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<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > The URDF (U-Robot Description Format) library provides core data</text>
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 >structures and a simple XML parsers for populating the class data</text>
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<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="103" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
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 >Its an instance of Graphics manager</text>
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<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="33" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
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 > PCL (Point CLoud Library) visualization plugins</text>
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 > Tool used to zip and unzip data</text>
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<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="33" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
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<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="47" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
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 >sensors, motors or additional data, e.g. simulation parameters</text>
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<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > Based on the IEEE Std 1873-2015 for Robot Map Data</text>
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>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="33" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 >Representation for Navigation, </text>
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>
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 > This library includes three main map types: 1) Grid Map</text>
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 >2) Geometric Map 3)Topological Map. see</text>
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<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="75" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 >[map/README.md](map/README.md)</text>
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<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > *Check* : library for generating logs of </text>
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<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="33" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 >traces</text>
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>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > Osgviz implementation of mars_graphics</text>
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<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > Provides the tools to load populate a envire representation from</text>
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>
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>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > Geographical Information System (GIS) interface with Envire</text>
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>
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>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="33" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 >and vice versa</text>
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>
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>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > Collection of types supported by envire</text>
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>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > The data\_broker library provides functionality to manage</text>
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>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="33" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 >data transfer between the components of the MARS</text>
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>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="47" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 >simulation.</text>
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>
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>
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>
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>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > Collision interfaces for envire types</text>
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>
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>
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>
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>
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>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > Envire plugin for maps</text>
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>
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 >to these libraries</text>
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 > It's a library for simulating rigid body dynamics. It has advanced joint types</text>
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 >and integrated collision detection with friction. see: http://www.ode.org/</text>
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 > It implements interation between other simulated objects and the Environment</text>
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 > It's a tool for visualizing the Enviregraphs in order to debug programs that use</text>
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 >checks of Envire types using the Flexible Collision Library (FCL).</text>
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 > 1) Interface to ODE collision library via the user defined class</text>
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>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
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 >(it is implemented in envire_collision library)</text>
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>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="159" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > 2)SpaceCollider (Bounding Box: getAABB() )</text>
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>
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>
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>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="173" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > 3)class-specific collision function (collide())</text>
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>
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>
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>
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>
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>
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>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > Collection of types supported by envire</text>
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>
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>
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>
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>
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>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > This is for a collision detection between two convex shapes.</text>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="33" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 >(libccd implements variation on Gilbert–Johnson–Keerthi</text>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="47" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 >algorithm plus Expand Polytope Algorithm (EPA) and also</text>
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>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="61" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 >implements algorithm Minkowski Portal Refinement)</text>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="19" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 > Dumping of running states of objects into</text>
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font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
>
<text fill="#000000" fill-opacity="1" stroke="none" xml:space="preserve" x="5" y="33" font-family="Sans Serif" font-size="12" font-weight="400" font-style="normal" 
 >binary representation. Need it for</text>
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 > OGDF stands both for **O**pen **G**raph</text>
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 >**D**rawing **F**ramework (the original name) and</text>
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 >**O**pen **G**raph algorithms and **D**ata</text>
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 > OGDF is a self-contained C++ library for graph</text>
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 >algorithms, in particular for (but not restricted to)</text>
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