arm with four revolute joints. The simulated implementation can move the arm smoothly from one joint angle configuration to another. This system is an example on how articulated systems can be modelled.
Interface Class: org.eclipse.apogy.examples.robotic_arm.RoboticArm
Apogy System File: org.eclipse.apogy.examples.robotic_arm.apogy/model/RoboticArmApogySystem.ss
Subsystems: - None -
The Robotic Arm.

Integrated Robotic Arm

System Name: IntegratedRoboticArmApogySystem
Description: An system that integrates the four degree of freedom arm with a Pan-Tilt unit mounted on its forearm.
Interface Class: org.eclipse.apogy.examples.robotic_arm.RoboticArm
Apogy System File: org.eclipse.apogy.examples.robotic_arm.apogy/model/RoboticArmApogySystem.ss
Subsystems: RoboticArmApogySystem, PTUCameraApogySystem
The Integrated Robotic Arm.

Integrated Rover

System Name: RoverApogySystem
Description: A simulated rover that is built on a skid-steered platform and includes a robotic arm (equipped with a Pan and Tilt camera) and a rover mounted Pan and Tilt camera. This is an example of a composite system.
Interface Class: org.eclipse.apogy.examples.rover.Rover
Apogy System File: org.eclipse.apogy.examples.rover.apogy/model/RoverApogySystem.ss
Subsystems: IntegratedRoboticArm, MobilePlateform, PTUCamera
The Integrated Rover example.

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