Robobot software building blocks

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C++ code

The Raubase software is built in modules with mostly only one function, structured from the 'NASREM' architecture.

Each module has a header-file with the definition (e.g. bplan.h) of a class and a file with implementation (e.g. bplan.cpp).

The first letter in the filename is related to the NASREM model as:

• sxxxxx.h/.cpp are sensor retrival classes.
• mxxxxx.h/.cpp are modelling and feature extraction classes.
• cxxxxx.h/.cpp are control classes.
• bxxxxx.h/.cpp are behaviour classes.
• uxxxxx.h/.cpp are utility functions.

Figure. The NASREM model is shown on the top right. This figure is for level 3 and primarily shows the behaviour and vision-related blocks.