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<div class="section" id="glossary">
<span id="g"></span><h1>Glossary<a class="headerlink" href="#glossary" title="Permalink to this headline">¶</a></h1>
<div class="admonition note">
<p class="first admonition-title">Note</p>
<p class="last">Glossary is closely linked to the ontology developed by the consortium in order to support the definition of the <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> <a class="reference internal" href="#term-dsl"><em class="xref std std-term">DSL</em></a>. The reader willing
to know more about this subject is to follow <a class="reference external" href="http://www.anr-proteus.fr/?q=node/111">http://www.anr-proteus.fr/?q=node/111</a></p>
</div>
<dl class="glossary docutils">
<dt id="term-acceleo">Acceleo</dt>
<dd><strong>Acceleo</strong> is the tool used in the <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> platform to implement generators towards simulator and robotic middle-ware frameworks. More information can be found on <a class="reference external" href="http://www.eclipse.org/acceleo/">Acceleo website</a>.</dd>
<dt id="term-algorithm">Algorithm</dt>
<dd>An algorithm is a recette describing elementary behaviour of module that
can be found in robotic systems (see
<a class="reference external" href="http://en.wikipedia.org/wiki/Algorithm">wikipedia</a> for more information)</dd>
<dt id="term-application">Application</dt>
<dd>It is a computing entity able to work upon a hardware that provides computing capabilities. It is also a computing entity capable of providing life to another software. At the bottom level, it is the OS of the computer.</dd>
<dt id="term-anr">ANR</dt>
<dd><strong>ANR</strong> stands for <strong>A</strong>gence <strong>N</strong>ationale de la <strong>R</strong>echerche. More information can be found on <a class="reference external" href="http://www.agence-nationale-recherche.fr">ANR website</a></dd>
<dt id="term-athena">ATHENA</dt>
<dd><strong>ATHENA</strong> is a language associated with generators to go towards specific simulator code. It was developed thanks to an open consortium during its infancy but in its later flavour is totally owned by Dassault Aviation and used in collaborative project to help integrate development of diverse contributors into a unique application (as an example do consider <a class="reference external" href="http://www.pegase-project.eu">http://www.pegase-project.eu</a>).</dd>
<dt id="term-arrocam">ARROCAM</dt>
<dd>ARROCAM is one of the existing Robotic middle-ware target that exists for the <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> JUNO flavour.
This middle-ware is developped by EFFIDENCE company. More information is available following <a class="reference external" href="http://www.effidence.com">www.effidence.com</a></dd>
<dt id="term-blender"><span id="term-7"></span>blender<br />BLENDER</dt>
<dd><strong>BLENDER</strong> is an open-source tool trying to provide the capabilities to model and animate 3D objects. It is very powerful and can be compared to
existing 3D modeller such as <a class="reference external" href="http://www.autodesk.fr/products/autodesk-maya/overview">MAYA</a> . More information on the <a class="reference external" href="http://www.blender.org">BLENDER website</a></dd>
<dt id="term-brics">BRICS</dt>
<dd><strong>BRICS</strong> stands for <strong>B</strong>est p<strong>R</strong>actice in robot <strong>ICS*</strong>. It is an European project which goals are overlapping PROTEUS project. More information can be found followin <a class="reference external" href="http://www.best-of-robotics.org/">http://www.best-of-robotics.org/</a>)</dd>
<dt id="term-cycab-tk">Cycab-Tk</dt>
<dd>Cycab-Tk is one of the existing Environment simulator target that exists for the <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> JUNO flavour.
This middle-ware is developped by a community under <a class="reference internal" href="#term-20"><em class="xref std std-term">INRIA</em></a> direction. More information is available following <a class="reference external" href="https://gforge.inria.fr/projects/cycabtk/">gforge.inria.fr/projects/cycabtk/</a></dd>
<dt id="term-developper">developper</dt>
<dd>The <strong>developper</strong> is someone intervening on the <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> platfrom development and thus that interacts with the development’s repositories.</dd>
<dt id="term-devs">DEVS</dt>
<dd><strong>DEVS</strong> stands for <strong>D</strong>iscrete <strong>EV</strong>vent system <strong>S</strong>pecification. It is a mathematical approach of how to model system and to
simulate them. More information can be found on
<a class="reference external" href="http://en.wikipedia.org/wiki/DEVS">DEVS wikipedia webpage</a></dd>
<dt id="term-dsl">DSL</dt>
<dd><strong>DSL</strong> stands for <strong>D</strong>omain <strong>S</strong>pecific <strong>L</strong>anguage. Quotation
from wikipedia:
<em>It is a programming language or specification language dedicated to a particular problem domain, a particular problem representation technique, and/or a particular solution technique.</em>
More information can be found following
<a class="reference external" href="http://en.wikipedia.org/wiki/Domain-specific_language">http://en.wikipedia.org/wiki/Domain-specific_language</a></dd>
<dt id="term-eclipse">ECLIPSE</dt>
<dd><strong>ECLIPSE</strong> is the platform on which the <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> tooling was
built. More information on it can be found on
<a class="reference external" href="http://www.eclipse.org/">eclipse project website</a>.</dd>
<dt id="term-emf">EMF</dt>
<dd><strong>EMF</strong> (<strong>E</strong>clipse <strong>M</strong>odeling <strong>F</strong>ramework) is an Eclipse-based
modeling framework and code generation facility for building tools and other
applications based on a structured data model.</dd>
<dt id="term-epl">EPL</dt>
<dd><strong>EPL</strong> (<strong>E</strong>clipse <strong>P</strong>ublic <strong>L</strong>icense) is an open source
software license used by the <a class="reference external" href="http://www.eclipse.org">Eclipse Foundation</a>
for its software.</dd>
<dt id="term-europ-euron">EUROP / EURON</dt>
<dd><a class="reference external" href="http://www.robotics-platform.eu/">EUROP / EURON</a> stands for EUROpean
Platform / EUropean RObotics Network.</dd>
<dt id="term-git">git</dt>
<dd><strong>git</strong> is a distributed revision control and source code management (SCM)
system.</dd>
<dt id="term-gdr-robotique">GDR Robotique</dt>
<dd><strong>GDR</strong> stands for <strong>G</strong>roupement <strong>De</strong> <strong>R</strong>echerche. It is a
community backed up by the French research group CNRS that groups the
different laboratories concerned by Robotic research topics. It is
associated to a club grouping interested Industrial partners. A
<a class="reference external" href="http://www.gdr-robtique.org">Portal</a> exists that allows interested
readers to access this community.</dd>
<dt id="term-inria"><span id="term-20"></span>INRIA<br />inria</dt>
<dd><strong>INRIA</strong> stands for <strong>I</strong>nstitut <strong>N</strong>ational de <strong>R</strong>echerche en <strong>I</strong>nformatique et en <strong>A</strong>utomatique.
It is a French research organism that focussed primly on STIC. More information on its <a class="reference external" href="http://www.inria.fr">website</a> .</dd>
<dt id="term-laas">LAAS</dt>
<dd><a class="reference external" href="http://www.laas.fr/">LAAS</a> stands for <strong>L</strong>aboratoire d’<strong>A</strong>nalyse et d’<strong>A</strong>rchitecture des <strong>S</strong>ystèmes.
It is the biggest French CNRS team and in the scope of <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> is supporting the <a class="reference internal" href="#term-morse"><em class="xref std std-term">MORSE</em></a> environment simulator.</dd>
<dt id="term-lirmm">LIRMM</dt>
<dd><a class="reference external" href="http://www.lirmm.fr">LIRMM</a> stands for <strong>L</strong>aboratoire d’<strong>I</strong>nformatique, de <strong>R</strong>obotique et de <strong>M</strong>icroelectronique de <strong>M</strong>ontpellier</dd>
<dt id="term-marte">MARTE</dt>
<dd><strong>MARTE</strong> (<strong>M</strong>odeling and <strong>A</strong>nalysis of <strong>R</strong>eal <strong>T</strong>ime and
<strong>E</strong>mbedded systems) is the <a class="reference internal" href="#term-omg"><em class="xref std std-term">OMG</em></a> standard for modeling real-time
and embedded applications with UML2.</dd>
<dt id="term-mbd">MBD</dt>
<dd><strong>MBD</strong> (<strong>M</strong>odel-<strong>B</strong>ased <strong>D</strong>esign) is a mathematical and
visual method of addressing problems associated with designing complex
control, signal processing and communication systems. It is used in many
motion control, industrial equipment, aerospace, and automotive
applications. Model-based design is a methodology applied in designing
embedded software.</dd>
<dt id="term-mda">MDA</dt>
<dd><strong>MDA</strong> (<strong>M</strong>odel-<strong>D</strong>riven <strong>A</strong>rchitecture) is a software design
approach for the development of software systems. It provides a set of
guidelines for the structuring of specifications, which are expressed as
models. Model-driven architecture is a kind of domain engineering, and
supports model-driven engineering of software systems. It was launched by
the Object Management Group (<a class="reference internal" href="#term-omg"><em class="xref std std-term">OMG</em></a>) in 2001.</dd>
<dt id="term-middleware">middleware</dt>
<dd>A middleware is a piece of software allowing its user to ignore complexities
of the underlying software and / or hardware structure. As an example, robotic
middleware try to promote a view where sensors and effectors are not to be
programmed anymore but to be configured using the same methodology (see <a class="reference internal" href="#term-orocos"><em class="xref std std-term">OROCOS</em></a>
or <a class="reference internal" href="#term-rtmaps"><em class="xref std std-term">RTMaps</em></a>)</dd>
<dt id="term-model">model</dt>
<dd>A model provides an abstract view of the situation someone wants to convey
to another person. This view if embodied using a Domain Specific Language
can be used for other purposes such as documentation, generation of elements
able to insert in a software application and so on and so forth</dd>
<dt id="term-module">module</dt>
<dd>A <strong>module</strong> in our context is exclusively, as delivered from a portal,
software.</dd>
<dt id="term-morse">MORSE</dt>
<dd>It is an add-on of the <a class="reference internal" href="#term-7"><em class="xref std std-term">BLENDER</em></a> 3D modelling environment that allows
to simulate Physical environment and physical objects deplyed into it.
As an example, It is what create sensible information to the different sensors.</dd>
<dt id="term-omg">OMG</dt>
<dd><strong>OMG</strong> (<strong>O</strong>bject <strong>M</strong>anagement <strong>G</strong>roup) is an international,
open membership, not-for-profit computer industry standards consortium.
<a class="reference internal" href="#term-omg"><em class="xref std std-term">OMG</em></a> Task Forces develop enterprise integration standards for a wide
range of technologies and an even wider range of industries. <a class="reference internal" href="#term-omg"><em class="xref std std-term">OMG</em></a>‘s
modeling standards enable powerful visual design, execution and maintenance
of software and other processes. Originally aimed at standardizing
distributed object-oriented systems, the company now focuses on modeling
(programs, systems and business processes) and model-based standards.</dd>
<dt id="term-orocos">OROCOS</dt>
<dd>It stands for <strong>O</strong>pen <strong>RO</strong>bot <strong>CO</strong>ntrol <strong>S</strong>oftware. It is a
component based architecture and its goal is to allow clear separation of
behaviour implementation and architecture concerns. Another goal is to
provide standard behaviour components for decision issues. More information
can be found on <a class="reference external" href="http://www.orocos.org">OROCOS website</a>.</dd>
<dt id="term-os">OS</dt>
<dd><strong>OS</strong> stands for <strong>O</strong>perating <strong>S</strong>ystem. It is the software that
makes everything run on a computer</dd>
<dt id="term-papyrus"><span id="term-34"></span>PAPYRUS<br />Papyrus</dt>
<dd><strong>Papyrus</strong> is the toolset on which the <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> language has been
based. More information can be found on
<a class="reference external" href="http://www.eclipse.org/papyrus//">papyrus website</a>.</dd>
<dt id="term-portal">portal</dt>
<dd>The portal is the commonplace where the robotic community will be able to
upload and download data</dd>
<dt id="term-prisme">PRISME</dt>
<dd><a class="reference external" href="http://www.ensi-bourges.fr/recherche/institut-prisme">PRISME</a> stands
for institut <strong>P</strong>luridisciplaire de <strong>R</strong>echerche en <strong>I</strong>ngenierie
des <strong>S</strong>ystemes <strong>M</strong>ecanique, <strong>E</strong>nergetique de Bourges</dd>
<dt id="term-problem">problem</dt>
<dd><p class="first">A <em>problem</em> is</p>
<ol class="last arabic simple">
<li>the definition of the architecture of one or more robots and their environment (in our case, using the proteus main tool);</li>
<li>the definition inside the robot(s) architecture of one or multiple components in which it is necessary to develop <em>solutions</em>;</li>
<li>the definition of <em>probes</em> that allow <em>simulation</em> exploitation;</li>
<li>the definition of the <em>metrics</em> and their associated validity domain in order to measure the <em>solution</em> quality and compare it to other <em>solutions</em>.</li>
</ol>
</dd>
<dt id="term-provider">provider</dt>
<dd>A provider is someone able to connect to the <a class="reference internal" href="#term-portal"><em class="xref std std-term">portal</em></a> in order to upload to it the elements he/she can provide</dd>
<dt id="term-proteus">PROTEUS</dt>
<dd>It is the project that allowed the creation of all the data, tools,
resources described by this documentation. <strong>PROTEUS</strong> stands for <strong>P</strong>latform for <strong>RO</strong>botic modelling and <strong>T</strong>ransformations for <strong>E</strong>nd-<strong>U</strong>sers and <strong>S</strong>cientific communities (There is also a french
reading of this acronym: <strong>P</strong>lateforme pour la <strong>R</strong>obotique <strong>O</strong>rganisant les <strong>T</strong>ransferts <strong>E</strong>ntre <strong>U</strong>tilisateurs et <strong>S</strong>cientifiques). More information are to be found on
<a class="reference external" href="http://www.anr-proteus.fr">PROTEUS website</a>.</dd>
<dt id="term-rcp">RCP</dt>
<dd>it stands for <em>R</em>ich <em>C</em>lient <em>P</em>latform. It is the tool used in
order to create the <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> platform.</dd>
<dt id="term-rim">RIM</dt>
<dd><strong>RIM</strong> stands for <strong>R</strong>obot <strong>I</strong>ndependant <strong>M</strong>odel. It is an attempt to create a repository of robotic architectures not linked to any particular
robotic system and which, used in conjunction with <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> platform, may allow their user to share knowledge among the robotic community. RIM is
specifically linked to a dedicated <a class="reference internal" href="#term-portal"><em class="xref std std-term">portal</em></a> that can be accessed through the <a class="reference external" href="http://europe.bourges.univ-orleans.fr/">RIM portal link</a></dd>
<dt id="term-robot">robot</dt>
<dd><strong>Robot</strong> definition is of ambiguous nature. Considering its wikipedia
embodiement:
<em>A robot is usually an electro-mechanical machine that is guided by a program or circuitry. Robots can be autonomous, semi-autonomous or remotely controlled and range from humanoids such as ASIMO and TOPIO to Nano robots, ‘swarm’ robots, and industrial robots</em>. It is a definition large enough to include aircraft, cars, mobile
aspirators, etc. Considering the context, we will stick to this definition
not emphasising humanoïd robots.</dd>
<dt id="term-robotml">RobotML</dt>
<dd>it stands for <strong>Robot Modelling Language</strong>. It is the Domain Specific
Language that was developped during the PROTEUS project to allow Robotic
community to create abstract views of robotic problems, solutions, etc.</dd>
<dt id="term-robotml-sdk">RobotML-sdk</dt>
<dd>it stands for <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> <strong>s</strong>oftware <strong>d</strong>evelopment <strong>t</strong>oolkit. It is the set of tools associated with the RobotML platform in order
to allow generation towards different simulators / robotic middlewares
targets. This sdk is supported for the time being only on UBUNTU12.04. For
more detail consult
<a class="reference internal" href="HowToUseRobotML/PlatformInstallation/InstallProteusDistribution.html#ug-pi-ipd"><em>the page dedicated to the sdk installation</em></a>.</dd>
<dt id="term-ros">ROS</dt>
<dd><a class="reference external" href="http://www.ros.org">ROS</a> stands for Robot Operation System. its goal is
to provide a standard framework allowing to make modules into application.
In the <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> platform context it has been chosen as the default
communication bus.</dd>
<dt id="term-rtmaps">RTMaps</dt>
<dd><a class="reference external" href="http://www.intempora.com/">RTMaps</a> stands for <strong>R</strong>eal-<strong>T</strong>ime <strong>M</strong>ultimodal <strong>AP</strong>plication<strong>S</strong>. It is in its 4th flavour and is an asynchronous high performance platform designed to face and win multisensor challenges and to allow engineers and researchers to take an advantage of an efficient and easy-to-use framework for fast and robust developments.</dd>
<dt id="term-simulator">simulator</dt>
<dd>It is an application that in RobotML-sdk context must be generated by the
RobotML platform and that after a configuration phase is executed</dd>
<dt id="term-solution">solution</dt>
<dd><ol class="first last arabic simple">
<li>In a <em>problem</em> context, A <em>solution</em> is an <em>algorithm</em> itself possibly integrating an <em>architecture</em> that allows during the execution of a <em>simulator</em> to extract values from the defined <em>metrics</em> that remains in their validity domain.</li>
<li>Subpart of interest in the software system of a robot. Its implementation is provided by a <em>Solution Provider</em>.</li>
</ol>
</dd>
<dt id="term-scenario">scenario</dt>
<dd>A <strong>Scenario</strong> is a context defined loosely where its reader will
understand what are the elements she / he will find in the
<a class="reference internal" href="#term-problem"><em class="xref std std-term">problems</em></a> that will be derived from it. In order to provide
a scenario, there are no obligations to provide formalised elements such as
required by a <a class="reference internal" href="#term-problem"><em class="xref std std-term">problem</em></a>. Video, documents, pictures, etc that are
sufficient to let those willing to use them to understand this context. It
can be detailed in many details as well as only explaining the different
actors or only goals.</dd>
<dt id="term-sensor">sensor</dt>
<dd>Equipment that detects, measures, and/or records physical phenomena, and
indicates objects and activities by means of energy or particles emitted,
reflected, or modified by the objects and activities.</dd>
<dt id="term-svn">SVN</dt>
<dd><strong>SVN</strong> stands for <a class="reference external" href="http://subversion.apache.org">SubVersioN</a>. It is a
Version Control software that allows developers to synchronise source code
in a distributed fashion. In the context of <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> platform, there
is on the <a class="reference internal" href="#term-portal"><em class="xref std std-term">portal</em></a> a SVN erver allowing <a class="reference internal" href="#term-user"><em class="xref std std-term">user</em></a>s to share their
experiences</dd>
<dt id="term-subclipse">Subclipse</dt>
<dd><strong>Subclipse</strong> is an Eclipse Team Provider plug-in providing support for
Subversion within the Eclipse IDE. The software is released under the
Eclipse Public License (<a class="reference internal" href="#term-epl"><em class="xref std std-term">EPL</em></a>) 1.0 open source license.</dd>
<dt id="term-sysml">SysML</dt>
<dd><strong>SysML</strong> (<strong>S</strong>ystems <strong>M</strong>odeling <strong>L</strong>anguage) is a
general-purpose modeling language for systems engineering applications. It
supports the specification, analysis, design, verification and validation of
a broad range of systems and systems-of-systems.</dd>
<dt id="term-user">user</dt>
<dd>A user is someone able to connect to the <a class="reference internal" href="#term-portal"><em class="xref std std-term">portal</em></a> in order to
download from it the elements he/she would like to use namely the <a class="reference internal" href="#term-robotml"><em class="xref std std-term">RobotML</em></a> platform</dd>
<dt id="term-vle">VLE</dt>
<dd><strong>VLE</strong> stands for <strong>V</strong>irtual <strong>L</strong>aboratory <strong>E</strong>nvironment. It is
an implementation of the <a class="reference internal" href="#term-devs"><em class="xref std std-term">DEVS</em></a> theory allowing its users to have a
safe approach of their system models. More information can be found on
<a class="reference external" href="http://www.vle-project.org">VLE website</a></dd>
<dt id="term-uml">UML</dt>
<dd><strong>UML</strong> (<strong>U</strong>nified <strong>M</strong>odeling <strong>L</strong>anguage) is a standardized
(ISO/IEC 19501:2005), general-purpose modeling language in the field of
software engineering. The Unified Modeling Language includes a set of
graphic notation techniques to create visual models of object-oriented
software-intensive systems</dd>
<dt id="term-xtext">Xtext</dt>
<dd><strong>Xtext</strong> allows to define syntax, grammar. It is the basis of source
coloured editor (in the platform case it is useful for the <a class="reference internal" href="#term-athena"><em class="xref std std-term">ATHENA</em></a>
code edition)</dd>
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