(object Petal
    version    	45
    _written   	"Rose 7.5.0103.1920"
    charSet    	0)

(object Design "Logical View"
    is_unit    	TRUE
    is_loaded  	TRUE
    attributes 	(list Attribute_Set
	(object Attribute
	    tool       	"Java"
	    name       	"IDE"
	    value      	"Internal Editor")
	(object Attribute
	    tool       	"Traversal"
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	    value      	""))
    quid       	"3D86D32E014A"
    defaults   	(object defaults
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	defaultFont 	(object Font
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	showMessageNum 	1
	showClassOfObject 	TRUE
	notation   	"Unified")
    root_usecase_package 	(object Class_Category "Use Case View"
	quid       	"3D86D32E014C"
	exportControl 	"Public"
	global     	TRUE
	logical_models 	(list unit_reference_list)
	logical_presentations 	(list unit_reference_list
	    (object UseCaseDiagram "Main"
		quid       	"3D86D32E0187"
		title      	"Main"
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		items      	(list diagram_item_list))))
    root_category 	(object Class_Category "Logical View"
	quid       	"3D86D32E014B"
	exportControl 	"Public"
	global     	TRUE
	subsystem  	"Component View"
	quidu      	"3D86D32E014D"
	logical_models 	(list unit_reference_list
	    (object Class "UI"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\UI.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\UI.cpp")
		    (object Attribute
			tool       	"cg"
			name       	"GenerateDefaultConstructor"
			value      	("GenerateSet" 206))
		    (object Attribute
			tool       	"cg"
			name       	"DestructorKind"
			value      	("ThreeKindSet" 201)))
		quid       	"3D86D33A00C8"
		documentation 	
|/**
|This class implements the user interface. It allows the user to start, pause and stop the clustering using the four input buttons of the EyeBot controller.
|@author Jia L. Du
| */
|
		
		superclasses 	(list inheritance_relationship_list
		    (object Inheritance_Relationship
			quid       	"3D86D5A8029E"
			supplier   	"Logical View::Thread"
			quidu      	"3D86D3DF0244"))
		operations 	(list Operations
		    (object Operation "UI"
			quid       	"3D9EBE030096"
			documentation 	
|/**
|Constructor for UI. The parameters are passed to the Thread constructor
|@param name pointer to thread name
|@param stackSize size of thread stack
|@param priority thread priority (valid values are: MIN_PRI to MAX_PRI)
|@param id a unique thread id
| */
|
			
			parameters 	(list Parameters
			    (object Parameter "name"
				quid       	"3D9EBE44026C"
				type       	"char*")
			    (object Parameter "stackSize"
				quid       	"3D9EBE3A03B6"
				type       	"int")
			    (object Parameter "priority"
				quid       	"3D9EBE3B003C"
				type       	"int")
			    (object Parameter "id"
				quid       	"3D9EBE3B0078"
				type       	"int"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033881976))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "state"
			quid       	"3D901F660050"
			documentation 	
|/**
|Used by the class to keep track of its current state. Possible states are UI::READY, UI::RUNNING and UI::PAUSED
| */
			
			type       	"int"
			initv      	"-1")
		    (object ClassAttribute "READY"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9AB2D2003C"
			documentation 	
|/**
|Used by the class to keep track of its own state
|*/
			
			type       	"int"
			initv      	"0"
			static     	TRUE)
		    (object ClassAttribute "RUNNING"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9AB2F201A4"
			documentation 	
|/**
|Used by the class to keep track of its own state
|*/
			
			type       	"int"
			initv      	"1"
			static     	TRUE)
		    (object ClassAttribute "PAUSED"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9AB2F202E4"
			documentation 	
|/**
|Used by the class to keep track of its own state
|*/
			
			type       	"int"
			initv      	"2"
			static     	TRUE))
		language   	"C++")
	    (object Class "Starter"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Starter.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Starter.cpp"))
		quid       	"3D86D3480028"
		documentation 	
|/**
|This class provides a point of entry for the user interface to control the clustering algorithm. This ensures that the functionality is separated and hidden from the user interface. The class provides a few public methods to start, pause and resume the clustering.
|@author Jia L. Du
| */
		
		operations 	(list Operations
		    (object Operation "startClustering"
			quid       	"3D901FC402D0"
			documentation 	
|/**
|Starts the clustering. The threads that form the clustering algorithm are set to ready for execution
|@see Thread::ready()
| */
			
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1032855621)
		    (object Operation "pauseClustering"
			quid       	"3D901FEF0046"
			documentation 	
|/**
|Pauses the clustering. All threads that form the clustering algorithm are suspended
|@see Starter::resumeClustering()
|@see Thread::suspend()
| */
			
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1032855624)
		    (object Operation "resumeClustering"
			quid       	"3D901FE500B4"
			documentation 	
|/**
|Resumes the clustering. The threads that were suspended by pauseClustering are set back to ready again
|@see Starter::pauseClustering()
|@see Thread::ready()
| */
			
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1032855623))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "state"
			quid       	"3D901FA101CC"
			documentation 	
|/**
|Used by the class to keep track of its current state. Possible states are Starter::READY, Starter::RUNNING and Starter::PAUSED
| */
			
			type       	"int"
			initv      	"-1")
		    (object ClassAttribute "READY"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9ABDF20078"
			documentation 	
|/**
|Used by the class to keep track of its own state
|*/
			
			type       	"int"
			initv      	"0"
			static     	TRUE)
		    (object ClassAttribute "RUNNING"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9ABE350046"
			documentation 	
|/**
|Used by the class to keep track of its own state
|*/
			
			type       	"int"
			initv      	"1"
			static     	TRUE)
		    (object ClassAttribute "PAUSED"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9ABE3500E6"
			documentation 	
|/**
|Used by the class to keep track of its own state
|*/
			
			type       	"int"
			initv      	"2"
			static     	TRUE))
		language   	"C++")
	    (object Class "Commander"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Commander.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Commander.cpp")
		    (object Attribute
			tool       	"cg"
			name       	"GenerateDefaultConstructor"
			value      	("GenerateSet" 206))
		    (object Attribute
			tool       	"cg"
			name       	"DestructorKind"
			value      	("ThreeKindSet" 201)))
		quid       	"3D86D35000AA"
		documentation 	
|/**
|Activates and switches between the behaviors of the robot (current implementation: Exploring, Pushing, Avoiding, Communicating. Communicating only when using local communication - see system model). The decision which behavior to activate is based on the current state of the commander and the return code it receives from the last activated behavior. Once a behavior has served its purpose it will return with a result code. The commander does not actively interrupt activated behaviors.
|@author Jia L. Du
| */
		
		superclasses 	(list inheritance_relationship_list
		    (object Inheritance_Relationship
			quid       	"3D86D5A601D6"
			supplier   	"Logical View::Thread"
			quidu      	"3D86D3DF0244"))
		operations 	(list Operations
		    (object Operation "Commander"
			quid       	"3D9EBEEF03DE"
			documentation 	
|/**
|Constructor for Commander. The parameters are passed to the Thread constructor
|@param name pointer to thread name
|@param stackSize size of thread stack
|@param priority thread priority (valid values are: MIN_PRI to MAX_PRI)
|@param id a unique thread id
| */
|
			
			parameters 	(list Parameters
			    (object Parameter "name"
				quid       	"3D9EBF4702BC"
				type       	"char*")
			    (object Parameter "stackSize"
				quid       	"3D9EBF47032A"
				type       	"int")
			    (object Parameter "priority"
				quid       	"3D9EBF470398"
				type       	"int")
			    (object Parameter "id"
				quid       	"3D9EBF48001E"
				type       	"int"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033881975))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "state"
			quid       	"3D90214802C6"
			documentation 	
|/**
|Used by the class to keep track of its current state. Possible states are Commander::EXPLORING, Commander::PUSHING, Commander::AVOIDING and Commander::COMMUNICATING (Note: Commander::COMMUNICATING only when local communication is used. See system model)
| */
			
			type       	"int"
			initv      	"-1")
		    (object ClassAttribute "EXPLORING"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9AB34601FE"
			documentation 	
|/**
|Used by the class to keep track of its own state
|*/
			
			type       	"int"
			initv      	"0"
			static     	TRUE)
		    (object ClassAttribute "PUSHING"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9AB37502E4"
			documentation 	
|/**
|Used by the class to keep track of its own state
|*/
			
			type       	"int"
			initv      	"1"
			static     	TRUE)
		    (object ClassAttribute "AVOIDING"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9AB375038E"
			documentation 	
|/**
|Used by the class to keep track of its own state
|*/
			
			type       	"int"
			initv      	"2"
			static     	TRUE)
		    (object ClassAttribute "COMMUNICATING"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9AB37601FE"
			documentation 	
|/**
|Used by the class to keep track of its own state
|*/
			
			type       	"int"
			initv      	"3"
			static     	TRUE))
		language   	"C++")
	    (object Class "SIR"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\SIR.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\SIR.cpp")
		    (object Attribute
			tool       	"cg"
			name       	"GenerateDefaultConstructor"
			value      	("GenerateSet" 206))
		    (object Attribute
			tool       	"cg"
			name       	"DestructorKind"
			value      	("ThreeKindSet" 201)))
		quid       	"3D86D3570320"
		documentation 	
|/**
|This class (Sensor and Image Recognition) provides high-level information to the behaviors by pre-processing the data internally. The provided information includes current obstacle distances as received by the infra-red sensors. But in particular information about the locations of cubes and robots that are visible on camera are provided
|@author Jia L. Du.
|*/
		
		superclasses 	(list inheritance_relationship_list
		    (object Inheritance_Relationship
			quid       	"3D86D5A002BC"
			supplier   	"Logical View::Thread"
			quidu      	"3D86D3DF0244"))
		operations 	(list Operations
		    (object Operation "SIR"
			quid       	"3D9EBF620046"
			documentation 	
|/**
|Constructor for SIR. The parameters are passed to the Thread constructor
|@param name pointer to thread name
|@param stackSize size of thread stack
|@param priority thread priority (valid values are: MIN_PRI to MAX_PRI)
|@param id a unique thread id
| */
|
			
			parameters 	(list Parameters
			    (object Parameter "name"
				quid       	"3D9EBF8502C6"
				type       	"char*")
			    (object Parameter "stackSize"
				quid       	"3D9EBF850370"
				type       	"int")
			    (object Parameter "priority"
				quid       	"3D9EBF860096"
				type       	"int")
			    (object Parameter "id"
				quid       	"3D9EBF860140"
				type       	"int"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033881973)
		    (object Operation "obstacleLeft"
			quid       	"3D9296DA015E"
			documentation 	
|/**
|Indicates whether an obstacle is detected by the left infra-red sensors
|@return true if there is an obstacle
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543677)
		    (object Operation "obstacleRight"
			quid       	"3D9296F8000A"
			documentation 	
|/**
|Indicates whether an obstacle is detected by the right infra-red sensors
|@return true if there is an obstacle
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543678)
		    (object Operation "obstacleFront"
			quid       	"3D9296F801C2"
			documentation 	
|/**
|Indicates whether an obstacle is detected by the front infra-red sensors
|@return true if there is an obstacle
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543679)
		    (object Operation "getLeftMargin"
			quid       	"3D99481C028A"
			documentation 	
|/**
|Returns the distance from the robot to the next object to the left
|@return distance in meter
|*/
			
			result     	"double"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543680)
		    (object Operation "getRightMargin"
			quid       	"3D9948230082"
			documentation 	
|/**
|Returns the distance from the robot to the next object to the  right
|@return distance in meter
|*/
			
			result     	"double"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543681)
		    (object Operation "getFrontMargin"
			quid       	"3D99482B0096"
			documentation 	
|/**
|Returns the distance from the robot to the next object in the front
|@return distance in meter
|*/
			
			result     	"double"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543682)
		    (object Operation "robotDetected"
			quid       	"3D99453C024E"
			documentation 	
|/**
|Indicates if a robot is currently visible on the camera
|@return true if a robot is on the camera
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543683)
		    (object Operation "cubeDetected"
			quid       	"3D994557000A"
			documentation 	
|/**
|Indicates if a cube is currently visible on the camera
|@return true if a cube is on the camera
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543684)
		    (object Operation "takePicture"
			quid       	"3D9948FB03D4"
			documentation 	
|/**
|Gets a new image from the camera
|@return A pointer to the image
|*/
			
			result     	"image*"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543685)
		    (object Operation "takeColorPicture"
			quid       	"3D9FC00D014A"
			documentation 	
|/**
|Gets a new color image from the camera
|@return A pointer to the image
|*/
			
			result     	"colimage*"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033881974)
		    (object Operation "detectCubes"
			quid       	"3D99479F0168"
			documentation 	
|/**
|Tries to detect cubes in the current color image
|@see currentColorImage
|@return true if at least one cube was detected
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543686)
		    (object Operation "detectRobots"
			quid       	"3D9947AD00C8"
			documentation 	
|/**
|Tries to detect robots in the current image
|@see currentImage
|@return true if at least one robot was detected
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543687)
		    (object Operation "getRobotPosition"
			quid       	"3D99488A033E"
			documentation 	
|/**
|Passes the last known position of the last detected robot. If no robot has been detected yet (0,0,0) is passed. SIR::robotDetected() should be used before calling this method to check if the data is up to date (i.e. the robot whose position is passed is indeed still visible). If more than one robot was detected on the image the position of the closest robot is passed
|*/
			
			parameters 	(list Parameters
			    (object Parameter "x"
				quid       	"3D9BCE840078"
				type       	"double&")
			    (object Parameter "y"
				quid       	"3D9BD0660104"
				type       	"double&")
			    (object Parameter "phi"
				quid       	"3D9BD0670320"
				type       	"double&"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543688)
		    (object Operation "getCubePosition"
			quid       	"3D9948740168"
			documentation 	
|/**
|Passes the last known position of the last detected cube. If no cube has been detected yet (0,0,0) is passed. SIR::cubeDetected() should be used before calling this method to check if the data is up to date (i.e. the cube whose position is passed is indeed still visible). If more than one cube was detected on the image the position of the closest cube is passed
|*/
			
			parameters 	(list Parameters
			    (object Parameter "x"
				quid       	"3D9BD0A20316"
				type       	"double&")
			    (object Parameter "y"
				quid       	"3D9BD0A3000A"
				type       	"double&")
			    (object Parameter "phi"
				quid       	"3D9BD0A300AA"
				type       	"double&"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543689)
		    (object Operation "getDensity"
			quid       	"3D9948C90294"
			documentation 	
|/**
|Estimates the cube density in the image by counting the pixels that have the cube color
|@return The value can range from 0.0 (no cubes) to 1.0 (all camera pixels have the cube color)
|*/
			
			result     	"double"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543690)
		    (object Operation "setCubeSize"
			quid       	"3D9972CE0334"
			documentation 	
|/**
|Not used yet
|*/
			
			parameters 	(list Parameters
			    (object Parameter "size"
				quid       	"3D9972DF015E"
				type       	"int"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543691)
		    (object Operation "setCubeColor"
			quid       	"3D9972EE00F0"
			documentation 	
|/**
|Not used yet
|*/
			
			parameters 	(list Parameters
			    (object Parameter "color"
				quid       	"3D9972F80046"
				type       	"int"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543692))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "robotDetectedFlag"
			quid       	"3D99450601EA"
			documentation 	
|/**
|Flag to indicate that a robot is visible on the camera. Used internally
|@see SIR::robotDetected()
|*/
			
			type       	"bool"
			initv      	"false")
		    (object ClassAttribute "cubeDetectedFlag"
			quid       	"3D99451A021C"
			documentation 	
|/**
|Flag to indicate that a cube is visible on the camera. Used internally
|@see SIR::cubeDetected()
|*/
			
			type       	"bool"
			initv      	"false")
		    (object ClassAttribute "minimumCubeSize"
			quid       	"3D9973990302"
			documentation 	
|/**
|Stores the minimum size that an object must have to be accepted as a cube
|*/
			
			type       	"int"
			initv      	"-1")
		    (object ClassAttribute "cubeColor"
			quid       	"3D9973A10348"
			documentation 	
|/**
|Stores the color of the cubes to be pushed as hue
|*/
			
			type       	"int"
			initv      	"-1")
		    (object ClassAttribute "allowedCubeColorDeviation"
			quid       	"3D9FBCC60046"
			documentation 	
|/**
|By how much the color of a pixel may deviate and still be accepted as cube color
|*/
			
			type       	"int"
			initv      	"0")
		    (object ClassAttribute "obstacleThreshold"
			quid       	"3D9FBD200168"
			documentation 	
|/**
|How far the distance to an object may drop before the object is marked as an obstacle (in meter)
|*/
			
			type       	"double"
			initv      	"0.1")
		    (object ClassAttribute "currentImage"
			quid       	"3D9FBDA600DC"
			documentation 	
|/**
|A pointer to the image that is currently used for the detection of cubes and robots (by SIR::detectCubes(), SIR::detectRobots())
|*/
			
			type       	"image*")
		    (object ClassAttribute "currentColorImage"
			quid       	"3D9FBDE4037A"
			documentation 	
|/**
|A pointer to the color image that is currently used for the detection of cubes and robots (by SIR::detectCubes(), SIR::detectRobots())
|*/
			
			type       	"colimage*"))
		language   	"C++")
	    (object Class "Broadcaster"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Broadcaster.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Broadcaster.cpp")
		    (object Attribute
			tool       	"cg"
			name       	"GenerateDefaultConstructor"
			value      	("GenerateSet" 206))
		    (object Attribute
			tool       	"cg"
			name       	"DestructorKind"
			value      	("ThreeKindSet" 201)))
		quid       	"3D86D35E02D0"
		documentation 	
|/**
|This class implements the broadcasting abilities of the robot. It is only needed when using communication by broadcasting. The broadcasting algorithm makes sure that a cluster point is determined and communicated to all robots in the vicinity. It also makes sure that the cluster point position is retained should the broadcasting robot fail. See the system model for details.
|A new cluster point is set by resetting the robot position. (0,0) is always used as cluster point position as it is easier to push cubes to that position. Thus if a new cluster point is chosen the current robot position is adapted.
|@author Jia L. Du
| */
		
		superclasses 	(list inheritance_relationship_list
		    (object Inheritance_Relationship
			quid       	"3D86D5A2019A"
			supplier   	"Logical View::Thread"
			quidu      	"3D86D3DF0244"))
		operations 	(list Operations
		    (object Operation "Broadcaster"
			quid       	"3D9EBF96038E"
			documentation 	
|/**
|Constructor for Broadcaster. The parameters are passed to the Thread constructor
|@param name pointer to thread name
|@param stackSize size of thread stack
|@param priority thread priority (valid values are: MIN_PRI to MAX_PRI)
|@param id a unique thread id
| */
|
			
			parameters 	(list Parameters
			    (object Parameter "name"
				quid       	"3D9EBFA90280"
				type       	"char*")
			    (object Parameter "stackSize"
				quid       	"3D9EBFA902EE"
				type       	"int")
			    (object Parameter "priority"
				quid       	"3D9EBFA9035C"
				type       	"int")
			    (object Parameter "id"
				quid       	"3D9EBFAA0014"
				type       	"int"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033881971)
		    (object Operation "setClusterPoint"
			quid       	"3D9EC2090118"
			documentation 	
|/**
|Used to tell the broadcaster to set the robot's cluster point to the passed position. This is only done if Broadcaster::getHaveClusterPoint() returns false, i.e. if no cluster point was chosen yet. Otherwise the broadcaster ignores this command and decides himself which cluster point to use
|@param x x position of the new cluster point
|@param y y position of the new cluster point
|@return true if new cluster point accepted and set
|*/
			
			parameters 	(list Parameters
			    (object Parameter "x"
				quid       	"3D9EC2090119"
				type       	"double")
			    (object Parameter "y"
				quid       	"3D9EC209011A"
				type       	"double"))
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033881972)
		    (object Operation "broadcast"
			quid       	"3D996A2E021C"
			documentation 	
|/**
|The robot broadcasts its current cluster point to all robots in the vicinity until it fails or realizes that a robot with a higher priority is broadcasting as well
|@see senderIsMe
|*/
			
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543674)
		    (object Operation "processNextMessage"
			quid       	"3D996A410032"
			documentation 	
|/**
|Processes one message in the message buffer. If there are no messages in the buffer it returns immediately. See system model for an explanation how these messages are used to spread the cluster point and to determine a broadcaster
|*/
			
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543676)
		    (object Operation "mySenderInactive"
			quid       	"3D9BEAA20258"
			documentation 	
|/**
|Checks if the robot from who I got my current cluster point and for who I have to continue broadcasting has failed
|@return true if that robot has failed
| */
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033628817)
		    (object Operation "getHaveClusterPoint"
			quid       	"3D9D3F8C038E"
			documentation 	
|/**
|@return true if the robot does already have a cluster point
| */
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033705911))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "haveClusterPoint"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"GenerateGetOperation"
				value      	FALSE)
			    (object Attribute
				tool       	"cg"
				name       	"GenerateSetOperation"
				value      	FALSE))
			quid       	"3D99692501A4"
			documentation 	
|/**
|Stores if the robot does already have a cluster point
|*/
|
			
			type       	"bool"
			initv      	"false")
		    (object ClassAttribute "senderIsMe"
			quid       	"3D9969300384"
			documentation 	
|/**
|A flag that indicates if this robots should broadcast its cluster point
|*/
			
			type       	"bool"
			initv      	"false")
		    (object ClassAttribute "clusterPointDicoveryTime"
			quid       	"3D996A5E006E"
			documentation 	
|/**
|Stores the time when the current cluster point was discovered (in hundredth seconds)
| */
			
			type       	"int"
			initv      	"0")
		    (object ClassAttribute "myID"
			quid       	"3D996A6B01C2"
			documentation 	
|/**
|Stores own robot ID for communication
| */
			
			type       	"int"
			initv      	"-1")
		    (object ClassAttribute "mySendersID"
			quid       	"3D9BEAC8030C"
			documentation 	
|/**
|Stores the ID of the robot from who I got my current cluster point and for who I have to continue broadcasting if he fails
| */
			
			type       	"int"
			initv      	"-1"))
		language   	"C++")
	    (object Class "Explorer"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Explorer.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Explorer.cpp"))
		quid       	"3D86D3AC00AA"
		documentation 	
|/**
|Explores the plane using simple search patterns. Avoids walls and the own cluster point when exploring. Returns when a cube or a robot has been detected.
|@author Jia L. Du
| */
		
		superclasses 	(list inheritance_relationship_list
		    (object Inheritance_Relationship
			quid       	"3D9ACA360398"
			supplier   	"Logical View::Behavior"
			quidu      	"3D9AC98B0294"))
		operations 	(list Operations
		    (object Operation "activate"
			quid       	"3D9291F00302"
			documentation 	
|/**
|Activates this behavior
|@return A result code indicating why this behavior terminated. Explorer.ROBOT_DETECTED or Explorer.CUBE_DETECTED
| */
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543671)
		    (object Operation "launchNewDriveCommand"
			quid       	"3D9964D10014"
			documentation 	
|/**
|Controls the search pattern. This method will be called if no drive command is active. It gives a new drive command that is executed in the background. The command given depends on what search pattern is used. It returns immediately and does not wait for the termination of the issued command
| */
			
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543672)
		    (object Operation "chooseClusterPoint"
			quid       	"3D9D3A75038E"
			documentation 	
|/**
|If no communication is used the Explorer determines the cluster point for the robot. It does that by comparing the cube density of its own cluster with the density of the newly detected cluster. It chooses the cluster with the higher density as the new cluster point.
|A new cluster point is set by resetting the robot position. (0,0) is always used as cluster point position as it is easier to push cubes to that position. Thus if a new cluster point is chosen the current robot position is adapted
|@see Explorer::myClusterPointDensity
| */
			
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033705909)
		    (object Operation "signalHaveClusterPoint"
			quid       	"3D9D12FF0352"
			documentation 	
|/**
|If the robot finds a cube and has no cluster point yet the robot chooses the location of that cube as its cluster point. The Explorer notifies the Communicator (when using local communication) or the Broadcaster (when using global communication), respectively. This is necessary for them to communicate the cluster point or to determine a new cluster point when communicating with other robots. If no communication is used this method will not be called as the Explorer will then determine the cluster point himself by estimating the cube density
|@see Explorer::chooseClusterPoint()
| */
|
			
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033705908))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "myClusterPointDensity"
			quid       	"3D9D3A080262"
			documentation 	
|/**
|This value is used to store the estimated cube density of the current cluster point.
|Note: this value is only needed if no communication is used and the robot has to determine the cluster point without communicating with other robots
| */
			
			type       	"double"
			initv      	"0.0")
		    (object ClassAttribute "ROBOT_DETECTED"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9AB3D1008C"
			documentation 	
|/**
|Used as result code for Explorer::activate()
|*/
			
			type       	"int"
			initv      	"0"
			exportControl 	"Public"
			static     	TRUE)
		    (object ClassAttribute "CUBE_DETECTED"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9AB3F003DE"
			documentation 	
|/**
|Used as result code for Explorer::activate()
|*/
			
			type       	"int"
			initv      	"1"
			exportControl 	"Public"
			static     	TRUE))
		language   	"C++")
	    (object Class "Pusher"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Pusher.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Pusher.cpp"))
		quid       	"3D86D3B103DE"
		documentation 	
|/**
|This class implements the pushing behavior of the robot. The robot approaches the cube and tries to push it to its cluster point. If the robot meets other robots on its way it tries to avoid them.
|@author Jia L. Du
| */
|
		
		superclasses 	(list inheritance_relationship_list
		    (object Inheritance_Relationship
			quid       	"3D9ACA330014"
			supplier   	"Logical View::Behavior"
			quidu      	"3D9AC98B0294"))
		operations 	(list Operations
		    (object Operation "activate"
			quid       	"3D9291D102E4"
			documentation 	
|/**
|Activates this behavior
|@return A result code indicating why this behavior terminated. Pusher.ARRIVED, PUSHER. CUBE_LOST or Pusher.MOTOR_STALLED
| */
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543666)
		    (object Operation "approachCube"
			quid       	"3D996568037A"
			documentation 	
|/**
|Makes the robot approaching the closest cube such that the robot has a good starting position to push the cube to its cluster point in a next step
|@return true if approaching was successful
|*/
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543667)
		    (object Operation "avoidRobot"
			quid       	"3D99659201D6"
			documentation 	
|/**
|Used to avoid other robots by backing up and trying to go back to the old position after a random time
|@see minimumWaitingPeriod
|@see maximumWaitingPeriod
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543669)
		    (object Operation "checkForCube"
			quid       	"3D99657E01A4"
			documentation 	
|/**
|Tries to retrieve or re-discover a lost cube by turning slightly left and right
|@return true if successful
|*/
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543668)
		    (object Operation "pushCube"
			quid       	"3D996594000A"
			documentation 	
|/**
|Makes the robot pushing the cube in front of him to its cluster point
|@return
| Pusher::PUSH_CUBE_CUBE_LOST
|or
|Pusher::PUSH_CUBE_ARRIVED
|or
|Pusher::PUSH_CUBE_MET_ROBOT 
|
|*/
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543670))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "ARRIVED"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9ABEE301CC"
			documentation 	
|/**
|Used as result code for Pusher::activate()
|*/
			
			type       	"int"
			initv      	"0"
			exportControl 	"Public"
			static     	TRUE)
		    (object ClassAttribute "CUBE_LOST"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9ABEFC030C"
			documentation 	
|/**
|Used as result code for Pusher::activate()
|*/
			
			type       	"int"
			initv      	"1"
			exportControl 	"Public"
			static     	TRUE)
		    (object ClassAttribute "MOTOR_STALLED"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9ABEFD00A0"
			documentation 	
|/**
|Used as result code for Pusher::activate()
|*/
			
			type       	"int"
			initv      	"2"
			exportControl 	"Public"
			static     	TRUE)
		    (object ClassAttribute "PUSH_CUBE_MET_ROBOT"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9FC42501D6"
			documentation 	
|/**
|Used internally as result code for Pusher::pushCube()
|*/
			
			type       	"int"
			initv      	"0"
			static     	TRUE)
		    (object ClassAttribute "PUSH_CUBE_CUBE_LOST"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9FC4450370"
			documentation 	
|/**
|Used internally as result code for Pusher::pushCube()
|*/
			
			type       	"int"
			initv      	"0"
			static     	TRUE)
		    (object ClassAttribute "PUSH_CUBE_ARRIVED"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9FC4460096"
			documentation 	
|/**
|Used internally as result code for Pusher::pushCube()
|*/
			
			type       	"int"
			initv      	"0"
			static     	TRUE)
		    (object ClassAttribute "minimumWaitingPeriod"
			quid       	"3D9FC5570050"
			documentation 	
|/**
|Determines how long the robot should wait at least before trying to continue its task after being interrupted by another robot
|@see Pusher::avoidRobot()
|*/
			
			type       	"int"
			initv      	"0")
		    (object ClassAttribute "maximumWaitingPeriod"
			quid       	"3D9FC5C003CA"
			documentation 	
|/**
|Determines how long the robot should wait at most before trying to continue its task after being interrupted by another robot
|@see Pusher::avoidRobot()
|*/
			
			type       	"int"
			initv      	"0"))
		language   	"C++")
	    (object Class "Avoider"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Avoider.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Avoider.cpp"))
		quid       	"3D86D3B8001E"
		documentation 	
|/**
|Implements the avoiding behavior of the robot. The robot tries to back up and then turns away from the obstacle until its front sensors become free.
|@author Jia L. Du
| */
|
		
		superclasses 	(list inheritance_relationship_list
		    (object Inheritance_Relationship
			quid       	"3D9ACA3500A0"
			supplier   	"Logical View::Behavior"
			quidu      	"3D9AC98B0294"))
		operations 	(list Operations
		    (object Operation "activate"
			quid       	"3D9291E40168"
			documentation 	
|/**
|Activates this behavior
|@return A result code indicating why this behavior terminated. Not used at the moment
| */
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543665))
		language   	"C++")
	    (object Class "Communicator"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Communicator.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Communicator.cpp"))
		quid       	"3D86D3BE02DA"
		documentation 	
|/**
|This class implements the local communication behavior of the robot. It is only needed when using local communication. First the robot is justified so that it faces the other robot at a close distance. Then it is tried to identify the other robot. If successful their cluster points are exchanged and the older of the two cluster points is chosen as common cluster point.
|A new cluster point is set by resetting the robot position. (0,0) is always used as cluster point position as it is easier to push cubes to that position. Thus if a new cluster point is chosen the current robot position is adapted.
|@author Jia L. Du
| */
		
		superclasses 	(list inheritance_relationship_list
		    (object Inheritance_Relationship
			quid       	"3D9ACA380316"
			supplier   	"Logical View::Behavior"
			quidu      	"3D9AC98B0294"))
		operations 	(list Operations
		    (object Operation "activate"
			quid       	"3D9291FF02C6"
			documentation 	
|/**
|Activates this behavior
|@return A result code indicating why this behavior terminated. Communicator.DONE or Communicator.NOT_ONE_RESPONSE or Communicator.ROBOT_LEFT
| */
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543659)
		    (object Operation "getHaveClusterPoint"
			quid       	"3D9D37BE03AC"
			documentation 	
|/**
|@return true if the robot does already have a cluster point
| */
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033705910)
		    (object Operation "setClusterPoint"
			quid       	"3D9EC02E0262"
			documentation 	
|/**
|Used to tell the communicator to set the robot's cluster point to the passed position. This is only done if Communicator::getHaveClusterPoint() returns false, i.e. if no cluster point was chosen yet. Otherwise the communicator ignores this command and decides himself which cluster point to use
|@param x x position of the new cluster point
|@param y y position of the new cluster point
|@return true if new cluster point accepted and set
|*/
			
			parameters 	(list Parameters
			    (object Parameter "x"
				quid       	"3D9EC04101C2"
				type       	"double")
			    (object Parameter "y"
				quid       	"3D9EC04E0208"
				type       	"double"))
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033881970)
		    (object Operation "justify"
			quid       	"3D9967D5010E"
			documentation 	
|/**
|Tries to justify this robot so that it faces the robot it tries to communicate with at a close distance
|@return true if justification was successful
| */
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543661)
		    (object Operation "identify"
			quid       	"3D9967F80136"
			documentation 	
|/**
|Tries to identify the other robot by sending out messages to all nearby robots and waiting for incoming messages. If exactly one incoming message is received the identification was successful
|@return ID of the other robot if identification was successful. Otherwise -1 is returned
| */
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543662)
		    (object Operation "exchangeData"
			quid       	"3D99680B00D2"
			documentation 	
|/**
|Exchanges data with the identified robot. That is the cluster point age and the cluster point location. Based on the exchanged data the older of the two cluster points is chosen as cluster point for this robot
|@return true if the exchange was completed successfully
| */
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033543663))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "haveClusterPoint"
			quid       	"3D9D1C0B00B4"
			documentation 	
|/**
|Stores if the robot does already have a cluster point
|*/
|
			
			type       	"bool"
			initv      	"false")
		    (object ClassAttribute "clusterPointDiscoveryTime"
			quid       	"3D996846038E"
			documentation 	
|/**
|Stores the time when the current cluster point was discovered (in hundredth seconds)
| */
			
			type       	"int"
			initv      	"0")
		    (object ClassAttribute "myID"
			quid       	"3D99688501A4"
			documentation 	
|/**
|Stores own robot ID for communication
| */
			
			type       	"int"
			initv      	"-1")
		    (object ClassAttribute "waitingPeriod"
			quid       	"3D9968AF0000"
			documentation 	
|/**
|Determines how long the robot waits for incoming responses when trying to identify the other robot
|@see Communicator::identify()
| */
			
			type       	"int"
			initv      	"100")
		    (object ClassAttribute "DONE"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9ABF3E02B2"
			documentation 	
|/**
|Used as result code for Communicator::activate()
|*/
			
			type       	"int"
			initv      	"0"
			exportControl 	"Public"
			static     	TRUE)
		    (object ClassAttribute "NOT_ONE_RESPONSE"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9ABF600244"
			documentation 	
|/**
|Used as result code for Communicator::activate()
|*/
			
			type       	"int"
			initv      	"1"
			exportControl 	"Public"
			static     	TRUE)
		    (object ClassAttribute "ROBOT_LEFT"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9ABF610014"
			documentation 	
|/**
|Used as result code for Communicator::activate()
|*/
			
			type       	"int"
			initv      	"2"
			exportControl 	"Public"
			static     	TRUE))
		language   	"C++")
	    (object Class "Thread"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Thread.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Thread.cpp")
		    (object Attribute
			tool       	"cg"
			name       	"GenerateDefaultConstructor"
			value      	("GenerateSet" 206))
		    (object Attribute
			tool       	"cg"
			name       	"DestructorKind"
			value      	("ThreeKindSet" 201)))
		quid       	"3D86D3DF0244"
		documentation 	
|/**
|Base class from which all multithreaded classes are derived. The derived classes inherit a set of methods that can be used to control the thread. Once the thread is spawned and made ready the run method is scheduled for execution. The run method is declared as virtual and has to be overwritten by the inheritor.
|@author Jia L. Du
| */
|
		
		operations 	(list Operations
		    (object Operation "Thread"
			quid       	"3D99171A00F0"
			documentation 	
|/**
|Constructor for Thread
|@param name pointer to thread name
|@param stackSize size of thread stack
|@param priority thread priority (valid values are: MIN_PRI to MAX_PRI)
|@param id a unique thread id
| */
|
			
			parameters 	(list Parameters
			    (object Parameter "name"
				quid       	"3D9917330186"
				type       	"char*")
			    (object Parameter "stackSize"
				quid       	"3D991739021C"
				type       	"int")
			    (object Parameter "priority"
				quid       	"3D991740001E"
				type       	"int")
			    (object Parameter "id"
				quid       	"3D9917470302"
				type       	"int"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443306)
		    (object Operation "spawn"
			quid       	"3D9021FB00DC"
			documentation 	
|/**
|The thread is initialized and inserted in scheduler queue
|but not set to READY yet
|@return true if spawn was successful
|@see Thread::ready()
| */
|
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1032855625)
		    (object Operation "ready"
			quid       	"3D9021F30104"
			documentation 	
|/**
|Sets the status of the thread to READY, i.e. it is
|scheduled for execution
| */
|
			
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1032855626)
		    (object Operation "reschedule"
			quid       	"3D902212000A"
			documentation 	
|/**
|Tells the scheduler to choose another thread for
|execution
| */
|
			
			concurrency 	"Sequential"
			opExportControl 	"Protected"
			uid        	1032855627)
		    (object Operation "sleep"
			quid       	"3D9022160352"
			documentation 	
|/**
|Let the thread sleep for at least n hundredth seconds
|@param hundredthSeconds
| */
|
			
			parameters 	(list Parameters
			    (object Parameter "hundredthSeconds"
				quid       	"3D9022E50212"
				type       	"int"))
			concurrency 	"Sequential"
			opExportControl 	"Protected"
			uid        	1032855628)
		    (object Operation "suspend"
			quid       	"3D90220202E4"
			documentation 	
|/**
|The status of the thread is set to SUSPENDED. It will
|not be scheduled for execution anymore until it is set to
|READY again
|@see Thread::ready()
| */
|
			
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1032855629)
		    (object Operation "kill"
			quid       	"3D9021F7024E"
			documentation 	
|/**
|The thread is removed and cannot be used anymore
| */
|
			
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1032855630)
		    (object Operation "run"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"OperationKind"
				value      	("OperationKindSet" 201)))
			quid       	"3D99136F000A"
			documentation 	
|/**
|The is a virtual method and has to be overwritten by
|the inheritor. When the thread runs for the first time
|the code in this run method is executed
| */
			
			result     	"void"
			concurrency 	"Sequential"
			opExportControl 	"Protected"
			uid        	1033443307))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "threadControlBlock"
			quid       	"3D941D7B0258"
			documentation 	
|/**
|Thread control blocks are used by the RoBIOS library to
|manage threads. This Thread class handles the thread
|control block internally thus hiding complexity from the
|user
| */
|
			
			type       	"tcb*"))
		language   	"C++")
	    (object Class "Drive"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Drive.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Drive.cpp")
		    (object Attribute
			tool       	"cg"
			name       	"GenerateEmptyRegions"
			value      	("GenerateEmptyRegionSet" 3))
		    (object Attribute
			tool       	"cg"
			name       	"DefaultConstructorVisibility"
			value      	("VisibilitySet" 44))
		    (object Attribute
			tool       	"cg"
			name       	"DestructorVisibility"
			value      	("VisibilitySet" 44)))
		quid       	"3D86D3F4029E"
		documentation 	
|/**
|This class provides methods to control the robot drive. The class is designed as a singleton class. This is to ensure that the drive initialization process is only executed once as multiple initializations will result in errors. So at any given time there is at most one instance of the class. The method Drive::getDrive() is used to access that instance.
|If not otherwise indicated the drive command are non-blocking. I.e. the method returns once the drive command has been passed to the robot drive. Only few methods are blocking and wait till the successful execution of the drive command before they return.
|@author Jia L. Du
| */
		
		operations 	(list Operations
		    (object Operation "getDrive"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"OperationKind"
				value      	("OperationKindSet" 203)))
			quid       	"3D9AA0D003AC"
			documentation 	
|/**
|This method is used to get the instance of this singleton class
|@return A pointer to the instance
| */
			
			result     	"Drive*"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543658)
		    (object Operation "setStandardSpeed"
			quid       	"3D9294AB02F8"
			documentation 	
|/**
|Used to set the standard speed and the standard turning speed that will be used for the driving commands
|@param speed The standard speed that is to be used
|@param omega The standard turning speed that is to be used
| */
			
			parameters 	(list Parameters
			    (object Parameter "speed"
				quid       	"3D9294C00014"
				type       	"double")
			    (object Parameter "omega"
				quid       	"3D9294C700DC"
				type       	"double"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443308)
		    (object Operation "setPosition"
			quid       	"3D9294FF03C0"
			documentation 	
|/**
|Changes the coordinate system of the robot
|@param x The x value of the robot in the new coordinate system
|@param y The y value of the robot in the new coordinate system
|@param phi The angle (in degrees) of the robot in the new coordinate system
| */
			
			parameters 	(list Parameters
			    (object Parameter "x"
				quid       	"3D92950F003C"
				type       	"double")
			    (object Parameter "y"
				quid       	"3D92951A028A"
				type       	"double")
			    (object Parameter "phi"
				quid       	"3D92951B03CA"
				type       	"double"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443309)
		    (object Operation "getPosition"
			quid       	"3D929543012C"
			documentation 	
|/**
|Returns the current position of the robot
|@param x The x value of the robot position
|@param y The y value of the robot position
|@param phi The angle (in degrees) of the robot position
| */
			
			parameters 	(list Parameters
			    (object Parameter "x"
				quid       	"3D9BD0BA019A"
				type       	"double&")
			    (object Parameter "y"
				quid       	"3D9BD0BA023A"
				type       	"double&")
			    (object Parameter "phi"
				quid       	"3D9BD0BA02DA"
				type       	"double&"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443310)
		    (object Operation "driveWith"
			quid       	"3D92957102F8"
			documentation 	
|/**
|Lets the robot drive with the given speed and omega until a new drive or turn command is given.
|@param speed The speed to drive with
|@param omega The speed to turn with (degrees/second)
|*/
			
			parameters 	(list Parameters
			    (object Parameter "speed"
				quid       	"3D92957B0172"
				type       	"double")
			    (object Parameter "omega"
				quid       	"3D92958602B2"
				type       	"double"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443311)
		    (object Operation "drive"
			quid       	"3D9295AA0370"
			documentation 	
|/**
|Lets the robot drive straight the given distance
|@param distance The distance to drive
|*/
			
			parameters 	(list Parameters
			    (object Parameter "distance"
				quid       	"3D9295AA0371"
				type       	"double"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443312)
		    (object Operation "driveCircle"
			quid       	"3D92960A037A"
			documentation 	
|/**
|Lets the robot drive in circles
|@param radius The radius of the circle to drive along
|@param angle How far the robot is to drive on the circle (e.g. 180 degrees means half a circle)
|*/
			
			parameters 	(list Parameters
			    (object Parameter "radius"
				quid       	"3D92961A0294"
				type       	"double")
			    (object Parameter "angle"
				quid       	"3D9296250280"
				type       	"double"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443313)
		    (object Operation "driveTo"
			quid       	"3D9295CC0118"
			documentation 	
|/**
|Drives the robot to the indicated point. The robot turns into the direction of the point and drives to the point in a straight line. This is a blocking call, it returns only after completion of the driving sequence
|@param x x value of the position to drive to
|@param y y value of the position to drive to
|@return true if position successfully reached
|*/
			
			parameters 	(list Parameters
			    (object Parameter "x"
				quid       	"3D9295D60302"
				type       	"double")
			    (object Parameter "y"
				quid       	"3D9295E00000"
				type       	"double"))
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443314)
		    (object Operation "driveTo"
			quid       	"3D9295EE0262"
			documentation 	
|/**
|Drives the robot to the indicated point. The robot turns into the direction of the point and drives to the point in a straight line. Then it turns to the demanded angle. This is a blocking call, it returns only after completion of the driving sequence
|@param x x value of the position to drive to
|@param y y value of the position to drive to
|@param phi angle to turn to at the destination point
|@return true if position successfully reached
|*/
			
			parameters 	(list Parameters
			    (object Parameter "x"
				quid       	"3D9295EE0263"
				type       	"double")
			    (object Parameter "y"
				quid       	"3D9295EE0264"
				type       	"double")
			    (object Parameter "phi"
				quid       	"3D9295F60014"
				type       	"double"))
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443315)
		    (object Operation "turnRight"
			quid       	"3D9296430320"
			documentation 	
|/**
|Turns robot right by the indicated angle
|@param angle The angle (in degrees) to turn
|*/
			
			parameters 	(list Parameters
			    (object Parameter "angle"
				quid       	"3D92964C0096"
				type       	"double"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443316)
		    (object Operation "turnLeft"
			quid       	"3D92965702A8"
			documentation 	
|/**
|Turns robot left by the indicated angle
|@param angle The angle (in degrees) to turn
|*/
			
			parameters 	(list Parameters
			    (object Parameter "angle"
				quid       	"3D92965702A9"
				type       	"double"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443317)
		    (object Operation "turnTo"
			quid       	"3D929658000A"
			documentation 	
|/**
|Turns the robot to the indicated angle
|@param angle The angle (in degrees) to turn to
|*/
			
			parameters 	(list Parameters
			    (object Parameter "angle"
				quid       	"3D929658000B"
				type       	"double"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443318)
		    (object Operation "done"
			quid       	"3D9296680258"
			documentation 	
|/**
|Used to check whether the last driving command has terminated
|@return true if no driving command active
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443319)
		    (object Operation "wait"
			quid       	"3D92966D017C"
			documentation 	
|/**
|Blocks the calling thread until the robot has finished the current driving command
|*/
			
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443320)
		    (object Operation "stalled"
			quid       	"3D92967101B8"
			documentation 	
|/**
|Checks whether the robot has hit an object and at least one of the wheels is blocking
|@return true if at least one of the wheels is blocking
|
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033443321)
		    (object Operation "initialize"
			quid       	"3D9292E100F0"
			documentation 	
|/**
|Initializes the drive for usage
|@return true if successful
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Protected"
			uid        	1033443322)
		    (object Operation "release"
			quid       	"3D9292E10122"
			documentation 	
|/**
|Releases the drive after usage
|@return true if successful
| */
|
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Protected"
			uid        	1033443323))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "aDrive"
			quid       	"3D9AA0AE0186"
			documentation 	
|/**
|The single instance that exists of this class
|@see Drive::getDrive()
|*/
			
			type       	"Drive"
			quidu      	"3D86D3F4029E"
			static     	TRUE)
		    (object ClassAttribute "vwDriveHandle"
			quid       	"3D9AA17002C6"
			documentation 	
|/**
|Used internally to access the robot drive
|*/
			
			type       	"VWHandle")
		    (object ClassAttribute "standardSpeed"
			quid       	"3D9418B1000A"
			documentation 	
|/**
|Stores the standard speed that is used for all driving commands
|*/
			
			type       	"double"
			initv      	"0.0")
		    (object ClassAttribute "standardOmega"
			quid       	"3D9418C2035C"
			documentation 	
|/**
|Stores the standard turning speed that is used for all driving commands
|*/
			
			type       	"double"
			initv      	"0.0"))
		language   	"C++")
	    (object Class "Camera"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Camera.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Camera.cpp")
		    (object Attribute
			tool       	"cg"
			name       	"DefaultConstructorVisibility"
			value      	("VisibilitySet" 44))
		    (object Attribute
			tool       	"cg"
			name       	"DestructorVisibility"
			value      	("VisibilitySet" 44)))
		quid       	"3D86D3FC0244"
		documentation 	
|/**
|This class provides methods to access the robot camera. The class is designed as a singleton class. This is to ensure that the camera initialization process is only executed once as multiple initializations will result in errors. So at any given time there is at most one instance of the class. The method Camera::getCamera() is used to access that instance.
|@author Jia L. Du
| */
		
		operations 	(list Operations
		    (object Operation "getCamera"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"OperationKind"
				value      	("OperationKindSet" 203)))
			quid       	"3D9AA24401FE"
			documentation 	
|/**
|This method is used to get the instance of this singleton class
|@return A pointer to the instance
| */
			
			result     	"Camera*"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543657)
		    (object Operation "getFrame"
			quid       	"3D9292500154"
			documentation 	
|/**
|This methods takes an image from the color camera and converts it to grayscale
|@param aImage A reference to the image
| */
			
			parameters 	(list Parameters
			    (object Parameter "aImage"
				quid       	"3DAD0FF50136"
				type       	"image&"))
			result     	"void"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543715)
		    (object Operation "getColorFrame"
			quid       	"3D92926000DC"
			documentation 	
|/**
|This methods takes an image from the color camera
|@param aColorImage A reference to the image
| */
			
			parameters 	(list Parameters
			    (object Parameter "aColorImage"
				quid       	"3DAD104101EA"
				type       	"colimage&"))
			result     	"void"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543716)
		    (object Operation "initialize"
			quid       	"3D92923E00DC"
			documentation 	
|/**
|Initializes the camera for usage
|@return true if successful
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Protected"
			uid        	1033543717)
		    (object Operation "release"
			quid       	"3D92923E010E"
			documentation 	
|/**
|Releases the camera after usage
|@return true if successful
| */
|
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Protected"
			uid        	1033543718))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "aCamera"
			quid       	"3D9AA26D032A"
			documentation 	
|/**
|The single instance that exists of this class
|@see Camera::getCamera()
|*/
			
			type       	"Camera"
			quidu      	"3D86D3FC0244"
			static     	TRUE))
		language   	"C++")
	    (object Class "PSDs"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\PSDs.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\PSDs.cpp")
		    (object Attribute
			tool       	"cg"
			name       	"DefaultConstructorVisibility"
			value      	("VisibilitySet" 44))
		    (object Attribute
			tool       	"cg"
			name       	"DestructorVisibility"
			value      	("VisibilitySet" 44)))
		quid       	"3D86D40302D0"
		documentation 	
|/**
|This class provides methods to access the infra-red sensors. The class is designed as a singleton class. This is to ensure that the initialization process is executed only once as multiple initializations will result in errors. So at any given time there is at most one instance of the class. The method PSDs::getPSDs() can be used to access that instance.
|@author Jia L. Du
| */
		
		operations 	(list Operations
		    (object Operation "getPSDs"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"OperationKind"
				value      	("OperationKindSet" 203)))
			quid       	"3D9AA1F70078"
			documentation 	
|/**
|This method is used to get the instance of this singleton class
|@return A pointer to the instance
| */
			
			result     	"PSDs*"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543656)
		    (object Operation "readLeft"
			quid       	"3D9029830334"
			documentation 	
|/**
|@return The distance to the next object as read by the left infra-red sensor
|*/
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543710)
		    (object Operation "readRight"
			quid       	"3D9029B1023A"
			documentation 	
|/**
|@return The distance to the next object as read by the right infra-red sensor
|*/
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543711)
		    (object Operation "readFront"
			quid       	"3D9029B603B6"
			documentation 	
|/**
|@return The distance to the next object as read by the front infra-red sensor
|*/
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543712)
		    (object Operation "initialize"
			quid       	"3D902A18000A"
			documentation 	
|/**
|Initializes the sensors for usage
|@return true if successful
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Protected"
			uid        	1033543713)
		    (object Operation "release"
			quid       	"3D902A210122"
			documentation 	
|/**
|Releases the sensors after usage
|@return true if successful
| */
|
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Protected"
			uid        	1033543714))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "aPSD"
			quid       	"3D9AA1E00366"
			documentation 	
|/**
|The single instance that exists of this class
|@see PSD::getPSD()
|*/
			
			type       	"PSDs"
			quidu      	"3D86D40302D0"
			static     	TRUE)
		    (object ClassAttribute "leftPSDHandle"
			quid       	"3D9AA1B50096"
			documentation 	
|/**
|Used internally to access the left infra-red sensor
|*/
			
			type       	"PSDHandle")
		    (object ClassAttribute "rightPSDHandle"
			quid       	"3D9AA1CC03A2"
			documentation 	
|/**
|Used internally to access the right infra-red sensor
|*/
			
			type       	"PSDHandle")
		    (object ClassAttribute "frontPSDHandle"
			quid       	"3D9AA1CD0064"
			documentation 	
|/**
|Used internally to access the front infra-red sensor
|*/
			
			type       	"PSDHandle"))
		language   	"C++")
	    (object Class "Radio"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Radio.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Radio.cpp")
		    (object Attribute
			tool       	"cg"
			name       	"DefaultConstructorVisibility"
			value      	("VisibilitySet" 44))
		    (object Attribute
			tool       	"cg"
			name       	"DestructorVisibility"
			value      	("VisibilitySet" 44)))
		quid       	"3D86D43B008C"
		documentation 	
|/**
|This class provides methods to use the radio communication. The class is designed as a singleton class. This is to ensure that the radio initialization process is only executed once as multiple initializations will result in errors. So at any given time there is at most one instance of the class. The method Radio::getRadio() is used to access that instance.
|@author Jia L. Du
| */
		
		operations 	(list Operations
		    (object Operation "getRadio"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"OperationKind"
				value      	("OperationKindSet" 203)))
			quid       	"3D9AA29D0032"
			documentation 	
|/**
|This method is used to get the instance of this singleton class
|@return A pointer to the instance
| */
			
			result     	"Radio*"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543655)
		    (object Operation "send"
			quid       	"3D9025140078"
			documentation 	
|/**
|Sends a message
|@param id The id of the destination robot
|@param byteCount The message length
|@param message A pointer to the message
|@return true if successful
|*/
			
			parameters 	(list Parameters
			    (object Parameter "id"
				quid       	"3D9025230262"
				type       	"BYTE")
			    (object Parameter "byteCount"
				quid       	"3D9025280078"
				type       	"int")
			    (object Parameter "message"
				quid       	"3D9025360046"
				type       	"BYTE*"))
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543704)
		    (object Operation "checkForMessages"
			quid       	"3D9025560212"
			documentation 	
|/**
|Checks if there are any messages in the buffer
|@return The number of messages in the buffer
|*/
|
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543705)
		    (object Operation "receive"
			quid       	"3D9025690280"
			documentation 	
|/**
|Gets a message from the message buffer. If there are no messages in the buffer the calling thread will be blocked until a message is received. It is suggested to call Radio::checkForMessages() before calling this method
|@param id The id of the sending robot is stored here
|@param receivedBytes The message length
|@param message A pointer to the message
|*/
			
			parameters 	(list Parameters
			    (object Parameter "id"
				quid       	"3D902584037A"
				type       	"BYTE*")
			    (object Parameter "receivedBytes"
				quid       	"3D90258900E6"
				type       	"int*")
			    (object Parameter "message"
				quid       	"3D90259201C2"
				type       	"BYTE*"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543706)
		    (object Operation "getActiveRobotIDs"
			quid       	"3D90256F0050"
			documentation 	
|/**
|Returns an array that indicates which robots in the vicinity are active and can be contacted. The value at an array position is true if that robot is active. The array index equals the id of that robot
|@return Array of bools
|*/
			
			result     	"bool*"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543707)
		    (object Operation "initialize"
			quid       	"3D9025D502A8"
			documentation 	
|/**
|Initializes the radio for usage
|@return true if successful
|*/
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Protected"
			uid        	1033543708)
		    (object Operation "terminate"
			quid       	"3D9025E50078"
			documentation 	
|/**
|Terminates the radio communication
|@return true if successful
| */
|
			
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Protected"
			uid        	1033543709)
		    (object Operation "getMyID"
			quid       	"3D9BEB190276"
			documentation 	
|/**
|Returns the ID of this robot
|@return Own ID
|*/
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033628818))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "aRadio"
			quid       	"3D9AA2BD0154"
			documentation 	
|/**
|The single instance that exists of this class
|@see Radio::getRadio()
|*/
			
			type       	"Radio"
			quidu      	"3D86D43B008C"
			static     	TRUE))
		language   	"C++")
	    (object Class "Timer"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Timer.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Timer.cpp"))
		quid       	"3D86D44001D6"
		documentation 	
|/**
|This class provides methods to access the robot timer.
|@author Jia L. Du
| */
		
		operations 	(list Operations
		    (object Operation "getCount"
			quid       	"3D9025BF0302"
			documentation 	
|/**
|@return Time since last reset as 1/100 seconds
|*/
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543703))
		language   	"C++")
	    (object Class "Keyboard"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Keyboard.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Keyboard.cpp"))
		quid       	"3D86D4470262"
		documentation 	
|/**
|This class provides methods to read from the robot keyboard.
|@author Jia L. Du
| */
		
		operations 	(list Operations
		    (object Operation "waitFor"
			quid       	"3D92911B0294"
			documentation 	
|/**
|Waits for the given key
|@param key Keyboard.KEY1 or Keyboard.KEY2 or Keyboard.KEY3 or Keyboard.KEY4
| */
|
			
			parameters 	(list Parameters
			    (object Parameter "key"
				quid       	"3D92914400C8"
				type       	"int"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543700)
		    (object Operation "getKey"
			quid       	"3D9291270212"
			documentation 	
|/**
|Waits for a keypress and returns keycode
|@return Keyboard.KEY1 or Keyboard.KEY2 or Keyboard.KEY3 or Keyboard.KEY4
| */
|
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543701)
		    (object Operation "readKey"
			quid       	"3D92913803DE"
			documentation 	
|/**
|Reads keycode and returns it. Does NOT wait
|@return Keyboard.KEY1 or Keyboard.KEY2 or Keyboard.KEY3 or Keyboard.KEY4 or 0 if no key was pressed
| */
|
			
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543702))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "KEY_1"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2))
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberVisibility"
				value      	("DataMemberVisibilitySet" 45)))
			quid       	"3D9AA04C01FE"
			documentation 	
|/**
|Value to identify key 1 of the keyboard
| */
|
			
			type       	"int"
			initv      	"1"
			exportControl 	"Public"
			static     	TRUE)
		    (object ClassAttribute "KEY_2"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2))
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberVisibility"
				value      	("DataMemberVisibilitySet" 45)))
			quid       	"3D9AA06F03AC"
			documentation 	
|/**
|Value to identify key 2 of the keyboard
| */
|
			
			type       	"int"
			initv      	"2"
			exportControl 	"Public"
			static     	TRUE)
		    (object ClassAttribute "KEY_3"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2))
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberVisibility"
				value      	("DataMemberVisibilitySet" 45)))
			quid       	"3D9AA0700064"
			documentation 	
|/**
|Value to identify key 3 of the keyboard
| */
|
			
			type       	"int"
			initv      	"3"
			exportControl 	"Public"
			static     	TRUE)
		    (object ClassAttribute "KEY_4"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2))
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberVisibility"
				value      	("DataMemberVisibilitySet" 45)))
			quid       	"3D9AA070010E"
			documentation 	
|/**
|Value to identify key 4 of the keyboard
| */
|
			
			type       	"int"
			initv      	"4"
			exportControl 	"Public"
			static     	TRUE))
		language   	"C++")
	    (object Class "LCD"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\LCD.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\LCD.cpp"))
		quid       	"3D86D44C0370"
		documentation 	
|/**
|This class provides methods to access the robot LCD.
|@author Jia L. Du
| */
		
		operations 	(list Operations
		    (object Operation "setMenu"
			quid       	"3D9290840230"
			documentation 	
|/**
|Sets the texts for the LCD menu entries
|@param menuItem1 The text for the first menu entry
|@param menuItem2 The text for the second menu entry
|@param menuItem3 The text for the third menu entry
|@param menuItem4 The text for the fourth menu entry
| */
|
			
			parameters 	(list Parameters
			    (object Parameter "menuItem1"
				quid       	"3D9290990334"
				type       	"char*")
			    (object Parameter "menuItem2"
				quid       	"3D9290AF0316"
				type       	"char*")
			    (object Parameter "menuItem3"
				quid       	"3D9290B101B8"
				type       	"char*")
			    (object Parameter "menuItem4"
				quid       	"3D9290BC03CA"
				type       	"char*"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543698)
		    (object Operation "setMenuItem"
			quid       	"3D9290D30258"
			documentation 	
|/**
|Sets the text for a specific LCD menu entry
|@param position LCD.MENU_POSITION_1 or LCD.MENU_POSITION_2 or LCD.MENU_POSITION_3 or LCD.MENU_POSITION_4
|@param menuItem The text for the menu entry
| */
|
			
			parameters 	(list Parameters
			    (object Parameter "position"
				quid       	"3D9290EA0154"
				type       	"int")
			    (object Parameter "menuItem"
				quid       	"3D9290D30259"
				type       	"char*"))
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543699))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "MENU_POSITION_1"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9A9FC001FE"
			documentation 	
|/**
|Value to identify position 1 in the LCD menu
| */
|
			
			type       	"int"
			initv      	"1"
			exportControl 	"Public"
			static     	TRUE)
		    (object ClassAttribute "MENU_POSITION_2"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9AA017030C"
			documentation 	
|/**
|Value to identify position 2 in the LCD menu
| */
|
			
			type       	"int"
			initv      	"2"
			exportControl 	"Public"
			static     	TRUE)
		    (object ClassAttribute "MENU_POSITION_3"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9AA018006E"
			documentation 	
|/**
|Value to identify position 3 in the LCD menu
| */
|
			
			type       	"int"
			initv      	"3"
			exportControl 	"Public"
			static     	TRUE)
		    (object ClassAttribute "MENU_POSITION_4"
			attributes 	(list Attribute_Set
			    (object Attribute
				tool       	"cg"
				name       	"DataMemberMutability"
				value      	("DataMemberMutabilitySet" 2)))
			quid       	"3D9AA01802D0"
			documentation 	
|/**
|Value to identify position 4 in the LCD menu
| */
|
			
			type       	"int"
			initv      	"4"
			exportControl 	"Public"
			static     	TRUE))
		language   	"C++")
	    (object Class "ImageFilter"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\ImageFilter.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\ImageFilter.cpp"))
		quid       	"3D883FDA01E0"
		documentation 	
|/**
|This class provides image filters.
|@author Jia L. Du
| */
		
		operations 	(list Operations
		    (object Operation "sobelFilter"
			quid       	"3D9028C90190"
			documentation 	
|/**
|Applies the sobel (edge detection) filter to the source image. The source image is not modified
|@param source The source image
|@return A pointer to the new, filtered image
| */
			
			parameters 	(list Parameters
			    (object Parameter "source"
				quid       	"3D9028F301D6"
				type       	"image*"))
			result     	"image*"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543695)
		    (object Operation "color2Grey"
			quid       	"3D90290E033E"
			documentation 	
|/**
|Converts a RGB image to grayscale. The source image is not modified
|@param source The source image
|@return A pointer to the new grayscale image
| */
			
			parameters 	(list Parameters
			    (object Parameter "source"
				quid       	"3D9029680276"
				type       	"colimage*"))
			result     	"image*"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543696)
		    (object Operation "calculateHue"
			quid       	"3D994BC002A8"
			documentation 	
|/**
|Calculates the hue for one row in a RGB image
|@param source The source RGB image
|@param row The row in the source image for which the hues are to be calculated
|@return A pointer to an array that contains the calculated hues
| */
			
			parameters 	(list Parameters
			    (object Parameter "source"
				quid       	"3D994BDF0302"
				type       	"colimage*")
			    (object Parameter "row"
				quid       	"3D994BFD02F8"
				type       	"int"))
			result     	"BYTE*"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033543697))
		language   	"C++")
	    (object Class "Behavior"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\Behavior.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\Behavior.cpp"))
		quid       	"3D9AC98B0294"
		documentation 	
|/**
|Base class from which all behaviors are derived. This provides them with the same base properties and makes adaptations easier that are to effect all behaviors.
|@author Jia L. Du
| */
		
		language   	"C++")
	    (object Class "class name"
		attributes 	(list Attribute_Set
		    (object Attribute
			tool       	"Traversal"
			name       	"CodeFile"
			value      	"$ROSECPP_SOURCE\\class name.h")
		    (object Attribute
			tool       	"Traversal"
			name       	"BodyFile"
			value      	"$ROSECPP_SOURCE\\class name.cpp"))
		quid       	"3D9FFB47015E"
		operations 	(list Operations
		    (object Operation "private method"
			quid       	"3D9FFC240096"
			parameters 	(list Parameters
			    (object Parameter "parameter1"
				quid       	"3D9FFCCB033E"
				type       	"type")
			    (object Parameter "parameter2"
				quid       	"3D9FFCD6021C"
				type       	"type"))
			result     	"return type"
			concurrency 	"Sequential"
			opExportControl 	"Private"
			uid        	1033964491)
		    (object Operation "protected method"
			quid       	"3D9FFC350118"
			parameters 	(list Parameters
			    (object Parameter "number"
				quid       	"3D9FFCB502EE"
				type       	"int"))
			result     	"int"
			concurrency 	"Sequential"
			opExportControl 	"Protected"
			uid        	1033964492)
		    (object Operation "public method"
			quid       	"3D9FFC3501F4"
			parameters 	(list Parameters
			    (object Parameter "x"
				quid       	"3D9FFC8F01A4"
				type       	"double")
			    (object Parameter "y"
				quid       	"3D9FFCAA0302"
				type       	"double"))
			result     	"bool"
			concurrency 	"Sequential"
			opExportControl 	"Public"
			uid        	1033964493))
		class_attributes 	(list class_attribute_list
		    (object ClassAttribute "private attribute"
			quid       	"3D9FFB6B01EA"
			type       	"type")
		    (object ClassAttribute "protected attribute"
			quid       	"3D9FFB7E0370"
			type       	"bool"
			exportControl 	"Protected")
		    (object ClassAttribute "public attribute"
			quid       	"3D9FFB7F0028"
			type       	"double"
			exportControl 	"Public")
		    (object ClassAttribute "private static attribute"
			quid       	"3D9FFB7F0104"
			type       	"float"
			static     	TRUE)
		    (object ClassAttribute "protected static attribute"
			quid       	"3D9FFBE90366"
			type       	"int"
			exportControl 	"Protected"
			static     	TRUE)
		    (object ClassAttribute "public static attribute"
			quid       	"3D9FFBE90398"
			type       	"double"
			exportControl 	"Public"
			static     	TRUE))
		language   	"C++")
	    (object Association "$UNNAMED$0"
		quid       	"3D86D39E0302"
		roles      	(list role_list
		    (object Role "$UNNAMED$1"
			quid       	"3D86D39F0172"
			documentation 	
|/**
|The Starter starts, pauses and stops the Commander thread
|*/
			
			supplier   	"Logical View::Commander"
			quidu      	"3D86D35000AA"
			is_navigable 	TRUE)
		    (object Role "$UNNAMED$2"
			quid       	"3D86D39F0174"
			supplier   	"Logical View::Starter"
			quidu      	"3D86D3480028")))
	    (object Association "$UNNAMED$3"
		quid       	"3D86D3A3006E"
		roles      	(list role_list
		    (object Role "$UNNAMED$4"
			quid       	"3D86D3A3028A"
			documentation 	
|/**
|The Starter starts, pauses and stops the SIR thread
|*/
			
			supplier   	"Logical View::SIR"
			quidu      	"3D86D3570320"
			is_navigable 	TRUE)
		    (object Role "$UNNAMED$5"
			quid       	"3D86D3A3028C"
			supplier   	"Logical View::Starter"
			quidu      	"3D86D3480028")))
	    (object Association "$UNNAMED$6"
		quid       	"3D86D3A7003C"
		roles      	(list role_list
		    (object Role "$UNNAMED$7"
			quid       	"3D86D3A70226"
			documentation 	
|/**
|The Starter starts, pauses and stops the Broadcaster thread
|*/
			
			supplier   	"Logical View::Broadcaster"
			quidu      	"3D86D35E02D0"
			is_navigable 	TRUE)
		    (object Role "$UNNAMED$8"
			quid       	"3D86D3A70228"
			supplier   	"Logical View::Starter"
			quidu      	"3D86D3480028")))
	    (object Association "$UNNAMED$9"
		quid       	"3D86D3D0035C"
		roles      	(list role_list
		    (object Role "$UNNAMED$10"
			quid       	"3D86D3D10208"
			documentation 	
|/**
|The Commander switches to the Explorer behavior when necessary
|*/
|
			
			supplier   	"Logical View::Explorer"
			quidu      	"3D86D3AC00AA"
			is_navigable 	TRUE)
		    (object Role "$UNNAMED$11"
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|/**
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			name       	"UpdateModelIDsInCode"
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|cm10=<<const>> operator>=(rhs:$NAME&):bool
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|*_decl=#ifdef _DEBUG
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		    (object Attribute
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		    (object Attribute
			tool       	"Visual Basic"
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		    (object Attribute
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		    (object Attribute
			tool       	"Visual Basic"
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	    (object Attribute
		tool       	"Visual Basic"
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	    (object Attribute
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	    (object Attribute
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	    (object Attribute
		tool       	"XML_DTD"
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	    (object Attribute
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			tool       	"XML_DTD"
			name       	"CreateMissingDirectories"
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		    (object Attribute
			tool       	"XML_DTD"
			name       	"Editor"
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		    (object Attribute
			tool       	"XML_DTD"
			name       	"StopOnError"
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	    (object Attribute
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		    (object Attribute
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	    (object Attribute
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	    (object Attribute
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	quid       	"3D86D32E014F"))