Mixed-Language Programming : How To Manage Objects(2)

本文介绍了一种简化多语言编程环境的方法,通过通用对象环境管理不同语言的接口对象,实现对象的进一步管理与服务整合。文章讨论了如何在通用对象环境中管理这些对象的属性和功能,以及如何将不同语言的服务打包并作为公共组件发布,从而减少代码重复开发,提高效率。
 

For multi language programming of c/c++, python, java, csharp, etc, the blog introduces a common and simplified method, which uses common object environment to manage interface object of different languages. The document discusses on how to manage these objects further.

Interface objects may belong to different languages or different components or libraries. An application or product may also depend on multiple components or libraries of same or different languages. We can group interface objects of a component together as a service, and application is regards as a service too. Then, common object environment is made up of one or more services. An application with services depended on is called service group. Using a figure to illustrate is as follows:

Interface objects managed by common object environment have attributes and functions. For application to get/set object’s attributes or call object’s functions, first, it should find object defined in other services through function presented by common object environment. Then, it calls object’s functions, and the environment is responsible for translating input and output arguments. Detailed method will be discussed later.

Service of different languages based on common object environment may be packed and published as a component or library. The component has significant advantages. It can be called by any other languages supported by environment. Therefore, the components or libraries are common. For example, the component written by java will be used in c/c++, java, c#, python, etc, without any change needed.

Because there is a common object environment managing services and objects, developer can publish their components on websites. If application or product needs the component, common object environment is responsible for downloading from website and loading it in application memory. For existing development result, kinds of source code, or libraries, they can be added function support for common object environment easily and becomes common components. These will reduce duplication of code developments and improve efficiency greatly. Developers no longer need to rewrite and test their components for new languages.

There may be a large number of objects for a service. For further managing these objects, we can also sort objects into different groups. These groups are called service item which it is only a name and nor more meaning.

Conclusion: for convenient, common object environment uses framework of service group, service, service item, and objects to manage interface objects in environment. The service can be packed and published as common components or libraries which have more advantages.

本项目采用C++编程语言结合ROS框架构建了完整的双机械臂控制系统,实现了Gazebo仿真环境下的协同运动模拟,并完成了两台实体UR10工业机器人的联动控制。该毕业设计在答辩环节获得98分的优异成绩,所有程序代码均通过系统性调试验证,保证可直接部署运行。 系统架构包含三个核心模块:基于ROS通信架构的双臂协调控制器、Gazebo物理引擎下的动力学仿真环境、以及真实UR10机器人的硬件接口层。在仿真验证阶段,开发了双臂碰撞检测算法和轨迹规划模块,通过ROS控制包实现了末端执行器的同步轨迹跟踪。硬件集成方面,建立了基于TCP/IP协议的实时通信链路,解决了双机数据同步和运动指令分发等关键技术问题。 本资源适用于自动化、机械电子、人工智能等专业方向的课程实践,可作为高年级课程设计、毕业课题的重要参考案例。系统采用模块化设计理念,控制核心与硬件接口分离架构便于功能扩展,具备工程实践能力的学习者可在现有框架基础上进行二次开发,例如集成视觉感知模块或优化运动规划算法。 项目文档详细记录了环境配置流程、参数调试方法和实验验证数据,特别说明了双机协同作业时的时序同步解决方案。所有功能模块均提供完整的API接口说明,便于使用者快速理解系统架构并进行定制化修改。 资源来源于网络分享,仅用于学习交流使用,请勿用于商业,如有侵权请联系我删除!
评论
添加红包

请填写红包祝福语或标题

红包个数最小为10个

红包金额最低5元

当前余额3.43前往充值 >
需支付:10.00
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包
实付
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明:

1.余额是钱包充值的虚拟货币,按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载,可以购买VIP、付费专栏及课程。

余额充值